Apply new interface of dll_nc_e_minus_l_normalized

src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc

@@ -145,6 +145,8 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
                     // GPS L1 C/A does not have pilot component nor secondary code
                     d_secondary = false;
                     trk_parameters.track_pilot = false;
+                    trk_parameters.slope = 1.0;
+                    trk_parameters.spc = trk_parameters.early_late_space_chips;
                     // symbol integration: 20 trk symbols (20 ms) = 1 tlm bit
                     // set the preamble in the secondary code acquisition to obtain tlm symbol synchronization
                     d_secondary_code_length = static_cast<uint32_t>(GPS_CA_PREAMBLE_LENGTH_SYMBOLS);
@@ -164,6 +166,8 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
                     // GPS L2 does not have pilot component nor secondary code
                     d_secondary = false;
                     trk_parameters.track_pilot = false;
+                    trk_parameters.slope = 1.0;
+                    trk_parameters.spc = trk_parameters.early_late_space_chips;
                 }
             else if (signal_type == "L5")
                 {
@@ -176,6 +180,8 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
                     d_code_samples_per_chip = 1;
                     d_code_length_chips = static_cast<uint32_t>(GPS_L5I_CODE_LENGTH_CHIPS);
                     d_secondary = true;
+                    trk_parameters.slope = 1.0;
+                    trk_parameters.spc = trk_parameters.early_late_space_chips;
                     if (trk_parameters.track_pilot)
                         {
                             // synchronize pilot secondary code
@@ -224,6 +230,8 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
                     d_correlation_length_ms = 4;
                     d_code_samples_per_chip = 2;  // CBOC disabled: 2 samples per chip. CBOC enabled: 12 samples per chip
                     d_veml = true;
+                    trk_parameters.slope = 3.0;
+                    trk_parameters.spc = trk_parameters.early_late_space_chips;
                     if (trk_parameters.track_pilot)
                         {
                             d_secondary = true;
@@ -248,6 +256,8 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
                     d_code_samples_per_chip = 1;
                     d_code_length_chips = static_cast<uint32_t>(GALILEO_E5A_CODE_LENGTH_CHIPS);
                     d_secondary = true;
+                    trk_parameters.slope = 1.0;
+                    trk_parameters.spc = trk_parameters.early_late_space_chips;
                     if (trk_parameters.track_pilot)
                         {
                             // synchronize pilot secondary code
@@ -294,6 +304,8 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
                     d_code_samples_per_chip = 1;
                     d_secondary = true;
                     trk_parameters.track_pilot = false;
+                    trk_parameters.slope = 1.0;
+                    trk_parameters.spc = trk_parameters.early_late_space_chips;
                     // synchronize and remove data secondary code
                     d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B1I_SECONDARY_CODE_LENGTH);
                     d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B1I_SECONDARY_CODE_STR);
@@ -312,6 +324,8 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
                     d_code_samples_per_chip = 1;
                     d_secondary = false;
                     trk_parameters.track_pilot = false;
+                    trk_parameters.slope = 1.0;
+                    trk_parameters.spc = trk_parameters.early_late_space_chips;
                     d_secondary_code_length = static_cast<uint32_t>(BEIDOU_B3I_SECONDARY_CODE_LENGTH);
                     d_secondary_code_string = const_cast<std::string *>(&BEIDOU_B3I_SECONDARY_CODE_STR);
                     d_data_secondary_code_length = static_cast<uint32_t>(BEIDOU_B3I_SECONDARY_CODE_LENGTH);
@@ -976,7 +990,7 @@ void dll_pll_veml_tracking::run_dll_pll()
         }
     else
         {
-            d_code_error_chips = dll_nc_e_minus_l_normalized(d_E_accu, d_L_accu);  // [chips/Ti]
+            d_code_error_chips = dll_nc_e_minus_l_normalized(d_E_accu, d_L_accu, trk_parameters.spc, trk_parameters.slope);  // [chips/Ti]
         }
     // Code discriminator filter
     d_code_error_filt_chips = d_code_loop_filter.apply(d_code_error_chips);  // [chips/second]
@@ -1632,7 +1646,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
                 d_E_accu = *d_Early;
                 d_P_accu = *d_Prompt;
                 d_L_accu = *d_Late;
-
+                trk_parameters.spc = trk_parameters.early_late_space_chips;
                 // fail-safe: check if the secondary code or bit synchronization has not succeeded in a limited time period
                 if (trk_parameters.bit_synchronization_time_limit_s < (d_sample_counter - d_acq_sample_stamp) / static_cast<int>(trk_parameters.fs_in))
                     {
@@ -1733,11 +1747,13 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
                                                 d_local_code_shift_chips[1] = -trk_parameters.early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
                                                 d_local_code_shift_chips[3] = trk_parameters.early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
                                                 d_local_code_shift_chips[4] = trk_parameters.very_early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
+                                                trk_parameters.spc = trk_parameters.early_late_space_narrow_chips;
                                             }
                                         else
                                             {
                                                 d_local_code_shift_chips[0] = -trk_parameters.early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
                                                 d_local_code_shift_chips[2] = trk_parameters.early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
+                                                trk_parameters.spc = trk_parameters.early_late_space_narrow_chips;
                                             }
                                     }
                                 else

