Merge branch 'next' into ssr

.github/workflows/citation.yml

@@ -0,0 +1,40 @@
+# SPDX-License-Identifier: GPL-3.0-or-later
+# SPDX-FileCopyrightText: 2022 Carles Fernandez-Prades <carles.fernandez@cttc.es>
+on:
+  push:
+    paths:
+      - CITATION.cff
+    workflow_dispatch:
+  pull_request:
+    paths:
+      - CITATION.cff
+    workflow_dispatch:
+
+name: CITATION.cff
+jobs:
+  Validate-CITATION-cff:
+    runs-on: ubuntu-latest
+    name: Validate CITATION.cff
+    env:
+      GITHUB_PAT: ${{ secrets.GITHUB_TOKEN }}
+      RSPM: "https://packagemanager.rstudio.com/cran/__linux__/focal/latest"
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+
+      # This is needed for workflows running on
+      # ubuntu-20.04 or later
+      - name: Install V8
+        if: runner.os == 'Linux'
+        run: |
+          sudo apt-get install -y libv8-dev
+      - name: Validate CITATION.cff
+        uses: dieghernan/cff-validator@main
+
+      # Upload artifact
+      - uses: actions/upload-artifact@v2
+        if: failure()
+        with:
+          name: citation-cff-errors
+          path: citation_cff_errors.md

.github/workflows/main.yml

@@ -2,7 +2,13 @@
 # SPDX-FileCopyrightText: 2020 Carles Fernandez-Prades <carles.fernandez@cttc.es>
 name: Simple CI
 
-on: [push, pull_request]
+on:
+  pull_request:
+    paths-ignore:
+      - '**/CITATION.cff'
+  push:
+    paths-ignore:
+      - '**/CITATION.cff'
 
 jobs:
   build-ubuntu:

AUTHORS

@@ -60,6 +60,7 @@ Marc Molina             marc.molina.pena@gmail.com       Contributor
 Marc Sales              marcsales92@gmail.com            Contributor
 Piyush Gupta            piyush04111999@gmail.com         Contributor
 Rodrigo Muñoz           rodrigo.munoz@proteinlab.cl      Contributor
+Stefan van der Linden   spvdlinden@gmail.com             Contributor
 Carlos Paniego          carpanie@hotmail.com             Artwork
 
 # SPDX-License-Identifier: GPL-3.0-or-later

CITATION.cff

@@ -0,0 +1,329 @@
+# SPDX-License-Identifier: GPL-3.0-or-later
+# SPDX-FileCopyrightText: 2022 C. Fernandez-Prades carles.fernandez(at)cttc.es
+---
+abstract: "An open-source Global Navigation Satellite Systems software-defined receiver."
+authors:
+  - affiliation: "Centre Tecnològic de Telecomunicacions de Catalunya (CTTC)"
+    alias: carlesfernandez
+    email: carles.fernandez@cttc.es
+    family-names: "Fernández-Prades"
+    given-names: Carles
+    orcid: "https://orcid.org/0000-0002-9201-7007"
+  - affiliation: "Centre Tecnològic de Telecomunicacions de Catalunya (CTTC)"
+    alias: Arribas
+    email: javier.arribas@cttc.es
+    family-names: Arribas
+    given-names: Javier
+    orcid: "https://orcid.org/0000-0001-6346-3406"
+  - affiliation: "Centre Tecnològic de Telecomunicacions de Catalunya (CTTC)"
+    alias: mmajoral
+    email: marc.majoral@cttc.es
+    family-names: Majoral
+    given-names: Marc
+    orcid: "https://orcid.org/0000-0001-6161-6747"
+  - alias: Gastd
+    email: gabriel.araujo.5000@gmail.com
+    family-names: Araujo
+    given-names: Gabriel
+  - email: anthony.arnold@uqconnect.edu.au
+    family-names: Arnold
+    given-names: Anthony
+  - email: carlos.avilesr@googlemail.com
+    family-names: Avilés
+    given-names: Carlos
+  - alias: marabra
+    email: mara.branzanti@gmail.com
+    family-names: Branzanti
+    given-names: Mara
+  - alias: acebrianjuan
+    email: acebrianjuan@gmail.com
+    family-names: "Cebrián-Juan"
+    given-names: Álvaro
+  - email: a.cecilia.luque@gmail.com
+    family-names: "Cecilia-Luque"
+    given-names: Andrés
+  - alias: luis-esteve
+    email: luis@epsilon-formacion.com
+    family-names: Esteve
+    given-names: Luis
+  - email: fabra@ice.csic.es
+    family-names: Fabra
+    given-names: Fran
+  - email: daniel.co@bluewin.ch
+    family-names: Fehr
+    given-names: Daniel
+  - alias: piyush0411
+    email: piyush04111999@gmail.com
+    family-names: Gupta
+    given-names: Piyush
+  - alias: glamountain
+    email: gerald@gece.neu.edu
+    family-names: LaMountain
+    given-names: Gerald
+  - alias: lenhart
+    email: malte.lenhart@mailbox.org
+    family-names: Lenhart
+    given-names: Malte
+  - alias: jwmelto
+    email: jim.melton@sncorp.com
+    family-names: Melton
+    given-names: Jim
+  - alias: dmiralles2009
+    email: dmiralles2009@gmail.com
+    family-names: Miralles
+    given-names: Damian
+    orcid: "https://orcid.org/0000-0001-5820-9569"
+  - email: marc.molina.pena@gmail.com
+    family-names: Molina
+    given-names: Marc
+  - email: rodrigo.munoz@proteinlab.cl
+    family-names: Muñoz
+    given-names: Rodrigo
+  - alias: odrisci
+    email: cillian.odriscoll@gmail.com
+    family-names: "O'Driscoll"
+    given-names: Cillian
+  - affiliation: "Centre Tecnològic de Telecomunicacions de Catalunya (CTTC)"
+    email: david.pubill@cttc.cat
+    family-names: Pubill
+    given-names: David
+  - alias: antonioramosdet
+    family-names: Ramos
+    given-names: Antonio
+  - alias: jschindehette
+    email: jschindehette@geontech.com
+    family-names: Schindehette
+    given-names: Josh
+  - email: tonetto.dev@gmail.com
+    family-names: Tonetto
+    given-names: Leonardo
+  - alias: stefanlinden
+    email: spvdlinden@gmail.com
+    family-names: "van der Linden"
+    given-names: Stefan
+cff-version: "1.2.0"
+date-released: "2021-08-23"
+identifiers:
+  - description: "The concept DOI of the work. This is a DOI always pointing to the latest stable release."
+    type: doi
+    value: 10.5281/zenodo.591700
+keywords:
+  - "Global Navigation Satellite System"
+  - GNSS
+  - "software radio"
+  - SDR
+  - GPS
+  - Galileo
+  - C++
+license: GPL-3.0-or-later
+message: "If you use this software, please cite it using the metadata from this file."
+references:
+  - authors:
+      - family-names: "Fernández-Prades"
+        given-names: Carles
+      - family-names: "Vilà-Valls"
+        given-names: Jordi
+      - family-names: Arribas
+        given-names: Javier
+      - family-names: Ramos
+        given-names: Antonio
+    doi: 10.1109/ACCESS.2018.2822835
+    issue: 1
+    journal: "IEEE Access"
+    pages: 13
+    start: 20451
+    end: 20463
+    scope: "Discussion on reproducibility in GNSS signal processing."
+    title: "Continuous Reproducibility in GNSS Signal Processing."
+    type: article
+    volume: 6
+    year: 2018
+  - authors:
+      - family-names: "Fernández-Prades"
+        given-names: Carles
+      - family-names: "Lo Presti"
+        given-names: Letizia
+      - family-names: Falleti
+        given-names: Emanuela
+    doi: 10.1109/JPROC.2011.2158032
+    issue: 11
+    journal: "Proceedigs of the IEEE"
+    month: 11
+    pages: 23
+    start: 1882
+    end: 1904
+    scope: "General overview on GNSS receiver technology."
+    title: "Satellite Radiolocalization From GPS to GNSS and Beyond: Novel Technologies and Applications for Civil Mass Market."
+    type: article
+    volume: 99
+    year: 2011
+  - authors:
+      - family-names: "Fernández-Prades"
+        given-names: Carles
+      - family-names: Arribas
+        given-names: Javier
+      - family-names: Majoral
+        given-names: Marc
+      - family-names: Ramos
+        given-names: Antonio
+      - family-names: "Vilà-Valls"
+        given-names: Jordi
+      - family-names: Giordano
+        given-names: Pietro
+    conference:
+      name: "Proc. 9th ESA Workshop on Satellite Navigation Technologies and European Workshop on GNSS Signals and Signal Processing (NAVITEC)"
+    doi: 10.1109/NAVITEC.2018.8642697
+    location:
+      name: "ESA/ESTEC, Noordwijk, Netherlands."
+    month: 12
+    pages: 9
+    scope: "Space applications of the software-defined GNSS embeded receiver."
+    title: "A Software-Defined Spaceborne GNSS Receiver."
+    type: conference-paper
+    year: 2018
+  - authors:
+      - family-names: "Fernández-Prades"
+        given-names: Carles
+      - family-names: Pomar
+        given-names: Christian
+      - family-names: Arribas
+        given-names: Javier
+      - family-names: Fàbrega
+        given-names: "Josep Maria"
+      - family-names: "Vilà-Valls"
+        given-names: Jordi
+      - family-names: "Svaluto Moreolo"
+        given-names: Michela
+      - family-names: Casellas
+        given-names: Ramon
+      - family-names: Martínez
+        given-names: Ricardo
+      - family-names: Navarro
+        given-names: Mònica
+      - family-names: Vílchez
+        given-names: "Francisco Javier"
+      - family-names: Muñoz
+        given-names: Raul
+      - family-names: Vilalta
+        given-names: Ricard
+      - family-names: Nadal
+        given-names: Laia
+      - family-names: Mayoral
+        given-names: Arturo
+    conference:
+      name: "Proc. 30th Int. Tech. Meeting Sat. Div. Inst. Navig."
+    doi: 10.33012/2017.15234
+    location:
+      name: "Portland, OR."
+    month: 9
+    scope: "Introduction of the virtualized GNSS receiver."
+    pages: 20
+    start: 3796
+    end: 3815
+    title: "A Cloud Optical Access Network for Virtualized GNSS Receivers"
+    type: conference-paper
+    year: 2017
+  - authors:
+      - family-names: "Fernández-Prades"
+        given-names: Carles
+      - family-names: Arribas
+        given-names: Javier
+      - family-names: Closas
+        given-names: Pau
+    conference:
+      name: "Proc. 8th ESA Workshop on Satellite Navigation Technologies and European Workshop on GNSS Signals and Signal Processing (NAVITEC)"
+    doi: 10.1109/NAVITEC.2016.7931740
+    location:
+      name: "ESA/ESTEC, Noordwijk, Netherlands."
+    month: 12
+    pages: 9
+    scope: "Discussion on testing methodologies for software-defined GNSS receivers."
+    title: "Assessment of Software-Defined GNSS Receivers"
+    type: conference-paper
+    year: 2016
+  - authors:
+      - family-names: "Fernández-Prades"
+        given-names: Carles
+      - family-names: Arribas
+        given-names: Javier
+      - family-names: Closas
+        given-names: Pau
+    conference:
+      name: "Proc. 29th Int. Tech. Meeting Sat. Div. Inst. Navig."
+    doi: 10.33012/2016.14576
+    location:
+      name: "Portland, OR."
+    month: 9
+    pages: 18
+    start: 44
+    end: 61
+    scope: "Analysis of software strategies for accelerating signal processing."
+    title: "Accelerating GNSS Software Receivers"
+    type: conference-paper
+    year: 2016
+  - authors:
+      - family-names: "Fernández-Prades"
+        given-names: Carles
+      - family-names: Arribas
+        given-names: Javier
+      - family-names: Closas
+        given-names: Pau
+      - family-names: Avilés
+        given-names: Carlos
+      - family-names: Esteve
+        given-names: Luis
+    conference:
+      name: "Proc. 24th Int. Tech. Meeting Sat. Div. Inst. Navig."
+    location:
+      name: "Portland, OR."
+    month: 9
+    pages: 15
+    start: 780
+    end: 794
+    scope: "General description of the software architecture."
+    title: "GNSS-SDR: An Open Source Tool For Researchers and Developers"
+    type: conference-paper
+    year: 2011
+  - authors:
+      - family-names: "Fernández-Prades"
+        given-names: Carles
+      - family-names: Avilés
+        given-names: Carlos
+      - family-names: Esteve
+        given-names: Luis
+      - family-names: Arribas
+        given-names: Javier
+      - family-names: Closas
+        given-names: Pau
+    conference:
+      name: "Proc. 5th ESA Workshop on Satellite Navigation Technologies and European Workshop on GNSS Signals and Signal Processing (NAVITEC)."
+    doi: 10.1109/NAVITEC.2010.5707981
+    location:
+      name: "ESA/ESTEC, Noordwijk, Netherlands."
+    month: 12
+    pages: 8
+    scope: "Seminal work on GNSS-SDR and its software design patterns."
+    title: "Design patterns for GNSS software receivers"
+    type: conference-paper
+    year: 2010
+  - authors:
+    - name: "The GNU Radio Project team"
+    doi: 10.5281/zenodo.2704343
+    repository-code: "https://github.com/gnuradio/gnuradio"
+    scope: "Software dependency: the SDR framework."
+    title: "GNU Radio: The Free & Open Software Radio Ecosystem"
+    type: software
+    url: "https://www.gnuradio.org"
+  - authors:
+    - name: "The VOLK Project team"
+    doi: 10.5281/zenodo.3360942
+    repository-code: "https://github.com/gnuradio/volk"
+    scope: "Software dependency: the portable SIMD library."
+    title: "VOLK: The Vector-Optimized Library of Kernels"
+    type: software
+    url: "https://www.libvolk.org"
+repository-code: "https://github.com/gnss-sdr/gnss-sdr"
+title: GNSS-SDR
+type: software
+url: "https://gnss-sdr.org"
+version: "0.0.15"

