Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next

cmake/Modules/FindGNURADIO.cmake

@@ -58,7 +58,7 @@ function(GR_MODULE EXTVAR PCNAME INCFILE LIBFILE)
     message(STATUS "Checking for GNU Radio Module: ${EXTVAR}")
 
     # check for .pc hints
-    pkg_check_modules(PC_GNURADIO_${EXTVAR} ${PCNAME})
+    pkg_check_modules(PC_GNURADIO_${EXTVAR} QUIET ${PCNAME})
 
     if(NOT PC_GNURADIO_${EXTVAR}_FOUND)
         set(PC_GNURADIO_${EXTVAR}_LIBRARIES ${LIBFILE})

cmake/Modules/FindVOLKGNSSSDR.cmake

@@ -30,7 +30,7 @@ endif()
 
 set(PKG_CONFIG_USE_CMAKE_PREFIX_PATH TRUE)
 include(FindPkgConfig)
-pkg_check_modules(PC_VOLK_GNSSSDR volk_gnsssdr)
+pkg_check_modules(PC_VOLK_GNSSSDR QUIET volk_gnsssdr)
 
 find_path(VOLK_GNSSSDR_INCLUDE_DIRS
     NAMES volk_gnsssdr/volk_gnsssdr.h

docs/changelog

@@ -3,17 +3,22 @@
 ### Improvements in Accuracy
 
 - Local clock correction based on PVT solution (error kept below 1 ms).
+- Fix a bug in broadcast ionospheric parameters usage.
 
 
 ### Improvements in Availability
 
-- Fixed bug that caused a random deadlock in the Observables block, preventing the computation of PVT fixes.
+- Improved mechanism for false lock detection in the Tracking loops.
 - Fixed bug in Galileo INAV/FNAV message decoding when PLL is locked at 180 degrees, which prevented from correct navigation message decoding in some situations.
+- Fixed bug that caused a random deadlock in the Observables block, preventing the computation of PVT fixes.
 - Fixed PVT computation continuity through the TOW rollover.
+- Improved signal acquisition and tracking mechanisms in high dynamic scenarios.
 
 
 ### Improvements in Efficiency
 
+- Added mechanism for assisted acquisition of signals on a secondary band when the primary has already been acquired. This allows a great reduction of the computational load in multi-frequency configurations.
+- Tracking loops now perform bit synchronization, simplifying the decoding process in Telemetry blocks and FPGA-offloading.
 - Improved preamble detection implementation in the decoding of navigation messages (acceleration by x1.6 on average per channel).
 - Shortened Acquisition to Tracking transition time.
 - Applied clang-tidy checks and fixes related to performance: performance-faster-string-find, performance-inefficient-algorithm, performance-move-const-arg, performance-type-promotion-in-math-fn, performance-unnecessary-value-param, readability-string-compare.
@@ -21,7 +26,7 @@
 
 ### Improvements in Flexibility:
 
-- Rewritten Control Thread and GNSS Flowgraph for increased control of channels' status and smarter assignation of satellites in multi-band configurations.
+- Rewritten Control Thread and GNSS flow graph for increased control of channels' status and smarter assignation of satellites in multi-band configurations.
 - New Tracking parameters allow the configuration of PLL and DLL filters order.
 - Added parameter to enable FLL during pull-in time.
 - Configurable pull-in time in the Tracking loops.
@@ -40,37 +45,44 @@
 
 ### Improvements in Maintainability:
 
+- The internal communication mechanism based on gr::msg_queue has been replaced by a thread-safe, built-in asynchronous message passing system based on GNU Radio's Polymorphic Types. This change is backwards-compatible and prevents from a failure in case of a possible future deprecation or removal of the gr::msg_queue API.
+- Deprecated boost::asio::io_service replaced by boost::asio::io_context if Boost > 1.65
+- CMake turns all policies to ON according to the running version up to version 3.15.
 - Usage of clang-tidy integrated into CMake scripts. New option -DENABLE_CLANG_TIDY=ON executes clang-tidy along with compilation. Requires clang compiler.
 - Applied clang-tidy checks and fixes related to readability: readability-container-size-empty, readability-identifier-naming, readability-inconsistent-declaration-parameter-name, readability-named-parameter, readability-non-const-parameter, readability-string-compare.
 - Improved includes selection following suggestions by include-what-you-use (see https://include-what-you-use.org/), allowing faster compiles, fewer recompiles and making refactoring easier.
-- Deprecated boost::asio::io_service replaced by boost::asio::io_context if Boost > 1.65
+- Massive reduction of warnings triggered by clang-tidy checks.
-- The internal communication mechanism based on gr::msg_queue has been replaced by asynchronous message passing.
+- Throughout code cleaning and formatting performed with automated tools in order to reduce future commit noise.
 
 
 ### Improvements in Portability:
 
-- Added interfaces for FPGA off-loading.
+- Added interfaces for FPGA off-loading in GPS L1 C/A, Galileo E1b/c, GPS L2C, GPS L5 and Galileo E5a receiver chains.
 - CMake scripts now follow a modern approach (targets and properties) but still work with 2.8.12.
 - Improvements for macOS users using Homebrew.
+- The software builds against GNU Radio >= 3.7.3, including 3.8.0. Automatically detected, no user intervention is required.
 - The volk_gnsssdr library can now be built without requiring Boost if the compiler supports C++17 or higher.
+- The Boost Filesystem library is not anymore a required dependency in cases where it can be replaced by std::filesystem. Automatically detected, no user intervention is required.
 - CMake scripts automatically select among C++11, C++14, C++17 or C++20 standards, the most recent as possible, depending on compiler and dependencies versions.
+- Drawback in portability: Protocol Buffers >= 3.0.0 is a new required dependency.
 
