diff --git a/src/algorithms/tracking/adapters/CMakeLists.txt b/src/algorithms/tracking/adapters/CMakeLists.txt
index 13bda92f2..bad1b951b 100644
--- a/src/algorithms/tracking/adapters/CMakeLists.txt
+++ b/src/algorithms/tracking/adapters/CMakeLists.txt
@@ -19,6 +19,7 @@
set(TRACKING_ADAPTER_SOURCES
galileo_e1_dll_pll_veml_tracking.cc
+ galileo_volk_e1_dll_pll_veml_tracking.cc
galileo_e1_tcp_connector_tracking.cc
gps_l1_ca_dll_fll_pll_tracking.cc
gps_l1_ca_dll_pll_optim_tracking.cc
diff --git a/src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.cc b/src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.cc
old mode 100644
new mode 100755
diff --git a/src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.h b/src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.h
old mode 100644
new mode 100755
diff --git a/src/algorithms/tracking/adapters/galileo_volk_e1_dll_pll_veml_tracking.cc b/src/algorithms/tracking/adapters/galileo_volk_e1_dll_pll_veml_tracking.cc
new file mode 100644
index 000000000..20efd2b60
--- /dev/null
+++ b/src/algorithms/tracking/adapters/galileo_volk_e1_dll_pll_veml_tracking.cc
@@ -0,0 +1,158 @@
+/*!
+ * \file galileo_volk_e1_dll_pll_veml_tracking.cc
+ * \brief Adapts a DLL+PLL VEML (Very Early Minus Late) tracking loop block
+ * to a TrackingInterface for Galileo E1 signals
+ * \author Luis Esteve, 2012. luis(at)epsilon-formacion.com
+ *
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkhauser, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ * Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see .
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "galileo_volk_e1_dll_pll_veml_tracking.h"
+#include
+#include "GPS_L1_CA.h"
+#include "Galileo_E1.h"
+#include "configuration_interface.h"
+
+
+using google::LogMessage;
+
+GalileoVolkE1DllPllVemlTracking::GalileoVolkE1DllPllVemlTracking(
+ ConfigurationInterface* configuration, std::string role,
+ unsigned int in_streams, unsigned int out_streams,
+ boost::shared_ptr queue) :
+ role_(role), in_streams_(in_streams), out_streams_(out_streams),
+ queue_(queue)
+{
+ DLOG(INFO) << "role " << role;
+ //################# CONFIGURATION PARAMETERS ########################
+ int fs_in;
+ int vector_length;
+ int f_if;
+ bool dump;
+ std::string dump_filename;
+ std::string item_type;
+ std::string default_item_type = "gr_complex";
+ float pll_bw_hz;
+ float dll_bw_hz;
+ float early_late_space_chips;
+ float very_early_late_space_chips;
+
+ item_type = configuration->property(role + ".item_type",default_item_type);
+ fs_in = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
+ f_if = configuration->property(role + ".if", 0);
+ dump = configuration->property(role + ".dump", false);
+ pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
+ dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
+ early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.15);
+ very_early_late_space_chips = configuration->property(role + ".very_early_late_space_chips", 0.6);
+
+ std::string default_dump_filename = "./track_ch";
+ dump_filename = configuration->property(role + ".dump_filename",
+ default_dump_filename); //unused!
+ vector_length = std::round(fs_in / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS));
+
+ //################# MAKE TRACKING GNURadio object ###################
+ if (item_type.compare("gr_complex") == 0)
+ {
+ item_size_ = sizeof(gr_complex);
+ tracking_ = galileo_volk_e1_dll_pll_veml_make_tracking_cc(
+ f_if,
+ fs_in,
+ vector_length,
+ queue_,
+ dump,
+ dump_filename,
+ pll_bw_hz,
+ dll_bw_hz,
+ early_late_space_chips,
+ very_early_late_space_chips);
+ }
+ else
+ {
+ LOG(WARNING) << item_type << " unknown tracking item type.";
+ }
+
+ DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";
+}
+
+GalileoVolkE1DllPllVemlTracking::~GalileoVolkE1DllPllVemlTracking()
+{}
+
+void GalileoVolkE1DllPllVemlTracking::start_tracking()
+{
+ tracking_->start_tracking();
+}
+
+/*
+ * Set tracking channel unique ID
+ */
+void GalileoVolkE1DllPllVemlTracking::set_channel(unsigned int channel)
+{
+ channel_ = channel;
+ tracking_->set_channel(channel);
+}
+
+/*
+ * Set tracking channel internal queue
+ */
+void GalileoVolkE1DllPllVemlTracking::set_channel_queue(
+ concurrent_queue *channel_internal_queue)
+{
+ channel_internal_queue_ = channel_internal_queue;
+
+ tracking_->set_channel_queue(channel_internal_queue_);
+
+}
+
+void GalileoVolkE1DllPllVemlTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
+{
+ tracking_->set_gnss_synchro(p_gnss_synchro);
+}
+
+void GalileoVolkE1DllPllVemlTracking::connect(gr::top_block_sptr top_block)
+{
+ //nothing to connect, now the tracking uses gr_sync_decimator
+}
+
+void GalileoVolkE1DllPllVemlTracking::disconnect(gr::top_block_sptr top_block)
+{
+ //nothing to disconnect, now the tracking uses gr_sync_decimator
+}
+
+gr::basic_block_sptr GalileoVolkE1DllPllVemlTracking::get_left_block()
+{
+ return tracking_;
+}
+
+gr::basic_block_sptr GalileoVolkE1DllPllVemlTracking::get_right_block()
+{
+ return tracking_;
+}
+
diff --git a/src/algorithms/tracking/adapters/galileo_volk_e1_dll_pll_veml_tracking.h b/src/algorithms/tracking/adapters/galileo_volk_e1_dll_pll_veml_tracking.h
new file mode 100644
index 000000000..ef397ef45
--- /dev/null
+++ b/src/algorithms/tracking/adapters/galileo_volk_e1_dll_pll_veml_tracking.h
@@ -0,0 +1,119 @@
+/*!
+ * \file galileo_volk_e1_dll_pll_veml_tracking.h
+ * \brief Adapts a DLL+PLL VEML (Very Early Minus Late) tracking loop block
+ * to a TrackingInterface for Galileo E1 signals
+ * \author Luis Esteve, 2012. luis(at)epsilon-formacion.com
+ *
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkha user, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ * Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see .
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#ifndef GNSS_SDR_GALILEO_VOLK_E1_DLL_PLL_VEML_TRACKING_H_
+#define GNSS_SDR_GALILEO_VOLK_E1_DLL_PLL_VEML_TRACKING_H_
+
+#include
+#include
+#include "tracking_interface.h"
+#include "galileo_volk_e1_dll_pll_veml_tracking_cc.h"
+
+
+class ConfigurationInterface;
+
+/*!
