diff --git a/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_optim_tracking.cc b/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_optim_tracking.cc
new file mode 100644
index 000000000..090815031
--- /dev/null
+++ b/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_optim_tracking.cc
@@ -0,0 +1,163 @@
+/*!
+ * \file gps_l1_ca_dll_pll_optim_tracking.cc
+ * \brief Interface of an adapter of a speed optimized DLL+PLL tracking loop block
+ * for GPS L1 C/A to a TrackingInterface
+ * \author Javier Arribas, 2012. jarribas(at)cttc.es
+ *
+ * GPS L1 TRACKING MODULE OPTIMIZED FOR SPEED:
+ * - Code Doppler is not compensated in the local replica
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkha user, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2012 (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 .
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "gps_l1_ca_dll_pll_optim_tracking.h"
+#include "GPS_L1_CA.h"
+#include "configuration_interface.h"
+#include
+#include
+#include
+#include
+
+using google::LogMessage;
+
+GpsL1CaDllPllOptimTracking::GpsL1CaDllPllOptimTracking(
+ ConfigurationInterface* configuration, std::string role,
+ unsigned int in_streams, unsigned int out_streams,
+ gr_msg_queue_sptr queue) :
+ role_(role), in_streams_(in_streams), out_streams_(out_streams),
+ queue_(queue)
+{
+
+ DLOG(INFO) << "role " << role;
+
+ //################# CONFIGURATION PARAMETERS ########################
+
+ int fs_in;
+ int vector_length;
+ int f_if;
+ bool dump;
+ std::string dump_filename;
+ std::string item_type;
+ std::string default_item_type = "gr_complex";
+ float pll_bw_hz;
+ float dll_bw_hz;
+ float early_late_space_chips;
+
+ item_type = configuration->property(role + ".item_type",default_item_type);
+ //vector_length = configuration->property(role + ".vector_length", 2048);
+ fs_in = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
+ f_if = configuration->property(role + ".if", 0);
+ dump = configuration->property(role + ".dump", false);
+ pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
+ dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
+ early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
+
+ std::string default_dump_filename = "./track_ch";
+ dump_filename = configuration->property(role + ".dump_filename",
+ default_dump_filename); //unused!
+
+ vector_length = round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
+ //################# MAKE TRACKING GNURadio object ###################
+ if (item_type.compare("gr_complex") == 0)
+ {
+ item_size_ = sizeof(gr_complex);
+ tracking_ = gps_l1_ca_dll_pll_make_optim_tracking_cc(
+ f_if,
+ fs_in,
+ vector_length,
+ queue_,
+ dump,
+ dump_filename,
+ pll_bw_hz,
+ dll_bw_hz,
+ early_late_space_chips);
+ }
+ else
+ {
+ LOG_AT_LEVEL(WARNING) << item_type << " unknown tracking item type.";
+ }
+
+ DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";
+}
+
+GpsL1CaDllPllOptimTracking::~GpsL1CaDllPllOptimTracking()
+{
+}
+
+void GpsL1CaDllPllOptimTracking::start_tracking()
+{
+ tracking_->start_tracking();
+}
+
+/*
+ * Set tracking channel unique ID
+ */
+void GpsL1CaDllPllOptimTracking::set_channel(unsigned int channel)
+{
+ channel_ = channel;
+ tracking_->set_channel(channel);
+}
+
+/*
+ * Set tracking channel internal queue
+ */
+void GpsL1CaDllPllOptimTracking::set_channel_queue(
+ concurrent_queue *channel_internal_queue)
+{
+ channel_internal_queue_ = channel_internal_queue;
+
+ tracking_->set_channel_queue(channel_internal_queue_);
+
+}
+
+void GpsL1CaDllPllOptimTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
+{
+ tracking_->set_gnss_synchro(p_gnss_synchro);
+}
+
+void GpsL1CaDllPllOptimTracking::connect(gr_top_block_sptr top_block)
+{
+ //nothing to connect, now the tracking uses gr_sync_decimator
+}
+
+void GpsL1CaDllPllOptimTracking::disconnect(gr_top_block_sptr top_block)
+{
+ //nothing to disconnect, now the tracking uses gr_sync_decimator
+}
+
+gr_basic_block_sptr GpsL1CaDllPllOptimTracking::get_left_block()
+{
+ return tracking_;
+}
+
+gr_basic_block_sptr GpsL1CaDllPllOptimTracking::get_right_block()
+{
+ return tracking_;
+}
+
diff --git a/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_optim_tracking.h b/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_optim_tracking.h
new file mode 100644
index 000000000..b848394f1
--- /dev/null
+++ b/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_optim_tracking.h
@@ -0,0 +1,115 @@
+/*!