 
 ### Improvements in Reliability
 
 - Included the Guidelines Support Library. General improvement of memory management, replacement of raw pointers by containers or smart pointers.
 - Applied clang-tidy checks and fixes related to High Integrity C++: performance-move-const-arg, modernize-use-auto, modernize-use-equals-default, modernize-use-equals-delete, modernize-use-noexcept, modernize-use-nullptr, cert-dcl21-cpp, misc-new-delete-overloads, cert-dcl58-cpp, cert-err52-cpp, cert-err60-cpp.
+- Fixed a number of defects detected by Coverity Scan (version June 2019).
 
 
 ### Improvements in Usability
 
-- The receiver now admits FPGA off-loading, allowing for real time operation at high sampling rates and higher number of signals and channels.
+- The receiver now admits FPGA off-loading, allowing for real time operation in embedded systems at high sampling rates and high number of signals and channels per signal in multiple bands.
 - Fixed program termination (avoiding hangs and segfaults in some platforms/configurations).
 - The Labsat_Signal_Source now terminates the receiver's execution when the end of file(s) is reached. It now accepts LabSat 2 filenames and series of LabSat 3 files.
 - Added configuration parameters to set the annotation rate in KML, GPX, GeoJSON and NMEA outputs, set by default to 1 s.
-- New parameter PVT.show_local_time_zone displays time in the local time zone. Subject to the proper system configuration of the machine running the software receiver.
+- New parameter PVT.show_local_time_zone displays time in the local time zone. Subject to the proper system configuration of the machine running the software receiver. This feature is not available in old compilers.
-- CMake now generates a summary of enabled/disabled features. This info is also stored in a file called features.log in the building directory.
+- CMake now generates a summary of required/optional dependency packages found and enabled/disabled features. This info is also stored in a file called features.log in the building directory.
-- Improved information provided to the user in case of failure.
+- Improved information provided to the user in case of building configuration and runtime failures.
 
 
 

src/CMakeLists.txt

@@ -1,4 +1,4 @@
-# Copyright (C) 2010-2018  (see AUTHORS file for a list of contributors)
+# Copyright (C) 2010-2019  (see AUTHORS file for a list of contributors)
 #
 # This file is part of GNSS-SDR.
 #

src/algorithms/CMakeLists.txt

@@ -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.
 #

src/algorithms/PVT/CMakeLists.txt

@@ -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.
 #

src/algorithms/PVT/adapters/rtklib_pvt.cc

@@ -5,7 +5,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/PVT/adapters/rtklib_pvt.h

@@ -5,7 +5,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc

@@ -5,7 +5,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h

@@ -5,7 +5,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/PVT/libs/geojson_printer.cc

@@ -6,7 +6,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/PVT/libs/geojson_printer.h

@@ -6,7 +6,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/PVT/libs/gpx_printer.cc

@@ -6,7 +6,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/PVT/libs/gpx_printer.h

@@ -6,7 +6,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/PVT/libs/hybrid_ls_pvt.cc

@@ -6,7 +6,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/PVT/libs/hybrid_ls_pvt.h

@@ -6,7 +6,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/PVT/libs/kml_printer.cc

@@ -7,7 +7,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/PVT/libs/kml_printer.h

@@ -6,7 +6,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/PVT/libs/ls_pvt.cc

@@ -6,7 +6,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/PVT/libs/ls_pvt.h

@@ -6,7 +6,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/PVT/libs/monitor_pvt.h

@@ -5,7 +5,7 @@
  *  Álvaro Cebrián Juan, 2019. acebrianjuan(at)gmail.com
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/PVT/libs/monitor_pvt_udp_sink.cc

@@ -6,7 +6,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/PVT/libs/monitor_pvt_udp_sink.h

@@ -6,7 +6,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/PVT/libs/nmea_printer.cc

@@ -10,7 +10,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/PVT/libs/nmea_printer.h

@@ -10,7 +10,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/PVT/libs/pvt_conf.cc

@@ -5,7 +5,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/PVT/libs/pvt_conf.h

@@ -5,7 +5,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/PVT/libs/pvt_solution.cc

@@ -6,7 +6,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/PVT/libs/pvt_solution.h

@@ -6,7 +6,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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
@@ -151,7 +151,6 @@ private:
     arma::vec d_rx_pos;
     boost::posix_time::ptime d_position_UTC_time;
     int d_valid_observations;
-
 };
 
 #endif

src/algorithms/PVT/libs/rinex_printer.cc

@@ -5,7 +5,7 @@
  * \author Carles Fernandez Prades, 2011. cfernandez(at)cttc.es
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/PVT/libs/rinex_printer.h

@@ -25,7 +25,7 @@
  * \author Carles Fernandez Prades, 2011. cfernandez(at)cttc.es
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/PVT/libs/rtcm.cc

@@ -5,7 +5,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/PVT/libs/rtcm.h

@@ -5,7 +5,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/PVT/libs/rtcm_printer.cc

@@ -8,7 +8,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/PVT/libs/rtcm_printer.h

@@ -8,7 +8,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/PVT/libs/rtklib_solver.cc

@@ -22,8 +22,8 @@
  *
  * -------------------------------------------------------------------------
  * Copyright (C) 2007-2013, T. Takasu
- * Copyright (C) 2017, Javier Arribas
+ * Copyright (C) 2017-2019, Javier Arribas
- * Copyright (C) 2017, Carles Fernandez
+ * Copyright (C) 2017-2019, Carles Fernandez
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -117,6 +117,44 @@ Rtklib_Solver::Rtklib_Solver(int nchannels, std::string dump_filename, bool flag
         }
 }
 
+
+Rtklib_Solver::~Rtklib_Solver()
+{
+    if (d_dump_file.is_open() == true)
+        {
+            auto pos = d_dump_file.tellp();
+            try
+                {
+                    d_dump_file.close();
+                }
+            catch (const std::exception &ex)
+                {
+                    LOG(WARNING) << "Exception in destructor closing the RTKLIB dump file " << ex.what();
+                }
+            if (pos == 0)
+                {
+                    errorlib::error_code ec;
+                    if (!fs::remove(fs::path(d_dump_filename), ec))
+                        {
+                            std::cerr << "Problem removing temporary file " << d_dump_filename << '\n';
+                        }
+                    d_flag_dump_mat_enabled = false;
+                }
+        }
+    if (d_flag_dump_mat_enabled)
+        {
+            try
+                {
+                    save_matfile();
+                }
+            catch (const std::exception &ex)
+                {
+                    LOG(WARNING) << "Exception in destructor saving the PVT .mat dump file " << ex.what();
+                }
+        }
+}
+
+
 bool Rtklib_Solver::save_matfile()
 {
     // READ DUMP FILE
@@ -356,43 +394,6 @@ bool Rtklib_Solver::save_matfile()
 }
 