+ * \brief This class Adapts a DLL+PLL VEML (Very Early Minus Late) tracking
+ * loop block to a TrackingInterface for Galileo E1 signals
+ */
+class GalileoVolkE1DllPllVemlTracking : public TrackingInterface
+{
+
+public:
+
+ GalileoVolkE1DllPllVemlTracking(ConfigurationInterface* configuration,
+ std::string role,
+ unsigned int in_streams,
+ unsigned int out_streams,
+ boost::shared_ptr queue);
+
+ virtual ~GalileoVolkE1DllPllVemlTracking();
+
+ std::string role()
+ {
+ return role_;
+ }
+
+ //! Returns "galileo_volk_e1_dll_pll_veml_tracking"
+ std::string implementation()
+ {
+ return "galileo_volk_e1_dll_pll_veml_tracking";
+ }
+ size_t item_size()
+ {
+ return item_size_;
+ }
+
+ void connect(gr::top_block_sptr top_block);
+ void disconnect(gr::top_block_sptr top_block);
+ gr::basic_block_sptr get_left_block();
+ gr::basic_block_sptr get_right_block();
+
+
+ /*!
+ * \brief Set tracking channel unique ID
+ */
+ void set_channel(unsigned int channel);
+
+ /*!
+ * \brief Set acquisition/tracking common Gnss_Synchro object pointer
+ * to efficiently exchange synchronization data between acquisition and
+ * tracking blocks
+ */
+ void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+
+ /*!
+ * \brief Set tracking channel internal queue
+ */
+ void set_channel_queue(concurrent_queue *channel_internal_queue);
+
+ void start_tracking();
+
+private:
+
+ galileo_volk_e1_dll_pll_veml_tracking_cc_sptr tracking_;
+ size_t item_size_;
+
+ unsigned int channel_;
+
+ std::string role_;
+ unsigned int in_streams_;
+ unsigned int out_streams_;
+ boost::shared_ptr queue_;
+ concurrent_queue *channel_internal_queue_;
+};
+
+#endif // GNSS_SDR_GALILEO_VOLK_E1_DLL_PLL_VEML_TRACKING_H_
diff --git a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
index 5b4b2c7fb..98e1444dd 100644
--- a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
+++ b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
@@ -18,6 +18,7 @@
set(TRACKING_GR_BLOCKS_SOURCES
galileo_e1_dll_pll_veml_tracking_cc.cc
+ galileo_volk_e1_dll_pll_veml_tracking_cc.cc
galileo_e1_tcp_connector_tracking_cc.cc
gps_l1_ca_dll_fll_pll_tracking_cc.cc
gps_l1_ca_dll_pll_optim_tracking_cc.cc
diff --git a/src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.cc
old mode 100644
new mode 100755
index edf8b177c..7067ea72a
--- a/src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.cc
@@ -48,7 +48,6 @@
#include "lock_detectors.h"
#include "Galileo_E1.h"
#include "control_message_factory.h"
-#include "volk_gnsssdr/volk_gnsssdr.h"
@@ -140,22 +139,6 @@ galileo_e1_dll_pll_veml_tracking_cc::galileo_e1_dll_pll_veml_tracking_cc(
d_very_late_code=(gr_complex*)volk_malloc(2*d_vector_length * sizeof(gr_complex),volk_get_alignment());
d_carr_sign=(gr_complex*)volk_malloc(2*d_vector_length * sizeof(gr_complex),volk_get_alignment());
-
- d_very_early_code16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment());
- d_early_code16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment());
- d_prompt_code16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment());
- d_late_code16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment());
- d_very_late_code16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment());
- d_carr_sign16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment());
- in16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment());
-
- d_very_early_code8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment());
- d_early_code8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment());
- d_prompt_code8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment());
- d_late_code8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment());
- d_very_late_code8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment());
- d_carr_sign8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment());
- in8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment());
// correlator outputs (scalar)
@@ -272,18 +255,12 @@ void galileo_e1_dll_pll_veml_tracking_cc::update_local_code()
epl_loop_length_samples = d_current_prn_length_samples + very_early_late_spc_samples*2;
- //volk_gnsssdr_32fc_s32f_x4_update_local_code_32fc_manual(d_very_early_code, (float) d_very_early_late_spc_chips, (float) code_length_half_chips, (float) code_phase_step_half_chips, (float) tcode_half_chips, d_ca_code, epl_loop_length_samples, "generic");
-
- volk_gnsssdr_32fc_s32f_x4_update_local_code_32fc_manual(d_very_early_code, (float) d_very_early_late_spc_chips, (float) code_length_half_chips, (float) code_phase_step_half_chips, (float) tcode_half_chips, d_ca_code, epl_loop_length_samples, "u_sse4_1");
-
-// float d_very_early_late_spc_chips_multiplied_by_2 = 2*d_very_early_late_spc_chips;
-// for (int i = 0; i < epl_loop_length_samples; i++)
-// {
-// associated_chip_index = 2 + round(fmod(tcode_half_chips - d_very_early_late_spc_chips_multiplied_by_2, code_length_half_chips));
-// d_very_early_code[i] = d_ca_code[associated_chip_index];
-// tcode_half_chips = tcode_half_chips + code_phase_step_half_chips;
-// }
-
+ for (int i = 0; i < epl_loop_length_samples; i++)
+ {
+ associated_chip_index = 2 + round(fmod(tcode_half_chips - 2*d_very_early_late_spc_chips, code_length_half_chips));
+ d_very_early_code[i] = d_ca_code[associated_chip_index];
+ tcode_half_chips = tcode_half_chips + code_phase_step_half_chips;
+ }
memcpy(d_early_code, &d_very_early_code[very_early_late_spc_samples - early_late_spc_samples], d_current_prn_length_samples* sizeof(gr_complex));
memcpy(d_prompt_code, &d_very_early_code[very_early_late_spc_samples], d_current_prn_length_samples* sizeof(gr_complex));
memcpy(d_late_code, &d_very_early_code[very_early_late_spc_samples + early_late_spc_samples], d_current_prn_length_samples* sizeof(gr_complex));
