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Minor documentation fixes, changes of #defines by const 

git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@106 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Carles Fernandez 2012-01-03 07:31:32 +00:00
parent ca5463e2d8
commit 3ceef64d27
10 changed files with 188 additions and 76 deletions
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2
src/algorithms/PVT/adapters/gps_l1_ca_pvt.cc
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@ -1,7 +1,7 @@
/*!
* \file gps_l1_ca_pvt.cc
* \brief Implementation of an adapter of a GPS L1 C/A PVT solver block to a
* PVTInterface
* PvtInterface
* \author Javier Arribas, 2011. jarribas(at)cttc.es
*
*

2
src/algorithms/PVT/adapters/gps_l1_ca_pvt.h
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@ -1,7 +1,7 @@
/*!
* \file gps_l1_ca_pvt.h
* \brief Interface of an adapter of a GPS L1 C/A PVT solver block to a
* PVTInterface
* PvtInterface
* Position Velocity and Time
* \author Javier Arribas, 2011. jarribas(at)cttc.es
*

5
src/algorithms/PVT/libs/rinex_2_1_printer.cc
View File

@ -55,6 +55,8 @@ rinex_printer::rinex_printer()
}
rinex_printer::~rinex_printer()
{
// close RINEX files
@ -614,9 +616,6 @@ int rinex_printer::signalStrength(double snr)
/*
enum RINEX_enumObservationType
{
RINEX_OBS_TYPE_PSEUDORANGE = 'C', //!< 'C' Pseudorange observation

31
src/algorithms/PVT/libs/rinex_2_1_printer.h
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@ -45,8 +45,7 @@ private:
std::ofstream navFile ;
std::ofstream obsFile ;
/*!
* \brief Creates RINEX file names according to the naming convention
/* Creates RINEX file names according to the naming convention
*
* See http://igscb.jpl.nasa.gov/igscb/data/format/rinex301.pdf
* Section 4, page 6
@ -64,18 +63,18 @@ private:
*/
std::string createFilename(std::string type);
/*!
* \brief Generates the data for the PGM / RUN BY / DATE line
/*
* Generates the data for the PGM / RUN BY / DATE line
*/
std::string getLocalTime();
/*!
* \brief Checks that the line is 80 characters length
/*
* Checks that the line is 80 characters length
*/
void lengthCheck(std::string line);
/*!
* \brief If the string is bigger than length, truncate it from the right.
/*
* If the string is bigger than length, truncate it from the right.
* otherwise, add pad characters to its right.
*
* Left-justifies the input in a string of the specified
@ -91,8 +90,8 @@ private:
const std::string::size_type length,
const char pad = ' ');
/*!
* \brief If the string is bigger than length, truncate it from the right.
/*
* If the string is bigger than length, truncate it from the right.
* otherwise, add pad characters to its right.
*
* Left-justifies the receiver in a string of the specified
@ -111,18 +110,18 @@ private:
/*!
* \brief Generates the Navigation Data header
/*
* Generates the Navigation Data header
*/
void Rinex2NavHeader(std::ofstream& out);
/*!
* \brief Generates the Observation data header
/*
* Generates the Observation data header
*/
void Rinex2ObsHeader(std::ofstream& out);
/*!
* \brief Generation of RINEX signal strength indicators
/*
* Generation of RINEX signal strength indicators
*/
int signalStrength(double snr);