 
-Rtklib_Solver::~Rtklib_Solver()
-{
-    if (d_dump_file.is_open() == true)
-        {
-            auto pos = d_dump_file.tellp();
-            try
-                {
-                    d_dump_file.close();
-                }
-            catch (const std::exception &ex)
-                {
-                    LOG(WARNING) << "Exception in destructor closing the RTKLIB dump file " << ex.what();
-                }
-            if (pos == 0)
-                {
-                    errorlib::error_code ec;
-                    if (!fs::remove(fs::path(d_dump_filename), ec))
-                        {
-                            std::cerr << "Problem removing temporary file " << d_dump_filename << '\n';
-                        }
-                    d_flag_dump_mat_enabled = false;
-                }
-        }
-    if (d_flag_dump_mat_enabled)
-        {
-            try
-                {
-                    save_matfile();
-                }
-            catch (const std::exception &ex)
-                {
-                    LOG(WARNING) << "Exception in destructor saving the PVT .mat dump file " << ex.what();
-                }
-        }
-}
-
-
 double Rtklib_Solver::get_gdop() const
 {
     return dop_[0];

src/algorithms/PVT/libs/rtklib_solver.h

@@ -22,8 +22,8 @@
  *
  * -------------------------------------------------------------------------
  * Copyright (C) 2007-2013, T. Takasu
- * Copyright (C) 2017, Javier Arribas
+ * Copyright (C) 2017-2019, Javier Arribas
- * Copyright (C) 2017, Carles Fernandez
+ * Copyright (C) 2017-2019, Carles Fernandez
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without

src/algorithms/acquisition/CMakeLists.txt

@@ -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.
 #

src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.cc

@@ -8,7 +8,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.h

@@ -8,7 +8,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.cc

@@ -6,7 +6,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.h

@@ -6,7 +6,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.h

@@ -6,7 +6,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc

@@ -44,14 +44,6 @@
 #include <cmath>      // for abs, pow, floor
 #include <complex>    // for complex
 
-// the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
-// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
-#define QUANT_BITS_LOCAL_CODE 16
-#define SELECT_LSBits 0x0000FFFF         // Select the 10 LSbits out of a 20-bit word
-#define SELECT_MSBbits 0xFFFF0000        // Select the 10 MSbits out of a 20-bit word
-#define SELECT_ALL_CODE_BITS 0xFFFFFFFF  // Select a 20 bit word
-#define SHL_CODE_BITS 65536              // shift left by 10 bits
-
 GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
     ConfigurationInterface* configuration,
     const std::string& role,
@@ -166,10 +158,10 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
             // and package codes in a format that is ready to be written to the FPGA
             for (uint32_t i = 0; i < nsamples_total; i++)
                 {
-                    tmp = static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max));
+                    tmp = static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, quant_bits_local_code - 1) - 1) / max));
-                    tmp2 = static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max));
+                    tmp2 = static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, quant_bits_local_code - 1) - 1) / max));
-                    local_code = (tmp & SELECT_LSBits) | ((tmp2 * SHL_CODE_BITS) & SELECT_MSBbits);  // put together the real part and the imaginary part
+                    local_code = (tmp & select_lsbits) | ((tmp2 * shl_code_bits) & select_msbits);  // put together the real part and the imaginary part
-                    fft_data = local_code & SELECT_ALL_CODE_BITS;
+                    fft_data = local_code & select_all_code_bits;
                     d_all_fft_codes_[i + (nsamples_total * (PRN - 1))] = fft_data;
                 }
         }
@@ -221,6 +213,12 @@ void GalileoE1PcpsAmbiguousAcquisitionFpga::set_doppler_step(unsigned int dopple
     acquisition_fpga_->set_doppler_step(doppler_step_);
 }
 
+void GalileoE1PcpsAmbiguousAcquisitionFpga::set_doppler_center(int doppler_center)
+{
+    doppler_center_ = doppler_center;
+
+    acquisition_fpga_->set_doppler_center(doppler_center_);
+}
 
 void GalileoE1PcpsAmbiguousAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
 {

src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.h

@@ -24,7 +24,7 @@
  * GNU General Public License for more details.
  *
  * You should have received a copy of the GNU General Public License
- * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
  *
  * -------------------------------------------------------------------------
  */
@@ -32,16 +32,15 @@
 #ifndef GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_FPGA_H_
 #define GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_FPGA_H_
 
+#include "acq_conf.h"
 #include "channel_fsm.h"
+#include "gnss_synchro.h"
 #include "pcps_acquisition_fpga.h"
-#include <gnuradio/runtime_types.h>  // for basic_block_sptr, top_block_sptr
-#include <volk/volk_complex.h>       // for lv_16sc_t
-#include <cstddef>                   // for size_t
 #include <memory>
 #include <string>
 #include <vector>
 
-class Gnss_Synchro;
+
 class ConfigurationInterface;
 
 /*!
@@ -51,13 +50,22 @@ class ConfigurationInterface;
 class GalileoE1PcpsAmbiguousAcquisitionFpga : public AcquisitionInterface
 {
 public:
+    /*!
+     * \brief Constructor
+     */
     GalileoE1PcpsAmbiguousAcquisitionFpga(ConfigurationInterface* configuration,
         const std::string& role,
         unsigned int in_streams,
         unsigned int out_streams);
 
+    /*!
+     * \brief Destructor
+     */
     ~GalileoE1PcpsAmbiguousAcquisitionFpga() = default;
 