@@ -297,18 +274,11 @@ void galileo_e1_dll_pll_veml_tracking_cc::update_local_carrier()
phase_step_rad = (float)GPS_TWO_PI*d_carrier_doppler_hz / (float)d_fs_in;
// Initialize the carrier phase with the remanent carrier phase of the K-2 loop
phase_rad = d_rem_carr_phase_rad;
-
- volk_gnsssdr_s32f_x2_update_local_carrier_32fc_manual(d_carr_sign, phase_rad, phase_step_rad, d_current_prn_length_samples, "generic");
-
- volk_gnsssdr_s32f_x2_update_local_carrier_32fc_manual(d_carr_sign, phase_rad, phase_step_rad, d_current_prn_length_samples, "u_sse2");
-
- volk_gnsssdr_s32f_x2_update_local_carrier_32fc_manual(d_carr_sign, phase_rad, phase_step_rad, d_current_prn_length_samples, "u_avx");
-
-// for(int i = 0; i < d_current_prn_length_samples; i++)
-// {
-// d_carr_sign[i] = gr_complex(cos(phase_rad), -sin(phase_rad));
-// phase_rad += phase_step_rad;
-// }
+ for(int i = 0; i < d_current_prn_length_samples; i++)
+ {
+ d_carr_sign[i] = gr_complex(cos(phase_rad), -sin(phase_rad));
+ phase_rad += phase_step_rad;
+ }
}
galileo_e1_dll_pll_veml_tracking_cc::~galileo_e1_dll_pll_veml_tracking_cc()
@@ -326,22 +296,6 @@ galileo_e1_dll_pll_veml_tracking_cc::~galileo_e1_dll_pll_veml_tracking_cc()
volk_free(d_Prompt);
volk_free(d_Late);
volk_free(d_Very_Late);
-
- volk_free(d_very_early_code16);
- volk_free(d_early_code16);
- volk_free(d_prompt_code16);
- volk_free(d_late_code16);
- volk_free(d_very_late_code16);
- volk_free(d_carr_sign16);
- volk_free(in16);
-
- volk_free(d_very_early_code8);
- volk_free(d_early_code8);
- volk_free(d_prompt_code8);
- volk_free(d_late_code8);
- volk_free(d_very_late_code8);
- volk_free(d_carr_sign8);
- volk_free(in8);
delete[] d_ca_code;
delete[] d_Prompt_buffer;
@@ -389,49 +343,22 @@ int galileo_e1_dll_pll_veml_tracking_cc::general_work (int noutput_items,gr_vect
update_local_code();
update_local_carrier();
- //perform carrier wipe-off and compute Very Early, Early, Prompt, Late and Very Late correlation
-// d_correlator.Carrier_wipeoff_and_VEPL_volk(d_current_prn_length_samples,
-// in,
-// d_carr_sign,
-// d_very_early_code,
-// d_early_code,
-// d_prompt_code,
-// d_late_code,
-// d_very_late_code,
-// d_Very_Early,
-// d_Early,
-// d_Prompt,
-// d_Late,
-// d_Very_Late,
-// is_unaligned());
-//
-// volk_gnsssdr_32fc_x7_cw_vepl_corr_32fc_x5(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in, d_carr_sign, d_very_early_code, d_early_code, d_prompt_code, d_late_code, d_very_late_code, d_current_prn_length_samples);
-//
-// volk_gnsssdr_32fc_convert_16ic(d_very_early_code16, d_very_early_code, d_current_prn_length_samples);
-// volk_gnsssdr_32fc_convert_16ic(d_early_code16, d_early_code, d_current_prn_length_samples);
-// volk_gnsssdr_32fc_convert_16ic(d_prompt_code16, d_prompt_code, d_current_prn_length_samples);
-// volk_gnsssdr_32fc_convert_16ic(d_late_code16, d_late_code, d_current_prn_length_samples);
-// volk_gnsssdr_32fc_convert_16ic(d_very_late_code16, d_very_late_code, d_current_prn_length_samples);
-// volk_gnsssdr_32fc_convert_16ic(in16, in, d_current_prn_length_samples);
-// volk_gnsssdr_32fc_convert_16ic(d_carr_sign16, d_carr_sign, d_current_prn_length_samples);
-//
-// volk_gnsssdr_16ic_x7_cw_vepl_corr_32fc_x5(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in16, d_carr_sign16, d_very_early_code16, d_early_code16, d_prompt_code16, d_late_code16, d_very_late_code16, d_current_prn_length_samples);
-
- volk_gnsssdr_32fc_convert_8ic(d_very_early_code8, d_very_early_code, d_current_prn_length_samples);
- volk_gnsssdr_32fc_convert_8ic(d_early_code8, d_early_code, d_current_prn_length_samples);
- volk_gnsssdr_32fc_convert_8ic(d_prompt_code8, d_prompt_code, d_current_prn_length_samples);
- volk_gnsssdr_32fc_convert_8ic(d_late_code8, d_late_code, d_current_prn_length_samples);
- volk_gnsssdr_32fc_convert_8ic(d_very_late_code8, d_very_late_code, d_current_prn_length_samples);
- volk_gnsssdr_32fc_convert_8ic(d_carr_sign8, d_carr_sign, d_current_prn_length_samples);
- volk_gnsssdr_32fc_s32f_convert_8ic(in8, in, 4, d_current_prn_length_samples);
-
- //volk_gnsssdr_8ic_x7_cw_vepl_corr_32fc_x5(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in8, d_carr_sign8, d_very_early_code8, d_early_code8, d_prompt_code8, d_late_code8, d_very_late_code8, d_current_prn_length_samples);
+ // perform carrier wipe-off and compute Very Early, Early, Prompt, Late and Very Late correlation
+ d_correlator.Carrier_wipeoff_and_VEPL_volk(d_current_prn_length_samples,
+ in,
+ d_carr_sign,
+ d_very_early_code,
+ d_early_code,
+ d_prompt_code,
+ d_late_code,
+ d_very_late_code,
+ d_Very_Early,
+ d_Early,
+ d_Prompt,
+ d_Late,
+ d_Very_Late,
+ is_unaligned());
- //volk_gnsssdr_8ic_x7_cw_vepl_corr_unsafe_32fc_x5(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in8, d_carr_sign8, d_very_early_code8, d_early_code8, d_prompt_code8, d_late_code8, d_very_late_code8, d_current_prn_length_samples);
-
- volk_gnsssdr_8ic_x7_cw_vepl_corr_safe_32fc_x5(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in8, d_carr_sign8, d_very_early_code8, d_early_code8, d_prompt_code8, d_late_code8, d_very_late_code8, d_current_prn_length_samples);
-
-
// ################## PLL ##########################################################
// PLL discriminator
carr_error_hz = pll_cloop_two_quadrant_atan(*d_Prompt) / (float)GPS_TWO_PI;
diff --git a/src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.h
old mode 100644
new mode 100755
index 7d0919d77..e93ae0a93
--- a/src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.h
@@ -16,7 +16,7 @@
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
- * at your option) any later version.
