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Code Issues Releases Wiki Activity

bds_b31: Getting new changes from upstream

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This commit is contained in:
Damian Miralles
2019-02-05 17:25:16 -06:00
parent ea438328c4 08c6cc5c3c
commit 1b7d4edf51
165 changed files with 3398 additions and 3547 deletions
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src/algorithms/telemetry_decoder/adapters/CMakeLists.txt
+15 -18
View File
@@ -1,4 +1,4 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@@ -43,32 +43,29 @@ set(TELEMETRY_DECODER_ADAPTER_HEADERS
beidou_b3i_telemetry_decoder.h
)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/telemetry_decoder/gnuradio_blocks
${CMAKE_SOURCE_DIR}/src/algorithms/telemetry_decoder/libs
${CMAKE_SOURCE_DIR}/src/algorithms/telemetry_decoder/libs/libswiftcnav
${Boost_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
)
list(SORT TELEMETRY_DECODER_ADAPTER_HEADERS)
list(SORT TELEMETRY_DECODER_ADAPTER_SOURCES)
source_group(Headers FILES ${TELEMETRY_DECODER_ADAPTER_HEADERS})
add_library(telemetry_decoder_adapters
${TELEMETRY_DECODER_ADAPTER_SOURCES}
${TELEMETRY_DECODER_ADAPTER_HEADERS}
)
source_group(Headers FILES ${TELEMETRY_DECODER_ADAPTER_HEADERS})
target_link_libraries(telemetry_decoder_adapters
PUBLIC
telemetry_decoder_gr_blocks
gnss_system_parameters
${GNURADIO_RUNTIME_LIBRARIES}
gnss_rx
PRIVATE
Gflags::gflags
Glog::glog
Gnuradio::runtime
telemetry_decoder_lib
)
set_property(TARGET telemetry_decoder_adapters
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
)
src/algorithms/telemetry_decoder/adapters/beidou_b1i_telemetry_decoder.cc
+5 -7
View File
@@ -31,19 +31,19 @@
#include "beidou_b1i_telemetry_decoder.h"
#include "configuration_interface.h"
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include "beidou_dnav_almanac.h"
#include "beidou_dnav_ephemeris.h"
#include "beidou_dnav_iono.h"
#include "beidou_dnav_utc_model.h"
#include "configuration_interface.h"
#include <glog/logging.h>
#include <gnuradio/io_signature.h>
using google::LogMessage;
BeidouB1iTelemetryDecoder::BeidouB1iTelemetryDecoder(ConfigurationInterface* configuration,
std::string role,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
@@ -68,9 +68,7 @@ BeidouB1iTelemetryDecoder::BeidouB1iTelemetryDecoder(ConfigurationInterface* con
}
BeidouB1iTelemetryDecoder::~BeidouB1iTelemetryDecoder()
{
}
BeidouB1iTelemetryDecoder::~BeidouB1iTelemetryDecoder() = default;
void BeidouB1iTelemetryDecoder::set_satellite(const Gnss_Satellite& satellite)
src/algorithms/telemetry_decoder/adapters/beidou_b1i_telemetry_decoder.h
+2 -2
View File
@@ -34,9 +34,9 @@
#ifndef GNSS_SDR_BEIDOU_B1I_TELEMETRY_DECODER_H_
#define GNSS_SDR_BEIDOU_B1I_TELEMETRY_DECODER_H_
#include "beidou_b1i_telemetry_decoder_cc.h"
#include "telemetry_decoder_interface.h"
#include <string>
#include "beidou_b1i_telemetry_decoder_cc.h"
class ConfigurationInterface;
@@ -47,7 +47,7 @@ class BeidouB1iTelemetryDecoder : public TelemetryDecoderInterface
{
public:
BeidouB1iTelemetryDecoder(ConfigurationInterface* configuration,
std::string role,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt
+16 -22
View File
@@ -1,4 +1,4 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@@ -37,40 +37,34 @@ set(TELEMETRY_DECODER_GR_BLOCKS_HEADERS
glonass_l2_ca_telemetry_decoder_cc.h
galileo_telemetry_decoder_cc.h
beidou_b1i_telemetry_decoder_cc.h
beidou_b3i_telemetry_decoder_cc.cc
)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/telemetry_decoder/libs
${CMAKE_SOURCE_DIR}/src/algorithms/telemetry_decoder/libs/libswiftcnav
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
${VOLK_GNSSSDR_INCLUDE_DIRS}
beidou_b3i_telemetry_decoder_cc.h
)
list(SORT TELEMETRY_DECODER_GR_BLOCKS_HEADERS)
