| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // This file is part of INSTINCT, the INS Toolkit for Integrated | ||
| 2 | // Navigation Concepts and Training by the Institute of Navigation of | ||
| 3 | // the University of Stuttgart, Germany. | ||
| 4 | // | ||
| 5 | // This Source Code Form is subject to the terms of the Mozilla Public | ||
| 6 | // License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| 7 | // file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
| 8 | |||
| 9 | #include "KvhUtilities.hpp" | ||
| 10 | |||
| 11 | #include "util/Logger.hpp" | ||
| 12 | #include "Navigation/Constants.hpp" | ||
| 13 | #include "util/Vendor/KVH/KvhUartSensor.hpp" | ||
| 14 | #include <array> | ||
| 15 | |||
| 16 | // Static table used for the table driven implementation of the 32-bit CRC algorithm. | ||
| 17 | static const std::array<uint32_t, 256> ui32aCRCTable = { | ||
| 18 | 0x00000000, 0x04c11db7, 0x09823b6e, 0x0d4326d9, | ||
| 19 | 0x130476dc, 0x17c56b6b, 0x1a864db2, 0x1e475005, | ||
| 20 | 0x2608edb8, 0x22c9f00f, 0x2f8ad6d6, 0x2b4bcb61, | ||
| 21 | 0x350c9b64, 0x31cd86d3, 0x3c8ea00a, 0x384fbdbd, | ||
| 22 | 0x4c11db70, 0x48d0c6c7, 0x4593e01e, 0x4152fda9, | ||
| 23 | 0x5f15adac, 0x5bd4b01b, 0x569796c2, 0x52568b75, | ||
| 24 | 0x6a1936c8, 0x6ed82b7f, 0x639b0da6, 0x675a1011, | ||
| 25 | 0x791d4014, 0x7ddc5da3, 0x709f7b7a, 0x745e66cd, | ||
| 26 | 0x9823b6e0, 0x9ce2ab57, 0x91a18d8e, 0x95609039, | ||
| 27 | 0x8b27c03c, 0x8fe6dd8b, 0x82a5fb52, 0x8664e6e5, | ||
| 28 | 0xbe2b5b58, 0xbaea46ef, 0xb7a96036, 0xb3687d81, | ||
| 29 | 0xad2f2d84, 0xa9ee3033, 0xa4ad16ea, 0xa06c0b5d, | ||
| 30 | 0xd4326d90, 0xd0f37027, 0xddb056fe, 0xd9714b49, | ||
| 31 | 0xc7361b4c, 0xc3f706fb, 0xceb42022, 0xca753d95, | ||
| 32 | 0xf23a8028, 0xf6fb9d9f, 0xfbb8bb46, 0xff79a6f1, | ||
| 33 | 0xe13ef6f4, 0xe5ffeb43, 0xe8bccd9a, 0xec7dd02d, | ||
| 34 | 0x34867077, 0x30476dc0, 0x3d044b19, 0x39c556ae, | ||
| 35 | 0x278206ab, 0x23431b1c, 0x2e003dc5, 0x2ac12072, | ||
| 36 | 0x128e9dcf, 0x164f8078, 0x1b0ca6a1, 0x1fcdbb16, | ||
| 37 | 0x018aeb13, 0x054bf6a4, 0x0808d07d, 0x0cc9cdca, | ||
| 38 | 0x7897ab07, 0x7c56b6b0, 0x71159069, 0x75d48dde, | ||
| 39 | 0x6b93dddb, 0x6f52c06c, 0x6211e6b5, 0x66d0fb02, | ||
| 40 | 0x5e9f46bf, 0x5a5e5b08, 0x571d7dd1, 0x53dc6066, | ||
| 41 | 0x4d9b3063, 0x495a2dd4, 0x44190b0d, 0x40d816ba, | ||
| 42 | 0xaca5c697, 0xa864db20, 0xa527fdf9, 0xa1e6e04e, | ||
| 43 | 0xbfa1b04b, 0xbb60adfc, 0xb6238b25, 0xb2e29692, | ||
| 44 | 0x8aad2b2f, 0x8e6c3698, 0x832f1041, 0x87ee0df6, | ||
| 45 | 0x99a95df3, 0x9d684044, 0x902b669d, 0x94ea7b2a, | ||
| 46 | 0xe0b41de7, 0xe4750050, 0xe9362689, 0xedf73b3e, | ||
| 47 | 0xf3b06b3b, 0xf771768c, 0xfa325055, 0xfef34de2, | ||