+ * \file gps_l1_ca_dll_pll_optim_tracking.h
+ * \brief Interface of an adapter of a speed optimized DLL+PLL tracking loop block
+ * for GPS L1 C/A to a TrackingInterface
+ * \author Javier Arribas, 2012. jarribas(at)cttc.es
+ *
+ * GPS L1 TRACKING MODULE OPTIMIZED FOR SPEED:
+ * - Code Doppler is not compensated in the local replica
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkha user, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2012 (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 .
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#ifndef GNSS_SDR_GPS_L1_CA_DLL_PLL_OPTIM_TRACKING_H_
+#define GNSS_SDR_GPS_L1_CA_DLL_PLL_OPTIM_TRACKING_H_
+
+#include "tracking_interface.h"
+#include "gps_l1_ca_dll_pll_optim_tracking_cc.h"
+#include
+
+class ConfigurationInterface;
+
+/*!
+ * \brief This class implements a code DLL + carrier PLL tracking loop
+ */
+class GpsL1CaDllPllOptimTracking : public TrackingInterface
+{
+
+public:
+
+ GpsL1CaDllPllOptimTracking(ConfigurationInterface* configuration,
+ std::string role,
+ unsigned int in_streams,
+ unsigned int out_streams,
+ gr_msg_queue_sptr queue);
+
+ virtual ~GpsL1CaDllPllOptimTracking();
+
+ std::string role()
+ {
+ return role_;
+ }
+ std::string implementation()
+ {
+ return "GPS_L1_CA_DLL_PLL_Optim_Tracking";
+ }
+ size_t item_size()
+ {
+ return item_size_;
+ }
+
+ void connect(gr_top_block_sptr top_block);
+ void disconnect(gr_top_block_sptr top_block);
+ gr_basic_block_sptr get_left_block();
+ gr_basic_block_sptr get_right_block();
+
+
+ /*!
+ * \brief Set tracking channel unique ID
+ */
+ void set_channel(unsigned int channel);
+
+ /*!
+ * \brief Set acquisition/tracking common Gnss_Synchro object pointer
+ * to efficiently exchange synchronization data between acquisition and tracking blocks
+ */
+ void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+
+ /*!
+ * \brief Set tracking channel internal queue
+ */
+ void set_channel_queue(concurrent_queue *channel_internal_queue);
+
+ void start_tracking();
+
+private:
+
+ gps_l1_ca_dll_pll_optim_tracking_cc_sptr tracking_;
+ size_t item_size_;
+
+ unsigned int channel_;
+
+ std::string role_;
+ unsigned int in_streams_;
+ unsigned int out_streams_;
+ gr_msg_queue_sptr queue_;
+ concurrent_queue *channel_internal_queue_;
+};
+
+#endif // GNSS_SDR_GPS_L1_CA_DLL_PLL_OPTIM_TRACKING_H_
diff --git a/src/algorithms/tracking/adapters/jamfile.jam b/src/algorithms/tracking/adapters/jamfile.jam
index a81b55b40..5393be324 100644
--- a/src/algorithms/tracking/adapters/jamfile.jam
+++ b/src/algorithms/tracking/adapters/jamfile.jam
@@ -3,4 +3,5 @@ project : build-dir ../../../../build ;
obj gps_l1_ca_dll_pll_tracking : gps_l1_ca_dll_pll_tracking.cc : darwin:GNSS_SDR_USE_BOOST_ROUND ;
obj gps_l1_ca_dll_fll_pll_tracking : gps_l1_ca_dll_fll_pll_tracking.cc : darwin:GNSS_SDR_USE_BOOST_ROUND ;
obj gps_l1_ca_tcp_connector_tracking : gps_l1_ca_tcp_connector_tracking.cc : darwin:GNSS_SDR_USE_BOOST_ROUND ;
-obj galileo_e1_dll_pll_veml_tracking : galileo_e1_dll_pll_veml_tracking.cc : darwin:GNSS_SDR_USE_BOOST_ROUND ;
\ No newline at end of file
+obj galileo_e1_dll_pll_veml_tracking : galileo_e1_dll_pll_veml_tracking.cc : darwin:GNSS_SDR_USE_BOOST_ROUND ;
+obj gps_l1_ca_dll_pll_optim_tracking : gps_l1_ca_dll_pll_optim_tracking.cc : darwin:GNSS_SDR_USE_BOOST_ROUND ;
\ No newline at end of file
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_optim_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_optim_tracking_cc.cc
new file mode 100644
index 000000000..a1d09810b
--- /dev/null
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_optim_tracking_cc.cc
@@ -0,0 +1,688 @@
+/*!
