2017-11-29 14:51:30 +00:00
|
|
|
/*!
|
|
|
|
* \file gps_l5_telemetry_decoder_cc.cc
|
|
|
|
* \brief Implementation of a NAV message demodulator block based on
|
|
|
|
* Kay Borre book MATLAB-based GPS receiver
|
|
|
|
* \author Antonio Ramos, 2017. antonio.ramos(at)cttc.es
|
|
|
|
*
|
|
|
|
* -------------------------------------------------------------------------
|
|
|
|
*
|
|
|
|
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
|
|
|
|
*
|
|
|
|
* GNSS-SDR is a software defined Global Navigation
|
|
|
|
* Satellite Systems receiver
|
|
|
|
*
|
|
|
|
* This file is part of GNSS-SDR.
|
|
|
|
*
|
|
|
|
* GNSS-SDR is free software: you can redistribute it and/or modify
|
|
|
|
* it under the terms of the GNU General Public License as published by
|
|
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
|
|
* (at your option) any later version.
|
|
|
|
*
|
|
|
|
* GNSS-SDR is distributed in the hope that it will be useful,
|
|
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
|
|
* GNU General Public License for more details.
|
|
|
|
*
|
|
|
|
* You should have received a copy of the GNU General Public License
|
|
|
|
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
|
|
|
*
|
|
|
|
* -------------------------------------------------------------------------
|
|
|
|
*/
|
|
|
|
|
|
|
|
#include <bitset>
|
|
|
|
#include <iostream>
|
|
|
|
#include <sstream>
|
|
|
|
#include <gnuradio/io_signature.h>
|
|
|
|
#include <glog/logging.h>
|
|
|
|
#include <boost/lexical_cast.hpp>
|
|
|
|
#include "gnss_synchro.h"
|
|
|
|
#include "gps_l5_telemetry_decoder_cc.h"
|
2017-12-11 11:17:01 +00:00
|
|
|
#include "gps_cnav_ephemeris.h"
|
|
|
|
#include "gps_cnav_iono.h"
|
2017-11-29 14:51:30 +00:00
|
|
|
|
|
|
|
using google::LogMessage;
|
|
|
|
|
|
|
|
gps_l5_telemetry_decoder_cc_sptr
|
|
|
|
gps_l5_make_telemetry_decoder_cc(const Gnss_Satellite & satellite, bool dump)
|
|
|
|
{
|
|
|
|
return gps_l5_telemetry_decoder_cc_sptr(new gps_l5_telemetry_decoder_cc(satellite, dump));
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
gps_l5_telemetry_decoder_cc::gps_l5_telemetry_decoder_cc(
|
|
|
|
const Gnss_Satellite & satellite, bool dump) : gr::block("gps_l5_telemetry_decoder_cc",
|
|
|
|
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
|
|
|
|
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
|
|
|
|
{
|
|
|
|
// Telemetry Bit transition synchronization port out
|
|
|
|
this->message_port_register_out(pmt::mp("preamble_timestamp_s"));
|
|
|
|
// Ephemeris data port out
|
|
|
|
this->message_port_register_out(pmt::mp("telemetry"));
|
|
|
|
// initialize internal vars
|
|
|
|
d_dump = dump;
|
|
|
|
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
|
|
|
|
DLOG(INFO) << "GPS L5 TELEMETRY PROCESSING: satellite " << d_satellite;
|
|
|
|
d_channel = 0;
|
|
|
|
d_flag_valid_word = false;
|
2017-12-14 15:39:34 +00:00
|
|
|
d_TOW_at_current_symbol = 0.0;
|
|
|
|
d_TOW_at_Preamble = 0.0;
|