+    /*!
+     * \brief Role
+     */
     inline std::string role() override
     {
         return role_;
@@ -71,15 +79,32 @@ public:
         return "Galileo_E1_PCPS_Ambiguous_Acquisition_Fpga";
     }
 
+    /*!
+     * \brief Returns size of lv_16sc_t
+     */
     size_t item_size() override
     {
-        size_t item_size = sizeof(lv_16sc_t);
+        return sizeof(int16_t);
-        return item_size;
     }
 
+    /*!
+     * \brief Connect
+     */
     void connect(gr::top_block_sptr top_block) override;
+
+    /*!
+     * \brief Disconnect
+     */
     void disconnect(gr::top_block_sptr top_block) override;
+
+    /*!
+     * \brief Get left block
+     */
     gr::basic_block_sptr get_left_block() override;
+
+    /*!
+     * \brief Get right block
+     */
     gr::basic_block_sptr get_right_block() override;
 
     /*!
@@ -122,6 +147,11 @@ public:
      */
     void set_doppler_step(unsigned int doppler_step) override;
 
+    /*!
+     * \brief Set Doppler center for the grid search
+     */
+    void set_doppler_center(int doppler_center) override;
+
     /*!
      * \brief Initializes acquisition algorithm.
      */
@@ -152,9 +182,20 @@ public:
      */
     void stop_acquisition() override;
 
+    /*!
+     * \brief Set resampler latency
+     */
     void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
 
 private:
+    // the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
+    // expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
+    static const uint32_t quant_bits_local_code = 16;
+    static const uint32_t select_lsbits = 0x0000FFFF;         // Select the 10 LSbits out of a 20-bit word
+    static const uint32_t select_msbits = 0xFFFF0000;         // Select the 10 MSbits out of a 20-bit word
+    static const uint32_t select_all_code_bits = 0xFFFFFFFF;  // Select a 20 bit word
+    static const uint32_t shl_code_bits = 65536;              // shift left by 10 bits
+
     ConfigurationInterface* configuration_;
     pcps_acquisition_fpga_sptr acquisition_fpga_;
     bool acquire_pilot_;
@@ -162,6 +203,7 @@ private:
     std::weak_ptr<ChannelFsm> channel_fsm_;
     uint32_t doppler_max_;
     uint32_t doppler_step_;
+    int32_t doppler_center_;
     std::string dump_filename_;
     Gnss_Synchro* gnss_synchro_;
     std::string role_;

src/algorithms/acquisition/adapters/galileo_e1_pcps_cccwsr_ambiguous_acquisition.cc

@@ -6,7 +6,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/galileo_e1_pcps_cccwsr_ambiguous_acquisition.h

@@ -6,7 +6,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.cc

@@ -6,7 +6,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.h

@@ -6,7 +6,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.cc

@@ -6,7 +6,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.h

@@ -6,7 +6,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.cc

@@ -12,7 +12,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.h

@@ -12,7 +12,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.cc

@@ -5,7 +5,7 @@
  * \author Antonio Ramos, 2018. antonio.ramos(at)cttc.es
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.h

@@ -5,7 +5,7 @@
  * \author Antonio Ramos, 2018. antonio.ramos(at)cttc.es
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc

@@ -44,14 +44,6 @@
 #include <cmath>      // for abs, pow, floor
 #include <complex>    // for complex
 
-// the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
-// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
-#define QUANT_BITS_LOCAL_CODE 16
-#define SELECT_LSBits 0x0000FFFF         // Select the 10 LSbits out of a 20-bit word
-#define SELECT_MSBbits 0xFFFF0000        // Select the 10 MSbits out of a 20-bit word
-#define SELECT_ALL_CODE_BITS 0xFFFFFFFF  // Select a 20 bit word
-#define SHL_CODE_BITS 65536              // shift left by 10 bits
-
 GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterface* configuration,
     const std::string& role,
     unsigned int in_streams,
@@ -169,10 +161,10 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
             // and package codes in a format that is ready to be written to the FPGA
             for (uint32_t i = 0; i < nsamples_total; i++)
                 {
-                    tmp = static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max));
+                    tmp = static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, quant_bits_local_code - 1) - 1) / max));
-                    tmp2 = static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max));
+                    tmp2 = static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, quant_bits_local_code - 1) - 1) / max));
-                    local_code = (tmp & SELECT_LSBits) | ((tmp2 * SHL_CODE_BITS) & SELECT_MSBbits);  // put together the real part and the imaginary part
+                    local_code = (tmp & select_lsbits) | ((tmp2 * shl_code_bits) & select_msbits);  // put together the real part and the imaginary part
-                    fft_data = local_code & SELECT_ALL_CODE_BITS;
+                    fft_data = local_code & select_all_code_bits;
                     d_all_fft_codes_[i + (nsamples_total * (PRN - 1))] = fft_data;
                 }
         }
@@ -224,6 +216,12 @@ void GalileoE5aPcpsAcquisitionFpga::set_doppler_step(unsigned int doppler_step)
     acquisition_fpga_->set_doppler_step(doppler_step_);
 }
 
+void GalileoE5aPcpsAcquisitionFpga::set_doppler_center(int doppler_center)
+{
+    doppler_center_ = doppler_center;
+
+    acquisition_fpga_->set_doppler_center(doppler_center_);
+}
 
 void GalileoE5aPcpsAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
 {

src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.h

@@ -24,7 +24,7 @@
  * GNU General Public License for more details.
  *
  * You should have received a copy of the GNU General Public License
- * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
  *
  * -------------------------------------------------------------------------
  */
@@ -34,16 +34,12 @@
 
 
 #include "channel_fsm.h"
+#include "gnss_synchro.h"
 #include "pcps_acquisition_fpga.h"
-#include <gnuradio/runtime_types.h>  // for basic_block_sptr, top_block_sptr
-#include <volk/volk_complex.h>       // for lv_16sc_t
-#include <cstddef>                   // for size_t
-#include <cstdint>
 #include <memory>
 #include <string>
 #include <vector>
 
-class Gnss_Synchro;
 class ConfigurationInterface;
 