+ * \file gps_l1_ca_dll_pll_optim_tracking_cc.cc
+ * \brief Implementation of a code DLL + carrier PLL tracking block
+ * \author Javier Arribas, 2012. jarribas(at)cttc.es
+ * GPS L1 TRACKING MODULE OPTIMIZED FOR SPEED:
+ * - Code Doppler is not compensated in the local replica
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * [1] K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkha user, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2012 (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 .
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "gnss_synchro.h"
+#include "gps_l1_ca_dll_pll_optim_tracking_cc.h"
+#include "gps_sdr_signal_processing.h"
+#include "tracking_discriminators.h"
+#include "CN_estimators.h"
+#include "GPS_L1_CA.h"
+#include "control_message_factory.h"
+#include
+#include
+#include
+#include
+#include "math.h"
+#include
+#include
+#include
+#include
+
+/*!
+ * \todo Include in definition header file
+ */
+#define CN0_ESTIMATION_SAMPLES 10
+#define MINIMUM_VALID_CN0 25
+#define MAXIMUM_LOCK_FAIL_COUNTER 200
+
+
+using google::LogMessage;
+
+gps_l1_ca_dll_pll_optim_tracking_cc_sptr
+gps_l1_ca_dll_pll_make_optim_tracking_cc(
+ long if_freq,
+ long fs_in,
+ unsigned int vector_length,
+ gr_msg_queue_sptr queue,
+ bool dump,
+ std::string dump_filename,
+ float pll_bw_hz,
+ float dll_bw_hz,
+ float early_late_space_chips)
+{
+ return gps_l1_ca_dll_pll_optim_tracking_cc_sptr(new Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc(if_freq,
+ fs_in, vector_length, queue, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips));
+}
+
+
+
+void Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::forecast (int noutput_items,
+ gr_vector_int &ninput_items_required)
+{
+ ninput_items_required[0] = (int)d_vector_length*2; //set the required available samples in each call
+}
+
+
+
+Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc(
+ long if_freq,
+ long fs_in,
+ unsigned int vector_length,
+ gr_msg_queue_sptr queue,
+ bool dump,
+ std::string dump_filename,
+ float pll_bw_hz,
+ float dll_bw_hz,
+ float early_late_space_chips) :
+ gr_block ("Gps_L1_Ca_Dll_Pll_Tracking_cc", gr_make_io_signature (1, 1, sizeof(gr_complex)),
+ gr_make_io_signature(1, 1, sizeof(Gnss_Synchro)))
+{
+
+ //gr_sync_decimator ("Gps_L1_Ca_Dll_Pll_Tracking_cc", gr_make_io_signature (1, 1, sizeof(gr_complex)),
+ // gr_make_io_signature(3, 3, sizeof(float)),vector_length) {
+ // initialize internal vars
+ d_queue = queue;
+ d_dump = dump;
+ d_if_freq = if_freq;
+ d_fs_in = fs_in;
+ d_vector_length = vector_length;
+ d_dump_filename = dump_filename;
+
+ // Initialize tracking ==========================================
+
+ d_code_loop_filter.set_DLL_BW(dll_bw_hz);
+ d_carrier_loop_filter.set_PLL_BW(pll_bw_hz);
+
+ //--- DLL variables --------------------------------------------------------
+ d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
+
+ // Initialization of local code replica
+ // Get space for a vector with the C/A code replica sampled 1x/chip
+ d_ca_code = new gr_complex[(int)GPS_L1_CA_CODE_LENGTH_CHIPS + 2];
+
+
+
+ d_carr_sign = new gr_complex[d_vector_length*2];
+
+ /* If an array is partitioned for more than one thread to operate on,
+ * having the sub-array boundaries unaligned to cache lines could lead
+ * to performance degradation. Here we allocate memory
+ * (gr_comlex array of size 2*d_vector_length) aligned to cache of 16 bytes
+ */
+ // todo: do something if posix_memalign fails
+ // Get space for the resampled early / prompt / late local replicas
+ if (posix_memalign((void**)&d_early_code, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){};
+ if (posix_memalign((void**)&d_late_code, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){};
+ if (posix_memalign((void**)&d_prompt_code, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){};
+ // space for carrier wipeoff and signal baseband vectors
+ if (posix_memalign((void**)&d_carr_sign, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){};
+ // correlator outputs (scalar)
+ if (posix_memalign((void**)&d_Early, 16, sizeof(gr_complex)) == 0){};
