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| //
| // Created by YY on 2024/2/23.
| //
|
| #include "rtcm.h"
| #include <cstdint>
| #include <cstring>
| #include "jni_log.h"
| #include "native-lib.h"
| #include "mcu/car_box.h"
|
| #define DEBUG(fmt, args...) LOGD("<ntrip-rtcm> <%s>: " fmt, __func__, ##args)
|
| enum parse_rtcm_status_t {
| SYNC_HEAD,
| GET_LENGTH_HI,
| GET_LENGTH_LO,
| GET_PAYLOAD,
| GET_CRC_1,
| GET_CRC_2,
| GET_CRC_3,
| };
|
| static uint8_t rtcmPackage[1100];
| static int rtcmPayloadLength;
| static int rx_len;
|
| int parse_status = SYNC_HEAD;
|
| static bool CheckCrc(void);
|
| void ParseRtcm(const uint8_t *data, int length) {
| int x = 0;
| while (x < length) {
| uint8_t c = data[x];
|
| switch (parse_status) {
| case SYNC_HEAD: {
| if (data[x] == 0xD3) {
| parse_status = GET_LENGTH_HI;
| rtcmPackage[0] = 0xD3;
| }
| x++;
| break;
| }
| case GET_LENGTH_HI: {
| if (data[x] <= 0x03) {
| parse_status = GET_LENGTH_LO;
| rtcmPayloadLength = data[x];
| rtcmPackage[1] = data[x];
| } else {
| parse_status = SYNC_HEAD;
| }
| x++;
| break;
| }
| case GET_LENGTH_LO: {
| rtcmPayloadLength = (rtcmPayloadLength << 8) + data[x];
| parse_status = GET_PAYLOAD;
| rtcmPackage[2] = data[x];
| rx_len = 0;
| x++;
| break;
| }
| case GET_PAYLOAD: {
| if (length - x >= rtcmPayloadLength - rx_len) {
| memcpy(rtcmPackage + 3 + rx_len, data + x, rtcmPayloadLength - rx_len);
| x += rtcmPayloadLength - rx_len;
| rx_len = rtcmPayloadLength;
| parse_status = GET_CRC_1;
| } else {
| memcpy(rtcmPackage + 3 + rx_len, data + x, length - x);
| rx_len += length - x;
| x = length;
| }
| break;
| }
| case GET_CRC_1: {
| rtcmPackage[3+rtcmPayloadLength] = c;
| parse_status = GET_CRC_2;
| x++;
| break;
| }
| case GET_CRC_2: {
| rtcmPackage[3+rtcmPayloadLength+1] = c;
| parse_status = GET_CRC_3;
| x++;
| break;
| }
| case GET_CRC_3: {
| rtcmPackage[3+rtcmPayloadLength+2] = c;
|
| if (CheckCrc()) {
| SendRtcmToUart(rtcmPackage, 6 + rtcmPayloadLength);
| }
| parse_status = SYNC_HEAD;
| x++;
| break;
| }
| }
|
| }
| }
|
| static bool CheckCrc(void) {
| static const int table[]={
| 0x000000, 0x864CFB, 0x8AD50D, 0x0C99F6, 0x93E6E1, 0x15AA1A, 0x1933EC, 0x9F7F17,
| 0xA18139, 0x27CDC2, 0x2B5434, 0xAD18CF, 0x3267D8, 0xB42B23, 0xB8B2D5, 0x3EFE2E, 0xC54E89, 0x430272,
| 0x4F9B84, 0xC9D77F, 0x56A868, 0xD0E493, 0xDC7D65, 0x5A319E, 0x64CFB0, 0xE2834B, 0xEE1ABD, 0x685646,
| 0xF72951, 0x7165AA, 0x7DFC5C, 0xFBB0A7, 0x0CD1E9, 0x8A9D12, 0x8604E4, 0x00481F, 0x9F3708, 0x197BF3,
| 0x15E205, 0x93AEFE, 0xAD50D0, 0x2B1C2B, 0x2785DD, 0xA1C926, 0x3EB631, 0xB8FACA, 0xB4633C, 0x322FC7,
