diff --git a/src/algorithms/tracking/gnuradio_blocks/galileo_volk_e1_dll_pll_veml_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/galileo_volk_e1_dll_pll_veml_tracking_cc.cc index 258d5b023..585df0fda 100644 --- a/src/algorithms/tracking/gnuradio_blocks/galileo_volk_e1_dll_pll_veml_tracking_cc.cc +++ b/src/algorithms/tracking/gnuradio_blocks/galileo_volk_e1_dll_pll_veml_tracking_cc.cc @@ -65,42 +65,42 @@ using google::LogMessage; galileo_volk_e1_dll_pll_veml_tracking_cc_sptr galileo_volk_e1_dll_pll_veml_make_tracking_cc( - long if_freq, - long fs_in, - unsigned int vector_length, - boost::shared_ptr queue, - bool dump, - std::string dump_filename, - float pll_bw_hz, - float dll_bw_hz, - float early_late_space_chips, - float very_early_late_space_chips) + long if_freq, + long fs_in, + unsigned int vector_length, + boost::shared_ptr queue, + bool dump, + std::string dump_filename, + float pll_bw_hz, + float dll_bw_hz, + float early_late_space_chips, + float very_early_late_space_chips) { return galileo_volk_e1_dll_pll_veml_tracking_cc_sptr(new galileo_volk_e1_dll_pll_veml_tracking_cc(if_freq, - fs_in, vector_length, queue, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips, very_early_late_space_chips)); + fs_in, vector_length, queue, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips, very_early_late_space_chips)); } void galileo_volk_e1_dll_pll_veml_tracking_cc::forecast (int noutput_items, - gr_vector_int &ninput_items_required) + gr_vector_int &ninput_items_required) { - ninput_items_required[0] = (int)d_vector_length*2; //set the required available samples in each call + ninput_items_required[0] = static_cast(d_vector_length) * 2; //set the required available samples in each call } galileo_volk_e1_dll_pll_veml_tracking_cc::galileo_volk_e1_dll_pll_veml_tracking_cc( - long if_freq, - long fs_in, - unsigned int vector_length, - boost::shared_ptr queue, - bool dump, - std::string dump_filename, - float pll_bw_hz, - float dll_bw_hz, - float early_late_space_chips, - float very_early_late_space_chips): - gr::block("galileo_volk_e1_dll_pll_veml_tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)), - gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) + long if_freq, + long fs_in, + unsigned int vector_length, + boost::shared_ptr queue, + bool dump, + std::string dump_filename, + float pll_bw_hz, + float dll_bw_hz, + float early_late_space_chips, + float very_early_late_space_chips): +gr::block("galileo_volk_e1_dll_pll_veml_tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)), + gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) { this->set_relative_rate(1.0/vector_length); // initialize internal vars @@ -112,78 +112,70 @@ galileo_volk_e1_dll_pll_veml_tracking_cc::galileo_volk_e1_dll_pll_veml_tracking_ d_dump_filename = dump_filename; d_code_loop_filter = Tracking_2nd_DLL_filter(Galileo_E1_CODE_PERIOD); d_carrier_loop_filter = Tracking_2nd_PLL_filter(Galileo_E1_CODE_PERIOD); - + // Initialize tracking ========================================== - + // Set bandwidth of code and carrier loop filters d_code_loop_filter.set_DLL_BW(dll_bw_hz); d_carrier_loop_filter.set_PLL_BW(pll_bw_hz); - + // Correlator spacing d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips) d_very_early_late_spc_chips = very_early_late_space_chips; // Define very-early-late offset (in chips) - + // Initialization of local code replica // Get space for a vector with the sinboc(1,1) replica sampled 2x/chip - d_ca_code = new gr_complex[(int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS + 4)]; - - /* If an array is partitioned for more than one thread to operate on, - * having the sub-array boundaries unaligned to cache lines could lead - * to performance degradation. Here we allocate memory - * (gr_comlex array of size 2*d_vector_length) aligned to cache of 16 bytes - */ - - d_very_early_code=(gr_complex*)volk_malloc(2*d_vector_length * sizeof(gr_complex),volk_get_alignment()); - d_early_code=(gr_complex*)volk_malloc(2*d_vector_length * sizeof(gr_complex),volk_get_alignment()); - d_prompt_code=(gr_complex*)volk_malloc(2*d_vector_length * sizeof(gr_complex),volk_get_alignment()); - d_late_code=(gr_complex*)volk_malloc(2*d_vector_length * sizeof(gr_complex),volk_get_alignment()); - d_very_late_code=(gr_complex*)volk_malloc(2*d_vector_length * sizeof(gr_complex),volk_get_alignment()); - - d_carr_sign=(gr_complex*)volk_malloc(2*d_vector_length * sizeof(gr_complex),volk_get_alignment()); + d_ca_code = static_cast(volk_malloc((2 * Galileo_E1_B_CODE_LENGTH_CHIPS + 4) * sizeof(gr_complex), volk_get_alignment())); - d_very_early_code16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment()); - d_early_code16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment()); - d_prompt_code16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment()); - d_late_code16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment()); - d_very_late_code16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment()); - d_carr_sign16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment()); - in16=(lv_16sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_16sc_t),volk_get_alignment()); + d_very_early_code = static_cast(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment())); + d_early_code = static_cast(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment())); + d_prompt_code = static_cast(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment())); + d_late_code = static_cast(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment())); + d_very_late_code = static_cast(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment())); + d_carr_sign = static_cast(volk_malloc(2*d_vector_length * sizeof(gr_complex), volk_get_alignment())); + + d_very_early_code16=static_cast(volk_malloc(2 * d_vector_length * sizeof(lv_16sc_t), volk_get_alignment())); + d_early_code16=static_cast(volk_malloc(2 * d_vector_length * sizeof(lv_16sc_t), volk_get_alignment())); + d_prompt_code16=static_cast(volk_malloc(2 * d_vector_length * sizeof(lv_16sc_t), volk_get_alignment())); + d_late_code16=static_cast(volk_malloc(2 * d_vector_length * sizeof(lv_16sc_t), volk_get_alignment())); + d_very_late_code16=static_cast(volk_malloc(2 * d_vector_length * sizeof(lv_16sc_t), volk_get_alignment())); + d_carr_sign16=static_cast(volk_malloc(2 * d_vector_length * sizeof(lv_16sc_t), volk_get_alignment())); + in16=static_cast(volk_malloc(2 * d_vector_length * sizeof(lv_16sc_t), volk_get_alignment())); + + d_very_early_code8=static_cast(volk_malloc(2 * d_vector_length * sizeof(lv_8sc_t), volk_get_alignment())); + d_early_code8=static_cast(volk_malloc(2 * d_vector_length * sizeof(lv_8sc_t), volk_get_alignment())); + d_prompt_code8=static_cast(volk_malloc(2 * d_vector_length * sizeof(lv_8sc_t), volk_get_alignment())); + d_late_code8=static_cast(volk_malloc(2 * d_vector_length * sizeof(lv_8sc_t), volk_get_alignment())); + d_very_late_code8=static_cast(volk_malloc(2 * d_vector_length * sizeof(lv_8sc_t), volk_get_alignment())); + d_carr_sign8=static_cast(volk_malloc(2 * d_vector_length * sizeof(lv_8sc_t), volk_get_alignment())); + in8=static_cast(volk_malloc(2 * d_vector_length * sizeof(lv_8sc_t), volk_get_alignment())); - d_very_early_code8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment()); - d_early_code8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment()); - d_prompt_code8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment()); - d_late_code8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment()); - d_very_late_code8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment()); - d_carr_sign8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment()); - in8=(lv_8sc_t*)volk_malloc(2*d_vector_length * sizeof(lv_8sc_t),volk_get_alignment()); - // correlator outputs (scalar) - - d_Very_Early=(gr_complex*)volk_malloc(sizeof(gr_complex),volk_get_alignment()); - d_Early=(gr_complex*)volk_malloc(sizeof(gr_complex),volk_get_alignment()); - d_Prompt=(gr_complex*)volk_malloc(sizeof(gr_complex),volk_get_alignment()); - d_Late=(gr_complex*)volk_malloc(sizeof(gr_complex),volk_get_alignment()); - d_Very_Late=(gr_complex*)volk_malloc(sizeof(gr_complex),volk_get_alignment()); - + d_Very_Early = static_cast(volk_malloc(sizeof(gr_complex), volk_get_alignment())); + d_Early = static_cast(volk_malloc(sizeof(gr_complex), volk_get_alignment())); + d_Prompt = static_cast(volk_malloc(sizeof(gr_complex), volk_get_alignment())); + d_Late = static_cast(volk_malloc(sizeof(gr_complex), volk_get_alignment())); + d_Very_Late = static_cast(volk_malloc(sizeof(gr_complex), volk_get_alignment())); + //--- Initializations ------------------------------ // Initial code frequency basis of NCO - d_code_freq_chips = (double)Galileo_E1_CODE_CHIP_RATE_HZ; + d_code_freq_chips = static_cast(Galileo_E1_CODE_CHIP_RATE_HZ); // Residual code phase (in chips) d_rem_code_phase_samples = 0.0; // Residual carrier phase d_rem_carr_phase_rad = 0.0; - + // sample synchronization d_sample_counter = 0; //d_sample_counter_seconds = 0; d_acq_sample_stamp = 0; - + d_enable_tracking = false; d_pull_in = false; d_last_seg = 0; - - d_current_prn_length_samples = (int)d_vector_length; - + + d_current_prn_length_samples = static_cast(d_vector_length); + // CN0 estimation and lock detector buffers d_cn0_estimation_counter = 0; d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES]; @@ -191,13 +183,13 @@ galileo_volk_e1_dll_pll_veml_tracking_cc::galileo_volk_e1_dll_pll_veml_tracking_ d_CN0_SNV_dB_Hz = 0; d_carrier_lock_fail_counter = 0; d_carrier_lock_threshold = CARRIER_LOCK_THRESHOLD; - + systemName["E"] = std::string("Galileo"); - *d_Very_Early=gr_complex(0,0); - *d_Early=gr_complex(0,0); - *d_Prompt=gr_complex(0,0); - *d_Late=gr_complex(0,0); - *d_Very_Late=gr_complex(0,0); + *d_Very_Early = gr_complex(0,0); + *d_Early = gr_complex(0,0); + *d_Prompt = gr_complex(0,0); + *d_Late = gr_complex(0,0); + *d_Very_Late = gr_complex(0,0); } void galileo_volk_e1_dll_pll_veml_tracking_cc::start_tracking() @@ -205,46 +197,46 @@ void galileo_volk_e1_dll_pll_veml_tracking_cc::start_tracking() d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples; d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz; d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples; - + // DLL/PLL filter initialization d_carrier_loop_filter.initialize(); // initialize the carrier filter d_code_loop_filter.initialize(); // initialize the code filter - + // generate local reference ALWAYS starting at chip 2 (2 samples per chip) galileo_e1_code_gen_complex_sampled(&d_ca_code[2], d_acquisition_gnss_synchro->Signal, false, d_acquisition_gnss_synchro->PRN, - 2*Galileo_E1_CODE_CHIP_RATE_HZ, + 2 * Galileo_E1_CODE_CHIP_RATE_HZ, 0); // Fill head and tail - d_ca_code[0] = d_ca_code[(int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS)]; - d_ca_code[1] = d_ca_code[(int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS + 1)]; - d_ca_code[(int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS + 2)] = d_ca_code[2]; - d_ca_code[(int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS + 3)] = d_ca_code[3]; - + d_ca_code[0] = d_ca_code[static_cast(2 * Galileo_E1_B_CODE_LENGTH_CHIPS)]; + d_ca_code[1] = d_ca_code[static_cast(2 * Galileo_E1_B_CODE_LENGTH_CHIPS + 1)]; + d_ca_code[static_cast(2 * Galileo_E1_B_CODE_LENGTH_CHIPS + 2)] = d_ca_code[2]; + d_ca_code[static_cast(2 * Galileo_E1_B_CODE_LENGTH_CHIPS + 3)] = d_ca_code[3]; + d_carrier_lock_fail_counter = 0; d_rem_code_phase_samples = 0.0; d_rem_carr_phase_rad = 0; d_acc_carrier_phase_rad = 0; - + d_acc_code_phase_secs = 0; d_carrier_doppler_hz = d_acq_carrier_doppler_hz; d_current_prn_length_samples = d_vector_length; - + std::string sys_ = &d_acquisition_gnss_synchro->System; sys = sys_.substr(0, 1); - + // DEBUG OUTPUT std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl; LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; - + // enable tracking d_pull_in = true; d_enable_tracking = true; - + LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz - << " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples; + << " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples; } @@ -252,41 +244,42 @@ void galileo_volk_e1_dll_pll_veml_tracking_cc::update_local_code() { double