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Add more consistancy in Telemetry messages

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This commit is contained in:
Carles Fernandez
2017-06-12 19:22:52 +02:00
parent 0b3a8a081d
commit 37998c11a4
4 changed files with 117 additions and 112 deletions
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18
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc
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@@ -208,13 +208,13 @@ void galileo_e1b_telemetry_decoder_cc::decode_word(double *page_part_symbols,int
d_nav.split_page(page_String, flag_even_word_arrived); d_nav.split_page(page_String, flag_even_word_arrived);
if(d_nav.flag_CRC_test == true) if(d_nav.flag_CRC_test == true)
{ {
LOG(INFO) << "Galileo CRC correct on channel " << d_channel << " from satellite " << d_satellite; LOG(INFO) << "Galileo E1 CRC correct on channel " << d_channel << " from satellite " << d_satellite;
std::cout << "Galileo CRC correct on channel " << d_channel << " from satellite " << d_satellite << std::endl; //std::cout << "Galileo E1 CRC correct on channel " << d_channel << " from satellite " << d_satellite << std::endl;
} }
else else
{ {
std::cout << "Galileo CRC error on channel " << d_channel << " from satellite " << d_satellite << std::endl; std::cout << "Galileo E1 CRC error on channel " << d_channel << " from satellite " << d_satellite << std::endl;
LOG(INFO) << "Galileo CRC error on channel " << d_channel << " from satellite " << d_satellite; LOG(INFO) << "Galileo E1 CRC error on channel " << d_channel << " from satellite " << d_satellite;
} }
flag_even_word_arrived = 0; flag_even_word_arrived = 0;
} }
@@ -230,7 +230,7 @@ void galileo_e1b_telemetry_decoder_cc::decode_word(double *page_part_symbols,int
{ {
// get object for this SV (mandatory) // get object for this SV (mandatory)
std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(d_nav.get_ephemeris()); std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(d_nav.get_ephemeris());
std::cout << "New Galileo E1 I/NAV message received: ephemeris from satellite " << d_satellite << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
} }
@@ -238,12 +238,14 @@ void galileo_e1b_telemetry_decoder_cc::decode_word(double *page_part_symbols,int
{ {
// get object for this SV (mandatory) // get object for this SV (mandatory)
std::shared_ptr<Galileo_Iono> tmp_obj = std::make_shared<Galileo_Iono>(d_nav.get_iono()); std::shared_ptr<Galileo_Iono> tmp_obj = std::make_shared<Galileo_Iono>(d_nav.get_iono());
std::cout << "New Galileo E1 I/NAV message received: iono/GST model parameters from satellite " << d_satellite << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
} }
if (d_nav.have_new_utc_model() == true) if (d_nav.have_new_utc_model() == true)
{ {
// get object for this SV (mandatory) // get object for this SV (mandatory)
std::shared_ptr<Galileo_Utc_Model> tmp_obj = std::make_shared<Galileo_Utc_Model>(d_nav.get_utc_model()); std::shared_ptr<Galileo_Utc_Model> tmp_obj = std::make_shared<Galileo_Utc_Model>(d_nav.get_utc_model());
std::cout << "New Galileo E1 I/NAV message received: UTC model parameters from satellite " << d_satellite << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
} }
if (d_nav.have_new_almanac() == true) if (d_nav.have_new_almanac() == true)
@@ -251,7 +253,7 @@ void galileo_e1b_telemetry_decoder_cc::decode_word(double *page_part_symbols,int
std::shared_ptr<Galileo_Almanac> tmp_obj= std::make_shared<Galileo_Almanac>(d_nav.get_almanac()); std::shared_ptr<Galileo_Almanac> tmp_obj= std::make_shared<Galileo_Almanac>(d_nav.get_almanac());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