+ * (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -137,22 +137,6 @@ private:
gr_complex* d_late_code;
gr_complex* d_very_late_code;
gr_complex* d_carr_sign;
-
- lv_16sc_t* d_very_early_code16;
- lv_16sc_t* d_early_code16;
- lv_16sc_t* d_prompt_code16;
- lv_16sc_t* d_late_code16;
- lv_16sc_t* d_very_late_code16;
- lv_16sc_t* d_carr_sign16;
- lv_16sc_t* in16;
-
- lv_8sc_t* d_very_early_code8;
- lv_8sc_t* d_early_code8;
- lv_8sc_t* d_prompt_code8;
- lv_8sc_t* d_late_code8;
- lv_8sc_t* d_very_late_code8;
- lv_8sc_t* d_carr_sign8;
- lv_8sc_t* in8;
gr_complex *d_Very_Early;
gr_complex *d_Early;
@@ -161,7 +145,7 @@ private:
gr_complex *d_Very_Late;
// remaining code phase and carrier phase between tracking loops
- float d_rem_code_phase_samples;
+ double d_rem_code_phase_samples;
float d_rem_carr_phase_rad;
// PLL and DLL filter library
@@ -176,7 +160,7 @@ private:
Correlator d_correlator;
// tracking vars
- float d_code_freq_chips;
+ double d_code_freq_chips;
float d_carrier_doppler_hz;
double d_acc_carrier_phase_rad;
double d_acc_code_phase_secs;
diff --git a/src/algorithms/tracking/gnuradio_blocks/galileo_volk_e1_dll_pll_veml_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/galileo_volk_e1_dll_pll_veml_tracking_cc.cc
new file mode 100644
index 000000000..9f37dfdc2
--- /dev/null
+++ b/src/algorithms/tracking/gnuradio_blocks/galileo_volk_e1_dll_pll_veml_tracking_cc.cc
@@ -0,0 +1,691 @@
+/*!
+ * \file galileo_volk_e1_dll_pll_veml_tracking_cc.cc
+ * \brief Implementation of a code DLL + carrier PLL VEML (Very Early
+ * Minus Late) tracking block for Galileo E1 signals
+ * \author Luis Esteve, 2012. luis(at)epsilon-formacion.com
+ *
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * [1] K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkhauser, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ * Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see .
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "galileo_volk_e1_dll_pll_veml_tracking_cc.h"
+#include
+#include
+#include
+#include
+#include
+#include
+#include
+#include "gnss_synchro.h"
+#include "galileo_e1_signal_processing.h"
+#include "tracking_discriminators.h"
+#include "lock_detectors.h"
+#include "Galileo_E1.h"
+#include "control_message_factory.h"
+#include "volk_gnsssdr/volk_gnsssdr.h"
+
+
+
+/*!
+ * \todo Include in definition header file
+ */
+#define CN0_ESTIMATION_SAMPLES 20
+#define MINIMUM_VALID_CN0 25
+#define MAXIMUM_LOCK_FAIL_COUNTER 50
+#define CARRIER_LOCK_THRESHOLD 0.85
+
+
+using google::LogMessage;
+
+galileo_volk_e1_dll_pll_veml_tracking_cc_sptr
+galileo_volk_e1_dll_pll_veml_make_tracking_cc(
+ long if_freq,
+ long fs_in,
+ unsigned int vector_length,
+ boost::shared_ptr queue,
+ bool dump,
+ std::string dump_filename,
+ float pll_bw_hz,
+ float dll_bw_hz,
+ float early_late_space_chips,
+ float very_early_late_space_chips)
+{
+ return galileo_volk_e1_dll_pll_veml_tracking_cc_sptr(new galileo_volk_e1_dll_pll_veml_tracking_cc(if_freq,
+ fs_in, vector_length, queue, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips, very_early_late_space_chips));
+}
+
+
+void galileo_volk_e1_dll_pll_veml_tracking_cc::forecast (int noutput_items,
+ gr_vector_int &ninput_items_required)
+{
+ ninput_items_required[0] = (int)d_vector_length*2; //set the required available samples in each call
+}
+
+
+galileo_volk_e1_dll_pll_veml_tracking_cc::galileo_volk_e1_dll_pll_veml_tracking_cc(
+ long if_freq,
+ long fs_in,
+ unsigned int vector_length,
+ boost::shared_ptr queue,
+ bool dump,
+ std::string dump_filename,
+ float pll_bw_hz,
+ float dll_bw_hz,
+ float early_late_space_chips,
+ float very_early_late_space_chips):
+ gr::block("galileo_volk_e1_dll_pll_veml_tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
+ gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
+{
+ this->set_relative_rate(1.0/vector_length);
+ // initialize internal vars
+ d_queue = queue;
+ d_dump = dump;
+ d_if_freq = if_freq;
+ d_fs_in = fs_in;
+ d_vector_length = vector_length;
+ d_dump_filename = dump_filename;
+ d_code_loop_filter = Tracking_2nd_DLL_filter(Galileo_E1_CODE_PERIOD);
+ d_carrier_loop_filter = Tracking_2nd_PLL_filter(Galileo_E1_CODE_PERIOD);
+
+ // Initialize tracking ==========================================
+
+ // Set bandwidth of code and carrier loop filters
+ d_code_loop_filter.set_DLL_BW(dll_bw_hz);
+ d_carrier_loop_filter.set_PLL_BW(pll_bw_hz);
+
+ // Correlator spacing
+ d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
+ d_very_early_late_spc_chips = very_early_late_space_chips; // Define very-early-late offset (in chips)
+
+ // Initialization of local code replica
+ // Get space for a vector with the sinboc(1,1) replica sampled 2x/chip
+ d_ca_code = new gr_complex[(int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS + 4)];
+
+ /* If an array is partitioned for more than one thread to operate on,
+ * having the sub-array boundaries unaligned to cache lines could lead
+ * to performance degradation. Here we allocate memory
+ * (gr_comlex array of size 2*d_vector_length) aligned to cache of 16 bytes
+ */
+
+ d_very_early_code=(gr_complex*)volk_malloc(2*d_vector_length * sizeof(gr_complex),volk_get_alignment());
+ d_early_code=(gr_complex*)volk_malloc(2*d_vector_length * sizeof(gr_complex),volk_get_alignment());
+ d_prompt_code=(gr_complex*)volk_malloc(2*d_vector_length * sizeof(gr_complex),volk_get_alignment());
+ d_late_code=(gr_complex*)volk_malloc(2*d_vector_length * sizeof(gr_complex),volk_get_alignment());
+ d_very_late_code=(gr_complex*)volk_malloc(2*d_vector_length * sizeof(gr_complex),volk_get_alignment());
+
+ d_carr_sign=(gr_complex*)volk_malloc(2*d_vector_length * sizeof(gr_complex),volk_get_alignment());
+
+ d_very_early_code16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment());
+ d_early_code16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment());
+ d_prompt_code16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment());
