mirror of
https://github.com/gnss-sdr/gnss-sdr
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Merge branch 'next' of https://github.com/carlesfernandez/gnss-sdr into next
This commit is contained in:
Carles Fernandez
commit
125b4cefa7
@ -7,7 +7,7 @@
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
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* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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@ -32,26 +32,26 @@
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#include "beidou_b1i_signal_processing.h"
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auto auxCeil = [](float x) { return static_cast<int>(static_cast<long>((x) + 1)); };
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auto auxCeil = [](float x) { return static_cast<int32_t>(static_cast<int64_t>((x) + 1)); };
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void beidou_b1i_code_gen_int(int* _dest, signed int _prn, unsigned int _chip_shift)
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void beidou_b1i_code_gen_int(int32_t* _dest, int32_t _prn, uint32_t _chip_shift)
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{
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const unsigned int _code_length = 2046;
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const uint32_t _code_length = 2046;
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bool G1[_code_length];
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bool G2[_code_length];
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bool G1_register[11] = {false, true, false, true, false, true, false, true, false, true, false};
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bool G2_register[11] = {false, true, false, true, false, true, false, true, false, true, false};
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bool feedback1, feedback2;
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bool aux;
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unsigned int lcv, lcv2;
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unsigned int delay;
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signed int prn_idx;
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uint32_t lcv, lcv2;
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uint32_t delay;
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int32_t prn_idx;
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/* G2 Delays as defined in GPS-ISD-200D */
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const signed int delays[33] = {712 /*PRN1*/, 1581, 1414, 1550, 581, 771, 1311, 1043, 1549, 359, 710, 1579, 1548, 1103, 579, 769, 358, 709, 1411, 1547,
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const int32_t delays[33] = {712 /*PRN1*/, 1581, 1414, 1550, 581, 771, 1311, 1043, 1549, 359, 710, 1579, 1548, 1103, 579, 769, 358, 709, 1411, 1547,
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1102, 578, 357, 1577, 1410, 1546, 1101, 707, 1576, 1409, 1545, 354 /*PRN32*/,
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705};
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const signed int phase1[37] = {1, 1, 1, 1, 1, 1, 1, 1, 2, 3, 3, 3, 3, 3, 3, 3, 4, 4, 4, 4, 4, 4, 5, 5, 5, 5, 5, 6, 6, 6, 6, 8, 8, 8, 9, 9, 10};
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const signed int phase2[37] = {3, 4, 5, 6, 8, 9, 10, 11, 7, 4, 5, 6, 8, 9, 10, 11, 5, 6, 8, 9, 10, 11, 6, 8, 9, 10, 11, 8, 9, 10, 11, 9, 10, 11, 10, 11, 11};
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const int32_t phase1[37] = {1, 1, 1, 1, 1, 1, 1, 1, 2, 3, 3, 3, 3, 3, 3, 3, 4, 4, 4, 4, 4, 4, 5, 5, 5, 5, 5, 6, 6, 6, 6, 8, 8, 8, 9, 9, 10};
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const int32_t phase2[37] = {3, 4, 5, 6, 8, 9, 10, 11, 7, 4, 5, 6, 8, 9, 10, 11, 5, 6, 8, 9, 10, 11, 6, 8, 9, 10, 11, 8, 9, 10, 11, 9, 10, 11, 10, 11, 11};
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// compute delay array index for given PRN number
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prn_idx = _prn - 1;
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@ -110,28 +110,28 @@ void beidou_b1i_code_gen_int(int* _dest, signed int _prn, unsigned int _chip_shi
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}
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void beidou_b1i_code_gen_float(float* _dest, signed int _prn, unsigned int _chip_shift)
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void beidou_b1i_code_gen_float(float* _dest, int32_t _prn, uint32_t _chip_shift)
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{
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unsigned int _code_length = 2046;
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int b1i_code_int[_code_length];
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uint32_t _code_length = 2046;
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int32_t b1i_code_int[_code_length];
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beidou_b1i_code_gen_int(b1i_code_int, _prn, _chip_shift);
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for (unsigned int ii = 0; ii < _code_length; ++ii)
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for (uint32_t ii = 0; ii < _code_length; ++ii)
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{
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_dest[ii] = static_cast<float>(b1i_code_int[ii]);
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}
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}
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void beidou_b1i_code_gen_complex(std::complex<float>* _dest, signed int _prn, unsigned int _chip_shift)
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void beidou_b1i_code_gen_complex(std::complex<float>* _dest, int32_t _prn, uint32_t _chip_shift)
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{
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unsigned int _code_length = 2046;
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int b1i_code_int[_code_length];
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uint32_t _code_length = 2046;
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int32_t b1i_code_int[_code_length];
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beidou_b1i_code_gen_int(b1i_code_int, _prn, _chip_shift);
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for (unsigned int ii = 0; ii < _code_length; ++ii)
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for (uint32_t ii = 0; ii < _code_length; ++ii)
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{
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_dest[ii] = std::complex<float>(static_cast<float>(b1i_code_int[ii]), 0.0f);
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}
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@ -141,26 +141,26 @@ void beidou_b1i_code_gen_complex(std::complex<float>* _dest, signed int _prn, un
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/*
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* Generates complex GPS L1 C/A code for the desired SV ID and sampled to specific sampling frequency
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*/
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void beidou_b1i_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, int _fs, unsigned int _chip_shift)
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void beidou_b1i_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn, int32_t _fs, uint32_t _chip_shift)
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{
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// This function is based on the GNU software GPS for MATLAB in the Kay Borre book
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std::complex<float> _code[2046];
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signed int _samplesPerCode, _codeValueIndex;
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int32_t _samplesPerCode, _codeValueIndex;
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float _ts;
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float _tc;
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float aux;
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const signed int _codeFreqBasis = 2046000; //Hz
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const signed int _codeLength = 2046;
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const int32_t _codeFreqBasis = 2046000; //Hz
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const int32_t _codeLength = 2046;
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//--- Find number of samples per spreading code ----------------------------
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_samplesPerCode = static_cast<signed int>(static_cast<double>(_fs) / static_cast<double>(_codeFreqBasis / _codeLength));
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_samplesPerCode = static_cast<int32_t>(static_cast<double>(_fs) / static_cast<double>(_codeFreqBasis / _codeLength));
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//--- Find time constants --------------------------------------------------
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_ts = 1.0 / static_cast<float>(_fs); // Sampling period in sec
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_tc = 1.0 / static_cast<float>(_codeFreqBasis); // C/A chip period in sec
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beidou_b1i_code_gen_complex(_code, _prn, _chip_shift); //generate C/A code 1 sample per chip
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for (signed int i = 0; i < _samplesPerCode; i++)
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for (int32_t i = 0; i < _samplesPerCode; i++)
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{
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//=== Digitizing =======================================================
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@ -7,7 +7,7 @@
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
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* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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@ -30,25 +30,26 @@
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* -------------------------------------------------------------------------
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*/
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#ifndef BEIDOU_B1I_SDR_SIGNAL_PROCESSING_H_
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#define BEIDOU_B1I_SDR_SIGNAL_PROCESSING_H_
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#ifndef GNSS_SDR_BEIDOU_B1I_SDR_SIGNAL_PROCESSING_H_
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#define GNSS_SDR_BEIDOU_B1I_SDR_SIGNAL_PROCESSING_H_
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#include <complex>
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#include <iostream>
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#include <cstdint>
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//!Generates int GPS L1 C/A code for the desired SV ID and code shift
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void beidou_b1i_code_gen_int(int* _dest, signed int _prn, unsigned int _chip_shift);
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//! Generates int32_t GPS L1 C/A code for the desired SV ID and code shift
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void beidou_b1i_code_gen_int(int32_t* _dest, int32_t _prn, uint32_t _chip_shift);
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//! Generates float GPS L1 C/A code for the desired SV ID and code shift
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void beidou_b1i_code_gen_float(float* _dest, signed int _prn, unsigned int _chip_shift);
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void beidou_b1i_code_gen_float(float* _dest, int32_t _prn, uint32_t _chip_shift);
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//! Generates complex GPS L1 C/A code for the desired SV ID and code shift, and sampled to specific sampling frequency
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void beidou_b1i_code_gen_complex(std::complex<float>* _dest, signed int _prn, unsigned int _chip_shift);
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void beidou_b1i_code_gen_complex(std::complex<float>* _dest, int32_t _prn, uint32_t _chip_shift);
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//! Generates N complex GPS L1 C/A codes for the desired SV ID and code shift