list(SORT TELEMETRY_DECODER_GR_BLOCKS_SOURCES)
source_group(Headers FILES ${TELEMETRY_DECODER_GR_BLOCKS_HEADERS})
add_library(telemetry_decoder_gr_blocks
${TELEMETRY_DECODER_GR_BLOCKS_SOURCES}
${TELEMETRY_DECODER_GR_BLOCKS_HEADERS}
)
source_group(Headers FILES ${TELEMETRY_DECODER_GR_BLOCKS_HEADERS})
target_link_libraries(telemetry_decoder_gr_blocks
PUBLIC
telemetry_decoder_libswiftcnav
telemetry_decoder_lib
gnss_system_parameters
${GNURADIO_RUNTIME_LIBRARIES}
${VOLK_GNSSSDR_LIBRARIES}
gnss_rx
Gnuradio::runtime
Volkgnsssdr::volkgnsssdr
PRIVATE
Boost::boost
Gflags::gflags
Glog::glog
)
if(NOT VOLKGNSSSDR_FOUND)
add_dependencies(telemetry_decoder_gr_blocks volk_gnsssdr_module)
endif()
set_property(TARGET telemetry_decoder_gr_blocks
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
)
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_cc.cc
+179 -182
View File
@@ -38,8 +38,8 @@
#include "display.h"
#include "gnss_synchro.h"
#include <boost/lexical_cast.hpp>
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include <gnuradio/io_signature.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <iostream>
@@ -58,66 +58,66 @@ beidou_b1i_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump)
beidou_b1i_telemetry_decoder_cc::beidou_b1i_telemetry_decoder_cc(
const Gnss_Satellite &satellite,
bool dump) : gr::block("beidou_b1i_telemetry_decoder_cc",
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
// Ephemeris data port out
this->message_port_register_out(pmt::mp("telemetry"));
// initialize internal vars
d_dump = dump;
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
LOG(INFO) << "Initializing BeiDou B1i Telemetry Decoding for satellite "<< this->d_satellite;
LOG(INFO) << "Initializing BeiDou B1i Telemetry Decoding for satellite " << this->d_satellite;
d_samples_per_symbol = (BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS) / BEIDOU_D1NAV_SYMBOL_RATE_SPS;
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol;
d_secondary_code_symbols = static_cast<int32_t *>(volk_gnsssdr_malloc(BEIDOU_B1I_SECONDARY_CODE_LENGTH * sizeof(int32_t), volk_gnsssdr_get_alignment()));
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;
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol;
d_secondary_code_symbols = static_cast<int32_t *>(volk_gnsssdr_malloc(BEIDOU_B1I_SECONDARY_CODE_LENGTH * sizeof(int32_t), volk_gnsssdr_get_alignment()));
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 secondary code
for (int32_t i = 0; i < BEIDOU_B1I_SECONDARY_CODE_LENGTH; i++)
{
if (BEIDOU_B1I_SECONDARY_CODE.at(i) == '1')
{
d_secondary_code_symbols[i] = 1;
}
else
{
d_secondary_code_symbols[i] = -1;
}
}
// Setting samples of secondary code
for (int32_t i = 0; i < BEIDOU_B1I_SECONDARY_CODE_LENGTH; i++)
{
if (BEIDOU_B1I_SECONDARY_CODE.at(i) == '1')
{
d_secondary_code_symbols[i] = 1;
}
else
{
d_secondary_code_symbols[i] = -1;
}
}
// Setting samples of preamble code
int32_t n = 0;
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
{
int32_t m = 0;
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = d_secondary_code_symbols[m];
n++;
m++;
m = m % BEIDOU_B1I_SECONDARY_CODE_LENGTH;
}
}
else
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = -d_secondary_code_symbols[m];
n++;
m++;
m = m % BEIDOU_B1I_SECONDARY_CODE_LENGTH;
}
}
}
// Setting samples of preamble code
int32_t n = 0;
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
{
int32_t m = 0;
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = d_secondary_code_symbols[m];
n++;
m++;
m = m % BEIDOU_B1I_SECONDARY_CODE_LENGTH;
}
}
else
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = -d_secondary_code_symbols[m];
n++;
m++;
m = m % BEIDOU_B1I_SECONDARY_CODE_LENGTH;
}
}
}
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(d_subframe_length_symbols * sizeof(double), volk_gnsssdr_get_alignment()));
