mirror of https://github.com/gnss-sdr/gnss-sdr
- Bug correction in Galileo telemetry decoder.
- Improved Galileo configuration to work with real-life captures (4 IOV SV) git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@434 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Javier Arribas
parent
87c5c212a4
commit
4ebeb950fc
|
|
@ -277,9 +277,9 @@ Acquisition.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
|
|||
;#threshold: Acquisition threshold
|
||||
;Acquisition.threshold=0
|
||||
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
|
||||
Acquisition.pfa=0.00005
|
||||
Acquisition.pfa=0.00003
|
||||
;#doppler_max: Maximum expected Doppler shift [Hz]
|
||||
Acquisition.doppler_max=10000
|
||||
Acquisition.doppler_max=15000
|
||||
;#doppler_max: Doppler step in the grid search [Hz]
|
||||
Acquisition.doppler_step=125
|
||||
|
||||
|
|
@ -288,7 +288,11 @@ Acquisition.doppler_step=125
|
|||
;######### ACQUISITION CH 0 CONFIG ############
|
||||
|
||||
;#repeat_satellite: Use only jointly with the satellite PRN ID option. The default value is false
|
||||
;Acquisition0.repeat_satellite = false
|
||||
Acquisition0.repeat_satellite = true
|
||||
Acquisition1.repeat_satellite = true
|
||||
Acquisition2.repeat_satellite = true
|
||||
Acquisition3.repeat_satellite = true
|
||||
|
||||
;#cboc: Only for [Galileo_E1_PCPS_Ambiguous_Acquisition]. This option allows you to choose between acquiring with CBOC signal [true] or sinboc(1,1) signal [false].
|
||||
;#Use only if GNSS-SDR.internal_fs_hz is greater than or equal to 6138000
|
||||
Acquisition0.cboc=false
|
||||
|
|
@ -314,7 +318,7 @@ Tracking.dump=true
|
|||
Tracking.dump_filename=../data/veml_tracking_ch_
|
||||
|
||||
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
|
||||
Tracking.pll_bw_hz=15.0;
|
||||
Tracking.pll_bw_hz=20.0;
|
||||
|
||||
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
|
||||
Tracking.dll_bw_hz=2.0;
|
||||
|
|
@ -341,7 +345,7 @@ TelemetryDecoder.dump=false
|
|||
Observables.implementation=Galileo_E1B_Observables
|
||||
|
||||
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
|
||||
Observables.dump=true
|
||||
Observables.dump=false
|
||||
|
||||
;#dump_filename: Log path and filename.
|
||||
Observables.dump_filename=./observables.dat
|
||||
|
|
|
|||
|
|
@ -54,17 +54,17 @@ using google::LogMessage;
|
|||
|
||||
galileo_e1b_telemetry_decoder_cc_sptr
|
||||
galileo_e1b_make_telemetry_decoder_cc(Gnss_Satellite satellite, long if_freq, long fs_in, unsigned
|
||||
int vector_length, boost::shared_ptr<gr::msg_queue> queue, bool dump)
|
||||
int vector_length, boost::shared_ptr<gr::msg_queue> queue, bool dump)
|
||||
{
|
||||
return galileo_e1b_telemetry_decoder_cc_sptr(new galileo_e1b_telemetry_decoder_cc(satellite, if_freq,
|
||||
fs_in, vector_length, queue, dump));
|
||||
return galileo_e1b_telemetry_decoder_cc_sptr(new galileo_e1b_telemetry_decoder_cc(satellite, if_freq,
|
||||
fs_in, vector_length, queue, dump));
|
||||
}
|
||||
|
||||
|
||||
|
||||
void galileo_e1b_telemetry_decoder_cc::forecast (int noutput_items, gr_vector_int &ninput_items_required)
