diff --git a/CMakeLists.txt b/CMakeLists.txt index 789a19974..22ad70e01 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -51,6 +51,7 @@ option(ENABLE_ARRAY "Enable the use of CTTC's antenna array front-end as signal option(ENABLE_GN3S "Enable the use of the GN3S dongle as signal source (experimental)" OFF) option(ENABLE_PLUTOSDR "Enable the use of ADALM-PLUTO Evaluation Boards (Analog Devices Inc.), requires gr-iio" OFF) option(ENABLE_FMCOMMS2 "Enable the use of FMCOMMS4-EBZ + ZedBoard hardware, requires gr-iio" OFF) +option(ENABLE_AD9361 "Enable the use of AD9361 directo to FPGA hardware, requires gr-iio" OFF) # Performance analysis tools option(ENABLE_GPERFTOOLS "Enable linking to Gperftools libraries (tcmalloc and profiler)" OFF) diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md index 7a87240cb..262feeb0c 100644 --- a/CONTRIBUTING.md +++ b/CONTRIBUTING.md @@ -75,7 +75,7 @@ the actual username of your GitHub account): 4. Your forked repository https://github.com/YOUR_USERNAME/gnss-sdr will receive the default name of `origin`. You can also add the original -gnss-sdr repository, which is usually called `upstream`: +gnss-sdr repository, which is usually referred to as `upstream`: $ cd gnss-sdr $ git remote add upstream https://github.com/gnss-sdr/gnss-sdr.git diff --git a/README.md b/README.md index 270eaf8d5..ddb36c7c9 100644 --- a/README.md +++ b/README.md @@ -185,9 +185,9 @@ or manually as explained below, and then please follow instructions on how to [d $ sudo apt-get install libopenblas-dev liblapack-dev # For Debian/Ubuntu/LinuxMint $ sudo yum install lapack-devel blas-devel # For Fedora/CentOS/RHEL $ sudo zypper install lapack-devel blas-devel # For OpenSUSE -$ wget http://sourceforge.net/projects/arma/files/armadillo-8.200.2.tar.xz -$ tar xvfz armadillo-8.200.2.tar.xz -$ cd armadillo-8.200.2 +$ wget http://sourceforge.net/projects/arma/files/armadillo-8.500.0.tar.xz +$ tar xvfz armadillo-8.500.0.tar.xz +$ cd armadillo-8.500.0 $ cmake . $ make $ sudo make install diff --git a/cmake/Modules/FindGFORTRAN.cmake b/cmake/Modules/FindGFORTRAN.cmake index b676fec0f..c9a7c2c6f 100644 --- a/cmake/Modules/FindGFORTRAN.cmake +++ b/cmake/Modules/FindGFORTRAN.cmake @@ -1,3 +1,19 @@ +# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . find_library(GFORTRAN NAMES gfortran PATHS /usr/lib diff --git a/cmake/Modules/FindGFlags.cmake b/cmake/Modules/FindGFlags.cmake index 804c908b2..61fa165db 100644 --- a/cmake/Modules/FindGFlags.cmake +++ b/cmake/Modules/FindGFlags.cmake @@ -1,3 +1,20 @@ +# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . + # - Try to find GFlags # # The following variables are optionally searched for defaults @@ -9,14 +26,6 @@ # GFlags_LIBS # GFlags_LIBRARY_DIRS -# - Try to find GFlags -# -# -# The following are set after configuration is done: -# GFlags_FOUND -# GFlags_INCLUDE_DIRS -# GFlags_LIBS -# GFlags_LIBRARY_DIRS cmake_minimum_required(VERSION 2.6) if(APPLE) diff --git a/cmake/Modules/FindGLOG.cmake b/cmake/Modules/FindGLOG.cmake index 68b012c8d..4ae4aa5d7 100644 --- a/cmake/Modules/FindGLOG.cmake +++ b/cmake/Modules/FindGLOG.cmake @@ -1,3 +1,20 @@ +# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . + # - Try to find the Google Glog library # # This module defines the following variables diff --git a/cmake/Modules/FindGPSTK.cmake b/cmake/Modules/FindGPSTK.cmake index 37ea1dbf0..7c3e79d96 100644 --- a/cmake/Modules/FindGPSTK.cmake +++ b/cmake/Modules/FindGPSTK.cmake @@ -1,3 +1,20 @@ +# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . + # - Find gpstk library # Find the native gpstk includes and library # This module defines diff --git a/cmake/Modules/FindGnuradio.cmake b/cmake/Modules/FindGnuradio.cmake index 8b540bee0..a0110b7a3 100644 --- a/cmake/Modules/FindGnuradio.cmake +++ b/cmake/Modules/FindGnuradio.cmake @@ -1,3 +1,20 @@ +# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . + ######################################################################## # Find GNU Radio ######################################################################## diff --git a/cmake/Modules/FindGperftools.cmake b/cmake/Modules/FindGperftools.cmake index 5a97a29c5..5ad0ec303 100644 --- a/cmake/Modules/FindGperftools.cmake +++ b/cmake/Modules/FindGperftools.cmake @@ -1,3 +1,20 @@ +# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . + # Tries to find Gperftools. # # Usage of this module as follows: diff --git a/cmake/Modules/FindGrDbfcttc.cmake b/cmake/Modules/FindGrDbfcttc.cmake index 5624f8003..d68813480 100644 --- a/cmake/Modules/FindGrDbfcttc.cmake +++ b/cmake/Modules/FindGrDbfcttc.cmake @@ -1,3 +1,20 @@ +# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . + ######################################################################## # Find GR-DBFCTTC Module ######################################################################## diff --git a/cmake/Modules/FindGrGN3S.cmake b/cmake/Modules/FindGrGN3S.cmake index 0f1c2cbc5..7147bf65c 100644 --- a/cmake/Modules/FindGrGN3S.cmake +++ b/cmake/Modules/FindGrGN3S.cmake @@ -1,3 +1,20 @@ +# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . + ######################################################################## # Find GR-GN3S Module ######################################################################## diff --git a/cmake/Modules/FindGrOsmoSDR.cmake b/cmake/Modules/FindGrOsmoSDR.cmake index a67e1817e..c9d4199c8 100644 --- a/cmake/Modules/FindGrOsmoSDR.cmake +++ b/cmake/Modules/FindGrOsmoSDR.cmake @@ -1,3 +1,20 @@ +# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . + # Tries to find gr-osmosdr. # # Usage of this module as follows: diff --git a/cmake/Modules/FindLibOsmoSDR.cmake b/cmake/Modules/FindLibOsmoSDR.cmake index d024e0629..5e52fa0b0 100644 --- a/cmake/Modules/FindLibOsmoSDR.cmake +++ b/cmake/Modules/FindLibOsmoSDR.cmake @@ -1,3 +1,20 @@ +# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . + # Tries to find libosmosdr. # # Usage of this module as follows: diff --git a/cmake/Modules/FindLog4cpp.cmake b/cmake/Modules/FindLog4cpp.cmake index 8bddbcd76..8f1254561 100644 --- a/cmake/Modules/FindLog4cpp.cmake +++ b/cmake/Modules/FindLog4cpp.cmake @@ -1,3 +1,20 @@ +# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . + # - Find Log4cpp # Find the native LOG4CPP includes and library # diff --git a/cmake/Modules/FindMATIO.cmake b/cmake/Modules/FindMATIO.cmake index e1cb458d8..78ce0f14d 100644 --- a/cmake/Modules/FindMATIO.cmake +++ b/cmake/Modules/FindMATIO.cmake @@ -1,3 +1,20 @@ +# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . + # FindMATIO # # Try to find MATIO library diff --git a/cmake/Modules/FindORC.cmake b/cmake/Modules/FindORC.cmake index 9d0da9ee2..ea580334c 100644 --- a/cmake/Modules/FindORC.cmake +++ b/cmake/Modules/FindORC.cmake @@ -1,3 +1,20 @@ +# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . + FIND_PACKAGE(PkgConfig) PKG_CHECK_MODULES(PC_ORC "orc-0.4 > 0.4.22") diff --git a/cmake/Modules/FindOpenBLAS.cmake b/cmake/Modules/FindOpenBLAS.cmake index d8751b216..360f1c781 100644 --- a/cmake/Modules/FindOpenBLAS.cmake +++ b/cmake/Modules/FindOpenBLAS.cmake @@ -1,3 +1,20 @@ +# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . + # - Try to find OpenBLAS library (not headers!) # # The following environment variable is optionally searched diff --git a/cmake/Modules/FindOpenCL.cmake b/cmake/Modules/FindOpenCL.cmake index 1229090a9..4ae5d6aca 100644 --- a/cmake/Modules/FindOpenCL.cmake +++ b/cmake/Modules/FindOpenCL.cmake @@ -1,3 +1,20 @@ +# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . + # # This file taken from FindOpenCL project @ http://gitorious.com/findopencl # diff --git a/cmake/Modules/FindTeleorbit.cmake b/cmake/Modules/FindTeleorbit.cmake index 0d2d3c505..0e46255df 100644 --- a/cmake/Modules/FindTeleorbit.cmake +++ b/cmake/Modules/FindTeleorbit.cmake @@ -1,3 +1,20 @@ +# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . + INCLUDE(FindPkgConfig) PKG_CHECK_MODULES(PC_TELEORBIT teleorbit) diff --git a/cmake/Modules/FindUHD.cmake b/cmake/Modules/FindUHD.cmake index 3534e6b87..5a359cece 100644 --- a/cmake/Modules/FindUHD.cmake +++ b/cmake/Modules/FindUHD.cmake @@ -1,3 +1,20 @@ +# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . + ######################################################################## # Find the library for the USRP Hardware Driver ######################################################################## diff --git a/cmake/Modules/FindVolk.cmake b/cmake/Modules/FindVolk.cmake index 9621e16f7..37906c8ef 100644 --- a/cmake/Modules/FindVolk.cmake +++ b/cmake/Modules/FindVolk.cmake @@ -1,3 +1,20 @@ +# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . + ######################################################################## # Find VOLK (Vector-Optimized Library of Kernels) ######################################################################## diff --git a/cmake/Modules/FindVolkGnssSdr.cmake b/cmake/Modules/FindVolkGnssSdr.cmake index b5890966b..a41584481 100644 --- a/cmake/Modules/FindVolkGnssSdr.cmake +++ b/cmake/Modules/FindVolkGnssSdr.cmake @@ -1,3 +1,20 @@ +# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . + ######################################################################## # Find VOLK (Vector-Optimized Library of Kernels) GNSS-SDR library ######################################################################## diff --git a/cmake/Modules/Findiio.cmake b/cmake/Modules/Findiio.cmake index 817e9f9f7..ac3e4b1c3 100644 --- a/cmake/Modules/Findiio.cmake +++ b/cmake/Modules/Findiio.cmake @@ -1,3 +1,20 @@ +# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . + INCLUDE(FindPkgConfig) PKG_CHECK_MODULES(PC_IIO gnuradio-iio) @@ -22,6 +39,28 @@ FIND_LIBRARY( /usr/local/lib64 /usr/lib /usr/lib64 + /usr/lib/x86_64-linux-gnu + /usr/lib/alpha-linux-gnu + /usr/lib/aarch64-linux-gnu + /usr/lib/arm-linux-gnueabi + /usr/lib/arm-linux-gnueabihf + /usr/lib/hppa-linux-gnu + /usr/lib/i686-gnu + /usr/lib/i686-linux-gnu + /usr/lib/x86_64-kfreebsd-gnu + /usr/lib/i686-kfreebsd-gnu + /usr/lib/m68k-linux-gnu + /usr/lib/mips-linux-gnu + /usr/lib/mips64el-linux-gnuabi64 + /usr/lib/mipsel-linux-gnu + /usr/lib/powerpc-linux-gnu + /usr/lib/powerpc-linux-gnuspe + /usr/lib/powerpc64-linux-gnu + /usr/lib/powerpc64le-linux-gnu + /usr/lib/s390x-linux-gnu + /usr/lib/sparc64-linux-gnu + /usr/lib/x86_64-linux-gnux32 + /usr/lib/sh4-linux-gnu ) INCLUDE(FindPackageHandleStandardArgs) diff --git a/cmake/Modules/Findlibiio.cmake b/cmake/Modules/Findlibiio.cmake index 4ce6ca9c5..9b39f82e3 100644 --- a/cmake/Modules/Findlibiio.cmake +++ b/cmake/Modules/Findlibiio.cmake @@ -1,9 +1,26 @@ +# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . + INCLUDE(FindPkgConfig) PKG_CHECK_MODULES(PC_LIBIIO libiio) FIND_PATH( LIBIIO_INCLUDE_DIRS - NAMES gnuradio/iio/api.h + NAMES iio.h HINTS $ENV{LIBIIO_DIR}/include ${PC_LIBIIO_INCLUDEDIR} PATHS ${CMAKE_INSTALL_PREFIX}/include @@ -14,7 +31,7 @@ FIND_PATH( FIND_LIBRARY( LIBIIO_LIBRARIES - NAMES libiio.so iio + NAMES iio libiio.so.0 HINTS $ENV{LIBIIO_DIR}/lib ${PC_LIBIIO_LIBDIR} PATHS ${CMAKE_INSTALL_PREFIX}/lib @@ -24,27 +41,27 @@ FIND_LIBRARY( /usr/lib /usr/lib64 /usr/lib/x86_64-linux-gnu - /usr/lib/gcc/alpha-linux-gnu - /usr/lib/gcc/aarch64-linux-gnu - /usr/lib/gcc/arm-linux-gnueabi - /usr/lib/gcc/arm-linux-gnueabihf - /usr/lib/gcc/hppa-linux-gnu - /usr/lib/gcc/i686-gnu - /usr/lib/gcc/i686-linux-gnu - /usr/lib/gcc/x86_64-kfreebsd-gnu - /usr/lib/gcc/i686-kfreebsd-gnu - /usr/lib/gcc/m68k-linux-gnu - /usr/lib/gcc/mips-linux-gnu - /usr/lib/gcc/mips64el-linux-gnuabi64 - /usr/lib/gcc/mipsel-linux-gnu - /usr/lib/gcc/powerpc-linux-gnu - /usr/lib/gcc/powerpc-linux-gnuspe - /usr/lib/gcc/powerpc64-linux-gnu - /usr/lib/gcc/powerpc64le-linux-gnu - /usr/lib/gcc/s390x-linux-gnu - /usr/lib/gcc/sparc64-linux-gnu - /usr/lib/gcc/x86_64-linux-gnux32 - /usr/lib/gcc/sh4-linux-gnu + /usr/lib/alpha-linux-gnu + /usr/lib/aarch64-linux-gnu + /usr/lib/arm-linux-gnueabi + /usr/lib/arm-linux-gnueabihf + /usr/lib/hppa-linux-gnu + /usr/lib/i686-gnu + /usr/lib/i686-linux-gnu + /usr/lib/x86_64-kfreebsd-gnu + /usr/lib/i686-kfreebsd-gnu + /usr/lib/m68k-linux-gnu + /usr/lib/mips-linux-gnu + /usr/lib/mips64el-linux-gnuabi64 + /usr/lib/mipsel-linux-gnu + /usr/lib/powerpc-linux-gnu + /usr/lib/powerpc-linux-gnuspe + /usr/lib/powerpc64-linux-gnu + /usr/lib/powerpc64le-linux-gnu + /usr/lib/s390x-linux-gnu + /usr/lib/sparc64-linux-gnu + /usr/lib/x86_64-linux-gnux32 + /usr/lib/sh4-linux-gnu /Library/Frameworks/iio.framework/ ) diff --git a/cmake/Modules/SetupPython.cmake b/cmake/Modules/SetupPython.cmake index d3c2b3a12..c876d7bc5 100644 --- a/cmake/Modules/SetupPython.cmake +++ b/cmake/Modules/SetupPython.cmake @@ -1,3 +1,20 @@ +# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . + ######################################################################## # Setup the python interpreter: # This allows the user to specify a specific interpreter, diff --git a/cmake/Modules/TestForARM.cmake b/cmake/Modules/TestForARM.cmake index 437a75e1a..0106690ae 100644 --- a/cmake/Modules/TestForARM.cmake +++ b/cmake/Modules/TestForARM.cmake @@ -1,3 +1,20 @@ +# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . + ############################################################################## # check if the compiler defines the architecture as ARM and set the # version, if found. diff --git a/cmake/Modules/TestForSSE.cmake b/cmake/Modules/TestForSSE.cmake index 1280f83b3..868340c59 100644 --- a/cmake/Modules/TestForSSE.cmake +++ b/cmake/Modules/TestForSSE.cmake @@ -1,3 +1,21 @@ +# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . + + ############################################################################### # Test for availability of SSE # diff --git a/cmake/Toolchains/oe-sdk_cross.cmake b/cmake/Toolchains/oe-sdk_cross.cmake index 06f589c34..e0006d8fd 100644 --- a/cmake/Toolchains/oe-sdk_cross.cmake +++ b/cmake/Toolchains/oe-sdk_cross.cmake @@ -1,3 +1,20 @@ +# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . + ########################################################## # Toolchain file for Open Embedded ########################################################## diff --git a/cmake/Toolchains/zynq-7000.cmake b/cmake/Toolchains/zynq-7000.cmake index 9ce876e56..b804fb943 100644 --- a/cmake/Toolchains/zynq-7000.cmake +++ b/cmake/Toolchains/zynq-7000.cmake @@ -1,3 +1,20 @@ +# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . + ########################################################## # Toolchain file for Zynq-7000 devices ########################################################## @@ -23,4 +40,4 @@ set(CMAKE_CXX_FLAGS ${ZYNQ_FLAGS} CACHE STRING "" FORCE) set(CMAKE_LIBRARY_PATH ${CMAKE_SYSROOT}/usr/lib ${CMAKE_SYSROOT}/usr/lib/arm-linux-gnueabihf) -set(CMAKE_INSTALL_PREFIX ${CMAKE_SYSROOT}/usr CACHE STRING "" FORCE) \ No newline at end of file +set(CMAKE_INSTALL_PREFIX ${CMAKE_SYSROOT}/usr CACHE STRING "" FORCE) diff --git a/cmake/cmake_uninstall.cmake.in b/cmake/cmake_uninstall.cmake.in index 2c34c8199..bb9201eb6 100644 --- a/cmake/cmake_uninstall.cmake.in +++ b/cmake/cmake_uninstall.cmake.in @@ -1,3 +1,20 @@ +# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . + if(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt") message(FATAL_ERROR "Cannot find install manifest: @CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt") endif(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt") @@ -18,4 +35,4 @@ foreach(file ${files}) else(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}") message(STATUS "File $ENV{DESTDIR}${file} does not exist.") endif(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}") -endforeach(file) \ No newline at end of file +endforeach(file) diff --git a/conf/front-end-cal.conf b/conf/front-end-cal.conf index 72c9be845..6ef6ec846 100644 --- a/conf/front-end-cal.conf +++ b/conf/front-end-cal.conf @@ -1,3 +1,6 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; Default configuration file ; You can define your own front-end calibration tool configuration and invoke it by doing ; ./front-end-cal --config_file=my_GNSS_SDR_configuration.conf diff --git a/conf/gnss-sdr.conf b/conf/gnss-sdr.conf index 0c456f075..e9a05e798 100644 --- a/conf/gnss-sdr.conf +++ b/conf/gnss-sdr.conf @@ -1,3 +1,6 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; Default configuration file ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf @@ -25,149 +28,63 @@ GNSS-SDR.SUPL_LAC=0x59e2 GNSS-SDR.SUPL_CI=0x31b0 ;######### SIGNAL_SOURCE CONFIG ############ -;#implementation SignalSource.implementation=File_Signal_Source -;#filename: path to file with the captured GNSS signal samples to be processed SignalSource.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE -;#item_type: Type and resolution for each of the signal samples. SignalSource.item_type=ishort -;#sampling_frequency: Original Signal sampling frequency in samples per second SignalSource.sampling_frequency=4000000 -;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. SignalSource.samples=0 -;#repeat: Repeat the processing file. SignalSource.repeat=false -;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. -; it helps to not overload the CPU, but the processing time will be longer. SignalSource.enable_throttle_control=false ;######### SIGNAL_CONDITIONER CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. - -;#implementation: Use [Pass_Through] or [Signal_Conditioner] -;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks -;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks SignalConditioner.implementation=Signal_Conditioner -;SignalConditioner.implementation=Pass_Through ;######### DATA_TYPE_ADAPTER CONFIG ############ -;## Changes the type of input data. -;#implementation: [Pass_Through] disables this block DataTypeAdapter.implementation=Ishort_To_Complex -;DataTypeAdapter.implementation=Pass_Through ;######### INPUT_FILTER CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Pass_Through] disables this block -;#[Fir_Filter] enables a FIR Filter -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. +InputFilter.implementation=Pass_Through ; or Fir_Filter -;InputFilter.implementation=Fir_Filter -;InputFilter.implementation=Freq_Xlating_Fir_Filter -InputFilter.implementation=Pass_Through - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of GNU Radio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. InputFilter.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. InputFilter.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time InputFilter.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. InputFilter.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - InputFilter.band1_begin=0.0 InputFilter.band1_end=0.44 InputFilter.band2_begin=0.55 InputFilter.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - InputFilter.ampl1_begin=1.0 InputFilter.ampl1_end=1.0 InputFilter.ampl2_begin=0.0 InputFilter.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands InputFilter.band1_error=1.0 InputFilter.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" InputFilter.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. InputFilter.grid_density=16 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz - InputFilter.sampling_frequency=4000000 InputFilter.IF=0 - -;#dump: Dump the filtered data to a file. InputFilter.dump=false - -;#dump_filename: Log path and filename. InputFilter.dump_filename=../data/input_filter.dat ;######### RESAMPLER CONFIG ############ -;## Resamples the input data. -;#implementation: Use [Pass_Through] or [Direct_Resampler] -;#[Pass_Through] disables this block -;#[Direct_Resampler] enables a resampler that implements a nearest neighborhood interpolation -;Resampler.implementation=Direct_Resampler Resampler.implementation=Pass_Through -;#item_type: Type and resolution for each of the signal samples. -Resampler.item_type=gr_complex -;#sample_freq_in: the sample frequency of the input signal -Resampler.sample_freq_in=4000000 -;#sample_freq_out: the desired sample frequency of the output signal -Resampler.sample_freq_out=2000000 -;#dump: Dump the resampled data to a file. Resampler.dump=false -;#dump_filename: Log path and filename. Resampler.dump_filename=../data/resampler.dat ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available GPS L1 C/A satellite channels. Channels_1C.count=6 -;#count: Number of available Galileo E1B satellite channels. Channels_1B.count=0 -;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 -;#if the option is disabled by default is assigned "1C" GPS L1 C/A -Channel.signal=1C - - ;######### SPECIFIC CHANNELS CONFIG ###### -;#The following options are specific to each channel and overwrite the generic options ;######### CHANNEL 0 CONFIG ############ ;Channel0.signal=1C -;#satellite: Satellite PRN ID for this channel. Disable this option for random search ;Channel0.satellite=11 ;######### CHANNEL 1 CONFIG ############ @@ -176,90 +93,52 @@ Channel.signal=1C ;######### ACQUISITION GLOBAL CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler -;#item_type: Type and resolution for each of the signal samples. Acquisition_1C.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1C.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition_1C.sampled_ms=1 -;#threshold: Acquisition threshold +Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.threshold=0.005 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;Acquisition_1C.pfa=0.0001 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1C.doppler_max=10000 -;#doppler_max: Maximum expected Doppler shift [Hz] -Acquisition_1C.doppler_min=-10000 -;#doppler_step Doppler step in the grid search [Hz] Acquisition_1C.doppler_step=500 -;#maximum dwells Acquisition_1C.max_dwells=5 -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1C.dump=false -;#filename: Log path and filename Acquisition_1C.dump_filename=./acq_dump.dat ;######### TRACKING GLOBAL CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1C.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1C.if=0 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1C.pll_bw_hz=45.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1C.dll_bw_hz=3.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1C.order=3; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1C.dump=false -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1C.dump_filename=../data/epl_tracking_ch_ ;######### TELEMETRY DECODER GPS CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.dump=false ;######### OBSERVABLES CONFIG ############ -;#implementation: Observables.implementation=Hybrid_Observables -;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] Observables.dump=false -;#dump_filename: Log path and filename. Observables.dump_filename=./observables.dat ;######### PVT CONFIG ############ -;#implementation: Position Velocity and Time (PVT) implementation: PVT.implementation=RTKLIB_PVT PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad PVT.AR_GPS=PPP-AR ; options: OFF, Continuous, Instantaneous, Fix-and-Hold, PPP-AR -;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] PVT.output_rate_ms=10 -;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms <= display_rate_ms. PVT.display_rate_ms=500 -PVT.positioning_mode=PPP_Static -;# KML, GeoJSON, NMEA and RTCM output configuration -;#nmea_dump_filename: NMEA log path and filename PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea -;#flag_nmea_tty_port: Enables or disables the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) PVT.flag_nmea_tty_port=true -;#nmea_dump_devname: serial device descriptor for NMEA logging PVT.nmea_dump_devname=/dev/pts/4 -;#flag_rtcm_server: Enables or disables a TCP/IP server transmitting RTCM 3.2 messages (accepts multiple clients, port 2101 by default) PVT.flag_rtcm_server=true -;#flag_rtcm_tty_port: Enables or disables the RTCM log to a serial TTY port (Can be used with real hardware or virtual one) PVT.flag_rtcm_tty_port=false -;#rtcm_dump_devname: serial device descriptor for RTCM logging PVT.rtcm_dump_devname=/dev/pts/1 -;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] PVT.dump=false -;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump, ".kml" and ".geojson" to GIS-friendly formats. PVT.dump_filename=./PVT diff --git a/conf/gnss-sdr_GLONASS_L1_CA_GPS_L1_CA_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_CA_GPS_L1_CA_ibyte.conf index 53d903ba3..f042def9c 100644 --- a/conf/gnss-sdr_GLONASS_L1_CA_GPS_L1_CA_ibyte.conf +++ b/conf/gnss-sdr_GLONASS_L1_CA_GPS_L1_CA_ibyte.conf @@ -1,3 +1,6 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + [GNSS-SDR] ;######### GLOBAL OPTIONS ################## @@ -79,7 +82,6 @@ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition Acquisition_1C.item_type=gr_complex Acquisition_1C.threshold=0.0 Acquisition_1C.pfa=0.00001 -Acquisition_1C.if=0 Acquisition_1C.doppler_max=10000 Acquisition_1C.doppler_step=250 Acquisition_1C.dump=false; @@ -90,7 +92,6 @@ Acquisition_1G.implementation=GLONASS_L1_CA_PCPS_Acquisition Acquisition_1G.item_type=gr_complex Acquisition_1G.threshold=0.0 Acquisition_1G.pfa=0.00001 -Acquisition_1G.if=0 Acquisition_1G.doppler_max=10000 Acquisition_1G.doppler_step=250 Acquisition_1G.dump=false; @@ -100,7 +101,6 @@ Acquisition_1G.dump_filename=/archive/glo_acquisition.dat ;######### TRACKING GLOBAL CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.item_type=gr_complex -Tracking_1C.if=0 Tracking_1C.early_late_space_chips=0.5 Tracking_1C.pll_bw_hz=20.0; Tracking_1C.dll_bw_hz=2.0; @@ -109,7 +109,6 @@ Tracking_1C.dump_filename=/archive/gps_tracking_ch_ Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_Tracking Tracking_1G.item_type=gr_complex -Tracking_1G.if=0 Tracking_1G.early_late_space_chips=0.5 Tracking_1G.pll_bw_hz=25.0; Tracking_1G.dll_bw_hz=3.0; diff --git a/conf/gnss-sdr_GLONASS_L1_CA_GPS_L2C_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_CA_GPS_L2C_ibyte.conf index cc9ba010f..09bddfb46 100644 --- a/conf/gnss-sdr_GLONASS_L1_CA_GPS_L2C_ibyte.conf +++ b/conf/gnss-sdr_GLONASS_L1_CA_GPS_L2C_ibyte.conf @@ -1,3 +1,6 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + [GNSS-SDR] ;######### GLOBAL OPTIONS ################## @@ -82,7 +85,6 @@ Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition Acquisition_2S.item_type=gr_complex Acquisition_2S.threshold=0.0 Acquisition_2S.pfa=0.00001 -Acquisition_2S.if=0 Acquisition_2S.doppler_max=10000 Acquisition_2S.doppler_step=60 Acquisition_2S.max_dwells=1 @@ -91,7 +93,6 @@ Acquisition_1G.implementation=GLONASS_L1_CA_PCPS_Acquisition Acquisition_1G.item_type=gr_complex Acquisition_1G.threshold=0.0 Acquisition_1G.pfa=0.00001 -Acquisition_1G.if=0 Acquisition_1G.doppler_max=10000 Acquisition_1G.doppler_step=250 Acquisition_1G.dump=false; @@ -100,7 +101,6 @@ Acquisition_1G.dump_filename=/archive/glo_acquisition.dat ;######### TRACKING GLOBAL CONFIG ############ Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking Tracking_2S.item_type=gr_complex -Tracking_2S.if=0 Tracking_2S.early_late_space_chips=0.5 Tracking_2S.pll_bw_hz=2.0; Tracking_2S.dll_bw_hz=0.250; @@ -110,7 +110,6 @@ Tracking_2S.dump_filename=/archive/gps_tracking_ch_ Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_Tracking Tracking_1G.item_type=gr_complex -Tracking_1G.if=0 Tracking_1G.early_late_space_chips=0.5 Tracking_1G.pll_bw_hz=25.0; Tracking_1G.dll_bw_hz=3.0; diff --git a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf index b95b93551..077d3dd1e 100644 --- a/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf +++ b/conf/gnss-sdr_GLONASS_L1_CA_ibyte.conf @@ -1,3 +1,6 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + [GNSS-SDR] ;######### GLOBAL OPTIONS ################## @@ -36,7 +39,6 @@ Acquisition_1G.implementation=GLONASS_L1_CA_PCPS_Acquisition Acquisition_1G.item_type=gr_complex Acquisition_1G.threshold=0.0 Acquisition_1G.pfa=0.0001 -Acquisition_1G.if=0 Acquisition_1G.doppler_max=10000 Acquisition_1G.doppler_step=250 Acquisition_1G.dump=true; @@ -47,7 +49,6 @@ Acquisition_1G.dump_filename=/archive/glo_acquisition.dat ;######### TRACKING GLOBAL CONFIG ############ Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_Tracking Tracking_1G.item_type=gr_complex -Tracking_1G.if=0 Tracking_1G.early_late_space_chips=0.5 Tracking_1G.pll_bw_hz=25.0; Tracking_1G.dll_bw_hz=3.0; diff --git a/conf/gnss-sdr_GLONASS_L1_CA_ibyte_coh_trk.conf b/conf/gnss-sdr_GLONASS_L1_CA_ibyte_coh_trk.conf index 0bdbe7739..ca1197a6d 100644 --- a/conf/gnss-sdr_GLONASS_L1_CA_ibyte_coh_trk.conf +++ b/conf/gnss-sdr_GLONASS_L1_CA_ibyte_coh_trk.conf @@ -1,3 +1,6 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + [GNSS-SDR] ;######### GLOBAL OPTIONS ################## @@ -36,7 +39,6 @@ Acquisition_1G.implementation=GLONASS_L1_CA_PCPS_Acquisition Acquisition_1G.item_type=gr_complex Acquisition_1G.threshold=0.0 Acquisition_1G.pfa=0.0001 -Acquisition_1G.if=0 Acquisition_1G.doppler_max=10000 Acquisition_1G.doppler_step=250 Acquisition_1G.dump=false; @@ -47,7 +49,6 @@ Acquisition_1G.dump_filename=/archive/glo_acquisition.dat ;######### TRACKING GLOBAL CONFIG ############ Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking Tracking_1G.item_type=gr_complex -Tracking_1G.if=0 Tracking_1G.early_late_space_chips=0.5 Tracking_1G.pll_bw_hz=40.0; Tracking_1G.dll_bw_hz=3.0; diff --git a/conf/gnss-sdr_GLONASS_L2_CA_GPS_L1_CA_ibyte.conf b/conf/gnss-sdr_GLONASS_L2_CA_GPS_L1_CA_ibyte.conf index 04b8dd746..7e4e9e03f 100644 --- a/conf/gnss-sdr_GLONASS_L2_CA_GPS_L1_CA_ibyte.conf +++ b/conf/gnss-sdr_GLONASS_L2_CA_GPS_L1_CA_ibyte.conf @@ -1,3 +1,6 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + [GNSS-SDR] ;######### GLOBAL OPTIONS ################## @@ -79,7 +82,6 @@ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition Acquisition_1C.item_type=gr_complex Acquisition_1C.threshold=0.0 Acquisition_1C.pfa=0.00001 -Acquisition_1C.if=0 Acquisition_1C.doppler_max=10000 Acquisition_1C.doppler_step=250 Acquisition_1C.dump=false; @@ -90,7 +92,6 @@ Acquisition_2G.implementation=GLONASS_L2_CA_PCPS_Acquisition Acquisition_2G.item_type=gr_complex Acquisition_2G.threshold=0.0 Acquisition_2G.pfa=0.00001 -Acquisition_2G.if=0 Acquisition_2G.doppler_max=10000 Acquisition_2G.doppler_step=250 Acquisition_2G.dump=false; @@ -100,7 +101,6 @@ Acquisition_2G.dump_filename=/archive/glo_acquisition.dat ;######### TRACKING GLOBAL CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.item_type=gr_complex -Tracking_1C.if=0 Tracking_1C.early_late_space_chips=0.5 Tracking_1C.pll_bw_hz=20.0; Tracking_1C.dll_bw_hz=2.0; @@ -109,7 +109,6 @@ Tracking_1C.dump_filename=/archive/gps_tracking_ch_ Tracking_2G.implementation=GLONASS_L2_CA_DLL_PLL_Tracking Tracking_2G.item_type=gr_complex -Tracking_2G.if=0 Tracking_2G.early_late_space_chips=0.5 Tracking_2G.pll_bw_hz=25.0; Tracking_2G.dll_bw_hz=2.0; @@ -127,6 +126,7 @@ Observables.dump_filename=/archive/gnss_observables.dat ;######### PVT CONFIG ############ PVT.implementation=RTKLIB_PVT +PVT.positioning_mode=Single PVT.output_rate_ms=100 PVT.display_rate_ms=500 PVT.trop_model=Saastamoinen diff --git a/conf/gnss-sdr_GLONASS_L2_CA_GPS_L2C_ibyte.conf b/conf/gnss-sdr_GLONASS_L2_CA_GPS_L2C_ibyte.conf index 32faba32a..c3ab7cb9c 100644 --- a/conf/gnss-sdr_GLONASS_L2_CA_GPS_L2C_ibyte.conf +++ b/conf/gnss-sdr_GLONASS_L2_CA_GPS_L2C_ibyte.conf @@ -1,3 +1,6 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + [GNSS-SDR] ;######### GLOBAL OPTIONS ################## @@ -82,7 +85,6 @@ Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition Acquisition_2S.item_type=gr_complex Acquisition_2S.threshold=0.0 Acquisition_2S.pfa=0.00001 -Acquisition_2S.if=0 Acquisition_2S.doppler_max=10000 Acquisition_2S.doppler_step=60 Acquisition_2S.max_dwells=1 @@ -91,7 +93,6 @@ Acquisition_2G.implementation=GLONASS_L2_CA_PCPS_Acquisition Acquisition_2G.item_type=gr_complex Acquisition_2G.threshold=0.0 Acquisition_2G.pfa=0.00001 -Acquisition_2G.if=0 Acquisition_2G.doppler_max=10000 Acquisition_2G.doppler_step=250 Acquisition_2G.dump=false; @@ -100,7 +101,6 @@ Acquisition_2G.dump_filename=/archive/glo_acquisition.dat ;######### TRACKING GLOBAL CONFIG ############ Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking Tracking_2S.item_type=gr_complex -Tracking_2S.if=0 Tracking_2S.early_late_space_chips=0.5 Tracking_2S.pll_bw_hz=2.0; Tracking_2S.dll_bw_hz=0.250; @@ -110,7 +110,6 @@ Tracking_2S.dump_filename=/archive/gps_tracking_ch_ Tracking_2G.implementation=GLONASS_L2_CA_DLL_PLL_Tracking Tracking_2G.item_type=gr_complex -Tracking_2G.if=0 Tracking_2G.early_late_space_chips=0.5 Tracking_2G.pll_bw_hz=25.0; Tracking_2G.dll_bw_hz=3.0; @@ -128,6 +127,7 @@ Observables.dump_filename=/archive/gnss_observables.dat ;######### PVT CONFIG ############ PVT.implementation=RTKLIB_PVT +PVT.positioning_mode=Single PVT.output_rate_ms=100 PVT.display_rate_ms=500 PVT.trop_model=Saastamoinen diff --git a/conf/gnss-sdr_GLONASS_L2_CA_ibyte.conf b/conf/gnss-sdr_GLONASS_L2_CA_ibyte.conf index e8d1342a8..7cc44a0a4 100644 --- a/conf/gnss-sdr_GLONASS_L2_CA_ibyte.conf +++ b/conf/gnss-sdr_GLONASS_L2_CA_ibyte.conf @@ -1,3 +1,6 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + [GNSS-SDR] ;######### GLOBAL OPTIONS ################## @@ -30,7 +33,6 @@ Acquisition_2G.implementation=GLONASS_L2_CA_PCPS_Acquisition Acquisition_2G.item_type=gr_complex Acquisition_2G.threshold=0.0 Acquisition_2G.pfa=0.0001 -Acquisition_2G.if=0 Acquisition_2G.doppler_max=10000 Acquisition_2G.doppler_step=250 Acquisition_2G.dump=true; @@ -41,7 +43,6 @@ Acquisition_2G.dump_filename=/archive/glo_acquisition.dat ;######### TRACKING GLOBAL CONFIG ############ Tracking_2G.implementation=GLONASS_L2_CA_DLL_PLL_Tracking Tracking_2G.item_type=gr_complex -Tracking_2G.if=0 Tracking_2G.early_late_space_chips=0.5 Tracking_2G.pll_bw_hz=20.0; Tracking_2G.dll_bw_hz=2.0; diff --git a/conf/gnss-sdr_GLONASS_L2_CA_ibyte_coh_trk.conf b/conf/gnss-sdr_GLONASS_L2_CA_ibyte_coh_trk.conf index 0bdbe7739..ca1197a6d 100644 --- a/conf/gnss-sdr_GLONASS_L2_CA_ibyte_coh_trk.conf +++ b/conf/gnss-sdr_GLONASS_L2_CA_ibyte_coh_trk.conf @@ -1,3 +1,6 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + [GNSS-SDR] ;######### GLOBAL OPTIONS ################## @@ -36,7 +39,6 @@ Acquisition_1G.implementation=GLONASS_L1_CA_PCPS_Acquisition Acquisition_1G.item_type=gr_complex Acquisition_1G.threshold=0.0 Acquisition_1G.pfa=0.0001 -Acquisition_1G.if=0 Acquisition_1G.doppler_max=10000 Acquisition_1G.doppler_step=250 Acquisition_1G.dump=false; @@ -47,7 +49,6 @@ Acquisition_1G.dump_filename=/archive/glo_acquisition.dat ;######### TRACKING GLOBAL CONFIG ############ Tracking_1G.implementation=GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking Tracking_1G.item_type=gr_complex -Tracking_1G.if=0 Tracking_1G.early_late_space_chips=0.5 Tracking_1G.pll_bw_hz=40.0; Tracking_1G.dll_bw_hz=3.0; diff --git a/conf/gnss-sdr_GPS_L1_2ch_fmcomms2_realtime.conf b/conf/gnss-sdr_GPS_L1_2ch_fmcomms2_realtime.conf index 79a57f712..f53fe2ea6 100644 --- a/conf/gnss-sdr_GPS_L1_2ch_fmcomms2_realtime.conf +++ b/conf/gnss-sdr_GPS_L1_2ch_fmcomms2_realtime.conf @@ -1,3 +1,6 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; diff --git a/conf/gnss-sdr_GPS_L1_CA_ibyte.conf b/conf/gnss-sdr_GPS_L1_CA_ibyte.conf index 8bef7d1c0..959181078 100644 --- a/conf/gnss-sdr_GPS_L1_CA_ibyte.conf +++ b/conf/gnss-sdr_GPS_L1_CA_ibyte.conf @@ -1,3 +1,6 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + [GNSS-SDR] ;######### GLOBAL OPTIONS ################## diff --git a/conf/gnss-sdr_GPS_L1_FPGA.conf b/conf/gnss-sdr_GPS_L1_FPGA.conf index 5def11d31..c6bb2edfc 100644 --- a/conf/gnss-sdr_GPS_L1_FPGA.conf +++ b/conf/gnss-sdr_GPS_L1_FPGA.conf @@ -1,3 +1,6 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -35,12 +38,11 @@ Channel.enable_FPGA=true ;######### ACQUISITION GLOBAL CONFIG ############ +Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fpga Acquisition_1C.dump=false Acquisition_1C.dump_filename=./acq_dump.dat Acquisition_1C.item_type=cshort -Acquisition_1C.if=0 -Acquisition_1C.sampled_ms=1 -Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fpga +Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.select_queue_Fpga=0; Acquisition_1C.threshold=0.005 ;Acquisition_1C.pfa=0.01 @@ -50,7 +52,6 @@ Acquisition_1C.doppler_step=500 ;######### TRACKING GLOBAL CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking_Fpga Tracking_1C.item_type=cshort -Tracking_1C.if=0 Tracking_1C.dump=false Tracking_1C.dump_filename=../data/epl_tracking_ch_ Tracking_1C.pll_bw_hz=45.0; @@ -60,7 +61,6 @@ Tracking_1C.order=3; ;######### TELEMETRY DECODER GPS CONFIG ############ TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.dump=false -TelemetryDecoder_1C.decimation_factor=1; ;######### OBSERVABLES CONFIG ############ Observables.implementation=GPS_L1_CA_Observables diff --git a/conf/gnss-sdr_GPS_L1_GN3S_realtime.conf b/conf/gnss-sdr_GPS_L1_GN3S_realtime.conf index 082a1b3f4..bc99d4a28 100644 --- a/conf/gnss-sdr_GPS_L1_GN3S_realtime.conf +++ b/conf/gnss-sdr_GPS_L1_GN3S_realtime.conf @@ -1,3 +1,6 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -68,8 +71,7 @@ Channel.signal=1C ;######### ACQUISITION GLOBAL CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition Acquisition_1C.item_type=gr_complex -Acquisition_1C.if=0 -Acquisition_1C.sampled_ms=1 +Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.threshold=0.008 Acquisition_1C.doppler_max=10000 Acquisition_1C.doppler_step=500 @@ -79,7 +81,6 @@ Acquisition_1C.dump_filename=./acq_dump.dat ;######### TRACKING GLOBAL CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.item_type=gr_complex -Tracking_1C.if=0 Tracking_1C.pll_bw_hz=45.0; Tracking_1C.dll_bw_hz=2.0; Tracking_1C.order=3; diff --git a/conf/gnss-sdr_GPS_L1_LimeSDR.conf b/conf/gnss-sdr_GPS_L1_LimeSDR.conf index 6ad918af0..ab1242bc7 100644 --- a/conf/gnss-sdr_GPS_L1_LimeSDR.conf +++ b/conf/gnss-sdr_GPS_L1_LimeSDR.conf @@ -1,3 +1,6 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + [GNSS-SDR] ;######### GLOBAL OPTIONS ################## diff --git a/conf/gnss-sdr_GPS_L1_SPIR.conf b/conf/gnss-sdr_GPS_L1_SPIR.conf index 4df77678f..6f3affed4 100644 --- a/conf/gnss-sdr_GPS_L1_SPIR.conf +++ b/conf/gnss-sdr_GPS_L1_SPIR.conf @@ -1,4 +1,6 @@ -; Default configuration file +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -11,107 +13,43 @@ GNSS-SDR.internal_fs_sps=4000000 ;######### SIGNAL_SOURCE CONFIG ############ -;#implementation SignalSource.implementation=Spir_File_Signal_Source -;#filename: path to file with the captured GNSS signal samples to be processed SignalSource.filename=/dtalogger/signals/spir/data/20Secs/20Secs_L1.dat ; <- PUT YOUR FILE HERE -;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. SignalSource.item_type=int -;#sampling_frequency: Original Signal sampling frequency in samples per second SignalSource.sampling_frequency=80000000 -;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. SignalSource.samples=0 -;#repeat: Repeat the processing file. SignalSource.repeat=false -;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. -; it helps to not overload the CPU, but the processing time will be longer. SignalSource.enable_throttle_control=false ;######### SIGNAL_CONDITIONER CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. - -;#implementation: Use [Pass_Through] or [Signal_Conditioner] -;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks -;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks SignalConditioner.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER CONFIG ############ -;## Changes the type of input data. -;#implementation: [Pass_Through] disables this block DataTypeAdapter.implementation=Pass_Through DataTypeAdapter.item_type=float ;######### INPUT_FILTER CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Pass_Through] disables this block -;#[Fir_Filter] enables a FIR Filter -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. - -;InputFilter.implementation=Fir_Filter InputFilter.implementation=Freq_Xlating_Fir_Filter -;InputFilter.implementation=Pass_Through - -;#dump: Dump the filtered data to a file. InputFilter.dump=false - -;#dump_filename: Log path and filename. InputFilter.dump_filename=../data/input_filter.dat - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. InputFilter.input_item_type=float - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. InputFilter.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time InputFilter.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. InputFilter.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - InputFilter.band1_begin=0.0 InputFilter.band1_end=0.45 InputFilter.band2_begin=0.55 InputFilter.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - InputFilter.ampl1_begin=1.0 InputFilter.ampl1_end=1.0 InputFilter.ampl2_begin=0.0 InputFilter.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands InputFilter.band1_error=1.0 InputFilter.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" InputFilter.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. InputFilter.grid_density=16 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz - InputFilter.sampling_frequency=80000000 InputFilter.IF=10164 InputFilter.decimation_factor=20 @@ -119,105 +57,58 @@ InputFilter.decimation_factor=20 ;######### RESAMPLER CONFIG ############ -;## Resamples the input data. -;#implementation: Use [Pass_Through] or [Direct_Resampler] -;#[Pass_Through] disables this block -;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation -;Resampler.implementation=Direct_Resampler Resampler.implementation=Pass_Through -;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. Resampler.item_type=gr_complex -;#sample_freq_in: the sample frequency of the input signal Resampler.sample_freq_in=80000000 -;#sample_freq_out: the desired sample frequency of the output signal Resampler.sample_freq_out=4000000 -;#dump: Dump the resamplered data to a file. Resampler.dump=false -;#dump_filename: Log path and filename. Resampler.dump_filename=../data/resampler.dat ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available GPS satellite channels. Channels_1C.count=10 -;#count: Number of available Galileo satellite channels. Channels_1B.count=0 -;#in_acquisition: Number of channels simultaneously acquiring Channels.in_acquisition=1 -;#signal: -;# "1C" GPS L1 C/A -;# "1B" Galileo E1B Channel.signal=1C -;Galileo FM3 -> PRN 19 -;Galileo FM4 -> PRN 20 ;######### CHANNEL 0 CONFIG ############ - -;Channel0.signal=1B -;#satellite: Satellite PRN ID for this channel. Disable this option to random search ;Channel0.satellite=20 ;######### CHANNEL 1 CONFIG ############ -;Channel1.signal=1B ;Channel1.satellite=12 ;######### CHANNEL 2 CONFIG ############ -;Channel2.signal=1B -;#satellite: Satellite PRN ID for this channel. Disable this option to random search ;Channel2.satellite=11 ;######### CHANNEL 3 CONFIG ############ -;Channel3.signal=1B ;Channel3.satellite=19 ;######### ACQUISITION GLOBAL CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler -;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. Acquisition_1C.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1C.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition_1C.sampled_ms=1 -;#threshold: Acquisition threshold +Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.threshold=0.005 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;Acquisition_1C.pfa=0.0001 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1C.doppler_max=10000 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1C.doppler_min=-10000 -;#doppler_step Doppler step in the grid search [Hz] Acquisition_1C.doppler_step=500 -;#maximum dwells Acquisition_1C.max_dwells=5 -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1C.dump=false -;#filename: Log path and filename Acquisition_1C.dump_filename=./acq_dump.dat ;######### TRACKING GLOBAL CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1C.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1C.if=0 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1C.pll_bw_hz=20.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] -Tracking_1 -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1C.order=3; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1C.dump=false -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1C.dump_filename=../data/epl_tracking_ch_ ;######### TELEMETRY DECODER GPS CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.dump=false @@ -225,9 +116,7 @@ TelemetryDecoder_1C.dump=false ;######### OBSERVABLES CONFIG ############ ;#implementation: Observables.implementation=Hybrid_Observables -;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] Observables.dump=false -;#dump_filename: Log path and filename. Observables.dump_filename=./observables.dat @@ -237,20 +126,12 @@ PVT.implementation=RTKLIB_PVT PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad -;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1 ms) [ms] PVT.output_rate_ms=500 -;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. PVT.display_rate_ms=500 -;# RINEX, KML, and NMEA output configuration -;#nmea_dump_filename: NMEA log path and filename PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; -;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) PVT.flag_nmea_tty_port=true; -;#nmea_dump_devname: serial device descriptor for NMEA logging PVT.nmea_dump_devname=/dev/pts/4 -;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] PVT.dump=false -;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. PVT.dump_filename=./PVT diff --git a/conf/gnss-sdr_GPS_L1_USRP_X300_realtime.conf b/conf/gnss-sdr_GPS_L1_USRP_X300_realtime.conf index aaef910d3..89f84fd77 100644 --- a/conf/gnss-sdr_GPS_L1_USRP_X300_realtime.conf +++ b/conf/gnss-sdr_GPS_L1_USRP_X300_realtime.conf @@ -1,3 +1,6 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; Configuration file for using USRP X300 as a RF front-end for GPS L1 signals. ; Set SignalSource.device_address to the IP address of your device ; and run: @@ -26,154 +29,66 @@ GNSS-SDR.SUPL_LAC=0x59e2 GNSS-SDR.SUPL_CI=0x31b0 ;######### SIGNAL_SOURCE CONFIG ############ -; # implementation: SignalSource.implementation=UHD_Signal_Source -; # When left empty, the device discovery routines will search all vailable transports on the system (ethernet, usb...) SignalSource.device_address=192.168.40.2 ; <- PUT THE IP ADDRESS OF YOUR USRP HERE -; # item_type: Type and resolution for each of the signal samples. -;SignalSource.item_type=gr_complex SignalSource.item_type=cshort -; # sampling_frequency: Original Signal sampling frequency in samples per second SignalSource.sampling_frequency=4000000 -; # freq: RF front-end center frequency in [Hz] SignalSource.freq=1575420000 -; # gain: Front-end Gain in [dB] SignalSource.gain=40 -; # subdevice: UHD subdevice specification (for USRP1 use A:0 or B:0) SignalSource.subdevice=A:0 -; # samples: Number of samples to be processed. Notice that 0 indicates the entire file. SignalSource.samples=0 -; # repeat: Repeat the processing file. SignalSource.repeat=false -; # dump: Dump the Signal source data to a file. SignalSource.dump=false SignalSource.dump_filename=../data/signal_source.dat -;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. -; it helps to not overload the CPU, but the processing time will be longer. SignalSource.enable_throttle_control=false ;######### SIGNAL_CONDITIONER CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. - -;#implementation: Use [Pass_Through] or [Signal_Conditioner] -;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks -;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks SignalConditioner.implementation=Signal_Conditioner -;SignalConditioner.implementation=Pass_Through ;######### DATA_TYPE_ADAPTER CONFIG ############ -;## Changes the type of input data. -;#implementation: [Pass_Through] disables this block DataTypeAdapter.implementation=Pass_Through DataTypeAdapter.item_type=cshort -;DataTypeAdapter.item_type=cbyte ;######### INPUT_FILTER CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Pass_Through] disables this block -;#[Fir_Filter] enables a FIR Filter -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. - InputFilter.implementation=Fir_Filter -;InputFilter.implementation=Freq_Xlating_Fir_Filter -;InputFilter.implementation=Pass_Through - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. InputFilter.input_item_type=cshort - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. InputFilter.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time InputFilter.number_of_taps=11 - -;#number_of _bands: Number of frequency bands in the filter. InputFilter.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - InputFilter.band1_begin=0.0 InputFilter.band1_end=0.48 InputFilter.band2_begin=0.52 InputFilter.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - InputFilter.ampl1_begin=1.0 InputFilter.ampl1_end=1.0 InputFilter.ampl2_begin=0.0 InputFilter.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands InputFilter.band1_error=1.0 InputFilter.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" InputFilter.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. InputFilter.grid_density=16 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz - InputFilter.sampling_frequency=4000000 InputFilter.IF=0 - -;#dump: Dump the filtered data to a file. InputFilter.dump=false - -;#dump_filename: Log path and filename. InputFilter.dump_filename=../data/input_filter.dat ;######### RESAMPLER CONFIG ############ -;## Resamples the input data. -;#implementation: Use [Pass_Through] or [Direct_Resampler] -;#[Pass_Through] disables this block -;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation -;Resampler.implementation=Direct_Resampler Resampler.implementation=Pass_Through -;#item_type: Type and resolution for each of the signal samples. Resampler.item_type=gr_complex -;#sample_freq_in: the sample frequency of the input signal Resampler.sample_freq_in=4000000 -;#sample_freq_out: the desired sample frequency of the output signal Resampler.sample_freq_out=4000000 -;#dump: Dump the resampled data to a file. Resampler.dump=false -;#dump_filename: Log path and filename. Resampler.dump_filename=../data/resampler.dat ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available GPS satellite channels. Channels_1C.count=8 -;#count: Number of available Galileo satellite channels. Channels_1B.count=0 -;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 -;#system: GPS, GLONASS, GALILEO, SBAS or COMPASS -;#if the option is disabled by default is assigned GPS -;Channel.system=GPS Channel.signal=1C -;#if the option is disabled by default is assigned "1C" GPS L1 C/A ;Channel0.signal=1C ;Channel1.signal=1C @@ -188,68 +103,28 @@ Channel.signal=1C ;Channel10.signal=1C ;Channel11.signal=1C -;######### SPECIFIC CHANNELS CONFIG ###### -;#The following options are specific to each channel and overwrite the generic options - -;######### CHANNEL 0 CONFIG ############ - -;Channel0.system=GPS -;Channel0.signal=1C - -;#satellite: Satellite PRN ID for this channel. Disable this option to random search -;Channel0.satellite=11 - -;######### CHANNEL 1 CONFIG ############ - -;Channel1.system=GPS -;Channel1.signal=1C -;Channel1.satellite=18 - - ;######### ACQUISITION GLOBAL CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1C.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1C.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] Acquisition_1C.coherent_integration_time_ms=1 -;#threshold: Acquisition threshold. It will be ignored if pfa is defined. Acquisition_1C.threshold=0.01 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;Acquisition_1C.pfa=0.00001 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1C.doppler_max=8000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1C.doppler_step=500 -;#bit_transition_flag: Enable or disable a strategy to deal with bit transitions in GPS signals: process two dwells and take -maximum test statistics. Only use with implementation: [GPS_L1_CA_PCPS_Acquisition] (should not be used for Galileo_E1_PCPS_Ambiguous_Acquisition]) Acquisition_1C.bit_transition_flag=false -;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true Acquisition_1C.max_dwells=1 -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1C.dump=false -;#filename: Log path and filename Acquisition_1C.dump_filename=./acq_dump.dat ;######### TRACKING GLOBAL CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1C.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1C.if=0 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1C.pll_bw_hz=30.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1C.dll_bw_hz=4.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1C.order=3; -;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] Tracking_1C.early_late_space_chips=0.5; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1C.dump=false -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1C.dump_filename=./tracking_ch_ @@ -259,35 +134,23 @@ TelemetryDecoder_1C.dump=false ;######### OBSERVABLES CONFIG ############ -;#implementation: Observables.implementation=Hybrid_Observables -;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] Observables.dump=false -;#dump_filename: Log path and filename. Observables.dump_filename=./observables.dat ;######### PVT CONFIG ############ -;#implementation: Position Velocity and Time (PVT) implementation: PVT.implementation=RTKLIB_PVT PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad -;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] PVT.output_rate_ms=100 -;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. PVT.display_rate_ms=500 -;# KML, GeoJSON, NMEA and RTCM output configuration -;#nmea_dump_filename: NMEA log path and filename PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; -;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) PVT.flag_nmea_tty_port=false; -;#nmea_dump_devname: serial device descriptor for NMEA logging PVT.nmea_dump_devname=/dev/pts/4 PVT.flag_rtcm_server=true PVT.flag_rtcm_tty_port=false PVT.rtcm_dump_devname=/dev/pts/1 -;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] PVT.dump=false -;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. PVT.dump_filename=./PVT diff --git a/conf/gnss-sdr_GPS_L1_USRP_realtime.conf b/conf/gnss-sdr_GPS_L1_USRP_realtime.conf index 72fa42adf..1cb41801f 100644 --- a/conf/gnss-sdr_GPS_L1_USRP_realtime.conf +++ b/conf/gnss-sdr_GPS_L1_USRP_realtime.conf @@ -1,3 +1,6 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; Configuration file for using USRP 1 as a RF front-end for GPS L1 signals. ; Run: ; gnss-sdr --config_file=/path/to/gnss-sdr_GPS_L1_USRP_realtime.conf @@ -25,145 +28,27 @@ GNSS-SDR.SUPL_LAC=0x59e2 GNSS-SDR.SUPL_CI=0x31b0 ;######### SIGNAL_SOURCE CONFIG ############ -;#implementation SignalSource.implementation=UHD_Signal_Source -;#When left empty, the device discovery routines will search all available transports on the system (ethernet, usb...) ;SignalSource.device_address=192.168.40.2 ; <- PUT THE IP ADDRESS OF YOUR USRP HERE -;#item_type: Type and resolution for each of the signal samples. SignalSource.item_type=gr_complex -;#sampling_frequency: Original Signal sampling frequency in samples per second SignalSource.sampling_frequency=2000000 -;#freq: RF front-end center frequency in [Hz] SignalSource.freq=1575420000 -;#gain: Front-end Gain in [dB] SignalSource.gain=60 -;#subdevice: UHD subdevice specification (for USRP1 use A:0 or B:0) SignalSource.subdevice=A:0 -;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. SignalSource.samples=0 -;#repeat: Repeat the processing file. SignalSource.repeat=false -;#dump: Dump the Signal source data to a file. SignalSource.dump=false SignalSource.dump_filename=../data/signal_source.dat -;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. -; it helps to not overload the CPU, but the processing time will be longer. SignalSource.enable_throttle_control=false ;######### SIGNAL_CONDITIONER CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. - -;#implementation: Use [Pass_Through] or [Signal_Conditioner] -;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks -;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks -;SignalConditioner.implementation=Signal_Conditioner SignalConditioner.implementation=Pass_Through -;######### DATA_TYPE_ADAPTER CONFIG ############ -;## Changes the type of input data. Please disable it in this version. -;#implementation: [Pass_Through] disables this block -DataTypeAdapter.implementation=Pass_Through - -;######### INPUT_FILTER CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Pass_Through] disables this block -;#[Fir_Filter] enables a FIR Filter -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. - -;InputFilter.implementation=Fir_Filter -;InputFilter.implementation=Freq_Xlating_Fir_Filter -InputFilter.implementation=Pass_Through - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. -InputFilter.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. -InputFilter.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. -InputFilter.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time -InputFilter.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. -InputFilter.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - -InputFilter.band1_begin=0.0 -InputFilter.band1_end=0.45 -InputFilter.band2_begin=0.55 -InputFilter.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - -InputFilter.ampl1_begin=1.0 -InputFilter.ampl1_end=1.0 -InputFilter.ampl2_begin=0.0 -InputFilter.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands -InputFilter.band1_error=1.0 -InputFilter.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" -InputFilter.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. -InputFilter.grid_density=16 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz - -InputFilter.sampling_frequency=2000000 -InputFilter.IF=0 - -;#dump: Dump the filtered data to a file. -InputFilter.dump=false - -;#dump_filename: Log path and filename. -InputFilter.dump_filename=../data/input_filter.dat - - -;######### RESAMPLER CONFIG ############ -;## Resamples the input data. -;#implementation: Use [Pass_Through] or [Direct_Resampler] -;#[Pass_Through] disables this block -;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation -;Resampler.implementation=Direct_Resampler -Resampler.implementation=Pass_Through -;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. -Resampler.item_type=gr_complex -;#sample_freq_in: the sample frequency of the input signal -Resampler.sample_freq_in=8000000 -;#sample_freq_out: the desired sample frequency of the output signal -Resampler.sample_freq_out=2000000 -;#dump: Dump the resamplered data to a file. -Resampler.dump=false -;#dump_filename: Log path and filename. -Resampler.dump_filename=../data/resampler.dat - ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available GPS satellite channels. Channels_1C.count=6 -;#count: Number of available Galileo satellite channels. Channels_1B.count=0 -;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 @@ -175,86 +60,42 @@ Channels.in_acquisition=1 ;# "5X" GALILEO E5a I+Q ;# "L5" GPS L5 -;#if the option is disabled by default is assigned "1C" GPS L1 C/A Channel.signal=1C -;######### SPECIFIC CHANNELS CONFIG ###### -;#The following options are specific to each channel and overwrite the generic options - -;######### CHANNEL 0 CONFIG ############ - -;Channel0.system=GPS -;Channel0.signal=1C - -;#satellite: Satellite PRN ID for this channel. Disable this option to random search -;Channel0.satellite=11 - -;######### CHANNEL 1 CONFIG ############ - -;Channel1.system=GPS -;Channel1.signal=1C -;Channel1.satellite=18 - ;######### ACQUISITION GLOBAL CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1C.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1C.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] Acquisition_1C.coherent_integration_time_ms=1 -;#threshold: Acquisition threshold. It will be ignored if pfa is defined. Acquisition_1C.threshold=0.01 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;Acquisition_1C.pfa=0.0001 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1C.doppler_max=10000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1C.doppler_step=500 -;#bit_transition_flag: Enable or disable a strategy to deal with bit transitions in GPS signals: process two dwells and take -maximum test statistics. Only use with implementation: [GPS_L1_CA_PCPS_Acquisition] (should not be used for Galileo_E1_PCPS_Ambiguous_Acquisition]) Acquisition_1C.bit_transition_flag=false -;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true Acquisition_1C.max_dwells=1 -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1C.dump=false -;#filename: Log path and filename Acquisition_1C.dump_filename=./acq_dump.dat ;######### TRACKING GLOBAL CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1C.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1C.if=0 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1C.pll_bw_hz=30.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1C.dll_bw_hz=4.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1C.order=3; -;#early_late_space_chips: correlator early-late space [chips] Tracking_1C.early_late_space_chips=0.5; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1C.dump=false -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1C.dump_filename=./tracking_ch_ ;######### TELEMETRY DECODER GPS CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.dump=false ;######### OBSERVABLES CONFIG ############ -;#implementation: Observables.implementation=Hybrid_Observables -;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] Observables.dump=false -;#dump_filename: Log path and filename. Observables.dump_filename=./observables.dat @@ -264,21 +105,13 @@ PVT.implementation=RTKLIB_PVT PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad -;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] PVT.output_rate_ms=100 -;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. PVT.display_rate_ms=500 -;# KML, GeoJSON, NMEA and RTCM output configuration -;#nmea_dump_filename: NMEA log path and filename PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; -;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) PVT.flag_nmea_tty_port=false; -;#nmea_dump_devname: serial device descriptor for NMEA logging PVT.nmea_dump_devname=/dev/pts/4 PVT.flag_rtcm_server=true PVT.flag_rtcm_tty_port=false PVT.rtcm_dump_devname=/dev/pts/1 -;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] PVT.dump=false -;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. PVT.dump_filename=./PVT diff --git a/conf/gnss-sdr_GPS_L1_acq_QuickSync.conf b/conf/gnss-sdr_GPS_L1_acq_QuickSync.conf index 1cd08b216..1f74645fb 100644 --- a/conf/gnss-sdr_GPS_L1_acq_QuickSync.conf +++ b/conf/gnss-sdr_GPS_L1_acq_QuickSync.conf @@ -1,4 +1,6 @@ -; Default configuration file +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -12,233 +14,87 @@ GNSS-SDR.internal_fs_sps=4000000 ;######### SIGNAL_SOURCE CONFIG ############ SignalSource.implementation=File_Signal_Source -;#filename: path to file with the captured GNSS signal samples to be processed SignalSource.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE SignalSource.item_type=ishort -;#sampling_frequency: Original Signal sampling frequency in samples per second SignalSource.sampling_frequency=4000000 -;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. SignalSource.samples=0 -;#repeat: Repeat the processing file. SignalSource.repeat=false -;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. -; it helps to not overload the CPU, but the processing time will be longer. SignalSource.enable_throttle_control=false ;######### SIGNAL_CONDITIONER CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. - -;#implementation: Use [Pass_Through] or [Signal_Conditioner] -;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks -;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks SignalConditioner.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER CONFIG ############ -;## Changes the type of input data. -;#implementation: Use [Ishort_To_Complex] or [Pass_Through] DataTypeAdapter.implementation=Ishort_To_Complex -;#dump: Dump the filtered data to a file. DataTypeAdapter.dump=false -;#dump_filename: Log path and filename. DataTypeAdapter.dump_filename=../data/data_type_adapter.dat ;######### INPUT_FILTER CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Pass_Through] disables this block -;#[Fir_Filter] enables a FIR Filter -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. - -;InputFilter.implementation=Fir_Filter -;InputFilter.implementation=Freq_Xlating_Fir_Filter InputFilter.implementation=Pass_Through - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples InputFilter.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. -InputFilter.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time -InputFilter.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. -InputFilter.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - -InputFilter.band1_begin=0.0 -;InputFilter.band1_end=0.8 -InputFilter.band1_end=0.85 -InputFilter.band2_begin=0.90 -InputFilter.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - -InputFilter.ampl1_begin=1.0 -InputFilter.ampl1_end=1.0 -InputFilter.ampl2_begin=0.0 -InputFilter.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands -InputFilter.band1_error=1.0 -InputFilter.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" -InputFilter.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. -InputFilter.grid_density=16 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz - -InputFilter.sampling_frequency=4000000 -InputFilter.IF=0 - -;#dump: Dump the filtered data to a file. InputFilter.dump=false - -;#dump_filename: Log path and filename. InputFilter.dump_filename=../data/input_filter.dat ;######### RESAMPLER CONFIG ############ -;## Resamples the input data. - -;#implementation: Use [Pass_Through] or [Direct_Resampler] -;#[Pass_Through] disables this block -;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation -;Resampler.implementation=Direct_Resampler Resampler.implementation=Pass_Through -;#item_type: Type and resolution for each of the signal samples. Resampler.item_type=gr_complex -;#sample_freq_in: the sample frequency of the input signal Resampler.sample_freq_in=4000000 -;#sample_freq_out: the desired sample frequency of the output signal Resampler.sample_freq_out=4000000 -;#dump: Dump the resamplered data to a file. Resampler.dump=false -;#dump_filename: Log path and filename. Resampler.dump_filename=../data/resampler.dat ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available satellite channels. Channels_1C.count=5 -;#in_acquisition: Number of channels simultaneously acquiring Channels.in_acquisition=1 -;######### CHANNEL 0 CONFIG ############ -Channel0.signal=1C -Channel0.satellite=1 -Channel0.repeat_satellite=false - -;######### CHANNEL 1 CONFIG ############ -Channel1.signal=1C -Channel1.satellite=11 -Channel1.repeat_satellite=false - -;######### CHANNEL 2 CONFIG ############ -Channel2.signal=1C -Channel2.satellite=17 -Channel2.repeat_satellite=false - -;######### CHANNEL 3 CONFIG ############ -Channel3.signal=1C -Channel3.satellite=20 -Channel3.repeat_satellite=false - -;######### CHANNEL 4 CONFIG ############ -Channel4.signal=1C -Channel4.satellite=32 -Channel4.repeat_satellite=false - ;######### ACQUISITION GLOBAL CONFIG ############_1C Acquisition_1C.implementation=GPS_L1_CA_PCPS_QuickSync_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1C.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1C.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] Acquisition_1C.coherent-integration_time_ms=4 -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1C.dump=true -;#filename: Log path and filename ;Acquisition_1C.dump_filename=./acq_dump.dat ;######### ACQUISITION CHANNELS CONFIG ###### Acquisition_1C.implementation=GPS_L1_CA_PCPS_QuickSync_Acquisition -;#threshold: Acquisition threshold Acquisition_1C.threshold=0.4 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1C.doppler_max=10000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1C.doppler_step=250 -;#repeat_satellite: Use only jointly with the satellte PRN ID option. ;######### TRACKING GLOBAL CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1C.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1C.if=0 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1C.pll_bw_hz=50.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1C.dll_bw_hz=4.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1C.order=3; -;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] Tracking_1C.early_late_space_chips=0.5 -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1C.dump=false -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1C.dump_filename=./tracking_ch_ ;######### TELEMETRY DECODER CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A. TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.dump=false ;######### OBSERVABLES CONFIG ############ -;#implementation: Observables.implementation=Hybrid_Observables -;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] Observables.dump=false -;#dump_filename: Log path and filename. Observables.dump_filename=./observables.dat ;######### PVT CONFIG ############ -;#implementation: Position Velocity and Time (PVT) implementation: PVT.implementation=RTKLIB_PVT PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad -;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1 ms) [ms] PVT.output_rate_ms=100; -;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. PVT.display_rate_ms=500; PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea PVT.flag_nmea_tty_port=true @@ -246,7 +102,5 @@ PVT.nmea_dump_devname=/dev/pts/4 PVT.flag_rtcm_server=false PVT.flag_rtcm_tty_port=false PVT.rtcm_dump_devname=/dev/pts/1 -;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] PVT.dump=false -;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. PVT.dump_filename=./PVT diff --git a/conf/gnss-sdr_GPS_L1_bladeRF.conf b/conf/gnss-sdr_GPS_L1_bladeRF.conf index 84fe13d8b..48017a8ec 100644 --- a/conf/gnss-sdr_GPS_L1_bladeRF.conf +++ b/conf/gnss-sdr_GPS_L1_bladeRF.conf @@ -1,3 +1,6 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + [GNSS-SDR] ;######### GLOBAL OPTIONS ################## @@ -17,8 +20,7 @@ SignalSource.if_gain=48 SignalSource.AGC_enabled=false SignalSource.samples=0 SignalSource.repeat=false -;# Next line enables the bladeRF -SignalSource.osmosdr_args=bladerf=0 +SignalSource.osmosdr_args=bladerf=0 ; This line enables the bladeRF SignalSource.enable_throttle_control=false SignalSource.dump=false SignalSource.dump_filename=./signal_source.dat @@ -63,11 +65,9 @@ Channel.signal=1C ;######### ACQUISITION GLOBAL CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler Acquisition_1C.item_type=gr_complex -Acquisition_1C.if=0 -Acquisition_1C.sampled_ms=1 +Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.threshold=0.015 Acquisition_1C.doppler_max=10000 -Acquisition_1C.doppler_min=-10000 Acquisition_1C.doppler_step=500 Acquisition_1C.max_dwells=15 Acquisition_1C.dump=false @@ -76,7 +76,6 @@ Acquisition_1C.dump_filename=./acq_dump.dat ;######### TRACKING GLOBAL CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.item_type=gr_complex -Tracking_1C.if=0 Tracking_1C.pll_bw_hz=40.0; Tracking_1C.dll_bw_hz=2.0; Tracking_1C.order=3; @@ -89,7 +88,6 @@ TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.dump=false ;######### OBSERVABLES CONFIG ############ -#Observables.implementation=GPS_L1_CA_Observables Observables.implementation=Hybrid_Observables Observables.dump=false Observables.dump_filename=./observables.dat diff --git a/conf/gnss-sdr_GPS_L1_fmcomms2_realtime.conf b/conf/gnss-sdr_GPS_L1_fmcomms2_realtime.conf index 67fe037f8..17880d8a2 100644 --- a/conf/gnss-sdr_GPS_L1_fmcomms2_realtime.conf +++ b/conf/gnss-sdr_GPS_L1_fmcomms2_realtime.conf @@ -1,3 +1,6 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -5,9 +8,6 @@ [GNSS-SDR] ;######### GLOBAL OPTIONS ################## -;internal_fs_sps: Internal signal sampling frequency after the signal conditioning stage [Sps]. -;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=2000000 @@ -73,10 +73,6 @@ InputFilter.sampling_frequency=2000000 InputFilter.IF=0; IF deviation due to front-end LO inaccuracies [Hz] ;######### RESAMPLER CONFIG ############ -;## Resamples the input data. -;# DISABLED IN THE RTL-SDR REALTIME -;#implementation: Use [Pass_Through] or [Direct_Resampler] -;#[Pass_Through] disables this block Resampler.implementation=Pass_Through ;######### CHANNELS GLOBAL CONFIG ############ @@ -88,12 +84,10 @@ Channel.signal=1C ;######### ACQUISITION GLOBAL CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler Acquisition_1C.item_type=gr_complex -Acquisition_1C.if=0 -Acquisition_1C.sampled_ms=1 +Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.threshold=0.015 ;Acquisition_1C.pfa=0.0001 Acquisition_1C.doppler_max=10000 -Acquisition_1C.doppler_min=-10000 Acquisition_1C.doppler_step=500 Acquisition_1C.max_dwells=15 Acquisition_1C.dump=false @@ -103,7 +97,6 @@ Acquisition_1C.dump_filename=./acq_dump.dat ;######### TRACKING GLOBAL CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.item_type=gr_complex -Tracking_1C.if=0 Tracking_1C.dump=false Tracking_1C.dump_filename=./tracking_ch_ Tracking_1C.pll_bw_hz=40.0; @@ -115,7 +108,6 @@ Tracking_1C.early_late_space_chips=0.5; ;######### TELEMETRY DECODER GPS CONFIG ############ TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.dump=false -TelemetryDecoder_1C.decimation_factor=1; ;######### OBSERVABLES CONFIG ############ diff --git a/conf/gnss-sdr_GPS_L1_gr_complex.conf b/conf/gnss-sdr_GPS_L1_gr_complex.conf index 99118a0c4..0cf4d146c 100644 --- a/conf/gnss-sdr_GPS_L1_gr_complex.conf +++ b/conf/gnss-sdr_GPS_L1_gr_complex.conf @@ -1,19 +1,23 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf -; + [GNSS-SDR] ;######### GLOBAL OPTIONS ################## ;internal_fs_sps: Internal signal sampling frequency after the signal conditioning stage [samples per second]. -GNSS-SDR.internal_fs_sps=2600000 +GNSS-SDR.internal_fs_sps=4000000 ;######### SIGNAL_SOURCE CONFIG ############ SignalSource.implementation=File_Signal_Source -SignalSource.filename=/home/javier/gnss/gnss-simulator/build/signal_out.bin ; <- PUT YOUR FILE HERE -SignalSource.item_type=byte -SignalSource.sampling_frequency=2600000 +SignalSource.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE +SignalSource.item_type=ishort +SignalSource.sampling_frequency=4000000 +SignalSource.freq=1575420000 SignalSource.samples=0 SignalSource.repeat=false SignalSource.enable_throttle_control=false @@ -22,12 +26,8 @@ SignalSource.enable_throttle_control=false ;######### SIGNAL_CONDITIONER CONFIG ############ SignalConditioner.implementation=Signal_Conditioner -;######### DATA_TYPE_ADAPTER CONFIG ############ -;## Changes the type of input data. -;#implementation: [Pass_Through] disables this block -DataTypeAdapter.implementation=Ibyte_To_Complex +DataTypeAdapter.implementation=Ishort_To_Complex DataTypeAdapter.dump=false -;#dump_filename: Log path and filename. DataTypeAdapter.dump_filename=../data/DataTypeAdapter.dat InputFilter.implementation=Pass_Through @@ -47,9 +47,8 @@ Channel.signal=1C ;######### ACQUISITION GLOBAL CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition Acquisition_1C.item_type=gr_complex -Acquisition_1C.if=0 -Acquisition_1C.sampled_ms=1 -Acquisition_1C.threshold=0.05 +Acquisition_1C.coherent_integration_time_ms=1 +Acquisition_1C.threshold=0.008 ;Acquisition_1C.pfa=0.01 Acquisition_1C.doppler_max=10000 Acquisition_1C.doppler_step=250 @@ -60,9 +59,10 @@ Acquisition_1C.dump_filename=./acq_dump.dat ;######### TRACKING GLOBAL CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking Tracking_1C.item_type=gr_complex -Tracking_1C.if=0 -Tracking_1C.pll_bw_hz=25.0; -Tracking_1C.dll_bw_hz=1.0; +Tracking_1C.dump=true +Tracking_1C.dump_filename=epl_tracking_ch_ +Tracking_1C.pll_bw_hz=40.0; +Tracking_1C.dll_bw_hz=4.0; Tracking_1C.order=3; Tracking_1C.dump=false Tracking_1C.dump_filename=../data/epl_tracking_c diff --git a/conf/gnss-sdr_GPS_L1_gr_complex_gpu.conf b/conf/gnss-sdr_GPS_L1_gr_complex_gpu.conf index 0111fc5e9..7ecb75715 100644 --- a/conf/gnss-sdr_GPS_L1_gr_complex_gpu.conf +++ b/conf/gnss-sdr_GPS_L1_gr_complex_gpu.conf @@ -1,3 +1,6 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -33,8 +36,7 @@ Channel.signal=1C ;######### ACQUISITION GLOBAL CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition Acquisition_1C.item_type=gr_complex -Acquisition_1C.if=0 -Acquisition_1C.sampled_ms=1 +Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.threshold=0.005 ;Acquisition_1C.pfa=0.01 Acquisition_1C.doppler_max=10000 @@ -46,7 +48,6 @@ Acquisition_1C.dump_filename=./acq_dump.dat ;######### TRACKING GLOBAL CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking_GPU Tracking_1C.item_type=gr_complex -Tracking_1C.if=0 Tracking_1C.dump=false Tracking_1C.dump_filename=../data/epl_tracking_ch_ Tracking_1C.pll_bw_hz=45.0; diff --git a/conf/gnss-sdr_GPS_L1_ishort.conf b/conf/gnss-sdr_GPS_L1_ishort.conf index e3395c982..a9528d183 100644 --- a/conf/gnss-sdr_GPS_L1_ishort.conf +++ b/conf/gnss-sdr_GPS_L1_ishort.conf @@ -1,3 +1,6 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -13,7 +16,7 @@ ControlThread.wait_for_flowgraph=false ;######### SIGNAL_SOURCE CONFIG ############ SignalSource.implementation=File_Signal_Source -SignalSource.filename=/archive/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ;/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE +SignalSource.filename=/archive/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE SignalSource.item_type=ishort SignalSource.sampling_frequency=4000000 SignalSource.samples=0 @@ -26,18 +29,12 @@ SignalSource.enable_throttle_control=false ;######### SIGNAL_CONDITIONER CONFIG ############ SignalConditioner.implementation=Signal_Conditioner -;DataTypeAdapter.implementation=Ishort_To_Complex DataTypeAdapter.implementation=Ishort_To_Cshort InputFilter.implementation=Pass_Through -;InputFilter.input_item_type=gr_complex -;InputFilter.output_item_type=gr_complex InputFilter.item_type=cshort -;Resampler.implementation=Pass_Through -;Resampler.item_type=gr_complex Resampler.implementation=Direct_Resampler Resampler.sample_freq_in=4000000 Resampler.sample_freq_out=2000000 -;Resampler.item_type=gr_complex Resampler.item_type=cshort ;######### CHANNELS GLOBAL CONFIG ############ @@ -49,39 +46,33 @@ Channel.signal=1C ;######### ACQUISITION GLOBAL CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition Acquisition_1C.item_type=cshort -Acquisition_1C.if=0 -Acquisition_1C.sampled_ms=1 +Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.threshold=0.008 ;Acquisition_1C.pfa=0.000001 Acquisition_1C.doppler_max=10000 Acquisition_1C.doppler_step=250 -Acquisition_1C.tong_init_val=2 -Acquisition_1C.tong_max_val=10 -Acquisition_1C.tong_max_dwells=20 Acquisition_1C.dump=false Acquisition_1C.dump_filename=./acq_dump.dat - +Acquisition_1C.blocking=false; ;######### TRACKING GLOBAL CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking Tracking_1C.item_type=cshort -Tracking_1C.if=0 -Tracking_1C.dump=false -Tracking_1C.dump_filename=../data/epl_tracking_ch_ Tracking_1C.pll_bw_hz=40.0; Tracking_1C.dll_bw_hz=4.0; Tracking_1C.order=3; +Tracking_1C.dump=false; +Tracking_1C.dump_filename=./epl_tracking_ch_ ;######### TELEMETRY DECODER GPS CONFIG ############ TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.dump=false -TelemetryDecoder_1C.decimation_factor=1; ;######### OBSERVABLES CONFIG ############ Observables.implementation=Hybrid_Observables -Observables.dump=false +Observables.dump=true Observables.dump_filename=./observables.dat diff --git a/conf/gnss-sdr_GPS_L1_nsr.conf b/conf/gnss-sdr_GPS_L1_nsr.conf index ec085add3..5e2bee6ba 100644 --- a/conf/gnss-sdr_GPS_L1_nsr.conf +++ b/conf/gnss-sdr_GPS_L1_nsr.conf @@ -1,3 +1,6 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; Sample configuration file for IFEN SX-NSR software receiver front-end ; http://www.ifen.com/products/sx-scientific-gnss-solutions/nsr-software-receiver.html ; This sample configuration is able to process directly .sream binary files @@ -80,18 +83,15 @@ Resampler.item_type=gr_complex ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available GPS satellite channels. Channels_1C.count=0 Channels_2S.count=8 Channels.in_acquisition=1 -#Channel.signal=1C ;######### GPS ACQUISITION CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition Acquisition_1C.item_type=gr_complex -Acquisition_1C.if=0 -Acquisition_1C.sampled_ms=1 +Acquisition_1C.scoherent_integration_time_ms=1 Acquisition_1C.threshold=0.0075 ;Acquisition_1C.pfa=0.01 Acquisition_1C.doppler_max=10000 @@ -101,7 +101,6 @@ Acquisition_1C.dump_filename=./acq_dump.dat Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition Acquisition_2S.item_type=gr_complex -Acquisition_2S.if=0 Acquisition_2S.coherent_integration_time_ms=20 Acquisition_2S.threshold=0.00045 Acquisition_2S.doppler_max=5000 @@ -115,7 +114,6 @@ Acquisition_2S.dump_filename=./acq_dump.dat ;######### TRACKING GPS CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.item_type=gr_complex -Tracking_1C.if=0 Tracking_1C.pll_bw_hz=45.0; Tracking_1C.dll_bw_hz=2.0; Tracking_1C.order=3; @@ -125,7 +123,6 @@ Tracking_1C.dump_filename=../data/epl_tracking_ch_ ;######### GPS L2C GENERIC TRACKING CONFIG ############ Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking Tracking_2S.item_type=gr_complex -Tracking_2S.if=0 Tracking_2S.pll_bw_hz=1.5; Tracking_2S.dll_bw_hz=0.4; Tracking_2S.order=2; @@ -143,11 +140,8 @@ TelemetryDecoder_2S.dump=false ;######### OBSERVABLES CONFIG ############ -;#implementation: Observables.implementation=Hybrid_Observables -;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] Observables.dump=false -;#dump_filename: Log path and filename. Observables.dump_filename=./observables.dat diff --git a/conf/gnss-sdr_GPS_L1_nsr_twobit_packed.conf b/conf/gnss-sdr_GPS_L1_nsr_twobit_packed.conf index db5e6d23a..dffa01314 100644 --- a/conf/gnss-sdr_GPS_L1_nsr_twobit_packed.conf +++ b/conf/gnss-sdr_GPS_L1_nsr_twobit_packed.conf @@ -1,3 +1,6 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; Sample configuration file for IFEN SX-NSR software receiver front-end ; http://www.ifen.com/products/sx-scientific-gnss-solutions/nsr-software-receiver.html ; This sample configuration is able to process directly .sream binary files @@ -94,7 +97,6 @@ Resampler.item_type=gr_complex ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available GPS satellite channels. Channels_1C.count=8 Channels.in_acquisition=1 Channel.signal=1C diff --git a/conf/gnss-sdr_GPS_L1_plutosdr_realtime.conf b/conf/gnss-sdr_GPS_L1_plutosdr_realtime.conf index 83f808645..d3be2c6b6 100644 --- a/conf/gnss-sdr_GPS_L1_plutosdr_realtime.conf +++ b/conf/gnss-sdr_GPS_L1_plutosdr_realtime.conf @@ -1,3 +1,6 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; diff --git a/conf/gnss-sdr_GPS_L1_pulse_blanking_gr_complex.conf b/conf/gnss-sdr_GPS_L1_pulse_blanking_gr_complex.conf index 8cd02bd32..4f68bdb08 100644 --- a/conf/gnss-sdr_GPS_L1_pulse_blanking_gr_complex.conf +++ b/conf/gnss-sdr_GPS_L1_pulse_blanking_gr_complex.conf @@ -1,4 +1,6 @@ -; Default configuration file +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -25,51 +27,26 @@ GNSS-SDR.SUPL_LAC=0x59e2 GNSS-SDR.SUPL_CI=0x31b0 ;######### SIGNAL_SOURCE CONFIG ############ -;#implementation SignalSource.implementation=File_Signal_Source -;#filename: path to file with the captured GNSS signal samples to be processed SignalSource.filename=/home/javier/signals/signal_source_int.dat -;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. SignalSource.item_type=gr_complex -;#sampling_frequency: Original Signal sampling frequency in samples per second SignalSource.sampling_frequency=2000000 -;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. SignalSource.samples=0 -;#repeat: Repeat the processing file. Disable this option in this version SignalSource.repeat=false -;#dump: Dump the Signal source data to a file. Disable this option in this version SignalSource.dump=false SignalSource.dump_filename=dump.dat -;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. -; it helps to not overload the CPU, but the processing time will be longer. SignalSource.enable_throttle_control=false ;######### SIGNAL_CONDITIONER CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. - -;#implementation: Use [Pass_Through] or [Signal_Conditioner] -;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks -;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks SignalConditioner.implementation=Signal_Conditioner ;######### INPUT_FILTER CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#[Pass_Through] disables this block InputFilter.implementation=Pulse_Blanking_Filter - InputFilter.Pfa=0.001 -;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version. InputFilter.