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Implement reading of INAV Reed-Solomon information and parity vectors

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This commit is contained in:
Carles Fernandez 2021-04-11 14:46:50 +02:00
parent 0d95d2273a
commit 24af4b228e
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GPG Key ID: 4C583C52B0C3877D
4 changed files with 356 additions and 141 deletions
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4
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
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@ -599,6 +599,10 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
// 1. Copy the current tracking output
current_symbol = in[0][0];
d_band = current_symbol.Signal[0];
if (d_band == '1')
{
d_inav_nav.enable_reed_solomon();
}
// add new symbol to the symbol queue
switch (d_frame_type)

1
src/core/system_parameters/Galileo_INAV.h
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@ -268,6 +268,7 @@ const std::vector<std::pair<int32_t, int32_t>> CED_af1red_BIT({{123, 6}});
const std::vector<std::pair<int32_t, int32_t>> RS_IODNAV_LSBS({{15, 2}});
constexpr size_t INAV_RS_SUBVECTOR_LENGTH = 15;
constexpr size_t INAV_RS_PARITY_VECTOR_LENGTH = 60;
constexpr size_t INAV_RS_INFO_VECTOR_LENGTH = 58;
constexpr int32_t BITS_IN_OCTET = 8;
constexpr int32_t FIRST_RS_BIT = 7;
constexpr int32_t FIRST_RS_BIT_AFTER_IODNAV = 17;

450
src/core/system_parameters/galileo_inav_message.cc
View File

@ -29,7 +29,13 @@
using CRC_Galileo_INAV_type = boost::crc_optimal<24, 0x1864CFBU, 0x0, 0x0, false, false>;
bool Galileo_Inav_Message::CRC_test(std::bitset<GALILEO_DATA_FRAME_BITS> bits, uint32_t checksum) const
Galileo_Inav_Message::Galileo_Inav_Message()
{
rs_info_vector = std::vector<uint8_t>(INAV_RS_INFO_VECTOR_LENGTH, 0);
rs_parity_vector = std::vector<uint8_t>(INAV_RS_PARITY_VECTOR_LENGTH, 0);
}
bool Galileo_Inav_Message::CRC_test(const std::bitset<GALILEO_DATA_FRAME_BITS>& bits, uint32_t checksum) const
{
CRC_Galileo_INAV_type CRC_Galileo;
@ -56,7 +62,7 @@ bool Galileo_Inav_Message::CRC_test(std::bitset<GALILEO_DATA_FRAME_BITS> bits, u
}
uint64_t Galileo_Inav_Message::read_navigation_unsigned(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
uint64_t Galileo_Inav_Message::read_navigation_unsigned(const std::bitset<GALILEO_DATA_JK_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
{
uint64_t value = 0ULL;
const int32_t num_of_slices = parameter.size();
@ -75,7 +81,26 @@ uint64_t Galileo_Inav_Message::read_navigation_unsigned(std::bitset<GALILEO_DATA
}
uint64_t Galileo_Inav_Message::read_page_type_unsigned(std::bitset<GALILEO_PAGE_TYPE_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
uint8_t Galileo_Inav_Message::read_octet_unsigned(const std::bitset<GALILEO_DATA_JK_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
{
uint8_t value = 0;
const int32_t num_of_slices = parameter.size();
for (int32_t i = 0; i < num_of_slices; i++)
{
for (int32_t j = 0; j < parameter[i].second; j++)
{
value <<= 1; // shift left
if (static_cast<int>(bits[GALILEO_DATA_JK_BITS - parameter[i].first - j]) == 1)
{
value += 1; // insert the bit
}
}
}
return value;
}
uint64_t Galileo_Inav_Message::read_page_type_unsigned(const std::bitset<GALILEO_PAGE_TYPE_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
