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Code Issues Releases Wiki Activity

immediate call to state 2 (Wide tracking and symbol synchronization) removed from pull-in state.

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This commit is contained in:
Marc Majoral 2019-04-10 16:53:03 +02:00
parent 91f509abf9
commit 824dcebec2
2 changed files with 461 additions and 188 deletions
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647
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc
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@ -33,7 +33,6 @@
*
* -------------------------------------------------------------------------
*/
#include "dll_pll_veml_tracking_fpga.h"
#include "GPS_L1_CA.h"
#include "GPS_L2C.h"
@ -54,6 +53,7 @@
#include <pmt/pmt_sugar.h> // for mp
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <algorithm>
//#include <chrono>
#include <cmath>
#include <complex>
#include <cstdlib> // for abs, size_t
@ -61,7 +61,6 @@
#include <iostream>
#include <map>
dll_pll_veml_tracking_fpga_sptr dll_pll_veml_make_tracking_fpga(const Dll_Pll_Conf_Fpga &conf_)
{
return dll_pll_veml_tracking_fpga_sptr(new dll_pll_veml_tracking_fpga(conf_));
@ -272,7 +271,7 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
// Initialize tracking ==========================================
d_code_loop_filter = Tracking_loop_filter(d_code_period, trk_parameters.dll_bw_hz, trk_parameters.dll_filter_order, false);
printf("trk_parameters.fll_bw_hz = %f trk_parameters.pll_bw_hz = %f trk_parameters.pll_filter_order = %d\n", trk_parameters.fll_bw_hz, trk_parameters.pll_bw_hz, trk_parameters.pll_filter_order);
//printf("trk_parameters.fll_bw_hz = %f trk_parameters.pll_bw_hz = %f trk_parameters.pll_filter_order = %d\n", trk_parameters.fll_bw_hz, trk_parameters.pll_bw_hz, trk_parameters.pll_filter_order);
d_carrier_loop_filter.set_params(trk_parameters.fll_bw_hz, trk_parameters.pll_bw_hz, trk_parameters.pll_filter_order);
if (d_veml)
@ -1382,7 +1381,7 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
*out[0] = *d_acquisition_gnss_synchro;
usleep(1000);
return 1;
break;
//break;
}
case 1: // Pull-in
{
@ -1453,12 +1452,286 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
// don't leave the HW module blocking the signal path before the first sample arrives
// start the first tracking process
run_state_2(current_synchro_data);
break;
//run_state_2(current_synchro_data);
*out[0] = *d_acquisition_gnss_synchro;
return 1;
//break;
}
case 2: // Wide tracking and symbol synchronization
{
run_state_2(current_synchro_data);
d_sample_counter = d_sample_counter_next;
d_sample_counter_next = d_sample_counter + static_cast<uint64_t>(d_current_prn_length_samples);
// auto start = std::chrono::system_clock::now();
do_correlation_step();
// auto end = std::chrono::system_clock::now();
// std::chrono::duration<double> elapsed_seconds = end - start;
// std::cout << "elapsed time 0: " << elapsed_seconds.count() << "s\n";
// Save single correlation step variables
// start = std::chrono::system_clock::now();
if (d_veml)
{
d_VE_accu = *d_Very_Early;
d_VL_accu = *d_Very_Late;
}
d_E_accu = *d_Early;
d_P_accu = *d_Prompt;
d_L_accu = *d_Late;
// end = std::chrono::system_clock::now();
// elapsed_seconds = end - start;
// std::cout << "elapsed time 1: " << elapsed_seconds.count() << "s\n";
// Check lock status
// start = std::chrono::system_clock::now();
if (!cn0_and_tracking_lock_status(d_code_period))
{
clear_tracking_vars();
d_state = 0; // loss-of-lock detected
}
else
{
// end = std::chrono::system_clock::now();
// elapsed_seconds = end - start;
// std::cout << "elapsed time 2: " << elapsed_seconds.count() << "s\n";
bool next_state = false;
// Perform DLL/PLL tracking loop computations. Costas Loop enabled
// start = std::chrono::system_clock::now();
run_dll_pll();
// end = std::chrono::system_clock::now();
// elapsed_seconds = end - start;
// std::cout << "elapsed time 3: " << elapsed_seconds.count() << "s\n";
// start = std::chrono::system_clock::now();
update_tracking_vars();
// end = std::chrono::system_clock::now();
// elapsed_seconds = end - start;
// std::cout << "elapsed time 4: " << elapsed_seconds.count() << "s\n";
// enable write dump file this cycle (valid DLL/PLL cycle)
// start = std::chrono::system_clock::now();
log_data(false);
// end = std::chrono::system_clock::now();
// elapsed_seconds = end - start;