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS*d_samples_per_symbol + d_samples_per_preamble;
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(d_subframe_length_symbols * sizeof(double), volk_gnsssdr_get_alignment()));
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS * d_samples_per_symbol + d_samples_per_preamble;
// Generic settings
d_sample_counter = 0;
@@ -130,13 +130,12 @@ beidou_b1i_telemetry_decoder_cc::beidou_b1i_telemetry_decoder_cc(
d_flag_preamble = false;
d_channel = 0;
flag_SOW_set = false;
}
beidou_b1i_telemetry_decoder_cc::~beidou_b1i_telemetry_decoder_cc()
{
volk_gnsssdr_free(d_preamble_samples);
volk_gnsssdr_free(d_preamble_samples);
volk_gnsssdr_free(d_secondary_code_symbols);
volk_gnsssdr_free(d_subframe_symbols);
@@ -154,7 +153,7 @@ beidou_b1i_telemetry_decoder_cc::~beidou_b1i_telemetry_decoder_cc()
}
void beidou_b1i_telemetry_decoder_cc::decode_bch15_11_01(int32_t *bits, int32_t *decbits)
void beidou_b1i_telemetry_decoder_cc::decode_bch15_11_01(const int32_t *bits, int32_t *decbits)
{
int bit, err, reg[4] = {1, 1, 1, 1};
int errind[15] = {14, 13, 10, 12, 6, 9, 4, 11, 0, 5, 7, 8, 1, 3, 2};
@@ -174,7 +173,7 @@ void beidou_b1i_telemetry_decoder_cc::decode_bch15_11_01(int32_t *bits, int32_t
reg[1] *= bit;
}
err = errind[reg[0] + reg[1]*2 + reg[2]*4 + reg[3]*8];
err = errind[reg[0] + reg[1] * 2 + reg[2] * 4 + reg[3] * 8];
if (err > 0)
{
@@ -184,82 +183,80 @@ void beidou_b1i_telemetry_decoder_cc::decode_bch15_11_01(int32_t *bits, int32_t
void beidou_b1i_telemetry_decoder_cc::decode_word(
int32_t word_counter,
double* enc_word_symbols,
int32_t* dec_word_symbols)
int32_t word_counter,
const double *enc_word_symbols,
int32_t *dec_word_symbols)
{
int32_t bitsbch[30], first_branch[15], second_branch[15];
if (word_counter == 1)
{
for (unsigned int j = 0; j < 30; j++)
{
dec_word_symbols[j] = (int32_t)(enc_word_symbols[j] > 0) ? (1) : (-1);
}
}
{
dec_word_symbols[j] = (int32_t)(enc_word_symbols[j] > 0) ? (1) : (-1);
}
}
else
{
for (unsigned int r = 0; r < 2; r++)
{
for (unsigned int c = 0; c < 15; c++)
for (unsigned int r = 0; r < 2; r++)
{
for (unsigned int c = 0; c < 15; c++)
{
bitsbch[r*15 + c] = (int32_t)(enc_word_symbols[c*2 + r] > 0) ? (1) : (-1);
bitsbch[r * 15 + c] = (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++)
{
dec_word_symbols[j] = first_branch[j];
dec_word_symbols[j + 11] = second_branch[j];
}
for (unsigned int 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++)
{
dec_word_symbols[j + 22] = first_branch[11 + j];
dec_word_symbols[j + 26] = second_branch[11 + j];
}
for (unsigned int j = 0; j < 4; j++)
{
dec_word_symbols[j + 22] = first_branch[11 + j];
dec_word_symbols[j + 26] = second_branch[11 + j];
}
}
}
void beidou_b1i_telemetry_decoder_cc::decode_subframe(double *frame_symbols, int32_t frame_length)
{
// 1. Transform from symbols to bits
// 1. Transform from symbols to bits
std::string data_bits;
int32_t dec_word_bits[30];
// Decode each word in subframe
for(uint32_t ii = 0; ii < BEIDOU_DNAV_WORDS_SUBFRAME; ii++)
{
// decode the word
decode_word((ii+1), &frame_symbols[ii*30], dec_word_bits);
for (uint32_t ii = 0; ii < BEIDOU_DNAV_WORDS_SUBFRAME; ii++)
{
// decode the word
decode_word((ii + 1), &frame_symbols[ii * 30], dec_word_bits);
// Save word to string format
for (uint32_t jj = 0; jj < (BEIDOU_DNAV_WORD_LENGTH_BITS); jj++)
{
data_bits.push_back( (dec_word_bits[jj] > 0) ? ('1') : ('0') );
}
}
// Save word to string format
for (uint32_t jj = 0; jj < (BEIDOU_DNAV_WORD_LENGTH_BITS); jj++)
{
data_bits.push_back((dec_word_bits[jj] > 0) ? ('1') : ('0'));
}
}
if ( d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6 )
{
d_nav.d2_subframe_decoder(data_bits);
}
else
{
d_nav.d1_subframe_decoder(data_bits);
}