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void beidou_b1i_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, int _fs, unsigned int _chip_shift, unsigned int _ncodes);
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void beidou_b1i_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn, int32_t _fs, uint32_t _chip_shift, uint32_t _ncodes);
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//! Generates complex GPS L1 C/A code for the desired SV ID and code shift
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void beidou_b1i_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, int _fs, unsigned int _chip_shift);
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void beidou_b1i_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn, int32_t _fs, uint32_t _chip_shift);
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#endif /* BEIDOU_B1I_SDR_SIGNAL_PROCESSING_H_ */
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@ -3309,7 +3309,7 @@ std::map<std::string, int> Rtcm::galileo_signal_map = [] {
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boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_Ephemeris& eph, double obs_time) const
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{
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const double gps_t = obs_time;
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boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<long>((gps_t + 604800 * static_cast<double>(eph.i_GPS_week % 1024)) * 1000));
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boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<long>((gps_t + 604800 * static_cast<double>(eph.i_GPS_week % 1024)) * 1000)); // NOLINT(google-runtime-int)
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boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
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return p_time;
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}
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@ -3318,7 +3318,7 @@ boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_Ephemeris& eph, double
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boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_CNAV_Ephemeris& eph, double obs_time) const
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{
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const double gps_t = obs_time;
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boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<long>((gps_t + 604800 * static_cast<double>(eph.i_GPS_week % 1024)) * 1000));
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boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<long>((gps_t + 604800 * static_cast<double>(eph.i_GPS_week % 1024)) * 1000)); // NOLINT(google-runtime-int)
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boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
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return p_time;
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}
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@ -3327,7 +3327,7 @@ boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_CNAV_Ephemeris& eph, d
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boost::posix_time::ptime Rtcm::compute_Galileo_time(const Galileo_Ephemeris& eph, double obs_time) const
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{
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double galileo_t = obs_time;
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boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<long>((galileo_t + 604800 * static_cast<double>(eph.WN_5)) * 1000));
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boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<long>((galileo_t + 604800 * static_cast<double>(eph.WN_5)) * 1000)); // NOLINT(google-runtime-int)
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boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
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return p_time;
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}
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@ -5233,19 +5233,19 @@ int32_t Rtcm::set_DF401(const Gnss_Synchro& gnss_synchro)
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{
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lambda = GPS_C_m_s / GPS_L1_FREQ_HZ;
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}
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if ((sig.compare("2S")) == 0 && (sys == "G"))
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if ((sig == "2S") && (sys == "G"))
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{
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lambda = GPS_C_m_s / GPS_L2_FREQ_HZ;
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}
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if ((sig.compare("5X")) == 0 && (sys == "E"))
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if ((sig == "5X") && (sys == "E"))
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{
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lambda = GPS_C_m_s / Galileo_E5a_FREQ_HZ;
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}
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if ((sig.compare("1B")) == 0 && (sys == "E"))
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if ((sig == "1B") && (sys == "E"))
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{
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lambda = GPS_C_m_s / Galileo_E1_FREQ_HZ;
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}
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if ((sig.compare("7X")) == 0 && (sys == "E"))
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if ((sig == "7X") && (sys == "E"))
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{
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lambda = GPS_C_m_s / 1.207140e9; // Galileo_E1b_FREQ_HZ;
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}
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@ -5303,7 +5303,7 @@ int32_t Rtcm::set_DF402(const Gps_Ephemeris& ephNAV, const Gps_CNAV_Ephemeris& e
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lock_time_period_s = Rtcm::lock_time(ephCNAV, obs_time, gnss_synchro);
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}
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// TODO Should add system for galileo satellites
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if (sig_.compare("1B") || sig_.compare("5X") || sig_.compare("7X") || sig_.compare("8X"))
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if ((sig_ == "1B") || (sig_ == "5X") || (sig_ == "7X") || (sig_ == "8X"))
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{
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lock_time_period_s = Rtcm::lock_time(ephFNAV, obs_time, gnss_synchro);
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}
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@ -5490,15 +5490,15 @@ int32_t Rtcm::set_DF407(const Gps_Ephemeris& ephNAV, const Gps_CNAV_Ephemeris& e
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std::string sig_(gnss_synchro.Signal);
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std::string sys_(&gnss_synchro.System, 1);
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if ((sig_.compare("1C")) && (sys_ == "G"))
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if ((sig_ == "1C") && (sys_ == "G"))
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{
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lock_time_period_s = Rtcm::lock_time(ephNAV, obs_time, gnss_synchro);
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}
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if ((sig_.compare("2S")) && (sys_ == "G"))
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if ((sig_ == "2S") && (sys_ == "G"))
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{
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lock_time_period_s = Rtcm::lock_time(ephCNAV, obs_time, gnss_synchro);
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}
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if ((sig_.compare("1B") || sig_.compare("5X") || sig_.compare("7X") || sig_.compare("8X")) && (sys_ == "E"))
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if (((sig_ == "1B") || (sig_ == "5X") || (sig_ == "7X") || (sig_ == "8X")) && (sys_ == "E"))
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{
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lock_time_period_s = Rtcm::lock_time(ephFNAV, obs_time, gnss_synchro);
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}
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@ -8,7 +8,7 @@
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
|
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* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
|
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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@ -73,7 +73,6 @@ beidou_b1i_telemetry_decoder_cc::beidou_b1i_telemetry_decoder_cc(
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d_secondary_code_symbols = static_cast<int32_t *>(volk_gnsssdr_malloc(BEIDOU_B1I_SECONDARY_CODE_LENGTH * sizeof(int32_t), volk_gnsssdr_get_alignment()));
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d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
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d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * d_samples_per_symbol;
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d_subframe_length_symbols = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS;
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// Setting samples of secondary code
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for (int32_t i = 0; i < BEIDOU_B1I_SECONDARY_CODE_LENGTH; i++)
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@ -115,7 +114,7 @@ beidou_b1i_telemetry_decoder_cc::beidou_b1i_telemetry_decoder_cc(
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}
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}
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d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(d_subframe_length_symbols * sizeof(double), volk_gnsssdr_get_alignment()));
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d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(double), volk_gnsssdr_get_alignment()));
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d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS * d_samples_per_symbol + d_samples_per_preamble;
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// Generic settings
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@ -154,15 +153,15 @@ beidou_b1i_telemetry_decoder_cc::~beidou_b1i_telemetry_decoder_cc()
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void beidou_b1i_telemetry_decoder_cc::decode_bch15_11_01(const int32_t *bits, int32_t *decbits)
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{
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int bit, err, reg[4] = {1, 1, 1, 1};
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int errind[15] = {14, 13, 10, 12, 6, 9, 4, 11, 0, 5, 7, 8, 1, 3, 2};
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int32_t bit, err, reg[4] = {1, 1, 1, 1};
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int32_t errind[15] = {14, 13, 10, 12, 6, 9, 4, 11, 0, 5, 7, 8, 1, 3, 2};
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for (unsigned int i = 0; i < 15; i++)
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for (uint32_t i = 0; i < 15; i++)
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{
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decbits[i] = bits[i];
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}
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for (unsigned int i = 0; i < 15; i++)
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for (uint32_t i = 0; i < 15; i++)
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{
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bit = reg[3];
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reg[3] = reg[2];
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@ -180,6 +179,7 @@ void beidou_b1i_telemetry_decoder_cc::decode_bch15_11_01(const int32_t *bits, in
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}
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}
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void beidou_b1i_telemetry_decoder_cc::decode_word(