tcode_half_chips; float rem_code_phase_half_chips; - int code_length_half_chips = (int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS); + int associated_chip_index; + int code_length_half_chips = static_cast(Galileo_E1_B_CODE_LENGTH_CHIPS) * 2; double code_phase_step_chips; double code_phase_step_half_chips; int early_late_spc_samples; int very_early_late_spc_samples; int epl_loop_length_samples; - + // unified loop for VE, E, P, L, VL code vectors - code_phase_step_chips = ((double)d_code_freq_chips) / ((double)d_fs_in); - code_phase_step_half_chips = (2.0*(double)d_code_freq_chips) / ((double)d_fs_in); - + code_phase_step_chips = (static_cast(d_code_freq_chips)) / (static_cast(d_fs_in)); + code_phase_step_half_chips = (2.0 * static_cast(d_code_freq_chips)) / (static_cast(d_fs_in)); + rem_code_phase_half_chips = d_rem_code_phase_samples * (2*d_code_freq_chips / d_fs_in); - tcode_half_chips = -(double)rem_code_phase_half_chips; - + tcode_half_chips = - static_cast(rem_code_phase_half_chips); + early_late_spc_samples = round(d_early_late_spc_chips / code_phase_step_chips); very_early_late_spc_samples = round(d_very_early_late_spc_chips / code_phase_step_chips); - - epl_loop_length_samples = d_current_prn_length_samples + very_early_late_spc_samples*2; - + + epl_loop_length_samples = d_current_prn_length_samples + very_early_late_spc_samples * 2; + //HERE YOU CAN CHOOSE THE DESIRED VOLK IMPLEMENTATION //volk_gnsssdr_32fc_s32f_x4_update_local_code_32fc_manual(d_very_early_code, (float) d_very_early_late_spc_chips, (float) code_length_half_chips, (float) code_phase_step_half_chips, (float) tcode_half_chips, d_ca_code, epl_loop_length_samples, "generic"); volk_gnsssdr_32fc_s32f_x4_update_local_code_32fc_manual(d_very_early_code, (float) d_very_early_late_spc_chips, (float) code_length_half_chips, (float) code_phase_step_half_chips, (float) tcode_half_chips, d_ca_code, epl_loop_length_samples, "u_sse4_1"); - memcpy(d_early_code, &d_very_early_code[very_early_late_spc_samples - early_late_spc_samples], d_current_prn_length_samples* sizeof(gr_complex)); - memcpy(d_prompt_code, &d_very_early_code[very_early_late_spc_samples], d_current_prn_length_samples* sizeof(gr_complex)); - memcpy(d_late_code, &d_very_early_code[very_early_late_spc_samples + early_late_spc_samples], d_current_prn_length_samples* sizeof(gr_complex)); - memcpy(d_very_late_code, &d_very_early_code[2*very_early_late_spc_samples], d_current_prn_length_samples* sizeof(gr_complex)); + memcpy(d_early_code, &d_very_early_code[very_early_late_spc_samples - early_late_spc_samples], d_current_prn_length_samples * sizeof(gr_complex)); + memcpy(d_prompt_code, &d_very_early_code[very_early_late_spc_samples], d_current_prn_length_samples * sizeof(gr_complex)); + memcpy(d_late_code, &d_very_early_code[very_early_late_spc_samples + early_late_spc_samples], d_current_prn_length_samples * sizeof(gr_complex)); + memcpy(d_very_late_code, &d_very_early_code[2 * very_early_late_spc_samples], d_current_prn_length_samples * sizeof(gr_complex)); } void galileo_volk_e1_dll_pll_veml_tracking_cc::update_local_carrier() { float phase_rad, phase_step_rad; // Compute the carrier phase step for the K-1 carrier doppler estimation - phase_step_rad = (float)GPS_TWO_PI*d_carrier_doppler_hz / (float)d_fs_in; + phase_step_rad = static_cast(GPS_TWO_PI) * d_carrier_doppler_hz / static_cast(d_fs_in); // Initialize the carrier phase with the remanent carrier phase of the K-2 loop phase_rad = d_rem_carr_phase_rad; @@ -301,7 +294,7 @@ void galileo_volk_e1_dll_pll_veml_tracking_cc::update_local_carrier() galileo_volk_e1_dll_pll_veml_tracking_cc::~galileo_volk_e1_dll_pll_veml_tracking_cc() { d_dump_file.close(); - + volk_free(d_very_early_code); volk_free(d_early_code); volk_free(d_prompt_code); @@ -313,6 +306,7 @@ galileo_volk_e1_dll_pll_veml_tracking_cc::~galileo_volk_e1_dll_pll_veml_tracking volk_free(d_Prompt); volk_free(d_Late); volk_free(d_Very_Late); + volk_free(d_ca_code); volk_free(d_very_early_code16); volk_free(d_early_code16); @@ -329,295 +323,295 @@ galileo_volk_e1_dll_pll_veml_tracking_cc::~galileo_volk_e1_dll_pll_veml_tracking volk_free(d_very_late_code8); volk_free(d_carr_sign8); volk_free(in8); - - delete[] d_ca_code; + delete[] d_Prompt_buffer; } int galileo_volk_e1_dll_pll_veml_tracking_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) { float carr_error_hz; float carr_error_filt_hz; float code_error_chips; float code_error_filt_chips; - + if (d_enable_tracking == true) + { + if (d_pull_in == true) { - if (d_pull_in == true) - { - /* - * Signal alignment (skip samples until the incoming signal is aligned with local replica) - */ - int samples_offset; - float acq_trk_shif_correction_samples; - int acq_to_trk_delay_samples; - acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp; - acq_trk_shif_correction_samples = d_current_prn_length_samples - fmod((float)acq_to_trk_delay_samples, (float)d_current_prn_length_samples); - samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples); - d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples - d_pull_in = false; - consume_each(samples_offset); //shift input to perform alignment with local replica - return 1; - } - - // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder - Gnss_Synchro current_synchro_data; - // Fill the acquisition data - current_synchro_data = *d_acquisition_gnss_synchro; - - // Block input data and block output stream pointers - const gr_complex* in = (gr_complex*) input_items[0]; - Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; - - // Generate local code and carrier replicas (using \hat{f}_d(k-1)) - update_local_code(); - update_local_carrier(); - - //HERE YOU CAN CHOOSE THE DESIRED VOLK IMPLEMENTATION - - //Float implementation: - - //volk_gnsssdr_32fc_x7_cw_vepl_corr_32fc_x5_manual(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in, d_carr_sign, d_very_early_code, d_early_code, d_prompt_code, d_late_code, d_very_late_code, d_current_prn_length_samples, "generic"); - - //volk_gnsssdr_32fc_x7_cw_vepl_corr_32fc_x5_manual(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in, d_carr_sign, d_very_early_code, d_early_code, d_prompt_code, d_late_code, d_very_late_code, d_current_prn_length_samples, "u_avx"); - - //Integer 