diff --git a/cmake/Modules/FindFILESYSTEM.cmake b/cmake/Modules/FindFILESYSTEM.cmake index ae52236e7..c4ae39556 100644 --- a/cmake/Modules/FindFILESYSTEM.cmake +++ b/cmake/Modules/FindFILESYSTEM.cmake @@ -229,8 +229,12 @@ if(CXX_FILESYSTEM_HAVE_FS) endif() if(can_link) - add_library(std::filesystem INTERFACE IMPORTED) - target_compile_features(std::filesystem INTERFACE cxx_std_17) + if(CMAKE_VERSION VERSION_LESS 3.12) + add_library(std::filesystem INTERFACE IMPORTED GLOBAL) + else() + add_library(std::filesystem INTERFACE IMPORTED) + target_compile_features(std::filesystem INTERFACE cxx_std_17) + endif() set(_found TRUE) if(CXX_FILESYSTEM_NO_LINK_NEEDED) diff --git a/cmake/Modules/FindGNURADIO.cmake b/cmake/Modules/FindGNURADIO.cmake index f4fd97503..37b106833 100644 --- a/cmake/Modules/FindGNURADIO.cmake +++ b/cmake/Modules/FindGNURADIO.cmake @@ -183,31 +183,31 @@ endif() # Trick to find out that GNU Radio is >= 3.7.4 if pkgconfig is not present if(NOT PC_GNURADIO_RUNTIME_VERSION) find_file(GNURADIO_VERSION_GREATER_THAN_373 - NAMES gnuradio/blocks/tsb_vector_sink_f.h - HINTS $ENV{GNURADIO_RUNTIME_DIR}/include - ${CMAKE_INSTALL_PREFIX}/include - ${GNURADIO_INSTALL_PREFIX}/include - PATHS /usr/local/include - /usr/include - ${GNURADIO_INSTALL_PREFIX}/include - ${GNURADIO_ROOT}/include - $ENV{GNURADIO_ROOT}/include - ) + NAMES gnuradio/blocks/tsb_vector_sink_f.h + HINTS $ENV{GNURADIO_RUNTIME_DIR}/include + ${CMAKE_INSTALL_PREFIX}/include + ${GNURADIO_INSTALL_PREFIX}/include + PATHS /usr/local/include + /usr/include + ${GNURADIO_INSTALL_PREFIX}/include + ${GNURADIO_ROOT}/include + $ENV{GNURADIO_ROOT}/include + ) if(GNURADIO_VERSION_GREATER_THAN_373) set(PC_GNURADIO_RUNTIME_VERSION "3.7.4+") endif() find_file(GNURADIO_VERSION_GREATER_THAN_38 - NAMES gnuradio/filter/mmse_resampler_cc.h - HINTS $ENV{GNURADIO_RUNTIME_DIR}/include - ${CMAKE_INSTALL_PREFIX}/include - ${GNURADIO_INSTALL_PREFIX}/include - PATHS /usr/local/include - /usr/include - ${GNURADIO_INSTALL_PREFIX}/include - ${GNURADIO_ROOT}/include - $ENV{GNURADIO_ROOT}/include - ) + NAMES gnuradio/filter/mmse_resampler_cc.h + HINTS $ENV{GNURADIO_RUNTIME_DIR}/include + ${CMAKE_INSTALL_PREFIX}/include + ${GNURADIO_INSTALL_PREFIX}/include + PATHS /usr/local/include + /usr/include + ${GNURADIO_INSTALL_PREFIX}/include + ${GNURADIO_ROOT}/include + $ENV{GNURADIO_ROOT}/include + ) if(GNURADIO_VERSION_GREATER_THAN_38) set(PC_GNURADIO_RUNTIME_VERSION "3.8.0+") endif() diff --git a/conf/gnss-sdr_GPS_L1_FPGA.conf b/conf/gnss-sdr_GPS_L1_FPGA.conf index 70ec83ed5..d9629fdcd 100644 --- a/conf/gnss-sdr_GPS_L1_FPGA.conf +++ b/conf/gnss-sdr_GPS_L1_FPGA.conf @@ -50,7 +50,7 @@ Acquisition_1C.doppler_max=10000 Acquisition_1C.doppler_step=500 ;######### TRACKING GLOBAL CONFIG ############ -Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking_Fpga +Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking_Fpga Tracking_1C.item_type=cshort Tracking_1C.dump=false Tracking_1C.dump_filename=../data/epl_tracking_ch_ diff --git a/conf/gnss-sdr_GPS_L1_gr_complex.conf b/conf/gnss-sdr_GPS_L1_gr_complex.conf index 7f83c666c..322190e7e 100644 --- a/conf/gnss-sdr_GPS_L1_gr_complex.conf +++ b/conf/gnss-sdr_GPS_L1_gr_complex.conf @@ -57,7 +57,7 @@ Acquisition_1C.dump_filename=./acq_dump.dat ;######### TRACKING GLOBAL CONFIG ############ -Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking +Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.item_type=gr_complex Tracking_1C.dump=true Tracking_1C.dump_filename=epl_tracking_ch_ diff --git a/conf/gnss-sdr_GPS_L1_ishort.conf b/conf/gnss-sdr_GPS_L1_ishort.conf index 373049a25..11d958d7d 100644 --- a/conf/gnss-sdr_GPS_L1_ishort.conf +++ b/conf/gnss-sdr_GPS_L1_ishort.conf @@ -56,7 +56,7 @@ Acquisition_1C.dump_filename=./acq_dump.dat Acquisition_1C.blocking=false; ;######### TRACKING GLOBAL CONFIG ############ -Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking +Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.item_type=cshort Tracking_1C.pll_bw_hz=40.0; Tracking_1C.dll_bw_hz=4.0; diff --git a/conf/gnss-sdr_GPS_L1_pulse_blanking_gr_complex.conf b/conf/gnss-sdr_GPS_L1_pulse_blanking_gr_complex.conf index 618341f48..e48395ac3 100644 --- a/conf/gnss-sdr_GPS_L1_pulse_blanking_gr_complex.conf +++ b/conf/gnss-sdr_GPS_L1_pulse_blanking_gr_complex.conf @@ -69,7 +69,7 @@ Acquisition_1C.dump_filename=./acq_dump.dat ;######### TRACKING GPS CONFIG ############ -Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking +Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.item_type=gr_complex Tracking_1C.extend_correlation_ms=10 Tracking_1C.pll_bw_hz=35; diff --git a/conf/gnss-sdr_Hybrid_byte.conf b/conf/gnss-sdr_Hybrid_byte.conf index b7f4e58ff..09a1b00d0 100644 --- a/conf/gnss-sdr_Hybrid_byte.conf +++ b/conf/gnss-sdr_Hybrid_byte.conf @@ -104,7 +104,7 @@ Acquisition_1B.dump=false Acquisition_1B.dump_filename=./acq_dump.dat ;######### TRACKING GPS CONFIG ############ -Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking +Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.item_type=gr_complex Tracking_1C.extend_correlation_ms=1 Tracking_1C.pll_bw_hz=40; diff --git a/conf/gnss-sdr_Hybrid_gr_complex.conf b/conf/gnss-sdr_Hybrid_gr_complex.conf index 14fee756d..11592e9d8 100644 --- a/conf/gnss-sdr_Hybrid_gr_complex.conf +++ b/conf/gnss-sdr_Hybrid_gr_complex.conf @@ -75,7 +75,7 @@ Acquisition_1B.dump_filename=./acq_dump.dat ;######### TRACKING GPS CONFIG ############ -Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking +Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.item_type=gr_complex Tracking_1C.extend_correlation_ms=10 Tracking_1C.pll_bw_hz=40; diff --git a/conf/gnss-sdr_Hybrid_ishort.conf b/conf/gnss-sdr_Hybrid_ishort.conf index c634009f3..f21a3ee60 100644 --- a/conf/gnss-sdr_Hybrid_ishort.conf +++ b/conf/gnss-sdr_Hybrid_ishort.conf @@ -103,7 +103,7 @@ Acquisition_1B.dump_filename=./acq_dump.dat ;######### TRACKING GPS CONFIG ############ -Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking +Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.item_type=gr_complex Tracking_1C.pll_bw_hz=50.0; Tracking_1C.dll_bw_hz=5.0; diff --git a/conf/gnss-sdr_Hybrid_nsr.conf b/conf/gnss-sdr_Hybrid_nsr.conf index 9f65ead4b..5778473da 100644 --- a/conf/gnss-sdr_Hybrid_nsr.conf +++ b/conf/gnss-sdr_Hybrid_nsr.conf @@ -120,7 +120,7 @@ Acquisition_1B.dump=false Acquisition_1B.dump_filename=./acq_dump.dat ;######### TRACKING GPS CONFIG ############ -Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking +Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.item_type=gr_complex Tracking_1C.extend_correlation_ms=1 Tracking_1C.pll_bw_hz=40; diff --git a/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_bin_file_III_1a.conf b/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_bin_file_III_1a.conf index c395a5f3c..8f8addc40 100644 --- a/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_bin_file_III_1a.conf +++ b/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_bin_file_III_1a.conf @@ -143,7 +143,7 @@ Acquisition_1C.dump_filename=./acq_dump.dat ;######### TRACKING GLOBAL CONFIG ############ -Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking +Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.item_type=gr_complex Tracking_1C.extend_correlation_ms=10 Tracking_1C.pll_bw_hz=40.0; diff --git a/src/algorithms/PVT/libs/kml_printer.cc b/src/algorithms/PVT/libs/kml_printer.cc index 2435f7e57..335fc0fee 100644 --- a/src/algorithms/PVT/libs/kml_printer.cc +++ b/src/algorithms/PVT/libs/kml_printer.cc @@ -110,6 +110,7 @@ Kml_Printer::Kml_Printer(const std::string& base_path) { close(fd); } + umask(mask); fs::path tmp_filename = fs::path(tmp_filename_); tmp_file_str = tmp_filename.string(); diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt index fb0577ffc..8d515f584 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt @@ -80,7 +80,7 @@ set(CMAKE_CXX_EXTENSIONS OFF) if(CMAKE_VERSION VERSION_LESS 3.8) set(FILESYSTEM_FOUND FALSE) else() - find_package(FILESYSTEM) + find_package(FILESYSTEM COMPONENTS Final Experimental) endif() if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU") AND NOT WIN32) diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/apps/CMakeLists.txt b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/apps/CMakeLists.txt index a19965779..a333ea576 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/apps/CMakeLists.txt +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/apps/CMakeLists.txt @@ -60,6 +60,9 @@ add_executable(volk_gnsssdr_profile if(${FILESYSTEM_FOUND}) add_definitions(-DHAS_STD_FILESYSTEM=1) + if(${find_experimental}) + add_definitions(-DHAS_STD_FILESYSTEM_EXPERIMENTAL=1) + endif() target_link_libraries(volk_gnsssdr_profile PRIVATE std::filesystem) endif() diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/apps/volk_gnsssdr_profile.cc b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/apps/volk_gnsssdr_profile.cc index f0e75dc22..132e7df44 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/apps/volk_gnsssdr_profile.cc +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/apps/volk_gnsssdr_profile.cc @@ -23,7 +23,11 @@ #include "volk_gnsssdr/volk_gnsssdr_prefs.h" // for volk_gnsssdr_get_config_path #include "volk_gnsssdr_option_helpers.h" // for option_list, option_t #if HAS_STD_FILESYSTEM +#if HAS_STD_FILESYSTEM_EXPERIMENTAL +#include +#else #include +#endif #else #include // for create_directories, exists #include // for path, operator<< @@ -38,7 +42,11 @@ #include // for vector, vector<>::const_.. #if HAS_STD_FILESYSTEM +#if HAS_STD_FILESYSTEM_EXPERIMENTAL +namespace fs = std::experimental::filesystem; +#else namespace fs = std::filesystem; +#endif #else namespace fs = boost::filesystem; #endif diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/FindFILESYSTEM.cmake b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/FindFILESYSTEM.cmake index e77017e76..1359615e4 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/FindFILESYSTEM.cmake +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/FindFILESYSTEM.cmake @@ -228,8 +228,12 @@ if(CXX_FILESYSTEM_HAVE_FS) endif() if(can_link) - add_library(std::filesystem INTERFACE IMPORTED) - target_compile_features(std::filesystem INTERFACE cxx_std_17) + if(CMAKE_VERSION VERSION_LESS 3.12) + add_library(std::filesystem INTERFACE IMPORTED GLOBAL) + else() + add_library(std::filesystem INTERFACE IMPORTED) + target_compile_features(std::filesystem INTERFACE cxx_std_17) + endif() set(_found TRUE) if(CXX_FILESYSTEM_NO_LINK_NEEDED) diff --git a/src/algorithms/tracking/adapters/CMakeLists.txt b/src/algorithms/tracking/adapters/CMakeLists.txt index f3191eaf7..7fbb840f3 100644 --- a/src/algorithms/tracking/adapters/CMakeLists.txt +++ b/src/algorithms/tracking/adapters/CMakeLists.txt @@ -51,7 +51,6 @@ set(TRACKING_ADAPTER_SOURCES galileo_e1_dll_pll_veml_tracking.cc galileo_e1_tcp_connector_tracking.cc gps_l1_ca_dll_pll_tracking.cc - gps_l1_ca_dll_pll_c_aid_tracking.cc gps_l1_ca_tcp_connector_tracking.cc galileo_e5a_dll_pll_tracking.cc gps_l2_m_dll_pll_tracking.cc @@ -70,7 +69,6 @@ set(TRACKING_ADAPTER_HEADERS galileo_e1_dll_pll_veml_tracking.h galileo_e1_tcp_connector_tracking.h gps_l1_ca_dll_pll_tracking.h - gps_l1_ca_dll_pll_c_aid_tracking.h gps_l1_ca_tcp_connector_tracking.h galileo_e5a_dll_pll_tracking.h gps_l2_m_dll_pll_tracking.h diff --git a/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking.cc b/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking.cc deleted file mode 100644 index 21d174ad4..000000000 --- a/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking.cc +++ /dev/null @@ -1,240 +0,0 @@ -/*! - * \file gps_l1_ca_dll_pll_c_aid_tracking.cc - * \brief Implementation of an adapter of a DLL+PLL tracking loop block - * for GPS L1 C/A to a TrackingInterface - * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com - * Javier Arribas, 2011. jarribas(at)cttc.es - * - * 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, Birkhauser, 2007 - * - * ------------------------------------------------------------------------- - * - * Copyright (C) 2010-2018 (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_c_aid_tracking.h" -#include "GPS_L1_CA.h" -#include "configuration_interface.h" -#include "gnss_sdr_flags.h" -#include - - -GpsL1CaDllPllCAidTracking::GpsL1CaDllPllCAidTracking( - ConfigurationInterface* configuration, const std::string& role, - unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams) -{ - DLOG(INFO) << "role " << role; - //################# CONFIGURATION PARAMETERS ######################## - int fs_in; - int vector_length; - bool dump; - std::string dump_filename; - std::string default_item_type = "gr_complex"; - float pll_bw_hz; - float pll_bw_narrow_hz; - float dll_bw_hz; - float dll_bw_narrow_hz; - float early_late_space_chips; - item_type_ = configuration->property(role + ".item_type", default_item_type); - //vector_length = configuration->property(role + ".vector_length", 2048); - int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000); - fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); - dump = configuration->property(role + ".dump", false); - pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0); - if (FLAGS_pll_bw_hz != 0.0) - { - pll_bw_hz = static_cast(FLAGS_pll_bw_hz); - } - dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0); - if (FLAGS_dll_bw_hz != 0.0) - { - dll_bw_hz = static_cast(FLAGS_dll_bw_hz); - } - pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 20.0); - dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 2.0); - int extend_correlation_ms; - extend_correlation_ms = configuration->property(role + ".extend_correlation_ms", 1); - - 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); - vector_length = std::round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)); - - //################# MAKE TRACKING GNURadio object ################### - if (item_type_ == "gr_complex") - { - item_size_ = sizeof(gr_complex); - tracking_cc = gps_l1_ca_dll_pll_c_aid_make_tracking_cc( - fs_in, - vector_length, - dump, - dump_filename, - pll_bw_hz, - dll_bw_hz, - pll_bw_narrow_hz, - dll_bw_narrow_hz, - extend_correlation_ms, - early_late_space_chips); - DLOG(INFO) << "tracking(" << tracking_cc->unique_id() << ")"; - } - else if (item_type_ == "cshort") - { - item_size_ = sizeof(lv_16sc_t); - tracking_sc = gps_l1_ca_dll_pll_c_aid_make_tracking_sc( - fs_in, - vector_length, - dump, - dump_filename, - pll_bw_hz, - dll_bw_hz, - pll_bw_narrow_hz, - dll_bw_narrow_hz, - extend_correlation_ms, - early_late_space_chips); - DLOG(INFO) << "tracking(" << tracking_sc->unique_id() << ")"; - } - else - { - item_size_ = sizeof(gr_complex); - LOG(WARNING) << item_type_ << " unknown tracking item type."; - } - channel_ = 0; - if (in_streams_ > 1) - { - LOG(ERROR) << "This implementation only supports one input stream"; - } - if (out_streams_ > 1) - { - LOG(ERROR) << "This implementation only supports one output stream"; - } -} - - -GpsL1CaDllPllCAidTracking::~GpsL1CaDllPllCAidTracking() = default; - - -void GpsL1CaDllPllCAidTracking::stop_tracking() -{ -} - - -void GpsL1CaDllPllCAidTracking::start_tracking() -{ - if (item_type_ == "gr_complex") - { - tracking_cc->start_tracking(); - } - else if (item_type_ == "cshort") - { - tracking_sc->start_tracking(); - } - else - { - LOG(WARNING) << item_type_ << " unknown tracking item type"; - } -} - -/* - * Set tracking channel unique ID - */ -void GpsL1CaDllPllCAidTracking::set_channel(unsigned int channel) -{ - channel_ = channel; - - if (item_type_ == "gr_complex") - { - tracking_cc->set_channel(channel); - } - else if (item_type_ == "cshort") - { - tracking_sc->set_channel(channel); - } - else - { - LOG(WARNING) << item_type_ << " unknown tracking item type"; - } -} - -void GpsL1CaDllPllCAidTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) -{ - if (item_type_ == "gr_complex") - { - tracking_cc->set_gnss_synchro(p_gnss_synchro); - } - else if (item_type_ == "cshort") - { - tracking_sc->set_gnss_synchro(p_gnss_synchro); - } - else - { - LOG(WARNING) << item_type_ << " unknown tracking item type"; - } -} - -void GpsL1CaDllPllCAidTracking::connect(gr::top_block_sptr top_block) -{ - if (top_block) - { /* top_block is not null */ - }; - //nothing to connect, now the tracking uses gr_sync_decimator -} - -void GpsL1CaDllPllCAidTracking::disconnect(gr::top_block_sptr top_block) -{ - if (top_block) - { /* top_block is not null */ - }; - //nothing to disconnect, now the tracking uses gr_sync_decimator -} - -gr::basic_block_sptr GpsL1CaDllPllCAidTracking::get_left_block() -{ - if (item_type_ == "gr_complex") - { - return tracking_cc; - } - if (item_type_ == "cshort") - { - return tracking_sc; - } - LOG(WARNING) << item_type_ << " unknown tracking item type"; - return nullptr; -} - -gr::basic_block_sptr GpsL1CaDllPllCAidTracking::get_right_block() -{ - if (item_type_ == "gr_complex") - { - return tracking_cc; - } - if (item_type_ == "cshort") - { - return tracking_sc; - } - LOG(WARNING) << item_type_ << " unknown tracking item type"; - return nullptr; -} diff --git a/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking.h b/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking.h deleted file mode 100644 index a1c54aa46..000000000 --- a/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking.h +++ /dev/null @@ -1,111 +0,0 @@ -/*! - * \file gps_l1_ca_dll_pll_c_aid_tracking.h - * \brief Interface of an adapter of a DLL+PLL tracking loop block - * for GPS L1 C/A to a TrackingInterface - * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com - * Javier Arribas, 2011. jarribas(at)cttc.es - * - * 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, Birkhauser, 2007 - * - * ------------------------------------------------------------------------- - * - * Copyright (C) 2010-2018 (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_C_AID_TRACKING_H_ -#define GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_H_ - -#include "gps_l1_ca_dll_pll_c_aid_tracking_cc.h" -#include "gps_l1_ca_dll_pll_c_aid_tracking_sc.h" -#include "tracking_interface.h" -#include - - -class ConfigurationInterface; - -/*! - * \brief This class implements a code DLL + carrier PLL tracking loop - */ -class GpsL1CaDllPllCAidTracking : public TrackingInterface -{ -public: - GpsL1CaDllPllCAidTracking(ConfigurationInterface* configuration, - const std::string& role, - unsigned int in_streams, - unsigned int out_streams); - - virtual ~GpsL1CaDllPllCAidTracking(); - - inline std::string role() override - { - return role_; - } - - //! Returns "GPS_L1_CA_DLL_PLL_C_Aid_Tracking" - inline std::string implementation() override - { - return "GPS_L1_CA_DLL_PLL_C_Aid_Tracking"; - } - - inline size_t item_size() override - { - return item_size_; - } - - void connect(gr::top_block_sptr top_block) override; - void disconnect(gr::top_block_sptr top_block) override; - gr::basic_block_sptr get_left_block() override; - gr::basic_block_sptr get_right_block() override; - - /*! - * \brief Set tracking channel unique ID - */ - void set_channel(unsigned int channel) override; - - /*! - * \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) override; - - void start_tracking() override; - /*! - * \brief Stop running tracking - */ - void stop_tracking() override; - -private: - gps_l1_ca_dll_pll_c_aid_tracking_cc_sptr tracking_cc; - gps_l1_ca_dll_pll_c_aid_tracking_sc_sptr tracking_sc; - size_t item_size_; - std::string item_type_; - unsigned int channel_; - std::string role_; - unsigned int in_streams_; - unsigned int out_streams_; -}; - -#endif // GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_H_ diff --git a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt index 35d1a71fb..7544c2f4a 100644 --- a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt +++ b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt @@ -41,8 +41,6 @@ endif() set(TRACKING_GR_BLOCKS_SOURCES galileo_e1_tcp_connector_tracking_cc.cc gps_l1_ca_tcp_connector_tracking_cc.cc - gps_l1_ca_dll_pll_c_aid_tracking_cc.cc - gps_l1_ca_dll_pll_c_aid_tracking_sc.cc glonass_l1_ca_dll_pll_tracking_cc.cc glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc @@ -57,8 +55,6 @@ set(TRACKING_GR_BLOCKS_SOURCES set(TRACKING_GR_BLOCKS_HEADERS galileo_e1_tcp_connector_tracking_cc.h gps_l1_ca_tcp_connector_tracking_cc.h - gps_l1_ca_dll_pll_c_aid_tracking_cc.h - gps_l1_ca_dll_pll_c_aid_tracking_sc.h glonass_l1_ca_dll_pll_tracking_cc.h glonass_l1_ca_dll_pll_c_aid_tracking_cc.h glonass_l1_ca_dll_pll_c_aid_tracking_sc.h diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc deleted file mode 100644 index cfe2215fa..000000000 --- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc +++ /dev/null @@ -1,920 +0,0 @@ -/*! - * \file gps_l1_ca_dll_pll_c_aid_tracking_cc.cc - * \brief Implementation of a code DLL + carrier PLL tracking block - * \author Javier Arribas, 2015. jarribas(at)cttc.es - * - * ------------------------------------------------------------------------- - * - * Copyright (C) 2010-2018 (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_c_aid_tracking_cc.h" -#include "GPS_L1_CA.h" -#include "gnss_sdr_flags.h" -#include "gps_sdr_signal_processing.h" -#include "lock_detectors.h" -#include "tracking_discriminators.h" -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - - -gps_l1_ca_dll_pll_c_aid_tracking_cc_sptr -gps_l1_ca_dll_pll_c_aid_make_tracking_cc( - int64_t fs_in, - uint32_t vector_length, - bool dump, - std::string dump_filename, - float pll_bw_hz, - float dll_bw_hz, - float pll_bw_narrow_hz, - float dll_bw_narrow_hz, - int32_t extend_correlation_ms, - float early_late_space_chips) -{ - return gps_l1_ca_dll_pll_c_aid_tracking_cc_sptr(new gps_l1_ca_dll_pll_c_aid_tracking_cc( - fs_in, vector_length, dump, std::move(dump_filename), pll_bw_hz, dll_bw_hz, pll_bw_narrow_hz, dll_bw_narrow_hz, extend_correlation_ms, early_late_space_chips)); -} - - -void gps_l1_ca_dll_pll_c_aid_tracking_cc::forecast(int noutput_items, - gr_vector_int &ninput_items_required) -{ - if (noutput_items != 0) - { - ninput_items_required[0] = static_cast(d_vector_length) * 2; //set the required available samples in each call - } -} - - -void gps_l1_ca_dll_pll_c_aid_tracking_cc::msg_handler_preamble_index(pmt::pmt_t msg) -{ - //pmt::print(msg); - DLOG(INFO) << "Extended correlation enabled for Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN); - if (d_enable_extended_integration == false) //avoid re-setting preamble indicator - { - d_preamble_timestamp_s = pmt::to_double(std::move(msg)); - d_enable_extended_integration = true; - d_preamble_synchronized = false; - } -} - - -gps_l1_ca_dll_pll_c_aid_tracking_cc::gps_l1_ca_dll_pll_c_aid_tracking_cc( - int64_t fs_in, - uint32_t vector_length, - bool dump, - std::string dump_filename, - float pll_bw_hz, - float dll_bw_hz, - float pll_bw_narrow_hz, - float dll_bw_narrow_hz, - int32_t extend_correlation_ms, - float early_late_space_chips) : gr::block("gps_l1_ca_dll_pll_c_aid_tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)), - gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) -{ - // Telemetry bit synchronization message port input - this->message_port_register_in(pmt::mp("preamble_timestamp_s")); - - this->set_msg_handler(pmt::mp("preamble_timestamp_s"), - boost::bind(&gps_l1_ca_dll_pll_c_aid_tracking_cc::msg_handler_preamble_index, this, _1)); - - this->message_port_register_out(pmt::mp("events")); - this->message_port_register_in(pmt::mp("telemetry_to_trk")); - - // initialize internal vars - d_dump = dump; - d_fs_in = fs_in; - d_vector_length = vector_length; - d_dump_filename = std::move(dump_filename); - d_correlation_length_samples = static_cast(d_vector_length); - - // Initialize tracking ========================================== - d_pll_bw_hz = pll_bw_hz; - d_dll_bw_hz = dll_bw_hz; - d_pll_bw_narrow_hz = pll_bw_narrow_hz; - d_dll_bw_narrow_hz = dll_bw_narrow_hz; - d_extend_correlation_ms = extend_correlation_ms; - d_code_loop_filter.set_DLL_BW(d_dll_bw_hz); - d_carrier_loop_filter.set_params(10.0, d_pll_bw_hz, 2); - - // --- 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 = static_cast(volk_gnsssdr_malloc(static_cast(GPS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(gr_complex), volk_gnsssdr_get_alignment())); - - // correlator outputs (scalar) - d_n_correlator_taps = 3; // Early, Prompt, and Late - d_correlator_outs = static_cast(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(gr_complex), volk_gnsssdr_get_alignment())); - for (int32_t n = 0; n < d_n_correlator_taps; n++) - { - d_correlator_outs[n] = gr_complex(0, 0); - } - d_local_code_shift_chips = static_cast(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(float), volk_gnsssdr_get_alignment())); - // Set TAPs delay values [chips] - d_local_code_shift_chips[0] = -d_early_late_spc_chips; - d_local_code_shift_chips[1] = 0.0; - d_local_code_shift_chips[2] = d_early_late_spc_chips; - - multicorrelator_cpu.init(2 * d_correlation_length_samples, d_n_correlator_taps); - - //--- Perform initializations ------------------------------ - // define initial code frequency basis of NCO - d_code_freq_chips = 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_carrier_phase_rad = 0.0; - - // sample synchronization - d_sample_counter = 0ULL; //(from trk to tlm) - d_acq_sample_stamp = 0; - d_enable_tracking = false; - d_pull_in = false; - - // CN0 estimation and lock detector buffers - d_cn0_estimation_counter = 0; - d_Prompt_buffer = new gr_complex[FLAGS_cn0_samples]; - d_carrier_lock_test = 1; - d_CN0_SNV_dB_Hz = 0; - d_carrier_lock_fail_counter = 0; - d_carrier_lock_threshold = FLAGS_carrier_lock_th; - - systemName["G"] = std::string("GPS"); - systemName["S"] = std::string("SBAS"); - - set_relative_rate(1.0 / static_cast(d_vector_length)); - - d_acquisition_gnss_synchro = nullptr; - d_channel = 0; - d_acq_code_phase_samples = 0.0; - d_acq_carrier_doppler_hz = 0.0; - d_carrier_doppler_hz = 0.0; - d_code_error_filt_chips_Ti = 0.0; - d_acc_carrier_phase_cycles = 0.0; - d_code_phase_samples = 0.0; - - d_pll_to_dll_assist_secs_Ti = 0.0; - d_rem_code_phase_chips = 0.0; - d_code_phase_step_chips = 0.0; - d_carrier_phase_step_rad = 0.0; - d_enable_extended_integration = false; - d_preamble_synchronized = false; - d_rem_code_phase_integer_samples = 0; - d_code_error_chips_Ti = 0.0; - d_code_error_filt_chips_s = 0.0; - d_carr_phase_error_secs_Ti = 0.0; - d_preamble_timestamp_s = 0.0; - //set_min_output_buffer((int64_t)300); -} - - -void gps_l1_ca_dll_pll_c_aid_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; - - int64_t acq_trk_diff_samples; - double acq_trk_diff_seconds; - acq_trk_diff_samples = static_cast(d_sample_counter) - static_cast(d_acq_sample_stamp); //-d_vector_length; - DLOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples; - acq_trk_diff_seconds = static_cast(acq_trk_diff_samples) / static_cast(d_fs_in); - // Doppler effect - // Fd=(C/(C+Vr))*F - double 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 - double T_chip_mod_seconds; - double T_prn_mod_seconds; - double T_prn_mod_samples; - d_code_freq_chips = radial_velocity * GPS_L1_CA_CODE_RATE_HZ; - d_code_phase_step_chips = static_cast(d_code_freq_chips) / static_cast(d_fs_in); - T_chip_mod_seconds = 1.0 / d_code_freq_chips; - T_prn_mod_seconds = T_chip_mod_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS; - T_prn_mod_samples = T_prn_mod_seconds * static_cast(d_fs_in); - - d_correlation_length_samples = round(T_prn_mod_samples); - - double T_prn_true_seconds = GPS_L1_CA_CODE_LENGTH_CHIPS / GPS_L1_CA_CODE_RATE_HZ; - double T_prn_true_samples = T_prn_true_seconds * static_cast(d_fs_in); - double T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds; - double N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds; - double corrected_acq_phase_samples, delay_correction_samples; - corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast(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; - - d_carrier_phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz / static_cast(d_fs_in); - - // DLL/PLL filter initialization - d_carrier_loop_filter.initialize(d_acq_carrier_doppler_hz); // The carrier loop filter implements the Doppler accumulator - d_code_loop_filter.initialize(); // 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, d_acquisition_gnss_synchro->PRN, 0); - - multicorrelator_cpu.set_local_code_and_taps(static_cast(GPS_L1_CA_CODE_LENGTH_CHIPS), d_ca_code, d_local_code_shift_chips); - for (int32_t n = 0; n < d_n_correlator_taps; n++) - { - d_correlator_outs[n] = gr_complex(0, 0); - } - - d_carrier_lock_fail_counter = 0; - d_rem_code_phase_samples = 0.0; - d_rem_carrier_phase_rad = 0.0; - d_rem_code_phase_chips = 0.0; - d_acc_carrier_phase_cycles = 0.0; - d_pll_to_dll_assist_secs_Ti = 0.0; - d_code_phase_samples = d_acq_code_phase_samples; - - std::string sys_ = &d_acquisition_gnss_synchro->System; - sys = sys_.substr(0, 1); - - // DEBUG OUTPUT - std::cout << "Tracking of GPS L1 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl; - LOG(INFO) << "Tracking of GPS L1 C/A signal for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; - - // enable tracking - d_pull_in = true; - d_enable_tracking = true; - d_enable_extended_integration = false; - d_preamble_synchronized = false; - LOG(INFO) << "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; -} - - -gps_l1_ca_dll_pll_c_aid_tracking_cc::~gps_l1_ca_dll_pll_c_aid_tracking_cc() -{ - if (d_dump_file.is_open()) - { - try - { - d_dump_file.close(); - } - catch (const std::exception &ex) - { - LOG(WARNING) << "Exception in destructor " << ex.what(); - } - } - - if (d_dump) - { - if (d_channel == 0) - { - std::cout << "Writing .mat files ..."; - } - try - { - gps_l1_ca_dll_pll_c_aid_tracking_cc::save_matfile(); - } - catch (const std::exception &ex) - { - LOG(WARNING) << "Error saving the .mat file: " << ex.what(); - } - - if (d_channel == 0) - { - std::cout << " done." << std::endl; - } - } - - try - { - volk_gnsssdr_free(d_local_code_shift_chips); - volk_gnsssdr_free(d_correlator_outs); - volk_gnsssdr_free(d_ca_code); - delete[] d_Prompt_buffer; - multicorrelator_cpu.free(); - } - catch (const std::exception &ex) - { - LOG(WARNING) << "Exception in destructor " << ex.what(); - } -} - - -int32_t gps_l1_ca_dll_pll_c_aid_tracking_cc::save_matfile() -{ - // READ DUMP FILE - std::ifstream::pos_type size; - int32_t number_of_double_vars = 11; - int32_t number_of_float_vars = 5; - int32_t epoch_size_bytes = sizeof(uint64_t) + sizeof(double) * number_of_double_vars + - sizeof(float) * number_of_float_vars + sizeof(uint32_t); - std::ifstream dump_file; - dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); - try - { - dump_file.open(d_dump_filename.c_str(), std::ios::binary | std::ios::ate); - } - catch (const std::ifstream::failure &e) - { - std::cerr << "Problem opening dump file:" << e.what() << std::endl; - return 1; - } - // count number of epochs and rewind - int64_t num_epoch = 0; - if (dump_file.is_open()) - { - size = dump_file.tellg(); - num_epoch = static_cast(size) / static_cast(epoch_size_bytes); - dump_file.seekg(0, std::ios::beg); - } - else - { - return 1; - } - auto *abs_E = new float[num_epoch]; - auto *abs_P = new float[num_epoch]; - auto *abs_L = new float[num_epoch]; - auto *Prompt_I = new float[num_epoch]; - auto *Prompt_Q = new float[num_epoch]; - auto *PRN_start_sample_count = new uint64_t[num_epoch]; - auto *acc_carrier_phase_rad = new double[num_epoch]; - auto *carrier_doppler_hz = new double[num_epoch]; - auto *code_freq_chips = new double[num_epoch]; - auto *carr_error_hz = new double[num_epoch]; - auto *carr_error_filt_hz = new double[num_epoch]; - auto *code_error_chips = new double[num_epoch]; - auto *code_error_filt_chips = new double[num_epoch]; - auto *CN0_SNV_dB_Hz = new double[num_epoch]; - auto *carrier_lock_test = new double[num_epoch]; - auto *aux1 = new double[num_epoch]; - auto *aux2 = new double[num_epoch]; - auto *PRN = new uint32_t[num_epoch]; - - try - { - if (dump_file.is_open()) - { - for (int64_t i = 0; i < num_epoch; i++) - { - dump_file.read(reinterpret_cast(&abs_E[i]), sizeof(float)); - dump_file.read(reinterpret_cast(&abs_P[i]), sizeof(float)); - dump_file.read(reinterpret_cast(&abs_L[i]), sizeof(float)); - dump_file.read(reinterpret_cast(&Prompt_I[i]), sizeof(float)); - dump_file.read(reinterpret_cast(&Prompt_Q[i]), sizeof(float)); - dump_file.read(reinterpret_cast(&PRN_start_sample_count[i]), sizeof(uint64_t)); - dump_file.read(reinterpret_cast(&acc_carrier_phase_rad[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&carrier_doppler_hz[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&code_freq_chips[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&carr_error_hz[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&carr_error_filt_hz[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&code_error_chips[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&code_error_filt_chips[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&CN0_SNV_dB_Hz[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&carrier_lock_test[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&aux1[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&aux2[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&PRN[i]), sizeof(uint32_t)); - } - } - dump_file.close(); - } - catch (const std::ifstream::failure &e) - { - std::cerr << "Problem reading dump file:" << e.what() << std::endl; - delete[] abs_E; - delete[] abs_P; - delete[] abs_L; - delete[] Prompt_I; - delete[] Prompt_Q; - delete[] PRN_start_sample_count; - delete[] acc_carrier_phase_rad; - delete[] carrier_doppler_hz; - delete[] code_freq_chips; - delete[] carr_error_hz; - delete[] carr_error_filt_hz; - delete[] code_error_chips; - delete[] code_error_filt_chips; - delete[] CN0_SNV_dB_Hz; - delete[] carrier_lock_test; - delete[] aux1; - delete[] aux2; - delete[] PRN; - return 1; - } - - // WRITE MAT FILE - mat_t *matfp; - matvar_t *matvar; - std::string filename = d_dump_filename; - filename.erase(filename.length() - 4, 4); - filename.append(".mat"); - matfp = Mat_CreateVer(filename.c_str(), nullptr, MAT_FT_MAT73); - if (reinterpret_cast(matfp) != nullptr) - { - size_t dims[2] = {1, static_cast(num_epoch)}; - matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_P, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_L, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_I, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_Q, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims, PRN_start_sample_count, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, acc_carrier_phase_rad, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_doppler_hz, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("code_freq_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_freq_chips, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("carr_error_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_hz, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_filt_hz, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("code_error_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_chips, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_filt_chips, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, CN0_SNV_dB_Hz, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("carrier_lock_test", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_lock_test, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("aux1", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux1, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux2, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims, PRN, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - } - Mat_Close(matfp); - delete[] abs_E; - delete[] abs_P; - delete[] abs_L; - delete[] Prompt_I; - delete[] Prompt_Q; - delete[] PRN_start_sample_count; - delete[] acc_carrier_phase_rad; - delete[] carrier_doppler_hz; - delete[] code_freq_chips; - delete[] carr_error_hz; - delete[] carr_error_filt_hz; - delete[] code_error_chips; - delete[] code_error_filt_chips; - delete[] CN0_SNV_dB_Hz; - delete[] carrier_lock_test; - delete[] aux1; - delete[] aux2; - delete[] PRN; - return 0; -} - - -void gps_l1_ca_dll_pll_c_aid_tracking_cc::set_channel(uint32_t channel) -{ - d_channel = channel; - LOG(INFO) << "Tracking Channel set to " << d_channel; - // ############# ENABLE DATA FILE LOG ################# - if (d_dump == true) - { - if (d_dump_file.is_open() == false) - { - try - { - d_dump_filename.append(std::to_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) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); - } - catch (const std::ifstream::failure &e) - { - LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what(); - } - } - } -} - - -void gps_l1_ca_dll_pll_c_aid_tracking_cc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro) -{ - d_acquisition_gnss_synchro = p_gnss_synchro; -} - - -int gps_l1_ca_dll_pll_c_aid_tracking_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) -{ - // Block input data and block output stream pointers - const auto *in = reinterpret_cast(input_items[0]); - auto **out = reinterpret_cast(&output_items[0]); - - // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder - Gnss_Synchro current_synchro_data = Gnss_Synchro(); - - // process vars - double code_error_filt_secs_Ti = 0.0; - double CURRENT_INTEGRATION_TIME_S = 0.0; - double CORRECTED_INTEGRATION_TIME_S = 0.0; - - if (d_enable_tracking == true) - { - // Fill the acquisition data - current_synchro_data = *d_acquisition_gnss_synchro; - // Receiver signal alignment - if (d_pull_in == true) - { - int32_t samples_offset; - double acq_trk_shif_correction_samples; - int32_t acq_to_trk_delay_samples; - acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp; - acq_trk_shif_correction_samples = d_correlation_length_samples - fmod(static_cast(acq_to_trk_delay_samples), static_cast(d_correlation_length_samples)); - samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples); - current_synchro_data.Tracking_sample_counter = d_sample_counter + static_cast(samples_offset); - d_sample_counter += static_cast(samples_offset); // count for the processed samples - d_pull_in = false; - d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * samples_offset / GPS_TWO_PI; - current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_cycles * GPS_TWO_PI; - current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz; - current_synchro_data.fs = d_fs_in; - *out[0] = current_synchro_data; - consume_each(samples_offset); // shift input to perform alignment with local replica - return 1; - } - - // ################# CARRIER WIPEOFF AND CORRELATORS ############################## - // perform carrier wipe-off and compute Early, Prompt and Late correlation - multicorrelator_cpu.set_input_output_vectors(d_correlator_outs, in); - multicorrelator_cpu.Carrier_wipeoff_multicorrelator_resampler(d_rem_carrier_phase_rad, - d_carrier_phase_step_rad, - d_rem_code_phase_chips, - d_code_phase_step_chips, - d_correlation_length_samples); - - // ####### coherent integration extension - // keep the last symbols - d_E_history.push_back(d_correlator_outs[0]); // save early output - d_P_history.push_back(d_correlator_outs[1]); // save prompt output - d_L_history.push_back(d_correlator_outs[2]); // save late output - - if (static_cast(d_P_history.size()) > d_extend_correlation_ms) - { - d_E_history.pop_front(); - d_P_history.pop_front(); - d_L_history.pop_front(); - } - - bool enable_dll_pll; - if (d_enable_extended_integration == true) - { - int64_t symbol_diff = round(1000.0 * ((static_cast(d_sample_counter) + d_rem_code_phase_samples) / static_cast(d_fs_in) - d_preamble_timestamp_s)); - if (symbol_diff > 0 and symbol_diff % d_extend_correlation_ms == 0) - { - // compute coherent integration and enable tracking loop - // perform coherent integration using correlator output history - // std::cout<<"##### RESET COHERENT INTEGRATION ####"<PRN) - << " pll_bw = " << d_pll_bw_hz << " [Hz], pll_narrow_bw = " << d_pll_bw_narrow_hz << " [Hz]" << std::endl - << " dll_bw = " << d_dll_bw_hz << " [Hz], dll_narrow_bw = " << d_dll_bw_narrow_hz << " [Hz]" << std::endl; - } - // UPDATE INTEGRATION TIME - CURRENT_INTEGRATION_TIME_S = static_cast(d_extend_correlation_ms) * GPS_L1_CA_CODE_PERIOD; - d_code_loop_filter.set_pdi(CURRENT_INTEGRATION_TIME_S); - enable_dll_pll = true; - } - else - { - if (d_preamble_synchronized == true) - { - // continue extended coherent correlation - // Compute the next buffer length based on the period of the PRN sequence and the code phase error estimation - double T_chip_seconds = 1.0 / d_code_freq_chips; - double T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS; - double T_prn_samples = T_prn_seconds * static_cast(d_fs_in); - int32_t K_prn_samples = round(T_prn_samples); - double K_T_prn_error_samples = K_prn_samples - T_prn_samples; - - d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples; - d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples - d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples; - d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples; - // code phase step (Code resampler phase increment per sample) [chips/sample] - d_code_phase_step_chips = d_code_freq_chips / static_cast(d_fs_in); - // remnant code phase [chips] - d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast(d_fs_in)); - d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + d_carrier_phase_step_rad * static_cast(d_correlation_length_samples), GPS_TWO_PI); - - // UPDATE ACCUMULATED CARRIER PHASE - CORRECTED_INTEGRATION_TIME_S = (static_cast(d_correlation_length_samples) / static_cast(d_fs_in)); - d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GPS_TWO_PI; - - // disable tracking loop and inform telemetry decoder - enable_dll_pll = false; - } - else - { - // perform basic (1ms) correlation - // UPDATE INTEGRATION TIME - CURRENT_INTEGRATION_TIME_S = static_cast(d_correlation_length_samples) / static_cast(d_fs_in); - d_code_loop_filter.set_pdi(CURRENT_INTEGRATION_TIME_S); - enable_dll_pll = true; - } - } - } - else - { - // UPDATE INTEGRATION TIME - CURRENT_INTEGRATION_TIME_S = static_cast(d_correlation_length_samples) / static_cast(d_fs_in); - enable_dll_pll = true; - } - - if (enable_dll_pll == true) - { - // ################## PLL ########################################################## - // Update PLL discriminator [rads/Ti -> Secs/Ti] - d_carr_phase_error_secs_Ti = pll_cloop_two_quadrant_atan(d_correlator_outs[1]) / GPS_TWO_PI; // prompt output - // Carrier discriminator filter - // NOTICE: The carrier loop filter includes the Carrier Doppler accumulator, as described in Kaplan - // Input [s/Ti] -> output [Hz] - d_carrier_doppler_hz = d_carrier_loop_filter.get_carrier_error(0.0, d_carr_phase_error_secs_Ti, CURRENT_INTEGRATION_TIME_S); - // PLL to DLL assistance [Secs/Ti] - d_pll_to_dll_assist_secs_Ti = (d_carrier_doppler_hz * CURRENT_INTEGRATION_TIME_S) / GPS_L1_FREQ_HZ; - // code Doppler frequency update - d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GPS_L1_CA_CODE_RATE_HZ) / GPS_L1_FREQ_HZ); - - // ################## DLL ########################################################## - // DLL discriminator - d_code_error_chips_Ti = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]); // [chips/Ti] //early and late - // Code discriminator filter - d_code_error_filt_chips_s = d_code_loop_filter.get_code_nco(d_code_error_chips_Ti); // input [chips/Ti] -> output [chips/second] - d_code_error_filt_chips_Ti = d_code_error_filt_chips_s * CURRENT_INTEGRATION_TIME_S; - code_error_filt_secs_Ti = d_code_error_filt_chips_Ti / d_code_freq_chips; // [s/Ti] - - // ################## CARRIER AND CODE NCO BUFFER ALIGNMENT ####################### - // keep alignment parameters for the next input buffer - // Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation - double T_chip_seconds = 1.0 / d_code_freq_chips; - double T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS; - double T_prn_samples = T_prn_seconds * static_cast(d_fs_in); - double K_prn_samples = round(T_prn_samples); - double K_T_prn_error_samples = K_prn_samples - T_prn_samples; - - d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples + code_error_filt_secs_Ti * static_cast(d_fs_in); //(code_error_filt_secs_Ti + d_pll_to_dll_assist_secs_Ti) * static_cast(d_fs_in); - d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples - d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples; - d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples; - - //################### PLL COMMANDS ################################################# - //carrier phase step (NCO phase increment per sample) [rads/sample] - d_carrier_phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz / static_cast(d_fs_in); - d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GPS_TWO_PI; - // UPDATE ACCUMULATED CARRIER PHASE - CORRECTED_INTEGRATION_TIME_S = (static_cast(d_correlation_length_samples) / static_cast(d_fs_in)); - //remnant carrier phase [rad] - d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * CORRECTED_INTEGRATION_TIME_S, GPS_TWO_PI); - - //################### DLL COMMANDS ################################################# - //code phase step (Code resampler phase increment per sample) [chips/sample] - d_code_phase_step_chips = d_code_freq_chips / static_cast(d_fs_in); - //remnant code phase [chips] - d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast(d_fs_in)); - - // ####### CN0 ESTIMATION AND LOCK DETECTORS ####################################### - if (d_cn0_estimation_counter < FLAGS_cn0_samples) - { - // fill buffer with prompt correlator output values - d_Prompt_buffer[d_cn0_estimation_counter] = d_correlator_outs[1]; // prompt - d_cn0_estimation_counter++; - } - else - { - d_cn0_estimation_counter = 0; - // Code lock indicator - d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, FLAGS_cn0_samples, GPS_L1_CA_CODE_PERIOD); - // Carrier lock indicator - d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, FLAGS_cn0_samples); - // Loss of lock detection - if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < FLAGS_cn0_min) - { - d_carrier_lock_fail_counter++; - } - else - { - if (d_carrier_lock_fail_counter > 0) - { - d_carrier_lock_fail_counter--; - } - } - if (d_carrier_lock_fail_counter > FLAGS_max_lock_fail) - { - std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl; - LOG(INFO) << "Loss of lock in channel " << d_channel << "!"; - this->message_port_pub(pmt::mp("events"), pmt::from_long(3)); //3 -> loss of lock - d_carrier_lock_fail_counter = 0; - d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine - } - } - // ########### Output the tracking data to navigation and PVT ########## - current_synchro_data.Prompt_I = static_cast((d_correlator_outs[1]).real()); - current_synchro_data.Prompt_Q = static_cast((d_correlator_outs[1]).imag()); - current_synchro_data.Tracking_sample_counter = d_sample_counter + static_cast(d_correlation_length_samples); - current_synchro_data.Code_phase_samples = d_rem_code_phase_samples; - current_synchro_data.Carrier_phase_rads = GPS_TWO_PI * d_acc_carrier_phase_cycles; - current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz; - current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz; - current_synchro_data.Flag_valid_symbol_output = true; - if (d_preamble_synchronized == true) - { - current_synchro_data.correlation_length_ms = d_extend_correlation_ms; - } - else - { - current_synchro_data.correlation_length_ms = 1; - } - } - else - { - current_synchro_data.Prompt_I = static_cast((d_correlator_outs[1]).real()); - current_synchro_data.Prompt_Q = static_cast((d_correlator_outs[1]).imag()); - current_synchro_data.Tracking_sample_counter = d_sample_counter + static_cast(d_correlation_length_samples); - current_synchro_data.Code_phase_samples = d_rem_code_phase_samples; - current_synchro_data.Carrier_phase_rads = GPS_TWO_PI * d_acc_carrier_phase_cycles; - current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz; // todo: project the carrier doppler - current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz; - } - } - else - { - for (int32_t n = 0; n < d_n_correlator_taps; n++) - { - d_correlator_outs[n] = gr_complex(0, 0); - } - - current_synchro_data.System = {'G'}; - current_synchro_data.Tracking_sample_counter = d_sample_counter + static_cast(d_correlation_length_samples); - } - //assign the GNURadio block output data - current_synchro_data.fs = d_fs_in; - *out[0] = current_synchro_data; - if (d_dump) - { - // MULTIPLEXED FILE RECORDING - Record results to file - float prompt_I; - float prompt_Q; - float tmp_E, tmp_P, tmp_L; - float tmp_VE = 0.0; - float tmp_VL = 0.0; - float tmp_float; - prompt_I = d_correlator_outs[1].real(); - prompt_Q = d_correlator_outs[1].imag(); - tmp_E = std::abs(d_correlator_outs[0]); - tmp_P = std::abs(d_correlator_outs[1]); - tmp_L = std::abs(d_correlator_outs[2]); - try - { - // Dump correlators output - d_dump_file.write(reinterpret_cast(&tmp_VE), sizeof(float)); - d_dump_file.write(reinterpret_cast(&tmp_E), sizeof(float)); - d_dump_file.write(reinterpret_cast(&tmp_P), sizeof(float)); - d_dump_file.write(reinterpret_cast(&tmp_L), sizeof(float)); - d_dump_file.write(reinterpret_cast(&tmp_VL), sizeof(float)); - // PROMPT I and Q (to analyze navigation symbols) - d_dump_file.write(reinterpret_cast(&prompt_I), sizeof(float)); - d_dump_file.write(reinterpret_cast(&prompt_Q), sizeof(float)); - // PRN start sample stamp - d_dump_file.write(reinterpret_cast(&d_sample_counter), sizeof(uint64_t)); - // accumulated carrier phase - tmp_float = d_acc_carrier_phase_cycles * GPS_TWO_PI; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - // carrier and code frequency - tmp_float = d_carrier_doppler_hz; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - tmp_float = d_code_freq_chips; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - // PLL commands - tmp_float = 1.0 / (d_carr_phase_error_secs_Ti * CURRENT_INTEGRATION_TIME_S); - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - tmp_float = 1.0 / (d_code_error_filt_chips_Ti * CURRENT_INTEGRATION_TIME_S); - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - // DLL commands - tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - tmp_float = d_code_error_filt_chips_Ti; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - // CN0 and carrier lock test - tmp_float = d_CN0_SNV_dB_Hz; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - tmp_float = d_carrier_lock_test; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - // AUX vars (for debug purposes) - tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - auto tmp_double = static_cast(d_sample_counter + d_correlation_length_samples); - d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); - // PRN - uint32_t prn_ = d_acquisition_gnss_synchro->PRN; - d_dump_file.write(reinterpret_cast(&prn_), sizeof(uint32_t)); - } - catch (const std::ifstream::failure &e) - { - LOG(WARNING) << "Exception writing trk dump file " << e.what(); - } - } - - consume_each(d_correlation_length_samples); // this is necessary in gr::block derivates - d_sample_counter += d_correlation_length_samples; //count for the processed samples - - if (d_enable_tracking) - { - return 1; - } - - return 0; -} diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.h deleted file mode 100644 index dc9283932..000000000 --- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.h +++ /dev/null @@ -1,197 +0,0 @@ -/*! - * \file gps_l1_ca_dll_pll_c_aid_tracking_cc.h - * \brief Interface of a code DLL + carrier PLL tracking block - * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com - * Javier Arribas, 2011. jarribas(at)cttc.es - * - * 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, - * Birkhauser, 2007 - * - * ------------------------------------------------------------------------- - * - * Copyright (C) 2010-2018 (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_C_AID_TRACKING_CC_H -#define GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_CC_H - -#include "gnss_synchro.h" -#include "tracking_2nd_DLL_filter.h" -#include "tracking_FLL_PLL_filter.h" -//#include "tracking_loop_filter.h" -#include "cpu_multicorrelator.h" -#include -#include -#include -#include -#include -#include - -class gps_l1_ca_dll_pll_c_aid_tracking_cc; - -using gps_l1_ca_dll_pll_c_aid_tracking_cc_sptr = boost::shared_ptr; - -gps_l1_ca_dll_pll_c_aid_tracking_cc_sptr -gps_l1_ca_dll_pll_c_aid_make_tracking_cc( - int64_t fs_in, uint32_t vector_length, - bool dump, - std::string dump_filename, - float pll_bw_hz, - float dll_bw_hz, - float pll_bw_narrow_hz, - float dll_bw_narrow_hz, - int32_t extend_correlation_ms, - float early_late_space_chips); - - -/*! - * \brief This class implements a DLL + PLL tracking loop block - */ -class gps_l1_ca_dll_pll_c_aid_tracking_cc : public gr::block -{ -public: - ~gps_l1_ca_dll_pll_c_aid_tracking_cc(); - - void set_channel(uint32_t channel); - void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro); - void start_tracking(); - - 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_c_aid_tracking_cc_sptr - gps_l1_ca_dll_pll_c_aid_make_tracking_cc( - int64_t fs_in, uint32_t vector_length, - bool dump, - std::string dump_filename, - float pll_bw_hz, - float dll_bw_hz, - float pll_bw_narrow_hz, - float dll_bw_narrow_hz, - int32_t extend_correlation_ms, - float early_late_space_chips); - - gps_l1_ca_dll_pll_c_aid_tracking_cc( - int64_t fs_in, uint32_t vector_length, - bool dump, - std::string dump_filename, - float pll_bw_hz, - float dll_bw_hz, - float pll_bw_narrow_hz, - float dll_bw_narrow_hz, - int32_t extend_correlation_ms, - float early_late_space_chips); - - // tracking configuration vars - uint32_t d_vector_length; - bool d_dump; - - Gnss_Synchro* d_acquisition_gnss_synchro; - uint32_t d_channel; - int64_t d_fs_in; - - double d_early_late_spc_chips; - int32_t d_n_correlator_taps; - - gr_complex* d_ca_code; - float* d_local_code_shift_chips; - gr_complex* d_correlator_outs; - Cpu_Multicorrelator multicorrelator_cpu; - - // remaining code phase and carrier phase between tracking loops - double d_rem_code_phase_samples; - double d_rem_code_phase_chips; - double d_rem_carrier_phase_rad; - int32_t d_rem_code_phase_integer_samples; - - // PLL and DLL filter library - //Tracking_2nd_DLL_filter d_code_loop_filter; - Tracking_2nd_DLL_filter d_code_loop_filter; - Tracking_FLL_PLL_filter d_carrier_loop_filter; - - // acquisition - double d_acq_code_phase_samples; - double d_acq_carrier_doppler_hz; - - // tracking vars - float d_dll_bw_hz; - float d_pll_bw_hz; - float d_dll_bw_narrow_hz; - float d_pll_bw_narrow_hz; - double d_code_freq_chips; - double d_code_phase_step_chips; - double d_carrier_doppler_hz; - double d_carrier_phase_step_rad; - double d_acc_carrier_phase_cycles; - double d_code_phase_samples; - double d_pll_to_dll_assist_secs_Ti; - double d_code_error_chips_Ti; - double d_code_error_filt_chips_s; - double d_code_error_filt_chips_Ti; - double d_carr_phase_error_secs_Ti; - - // symbol history to detect bit transition - std::deque d_E_history; - std::deque d_P_history; - std::deque d_L_history; - double d_preamble_timestamp_s; - int32_t d_extend_correlation_ms; - bool d_enable_extended_integration; - bool d_preamble_synchronized; - void msg_handler_preamble_index(pmt::pmt_t msg); - - //Integration period in samples - int32_t d_correlation_length_samples; - - //processing samples counters - uint64_t d_sample_counter; - uint64_t d_acq_sample_stamp; - - // CN0 estimation and lock detector - int32_t d_cn0_estimation_counter; - gr_complex* d_Prompt_buffer; - double d_carrier_lock_test; - double d_CN0_SNV_dB_Hz; - double d_carrier_lock_threshold; - int32_t 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; - - int32_t save_matfile(); -}; - -#endif //GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_CC_H diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.cc deleted file mode 100644 index 80bdb24a0..000000000 --- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.cc +++ /dev/null @@ -1,920 +0,0 @@ -/*! - * \file gps_l1_ca_dll_pll_c_aid_tracking_sc.cc - * \brief Implementation of a code DLL + carrier PLL tracking block - * \author Javier Arribas, 2015. jarribas(at)cttc.es - * - * ------------------------------------------------------------------------- - * - * Copyright (C) 2010-2018 (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_c_aid_tracking_sc.h" -#include "GPS_L1_CA.h" -#include "gnss_sdr_flags.h" -#include "gps_sdr_signal_processing.h" -#include "lock_detectors.h" -#include "tracking_discriminators.h" -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - - -gps_l1_ca_dll_pll_c_aid_tracking_sc_sptr -gps_l1_ca_dll_pll_c_aid_make_tracking_sc( - int64_t fs_in, - uint32_t vector_length, - bool dump, - std::string dump_filename, - float pll_bw_hz, - float dll_bw_hz, - float pll_bw_narrow_hz, - float dll_bw_narrow_hz, - int32_t extend_correlation_ms, - float early_late_space_chips) -{ - return gps_l1_ca_dll_pll_c_aid_tracking_sc_sptr(new gps_l1_ca_dll_pll_c_aid_tracking_sc( - fs_in, vector_length, dump, std::move(dump_filename), pll_bw_hz, dll_bw_hz, pll_bw_narrow_hz, dll_bw_narrow_hz, extend_correlation_ms, early_late_space_chips)); -} - - -void gps_l1_ca_dll_pll_c_aid_tracking_sc::forecast(int noutput_items, - gr_vector_int &ninput_items_required) -{ - if (noutput_items != 0) - { - ninput_items_required[0] = static_cast(d_vector_length) * 2; //set the required available samples in each call - } -} - - -void gps_l1_ca_dll_pll_c_aid_tracking_sc::msg_handler_preamble_index(pmt::pmt_t msg) -{ - //pmt::print(msg); - DLOG(INFO) << "Extended correlation enabled for Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN); - if (d_enable_extended_integration == false) //avoid re-setting preamble indicator - { - d_preamble_timestamp_s = pmt::to_double(std::move(msg)); - d_enable_extended_integration = true; - d_preamble_synchronized = false; - } -} - -gps_l1_ca_dll_pll_c_aid_tracking_sc::gps_l1_ca_dll_pll_c_aid_tracking_sc( - int64_t fs_in, - uint32_t vector_length, - bool dump, - std::string dump_filename, - float pll_bw_hz, - float dll_bw_hz, - float pll_bw_narrow_hz, - float dll_bw_narrow_hz, - int32_t extend_correlation_ms, - float early_late_space_chips) : gr::block("gps_l1_ca_dll_pll_c_aid_tracking_sc", gr::io_signature::make(1, 1, sizeof(lv_16sc_t)), - gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) -{ - // Telemetry bit synchronization message port input - this->message_port_register_in(pmt::mp("preamble_timestamp_s")); - this->set_msg_handler(pmt::mp("preamble_timestamp_s"), - boost::bind(&gps_l1_ca_dll_pll_c_aid_tracking_sc::msg_handler_preamble_index, this, _1)); - this->message_port_register_out(pmt::mp("events")); - this->message_port_register_in(pmt::mp("telemetry_to_trk")); - // initialize internal vars - d_dump = dump; - d_fs_in = fs_in; - d_vector_length = vector_length; - d_dump_filename = std::move(dump_filename); - d_correlation_length_samples = static_cast(d_vector_length); - - // Initialize tracking ========================================== - d_pll_bw_hz = pll_bw_hz; - d_dll_bw_hz = dll_bw_hz; - d_pll_bw_narrow_hz = pll_bw_narrow_hz; - d_dll_bw_narrow_hz = dll_bw_narrow_hz; - d_code_loop_filter.set_DLL_BW(d_dll_bw_hz); - d_carrier_loop_filter.set_params(10.0, d_pll_bw_hz, 2); - d_extend_correlation_ms = extend_correlation_ms; - - // --- 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 = static_cast(volk_gnsssdr_malloc(static_cast(GPS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(gr_complex), volk_gnsssdr_get_alignment())); - d_ca_code_16sc = static_cast(volk_gnsssdr_malloc(static_cast(GPS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(lv_16sc_t), volk_gnsssdr_get_alignment())); - - // correlator outputs (scalar) - d_n_correlator_taps = 3; // Early, Prompt, and Late - - d_correlator_outs_16sc = static_cast(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(lv_16sc_t), volk_gnsssdr_get_alignment())); - for (int32_t n = 0; n < d_n_correlator_taps; n++) - { - d_correlator_outs_16sc[n] = lv_cmake(0, 0); - } - - d_local_code_shift_chips = static_cast(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(float), volk_gnsssdr_get_alignment())); - // Set TAPs delay values [chips] - d_local_code_shift_chips[0] = -d_early_late_spc_chips; - d_local_code_shift_chips[1] = 0.0; - d_local_code_shift_chips[2] = d_early_late_spc_chips; - - multicorrelator_cpu_16sc.init(2 * d_correlation_length_samples, d_n_correlator_taps); - - //--- Perform initializations ------------------------------ - // define initial code frequency basis of NCO - d_code_freq_chips = 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_carrier_phase_rad = 0.0; - - // sample synchronization - d_sample_counter = 0ULL; //(from trk to tlm) - d_acq_sample_stamp = 0; - d_enable_tracking = false; - d_pull_in = false; - - // CN0 estimation and lock detector buffers - d_cn0_estimation_counter = 0; - d_Prompt_buffer = new gr_complex[FLAGS_cn0_samples]; - d_carrier_lock_test = 1; - d_CN0_SNV_dB_Hz = 0; - d_carrier_lock_fail_counter = 0; - d_carrier_lock_threshold = FLAGS_carrier_lock_th; - - systemName["G"] = std::string("GPS"); - systemName["S"] = std::string("SBAS"); - - set_relative_rate(1.0 / static_cast(d_vector_length)); - - d_acquisition_gnss_synchro = nullptr; - d_channel = 0; - d_acq_code_phase_samples = 0.0; - d_acq_carrier_doppler_hz = 0.0; - d_carrier_doppler_hz = 0.0; - d_acc_carrier_phase_cycles = 0.0; - d_code_phase_samples = 0.0; - d_enable_extended_integration = false; - d_preamble_synchronized = false; - d_rem_code_phase_integer_samples = 0; - d_code_error_chips_Ti = 0.0; - d_pll_to_dll_assist_secs_Ti = 0.0; - d_rem_code_phase_chips = 0.0; - d_code_phase_step_chips = 0.0; - d_carrier_phase_step_rad = 0.0; - d_code_error_filt_chips_s = 0.0; - d_code_error_filt_chips_Ti = 0.0; - d_preamble_timestamp_s = 0.0; - d_carr_phase_error_secs_Ti = 0.0; - //set_min_output_buffer((int64_t)300); -} - - -void gps_l1_ca_dll_pll_c_aid_tracking_sc::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; - - int64_t acq_trk_diff_samples; - double acq_trk_diff_seconds; - acq_trk_diff_samples = static_cast(d_sample_counter) - static_cast(d_acq_sample_stamp); //-d_vector_length; - DLOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples; - acq_trk_diff_seconds = static_cast(acq_trk_diff_samples) / static_cast(d_fs_in); - // Doppler effect - // Fd=(C/(C+Vr))*F - double 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 - double T_chip_mod_seconds; - double T_prn_mod_seconds; - double T_prn_mod_samples; - d_code_freq_chips = radial_velocity * GPS_L1_CA_CODE_RATE_HZ; - d_code_phase_step_chips = static_cast(d_code_freq_chips) / static_cast(d_fs_in); - T_chip_mod_seconds = 1.0 / d_code_freq_chips; - T_prn_mod_seconds = T_chip_mod_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS; - T_prn_mod_samples = T_prn_mod_seconds * static_cast(d_fs_in); - - d_correlation_length_samples = round(T_prn_mod_samples); - - double T_prn_true_seconds = GPS_L1_CA_CODE_LENGTH_CHIPS / GPS_L1_CA_CODE_RATE_HZ; - double T_prn_true_samples = T_prn_true_seconds * static_cast(d_fs_in); - double T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds; - double N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds; - double corrected_acq_phase_samples, delay_correction_samples; - corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast(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; - - d_carrier_phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz / static_cast(d_fs_in); - - // DLL/PLL filter initialization - d_carrier_loop_filter.initialize(d_acq_carrier_doppler_hz); // The carrier loop filter implements the Doppler accumulator - d_code_loop_filter.initialize(); // 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, d_acquisition_gnss_synchro->PRN, 0); - volk_gnsssdr_32fc_convert_16ic(d_ca_code_16sc, d_ca_code, static_cast(GPS_L1_CA_CODE_LENGTH_CHIPS)); - - multicorrelator_cpu_16sc.set_local_code_and_taps(static_cast(GPS_L1_CA_CODE_LENGTH_CHIPS), d_ca_code_16sc, d_local_code_shift_chips); - for (int32_t n = 0; n < d_n_correlator_taps; n++) - { - d_correlator_outs_16sc[n] = lv_16sc_t(0, 0); - } - - d_carrier_lock_fail_counter = 0; - d_rem_code_phase_samples = 0.0; - d_rem_carrier_phase_rad = 0.0; - d_rem_code_phase_chips = 0.0; - d_acc_carrier_phase_cycles = 0.0; - d_pll_to_dll_assist_secs_Ti = 0.0; - d_code_phase_samples = d_acq_code_phase_samples; - - std::string sys_ = &d_acquisition_gnss_synchro->System; - sys = sys_.substr(0, 1); - - // DEBUG OUTPUT - std::cout << "Tracking of GPS L1 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl; - LOG(INFO) << "Tracking of GPS L1 C/A signal for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; - - // enable tracking - d_pull_in = true; - d_enable_tracking = true; - d_enable_extended_integration = false; - d_preamble_synchronized = false; - - LOG(INFO) << "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; -} - - -gps_l1_ca_dll_pll_c_aid_tracking_sc::~gps_l1_ca_dll_pll_c_aid_tracking_sc() -{ - if (d_dump_file.is_open()) - { - try - { - d_dump_file.close(); - } - catch (const std::exception &ex) - { - LOG(WARNING) << "Exception in destructor " << ex.what(); - } - } - - if (d_dump) - { - if (d_channel == 0) - { - std::cout << "Writing .mat files ..."; - } - try - { - gps_l1_ca_dll_pll_c_aid_tracking_sc::save_matfile(); - } - catch (const std::exception &ex) - { - LOG(WARNING) << "Error saving the .mat file: " << ex.what(); - } - - if (d_channel == 0) - { - std::cout << " done." << std::endl; - } - } - - try - { - volk_gnsssdr_free(d_local_code_shift_chips); - volk_gnsssdr_free(d_ca_code); - volk_gnsssdr_free(d_ca_code_16sc); - volk_gnsssdr_free(d_correlator_outs_16sc); - delete[] d_Prompt_buffer; - multicorrelator_cpu_16sc.free(); - } - catch (const std::exception &ex) - { - LOG(WARNING) << "Exception in destructor " << ex.what(); - } -} - - -int32_t gps_l1_ca_dll_pll_c_aid_tracking_sc::save_matfile() -{ - // READ DUMP FILE - std::ifstream::pos_type size; - int32_t number_of_double_vars = 11; - int32_t number_of_float_vars = 5; - int32_t epoch_size_bytes = sizeof(uint64_t) + sizeof(double) * number_of_double_vars + - sizeof(float) * number_of_float_vars + sizeof(uint32_t); - std::ifstream dump_file; - dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); - try - { - dump_file.open(d_dump_filename.c_str(), std::ios::binary | std::ios::ate); - } - catch (const std::ifstream::failure &e) - { - std::cerr << "Problem opening dump file:" << e.what() << std::endl; - return 1; - } - // count number of epochs and rewind - int64_t num_epoch = 0; - if (dump_file.is_open()) - { - size = dump_file.tellg(); - num_epoch = static_cast(size) / static_cast(epoch_size_bytes); - dump_file.seekg(0, std::ios::beg); - } - else - { - return 1; - } - auto *abs_E = new float[num_epoch]; - auto *abs_P = new float[num_epoch]; - auto *abs_L = new float[num_epoch]; - auto *Prompt_I = new float[num_epoch]; - auto *Prompt_Q = new float[num_epoch]; - auto *PRN_start_sample_count = new uint64_t[num_epoch]; - auto *acc_carrier_phase_rad = new double[num_epoch]; - auto *carrier_doppler_hz = new double[num_epoch]; - auto *code_freq_chips = new double[num_epoch]; - auto *carr_error_hz = new double[num_epoch]; - auto *carr_error_filt_hz = new double[num_epoch]; - auto *code_error_chips = new double[num_epoch]; - auto *code_error_filt_chips = new double[num_epoch]; - auto *CN0_SNV_dB_Hz = new double[num_epoch]; - auto *carrier_lock_test = new double[num_epoch]; - auto *aux1 = new double[num_epoch]; - auto *aux2 = new double[num_epoch]; - auto *PRN = new uint32_t[num_epoch]; - - try - { - if (dump_file.is_open()) - { - for (int64_t i = 0; i < num_epoch; i++) - { - dump_file.read(reinterpret_cast(&abs_E[i]), sizeof(float)); - dump_file.read(reinterpret_cast(&abs_P[i]), sizeof(float)); - dump_file.read(reinterpret_cast(&abs_L[i]), sizeof(float)); - dump_file.read(reinterpret_cast(&Prompt_I[i]), sizeof(float)); - dump_file.read(reinterpret_cast(&Prompt_Q[i]), sizeof(float)); - dump_file.read(reinterpret_cast(&PRN_start_sample_count[i]), sizeof(uint64_t)); - dump_file.read(reinterpret_cast(&acc_carrier_phase_rad[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&carrier_doppler_hz[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&code_freq_chips[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&carr_error_hz[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&carr_error_filt_hz[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&code_error_chips[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&code_error_filt_chips[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&CN0_SNV_dB_Hz[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&carrier_lock_test[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&aux1[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&aux2[i]), sizeof(double)); - dump_file.read(reinterpret_cast(&PRN[i]), sizeof(uint32_t)); - } - } - dump_file.close(); - } - catch (const std::ifstream::failure &e) - { - std::cerr << "Problem reading dump file:" << e.what() << std::endl; - delete[] abs_E; - delete[] abs_P; - delete[] abs_L; - delete[] Prompt_I; - delete[] Prompt_Q; - delete[] PRN_start_sample_count; - delete[] acc_carrier_phase_rad; - delete[] carrier_doppler_hz; - delete[] code_freq_chips; - delete[] carr_error_hz; - delete[] carr_error_filt_hz; - delete[] code_error_chips; - delete[] code_error_filt_chips; - delete[] CN0_SNV_dB_Hz; - delete[] carrier_lock_test; - delete[] aux1; - delete[] aux2; - delete[] PRN; - return 1; - } - - // WRITE MAT FILE - mat_t *matfp; - matvar_t *matvar; - std::string filename = d_dump_filename; - filename.erase(filename.length() - 4, 4); - filename.append(".mat"); - matfp = Mat_CreateVer(filename.c_str(), nullptr, MAT_FT_MAT73); - if (reinterpret_cast(matfp) != nullptr) - { - size_t dims[2] = {1, static_cast(num_epoch)}; - matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_P, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_L, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_I, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_Q, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims, PRN_start_sample_count, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, acc_carrier_phase_rad, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_doppler_hz, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("code_freq_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_freq_chips, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("carr_error_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_hz, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_filt_hz, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("code_error_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_chips, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_filt_chips, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, CN0_SNV_dB_Hz, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("carrier_lock_test", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_lock_test, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("aux1", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux1, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux2, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - - matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims, PRN, 0); - Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE - Mat_VarFree(matvar); - } - Mat_Close(matfp); - delete[] abs_E; - delete[] abs_P; - delete[] abs_L; - delete[] Prompt_I; - delete[] Prompt_Q; - delete[] PRN_start_sample_count; - delete[] acc_carrier_phase_rad; - delete[] carrier_doppler_hz; - delete[] code_freq_chips; - delete[] carr_error_hz; - delete[] carr_error_filt_hz; - delete[] code_error_chips; - delete[] code_error_filt_chips; - delete[] CN0_SNV_dB_Hz; - delete[] carrier_lock_test; - delete[] aux1; - delete[] aux2; - delete[] PRN; - return 0; -} - - -void gps_l1_ca_dll_pll_c_aid_tracking_sc::set_channel(uint32_t channel) -{ - d_channel = channel; - LOG(INFO) << "Tracking Channel set to " << d_channel; - // ############# ENABLE DATA FILE LOG ################# - if (d_dump == true) - { - if (d_dump_file.is_open() == false) - { - try - { - d_dump_filename.append(std::to_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) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); - } - catch (const std::ifstream::failure &e) - { - LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what(); - } - } - } -} - - -void gps_l1_ca_dll_pll_c_aid_tracking_sc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro) -{ - d_acquisition_gnss_synchro = p_gnss_synchro; -} - - -int gps_l1_ca_dll_pll_c_aid_tracking_sc::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) -{ - // Block input data and block output stream pointers - const auto *in = reinterpret_cast(input_items[0]); //PRN start block alignment - auto **out = reinterpret_cast(&output_items[0]); - - // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder - Gnss_Synchro current_synchro_data = Gnss_Synchro(); - - // process vars - double code_error_filt_secs_Ti = 0.0; - double CURRENT_INTEGRATION_TIME_S = 0.0; - double CORRECTED_INTEGRATION_TIME_S = 0.0; - - if (d_enable_tracking == true) - { - // Fill the acquisition data - current_synchro_data = *d_acquisition_gnss_synchro; - // Receiver signal alignment - if (d_pull_in == true) - { - int32_t samples_offset; - double acq_trk_shif_correction_samples; - int32_t acq_to_trk_delay_samples; - acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp; - acq_trk_shif_correction_samples = d_correlation_length_samples - fmod(static_cast(acq_to_trk_delay_samples), static_cast(d_correlation_length_samples)); - samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples); - current_synchro_data.Tracking_sample_counter = d_sample_counter + static_cast(samples_offset); - d_sample_counter += static_cast(samples_offset); // count for the processed samples - d_pull_in = false; - d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * samples_offset / GPS_TWO_PI; - current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_cycles * GPS_TWO_PI; - current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz; - current_synchro_data.fs = d_fs_in; - *out[0] = current_synchro_data; - consume_each(samples_offset); // shift input to perform alignment with local replica - return 1; - } - - // ################# CARRIER WIPEOFF AND CORRELATORS ############################## - // perform carrier wipe-off and compute Early, Prompt and Late correlation - multicorrelator_cpu_16sc.set_input_output_vectors(d_correlator_outs_16sc, in); - multicorrelator_cpu_16sc.Carrier_wipeoff_multicorrelator_resampler(d_rem_carrier_phase_rad, - d_carrier_phase_step_rad, - d_rem_code_phase_chips, - d_code_phase_step_chips, - d_correlation_length_samples); - - // ####### coherent integration extension - // keep the last symbols - d_E_history.push_back(d_correlator_outs_16sc[0]); // save early output - d_P_history.push_back(d_correlator_outs_16sc[1]); // save prompt output - d_L_history.push_back(d_correlator_outs_16sc[2]); // save late output - - if (static_cast(d_P_history.size()) > d_extend_correlation_ms) - { - d_E_history.pop_front(); - d_P_history.pop_front(); - d_L_history.pop_front(); - } - - bool enable_dll_pll; - if (d_enable_extended_integration == true) - { - int64_t symbol_diff = round(1000.0 * ((static_cast(d_sample_counter) + d_rem_code_phase_samples) / static_cast(d_fs_in) - d_preamble_timestamp_s)); - if (symbol_diff > 0 and symbol_diff % d_extend_correlation_ms == 0) - { - // compute coherent integration and enable tracking loop - // perform coherent integration using correlator output history - // std::cout<<"##### RESET COHERENT INTEGRATION ####"<PRN) - << " pll_bw = " << d_pll_bw_hz << " [Hz], pll_narrow_bw = " << d_pll_bw_narrow_hz << " [Hz]" << std::endl - << " dll_bw = " << d_dll_bw_hz << " [Hz], dll_narrow_bw = " << d_dll_bw_narrow_hz << " [Hz]" << std::endl; - } - // UPDATE INTEGRATION TIME - CURRENT_INTEGRATION_TIME_S = static_cast(d_extend_correlation_ms) * GPS_L1_CA_CODE_PERIOD; - enable_dll_pll = true; - } - else - { - if (d_preamble_synchronized == true) - { - // continue extended coherent correlation - // Compute the next buffer length based on the period of the PRN sequence and the code phase error estimation - double T_chip_seconds = 1.0 / d_code_freq_chips; - double T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS; - double T_prn_samples = T_prn_seconds * static_cast(d_fs_in); - int32_t K_prn_samples = round(T_prn_samples); - double K_T_prn_error_samples = K_prn_samples - T_prn_samples; - - d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples; - d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples - d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples; - d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples; - // code phase step (Code resampler phase increment per sample) [chips/sample] - d_code_phase_step_chips = d_code_freq_chips / static_cast(d_fs_in); - // remnant code phase [chips] - d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast(d_fs_in)); - d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + d_carrier_phase_step_rad * static_cast(d_correlation_length_samples), GPS_TWO_PI); - - // UPDATE ACCUMULATED CARRIER PHASE - CORRECTED_INTEGRATION_TIME_S = (static_cast(d_correlation_length_samples) / static_cast(d_fs_in)); - d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GPS_TWO_PI; - - // disable tracking loop and inform telemetry decoder - enable_dll_pll = false; - } - else - { - // perform basic (1ms) correlation - // UPDATE INTEGRATION TIME - CURRENT_INTEGRATION_TIME_S = static_cast(d_correlation_length_samples) / static_cast(d_fs_in); - enable_dll_pll = true; - } - } - } - else - { - // UPDATE INTEGRATION TIME - CURRENT_INTEGRATION_TIME_S = static_cast(d_correlation_length_samples) / static_cast(d_fs_in); - enable_dll_pll = true; - } - - if (enable_dll_pll == true) - { - // ################## PLL ########################################################## - // Update PLL discriminator [rads/Ti -> Secs/Ti] - d_carr_phase_error_secs_Ti = pll_cloop_two_quadrant_atan(std::complex(d_correlator_outs_16sc[1].real(), d_correlator_outs_16sc[1].imag())) / GPS_TWO_PI; //prompt output - - // Carrier discriminator filter - // NOTICE: The carrier loop filter includes the Carrier Doppler accumulator, as described in Kaplan - // Input [s/Ti] -> output [Hz] - d_carrier_doppler_hz = d_carrier_loop_filter.get_carrier_error(0.0, d_carr_phase_error_secs_Ti, CURRENT_INTEGRATION_TIME_S); - // PLL to DLL assistance [Secs/Ti] - d_pll_to_dll_assist_secs_Ti = (d_carrier_doppler_hz * CURRENT_INTEGRATION_TIME_S) / GPS_L1_FREQ_HZ; - // code Doppler frequency update - d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GPS_L1_CA_CODE_RATE_HZ) / GPS_L1_FREQ_HZ); - - // ################## DLL ########################################################## - // DLL discriminator - d_code_error_chips_Ti = dll_nc_e_minus_l_normalized(std::complex(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag()), std::complex(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag())); // [chips/Ti] //early and late - // Code discriminator filter - d_code_error_filt_chips_s = d_code_loop_filter.get_code_nco(d_code_error_chips_Ti); // input [chips/Ti] -> output [chips/second] - d_code_error_filt_chips_Ti = d_code_error_filt_chips_s * CURRENT_INTEGRATION_TIME_S; - code_error_filt_secs_Ti = d_code_error_filt_chips_Ti / d_code_freq_chips; // [s/Ti] - - // ################## CARRIER AND CODE NCO BUFFER ALIGNMENT ####################### - // keep alignment parameters for the next input buffer - // Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation - double T_chip_seconds = 1.0 / d_code_freq_chips; - double T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS; - double T_prn_samples = T_prn_seconds * static_cast(d_fs_in); - double K_prn_samples = round(T_prn_samples); - double K_T_prn_error_samples = K_prn_samples - T_prn_samples; - - d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples + code_error_filt_secs_Ti * static_cast(d_fs_in); //(code_error_filt_secs_Ti + d_pll_to_dll_assist_secs_Ti) * static_cast(d_fs_in); - d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples - d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples; - d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples; - - //################### PLL COMMANDS ################################################# - //carrier phase step (NCO phase increment per sample) [rads/sample] - d_carrier_phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz / static_cast(d_fs_in); - d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GPS_TWO_PI; - // UPDATE ACCUMULATED CARRIER PHASE - CORRECTED_INTEGRATION_TIME_S = (static_cast(d_correlation_length_samples) / static_cast(d_fs_in)); - //remnant carrier phase [rad] - d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * CORRECTED_INTEGRATION_TIME_S, GPS_TWO_PI); - - //################### DLL COMMANDS ################################################# - //code phase step (Code resampler phase increment per sample) [chips/sample] - d_code_phase_step_chips = d_code_freq_chips / static_cast(d_fs_in); - //remnant code phase [chips] - d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast(d_fs_in)); - - // ####### CN0 ESTIMATION AND LOCK DETECTORS ####################################### - if (d_cn0_estimation_counter < FLAGS_cn0_samples) - { - // fill buffer with prompt correlator output values - d_Prompt_buffer[d_cn0_estimation_counter] = lv_cmake(static_cast(d_correlator_outs_16sc[1].real()), static_cast(d_correlator_outs_16sc[1].imag())); // prompt - d_cn0_estimation_counter++; - } - else - { - d_cn0_estimation_counter = 0; - // Code lock indicator - d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, FLAGS_cn0_samples, GPS_L1_CA_CODE_PERIOD); - // Carrier lock indicator - d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, FLAGS_cn0_samples); - // Loss of lock detection - if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < FLAGS_cn0_min) - { - d_carrier_lock_fail_counter++; - } - else - { - if (d_carrier_lock_fail_counter > 0) - { - d_carrier_lock_fail_counter--; - } - } - if (d_carrier_lock_fail_counter > FLAGS_max_lock_fail) - { - std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl; - LOG(INFO) << "Loss of lock in channel " << d_channel << "!"; - this->message_port_pub(pmt::mp("events"), pmt::from_long(3)); //3 -> loss of lock - d_carrier_lock_fail_counter = 0; - d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine - } - } - // ########### Output the tracking data to navigation and PVT ########## - current_synchro_data.Prompt_I = static_cast((d_correlator_outs_16sc[1]).real()); - current_synchro_data.Prompt_Q = static_cast((d_correlator_outs_16sc[1]).imag()); - // Tracking_timestamp_secs is aligned with the CURRENT PRN start sample (Hybridization OK!) - current_synchro_data.Tracking_sample_counter = d_sample_counter + static_cast(d_correlation_length_samples); - current_synchro_data.Code_phase_samples = d_rem_code_phase_samples; - current_synchro_data.Carrier_phase_rads = GPS_TWO_PI * d_acc_carrier_phase_cycles; - current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz; - current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz; - current_synchro_data.Flag_valid_symbol_output = true; - if (d_preamble_synchronized == true) - { - current_synchro_data.correlation_length_ms = d_extend_correlation_ms; - } - else - { - current_synchro_data.correlation_length_ms = 1; - } - } - else - { - current_synchro_data.Prompt_I = static_cast((d_correlator_outs_16sc[1]).real()); - current_synchro_data.Prompt_Q = static_cast((d_correlator_outs_16sc[1]).imag()); - current_synchro_data.Tracking_sample_counter = d_sample_counter + static_cast(d_correlation_length_samples); - current_synchro_data.Code_phase_samples = d_rem_code_phase_samples; - current_synchro_data.Carrier_phase_rads = GPS_TWO_PI * d_acc_carrier_phase_cycles; - current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz; // todo: project the carrier doppler - current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz; - } - } - else - { - for (int32_t n = 0; n < d_n_correlator_taps; n++) - { - d_correlator_outs_16sc[n] = lv_cmake(0, 0); - } - - current_synchro_data.System = {'G'}; - current_synchro_data.Tracking_sample_counter = d_sample_counter + static_cast(d_correlation_length_samples); - } - current_synchro_data.fs = d_fs_in; - *out[0] = current_synchro_data; - if (d_dump) - { - // MULTIPLEXED FILE RECORDING - Record results to file - float prompt_I; - float prompt_Q; - float tmp_E, tmp_P, tmp_L; - float tmp_VE = 0.0; - float tmp_VL = 0.0; - float tmp_float; - prompt_I = d_correlator_outs_16sc[1].real(); - prompt_Q = d_correlator_outs_16sc[1].imag(); - tmp_E = std::abs(gr_complex(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag())); - tmp_P = std::abs(gr_complex(d_correlator_outs_16sc[1].real(), d_correlator_outs_16sc[1].imag())); - tmp_L = std::abs(gr_complex(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag())); - try - { - // Dump correlators output - d_dump_file.write(reinterpret_cast(&tmp_VE), sizeof(float)); - d_dump_file.write(reinterpret_cast(&tmp_E), sizeof(float)); - d_dump_file.write(reinterpret_cast(&tmp_P), sizeof(float)); - d_dump_file.write(reinterpret_cast(&tmp_L), sizeof(float)); - d_dump_file.write(reinterpret_cast(&tmp_VL), sizeof(float)); - // PROMPT I and Q (to analyze navigation symbols) - d_dump_file.write(reinterpret_cast(&prompt_I), sizeof(float)); - d_dump_file.write(reinterpret_cast(&prompt_Q), sizeof(float)); - // PRN start sample stamp - d_dump_file.write(reinterpret_cast(&d_sample_counter), sizeof(uint64_t)); - // accumulated carrier phase - tmp_float = d_acc_carrier_phase_cycles * GPS_TWO_PI; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - // carrier and code frequency - tmp_float = d_carrier_doppler_hz; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - tmp_float = d_code_freq_chips; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - // PLL commands - tmp_float = 1.0 / (d_carr_phase_error_secs_Ti * CURRENT_INTEGRATION_TIME_S); - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - tmp_float = 1.0 / (d_code_error_filt_chips_Ti * CURRENT_INTEGRATION_TIME_S); - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - // DLL commands - tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - tmp_float = d_code_error_filt_chips_Ti; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - // CN0 and carrier lock test - tmp_float = d_CN0_SNV_dB_Hz; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - tmp_float = d_carrier_lock_test; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - // AUX vars (for debug purposes) - tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - auto tmp_double = static_cast(d_sample_counter + d_correlation_length_samples); - d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); - // PRN - uint32_t prn_ = d_acquisition_gnss_synchro->PRN; - d_dump_file.write(reinterpret_cast(&prn_), sizeof(uint32_t)); - } - catch (const std::ifstream::failure &e) - { - LOG(WARNING) << "Exception writing trk dump file " << e.what(); - } - } - - consume_each(d_correlation_length_samples); // this is necessary in gr::block derivates - d_sample_counter += d_correlation_length_samples; //count for the processed samples - - if (d_enable_tracking) - { - return 1; - } - - return 0; -} diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.h b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.h deleted file mode 100644 index 9aec25252..000000000 --- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.h +++ /dev/null @@ -1,201 +0,0 @@ -/*! - * \file gps_l1_ca_dll_pll_c_aid_tracking_sc.h - * \brief Interface of a code DLL + carrier PLL tracking block - * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com - * Javier Arribas, 2011. jarribas(at)cttc.es - * - * 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, - * Birkhauser, 2007 - * - * ------------------------------------------------------------------------- - * - * Copyright (C) 2010-2018 (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_C_AID_TRACKING_SC_H -#define GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_SC_H - -#include "cpu_multicorrelator_16sc.h" -#include "gnss_synchro.h" -#include "gps_sdr_signal_processing.h" -#include "tracking_2nd_DLL_filter.h" -#include "tracking_FLL_PLL_filter.h" -#include -#include -#include -#include -#include -#include -#include - -class gps_l1_ca_dll_pll_c_aid_tracking_sc; - -using gps_l1_ca_dll_pll_c_aid_tracking_sc_sptr = boost::shared_ptr; - -gps_l1_ca_dll_pll_c_aid_tracking_sc_sptr -gps_l1_ca_dll_pll_c_aid_make_tracking_sc( - int64_t fs_in, uint32_t vector_length, - bool dump, - std::string dump_filename, - float pll_bw_hz, - float dll_bw_hz, - float pll_bw_narrow_hz, - float dll_bw_narrow_hz, - int32_t extend_correlation_ms, - float early_late_space_chips); - - -/*! - * \brief This class implements a DLL + PLL tracking loop block - */ -class gps_l1_ca_dll_pll_c_aid_tracking_sc : public gr::block -{ -public: - ~gps_l1_ca_dll_pll_c_aid_tracking_sc(); - - void set_channel(uint32_t channel); - void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro); - void start_tracking(); - - 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_c_aid_tracking_sc_sptr - gps_l1_ca_dll_pll_c_aid_make_tracking_sc( - int64_t fs_in, uint32_t vector_length, - bool dump, - std::string dump_filename, - float pll_bw_hz, - float dll_bw_hz, - float pll_bw_narrow_hz, - float dll_bw_narrow_hz, - int32_t extend_correlation_ms, - float early_late_space_chips); - - gps_l1_ca_dll_pll_c_aid_tracking_sc( - int64_t fs_in, uint32_t vector_length, - bool dump, - std::string dump_filename, - float pll_bw_hz, - float dll_bw_hz, - float pll_bw_narrow_hz, - float dll_bw_narrow_hz, - int32_t extend_correlation_ms, - float early_late_space_chips); - - // tracking configuration vars - uint32_t d_vector_length; - bool d_dump; - - Gnss_Synchro* d_acquisition_gnss_synchro; - uint32_t d_channel; - - int64_t d_fs_in; - - double d_early_late_spc_chips; - int32_t d_n_correlator_taps; - - gr_complex* d_ca_code; - lv_16sc_t* d_ca_code_16sc; - float* d_local_code_shift_chips; - //gr_complex* d_correlator_outs; - lv_16sc_t* d_correlator_outs_16sc; - //cpu_multicorrelator multicorrelator_cpu; - Cpu_Multicorrelator_16sc multicorrelator_cpu_16sc; - - // remaining code phase and carrier phase between tracking loops - double d_rem_code_phase_samples; - double d_rem_code_phase_chips; - double d_rem_carrier_phase_rad; - int32_t d_rem_code_phase_integer_samples; - - // PLL and DLL filter library - Tracking_2nd_DLL_filter d_code_loop_filter; - Tracking_FLL_PLL_filter d_carrier_loop_filter; - - // acquisition - double d_acq_code_phase_samples; - double d_acq_carrier_doppler_hz; - - // tracking vars - float d_dll_bw_hz; - float d_pll_bw_hz; - float d_dll_bw_narrow_hz; - float d_pll_bw_narrow_hz; - double d_code_freq_chips; - double d_code_phase_step_chips; - double d_carrier_doppler_hz; - double d_carrier_phase_step_rad; - double d_acc_carrier_phase_cycles; - double d_code_phase_samples; - double d_pll_to_dll_assist_secs_Ti; - double d_carr_phase_error_secs_Ti; - double d_code_error_chips_Ti; - double d_preamble_timestamp_s; - int32_t d_extend_correlation_ms; - bool d_enable_extended_integration; - bool d_preamble_synchronized; - double d_code_error_filt_chips_s; - double d_code_error_filt_chips_Ti; - void msg_handler_preamble_index(pmt::pmt_t msg); - - // symbol history to detect bit transition - std::deque d_E_history; - std::deque d_P_history; - std::deque d_L_history; - - //Integration period in samples - int32_t d_correlation_length_samples; - - //processing samples counters - uint64_t d_sample_counter; - uint64_t d_acq_sample_stamp; - - // CN0 estimation and lock detector - int32_t d_cn0_estimation_counter; - gr_complex* d_Prompt_buffer; - double d_carrier_lock_test; - double d_CN0_SNV_dB_Hz; - double d_carrier_lock_threshold; - int32_t 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; - - int32_t save_matfile(); -}; - -#endif //GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_SC_H diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc index 32de09a96..b4ede27ac 100644 --- a/src/core/receiver/gnss_block_factory.cc +++ b/src/core/receiver/gnss_block_factory.cc @@ -73,7 +73,6 @@ #include "glonass_l2_ca_pcps_acquisition.h" #include "glonass_l2_ca_telemetry_decoder.h" #include "gnss_block_interface.h" -#include "gps_l1_ca_dll_pll_c_aid_tracking.h" #include "gps_l1_ca_dll_pll_tracking.h" #include "gps_l1_ca_kf_tracking.h" #include "gps_l1_ca_pcps_acquisition.h" @@ -1720,12 +1719,6 @@ std::unique_ptr GNSSBlockFactory::GetBlock( out_streams)); block = std::move(block_); } - else if (implementation == "GPS_L1_CA_DLL_PLL_C_Aid_Tracking") - { - std::unique_ptr block_(new GpsL1CaDllPllCAidTracking(configuration.get(), role, in_streams, - out_streams)); - block = std::move(block_); - } #if ENABLE_FPGA else if (implementation == "GPS_L1_CA_DLL_PLL_Tracking_Fpga") { @@ -2138,12 +2131,6 @@ std::unique_ptr GNSSBlockFactory::GetTrkBlock( out_streams)); block = std::move(block_); } - else if (implementation == "GPS_L1_CA_DLL_PLL_C_Aid_Tracking") - { - std::unique_ptr block_(new GpsL1CaDllPllCAidTracking(configuration.get(), role, in_streams, - out_streams)); - block = std::move(block_); - } #if ENABLE_FPGA else if (implementation == "GPS_L1_CA_DLL_PLL_Tracking_Fpga") { diff --git a/src/tests/unit-tests/control-plane/control_thread_test.cc b/src/tests/unit-tests/control-plane/control_thread_test.cc index 0155cb227..781a5af76 100644 --- a/src/tests/unit-tests/control-plane/control_thread_test.cc +++ b/src/tests/unit-tests/control-plane/control_thread_test.cc @@ -31,8 +31,8 @@ */ -#include "control_message_factory.h" #include "control_thread.h" +#include "control_message_factory.h" #include "in_memory_configuration.h" #include #include @@ -170,7 +170,7 @@ TEST_F(ControlThreadTest /*unused*/, InstantiateRunControlMessages2 /*unused*/) config->set_property("Acquisition_1C.threshold", "1"); config->set_property("Acquisition_1C.doppler_max", "5000"); config->set_property("Acquisition_1C.doppler_min", "-5000"); - config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_C_Aid_Tracking"); + config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_Tracking"); config->set_property("Tracking_1C.item_type", "gr_complex"); config->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder"); config->set_property("TelemetryDecoder_1C.item_type", "gr_complex"); @@ -234,7 +234,7 @@ TEST_F(ControlThreadTest /*unused*/, StopReceiverProgrammatically /*unused*/) config->set_property("Acquisition_1C.threshold", "1"); config->set_property("Acquisition_1C.doppler_max", "5000"); config->set_property("Acquisition_1C.doppler_min", "-5000"); - config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_C_Aid_Tracking"); + config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_Tracking"); config->set_property("Tracking_1C.item_type", "gr_complex"); config->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder"); config->set_property("TelemetryDecoder_1C.item_type", "gr_complex"); diff --git a/src/tests/unit-tests/control-plane/gnss_block_factory_test.cc b/src/tests/unit-tests/control-plane/gnss_block_factory_test.cc index 9eff70397..0af18c4e1 100644 --- a/src/tests/unit-tests/control-plane/gnss_block_factory_test.cc +++ b/src/tests/unit-tests/control-plane/gnss_block_factory_test.cc @@ -33,9 +33,9 @@ * ------------------------------------------------------------------------- */ +#include "gnss_block_factory.h" #include "acquisition_interface.h" #include "channel.h" -#include "gnss_block_factory.h" #include "gnss_block_interface.h" #include "in_memory_configuration.h" #include "observables_interface.h" @@ -251,18 +251,6 @@ TEST(GNSSBlockFactoryTest, InstantiateGalileoE1PcpsAmbiguousAcquisition) } -TEST(GNSSBlockFactoryTest, InstantiateGpsL1CaDllPllCAidTracking) -{ - std::shared_ptr configuration = std::make_shared(); - configuration->set_property("Tracking.implementation", "GPS_L1_CA_DLL_PLL_C_Aid_Tracking"); - std::unique_ptr factory; - std::shared_ptr trk_ = factory->GetBlock(configuration, "Tracking", "GPS_L1_CA_DLL_PLL_C_Aid_Tracking", 1, 1); - std::shared_ptr tracking = std::dynamic_pointer_cast(trk_); - EXPECT_STREQ("Tracking", tracking->role().c_str()); - EXPECT_STREQ("GPS_L1_CA_DLL_PLL_C_Aid_Tracking", tracking->implementation().c_str()); -} - - TEST(GNSSBlockFactoryTest, InstantiateGpsL1CaDllPllTracking) { std::shared_ptr configuration = std::make_shared(); @@ -316,7 +304,7 @@ TEST(GNSSBlockFactoryTest, InstantiateChannels) configuration->set_property("Channels_1C.count", "2"); configuration->set_property("Channels_1E.count", "0"); configuration->set_property("Channels.in_acquisition", "2"); - configuration->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_C_Aid_Tracking"); + configuration->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_Tracking"); configuration->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder"); configuration->set_property("Channel0.item_type", "gr_complex"); configuration->set_property("Acquisition_1C.implementation", "GPS_L1_CA_PCPS_Acquisition"); diff --git a/src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc b/src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc index 9271f669b..0998bb035 100644 --- a/src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc +++ b/src/tests/unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc @@ -48,7 +48,6 @@ #include "gnss_block_factory.h" #include "gnss_block_interface.h" #include "gnss_synchro.h" -#include "gps_l1_ca_dll_pll_c_aid_tracking.h" #include "gps_l1_ca_dll_pll_tracking.h" #include "gps_l1_ca_telemetry_decoder.h" #include "in_memory_configuration.h" diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc index 88a03f1a3..3e33bc3bf 100644 --- a/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc +++ b/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc @@ -133,7 +133,7 @@ public: std::string p4; std::string p5; std::string p6; - std::string implementation = "GPS_L1_CA_DLL_PLL_Tracking"; //"GPS_L1_CA_DLL_PLL_C_Aid_Tracking"; + std::string implementation = "GPS_L1_CA_DLL_PLL_Tracking"; const int baseband_sampling_freq = FLAGS_fs_gen_sps; diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test_fpga.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test_fpga.cc index 9ca2cd870..747e4cbc5 100644 --- a/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test_fpga.cc +++ b/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test_fpga.cc @@ -209,8 +209,8 @@ GpsL1CADllPllTrackingTestFpga_msg_rx::GpsL1CADllPllTrackingTestFpga_msg_rx() : g this->message_port_register_in(pmt::mp("events")); this->set_msg_handler(pmt::mp("events"), boost::bind( - &GpsL1CADllPllTrackingTestFpga_msg_rx::msg_handler_events, - this, _1)); + &GpsL1CADllPllTrackingTestFpga_msg_rx::msg_handler_events, + this, _1)); rx_message = 0; } @@ -320,8 +320,6 @@ void GpsL1CADllPllTrackingTestFpga::configure_receiver() config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(baseband_sampling_freq)); // Set Tracking - //config->set_property("Tracking_1C.implementation", - // "GPS_L1_CA_DLL_PLL_C_Aid_Tracking_Fpga"); config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_Tracking_Fpga"); config->set_property("Tracking_1C.item_type", "cshort");