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darksidelemmdarksidelemm
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Merge pull request #979 from darksidelemm/testing
1.8.1-beta6 - RS41 X-Series Preliminary Support
2 parents 5c082ea + 62c4894 commit f7ec4d7

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‎auto_rx/autorx/__init__.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -12,7 +12,7 @@
1212
# MINOR - New sonde type support, other fairly big changes that may result in telemetry or config file incompatability issus.
1313
# PATCH - Small changes, or minor feature additions.
1414

15-
__version__ = "1.8.1-beta5"
15+
__version__ = "1.8.1-beta6"
1616

1717
# Global Variables
1818

‎demod/mod/rs41mod.c‎

Lines changed: 112 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -104,6 +104,7 @@ typedef struct {
104104
int frnr;
105105
char id[9];
106106
ui8_t numSV;
107+
ui8_t isUTC;
107108
int week; int tow_ms; int gpssec;
108109
int jahr; int monat; int tag;
109110
int wday;
@@ -383,6 +384,12 @@ GPS chip: ublox UBX-G6010-ST
383384
#define pck_SGM_xTU 0x7F1B // temperature/humidity
384385
#define pck_SGM_CRYPT 0x80A7 // Packet type for an Encrypted payload
385386

387+
// fw 0x50dd
388+
#define pck_960A 0x960A //
389+
#define pck_8226_POSDATETIME 0x8226 // ECEF-POS/VEL , DATE/TIME
390+
#define pck_8329 0x8329 //
391+
392+
386393
/*
387394
frame[pos_FRAME-1] == 0x0F: len == NDATA_LEN(320)
388395
frame[pos_FRAME-1] == 0xF0: len == FRAME_LEN(518)
@@ -470,6 +477,7 @@ static int get_SondeID(gpx_t *gpx, int crc, int ofs) {
470477
gpx->lat = 0.0; gpx->lon = 0.0; gpx->alt = 0.0;
471478
gpx->vH = 0.0; gpx->vD = 0.0; gpx->vV = 0.0;
472479
gpx->numSV = 0;
480+
gpx->isUTC = 0;
473481
gpx->T = -273.15f;
474482
gpx->RH = -1.0f;
475483
gpx->P = -1.0f;
@@ -942,6 +950,7 @@ static int get_GPStime(gpx_t *gpx, int ofs) {
942950
gpx->std = gpstime / 3600;
943951
gpx->min = (gpstime % 3600) / 60;
944952
gpx->sek = gpstime % 60 + ms/1000.0;
953+
gpx->isUTC = 0;
945954

946955
return 0;
947956
}
@@ -956,6 +965,7 @@ static int get_GPS1(gpx_t *gpx, int ofs) {
956965
// reset GPS1-data (json)
957966
gpx->jahr = 0; gpx->monat = 0; gpx->tag = 0;
958967
gpx->std = 0; gpx->min = 0; gpx->sek = 0.0;
968+
gpx->isUTC = 0;
959969
return -1;
960970
}
961971

@@ -1005,7 +1015,7 @@ static void ecef2elli(double X[], double *lat, double *lon, double *alt) {
10051015
*lon = lam*180/M_PI;
10061016
}
10071017

1008-
static int get_GPSkoord(gpx_t *gpx, int ofs) {
1018+
static int get_ECEFkoord(gpx_t *gpx, int pos_ecef) {
10091019
int i, k;
10101020
unsigned byte;
10111021
ui8_t XYZ_bytes[4];
@@ -1021,14 +1031,14 @@ static int get_GPSkoord(gpx_t *gpx, int ofs) {
10211031
for (k = 0; k < 3; k++) {
10221032

10231033
for (i = 0; i < 4; i++) {
1024-
byte = gpx->frame[pos_GPSecefX+ofs + 4*k + i];
1034+
byte = gpx->frame[pos_ecef + 4*k + i];
10251035
XYZ_bytes[i] = byte;
10261036
}
10271037
memcpy(&XYZ, XYZ_bytes, 4);
10281038
X[k] = XYZ / 100.0;
10291039

10301040
for (i = 0; i < 2; i++) {
1031-
byte = gpx->frame[pos_GPSecefV+ofs + 2*k + i];
1041+
byte = gpx->frame[pos_ecef+12 + 2*k + i];
10321042
gpsVel_bytes[i] = byte;
10331043
}
10341044
vel16 = gpsVel_bytes[0] | gpsVel_bytes[1] << 8;
@@ -1068,8 +1078,6 @@ static int get_GPSkoord(gpx_t *gpx, int ofs) {
10681078