if (d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6)
{
d_nav.d2_subframe_decoder(data_bits);
}
else
{
d_nav.d1_subframe_decoder(data_bits);
}
// 3. Check operation executed correctly
if (d_nav.flag_crc_test == true)
{
LOG(INFO) << "BeiDou DNAV CRC correct in channel " << d_channel << " from satellite " << d_satellite;
LOG(INFO) << "BeiDou DNAV CRC correct in channel " << d_channel << " from satellite " << d_satellite;
}
else
{
@@ -269,7 +266,7 @@ void beidou_b1i_telemetry_decoder_cc::decode_subframe(double *frame_symbols, int
if (d_nav.have_new_ephemeris() == true)
{
// get object for this SV (mandatory)
std::shared_ptr<Beidou_Dnav_Ephemeris> tmp_obj = std::make_shared<Beidou_Dnav_Ephemeris>(d_nav.get_ephemeris());
std::shared_ptr<Beidou_Dnav_Ephemeris> tmp_obj = std::make_shared<Beidou_Dnav_Ephemeris>(d_nav.get_ephemeris());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
LOG(INFO) << "BEIDOU DNAV Ephemeris have been received in channel" << d_channel << " from satellite " << d_satellite;
std::cout << "New BEIDOU B1I DNAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << std::endl;
@@ -292,9 +289,9 @@ 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;
// 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));
// unsigned int 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;
std::cout << "New BEIDOU B1I DNAV almanac received in channel " << d_channel << " from satellite " << d_satellite << std::endl;
}
@@ -303,7 +300,7 @@ void beidou_b1i_telemetry_decoder_cc::decode_subframe(double *frame_symbols, int
void beidou_b1i_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite)
{
uint32_t sat_prn = 0;
uint32_t sat_prn = 0;
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite;
DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
@@ -314,46 +311,46 @@ void beidou_b1i_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satell
d_nav.i_signal_type = 1; //!< BDS: data source (0:unknown,1:B1I,2:B1Q,3:B2I,4:B2Q,5:B3I,6:B3Q)
// Update tel dec parameters for D2 NAV Messages
if ( sat_prn > 0 and sat_prn < 6 )
{
// Clear values from previous declaration
volk_gnsssdr_free(d_preamble_samples);
volk_gnsssdr_free(d_secondary_code_symbols);
volk_gnsssdr_free(d_subframe_symbols);
if (sat_prn > 0 and sat_prn < 6)
{
// Clear values from previous declaration
volk_gnsssdr_free(d_preamble_samples);
volk_gnsssdr_free(d_secondary_code_symbols);
volk_gnsssdr_free(d_subframe_symbols);
d_samples_per_symbol = (BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS) / BEIDOU_D2NAV_SYMBOL_RATE_SPS;
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol;
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;
d_samples_per_symbol = (BEIDOU_B1I_CODE_RATE_HZ / BEIDOU_B1I_CODE_LENGTH_CHIPS) / BEIDOU_D2NAV_SYMBOL_RATE_SPS;
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol;
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;
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
{
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = 1;
n++;
}
}
else
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = -1;
n++;
}
}
}
// Setting samples of preamble code
int32_t n = 0;
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
{
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = 1;
n++;
}
}
else
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = -1;
n++;
}
}
}
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(d_subframe_length_symbols * sizeof(double), volk_gnsssdr_get_alignment()));
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS*d_samples_per_symbol + d_samples_per_preamble;
}
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(d_subframe_length_symbols * sizeof(double), volk_gnsssdr_get_alignment()));
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS * d_samples_per_symbol + d_samples_per_preamble;