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int32_t word_counter,
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const double *enc_word_symbols,
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@ -189,31 +189,31 @@ void beidou_b1i_telemetry_decoder_cc::decode_word(
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if (word_counter == 1)
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{
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for (unsigned int j = 0; j < 30; j++)
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for (uint32_t j = 0; j < 30; j++)
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{
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dec_word_symbols[j] = (int32_t)(enc_word_symbols[j] > 0) ? (1) : (-1);
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dec_word_symbols[j] = static_cast<int32_t>(enc_word_symbols[j] > 0) ? (1) : (-1);
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}
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}
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else
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{
|
||||
for (unsigned int r = 0; r < 2; r++)
|
||||
for (uint32_t r = 0; r < 2; r++)
|
||||
{
|
||||
for (unsigned int c = 0; c < 15; c++)
|
||||
for (uint32_t c = 0; c < 15; c++)
|
||||
{
|
||||
bitsbch[r * 15 + c] = (int32_t)(enc_word_symbols[c * 2 + r] > 0) ? (1) : (-1);
|
||||
bitsbch[r * 15 + c] = static_cast<int32_t>(enc_word_symbols[c * 2 + r] > 0) ? (1) : (-1);
|
||||
}
|
||||
}
|
||||
|
||||
decode_bch15_11_01(&bitsbch[0], first_branch);
|
||||
decode_bch15_11_01(&bitsbch[15], second_branch);
|
||||
|
||||
for (unsigned int j = 0; j < 11; j++)
|
||||
for (uint32_t j = 0; j < 11; j++)
|
||||
{
|
||||
dec_word_symbols[j] = first_branch[j];
|
||||
dec_word_symbols[j + 11] = second_branch[j];
|
||||
}
|
||||
|
||||
for (unsigned int j = 0; j < 4; j++)
|
||||
for (uint32_t j = 0; j < 4; j++)
|
||||
{
|
||||
dec_word_symbols[j + 22] = first_branch[11 + j];
|
||||
dec_word_symbols[j + 26] = second_branch[11 + j];
|
||||
@ -222,7 +222,7 @@ void beidou_b1i_telemetry_decoder_cc::decode_word(
|
||||
}
|
||||
|
||||
|
||||
void beidou_b1i_telemetry_decoder_cc::decode_subframe(double *frame_symbols, int32_t frame_length)
|
||||
void beidou_b1i_telemetry_decoder_cc::decode_subframe(double *frame_symbols)
|
||||
{
|
||||
// 1. Transform from symbols to bits
|
||||
std::string data_bits;
|
||||
@ -287,7 +287,7 @@ void beidou_b1i_telemetry_decoder_cc::decode_subframe(double *frame_symbols, int
|
||||
}
|
||||
if (d_nav.have_new_almanac() == true)
|
||||
{
|
||||
// unsigned int slot_nbr = d_nav.i_alm_satellite_PRN;
|
||||
// uint32_t slot_nbr = d_nav.i_alm_satellite_PRN;
|
||||
// std::shared_ptr<Beidou_Dnav_Almanac> tmp_obj = std::make_shared<Beidou_Dnav_Almanac>(d_nav.get_almanac(slot_nbr));
|
||||
// this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
||||
LOG(INFO) << "BEIDOU DNAV Almanac have been received in channel" << d_channel << " from satellite " << d_satellite << std::endl;
|
||||
@ -321,7 +321,6 @@ void beidou_b1i_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satell
|
||||
d_secondary_code_symbols = nullptr;
|
||||
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
|
||||
d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * d_samples_per_symbol;
|
||||
d_subframe_length_symbols = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS;
|
||||
|
||||
// Setting samples of preamble code
|
||||
int32_t n = 0;
|
||||
@ -345,13 +344,13 @@ void beidou_b1i_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satell
|
||||
}
|
||||
}
|
||||
|
||||
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(d_subframe_length_symbols * sizeof(double), volk_gnsssdr_get_alignment()));
|
||||
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(double), volk_gnsssdr_get_alignment()));
|
||||
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS * d_samples_per_symbol + d_samples_per_preamble;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void beidou_b1i_telemetry_decoder_cc::set_channel(int channel)
|
||||
void beidou_b1i_telemetry_decoder_cc::set_channel(int32_t channel)
|
||||
{
|
||||
d_channel = channel;
|
||||
LOG(INFO) << "Navigation channel set to " << channel;
|
||||
@ -399,7 +398,7 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_
|
||||
if (d_symbol_history.size() > d_required_symbols)
|
||||
{
|
||||
//******* preamble correlation ********
|
||||
for (int i = 0; i < d_samples_per_preamble; i++)
|
||||
for (int32_t i = 0; i < d_samples_per_preamble; i++)
|
||||
{
|
||||
if (d_symbol_history.at(i) < 0) // symbols clipping
|
||||
{
|
||||
@ -454,8 +453,8 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_
|
||||
// ******* SAMPLES TO SYMBOLS *******
|
||||
if (corr_value > 0) //normal PLL lock
|
||||
{
|
||||
int k = 0;
|
||||
for (uint32_t i = 0; i < d_subframe_length_symbols; i++)
|
||||
int32_t k = 0;
|
||||
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
|
||||
{
|
||||
d_subframe_symbols[i] = 0;
|
||||
// integrate samples into symbols
|
||||
@ -478,8 +477,8 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_
|
||||
}
|
||||
else // 180 deg. inverted carrier phase PLL lock
|
||||
{
|
||||
int k = 0;
|
||||
for (uint32_t i = 0; i < d_subframe_length_symbols; i++)
|
||||
int32_t k = 0;
|
||||
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
|
||||
{
|
||||
d_subframe_symbols[i] = 0;
|
||||
// integrate samples into symbols
|
||||
@ -502,7 +501,7 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_
|
||||
}
|
||||
|
||||
// call the decoder
|
||||
decode_subframe(d_subframe_symbols, d_subframe_length_symbols);
|
||||
decode_subframe(d_subframe_symbols);
|
||||
|
||||
if (d_nav.flag_crc_test == true)
|
||||
{
|
||||
@ -565,11 +564,11 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_
|
||||
try
|
||||
{
|
||||
double tmp_double;
|
||||
unsigned long int tmp_ulong_int;
|
||||
uint64_t tmp_ulong_int;
|
||||
tmp_double = d_TOW_at_current_symbol_ms;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
tmp_ulong_int = current_symbol.Tracking_sample_counter;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(unsigned long int));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t));
|
||||
tmp_double = 0;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
}
|
||||
|
||||
@ -9,7 +9,7 @@
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
|
||||
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
@ -78,13 +78,12 @@ private:
|
||||
beidou_b1i_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump);
|
||||
beidou_b1i_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump);
|
||||
|
||||
void decode_subframe(double *symbols, int32_t frame_length);
|
||||
void decode_subframe(double *symbols);
|
||||
void decode_word(int32_t word_counter, const double *enc_word_symbols, int32_t *dec_word_symbols);
|
||||
void decode_bch15_11_01(const int32_t *bits, int32_t *decbits);
|
||||
|
||||
|
||||
//!< Preamble decoding
|
||||
unsigned short int d_preambles_symbols[BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS];
|
||||
// Preamble decoding
|
||||
int32_t *d_preamble_samples;
|
||||
int32_t *d_secondary_code_symbols;
|
||||
uint32_t d_samples_per_symbol;
|
||||
@ -92,20 +91,19 @@ private:
|
||||
int32_t d_samples_per_preamble;
|
||||
int32_t d_preamble_period_samples;
|
||||
double *d_subframe_symbols;
|
||||
uint32_t d_subframe_length_symbols;
|
||||
uint32_t d_required_symbols;
|
||||
|
||||
//!< Storage for incoming data
|
||||
// Storage for incoming data
|
||||
std::deque<float> d_symbol_history;
|
||||
|
||||
//!< Variables for internal functionality
|
||||
uint64_t d_sample_counter; //!< Sample counter as an index (1,2,3,..etc) indicating number of samples processed
|
||||
uint64_t d_preamble_index; //!< Index of sample number where preamble was found
|
||||
uint32_t d_stat; //!< Status of decoder
|
||||
bool d_flag_frame_sync; //!< Indicate when a frame sync is achieved
|
||||
bool d_flag_preamble; //!< Flag indicating when preamble was found
|
||||
int32_t d_CRC_error_counter; //!< Number of failed CRC operations
|
||||
bool flag_SOW_set; //!< Indicates when time of week is set
|
||||
// Variables for internal functionality
|
||||
uint64_t d_sample_counter; // Sample counter as an index (1,2,3,..etc) indicating number of samples processed
|
||||
uint64_t d_preamble_index; // Index of sample number where preamble was found
|
||||
uint32_t d_stat; // Status of decoder
|
||||
bool d_flag_frame_sync; // Indicate when a frame sync is achieved
|
||||
bool d_flag_preamble; // Flag indicating when preamble was found
|
||||
int32_t d_CRC_error_counter; // Number of failed CRC operations
|
||||
bool flag_SOW_set; // Indicates when time of week is set
|
||||
|
||||
//!< Navigation Message variable
|
||||
Beidou_Dnav_Navigation_Message d_nav;
|
||||
|
||||
@ -45,8 +45,6 @@
|
||||
#include "tcp_communication.h"
|
||||
#include "tcp_packet_data.h"
|
||||
#include "tracking_discriminators.h"
|
||||
#include <boost/asio.hpp>
|
||||
#include <boost/lexical_cast.hpp>
|
||||
#include <glog/logging.h>
|
||||
#include <gnuradio/io_signature.h>
|
||||
#include <volk_gnsssdr/volk_gnsssdr.h>
|
||||
|
||||
@ -43,8 +43,6 @@
|
||||
#include "tcp_communication.h"
|
||||
#include "tcp_packet_data.h"
|
||||
#include "tracking_discriminators.h"
|
||||
#include <boost/asio.hpp>
|
||||
#include <boost/lexical_cast.hpp>
|
||||
#include <glog/logging.h>
|
||||
#include <gnuradio/io_signature.h>
|
||||
#include <volk_gnsssdr/volk_gnsssdr.h>
|
||||
|
||||
@ -78,7 +78,7 @@ using google::LogMessage;
|
||||
|
||||
ControlThread::ControlThread()
|
||||
{
|
||||
if (!FLAGS_c.compare("-"))
|
||||
if (FLAGS_c == "-")
|
||||
{
|
||||
configuration_ = std::make_shared<FileConfiguration>(FLAGS_config_file);
|
||||
}
|
||||
|
||||
@ -182,7 +182,7 @@ GNSSBlockFactory::~GNSSBlockFactory() = default;
|
||||
|
||||
|
||||
std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetSignalSource(
|
||||
const std::shared_ptr<ConfigurationInterface>& configuration, gr::msg_queue::sptr queue, int ID)
|
||||
const std::shared_ptr<ConfigurationInterface>& configuration, const gr::msg_queue::sptr& queue, int ID)
|
||||
{
|
||||
std::string default_implementation = "File_Signal_Source";
|
||||
std::string role = "SignalSource"; //backwards compatibility for old conf files
|
||||
@ -199,7 +199,7 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetSignalSource(
|
||||
}
|
||||
std::string implementation = configuration->property(role + ".implementation", default_implementation);
|
||||
LOG(INFO) << "Getting SignalSource with implementation " << implementation;
|
||||
return GetBlock(configuration, role, implementation, 0, 1, std::move(queue));
|
||||
return GetBlock(configuration, role, implementation, 0, 1, queue);
|
||||
}
|
||||
|
||||
|
||||
|
||||
@ -58,7 +58,7 @@ public:
|
||||
GNSSBlockFactory();
|
||||
virtual ~GNSSBlockFactory();
|
||||
std::unique_ptr<GNSSBlockInterface> GetSignalSource(const std::shared_ptr<ConfigurationInterface>& configuration,
|
||||
gr::msg_queue::sptr queue, int ID = -1);
|
||||
const gr::msg_queue::sptr& queue, int ID = -1);
|
||||
|
||||
std::unique_ptr<GNSSBlockInterface> GetSignalConditioner(const std::shared_ptr<ConfigurationInterface>& configuration, int ID = -1);
|
||||
|
||||
|
||||
@ -33,6 +33,7 @@
|
||||
#define GNSS_SDR_BEIDOU_B1I_H_
|
||||
|
||||
#include "MATH_CONSTANTS.h"
|
||||
#include <cstdint>
|
||||
#include <utility> // std::pair
|
||||
#include <vector>
|
||||
|
||||
@ -51,9 +52,9 @@ const double BEIDOU_B1I_FREQ_HZ = 1.561098e9; //!< b1I [Hz]
|
||||
const double BEIDOU_B1I_CODE_RATE_HZ = 2.046e6; //!< beidou b1I code rate [chips/s]
|
||||
const double BEIDOU_B1I_CODE_LENGTH_CHIPS = 2046.0; //!< beidou b1I code length [chips]
|
||||
const double BEIDOU_B1I_CODE_PERIOD = 0.001; //!< beidou b1I code period [seconds]
|
||||
const unsigned int BEIDOU_B1I_CODE_PERIOD_MS = 1; //!< GPS L1 C/A code period [ms]
|
||||
const uint32_t BEIDOU_B1I_CODE_PERIOD_MS = 1; //!< beidou b1I L1 C/A code period [ms]
|
||||
const double BEIDOU_B1I_CHIP_PERIOD = 4.8875e-07; //!< beidou b1I chip period [seconds]
|
||||
const int BEIDOU_B1I_SECONDARY_CODE_LENGTH = 20;
|
||||
const int32_t BEIDOU_B1I_SECONDARY_CODE_LENGTH = 20;
|
||||
const std::string BEIDOU_B1I_SECONDARY_CODE = "00000100110101001110";
|
||||
const std::string BEIDOU_B1I_SECONDARY_CODE_STR = "00000100110101001110";
|
||||
const std::string BEIDOU_B1I_D2_SECONDARY_CODE_STR = "00";
|
||||
@ -73,29 +74,29 @@ const double BEIDOU_STARTOFFSET_ms = 68.802; //**************[ms] Initial sign.