16 bits implementation - /*volk_gnsssdr_32fc_convert_16ic(d_very_early_code16, d_very_early_code, d_current_prn_length_samples); - volk_gnsssdr_32fc_convert_16ic(d_early_code16, d_early_code, d_current_prn_length_samples); - volk_gnsssdr_32fc_convert_16ic(d_prompt_code16, d_prompt_code, d_current_prn_length_samples); - volk_gnsssdr_32fc_convert_16ic(d_late_code16, d_late_code, d_current_prn_length_samples); - volk_gnsssdr_32fc_convert_16ic(d_very_late_code16, d_very_late_code, d_current_prn_length_samples); - volk_gnsssdr_32fc_convert_16ic(in16, in, d_current_prn_length_samples); - volk_gnsssdr_32fc_convert_16ic(d_carr_sign16, d_carr_sign, d_current_prn_length_samples); - - volk_gnsssdr_16ic_x7_cw_vepl_corr_32fc_x5(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in16, d_carr_sign16, d_very_early_code16, d_early_code16, d_prompt_code16, d_late_code16, d_very_late_code16, d_current_prn_length_samples);*/ - - //Integer 8 bits implementation - volk_gnsssdr_32fc_convert_8ic_manual(d_very_early_code8, d_very_early_code, d_current_prn_length_samples,"u_sse2"); - volk_gnsssdr_32fc_convert_8ic_manual(d_early_code8, d_early_code, d_current_prn_length_samples,"u_sse2"); - volk_gnsssdr_32fc_convert_8ic_manual(d_prompt_code8, d_prompt_code, d_current_prn_length_samples,"u_sse2"); - volk_gnsssdr_32fc_convert_8ic_manual(d_late_code8, d_late_code, d_current_prn_length_samples,"u_sse2"); - volk_gnsssdr_32fc_convert_8ic_manual(d_very_late_code8, d_very_late_code, d_current_prn_length_samples,"u_sse2"); - volk_gnsssdr_32fc_convert_8ic_manual(d_carr_sign8, d_carr_sign, d_current_prn_length_samples,"u_sse2"); - volk_gnsssdr_32fc_s32f_convert_8ic_manual(in8, in, 4, d_current_prn_length_samples,"u_sse2"); - - volk_gnsssdr_8ic_x7_cw_vepl_corr_safe_32fc_x5_manual(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in8, d_carr_sign8, d_very_early_code8, d_early_code8, d_prompt_code8, d_late_code8, d_very_late_code8, d_current_prn_length_samples, "u_sse4_1"); - - //volk_gnsssdr_8ic_x7_cw_vepl_corr_32fc_x5(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in8, d_carr_sign8, d_very_early_code8, d_early_code8, d_prompt_code8, d_late_code8, d_very_late_code8, d_current_prn_length_samples); - - //volk_gnsssdr_8ic_x7_cw_vepl_corr_unsafe_32fc_x5(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in8, d_carr_sign8, d_very_early_code8, d_early_code8, d_prompt_code8, d_late_code8, d_very_late_code8, d_current_prn_length_samples); - - - // ################## PLL ########################################################## - // PLL discriminator - carr_error_hz = pll_cloop_two_quadrant_atan(*d_Prompt) / (float)GPS_TWO_PI; - // Carrier discriminator filter - carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz); - // New carrier Doppler frequency estimation - d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz; - // New code Doppler frequency estimation - d_code_freq_chips = Galileo_E1_CODE_CHIP_RATE_HZ + ((d_carrier_doppler_hz * Galileo_E1_CODE_CHIP_RATE_HZ) / Galileo_E1_FREQ_HZ); - //carrier phase accumulator for (K) Doppler estimation - d_acc_carrier_phase_rad = d_acc_carrier_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * Galileo_E1_CODE_PERIOD; - //remnant carrier phase to prevent overflow in the code NCO - d_rem_carr_phase_rad = d_rem_carr_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * Galileo_E1_CODE_PERIOD; - d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GPS_TWO_PI); - - // ################## DLL ########################################################## - // DLL discriminator - code_error_chips = dll_nc_vemlp_normalized(*d_Very_Early, *d_Early, *d_Late, *d_Very_Late); //[chips/Ti] - // Code discriminator filter - code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); //[chips/second] - //Code phase accumulator - float code_error_filt_secs; - code_error_filt_secs = (Galileo_E1_CODE_PERIOD * code_error_filt_chips) / Galileo_E1_CODE_CHIP_RATE_HZ; //[seconds] - //code_error_filt_secs=T_prn_seconds*code_error_filt_chips*T_chip_seconds*(float)d_fs_in; //[seconds] - d_acc_code_phase_secs = d_acc_code_phase_secs + code_error_filt_secs; - - // ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT ####################### - // keep alignment parameters for the next input buffer - double T_chip_seconds; - double T_prn_seconds; - double T_prn_samples; - double K_blk_samples; - // Compute the next buffer lenght based in the new period of the PRN sequence and the code phase error estimation - T_chip_seconds = 1 / (double)d_code_freq_chips; - T_prn_seconds = T_chip_seconds * Galileo_E1_B_CODE_LENGTH_CHIPS; - T_prn_samples = T_prn_seconds * (double)d_fs_in; - K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * (double)d_fs_in; - d_current_prn_length_samples = round(K_blk_samples); //round to a discrete samples - //d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample - - // ####### CN0 ESTIMATION AND LOCK DETECTORS ###### - if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES) - { - // fill buffer with prompt correlator output values - d_Prompt_buffer[d_cn0_estimation_counter] = *d_Prompt; - d_cn0_estimation_counter++; - } - else - { - d_cn0_estimation_counter = 0; - - // Code lock indicator - d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, Galileo_E1_B_CODE_LENGTH_CHIPS); - - // Carrier lock indicator - d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES); - - // Loss of lock detection - if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0) - { - d_carrier_lock_fail_counter++; - } - else - { - if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--; - } - if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER) - { - std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl; - LOG(INFO) << "Loss of lock in channel " << d_channel << "!"; - std::unique_ptr cmf(new ControlMessageFactory()); - if (d_queue != gr::msg_queue::sptr()) - { - d_queue->handle(cmf->GetQueueMessage(d_channel, 2)); - } - d_carrier_lock_fail_counter = 0; - d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine - } - } - - // ########### Output the tracking results to Telemetry block ########## - - current_synchro_data.Prompt_I = (double)(*d_Prompt).real(); - current_synchro_data.Prompt_Q = (double)(*d_Prompt).imag(); - - // Tracking_timestamp_secs is aligned with the NEXT PRN start sample (Hybridization problem!) - //compute remnant code phase samples BEFORE the Tracking timestamp - //d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample - //current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter + - // (double)d_current_prn_length_samples + (double)d_rem_code_phase_samples) / (double)d_fs_in; - - // Tracking_timestamp_secs is aligned with the CURRENT PRN start sample (Hybridization OK!, but some glitches??) - current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter + (double)d_rem_code_phase_samples) / (double)d_fs_in; - //compute remnant code phase samples AFTER the Tracking timestamp - d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample - - // This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0 - current_synchro_data.Code_phase_secs = 0; - current_synchro_data.Carrier_phase_rads = (double)d_acc_carrier_phase_rad; - current_synchro_data.Carrier_Doppler_hz = (double)d_carrier_doppler_hz; - current_synchro_data.CN0_dB_hz = (double)d_CN0_SNV_dB_Hz; - *out[0] = current_synchro_data; - - // ########## DEBUG OUTPUT - /*! - * \todo The stop timer has to be moved to the signal source! + /* + * Signal alignment (skip samples until the incoming signal is aligned with local replica) */ - // stream to collect cout calls to improve thread safety - std::stringstream tmp_str_stream; - if (floor(d_sample_counter / d_fs_in) != d_last_seg) - { - d_last_seg = floor(d_sample_counter / d_fs_in); - - if (d_channel == 0) - { - // debug: Second counter in channel 0 - tmp_str_stream << "Current input signal time = " << d_last_seg << " [s]" << std::endl << std::flush; - std::cout << tmp_str_stream.rdbuf() << std::flush; - } - - tmp_str_stream << "Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) - << ", Doppler=" << d_carrier_doppler_hz << " [Hz] CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl; - LOG(INFO) << tmp_str_stream.rdbuf() << std::flush; - //if (d_channel == 0 || d_last_seg==5) d_carrier_lock_fail_counter=500; //DEBUG: force unlock! - } + int samples_offset; + float acq_trk_shif_correction_samples; + int acq_to_trk_delay_samples; + acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp; + acq_trk_shif_correction_samples = d_current_prn_length_samples - fmod(static_cast(acq_to_trk_delay_samples), static_cast(d_current_prn_length_samples)); + samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples); + d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples + d_pull_in = false; + consume_each(samples_offset); //shift input to perform alignment with local replica + return 1; } + + // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder + Gnss_Synchro current_synchro_data; + // Fill the acquisition data + current_synchro_data = *d_acquisition_gnss_synchro; + + // Block input data and block output stream pointers + const gr_complex* in = (gr_complex*) input_items[0]; + Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; + + // Generate local code and carrier replicas (using \hat{f}_d(k-1)) + update_local_code(); + update_local_carrier(); + + // perform carrier wipe-off and compute Very Early, Early, Prompt, Late and Very Late correlation + + //HERE YOU CAN CHOOSE THE DESIRED VOLK IMPLEMENTATION + + //Float implementation: + + //volk_gnsssdr_32fc_x7_cw_vepl_corr_32fc_x5_manual(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in, d_carr_sign, d_very_early_code, d_early_code, d_prompt_code, d_late_code, d_very_late_code, d_current_prn_length_samples, "generic"); + + //volk_gnsssdr_32fc_x7_cw_vepl_corr_32fc_x5_manual(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in, d_carr_sign, d_very_early_code, d_early_code, d_prompt_code, d_late_code, d_very_late_code, d_current_prn_length_samples, "u_avx"); + + //Integer 16 bits implementation + /*volk_gnsssdr_32fc_convert_16ic(d_very_early_code16, d_very_early_code, d_current_prn_length_samples); + volk_gnsssdr_32fc_convert_16ic(d_early_code16, d_early_code, d_current_prn_length_samples); + volk_gnsssdr_32fc_convert_16ic(d_prompt_code16, d_prompt_code, d_current_prn_length_samples); + volk_gnsssdr_32fc_convert_16ic(d_late_code16, d_late_code, d_current_prn_length_samples); + volk_gnsssdr_32fc_convert_16ic(d_very_late_code16, d_very_late_code, d_current_prn_length_samples); + volk_gnsssdr_32fc_convert_16ic(in16, in, d_current_prn_length_samples); + volk_gnsssdr_32fc_convert_16ic(d_carr_sign16, d_carr_sign, d_current_prn_length_samples); + + volk_gnsssdr_16ic_x7_cw_vepl_corr_32fc_x5(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in16, d_carr_sign16, d_very_early_code16, d_early_code16, d_prompt_code16, d_late_code16, d_very_late_code16, d_current_prn_length_samples);*/ + + //Integer 8 bits implementation + volk_gnsssdr_32fc_convert_8ic_manual(d_very_early_code8, d_very_early_code, d_current_prn_length_samples,"u_sse2"); + volk_gnsssdr_32fc_convert_8ic_manual(d_early_code8, d_early_code, d_current_prn_length_samples,"u_sse2"); + volk_gnsssdr_32fc_convert_8ic_manual(d_prompt_code8, d_prompt_code, d_current_prn_length_samples,"u_sse2"); + volk_gnsssdr_32fc_convert_8ic_manual(d_late_code8, d_late_code, d_current_prn_length_samples,"u_sse2"); + volk_gnsssdr_32fc_convert_8ic_manual(d_very_late_code8, d_very_late_code, d_current_prn_length_samples,"u_sse2"); + volk_gnsssdr_32fc_convert_8ic_manual(d_carr_sign8, d_carr_sign, d_current_prn_length_samples,"u_sse2"); + volk_gnsssdr_32fc_s32f_convert_8ic_manual(in8, in, 4, d_current_prn_length_samples,"u_sse2"); + + volk_gnsssdr_8ic_x7_cw_vepl_corr_safe_32fc_x5_manual(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in8, d_carr_sign8, d_very_early_code8, d_early_code8, d_prompt_code8, d_late_code8, d_very_late_code8, d_current_prn_length_samples, "u_sse4_1"); + + //volk_gnsssdr_8ic_x7_cw_vepl_corr_32fc_x5(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in8, d_carr_sign8, d_very_early_code8, d_early_code8, d_prompt_code8, d_late_code8, d_very_late_code8, d_current_prn_length_samples); + + //volk_gnsssdr_8ic_x7_cw_vepl_corr_unsafe_32fc_x5(d_Very_Early, d_Early, d_Prompt, d_Late, d_Very_Late, in8, d_carr_sign8, d_very_early_code8, d_early_code8, d_prompt_code8, d_late_code8, d_very_late_code8, d_current_prn_length_samples); + + // ################## PLL ########################################################## + // PLL discriminator + carr_error_hz = pll_cloop_two_quadrant_atan(*d_Prompt) / static_cast(GPS_TWO_PI); + // Carrier discriminator filter + carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz); + // New carrier Doppler frequency estimation + d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz; + // New code Doppler frequency estimation + d_code_freq_chips = Galileo_E1_CODE_CHIP_RATE_HZ + ((d_carrier_doppler_hz * Galileo_E1_CODE_CHIP_RATE_HZ) / Galileo_E1_FREQ_HZ); + //carrier phase accumulator for (K) Doppler estimation + d_acc_carrier_phase_rad = d_acc_carrier_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * Galileo_E1_CODE_PERIOD; + //remnant carrier phase to prevent overflow in the code NCO + d_rem_carr_phase_rad = d_rem_carr_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * Galileo_E1_CODE_PERIOD; + d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GPS_TWO_PI); + + // ################## DLL ########################################################## + // DLL discriminator + code_error_chips = dll_nc_vemlp_normalized(*d_Very_Early, *d_Early, *d_Late, *d_Very_Late); //[chips/Ti] + // Code discriminator filter + code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); //[chips/second] + //Code phase accumulator + float code_error_filt_secs; + code_error_filt_secs = (Galileo_E1_CODE_PERIOD * code_error_filt_chips) / Galileo_E1_CODE_CHIP_RATE_HZ; //[seconds] + //code_error_filt_secs=T_prn_seconds*code_error_filt_chips*T_chip_seconds*static_cast(d_fs_in); //[seconds] + d_acc_code_phase_secs = d_acc_code_phase_secs + code_error_filt_secs; + + // ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT ####################### + // keep alignment parameters for the next input buffer + double T_chip_seconds; + double T_prn_seconds; + double T_prn_samples; + double K_blk_samples; + // Compute the next buffer lenght based in the new period of the PRN sequence and the code phase error estimation + T_chip_seconds = 1 / static_cast(d_code_freq_chips); + T_prn_seconds = T_chip_seconds * Galileo_E1_B_CODE_LENGTH_CHIPS; + T_prn_samples = T_prn_seconds * static_cast(d_fs_in); + K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * static_cast(d_fs_in); + d_current_prn_length_samples = round(K_blk_samples); //round to a discrete samples + //d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample + + // ####### CN0 ESTIMATION AND LOCK DETECTORS ###### + if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES) + { + // fill buffer with prompt correlator output values + d_Prompt_buffer[d_cn0_estimation_counter] = *d_Prompt; + d_cn0_estimation_counter++; + } + else + { + d_cn0_estimation_counter = 0; + + // Code lock indicator + d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, Galileo_E1_B_CODE_LENGTH_CHIPS); + + // Carrier lock indicator + d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES); + + // Loss of lock detection + if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0) + { + d_carrier_lock_fail_counter++; + } + else + { + if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--; + } + if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER) + { + std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl; + LOG(INFO) << "Loss of lock in channel " << d_channel << "!"; + std::unique_ptr cmf(new ControlMessageFactory()); + if (d_queue != gr::msg_queue::sptr()) + { + d_queue->handle(cmf->GetQueueMessage(d_channel, 2)); + } + d_carrier_lock_fail_counter = 0; + d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine + } + } + + // ########### Output the tracking results to Telemetry block ########## + + current_synchro_data.Prompt_I = static_cast((*d_Prompt).real()); + current_synchro_data.Prompt_Q = static_cast((*d_Prompt).imag()); + + // Tracking_timestamp_secs is aligned with the NEXT PRN start sample (Hybridization problem!) + //compute remnant code phase samples BEFORE the Tracking timestamp + //d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample + //current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter + + // (double)d_current_prn_length_samples + (double)d_rem_code_phase_samples) / static_cast(d_fs_in); + + // Tracking_timestamp_secs is aligned with the CURRENT PRN start sample (Hybridization OK!, but some glitches??) + current_synchro_data.Tracking_timestamp_secs = (static_cast(d_sample_counter) + static_cast(d_rem_code_phase_samples)) / static_cast(d_fs_in); + //compute remnant code phase samples AFTER the Tracking timestamp + d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample + + // This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0 + current_synchro_data.Code_phase_secs = 0; + current_synchro_data.Carrier_phase_rads = static_cast(d_acc_carrier_phase_rad); + current_synchro_data.Carrier_Doppler_hz = static_cast(d_carrier_doppler_hz); + current_synchro_data.CN0_dB_hz = static_cast(d_CN0_SNV_dB_Hz); + *out[0] = current_synchro_data; + + // ########## DEBUG OUTPUT + /*! + * \todo The stop timer has to be moved to the signal source! + */ + // stream to collect cout calls to improve thread safety + std::stringstream tmp_str_stream; + if (floor(d_sample_counter / d_fs_in) != d_last_seg) + { + d_last_seg = floor(d_sample_counter / d_fs_in); + + if (d_channel == 0) + { + // debug: Second counter in channel 0 + tmp_str_stream << "Current input signal time = " << d_last_seg << " [s]" << std::endl << std::flush; + std::cout << tmp_str_stream.rdbuf() << std::flush; + } + + tmp_str_stream << "Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) + << ", Doppler=" << d_carrier_doppler_hz << " [Hz] CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl; + LOG(INFO) << tmp_str_stream.rdbuf() << std::flush; + //if (d_channel == 0 || d_last_seg==5) d_carrier_lock_fail_counter=500; //DEBUG: force unlock! + } + } else { - // ########## DEBUG OUTPUT (TIME ONLY for channel 0 when tracking is disabled) - /*! - * \todo The stop timer has to be moved to the signal source! - */ - // stream to collect cout calls to improve thread safety - std::stringstream tmp_str_stream; - if (floor(d_sample_counter / d_fs_in) != d_last_seg) - { - d_last_seg = floor(d_sample_counter / d_fs_in); - - if (d_channel == 0) - { - // debug: Second counter in channel 0 - tmp_str_stream << "Current input signal time = " << d_last_seg << " [s]" << std::endl << std::flush; - std::cout << tmp_str_stream.rdbuf() << std::flush; - } - } - *d_Early = gr_complex(0,0); - *d_Prompt = gr_complex(0,0); - *d_Late = gr_complex(0,0); - Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; //block output stream pointer - // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder - *out[0] = *d_acquisition_gnss_synchro; - } - - if(d_dump) + // ########## DEBUG OUTPUT (TIME ONLY for channel 0 when tracking is disabled) + /*! + * \todo The stop timer has to be moved to the signal source! + */ + // stream to collect cout calls to improve thread safety + std::stringstream tmp_str_stream; + if (floor(d_sample_counter / d_fs_in) != d_last_seg) { - // Dump results to file - float prompt_I; - float prompt_Q; - float tmp_VE, tmp_E, tmp_P, tmp_L, tmp_VL; - float tmp_float; - double tmp_double; - prompt_I = (*d_Prompt).real(); - prompt_Q = (*d_Prompt).imag(); - tmp_VE = std::abs(*d_Very_Early); - tmp_E = std::abs(*d_Early); - tmp_P = std::abs(*d_Prompt); - tmp_L = std::abs(*d_Late); - tmp_VL = std::abs(*d_Very_Late); - - try + d_last_seg = floor(d_sample_counter / d_fs_in); + + if (d_channel == 0) { - // Dump correlators output - d_dump_file.write((char*)&tmp_VE, sizeof(float)); - d_dump_file.write((char*)&tmp_E, sizeof(float)); - d_dump_file.write((char*)&tmp_P, sizeof(float)); - d_dump_file.write((char*)&tmp_L, sizeof(float)); - d_dump_file.write((char*)&tmp_VL, sizeof(float)); - // PROMPT I and Q (to analyze navigation symbols) - d_dump_file.write((char*)&prompt_I, sizeof(float)); - d_dump_file.write((char*)&prompt_Q, sizeof(float)); - // PRN start sample stamp - d_dump_file.write((char*)&d_sample_counter, sizeof(unsigned long int)); - // accumulated carrier phase - d_dump_file.write((char*)&d_acc_carrier_phase_rad, sizeof(float)); - // carrier and code frequency - d_dump_file.write((char*)&d_carrier_doppler_hz, sizeof(float)); - d_dump_file.write((char*)&d_code_freq_chips, sizeof(float)); - //PLL commands - d_dump_file.write((char*)&carr_error_hz, sizeof(float)); - d_dump_file.write((char*)&carr_error_filt_hz, sizeof(float)); - //DLL commands - d_dump_file.write((char*)&code_error_chips, sizeof(float)); - d_dump_file.write((char*)&code_error_filt_chips, sizeof(float)); - // CN0 and carrier lock test - d_dump_file.write((char*)&d_CN0_SNV_dB_Hz, sizeof(float)); - d_dump_file.write((char*)&d_carrier_lock_test, sizeof(float)); - // AUX vars (for debug purposes) - tmp_float = d_rem_code_phase_samples; - d_dump_file.write((char*)&tmp_float, sizeof(float)); - tmp_double=(double)(d_sample_counter+d_current_prn_length_samples); - d_dump_file.write((char*)&tmp_double, sizeof(double)); - } - catch (std::ifstream::failure e) - { - LOG(WARNING) << "Exception writing trk dump file " << e.what() << std::endl; + // debug: Second counter in channel 0 + tmp_str_stream << "Current input signal time = " << d_last_seg << " [s]" << std::endl << std::flush; + std::cout << tmp_str_stream.rdbuf() << std::flush; } } + *d_Early = gr_complex(0,0); + *d_Prompt = gr_complex(0,0); + *d_Late = gr_complex(0,0); + Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; //block output stream pointer + // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder + *out[0] = *d_acquisition_gnss_synchro; + } + + if(d_dump) + { + // Dump results to file + float prompt_I; + float prompt_Q; + float tmp_VE, tmp_E, tmp_P, tmp_L, tmp_VL; + float tmp_float; + double tmp_double; + prompt_I = (*d_Prompt).real(); + prompt_Q = (*d_Prompt).imag(); + tmp_VE = std::abs(*d_Very_Early); + tmp_E = std::abs(*d_Early); + tmp_P = std::abs(*d_Prompt); + tmp_L = std::abs(*d_Late); + tmp_VL = std::abs(*d_Very_Late); + + try + { + // Dump correlators output + d_dump_file.write(reinterpret_cast(&tmp_VE), sizeof(float)); + d_dump_file.write(reinterpret_cast(&tmp_E), sizeof(float)); + d_dump_file.write(reinterpret_cast(&tmp_P), sizeof(float)); + d_dump_file.write(reinterpret_cast(&tmp_L), sizeof(float)); + d_dump_file.write(reinterpret_cast(&tmp_VL), sizeof(float)); + // PROMPT I and Q (to analyze navigation symbols) + d_dump_file.write(reinterpret_cast(&prompt_I), sizeof(float)); + d_dump_file.write(reinterpret_cast(&prompt_Q), sizeof(float)); + // PRN start sample stamp + d_dump_file.write(reinterpret_cast(&d_sample_counter), sizeof(unsigned long int)); + // accumulated carrier phase + d_dump_file.write(reinterpret_cast(&d_acc_carrier_phase_rad), sizeof(float)); + // carrier and code frequency + d_dump_file.write(reinterpret_cast(&d_carrier_doppler_hz), sizeof(float)); + d_dump_file.write(reinterpret_cast(&d_code_freq_chips), sizeof(float)); + //PLL commands + d_dump_file.write(reinterpret_cast(&carr_error_hz), sizeof(float)); + d_dump_file.write(reinterpret_cast(&carr_error_filt_hz), sizeof(float)); + //DLL commands + d_dump_file.write(reinterpret_cast(&code_error_chips), sizeof(float)); + d_dump_file.write(reinterpret_cast(&code_error_filt_chips), sizeof(float)); + // CN0 and carrier lock test + d_dump_file.write(reinterpret_cast(&d_CN0_SNV_dB_Hz), sizeof(float)); + d_dump_file.write(reinterpret_cast(&d_carrier_lock_test), sizeof(float)); + // AUX vars (for debug purposes) + tmp_float = d_rem_code_phase_samples; + d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); + tmp_double = static_cast(d_sample_counter + d_current_prn_length_samples); + d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); + } + catch (std::ifstream::failure e) + { + LOG(WARNING) << "Exception writing trk dump file " << e.what() << std::endl; + } + } consume_each(d_current_prn_length_samples); // this