|
||||
{
|
||||
ninput_items_required[0] = GALILEO_INAV_PAGE_SYMBOLS; //set the required sample history
|
||||
ninput_items_required[0] = GALILEO_INAV_PAGE_SYMBOLS; //set the required sample history
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -121,70 +121,70 @@ void galileo_e1b_telemetry_decoder_cc::deinterleaver(int rows, int cols, double
|
|||
|
||||
|
||||
galileo_e1b_telemetry_decoder_cc::galileo_e1b_telemetry_decoder_cc(
|
||||
Gnss_Satellite satellite,
|
||||
long if_freq,
|
||||
long fs_in,
|
||||
unsigned
|
||||
int vector_length,
|
||||
boost::shared_ptr<gr::msg_queue> queue,
|
||||
bool dump) :
|
||||
gr::block("galileo_e1b_telemetry_decoder_cc", gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
|
||||
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
|
||||
Gnss_Satellite satellite,
|
||||
long if_freq,
|
||||
long fs_in,
|
||||
unsigned
|
||||
int vector_length,
|
||||
boost::shared_ptr<gr::msg_queue> queue,
|
||||
bool dump) :
|
||||
gr::block("galileo_e1b_telemetry_decoder_cc", gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
|
||||
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
|
||||
{
|
||||
// initialize internal vars
|
||||
d_queue = queue;
|
||||
d_dump = dump;
|
||||
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
|
||||
DLOG(INFO) << "GALILEO E1B TELEMETRY PROCESSING: satellite " << d_satellite;
|
||||
d_vector_length = vector_length;
|
||||
d_samples_per_symbol = ( Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS ) / Galileo_E1_B_SYMBOL_RATE_BPS;
|
||||
d_fs_in = fs_in;
|
||||
// initialize internal vars
|
||||
d_queue = queue;
|
||||
d_dump = dump;
|
||||
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
|
||||
DLOG(INFO) << "GALILEO E1B TELEMETRY PROCESSING: satellite " << d_satellite;
|
||||
d_vector_length = vector_length;
|
||||
d_samples_per_symbol = ( Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS ) / Galileo_E1_B_SYMBOL_RATE_BPS;
|
||||
d_fs_in = fs_in;
|
||||
|
||||
// set the preamble
|
||||
unsigned short int preambles_bits[GALILEO_INAV_PREAMBLE_LENGTH_BITS]=GALILEO_INAV_PREAMBLE;
|
||||
// set the preamble
|
||||
unsigned short int preambles_bits[GALILEO_INAV_PREAMBLE_LENGTH_BITS]=GALILEO_INAV_PREAMBLE;
|
||||
|
||||
d_symbols_per_preamble=GALILEO_INAV_PREAMBLE_LENGTH_BITS * d_samples_per_symbol;
|
||||
d_symbols_per_preamble=GALILEO_INAV_PREAMBLE_LENGTH_BITS * d_samples_per_symbol;
|
||||
|
||||
memcpy((unsigned short int*)this->d_preambles_bits, (unsigned short int*)preambles_bits, GALILEO_INAV_PREAMBLE_LENGTH_BITS*sizeof(unsigned short int));
|
||||
memcpy((unsigned short int*)this->d_preambles_bits, (unsigned short int*)preambles_bits, GALILEO_INAV_PREAMBLE_LENGTH_BITS*sizeof(unsigned short int));
|
||||
|
||||
// preamble bits to sampled symbols
|
||||
d_preambles_symbols = (signed int*)malloc(sizeof(signed int) * d_symbols_per_preamble);
|
||||
int n = 0;
|
||||
for (int i=0; i<GALILEO_INAV_PREAMBLE_LENGTH_BITS; i++)
|
||||
{
|
||||
for (unsigned int j=0; j<d_samples_per_symbol; j++)
|
||||
{
|
||||