// std::cout << "elapsed time 5: " << elapsed_seconds.count() << "s\n";
if (d_secondary)
{
// start = std::chrono::system_clock::now();
// ####### SECONDARY CODE LOCK #####
d_Prompt_circular_buffer.push_back(*d_Prompt);
// end = std::chrono::system_clock::now();
// elapsed_seconds = end - start;
// std::cout << "elapsed time 6: " << elapsed_seconds.count() << "s\n";
//d_Prompt_buffer_deque.push_back(*d_Prompt);
//if (d_Prompt_buffer_deque.size() == d_secondary_code_length)
if (d_Prompt_circular_buffer.size() == d_secondary_code_length)
{
// start = std::chrono::system_clock::now();
next_state = acquire_secondary();
// end = std::chrono::system_clock::now();
// elapsed_seconds = end - start;
// std::cout << "elapsed time 7: " << elapsed_seconds.count() << "s\n";
// start = std::chrono::system_clock::now();
if (next_state)
{
LOG(INFO) << systemName << " " << signal_pretty_name << " secondary code locked in channel " << d_channel
<< " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
std::cout << systemName << " " << signal_pretty_name << " secondary code locked in channel " << d_channel
<< " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
}
// end = std::chrono::system_clock::now();
// elapsed_seconds = end - start;
// std::cout << "elapsed time 8: " << elapsed_seconds.count() << "s\n";
//d_Prompt_buffer_deque.pop_front();
}
}
else if (d_symbols_per_bit > 1) //Signal does not have secondary code. Search a bit transition by sign change
{
// start = std::chrono::system_clock::now();
float current_tracking_time_s = static_cast<float>(d_sample_counter - d_absolute_samples_offset) / trk_parameters.fs_in;
// end = std::chrono::system_clock::now();
// elapsed_seconds = end - start;
// std::cout << "elapsed time 6b: " << elapsed_seconds.count() << "s\n";
if (current_tracking_time_s > 10)
{
// start = std::chrono::system_clock::now();
d_symbol_history.push_back(d_Prompt->real());
// end = std::chrono::system_clock::now();
// elapsed_seconds = end - start;
// std::cout << "elapsed time 7b: " << elapsed_seconds.count() << "s\n";
//******* preamble correlation ********
// start = std::chrono::system_clock::now();
int32_t corr_value = 0;
if ((d_symbol_history.size() == d_preamble_length_symbols)) // and (d_make_correlation or !d_flag_frame_sync))
{
int i = 0;
for (const auto &iter : d_symbol_history)
{
if (iter < 0.0) // symbols clipping
{
corr_value -= d_preambles_symbols[i];
}
else
{
corr_value += d_preambles_symbols[i];
}
i++;
}
}
// end = std::chrono::system_clock::now();
// elapsed_seconds = end - start;
// std::cout << "elapsed time 8b: " << elapsed_seconds.count() << "s\n";
// start = std::chrono::system_clock::now();
if (corr_value == GPS_CA_PREAMBLE_LENGTH_SYMBOLS)
{
LOG(INFO) << systemName << " " << signal_pretty_name << " tracking preamble detected in channel " << d_channel
<< " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
next_state = true;
}
else
{
next_state = false;
}
// end = std::chrono::system_clock::now();
// elapsed_seconds = end - start;
// std::cout << "elapsed time 9b: " << elapsed_seconds.count() << "s\n";
}
else
{
next_state = false;
}
}
else
{
next_state = true;
}
// start = std::chrono::system_clock::now();
// ########### Output the tracking results to Telemetry block ##########
if (interchange_iq)
{
if (trk_parameters.track_pilot)
{
// Note that data and pilot components are in quadrature. I and Q are interchanged
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt_Data).imag());
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt_Data).real());
}
else
{
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).imag());
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).real());
}
}
else
{
if (trk_parameters.track_pilot)
{
// Note that data and pilot components are in quadrature. I and Q are interchanged
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt_Data).real());
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt_Data).imag());
}
else
{
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).real());
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).imag());
}
}
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
current_synchro_data.Flag_valid_symbol_output = true;
current_synchro_data.correlation_length_ms = d_correlation_length_ms;
// end = std::chrono::system_clock::now();
// elapsed_seconds = end - start;
// std::cout << "elapsed time 10: " << elapsed_seconds.count() << "s\n";
if (next_state)
{ // reset extended correlator