+ d_late_code16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment());
+ d_very_late_code16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment());
+ d_carr_sign16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment());
+ in16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment());
+
+ d_very_early_code8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment());
+ d_early_code8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment());
+ d_prompt_code8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment());
+ d_late_code8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment());
+ d_very_late_code8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment());
+ d_carr_sign8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment());
+ in8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment());
+
+ // correlator outputs (scalar)
+
+ d_Very_Early=(gr_complex*)volk_malloc(sizeof(gr_complex),volk_get_alignment());
+ d_Early=(gr_complex*)volk_malloc(sizeof(gr_complex),volk_get_alignment());
+ d_Prompt=(gr_complex*)volk_malloc(sizeof(gr_complex),volk_get_alignment());
+ d_Late=(gr_complex*)volk_malloc(sizeof(gr_complex),volk_get_alignment());
+ d_Very_Late=(gr_complex*)volk_malloc(sizeof(gr_complex),volk_get_alignment());
+
+ //--- Initializations ------------------------------
+ // Initial code frequency basis of NCO
+ d_code_freq_chips = (double)Galileo_E1_CODE_CHIP_RATE_HZ;
+ // Residual code phase (in chips)
+ d_rem_code_phase_samples = 0.0;
+ // Residual carrier phase
+ d_rem_carr_phase_rad = 0.0;
+
+ // sample synchronization
+ d_sample_counter = 0;
+ //d_sample_counter_seconds = 0;
+ d_acq_sample_stamp = 0;
+
+ d_enable_tracking = false;
+ d_pull_in = false;
+ d_last_seg = 0;
+
+ d_current_prn_length_samples = (int)d_vector_length;
+
+ // CN0 estimation and lock detector buffers
+ d_cn0_estimation_counter = 0;
+ d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES];
+ d_carrier_lock_test = 1;
+ d_CN0_SNV_dB_Hz = 0;
+ d_carrier_lock_fail_counter = 0;
+ d_carrier_lock_threshold = CARRIER_LOCK_THRESHOLD;
+
+ systemName["E"] = std::string("Galileo");
+ *d_Very_Early=gr_complex(0,0);
+ *d_Early=gr_complex(0,0);
+ *d_Prompt=gr_complex(0,0);
+ *d_Late=gr_complex(0,0);
+ *d_Very_Late=gr_complex(0,0);
+}
+
+void galileo_volk_e1_dll_pll_veml_tracking_cc::start_tracking()
+{
+ d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
+ d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
+ d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
+
+ // DLL/PLL filter initialization
+ d_carrier_loop_filter.initialize(); // initialize the carrier filter
+ d_code_loop_filter.initialize(); // initialize the code filter
+
+ // generate local reference ALWAYS starting at chip 2 (2 samples per chip)
+ galileo_e1_code_gen_complex_sampled(&d_ca_code[2],
+ d_acquisition_gnss_synchro->Signal,
+ false,
+ d_acquisition_gnss_synchro->PRN,
+ 2*Galileo_E1_CODE_CHIP_RATE_HZ,
+ 0);
+ // Fill head and tail
+ d_ca_code[0] = d_ca_code[(int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS)];
+ d_ca_code[1] = d_ca_code[(int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS + 1)];
+ d_ca_code[(int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS + 2)] = d_ca_code[2];
+ d_ca_code[(int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS + 3)] = d_ca_code[3];
+
+ d_carrier_lock_fail_counter = 0;
+ d_rem_code_phase_samples = 0.0;
+ d_rem_carr_phase_rad = 0;
+ d_acc_carrier_phase_rad = 0;
+
+ d_acc_code_phase_secs = 0;
+ d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
+ d_current_prn_length_samples = d_vector_length;
+
+ std::string sys_ = &d_acquisition_gnss_synchro->System;
+ sys = sys_.substr(0, 1);
+
+ // DEBUG OUTPUT
+ std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
+ LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
+
+ // enable tracking
+ d_pull_in = true;
+ d_enable_tracking = true;
+
+ LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
+ << " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
+}
+
+
+void galileo_volk_e1_dll_pll_veml_tracking_cc::update_local_code()
+{
+ double tcode_half_chips;
+ float rem_code_phase_half_chips;
+ int associated_chip_index;
+ int code_length_half_chips = (int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS);
+ double code_phase_step_chips;
+ double code_phase_step_half_chips;
+ int early_late_spc_samples;
+ int very_early_late_spc_samples;
+ int epl_loop_length_samples;
+
+ // unified loop for VE, E, P, L, VL code vectors
+ code_phase_step_chips = ((double)d_code_freq_chips) / ((double)d_fs_in);
+ code_phase_step_half_chips = (2.0*(double)d_code_freq_chips) / ((double)d_fs_in);
+
+ rem_code_phase_half_chips = d_rem_code_phase_samples * (2*d_code_freq_chips / d_fs_in);
+ tcode_half_chips = -(double)rem_code_phase_half_chips;
+
+ early_late_spc_samples = round(d_early_late_spc_chips / code_phase_step_chips);
+ very_early_late_spc_samples = round(d_very_early_late_spc_chips / code_phase_step_chips);
+
+ epl_loop_length_samples = d_current_prn_length_samples + very_early_late_spc_samples*2;
+
+ //volk_gnsssdr_32fc_s32f_x4_update_local_code_32fc_manual(d_very_early_code, (float) d_very_early_late_spc_chips, (float) code_length_half_chips, (float) code_phase_step_half_chips, (float) tcode_half_chips, d_ca_code, epl_loop_length_samples, "generic");
+
+ volk_gnsssdr_32fc_s32f_x4_update_local_code_32fc_manual(d_very_early_code, (float) d_very_early_late_spc_chips, (float) code_length_half_chips, (float) code_phase_step_half_chips, (float) tcode_half_chips, d_ca_code, epl_loop_length_samples, "u_sse4_1");
+
+// float d_very_early_late_spc_chips_multiplied_by_2 = 2*d_very_early_late_spc_chips;
+// for (int i = 0; i < epl_loop_length_samples; i++)
+// {
+// associated_chip_index = 2 + round(fmod(tcode_half_chips - d_very_early_late_spc_chips_multiplied_by_2, code_length_half_chips));
