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Make use of cstdint type names

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Carles Fernandez 2019-02-10 12:45:23 +01:00
parent a6b94eaccf
commit 21b5aeee9d
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4 changed files with 128 additions and 105 deletions
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48
src/algorithms/libs/beidou_b1i_signal_processing.cc
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@ -7,7 +7,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* 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 * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -32,26 +32,26 @@
#include "beidou_b1i_signal_processing.h" #include "beidou_b1i_signal_processing.h"
auto auxCeil = [](float x) { return static_cast<int>(static_cast<long>((x) + 1)); }; auto auxCeil = [](float x) { return static_cast<int32_t>(static_cast<int64_t>((x) + 1)); };
void beidou_b1i_code_gen_int(int* _dest, signed int _prn, unsigned int _chip_shift) void beidou_b1i_code_gen_int(int32_t* _dest, int32_t _prn, uint32_t _chip_shift)
{ {
const unsigned int _code_length = 2046; const uint32_t _code_length = 2046;
bool G1[_code_length]; bool G1[_code_length];
bool G2[_code_length]; bool G2[_code_length];
bool G1_register[11] = {false, true, false, true, false, true, false, true, false, true, false}; bool G1_register[11] = {false, true, false, true, false, true, false, true, false, true, false};
bool G2_register[11] = {false, true, false, true, false, true, false, true, false, true, false}; bool G2_register[11] = {false, true, false, true, false, true, false, true, false, true, false};
bool feedback1, feedback2; bool feedback1, feedback2;
bool aux; bool aux;
unsigned int lcv, lcv2; uint32_t lcv, lcv2;
unsigned int delay; uint32_t delay;
signed int prn_idx; int32_t prn_idx;
/* G2 Delays as defined in GPS-ISD-200D */ /* G2 Delays as defined in GPS-ISD-200D */
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, 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,
1102, 578, 357, 1577, 1410, 1546, 1101, 707, 1576, 1409, 1545, 354 /*PRN32*/, 1102, 578, 357, 1577, 1410, 1546, 1101, 707, 1576, 1409, 1545, 354 /*PRN32*/,
705}; 705};
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}; 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};
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}; 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};
// compute delay array index for given PRN number // compute delay array index for given PRN number
prn_idx = _prn - 1; prn_idx = _prn - 1;
@ -110,28 +110,28 @@ void beidou_b1i_code_gen_int(int* _dest, signed int _prn, unsigned int _chip_shi
} }
void beidou_b1i_code_gen_float(float* _dest, signed int _prn, unsigned int _chip_shift) void beidou_b1i_code_gen_float(float* _dest, int32_t _prn, uint32_t _chip_shift)
{ {
unsigned int _code_length = 2046; uint32_t _code_length = 2046;
int b1i_code_int[_code_length]; int32_t b1i_code_int[_code_length];
beidou_b1i_code_gen_int(b1i_code_int, _prn, _chip_shift); beidou_b1i_code_gen_int(b1i_code_int, _prn, _chip_shift);
for (unsigned int ii = 0; ii < _code_length; ++ii) for (uint32_t ii = 0; ii < _code_length; ++ii)
{ {
_dest[ii] = static_cast<float>(b1i_code_int[ii]); _dest[ii] = static_cast<float>(b1i_code_int[ii]);
} }
} }
void beidou_b1i_code_gen_complex(std::complex<float>* _dest, signed int _prn, unsigned int _chip_shift) void beidou_b1i_code_gen_complex(std::complex<float>* _dest, int32_t _prn, uint32_t _chip_shift)
{ {
unsigned int _code_length = 2046; uint32_t _code_length = 2046;
int b1i_code_int[_code_length]; int32_t b1i_code_int[_code_length];
beidou_b1i_code_gen_int(b1i_code_int, _prn, _chip_shift); beidou_b1i_code_gen_int(b1i_code_int, _prn, _chip_shift);
for (unsigned int ii = 0; ii < _code_length; ++ii) for (uint32_t ii = 0; ii < _code_length; ++ii)