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version. InputFilter.output_item_type=gr_complex - -;#dump: Dump the filtered data to a file. InputFilter.dump=false - -;#dump_filename: Log path and filename. InputFilter.dump_filename=../data/input_filter.dat ;######### CHANNELS GLOBAL CONFIG ############ @@ -81,12 +58,8 @@ Channel.signal=1C ;######### ACQUISITION GLOBAL CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition Acquisition_1C.item_type=gr_complex -Acquisition_1C.if=0 -Acquisition_1C.sampled_ms=1 -;#use_CFAR_algorithm: If enabled, acquisition estimates the input signal power to implement CFAR detection algorithms -;#notice that this affects the Acquisition threshold range! +Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.use_CFAR_algorithm=false; -;#threshold: Acquisition threshold Acquisition_1C.threshold=20 ;Acquisition_1C.pfa=0.01 Acquisition_1C.doppler_max=5000 @@ -97,27 +70,15 @@ Acquisition_1C.dump_filename=./acq_dump.dat ;######### TRACKING GPS CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1C.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1C.if=0 -;# Extended correlation after telemetry bit synchronization -;# Valid values are: [1,2,4,5,10,20] (integer divisors of the GPS L1 CA bit period (20 ms) ) -;# Longer integration period require more stable front-end LO Tracking_1C.extend_correlation_ms=10 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1C.pll_bw_hz=35; Tracking_1C.pll_bw_narrow_hz=30; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1C.dll_bw_hz=2.0; Tracking_1C.dll_bw_narrow_hz=1.5; -;#fll_bw_hz: FLL loop filter bandwidth [Hz] Tracking_1C.fll_bw_hz=2.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1C.order=3; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1C.dump=true -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1C.dump_filename=../data/epl_tracking_ch_ diff --git a/conf/gnss-sdr_GPS_L1_rtl_tcp_realtime.conf b/conf/gnss-sdr_GPS_L1_rtl_tcp_realtime.conf index 944a1ba36..01b30c02a 100644 --- a/conf/gnss-sdr_GPS_L1_rtl_tcp_realtime.conf +++ b/conf/gnss-sdr_GPS_L1_rtl_tcp_realtime.conf @@ -1,4 +1,6 @@ -; Default configuration file +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -29,119 +31,48 @@ GNSS-SDR.SUPL_CI=0x31b0 ;######### SIGNAL_SOURCE CONFIG ############ ;#implementation SignalSource.implementation=RtlTcp_Signal_Source -;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. -SignalSource.item_type=gr_complex -;#sampling_frequency: Original Signal sampling frequency in 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/ SignalSource.sampling_frequency=1200000 -;#freq: RF front-end center frequency in [Hz] SignalSource.freq=1575420000 -;#gain: Front-end overall gain Gain in [dB] SignalSource.gain=40 -;#rf_gain: Front-end RF stage gain in [dB] SignalSource.rf_gain=40 -;#rf_gain: Front-end IF stage gain in [dB] SignalSource.if_gain=30 -;#AGC_enabled: Front-end AGC enabled or disabled SignalSource.AGC_enabled = false -;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. SignalSource.samples=0 -;#repeat: Repeat the processing file. Disable this option in this version SignalSource.repeat=false -;#dump: Dump the Signal source data to a file. Disable this option in this version SignalSource.dump=false SignalSource.dump_filename=../data/signal_source.dat -;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. -; it helps to not overload the CPU, but the processing time will be longer. SignalSource.enable_throttle_control=false - -;#Address of the rtl_tcp server (IPv6 allowed) SignalSource.address=127.0.0.1 - -;#Port of the rtl_tcp server SignalSource.port=1234 - -;# Set to true if I/Q samples come swapped SignalSource.swap_iq=false ;######### SIGNAL_CONDITIONER CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. - -;#implementation: Use [Pass_Through] or [Signal_Conditioner] -;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks -;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks SignalConditioner.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER CONFIG ############ -;## Changes the type of input data. -;#implementation: [Pass_Through] disables this block DataTypeAdapter.implementation=Pass_Through ;######### INPUT_FILTER CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Pass_Through] disables this block -;#[Fir_Filter] enables a FIR Filter -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. - InputFilter.implementation=Freq_Xlating_Fir_Filter - -;#dump: Dump the filtered data to a file. InputFilter.dump=false - -;#dump_filename: Log path and filename. InputFilter.dump_filename=../data/input_filter.dat - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. InputFilter.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. InputFilter.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time InputFilter.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. InputFilter.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - InputFilter.band1_begin=0.0 InputFilter.band1_end=0.45 InputFilter.band2_begin=0.55 InputFilter.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - InputFilter.ampl1_begin=1.0 InputFilter.ampl1_end=1.0 InputFilter.ampl2_begin=0.0 InputFilter.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands InputFilter.band1_error=1.0 InputFilter.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" InputFilter.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. InputFilter.grid_density=16 ;#The following options are used only in Freq_Xlating_Fir_Filter implementation. @@ -149,22 +80,15 @@ InputFilter.grid_density=16 ;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/ InputFilter.sampling_frequency=1200000 -;# IF deviation due to front-end LO inaccuracies [HZ] InputFilter.IF=80558 ;######### RESAMPLER CONFIG ############ -;## Resamples the input data. -;# DISABLED IN THE RTL-SDR REALTIME -;#implementation: Use [Pass_Through] or [Direct_Resampler] -;#[Pass_Through] disables this block Resampler.implementation=Pass_Through ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available GPS satellite channels. Channels_1C.count=4 -;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 Channel.signal=1C @@ -172,52 +96,30 @@ Channel.signal=1C ;######### ACQUISITION GLOBAL CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] -;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. Acquisition_1C.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1C.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition_1C.sampled_ms=1 -;#threshold: Acquisition threshold +Acquisition_1C.coherent_integration_time_ms =1 Acquisition_1C.threshold=0.015 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;Acquisition_1C.pfa=0.0001 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1C.doppler_max=10000 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1C.doppler_min=-10000 -;#doppler_step Doppler step in the grid search [Hz] Acquisition_1C.doppler_step=500 -;#maximum dwells Acquisition_1C.max_dwells=15 Acquisition_1C.dump=false -;#filename: Log path and filename Acquisition_1C.dump_filename=./acq_dump.dat ;######### TRACKING GLOBAL CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1C.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1C.if=0 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1C.pll_bw_hz=40.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1C.dll_bw_hz=2.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1C.order=3; -;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] Tracking_1C.early_late_space_chips=0.5; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1C.dump=false -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1C.dump_filename=./tracking_ch_ ;######### TELEMETRY DECODER GPS CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.dump=false @@ -225,9 +127,7 @@ TelemetryDecoder_1C.dump=false ;######### OBSERVABLES CONFIG ############ ;#implementation: Observables.implementation=Hybrid_Observables -;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] Observables.dump=false -;#dump_filename: Log path and filename. Observables.dump_filename=./observables.dat @@ -237,21 +137,13 @@ PVT.implementation=RTKLIB_PVT PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad -;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] PVT.output_rate_ms=100 -;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. PVT.display_rate_ms=500 -;# KML, GeoJSON, NMEA and RTCM output configuration -;#nmea_dump_filename: NMEA log path and filename PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; -;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) PVT.flag_nmea_tty_port=false; -;#nmea_dump_devname: serial device descriptor for NMEA logging PVT.nmea_dump_devname=/dev/pts/4 PVT.flag_rtcm_server=false PVT.flag_rtcm_tty_port=false PVT.rtcm_dump_devname=/dev/pts/1 -;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] PVT.dump=true -;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. PVT.dump_filename=./PVT diff --git a/conf/gnss-sdr_GPS_L1_rtlsdr_realtime.conf b/conf/gnss-sdr_GPS_L1_rtlsdr_realtime.conf index b4e025f6f..18d783741 100644 --- a/conf/gnss-sdr_GPS_L1_rtlsdr_realtime.conf +++ b/conf/gnss-sdr_GPS_L1_rtlsdr_realtime.conf @@ -1,3 +1,6 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -88,10 +91,6 @@ InputFilter.sampling_frequency=1999898 InputFilter.IF=80558 ; IF deviation due to front-end LO inaccuracies [Hz] ;######### RESAMPLER CONFIG ############ -;## Resamples the input data. -;# DISABLED IN THE RTL-SDR REALTIME -;#implementation: Use [Pass_Through] or [Direct_Resampler] -;#[Pass_Through] disables this block Resampler.implementation=Pass_Through ;######### CHANNELS GLOBAL CONFIG ############ @@ -103,8 +102,7 @@ Channel.signal=1C ;######### ACQUISITION GLOBAL CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler Acquisition_1C.item_type=gr_complex -Acquisition_1C.if=0 -Acquisition_1C.sampled_ms=1 +Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.threshold=0.015 ;Acquisition_1C.pfa=0.0001 Acquisition_1C.doppler_max=10000 @@ -118,7 +116,6 @@ Acquisition_1C.dump_filename=./acq_dump.dat ;######### TRACKING GLOBAL CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.item_type=gr_complex -Tracking_1C.if=0 Tracking_1C.dump=false Tracking_1C.dump_filename=./tracking_ch_ Tracking_1C.pll_bw_hz=40.0; @@ -139,7 +136,6 @@ Observables.dump_filename=./observables.dat ;######### PVT CONFIG ############ -;#implementation: Position Velocity and Time (PVT) implementation: PVT.implementation=RTKLIB_PVT PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX diff --git a/conf/gnss-sdr_GPS_L1_two_bits_cpx.conf b/conf/gnss-sdr_GPS_L1_two_bits_cpx.conf index f6e2ec730..1cf1ac378 100644 --- a/conf/gnss-sdr_GPS_L1_two_bits_cpx.conf +++ b/conf/gnss-sdr_GPS_L1_two_bits_cpx.conf @@ -1,3 +1,6 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -84,8 +87,7 @@ Channel.signal=1C ;######### GPS ACQUISITION CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition_Fine_Doppler Acquisition_1C.item_type=gr_complex -Acquisition_1C.if=0 -Acquisition_1C.sampled_ms=1 +Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.threshold=0.007 ;Acquisition_1C.pfa=0.0001 Acquisition_1C.doppler_max=10000 @@ -99,7 +101,6 @@ Acquisition_1C.dump_filename=./acq_dump.dat ;######### TRACKING GPS CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.item_type=gr_complex -Tracking_1C.if=0_ Tracking_1C.pll_bw_hz=40.0; Tracking_1C.dll_bw_hz=1.5; Tracking_1C.order=3; diff --git a/conf/gnss-sdr_GPS_L2C_USRP1_realtime.conf b/conf/gnss-sdr_GPS_L2C_USRP1_realtime.conf index 97710c4f0..362e747a3 100644 --- a/conf/gnss-sdr_GPS_L2C_USRP1_realtime.conf +++ b/conf/gnss-sdr_GPS_L2C_USRP1_realtime.conf @@ -1,7 +1,11 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; Configuration file for using USRP1 as a RF front-end for GPS L2C signals ; Run: ; gnss-sdr --config_file=/path/to/gnss-sdr_GPS_L2C_USRP1_realtime.conf ; + [GNSS-SDR] ;######### GLOBAL OPTIONS ################## @@ -46,81 +50,29 @@ DataTypeAdapter.item_type=gr_complex ;######### INPUT_FILTER 0 CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Pass_Through] disables this block -;#[Fir_Filter] enables a FIR Filter -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. - InputFilter.implementation=Freq_Xlating_Fir_Filter - -InputFilter.dump_filename=../data/input_filter.dat - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - - -;#input_item_type: Type and resolution for input signal samples. InputFilter.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. InputFilter.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time InputFilter.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. InputFilter.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - InputFilter.band1_begin=0.0 InputFilter.band1_end=0.45 InputFilter.band2_begin=0.55 InputFilter.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - InputFilter.ampl1_begin=1.0 InputFilter.ampl1_end=1.0 InputFilter.ampl2_begin=0.0 InputFilter.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands InputFilter.band1_error=1.0 InputFilter.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" InputFilter.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. InputFilter.grid_density=16 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz - InputFilter.sampling_frequency=20000000 - InputFilter.IF=-1600000 - -;# Decimation factor after the frequency tranaslating block InputFilter.decimation_factor=1 - -;#dump: Dump the filtered data to a file. InputFilter.dump=false - -;#dump_filename: Log path and filename. +InputFilter.dump_filename=../data/input_filter.dat ;######### RESAMPLER CONFIG ############ @@ -133,9 +85,7 @@ Resampler.sample_freq_out=2000000 ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available GPS satellite channels. Channels_2S.count=1 -;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 Channel.signal=2S @@ -155,14 +105,11 @@ Channel7.signal=2S ;######### ACQUISITION GLOBAL CONFIG ############ -;# GPS L2C M Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition Acquisition_2S.item_type=gr_complex -Acquisition_2S.if=0 Acquisition_2S.threshold=0.0013 ;Acquisition_2S.pfa=0.001 Acquisition_2S.doppler_max=10000 -Acquisition_2S.doppler_min=-10000 Acquisition_2S.doppler_step=100 Acquisition_2S.max_dwells=1 Acquisition_2S.dump=false @@ -172,7 +119,6 @@ Acquisition_2S.dump_filename=./acq_dump.dat ;######### TRACKING GLOBAL CONFIG ############ Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking Tracking_2S.item_type=gr_complex -Tracking_2S.if=0 Tracking_2S.pll_bw_hz=1.5; Tracking_2S.dll_bw_hz=0.3; Tracking_2S.order=3; diff --git a/conf/gnss-sdr_GPS_L2C_USRP_X300_realtime.conf b/conf/gnss-sdr_GPS_L2C_USRP_X300_realtime.conf index caaf4536c..1572b45cd 100644 --- a/conf/gnss-sdr_GPS_L2C_USRP_X300_realtime.conf +++ b/conf/gnss-sdr_GPS_L2C_USRP_X300_realtime.conf @@ -1,3 +1,6 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; Configuration file for using USRP X300 as a RF front-end for GPS L2C signals ; Set SignalSource.device_address to the IP address of your device ; and run: @@ -87,9 +90,7 @@ Resampler.sample_freq_out=4000000 ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available GPS satellite channels. Channels_2S.count=1 -;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 Channel.signal=2S @@ -112,7 +113,6 @@ Channel7.signal=2S ;# GPS L2C M Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition Acquisition_2S.item_type=gr_complex -Acquisition_2S.if=0 Acquisition_2S.threshold=0.0015 ;Acquisition_2S.pfa=0.001 Acquisition_2S.doppler_max=5000 @@ -125,7 +125,6 @@ Acquisition_2S.dump_filename=./acq_dump.dat Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking Tracking_2S.item_type=gr_complex -Tracking_2S.if=0 Tracking_2S.pll_bw_hz=2.0; Tracking_2S.dll_bw_hz=0.25; Tracking_2S.order=2; diff --git a/conf/gnss-sdr_Galileo_E1_USRP_X300_realtime.conf b/conf/gnss-sdr_Galileo_E1_USRP_X300_realtime.conf index 54e092708..aad3dd417 100644 --- a/conf/gnss-sdr_Galileo_E1_USRP_X300_realtime.conf +++ b/conf/gnss-sdr_Galileo_E1_USRP_X300_realtime.conf @@ -38,8 +38,7 @@ Channel.signal=1B ;######### ACQUISITION GLOBAL CONFIG ############ Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition Acquisition_1B.item_type=gr_complex -Acquisition_1B.if=0 -Acquisition_1B.sampled_ms=4 +Acquisition_1B.coherent_integration_time_ms=4 ;Acquisition_1B.threshold=1 Acquisition_1B.pfa=0.000008 Acquisition_1B.doppler_max=6000 @@ -52,7 +51,6 @@ Acquisition_1B.dump_filename=./acq_dump.dat ;######### TRACKING GLOBAL CONFIG ############ Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking Tracking_1B.item_type=gr_complex -Tracking_1B.if=0 Tracking_1B.pll_bw_hz=20.0; Tracking_1B.dll_bw_hz=2.0; Tracking_1B.order=3; diff --git a/conf/gnss-sdr_Galileo_E1_acq_QuickSync.conf b/conf/gnss-sdr_Galileo_E1_acq_QuickSync.conf index ab6802559..2653a1402 100644 --- a/conf/gnss-sdr_Galileo_E1_acq_QuickSync.conf +++ b/conf/gnss-sdr_Galileo_E1_acq_QuickSync.conf @@ -1,3 +1,6 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -10,259 +13,86 @@ GNSS-SDR.internal_fs_sps=4000000 ;######### SIGNAL_SOURCE CONFIG ############ -;#implementation: SignalSource.implementation=File_Signal_Source - -;#filename: path to file with the captured GNSS signal samples to be processed SignalSource.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE - -;#item_type: Type and resolution for each of the signal samples. -;#Use gr_complex for 32 bits float I/Q or ishort for I/Q interleaved short integer. -;#If ishort is selected you should have to instantiate the Ishort_To_Complex data_type_adapter. SignalSource.item_type=ishort - -;#sampling_frequency: Original Signal sampling frequency in samples per second SignalSource.sampling_frequency=4000000 - -;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. SignalSource.samples=0 - -;#repeat: Repeat the processing file. SignalSource.repeat=false - -;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. -; it helps to not overload the CPU, but the processing time will be longer. SignalSource.enable_throttle_control=false ;######### SIGNAL_CONDITIONER CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. - -;#implementation: Use [Pass_Through] or [Signal_Conditioner] -;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks -;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks SignalConditioner.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER CONFIG ############ -;## Changes the type of input data. -;#implementation: Use [Ishort_To_Complex] or [Pass_Through] DataTypeAdapter.implementation=Ishort_To_Complex -;#dump: Dump the filtered data to a file. DataTypeAdapter.dump=false -;#dump_filename: Log path and filename. DataTypeAdapter.dump_filename=../data/data_type_adapter.dat ;######### INPUT_FILTER CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Pass_Through] disables this block -;#[Fir_Filter] enables a FIR Filter -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. - -;InputFilter.implementation=Fir_Filter -;InputFilter.implementation=Freq_Xlating_Fir_Filter InputFilter.implementation=Pass_Through -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. -InputFilter.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. -InputFilter.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. -InputFilter.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time -InputFilter.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. -InputFilter.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - -#used for gps -InputFilter.band1_begin=0.0 -;InputFilter.band1_end=0.8 -InputFilter.band1_end=0.85 -InputFilter.band2_begin=0.90 -InputFilter.band2_end=1.0 - -#used for galileo -InputFilter.band1_begin=0.0 -;InputFilter.band1_end=0.8 -InputFilter.band1_end=0.45 -InputFilter.band2_begin=0.55 -InputFilter.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands -InputFilter.ampl1_begin=1.0 -InputFilter.ampl1_end=1.0 -InputFilter.ampl2_begin=0.0 -InputFilter.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands -InputFilter.band1_error=1.0 -InputFilter.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" -InputFilter.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. -InputFilter.grid_density=16 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz -InputFilter.sampling_frequency=4000000 -InputFilter.IF=0 - -;#dump: Dump the filtered data to a file. -InputFilter.dump=false - -;#dump_filename: Log path and filename. -InputFilter.dump_filename=../data/input_filter.dat - ;######### RESAMPLER CONFIG ############ -;## Resamples the input data. - -;#implementation: Use [Pass_Through] or [Direct_Resampler] -;#[Pass_Through] disables this block -;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation -;Resampler.implementation=Direct_Resampler Resampler.implementation=Pass_Through - -;#dump: Dump the resamplered data to a file. Resampler.dump=false -;#dump_filename: Log path and filename. Resampler.dump_filename=../data/resampler.dat - -;#item_type: Type and resolution for each of the signal samples. Resampler.item_type=gr_complex -;#sample_freq_in: the sample frequency of the input signal -Resampler.sample_freq_in=4000000 - -;#sample_freq_out: the desired sample frequency of the output signal -Resampler.sample_freq_out=4000000 - ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available satellite channels. Channels_1B.count=4 -;#in_acquisition: Number of channels simultaneously acquiring Channels.in_acquisition=1 Channel.signal=1B ;######### ACQUISITION GLOBAL CONFIG ############ Acquisition_1B.implementation=Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1B.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1B.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] Acquisition_1B.coherent_integration_time_ms=4 -;#threshold: Acquisition threshold Acquisition_1B.threshold=0.05 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1B.doppler_max=15000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1B.doppler_step=125 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms]; Acquisition_1B.coherent_integration_time_ms=8 Acquisition_1B.cboc=false -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1B.dump=false -;#filename: Log path and filename Acquisition_1B.dump_filename=./acq_dump.dat ;######### TRACKING GLOBAL CONFIG ############ -;#implementation: Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1B.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1B.if=0 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1B.pll_bw_hz=20.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1B.dll_bw_hz=2.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1B.order=3; -;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo Tracking_1B.early_late_space_chips=0.15; -;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] Tracking_1B.very_early_late_space_chips=0.6; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] -Tracking_1B.dump=true -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. +Tracking_1B.dump=false Tracking_1B.dump_filename=../data/veml_tracking_ch_ ;######### TELEMETRY DECODER CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A or [Galileo_E1B_Telemetry_Decoder] for Galileo E1B TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder TelemetryDecoder_1B.dump=false ;######### OBSERVABLES CONFIG ############ -;#implementation: Observables.implementation=Hybrid_Observables - -;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] Observables.dump=false - -;#dump_filename: Log path and filename. Observables.dump_filename=./observables.dat ;######### PVT CONFIG ############ -;#implementation: Position Velocity and Time (PVT) implementation algorithm: PVT.implementation=RTKLIB_PVT PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad - -;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] PVT.output_rate_ms=100; - -;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. PVT.display_rate_ms=500; - -;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] PVT.dump=false - -;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. PVT.dump_filename=./PVT - -;# KML, GeoJSON, NMEA and RTCM output configuration - -;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump, ".kml" and ".geojson" to GIS-friendly formats. PVT.dump_filename=./PVT - -;#nmea_dump_filename: NMEA log path and filename PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; - -;#flag_nmea_tty_port: Enables or disables the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) PVT.flag_nmea_tty_port=true; - -;#nmea_dump_devname: serial device descriptor for NMEA logging PVT.nmea_dump_devname=/dev/pts/4 - -;#flag_rtcm_server: Enables or disables a TCP/IP server transmitting RTCM 3.2 messages (accepts multiple clients, port 2101 by default) PVT.flag_rtcm_server=false; - -;#flag_rtcm_tty_port: Enables or disables the RTCM log to a serial TTY port (Can be used with real hardware or virtual one) PVT.flag_rtcm_tty_port=false; - -;#rtcm_dump_devname: serial device descriptor for RTCM logging PVT.rtcm_dump_devname=/dev/pts/1 diff --git a/conf/gnss-sdr_Galileo_E1_ishort.conf b/conf/gnss-sdr_Galileo_E1_ishort.conf index 2f051700a..22a64245d 100644 --- a/conf/gnss-sdr_Galileo_E1_ishort.conf +++ b/conf/gnss-sdr_Galileo_E1_ishort.conf @@ -1,3 +1,6 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -11,190 +14,65 @@ GNSS-SDR.internal_fs_sps=4000000 ;######### SIGNAL_SOURCE CONFIG ############ SignalSource.implementation=File_Signal_Source -;#filename: path to file with the captured GNSS signal samples to be processed SignalSource.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE -;#item_type: Type and resolution for each of the signal samples. SignalSource.item_type=ishort -;#sampling_frequency: Original Signal sampling frequency in samples per second SignalSource.sampling_frequency=4000000 -;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. SignalSource.samples=0 -;#repeat: Repeat the processing file. SignalSource.repeat=false -;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. -; it helps to not overload the CPU, but the processing time will be longer. -SignalSource.enable_throttle_control=false +SignalSource.enable_throttle_control=true ;######### SIGNAL_CONDITIONER CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. - -;#implementation: Use [Pass_Through] or [Signal_Conditioner] -;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks -;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks SignalConditioner.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER CONFIG ############ -;## Changes the type of input data. -;#implementation: [Pass_Through] disables this block DataTypeAdapter.implementation=Ishort_To_Complex ;######### INPUT_FILTER CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: -;#[Pass_Through] disables this block -;#[Fir_Filter] enables a FIR Filter -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. -;InputFilter.implementation=Fir_Filter -;InputFilter.implementation=Freq_Xlating_Fir_Filter InputFilter.implementation=Pass_Through - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of GNU Radio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. InputFilter.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter.output_item_type=gr_complex -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. -InputFilter.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time -InputFilter.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. -InputFilter.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - -InputFilter.band1_begin=0.0 -InputFilter.band1_end=0.45 -InputFilter.band2_begin=0.55 -InputFilter.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - -InputFilter.ampl1_begin=1.0 -InputFilter.ampl1_end=1.0 -InputFilter.ampl2_begin=0.0 -InputFilter.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands -InputFilter.band1_error=1.0 -InputFilter.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" -InputFilter.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. -InputFilter.grid_density=16 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz - -InputFilter.sampling_frequency=4000000 -InputFilter.IF=0 -;#dump: Dump the filtered data to a file. -InputFilter.dump=false -;#dump_filename: Log path and filename. -InputFilter.dump_filename=../data/input_filter.dat - - ;######### RESAMPLER CONFIG ############ -;## Resamples the input data. - -;#implementation: Use [Pass_Through] or [Direct_Resampler] -;#[Pass_Through] disables this block -;#[Direct_Resampler] enables a resampler that implements a nearest neighborhood interpolation -;Resampler.implementation=Direct_Resampler Resampler.implementation=Pass_Through -;#item_type: Type and resolution for each of the signal samples. Resampler.item_type=gr_complex -;#sample_freq_in: the sample frequency of the input signal Resampler.sample_freq_in=4000000 -;#sample_freq_out: the desired sample frequency of the output signal Resampler.sample_freq_out=4000000 -;#dump: Dump the resampled data to a file. Resampler.dump=false -;#dump_filename: Log path and filename. Resampler.dump_filename=../data/resampler.dat ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available Galileo satellite channels. Channels_1B.count=8 -;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 Channel.signal=1B ;######### ACQUISITION GLOBAL CONFIG ############ Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1B.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1B.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition_1B.sampled_ms=4 -;#threshold: Acquisition threshold +Acquisition_1B.coherent_integration_time_ms=4 ;Acquisition_1B.threshold=0 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] -Acquisition_1B.pfa=0.000002 -;#doppler_max: Maximum expected Doppler shift [Hz] +Acquisition_1B.pfa=0.00001 Acquisition_1B.doppler_max=15000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1B.doppler_step=125 -;#cboc: Only for [Galileo_E1_PCPS_Ambiguous_Acquisition]. This option allows you to choose between acquiring with CBOC signal [true] or sinboc(1,1) signal [false]. -;#Use only if GNSS-SDR.internal_fs_sps is greater than or equal to 6138000 Acquisition_1B.cboc=false -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1B.dump=false -;#filename: Log path and filename Acquisition_1B.dump_filename=./acq_dump.dat - - -;######### ACQUISITION CHANNELS CONFIG ###### - -;######### ACQUISITION CH 0 CONFIG ############ -;#repeat_satellite: Use only jointly with the satellite PRN ID option. The default value is false -;Acquisition_1B0.repeat_satellite = true -;Acquisition_1B1.repeat_satellite = true -;Acquisition_1B2.repeat_satellite = true -;Acquisition_1B3.repeat_satellite = true +Acquisition_1B.blocking=false ;######### TRACKING GLOBAL CONFIG ############ Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1B.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1B.if=0 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] -Tracking_1B.pll_bw_hz=15.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] -Tracking_1B.dll_bw_hz=2.0; -;#fll_bw_hz: FLL loop filter bandwidth [Hz] -Tracking_1B.fll_bw_hz=10.0; -;#order: PLL/DLL loop filter order [2] or [3] -Tracking_1B.order=3; -;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo +Tracking_1B.dump=true +Tracking_1B.dump_filename=./veml_tracking_ch_ +Tracking_1B.pll_bw_hz=20.0; +Tracking_1B.dll_bw_hz=3.0; Tracking_1B.early_late_space_chips=0.15; -;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] Tracking_1B.very_early_late_space_chips=0.6; Tracking_1B.track_pilot=true -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1B.dump=false -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1B.dump_filename=../data/veml_tracking_ch_ @@ -205,39 +83,25 @@ TelemetryDecoder_1B.dump=false ;######### OBSERVABLES CONFIG ############ Observables.implementation=Hybrid_Observables -;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] Observables.dump=false -;#dump_filename: Log path and filename. Observables.dump_filename=./observables.dat ;######### PVT CONFIG ############ -;#implementation: Position Velocity and Time (PVT) implementation: PVT.implementation=RTKLIB_PVT PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad -;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] PVT.output_rate_ms=100; -;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. PVT.display_rate_ms=500; -;# KML, GeoJSON, NMEA and RTCM output configuration -;#nmea_dump_filename: NMEA log path and filename PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; -;#flag_nmea_tty_port: Enables or disables the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) PVT.flag_nmea_tty_port=true -;#nmea_dump_devname: serial device descriptor for NMEA logging PVT.nmea_dump_devname=/dev/pts/4 -;#flag_rtcm_server: Enables or disables a TCP/IP server transmitting RTCM 3.2 messages (accepts multiple clients, port 2101 by default) PVT.flag_rtcm_server=true; PVT.rtcm_tcp_port=2101 PVT.rtcm_MT1045_rate_ms=5000 PVT.rtcm_MSM_rate_ms=1000 -;#flag_rtcm_tty_port: Enables or disables the RTCM log to a serial TTY port (Can be used with real hardware or virtual one) PVT.flag_rtcm_tty_port=false; -;#rtcm_dump_devname: serial device descriptor for RTCM logging PVT.rtcm_dump_devname=/dev/pts/1 -;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] PVT.dump=false -;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump, ".kml" and ".geojson" to GIS-friendly formats. PVT.dump_filename=./PVT \ No newline at end of file diff --git a/conf/gnss-sdr_Galileo_E1_nsr.conf b/conf/gnss-sdr_Galileo_E1_nsr.conf index f7ca01480..7350f5314 100644 --- a/conf/gnss-sdr_Galileo_E1_nsr.conf +++ b/conf/gnss-sdr_Galileo_E1_nsr.conf @@ -1,3 +1,6 @@ +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -21,15 +24,10 @@ SignalSource.samples=0 ; 0 means the entire file SignalSource.repeat=false SignalSource.dump=false SignalSource.dump_filename=../data/signal_source.dat - - -;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. -; it helps to not overload the CPU, but the processing time will be longer. SignalSource.enable_throttle_control=false ;######### SIGNAL_CONDITIONER CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. SignalConditioner.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER CONFIG ############ @@ -78,8 +76,7 @@ Channel.signal=1B ;######### ACQUISITION GLOBAL CONFIG ############ Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition Acquisition_1B.item_type=gr_complex -Acquisition_1B.if=0 -Acquisition_1B.sampled_ms=4 +Acquisition_1B.coherent_integration_time_ms=4 Acquisition_1B.pfa=0.0000008 Acquisition_1B.doppler_max=15000 Acquisition_1B.doppler_step=125 @@ -91,7 +88,6 @@ Acquisition_1B.dump_filename=./acq_dump.dat ;######### TRACKING GLOBAL CONFIG ############ Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking Tracking_1B.item_type=gr_complex -Tracking_1B.if=0 Tracking_1B.pll_bw_hz=20.0; Tracking_1B.dll_bw_hz=2.0; Tracking_1B.order=3; diff --git a/conf/gnss-sdr_Galileo_E5a.conf b/conf/gnss-sdr_Galileo_E5a.conf index 702942f55..5ab3096c3 100644 --- a/conf/gnss-sdr_Galileo_E5a.conf +++ b/conf/gnss-sdr_Galileo_E5a.conf @@ -1,4 +1,3 @@ -; Default configuration file ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -25,159 +24,33 @@ GNSS-SDR.internal_fs_sps=32000000 ;GNSS-SDR.SUPL_CI=0x31b0 ;######### SIGNAL_SOURCE CONFIG ############ -;#implementation SignalSource.implementation=File_Signal_Source -;#filename: path to file with the captured GNSS signal samples to be processed SignalSource.filename=/datalogger/signals/ifen/32MS_complex.dat ; <- PUT YOUR FILE HERE -;#item_type: Type and resolution for each of the signal samples. SignalSource.item_type=gr_complex -;#sampling_frequency: Original Signal sampling frequency in samples per second SignalSource.sampling_frequency=32000000 -;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. SignalSource.samples=0 -;#repeat: Repeat the processing file. SignalSource.repeat=false -;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. -; it helps to not overload the CPU, but the processing time will be longer. SignalSource.enable_throttle_control=false ;######### SIGNAL_CONDITIONER CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. - -;#implementation: Use [Pass_Through] or [Signal_Conditioner] -;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks -;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks -;SignalConditioner.implementation=Signal_Conditioner SignalConditioner.implementation=Pass_Through -;######### DATA_TYPE_ADAPTER CONFIG ############ -;## Changes the type of input data. -;#implementation: [Pass_Through] disables this block -DataTypeAdapter.implementation=Pass_Through - -;######### INPUT_FILTER CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: -;#[Pass_Through] disables this block -;#[Fir_Filter] enables a FIR Filter -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. - -;InputFilter.implementation=Fir_Filter -;InputFilter.implementation=Freq_Xlating_Fir_Filter -InputFilter.implementation=Pass_Through - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. -InputFilter.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. -InputFilter.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. -InputFilter.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time -InputFilter.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. -InputFilter.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - -InputFilter.band1_begin=0.0 -InputFilter.band1_end=0.45 -InputFilter.band2_begin=0.55 -InputFilter.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - -InputFilter.ampl1_begin=1.0 -InputFilter.ampl1_end=1.0 -InputFilter.ampl2_begin=0.0 -InputFilter.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands -InputFilter.band1_error=1.0 -InputFilter.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" -InputFilter.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. -InputFilter.grid_density=16 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz - -InputFilter.sampling_frequency=32000000 -InputFilter.IF=0 - -;#dump: Dump the filtered data to a file. -InputFilter.dump=false - -;#dump_filename: Log path and filename. -InputFilter.dump_filename=../data/input_filter.dat - - -;######### RESAMPLER CONFIG ############ -;## Resamples the input data. - -;#implementation: Use [Pass_Through] or [Direct_Resampler] -;#[Pass_Through] disables this block -;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation -;Resampler.implementation=Direct_Resampler -Resampler.implementation=Pass_Through -;#item_type: Type and resolution for each of the signal samples. -Resampler.item_type=gr_complex -;#sample_freq_in: the sample frequency of the input signal -Resampler.sample_freq_in=8000000 -;#sample_freq_out: the desired sample frequency of the output signal -Resampler.sample_freq_out=4000000 -;#dump: Dump the resamplered data to a file. -Resampler.dump=false -;#dump_filename: Log path and filename. -Resampler.dump_filename=../data/resampler.dat - ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available satellite channels. Channels_5X.count=1 -;#in_acquisition: Number of channels simultaneously acquiring Channels.in_acquisition=1 -;#system: GPS, GLONASS, Galileo, SBAS or Compass -;#if the option is disabled by default is assigned GPS -Channel.signal=5X ;######### SPECIFIC CHANNELS CONFIG ###### ;#The following options are specific to each channel and overwrite the generic options ;######### CHANNEL 0 CONFIG ############ -;Channel0.signal=5X -;#satellite: Satellite PRN ID for this channel. Disable this option to random search ;Channel0.satellite=19 -;Channel0.repeat_satellite=true ;######### CHANNEL 1 CONFIG ############ - -;Channel1.system=Galileo -;Channel1.signal=5Q ;Channel1.satellite=12 ;######### CHANNEL 2 CONFIG ############ - -;Channel2.system=Galileo -;Channel2.signal=5Q ;Channel2.satellite=11 ;######### CHANNEL 3 CONFIG ############ @@ -188,97 +61,56 @@ Channel.signal=5X ;######### ACQUISITION GLOBAL CONFIG ############ Acquisition_5X.implementation=Galileo_E5a_Noncoherent_IQ_Acquisition_CAF -;#item_type: Type and resolution for each of the signal samples. Acquisition_5X.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_5X.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] Acquisition_5X.coherent_integration_time_ms=1 -;#threshold: Acquisition threshold. It will be ignored if pfa is defined. Acquisition_5X.threshold=0.001 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] Acquisition_5X.pfa=0.0003 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_5X.doppler_max=10000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_5X.doppler_step=250 -;#bit_transition_flag: Enable or disable a strategy to deal with bit transitions in GPS signals: process two dwells and take -;maximum test statistics. Only use with implementation: [GPS_L1_CA_PCPS_Acquisition] (should not be used for Galileo_E1_PCPS_Ambiguous_Acquisition]) Acquisition_5X.bit_transition_flag=false -;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true Acquisition_5X.max_dwells=1 -;#CAF filter: **Only for E5a** Resolves doppler ambiguity averaging the specified BW in the winner code delay. If set to 0 CAF filter is desactivated. Recommended value 3000 Hz Acquisition_5X.CAF_window_hz=0 -;#Zero_padding: **Only for E5a** Avoids power loss and doppler ambiguity in bit transitions by correlating one code with twice the input data length, ensuring that at least one full code is present without transitions. -;#If set to 1 it is ON, if set to 0 it is OFF. Acquisition_5X.Zero_padding=0 -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] -Acquisition_5X.dump=true -;#filename: Log path and filename +Acquisition_5X.dump=false Acquisition_5X.dump_filename=./acq_dump.dat ;######### TRACKING GLOBAL CONFIG ############ Tracking_5X.implementation=Galileo_E5a_DLL_PLL_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_5X.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_5X.if=0 -;#dll_ti_ms: **Only for E5a** loop filter integration time after initialization (secondary code delay search)[ms] -;Tracking_5X.ti_ms=3; -Tracking_5X.ti_ms=1; -;#pll_bw_hz: PLL loop filter bandwidth during initialization [Hz] Tracking_5X.pll_bw_hz=20.0; -;#dll_bw_hz: DLL loop filter bandwidth during initialization [Hz] Tracking_5X.dll_bw_hz=20.0; Tracking_5X.pll_bw_narrow_hz=2.0; Tracking_5X.dll_bw_narrow_hz=5.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_5X.order=2; -;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] Tracking_5X.early_late_space_chips=0.5; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] -Tracking_5X.dump=true -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. +Tracking_5X.dump=false Tracking_5X.dump_filename=./tracking_ch_ ;######### TELEMETRY DECODER CONFIG ############ -;#implementation: TelemetryDecoder_5X.implementation=Galileo_E5a_Telemetry_Decoder TelemetryDecoder_5X.dump=false ;######### OBSERVABLES CONFIG ############ -;#implementation: Observables.implementation=Hybrid_Observables -;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] Observables.dump=false -;#dump_filename: Log path and filename. Observables.dump_filename=./observables.dat ;######### PVT CONFIG ############ -;#implementation: Position Velocity and Time (PVT) implementation algorithm: PVT.implementation=RTKLIB_PVT PVT.positioning_mode=Single ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad -;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time [ms] PVT.output_rate_ms=100 -;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. PVT.display_rate_ms=500 -;# KML, GeoJSON, NMEA and RTCM output configuration -;#nmea_dump_filename: NMEA log path and filename PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; -;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) PVT.flag_nmea_tty_port=true; -;#nmea_dump_devname: serial device descriptor for NMEA logging PVT.nmea_dump_devname=/dev/pts/4 PVT.flag_rtcm_server=false PVT.flag_rtcm_tty_port=false PVT.rtcm_dump_devname=/dev/pts/1 -;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] PVT.dump=false -;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. PVT.dump_filename=./PVT diff --git a/conf/gnss-sdr_Galileo_E5a_IFEN_CTTC.conf b/conf/gnss-sdr_Galileo_E5a_IFEN_CTTC.conf index 661920ca0..e884778d2 100644 --- a/conf/gnss-sdr_Galileo_E5a_IFEN_CTTC.conf +++ b/conf/gnss-sdr_Galileo_E5a_IFEN_CTTC.conf @@ -1,4 +1,3 @@ -; Default configuration file ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -74,7 +73,7 @@ Resampler.dump_filename=../data/resampler.dat ;######### CHANNELS GLOBAL CONFIG ############ -Channels_5X.count=1 +Channels_5X.count=8 Channels.in_acquisition=1 Channel.signal=5X @@ -83,7 +82,7 @@ Channel.signal=5X ;######### CHANNEL 0 CONFIG ############ Channel0.signal=5X -Channel0.satellite=19 +;Channel0.satellite=19 ;Channel0.repeat_satellite=true ;######### CHANNEL 1 CONFIG ############ @@ -101,7 +100,6 @@ Channel3.signal=5X ;######### ACQUISITION GLOBAL CONFIG ############ Acquisition_5X.implementation=Galileo_E5a_Noncoherent_IQ_Acquisition_CAF Acquisition_5X.item_type=gr_complex -Acquisition_5X.if=0 Acquisition_5X.coherent_integration_time_ms=1 Acquisition_5X.threshold=0.002 Acquisition_5X.doppler_max=10000 @@ -117,10 +115,8 @@ Acquisition_5X.dump_filename=./acq_dump.dat ;######### TRACKING GLOBAL CONFIG ############ Tracking_5X.implementation=Galileo_E5a_DLL_PLL_Tracking Tracking_5X.item_type=gr_complex -Tracking_5X.if=0 Tracking_5X.pll_bw_hz=20.0; Tracking_5X.dll_bw_hz=20.0; -Tracking_5X.ti_ms=1; **Only for E5a** loop filter integration time after initialization (secondary code delay search)[ms] Tracking_5X.pll_bw_narrow_hz=20.0; Tracking_5X.dll_bw_narrow_hz=20.0; Tracking_5X.order=2; diff --git a/conf/gnss-sdr_Hybrid_byte.conf b/conf/gnss-sdr_Hybrid_byte.conf index aa7caae99..bf50bcb30 100644 --- a/conf/gnss-sdr_Hybrid_byte.conf +++ b/conf/gnss-sdr_Hybrid_byte.conf @@ -1,4 +1,6 @@ -; Default configuration file +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -12,129 +14,40 @@ GNSS-SDR.internal_fs_sps=20000000 ;######### SIGNAL_SOURCE CONFIG ############ SignalSource.implementation=File_Signal_Source -;#filename: path to file with the captured GNSS signal samples to be processed SignalSource.filename=/datalogger/signals/Fraunhofer/L125_III1b_210s_L1.bin ; <- PUT YOUR FILE HERE -;#item_type: Type and resolution for each of the signal samples.. SignalSource.item_type=byte -;#sampling_frequency: Original Signal sampling frequency in samples per second SignalSource.sampling_frequency=20000000 -;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. SignalSource.samples=0 -;#repeat: Repeat the processing file. SignalSource.repeat=false -;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. -; it helps to not overload the CPU, but the processing time will be longer. SignalSource.enable_throttle_control=false ;######### SIGNAL_CONDITIONER CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. - -;#implementation: Use [Pass_Through] or [Signal_Conditioner] -;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks -;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks SignalConditioner.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER CONFIG ############ -;## Changes the type of input data. -;#implementation: [Pass_Through] disables this block DataTypeAdapter.implementation=Ibyte_To_Complex ;######### INPUT_FILTER CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals -;#[Pass_Through] disables this block -;#[Fir_Filter] enables a FIR Filter -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. - -;InputFilter.implementation=Fir_Filter -;InputFilter.implementation=Freq_Xlating_Fir_Filter InputFilter.implementation=Pass_Through - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. InputFilter.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples.. InputFilter.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. -InputFilter.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time -InputFilter.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. -InputFilter.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - -InputFilter.band1_begin=0.0 -InputFilter.band1_end=0.45 -InputFilter.band2_begin=0.55 -InputFilter.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - -InputFilter.ampl1_begin=1.0 -InputFilter.ampl1_end=1.0 -InputFilter.ampl2_begin=0.0 -InputFilter.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands -InputFilter.band1_error=1.0 -InputFilter.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" -InputFilter.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. -InputFilter.grid_density=16 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz - -InputFilter.sampling_frequency=20000000 -InputFilter.IF=0 -;#dump: Dump the filtered data to a file. InputFilter.dump=false -;#dump_filename: Log path and filename. InputFilter.dump_filename=../data/input_filter.dat ;######### RESAMPLER CONFIG ############ -;## Resamples the input data. -;#implementation: Use [Pass_Through] or [Direct_Resampler] -;#[Pass_Through] disables this block -;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation -;Resampler.implementation=Direct_Resampler Resampler.implementation=Pass_Through -;#item_type: Type and resolution for each of the signal samples. Resampler.item_type=gr_complex -;#sample_freq_in: the sample frequency of the input signal Resampler.sample_freq_in=20000000 -;#sample_freq_out: the desired sample frequency of the output signal Resampler.sample_freq_out=20000000 -;#dump: Dump the resamplered data to a file. Resampler.dump=false -;#dump_filename: Log path and filename. Resampler.dump_filename=../data/resampler.dat ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available GPS satellite channels. Channels_1C.count=8 -;#count: Number of available Galileo satellite channels. Channels_1B.count=8 -;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 ;#signal: @@ -158,123 +71,75 @@ Channel15.signal=1B ;######### GPS ACQUISITION CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1C.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1C.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition_1C.sampled_ms=1 -;#threshold: Acquisition threshold +Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.threshold=0.0060 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;Acquisition_1C.pfa=0.01 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1C.doppler_max=10000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1C.doppler_step=500 -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1C.dump=false -;#filename: Log path and filename Acquisition_1C.dump_filename=./acq_dump.dat ;######### GALILEO ACQUISITION CONFIG ############ Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1B.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1B.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition_1B.sampled_ms=4 -;#threshold: Acquisition threshold +Acquisition_1B.coherent_integration_time_ms=4 ;Acquisition_1B.threshold=0 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] Acquisition_1B.pfa=0.0000008 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1B.doppler_max=15000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1B.doppler_step=125 -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1B.dump=false -;#filename: Log path and filename Acquisition_1B.dump_filename=./acq_dump.dat ;######### TRACKING GPS CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1C.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1C.if=0 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1C.pll_bw_hz=45.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1C.dll_bw_hz=4.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1C.order=3; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1C.dump=false -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1C.dump_filename=../data/epl_tracking_ch_ ;######### TRACKING GALILEO CONFIG ############ Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1B.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1B.if=0 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1B.pll_bw_hz=15.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1B.dll_bw_hz=2.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1B.order=3; -;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo Tracking_1B.early_late_space_chips=0.15; -;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] Tracking_1B.very_early_late_space_chips=0.6; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1B.dump=false -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1B.dump_filename=../data/veml_tracking_ch_ ;######### TELEMETRY DECODER GPS CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.dump=false ;######### TELEMETRY DECODER GALILEO CONFIG ############ -;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder TelemetryDecoder_1B.dump=false ;######### OBSERVABLES CONFIG ############ -;#implementation: Observables.implementation=Hybrid_Observables -;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] Observables.dump=false -;#dump_filename: Log path and filename. Observables.dump_filename=./observables.dat ;######### PVT CONFIG ############ -;#implementation: Position Velocity and Time (PVT) implementation: PVT.implementation=RTKLIB_PVT PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad -;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] PVT.output_rate_ms=100; -;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. PVT.display_rate_ms=500; -;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] PVT.dump=false PVT.flag_rtcm_server=false PVT.flag_rtcm_tty_port=false PVT.rtcm_dump_devname=/dev/pts/1 -;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. PVT.dump_filename=./PVT diff --git a/conf/gnss-sdr_Hybrid_byte_sim.conf b/conf/gnss-sdr_Hybrid_byte_sim.conf index 7df406547..60cca8e00 100644 --- a/conf/gnss-sdr_Hybrid_byte_sim.conf +++ b/conf/gnss-sdr_Hybrid_byte_sim.conf @@ -1,4 +1,6 @@ -; Default configuration file +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -7,139 +9,48 @@ ;######### GLOBAL OPTIONS ################## ;internal_fs_sps: Internal signal sampling frequency after the signal conditioning stage [samples per second]. -;GNSS-SDR.internal_fs_sps=2048000 GNSS-SDR.internal_fs_sps=2600000 ;######### SIGNAL_SOURCE CONFIG ############ -;#implementation SignalSource.implementation=File_Signal_Source -;#filename: path to file with the captured GNSS signal samples to be processed -;#SignalSource.filename=/home/javier/Descargas/rtlsdr_tcxo_l1/rtlsdr_tcxo_l1.bin ; <- PUT YOUR FILE HERE SignalSource.filename=/Users/carlesfernandez/git/cttc/build/signal_out.bin ; <- PUT YOUR FILE HERE -;#item_type: Type and resolution for each of the signal samples. SignalSource.item_type=byte -;#sampling_frequency: Original Signal sampling frequency in samples per second SignalSource.sampling_frequency=4000000 -;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. SignalSource.samples=0 -;#repeat: Repeat the processing file. SignalSource.repeat=false -;#dump: Dump the Signal source data to a file. SignalSource.dump=false SignalSource.dump_filename=../data/signal_source.dat -;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. -; it helps to not overload the CPU, but the processing time will be longer. SignalSource.enable_throttle_control=false ;######### SIGNAL_CONDITIONER CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. - -;#implementation: Use [Pass_Through] or [Signal_Conditioner] -;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks -;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks SignalConditioner.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER CONFIG ############ -;## Changes the type of input data. Please disable it in this version. -;#implementation: [Pass_Through] disables this block DataTypeAdapter.implementation=Ibyte_To_Complex DataTypeAdapter.dump=false -;#dump_filename: Log path and filename. DataTypeAdapter.dump_filename=../data/DataTypeAdapter.dat ;######### INPUT_FILTER CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Pass_Through] disables this block -;#[Fir_Filter] enables a FIR Filter -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. - -;InputFilter.implementation=Fir_Filter -;InputFilter.implementation=Freq_Xlating_Fir_Filter InputFilter.implementation=Pass_Through - -;#dump: Dump the filtered data to a file. InputFilter.dump=false - -;#dump_filename: Log path and filename. InputFilter.dump_filename=../data/input_filter.dat - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. InputFilter.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter.output_item_type=gr_complex -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. -InputFilter.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time -InputFilter.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. -InputFilter.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - -InputFilter.band1_begin=0.0 -InputFilter.band1_end=0.45 -InputFilter.band2_begin=0.55 -InputFilter.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - -InputFilter.ampl1_begin=1.0 -InputFilter.ampl1_end=1.0 -InputFilter.ampl2_begin=0.0 -InputFilter.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands -InputFilter.band1_error=1.0 -InputFilter.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" -InputFilter.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. -InputFilter.grid_density=16 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz - -InputFilter.sampling_frequency=2600000 -InputFilter.IF=0 - - ;######### RESAMPLER CONFIG ############ -;## Resamples the input data. Resampler.implementation=Pass_Through Resampler.item_type = gr_complex; ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available GPS satellite channels. Channels_1C.count=11 -;#count: Number of available Galileo satellite channels. Channels_1B.count=0 -;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 ;#signal: -;#if the option is disabled by default is assigned "1C" GPS L1 C/A Channel1.signal=1C Channel2.signal=1C Channel3.signal=1C @@ -159,109 +70,63 @@ Channel15.signal=1B ;######### GPS ACQUISITION CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1C.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1C.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition_1C.sampled_ms=1 -;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] -;#use_CFAR_algorithm: If enabled, acquisition estimates the input signal power to implement CFAR detection algorithms -;#notice that this affects the Acquisition threshold range! +Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.use_CFAR_algorithm=false; -;#threshold: Acquisition threshold Acquisition_1C.threshold=15 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;Acquisition_1C.pfa=0.01 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1C.doppler_max=6000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1C.doppler_step=100 -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1C.dump=false -;#filename: Log path and filename Acquisition_1C.dump_filename=./acq_dump.dat ;######### GALILEO ACQUISITION CONFIG ############ Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1B.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1B.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition_1B.sampled_ms=4 -;#threshold: Acquisition threshold +Acquisition_1B.coherent_integration_time_ms=4 ;Acquisition_1B.threshold=0 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] Acquisition_1B.pfa=0.0000008 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1B.doppler_max=15000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1B.doppler_step=125 -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1B.dump=false -;#filename: Log path and filename Acquisition_1B.dump_filename=./acq_dump.dat ;######### TRACKING GPS CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1C.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1C.if=0 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1C.pll_bw_hz=20.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1C.dll_bw_hz=1.5; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1C.order=3; ;######### TRACKING GALILEO CONFIG ############ Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1B.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1B.if=0 -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1B.dump=false -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1B.dump_filename=../data/veml_tracking_ch_ -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1B.pll_bw_hz=15.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1B.dll_bw_hz=2.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1B.order=3; -;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo Tracking_1B.early_late_space_chips=0.15; -;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] Tracking_1B.very_early_late_space_chips=0.6; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1C.dump=false -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1C.dump_filename=../data/epl_tracking_ch_ - ;######### TELEMETRY DECODER GPS CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.dump=false ;######### TELEMETRY DECODER GALILEO CONFIG ############ -;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder ;######### OBSERVABLES CONFIG ############ Observables.implementation=Hybrid_Observables -;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] Observables.dump=false -;#dump_filename: Log path and filename. Observables.dump_filename=./observables.dat @@ -270,14 +135,10 @@ PVT.implementation=RTKLIB_PVT PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad -;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] PVT.output_rate_ms=100; -;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. PVT.display_rate_ms=500; PVT.flag_rtcm_server=false PVT.flag_rtcm_tty_port=false PVT.rtcm_dump_devname=/dev/pts/1 -;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] PVT.dump=false -;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. PVT.dump_filename=./PVT diff --git a/conf/gnss-sdr_Hybrid_gr_complex.conf b/conf/gnss-sdr_Hybrid_gr_complex.conf index 63f92330e..dbd9d8286 100644 --- a/conf/gnss-sdr_Hybrid_gr_complex.conf +++ b/conf/gnss-sdr_Hybrid_gr_complex.conf @@ -1,4 +1,6 @@ -; Default configuration file +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -10,135 +12,24 @@ GNSS-SDR.internal_fs_sps=4092000 ;######### SIGNAL_SOURCE CONFIG ############ -;#implementation SignalSource.implementation=File_Signal_Source -;#filename: path to file with the captured GNSS signal samples to be processed SignalSource.filename=/datalogger/signals/sim/GPS_sim1.dat ; <- PUT YOUR FILE HERE -;#item_type: Type and resolution for each of the signal samples. SignalSource.item_type=gr_complex -;#sampling_frequency: Original Signal sampling frequency in samples per second SignalSource.sampling_frequency=4092000 -;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. SignalSource.samples=0 -;#repeat: Repeat the processing file. SignalSource.repeat=false -;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. -; it helps to not overload the CPU, but the processing time will be longer. SignalSource.enable_throttle_control=false ;######### SIGNAL_CONDITIONER CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. - -;#implementation: Use [Pass_Through] or [Signal_Conditioner] -;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks -;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks SignalConditioner.implementation=Pass_Through -;######### DATA_TYPE_ADAPTER CONFIG ############ -;## Changes the type of input data. -;#implementation: [Pass_Through] disables this block -DataTypeAdapter.implementation=Pass_Through -DataTypeAdapter.item_type=gr_complex - -;######### INPUT_FILTER CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation -;# that shifts IF down to zero Hz. - -InputFilter.implementation=Pass_Through - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. -InputFilter.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. -InputFilter.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. -InputFilter.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time -InputFilter.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. -InputFilter.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - -InputFilter.band1_begin=0.0 -InputFilter.band1_end=0.45 -InputFilter.band2_begin=0.55 -InputFilter.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - -InputFilter.ampl1_begin=1.0 -InputFilter.ampl1_end=1.0 -InputFilter.ampl2_begin=0.0 -InputFilter.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands -InputFilter.band1_error=1.0 -InputFilter.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" -InputFilter.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. -InputFilter.grid_density=16 - -;# Original sampling frequency stored in the signal file -InputFilter.sampling_frequency=4092000 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz - -InputFilter.IF=5499998.47412109 - -;# Decimation factor after the frequency tranaslating block -InputFilter.decimation_factor=8 - -;#dump: Dump the filtered data to a file. -InputFilter.dump=false - -;#dump_filename: Log path and filename. -InputFilter.dump_filename=../data/input_filter.dat - - -;######### RESAMPLER CONFIG ############ -;## Resamples the input data. -;#implementation: Use [Pass_Through] or [Direct_Resampler] -;#[Pass_Through] disables this block -;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation -Resampler.implementation=Pass_Through - ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available GPS satellite channels. Channels_1C.count=1 -;#count: Number of available Galileo satellite channels. Channels_1B.count=0 -;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 -;#signal: -;# "1C" GPS L1 C/A -;# "2S" GPS L2 L2C (M) -;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL) -;# "5X" GALILEO E5a I+Q - ;#if the option is disabled by default is assigned "1C" GPS L1 C/A Channel0.signal=1C Channel1.signal=1B @@ -160,134 +51,80 @@ Channel15.signal=1B ;######### GPS ACQUISITION CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1C.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1C.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition_1C.sampled_ms=1 +Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.use_CFAR_algorithm=false; -;#threshold: Acquisition threshold Acquisition_1C.threshold=30 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;Acquisition_1C.pfa=0.01 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1C.doppler_max=5000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1C.doppler_step=100 -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1C.dump=false -;#filename: Log path and filename Acquisition_1C.dump_filename=./acq_dump.dat ;######### GALILEO ACQUISITION CONFIG ############ Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1B.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1B.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition_1B.sampled_ms=4 -;#threshold: Acquisition threshold +Acquisition_1B.coherent_integration_time_ms=4 ;Acquisition_1B.threshold=0 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] Acquisition_1B.pfa=0.0000002 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1B.doppler_max=15000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1B.doppler_step=125 -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1B.dump=false -;#filename: Log path and filename Acquisition_1B.dump_filename=./acq_dump.dat ;######### TRACKING GPS CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1C.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1C.if=0 -;# Extended correlation after telemetry bit synchronization -;# Valid values are: [1,2,4,5,10,20] (integer divisors of the GPS L1 CA bit period (20 ms) ) -;# Longer integration period require more stable front-end LO Tracking_1C.extend_correlation_ms=10 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1C.pll_bw_hz=40; Tracking_1C.pll_bw_narrow_hz=25; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1C.dll_bw_hz=2.0; Tracking_1C.dll_bw_narrow_hz=2.0; -;#fll_bw_hz: FLL loop filter bandwidth [Hz] -Tracking_1C.fll_bw_hz=2.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1C.order=3; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1C.dump=true -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1C.dump_filename=../data/epl_tracking_ch_ ;######### TRACKING GALILEO CONFIG ############ Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1B.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1B.if=0 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1B.pll_bw_hz=15.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1B.dll_bw_hz=2.0; -;#fll_bw_hz: FLL loop filter bandwidth [Hz] Tracking_1B.fll_bw_hz=10.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1B.order=3; -;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo Tracking_1B.early_late_space_chips=0.15; -;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] Tracking_1B.very_early_late_space_chips=0.6; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1B.dump=false -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1B.dump_filename=../data/veml_tracking_ch_ ;######### TELEMETRY DECODER GPS CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.dump=false ;######### TELEMETRY DECODER GALILEO CONFIG ############ -;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder TelemetryDecoder_1B.dump=false ;######### OBSERVABLES CONFIG ############ -;#implementation: Observables.implementation=Hybrid_Observables -;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] Observables.dump=false -;#dump_filename: Log path and filename. Observables.dump_filename=./observables.dat ;######### PVT CONFIG ############ -;#implementation: Position Velocity and Time (PVT) implementation: PVT.implementation=RTKLIB_PVT PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad -;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] PVT.output_rate_ms=10; -;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. PVT.display_rate_ms=500; -;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] PVT.dump=false PVT.flag_rtcm_server=false PVT.flag_rtcm_tty_port=false PVT.rtcm_dump_devname=/dev/pts/1 -;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. PVT.dump_filename=./PVT diff --git a/conf/gnss-sdr_Hybrid_ishort.conf b/conf/gnss-sdr_Hybrid_ishort.conf index 6bfa9e8fa..6fc17c35c 100644 --- a/conf/gnss-sdr_Hybrid_ishort.conf +++ b/conf/gnss-sdr_Hybrid_ishort.conf @@ -1,4 +1,6 @@ -; Default configuration file +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -28,133 +30,36 @@ GNSS-SDR.SUPL_CI=0x31b0 ;######### SIGNAL_SOURCE CONFIG ############ ;#implementation SignalSource.implementation=File_Signal_Source -;#filename: path to file with the captured GNSS signal samples to be processed SignalSource.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE -;#item_type: Type and resolution for each of the signal samples. SignalSource.item_type=ishort -;#sampling_frequency: Original Signal sampling frequency in samples per second SignalSource.sampling_frequency=4000000 -;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. SignalSource.samples=0 -;#repeat: Repeat the processing file. SignalSource.repeat=false -;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. -; it helps to not overload the CPU, but the processing time will be longer. SignalSource.enable_throttle_control=false ;######### SIGNAL_CONDITIONER CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. - -;#implementation: Use [Pass_Through] or [Signal_Conditioner] -;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks -;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks SignalConditioner.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER CONFIG ############ -;## Changes the type of input data. -;#implementation: [Pass_Through] disables this block DataTypeAdapter.implementation=Ishort_To_Complex ;######### INPUT_FILTER CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Pass_Through] disables this block -;#[Fir_Filter] enables a FIR Filter -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. - -;InputFilter.implementation=Fir_Filter -;InputFilter.implementation=Freq_Xlating_Fir_Filter InputFilter.implementation=Pass_Through - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. InputFilter.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter.output_item_type=gr_complex -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. -InputFilter.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time -InputFilter.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. -InputFilter.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - -InputFilter.band1_begin=0.0 -InputFilter.band1_end=0.45 -InputFilter.band2_begin=0.55 -InputFilter.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - -InputFilter.ampl1_begin=1.0 -InputFilter.ampl1_end=1.0 -InputFilter.ampl2_begin=0.0 -InputFilter.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands -InputFilter.band1_error=1.0 -InputFilter.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" -InputFilter.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. -InputFilter.grid_density=16 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz - -InputFilter.sampling_frequency=4000000 -InputFilter.IF=0 - -;#dump: Dump the filtered data to a file. -InputFilter.dump=false - -;#dump_filename: Log path and filename. -InputFilter.dump_filename=../data/input_filter.dat - ;######### RESAMPLER CONFIG ############ -;## Resamples the input data. -;#implementation: Use [Pass_Through] or [Direct_Resampler] -;#[Pass_Through] disables this block -;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation -;Resampler.implementation=Direct_Resampler Resampler.implementation=Pass_Through -;#item_type: Type and resolution for each of the signal samples. Resampler.item_type=gr_complex -;#sample_freq_in: the sample frequency of the input signalq -Resampler.sample_freq_in=4000000 -;#sample_freq_out: the desired sample frequency of the output signal -Resampler.sample_freq_out=4000000 -;#dump: Dump the resamplered data to a file. Resampler.dump=false -;#dump_filename: Log path and filename. Resampler.dump_filename=../data/resampler.dat ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available GPS satellite channels. Channels_1C.count=0 -;#count: Number of available Galileo satellite channels. Channels_1B.count=5 -;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 ;#signal: @@ -174,120 +79,73 @@ Channel7.signal=1B ;######### GPS ACQUISITION CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1C.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1C.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition_1C.sampled_ms=1 -;#threshold: Acquisition threshold +Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.threshold=0.0075 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;Acquisition_1C.pfa=0.01 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1C.doppler_max=10000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1C.doppler_step=500 -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1C.dump=false -;#filename: Log path and filename Acquisition_1C.dump_filename=./acq_dump.dat ;######### GALILEO ACQUISITION CONFIG ############ Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1B.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1B.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition_1B.sampled_ms=4 -;#implementation: Acquisition algorithm selection for this channel: -;#threshold: Acquisition threshold +Acquisition_1B.coherent_integration_time_ms=4 ;Acquisition_1B.threshold=0 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] Acquisition_1B.pfa=0.0000008; 0.0000008 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1B.doppler_max=15000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1B.doppler_step=125 Acquisition_1B.cboc=false; -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1B.dump=false -;#filename: Log path and filename Acquisition_1B.dump_filename=./acq_dump.dat ;######### TRACKING GPS CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1C.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1C.if=0 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1C.pll_bw_hz=50.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1C.dll_bw_hz=5.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1C.order=3; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1C.dump=false -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1C.dump_filename=../data/epl_tracking_ch_ ;######### TRACKING GALILEO CONFIG ############ Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1B.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1B.if=0 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1B.pll_bw_hz=20.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1B.dll_bw_hz=2.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1B.order=3; -;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo Tracking_1B.early_late_space_chips=0.15; -;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] Tracking_1B.very_early_late_space_chips=0.6; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1B.dump=false -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1B.dump_filename=../data/veml_tracking_ch_ ;######### TELEMETRY DECODER GPS CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.dump=false ;######### TELEMETRY DECODER GALILEO CONFIG ############ -;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder TelemetryDecoder_1B.dump=false ;######### OBSERVABLES CONFIG ############ -;#implementation: Observables.implementation=Hybrid_Observables -;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] Observables.dump=false -;#dump_filename: Log path and filename. Observables.dump_filename=./observables.dat ;######### PVT CONFIG ############ -;#implementation: Position Velocity and Time (PVT) implementation: PVT.implementation=RTKLIB_PVT PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad -;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] PVT.output_rate_ms=100; -;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. PVT.display_rate_ms=500; PVT.flag_rtcm_server=true PVT.flag_rtcm_tty_port=false @@ -297,7 +155,5 @@ PVT.rtcm_MT1045_rate_ms=5000 ; Period (in ms) of Galileo ephemeris messages. 