if (d_preambles_bits[i] == 1)
|
||||
{
|
||||
d_preambles_symbols[n] = 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
d_preambles_symbols[n] = -1;
|
||||
}
|
||||
n++;
|
||||
}
|
||||
}
|
||||
d_sample_counter = 0;
|
||||
d_stat = 0;
|
||||
d_preamble_index = 0;
|
||||
// preamble bits to sampled symbols
|
||||
d_preambles_symbols = (signed int*)malloc(sizeof(signed int) * d_symbols_per_preamble);
|
||||
int n = 0;
|
||||
for (int i=0; i<GALILEO_INAV_PREAMBLE_LENGTH_BITS; i++)
|
||||
{
|
||||
for (unsigned int j=0; j<d_samples_per_symbol; j++)
|
||||
{
|
||||
if (d_preambles_bits[i] == 1)
|
||||
{
|
||||
d_preambles_symbols[n] = 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
d_preambles_symbols[n] = -1;
|
||||
}
|
||||
n++;
|
||||
}
|
||||
}
|
||||
d_sample_counter = 0;
|
||||
d_stat = 0;
|
||||
d_preamble_index = 0;
|
||||
|
||||
d_preamble_time_seconds = 0;
|
||||
d_flag_frame_sync = false;
|
||||
d_preamble_time_seconds = 0;
|
||||
d_flag_frame_sync = false;
|
||||
|
||||
d_flag_parity = false;
|
||||
d_TOW_at_Preamble= 0;
|
||||
d_TOW_at_current_symbol = 0;
|
||||
d_flag_parity = false;
|
||||
d_TOW_at_Preamble= 0;
|
||||
d_TOW_at_current_symbol = 0;
|
||||
|
||||
d_CRC_error_counter=0;
|
||||
d_CRC_error_counter=0;
|
||||
|
||||
|
||||
}
|
||||
|
||||
galileo_e1b_telemetry_decoder_cc::~galileo_e1b_telemetry_decoder_cc()
|
||||
{
|
||||
delete d_preambles_symbols;
|
||||
d_dump_file.close();
|
||||
delete d_preambles_symbols;
|
||||
d_dump_file.close();
|
||||
}
|
||||
|
||||
void galileo_e1b_telemetry_decoder_cc::decode_word(double *page_part_symbols,int frame_length)
|
||||
|
|
@ -265,235 +265,235 @@ void galileo_e1b_telemetry_decoder_cc::decode_word(double *page_part_symbols,int
|
|||
}
|
||||
}
|
||||
int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
|
||||
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
|
||||
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
|
||||
{
|
||||
int corr_value = 0;
|
||||
int preamble_diff = 0;
|
||||
int corr_value = 0;
|
||||
int preamble_diff = 0;
|
||||
|
||||
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
|
||||
d_sample_counter++; //count for the processed samples
|
||||
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
|
||||
d_sample_counter++; //count for the processed samples
|
||||
|
||||
// ########### Output the tracking data to navigation and PVT ##########
|
||||
const Gnss_Synchro **in = (const Gnss_Synchro **) &input_items[0]; //Get the input samples pointer
|
||||
// ########### Output the tracking data to navigation and PVT ##########
|
||||
const Gnss_Synchro **in = (const Gnss_Synchro **) &input_items[0]; //Get the input samples pointer
|
||||
|
||||
// TODO Optimize me!
|
||||
//******* preamble correlation ********
|
||||
for (int i=0; i<d_symbols_per_preamble; i++)
|
||||
{
|
||||
if (in[0][i].Prompt_I < 0) // symbols clipping
|
||||
{
|
||||
corr_value -= d_preambles_symbols[i];
|
||||
}
|
||||
else
|
||||
{
|
||||
corr_value += d_preambles_symbols[i];
|
||||
}
|
||||
}
|
||||
d_flag_preamble = false;
|
||||
// TODO Optimize me!