CMakeLists.txt

@@ -1,7 +1,7 @@
 # GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
 # This file is part of GNSS-SDR.
 #
-# SPDX-FileCopyrightText: 2010-2021 C. Fernandez-Prades cfernandez(at)cttc.es
+# SPDX-FileCopyrightText: 2010-2022 C. Fernandez-Prades cfernandez(at)cttc.es
 # SPDX-License-Identifier: BSD-3-Clause
 
 ################################################################################
@@ -11,7 +11,12 @@ if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_BINARY_DIR})
     message(FATAL_ERROR "Prevented in-tree build, it is bad practice.\nTry 'cd build && cmake ..' instead.")
 endif()
 
-cmake_minimum_required(VERSION 2.8.12...3.21)
+# Select the release build type by default to get optimization flags.
+# This has to come before project() which otherwise initializes it.
+# Build type can still be overridden by setting -DCMAKE_BUILD_TYPE=
+set(CMAKE_BUILD_TYPE "Release" CACHE STRING "")
+
+cmake_minimum_required(VERSION 2.8.12...3.22)
 project(gnss-sdr CXX C)
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/Modules)
 
@@ -219,19 +224,9 @@ include(GnsssdrBuildTypes)
 #  - O2WithASM: -O2 -g -save-temps
 #  - O3WithASM: -O3 -g -save-temps
 #  - ASAN: -Wall -Wextra -g -O2 -fsanitize=address -fno-omit-frame-pointer
-if(NOT CMAKE_BUILD_TYPE)
-    if(ENABLE_GPERFTOOLS OR ENABLE_GPROF)
-        set(CMAKE_BUILD_TYPE "RelWithDebInfo")
-        message(STATUS "Build type not specified: defaulting to RelWithDebInfo.")
-    else()
-        set(CMAKE_BUILD_TYPE "Release")
-        message(STATUS "Build type not specified: defaulting to Release.")
-    endif()
-else()
-    message(STATUS "Build type set to ${CMAKE_BUILD_TYPE}.")
-endif()
 gnsssdr_check_build_type(${CMAKE_BUILD_TYPE})
-set(CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE} CACHE STRING "")
+message(STATUS "Build type set to ${CMAKE_BUILD_TYPE}.")
+
 if(NOT (${CMAKE_BUILD_TYPE} STREQUAL "Release"))
     set(ENABLE_STRIP OFF)
 endif()
@@ -326,7 +321,7 @@ set(GNSSSDR_PROTOBUF_MIN_VERSION "3.0.0")
 ################################################################################
 set(GNSSSDR_GFLAGS_LOCAL_VERSION "2.2.2")
 set(GNSSSDR_GLOG_LOCAL_VERSION "0.5.0")
-set(GNSSSDR_ARMADILLO_LOCAL_VERSION "10.7.x")
+set(GNSSSDR_ARMADILLO_LOCAL_VERSION "10.8.x")
 if((CMAKE_CXX_COMPILER_ID STREQUAL "GNU" AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS 5.0) OR
   (CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS 5.0))
     set(GNSSSDR_GTEST_LOCAL_VERSION "1.10.x")
@@ -336,9 +331,9 @@ endif()
 set(GNSSSDR_GNSS_SIM_LOCAL_VERSION "master")
 set(GNSSSDR_GPSTK_LOCAL_VERSION "8.0.0")
 set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.21")
-set(GNSSSDR_PUGIXML_LOCAL_VERSION "1.11.4")
+set(GNSSSDR_PUGIXML_LOCAL_VERSION "1.12")
-set(GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION "3.19.0")
+set(GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION "3.19.4")
-set(GNSSSDR_BENCHMARK_LOCAL_VERSION "1.6.0")
+set(GNSSSDR_BENCHMARK_LOCAL_VERSION "1.6.1")
 set(GNSSSDR_MATHJAX_EXTERNAL_VERSION "2.7.7")
 
 if(CMAKE_VERSION VERSION_LESS "3.3")
@@ -1354,7 +1349,10 @@ endif()
 ################################################################################
 set(LOCAL_GFLAGS FALSE)
 if(NOT ENABLE_OWN_GLOG)
+    find_package(GLOG)
+    if(GLOG_FOUND)
         find_package(GFLAGS)
+    endif()
 endif()
 set_package_properties(GFLAGS PROPERTIES
     PURPOSE "Used for commandline flags management."
@@ -1495,9 +1493,6 @@ endif()
 ################################################################################
 # glog - https://github.com/google/glog
 ################################################################################
-if(NOT ENABLE_OWN_GLOG AND NOT ${LOCAL_GFLAGS})
-    find_package(GLOG)
-endif()
 set_package_properties(GLOG PROPERTIES
     PURPOSE "Used for runtime internal logging."
     TYPE REQUIRED

CODE_OF_CONDUCT.md

@@ -16,8 +16,8 @@ We as members, contributors, and leaders pledge to make participation in our
 community a harassment-free experience for everyone, regardless of age, body
 size, visible or invisible disability, ethnicity, sex characteristics, gender
 identity and expression, level of experience, education, socio-economic status,
-nationality, personal appearance, race, religion, or sexual identity and
+nationality, personal appearance, race, caste, color, religion, or sexual
-orientation.
+identity and orientation.
 
 We pledge to act and interact in ways that contribute to an open, welcoming,
 diverse, inclusive, and healthy community.
@@ -64,13 +64,7 @@ This Code of Conduct applies within all community spaces, and also applies when
 an individual is officially representing the community in public spaces.
 Examples of representing our community include using an official e-mail address,
 posting via an official social media account, or acting as an appointed
-representative at an online or offline event. This Code of Conduct applies both
+representative at an online or offline event.
-within project spaces and in public spaces when an individual is representing
-the project or its community. Examples of representing a project or community
-include using an official project e-mail address, posting via an official social
-media account, or acting as an appointed representative at an online or offline
-event. Representation of a project may be further defined and clarified by
-project maintainers.
 
 ## Enforcement
 
@@ -131,18 +125,18 @@ community.
 ## Attribution
 
 This Code of Conduct is adapted from the [Contributor Covenant][homepage],
-version 2.0, available at
+version 2.1, available at
-[https://www.contributor-covenant.org/version/2/0/code_of_conduct.html][version].
+[https://www.contributor-covenant.org/version/2/1/code_of_conduct.html][v2.1].
 
 Community Impact Guidelines were inspired by [Mozilla's code of conduct
-enforcement ladder][diversity].
+enforcement ladder][mozilla coc].
 
 For answers to common questions about this code of conduct, see the FAQ at
 [https://www.contributor-covenant.org/faq][faq]. Translations are available at
 [https://www.contributor-covenant.org/translations][translations].
 
