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P25: Fix MFIDA4 Location on PTT;

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lwvmobile
2026-03-01 08:36:58 -05:00
parent f6f5f80361
commit 7b89174bb1
4 changed files with 116 additions and 236 deletions
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3
include/dsd.h
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@@ -1399,8 +1399,7 @@ void dmr_embedded_gps (dsd_opts * opts, dsd_state * state, uint8_t lc_bits[]);
void apx_embedded_gps (dsd_opts * opts, dsd_state * state, uint8_t lc_bits[]);
void lip_protocol_decoder (dsd_opts * opts, dsd_state * state, uint8_t * input);
void nmea_iec_61162_1 (dsd_opts * opts, dsd_state * state, uint8_t * input, uint32_t src, int type);
void nmea_harris (dsd_opts * opts, dsd_state * state, uint8_t * input, uint32_t src, int slot);
void harris_gps(dsd_opts * opts, dsd_state * state, int slot, uint8_t * input);
void harris_lptt (dsd_opts * opts, dsd_state * state, uint8_t * input, uint32_t src, int slot, int phase);
void utf16_to_text (dsd_state * state, uint8_t wr, uint16_t len, uint8_t * input);
void utf8_to_text (dsd_state * state, uint8_t wr, uint16_t len, uint8_t * input);

334
src/dsd_gps.c
View File

@@ -281,115 +281,129 @@ void nmea_iec_61162_1 (dsd_opts * opts, dsd_state * state, uint8_t * input, uint
}
//restructured the Harris GPS to flow more like the DMR UDT NMEA Format when possible
void nmea_harris (dsd_opts * opts, dsd_state * state, uint8_t * input, uint32_t src, int slot)
//harris location on PTT (MAC) 3.100
void harris_lptt (dsd_opts * opts, dsd_state * state, uint8_t * input, uint32_t src, int slot, int phase)
{
//GPS working, Time Working (old method), COG and Speed are logical on due west sample
//TODO: Fiddle/Test various ns and ew bits for proper signs in case its located elsewhere
//UPDATE: Found two contiguous bits that always work on all my accumulated samples
//the bits also place it with the 'lone' flagged bit observed prior
//I really wonder about the engineers who laid out this message
uint8_t nmea_ns = input[88]; //north/south (lat sign) //72 previously used bit
uint8_t nmea_ew = input[89]; //east/west (lon sign) //88 previously used bit
uint8_t nmea_q = input[147]; //Quality Indicator (last fix or current fix)
// uint8_t nmea_speed = (uint8_t)ConvertBitIntoBytes(&input[129], 7); //129,7
uint8_t nmea_speed = (uint8_t)ConvertBitIntoBytes(&input[129], 6); //this is one bit shorter than called for, but I believe it works
//NOTE: I have only seen the MAC variation of this message description, I cannot 100% confirm
//the two block LCW format is identical, but it does carry the same amount of relevant bytes
//observation shows the GPS coordinates are accurate on LCW format, but I cannot
//vouch for the COG,SPEED,TIME, EMG and GPS Quality elements when in LCW format.