2017-11-29 14:51:30 +00:00
|
|
|
//initialize the CNAV frame decoder (libswiftcnav)
|
|
|
|
cnav_msg_decoder_init(&d_cnav_decoder);
|
2017-12-11 11:17:01 +00:00
|
|
|
for(int aux = 0; aux < GPS_L5_NH_CODE_LENGTH; aux++)
|
|
|
|
{
|
|
|
|
if(GPS_L5_NH_CODE[aux] == 0)
|
|
|
|
{
|
|
|
|
bits_NH[aux] = -1.0;
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
bits_NH[aux] = 1.0;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
sync_NH = false;
|
|
|
|
new_sym = false;
|
2017-11-29 14:51:30 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
gps_l5_telemetry_decoder_cc::~gps_l5_telemetry_decoder_cc()
|
|
|
|
{
|
|
|
|
if(d_dump_file.is_open() == true)
|
|
|
|
{
|
|
|
|
try
|
|
|
|
{
|
|
|
|
d_dump_file.close();
|
|
|
|
}
|
|
|
|
catch(const std::exception & ex)
|
|
|
|
{
|
|
|
|
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
int gps_l5_telemetry_decoder_cc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
|
|
|
|
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
|
|
|
|
{
|
|
|
|
// get pointers on in- and output gnss-synchro objects
|
|
|
|
Gnss_Synchro *out = reinterpret_cast<Gnss_Synchro *>(output_items[0]); // Get the output buffer pointer
|
|
|
|
const Gnss_Synchro *in = reinterpret_cast<const Gnss_Synchro *>(input_items[0]); // Get the input buffer pointer
|
|
|
|
|
|
|
|
// UPDATE GNSS SYNCHRO DATA
|
|
|
|
Gnss_Synchro current_synchro_data; //structure to save the synchronization information and send the output object to the next block
|
|
|
|
//1. Copy the current tracking output
|
|
|
|
current_synchro_data = in[0];
|
2017-12-11 11:17:01 +00:00
|
|
|
consume_each(1); //one by one
|
|
|
|
sym_hist.push_back(in[0].Prompt_I);
|
2017-12-14 15:39:34 +00:00
|
|
|
int corr_NH = 0;
|
|
|
|
int symbol_value = 0;
|
2017-11-29 14:51:30 +00:00
|
|
|
|
2017-12-14 15:39:34 +00:00
|
|
|
//Search correlation with Neuman-Hofman Code (see IS-GPS-705D)
|
2017-12-11 11:17:01 +00:00
|
|
|
if(sym_hist.size() == GPS_L5_NH_CODE_LENGTH)
|
|
|
|
{
|
|
|
|
for(int i = 0; i < GPS_L5_NH_CODE_LENGTH; i++)
|
|
|
|
{
|
2017-12-14 15:39:34 +00:00
|
|
|
if((bits_NH[i] * sym_hist.at(i)) > 0.0) {corr_NH += 1;}
|
|
|
|
else {corr_NH -= 1;}
|
|
|
|
}
|
|
|
|
if(abs(corr_NH) == GPS_L5_NH_CODE_LENGTH)
|
|
|
|
{
|
|
|
|
sync_NH = true;
|
|
|
|
if(corr_NH > 0) {symbol_value = 1;}
|
|
|
|
else {symbol_value = -1;}
|
|
|
|
new_sym = true;
|
|
|
|
sym_hist.clear();
|
2017-12-11 11:17:01 +00:00
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
|
|
|
sym_hist.pop_front();
|
|
|
|
sync_NH = false;
|
2017-12-14 15:39:34 +00:00
|
|
|
new_sym = false;
|
2017-12-11 11:17:01 +00:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
bool flag_new_cnav_frame = false;
|
|
|
|
cnav_msg_t msg;
|
|
|
|
u32 delay = 0;
|
|
|
|
|
|
|
|
//add the symbol to the decoder
|
|
|
|
if(new_sym)
|
|
|
|
{
|
2017-12-14 15:39:34 +00:00
|
|
|
u8 symbol_clip = static_cast<u8>(symbol_value > 0) * 255;
|
2017-12-11 11:17:01 +00:00
|
|
|