10691079
gpx->vV = vU;
10701080

1071-
gpx->numSV = gpx->frame[pos_numSats+ofs];
1072-
10731081
return 0;
10741082
}
10751083

@@ -1086,12 +1094,72 @@ static int get_GPS3(gpx_t *gpx, int ofs) {
10861094
gpx->numSV = 0;
10871095
return -1;
10881096
}
1097+
// pos_GPS3+2 = pos_GPSecefX
1098+
err |= get_ECEFkoord(gpx, pos_GPS3+ofs+2); // plausibility-check: altitude, if ecef=(0,0,0)
1099+
1100+
gpx->numSV = gpx->frame[pos_numSats+ofs];
1101+
1102+
return err;
1103+
}
1104+
1105+
static int get_posdatetime(gpx_t *gpx, int pos_posdatetime) {
1106+
int err=0;
1107+
1108+
err = check_CRC(gpx, pos_posdatetime, pck_8226_POSDATETIME);
1109+
if (err) {
1110+
///TODO: fw 0x50dd , ec < 0
1111+
gpx->crc |= crc_GPS1 | crc_GPS3;
1112+
// reset GPS1-data (json)
1113+
gpx->jahr = 0; gpx->monat = 0; gpx->tag = 0;
1114+
gpx->std = 0; gpx->min = 0; gpx->sek = 0.0;
1115+
gpx->isUTC = 0;
1116+
// reset GPS3-data (json)
1117+
gpx->lat = 0.0; gpx->lon = 0.0; gpx->alt = 0.0;
1118+
gpx->vH = 0.0; gpx->vD = 0.0; gpx->vV = 0.0;
1119+
// gpx->numSV = 0;
1120+
return -1;
1121+
}
1122+
1123+
// ublox M10 UBX-NAV-POSECEF (0x01 0x01) ?
1124+
err |= get_ECEFkoord(gpx, pos_posdatetime+2); // plausibility-check: altitude, if ecef=(0,0,0)
1125+
1126+
// ublox M10 UBX-NAV-PVT (0x01 0x07) ? (UTC?)
1127+
// date
1128+
gpx->jahr = gpx->frame[pos_posdatetime+20] | gpx->frame[pos_posdatetime+21]<<8;
1129+
gpx->monat = gpx->frame[pos_posdatetime+22];
1130+
gpx->tag = gpx->frame[pos_posdatetime+23];
1131+
// time
1132+
gpx->std = gpx->frame[pos_posdatetime+24];
1133+
gpx->min = gpx->frame[pos_posdatetime+25];
1134+
gpx->sek = gpx->frame[pos_posdatetime+26];
1135+
gpx->isUTC = 1;
10891136

1090-
err |= get_GPSkoord(gpx, ofs); // plausibility-check: altitude, if ecef=(0,0,0)
1137+
///TODO: numSV/fixOK
1138+
//gpx->numSV = gpx->frame[pos_numSats+ofs];
10911139

10921140
return err;
10931141
}
10941142

1143+
static int get_newnumsv(gpx_t *gpx, int pos_posdatetime) {
1144+
// Attempt at extracting the numSVs used for the new 0x83 block type (X-series RS41s)
1145+
// Counts bits from byte 18-21 of the data section of the 0x83 block, which *appears* to be
1146+
// a bitfield with each bit indicating which of the 32 rx channels are in use.
1147+
int err=0;
1148+
1149+
err = check_CRC(gpx, pos_posdatetime, pck_8329);
1150+
if (err) {
1151+
gpx->numSV = 0;
1152+
return -1;
1153+
}
1154+
1155+
int sats = 0;
1156+
for(int i=0; i<32; i++) {
1157+
if( gpx->frame[pos_posdatetime+20+i/8] & (1<<(i&7)) ) sats++;
1158+
}
1159+
gpx->numSV = sats;
1160+
1161+
return err;
1162+
}
10951163

10961164
static int hex2uint(char *str, int nibs) {
10971165
int i;
@@ -1859,6 +1927,23 @@ static int prn_gpspos(gpx_t *gpx) {
18591927
return 0;
18601928
}
18611929