{
uint64_t value = 0ULL;
const int32_t num_of_slices = parameter.size();
@ -94,7 +119,7 @@ uint64_t Galileo_Inav_Message::read_page_type_unsigned(std::bitset<GALILEO_PAGE_
}
int64_t Galileo_Inav_Message::read_navigation_signed(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
int64_t Galileo_Inav_Message::read_navigation_signed(const std::bitset<GALILEO_DATA_JK_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
{
int64_t value = 0LL;
const int32_t num_of_slices = parameter.size();
@ -125,7 +150,7 @@ int64_t Galileo_Inav_Message::read_navigation_signed(std::bitset<GALILEO_DATA_JK
}
bool Galileo_Inav_Message::read_navigation_bool(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
bool Galileo_Inav_Message::read_navigation_bool(const std::bitset<GALILEO_DATA_JK_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const
{
bool value;
if (static_cast<int>(static_cast<int>(bits[GALILEO_DATA_JK_BITS - parameter[0].first])) == 1)
@ -461,10 +486,115 @@ Galileo_Ephemeris Galileo_Inav_Message::get_reduced_ced() const
ced.af1red = ced_af1red;
Galileo_Ephemeris eph = ced.compute_eph();
eph.BGD_E1E5a = BGD_E1E5a_5;
eph.BGD_E1E5b = BGD_E1E5b_5;
return eph;
}
void Galileo_Inav_Message::read_page_1(const std::bitset<GALILEO_DATA_JK_BITS>& data_bits)
{
IOD_nav_1 = static_cast<int32_t>(read_navigation_unsigned(data_bits, IOD_NAV_1_BIT));
DLOG(INFO) << "IOD_nav_1= " << IOD_nav_1;
t0e_1 = static_cast<int32_t>(read_navigation_unsigned(data_bits, T0_E_1_BIT));
t0e_1 = t0e_1 * T0E_1_LSB;
DLOG(INFO) << "t0e_1= " << t0e_1;
M0_1 = static_cast<double>(read_navigation_signed(data_bits, M0_1_BIT));
M0_1 = M0_1 * M0_1_LSB;
DLOG(INFO) << "M0_1= " << M0_1;
e_1 = static_cast<double>(read_navigation_unsigned(data_bits, E_1_BIT));
e_1 = e_1 * E_1_LSB;
DLOG(INFO) << "e_1= " << e_1;
A_1 = static_cast<double>(read_navigation_unsigned(data_bits, A_1_BIT));
A_1 = A_1 * A_1_LSB_GAL;
DLOG(INFO) << "A_1= " << A_1;
flag_ephemeris_1 = true;
DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
}
void Galileo_Inav_Message::read_page_2(const std::bitset<GALILEO_DATA_JK_BITS>& data_bits)
{
IOD_nav_2 = static_cast<int32_t>(read_navigation_unsigned(data_bits, IOD_NAV_2_BIT));
DLOG(INFO) << "IOD_nav_2= " << IOD_nav_2;
OMEGA_0_2 = static_cast<double>(read_navigation_signed(data_bits, OMEGA_0_2_BIT));
OMEGA_0_2 = OMEGA_0_2 * OMEGA_0_2_LSB;
DLOG(INFO) << "OMEGA_0_2= " << OMEGA_0_2;
i_0_2 = static_cast<double>(read_navigation_signed(data_bits, I_0_2_BIT));
i_0_2 = i_0_2 * I_0_2_LSB;
DLOG(INFO) << "i_0_2= " << i_0_2;
omega_2 = static_cast<double>(read_navigation_signed(data_bits, OMEGA_2_BIT));
omega_2 = omega_2 * OMEGA_2_LSB;
DLOG(INFO) << "omega_2= " << omega_2;
iDot_2 = static_cast<double>(read_navigation_signed(data_bits, I_DOT_2_BIT));
iDot_2 = iDot_2 * I_DOT_2_LSB;
DLOG(INFO) << "iDot_2= " << iDot_2;
flag_ephemeris_2 = true;
DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
}
void Galileo_Inav_Message::read_page_3(const std::bitset<GALILEO_DATA_JK_BITS>& data_bits)
{
IOD_nav_3 = static_cast<int32_t>(read_navigation_unsigned(data_bits, IOD_NAV_3_BIT));
DLOG(INFO) << "IOD_nav_3= " << IOD_nav_3;
OMEGA_dot_3 = static_cast<double>(read_navigation_signed(data_bits, OMEGA_DOT_3_BIT));
OMEGA_dot_3 = OMEGA_dot_3 * OMEGA_DOT_3_LSB;