+// d_very_early_code[i] = d_ca_code[associated_chip_index];
+// tcode_half_chips = tcode_half_chips + code_phase_step_half_chips;
+// }
+
+ memcpy(d_early_code, &d_very_early_code[very_early_late_spc_samples - early_late_spc_samples], d_current_prn_length_samples* sizeof(gr_complex));
+ memcpy(d_prompt_code, &d_very_early_code[very_early_late_spc_samples], d_current_prn_length_samples* sizeof(gr_complex));
+ memcpy(d_late_code, &d_very_early_code[very_early_late_spc_samples + early_late_spc_samples], d_current_prn_length_samples* sizeof(gr_complex));
+ memcpy(d_very_late_code, &d_very_early_code[2*very_early_late_spc_samples], d_current_prn_length_samples* sizeof(gr_complex));
+}
+
+void galileo_volk_e1_dll_pll_veml_tracking_cc::update_local_carrier()
+{
+ float phase_rad, phase_step_rad;
+ // Compute the carrier phase step for the K-1 carrier doppler estimation
+ phase_step_rad = (float)GPS_TWO_PI*d_carrier_doppler_hz / (float)d_fs_in;
+ // Initialize the carrier phase with the remanent carrier phase of the K-2 loop
+ phase_rad = d_rem_carr_phase_rad;
+
+ volk_gnsssdr_s32f_x2_update_local_carrier_32fc_manual(d_carr_sign, phase_rad, phase_step_rad, d_current_prn_length_samples, "generic");
+
+ volk_gnsssdr_s32f_x2_update_local_carrier_32fc_manual(d_carr_sign, phase_rad, phase_step_rad, d_current_prn_length_samples, "u_sse2");
+
+ volk_gnsssdr_s32f_x2_update_local_carrier_32fc_manual(d_carr_sign, phase_rad, phase_step_rad, d_current_prn_length_samples, "u_avx");
+
+// for(int i = 0; i < d_current_prn_length_samples; i++)
+// {
+// d_carr_sign[i] = gr_complex(cos(phase_rad), -sin(phase_rad));
+// phase_rad += phase_step_rad;
+// }
+}
+
+galileo_volk_e1_dll_pll_veml_tracking_cc::~galileo_volk_e1_dll_pll_veml_tracking_cc()
+{
+ d_dump_file.close();
+
+ volk_free(d_very_early_code);
+ volk_free(d_early_code);
+ volk_free(d_prompt_code);
+ volk_free(d_late_code);
+ volk_free(d_very_late_code);
+ volk_free(d_carr_sign);
+ volk_free(d_Very_Early);
+ volk_free(d_Early);
+ volk_free(d_Prompt);
+ volk_free(d_Late);
+ volk_free(d_Very_Late);
+
+ volk_free(d_very_early_code16);
+ volk_free(d_early_code16);
+ volk_free(d_prompt_code16);
+ volk_free(d_late_code16);
+ volk_free(d_very_late_code16);
+ volk_free(d_carr_sign16);
+ volk_free(in16);
+
+ volk_free(d_very_early_code8);
+ volk_free(d_early_code8);
+ volk_free(d_prompt_code8);
+ volk_free(d_late_code8);
+ volk_free(d_very_late_code8);
+ volk_free(d_carr_sign8);
+ volk_free(in8);
+
+ delete[] d_ca_code;
+ delete[] d_Prompt_buffer;
+}
+
+
+
+int galileo_volk_e1_dll_pll_veml_tracking_cc::general_work (int noutput_items,gr_vector_int &ninput_items,
+ gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
+{
+ float carr_error_hz;
+ float carr_error_filt_hz;
+ float code_error_chips;
+ float code_error_filt_chips;
+
+ if (d_enable_tracking == true)
+ {
+ if (d_pull_in == true)
+ {
+ /*
+ * Signal alignment (skip samples until the incoming signal is aligned with local replica)
+ */
+ int samples_offset;
+ float acq_trk_shif_correction_samples;
+ int acq_to_trk_delay_samples;
+ acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
+ acq_trk_shif_correction_samples = d_current_prn_length_samples - fmod((float)acq_to_trk_delay_samples, (float)d_current_prn_length_samples);
+ samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
+ d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples
+ d_pull_in = false;
+ consume_each(samples_offset); //shift input to perform alignment with local replica
+ return 1;
+ }
+
+ // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
+ Gnss_Synchro current_synchro_data;
+ // Fill the acquisition data
+ current_synchro_data = *d_acquisition_gnss_synchro;
+
+ // Block input data and block output stream pointers
+ const gr_complex* in = (gr_complex*) input_items[0];
+ Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
+
+ // Generate local code and carrier replicas (using \hat{f}_d(k-1))
+ update_local_code();
+ update_local_carrier();
+
+ //perform carrier wipe-off and compute Very Early, Early, Prompt, Late and Very Late correlation
+// d_correlator.Carrier_wipeoff_and_VEPL_volk(d_current_prn_length_samples,
+// in,
+// d_carr_sign,
+// d_very_early_code,
+// d_early_code,
+// d_prompt_code,
+// d_late_code,
+// d_very_late_code,
+// d_Very_Early,
+// d_Early,
+// d_Prompt,
+// d_Late,
+// d_Very_Late,
+// is_unaligned());
+//
+// volk_gnsssdr_32fc_x7_cw_vepl_corr_32fc_x5(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in, d_carr_sign, d_very_early_code, d_early_code, d_prompt_code, d_late_code, d_very_late_code, d_current_prn_length_samples);
+//
+// volk_gnsssdr_32fc_convert_16ic(d_very_early_code16, d_very_early_code, d_current_prn_length_samples);
+// volk_gnsssdr_32fc_convert_16ic(d_early_code16, d_early_code, d_current_prn_length_samples);
+// volk_gnsssdr_32fc_convert_16ic(d_prompt_code16, d_prompt_code, d_current_prn_length_samples);
+// volk_gnsssdr_32fc_convert_16ic(d_late_code16, d_late_code, d_current_prn_length_samples);
+// volk_gnsssdr_32fc_convert_16ic(d_very_late_code16, d_very_late_code, d_current_prn_length_samples);
+// volk_gnsssdr_32fc_convert_16ic(in16, in, d_current_prn_length_samples);
+// volk_gnsssdr_32fc_convert_16ic(d_carr_sign16, d_carr_sign, d_current_prn_length_samples);
+//
+// volk_gnsssdr_16ic_x7_cw_vepl_corr_32fc_x5(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in16, d_carr_sign16, d_very_early_code16, d_early_code16, d_prompt_code16, d_late_code16, d_very_late_code16, d_current_prn_length_samples);
+
+ volk_gnsssdr_32fc_convert_8ic(d_very_early_code8, d_very_early_code, d_current_prn_length_samples);
+ volk_gnsssdr_32fc_convert_8ic(d_early_code8, d_early_code, d_current_prn_length_samples);
+ volk_gnsssdr_32fc_convert_8ic(d_prompt_code8, d_prompt_code, d_current_prn_length_samples);
+ volk_gnsssdr_32fc_convert_8ic(d_late_code8, d_late_code, d_current_prn_length_samples);
