From 36c8db414331bb7069b8489cb4e8e37d4ad87680 Mon Sep 17 00:00:00 2001 From: Javier Arribas Date: Tue, 1 Mar 2016 16:45:46 +0100 Subject: [PATCH 1/2] Code cleaning and removing deprecated tracking modules --- .../tracking/adapters/CMakeLists.txt | 1 - .../galileo_volk_e1_dll_pll_veml_tracking.cc | 163 ----- .../galileo_volk_e1_dll_pll_veml_tracking.h | 114 --- .../tracking/gnuradio_blocks/CMakeLists.txt | 1 - ...alileo_volk_e1_dll_pll_veml_tracking_cc.cc | 686 ------------------ ...galileo_volk_e1_dll_pll_veml_tracking_cc.h | 211 ------ src/core/receiver/gnss_block_factory.cc | 19 - 7 files changed, 1195 deletions(-) delete mode 100644 src/algorithms/tracking/adapters/galileo_volk_e1_dll_pll_veml_tracking.cc delete mode 100644 src/algorithms/tracking/adapters/galileo_volk_e1_dll_pll_veml_tracking.h delete mode 100644 src/algorithms/tracking/gnuradio_blocks/galileo_volk_e1_dll_pll_veml_tracking_cc.cc delete 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 11b83df80..c02bdde0a 100644 --- a/src/algorithms/tracking/adapters/CMakeLists.txt +++ b/src/algorithms/tracking/adapters/CMakeLists.txt @@ -23,7 +23,6 @@ endif(ENABLE_CUDA) 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_volk_e1_dll_pll_veml_tracking.cc b/src/algorithms/tracking/adapters/galileo_volk_e1_dll_pll_veml_tracking.cc deleted file mode 100644 index bd2be979b..000000000 --- a/src/algorithms/tracking/adapters/galileo_volk_e1_dll_pll_veml_tracking.cc +++ /dev/null @@ -1,163 +0,0 @@ -/*! - * \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) 2010-2015 (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 "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 - { - item_size_ = sizeof(gr_complex); - LOG(WARNING) << item_type << " unknown tracking item type."; - } - - channel_ = 0; - channel_internal_queue_ = 0; - - 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) -{ - if(top_block) { /* top_block is not null */}; - //nothing to connect, now the tracking uses gr_sync_decimator -} - -void GalileoVolkE1DllPllVemlTracking::disconnect(gr::top_block_sptr top_block) -{ - if(top_block) { /* top_block is not null */}; - //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 deleted file mode 100644 index fae1a23d8..000000000 --- a/src/algorithms/tracking/adapters/galileo_volk_e1_dll_pll_veml_tracking.h +++ /dev/null @@ -1,114 +0,0 @@ -/*! - * \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 using volk_gnsssdr - * \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) 2010-2015 (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 357e0ae8d..d5bced479 100644 --- a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt +++ b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt @@ -24,7 +24,6 @@ endif(ENABLE_CUDA) 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_volk_e1_dll_pll_veml_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/galileo_volk_e1_dll_pll_veml_tracking_cc.cc deleted file mode 100644 index 0d6489348..000000000 --- a/src/algorithms/tracking/gnuradio_blocks/galileo_volk_e1_dll_pll_veml_tracking_cc.cc +++ /dev/null @@ -1,686 +0,0 @@ -/*! - * \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) 2010-2015 (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 -#include "galileo_e1_signal_processing.h" -#include "tracking_discriminators.h" -#include "lock_detectors.h" -#include "Galileo_E1.h" -#include "control_message_factory.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) -{ - if (noutput_items != 0) - { - ninput_items_required[0] = static_cast(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 = static_cast(volk_malloc((2 * Galileo_E1_B_CODE_LENGTH_CHIPS + 4) * sizeof(gr_complex), volk_gnsssdr_get_alignment())); - - d_very_early_code = static_cast(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_gnsssdr_get_alignment())); - d_early_code = static_cast(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_gnsssdr_get_alignment())); - d_prompt_code = static_cast(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_gnsssdr_get_alignment())); - d_late_code = static_cast(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_gnsssdr_get_alignment())); - d_very_late_code = static_cast(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_gnsssdr_get_alignment())); - d_carr_sign = static_cast(volk_malloc(2*d_vector_length * sizeof(gr_complex), volk_gnsssdr_get_alignment())); - - d_very_early_code16 = static_cast(volk_malloc(2 * d_vector_length * sizeof(lv_16sc_t), volk_gnsssdr_get_alignment())); - d_early_code16 = static_cast(volk_malloc(2 * d_vector_length * sizeof(lv_16sc_t), volk_gnsssdr_get_alignment())); - d_prompt_code16 = static_cast(volk_malloc(2 * d_vector_length * sizeof(lv_16sc_t), volk_gnsssdr_get_alignment())); - d_late_code16 = static_cast(volk_malloc(2 * d_vector_length * sizeof(lv_16sc_t), volk_gnsssdr_get_alignment())); - d_very_late_code16 = static_cast(volk_malloc(2 * d_vector_length * sizeof(lv_16sc_t), volk_gnsssdr_get_alignment())); - d_carr_sign16 = static_cast(volk_malloc(2 * d_vector_length * sizeof(lv_16sc_t), volk_gnsssdr_get_alignment())); - in16 = static_cast(volk_malloc(2 * d_vector_length * sizeof(lv_16sc_t), volk_gnsssdr_get_alignment())); - - d_very_early_code8 = static_cast(volk_malloc(2 * d_vector_length * sizeof(lv_8sc_t), volk_gnsssdr_get_alignment())); - d_early_code8 = static_cast(volk_malloc(2 * d_vector_length * sizeof(lv_8sc_t), volk_gnsssdr_get_alignment())); - d_prompt_code8 = static_cast(volk_malloc(2 * d_vector_length * sizeof(lv_8sc_t), volk_gnsssdr_get_alignment())); - d_late_code8 = static_cast(volk_malloc(2 * d_vector_length * sizeof(lv_8sc_t), volk_gnsssdr_get_alignment())); - d_very_late_code8 = static_cast(volk_malloc(2 * d_vector_length * sizeof(lv_8sc_t), volk_gnsssdr_get_alignment())); - d_carr_sign8 = static_cast(volk_malloc(2 * d_vector_length * sizeof(lv_8sc_t), volk_gnsssdr_get_alignment())); - in8 = static_cast(volk_malloc(2 * d_vector_length * sizeof(lv_8sc_t), volk_gnsssdr_get_alignment())); - - // correlator outputs (scalar) - d_Very_Early = static_cast(volk_malloc(sizeof(gr_complex), volk_gnsssdr_get_alignment())); - d_Early = static_cast(volk_malloc(sizeof(gr_complex), volk_gnsssdr_get_alignment())); - d_Prompt = static_cast(volk_malloc(sizeof(gr_complex), volk_gnsssdr_get_alignment())); - d_Late = static_cast(volk_malloc(sizeof(gr_complex), volk_gnsssdr_get_alignment())); - d_Very_Late = static_cast(volk_malloc(sizeof(gr_complex), volk_gnsssdr_get_alignment())); - - //--- Initializations ------------------------------ - // Initial code frequency basis of NCO - d_code_freq_chips = static_cast(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 = static_cast(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); - - d_channel_internal_queue = 0; - d_acquisition_gnss_synchro = 0; - d_channel = 0; - d_acq_code_phase_samples = 0.0; - d_acq_carrier_doppler_hz = 0.0; - d_carrier_doppler_hz = 0.0; - d_acc_carrier_phase_rad = 0.0; - d_acc_code_phase_secs = 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[static_cast(2 * Galileo_E1_B_CODE_LENGTH_CHIPS)]; - d_ca_code[1] = d_ca_code[static_cast(2 * Galileo_E1_B_CODE_LENGTH_CHIPS + 1)]; - d_ca_code[static_cast(2 * Galileo_E1_B_CODE_LENGTH_CHIPS + 2)] = d_ca_code[2]; - d_ca_code[static_cast(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; - double rem_code_phase_half_chips; - int code_length_half_chips = static_cast(Galileo_E1_B_CODE_LENGTH_CHIPS) * 2; - 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 = (d_code_freq_chips) / (static_cast(d_fs_in)); - code_phase_step_half_chips = (2.0 * d_code_freq_chips) / (static_cast(d_fs_in)); - - rem_code_phase_half_chips = d_rem_code_phase_samples * (2*d_code_freq_chips / d_fs_in); - tcode_half_chips = - 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; - - //HERE YOU CAN CHOOSE THE DESIRED VOLK IMPLEMENTATION - //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(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); - - 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 = static_cast (GALILEO_TWO_PI * d_carrier_doppler_hz / static_cast(d_fs_in)); - // Initialize the carrier phase