 [homepage]: https://www.contributor-covenant.org
-[diversity]: https://github.com/mozilla/diversity
+[v2.1]: https://www.contributor-covenant.org/version/2/1/code_of_conduct.html
-[version]: https://www.contributor-covenant.org/version/2/0/code_of_conduct.html
+[mozilla coc]: https://github.com/mozilla/diversity
-[faq]: https://www.contributor-covenant.org/faq/
+[faq]: https://www.contributor-covenant.org/faq
 [translations]: https://www.contributor-covenant.org/translations

README.md

@@ -12,7 +12,7 @@ SPDX-FileCopyrightText: 2011-2021 Carles Fernandez-Prades <carles.fernandez@cttc
 
 [![License: GPL v3](https://img.shields.io/badge/License-GPL%20v3-blue.svg)](https://www.gnu.org/licenses/gpl-3.0)
 [![REUSE status](https://api.reuse.software/badge/github.com/gnss-sdr/gnss-sdr)](https://api.reuse.software/info/github.com/gnss-sdr/gnss-sdr)
-[![Contributor Covenant](https://img.shields.io/badge/Contributor%20Covenant-2.0-4baaaa.svg)](CODE_OF_CONDUCT.md)
+[![Contributor Covenant](https://img.shields.io/badge/Contributor%20Covenant-2.1-4baaaa.svg)](CODE_OF_CONDUCT.md)
 
 **Welcome to GNSS-SDR!**
 
@@ -36,8 +36,9 @@ In the L2 band:
 
 In the L5 band:
 
-- &#128752; GPS L5 (centered at 1176.45 MHz) :white_check_mark:
+- &#128752; Galileo E5b (centered at 1207.140 MHz) :white_check_mark:
-- &#128752; Galileo E5a (centered at 1176.45 MHz) :white_check_mark:
+- &#128752; Galileo E5a (centered at 1176.450 MHz) :white_check_mark:
+- &#128752; GPS L5 (centered at 1176.450 MHz) :white_check_mark:
 
 GNSS-SDR provides interfaces for a wide range of radio frequency front-ends and
 raw sample file formats, generates processing outputs in standard formats,
@@ -62,6 +63,7 @@ information about this open-source, software-defined GNSS receiver.
          - [CentOS](#centos)
          - [Fedora](#fedora)
          - [OpenSUSE](#opensuse)
+         - [Rocky Linux](#rocky-linux)
       1. [Alternative 2: Install dependencies using PyBOMBS](#alternative-2-install-dependencies-using-pybombs)
          - [Manual installation of other required dependencies](#manual-installation-of-other-required-dependencies)
            - [Armadillo](#install-armadillo-a-c-linear-algebra-library)
@@ -239,12 +241,15 @@ $ sudo yum install make automake gcc gcc-c++ kernel-devel cmake git boost-devel
 In Fedora 33 and above, you will need to add `gmp-devel` to the package list.
 Optionally, you can add `uhd-devel` starting from Fedora 32.
 
+In Fedora 36 and above, packages `spdlog-devel` and `fmt-devel` are also
+required.
+
 #### openSUSE
 
 If you are using openSUSE Leap:
 
 ```
-zypper install cmake git gcc-c++ boost-devel libboost_atomic-devel \
+$ zypper install cmake git gcc-c++ boost-devel libboost_atomic-devel \
        libboost_system-devel libboost_filesystem-devel libboost_chrono-devel \
        libboost_thread-devel libboost_serialization-devel log4cpp-devel \
        gnuradio-devel pugixml-devel libpcap-devel armadillo-devel libtool \
@@ -254,10 +259,10 @@ zypper install cmake git gcc-c++ boost-devel libboost_atomic-devel \
 If you are using openSUSE Tumbleweed:
 
 ```
-zypper install cmake git gcc-c++ boost-devel libboost_atomic-devel \
+$ zypper install cmake git gcc-c++ boost-devel libboost_atomic-devel \
        libboost_system-devel libboost_filesystem-devel libboost_date_time-devel \
        libboost_thread-devel libboost_chrono-devel libboost_serialization-devel \
-       log4cpp-devel gtest gnuradio-devel pugixml-devel libpcap-devel \
+       spdlog-devel fmt-devel gtest gnuradio-devel pugixml-devel libpcap-devel \
        armadillo-devel libtool automake hdf5-devel libopenssl-devel \
        python3-Mako protobuf-devel
 ```
@@ -265,6 +270,24 @@ zypper install cmake git gcc-c++ boost-devel libboost_atomic-devel \
 Once you have installed these packages, you can jump directly to
 [download the source code and build GNSS-SDR](#download-and-build-linux).
 
+#### Rocky Linux
+
+If you are using Rocky Linux:
+
+```
+$ dnf install -y 'dnf-command(config-manager)'
+$ dnf config-manager --set-enabled powertools
+$ yum install -y epel-release
+$ yum install -y make gcc gcc-c++ kernel-devel cmake git boost-devel \
+       boost-date-time boost-system boost-thread boost-chrono boost-serialization \
+       log4cpp-devel gmp-devel uhd-devel gnuradio-devel pugixml-devel matio-devel \
+       protobuf-devel glog-devel libpcap-devel blas-devel lapack-devel \
+       armadillo-devel openssl-devel python3-mako libarchive
+```
+
+Once you have installed these packages, you can jump directly to
+[download the source code and build GNSS-SDR](#download-and-build-linux).
+
 ### Alternative 2: Install dependencies using PyBOMBS
 
 This option is adequate if you are interested in development, in working with
@@ -355,9 +378,9 @@ $ sudo apt-get install libblas-dev liblapack-dev       # For Debian/Ubuntu/Linux
 $ sudo yum install lapack-devel blas-devel             # For Fedora/CentOS/RHEL
 $ sudo zypper install lapack-devel blas-devel          # For OpenSUSE
 $ sudo pacman -S blas lapack                           # For Arch Linux
-$ wget http://sourceforge.net/projects/arma/files/armadillo-10.6.1.tar.xz
+$ wget https://sourceforge.net/projects/arma/files/armadillo-10.8.0.tar.xz
-$ tar xvfz armadillo-10.6.1.tar.xz
+$ tar xvfz armadillo-10.8.0.tar.xz
-$ cd armadillo-10.6.1
+$ cd armadillo-10.8.0
 $ cmake .
 $ make
 $ sudo make install
@@ -470,9 +493,9 @@ $ sudo apt-get install autoconf automake libtool curl make g++ unzip
 and then:
 
