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https://github.com/gnss-sdr/gnss-sdr
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bds_b3i: fixing code with clang format
This commit is contained in:
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3136817737
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5a4227507d
@ -1,6 +1,6 @@
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/*!
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/*!
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* \file beidou_b3i_telemetry_decoder.cc
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* \file beidou_b3i_telemetry_decoder.cc
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* \brief Implementation of an adapter of a Beidou B1I NAV data decoder block
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* \brief Implementation of an adapter of a Beidou B3I NAV data decoder block
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* to a TelemetryDecoderInterface
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* to a TelemetryDecoderInterface
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* \author Damian Miralles, 2019. dmiralles2009@gmail.com
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* \author Damian Miralles, 2019. dmiralles2009@gmail.com
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*
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*
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@ -29,78 +29,56 @@
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* -------------------------------------------------------------------------
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* -------------------------------------------------------------------------
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*/
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*/
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#include "beidou_b3i_telemetry_decoder.h"
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#include "beidou_b3i_telemetry_decoder.h"
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#include "configuration_interface.h"
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#include "configuration_interface.h"
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#include <gnuradio/io_signature.h>
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#include <glog/logging.h>
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#include <glog/logging.h>
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BeidouB3iTelemetryDecoder::BeidouB3iTelemetryDecoder(
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BeidouB3iTelemetryDecoder::BeidouB3iTelemetryDecoder(ConfigurationInterface* configuration,
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ConfigurationInterface *configuration, std::string role,
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std::string role,
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unsigned int in_streams, unsigned int out_streams)
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unsigned int in_streams,
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: role_(role), in_streams_(in_streams), out_streams_(out_streams) {
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unsigned int out_streams) : role_(role),
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in_streams_(in_streams),
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out_streams_(out_streams)
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{
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std::string default_dump_filename = "./navigation.dat";
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std::string default_dump_filename = "./navigation.dat";
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DLOG(INFO) << "role " << role;
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DLOG(INFO) << "role " << role;
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dump_ = configuration->property(role + ".dump", false);
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dump_ = configuration->property(role + ".dump", false);
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dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
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dump_filename_ =
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configuration->property(role + ".dump_filename", default_dump_filename);
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// make telemetry decoder object
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// make telemetry decoder object
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telemetry_decoder_ = beidou_b3i_make_telemetry_decoder_gs(satellite_, dump_);
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telemetry_decoder_ = beidou_b3i_make_telemetry_decoder_gs(satellite_, dump_);
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DLOG(INFO) << "telemetry_decoder(" << telemetry_decoder_->unique_id() << ")";
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DLOG(INFO) << "telemetry_decoder(" << telemetry_decoder_->unique_id() << ")";
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channel_ = 0;
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channel_ = 0;
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if (in_streams_ > 1)
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if (in_streams_ > 1) {
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{
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LOG(ERROR) << "This implementation only supports one input stream";
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LOG(ERROR) << "This implementation only supports one input stream";
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}
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}
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if (out_streams_ > 1)
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if (out_streams_ > 1) {
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{
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LOG(ERROR) << "This implementation only supports one output stream";
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LOG(ERROR) << "This implementation only supports one output stream";
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}
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}
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}
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}
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BeidouB3iTelemetryDecoder::~BeidouB3iTelemetryDecoder() = default;
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BeidouB3iTelemetryDecoder::~BeidouB3iTelemetryDecoder()
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void BeidouB3iTelemetryDecoder::set_satellite(const Gnss_Satellite &satellite) {
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{
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}
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void BeidouB3iTelemetryDecoder::set_satellite(const Gnss_Satellite& satellite)
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{
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satellite_ = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
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satellite_ = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
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telemetry_decoder_->set_satellite(satellite_);
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telemetry_decoder_->set_satellite(satellite_);
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DLOG(INFO) << "TELEMETRY DECODER: satellite set to " << satellite_;
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DLOG(INFO) << "TELEMETRY DECODER: satellite set to " << satellite_;
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}
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}
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void BeidouB3iTelemetryDecoder::connect(gr::top_block_sptr top_block) {
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void BeidouB3iTelemetryDecoder::connect(gr::top_block_sptr top_block)
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if (top_block) { /* top_block is not null */
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{
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if (top_block)
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{ /* top_block is not null */
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};
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};
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// Nothing to connect internally
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// Nothing to connect internally
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DLOG(INFO) << "nothing to connect internally";
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DLOG(INFO) << "nothing to connect internally";
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}
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}
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void BeidouB3iTelemetryDecoder::disconnect(gr::top_block_sptr top_block) {
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void BeidouB3iTelemetryDecoder::disconnect(gr::top_block_sptr top_block)
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if (top_block) { /* top_block is not null */
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{
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if (top_block)
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{ /* top_block is not null */
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};
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};
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// Nothing to disconnect
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// Nothing to disconnect
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}
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}
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gr::basic_block_sptr BeidouB3iTelemetryDecoder::get_left_block() {
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gr::basic_block_sptr BeidouB3iTelemetryDecoder::get_left_block()
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{
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return telemetry_decoder_;
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return telemetry_decoder_;
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}
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}
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gr::basic_block_sptr BeidouB3iTelemetryDecoder::get_right_block() {
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gr::basic_block_sptr BeidouB3iTelemetryDecoder::get_right_block()
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{
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return telemetry_decoder_;
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return telemetry_decoder_;
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}
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}
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@ -29,39 +29,32 @@
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* -------------------------------------------------------------------------
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* -------------------------------------------------------------------------
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*/
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*/
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#ifndef GNSS_SDR_BEIDOU_B3I_TELEMETRY_DECODER_H_
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#ifndef GNSS_SDR_BEIDOU_B3I_TELEMETRY_DECODER_H_
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#define GNSS_SDR_BEIDOU_B3I_TELEMETRY_DECODER_H_
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#define GNSS_SDR_BEIDOU_B3I_TELEMETRY_DECODER_H_
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#include "beidou_b3i_telemetry_decoder_gs.h"
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#include "beidou_b3i_telemetry_decoder_gs.h"
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#include "gnss_satellite.h" // for Gnss_Satellite
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#include "gnss_satellite.h" // for Gnss_Satellite
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#include "telemetry_decoder_interface.h"
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#include "telemetry_decoder_interface.h"
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#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
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#include <cstddef> // for size_t
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#include <cstddef> // for size_t
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#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
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#include <string>
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#include <string>
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class ConfigurationInterface;
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class ConfigurationInterface;
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/*!
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/*!