DLOG(INFO) << "OMEGA_dot_3= " << OMEGA_dot_3;
delta_n_3 = static_cast<double>(read_navigation_signed(data_bits, DELTA_N_3_BIT));
delta_n_3 = delta_n_3 * DELTA_N_3_LSB;
DLOG(INFO) << "delta_n_3= " << delta_n_3;
C_uc_3 = static_cast<double>(read_navigation_signed(data_bits, C_UC_3_BIT));
C_uc_3 = C_uc_3 * C_UC_3_LSB;
DLOG(INFO) << "C_uc_3= " << C_uc_3;
C_us_3 = static_cast<double>(read_navigation_signed(data_bits, C_US_3_BIT));
C_us_3 = C_us_3 * C_US_3_LSB;
DLOG(INFO) << "C_us_3= " << C_us_3;
C_rc_3 = static_cast<double>(read_navigation_signed(data_bits, C_RC_3_BIT));
C_rc_3 = C_rc_3 * C_RC_3_LSB;
DLOG(INFO) << "C_rc_3= " << C_rc_3;
C_rs_3 = static_cast<double>(read_navigation_signed(data_bits, C_RS_3_BIT));
C_rs_3 = C_rs_3 * C_RS_3_LSB;
DLOG(INFO) << "C_rs_3= " << C_rs_3;
SISA_3 = static_cast<int32_t>(read_navigation_unsigned(data_bits, SISA_3_BIT));
DLOG(INFO) << "SISA_3= " << SISA_3;
flag_ephemeris_3 = true;
DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
}
void Galileo_Inav_Message::read_page_4(const std::bitset<GALILEO_DATA_JK_BITS>& data_bits)
{
IOD_nav_4 = static_cast<int32_t>(read_navigation_unsigned(data_bits, IOD_NAV_4_BIT));
DLOG(INFO) << "IOD_nav_4= " << IOD_nav_4;
SV_ID_PRN_4 = static_cast<int32_t>(read_navigation_unsigned(data_bits, SV_ID_PRN_4_BIT));
DLOG(INFO) << "SV_ID_PRN_4= " << SV_ID_PRN_4;
C_ic_4 = static_cast<double>(read_navigation_signed(data_bits, C_IC_4_BIT));
C_ic_4 = C_ic_4 * C_IC_4_LSB;
DLOG(INFO) << "C_ic_4= " << C_ic_4;
C_is_4 = static_cast<double>(read_navigation_signed(data_bits, C_IS_4_BIT));
C_is_4 = C_is_4 * C_IS_4_LSB;
DLOG(INFO) << "C_is_4= " << C_is_4;
// Clock correction parameters
t0c_4 = static_cast<int32_t>(read_navigation_unsigned(data_bits, T0C_4_BIT));
t0c_4 = t0c_4 * T0C_4_LSB;
DLOG(INFO) << "t0c_4= " << t0c_4;
af0_4 = static_cast<double>(read_navigation_signed(data_bits, AF0_4_BIT));
af0_4 = af0_4 * AF0_4_LSB;
DLOG(INFO) << "af0_4 = " << af0_4;
af1_4 = static_cast<double>(read_navigation_signed(data_bits, AF1_4_BIT));
af1_4 = af1_4 * AF1_4_LSB;
DLOG(INFO) << "af1_4 = " << af1_4;
af2_4 = static_cast<double>(read_navigation_signed(data_bits, AF2_4_BIT));
af2_4 = af2_4 * AF2_4_LSB;
DLOG(INFO) << "af2_4 = " << af2_4;
spare_4 = static_cast<double>(read_navigation_unsigned(data_bits, SPARE_4_BIT));
DLOG(INFO) << "spare_4 = " << spare_4;
flag_ephemeris_4 = true;
DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
}
int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
{
const std::string data_jk_string = data_jk;
@ -476,99 +606,123 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
switch (page_number)
{
case 1: // Word type 1: Ephemeris (1/4)
IOD_nav_1 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, IOD_NAV_1_BIT));
DLOG(INFO) << "IOD_nav_1= " << IOD_nav_1;
t0e_1 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, T0_E_1_BIT));
t0e_1 = t0e_1 * T0E_1_LSB;
DLOG(INFO) << "t0e_1= " << t0e_1;
M0_1 = static_cast<double>(read_navigation_signed(data_jk_bits, M0_1_BIT));
M0_1 = M0_1 * M0_1_LSB;
DLOG(INFO) << "M0_1= " << M0_1;
e_1 = static_cast<double>(read_navigation_unsigned(data_jk_bits, E_1_BIT));
e_1 = e_1 * E_1_LSB;
DLOG(INFO) << "e_1= " << e_1;
A_1 = static_cast<double>(read_navigation_unsigned(data_jk_bits, A_1_BIT));
A_1 = A_1 * A_1_LSB_GAL;