 ```
-$ wget https://github.com/protocolbuffers/protobuf/releases/download/v3.18.0/protobuf-cpp-3.18.0.tar.gz
+$ wget https://github.com/protocolbuffers/protobuf/releases/download/v3.19.4/protobuf-cpp-3.19.4.tar.gz
-$ tar xvfz protobuf-cpp-3.18.0.tar.gz
+$ tar xvfz protobuf-cpp-3.19.4.tar.gz
-$ cd protobuf-3.18.0
+$ cd protobuf-3.19.4
 $ ./autogen.sh
 $ ./configure
 $ make
@@ -483,9 +506,9 @@ $ sudo ldconfig
 #### Install [Pugixml](https://pugixml.org/ "Pugixml's Homepage"), a light-weight C++ XML processing library:
 
 ```
-$ wget https://github.com/zeux/pugixml/releases/download/v1.11.4/pugixml-1.11.4.tar.gz
+$ wget https://github.com/zeux/pugixml/releases/download/v1.12/pugixml-1.12.tar.gz
-$ tar xvfz pugixml-1.11.4.tar.gz
+$ tar xvfz pugixml-1.12.tar.gz
-$ cd pugixml-1.11.4
+$ cd pugixml-1.12
 $ mkdir build && cd build
 $ cmake ..
 $ make
@@ -1640,6 +1663,7 @@ identifiers:
 | Glonass L2 C/A |       2G       |
 | GPS L5         |       L5       |
 | Galileo E5a    |       5X       |
+| Galileo E5b    |       7X       |
 
 Example: Eight GPS L1 C/A channels.
 

conf/gnss-sdr_GPS_L1_LimeSDR.conf

@@ -6,9 +6,6 @@
 [GNSS-SDR]
 
 ;######### GLOBAL OPTIONS ##################
-;internal_fs_sps: Internal signal sampling frequency after the signal conditioning stage [samples per second].
-;FOR USE GNSS-SDR WITH RTLSDR DONGLES USER MUST SET THE CALIBRATED SAMPLE RATE HERE
-; i.e. using front-end-cal as reported here:http://www.cttc.es/publication/turning-a-television-into-a-gnss-receiver/
 GNSS-SDR.internal_fs_sps=5000000
 GNSS-SDR.use_acquisition_resampler=true
 
@@ -17,19 +14,17 @@ SignalSource.implementation=Limesdr_Signal_Source
 SignalSource.item_type=gr_complex
 SignalSource.sampling_frequency=5000000
 SignalSource.freq=1575420000
-SignalSource.gain=50; //0-73 dB//no agc in LimeSDR 
+SignalSource.gain=50            ; 0-73 dB no AGC in LimeSDR
-;SignalSource.analog_bw //if not set, defaults to sample_rate/2
+; SignalSource.analog_bw        ; if not set, defaults to sample_rate/2
-;SignalSource.digital_bw // if not set, defaults to 0 (disabled filter)
+; SignalSource.digital_bw       ; if not set, defaults to 0 (disabled filter)
-SignalSource.limesdr_serial // if not set, its automatic
+; SignalSource.limesdr_serial   ; if not set, its automatic
-SignalSource.antenna=2 // None(0), LNAH(1), LNAL(2), LNAW(3), AUTO(255)
+SignalSource.antenna=2          ; None(0), LNAH(1), LNAL(2), LNAW(3), AUTO(255)
-SignalSource.ext_clock_MHz_=0 //0 -> internal clock
+SignalSource.ext_clock_MHz=0    ; 0 -> internal clock
-SignalSource.PPS_mode=false; //requires special gr-limesdr
+SignalSource.limechannel_mode=0 ; A(0), B(1) or (A+B) MIMO(2)
-SignalSource.limechannel_mode = 0; //ChannelMode must be A(0), B(1) or (A+B) MIMO(2)"
 SignalSource.samples=0
 SignalSource.repeat=false
 SignalSource.dump=false
-SignalSource.dump_filename=../data/signal_source.dat
+SignalSource.dump_filename=./captured_signal.dat
-SignalSource.enable_throttle_control=false
 
 SignalConditioner.implementation=Signal_Conditioner
 DataTypeAdapter.implementation=Pass_Through
@@ -37,6 +32,7 @@ InputFilter.implementation=Pulse_Blanking_Filter ; <- Required in some locations
 InputFilter.pfa=0.001
 InputFilter.segments_est=2500
 Resampler.implementation=Pass_Through
+
 ;######### CHANNELS GLOBAL CONFIG ############
 Channels_1C.count=7
 Channels_1B.count=0
@@ -44,30 +40,29 @@ Channels.in_acquisition=1
 Channel.signal=1C
 
 
-;######### ACQUISITION GLOBAL CONFIG ############
+;######### GPS L1 ACQUISITION CONFIG ############
 Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
 Acquisition_1C.item_type=gr_complex
 Acquisition_1C.coherent_integration_time_ms=1
-Acquisition_1C.use_CFAR_algorithm=false;
+Acquisition_1C.pfa=0.01
-Acquisition_1C.threshold=2.4
+Acquisition_1C.doppler_max=5000
-Acquisition_1C.doppler_max=6000
 Acquisition_1C.doppler_step=250
 Acquisition_1C.dump=false
 Acquisition_1C.dump_filename=./acq_dump.dat
 
-;######### GALILEO ACQUISITION CONFIG ############
+;######### GALILEO E1 ACQUISITION CONFIG ############
 Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
 Acquisition_1B.item_type=gr_complex
-Acquisition_1B.threshold=2.5
+Acquisition_1B.coherent_integration_time_ms=4
-Acquisition_1B.use_CFAR_algorithm=false
+Acquisition_1B.pfa=0.01
 Acquisition_1B.blocking=false
-Acquisition_1B.doppler_max=6000
+Acquisition_1B.doppler_max=5000
 Acquisition_1B.doppler_step=125
 Acquisition_1B.dump=false
 Acquisition_1B.dump_filename=./acq_dump.dat
 
 
-;######### TRACKING GLOBAL CONFIG ############
+;######### GPS L1 TRACKING CONFIG ############
 Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
 Tracking_1C.item_type=gr_complex
 Tracking_1C.dump=false
@@ -81,7 +76,7 @@ Tracking_1C.order=3;
 Tracking_1C.early_late_space_chips=0.5;
 Tracking_1C.early_late_space_narrow_chips=0.5
 
-;######### TRACKING GALILEO CONFIG ############
+;######### GALILEO E1 TRACKING CONFIG ############
 Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking
 Tracking_1B.item_type=gr_complex
 Tracking_1B.pll_bw_hz=15.0;
@@ -93,20 +88,22 @@ Tracking_1B.dll_bw_narrow_hz=0.5
 Tracking_1B.extend_correlation_symbols=1
 Tracking_1B.track_pilot=true
 Tracking_1B.enable_fll_pull_in=true;
-;Tracking_1B.pull_in_time_s=60
+; Tracking_1B.pull_in_time_s=60
 Tracking_1B.enable_fll_steady_state=false
 Tracking_1B.fll_bw_hz=10
 Tracking_1B.dump=false
 Tracking_1B.dump_filename=tracking_ch_
 
 
-;######### TELEMETRY DECODER GPS CONFIG ############
+;######### TELEMETRY DECODER GPS L1 CONFIG ############
 TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
 TelemetryDecoder_1C.dump=false
 
+;######### TELEMETRY DECODER Galileo E1 CONFIG ############
 TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder
 TelemetryDecoder_1B.dump=false
 
+
 ;######### OBSERVABLES CONFIG ############
 Observables.implementation=Hybrid_Observables
 Observables.dump=false

docs/CHANGELOG.md

@@ -4,7 +4,7 @@ SPDX-License-Identifier: GPL-3.0-or-later
 )
 
 [comment]: # (
-SPDX-FileCopyrightText: 2011-2021 Carles Fernandez-Prades <carles.fernandez@cttc.es>
+SPDX-FileCopyrightText: 2011-2022 Carles Fernandez-Prades <carles.fernandez@cttc.es>
 )
 <!-- prettier-ignore-end -->
 
@@ -16,6 +16,8 @@ All notable changes to GNSS-SDR will be documented in this file.
 
 ### Improvements in Availability:
 
+- Added the Galileo E5b receiving chain. The software is now able to compute PVT
+  solutions as a standalone Galileo E5b receiver.
 - Improved Time-To-First-Fix when using GPS L1 C/A signals, fixing a bug that
   was making the receiver to drop the satellite if the PLL got locked at 180
   degrees, and making some optimizations on bit transition detection.
@@ -40,14 +42,14 @@ All notable changes to GNSS-SDR will be documented in this file.
   memory management and source code readability.
 - Prefer initialization to assignment in constructors. This improves the
   readability of the code, could potentially increase performance, and allows
-  for easier detection of unused data members (see
+  for easier detection of unused data members (see the
-  https://github.com/isocpp/CppCoreGuidelines/blob/master/CppCoreGuidelines.md/#Rc-initialize).
+  [CppCoreGuidelines](https://github.com/isocpp/CppCoreGuidelines/blob/master/CppCoreGuidelines.md/#Rc-initialize)).
   Added the `cppcoreguidelines-prefer-member-initializer` clang-tidy check to
   enforce this policy.
 - Non-functional change: Fixed formatting defects detected by clang-format 13.0.
 - Non-functional change: Simplified flow graph disconnection.
-- Updated GSL implementation to v0.40.0. See
+- Updated GSL implementation to v0.40.0. See the
-  https://github.com/gsl-lite/gsl-lite/releases/tag/v0.40.0
+  [gsl-lite release](https://github.com/gsl-lite/gsl-lite/releases/tag/v0.40.0).
 - CI - `cpplint` job on GitHub: Added the `build/include_what_you_use` filter
   for early detection of missing includes.
 - CI - `clang-tidy` job on GitHub: More robust detection of LLVM paths installed
@@ -56,11 +58,11 @@ All notable changes to GNSS-SDR will be documented in this file.
 ### Improvements in Portability:
 
 - Fixed building against the new API in the gr-iio component present in GNU
-  Radio v3.10.0.0-rc1.
+  Radio v3.10.X.Y.
-- Fixed building against GNU Radio v3.10.0.0-rc1, which does not support the
+- Fixed building against GNU Radio v3.10.X.Y, which does not support the C++20
-  C++20 standard.
+  standard.
-- Fixed building against GNU Radio v3.10.0.0-rc1, which replaced
+- Fixed building against GNU Radio v3.10.X.Y, which replaced
-  [log4cpp](http://log4cpp.sourceforge.net/) by
+  [log4cpp](http://log4cpp.sourceforge.net/) by the
   [spdlog](https://github.com/gabime/spdlog) and
   [fmt](https://github.com/fmtlib/fmt) libraries.
 - Updated `cpu_features` library for improved processor detection.
@@ -106,6 +108,10 @@ All notable changes to GNSS-SDR will be documented in this file.
   those requirements are not met in the configuration file.
 - Fixed program termination when using `File_Signal_Source` and extended
   integration times.
+- The `Fifo_Signal_Source` Signal Source implementation learned to handle the
+  `ibyte` type.
+- Added a `CITATION.cff` file.
+- Updated version of the Contributor Covenant to version 2.1.
 
 See the definitions of concepts and metrics at
 https://gnss-sdr.org/design-forces/

docs/doxygen/Doxyfile.in

@@ -1,7 +1,7 @@
-# Doxyfile 1.8.20
+# Doxyfile 1.9.3
 
 #
-# SPDX-FileCopyrightText: 2011-2020 Carles Fernandez-Prades <carles.fernandez(at)cttc.es>
+# SPDX-FileCopyrightText: 2011-2021 Carles Fernandez-Prades <carles.fernandez(at)cttc.es>
 # SPDX-License-Identifier: GPL-3.0-or-later
 #
 # This file describes the settings to be used by the documentation system
@@ -36,7 +36,7 @@ DOXYFILE_ENCODING      = UTF-8
 # title of most generated pages and in a few other places.
 # The default value is: My Project.
 
-PROJECT_NAME           = "GNSS-SDR"
+PROJECT_NAME           = GNSS-SDR
 
 # The PROJECT_NUMBER tag can be used to enter a project or revision number. This
 # could be handy for archiving the generated documentation or if some version
@@ -97,14 +97,6 @@ ALLOW_UNICODE_NAMES    = YES
 
 OUTPUT_LANGUAGE        = English
 
-# The OUTPUT_TEXT_DIRECTION tag is used to specify the direction in which all
-# documentation generated by doxygen is written. Doxygen will use this
-# information to generate all generated output in the proper direction.
-# Possible values are: None, LTR, RTL and Context.
-# The default value is: None.
-
-OUTPUT_TEXT_DIRECTION  = None
-
 # If the BRIEF_MEMBER_DESC tag is set to YES, doxygen will include brief member
 # descriptions after the members that are listed in the file and class
 # documentation (similar to Javadoc). Set to NO to disable this.
@@ -252,16 +244,16 @@ TAB_SIZE               = 8
 # the documentation. An alias has the form:
 # name=value
 # For example adding
-# "sideeffect=@par Side Effects:\n"
+# "sideeffect=@par Side Effects:^^"
 # will allow you to put the command \sideeffect (or @sideeffect) in the
 # documentation, which will result in a user-defined paragraph with heading
-# "Side Effects:". You can put \n's in the value part of an alias to insert
+# "Side Effects:". Note that you cannot put \n's in the value part of an alias
-# newlines (in the resulting output). You can put ^^ in the value part of an
+# to insert newlines (in the resulting output). You can put ^^ in the value part
-# alias to insert a newline as if a physical newline was in the original file.
+# of an alias to insert a newline as if a physical newline was in the original
-# When you need a literal { or } or , in the value part of an alias you have to
+# file. When you need a literal { or } or , in the value part of an alias you
-# escape them by means of a backslash (\), this can lead to conflicts with the
+# have to escape them by means of a backslash (\), this can lead to conflicts
-# commands \{ and \} for these it is advised to use the version @{ and @} or use
+# with the commands \{ and \} for these it is advised to use the version @{ and
-# a double escape (\\{ and \\})
+# @} or use a double escape (\\{ and \\})
 
 ALIASES                =
 