+ if (posix_memalign((void**)&d_Prompt, 16, sizeof(gr_complex)) == 0){};
+ if (posix_memalign((void**)&d_Late, 16, sizeof(gr_complex)) == 0){};
+
+
+ //--- Perform initializations ------------------------------
+ // define initial code frequency basis of NCO
+ d_code_freq_hz = GPS_L1_CA_CODE_RATE_HZ;
+ // define residual code phase (in chips)
+ d_rem_code_phase_samples = 0.0;
+ // define residual carrier phase
+ d_rem_carr_phase_rad = 0.0;
+
+ // sample synchronization
+ d_sample_counter = 0;
+ //d_sample_counter_seconds = 0;
+ d_acq_sample_stamp = 0;
+
+ d_enable_tracking = false;
+ d_pull_in = false;
+ d_last_seg = 0;
+
+ d_current_prn_length_samples = (int)d_vector_length;
+
+ // CN0 estimation and lock detector buffers
+ d_cn0_estimation_counter = 0;
+ d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES];
+ d_carrier_lock_test = 1;
+ d_CN0_SNV_dB_Hz = 0;
+ d_carrier_lock_fail_counter = 0;
+ d_carrier_lock_threshold = 20;
+
+ systemName["G"] = std::string("GPS");
+ systemName["R"] = std::string("GLONASS");
+ systemName["S"] = std::string("SBAS");
+ systemName["E"] = std::string("Galileo");
+ systemName["C"] = std::string("Compass");
+}
+
+void Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::start_tracking()
+{
+ /*
+ * correct the code phase according to the delay between acq and trk
+ */
+
+ d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
+ d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
+ d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
+
+ unsigned long int acq_trk_diff_samples;
+ float acq_trk_diff_seconds;
+ acq_trk_diff_samples = d_sample_counter - d_acq_sample_stamp;//-d_vector_length;
+ std::cout << "acq_trk_diff_samples=" << acq_trk_diff_samples << std::endl;
+ acq_trk_diff_seconds = (float)acq_trk_diff_samples / (float)d_fs_in;
+ //doppler effect
+ // Fd=(C/(C+Vr))*F
+ float radial_velocity;
+ radial_velocity = (GPS_L1_FREQ_HZ + d_acq_carrier_doppler_hz)/GPS_L1_FREQ_HZ;
+ // new chip and prn sequence periods based on acq Doppler
+ float T_chip_mod_seconds;
+ float T_prn_mod_seconds;
+ float T_prn_mod_samples;
+ d_code_freq_hz = radial_velocity * GPS_L1_CA_CODE_RATE_HZ;
+ T_chip_mod_seconds = 1/d_code_freq_hz;
+ T_prn_mod_seconds = T_chip_mod_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
+ T_prn_mod_samples = T_prn_mod_seconds * (float)d_fs_in;
+
+ d_next_prn_length_samples = round(T_prn_mod_samples);
+
+ float T_prn_true_seconds = GPS_L1_CA_CODE_LENGTH_CHIPS / GPS_L1_CA_CODE_RATE_HZ;
+ float T_prn_true_samples = T_prn_true_seconds * (float)d_fs_in;
+ float T_prn_diff_seconds;
+ T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds;
+ float N_prn_diff;
+ N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
+ float corrected_acq_phase_samples, delay_correction_samples;
+ corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * (float)d_fs_in), T_prn_true_samples);
+ if (corrected_acq_phase_samples < 0)
+ {
+ corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples;
+ }
+ delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
+
+ d_acq_code_phase_samples = corrected_acq_phase_samples;
+
+ d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
+ // DLL/PLL filter initialization
+ d_carrier_loop_filter.initialize(d_carrier_doppler_hz); //initialize the carrier filter
+ d_code_loop_filter.initialize(d_acq_code_phase_samples); //initialize the code filter
+
+ // generate local reference ALWAYS starting at chip 1 (1 sample per chip)
+ gps_l1_ca_code_gen_complex(&d_ca_code[1], d_acquisition_gnss_synchro->PRN, 0);
+ d_ca_code[0] = d_ca_code[(int)GPS_L1_CA_CODE_LENGTH_CHIPS];
+ d_ca_code[(int)GPS_L1_CA_CODE_LENGTH_CHIPS + 1] = d_ca_code[1];
+
+
+ //******************************************************************************
+ // Experimental: pre-sampled local signal replica at nominal code frequency.
+ // No code doppler correction
+
+ // unified loop for E, P, L code vectors
+ double code_phase_step_chips;
+ code_phase_step_chips = (GPS_L1_CA_CODE_RATE_HZ / (double)d_fs_in);
+ double tcode_chips = 0;
+ // Alternative EPL code generation (40% of speed improvement!)