|
||||
//******* preamble correlation ********
|
||||
for (int i=0; i<d_symbols_per_preamble; i++)
|
||||
{
|
||||
if (in[0][i].Prompt_I < 0) // symbols clipping
|
||||
{
|
||||
corr_value -= d_preambles_symbols[i];
|
||||
}
|
||||
else
|
||||
{
|
||||
corr_value += d_preambles_symbols[i];
|
||||
}
|
||||
}
|
||||
d_flag_preamble = false;
|
||||
|
||||
//******* frame sync ******************
|
||||
if (d_stat == 0) //no preamble information
|
||||
{
|
||||
if (abs(corr_value) >= d_symbols_per_preamble)
|
||||
{
|
||||
d_preamble_index = d_sample_counter;//record the preamble sample stamp
|
||||
std::cout << "Preamble detection for Galileo SAT " << this->d_satellite << std::endl;
|
||||
d_stat = 1; // enter into frame pre-detection status
|
||||
}
|
||||
}
|
||||
else if (d_stat == 1) // posible preamble lock
|
||||
{
|
||||
if (abs(corr_value) >= d_symbols_per_preamble)
|
||||
{
|
||||
//check preamble separation
|
||||
preamble_diff = abs(d_sample_counter - d_preamble_index);
|
||||
if (abs(preamble_diff - GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS) == 0)
|
||||
{
|
||||
//try to decode frame
|
||||
std::cout<<"Starting page decoder for Galileo SAT " << this->d_satellite<<std::endl;
|
||||
d_preamble_index=d_sample_counter;//record the preamble sample stamp
|
||||
d_stat=2;
|
||||
}
|
||||
}else{
|
||||
if (preamble_diff>GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS)
|
||||
{
|
||||
d_stat=0; // start again
|
||||
}
|
||||
}
|
||||
}else if (d_stat==2)
|
||||
{
|
||||
if (d_sample_counter==d_preamble_index+GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS)
|
||||
{
|
||||
// NEW Galileo page part is received
|
||||
// 0. fetch the symbols into an array
|
||||
int frame_length=GALILEO_INAV_PAGE_PART_SYMBOLS-d_symbols_per_preamble;
|
||||
double page_part_symbols[frame_length];
|
||||
|
||||
for (int i=0;i<frame_length;i++)
|
||||
{
|
||||
if (corr_value>0)
|
||||
{
|
||||
page_part_symbols[i]=in[0][i+d_symbols_per_preamble].Prompt_I; // because last symbol of the preamble is just received now!
|
||||
|
||||
}else{
|
||||
page_part_symbols[i]=-in[0][i+d_symbols_per_preamble].Prompt_I; // because last symbol of the preamble is just received now!
|
||||
}
|
||||
}
|
||||
//debug
|
||||
//std::cout<<"ch["<<d_channel<<"] Decoder call at preamble index "<<d_sample_counter<<std::endl;
|
||||
// std::cout<<"ch["<<d_channel<<"] frame symbols: ";
|
||||
// for (int j=0;j<frame_length;j++)
|
||||
// {
|
||||
// if (page_part_symbols[j]>0)
|
||||
// {
|
||||
// std::cout<<"1";
|
||||
// }else{
|
||||
// std::cout<<"0";
|
||||
// }
|
||||
// }
|
||||
// std::cout<<std::endl;
|
||||
//end debug
|
||||
//call the decoder
|
||||
decode_word(page_part_symbols,frame_length);
|
||||
if (d_nav.flag_CRC_test==true)
|
||||
{
|
||||
d_CRC_error_counter=0;
|
||||
d_flag_preamble = true; //valid preamble indicator (initialized to false every work())
|
||||
d_preamble_index = d_sample_counter; //record the preamble sample stamp (t_P)
|
||||
d_preamble_time_seconds = in[0][0].Tracking_timestamp_secs;// - d_preamble_duration_seconds; //record the PRN start sample index associated to the preamble
|
||||
if (!d_flag_frame_sync)
|
||||
{
|
||||
d_flag_frame_sync = true;
|
||||
std::cout <<" Frame sync SAT " << this->d_satellite << " with preamble start at " << d_preamble_time_seconds << " [s]" << std::endl;
|
||||
}
|
||||
}else{
|
||||
d_CRC_error_counter++;
|
||||
d_preamble_index = d_sample_counter; //record the preamble sample stamp