@@ -306,8 +298,8 @@ OPTIMIZE_OUTPUT_SLICE  = NO
 # extension. Doxygen has a built-in mapping, but you can override or extend it
 # using this tag. The format is ext=language, where ext is a file extension, and
 # language is one of the parsers supported by doxygen: IDL, Java, JavaScript,
-# Csharp (C#), C, C++, D, PHP, md (Markdown), Objective-C, Python, Slice, VHDL,
+# Csharp (C#), C, C++, Lex, D, PHP, md (Markdown), Objective-C, Python, Slice,
-# Fortran (fixed format Fortran: FortranFixed, free formatted Fortran:
+# VHDL, Fortran (fixed format Fortran: FortranFixed, free formatted Fortran:
 # FortranFree, unknown formatted Fortran: Fortran. In the later case the parser
 # tries to guess whether the code is fixed or free formatted code, this is the
 # default for Fortran type files). For instance to make doxygen treat .inc files
@@ -317,7 +309,10 @@ OPTIMIZE_OUTPUT_SLICE  = NO
 # Note: For files without extension you can use no_extension as a placeholder.
 #
 # Note that for custom extensions you also need to set FILE_PATTERNS otherwise
-# the files are not read by doxygen.
+# the files are not read by doxygen. When specifying no_extension you should add
+# * to the FILE_PATTERNS.
+#
+# Note see also the list of default file extension mappings.
 
 EXTENSION_MAPPING      =
 
@@ -457,7 +452,7 @@ LOOKUP_CACHE_SIZE      = 0
 # than 0 to get more control over the balance between CPU load and processing
 # speed. At this moment only the input processing can be done using multiple
 # threads. Since this is still an experimental feature the default is set to 1,
-# which efficively disables parallel processing. Please report any issues you
+# which effectively disables parallel processing. Please report any issues you
 # encounter. Generating dot graphs in parallel is controlled by the
 # DOT_NUM_THREADS setting.
 # Minimum value: 0, maximum value: 32, default value: 1.
@@ -527,6 +522,13 @@ EXTRACT_LOCAL_METHODS  = NO
 
 EXTRACT_ANON_NSPACES   = NO
 
+# If this flag is set to YES, the name of an unnamed parameter in a declaration
+# will be determined by the corresponding definition. By default unnamed
+# parameters remain unnamed in the output.
+# The default value is: YES.
+
+RESOLVE_UNNAMED_PARAMS = YES
+
 # If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all
 # undocumented members inside documented classes or files. If set to NO these
 # members will be included in the various overviews, but no documentation
@@ -564,11 +566,18 @@ HIDE_IN_BODY_DOCS      = NO
 
 INTERNAL_DOCS          = NO
 
-# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file
+# With the correct setting of option CASE_SENSE_NAMES doxygen will better be
-# names in lower-case letters. If set to YES, upper-case letters are also
+# able to match the capabilities of the underlying filesystem. In case the
-# allowed. This is useful if you have classes or files whose names only differ
+# filesystem is case sensitive (i.e. it supports files in the same directory
-# in case and if your file system supports case sensitive file names. Windows
+# whose names only differ in casing), the option must be set to YES to properly
-# (including Cygwin) and Mac users are advised to set this option to NO.
+# deal with such files in case they appear in the input. For filesystems that
+# are not case sensitive the option should be be set to NO to properly deal with
+# output files written for symbols that only differ in casing, such as for two
+# classes, one named CLASS and the other named Class, and to also support
+# references to files without having to specify the exact matching casing. On
+# Windows (including Cygwin) and MacOS, users should typically set this option
+# to NO, whereas on Linux or other Unix flavors it should typically be set to
+# YES.
 # The default value is: system dependent.
 
 CASE_SENSE_NAMES       = YES
@@ -587,6 +596,12 @@ HIDE_SCOPE_NAMES       = NO
 
 HIDE_COMPOUND_REFERENCE= NO
 
+# If the SHOW_HEADERFILE tag is set to YES then the documentation for a class
+# will show which file needs to be included to use the class.
+# The default value is: YES.
+
+SHOW_HEADERFILE        = YES
+
 # If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of
 # the files that are included by a file in the documentation of that file.
 # The default value is: YES.
@@ -744,7 +759,8 @@ FILE_VERSION_FILTER    =
 # output files in an output format independent way. To create the layout file
 # that represents doxygen's defaults, run doxygen with the -l option. You can
 # optionally specify a file name after the option, if omitted DoxygenLayout.xml
-# will be used as the name of the layout file.
+# will be used as the name of the layout file. See also section "Changing the
+# layout of pages" for information.
 #
 # Note that if you run doxygen from a directory containing a file called
 # DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE
@@ -790,24 +806,35 @@ WARNINGS               = YES
 WARN_IF_UNDOCUMENTED   = YES
 
 # If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for
-# potential errors in the documentation, such as not documenting some parameters
+# potential errors in the documentation, such as documenting some parameters in
-# in a documented function, or documenting parameters that don't exist or using
+# a documented function twice, or documenting parameters that don't exist or
-# markup commands wrongly.
+# using markup commands wrongly.
 # The default value is: YES.
 
 WARN_IF_DOC_ERROR      = YES
 
+# If WARN_IF_INCOMPLETE_DOC is set to YES, doxygen will warn about incomplete
+# function parameter documentation. If set to NO, doxygen will accept that some
+# parameters have no documentation without warning.
+# The default value is: YES.
+
+WARN_IF_INCOMPLETE_DOC = YES
+
 # This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that
 # are documented, but have no documentation for their parameters or return
-# value. If set to NO, doxygen will only warn about wrong or incomplete
+# value. If set to NO, doxygen will only warn about wrong parameter
-# parameter documentation, but not about the absence of documentation. If
+# documentation, but not about the absence of documentation. If EXTRACT_ALL is
-# EXTRACT_ALL is set to YES then this flag will automatically be disabled.
+# set to YES then this flag will automatically be disabled. See also
+# WARN_IF_INCOMPLETE_DOC
 # The default value is: NO.
 
 WARN_NO_PARAMDOC       = NO
 
 # If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when
-# a warning is encountered.
+# a warning is encountered. If the WARN_AS_ERROR tag is set to FAIL_ON_WARNINGS
+# then doxygen will continue running as if WARN_AS_ERROR tag is set to NO, but
+# at the end of the doxygen process doxygen will return with a non-zero status.
+# Possible values are: NO, YES and FAIL_ON_WARNINGS.
 # The default value is: NO.
 
 WARN_AS_ERROR          = NO
@@ -824,7 +851,10 @@ WARN_FORMAT            = "$file:$line: $text"
 
 # The WARN_LOGFILE tag can be used to specify a file to which warning and error
 # messages should be written. If left blank the output is written to standard
-# error (stderr).
+# error (stderr). In case the file specified cannot be opened for writing the
+# warning and error messages are written to standard error. When as file - is
+# specified the warning and error messages are written to standard output
+# (stdout).
 
 WARN_LOGFILE           =
 
@@ -844,8 +874,8 @@ INPUT                  = @top_srcdir@/src \
 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
 # libiconv (or the iconv built into libc) for the transcoding. See the libiconv
-# documentation (see: https://www.gnu.org/software/libiconv/) for the list of
+# documentation (see:
-# possible encodings.
+# https://www.gnu.org/software/libiconv/) for the list of possible encodings.
 # The default value is: UTF-8.
 
 INPUT_ENCODING         = UTF-8
@@ -858,12 +888,14 @@ INPUT_ENCODING         = UTF-8
 # need to set EXTENSION_MAPPING for the extension otherwise the files are not
 # read by doxygen.
 #
+# Note the list of default checked file patterns might differ from the list of
+# default file extension mappings.
+#
 # If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp,
 # *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h,
-# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc,
+# *.hh, *.hxx, *.hpp, *.h++, *.l, *.cs, *.d, *.php, *.php4, *.php5, *.phtml,
-# *.m, *.markdown, *.md, *.mm, *.dox (to be provided as doxygen C comment),
+# *.inc, *.m, *.markdown, *.md, *.mm, *.dox (to be provided as doxygen C
-# *.doc (to be provided as doxygen C comment), *.txt (to be provided as doxygen
+# comment), *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, *.f18, *.f, *.for, *.vhd,
-# C comment), *.py, *.pyw, *.f90, *.f95, *.f03, *.f08, *.f18, *.f, *.for, *.vhd,
 # *.vhdl, *.ucf, *.qsf and *.ice.
 
 FILE_PATTERNS          = *.h \
@@ -909,7 +941,7 @@ EXCLUDE_PATTERNS       =
 # (namespaces, classes, functions, etc.) that should be excluded from the
 # output. The symbol name can be a fully qualified name, a word, or if the
 # wildcard * is used, a substring. Examples: ANamespace, AClass,
-# AClass::ANamespace, ANamespace::*Test
+# ANamespace::AClass, ANamespace::*Test
 #
 # Note that the wildcards are matched against the file with absolute path, so to
 # exclude all test directories use the pattern */test/*
@@ -1095,13 +1127,6 @@ VERBATIM_HEADERS       = YES
 
 ALPHABETICAL_INDEX     = YES
 
-# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in
-# which the alphabetical index list will be split.
-# Minimum value: 1, maximum value: 20, default value: 5.
-# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
-
-COLS_IN_ALPHA_INDEX    = 5
-
 # In case all classes in a project start with a common prefix, all classes will
 # be put under the same header in the alphabetical index. The IGNORE_PREFIX tag
 # can be used to specify a prefix (or a list of prefixes) that should be ignored
@@ -1201,7 +1226,7 @@ HTML_EXTRA_FILES       =
 
 # The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
 # will adjust the colors in the style sheet and background images according to
-# this color. Hue is specified as an angle on a colorwheel, see
+# this color. Hue is specified as an angle on a color-wheel, see
 # https://en.wikipedia.org/wiki/Hue for more information. For instance the value
 # 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300
 # purple, and 360 is red again.
@@ -1211,7 +1236,7 @@ HTML_EXTRA_FILES       =
 HTML_COLORSTYLE_HUE    = 220
 
 # The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors
-# in the HTML output. For a value of 0 the output will use grayscales only. A
+# in the HTML output. For a value of 0 the output will use gray-scales only. A
 # value of 255 will produce the most vivid colors.
 # Minimum value: 0, maximum value: 255, default value: 100.
 # This tag requires that the tag GENERATE_HTML is set to YES.
@@ -1272,10 +1297,11 @@ HTML_INDEX_NUM_ENTRIES = 100
 
 # If the GENERATE_DOCSET tag is set to YES, additional index files will be
 # generated that can be used as input for Apple's Xcode 3 integrated development
-# environment (see: https://developer.apple.com/xcode/), introduced with OSX
+# environment (see:
-# 10.5 (Leopard). To create a documentation set, doxygen will generate a
+# https://developer.apple.com/xcode/), introduced with OSX 10.5 (Leopard). To
-# Makefile in the HTML output directory. Running make will produce the docset in
+# create a documentation set, doxygen will generate a Makefile in the HTML
-# that directory and running make install will install the docset in
+# output directory. Running make will produce the docset in that directory and
+# running make install will install the docset in
 # ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at
 # startup. See https://developer.apple.com/library/archive/featuredarticles/Doxy
 # genXcode/_index.html for more information.
@@ -1292,6 +1318,13 @@ GENERATE_DOCSET        = NO
 
 DOCSET_FEEDNAME        = "Doxygen generated docs"
 
+# This tag determines the URL of the docset feed. A documentation feed provides