0 m PVT.rtcm_MT1045_rate_ms=5000 ; Period (in ms) of GPS ephemeris messages. 0 mutes this message PVT.rtcm_MT1097_rate_ms=1000 ; Period (in ms) of Galileo observables. 0 mutes this message PVT.rtcm_MT1077_rate_ms=1000 ; Period (in ms) of GPS observables. 0 mutes this message -;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] PVT.dump=false -;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. PVT.dump_filename=./PVT diff --git a/conf/gnss-sdr_Hybrid_nsr.conf b/conf/gnss-sdr_Hybrid_nsr.conf index 2427aa101..682482991 100644 --- a/conf/gnss-sdr_Hybrid_nsr.conf +++ b/conf/gnss-sdr_Hybrid_nsr.conf @@ -1,4 +1,6 @@ -; Default configuration file +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -7,136 +9,60 @@ ;######### GLOBAL OPTIONS ################## ;internal_fs_sps: Internal signal sampling frequency after the signal conditioning stage [samples per second]. -;GNSS-SDR.internal_fs_sps=6826700 GNSS-SDR.internal_fs_sps=2560000 -;GNSS-SDR.internal_fs_sps=4096000 -;GNSS-SDR.internal_fs_sps=5120000 + ;######### SIGNAL_SOURCE CONFIG ############ -;#implementation SignalSource.implementation=Nsr_File_Signal_Source -;#filename: path to file with the captured GNSS signal samples to be processed SignalSource.filename=/media/javier/SISTEMA/signals/ifen/E1L1_FE0_Band0.stream ; <- PUT YOUR FILE HERE -;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. SignalSource.item_type=byte -;#sampling_frequency: Original Signal sampling frequency in samples per second SignalSource.sampling_frequency=20480000 -;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. SignalSource.samples=0 -;#repeat: Repeat the processing file. SignalSource.repeat=false -;#dump: Dump the Signal source data to a file. SignalSource.dump=false SignalSource.dump_filename=../data/signal_source.dat -;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. -; it helps to not overload the CPU, but the processing time will be longer. SignalSource.enable_throttle_control=false ;######### SIGNAL_CONDITIONER CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. - -;#implementation: Use [Pass_Through] or [Signal_Conditioner] -;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks -;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks SignalConditioner.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER CONFIG ############ -;## Changes the type of input data. -;#implementation: [Pass_Through] disables this block DataTypeAdapter.implementation=Pass_Through DataTypeAdapter.item_type=float ;######### INPUT_FILTER CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation -;# that shifts IF down to zero Hz. - InputFilter.implementation=Freq_Xlating_Fir_Filter - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. InputFilter.input_item_type=float - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. InputFilter.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time InputFilter.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. InputFilter.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - InputFilter.band1_begin=0.0 InputFilter.band1_end=0.45 InputFilter.band2_begin=0.55 InputFilter.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - InputFilter.ampl1_begin=1.0 InputFilter.ampl1_end=1.0 InputFilter.ampl2_begin=0.0 InputFilter.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands InputFilter.band1_error=1.0 InputFilter.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" InputFilter.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. InputFilter.grid_density=16 - -;# Original sampling frequency stored in the signal file InputFilter.sampling_frequency=20480000 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz - InputFilter.IF=5499998.47412109 - -;# Decimation factor after the frequency tranaslating block InputFilter.decimation_factor=8 - -;#dump: Dump the filtered data to a file. InputFilter.dump=false - -;#dump_filename: Log path and filename. InputFilter.dump_filename=../data/input_filter.dat ;######### RESAMPLER CONFIG ############ -;## Resamples the input data. - -;#implementation: Use [Pass_Through] or [Direct_Resampler] -;#[Pass_Through] disables this block -;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation Resampler.implementation=Pass_Through ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available GPS satellite channels. Channels_1C.count=8 -;#count: Number of available Galileo satellite channels. Channels_1B.count=0 -;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 ;#signal: @@ -168,103 +94,59 @@ Channel15.signal=1B ;######### GPS ACQUISITION CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1C.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1C.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition_1C.sampled_ms=1 -;#threshold: Acquisition threshold +Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.threshold=0.0075 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;Acquisition_1C.pfa=0.01 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1C.doppler_max=5000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1C.doppler_step=250 -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1C.dump=false -;#filename: Log path and filename Acquisition_1C.dump_filename=./acq_dump.dat ;######### GALILEO ACQUISITION CONFIG ############ Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1B.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1B.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition_1B.sampled_ms=4 -;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] -;#threshold: Acquisition threshold +Acquisition_1B.coherent_integration_time_ms=4 ;Acquisition_1B.threshold=0 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] Acquisition_1B.pfa=0.0000002 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1B.doppler_max=15000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1B.doppler_step=125 -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1B.dump=false -;#filename: Log path and filename Acquisition_1B.dump_filename=./acq_dump.dat ;######### TRACKING GPS CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1C.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1C.if=0 -;# Extended correlation after telemetry bit synchronization -;# Valid values are: [1,2,4,5,10,20] (integer divisors of the GPS L1 CA bit period (20 ms) ) -;# Longer integration period require more stable front-end LO Tracking_1C.extend_correlation_ms=1 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1C.pll_bw_hz=40; Tracking_1C.pll_bw_narrow_hz=20; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1C.dll_bw_hz=2.0; Tracking_1C.dll_bw_narrow_hz=1.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1C.order=3; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1C.dump=true -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1C.dump_filename=../data/epl_tracking_ch_ ;######### TRACKING GALILEO CONFIG ############ Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1B.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1B.if=0 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1B.pll_bw_hz=15.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1B.dll_bw_hz=2.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1B.order=3; -;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo Tracking_1B.early_late_space_chips=0.15; -;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] Tracking_1B.very_early_late_space_chips=0.6; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1B.dump=false -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1B.dump_filename=../data/veml_tracking_ch_ ;######### TELEMETRY DECODER GPS CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.dump=false ;######### TELEMETRY DECODER GALILEO CONFIG ############ -;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder TelemetryDecoder_1B.dump=false @@ -272,9 +154,7 @@ TelemetryDecoder_1B.dump=false ;######### OBSERVABLES CONFIG ############ ;#implementation: Observables.implementation=Hybrid_Observables -;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] Observables.dump=false -;#dump_filename: Log path and filename. Observables.dump_filename=./observables.dat @@ -283,14 +163,10 @@ PVT.implementation=RTKLIB_PVT PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad -;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] PVT.output_rate_ms=10; -;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. PVT.display_rate_ms=500; PVT.flag_rtcm_server=false PVT.flag_rtcm_tty_port=false PVT.rtcm_dump_devname=/dev/pts/1 -;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] PVT.dump=false -;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. PVT.dump_filename=./PVT diff --git a/conf/gnss-sdr_galileo_E1_extended_correlator_byte.conf b/conf/gnss-sdr_galileo_E1_extended_correlator_byte.conf index e9e5eb0f8..18d9f5307 100644 --- a/conf/gnss-sdr_galileo_E1_extended_correlator_byte.conf +++ b/conf/gnss-sdr_galileo_E1_extended_correlator_byte.conf @@ -1,4 +1,6 @@ -; Default configuration file +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -11,62 +13,34 @@ GNSS-SDR.internal_fs_sps=20000000 ;######### SIGNAL_SOURCE CONFIG ############ -;#implementation SignalSource.implementation=File_Signal_Source -;#filename: path to file with the captured GNSS signal samples to be processed SignalSource.filename=/media/javier/SISTEMA/signals/fraunhofer/L125_III1b_210s_L1.bin ; <- PUT YOUR FILE HERE -;#item_type: Type and resolution for each of the signal samples. SignalSource.item_type=byte -;#sampling_frequency: Original Signal sampling frequency in samples per second SignalSource.sampling_frequency=20000000 -;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. SignalSource.samples=0 -;#repeat: Repeat the processing file. SignalSource.repeat=false -;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. -; it helps to not overload the CPU, but the processing time will be longer. SignalSource.enable_throttle_control=false ;######### SIGNAL_CONDITIONER CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. - -;#implementation: Use [Pass_Through] or [Signal_Conditioner] -;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks -;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks SignalConditioner.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER CONFIG ############ -;## Changes the type of input data. -;#implementation: [Pass_Through] disables this block DataTypeAdapter.implementation=Ibyte_To_Complex ;######### INPUT_FILTER CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - InputFilter.implementation=Pass_Through - ;######### RESAMPLER CONFIG ############ -;## Resamples the input data. - -;#implementation: Use [Pass_Through] or [Direct_Resampler] -;#[Pass_Through] disables this block -;#[Direct_Resampler] enables a resampler that implements a nearest neighborhood interpolation -;Resampler.implementation=Direct_Resampler Resampler.implementation=Pass_Through ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available GPS satellite channels. Channels_1C.count=0 -;#count: Number of available Galileo satellite channels. -Channels_1B.count=1 -;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver +Channels_1B.count=8 + Channels.in_acquisition=1 -;#signal: -;#if the option is disabled by default is assigned "1C" GPS L1 C/A Channel1.signal=1B Channel2.signal=1B Channel3.signal=1B @@ -86,132 +60,83 @@ Channel15.signal=1B ;######### GPS ACQUISITION CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1C.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1C.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition_1C.sampled_ms=1 +Acquisition_1C.scoherent_integration_time_ms=1 Acquisition_1C.use_CFAR_algorithm=false; -;#threshold: Acquisition threshold Acquisition_1C.threshold=18 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1C.doppler_max=5000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1C.doppler_step=500 -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1C.dump=false -;#filename: Log path and filename Acquisition_1C.dump_filename=./acq_dump.dat ;######### GALILEO ACQUISITION CONFIG ############ Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1B.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1B.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition_1B.sampled_ms=4 +Acquisition_1B.coherent_integration_time_ms=4 Acquisition_1B.acquire_pilot=true Acquisition_1B.use_CFAR_algorithm=false -;#threshold: Acquisition threshold Acquisition_1B.threshold=21 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1B.doppler_max=5000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1B.doppler_step=125 Acquisition_1B.bit_transition_flag=true -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1B.dump=false -;#filename: Log path and filename Acquisition_1B.dump_filename=../data/acq_dump.dat ;######### TRACKING GPS CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1C.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1C.if=0 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1C.pll_bw_hz=30.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1C.dll_bw_hz=2.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1C.order=3; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1C.dump=false -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1C.dump_filename=../data/epl_tracking_ch_ ;######### TRACKING GALILEO CONFIG ############ Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1B.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] Tracking_1B.if=0 Tracking_1B.track_pilot=true -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1B.pll_bw_hz=4.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1B.dll_bw_hz=0.5; -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1B.pll_bw_narrow_hz=2.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1B.dll_bw_narrow_hz=0.25; Tracking_1B.extend_correlation_symbols=4; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1B.order=3; -;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo Tracking_1B.early_late_space_chips=0.15; -;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] Tracking_1B.very_early_late_space_chips=0.6; -;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo Tracking_1B.early_late_space_narrow_chips=0.06; -;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] Tracking_1B.very_early_late_space_narrow_chips=0.25; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] -Tracking_1B.dump=true -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. +Tracking_1B.dump=false Tracking_1B.dump_filename=../data/veml_tracking_ch_ ;######### TELEMETRY DECODER GPS CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.dump=false ;######### TELEMETRY DECODER GALILEO CONFIG ############ -;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder TelemetryDecoder_1B.dump=false ;######### OBSERVABLES CONFIG ############ -;#implementation: Observables.implementation=Hybrid_Observables -;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] Observables.dump=false -;#dump_filename: Log path and filename. Observables.dump_filename=./observables.dat ;######### PVT CONFIG ############ -;#implementation: Position Velocity and Time (PVT) implementation: PVT.implementation=RTKLIB_PVT PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad -;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] PVT.output_rate_ms=100; -;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. PVT.display_rate_ms=500; PVT.flag_rtcm_server=false PVT.flag_rtcm_tty_port=false PVT.rtcm_dump_devname=/dev/pts/1 -;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] PVT.dump=false -;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. PVT.dump_filename=./PVT diff --git a/conf/gnss-sdr_galileo_E1_extended_correlator_labsat.conf b/conf/gnss-sdr_galileo_E1_extended_correlator_labsat.conf index 8b2f05195..cfbd1f73c 100644 --- a/conf/gnss-sdr_galileo_E1_extended_correlator_labsat.conf +++ b/conf/gnss-sdr_galileo_E1_extended_correlator_labsat.conf @@ -1,4 +1,6 @@ -; Default configuration file +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -6,11 +8,9 @@ [GNSS-SDR] ;######### GLOBAL OPTIONS ################## -;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz]. GNSS-SDR.internal_fs_sps=5456000 ;######### SIGNAL_SOURCE CONFIG ############ -;#implementation SignalSource.implementation=Labsat_Signal_Source SignalSource.selected_channel=1 ;#filename: path to file with the captured GNSS signal samples to be processed @@ -18,121 +18,58 @@ SignalSource.selected_channel=1 ;# the adapter adds "_0000.LS3" to this base path and filename. Next file will be "_0001.LS3" and so on ;# in this example, the first file complete path will be ../signals/GPS_025_0000.LS3 SignalSource.filename=../signals/GPS_025 ; <- PUT YOUR FILE HERE -;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. SignalSource.item_type=gr_complex -;#sampling_frequency: Original Signal sampling frequency in samples per second SignalSource.sampling_frequency=16368000 -;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. SignalSource.samples=0 -;#repeat: Repeat the processing file. SignalSource.repeat=false -;#dump: Dump the Signal source data to a file. SignalSource.dump=false SignalSource.dump_filename=../data/signal_source.dat -;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. -; it helps to not overload the CPU, but the processing time will be longer. SignalSource.enable_throttle_control=false ;######### SIGNAL_CONDITIONER CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. - -;#implementation: Use [Pass_Through] or [Signal_Conditioner] -;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks -;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks SignalConditioner.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER CONFIG ############ -;## Changes the type of input data. -;#implementation: [Pass_Through] disables this block DataTypeAdapter.implementation=Pass_Through DataTypeAdapter.item_type=gr_complex ;######### INPUT_FILTER CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation -;# that shifts IF down to zero Hz. InputFilter.implementation=Freq_Xlating_Fir_Filter - -;#dump: Dump the filtered data to a file. InputFilter.dump=false - -;#dump_filename: Log path and filename. InputFilter.dump_filename=../data/input_filter.dat -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. InputFilter.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. InputFilter.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time InputFilter.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. InputFilter.number_of_bands=2 -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - InputFilter.band1_begin=0.0 InputFilter.band1_end=0.45 InputFilter.band2_begin=0.55 InputFilter.band2_end=1.0 -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - InputFilter.ampl1_begin=1.0 InputFilter.ampl1_end=1.0 InputFilter.ampl2_begin=0.0 InputFilter.ampl2_end=0.0 -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands InputFilter.band1_error=1.0 InputFilter.band2_error=1.0 -;#filter_type: one of "bandpass", "hilbert" or "differentiator" InputFilter.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. InputFilter.grid_density=16 - -;# Original sampling frequency stored in the signal file InputFilter.sampling_frequency=16368000 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz - InputFilter.IF=0 - -;# Decimation factor after the frequency tranaslating block InputFilter.decimation_factor=3 ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available GPS satellite channels. Channels_1C.count=0 -;#count: Number of available Galileo satellite channels. Channels_1B.count=6 -;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 -;#signal: -;#if the option is disabled by default is assigned "1C" GPS L1 C/A Channel0.signal=1B Channel1.signal=1B Channel2.signal=1B @@ -153,130 +90,80 @@ Channel15.signal=1B ;######### GPS ACQUISITION CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1C.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1C.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition_1C.sampled_ms=1 +Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.use_CFAR_algorithm=false; -;#threshold: Acquisition threshold Acquisition_1C.threshold=22 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1C.doppler_max=5000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1C.doppler_step=250 -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1C.dump=false -;#filename: Log path and filename Acquisition_1C.dump_filename=./acq_dump.dat ;######### GALILEO ACQUISITION CONFIG ############ Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1B.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1B.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition_1B.sampled_ms=4 +Acquisition_1B.coherent_integration_time_ms=4 Acquisition_1B.acquire_pilot=true Acquisition_1B.use_CFAR_algorithm=false -;#threshold: Acquisition threshold Acquisition_1B.threshold=22 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1B.doppler_max=5000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1B.doppler_step=125 Acquisition_1B.bit_transition_flag=true -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1B.dump=false -;#filename: Log path and filename Acquisition_1B.dump_filename=../data/acq_dump.dat ;######### TRACKING GPS CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1C.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1C.if=0 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1C.pll_bw_hz=40.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1C.dll_bw_hz=2.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1C.order=3; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] -Tracking_1C.dump=true -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. +Tracking_1C.dump=false Tracking_1C.dump_filename=../data/epl_tracking_ch_ ;######### TRACKING GALILEO CONFIG ############ Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1B.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1B.if=0 Tracking_1B.track_pilot=true -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1B.pll_bw_hz=7.5; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1B.dll_bw_hz=0.5; -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1B.pll_bw_narrow_hz=2.5; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1B.dll_bw_narrow_hz=0.25; Tracking_1B.extend_correlation_symbols=4; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1B.order=3; -;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo Tracking_1B.early_late_space_chips=0.15; -;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] Tracking_1B.very_early_late_space_chips=0.6; -;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo Tracking_1B.early_late_space_narrow_chips=0.15; -;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] Tracking_1B.very_early_late_space_narrow_chips=0.30; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] -Tracking_1B.dump=true -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. +Tracking_1B.dump=false Tracking_1B.dump_filename=../data/veml_tracking_ch_ ;######### TELEMETRY DECODER GPS CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.dump=false ;######### TELEMETRY DECODER GALILEO CONFIG ############ -;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder TelemetryDecoder_1B.dump=false ;######### OBSERVABLES CONFIG ############ -;#implementation: Observables.implementation=Hybrid_Observables -;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] Observables.dump=false -;#dump_filename: Log path and filename. Observables.dump_filename=./observables.dat ;######### PVT CONFIG ############ -;#implementation: Position Velocity and Time (PVT) implementation: PVT.implementation=RTKLIB_PVT PVT.positioning_mode=Single ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad -;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] PVT.output_rate_ms=100; -;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. PVT.display_rate_ms=500; PVT.flag_rtcm_server=false PVT.flag_rtcm_tty_port=false PVT.rtcm_dump_devname=/dev/pts/1 -;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] PVT.dump=false -;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. PVT.dump_filename=./PVT diff --git a/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_bin_file_III_1a.conf b/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_bin_file_III_1a.conf index 746dbdea9..2180d8ccb 100644 --- a/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_bin_file_III_1a.conf +++ b/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_bin_file_III_1a.conf @@ -1,4 +1,6 @@ -; Default configuration file +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -24,27 +26,20 @@ GNSS-SDR.SUPL_LAC=0x59e2 GNSS-SDR.SUPL_CI=0x31b0 ;######### SIGNAL_SOURCE CONFIG ############ -;#implementation SignalSource.implementation=Flexiband_Signal_Source SignalSource.flag_read_file=true SignalSource.signal_file=/datalogger/signals/Fraunhofer/L125_III1b_210s.usb ; <- PUT YOUR FILE HERE -;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. SignalSource.item_type=gr_complex -;# FPGA firmware file SignalSource.firmware_file=flexiband_III-1b.bit -;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file SignalSource.RF_channels=1 ;#frontend channels gain. Not usable yet! SignalSource.gain1=0 SignalSource.gain2=0 SignalSource.gain3=0 -;#frontend channels AGC SignalSource.AGC=true -;# USB 3.0 packet buffer size (number of SuperSpeed packets) SignalSource.usb_packet_buffer=128 ;######### SIGNAL_CONDITIONER 0 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. SignalConditioner0.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER 0 CONFIG ############ @@ -52,88 +47,34 @@ DataTypeAdapter0.implementation=Pass_Through DataTypeAdapter0.item_type=gr_complex ;######### INPUT_FILTER 0 CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Pass_Through] disables this block -;#[Fir_Filter] enables a FIR Filter -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. - InputFilter0.implementation=Freq_Xlating_Fir_Filter - -;#dump: Dump the filtered data to a file. InputFilter0.dump=false - -;#dump_filename: Log path and filename. InputFilter0.dump_filename=../data/input_filter.dat - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. InputFilter0.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter0.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. InputFilter0.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time InputFilter0.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. InputFilter0.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - InputFilter0.band1_begin=0.0 InputFilter0.band1_end=0.45 InputFilter0.band2_begin=0.55 InputFilter0.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - InputFilter0.ampl1_begin=1.0 InputFilter0.ampl1_end=1.0 InputFilter0.ampl2_begin=0.0 InputFilter0.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands InputFilter0.band1_error=1.0 InputFilter0.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" InputFilter0.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. InputFilter0.grid_density=16 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz -;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/ InputFilter0.sampling_frequency=20000000 -;# IF deviation due to front-end LO inaccuracies [HZ] InputFilter0.IF=0; -;#-205000 - -;# Decimation factor after the frequency tranaslating block InputFilter0.decimation_factor=8 ;######### RESAMPLER CONFIG 0 ############ -;## Resamples the input data. Resampler0.implementation=Pass_Through ;######### SIGNAL_CONDITIONER 1 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. SignalConditioner1.implementation=Pass_Through ;######### DATA_TYPE_ADAPTER 1 CONFIG ############ @@ -142,25 +83,15 @@ DataTypeAdapter1.item_type=gr_complex ;######### INPUT_FILTER 1 CONFIG ############ InputFilter1.implementation=Pass_Through - -;#dump: Dump the filtered data to a file. InputFilter1.dump=false - -;#dump_filename: Log path and filename. InputFilter1.dump_filename=../data/input_filter.dat - -;#input_item_type: Type and resolution for input signal samples. InputFilter1.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter1.output_item_type=gr_complex ;######### RESAMPLER CONFIG 1 ############ -;## Resamples the input data. Resampler1.implementation=Pass_Through ;######### SIGNAL_CONDITIONER 2 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. SignalConditioner2.implementation=Pass_Through ;######### DATA_TYPE_ADAPTER 2 CONFIG ############ @@ -169,28 +100,17 @@ DataTypeAdapter2.item_type=gr_complex ;######### INPUT_FILTER 2 CONFIG ############ InputFilter2.implementation=Pass_Through - -;#dump: Dump the filtered data to a file. InputFilter2.dump=false - -;#dump_filename: Log path and filename. InputFilter2.dump_filename=../data/input_filter.dat - -;#input_item_type: Type and resolution for input signal samples. InputFilter2.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter2.output_item_type=gr_complex ;######### RESAMPLER CONFIG 2 ############ -;## Resamples the input data. Resampler2.implementation=Pass_Through ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available GPS satellite channels. Channels_1C.count=8 -;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 ;# CHANNEL CONNECTION @@ -204,77 +124,46 @@ Channel6.RF_channel_ID=0 Channel7.RF_channel_ID=0 ;#signal: -;#if the option is disabled by default is assigned "1C" GPS L1 C/A Channel.signal=1C -;######### SPECIFIC CHANNELS CONFIG ###### -;#The following options are specific to each channel and overwrite the generic options - ;######### ACQUISITION GLOBAL CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1C.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1C.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.use_CFAR_algorithm=false; -;#threshold: Acquisition threshold. It will be ignored if pfa is defined. Acquisition_1C.threshold=15 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;Acquisition_1C.pfa=0.0001 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1C.doppler_max=10000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1C.doppler_step=250 -;#bit_transition_flag: Enable or disable a strategy to deal with bit transitions in GPS signals: process two dwells and take -;#maximum test statistics. Only use with implementation: [GPS_L1_CA_PCPS_Acquisition] -;#(should not be used for Galileo_E1_PCPS_Ambiguous_Acquisition]) Acquisition_1C.bit_transition_flag=false -;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true Acquisition_1C.max_dwells=1 -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1C.dump=false -;#filename: Log path and filename Acquisition_1C.dump_filename=./acq_dump.dat ;######### TRACKING GLOBAL CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1C.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1C.if=0 Tracking_1C.extend_correlation_ms=10 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1C.pll_bw_hz=40.0; Tracking_1C.pll_bw_narrow_hz=35; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1C.dll_bw_hz=2.0; Tracking_1C.dll_bw_narrow_hz=2.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1C.order=3; -;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] Tracking_1C.early_late_space_chips=0.5; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1C.dump=true -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1C.dump_filename=../data/epl_tracking_ch_ ;######### TELEMETRY DECODER GPS CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.dump=false ;######### OBSERVABLES CONFIG ############ -;#implementation: Observables.implementation=Hybrid_Observables -;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] Observables.dump=false -;#dump_filename: Log path and filename. Observables.dump_filename=./observables.dat @@ -283,22 +172,13 @@ PVT.implementation=RTKLIB_PVT PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad -;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] PVT.output_rate_ms=100 -;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. PVT.display_rate_ms=500 -;# KML, GeoJSON, NMEA and RTCM output configuration -;#nmea_dump_filename: NMEA log path and filename PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; -;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) PVT.flag_nmea_tty_port=false; -;#nmea_dump_devname: serial device descriptor for NMEA logging PVT.nmea_dump_devname=/dev/pts/4 PVT.flag_rtcm_server=true PVT.flag_rtcm_tty_port=false PVT.rtcm_dump_devname=/dev/pts/1 -;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] PVT.dump=false -;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. PVT.dump_filename=./PVT - diff --git a/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1a.conf b/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1a.conf index dc80ecfd0..e53db62e7 100644 --- a/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1a.conf +++ b/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1a.conf @@ -1,4 +1,6 @@ -; Default configuration file +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -25,31 +27,18 @@ GNSS-SDR.SUPL_LAC=0x59e2 GNSS-SDR.SUPL_CI=0x31b0 ;######### SIGNAL_SOURCE CONFIG ############ -;#implementation SignalSource.implementation=Flexiband_Signal_Source - -;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. SignalSource.item_type=gr_complex - -;# FPGA firmware file SignalSource.firmware_file=flexiband_III-1a.bit - -;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file SignalSource.RF_channels=1 - ;#frontend channels gain. Not usable yet! SignalSource.gain1=0 SignalSource.gain2=0 SignalSource.gain3=0 - -;#frontend channels AGC SignalSource.AGC=true - -;# USB 3.0 packet buffer size (number of SuperSpeed packets) SignalSource.usb_packet_buffer=128 ;######### SIGNAL_CONDITIONER 0 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. SignalConditioner0.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER 0 CONFIG ############ @@ -57,87 +46,34 @@ DataTypeAdapter0.implementation=Pass_Through DataTypeAdapter0.item_type=gr_complex ;######### INPUT_FILTER 0 CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Pass_Through] disables this block -;#[Fir_Filter] enables a FIR Filter -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. - InputFilter0.implementation=Freq_Xlating_Fir_Filter - -;#dump: Dump the filtered data to a file. InputFilter0.dump=false - -;#dump_filename: Log path and filename. InputFilter0.dump_filename=../data/input_filter.dat - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. InputFilter0.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter0.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. InputFilter0.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time InputFilter0.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. InputFilter0.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - InputFilter0.band1_begin=0.0 InputFilter0.band1_end=0.45 InputFilter0.band2_begin=0.55 InputFilter0.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - InputFilter0.ampl1_begin=1.0 InputFilter0.ampl1_end=1.0 InputFilter0.ampl2_begin=0.0 InputFilter0.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands InputFilter0.band1_error=1.0 InputFilter0.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" InputFilter0.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. InputFilter0.grid_density=16 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz -;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/ InputFilter0.sampling_frequency=20000000 -;# IF deviation due to front-end LO inaccuracies [HZ] InputFilter0.IF=-205000 - -;# Decimation factor after the frequency tranaslating block InputFilter0.decimation_factor=8 ;######### RESAMPLER CONFIG 0 ############ -;## Resamples the input data. Resampler0.implementation=Pass_Through ;######### SIGNAL_CONDITIONER 1 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. SignalConditioner1.implementation=Pass_Through ;######### DATA_TYPE_ADAPTER 1 CONFIG ############ @@ -146,25 +82,15 @@ DataTypeAdapter1.item_type=gr_complex ;######### INPUT_FILTER 1 CONFIG ############ InputFilter1.implementation=Pass_Through - -;#dump: Dump the filtered data to a file. InputFilter1.dump=false - -;#dump_filename: Log path and filename. InputFilter1.dump_filename=../data/input_filter.dat - -;#input_item_type: Type and resolution for input signal samples. InputFilter1.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter1.output_item_type=gr_complex ;######### RESAMPLER CONFIG 1 ############ -;## Resamples the input data. Resampler1.implementation=Pass_Through ;######### SIGNAL_CONDITIONER 2 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. SignalConditioner2.implementation=Pass_Through ;######### DATA_TYPE_ADAPTER 2 CONFIG ############ @@ -173,37 +99,19 @@ DataTypeAdapter2.item_type=gr_complex ;######### INPUT_FILTER 2 CONFIG ############ InputFilter2.implementation=Pass_Through - -;#dump: Dump the filtered data to a file. InputFilter2.dump=false - -;#dump_filename: Log path and filename. InputFilter2.dump_filename=../data/input_filter.dat - -;#input_item_type: Type and resolution for input signal samples. InputFilter2.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter2.output_item_type=gr_complex ;######### RESAMPLER CONFIG 2 ############ -;## Resamples the input data. Resampler2.implementation=Pass_Through ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available GPS satellite channels. Channels_1C.count=8 -;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 -;#signal: -;# "1C" GPS L1 C/A -;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL) -;# "1G" GLONASS L1 C/A -;# "2S" GPS L2 L2C (M) -;# "5X" GALILEO E5a I+Q -;# "L5" GPS L5 ;# CHANNEL CONNECTION Channel0.RF_channel_ID=0 @@ -227,69 +135,39 @@ Channel6.signal=1C Channel7.signal=1C -;######### SPECIFIC CHANNELS CONFIG ###### -;#The following options are specific to each channel and overwrite the generic options - - ;######### ACQUISITION GLOBAL CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1C.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1C.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] Acquisition_1C.coherent_integration_time_ms=1 -;#threshold: Acquisition threshold. It will be ignored if pfa is defined. Acquisition_1C.threshold=0.012 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;Acquisition_1C.pfa=0.0001 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1C.doppler_max=10000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1C.doppler_step=250 -;#bit_transition_flag: Enable or disable a strategy to deal with bit transitions in GPS signals: process two dwells and take -;#maximum test statistics. Only use with implementation: [GPS_L1_CA_PCPS_Acquisition] -;#(should not be used for Galileo_E1_PCPS_Ambiguous_Acquisition]) Acquisition_1C.bit_transition_flag=false -;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true Acquisition_1C.max_dwells=1 -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1C.dump=false -;#filename: Log path and filename Acquisition_1C.dump_filename=./acq_dump.dat ;######### TRACKING GLOBAL CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1C.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1C.if=0 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1C.pll_bw_hz=40.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1C.dll_bw_hz=3.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1C.order=3; -;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] Tracking_1C.early_late_space_chips=0.5; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1C.dump=false -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1C.dump_filename=./tracking_ch_ ;######### TELEMETRY DECODER GPS CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.dump=false ;######### OBSERVABLES CONFIG ############ Observables.implementation=Hybrid_Observables -;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] Observables.dump=false -;#dump_filename: Log path and filename. Observables.dump_filename=./observables.dat @@ -298,21 +176,13 @@ PVT.implementation=RTKLIB_PVT PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad -;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] PVT.output_rate_ms=100 -;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. PVT.display_rate_ms=500 -;# KML, GeoJSON, NMEA and RTCM output configuration -;#nmea_dump_filename: NMEA log path and filename PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; -;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) PVT.flag_nmea_tty_port=false; -;#nmea_dump_devname: serial device descriptor for NMEA logging PVT.nmea_dump_devname=/dev/pts/4 PVT.flag_rtcm_server=true PVT.flag_rtcm_tty_port=false PVT.rtcm_dump_devname=/dev/pts/1 -;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] PVT.dump=false -;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. PVT.dump_filename=./PVT \ No newline at end of file diff --git a/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1b.conf b/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1b.conf index 9a184f66d..aa0e26be4 100644 --- a/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1b.conf +++ b/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_III_1b.conf @@ -1,4 +1,6 @@ -; Default configuration file +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -25,13 +27,9 @@ GNSS-SDR.SUPL_LAC=0x59e2 GNSS-SDR.SUPL_CI=0x31b0 ;######### SIGNAL_SOURCE CONFIG ############ -;#implementation SignalSource.implementation=Flexiband_Signal_Source -;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. SignalSource.item_type=gr_complex -;# FPGA firmware file SignalSource.firmware_file=flexiband_III-1b.bit -;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file SignalSource.RF_channels=1 ;#frontend channels gain. Not usable yet! SignalSource.gain1=0 @@ -39,11 +37,9 @@ SignalSource.gain2=0 SignalSource.gain3=0 ;#frontend channels AGC SignalSource.AGC=true -;# USB 3.0 packet buffer size (number of SuperSpeed packets) SignalSource.usb_packet_buffer=128 ;######### SIGNAL_CONDITIONER 0 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. SignalConditioner0.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER 0 CONFIG ############ @@ -51,87 +47,33 @@ DataTypeAdapter0.implementation=Pass_Through DataTypeAdapter0.item_type=gr_complex ;######### INPUT_FILTER 0 CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Pass_Through] disables this block -;#[Fir_Filter] enables a FIR Filter -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. - InputFilter0.implementation=Freq_Xlating_Fir_Filter - -;#dump: Dump the filtered data to a file. InputFilter0.dump=false - -;#dump_filename: Log path and filename. InputFilter0.dump_filename=../data/input_filter.dat - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. InputFilter0.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter0.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. InputFilter0.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time InputFilter0.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. InputFilter0.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - InputFilter0.band1_begin=0.0 InputFilter0.band1_end=0.45 InputFilter0.band2_begin=0.55 InputFilter0.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - InputFilter0.ampl1_begin=1.0 InputFilter0.ampl1_end=1.0 InputFilter0.ampl2_begin=0.0 InputFilter0.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands InputFilter0.band1_error=1.0 InputFilter0.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" InputFilter0.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. InputFilter0.grid_density=16 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz -;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/ -InputFilter0.sampling_frequency=20000000 -;# IF deviation due to front-end LO inaccuracies [HZ] InputFilter0.IF=-205000 - -;# Decimation factor after the frequency tranaslating block InputFilter0.decimation_factor=8 ;######### RESAMPLER CONFIG 0 ############ -;## Resamples the input data. Resampler0.implementation=Pass_Through ;######### SIGNAL_CONDITIONER 1 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. SignalConditioner1.implementation=Pass_Through ;######### DATA_TYPE_ADAPTER 1 CONFIG ############ @@ -140,25 +82,15 @@ DataTypeAdapter1.item_type=gr_complex ;######### INPUT_FILTER 1 CONFIG ############ InputFilter1.implementation=Pass_Through - -;#dump: Dump the filtered data to a file. InputFilter1.dump=false - -;#dump_filename: Log path and filename. InputFilter1.dump_filename=../data/input_filter.dat - -;#input_item_type: Type and resolution for input signal samples. InputFilter1.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter1.output_item_type=gr_complex ;######### RESAMPLER CONFIG 1 ############ -;## Resamples the input data. Resampler1.implementation=Pass_Through ;######### SIGNAL_CONDITIONER 2 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. SignalConditioner2.implementation=Pass_Through ;######### DATA_TYPE_ADAPTER 2 CONFIG ############ @@ -167,36 +99,18 @@ DataTypeAdapter2.item_type=gr_complex ;######### INPUT_FILTER 2 CONFIG ############ InputFilter2.implementation=Pass_Through - -;#dump: Dump the filtered data to a file. InputFilter2.dump=false - -;#dump_filename: Log path and filename. InputFilter2.dump_filename=../data/input_filter.dat - -;#input_item_type: Type and resolution for input signal samples. InputFilter2.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter2.output_item_type=gr_complex ;######### RESAMPLER CONFIG 2 ############ -;## Resamples the input data. Resampler2.implementation=Pass_Through ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available GPS satellite channels. Channels_1C.count=8 -;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 -;#signal: -;# "1C" GPS L1 C/A -;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL) -;# "1G" GLONASS L1 C/A -;# "2S" GPS L2 L2C (M) -;# "5X" GALILEO E5a I+Q -;# "L5" GPS L5 ;# CHANNEL CONNECTION Channel0.RF_channel_ID=0 @@ -222,63 +136,37 @@ Channel7.signal=1C ;######### ACQUISITION GLOBAL CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1C.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1C.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] Acquisition_1C.coherent_integration_time_ms=1 -;#threshold: Acquisition threshold. It will be ignored if pfa is defined. Acquisition_1C.threshold=0.012 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;Acquisition_1C.pfa=0.0001 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1C.doppler_max=10000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1C.doppler_step=250 -;#bit_transition_flag: Enable or disable a strategy to deal with bit transitions in GPS signals: process two dwells and take -;#maximum test statistics. Only use with implementation: [GPS_L1_CA_PCPS_Acquisition] -;#(should not be used for Galileo_E1_PCPS_Ambiguous_Acquisition]) Acquisition_1C.bit_transition_flag=false -;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true Acquisition_1C.max_dwells=1 -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1C.dump=false -;#filename: Log path and filename Acquisition_1C.dump_filename=./acq_dump.dat ;######### TRACKING GLOBAL CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1C.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1C.if=0 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1C.pll_bw_hz=40.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1C.dll_bw_hz=3.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1C.order=3; -;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] Tracking_1C.early_late_space_chips=0.5; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1C.dump=false -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1C.dump_filename=./tracking_ch_ ;######### TELEMETRY DECODER GPS CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.dump=false ;######### OBSERVABLES CONFIG ############ Observables.implementation=Hybrid_Observables -;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] Observables.dump=false -;#dump_filename: Log path and filename. Observables.dump_filename=./observables.dat @@ -287,21 +175,13 @@ PVT.implementation=RTKLIB_PVT PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad -;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] PVT.output_rate_ms=100 -;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. PVT.display_rate_ms=500 -;# KML, GeoJSON, NMEA and RTCM output configuration -;#nmea_dump_filename: NMEA log path and filename PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; -;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) PVT.flag_nmea_tty_port=false; -;#nmea_dump_devname: serial device descriptor for NMEA logging PVT.nmea_dump_devname=/dev/pts/4 PVT.flag_rtcm_server=true PVT.flag_rtcm_tty_port=false PVT.rtcm_dump_devname=/dev/pts/1 -;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] PVT.dump=false -;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. PVT.dump_filename=./PVT \ No newline at end of file diff --git a/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_II_3b.conf b/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_II_3b.conf index 34c4e3142..7a7627cef 100644 --- a/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_II_3b.conf +++ b/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_II_3b.conf @@ -1,4 +1,6 @@ -; Default configuration file +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -25,25 +27,18 @@ GNSS-SDR.SUPL_LAC=0x59e2 GNSS-SDR.SUPL_CI=0x31b0 ;######### SIGNAL_SOURCE CONFIG ############ -;#implementation SignalSource.implementation=Flexiband_Signal_Source -;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. SignalSource.item_type=gr_complex -;# FPGA firmware file SignalSource.firmware_file=flexiband_II-3b.bit -;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file SignalSource.RF_channels=1 ;#frontend channels gain. Not usable yet! SignalSource.gain1=0 SignalSource.gain2=0 SignalSource.gain3=0 -;#frontend channels AGC SignalSource.AGC=true -;# USB 3.0 packet buffer size (number of SuperSpeed packets) SignalSource.usb_packet_buffer=128 ;######### SIGNAL_CONDITIONER 0 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. SignalConditioner0.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER 0 CONFIG ############ @@ -51,85 +46,34 @@ DataTypeAdapter0.implementation=Pass_Through DataTypeAdapter0.item_type=gr_complex ;######### INPUT_FILTER 0 CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Pass_Through] disables this block -;#[Fir_Filter] enables a FIR Filter -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. - InputFilter0.implementation=Freq_Xlating_Fir_Filter - -;#dump: Dump the filtered data to a file. InputFilter0.dump=false - -;#dump_filename: Log path and filename. InputFilter0.dump_filename=../data/input_filter.dat - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. InputFilter0.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter0.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. InputFilter0.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time InputFilter0.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. InputFilter0.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - InputFilter0.band1_begin=0.0 InputFilter0.band1_end=0.45 InputFilter0.band2_begin=0.55 InputFilter0.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - InputFilter0.ampl1_begin=1.0 InputFilter0.ampl1_end=1.0 InputFilter0.ampl2_begin=0.0 InputFilter0.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands InputFilter0.band1_error=1.0 InputFilter0.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" InputFilter0.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. InputFilter0.grid_density=16 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz InputFilter0.sampling_frequency=40000000 -;# IF deviation due to front-end LO inaccuracies [HZ] InputFilter0.IF=-205000 - -;# Decimation factor after the frequency tranaslating block InputFilter0.decimation_factor=16 ;######### RESAMPLER CONFIG 0 ############ -;## Resamples the input data. Resampler0.implementation=Pass_Through ;######### SIGNAL_CONDITIONER 1 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. SignalConditioner1.implementation=Pass_Through ;######### DATA_TYPE_ADAPTER 1 CONFIG ############ @@ -138,25 +82,15 @@ DataTypeAdapter1.item_type=gr_complex ;######### INPUT_FILTER 1 CONFIG ############ InputFilter1.implementation=Pass_Through - -;#dump: Dump the filtered data to a file. InputFilter1.dump=false - -;#dump_filename: Log path and filename. InputFilter1.dump_filename=../data/input_filter.dat - -;#input_item_type: Type and resolution for input signal samples. InputFilter1.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter1.output_item_type=gr_complex ;######### RESAMPLER CONFIG 1 ############ -;## Resamples the input data. Resampler1.implementation=Pass_Through ;######### SIGNAL_CONDITIONER 2 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. SignalConditioner2.implementation=Pass_Through ;######### DATA_TYPE_ADAPTER 2 CONFIG ############ @@ -165,28 +99,17 @@ DataTypeAdapter2.item_type=gr_complex ;######### INPUT_FILTER 2 CONFIG ############ InputFilter2.implementation=Pass_Through - -;#dump: Dump the filtered data to a file. InputFilter2.dump=false - -;#dump_filename: Log path and filename. InputFilter2.dump_filename=../data/input_filter.dat - -;#input_item_type: Type and resolution for input signal samples. InputFilter2.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter2.output_item_type=gr_complex ;######### RESAMPLER CONFIG 2 ############ -;## Resamples the input data. Resampler2.implementation=Pass_Through ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available GPS satellite channels. Channels_1C.count=8 -;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 ;#signal: @@ -208,7 +131,6 @@ Channel6.RF_channel_ID=0 Channel7.RF_channel_ID=0 ;#signal: -;#if the option is disabled by default is assigned "1C" GPS L1 C/A Channel0.signal=1C Channel1.signal=1C Channel2.signal=1C @@ -219,91 +141,54 @@ Channel6.signal=1C Channel7.signal=1C - ;######### ACQUISITION GLOBAL CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1C.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1C.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] Acquisition_1C.coherent_integration_time_ms=1 -;#threshold: Acquisition threshold. It will be ignored if pfa is defined. Acquisition_1C.threshold=0.012 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;Acquisition_1C.pfa=0.0001 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1C.doppler_max=10000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1C.doppler_step=250 -;#bit_transition_flag: Enable or disable a strategy to deal with bit transitions in GPS signals: process two dwells and take -;#maximum test statistics. Only use with implementation: [GPS_L1_CA_PCPS_Acquisition] -;#(should not be used for Galileo_E1_PCPS_Ambiguous_Acquisition]) Acquisition_1C.bit_transition_flag=false -;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true Acquisition_1C.max_dwells=1 -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1C.dump=false -;#filename: Log path and filename Acquisition_1C.dump_filename=./acq_dump.dat ;######### TRACKING GLOBAL CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1C.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1C.if=0 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1C.pll_bw_hz=40.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1C.dll_bw_hz=3.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1C.order=3; -;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] Tracking_1C.early_late_space_chips=0.5; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1C.dump=false -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1C.dump_filename=./tracking_ch_ ;######### TELEMETRY DECODER GPS CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.dump=false ;######### OBSERVABLES CONFIG ############ -;#implementation: Observables.implementation=Hybrid_Observables -;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] Observables.dump=false -;#dump_filename: Log path and filename. Observables.dump_filename=./observables.dat ;######### PVT CONFIG ############ -;#implementation: Position Velocity and Time (PVT) implementation: PVT.implementation=RTKLIB_PVT PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad -;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] PVT.output_rate_ms=100 -;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. PVT.display_rate_ms=500 -;# KML, GeoJSON, NMEA and RTCM output configuration -;#nmea_dump_filename: NMEA log path and filename PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; -;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) PVT.flag_nmea_tty_port=false; -;#nmea_dump_devname: serial device descriptor for NMEA logging PVT.nmea_dump_devname=/dev/pts/4 PVT.flag_rtcm_server=true PVT.flag_rtcm_tty_port=false PVT.rtcm_dump_devname=/dev/pts/1 -;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] PVT.dump=false -;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. PVT.dump_filename=./PVT \ No newline at end of file diff --git a/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_I_1b.conf b/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_I_1b.conf index 2bba3f755..3dd9d76cd 100644 --- a/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_I_1b.conf +++ b/conf/gnss-sdr_multichannel_GPS_L1_Flexiband_realtime_I_1b.conf @@ -1,4 +1,6 @@ -; Default configuration file +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -25,25 +27,18 @@ GNSS-SDR.SUPL_LAC=0x59e2 GNSS-SDR.SUPL_CI=0x31b0 ;######### SIGNAL_SOURCE CONFIG ############ -;#implementation SignalSource.implementation=Flexiband_Signal_Source -;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. SignalSource.item_type=gr_complex -;# FPGA firmware file SignalSource.firmware_file=flexiband_I-1b.bit -;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file SignalSource.RF_channels=1 ;#frontend channels gain. Not usable yet! SignalSource.gain1=0 SignalSource.gain2=0 SignalSource.gain3=0 -;#frontend channels AGC SignalSource.AGC=true -;# USB 3.0 packet buffer size (number of SuperSpeed packets) SignalSource.usb_packet_buffer=128 ;######### SIGNAL_CONDITIONER 0 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. SignalConditioner0.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER 0 CONFIG ############ @@ -51,87 +46,34 @@ DataTypeAdapter0.implementation=Pass_Through DataTypeAdapter0.item_type=gr_complex ;######### INPUT_FILTER 0 CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Pass_Through] disables this block -;#[Fir_Filter] enables a FIR Filter -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. - InputFilter0.implementation=Freq_Xlating_Fir_Filter - -;#dump: Dump the filtered data to a file. InputFilter0.dump=false - -;#dump_filename: Log path and filename. InputFilter0.dump_filename=../data/input_filter.dat - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. InputFilter0.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter0.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. InputFilter0.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time InputFilter0.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. InputFilter0.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - InputFilter0.band1_begin=0.0 InputFilter0.band1_end=0.45 InputFilter0.band2_begin=0.55 InputFilter0.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - InputFilter0.ampl1_begin=1.0 InputFilter0.ampl1_end=1.0 InputFilter0.ampl2_begin=0.0 InputFilter0.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands InputFilter0.band1_error=1.0 InputFilter0.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" InputFilter0.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. InputFilter0.grid_density=16 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz -;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/ InputFilter0.sampling_frequency=40000000 -;# IF deviation due to front-end LO inaccuracies [HZ] InputFilter0.IF=-205000 - -;# Decimation factor after the frequency tranaslating block InputFilter0.decimation_factor=8 ;######### RESAMPLER CONFIG 0 ############ -;## Resamples the input data. Resampler0.implementation=Pass_Through ;######### SIGNAL_CONDITIONER 1 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. SignalConditioner1.implementation=Pass_Through ;######### DATA_TYPE_ADAPTER 1 CONFIG ############ @@ -140,25 +82,15 @@ DataTypeAdapter1.item_type=gr_complex ;######### INPUT_FILTER 1 CONFIG ############ InputFilter1.implementation=Pass_Through - -;#dump: Dump the filtered data to a file. InputFilter1.dump=false - -;#dump_filename: Log path and filename. InputFilter1.dump_filename=../data/input_filter.dat - -;#input_item_type: Type and resolution for input signal samples. InputFilter1.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter1.output_item_type=gr_complex ;######### RESAMPLER CONFIG 1 ############ -;## Resamples the input data. Resampler1.implementation=Pass_Through ;######### SIGNAL_CONDITIONER 2 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. SignalConditioner2.implementation=Pass_Through ;######### DATA_TYPE_ADAPTER 2 CONFIG ############ @@ -167,38 +99,19 @@ DataTypeAdapter2.item_type=gr_complex ;######### INPUT_FILTER 2 CONFIG ############ InputFilter2.implementation=Pass_Through - -;#dump: Dump the filtered data to a file. InputFilter2.dump=false - -;#dump_filename: Log path and filename. InputFilter2.dump_filename=../data/input_filter.dat - -;#input_item_type: Type and resolution for input signal samples. InputFilter2.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter2.output_item_type=gr_complex ;######### RESAMPLER CONFIG 2 ############ -;## Resamples the input data. Resampler2.implementation=Pass_Through ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available GPS satellite channels. Channels_1C.count=4 -;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 -;#signal: -;# "1C" GPS L1 C/A -;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL) -;# "1G" GLONASS L1 C/A -;# "2S" GPS L2 L2C (M) -;# "5X" GALILEO E5a I+Q -;# "L5" GPS L5 - ;# CHANNEL CONNECTION Channel0.RF_channel_ID=0 Channel1.RF_channel_ID=0 @@ -210,7 +123,6 @@ Channel3.RF_channel_ID=0 ;Channel7.RF_channel_ID=0 ;#signal: -;#if the option is disabled by default is assigned "1C" GPS L1 C/A Channel0.signal=1C Channel1.signal=1C Channel2.signal=1C @@ -219,63 +131,37 @@ Channel3.signal=1C ;######### ACQUISITION GLOBAL CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1C.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1C.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] Acquisition_1C.coherent_integration_time_ms=1 -;#threshold: Acquisition threshold. It will be ignored if pfa is defined. Acquisition_1C.threshold=0.011 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;Acquisition_1C.pfa=0.0001 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1C.doppler_max=10000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1C.doppler_step=250 -;#bit_transition_flag: Enable or disable a strategy to deal with bit transitions in GPS signals: process two dwells and take -;#maximum test statistics. Only use with implementation: [GPS_L1_CA_PCPS_Acquisition] -;#(should not be used for Galileo_E1_PCPS_Ambiguous_Acquisition]) Acquisition_1C.bit_transition_flag=false -;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true Acquisition_1C.max_dwells=1 -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1C.dump=false -;#filename: Log path and filename Acquisition_1C.dump_filename=./acq_dump.dat ;######### TRACKING GLOBAL CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1C.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1C.if=0 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1C.pll_bw_hz=40.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1C.dll_bw_hz=3.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1C.order=3; -;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] Tracking_1C.early_late_space_chips=0.5; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1C.dump=false -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1C.dump_filename=./tracking_ch_ ;######### TELEMETRY DECODER GPS CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.dump=false ;######### OBSERVABLES CONFIG ############ Observables.implementation=Hybrid_Observables -;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] Observables.dump=false -;#dump_filename: Log path and filename. Observables.dump_filename=./observables.dat @@ -284,20 +170,13 @@ PVT.implementation=RTKLIB_PVT PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad -;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] PVT.output_rate_ms=100 -;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. PVT.display_rate_ms=500 -;# KML, GeoJSON, NMEA and RTCM output configuration -;#nmea_dump_filename: NMEA log path and filename PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; -;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) PVT.flag_nmea_tty_port=false; -;#nmea_dump_devname: serial device descriptor for NMEA logging PVT.nmea_dump_devname=/dev/pts/4 PVT.flag_rtcm_server=true PVT.flag_rtcm_tty_port=false PVT.rtcm_dump_devname=/dev/pts/1 -;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] PVT.dump=false PVT.dump_filename=./PVT diff --git a/conf/gnss-sdr_multichannel_GPS_L1_L2_Flexiband_realtime_III_1b.conf b/conf/gnss-sdr_multichannel_GPS_L1_L2_Flexiband_realtime_III_1b.conf index 48c73a036..1513e6c8b 100644 --- a/conf/gnss-sdr_multichannel_GPS_L1_L2_Flexiband_realtime_III_1b.conf +++ b/conf/gnss-sdr_multichannel_GPS_L1_L2_Flexiband_realtime_III_1b.conf @@ -1,4 +1,6 @@ -; Default configuration file +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -25,21 +27,15 @@ GNSS-SDR.SUPL_LAC=0x59e2 GNSS-SDR.SUPL_CI=0x31b0 ;######### SIGNAL_SOURCE CONFIG ############ -;#implementation SignalSource.implementation=Flexiband_Signal_Source -;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. SignalSource.item_type=gr_complex -;# FPGA firmware file SignalSource.firmware_file=flexiband_III-1b.bit -;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file SignalSource.RF_channels=2 ;#frontend channels gain. Not usable yet! SignalSource.gain1=0 SignalSource.gain2=0 SignalSource.gain3=0 -;#frontend channels AGC SignalSource.AGC=true -;# USB 3.0 packet buffer size (number of SuperSpeed packets) SignalSource.usb_packet_buffer=128 ;###################################################### @@ -47,7 +43,6 @@ SignalSource.usb_packet_buffer=128 ;###################################################### ;######### SIGNAL_CONDITIONER 0 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. SignalConditioner0.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER 0 CONFIG ############ @@ -55,85 +50,31 @@ DataTypeAdapter0.implementation=Pass_Through DataTypeAdapter0.item_type=gr_complex ;######### INPUT_FILTER 0 CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Pass_Through] disables this block -;#[Fir_Filter] enables a FIR Filter -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. - InputFilter0.implementation=Freq_Xlating_Fir_Filter - -;#dump: Dump the filtered data to a file. InputFilter0.dump=false - -;#dump_filename: Log path and filename. InputFilter0.dump_filename=../data/input_filter.dat - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. InputFilter0.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter0.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. InputFilter0.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time InputFilter0.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. InputFilter0.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - InputFilter0.band1_begin=0.0 InputFilter0.band1_end=0.45 InputFilter0.band2_begin=0.55 InputFilter0.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - InputFilter0.ampl1_begin=1.0 InputFilter0.ampl1_end=1.0 InputFilter0.ampl2_begin=0.0 InputFilter0.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands InputFilter0.band1_error=1.0 InputFilter0.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" InputFilter0.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. InputFilter0.grid_density=16 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz -;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/ InputFilter0.sampling_frequency=20000000 -;# IF deviation due to front-end LO inaccuracies [HZ] -;# WARNING: Fraunhofer front-end hardwareconfigurations can difer. Signals available on http://www.iis.fraunhofer.de/de/ff/lok/leist/test/flexiband.html are centered on 0 Hz, ALL BANDS. InputFilter0.IF=-205000 -;#InputFilter0.IF=0 - -;# Decimation factor after the frequency tranaslating block InputFilter0.decimation_factor=8 ;######### RESAMPLER CONFIG 0 ############ -;## Resamples the input data. Resampler0.implementation=Pass_Through ;###################################################### @@ -141,7 +82,6 @@ Resampler0.implementation=Pass_Through ;###################################################### ;######### SIGNAL_CONDITIONER 1 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. SignalConditioner1.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER 1 CONFIG ############ @@ -149,90 +89,35 @@ DataTypeAdapter1.implementation=Pass_Through DataTypeAdapter1.item_type=gr_complex ;######### INPUT_FILTER 0 CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Pass_Through] disables this block -;#[Fir_Filter] enables a FIR Filter -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. - InputFilter1.implementation=Freq_Xlating_Fir_Filter - -;#dump: Dump the filtered data to a file. InputFilter1.dump=false - -;#dump_filename: Log path and filename. InputFilter1.dump_filename=../data/input_filter_ch1.dat - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. InputFilter1.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter1.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. InputFilter1.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time InputFilter1.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. InputFilter1.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - InputFilter1.band1_begin=0.0 InputFilter1.band1_end=0.45 InputFilter1.band2_begin=0.55 InputFilter1.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - InputFilter1.ampl1_begin=1.0 InputFilter1.ampl1_end=1.0 InputFilter1.ampl2_begin=0.0 InputFilter1.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands InputFilter1.band1_error=1.0 InputFilter1.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" InputFilter1.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. InputFilter1.grid_density=16 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz -;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/ InputFilter1.sampling_frequency=20000000 -;# IF deviation due to front-end LO inaccuracies [HZ] -;# WARNING: Fraunhofer front-end hardwareconfigurations can difer. Signals available on http://www.iis.fraunhofer.de/de/ff/lok/leist/test/flexiband.html are centered on 0 Hz, ALL BANDS. InputFilter1.IF=100000 -;#InputFilter1.IF=0 - -;# Decimation factor after the frequency tranaslating block InputFilter1.decimation_factor=8 ;######### RESAMPLER CONFIG 1 ############ -;## Resamples the input data. Resampler1.implementation=Pass_Through ;######### SIGNAL_CONDITIONER 2 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. SignalConditioner2.implementation=Pass_Through ;######### DATA_TYPE_ADAPTER 2 CONFIG ############ @@ -241,30 +126,17 @@ DataTypeAdapter2.item_type=gr_complex ;######### INPUT_FILTER 2 CONFIG ############ InputFilter2.implementation=Pass_Through - -;#dump: Dump the filtered data to a file. InputFilter2.dump=false - -;#dump_filename: Log path and filename. InputFilter2.dump_filename=../data/input_filter.dat - -;#input_item_type: Type and resolution for input signal samples. InputFilter2.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter2.output_item_type=gr_complex ;######### RESAMPLER CONFIG 2 ############ -;## Resamples the input data. Resampler2.implementation=Pass_Through ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available GPS satellite channels. Channels_1C.count=8 Channels_2S.count=8 -;#count: Number of available Galileo satellite channels. -;Channels_Galileo.count=0 -;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 ;#signal: @@ -351,40 +223,23 @@ Channel15.RF_channel_ID=1 Channel15.signal=2S -;######### SPECIFIC CHANNELS CONFIG ###### -;#The following options are specific to each channel and overwrite the generic options ;######### ACQUISITION GLOBAL CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1C.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1C.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] Acquisition_1C.coherent_integration_time_ms=1 -;#threshold: Acquisition threshold. It will be ignored if pfa is defined. Acquisition_1C.threshold=0.008 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;Acquisition_1C.pfa=0.0001 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1C.doppler_max=5000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1C.doppler_step=250 -;#bit_transition_flag: Enable or disable a strategy to deal with bit transitions in GPS signals: process two dwells and take -;#maximum test statistics. Only use with implementation: [GPS_L1_CA_PCPS_Acquisition] -;#(should not be used for Galileo_E1_PCPS_Ambiguous_Acquisition]) Acquisition_1C.bit_transition_flag=false -;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true Acquisition_1C.max_dwells=1 -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1C.dump=false -;#filename: Log path and filename Acquisition_1C.dump_filename=./acq_dump.dat ;######### TRACKING GLOBAL CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.item_type=gr_complex -Tracking_1C.if=0 Tracking_1C.pll_bw_hz=40.0; Tracking_1C.dll_bw_hz=3.0; Tracking_1C.order=3; @@ -396,7 +251,6 @@ Tracking_1C.dump_filename=./tracking_ch_ ;# GPS L2C M Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition Acquisition_2S.item_type=gr_complex -Acquisition_2S.if=0 Acquisition_2S.threshold=0.0005 ;Acquisition_2S.pfa=0.001 Acquisition_2S.doppler_max=5000 @@ -408,7 +262,6 @@ Acquisition_2S.dump_filename=./acq_dump.dat Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking Tracking_2S.item_type=gr_complex -Tracking_2S.if=0 Tracking_2S.pll_bw_hz=1.5; Tracking_2S.dll_bw_hz=0.3; Tracking_2S.order=3; @@ -418,22 +271,18 @@ Tracking_2S.dump_filename=./tracking_ch_ ;######### TELEMETRY DECODER GPS L1 CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.dump=false ;######### TELEMETRY DECODER GPS L2 CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L2 M TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder TelemetryDecoder_2S.dump=false ;######### OBSERVABLES CONFIG ############ Observables.implementation=Hybrid_Observables -;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] Observables.dump=false -;#dump_filename: Log path and filename. Observables.dump_filename=./observables.dat @@ -442,25 +291,14 @@ PVT.implementation=RTKLIB_PVT PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad -;#averaging_depth: Number of PVT observations in the moving average algorithm -PVT.averaging_depth=10 -;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false] PVT.flag_averaging=true -;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] PVT.output_rate_ms=100 -;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. PVT.display_rate_ms=500 -;# KML, GeoJSON, NMEA and RTCM output configuration -;#nmea_dump_filename: NMEA log path and filename PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; -;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) PVT.flag_nmea_tty_port=false; -;#nmea_dump_devname: serial device descriptor for NMEA logging PVT.nmea_dump_devname=/dev/pts/4 PVT.flag_rtcm_server=false PVT.flag_rtcm_tty_port=false PVT.rtcm_dump_devname=/dev/pts/1 -;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] PVT.dump=false -;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. PVT.dump_filename=./PVT diff --git a/conf/gnss-sdr_multichannel_GPS_L1_L2_Galileo_E1B_Flexiband_bin_file_III_1b.conf b/conf/gnss-sdr_multichannel_GPS_L1_L2_Galileo_E1B_Flexiband_bin_file_III_1b.conf index 44be57a15..349b2f2b3 100644 --- a/conf/gnss-sdr_multichannel_GPS_L1_L2_Galileo_E1B_Flexiband_bin_file_III_1b.conf +++ b/conf/gnss-sdr_multichannel_GPS_L1_L2_Galileo_E1B_Flexiband_bin_file_III_1b.conf @@ -1,4 +1,6 @@ -; Default configuration file +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -25,30 +27,17 @@ GNSS-SDR.SUPL_LAC=0x59e2 GNSS-SDR.SUPL_CI=0x31b0 ;######### SIGNAL_SOURCE CONFIG ############ -;#implementation SignalSource.implementation=Flexiband_Signal_Source - SignalSource.flag_read_file=true SignalSource.signal_file=/datalogger/signals/Fraunhofer/L125_III1b_210s.usb ; <- PUT YOUR FILE HERE - -;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. SignalSource.item_type=gr_complex - -;# FPGA firmware file SignalSource.firmware_file=flexiband_III-1b.bit - -;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file SignalSource.RF_channels=2 - ;#frontend channels gain. Not usable yet! SignalSource.gain1=0 SignalSource.gain2=0 SignalSource.gain3=0 - -;#frontend channels AGC SignalSource.AGC=true - -;# USB 3.0 packet buffer size (number of SuperSpeed packets) SignalSource.usb_packet_buffer=128 ;###################################################### @@ -56,7 +45,6 @@ SignalSource.usb_packet_buffer=128 ;###################################################### ;######### SIGNAL_CONDITIONER 0 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. SignalConditioner0.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER 0 CONFIG ############ @@ -64,85 +52,31 @@ DataTypeAdapter0.implementation=Pass_Through DataTypeAdapter0.item_type=gr_complex ;######### INPUT_FILTER 0 CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Pass_Through] disables this block -;#[Fir_Filter] enables a FIR Filter -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. - InputFilter0.implementation=Freq_Xlating_Fir_Filter - -;#dump: Dump the filtered data to a file. InputFilter0.dump=false - -;#dump_filename: Log path and filename. InputFilter0.dump_filename=../data/input_filter.dat - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. InputFilter0.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter0.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. InputFilter0.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time InputFilter0.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. InputFilter0.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - InputFilter0.band1_begin=0.0 InputFilter0.band1_end=0.45 InputFilter0.band2_begin=0.55 InputFilter0.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - InputFilter0.ampl1_begin=1.0 InputFilter0.ampl1_end=1.0 InputFilter0.ampl2_begin=0.0 InputFilter0.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands InputFilter0.band1_error=1.0 InputFilter0.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" InputFilter0.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. InputFilter0.grid_density=16 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz -;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/ InputFilter0.sampling_frequency=20000000 -;# IF deviation due to front-end LO inaccuracies [HZ] -;# WARNING: Fraunhofer front-end hardwareconfigurations can difer. Signals available on http://www.iis.fraunhofer.de/de/ff/lok/leist/test/flexiband.html are centered on 0 Hz, ALL BANDS. -;#InputFilter0.IF=-205000 InputFilter0.IF=0 - -;# Decimation factor after the frequency tranaslating block InputFilter0.decimation_factor=8 ;######### RESAMPLER CONFIG 0 ############ -;## Resamples the input data. Resampler0.implementation=Pass_Through ;###################################################### @@ -150,7 +84,6 @@ Resampler0.implementation=Pass_Through ;###################################################### ;######### SIGNAL_CONDITIONER 1 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. SignalConditioner1.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER 1 CONFIG ############ @@ -158,90 +91,35 @@ DataTypeAdapter1.implementation=Pass_Through DataTypeAdapter1.item_type=gr_complex ;######### INPUT_FILTER 0 CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Pass_Through] disables this block -;#[Fir_Filter] enables a FIR Filter -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. - InputFilter1.implementation=Freq_Xlating_Fir_Filter - -;#dump: Dump the filtered data to a file. InputFilter1.dump=false - -;#dump_filename: Log path and filename. InputFilter1.dump_filename=../data/input_filter_ch1.dat - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. InputFilter1.