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* \brief This class implements a NAV data decoder for BEIDOU B1I
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* \brief This class implements a NAV data decoder for BEIDOU B1I
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*/
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*/
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class BeidouB3iTelemetryDecoder : public TelemetryDecoderInterface
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class BeidouB3iTelemetryDecoder : public TelemetryDecoderInterface {
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{
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public:
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public:
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BeidouB3iTelemetryDecoder(ConfigurationInterface *configuration,
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BeidouB3iTelemetryDecoder(ConfigurationInterface *configuration,
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std::string role,
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std::string role, unsigned int in_streams,
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unsigned int in_streams,
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unsigned int out_streams);
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unsigned int out_streams);
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virtual ~BeidouB3iTelemetryDecoder();
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virtual ~BeidouB3iTelemetryDecoder();
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inline std::string role() override
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inline std::string role() override { return role_; }
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{
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return role_;
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}
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//! Returns "BEIDOU_B3I_Telemetry_Decoder"
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//! Returns "BEIDOU_B3I_Telemetry_Decoder"
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inline std::string implementation() override
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inline std::string implementation() override {
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{
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return "BEIDOU_B3I_Telemetry_Decoder";
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return "BEIDOU_B3I_Telemetry_Decoder";
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}
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}
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@ -71,17 +64,13 @@ public:
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gr::basic_block_sptr get_right_block() override;
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gr::basic_block_sptr get_right_block() override;
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void set_satellite(const Gnss_Satellite &satellite) override;
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void set_satellite(const Gnss_Satellite &satellite) override;
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inline void set_channel(int channel) override { telemetry_decoder_->set_channel(channel); }
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inline void set_channel(int channel) override {
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telemetry_decoder_->set_channel(channel);
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inline void reset() override
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{
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return;
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}
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}
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inline size_t item_size() override
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inline void reset() override { return; }
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{
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return 0;
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inline size_t item_size() override { return 0; }
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}
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private:
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private:
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beidou_b3i_telemetry_decoder_gs_sptr telemetry_decoder_;
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beidou_b3i_telemetry_decoder_gs_sptr telemetry_decoder_;
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@ -28,7 +28,6 @@
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* -------------------------------------------------------------------------
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* -------------------------------------------------------------------------
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*/
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*/
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#include "beidou_b3i_telemetry_decoder_gs.h"
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#include "beidou_b3i_telemetry_decoder_gs.h"
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#include "Beidou_B3I.h"
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#include "Beidou_B3I.h"
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#include "Beidou_DNAV.h"
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#include "Beidou_DNAV.h"
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@ -37,78 +36,74 @@
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#include "beidou_dnav_iono.h"
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#include "beidou_dnav_iono.h"
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#include "beidou_dnav_utc_model.h"
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#include "beidou_dnav_utc_model.h"
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#include "gnss_synchro.h"
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#include "gnss_synchro.h"
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#include <cstdlib> // for abs
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#include <exception> // for exception
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#include <glog/logging.h>
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#include <glog/logging.h>
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#include <gnuradio/io_signature.h>
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#include <gnuradio/io_signature.h>
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#include <iostream> // for cout
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#include <memory> // for shared_ptr, make_shared
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#include <pmt/pmt.h> // for make_any
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#include <pmt/pmt.h> // for make_any
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#include <pmt/pmt_sugar.h> // for mp
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#include <pmt/pmt_sugar.h> // for mp
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#include <volk_gnsssdr/volk_gnsssdr.h>
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#include <volk_gnsssdr/volk_gnsssdr.h>
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#include <cstdlib> // for abs
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#include <exception> // for exception
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#include <iostream> // for cout
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#include <memory> // for shared_ptr, make_shared
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#define CRC_ERROR_LIMIT 8
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#define CRC_ERROR_LIMIT 8
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beidou_b3i_telemetry_decoder_gs_sptr
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beidou_b3i_telemetry_decoder_gs_sptr
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beidou_b3i_make_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump)
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beidou_b3i_make_telemetry_decoder_gs(const Gnss_Satellite &satellite,
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{
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bool dump) {