src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc

@@ -140,6 +140,8 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
                     // GPS L1 C/A does not have pilot component nor secondary code
                     d_secondary = false;
                     trk_parameters.track_pilot = false;
+                    trk_parameters.slope = 1.0;
+                    trk_parameters.spc = trk_parameters.early_late_space_chips;
                     // symbol integration: 20 trk symbols (20 ms) = 1 tlm bit
                     // set the preamble in the secondary code acquisition to obtain tlm symbol synchronization
                     d_secondary_code_length = static_cast<uint32_t>(GPS_CA_PREAMBLE_LENGTH_SYMBOLS);
@@ -154,6 +156,8 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
                     // GPS L2C has 1 trk symbol (20 ms) per tlm bit, no symbol integration required
                     d_symbols_per_bit = GPS_L2_SAMPLES_PER_SYMBOL;
                     d_correlation_length_ms = 20;
+                    trk_parameters.slope = 1.0;
+                    trk_parameters.spc = trk_parameters.early_late_space_chips;
                     // GPS L2 does not have pilot component nor secondary code
                     d_secondary = false;
                     trk_parameters.track_pilot = false;
@@ -167,6 +171,8 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
                     d_symbols_per_bit = GPS_L5_SAMPLES_PER_SYMBOL;
                     d_correlation_length_ms = 1;
                     d_secondary = true;
+                    trk_parameters.slope = 1.0;
+                    trk_parameters.spc = trk_parameters.early_late_space_chips;
                     if (d_extended_correlation_in_fpga == true)
                         {
                             if (trk_parameters.extend_correlation_symbols > 1)
@@ -218,6 +224,8 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
                     d_symbols_per_bit = 1;
                     d_correlation_length_ms = 4;
                     d_veml = true;
+                    trk_parameters.slope = 3.0;
+                    trk_parameters.spc = trk_parameters.early_late_space_chips;
                     if (trk_parameters.track_pilot)
                         {
                             d_secondary = true;
@@ -240,6 +248,8 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
                     d_symbols_per_bit = 20;
                     d_correlation_length_ms = 1;
                     d_secondary = true;
+                    trk_parameters.slope = 1.0;
+                    trk_parameters.spc = trk_parameters.early_late_space_chips;
                     if (d_extended_correlation_in_fpga == true)
                         {
                             if (trk_parameters.extend_correlation_symbols > 1)
@@ -729,7 +739,7 @@ void dll_pll_veml_tracking_fpga::run_dll_pll()
         }
     else
         {
-            d_code_error_chips = dll_nc_e_minus_l_normalized(d_E_accu, d_L_accu);  // [chips/Ti]
+            d_code_error_chips = dll_nc_e_minus_l_normalized(d_E_accu, d_L_accu, trk_parameters.spc, trk_parameters.slope);  // [chips/Ti]
         }
     // Code discriminator filter
     d_code_error_filt_chips = d_code_loop_filter.apply(d_code_error_chips);  // [chips/second]
@@ -1592,6 +1602,7 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
                         d_E_accu = *d_Early;
                         d_P_accu = *d_Prompt;
                         d_L_accu = *d_Late;
+                        trk_parameters.spc = trk_parameters.early_late_space_chips;
 