|
||||
|
||||
|
||||
// OBSERVABLE HISTORY DEEP FOR INTERPOLATION
|
||||
const int BEIDOU_B1I_HISTORY_DEEP = 100; // ****************
|
||||
const int32_t BEIDOU_B1I_HISTORY_DEEP = 100; // ****************
|
||||
|
||||
// NAVIGATION MESSAGE DEMODULATION AND DECODING
|
||||
|
||||
const int BEIDOU_B1I_PREAMBLE_LENGTH_BITS = 11;
|
||||
const int BEIDOU_B1I_PREAMBLE_LENGTH_SYMBOLS = 220; // **************
|
||||
const int32_t BEIDOU_B1I_PREAMBLE_LENGTH_BITS = 11;
|
||||
const int32_t BEIDOU_B1I_PREAMBLE_LENGTH_SYMBOLS = 220; // **************
|
||||
const double BEIDOU_B1I_PREAMBLE_DURATION_S = 0.220;
|
||||
const int BEIDOU_B1I_PREAMBLE_DURATION_MS = 220;
|
||||
const int BEIDOU_B1I_TELEMETRY_RATE_BITS_SECOND = 50; //!< D1 NAV message bit rate [bits/s]
|
||||
const int BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT = 20; // *************
|
||||
const int BEIDOU_B1I_TELEMETRY_RATE_SYMBOLS_SECOND = BEIDOU_B1I_TELEMETRY_RATE_BITS_SECOND * BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT; //************!< NAV message bit rate [symbols/s]
|
||||
const int BEIDOU_WORD_LENGTH = 4; //**************!< CRC + BEIDOU WORD (-2 -1 0 ... 29) Bits = 4 bytes
|
||||
const int BEIDOU_SUBFRAME_LENGTH = 40; //**************!< BEIDOU_WORD_LENGTH x 10 = 40 bytes
|
||||
const int BEIDOU_DNAV_SUBFRAME_DATA_BITS = 300; //!< Number of bits per subframe in the NAV message [bits]
|
||||
const int BEIDOU_SUBFRAME_SECONDS = 6; //!< Subframe duration [seconds]
|
||||
const int BEIDOU_SUBFRAME_MS = 6000; //!< Subframe duration [miliseconds]
|
||||
const int BEIDOU_WORD_BITS = 30; //!< Number of bits per word in the NAV message [bits]
|
||||
const int32_t BEIDOU_B1I_PREAMBLE_DURATION_MS = 220;
|
||||
const int32_t BEIDOU_B1I_TELEMETRY_RATE_BITS_SECOND = 50; //!< D1 NAV message bit rate [bits/s]
|
||||
const int32_t BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT = 20; // *************
|
||||
const int32_t BEIDOU_B1I_TELEMETRY_RATE_SYMBOLS_SECOND = BEIDOU_B1I_TELEMETRY_RATE_BITS_SECOND * BEIDOU_B1I_TELEMETRY_SYMBOLS_PER_BIT; //************!< NAV message bit rate [symbols/s]
|
||||
const int32_t BEIDOU_WORD_LENGTH = 4; //**************!< CRC + BEIDOU WORD (-2 -1 0 ... 29) Bits = 4 bytes
|
||||
const int32_t BEIDOU_SUBFRAME_LENGTH = 40; //**************!< BEIDOU_WORD_LENGTH x 10 = 40 bytes
|
||||
const int32_t BEIDOU_DNAV_SUBFRAME_DATA_BITS = 300; //!< Number of bits per subframe in the NAV message [bits]
|
||||
const int32_t BEIDOU_SUBFRAME_SECONDS = 6; //!< Subframe duration [seconds]
|
||||
const int32_t BEIDOU_SUBFRAME_MS = 6000; //!< Subframe duration [miliseconds]
|
||||
const int32_t BEIDOU_WORD_BITS = 30; //!< Number of bits per word in the NAV message [bits]
|
||||
|
||||
const std::string BEIDOU_DNAV_PREAMBLE = "11100010010";
|
||||
const int BEIDOU_DNAV_PREAMBLE_LENGTH_BITS = 11;
|
||||
const int BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS = 11; // **************
|
||||
const double BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS = 300;
|
||||
const double BEIDOU_DNAV_SUBFRAME_SYMBOLS = 300;
|
||||
const int32_t BEIDOU_DNAV_PREAMBLE_LENGTH_BITS = 11;
|
||||
const int32_t BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS = 11; // **************
|
||||
const uint32_t BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS = 300;
|
||||
const uint32_t BEIDOU_DNAV_SUBFRAME_SYMBOLS = 300;
|
||||
const double BEIDOU_DNAV_DATA_BITS = 300;
|
||||
const double BEIDOU_DNAV_WORDS_SUBFRAME = 10;
|
||||
const double BEIDOU_DNAV_WORD_LENGTH_BITS = 30;
|
||||
@ -106,10 +107,10 @@ const double BEIDOU_B1I_PREAMBLE_PERIOD_SYMBOLS = 300;
|
||||
|
||||
// BEIDOU D1 NAVIGATION MESSAGE STRUCTURE
|
||||
// GENERAL
|
||||
const std::vector<std::pair<int, int> > D1_PRE({{1, 11}});
|
||||
const std::vector<std::pair<int, int> > D1_FRAID({{16, 3}});
|
||||
const std::vector<std::pair<int, int> > D1_SOW({{19, 8}, {31, 12}});
|
||||
const std::vector<std::pair<int, int> > D1_PNUM({{44, 7}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_PRE({{1, 11}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_FRAID({{16, 3}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_SOW({{19, 8}, {31, 12}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_PNUM({{44, 7}});
|
||||
|
||||
// DNAV SCALE FACTORS
|
||||
// EPH
|
||||
@ -164,183 +165,183 @@ const double D1_A0UTC_LSB = TWO_N30;
|
||||
const double D1_A1UTC_LSB = TWO_N50;
|
||||
|
||||
// SUBFRAME 1
|
||||
const std::vector<std::pair<int, int> > D1_SAT_H1({{43, 1}});
|
||||
const std::vector<std::pair<int, int> > D1_AODC({{44, 5}});
|
||||
const std::vector<std::pair<int, int> > D1_URAI({{49, 4}});
|
||||
const std::vector<std::pair<int, int> > D1_WN({{61, 13}});
|
||||
const std::vector<std::pair<int, int> > D1_TOC({{74, 9}, {91, 8}});
|
||||
const std::vector<std::pair<int, int> > D1_TGD1({{99, 10}});
|
||||
const std::vector<std::pair<int, int> > D1_TGD2({{121, 6}});
|
||||
const std::vector<std::pair<int, int> > D1_ALPHA0({{127, 8}});
|
||||
const std::vector<std::pair<int, int> > D1_ALPHA1({{135, 8}});
|
||||
const std::vector<std::pair<int, int> > D1_ALPHA2({{151, 8}});
|
||||
const std::vector<std::pair<int, int> > D1_ALPHA3({{159, 8}});
|
||||
const std::vector<std::pair<int, int> > D1_BETA0({{167, 6}, {181, 2}});
|
||||
const std::vector<std::pair<int, int> > D1_BETA1({{183, 8}});
|
||||
const std::vector<std::pair<int, int> > D1_BETA2({{191, 8}});
|
||||
const std::vector<std::pair<int, int> > D1_BETA3({{199, 4}, {211, 4}});
|
||||
const std::vector<std::pair<int, int> > D1_A2({{215, 11}});
|
||||
const std::vector<std::pair<int, int> > D1_A0({{226, 7}, {241, 17}});
|
||||
const std::vector<std::pair<int, int> > D1_A1({{258, 5}, {271, 17}});
|
||||
const std::vector<std::pair<int, int> > D1_AODE({{288, 5}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_SAT_H1({{43, 1}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_AODC({{44, 5}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_URAI({{49, 4}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_WN({{61, 13}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_TOC({{74, 9}, {91, 8}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_TGD1({{99, 10}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_TGD2({{121, 6}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_ALPHA0({{127, 8}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_ALPHA1({{135, 8}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_ALPHA2({{151, 8}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_ALPHA3({{159, 8}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_BETA0({{167, 6}, {181, 2}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_BETA1({{183, 8}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_BETA2({{191, 8}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_BETA3({{199, 4}, {211, 4}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_A2({{215, 11}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_A0({{226, 7}, {241, 17}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_A1({{258, 5}, {271, 17}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_AODE({{288, 5}});
|
||||
|
||||
//SUBFRAME 2
|
||||
const std::vector<std::pair<int, int> > D1_DELTA_N({{43, 10}, {61, 6}});
|
||||
const std::vector<std::pair<int, int> > D1_CUC({{67, 16}, {91, 2}});
|
||||
const std::vector<std::pair<int, int> > D1_M0({{93, 20}, {121, 12}});
|
||||
const std::vector<std::pair<int, int> > D1_E({{133, 10}, {151, 22}});
|
||||
const std::vector<std::pair<int, int> > D1_CUS({{181, 18}});
|
||||
const std::vector<std::pair<int, int> > D1_CRC({{199, 4}, {211, 14}});
|
||||
const std::vector<std::pair<int, int> > D1_CRS({{225, 8}, {241, 10}});
|
||||
const std::vector<std::pair<int, int> > D1_SQRT_A({{251, 12}, {271, 20}});
|
||||
const std::vector<std::pair<int, int> > D1_TOE_SF2({{291, 2}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_DELTA_N({{43, 10}, {61, 6}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_CUC({{67, 16}, {91, 2}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_M0({{93, 20}, {121, 12}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_E({{133, 10}, {151, 22}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_CUS({{181, 18}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_CRC({{199, 4}, {211, 14}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_CRS({{225, 8}, {241, 10}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_SQRT_A({{251, 12}, {271, 20}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_TOE_SF2({{291, 2}});
|
||||
|
||||
//SUBFRAME 3
|
||||
const std::vector<std::pair<int, int> > D1_TOE_SF3({{43, 10}, {61, 5}});
|
||||
const std::vector<std::pair<int, int> > D1_I0({{66, 17}, {91, 15}});
|
||||
const std::vector<std::pair<int, int> > D1_CIC({{106, 7}, {121, 11}});
|
||||
const std::vector<std::pair<int, int> > D1_OMEGA_DOT({{132, 11}, {151, 13}});
|
||||
const std::vector<std::pair<int, int> > D1_CIS({{164, 9}, {181, 9}});
|
||||
const std::vector<std::pair<int, int> > D1_IDOT({{190, 13}, {211, 1}});
|
||||
const std::vector<std::pair<int, int> > D1_OMEGA0({{212, 21}, {241, 11}});
|
||||
const std::vector<std::pair<int, int> > D1_OMEGA({{252, 11}, {271, 21}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_TOE_SF3({{43, 10}, {61, 5}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_I0({{66, 17}, {91, 15}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_CIC({{106, 7}, {121, 11}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_OMEGA_DOT({{132, 11}, {151, 13}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_CIS({{164, 9}, {181, 9}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_IDOT({{190, 13}, {211, 1}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_OMEGA0({{212, 21}, {241, 11}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_OMEGA({{252, 11}, {271, 21}});
|
||||
|
||||
//SUBFRAME 4 AND PAGES 1 THROUGH 6 IN SUBFRAME 5
|
||||
const std::vector<std::pair<int, int> > D1_SQRT_A_ALMANAC({{51, 2}, {61, 22}});
|
||||
const std::vector<std::pair<int, int> > D1_A1_ALMANAC({{91, 11}});
|
||||