d_VE_accu = gr_complex(0.0, 0.0);
d_E_accu = gr_complex(0.0, 0.0);
d_P_accu = gr_complex(0.0, 0.0);
d_L_accu = gr_complex(0.0, 0.0);
d_VL_accu = gr_complex(0.0, 0.0);
d_Prompt_circular_buffer.clear();
d_current_symbol = 0;
//d_Prompt_buffer_deque.clear();
if (d_enable_extended_integration)
{
// UPDATE INTEGRATION TIME
d_extend_correlation_symbols_count = 0;
d_current_correlation_time_s = static_cast<float>(trk_parameters.extend_correlation_symbols) * static_cast<float>(d_code_period);
d_state = 3; // next state is the extended correlator integrator
LOG(INFO) << "Enabled " << trk_parameters.extend_correlation_symbols * static_cast<int32_t>(d_code_period * 1000.0) << " ms extended correlator in channel "
<< d_channel
<< " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN);
std::cout << "Enabled " << trk_parameters.extend_correlation_symbols * static_cast<int32_t>(d_code_period * 1000.0) << " ms extended correlator in channel "
<< d_channel
<< " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
// Set narrow taps delay values [chips]
d_code_loop_filter.set_update_interval(d_current_correlation_time_s);
d_code_loop_filter.set_noise_bandwidth(trk_parameters.dll_bw_narrow_hz);
d_carrier_loop_filter.set_params(trk_parameters.fll_bw_hz, trk_parameters.pll_bw_narrow_hz, trk_parameters.pll_filter_order);
if (d_veml)
{
d_local_code_shift_chips[0] = -trk_parameters.very_early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
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);
}
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);
}
}
else
{
d_state = 4;
}
}
}
break;
}
case 3: // coherent integration (correlation time extension)
@ -1600,183 +1873,183 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
}
void dll_pll_veml_tracking_fpga::run_state_2(Gnss_Synchro &current_synchro_data)
{
d_sample_counter = d_sample_counter_next;
d_sample_counter_next = d_sample_counter + static_cast<uint64_t>(d_current_prn_length_samples);
do_correlation_step();
// Save single correlation step variables
if (d_veml)
{
d_VE_accu = *d_Very_Early;
d_VL_accu = *d_Very_Late;
}
d_E_accu = *d_Early;
d_P_accu = *d_Prompt;
d_L_accu = *d_Late;
// Check lock status
if (!cn0_and_tracking_lock_status(d_code_period))
{
clear_tracking_vars();
d_state = 0; // loss-of-lock detected
}
else
{
bool next_state = false;
// Perform DLL/PLL tracking loop computations. Costas Loop enabled
run_dll_pll();
update_tracking_vars();
// enable write dump file this cycle (valid DLL/PLL cycle)
log_data(false);
if (d_secondary)
{
// ####### SECONDARY CODE LOCK #####
d_Prompt_circular_buffer.push_back(*d_Prompt);
//d_Prompt_buffer_deque.push_back(*d_Prompt);
//if (d_Prompt_buffer_deque.size() == d_secondary_code_length)
if (d_Prompt_circular_buffer.size() == d_secondary_code_length)
{
next_state = acquire_secondary();
if (next_state)
{
LOG(INFO) << systemName << " " << signal_pretty_name << " secondary code locked in channel " << d_channel
<< " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
std::cout << systemName << " " << signal_pretty_name << " secondary code locked in channel " << d_channel
<< " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
}
//d_Prompt_buffer_deque.pop_front();
}
}
else if (d_symbols_per_bit > 1) //Signal does not have secondary code. Search a bit transition by sign change
{
float current_tracking_time_s = static_cast<float>(d_sample_counter - d_absolute_samples_offset) / trk_parameters.fs_in;
if (current_tracking_time_s > 10)
{
d_symbol_history.push_back(d_Prompt->real());
//******* preamble correlation ********
int32_t corr_value = 0;
if ((d_symbol_history.size() == GPS_CA_PREAMBLE_LENGTH_SYMBOLS)) // and (d_make_correlation or !d_flag_frame_sync))
{
int i = 0;
for (const auto &iter : d_symbol_history)
{
if (iter < 0.0) // symbols clipping
{
corr_value -= d_preambles_symbols[i];
}
else
{
corr_value += d_preambles_symbols[i];
}
i++;
}
}
if (corr_value == GPS_CA_PREAMBLE_LENGTH_SYMBOLS)
{
LOG(INFO) << systemName << " " << signal_pretty_name << " tracking preamble detected in channel " << d_channel
<< " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
next_state = true;
}
else
{
next_state = false;
}
}
else
{
next_state = false;
}
}
else
{
next_state = true;
}
// ########### Output the tracking results to Telemetry block ##########
if (interchange_iq)
{
if (trk_parameters.track_pilot)
{
// Note that data and pilot components are in quadrature. I and Q are interchanged