|
||||
if (d_CRC_error_counter>CRC_ERROR_LIMIT)
|
||||
{
|
||||
std::cout << "Lost of frame sync SAT " << this->d_satellite << std::endl;
|
||||
d_flag_frame_sync=false;
|
||||
d_stat=0;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
consume_each(1); //one by one
|
||||
// UPDATE GNSS SYNCHRO DATA
|
||||
Gnss_Synchro current_synchro_data; //structure to save the synchronization information and send the output object to the next block
|
||||
//1. Copy the current tracking output
|
||||
current_synchro_data = in[0][0];
|
||||
//2. Add the telemetry decoder information
|
||||
if (this->d_flag_preamble==true and d_nav.flag_TOW_set==true)
|
||||
//update TOW at the preamble instant
|
||||
//flag preamble is true after the all page (even and odd) is recevived. I/NAV page period is 2 SECONDS
|
||||
{
|
||||
Prn_timestamp_at_preamble_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
|
||||
if(d_nav.flag_TOW_5 == true) //page 5 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec)
|
||||
{
|
||||
//std::cout<< "Using TOW_5 for timestamping" << std::endl;
|
||||
d_TOW_at_Preamble = d_nav.TOW_5+GALILEO_INAV_PAGE_PART_SECONDS; //TOW_5 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later
|
||||
/* 1 sec (GALILEO_INAV_PAGE_PART_SYMBOLS*GALIELO_E1_CODE_PERIOD) is added because
|
||||
* if we have a TOW value it means that we are at the begining of the last page part
|
||||
* (GNU Radio history keeps in a buffer the rest of the incomming frame part)*/
|
||||
d_TOW_at_current_symbol = d_TOW_at_Preamble;// + GALILEO_INAV_PAGE_PART_SYMBOLS*GALIELO_E1_CODE_PERIOD;
|
||||
d_nav.flag_TOW_5 = false;
|
||||
}
|
||||
|
||||
else if(d_nav.flag_TOW_6 == true) //page 6 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec)
|
||||
//******* frame sync ******************
|
||||
if (d_stat == 0) //no preamble information
|
||||
{
|
||||
if (abs(corr_value) >= d_symbols_per_preamble)
|
||||
{
|
||||
d_preamble_index = d_sample_counter;//record the preamble sample stamp
|
||||
std::cout << "Preamble detection for Galileo SAT " << this->d_satellite << std::endl;
|
||||
d_stat = 1; // enter into frame pre-detection status
|
||||
}
|
||||
}else if (d_stat == 1) // posible preamble lock
|
||||
{
|
||||
if (abs(corr_value) >= d_symbols_per_preamble)
|
||||
{
|
||||
//check preamble separation
|
||||
preamble_diff = abs(d_sample_counter - d_preamble_index);
|
||||
if (abs(preamble_diff - GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS) == 0)
|
||||
{
|
||||
//std::cout<< "Using TOW_6 for timestamping" << std::endl;
|
||||
d_TOW_at_Preamble = d_nav.TOW_6+GALILEO_INAV_PAGE_PART_SECONDS;
|
||||
//TOW_6 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later
|
||||
/* 1 sec (GALILEO_INAV_PAGE_PART_SYMBOLS*GALIELO_E1_CODE_PERIOD) is added because
|
||||
* if we have a TOW value it means that we are at the begining of the last page part
|
||||
* (GNU Radio history keeps in a buffer the rest of the incomming frame part)*/
|
||||
d_TOW_at_current_symbol = d_TOW_at_Preamble;// + GALILEO_INAV_PAGE_PART_SYMBOLS*GALIELO_E1_CODE_PERIOD;
|
||||
d_nav.flag_TOW_6 = false;
|
||||
//try to decode frame
|
||||
std::cout<<"Starting page decoder for Galileo SAT " << this->d_satellite<<std::endl;
|
||||
d_preamble_index=d_sample_counter;//record the preamble sample stamp
|
||||
d_stat=2;
|
||||
}
|
||||
else
|
||||
{
|
||||
//this page has no timming information
|
||||
d_TOW_at_Preamble = d_TOW_at_Preamble + GALILEO_INAV_PAGE_SECONDS;
|
||||