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter1.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. InputFilter1.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time InputFilter1.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. InputFilter1.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - InputFilter1.band1_begin=0.0 InputFilter1.band1_end=0.45 InputFilter1.band2_begin=0.55 InputFilter1.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - InputFilter1.ampl1_begin=1.0 InputFilter1.ampl1_end=1.0 InputFilter1.ampl2_begin=0.0 InputFilter1.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands InputFilter1.band1_error=1.0 InputFilter1.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" InputFilter1.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. InputFilter1.grid_density=16 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz -;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/ InputFilter1.sampling_frequency=20000000 -;# IF deviation due to front-end LO inaccuracies [HZ] -;# WARNING: Fraunhofer front-end hardware configurations can differ. Signals available at http://www.iis.fraunhofer.de/de/ff/lok/leist/test/flexiband.html are centered on 0 Hz, ALL BANDS. -;#InputFilter1.IF=100000 InputFilter1.IF=0 - -;# Decimation factor after the frequency translating block InputFilter1.decimation_factor=8 ;######### RESAMPLER CONFIG 1 ############ -;## Resamples the input data. Resampler1.implementation=Pass_Through ;######### SIGNAL_CONDITIONER 2 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. SignalConditioner2.implementation=Pass_Through ;######### DATA_TYPE_ADAPTER 2 CONFIG ############ @@ -250,30 +128,19 @@ DataTypeAdapter2.item_type=gr_complex ;######### INPUT_FILTER 2 CONFIG ############ InputFilter2.implementation=Pass_Through - -;#dump: Dump the filtered data to a file. InputFilter2.dump=false - -;#dump_filename: Log path and filename. InputFilter2.dump_filename=../data/input_filter.dat - -;#input_item_type: Type and resolution for input signal samples. InputFilter2.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter2.output_item_type=gr_complex ;######### RESAMPLER CONFIG 2 ############ -;## Resamples the input data. Resampler2.implementation=Pass_Through -;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available GPS satellite channels. +;######### CHANNELS GLOBAL CONFIG ############. Channels_1C.count=2 Channels_1B.count=4 Channels_2S.count=4 -;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 ;#signal: @@ -304,33 +171,17 @@ Channel14.RF_channel_ID=1 Channel15.RF_channel_ID=1 -;######### SPECIFIC CHANNELS CONFIG ###### -;#The following options are specific to each channel and overwrite the generic options ;######### ACQUISITION GLOBAL CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition -;#item_type: Type and resolution for each of the signal samples.. Acquisition_1C.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1C.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] Acquisition_1C.coherent_integration_time_ms=1 -;#threshold: Acquisition threshold. It will be ignored if pfa is defined. Acquisition_1C.threshold=0.008 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;Acquisition_1C.pfa=0.0001 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1C.doppler_max=5000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1C.doppler_step=250 -;#bit_transition_flag: Enable or disable a strategy to deal with bit transitions in GPS signals: process two dwells and take -;#maximum test statistics. Only use with implementation: [GPS_L1_CA_PCPS_Acquisition] -;#(should not be used for Galileo_E1_PCPS_Ambiguous_Acquisition]) Acquisition_1C.bit_transition_flag=false -;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true Acquisition_1C.max_dwells=1 -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1C.dump=false -;#filename: Log path and filename Acquisition_1C.dump_filename=./acq_dump.dat @@ -371,70 +222,44 @@ Tracking_2S.dump_filename=../data/epl_tracking_ch_ ;# GALILEO E1B Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1B.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1B.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition_1B.sampled_ms=4 -;#threshold: Acquisition threshold +Acquisition_1B.coherent_integration_time_ms=4 ;Acquisition_1B.threshold=0 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] Acquisition_1B.pfa=0.0000005 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1B.doppler_max=5000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1B.doppler_step=125 -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1B.dump=false -;#filename: Log path and filename Acquisition_1B.dump_filename=./acq_dump.dat Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1B.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1B.if=0 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1B.pll_bw_hz=15.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1B.dll_bw_hz=2.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1B.order=3; -;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo Tracking_1B.early_late_space_chips=0.15; -;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] Tracking_1B.very_early_late_space_chips=0.6; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1B.dump=false -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1B.dump_filename=./veml_tracking_ch_ ;######### TELEMETRY DECODER GPS L1 CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.dump=false ;######### TELEMETRY DECODER GPS L2 CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L2 M TelemetryDecoder_2S.implementation=GPS_L2C_Telemetry_Decoder TelemetryDecoder_2S.dump=false ;######### TELEMETRY DECODER GALILEO E1B CONFIG ############ -;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder TelemetryDecoder_1B.dump=false ;######### OBSERVABLES CONFIG ############ -;#implementation: Observables.implementation=Hybrid_Observables -;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] Observables.dump=false -;#dump_filename: Log path and filename. Observables.dump_filename=./observables.dat @@ -443,22 +268,14 @@ PVT.implementation=RTKLIB_PVT PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad -;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] PVT.output_rate_ms=100 -;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. PVT.display_rate_ms=100 -;# KML, GeoJSON, NMEA and RTCM output configuration -;#nmea_dump_filename: NMEA log path and filename PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; -;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) PVT.flag_nmea_tty_port=false; -;#nmea_dump_devname: serial device descriptor for NMEA logging PVT.nmea_dump_devname=/dev/pts/4 PVT.flag_rtcm_server=false PVT.flag_rtcm_tty_port=false PVT.rtcm_dump_devname=/dev/pts/1 -;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] PVT.dump=false -;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. PVT.dump_filename=./PVT diff --git a/conf/gnss-sdr_multichannel_GPS_L1_USRP_X300_realtime.conf b/conf/gnss-sdr_multichannel_GPS_L1_USRP_X300_realtime.conf index c5f32b456..c2216e648 100644 --- a/conf/gnss-sdr_multichannel_GPS_L1_USRP_X300_realtime.conf +++ b/conf/gnss-sdr_multichannel_GPS_L1_USRP_X300_realtime.conf @@ -1,4 +1,6 @@ -; Default configuration file +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -27,235 +29,59 @@ GNSS-SDR.SUPL_CI=0x31b0 ;######### SIGNAL_SOURCE CONFIG ############ ;#implementation SignalSource.implementation=UHD_Signal_Source -;#When left empty, the device discovery routines will search all vailable transports on the system (ethernet, usb...) SignalSource.device_address=192.168.40.2 ; <- PUT THE IP ADDRESS OF YOUR USRP HERE -;#item_type: Type and resolution for each of the signal samples. SignalSource.item_type=gr_complex -;#RF_channels: Number of RF channels present in the frontend device (i.e. USRP with two frontends) SignalSource.RF_channels=2 -;#sampling_frequency: Original Signal sampling frequency in [Hz] SignalSource.sampling_frequency=4000000 -;#subdevice: UHD subdevice specification (for USRP dual frontend use A:0 or B:0 or A:0 B:0) SignalSource.subdevice=A:0 B:0 ;######### RF Channels specific settings ###### - ;## RF CHANNEL 0 ## -;#freq: RF front-end center frequency in [Hz] SignalSource.freq0=1575420000 - -;#gain: Front-end Gain in [dB] SignalSource.gain0=50 - -;#samples: Number of samples to be processed. Notice that 0 indicates no limit SignalSource.samples0=0 - ;## RF CHANNEL 1 ## -;#freq: RF front-end center frequency in [Hz] SignalSource.freq1=1575420000 - -;#gain: Front-end Gain in [dB] SignalSource.gain1=50 - -;#samples: Number of samples to be processed. Notice that 0 indicates no limit SignalSource.samples1=0 ;######### SIGNAL_CONDITIONER 0 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. - -;#implementation: Use [Pass_Through] or [Signal_Conditioner] -;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks -;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks SignalConditioner0.implementation=Pass_Through ;######### DATA_TYPE_ADAPTER 0 CONFIG ############ -;## Changes the type of input data. -;#implementation: [Pass_Through] disables this block DataTypeAdapter0.implementation=Pass_Through DataTypeAdapter0.item_type=gr_complex ;######### INPUT_FILTER 0 CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation -;# that shifts IF down to zero Hz. - InputFilter0.implementation=Pass_Through - -;#dump: Dump the filtered data to a file. InputFilter0.dump=false - -;#dump_filename: Log path and filename. InputFilter0.dump_filename=../data/input_filter.dat - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. InputFilter0.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter0.output_item_type=gr_complex -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. -InputFilter0.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time -InputFilter0.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. -InputFilter0.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - -InputFilter0.band1_begin=0.0 -InputFilter0.band1_end=0.45 -InputFilter0.band2_begin=0.55 -InputFilter0.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - -InputFilter0.ampl1_begin=1.0 -InputFilter0.ampl1_end=1.0 -InputFilter0.ampl2_begin=0.0 -InputFilter0.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands -InputFilter0.band1_error=1.0 -InputFilter0.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" -InputFilter0.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. -InputFilter0.grid_density=16 - -;# Original sampling frequency stored in the signal file -InputFilter0.sampling_frequency=20480000 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz - -InputFilter0.IF=5499998.47412109 - -;# Decimation factor after the frequency tranaslating block -InputFilter0.decimation_factor=8 - ;######### RESAMPLER CONFIG 0 ############ -;## Resamples the input data. - -;#implementation: Use [Pass_Through] or [Direct_Resampler] -;#[Pass_Through] disables this block -;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation Resampler0.implementation=Pass_Through -;######### SIGNAL_CONDITIONER 1 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. -;#implementation: Use [Pass_Through] or [Signal_Conditioner] -;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks -;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks +;######### SIGNAL_CONDITIONER 1 CONFIG ############ SignalConditioner1.implementation=Pass_Through + ;######### INPUT_FILTER 1 CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation -;# that shifts IF down to zero Hz. - InputFilter1.implementation=Pass_Through - -;#dump: Dump the filtered data to a file. InputFilter1.dump=false - -;#dump_filename: Log path and filename. InputFilter1.dump_filename=../data/input_filter.dat - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. InputFilter1.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter1.output_item_type=gr_complex -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. -InputFilter1.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time -InputFilter1.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. -InputFilter1.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - -InputFilter1.band1_begin=0.0 -InputFilter1.band1_end=0.45 -InputFilter1.band2_begin=0.55 -InputFilter1.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - -InputFilter1.ampl1_begin=1.0 -InputFilter1.ampl1_end=1.0 -InputFilter1.ampl2_begin=0.0 -InputFilter1.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands -InputFilter1.band1_error=1.0 -InputFilter1.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" -InputFilter1.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. -InputFilter1.grid_density=16 - -;# Original sampling frequency stored in the signal file -InputFilter1.sampling_frequency=20480000 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter1.IF is the intermediate frequency (in Hz) shifted down to zero Hz - -InputFilter1.IF=5499998.47412109 - -;# Decimation factor after the frequency tranaslating block -InputFilter1.decimation_factor=8 - - ;######### RESAMPLER CONFIG 1 ############ -;## Resamples the input data. - -;#implementation: Use [Pass_Through] or [Direct_Resampler] -;#[Pass_Through] disables this block -;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation Resampler1.implementation=Pass_Through ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available GPS satellite channels. Channels_1C.count=4 -;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 ;#signal: @@ -274,75 +100,45 @@ Channel3.RF_channel_ID=1 ;#signal: -;#if the option is disabled by default is assigned "1C" GPS L1 C/A Channel0.signal=1C Channel1.signal=1C Channel2.signal=1C Channel3.signal=1C -;######### SPECIFIC CHANNELS CONFIG ###### -;#The following options are specific to each channel and overwrite the generic options - ;######### ACQUISITION GLOBAL CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] -;#item_type: Type and resolution for each of the signal samples. Acquisition_1C.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1C.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] Acquisition_1C.coherent_integration_time_ms=1 -;#threshold: Acquisition threshold. It will be ignored if pfa is defined. Acquisition_1C.threshold=0.01 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;Acquisition_1C.pfa=0.01 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1C.doppler_max=8000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1C.doppler_step=500 -;#bit_transition_flag: Enable or disable a strategy to deal with bit transitions in GPS signals: process two dwells and take -;#maximum test statistics. Only use with implementation: [GPS_L1_CA_PCPS_Acquisition] -;#(should not be used for Galileo_E1_PCPS_Ambiguous_Acquisition]) Acquisition_1C.bit_transition_flag=false -;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true Acquisition_1C.max_dwells=1 Acquisition_1C.dump=false -;#filename: Log path and filename Acquisition_1C.dump_filename=./acq_dump.dat ;######### TRACKING GLOBAL CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1C.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1C.if=0 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1C.pll_bw_hz=40.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1C.dll_bw_hz=4.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1C.order=3; -;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] Tracking_1C.early_late_space_chips=0.5; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1C.dump=false -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1C.dump_filename=./tracking_ch_ ;######### TELEMETRY DECODER GPS CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.dump=false ;######### OBSERVABLES CONFIG ############ Observables.implementation=Hybrid_Observables -;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] Observables.dump=false -;#dump_filename: Log path and filename. Observables.dump_filename=./observables.dat @@ -351,21 +147,13 @@ PVT.implementation=RTKLIB_PVT PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad -;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] PVT.output_rate_ms=100 -;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. PVT.display_rate_ms=500 -;# KML, GeoJSON, NMEA and RTCM output configuration -;#nmea_dump_filename: NMEA log path and filename PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; -;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) PVT.flag_nmea_tty_port=false; -;#nmea_dump_devname: serial device descriptor for NMEA logging PVT.nmea_dump_devname=/dev/pts/4 PVT.flag_rtcm_server=true PVT.flag_rtcm_tty_port=false PVT.rtcm_dump_devname=/dev/pts/1 -;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] PVT.dump=false -;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. PVT.dump_filename=./PVT diff --git a/conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b.conf b/conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b.conf index 2f601ba41..9c899e6ca 100644 --- a/conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b.conf +++ b/conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b.conf @@ -1,4 +1,6 @@ -; Default configuration file +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -25,23 +27,17 @@ GNSS-SDR.SUPL_LAC=0x59e2 GNSS-SDR.SUPL_CI=0x31b0 ;######### SIGNAL_SOURCE CONFIG ############ -;#implementation SignalSource.implementation=Flexiband_Signal_Source SignalSource.flag_read_file=true SignalSource.signal_file=/media/javier/SISTEMA/signals/fraunhofer/L125_III1b_210s.usb ; <- PUT YOUR FILE HERE -;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. SignalSource.item_type=gr_complex -;# FPGA firmware file SignalSource.firmware_file=flexiband_III-1b.bit -;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file SignalSource.RF_channels=1 ;#frontend channels gain. Not usable yet! SignalSource.gain1=0 SignalSource.gain2=0 SignalSource.gain3=0 -;#frontend channels AGC SignalSource.AGC=true -;# USB 3.0 packet buffer size (number of SuperSpeed packets) SignalSource.usb_packet_buffer=128 ;###################################################### @@ -49,7 +45,6 @@ SignalSource.usb_packet_buffer=128 ;###################################################### ;######### SIGNAL_CONDITIONER 0 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. SignalConditioner0.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER 0 CONFIG ############ @@ -57,80 +52,31 @@ DataTypeAdapter0.implementation=Pass_Through DataTypeAdapter0.item_type=gr_complex ;######### INPUT_FILTER 0 CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Pass_Through] disables this block -;#[Fir_Filter] enables a FIR Filter -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. - InputFilter0.implementation=Freq_Xlating_Fir_Filter - -;#dump: Dump the filtered data to a file. InputFilter0.dump=false - -;#dump_filename: Log path and filename. InputFilter0.dump_filename=../data/input_filter_ch0.dat - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. InputFilter0.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter0.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. InputFilter0.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time InputFilter0.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. InputFilter0.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - InputFilter0.band1_begin=0.0 InputFilter0.band1_end=0.45 InputFilter0.band2_begin=0.55 InputFilter0.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - InputFilter0.ampl1_begin=1.0 InputFilter0.ampl1_end=1.0 InputFilter0.ampl2_begin=0.0 InputFilter0.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands InputFilter0.band1_error=1.0 InputFilter0.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" InputFilter0.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. InputFilter0.grid_density=16 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz InputFilter0.sampling_frequency=20000000 InputFilter0.IF=0 - -;# Decimation factor after the frequency tranaslating block InputFilter0.decimation_factor=4 ;######### RESAMPLER CONFIG 0 ############ -;## Resamples the input data. Resampler0.implementation=Pass_Through ;###################################################### @@ -138,7 +84,6 @@ Resampler0.implementation=Pass_Through ;###################################################### ;######### SIGNAL_CONDITIONER 1 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. SignalConditioner1.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER 1 CONFIG ############ @@ -146,81 +91,32 @@ DataTypeAdapter1.implementation=Pass_Through DataTypeAdapter1.item_type=gr_complex ;######### INPUT_FILTER 0 CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Pass_Through] disables this block -;#[Fir_Filter] enables a FIR Filter -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. - InputFilter1.implementation=Freq_Xlating_Fir_Filter - -;#dump: Dump the filtered data to a file. InputFilter1.dump=false - -;#dump_filename: Log path and filename. InputFilter1.dump_filename=../data/input_filter_ch1.dat - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. InputFilter1.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter1.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. InputFilter1.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time InputFilter1.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. InputFilter1.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - InputFilter1.band1_begin=0.0 InputFilter1.band1_end=0.45 InputFilter1.band2_begin=0.55 InputFilter1.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - InputFilter1.ampl1_begin=1.0 InputFilter1.ampl1_end=1.0 InputFilter1.ampl2_begin=0.0 InputFilter1.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands InputFilter1.band1_error=1.0 InputFilter1.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" InputFilter1.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. InputFilter1.grid_density=16 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. InputFilter1.sampling_frequency=20000000 -;# IF deviation due to front-end LO inaccuracies [HZ] InputFilter1.IF=0 - -;# Decimation factor after the frequency tranaslating block InputFilter1.decimation_factor=4 ;######### RESAMPLER CONFIG 1 ############ -;## Resamples the input data. Resampler1.implementation=Pass_Through @@ -229,7 +125,6 @@ Resampler1.implementation=Pass_Through ;###################################################### ;######### SIGNAL_CONDITIONER 2 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. SignalConditioner2.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER 2 CONFIG ############ @@ -237,84 +132,41 @@ DataTypeAdapter2.implementation=Pass_Through DataTypeAdapter2.item_type=gr_complex ;######### INPUT_FILTER 2 CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - InputFilter2.implementation=Freq_Xlating_Fir_Filter - -;#dump: Dump the filtered data to a file. InputFilter2.dump=false - -;#dump_filename: Log path and filename. InputFilter2.dump_filename=../data/input_filter_ch2.dat - -;#input_item_type: Type and resolution for input signal samples. InputFilter2.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples.. InputFilter2.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. InputFilter2.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time InputFilter2.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. InputFilter2.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - InputFilter2.band1_begin=0.0 InputFilter2.band1_end=0.45 InputFilter2.band2_begin=0.55 InputFilter2.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - InputFilter2.ampl1_begin=1.0 InputFilter2.ampl1_end=1.0 InputFilter2.ampl2_begin=0.0 InputFilter2.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands InputFilter2.band1_error=1.0 InputFilter2.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" InputFilter2.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. InputFilter2.grid_density=16 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. InputFilter2.sampling_frequency=40000000 -;# IF deviation due to front-end LO inaccuracies [HZ] InputFilter2.IF=0 - -;# Decimation factor after the frequency tranaslating block InputFilter2.decimation_factor=8 ;######### RESAMPLER CONFIG 1 ############ -;## Resamples the input data. Resampler2.implementation=Pass_Through ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available GPS satellite channels. Channels_1C.count=0 Channels_1B.count=10 Channels_2S.count=0 Channels_5X.count=0 -;#GPS.prns=7,8 - -;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 ;#signal: @@ -369,13 +221,11 @@ Channel37.RF_channel_ID=2 Channel38.RF_channel_ID=2 Channel39.RF_channel_ID=2 -;######### ACQUISITION GENERIC CONFIG ###### -;#The following options are specific to each channel and overwrite the generic options +;######### ACQUISITION CONFIG ###### ;# GPS L1 CA Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition Acquisition_1C.item_type=gr_complex -Acquisition_1C.if=0 Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.threshold=0.005 Acquisition_1C.doppler_max=5000 @@ -387,30 +237,19 @@ Acquisition_1C.dump_filename=./acq_dump.dat ;# Galileo E1 Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1B.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1B.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition_1B.sampled_ms=4 -;#threshold: Acquisition threshold +Acquisition_1B.coherent_integration_time_ms=4 ;Acquisition_1B.threshold=0 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] Acquisition_1B.pfa=0.0000002 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1B.doppler_max=5000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1B.doppler_step=125 -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1B.dump=false -;#filename: Log path and filename Acquisition_1B.dump_filename=./acq_dump.dat ;# GPS L2C M Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition Acquisition_2S.item_type=gr_complex -Acquisition_2S.if=0 Acquisition_2S.threshold=0.00074 ;Acquisition_2S.pfa=0.001 Acquisition_2S.doppler_max=5000 @@ -424,7 +263,6 @@ Acquisition_2S.dump_filename=./acq_dump.dat ;# GALILEO E5a Acquisition_5X.implementation=Galileo_E5a_Noncoherent_IQ_Acquisition_CAF Acquisition_5X.item_type=gr_complex -Acquisition_5X.if=0 Acquisition_5X.coherent_integration_time_ms=1 Acquisition_5X.threshold=0.009 Acquisition_5X.doppler_max=5000 @@ -441,7 +279,6 @@ Acquisition_5X.dump_filename=./acq_dump.dat ;######### GPS L1 C/A GENERIC TRACKING CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.item_type=gr_complex -Tracking_1C.if=0 Tracking_1C.pll_bw_hz=40.0; Tracking_1C.dll_bw_hz=3.0; Tracking_1C.order=3; @@ -452,30 +289,19 @@ Tracking_1C.dump_filename=../data/epl_tracking_ch_ ;######### GALILEO E1 TRK CONFIG ############ Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1B.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1B.if=0 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1B.pll_bw_hz=15.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1B.dll_bw_hz=2.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1B.order=3; -;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo Tracking_1B.early_late_space_chips=0.15; -;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] Tracking_1B.very_early_late_space_chips=0.6; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1B.dump=false -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1B.dump_filename=../data/veml_tracking_ch_ ;######### GPS L2C GENERIC TRACKING CONFIG ############ Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking Tracking_2S.item_type=gr_complex -Tracking_2S.if=0 Tracking_2S.pll_bw_hz=2.0; Tracking_2S.dll_bw_hz=0.25; Tracking_2S.order=2; @@ -487,7 +313,6 @@ Tracking_2S.dump_filename=./tracking_ch_ ;######### GALILEO E5 TRK CONFIG ############ Tracking_5X.implementation=Galileo_E5a_DLL_PLL_Tracking Tracking_5X.item_type=gr_complex -Tracking_5X.if=0 Tracking_5X.pll_bw_hz_init=20.0; **Only for E5a** PLL loop filter bandwidth during initialization [Hz] Tracking_5X.dll_bw_hz_init=20.0; **Only for E5a** DLL loop filter bandwidth during initialization [Hz] Tracking_5X.ti_ms=1; **Only for E5a** loop filter integration time after initialization (secondary code delay search)[ms] @@ -515,9 +340,7 @@ TelemetryDecoder_5X.dump=false ;######### OBSERVABLES CONFIG ############ Observables.implementation=Hybrid_Observables -;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] Observables.dump=false -;#dump_filename: Log path and filename. Observables.dump_filename=./observables.dat @@ -526,21 +349,13 @@ PVT.implementation=RTKLIB_PVT PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad -;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] PVT.output_rate_ms=100 -;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. PVT.display_rate_ms=100 -;# KML, GeoJSON, NMEA and RTCM output configuration -;#nmea_dump_filename: NMEA log path and filename PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; -;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) PVT.flag_nmea_tty_port=false; -;#nmea_dump_devname: serial device descriptor for NMEA logging PVT.nmea_dump_devname=/dev/pts/4 PVT.flag_rtcm_server=false PVT.flag_rtcm_tty_port=false PVT.rtcm_dump_devname=/dev/pts/1 -;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] PVT.dump=false -;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. PVT.dump_filename=./PVT diff --git a/conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b_real.conf b/conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b_real.conf index 669f734c3..ab8bbaed6 100644 --- a/conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b_real.conf +++ b/conf/gnss-sdr_multichannel_GPS_L2_M_Flexiband_bin_file_III_1b_real.conf @@ -1,4 +1,6 @@ -; Default configuration file +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -25,23 +27,17 @@ GNSS-SDR.SUPL_LAC=0x59e2 GNSS-SDR.SUPL_CI=0x31b0 ;######### SIGNAL_SOURCE CONFIG ############ -;#implementation SignalSource.implementation=Flexiband_Signal_Source SignalSource.flag_read_file=true SignalSource.signal_file=/home/javier/signals/20140923_20-24-17_L125_roof_210s.usb ; <- PUT YOUR FILE HERE -;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. SignalSource.item_type=gr_complex -;# FPGA firmware file SignalSource.firmware_file=flexiband_III-1b.bit -;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file SignalSource.RF_channels=2 ;#frontend channels gain. Not usable yet! SignalSource.gain1=0 SignalSource.gain2=0 SignalSource.gain3=0 -;#frontend channels AGC SignalSource.AGC=true -;# USB 3.0 packet buffer size (number of SuperSpeed packets) SignalSource.usb_packet_buffer=128 ;###################################################### @@ -49,7 +45,6 @@ SignalSource.usb_packet_buffer=128 ;###################################################### ;######### SIGNAL_CONDITIONER 0 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. SignalConditioner0.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER 0 CONFIG ############ @@ -57,83 +52,30 @@ DataTypeAdapter0.implementation=Pass_Through DataTypeAdapter0.item_type=gr_complex ;######### INPUT_FILTER 0 CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Pass_Through] disables this block -;#[Fir_Filter] enables a FIR Filter -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. - InputFilter0.implementation=Freq_Xlating_Fir_Filter - -;#dump: Dump the filtered data to a file. InputFilter0.dump=false - -;#dump_filename: Log path and filename. InputFilter0.dump_filename=../data/input_filter_ch0.dat - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. InputFilter0.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter0.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. InputFilter0.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time InputFilter0.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. InputFilter0.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - InputFilter0.band1_begin=0.0 InputFilter0.band1_end=0.45 InputFilter0.band2_begin=0.55 InputFilter0.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - InputFilter0.ampl1_begin=1.0 InputFilter0.ampl1_end=1.0 InputFilter0.ampl2_begin=0.0 InputFilter0.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands InputFilter0.band1_error=1.0 InputFilter0.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" InputFilter0.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. InputFilter0.grid_density=16 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz -;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/ -InputFilter0.sampling_frequency=20000000 -;# IF deviation due to front-end LO inaccuracies [HZ] InputFilter0.IF=0 - -;# Decimation factor after the frequency tranaslating block InputFilter0.decimation_factor=4 ;######### RESAMPLER CONFIG 0 ############ -;## Resamples the input data. Resampler0.implementation=Pass_Through ;###################################################### @@ -141,7 +83,6 @@ Resampler0.implementation=Pass_Through ;###################################################### ;######### SIGNAL_CONDITIONER 1 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. SignalConditioner1.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER 1 CONFIG ############ @@ -149,88 +90,35 @@ DataTypeAdapter1.implementation=Pass_Through DataTypeAdapter1.item_type=gr_complex ;######### INPUT_FILTER 0 CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Pass_Through] disables this block -;#[Fir_Filter] enables a FIR Filter -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. - InputFilter1.implementation=Freq_Xlating_Fir_Filter - -;#dump: Dump the filtered data to a file. InputFilter1.dump=false - -;#dump_filename: Log path and filename. InputFilter1.dump_filename=../data/input_filter_ch1.dat - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. InputFilter1.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter1.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. InputFilter1.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time InputFilter1.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. InputFilter1.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - InputFilter1.band1_begin=0.0 InputFilter1.band1_end=0.45 InputFilter1.band2_begin=0.55 InputFilter1.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - InputFilter1.ampl1_begin=1.0 InputFilter1.ampl1_end=1.0 InputFilter1.ampl2_begin=0.0 InputFilter1.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands InputFilter1.band1_error=1.0 InputFilter1.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" InputFilter1.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. InputFilter1.grid_density=16 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz -;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/ InputFilter1.sampling_frequency=20000000 -;# IF deviation due to front-end LO inaccuracies [HZ] InputFilter1.IF=0 - -;# Decimation factor after the frequency tranaslating block InputFilter1.decimation_factor=4 ;######### RESAMPLER CONFIG 1 ############ -;## Resamples the input data. Resampler1.implementation=Pass_Through ;######### SIGNAL_CONDITIONER 2 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. SignalConditioner2.implementation=Pass_Through ;######### DATA_TYPE_ADAPTER 2 CONFIG ############ @@ -239,32 +127,21 @@ DataTypeAdapter2.item_type=gr_complex ;######### INPUT_FILTER 2 CONFIG ############ InputFilter2.implementation=Pass_Through - -;#dump: Dump the filtered data to a file. InputFilter2.dump=false - -;#dump_filename: Log path and filename. InputFilter2.dump_filename=../data/input_filter.dat - -;#input_item_type: Type and resolution for input signal samples. InputFilter2.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter2.output_item_type=gr_complex ;######### RESAMPLER CONFIG 2 ############ -;## Resamples the input data. Resampler2.implementation=Pass_Through ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available GPS satellite channels. Channels_1C.count=10 Channels_2S.count=4 ;#GPS.prns=7,8 -;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 ;#signal: @@ -301,7 +178,6 @@ Channel19.RF_channel_ID=1 Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition Acquisition_1C.item_type=gr_complex -Acquisition_1C.if=0 Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.threshold=0.005 Acquisition_1C.doppler_max=5000 @@ -315,7 +191,6 @@ Acquisition_1C.dump_filename=./acq_dump.dat ;# GPS L2C M Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition Acquisition_2S.item_type=gr_complex -Acquisition_2S.if=0 Acquisition_2S.threshold=0.00074 ;Acquisition_2S.pfa=0.001 Acquisition_2S.doppler_max=5000 @@ -330,7 +205,6 @@ Acquisition_2S.dump_filename=./acq_dump.dat ;######### GPS L1 C/A GENERIC TRACKING CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.item_type=gr_complex -Tracking_1C.if=0 Tracking_1C.pll_bw_hz=40.0; Tracking_1C.dll_bw_hz=3.0; Tracking_1C.order=3; @@ -342,7 +216,6 @@ Tracking_1C.dump_filename=../data/epl_tracking_ch_ ;######### GPS L2C GENERIC TRACKING CONFIG ############ Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking Tracking_2S.item_type=gr_complex -Tracking_2S.if=0 Tracking_2S.pll_bw_hz=2.0; Tracking_2S.dll_bw_hz=0.25; Tracking_2S.order=2; @@ -362,29 +235,22 @@ TelemetryDecoder_2S.dump=false ;######### OBSERVABLES CONFIG ############ Observables.implementation=Hybrid_Observables -;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] Observables.dump=true -;#dump_filename: Log path and filename. Observables.dump_filename=./observables.dat ;######### PVT CONFIG ############ PVT.implementation=RTKLIB_PVT -;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] +PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic +PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX +PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad PVT.output_rate_ms=100 -;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. PVT.display_rate_ms=100 -;# KML, GeoJSON, NMEA and RTCM output configuration -;#nmea_dump_filename: NMEA log path and filename PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; -;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) PVT.flag_nmea_tty_port=false; -;#nmea_dump_devname: serial device descriptor for NMEA logging PVT.nmea_dump_devname=/dev/pts/4 PVT.flag_rtcm_server=false PVT.flag_rtcm_tty_port=false PVT.rtcm_dump_devname=/dev/pts/1 -;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] PVT.dump=false -;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. PVT.dump_filename=./PVT \ No newline at end of file diff --git a/conf/gnss-sdr_multichannel_all_in_one_Flexiband_bin_file_III_1b.conf b/conf/gnss-sdr_multichannel_all_in_one_Flexiband_bin_file_III_1b.conf index dece9c9e4..26fa98a81 100644 --- a/conf/gnss-sdr_multichannel_all_in_one_Flexiband_bin_file_III_1b.conf +++ b/conf/gnss-sdr_multichannel_all_in_one_Flexiband_bin_file_III_1b.conf @@ -1,4 +1,6 @@ -; Default configuration file +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -25,23 +27,17 @@ GNSS-SDR.SUPL_LAC=0x59e2 GNSS-SDR.SUPL_CI=0x31b0 ;######### SIGNAL_SOURCE CONFIG ############ -;#implementation SignalSource.implementation=Flexiband_Signal_Source SignalSource.flag_read_file=true -SignalSource.signal_file=/media/javier/SISTEMA/signals/fraunhofer/L125_III1b_210s.usb ; <- PUT YOUR FILE HERE -;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. +SignalSource.signal_file=/media/javier/SISTEMA/signals/fraunhofer/L125_III1b_210s.usb ; <- PUT YOUR FILE HERE SignalSource.item_type=gr_complex -;# FPGA firmware file SignalSource.firmware_file=flexiband_III-1b.bit -;#RF_channels: Number of RF channels present in the frontend device, must agree the FPGA firmware file SignalSource.RF_channels=3 ;#frontend channels gain. Not usable yet! SignalSource.gain1=0 SignalSource.gain2=0 SignalSource.gain3=0 -;#frontend channels AGC SignalSource.AGC=true -;# USB 3.0 packet buffer size (number of SuperSpeed packets) SignalSource.usb_packet_buffer=128 ;###################################################### @@ -49,7 +45,6 @@ SignalSource.usb_packet_buffer=128 ;###################################################### ;######### SIGNAL_CONDITIONER 0 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. SignalConditioner0.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER 0 CONFIG ############ @@ -57,177 +52,69 @@ DataTypeAdapter0.implementation=Pass_Through DataTypeAdapter0.item_type=gr_complex ;######### INPUT_FILTER 0 CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Pass_Through] disables this block -;#[Fir_Filter] enables a FIR Filter -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. - InputFilter0.implementation=Freq_Xlating_Fir_Filter - -;#dump: Dump the filtered data to a file. InputFilter0.dump=false - -;#dump_filename: Log path and filename. InputFilter0.dump_filename=../data/input_filter_ch0.dat - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse reaponse given a set of band edges, -;#the desired reaponse on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. InputFilter0.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter0.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. InputFilter0.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time InputFilter0.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. InputFilter0.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - InputFilter0.band1_begin=0.0 InputFilter0.band1_end=0.45 InputFilter0.band2_begin=0.55 InputFilter0.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - InputFilter0.ampl1_begin=1.0 InputFilter0.ampl1_end=1.0 InputFilter0.ampl2_begin=0.0 InputFilter0.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands InputFilter0.band1_error=1.0 InputFilter0.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" InputFilter0.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. InputFilter0.grid_density=16 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz -;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/ -InputFilter0.sampling_frequency=20000000 -;# IF deviation due to front-end LO inaccuracies [HZ] -;#InputFilter0.IF=-205000 InputFilter0.IF=0 - -;# Decimation factor after the frequency tranaslating block InputFilter0.decimation_factor=4 ;######### RESAMPLER CONFIG 0 ############ -;## Resamples the input data. Resampler0.implementation=Pass_Through + ;###################################################### ;######### RF CHANNEL 1 SIGNAL CONDITIONER ############ ;###################################################### ;######### SIGNAL_CONDITIONER 1 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. SignalConditioner1.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER 1 CONFIG ############ DataTypeAdapter1.implementation=Pass_Through DataTypeAdapter1.item_type=gr_complex -;######### INPUT_FILTER 0 CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Pass_Through] disables this block -;#[Fir_Filter] enables a FIR Filter -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. - +;######### INPUT_FILTER 1 CONFIG ############ InputFilter1.implementation=Freq_Xlating_Fir_Filter - -;#dump: Dump the filtered data to a file. InputFilter1.dump=false - -;#dump_filename: Log path and filename. InputFilter1.dump_filename=../data/input_filter_ch1.dat - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. InputFilter1.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter1.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. InputFilter1.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time InputFilter1.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. InputFilter1.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - InputFilter1.band1_begin=0.0 InputFilter1.band1_end=0.45 InputFilter1.band2_begin=0.55 InputFilter1.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - InputFilter1.ampl1_begin=1.0 InputFilter1.ampl1_end=1.0 InputFilter1.ampl2_begin=0.0 InputFilter1.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands InputFilter1.band1_error=1.0 InputFilter1.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" InputFilter1.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. InputFilter1.grid_density=16 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz -;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/ -InputFilter1.sampling_frequency=20000000 -;# IF deviation due to front-end LO inaccuracies [HZ] InputFilter1.IF=0 - -;# Decimation factor after the frequency tranaslating block InputFilter1.decimation_factor=4 - ;######### RESAMPLER CONFIG 1 ############ -;## Resamples the input data. Resampler1.implementation=Pass_Through @@ -236,7 +123,6 @@ Resampler1.implementation=Pass_Through ;###################################################### ;######### SIGNAL_CONDITIONER 2 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. SignalConditioner2.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER 2 CONFIG ############ @@ -244,96 +130,43 @@ DataTypeAdapter2.implementation=Pass_Through DataTypeAdapter2.item_type=gr_complex ;######### INPUT_FILTER 2 CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - InputFilter2.implementation=Freq_Xlating_Fir_Filter - -;#dump: Dump the filtered data to a file. InputFilter2.dump=false - -;#dump_filename: Log path and filename. InputFilter2.dump_filename=../data/input_filter_ch2.dat - -;#input_item_type: Type and resolution for input signal samples. InputFilter2.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter2.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. InputFilter2.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time InputFilter2.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. InputFilter2.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - InputFilter2.band1_begin=0.0 InputFilter2.band1_end=0.45 InputFilter2.band2_begin=0.55 InputFilter2.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - InputFilter2.ampl1_begin=1.0 InputFilter2.ampl1_end=1.0 InputFilter2.ampl2_begin=0.0 InputFilter2.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands InputFilter2.band1_error=1.0 InputFilter2.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" InputFilter2.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. InputFilter2.grid_density=16 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz -;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/ -InputFilter2.sampling_frequency=40000000 -;# IF deviation due to front-end LO inaccuracies [HZ] InputFilter2.IF=0 - -;# Decimation factor after the frequency tranaslating block InputFilter2.decimation_factor=8 -;######### RESAMPLER CONFIG 1 ############ -;## Resamples the input data. +;######### RESAMPLER CONFIG 2 ############ Resampler2.implementation=Pass_Through ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available GPS satellite channels. Channels_1C.count=10 Channels_1B.count=10 Channels_2S.count=10 -Channels_5X.count=10 +Channels_5X.count=2 +Channels_L5.count=2 ;#GPS.prns=7,8 - -;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver -Channels.in_acquisition=1 - -;#signal: -;# "1C" GPS L1 C/A -;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL) -;# "1G" GLONASS L1 C/A -;# "2S" GPS L2 L2C (M) -;# "5X" GALILEO E5a I+Q -;# "L5" GPS L5 +;Channels.in_acquisition=2 ;# CHANNEL CONNECTION @@ -377,14 +210,16 @@ Channel36.RF_channel_ID=2 Channel37.RF_channel_ID=2 Channel38.RF_channel_ID=2 Channel39.RF_channel_ID=2 +Channel40.RF_channel_ID=2 +Channel41.RF_channel_ID=2 +Channel42.RF_channel_ID=2 + +;Channel20.satellite=7 -;######### ACQUISITION GENERIC CONFIG ###### -;#The following options are specific to each channel and overwrite the generic options ;# GPS L1 CA Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition Acquisition_1C.item_type=gr_complex -Acquisition_1C.if=0 Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.threshold=0.005 Acquisition_1C.doppler_max=5000 @@ -397,30 +232,18 @@ Acquisition_1C.dump_filename=./acq_dump.dat ;# Galileo E1 Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1B.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1B.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition_1B.sampled_ms=4 -;#threshold: Acquisition threshold +Acquisition_1B.coherent_integration_time_ms=4 ;Acquisition_1B.threshold=0 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] Acquisition_1B.pfa=0.0000002 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1B.doppler_max=5000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1B.doppler_step=125 -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] -Acquisition_1B.dump=false -;#filename: Log path and filename Acquisition_1B.dump_filename=./acq_dump.dat ;# GPS L2C M Acquisition_2S.implementation=GPS_L2_M_PCPS_Acquisition Acquisition_2S.item_type=gr_complex -Acquisition_2S.if=0 Acquisition_2S.threshold=0.00074 ;Acquisition_2S.pfa=0.001 Acquisition_2S.doppler_max=5000 @@ -434,7 +257,6 @@ Acquisition_2S.dump_filename=./acq_dump.dat ;# GALILEO E5a Acquisition_5X.implementation=Galileo_E5a_Noncoherent_IQ_Acquisition_CAF Acquisition_5X.item_type=gr_complex -Acquisition_5X.if=0 Acquisition_5X.coherent_integration_time_ms=1 Acquisition_5X.threshold=0.009 Acquisition_5X.doppler_max=5000 @@ -447,11 +269,23 @@ Acquisition_5X.dump=false Acquisition_5X.dump_filename=./acq_dump.dat +;# GPS L5 +Acquisition_L5.implementation=GPS_L5i_PCPS_Acquisition +Acquisition_L5.item_type=gr_complex +Acquisition_L5.threshold=0.00074 +;Acquisition_L5.pfa=0.001 +Acquisition_L5.doppler_max=5000 +Acquisition_L5.doppler_min=-5000 +Acquisition_L5.doppler_step=125 +Acquisition_L5.max_dwells=1 +Acquisition_L5.dump=false +Acquisition_L5.dump_filename=./acq_dump.dat + + + ;######### TRACKING CONFIG ############ -;######### GPS L1 C/A GENERIC TRACKING CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking Tracking_1C.item_type=gr_complex -Tracking_1C.if=0 Tracking_1C.pll_bw_hz=35.0; Tracking_1C.dll_bw_hz=2.0; Tracking_1C.order=3; @@ -461,30 +295,19 @@ Tracking_1C.dump_filename=../data/epl_tracking_ch_ ;######### GALILEO E1 TRK CONFIG ############ Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1B.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1B.if=0 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1B.pll_bw_hz=15.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1B.dll_bw_hz=2.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1B.order=3; -;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo Tracking_1B.early_late_space_chips=0.15; -;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] Tracking_1B.very_early_late_space_chips=0.6; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1B.dump=false -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1B.dump_filename=../data/veml_tracking_ch_ ;######### GPS L2C GENERIC TRACKING CONFIG ############ Tracking_2S.implementation=GPS_L2_M_DLL_PLL_Tracking Tracking_2S.item_type=gr_complex -Tracking_2S.if=0 Tracking_2S.pll_bw_hz=2.0; Tracking_2S.dll_bw_hz=0.25; Tracking_2S.order=2; @@ -492,21 +315,32 @@ Tracking_2S.early_late_space_chips=0.5; Tracking_2S.dump=false Tracking_2S.dump_filename=./tracking_ch_ - ;######### GALILEO E5 TRK CONFIG ############ Tracking_5X.implementation=Galileo_E5a_DLL_PLL_Tracking Tracking_5X.item_type=gr_complex -Tracking_5X.if=0 -Tracking_5X.pll_bw_hz_init=20.0; **Only for E5a** PLL loop filter bandwidth during initialization [Hz] -Tracking_5X.dll_bw_hz_init=20.0; **Only for E5a** DLL loop filter bandwidth during initialization [Hz] -Tracking_5X.ti_ms=1; **Only for E5a** loop filter integration time after initialization (secondary code delay search)[ms] -Tracking_5X.pll_bw_hz=20.0; -Tracking_5X.dll_bw_hz=20.0; +Tracking_5X.track_pilot=true +Tracking_5X.pll_bw_hz=15.0; +Tracking_5X.dll_bw_hz=2.0; +Tracking_5X.pll_bw_narrow_hz=5.0; +Tracking_5X.dll_bw_narrow_hz=1.0; Tracking_5X.order=2; Tracking_5X.early_late_space_chips=0.5; Tracking_5X.dump=false Tracking_5X.dump_filename=./tracking_ch_ +;######### GALILEO E5 TRK CONFIG ############ +Tracking_L5.implementation=GPS_L5_DLL_PLL_Tracking +Tracking_L5.item_type=gr_complex +Tracking_L5.track_pilot=true +Tracking_L5.pll_bw_hz=15.0; +Tracking_L5.dll_bw_hz=2.0; +Tracking_L5.pll_bw_narrow_hz=4.0; +Tracking_L5.dll_bw_narrow_hz=1.0; +Tracking_L5.order=2; +Tracking_L5.early_late_space_chips=0.5; +Tracking_L5.dump=false +Tracking_L5.dump_filename=./tracking_ch_ + ;######### TELEMETRY DECODER CONFIG ############ TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder @@ -521,37 +355,28 @@ TelemetryDecoder_2S.dump=false TelemetryDecoder_5X.implementation=Galileo_E5a_Telemetry_Decoder TelemetryDecoder_5X.dump=false +TelemetryDecoder_L5.implementation=GPS_L5_Telemetry_Decoder +TelemetryDecoder_L5.dump=false + ;######### OBSERVABLES CONFIG ############ -;#implementation: Observables.implementation=Hybrid_Observables -;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] Observables.dump=false -;#dump_filename: Log path and filename. Observables.dump_filename=./observables.dat ;######### PVT CONFIG ############ -;#implementation: Position Velocity and Time (PVT) implementation: PVT.implementation=RTKLIB_PVT PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad -;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] PVT.output_rate_ms=10 -;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. PVT.display_rate_ms=100 -;# KML, GeoJSON, NMEA and RTCM output configuration -;#nmea_dump_filename: NMEA log path and filename PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; -;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one) PVT.flag_nmea_tty_port=false; -;#nmea_dump_devname: serial device descriptor for NMEA logging PVT.nmea_dump_devname=/dev/pts/4 PVT.flag_rtcm_server=false PVT.flag_rtcm_tty_port=false PVT.rtcm_dump_devname=/dev/pts/1 -;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] PVT.dump=false -;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. PVT.dump_filename=./PVT diff --git a/conf/gnss-sdr_multisource_Hybrid_ishort.conf b/conf/gnss-sdr_multisource_Hybrid_ishort.conf index 3aa7f840b..60f03431b 100644 --- a/conf/gnss-sdr_multisource_Hybrid_ishort.conf +++ b/conf/gnss-sdr_multisource_Hybrid_ishort.conf @@ -1,4 +1,6 @@ -; Default configuration file +; This is a GNSS-SDR configuration file +; The configuration API is described at http://gnss-sdr.org/docs/sp-blocks/ + ; You can define your own receiver and invoke it by doing ; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf ; @@ -11,260 +13,73 @@ GNSS-SDR.internal_fs_sps=4000000 Receiver.sources_count=2 -;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. -; it helps to not overload the CPU, but the processing time will be longer. SignalSource.enable_throttle_control=false -;#repeat: Repeat the processing file. SignalSource.repeat=false ;######### SIGNAL_SOURCE 0 CONFIG ############ SignalSource0.implementation=File_Signal_Source -;#filename: path to file with the captured GNSS signal samples to be processed SignalSource0.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE -;#item_type: Type and resolution for each of the signal samples. SignalSource0.item_type=ishort -;#sampling_frequency: Original Signal sampling frequency in samples per second SignalSource0.sampling_frequency=4000000 -;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. SignalSource0.samples=0 ;######### SIGNAL_SOURCE 1 CONFIG ############ SignalSource1.implementation=File_Signal_Source -;#filename: path to file with the captured GNSS signal samples to be processed SignalSource1.filename=/datalogger/signals/CTTC/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat ; <- PUT YOUR FILE HERE -;#item_type: Type and resolution for each of the signal samples. SignalSource1.item_type=ishort -;#sampling_frequency: Original Signal sampling frequency in [Hz] SignalSource1.sampling_frequency=4000000 -;#freq: RF front-end center frequency in [Hz] SignalSource1.freq=1575420000 -;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. SignalSource1.samples=0 ;######### SIGNAL_CONDITIONER 0 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. - -;#implementation: Use [Pass_Through] or [Signal_Conditioner] -;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks -;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks SignalConditioner0.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER 0 CONFIG ############ -;## Changes the type of input data. -;#implementation: [Pass_Through] disables this block DataTypeAdapter0.implementation=Ishort_To_Complex ;######### INPUT_FILTER 0 CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Pass_Through] disables this block -;#[Fir_Filter] enables a FIR Filter -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. - InputFilter0.implementation=Pass_Through - -;#dump: Dump the filtered data to a file. InputFilter0.dump=false - -;#dump_filename: Log path and filename. InputFilter0.dump_filename=../data/input_filter.dat - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of GNU Radio's function: gr_remez. -;;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. InputFilter0.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter0.output_item_type=gr_complex -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. -InputFilter0.taps_item_type=float -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time -InputFilter0.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. -InputFilter0.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - -InputFilter0.band1_begin=0.0 -InputFilter0.band1_end=0.45 -InputFilter0.band2_begin=0.55 -InputFilter0.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - -InputFilter0.ampl1_begin=1.0 -InputFilter0.ampl1_end=1.0 -InputFilter0.ampl2_begin=0.0 -InputFilter0.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands -InputFilter0.band1_error=1.0 -InputFilter0.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" -InputFilter0.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. -InputFilter0.grid_density=16 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz - -InputFilter0.sampling_frequency=4000000 -InputFilter0.IF=0 ;######### RESAMPLER 1 CONFIG ############ -;## Resamples the input data. - -;#implementation: Use [Pass_Through] or [Direct_Resampler] -;#[Pass_Through] disables this block -;#[Direct_Resampler] enables a resampler that implements a nearest neighborhood interpolation - Resampler1.implementation=Pass_Through - -;#dump: Dump the resampled data to a file. Resampler1.dump=false -;#dump_filename: Log path and filename. Resampler1.dump_filename=../data/resampler.dat - -;#item_type: Type and resolution for each of the signal samples. Resampler1.item_type=gr_complex - -;#sample_freq_in: the sample frequency of the input signal Resampler1.sample_freq_in=4000000 - -;#sample_freq_out: the desired sample frequency of the output signal Resampler1.sample_freq_out=4000000 ;######### SIGNAL_CONDITIONER 1 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. - -;#implementation: Use [Pass_Through] or [Signal_Conditioner] -;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks -;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks SignalConditioner1.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER 1 CONFIG ############ -;## Changes the type of input data. -;#implementation: [Pass_Through] disables this block DataTypeAdapter1.implementation=Ishort_To_Complex ;######### INPUT_FILTER 1 CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Pass_Through] disables this block -;#[Fir_Filter] enables a FIR Filter -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz. - InputFilter1.implementation=Pass_Through - -;#dump: Dump the filtered data to a file. InputFilter1.dump=false -;#dump_filename: Log path and filename. -InputFilter1.dump_filename=../data/input_filter.dat - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of GNU Radio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. -InputFilter1.input_item_type=gr_complex - -;#outut_item_type: Type and resolution for output filtered signal samples. -InputFilter1.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. -InputFilter1.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time -InputFilter1.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. -InputFilter1.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - -InputFilter1.band1_begin=0.0 -InputFilter1.band1_end=0.45 -InputFilter1.band2_begin=0.55 -InputFilter1.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - -InputFilter1.ampl1_begin=1.0 -InputFilter1.ampl1_end=1.0 -InputFilter1.ampl2_begin=0.0 -InputFilter1.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands -InputFilter1.band1_error=1.0 -InputFilter1.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" -InputFilter1.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. -InputFilter1.grid_density=16 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter1.IF is the intermediate frequency (in Hz) shifted down to zero Hz - -InputFilter1.sampling_frequency=4000000 -InputFilter1.IF=0 ;######### RESAMPLER 1 CONFIG ############ -;## Resamples the input data. - -;#implementation: Use [Pass_Through] or [Direct_Resampler] -;#[Pass_Through] disables this block -;#[Direct_Resampler] enables a resampler that implements a nearest neighborhood interpolation - Resampler1.implementation=Pass_Through - -;#dump: Dump the resampled data to a file. Resampler1.dump=false -;#dump_filename: Log path and filename. -Resampler1.dump_filename=../data/resampler.dat - -;#item_type: Type and resolution for each of the signal samples. +Resampler1.dump_filename=../data/resampler.dat. Resampler1.item_type=gr_complex - -;#sample_freq_in: the sample frequency of the input signal Resampler1.sample_freq_in=4000000 - -;#sample_freq_out: the desired sample frequency of the output signal Resampler1.sample_freq_out=4000000 ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available GPS satellite channels. Channels_1C.count=2 -;#count: Number of available Galileo satellite channels. Channels_1B.count=2 -;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 @@ -280,120 +95,73 @@ Channel.signal=1B ;######### GPS ACQUISITION CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1C.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1C.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition_1C.sampled_ms=1 -;#threshold: Acquisition threshold +Acquisition_1C.coherent_integration_time_ms=1 Acquisition_1C.threshold=0.0075 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;Acquisition_1C.pfa=0.01 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1C.doppler_max=10000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1C.doppler_step=500 -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1C.dump=false -;#filename: Log path and filename Acquisition_1C.dump_filename=./acq_dump.dat ;######### GALILEO ACQUISITION CONFIG ############ Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1B.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1B.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition_1B.sampled_ms=4 -;#threshold: Acquisition threshold +Acquisition_1B.coherent_integration_time_ms=4 ;Acquisition_1B.threshold=0 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] Acquisition_1B.pfa=0.0000008 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1B.doppler_max=15000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1B.doppler_step=125 -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1B.dump=false -;#filename: Log path and filename Acquisition_1B.dump_filename=./acq_dump.dat ;######### TRACKING GPS CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1C.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1C.if=0 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1C.pll_bw_hz=45.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1C.dll_bw_hz=4.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1C.order=3; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1C.dump=false -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1C.dump_filename=../data/epl_tracking_ch_ ;######### TRACKING GALILEO CONFIG ############ Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1B.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1B.if=0 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1B.pll_bw_hz=15.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1B.dll_bw_hz=2.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1B.order=3; -;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo Tracking_1B.early_late_space_chips=0.15; -;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] Tracking_1B.very_early_late_space_chips=0.6; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1B.dump=false -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1B.dump_filename=../data/veml_tracking_ch_ ;######### TELEMETRY DECODER GPS CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.dump=false ;######### TELEMETRY DECODER GALILEO CONFIG ############ -;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder TelemetryDecoder_1B.dump=false ;######### OBSERVABLES CONFIG ############ -;#implementation: Observables.implementation=Hybrid_Observables -;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] Observables.dump=false -;#dump_filename: Log path and filename. Observables.dump_filename=./observables.dat ;######### PVT CONFIG ############ -;#implementation: Position Velocity and Time (PVT) implementation: PVT.implementation=RTKLIB_PVT -;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] +PVT.positioning_mode=Single ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic PVT.output_rate_ms=100; -;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. PVT.display_rate_ms=500; PVT.flag_rtcm_server=false PVT.flag_rtcm_tty_port=false PVT.rtcm_dump_devname=/dev/pts/1 -;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. PVT.dump_filename=./PVT -;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] PVT.dump=false diff --git a/conf/gnss-sdr_multisource_Hybrid_nsr.conf b/conf/gnss-sdr_multisource_Hybrid_nsr.conf index 5a543018e..8c035713e 100644 --- a/conf/gnss-sdr_multisource_Hybrid_nsr.conf +++ b/conf/gnss-sdr_multisource_Hybrid_nsr.conf @@ -14,250 +14,102 @@ GNSS-SDR.internal_fs_sps=2560000 ;GNSS-SDR.internal_fs_sps=4096000 ;GNSS-SDR.internal_fs_sps=5120000 -;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing. -; it helps to not overload the CPU, but the processing time will be longer. SignalSource.enable_throttle_control=false -;#repeat: Repeat the processing file. SignalSource.repeat=false ;######### SIGNAL_SOURCE 0 CONFIG ############ -;#implementation SignalSource0.implementation=Nsr_File_Signal_Source -;#filename: path to file with the captured GNSS signal samples to be processed SignalSource0.filename=/datalogger/signals/ifen/E1L1_FE0_Band0.stream ; <- PUT YOUR FILE HERE -;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. SignalSource0.item_type=byte -;#sampling_frequency: Original Signal sampling frequency in samples per second SignalSource0.sampling_frequency=20480000 -;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. SignalSource0.samples=0 ;######### SIGNAL_SOURCE 1 CONFIG ############ -;#implementation: Use [File_Signal_Source] [Nsr_File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental) SignalSource1.implementation=Nsr_File_Signal_Source -;#filename: path to file with the captured GNSS signal samples to be processed SignalSource1.filename=/datalogger/signals/ifen/E1L1_FE0_Band0.stream -;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version. SignalSource1.item_type=byte -;#sampling_frequency: Original Signal sampling frequency in samples per second SignalSource1.sampling_frequency=20480000 -;#samples: Number of samples to be processed. Notice that 0 indicates the entire file. SignalSource1.samples=0 ;######### SIGNAL_CONDITIONER 0 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. - -;#implementation: Use [Pass_Through] or [Signal_Conditioner] -;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks -;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks SignalConditioner0.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER 0 CONFIG ############ -;## Changes the type of input data. -;#implementation: [Pass_Through] disables this block DataTypeAdapter0.implementation=Pass_Through DataTypeAdapter0.item_type=float ;######### INPUT_FILTER 0 CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation -;# that shifts IF down to zero Hz. - InputFilter0.implementation=Freq_Xlating_Fir_Filter - -;#dump: Dump the filtered data to a file. InputFilter0.dump=false - -;#dump_filename: Log path and filename. InputFilter0.dump_filename=../data/input_filter.dat - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. InputFilter0.input_item_type=float - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter0.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. InputFilter0.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time InputFilter0.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. InputFilter0.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - InputFilter0.band1_begin=0.0 InputFilter0.band1_end=0.45 InputFilter0.band2_begin=0.55 InputFilter0.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - InputFilter0.ampl1_begin=1.0 InputFilter0.ampl1_end=1.0 InputFilter0.ampl2_begin=0.0 InputFilter0.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands InputFilter0.band1_error=1.0 InputFilter0.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" InputFilter0.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. InputFilter0.grid_density=16 - -;# Original sampling frequency stored in the signal file InputFilter0.sampling_frequency=20480000 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter0.IF is the intermediate frequency (in Hz) shifted down to zero Hz - InputFilter0.IF=5499998.47412109 - -;# Decimation factor after the frequency tranaslating block InputFilter0.decimation_factor=8 ;######### RESAMPLER CONFIG 0 ############ -;## Resamples the input data. - -;#implementation: Use [Pass_Through] or [Direct_Resampler] -;#[Pass_Through] disables this block -;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation Resampler0.implementation=Pass_Through ;######### SIGNAL_CONDITIONER 1 CONFIG ############ -;## It holds blocks to change data type, filter and resample input data. - -;#implementation: Use [Pass_Through] or [Signal_Conditioner] -;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks -;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks SignalConditioner1.implementation=Signal_Conditioner ;######### DATA_TYPE_ADAPTER 1 CONFIG ############ -;## Changes the type of input data. -;#implementation: [Pass_Through] disables this block DataTypeAdapter1.implementation=Pass_Through DataTypeAdapter1.item_type=float ;######### INPUT_FILTER 1 CONFIG ############ -;## Filter the input data. Can be combined with frequency translation for IF signals - -;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter] -;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation -;# that shifts IF down to zero Hz. - InputFilter1.implementation=Freq_Xlating_Fir_Filter - -;#dump: Dump the filtered data to a file. InputFilter1.dump=false - -;#dump_filename: Log path and filename. InputFilter1.dump_filename=../data/input_filter.dat - -;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation. -;#These options are based on parameters of gnuradio's function: gr_remez. -;#This function calculates the optimal (in the Chebyshev/minimax sense) FIR filter impulse response given a set of band edges, -;#the desired response on those bands, and the weight given to the error in those bands. - -;#input_item_type: Type and resolution for input signal samples. InputFilter1.input_item_type=float - -;#outut_item_type: Type and resolution for output filtered signal samples. InputFilter1.output_item_type=gr_complex - -;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version. InputFilter1.taps_item_type=float - -;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time InputFilter1.number_of_taps=5 - -;#number_of _bands: Number of frequency bands in the filter. InputFilter1.number_of_bands=2 - -;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...]. -;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2) -;#The number of band_begin and band_end elements must match the number of bands - InputFilter1.band1_begin=0.0 InputFilter1.band1_end=0.45 InputFilter1.band2_begin=0.55 InputFilter1.band2_end=1.0 - -;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...]. -;#The number of ampl_begin and ampl_end elements must match the number of bands - InputFilter1.ampl1_begin=1.0 InputFilter1.ampl1_end=1.0 InputFilter1.ampl2_begin=0.0 InputFilter1.ampl2_end=0.0 - -;#band_error: weighting applied to each band (usually 1). -;#The number of band_error elements must match the number of bands InputFilter1.band1_error=1.0 InputFilter1.band2_error=1.0 - -;#filter_type: one of "bandpass", "hilbert" or "differentiator" InputFilter1.filter_type=bandpass - -;#grid_density: determines how accurately the filter will be constructed. -;The minimum value is 16; higher values are slower to compute the filter. InputFilter1.grid_density=16 - -;# Original sampling frequency stored in the signal file InputFilter1.sampling_frequency=20480000 - -;#The following options are used only in Freq_Xlating_Fir_Filter implementation. -;#InputFilter1.IF is the intermediate frequency (in Hz) shifted down to zero Hz - InputFilter1.IF=5499998.47412109 - -;# Decimation factor after the frequency tranaslating block InputFilter1.decimation_factor=8 ;######### RESAMPLER CONFIG 1 ############ -;## Resamples the input data. - -;#implementation: Use [Pass_Through] or [Direct_Resampler] -;#[Pass_Through] disables this block -;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation Resampler1.implementation=Pass_Through ;######### CHANNELS GLOBAL CONFIG ############ -;#count: Number of available GPS satellite channels. Channels_1C.count=8 -;#count: Number of available Galileo satellite channels. Channels_1B.count=8 -;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver Channels.in_acquisition=1 -;#signal: -;# "1C" GPS L1 C/A -;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL) -;# "1G" GLONASS L1 C/A -;# "2S" GPS L2 L2C (M) -;# "5X" GALILEO E5a I+Q -;# "L5" GPS L5 - ;# SOURCE CONNECTION Channel0.RF_channel_ID=0 Channel1.RF_channel_ID=0 @@ -299,117 +151,77 @@ Channel15.signal=1B ;######### GPS ACQUISITION CONFIG ############ Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1C.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1C.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition_1C.sampled_ms=1 -;#threshold: Acquisition threshold +Acquisition_1C.scoherent_integration_time_ms=1 Acquisition_1C.threshold=0.0075 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] ;Acquisition_1C.pfa=0.01 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1C.doppler_max=10000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1C.doppler_step=500 -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1C.dump=false -;#filename: Log path and filename Acquisition_1C.dump_filename=./acq_dump.dat ;######### GALILEO ACQUISITION CONFIG ############ Acquisition_1B.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition -;#item_type: Type and resolution for each of the signal samples. Acquisition_1B.item_type=gr_complex -;#if: Signal intermediate frequency in [Hz] -Acquisition_1B.if=0 -;#sampled_ms: Signal block duration for the acquisition signal detection [ms] -Acquisition_1B.sampled_ms=4 -;#threshold: Acquisition threshold +Acquisition_1B.coherent_integration_time_ms=4 ;Acquisition_1B.threshold=0 -;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition] Acquisition_1B.pfa=0.0000002 -;#doppler_max: Maximum expected Doppler shift [Hz] Acquisition_1B.doppler_max=15000 -;#doppler_max: Doppler step in the grid search [Hz] Acquisition_1B.doppler_step=125 -;#dump: Enable or disable the acquisition internal data file logging [true] or [false] Acquisition_1B.dump=false -;#filename: Log path and filename Acquisition_1B.dump_filename=./acq_dump.dat ;######### TRACKING GPS CONFIG ############ Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1C.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1C.if=0 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1C.pll_bw_hz=45.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1C.dll_bw_hz=2.