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Add work on OSNMA receiver

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This commit is contained in:
Carles Fernandez 2023-05-29 14:52:30 +02:00
parent 46aca38ade
commit e6419a2063
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GPG Key ID: 4C583C52B0C3877D
1 changed files with 21 additions and 10 deletions
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31
src/core/system_parameters/galileo_inav_message.cc
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@ -195,6 +195,11 @@ void Galileo_Inav_Message::split_page(std::string page_string, int32_t flag_even
// const std::string Reserved_2 = page_INAV.substr(220, 8); // const std::string Reserved_2 = page_INAV.substr(220, 8);
// const std::string Tail_odd = page_INAV.substr(228, 6); // const std::string Tail_odd = page_INAV.substr(228, 6);
if (page_position_in_inav_subframe != 255)
{
page_position_in_inav_subframe++;
}
// ************ CRC checksum control *******/ // ************ CRC checksum control *******/
std::stringstream TLM_word_for_CRC_stream; std::stringstream TLM_word_for_CRC_stream;
TLM_word_for_CRC_stream << page_INAV; TLM_word_for_CRC_stream << page_INAV;
@ -855,15 +860,11 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
const auto page_number = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, PAGE_TYPE_BIT)); const auto page_number = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, PAGE_TYPE_BIT));
DLOG(INFO) << "Page number = " << page_number; DLOG(INFO) << "Page number = " << page_number;
if (page_position_in_inav_subframe != 255)
{
page_position_in_inav_subframe++;
}
switch (page_number) switch (page_number)
{ {
case 1: // Word type 1: Ephemeris (1/4) case 1: // Word type 1: Ephemeris (1/4)
{ {
page_position_in_inav_subframe = 10;
read_page_1(data_jk_bits); read_page_1(data_jk_bits);
if (enable_rs) if (enable_rs)
{ {
@ -935,6 +936,7 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
} }
case 3: // Word type 3: Ephemeris (3/4) and SISA case 3: // Word type 3: Ephemeris (3/4) and SISA
{ {
page_position_in_inav_subframe = 11;
read_page_3(data_jk_bits); read_page_3(data_jk_bits);
if (enable_rs) if (enable_rs)
{ {
@ -967,6 +969,7 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
case 4: // Word type 4: Ephemeris (4/4) and Clock correction parameters case 4: // Word type 4: Ephemeris (4/4) and Clock correction parameters
{ {
page_position_in_inav_subframe = 1;
read_page_4(data_jk_bits); read_page_4(data_jk_bits);
if (enable_rs) if (enable_rs)
{ {
@ -998,6 +1001,7 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
} }
case 5: // Word type 5: Ionospheric correction, BGD, signal health and data validity status and GST case 5: // Word type 5: Ionospheric correction, BGD, signal health and data validity status and GST
page_position_in_inav_subframe = 12;
// Ionospheric correction // Ionospheric correction
ai0_5 = static_cast<double>(read_navigation_unsigned(data_jk_bits, AI0_5_BIT)); ai0_5 = static_cast<double>(read_navigation_unsigned(data_jk_bits, AI0_5_BIT));
ai0_5 = ai0_5 * AI0_5_LSB; ai0_5 = ai0_5 * AI0_5_LSB;
@ -1048,6 +1052,7 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
break; break;
case 6: // Word type 6: GST-UTC conversion parameters case 6: // Word type 6: GST-UTC conversion parameters
page_position_in_inav_subframe = 2;
A0_6 = static_cast<double>(read_navigation_signed(data_jk_bits, A0_6_BIT)); A0_6 = static_cast<double>(read_navigation_signed(data_jk_bits, A0_6_BIT));
A0_6 = A0_6 * A0_6_LSB; A0_6 = A0_6 * A0_6_LSB;
DLOG(INFO) << "A0_6= " << A0_6; DLOG(INFO) << "A0_6= " << A0_6;
@ -1076,6 +1081,7 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
break; break;
case 7: // Word type 7: Almanac for SVID1 (1/2), almanac reference time and almanac reference week number case 7: // Word type 7: Almanac for SVID1 (1/2), almanac reference time and almanac reference week number
page_position_in_inav_subframe = 3;
IOD_a_7 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, IOD_A_7_BIT)); IOD_a_7 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, IOD_A_7_BIT));
DLOG(INFO) << "IOD_a_7= " << IOD_a_7; DLOG(INFO) << "IOD_a_7= " << IOD_a_7;
WN_a_7 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, WN_A_7_BIT)); WN_a_7 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, WN_A_7_BIT));
@ -1110,7 +1116,8 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
