You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
276 lines
7.0 KiB
276 lines
7.0 KiB
/*
|
|
* Copyright (C) 2016,2017,2018 by Jonathan Naylor G4KLX
|
|
*
|
|
* This program is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation; either version 2 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with this program; if not, write to the Free Software
|
|
* Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
|
|
*/
|
|
|
|
#include "GPS.h"
|
|
#include "YSFPayload.h"
|
|
#include "YSFDefines.h"
|
|
#include "Utils.h"
|
|
#include "CRC.h"
|
|
#include "Log.h"
|
|
|
|
#include <cstdio>
|
|
#include <cassert>
|
|
#include <cstring>
|
|
|
|
const unsigned char SHRT_GPS[] = {0x22U, 0x62U};
|
|
const unsigned char LONG_GPS[] = {0x47U, 0x64U};
|
|
|
|
CGPS::CGPS(CAPRSWriter* writer) :
|
|
m_writer(writer),
|
|
m_buffer(NULL),
|
|
m_sent(false)
|
|
{
|
|
assert(writer != NULL);
|
|
|
|
m_buffer = new unsigned char[300U];
|
|
}
|
|
|
|
CGPS::~CGPS()
|
|
{
|
|
delete[] m_buffer;
|
|
}
|
|
|
|
void CGPS::data(const unsigned char* source, const unsigned char* data, unsigned char fi, unsigned char dt, unsigned char fn, unsigned char ft)
|
|
{
|
|
if (m_sent)
|
|
return;
|
|
|
|
if (fi != YSF_FI_COMMUNICATIONS)
|
|
return;
|
|
|
|
CYSFPayload payload;
|
|
|
|
if (dt == YSF_DT_VD_MODE1) {
|
|
if (fn == 0U || fn == 1U || fn == 2U)
|
|
return;
|
|
|
|
bool valid = payload.readVDMode1Data(data, m_buffer + (fn - 3U) * 20U);
|
|
if (!valid)
|
|
return;
|
|
|
|
if (fn == ft) {
|
|
bool valid = false;
|
|
|
|
// Find the end marker
|
|
for (unsigned int i = (fn - 2U) * 20U; i > 0U; i--) {
|
|
if (m_buffer[i] == 0x03U) {
|
|
unsigned char crc = CCRC::addCRC(m_buffer, i + 1U);
|
|
if (crc == m_buffer[i + 1U])
|
|
valid = true;
|
|
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (valid) {
|
|
if (::memcmp(m_buffer + 1U, SHRT_GPS, 2U) == 0) {
|
|
CUtils::dump("Short GPS data received", m_buffer, (fn - 2U) * 20U);
|
|
transmitGPS(source);
|
|
}
|
|
|
|
if (::memcmp(m_buffer + 1U, LONG_GPS, 2U) == 0) {
|
|
CUtils::dump("Long GPS data received", m_buffer, (fn - 2U) * 20U);
|
|
transmitGPS(source);
|
|
}
|
|
|
|
m_sent = true;
|
|
}
|
|
}
|
|
} else if (dt == YSF_DT_VD_MODE2) {
|
|
if (fn != 6U && fn != 7U)
|
|
return;
|
|
|
|
bool valid = payload.readVDMode2Data(data, m_buffer + (fn - 6U) * 10U);
|
|
if (!valid)
|
|
return;
|
|
|
|
if (fn == ft) {
|
|
bool valid = false;
|
|
|
|
// Find the end marker
|
|
for (unsigned int i = (fn - 5U) * 10U; i > 0U; i--) {
|
|
if (m_buffer[i] == 0x03U) {
|
|
unsigned char crc = CCRC::addCRC(m_buffer, i + 1U);
|
|
if (crc == m_buffer[i + 1U])
|
|
valid = true;
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (valid) {
|
|
if (::memcmp(m_buffer + 1U, SHRT_GPS, 2U) == 0) {
|
|
CUtils::dump("Short GPS data received", m_buffer, (fn - 5U) * 10U);
|
|
transmitGPS(source);
|
|
}
|
|
|
|
if (::memcmp(m_buffer + 1U, LONG_GPS, 2U) == 0) {
|
|
CUtils::dump("Long GPS data received", m_buffer, (fn - 5U) * 10U);
|
|
transmitGPS(source);
|
|
}
|
|
|
|
m_sent = true;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void CGPS::reset()
|
|
{
|
|
m_sent = false;
|
|
}
|
|
|
|
void CGPS::transmitGPS(const unsigned char* source)
|
|
{
|
|
assert(m_writer != NULL);
|
|
|
|
// We don't know who its from!