//Latitude Bits
uint8_t nmea_ndeg = (uint8_t)ConvertBitIntoBytes(&input[65], 7); //Latitude Degrees
uint8_t nmea_nmin = (uint8_t)ConvertBitIntoBytes(&input[58], 6); //Latitude Minutes
uint16_t nmea_nminf = (uint16_t)ConvertBitIntoBytes(&input[42], 14); //Latitude Fractions of Minutes
//starting at relevant information, bytes 0,1,2,3
uint16_t lat_min_dec = (uint16_t)ConvertBitIntoBytes(input+0, 16);
uint16_t lat_ns = input[16]; //0 == N, 1 == S
uint16_t lat_min_int = (uint16_t)ConvertBitIntoBytes(input+17, 7);
uint16_t lat_deg_int = (uint16_t)ConvertBitIntoBytes(input+24, 8);
//Longitude Bits
uint8_t nmea_edeg = (uint8_t)ConvertBitIntoBytes(&input[96], 8); //Longitude Degrees
uint8_t nmea_emin = (uint8_t)ConvertBitIntoBytes(&input[90], 6); //Longitude Minutes
uint16_t nmea_eminf = (uint16_t)ConvertBitIntoBytes(&input[74], 14); //Longitude Fractions of Minutes
//starting at relevant information, bytes 4,5,6,7
uint16_t lon_min_dec = (uint16_t)ConvertBitIntoBytes(input+32, 16);
uint16_t lon_ew = input[48]; //0 == N, 1 == S
uint16_t lon_min_int = (uint16_t)ConvertBitIntoBytes(input+49, 7);
uint16_t lon_deg_int = (uint16_t)ConvertBitIntoBytes(input+56, 8);
//NOTE: Removed UTC hh.mm.ss6 format found in DMR UDT, could not make it work
//with bits already established for time and it works extremely well as is
//starting at relevant information, bytes 8,9
uint32_t time_secs_low = (uint32_t)ConvertBitIntoBytes(input+64, 16);
//Course Over Ground in Degrees (0-360)
uint16_t nmea_cog = (uint16_t)ConvertBitIntoBytes(&input[135], 9) % 360; //course over ground in degrees //working on due west sample without %360
//starting at relevant information, bytes 10,11,12,13
uint16_t course_low = (uint16_t)ConvertBitIntoBytes(input+80, 8);
uint16_t speed_low = (uint16_t)ConvertBitIntoBytes(input+88, 8);
uint16_t course_high = (uint16_t)ConvertBitIntoBytes(input+96+4, 4); //says 3,2,1,0,
uint16_t speed_high = (uint16_t)ConvertBitIntoBytes(input+96+0, 4); //says 7,6,5,4
//timestamp (16-bit value w/ appended 17th bit to MSB)
uint32_t rtime = (uint32_t)ConvertBitIntoBytes(&input[104], 16);
rtime |= input[144] << 16; //this bit is flagged on after 0xFFFF rollover in the late afternoon
uint32_t thour = rtime / 3600;
uint32_t tmin = (rtime % 3600) / 60;
uint32_t tsec = (rtime % 3600) % 60;
//starting at relevant information, byte 14
uint32_t time_secs_high = input[104];
uint8_t status_emergency = input[105];
uint8_t gps_quality = (uint16_t)ConvertBitIntoBytes(input+106, 2);
uint8_t gps_sat_num = (uint16_t)ConvertBitIntoBytes(input+108, 4);
//lat and lon conversion
char deg_glyph[4];
sprintf (deg_glyph, "%s", "°");
float latitude = 0.0f;
float longitude = 0.0f;
float m_unit = 1.0f / 60.0f;
float mm_unit = 1.0f / 600000.0f;
//start calculating things
float lat_DDMMmm = (float)lat_deg_int + ((float)lat_min_int / 60.0f) + ((float)lat_min_dec / 600000.0f);
float lon_DDMMmm = (float)lon_deg_int + ((float)lon_min_int / 60.0f) + ((float)lon_min_dec / 600000.0f);
if (lat_ns)
lat_DDMMmm *= -1.0f;
if (lon_ew)
lon_DDMMmm *= -1.0f;
//course conversion
uint32_t course = (course_high << 4) | course_low; //tenths of degrees
float course_deg = (float)course / 10.0f; //actual value
//speed conversion
uint32_t speed_knots = (speed_high << 4) | speed_low; //tenths of degrees
float fmps, fmph, fkph = 0.0f; //conversion of knots to mps, kph, and mph values
fmps = (float)nmea_speed * 0.514444; UNUSED(fmps);
fmph = (float)nmea_speed * 1.15078f; UNUSED(fmph);
fkph = (float)nmea_speed * 1.852f; UNUSED(fkph);
fmps = ((float)speed_knots / 10.0f) * 0.514444; UNUSED(fmps);
fmph = ((float)speed_knots / 10.0f) * 1.15078f; UNUSED(fmph);
fkph = ((float)speed_knots / 10.0f) * 1.852f; UNUSED(fkph);
//calculate decimal representation of latidude and longitude (need some samples to test)
latitude = ( (float)nmea_ndeg + ((float)nmea_nmin*m_unit) + ((float)nmea_nminf*mm_unit) );
longitude = ( (float)nmea_edeg + ((float)nmea_emin*m_unit) + ((float)nmea_eminf*mm_unit) );
//seconds since midnight as a 17-bit representation and calculation to HHMMSS format
uint32_t sec_m = (time_secs_high << 16) | time_secs_low;
uint32_t thour = sec_m / 3600;
uint32_t tmin = (sec_m % 3600) / 60;
uint32_t tsec = (sec_m % 3600) % 60;
//This is opposite (seemingly) compared to the version specified by DMR UDT NMEA, could still be different bits involved (to be tested)
// if (nmea_ns) latitude *= -1.0f; //1 is South, 0 is North
// if (nmea_ew) longitude *= -1.0f; //1 is West, 0 is East
//DMR UDT NMEA original version (working now with new bit selection 88 and 89 like how DMR UDT NMEA format specifies)
if (!nmea_ns) latitude *= -1.0f; //0 is South, 1 is North
if (!nmea_ew) longitude *= -1.0f; //0 is West, 1 is East
//is this from LCW, or MAC?