}
}
@@ -369,7 +366,7 @@ void beidou_b1i_telemetry_decoder_cc::set_channel(int channel)
try
{
d_dump_filename = "telemetry";
d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
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);
@@ -387,17 +384,17 @@ void beidou_b1i_telemetry_decoder_cc::set_channel(int channel)
int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
int32_t corr_value = 0;
int32_t preamble_diff = 0;
int32_t corr_value = 0;
int32_t preamble_diff = 0;
Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]); // Get the output buffer pointer
const Gnss_Synchro **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]); // Get the input buffer pointer
auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]); // Get the output buffer pointer
const auto **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]); // Get the input buffer pointer
Gnss_Synchro current_symbol; //structure to save the synchronization information and send the output object to the next block
//1. Copy the current tracking output
current_symbol = in[0][0];
d_symbol_history.push_back(current_symbol.Prompt_I); //add new symbol to the symbol queue
d_sample_counter++; //count for the processed samples
d_sample_counter++; //count for the processed samples
consume_each(1);
d_flag_preamble = false;
@@ -453,9 +450,9 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_
}
}
}
else if (d_stat == 2) // preamble acquired
else if (d_stat == 2) // preamble acquired
{
if (d_sample_counter == d_preamble_index + static_cast<uint64_t>(d_preamble_period_samples))
if (d_sample_counter == d_preamble_index + static_cast<uint64_t>(d_preamble_period_samples))
{
//******* SAMPLES TO SYMBOLS *******
if (corr_value > 0) //normal PLL lock
@@ -463,22 +460,22 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_
int k = 0;
for (uint32_t i = 0; i < d_subframe_length_symbols; i++)
{
d_subframe_symbols[i] = 0;
//integrate samples into symbols
d_subframe_symbols[i] = 0;
//integrate samples into symbols
for (uint32_t m = 0; m < d_samples_per_symbol; m++)
{
if ( d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6 )
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] += d_symbol_history.at(i * d_samples_per_symbol + m);
}
else
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] += static_cast<float>(d_secondary_code_symbols[k]) * d_symbol_history.at(i * d_samples_per_symbol + m);
k++;
k = k % BEIDOU_B1I_SECONDARY_CODE_LENGTH;
}
if (d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6)
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] += d_symbol_history.at(i * d_samples_per_symbol + m);
}
else
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] += static_cast<float>(d_secondary_code_symbols[k]) * d_symbol_history.at(i * d_samples_per_symbol + m);
k++;
k = k % BEIDOU_B1I_SECONDARY_CODE_LENGTH;
}
}
}
}
@@ -487,22 +484,22 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_
int k = 0;
for (uint32_t i = 0; i < d_subframe_length_symbols; i++)
{
d_subframe_symbols[i] = 0;
//integrate samples into symbols
d_subframe_symbols[i] = 0;
//integrate samples into symbols
for (uint32_t m = 0; m < d_samples_per_symbol; m++)
{
if ( d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6 )
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] -= d_symbol_history.at(i * d_samples_per_symbol + m);
}
else
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] -= static_cast<float>(d_secondary_code_symbols[k]) * d_symbol_history.at(i * d_samples_per_symbol + m);
k++;
k = k % BEIDOU_B1I_SECONDARY_CODE_LENGTH;
}
if (d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6)
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] -= d_symbol_history.at(i * d_samples_per_symbol + m);
}
else
{
// because last symbol of the preamble is just received now!