const std::vector<std::pair<int, int> > D1_A0_ALMANAC({{102, 11}});
|
||||
const std::vector<std::pair<int, int> > D1_OMEGA0_ALMANAC({{121, 22}, {151, 2}});
|
||||
const std::vector<std::pair<int, int> > D1_E_ALMANAC({{153, 17}});
|
||||
const std::vector<std::pair<int, int> > D1_DELTA_I({{170, 3}, {181, 13}});
|
||||
const std::vector<std::pair<int, int> > D1_TOA({{194, 8}});
|
||||
const std::vector<std::pair<int, int> > D1_OMEGA_DOT_ALMANAC({{202, 1}, {211, 16}});
|
||||
const std::vector<std::pair<int, int> > D1_OMEGA_ALMANAC({{227, 6}, {241, 18}});
|
||||
const std::vector<std::pair<int, int> > D1_M0_ALMANAC({{259, 4}, {271, 20}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_SQRT_A_ALMANAC({{51, 2}, {61, 22}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_A1_ALMANAC({{91, 11}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_A0_ALMANAC({{102, 11}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_OMEGA0_ALMANAC({{121, 22}, {151, 2}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_E_ALMANAC({{153, 17}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_DELTA_I({{170, 3}, {181, 13}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_TOA({{194, 8}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_OMEGA_DOT_ALMANAC({{202, 1}, {211, 16}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_OMEGA_ALMANAC({{227, 6}, {241, 18}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_M0_ALMANAC({{259, 4}, {271, 20}});
|
||||
|
||||
//SUBFRAME 5 PAGE 7
|
||||
const std::vector<std::pair<int, int> > D1_HEA1({{51, 2}, {61, 7}});
|
||||
const std::vector<std::pair<int, int> > D1_HEA2({{68, 9}});
|
||||
const std::vector<std::pair<int, int> > D1_HEA3({{77, 6}, {91, 3}});
|
||||
const std::vector<std::pair<int, int> > D1_HEA4({{94, 9}});
|
||||
const std::vector<std::pair<int, int> > D1_HEA5({{103, 9}});
|
||||
const std::vector<std::pair<int, int> > D1_HEA6({{112, 1}, {121, 8}});
|
||||
const std::vector<std::pair<int, int> > D1_HEA7({{129, 9}});
|
||||
const std::vector<std::pair<int, int> > D1_HEA8({{138, 5}, {151, 4}});
|
||||
const std::vector<std::pair<int, int> > D1_HEA9({{155, 9}});
|
||||
const std::vector<std::pair<int, int> > D1_HEA10({{164, 9}});
|
||||
const std::vector<std::pair<int, int> > D1_HEA11({{181, 9}});
|
||||
const std::vector<std::pair<int, int> > D1_HEA12({{190, 9}});
|
||||
const std::vector<std::pair<int, int> > D1_HEA13({{199, 4}, {211, 5}});
|
||||
const std::vector<std::pair<int, int> > D1_HEA14({{216, 9}});
|
||||
const std::vector<std::pair<int, int> > D1_HEA15({{225, 8}, {241, 1}});
|
||||
const std::vector<std::pair<int, int> > D1_HEA16({{242, 9}});
|
||||
const std::vector<std::pair<int, int> > D1_HEA17({{251, 9}});
|
||||
const std::vector<std::pair<int, int> > D1_HEA18({{260, 3}, {271, 6}});
|
||||
const std::vector<std::pair<int, int> > D1_HEA19({{277, 9}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_HEA1({{51, 2}, {61, 7}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_HEA2({{68, 9}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_HEA3({{77, 6}, {91, 3}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_HEA4({{94, 9}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_HEA5({{103, 9}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_HEA6({{112, 1}, {121, 8}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_HEA7({{129, 9}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_HEA8({{138, 5}, {151, 4}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_HEA9({{155, 9}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_HEA10({{164, 9}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_HEA11({{181, 9}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_HEA12({{190, 9}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_HEA13({{199, 4}, {211, 5}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_HEA14({{216, 9}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_HEA15({{225, 8}, {241, 1}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_HEA16({{242, 9}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_HEA17({{251, 9}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_HEA18({{260, 3}, {271, 6}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_HEA19({{277, 9}});
|
||||
|
||||
//SUBFRAME 5 PAGE 8
|
||||
const std::vector<std::pair<int, int> > D1_HEA20({{51, 2}, {61, 7}});
|
||||
const std::vector<std::pair<int, int> > D1_HEA21({{68, 9}});
|
||||
const std::vector<std::pair<int, int> > D1_HEA22({{77, 6}, {91, 3}});
|
||||
const std::vector<std::pair<int, int> > D1_HEA23({{94, 9}});
|
||||
const std::vector<std::pair<int, int> > D1_HEA24({{103, 9}});
|
||||
const std::vector<std::pair<int, int> > D1_HEA25({{112, 1}, {121, 8}});
|
||||
const std::vector<std::pair<int, int> > D1_HEA26({{129, 9}});
|
||||
const std::vector<std::pair<int, int> > D1_HEA27({{138, 5}, {151, 4}});
|
||||
const std::vector<std::pair<int, int> > D1_HEA28({{155, 9}});
|
||||
const std::vector<std::pair<int, int> > D1_HEA29({{164, 9}});
|
||||
const std::vector<std::pair<int, int> > D1_HEA30({{181, 9}});
|
||||
const std::vector<std::pair<int, int> > D1_WNA({{190, 8}});
|
||||
const std::vector<std::pair<int, int> > D1_TOA2({{198, 5}, {211, 3}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_HEA20({{51, 2}, {61, 7}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_HEA21({{68, 9}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_HEA22({{77, 6}, {91, 3}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_HEA23({{94, 9}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_HEA24({{103, 9}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_HEA25({{112, 1}, {121, 8}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_HEA26({{129, 9}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_HEA27({{138, 5}, {151, 4}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_HEA28({{155, 9}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_HEA29({{164, 9}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_HEA30({{181, 9}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_WNA({{190, 8}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_TOA2({{198, 5}, {211, 3}});
|
||||
|
||||
//SUBFRAME 5 PAGE 9
|
||||
const std::vector<std::pair<int, int> > D1_A0GPS({{97, 14}});
|
||||
const std::vector<std::pair<int, int> > D1_A1GPS({{111, 2}, {121, 14}});
|
||||
const std::vector<std::pair<int, int> > D1_A0GAL({{135, 8}, {151, 6}});
|
||||
const std::vector<std::pair<int, int> > D1_A1GAL({{157, 16}});
|
||||
const std::vector<std::pair<int, int> > D1_A0GLO({{181, 14}});
|
||||
const std::vector<std::pair<int, int> > D1_A1GLO({{195, 8}, {211, 8}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_A0GPS({{97, 14}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_A1GPS({{111, 2}, {121, 14}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_A0GAL({{135, 8}, {151, 6}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_A1GAL({{157, 16}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_A0GLO({{181, 14}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_A1GLO({{195, 8}, {211, 8}});
|
||||
|
||||
//SUBFRAME 5 PAGE 10
|
||||
const std::vector<std::pair<int, int> > D1_DELTA_T_LS({{51, 2}, {61, 6}});
|
||||
const std::vector<std::pair<int, int> > D1_DELTA_T_LSF({{67, 8}});
|
||||
const std::vector<std::pair<int, int> > D1_WN_LSF({{75, 8}});
|
||||
const std::vector<std::pair<int, int> > D1_A0UTC({{91, 22}, {121, 10}});
|
||||
const std::vector<std::pair<int, int> > D1_A1UTC({{131, 12}, {151, 12}});
|
||||
const std::vector<std::pair<int, int> > D1_DN({{163, 8}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_DELTA_T_LS({{51, 2}, {61, 6}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_DELTA_T_LSF({{67, 8}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_WN_LSF({{75, 8}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_A0UTC({{91, 22}, {121, 10}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_A1UTC({{131, 12}, {151, 12}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D1_DN({{163, 8}});
|
||||
|
||||
// D2 NAV Message Decoding Information
|
||||
const std::vector<std::pair<int, int> > D2_PRE({{1, 11}});
|
||||
const std::vector<std::pair<int, int> > D2_FRAID({{16, 3}});
|
||||
const std::vector<std::pair<int, int> > D2_SOW({{19, 8}, {31, 12}});
|
||||
const std::vector<std::pair<int, int> > D2_PNUM({{43, 4}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_PRE({{1, 11}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_FRAID({{16, 3}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_SOW({{19, 8}, {31, 12}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_PNUM({{43, 4}});
|
||||
|
||||
// D2 NAV, SUBFRAME 1, PAGE 1
|
||||
const std::vector<std::pair<int, int> > D2_SAT_H1({{47, 1}});
|
||||
const std::vector<std::pair<int, int> > D2_AODC({{48, 5}});
|
||||
const std::vector<std::pair<int, int> > D2_URAI({{61, 4}});
|
||||
const std::vector<std::pair<int, int> > D2_WN({{65, 13}});
|
||||
const std::vector<std::pair<int, int> > D2_TOC({{78, 5}, {91, 12}});
|
||||
const std::vector<std::pair<int, int> > D2_TGD1({{103, 10}});
|
||||
const std::vector<std::pair<int, int> > D2_TGD2({{121, 10}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_SAT_H1({{47, 1}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_AODC({{48, 5}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_URAI({{61, 4}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_WN({{65, 13}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_TOC({{78, 5}, {91, 12}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_TGD1({{103, 10}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_TGD2({{121, 10}});
|
||||
|
||||
// D2 NAV, SUBFRAME 1, PAGE 2
|
||||
const std::vector<std::pair<int, int> > D2_ALPHA0({{47, 6}, {61, 2}});
|
||||
const std::vector<std::pair<int, int> > D2_ALPHA1({{63, 8}});
|
||||
const std::vector<std::pair<int, int> > D2_ALPHA2({{71, 8}});
|
||||
const std::vector<std::pair<int, int> > D2_ALPHA3({{79, 4}, {91, 4}});
|
||||
const std::vector<std::pair<int, int> > D2_BETA0({{95, 8}});
|
||||
const std::vector<std::pair<int, int> > D2_BETA1({{103, 8}});
|
||||