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return beidou_b3i_telemetry_decoder_gs_sptr(new beidou_b3i_telemetry_decoder_gs(satellite, dump));
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return beidou_b3i_telemetry_decoder_gs_sptr(
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new beidou_b3i_telemetry_decoder_gs(satellite, dump));
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}
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}
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beidou_b3i_telemetry_decoder_gs::beidou_b3i_telemetry_decoder_gs(
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beidou_b3i_telemetry_decoder_gs::beidou_b3i_telemetry_decoder_gs(
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const Gnss_Satellite &satellite,
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const Gnss_Satellite &satellite, bool dump)
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bool dump) : gr::block("beidou_b3i_telemetry_decoder_gs",
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: gr::block("beidou_b3i_telemetry_decoder_gs",
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gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
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gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
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gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
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gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) {
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{
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// Ephemeris data port out
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// Ephemeris data port out
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this->message_port_register_out(pmt::mp("telemetry"));
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this->message_port_register_out(pmt::mp("telemetry"));
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// initialize internal vars
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// initialize internal vars
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d_dump = dump;
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d_dump = dump;
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d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
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d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
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LOG(INFO) << "Initializing BeiDou B3I Telemetry Decoding for satellite "<< this->d_satellite;
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LOG(INFO) << "Initializing BeiDou B3I Telemetry Decoding for satellite "
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<< this->d_satellite;
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d_samples_per_symbol = (BEIDOU_B3I_CODE_RATE_HZ / BEIDOU_B3I_CODE_LENGTH_CHIPS) / BEIDOU_D1NAV_SYMBOL_RATE_SPS;
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d_samples_per_symbol =
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(BEIDOU_B3I_CODE_RATE_HZ / BEIDOU_B3I_CODE_LENGTH_CHIPS) /
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BEIDOU_D1NAV_SYMBOL_RATE_SPS;
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d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
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d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
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d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol;
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d_samples_per_preamble =
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d_secondary_code_symbols = static_cast<int32_t *>(volk_gnsssdr_malloc(BEIDOU_B3I_SECONDARY_CODE_LENGTH * sizeof(int32_t), volk_gnsssdr_get_alignment()));
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BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol;
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d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
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d_secondary_code_symbols = static_cast<int32_t *>(
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d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS*d_samples_per_symbol;
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volk_gnsssdr_malloc(BEIDOU_B3I_SECONDARY_CODE_LENGTH * sizeof(int32_t),
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volk_gnsssdr_get_alignment()));
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d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(
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d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
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d_preamble_period_samples =
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BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * d_samples_per_symbol;
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// Setting samples of secondary code
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// Setting samples of secondary code
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for (int32_t i = 0; i < BEIDOU_B3I_SECONDARY_CODE_LENGTH; i++)
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for (int32_t i = 0; i < BEIDOU_B3I_SECONDARY_CODE_LENGTH; i++) {
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{
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if (BEIDOU_B3I_SECONDARY_CODE.at(i) == '1') {
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if (BEIDOU_B3I_SECONDARY_CODE.at(i) == '1')
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{
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d_secondary_code_symbols[i] = 1;
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d_secondary_code_symbols[i] = 1;
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}
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} else {
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else
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{
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d_secondary_code_symbols[i] = -1;
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d_secondary_code_symbols[i] = -1;
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}
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}
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}
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}
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// Setting samples of preamble code
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// Setting samples of preamble code
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int32_t n = 0;
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int32_t n = 0;
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for (int32_t i = 0; i < d_symbols_per_preamble; i++)
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for (int32_t i = 0; i < d_symbols_per_preamble; i++) {
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{
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int32_t m = 0;
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int32_t m = 0;
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if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
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if (BEIDOU_DNAV_PREAMBLE.at(i) == '1') {
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{
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for (uint32_t j = 0; j < d_samples_per_symbol; j++) {
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for (uint32_t j = 0; j < d_samples_per_symbol; j++)
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{
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d_preamble_samples[n] = d_secondary_code_symbols[m];
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d_preamble_samples[n] = d_secondary_code_symbols[m];
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n++;
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n++;
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m++;
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m++;
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m = m % BEIDOU_B3I_SECONDARY_CODE_LENGTH;
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m = m % BEIDOU_B3I_SECONDARY_CODE_LENGTH;
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}
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}
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}
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} else {
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else