| 0xC99F60, 0x4FD39B, 0x434A6D, 0xC50696, 0x5A7981, 0xDC357A, 0xD0AC8C, 0x56E077, 0x681E59, 0xEE52A2,
| 0xE2CB54, 0x6487AF, 0xFBF8B8, 0x7DB443, 0x712DB5, 0xF7614E, 0x19A3D2, 0x9FEF29, 0x9376DF, 0x153A24,
| 0x8A4533, 0x0C09C8, 0x00903E, 0x86DCC5, 0xB822EB, 0x3E6E10, 0x32F7E6, 0xB4BB1D, 0x2BC40A, 0xAD88F1,
| 0xA11107, 0x275DFC, 0xDCED5B, 0x5AA1A0, 0x563856, 0xD074AD, 0x4F0BBA, 0xC94741, 0xC5DEB7, 0x43924C,
| 0x7D6C62, 0xFB2099, 0xF7B96F, 0x71F594, 0xEE8A83, 0x68C678, 0x645F8E, 0xE21375, 0x15723B, 0x933EC0,
| 0x9FA736, 0x19EBCD, 0x8694DA, 0x00D821, 0x0C41D7, 0x8A0D2C, 0xB4F302, 0x32BFF9, 0x3E260F, 0xB86AF4,
| 0x2715E3, 0xA15918, 0xADC0EE, 0x2B8C15, 0xD03CB2, 0x567049, 0x5AE9BF, 0xDCA544, 0x43DA53, 0xC596A8,
| 0xC90F5E, 0x4F43A5, 0x71BD8B, 0xF7F170, 0xFB6886, 0x7D247D, 0xE25B6A, 0x641791, 0x688E67, 0xEEC29C,
| 0x3347A4, 0xB50B5F, 0xB992A9, 0x3FDE52, 0xA0A145, 0x26EDBE, 0x2A7448, 0xAC38B3, 0x92C69D, 0x148A66,
| 0x181390, 0x9E5F6B, 0x01207C, 0x876C87, 0x8BF571, 0x0DB98A, 0xF6092D, 0x7045D6, 0x7CDC20, 0xFA90DB,
| 0x65EFCC, 0xE3A337, 0xEF3AC1, 0x69763A, 0x578814, 0xD1C4EF, 0xDD5D19, 0x5B11E2, 0xC46EF5, 0x42220E,
| 0x4EBBF8, 0xC8F703, 0x3F964D, 0xB9DAB6, 0xB54340, 0x330FBB, 0xAC70AC, 0x2A3C57, 0x26A5A1, 0xA0E95A,
| 0x9E1774, 0x185B8F, 0x14C279, 0x928E82, 0x0DF195, 0x8BBD6E, 0x872498, 0x016863, 0xFAD8C4, 0x7C943F,
| 0x700DC9, 0xF64132, 0x693E25, 0xEF72DE, 0xE3EB28, 0x65A7D3, 0x5B59FD, 0xDD1506, 0xD18CF0, 0x57C00B,
| 0xC8BF1C, 0x4EF3E7, 0x426A11, 0xC426EA, 0x2AE476, 0xACA88D, 0xA0317B, 0x267D80, 0xB90297, 0x3F4E6C,
| 0x33D79A, 0xB59B61, 0x8B654F, 0x0D29B4, 0x01B042, 0x87FCB9, 0x1883AE, 0x9ECF55, 0x9256A3, 0x141A58,
| 0xEFAAFF, 0x69E604, 0x657FF2, 0xE33309, 0x7C4C1E, 0xFA00E5, 0xF69913, 0x70D5E8, 0x4E2BC6, 0xC8673D,
| 0xC4FECB, 0x42B230, 0xDDCD27, 0x5B81DC, 0x57182A, 0xD154D1, 0x26359F, 0xA07964, 0xACE092, 0x2AAC69,
| 0xB5D37E, 0x339F85, 0x3F0673, 0xB94A88, 0x87B4A6, 0x01F85D, 0x0D61AB, 0x8B2D50, 0x145247, 0x921EBC,
| 0x9E874A, 0x18CBB1, 0xE37B16, 0x6537ED, 0x69AE1B, 0xEFE2E0, 0x709DF7, 0xF6D10C, 0xFA48FA, 0x7C0401,
| 0x42FA2F, 0xC4B6D4, 0xC82F22, 0x4E63D9, 0xD11CCE, 0x575035, 0x5BC9C3, 0xDD8538};
|
| int crc = 0;
| for(int i = 0; i< 3 + rtcmPayloadLength; i++) {
| crc = ((crc << 8) & 0xFFFFFF) ^ table[(crc >> 16) ^ (rtcmPackage[i] & 0xff)];
| }
| if (crc == (rtcmPackage[3+rtcmPayloadLength]<<16) + (rtcmPackage[3+rtcmPayloadLength + 1]<<8) + rtcmPackage[3+rtcmPayloadLength + 2]) {
| return true;
| }
|
| DEBUG("校验失败 %d: %X - %X", crc, crc, (rtcmPackage[3+rtcmPayloadLength]<<16) + (rtcmPackage[3+rtcmPayloadLength + 1]<<8) + rtcmPackage[3+rtcmPayloadLength + 2]);
|
| return false;
| }
|
|