 
@@ -54,13 +50,22 @@ class ConfigurationInterface;
 class GalileoE5aPcpsAcquisitionFpga : public AcquisitionInterface
 {
 public:
+    /*!
+     * \brief Constructor
+     */
     GalileoE5aPcpsAcquisitionFpga(ConfigurationInterface* configuration,
         const std::string& role,
         unsigned int in_streams,
         unsigned int out_streams);
 
+    /*!
+     * \brief Destructor
+     */
     ~GalileoE5aPcpsAcquisitionFpga() = default;
 
+    /*!
+     * \brief Role
+     */
     inline std::string role() override
     {
         return role_;
@@ -74,14 +79,32 @@ public:
         return "Galileo_E5a_Pcps_Acquisition_Fpga";
     }
 
+    /*!
+     * \brief Returns size of lv_16sc_t
+     */
     inline size_t item_size() override
     {
-        return sizeof(lv_16sc_t);
+        return sizeof(int16_t);
     }
 
+    /*!
+     * \brief Connect
+     */
     void connect(gr::top_block_sptr top_block) override;
+
+    /*!
+     * \brief Disconnect
+     */
     void disconnect(gr::top_block_sptr top_block) override;
+
+    /*!
+     * \brief Get left block
+     */
     gr::basic_block_sptr get_left_block() override;
+
+    /*!
+     * \brief Get right block
+     */
     gr::basic_block_sptr get_right_block() override;
 
     /*!
@@ -124,6 +147,11 @@ public:
      */
     void set_doppler_step(unsigned int doppler_step) override;
 
+    /*!
+     * \brief Set Doppler center for the grid search
+     */
+    void set_doppler_center(int doppler_center) override;
+
     /*!
      * \brief Initializes acquisition algorithm.
      */
@@ -162,11 +190,19 @@ public:
     void stop_acquisition() override;
 
     /*!
-     * \brief Sets the resampler latency to account it in the acquisition code delay estimation
+     * \brief Set resampler latency
      */
     void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
 
 private:
+    // the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
+    // expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
+    static const uint32_t quant_bits_local_code = 16;
+    static const uint32_t select_lsbits = 0x0000FFFF;         // Select the 10 LSbits out of a 20-bit word
+    static const uint32_t select_msbits = 0xFFFF0000;         // Select the 10 MSbits out of a 20-bit word
+    static const uint32_t select_all_code_bits = 0xFFFFFFFF;  // Select a 20 bit word
+    static const uint32_t shl_code_bits = 65536;              // shift left by 10 bits
+
     ConfigurationInterface* configuration_;
     pcps_acquisition_fpga_sptr acquisition_fpga_;
     std::string item_type_;
@@ -178,6 +214,7 @@ private:
     std::weak_ptr<ChannelFsm> channel_fsm_;
     uint32_t doppler_max_;
     uint32_t doppler_step_;
+    int32_t doppler_center_;
     unsigned int in_streams_;
     unsigned int out_streams_;
     Gnss_Synchro* gnss_synchro_;

src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc

@@ -8,7 +8,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h

@@ -8,7 +8,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.cc

@@ -7,7 +7,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.h

@@ -7,7 +7,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc

@@ -10,7 +10,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.h

@@ -10,7 +10,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.cc

@@ -9,7 +9,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.h

@@ -8,7 +8,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc

@@ -47,16 +47,6 @@
 #include <cmath>      // for abs, pow, floor
 #include <complex>    // for complex
 
-#define NUM_PRNs 32
-
-// the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
-// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
-#define QUANT_BITS_LOCAL_CODE 16
-#define SELECT_LSBits 0x0000FFFF         // Select the 10 LSbits out of a 20-bit word
-#define SELECT_MSBbits 0xFFFF0000        // Select the 10 MSbits out of a 20-bit word
-#define SELECT_ALL_CODE_BITS 0xFFFFFFFF  // Select a 20 bit word
-#define SHL_CODE_BITS 65536              // shift left by 10 bits
-
 GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
     ConfigurationInterface* configuration,
     const std::string& role,
@@ -146,10 +136,10 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
             // and package codes in a format that is ready to be written to the FPGA
             for (uint32_t i = 0; i < nsamples_total; i++)
                 {
-                    tmp = static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max));
+                    tmp = static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, quant_bits_local_code - 1) - 1) / max));
-                    tmp2 = static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max));
+                    tmp2 = static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, quant_bits_local_code - 1) - 1) / max));
-                    local_code = (tmp & SELECT_LSBits) | ((tmp2 * SHL_CODE_BITS) & SELECT_MSBbits);  // put together the real part and the imaginary part
+                    local_code = (tmp & select_lsbits) | ((tmp2 * shl_code_bits) & select_msbits);  // put together the real part and the imaginary part
-                    fft_data = local_code & SELECT_ALL_CODE_BITS;
+                    fft_data = local_code & select_all_code_bits;
                     d_all_fft_codes_[i + (nsamples_total * (PRN - 1))] = fft_data;
                 }
         }
@@ -202,6 +192,12 @@ void GpsL1CaPcpsAcquisitionFpga::set_doppler_step(unsigned int doppler_step)
     acquisition_fpga_->set_doppler_step(doppler_step_);
 }
 
+void GpsL1CaPcpsAcquisitionFpga::set_doppler_center(int doppler_center)
+{
+    doppler_center_ = doppler_center;
+
+    acquisition_fpga_->set_doppler_center(doppler_center_);
+}
 
 void GpsL1CaPcpsAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
 {

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h

@@ -38,14 +38,11 @@
 
 #include "channel_fsm.h"
 #include "pcps_acquisition_fpga.h"
-#include <gnuradio/runtime_types.h>  // for basic_block_sptr, top_block_sptr
-#include <volk/volk_complex.h>       // for lv_16sc_t
-#include <cstddef>                   // for size_t
 #include <memory>
 #include <string>
 #include <vector>
 
-class Gnss_Synchro;
+
 class ConfigurationInterface;
 
