doppler center frequency for the grid search

src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc

@@ -213,6 +213,12 @@ void GalileoE1PcpsAmbiguousAcquisitionFpga::set_doppler_step(unsigned int dopple
     acquisition_fpga_->set_doppler_step(doppler_step_);
 }
 
+void GalileoE1PcpsAmbiguousAcquisitionFpga::set_doppler_center(int doppler_center)
+{
+    doppler_center_ = doppler_center;
+
+    acquisition_fpga_->set_doppler_center(doppler_center_);
+}
 
 void GalileoE1PcpsAmbiguousAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
 {

src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.h

@@ -147,6 +147,11 @@ public:
      */
     void set_doppler_step(unsigned int doppler_step) override;
 
+    /*!
+     * \brief Set Doppler center for the grid search
+     */
+    void set_doppler_center(int doppler_center) override;
+
     /*!
      * \brief Initializes acquisition algorithm.
      */
@@ -198,6 +203,7 @@ private:
     std::weak_ptr<ChannelFsm> channel_fsm_;
     uint32_t doppler_max_;
     uint32_t doppler_step_;
+    int32_t doppler_center_;
     std::string dump_filename_;
     Gnss_Synchro* gnss_synchro_;
     std::string role_;

src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc

@@ -216,6 +216,12 @@ void GalileoE5aPcpsAcquisitionFpga::set_doppler_step(unsigned int doppler_step)
     acquisition_fpga_->set_doppler_step(doppler_step_);
 }
 
+void GalileoE5aPcpsAcquisitionFpga::set_doppler_center(int doppler_center)
+{
+    doppler_center_ = doppler_center;
+
+    acquisition_fpga_->set_doppler_center(doppler_center_);
+}
 
 void GalileoE5aPcpsAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
 {

src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.h

@@ -147,6 +147,11 @@ public:
      */
     void set_doppler_step(unsigned int doppler_step) override;
 
+    /*!
+     * \brief Set Doppler center for the grid search
+     */
+    void set_doppler_center(int doppler_center) override;
+
     /*!
      * \brief Initializes acquisition algorithm.
      */
@@ -209,6 +214,7 @@ private:
     std::weak_ptr<ChannelFsm> channel_fsm_;
     uint32_t doppler_max_;
     uint32_t doppler_step_;
+    int32_t doppler_center_;
     unsigned int in_streams_;
     unsigned int out_streams_;
     Gnss_Synchro* gnss_synchro_;

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc

@@ -192,6 +192,12 @@ void GpsL1CaPcpsAcquisitionFpga::set_doppler_step(unsigned int doppler_step)
     acquisition_fpga_->set_doppler_step(doppler_step_);
 }
 
+void GpsL1CaPcpsAcquisitionFpga::set_doppler_center(int doppler_center)
+{
+    doppler_center_ = doppler_center;
+
+    acquisition_fpga_->set_doppler_center(doppler_center_);
+}
 
 void GpsL1CaPcpsAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
 {

src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h

@@ -149,6 +149,11 @@ public:
      */
     void set_doppler_step(unsigned int doppler_step) override;
 
+    /*!
+     * \brief Set Doppler center for the grid search
+     */
+    void set_doppler_center(int doppler_center) override;
+
     /*!
      * \brief Initializes acquisition algorithm.
      */
@@ -202,6 +207,7 @@ private:
     std::weak_ptr<ChannelFsm> channel_fsm_;
     uint32_t doppler_max_;
     uint32_t doppler_step_;
+    int32_t doppler_center_;
     Gnss_Synchro* gnss_synchro_;
     std::string role_;
     unsigned int in_streams_;

src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc

@@ -196,6 +196,12 @@ void GpsL5iPcpsAcquisitionFpga::set_doppler_step(unsigned int doppler_step)
     acquisition_fpga_->set_doppler_step(doppler_step_);
 }
 
+void GpsL5iPcpsAcquisitionFpga::set_doppler_center(int doppler_center)
+{
+    doppler_center_ = doppler_center;
+
+    acquisition_fpga_->set_doppler_center(doppler_center_);
+}
 
 void GpsL5iPcpsAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
 {

src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.h

@@ -147,6 +147,11 @@ public:
      */
     void set_doppler_step(unsigned int doppler_step) override;
 
+    /*!
+     * \brief Set Doppler center for the grid search
+     */
+    void set_doppler_center(int doppler_center) override;
+
     /*!
      * \brief Initializes acquisition algorithm.
      */
@@ -200,6 +205,7 @@ private:
     std::weak_ptr<ChannelFsm> channel_fsm_;
     uint32_t doppler_max_;
     uint32_t doppler_step_;
+    int32_t doppler_center_;
     std::string dump_filename_;
     Gnss_Synchro* gnss_synchro_;
     std::string role_;