DLOG(INFO) << "A_1= " << A_1;
flag_ephemeris_1 = true;
DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
break;
{
read_page_1(data_jk_bits);
if (enable_rs)
{
if (current_IODnav == 0)
{
current_IODnav = IOD_nav_1;
}
if (current_IODnav != IOD_nav_1)
{
// IODnav changed, reset buffer
current_IODnav = IOD_nav_1;
rs_info_vector = std::vector<uint8_t>(INAV_RS_INFO_VECTOR_LENGTH, 0);
}
// Store RS information vector C_{RS,0}
std::vector<std::pair<int32_t, int32_t>> info_octet_bits({{1, 6}, {15, 2}});
rs_info_vector[0] = read_octet_unsigned(data_jk_bits, info_octet_bits);
info_octet_bits = std::vector<std::pair<int32_t, int32_t>>({{7, BITS_IN_OCTET}});
rs_info_vector[1] = read_octet_unsigned(data_jk_bits, info_octet_bits);
int32_t start_bit = FIRST_RS_BIT_AFTER_IODNAV;
for (size_t i = 2; i < 16; i++)
{
info_octet_bits = std::vector<std::pair<int32_t, int32_t>>({{start_bit, BITS_IN_OCTET}});
rs_info_vector[i] = read_octet_unsigned(data_jk_bits, info_octet_bits);
start_bit += BITS_IN_OCTET;
}
}
break;
}
case 2: // Word type 2: Ephemeris (2/4)
IOD_nav_2 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, IOD_NAV_2_BIT));
DLOG(INFO) << "IOD_nav_2= " << IOD_nav_2;
OMEGA_0_2 = static_cast<double>(read_navigation_signed(data_jk_bits, OMEGA_0_2_BIT));
OMEGA_0_2 = OMEGA_0_2 * OMEGA_0_2_LSB;
DLOG(INFO) << "OMEGA_0_2= " << OMEGA_0_2;
i_0_2 = static_cast<double>(read_navigation_signed(data_jk_bits, I_0_2_BIT));
i_0_2 = i_0_2 * I_0_2_LSB;
DLOG(INFO) << "i_0_2= " << i_0_2;
omega_2 = static_cast<double>(read_navigation_signed(data_jk_bits, OMEGA_2_BIT));
omega_2 = omega_2 * OMEGA_2_LSB;
DLOG(INFO) << "omega_2= " << omega_2;
iDot_2 = static_cast<double>(read_navigation_signed(data_jk_bits, I_DOT_2_BIT));
iDot_2 = iDot_2 * I_DOT_2_LSB;
DLOG(INFO) << "iDot_2= " << iDot_2;
flag_ephemeris_2 = true;
DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
break;
{
read_page_2(data_jk_bits);
if (enable_rs)
{
if (current_IODnav == 0)
{
current_IODnav = IOD_nav_2;
}
if (current_IODnav != IOD_nav_2)
{
// IODnav changed, reset buffer
current_IODnav = IOD_nav_2;
rs_info_vector = std::vector<uint8_t>(INAV_RS_INFO_VECTOR_LENGTH, 0);
}
// Store RS information vector C_{RS,1}
rs_info_vector[0] = 4 + current_IODnav % 4; // we always know c_{0,0}
int32_t start_bit = FIRST_RS_BIT_AFTER_IODNAV;
for (size_t i = 16; i < 30; i++)
{
std::vector<std::pair<int32_t, int32_t>> info_octet_bits({{start_bit, BITS_IN_OCTET}});
rs_info_vector[i] = read_octet_unsigned(data_jk_bits, info_octet_bits);
start_bit += BITS_IN_OCTET;
}
}
break;
}
case 3: // Word type 3: Ephemeris (3/4) and SISA
IOD_nav_3 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, IOD_NAV_3_BIT));
DLOG(INFO) << "IOD_nav_3= " << IOD_nav_3;
OMEGA_dot_3 = static_cast<double>(read_navigation_signed(data_jk_bits, OMEGA_DOT_3_BIT));
OMEGA_dot_3 = OMEGA_dot_3 * OMEGA_DOT_3_LSB;
DLOG(INFO) << "OMEGA_dot_3= " << OMEGA_dot_3;
delta_n_3 = static_cast<double>(read_navigation_signed(data_jk_bits, DELTA_N_3_BIT));
delta_n_3 = delta_n_3 * DELTA_N_3_LSB;
DLOG(INFO) << "delta_n_3= " << delta_n_3;
C_uc_3 = static_cast<double>(read_navigation_signed(data_jk_bits, C_UC_3_BIT));
C_uc_3 = C_uc_3 * C_UC_3_LSB;
DLOG(INFO) << "C_uc_3= " << C_uc_3;
C_us_3 = static_cast<double>(read_navigation_signed(data_jk_bits, C_US_3_BIT));