+ int early_late_spc_samples;
+ early_late_spc_samples=round(d_early_late_spc_chips/code_phase_step_chips);
+ double epl_loop_length_samples;
+ epl_loop_length_samples=d_current_prn_length_samples+early_late_spc_samples*2;
+ int associated_chip_index;
+ int code_length_chips = (int)GPS_L1_CA_CODE_LENGTH_CHIPS;
+ for (int i=0; iSystem;
+ sys = sys_.substr(0,1);
+
+ // DEBUG OUTPUT
+ std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
+ DLOG(INFO) << "Start tracking for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " received" << std::endl;
+
+ // enable tracking
+ d_pull_in = true;
+ d_enable_tracking = true;
+
+ std::cout << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
+ << " Code Phase correction [samples]=" << delay_correction_samples
+ << " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples << std::endl;
+}
+
+
+void Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::update_local_code()
+{
+ double tcode_chips;
+ double rem_code_phase_chips;
+ int associated_chip_index;
+ int code_length_chips = (int)GPS_L1_CA_CODE_LENGTH_CHIPS;
+ double code_phase_step_chips;
+ int early_late_spc_samples;
+ int epl_loop_length_samples;
+
+ // unified loop for E, P, L code vectors
+ code_phase_step_chips = ((double)d_code_freq_hz) / ((double)d_fs_in);
+ rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_hz / d_fs_in);
+ tcode_chips = -rem_code_phase_chips;
+
+ // Alternative EPL code generation (40% of speed improvement!)
+ early_late_spc_samples=round(d_early_late_spc_chips/code_phase_step_chips);
+ epl_loop_length_samples=d_current_prn_length_samples+early_late_spc_samples*2;
+ for (int i=0; itelemetry_decoder
+ Gnss_Synchro current_synchro_data;
+ // Fill the acquisition data
+ current_synchro_data = *d_acquisition_gnss_synchro;
+
+ const gr_complex* in = (gr_complex*) input_items[0]; //PRN start block alignement
+ Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
+
+ // Update the prn length based on code freq (variable) and
+ // sampling frequency (fixed)
+ // variable code PRN sample block size
+ d_current_prn_length_samples = d_next_prn_length_samples;
+
+ //update_local_code();
+ update_local_carrier();
+
+ // perform Early, Prompt and Late correlation
+ d_correlator.Carrier_wipeoff_and_EPL_volk(d_current_prn_length_samples,
+ in,
+ d_carr_sign,
+ d_early_code,
+ d_prompt_code,
+ d_late_code,
+ d_Early,
+ d_Prompt,
+ d_Late,
+ is_unaligned());
+
+ // check for samples consistency (this should be done before in the receiver / here only if the source is a file)
+ if (std::isnan((*d_Prompt).real()) == true or std::isnan((*d_Prompt).imag()) == true )// or std::isinf(in[i].real())==true or std::isinf(in[i].imag())==true)
+ {
+ const int samples_available = ninput_items[0];
+ d_sample_counter = d_sample_counter + samples_available;
+ LOG_AT_LEVEL(WARNING) << "Detected NaN samples at sample number " << d_sample_counter;
+ consume_each(samples_available);
+
+ // make an output to not stop the rest of the processing blocks
+ current_synchro_data.Prompt_I=0.0;
+ current_synchro_data.Prompt_Q=0.0;
+ current_synchro_data.Tracking_timestamp_secs=(double)d_sample_counter/(double)d_fs_in;
+ current_synchro_data.Carrier_phase_rads=0.0;
+ current_synchro_data.Code_phase_secs=0.0;
+ current_synchro_data.CN0_dB_hz=0.0;
+ current_synchro_data.Flag_valid_tracking=false;
+
+ *out[0] =current_synchro_data;
+
+ return 1;
+ }
+
+ // Compute PLL error and update carrier NCO -
+ carr_error = pll_cloop_two_quadrant_atan(*d_Prompt) / (float)GPS_TWO_PI;
+ // Implement carrier loop filter and generate NCO command
+ carr_nco = d_carrier_loop_filter.get_carrier_nco(carr_error);
+ // Modify carrier freq based on NCO command
+ d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_nco;
+
+ // Compute DLL error and update code NCO
+ code_error = dll_nc_e_minus_l_normalized(*d_Early, *d_Late);
+ // Implement code loop filter and generate NCO command
+ code_nco = d_code_loop_filter.get_code_nco(code_error);
+ // Modify code freq based on NCO command
+ d_code_freq_hz = GPS_L1_CA_CODE_RATE_HZ - code_nco;
+
+ // Update the phasestep based on code freq (variable) and
+ // sampling frequency (fixed)
+ d_code_phase_step_chips = d_code_freq_hz / (float)d_fs_in; //[chips]
+ // variable code PRN sample block size
+ float T_chip_seconds;
+ float T_prn_seconds;
+ float T_prn_samples;
+ float K_blk_samples;
+ T_chip_seconds = 1 / d_code_freq_hz;
+ T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
+ T_prn_samples = T_prn_seconds * d_fs_in;
+ d_rem_code_phase_samples = d_next_rem_code_phase_samples;
+ K_blk_samples = T_prn_samples + d_rem_code_phase_samples;
+ d_next_prn_length_samples = round(K_blk_samples); //round to a discrete samples
+ d_next_rem_code_phase_samples = K_blk_samples - d_next_prn_length_samples; //rounding error
+
+ /*!