+ volk_gnsssdr_32fc_convert_8ic(d_very_late_code8, d_very_late_code, d_current_prn_length_samples);
+ volk_gnsssdr_32fc_convert_8ic(d_carr_sign8, d_carr_sign, d_current_prn_length_samples);
+ volk_gnsssdr_32fc_s32f_convert_8ic(in8, in, 4, d_current_prn_length_samples);
+
+ //volk_gnsssdr_8ic_x7_cw_vepl_corr_32fc_x5(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in8, d_carr_sign8, d_very_early_code8, d_early_code8, d_prompt_code8, d_late_code8, d_very_late_code8, d_current_prn_length_samples);
+
+ //volk_gnsssdr_8ic_x7_cw_vepl_corr_unsafe_32fc_x5(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in8, d_carr_sign8, d_very_early_code8, d_early_code8, d_prompt_code8, d_late_code8, d_very_late_code8, d_current_prn_length_samples);
+
+ volk_gnsssdr_8ic_x7_cw_vepl_corr_safe_32fc_x5(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in8, d_carr_sign8, d_very_early_code8, d_early_code8, d_prompt_code8, d_late_code8, d_very_late_code8, d_current_prn_length_samples);
+
+
+ // ################## PLL ##########################################################
+ // PLL discriminator
+ carr_error_hz = pll_cloop_two_quadrant_atan(*d_Prompt) / (float)GPS_TWO_PI;
+ // Carrier discriminator filter
+ carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz);
+ // New carrier Doppler frequency estimation
+ d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz;
+ // New code Doppler frequency estimation
+ d_code_freq_chips = Galileo_E1_CODE_CHIP_RATE_HZ + ((d_carrier_doppler_hz * Galileo_E1_CODE_CHIP_RATE_HZ) / Galileo_E1_FREQ_HZ);
+ //carrier phase accumulator for (K) Doppler estimation
+ d_acc_carrier_phase_rad = d_acc_carrier_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * Galileo_E1_CODE_PERIOD;
+ //remnant carrier phase to prevent overflow in the code NCO
+ d_rem_carr_phase_rad = d_rem_carr_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * Galileo_E1_CODE_PERIOD;
+ d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GPS_TWO_PI);
+
+ // ################## DLL ##########################################################
+ // DLL discriminator
+ code_error_chips = dll_nc_vemlp_normalized(*d_Very_Early, *d_Early, *d_Late, *d_Very_Late); //[chips/Ti]
+ // Code discriminator filter
+ code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); //[chips/second]
+ //Code phase accumulator
+ float code_error_filt_secs;
+ code_error_filt_secs = (Galileo_E1_CODE_PERIOD * code_error_filt_chips) / Galileo_E1_CODE_CHIP_RATE_HZ; //[seconds]
+ //code_error_filt_secs=T_prn_seconds*code_error_filt_chips*T_chip_seconds*(float)d_fs_in; //[seconds]
+ d_acc_code_phase_secs = d_acc_code_phase_secs + code_error_filt_secs;
+
+ // ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
+ // keep alignment parameters for the next input buffer
+ double T_chip_seconds;
+ double T_prn_seconds;
+ double T_prn_samples;
+ double K_blk_samples;
+ // Compute the next buffer lenght based in the new period of the PRN sequence and the code phase error estimation
+ T_chip_seconds = 1 / (double)d_code_freq_chips;
+ T_prn_seconds = T_chip_seconds * Galileo_E1_B_CODE_LENGTH_CHIPS;
+ T_prn_samples = T_prn_seconds * (double)d_fs_in;
+ K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * (double)d_fs_in;
+ d_current_prn_length_samples = round(K_blk_samples); //round to a discrete samples
+ //d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
+
+ // ####### CN0 ESTIMATION AND LOCK DETECTORS ######
+ if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
+ {
+ // fill buffer with prompt correlator output values
+ d_Prompt_buffer[d_cn0_estimation_counter] = *d_Prompt;
+ d_cn0_estimation_counter++;
+ }
+ else
+ {
+ d_cn0_estimation_counter = 0;
+
+ // Code lock indicator
+ d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, Galileo_E1_B_CODE_LENGTH_CHIPS);
+
+ // Carrier lock indicator
+ d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
+
+ // Loss of lock detection
+ if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
+ {
+ d_carrier_lock_fail_counter++;
+ }
+ else
+ {
+ if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
+ }
+ if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
+ {
+ std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
+ LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
+ std::unique_ptr cmf(new ControlMessageFactory());
+ if (d_queue != gr::msg_queue::sptr())
+ {
+ d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
+ }
+ d_carrier_lock_fail_counter = 0;
+ d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
+ }
+ }
+
+ // ########### Output the tracking results to Telemetry block ##########
+
+ current_synchro_data.Prompt_I = (double)(*d_Prompt).real();
+ current_synchro_data.Prompt_Q = (double)(*d_Prompt).imag();
+
+ // Tracking_timestamp_secs is aligned with the NEXT PRN start sample (Hybridization problem!)
+ //compute remnant code phase samples BEFORE the Tracking timestamp
+ //d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
+ //current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter +
+ // (double)d_current_prn_length_samples + (double)d_rem_code_phase_samples) / (double)d_fs_in;
+
+ // Tracking_timestamp_secs is aligned with the CURRENT PRN start sample (Hybridization OK!, but some glitches??)
+ current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter + (double)d_rem_code_phase_samples) / (double)d_fs_in;
+ //compute remnant code phase samples AFTER the Tracking timestamp
+ d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
+
+ // This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0
+ current_synchro_data.Code_phase_secs = 0;
+ current_synchro_data.Carrier_phase_rads = (double)d_acc_carrier_phase_rad;
+ current_synchro_data.Carrier_Doppler_hz = (double)d_carrier_doppler_hz;
+ current_synchro_data.CN0_dB_hz = (double)d_CN0_SNV_dB_Hz;
+ *out[0] = current_synchro_data;
+
+ // ########## DEBUG OUTPUT
+ /*!
+ * \todo The stop timer has to be moved to the signal source!