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.cc

@@ -58,6 +58,7 @@ pcps_acquisition_fpga::pcps_acquisition_fpga(pcpsconf_fpga_t conf_)
     d_num_doppler_bins = 0U;
     d_threshold = 0.0;
     d_doppler_step = 0U;
+    d_doppler_center = 0U;
     d_doppler_index = 0U;
     d_test_statistics = 0.0;
     d_channel = 0U;
@@ -139,25 +140,10 @@ void pcps_acquisition_fpga::send_positive_acquisition()
                << ", code phase " << d_gnss_synchro->Acq_delay_samples
                << ", doppler " << d_gnss_synchro->Acq_doppler_hz
                << ", magnitude " << d_mag
-               << ", input signal power " << d_input_power;
+               << ", input signal power " << d_input_power
+               << ", Assist doppler_center " << d_doppler_center;
 
 
-    //    std::cout << "positive acquisition"
-    //               << ", satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
-    //               << ", sample_stamp " << d_sample_counter
-    //               << ", test statistics value " << d_test_statistics
-    //               << ", test statistics threshold " << d_threshold
-    //               << ", code phase " << d_gnss_synchro->Acq_delay_samples
-    //               << ", doppler " << d_gnss_synchro->Acq_doppler_hz
-    //               << ", magnitude " << d_mag
-    //               << ", input signal power " << d_input_power
-    //			   << ", d_gnss_synchro->Acq_samplestamp_samples " << d_gnss_synchro->Acq_samplestamp_samples
-    //			   << ", d_gnss_synchro->Flag_valid_word " << d_gnss_synchro->Flag_valid_word
-    //			   << ", Flag_valid_pseudorange " << d_gnss_synchro->Flag_valid_pseudorange
-    //			   << ", d_gnss_synchro->Flag_valid_symbol_output " <<  d_gnss_synchro->Flag_valid_symbol_output
-    //			   << ", d_gnss_synchro->Flag_valid_acquisition " << d_gnss_synchro->Flag_valid_acquisition
-    //			   << std::endl;
-
     //the channel FSM is set, so, notify it directly the positive acquisition to minimize delays
     d_channel_fsm.lock()->Event_valid_acquisition();
 }
@@ -271,7 +257,7 @@ void pcps_acquisition_fpga::set_active(bool active)
     acquisition_fpga->write_local_code();
     acquisition_fpga->set_block_exp(d_total_block_exp);
 
-    acquisition_core(d_num_doppler_bins, d_doppler_step, -d_doppler_max);
+    acquisition_core(d_num_doppler_bins, d_doppler_step, -d_doppler_max + d_doppler_center);
     if (!d_make_2_steps)
         {
             acquisition_fpga->close_device();
@@ -298,7 +284,7 @@ void pcps_acquisition_fpga::set_active(bool active)
 
                     while (num_second_acq < d_max_num_acqs)
                         {
-                            acquisition_core(d_num_doppler_bins_step2, d_doppler_step2, d_doppler_center_step_two - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0)) * d_doppler_step2);
+                            acquisition_core(d_num_doppler_bins_step2, d_doppler_step2, d_doppler_center_step_two - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0)) * d_doppler_step2 + d_doppler_center);
                             if (d_test_statistics > d_threshold)
                                 {
                                     d_active = false;

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.h

@@ -44,10 +44,10 @@
 #include "channel_fsm.h"
 #include "fpga_acquisition.h"
 #include <boost/shared_ptr.hpp>
-#include <volk/volk_complex.h>  // for lv_16sc_t
 #include <cstdint>              // for uint32_t
 #include <memory>               // for shared_ptr
 #include <string>               // for string
+#include <glog/logging.h>
 
 class Gnss_Synchro;
 
@@ -183,6 +183,19 @@ public:
         acquisition_fpga->set_doppler_step(doppler_step);
     }
 
+    /*!
+     * \brief Set Doppler center frequency for the grid search. It will refresh the Doppler grid.
+     * \param doppler_center - Frequency center of the search grid [Hz].
+     */
+    inline void set_doppler_center(int32_t doppler_center)
+    {
+        if (doppler_center != d_doppler_center)
+            {
+                DLOG(INFO) << " Doppler assistance for Channel: " << d_channel << " => Doppler: " << doppler_center << "[Hz]";
+                d_doppler_center = doppler_center;
+            }
+    }
+
     /*!
      * \brief This function triggers a HW reset of the FPGA PL.
      */
@@ -196,6 +209,7 @@ private:
     uint32_t d_doppler_index;
     uint32_t d_channel;
     uint32_t d_doppler_step;
+    int32_t d_doppler_center;
     uint32_t d_doppler_max;
     uint32_t d_fft_size;
     uint32_t d_num_doppler_bins;