DLOG(INFO) << "flag_tow_set" << flag_TOW_set; DLOG(INFO) << "flag_tow_set" << flag_TOW_set;
break; break;
case 8: // Word type 8: Almanac for SVID1 (2/2) and SVID2 (1/2)*/ case 8: // Word type 8: Almanac for SVID1 (2/2) and SVID2 (1/2)
page_position_in_inav_subframe = 4;
IOD_a_8 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, IOD_A_8_BIT)); IOD_a_8 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, IOD_A_8_BIT));
DLOG(INFO) << "IOD_a_8= " << IOD_a_8; DLOG(INFO) << "IOD_a_8= " << IOD_a_8;
af0_8 = static_cast<double>(read_navigation_signed(data_jk_bits, AF0_8_BIT)); af0_8 = static_cast<double>(read_navigation_signed(data_jk_bits, AF0_8_BIT));
@ -1148,6 +1155,7 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
break; break;
case 9: // Word type 9: Almanac for SVID2 (2/2) and SVID3 (1/2) case 9: // Word type 9: Almanac for SVID2 (2/2) and SVID3 (1/2)
page_position_in_inav_subframe = 3;
IOD_a_9 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, IOD_A_9_BIT)); IOD_a_9 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, IOD_A_9_BIT));
DLOG(INFO) << "IOD_a_9= " << IOD_a_9; DLOG(INFO) << "IOD_a_9= " << IOD_a_9;
WN_a_9 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, WN_A_9_BIT)); WN_a_9 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, WN_A_9_BIT));
@ -1187,6 +1195,7 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
break; break;
case 10: // Word type 10: Almanac for SVID3 (2/2) and GST-GPS conversion parameters case 10: // Word type 10: Almanac for SVID3 (2/2) and GST-GPS conversion parameters
page_position_in_inav_subframe = 4;
IOD_a_10 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, IOD_A_10_BIT)); IOD_a_10 = static_cast<int32_t>(read_navigation_unsigned(data_jk_bits, IOD_A_10_BIT));
DLOG(INFO) << "IOD_a_10= " << IOD_a_10; DLOG(INFO) << "IOD_a_10= " << IOD_a_10;
Omega0_10 = static_cast<double>(read_navigation_signed(data_jk_bits, OMEGA0_10_BIT)); Omega0_10 = static_cast<double>(read_navigation_signed(data_jk_bits, OMEGA0_10_BIT));
@ -1258,6 +1267,7 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
case 17: // Word type 17: FEC2 Reed-Solomon for CED case 17: // Word type 17: FEC2 Reed-Solomon for CED
{ {
page_position_in_inav_subframe = 5;
if (enable_rs) if (enable_rs)
{ {
IODnav_LSB17 = read_octet_unsigned(data_jk_bits, RS_IODNAV_LSBS); IODnav_LSB17 = read_octet_unsigned(data_jk_bits, RS_IODNAV_LSBS);
@ -1287,6 +1297,7 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
case 18: // Word type 18: FEC2 Reed-Solomon for CED case 18: // Word type 18: FEC2 Reed-Solomon for CED
{ {
page_position_in_inav_subframe = 5;
if (enable_rs) if (enable_rs)
{ {
IODnav_LSB18 = read_octet_unsigned(data_jk_bits, RS_IODNAV_LSBS); IODnav_LSB18 = read_octet_unsigned(data_jk_bits, RS_IODNAV_LSBS);
@ -1316,6 +1327,7 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
case 19: // Word type 19: FEC2 Reed-Solomon for CED case 19: // Word type 19: FEC2 Reed-Solomon for CED
{ {
page_position_in_inav_subframe = 6;
if (enable_rs) if (enable_rs)
{ {
IODnav_LSB19 = read_octet_unsigned(data_jk_bits, RS_IODNAV_LSBS); IODnav_LSB19 = read_octet_unsigned(data_jk_bits, RS_IODNAV_LSBS);
@ -1345,6 +1357,7 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
case 20: // Word type 20: FEC2 Reed-Solomon for CED case 20: // Word type 20: FEC2 Reed-Solomon for CED
{ {
page_position_in_inav_subframe = 6;
if (enable_rs) if (enable_rs)
{ {
IODnav_LSB20 = read_octet_unsigned(data_jk_bits, RS_IODNAV_LSBS); IODnav_LSB20 = read_octet_unsigned(data_jk_bits, RS_IODNAV_LSBS);
@ -1392,8 +1405,7 @@ int32_t Galileo_Inav_Message::page_jk_decoder(const char* data_jk)
break; break;
} }
if (page_position_in_inav_subframe != 0 && if (page_position_in_inav_subframe > 14 &&
page_position_in_inav_subframe > 14 &&
page_position_in_inav_subframe != 255) page_position_in_inav_subframe != 255)
{ {
// something weird happened, reset // something weird happened, reset
@ -1416,8 +1428,7 @@ OSNMA_msg Galileo_Inav_Message::get_osnma_msg()
bool Galileo_Inav_Message::have_new_nma() bool Galileo_Inav_Message::have_new_nma()
{ {
if (std::all_of(nma_position_filled.begin(), nma_position_filled.end(), if (std::all_of(nma_position_filled.begin(), nma_position_filled.end(), [](int8_t element) { return element == 1; }))
[](int32_t element) { return element == 1; }))
{ {
return true; return true;
} }