{ {
_dest[ii] = std::complex<float>(static_cast<float>(b1i_code_int[ii]), 0.0f); _dest[ii] = std::complex<float>(static_cast<float>(b1i_code_int[ii]), 0.0f);
} }
@ -141,26 +141,26 @@ void beidou_b1i_code_gen_complex(std::complex<float>* _dest, signed int _prn, un
/* /*
* Generates complex GPS L1 C/A code for the desired SV ID and sampled to specific sampling frequency * Generates complex GPS L1 C/A code for the desired SV ID and sampled to specific sampling frequency
*/ */
void beidou_b1i_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, int _fs, unsigned int _chip_shift) void beidou_b1i_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn, int32_t _fs, uint32_t _chip_shift)
{ {
// This function is based on the GNU software GPS for MATLAB in the Kay Borre book // This function is based on the GNU software GPS for MATLAB in the Kay Borre book
std::complex<float> _code[2046]; std::complex<float> _code[2046];
signed int _samplesPerCode, _codeValueIndex; int32_t _samplesPerCode, _codeValueIndex;
float _ts; float _ts;
float _tc; float _tc;
float aux; float aux;
const signed int _codeFreqBasis = 2046000; //Hz const int32_t _codeFreqBasis = 2046000; //Hz
const signed int _codeLength = 2046; const int32_t _codeLength = 2046;
//--- Find number of samples per spreading code ---------------------------- //--- Find number of samples per spreading code ----------------------------
_samplesPerCode = static_cast<signed int>(static_cast<double>(_fs) / static_cast<double>(_codeFreqBasis / _codeLength)); _samplesPerCode = static_cast<int32_t>(static_cast<double>(_fs) / static_cast<double>(_codeFreqBasis / _codeLength));
//--- Find time constants -------------------------------------------------- //--- Find time constants --------------------------------------------------
_ts = 1.0 / static_cast<float>(_fs); // Sampling period in sec _ts = 1.0 / static_cast<float>(_fs); // Sampling period in sec
_tc = 1.0 / static_cast<float>(_codeFreqBasis); // C/A chip period in sec _tc = 1.0 / static_cast<float>(_codeFreqBasis); // C/A chip period in sec
beidou_b1i_code_gen_complex(_code, _prn, _chip_shift); //generate C/A code 1 sample per chip beidou_b1i_code_gen_complex(_code, _prn, _chip_shift); //generate C/A code 1 sample per chip
for (signed int i = 0; i < _samplesPerCode; i++) for (int32_t i = 0; i < _samplesPerCode; i++)
{ {
//=== Digitizing ======================================================= //=== Digitizing =======================================================

23
src/algorithms/libs/beidou_b1i_signal_processing.h
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@ -7,7 +7,7 @@
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
* *
* 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 * GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver * Satellite Systems receiver
@ -30,25 +30,26 @@
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
#ifndef BEIDOU_B1I_SDR_SIGNAL_PROCESSING_H_ #ifndef GNSS_SDR_BEIDOU_B1I_SDR_SIGNAL_PROCESSING_H_
#define BEIDOU_B1I_SDR_SIGNAL_PROCESSING_H_ #define GNSS_SDR_BEIDOU_B1I_SDR_SIGNAL_PROCESSING_H_
#include <complex> #include <complex>
#include <iostream> #include <iostream>
#include <cstdint>
//!Generates int GPS L1 C/A code for the desired SV ID and code shift //! Generates int32_t GPS L1 C/A code for the desired SV ID and code shift
void beidou_b1i_code_gen_int(int* _dest, signed int _prn, unsigned int _chip_shift); void beidou_b1i_code_gen_int(int32_t* _dest, int32_t _prn, uint32_t _chip_shift);
//!Generates float GPS L1 C/A code for the desired SV ID and code shift //! Generates float GPS L1 C/A code for the desired SV ID and code shift
void beidou_b1i_code_gen_float(float* _dest, signed int _prn, unsigned int _chip_shift); void beidou_b1i_code_gen_float(float* _dest, int32_t _prn, uint32_t _chip_shift);