//debug //debug
std::cout << "Galileo almanac received!" << std::endl; std::cout << "Galileo E1 I/NAV almanac received!" << std::endl;
DLOG(INFO) << "GPS_to_Galileo time conversion:"; DLOG(INFO) << "GPS_to_Galileo time conversion:";
DLOG(INFO) << "A0G=" << tmp_obj->A_0G_10; DLOG(INFO) << "A0G=" << tmp_obj->A_0G_10;
DLOG(INFO) << "A1G=" << tmp_obj->A_1G_10; DLOG(INFO) << "A1G=" << tmp_obj->A_1G_10;
@@ -310,7 +312,7 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items __attribut
if (abs(corr_value) >= d_symbols_per_preamble) if (abs(corr_value) >= d_symbols_per_preamble)
{ {
d_preamble_index = d_sample_counter;//record the preamble sample stamp d_preamble_index = d_sample_counter;//record the preamble sample stamp
LOG(INFO) << "Preamble detection for Galileo SAT " << this->d_satellite; LOG(INFO) << "Preamble detection for Galileo satellite " << this->d_satellite;
d_stat = 1; // enter into frame pre-detection status d_stat = 1; // enter into frame pre-detection status
} }
} }
@@ -323,7 +325,7 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items __attribut
if (abs(preamble_diff - GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS) == 0) if (abs(preamble_diff - GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS) == 0)
{ {
//try to decode frame //try to decode frame
LOG(INFO) << "Starting page decoder for Galileo SAT " << this->d_satellite; LOG(INFO) << "Starting page decoder for Galileo satellite " << this->d_satellite;
d_preamble_index = d_sample_counter; //record the preamble sample stamp d_preamble_index = d_sample_counter; //record the preamble sample stamp
d_stat = 2; d_stat = 2;
} }

17
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc
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@@ -149,34 +149,38 @@ void galileo_e5a_telemetry_decoder_cc::decode_word(double *page_symbols,int fram
d_nav.split_page(page_String); d_nav.split_page(page_String);
if(d_nav.flag_CRC_test == true) if(d_nav.flag_CRC_test == true)
{ {
LOG(INFO) << "Galileo CRC correct on channel " << d_channel << " from satellite " << d_satellite; LOG(INFO) << "Galileo E5a CRC correct on channel " << d_channel << " from satellite " << d_satellite;
std::cout << "Galileo CRC correct on channel " << d_channel << " from satellite " << d_satellite << std::endl; //std::cout << "Galileo E5a CRC correct on channel " << d_channel << " from satellite " << d_satellite << std::endl;
} }
else else
{ {
std::cout << "Galileo CRC error on channel " << d_channel << " from satellite " << d_satellite << std::endl; std::cout << "Galileo E5a CRC error on channel " << d_channel << " from satellite " << d_satellite << std::endl;
LOG(INFO)<< "Galileo CRC error on channel " << d_channel << " from satellite " << d_satellite; LOG(INFO)<< "Galileo E5a CRC error on channel " << d_channel << " from satellite " << d_satellite;
} }
// 4. Push the new navigation data to the queues // 4. Push the new navigation data to the queues
if (d_nav.have_new_ephemeris() == true) if (d_nav.have_new_ephemeris() == true)
{ {
std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(d_nav.get_ephemeris()); std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(d_nav.get_ephemeris());
std::cout << "New Galileo E5a F/NAV message received: ephemeris from satellite " << d_satellite << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
} }
if (d_nav.have_new_iono_and_GST() == true) if (d_nav.have_new_iono_and_GST() == true)
{ {