1930+
static int prn_posdatetime(gpx_t *gpx) {
1931+
//Gps2Date(gpx);
1932+
//fprintf(stdout, "%s ", weekday[gpx->wday]);
1933+
fprintf(stdout, "%04d-%02d-%02d %02d:%02d:%02d",
1934+
gpx->jahr, gpx->monat, gpx->tag, gpx->std, gpx->min, (int)gpx->sek);
1935+
//if (gpx->option.vbs == 3) fprintf(stdout, " (W %d)", gpx->week);
1936+
fprintf(stdout, " ");
1937+
1938+
fprintf(stdout, " ");
1939+
fprintf(stdout, " lat: %.5f ", gpx->lat);
1940+
fprintf(stdout, " lon: %.5f ", gpx->lon);
1941+
fprintf(stdout, " alt: %.2f ", gpx->alt);
1942+
fprintf(stdout, " vH: %4.1f D: %5.1f vV: %3.1f ", gpx->vH, gpx->vD, gpx->vV);
1943+
//if (gpx->option.vbs == 3) fprintf(stdout, " sats: %02d ", gpx->numSV);
1944+
return 0;
1945+
}
1946+
18621947
static int prn_sat1(gpx_t *gpx, int ofs) {
18631948

18641949
fprintf(stdout, "\n");
@@ -1935,7 +2020,8 @@ static int prn_sat3(gpx_t *gpx, int ofs) {
19352020

19362021
static int print_position(gpx_t *gpx, int ec) {
19372022
int i;
1938-
int err, err0, err1, err2, err3;
2023+
int err = 1;
2024+
int err0 = 1, err1 = 1, err2 = 1, err3 = 1, err13 = 1;
19392025
//int output, out_mask;
19402026
int encrypted = 0;
19412027
int unexp = 0;
@@ -2044,6 +2130,21 @@ static int print_position(gpx_t *gpx, int ec) {
20442130
if (out) fprintf(stdout, " [%04X] (RS41-SGM) ", pck_SGM_CRYPT);
20452131
break;
20462132

2133+
case pck_960A: // 0x960A
2134+
// ? 64 bit data integrity and authenticity ?
2135+
break;
2136+
2137+
case pck_8226_POSDATETIME: // 0x8226
2138+
err13 = get_posdatetime(gpx, pos);
2139+
if ( !err13 ) {
2140+
if (out) prn_posdatetime(gpx);
2141+
}
2142+
break;
2143+
2144+
case pck_8329: // 0x8329
2145+
err13 = get_newnumsv(gpx, pos);
2146+
break;
2147+
20472148
default:
20482149
if (blk == 0x7E) {
20492150
if (pos_aux == 0) pos_aux = pos; // pos == pos_AUX ?
@@ -2089,7 +2190,7 @@ static int print_position(gpx_t *gpx, int ec) {
20892190

20902191
if (gpx->option.jsn) {
20912192
// Print out telemetry data as JSON
2092-
if ((!err && !err1 && !err3) || (!err && encrypted)) { // frame-nb/id && gps-time && gps-position (crc-)ok; 3 CRCs, RS not needed
2193+
if ( !err && ((!err1 && !err3) || !err13 || encrypted) ) { // frame-nb/id && gps-time && gps-position (crc-)ok; 3 CRCs, RS not needed
20932194
// eigentlich GPS, d.h. UTC = GPS - 18sec (ab 1.1.2017)
20942195
char *ver_jsn = NULL;
20952196
fprintf(stdout, "{ \"type\": \"%s\"", "RS41");
@@ -2169,8 +2270,8 @@ static int print_position(gpx_t *gpx, int ec) {
21692270
fprintf(stdout, ", \"tx_frequency\": %d", gpx->freq );
21702271
}
21712272

2172-
// Reference time/position
2173-
fprintf(stdout, ", \"ref_datetime\": \"%s\"", "GPS" ); // {"GPS", "UTC"} GPS-UTC=leap_sec
2273+
// Reference time/position (fw 0x50dd: datetime UTC ?)
2274+
fprintf(stdout, ", \"ref_datetime\": \"%s\"", gpx->isUTC ? "UTC" : "GPS" ); // {"GPS", "UTC"} GPS-UTC=leap_sec
21742275
fprintf(stdout, ", \"ref_position\": \"%s\"", "GPS" ); // {"GPS", "MSL"} GPS=ellipsoid , MSL=geoid
21752276

21762277
#ifdef VER_JSN_STR
@@ -2204,6 +2305,7 @@ static int print_position(gpx_t *gpx, int ec) {
22042305

22052306
pck = (gpx->frame[pos_PTU]<<8) | gpx->frame[pos_PTU+1];
22062307
ofs = 0;
2308+
///TODO: fw 0x50dd
22072309

22082310
if (pck < 0x8000) {
22092311
//err0 = get_PTU(gpx, 0, pck, 0);

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