+ * \todo Improve the lock detection algorithm!
+ */
+ // ####### CN0 ESTIMATION AND LOCK DETECTORS ######
+ if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
+ {
+ // fill buffer with prompt correlator output values
+ d_Prompt_buffer[d_cn0_estimation_counter] = *d_Prompt;
+ d_cn0_estimation_counter++;
+ }
+ else
+ {
+ d_cn0_estimation_counter = 0;
+ d_CN0_SNV_dB_Hz = gps_l1_ca_CN0_SNV(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in);
+ d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
+ // ###### TRACKING UNLOCK NOTIFICATION #####
+ if (std::abs(d_carrier_lock_test) > d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
+ {
+ d_carrier_lock_fail_counter++;
+ }
+ else
+ {
+ if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
+ }
+ if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
+ {
+ std::cout << "Channel " << d_channel << " loss of lock!" << std::endl ;
+ //tracking_message = 3; //loss of lock
+ //d_channel_internal_queue->push(tracking_message);
+ ControlMessageFactory* cmf = new ControlMessageFactory();
+ if (d_queue != gr_msg_queue_sptr()) {
+ d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
+ }
+ delete cmf;
+ d_carrier_lock_fail_counter = 0;
+ d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
+
+ }
+ //std::cout<<"d_carrier_lock_fail_counter"<PRN)
+ << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
+ //std::cout<<"TRK CH "<PRN)
+ << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
+ //std::cout<<"TRK CH "<(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);
+ std::cout << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl;
+ }
+ catch (std::ifstream::failure e)
+ {
+ std::cout << "channel " << d_channel << " Exception opening trk dump file " << e.what() << std::endl;
+ }
+ }
+ }
+}
+
+
+
+void Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::set_channel_queue(concurrent_queue *channel_internal_queue)
+{
+ d_channel_internal_queue = channel_internal_queue;
+}
+
+void Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
+{
+ d_acquisition_gnss_synchro = p_gnss_synchro;
+
+}
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_optim_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_optim_tracking_cc.h
new file mode 100644
index 000000000..1f7c5fb3d
--- /dev/null
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_optim_tracking_cc.h
@@ -0,0 +1,202 @@
+/*!
+ * \file gps_l1_ca_dll_pll_optim_tracking_cc.h
+ * \brief Implementation of a code DLL + carrier PLL tracking block
+ * \author Javier Arribas, 2012. jarribas(at)cttc.es
+ * GPS L1 TRACKING MODULE OPTIMIZED FOR SPEED:
+ * - Code Doppler is not compensated in the local replica
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * [1] K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkha user, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2012 (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 .
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#ifndef GNSS_SDR_GPS_L1_CA_DLL_PLL_OPTIM_TRACKING_CC_H
+#define GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_CC_H
+
+#include
+#include
+#include
+#include
+#include
+#include
+//#include
+#include "concurrent_queue.h"
+#include "gps_sdr_signal_processing.h"
+#include "gnss_synchro.h"
+#include "tracking_2nd_DLL_filter.h"
+#include "tracking_2nd_PLL_filter.h"
+
+#include "correlator.h"
+
+
+
+class Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc;
+typedef boost::shared_ptr
+ gps_l1_ca_dll_pll_optim_tracking_cc_sptr;
+
+gps_l1_ca_dll_pll_optim_tracking_cc_sptr
+gps_l1_ca_dll_pll_make_optim_tracking_cc(long if_freq,
+ long fs_in, unsigned
+ int vector_length,
+ gr_msg_queue_sptr queue,
+ bool dump,
+ std::string dump_filename,
+ float pll_bw_hz,
+ float dll_bw_hz,
+ float early_late_space_chips);
+
+//class gps_l1_ca_dll_pll_tracking_cc: public gr_sync_decimator
+
+/*!