//!Generates complex GPS L1 C/A code for the desired SV ID and code shift, and sampled to specific sampling frequency //! Generates complex GPS L1 C/A code for the desired SV ID and code shift, and sampled to specific sampling frequency
void beidou_b1i_code_gen_complex(std::complex<float>* _dest, signed int _prn, unsigned int _chip_shift); void beidou_b1i_code_gen_complex(std::complex<float>* _dest, int32_t _prn, uint32_t _chip_shift);
//! Generates N complex GPS L1 C/A codes for the desired SV ID and code shift //! Generates N complex GPS L1 C/A codes for the desired SV ID and code shift
void beidou_b1i_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, int _fs, unsigned int _chip_shift, unsigned int _ncodes); void beidou_b1i_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn, int32_t _fs, uint32_t _chip_shift, uint32_t _ncodes);
//! Generates complex GPS L1 C/A code for the desired SV ID and code shift //! Generates complex GPS L1 C/A code for the desired SV ID and code shift
void beidou_b1i_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, int _fs, unsigned int _chip_shift); void beidou_b1i_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn, int32_t _fs, uint32_t _chip_shift);
#endif /* BEIDOU_B1I_SDR_SIGNAL_PROCESSING_H_ */ #endif /* BEIDOU_B1I_SDR_SIGNAL_PROCESSING_H_ */

94
src/core/system_parameters/beidou_dnav_navigation_message.cc
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@ -175,7 +175,7 @@ void Beidou_Dnav_Navigation_Message::reset()
//Almanac //Almanac
d_Toa = 0; d_Toa = 0;
i_WN_A = 0; i_WN_A = 0;
for (int i = 1; i < 36; i++) for (int32_t i = 1; i < 36; i++)
{ {
almanacHealth[i] = 0; almanacHealth[i] = 0;
} }
@ -208,25 +208,30 @@ void Beidou_Dnav_Navigation_Message::reset()
auto gnss_sat = Gnss_Satellite(); auto gnss_sat = Gnss_Satellite();
std::string _system("Beidou"); 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); satelliteBlock[i] = gnss_sat.what_block(_system, i);
} }
} }
Beidou_Dnav_Navigation_Message::Beidou_Dnav_Navigation_Message() Beidou_Dnav_Navigation_Message::Beidou_Dnav_Navigation_Message()
{ {
reset(); 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 << " Word =";
std::cout << std::bitset<32>(BEIDOU_word); std::cout << std::bitset<32>(BEIDOU_word);
std::cout << std::endl; 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; bool value;
@ -241,15 +246,18 @@ bool Beidou_Dnav_Navigation_Message::read_navigation_bool(std::bitset<BEIDOU_DNA
return value; 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; uint64_t value = 0ULL;
int num_of_slices = parameter.size(); int32_t num_of_slices = parameter.size();
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 <<= 1; // shift left
if (bits[BEIDOU_DNAV_SUBFRAME_DATA_BITS - parameter[i].first - j] == 1) if (bits[BEIDOU_DNAV_SUBFRAME_DATA_BITS - parameter[i].first - j] == 1)
{ {
value += 1; // insert the bit value += 1; // insert the bit
@ -259,30 +267,33 @@ unsigned long int Beidou_Dnav_Navigation_Message::read_navigation_unsigned(std::
return value; 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; int64_t value = 0;
int num_of_slices = parameter.size(); int32_t num_of_slices = parameter.size();
// Discriminate between 64 bits and 32 bits compiler // 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 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 // read the MSB and perform the sign extension
if (bits[BEIDOU_DNAV_SUBFRAME_DATA_BITS - parameter[0].first] == 1) if (bits[BEIDOU_DNAV_SUBFRAME_DATA_BITS - parameter[0].first] == 1)
{ {
value ^= 0xFFFFFFFFFFFFFFFF; //64 bits variable value ^= 0xFFFFFFFFFFFFFFFF; // 64 bits variable
} }
else else
{ {
value &= 0; 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 <<= 1; // shift left
value &= 0xFFFFFFFFFFFFFFFE; //reset the corresponding bit (for the 64 bits variable) value &= 0xFFFFFFFFFFFFFFFE; // reset the corresponding bit (for the 64 bits variable)
