2011-10-01 18:45:20 +00:00
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#include "gps_l1_ca_subframe_fsm.h"
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//************ GPS WORD TO SUBFRAME DECODER STATE MACHINE **********
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struct Ev_gps_word_valid : sc::event<Ev_gps_word_valid> {};
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struct Ev_gps_word_invalid : sc::event<Ev_gps_word_invalid>{};
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struct Ev_gps_word_preamble : sc::event<Ev_gps_word_preamble>{};
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struct gps_subframe_fsm_S0: public sc::state<gps_subframe_fsm_S0, GpsL1CaSubframeFsm > {
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public:
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// sc::transition(evento,estado_destino)
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typedef sc::transition< Ev_gps_word_preamble, gps_subframe_fsm_S1 > reactions;
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gps_subframe_fsm_S0(my_context ctx): my_base( ctx ){
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2011-10-28 15:01:46 +00:00
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//std::cout<<"Enter S0 "<<std::endl;
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2011-10-01 18:45:20 +00:00
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}
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};
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struct gps_subframe_fsm_S1: public sc::state<gps_subframe_fsm_S1, GpsL1CaSubframeFsm > {
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S2 > > reactions;
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gps_subframe_fsm_S1(my_context ctx): my_base( ctx ){
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2011-10-28 15:01:46 +00:00
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//std::cout<<"Enter S1 "<<std::endl;
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2011-10-01 18:45:20 +00:00
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}
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};
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struct gps_subframe_fsm_S2: public sc::state<gps_subframe_fsm_S2, GpsL1CaSubframeFsm > {
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S3 > > reactions;
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gps_subframe_fsm_S2(my_context ctx): my_base( ctx ){
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2011-10-28 15:01:46 +00:00
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//std::cout<<"Enter S2 "<<std::endl;
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2011-10-01 18:45:20 +00:00
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(0);
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}
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};
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struct gps_subframe_fsm_S3: public sc::state<gps_subframe_fsm_S3, GpsL1CaSubframeFsm > {
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S4 > > reactions;
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gps_subframe_fsm_S3(my_context ctx): my_base( ctx ){
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2011-10-28 15:01:46 +00:00
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//std::cout<<"Enter S3 "<<std::endl;
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2011-10-01 18:45:20 +00:00
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(1);
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}
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};
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struct gps_subframe_fsm_S4: public sc::state<gps_subframe_fsm_S4, GpsL1CaSubframeFsm > {
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S5 > > reactions;
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gps_subframe_fsm_S4(my_context ctx): my_base( ctx ){
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2011-10-28 15:01:46 +00:00
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//std::cout<<"Enter S4 "<<std::endl;
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2011-10-01 18:45:20 +00:00
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(2);
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}
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};
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struct gps_subframe_fsm_S5: public sc::state<gps_subframe_fsm_S5, GpsL1CaSubframeFsm > {
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S6 > > reactions;
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gps_subframe_fsm_S5(my_context ctx): my_base( ctx ){
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2011-10-28 15:01:46 +00:00
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//std::cout<<"Enter S5 "<<std::endl;
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2011-10-01 18:45:20 +00:00
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(3);
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}
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};
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struct gps_subframe_fsm_S6: public sc::state<gps_subframe_fsm_S6, GpsL1CaSubframeFsm > {
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S7 > > reactions;
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gps_subframe_fsm_S6(my_context ctx): my_base( ctx ){
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2011-10-28 15:01:46 +00:00
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//std::cout<<"Enter S6 "<<std::endl;
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2011-10-01 18:45:20 +00:00
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(4);
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}
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};
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struct gps_subframe_fsm_S7: public sc::state<gps_subframe_fsm_S7, GpsL1CaSubframeFsm > {
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S8 > > reactions;
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gps_subframe_fsm_S7(my_context ctx): my_base( ctx ){
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2011-10-28 15:01:46 +00:00
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//std::cout<<"Enter S7 "<<std::endl;
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2011-10-01 18:45:20 +00:00
