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Store RS data in a single buffer

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This commit is contained in:
Carles Fernandez 2021-04-12 10:46:17 +02:00
parent af36f2f98f
commit 765d547e3b
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GPG Key ID: 4C583C52B0C3877D
3 changed files with 25 additions and 52 deletions
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1
src/core/system_parameters/Galileo_INAV.h
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@ -269,6 +269,7 @@ 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 size_t INAV_RS_BUFFER_LENGTH = 118;
constexpr int32_t BITS_IN_OCTET = 8;
constexpr int32_t FIRST_RS_BIT = 7;
constexpr int32_t FIRST_RS_BIT_AFTER_IODNAV = 17;

70
src/core/system_parameters/galileo_inav_message.cc
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@ -31,10 +31,10 @@ using CRC_Galileo_INAV_type = boost::crc_optimal<24, 0x1864CFBU, 0x0, 0x0, false
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);
rs_buffer = std::vector<uint8_t>(INAV_RS_BUFFER_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;
@ -618,19 +618,19 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
{
// IODnav changed, reset buffer
current_IODnav = IOD_nav_1;
rs_info_vector = std::vector<uint8_t>(INAV_RS_INFO_VECTOR_LENGTH, 0);
rs_buffer = std::vector<uint8_t>(INAV_RS_BUFFER_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);
rs_buffer[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);
rs_buffer[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);
rs_buffer[i] = read_octet_unsigned(data_jk_bits, info_octet_bits);
start_bit += BITS_IN_OCTET;
}
}
@ -651,16 +651,16 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
{
// IODnav changed, reset buffer
current_IODnav = IOD_nav_2;
rs_info_vector = std::vector<uint8_t>(INAV_RS_INFO_VECTOR_LENGTH, 0);
rs_buffer = std::vector<uint8_t>(INAV_RS_BUFFER_LENGTH, 0);
}
// Store RS information vector C_{RS,1}
rs_info_vector[0] = 4 + current_IODnav % 4; // we always know c_{0,0}
rs_buffer[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);
rs_buffer[i] = read_octet_unsigned(data_jk_bits, info_octet_bits);
start_bit += BITS_IN_OCTET;
}
}
@ -679,16 +679,16 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
{
// IODnav changed, reset buffer
current_IODnav = IOD_nav_3;
rs_info_vector = std::vector<uint8_t>(INAV_RS_INFO_VECTOR_LENGTH, 0);
rs_buffer = std::vector<uint8_t>(INAV_RS_BUFFER_LENGTH, 0);
}
// Store RS information vector C_{RS,2}
rs_info_vector[0] = 4 + current_IODnav % 4; // we always know c_{0,0}
rs_buffer[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);
rs_buffer[i] = read_octet_unsigned(data_jk_bits, info_octet_bits);
start_bit += BITS_IN_OCTET;
}
}
@ -708,16 +708,16 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
{
// IODnav changed, reset buffer
current_IODnav = IOD_nav_4;
rs_info_vector = std::vector<uint8_t>(INAV_RS_INFO_VECTOR_LENGTH, 0);
rs_buffer = std::vector<uint8_t>(INAV_RS_BUFFER_LENGTH, 0);
}
// Store RS information vector C_{RS,3}
rs_info_vector[0] = 4 + current_IODnav % 4; // we always know c_{0,0}
rs_buffer[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);
rs_buffer[i] = read_octet_unsigned(data_jk_bits, info_octet_bits);
start_bit += BITS_IN_OCTET;
}
}
@ -988,20 +988,14 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
{
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);
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH] = 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);
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH + i] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
start_bit += BITS_IN_OCTET;
}
}
@ -1014,20 +1008,14 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
{
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);
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH + 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);
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH + i] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
start_bit += BITS_IN_OCTET;
}
}
@ -1040,20 +1028,14 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
{
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);
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH + 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);
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH + i] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
start_bit += BITS_IN_OCTET;
}
}
@ -1066,20 +1048,14 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
{
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);
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH + 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);
rs_buffer[INAV_RS_INFO_VECTOR_LENGTH + i] = read_octet_unsigned(data_jk_bits, gamma_octet_bits);
start_bit += BITS_IN_OCTET;
}
}

6
src/core/system_parameters/galileo_inav_message.h
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@ -366,11 +366,7 @@ private:
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> rs_parity_vector;
std::vector<uint8_t> rs_buffer; // Reed-Solomon buffer
uint8_t IODnav_LSB17{};
uint8_t IODnav_LSB18{};