d_TOW_at_current_symbol = d_TOW_at_current_symbol + GALIELO_E1_CODE_PERIOD;// + GALILEO_INAV_PAGE_PART_SYMBOLS*GALIELO_E1_CODE_PERIOD;
|
||||
}
|
||||
else{
|
||||
if (preamble_diff>GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS)
|
||||
{
|
||||
d_stat=0; // start again
|
||||
}
|
||||
}
|
||||
}
|
||||
}else if (d_stat==2)
|
||||
{
|
||||
if (d_sample_counter==d_preamble_index+GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS)
|
||||
{
|
||||
// NEW Galileo page part is received
|
||||
// 0. fetch the symbols into an array
|
||||
int frame_length=GALILEO_INAV_PAGE_PART_SYMBOLS-d_symbols_per_preamble;
|
||||
double page_part_symbols[frame_length];
|
||||
|
||||
}
|
||||
else //if there is not a new preamble, we define the TOW of the current symbol
|
||||
{
|
||||
d_TOW_at_current_symbol = d_TOW_at_current_symbol + GALIELO_E1_CODE_PERIOD;
|
||||
}
|
||||
for (int i=0;i<frame_length;i++)
|
||||
{
|
||||
if (corr_value>0)
|
||||
{
|
||||
page_part_symbols[i]=in[0][i+d_symbols_per_preamble].Prompt_I; // because last symbol of the preamble is just received now!
|
||||
|
||||
//if (d_flag_frame_sync == true and d_nav.flag_TOW_set==true and d_nav.flag_CRC_test == true)
|
||||
if (d_flag_frame_sync == true and d_nav.flag_TOW_set==true)
|
||||
{
|
||||
current_synchro_data.Flag_valid_word = true;
|
||||
}else{
|
||||
current_synchro_data.Flag_valid_word = false;
|
||||
}
|
||||
}else{
|
||||
page_part_symbols[i]=-in[0][i+d_symbols_per_preamble].Prompt_I; // because last symbol of the preamble is just received now!
|
||||
}
|
||||
}
|
||||
//debug
|
||||
//std::cout<<"ch["<<d_channel<<"] Decoder call at preamble index "<<d_sample_counter<<std::endl;
|
||||
// std::cout<<"ch["<<d_channel<<"] frame symbols: ";
|
||||
// for (int j=0;j<frame_length;j++)
|
||||
// {
|
||||
// if (page_part_symbols[j]>0)
|
||||
// {
|
||||
// std::cout<<"1";
|
||||
// }else{
|
||||
// std::cout<<"0";
|
||||
// }
|
||||
// }
|
||||
// std::cout<<std::endl;
|
||||
//end debug
|
||||
//call the decoder
|
||||
decode_word(page_part_symbols,frame_length);
|
||||
if (d_nav.flag_CRC_test==true)
|
||||
{
|
||||
d_CRC_error_counter=0;
|
||||
d_flag_preamble = true; //valid preamble indicator (initialized to false every work())
|
||||
d_preamble_index = d_sample_counter; //record the preamble sample stamp (t_P)
|
||||
d_preamble_time_seconds = in[0][0].Tracking_timestamp_secs;// - d_preamble_duration_seconds; //record the PRN start sample index associated to the preamble
|
||||
if (!d_flag_frame_sync)
|
||||
{
|
||||
d_flag_frame_sync = true;
|
||||
std::cout <<" Frame sync SAT " << this->d_satellite << " with preamble start at " << d_preamble_time_seconds << " [s]" << std::endl;
|
||||
}
|
||||
}else{
|
||||
d_CRC_error_counter++;
|
||||
d_preamble_index = d_sample_counter; //record the preamble sample stamp
|
||||
if (d_CRC_error_counter>CRC_ERROR_LIMIT)
|
||||
{
|
||||
std::cout << "Lost of frame sync SAT " << this->d_satellite << std::endl;
|
||||
d_flag_frame_sync=false;
|
||||
d_stat=0;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
consume_each(1); //one by one
|
||||
// UPDATE GNSS SYNCHRO DATA
|
||||
Gnss_Synchro current_synchro_data; //structure to save the synchronization information and send the output object to the next block
|
||||
//1. Copy the current tracking output
|
||||
current_synchro_data = in[0][0];
|
||||
//2. Add the telemetry decoder information
|
||||
if (this->d_flag_preamble==true and d_nav.flag_TOW_set==true)
|
||||
//update TOW at the preamble instant