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for (uint32_t j = 0; j < d_samples_per_symbol; j++) {
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{
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for (uint32_t j = 0; j < d_samples_per_symbol; j++)
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{
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d_preamble_samples[n] = -d_secondary_code_symbols[m];
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d_preamble_samples[n] = -d_secondary_code_symbols[m];
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n++;
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n++;
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m++;
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m++;
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@ -117,8 +112,11 @@ beidou_b3i_telemetry_decoder_gs::beidou_b3i_telemetry_decoder_gs(
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}
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}
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}
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}
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d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(double), volk_gnsssdr_get_alignment()));
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d_subframe_symbols = static_cast<double *>(
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d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS*d_samples_per_symbol + d_samples_per_preamble;
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volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(double),
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volk_gnsssdr_get_alignment()));
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d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS * d_samples_per_symbol +
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d_samples_per_preamble;
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d_symbol_history.set_capacity(d_required_symbols + 1);
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d_symbol_history.set_capacity(d_required_symbols + 1);
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|
||||||
// Generic settings
|
// Generic settings
|
||||||
@ -132,42 +130,33 @@ beidou_b3i_telemetry_decoder_gs::beidou_b3i_telemetry_decoder_gs(
|
|||||||
d_flag_preamble = false;
|
d_flag_preamble = false;
|
||||||
d_channel = 0;
|
d_channel = 0;
|
||||||
flag_SOW_set = false;
|
flag_SOW_set = false;
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
beidou_b3i_telemetry_decoder_gs::~beidou_b3i_telemetry_decoder_gs() {
|
||||||
beidou_b3i_telemetry_decoder_gs::~beidou_b3i_telemetry_decoder_gs()
|
|
||||||
{
|
|
||||||
volk_gnsssdr_free(d_preamble_samples);
|
volk_gnsssdr_free(d_preamble_samples);
|
||||||
volk_gnsssdr_free(d_secondary_code_symbols);
|
volk_gnsssdr_free(d_secondary_code_symbols);
|
||||||
volk_gnsssdr_free(d_subframe_symbols);
|
volk_gnsssdr_free(d_subframe_symbols);
|
||||||
|
|
||||||
if (d_dump_file.is_open() == true)
|
if (d_dump_file.is_open() == true) {
|
||||||
{
|
try {
|
||||||
try
|
|
||||||
{
|
|
||||||
d_dump_file.close();
|
d_dump_file.close();
|
||||||
}
|
} catch (const std::exception &ex) {
|
||||||
catch (const std::exception &ex)
|
LOG(WARNING) << "Exception in destructor closing the dump file "
|
||||||
{
|
<< ex.what();
|
||||||
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
void beidou_b3i_telemetry_decoder_gs::decode_bch15_11_01(const int32_t *bits,
|
||||||
void beidou_b3i_telemetry_decoder_gs::decode_bch15_11_01(const int32_t *bits, int32_t *decbits)
|
int32_t *decbits) {
|
||||||
{
|
|
||||||
int32_t bit, err, reg[4] = {1, 1, 1, 1};
|
int32_t bit, err, reg[4] = {1, 1, 1, 1};
|
||||||
int32_t errind[15] = {14, 13, 10, 12, 6, 9, 4, 11, 0, 5, 7, 8, 1, 3, 2};
|
int32_t errind[15] = {14, 13, 10, 12, 6, 9, 4, 11, 0, 5, 7, 8, 1, 3, 2};
|
||||||
|
|
||||||
for (uint32_t i = 0; i < 15; i++)
|
for (uint32_t i = 0; i < 15; i++) {
|
||||||
{
|
|
||||||
decbits[i] = bits[i];
|
decbits[i] = bits[i];
|
||||||
}
|
}
|
||||||
|
|
||||||
for (uint32_t i = 0; i < 15; i++)
|
for (uint32_t i = 0; i < 15; i++) {
|
||||||
{
|
|
||||||
bit = reg[3];
|
bit = reg[3];
|
||||||
reg[3] = reg[2];
|
reg[3] = reg[2];
|
||||||
reg[2] = reg[1];
|
reg[2] = reg[1];
|
||||||
@ -178,240 +167,234 @@ void beidou_b3i_telemetry_decoder_gs::decode_bch15_11_01(const int32_t *bits, in
|
|||||||
|
|
||||||
err = errind[reg[0] + reg[1] * 2 + reg[2] * 4 + reg[3] * 8];
|
err = errind[reg[0] + reg[1] * 2 + reg[2] * 4 + reg[3] * 8];
|
||||||
|
|
||||||
if (err > 0)
|
if (err > 0) {
|
||||||
{
|
|
||||||
decbits[err - 1] *= -1;
|
decbits[err - 1] *= -1;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
void beidou_b3i_telemetry_decoder_gs::decode_word(
|
void beidou_b3i_telemetry_decoder_gs::decode_word(
|
||||||
int32_t word_counter,
|
int32_t word_counter, const double *enc_word_symbols,
|
||||||
const double* enc_word_symbols,
|
int32_t *dec_word_symbols) {
|
||||||
int32_t* dec_word_symbols)
|
|
||||||
{
|
|
||||||
int32_t bitsbch[30], first_branch[15], second_branch[15];
|
int32_t bitsbch[30], first_branch[15], second_branch[15];
|
||||||
|
|
||||||
if (word_counter == 1)
|
if (word_counter == 1) {
|
||||||
{
|
for (uint32_t j = 0; j < 30; j++) {
|
||||||
for (uint32_t j = 0; j < 30; j++)
|
dec_word_symbols[j] =
|
||||||
{
|
static_cast<int32_t>(enc_word_symbols[j] > 0) ? (1) : (-1);
|
||||||
dec_word_symbols[j] = static_cast<int32_t>(enc_word_symbols[j] > 0) ? (1) : (-1);
|
|
||||||
}
|
}
|
||||||
}
|
} else {
|
||||||
else
|
for (uint32_t r = 0; r < 2; r++) {
|
||||||
{
|
for (uint32_t c = 0; c < 15; c++) {
|
||||||
for (uint32_t r = 0; r < 2; r++)
|
bitsbch[r * 15 + c] =
|
||||||
{
|
static_cast<int32_t>(enc_word_symbols[c * 2 + r] > 0) ? (1) : (-1);
|
||||||
for (uint32_t c = 0; c < 15; c++)
|
|
||||||
{
|
|
||||||
bitsbch[r * 15 + c] = static_cast<int32_t>(enc_word_symbols[c*2 + r] > 0) ? (1) : (-1);
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
decode_bch15_11_01(&bitsbch[0], first_branch);
|
decode_bch15_11_01(&bitsbch[0], first_branch);
|
||||||
decode_bch15_11_01(&bitsbch[15], second_branch);
|
decode_bch15_11_01(&bitsbch[15], second_branch);
|
||||||
|
|
||||||
for (uint32_t j = 0; j < 11; j++)
|
for (uint32_t j = 0; j < 11; j++) {
|
||||||
{
|
|
||||||
dec_word_symbols[j] = first_branch[j];
|
dec_word_symbols[j] = first_branch[j];
|
||||||
dec_word_symbols[j + 11] = second_branch[j];
|
dec_word_symbols[j + 11] = second_branch[j];
|
||||||
}
|
}
|
||||||
|
|
||||||
for (uint32_t j = 0; j < 4; j++)
|
for (uint32_t j = 0; j < 4; j++) {
|
||||||
{
|
|
||||||
dec_word_symbols[j + 22] = first_branch[11 + j];
|
dec_word_symbols[j + 22] = first_branch[11 + j];
|
||||||
dec_word_symbols[j + 26] = second_branch[11 + j];
|
dec_word_symbols[j + 26] = second_branch[11 + j];
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
void beidou_b3i_telemetry_decoder_gs::decode_subframe(double *frame_symbols) {
|
||||||
void beidou_b3i_telemetry_decoder_gs::decode_subframe(double *frame_symbols)
|
|
||||||
{
|
|
||||||
// 1. Transform from symbols to bits
|
// 1. Transform from symbols to bits
|
||||||
std::string data_bits;
|
std::string data_bits;
|
||||||
int32_t dec_word_bits[30];
|
int32_t dec_word_bits[30];
|
||||||
|
|
||||||
// Decode each word in subframe
|
// Decode each word in subframe
|
||||||
for(uint32_t ii = 0; ii < BEIDOU_DNAV_WORDS_SUBFRAME; ii++)
|
for (uint32_t ii = 0; ii < BEIDOU_DNAV_WORDS_SUBFRAME; ii++) {
|
||||||
{
|
|
||||||
// decode the word
|
// decode the word
|
||||||
decode_word((ii + 1), &frame_symbols[ii * 30], dec_word_bits);
|
decode_word((ii + 1), &frame_symbols[ii * 30], dec_word_bits);
|
||||||
|
|
||||||
// Save word to string format
|
// Save word to string format
|
||||||
for (uint32_t jj = 0; jj < (BEIDOU_DNAV_WORD_LENGTH_BITS); jj++)
|
for (uint32_t jj = 0; jj < (BEIDOU_DNAV_WORD_LENGTH_BITS); jj++) {
|
||||||
{
|
|
||||||
data_bits.push_back((dec_word_bits[jj] > 0) ? ('1') : ('0'));
|
data_bits.push_back((dec_word_bits[jj] > 0) ? ('1') : ('0'));
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
if ( d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6 )
|
if (d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6) {
|
||||||
{
|
|
||||||
d_nav.d2_subframe_decoder(data_bits);
|
d_nav.d2_subframe_decoder(data_bits);
|
||||||
}
|
} else {
|
||||||
else
|
|
||||||
{
|
|
||||||
d_nav.d1_subframe_decoder(data_bits);
|
d_nav.d1_subframe_decoder(data_bits);
|
||||||