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(5);
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}
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};
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struct gps_subframe_fsm_S8: public sc::state<gps_subframe_fsm_S8, GpsL1CaSubframeFsm > {
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S9 > > reactions;
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gps_subframe_fsm_S8(my_context ctx): my_base( ctx ){
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2011-10-28 15:01:46 +00:00
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//std::cout<<"Enter S8 "<<std::endl;
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2011-10-01 18:45:20 +00:00
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(6);
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}
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};
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struct gps_subframe_fsm_S9: public sc::state<gps_subframe_fsm_S9, GpsL1CaSubframeFsm > {
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S10 > > reactions;
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gps_subframe_fsm_S9(my_context ctx): my_base( ctx ){
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2011-10-28 15:01:46 +00:00
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//std::cout<<"Enter S9 "<<std::endl;
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2011-10-01 18:45:20 +00:00
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(7);
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}
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};
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struct gps_subframe_fsm_S10: public sc::state<gps_subframe_fsm_S10, GpsL1CaSubframeFsm > {
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public:
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typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
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sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S11 > > reactions;
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gps_subframe_fsm_S10(my_context ctx): my_base( ctx ){
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2011-10-28 15:01:46 +00:00
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//std::cout<<"Enter S10 "<<std::endl;
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2011-10-01 18:45:20 +00:00
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(8);
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}
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};
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struct gps_subframe_fsm_S11: public sc::state<gps_subframe_fsm_S11, GpsL1CaSubframeFsm > {
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public:
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typedef sc::transition< Ev_gps_word_preamble, gps_subframe_fsm_S1 > reactions;
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gps_subframe_fsm_S11(my_context ctx): my_base( ctx ){
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2011-10-28 15:01:46 +00:00
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//std::cout<<"Completed GPS Subframe!"<<std::endl;
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2011-10-01 18:45:20 +00:00
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context< GpsL1CaSubframeFsm >().gps_word_to_subframe(9);
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context< GpsL1CaSubframeFsm >().gps_subframe_to_nav_msg(); //decode the subframe
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// DECODE SUBFRAME
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2011-10-28 15:01:46 +00:00
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//std::cout<<"Enter S11"<<std::endl;
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2011-10-01 18:45:20 +00:00
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}
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};
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GpsL1CaSubframeFsm::GpsL1CaSubframeFsm()
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{
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d_nav.reset();
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initiate(); //start the FSM
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}
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void GpsL1CaSubframeFsm::gps_word_to_subframe(int position)
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{
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// insert the word in the correct position of the subframe
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std::memcpy(&d_subframe[position*GPS_WORD_LENGTH],&d_GPS_frame_4bytes,sizeof(char)*GPS_WORD_LENGTH);
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}
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void GpsL1CaSubframeFsm::gps_subframe_to_nav_msg()
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{
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int subframe_ID;
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// NEW GPS SUBFRAME HAS ARRIVED!
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subframe_ID=d_nav.subframe_decoder(this->d_subframe); //decode the subframe
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- Major changes:
- The executable file and the default configuration file is now changed from "./install/mercurio" and "./conf/mercurio.conf" to "./install/gnss-sdr" and "./conf/gnss-sdr.conf", respectively.
- Configuration file structure changed to define in a single entry the internal sampling frequency (after the signal conditioner). NOTICE that this change affects the all the adapters (acquisition, tracking, telemetry_decoder, observables, and PVT). All the adapters are now modified to work with this feature.
- Moved several in-line GPS L1 CA parameters (a.k.a magic numbers..) to ./src/core/system_parameters/GPS_L1_CA.h definition file.
- Tracking blocks now uses DOUBLE values in their outputs.
- Observables and PVT now are separated. PVT and their associated libraries are moved to ./src/algorithms/PVT
- Temporarily disabled the RINEX output (I am working on that!)
- GNSS-SDR screen output now gives extended debug information of the receiver status and events. In the future, this output will be redirected to a log file.