const std::vector<std::pair<int, int> > D2_BETA2({{111, 2}, {121, 6}});
|
||||
const std::vector<std::pair<int, int> > D2_BETA3({{127, 8}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_ALPHA0({{47, 6}, {61, 2}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_ALPHA1({{63, 8}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_ALPHA2({{71, 8}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_ALPHA3({{79, 4}, {91, 4}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_BETA0({{95, 8}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_BETA1({{103, 8}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_BETA2({{111, 2}, {121, 6}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_BETA3({{127, 8}});
|
||||
|
||||
// D2 NAV, SUBFRAME 1, PAGE 3
|
||||
const std::vector<std::pair<int, int> > D2_A0({{101, 12}, {121, 12}});
|
||||
const std::vector<std::pair<int, int> > D2_A1_MSB({{133, 4}});
|
||||
const std::vector<std::pair<int, int> > D2_A1_LSB({{47, 6}, {61, 12}});
|
||||
const std::vector<std::pair<int, int> > D2_A1({{279, 22}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_A0({{101, 12}, {121, 12}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_A1_MSB({{133, 4}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_A1_LSB({{47, 6}, {61, 12}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_A1({{279, 22}});
|
||||
|
||||
// D2 NAV, SUBFRAME 1, PAGE 4
|
||||
const std::vector<std::pair<int, int> > D2_A2({{73, 10}, {91, 1}});
|
||||
const std::vector<std::pair<int, int> > D2_AODE({{92, 5}});
|
||||
const std::vector<std::pair<int, int> > D2_DELTA_N({{97, 16}});
|
||||
const std::vector<std::pair<int, int> > D2_CUC_MSB({{121, 14}});
|
||||
const std::vector<std::pair<int, int> > D2_CUC_LSB({{47, 4}});
|
||||
const std::vector<std::pair<int, int> > D2_CUC({{283, 18}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_A2({{73, 10}, {91, 1}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_AODE({{92, 5}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_DELTA_N({{97, 16}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_CUC_MSB({{121, 14}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_CUC_LSB({{47, 4}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_CUC({{283, 18}});
|
||||
|
||||
// D2 NAV, SUBFRAME 1, PAGE 5
|
||||
const std::vector<std::pair<int, int> > D2_M0({{51, 2}, {61, 22}, {91, 8}});
|
||||
const std::vector<std::pair<int, int> > D2_CUS({{99, 14}, {121, 4}});
|
||||
const std::vector<std::pair<int, int> > D2_E_MSB({{125, 10}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_M0({{51, 2}, {61, 22}, {91, 8}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_CUS({{99, 14}, {121, 4}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_E_MSB({{125, 10}});
|
||||
|
||||
// D2 NAV, SUBFRAME 1, PAGE 6
|
||||
const std::vector<std::pair<int, int> > D2_E_LSB({{47, 6}, {61, 16}});
|
||||
const std::vector<std::pair<int, int> > D2_SQRT_A({{77, 6}, {91, 22}, {121, 4}});
|
||||
const std::vector<std::pair<int, int> > D2_CIC_MSB({{125, 10}});
|
||||
const std::vector<std::pair<int, int> > D2_CIC_LSB({{47, 6}, {61, 2}});
|
||||
const std::vector<std::pair<int, int> > D2_CIC({{283, 18}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_E_LSB({{47, 6}, {61, 16}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_SQRT_A({{77, 6}, {91, 22}, {121, 4}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_CIC_MSB({{125, 10}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_CIC_LSB({{47, 6}, {61, 2}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_CIC({{283, 18}});
|
||||
|
||||
// D2 NAV, SUBFRAME 1, PAGE 7
|
||||
const std::vector<std::pair<int, int> > D2_CIS({{63, 18}});
|
||||
const std::vector<std::pair<int, int> > D2_TOE({{81, 2}, {91, 15}});
|
||||
const std::vector<std::pair<int, int> > D2_I0_MSB({{106, 7}, {121, 14}});
|
||||
const std::vector<std::pair<int, int> > D2_I0_LSB({{47, 6}, {61, 5}});
|
||||
const std::vector<std::pair<int, int> > D2_I0({{269, 32}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_CIS({{63, 18}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_TOE({{81, 2}, {91, 15}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_I0_MSB({{106, 7}, {121, 14}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_I0_LSB({{47, 6}, {61, 5}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_I0({{269, 32}});
|
||||
|
||||
// D2 NAV, SUBFRAME 1, PAGE 8
|
||||
const std::vector<std::pair<int, int> > D2_CRC({{66, 17}, {91, 1}});
|
||||
const std::vector<std::pair<int, int> > D2_CRS({{92, 18}});
|
||||
const std::vector<std::pair<int, int> > D2_OMEGA_DOT_MSB({{110, 3}, {121, 16}});
|
||||
const std::vector<std::pair<int, int> > D2_OMEGA_DOT_LSB({{47, 5}});
|
||||
const std::vector<std::pair<int, int> > D2_OMEGA_DOT({{277, 24}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_CRC({{66, 17}, {91, 1}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_CRS({{92, 18}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_OMEGA_DOT_MSB({{110, 3}, {121, 16}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_OMEGA_DOT_LSB({{47, 5}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_OMEGA_DOT({{277, 24}});
|
||||
|
||||
// D2 NAV, SUBFRAME 1, PAGE 9
|
||||
const std::vector<std::pair<int, int> > D2_OMEGA0({{52, 1}, {61, 22}, {91, 9}});
|
||||
const std::vector<std::pair<int, int> > D2_OMEGA_MSB({{100, 13}, {121, 14}});
|
||||
const std::vector<std::pair<int, int> > D2_OMEGA_LSB({{47, 5}});
|
||||
const std::vector<std::pair<int, int> > D2_OMEGA({{269, 32}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_OMEGA0({{52, 1}, {61, 22}, {91, 9}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_OMEGA_MSB({{100, 13}, {121, 14}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_OMEGA_LSB({{47, 5}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_OMEGA({{269, 32}});
|
||||
|
||||
// D2 NAV, SUBFRAME 1, PAGE 10
|
||||
const std::vector<std::pair<int, int> > D2_IDOT({{52, 1}, {61, 13}});
|
||||
const std::vector<std::pair<int32_t, int32_t> > D2_IDOT({{52, 1}, {61, 13}});
|
||||
|
||||
#endif /* GNSS_SDR_BEIDOU_B1I_H_ */
|
||||
|
||||
@ -175,7 +175,7 @@ void Beidou_Dnav_Navigation_Message::reset()
|
||||
//Almanac
|
||||
d_Toa = 0;
|
||||
i_WN_A = 0;
|
||||
for (int i = 1; i < 36; i++)
|
||||
for (int32_t i = 1; i < 36; i++)
|
||||
{
|
||||
almanacHealth[i] = 0;
|
||||
}
|
||||
@ -208,25 +208,30 @@ void Beidou_Dnav_Navigation_Message::reset()
|
||||
|
||||
auto gnss_sat = Gnss_Satellite();
|
||||
std::string _system("Beidou");
|
||||
for (unsigned int i = 1; i < 36; i++)
|
||||
for (uint32_t i = 1; i < 36; i++)
|
||||
{
|
||||
satelliteBlock[i] = gnss_sat.what_block(_system, i);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
Beidou_Dnav_Navigation_Message::Beidou_Dnav_Navigation_Message()
|
||||
{
|
||||
reset();
|
||||
}
|
||||
|
||||
void Beidou_Dnav_Navigation_Message::print_beidou_word_bytes(unsigned int BEIDOU_word)
|
||||
|
||||
void Beidou_Dnav_Navigation_Message::print_beidou_word_bytes(uint32_t BEIDOU_word)
|
||||
{
|
||||
std::cout << " Word =";
|
||||
std::cout << std::bitset<32>(BEIDOU_word);
|
||||
std::cout << std::endl;
|
||||
}
|
||||
|
||||
bool Beidou_Dnav_Navigation_Message::read_navigation_bool(std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS> bits, const std::vector<std::pair<int, int>>& parameter)
|
||||
|
||||
bool Beidou_Dnav_Navigation_Message::read_navigation_bool(
|
||||
std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS> bits,
|
||||
const std::vector<std::pair<int32_t, int32_t>>& parameter)
|
||||
{
|
||||
bool value;
|
||||
|
||||
@ -241,13 +246,16 @@ bool Beidou_Dnav_Navigation_Message::read_navigation_bool(std::bitset<BEIDOU_DNA
|
||||
return value;
|
||||
}
|
||||
|
||||
unsigned long int Beidou_Dnav_Navigation_Message::read_navigation_unsigned(std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS> bits, const std::vector<std::pair<int, int>>& parameter)
|
||||
|
||||
uint64_t Beidou_Dnav_Navigation_Message::read_navigation_unsigned(
|
||||
std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS> bits,
|
||||
const std::vector<std::pair<int32_t, int32_t>>& parameter)
|
||||
{
|
||||
unsigned long int value = 0;
|
||||
int num_of_slices = parameter.size();
|
||||
for (int i = 0; i < num_of_slices; i++)
|
||||
uint64_t value = 0ULL;
|
||||
int32_t num_of_slices = parameter.size();
|
||||
for (int32_t i = 0; i < num_of_slices; i++)
|
||||
{
|
||||
for (int j = 0; j < parameter[i].second; j++)
|
||||
for (int32_t j = 0; j < parameter[i].second; j++)
|
||||
{
|
||||
value <<= 1; // shift left
|
||||
if (bits[BEIDOU_DNAV_SUBFRAME_DATA_BITS - parameter[i].first - j] == 1)
|
||||
@ -259,12 +267,15 @@ unsigned long int Beidou_Dnav_Navigation_Message::read_navigation_unsigned(std::
|
||||
return value;
|
||||
}
|
||||
|
||||
signed long int Beidou_Dnav_Navigation_Message::read_navigation_signed(std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS> bits, const std::vector<std::pair<int, int>>& parameter)
|
||||
|
||||
int64_t Beidou_Dnav_Navigation_Message::read_navigation_signed(
|
||||
std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS> bits,
|
||||
const std::vector<std::pair<int32_t, int32_t>>& parameter)
|
||||
{
|
||||
signed long int value = 0;
|
||||
int num_of_slices = parameter.size();
|
||||
int64_t value = 0;
|
||||
int32_t num_of_slices = parameter.size();
|
||||
// Discriminate between 64 bits and 32 bits compiler
|
||||
int long_int_size_bytes = sizeof(signed long int);
|
||||
int32_t long_int_size_bytes = sizeof(int64_t);
|
||||
if (long_int_size_bytes == 8) // if a long int takes 8 bytes, we are in a 64 bits system
|
||||
{
|
||||
// read the MSB and perform the sign extension
|
||||
@ -277,9 +288,9 @@ signed long int Beidou_Dnav_Navigation_Message::read_navigation_signed(std::bits
|
||||
value &= 0;
|
||||
}
|
||||
|
||||
for (int i = 0; i < num_of_slices; i++)
|
||||
for (int32_t i = 0; i < num_of_slices; i++)
|
||||
{
|
||||
for (int j = 0; j < parameter[i].second; j++)
|
||||
for (int32_t j = 0; j < parameter[i].second; j++)
|
||||
{
|
||||
value <<= 1; // shift left