flag_new_cnav_frame = cnav_msg_decoder_add_symbol(&d_cnav_decoder, symbol_clip, &msg, &delay);
|
|
|
|
new_sym = false;
|
|
|
|
}
|
2017-11-29 14:51:30 +00:00
|
|
|
//2. Add the telemetry decoder information
|
|
|
|
//check if new CNAV frame is available
|
|
|
|
if (flag_new_cnav_frame == true)
|
|
|
|
{
|
|
|
|
std::bitset<GPS_L5_CNAV_DATA_PAGE_BITS> raw_bits;
|
|
|
|
//Expand packet bits to bitsets. Notice the reverse order of the bits sequence, required by the CNAV message decoder
|
|
|
|
for (u32 i = 0; i < GPS_L5_CNAV_DATA_PAGE_BITS ; i++)
|
|
|
|
{
|
|
|
|
raw_bits[GPS_L5_CNAV_DATA_PAGE_BITS - 1 - i] = ((msg.raw_msg[i/8] >> (7 - i%8)) & 1u);
|
|
|
|
}
|
|
|
|
|
|
|
|
d_CNAV_Message.decode_page(raw_bits);
|
|
|
|
|
|
|
|
//Push the new navigation data to the queues
|
|
|
|
if (d_CNAV_Message.have_new_ephemeris() == true)
|
|
|
|
{
|
|
|
|
// get ephemeris object for this SV
|
|
|
|
std::shared_ptr<Gps_CNAV_Ephemeris> tmp_obj = std::make_shared<Gps_CNAV_Ephemeris>(d_CNAV_Message.get_ephemeris());
|
2017-12-14 15:39:34 +00:00
|
|
|
std::cout << "New GPS L5 CNAV message received: ephemeris from satellite " << d_satellite << std::endl;
|
2017-11-29 14:51:30 +00:00
|
|
|
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
|
|
|
|
|
|
|
}
|
|
|
|
if (d_CNAV_Message.have_new_iono() == true)
|
|
|
|
{
|
|
|
|
std::shared_ptr<Gps_CNAV_Iono> tmp_obj = std::make_shared<Gps_CNAV_Iono>(d_CNAV_Message.get_iono());
|
2017-12-14 15:39:34 +00:00
|
|
|
std::cout << "New GPS L5 CNAV message received: iono model parameters from satellite " << d_satellite << std::endl;
|
2017-11-29 14:51:30 +00:00
|
|
|
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
|
|
|
}
|
|
|
|
|
|
|
|
if (d_CNAV_Message.have_new_utc_model() == true)
|
|
|
|
{
|
|
|
|
std::shared_ptr<Gps_CNAV_Utc_Model> tmp_obj = std::make_shared<Gps_CNAV_Utc_Model>(d_CNAV_Message.get_utc_model());
|
2017-12-14 15:39:34 +00:00
|
|
|
std::cout << "New GPS L5 CNAV message received: UTC model parameters from satellite " << d_satellite << std::endl;
|
2017-11-29 14:51:30 +00:00
|
|
|
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
|
|
|
}
|
|
|
|
|
|
|
|
//update TOW at the preamble instant
|
2017-12-14 15:39:34 +00:00
|
|
|
d_TOW_at_Preamble = static_cast<double>(msg.tow) * 6.0;
|
2017-11-29 14:51:30 +00:00
|
|
|
//* The time of the last input symbol can be computed from the message ToW and
|
|
|
|
//* delay by the formulae:
|
|
|
|
//* \code
|
2017-12-18 10:07:29 +00:00
|
|
|
//* symbolTime_ms = msg->tow * 6000 + *pdelay * 10 + (12 * 10); 12 symbols of the encoder's transitory
|
2017-12-14 15:39:34 +00:00
|
|
|
d_TOW_at_current_symbol = (static_cast<double>(msg.tow) * 6.0) + (static_cast<double>(delay) + 12.0) * GPS_L5i_SYMBOL_PERIOD;
|
2017-11-29 14:51:30 +00:00
|
|
|
d_TOW_at_current_symbol = floor(d_TOW_at_current_symbol * 1000.0) / 1000.0;
|
|
|
|
d_flag_valid_word = true;
|
|
|
|
}
|
|
|
|
else
|
|
|
|
{
|
2017-11-30 15:04:20 +00:00
|
|
