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Check CRC on LH calibration data #1266

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merged 1 commit into from
Apr 13, 2023
Merged

Check CRC on LH calibration data #1266

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1 change: 0 additions & 1 deletion src/utils/interface/lighthouse/ootx_decoder.h
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Original file line number Diff line number Diff line change
Expand Up @@ -66,7 +66,6 @@ struct ootxDataFrame_s {

typedef struct ootxDecoderState_s {
int frameLength;
int bytesReceived;

uint16_t currentWord;

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13 changes: 10 additions & 3 deletions src/utils/src/lighthouse/ootx_decoder.c
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,7 @@
#include <stdint.h>

#include "ootx_decoder.h"
#include "crc32.h"

// #include "debug.h"

Expand All @@ -41,6 +42,12 @@ uint16_t betole(uint16_t value)
return ((value&0xff00u)>>8) | ((value&0xffu)<<8);
}

static bool checkCrc(const ootxDecoderState_t* state) {
const uint32_t crc32 = crc32CalculateBuffer(state->data, state->frameLength);
const bool isCrcCheckOk = (crc32 == state->crc32);
return isCrcCheckOk;
}

// Frame format described there: https://github.com/nairol/LighthouseRedox/blob/master/docs/Light%20Emissions.md#ootx-frame
bool ootxDecoderProcessBit(ootxDecoderState_t * state, int data)
{
Expand Down Expand Up @@ -75,11 +82,11 @@ bool ootxDecoderProcessBit(ootxDecoderState_t * state, int data)
state->bitInWord = 0;

// At the stuffing bit after CRC1, we are done!
// TODO: Check CRC!
if (state->rxState == rxDone) {
const bool isDataValid = checkCrc(state);
state->isFullyDecoded = isDataValid;
state->synchronized = false;
state->isFullyDecoded = true;
return true;
return isDataValid;
} else {
state->isFullyDecoded = false;
return false;
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