                         // fail-safe: check if the secondary code or bit synchronization has not succeeded in a limited time period
                         if (trk_parameters.bit_synchronization_time_limit_s < (d_sample_counter - d_acq_sample_stamp) / static_cast<int>(trk_parameters.fs_in))
@@ -1734,11 +1745,13 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
                                                         d_local_code_shift_chips[1] = -trk_parameters.early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
                                                         d_local_code_shift_chips[3] = trk_parameters.early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
                                                         d_local_code_shift_chips[4] = trk_parameters.very_early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
+                                                        trk_parameters.spc = trk_parameters.early_late_space_narrow_chips;
                                                     }
                                                 else
                                                     {
                                                         d_local_code_shift_chips[0] = -trk_parameters.early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
                                                         d_local_code_shift_chips[2] = trk_parameters.early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
+                                                        trk_parameters.spc = trk_parameters.early_late_space_narrow_chips;
                                                     }
                                             }
                                         else

src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc

@@ -708,7 +708,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at
 
                     // ################## DLL ##########################################################
                     // DLL discriminator
-                    d_code_error_chips_Ti = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]);  // [chips/Ti] //early and late
+                    d_code_error_chips_Ti = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2], d_early_late_spc_chips, 1.0);  // [chips/Ti] //early and late
                     // Code discriminator filter
                     d_code_error_filt_chips_s = d_code_loop_filter.get_code_nco(d_code_error_chips_Ti);  // input [chips/Ti] -> output [chips/second]
                     d_code_error_filt_chips_Ti = d_code_error_filt_chips_s * CURRENT_INTEGRATION_TIME_S;

src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc

@@ -705,7 +705,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at
 
                     // ################## DLL ##########################################################
                     // DLL discriminator
-                    d_code_error_chips_Ti = dll_nc_e_minus_l_normalized(std::complex<float>(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag()), std::complex<float>(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag()));  // [chips/Ti] //early and late
+                    d_code_error_chips_Ti = dll_nc_e_minus_l_normalized(std::complex<float>(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag()), std::complex<float>(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag()), d_early_late_spc_chips, 1.0);  // [chips/Ti] //early and late
                     // Code discriminator filter
                     d_code_error_filt_chips_s = d_code_loop_filter.get_code_nco(d_code_error_chips_Ti);  // input [chips/Ti] -> output [chips/second]
                     d_code_error_filt_chips_Ti = d_code_error_filt_chips_s * CURRENT_INTEGRATION_TIME_S;

src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc

@@ -567,7 +567,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribut
 
             // ################## DLL ##########################################################
             // DLL discriminator
-            code_error_chips = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]);  // [chips/Ti] //early and late
+            code_error_chips = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2], d_early_late_spc_chips, 1.0);  // [chips/Ti] //early and late
             // Code discriminator filter
             code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips);  // [chips/second]
             double T_chip_seconds = 1.0 / static_cast<double>(d_code_freq_chips);

src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_cc.cc

@@ -704,7 +704,7 @@ int glonass_l2_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at
 
                     // ################## DLL ##########################################################
                     // DLL discriminator
-                    d_code_error_chips_Ti = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]);  // [chips/Ti] //early and late
+                    d_code_error_chips_Ti = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2], d_early_late_spc_chips, 1.0);  // [chips/Ti] //early and late
                     // Code discriminator filter
                     d_code_error_filt_chips_s = d_code_loop_filter.get_code_nco(d_code_error_chips_Ti);  // input [chips/Ti] -> output [chips/second]
                     d_code_error_filt_chips_Ti = d_code_error_filt_chips_s * CURRENT_INTEGRATION_TIME_S;

src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc

@@ -703,7 +703,7 @@ int glonass_l2_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at
 