}
|
}
|
||||||
|
|
||||||
// 3. Check operation executed correctly
|
// 3. Check operation executed correctly
|
||||||
if (d_nav.flag_crc_test == true)
|
if (d_nav.flag_crc_test == true) {
|
||||||
{
|
LOG(INFO) << "BeiDou DNAV CRC correct in channel " << d_channel
|
||||||
LOG(INFO) << "BeiDou DNAV CRC correct in channel " << d_channel << " from satellite " << d_satellite;
|
<< " from satellite " << d_satellite;
|
||||||
}
|
} else {
|
||||||
else
|
LOG(INFO) << "BeiDou DNAV CRC error in channel " << d_channel
|
||||||
{
|
<< " from satellite " << d_satellite;
|
||||||
LOG(INFO) << "BeiDou DNAV CRC error in 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) {
|
||||||
{
|
|
||||||
// get object for this SV (mandatory)
|
// get object for this SV (mandatory)
|
||||||
std::shared_ptr<Beidou_Dnav_Ephemeris> tmp_obj = std::make_shared<Beidou_Dnav_Ephemeris>(d_nav.get_ephemeris());
|
std::shared_ptr<Beidou_Dnav_Ephemeris> tmp_obj =
|
||||||
|
std::make_shared<Beidou_Dnav_Ephemeris>(d_nav.get_ephemeris());
|
||||||
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
||||||
LOG(INFO) << "BEIDOU DNAV Ephemeris have been received in channel" << d_channel << " from satellite " << d_satellite;
|
LOG(INFO) << "BEIDOU DNAV Ephemeris have been received in channel"
|
||||||
std::cout << "New BEIDOU B3I DNAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << std::endl;
|
<< d_channel << " from satellite " << d_satellite;
|
||||||
|
std::cout << "New BEIDOU B3I DNAV message received in channel " << d_channel
|
||||||
|
<< ": ephemeris from satellite " << d_satellite << std::endl;
|
||||||
}
|
}
|
||||||
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<Beidou_Dnav_Utc_Model> tmp_obj = std::make_shared<Beidou_Dnav_Utc_Model>(d_nav.get_utc_model());
|
std::shared_ptr<Beidou_Dnav_Utc_Model> tmp_obj =
|
||||||
|
std::make_shared<Beidou_Dnav_Utc_Model>(d_nav.get_utc_model());
|
||||||
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
||||||
LOG(INFO) << "BEIDOU DNAV UTC Model have been received in channel" << d_channel << " from satellite " << d_satellite;
|
LOG(INFO) << "BEIDOU DNAV UTC Model have been received in channel"
|
||||||
std::cout << "New BEIDOU B3I DNAV utc model message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << std::endl;
|
<< d_channel << " from satellite " << d_satellite;
|
||||||
|
std::cout << "New BEIDOU B3I DNAV utc model message received in channel "
|
||||||
|
<< d_channel << ": UTC model parameters from satellite "
|
||||||
|
<< d_satellite << std::endl;
|
||||||
}
|
}
|
||||||
if (d_nav.have_new_iono() == true)
|
if (d_nav.have_new_iono() == true) {
|
||||||
{
|
|
||||||
// get object for this SV (mandatory)
|
// get object for this SV (mandatory)
|
||||||
std::shared_ptr<Beidou_Dnav_Iono> tmp_obj = std::make_shared<Beidou_Dnav_Iono>(d_nav.get_iono());
|
std::shared_ptr<Beidou_Dnav_Iono> tmp_obj =
|
||||||
|
std::make_shared<Beidou_Dnav_Iono>(d_nav.get_iono());
|
||||||
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
||||||
LOG(INFO) << "BEIDOU DNAV Iono have been received in channel" << d_channel << " from satellite " << d_satellite;
|
LOG(INFO) << "BEIDOU DNAV Iono have been received in channel" << d_channel
|
||||||
std::cout << "New BEIDOU B3I DNAV Iono message received in channel " << d_channel << ": Iono model parameters from satellite " << d_satellite << std::endl;
|
<< " from satellite " << d_satellite;
|
||||||
|
std::cout << "New BEIDOU B3I DNAV Iono message received in channel "
|
||||||
|
<< d_channel << ": Iono model parameters from satellite "
|
||||||
|
<< d_satellite << std::endl;
|
||||||
}
|
}
|
||||||
if (d_nav.have_new_almanac() == true)
|
if (d_nav.have_new_almanac() == true) {
|
||||||
{
|
|
||||||
// unsigned int slot_nbr = d_nav.i_alm_satellite_PRN;
|
// unsigned int slot_nbr = d_nav.i_alm_satellite_PRN;
|
||||||
// std::shared_ptr<Beidou_Dnav_Almanac> tmp_obj = std::make_shared<Beidou_Dnav_Almanac>(d_nav.get_almanac(slot_nbr));
|
// std::shared_ptr<Beidou_Dnav_Almanac> tmp_obj =
|
||||||
// this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
// std::make_shared<Beidou_Dnav_Almanac>(d_nav.get_almanac(slot_nbr));
|
||||||
LOG(INFO) << "BEIDOU DNAV Almanac have been received in channel" << d_channel << " from satellite " << d_satellite << std::endl;
|
// this->message_port_pub(pmt::mp("telemetry"),
|
||||||
std::cout << "New BEIDOU B3I DNAV almanac received in channel " << d_channel << " from satellite " << d_satellite << std::endl;
|
// pmt::make_any(tmp_obj));
|
||||||
|
LOG(INFO) << "BEIDOU DNAV Almanac have been received in channel"
|
||||||
|
<< d_channel << " from satellite " << d_satellite << std::endl;
|
||||||
|
std::cout << "New BEIDOU B3I DNAV almanac received in channel " << d_channel
|
||||||
|
<< " from satellite " << d_satellite << std::endl;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
void beidou_b3i_telemetry_decoder_gs::set_satellite(
|
||||||
void beidou_b3i_telemetry_decoder_gs::set_satellite(const Gnss_Satellite &satellite)
|
const Gnss_Satellite &satellite) {
|
||||||
{
|
|
||||||
uint32_t sat_prn = 0;
|
uint32_t sat_prn = 0;
|
||||||
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
|
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
|
||||||
DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite;
|
DLOG(INFO) << "Setting decoder Finite State Machine to satellite "
|
||||||
|
<< d_satellite;
|
||||||
DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
|
DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
|
||||||
|
|
||||||
// Update satellite information for DNAV decoder
|
// Update satellite information for DNAV decoder
|
||||||
sat_prn = d_satellite.get_PRN();
|
sat_prn = d_satellite.get_PRN();
|
||||||
d_nav.i_satellite_PRN = sat_prn;
|
d_nav.i_satellite_PRN = sat_prn;
|
||||||
d_nav.i_signal_type = 5; //!< BDS: data source (0:unknown,1:B1I,2:B1Q,3:B2I,4:B2Q,5:B3I,6:B3Q)
|
d_nav.i_signal_type =
|
||||||
|
5; //!< BDS: data source (0:unknown,1:B1I,2:B1Q,3:B2I,4:B2Q,5:B3I,6:B3Q)
|
||||||
|
|
||||||
// Update tel dec parameters for D2 NAV Messages
|
// Update tel dec parameters for D2 NAV Messages
|
||||||
if ( sat_prn > 0 and sat_prn < 6 )
|
if (sat_prn > 0 and sat_prn < 6) {
|
||||||
{
|
|
||||||
// Clear values from previous declaration
|
// Clear values from previous declaration
|
||||||
volk_gnsssdr_free(d_preamble_samples);
|
volk_gnsssdr_free(d_preamble_samples);
|
||||||
volk_gnsssdr_free(d_secondary_code_symbols);
|
volk_gnsssdr_free(d_secondary_code_symbols);
|
||||||
volk_gnsssdr_free(d_subframe_symbols);
|
volk_gnsssdr_free(d_subframe_symbols);
|
||||||
|
|
||||||
d_samples_per_symbol = (BEIDOU_B3I_CODE_RATE_HZ / BEIDOU_B3I_CODE_LENGTH_CHIPS) / BEIDOU_D2NAV_SYMBOL_RATE_SPS;
|
d_samples_per_symbol =
|
||||||
|
(BEIDOU_B3I_CODE_RATE_HZ / BEIDOU_B3I_CODE_LENGTH_CHIPS) /
|
||||||
|
BEIDOU_D2NAV_SYMBOL_RATE_SPS;
|
||||||
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
|
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
|
||||||
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol;
|
d_samples_per_preamble =
|
||||||
|
BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS * d_samples_per_symbol;
|
||||||
d_secondary_code_symbols = nullptr;
|
d_secondary_code_symbols = nullptr;
|
||||||
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
|
d_preamble_samples = static_cast<int32_t *>(
|
||||||
d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS*d_samples_per_symbol;
|
volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t),
|
||||||
|
volk_gnsssdr_get_alignment()));
|
||||||
|
d_preamble_period_samples =
|
||||||
|
BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * d_samples_per_symbol;
|
||||||
|
|
||||||
// Setting samples of preamble code
|
// Setting samples of preamble code
|
||||||
int32_t n = 0;
|
int32_t n = 0;
|
||||||
for (int32_t i = 0; i < d_symbols_per_preamble; i++)
|
for (int32_t i = 0; i < d_symbols_per_preamble; i++) {
|
||||||
{
|
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1') {
|
||||||
if (BEIDOU_DNAV_PREAMBLE.at(i) == '1')
|
for (uint32_t j = 0; j < d_samples_per_symbol; j++) {
|
||||||
{
|
|
||||||
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
|
|
||||||
{
|
|
||||||
d_preamble_samples[n] = 1;
|
d_preamble_samples[n] = 1;
|
||||||
n++;
|
n++;
|
||||||
}
|
}
|
||||||
}
|
} else {
|
||||||
else
|
for (uint32_t j = 0; j < d_samples_per_symbol; j++) {
|
||||||
{
|
|
||||||
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
|
|
||||||
{
|
|
||||||
d_preamble_samples[n] = -1;
|
d_preamble_samples[n] = -1;
|
||||||