|
||||
//flag preamble is true after the all page (even and odd) is recevived. I/NAV page period is 2 SECONDS
|
||||
{
|
||||
Prn_timestamp_at_preamble_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
|
||||
if(d_nav.flag_TOW_5 == true) //page 5 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec)
|
||||
{
|
||||
//std::cout<< "Using TOW_5 for timestamping" << std::endl;
|
||||
d_TOW_at_Preamble = d_nav.TOW_5+GALILEO_INAV_PAGE_PART_SECONDS; //TOW_5 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later
|
||||
/* 1 sec (GALILEO_INAV_PAGE_PART_SYMBOLS*GALIELO_E1_CODE_PERIOD) is added because
|
||||
* if we have a TOW value it means that we are at the begining of the last page part
|
||||
* (GNU Radio history keeps in a buffer the rest of the incomming frame part)*/
|
||||
d_TOW_at_current_symbol = d_TOW_at_Preamble;// + GALILEO_INAV_PAGE_PART_SYMBOLS*GALIELO_E1_CODE_PERIOD;
|
||||
d_nav.flag_TOW_5 = false;
|
||||
}
|
||||
|
||||
current_synchro_data.d_TOW = d_TOW_at_Preamble;
|
||||
current_synchro_data.d_TOW_at_current_symbol = d_TOW_at_current_symbol;
|
||||
current_synchro_data.Flag_preamble = d_flag_preamble;
|
||||
current_synchro_data.Prn_timestamp_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
|
||||
current_synchro_data.Prn_timestamp_at_preamble_ms = Prn_timestamp_at_preamble_ms;
|
||||
else if(d_nav.flag_TOW_6 == true) //page 6 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec)
|
||||
{
|
||||
//std::cout<< "Using TOW_6 for timestamping" << std::endl;
|
||||
d_TOW_at_Preamble = d_nav.TOW_6+GALILEO_INAV_PAGE_PART_SECONDS;
|
||||
//TOW_6 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later
|
||||
/* 1 sec (GALILEO_INAV_PAGE_PART_SYMBOLS*GALIELO_E1_CODE_PERIOD) is added because
|
||||
* if we have a TOW value it means that we are at the begining of the last page part
|
||||
* (GNU Radio history keeps in a buffer the rest of the incomming frame part)*/
|
||||
d_TOW_at_current_symbol = d_TOW_at_Preamble;// + GALILEO_INAV_PAGE_PART_SYMBOLS*GALIELO_E1_CODE_PERIOD;
|
||||
d_nav.flag_TOW_6 = false;
|
||||
}
|
||||
else
|
||||
{
|
||||
//this page has no timming information
|
||||
d_TOW_at_Preamble = d_TOW_at_Preamble + GALILEO_INAV_PAGE_SECONDS;
|
||||
d_TOW_at_current_symbol = d_TOW_at_current_symbol + GALIELO_E1_CODE_PERIOD;// + GALILEO_INAV_PAGE_PART_SYMBOLS*GALIELO_E1_CODE_PERIOD;
|
||||
}
|
||||
|
||||
if(d_dump == true)
|
||||
{
|
||||
// MULTIPLEXED FILE RECORDING - Record results to file
|
||||
try
|
||||
{
|
||||
double tmp_double;
|
||||
tmp_double = d_TOW_at_current_symbol;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
tmp_double = current_synchro_data.Prn_timestamp_ms;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
tmp_double = d_TOW_at_Preamble;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
}
|
||||
catch (const std::ifstream::failure& e)
|
||||
{
|
||||
std::cout << "Exception writing observables dump file " << e.what() << std::endl;
|
||||
}
|
||||
}
|
||||
//3. Make the output (copy the object contents to the GNURadio reserved memory)
|
||||
*out[0] = current_synchro_data;
|
||||
return 1;
|
||||
}
|
||||
else //if there is not a new preamble, we define the TOW of the current symbol
|
||||
{
|
||||
d_TOW_at_current_symbol = d_TOW_at_current_symbol + GALIELO_E1_CODE_PERIOD;
|
||||
}
|
||||
|
||||
//if (d_flag_frame_sync == true and d_nav.flag_TOW_set==true and d_nav.flag_CRC_test == true)
|
||||
if (d_flag_frame_sync == true and d_nav.flag_TOW_set==true)
|
||||
{
|