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt_Data).imag());
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt_Data).real());
}
else
{
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).imag());
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).real());
}
}
else
{
if (trk_parameters.track_pilot)
{
// Note that data and pilot components are in quadrature. I and Q are interchanged
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt_Data).real());
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt_Data).imag());
}
else
{
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).real());
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).imag());
}
}
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
current_synchro_data.Flag_valid_symbol_output = true;
current_synchro_data.correlation_length_ms = d_correlation_length_ms;
if (next_state)
{ // reset extended correlator
d_VE_accu = gr_complex(0.0, 0.0);
d_E_accu = gr_complex(0.0, 0.0);
d_P_accu = gr_complex(0.0, 0.0);
d_L_accu = gr_complex(0.0, 0.0);
d_VL_accu = gr_complex(0.0, 0.0);
d_Prompt_circular_buffer.clear();
d_current_symbol = 0;
//d_Prompt_buffer_deque.clear();
if (d_enable_extended_integration)
{
// UPDATE INTEGRATION TIME
d_extend_correlation_symbols_count = 0;
d_current_correlation_time_s = static_cast<float>(trk_parameters.extend_correlation_symbols) * static_cast<float>(d_code_period);
d_state = 3; // next state is the extended correlator integrator
LOG(INFO) << "Enabled " << trk_parameters.extend_correlation_symbols * static_cast<int32_t>(d_code_period * 1000.0) << " ms extended correlator in channel "
<< d_channel
<< " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN);
std::cout << "Enabled " << trk_parameters.extend_correlation_symbols * static_cast<int32_t>(d_code_period * 1000.0) << " ms extended correlator in channel "
<< d_channel
<< " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
// Set narrow taps delay values [chips]
d_code_loop_filter.set_update_interval(d_current_correlation_time_s);
d_code_loop_filter.set_noise_bandwidth(trk_parameters.dll_bw_narrow_hz);
d_carrier_loop_filter.set_params(trk_parameters.fll_bw_hz, trk_parameters.pll_bw_narrow_hz, trk_parameters.pll_filter_order);
if (d_veml)
{
d_local_code_shift_chips[0] = -trk_parameters.very_early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
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);
}
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);
}
}
else
{
d_state = 4;
}
}
}
}
//void dll_pll_veml_tracking_fpga::run_state_2(Gnss_Synchro &current_synchro_data)
//{
// d_sample_counter = d_sample_counter_next;
// d_sample_counter_next = d_sample_counter + static_cast<uint64_t>(d_current_prn_length_samples);
//
// do_correlation_step();
// // Save single correlation step variables
// if (d_veml)
// {
// d_VE_accu = *d_Very_Early;
// d_VL_accu = *d_Very_Late;
// }
// d_E_accu = *d_Early;
// d_P_accu = *d_Prompt;
// d_L_accu = *d_Late;
//
// // Check lock status
// if (!cn0_and_tracking_lock_status(d_code_period))
// {
// clear_tracking_vars();
// d_state = 0; // loss-of-lock detected
// }
// else
// {
// bool next_state = false;
// // Perform DLL/PLL tracking loop computations. Costas Loop enabled
// run_dll_pll();
// update_tracking_vars();
//
// // enable write dump file this cycle (valid DLL/PLL cycle)
// log_data(false);
// if (d_secondary)
// {
// // ####### SECONDARY CODE LOCK #####
// d_Prompt_circular_buffer.push_back(*d_Prompt);
// //d_Prompt_buffer_deque.push_back(*d_Prompt);
// //if (d_Prompt_buffer_deque.size() == d_secondary_code_length)
// if (d_Prompt_circular_buffer.size() == d_secondary_code_length)
// {
// next_state = acquire_secondary();
// if (next_state)
// {
// LOG(INFO) << systemName << " " << signal_pretty_name << " secondary code locked in channel " << d_channel
// << " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
// std::cout << systemName << " " << signal_pretty_name << " secondary code locked in channel " << d_channel
// << " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
// }
// //d_Prompt_buffer_deque.pop_front();
// }
// }
// else if (d_symbols_per_bit > 1) //Signal does not have secondary code. Search a bit transition by sign change
// {
// float current_tracking_time_s = static_cast<float>(d_sample_counter - d_absolute_samples_offset) / trk_parameters.fs_in;
// if (current_tracking_time_s > 10)