if (bits[BEIDOU_DNAV_SUBFRAME_DATA_BITS - parameter[i].first - j] == 1) if (bits[BEIDOU_DNAV_SUBFRAME_DATA_BITS - parameter[i].first - j] == 1)
{ {
value += 1; // insert the bit value += 1; // insert the bit
@ -302,12 +313,12 @@ signed long int Beidou_Dnav_Navigation_Message::read_navigation_signed(std::bits
value &= 0; 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 <<= 1; // shift left
value &= 0xFFFFFFFE; //reset the corresponding bit value &= 0xFFFFFFFE; // reset the corresponding bit
if (bits[BEIDOU_DNAV_SUBFRAME_DATA_BITS - parameter[i].first - j] == 1) if (bits[BEIDOU_DNAV_SUBFRAME_DATA_BITS - parameter[i].first - j] == 1)
{ {
value += 1; // insert the bit value += 1; // insert the bit
@ -318,6 +329,7 @@ signed long int Beidou_Dnav_Navigation_Message::read_navigation_signed(std::bits
return value; return value;
} }
double Beidou_Dnav_Navigation_Message::check_t(double time) double Beidou_Dnav_Navigation_Message::check_t(double time)
{ {
double corrTime; double corrTime;
@ -334,6 +346,7 @@ double Beidou_Dnav_Navigation_Message::check_t(double time)
return corrTime; return corrTime;
} }
double Beidou_Dnav_Navigation_Message::sv_clock_correction(double transmitTime) double Beidou_Dnav_Navigation_Message::sv_clock_correction(double transmitTime)
{ {
double dt; double dt;
@ -343,6 +356,7 @@ double Beidou_Dnav_Navigation_Message::sv_clock_correction(double transmitTime)
return correctedTime; return correctedTime;
} }
void Beidou_Dnav_Navigation_Message::satellitePosition(double transmitTime) void Beidou_Dnav_Navigation_Message::satellitePosition(double transmitTime)
{ {
double tk; double tk;
@ -384,7 +398,7 @@ void Beidou_Dnav_Navigation_Message::satellitePosition(double transmitTime)
E = M; E = M;
// --- Iteratively compute eccentric anomaly ---------------------------- // --- Iteratively compute eccentric anomaly ----------------------------
for (int ii = 1; ii < 20; ii++) for (int32_t ii = 1; ii < 20; ii++)
{ {
E_old = E; E_old = E;
E = M + d_eccentricity * sin(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); 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); std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS> subframe_bits(subframe);
subframe_ID = static_cast<int>(read_navigation_unsigned(subframe_bits, D1_FRAID)); 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; break;
case 2: // --- It is subframe 2 --- case 2: // --- It is subframe 2 ---
d_SOW_SF2 = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_SOW)); d_SOW_SF2 = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_SOW));
d_SOW = d_SOW_SF2; // Set transmission time 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; break;
case 3: // --- It is subframe 3 --- case 3: // --- It is subframe 3 ---
d_SOW_SF3 = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_SOW)); d_SOW_SF3 = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_SOW));
d_SOW = d_SOW_SF3; // Set transmission time 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; break;
case 5: // --- It is subframe 5 --- 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_SF5 = static_cast<double>(read_navigation_unsigned(subframe_bits, D1_SOW));
d_SOW = d_SOW_SF5; // Set transmission time 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; 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; int32_t subframe_ID = 0;
int page_ID = 0; int32_t page_ID = 0;
std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS> subframe_bits(subframe); 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; return subframe_ID;
} }
double Beidou_Dnav_Navigation_Message::utc_time(const double beidoutime_corrected) const double Beidou_Dnav_Navigation_Message::utc_time(const double beidoutime_corrected) const
{ {
double t_utc; 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); 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 // 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 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 //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) if (weeksToLeapSecondEvent > 0)