std::shared_ptr<Galileo_Iono> tmp_obj = std::make_shared<Galileo_Iono>(d_nav.get_iono()); std::shared_ptr<Galileo_Iono> tmp_obj = std::make_shared<Galileo_Iono>(d_nav.get_iono());
std::cout << "New Galileo E5a F/NAV message received: iono/GST model parameters from satellite " << d_satellite << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
} }
if (d_nav.have_new_utc_model() == true) if (d_nav.have_new_utc_model() == true)
{ {
std::shared_ptr<Galileo_Utc_Model> tmp_obj = std::make_shared<Galileo_Utc_Model>(d_nav.get_utc_model()); std::shared_ptr<Galileo_Utc_Model> tmp_obj = std::make_shared<Galileo_Utc_Model>(d_nav.get_utc_model());
std::cout << "New Galileo E5a F/NAV message received: UTC model parameters from satellite " << d_satellite << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
} }
} }
galileo_e5a_telemetry_decoder_cc::galileo_e5a_telemetry_decoder_cc( galileo_e5a_telemetry_decoder_cc::galileo_e5a_telemetry_decoder_cc(
Gnss_Satellite satellite, bool dump) : gr::block("galileo_e5a_telemetry_decoder_cc", Gnss_Satellite satellite, bool dump) : gr::block("galileo_e5a_telemetry_decoder_cc",
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)), gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
@@ -324,7 +328,7 @@ int galileo_e5a_telemetry_decoder_cc::general_work (int noutput_items __attribut
if (corr_flag == true) // preamble fully correlates if (corr_flag == true) // preamble fully correlates
{ {
d_preamble_index = d_sample_counter - GALILEO_FNAV_CODES_PER_PREAMBLE;//record the preamble sample stamp. Remember correlation appears at the end of the preamble in this design d_preamble_index = d_sample_counter - GALILEO_FNAV_CODES_PER_PREAMBLE;//record the preamble sample stamp. Remember correlation appears at the end of the preamble in this design
LOG(INFO) << "Preamble detection for Galileo SAT " << this->d_satellite << std::endl; LOG(INFO) << "Preamble detection in E5a for Galileo satellite " << this->d_satellite << std::endl;
d_symbol_counter = 0; // d_page_symbols start right after preamble and finish at the end of next preamble. d_symbol_counter = 0; // d_page_symbols start right after preamble and finish at the end of next preamble.
d_state = 2; // preamble lock d_state = 2; // preamble lock
} }
@@ -402,7 +406,8 @@ int galileo_e5a_telemetry_decoder_cc::general_work (int noutput_items __attribut
{ {
d_flag_frame_sync = true; d_flag_frame_sync = true;
DLOG(INFO) << " Frame sync SAT " << this->d_satellite << " with preamble start at " DLOG(INFO) << " Frame sync SAT " << this->d_satellite << " with preamble start at "
<< in[0].Tracking_sample_counter << " [samples]"; } << in[0].Tracking_sample_counter << " [samples]";
}
d_symbol_counter = 0; // d_page_symbols start right after preamble and finish at the end of next preamble. d_symbol_counter = 0; // d_page_symbols start right after preamble and finish at the end of next preamble.
} }
else else

12
src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_cc.cc
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@@ -108,7 +108,8 @@ int gps_l2c_telemetry_decoder_cc::general_work (int noutput_items __attribute__(
{ {
std::bitset<GPS_L2_CNAV_DATA_PAGE_BITS> raw_bits; std::bitset<GPS_L2_CNAV_DATA_PAGE_BITS> raw_bits;
//Expand packet bits to bitsets. Notice the reverse order of the bits sequence, required by the CNAV message decoder //Expand packet bits to bitsets. Notice the reverse order of the bits sequence, required by the CNAV message decoder
for (u32 i = 0; i < GPS_L2_CNAV_DATA_PAGE_BITS ; i++) { for (u32 i = 0; i < GPS_L2_CNAV_DATA_PAGE_BITS ; i++)
{