d_subframe_symbols[i] -= static_cast<float>(d_secondary_code_symbols[k]) * d_symbol_history.at(i * d_samples_per_symbol + m);
k++;
k = k % BEIDOU_B1I_SECONDARY_CODE_LENGTH;
}
}
}
}
@@ -541,15 +538,15 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_
if (this->d_flag_preamble == true and d_nav.flag_new_SOW_available == true)
//update TOW at the preamble instant
{
// Reporting sow as gps time of week
d_TOW_at_Preamble_ms = static_cast<uint32_t>((d_nav.d_SOW + 14) * 1000.0);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * BEIDOU_B1I_CODE_PERIOD_MS);
flag_SOW_set = true;
d_nav.flag_new_SOW_available = false;
// Reporting sow as gps time of week
d_TOW_at_Preamble_ms = static_cast<uint32_t>((d_nav.d_SOW + 14) * 1000.0);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * BEIDOU_B1I_CODE_PERIOD_MS);
flag_SOW_set = true;
d_nav.flag_new_SOW_available = false;
}
else //if there is not a new preamble, we define the TOW of the current symbol
{
d_TOW_at_current_symbol_ms += static_cast<uint32_t>(BEIDOU_B1I_CODE_PERIOD_MS);
d_TOW_at_current_symbol_ms += static_cast<uint32_t>(BEIDOU_B1I_CODE_PERIOD_MS);
}
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_cc.h
+6 -6
View File
@@ -35,14 +35,14 @@
#ifndef GNSS_SDR_BEIDOU_B1I_TELEMETRY_DECODER_CC_H
#define GNSS_SDR_BEIDOU_B1I_TELEMETRY_DECODER_CC_H
#include "beidou_dnav_navigation_message.h"
#include "beidou_dnav_ephemeris.h"
#include "Beidou_DNAV.h"
#include "Beidou_B1I.h"
#include "beidou_dnav_almanac.h"
#include "beidou_dnav_ephemeris.h"
#include "beidou_dnav_navigation_message.h"
#include "beidou_dnav_utc_model.h"
#include "gnss_satellite.h"
#include "gnss_synchro.h"
#include "Beidou_B1I.h"
#include "Beidou_DNAV.h"
#include <gnuradio/block.h>
#include <fstream>
#include <string>
@@ -80,8 +80,8 @@ private:
beidou_b1i_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump);
void decode_subframe(double *symbols, int32_t frame_length);
void decode_word(int32_t word_counter, double* enc_word_symbols, int32_t* dec_word_symbols);
void decode_bch15_11_01(int32_t *bits, int32_t *decbits);
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
src/algorithms/telemetry_decoder/libs/CMakeLists.txt
+19 -17
View File
@@ -1,4 +1,4 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@@ -20,32 +20,34 @@
add_subdirectory(libswiftcnav)
set(TELEMETRY_DECODER_LIB_SOURCES
viterbi_decoder.cc
viterbi_decoder.cc
)
set(TELEMETRY_DECODER_LIB_HEADERS
viterbi_decoder.h
convolutional.h
)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/telemetry_decoder/adapters
${Boost_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
viterbi_decoder.h
convolutional.h
)
list(SORT TELEMETRY_DECODER_LIB_HEADERS)
list(SORT TELEMETRY_DECODER_LIB_SOURCES)
source_group(Headers FILES ${TELEMETRY_DECODER_LIB_HEADERS})
add_library(telemetry_decoder_lib
${TELEMETRY_DECODER_LIB_SOURCES}
${TELEMETRY_DECODER_LIB_HEADERS}
)
source_group(Headers FILES ${TELEMETRY_DECODER_LIB_HEADERS})
target_link_libraries(telemetry_decoder_lib gnss_system_parameters)
target_link_libraries(telemetry_decoder_lib
PUBLIC
gnss_system_parameters
gnss_rx
PRIVATE
Gflags::gflags
Glog::glog
)
set_property(TARGET telemetry_decoder_lib
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
)
src/algorithms/telemetry_decoder/libs/libswiftcnav/CMakeLists.txt
+9 -7
View File
@@ -1,4 +1,4 @@
# Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
# Copyright (C) 2012-2019 (see AUTHORS file for a list of contributors)
#
# This file is part of GNSS-SDR.
#
@@ -31,19 +31,21 @@ set(TELEMETRY_DECODER_LIBSWIFTCNAV_HEADERS
fec.h
)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
)
list(SORT TELEMETRY_DECODER_LIBSWIFTCNAV_HEADERS)
list(SORT TELEMETRY_DECODER_LIBSWIFTCNAV_SOURCES)
source_group(Headers FILES ${TELEMETRY_DECODER_LIBSWIFTCNAV_HEADERS})
add_library(telemetry_decoder_libswiftcnav STATIC
${TELEMETRY_DECODER_LIBSWIFTCNAV_SOURCES}
${TELEMETRY_DECODER_LIBSWIFTCNAV_HEADERS}
)
source_group(Headers FILES ${TELEMETRY_DECODER_LIBSWIFTCNAV_HEADERS})
set_property(TARGET telemetry_decoder_libswiftcnav
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
)
set_target_properties(telemetry_decoder_libswiftcnav
PROPERTIES LINKER_LANGUAGE C)
PROPERTIES LINKER_LANGUAGE C
)