+ */
+ // stream to collect cout calls to improve thread safety
+ std::stringstream tmp_str_stream;
+ if (floor(d_sample_counter / d_fs_in) != d_last_seg)
+ {
+ d_last_seg = floor(d_sample_counter / d_fs_in);
+
+ if (d_channel == 0)
+ {
+ // debug: Second counter in channel 0
+ tmp_str_stream << "Current input signal time = " << d_last_seg << " [s]" << std::endl << std::flush;
+ std::cout << tmp_str_stream.rdbuf() << std::flush;
+ }
+
+ tmp_str_stream << "Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
+ << ", Doppler=" << d_carrier_doppler_hz << " [Hz] CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
+ LOG(INFO) << tmp_str_stream.rdbuf() << std::flush;
+ //if (d_channel == 0 || d_last_seg==5) d_carrier_lock_fail_counter=500; //DEBUG: force unlock!
+ }
+ }
+ else
+ {
+ // ########## DEBUG OUTPUT (TIME ONLY for channel 0 when tracking is disabled)
+ /*!
+ * \todo The stop timer has to be moved to the signal source!
+ */
+ // stream to collect cout calls to improve thread safety
+ std::stringstream tmp_str_stream;
+ if (floor(d_sample_counter / d_fs_in) != d_last_seg)
+ {
+ d_last_seg = floor(d_sample_counter / d_fs_in);
+
+ if (d_channel == 0)
+ {
+ // debug: Second counter in channel 0
+ tmp_str_stream << "Current input signal time = " << d_last_seg << " [s]" << std::endl << std::flush;
+ std::cout << tmp_str_stream.rdbuf() << std::flush;
+ }
+ }
+ *d_Early = gr_complex(0,0);
+ *d_Prompt = gr_complex(0,0);
+ *d_Late = gr_complex(0,0);
+ Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; //block output stream pointer
+ // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
+ *out[0] = *d_acquisition_gnss_synchro;
+ }
+
+ if(d_dump)
+ {
+ // Dump results to file
+ float prompt_I;
+ float prompt_Q;
+ float tmp_VE, tmp_E, tmp_P, tmp_L, tmp_VL;
+ float tmp_float;
+ double tmp_double;
+ prompt_I = (*d_Prompt).real();
+ prompt_Q = (*d_Prompt).imag();
+ tmp_VE = std::abs(*d_Very_Early);
+ tmp_E = std::abs(*d_Early);
+ tmp_P = std::abs(*d_Prompt);
+ tmp_L = std::abs(*d_Late);
+ tmp_VL = std::abs(*d_Very_Late);
+
+ try
+ {
+ // Dump correlators output
+ d_dump_file.write((char*)&tmp_VE, sizeof(float));
+ d_dump_file.write((char*)&tmp_E, sizeof(float));
+ d_dump_file.write((char*)&tmp_P, sizeof(float));
+ d_dump_file.write((char*)&tmp_L, sizeof(float));
+ d_dump_file.write((char*)&tmp_VL, sizeof(float));
+ // PROMPT I and Q (to analyze navigation symbols)
+ d_dump_file.write((char*)&prompt_I, sizeof(float));
+ d_dump_file.write((char*)&prompt_Q, sizeof(float));
+ // PRN start sample stamp
+ d_dump_file.write((char*)&d_sample_counter, sizeof(unsigned long int));
+ // accumulated carrier phase
+ d_dump_file.write((char*)&d_acc_carrier_phase_rad, sizeof(float));
+ // carrier and code frequency
+ d_dump_file.write((char*)&d_carrier_doppler_hz, sizeof(float));
+ d_dump_file.write((char*)&d_code_freq_chips, sizeof(float));
+ //PLL commands
+ d_dump_file.write((char*)&carr_error_hz, sizeof(float));
+ d_dump_file.write((char*)&carr_error_filt_hz, sizeof(float));
+ //DLL commands
+ d_dump_file.write((char*)&code_error_chips, sizeof(float));
+ d_dump_file.write((char*)&code_error_filt_chips, sizeof(float));
+ // CN0 and carrier lock test
+ d_dump_file.write((char*)&d_CN0_SNV_dB_Hz, sizeof(float));
+ d_dump_file.write((char*)&d_carrier_lock_test, sizeof(float));
+ // AUX vars (for debug purposes)
+ tmp_float = d_rem_code_phase_samples;
+ d_dump_file.write((char*)&tmp_float, sizeof(float));
+ tmp_double=(double)(d_sample_counter+d_current_prn_length_samples);
+ d_dump_file.write((char*)&tmp_double, sizeof(double));
+ }
+ catch (std::ifstream::failure e)
+ {
+ LOG(WARNING) << "Exception writing trk dump file " << e.what() << std::endl;
+ }
+ }
+ consume_each(d_current_prn_length_samples); // this is required for gr_block derivates
+ d_sample_counter += d_current_prn_length_samples; //count for the processed samples
+ //std::cout<<"Galileo tracking output at sample "<(d_channel));
+ d_dump_filename.append(".dat");
+ d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
+ d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
+ LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str();
+ }
+ catch (std::ifstream::failure e)
+ {
+ LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what() << std::endl;
+ }
+ }
+ }
+}
+
+
+
+void galileo_volk_e1_dll_pll_veml_tracking_cc::set_channel_queue(concurrent_queue *channel_internal_queue)
+{
+ d_channel_internal_queue = channel_internal_queue;
+}
+
+
+
+void galileo_volk_e1_dll_pll_veml_tracking_cc::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
+{
+ d_acquisition_gnss_synchro = p_gnss_synchro;
+ // Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
+ //DLOG(INFO) << "Tracking code phase set to " << d_acq_code_phase_samples;
+ //DLOG(INFO) << "Tracking carrier doppler set to " << d_acq_carrier_doppler_hz;
+ //DLOG(INFO) << "Tracking Satellite set to " << d_satellite;
+}
diff --git a/src/algorithms/tracking/gnuradio_blocks/galileo_volk_e1_dll_pll_veml_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/galileo_volk_e1_dll_pll_veml_tracking_cc.h
new file mode 100644
index 000000000..0c1e1b454
--- /dev/null
+++ b/src/algorithms/tracking/gnuradio_blocks/galileo_volk_e1_dll_pll_veml_tracking_cc.h
@@ -0,0 +1,211 @@
+/*!
+ * \file galileo_volk_e1_dll_pll_veml_tracking_cc.h
+ * \brief Implementation of a code DLL + carrier PLL VEML (Very Early
+ * Minus Late) tracking block for Galileo E1 signals
+ * \author Luis Esteve, 2012. luis(at)epsilon-formacion.com
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ * Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see .
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#ifndef GNSS_SDR_GALILEO_VOLK_E1_DLL_PLL_VEML_TRACKING_CC_H
+#define GNSS_SDR_GALILEO_VOLK_E1_DLL_PLL_VEML_TRACKING_CC_H
+
+#include
+#include
+#include
+#include