uint16_t header = (uint16_t)ConvertBitIntoBytes(&input[0], 16);
char deg_glyph[4];
sprintf (deg_glyph, "%s", "°");
//print results
fprintf (stderr, "\n");
if (header == 0x2AA4)
fprintf (stderr, " SRC: %08d;", src);
else
fprintf (stderr, " VCH: %d - SRC: %08d;", slot, src);
fprintf (stderr, " GPS: %f%s, %f%s;", latitude, deg_glyph, longitude, deg_glyph);
//Speed in Knots (assuming in knots, and not in mps, or kph)
if (header != 0x2AA4) //can't yet verify this is present or accurate on LCW
if (phase == 2)
{
if (nmea_speed > 126)
fprintf (stderr, " SPD > 126 knots or %f MPH;", fmph); //using MPH here, its Harris, they're in the U.S.
fprintf (stderr, " LCH: %d;", slot);
if (src != 0)
fprintf (stderr, " SRC: %08d;", src);
else
fprintf (stderr, " SPD: %d knots; %f MPH;", nmea_speed, fmph);
fprintf (stderr, " SRC: UNK;");
if (gps_quality < 3) //GPS hardware present
{
fprintf (stderr, " GPS: %f%s, %f%s;", lat_DDMMmm, deg_glyph, lon_DDMMmm, deg_glyph);
if (gps_quality == 0)
fprintf (stderr, " Last Fix;"); //No fix still holds last values
else if (gps_quality == 1)
fprintf (stderr, " Curr Fix;");
else if (gps_quality == 2)
fprintf (stderr, " Diff Fix;"); //presumably either lat or lon only changed, not both?
fprintf (stderr, " #Sats: %d;", gps_sat_num);
}
else if (gps_quality == 3)
fprintf (stderr, " GPS: Not Enabled / No Hardware Present;");
fprintf (stderr, " COG: %f%s;", course_deg, deg_glyph);
fprintf (stderr, " SPD: %f k/h;", fkph);
if (sec_m != 0x1FFFF) // && sec_m != 0 (so says the doc, but midnight is a valid time)
fprintf (stderr, " T: %02d:%02d:%02d;", thour, tmin, tsec);
if (status_emergency)
fprintf (stderr, " Emergency;");
}
else if (phase == 1)
{
if (src != 0)
fprintf (stderr, " SRC: %08d;", src);
else
fprintf (stderr, " SRC: UNK;");
fprintf (stderr, " GPS: %f%s, %f%s;", lat_DDMMmm, deg_glyph, lon_DDMMmm, deg_glyph);
//again, can't vouch 100%, so just going to dump the GPS Coordinates and zero out other values for LRRP file
fkph = 0.0f;
course_deg = 0.0f;
}
//Course Over Ground (COG)
fprintf (stderr, " COG: %03d%s;", nmea_cog, deg_glyph); //%360
//debug speed
// fprintf (stderr, " RSPD: %02X;", nmea_speed);
//debug cog
// fprintf (stderr, " RCOG: %03X;", nmea_cog >> 0);
//UTC Time
fprintf (stderr, " T: %02d:%02d:%02d UTC;", thour, tmin, tsec);
//Fix Indicator
if (nmea_q) fprintf (stderr, " Current Fix;");
else fprintf (stderr, " Last Fix;");
//save to ncurses string
sprintf (state->dmr_embedded_gps[slot], "(%f%s, %f%s)", latitude, deg_glyph, longitude, deg_glyph);
sprintf (state->dmr_embedded_gps[slot], "(%f%s, %f%s)", lat_DDMMmm, deg_glyph, lon_DDMMmm, deg_glyph);
//save to event history string
if (state->event_history_s[slot].Event_History_Items[0].source_id == src && src != 0)