|
||||
value &= 0xFFFFFFFFFFFFFFFE; // reset the corresponding bit (for the 64 bits variable)
|
||||
@ -302,9 +313,9 @@ signed long int Beidou_Dnav_Navigation_Message::read_navigation_signed(std::bits
|
||||
value &= 0;
|
||||
}
|
||||
|
||||
for (int i = 0; i < num_of_slices; i++)
|
||||
for (int32_t i = 0; i < num_of_slices; i++)
|
||||
{
|
||||
for (int j = 0; j < parameter[i].second; j++)
|
||||
for (int32_t j = 0; j < parameter[i].second; j++)
|
||||
{
|
||||
value <<= 1; // shift left
|
||||
value &= 0xFFFFFFFE; // reset the corresponding bit
|
||||
@ -318,6 +329,7 @@ signed long int Beidou_Dnav_Navigation_Message::read_navigation_signed(std::bits
|
||||
return value;
|
||||
}
|
||||
|
||||
|
||||
double Beidou_Dnav_Navigation_Message::check_t(double time)
|
||||
{
|
||||
double corrTime;
|
||||
@ -334,6 +346,7 @@ double Beidou_Dnav_Navigation_Message::check_t(double time)
|
||||
return corrTime;
|
||||
}
|
||||
|
||||
|
||||
double Beidou_Dnav_Navigation_Message::sv_clock_correction(double transmitTime)
|
||||
{
|
||||
double dt;
|
||||
@ -343,6 +356,7 @@ double Beidou_Dnav_Navigation_Message::sv_clock_correction(double transmitTime)
|
||||
return correctedTime;
|
||||
}
|
||||
|
||||
|
||||
void Beidou_Dnav_Navigation_Message::satellitePosition(double transmitTime)
|
||||
{
|
||||
double tk;
|
||||
@ -384,7 +398,7 @@ void Beidou_Dnav_Navigation_Message::satellitePosition(double transmitTime)
|
||||
E = M;
|
||||
|
||||
// --- Iteratively compute eccentric anomaly ----------------------------
|
||||
for (int ii = 1; ii < 20; ii++)
|
||||
for (int32_t ii = 1; ii < 20; ii++)
|
||||
{
|
||||
E_old = E;
|
||||
E = M + d_eccentricity * sin(E);
|
||||
@ -437,9 +451,10 @@ void Beidou_Dnav_Navigation_Message::satellitePosition(double transmitTime)
|
||||
d_satvel_Z = d_satpos_Y * sin(i);
|
||||
}
|
||||
|
||||
int Beidou_Dnav_Navigation_Message::d1_subframe_decoder(std::string const& subframe)
|
||||
|
||||
int32_t Beidou_Dnav_Navigation_Message::d1_subframe_decoder(std::string const& subframe)
|
||||
{
|
||||
int subframe_ID = 0;
|
||||
int32_t subframe_ID = 0;
|
||||
std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS> subframe_bits(subframe);
|
||||
|
||||
subframe_ID = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_FRAID));
|
||||
@ -505,8 +520,6 @@ int Beidou_Dnav_Navigation_Message::d1_subframe_decoder(std::string const& subfr
|
||||
break;
|
||||
|
||||
case 2: // --- It is subframe 2 ---
|
||||
|
||||
|
||||
d_SOW_SF2 = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_SOW));
|
||||
d_SOW = d_SOW_SF2; // Set transmission time
|
||||
|
||||
@ -541,7 +554,6 @@ int Beidou_Dnav_Navigation_Message::d1_subframe_decoder(std::string const& subfr
|
||||
break;
|
||||
|
||||
case 3: // --- It is subframe 3 ---
|
||||
|
||||
d_SOW_SF3 = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_SOW));
|
||||
d_SOW = d_SOW_SF3; // Set transmission time
|
||||
|
||||
@ -615,7 +627,7 @@ int Beidou_Dnav_Navigation_Message::d1_subframe_decoder(std::string const& subfr
|
||||
break;
|
||||
|
||||
case 5: // --- It is subframe 5 ---
|
||||
int SV_page_5;
|
||||
int32_t SV_page_5;
|
||||
d_SOW_SF5 = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_SOW));
|
||||
d_SOW = d_SOW_SF5; // Set transmission time
|
||||
|
||||
@ -731,10 +743,11 @@ int Beidou_Dnav_Navigation_Message::d1_subframe_decoder(std::string const& subfr
|
||||
return subframe_ID;
|
||||
}
|
||||
|
||||
int Beidou_Dnav_Navigation_Message::d2_subframe_decoder(std::string const& subframe)
|
||||
|
||||
int32_t Beidou_Dnav_Navigation_Message::d2_subframe_decoder(std::string const& subframe)
|
||||
{
|
||||
int subframe_ID = 0;
|
||||
int page_ID = 0;
|
||||
int32_t subframe_ID = 0;
|
||||
int32_t page_ID = 0;
|
||||
|
||||
std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS> subframe_bits(subframe);
|
||||
|
||||
@ -920,6 +933,7 @@ int Beidou_Dnav_Navigation_Message::d2_subframe_decoder(std::string const& subfr
|
||||
return subframe_ID;
|
||||
}
|
||||
|
||||
|
||||
double Beidou_Dnav_Navigation_Message::utc_time(const double beidoutime_corrected) const
|
||||
{
|
||||
double t_utc;
|
||||
@ -927,12 +941,12 @@ double Beidou_Dnav_Navigation_Message::utc_time(const double beidoutime_correcte
|
||||
double Delta_t_UTC = d_DeltaT_LS + d_A0UTC + d_A1UTC * (beidoutime_corrected);
|
||||
|
||||
// Determine if the effectivity time of the leap second event is in the past
|
||||
int weeksToLeapSecondEvent = i_WN_LSF - i_BEIDOU_week;
|
||||
int32_t weeksToLeapSecondEvent = i_WN_LSF - i_BEIDOU_week;
|
||||
|
||||
if ((weeksToLeapSecondEvent) >= 0) // is not in the past
|
||||
{
|
||||
//Detect if the effectivity time and user's time is within six hours = 6 * 60 *60 = 21600 s
|
||||
int secondOfLeapSecondEvent = i_DN * 24 * 60 * 60;
|
||||
int32_t secondOfLeapSecondEvent = i_DN * 24 * 60 * 60;
|
||||
if (weeksToLeapSecondEvent > 0)
|
||||
{
|
||||
t_utc_daytime = fmod(beidoutime_corrected - Delta_t_UTC, 86400);
|
||||
@ -947,7 +961,7 @@ double Beidou_Dnav_Navigation_Message::utc_time(const double beidoutime_correcte
|
||||
{
|
||||
if ((beidoutime_corrected - secondOfLeapSecondEvent) < (5 / 4) * 24 * 60 * 60)
|
||||
{
|
||||
int W = fmod(beidoutime_corrected - Delta_t_UTC - 43200, 86400) + 43200;
|
||||
int32_t W = fmod(beidoutime_corrected - Delta_t_UTC - 43200, 86400) + 43200;
|
||||
t_utc_daytime = fmod(W, 86400 + d_DeltaT_LSF - d_DeltaT_LS);
|
||||
}
|
||||
else
|
||||
@ -967,6 +981,7 @@ double Beidou_Dnav_Navigation_Message::utc_time(const double beidoutime_correcte
|
||||
return t_utc;
|
||||
}
|
||||
|
||||
|
||||
Beidou_Dnav_Ephemeris Beidou_Dnav_Navigation_Message::get_ephemeris()
|
||||
{
|
||||
Beidou_Dnav_Ephemeris eph;
|
||||
@ -1064,6 +1079,7 @@ Beidou_Dnav_Ephemeris Beidou_Dnav_Navigation_Message::get_ephemeris()
|
||||
return eph;
|
||||
}
|
||||
|
||||
|
||||
Beidou_Dnav_Iono Beidou_Dnav_Navigation_Message::get_iono()
|
||||
{
|
||||
Beidou_Dnav_Iono iono;
|
||||
@ -1081,6 +1097,7 @@ Beidou_Dnav_Iono Beidou_Dnav_Navigation_Message::get_iono()
|
||||
return iono;
|
||||
}
|
||||
|
||||
|
||||
Beidou_Dnav_Utc_Model Beidou_Dnav_Navigation_Message::get_utc_model()
|
||||
{
|
||||
Beidou_Dnav_Utc_Model utc_model;
|
||||
@ -1105,6 +1122,7 @@ Beidou_Dnav_Utc_Model Beidou_Dnav_Navigation_Message::get_utc_model()
|
||||
return utc_model;
|
||||
}
|
||||
|
||||
|
||||
bool Beidou_Dnav_Navigation_Message::have_new_ephemeris() // Check if we have a new ephemeris stored in the galileo navigation class
|
||||
{
|
||||
if (i_satellite_PRN > 0 and i_satellite_PRN < 6)
|
||||
@ -1160,6 +1178,7 @@ bool Beidou_Dnav_Navigation_Message::have_new_ephemeris() // Check if we have a
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
bool Beidou_Dnav_Navigation_Message::have_new_iono()
|
||||
{
|
||||
// the condition on flag_utc_model is added to have a time stamp for iono
|
||||
@ -1171,6 +1190,7 @@ bool Beidou_Dnav_Navigation_Message::have_new_iono()
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
bool Beidou_Dnav_Navigation_Message::have_new_utc_model()
|
||||
{
|
||||
if (flag_d1_sf5_p9 == true and flag_d1_sf5_p10 == true)
|
||||
@ -1185,6 +1205,7 @@ bool Beidou_Dnav_Navigation_Message::have_new_utc_model()
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
bool Beidou_Dnav_Navigation_Message::have_new_almanac()
|
||||
{
|
||||
if ((flag_d1_sf4 == true) and (flag_d1_sf5 == true))
|
||||
@ -1199,6 +1220,7 @@ bool Beidou_Dnav_Navigation_Message::have_new_almanac()
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
bool Beidou_Dnav_Navigation_Message::satellite_validation()
|
||||
{
|
||||
bool flag_data_valid = false;
|
||||
|
||||
@ -54,10 +54,10 @@
|
||||
class Beidou_Dnav_Navigation_Message
|
||||
{
|
||||
private:
|
||||
unsigned long int read_navigation_unsigned(std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS> bits, const std::vector<std::pair<int, int>>& parameter);
|
||||
signed long int read_navigation_signed(std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS> bits, const std::vector<std::pair<int, int>>& parameter);
|
||||
bool read_navigation_bool(std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS> bits, const std::vector<std::pair<int, int>>& parameter);
|
||||
void print_beidou_word_bytes(unsigned int BEIDOU_word);
|
||||
uint64_t read_navigation_unsigned(std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter);
|
||||
int64_t read_navigation_signed(std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter);
|
||||
bool read_navigation_bool(std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter);
|
||||
void print_beidou_word_bytes(uint32_t BEIDOU_word);
|
||||
/*
|
||||
* Accounts for the beginning or end of week crossover
|
||||
*
|
||||
@ -130,15 +130,15 @@ public:
|
||||
double d_OMEGA_DOT; //!< Rate of Right Ascension [semi-circles/s]
|
||||
//broadcast orbit 5
|
||||
double d_IDOT; //!< Rate of Inclination Angle [semi-circles/s]
|
||||
int i_BEIDOU_week; //!< BeiDou week number, aka WN [week]
|
||||
int32_t i_BEIDOU_week; //!< BeiDou week number, aka WN [week]
|
||||
//broadcast orbit 6
|
||||
int i_SV_accuracy; //!< User Range Accuracy (URA) index of the SV
|
||||
int i_SV_health;
|
||||
int32_t i_SV_accuracy; //!< User Range Accuracy (URA) index of the SV
|
||||
int32_t i_SV_health;
|
||||
double d_TGD1; //!< Estimated Group Delay Differential in B1 [s]
|
||||
double d_TGD2; //!< Estimated Group Delay Differential in B2 [s]
|
||||
double d_AODC; //!< Age of Data, Clock
|
||||
//broadcast orbit 7
|
||||
// int i_AODO; //!< Age of Data Offset (AODO) term for the navigation message correction table (NMCT) contained in subframe 4 (reference paragraph 20.3.3.5.1.9) [s]
|
||||
// int32_t i_AODO; //!< Age of Data Offset (AODO) term for the navigation message correction table (NMCT) contained in subframe 4 (reference paragraph 20.3.3.5.1.9) [s]
|
||||
|
||||
bool b_fit_interval_flag; //!< indicates the curve-fit interval used by the CS (Block II/IIA/IIR/IIR-M/IIF) and SS (Block IIIA) in determining the ephemeris parameters, as follows: 0 = 4 hours, 1 = greater than 4 hours.