with the remanent carrier phase of the K-2 loop - phase_rad = static_cast (d_rem_carr_phase_rad); - - //HERE YOU CAN CHOOSE THE DESIRED VOLK IMPLEMENTATION - //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(d_carr_sign, phase_rad, phase_step_rad, d_current_prn_length_samples); -} - -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_ca_code); - - 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_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) -{ - double carr_error_hz = 0.0; - double carr_error_filt_hz = 0.0; - double code_error_chips = 0.0; - double code_error_filt_chips = 0.0; - - 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; - double 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(static_cast(acq_to_trk_delay_samples), static_cast(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 = Gnss_Synchro(); - // 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 - - //HERE YOU CAN CHOOSE THE DESIRED VOLK IMPLEMENTATION - - //Float implementation: - - //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, "generic"); - - //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, "u_avx"); - - //Integer 16 bits implementation - /*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);*/ - - //Integer 8 bits implementation - 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_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) / GALILEO_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 -= GALILEO_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 + GALILEO_TWO_PI * d_carrier_doppler_hz * Galileo_E1_CODE_PERIOD; - d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GALILEO_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 - double 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*static_cast(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 = 1.0 / d_code_freq_chips; - T_prn_seconds = T_chip_seconds * Galileo_E1_B_CODE_LENGTH_CHIPS; - T_prn_samples = T_prn_seconds * static_cast(d_fs_in); - K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * static_cast(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 = static_cast((*d_Prompt).real()); - current_synchro_data.Prompt_Q = static_cast((*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) / static_cast(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 = (static_cast(d_sample_counter) + static_cast(d_rem_code_phase_samples)) / static_cast(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 = d_acc_carrier_phase_rad; - current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz; - current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz; - current_synchro_data.Flag_valid_pseudorange = false; - *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 OBJECTto interchange data between tracking->telemetry_decoder - d_acquisition_gnss_synchro->Flag_valid_pseudorange = false; - *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(reinterpret_cast(&tmp_VE), sizeof(float)); - d_dump_file.write(reinterpret_cast(&tmp_E), sizeof(float)); - d_dump_file.write(reinterpret_cast(&tmp_P), sizeof(float)); - d_dump_file.write(reinterpret_cast(&tmp_L), sizeof(float)); - d_dump_file.write(reinterpret_cast(&tmp_VL), sizeof(float)); - // PROMPT I and Q (to analyze navigation symbols) - d_dump_file.write(reinterpret_cast(&prompt_I), sizeof(float)); - d_dump_file.write(reinterpret_cast(&prompt_Q), sizeof(float)); - // PRN start sample stamp - d_dump_file.write(reinterpret_cast(&d_sample_counter), sizeof(unsigned long int)); - // accumulated carrier phase - tmp_float = d_acc_carrier_phase_rad; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - // carrier and code frequency - tmp_float = d_carrier_doppler_hz; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - tmp_float = d_code_freq_chips; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - //PLL commands - tmp_float = carr_error_hz; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - tmp_float = carr_error_filt_hz; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - //DLL commands - tmp_float = code_error_chips; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - tmp_float = code_error_filt_chips; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - // CN0 and carrier lock test - tmp_float = d_CN0_SNV_dB_Hz; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - tmp_float = d_carrier_lock_test; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - // AUX vars (for debug purposes) - tmp_float = d_rem_code_phase_samples; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - tmp_double = static_cast(d_sample_counter + d_current_prn_length_samples); - d_dump_file.write(reinterpret_cast(&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 - - if((noutput_items == 0) || (ninput_items[0] == 0)) - { - LOG(WARNING) << "noutput_items = 0"; - } - return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false -} - - - -void galileo_volk_e1_dll_pll_veml_tracking_cc::set_channel(unsigned int channel) -{ - d_channel = channel; - LOG(INFO) << "Tracking Channel set to " << d_channel; - // ############# ENABLE DATA FILE LOG ################# - if (d_dump == true) - { - if (d_dump_file.is_open() == false) - { - try - { - d_dump_filename.append(boost::lexical_cast(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 deleted file mode 100644 index dbec110a0..000000000 --- a/src/algorithms/tracking/gnuradio_blocks/galileo_volk_e1_dll_pll_veml_tracking_cc.h +++ /dev/null @@ -1,211 +0,0 @@ -/*! - * \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) 2010-2015 (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 "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; - - double d_early_late_spc_chips; - double 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 - double d_rem_code_phase_samples; - double 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 - double d_acq_code_phase_samples; - double d_acq_carrier_doppler_hz; - - // correlator - Correlator d_correlator; - - // tracking vars - double d_code_freq_chips; - double 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; - double d_carrier_lock_test; - double d_CN0_SNV_dB_Hz; - double 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_GALIELEO_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 e0c3bd494..65aa2f567 100644 --- a/src/core/receiver/gnss_block_factory.cc +++ b/src/core/receiver/gnss_block_factory.cc @@ -84,7 +84,6 @@ #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 "galileo_e5a_dll_pll_tracking.h" #include "gps_l2_m_dll_pll_tracking.h" @@ -1349,12 +1348,6 @@ 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, @@ -1620,12 +1613,6 @@ 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, @@ -1638,12 +1625,6 @@ 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("GPS_L2_M_DLL_PLL_Tracking") == 0) { std::unique_ptr block_(new GpsL2MDllPllTracking(configuration.get(), role, in_streams, From 833ca8ab8c9c2f48efe69bb20cd5f3592a7b8a08 Mon Sep 17 00:00:00 2001 From: Javier Arribas Date: Fri, 4 Mar 2016 14:08:19 +0100 Subject: [PATCH 2/2] Provisional bug fix to avoid random channel state machine deadlock caused by an incorrect sequence of events --- src/core/receiver/gnss_flowgraph.cc | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc index 00af05321..f15398fdc 100644 --- a/src/core/receiver/gnss_flowgraph.cc +++ b/src/core/receiver/gnss_flowgraph.cc @@ -406,7 +406,11 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what) } channels_.at(who)->set_signal(available_GNSS_signals_.front()); available_GNSS_signals_.pop_front(); - + //todo: This is a provisional bug fix to avoid random channel state machine deadlock caused by an incorrect sequence of events + // Correct sequence: start_acquisition() is triggered after the negative acquisition driven by the process_channel_messages() thread inside channel class + // Incorrect sequence: due to thread concurrency, some times start_acquisition is triggered BEFORE the last negative_acquisition notification, thus producing a deadlock + // a short delay here (5ms) apparently reduces the chances to enter in this deadlock + usleep(5000); channels_.at(who)->start_acquisition(); break;