sprintf (state->event_history_s[slot].Event_History_Items[0].gps_s, "%s", state->dmr_embedded_gps[slot]);
//save to LRRP report for mapping/logging
FILE * pFile; //file pointer
if (opts->lrrp_file_output == 1)
if (opts->lrrp_file_output == 1 && src != 0 && gps_quality != 3)
{
char * datestr = getDate();
@@ -397,153 +411,16 @@ void nmea_harris (dsd_opts * opts, dsd_state * state, uint8_t * input, uint32_t
//rounded interger formats for the log report
int s = (int)fkph;
int a = nmea_cog;
//open file by name that is supplied in the ncurses terminal, or cli
pFile = fopen (opts->lrrp_out_file, "a");
fprintf (pFile, "%s\t", datestr );
fprintf (pFile, "%s\t", timestr ); //could switch to UTC time on PDU if desired
fprintf (pFile, "%08d\t", src);
fprintf (pFile, "%.6lf\t", latitude);
fprintf (pFile, "%.6lf\t", longitude);
fprintf (pFile, "%d\t ", s);
fprintf (pFile, "%d\t ", a);
fprintf (pFile, "\n");
fclose (pFile);
if (timestr != NULL)
{
free (timestr);
timestr = NULL;
}
if (datestr != NULL)
{
free (datestr);
datestr = NULL;
}
}
//NOTE: There seems to be a few more octets left undecoded in this PDU
//not including the CRC obviously, unsure of their meaning, could relate
//to other GPS functions like precision, etc, unknown.
//NOTE2: All these values are just best effort based on observation and
//making map points match using logic and distance over time for speed and course
//without any documentation, any of these values may still be wrong
}
//fallback version (if desired/required)
void harris_gps(dsd_opts * opts, dsd_state * state, int slot, uint8_t * input)
{
uint8_t lat_sign, lat_deg, lat_min = 0;
uint8_t lon_sign, lon_deg, lon_min = 0;
uint16_t lat_mmin = 0;
uint16_t lon_mmin = 0;
//potentially in this PDU, but unverifiable without documentation or reasonable
//mathematical proof vs map points and direction of travel / distance over time (assuming the radio is facing that direction)
uint16_t rspeed = (uint16_t)ConvertBitIntoBytes(&input[136], 8); //MSB //136
rspeed = (rspeed << 8) + (uint16_t)ConvertBitIntoBytes(&input[128], 8); //LSB //128
//this works okay for example of driver driving due west at the speed limit of the road (fluke?)
uint16_t rangle = (uint16_t)ConvertBitIntoBytes(&input[120], 8); //120,8
float fspeed = (float)rspeed;
float fangle = (float)rangle;
fspeed /= 255.0f; //unit value of 1 bit
fspeed *= 1.56f; //this is based on an observation of a driver moving approx 210 meters in about 8 seconds and this makes it just under the speed limit on the road there
// fangle *= 360.0f/255.0f; //unit value of 1 bit
fangle *= 2.0f; //may exceed 360 degrees as is (use %)
int s, a = 0;
s = (int)fspeed * 3.6;
a = (int)fangle % 360;
//fix and quality indicators?