+# an umbrella under which multiple documentation sets from a single provider
+# (such as a company or product suite) can be grouped.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_FEEDURL         =
+
 # This tag specifies a string that should uniquely identify the documentation
 # set bundle. This should be a reverse domain-name style string, e.g.
 # com.mycompany.MyDocSet. Doxygen will append .docset to the name.
@@ -1317,8 +1350,12 @@ DOCSET_PUBLISHER_NAME  = CTTC
 # If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three
 # additional HTML index files: index.hhp, index.hhc, and index.hhk. The
 # index.hhp is a project file that can be read by Microsoft's HTML Help Workshop
-# (see: https://www.microsoft.com/en-us/download/details.aspx?id=21138) on
+# on Windows. In the beginning of 2021 Microsoft took the original page, with
-# Windows.
+# a.o. the download links, offline the HTML help workshop was already many years
+# in maintenance mode). You can download the HTML help workshop from the web
+# archives at Installation executable (see:
+# http://web.archive.org/web/20160201063255/http://download.microsoft.com/downlo
+# ad/0/A/9/0A939EF6-E31C-430F-A3DF-DFAE7960D564/htmlhelp.exe).
 #
 # The HTML Help Workshop contains a compiler that can convert all HTML output
 # generated by doxygen into a single compiled HTML file (.chm). Compiled HTML
@@ -1393,7 +1430,8 @@ QCH_FILE               =
 
 # The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help
 # Project output. For more information please see Qt Help Project / Namespace
-# (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace).
+# (see:
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#namespace).
 # The default value is: org.doxygen.Project.
 # This tag requires that the tag GENERATE_QHP is set to YES.
 
@@ -1401,8 +1439,8 @@ QHP_NAMESPACE          = org.doxygen.Project
 
 # The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt
 # Help Project output. For more information please see Qt Help Project / Virtual
-# Folders (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual-
+# Folders (see:
-# folders).
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#virtual-folders).
 # The default value is: doc.
 # This tag requires that the tag GENERATE_QHP is set to YES.
 
@@ -1410,16 +1448,16 @@ QHP_VIRTUAL_FOLDER     = doc
 
 # If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom
 # filter to add. For more information please see Qt Help Project / Custom
-# Filters (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-
+# Filters (see:
-# filters).
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters).
 # This tag requires that the tag GENERATE_QHP is set to YES.
 
 QHP_CUST_FILTER_NAME   =
 
 # The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the
 # custom filter to add. For more information please see Qt Help Project / Custom
-# Filters (see: https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-
+# Filters (see:
-# filters).
+# https://doc.qt.io/archives/qt-4.8/qthelpproject.html#custom-filters).
 # This tag requires that the tag GENERATE_QHP is set to YES.
 
 QHP_CUST_FILTER_ATTRS  =
@@ -1431,9 +1469,9 @@ QHP_CUST_FILTER_ATTRS  =
 
 QHP_SECT_FILTER_ATTRS  =
 
-# The QHG_LOCATION tag can be used to specify the location of Qt's
+# The QHG_LOCATION tag can be used to specify the location (absolute path
-# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the
+# including file name) of Qt's qhelpgenerator. If non-empty doxygen will try to
-# generated .qhp file.
+# run qhelpgenerator on the generated .qhp file.
 # This tag requires that the tag GENERATE_QHP is set to YES.
 
 QHG_LOCATION           =
@@ -1476,16 +1514,28 @@ DISABLE_INDEX          = NO
 # to work a browser that supports JavaScript, DHTML, CSS and frames is required
 # (i.e. any modern browser). Windows users are probably better off using the
 # HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can
-# further fine-tune the look of the index. As an example, the default style
+# further fine tune the look of the index (see "Fine-tuning the output"). As an
-# sheet generated by doxygen has an example that shows how to put an image at
+# example, the default style sheet generated by doxygen has an example that
-# the root of the tree instead of the PROJECT_NAME. Since the tree basically has
+# shows how to put an image at the root of the tree instead of the PROJECT_NAME.
-# the same information as the tab index, you could consider setting
+# Since the tree basically has the same information as the tab index, you could
-# DISABLE_INDEX to YES when enabling this option.
+# consider setting DISABLE_INDEX to YES when enabling this option.
 # The default value is: NO.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
 GENERATE_TREEVIEW      = NO
 
+# When both GENERATE_TREEVIEW and DISABLE_INDEX are set to YES, then the
+# FULL_SIDEBAR option determines if the side bar is limited to only the treeview
+# area (value NO) or if it should extend to the full height of the window (value
+# YES). Setting this to YES gives a layout similar to
+# https://docs.readthedocs.io with more room for contents, but less room for the
+# project logo, title, and description. If either GENERATE_TREEVIEW or
+# DISABLE_INDEX is set to NO, this option has no effect.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+FULL_SIDEBAR           = NO
+
 # The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that
 # doxygen will group on one line in the generated HTML documentation.
 #
@@ -1510,6 +1560,13 @@ TREEVIEW_WIDTH         = 250
 
 EXT_LINKS_IN_WINDOW    = NO
 
+# If the OBFUSCATE_EMAILS tag is set to YES, doxygen will obfuscate email
+# addresses.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+OBFUSCATE_EMAILS       = YES
+
 # If the HTML_FORMULA_FORMAT option is set to svg, doxygen will use the pdf2svg
 # tool (see https://github.com/dawbarton/pdf2svg) or inkscape (see
 # https://inkscape.org) to generate formulas as SVG images instead of PNGs for
@@ -1558,11 +1615,29 @@ FORMULA_MACROFILE      =
 
 USE_MATHJAX            = @GNSSSDR_USE_MATHJAX@
 
+# With MATHJAX_VERSION it is possible to specify the MathJax version to be used.
+# Note that the different versions of MathJax have different requirements with
+# regards to the different settings, so it is possible that also other MathJax
+# settings have to be changed when switching between the different MathJax
+# versions.
+# Possible values are: MathJax_2 and MathJax_3.
+# The default value is: MathJax_2.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_VERSION        = MathJax_2
+
 # When MathJax is enabled you can set the default output format to be used for
-# the MathJax output. See the MathJax site (see:
+# the MathJax output. For more details about the output format see MathJax
-# http://docs.mathjax.org/en/latest/output.html) for more details.
+# version 2 (see:
+# http://docs.mathjax.org/en/v2.7-latest/output.html) and MathJax version 3
+# (see:
+# http://docs.mathjax.org/en/latest/web/components/output.html).
 # Possible values are: HTML-CSS (which is slower, but has the best
-# compatibility), NativeMML (i.e. MathML) and SVG.
+# compatibility. This is the name for Mathjax version 2, for MathJax version 3
+# this will be translated into chtml), NativeMML (i.e. MathML. Only supported
+# for NathJax 2. For MathJax version 3 chtml will be used instead.), chtml (This
+# is the name for Mathjax version 3, for MathJax version 2 this will be
+# translated into HTML-CSS) and SVG.
 # The default value is: HTML-CSS.
 # This tag requires that the tag USE_MATHJAX is set to YES.
 
@@ -1575,15 +1650,21 @@ MATHJAX_FORMAT         = SVG
 # MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax
 # Content Delivery Network so you can quickly see the result without installing
 # MathJax. However, it is strongly recommended to install a local copy of
-# MathJax from https://www.mathjax.org before deployment.
+# MathJax from https://www.mathjax.org before deployment. The default value is:
-# The default value is: https://cdn.jsdelivr.net/npm/mathjax@2.
+# - in case of MathJax version 2: https://cdn.jsdelivr.net/npm/mathjax@2
+# - in case of MathJax version 3: https://cdn.jsdelivr.net/npm/mathjax@3
 # This tag requires that the tag USE_MATHJAX is set to YES.
 
 MATHJAX_RELPATH        = @MATHJAX2_PATH@
 
 # The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax
 # extension names that should be enabled during MathJax rendering. For example
+# for MathJax version 2 (see
+# https://docs.mathjax.org/en/v2.7-latest/tex.html#tex-and-latex-extensions):
 # MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols
+# For example for MathJax version 3 (see
+# http://docs.mathjax.org/en/latest/input/tex/extensions/index.html):
+# MATHJAX_EXTENSIONS = ams
 # This tag requires that the tag USE_MATHJAX is set to YES.
 
 MATHJAX_EXTENSIONS     = TeX/AMSmath \
@@ -1591,7 +1672,8 @@ MATHJAX_EXTENSIONS     = TeX/AMSmath \
 
 # The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces
 # of code that will be used on startup of the MathJax code. See the MathJax site
-# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an
+# (see:
+# http://docs.mathjax.org/en/v2.7-latest/output.html) for more details. For an
 # example see the documentation.
 # This tag requires that the tag USE_MATHJAX is set to YES.
 
@@ -1638,7 +1720,8 @@ SERVER_BASED_SEARCH    = NO
 #
 # Doxygen ships with an example indexer (doxyindexer) and search engine
 # (doxysearch.cgi) which are based on the open source search engine library
-# Xapian (see: https://xapian.org/).
+# Xapian (see:
+# https://xapian.org/).
 #
 # See the section "External Indexing and Searching" for details.
 # The default value is: NO.
@@ -1651,8 +1734,9 @@ EXTERNAL_SEARCH        = NO
 #
 # Doxygen ships with an example indexer (doxyindexer) and search engine
 # (doxysearch.cgi) which are based on the open source search engine library
-# Xapian (see: https://xapian.org/). See the section "External Indexing and
+# Xapian (see:
-# Searching" for details.
+# https://xapian.org/). See the section "External Indexing and Searching" for
+# details.
 # This tag requires that the tag SEARCHENGINE is set to YES.
 
 SEARCHENGINE_URL       =
@@ -1763,29 +1847,31 @@ EXTRA_PACKAGES         = amsmath \
                          amssymb \
                          amsfonts
 
-# The LATEX_HEADER tag can be used to specify a personal LaTeX header for the
+# The LATEX_HEADER tag can be used to specify a user-defined LaTeX header for
-# generated LaTeX document. The header should contain everything until the first
+# the generated LaTeX document. The header should contain everything until the
-# chapter. If it is left blank doxygen will generate a standard header. See
+# first chapter. If it is left blank doxygen will generate a standard header. It
-# section "Doxygen usage" for information on how to let doxygen write the
+# is highly recommended to start with a default header using
-# default header to a separate file.
+# doxygen -w latex new_header.tex new_footer.tex new_stylesheet.sty
+# and then modify the file new_header.tex. See also section "Doxygen usage" for
+# information on how to generate the default header that doxygen normally uses.
 #
-# Note: Only use a user-defined header if you know what you are doing! The
+# Note: Only use a user-defined header if you know what you are doing!
-# following commands have a special meaning inside the header: $title,
+# Note: The header is subject to change so you typically have to regenerate the
-# $datetime, $date, $doxygenversion, $projectname, $projectnumber,
+# default header when upgrading to a newer version of doxygen. The following
-# $projectbrief, $projectlogo. Doxygen will replace $title with the empty
+# commands have a special meaning inside the header (and footer): For a
-# string, for the replacement values of the other commands the user is referred
+# description of the possible markers and block names see the documentation.
-# to HTML_HEADER.
 # This tag requires that the tag GENERATE_LATEX is set to YES.
 
 LATEX_HEADER           =
 
-# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for the