 /*!
@@ -55,13 +52,22 @@ class ConfigurationInterface;
 class GpsL1CaPcpsAcquisitionFpga : public AcquisitionInterface
 {
 public:
+    /*!
+     * \brief Constructor
+     */
     GpsL1CaPcpsAcquisitionFpga(ConfigurationInterface* configuration,
         const std::string& role,
         unsigned int in_streams,
         unsigned int out_streams);
 
+    /*!
+     * \brief Destructor
+     */
     ~GpsL1CaPcpsAcquisitionFpga() = default;
 
+    /*!
+     * \brief Role
+     */
     inline std::string role() override
     {
         return role_;
@@ -75,15 +81,32 @@ public:
         return "GPS_L1_CA_PCPS_Acquisition_Fpga";
     }
 
+    /*!
+     * \brief Returns size of lv_16sc_t
+     */
     inline size_t item_size() override
     {
-        size_t item_size = sizeof(lv_16sc_t);
+        return sizeof(int16_t);
-        return item_size;
     }
 
+    /*!
+     * \brief Connect
+     */
     void connect(gr::top_block_sptr top_block) override;
+
+    /*!
+     * \brief Disconnect
+     */
     void disconnect(gr::top_block_sptr top_block) override;
+
+    /*!
+     * \brief Get left block
+     */
     gr::basic_block_sptr get_left_block() override;
+
+    /*!
+     * \brief Get right block
+     */
     gr::basic_block_sptr get_right_block() override;
 
     /*!
@@ -126,6 +149,11 @@ public:
      */
     void set_doppler_step(unsigned int doppler_step) override;
 
+    /*!
+     * \brief Set Doppler center for the grid search
+     */
+    void set_doppler_center(int doppler_center) override;
+
     /*!
      * \brief Initializes acquisition algorithm.
      */
@@ -156,15 +184,30 @@ public:
      */
     void stop_acquisition() override;
 
+    /*!
+     * \brief Set Resampler Latency
+     */
     void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
 
 private:
+    static const uint32_t NUM_PRNs = 32;
+
+    // the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
+    // expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
+    static const uint32_t quant_bits_local_code = 16;
+    static const uint32_t select_lsbits = 0x0000FFFF;         // Select the 10 LSbits out of a 20-bit word
+    static const uint32_t select_msbits = 0xFFFF0000;         // Select the 10 MSbits out of a 20-bit word
+    static const uint32_t select_all_code_bits = 0xFFFFFFFF;  // Select a 20 bit word
+    static const uint32_t shl_code_bits = 65536;              // shift left by 10 bits
+
+
     ConfigurationInterface* configuration_;
     pcps_acquisition_fpga_sptr acquisition_fpga_;
     uint32_t channel_;
     std::weak_ptr<ChannelFsm> channel_fsm_;
     uint32_t doppler_max_;
     uint32_t doppler_step_;
+    int32_t doppler_center_;
     Gnss_Synchro* gnss_synchro_;
     std::string role_;
     unsigned int in_streams_;

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.cc

@@ -9,7 +9,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.h

@@ -8,7 +8,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_opencl_acquisition.cc

@@ -6,7 +6,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_opencl_acquisition.h

@@ -6,7 +6,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.cc

@@ -7,7 +7,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.h

@@ -7,7 +7,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_tong_acquisition.cc

@@ -6,7 +6,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_tong_acquisition.h

@@ -6,7 +6,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.h

@@ -8,7 +8,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.cc

@@ -46,13 +46,6 @@
 #include <cmath>      // for abs, pow, floor
 #include <complex>    // for complex
 
-#define NUM_PRNs 32
-#define QUANT_BITS_LOCAL_CODE 16
-#define SELECT_LSBits 0x0000FFFF         // Select the 10 LSbits out of a 20-bit word
-#define SELECT_MSBbits 0xFFFF0000        // Select the 10 MSbits out of a 20-bit word
-#define SELECT_ALL_CODE_BITS 0xFFFFFFFF  // Select a 20 bit word
-#define SHL_CODE_BITS 65536              // shift left by 10 bits
-
 GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
     ConfigurationInterface* configuration,
     const std::string& role,
@@ -87,7 +80,6 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
     // The FPGA can only use FFT lengths that are a power of two.
     float nbits = ceilf(log2f((float)code_length));
     unsigned int nsamples_total = pow(2, nbits);
-    unsigned int vector_length = nsamples_total;
     unsigned int select_queue_Fpga = configuration_->property(role + ".select_queue_Fpga", 0);
     acq_parameters.select_queue_Fpga = select_queue_Fpga;
     std::string default_device_name = "/dev/uio0";

src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.h

@@ -156,6 +156,13 @@ public:
     void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
 
 private:
+    static const uint32_t NUM_PRNs = 32;
+    static const uint32_t QUANT_BITS_LOCAL_CODE = 16;
+    static const uint32_t SELECT_LSBits = 0x0000FFFF;         // Select the 10 LSbits out of a 20-bit word
+    static const uint32_t SELECT_MSBbits = 0xFFFF0000;        // Select the 10 MSbits out of a 20-bit word
+    static const uint32_t SELECT_ALL_CODE_BITS = 0xFFFFFFFF;  // Select a 20 bit word
+    static const uint32_t SHL_CODE_BITS = 65536;              // shift left by 10 bits
+
     ConfigurationInterface* configuration_;
     pcps_acquisition_fpga_sptr acquisition_fpga_;
     std::string item_type_;

src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.cc

@@ -8,7 +8,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.h

@@ -8,7 +8,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc

@@ -47,17 +47,6 @@
 #include <cmath>      // for abs, pow, floor
 #include <complex>    // for complex
 