| 48 | 0xc6bcf05f, 0xc27dede8, 0xcf3ecb31, 0xcbffd686, | ||
| 49 | 0xd5b88683, 0xd1799b34, 0xdc3abded, 0xd8fba05a, | ||
| 50 | 0x690ce0ee, 0x6dcdfd59, 0x608edb80, 0x644fc637, | ||
| 51 | 0x7a089632, 0x7ec98b85, 0x738aad5c, 0x774bb0eb, | ||
| 52 | 0x4f040d56, 0x4bc510e1, 0x46863638, 0x42472b8f, | ||
| 53 | 0x5c007b8a, 0x58c1663d, 0x558240e4, 0x51435d53, | ||
| 54 | 0x251d3b9e, 0x21dc2629, 0x2c9f00f0, 0x285e1d47, | ||
| 55 | 0x36194d42, 0x32d850f5, 0x3f9b762c, 0x3b5a6b9b, | ||
| 56 | 0x0315d626, 0x07d4cb91, 0x0a97ed48, 0x0e56f0ff, | ||
| 57 | 0x1011a0fa, 0x14d0bd4d, 0x19939b94, 0x1d528623, | ||
| 58 | 0xf12f560e, 0xf5ee4bb9, 0xf8ad6d60, 0xfc6c70d7, | ||
| 59 | 0xe22b20d2, 0xe6ea3d65, 0xeba91bbc, 0xef68060b, | ||
| 60 | 0xd727bbb6, 0xd3e6a601, 0xdea580d8, 0xda649d6f, | ||
| 61 | 0xc423cd6a, 0xc0e2d0dd, 0xcda1f604, 0xc960ebb3, | ||
| 62 | 0xbd3e8d7e, 0xb9ff90c9, 0xb4bcb610, 0xb07daba7, | ||
| 63 | 0xae3afba2, 0xaafbe615, 0xa7b8c0cc, 0xa379dd7b, | ||
| 64 | 0x9b3660c6, 0x9ff77d71, 0x92b45ba8, 0x9675461f, | ||
| 65 | 0x8832161a, 0x8cf30bad, 0x81b02d74, 0x857130c3, | ||
| 66 | 0x5d8a9099, 0x594b8d2e, 0x5408abf7, 0x50c9b640, | ||
| 67 | 0x4e8ee645, 0x4a4ffbf2, 0x470cdd2b, 0x43cdc09c, | ||
| 68 | 0x7b827d21, 0x7f436096, 0x7200464f, 0x76c15bf8, | ||
| 69 | 0x68860bfd, 0x6c47164a, 0x61043093, 0x65c52d24, | ||
| 70 | 0x119b4be9, 0x155a565e, 0x18197087, 0x1cd86d30, | ||
| 71 | 0x029f3d35, 0x065e2082, 0x0b1d065b, 0x0fdc1bec, | ||
| 72 | 0x3793a651, 0x3352bbe6, 0x3e119d3f, 0x3ad08088, | ||
| 73 | 0x2497d08d, 0x2056cd3a, 0x2d15ebe3, 0x29d4f654, | ||
| 74 | 0xc5a92679, 0xc1683bce, 0xcc2b1d17, 0xc8ea00a0, | ||
| 75 | 0xd6ad50a5, 0xd26c4d12, 0xdf2f6bcb, 0xdbee767c, | ||
| 76 | 0xe3a1cbc1, 0xe760d676, 0xea23f0af, 0xeee2ed18, | ||
| 77 | 0xf0a5bd1d, 0xf464a0aa, 0xf9278673, 0xfde69bc4, | ||
| 78 | 0x89b8fd09, 0x8d79e0be, 0x803ac667, 0x84fbdbd0, | ||
| 79 | 0x9abc8bd5, 0x9e7d9662, 0x933eb0bb, 0x97ffad0c, | ||
| 80 | 0xafb010b1, 0xab710d06, 0xa6322bdf, 0xa2f33668, | ||
| 81 | 0xbcb4666d, 0xb8757bda, 0xb5365d03, 0xb1f740b4 | ||
| 82 | }; // ui32aCRCTable[] | ||
| 83 | |||
| 84 | ✗ | uint32_t NAV::vendor::kvh::ui32CalcImuCRC(const std::vector<uint8_t>& rawData) | |
| 85 | { | ||
| 86 | ✗ | uint32_t ui32CRCVal = 0xFFFFFFFF; | |
| 87 | |||
| 88 | ✗ | for (size_t i = 0; i < rawData.size() - sizeof(uint32_t); i++) | |
| 89 | { | ||
| 90 | ✗ | uint32_t ixTableEntry = ((ui32CRCVal >> 24U) ^ rawData.at(i)) & 0xFFU; | |
| 91 | ✗ | ui32CRCVal = ui32aCRCTable.at(ixTableEntry) ^ (ui32CRCVal << 8U); | |
| 92 | } | ||
| 93 | |||
| 94 | ✗ | return ui32CRCVal; | |
| 95 | } | ||
| 96 | |||
| 97 | ✗ | void NAV::vendor::kvh::decryptKvhObs(const std::shared_ptr<NAV::KvhObs>& obs) | |
| 98 | { | ||
| 99 | ✗ | auto headerType = obs->raw.extractUint32(); | |