uint8_t fix = input[147]; UNUSED(fix);
uint8_t quality = (uint16_t)ConvertBitIntoBytes(&input[148], 3); UNUSED(quality);
//timestamp (16-bit value w/ appended 17th bit to MSB)
uint32_t rtime = (uint32_t)ConvertBitIntoBytes(&input[104], 16); //seconds since midnight since last GPS fix (whatever the radio has as internal time)
rtime |= input[144] << 16; //test appending this as bit 17 (observed this bit set after the afternoon 0xFFFF rollover)
uint32_t thour = rtime / 3600;
uint32_t tmin = (rtime % 3600) / 60;
uint32_t tsec = (rtime % 3600) % 60;
float lat_dec = 0.0f;
float lon_dec = 0.0f;
char deg_glyph[4];
sprintf (deg_glyph, "%s", "°");
//This appears to be similar to the NMEA GPGGA format (DDmm.mm) but
//octets are ordered in least significant to most significant value
lat_mmin = (uint16_t)ConvertBitIntoBytes(&input[40], 16); //? bits required, but grabbing two octets
lat_min = (uint8_t)ConvertBitIntoBytes(&input[58], 6); //6 bits required to get 60
lat_deg = (uint8_t)ConvertBitIntoBytes(&input[65], 7); //7 bits required to get 90
lat_sign = input[72]; //64
lon_mmin = (uint16_t)ConvertBitIntoBytes(&input[72], 16); //? bits required, but grabbing two octets
lon_min = (uint8_t)ConvertBitIntoBytes(&input[90], 6); //6 bits required to get 60
lon_deg = (uint8_t)ConvertBitIntoBytes(&input[96], 8); //8 bits required to get 180
lon_sign = input[88]; //88, unsure of a correct location, but on the sample with 0 minutes, this lonely bit was flagged on
int src = 0;
if (slot == 0) src = state->lastsrc;
if (slot == 1) src = state->lastsrcR;
//calculate decimal representation (was a pain to figure out the sub minute values)
lat_dec = ( (float)lat_deg + ((float)lat_min/60.0f) + ((float)lat_mmin/600000.0f) );
lon_dec = ( (float)lon_deg + ((float)lon_min/60.0f) + ((float)lon_mmin/600000.0f) );
if (lat_sign)
lat_dec *= -1.0f;
if (lon_sign)
lon_dec *= -1.0f;
//line break
fprintf (stderr, "\n");
fprintf (stderr, " GPS: %f%s, %f%s;", lat_dec, deg_glyph, lon_dec, deg_glyph);
//gps fix time
// fprintf (stderr, " RT: %05X;", rtime); //debug
fprintf (stderr, " LTS: %02d:%02d:%02d UTC;", thour, tmin, tsec); //last time synced to GPS
//speed and direction
// fprintf (stderr, " RSPD: %04X;", rspeed); //debug
// fprintf (stderr, " RANG: %02X;", rangle); //debug
// fprintf (stderr, " MPS: %06.02f;", fspeed);
// fprintf (stderr, " KPH: %06.02f;", fspeed * 3.6f);
// fprintf (stderr, " MPH: %06.02f;", fspeed * 2.2369f);
fprintf (stderr, " DIR: %03d%s;", a, deg_glyph);
// fprintf (stderr, " FIX: %d", fix);
// fprintf (stderr, " QLT: %02d", quality);
// fprintf (stderr, " SRC: %08d;", src);
//save to array for ncurses
sprintf (state->dmr_embedded_gps[slot], "GPS: (%f%s, %f%s)", lat_dec, deg_glyph, lon_dec, deg_glyph);
//save to LRRP report for mapping/logging
FILE * pFile; //file pointer
if (opts->lrrp_file_output == 1)
{
char * datestr = getDate();
char * timestr = getTime();
int a = (int)course_deg;
//open file by name that is supplied in the ncurses terminal, or cli
FILE * pFile; //file pointer
pFile = fopen (opts->lrrp_out_file, "a");
fprintf (pFile, "%s\t", datestr );
fprintf (pFile, "%s\t", timestr );
fprintf (pFile, "%08d\t", src);
fprintf (pFile, "%.6lf\t", lat_dec);
fprintf (pFile, "%.6lf\t", lon_dec);
fprintf (pFile, "%.6lf\t", lat_DDMMmm);
fprintf (pFile, "%.6lf\t", lon_DDMMmm);
fprintf (pFile, "%d\t ", s);
fprintf (pFile, "%d\t ", a);
fprintf (pFile, "\n");