-#define NUM_PRNs 32
-
-// the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
-// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
-#define QUANT_BITS_LOCAL_CODE 16
-#define SELECT_LSBits 0x0000FFFF         // Select the 10 LSbits out of a 20-bit word
-#define SELECT_MSBbits 0xFFFF0000        // Select the 10 MSbits out of a 20-bit word
-#define SELECT_ALL_CODE_BITS 0xFFFFFFFF  // Select a 20 bit word
-#define SHL_CODE_BITS 65536              // shift left by 10 bits
-
-
 GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
     ConfigurationInterface* configuration,
     const std::string& role,
@@ -150,10 +139,10 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
             // and package codes in a format that is ready to be written to the FPGA
             for (uint32_t i = 0; i < nsamples_total; i++)
                 {
-                    tmp = static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max));
+                    tmp = static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, quant_bits_local_code - 1) - 1) / max));
-                    tmp2 = static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max));
+                    tmp2 = static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, quant_bits_local_code - 1) - 1) / max));
-                    local_code = (tmp & SELECT_LSBits) | ((tmp2 * SHL_CODE_BITS) & SELECT_MSBbits);  // put together the real part and the imaginary part
+                    local_code = (tmp & select_lsbits) | ((tmp2 * shl_code_bits) & select_msbits);  // put together the real part and the imaginary part
-                    fft_data = local_code & SELECT_ALL_CODE_BITS;
+                    fft_data = local_code & select_all_code_bits;
                     d_all_fft_codes_[i + (nsamples_total * (PRN - 1))] = fft_data;
                 }
         }
@@ -207,6 +196,12 @@ void GpsL5iPcpsAcquisitionFpga::set_doppler_step(unsigned int doppler_step)
     acquisition_fpga_->set_doppler_step(doppler_step_);
 }
 
+void GpsL5iPcpsAcquisitionFpga::set_doppler_center(int doppler_center)
+{
+    doppler_center_ = doppler_center;
+
+    acquisition_fpga_->set_doppler_center(doppler_center_);
+}
 
 void GpsL5iPcpsAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
 {

src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.h

@@ -27,7 +27,7 @@
  * GNU General Public License for more details.
  *
  * You should have received a copy of the GNU General Public License
- * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
  *
  * -------------------------------------------------------------------------
  */
@@ -37,14 +37,10 @@
 
 #include "channel_fsm.h"
 #include "pcps_acquisition_fpga.h"
-#include <gnuradio/runtime_types.h>  // for basic_block_sptr, top_block_sptr
-#include <volk/volk_complex.h>       // for lv_16sc_t
-#include <cstddef>                   // for size_t
 #include <memory>
 #include <string>
 #include <vector>
 
-class Gnss_Synchro;
 class ConfigurationInterface;
 
 /*!
@@ -54,13 +50,22 @@ class ConfigurationInterface;
 class GpsL5iPcpsAcquisitionFpga : public AcquisitionInterface
 {
 public:
+    /*!
+     * \brief Constructor
+     */
     GpsL5iPcpsAcquisitionFpga(ConfigurationInterface* configuration,
         const std::string& role,
         unsigned int in_streams,
         unsigned int out_streams);
 
+    /*!
+     * \brief Destructor
+     */
     ~GpsL5iPcpsAcquisitionFpga() = default;
 
+    /*!
+     * \brief Role
+     */
     inline std::string role() override
     {
         return role_;
@@ -74,14 +79,32 @@ public:
         return "GPS_L5i_PCPS_Acquisition_Fpga";
     }
 
+    /*!
+     * \brief Returns size of lv_16sc_t
+     */
     inline size_t item_size() override
     {
-        return sizeof(lv_16sc_t);
+        return sizeof(int16_t);
     }
 
+    /*!
+     * \brief Connect
+     */
     void connect(gr::top_block_sptr top_block) override;
+
+    /*!
+     * \brief Disconnect
+     */
     void disconnect(gr::top_block_sptr top_block) override;
+
+    /*!
+     * \brief Get left block
+     */
     gr::basic_block_sptr get_left_block() override;
+
+    /*!
+     * \brief Get right block
+     */
     gr::basic_block_sptr get_right_block() override;
 
     /*!
@@ -124,6 +147,11 @@ public:
      */
     void set_doppler_step(unsigned int doppler_step) override;
 
+    /*!
+     * \brief Set Doppler center for the grid search
+     */
+    void set_doppler_center(int doppler_center) override;
+
     /*!
      * \brief Initializes acquisition algorithm.
      */
@@ -154,9 +182,22 @@ public:
      */
     void stop_acquisition() override;
 
+    /*!
+     * \brief Set resampler latency
+     */
     void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
 
 private:
+    static const uint32_t NUM_PRNs = 32;
+
+    // the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
+    // expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
+    static const uint32_t quant_bits_local_code = 16;
+    static const uint32_t select_lsbits = 0x0000FFFF;         // Select the 10 LSbits out of a 20-bit word
+    static const uint32_t select_msbits = 0xFFFF0000;         // Select the 10 MSbits out of a 20-bit word
+    static const uint32_t select_all_code_bits = 0xFFFFFFFF;  // Select a 20 bit word
+    static const uint32_t shl_code_bits = 65536;              // shift left by 10 bits
+
     ConfigurationInterface* configuration_;
     pcps_acquisition_fpga_sptr acquisition_fpga_;
     std::string item_type_;
@@ -164,6 +205,7 @@ private:
     std::weak_ptr<ChannelFsm> channel_fsm_;
     uint32_t doppler_max_;
     uint32_t doppler_step_;
+    int32_t doppler_center_;
     std::string dump_filename_;
     Gnss_Synchro* gnss_synchro_;
     std::string role_;

src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.cc

@@ -12,7 +12,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.h

@@ -12,7 +12,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.cc

@@ -6,7 +6,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.h

@@ -6,7 +6,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc

@@ -10,7 +10,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h

@@ -26,7 +26,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.cc

@@ -7,7 +7,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.h

@@ -23,7 +23,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.cc

@@ -40,8 +40,6 @@
 #include <utility>   // for move
 
 
-#define AQ_DOWNSAMPLING_DELAY 40  // delay due to the downsampling filter in the acquisition
-
 pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_)
 {
     return pcps_acquisition_fpga_sptr(new pcps_acquisition_fpga(std::move(conf_)));
@@ -60,6 +58,7 @@ pcps_acquisition_fpga::pcps_acquisition_fpga(pcpsconf_fpga_t conf_)
     d_num_doppler_bins = 0U;
     d_threshold = 0.0;
     d_doppler_step = 0U;
+    d_doppler_center = 0U;
     d_doppler_index = 0U;
     d_test_statistics = 0.0;
     d_channel = 0U;
@@ -141,7 +140,9 @@ void pcps_acquisition_fpga::send_positive_acquisition()
                << ", code phase " << d_gnss_synchro->Acq_delay_samples
                << ", doppler " << d_gnss_synchro->Acq_doppler_hz
                << ", magnitude " << d_mag
-               << ", input signal power " << d_input_power;
+               << ", input signal power " << d_input_power
+               << ", Assist doppler_center " << d_doppler_center;
+
 