+ * \brief This class implements a DLL + PLL tracking loop block
+ */
+class Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc: public gr_block
+{
+public:
+
+ ~Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc();
+
+ void set_channel(unsigned int channel);
+ void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+ void start_tracking();
+ void set_channel_queue(concurrent_queue *channel_internal_queue);
+
+ /*
+ * \brief just like gr_block::general_work, only this arranges to call consume_each for you
+ *
+ * The user must override work to define the signal processing code
+ */
+
+ int general_work (int noutput_items, gr_vector_int &ninput_items,
+ gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
+
+ void forecast (int noutput_items, gr_vector_int &ninput_items_required);
+
+
+private:
+
+ friend gps_l1_ca_dll_pll_optim_tracking_cc_sptr
+ gps_l1_ca_dll_pll_make_optim_tracking_cc(long if_freq,
+ long fs_in, unsigned
+ int vector_length,
+ gr_msg_queue_sptr queue,
+ bool dump,
+ std::string dump_filename,
+ float pll_bw_hz,
+ float dll_bw_hz,
+ float early_late_space_chips);
+
+ Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc(long if_freq,
+ long fs_in, unsigned
+ int vector_length,
+ gr_msg_queue_sptr queue,
+ bool dump,
+ std::string dump_filename,
+ float pll_bw_hz,
+ float dll_bw_hz,
+ float early_late_space_chips);
+ void update_local_code();
+ void update_local_carrier();
+
+ // tracking configuration vars
+ gr_msg_queue_sptr d_queue;
+ concurrent_queue *d_channel_internal_queue;
+ unsigned int d_vector_length;
+ bool d_dump;
+
+ Gnss_Synchro* d_acquisition_gnss_synchro;
+ unsigned int d_channel;
+ int d_last_seg;
+ long d_if_freq;
+ long d_fs_in;
+
+ double d_early_late_spc_chips;
+
+ double d_code_phase_step_chips;
+
+ gr_complex* d_ca_code;
+
+ gr_complex* d_early_code;
+ gr_complex* d_late_code;
+ gr_complex* d_prompt_code;
+ gr_complex* d_carr_sign;
+
+ gr_complex *d_Early;
+ gr_complex *d_Prompt;
+ gr_complex *d_Late;
+
+ // remaining code phase and carrier phase between tracking loops
+ float d_rem_code_phase_samples;
+ float d_next_rem_code_phase_samples;
+ float d_rem_carr_phase_rad;
+
+ // PLL and DLL filter library
+ Tracking_2nd_DLL_filter d_code_loop_filter;
+ Tracking_2nd_PLL_filter d_carrier_loop_filter;
+
+ // acquisition
+ float d_acq_code_phase_samples;
+ float d_acq_carrier_doppler_hz;
+ // correlator
+ Correlator d_correlator;
+
+ // tracking vars
+ float d_code_freq_hz;
+ float d_carrier_doppler_hz;
+ float d_acc_carrier_phase_rad;
+ float d_code_phase_samples;
+
+ //PRN period in samples
+ int d_current_prn_length_samples;
+ int d_next_prn_length_samples;
+ //double d_sample_counter_seconds;
+
+ //processing samples counters
+ unsigned long int d_sample_counter;
+ unsigned long int d_acq_sample_stamp;
+
+ // CN0 estimation and lock detector
+ int d_cn0_estimation_counter;
+ gr_complex* d_Prompt_buffer;
+ float d_carrier_lock_test;
+ float d_CN0_SNV_dB_Hz;
+ float d_carrier_lock_threshold;
+ int d_carrier_lock_fail_counter;
+
+ // control vars
+ bool d_enable_tracking;
+ bool d_pull_in;
+
+ // file dump
+ std::string d_dump_filename;
+ std::ofstream d_dump_file;
+
+ std::map systemName;
+ std::string sys;
+};
+
+#endif //GNSS_SDR_GPS_L1_CA_DLL_PLL_OPTIM_TRACKING_CC_H
diff --git a/src/algorithms/tracking/gnuradio_blocks/jamfile.jam b/src/algorithms/tracking/gnuradio_blocks/jamfile.jam
index 7be2fd5d6..d2d2d50e0 100644
--- a/src/algorithms/tracking/gnuradio_blocks/jamfile.jam
+++ b/src/algorithms/tracking/gnuradio_blocks/jamfile.jam