88
src/algorithms/telemetry_decoder/libs/gps_l1_ca_subframe_fsm.cc
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@ -1,6 +1,36 @@
/*!
* \file gps_l1_ca_subframe_fsm.cc
* \brief Implementation of a GPS NAV message word-to-subframe decoder state machine
* \author Javier Arribas, 2011. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2012 (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 <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gps_l1_ca_subframe_fsm.h"
//************ GPS WORD TO SUBFRAME DECODER STATE MACHINE **********
struct Ev_gps_word_valid : sc::event<Ev_gps_word_valid> {};
@ -15,6 +45,10 @@ public:
//std::cout<<"Enter S0 "<<std::endl;
}
};
struct gps_subframe_fsm_S1: public sc::state<gps_subframe_fsm_S1, GpsL1CaSubframeFsm > {
public:
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
@ -25,6 +59,9 @@ public:
}
};
struct gps_subframe_fsm_S2: public sc::state<gps_subframe_fsm_S2, GpsL1CaSubframeFsm > {
public:
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
@ -35,6 +72,10 @@ public:
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(0);
}
};
struct gps_subframe_fsm_S3: public sc::state<gps_subframe_fsm_S3, GpsL1CaSubframeFsm > {
public:
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
@ -45,6 +86,10 @@ public:
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(1);
}
};
struct gps_subframe_fsm_S4: public sc::state<gps_subframe_fsm_S4, GpsL1CaSubframeFsm > {
public:
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
@ -55,6 +100,10 @@ public:
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(2);
}
};
struct gps_subframe_fsm_S5: public sc::state<gps_subframe_fsm_S5, GpsL1CaSubframeFsm > {
public:
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
@ -65,6 +114,11 @@ public:
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(3);
}
};
struct gps_subframe_fsm_S6: public sc::state<gps_subframe_fsm_S6, GpsL1CaSubframeFsm > {
public:
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
@ -75,6 +129,9 @@ public:
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(4);
}
};
struct gps_subframe_fsm_S7: public sc::state<gps_subframe_fsm_S7, GpsL1CaSubframeFsm > {
public:
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
@ -85,6 +142,9 @@ public:
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(5);
}
};
struct gps_subframe_fsm_S8: public sc::state<gps_subframe_fsm_S8, GpsL1CaSubframeFsm > {
public:
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
@ -95,6 +155,10 @@ public:
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(6);
}
};
struct gps_subframe_fsm_S9: public sc::state<gps_subframe_fsm_S9, GpsL1CaSubframeFsm > {
public:
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
@ -105,6 +169,9 @@ public:
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(7);
}
};
struct gps_subframe_fsm_S10: public sc::state<gps_subframe_fsm_S10, GpsL1CaSubframeFsm > {
public:
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
@ -115,6 +182,9 @@ public:
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(8);
}
};
struct gps_subframe_fsm_S11: public sc::state<gps_subframe_fsm_S11, GpsL1CaSubframeFsm > {
public:
typedef sc::transition< Ev_gps_word_preamble, gps_subframe_fsm_S1 > reactions;
@ -128,18 +198,28 @@ public:
}
};
GpsL1CaSubframeFsm::GpsL1CaSubframeFsm()
{
d_nav.reset();
initiate(); //start the FSM
}
void GpsL1CaSubframeFsm::gps_word_to_subframe(int position)
{
// insert the word in the correct position of the subframe
std::memcpy(&d_subframe[position*GPS_WORD_LENGTH],&d_GPS_frame_4bytes,sizeof(char)*GPS_WORD_LENGTH);
}
void GpsL1CaSubframeFsm::gps_subframe_to_nav_msg()
{
int subframe_ID;
@ -165,16 +245,24 @@ void GpsL1CaSubframeFsm::gps_subframe_to_nav_msg()
}
void GpsL1CaSubframeFsm::Event_gps_word_valid()
{
this->process_event(Ev_gps_word_valid());
}
void GpsL1CaSubframeFsm::Event_gps_word_invalid()
{
this->process_event(Ev_gps_word_invalid());
}
void GpsL1CaSubframeFsm::Event_gps_word_preamble()
{
this->process_event(Ev_gps_word_preamble());

44
src/algorithms/telemetry_decoder/libs/gps_l1_ca_subframe_fsm.h
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@ -1,13 +1,36 @@
/**
* Copyright notice
/*!
* \file gps_l1_ca_subframe_fsm.h
* \brief Interface of a GPS NAV message word-to-subframe decoder state machine
* \author Javier Arribas, 2011. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2012 (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 <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
/**
* Author: Javier Arribas, 2011. jarribas(at)cttc.es
*/
//************ GPS WORD TO SUBFRAME DECODER STATE MACHINE **********
#ifndef GPS_L1_CA_SUBFRAME_FSM_H
#define GPS_L1_CA_SUBFRAME_FSM_H
#ifndef GNSS_SDR_GPS_L1_CA_SUBFRAME_FSM_H_
#define GNSS_SDR_GPS_L1_CA_SUBFRAME_FSM_H_
#include <boost/statechart/state_machine.hpp>
#include <boost/statechart/simple_state.hpp>
@ -15,15 +38,12 @@
#include <boost/statechart/transition.hpp>
#include <boost/statechart/custom_reaction.hpp>
#include <boost/mpl/list.hpp>
#include <queue>
#include <boost/thread/mutex.hpp>
#include <boost/thread/thread.hpp>
#include "concurrent_queue.h"
#include <iostream>
#include <cstring>
#include "GPS_L1_CA.h"
#include "gps_telemetry.h"
#include "gps_navigation_message.h"
@ -54,7 +74,7 @@ public:
int d_satellite_PRN;
// ephemeris queue
concurrent_queue<gps_navigation_message> *d_nav_queue;
concurrent_queue<gps_navigation_message> *d_nav_queue;
// navigation message class
gps_navigation_message d_nav;