|
||||
double d_spare1;
|
||||
@ -149,29 +149,29 @@ public:
|
||||
double d_A_f2; //!< Clock correction parameters. Coefficient 2 of code phase offset model [s/s^2]
|
||||
|
||||
// D2 NAV Message Decoding
|
||||
unsigned long int d_A_f1_msb_bits; //!< Clock correction parameters, D2 NAV MSB
|
||||
unsigned long int d_A_f1_lsb_bits; //!< Clock correction parameters, D2 NAV LSB
|
||||
unsigned long int d_Cuc_msb_bits; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
unsigned long int d_Cuc_lsb_bits; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
unsigned long int d_eccentricity_msb; //!< Eccentricity [dimensionless]
|
||||
unsigned long int d_eccentricity_lsb; //!< Eccentricity [dimensionless]
|
||||
unsigned long int d_Cic_msb_bits; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
unsigned long int d_Cic_lsb_bits; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
unsigned long int d_eccentricity_msb_bits; //!< Eccentricity [dimensionless]
|
||||
unsigned long int d_eccentricity_lsb_bits;
|
||||
unsigned long int d_i_0_msb_bits; //!< Inclination Angle at Reference Time [semi-circles]
|
||||
unsigned long int d_i_0_lsb_bits; //!< Inclination Angle at Reference Time [semi-circles]
|
||||
unsigned long int d_OMEGA_msb_bits; //!< Argument of Perigee [semi-cicles]
|
||||
unsigned long int d_OMEGA_lsb_bits; //!< Argument of Perigee [semi-cicles]
|
||||
unsigned long int d_OMEGA_DOT_msb_bits; //!< Rate of Right Ascension [semi-circles/s]
|
||||
unsigned long int d_OMEGA_DOT_lsb_bits; //!< Rate of Right Ascension [semi-circles/s]
|
||||
uint64_t d_A_f1_msb_bits; //!< Clock correction parameters, D2 NAV MSB
|
||||
uint64_t d_A_f1_lsb_bits; //!< Clock correction parameters, D2 NAV LSB
|
||||
uint64_t d_Cuc_msb_bits; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
uint64_t d_Cuc_lsb_bits; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
uint64_t d_eccentricity_msb; //!< Eccentricity [dimensionless]
|
||||
uint64_t d_eccentricity_lsb; //!< Eccentricity [dimensionless]
|
||||
uint64_t d_Cic_msb_bits; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
uint64_t d_Cic_lsb_bits; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
|
||||
uint64_t d_eccentricity_msb_bits; //!< Eccentricity [dimensionless]
|
||||
uint64_t d_eccentricity_lsb_bits;
|
||||
uint64_t d_i_0_msb_bits; //!< Inclination Angle at Reference Time [semi-circles]
|
||||
uint64_t d_i_0_lsb_bits; //!< Inclination Angle at Reference Time [semi-circles]
|
||||
uint64_t d_OMEGA_msb_bits; //!< Argument of Perigee [semi-cicles]
|
||||
uint64_t d_OMEGA_lsb_bits; //!< Argument of Perigee [semi-cicles]
|
||||
uint64_t d_OMEGA_DOT_msb_bits; //!< Rate of Right Ascension [semi-circles/s]
|
||||
uint64_t d_OMEGA_DOT_lsb_bits; //!< Rate of Right Ascension [semi-circles/s]
|
||||
|
||||
// Almanac
|
||||
double d_Toa; //!< Almanac reference time [s]
|
||||
int i_WN_A; //!< Modulo 256 of the GPS week number to which the almanac reference time (d_Toa) is referenced
|
||||
std::map<int, int> almanacHealth; //!< Map that stores the health information stored in the almanac
|
||||
int32_t i_WN_A; //!< Modulo 256 of the GPS week number to which the almanac reference time (d_Toa) is referenced
|
||||
std::map<int32_t, int32_t> almanacHealth; //!< Map that stores the health information stored in the almanac
|
||||
|
||||
std::map<int, std::string> satelliteBlock; //!< Map that stores to which block the PRN belongs http://www.navcen.uscg.gov/?Do=constellationStatus
|
||||
std::map<int32_t, std::string> satelliteBlock; //!< Map that stores to which block the PRN belongs http://www.navcen.uscg.gov/?Do=constellationStatus
|
||||
|
||||
// Flags
|
||||
|
||||
@ -201,8 +201,8 @@ public:
|
||||
double d_satpos_Z; //!< Earth-fixed coordinate z of the satellite [m]. The direction of the IERS (International Earth Rotation and Reference Systems Service) Reference Pole (IRP).
|
||||
|
||||
// satellite identification info
|
||||
int i_channel_ID;
|
||||
unsigned int i_satellite_PRN;
|
||||
int32_t i_channel_ID;
|
||||
uint32_t i_satellite_PRN;
|
||||
|
||||
// time synchro
|
||||
double d_subframe_timestamp_ms; //[ms]
|
||||
@ -221,8 +221,8 @@ public:
|
||||
double d_A1UTC; //!< 1st order term of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200E) [s/s]
|
||||
double d_A0UTC; //!< Constant of a model that relates GPS and UTC time (ref. 20.3.3.5.2.4 IS-GPS-200E) [s]
|
||||
double d_DeltaT_LS; //!< delta time due to leap seconds [s]. Number of leap seconds since 6-Jan-1980 as transmitted by the GPS almanac.
|
||||
int i_WN_LSF; //!< Week number at the end of which the leap second becomes effective [weeks]
|
||||
int i_DN; //!< Day number (DN) at the end of which the leap second becomes effective [days]
|
||||
int32_t i_WN_LSF; //!< Week number at the end of which the leap second becomes effective [weeks]
|
||||
int32_t i_DN; //!< Day number (DN) at the end of which the leap second becomes effective [days]
|
||||
double d_DeltaT_LSF; //!< Scheduled future or recent past (relative to NAV message upload) value of the delta time due to leap seconds [s]
|
||||
double d_A1GPS;
|
||||
double d_A0GPS;
|
||||
@ -241,7 +241,7 @@ public:
|
||||
double d_OMEGA_DOT_ALMANAC;
|
||||
double d_OMEGA_ALMANAC;
|
||||
double d_M0_ALMANAC;
|
||||
int almanac_WN;
|
||||
int32_t almanac_WN;
|
||||
double d_toa2;
|
||||
|
||||
// Satellite velocity
|
||||
@ -272,12 +272,12 @@ public:
|
||||
/*!
|
||||
* \brief Decodes the BDS D1 NAV message
|
||||
*/
|
||||
int d1_subframe_decoder(std::string const& subframe);
|
||||
int32_t d1_subframe_decoder(std::string const& subframe);
|
||||
|
||||
/*!
|
||||
* \brief Decodes the BDS D2 NAV message
|
||||
*/
|
||||
int d2_subframe_decoder(std::string const& subframe);
|
||||
int32_t d2_subframe_decoder(std::string const& subframe);
|
||||
|
||||
/*!
|
||||
* \brief Computes the position of the satellite
|
||||
|
||||
@ -615,6 +615,10 @@ if(NOT ENABLE_PACKAGING)
|
||||
|
||||
target_include_directories(gnss_block_test PUBLIC ${CMAKE_SOURCE_DIR}/src/algorithms/libs)
|
||||
|
||||
if(ENABLE_FPGA)
|
||||
target_compile_definitions(gnss_block_test PUBLIC -DENABLE_FPGA=1)
|
||||
endif()
|
||||
|
||||
add_test(gnss_block_test gnss_block_test)
|
||||
|
||||
set_property(TEST gnss_block_test PROPERTY TIMEOUT 60)
|
||||
|
||||
@ -29,6 +29,9 @@ target_link_libraries(front_end_cal_lib
|
||||
Threads::Threads
|
||||
acq_adapters
|
||||
Volkgnsssdr::volkgnsssdr ${ORC_LIBRARIES}
|
||||
signal_source_adapters
|
||||
signal_source_gr_blocks
|
||||
signal_source_lib
|
||||
rx_core_lib
|
||||
gnss_sdr_flags
|
||||
gnss_rx
|
||||
|
||||
Loading…
Reference in New Issue
Block a user