n++;
|
n++;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(double), volk_gnsssdr_get_alignment()));
|
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(
|
||||||
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS*d_samples_per_symbol + d_samples_per_preamble;
|
BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(double),
|
||||||
|
volk_gnsssdr_get_alignment()));
|
||||||
|
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS * d_samples_per_symbol +
|
||||||
|
d_samples_per_preamble;
|
||||||
d_symbol_history.set_capacity(d_required_symbols + 1);
|
d_symbol_history.set_capacity(d_required_symbols + 1);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
void beidou_b3i_telemetry_decoder_gs::set_channel(int32_t channel) {
|
||||||
void beidou_b3i_telemetry_decoder_gs::set_channel(int32_t channel)
|
|
||||||
{
|
|
||||||
d_channel = channel;
|
d_channel = channel;
|
||||||
LOG(INFO) << "Navigation channel set to " << channel;
|
LOG(INFO) << "Navigation channel set to " << channel;
|
||||||
// ############# ENABLE DATA FILE LOG #################
|
// ############# ENABLE DATA FILE LOG #################
|
||||||
if (d_dump == true)
|
if (d_dump == true) {
|
||||||
{
|
if (d_dump_file.is_open() == false) {
|
||||||
if (d_dump_file.is_open() == false)
|
try {
|
||||||
{
|
|
||||||
try
|
|
||||||
{
|
|
||||||
d_dump_filename = "telemetry";
|
d_dump_filename = "telemetry";
|
||||||
d_dump_filename.append(std::to_string(d_channel));
|
d_dump_filename.append(std::to_string(d_channel));
|
||||||
d_dump_filename.append(".dat");
|
d_dump_filename.append(".dat");
|
||||||
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
|
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);
|
d_dump_file.open(d_dump_filename.c_str(),
|
||||||
LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str();
|
std::ios::out | std::ios::binary);
|
||||||
}
|
LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel
|
||||||
catch (const std::ifstream::failure &e)
|
<< " Log file: " << d_dump_filename.c_str();
|
||||||
{
|
} catch (const std::ifstream::failure &e) {
|
||||||
LOG(WARNING) << "channel " << d_channel << ": exception opening Beidou TLM dump file. " << e.what();
|
LOG(WARNING) << "channel " << d_channel
|
||||||
|
<< ": exception opening Beidou TLM dump file. "
|
||||||
|
<< e.what();
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
int beidou_b3i_telemetry_decoder_gs::general_work(
|
||||||
int beidou_b3i_telemetry_decoder_gs::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
|
int noutput_items __attribute__((unused)),
|
||||||
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
|
gr_vector_int &ninput_items __attribute__((unused)),
|
||||||
{
|
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) {
|
||||||
int32_t corr_value = 0;
|
int32_t corr_value = 0;
|
||||||
int32_t preamble_diff = 0;
|
int32_t preamble_diff = 0;
|
||||||
|
|
||||||
auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]); // Get the output buffer pointer
|
auto **out = reinterpret_cast<Gnss_Synchro **>(
|
||||||
const auto **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]); // Get the input buffer pointer
|
&output_items[0]); // Get the output buffer pointer
|
||||||
|
const auto **in = reinterpret_cast<const Gnss_Synchro **>(
|
||||||
|
&input_items[0]); // Get the input buffer pointer
|
||||||
|
|
||||||
Gnss_Synchro current_symbol; //structure to save the synchronization information and send the output object to the next block
|
Gnss_Synchro current_symbol; // structure to save the synchronization
|
||||||
|
// information and send the output object to the
|
||||||
|
// next block
|
||||||
// 1. Copy the current tracking output
|
// 1. Copy the current tracking output
|
||||||
current_symbol = in[0][0];
|
current_symbol = in[0][0];
|
||||||
d_symbol_history.push_back(current_symbol.Prompt_I); //add new symbol to the symbol queue
|
d_symbol_history.push_back(
|
||||||
|
current_symbol.Prompt_I); // add new symbol to the symbol queue
|
||||||
d_sample_counter++; // count for the processed samples
|
d_sample_counter++; // count for the processed samples
|
||||||
consume_each(1);
|
consume_each(1);
|
||||||
|
|
||||||
d_flag_preamble = false;
|
d_flag_preamble = false;
|
||||||
|
|
||||||
if (d_symbol_history.size() > d_required_symbols)
|
if (d_symbol_history.size() > d_required_symbols) {
|
||||||
{
|
|
||||||
//******* preamble correlation ********
|
//******* preamble correlation ********
|
||||||
for (int32_t i = 0; i < d_samples_per_preamble; i++)
|
for (int32_t i = 0; i < d_samples_per_preamble; i++) {
|
||||||
{
|
|
||||||
if (d_symbol_history[i] < 0) // symbols clipping
|
if (d_symbol_history[i] < 0) // symbols clipping
|
||||||
{
|
{
|
||||||
corr_value -= d_preamble_samples[i];
|
corr_value -= d_preamble_samples[i];
|
||||||
}
|
} else {
|
||||||
else
|
|
||||||
{
|
|
||||||
corr_value += d_preamble_samples[i];
|
corr_value += d_preamble_samples[i];
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@ -420,85 +403,75 @@ int beidou_b3i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
|
|||||||
//******* frame sync ******************
|
//******* frame sync ******************
|
||||||
if (d_stat == 0) // no preamble information
|
if (d_stat == 0) // no preamble information
|
||||||
{
|
{
|
||||||
if (abs(corr_value) >= d_samples_per_preamble)
|
if (abs(corr_value) >= d_samples_per_preamble) {
|
||||||
{
|
|
||||||
// Record the preamble sample stamp
|
// Record the preamble sample stamp
|
||||||
d_preamble_index = d_sample_counter;
|
d_preamble_index = d_sample_counter;
|
||||||
LOG(INFO) << "Preamble detection for BEIDOU B3I SAT " << this->d_satellite;
|
LOG(INFO) << "Preamble detection for BEIDOU B3I SAT "
|
||||||
|
<< this->d_satellite;
|
||||||
// Enter into frame pre-detection status
|
// Enter into frame pre-detection status
|
||||||
d_stat = 1;
|
d_stat = 1;
|
||||||
}
|
}
|
||||||
}
|
} else if (d_stat == 1) // possible preamble lock
|
||||||
else if (d_stat == 1) // possible preamble lock
|
|
||||||
{
|
|
||||||
if (abs(corr_value) >= d_samples_per_preamble)
|
|
||||||
{
|
{
|
||||||
|
if (abs(corr_value) >= d_samples_per_preamble) {
|
||||||
// check preamble separation
|
// check preamble separation
|
||||||
preamble_diff = static_cast<int32_t>(d_sample_counter - d_preamble_index);
|
preamble_diff = static_cast<int32_t>(d_sample_counter - d_preamble_index);
|
||||||
if (abs(preamble_diff - d_preamble_period_samples) == 0)
|
if (abs(preamble_diff - d_preamble_period_samples) == 0) {
|
||||||
{
|
|
||||||
// try to decode frame
|
// try to decode frame
|
||||||
LOG(INFO) << "Starting BeiDou DNAV frame decoding for BeiDou B3I SAT " << this->d_satellite;
|
LOG(INFO) << "Starting BeiDou DNAV frame decoding for BeiDou B3I SAT "
|
||||||
|
<< 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;
|
||||||
}
|
} else {
|
||||||
else
|
if (preamble_diff > d_preamble_period_samples) {
|
||||||
{
|
|
||||||
if (preamble_diff > d_preamble_period_samples)
|
|
||||||
{
|
|
||||||
d_stat = 0; // start again
|
d_stat = 0; // start again
|
||||||
}
|
}
|
||||||
DLOG(INFO) << "Failed BeiDou DNAV frame decoding for BeiDou B3I SAT " << this->d_satellite;
|
DLOG(INFO) << "Failed BeiDou DNAV frame decoding for BeiDou B3I SAT "
|
||||||
|
<< this->d_satellite;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
} else if (d_stat == 2) // preamble acquired
|
||||||
else if (d_stat == 2) // preamble acquired
|
|
||||||
{
|
|
||||||
if (d_sample_counter == d_preamble_index + static_cast<uint64_t>(d_preamble_period_samples))
|
|
||||||
{
|
{
|
||||||
|
if (d_sample_counter ==
|
||||||
|
d_preamble_index + static_cast<uint64_t>(d_preamble_period_samples)) {
|
||||||
//******* SAMPLES TO SYMBOLS *******
|
//******* SAMPLES TO SYMBOLS *******
|
||||||
if (corr_value > 0) // normal PLL lock
|
if (corr_value > 0) // normal PLL lock
|
||||||
{
|
{
|
||||||
int32_t k = 0;
|
int32_t k = 0;
|
||||||
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
|
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++) {
|
||||||
{
|
|
||||||
d_subframe_symbols[i] = 0;
|
d_subframe_symbols[i] = 0;
|
||||||
// integrate samples into symbols
|
// integrate samples into symbols
|
||||||
for (uint32_t m = 0; m < d_samples_per_symbol; m++)
|
for (uint32_t m = 0; m < d_samples_per_symbol; m++) {
|
||||||
{
|
if (d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6) {
|
||||||
if ( d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6 )
|
|
||||||
{
|
|
||||||
// because last symbol of the preamble is just received now!