@@ -4,3 +4,4 @@ obj gps_l1_ca_dll_pll_tracking_cc : gps_l1_ca_dll_pll_tracking_cc.cc :
obj gps_l1_ca_dll_fll_pll_tracking_cc : gps_l1_ca_dll_fll_pll_tracking_cc.cc : darwin:GNSS_SDR_USE_BOOST_ROUND ;
obj gps_l1_ca_tcp_connector_tracking_cc : gps_l1_ca_tcp_connector_tracking_cc.cc : darwin:GNSS_SDR_USE_BOOST_ROUND ;
obj galileo_e1_dll_pll_veml_tracking_cc : galileo_e1_dll_pll_veml_tracking_cc.cc : darwin:GNSS_SDR_USE_BOOST_ROUND ;
+obj gps_l1_ca_dll_pll_optim_tracking_cc : gps_l1_ca_dll_pll_optim_tracking_cc.cc : darwin:GNSS_SDR_USE_BOOST_ROUND ;
diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc
index 8c5a8608d..6ea2d25d8 100644
--- a/src/core/receiver/gnss_block_factory.cc
+++ b/src/core/receiver/gnss_block_factory.cc
@@ -56,6 +56,7 @@
#include "gps_l1_ca_pcps_acquisition.h"
#include "galileo_e1_pcps_ambiguous_acquisition.h"
#include "gps_l1_ca_dll_pll_tracking.h"
+#include "gps_l1_ca_dll_pll_optim_tracking.h"
#include "gps_l1_ca_dll_fll_pll_tracking.h"
#include "gps_l1_ca_tcp_connector_tracking.h"
#include "galileo_e1_dll_pll_veml_tracking.h"
@@ -352,6 +353,11 @@ GNSSBlockInterface* GNSSBlockFactory::GetBlock(
block = new GpsL1CaDllPllTracking(configuration, role, in_streams,
out_streams, queue);
}
+ else if (implementation.compare("GPS_L1_CA_DLL_PLL_Optim_Tracking") == 0)
+ {
+ block = new GpsL1CaDllPllOptimTracking(configuration, role, in_streams,
+ out_streams, queue);
+ }
else if (implementation.compare("GPS_L1_CA_DLL_FLL_PLL_Tracking") == 0)
{
block = new GpsL1CaDllFllPllTracking(configuration, role, in_streams,
diff --git a/src/main/jamfile.jam b/src/main/jamfile.jam
index 586a5df66..c744f7850 100644
--- a/src/main/jamfile.jam
+++ b/src/main/jamfile.jam
@@ -51,10 +51,12 @@ exe gnss-sdr : main.cc
../algorithms/PVT/adapters//gps_l1_ca_pvt
../algorithms/PVT/gnuradio_blocks//gps_l1_ca_pvt_cc
../algorithms/tracking/adapters//gps_l1_ca_dll_pll_tracking
+../algorithms/tracking/adapters//gps_l1_ca_dll_pll_optim_tracking
../algorithms/tracking/adapters//gps_l1_ca_dll_fll_pll_tracking
../algorithms/tracking/adapters//gps_l1_ca_tcp_connector_tracking
../algorithms/tracking/adapters//galileo_e1_dll_pll_veml_tracking
../algorithms/tracking/gnuradio_blocks//gps_l1_ca_dll_pll_tracking_cc
+../algorithms/tracking/gnuradio_blocks//gps_l1_ca_dll_pll_optim_tracking_cc
../algorithms/tracking/gnuradio_blocks//gps_l1_ca_dll_fll_pll_tracking_cc
../algorithms/tracking/gnuradio_blocks//gps_l1_ca_tcp_connector_tracking_cc
../algorithms/tracking/gnuradio_blocks//galileo_e1_dll_pll_veml_tracking_cc
diff --git a/src/tests/jamfile.jam b/src/tests/jamfile.jam
index 291b4fdb5..249e0e3ae 100644
--- a/src/tests/jamfile.jam
+++ b/src/tests/jamfile.jam
@@ -48,10 +48,12 @@ exe run_tests : test_main.cc
../algorithms/PVT/adapters//gps_l1_ca_pvt
../algorithms/PVT/gnuradio_blocks//gps_l1_ca_pvt_cc
../algorithms/tracking/adapters//gps_l1_ca_dll_pll_tracking
+../algorithms/tracking/adapters//gps_l1_ca_dll_pll_optim_tracking
../algorithms/tracking/adapters//gps_l1_ca_dll_fll_pll_tracking
../algorithms/tracking/adapters//gps_l1_ca_tcp_connector_tracking
../algorithms/tracking/adapters//galileo_e1_dll_pll_veml_tracking
../algorithms/tracking/gnuradio_blocks//gps_l1_ca_dll_pll_tracking_cc
+../algorithms/tracking/gnuradio_blocks//gps_l1_ca_dll_pll_optim_tracking_cc
../algorithms/tracking/gnuradio_blocks//gps_l1_ca_dll_fll_pll_tracking_cc
../algorithms/tracking/gnuradio_blocks//gps_l1_ca_tcp_connector_tracking_cc
../algorithms/tracking/gnuradio_blocks//galileo_e1_dll_pll_veml_tracking_cc