@@ -562,9 +439,14 @@ void harris_gps(dsd_opts * opts, dsd_state * state, int slot, uint8_t * input)
}
//NOTE: Thanks to DSheirer (SDRTrunk) for helping me work out a few of the things in here
//not entirely convinced on some of these calcs (speed, angle, and TS) but sure these bits
//are actual speed/direction/timestamps judging from what the coordinates show on a map
//debugging dump of this message
// if (opts->payload == 1)
// {
// fprintf (stderr, "\n ");
// for (int i = 0; i < 14; i++)
// fprintf (stderr, "%02X ", (uint8_t)ConvertBitIntoBytes(input+(i*8), 8));
// }
}
//externalize embedded GPS - Confirmed working now on NE, NW, SE, and SW coordinates

6
src/p25_lcw.c
View File

@@ -506,16 +506,16 @@ void p25_lcw (dsd_opts * opts, dsd_state * state, uint8_t LCW_bits[], uint8_t ir
fprintf (stderr, " MFIDA4 (Harris) GPS Block 1");
memset(state->dmr_pdu_sf[0], 0, sizeof(state->dmr_pdu_sf[0]));
memcpy(state->dmr_pdu_sf[0], LCW_bits, 16*sizeof(uint8_t)); //opcode and mfid for check
memcpy(state->dmr_pdu_sf[0]+40, LCW_bits+16, 56*sizeof(uint8_t)); //+40 offset to match the vPDU decoder
memcpy(state->dmr_pdu_sf[0]+16, LCW_bits+16, 56*sizeof(uint8_t)); //contents of message in this block
}
else if (lc_mfid == 0xA4 && lc_opcode == 0x2B)
{
fprintf (stderr, " MFIDA4 (Harris) GPS Block 2");
memcpy(state->dmr_pdu_sf[0]+40+56, LCW_bits+16, 56*sizeof(uint8_t)); //+40 +56 to offset first block
memcpy(state->dmr_pdu_sf[0]+16+56, LCW_bits+16, 56*sizeof(uint8_t)); //+16 +56 to offset first block
uint16_t check = (uint16_t)ConvertBitIntoBytes(&state->dmr_pdu_sf[0][0], 16);
if (check == 0x2AA4)
nmea_harris(opts, state, state->dmr_pdu_sf[0], (uint32_t)state->lastsrc, 0);
harris_lptt(opts, state, state->dmr_pdu_sf[0]+16, (uint32_t)state->lastsrc, 0, 1);
else fprintf (stderr, " Missing GPS Block 1");
memset(state->dmr_pdu_sf[0], 0, sizeof(state->dmr_pdu_sf[0]));
}

9
src/p25p2_vpdu.c
View File

@@ -1816,12 +1816,12 @@ void process_MAC_VPDU(dsd_opts * opts, dsd_state * state, int type, unsigned lon
if (MAC[len_a+1] == 0x80 && MAC[len_a+2] != 0xA4 && MAC[len_a+2] != 0x90)
{
int unk1 = MAC[len_a+1]; //assuming this is the octet set for the 'manufacturer specific' message, may only be the MSBit
int unk2 = MAC[len_a+2]; //This field is observed as 0xAA, unknown if this is an opcode, or other MFID
int unk2 = MAC[len_a+2]; //This field is observed as 0xAA, its possible its a derived message of 0x2A from P25p1 LCW format
int mfid = MAC[len_a+3]; //This is where the 0xA4 (Harris) Identifier is found in this message, as opposed to +2
int len = MAC[len_a+4] & 0x3F;; //0x11 or 17 dec sounds reasonable, but cannot verify
int len = MAC[len_a+4] & 0x3F; //len of this message (should always be 17)
//bugfix observed on random errant second MAC message on Phase 2
//although can't 100% confirm, pretty sure these all have same len value
//confirmed this MAC message is always 17 (0x11)
if (len != 0x11)
goto END_PDU;
@@ -1841,8 +1841,7 @@ void process_MAC_VPDU(dsd_opts * opts, dsd_state * state, int type, unsigned lon
if (slot == 0 && state->lastsrc != 0) tsrc = state->lastsrc;
if (slot == 1 && state->lastsrcR != 0) tsrc = state->lastsrcR;
// harris_gps (opts, state, slot, mac_bits); //fallback
nmea_harris (opts, state, mac_bits+0, tsrc, slot); //new
harris_lptt (opts, state, mac_bits+40, tsrc, slot, 2);
//debug - just dump payload
// for (i = 0; i < 24; i++)