62
src/core/system_parameters/GPS_L1_CA.h
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@ -1,11 +1,11 @@
/*!
* \file GPS_L1_CA.h
* \brief Defines system parameters for GPS L1 C/A signal
* \brief Defines system parameters for GPS L1 C/A signal and NAV data
* \author Javier Arribas, 2011. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -32,38 +32,20 @@
#ifndef GNSS_SDR_GPS_L1_CA_H_
#define GNSS_SDR_GPS_L1_CA_H_
#define NAVIGATION_SOLUTION_RATE_MS 1000
const float GPS_C_m_s = 299792458.0; //!< The speed of light, [m/s]
const float GPS_C_m_ms = 299792.4580; //!< The speed of light, [m/ms]
const float GPS_STARTOFFSET_ms= 68.802; //[ms] Initial sign. travel time
const double GPS_PI = 3.1415926535898; //!< Pi used in the GPS coordinate system
// Physical constants
const float GPS_C_m_s = 299792458.0; //!< The speed of light, [m/s]
const float GPS_C_m_ms = 299792.4580; //!< The speed of light, [m/ms]
const double GPS_PI = 3.1415926535898; //!< Pi as defined in IS-GPS-200E
const double OMEGA_EARTH_DOT = 7.2921151467e-5; //!< Earth rotation rate, [rad/s]
const double GM = 3.986005e14; //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2]
const double F = -4.442807633e-10; //!< Constant, [s/(m)^(1/2)]
// carrier and code frequencies
const float GPS_L1_FREQ_HZ = 1.57542e9;
const float GPS_L2_FREQ_HZ = 1.22760e9;
const float GPS_L1_CA_CODE_RATE_HZ = 1.023e6;
const float GPS_L1_CA_CODE_LENGTH_CHIPS = 1023.0;
const float GPS_L1_FREQ_HZ = 1.57542e9; //!< L1 [Hz]
const float GPS_L1_CA_CODE_RATE_HZ = 1.023e6; //!< GPS L1 C/A code rate [chips/s]
const float GPS_L1_CA_CODE_LENGTH_CHIPS = 1023.0; //!< GPS L1 C/A code length [chips]
//-- Constants for satellite position calculation -------------------------
const double OMEGA_EARTH_DOT = 7.2921151467e-5; //!< Earth rotation rate, [rad/s]
const double GM = 3.986005e14; //!< Universal gravitational constant times the mass of the Earth, [m^3/s^2]
const double F = -4.442807633e-10; //!< Constant, [sec/(meter)^(1/2)]
// NAVIGATION MESSAGE DEMODULATION AND DECODING
#define GPS_PREAMBLE {1, 0, 0, 0, 1, 0, 1, 1}
#define GPS_CA_PREAMBLE_LENGTH_BITS 8
#define GPS_CA_TELEMETRY_RATE_BITS_SECOND 50
#define GPS_WORD_LENGTH 4 // CRC + GPS WORD (-2 -1 0 ... 29) Bits = 4 bytes
#define GPS_SUBFRAME_LENGTH 40 // GPS_WORD_LENGTH x 10 = 40 bytes
#define GPS_SUBFRAME_BITS 300
#define GPS_WORD_BITS 30
/*!
* \brief Maximum Time-Of-Arrival (TOA) difference between satellites for a receiver operated on Earth surface is 20 ms
*
@ -74,6 +56,26 @@ const double F = -4.442807633e-10; //!< Constant, [sec/(meter)^(1
*/
const double MAX_TOA_DELAY_MS=20;
#define NAVIGATION_SOLUTION_RATE_MS 1000 // this cannot go here
const float GPS_STARTOFFSET_ms= 68.802; //[ms] Initial sign. travel time (this cannot go here)
// NAVIGATION MESSAGE DEMODULATION AND DECODING
#define GPS_PREAMBLE {1, 0, 0, 0, 1, 0, 1, 1}
#define GPS_CA_PREAMBLE_LENGTH_BITS 8
#define GPS_CA_TELEMETRY_RATE_BITS_SECOND 50 //!< NAV message bit rate [bits/s]
#define GPS_WORD_LENGTH 4 // CRC + GPS WORD (-2 -1 0 ... 29) Bits = 4 bytes
#define GPS_SUBFRAME_LENGTH 40 // GPS_WORD_LENGTH x 10 = 40 bytes
const int GPS_SUBFRAME_BITS=300; //!< Number of bits per subframe in the NAV message [bits]
const int GPS_WORD_BITS=30; //!< Number of bits per word in the NAV message [bits]
#define num_of_slices(x) sizeof(x)/sizeof(bits_slice)
/*!