C_us_3 = C_us_3 * C_US_3_LSB;
DLOG(INFO) << "C_us_3= " << C_us_3;
C_rc_3 = static_cast<double>(read_navigation_signed(data_jk_bits, C_RC_3_BIT));
C_rc_3 = C_rc_3 * C_RC_3_LSB;
DLOG(INFO) << "C_rc_3= " << C_rc_3;
C_rs_3 = static_cast<double>(read_navigation_signed(data_jk_bits, C_RS_3_BIT));
C_rs_3 = C_rs_3 * C_RS_3_LSB;
DLOG(INFO) << "C_rs_3= " << C_rs_3;
SISA_3 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, SISA_3_BIT));
DLOG(INFO) << "SISA_3= " << SISA_3;
flag_ephemeris_3 = true;
DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
break;
{
read_page_3(data_jk_bits);
if (enable_rs)
{
if (current_IODnav == 0)
{
current_IODnav = IOD_nav_3;
}
if (current_IODnav != IOD_nav_3)
{
// IODnav changed, reset buffer
current_IODnav = IOD_nav_3;
rs_info_vector = std::vector<uint8_t>(INAV_RS_INFO_VECTOR_LENGTH, 0);
}
// Store RS information vector C_{RS,2}
rs_info_vector[0] = 4 + current_IODnav % 4; // we always know c_{0,0}
int32_t start_bit = FIRST_RS_BIT_AFTER_IODNAV;
for (size_t i = 30; i < 44; i++)
{
std::vector<std::pair<int32_t, int32_t>> info_octet_bits({{start_bit, BITS_IN_OCTET}});
rs_info_vector[i] = read_octet_unsigned(data_jk_bits, info_octet_bits);
start_bit += BITS_IN_OCTET;
}
}
break;
}
case 4: // Word type 4: Ephemeris (4/4) and Clock correction parameters
IOD_nav_4 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, IOD_NAV_4_BIT));
DLOG(INFO) << "IOD_nav_4= " << IOD_nav_4;
SV_ID_PRN_4 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, SV_ID_PRN_4_BIT));
DLOG(INFO) << "SV_ID_PRN_4= " << SV_ID_PRN_4;
C_ic_4 = static_cast<double>(read_navigation_signed(data_jk_bits, C_IC_4_BIT));
C_ic_4 = C_ic_4 * C_IC_4_LSB;
DLOG(INFO) << "C_ic_4= " << C_ic_4;
C_is_4 = static_cast<double>(read_navigation_signed(data_jk_bits, C_IS_4_BIT));
C_is_4 = C_is_4 * C_IS_4_LSB;
DLOG(INFO) << "C_is_4= " << C_is_4;
// Clock correction parameters
t0c_4 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, T0C_4_BIT));
t0c_4 = t0c_4 * T0C_4_LSB;
DLOG(INFO) << "t0c_4= " << t0c_4;
af0_4 = static_cast<double>(read_navigation_signed(data_jk_bits, AF0_4_BIT));
af0_4 = af0_4 * AF0_4_LSB;
DLOG(INFO) << "af0_4 = " << af0_4;
af1_4 = static_cast<double>(read_navigation_signed(data_jk_bits, AF1_4_BIT));
af1_4 = af1_4 * AF1_4_LSB;
DLOG(INFO) << "af1_4 = " << af1_4;
af2_4 = static_cast<double>(read_navigation_signed(data_jk_bits, AF2_4_BIT));
af2_4 = af2_4 * AF2_4_LSB;
DLOG(INFO) << "af2_4 = " << af2_4;
spare_4 = static_cast<double>(read_navigation_unsigned(data_jk_bits, SPARE_4_BIT));
DLOG(INFO) << "spare_4 = " << spare_4;
flag_ephemeris_4 = true;
DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
break;
{
read_page_4(data_jk_bits);
if (enable_rs)
{
if (current_IODnav == 0)
{
current_IODnav = IOD_nav_4;
}
if (current_IODnav != IOD_nav_4)
{
// IODnav changed, reset buffer
current_IODnav = IOD_nav_4;
rs_info_vector = std::vector<uint8_t>(INAV_RS_INFO_VECTOR_LENGTH, 0);
}
// Store RS information vector C_{RS,3}
rs_info_vector[0] = 4 + current_IODnav % 4; // we always know c_{0,0}
int32_t start_bit = FIRST_RS_BIT_AFTER_IODNAV;
for (size_t i = 44; i < INAV_RS_INFO_VECTOR_LENGTH; i++)
{
std::vector<std::pair<int32_t, int32_t>> info_octet_bits({{start_bit, BITS_IN_OCTET}});
rs_info_vector[i] = read_octet_unsigned(data_jk_bits, info_octet_bits);