                     // ################## DLL ##########################################################
                     // DLL discriminator
-                    d_code_error_chips_Ti = dll_nc_e_minus_l_normalized(std::complex<float>(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag()), std::complex<float>(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag()));  // [chips/Ti] //early and late
+                    d_code_error_chips_Ti = dll_nc_e_minus_l_normalized(std::complex<float>(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag()), std::complex<float>(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag()), d_early_late_spc_chips, 1.0);  // [chips/Ti] //early and late
                     // Code discriminator filter
                     d_code_error_filt_chips_s = d_code_loop_filter.get_code_nco(d_code_error_chips_Ti);  // input [chips/Ti] -> output [chips/second]
                     d_code_error_filt_chips_Ti = d_code_error_filt_chips_s * CURRENT_INTEGRATION_TIME_S;

src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_tracking_cc.cc

@@ -567,7 +567,7 @@ int Glonass_L2_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribut
 
             // ################## DLL ##########################################################
             // DLL discriminator
-            code_error_chips = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]);  // [chips/Ti] //early and late
+            code_error_chips = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2], d_early_late_spc_chips, 1.0);  // [chips/Ti] //early and late
             // Code discriminator filter
             code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips);  // [chips/second]
             double T_chip_seconds = 1.0 / static_cast<double>(d_code_freq_chips);

src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.cc

@@ -384,7 +384,7 @@ int Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::general_work(int noutput_items __attribut
 
             // ################## DLL ##########################################################
             // DLL discriminator
-            code_error_chips_Ti = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]);  // [chips/Ti]  // early and late
+            code_error_chips_Ti = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2], d_early_late_spc_chips, 1.0);  // [chips/Ti]  // early and late
             // Code discriminator filter
             code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips_Ti);                      // input [chips/Ti] -> output [chips/second]
             code_error_filt_secs_Ti = code_error_filt_chips * CURRENT_INTEGRATION_TIME_S / d_code_freq_chips;  // [s/Ti]

src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_kf_tracking_cc.cc

@@ -748,7 +748,7 @@ int Gps_L1_Ca_Kf_Tracking_cc::general_work(int noutput_items __attribute__((unus
             // New code Doppler frequency estimation based on carrier frequency estimation
             d_code_freq_chips = GPS_L1_CA_CODE_RATE_CPS + ((d_carrier_doppler_hz * GPS_L1_CA_CODE_RATE_CPS) / GPS_L1_FREQ_HZ);
             // DLL discriminator
-            code_error_chips = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]);  // [chips/Ti] early and late
+            code_error_chips = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2], d_early_late_spc_chips, 1.0);  // [chips/Ti] early and late
             // Code discriminator filter
             code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips);  // [chips/second]
             double T_chip_seconds = 1.0 / static_cast<double>(d_code_freq_chips);

src/algorithms/tracking/libs/dll_pll_conf.cc

@@ -61,6 +61,8 @@ Dll_Pll_Conf::Dll_Pll_Conf()
     very_early_late_space_chips = 0.5;
     early_late_space_narrow_chips = 0.1;
     very_early_late_space_narrow_chips = 0.1;
+    slope = 1.0;
+    spc = 0.5;
     extend_correlation_symbols = 5;
     cn0_samples = FLAGS_cn0_samples;
     cn0_smoother_samples = 200;

src/algorithms/tracking/libs/dll_pll_conf.h

@@ -63,6 +63,8 @@ public:
     float very_early_late_space_chips;
     float early_late_space_narrow_chips;
     float very_early_late_space_narrow_chips;
+    float slope;
+    float spc;
     int32_t extend_correlation_symbols;
     bool high_dyn;
     int32_t cn0_samples;

src/algorithms/tracking/libs/dll_pll_conf_fpga.cc

@@ -63,6 +63,8 @@ Dll_Pll_Conf_Fpga::Dll_Pll_Conf_Fpga()
     very_early_late_space_chips = 0.5;
     early_late_space_narrow_chips = 0.1;
     very_early_late_space_narrow_chips = 0.1;
+    slope = 1.0;
+    spc = 0.5;
     extend_correlation_symbols = 5;
     cn0_samples = FLAGS_cn0_samples;
     cn0_smoother_samples = 200;

src/algorithms/tracking/libs/dll_pll_conf_fpga.h

@@ -67,6 +67,8 @@ public:
     float very_early_late_space_chips;
     float early_late_space_narrow_chips;
     float very_early_late_space_narrow_chips;
+    float slope;
+    float spc;
     int32_t extend_correlation_symbols;
     bool high_dyn;
     int32_t cn0_samples;