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Replacing GPS telemetry shared queues and maps with GNURadio

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asynchronous messages (TLM -> PVT)
This commit is contained in:
Javier Arribas
2016-04-12 15:28:58 +02:00
parent 414eaddb42
commit 588864e19e
11 changed files with 279 additions and 415 deletions
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50
src/algorithms/telemetry_decoder/libs/gps_l1_ca_subframe_fsm.cc
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@@ -238,11 +238,10 @@ GpsL1CaSubframeFsm::GpsL1CaSubframeFsm()
d_nav.reset();
i_channel_ID = 0;
i_satellite_PRN = 0;
d_ephemeris_queue = 0;
d_iono_queue = 0;
d_utc_model_queue = 0;
d_almanac_queue = 0;
d_preamble_time_ms = 0;
d_subframe_ID=0;
d_flag_new_subframe=false;
initiate(); //start the FSM
}
@@ -254,54 +253,25 @@ void GpsL1CaSubframeFsm::gps_word_to_subframe(int position)
std::memcpy(&d_subframe[position*GPS_WORD_LENGTH], &d_GPS_frame_4bytes, sizeof(char)*GPS_WORD_LENGTH);
}
void GpsL1CaSubframeFsm::clear_flag_new_subframe()
{
d_flag_new_subframe=false;
}
void GpsL1CaSubframeFsm::gps_subframe_to_nav_msg()
{
int subframe_ID;
//int subframe_ID;
// NEW GPS SUBFRAME HAS ARRIVED!
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 "
<< subframe_ID << " from satellite "
<< d_subframe_ID << " from satellite "
<< Gnss_Satellite(std::string("GPS"), i_satellite_PRN) << std::endl;
d_nav.i_satellite_PRN = i_satellite_PRN;
d_nav.i_channel_ID = i_channel_ID;
d_nav.d_subframe_timestamp_ms = this->d_preamble_time_ms;
switch (subframe_ID)
{
case 3: //we have a new set of ephemeris data for the current SV
if (d_nav.satellite_validation() == true)
{
// get ephemeris object for this SV (mandatory)
Gps_Ephemeris ephemeris = d_nav.get_ephemeris();
d_ephemeris_queue->push(ephemeris);
}
break;
case 4: // Possible IONOSPHERE and UTC model update (page 18)
if (d_nav.flag_iono_valid == true)
{
Gps_Iono iono = d_nav.get_iono(); //notice that the read operation will clear the valid flag
d_iono_queue->push(iono);
}
if (d_nav.flag_utc_model_valid == true)
{
Gps_Utc_Model utc_model = d_nav.get_utc_model(); //notice that the read operation will clear the valid flag
d_utc_model_queue->push(utc_model);
}
break;
case 5:
// get almanac (if available)
//TODO: implement almanac reader in navigation_message
break;
default:
break;
}
d_flag_new_subframe=true;
}
void GpsL1CaSubframeFsm::Event_gps_word_valid()
{
this->process_event(Ev_gps_word_valid());

7
src/algorithms/telemetry_decoder/libs/gps_l1_ca_subframe_fsm.h
View File

@@ -66,14 +66,11 @@ class GpsL1CaSubframeFsm : public sc::state_machine< GpsL1CaSubframeFsm, gps_sub
{
public:
GpsL1CaSubframeFsm(); //!< The constructor starts the Finite State Machine
void clear_flag_new_subframe();
// channel and satellite info
int i_channel_ID; //!< Channel id
unsigned int i_satellite_PRN; //!< Satellite PRN number
concurrent_queue<Gps_Ephemeris> *d_ephemeris_queue; //!< Ephemeris queue
concurrent_queue<Gps_Iono> *d_iono_queue; //!< Ionospheric parameters queue
concurrent_queue<Gps_Utc_Model> *d_utc_model_queue; //!< UTC model parameters queue
concurrent_queue<Gps_Almanac> *d_almanac_queue; //!< Almanac queue
Gps_Navigation_Message d_nav; //!< GPS L1 C/A navigation message object
@@ -85,6 +82,8 @@ public:
Gps_Iono iono; //!< Object that handles ionospheric parameters
char d_subframe[GPS_SUBFRAME_LENGTH];
int d_subframe_ID;
bool d_flag_new_subframe;
char d_GPS_frame_4bytes[GPS_WORD_LENGTH];
double d_preamble_time_ms;