|
d_TOW_at_current_symbol += GPS_L5i_PERIOD;
|
2017-11-29 14:51:30 +00:00
|
|
|
if (current_synchro_data.Flag_valid_symbol_output == false)
|
|
|
|
{
|
|
|
|
d_flag_valid_word = false;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
current_synchro_data.TOW_at_current_symbol_s = d_TOW_at_current_symbol;
|
|
|
|
current_synchro_data.Flag_valid_word = d_flag_valid_word;
|
|
|
|
|
|
|
|
if(d_dump == true)
|
|
|
|
{
|
|
|
|
// MULTIPLEXED FILE RECORDING - Record results to file
|
|
|
|
try
|
|
|
|
{
|
|
|
|
double tmp_double;
|
|
|
|
unsigned long int tmp_ulong_int;
|
|
|
|
tmp_double = d_TOW_at_current_symbol;
|
|
|
|
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
|
|
|
|
tmp_ulong_int = current_synchro_data.Tracking_sample_counter;
|
|
|
|
d_dump_file.write(reinterpret_cast<char*>(&tmp_ulong_int), sizeof(unsigned long int));
|
|
|
|
tmp_double = d_TOW_at_Preamble;
|
|
|
|
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
|
|
|
|
}
|
|
|
|
catch (const std::ifstream::failure & e)
|
|
|
|
{
|
2017-12-14 15:39:34 +00:00
|
|
|
LOG(WARNING) << "Exception writing Telemetry GPS L5 dump file " << e.what();
|
2017-11-29 14:51:30 +00:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
//3. Make the output (copy the object contents to the GNURadio reserved memory)
|
|
|
|
out[0] = current_synchro_data;
|
|
|
|
return 1;
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void gps_l5_telemetry_decoder_cc::set_satellite(const Gnss_Satellite & satellite)
|
|
|
|
{
|
|
|
|
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
|
|
|
|
LOG(INFO) << "GPS L5 CNAV telemetry decoder in channel " << this->d_channel << " set to satellite " << d_satellite;
|
2017-12-14 15:39:34 +00:00
|
|
|
d_CNAV_Message.reset();
|
2017-11-29 14:51:30 +00:00
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void gps_l5_telemetry_decoder_cc::set_channel(int channel)
|
|
|
|
{
|
|
|
|
d_channel = channel;
|
2017-12-14 15:39:34 +00:00
|
|
|
d_CNAV_Message.reset();
|
2017-11-29 14:51:30 +00:00
|
|
|
LOG(INFO) << "GPS L5 CNAV channel set to " << channel;
|
|
|
|
// ############# ENABLE DATA FILE LOG #################
|
|
|
|
if (d_dump == true)
|
|
|
|
{
|
|
|
|
if (d_dump_file.is_open() == false)
|
|
|
|
{
|
|
|
|
try
|
|
|
|
{
|
|
|
|
d_dump_filename = "telemetry_L5_";
|
|
|
|
d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
|
|
|
|
d_dump_filename.append(".dat");
|
|
|
|
d_dump_file.exceptions ( std::ifstream::failbit | std::ifstream::badbit );
|
|
|
|
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
|
|
|
|
LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel
|
|
|
|
<< " Log file: " << d_dump_filename.c_str();
|
|
|
|
}
|
|
|
|
catch (const std::ifstream::failure &e)
|
|
|
|
{
|
2017-12-14 15:39:34 +00:00
|
|
|
LOG(WARNING) << "channel " << d_channel << " Exception opening Telemetry GPS L5 dump file " << e.what();
|
2017-11-29 14:51:30 +00:00
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|