- Bug fixes:
- FILE_SIGNAL_SOURCE now works correctly when the user configures GNSS-SDR to process the entire file.
- GPS_L1_CA_DLL_PLL now computes correctly the PRN start values.
- GPS_L1_CA_DLL_FLL_PLL now computes correctly the PRN start values.
- Several modifications in GPS_L1_CA_Telemetry_Decoder, GPS_L1_CA_Observables, and GPS_L1_CA_PVT modules to fix the GPS position computation.
- New features
- Tracking blocks perform a signal integrity check against NaN outliers before the correlation process.
- Tracking and PVT binary dump options are now documented and we provide MATLAB libraries and sample files to read it. Available in ./utils/matlab" and "./utils/matlab/libs"
- Observables output rate can be configured. This option enables the GPS L1 CA PVT computation at a maximum rate of 1ms.
- GPS_L1_CA_PVT now can perform a moving average Latitude, Longitude, and Altitude output for each of the Observables output. It is configurable using the configuration file.
- Added Google Earth compatible Keyhole Markup Language (KML) output writer class (./src/algorithms/PVT/libs/kml_printer.h and ./src/algorithms/PVT/libs/kml_printer.cc ). You can see the receiver position directly using Google Earth.
- We provide a master configuration file which includes an in-line documentation with all the new (and old) options. It can be found in ./conf/master.conf
git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@84 64b25241-fba3-4117-9849-534c7e92360d
2011-12-07 17:59:34 +00:00
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std::cout<<"NAVIGATION FSM: received subframe "<<subframe_ID<<" for satellite "<<d_nav.d_satellite_PRN<<std::endl;
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2011-11-22 17:21:54 +00:00
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d_nav.d_satellite_PRN=d_satellite_PRN;
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2011-10-01 18:45:20 +00:00
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d_nav.d_channel_ID=d_channel_ID;
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2011-10-28 15:01:46 +00:00
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if (subframe_ID==1) {
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- Major changes:
- The executable file and the default configuration file is now changed from "./install/mercurio" and "./conf/mercurio.conf" to "./install/gnss-sdr" and "./conf/gnss-sdr.conf", respectively.
- Configuration file structure changed to define in a single entry the internal sampling frequency (after the signal conditioner). NOTICE that this change affects the all the adapters (acquisition, tracking, telemetry_decoder, observables, and PVT). All the adapters are now modified to work with this feature.
- Moved several in-line GPS L1 CA parameters (a.k.a magic numbers..) to ./src/core/system_parameters/GPS_L1_CA.h definition file.
- Tracking blocks now uses DOUBLE values in their outputs.
- Observables and PVT now are separated. PVT and their associated libraries are moved to ./src/algorithms/PVT
- Temporarily disabled the RINEX output (I am working on that!)
- GNSS-SDR screen output now gives extended debug information of the receiver status and events. In the future, this output will be redirected to a log file.
- Bug fixes:
- FILE_SIGNAL_SOURCE now works correctly when the user configures GNSS-SDR to process the entire file.
- GPS_L1_CA_DLL_PLL now computes correctly the PRN start values.
- GPS_L1_CA_DLL_FLL_PLL now computes correctly the PRN start values.
- Several modifications in GPS_L1_CA_Telemetry_Decoder, GPS_L1_CA_Observables, and GPS_L1_CA_PVT modules to fix the GPS position computation.
- New features
- Tracking blocks perform a signal integrity check against NaN outliers before the correlation process.
- Tracking and PVT binary dump options are now documented and we provide MATLAB libraries and sample files to read it. Available in ./utils/matlab" and "./utils/matlab/libs"
- Observables output rate can be configured. This option enables the GPS L1 CA PVT computation at a maximum rate of 1ms.
- GPS_L1_CA_PVT now can perform a moving average Latitude, Longitude, and Altitude output for each of the Observables output. It is configurable using the configuration file.