raw_bits[GPS_L2_CNAV_DATA_PAGE_BITS - 1 - i] = ((msg.raw_msg[i/8] >> (7 - i%8)) & 1u); raw_bits[GPS_L2_CNAV_DATA_PAGE_BITS - 1 - i] = ((msg.raw_msg[i/8] >> (7 - i%8)) & 1u);
} }
@@ -119,21 +120,21 @@ int gps_l2c_telemetry_decoder_cc::general_work (int noutput_items __attribute__(
{ {
// get ephemeris object for this SV // get ephemeris object for this SV
std::shared_ptr<Gps_CNAV_Ephemeris> tmp_obj = std::make_shared<Gps_CNAV_Ephemeris>(d_CNAV_Message.get_ephemeris()); std::shared_ptr<Gps_CNAV_Ephemeris> tmp_obj = std::make_shared<Gps_CNAV_Ephemeris>(d_CNAV_Message.get_ephemeris());
std::cout << "New GPS CNAV Ephemeris received for SV " << tmp_obj->i_satellite_PRN << std::endl; std::cout << "New GPS CNAV message received: ephemeris from satellite " << d_satellite << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
} }
if (d_CNAV_Message.have_new_iono() == true) if (d_CNAV_Message.have_new_iono() == true)
{ {
std::shared_ptr<Gps_CNAV_Iono> tmp_obj = std::make_shared<Gps_CNAV_Iono>(d_CNAV_Message.get_iono()); std::shared_ptr<Gps_CNAV_Iono> tmp_obj = std::make_shared<Gps_CNAV_Iono>(d_CNAV_Message.get_iono());
std::cout << "New GPS CNAV IONO model received for SV " << d_satellite.get_PRN() << std::endl; std::cout << "New GPS CNAV message received: iono model parameters from satellite " << d_satellite << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
} }
if (d_CNAV_Message.have_new_utc_model() == true) if (d_CNAV_Message.have_new_utc_model() == true)
{ {
std::shared_ptr<Gps_CNAV_Utc_Model> tmp_obj = std::make_shared<Gps_CNAV_Utc_Model>(d_CNAV_Message.get_utc_model()); std::shared_ptr<Gps_CNAV_Utc_Model> tmp_obj = std::make_shared<Gps_CNAV_Utc_Model>(d_CNAV_Message.get_utc_model());
std::cout << "New GPS CNAV UTC model received for SV " << d_satellite.get_PRN() << std::endl; std::cout << "New GPS CNAV message received: UTC model parameters from satellite " << d_satellite << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
} }
@@ -185,14 +186,12 @@ int gps_l2c_telemetry_decoder_cc::general_work (int noutput_items __attribute__(
} }
} }
//3. Make the output (copy the object contents to the GNURadio reserved memory) //3. Make the output (copy the object contents to the GNURadio reserved memory)
out[0] = current_synchro_data; out[0] = current_synchro_data;
return 1; return 1;
} }
void gps_l2c_telemetry_decoder_cc::set_satellite(Gnss_Satellite satellite) void gps_l2c_telemetry_decoder_cc::set_satellite(Gnss_Satellite satellite)
{ {
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
@@ -200,7 +199,6 @@ void gps_l2c_telemetry_decoder_cc::set_satellite(Gnss_Satellite satellite)
} }
void gps_l2c_telemetry_decoder_cc::set_channel(int channel) void gps_l2c_telemetry_decoder_cc::set_channel(int channel)
{ {
d_channel = channel; d_channel = channel;

2
src/algorithms/telemetry_decoder/libs/gps_l1_ca_subframe_fsm.cc
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@@ -260,7 +260,7 @@ void GpsL1CaSubframeFsm::gps_subframe_to_nav_msg()
//int subframe_ID; //int subframe_ID;
// NEW GPS SUBFRAME HAS ARRIVED! // NEW GPS SUBFRAME HAS ARRIVED!
d_subframe_ID = d_nav.subframe_decoder(this->d_subframe); //decode the subframe d_subframe_ID = d_nav.subframe_decoder(this->d_subframe); //decode the subframe
std::cout << "NAV Message: received subframe " std::cout << "New GPS NAV message received: subframe "
<< d_subframe_ID << " from satellite " << d_subframe_ID << " from satellite "
<< Gnss_Satellite(std::string("GPS"), i_satellite_PRN) << std::endl; << Gnss_Satellite(std::string("GPS"), i_satellite_PRN) << std::endl;
d_nav.i_satellite_PRN = i_satellite_PRN; d_nav.i_satellite_PRN = i_satellite_PRN;