// {
// d_symbol_history.push_back(d_Prompt->real());
// //******* preamble correlation ********
// int32_t corr_value = 0;
// if ((d_symbol_history.size() == GPS_CA_PREAMBLE_LENGTH_SYMBOLS)) // and (d_make_correlation or !d_flag_frame_sync))
// {
// int i = 0;
// for (const auto &iter : d_symbol_history)
// {
// if (iter < 0.0) // symbols clipping
// {
// corr_value -= d_preambles_symbols[i];
// }
// else
// {
// corr_value += d_preambles_symbols[i];
// }
// i++;
// }
// }
// if (corr_value == GPS_CA_PREAMBLE_LENGTH_SYMBOLS)
// {
// LOG(INFO) << systemName << " " << signal_pretty_name << " tracking preamble detected in channel " << d_channel
// << " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
// next_state = true;
// }
// else
// {
// next_state = false;
// }
// }
// else
// {
// next_state = false;
// }
// }
// else
// {
// next_state = true;
// }
//
// // ########### Output the tracking results to Telemetry block ##########
// if (interchange_iq)
// {
// if (trk_parameters.track_pilot)
// {
// // Note that data and pilot components are in quadrature. I and Q are interchanged
// current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt_Data).imag());
// current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt_Data).real());
// }
// else
// {
// current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).imag());
// current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).real());
// }
// }
// else
// {
// if (trk_parameters.track_pilot)
// {
// // Note that data and pilot components are in quadrature. I and Q are interchanged
// current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt_Data).real());
// current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt_Data).imag());
// }
// else
// {
// current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).real());
// current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).imag());
// }
// }
//
// current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
// current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
// current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
// current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
// current_synchro_data.Flag_valid_symbol_output = true;
// current_synchro_data.correlation_length_ms = d_correlation_length_ms;
//
// if (next_state)
// { // reset extended correlator
// d_VE_accu = gr_complex(0.0, 0.0);
// d_E_accu = gr_complex(0.0, 0.0);
// d_P_accu = gr_complex(0.0, 0.0);
// d_L_accu = gr_complex(0.0, 0.0);
// d_VL_accu = gr_complex(0.0, 0.0);
// d_Prompt_circular_buffer.clear();
// d_current_symbol = 0;
// //d_Prompt_buffer_deque.clear();
//
// if (d_enable_extended_integration)
// {
// // UPDATE INTEGRATION TIME
// d_extend_correlation_symbols_count = 0;
// d_current_correlation_time_s = static_cast<float>(trk_parameters.extend_correlation_symbols) * static_cast<float>(d_code_period);
//
// d_state = 3; // next state is the extended correlator integrator
// LOG(INFO) << "Enabled " << trk_parameters.extend_correlation_symbols * static_cast<int32_t>(d_code_period * 1000.0) << " ms extended correlator in channel "
// << d_channel
// << " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN);
// std::cout << "Enabled " << trk_parameters.extend_correlation_symbols * static_cast<int32_t>(d_code_period * 1000.0) << " ms extended correlator in channel "
// << d_channel
// << " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
// // Set narrow taps delay values [chips]
// d_code_loop_filter.set_update_interval(d_current_correlation_time_s);
// d_code_loop_filter.set_noise_bandwidth(trk_parameters.dll_bw_narrow_hz);
// d_carrier_loop_filter.set_params(trk_parameters.fll_bw_hz, trk_parameters.pll_bw_narrow_hz, trk_parameters.pll_filter_order);
// if (d_veml)
// {
// d_local_code_shift_chips[0] = -trk_parameters.very_early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
// 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);
// }
// 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);
// }
// }
// else
// {
// d_state = 4;
// }
// }
// }
//}

2
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.h
View File

@ -91,7 +91,7 @@ private:
void log_data(bool integrating);
int32_t save_matfile();
void run_state_2(Gnss_Synchro &current_synchro_data);
//void run_state_2(Gnss_Synchro &current_synchro_data);
// tracking configuration vars
Dll_Pll_Conf_Fpga trk_parameters;