{ {
t_utc_daytime = fmod(beidoutime_corrected - Delta_t_UTC, 86400); 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) 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); t_utc_daytime = fmod(W, 86400 + d_DeltaT_LSF - d_DeltaT_LS);
} }
else else
@ -967,6 +981,7 @@ double Beidou_Dnav_Navigation_Message::utc_time(const double beidoutime_correcte
return t_utc; return t_utc;
} }
Beidou_Dnav_Ephemeris Beidou_Dnav_Navigation_Message::get_ephemeris() Beidou_Dnav_Ephemeris Beidou_Dnav_Navigation_Message::get_ephemeris()
{ {
Beidou_Dnav_Ephemeris eph; Beidou_Dnav_Ephemeris eph;
@ -1064,6 +1079,7 @@ Beidou_Dnav_Ephemeris Beidou_Dnav_Navigation_Message::get_ephemeris()
return eph; return eph;
} }
Beidou_Dnav_Iono Beidou_Dnav_Navigation_Message::get_iono() Beidou_Dnav_Iono Beidou_Dnav_Navigation_Message::get_iono()
{ {
Beidou_Dnav_Iono iono; Beidou_Dnav_Iono iono;
@ -1081,6 +1097,7 @@ Beidou_Dnav_Iono Beidou_Dnav_Navigation_Message::get_iono()
return iono; return iono;
} }
Beidou_Dnav_Utc_Model Beidou_Dnav_Navigation_Message::get_utc_model() Beidou_Dnav_Utc_Model Beidou_Dnav_Navigation_Message::get_utc_model()
{ {
Beidou_Dnav_Utc_Model 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; return utc_model;
} }
bool Beidou_Dnav_Navigation_Message::have_new_ephemeris() // Check if we have a new ephemeris stored in the galileo navigation class 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) 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; return false;
} }
bool Beidou_Dnav_Navigation_Message::have_new_iono() bool Beidou_Dnav_Navigation_Message::have_new_iono()
{ {
// the condition on flag_utc_model is added to have a time stamp for 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; return false;
} }
bool Beidou_Dnav_Navigation_Message::have_new_utc_model() bool Beidou_Dnav_Navigation_Message::have_new_utc_model()
{ {
if (flag_d1_sf5_p9 == true and flag_d1_sf5_p10 == true) 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; return false;
} }
bool Beidou_Dnav_Navigation_Message::have_new_almanac() bool Beidou_Dnav_Navigation_Message::have_new_almanac()
{ {
if ((flag_d1_sf4 == true) and (flag_d1_sf5 == true)) if ((flag_d1_sf4 == true) and (flag_d1_sf5 == true))
@ -1199,6 +1220,7 @@ bool Beidou_Dnav_Navigation_Message::have_new_almanac()
return false; return false;
} }
bool Beidou_Dnav_Navigation_Message::satellite_validation() bool Beidou_Dnav_Navigation_Message::satellite_validation()
{ {
bool flag_data_valid = false; bool flag_data_valid = false;

68
src/core/system_parameters/beidou_dnav_navigation_message.h
View File

@ -54,10 +54,10 @@
class Beidou_Dnav_Navigation_Message class Beidou_Dnav_Navigation_Message
{ {
private: private:
unsigned long int read_navigation_unsigned(std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS> bits, const std::vector<std::pair<int, int>>& parameter); uint64_t read_navigation_unsigned(std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS> bits, const std::vector<std::pair<int32_t, int32_t>>& parameter);
signed long int read_navigation_signed(std::bitset<BEIDOU_DNAV_SUBFRAME_DATA_BITS> bits, const std::vector<std::pair<int, int>>& 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<int, int>>& 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(unsigned int BEIDOU_word); void print_beidou_word_bytes(uint32_t BEIDOU_word);
/* /*
* Accounts for the beginning or end of week crossover * 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] double d_OMEGA_DOT; //!< Rate of Right Ascension [semi-circles/s]
//broadcast orbit 5 //broadcast orbit 5
double d_IDOT; //!< Rate of Inclination Angle [semi-circles/s] 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 //broadcast orbit 6