|
|
if (::memcmp(source, " ", YSF_CALLSIGN_LENGTH) == 0)
|
|
return;
|
|
|
|
for (unsigned int i = 5U; i < 11U; i++) {
|
|
unsigned char b = m_buffer[i] & 0xF0U;
|
|
if (b != 0x50U && b != 0x30U)
|
|
return; // error/unknown
|
|
}
|
|
|
|
unsigned int tens = m_buffer[5U] & 0x0FU;
|
|
unsigned int units = m_buffer[6U] & 0x0FU;
|
|
unsigned int lat_deg = (tens * 10U) + units;
|
|
if (tens > 9U || units > 9U || lat_deg > 89U)
|
|
return; // error/unknown
|
|
|
|
tens = m_buffer[7U] & 0x0FU;
|
|
units = m_buffer[8U] & 0x0FU;
|
|
unsigned int lat_min = (tens * 10U) + units;
|
|
if (tens > 9U || units > 9U || lat_min > 59U)
|
|
return; // error/unknown
|
|
|
|
tens = m_buffer[9U] & 0x0FU;
|
|
units = m_buffer[10U] & 0x0FU;
|
|
unsigned int lat_min_frac = (tens * 10U) + units;
|
|
if (tens > 9U || units > 10U || lat_min_frac > 99U) // units > 10 ??? .. more buggy Yaesu firmware ?
|
|
return; // error/unknown
|
|
|
|
int lat_dir;
|
|
unsigned char b = m_buffer[8U] & 0xF0U; // currently a guess
|
|
if (b == 0x50U)
|
|
lat_dir = 1; // N
|
|
else if (b == 0x30U)
|
|
lat_dir = -1; // S
|
|
else
|
|
return; // error/unknown
|
|
|
|
unsigned int lon_deg;
|
|
b = m_buffer[9U] & 0xF0U;
|
|
if (b == 0x50U) {
|
|
// lon deg 0 to 9, and 100 to 179
|
|
b = m_buffer[11U];
|
|
if (b >= 0x76U && b <= 0x7FU)
|
|
lon_deg = b - 0x76U; // 0 to 9
|
|
else if (b >= 0x6CU && b <= 0x75U)
|
|
lon_deg = 100U + (b - 0x6CU); // 100 to 109
|
|
else if (b >= 0x26U && b <= 0x6BU)
|
|
lon_deg = 110U + (b - 0x26U); // 110 to 179
|
|
else
|
|
return; // error/unknown
|
|
} else if (b == 0x30U) {
|
|
// lon deg 10 to 99
|
|
b = m_buffer[11U];
|
|
if (b >= 0x26U && b <= 0x7FU)
|
|
lon_deg = 10U + (b - 0x26U); // 10 to 99
|
|
else
|
|
return; // error/unknown
|
|
} else {
|
|
return; // error/unknown
|
|
}
|
|
|
|
unsigned int lon_min;
|
|
b = m_buffer[12U];
|
|
if (b >= 0x58U && b <= 0x61U)
|
|
lon_min = b - 0x58U; // 0 to 9
|
|
else if (b >= 0x26U && b <= 0x57U)
|
|
lon_min = 10U + (b - 0x26U); // 10 to 59
|
|
else
|
|
return; // error/unknown
|
|
|
|
unsigned int lon_min_frac;
|
|
b = m_buffer[13U];
|
|
if (b >= 0x1CU && b <= 0x7FU)
|
|
lon_min_frac = b - 0x1CU;
|
|
else
|
|
return; // error/unknown
|
|
|
|
int lon_dir;
|
|
b = m_buffer[10U] & 0xF0U;
|
|
if (b == 0x30U)
|
|
lon_dir = 1; // E
|
|
else if (b == 0x50U)
|
|
lon_dir = -1; // W
|
|
else
|
|
return; // error/unknown
|
|
|
|
unsigned int lat_sec = lat_min_frac * 60U;
|
|
lat_sec = (lat_sec + (lat_sec % 100U)) / 100U; // with rounding
|
|
|
|
unsigned int lon_sec = lon_min_frac * 60U;
|
|
lon_sec = (lon_sec + (lon_sec % 100U)) / 100U; // with rounding
|
|
|
|
// >= 0 is north, < 0 is south
|
|
float latitude = lat_deg + ((lat_min + ((float)lat_min_frac * 0.01F)) * (1.0F / 60.0F));
|
|
latitude *= lat_dir;
|
|
|
|
// >= 0 is east, < 0 is west
|
|
float longitude = lon_deg + ((lon_min + ((float)lon_min_frac * 0.01F)) * (1.0F / 60.0F));
|
|
longitude *= lon_dir;
|
|
|
|
char radio[10U];
|
|
|
|
switch (m_buffer[4U]) {
|
|
case 0x24U:
|
|
::strcpy(radio, "FT-1D");
|
|
break;
|
|
case 0x25U:
|
|
::strcpy(radio, "FTM-400D");
|
|
break;
|
|
case 0x26U:
|
|
::strcpy(radio, "DR-1X");
|
|
break;
|
|
case 0x28U:
|
|
::strcpy(radio, "FT-2D");
|
|
break;
|
|
case 0x29U:
|
|
::strcpy(radio, "FTM-100D");
|
|
break;
|
|
case 0x31U:
|
|
::strcpy(radio, "FTM-300D");
|
|
break;
|
|
case 0x30U:
|
|
::strcpy(radio, "FT-3D");
|
|
break;
|
|
default:
|
|
::sprintf(radio, "0x%02X", m_buffer[4U]);
|
|
break;
|
|
}
|
|
|
|
LogMessage("GPS Position from %10.10s of radio=%s lat=%f long=%f", source, radio, latitude, longitude);
|
|
|
|
m_writer->write(source, radio, m_buffer[4U], latitude, longitude);
|
|
|
|
m_sent = true;
|
|
}
|