+# The LATEX_FOOTER tag can be used to specify a user-defined LaTeX footer for
-# generated LaTeX document. The footer should contain everything after the last
+# the generated LaTeX document. The footer should contain everything after the
-# chapter. If it is left blank doxygen will generate a standard footer. See
+# last chapter. If it is left blank doxygen will generate a standard footer. See
 # LATEX_HEADER for more information on how to generate a default footer and what
-# special commands can be used inside the footer.
+# special commands can be used inside the footer. See also section "Doxygen
-#
+# usage" for information on how to generate the default footer that doxygen
-# Note: Only use a user-defined footer if you know what you are doing!
+# normally uses. Note: Only use a user-defined footer if you know what you are
+# doing!
 # This tag requires that the tag GENERATE_LATEX is set to YES.
 
 LATEX_FOOTER           =
@@ -1830,8 +1916,7 @@ USE_PDFLATEX           = YES
 
 # If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \batchmode
 # command to the generated LaTeX files. This will instruct LaTeX to keep running
-# if errors occur, instead of asking the user for help. This option is also used
+# if errors occur, instead of asking the user for help.
-# when generating formulas in HTML.
 # The default value is: NO.
 # This tag requires that the tag GENERATE_LATEX is set to YES.
 
@@ -1844,16 +1929,6 @@ LATEX_BATCHMODE        = NO
 
 LATEX_HIDE_INDICES     = NO
 
-# If the LATEX_SOURCE_CODE tag is set to YES then doxygen will include source
-# code with syntax highlighting in the LaTeX output.
-#
-# Note that which sources are shown also depends on other settings such as
-# SOURCE_BROWSER.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_LATEX is set to YES.
-
-LATEX_SOURCE_CODE      = NO
-
 # The LATEX_BIB_STYLE tag can be used to specify the style to use for the
 # bibliography, e.g. plainnat, or ieeetr. See
 # https://en.wikipedia.org/wiki/BibTeX and \cite for more info.
@@ -1934,16 +2009,6 @@ RTF_STYLESHEET_FILE    =
 
 RTF_EXTENSIONS_FILE    =
 
-# If the RTF_SOURCE_CODE tag is set to YES then doxygen will include source code
-# with syntax highlighting in the RTF output.
-#
-# Note that which sources are shown also depends on other settings such as
-# SOURCE_BROWSER.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_RTF is set to YES.
-
-RTF_SOURCE_CODE        = NO
-
 #---------------------------------------------------------------------------
 # Configuration options related to the man page output
 #---------------------------------------------------------------------------
@@ -2040,15 +2105,6 @@ GENERATE_DOCBOOK       = NO
 
 DOCBOOK_OUTPUT         = docbook
 
-# If the DOCBOOK_PROGRAMLISTING tag is set to YES, doxygen will include the
-# program listings (including syntax highlighting and cross-referencing
-# information) to the DOCBOOK output. Note that enabling this will significantly
-# increase the size of the DOCBOOK output.
-# The default value is: NO.
-# This tag requires that the tag GENERATE_DOCBOOK is set to YES.
-
-DOCBOOK_PROGRAMLISTING = NO
-
 #---------------------------------------------------------------------------
 # Configuration options for the AutoGen Definitions output
 #---------------------------------------------------------------------------
@@ -2227,15 +2283,6 @@ EXTERNAL_PAGES         = YES
 # Configuration options related to the dot tool
 #---------------------------------------------------------------------------
 
-# If the CLASS_DIAGRAMS tag is set to YES, doxygen will generate a class diagram
-# (in HTML and LaTeX) for classes with base or super classes. Setting the tag to
-# NO turns the diagrams off. Note that this option also works with HAVE_DOT
-# disabled, but it is recommended to install and use dot, since it yields more
-# powerful graphs.
-# The default value is: YES.
-
-CLASS_DIAGRAMS         = YES
-
 # You can include diagrams made with dia in doxygen documentation. Doxygen will
 # then run dia to produce the diagram and insert it in the documentation. The
 # DIA_PATH tag allows you to specify the directory where the dia binary resides.
@@ -2292,11 +2339,14 @@ DOT_FONTSIZE           = 10
 
 DOT_FONTPATH           =
 
-# If the CLASS_GRAPH tag is set to YES then doxygen will generate a graph for
+# If the CLASS_GRAPH tag is set to YES (or GRAPH) then doxygen will generate a
-# each documented class showing the direct and indirect inheritance relations.
+# graph for each documented class showing the direct and indirect inheritance
-# Setting this tag to YES will force the CLASS_DIAGRAMS tag to NO.
+# relations. In case HAVE_DOT is set as well dot will be used to draw the graph,
+# otherwise the built-in generator will be used. If the CLASS_GRAPH tag is set
+# to TEXT the direct and indirect inheritance relations will be shown as texts /
+# links.
+# Possible values are: NO, YES, TEXT and GRAPH.
 # The default value is: YES.
-# This tag requires that the tag HAVE_DOT is set to YES.
 
 CLASS_GRAPH            = YES
 
@@ -2333,10 +2383,32 @@ UML_LOOK               = YES
 # but if the number exceeds 15, the total amount of fields shown is limited to
 # 10.
 # Minimum value: 0, maximum value: 100, default value: 10.
-# This tag requires that the tag HAVE_DOT is set to YES.
+# This tag requires that the tag UML_LOOK is set to YES.
 
 UML_LIMIT_NUM_FIELDS   = 10
 
+# If the DOT_UML_DETAILS tag is set to NO, doxygen will show attributes and
+# methods without types and arguments in the UML graphs. If the DOT_UML_DETAILS
+# tag is set to YES, doxygen will add type and arguments for attributes and
+# methods in the UML graphs. If the DOT_UML_DETAILS tag is set to NONE, doxygen
+# will not generate fields with class member information in the UML graphs. The
+# class diagrams will look similar to the default class diagrams but using UML
+# notation for the relationships.
+# Possible values are: NO, YES and NONE.
+# The default value is: NO.
+# This tag requires that the tag UML_LOOK is set to YES.
+
+DOT_UML_DETAILS        = NO
+
+# The DOT_WRAP_THRESHOLD tag can be used to set the maximum number of characters
+# to display on a single line. If the actual line length exceeds this threshold
+# significantly it will wrapped across multiple lines. Some heuristics are apply
+# to avoid ugly line breaks.
+# Minimum value: 0, maximum value: 1000, default value: 17.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_WRAP_THRESHOLD     = 17
+
 # If the TEMPLATE_RELATIONS tag is set to YES then the inheritance and
 # collaboration graphs will show the relations between templates and their
 # instances.
@@ -2403,6 +2475,13 @@ GRAPHICAL_HIERARCHY    = YES
 
 DIRECTORY_GRAPH        = YES
 
+# The DIR_GRAPH_MAX_DEPTH tag can be used to limit the maximum number of levels
+# of child directories generated in directory dependency graphs by dot.
+# Minimum value: 1, maximum value: 25, default value: 1.
+# This tag requires that the tag DIRECTORY_GRAPH is set to YES.
+
+DIR_GRAPH_MAX_DEPTH    = 1
+
 # The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
 # generated by dot. For an explanation of the image formats see the section
 # output formats in the documentation of the dot tool (Graphviz (see:
@@ -2456,10 +2535,10 @@ MSCFILE_DIRS           =
 DIAFILE_DIRS           =
 
 # When using plantuml, the PLANTUML_JAR_PATH tag should be used to specify the
-# path where java can find the plantuml.jar file. If left blank, it is assumed
+# path where java can find the plantuml.jar file or to the filename of jar file
-# PlantUML is not used or called during a preprocessing step. Doxygen will
+# to be used. If left blank, it is assumed PlantUML is not used or called during
-# generate a warning when it encounters a \startuml command in this case and
+# a preprocessing step. Doxygen will generate a warning when it encounters a
-# will not generate output for the diagram.
+# \startuml command in this case and will not generate output for the diagram.
 
 PLANTUML_JAR_PATH      =
 
@@ -2521,14 +2600,18 @@ DOT_MULTI_TARGETS      = YES
 # If the GENERATE_LEGEND tag is set to YES doxygen will generate a legend page
 # explaining the meaning of the various boxes and arrows in the dot generated
 # graphs.
+# Note: This tag requires that UML_LOOK isn't set, i.e. the doxygen internal
+# graphical representation for inheritance and collaboration diagrams is used.
 # The default value is: YES.
 # This tag requires that the tag HAVE_DOT is set to YES.
 
 GENERATE_LEGEND        = YES
 
-# If the DOT_CLEANUP tag is set to YES, doxygen will remove the intermediate dot
+# If the DOT_CLEANUP tag is set to YES, doxygen will remove the intermediate
 # files that are used to generate the various graphs.
+#
+# Note: This setting is not only used for dot files but also for msc temporary
+# files.
 # The default value is: YES.
-# This tag requires that the tag HAVE_DOT is set to YES.
 
 DOT_CLEANUP            = YES

src/algorithms/PVT/libs/rtklib_solver.cc

@@ -406,6 +406,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
     bool gps_dual_band = false;
     bool band1 = false;
     bool band2 = false;
+    bool gal_e5_is_e5b = false;
     for (gnss_observables_iter = gnss_observables_map.cbegin();
          gnss_observables_iter != gnss_observables_map.cend();
          ++gnss_observables_iter)
@@ -468,7 +469,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                             }
 
                         // Galileo E5
-                        if (sig_ == "5X")
+                        if ((sig_ == "5X") || (sig_ == "7X"))
                             {
                                 // 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
                                 galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
@@ -508,6 +509,10 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
                                     {
                                         DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
                                     }
+                                if (sig_ == "7X")
+                                    {
+                                        gal_e5_is_e5b = true;
+                                    }
                             }
                         break;
                     }
@@ -873,10 +878,18 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
             for (int i = 0; i < MAXSAT; i++)
                 {
                     for (int j = 0; j < NFREQ; j++)
+                        {
+                            if (j == 2 && gal_e5_is_e5b)
+                                {
+                                    // frq = 4 corresponds to E5B in that function
+                                    nav_data.lam[i][j] = satwavelen(i + 1, 4, &nav_data);
+                                }
+                            else
                                 {
                                     nav_data.lam[i][j] = satwavelen(i + 1, j, &nav_data);
                                 }
                         }
+                }
 
             result = rtkpos(&d_rtk, d_obs_data.data(), valid_obs + glo_valid_obs, &nav_data);
 

src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc

@@ -852,7 +852,7 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
         }
     d_worker_active = false;
 
-    if ((d_num_noncoherent_integrations_counter == d_acq_parameters.max_dwells) or (d_positive_acq == 1))
+    if ((d_num_noncoherent_integrations_counter == d_acq_parameters.max_dwells) or (d_positive_acq == 1) or (d_acq_parameters.bit_transition_flag))
         {
             // Record results to file if required
             if (d_dump and d_channel == d_dump_channel)
@@ -888,7 +888,7 @@ void pcps_acquisition::calculate_threshold()
 
     const int num_bins = effective_fft_size * num_doppler_bins;
 
-    d_threshold = static_cast<float>(2.0 * boost::math::gamma_p_inv(2.0 * d_acq_parameters.max_dwells, std::pow(1.0 - pfa, 1.0 / static_cast<float>(num_bins))));