int i_SV_accuracy; //!< User Range Accuracy (URA) index of the SV int32_t i_SV_accuracy; //!< User Range Accuracy (URA) index of the SV
int i_SV_health; int32_t i_SV_health;
double d_TGD1; //!< Estimated Group Delay Differential in B1 [s] double d_TGD1; //!< Estimated Group Delay Differential in B1 [s]
double d_TGD2; //!< Estimated Group Delay Differential in B2 [s] double d_TGD2; //!< Estimated Group Delay Differential in B2 [s]
double d_AODC; //!< Age of Data, Clock double d_AODC; //!< Age of Data, Clock
//broadcast orbit 7 //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. 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; 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] double d_A_f2; //!< Clock correction parameters. Coefficient 2 of code phase offset model [s/s^2]
// D2 NAV Message Decoding // D2 NAV Message Decoding
unsigned long int d_A_f1_msb_bits; //!< Clock correction parameters, D2 NAV MSB uint64_t 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 uint64_t 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] uint64_t 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] uint64_t 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] uint64_t d_eccentricity_msb; //!< Eccentricity [dimensionless]
unsigned long int d_eccentricity_lsb; //!< Eccentricity [dimensionless] uint64_t 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] uint64_t 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] uint64_t 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] uint64_t d_eccentricity_msb_bits; //!< Eccentricity [dimensionless]
unsigned long int d_eccentricity_lsb_bits; uint64_t d_eccentricity_lsb_bits;
unsigned long int d_i_0_msb_bits; //!< Inclination Angle at Reference Time [semi-circles] uint64_t 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] uint64_t d_i_0_lsb_bits; //!< Inclination Angle at Reference Time [semi-circles]
unsigned long int d_OMEGA_msb_bits; //!< Argument of Perigee [semi-cicles] uint64_t d_OMEGA_msb_bits; //!< Argument of Perigee [semi-cicles]
unsigned long int d_OMEGA_lsb_bits; //!< Argument of Perigee [semi-cicles] uint64_t d_OMEGA_lsb_bits; //!< Argument of Perigee [semi-cicles]
unsigned long int d_OMEGA_DOT_msb_bits; //!< Rate of Right Ascension [semi-circles/s] uint64_t 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_OMEGA_DOT_lsb_bits; //!< Rate of Right Ascension [semi-circles/s]
// Almanac // Almanac
double d_Toa; //!< Almanac reference time [s] 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 int32_t 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 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 // 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). 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 // satellite identification info
int i_channel_ID; int32_t i_channel_ID;
unsigned int i_satellite_PRN; uint32_t i_satellite_PRN;
// time synchro // time synchro
double d_subframe_timestamp_ms; //[ms] 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_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_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. 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] int32_t 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_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_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_A1GPS;
double d_A0GPS; double d_A0GPS;
@ -241,7 +241,7 @@ public:
double d_OMEGA_DOT_ALMANAC; double d_OMEGA_DOT_ALMANAC;
double d_OMEGA_ALMANAC; double d_OMEGA_ALMANAC;
double d_M0_ALMANAC; double d_M0_ALMANAC;
int almanac_WN; int32_t almanac_WN;
double d_toa2; double d_toa2;
// Satellite velocity // Satellite velocity
@ -272,12 +272,12 @@ public:
/*! /*!
* \brief Decodes the BDS D1 NAV message * \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 * \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 * \brief Computes the position of the satellite