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1C.order=3; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1C.dump=false -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1C.dump_filename=../data/epl_tracking_ch_ ;######### TRACKING GALILEO CONFIG ############ Tracking_1B.implementation=Galileo_E1_DLL_PLL_VEML_Tracking -;#item_type: Type and resolution for each of the signal samples. Tracking_1B.item_type=gr_complex -;#sampling_frequency: Signal Intermediate Frequency in [Hz] -Tracking_1B.if=0 -;#pll_bw_hz: PLL loop filter bandwidth [Hz] Tracking_1B.pll_bw_hz=15.0; -;#dll_bw_hz: DLL loop filter bandwidth [Hz] Tracking_1B.dll_bw_hz=2.0; -;#order: PLL/DLL loop filter order [2] or [3] Tracking_1B.order=3; -;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo Tracking_1B.early_late_space_chips=0.15; -;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6] Tracking_1B.very_early_late_space_chips=0.6; -;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false] Tracking_1B.dump=false -;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number. Tracking_1B.dump_filename=../data/veml_tracking_ch_ ;######### TELEMETRY DECODER GPS CONFIG ############ -;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder TelemetryDecoder_1C.dump=false ;######### TELEMETRY DECODER GALILEO CONFIG ############ -;#implementation: Use [Galileo_E1B_Telemetry_Decoder] for Galileo E1B TelemetryDecoder_1B.implementation=Galileo_E1B_Telemetry_Decoder ;######### OBSERVABLES CONFIG ############ Observables.implementation=Hybrid_Observables -;#dump: Enable or disable the Observables internal binary data file logging [true] or [false] Observables.dump=false -;#dump_filename: Log path and filename. Observables.dump_filename=./observables.dat ;######### PVT CONFIG ############ PVT.implementation=RTKLIB_PVT -;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms] -PVT.output_rate_ms=10; -;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms. -PVT.display_rate_ms=500; +PVT.positioning_mode=Single ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic +PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX +PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad +PVT.output_rate_ms=100 +PVT.display_rate_ms=500 +PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea; +PVT.flag_nmea_tty_port=true; +PVT.nmea_dump_devname=/dev/pts/4 PVT.flag_rtcm_server=false PVT.flag_rtcm_tty_port=false PVT.rtcm_dump_devname=/dev/pts/1 -;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump. -PVT.dump_filename=./PVT -;#dump: Enable or disable the PVT internal binary data file logging [true] or [false] PVT.dump=false +PVT.dump_filename=./PVT diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc index 91267e33d..18248ea05 100644 --- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc +++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc @@ -261,6 +261,12 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump d_kml_dump = std::make_shared(); d_kml_dump->set_headers(kml_dump_filename); + //initialize gpx_printer + std::string gpx_dump_filename; + gpx_dump_filename = d_dump_filename; + d_gpx_dump = std::make_shared(); + d_gpx_dump->set_headers(gpx_dump_filename); + //initialize geojson_printer std::string geojson_dump_filename; geojson_dump_filename = d_dump_filename; @@ -678,6 +684,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item first_fix = false; } d_kml_dump->print_position(d_ls_pvt, false); + d_gpx_dump->print_position(d_ls_pvt, false); d_geojson_printer->print_position(d_ls_pvt, false); d_nmea_printer->Print_Nmea_Line(d_ls_pvt, false); diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h index f4e4323fd..70333a7eb 100644 --- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h +++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h @@ -34,6 +34,7 @@ #include "nmea_printer.h" #include "kml_printer.h" +#include "gpx_printer.h" #include "geojson_printer.h" #include "rinex_printer.h" #include "rtcm_printer.h" @@ -120,6 +121,7 @@ private: std::shared_ptr rp; std::shared_ptr d_kml_dump; + std::shared_ptr d_gpx_dump; std::shared_ptr d_nmea_printer; std::shared_ptr d_geojson_printer; std::shared_ptr d_rtcm_printer; diff --git a/src/algorithms/PVT/libs/CMakeLists.txt b/src/algorithms/PVT/libs/CMakeLists.txt index 96aace272..ebf9d6041 100644 --- a/src/algorithms/PVT/libs/CMakeLists.txt +++ b/src/algorithms/PVT/libs/CMakeLists.txt @@ -23,6 +23,7 @@ set(PVT_LIB_SOURCES ls_pvt.cc hybrid_ls_pvt.cc kml_printer.cc + gpx_printer.cc rinex_printer.cc nmea_printer.cc rtcm_printer.cc diff --git a/src/algorithms/PVT/libs/gpx_printer.cc b/src/algorithms/PVT/libs/gpx_printer.cc new file mode 100644 index 000000000..65dda1636 --- /dev/null +++ b/src/algorithms/PVT/libs/gpx_printer.cc @@ -0,0 +1,187 @@ +/*! + * \file gpx_printer.cc + * \brief Interface of a class that prints PVT information to a gpx file + * \author Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com + * + * + * ------------------------------------------------------------------------- + * + * Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) + * + * GNSS-SDR is a software defined Global Navigation + * Satellite Systems receiver + * + * This file is part of GNSS-SDR. + * + * GNSS-SDR is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * GNSS-SDR is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with GNSS-SDR. If not, see . + * + * ------------------------------------------------------------------------- + */ + + +#include "gpx_printer.h" +#include +#include +#include + +using google::LogMessage; + +bool Gpx_Printer::set_headers(std::string filename, bool time_tag_name) +{ + boost::posix_time::ptime pt = boost::posix_time::second_clock::local_time(); + tm timeinfo = boost::posix_time::to_tm(pt); + + if (time_tag_name) + { + std::stringstream strm0; + const int year = timeinfo.tm_year - 100; + strm0 << year; + const int month = timeinfo.tm_mon + 1; + if (month < 10) + { + strm0 << "0"; + } + strm0 << month; + const int day = timeinfo.tm_mday; + if (day < 10) + { + strm0 << "0"; + } + strm0 << day << "_"; + const int hour = timeinfo.tm_hour; + if (hour < 10) + { + strm0 << "0"; + } + strm0 << hour; + const int min = timeinfo.tm_min; + if (min < 10) + { + strm0 << "0"; + } + strm0 << min; + const int sec = timeinfo.tm_sec; + if (sec < 10) + { + strm0 << "0"; + } + strm0 << sec; + + gpx_filename = filename + "_" + strm0.str() + ".gpx"; + } + else + { + gpx_filename = filename + ".gpx"; + } + gpx_file.open(gpx_filename.c_str()); + + if (gpx_file.is_open()) + { + DLOG(INFO) << "GPX printer writing on " << filename.c_str(); + // Set iostream numeric format and precision + gpx_file.setf(gpx_file.fixed, gpx_file.floatfield); + gpx_file << std::setprecision(14); + gpx_file << "" << std::endl + << "" << std::endl + << "" << std::endl + << indent << "Position fixes computed by GNSS-SDR v" << GNSS_SDR_VERSION << "" << std::endl + << indent << "GNSS-SDR position log generated at " << pt << " (local time)" << std::endl + << indent << "" << std::endl; + return true; + } + else + { + return false; + } +} + + +bool Gpx_Printer::print_position(const std::shared_ptr& position, bool print_average_values) +{ + double latitude; + double longitude; + double height; + + positions_printed = true; + std::shared_ptr position_ = position; + + double hdop = position_->get_hdop(); + double vdop = position_->get_vdop(); + double pdop = position_->get_pdop(); + std::string utc_time = to_iso_extended_string(position_->get_position_UTC_time()); + utc_time.resize(23); // time up to ms + utc_time.append("Z"); // UTC time zone + + if (print_average_values == false) + { + latitude = position_->get_latitude(); + longitude = position_->get_longitude(); + height = position_->get_height(); + } + else + { + latitude = position_->get_avg_latitude(); + longitude = position_->get_avg_longitude(); + height = position_->get_avg_height(); + } + + if (gpx_file.is_open()) + { + gpx_file << indent << indent << "" << height << "" + << "" + << "" << hdop << "" << vdop << "" << pdop << "" << std::endl; + return true; + } + else + { + return false; + } +} + + +bool Gpx_Printer::close_file() +{ + if (gpx_file.is_open()) + { + gpx_file << indent << "" << std::endl + << "" << std::endl + << ""; + gpx_file.close(); + return true; + } + else + { + return false; + } +} + + +Gpx_Printer::Gpx_Printer() +{ + positions_printed = false; + indent = " "; +} + + +Gpx_Printer::~Gpx_Printer() +{ + close_file(); + if (!positions_printed) + { + if (remove(gpx_filename.c_str()) != 0) LOG(INFO) << "Error deleting temporary GPX file"; + } +} diff --git a/src/algorithms/PVT/libs/gpx_printer.h b/src/algorithms/PVT/libs/gpx_printer.h new file mode 100644 index 000000000..347d95599 --- /dev/null +++ b/src/algorithms/PVT/libs/gpx_printer.h @@ -0,0 +1,64 @@ +/*! + * \file gpx_printer.h + * \brief Interface of a class that prints PVT information to a gpx file + * \author Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com + * + * + * ------------------------------------------------------------------------- + * + * Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) + * + * GNSS-SDR is a software defined Global Navigation + * Satellite Systems receiver + * + * This file is part of GNSS-SDR. + * + * GNSS-SDR is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * GNSS-SDR is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with GNSS-SDR. If not, see . + * + * ------------------------------------------------------------------------- + */ + + +#ifndef GNSS_SDR_GPX_PRINTER_H_ +#define GNSS_SDR_GPX_PRINTER_H_ + +#include "pvt_solution.h" +#include "rtklib_solver.h" +#include +#include +#include + + +/*! + * \brief Prints PVT information to GPX format file + * + * See http://www.topografix.com/gpx.asp + */ +class Gpx_Printer +{ +private: + std::ofstream gpx_file; + bool positions_printed; + std::string gpx_filename; + std::string indent; + +public: + Gpx_Printer(); + ~Gpx_Printer(); + bool set_headers(std::string filename, bool time_tag_name = true); + bool print_position(const std::shared_ptr& position, bool print_average_values); + bool close_file(); +}; + +#endif diff --git a/src/algorithms/PVT/libs/hybrid_ls_pvt.cc b/src/algorithms/PVT/libs/hybrid_ls_pvt.cc index 3197c1882..4644352e5 100644 --- a/src/algorithms/PVT/libs/hybrid_ls_pvt.cc +++ b/src/algorithms/PVT/libs/hybrid_ls_pvt.cc @@ -350,9 +350,6 @@ bool hybrid_ls_pvt::get_PVT(std::map gnss_observables_map, do << " [deg], Height= " << this->get_height() << " [m]" << " RX time offset= " << this->get_time_offset_s() << " [s]"; - // ###### Compute DOPs ######## - hybrid_ls_pvt::compute_DOP(); - // ######## LOG FILE ######### if (d_flag_dump_enabled == true) { diff --git a/src/algorithms/PVT/libs/ls_pvt.cc b/src/algorithms/PVT/libs/ls_pvt.cc index 27be29287..af4f1e812 100644 --- a/src/algorithms/PVT/libs/ls_pvt.cc +++ b/src/algorithms/PVT/libs/ls_pvt.cc @@ -281,7 +281,7 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat& satpos, const arma::vec& obs, } //-- compute the Dilution Of Precision values - this->set_Q(arma::inv(arma::htrans(A) * A)); + //this->set_Q(arma::inv(arma::htrans(A) * A)); // check the consistency of the PVT solution if (((fabs(pos(3)) * 1000.0) / GPS_C_m_s) > GPS_STARTOFFSET_ms * 2) diff --git a/src/algorithms/PVT/libs/nmea_printer.cc b/src/algorithms/PVT/libs/nmea_printer.cc index 305a89a07..ebff7b4ac 100644 --- a/src/algorithms/PVT/libs/nmea_printer.cc +++ b/src/algorithms/PVT/libs/nmea_printer.cc @@ -125,7 +125,7 @@ void Nmea_Printer::close_serial() } -bool Nmea_Printer::Print_Nmea_Line(const std::shared_ptr& pvt_data, bool print_average_values) +bool Nmea_Printer::Print_Nmea_Line(const std::shared_ptr& pvt_data, bool print_average_values) { std::string GPRMC; std::string GPGGA; @@ -432,9 +432,9 @@ std::string Nmea_Printer::get_GPGSA() // GSA-GNSS DOP and Active Satellites bool valid_fix = d_PVT_data->is_valid_position(); int n_sats_used = d_PVT_data->get_num_valid_observations(); - double pdop = d_PVT_data->get_PDOP(); - double hdop = d_PVT_data->get_HDOP(); - double vdop = d_PVT_data->get_VDOP(); + double pdop = d_PVT_data->get_pdop(); + double hdop = d_PVT_data->get_hdop(); + double vdop = d_PVT_data->get_vdop(); std::stringstream sentence_str; std::string sentence_header; @@ -603,7 +603,7 @@ std::string Nmea_Printer::get_GPGGA() //boost::posix_time::ptime d_position_UTC_time=boost::posix_time::microsec_clock::universal_time(); bool valid_fix = d_PVT_data->is_valid_position(); int n_channels = d_PVT_data->get_num_valid_observations(); //d_nchannels - double hdop = d_PVT_data->get_HDOP(); + double hdop = d_PVT_data->get_hdop(); double MSL_altitude; if (d_PVT_data->is_averaging() == true) diff --git a/src/algorithms/PVT/libs/nmea_printer.h b/src/algorithms/PVT/libs/nmea_printer.h index c1b671d1a..857301d1c 100644 --- a/src/algorithms/PVT/libs/nmea_printer.h +++ b/src/algorithms/PVT/libs/nmea_printer.h @@ -36,7 +36,7 @@ #ifndef GNSS_SDR_NMEA_PRINTER_H_ #define GNSS_SDR_NMEA_PRINTER_H_ -#include "pvt_solution.h" +#include "rtklib_solver.h" #include #include @@ -58,7 +58,7 @@ public: /*! * \brief Print NMEA PVT and satellite info to the initialized device */ - bool Print_Nmea_Line(const std::shared_ptr& position, bool print_average_values); + bool Print_Nmea_Line(const std::shared_ptr& position, bool print_average_values); /*! * \brief Default destructor. @@ -70,7 +70,7 @@ private: std::ofstream nmea_file_descriptor; // Output file stream for NMEA log file std::string nmea_devname; int nmea_dev_descriptor; // NMEA serial device descriptor (i.e. COM port) - std::shared_ptr d_PVT_data; + std::shared_ptr d_PVT_data; int init_serial(std::string serial_device); //serial port control void close_serial(); std::string get_GPGGA(); // fix data diff --git a/src/algorithms/PVT/libs/pvt_solution.cc b/src/algorithms/PVT/libs/pvt_solution.cc index e38da70f7..dbfd76f1c 100644 --- a/src/algorithms/PVT/libs/pvt_solution.cc +++ b/src/algorithms/PVT/libs/pvt_solution.cc @@ -46,11 +46,6 @@ Pvt_Solution::Pvt_Solution() d_avg_latitude_d = 0.0; d_avg_longitude_d = 0.0; d_avg_height_m = 0.0; - d_GDOP = 0.0; - d_PDOP = 0.0; - d_HDOP = 0.0; - d_VDOP = 0.0; - d_TDOP = 0.0; d_flag_averaging = false; b_valid_position = false; d_averaging_depth = 0; @@ -445,50 +440,6 @@ int Pvt_Solution::topocent(double *Az, double *El, double *D, const arma::vec &x } -int Pvt_Solution::compute_DOP() -{ - // ###### Compute DOPs ######## - - // 1- Rotation matrix from ECEF coordinates to ENU coordinates - // ref: http://www.navipedia.net/index.php/Transformations_between_ECEF_and_ENU_coordinates - arma::mat F = arma::zeros(3, 3); - F(0, 0) = -sin(GPS_TWO_PI * (d_longitude_d / 360.0)); - F(0, 1) = -sin(GPS_TWO_PI * (d_latitude_d / 360.0)) * cos(GPS_TWO_PI * (d_longitude_d / 360.0)); - F(0, 2) = cos(GPS_TWO_PI * (d_latitude_d / 360.0)) * cos(GPS_TWO_PI * (d_longitude_d / 360.0)); - - F(1, 0) = cos((GPS_TWO_PI * d_longitude_d) / 360.0); - F(1, 1) = -sin((GPS_TWO_PI * d_latitude_d) / 360.0) * sin((GPS_TWO_PI * d_longitude_d) / 360.0); - F(1, 2) = cos((GPS_TWO_PI * d_latitude_d / 360.0)) * sin((GPS_TWO_PI * d_longitude_d) / 360.0); - - F(2, 0) = 0; - F(2, 1) = cos((GPS_TWO_PI * d_latitude_d) / 360.0); - F(2, 2) = sin((GPS_TWO_PI * d_latitude_d / 360.0)); - - // 2- Apply the rotation to the latest covariance matrix (available in ECEF from LS) - arma::mat Q_ECEF = d_Q.submat(0, 0, 2, 2); - arma::mat DOP_ENU = arma::zeros(3, 3); - - try - { - DOP_ENU = arma::htrans(F) * Q_ECEF * F; - d_GDOP = sqrt(arma::trace(DOP_ENU)); // Geometric DOP - d_PDOP = sqrt(DOP_ENU(0, 0) + DOP_ENU(1, 1) + DOP_ENU(2, 2)); // PDOP - d_HDOP = sqrt(DOP_ENU(0, 0) + DOP_ENU(1, 1)); // HDOP - d_VDOP = sqrt(DOP_ENU(2, 2)); // VDOP - d_TDOP = sqrt(d_Q(3, 3)); // TDOP - } - catch (const std::exception &ex) - { - d_GDOP = -1; // Geometric DOP - d_PDOP = -1; // PDOP - d_HDOP = -1; // HDOP - d_VDOP = -1; // VDOP - d_TDOP = -1; // TDOP - } - return 0; -} - - void Pvt_Solution::set_averaging_depth(int depth) { d_averaging_depth = depth; @@ -824,39 +775,3 @@ double Pvt_Solution::get_visible_satellites_CN0_dB(size_t index) const return d_visible_satellites_CN0_dB[index]; } } - - -void Pvt_Solution::set_Q(const arma::mat &Q) -{ - d_Q = Q; -} - - -double Pvt_Solution::get_GDOP() const -{ - return d_GDOP; -} - - -double Pvt_Solution::get_PDOP() const -{ - return d_PDOP; -} - - -double Pvt_Solution::get_HDOP() const -{ - return d_HDOP; -} - - -double Pvt_Solution::get_VDOP() const -{ - return d_VDOP; -} - - -double Pvt_Solution::get_TDOP() const -{ - return d_TDOP; -} diff --git a/src/algorithms/PVT/libs/pvt_solution.h b/src/algorithms/PVT/libs/pvt_solution.h index e036b1547..c01e494a9 100644 --- a/src/algorithms/PVT/libs/pvt_solution.h +++ b/src/algorithms/PVT/libs/pvt_solution.h @@ -70,13 +70,6 @@ private: boost::posix_time::ptime d_position_UTC_time; int d_valid_observations; - arma::mat d_Q; - double d_GDOP; - double d_PDOP; - double d_HDOP; - double d_VDOP; - double d_TDOP; - int d_visible_satellites_IDs[PVT_MAX_CHANNELS] = {}; // Array with the IDs of the valid satellites double d_visible_satellites_El[PVT_MAX_CHANNELS] = {}; // Array with the LOS Elevation of the valid satellites double d_visible_satellites_Az[PVT_MAX_CHANNELS] = {}; // Array with the LOS Azimuth of the valid satellites @@ -130,16 +123,6 @@ public: bool is_averaging() const; void set_averaging_flag(bool flag); - // DOP estimations - void set_Q(const arma::mat &Q); - int compute_DOP(); //!< Compute Dilution Of Precision parameters - - double get_GDOP() const; - double get_PDOP() const; - double get_HDOP() const; - double get_VDOP() const; - double get_TDOP() const; - arma::vec rotateSatellite(double traveltime, const arma::vec &X_sat); /*! diff --git a/src/algorithms/PVT/libs/rtklib_solver.cc b/src/algorithms/PVT/libs/rtklib_solver.cc index 4dcee81a0..8d74aea20 100644 --- a/src/algorithms/PVT/libs/rtklib_solver.cc +++ b/src/algorithms/PVT/libs/rtklib_solver.cc @@ -70,7 +70,7 @@ rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag count_valid_position = 0; this->set_averaging_flag(false); rtk_ = rtk; - + for (unsigned int i = 0; i > 4; i++) dop_[i] = 0.0; pvt_sol = {{0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, '0', '0', '0', 0, 0, 0}; // ############# ENABLE DATA FILE LOG ################# @@ -109,6 +109,30 @@ rtklib_solver::~rtklib_solver() } +double rtklib_solver::get_gdop() const +{ + return dop_[0]; +} + + +double rtklib_solver::get_pdop() const +{ + return dop_[1]; +} + + +double rtklib_solver::get_hdop() const +{ + return dop_[2]; +} + + +double rtklib_solver::get_vdop() const +{ + return dop_[3]; +} + + bool rtklib_solver::get_PVT(const std::map& gnss_observables_map, double Rx_time, bool flag_averaging) { std::map::const_iterator gnss_observables_iter; @@ -435,6 +459,26 @@ bool rtklib_solver::get_PVT(const std::map& gnss_observables_ { this->set_num_valid_observations(rtk_.sol.ns); //record the number of valid satellites used by the PVT solver pvt_sol = rtk_.sol; + // DOP computation + unsigned int used_sats = 0; + for (unsigned int i = 0; i < MAXSAT; i++) + { + if (int vsat = rtk_.ssat[i].vsat[0] == 1) used_sats++; + } + + double azel[used_sats * 2]; + unsigned int index_aux = 0; + for (unsigned int i = 0; i < MAXSAT; i++) + { + if (int vsat = rtk_.ssat[i].vsat[0] == 1) + { + azel[2 * index_aux] = rtk_.ssat[i].azel[0]; + azel[2 * index_aux + 1] = rtk_.ssat[i].azel[1]; + index_aux++; + } + } + if (index_aux > 0) dops(index_aux, azel, 0.0, dop_); + this->set_valid_position(true); arma::vec rx_position_and_time(4); rx_position_and_time(0) = pvt_sol.rr[0]; diff --git a/src/algorithms/PVT/libs/rtklib_solver.h b/src/algorithms/PVT/libs/rtklib_solver.h index 3af8d2a76..ac180f617 100644 --- a/src/algorithms/PVT/libs/rtklib_solver.h +++ b/src/algorithms/PVT/libs/rtklib_solver.h @@ -79,12 +79,18 @@ private: sol_t pvt_sol; bool d_flag_dump_enabled; int d_nchannels; // Number of available channels for positioning + double dop_[4]; + public: rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, rtk_t& rtk); ~rtklib_solver(); bool get_PVT(const std::map& gnss_observables_map, double Rx_time, bool flag_averaging); - + double get_hdop() const; + double get_vdop() const; + double get_pdop() const; + double get_gdop() const; + std::map galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris std::map gps_ephemeris_map; //!< Map storing new GPS_Ephemeris std::map gps_cnav_ephemeris_map; //!< Map storing new GPS_CNAV_Ephemeris diff --git a/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc b/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc index c1a037c11..d9ef75ae3 100644 --- a/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc +++ b/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc @@ -1,14 +1,17 @@ /*! * \file gps_l1_ca_pcps_acquisition_fpga.cc - * \brief Adapts a PCPS acquisition block to an FPGA Acquisition Interface for - * GPS L1 C/A signals. This file is based on the file gps_l1_ca_pcps_acquisition.cc + * \brief Adapts a PCPS acquisition block to an FPGA AcquisitionInterface + * for GPS L1 C/A signals * \authors
    - *
  • Marc Majoral, 2017. mmajoral(at)cttc.cat + *
  • Marc Majoral, 2018. mmajoral(at)cttc.es + *
  • Javier Arribas, 2011. jarribas(at)cttc.es + *
  • Luis Esteve, 2012. luis(at)epsilon-formacion.com + *
  • Marc Molina, 2013. marc.molina.pena(at)gmail.com *
* * ------------------------------------------------------------------------- * - * Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors) + * Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors) * * GNSS-SDR is a software defined Global Navigation * Satellite Systems receiver @@ -31,13 +34,17 @@ * ------------------------------------------------------------------------- */ -#include "gps_l1_ca_pcps_acquisition_fpga.h" -#include -#include -#include -#include "GPS_L1_CA.h" #include "configuration_interface.h" #include "gnss_sdr_flags.h" +#include "gps_l1_ca_pcps_acquisition_fpga.h" +#include "gps_sdr_signal_processing.h" +#include "GPS_L1_CA.h" +#include +#include +#include + + +#define NUM_PRNs 32 using google::LogMessage; @@ -45,87 +52,90 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga( ConfigurationInterface* configuration, std::string role, unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams) { - unsigned int code_length; - bool bit_transition_flag; - bool use_CFAR_algorithm_flag; - unsigned int sampled_ms; - long fs_in; - long ifreq; - bool dump; - std::string dump_filename; - unsigned int nsamples_total; - unsigned int select_queue_Fpga; - std::string device_name; - + pcpsconf_fpga_t acq_parameters; configuration_ = configuration; - - std::string default_item_type = "cshort"; - std::string default_dump_filename = "./data/acquisition.dat"; + std::string default_item_type = "gr_complex"; DLOG(INFO) << "role " << role; - item_type_ = configuration_->property(role + ".item_type", default_item_type); - long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000); - fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); - ifreq = configuration_->property(role + ".if", 0); - dump = configuration_->property(role + ".dump", false); + long fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); + acq_parameters.fs_in = fs_in; + long ifreq = configuration_->property(role + ".if", 0); + acq_parameters.freq = ifreq; doppler_max_ = configuration_->property(role + ".doppler_max", 5000); if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max; - sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 1); - - // note : the FPGA is implemented according to bit transition flag = 0. Setting bit transition flag to 1 has no effect. - bit_transition_flag = configuration_->property(role + ".bit_transition_flag", false); - - // note : the FPGA is implemented according to use_CFAR_algorithm = 0. Setting use_CFAR_algorithm to 1 has no effect. - use_CFAR_algorithm_flag = configuration_->property(role + ".use_CFAR_algorithm", false); - - // note : the FPGA does not use the max_dwells variable. - max_dwells_ = configuration_->property(role + ".max_dwells", 1); - - dump_filename = configuration_->property(role + ".dump_filename", default_dump_filename); - - //--- Find number of samples per spreading code ------------------------- - code_length = round( - fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)); - - // code length has the same value as d_fft_size - float nbits; - nbits = ceilf(log2f(code_length)); - nsamples_total = pow(2, nbits); - - //vector_length_ = code_length_ * sampled_ms_; - vector_length_ = nsamples_total * sampled_ms; - - // if( bit_transition_flag_ ) - // { - // vector_length_ *= 2; - // } - - select_queue_Fpga = configuration_->property(role + ".select_queue_Fpga", 0); + acq_parameters.doppler_max = doppler_max_; + unsigned int sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 1); + acq_parameters.sampled_ms = sampled_ms; + unsigned int code_length = static_cast(std::round(static_cast(fs_in) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS))); + // The FPGA can only use FFT lengths that are a power of two. + float nbits = ceilf(log2f((float)code_length)); + unsigned int nsamples_total = pow(2, nbits); + unsigned int vector_length = nsamples_total * sampled_ms; + unsigned int select_queue_Fpga = configuration_->property(role + ".select_queue_Fpga", 0); + acq_parameters.select_queue_Fpga = select_queue_Fpga; std::string default_device_name = "/dev/uio0"; - device_name = configuration_->property(role + ".devicename", default_device_name); + std::string device_name = configuration_->property(role + ".devicename", default_device_name); + acq_parameters.device_name = device_name; + acq_parameters.samples_per_ms = nsamples_total; + acq_parameters.samples_per_code = nsamples_total; - if (item_type_.compare("cshort") == 0) + // compute all the GPS L1 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time + // a channel is assigned) + + gr::fft::fft_complex* fft_if = new gr::fft::fft_complex(vector_length, true); // Direct FFT + // allocate memory to compute all the PRNs and compute all the possible codes + std::complex* code = new std::complex[nsamples_total]; // buffer for the local code + gr_complex* fft_codes_padded = static_cast(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment())); + d_all_fft_codes_ = new lv_16sc_t[nsamples_total * NUM_PRNs]; // memory containing all the possible fft codes for PRN 0 to 32 + float max; // temporary maxima search + + for (unsigned int PRN = 1; PRN <= NUM_PRNs; PRN++) { - item_size_ = sizeof(lv_16sc_t); - gps_acquisition_fpga_sc_ = gps_pcps_make_acquisition_fpga_sc( - sampled_ms, max_dwells_, doppler_max_, ifreq, fs_in, - code_length, code_length, vector_length_, nsamples_total, - bit_transition_flag, use_CFAR_algorithm_flag, - select_queue_Fpga, device_name, dump, dump_filename); - DLOG(INFO) << "acquisition(" - << gps_acquisition_fpga_sc_->unique_id() << ")"; - } - else - { - LOG(WARNING) << "item_type configured to " << item_type_ << "but FPGA implementation only accepts cshort"; - throw std::invalid_argument("Wrong input_type configuration. Should be cshort"); + gps_l1_ca_code_gen_complex_sampled(code, PRN, fs_in, 0); // generate PRN code + // fill in zero padding + for (int s = code_length; s < nsamples_total; s++) + { + code[s] = 0; + } + int offset = 0; + memcpy(fft_if->get_inbuf() + offset, code, sizeof(gr_complex) * nsamples_total); // copy to FFT buffer + fft_if->execute(); // Run the FFT of local code + volk_32fc_conjugate_32fc(fft_codes_padded, fft_if->get_outbuf(), nsamples_total); // conjugate values + max = 0; // initialize maximum value + for (unsigned int i = 0; i < nsamples_total; i++) // search for maxima + { + if (std::abs(fft_codes_padded[i].real()) > max) + { + max = std::abs(fft_codes_padded[i].real()); + } + if (std::abs(fft_codes_padded[i].imag()) > max) + { + max = std::abs(fft_codes_padded[i].imag()); + } + } + for (unsigned int i = 0; i < nsamples_total; i++) // map the FFT to the dynamic range of the fixed point values an copy to buffer containing all FFTs + { + d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast(floor(fft_codes_padded[i].real() * (pow(2, 7) - 1) / max)), + static_cast(floor(fft_codes_padded[i].imag() * (pow(2, 7) - 1) / max))); + } } + //acq_parameters + + acq_parameters.all_fft_codes = d_all_fft_codes_; + + // temporary buffers that we can delete + delete[] code; + delete fft_if; + delete[] fft_codes_padded; + + acquisition_fpga_ = pcps_make_acquisition(acq_parameters); + DLOG(INFO) << "acquisition(" << acquisition_fpga_->unique_id() << ")"; + channel_ = 0; - threshold_ = 0.0; doppler_step_ = 0; gnss_synchro_ = 0; } @@ -133,125 +143,93 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga( GpsL1CaPcpsAcquisitionFpga::~GpsL1CaPcpsAcquisitionFpga() { + delete[] d_all_fft_codes_; } void GpsL1CaPcpsAcquisitionFpga::set_channel(unsigned int channel) { channel_ = channel; - gps_acquisition_fpga_sc_->set_channel(channel_); + acquisition_fpga_->set_channel(channel_); } void GpsL1CaPcpsAcquisitionFpga::set_threshold(float threshold) { - float pfa = configuration_->property(role_ + ".pfa", 0.0); - - if (pfa == 0.0) - { - threshold_ = threshold; - } - else - { - threshold_ = calculate_threshold(pfa); - } - - DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_; - gps_acquisition_fpga_sc_->set_threshold(threshold_); + DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold; + acquisition_fpga_->set_threshold(threshold); } void GpsL1CaPcpsAcquisitionFpga::set_doppler_max(unsigned int doppler_max) { doppler_max_ = doppler_max; - gps_acquisition_fpga_sc_->set_doppler_max(doppler_max_); + acquisition_fpga_->set_doppler_max(doppler_max_); } void GpsL1CaPcpsAcquisitionFpga::set_doppler_step(unsigned int doppler_step) { doppler_step_ = doppler_step; - gps_acquisition_fpga_sc_->set_doppler_step(doppler_step_); + acquisition_fpga_->set_doppler_step(doppler_step_); } void GpsL1CaPcpsAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro) { gnss_synchro_ = gnss_synchro; - gps_acquisition_fpga_sc_->set_gnss_synchro(gnss_synchro_); + acquisition_fpga_->set_gnss_synchro(gnss_synchro_); } signed int GpsL1CaPcpsAcquisitionFpga::mag() { - return gps_acquisition_fpga_sc_->mag(); + return acquisition_fpga_->mag(); } void GpsL1CaPcpsAcquisitionFpga::init() { - gps_acquisition_fpga_sc_->init(); - set_local_code(); + acquisition_fpga_->init(); } void GpsL1CaPcpsAcquisitionFpga::set_local_code() { - gps_acquisition_fpga_sc_->set_local_code(); + acquisition_fpga_->set_local_code(); } void GpsL1CaPcpsAcquisitionFpga::reset() { - gps_acquisition_fpga_sc_->set_active(true); + acquisition_fpga_->set_active(true); } void GpsL1CaPcpsAcquisitionFpga::set_state(int state) { - gps_acquisition_fpga_sc_->set_state(state); -} - - -float GpsL1CaPcpsAcquisitionFpga::calculate_threshold(float pfa) -{ - //Calculate the threshold - unsigned int frequency_bins = 0; - for (int doppler = static_cast(-doppler_max_); doppler <= static_cast(doppler_max_); - doppler += doppler_step_) - { - frequency_bins++; - } - DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa; - unsigned int ncells = vector_length_ * frequency_bins; - double exponent = 1 / static_cast(ncells); - double val = pow(1.0 - pfa, exponent); - double lambda = double(vector_length_); - boost::math::exponential_distribution mydist(lambda); - float threshold = static_cast(quantile(mydist, val)); - - return threshold; + acquisition_fpga_->set_state(state); } void GpsL1CaPcpsAcquisitionFpga::connect(gr::top_block_sptr top_block) { - //nothing to connect + // nothing to connect } void GpsL1CaPcpsAcquisitionFpga::disconnect(gr::top_block_sptr top_block) { - //nothing to disconnect + // nothing to disconnect } gr::basic_block_sptr GpsL1CaPcpsAcquisitionFpga::get_left_block() { - return gps_acquisition_fpga_sc_; + return acquisition_fpga_; } gr::basic_block_sptr GpsL1CaPcpsAcquisitionFpga::get_right_block() { - return gps_acquisition_fpga_sc_; + return acquisition_fpga_; } diff --git a/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h b/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h index 2c8f9eed4..f070e8818 100644 --- a/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h +++ b/src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h @@ -1,14 +1,17 @@ /*! * \file gps_l1_ca_pcps_acquisition_fpga.h - * \brief Adapts a PCPS acquisition block to an AcquisitionInterface for - * GPS L1 C/A signals. This file is based on the file gps_l1_ca_pcps_acquisition.h + * \brief Adapts a PCPS acquisition block that uses the FPGA to + * an AcquisitionInterface for GPS L1 C/A signals * \authors
    - *
  • Marc Majoral, 2017. mmajoral(at)cttc.cat + *
  • Marc Majoral, 2018. mmajoral(at)cttc.es + *
  • Javier Arribas, 2011. jarribas(at)cttc.es + *
  • Luis Esteve, 2012. luis(at)epsilon-formacion.com + *
  • Marc Molina, 2013. marc.molina.pena(at)gmail.com *
* * ------------------------------------------------------------------------- * - * Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors) + * Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors) * * GNSS-SDR is a software defined Global Navigation * Satellite Systems receiver @@ -34,14 +37,11 @@ #ifndef GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_FPGA_H_ #define GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_FPGA_H_ -#include -#include -#include -#include "gnss_synchro.h" #include "acquisition_interface.h" -#include "gps_pcps_acquisition_fpga_sc.h" -#include "complex_byte_to_float_x2.h" +#include "gnss_synchro.h" +#include "pcps_acquisition_fpga.h" #include +#include class ConfigurationInterface; @@ -68,12 +68,13 @@ public: */ inline std::string implementation() override { - return "GPS_L1_CA_PCPS_Acquisition_Fpga"; + return "GPS_L1_CA_PCPS_Acquisition"; } inline size_t item_size() override { - return item_size_; + size_t item_size = sizeof(lv_16sc_t); + return item_size; } void connect(gr::top_block_sptr top_block) override; @@ -135,21 +136,15 @@ public: private: ConfigurationInterface* configuration_; - gps_pcps_acquisition_fpga_sc_sptr gps_acquisition_fpga_sc_; - size_t item_size_; - std::string item_type_; - unsigned int vector_length_; + pcps_acquisition_fpga_sptr acquisition_fpga_; unsigned int channel_; - float threshold_; unsigned int doppler_max_; unsigned int doppler_step_; - unsigned int max_dwells_; Gnss_Synchro* gnss_synchro_; std::string role_; unsigned int in_streams_; unsigned int out_streams_; - - float calculate_threshold(float pfa); + lv_16sc_t* d_all_fft_codes_; // memory that contains all the code ffts }; -#endif /* GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_H_ */ +#endif /* GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_FPGA_H_ */ diff --git a/src/algorithms/acquisition/gnuradio_blocks/CMakeLists.txt b/src/algorithms/acquisition/gnuradio_blocks/CMakeLists.txt index ca02bb952..9bfd4fc73 100644 --- a/src/algorithms/acquisition/gnuradio_blocks/CMakeLists.txt +++ b/src/algorithms/acquisition/gnuradio_blocks/CMakeLists.txt @@ -29,7 +29,7 @@ set(ACQ_GR_BLOCKS_SOURCES ) if(ENABLE_FPGA) - set(ACQ_GR_BLOCKS_SOURCES ${ACQ_GR_BLOCKS_SOURCES} gps_pcps_acquisition_fpga_sc.cc) + set(ACQ_GR_BLOCKS_SOURCES ${ACQ_GR_BLOCKS_SOURCES} pcps_acquisition_fpga.cc) endif(ENABLE_FPGA) if(OPENCL_FOUND) diff --git a/src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.cc b/src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.cc index 7144a219b..f8fa95f8e 100644 --- a/src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.cc +++ b/src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.cc @@ -36,12 +36,12 @@ */ #include "galileo_e5a_noncoherent_iq_acquisition_caf_cc.h" -#include -#include +#include "control_message_factory.h" #include +#include #include #include -#include "control_message_factory.h" +#include using google::LogMessage; @@ -62,11 +62,15 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr galileo_e5a_noncoherentIQ_make samples_per_code, bit_transition_flag, dump, dump_filename, both_signal_components_, CAF_window_hz_, Zero_padding_)); } + galileo_e5a_noncoherentIQ_acquisition_caf_cc::galileo_e5a_noncoherentIQ_acquisition_caf_cc( unsigned int sampled_ms, unsigned int max_dwells, - unsigned int doppler_max, long freq, long fs_in, - int samples_per_ms, int samples_per_code, + unsigned int doppler_max, + long freq, + long fs_in, + int samples_per_ms, + int samples_per_code, bool bit_transition_flag, bool dump, std::string dump_filename, @@ -167,6 +171,7 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc::galileo_e5a_noncoherentIQ_acquisit d_gr_stream_buffer = 0; } + galileo_e5a_noncoherentIQ_acquisition_caf_cc::~galileo_e5a_noncoherentIQ_acquisition_caf_cc() { if (d_num_doppler_bins > 0) @@ -267,6 +272,7 @@ void galileo_e5a_noncoherentIQ_acquisition_caf_cc::set_local_code(std::complexFlag_valid_acquisition = false; diff --git a/src/algorithms/acquisition/gnuradio_blocks/gps_pcps_acquisition_fpga_sc.cc b/src/algorithms/acquisition/gnuradio_blocks/gps_pcps_acquisition_fpga_sc.cc deleted file mode 100644 index d0f2baaf1..000000000 --- a/src/algorithms/acquisition/gnuradio_blocks/gps_pcps_acquisition_fpga_sc.cc +++ /dev/null @@ -1,315 +0,0 @@ -/*! - * \file gps_pcps_acquisition_fpga_sc.cc - * \brief This class implements a Parallel Code Phase Search Acquisition in the FPGA. - * This file is based on the file gps_pcps_acquisition_sc.cc - * \authors
    - *
  • Marc Majoral, 2017. mmajoral(at)cttc.cat - *
- * - * ------------------------------------------------------------------------- - * - * Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors) - * - * GNSS-SDR is a software defined Global Navigation - * Satellite Systems receiver - * - * This file is part of GNSS-SDR. - * - * GNSS-SDR is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * GNSS-SDR is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with GNSS-SDR. If not, see . - * - * ------------------------------------------------------------------------- - */ - -#include "gps_pcps_acquisition_fpga_sc.h" -#include -#include -#include -#include -#include -#include -#include "control_message_factory.h" -#include "GPS_L1_CA.h" //GPS_TWO_PI -using google::LogMessage; - -void wait3(int seconds) -{ - boost::this_thread::sleep_for(boost::chrono::seconds{seconds}); -} - - -gps_pcps_acquisition_fpga_sc_sptr gps_pcps_make_acquisition_fpga_sc( - unsigned int sampled_ms, unsigned int max_dwells, - unsigned int doppler_max, long freq, long fs_in, int samples_per_ms, - int samples_per_code, int vector_length, unsigned int nsamples_total, - bool bit_transition_flag, bool use_CFAR_algorithm_flag, - unsigned int select_queue_Fpga, std::string device_name, bool dump, - std::string dump_filename) -{ - return gps_pcps_acquisition_fpga_sc_sptr( - new gps_pcps_acquisition_fpga_sc(sampled_ms, max_dwells, - doppler_max, freq, fs_in, samples_per_ms, samples_per_code, - vector_length, nsamples_total, bit_transition_flag, - use_CFAR_algorithm_flag, select_queue_Fpga, device_name, - dump, dump_filename)); -} - - -gps_pcps_acquisition_fpga_sc::gps_pcps_acquisition_fpga_sc( - unsigned int sampled_ms, unsigned int max_dwells, - unsigned int doppler_max, long freq, long fs_in, int samples_per_ms, - int samples_per_code, int vector_length, unsigned int nsamples_total, - bool bit_transition_flag, bool use_CFAR_algorithm_flag, - unsigned int select_queue_Fpga, std::string device_name, bool dump, - std::string dump_filename) : gr::block("pcps_acquisition_fpga_sc", - gr::io_signature::make(0, 0, sizeof(lv_16sc_t)), - gr::io_signature::make(0, 0, 0)) -{ - this->message_port_register_out(pmt::mp("events")); - d_sample_counter = 0; // SAMPLE COUNTER - d_active = false; - d_state = 0; - d_samples_per_code = samples_per_code; - d_max_dwells = max_dwells; // Note : d_max_dwells is not used in the FPGA implementation - d_well_count = 0; - d_doppler_max = doppler_max; - d_fft_size = sampled_ms * samples_per_ms; - d_mag = 0; - d_num_doppler_bins = 0; - d_bit_transition_flag = bit_transition_flag; // Note : bit transition flag is ignored and assumed 0 in the FPGA implementation - d_use_CFAR_algorithm_flag = use_CFAR_algorithm_flag; // Note : user CFAR algorithm flag is ignored and assumed 0 in the FPGA implementation - d_threshold = 0.0; - d_doppler_step = 250; - d_channel = 0; - - // For dumping samples into a file - d_dump = dump; - d_dump_filename = dump_filename; - - d_gnss_synchro = 0; - - // instantiate HW accelerator class - acquisition_fpga_8sc = std::make_shared(device_name, vector_length, d_fft_size, nsamples_total, fs_in, freq, sampled_ms, select_queue_Fpga); -} - - -gps_pcps_acquisition_fpga_sc::~gps_pcps_acquisition_fpga_sc() -{ - if (d_dump) - { - d_dump_file.close(); - } - - acquisition_fpga_8sc->free(); -} - - -void gps_pcps_acquisition_fpga_sc::set_local_code() -{ - acquisition_fpga_8sc->set_local_code(d_gnss_synchro->PRN); -} - - -void gps_pcps_acquisition_fpga_sc::init() -{ - d_gnss_synchro->Flag_valid_acquisition = false; - d_gnss_synchro->Flag_valid_symbol_output = false; - d_gnss_synchro->Flag_valid_pseudorange = false; - d_gnss_synchro->Flag_valid_word = false; - d_gnss_synchro->Acq_delay_samples = 0.0; - d_gnss_synchro->Acq_doppler_hz = 0.0; - d_gnss_synchro->Acq_samplestamp_samples = 0; - d_mag = 0.0; - - d_num_doppler_bins = ceil( - static_cast(static_cast(d_doppler_max) - static_cast(-d_doppler_max)) / static_cast(d_doppler_step)); - - acquisition_fpga_8sc->open_device(); - - acquisition_fpga_8sc->init(); -} - - -void gps_pcps_acquisition_fpga_sc::set_state(int state) -{ - d_state = state; - if (d_state == 1) - { - d_gnss_synchro->Acq_delay_samples = 0.0; - d_gnss_synchro->Acq_doppler_hz = 0.0; - d_gnss_synchro->Acq_samplestamp_samples = 0; - d_well_count = 0; - d_mag = 0.0; - } - else if (d_state == 0) - { - } - else - { - LOG(ERROR) << "State can only be set to 0 or 1"; - } -} - - -void gps_pcps_acquisition_fpga_sc::set_active(bool active) -{ - float temp_peak_to_noise_level = 0.0; - float peak_to_noise_level = 0.0; - float input_power; - float test_statistics = 0.0; - acquisition_fpga_8sc->block_samples(); // block the samples to run the acquisition this is only necessary for the tests - - d_active = active; - - int acquisition_message = -1; //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL - - d_state = 1; - - // initialize acquisition algorithm - int doppler; - uint32_t indext = 0; - float magt = 0.0; - //int effective_fft_size = ( d_bit_transition_flag ? d_fft_size/2 : d_fft_size ); - int effective_fft_size = d_fft_size; - //float fft_normalization_factor = static_cast(d_fft_size) * static_cast(d_fft_size); - - d_mag = 0.0; - - unsigned int initial_sample; - - d_well_count++; - - DLOG(INFO) << "Channel: " << d_channel - << " , doing acquisition of satellite: " << d_gnss_synchro->System - << " " << d_gnss_synchro->PRN << " ,sample stamp: " - << d_sample_counter << ", threshold: " - << ", threshold: " - << d_threshold << ", doppler_max: " << d_doppler_max - << ", doppler_step: " << d_doppler_step; - - // Doppler frequency search loop - for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; - doppler_index++) - { - doppler = -static_cast(d_doppler_max) + d_doppler_step * doppler_index; - - acquisition_fpga_8sc->set_phase_step(doppler_index); - acquisition_fpga_8sc->run_acquisition(); // runs acquisition and waits until it is finished - - acquisition_fpga_8sc->read_acquisition_results(&indext, &magt, - &initial_sample, &input_power); - - d_sample_counter = initial_sample; - - temp_peak_to_noise_level = static_cast(magt) / static_cast(input_power); - if (peak_to_noise_level < temp_peak_to_noise_level) - { - peak_to_noise_level = temp_peak_to_noise_level; - d_mag = magt; - - input_power = (input_power - d_mag) / (effective_fft_size - 1); - - d_gnss_synchro->Acq_delay_samples = - static_cast(indext % d_samples_per_code); - d_gnss_synchro->Acq_doppler_hz = - static_cast(doppler); - d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter; - test_statistics = d_mag / input_power; - } - - // Record results to file if required - if (d_dump) - { - std::stringstream filename; - //std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write - filename.str(""); - - boost::filesystem::path p = d_dump_filename; - filename << p.parent_path().string() - << boost::filesystem::path::preferred_separator - << p.stem().string() << "_" - << d_gnss_synchro->System << "_" - << d_gnss_synchro->Signal << "_sat_" - << d_gnss_synchro->PRN << "_doppler_" << doppler - << p.extension().string(); - - DLOG(INFO) << "Writing ACQ out to " << filename.str(); - - d_dump_file.open(filename.str().c_str(), - std::ios::out | std::ios::binary); - d_dump_file.close(); - } - } - - if (test_statistics > d_threshold) - { - d_state = 2; // Positive acquisition - - // 6.1- Declare positive acquisition using a message port - DLOG(INFO) << "positive acquisition"; - DLOG(INFO) << "satellite " << d_gnss_synchro->System << " " - << d_gnss_synchro->PRN; - DLOG(INFO) << "sample_stamp " << d_sample_counter; - DLOG(INFO) << "test statistics value " << test_statistics; - DLOG(INFO) << "test statistics threshold " << d_threshold; - DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples; - DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz; - DLOG(INFO) << "magnitude " << d_mag; - DLOG(INFO) << "input signal power " << input_power; - - d_active = false; - d_state = 0; - - acquisition_message = 1; - this->message_port_pub(pmt::mp("events"), - pmt::from_long(acquisition_message)); - } - else - { - d_state = 3; // Negative acquisition - - // 6.2- Declare negative acquisition using a message port - DLOG(INFO) << "negative acquisition"; - DLOG(INFO) << "satellite " << d_gnss_synchro->System << " " - << d_gnss_synchro->PRN; - DLOG(INFO) << "sample_stamp " << d_sample_counter; - DLOG(INFO) << "test statistics value " << test_statistics; - DLOG(INFO) << "test statistics threshold " << d_threshold; - DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples; - DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz; - DLOG(INFO) << "magnitude " << d_mag; - DLOG(INFO) << "input signal power " << input_power; - - d_active = false; - d_state = 0; - - acquisition_message = 2; - this->message_port_pub(pmt::mp("events"), - pmt::from_long(acquisition_message)); - } - - acquisition_fpga_8sc->unblock_samples(); - - acquisition_fpga_8sc->close_device(); - - DLOG(INFO) << "Done. Consumed 1 item."; -} - - -int gps_pcps_acquisition_fpga_sc::general_work(int noutput_items, - gr_vector_int &ninput_items, gr_vector_const_void_star &input_items, - gr_vector_void_star &output_items __attribute__((unused))) -{ - // general work not used with the acquisition - return noutput_items; -} diff --git a/src/algorithms/acquisition/gnuradio_blocks/gps_pcps_acquisition_fpga_sc.h b/src/algorithms/acquisition/gnuradio_blocks/gps_pcps_acquisition_fpga_sc.h deleted file mode 100644 index c5de39c69..000000000 --- a/src/algorithms/acquisition/gnuradio_blocks/gps_pcps_acquisition_fpga_sc.h +++ /dev/null @@ -1,218 +0,0 @@ -/*! - * \file gps_pcps_acquisition_fpga_sc.h - * \brief This class implements a Parallel Code Phase Search Acquisition in the FPGA. - * This file is based on the file gps_pcps_acquisition_sc.h - * - * Acquisition strategy (Kay Borre book + CFAR threshold). - *
    - *
  1. Compute the input signal power estimation - *
  2. Doppler serial search loop - *
  3. Perform the FFT-based circular convolution (parallel time search) - *
  4. Record the maximum peak and the associated synchronization parameters - *
  5. Compute the test statistics and compare to the threshold - *
  6. Declare positive or negative acquisition using a message port - *
- * - * Kay Borre book: K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen, - * "A Software-Defined GPS and Galileo Receiver. A Single-Frequency - * Approach", Birkhauser, 2007. pp 81-84 - * - * \authors
    - *
  • Marc Majoral, 2017. mmajoral(at)cttc.cat - *
- * - * ------------------------------------------------------------------------- - * - * Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors) - * - * GNSS-SDR is a software defined Global Navigation - * Satellite Systems receiver - * - * This file is part of GNSS-SDR. - * - * GNSS-SDR is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * GNSS-SDR is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with GNSS-SDR. If not, see . - * - * ------------------------------------------------------------------------- - */ - -#ifndef GNSS_SDR_PCPS_ACQUISITION_FPGA_SC_H_ -#define GNSS_SDR_PCPS_ACQUISITION_FPGA_SC_H_ - -#include -#include -#include -#include -#include -#include "gnss_synchro.h" -#include "gps_fpga_acquisition_8sc.h" - -class gps_pcps_acquisition_fpga_sc; - -typedef boost::shared_ptr gps_pcps_acquisition_fpga_sc_sptr; - -gps_pcps_acquisition_fpga_sc_sptr -gps_pcps_make_acquisition_fpga_sc(unsigned int sampled_ms, - unsigned int max_dwells, unsigned int doppler_max, long freq, - long fs_in, int samples_per_ms, int samples_per_code, - int vector_length_, unsigned int nsamples_total_, - bool bit_transition_flag, bool use_CFAR_algorithm_flag, - unsigned int select_queue_Fpga, std::string device_name, bool dump, - std::string dump_filename); - -/*! - * \brief This class implements a Parallel Code Phase Search Acquisition. - * - * Check \ref Navitec2012 "An Open Source Galileo E1 Software Receiver", - * Algorithm 1, for a pseudocode description of this implementation. - */ -class gps_pcps_acquisition_fpga_sc : public gr::block -{ -private: - friend gps_pcps_acquisition_fpga_sc_sptr - gps_pcps_make_acquisition_fpga_sc(unsigned int sampled_ms, - unsigned int max_dwells, unsigned int doppler_max, long freq, - long fs_in, int samples_per_ms, int samples_per_code, - int vector_length, unsigned int nsamples_total, - bool bit_transition_flag, bool use_CFAR_algorithm_flag, - unsigned int select_queue_Fpga, std::string device_name, bool dump, - std::string dump_filename); - - gps_pcps_acquisition_fpga_sc(unsigned int sampled_ms, - unsigned int max_dwells, unsigned int doppler_max, long freq, - long fs_in, int samples_per_ms, int samples_per_code, - int vector_length, unsigned int nsamples_total, - bool bit_transition_flag, bool use_CFAR_algorithm_flag, - unsigned int select_queue_Fpga, std::string device_name, bool dump, - std::string dump_filename); - - int d_samples_per_code; - float d_threshold; - unsigned int d_doppler_max; - unsigned int d_doppler_step; - unsigned int d_max_dwells; - unsigned int d_well_count; - unsigned int d_fft_size; - unsigned long int d_sample_counter; - unsigned int d_num_doppler_bins; - - Gnss_Synchro *d_gnss_synchro; - float d_mag; - bool d_bit_transition_flag; - bool d_use_CFAR_algorithm_flag; - std::ofstream d_dump_file; - bool d_active; - int d_state; - bool d_dump; - unsigned int d_channel; - std::string d_dump_filename; - - std::shared_ptr acquisition_fpga_8sc; - -public: - /*! - * \brief Default destructor. - */ - ~gps_pcps_acquisition_fpga_sc(); - - /*! - * \brief Set acquisition/tracking common Gnss_Synchro object pointer - * to exchange synchronization data between acquisition and tracking blocks. - * \param p_gnss_synchro Satellite information shared by the processing blocks. - */ - inline void set_gnss_synchro(Gnss_Synchro *p_gnss_synchro) - { - d_gnss_synchro = p_gnss_synchro; - } - - /*! - * \brief Returns the maximum peak of grid search. - */ - inline unsigned int mag() const - { - return d_mag; - } - - /*! - * \brief Initializes acquisition algorithm. - */ - void init(); - - /*! - * \brief Sets local code for PCPS acquisition algorithm. - * \param code - Pointer to the PRN code. - */ - void set_local_code(); - - /*! - * \brief Starts acquisition algorithm, turning from standby mode to - * active mode - * \param active - bool that activates/deactivates the block. - */ - void set_active(bool active); - - /*! - * \brief If set to 1, ensures that acquisition starts at the - * first available sample. - * \param state - int=1 forces start of acquisition - */ - void set_state(int state); - - /*! - * \brief Set acquisition channel unique ID - * \param channel - receiver channel. - */ - inline void set_channel(unsigned int channel) - { - d_channel = channel; - } - - /*! - * \brief Set statistics threshold of PCPS algorithm. - * \param threshold - Threshold for signal detection (check \ref Navitec2012, - * Algorithm 1, for a definition of this threshold). - */ - inline void set_threshold(float threshold) - { - d_threshold = threshold; - } - - /*! - * \brief Set maximum Doppler grid search - * \param doppler_max - Maximum Doppler shift considered in the grid search [Hz]. - */ - inline void set_doppler_max(unsigned int doppler_max) - { - d_doppler_max = doppler_max; - acquisition_fpga_8sc->set_doppler_max(doppler_max); - } - - /*! - * \brief Set Doppler steps for the grid search - * \param doppler_step - Frequency bin of the search grid [Hz]. - */ - inline void set_doppler_step(unsigned int doppler_step) - { - d_doppler_step = doppler_step; - acquisition_fpga_8sc->set_doppler_step(doppler_step); - } - - /*! - * \brief Parallel Code Phase Search Acquisition signal processing. - */ - int general_work(int noutput_items, gr_vector_int &ninput_items, - gr_vector_const_void_star &input_items, - gr_vector_void_star &output_items); -}; - -#endif /* GNSS_SDR_PCPS_ACQUISITION_SC_H_*/ diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc index 0eb0cd3dd..dd2243a23 100644 --- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc +++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc @@ -39,7 +39,7 @@ #include #include #include -#include +#include #include @@ -335,84 +335,6 @@ void pcps_acquisition::send_negative_acquisition() } -int pcps_acquisition::general_work(int noutput_items __attribute__((unused)), - gr_vector_int& ninput_items, gr_vector_const_void_star& input_items, - gr_vector_void_star& output_items __attribute__((unused))) -{ - /* - * By J.Arribas, L.Esteve and M.Molina - * Acquisition strategy (Kay Borre book + CFAR threshold): - * 1. Compute the input signal power estimation - * 2. Doppler serial search loop - * 3. Perform the FFT-based circular convolution (parallel time search) - * 4. Record the maximum peak and the associated synchronization parameters - * 5. Compute the test statistics and compare to the threshold - * 6. Declare positive or negative acquisition using a message port - */ - - gr::thread::scoped_lock lk(d_setlock); - if (!d_active or d_worker_active) - { - d_sample_counter += d_fft_size * ninput_items[0]; - consume_each(ninput_items[0]); - if (d_step_two) - { - d_doppler_center_step_two = static_cast(d_gnss_synchro->Acq_doppler_hz); - update_grid_doppler_wipeoffs_step2(); - d_state = 0; - d_active = true; - } - return 0; - } - - switch (d_state) - { - case 0: - { - //restart acquisition variables - d_gnss_synchro->Acq_delay_samples = 0.0; - d_gnss_synchro->Acq_doppler_hz = 0.0; - d_gnss_synchro->Acq_samplestamp_samples = 0; - d_well_count = 0; - d_mag = 0.0; - d_input_power = 0.0; - d_test_statistics = 0.0; - d_state = 1; - d_sample_counter += d_fft_size * ninput_items[0]; // sample counter - consume_each(ninput_items[0]); - break; - } - - case 1: - { - // Copy the data to the core and let it know that new data is available - if (d_cshort) - { - memcpy(d_data_buffer_sc, input_items[0], d_fft_size * sizeof(lv_16sc_t)); - } - else - { - memcpy(d_data_buffer, input_items[0], d_fft_size * sizeof(gr_complex)); - } - if (acq_parameters.blocking) - { - lk.unlock(); - acquisition_core(d_sample_counter); - } - else - { - gr::thread::thread d_worker(&pcps_acquisition::acquisition_core, this, d_sample_counter); - d_worker_active = true; - } - d_sample_counter += d_fft_size; - consume_each(1); - break; - } - } - return 0; -} - - void pcps_acquisition::acquisition_core(unsigned long int samp_count) { gr::thread::scoped_lock lk(d_setlock); @@ -686,3 +608,81 @@ void pcps_acquisition::acquisition_core(unsigned long int samp_count) } d_worker_active = false; } + + +int pcps_acquisition::general_work(int noutput_items __attribute__((unused)), + gr_vector_int& ninput_items, gr_vector_const_void_star& input_items, + gr_vector_void_star& output_items __attribute__((unused))) +{ + /* + * By J.Arribas, L.Esteve and M.Molina + * Acquisition strategy (Kay Borre book + CFAR threshold): + * 1. Compute the input signal power estimation + * 2. Doppler serial search loop + * 3. Perform the FFT-based circular convolution (parallel time search) + * 4. Record the maximum peak and the associated synchronization parameters + * 5. Compute the test statistics and compare to the threshold + * 6. Declare positive or negative acquisition using a message port + */ + + gr::thread::scoped_lock lk(d_setlock); + if (!d_active or d_worker_active) + { + d_sample_counter += d_fft_size * ninput_items[0]; + consume_each(ninput_items[0]); + if (d_step_two) + { + d_doppler_center_step_two = static_cast(d_gnss_synchro->Acq_doppler_hz); + update_grid_doppler_wipeoffs_step2(); + d_state = 0; + d_active = true; + } + return 0; + } + + switch (d_state) + { + case 0: + { + //restart acquisition variables + d_gnss_synchro->Acq_delay_samples = 0.0; + d_gnss_synchro->Acq_doppler_hz = 0.0; + d_gnss_synchro->Acq_samplestamp_samples = 0; + d_well_count = 0; + d_mag = 0.0; + d_input_power = 0.0; + d_test_statistics = 0.0; + d_state = 1; + d_sample_counter += d_fft_size * ninput_items[0]; // sample counter + consume_each(ninput_items[0]); + break; + } + + case 1: + { + // Copy the data to the core and let it know that new data is available + if (d_cshort) + { + memcpy(d_data_buffer_sc, input_items[0], d_fft_size * sizeof(lv_16sc_t)); + } + else + { + memcpy(d_data_buffer, input_items[0], d_fft_size * sizeof(gr_complex)); + } + if (acq_parameters.blocking) + { + lk.unlock(); + acquisition_core(d_sample_counter); + } + else + { + gr::thread::thread d_worker(&pcps_acquisition::acquisition_core, this, d_sample_counter); + d_worker_active = true; + } + d_sample_counter += d_fft_size; + consume_each(1); + break; + } + } + return 0; +} diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h index 97e314fdb..3836b0c38 100644 --- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h +++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h @@ -56,7 +56,7 @@ #include #include #include -#include +#include #include typedef struct diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.cc new file mode 100644 index 000000000..6a337925e --- /dev/null +++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.cc @@ -0,0 +1,244 @@ +/*! + * \file pcps_acquisition_fpga.cc + * \brief This class implements a Parallel Code Phase Search Acquisition in the FPGA + * + * Note: The CFAR algorithm is not implemented in the FPGA. + * Note 2: The bit transition flag is not implemented in the FPGA + * + * \authors
    + *
  • Marc Majoral, 2017. mmajoral(at)cttc.cat + *
  • Javier Arribas, 2011. jarribas(at)cttc.es + *
  • Luis Esteve, 2012. luis(at)epsilon-formacion.com + *
  • Marc Molina, 2013. marc.molina.pena@gmail.com + *
  • Cillian O'Driscoll, 2017. cillian(at)ieee.org + *
+ * + * ------------------------------------------------------------------------- + * + * Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors) + * + * GNSS-SDR is a software defined Global Navigation + * Satellite Systems receiver + * + * This file is part of GNSS-SDR. + * + * GNSS-SDR is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * GNSS-SDR is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with GNSS-SDR. If not, see . + * + * ------------------------------------------------------------------------- + */ + + +#include +#include +#include "pcps_acquisition_fpga.h" + +using google::LogMessage; + +pcps_acquisition_fpga_sptr pcps_make_acquisition(pcpsconf_fpga_t conf_) +{ + return pcps_acquisition_fpga_sptr(new pcps_acquisition_fpga(conf_)); +} + + +pcps_acquisition_fpga::pcps_acquisition_fpga(pcpsconf_fpga_t conf_) : gr::block("pcps_acquisition_fpga", + gr::io_signature::make(0, 0, 0), + gr::io_signature::make(0, 0, 0)) +{ + this->message_port_register_out(pmt::mp("events")); + + acq_parameters = conf_; + d_sample_counter = 0; // SAMPLE COUNTER + d_active = false; + d_state = 0; + d_fft_size = acq_parameters.sampled_ms * acq_parameters.samples_per_ms; + d_mag = 0; + d_input_power = 0.0; + d_num_doppler_bins = 0; + d_threshold = 0.0; + d_doppler_step = 0; + d_test_statistics = 0.0; + d_channel = 0; + d_gnss_synchro = 0; + + acquisition_fpga = std::make_shared + (acq_parameters.device_name, d_fft_size, acq_parameters.doppler_max, acq_parameters.samples_per_ms, + acq_parameters.fs_in, acq_parameters.freq, acq_parameters.sampled_ms, acq_parameters.select_queue_Fpga, acq_parameters.all_fft_codes); + +} + + +pcps_acquisition_fpga::~pcps_acquisition_fpga() +{ + acquisition_fpga->free(); +} + + +void pcps_acquisition_fpga::set_local_code() +{ + acquisition_fpga->set_local_code(d_gnss_synchro->PRN); +} + + +void pcps_acquisition_fpga::init() +{ + d_gnss_synchro->Flag_valid_acquisition = false; + d_gnss_synchro->Flag_valid_symbol_output = false; + d_gnss_synchro->Flag_valid_pseudorange = false; + d_gnss_synchro->Flag_valid_word = false; + d_gnss_synchro->Acq_delay_samples = 0.0; + d_gnss_synchro->Acq_doppler_hz = 0.0; + d_gnss_synchro->Acq_samplestamp_samples = 0; + d_mag = 0.0; + d_input_power = 0.0; + d_num_doppler_bins = static_cast(std::ceil(static_cast(static_cast(acq_parameters.doppler_max) - static_cast(-acq_parameters.doppler_max)) / static_cast(d_doppler_step))); + + acquisition_fpga->init(); +} + + +void pcps_acquisition_fpga::set_state(int state) +{ + d_state = state; + if (d_state == 1) + { + d_gnss_synchro->Acq_delay_samples = 0.0; + d_gnss_synchro->Acq_doppler_hz = 0.0; + d_gnss_synchro->Acq_samplestamp_samples = 0; + //d_well_count = 0; + d_mag = 0.0; + d_input_power = 0.0; + d_test_statistics = 0.0; + d_active = true; + } + else if (d_state == 0) + { + } + else + { + LOG(ERROR) << "State can only be set to 0 or 1"; + } +} + + +void pcps_acquisition_fpga::send_positive_acquisition() +{ + // 6.1- Declare positive acquisition using a message port + //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL + DLOG(INFO) << "positive acquisition" + << ", satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN + << ", sample_stamp " << d_sample_counter + << ", test statistics value " << d_test_statistics + << ", test statistics threshold " << d_threshold + << ", code phase " << d_gnss_synchro->Acq_delay_samples + << ", doppler " << d_gnss_synchro->Acq_doppler_hz + << ", magnitude " << d_mag + << ", input signal power " << d_input_power; + + this->message_port_pub(pmt::mp("events"), pmt::from_long(1)); +} + + +void pcps_acquisition_fpga::send_negative_acquisition() +{ + // 6.2- Declare negative acquisition using a message port + //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL + DLOG(INFO) << "negative acquisition" + << ", satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN + << ", sample_stamp " << d_sample_counter + << ", test statistics value " << d_test_statistics + << ", test statistics threshold " << d_threshold + << ", code phase " << d_gnss_synchro->Acq_delay_samples + << ", doppler " << d_gnss_synchro->Acq_doppler_hz + << ", magnitude " << d_mag + << ", input signal power " << d_input_power; + + this->message_port_pub(pmt::mp("events"), pmt::from_long(2)); +} + + +void pcps_acquisition_fpga::set_active(bool active) +{ + d_active = active; + + // initialize acquisition algorithm + uint32_t indext = 0; + float magt = 0.0; + float fft_normalization_factor = static_cast(d_fft_size) * static_cast(d_fft_size); + + d_input_power = 0.0; + d_mag = 0.0; + + DLOG(INFO) << "Channel: " << d_channel + << " , doing acquisition of satellite: " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN + << " ,sample stamp: " << d_sample_counter << ", threshold: " + << d_threshold << ", doppler_max: " << acq_parameters.doppler_max + << ", doppler_step: " << d_doppler_step + // no CFAR algorithm in the FPGA + << ", use_CFAR_algorithm_flag: false"; + + unsigned int initial_sample; + float input_power_all = 0.0; + float input_power_computed = 0.0; + for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++) + { + // doppler search steps + int doppler = -static_cast(acq_parameters.doppler_max) + d_doppler_step * doppler_index; + + acquisition_fpga->set_phase_step(doppler_index); + acquisition_fpga->run_acquisition(); // runs acquisition and waits until it is finished + acquisition_fpga->read_acquisition_results(&indext, &magt, + &initial_sample, &d_input_power); + d_sample_counter = initial_sample; + + if (d_mag < magt) + { + d_mag = magt; + + input_power_all = d_input_power / (d_fft_size - 1); + input_power_computed = (d_input_power - d_mag) / (d_fft_size - 1); + d_input_power = (d_input_power - d_mag) / (d_fft_size - 1); + + d_gnss_synchro->Acq_delay_samples = static_cast(indext % acq_parameters.samples_per_code); + d_gnss_synchro->Acq_doppler_hz = static_cast(doppler); + d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter; + + d_test_statistics = (d_mag / d_input_power); //* correction_factor; + } + + // In the case of the FPGA the option of dumping the results of the acquisition to a file is not available + // because the IFFT vector is not available + } + + if (d_test_statistics > d_threshold) + { + d_active = false; + send_positive_acquisition(); + d_state = 0; // Positive acquisition + } + else + { + d_state = 0; + d_active = false; + send_negative_acquisition(); + } +} + + +int pcps_acquisition_fpga::general_work(int noutput_items __attribute__((unused)), + gr_vector_int& ninput_items, gr_vector_const_void_star& input_items, + gr_vector_void_star& output_items __attribute__((unused))) +{ + // the general work is not used with the acquisition that uses the FPGA + return noutput_items; +} diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.h new file mode 100644 index 000000000..e758904e3 --- /dev/null +++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.h @@ -0,0 +1,213 @@ +/*! + * \file pcps_acquisition_fpga.h + * \brief This class implements a Parallel Code Phase Search Acquisition in the FPGA. + * + * Note: The CFAR algorithm is not implemented in the FPGA. + * Note 2: The bit transition flag is not implemented in the FPGA + * + * Acquisition strategy (Kay Borre book + CFAR threshold). + *
    + *
  1. Compute the input signal power estimation + *
  2. Doppler serial search loop + *
  3. Perform the FFT-based circular convolution (parallel time search) + *
  4. Record the maximum peak and the associated synchronization parameters + *
  5. Compute the test statistics and compare to the threshold + *
  6. Declare positive or negative acquisition using a message queue + *
+ * + * Kay Borre book: K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen, + * "A Software-Defined GPS and Galileo Receiver. A Single-Frequency + * Approach", Birkhauser, 2007. pp 81-84 + * + * \authors
    + *
  • Marc Majoral, 2017. mmajoral(at)cttc.cat + *
  • Javier Arribas, 2011. jarribas(at)cttc.es + *
  • Luis Esteve, 2012. luis(at)epsilon-formacion.com + *
  • Marc Molina, 2013. marc.molina.pena@gmail.com + *
  • Cillian O'Driscoll, 2017. cillian(at)ieee.org + *
  • Antonio Ramos, 2017. antonio.ramos@cttc.es + *
+ * + * ------------------------------------------------------------------------- + * + * Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors) + * + * GNSS-SDR is a software defined Global Navigation + * Satellite Systems receiver + * + * This file is part of GNSS-SDR. + * + * GNSS-SDR is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * GNSS-SDR is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with GNSS-SDR. If not, see . + * + * ------------------------------------------------------------------------- + */ + +#ifndef GNSS_SDR_PCPS_ACQUISITION_FPGA_H_ +#define GNSS_SDR_PCPS_ACQUISITION_FPGA_H_ + + +#include "fpga_acquisition.h" +#include "gnss_synchro.h" +#include + +typedef struct +{ + /* pcps acquisition configuration */ + unsigned int sampled_ms; + unsigned int doppler_max; + long freq; + long fs_in; + int samples_per_ms; + int samples_per_code; + unsigned int select_queue_Fpga; + std::string device_name; + lv_16sc_t* all_fft_codes; // memory that contains all the code ffts + +} pcpsconf_fpga_t; + +class pcps_acquisition_fpga; + +typedef boost::shared_ptr pcps_acquisition_fpga_sptr; + +pcps_acquisition_fpga_sptr +pcps_make_acquisition(pcpsconf_fpga_t conf_); + +/*! + * \brief This class implements a Parallel Code Phase Search Acquisition that uses the FPGA. + * + * Check \ref Navitec2012 "An Open Source Galileo E1 Software Receiver", + * Algorithm 1, for a pseudocode description of this implementation. + */ +class pcps_acquisition_fpga : public gr::block +{ +private: + friend pcps_acquisition_fpga_sptr + + pcps_make_acquisition(pcpsconf_fpga_t conf_); + + pcps_acquisition_fpga(pcpsconf_fpga_t conf_); + + void send_negative_acquisition(); + + void send_positive_acquisition(); + + pcpsconf_fpga_t acq_parameters; + bool d_active; + float d_threshold; + float d_mag; + float d_input_power; + float d_test_statistics; + int d_state; + unsigned int d_channel; + unsigned int d_doppler_step; + unsigned int d_fft_size; + unsigned int d_num_doppler_bins; + unsigned long int d_sample_counter; + Gnss_Synchro* d_gnss_synchro; + std::shared_ptr acquisition_fpga; + +public: + ~pcps_acquisition_fpga(); + + /*! + * \brief Set acquisition/tracking common Gnss_Synchro object pointer + * to exchange synchronization data between acquisition and tracking blocks. + * \param p_gnss_synchro Satellite information shared by the processing blocks. + */ + inline void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) + { + d_gnss_synchro = p_gnss_synchro; + } + + /*! + * \brief Returns the maximum peak of grid search. + */ + inline unsigned int mag() const + { + return d_mag; + } + + /*! + * \brief Initializes acquisition algorithm. + */ + void init(); + + /*! + * \brief Sets local code for PCPS acquisition algorithm. + * \param code - Pointer to the PRN code. + */ + void set_local_code(); + + /*! + * \brief If set to 1, ensures that acquisition starts at the + * first available sample. + * \param state - int=1 forces start of acquisition + */ + void set_state(int state); + + /*! + * \brief Starts acquisition algorithm, turning from standby mode to + * active mode + * \param active - bool that activates/deactivates the block. + */ + void set_active(bool active); + + /*! + * \brief Set acquisition channel unique ID + * \param channel - receiver channel. + */ + inline void set_channel(unsigned int channel) + { + d_channel = channel; + } + + /*! + * \brief Set statistics threshold of PCPS algorithm. + * \param threshold - Threshold for signal detection (check \ref Navitec2012, + * Algorithm 1, for a definition of this threshold). + */ + inline void set_threshold(float threshold) + { + d_threshold = threshold; + } + + /*! + * \brief Set maximum Doppler grid search + * \param doppler_max - Maximum Doppler shift considered in the grid search [Hz]. + */ + inline void set_doppler_max(unsigned int doppler_max) + { + acq_parameters.doppler_max = doppler_max; + acquisition_fpga->set_doppler_max(doppler_max); + } + + /*! + * \brief Set Doppler steps for the grid search + * \param doppler_step - Frequency bin of the search grid [Hz]. + */ + inline void set_doppler_step(unsigned int doppler_step) + { + d_doppler_step = doppler_step; + acquisition_fpga->set_doppler_step(doppler_step); + } + + /*! + * \brief Parallel Code Phase Search Acquisition signal processing. + */ + int general_work(int noutput_items, gr_vector_int& ninput_items, + gr_vector_const_void_star& input_items, + gr_vector_void_star& output_items); +}; + +#endif /* GNSS_SDR_PCPS_ACQUISITION_FPGA_H_*/ diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.cc index 17d3628d5..851ec0545 100644 --- a/src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.cc +++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.cc @@ -49,18 +49,18 @@ */ #include "pcps_opencl_acquisition_cc.h" -#include -#include -#include -#include -#include -#include -#include -#include #include "control_message_factory.h" #include "opencl/fft_base_kernels.h" #include "opencl/fft_internal.h" #include "GPS_L1_CA.h" //GPS_TWO_PI +#include +#include +#include +#include +#include +#include +#include +#include using google::LogMessage; @@ -78,10 +78,15 @@ pcps_opencl_acquisition_cc_sptr pcps_make_opencl_acquisition_cc( samples_per_code, bit_transition_flag, dump, dump_filename)); } + pcps_opencl_acquisition_cc::pcps_opencl_acquisition_cc( - unsigned int sampled_ms, unsigned int max_dwells, - unsigned int doppler_max, long freq, long fs_in, - int samples_per_ms, int samples_per_code, + unsigned int sampled_ms, + unsigned int max_dwells, + unsigned int doppler_max, + long freq, + long fs_in, + int samples_per_ms, + int samples_per_code, bool bit_transition_flag, bool dump, std::string dump_filename) : gr::block("pcps_opencl_acquisition_cc", @@ -339,6 +344,7 @@ void pcps_opencl_acquisition_cc::init() } } + void pcps_opencl_acquisition_cc::set_local_code(std::complex *code) { if (d_opencl == 0) @@ -374,6 +380,7 @@ void pcps_opencl_acquisition_cc::set_local_code(std::complex *code) } } + void pcps_opencl_acquisition_cc::acquisition_core_volk() { // initialize acquisition algorithm @@ -496,6 +503,7 @@ void pcps_opencl_acquisition_cc::acquisition_core_volk() d_core_working = false; } + void pcps_opencl_acquisition_cc::acquisition_core_opencl() { // initialize acquisition algorithm @@ -687,6 +695,7 @@ void pcps_opencl_acquisition_cc::set_state(int state) } } + int pcps_opencl_acquisition_cc::general_work(int noutput_items, gr_vector_int &ninput_items, gr_vector_const_void_star &input_items, gr_vector_void_star &output_items __attribute__((unused))) diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.h index aebc73ef8..00a52b89a 100644 --- a/src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.h +++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.h @@ -51,14 +51,14 @@ #ifndef GNSS_SDR_PCPS_OPENCL_ACQUISITION_CC_H_ #define GNSS_SDR_PCPS_OPENCL_ACQUISITION_CC_H_ -#include -#include -#include +#include "gnss_synchro.h" +#include "opencl/fft_internal.h" #include #include #include -#include "opencl/fft_internal.h" -#include "gnss_synchro.h" +#include +#include +#include #ifdef __APPLE__ #include "opencl/cl.hpp" diff --git a/src/algorithms/acquisition/libs/CMakeLists.txt b/src/algorithms/acquisition/libs/CMakeLists.txt index 53feb9366..f4adf131c 100644 --- a/src/algorithms/acquisition/libs/CMakeLists.txt +++ b/src/algorithms/acquisition/libs/CMakeLists.txt @@ -18,7 +18,7 @@ set(ACQUISITION_LIB_SOURCES - gps_fpga_acquisition_8sc.cc + fpga_acquisition.cc ) include_directories( diff --git a/src/algorithms/acquisition/libs/fpga_acquisition.cc b/src/algorithms/acquisition/libs/fpga_acquisition.cc new file mode 100644 index 000000000..81995faab --- /dev/null +++ b/src/algorithms/acquisition/libs/fpga_acquisition.cc @@ -0,0 +1,265 @@ +/*! + * \file fpga_acquisition.cc + * \brief High optimized FPGA vector correlator class + * \authors
    + *
  • Marc Majoral, 2018. mmajoral(at)cttc.cat + *
+ * + * Class that controls and executes a high optimized acquisition HW + * accelerator in the FPGA + * + * ------------------------------------------------------------------------- + * + * Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors) + * + * GNSS-SDR is a software defined Global Navigation + * Satellite Systems receiver + * + * This file is part of GNSS-SDR. + * + * GNSS-SDR is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * GNSS-SDR is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with GNSS-SDR. If not, see . + * + * ------------------------------------------------------------------------- + */ + +#include "fpga_acquisition.h" +#include "GPS_L1_CA.h" +#include "gps_sdr_signal_processing.h" +#include +#include // libraries used by the GIPO +#include // libraries used by the GIPO + + +#define PAGE_SIZE 0x10000 // default page size for the multicorrelator memory map +#define MAX_PHASE_STEP_RAD 0.999999999534339 // 1 - pow(2,-31); +#define RESET_ACQUISITION 2 // command to reset the multicorrelator +#define LAUNCH_ACQUISITION 1 // command to launch the multicorrelator +#define TEST_REG_SANITY_CHECK 0x55AA // value to check the presence of the test register (to detect the hw) +#define LOCAL_CODE_CLEAR_MEM 0x10000000 // command to clear the internal memory of the multicorrelator +#define MEM_LOCAL_CODE_WR_ENABLE 0x0C000000 // command to enable the ENA and WR pins of the internal memory of the multicorrelator +#define POW_2_2 4 // 2^2 (used for the conversion of floating point numbers to integers) +#define POW_2_29 536870912 // 2^29 (used for the conversion of floating point numbers to integers) +#define SELECT_LSB 0x00FF // value to select the least significant byte +#define SELECT_MSB 0XFF00 // value to select the most significant byte +#define SELECT_16_BITS 0xFFFF // value to select 16 bits +#define SHL_8_BITS 256 // value used to shift a value 8 bits to the left + + +bool fpga_acquisition::init() +{ + // configure the acquisition with the main initialization values + fpga_acquisition::configure_acquisition(); + return true; +} + + +bool fpga_acquisition::set_local_code(unsigned int PRN) +{ + // select the code with the chosen PRN + fpga_acquisition::fpga_configure_acquisition_local_code( + &d_all_fft_codes[d_nsamples_total * (PRN - 1)]); + return true; +} + + +fpga_acquisition::fpga_acquisition(std::string device_name, + unsigned int nsamples, + unsigned int doppler_max, + unsigned int nsamples_total, long fs_in, long freq, + unsigned int sampled_ms, unsigned select_queue, + lv_16sc_t *all_fft_codes) +{ + unsigned int vector_length = nsamples_total * sampled_ms; + // initial values + d_device_name = device_name; + d_freq = freq; + d_fs_in = fs_in; + d_vector_length = vector_length; + d_nsamples = nsamples; // number of samples not including padding + d_select_queue = select_queue; + d_nsamples_total = nsamples_total; + d_doppler_max = doppler_max; + d_doppler_step = 0; + d_fd = 0; // driver descriptor + d_map_base = nullptr; // driver memory map + d_all_fft_codes = all_fft_codes; + + // open communication with HW accelerator + if ((d_fd = open(d_device_name.c_str(), O_RDWR | O_SYNC)) == -1) + { + LOG(WARNING) << "Cannot open deviceio" << d_device_name; + } + d_map_base = reinterpret_cast(mmap(NULL, PAGE_SIZE, + PROT_READ | PROT_WRITE, MAP_SHARED, d_fd, 0)); + + if (d_map_base == reinterpret_cast(-1)) + { + LOG(WARNING) << "Cannot map the FPGA acquisition module into user memory"; + } + + // sanity check : check test register + unsigned writeval = TEST_REG_SANITY_CHECK; + unsigned readval; + readval = fpga_acquisition::fpga_acquisition_test_register(writeval); + if (writeval != readval) + { + LOG(WARNING) << "Acquisition test register sanity check failed"; + } + else + { + LOG(INFO) << "Acquisition test register sanity check success!"; + } + fpga_acquisition::reset_acquisition(); + DLOG(INFO) << "Acquisition FPGA class created"; +} + + +fpga_acquisition::~fpga_acquisition() +{ + close_device(); +} + + +bool fpga_acquisition::free() +{ + return true; +} + + +unsigned fpga_acquisition::fpga_acquisition_test_register(unsigned writeval) +{ + unsigned readval; + // write value to test register + d_map_base[15] = writeval; + // read value from test register + readval = d_map_base[15]; + // return read value + return readval; +} + + +void fpga_acquisition::fpga_configure_acquisition_local_code(lv_16sc_t fft_local_code[]) +{ + unsigned short local_code; + unsigned int k, tmp, tmp2; + unsigned int fft_data; + // clear memory address counter + d_map_base[4] = LOCAL_CODE_CLEAR_MEM; + // write local code + for (k = 0; k < d_vector_length; k++) + { + tmp = fft_local_code[k].real(); + tmp2 = fft_local_code[k].imag(); + local_code = (tmp & SELECT_LSB) | ((tmp2 * SHL_8_BITS) & SELECT_MSB); // put together the real part and the imaginary part + fft_data = MEM_LOCAL_CODE_WR_ENABLE | (local_code & SELECT_16_BITS); + d_map_base[4] = fft_data; + } +} + + +void fpga_acquisition::run_acquisition(void) +{ + // enable interrupts + int reenable = 1; + write(d_fd, reinterpret_cast(&reenable), sizeof(int)); + // launch the acquisition process + d_map_base[6] = LAUNCH_ACQUISITION; // writing anything to reg 6 launches the acquisition process + + int irq_count; + ssize_t nb; + // wait for interrupt + nb = read(d_fd, &irq_count, sizeof(irq_count)); + if (nb != sizeof(irq_count)) + { + printf("acquisition module Read failed to retrieve 4 bytes!\n"); + printf("acquisition module Interrupt number %d\n", irq_count); + } +} + + +void fpga_acquisition::configure_acquisition() +{ + d_map_base[0] = d_select_queue; + d_map_base[1] = d_vector_length; + d_map_base[2] = d_nsamples; + d_map_base[5] = (int)log2((float)d_vector_length); // log2 FFTlength +} + + +void fpga_acquisition::set_phase_step(unsigned int doppler_index) +{ + float phase_step_rad_real; + float phase_step_rad_int_temp; + int32_t phase_step_rad_int; + int doppler = static_cast(-d_doppler_max) + d_doppler_step * doppler_index; + float phase_step_rad = GPS_TWO_PI * (d_freq + doppler) / static_cast(d_fs_in); + // The doppler step can never be outside the range -pi to +pi, otherwise there would be aliasing + // The FPGA expects phase_step_rad between -1 (-pi) to +1 (+pi) + // The FPGA also expects the phase to be negative since it produces cos(x) -j*sin(x) + // while the gnss-sdr software (volk_gnsssdr_s32f_sincos_32fc) generates cos(x) + j*sin(x) + phase_step_rad_real = phase_step_rad / (GPS_TWO_PI / 2); + // avoid saturation of the fixed point representation in the fpga + // (only the positive value can saturate due to the 2's complement representation) + if (phase_step_rad_real >= 1.0) + { + phase_step_rad_real = MAX_PHASE_STEP_RAD; + } + phase_step_rad_int_temp = phase_step_rad_real * POW_2_2; // * 2^2 + phase_step_rad_int = (int32_t)(phase_step_rad_int_temp * (POW_2_29)); // * 2^29 (in total it makes x2^31 in two steps to avoid the warnings + d_map_base[3] = phase_step_rad_int; +} + + +void fpga_acquisition::read_acquisition_results(uint32_t *max_index, + float *max_magnitude, unsigned *initial_sample, float *power_sum) +{ + unsigned readval = 0; + readval = d_map_base[1]; + *initial_sample = readval; + readval = d_map_base[2]; + *max_magnitude = static_cast(readval); + readval = d_map_base[4]; + *power_sum = static_cast(readval); + readval = d_map_base[3]; + *max_index = readval; +} + + +void fpga_acquisition::block_samples() +{ + d_map_base[14] = 1; // block the samples +} + + +void fpga_acquisition::unblock_samples() +{ + d_map_base[14] = 0; // unblock the samples +} + + +void fpga_acquisition::close_device() +{ + unsigned *aux = const_cast(d_map_base); + if (munmap(static_cast(aux), PAGE_SIZE) == -1) + { + printf("Failed to unmap memory uio\n"); + } + close(d_fd); +} + + +void fpga_acquisition::reset_acquisition(void) +{ + d_map_base[6] = RESET_ACQUISITION; // writing a 2 to d_map_base[6] resets the multicorrelator +} diff --git a/src/algorithms/acquisition/libs/gps_fpga_acquisition_8sc.h b/src/algorithms/acquisition/libs/fpga_acquisition.h similarity index 76% rename from src/algorithms/acquisition/libs/gps_fpga_acquisition_8sc.h rename to src/algorithms/acquisition/libs/fpga_acquisition.h index 40f8f37f2..00641e1cd 100644 --- a/src/algorithms/acquisition/libs/gps_fpga_acquisition_8sc.h +++ b/src/algorithms/acquisition/libs/fpga_acquisition.h @@ -1,12 +1,12 @@ /*! - * \file fpga_acquisition_8sc.h - * \brief High optimized FPGA vector correlator class for lv_16sc_t (short int complex). + * \file fpga_acquisition.h + * \brief High optimized FPGA vector correlator class * \authors
    - *
  • Marc Majoral, 2017. mmajoral(at)cttc.cat + *
  • Marc Majoral, 2018. mmajoral(at)cttc.cat *
* - * Class that controls and executes a high optimized vector correlator - * class in the FPGA + * Class that controls and executes a high optimized acquisition HW + * accelerator in the FPGA * * ------------------------------------------------------------------------- * @@ -33,28 +33,28 @@ * ------------------------------------------------------------------------- */ -#ifndef GNSS_SDR_FPGA_ACQUISITION_8SC_H_ -#define GNSS_SDR_FPGA_ACQUISITION_8SC_H_ +#ifndef GNSS_SDR_FPGA_ACQUISITION_H_ +#define GNSS_SDR_FPGA_ACQUISITION_H_ -#include - -#include #include +#include /*! * \brief Class that implements carrier wipe-off and correlators. */ -class gps_fpga_acquisition_8sc +class fpga_acquisition { public: - gps_fpga_acquisition_8sc(std::string device_name, - unsigned int vector_length, unsigned int nsamples, + fpga_acquisition(std::string device_name, + unsigned int nsamples, + unsigned int doppler_max, unsigned int nsamples_total, long fs_in, long freq, - unsigned int sampled_ms, unsigned select_queue); - ~gps_fpga_acquisition_8sc(); + unsigned int sampled_ms, unsigned select_queue, + lv_16sc_t *all_fft_codes); + ~fpga_acquisition(); bool init(); bool set_local_code( - unsigned int PRN); //int code_length_chips, const lv_16sc_t* local_code_in, float *shifts_chips); + unsigned int PRN); bool free(); void run_acquisition(void); void set_phase_step(unsigned int doppler_index); @@ -62,8 +62,6 @@ public: unsigned *initial_sample, float *power_sum); void block_samples(); void unblock_samples(); - void open_device(); - void close_device(); /*! * \brief Set maximum Doppler grid search @@ -87,22 +85,23 @@ private: long d_freq; long d_fs_in; gr::fft::fft_complex *d_fft_if; // function used to run the fft of the local codes - // data related to the hardware module and the driver int d_fd; // driver descriptor volatile unsigned *d_map_base; // driver memory map lv_16sc_t *d_all_fft_codes; // memory that contains all the code ffts - unsigned int d_vector_length; // number of samples including padding and number of ms + unsigned int d_vector_length; // number of samples incluing padding and number of ms + unsigned int d_nsamples_total; // number of samples including padding unsigned int d_nsamples; // number of samples not including padding unsigned int d_select_queue; // queue selection std::string d_device_name; // HW device name unsigned int d_doppler_max; // max doppler unsigned int d_doppler_step; // doppler step - // FPGA private functions unsigned fpga_acquisition_test_register(unsigned writeval); void fpga_configure_acquisition_local_code(lv_16sc_t fft_local_code[]); void configure_acquisition(); + void reset_acquisition(void); + void close_device(); }; -#endif /* GNSS_SDR_FPGA_MULTICORRELATOR_H_ */ +#endif /* GNSS_SDR_FPGA_ACQUISITION_H_ */ diff --git a/src/algorithms/acquisition/libs/gps_fpga_acquisition_8sc.cc b/src/algorithms/acquisition/libs/gps_fpga_acquisition_8sc.cc deleted file mode 100644 index b1a855a11..000000000 --- a/src/algorithms/acquisition/libs/gps_fpga_acquisition_8sc.cc +++ /dev/null @@ -1,332 +0,0 @@ -/*! - * \file gps_fpga_acquisition_8sc.cc - * \brief High optimized FPGA vector correlator class - * \authors