+    d_threshold = static_cast<float>(2.0 * boost::math::gamma_p_inv(2.0 * (d_acq_parameters.bit_transition_flag ? 1 : d_acq_parameters.max_dwells), std::pow(1.0 - pfa, 1.0 / static_cast<float>(num_bins))));
 }
 
 

src/algorithms/libs/rtklib/rtklib_conversions.cc

@@ -71,6 +71,10 @@ obsd_t insert_obs_to_rtklib(obsd_t& rtklib_obs, const Gnss_Synchro& gnss_synchro
             break;
         case 'E':
             rtklib_obs.sat = gnss_synchro.PRN + NSATGPS + NSATGLO;
+            if (sig_ == "7X")
+                {
+                    rtklib_obs.code[band] = static_cast<unsigned char>(CODE_L7X);
+                }
             break;
         case 'R':
             rtklib_obs.sat = gnss_synchro.PRN + NSATGPS;

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt

@@ -8,7 +8,7 @@
 ########################################################################
 # Project setup
 ########################################################################
-cmake_minimum_required(VERSION 2.8.12...3.21)
+cmake_minimum_required(VERSION 2.8.12...3.22)
 if(NOT CMAKE_BUILD_TYPE)
     set(CMAKE_BUILD_TYPE "Release")
 endif()

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/README.md

@@ -46,8 +46,7 @@ kernel is actually doing.
 This figure shows the role of some VOLK_GNSSSDR kernels in the context of a GNSS
 baseband processor:
 
-![Example of VOLK_GNSSSDR
+![Example of VOLK_GNSSSDR usage.](./docs/images/VOLK_GNSSSDR_Usage_Example.png)
-usage.](./docs/images/VOLK_GNSSSDR_Usage_Example.png)
 
 ## How to build VOLK_GNSSSDR
 

src/algorithms/signal_source/gnuradio_blocks/fifo_reader.cc

@@ -64,9 +64,14 @@ int FifoReader::work(int noutput_items,
             // ishort == int16_t
             items_retrieved = read_interleaved<int16_t>(noutput_items, output_items);
         }
+    else if (sample_type_ == "ibyte")  // Does this also work with cbyte?
+        {
+            // ibyte == int8_t
+            items_retrieved = read_interleaved<int8_t>(noutput_items, output_items);
+        }
     else if (sample_type_ == "gr_complex")
         {
-            LOG(WARNING) << sample_type_ << " is not yet tested. Please consider removing this warning if tested successfully";
+            // gr_complex == complex<float>
             items_retrieved = read_gr_complex(noutput_items, output_items);
         }
     else
@@ -80,6 +85,7 @@ int FifoReader::work(int noutput_items,
     return this->WORK_CALLED_PRODUCE;
 }
 
+
 // read gr_complex items from fifo
 // this fct has duplicate code with the templated read_interleaved fct in header
 size_t FifoReader::read_gr_complex(int noutput_items, gr_vector_void_star &output_items)

src/algorithms/signal_source/gnuradio_blocks/fifo_reader.h

@@ -51,8 +51,11 @@ private:
     FifoReader(const std::string &file_name, const std::string &sample_type);
 
     size_t read_gr_complex(int noutput_items, gr_vector_void_star &output_items);
+
     //! function to read data out of FIFO which is stored as interleaved I/Q stream.
     //! template argument determines sample_type
+    // Note: template definition necessary in header file
+    // See also: https://stackoverflow.com/questions/495021/why-can-templates-only-be-implemented-in-the-header-file
     template <typename Type>
     size_t read_interleaved(int noutput_items, gr_vector_void_star &output_items)
     {
@@ -61,15 +64,13 @@ private:
             {
                 // TODO: try if performance increases if we copy larger chunks to vector.
                 // how to read from stream: https://en.cppreference.com/w/cpp/io/basic_ifstream
-                std::array<char, 4> buffer;  // gr_complex is 32bit = 4*char
+                std::array<char, 2 * sizeof(Type)> buffer;
-                fifo_.read(reinterpret_cast<char *>(&buffer[0]), buffer.size());
+                fifo_.read(reinterpret_cast<char *>(buffer.data()), buffer.size());
                 if (fifo_.good())
                     {
-                        Type real;
+                        auto real = reinterpret_cast<Type const *>(&buffer[0]);
-                        Type imag;
+                        auto imag = reinterpret_cast<Type const *>(&buffer[sizeof(Type)]);
-                        memcpy(&real, &buffer[0], sizeof(real));
+                        static_cast<gr_complex *>(output_items[0])[n] = gr_complex(*real, *imag);
-                        memcpy(&imag, &buffer[2], sizeof(imag));
-                        static_cast<gr_complex *>(output_items.at(0))[n] = gr_complex(real, imag);
                         items_retrieved++;
                     }
                 else if (fifo_.eof())

src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc

@@ -662,30 +662,8 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
     d_band = current_symbol.Signal[0];
 
     // add new symbol to the symbol queue
-    switch (d_frame_type)
-        {
-        case 1:  // INAV
-            {
     d_symbol_history.push_back(current_symbol.Prompt_I);
-                break;
+
-            }
-        case 2:  // FNAV
-            {
-                d_symbol_history.push_back(current_symbol.Prompt_Q);
-                break;
-            }
-        case 3:  // CNAV
-            {
-                d_symbol_history.push_back(current_symbol.Prompt_I);
-                break;
-            }
-        default:
-            {
-                LOG(WARNING) << "Frame type " << d_frame_type << " is not defined";
-                d_symbol_history.push_back(current_symbol.Prompt_I);
-                break;
-            }
-        }
     d_sample_counter++;  // count for the processed symbols
 
     // Time Tags from signal source (optional feature)

src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc

@@ -305,6 +305,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_)
                             // remove data secondary code
                             d_data_secondary_code_length = static_cast<uint32_t>(GALILEO_E5A_I_SECONDARY_CODE_LENGTH);
                             d_data_secondary_code_string = GALILEO_E5A_I_SECONDARY_CODE;
+                            d_interchange_iq = true;
                         }
                     else
                         {
@@ -312,7 +313,6 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_)
                             d_secondary_code_length = static_cast<uint32_t>(GALILEO_E5A_I_SECONDARY_CODE_LENGTH);
                             d_secondary_code_string = GALILEO_E5A_I_SECONDARY_CODE;
                             d_signal_pretty_name = d_signal_pretty_name + "I";
-                            d_interchange_iq = true;
                         }
                 }
             else if (d_signal_type == "7X")
@@ -336,6 +336,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_)
                             // remove data secondary code
                             d_data_secondary_code_length = static_cast<uint32_t>(GALILEO_E5B_I_SECONDARY_CODE_LENGTH);
                             d_data_secondary_code_string = GALILEO_E5B_I_SECONDARY_CODE;
+                            d_interchange_iq = true;
                         }
                     else
                         {
@@ -343,7 +344,6 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_)
                             d_secondary_code_length = static_cast<uint32_t>(GALILEO_E5B_I_SECONDARY_CODE_LENGTH);
                             d_secondary_code_string = GALILEO_E5B_I_SECONDARY_CODE;
                             d_signal_pretty_name = d_signal_pretty_name + "I";
-                            d_interchange_iq = true;
                         }
                 }
             else if (d_signal_type == "E6")

src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc

@@ -303,7 +303,7 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
                             // remove data secondary code
                             d_data_secondary_code_length = static_cast<uint32_t>(GALILEO_E5A_I_SECONDARY_CODE_LENGTH);
                             d_data_secondary_code_string = GALILEO_E5A_I_SECONDARY_CODE;
-
+                            d_interchange_iq = true;
                             // the pilot secondary code depends on PRN and it is initialized later
                         }
                     else
@@ -312,7 +312,6 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
                             d_secondary_code_length = static_cast<uint32_t>(GALILEO_E5A_I_SECONDARY_CODE_LENGTH);
                             d_secondary_code_string = GALILEO_E5A_I_SECONDARY_CODE;
                             d_signal_pretty_name = d_signal_pretty_name + "I";
-                            d_interchange_iq = true;
                         }
                 }
             else

src/algorithms/tracking/libs/CMakeLists.txt

@@ -78,7 +78,7 @@ else()
     add_library(tracking_libs ${TRACKING_LIB_SOURCES} ${TRACKING_LIB_HEADERS})
 endif()
 
-target_link_libraries(tracking_libs
+    target_link_libraries(tracking_libs
     PUBLIC
         Armadillo::armadillo
         Boost::headers
@@ -89,6 +89,7 @@ target_link_libraries(tracking_libs
     PRIVATE
         gnss_sdr_flags
         Glog::glog
+        Gnuradio::runtime
 )
 
 if(ENABLE_CUDA)

src/algorithms/tracking/libs/tracking_discriminators.cc

@@ -20,6 +20,7 @@
 
 #include "tracking_discriminators.h"
 #include "MATH_CONSTANTS.h"
+#include <gnuradio/math.h>
 
 //  All the outputs are in RADIANS
 
@@ -53,7 +54,7 @@ double fll_four_quadrant_atan(gr_complex prompt_s1, gr_complex prompt_s2, double
 {
     const float dot = prompt_s1.real() * prompt_s2.real() + prompt_s1.imag() * prompt_s2.imag();
     const float cross = prompt_s1.real() * prompt_s2.imag() - prompt_s2.real() * prompt_s1.imag();
-    return std::atan2(cross, dot) / (t2 - t1);
+    return static_cast<double>(gr::fast_atan2f(cross, dot) / (t2 - t1));
 }
 
 
@@ -84,7 +85,7 @@ double fll_diff_atan(gr_complex prompt_s1, gr_complex prompt_s2, double t1, doub
  */
 double pll_four_quadrant_atan(gr_complex prompt_s1)
 {
-    return static_cast<double>(std::atan2(prompt_s1.imag(), prompt_s1.real()));
+    return static_cast<double>(gr::fast_atan2f(prompt_s1.imag(), prompt_s1.real()));
 }
 
 

src/tests/benchmarks/CMakeLists.txt

@@ -102,6 +102,7 @@ add_benchmark(benchmark_copy)
 add_benchmark(benchmark_preamble core_system_parameters)
 add_benchmark(benchmark_detector core_system_parameters)
 add_benchmark(benchmark_reed_solomon core_system_parameters)
+add_benchmark(benchmark_atan2 Gnuradio::runtime)
 
 if(has_std_plus_void)
     target_compile_definitions(benchmark_detector PRIVATE -DCOMPILER_HAS_STD_PLUS_VOID=1)

src/tests/benchmarks/benchmark_atan2.cc

@@ -0,0 +1,65 @@
+/*!
+ * \file benchmark_atan2.cc
+ * \brief Benchmark for atan2 implementations
+ * \author Carles Fernandez-Prades, 2022. cfernandez(at)cttc.es
+ *
+ *
+ * -----------------------------------------------------------------------------
+ *
+ * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
+ * This file is part of GNSS-SDR.
+ *
+ * Copyright (C) 2022  (see AUTHORS file for a list of contributors)
+ * SPDX-License-Identifier: GPL-3.0-or-later
+ *
+ * -----------------------------------------------------------------------------
+ */
+
+#include <benchmark/benchmark.h>
+#include <gnuradio/math.h>
+#include <cmath>
+#include <random>
+
+void bm_std_atan2(benchmark::State& state)
+{
+    std::random_device rd;
+    std::default_random_engine e2(rd());
+    std::uniform_real_distribution<> dist(-1.0, 1.0);
+
+    float a = dist(e2);
+    float b = dist(e2);
+    float c;
+    while (state.KeepRunning())
+        {
+            c = std::atan2(a, b);
+        }
+    if (c > 1.0)
+        {
+            // Avoid unused-but-set-variable warning
+        }
+}
+
+
+void bm_gr_fast_atan2f(benchmark::State& state)
+{
+    std::random_device rd;
+    std::default_random_engine e2(rd());
+    std::uniform_real_distribution<> dist(-1.0, 1.0);
+
+    float a = dist(e2);
+    float b = dist(e2);
+    float c;
+    while (state.KeepRunning())
+        {
+            c = gr::fast_atan2f(a, b);
+        }
+    if (c > 1.0)
+        {
+            // Avoid unused-but-set-variable warning
+        }
+}
+
+BENCHMARK(bm_std_atan2);
+BENCHMARK(bm_gr_fast_atan2f);
+
+BENCHMARK_MAIN();