start_bit += BITS_IN_OCTET;
}
}
break;
}
case 5: // Word type 5: Ionospheric correction, BGD, signal health and data validity status and GST
// Ionospheric correction
@ -830,64 +984,104 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
case 17: // Word type 17: FEC2 Reed-Solomon for CED
{
std::vector<std::pair<int32_t, int32_t>> gamma_octet_bits({{FIRST_RS_BIT, BITS_IN_OCTET}});
gamma_rs0[0] = static_cast<uint8_t>(read_navigation_unsigned(data_jk_bits, gamma_octet_bits));
IODnav_LSB17 = static_cast<uint8_t>(read_navigation_unsigned(data_jk_bits, RS_IODNAV_LSBS));
DLOG(INFO) << "IODnav 2 LSBs in Word type 17: " << static_cast<float>(IODnav_LSB17);
int32_t start_bit = FIRST_RS_BIT_AFTER_IODNAV;
for (size_t i = 1; i < INAV_RS_SUBVECTOR_LENGTH; i++)
if (enable_rs)
{
gamma_octet_bits[0] = std::pair<int32_t, int32_t>({start_bit, BITS_IN_OCTET});
gamma_rs0[i] = static_cast<uint8_t>(read_navigation_unsigned(data_jk_bits, gamma_octet_bits));
start_bit += BITS_IN_OCTET;
IODnav_LSB17 = read_octet_unsigned(data_jk_bits, RS_IODNAV_LSBS);
DLOG(INFO) << "IODnav 2 LSBs in Word type 17: " << static_cast<float>(IODnav_LSB17);
if (IODnav_LSB17 != static_cast<uint8_t>((current_IODnav % 4)))
{
// IODnav changed, reset buffers
current_IODnav = 0;
rs_parity_vector = std::vector<uint8_t>(INAV_RS_PARITY_VECTOR_LENGTH, 0);
}
// Store RS parity vector gamma_{RS,0}
std::vector<std::pair<int32_t, int32_t>> gamma_octet_bits({{FIRST_RS_BIT, BITS_IN_OCTET}});
rs_parity_vector[0] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
int32_t start_bit = FIRST_RS_BIT_AFTER_IODNAV;
for (size_t i = 1; i < INAV_RS_SUBVECTOR_LENGTH; i++)
{
gamma_octet_bits[0] = std::pair<int32_t, int32_t>({start_bit, BITS_IN_OCTET});
rs_parity_vector[i] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
start_bit += BITS_IN_OCTET;
}
}
break;
}
case 18: // Word type 18: FEC2 Reed-Solomon for CED
{
std::vector<std::pair<int32_t, int32_t>> gamma_octet_bits({{FIRST_RS_BIT, BITS_IN_OCTET}});
gamma_rs1[0] = static_cast<uint8_t>(read_navigation_unsigned(data_jk_bits, gamma_octet_bits));
IODnav_LSB18 = static_cast<uint8_t>(read_navigation_unsigned(data_jk_bits, RS_IODNAV_LSBS));
DLOG(INFO) << "IODnav 2 LSBs in Word type 18: " << static_cast<float>(IODnav_LSB18);
int32_t start_bit = FIRST_RS_BIT_AFTER_IODNAV;
for (size_t i = 1; i < INAV_RS_SUBVECTOR_LENGTH; i++)
if (enable_rs)
{
gamma_octet_bits[0] = std::pair<int32_t, int32_t>({start_bit, BITS_IN_OCTET});
gamma_rs1[i] = static_cast<uint8_t>(read_navigation_unsigned(data_jk_bits, gamma_octet_bits));
start_bit += BITS_IN_OCTET;
IODnav_LSB18 = read_octet_unsigned(data_jk_bits, RS_IODNAV_LSBS);
DLOG(INFO) << "IODnav 2 LSBs in Word type 18: " << static_cast<float>(IODnav_LSB18);
if (IODnav_LSB18 != static_cast<uint8_t>((current_IODnav % 4)))
{
// IODnav changed, reset buffers
current_IODnav = 0;
rs_parity_vector = std::vector<uint8_t>(INAV_RS_PARITY_VECTOR_LENGTH, 0);
}
// Store RS parity vector gamma_{RS,1}
std::vector<std::pair<int32_t, int32_t>> gamma_octet_bits({{FIRST_RS_BIT, BITS_IN_OCTET}});
rs_parity_vector[INAV_RS_SUBVECTOR_LENGTH] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
int32_t start_bit = FIRST_RS_BIT_AFTER_IODNAV;
for (size_t i = INAV_RS_SUBVECTOR_LENGTH + 1; i < 2 * INAV_RS_SUBVECTOR_LENGTH; i++)
{