    - *
  • Marc Majoral, 2017. mmajoral(at)cttc.cat - *
- * - * Class that controls and executes a high optimized vector correlator - * class in the FPGA - * - * ------------------------------------------------------------------------- - * - * Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors) - * - * GNSS-SDR is a software defined Global Navigation - * Satellite Systems receiver - * - * This file is part of GNSS-SDR. - * - * GNSS-SDR is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * GNSS-SDR is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with GNSS-SDR. If not, see . - * - * ------------------------------------------------------------------------- - */ - -#include "gps_fpga_acquisition_8sc.h" -#include "gps_sdr_signal_processing.h" -#include "GPS_L1_CA.h" -#include -#include - -// allocate memory dynamically -#include - -// libraries used by DMA test code and GIPO test code -#include -#include -#include -#include - -// libraries used by DMA test code -#include -#include -#include - -// libraries used by GPIO test code -#include -#include -#include - -// logging -#include - - -#define PAGE_SIZE 0x10000 -#define MAX_PHASE_STEP_RAD 0.999999999534339 // 1 - pow(2,-31); -#define NUM_PRNs 32 -#define TEST_REGISTER_ACQ_WRITEVAL 0x55AA - -bool gps_fpga_acquisition_8sc::init() -{ - // configure the acquisition with the main initialization values - gps_fpga_acquisition_8sc::configure_acquisition(); - return true; -} - -bool gps_fpga_acquisition_8sc::set_local_code(unsigned int PRN) -{ - // select the code with the chosen PRN - gps_fpga_acquisition_8sc::fpga_configure_acquisition_local_code( - &d_all_fft_codes[d_vector_length * PRN]); - return true; -} - -gps_fpga_acquisition_8sc::gps_fpga_acquisition_8sc(std::string device_name, - unsigned int vector_length, unsigned int nsamples, - unsigned int nsamples_total, long fs_in, long freq, - unsigned int sampled_ms, unsigned select_queue) -{ - // initial values - d_device_name = device_name; - d_freq = freq; - d_fs_in = fs_in; - d_vector_length = vector_length; - d_nsamples = nsamples; // number of samples not including padding - d_select_queue = select_queue; - - d_doppler_max = 0; - d_doppler_step = 0; - d_fd = 0; // driver descriptor - d_map_base = nullptr; // driver memory map - - // compute all the possible code ffts - - // Direct FFT - d_fft_if = new gr::fft::fft_complex(vector_length, true); - - // allocate memory to compute all the PRNs - // and compute all the possible codes - std::complex* code = new std::complex[nsamples_total]; // buffer for the local code - std::complex* code_total = new gr_complex[vector_length]; // buffer for the local code repeat every number of ms - - gr_complex* d_fft_codes_padded = static_cast(volk_gnsssdr_malloc(vector_length * sizeof(gr_complex), volk_gnsssdr_get_alignment())); - - d_all_fft_codes = new lv_16sc_t[vector_length * NUM_PRNs]; // memory containing all the possible fft codes for PRN 0 to 32 - - float max; // temporary maxima search - - for (unsigned int PRN = 0; PRN < NUM_PRNs; PRN++) - { - gps_l1_ca_code_gen_complex_sampled(code, PRN, fs_in, 0); // generate PRN code - - for (unsigned int i = 0; i < sampled_ms; i++) - { - memcpy(&(code_total[i * nsamples_total]), code, sizeof(gr_complex) * nsamples_total); // repeat for each ms - } - - int offset = 0; - - memcpy(d_fft_if->get_inbuf() + offset, code_total, sizeof(gr_complex) * vector_length); // copy to FFT buffer - - d_fft_if->execute(); // Run the FFT of local code - - volk_32fc_conjugate_32fc(d_fft_codes_padded, d_fft_if->get_outbuf(), vector_length); // conjugate values - - max = 0; // initialize maximum value - - for (unsigned int i = 0; i < vector_length; i++) // search for maxima - { - if (std::abs(d_fft_codes_padded[i].real()) > max) - { - max = std::abs(d_fft_codes_padded[i].real()); - } - if (std::abs(d_fft_codes_padded[i].imag()) > max) - { - max = std::abs(d_fft_codes_padded[i].imag()); - } - } - - for (unsigned int i = 0; i < vector_length; i++) // map the FFT to the dynamic range of the fixed point values an copy to buffer containing all FFTs - { - d_all_fft_codes[i + vector_length * PRN] = lv_16sc_t(static_cast(d_fft_codes_padded[i].real() * (pow(2, 7) - 1) / max), - static_cast(d_fft_codes_padded[i].imag() * (pow(2, 7) - 1) / max)); - } - } - - // temporary buffers that we can delete - delete[] code; - delete[] code_total; - delete d_fft_if; - delete[] d_fft_codes_padded; -} - - -gps_fpga_acquisition_8sc::~gps_fpga_acquisition_8sc() -{ - delete[] d_all_fft_codes; -} - - -bool gps_fpga_acquisition_8sc::free() -{ - return true; -} - - -unsigned gps_fpga_acquisition_8sc::fpga_acquisition_test_register(unsigned writeval) -{ - unsigned readval; - // write value to test register - d_map_base[15] = writeval; - // read value from test register - readval = d_map_base[15]; - // return read value - return readval; -} - - -void gps_fpga_acquisition_8sc::fpga_configure_acquisition_local_code(lv_16sc_t fft_local_code[]) -{ - short int local_code; - unsigned int k, tmp, tmp2; - - // clear memory address counter - d_map_base[4] = 0x10000000; - for (k = 0; k < d_vector_length; k++) - { - tmp = fft_local_code[k].real(); - tmp2 = fft_local_code[k].imag(); - local_code = (tmp & 0xFF) | ((tmp2 * 256) & 0xFF00); // put together the real part and the imaginary part - d_map_base[4] = 0x0C000000 | (local_code & 0xFFFF); - } -} - - -void gps_fpga_acquisition_8sc::run_acquisition(void) -{ - // enable interrupts - int reenable = 1; - write(d_fd, reinterpret_cast(&reenable), sizeof(int)); - - d_map_base[5] = 0; // writing anything to reg 4 launches the acquisition process - - int irq_count; - ssize_t nb; - // wait for interrupt - nb = read(d_fd, &irq_count, sizeof(irq_count)); - if (nb != sizeof(irq_count)) - { - printf("Tracking_module Read failed to retrieve 4 bytes!\n"); - printf("Tracking_module Interrupt number %d\n", irq_count); - } -} - - -void gps_fpga_acquisition_8sc::configure_acquisition() -{ - d_map_base[0] = d_select_queue; - d_map_base[1] = d_vector_length; - d_map_base[2] = d_nsamples; -} - - -void gps_fpga_acquisition_8sc::set_phase_step(unsigned int doppler_index) -{ - float phase_step_rad_real; - float phase_step_rad_int_temp; - int32_t phase_step_rad_int; - - int doppler = static_cast(-d_doppler_max) + d_doppler_step * doppler_index; - float phase_step_rad = GPS_TWO_PI * (d_freq + doppler) / static_cast(d_fs_in); - // The doppler step can never be outside the range -pi to +pi, otherwise there would be aliasing - // The FPGA expects phase_step_rad between -1 (-pi) to +1 (+pi) - // The FPGA also expects the phase to be negative since it produces cos(x) -j*sin(x) - // while the gnss-sdr software (volk_gnsssdr_s32f_sincos_32fc) generates cos(x) + j*sin(x) - phase_step_rad_real = phase_step_rad / (GPS_TWO_PI / 2); - // avoid saturation of the fixed point representation in the fpga - // (only the positive value can saturate due to the 2's complement representation) - if (phase_step_rad_real == 1.0) - { - phase_step_rad_real = MAX_PHASE_STEP_RAD; - } - phase_step_rad_int_temp = phase_step_rad_real * 4; // * 2^2 - phase_step_rad_int = static_cast(phase_step_rad_int_temp * (536870912)); // * 2^29 (in total it makes x2^31 in two steps to avoid the warnings - - d_map_base[3] = phase_step_rad_int; -} - - -void gps_fpga_acquisition_8sc::read_acquisition_results(uint32_t* max_index, - float* max_magnitude, unsigned* initial_sample, float* power_sum) -{ - unsigned readval = 0; - readval = d_map_base[0]; - readval = d_map_base[1]; - *initial_sample = readval; - readval = d_map_base[2]; - *max_magnitude = static_cast(readval); - readval = d_map_base[4]; - *power_sum = static_cast(readval); - readval = d_map_base[3]; - *max_index = readval; -} - - -void gps_fpga_acquisition_8sc::block_samples() -{ - d_map_base[14] = 1; // block the samples -} - - -void gps_fpga_acquisition_8sc::unblock_samples() -{ - d_map_base[14] = 0; // unblock the samples -} - - -void gps_fpga_acquisition_8sc::open_device() -{ - if ((d_fd = open(d_device_name.c_str(), O_RDWR | O_SYNC)) == -1) - { - LOG(WARNING) << "Cannot open deviceio" << d_device_name; - } - - d_map_base = reinterpret_cast(mmap(NULL, PAGE_SIZE, - PROT_READ | PROT_WRITE, MAP_SHARED, d_fd, 0)); - - if (d_map_base == reinterpret_cast(-1)) - { - LOG(WARNING) << "Cannot map the FPGA acquisition module into user memory"; - } - - // sanity check : check test register - // we only nee to do this when the class is created - // but the device is not opened yet when the class is create - // because we need to open and close the device every time we run an acquisition - // since the same device may be used by more than one class (gps acquisition, galileo - // acquisition, etc ..) - unsigned writeval = TEST_REGISTER_ACQ_WRITEVAL; - unsigned readval; - readval = gps_fpga_acquisition_8sc::fpga_acquisition_test_register(writeval); - - if (writeval != readval) - { - LOG(WARNING) << "Acquisition test register sanity check failed"; - } - else - { - LOG(INFO) << "Acquisition test register sanity check success !"; - } -} - - -void gps_fpga_acquisition_8sc::close_device() -{ - unsigned* aux = const_cast(d_map_base); - if (munmap(static_cast(aux), PAGE_SIZE) == -1) - { - printf("Failed to unmap memory uio\n"); - } - close(d_fd); -} diff --git a/src/algorithms/channel/adapters/channel.cc b/src/algorithms/channel/adapters/channel.cc index 5a6284888..f7cec1949 100644 --- a/src/algorithms/channel/adapters/channel.cc +++ b/src/algorithms/channel/adapters/channel.cc @@ -108,8 +108,6 @@ Channel::Channel(ConfigurationInterface* configuration, unsigned int channel, // Destructor Channel::~Channel() {} - - void Channel::connect(gr::top_block_sptr top_block) { if (connected_) @@ -137,8 +135,6 @@ void Channel::connect(gr::top_block_sptr top_block) DLOG(INFO) << "tracking -> telemetry_decoder"; // Message ports - top_block->msg_connect(nav_->get_left_block(), pmt::mp("preamble_timestamp_s"), trk_->get_right_block(), pmt::mp("preamble_timestamp_s")); - DLOG(INFO) << "MSG FEEDBACK CHANNEL telemetry_decoder -> tracking"; top_block->msg_connect(acq_->get_right_block(), pmt::mp("events"), channel_msg_rx, pmt::mp("events")); top_block->msg_connect(trk_->get_right_block(), pmt::mp("events"), channel_msg_rx, pmt::mp("events")); diff --git a/src/algorithms/channel/libs/channel_fsm.cc b/src/algorithms/channel/libs/channel_fsm.cc index 310a784ef..027ec8564 100644 --- a/src/algorithms/channel/libs/channel_fsm.cc +++ b/src/algorithms/channel/libs/channel_fsm.cc @@ -33,6 +33,7 @@ #include "control_message_factory.h" #include +using google::LogMessage; ChannelFsm::ChannelFsm() { @@ -135,35 +136,41 @@ bool ChannelFsm::Event_failed_tracking_standby() } } + void ChannelFsm::set_acquisition(std::shared_ptr acquisition) { std::lock_guard lk(mx); acq_ = acquisition; } + void ChannelFsm::set_tracking(std::shared_ptr tracking) { std::lock_guard lk(mx); trk_ = tracking; } + void ChannelFsm::set_queue(gr::msg_queue::sptr queue) { std::lock_guard lk(mx); queue_ = queue; } + void ChannelFsm::set_channel(unsigned int channel) { std::lock_guard lk(mx); channel_ = channel; } + void ChannelFsm::start_acquisition() { acq_->reset(); } + void ChannelFsm::start_tracking() { trk_->start_tracking(); @@ -174,6 +181,7 @@ void ChannelFsm::start_tracking() } } + void ChannelFsm::request_satellite() { std::unique_ptr cmf(new ControlMessageFactory()); @@ -183,6 +191,7 @@ void ChannelFsm::request_satellite() } } + void ChannelFsm::notify_stop_tracking() { std::unique_ptr cmf(new ControlMessageFactory()); diff --git a/src/algorithms/channel/libs/channel_msg_receiver_cc.cc b/src/algorithms/channel/libs/channel_msg_receiver_cc.cc index 9b1056bd6..217f9c0eb 100644 --- a/src/algorithms/channel/libs/channel_msg_receiver_cc.cc +++ b/src/algorithms/channel/libs/channel_msg_receiver_cc.cc @@ -42,6 +42,7 @@ channel_msg_receiver_cc_sptr channel_msg_receiver_make_cc(std::shared_ptrEvent_valid_acquisition(); break; - case 2: //negative acquisition + case 2: // negative acquisition if (d_repeat == true) { result = d_channel_fsm->Event_failed_acquisition_repeat(); diff --git a/src/algorithms/conditioner/adapters/array_signal_conditioner.cc b/src/algorithms/conditioner/adapters/array_signal_conditioner.cc index 91cf3abba..e0c6e9beb 100644 --- a/src/algorithms/conditioner/adapters/array_signal_conditioner.cc +++ b/src/algorithms/conditioner/adapters/array_signal_conditioner.cc @@ -37,12 +37,15 @@ using google::LogMessage; // Constructor ArraySignalConditioner::ArraySignalConditioner(ConfigurationInterface *configuration, - std::shared_ptr data_type_adapt, std::shared_ptr in_filt, - std::shared_ptr res, std::string role, std::string implementation) : data_type_adapt_(data_type_adapt), - in_filt_(in_filt), - res_(res), - role_(role), - implementation_(implementation) + std::shared_ptr data_type_adapt, + std::shared_ptr in_filt, + std::shared_ptr res, + std::string role, + std::string implementation) : data_type_adapt_(data_type_adapt), + in_filt_(in_filt), + res_(res), + role_(role), + implementation_(implementation) { connected_ = false; if (configuration) diff --git a/src/algorithms/conditioner/adapters/signal_conditioner.cc b/src/algorithms/conditioner/adapters/signal_conditioner.cc index b29a56c99..0f47b3a11 100644 --- a/src/algorithms/conditioner/adapters/signal_conditioner.cc +++ b/src/algorithms/conditioner/adapters/signal_conditioner.cc @@ -37,12 +37,15 @@ using google::LogMessage; // Constructor SignalConditioner::SignalConditioner(ConfigurationInterface *configuration, - std::shared_ptr data_type_adapt, std::shared_ptr in_filt, - std::shared_ptr res, std::string role, std::string implementation) : data_type_adapt_(data_type_adapt), - in_filt_(in_filt), - res_(res), - role_(role), - implementation_(implementation) + std::shared_ptr data_type_adapt, + std::shared_ptr in_filt, + std::shared_ptr res, + std::string role, + std::string implementation) : data_type_adapt_(data_type_adapt), + in_filt_(in_filt), + res_(res), + role_(role), + implementation_(implementation) { connected_ = false; if (configuration) @@ -101,6 +104,7 @@ gr::basic_block_sptr SignalConditioner::get_left_block() return data_type_adapt_->get_left_block(); } + gr::basic_block_sptr SignalConditioner::get_right_block() { return res_->get_right_block(); diff --git a/src/algorithms/input_filter/gnuradio_blocks/notch_cc.cc b/src/algorithms/input_filter/gnuradio_blocks/notch_cc.cc index 8ada10c1f..632fd6d87 100644 --- a/src/algorithms/input_filter/gnuradio_blocks/notch_cc.cc +++ b/src/algorithms/input_filter/gnuradio_blocks/notch_cc.cc @@ -45,9 +45,13 @@ notch_sptr make_notch_filter(float pfa, float p_c_factor, } -Notch::Notch(float pfa, float p_c_factor, int length_, int n_segments_est, int n_segments_reset) : gr::block("Notch", - gr::io_signature::make(1, 1, sizeof(gr_complex)), - gr::io_signature::make(1, 1, sizeof(gr_complex))) +Notch::Notch(float pfa, + float p_c_factor, + int length_, + int n_segments_est, + int n_segments_reset) : gr::block("Notch", + gr::io_signature::make(1, 1, sizeof(gr_complex)), + gr::io_signature::make(1, 1, sizeof(gr_complex))) { const int alignment_multiple = volk_get_alignment() / sizeof(gr_complex); set_alignment(std::max(1, alignment_multiple)); @@ -79,6 +83,7 @@ Notch::~Notch() volk_free(power_spect); } + void Notch::forecast(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items_required) { for (unsigned int aux = 0; aux < ninput_items_required.size(); aux++) @@ -87,6 +92,7 @@ void Notch::forecast(int noutput_items __attribute__((unused)), gr_vector_int &n } } + int Notch::general_work(int noutput_items, gr_vector_int &ninput_items __attribute__((unused)), gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { diff --git a/src/algorithms/input_filter/gnuradio_blocks/notch_lite_cc.cc b/src/algorithms/input_filter/gnuradio_blocks/notch_lite_cc.cc index e55cc0e29..82d5f5304 100644 --- a/src/algorithms/input_filter/gnuradio_blocks/notch_lite_cc.cc +++ b/src/algorithms/input_filter/gnuradio_blocks/notch_lite_cc.cc @@ -43,9 +43,15 @@ notch_lite_sptr make_notch_filter_lite(float p_c_factor, float pfa, int length_, return notch_lite_sptr(new NotchLite(p_c_factor, pfa, length_, n_segments_est, n_segments_reset, n_segments_coeff)); } -NotchLite::NotchLite(float p_c_factor, float pfa, int length_, int n_segments_est, int n_segments_reset, int n_segments_coeff) : gr::block("NotchLite", - gr::io_signature::make(1, 1, sizeof(gr_complex)), - gr::io_signature::make(1, 1, sizeof(gr_complex))) + +NotchLite::NotchLite(float p_c_factor, + float pfa, + int length_, + int n_segments_est, + int n_segments_reset, + int n_segments_coeff) : gr::block("NotchLite", + gr::io_signature::make(1, 1, sizeof(gr_complex)), + gr::io_signature::make(1, 1, sizeof(gr_complex))) { const int alignment_multiple = volk_get_alignment() / sizeof(gr_complex); set_alignment(std::max(1, alignment_multiple)); @@ -74,11 +80,13 @@ NotchLite::NotchLite(float p_c_factor, float pfa, int length_, int n_segments_es d_fft = std::unique_ptr(new gr::fft::fft_complex(length_, true)); } + NotchLite::~NotchLite() { volk_free(power_spect); } + void NotchLite::forecast(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items_required) { for (unsigned int aux = 0; aux < ninput_items_required.size(); aux++) @@ -87,6 +95,7 @@ void NotchLite::forecast(int noutput_items __attribute__((unused)), gr_vector_in } } + int NotchLite::general_work(int noutput_items, gr_vector_int &ninput_items __attribute__((unused)), gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { diff --git a/src/algorithms/input_filter/gnuradio_blocks/pulse_blanking_cc.cc b/src/algorithms/input_filter/gnuradio_blocks/pulse_blanking_cc.cc index 1a6a0828e..a59d5c2be 100644 --- a/src/algorithms/input_filter/gnuradio_blocks/pulse_blanking_cc.cc +++ b/src/algorithms/input_filter/gnuradio_blocks/pulse_blanking_cc.cc @@ -44,9 +44,12 @@ pulse_blanking_cc_sptr make_pulse_blanking_cc(float pfa, int length_, } -pulse_blanking_cc::pulse_blanking_cc(float pfa, int length_, int n_segments_est, int n_segments_reset) : gr::block("pulse_blanking_cc", - gr::io_signature::make(1, 1, sizeof(gr_complex)), - gr::io_signature::make(1, 1, sizeof(gr_complex))) +pulse_blanking_cc::pulse_blanking_cc(float pfa, + int length_, + int n_segments_est, + int n_segments_reset) : gr::block("pulse_blanking_cc", + gr::io_signature::make(1, 1, sizeof(gr_complex)), + gr::io_signature::make(1, 1, sizeof(gr_complex))) { const int alignment_multiple = volk_get_alignment() / sizeof(gr_complex); set_alignment(std::max(1, alignment_multiple)); @@ -73,6 +76,7 @@ pulse_blanking_cc::~pulse_blanking_cc() volk_free(zeros_); } + void pulse_blanking_cc::forecast(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items_required) { for (unsigned int aux = 0; aux < ninput_items_required.size(); aux++) @@ -81,6 +85,7 @@ void pulse_blanking_cc::forecast(int noutput_items __attribute__((unused)), gr_v } } + int pulse_blanking_cc::general_work(int noutput_items, gr_vector_int &ninput_items __attribute__((unused)), gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { diff --git a/src/algorithms/libs/CMakeLists.txt b/src/algorithms/libs/CMakeLists.txt index ac182801e..775ac6358 100644 --- a/src/algorithms/libs/CMakeLists.txt +++ b/src/algorithms/libs/CMakeLists.txt @@ -18,56 +18,81 @@ add_subdirectory(rtklib) -set(GNSS_SPLIBS_SOURCES - gps_l2c_signal.cc - gps_l5_signal.cc - galileo_e1_signal_processing.cc - gnss_sdr_valve.cc - gnss_sdr_sample_counter.cc - gnss_signal_processing.cc - gps_sdr_signal_processing.cc - glonass_l1_signal_processing.cc - glonass_l2_signal_processing.cc - pass_through.cc - galileo_e5_signal_processing.cc - complex_byte_to_float_x2.cc - byte_x2_to_complex_byte.cc - cshort_to_float_x2.cc - short_x2_to_cshort.cc - complex_float_to_complex_byte.cc - conjugate_cc.cc - conjugate_sc.cc - conjugate_ic.cc -) +if(ENABLE_FPGA) + set(GNSS_SPLIBS_SOURCES + gps_l2c_signal.cc + gps_l5_signal.cc + galileo_e1_signal_processing.cc + gnss_sdr_valve.cc + gnss_sdr_sample_counter.cc + gnss_sdr_time_counter.cc + gnss_signal_processing.cc + gps_sdr_signal_processing.cc + glonass_l1_signal_processing.cc + glonass_l2_signal_processing.cc + pass_through.cc + galileo_e5_signal_processing.cc + complex_byte_to_float_x2.cc + byte_x2_to_complex_byte.cc + cshort_to_float_x2.cc + short_x2_to_cshort.cc + complex_float_to_complex_byte.cc + conjugate_cc.cc + conjugate_sc.cc + conjugate_ic.cc + ) +else(ENABLE_FPGA) + set(GNSS_SPLIBS_SOURCES + gps_l2c_signal.cc + gps_l5_signal.cc + galileo_e1_signal_processing.cc + gnss_sdr_valve.cc + gnss_sdr_sample_counter.cc + gnss_signal_processing.cc + gps_sdr_signal_processing.cc + glonass_l1_signal_processing.cc + glonass_l2_signal_processing.cc + pass_through.cc + galileo_e5_signal_processing.cc + complex_byte_to_float_x2.cc + byte_x2_to_complex_byte.cc + cshort_to_float_x2.cc + short_x2_to_cshort.cc + complex_float_to_complex_byte.cc + conjugate_cc.cc + conjugate_sc.cc + conjugate_ic.cc + ) +endif(ENABLE_FPGA) if(OPENCL_FOUND) set(GNSS_SPLIBS_SOURCES ${GNSS_SPLIBS_SOURCES} - opencl/fft_execute.cc # Needs OpenCL - opencl/fft_setup.cc # Needs OpenCL - opencl/fft_kernelstring.cc # Needs OpenCL - ) + opencl/fft_execute.cc # Needs OpenCL + opencl/fft_setup.cc # Needs OpenCL + opencl/fft_kernelstring.cc # Needs OpenCL + ) endif(OPENCL_FOUND) include_directories( - ${CMAKE_CURRENT_SOURCE_DIR} - ${CMAKE_SOURCE_DIR}/src/core/system_parameters - ${CMAKE_SOURCE_DIR}/src/core/receiver - ${CMAKE_SOURCE_DIR}/src/core/interfaces - ${Boost_INCLUDE_DIRS} - ${GLOG_INCLUDE_DIRS} - ${GFlags_INCLUDE_DIRS} - ${GNURADIO_RUNTIME_INCLUDE_DIRS} - ${GNURADIO_BLOCKS_INCLUDE_DIRS} - ${VOLK_INCLUDE_DIRS} - ${VOLK_GNSSSDR_INCLUDE_DIRS} + ${CMAKE_CURRENT_SOURCE_DIR} + ${CMAKE_SOURCE_DIR}/src/core/system_parameters + ${CMAKE_SOURCE_DIR}/src/core/receiver + ${CMAKE_SOURCE_DIR}/src/core/interfaces + ${Boost_INCLUDE_DIRS} + ${GLOG_INCLUDE_DIRS} + ${GFlags_INCLUDE_DIRS} + ${GNURADIO_RUNTIME_INCLUDE_DIRS} + ${GNURADIO_BLOCKS_INCLUDE_DIRS} + ${VOLK_INCLUDE_DIRS} + ${VOLK_GNSSSDR_INCLUDE_DIRS} ) if(OPENCL_FOUND) include_directories( ${OPENCL_INCLUDE_DIRS} ) if(OS_IS_MACOSX) - set(OPT_LIBRARIES ${OPT_LIBRARIES} "-framework OpenCL") + set(OPT_LIBRARIES ${OPT_LIBRARIES} "-framework OpenCL") else(OS_IS_MACOSX) - set(OPT_LIBRARIES ${OPT_LIBRARIES} ${OPENCL_LIBRARIES}) + set(OPT_LIBRARIES ${OPT_LIBRARIES} ${OPENCL_LIBRARIES}) endif(OS_IS_MACOSX) endif(OPENCL_FOUND) @@ -80,14 +105,14 @@ add_library(gnss_sp_libs ${GNSS_SPLIBS_SOURCES} ${GNSS_SPLIBS_HEADERS}) source_group(Headers FILES ${GNSS_SPLIBS_HEADERS}) target_link_libraries(gnss_sp_libs ${GNURADIO_RUNTIME_LIBRARIES} - ${VOLK_LIBRARIES} ${ORC_LIBRARIES} - ${VOLK_GNSSSDR_LIBRARIES} ${ORC_LIBRARIES} - ${GFlags_LIBS} - ${GNURADIO_BLOCKS_LIBRARIES} - ${GNURADIO_FFT_LIBRARIES} - ${GNURADIO_FILTER_LIBRARIES} - ${OPT_LIBRARIES} - gnss_rx + ${VOLK_LIBRARIES} ${ORC_LIBRARIES} + ${VOLK_GNSSSDR_LIBRARIES} ${ORC_LIBRARIES} + ${GFlags_LIBS} + ${GNURADIO_BLOCKS_LIBRARIES} + ${GNURADIO_FFT_LIBRARIES} + ${GNURADIO_FILTER_LIBRARIES} + ${OPT_LIBRARIES} + gnss_rx ) if(NOT VOLK_GNSSSDR_FOUND) @@ -95,9 +120,9 @@ if(NOT VOLK_GNSSSDR_FOUND) endif(NOT VOLK_GNSSSDR_FOUND) if(${GFLAGS_GREATER_20}) - add_definitions(-DGFLAGS_GREATER_2_0=1) + add_definitions(-DGFLAGS_GREATER_2_0=1) endif(${GFLAGS_GREATER_20}) add_library(gnss_sdr_flags gnss_sdr_flags.cc gnss_sdr_flags.h) source_group(Headers FILES gnss_sdr_flags.h) -target_link_libraries(gnss_sdr_flags ${GFlags_LIBS}) \ No newline at end of file +target_link_libraries(gnss_sdr_flags ${GFlags_LIBS}) diff --git a/src/algorithms/libs/gnss_circular_deque.h b/src/algorithms/libs/gnss_circular_deque.h new file mode 100644 index 000000000..d9694e722 --- /dev/null +++ b/src/algorithms/libs/gnss_circular_deque.h @@ -0,0 +1,135 @@ +/*! + * \file gnss_circular_deque.h + * \brief This class implements a circular deque for Gnss_Synchro + * + * \author Antonio Ramos, 2018. antonio.ramosdet(at)gmail.com + * + * Detailed description of the file here if needed. + * + * ------------------------------------------------------------------------- + * + * Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) + * + * GNSS-SDR is a software defined Global Navigation + * Satellite Systems receiver + * + * This file is part of GNSS-SDR. + * + * GNSS-SDR is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * GNSS-SDR is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with GNSS-SDR. If not, see . + * + * ------------------------------------------------------------------------- + */ + +#ifndef GNSS_SDR_CIRCULAR_DEQUE_H_ +#define GNSS_SDR_CIRCULAR_DEQUE_H_ +#include +#include + +template +class Gnss_circular_deque +{ +public: + Gnss_circular_deque(); // Default constructor + Gnss_circular_deque(const unsigned int max_size, const unsigned int nchann); // nchann = number of channels; max_size = channel capacity + unsigned int size(const unsigned int ch); // Returns the number of available elements in a channel + T& at(const unsigned int ch, const unsigned int pos); // Returns a reference to an element + T& front(const unsigned int ch); // Returns a reference to the first element in the deque + T& back(const unsigned int ch); // Returns a reference to the last element in the deque + void push_back(const unsigned int ch, const T& new_data); // Inserts an element at the end of the deque + void pop_front(const unsigned int ch); // Removes the first element of the deque + void clear(const unsigned int ch); // Removes all the elements of the deque (Sets size to 0). Capacity is not modified + void reset(const unsigned int max_size, const unsigned int nchann); // Removes all the elements in all the channels. Re-sets the number of channels and their capacity + void reset(); // Removes all the channels (Sets nchann to 0) + +private: + std::vector> d_data; +}; + + +template +Gnss_circular_deque::Gnss_circular_deque() +{ + reset(); +} + +template +Gnss_circular_deque::Gnss_circular_deque(const unsigned int max_size, const unsigned int nchann) +{ + reset(max_size, nchann); +} + +template +unsigned int Gnss_circular_deque::size(const unsigned int ch) +{ + return d_data.at(ch).size(); +} + +template +T& Gnss_circular_deque::back(const unsigned int ch) +{ + return d_data.at(ch).back(); +} + + +template +T& Gnss_circular_deque::front(const unsigned int ch) +{ + return d_data.at(ch).front(); +} + + +template +T& Gnss_circular_deque::at(const unsigned int ch, const unsigned int pos) +{ + return d_data.at(ch).at(pos); +} + +template +void Gnss_circular_deque::clear(const unsigned int ch) +{ + d_data.at(ch).clear(); +} + +template +void Gnss_circular_deque::reset(const unsigned int max_size, const unsigned int nchann) +{ + d_data.clear(); + if (max_size > 0 and nchann > 0) + { + for (unsigned int i = 0; i < nchann; i++) + { + d_data.push_back(boost::circular_buffer(max_size)); + } + } +} + +template +void Gnss_circular_deque::reset() +{ + d_data.clear(); +} + +template +void Gnss_circular_deque::pop_front(const unsigned int ch) +{ + d_data.at(ch).pop_front(); +} + +template +void Gnss_circular_deque::push_back(const unsigned int ch, const T& new_data) +{ + d_data.at(ch).push_back(new_data); +} + +#endif /* GNSS_SDR_CIRCULAR_DEQUE_H_ */ diff --git a/src/algorithms/libs/gnss_sdr_flags.cc b/src/algorithms/libs/gnss_sdr_flags.cc index db6e37757..38fe3858f 100644 --- a/src/algorithms/libs/gnss_sdr_flags.cc +++ b/src/algorithms/libs/gnss_sdr_flags.cc @@ -54,7 +54,7 @@ DEFINE_int32(cn0_samples, 20, "Number of correlator outputs used for CN0 estimat DEFINE_int32(cn0_min, 25, "Minimum valid CN0 (in dB-Hz)."); -DEFINE_int32(max_lock_fail, 50, "Number number of lock failures before dropping satellite."); +DEFINE_int32(max_lock_fail, 50, "Maximum number of lock failures before dropping a satellite."); DEFINE_double(carrier_lock_th, 0.85, "Carrier lock threshold (in rad)."); diff --git a/src/algorithms/libs/gnss_sdr_flags.h b/src/algorithms/libs/gnss_sdr_flags.h index c0c67383d..762e94fe8 100644 --- a/src/algorithms/libs/gnss_sdr_flags.h +++ b/src/algorithms/libs/gnss_sdr_flags.h @@ -50,7 +50,7 @@ DECLARE_int32(doppler_step); //. + * + * ------------------------------------------------------------------------- + */ + +#include "gnss_sdr_time_counter.h" +#include "gnss_synchro.h" +#include +#include +#include +#include + +gnss_sdr_time_counter::gnss_sdr_time_counter() : gr::block("time_counter", + gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)), + gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) +{ + set_max_noutput_items(1); + current_T_rx_ms = 0; + current_s = 0; + current_m = 0; + current_h = 0; + current_days = 0; + report_interval_ms = 1000; // default reporting 1 second + flag_m = false; + flag_h = false; + flag_days = false; +} + + +gnss_sdr_time_counter_sptr gnss_sdr_make_time_counter() +{ + gnss_sdr_time_counter_sptr counter_(new gnss_sdr_time_counter()); + return counter_; +} + + +int gnss_sdr_time_counter::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), + gr_vector_const_void_star &input_items __attribute__((unused)), gr_vector_void_star &output_items) +{ + Gnss_Synchro *out = reinterpret_cast(output_items[0]); + const Gnss_Synchro *in = reinterpret_cast(input_items[0]); + out[0] = in[0]; + if ((current_T_rx_ms % report_interval_ms) == 0) + { + current_s++; + if ((current_s % 60) == 0) + { + current_s = 0; + current_m++; + flag_m = true; + if ((current_m % 60) == 0) + { + current_m = 0; + current_h++; + flag_h = true; + if ((current_h % 24) == 0) + { + current_h = 0; + current_days++; + flag_days = true; + } + } + } + + if (flag_days) + { + std::string day; + if (current_days == 1) + { + day = " day "; + } + else + { + day = " days "; + } + std::cout << "Current receiver time: " << current_days << day << current_h << " h " << current_m << " min " << current_s << " s" << std::endl; + } + else + { + if (flag_h) + { + std::cout << "Current receiver time: " << current_h << " h " << current_m << " min " << current_s << " s" << std::endl; + } + else + { + if (flag_m) + { + std::cout << "Current receiver time: " << current_m << " min " << current_s << " s" << std::endl; + } + else + { + std::cout << "Current receiver time: " << current_s << " s" << std::endl; + } + } + } + } + current_T_rx_ms++; + consume_each(1); + return 1; +} diff --git a/src/algorithms/libs/gnss_sdr_time_counter.h b/src/algorithms/libs/gnss_sdr_time_counter.h new file mode 100644 index 000000000..4a424ce12 --- /dev/null +++ b/src/algorithms/libs/gnss_sdr_time_counter.h @@ -0,0 +1,64 @@ +/*! + * \file gnss_sdr_time_counter.h + * \brief Simple block to report the current receiver time based on the output of the tracking or telemetry blocks + * \author Antonio Ramos 2018. antonio.ramosdet(at)gmail.com + * + * + * ------------------------------------------------------------------------- + * + * Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) + * + * GNSS-SDR is a software defined Global Navigation + * Satellite Systems receiver + * + * This file is part of GNSS-SDR. + * + * GNSS-SDR is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * GNSS-SDR is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with GNSS-SDR. If not, see . + * + * ------------------------------------------------------------------------- + */ +#ifndef GNSS_SDR_TIME_COUNTER_H_ +#define GNSS_SDR_TIME_COUNTER_H_ + +#include +#include + + +class gnss_sdr_time_counter; + +typedef boost::shared_ptr gnss_sdr_time_counter_sptr; + +gnss_sdr_time_counter_sptr gnss_sdr_make_time_counter(); + +class gnss_sdr_time_counter : public gr::block +{ +private: + gnss_sdr_time_counter(); + long long int current_T_rx_ms; // Receiver time in ms since the beginning of the run + unsigned int current_s; // Receiver time in seconds, modulo 60 + bool flag_m; // True if the receiver has been running for at least 1 minute + unsigned int current_m; // Receiver time in minutes, modulo 60 + bool flag_h; // True if the receiver has been running for at least 1 hour + unsigned int current_h; // Receiver time in hours, modulo 24 + bool flag_days; // True if the receiver has been running for at least 1 day + unsigned int current_days; // Receiver time in days since the beginning of the run + int report_interval_ms; + +public: + friend gnss_sdr_time_counter_sptr gnss_sdr_make_time_counter(); + int general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), + gr_vector_const_void_star &input_items __attribute__((unused)), gr_vector_void_star &output_items); +}; + +#endif /*GNSS_SDR_SAMPLE_COUNTER_H_*/ diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt index d4ea0c46f..f9634c801 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt @@ -62,6 +62,7 @@ endif(CMAKE_CXX_COMPILER_ID MATCHES "Clang") # Enable C++17 support in GCC >= 8.0.0 # Enable C++14 support in 8.0.0 > GCC >= 6.1.1 # Fallback to C++11 when using GCC < 6.1.1 + if(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32) if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "6.1.1") set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++11") @@ -75,8 +76,8 @@ if(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32) set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -Wall -Wextra") #Add warning flags: For "-Wall" see http://gcc.gnu.org/onlinedocs/gcc/Warning-Options.html endif(CMAKE_COMPILER_IS_GNUCXX AND NOT WIN32) -# Enable C++17 support in Clang >= 6.0.0 or AppleClang >= 900 -# Enable C++14 support in 6.0.0 > Clang >= 3.5.0 or 900 > AppleClang >= 600 +# Enable C++17 support in Clang >= 6.0.0 +# Enable C++14 support in 6.0.0 > Clang >= 3.5.0 or AppleClang >= 600 # Fallback to C++11 if older version if(CMAKE_CXX_COMPILER_ID MATCHES "Clang") if(CMAKE_SYSTEM_NAME MATCHES "Darwin") @@ -84,11 +85,7 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "Clang") if(CLANG_VERSION VERSION_LESS "600") set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++11") else(CLANG_VERSION VERSION_LESS "600") - if(CLANG_VERSION VERSION_LESS "900") - set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++14") - else(CLANG_VERSION VERSION_LESS "900") - set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++17") - endif(CLANG_VERSION VERSION_LESS "900") + set(MY_CXX_FLAGS "${MY_CXX_FLAGS} -std=c++14") endif(CLANG_VERSION VERSION_LESS "600") else(CMAKE_SYSTEM_NAME MATCHES "Darwin") if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "3.5.0") diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/FindORC.cmake b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/FindORC.cmake index 8e8e4f292..ddd103a05 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/FindORC.cmake +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/FindORC.cmake @@ -1,9 +1,24 @@ +# Copyright (C) 2015-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . + + FIND_PACKAGE(PkgConfig) PKG_CHECK_MODULES(PC_ORC "orc-0.4 > 0.4.22") - - - FIND_PROGRAM(ORCC_EXECUTABLE orcc HINTS ${PC_ORC_TOOLSDIR} PATHS ${ORC_ROOT}/bin ${CMAKE_INSTALL_PREFIX}/bin) diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkAddTest.cmake b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkAddTest.cmake index e78a3e30e..727230715 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkAddTest.cmake +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkAddTest.cmake @@ -1,21 +1,19 @@ -# Copyright 2015 Free Software Foundation, Inc. +# Copyright (C) 2015-2018 (see AUTHORS file for a list of contributors) # -# This file is part of Volk +# This file is part of GNSS-SDR. # -# Volk is free software; you can redistribute it and/or modify it -# under the terms of the GNU General Public License as published by -# the Free Software Foundation; either version 3, or (at your option) -# any later version. +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. # -# Volk is distributed in the hope that it will be useful, but WITHOUT -# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY -# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public -# License for more details. +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. # # You should have received a copy of the GNU General Public License -# along with Volk; see the file COPYING. If not, write to the Free -# Software Foundation, Inc., 51 Franklin Street, Boston, MA -# 02110-1301, USA. +# along with GNSS-SDR. If not, see . if(DEFINED __INCLUDED_VOLK_ADD_TEST) return() @@ -176,20 +174,19 @@ function(VOLK_ADD_TEST test_name executable_name) #set them in the PATH to run tests. The following appends the #path of a target dependency. # - #NOTE: get_target_property LOCATION is being deprecated as of - #CMake 3.2.0, which just prints a warning & notes that this - #functionality will be removed in the future. Leave it here for - #now until someone can figure out how to do this in Windows. - foreach(target ${test_name} ${VOLK_TEST_TARGET_DEPS}) - get_target_property(location "${target}" LOCATION) - if(location) - get_filename_component(path ${location} PATH) - string(REGEX REPLACE "\\$\\(.*\\)" ${CMAKE_BUILD_TYPE} path ${path}) - list(APPEND libpath ${path}) - endif(location) - endforeach(target) + #create a list of target directories to be determined by the + #"add_test" command, via the $ operator; make sure the + #test's directory is first, since it ($1) is prepended to PATH. + unset(TARGET_DIR_LIST) + foreach(target ${executable_name} ${VOLK_TEST_TARGET_DEPS}) + list(APPEND TARGET_DIR_LIST "$") + endforeach() + #replace list separator with the path separator (escaped) + string(REPLACE ";" "\\\\;" TARGET_DIR_LIST "${TARGET_DIR_LIST}") - list(APPEND libpath ${DLL_PATHS} "%PATH%") + #add command line argument (TARGET_DIR_LIST) to path and append current path + list(INSERT libpath 0 "%1") + list(APPEND libpath "%PATH%") #replace list separator with the path separator (escaped) string(REPLACE ";" "\\;" libpath "${libpath}") @@ -204,14 +201,18 @@ function(VOLK_ADD_TEST test_name executable_name) file(APPEND ${bat_file} "SET ${environ}\n") endforeach(environ) + set(VOLK_TEST_ARGS "${test_name}") + #redo the test args to have a space between each string(REPLACE ";" " " VOLK_TEST_ARGS "${VOLK_TEST_ARGS}") #finally: append the test name to execute - file(APPEND ${bat_file} ${test_name} " " ${VOLK_TEST_ARGS} "\n") + file(APPEND ${bat_file} "${executable_name} ${VOLK_TEST_ARGS}\n") file(APPEND ${bat_file} "\n") - add_test(${test_name} ${bat_file}) + add_test(NAME qa_${test_name} + COMMAND ${bat_file} ${TARGET_DIR_LIST} + ) endif(WIN32) endfunction(VOLK_ADD_TEST) diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkBoost.cmake b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkBoost.cmake index dd0c6940f..c875492b4 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkBoost.cmake +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkBoost.cmake @@ -1,21 +1,19 @@ -# Copyright 2010-2011 Free Software Foundation, Inc. +# Copyright (C) 2015-2018 (see AUTHORS file for a list of contributors) # -# This file is part of GNU Radio +# This file is part of GNSS-SDR. # -# GNU Radio is free software; you can redistribute it and/or modify +# GNSS-SDR is free software: you can redistribute it and/or modify # it under the terms of the GNU General Public License as published by -# the Free Software Foundation; either version 3, or (at your option) -# any later version. +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. # -# GNU Radio is distributed in the hope that it will be useful, +# GNSS-SDR is distributed in the hope that it will be useful, # but WITHOUT ANY WARRANTY; without even the implied warranty of # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the # GNU General Public License for more details. # # You should have received a copy of the GNU General Public License -# along with GNU Radio; see the file COPYING. If not, write to -# the Free Software Foundation, Inc., 51 Franklin Street, -# Boston, MA 02110-1301, USA. +# along with GNSS-SDR. If not, see . if(DEFINED __INCLUDED_VOLK_BOOST_CMAKE) return() diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkBuildTypes.cmake b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkBuildTypes.cmake index 5b0c2cc17..1d0e810b1 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkBuildTypes.cmake +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkBuildTypes.cmake @@ -1,21 +1,19 @@ -# Copyright 2014 Free Software Foundation, Inc. +# Copyright (C) 2014-2018 (see AUTHORS file for a list of contributors) # -# This file is part of VOLK +# This file is part of GNSS-SDR. # -# VOLK is free software; you can redistribute it and/or modify +# GNSS-SDR is free software: you can redistribute it and/or modify # it under the terms of the GNU General Public License as published by -# the Free Software Foundation; either version 3, or (at your option) -# any later version. +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. # -# VOLK is distributed in the hope that it will be useful, +# GNSS-SDR is distributed in the hope that it will be useful, # but WITHOUT ANY WARRANTY; without even the implied warranty of # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the # GNU General Public License for more details. # # You should have received a copy of the GNU General Public License -# along with GNU Radio; see the file COPYING. If not, write to -# the Free Software Foundation, Inc., 51 Franklin Street, -# Boston, MA 02110-1301, USA. +# along with GNSS-SDR. If not, see . if(DEFINED __INCLUDED_VOLK_BUILD_TYPES_CMAKE) return() diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkGnsssdrConfig.cmake.in b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkGnsssdrConfig.cmake.in index f07b02d50..1f41de730 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkGnsssdrConfig.cmake.in +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkGnsssdrConfig.cmake.in @@ -1,3 +1,20 @@ +# Copyright (C) 2015-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . + INCLUDE(FindPkgConfig) PKG_CHECK_MODULES(PC_VOLK_GNSSSDR volk_gnsssdr) diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkGnsssdrConfigVersion.cmake.in b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkGnsssdrConfigVersion.cmake.in index 84dbe0b29..d7403f913 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkGnsssdrConfigVersion.cmake.in +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkGnsssdrConfigVersion.cmake.in @@ -1,21 +1,19 @@ -# Copyright 2014 Free Software Foundation, Inc. +# Copyright (C) 2015-2018 (see AUTHORS file for a list of contributors) # -# This file is part of VOLK. +# This file is part of GNSS-SDR. # -# VOLK is free software; you can redistribute it and/or modify +# GNSS-SDR is free software: you can redistribute it and/or modify # it under the terms of the GNU General Public License as published by -# the Free Software Foundation; either version 3, or (at your option) -# any later version. +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. # -# VOLK is distributed in the hope that it will be useful, +# GNSS-SDR is distributed in the hope that it will be useful, # but WITHOUT ANY WARRANTY; without even the implied warranty of # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the # GNU General Public License for more details. # # You should have received a copy of the GNU General Public License -# along with VOLK; see the file COPYING. If not, write to -# the Free Software Foundation, Inc., 51 Franklin Street, -# Boston, MA 02110-1301, USA. +# along with GNSS-SDR. If not, see . set(MAJOR_VERSION @VERSION_INFO_MAJOR_VERSION@) set(MINOR_VERSION @VERSION_INFO_MINOR_VERSION@) diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkPython.cmake b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkPython.cmake index dc6571e93..ed7118562 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkPython.cmake +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkPython.cmake @@ -1,21 +1,19 @@ -# Copyright 2010-2011,2013 Free Software Foundation, Inc. +# Copyright (C) 2015-2018 (see AUTHORS file for a list of contributors) # -# This file is part of GNU Radio +# This file is part of GNSS-SDR. # -# GNU Radio is free software; you can redistribute it and/or modify +# GNSS-SDR is free software: you can redistribute it and/or modify # it under the terms of the GNU General Public License as published by -# the Free Software Foundation; either version 3, or (at your option) -# any later version. +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. # -# GNU Radio is distributed in the hope that it will be useful, +# GNSS-SDR is distributed in the hope that it will be useful, # but WITHOUT ANY WARRANTY; without even the implied warranty of # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the # GNU General Public License for more details. # # You should have received a copy of the GNU General Public License -# along with GNU Radio; see the file COPYING. If not, write to -# the Free Software Foundation, Inc., 51 Franklin Street, -# Boston, MA 02110-1301, USA. +# along with GNSS-SDR. If not, see . if(DEFINED __INCLUDED_VOLK_PYTHON_CMAKE) return() diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkVersion.cmake b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkVersion.cmake index 4ed349aac..1cc60fedf 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkVersion.cmake +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Modules/VolkVersion.cmake @@ -1,21 +1,19 @@ -# Copyright 2014 Free Software Foundation, Inc. +# Copyright (C) 2014-2018 (see AUTHORS file for a list of contributors) # -# This file is part of VOLK. +# This file is part of GNSS-SDR. # -# VOLK is free software; you can redistribute it and/or modify +# GNSS-SDR is free software: you can redistribute it and/or modify # it under the terms of the GNU General Public License as published by -# the Free Software Foundation; either version 3, or (at your option) -# any later version. +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. # -# VOLK is distributed in the hope that it will be useful, +# GNSS-SDR is distributed in the hope that it will be useful, # but WITHOUT ANY WARRANTY; without even the implied warranty of # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the # GNU General Public License for more details. # # You should have received a copy of the GNU General Public License -# along with VOLK; see the file COPYING. If not, write to -# the Free Software Foundation, Inc., 51 Franklin Street, -# Boston, MA 02110-1301, USA. +# along with GNSS-SDR. If not, see . if(DEFINED __INCLUDED_VOLK_VERSION_CMAKE) return() diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Toolchains/arm_cortex_a15_hardfp_native.cmake b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Toolchains/arm_cortex_a15_hardfp_native.cmake new file mode 100644 index 000000000..850220b28 --- /dev/null +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Toolchains/arm_cortex_a15_hardfp_native.cmake @@ -0,0 +1,25 @@ +# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . + +######################################################################## +# Toolchain file for building native on a ARM Cortex A8 w/ NEON +# Usage: cmake -DCMAKE_TOOLCHAIN_FILE= +######################################################################## +set(CMAKE_CXX_COMPILER g++) +set(CMAKE_C_COMPILER gcc) +set(CMAKE_CXX_FLAGS "-march=armv7-a -mtune=cortex-a15 -mfpu=neon -mfloat-abi=hard" CACHE STRING "" FORCE) +set(CMAKE_C_FLAGS ${CMAKE_CXX_FLAGS} CACHE STRING "" FORCE) #same flags for C sources diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Toolchains/arm_cortex_a9_hardfp_native.cmake b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Toolchains/arm_cortex_a9_hardfp_native.cmake new file mode 100644 index 000000000..b4b79185e --- /dev/null +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Toolchains/arm_cortex_a9_hardfp_native.cmake @@ -0,0 +1,25 @@ +# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . + +######################################################################## +# Toolchain file for building native on a ARM Cortex A8 w/ NEON +# Usage: cmake -DCMAKE_TOOLCHAIN_FILE= +######################################################################## +set(CMAKE_CXX_COMPILER g++) +set(CMAKE_C_COMPILER gcc) +set(CMAKE_CXX_FLAGS "-march=armv7-a -mtune=cortex-a9 -mfpu=neon -mfloat-abi=hard" CACHE STRING "" FORCE) +set(CMAKE_C_FLAGS ${CMAKE_CXX_FLAGS} CACHE STRING "" FORCE) #same flags for C sources diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/cmake_uninstall.cmake.in b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/cmake_uninstall.cmake.in index 2c34c8199..7719dec23 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/cmake_uninstall.cmake.in +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/cmake_uninstall.cmake.in @@ -1,3 +1,21 @@ +# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors) +# +# This file is part of GNSS-SDR. +# +# GNSS-SDR is free software: you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation, either version 3 of the License, or +# (at your option) any later version. +# +# GNSS-SDR is distributed in the hope that it will be useful, +# but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with GNSS-SDR. If not, see . + + if(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt") message(FATAL_ERROR "Cannot find install manifest: @CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt") endif(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt") diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/msvc/config.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/msvc/config.h index 5da8f1bff..5b3c7f8f4 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/msvc/config.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/msvc/config.h @@ -1,3 +1,22 @@ +/* + * Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors) + * + * This file is part of GNSS-SDR. + * + * GNSS-SDR is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * GNSS-SDR is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with GNSS-SDR. If not, see . + */ + #ifndef _MSC_VER // [ #error "Use this header only with Microsoft Visual C++ compilers!" #endif // _MSC_VER ] diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/msvc/sys/time.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/msvc/sys/time.h new file mode 100644 index 000000000..fc62a7041 --- /dev/null +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/msvc/sys/time.h @@ -0,0 +1,72 @@ +#ifndef _MSC_VER // [ +#error "Use this header only with Microsoft Visual C++ compilers!" +#endif // _MSC_VER ] + +#ifndef _MSC_SYS_TIME_H_ +#define _MSC_SYS_TIME_H_ + +#ifndef NOMINMAX +#define NOMINMAX +#endif + +//http://social.msdn.microsoft.com/Forums/en/vcgeneral/thread/430449b3-f6dd-4e18-84de-eebd26a8d668 +#include < time.h > +#include //I've omitted this line. +#if defined(_MSC_VER) || defined(_MSC_EXTENSIONS) +#define DELTA_EPOCH_IN_MICROSECS 11644473600000000Ui64 +#else +#define DELTA_EPOCH_IN_MICROSECS 11644473600000000ULL +#endif + +#if _MSC_VER < 1900 +struct timespec +{ + time_t tv_sec; /* Seconds since 00:00:00 GMT, */ + + /* 1 January 1970 */ + + long tv_nsec; /* Additional nanoseconds since */ + + /* tv_sec */ +}; +#endif + +struct timezone +{ + int tz_minuteswest; /* minutes W of Greenwich */ + int tz_dsttime; /* type of dst correction */ +}; + +static inline int gettimeofday(struct timeval *tv, struct timezone *tz) +{ + FILETIME ft; + unsigned __int64 tmpres = 0; + static int tzflag; + + if (NULL != tv) + { + GetSystemTimeAsFileTime(&ft); + + tmpres |= ft.dwHighDateTime; + tmpres <<= 32; + tmpres |= ft.dwLowDateTime; + + /*converting file time to unix epoch*/ + tmpres -= DELTA_EPOCH_IN_MICROSECS; + tv->tv_sec = (long)(tmpres / 1000000UL); + tv->tv_usec = (long)(tmpres % 1000000UL); + } + + if (NULL != tz) + { + if (!tzflag) + { + _tzset(); + tzflag++; + } + tz->tz_minuteswest = _timezone / 60; + tz->tz_dsttime = _daylight; + } + + return 0; +} diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/gen/archs.xml b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/gen/archs.xml index ff1de1e15..a8bee46a2 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/gen/archs.xml +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/gen/archs.xml @@ -13,12 +13,24 @@ - -mfpu=neon -funsafe-math-optimizations 16 + + -mfpu=neon + -funsafe-math-optimizations + 16 + + + + + -funsafe-math-optimizations + 16 + + + -m32 diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/gen/machines.xml b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/gen/machines.xml index b60f336cd..e7c6eaf20 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/gen/machines.xml +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/gen/machines.xml @@ -5,7 +5,15 @@ -generic neon softfp|hardfp orc| +generic neon orc| + + + +generic neon neonv7 softfp|hardfp orc| + + + +generic neon neonv8 diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16i_resamplerxnpuppet_16i.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16i_resamplerxnpuppet_16i.h index ffce85d32..12e95411e 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16i_resamplerxnpuppet_16i.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16i_resamplerxnpuppet_16i.h @@ -249,7 +249,7 @@ static inline void volk_gnsssdr_16i_resamplerxnpuppet_16i_a_avx(int16_t* result, #endif -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 static inline void volk_gnsssdr_16i_resamplerxnpuppet_16i_neon(int16_t* result, const int16_t* local_code, unsigned int num_points) { int code_length_chips = 2046; diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16i_xn_resampler_16i_xn.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16i_xn_resampler_16i_xn.h index 3628ccf8c..7547ca5d8 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16i_xn_resampler_16i_xn.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16i_xn_resampler_16i_xn.h @@ -526,7 +526,7 @@ static inline void volk_gnsssdr_16i_xn_resampler_16i_xn_u_avx(int16_t** result, #endif -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 #include static inline void volk_gnsssdr_16i_xn_resampler_16i_xn_neon(int16_t** result, const int16_t* local_code, float rem_code_phase_chips, float code_phase_step_chips, float* shifts_chips, unsigned int code_length_chips, int num_out_vectors, unsigned int num_points) { diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_16i_rotator_dot_prod_16ic_xn.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_16i_rotator_dot_prod_16ic_xn.h index fbf7e31f1..71d4d3c86 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_16i_rotator_dot_prod_16ic_xn.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_16i_rotator_dot_prod_16ic_xn.h @@ -1049,7 +1049,7 @@ static inline void volk_gnsssdr_16ic_16i_rotator_dot_prod_16ic_xn_u_avx2(lv_16sc } #endif /* LV_HAVE_AVX2 */ -//#ifdef LV_HAVE_NEON +//#ifdef LV_HAVE_NEONV7 //#include //static inline void volk_gnsssdr_16ic_16i_rotator_dot_prod_16ic_xn_neon(lv_16sc_t* result, const lv_16sc_t* in_common, const lv_32fc_t phase_inc, lv_32fc_t* phase, const int16_t** in_a, int num_a_vectors, unsigned int num_points) @@ -1228,10 +1228,10 @@ static inline void volk_gnsssdr_16ic_16i_rotator_dot_prod_16ic_xn_u_avx2(lv_16sc //} //} -//#endif [> LV_HAVE_NEON <] +//#endif [> LV_HAVE_NEONV7 <] -//#ifdef LV_HAVE_NEON +//#ifdef LV_HAVE_NEONV7 //#include //#include @@ -1419,10 +1419,10 @@ static inline void volk_gnsssdr_16ic_16i_rotator_dot_prod_16ic_xn_u_avx2(lv_16sc //} //} -//#endif [> LV_HAVE_NEON <] +//#endif [> LV_HAVE_NEONV7 <] -//#ifdef LV_HAVE_NEON +//#ifdef LV_HAVE_NEONV7 //#include //#include @@ -1601,6 +1601,6 @@ static inline void volk_gnsssdr_16ic_16i_rotator_dot_prod_16ic_xn_u_avx2(lv_16sc //} //} -//#endif [> LV_HAVE_NEON <] +//#endif [> LV_HAVE_NEONV7 <] #endif /*INCLUDED_volk_gnsssdr_16ic_16i_dot_prod_16ic_xn_H*/ diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_16i_rotator_dotprodxnpuppet_16ic.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_16i_rotator_dotprodxnpuppet_16ic.h index 6880b8d11..7466ac2c2 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_16i_rotator_dotprodxnpuppet_16ic.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_16i_rotator_dotprodxnpuppet_16ic.h @@ -317,7 +317,7 @@ static inline void volk_gnsssdr_16ic_16i_rotator_dotprodxnpuppet_16ic_u_avx2(lv_ //#endif // AVX2 -//#ifdef LV_HAVE_NEON +//#ifdef LV_HAVE_NEONV7 //static inline void volk_gnsssdr_16ic_16i_rotator_dotprodxnpuppet_16ic_neon(lv_16sc_t* result, const lv_16sc_t* local_code, const lv_16sc_t* in, unsigned int num_points) //{ //// phases must be normalized. Phase rotator expects a complex exponential input! @@ -348,7 +348,7 @@ static inline void volk_gnsssdr_16ic_16i_rotator_dotprodxnpuppet_16ic_u_avx2(lv_ //#endif // NEON -//#ifdef LV_HAVE_NEON +//#ifdef LV_HAVE_NEONV7 //static inline void volk_gnsssdr_16ic_16i_rotator_dotprodxnpuppet_16ic_neon_vma(lv_16sc_t* result, const lv_16sc_t* local_code, const lv_16sc_t* in, unsigned int num_points) //{ //// phases must be normalized. Phase rotator expects a complex exponential input! diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_conjugate_16ic.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_conjugate_16ic.h index b294d5ca9..cefef96c6 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_conjugate_16ic.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_conjugate_16ic.h @@ -202,7 +202,7 @@ static inline void volk_gnsssdr_16ic_conjugate_16ic_u_avx2(lv_16sc_t* cVector, c // // -//#ifdef LV_HAVE_NEON +//#ifdef LV_HAVE_NEONV7 //#include // //static inline void volk_gnsssdr_16ic_conjugate_16ic_neon(lv_16sc_t* cVector, const lv_16sc_t* aVector, unsigned int num_points) @@ -228,6 +228,6 @@ static inline void volk_gnsssdr_16ic_conjugate_16ic_u_avx2(lv_16sc_t* cVector, c // *c++ = lv_conj(*a++); // } //} -//#endif /* LV_HAVE_NEON */ +//#endif /* LV_HAVE_NEONV7 */ #endif /* INCLUDED_volk_gnsssdr_16ic_conjugate_16ic_H */ diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_convert_32fc.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_convert_32fc.h index 5d66452e0..eaaedaba5 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_convert_32fc.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_convert_32fc.h @@ -180,7 +180,7 @@ static inline void volk_gnsssdr_16ic_convert_32fc_a_axv(lv_32fc_t* outputVector, #endif /* LV_HAVE_AVX */ -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 #include static inline void volk_gnsssdr_16ic_convert_32fc_neon(lv_32fc_t* outputVector, const lv_16sc_t* inputVector, unsigned int num_points) @@ -210,6 +210,6 @@ static inline void volk_gnsssdr_16ic_convert_32fc_neon(lv_32fc_t* outputVector, _in++; } } -#endif /* LV_HAVE_NEON */ +#endif /* LV_HAVE_NEONV7 */ #endif /* INCLUDED_volk_gnsssdr_32fc_convert_16ic_H */ diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_resampler_fast_16ic.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_resampler_fast_16ic.h index cca2efa0d..d2f43e708 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_resampler_fast_16ic.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_resampler_fast_16ic.h @@ -256,7 +256,7 @@ static inline void volk_gnsssdr_16ic_resampler_fast_16ic_u_sse2(lv_16sc_t* resul #endif /* LV_HAVE_SSE2 */ -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 #include static inline void volk_gnsssdr_16ic_resampler_fast_16ic_neon(lv_16sc_t* result, const lv_16sc_t* local_code, float rem_code_phase_chips, float code_phase_step_chips, int code_length_chips, unsigned int num_output_samples) //, int* scratch_buffer, float* scratch_buffer_float) @@ -342,6 +342,6 @@ static inline void volk_gnsssdr_16ic_resampler_fast_16ic_neon(lv_16sc_t* result, } } -#endif /* LV_HAVE_NEON */ +#endif /* LV_HAVE_NEONV7 */ #endif /*INCLUDED_volk_gnsssdr_16ic_resampler_fast_16ic_H*/ diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_resamplerfastpuppet_16ic.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_resamplerfastpuppet_16ic.h index 038e70108..03032e01d 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_resamplerfastpuppet_16ic.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_resamplerfastpuppet_16ic.h @@ -72,7 +72,7 @@ static inline void volk_gnsssdr_16ic_resamplerfastpuppet_16ic_u_sse2(lv_16sc_t* #endif /* LV_HAVE_SSE2 */ -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 static inline void volk_gnsssdr_16ic_resamplerfastpuppet_16ic_neon(lv_16sc_t* result, const lv_16sc_t* local_code, unsigned int num_points) { @@ -82,6 +82,6 @@ static inline void volk_gnsssdr_16ic_resamplerfastpuppet_16ic_neon(lv_16sc_t* re volk_gnsssdr_16ic_resampler_fast_16ic_neon(result, local_code, rem_code_phase_chips, code_phase_step_chips, code_length_chips, num_points); } -#endif /* LV_HAVE_NEON */ +#endif /* LV_HAVE_NEONV7 */ #endif // INCLUDED_volk_gnsssdr_16ic_resamplerfastpuppet_16ic_H diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_resamplerfastxnpuppet_16ic.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_resamplerfastxnpuppet_16ic.h index 934af8e88..9eff06510 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_resamplerfastxnpuppet_16ic.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_resamplerfastxnpuppet_16ic.h @@ -128,7 +128,7 @@ static inline void volk_gnsssdr_16ic_resamplerfastxnpuppet_16ic_u_sse2(lv_16sc_t #endif -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 static inline void volk_gnsssdr_16ic_resamplerfastxnpuppet_16ic_neon(lv_16sc_t* result, const lv_16sc_t* local_code, unsigned int num_points) { float code_phase_step_chips = 0.1; diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_resamplerxnpuppet_16ic.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_resamplerxnpuppet_16ic.h index 4582d6961..8ca8e7e33 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_resamplerxnpuppet_16ic.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_resamplerxnpuppet_16ic.h @@ -250,7 +250,7 @@ static inline void volk_gnsssdr_16ic_resamplerxnpuppet_16ic_a_avx(lv_16sc_t* res #endif -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 static inline void volk_gnsssdr_16ic_resamplerxnpuppet_16ic_neon(lv_16sc_t* result, const lv_16sc_t* local_code, unsigned int num_points) { int code_length_chips = 2046; diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_rotatorpuppet_16ic.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_rotatorpuppet_16ic.h index 245eed773..0438931e0 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_rotatorpuppet_16ic.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_rotatorpuppet_16ic.h @@ -137,7 +137,7 @@ static inline void volk_gnsssdr_16ic_rotatorpuppet_16ic_u_sse3_reload(lv_16sc_t* #endif /* LV_HAVE_SSE3 */ -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 static inline void volk_gnsssdr_16ic_rotatorpuppet_16ic_neon(lv_16sc_t* outVector, const lv_16sc_t* inVector, unsigned int num_points) { // phases must be normalized. Phase rotator expects a complex exponential input! @@ -150,10 +150,10 @@ static inline void volk_gnsssdr_16ic_rotatorpuppet_16ic_neon(lv_16sc_t* outVecto volk_gnsssdr_16ic_s32fc_x2_rotator_16ic_neon(outVector, inVector, phase_inc[0], phase, num_points); } -#endif /* LV_HAVE_NEON */ +#endif /* LV_HAVE_NEONV7 */ -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 static inline void volk_gnsssdr_16ic_rotatorpuppet_16ic_neon_reload(lv_16sc_t* outVector, const lv_16sc_t* inVector, unsigned int num_points) { // phases must be normalized. Phase rotator expects a complex exponential input! @@ -166,7 +166,7 @@ static inline void volk_gnsssdr_16ic_rotatorpuppet_16ic_neon_reload(lv_16sc_t* o volk_gnsssdr_16ic_s32fc_x2_rotator_16ic_neon_reload(outVector, inVector, phase_inc[0], phase, num_points); } -#endif /* LV_HAVE_NEON */ +#endif /* LV_HAVE_NEONV7 */ #endif /* INCLUDED_volk_gnsssdr_16ic_rotatorpuppet_16ic_H */ diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_s32fc_x2_rotator_16ic.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_s32fc_x2_rotator_16ic.h index 0de39ebc3..b43a5d95e 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_s32fc_x2_rotator_16ic.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_s32fc_x2_rotator_16ic.h @@ -645,7 +645,7 @@ static inline void volk_gnsssdr_16ic_s32fc_x2_rotator_16ic_u_sse3_reload(lv_16sc #endif /* LV_HAVE_SSE3 */ -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 #include static inline void volk_gnsssdr_16ic_s32fc_x2_rotator_16ic_neon(lv_16sc_t* outVector, const lv_16sc_t* inVector, const lv_32fc_t phase_inc, lv_32fc_t* phase, unsigned int num_points) @@ -778,10 +778,10 @@ static inline void volk_gnsssdr_16ic_s32fc_x2_rotator_16ic_neon(lv_16sc_t* outVe } } -#endif /* LV_HAVE_NEON */ +#endif /* LV_HAVE_NEONV7 */ -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 #include static inline void volk_gnsssdr_16ic_s32fc_x2_rotator_16ic_neon_reload(lv_16sc_t* outVector, const lv_16sc_t* inVector, const lv_32fc_t phase_inc, lv_32fc_t* phase, unsigned int num_points) @@ -972,6 +972,6 @@ static inline void volk_gnsssdr_16ic_s32fc_x2_rotator_16ic_neon_reload(lv_16sc_t } } -#endif /* LV_HAVE_NEON */ +#endif /* LV_HAVE_NEONV7 */ #endif /* INCLUDED_volk_gnsssdr_16ic_s32fc_x2_rotator_16ic_H */ diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_x2_dot_prod_16ic.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_x2_dot_prod_16ic.h index ccf815d56..d7563e1f5 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_x2_dot_prod_16ic.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_x2_dot_prod_16ic.h @@ -393,7 +393,7 @@ static inline void volk_gnsssdr_16ic_x2_dot_prod_16ic_a_axv2(lv_16sc_t* out, con #endif /* LV_HAVE_AVX2 */ -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 #include static inline void volk_gnsssdr_16ic_x2_dot_prod_16ic_neon(lv_16sc_t* out, const lv_16sc_t* in_a, const lv_16sc_t* in_b, unsigned int num_points) @@ -462,10 +462,10 @@ static inline void volk_gnsssdr_16ic_x2_dot_prod_16ic_neon(lv_16sc_t* out, const } } -#endif /* LV_HAVE_NEON */ +#endif /* LV_HAVE_NEONV7 */ -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 #include static inline void volk_gnsssdr_16ic_x2_dot_prod_16ic_neon_vma(lv_16sc_t* out, const lv_16sc_t* in_a, const lv_16sc_t* in_b, unsigned int num_points) @@ -515,10 +515,10 @@ static inline void volk_gnsssdr_16ic_x2_dot_prod_16ic_neon_vma(lv_16sc_t* out, c } } -#endif /* LV_HAVE_NEON */ +#endif /* LV_HAVE_NEONV7 */ -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 #include static inline void volk_gnsssdr_16ic_x2_dot_prod_16ic_neon_optvma(lv_16sc_t* out, const lv_16sc_t* in_a, const lv_16sc_t* in_b, unsigned int num_points) @@ -569,6 +569,6 @@ static inline void volk_gnsssdr_16ic_x2_dot_prod_16ic_neon_optvma(lv_16sc_t* out } } -#endif /* LV_HAVE_NEON */ +#endif /* LV_HAVE_NEONV7 */ #endif /*INCLUDED_volk_gnsssdr_16ic_x2_dot_prod_16ic_H*/ diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_x2_dot_prod_16ic_xn.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_x2_dot_prod_16ic_xn.h index 065fc75a8..5410222d0 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_x2_dot_prod_16ic_xn.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_x2_dot_prod_16ic_xn.h @@ -489,7 +489,7 @@ static inline void volk_gnsssdr_16ic_x2_dot_prod_16ic_xn_u_avx2(lv_16sc_t* resul #endif /* LV_HAVE_AVX2 */ -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 #include static inline void volk_gnsssdr_16ic_x2_dot_prod_16ic_xn_neon(lv_16sc_t* result, const lv_16sc_t* in_common, const lv_16sc_t** in_a, int num_a_vectors, unsigned int num_points) @@ -575,10 +575,10 @@ static inline void volk_gnsssdr_16ic_x2_dot_prod_16ic_xn_neon(lv_16sc_t* result, } } } -#endif /* LV_HAVE_NEON */ +#endif /* LV_HAVE_NEONV7 */ -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 #include static inline void volk_gnsssdr_16ic_x2_dot_prod_16ic_xn_neon_vma(lv_16sc_t* result, const lv_16sc_t* in_common, const lv_16sc_t** in_a, int num_a_vectors, unsigned int num_points) @@ -653,10 +653,10 @@ static inline void volk_gnsssdr_16ic_x2_dot_prod_16ic_xn_neon_vma(lv_16sc_t* res } } } -#endif /* LV_HAVE_NEON */ +#endif /* LV_HAVE_NEONV7 */ -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 #include static inline void volk_gnsssdr_16ic_x2_dot_prod_16ic_xn_neon_optvma(lv_16sc_t* result, const lv_16sc_t* in_common, const lv_16sc_t** in_a, int num_a_vectors, unsigned int num_points) @@ -736,6 +736,6 @@ static inline void volk_gnsssdr_16ic_x2_dot_prod_16ic_xn_neon_optvma(lv_16sc_t* } } } -#endif /* LV_HAVE_NEON */ +#endif /* LV_HAVE_NEONV7 */ #endif /*INCLUDED_volk_gnsssdr_16ic_xn_dot_prod_16ic_xn_H*/ diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_x2_dotprodxnpuppet_16ic.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_x2_dotprodxnpuppet_16ic.h index ad2ec4a77..9faf03be6 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_x2_dotprodxnpuppet_16ic.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_x2_dotprodxnpuppet_16ic.h @@ -188,7 +188,7 @@ static inline void volk_gnsssdr_16ic_x2_dotprodxnpuppet_16ic_u_avx2(lv_16sc_t* r #endif /* LV_HAVE_AVX2 */ -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 static inline void volk_gnsssdr_16ic_x2_dotprodxnpuppet_16ic_neon(lv_16sc_t* result, const lv_16sc_t* local_code, const lv_16sc_t* in, unsigned int num_points) { @@ -213,7 +213,7 @@ static inline void volk_gnsssdr_16ic_x2_dotprodxnpuppet_16ic_neon(lv_16sc_t* res #endif // NEON -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 static inline void volk_gnsssdr_16ic_x2_dotprodxnpuppet_16ic_neon_vma(lv_16sc_t* result, const lv_16sc_t* local_code, const lv_16sc_t* in, unsigned int num_points) { @@ -237,7 +237,7 @@ static inline void volk_gnsssdr_16ic_x2_dotprodxnpuppet_16ic_neon_vma(lv_16sc_t* #endif // NEON -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 static inline void volk_gnsssdr_16ic_x2_dotprodxnpuppet_16ic_neon_optvma(lv_16sc_t* result, const lv_16sc_t* local_code, const lv_16sc_t* in, unsigned int num_points) { diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_x2_multiply_16ic.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_x2_multiply_16ic.h index 9548f8954..29d4f5465 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_x2_multiply_16ic.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_x2_multiply_16ic.h @@ -292,7 +292,7 @@ static inline void volk_gnsssdr_16ic_x2_multiply_16ic_a_avx2(lv_16sc_t* out, con #endif /* LV_HAVE_AVX2 */ -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 #include static inline void volk_gnsssdr_16ic_x2_multiply_16ic_neon(lv_16sc_t* out, const lv_16sc_t* in_a, const lv_16sc_t* in_b, unsigned int num_points) @@ -338,6 +338,6 @@ static inline void volk_gnsssdr_16ic_x2_multiply_16ic_neon(lv_16sc_t* out, const *out++ = (*a_ptr++) * (*b_ptr++); } } -#endif /* LV_HAVE_NEON */ +#endif /* LV_HAVE_NEONV7*/ #endif /*INCLUDED_volk_gnsssdr_16ic_x2_multiply_16ic_H*/ diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_x2_rotator_dot_prod_16ic_xn.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_x2_rotator_dot_prod_16ic_xn.h index 60b5b7b38..44444efd5 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_x2_rotator_dot_prod_16ic_xn.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_x2_rotator_dot_prod_16ic_xn.h @@ -1300,7 +1300,7 @@ static inline void volk_gnsssdr_16ic_x2_rotator_dot_prod_16ic_xn_a_avx2_reload(l #endif /* LV_HAVE_AVX2 */ -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 #include static inline void volk_gnsssdr_16ic_x2_rotator_dot_prod_16ic_xn_neon(lv_16sc_t* result, const lv_16sc_t* in_common, const lv_32fc_t phase_inc, lv_32fc_t* phase, const lv_16sc_t** in_a, int num_a_vectors, unsigned int num_points) @@ -1486,10 +1486,10 @@ static inline void volk_gnsssdr_16ic_x2_rotator_dot_prod_16ic_xn_neon(lv_16sc_t* } } -#endif /* LV_HAVE_NEON */ +#endif /* LV_HAVE_NEONV7 */ -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 #include #include @@ -1683,10 +1683,10 @@ static inline void volk_gnsssdr_16ic_x2_rotator_dot_prod_16ic_xn_neon_vma(lv_16s } } -#endif /* LV_HAVE_NEON */ +#endif /* LV_HAVE_NEONV7 */ -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 #include #include @@ -1872,6 +1872,6 @@ static inline void volk_gnsssdr_16ic_x2_rotator_dot_prod_16ic_xn_neon_optvma(lv_ } } -#endif /* LV_HAVE_NEON */ +#endif /* LV_HAVE_NEONV7 */ #endif /*INCLUDED_volk_gnsssdr_16ic_x2_dot_prod_16ic_xn_H*/ diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_x2_rotator_dotprodxnpuppet_16ic.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_x2_rotator_dotprodxnpuppet_16ic.h index 9b30bdbbd..8196c09a6 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_x2_rotator_dotprodxnpuppet_16ic.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_x2_rotator_dotprodxnpuppet_16ic.h @@ -317,7 +317,7 @@ static inline void volk_gnsssdr_16ic_x2_rotator_dotprodxnpuppet_16ic_u_avx2_relo #endif // AVX2 -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 static inline void volk_gnsssdr_16ic_x2_rotator_dotprodxnpuppet_16ic_neon(lv_16sc_t* result, const lv_16sc_t* local_code, const lv_16sc_t* in, unsigned int num_points) { // phases must be normalized. Phase rotator expects a complex exponential input! @@ -348,7 +348,7 @@ static inline void volk_gnsssdr_16ic_x2_rotator_dotprodxnpuppet_16ic_neon(lv_16s #endif // NEON -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 static inline void volk_gnsssdr_16ic_x2_rotator_dotprodxnpuppet_16ic_neon_vma(lv_16sc_t* result, const lv_16sc_t* local_code, const lv_16sc_t* in, unsigned int num_points) { // phases must be normalized. Phase rotator expects a complex exponential input! diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_xn_resampler_16ic_xn.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_xn_resampler_16ic_xn.h index 661f4ace9..64eeb6d4a 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_xn_resampler_16ic_xn.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_xn_resampler_16ic_xn.h @@ -525,7 +525,7 @@ static inline void volk_gnsssdr_16ic_xn_resampler_16ic_xn_u_avx(lv_16sc_t** resu #endif -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 #include static inline void volk_gnsssdr_16ic_xn_resampler_16ic_xn_neon(lv_16sc_t** result, const lv_16sc_t* local_code, float rem_code_phase_chips, float code_phase_step_chips, float* shifts_chips, unsigned int code_length_chips, int num_out_vectors, unsigned int num_points) { diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_xn_resampler_fast_16ic_xn.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_xn_resampler_fast_16ic_xn.h index 112c213df..68b75f813 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_xn_resampler_fast_16ic_xn.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_16ic_xn_resampler_fast_16ic_xn.h @@ -285,7 +285,7 @@ static inline void volk_gnsssdr_16ic_xn_resampler_fast_16ic_xn_u_sse2(lv_16sc_t* #endif /* LV_HAVE_SSE2 */ -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 #include static inline void volk_gnsssdr_16ic_xn_resampler_fast_16ic_xn_neon(lv_16sc_t** result, const lv_16sc_t* local_code, float* rem_code_phase_chips, float code_phase_step_chips, unsigned int code_length_chips, int num_out_vectors, unsigned int num_output_samples) @@ -384,6 +384,6 @@ static inline void volk_gnsssdr_16ic_xn_resampler_fast_16ic_xn_neon(lv_16sc_t** } } -#endif /* LV_HAVE_NEON */ +#endif /* LV_HAVE_NEONV7 */ #endif /*INCLUDED_volk_gnsssdr_16ic_xn_resampler_fast_16ic_xn_H*/ diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32f_index_max_32u.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32f_index_max_32u.h index ace8271ea..af22131f1 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32f_index_max_32u.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32f_index_max_32u.h @@ -481,7 +481,7 @@ static inline void volk_gnsssdr_32f_index_max_32u_generic(uint32_t* target, cons #endif /*LV_HAVE_GENERIC*/ -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 #include static inline void volk_gnsssdr_32f_index_max_32u_neon(uint32_t* target, const float* src0, uint32_t num_points) @@ -546,6 +546,6 @@ static inline void volk_gnsssdr_32f_index_max_32u_neon(uint32_t* target, const f } } -#endif /*LV_HAVE_NEON*/ +#endif /*LV_HAVE_NEONV7*/ #endif /*INCLUDED_volk_gnsssdr_32f_index_max_32u_H*/ diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32f_resamplerxnpuppet_32f.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32f_resamplerxnpuppet_32f.h index b425ecb9b..b27579ff3 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32f_resamplerxnpuppet_32f.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32f_resamplerxnpuppet_32f.h @@ -246,7 +246,7 @@ static inline void volk_gnsssdr_32f_resamplerxnpuppet_32f_u_avx(float* result, c } #endif -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 static inline void volk_gnsssdr_32f_resamplerxnpuppet_32f_neon(float* result, const float* local_code, unsigned int num_points) { int code_length_chips = 2046; diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32f_sincos_32fc.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32f_sincos_32fc.h index b067c5f3d..8936901b0 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32f_sincos_32fc.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32f_sincos_32fc.h @@ -642,7 +642,7 @@ static inline void volk_gnsssdr_32f_sincos_32fc_generic_fxpt(lv_32fc_t* out, con #endif /* LV_HAVE_GENERIC */ -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 #include /* Adapted from http://gruntthepeon.free.fr/ssemath/neon_mathfun.h, original code from Julien Pommier */ /* Based on algorithms from the cephes library http://www.netlib.org/cephes/ */ @@ -747,7 +747,7 @@ static inline void volk_gnsssdr_32f_sincos_32fc_neon(lv_32fc_t* out, const float } } -#endif /* LV_HAVE_NEON */ +#endif /* LV_HAVE_NEONV7 */ #endif /* INCLUDED_volk_gnsssdr_32f_sincos_32fc_H */ diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32f_xn_resampler_32f_xn.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32f_xn_resampler_32f_xn.h index f130032ea..ef009d1cf 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32f_xn_resampler_32f_xn.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32f_xn_resampler_32f_xn.h @@ -527,7 +527,7 @@ static inline void volk_gnsssdr_32f_xn_resampler_32f_xn_u_avx(float** result, co #endif -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 #include static inline void volk_gnsssdr_32f_xn_resampler_32f_xn_neon(float** result, const float* local_code, float rem_code_phase_chips, float code_phase_step_chips, float* shifts_chips, unsigned int code_length_chips, int num_out_vectors, unsigned int num_points) diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_convert_16ic.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_convert_16ic.h index 892a7c0e8..afb79afcc 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_convert_16ic.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_convert_16ic.h @@ -386,7 +386,7 @@ static inline void volk_gnsssdr_32fc_convert_16ic_a_avx2(lv_16sc_t* outputVector #endif /* LV_HAVE_AVX2 */ -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 #include static inline void volk_gnsssdr_32fc_convert_16ic_neon(lv_16sc_t* outputVector, const lv_32fc_t* inputVector, unsigned int num_points) @@ -450,7 +450,7 @@ static inline void volk_gnsssdr_32fc_convert_16ic_neon(lv_16sc_t* outputVector, } } -#endif /* LV_HAVE_NEON */ +#endif /* LV_HAVE_NEONV7 */ #ifdef LV_HAVE_GENERIC diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_convert_8ic.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_convert_8ic.h index ab8d32e32..82bc4940e 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_convert_8ic.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_convert_8ic.h @@ -373,7 +373,7 @@ static inline void volk_gnsssdr_32fc_convert_8ic_a_sse2(lv_8sc_t* outputVector, #endif /* LV_HAVE_SSE2 */ -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 #include static inline void volk_gnsssdr_32fc_convert_8ic_neon(lv_8sc_t* outputVector, const lv_32fc_t* inputVector, unsigned int num_points) @@ -464,6 +464,6 @@ static inline void volk_gnsssdr_32fc_convert_8ic_neon(lv_8sc_t* outputVector, co } } -#endif /* LV_HAVE_NEON */ +#endif /* LV_HAVE_NEONV7 */ #endif /* INCLUDED_volk_gnsssdr_32fc_convert_8ic_H */ diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_resamplerxnpuppet_32fc.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_resamplerxnpuppet_32fc.h index 1655b5ccd..598e3b821 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_resamplerxnpuppet_32fc.