| 100 | |||
| 101 | ✗ | if (obs->raw.type() == uart::protocol::Packet::Type::TYPE_BINARY) | |
| 102 | { | ||
| 103 | ✗ | if (headerType == vendor::kvh::KvhUartSensor::HEADER_FMT_A) | |
| 104 | { | ||
| 105 | ✗ | obs->p_angularRate = { obs->raw.extractFloat(), | |
| 106 | ✗ | obs->raw.extractFloat(), | |
| 107 | ✗ | obs->raw.extractFloat() }; | |
| 108 | |||
| 109 | ✗ | obs->p_acceleration = { obs->raw.extractFloat(), | |
| 110 | ✗ | obs->raw.extractFloat(), | |
| 111 | ✗ | obs->raw.extractFloat() }; | |
| 112 | |||
| 113 | ✗ | obs->status = obs->raw.extractUint8(); | |
| 114 | ✗ | obs->sequenceNumber = obs->raw.extractUint8(); | |
| 115 | ✗ | obs->temperature = obs->raw.extractUint16(); | |
| 116 | } | ||
| 117 | ✗ | else if (headerType == vendor::kvh::KvhUartSensor::HEADER_FMT_B) | |
| 118 | { | ||
| 119 | ✗ | obs->p_angularRate = { obs->raw.extractFloat(), | |
| 120 | ✗ | obs->raw.extractFloat(), | |
| 121 | ✗ | obs->raw.extractFloat() }; | |
| 122 | |||
| 123 | ✗ | obs->p_acceleration = { obs->raw.extractFloat(), | |
| 124 | ✗ | obs->raw.extractFloat(), | |
| 125 | ✗ | obs->raw.extractFloat() }; | |
| 126 | |||
| 127 | ✗ | obs->timeSinceStartup.emplace(obs->raw.extractUint32() * 1000); | |
| 128 | ✗ | obs->status = obs->raw.extractUint8(); | |
| 129 | ✗ | obs->sequenceNumber = obs->raw.extractUint8(); | |
| 130 | ✗ | obs->temperature = obs->raw.extractUint16(); | |
| 131 | } | ||
| 132 | ✗ | else if (headerType == vendor::kvh::KvhUartSensor::HEADER_FMT_C) | |
| 133 | { | ||
| 134 | ✗ | obs->p_angularRate = { obs->raw.extractFloat(), | |
| 135 | ✗ | obs->raw.extractFloat(), | |
| 136 | ✗ | obs->raw.extractFloat() }; | |
| 137 | |||
| 138 | ✗ | obs->p_acceleration = { obs->raw.extractFloat(), | |
| 139 | ✗ | obs->raw.extractFloat(), | |
| 140 | ✗ | obs->raw.extractFloat() }; | |
| 141 | |||
| 142 | ✗ | auto OneOfTempMagXYZ = obs->raw.extractFloat(); | |
| 143 | |||
| 144 | ✗ | obs->status = obs->raw.extractUint8(); | |
| 145 | ✗ | obs->sequenceNumber = obs->raw.extractUint8(); | |
| 146 | |||
| 147 | // Static is wrong here!!! If Multtiple KVH units were used, it would be the same for all of them | ||
| 148 | // As only 1 KVH is used, this doesn't give any problems | ||
| 149 | static std::array<double, 4> tempMagXYZ{ std::nan(""), std::nan(""), std::nan(""), std::nan("") }; | ||
| 150 | ✗ | tempMagXYZ.at(obs->sequenceNumber % 4) = static_cast<double>(OneOfTempMagXYZ); | |
| 151 | |||
| 152 | ✗ | obs->temperature = tempMagXYZ[0]; | |
| 153 | ✗ | obs->p_magneticField.emplace(tempMagXYZ[1], tempMagXYZ[2], tempMagXYZ[3]); | |
| 154 | } | ||
| 155 | |||
| 156 | ✗ | obs->p_acceleration *= InsConst::G_NORM; | |
| 157 | } | ||
| 158 | ✗ | } | |
| 159 |