gamma_octet_bits[0] = std::pair<int32_t, int32_t>({start_bit, BITS_IN_OCTET});
rs_parity_vector[i] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
start_bit += BITS_IN_OCTET;
}
}
break;
}
case 19: // Word type 19: FEC2 Reed-Solomon for CED
{
std::vector<std::pair<int32_t, int32_t>> gamma_octet_bits({{FIRST_RS_BIT, BITS_IN_OCTET}});
gamma_rs2[0] = static_cast<uint8_t>(read_navigation_unsigned(data_jk_bits, gamma_octet_bits));
IODnav_LSB19 = static_cast<uint8_t>(read_navigation_unsigned(data_jk_bits, RS_IODNAV_LSBS));
DLOG(INFO) << "IODnav 2 LSBs in Word type 19: " << static_cast<float>(IODnav_LSB19);
int32_t start_bit = FIRST_RS_BIT_AFTER_IODNAV;
for (size_t i = 1; i < INAV_RS_SUBVECTOR_LENGTH; i++)
if (enable_rs)
{
gamma_octet_bits[0] = std::pair<int32_t, int32_t>({start_bit, BITS_IN_OCTET});
gamma_rs2[i] = static_cast<uint8_t>(read_navigation_unsigned(data_jk_bits, gamma_octet_bits));
start_bit += BITS_IN_OCTET;
IODnav_LSB19 = read_octet_unsigned(data_jk_bits, RS_IODNAV_LSBS);
DLOG(INFO) << "IODnav 2 LSBs in Word type 19: " << static_cast<float>(IODnav_LSB19);
if (IODnav_LSB19 != static_cast<uint8_t>((current_IODnav % 4)))
{
// IODnav changed, reset buffers
current_IODnav = 0;
rs_parity_vector = std::vector<uint8_t>(INAV_RS_PARITY_VECTOR_LENGTH, 0);
}
// Store RS parity vector gamma_{RS,2}
std::vector<std::pair<int32_t, int32_t>> gamma_octet_bits({{FIRST_RS_BIT, BITS_IN_OCTET}});
rs_parity_vector[2 * INAV_RS_SUBVECTOR_LENGTH] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
int32_t start_bit = FIRST_RS_BIT_AFTER_IODNAV;
for (size_t i = 2 * INAV_RS_SUBVECTOR_LENGTH + 1; i < 3 * INAV_RS_SUBVECTOR_LENGTH; i++)
{
gamma_octet_bits[0] = std::pair<int32_t, int32_t>({start_bit, BITS_IN_OCTET});
rs_parity_vector[i] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
start_bit += BITS_IN_OCTET;
}
}
break;
}
case 20: // Word type 20: FEC2 Reed-Solomon for CED
{
std::vector<std::pair<int32_t, int32_t>> gamma_octet_bits({{FIRST_RS_BIT, BITS_IN_OCTET}});
gamma_rs3[0] = static_cast<uint8_t>(read_navigation_unsigned(data_jk_bits, gamma_octet_bits));
IODnav_LSB20 = static_cast<uint8_t>(read_navigation_unsigned(data_jk_bits, RS_IODNAV_LSBS));
DLOG(INFO) << "IODnav 2 LSBs in Word type 20: " << static_cast<float>(IODnav_LSB20);
int32_t start_bit = FIRST_RS_BIT_AFTER_IODNAV;
for (size_t i = 1; i < INAV_RS_SUBVECTOR_LENGTH; i++)
if (enable_rs)
{
gamma_octet_bits[0] = std::pair<int32_t, int32_t>({start_bit, BITS_IN_OCTET});
gamma_rs3[i] = static_cast<uint8_t>(read_navigation_unsigned(data_jk_bits, gamma_octet_bits));
start_bit += BITS_IN_OCTET;
IODnav_LSB20 = read_octet_unsigned(data_jk_bits, RS_IODNAV_LSBS);
DLOG(INFO) << "IODnav 2 LSBs in Word type 20: " << static_cast<float>(IODnav_LSB20);
if (IODnav_LSB20 != static_cast<uint8_t>((current_IODnav % 4)))
{
// IODnav changed, reset buffers
current_IODnav = 0;
rs_parity_vector = std::vector<uint8_t>(INAV_RS_PARITY_VECTOR_LENGTH, 0);
}
// Store RS parity vector gamma_{RS,4}
std::vector<std::pair<int32_t, int32_t>> gamma_octet_bits({{FIRST_RS_BIT, BITS_IN_OCTET}});
rs_parity_vector[3 * INAV_RS_SUBVECTOR_LENGTH] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
int32_t start_bit = FIRST_RS_BIT_AFTER_IODNAV;
for (size_t i = 3 * INAV_RS_SUBVECTOR_LENGTH + 1; i < 4 * INAV_RS_SUBVECTOR_LENGTH; i++)