|
// because last symbol of the preamble is just received now!
|
||||||
d_subframe_symbols[i] += d_symbol_history.at(i * d_samples_per_symbol + m);
|
d_subframe_symbols[i] +=
|
||||||
}
|
d_symbol_history.at(i * d_samples_per_symbol + m);
|
||||||
else
|
} else {
|
||||||
{
|
|
||||||
// because last symbol of the preamble is just received now!
|
// because last symbol of the preamble is just received now!
|
||||||
d_subframe_symbols[i] += static_cast<float>(d_secondary_code_symbols[k]) * d_symbol_history.at(i * d_samples_per_symbol + m);
|
d_subframe_symbols[i] +=
|
||||||
|
static_cast<float>(d_secondary_code_symbols[k]) *
|
||||||
|
d_symbol_history.at(i * d_samples_per_symbol + m);
|
||||||
k++;
|
k++;
|
||||||
k = k % BEIDOU_B3I_SECONDARY_CODE_LENGTH;
|
k = k % BEIDOU_B3I_SECONDARY_CODE_LENGTH;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
} else // 180 deg. inverted carrier phase PLL lock
|
||||||
else //180 deg. inverted carrier phase PLL lock
|
|
||||||
{
|
{
|
||||||
int32_t k = 0;
|
int32_t k = 0;
|
||||||
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
|
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++) {
|
||||||
{
|
|
||||||
d_subframe_symbols[i] = 0;
|
d_subframe_symbols[i] = 0;
|
||||||
// integrate samples into symbols
|
// integrate samples into symbols
|
||||||
for (uint32_t m = 0; m < d_samples_per_symbol; m++)
|
for (uint32_t m = 0; m < d_samples_per_symbol; m++) {
|
||||||
{
|
if (d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6) {
|
||||||
if ( d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6 )
|
|
||||||
{
|
|
||||||
// because last symbol of the preamble is just received now!
|
// because last symbol of the preamble is just received now!
|
||||||
d_subframe_symbols[i] -= d_symbol_history.at(i * d_samples_per_symbol + m);
|
d_subframe_symbols[i] -=
|
||||||
}
|
d_symbol_history.at(i * d_samples_per_symbol + m);
|
||||||
else
|
} else {
|
||||||
{
|
|
||||||
// because last symbol of the preamble is just received now!
|
// because last symbol of the preamble is just received now!
|
||||||
d_subframe_symbols[i] -= static_cast<float>(d_secondary_code_symbols[k]) * d_symbol_history.at(i * d_samples_per_symbol + m);
|
d_subframe_symbols[i] -=
|
||||||
|
static_cast<float>(d_secondary_code_symbols[k]) *
|
||||||
|
d_symbol_history.at(i * d_samples_per_symbol + m);
|
||||||
k++;
|
k++;
|
||||||
k = k % BEIDOU_B3I_SECONDARY_CODE_LENGTH;
|
k = k % BEIDOU_B3I_SECONDARY_CODE_LENGTH;
|
||||||
}
|
}
|
||||||
@ -509,24 +482,23 @@ int beidou_b3i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
|
|||||||
// call the decoder
|
// call the decoder
|
||||||
decode_subframe(d_subframe_symbols);
|
decode_subframe(d_subframe_symbols);
|
||||||
|
|
||||||
if (d_nav.flag_crc_test == true)
|
if (d_nav.flag_crc_test == true) {
|
||||||
{
|
|
||||||
d_CRC_error_counter = 0;
|
d_CRC_error_counter = 0;
|
||||||
d_flag_preamble = true; //valid preamble indicator (initialized to false every work())
|
d_flag_preamble = true; // valid preamble indicator (initialized to
|
||||||
d_preamble_index = d_sample_counter; //record the preamble sample stamp (t_P)
|
// false every work())
|
||||||
if (!d_flag_frame_sync)
|
d_preamble_index =
|
||||||
{
|
d_sample_counter; // record the preamble sample stamp (t_P)
|
||||||
|
if (!d_flag_frame_sync) {
|
||||||
d_flag_frame_sync = true;
|
d_flag_frame_sync = true;
|
||||||
DLOG(INFO) << "BeiDou DNAV frame sync found for SAT " << this->d_satellite;
|
DLOG(INFO) << "BeiDou DNAV frame sync found for SAT "
|
||||||
|
<< this->d_satellite;
|
||||||
}
|
}
|
||||||
}
|
} else {
|
||||||
else
|
|
||||||
{
|
|
||||||
d_CRC_error_counter++;
|
d_CRC_error_counter++;
|
||||||
d_preamble_index = d_sample_counter; // record the preamble sample stamp
|
d_preamble_index = d_sample_counter; // record the preamble sample stamp
|
||||||
if (d_CRC_error_counter > CRC_ERROR_LIMIT)
|
if (d_CRC_error_counter > CRC_ERROR_LIMIT) {
|
||||||
{
|
LOG(INFO) << "BeiDou DNAV frame sync lost for SAT "
|
||||||
LOG(INFO) << "BeiDou DNAV frame sync lost for SAT " << this->d_satellite;
|
<< this->d_satellite;
|
||||||
d_flag_frame_sync = false;
|
d_flag_frame_sync = false;
|
||||||
d_stat = 0;
|
d_stat = 0;
|
||||||
flag_SOW_set = false;
|
flag_SOW_set = false;
|
||||||
@ -542,51 +514,49 @@ int beidou_b3i_telemetry_decoder_gs::general_work(int noutput_items __attribute_
|
|||||||
{
|
{
|
||||||
// Reporting sow as gps time of week
|
// Reporting sow as gps time of week
|
||||||
d_TOW_at_Preamble_ms = static_cast<uint32_t>((d_nav.d_SOW + 14) * 1000.0);
|
d_TOW_at_Preamble_ms = static_cast<uint32_t>((d_nav.d_SOW + 14) * 1000.0);
|
||||||
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * BEIDOU_B3I_CODE_PERIOD_MS);
|
d_TOW_at_current_symbol_ms =
|
||||||
|
d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) *
|
||||||
|
BEIDOU_B3I_CODE_PERIOD_MS);
|
||||||
flag_SOW_set = true;
|
flag_SOW_set = true;
|
||||||
d_nav.flag_new_SOW_available = false;
|
d_nav.flag_new_SOW_available = false;
|
||||||
}
|
} else // if there is not a new preamble, we define the TOW of the current
|
||||||
else //if there is not a new preamble, we define the TOW of the current symbol
|
// symbol
|
||||||
{
|
{
|
||||||
d_TOW_at_current_symbol_ms += static_cast<uint32_t>(BEIDOU_B3I_CODE_PERIOD_MS);
|
d_TOW_at_current_symbol_ms +=
|
||||||
|
static_cast<uint32_t>(BEIDOU_B3I_CODE_PERIOD_MS);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
if (d_flag_frame_sync == true and flag_SOW_set == true) {
|
||||||
if (d_flag_frame_sync == true and flag_SOW_set == true)
|
|
||||||
{
|
|
||||||
current_symbol.Flag_valid_word = true;
|
current_symbol.Flag_valid_word = true;
|
||||||
}
|
} else {
|
||||||
else
|
|
||||||
{
|
|
||||||
current_symbol.Flag_valid_word = false;
|
current_symbol.Flag_valid_word = false;
|
||||||
}
|
}
|
||||||
|
|
||||||
current_symbol.PRN = this->d_satellite.get_PRN();
|
current_symbol.PRN = this->d_satellite.get_PRN();
|
||||||
current_symbol.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
|
current_symbol.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