- Added Google Earth compatible Keyhole Markup Language (KML) output writer class (./src/algorithms/PVT/libs/kml_printer.h and ./src/algorithms/PVT/libs/kml_printer.cc ). You can see the receiver position directly using Google Earth.
- We provide a master configuration file which includes an in-line documentation with all the new (and old) options. It can be found in ./conf/master.conf
git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@84 64b25241-fba3-4117-9849-534c7e92360d
2011-12-07 17:59:34 +00:00
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d_nav.d_subframe1_timestamp_ms=this->d_preamble_time_ms;
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//std::cout<<"NAVIGATION FSM: set subframe 1 preamble timestamp for satellite "<<d_nav.d_satellite_PRN<<std::endl;
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2011-10-28 15:01:46 +00:00
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}
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- Major changes:
- The executable file and the default configuration file is now changed from "./install/mercurio" and "./conf/mercurio.conf" to "./install/gnss-sdr" and "./conf/gnss-sdr.conf", respectively.
- Configuration file structure changed to define in a single entry the internal sampling frequency (after the signal conditioner). NOTICE that this change affects the all the adapters (acquisition, tracking, telemetry_decoder, observables, and PVT). All the adapters are now modified to work with this feature.
- Moved several in-line GPS L1 CA parameters (a.k.a magic numbers..) to ./src/core/system_parameters/GPS_L1_CA.h definition file.
- Tracking blocks now uses DOUBLE values in their outputs.
- Observables and PVT now are separated. PVT and their associated libraries are moved to ./src/algorithms/PVT
- Temporarily disabled the RINEX output (I am working on that!)
- GNSS-SDR screen output now gives extended debug information of the receiver status and events. In the future, this output will be redirected to a log file.
- Bug fixes:
- FILE_SIGNAL_SOURCE now works correctly when the user configures GNSS-SDR to process the entire file.
- GPS_L1_CA_DLL_PLL now computes correctly the PRN start values.
- GPS_L1_CA_DLL_FLL_PLL now computes correctly the PRN start values.
- Several modifications in GPS_L1_CA_Telemetry_Decoder, GPS_L1_CA_Observables, and GPS_L1_CA_PVT modules to fix the GPS position computation.
- New features
- Tracking blocks perform a signal integrity check against NaN outliers before the correlation process.
- Tracking and PVT binary dump options are now documented and we provide MATLAB libraries and sample files to read it. Available in ./utils/matlab" and "./utils/matlab/libs"
- Observables output rate can be configured. This option enables the GPS L1 CA PVT computation at a maximum rate of 1ms.
- GPS_L1_CA_PVT now can perform a moving average Latitude, Longitude, and Altitude output for each of the Observables output. It is configurable using the configuration file.
- Added Google Earth compatible Keyhole Markup Language (KML) output writer class (./src/algorithms/PVT/libs/kml_printer.h and ./src/algorithms/PVT/libs/kml_printer.cc ). You can see the receiver position directly using Google Earth.
- We provide a master configuration file which includes an in-line documentation with all the new (and old) options. It can be found in ./conf/master.conf
git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@84 64b25241-fba3-4117-9849-534c7e92360d
2011-12-07 17:59:34 +00:00
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/*!
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* \todo change satellite validation to subframe 5 because it will have a complete set of ephemeris parameters
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*/
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2011-10-01 18:45:20 +00:00
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if (subframe_ID==3) { // if the subframe is the 5th, then
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if (d_nav.satellite_validation()) // if all the satellite ephemeris parameters are good, then
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{
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// Send the procesed satellite ephemeris packet
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d_nav_queue->push(d_nav);
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}
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}
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}
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void GpsL1CaSubframeFsm::Event_gps_word_valid()
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{
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this->process_event(Ev_gps_word_valid());
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}
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void GpsL1CaSubframeFsm::Event_gps_word_invalid()
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{
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this->process_event(Ev_gps_word_invalid());
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}
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void GpsL1CaSubframeFsm::Event_gps_word_preamble()
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{
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this->process_event(Ev_gps_word_preamble());
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}
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