{
gamma_octet_bits[0] = std::pair<int32_t, int32_t>({start_bit, BITS_IN_OCTET});
rs_parity_vector[i] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
start_bit += BITS_IN_OCTET;
}
}
break;
}

42
src/core/system_parameters/galileo_inav_message.h
View File

@ -44,7 +44,7 @@
class Galileo_Inav_Message
{
public:
Galileo_Inav_Message() = default;
Galileo_Inav_Message();
/*
* \brief Takes in input a page (Odd or Even) of 120 bit, split it according ICD 4.3.2.3 and join Data_k with Data_j
@ -191,12 +191,25 @@ public:
SV_ID_PRN_4 = prn;
}
/*
* \brief Enable Reed-Solomon in Galileo E1B
*/
inline void enable_reed_solomon()
{
enable_rs = true;
}
private:
bool CRC_test(std::bitset<GALILEO_DATA_FRAME_BITS> bits, uint32_t checksum) const;
bool read_navigation_bool(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const;
uint64_t read_navigation_unsigned(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const;
uint64_t read_page_type_unsigned(std::bitset<GALILEO_PAGE_TYPE_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const;
int64_t read_navigation_signed(std::bitset<GALILEO_DATA_JK_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const;
bool CRC_test(const std::bitset<GALILEO_DATA_FRAME_BITS>& bits, uint32_t checksum) const;
bool read_navigation_bool(const std::bitset<GALILEO_DATA_JK_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const;
uint64_t read_navigation_unsigned(const std::bitset<GALILEO_DATA_JK_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const;
uint64_t read_page_type_unsigned(const std::bitset<GALILEO_PAGE_TYPE_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const;
int64_t read_navigation_signed(const std::bitset<GALILEO_DATA_JK_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const;
uint8_t read_octet_unsigned(const std::bitset<GALILEO_DATA_JK_BITS>& bits, const std::vector<std::pair<int32_t, int32_t>>& parameter) const;
void read_page_1(const std::bitset<GALILEO_DATA_JK_BITS>& data_bits);
void read_page_2(const std::bitset<GALILEO_DATA_JK_BITS>& data_bits);
void read_page_3(const std::bitset<GALILEO_DATA_JK_BITS>& data_bits);
void read_page_4(const std::bitset<GALILEO_DATA_JK_BITS>& data_bits);
std::string page_Even{};
@ -349,19 +362,21 @@ private:
double ced_af0red{};
double ced_af1red{};
double Galileo_satClkDrift{};
int32_t current_IODnav{};
// Word types 1, 2, 3, 4: Reed-Solomon information vector
std::vector<uint8_t> rs_info_vector;
// Word types 17, 18, 19, 20: Reed-Solomon parity vector
std::vector<uint8_t> gamma_rs0{INAV_RS_SUBVECTOR_LENGTH, 0};
std::vector<uint8_t> gamma_rs1{INAV_RS_SUBVECTOR_LENGTH, 0};
std::vector<uint8_t> gamma_rs2{INAV_RS_SUBVECTOR_LENGTH, 0};
std::vector<uint8_t> gamma_rs3{INAV_RS_SUBVECTOR_LENGTH, 0};
std::vector<uint8_t> rs_parity_vector{INAV_RS_PARITY_VECTOR_LENGTH, 0};
std::vector<uint8_t> rs_parity_vector;
uint8_t IODnav_LSB17{};
uint8_t IODnav_LSB18{};
uint8_t IODnav_LSB19{};
uint8_t IODnav_LSB20{};
double Galileo_satClkDrift{};
bool flag_CRC_test{};
bool flag_all_ephemeris{}; // Flag indicating that all words containing ephemeris have been received
bool flag_ephemeris_1{}; // Flag indicating that ephemeris 1/4 (word 1) have been received
@ -387,6 +402,7 @@ private:
bool flag_GGTO_4{};
bool flag_CED{};
bool enable_rs{};
};