||||
current_synchro_data.Flag_valid_word = true;
|
||||
}else{
|
||||
current_synchro_data.Flag_valid_word = false;
|
||||
}
|
||||
|
||||
current_synchro_data.d_TOW = d_TOW_at_Preamble;
|
||||
current_synchro_data.d_TOW_at_current_symbol = d_TOW_at_current_symbol;
|
||||
current_synchro_data.Flag_preamble = d_flag_preamble;
|
||||
current_synchro_data.Prn_timestamp_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
|
||||
current_synchro_data.Prn_timestamp_at_preamble_ms = Prn_timestamp_at_preamble_ms;
|
||||
|
||||
if(d_dump == true)
|
||||
{
|
||||
// MULTIPLEXED FILE RECORDING - Record results to file
|
||||
try
|
||||
{
|
||||
double tmp_double;
|
||||
tmp_double = d_TOW_at_current_symbol;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
tmp_double = current_synchro_data.Prn_timestamp_ms;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
tmp_double = d_TOW_at_Preamble;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
}
|
||||
catch (const std::ifstream::failure& e)
|
||||
{
|
||||
std::cout << "Exception writing observables dump file " << e.what() << std::endl;
|
||||
}
|
||||
}
|
||||
//3. Make the output (copy the object contents to the GNURadio reserved memory)
|
||||
*out[0] = current_synchro_data;
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
||||
void galileo_e1b_telemetry_decoder_cc::set_satellite(Gnss_Satellite satellite)
|
||||
{
|
||||
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
|
||||
DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite;
|
||||
DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
|
||||
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
|
||||
DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite;
|
||||
DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
|
||||
}
|
||||
|
||||
|
||||
void galileo_e1b_telemetry_decoder_cc::set_channel(int channel)
|
||||
{
|
||||
d_channel = channel;
|
||||
DLOG(INFO) << "Navigation channel set to " << channel;
|
||||
// ############# ENABLE DATA FILE LOG #################
|
||||
if (d_dump == true)
|
||||
{
|
||||
if (d_dump_file.is_open() == false)
|
||||
{
|
||||
try
|
||||
{
|
||||
d_dump_filename = "telemetry";
|
||||
d_dump_filename.append(boost::lexical_cast<std::string>(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);
|
||||
std::cout << "Telemetry decoder dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl;
|
||||
}
|
||||
catch (const std::ifstream::failure& e)
|
||||
{
|
||||
std::cout << "channel " << d_channel << " Exception opening trk dump file " << e.what() << std::endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
d_channel = channel;
|
||||
DLOG(INFO) << "Navigation channel set to " << channel;
|
||||
// ############# ENABLE DATA FILE LOG #################
|
||||
if (d_dump == true)
|
||||
{
|
||||
if (d_dump_file.is_open() == false)
|
||||
{
|
||||
try
|
||||
{
|
||||
d_dump_filename = "telemetry";
|
||||
d_dump_filename.append(boost::lexical_cast<std::string>(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);
|
||||
std::cout << "Telemetry decoder dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl;
|
||||
}
|
||||
catch (const std::ifstream::failure& e)
|
||||
{
|
||||
std::cout << "channel " << d_channel << " Exception opening trk dump file " << e.what() << std::endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void galileo_e1b_telemetry_decoder_cc::set_ephemeris_queue(concurrent_queue<Galileo_Ephemeris> *ephemeris_queue)
|
||||
|
|
|
|||
Loading…
Reference in New Issue