     //the channel FSM is set, so, notify it directly the positive acquisition to minimize delays
     d_channel_fsm.lock()->Event_valid_acquisition();
@@ -211,13 +212,6 @@ void pcps_acquisition_fpga::acquisition_core(uint32_t num_doppler_bins, uint32_t
                 }
         }
 
-    // debug
-    //    if (d_test_statistics > d_threshold)
-    //        {
-    //            printf("firstpeak = %f, secondpeak = %f, test_statistics = %f reported block exp = %d PRN = %d inext = %d, initial_sample = %ld doppler = %d\n", firstpeak, secondpeak, d_test_statistics, (int)total_block_exp, (int)d_gnss_synchro->PRN, (int)indext, (long int)initial_sample, (int)doppler);
-    //            printf("doppler_min = %d doppler_step = %d num_doppler_bins = %d\n", (int)doppler_min, (int)doppler_step, (int)num_doppler_bins);
-    //        }
-
     d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
     d_sample_counter = initial_sample;
 
@@ -263,7 +257,7 @@ void pcps_acquisition_fpga::set_active(bool active)
     acquisition_fpga->write_local_code();
     acquisition_fpga->set_block_exp(d_total_block_exp);
 
-    acquisition_core(d_num_doppler_bins, d_doppler_step, -d_doppler_max);
+    acquisition_core(d_num_doppler_bins, d_doppler_step, -d_doppler_max + d_doppler_center);
     if (!d_make_2_steps)
         {
             acquisition_fpga->close_device();
@@ -290,7 +284,7 @@ void pcps_acquisition_fpga::set_active(bool active)
 
                     while (num_second_acq < d_max_num_acqs)
                         {
-                            acquisition_core(d_num_doppler_bins_step2, d_doppler_step2, d_doppler_center_step_two - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0)) * d_doppler_step2);
+                            acquisition_core(d_num_doppler_bins_step2, d_doppler_step2, d_doppler_center_step_two - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0)) * d_doppler_step2 + d_doppler_center);
                             if (d_test_statistics > d_threshold)
                                 {
                                     d_active = false;

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.h

@@ -44,7 +44,7 @@
 #include "channel_fsm.h"
 #include "fpga_acquisition.h"
 #include <boost/shared_ptr.hpp>
-#include <volk/volk_complex.h>  // for lv_16sc_t
+#include <glog/logging.h>
 #include <cstdint>  // for uint32_t
 #include <memory>   // for shared_ptr
 #include <string>   // for string
@@ -89,6 +89,9 @@ pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_);
 class pcps_acquisition_fpga
 {
 public:
+    /*!
+     * \brief Destructor
+     */
     ~pcps_acquisition_fpga() = default;
 
     /*!
@@ -116,7 +119,6 @@ public:
 
     /*!
      * \brief Sets local code for PCPS acquisition algorithm.
-     * \param code - Pointer to the PRN code.
      */
     void set_local_code();
 
@@ -181,6 +183,19 @@ public:
         acquisition_fpga->set_doppler_step(doppler_step);
     }
 
+    /*!
+     * \brief Set Doppler center frequency for the grid search. It will refresh the Doppler grid.
+     * \param doppler_center - Frequency center of the search grid [Hz].
+     */
+    inline void set_doppler_center(int32_t doppler_center)
+    {
+        if (doppler_center != d_doppler_center)
+            {
+                DLOG(INFO) << " Doppler assistance for Channel: " << d_channel << " => Doppler: " << doppler_center << "[Hz]";
+                d_doppler_center = doppler_center;
+            }
+    }
+
     /*!
      * \brief This function triggers a HW reset of the FPGA PL.
      */
@@ -194,6 +209,7 @@ private:
     uint32_t d_doppler_index;
     uint32_t d_channel;
     uint32_t d_doppler_step;
+    int32_t d_doppler_center;
     uint32_t d_doppler_max;
     uint32_t d_fft_size;
     uint32_t d_num_doppler_bins;
@@ -216,7 +232,7 @@ private:
     std::weak_ptr<ChannelFsm> d_channel_fsm;
     void send_negative_acquisition();
     void send_positive_acquisition();
-    void acquisition_core(uint32_t num_doppler_bins, uint32_t doppler_step, int32_t doppler_max);
+    void acquisition_core(uint32_t num_doppler_bins, uint32_t doppler_step, int32_t doppler_min);
     float first_vs_second_peak_statistic(uint32_t& indext, int32_t& doppler, uint32_t num_doppler_bins, int32_t doppler_max, int32_t doppler_step);
 };
 

src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.cc

@@ -7,7 +7,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.h

@@ -22,7 +22,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/gnuradio_blocks/pcps_cccwsr_acquisition_cc.cc

@@ -11,7 +11,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/gnuradio_blocks/pcps_cccwsr_acquisition_cc.h

@@ -11,7 +11,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.cc

@@ -25,7 +25,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.h

@@ -25,7 +25,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.cc

@@ -5,7 +5,7 @@
  *
  * -------------------------------------------------------------------------
  *
- * Copyright (C) 2010-2018  (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

src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.h

@@ -25,7 +25,7 @@
 *
 * -------------------------------------------------------------------------
 *
-* Copyright (C) 2010-2018  (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