2
src/core/system_parameters/gps_navigation_message.cc
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@ -7,7 +7,7 @@
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver

26
src/core/system_parameters/gps_navigation_message.h
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@ -5,7 +5,7 @@
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -47,7 +47,7 @@
/*!
* \brief This class represents a GPS NAV Data as described in IS-GPS-200E
* \brief This class decodes a GPS NAV Data message as described in IS-GPS-200E
*
* See http://www.gps.gov/technical/icwg/IS-GPS-200E.pdf Appendix II
*/
@ -59,7 +59,7 @@ private:
signed long int read_navigation_signed(std::bitset<GPS_SUBFRAME_BITS> bits, const bits_slice *slices, int num_of_slices);
bool read_navigation_bool(std::bitset<GPS_SUBFRAME_BITS> bits, const bits_slice *slices);
/*!
/*
* Accounts for the beginning or end of week crossover
*
* See paragraph 20.3.3.3.3.1 (IS-GPS-200E)
@ -75,7 +75,7 @@ public:
double d_IODE_SF3;
double d_Crs; //!< Amplitude of the Sine Harmonic Correction Term to the Orbit Radius [m]
double d_Delta_n; //!< Mean Motion Difference From Computed Value [semi-circles/s]
double d_M_0; //!< Mean Anomaly at Reference Time [semi-circles]
double d_M_0; //!< Mean Anomaly at Reference Time [semi-circles]
//broadcast orbit 2
double d_Cuc; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
double d_e_eccentricity; //!< Eccentricity [dimensionless]
@ -98,10 +98,10 @@ public:
double d_GPS_week; //!< GPS week number, aka WN [week]
bool b_L2_P_data_flag; //!< When true, indicates that the NAV data stream was commanded OFF on the P-code of the L2 channel
//broadcast orbit 6
double d_SV_accuracy; //!< User Range Accuracy (URA) index of the SV (reference paragraph 6.2.1) for the standard positioning service user (Ref 20.3.3.3.1.3 IS-GPS-200E)
double d_SV_accuracy; //!< User Range Accuracy (URA) index of the SV (reference paragraph 6.2.1) for the standard positioning service user (Ref 20.3.3.3.1.3 IS-GPS-200E)
double d_SV_health;
double d_TGD; //!< Estimated Group Delay Differential: L1-L2 correction term for the benefit of "L1 only" or "L2 only" users [s]
double d_IODC; //!< Issue of Data, Clock
double d_TGD; //!< Estimated Group Delay Differential: L1-L2 correction term for the benefit of "L1 only" or "L2 only" users [s]
double d_IODC; //!< Issue of Data, Clock
//broadcast orbit 7
double d_fit_interval;
@ -127,7 +127,7 @@ public:
bool b_integrity_status_flag;
bool b_alert_flag; //!< If true, indicates that the SV URA may be worse than indicated in d_SV_accuracy, use that SV at our own risk.
bool b_antispoofing_flag; //<! If true, the AntiSpoofing mode is ON in that SV
bool b_antispoofing_flag; //!< If true, the AntiSpoofing mode is ON in that SV
// clock terms
@ -136,9 +136,9 @@ public:
double d_dtr; // relativistic clock correction term
// satellite positions
double d_satpos_X; //<! Earth-fixed coordinate x of the satellite [m]. Intersection of the IERS Reference Meridian (IRM) and the plane passing through the origin and normal to the Z-axis.
double d_satpos_Y; //<! Earth-fixed coordinate y of the satellite [m]. Completes a right-handed, Earth-Centered, Earth-Fixed orthogonal coordinate system.
double d_satpos_Z; //<! Earth-fixed coordinate z of the satellite [m]. The direction of the IERS (International Earth Rotation and Reference Systems Service) Reference Pole (IRP).
double d_satpos_X; //!< Earth-fixed coordinate x of the satellite [m]. Intersection of the IERS Reference Meridian (IRM) and the plane passing through the origin and normal to the Z-axis.
double d_satpos_Y; //!< Earth-fixed coordinate y of the satellite [m]. Completes a right-handed, Earth-Centered, Earth-Fixed orthogonal coordinate system.
double d_satpos_Z; //!< Earth-fixed coordinate z of the satellite [m]. The direction of the IERS (International Earth Rotation and Reference Systems Service) Reference Pole (IRP).
// satellite identification info
@ -194,6 +194,10 @@ public:
void satpos();
void relativistic_clock_correction(double transmitTime);
bool satellite_validation();
/*!
* Default constructor
*/
gps_navigation_message();
};

2
src/main/main.cc
View File

@ -8,7 +8,7 @@
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver