From 2fefe9f21c7c373b16be9f06af2131a08f6c913a Mon Sep 17 00:00:00 2001 From: andres Date: Fri, 17 Oct 2014 02:24:54 +0200 Subject: [PATCH] Created individual gnurdio tracking block for volk Created individual gnuradio tracking block for volk: galileo_volk_e1_dll_pll_veml_tracking_cc the galileo_volk_e1_dll_pll_veml_tracking_cc gnuradio block is now the original one. --- .../tracking/adapters/CMakeLists.txt | 1 + .../galileo_e1_dll_pll_veml_tracking.cc | 0 .../galileo_e1_dll_pll_veml_tracking.h | 0 .../galileo_volk_e1_dll_pll_veml_tracking.cc | 158 ++++ .../galileo_volk_e1_dll_pll_veml_tracking.h | 119 +++ .../tracking/gnuradio_blocks/CMakeLists.txt | 1 + .../galileo_e1_dll_pll_veml_tracking_cc.cc | 125 +--- .../galileo_e1_dll_pll_veml_tracking_cc.h | 22 +- ...alileo_volk_e1_dll_pll_veml_tracking_cc.cc | 691 ++++++++++++++++++ ...galileo_volk_e1_dll_pll_veml_tracking_cc.h | 211 ++++++ src/core/receiver/gnss_block_factory.cc | 13 + 11 files changed, 1223 insertions(+), 118 deletions(-) mode change 100644 => 100755 src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.cc mode change 100644 => 100755 src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.h create mode 100644 src/algorithms/tracking/adapters/galileo_volk_e1_dll_pll_veml_tracking.cc create mode 100644 src/algorithms/tracking/adapters/galileo_volk_e1_dll_pll_veml_tracking.h mode change 100644 => 100755 src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.cc mode change 100644 => 100755 src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.h create mode 100644 src/algorithms/tracking/gnuradio_blocks/galileo_volk_e1_dll_pll_veml_tracking_cc.cc create mode 100644 src/algorithms/tracking/gnuradio_blocks/galileo_volk_e1_dll_pll_veml_tracking_cc.h 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 +#include +#include +#include +#include +#include "concurrent_queue.h" +#include "gnss_synchro.h" +#include "tracking_2nd_DLL_filter.h" +#include "tracking_2nd_PLL_filter.h" +#include "correlator.h" + +class galileo_volk_e1_dll_pll_veml_tracking_cc; + +typedef boost::shared_ptr galileo_volk_e1_dll_pll_veml_tracking_cc_sptr; + +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); + +/*! + * \brief This class implements a code DLL + carrier PLL VEML (Very Early + * Minus Late) tracking block for Galileo E1 signals + */ +class galileo_volk_e1_dll_pll_veml_tracking_cc: public gr::block +{ +public: + ~galileo_volk_e1_dll_pll_veml_tracking_cc(); + + void set_channel(unsigned int channel); + void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro); + void start_tracking(); + void set_channel_queue(concurrent_queue *channel_internal_queue); + + /*! + * \brief 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 + */ + int general_work (int noutput_items, gr_vector_int &ninput_items, + gr_vector_const_void_star &input_items, gr_vector_void_star &output_items); + + void forecast (int noutput_items, gr_vector_int &ninput_items_required); +private: + friend 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); + + 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); + + void update_local_code(); + + void update_local_carrier(); + + // tracking configuration vars + boost::shared_ptr d_queue; + concurrent_queue *d_channel_internal_queue; + unsigned int d_vector_length; + bool d_dump; + + Gnss_Synchro* d_acquisition_gnss_synchro; + unsigned int d_channel; + int d_last_seg; + long d_if_freq; + long d_fs_in; + + float d_early_late_spc_chips; + float d_very_early_late_spc_chips; + + gr_complex* d_ca_code; + + gr_complex* d_very_early_code; + gr_complex* d_early_code; + gr_complex* d_prompt_code; + 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; + gr_complex *d_Prompt; + gr_complex *d_Late; + gr_complex *d_Very_Late; + + // remaining code phase and carrier phase between tracking loops + float d_rem_code_phase_samples; + float d_rem_carr_phase_rad; + + // PLL and DLL filter library + Tracking_2nd_DLL_filter d_code_loop_filter; + Tracking_2nd_PLL_filter d_carrier_loop_filter; + + // acquisition + float d_acq_code_phase_samples; + float d_acq_carrier_doppler_hz; + + // correlator + Correlator d_correlator; + + // tracking vars + float d_code_freq_chips; + float d_carrier_doppler_hz; + double d_acc_carrier_phase_rad; + double d_acc_code_phase_secs; + + //PRN period in samples + int d_current_prn_length_samples; + + //processing samples counters + unsigned long int d_sample_counter; + unsigned long int d_acq_sample_stamp; + + // CN0 estimation and lock detector + int d_cn0_estimation_counter; + gr_complex* d_Prompt_buffer; + float d_carrier_lock_test; + float d_CN0_SNV_dB_Hz; + float d_carrier_lock_threshold; + int d_carrier_lock_fail_counter; + + // control vars + bool d_enable_tracking; + bool d_pull_in; + + // file dump + std::string d_dump_filename; + std::ofstream d_dump_file; + + std::map systemName; + std::string sys; +}; + +#endif //GNSS_SDR_GALILEO_VOLK_E1_DLL_PLL_VEML_TRACKING_CC_H diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc index 81c766fdb..e673c5b1e 100644 --- a/src/core/receiver/gnss_block_factory.cc +++ b/src/core/receiver/gnss_block_factory.cc @@ -70,6 +70,7 @@ #include "gps_l1_ca_dll_fll_pll_tracking.h" #include "gps_l1_ca_tcp_connector_tracking.h" #include "galileo_e1_dll_pll_veml_tracking.h" +#include "galileo_volk_e1_dll_pll_veml_tracking.h" #include "galileo_e1_tcp_connector_tracking.h" #include "gps_l1_ca_telemetry_decoder.h" #include "galileo_e1b_telemetry_decoder.h" @@ -485,6 +486,12 @@ std::unique_ptr GNSSBlockFactory::GetBlock( out_streams, queue)); block = std::move(block_); } + else if (implementation.compare("Galileo_volk_E1_DLL_PLL_VEML_Tracking") == 0) + { + std::unique_ptr block_(new GalileoVolkE1DllPllVemlTracking(configuration.get(), role, in_streams, + out_streams, queue)); + block = std::move(block_); + } else if (implementation.compare("Galileo_E1_TCP_CONNECTOR_Tracking") == 0) { std::unique_ptr block_(new GalileoE1TcpConnectorTracking(configuration.get(), role, in_streams, @@ -690,6 +697,12 @@ std::unique_ptr GNSSBlockFactory::GetTrkBlock( out_streams, queue)); block = std::move(block_); } + else if (implementation.compare("Galileo_Volk_E1_DLL_PLL_VEML_Tracking") == 0) + { + std::unique_ptr block_(new GalileoVolkE1DllPllVemlTracking(configuration.get(), role, in_streams, + out_streams, queue)); + block = std::move(block_); + } else if (implementation.compare("Galileo_E1_TCP_CONNECTOR_Tracking") == 0) { std::unique_ptr block_(new GalileoE1TcpConnectorTracking(configuration.get(), role, in_streams,