is required for gr_block derivates d_sample_counter += d_current_prn_length_samples; //count for the processed samples //std::cout<<"Galileo tracking output at sample "<(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); - LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); - } - catch (std::ifstream::failure e) - { - LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what() << std::endl; - } - } + try + { + d_dump_filename.append(boost::lexical_cast(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); + LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); + } + catch (std::ifstream::failure e) + { + LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what() << std::endl; + } } + } } diff --git a/src/algorithms/tracking/gnuradio_blocks/galileo_volk_e1_dll_pll_veml_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/galileo_volk_e1_dll_pll_veml_tracking_cc.h index 0c1e1b454..eb2528196 100644 --- a/src/algorithms/tracking/gnuradio_blocks/galileo_volk_e1_dll_pll_veml_tracking_cc.h +++ b/src/algorithms/tracking/gnuradio_blocks/galileo_volk_e1_dll_pll_veml_tracking_cc.h @@ -16,7 +16,7 @@ * GNSS-SDR is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or - * at your option) any later version. + * (at your option) any later version. * * GNSS-SDR is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of @@ -29,8 +29,8 @@ * ------------------------------------------------------------------------- */ -#ifndef GNSS_SDR_GALILEO_VOLK_E1_DLL_PLL_VEML_TRACKING_CC_H -#define GNSS_SDR_GALILEO_VOLK_E1_DLL_PLL_VEML_TRACKING_CC_H +#ifndef GNSS_SDR_GALIELEO_VOLK_E1_DLL_PLL_VEML_TRACKING_CC_H +#define GNSS_SDR_GALIELEO_VOLK_E1_DLL_PLL_VEML_TRACKING_CC_H #include #include @@ -52,15 +52,15 @@ typedef boost::shared_ptr galileo_volk galileo_volk_e1_dll_pll_veml_tracking_cc_sptr galileo_volk_e1_dll_pll_veml_make_tracking_cc(long if_freq, - long fs_in, unsigned - int vector_length, - boost::shared_ptr queue, - bool dump, - std::string dump_filename, - float pll_bw_hz, - float dll_bw_hz, - float early_late_space_chips, - float very_early_late_space_chips); + long fs_in, unsigned + int vector_length, + boost::shared_ptr queue, + bool dump, + std::string dump_filename, + float pll_bw_hz, + float dll_bw_hz, + float early_late_space_chips, + float very_early_late_space_chips); /*! * \brief This class implements a code DLL + carrier PLL VEML (Very Early @@ -70,12 +70,12 @@ class galileo_volk_e1_dll_pll_veml_tracking_cc: public gr::block { public: ~galileo_volk_e1_dll_pll_veml_tracking_cc(); - + void set_channel(unsigned int channel); void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro); void start_tracking(); void set_channel_queue(concurrent_queue *channel_internal_queue); - + /*! * \brief Code DLL + carrier PLL according to the algorithms described in: * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen, @@ -83,54 +83,54 @@ public: * Birkhauser, 2007 */ 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); + void forecast (int noutput_items, gr_vector_int &ninput_items_required); private: friend galileo_volk_e1_dll_pll_veml_tracking_cc_sptr galileo_volk_e1_dll_pll_veml_make_tracking_cc(long if_freq, - long fs_in, unsigned - int vector_length, - boost::shared_ptr queue, - bool dump, - std::string dump_filename, - float pll_bw_hz, - float dll_bw_hz, - float early_late_space_chips, - float very_early_late_space_chips); - + long fs_in, unsigned + int vector_length, + boost::shared_ptr queue, + bool dump, + std::string dump_filename, + float pll_bw_hz, + float dll_bw_hz, + float early_late_space_chips, + float very_early_late_space_chips); + galileo_volk_e1_dll_pll_veml_tracking_cc(long if_freq, - long fs_in, unsigned - int vector_length, - boost::shared_ptr queue, - bool dump, - std::string dump_filename, - float pll_bw_hz, - float dll_bw_hz, - float early_late_space_chips, - float very_early_late_space_chips); - + long fs_in, unsigned + int vector_length, + boost::shared_ptr queue, + bool dump, + std::string dump_filename, + float pll_bw_hz, + float dll_bw_hz, + float early_late_space_chips, + float very_early_late_space_chips); + void update_local_code(); - + void update_local_carrier(); - + // tracking configuration vars boost::shared_ptr d_queue; concurrent_queue *d_channel_internal_queue; unsigned int d_vector_length; bool d_dump; - + Gnss_Synchro* d_acquisition_gnss_synchro; unsigned int d_channel; int d_last_seg; long d_if_freq; long d_fs_in; - + float d_early_late_spc_chips; float d_very_early_late_spc_chips; - + gr_complex* d_ca_code; - + gr_complex* d_very_early_code; gr_complex* d_early_code; gr_complex* d_prompt_code; @@ -153,41 +153,41 @@ private: lv_8sc_t* d_very_late_code8; lv_8sc_t* d_carr_sign8; lv_8sc_t* in8; - + gr_complex *d_Very_Early; gr_complex *d_Early; gr_complex *d_Prompt; gr_complex *d_Late; gr_complex *d_Very_Late; - + // remaining code phase and carrier phase between tracking loops - float d_rem_code_phase_samples; + double d_rem_code_phase_samples; float d_rem_carr_phase_rad; - + // PLL and DLL filter library Tracking_2nd_DLL_filter d_code_loop_filter; Tracking_2nd_PLL_filter d_carrier_loop_filter; - + // acquisition float d_acq_code_phase_samples; float d_acq_carrier_doppler_hz; - + // correlator Correlator d_correlator; - + // tracking vars - float d_code_freq_chips; + double d_code_freq_chips; float d_carrier_doppler_hz; double d_acc_carrier_phase_rad; double d_acc_code_phase_secs; - + //PRN period in samples int d_current_prn_length_samples; - + //processing samples counters unsigned long int d_sample_counter; unsigned long int d_acq_sample_stamp; - + // CN0 estimation and lock detector int d_cn0_estimation_counter; gr_complex* d_Prompt_buffer; @@ -195,17 +195,17 @@ private: float d_CN0_SNV_dB_Hz; float d_carrier_lock_threshold; int d_carrier_lock_fail_counter; - + // control vars bool d_enable_tracking; bool d_pull_in; - + // file dump std::string d_dump_filename; std::ofstream d_dump_file; - + std::map systemName; std::string sys; }; -#endif //GNSS_SDR_GALILEO_VOLK_E1_DLL_PLL_VEML_TRACKING_CC_H +#endif //GNSS_SDR_GALIELEO_VOLK_E1_DLL_PLL_VEML_TRACKING_CC_H