|
||||||
|
|
||||||
if (d_dump == true)
|
if (d_dump == true) {
|
||||||
{
|
|
||||||
// MULTIPLEXED FILE RECORDING - Record results to file
|
// MULTIPLEXED FILE RECORDING - Record results to file
|
||||||
try
|
try {
|
||||||
{
|
|
||||||
double tmp_double;
|
double tmp_double;
|
||||||
uint64_t tmp_ulong_int;
|
uint64_t tmp_ulong_int;
|
||||||
tmp_double = static_cast<double>(d_TOW_at_current_symbol_ms);
|
tmp_double = static_cast<double>(d_TOW_at_current_symbol_ms);
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||||
tmp_ulong_int = current_symbol.Tracking_sample_counter;
|
tmp_ulong_int = current_symbol.Tracking_sample_counter;
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t));
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int),
|
||||||
|
sizeof(uint64_t));
|
||||||
tmp_double = d_nav.d_SOW;
|
tmp_double = d_nav.d_SOW;
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||||
tmp_ulong_int = static_cast<uint64_t>(d_required_symbols);
|
tmp_ulong_int = static_cast<uint64_t>(d_required_symbols);
|
||||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t));
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int),
|
||||||
}
|
sizeof(uint64_t));
|
||||||
catch (const std::ifstream::failure &e)
|
} catch (const std::ifstream::failure &e) {
|
||||||
{
|
|
||||||
LOG(WARNING) << "Exception writing observables dump file " << e.what();
|
LOG(WARNING) << "Exception writing observables dump file " << e.what();
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
//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_symbol;
|
*out[0] = current_symbol;
|
||||||
|
|
||||||
return 1;
|
return 1;
|
||||||
|
@ -35,25 +35,26 @@
|
|||||||
#include "gnss_satellite.h"
|
#include "gnss_satellite.h"
|
||||||
#include <boost/circular_buffer.hpp>
|
#include <boost/circular_buffer.hpp>
|
||||||
#include <boost/shared_ptr.hpp> // for boost::shared_ptr
|
#include <boost/shared_ptr.hpp> // for boost::shared_ptr
|
||||||
#include <gnuradio/block.h> // for block
|
|
||||||
#include <gnuradio/types.h> // for gr_vector_const_void_star
|
|
||||||
#include <cstdint>
|
#include <cstdint>
|
||||||
#include <fstream>
|
#include <fstream>
|
||||||
|
#include <gnuradio/block.h> // for block
|
||||||
|
#include <gnuradio/types.h> // for gr_vector_const_void_star
|
||||||
#include <string>
|
#include <string>
|
||||||
|
|
||||||
|
|
||||||
class beidou_b3i_telemetry_decoder_gs;
|
class beidou_b3i_telemetry_decoder_gs;
|
||||||
|
|
||||||
using beidou_b3i_telemetry_decoder_gs_sptr = boost::shared_ptr<beidou_b3i_telemetry_decoder_gs>;
|
using beidou_b3i_telemetry_decoder_gs_sptr =
|
||||||
|
boost::shared_ptr<beidou_b3i_telemetry_decoder_gs>;
|
||||||
|
|
||||||
beidou_b3i_telemetry_decoder_gs_sptr beidou_b3i_make_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump);
|
beidou_b3i_telemetry_decoder_gs_sptr
|
||||||
|
beidou_b3i_make_telemetry_decoder_gs(const Gnss_Satellite &satellite,
|
||||||
|
bool dump);
|
||||||
|
|
||||||
/*!
|
/*!
|
||||||
* \brief This class implements a block that decodes the BeiDou DNAV data.
|
* \brief This class implements a block that decodes the BeiDou DNAV data.
|
||||||
*
|
*
|
||||||
*/
|
*/
|
||||||
class beidou_b3i_telemetry_decoder_gs : public gr::block
|
class beidou_b3i_telemetry_decoder_gs : public gr::block {
|
||||||
{
|
|
||||||
public:
|
public:
|
||||||
~beidou_b3i_telemetry_decoder_gs(); //!< Class destructor
|
~beidou_b3i_telemetry_decoder_gs(); //!< Class destructor
|
||||||
void set_satellite(const Gnss_Satellite &satellite); //!< Set satellite PRN
|
void set_satellite(const Gnss_Satellite &satellite); //!< Set satellite PRN
|
||||||
@ -63,18 +64,20 @@ public:
|
|||||||
* \brief This is where all signal processing takes place
|
* \brief This is where all signal processing takes place
|
||||||
*/
|
*/
|
||||||
int general_work(int noutput_items, gr_vector_int &ninput_items,
|
int 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);
|
||||||
|
|
||||||
private:
|
private:
|
||||||
friend beidou_b3i_telemetry_decoder_gs_sptr
|
friend beidou_b3i_telemetry_decoder_gs_sptr
|
||||||
beidou_b3i_make_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump);
|
beidou_b3i_make_telemetry_decoder_gs(const Gnss_Satellite &satellite,
|
||||||
|
bool dump);
|
||||||
beidou_b3i_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump);
|
beidou_b3i_telemetry_decoder_gs(const Gnss_Satellite &satellite, bool dump);
|
||||||
|
|
||||||
void decode_subframe(double *symbols);
|
void decode_subframe(double *symbols);
|
||||||
void decode_word(int32_t word_counter, const double *enc_word_symbols, int32_t* dec_word_symbols);
|
void decode_word(int32_t word_counter, const double *enc_word_symbols,
|
||||||
|
int32_t *dec_word_symbols);
|
||||||
void decode_bch15_11_01(const int32_t *bits, int32_t *decbits);
|
void decode_bch15_11_01(const int32_t *bits, int32_t *decbits);
|
||||||
|
|
||||||
|
|
||||||
// Preamble decoding
|
// Preamble decoding
|
||||||
int32_t *d_preamble_samples;
|
int32_t *d_preamble_samples;
|
||||||
int32_t *d_secondary_code_symbols;
|
int32_t *d_secondary_code_symbols;
|
||||||
@ -89,7 +92,8 @@ private:
|
|||||||
boost::circular_buffer<float> d_symbol_history;
|
boost::circular_buffer<float> d_symbol_history;
|
||||||
|
|
||||||
// Variables for internal functionality
|
// Variables for internal functionality
|
||||||
uint64_t d_sample_counter; // Sample counter as an index (1,2,3,..etc) indicating number of samples processed
|
uint64_t d_sample_counter; // Sample counter as an index (1,2,3,..etc)
|
||||||
|
// indicating number of samples processed
|
||||||
uint64_t d_preamble_index; // Index of sample number where preamble was found
|
uint64_t d_preamble_index; // Index of sample number where preamble was found
|
||||||
uint32_t d_stat; // Status of decoder
|
uint32_t d_stat; // Status of decoder
|
||||||
bool d_flag_frame_sync; // Indicate when a frame sync is achieved
|
bool d_flag_frame_sync; // Indicate when a frame sync is achieved
|
||||||
|
Loading…
Reference in New Issue
Block a user