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_resamplerxnpuppet_32fc.h @@ -306,7 +306,7 @@ static inline void volk_gnsssdr_32fc_resamplerxnpuppet_32fc_u_avx2(lv_32fc_t* re #endif -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 static inline void volk_gnsssdr_32fc_resamplerxnpuppet_32fc_neon(lv_32fc_t* result, const lv_32fc_t* local_code, unsigned int num_points) { int code_length_chips = 2046; diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_x2_rotator_dot_prod_32fc_xn.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_x2_rotator_dot_prod_32fc_xn.h index c3c77233a..257ae2900 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_x2_rotator_dot_prod_32fc_xn.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_x2_rotator_dot_prod_32fc_xn.h @@ -647,7 +647,7 @@ static inline void volk_gnsssdr_32fc_x2_rotator_dot_prod_32fc_xn_a_avx(lv_32fc_t #endif /* LV_HAVE_AVX */ -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 #include static inline void volk_gnsssdr_32fc_x2_rotator_dot_prod_32fc_xn_neon(lv_32fc_t* result, const lv_32fc_t* in_common, const lv_32fc_t phase_inc, lv_32fc_t* phase, const lv_32fc_t** in_a, int num_a_vectors, unsigned int num_points) @@ -800,6 +800,6 @@ static inline void volk_gnsssdr_32fc_x2_rotator_dot_prod_32fc_xn_neon(lv_32fc_t* (*phase) = _phase; } -#endif /* LV_HAVE_NEON */ +#endif /* LV_HAVE_NEONV7 */ #endif /* INCLUDED_volk_gnsssdr_32fc_x2_rotator_dot_prod_32fc_xn_H */ diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_x2_rotator_dotprodxnpuppet_32fc.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_x2_rotator_dotprodxnpuppet_32fc.h index 846539fc9..9bbe75662 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_x2_rotator_dotprodxnpuppet_32fc.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_x2_rotator_dotprodxnpuppet_32fc.h @@ -220,7 +220,7 @@ static inline void volk_gnsssdr_32fc_x2_rotator_dotprodxnpuppet_32fc_a_avx(lv_32 #endif // AVX -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 static inline void volk_gnsssdr_32fc_x2_rotator_dotprodxnpuppet_32fc_neon(lv_32fc_t* result, const lv_32fc_t* local_code, const lv_32fc_t* in, unsigned int num_points) { // phases must be normalized. Phase rotator expects a complex exponential input! diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_xn_resampler_32fc_xn.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_xn_resampler_32fc_xn.h index 3e6227a17..aaa43fec7 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_xn_resampler_32fc_xn.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32fc_xn_resampler_32fc_xn.h @@ -682,7 +682,7 @@ static inline void volk_gnsssdr_32fc_xn_resampler_32fc_xn_a_avx2(lv_32fc_t** res #endif -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 #include static inline void volk_gnsssdr_32fc_xn_resampler_32fc_xn_neon(lv_32fc_t** result, const lv_32fc_t* local_code, float rem_code_phase_chips, float code_phase_step_chips, float* shifts_chips, unsigned int code_length_chips, int num_out_vectors, unsigned int num_points) diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_8ic_conjugate_8ic.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_8ic_conjugate_8ic.h index 177b1114d..814788d61 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_8ic_conjugate_8ic.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_8ic_conjugate_8ic.h @@ -348,7 +348,7 @@ static inline void volk_gnsssdr_8ic_conjugate_8ic_u_orc(lv_8sc_t* cVector, const #endif /* LV_HAVE_ORC */ -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 #include static inline void volk_gnsssdr_8ic_conjugate_8ic_neon(lv_8sc_t* cVector, const lv_8sc_t* aVector, unsigned int num_points) @@ -374,6 +374,6 @@ static inline void volk_gnsssdr_8ic_conjugate_8ic_neon(lv_8sc_t* cVector, const *c++ = lv_conj(*a++); } } -#endif /* LV_HAVE_NEON */ +#endif /* LV_HAVE_NEONV7 */ #endif /* INCLUDED_volk_gnsssdr_8ic_conjugate_8ic_H */ diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_8ic_x2_dot_prod_8ic.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_8ic_x2_dot_prod_8ic.h index 88a689f8b..33102b385 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_8ic_x2_dot_prod_8ic.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_8ic_x2_dot_prod_8ic.h @@ -436,7 +436,7 @@ static inline void volk_gnsssdr_8ic_x2_dot_prod_8ic_u_orc(lv_8sc_t* result, cons #endif /* LV_HAVE_ORC */ -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 #include static inline void volk_gnsssdr_8ic_x2_dot_prod_8ic_neon(lv_8sc_t* result, const lv_8sc_t* in_a, const lv_8sc_t* in_b, unsigned int num_points) @@ -495,6 +495,6 @@ static inline void volk_gnsssdr_8ic_x2_dot_prod_8ic_neon(lv_8sc_t* result, const *result += dotProduct; } -#endif /* LV_HAVE_NEON */ +#endif /* LV_HAVE_NEONV7 */ #endif /*INCLUDED_volk_gnsssdr_8ic_x2_dot_prod_8ic_H*/ diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_s32f_sincos_32fc.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_s32f_sincos_32fc.h index d6d58e4d0..50ac028d0 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_s32f_sincos_32fc.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_s32f_sincos_32fc.h @@ -833,7 +833,7 @@ static inline void volk_gnsssdr_s32f_sincos_32fc_u_avx2(lv_32fc_t *out, const fl #endif /* LV_HAVE_AVX2 */ -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 #include /* Adapted from http://gruntthepeon.free.fr/ssemath/neon_mathfun.h, original code from Julien Pommier */ /* Based on algorithms from the cephes library http://www.netlib.org/cephes/ */ @@ -948,6 +948,6 @@ static inline void volk_gnsssdr_s32f_sincos_32fc_neon(lv_32fc_t *out, const floa (*phase) = _phase; } -#endif /* LV_HAVE_NEON */ +#endif /* LV_HAVE_NEONV7 */ #endif /* INCLUDED_volk_gnsssdr_s32f_sincos_32fc_H */ diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_s32f_sincospuppet_32fc.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_s32f_sincospuppet_32fc.h index e4f7c942f..9b1595e9d 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_s32f_sincospuppet_32fc.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_s32f_sincospuppet_32fc.h @@ -103,13 +103,13 @@ static inline void volk_gnsssdr_s32f_sincospuppet_32fc_u_avx2(lv_32fc_t* out, co #endif /* LV_HAVE_AVX2 */ -#ifdef LV_HAVE_NEON +#ifdef LV_HAVE_NEONV7 static inline void volk_gnsssdr_s32f_sincospuppet_32fc_neon(lv_32fc_t* out, const float phase_inc, unsigned int num_points) { float phase[1]; phase[0] = 3; volk_gnsssdr_s32f_sincos_32fc_neon(out, phase_inc, phase, num_points); } -#endif /* LV_HAVE_NEON */ +#endif /* LV_HAVE_NEONV7 */ #endif /* INCLUDED_volk_gnsssdr_s32f_sincospuppet_32fc_H */ diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/lib/CMakeLists.txt b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/lib/CMakeLists.txt index bf0bdd3a2..c6bf3c949 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/lib/CMakeLists.txt +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/lib/CMakeLists.txt @@ -256,6 +256,36 @@ if(NOT CPU_IS_x86) OVERRULE_ARCH(avx "Architecture is not x86 or x86_64") endif(NOT CPU_IS_x86) +######################################################################## +# Select neon based on ARM ISA version +######################################################################## + +# First, compile a test program to see if compiler supports neon. + +include(CheckCSourceCompiles) + +check_c_source_compiles("#include \nint main(){ uint8_t *dest; uint8x8_t res; vst1_u8(dest, res); }" + neon_compile_result) + +if(neon_compile_result) + check_c_source_compiles("int main(){asm volatile(\"vrev32.8 q0, q0\");}" + have_neonv7_result ) + check_c_source_compiles("int main(){asm volatile(\"sub v1.4s,v1.4s,v1.4s\");}" + have_neonv8_result ) + + if (have_neonv7_result) + OVERRULE_ARCH(neonv8 "CPU is armv7") + endif() + + if (have_neonv8_result) + OVERRULE_ARCH(neonv7 "CPU is armv8") + endif() +else(neon_compile_result) + OVERRULE_ARCH(neon "Compiler doesn't support NEON") + OVERRULE_ARCH(neonv7 "Compiler doesn't support NEON") + OVERRULE_ARCH(neonv8 "Compiler doesn't support NEON") +endif(neon_compile_result) + ######################################################################## # implement overruling in the ORC case, # since ORC always passes flag detection @@ -423,7 +453,7 @@ include_directories( # on by default, but let users turn it off ######################################################################## if(${CMAKE_VERSION} VERSION_GREATER "2.8.9") - set(ASM_ARCHS_AVAILABLE "neon") + set(ASM_ARCHS_AVAILABLE "neonv7" "neonv8") set(FULL_C_FLAGS "${CMAKE_C_FLAGS}" "${CMAKE_CXX_COMPILER_ARG1}") @@ -432,7 +462,7 @@ if(${CMAKE_VERSION} VERSION_GREATER "2.8.9") # set up the assembler flags and include the source files foreach(ARCH ${ASM_ARCHS_AVAILABLE}) string(REGEX MATCH "${ARCH}" ASM_ARCH "${available_archs}") - if( ASM_ARCH STREQUAL "neon" ) + if( ASM_ARCH STREQUAL "neonv7" ) message(STATUS "---- Adding ASM files") # we always use ATT syntax message(STATUS "-- Detected neon architecture; enabling ASM") # setup architecture specific assembler flags diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/tmpl/volk_gnsssdr_config_fixed.tmpl.h b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/tmpl/volk_gnsssdr_config_fixed.tmpl.h index 4159bdef7..84be60772 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/tmpl/volk_gnsssdr_config_fixed.tmpl.h +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/tmpl/volk_gnsssdr_config_fixed.tmpl.h @@ -21,9 +21,9 @@ // clang-format off %for i, arch in enumerate(archs): -//#ifndef LV_${arch.name.upper()} +#ifndef LV_${arch.name.upper()} #define LV_${arch.name.upper()} ${i} -//#endif +#endif %endfor // clang-format on #endif /*INCLUDED_VOLK_GNSSSDR_CONFIG_FIXED*/ diff --git a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/tmpl/volk_gnsssdr_cpu.tmpl.c b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/tmpl/volk_gnsssdr_cpu.tmpl.c index f04f2d9ff..d690bc993 100644 --- a/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/tmpl/volk_gnsssdr_cpu.tmpl.c +++ b/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/tmpl/volk_gnsssdr_cpu.tmpl.c @@ -128,12 +128,12 @@ static inline unsigned int get_avx2_enabled(void) #include #include #include -#define VOLK_CPU_ARM +#define VOLK_CPU_ARMV7 #endif -static int has_neon(void) +static int has_neonv7(void) { -#if defined(VOLK_CPU_ARM) +#if defined(VOLK_CPU_ARMV7) FILE *auxvec_f; unsigned long auxvec[2]; unsigned int found_neon = 0; @@ -156,6 +156,53 @@ static int has_neon(void) return 0; #endif } + +//\todo: Fix this to really check for neon on aarch64 +//neon detection is linux specific +#if defined(__aarch64__) && defined(__linux__) +#include +#include +#include +#define VOLK_CPU_ARMV8 +#endif + +static int has_neonv8(void) +{ +#if defined(VOLK_CPU_ARMV8) + FILE *auxvec_f; + unsigned long auxvec[2]; + unsigned int found_neon = 0; + auxvec_f = fopen("/proc/self/auxv", "rb"); + if (!auxvec_f) return 0; + + size_t r = 1; + //so auxv is basically 32b of ID and 32b of value + //so it goes like this + while (!found_neon && r) + { + r = fread(auxvec, sizeof(unsigned long), 2, auxvec_f); + if ((auxvec[0] == AT_HWCAP) && (auxvec[1] & HWCAP_ASIMD)) + found_neon = 1; + } + + fclose(auxvec_f); + return found_neon; +#else + return 0; +#endif +} + +static int has_neon(void) +{ +#if defined(VOLK_CPU_ARMV8) || defined(VOLK_CPU_ARMV7) + if (has_neonv7() || has_neonv8()) + return 1; + else + return 0; +#else + return 0; +#endif +} // clang-format off %for arch in archs: diff --git a/src/algorithms/observables/adapters/CMakeLists.txt b/src/algorithms/observables/adapters/CMakeLists.txt index 5129e4157..882b22d83 100644 --- a/src/algorithms/observables/adapters/CMakeLists.txt +++ b/src/algorithms/observables/adapters/CMakeLists.txt @@ -26,6 +26,7 @@ include_directories( ${CMAKE_SOURCE_DIR}/src/core/interfaces ${CMAKE_SOURCE_DIR}/src/core/receiver ${CMAKE_SOURCE_DIR}/src/algorithms/observables/gnuradio_blocks + ${CMAKE_SOURCE_DIR}/src/algorithms/libs ${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs ${GLOG_INCLUDE_DIRS} ${GFlags_INCLUDE_DIRS} diff --git a/src/algorithms/observables/gnuradio_blocks/CMakeLists.txt b/src/algorithms/observables/gnuradio_blocks/CMakeLists.txt index 98b8213d8..e3db8ebcf 100644 --- a/src/algorithms/observables/gnuradio_blocks/CMakeLists.txt +++ b/src/algorithms/observables/gnuradio_blocks/CMakeLists.txt @@ -39,8 +39,8 @@ list(SORT OBS_GR_BLOCKS_HEADERS) add_library(obs_gr_blocks ${OBS_GR_BLOCKS_SOURCES} ${OBS_GR_BLOCKS_HEADERS}) source_group(Headers FILES ${OBS_GR_BLOCKS_HEADERS}) if(MATIO_FOUND) - add_dependencies(obs_gr_blocks glog-${glog_RELEASE} armadillo-${armadillo_RELEASE}) + add_dependencies(obs_gr_blocks gnss_sp_libs glog-${glog_RELEASE} armadillo-${armadillo_RELEASE}) else(MATIO_FOUND) - add_dependencies(obs_gr_blocks glog-${glog_RELEASE} armadillo-${armadillo_RELEASE} matio-${GNSSSDR_MATIO_LOCAL_VERSION}) + add_dependencies(obs_gr_blocks gnss_sp_libs glog-${glog_RELEASE} armadillo-${armadillo_RELEASE} matio-${GNSSSDR_MATIO_LOCAL_VERSION}) endif(MATIO_FOUND) -target_link_libraries(obs_gr_blocks ${GNURADIO_RUNTIME_LIBRARIES} ${ARMADILLO_LIBRARIES} ${MATIO_LIBRARIES}) +target_link_libraries(obs_gr_blocks gnss_sp_libs ${GNURADIO_RUNTIME_LIBRARIES} ${ARMADILLO_LIBRARIES} ${MATIO_LIBRARIES}) diff --git a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc index 6e95da824..159d5f1fb 100644 --- a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc +++ b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc @@ -63,14 +63,11 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in, d_dump_filename = dump_filename; T_rx_s = 0.0; T_rx_step_s = 0.001; // 1 ms - max_delta = 0.15; // 150 ms + max_delta = 1.5; // 1.5 s + d_latency = 0.5; // 300 ms valid_channels.resize(d_nchannels, false); d_num_valid_channels = 0; - - for (unsigned int i = 0; i < d_nchannels; i++) - { - d_gnss_synchro_history.push_back(std::deque()); - } + d_gnss_synchro_history = new Gnss_circular_deque(static_cast(max_delta * 1000.0), d_nchannels); // ############# ENABLE DATA FILE LOG ################# if (d_dump) @@ -95,6 +92,7 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in, hybrid_observables_cc::~hybrid_observables_cc() { + delete d_gnss_synchro_history; if (d_dump_file.is_open()) { try @@ -302,40 +300,26 @@ int hybrid_observables_cc::save_matfile() } -bool hybrid_observables_cc::interpolate_data(Gnss_Synchro &out, std::deque &data, const double &ti) +bool hybrid_observables_cc::interpolate_data(Gnss_Synchro &out, const unsigned int &ch, const double &ti) { - if ((ti < data.front().RX_time) or (ti > data.back().RX_time)) + if ((ti < d_gnss_synchro_history->front(ch).RX_time) or (ti > d_gnss_synchro_history->back(ch).RX_time)) { return false; } - std::deque::iterator it; + find_interp_elements(ch, ti); - arma::vec t = arma::vec(data.size()); - arma::vec dop = t; - arma::vec cph = t; - arma::vec tow = t; - arma::vec tiv = arma::vec(1); - arma::vec result; - tiv(0) = ti; + //Linear interpolation: y(t) = y(t1) + (y(t2) - y(t1)) * (t - t1) / (t2 - t1) - unsigned int aux = 0; - for (it = data.begin(); it != data.end(); it++) - { - t(aux) = it->RX_time; - dop(aux) = it->Carrier_Doppler_hz; - cph(aux) = it->Carrier_phase_rads; - tow(aux) = it->TOW_at_current_symbol_s; + // CARRIER PHASE INTERPOLATION + out.Carrier_phase_rads = d_gnss_synchro_history->at(ch, 0).Carrier_phase_rads + (d_gnss_synchro_history->at(ch, 1).Carrier_phase_rads - d_gnss_synchro_history->at(ch, 0).Carrier_phase_rads) * (ti - d_gnss_synchro_history->at(ch, 0).RX_time) / (d_gnss_synchro_history->at(ch, 1).RX_time - d_gnss_synchro_history->at(ch, 0).RX_time); - aux++; - } - arma::interp1(t, dop, tiv, result); - out.Carrier_Doppler_hz = result(0); - arma::interp1(t, cph, tiv, result); - out.Carrier_phase_rads = result(0); - arma::interp1(t, tow, tiv, result); - out.TOW_at_current_symbol_s = result(0); + // CARRIER DOPPLER INTERPOLATION + out.Carrier_Doppler_hz = d_gnss_synchro_history->at(ch, 0).Carrier_Doppler_hz + (d_gnss_synchro_history->at(ch, 1).Carrier_Doppler_hz - d_gnss_synchro_history->at(ch, 0).Carrier_Doppler_hz) * (ti - d_gnss_synchro_history->at(ch, 0).RX_time) / (d_gnss_synchro_history->at(ch, 1).RX_time - d_gnss_synchro_history->at(ch, 0).RX_time); - return result.is_finite(); + // TOW INTERPOLATION + out.TOW_at_current_symbol_s = d_gnss_synchro_history->at(ch, 0).TOW_at_current_symbol_s + (d_gnss_synchro_history->at(ch, 1).TOW_at_current_symbol_s - d_gnss_synchro_history->at(ch, 0).TOW_at_current_symbol_s) * (ti - d_gnss_synchro_history->at(ch, 0).RX_time) / (d_gnss_synchro_history->at(ch, 1).RX_time - d_gnss_synchro_history->at(ch, 0).RX_time); + + return true; } @@ -351,25 +335,60 @@ double hybrid_observables_cc::compute_T_rx_s(const Gnss_Synchro &a) } } +void hybrid_observables_cc::find_interp_elements(const unsigned int &ch, const double &ti) +{ + unsigned int closest = 0; + double dif = std::numeric_limits::max(); + double dt = 0.0; + for (unsigned int i = 0; i < d_gnss_synchro_history->size(ch); i++) + { + dt = std::fabs(ti - d_gnss_synchro_history->at(ch, i).RX_time); + if (dt < dif) + { + closest = i; + dif = dt; + } + else + { + break; + } + } + if (ti > d_gnss_synchro_history->at(ch, closest).RX_time) + { + while (closest > 0) + { + d_gnss_synchro_history->pop_front(ch); + closest--; + } + } + else + { + while (closest > 1) + { + d_gnss_synchro_history->pop_front(ch); + closest--; + } + } +} -void hybrid_observables_cc::forecast(int noutput_items __attribute__((unused)), - gr_vector_int &ninput_items_required) + +void hybrid_observables_cc::forecast(int noutput_items, gr_vector_int &ninput_items_required) { for (unsigned int i = 0; i < d_nchannels; i++) { ninput_items_required[i] = 0; } - ninput_items_required[d_nchannels] = 1; + ninput_items_required[d_nchannels] = noutput_items; } -void hybrid_observables_cc::clean_history(std::deque &data) +void hybrid_observables_cc::clean_history(unsigned int pos) { - while (data.size() > 0) + while (d_gnss_synchro_history->size(pos) > 0) { - if ((T_rx_s - data.front().RX_time) > max_delta) + if ((T_rx_s - d_gnss_synchro_history->front(pos).RX_time) > max_delta) { - data.pop_front(); + d_gnss_synchro_history->pop_front(pos); } else { @@ -439,157 +458,161 @@ int hybrid_observables_cc::general_work(int noutput_items __attribute__((unused) Gnss_Synchro **out = reinterpret_cast(&output_items[0]); unsigned int i; + unsigned int returned_elements = 0; int total_input_items = 0; for (i = 0; i < d_nchannels; i++) { total_input_items += ninput_items[i]; } - consume(d_nchannels, 1); - T_rx_s += T_rx_step_s; - - ////////////////////////////////////////////////////////////////////////// - if ((total_input_items == 0) and (d_num_valid_channels == 0)) + for (int epoch = 0; epoch < ninput_items[d_nchannels]; epoch++) { - return 0; - } - ////////////////////////////////////////////////////////////////////////// + T_rx_s += T_rx_step_s; - std::vector>::iterator it; - if (total_input_items > 0) - { - i = 0; - for (it = d_gnss_synchro_history.begin(); it != d_gnss_synchro_history.end(); it++) + ////////////////////////////////////////////////////////////////////////// + if ((total_input_items == 0) and (d_num_valid_channels == 0)) { - if (ninput_items[i] > 0) + consume(d_nchannels, epoch + 1); + return returned_elements; + } + ////////////////////////////////////////////////////////////////////////// + + if (total_input_items > 0 and epoch == 0) + { + for (i = 0; i < d_nchannels; i++) { - // Add the new Gnss_Synchros to their corresponding deque - for (int aux = 0; aux < ninput_items[i]; aux++) + if (ninput_items[i] > 0) { - if (in[i][aux].Flag_valid_word) + // Add the new Gnss_Synchros to their corresponding deque + for (int aux = 0; aux < ninput_items[i]; aux++) { - it->push_back(in[i][aux]); - it->back().RX_time = compute_T_rx_s(in[i][aux]); - // Check if the last Gnss_Synchro comes from the same satellite as the previous ones - if (it->size() > 1) + if (in[i][aux].Flag_valid_word) { - if (it->front().PRN != it->back().PRN) + d_gnss_synchro_history->push_back(i, in[i][aux]); + d_gnss_synchro_history->back(i).RX_time = compute_T_rx_s(in[i][aux]); + // Check if the last Gnss_Synchro comes from the same satellite as the previous ones + if (d_gnss_synchro_history->size(i) > 1) { - it->clear(); + if (d_gnss_synchro_history->front(i).PRN != d_gnss_synchro_history->back(i).PRN) + { + d_gnss_synchro_history->clear(i); + } } } } + consume(i, ninput_items[i]); } - consume(i, ninput_items[i]); - } - i++; - } - } - for (i = 0; i < d_nchannels; i++) - { - if (d_gnss_synchro_history.at(i).size() > 2) - { - valid_channels[i] = true; - } - else - { - valid_channels[i] = false; - } - } - d_num_valid_channels = valid_channels.count(); - // Check if there is any valid channel after reading the new incoming Gnss_Synchro data - if (d_num_valid_channels == 0) - { - return 0; - } - - for (i = 0; i < d_nchannels; i++) //Discard observables with T_rx higher than the threshold - { - if (valid_channels[i]) - { - clean_history(d_gnss_synchro_history.at(i)); - if (d_gnss_synchro_history.at(i).size() < 2) - { - valid_channels[i] = false; } } - } - - // Check if there is any valid channel after computing the time distance between the Gnss_Synchro data and the receiver time - d_num_valid_channels = valid_channels.count(); - double T_rx_s_out = T_rx_s - (max_delta / 2.0); - if ((d_num_valid_channels == 0) or (T_rx_s_out < 0.0)) - { - return 0; - } - - std::vector epoch_data; - i = 0; - for (it = d_gnss_synchro_history.begin(); it != d_gnss_synchro_history.end(); it++) - { - if (valid_channels[i]) + for (i = 0; i < d_nchannels; i++) { - Gnss_Synchro interpolated_gnss_synchro = it->back(); - if (interpolate_data(interpolated_gnss_synchro, *it, T_rx_s_out)) + if (d_gnss_synchro_history->size(i) > 2) { - epoch_data.push_back(interpolated_gnss_synchro); + valid_channels[i] = true; } else { valid_channels[i] = false; } } - i++; - } - d_num_valid_channels = valid_channels.count(); - if (d_num_valid_channels == 0) - { - return 0; - } - correct_TOW_and_compute_prange(epoch_data); - std::vector::iterator it2 = epoch_data.begin(); - for (i = 0; i < d_nchannels; i++) - { - if (valid_channels[i]) + d_num_valid_channels = valid_channels.count(); + // Check if there is any valid channel after reading the new incoming Gnss_Synchro data + if (d_num_valid_channels == 0) { - out[i][0] = (*it2); - out[i][0].Flag_valid_pseudorange = true; - it2++; + consume(d_nchannels, epoch + 1); + return returned_elements; } - else + + for (i = 0; i < d_nchannels; i++) //Discard observables with T_rx higher than the threshold { - out[i][0] = Gnss_Synchro(); - out[i][0].Flag_valid_pseudorange = false; - } - } - if (d_dump) - { - // MULTIPLEXED FILE RECORDING - Record results to file - try - { - double tmp_double; - for (i = 0; i < d_nchannels; i++) + if (valid_channels[i]) { - tmp_double = out[i][0].RX_time; - d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); - tmp_double = out[i][0].TOW_at_current_symbol_s; - d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); - tmp_double = out[i][0].Carrier_Doppler_hz; - d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); - tmp_double = out[i][0].Carrier_phase_rads / GPS_TWO_PI; - d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); - tmp_double = out[i][0].Pseudorange_m; - d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); - tmp_double = static_cast(out[i][0].PRN); - d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); - tmp_double = static_cast(out[i][0].Flag_valid_pseudorange); - d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); + clean_history(i); + if (d_gnss_synchro_history->size(i) < 2) + { + valid_channels[i] = false; + } } } - catch (const std::ifstream::failure &e) + + // Check if there is any valid channel after computing the time distance between the Gnss_Synchro data and the receiver time + d_num_valid_channels = valid_channels.count(); + double T_rx_s_out = T_rx_s - d_latency; + if ((d_num_valid_channels == 0) or (T_rx_s_out < 0.0)) { - LOG(WARNING) << "Exception writing observables dump file " << e.what(); - d_dump = false; + consume(d_nchannels, epoch + 1); + return returned_elements; } + + std::vector epoch_data; + for (i = 0; i < d_nchannels; i++) + { + if (valid_channels[i]) + { + Gnss_Synchro interpolated_gnss_synchro = d_gnss_synchro_history->back(i); + if (interpolate_data(interpolated_gnss_synchro, i, T_rx_s_out)) + { + epoch_data.push_back(interpolated_gnss_synchro); + } + else + { + valid_channels[i] = false; + } + } + } + d_num_valid_channels = valid_channels.count(); + if (d_num_valid_channels == 0) + { + consume(d_nchannels, epoch + 1); + return returned_elements; + } + correct_TOW_and_compute_prange(epoch_data); + std::vector::iterator it = epoch_data.begin(); + for (i = 0; i < d_nchannels; i++) + { + if (valid_channels[i]) + { + out[i][epoch] = (*it); + out[i][epoch].Flag_valid_pseudorange = true; + it++; + } + else + { + out[i][epoch] = Gnss_Synchro(); + out[i][epoch].Flag_valid_pseudorange = false; + } + } + if (d_dump) + { + // MULTIPLEXED FILE RECORDING - Record results to file + try + { + double tmp_double; + for (i = 0; i < d_nchannels; i++) + { + tmp_double = out[i][epoch].RX_time; + d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); + tmp_double = out[i][epoch].TOW_at_current_symbol_s; + d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); + tmp_double = out[i][epoch].Carrier_Doppler_hz; + d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); + tmp_double = out[i][epoch].Carrier_phase_rads / GPS_TWO_PI; + d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); + tmp_double = out[i][epoch].Pseudorange_m; + d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); + tmp_double = static_cast(out[i][epoch].PRN); + d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); + tmp_double = static_cast(out[i][epoch].Flag_valid_pseudorange); + d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); + } + } + catch (const std::ifstream::failure &e) + { + LOG(WARNING) << "Exception writing observables dump file " << e.what(); + d_dump = false; + } + } + returned_elements++; } - return 1; + consume(d_nchannels, ninput_items[d_nchannels]); + return returned_elements; } diff --git a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h index aedba43ab..5772464e2 100644 --- a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h +++ b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.h @@ -35,12 +35,12 @@ #define GNSS_SDR_HYBRID_OBSERVABLES_CC_H #include "gnss_synchro.h" +#include "gnss_circular_deque.h" #include #include #include #include -#include -#include +#include class hybrid_observables_cc; @@ -65,18 +65,20 @@ private: friend hybrid_observables_cc_sptr hybrid_make_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename); hybrid_observables_cc(unsigned int nchannels_in, unsigned int nchannels_out, bool dump, std::string dump_filename); - void clean_history(std::deque& data); + void clean_history(unsigned int pos); double compute_T_rx_s(const Gnss_Synchro& a); - bool interpolate_data(Gnss_Synchro& out, std::deque& data, const double& ti); + bool interpolate_data(Gnss_Synchro& out, const unsigned int& ch, const double& ti); + void find_interp_elements(const unsigned int& ch, const double& ti); void correct_TOW_and_compute_prange(std::vector& data); int save_matfile(); //Tracking observable history - std::vector> d_gnss_synchro_history; + Gnss_circular_deque* d_gnss_synchro_history; boost::dynamic_bitset<> valid_channels; double T_rx_s; double T_rx_step_s; double max_delta; + double d_latency; bool d_dump; unsigned int d_nchannels; unsigned int d_num_valid_channels; diff --git a/src/algorithms/resampler/gnuradio_blocks/direct_resampler_conditioner_cb.cc b/src/algorithms/resampler/gnuradio_blocks/direct_resampler_conditioner_cb.cc index 9a053b46d..f51a9d45c 100644 --- a/src/algorithms/resampler/gnuradio_blocks/direct_resampler_conditioner_cb.cc +++ b/src/algorithms/resampler/gnuradio_blocks/direct_resampler_conditioner_cb.cc @@ -49,13 +49,14 @@ direct_resampler_conditioner_cb_sptr direct_resampler_make_conditioner_cb( direct_resampler_conditioner_cb::direct_resampler_conditioner_cb( - double sample_freq_in, double sample_freq_out) : gr::block("direct_resampler_make_conditioner_cb", gr::io_signature::make(1, 1, sizeof(lv_8sc_t)), gr::io_signature::make(1, 1, sizeof(lv_8sc_t))), - d_sample_freq_in(sample_freq_in), - d_sample_freq_out( - sample_freq_out), - d_phase(0), - d_lphase(0), - d_history(1) + double sample_freq_in, + double sample_freq_out) : gr::block("direct_resampler_make_conditioner_cb", gr::io_signature::make(1, 1, sizeof(lv_8sc_t)), gr::io_signature::make(1, 1, sizeof(lv_8sc_t))), + d_sample_freq_in(sample_freq_in), + d_sample_freq_out( + sample_freq_out), + d_phase(0), + d_lphase(0), + d_history(1) { const double two_32 = 4294967296.0; // Computes the phase step multiplying the resampling ratio by 2^32 = 4294967296 diff --git a/src/algorithms/resampler/gnuradio_blocks/direct_resampler_conditioner_cc.cc b/src/algorithms/resampler/gnuradio_blocks/direct_resampler_conditioner_cc.cc index b238a7c0d..b7eb65691 100644 --- a/src/algorithms/resampler/gnuradio_blocks/direct_resampler_conditioner_cc.cc +++ b/src/algorithms/resampler/gnuradio_blocks/direct_resampler_conditioner_cc.cc @@ -49,7 +49,13 @@ direct_resampler_conditioner_cc_sptr direct_resampler_make_conditioner_cc( direct_resampler_conditioner_cc::direct_resampler_conditioner_cc( - double sample_freq_in, double sample_freq_out) : gr::block("direct_resampler_conditioner_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)), gr::io_signature::make(1, 1, sizeof(gr_complex))), d_sample_freq_in(sample_freq_in), d_sample_freq_out(sample_freq_out), d_phase(0), d_lphase(0), d_history(1) + double sample_freq_in, + double sample_freq_out) : gr::block("direct_resampler_conditioner_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)), gr::io_signature::make(1, 1, sizeof(gr_complex))), + d_sample_freq_in(sample_freq_in), + d_sample_freq_out(sample_freq_out), + d_phase(0), + d_lphase(0), + d_history(1) { // Computes the phase step multiplying the resampling ratio by 2^32 = 4294967296 const double two_32 = 4294967296.0; diff --git a/src/algorithms/resampler/gnuradio_blocks/direct_resampler_conditioner_cs.cc b/src/algorithms/resampler/gnuradio_blocks/direct_resampler_conditioner_cs.cc index 8e7f32d80..32eb06241 100644 --- a/src/algorithms/resampler/gnuradio_blocks/direct_resampler_conditioner_cs.cc +++ b/src/algorithms/resampler/gnuradio_blocks/direct_resampler_conditioner_cs.cc @@ -48,13 +48,13 @@ direct_resampler_conditioner_cs_sptr direct_resampler_make_conditioner_cs( direct_resampler_conditioner_cs::direct_resampler_conditioner_cs( - double sample_freq_in, double sample_freq_out) : gr::block("direct_resampler_make_conditioner_cs", gr::io_signature::make(1, 1, sizeof(lv_16sc_t)), gr::io_signature::make(1, 1, sizeof(lv_16sc_t))), - d_sample_freq_in(sample_freq_in), - d_sample_freq_out( - sample_freq_out), - d_phase(0), - d_lphase(0), - d_history(1) + double sample_freq_in, + double sample_freq_out) : gr::block("direct_resampler_make_conditioner_cs", gr::io_signature::make(1, 1, sizeof(lv_16sc_t)), gr::io_signature::make(1, 1, sizeof(lv_16sc_t))), + d_sample_freq_in(sample_freq_in), + d_sample_freq_out(sample_freq_out), + d_phase(0), + d_lphase(0), + d_history(1) { const double two_32 = 4294967296.0; // Computes the phase step multiplying the resampling ratio by 2^32 = 4294967296 diff --git a/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc b/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc index bfb1eb48a..848059434 100644 --- a/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc +++ b/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc @@ -56,32 +56,41 @@ signal_make_generator_c(std::vector signal1, std::vector signal1, std::vector system, const std::vector &PRN, - const std::vector &CN0_dB, const std::vector &doppler_Hz, - const std::vector &delay_chips, const std::vector &delay_sec, bool data_flag, bool noise_flag, - unsigned int fs_in, unsigned int vector_length, float BW_BB) : gr::block("signal_gen_cc", gr::io_signature::make(0, 0, sizeof(gr_complex)), - gr::io_signature::make(1, 1, sizeof(gr_complex) * vector_length)), - signal_(signal1), - system_(system), - PRN_(PRN), - CN0_dB_(CN0_dB), - doppler_Hz_(doppler_Hz), - delay_chips_(delay_chips), - delay_sec_(delay_sec), - data_flag_(data_flag), - noise_flag_(noise_flag), - fs_in_(fs_in), - num_sats_(PRN.size()), - vector_length_(vector_length), - BW_BB_(BW_BB * static_cast(fs_in) / 2.0) +signal_generator_c::signal_generator_c(std::vector signal1, + std::vector system, + const std::vector &PRN, + const std::vector &CN0_dB, + const std::vector &doppler_Hz, + const std::vector &delay_chips, + const std::vector &delay_sec, + bool data_flag, + bool noise_flag, + unsigned int fs_in, + unsigned int vector_length, + float BW_BB) : gr::block("signal_gen_cc", gr::io_signature::make(0, 0, sizeof(gr_complex)), gr::io_signature::make(1, 1, sizeof(gr_complex) * vector_length)), + signal_(signal1), + system_(system), + PRN_(PRN), + CN0_dB_(CN0_dB), + doppler_Hz_(doppler_Hz), + delay_chips_(delay_chips), + delay_sec_(delay_sec), + data_flag_(data_flag), + noise_flag_(noise_flag), + fs_in_(fs_in), + num_sats_(PRN.size()), + vector_length_(vector_length), + BW_BB_(BW_BB * static_cast(fs_in) / 2.0) { init(); generate_codes(); } + void signal_generator_c::init() { work_counter_ = 0; diff --git a/src/algorithms/signal_source/adapters/CMakeLists.txt b/src/algorithms/signal_source/adapters/CMakeLists.txt index 2fb8f4be8..a502b6e30 100644 --- a/src/algorithms/signal_source/adapters/CMakeLists.txt +++ b/src/algorithms/signal_source/adapters/CMakeLists.txt @@ -29,12 +29,26 @@ if(ENABLE_PLUTOSDR OR ENABLE_FMCOMMS2) message(STATUS " * libiio from https://github.com/analogdevicesinc/libiio") message(STATUS " * libad9361-iio from https://github.com/analogdevicesinc/libad9361-iio") message(STATUS " * gnuradio-iio from https://github.com/analogdevicesinc/gr-iio") - message(FATAL_ERROR "gnuradio-iio required for building gnss-sdr with this option enabled") + message(FATAL_ERROR "gnuradio-iio is required for building gnss-sdr with this option enabled.") endif(NOT IIO_FOUND) set(OPT_LIBRARIES ${OPT_LIBRARIES} ${IIO_LIBRARIES}) set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${IIO_INCLUDE_DIRS}) endif(ENABLE_PLUTOSDR OR ENABLE_FMCOMMS2) +if(ENABLE_AD9361) + find_package(libiio REQUIRED) + if(NOT LIBIIO_FOUND) + message(STATUS "libiio not found, its installation is required.") + message(STATUS "Please build and install the following projects:") + message(STATUS " * libiio from https://github.com/analogdevicesinc/libiio") + message(STATUS " * libad9361-iio from https://github.com/analogdevicesinc/libad9361-iio") + message(STATUS " * gnuradio-iio from https://github.com/analogdevicesinc/gr-iio") + message(FATAL_ERROR "libiio is required for building gnss-sdr with this option enabled.") + endif(NOT LIBIIO_FOUND) + set(OPT_LIBRARIES ${OPT_LIBRARIES} ${LIBIIO_LIBRARIES}) + set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${LIBIIO_INCLUDE_DIRS}) +endif(ENABLE_AD9361) + if(ENABLE_PLUTOSDR) ############################################## @@ -55,6 +69,16 @@ if(ENABLE_FMCOMMS2) endif(IIO_FOUND) endif(ENABLE_FMCOMMS2) +if(ENABLE_AD9361) + ############################################### + # AD9361 DIRECT TO FPGA Hardware + ############################################### + if(LIBIIO_FOUND) + set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} ad9361_fpga_signal_source.cc) + endif(LIBIIO_FOUND) +endif(ENABLE_AD9361) + + if(ENABLE_GN3S) ############################################## diff --git a/src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.cc b/src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.cc new file mode 100644 index 000000000..02be88152 --- /dev/null +++ b/src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.cc @@ -0,0 +1,156 @@ +/*! + * \file ad9361_fpga_signal_source.cc + * \brief signal source for Analog Devices front-end AD9361 connected directly to FPGA accelerators. + * This source implements only the AD9361 control. It is NOT compatible with conventional SDR acquisition and tracking blocks. + * Please use the fmcomms2 source if conventional SDR acquisition and tracking is selected in the configuration file. + * \author Javier Arribas, jarribas(at)cttc.es + * + * ------------------------------------------------------------------------- + * + * Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors) + * + * GNSS-SDR is a software defined Global Navigation + * Satellite Systems receiver + * + * This file is part of GNSS-SDR. + * + * GNSS-SDR is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * GNSS-SDR is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with GNSS-SDR. If not, see . + * + * ------------------------------------------------------------------------- + */ + +#include "ad9361_fpga_signal_source.h" +#include "configuration_interface.h" +#include "ad9361_manager.h" +#include "GPS_L1_CA.h" +#include "GPS_L2C.h" +#include +#include // for cout, endl + +#ifdef __APPLE__ +#include +#else +#include +#endif + +Ad9361FpgaSignalSource::Ad9361FpgaSignalSource(ConfigurationInterface* configuration, + std::string role, unsigned int in_stream, unsigned int out_stream, + boost::shared_ptr queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(queue) +{ + std::string default_item_type = "gr_complex"; + std::string default_dump_file = "./data/signal_source.dat"; + freq_ = configuration->property(role + ".freq", GPS_L1_FREQ_HZ); + sample_rate_ = configuration->property(role + ".sampling_frequency", 2600000); + bandwidth_ = configuration->property(role + ".bandwidth", 2000000); + rx1_en_ = configuration->property(role + ".rx1_enable", true); + rx2_en_ = configuration->property(role + ".rx2_enable", false); + buffer_size_ = configuration->property(role + ".buffer_size", 0xA0000); + quadrature_ = configuration->property(role + ".quadrature", true); + rf_dc_ = configuration->property(role + ".rf_dc", true); + bb_dc_ = configuration->property(role + ".bb_dc", true); + gain_mode_rx1_ = configuration->property(role + ".gain_mode_rx1", std::string("manual")); + gain_mode_rx2_ = configuration->property(role + ".gain_mode_rx2", std::string("manual")); + rf_gain_rx1_ = configuration->property(role + ".gain_rx1", 64.0); + rf_gain_rx2_ = configuration->property(role + ".gain_rx2", 64.0); + rf_port_select_ = configuration->property(role + ".rf_port_select", std::string("A_BALANCED")); + filter_file_ = configuration->property(role + ".filter_file", std::string("")); + filter_auto_ = configuration->property(role + ".filter_auto", true); + item_type_ = configuration->property(role + ".item_type", default_item_type); + samples_ = configuration->property(role + ".samples", 0); + dump_ = configuration->property(role + ".dump", false); + dump_filename_ = configuration->property(role + ".dump_filename", default_dump_file); + + enable_dds_lo_ = configuration->property(role + ".enable_dds_lo", false); + freq_rf_tx_hz_ = configuration->property(role + ".freq_rf_tx_hz", GPS_L1_FREQ_HZ - GPS_L2_FREQ_HZ - 1000); + freq_dds_tx_hz_ = configuration->property(role + ".freq_dds_tx_hz", 1000); + scale_dds_dbfs_ = configuration->property(role + ".scale_dds_dbfs", -3.0); + phase_dds_deg_ = configuration->property(role + ".phase_dds_deg", 0.0); + tx_attenuation_db_ = configuration->property(role + ".tx_attenuation_db", 0.0); + + item_size_ = sizeof(gr_complex); + + std::cout << "device address: " << uri_ << std::endl; + std::cout << "LO frequency : " << freq_ << " Hz" << std::endl; + std::cout << "sample rate: " << sample_rate_ << " Hz" << std::endl; + + config_ad9361_rx_local(bandwidth_, + sample_rate_, + freq_, + rf_port_select_, + gain_mode_rx1_, + gain_mode_rx2_, + rf_gain_rx1_, + rf_gain_rx2_); + + //LOCAL OSCILLATOR DDS GENERATOR FOR DUAL FREQUENCY OPERATION + if (enable_dds_lo_ == true) + { + config_ad9361_lo_local(bandwidth_, + sample_rate_, + freq_rf_tx_hz_, + tx_attenuation_db_, + freq_dds_tx_hz_, + scale_dds_dbfs_); + } + + // turn switch to A/D position + std::string default_device_name = "/dev/uio13"; + std::string device_name = configuration->property(role + ".devicename", default_device_name); + int switch_position = configuration->property(role + ".switch_position", 0); + switch_fpga = std::make_shared(device_name); + switch_fpga->set_switch_position(switch_position); +} + + +Ad9361FpgaSignalSource::~Ad9361FpgaSignalSource() +{ + /* cleanup and exit */ + //std::cout<<"* AD9361 Disabling streaming channels\n"; + //if (rx0_i) { iio_channel_disable(rx0_i); } + //if (rx0_q) { iio_channel_disable(rx0_q); } + + if (enable_dds_lo_) + { + ad9361_disable_lo_local(); + } + + // std::cout<<"* AD9361 Destroying context\n"; + //if (ctx) { iio_context_destroy(ctx); } +} + + +void Ad9361FpgaSignalSource::connect(gr::top_block_sptr top_block) +{ + DLOG(INFO) << "AD9361 FPGA source nothing to connect"; +} + + +void Ad9361FpgaSignalSource::disconnect(gr::top_block_sptr top_block) +{ + DLOG(INFO) << "AD9361 FPGA source nothing to disconnect"; +} + + +gr::basic_block_sptr Ad9361FpgaSignalSource::get_left_block() +{ + LOG(WARNING) << "Trying to get signal source left block."; + return gr::basic_block_sptr(); +} + + +gr::basic_block_sptr Ad9361FpgaSignalSource::get_right_block() +{ + LOG(WARNING) << "Trying to get AD9361 FPGA signal source right block."; + return gr::basic_block_sptr(); +} diff --git a/src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.h b/src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.h new file mode 100644 index 000000000..2a98e3017 --- /dev/null +++ b/src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.h @@ -0,0 +1,119 @@ +/*! + * \file ad9361_fpga_signal_source.h + * \brief signal source for Analog Devices front-end AD9361 connected directly to FPGA accelerators. + * This source implements only the AD9361 control. It is NOT compatible with conventional SDR acquisition and tracking blocks. + * Please use the fmcomms2 source if conventional SDR acquisition and tracking is selected in the configuration file. + * + * ------------------------------------------------------------------------- + * + * Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors) + * + * GNSS-SDR is a software defined Global Navigation + * Satellite Systems receiver + * + * This file is part of GNSS-SDR. + * + * GNSS-SDR is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * GNSS-SDR is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with GNSS-SDR. If not, see . + * + * ------------------------------------------------------------------------- + */ + +#ifndef GNSS_SDR_AD9361_FPGA_SIGNAL_SOURCE_H_ +#define GNSS_SDR_AD9361_FPGA_SIGNAL_SOURCE_H_ + +#include "gnss_block_interface.h" +#include "fpga_switch.h" +#include +#include +#include + +class ConfigurationInterface; + +class Ad9361FpgaSignalSource : public GNSSBlockInterface +{ +public: + Ad9361FpgaSignalSource(ConfigurationInterface* configuration, + std::string role, unsigned int in_stream, + unsigned int out_stream, boost::shared_ptr queue); + + ~Ad9361FpgaSignalSource(); + + inline std::string role() override + { + return role_; + } + + /*! + * \brief Returns "Ad9361_Fpga_Signal_Source" + */ + inline std::string implementation() override + { + return "Ad9361_Fpga_Signal_Source"; + } + + inline size_t item_size() override + { + return item_size_; + } + + void connect(gr::top_block_sptr top_block) override; + void disconnect(gr::top_block_sptr top_block) override; + gr::basic_block_sptr get_left_block() override; + gr::basic_block_sptr get_right_block() override; + +private: + std::string role_; + + // Front-end settings + std::string uri_; // device direction + unsigned long freq_; // frequency of local oscillator + unsigned long sample_rate_; + unsigned long bandwidth_; + unsigned long buffer_size_; // reception buffer + bool rx1_en_; + bool rx2_en_; + bool quadrature_; + bool rf_dc_; + bool bb_dc_; + std::string gain_mode_rx1_; + std::string gain_mode_rx2_; + double rf_gain_rx1_; + double rf_gain_rx2_; + std::string rf_port_select_; + std::string filter_file_; + bool filter_auto_; + + // DDS configuration for LO generation for external mixer + bool enable_dds_lo_; + unsigned long freq_rf_tx_hz_; + unsigned long freq_dds_tx_hz_; + double scale_dds_dbfs_; + double phase_dds_deg_; + double tx_attenuation_db_; + + unsigned int in_stream_; + unsigned int out_stream_; + + std::string item_type_; + size_t item_size_; + long samples_; + bool dump_; + std::string dump_filename_; + + boost::shared_ptr queue_; + + std::shared_ptr switch_fpga; +}; + +#endif /*GNSS_SDR_AD9361_FPGA_SIGNAL_SOURCE_H_*/ diff --git a/src/algorithms/signal_source/gnuradio_blocks/labsat23_source.cc b/src/algorithms/signal_source/gnuradio_blocks/labsat23_source.cc index 118734dde..634b79cff 100644 --- a/src/algorithms/signal_source/gnuradio_blocks/labsat23_source.cc +++ b/src/algorithms/signal_source/gnuradio_blocks/labsat23_source.cc @@ -6,9 +6,6 @@ * ------------------------------------------------------------------------- * * Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) - * ------------------------------------------------------------------------- - * - * Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors) * * GNSS-SDR is a software defined Global Navigation * Satellite Systems receiver @@ -52,9 +49,10 @@ std::string labsat23_source::generate_filename() } -labsat23_source::labsat23_source(const char *signal_file_basename, int channel_selector) : gr::block("labsat23_source", - gr::io_signature::make(0, 0, 0), - gr::io_signature::make(1, 1, sizeof(gr_complex))) +labsat23_source::labsat23_source(const char *signal_file_basename, + int channel_selector) : gr::block("labsat23_source", + gr::io_signature::make(0, 0, 0), + gr::io_signature::make(1, 1, sizeof(gr_complex))) { if (channel_selector < 1 or channel_selector > 2) { diff --git a/src/algorithms/signal_source/gnuradio_blocks/rtl_tcp_signal_source_c.cc b/src/algorithms/signal_source/gnuradio_blocks/rtl_tcp_signal_source_c.cc index e874e8a14..cad8c570f 100644 --- a/src/algorithms/signal_source/gnuradio_blocks/rtl_tcp_signal_source_c.cc +++ b/src/algorithms/signal_source/gnuradio_blocks/rtl_tcp_signal_source_c.cc @@ -154,42 +154,10 @@ rtl_tcp_signal_source_c::rtl_tcp_signal_source_c(const std::string &address, rtl_tcp_signal_source_c::~rtl_tcp_signal_source_c() { + boost::mutex::scoped_lock lock(mutex_); io_service_.stop(); -} - - -int rtl_tcp_signal_source_c::work(int noutput_items, - gr_vector_const_void_star & /*input_items*/, - gr_vector_void_star &output_items) -{ - gr_complex *out = reinterpret_cast(output_items[0]); - int i = 0; - if (io_service_.stopped()) - { - return -1; - } - - { - boost::mutex::scoped_lock lock(mutex_); - not_empty_.wait(lock, boost::bind(&rtl_tcp_signal_source_c::not_empty, - this)); - - for (; i < noutput_items && unread_ > 1; i++) - { - float re = buffer_[--unread_]; - float im = buffer_[--unread_]; - if (flip_iq_) - { - out[i] = gr_complex(im, re); - } - else - { - out[i] = gr_complex(re, im); - } - } - } + not_empty_.notify_one(); not_full_.notify_one(); - return i == 0 ? -1 : i; } @@ -359,3 +327,38 @@ void rtl_tcp_signal_source_c::handle_read(const boost::system::error_code &ec, this, _1, _2)); } } + + +int rtl_tcp_signal_source_c::work(int noutput_items, + gr_vector_const_void_star & /*input_items*/, + gr_vector_void_star &output_items) +{ + gr_complex *out = reinterpret_cast(output_items[0]); + int i = 0; + if (io_service_.stopped()) + { + return -1; + } + + { + boost::mutex::scoped_lock lock(mutex_); + not_empty_.wait(lock, boost::bind(&rtl_tcp_signal_source_c::not_empty, + this)); + + for (; i < noutput_items && unread_ > 1; i++) + { + float re = buffer_[--unread_]; + float im = buffer_[--unread_]; + if (flip_iq_) + { + out[i] = gr_complex(im, re); + } + else + { + out[i] = gr_complex(re, im); + } + } + } + not_full_.notify_one(); + return i == 0 ? -1 : i; +} diff --git a/src/algorithms/signal_source/gnuradio_blocks/unpack_spir_gss6450_samples.cc b/src/algorithms/signal_source/gnuradio_blocks/unpack_spir_gss6450_samples.cc index a5bca6ee7..bd725b219 100644 --- a/src/algorithms/signal_source/gnuradio_blocks/unpack_spir_gss6450_samples.cc +++ b/src/algorithms/signal_source/gnuradio_blocks/unpack_spir_gss6450_samples.cc @@ -57,6 +57,21 @@ unpack_spir_gss6450_samples::~unpack_spir_gss6450_samples() } +int unpack_spir_gss6450_samples::compute_two_complement(unsigned long data) +{ + int res = 0; + if (static_cast(data) < two_compl_thres) + { + res = static_cast(data); + } + else + { + res = static_cast(data) - adc_bits_two_pow; + } + return res; +} + + int unpack_spir_gss6450_samples::work(int noutput_items, gr_vector_const_void_star& input_items, gr_vector_void_star& output_items) { @@ -86,17 +101,3 @@ int unpack_spir_gss6450_samples::work(int noutput_items, } return noutput_items; } - -int unpack_spir_gss6450_samples::compute_two_complement(unsigned long data) -{ - int res = 0; - if (static_cast(data) < two_compl_thres) - { - res = static_cast(data); - } - else - { - res = static_cast(data) - adc_bits_two_pow; - } - return res; -} diff --git a/src/algorithms/signal_source/libs/CMakeLists.txt b/src/algorithms/signal_source/libs/CMakeLists.txt index 5a35a7992..073cc343f 100644 --- a/src/algorithms/signal_source/libs/CMakeLists.txt +++ b/src/algorithms/signal_source/libs/CMakeLists.txt @@ -17,45 +17,45 @@ # if(ENABLE_PLUTOSDR OR ENABLE_FMCOMMS2) - find_package(iio REQUIRED) - if(NOT IIO_FOUND) - message(STATUS "gnuradio-iio not found, its installation is required.") - message(STATUS "Please build and install the following projects:") - message(STATUS " * libiio from https://github.com/analogdevicesinc/libiio") - message(STATUS " * libad9361-iio from https://github.com/analogdevicesinc/libad9361-iio") - message(STATUS " * gnuradio-iio from https://github.com/analogdevicesinc/gr-iio") - message(FATAL_ERROR "gnuradio-iio required for building gnss-sdr with this option enabled") - endif(NOT IIO_FOUND) - set(OPT_LIBRARIES ${OPT_LIBRARIES} ${IIO_LIBRARIES}) - set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${IIO_INCLUDE_DIRS}) - - find_package(libiio REQUIRED) - if(NOT LIBIIO_FOUND) - message(STATUS "gnuradio-iio not found, its installation is required.") - message(STATUS "Please build and install the following projects:") - message(STATUS " * libiio from https://github.com/analogdevicesinc/libiio") - message(STATUS " * libad9361-iio from https://github.com/analogdevicesinc/libad9361-iio") - message(STATUS " * gnuradio-iio from https://github.com/analogdevicesinc/gr-iio") - message(FATAL_ERROR "gnuradio-iio required for building gnss-sdr with this option enabled") - endif(NOT LIBIIO_FOUND) - set(OPT_LIBRARIES ${OPT_LIBRARIES} ${LIBIIO_LIBRARIES}) - set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${LIBIIO_INCLUDE_DIRS}) - + find_package(iio REQUIRED) + if(NOT IIO_FOUND) + message(STATUS "gnuradio-iio not found, its installation is required.") + message(STATUS "Please build and install the following projects:") + message(STATUS " * libiio from https://github.com/analogdevicesinc/libiio") + message(STATUS " * libad9361-iio from https://github.com/analogdevicesinc/libad9361-iio") + message(STATUS " * gnuradio-iio from https://github.com/analogdevicesinc/gr-iio") + message(FATAL_ERROR "gnuradio-iio is required for building gnss-sdr with this option enabled") + endif(NOT IIO_FOUND) + set(OPT_LIBRARIES ${OPT_LIBRARIES} ${IIO_LIBRARIES}) + set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${IIO_INCLUDE_DIRS}) endif(ENABLE_PLUTOSDR OR ENABLE_FMCOMMS2) -if(ENABLE_FMCOMMS2) - ############################################### - # FMCOMMS2 based SDR Hardware - ############################################### - if(IIO_FOUND) - set(OPT_SIGNAL_SOURCE_LIB_SOURCES ad9361_manager.cc) - endif(IIO_FOUND) -endif(ENABLE_FMCOMMS2) +if(ENABLE_FMCOMMS2 OR ENABLE_AD9361) + find_package(libiio REQUIRED) + if(NOT LIBIIO_FOUND) + message(STATUS "libiio not found, its installation is required.") + message(STATUS "Please build and install the following projects:") + message(STATUS " * libiio from https://github.com/analogdevicesinc/libiio") + message(STATUS " * libad9361-iio from https://github.com/analogdevicesinc/libad9361-iio") + message(STATUS " * gnuradio-iio from https://github.com/analogdevicesinc/gr-iio") + message(FATAL_ERROR "libiio is required for building gnss-sdr with this option enabled") + endif(NOT LIBIIO_FOUND) + set(OPT_LIBRARIES ${OPT_LIBRARIES} ${LIBIIO_LIBRARIES}) + set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${LIBIIO_INCLUDE_DIRS}) -set (SIGNAL_SOURCE_LIB_SOURCES - rtl_tcp_commands.cc - rtl_tcp_dongle_info.cc - ${OPT_SIGNAL_SOURCE_LIB_SOURCES}) + ############################################### + # FMCOMMS2 based SDR Hardware + ############################################### + if(LIBIIO_FOUND) + set(OPT_SIGNAL_SOURCE_LIB_SOURCES ad9361_manager.cc) + set(OPT_SIGNAL_SOURCE_LIB_HEADERS ad9361_manager.h) + endif(LIBIIO_FOUND) +endif(ENABLE_FMCOMMS2 OR ENABLE_AD9361) + +if(ENABLE_FPGA OR ENABLE_AD9361) + set(OPT_SIGNAL_SOURCE_LIB_SOURCES ${OPT_SIGNAL_SOURCE_LIB_SOURCES} fpga_switch.cc) + set(OPT_SIGNAL_SOURCE_LIB_HEADERS ${OPT_SIGNAL_SOURCE_LIB_HEADERS} fpga_switch.h) +endif(ENABLE_FPGA OR ENABLE_AD9361) include_directories( ${CMAKE_CURRENT_SOURCE_DIR} @@ -63,14 +63,22 @@ include_directories( ${GLOG_INCLUDE_DIRS} ${GFlags_INCLUDE_DIRS} ${OPT_DRIVER_INCLUDE_DIRS} -) + ) +set(SIGNAL_SOURCE_LIB_SOURCES + rtl_tcp_commands.cc + rtl_tcp_dongle_info.cc + ${OPT_SIGNAL_SOURCE_LIB_SOURCES} + ) + +set(SIGNAL_SOURCE_LIB_HEADERS + rtl_tcp_commands.h + rtl_tcp_dongle_info.h + ${OPT_SIGNAL_SOURCE_LIB_HEADERS} + ) -file(GLOB SIGNAL_SOURCE_LIB_HEADERS "*.h") list(SORT SIGNAL_SOURCE_LIB_HEADERS) -list(SORT SIGNAL_SOURCE_LIB_SOURCES) add_library(signal_source_lib ${SIGNAL_SOURCE_LIB_SOURCES} ${SIGNAL_SOURCE_LIB_HEADERS}) source_group(Headers FILES ${SIGNAL_SOURCE_LIB_HEADERS}) -add_dependencies(signal_source_lib glog-${glog_RELEASE}) target_link_libraries(signal_source_lib ${OPT_LIBRARIES}) - +add_dependencies(signal_source_lib glog-${glog_RELEASE}) diff --git a/src/algorithms/signal_source/libs/fpga_switch.cc b/src/algorithms/signal_source/libs/fpga_switch.cc new file mode 100644 index 000000000..675c1c071 --- /dev/null +++ b/src/algorithms/signal_source/libs/fpga_switch.cc @@ -0,0 +1,118 @@ +/*! + * \file fpga_switch.cc + * \brief Switch that connects the HW accelerator queues to the analog front end or the DMA. + * \authors
    + *
  • Marc Majoral, 2017. mmajoral(at)cttc.cat + *
  • Javier Arribas, 2015. jarribas(at)cttc.es + *
+ * + * Class that controls a switch in the FPGA + * + * + * ------------------------------------------------------------------------- + * + * Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors) + * + * GNSS-SDR is a software defined Global Navigation + * Satellite Systems receiver + * + * This file is part of GNSS-SDR. + * + * GNSS-SDR is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * GNSS-SDR is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with GNSS-SDR. If not, see . + * + * ------------------------------------------------------------------------- + */ + +#include "fpga_switch.h" +#include +#include // for open, O_RDWR, O_SYNC +#include // for cout, endl +#include // for mmap + + +// constants +const size_t PAGE_SIZE = 0x10000; +const unsigned int TEST_REGISTER_TRACK_WRITEVAL = 0x55AA; + +fpga_switch::fpga_switch(std::string device_name) +{ + if ((d_device_descriptor = open(device_name.c_str(), O_RDWR | O_SYNC)) == -1) + { + LOG(WARNING) << "Cannot open deviceio" << device_name; + } + d_map_base = reinterpret_cast(mmap(nullptr, PAGE_SIZE, + PROT_READ | PROT_WRITE, MAP_SHARED, d_device_descriptor, 0)); + + if (d_map_base == reinterpret_cast(-1)) + { + LOG(WARNING) << "Cannot map the FPGA switch module into tracking memory"; + std::cout << "Could not map switch memory." << std::endl; + } + else + { + std::cout << "Switch memory successfully mapped." << std::endl; + } + + // sanity check : check test register + unsigned writeval = TEST_REGISTER_TRACK_WRITEVAL; + unsigned readval; + readval = fpga_switch::fpga_switch_test_register(writeval); + if (writeval != readval) + { + LOG(WARNING) << "Test register sanity check failed"; + } + else + { + LOG(INFO) << "Test register sanity check success !"; + } + + DLOG(INFO) << "Switch FPGA class created"; +} + + +fpga_switch::~fpga_switch() +{ + close_device(); +} + + +void fpga_switch::set_switch_position(int switch_position) +{ + d_map_base[0] = switch_position; +} + + +unsigned fpga_switch::fpga_switch_test_register( + unsigned writeval) +{ + unsigned readval; + // write value to test register + d_map_base[3] = writeval; + // read value from test register + readval = d_map_base[3]; + // return read value + return readval; +} + + +void fpga_switch::close_device() +{ + unsigned *aux = const_cast(d_map_base); + if (munmap(static_cast(aux), PAGE_SIZE) == -1) + { + std::cout << "Failed to unmap memory uio" << std::endl; + } + + close(d_device_descriptor); +} diff --git a/src/algorithms/signal_source/libs/fpga_switch.h b/src/algorithms/signal_source/libs/fpga_switch.h new file mode 100644 index 000000000..bf60a17fe --- /dev/null +++ b/src/algorithms/signal_source/libs/fpga_switch.h @@ -0,0 +1,60 @@ +/*! + * \file fpga_switch.h + * \brief Switch that connects the HW accelerator queues to the analog front end or the DMA. + * \authors
    + *
  • Marc Majoral, 2017. mmajoral(at)cttc.cat + *
  • Javier Arribas, 2016. jarribas(at)cttc.es + *
+ * + * Class that controls a switch in the FPGA + * + * + * ------------------------------------------------------------------------- + * + * Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors) + * + * GNSS-SDR is a software defined Global Navigation + * Satellite Systems receiver + * + * This file is part of GNSS-SDR. + * + * GNSS-SDR is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * GNSS-SDR is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with GNSS-SDR. If not, see . + * + * ------------------------------------------------------------------------- + */ + +#ifndef GNSS_SDR_FPGA_SWITCH_H_ +#define GNSS_SDR_FPGA_SWITCH_H_ + +#include + +#define MAX_LENGTH_DEVICEIO_NAME 50 + +class fpga_switch +{ +public: + fpga_switch(std::string device_name); + ~fpga_switch(); + void set_switch_position(int switch_position); + +private: + int d_device_descriptor; // driver descriptor + volatile unsigned *d_map_base; // driver memory map + + // private functions + unsigned fpga_switch_test_register(unsigned writeval); + void close_device(void); +}; + +#endif /* GNSS_SDR_FPGA_SWITCH_H_ */ diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt b/src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt index 335ae52df..26dae1cdf 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt @@ -37,10 +37,15 @@ include_directories( ${GFlags_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${GNURADIO_RUNTIME_INCLUDE_DIRS} + ${VOLK_GNSSSDR_INCLUDE_DIRS} ) file(GLOB TELEMETRY_DECODER_GR_BLOCKS_HEADERS "*.h") list(SORT TELEMETRY_DECODER_GR_BLOCKS_HEADERS) add_library(telemetry_decoder_gr_blocks ${TELEMETRY_DECODER_GR_BLOCKS_SOURCES} ${TELEMETRY_DECODER_GR_BLOCKS_HEADERS}) source_group(Headers FILES ${TELEMETRY_DECODER_GR_BLOCKS_HEADERS}) -target_link_libraries(telemetry_decoder_gr_blocks telemetry_decoder_libswiftcnav telemetry_decoder_lib gnss_system_parameters ${GNURADIO_RUNTIME_LIBRARIES}) +target_link_libraries(telemetry_decoder_gr_blocks telemetry_decoder_libswiftcnav telemetry_decoder_lib gnss_system_parameters ${GNURADIO_RUNTIME_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES}) + +if(NOT VOLK_GNSSSDR_FOUND) + add_dependencies(telemetry_decoder_gr_blocks volk_gnsssdr_module) +endif(NOT VOLK_GNSSSDR_FOUND) diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc index a774577a5..b9aee4196 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc @@ -37,6 +37,7 @@ #include #include #include +#include #include @@ -54,38 +55,8 @@ galileo_e1b_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump void galileo_e1b_telemetry_decoder_cc::viterbi_decoder(double *page_part_symbols, int *page_part_bits) { - int CodeLength = 240; - int DataLength; - int nn, KK, mm, max_states; - int g_encoder[2]; - - nn = 2; // Coding rate 1/n - KK = 7; // Constraint Length - g_encoder[0] = 121; // Polynomial G1 - g_encoder[1] = 91; // Polynomial G2 - - mm = KK - 1; - max_states = 1 << mm; /* 2^mm */ - DataLength = (CodeLength / nn) - mm; - - /* create appropriate transition matrices */ - int *out0, *out1, *state0, *state1; - out0 = static_cast(calloc(max_states, sizeof(int))); - out1 = static_cast(calloc(max_states, sizeof(int))); - state0 = static_cast(calloc(max_states, sizeof(int))); - state1 = static_cast(calloc(max_states, sizeof(int))); - - nsc_transit(out0, state0, 0, g_encoder, KK, nn); - nsc_transit(out1, state1, 1, g_encoder, KK, nn); - Viterbi(page_part_bits, out0, state0, out1, state1, page_part_symbols, KK, nn, DataLength); - - /* Clean up memory */ - free(out0); - free(out1); - free(state0); - free(state1); } @@ -106,8 +77,6 @@ galileo_e1b_telemetry_decoder_cc::galileo_e1b_telemetry_decoder_cc( bool dump) : gr::block("galileo_e1b_telemetry_decoder_cc", gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)), gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) { - // Telemetry Bit transition synchronization port out - this->message_port_register_out(pmt::mp("preamble_timestamp_s")); // Ephemeris data port out this->message_port_register_out(pmt::mp("telemetry")); // initialize internal vars @@ -124,7 +93,7 @@ galileo_e1b_telemetry_decoder_cc::galileo_e1b_telemetry_decoder_cc( memcpy(static_cast(this->d_preambles_bits), static_cast(preambles_bits), GALILEO_INAV_PREAMBLE_LENGTH_BITS * sizeof(unsigned short int)); // preamble bits to sampled symbols - d_preambles_symbols = static_cast(malloc(sizeof(signed int) * d_symbols_per_preamble)); + d_preambles_symbols = static_cast(volk_gnsssdr_malloc(d_symbols_per_preamble * sizeof(int), volk_gnsssdr_get_alignment())); int n = 0; for (int i = 0; i < GALILEO_INAV_PREAMBLE_LENGTH_BITS; i++) { @@ -155,12 +124,28 @@ galileo_e1b_telemetry_decoder_cc::galileo_e1b_telemetry_decoder_cc( d_flag_preamble = false; d_channel = 0; flag_TOW_set = false; + + // vars for Viterbi decoder + int max_states = 1 << mm; /* 2^mm */ + g_encoder[0] = 121; // Polynomial G1 + g_encoder[1] = 91; // Polynomial G2 + out0 = static_cast(volk_gnsssdr_malloc(max_states * sizeof(int), volk_gnsssdr_get_alignment())); + out1 = static_cast(volk_gnsssdr_malloc(max_states * sizeof(int), volk_gnsssdr_get_alignment())); + state0 = static_cast(volk_gnsssdr_malloc(max_states * sizeof(int), volk_gnsssdr_get_alignment())); + state1 = static_cast(volk_gnsssdr_malloc(max_states * sizeof(int), volk_gnsssdr_get_alignment())); + /* create appropriate transition matrices */ + nsc_transit(out0, state0, 0, g_encoder, KK, nn); + nsc_transit(out1, state1, 1, g_encoder, KK, nn); } galileo_e1b_telemetry_decoder_cc::~galileo_e1b_telemetry_decoder_cc() { - delete d_preambles_symbols; + volk_gnsssdr_free(d_preambles_symbols); + volk_gnsssdr_free(out0); + volk_gnsssdr_free(out1); + volk_gnsssdr_free(state0); + volk_gnsssdr_free(state1); if (d_dump_file.is_open() == true) { try @@ -215,13 +200,13 @@ void galileo_e1b_telemetry_decoder_cc::decode_word(double *page_part_symbols, in d_nav.split_page(page_String, flag_even_word_arrived); if (d_nav.flag_CRC_test == true) { - LOG(INFO) << "Galileo E1 CRC correct on channel " << d_channel << " from satellite " << d_satellite; + LOG(INFO) << "Galileo E1 CRC correct in channel " << d_channel << " from satellite " << d_satellite; //std::cout << "Galileo E1 CRC correct on channel " << d_channel << " from satellite " << d_satellite << std::endl; } else { - std::cout << "Galileo E1 CRC error on channel " << d_channel << " from satellite " << d_satellite << std::endl; - LOG(INFO) << "Galileo E1 CRC error on channel " << d_channel << " from satellite " << d_satellite; + std::cout << "Galileo E1 CRC error in channel " << d_channel << " from satellite " << d_satellite << std::endl; + LOG(INFO) << "Galileo E1 CRC error in channel " << d_channel << " from satellite " << d_satellite; } flag_even_word_arrived = 0; } @@ -237,21 +222,21 @@ void galileo_e1b_telemetry_decoder_cc::decode_word(double *page_part_symbols, in { // get object for this SV (mandatory) std::shared_ptr tmp_obj = std::make_shared(d_nav.get_ephemeris()); - std::cout << "New Galileo E1 I/NAV message received: ephemeris from satellite " << d_satellite << std::endl; + std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << std::endl; this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } if (d_nav.have_new_iono_and_GST() == true) { // get object for this SV (mandatory) std::shared_ptr tmp_obj = std::make_shared(d_nav.get_iono()); - std::cout << "New Galileo E1 I/NAV message received: iono/GST model parameters from satellite " << d_satellite << std::endl; + std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel << ": iono/GST model parameters from satellite " << d_satellite << std::endl; this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } if (d_nav.have_new_utc_model() == true) { // get object for this SV (mandatory) std::shared_ptr tmp_obj = std::make_shared(d_nav.get_utc_model()); - std::cout << "New Galileo E1 I/NAV message received: UTC model parameters from satellite " << d_satellite << std::endl; + std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << std::endl; this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } if (d_nav.have_new_almanac() == true) @@ -259,7 +244,7 @@ void galileo_e1b_telemetry_decoder_cc::decode_word(double *page_part_symbols, in std::shared_ptr tmp_obj = std::make_shared(d_nav.get_almanac()); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); //debug - std::cout << "Galileo E1 I/NAV almanac received!" << std::endl; + std::cout << "Galileo E1 I/NAV almanac received in channel " << d_channel << " from satellite " << d_satellite << std::endl; DLOG(INFO) << "GPS_to_Galileo time conversion:"; DLOG(INFO) << "A0G=" << tmp_obj->A_0G_10; DLOG(INFO) << "A1G=" << tmp_obj->A_1G_10; @@ -274,6 +259,41 @@ void galileo_e1b_telemetry_decoder_cc::decode_word(double *page_part_symbols, in } +void galileo_e1b_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) +{ + d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); + DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite; + DLOG(INFO) << "Navigation Satellite set to " << d_satellite; +} + + +void galileo_e1b_telemetry_decoder_cc::set_channel(int channel) +{ + d_channel = channel; + LOG(INFO) << "Navigation channel set to " << channel; + // ############# ENABLE DATA FILE LOG ################# + if (d_dump == true) + { + if (d_dump_file.is_open() == false) + { + try + { + d_dump_filename = "telemetry"; + d_dump_filename.append(boost::lexical_cast(d_channel)); + d_dump_filename.append(".dat"); + d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); + d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); + LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); + } + catch (const std::ifstream::failure &e) + { + LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what(); + } + } + } +} + + int galileo_e1b_telemetry_decoder_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { @@ -469,38 +489,3 @@ int galileo_e1b_telemetry_decoder_cc::general_work(int noutput_items __attribute //std::cout<<"GPS L1 TLM output on CH="<d_channel << " SAMPLE STAMP="<(d_channel)); - d_dump_filename.append(".dat"); - d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); - d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); - LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); - } - catch (const std::ifstream::failure &e) - { - LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what(); - } - } - } -} diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.h index 33900b7d1..6caf0aa6c 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.h +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.h @@ -112,6 +112,15 @@ private: std::string d_dump_filename; std::ofstream d_dump_file; + + // vars for Viterbi decoder + int *out0, *out1, *state0, *state1; + int g_encoder[2]; + const int nn = 2; // Coding rate 1/n + const int KK = 7; // Constraint Length + int mm = KK - 1; + const int CodeLength = 240; + int DataLength = (CodeLength / nn) - mm; }; #endif diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc index 640cbf009..41bf44833 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc @@ -37,9 +37,11 @@ #include "galileo_e5a_telemetry_decoder_cc.h" #include "control_message_factory.h" #include "convolutional.h" +#include "display.h" #include #include #include +#include #include #include @@ -58,42 +60,8 @@ galileo_e5a_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump void galileo_e5a_telemetry_decoder_cc::viterbi_decoder(double *page_part_symbols, int *page_part_bits) { - // int CodeLength = 240; - int CodeLength = 488; - int DataLength; - int nn, KK, mm, max_states; - int g_encoder[2]; - - nn = 2; // Coding rate 1/n - KK = 7; // Constraint Length - g_encoder[0] = 121; // Polynomial G1 - g_encoder[1] = 91; // Polynomial G2 - // g_encoder[0] = 171; // Polynomial G1 - // g_encoder[1] = 133; // Polynomial G2 - - mm = KK - 1; - max_states = 1 << mm; // 2^mm - DataLength = (CodeLength / nn) - mm; - - //create appropriate transition matrices - - int *out0, *out1, *state0, *state1; - out0 = static_cast(calloc(max_states, sizeof(int))); - out1 = static_cast(calloc(max_states, sizeof(int))); - state0 = static_cast(calloc(max_states, sizeof(int))); - state1 = static_cast(calloc(max_states, sizeof(int))); - - nsc_transit(out0, state0, 0, g_encoder, KK, nn); - nsc_transit(out1, state1, 1, g_encoder, KK, nn); - Viterbi(page_part_bits, out0, state0, out1, state1, page_part_symbols, KK, nn, DataLength); - - //Clean up memory - free(out0); - free(out1); - free(state0); - free(state1); } @@ -113,7 +81,6 @@ void galileo_e5a_telemetry_decoder_cc::decode_word(double *page_symbols, int fra { double page_symbols_deint[frame_length]; // 1. De-interleave - deinterleaver(GALILEO_FNAV_INTERLEAVER_ROWS, GALILEO_FNAV_INTERLEAVER_COLS, page_symbols, page_symbols_deint); // 2. Viterbi decoder @@ -147,32 +114,31 @@ void galileo_e5a_telemetry_decoder_cc::decode_word(double *page_symbols, int fra d_nav.split_page(page_String); if (d_nav.flag_CRC_test == true) { - LOG(INFO) << "Galileo E5a CRC correct on channel " << d_channel << " from satellite " << d_satellite; - //std::cout << "Galileo E5a CRC correct on channel " << d_channel << " from satellite " << d_satellite << std::endl; + LOG(INFO) << "Galileo E5a CRC correct in channel " << d_channel << " from satellite " << d_satellite; } else { - std::cout << "Galileo E5a CRC error on channel " << d_channel << " from satellite " << d_satellite << std::endl; - LOG(INFO) << "Galileo E5a CRC error on channel " << d_channel << " from satellite " << d_satellite; + std::cout << "Galileo E5a CRC error in channel " << d_channel << " from satellite " << d_satellite << std::endl; + LOG(INFO) << "Galileo E5a CRC error in channel " << d_channel << " from satellite " << d_satellite; } // 4. Push the new navigation data to the queues if (d_nav.have_new_ephemeris() == true) { std::shared_ptr tmp_obj = std::make_shared(d_nav.get_ephemeris()); - std::cout << "New Galileo E5a F/NAV message received: ephemeris from satellite " << d_satellite << std::endl; + std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << TEXT_RESET << std::endl; this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } if (d_nav.have_new_iono_and_GST() == true) { std::shared_ptr tmp_obj = std::make_shared(d_nav.get_iono()); - std::cout << "New Galileo E5a F/NAV message received: iono/GST model parameters from satellite " << d_satellite << std::endl; + std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel " << d_channel << ": iono/GST model parameters from satellite " << d_satellite << TEXT_RESET << std::endl; this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } if (d_nav.have_new_utc_model() == true) { std::shared_ptr tmp_obj = std::make_shared(d_nav.get_utc_model()); - std::cout << "New Galileo E5a F/NAV message received: UTC model parameters from satellite " << d_satellite << std::endl; + std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << TEXT_RESET << std::endl; this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } } @@ -183,8 +149,6 @@ galileo_e5a_telemetry_decoder_cc::galileo_e5a_telemetry_decoder_cc( gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)), gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) { - // Telemetry Bit transition synchronization port out - this->message_port_register_out(pmt::mp("preamble_timestamp_s")); // Ephemeris data port out this->message_port_register_out(pmt::mp("telemetry")); // initialize internal vars @@ -225,14 +189,30 @@ galileo_e5a_telemetry_decoder_cc::galileo_e5a_telemetry_decoder_cc( delta_t = 0.0; d_symbol_counter = 0; d_prompt_acum = 0.0; - flag_bit_start = false; + flag_bit_start = true; new_symbol = false; required_symbols = GALILEO_FNAV_SYMBOLS_PER_PAGE + GALILEO_FNAV_PREAMBLE_LENGTH_BITS; + + // vars for Viterbi decoder + int max_states = 1 << mm; // 2^mm + g_encoder[0] = 121; // Polynomial G1 + g_encoder[1] = 91; // Polynomial G2 + out0 = static_cast(volk_gnsssdr_malloc(max_states * sizeof(int), volk_gnsssdr_get_alignment())); + out1 = static_cast(volk_gnsssdr_malloc(max_states * sizeof(int), volk_gnsssdr_get_alignment())); + state0 = static_cast(volk_gnsssdr_malloc(max_states * sizeof(int), volk_gnsssdr_get_alignment())); + state1 = static_cast(volk_gnsssdr_malloc(max_states * sizeof(int), volk_gnsssdr_get_alignment())); + // create appropriate transition matrices + nsc_transit(out0, state0, 0, g_encoder, KK, nn); + nsc_transit(out1, state1, 1, g_encoder, KK, nn); } galileo_e5a_telemetry_decoder_cc::~galileo_e5a_telemetry_decoder_cc() { + volk_gnsssdr_free(out0); + volk_gnsssdr_free(out1); + volk_gnsssdr_free(state0); + volk_gnsssdr_free(state1); if (d_dump_file.is_open() == true) { try @@ -247,6 +227,41 @@ galileo_e5a_telemetry_decoder_cc::~galileo_e5a_telemetry_decoder_cc() } +void galileo_e5a_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) +{ + d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); + DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite; + DLOG(INFO) << "Navigation Satellite set to " << d_satellite; +} + + +void galileo_e5a_telemetry_decoder_cc::set_channel(int channel) +{ + d_channel = channel; + LOG(INFO) << "Navigation channel set to " << channel; + // Enable data file logging + if (d_dump == true) + { + if (d_dump_file.is_open() == false) + { + try + { + d_dump_filename = "telemetry"; + d_dump_filename.append(boost::lexical_cast(d_channel)); + d_dump_filename.append(".dat"); + d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); + d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); + LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); + } + catch (const std::ifstream::failure &e) + { + LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what(); + } + } + } +} + + int galileo_e5a_telemetry_decoder_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { @@ -255,7 +270,7 @@ int galileo_e5a_telemetry_decoder_cc::general_work(int noutput_items __attribute Gnss_Synchro *out = reinterpret_cast(output_items[0]); // Get the output buffer pointer const Gnss_Synchro *in = reinterpret_cast(input_items[0]); // Get the input buffer pointer - //1. Copy the current tracking output + // 1. Copy the current tracking output Gnss_Synchro current_sample = in[0]; d_symbol_counter++; if (flag_bit_start) @@ -264,7 +279,7 @@ int galileo_e5a_telemetry_decoder_cc::general_work(int noutput_items __attribute if (d_symbol_counter == GALILEO_FNAV_CODES_PER_SYMBOL) { current_sample.Prompt_I = d_prompt_acum / static_cast(GALILEO_FNAV_CODES_PER_SYMBOL); - d_symbol_history.push_back(current_sample); //add new symbol to the symbol queue + d_symbol_history.push_back(current_sample); // add new symbol to the symbol queue d_prompt_acum = 0.0; d_symbol_counter = 0; new_symbol = true; @@ -306,14 +321,14 @@ int galileo_e5a_telemetry_decoder_cc::general_work(int noutput_items __attribute } } } - d_sample_counter++; //count for the processed samples + d_sample_counter++; // count for the processed samples consume_each(1); d_flag_preamble = false; if ((d_symbol_history.size() > required_symbols) && new_symbol) { - //******* preamble correlation ******** + // ****************** Preamble orrelation ****************** corr_value = 0; for (int i = 0; i < GALILEO_FNAV_PREAMBLE_LENGTH_BITS; i++) { @@ -327,13 +342,12 @@ int galileo_e5a_telemetry_decoder_cc::general_work(int noutput_items __attribute } } } - - //******* frame sync ****************** - if ((d_stat == 0) && new_symbol) //no preamble information + // ****************** Frame sync ****************** + if ((d_stat == 0) && new_symbol) // no preamble information { if (abs(corr_value) >= GALILEO_FNAV_PREAMBLE_LENGTH_BITS) { - d_preamble_index = d_sample_counter; //record the preamble sample stamp + d_preamble_index = d_sample_counter; // record the preamble sample stamp LOG(INFO) << "Preamble detection for Galileo E5a satellite " << d_satellite; d_stat = 1; // enter into frame pre-detection status } @@ -342,13 +356,13 @@ int galileo_e5a_telemetry_decoder_cc::general_work(int noutput_items __attribute { if (abs(corr_value) >= GALILEO_FNAV_PREAMBLE_LENGTH_BITS) { - //check preamble separation + // check preamble separation preamble_diff = d_sample_counter - d_preamble_index; if (preamble_diff == GALILEO_FNAV_CODES_PER_PAGE) { - //try to decode frame + // try to decode frame LOG(INFO) << "Starting page decoder for Galileo E5a satellite " << d_satellite; - d_preamble_index = d_sample_counter; //record the preamble sample stamp + d_preamble_index = d_sample_counter; // record the preamble sample stamp d_stat = 2; } else if (preamble_diff > GALILEO_FNAV_CODES_PER_PAGE) @@ -380,13 +394,13 @@ int galileo_e5a_telemetry_decoder_cc::general_work(int noutput_items __attribute page_symbols[i] = corr_sign * d_symbol_history.at(i + GALILEO_FNAV_PREAMBLE_LENGTH_BITS).Prompt_I; // because last symbol of the preamble is just received now! } - //call the decoder + // call the decoder decode_word(page_symbols, frame_length); if (d_nav.flag_CRC_test == true) { d_CRC_error_counter = 0; - d_flag_preamble = true; //valid preamble indicator (initialized to false every work()) - d_preamble_index = d_sample_counter; //record the preamble sample stamp (t_P) + d_flag_preamble = true; // valid preamble indicator (initialized to false every work()) + d_preamble_index = d_sample_counter; // record the preamble sample stamp (t_P) if (!d_flag_frame_sync) { d_flag_frame_sync = true; @@ -397,7 +411,7 @@ int galileo_e5a_telemetry_decoder_cc::general_work(int noutput_items __attribute else { d_CRC_error_counter++; - d_preamble_index = d_sample_counter; //record the preamble sample stamp + d_preamble_index = d_sample_counter; // record the preamble sample stamp if (d_CRC_error_counter > GALILEO_E5A_CRC_ERROR_LIMIT) { LOG(INFO) << "Lost of frame sync SAT " << this->d_satellite; @@ -411,10 +425,10 @@ int galileo_e5a_telemetry_decoder_cc::general_work(int noutput_items __attribute new_symbol = false; // UPDATE GNSS SYNCHRO DATA - //Add the telemetry decoder information + // Add the telemetry decoder information if (d_flag_preamble and d_nav.flag_TOW_set) - //update TOW at the preamble instant - //We expect a preamble each 10 seconds (FNAV page period) + // update TOW at the preamble instant + // We expect a preamble each 10 seconds (FNAV page period) { if (d_nav.flag_TOW_1 == true) { @@ -441,7 +455,7 @@ int galileo_e5a_telemetry_decoder_cc::general_work(int noutput_items __attribute d_TOW_at_current_symbol += GALILEO_E5a_CODE_PERIOD; } } - else //if there is not a new preamble, we define the TOW of the current symbol + else // if there is not a new preamble, we define the TOW of the current symbol { d_TOW_at_current_symbol += GALILEO_E5a_CODE_PERIOD; } @@ -482,7 +496,7 @@ int galileo_e5a_telemetry_decoder_cc::general_work(int noutput_items __attribute { d_symbol_history.pop_front(); } - //3. Make the output + // 3. Make the output if (current_sample.Flag_valid_word) { out[0] = current_sample; @@ -493,38 +507,3 @@ int galileo_e5a_telemetry_decoder_cc::general_work(int noutput_items __attribute return 0; } } - - -void galileo_e5a_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) -{ - d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); - DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite; - DLOG(INFO) << "Navigation Satellite set to " << d_satellite; -} - - -void galileo_e5a_telemetry_decoder_cc::set_channel(int channel) -{ - d_channel = channel; - LOG(INFO) << "Navigation channel set to " << channel; - // ############# ENABLE DATA FILE LOG ################# - if (d_dump == true) - { - if (d_dump_file.is_open() == false) - { - try - { - d_dump_filename = "telemetry"; - d_dump_filename.append(boost::lexical_cast(d_channel)); - d_dump_filename.append(".dat"); - d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); - d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); - LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); - } - catch (const std::ifstream::failure &e) - { - LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what(); - } - } - } -} diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.h index 5579f701a..5c004f18b 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.h +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.h @@ -112,6 +112,15 @@ private: Gnss_Satellite d_satellite; // navigation message vars Galileo_Fnav_Message d_nav; + + // vars for Viterbi decoder + int *out0, *out1, *state0, *state1; + int g_encoder[2]; + const int nn = 2; // Coding rate 1/n + const int KK = 7; // Constraint Length + int mm = KK - 1; + const int CodeLength = 488; + int DataLength = (CodeLength / nn) - mm; }; #endif /* GNSS_SDR_GALILEO_E5A_TELEMETRY_DECODER_CC_H_ */ diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc index 0bd2fae54..a99daba1e 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l1_ca_telemetry_decoder_cc.cc @@ -54,8 +54,6 @@ glonass_l1_ca_telemetry_decoder_cc::glonass_l1_ca_telemetry_decoder_cc( bool dump) : gr::block("glonass_l1_ca_telemetry_decoder_cc", gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)), gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) { - // Telemetry Bit transition synchronization port out - this->message_port_register_out(pmt::mp("preamble_timestamp_s")); // Ephemeris data port out this->message_port_register_out(pmt::mp("telemetry")); // initialize internal vars @@ -183,11 +181,11 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols, in // 3. Check operation executed correctly if (d_nav.flag_CRC_test == true) { - LOG(INFO) << "GLONASS GNAV CRC correct on channel " << d_channel << " from satellite " << d_satellite; + LOG(INFO) << "GLONASS GNAV CRC correct in channel " << d_channel << " from satellite " << d_satellite; } else { - LOG(INFO) << "GLONASS GNAV CRC error on channel " << d_channel << " from satellite " << d_satellite; + LOG(INFO) << "GLONASS GNAV CRC error in channel " << d_channel << " from satellite " << d_satellite; } // 4. Push the new navigation data to the queues if (d_nav.have_new_ephemeris() == true) @@ -196,26 +194,29 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols, in d_nav.gnav_ephemeris.i_satellite_freq_channel = d_satellite.get_rf_link(); std::shared_ptr tmp_obj = std::make_shared(d_nav.get_ephemeris()); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); - LOG(INFO) << "GLONASS GNAV Ephemeris have been received on channel" << d_channel << " from satellite " << d_satellite; + LOG(INFO) << "GLONASS GNAV Ephemeris have been received in channel" << d_channel << " from satellite " << d_satellite; + std::cout << "New GLONASS L1 GNAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << std::endl; } if (d_nav.have_new_utc_model() == true) { // get object for this SV (mandatory) std::shared_ptr tmp_obj = std::make_shared(d_nav.get_utc_model()); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); - LOG(INFO) << "GLONASS GNAV UTC Model have been received on channel" << d_channel << " from satellite " << d_satellite; + LOG(INFO) << "GLONASS GNAV UTC Model have been received in channel" << d_channel << " from satellite " << d_satellite; + std::cout << "New GLONASS L1 GNAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << std::endl; } if (d_nav.have_new_almanac() == true) { unsigned int slot_nbr = d_nav.i_alm_satellite_slot_number; std::shared_ptr tmp_obj = std::make_shared(d_nav.get_almanac(slot_nbr)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); - LOG(INFO) << "GLONASS GNAV Almanac have been received on channel" << d_channel << " in slot number " << slot_nbr; + LOG(INFO) << "GLONASS GNAV Almanac have been received in channel" << d_channel << " in slot number " << slot_nbr; + std::cout << "New GLONASS L1 GNAV almanac received in channel " << d_channel << " from satellite " << d_satellite << std::endl; } // 5. Update satellite information on system if (d_nav.flag_update_slot_number == true) { - LOG(INFO) << "GLONASS GNAV Slot Number Identified on channel " << d_channel; + LOG(INFO) << "GLONASS GNAV Slot Number Identified in channel " << d_channel; d_satellite.update_PRN(d_nav.gnav_ephemeris.d_n); d_satellite.what_block(d_satellite.get_system(), d_nav.gnav_ephemeris.d_n); d_nav.flag_update_slot_number = false; @@ -223,6 +224,41 @@ void glonass_l1_ca_telemetry_decoder_cc::decode_string(double *frame_symbols, in } +void glonass_l1_ca_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) +{ + d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); + DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite; + DLOG(INFO) << "Navigation Satellite set to " << d_satellite; +} + + +void glonass_l1_ca_telemetry_decoder_cc::set_channel(int channel) +{ + d_channel = channel; + LOG(INFO) << "Navigation channel set to " << channel; + // ############# ENABLE DATA FILE LOG ################# + if (d_dump == true) + { + if (d_dump_file.is_open() == false) + { + try + { + d_dump_filename = "telemetry"; + d_dump_filename.append(boost::lexical_cast(d_channel)); + d_dump_filename.append(".dat"); + d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); + d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); + LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); + } + catch (const std::ifstream::failure &e) + { + LOG(WARNING) << "channel " << d_channel << ": exception opening Glonass TLM dump file. " << e.what(); + } + } + } +} + + int glonass_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { @@ -285,9 +321,6 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu LOG(INFO) << "Starting string decoder for GLONASS L1 C/A SAT " << this->d_satellite; d_preamble_index = d_sample_counter; //record the preamble sample stamp d_stat = 2; - // send asynchronous message to tracking to inform of frame sync and extend correlation time - pmt::pmt_t value = pmt::from_double(static_cast(d_preamble_time_samples) / static_cast(d_symbol_history.at(0).fs) - 0.001); - this->message_port_pub(pmt::mp("preamble_timestamp_s"), value); } else { @@ -413,38 +446,3 @@ int glonass_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu return 1; } - - -void glonass_l1_ca_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) -{ - d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); - DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite; - DLOG(INFO) << "Navigation Satellite set to " << d_satellite; -} - - -void glonass_l1_ca_telemetry_decoder_cc::set_channel(int channel) -{ - d_channel = channel; - LOG(INFO) << "Navigation channel set to " << channel; - // ############# ENABLE DATA FILE LOG ################# - if (d_dump == true) - { - if (d_dump_file.is_open() == false) - { - try - { - d_dump_filename = "telemetry"; - d_dump_filename.append(boost::lexical_cast(d_channel)); - d_dump_filename.append(".dat"); - d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); - d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); - LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); - } - catch (const std::ifstream::failure &e) - { - LOG(WARNING) << "channel " << d_channel << ": exception opening Glonass TLM dump file. " << e.what(); - } - } - } -} diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.cc index 2b168a89c..a57307850 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/glonass_l2_ca_telemetry_decoder_cc.cc @@ -31,9 +31,10 @@ #include "glonass_l2_ca_telemetry_decoder_cc.h" +#include "display.h" #include -#include #include +#include #define CRC_ERROR_LIMIT 6 @@ -53,8 +54,6 @@ glonass_l2_ca_telemetry_decoder_cc::glonass_l2_ca_telemetry_decoder_cc( bool dump) : gr::block("glonass_l2_ca_telemetry_decoder_cc", gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)), gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) { - // Telemetry Bit transition synchronization port out - this->message_port_register_out(pmt::mp("preamble_timestamp_s")); // Ephemeris data port out this->message_port_register_out(pmt::mp("telemetry")); // initialize internal vars @@ -182,11 +181,11 @@ void glonass_l2_ca_telemetry_decoder_cc::decode_string(double *frame_symbols, in // 3. Check operation executed correctly if (d_nav.flag_CRC_test == true) { - LOG(INFO) << "GLONASS GNAV CRC correct on channel " << d_channel << " from satellite " << d_satellite; + LOG(INFO) << "GLONASS GNAV CRC correct in channel " << d_channel << " from satellite " << d_satellite; } else { - LOG(INFO) << "GLONASS GNAV CRC error on channel " << d_channel << " from satellite " << d_satellite; + LOG(INFO) << "GLONASS GNAV CRC error in channel " << d_channel << " from satellite " << d_satellite; } // 4. Push the new navigation data to the queues if (d_nav.have_new_ephemeris() == true) @@ -195,26 +194,29 @@ void glonass_l2_ca_telemetry_decoder_cc::decode_string(double *frame_symbols, in d_nav.gnav_ephemeris.i_satellite_freq_channel = d_satellite.get_rf_link(); std::shared_ptr tmp_obj = std::make_shared(d_nav.get_ephemeris()); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); - LOG(INFO) << "GLONASS GNAV Ephemeris have been received on channel" << d_channel << " from satellite " << d_satellite; + LOG(INFO) << "GLONASS GNAV Ephemeris have been received in channel" << d_channel << " from satellite " << d_satellite; + std::cout << TEXT_CYAN << "New GLONASS L2 GNAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << TEXT_RESET << std::endl; } if (d_nav.have_new_utc_model() == true) { // get object for this SV (mandatory) std::shared_ptr tmp_obj = std::make_shared(d_nav.get_utc_model()); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); - LOG(INFO) << "GLONASS GNAV UTC Model have been received on channel" << d_channel << " from satellite " << d_satellite; + LOG(INFO) << "GLONASS GNAV UTC Model have been received in channel" << d_channel << " from satellite " << d_satellite; + std::cout << TEXT_CYAN << "New GLONASS L2 GNAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << TEXT_RESET << std::endl; } if (d_nav.have_new_almanac() == true) { unsigned int slot_nbr = d_nav.i_alm_satellite_slot_number; std::shared_ptr tmp_obj = std::make_shared(d_nav.get_almanac(slot_nbr)); this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); - LOG(INFO) << "GLONASS GNAV Almanac have been received on channel" << d_channel << " in slot number " << slot_nbr; + LOG(INFO) << "GLONASS GNAV Almanac have been received in channel" << d_channel << " in slot number " << slot_nbr; + std::cout << TEXT_CYAN << "New GLONASS L2 GNAV almanac received in channel " << d_channel << " from satellite " << d_satellite << TEXT_RESET << std::endl; } // 5. Update satellite information on system if (d_nav.flag_update_slot_number == true) { - LOG(INFO) << "GLONASS GNAV Slot Number Identified on channel " << d_channel; + LOG(INFO) << "GLONASS GNAV Slot Number Identified in channel " << d_channel; d_satellite.update_PRN(d_nav.gnav_ephemeris.d_n); d_satellite.what_block(d_satellite.get_system(), d_nav.gnav_ephemeris.d_n); d_nav.flag_update_slot_number = false; @@ -222,6 +224,41 @@ void glonass_l2_ca_telemetry_decoder_cc::decode_string(double *frame_symbols, in } +void glonass_l2_ca_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) +{ + d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); + DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite; + DLOG(INFO) << "Navigation Satellite set to " << d_satellite; +} + + +void glonass_l2_ca_telemetry_decoder_cc::set_channel(int channel) +{ + d_channel = channel; + LOG(INFO) << "Navigation channel set to " << channel; + // ############# ENABLE DATA FILE LOG ################# + if (d_dump == true) + { + if (d_dump_file.is_open() == false) + { + try + { + d_dump_filename = "telemetry"; + d_dump_filename.append(boost::lexical_cast(d_channel)); + d_dump_filename.append(".dat"); + d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); + d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); + LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); + } + catch (const std::ifstream::failure &e) + { + LOG(WARNING) << "channel " << d_channel << ": exception opening Glonass TLM dump file. " << e.what(); + } + } + } +} + + int glonass_l2_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { @@ -284,9 +321,6 @@ int glonass_l2_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu LOG(INFO) << "Starting string decoder for GLONASS L2 C/A SAT " << this->d_satellite; d_preamble_index = d_sample_counter; //record the preamble sample stamp d_stat = 2; - // send asynchronous message to tracking to inform of frame sync and extend correlation time - pmt::pmt_t value = pmt::from_double(static_cast(d_preamble_time_samples) / static_cast(d_symbol_history.at(0).fs) - 0.001); - this->message_port_pub(pmt::mp("preamble_timestamp_s"), value); } else { @@ -412,38 +446,3 @@ int glonass_l2_ca_telemetry_decoder_cc::general_work(int noutput_items __attribu return 1; } - - -void glonass_l2_ca_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) -{ - d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); - DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite; - DLOG(INFO) << "Navigation Satellite set to " << d_satellite; -} - - -void glonass_l2_ca_telemetry_decoder_cc::set_channel(int channel) -{ - d_channel = channel; - LOG(INFO) << "Navigation channel set to " << channel; - // ############# ENABLE DATA FILE LOG ################# - if (d_dump == true) - { - if (d_dump_file.is_open() == false) - { - try - { - d_dump_filename = "telemetry"; - d_dump_filename.append(boost::lexical_cast(d_channel)); - d_dump_filename.append(".dat"); - d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); - d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); - LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); - } - catch (const std::ifstream::failure &e) - { - LOG(WARNING) << "channel " << d_channel << ": exception opening Glonass TLM dump file. " << e.what(); - } - } - } -} diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc index 580bc8bdc..5c0071307 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc @@ -32,8 +32,9 @@ #include "gps_l1_ca_telemetry_decoder_cc.h" #include "control_message_factory.h" #include -#include #include +#include +#include #ifndef _rotl @@ -54,8 +55,6 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc( bool dump) : gr::block("gps_navigation_cc", gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)), gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) { - // Telemetry Bit transition synchronization port out - this->message_port_register_out(pmt::mp("preamble_timestamp_s")); // Ephemeris data port out this->message_port_register_out(pmt::mp("telemetry")); // initialize internal vars @@ -65,10 +64,8 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc( // set the preamble unsigned short int preambles_bits[GPS_CA_PREAMBLE_LENGTH_BITS] = GPS_PREAMBLE; - //memcpy((unsigned short int*)this->d_preambles_bits, (unsigned short int*)preambles_bits, GPS_CA_PREAMBLE_LENGTH_BITS*sizeof(unsigned short int)); - // preamble bits to sampled symbols - d_preambles_symbols = static_cast(malloc(sizeof(signed int) * GPS_CA_PREAMBLE_LENGTH_SYMBOLS)); + d_preambles_symbols = static_cast(volk_gnsssdr_malloc(GPS_CA_PREAMBLE_LENGTH_SYMBOLS * sizeof(int), volk_gnsssdr_get_alignment())); int n = 0; for (int i = 0; i < GPS_CA_PREAMBLE_LENGTH_BITS; i++) { @@ -105,12 +102,16 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc( flag_PLL_180_deg_phase_locked = false; d_preamble_time_samples = 0; d_TOW_at_current_symbol_ms = 0; + d_symbol_history.resize(GPS_CA_PREAMBLE_LENGTH_SYMBOLS + 1); // Change fixed buffer size + d_symbol_history.clear(); // Clear all the elements in the buffer + d_make_correlation = true; + d_symbol_counter_corr = 0; } gps_l1_ca_telemetry_decoder_cc::~gps_l1_ca_telemetry_decoder_cc() { - delete d_preambles_symbols; + volk_gnsssdr_free(d_preambles_symbols); if (d_dump_file.is_open() == true) { try @@ -150,6 +151,44 @@ bool gps_l1_ca_telemetry_decoder_cc::gps_word_parityCheck(unsigned int gpsword) } +void gps_l1_ca_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) +{ + d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); + DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite; + d_GPS_FSM.i_satellite_PRN = d_satellite.get_PRN(); + DLOG(INFO) << "Navigation Satellite set to " << d_satellite; +} + + +void gps_l1_ca_telemetry_decoder_cc::set_channel(int channel) +{ + d_channel = channel; + d_GPS_FSM.i_channel_ID = channel; + DLOG(INFO) << "Navigation channel set to " << channel; + // ############# ENABLE DATA FILE LOG ################# + if (d_dump == true) + { + if (d_dump_file.is_open() == false) + { + try + { + d_dump_filename = "telemetry"; + d_dump_filename.append(boost::lexical_cast(d_channel)); + d_dump_filename.append(".dat"); + d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); + d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); + LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel + << " Log file: " << d_dump_filename.c_str(); + } + catch (const std::ifstream::failure &e) + { + LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what(); + } + } + } +} + + int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { @@ -168,7 +207,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__ unsigned int required_symbols = GPS_CA_PREAMBLE_LENGTH_SYMBOLS; d_flag_preamble = false; - if (d_symbol_history.size() > required_symbols) + if ((d_symbol_history.size() > required_symbols) and (d_make_correlation or !d_flag_frame_sync)) { //******* preamble correlation ******** for (unsigned int i = 0; i < GPS_CA_PREAMBLE_LENGTH_SYMBOLS; i++) @@ -177,19 +216,22 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__ { if (d_symbol_history.at(i).Prompt_I < 0) // symbols clipping { - corr_value -= d_preambles_symbols[i] * d_symbol_history.at(i).correlation_length_ms; + corr_value -= d_preambles_symbols[i]; } else { - corr_value += d_preambles_symbols[i] * d_symbol_history.at(i).correlation_length_ms; + corr_value += d_preambles_symbols[i]; } } - if (corr_value >= GPS_CA_PREAMBLE_LENGTH_SYMBOLS) break; + } + if (std::abs(corr_value) >= GPS_CA_PREAMBLE_LENGTH_SYMBOLS) + { + d_symbol_counter_corr++; } } //******* frame sync ****************** - if (abs(corr_value) == GPS_CA_PREAMBLE_LENGTH_SYMBOLS) + if (std::abs(corr_value) == GPS_CA_PREAMBLE_LENGTH_SYMBOLS) { //TODO: Rewrite with state machine if (d_stat == 0) @@ -206,18 +248,17 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__ } else if (d_stat == 1) //check 6 seconds of preamble separation { - preamble_diff_ms = round(((static_cast(d_symbol_history.at(0).Tracking_sample_counter) - d_preamble_time_samples) / static_cast(d_symbol_history.at(0).fs)) * 1000.0); - if (abs(preamble_diff_ms - GPS_SUBFRAME_MS) < 1) + preamble_diff_ms = std::round(((static_cast(d_symbol_history.at(0).Tracking_sample_counter) - d_preamble_time_samples) / static_cast(d_symbol_history.at(0).fs)) * 1000.0); + if (std::abs(preamble_diff_ms - GPS_SUBFRAME_MS) < 1) { DLOG(INFO) << "Preamble confirmation for SAT " << this->d_satellite; d_GPS_FSM.Event_gps_word_preamble(); d_flag_preamble = true; + d_make_correlation = false; + d_symbol_counter_corr = 0; d_preamble_time_samples = d_symbol_history.at(0).Tracking_sample_counter; // record the PRN start sample index associated to the preamble if (!d_flag_frame_sync) { - // send asynchronous message to tracking to inform of frame sync and extend correlation time - pmt::pmt_t value = pmt::from_double(static_cast(d_preamble_time_samples) / static_cast(d_symbol_history.at(0).fs) - 0.001); - this->message_port_pub(pmt::mp("preamble_timestamp_s"), value); d_flag_frame_sync = true; if (corr_value < 0) { @@ -236,6 +277,11 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__ } else { + d_symbol_counter_corr++; + if (d_symbol_counter_corr > (GPS_SUBFRAME_MS - GPS_CA_TELEMETRY_SYMBOLS_PER_BIT)) + { + d_make_correlation = true; + } if (d_stat == 1) { preamble_diff_ms = round(((static_cast(d_symbol_history.at(0).Tracking_sample_counter) - static_cast(d_preamble_time_samples)) / static_cast(d_symbol_history.at(0).fs)) * 1000.0); @@ -245,6 +291,8 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__ d_stat = 0; //lost of frame sync d_flag_frame_sync = false; flag_TOW_set = false; + d_make_correlation = true; + d_symbol_counter_corr = 0; } } } @@ -395,51 +443,8 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__ } } - // remove used symbols from history - if (d_symbol_history.size() > required_symbols) - { - d_symbol_history.pop_front(); - } //3. Make the output (copy the object contents to the GNURadio reserved memory) *out[0] = current_symbol; return 1; } - - -void gps_l1_ca_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) -{ - d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); - DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite; - d_GPS_FSM.i_satellite_PRN = d_satellite.get_PRN(); - DLOG(INFO) << "Navigation Satellite set to " << d_satellite; -} - - -void gps_l1_ca_telemetry_decoder_cc::set_channel(int channel) -{ - d_channel = channel; - d_GPS_FSM.i_channel_ID = channel; - DLOG(INFO) << "Navigation channel set to " << channel; - // ############# ENABLE DATA FILE LOG ################# - if (d_dump == true) - { - if (d_dump_file.is_open() == false) - { - try - { - d_dump_filename = "telemetry"; - d_dump_filename.append(boost::lexical_cast(d_channel)); - d_dump_filename.append(".dat"); - d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); - d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); - LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel - << " Log file: " << d_dump_filename.c_str(); - } - catch (const std::ifstream::failure &e) - { - LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what(); - } - } - } -} diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h index 8904f7e85..8e3600e3a 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.h @@ -36,9 +36,9 @@ #include "gnss_satellite.h" #include "gnss_synchro.h" #include -#include #include #include +#include class gps_l1_ca_telemetry_decoder_cc; @@ -79,11 +79,15 @@ private: bool d_flag_frame_sync; // symbols - std::deque d_symbol_history; + boost::circular_buffer d_symbol_history; double d_symbol_accumulator; short int d_symbol_accumulator_counter; + // symbol counting + bool d_make_correlation; + unsigned int d_symbol_counter_corr; + //bits and frame unsigned short int d_frame_bit_index; unsigned int d_GPS_frame_4bytes; diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_cc.cc index 0325041d3..c27214c52 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2c_telemetry_decoder_cc.cc @@ -55,8 +55,6 @@ gps_l2c_telemetry_decoder_cc::gps_l2c_telemetry_decoder_cc( gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)), gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) { - // Telemetry Bit transition synchronization port out - this->message_port_register_out(pmt::mp("preamble_timestamp_s")); // Ephemeris data port out this->message_port_register_out(pmt::mp("telemetry")); // initialize internal vars @@ -92,6 +90,41 @@ gps_l2c_telemetry_decoder_cc::~gps_l2c_telemetry_decoder_cc() } +void gps_l2c_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) +{ + d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); + DLOG(INFO) << "GPS L2C CNAV telemetry decoder in channel " << this->d_channel << " set to satellite " << d_satellite; +} + + +void gps_l2c_telemetry_decoder_cc::set_channel(int channel) +{ + d_channel = channel; + LOG(INFO) << "GPS L2C CNAV channel set to " << channel; + // ############# ENABLE DATA FILE LOG ################# + if (d_dump == true) + { + if (d_dump_file.is_open() == false) + { + try + { + d_dump_filename = "telemetry_L2CM_"; + d_dump_filename.append(boost::lexical_cast(d_channel)); + d_dump_filename.append(".dat"); + d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); + d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); + LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel + << " Log file: " << d_dump_filename.c_str(); + } + catch (const std::ifstream::failure &e) + { + LOG(WARNING) << "channel " << d_channel << " Exception opening Telemetry GPS L2 dump file " << e.what(); + } + } + } +} + + int gps_l2c_telemetry_decoder_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { @@ -133,20 +166,20 @@ int gps_l2c_telemetry_decoder_cc::general_work(int noutput_items __attribute__(( { // get ephemeris object for this SV std::shared_ptr tmp_obj = std::make_shared(d_CNAV_Message.get_ephemeris()); - std::cout << TEXT_BLUE << "New GPS CNAV message received: ephemeris from satellite " << d_satellite << TEXT_RESET << std::endl; + std::cout << TEXT_BLUE << "New GPS CNAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << TEXT_RESET << std::endl; this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } if (d_CNAV_Message.have_new_iono() == true) { std::shared_ptr tmp_obj = std::make_shared(d_CNAV_Message.get_iono()); - std::cout << TEXT_BLUE << "New GPS CNAV message received: iono model parameters from satellite " << d_satellite << TEXT_RESET << std::endl; + std::cout << TEXT_BLUE << "New GPS CNAV message received in channel " << d_channel << ": iono model parameters from satellite " << d_satellite << TEXT_RESET << std::endl; this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } if (d_CNAV_Message.have_new_utc_model() == true) { std::shared_ptr tmp_obj = std::make_shared(d_CNAV_Message.get_utc_model()); - std::cout << TEXT_BLUE << "New GPS CNAV message received: UTC model parameters from satellite " << d_satellite << TEXT_RESET << std::endl; + std::cout << TEXT_BLUE << "New GPS CNAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << TEXT_RESET << std::endl; this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } @@ -195,38 +228,3 @@ int gps_l2c_telemetry_decoder_cc::general_work(int noutput_items __attribute__(( out[0] = current_synchro_data; return 1; } - - -void gps_l2c_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) -{ - d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); - DLOG(INFO) << "GPS L2C CNAV telemetry decoder in channel " << this->d_channel << " set to satellite " << d_satellite; -} - - -void gps_l2c_telemetry_decoder_cc::set_channel(int channel) -{ - d_channel = channel; - LOG(INFO) << "GPS L2C CNAV channel set to " << channel; - // ############# ENABLE DATA FILE LOG ################# - if (d_dump == true) - { - if (d_dump_file.is_open() == false) - { - try - { - d_dump_filename = "telemetry_L2CM_"; - d_dump_filename.append(boost::lexical_cast(d_channel)); - d_dump_filename.append(".dat"); - d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); - d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); - LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel - << " Log file: " << d_dump_filename.c_str(); - } - catch (const std::ifstream::failure &e) - { - LOG(WARNING) << "channel " << d_channel << " Exception opening Telemetry GPS L2 dump file " << e.what(); - } - } - } -} diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.cc index af9666c03..1f2a8decf 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.cc @@ -1,7 +1,6 @@ /*! * \file gps_l5_telemetry_decoder_cc.cc - * \brief Implementation of a NAV message demodulator block based on - * Kay Borre book MATLAB-based GPS receiver + * \brief Implementation of a CNAV message demodulator block * \author Antonio Ramos, 2017. antonio.ramos(at)cttc.es * * ------------------------------------------------------------------------- @@ -31,12 +30,13 @@ #include "gps_l5_telemetry_decoder_cc.h" +#include "display.h" #include "gnss_synchro.h" #include "gps_cnav_ephemeris.h" #include "gps_cnav_iono.h" -#include -#include #include +#include +#include #include #include #include @@ -56,8 +56,6 @@ gps_l5_telemetry_decoder_cc::gps_l5_telemetry_decoder_cc( gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)), gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) { - // Telemetry Bit transition synchronization port out - this->message_port_register_out(pmt::mp("preamble_timestamp_s")); // Ephemeris data port out this->message_port_register_out(pmt::mp("telemetry")); // initialize internal vars @@ -102,6 +100,43 @@ gps_l5_telemetry_decoder_cc::~gps_l5_telemetry_decoder_cc() } +void gps_l5_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) +{ + d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); + LOG(INFO) << "GPS L5 CNAV telemetry decoder in channel " << this->d_channel << " set to satellite " << d_satellite; + d_CNAV_Message.reset(); +} + + +void gps_l5_telemetry_decoder_cc::set_channel(int channel) +{ + d_channel = channel; + d_CNAV_Message.reset(); + LOG(INFO) << "GPS L5 CNAV channel set to " << channel; + // ############# ENABLE DATA FILE LOG ################# + if (d_dump == true) + { + if (d_dump_file.is_open() == false) + { + try + { + d_dump_filename = "telemetry_L5_"; + d_dump_filename.append(boost::lexical_cast(d_channel)); + d_dump_filename.append(".dat"); + d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); + d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); + LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel + << " Log file: " << d_dump_filename.c_str(); + } + catch (const std::ifstream::failure &e) + { + LOG(WARNING) << "channel " << d_channel << " Exception opening Telemetry GPS L5 dump file " << e.what(); + } + } + } +} + + int gps_l5_telemetry_decoder_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { @@ -183,20 +218,20 @@ int gps_l5_telemetry_decoder_cc::general_work(int noutput_items __attribute__((u { // get ephemeris object for this SV std::shared_ptr tmp_obj = std::make_shared(d_CNAV_Message.get_ephemeris()); - std::cout << "New GPS L5 CNAV message received: ephemeris from satellite " << d_satellite << std::endl; + std::cout << TEXT_MAGENTA << "New GPS L5 CNAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << TEXT_RESET << std::endl; this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } if (d_CNAV_Message.have_new_iono() == true) { std::shared_ptr tmp_obj = std::make_shared(d_CNAV_Message.get_iono()); - std::cout << "New GPS L5 CNAV message received: iono model parameters from satellite " << d_satellite << std::endl; + std::cout << TEXT_MAGENTA << "New GPS L5 CNAV message received in channel " << d_channel << ": iono model parameters from satellite " << d_satellite << TEXT_RESET << std::endl; this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } if (d_CNAV_Message.have_new_utc_model() == true) { std::shared_ptr tmp_obj = std::make_shared(d_CNAV_Message.get_utc_model()); - std::cout << "New GPS L5 CNAV message received: UTC model parameters from satellite " << d_satellite << std::endl; + std::cout << TEXT_MAGENTA << "New GPS L5 CNAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << TEXT_RESET << std::endl; this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj)); } @@ -245,40 +280,3 @@ int gps_l5_telemetry_decoder_cc::general_work(int noutput_items __attribute__((u out[0] = current_synchro_data; return 1; } - - -void gps_l5_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) -{ - d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); - LOG(INFO) << "GPS L5 CNAV telemetry decoder in channel " << this->d_channel << " set to satellite " << d_satellite; - d_CNAV_Message.reset(); -} - - -void gps_l5_telemetry_decoder_cc::set_channel(int channel) -{ - d_channel = channel; - d_CNAV_Message.reset(); - LOG(INFO) << "GPS L5 CNAV channel set to " << channel; - // ############# ENABLE DATA FILE LOG ################# - if (d_dump == true) - { - if (d_dump_file.is_open() == false) - { - try - { - d_dump_filename = "telemetry_L5_"; - d_dump_filename.append(boost::lexical_cast(d_channel)); - d_dump_filename.append(".dat"); - d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); - d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); - LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel - << " Log file: " << d_dump_filename.c_str(); - } - catch (const std::ifstream::failure &e) - { - LOG(WARNING) << "channel " << d_channel << " Exception opening Telemetry GPS L5 dump file " << e.what(); - } - } - } -} diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.h index 59f0bf108..8afa6569e 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.h +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l5_telemetry_decoder_cc.h @@ -1,7 +1,6 @@ /*! * \file gps_l5_telemetry_decoder_cc.h - * \brief Interface of a CNAV message demodulator block based on - * Kay Borre book MATLAB-based GPS receiver + * \brief Interface of a CNAV message demodulator block * \author Antonio Ramos, 2017. antonio.ramos(at)cttc.es * ------------------------------------------------------------------------- * @@ -42,7 +41,8 @@ #include #include -extern "C" { +extern "C" +{ #include "cnav_msg.h" #include "edc.h" #include "bits.h" diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_cc.cc index 672dbb101..830a02636 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_cc.cc @@ -59,8 +59,6 @@ sbas_l1_telemetry_decoder_cc::sbas_l1_telemetry_decoder_cc( gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)), gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) { - // Telemetry Bit transition synchronization port out - this->message_port_register_out(pmt::mp("preamble_timestamp_s")); // Ephemeris data port out this->message_port_register_out(pmt::mp("telemetry")); // initialize internal vars @@ -89,88 +87,6 @@ sbas_l1_telemetry_decoder_cc::~sbas_l1_telemetry_decoder_cc() } -int sbas_l1_telemetry_decoder_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), - gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) -{ - VLOG(FLOW) << "general_work(): " - << "noutput_items=" << noutput_items << "\toutput_items real size=" << output_items.size() << "\tninput_items size=" << ninput_items.size() << "\tinput_items real size=" << input_items.size() << "\tninput_items[0]=" << ninput_items[0]; - // get pointers on in- and output gnss-synchro objects - Gnss_Synchro *out = reinterpret_cast(output_items[0]); // Get the output buffer pointer - const Gnss_Synchro *in = reinterpret_cast(input_items[0]); // Get the input buffer pointer - - Gnss_Synchro current_symbol; //structure to save the synchronization information and send the output object to the next block - //1. Copy the current tracking output - current_symbol = in[0]; - // copy correlation samples into samples vector - d_sample_buf.push_back(current_symbol.Prompt_I); //add new symbol to the symbol queue - - // store the time stamp of the first sample in the processed sample block - double sample_stamp = static_cast(in[0].Tracking_sample_counter) / static_cast(in[0].fs); - - // decode only if enough samples in buffer - if (d_sample_buf.size() >= d_block_size) - { - // align correlation samples in pairs - // and obtain the symbols by summing the paired correlation samples - std::vector symbols; - bool sample_alignment = d_sample_aligner.get_symbols(d_sample_buf, symbols); - - // align symbols in pairs - // and obtain the bits by decoding the symbol pairs - std::vector bits; - bool symbol_alignment = d_symbol_aligner_and_decoder.get_bits(symbols, bits); - - // search for preambles - // and extract the corresponding message candidates - std::vector msg_candidates; - d_frame_detector.get_frame_candidates(bits, msg_candidates); - - // verify checksum - // and return the valid messages - std::vector valid_msgs; - d_crc_verifier.get_valid_frames(msg_candidates, valid_msgs); - - // compute message sample stamp - // and fill messages in SBAS raw message objects - //std::vector sbas_raw_msgs; - for (std::vector::const_iterator it = valid_msgs.cbegin(); - it != valid_msgs.cend(); ++it) - { - int message_sample_offset = - (sample_alignment ? 0 : -1) + d_samples_per_symbol * (symbol_alignment ? -1 : 0) + d_samples_per_symbol * d_symbols_per_bit * it->first; - double message_sample_stamp = sample_stamp + static_cast(message_sample_offset) / 1000.0; - VLOG(EVENT) << "message_sample_stamp=" << message_sample_stamp - << " (sample_stamp=" << sample_stamp - << " sample_alignment=" << sample_alignment - << " symbol_alignment=" << symbol_alignment - << " relative_preamble_start=" << it->first - << " message_sample_offset=" << message_sample_offset - << ")"; - //Sbas_Raw_Msg sbas_raw_msg(message_sample_stamp, this->d_satellite.get_PRN(), it->second); - //sbas_raw_msgs.push_back(sbas_raw_msg); - } - - // parse messages - // and send them to the SBAS raw message queue - //for(std::vector::iterator it = sbas_raw_msgs.begin(); it != sbas_raw_msgs.end(); it++) - // { - //std::cout << "SBAS message type " << it->get_msg_type() << " from PRN" << it->get_prn() << " received" << std::endl; - //sbas_telemetry_data.update(*it); - // } - - // clear all processed samples in the input buffer - d_sample_buf.clear(); - } - - // UPDATE GNSS SYNCHRO DATA - // actually the SBAS telemetry decoder doesn't support ranging - current_symbol.Flag_valid_word = false; // indicate to observable block that this synchro object isn't valid for pseudorange computation - out[0] = current_symbol; - consume_each(1); // tell scheduler input items consumed - return 1; // tell scheduler output items produced -} - - void sbas_l1_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) { d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); @@ -186,7 +102,6 @@ void sbas_l1_telemetry_decoder_cc::set_channel(int channel) // ### helper class for sample alignment ### - sbas_l1_telemetry_decoder_cc::sample_aligner::sample_aligner() { d_n_smpls_in_history = 3; @@ -405,12 +320,11 @@ void sbas_l1_telemetry_decoder_cc::frame_detector::get_frame_candidates(const st // ### helper class for checking the CRC of the message candidates ### - - void sbas_l1_telemetry_decoder_cc::crc_verifier::reset() { } + void sbas_l1_telemetry_decoder_cc::crc_verifier::get_valid_frames(const std::vector msg_candidates, std::vector &valid_msgs) { std::stringstream ss; @@ -502,3 +416,85 @@ void sbas_l1_telemetry_decoder_cc::crc_verifier::zerropad_front_and_convert_to_b << std::setfill('0') << std::hex << static_cast(byte) << std::setfill(' ') << std::resetiosflags(std::ios::hex); } + + +int sbas_l1_telemetry_decoder_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), + gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) +{ + VLOG(FLOW) << "general_work(): " + << "noutput_items=" << noutput_items << "\toutput_items real size=" << output_items.size() << "\tninput_items size=" << ninput_items.size() << "\tinput_items real size=" << input_items.size() << "\tninput_items[0]=" << ninput_items[0]; + // get pointers on in- and output gnss-synchro objects + Gnss_Synchro *out = reinterpret_cast(output_items[0]); // Get the output buffer pointer + const Gnss_Synchro *in = reinterpret_cast(input_items[0]); // Get the input buffer pointer + + Gnss_Synchro current_symbol; //structure to save the synchronization information and send the output object to the next block + //1. Copy the current tracking output + current_symbol = in[0]; + // copy correlation samples into samples vector + d_sample_buf.push_back(current_symbol.Prompt_I); //add new symbol to the symbol queue + + // store the time stamp of the first sample in the processed sample block + double sample_stamp = static_cast(in[0].Tracking_sample_counter) / static_cast(in[0].fs); + + // decode only if enough samples in buffer + if (d_sample_buf.size() >= d_block_size) + { + // align correlation samples in pairs + // and obtain the symbols by summing the paired correlation samples + std::vector symbols; + bool sample_alignment = d_sample_aligner.get_symbols(d_sample_buf, symbols); + + // align symbols in pairs + // and obtain the bits by decoding the symbol pairs + std::vector bits; + bool symbol_alignment = d_symbol_aligner_and_decoder.get_bits(symbols, bits); + + // search for preambles + // and extract the corresponding message candidates + std::vector msg_candidates; + d_frame_detector.get_frame_candidates(bits, msg_candidates); + + // verify checksum + // and return the valid messages + std::vector valid_msgs; + d_crc_verifier.get_valid_frames(msg_candidates, valid_msgs); + + // compute message sample stamp + // and fill messages in SBAS raw message objects + //std::vector sbas_raw_msgs; + for (std::vector::const_iterator it = valid_msgs.cbegin(); + it != valid_msgs.cend(); ++it) + { + int message_sample_offset = + (sample_alignment ? 0 : -1) + d_samples_per_symbol * (symbol_alignment ? -1 : 0) + d_samples_per_symbol * d_symbols_per_bit * it->first; + double message_sample_stamp = sample_stamp + static_cast(message_sample_offset) / 1000.0; + VLOG(EVENT) << "message_sample_stamp=" << message_sample_stamp + << " (sample_stamp=" << sample_stamp + << " sample_alignment=" << sample_alignment + << " symbol_alignment=" << symbol_alignment + << " relative_preamble_start=" << it->first + << " message_sample_offset=" << message_sample_offset + << ")"; + //Sbas_Raw_Msg sbas_raw_msg(message_sample_stamp, this->d_satellite.get_PRN(), it->second); + //sbas_raw_msgs.push_back(sbas_raw_msg); + } + + // parse messages + // and send them to the SBAS raw message queue + //for(std::vector::iterator it = sbas_raw_msgs.begin(); it != sbas_raw_msgs.end(); it++) + // { + //std::cout << "SBAS message type " << it->get_msg_type() << " from PRN" << it->get_prn() << " received" << std::endl; + //sbas_telemetry_data.update(*it); + // } + + // clear all processed samples in the input buffer + d_sample_buf.clear(); + } + + // UPDATE GNSS SYNCHRO DATA + // actually the SBAS telemetry decoder doesn't support ranging + current_symbol.Flag_valid_word = false; // indicate to observable block that this synchro object isn't valid for pseudorange computation + out[0] = current_symbol; + consume_each(1); // tell scheduler input items consumed + return 1; // tell scheduler output items produced +} diff --git a/src/algorithms/telemetry_decoder/libs/gps_l1_ca_subframe_fsm.cc b/src/algorithms/telemetry_decoder/libs/gps_l1_ca_subframe_fsm.cc index d4980a532..e7379f7e0 100644 --- a/src/algorithms/telemetry_decoder/libs/gps_l1_ca_subframe_fsm.cc +++ b/src/algorithms/telemetry_decoder/libs/gps_l1_ca_subframe_fsm.cc @@ -39,13 +39,16 @@ //************ GPS WORD TO SUBFRAME DECODER STATE MACHINE ********** - struct Ev_gps_word_valid : sc::event { }; + + struct Ev_gps_word_invalid : sc::event { }; + + struct Ev_gps_word_preamble : sc::event { }; @@ -245,16 +248,20 @@ void GpsL1CaSubframeFsm::gps_word_to_subframe(int position) std::memcpy(&d_subframe[position * GPS_WORD_LENGTH], &d_GPS_frame_4bytes, sizeof(char) * GPS_WORD_LENGTH); } + void GpsL1CaSubframeFsm::clear_flag_new_subframe() { d_flag_new_subframe = false; } + + void GpsL1CaSubframeFsm::gps_subframe_to_nav_msg() { //int subframe_ID; // NEW GPS SUBFRAME HAS ARRIVED! d_subframe_ID = d_nav.subframe_decoder(this->d_subframe); //decode the subframe - std::cout << "New GPS NAV message received: subframe " + std::cout << "New GPS NAV message received in channel " << i_channel_ID << ": " + << "subframe " << d_subframe_ID << " from satellite " << Gnss_Satellite(std::string("GPS"), i_satellite_PRN) << std::endl; d_nav.i_satellite_PRN = i_satellite_PRN; @@ -263,6 +270,7 @@ void GpsL1CaSubframeFsm::gps_subframe_to_nav_msg() d_flag_new_subframe = true; } + void GpsL1CaSubframeFsm::Event_gps_word_valid() { this->process_event(Ev_gps_word_valid()); diff --git a/src/algorithms/tracking/adapters/CMakeLists.txt b/src/algorithms/tracking/adapters/CMakeLists.txt index 7b7e6b541..a9aa7dca3 100644 --- a/src/algorithms/tracking/adapters/CMakeLists.txt +++ b/src/algorithms/tracking/adapters/CMakeLists.txt @@ -22,7 +22,7 @@ if(ENABLE_CUDA) endif(ENABLE_CUDA) if(ENABLE_FPGA) - SET(OPT_TRACKING_ADAPTERS ${OPT_TRACKING_ADAPTERS} gps_l1_ca_dll_pll_c_aid_tracking_fpga.cc) + SET(OPT_TRACKING_ADAPTERS ${OPT_TRACKING_ADAPTERS} gps_l1_ca_dll_pll_tracking_fpga.cc) endif(ENABLE_FPGA) set(TRACKING_ADAPTER_SOURCES @@ -35,8 +35,8 @@ set(TRACKING_ADAPTER_SOURCES gps_l2_m_dll_pll_tracking.cc glonass_l1_ca_dll_pll_tracking.cc glonass_l1_ca_dll_pll_c_aid_tracking.cc - gps_l5i_dll_pll_tracking.cc gps_l1_ca_kf_tracking.cc + gps_l5_dll_pll_tracking.cc glonass_l2_ca_dll_pll_tracking.cc glonass_l2_ca_dll_pll_c_aid_tracking.cc ${OPT_TRACKING_ADAPTERS} diff --git a/src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.cc b/src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.cc index 7395e5c90..dcbda1507 100644 --- a/src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.cc +++ b/src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.cc @@ -102,6 +102,19 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking( trk_param.system = 'E'; char sig_[3] = "1B"; std::memcpy(trk_param.signal, sig_, 3); + int cn0_samples = configuration->property(role + ".cn0_samples", 20); + if (FLAGS_cn0_samples != 20) cn0_samples = FLAGS_cn0_samples; + trk_param.cn0_samples = cn0_samples; + int cn0_min = configuration->property(role + ".cn0_min", 25); + if (FLAGS_cn0_min != 25) cn0_min = FLAGS_cn0_min; + trk_param.cn0_min = cn0_min; + int max_lock_fail = configuration->property(role + ".max_lock_fail", 50); + if (FLAGS_max_lock_fail != 50) max_lock_fail = FLAGS_max_lock_fail; + trk_param.max_lock_fail = max_lock_fail; + double carrier_lock_th = configuration->property(role + ".carrier_lock_th", 0.85); + if (FLAGS_carrier_lock_th != 0.85) carrier_lock_th = FLAGS_carrier_lock_th; + trk_param.carrier_lock_th = carrier_lock_th; + //################# MAKE TRACKING GNURadio object ################### if (item_type.compare("gr_complex") == 0) { diff --git a/src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.cc b/src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.cc index e4de78c22..0e95e1004 100644 --- a/src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.cc +++ b/src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.cc @@ -101,6 +101,19 @@ GalileoE5aDllPllTracking::GalileoE5aDllPllTracking( trk_param.system = 'E'; char sig_[3] = "5X"; std::memcpy(trk_param.signal, sig_, 3); + int cn0_samples = configuration->property(role + ".cn0_samples", 20); + if (FLAGS_cn0_samples != 20) cn0_samples = FLAGS_cn0_samples; + trk_param.cn0_samples = cn0_samples; + int cn0_min = configuration->property(role + ".cn0_min", 25); + if (FLAGS_cn0_min != 25) cn0_min = FLAGS_cn0_min; + trk_param.cn0_min = cn0_min; + int max_lock_fail = configuration->property(role + ".max_lock_fail", 50); + if (FLAGS_max_lock_fail != 50) max_lock_fail = FLAGS_max_lock_fail; + trk_param.max_lock_fail = max_lock_fail; + double carrier_lock_th = configuration->property(role + ".carrier_lock_th", 0.85); + if (FLAGS_carrier_lock_th != 0.85) carrier_lock_th = FLAGS_carrier_lock_th; + trk_param.carrier_lock_th = carrier_lock_th; + //################# MAKE TRACKING GNURadio object ################### if (item_type.compare("gr_complex") == 0) { diff --git a/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking_fpga.cc b/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking_fpga.cc deleted file mode 100644 index 8f6f5972c..000000000 --- a/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking_fpga.cc +++ /dev/null @@ -1,225 +0,0 @@ -/*! - * \file gps_l1_ca_dll_pll_c_aid_tracking_fpga.cc - * \brief Implementation of an adapter of a DLL+PLL tracking loop block - * for GPS L1 C/A to a TrackingInterface - * \author Marc Majoral, 2017. mmajoral(at)cttc.cat - * Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com - * Javier Arribas, 2011. jarribas(at)cttc.es - * - * Code DLL + carrier PLL according to the algorithms described in: - * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen, - * A Software-Defined GPS and Galileo Receiver. A Single-Frequency - * Approach, Birkhauser, 2007 - * - * ------------------------------------------------------------------------- - * - * Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors) - * - * GNSS-SDR is a software defined Global Navigation - * Satellite Systems receiver - * - * This file is part of GNSS-SDR. - * - * GNSS-SDR is free software: you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation, either version 3 of the License, or - * (at your option) any later version. - * - * GNSS-SDR is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with GNSS-SDR. If not, see . - * - * ------------------------------------------------------------------------- - */ - -#include "gps_l1_ca_dll_pll_c_aid_tracking_fpga.h" -#include -#include "GPS_L1_CA.h" -#include "configuration_interface.h" -#include "gnss_sdr_flags.h" - - -using google::LogMessage; - -GpsL1CaDllPllCAidTrackingFpga::GpsL1CaDllPllCAidTrackingFpga( - ConfigurationInterface* configuration, std::string role, - unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams) -{ - DLOG(INFO) << "role " << role; - //################# CONFIGURATION PARAMETERS ######################## - int fs_in; - int vector_length; - int f_if; - bool dump; - std::string dump_filename; - std::string default_item_type = "cshort"; - float pll_bw_hz; - float pll_bw_narrow_hz; - float dll_bw_hz; - float dll_bw_narrow_hz; - float early_late_space_chips; - std::string device_name; - unsigned int device_base; - - item_type_ = configuration->property(role + ".item_type", default_item_type); - int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000); - fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); - f_if = configuration->property(role + ".if", 0); - dump = configuration->property(role + ".dump", false); - pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0); - if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast(FLAGS_pll_bw_hz); - dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0); - if (FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast(FLAGS_dll_bw_hz); - pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 20.0); - dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 2.0); - int extend_correlation_ms; - extend_correlation_ms = configuration->property(role + ".extend_correlation_ms", 1); - - early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5); - std::string default_dump_filename = "./track_ch"; - dump_filename = configuration->property(role + ".dump_filename", default_dump_filename); - std::string default_device_name = "/dev/uio"; - device_name = configuration->property(role + ".devicename", default_device_name); - device_base = configuration->property(role + ".device_base", 1); - vector_length = std::round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)); - - //################# MAKE TRACKING GNURadio object ################### - - if (item_type_.compare("cshort") == 0) - { - item_size_ = sizeof(lv_16sc_t); - tracking_fpga_sc = gps_l1_ca_dll_pll_c_aid_make_tracking_fpga_sc( - f_if, fs_in, vector_length, dump, dump_filename, pll_bw_hz, - dll_bw_hz, pll_bw_narrow_hz, dll_bw_narrow_hz, - extend_correlation_ms, early_late_space_chips, device_name, - device_base); - DLOG(INFO) << "tracking(" << tracking_fpga_sc->unique_id() << ")"; - } - else - { - item_size_ = sizeof(lv_16sc_t); - // LOG(WARNING) << item_type_ << " unknown tracking item type"; - LOG(WARNING) << item_type_ - << " the tracking item type for the FPGA tracking test has to be cshort"; - } - - channel_ = 0; -} - - -GpsL1CaDllPllCAidTrackingFpga::~GpsL1CaDllPllCAidTrackingFpga() -{ - LOG(INFO) << "gspl1cadllpllcaidtrackingfpga destructor called"; -} - - -void GpsL1CaDllPllCAidTrackingFpga::start_tracking() -{ - if (item_type_.compare("cshort") == 0) - { - tracking_fpga_sc->start_tracking(); - } - else - { - // LOG(WARNING) << item_type_ << " unknown tracking item type"; - LOG(WARNING) << item_type_ - << " the tracking item type for the FPGA tracking test has to be cshort"; - } -} - - -/* - * Set tracking channel unique ID - */ -void GpsL1CaDllPllCAidTrackingFpga::set_channel(unsigned int channel) -{ - channel_ = channel; - - if (item_type_.compare("cshort") == 0) - { - tracking_fpga_sc->set_channel(channel); - } - else - { - // LOG(WARNING) << item_type_ << " unknown tracking item type"; - LOG(WARNING) << item_type_ - << " the tracking item type for the FPGA tracking test has to be cshort"; - } -} - - -void GpsL1CaDllPllCAidTrackingFpga::set_gnss_synchro( - Gnss_Synchro* p_gnss_synchro) -{ - if (item_type_.compare("cshort") == 0) - { - tracking_fpga_sc->set_gnss_synchro(p_gnss_synchro); - } - else - { - // LOG(WARNING) << item_type_ << " unknown tracking item type"; - LOG(WARNING) << item_type_ - << " the tracking item type for the FPGA tracking test has to be cshort"; - } -} - - -void GpsL1CaDllPllCAidTrackingFpga::connect(gr::top_block_sptr top_block) -{ - if (top_block) - { /* top_block is not null */ - }; - //nothing to connect, now the tracking uses gr_sync_decimator -} - - -void GpsL1CaDllPllCAidTrackingFpga::disconnect(gr::top_block_sptr top_block) -{ - if (top_block) - { /* top_block is not null */ - }; - //nothing to disconnect, now the tracking uses gr_sync_decimator -} - - -// CONVERT TO SOURCE -gr::basic_block_sptr GpsL1CaDllPllCAidTrackingFpga::get_left_block() -{ - if (item_type_.compare("cshort") == 0) - { - return tracking_fpga_sc; - } - else - { - //LOG(WARNING) << item_type_ << " unknown tracking item type"; - LOG(WARNING) << item_type_ - << " the tracking item type for the FPGA tracking test has to be cshort"; - return nullptr; - } -} - - -gr::basic_block_sptr GpsL1CaDllPllCAidTrackingFpga::get_right_block() -{ - if (item_type_.compare("cshort") == 0) - { - return tracking_fpga_sc; - } - else - { - //LOG(WARNING) << item_type_ << " unknown tracking item type"; - LOG(WARNING) << item_type_ - << " the tracking item type for the FPGA tracking test has to be cshort"; - return nullptr; - } -} - - -void GpsL1CaDllPllCAidTrackingFpga::reset(void) -{ - tracking_fpga_sc->reset(); -} diff --git a/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking.cc b/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking.cc index c43c1de8a..f0257d5b8 100644 --- a/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking.cc +++ b/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking.cc @@ -105,6 +105,19 @@ GpsL1CaDllPllTracking::GpsL1CaDllPllTracking( trk_param.system = 'G'; char sig_[3] = "1C"; std::memcpy(trk_param.signal, sig_, 3); + int cn0_samples = configuration->property(role + ".cn0_samples", 20); + if (FLAGS_cn0_samples != 20) cn0_samples = FLAGS_cn0_samples; + trk_param.cn0_samples = cn0_samples; + int cn0_min = configuration->property(role + ".cn0_min", 25); + if (FLAGS_cn0_min != 25) cn0_min = FLAGS_cn0_min; + trk_param.cn0_min = cn0_min; + int max_lock_fail = configuration->property(role + ".max_lock_fail", 50); + if (FLAGS_max_lock_fail != 50) max_lock_fail = FLAGS_max_lock_fail; + trk_param.max_lock_fail = max_lock_fail; + double carrier_lock_th = configuration->property(role + ".carrier_lock_th", 0.85); + if (FLAGS_carrier_lock_th != 0.85) carrier_lock_th = FLAGS_carrier_lock_th; + trk_param.carrier_lock_th = carrier_lock_th; + //################# MAKE TRACKING GNURadio object ################### if (item_type.compare("gr_complex") == 0) { diff --git a/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_fpga.cc b/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_fpga.cc new file mode 100644 index 000000000..77f667407 --- /dev/null +++ b/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_fpga.cc @@ -0,0 +1,162 @@ +/*! + * \file gps_l1_ca_dll_pll_tracking.cc + * \brief Implementation of an adapter of a DLL+PLL tracking loop block + * for GPS L1 C/A to a TrackingInterface + * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com + * Javier Arribas, 2011. jarribas(at)cttc.es + * + * Code DLL + carrier PLL according to the algorithms described in: + * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen, + * A Software-Defined GPS and Galileo Receiver. A Single-Frequency + * Approach, Birkhauser, 2007 + * + * ------------------------------------------------------------------------- + * + * Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors) + * + * GNSS-SDR is a software defined Global Navigation + * Satellite Systems receiver + * + * This file is part of GNSS-SDR. + * + * GNSS-SDR is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * GNSS-SDR is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with GNSS-SDR. If not, see . + * + * ------------------------------------------------------------------------- + */ + + +#include "gps_l1_ca_dll_pll_tracking_fpga.h" +#include "configuration_interface.h" +#include "GPS_L1_CA.h" +#include + + +using google::LogMessage; + +GpsL1CaDllPllTrackingFpga::GpsL1CaDllPllTrackingFpga( + ConfigurationInterface* configuration, std::string role, + unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams) +{ + DLOG(INFO) << "role " << role; + //################# CONFIGURATION PARAMETERS ######################## + int fs_in; + int vector_length; + int f_if; + bool dump; + std::string dump_filename; + std::string item_type; + //std::string default_item_type = "gr_complex"; + std::string default_item_type = "cshort"; + float pll_bw_hz; + float dll_bw_hz; + float early_late_space_chips; + item_type = configuration->property(role + ".item_type", default_item_type); + int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000); + std::string device_name; + unsigned int device_base; + std::string default_device_name = "/dev/uio"; + device_name = configuration->property(role + ".devicename", default_device_name); + device_base = configuration->property(role + ".device_base", 1); + fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); + f_if = configuration->property(role + ".if", 0); + dump = configuration->property(role + ".dump", false); + pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0); + dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0); + early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5); + std::string default_dump_filename = "./track_ch"; + dump_filename = configuration->property(role + ".dump_filename", default_dump_filename); //unused! + vector_length = std::round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)); + if (item_type.compare("cshort") == 0) + { + item_size_ = sizeof(lv_16sc_t); + tracking_fpga_sc = gps_l1_ca_dll_pll_make_tracking_fpga_sc( + f_if, fs_in, vector_length, dump, dump_filename, pll_bw_hz, + dll_bw_hz, early_late_space_chips, device_name, + device_base); + DLOG(INFO) << "tracking(" << tracking_fpga_sc->unique_id() + << ")"; + } + else + { + item_size_ = sizeof(lv_16sc_t); + // LOG(WARNING) << item_type_ << " unknown tracking item type"; + LOG(WARNING) << item_type + << " the tracking item type for the FPGA tracking test has to be cshort"; + } + channel_ = 0; + DLOG(INFO) << "tracking(" << tracking_fpga_sc->unique_id() << ")"; +} + + +GpsL1CaDllPllTrackingFpga::~GpsL1CaDllPllTrackingFpga() +{ +} + + +void GpsL1CaDllPllTrackingFpga::start_tracking() +{ + tracking_fpga_sc->start_tracking(); +} + + +/* + * Set tracking channel unique ID + */ +void GpsL1CaDllPllTrackingFpga::set_channel(unsigned int channel) +{ + channel_ = channel; + tracking_fpga_sc->set_channel(channel); +} + + +void GpsL1CaDllPllTrackingFpga::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) +{ + tracking_fpga_sc->set_gnss_synchro(p_gnss_synchro); +} + + +void GpsL1CaDllPllTrackingFpga::connect(gr::top_block_sptr top_block) +{ + if (top_block) + { /* top_block is not null */ + }; + //nothing to connect, now the tracking uses gr_sync_decimator +} + + +void GpsL1CaDllPllTrackingFpga::disconnect(gr::top_block_sptr top_block) +{ + if (top_block) + { /* top_block is not null */ + }; + //nothing to disconnect, now the tracking uses gr_sync_decimator +} + + +gr::basic_block_sptr GpsL1CaDllPllTrackingFpga::get_left_block() +{ + return tracking_fpga_sc; +} + + +gr::basic_block_sptr GpsL1CaDllPllTrackingFpga::get_right_block() +{ + return tracking_fpga_sc; +} + + +void GpsL1CaDllPllTrackingFpga::reset(void) +{ + // tracking_fpga_sc->reset(); +} diff --git a/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking_fpga.h b/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_fpga.h similarity index 73% rename from src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking_fpga.h rename to src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_fpga.h index e61c7c57b..0abb88220 100644 --- a/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking_fpga.h +++ b/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_fpga.h @@ -1,9 +1,8 @@ /*! - * \file gps_l1_ca_dll_pll_c_aid_tracking_fpga.h + * \file gps_l1_ca_dll_pll_tracking.h * \brief Interface of an adapter of a DLL+PLL tracking loop block * for GPS L1 C/A to a TrackingInterface - * \author Marc Majoral, 2017. mmajoral(at)cttc.cat - * Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com + * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com * Javier Arribas, 2011. jarribas(at)cttc.es * * Code DLL + carrier PLL according to the algorithms described in: @@ -13,7 +12,7 @@ * * ------------------------------------------------------------------------- * - * Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors) + * Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors) * * GNSS-SDR is a software defined Global Navigation * Satellite Systems receiver @@ -36,36 +35,38 @@ * ------------------------------------------------------------------------- */ -#ifndef GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_FPGA__H_ -#define GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_FPGA__H_ +#ifndef GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_FPGA_H_ +#define GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_FPGA_H_ + -#include #include "tracking_interface.h" -#include "gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.h" +#include "gps_l1_ca_dll_pll_tracking_fpga_sc.h" +#include class ConfigurationInterface; /*! * \brief This class implements a code DLL + carrier PLL tracking loop */ -class GpsL1CaDllPllCAidTrackingFpga : public TrackingInterface +class GpsL1CaDllPllTrackingFpga : public TrackingInterface { public: - GpsL1CaDllPllCAidTrackingFpga(ConfigurationInterface* configuration, - std::string role, unsigned int in_streams, + GpsL1CaDllPllTrackingFpga(ConfigurationInterface* configuration, + std::string role, + unsigned int in_streams, unsigned int out_streams); - virtual ~GpsL1CaDllPllCAidTrackingFpga(); + virtual ~GpsL1CaDllPllTrackingFpga(); inline std::string role() override { return role_; } - //! Returns "GPS_L1_CA_DLL_PLL_C_Aid_Tracking_Fpga" + //! Returns "GPS_L1_CA_DLL_PLL_Tracking_Fpga" inline std::string implementation() override { - return "GPS_L1_CA_DLL_PLL_C_Aid_Tracking_Fpga"; + return "GPS_L1_CA_DLL_PLL_Tracking_Fpga"; } inline size_t item_size() override @@ -75,7 +76,6 @@ public: void connect(gr::top_block_sptr top_block) override; void disconnect(gr::top_block_sptr top_block) override; - // CONVERT TO SOURCE gr::basic_block_sptr get_left_block() override; gr::basic_block_sptr get_right_block() override; @@ -95,13 +95,13 @@ public: void reset(void); private: - gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc_sptr tracking_fpga_sc; + //gps_l1_ca_dll_pll_tracking_cc_sptr tracking_; + gps_l1_ca_dll_pll_tracking_fpga_sc_sptr tracking_fpga_sc; size_t item_size_; - std::string item_type_; unsigned int channel_; std::string role_; unsigned int in_streams_; unsigned int out_streams_; }; -#endif // GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_FPGA__H_ +#endif // GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_FPGA_H_ diff --git a/src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.cc b/src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.cc index 7ed9444a6..794983979 100644 --- a/src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.cc +++ b/src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.cc @@ -92,6 +92,19 @@ GpsL2MDllPllTracking::GpsL2MDllPllTracking( trk_param.system = 'G'; char sig_[3] = "2S"; std::memcpy(trk_param.signal, sig_, 3); + int cn0_samples = configuration->property(role + ".cn0_samples", 20); + if (FLAGS_cn0_samples != 20) cn0_samples = FLAGS_cn0_samples; + trk_param.cn0_samples = cn0_samples; + int cn0_min = configuration->property(role + ".cn0_min", 25); + if (FLAGS_cn0_min != 25) cn0_min = FLAGS_cn0_min; + trk_param.cn0_min = cn0_min; + int max_lock_fail = configuration->property(role + ".max_lock_fail", 50); + if (FLAGS_max_lock_fail != 50) max_lock_fail = FLAGS_max_lock_fail; + trk_param.max_lock_fail = max_lock_fail; + double carrier_lock_th = configuration->property(role + ".carrier_lock_th", 0.85); + if (FLAGS_carrier_lock_th != 0.85) carrier_lock_th = FLAGS_carrier_lock_th; + trk_param.carrier_lock_th = carrier_lock_th; + //################# MAKE TRACKING GNURadio object ################### if (item_type.compare("gr_complex") == 0) { diff --git a/src/algorithms/tracking/adapters/gps_l5i_dll_pll_tracking.cc b/src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking.cc similarity index 81% rename from src/algorithms/tracking/adapters/gps_l5i_dll_pll_tracking.cc rename to src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking.cc index 38ab6f55e..f41797fe6 100644 --- a/src/algorithms/tracking/adapters/gps_l5i_dll_pll_tracking.cc +++ b/src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking.cc @@ -1,7 +1,7 @@ /*! - * \file gps_l5i_dll_pll_tracking.cc + * \file gps_l5_dll_pll_tracking.cc * \brief Interface of an adapter of a DLL+PLL tracking loop block - * for GPS L5i to a TrackingInterface + * for GPS L5 to a TrackingInterface * \author Javier Arribas, 2017. jarribas(at)cttc.es * * Code DLL + carrier PLL according to the algorithms described in: @@ -35,7 +35,7 @@ */ -#include "gps_l5i_dll_pll_tracking.h" +#include "gps_l5_dll_pll_tracking.h" #include "configuration_interface.h" #include "GPS_L5.h" #include "gnss_sdr_flags.h" @@ -45,7 +45,7 @@ using google::LogMessage; -GpsL5iDllPllTracking::GpsL5iDllPllTracking( +GpsL5DllPllTracking::GpsL5DllPllTracking( ConfigurationInterface* configuration, std::string role, unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams) { @@ -101,6 +101,19 @@ GpsL5iDllPllTracking::GpsL5iDllPllTracking( trk_param.system = 'G'; char sig_[3] = "L5"; std::memcpy(trk_param.signal, sig_, 3); + int cn0_samples = configuration->property(role + ".cn0_samples", 20); + if (FLAGS_cn0_samples != 20) cn0_samples = FLAGS_cn0_samples; + trk_param.cn0_samples = cn0_samples; + int cn0_min = configuration->property(role + ".cn0_min", 25); + if (FLAGS_cn0_min != 25) cn0_min = FLAGS_cn0_min; + trk_param.cn0_min = cn0_min; + int max_lock_fail = configuration->property(role + ".max_lock_fail", 50); + if (FLAGS_max_lock_fail != 50) max_lock_fail = FLAGS_max_lock_fail; + trk_param.max_lock_fail = max_lock_fail; + double carrier_lock_th = configuration->property(role + ".carrier_lock_th", 0.85); + if (FLAGS_carrier_lock_th != 0.85) carrier_lock_th = FLAGS_carrier_lock_th; + trk_param.carrier_lock_th = carrier_lock_th; + //################# MAKE TRACKING GNURadio object ################### if (item_type.compare("gr_complex") == 0) { @@ -117,12 +130,12 @@ GpsL5iDllPllTracking::GpsL5iDllPllTracking( } -GpsL5iDllPllTracking::~GpsL5iDllPllTracking() +GpsL5DllPllTracking::~GpsL5DllPllTracking() { } -void GpsL5iDllPllTracking::start_tracking() +void GpsL5DllPllTracking::start_tracking() { tracking_->start_tracking(); } @@ -131,20 +144,20 @@ void GpsL5iDllPllTracking::start_tracking() /* * Set tracking channel unique ID */ -void GpsL5iDllPllTracking::set_channel(unsigned int channel) +void GpsL5DllPllTracking::set_channel(unsigned int channel) { channel_ = channel; tracking_->set_channel(channel); } -void GpsL5iDllPllTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) +void GpsL5DllPllTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) { tracking_->set_gnss_synchro(p_gnss_synchro); } -void GpsL5iDllPllTracking::connect(gr::top_block_sptr top_block) +void GpsL5DllPllTracking::connect(gr::top_block_sptr top_block) { if (top_block) { /* top_block is not null */ @@ -153,7 +166,7 @@ void GpsL5iDllPllTracking::connect(gr::top_block_sptr top_block) } -void GpsL5iDllPllTracking::disconnect(gr::top_block_sptr top_block) +void GpsL5DllPllTracking::disconnect(gr::top_block_sptr top_block) { if (top_block) { /* top_block is not null */ @@ -162,13 +175,13 @@ void GpsL5iDllPllTracking::disconnect(gr::top_block_sptr top_block) } -gr::basic_block_sptr GpsL5iDllPllTracking::get_left_block() +gr::basic_block_sptr GpsL5DllPllTracking::get_left_block() { return tracking_; } -gr::basic_block_sptr GpsL5iDllPllTracking::get_right_block() +gr::basic_block_sptr GpsL5DllPllTracking::get_right_block() { return tracking_; } diff --git a/src/algorithms/tracking/adapters/gps_l5i_dll_pll_tracking.h b/src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking.h similarity index 85% rename from src/algorithms/tracking/adapters/gps_l5i_dll_pll_tracking.h rename to src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking.h index 31a6d41f9..119776b9f 100644 --- a/src/algorithms/tracking/adapters/gps_l5i_dll_pll_tracking.h +++ b/src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking.h @@ -1,7 +1,7 @@ /*! - * \file gps_l5idll_pll_tracking.h + * \file gps_l5_dll_pll_tracking.h * \brief Interface of an adapter of a DLL+PLL tracking loop block - * for GPS L5i to a TrackingInterface + * for GPS L5 to a TrackingInterface * \author Javier Arribas, 2017. jarribas(at)cttc.es * * Code DLL + carrier PLL according to the algorithms described in: @@ -34,8 +34,8 @@ * ------------------------------------------------------------------------- */ -#ifndef GNSS_SDR_GPS_L5i_DLL_PLL_TRACKING_H_ -#define GNSS_SDR_GPS_L5i_DLL_PLL_TRACKING_H_ +#ifndef GNSS_SDR_GPS_L5_DLL_PLL_TRACKING_H_ +#define GNSS_SDR_GPS_L5_DLL_PLL_TRACKING_H_ #include "tracking_interface.h" #include "dll_pll_veml_tracking.h" @@ -46,25 +46,25 @@ class ConfigurationInterface; /*! * \brief This class implements a code DLL + carrier PLL tracking loop */ -class GpsL5iDllPllTracking : public TrackingInterface +class GpsL5DllPllTracking : public TrackingInterface { public: - GpsL5iDllPllTracking(ConfigurationInterface* configuration, + GpsL5DllPllTracking(ConfigurationInterface* configuration, std::string role, unsigned int in_streams, unsigned int out_streams); - virtual ~GpsL5iDllPllTracking(); + virtual ~GpsL5DllPllTracking(); inline std::string role() override { return role_; } - //! Returns "GPS_L5i_DLL_PLL_Tracking" + //! Returns "GPS_L5_DLL_PLL_Tracking" inline std::string implementation() override { - return "GPS_L5i_DLL_PLL_Tracking"; + return "GPS_L5_DLL_PLL_Tracking"; } inline size_t item_size() override @@ -99,4 +99,4 @@ private: unsigned int out_streams_; }; -#endif // GNSS_SDR_GPS_L5i_DLL_PLL_TRACKING_H_ +#endif // GNSS_SDR_GPS_L5_DLL_PLL_TRACKING_H_ diff --git a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt index 9c16b48a4..6b322d253 100644 --- a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt +++ b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt @@ -23,7 +23,7 @@ if(ENABLE_CUDA) endif(ENABLE_CUDA) if(ENABLE_FPGA) - set(OPT_TRACKING_BLOCKS ${OPT_TRACKING_BLOCKS} gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.cc) + set(OPT_TRACKING_BLOCKS ${OPT_TRACKING_BLOCKS} gps_l1_ca_dll_pll_tracking_fpga_sc.cc) endif(ENABLE_FPGA) set(TRACKING_GR_BLOCKS_SOURCES diff --git a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc index 4ae6f8195..372aec4ff 100755 --- a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc +++ b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc @@ -48,7 +48,6 @@ #include "gps_l2c_signal.h" #include "GPS_L5.h" #include "gps_l5_signal.h" -#include "gnss_sdr_flags.h" #include #include #include @@ -82,7 +81,6 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(dllpllconf_t conf_) : gr::block("dl { trk_parameters = conf_; // Telemetry bit synchronization message port input - this->message_port_register_in(pmt::mp("preamble_timestamp_s")); this->message_port_register_out(pmt::mp("events")); this->set_relative_rate(1.0 / static_cast(trk_parameters.vector_length)); @@ -94,6 +92,18 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(dllpllconf_t conf_) : gr::block("dl d_secondary_code_length = 0; d_secondary_code_string = nullptr; signal_type = std::string(trk_parameters.signal); + + std::map map_signal_pretty_name; + map_signal_pretty_name["1C"] = "L1 C/A"; + map_signal_pretty_name["1B"] = "E1"; + map_signal_pretty_name["1G"] = "L1 C/A"; + map_signal_pretty_name["2S"] = "L2C"; + map_signal_pretty_name["2G"] = "L2 C/A"; + map_signal_pretty_name["5X"] = "E5a"; + map_signal_pretty_name["L5"] = "L5"; + + signal_pretty_name = map_signal_pretty_name[signal_type]; + if (trk_parameters.system == 'G') { systemName = "GPS"; @@ -134,18 +144,19 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(dllpllconf_t conf_) : gr::block("dl d_correlation_length_ms = 1; d_code_samples_per_chip = 1; d_code_length_chips = static_cast(GPS_L5i_CODE_LENGTH_CHIPS); - // GPS L5 does not have pilot secondary code d_secondary = true; if (trk_parameters.track_pilot) { d_secondary_code_length = static_cast(GPS_L5q_NH_CODE_LENGTH); d_secondary_code_string = const_cast(&GPS_L5q_NH_CODE_STR); + signal_pretty_name = signal_pretty_name + "Q"; interchange_iq = true; } else { d_secondary_code_length = static_cast(GPS_L5i_NH_CODE_LENGTH); d_secondary_code_string = const_cast(&GPS_L5i_NH_CODE_STR); + signal_pretty_name = signal_pretty_name + "I"; interchange_iq = false; } } @@ -181,10 +192,12 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(dllpllconf_t conf_) : gr::block("dl d_secondary = true; d_secondary_code_length = static_cast(Galileo_E1_C_SECONDARY_CODE_LENGTH); d_secondary_code_string = const_cast(&Galileo_E1_C_SECONDARY_CODE); + signal_pretty_name = signal_pretty_name + "C"; } else { d_secondary = false; + signal_pretty_name = signal_pretty_name + "B"; } interchange_iq = false; // Note that E1-B and E1-C are in anti-phase, NOT IN QUADRATURE. See Galileo ICD. } @@ -200,14 +213,16 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(dllpllconf_t conf_) : gr::block("dl d_secondary = true; if (trk_parameters.track_pilot) { - interchange_iq = true; d_secondary_code_length = static_cast(Galileo_E5a_Q_SECONDARY_CODE_LENGTH); + signal_pretty_name = signal_pretty_name + "Q"; + interchange_iq = true; } else { - interchange_iq = false; d_secondary_code_length = static_cast(Galileo_E5a_I_SECONDARY_CODE_LENGTH); d_secondary_code_string = const_cast(&Galileo_E5a_I_SECONDARY_CODE); + signal_pretty_name = signal_pretty_name + "I"; + interchange_iq = false; } } else @@ -339,11 +354,11 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(dllpllconf_t conf_) : gr::block("dl // CN0 estimation and lock detector buffers d_cn0_estimation_counter = 0; - d_Prompt_buffer = new gr_complex[FLAGS_cn0_samples]; + d_Prompt_buffer = new gr_complex[trk_parameters.cn0_samples]; d_carrier_lock_test = 1.0; d_CN0_SNV_dB_Hz = 0.0; d_carrier_lock_fail_counter = 0; - d_carrier_lock_threshold = FLAGS_carrier_lock_th; + d_carrier_lock_threshold = trk_parameters.carrier_lock_th; clear_tracking_vars(); @@ -504,7 +519,7 @@ void dll_pll_veml_tracking::start_tracking() d_code_loop_filter.set_pdi(static_cast(d_code_period)); // DEBUG OUTPUT - std::cout << "Tracking of " << systemName << " " << signal_type << " signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl; + std::cout << "Tracking of " << systemName << " " << signal_pretty_name << " signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl; LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; // enable tracking pull-in @@ -606,10 +621,11 @@ bool dll_pll_veml_tracking::acquire_secondary() } -bool dll_pll_veml_tracking::cn0_and_tracking_lock_status() +bool dll_pll_veml_tracking::cn0_and_tracking_lock_status(double coh_integration_time_s) { // ####### CN0 ESTIMATION AND LOCK DETECTORS ###### - if (d_cn0_estimation_counter < FLAGS_cn0_samples) + + if (d_cn0_estimation_counter < trk_parameters.cn0_samples) { // fill buffer with prompt correlator output values d_Prompt_buffer[d_cn0_estimation_counter] = d_P_accu; @@ -620,11 +636,11 @@ bool dll_pll_veml_tracking::cn0_and_tracking_lock_status() { d_cn0_estimation_counter = 0; // Code lock indicator - d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, FLAGS_cn0_samples, static_cast(trk_parameters.fs_in), static_cast(d_code_length_chips)); + d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, trk_parameters.cn0_samples, coh_integration_time_s); // Carrier lock indicator - d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, FLAGS_cn0_samples); + d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, trk_parameters.cn0_samples); // Loss of lock detection - if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < FLAGS_cn0_min) + if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < trk_parameters.cn0_min) { d_carrier_lock_fail_counter++; } @@ -632,7 +648,7 @@ bool dll_pll_veml_tracking::cn0_and_tracking_lock_status() { if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--; } - if (d_carrier_lock_fail_counter > FLAGS_max_lock_fail) + if (d_carrier_lock_fail_counter > trk_parameters.max_lock_fail) { std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl; LOG(INFO) << "Loss of lock in channel " << d_channel << "!"; @@ -1233,7 +1249,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused) d_L_accu = *d_Late; // Check lock status - if (!cn0_and_tracking_lock_status()) + if (!cn0_and_tracking_lock_status(d_code_period)) { clear_tracking_vars(); d_state = 0; // loss-of-lock detected @@ -1256,8 +1272,8 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused) next_state = acquire_secondary(); if (next_state) { - std::cout << "Secondary code locked for CH " << d_channel - << " : 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(); @@ -1318,12 +1334,12 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused) d_carrier_loop_filter.set_pdi(new_correlation_time); d_code_loop_filter.set_pdi(new_correlation_time); d_state = 3; // next state is the extended correlator integrator - LOG(INFO) << "Enabled " << trk_parameters.extend_correlation_symbols << " [symbols] extended correlator for CH " + LOG(INFO) << "Enabled " << trk_parameters.extend_correlation_symbols * static_cast(d_code_period * 1000.0) << " ms extended correlator in channel " << d_channel - << " : Satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN); - std::cout << "Enabled " << trk_parameters.extend_correlation_symbols << " [symbols] extended correlator for CH " + << " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN); + std::cout << "Enabled " << trk_parameters.extend_correlation_symbols * static_cast(d_code_period * 1000.0) << " ms extended correlator in channel " << d_channel - << " : Satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl; + << " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl; // Set narrow taps delay values [chips] d_code_loop_filter.set_DLL_BW(trk_parameters.dll_bw_narrow_hz); d_carrier_loop_filter.set_PLL_BW(trk_parameters.pll_bw_narrow_hz); @@ -1411,7 +1427,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused) save_correlation_results(); // check lock status - if (!cn0_and_tracking_lock_status()) + if (!cn0_and_tracking_lock_status(d_code_period * static_cast(trk_parameters.extend_correlation_symbols))) { clear_tracking_vars(); d_state = 0; // loss-of-lock detected diff --git a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h index e9e41ccbc..5a77abe40 100755 --- a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h +++ b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.h @@ -38,6 +38,7 @@ #include #include #include +#include typedef struct { @@ -55,6 +56,10 @@ typedef struct float early_late_space_narrow_chips; float very_early_late_space_narrow_chips; int extend_correlation_symbols; + int cn0_samples; + int cn0_min; + int max_lock_fail; + double carrier_lock_th; bool track_pilot; char system; char signal[3]; @@ -88,7 +93,7 @@ private: dll_pll_veml_tracking(dllpllconf_t conf_); - bool cn0_and_tracking_lock_status(); + bool cn0_and_tracking_lock_status(double coh_integration_time_s); bool acquire_secondary(); void do_correlation_step(const gr_complex *input_samples); void run_dll_pll(); @@ -118,6 +123,7 @@ private: std::string systemName; std::string signal_type; std::string *d_secondary_code_string; + std::string signal_pretty_name; //tracking state machine int d_state; diff --git a/src/algorithms/tracking/gnuradio_blocks/galileo_e1_tcp_connector_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/galileo_e1_tcp_connector_tracking_cc.cc index a7c0062a2..0c08b79b2 100644 --- a/src/algorithms/tracking/gnuradio_blocks/galileo_e1_tcp_connector_tracking_cc.cc +++ b/src/algorithms/tracking/gnuradio_blocks/galileo_e1_tcp_connector_tracking_cc.cc @@ -99,8 +99,6 @@ Galileo_E1_Tcp_Connector_Tracking_cc::Galileo_E1_Tcp_Connector_Tracking_cc( size_t port_ch0) : gr::block("Galileo_E1_Tcp_Connector_Tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)), gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) { - // Telemetry bit synchronization message port input - this->message_port_register_in(pmt::mp("preamble_timestamp_s")); this->message_port_register_out(pmt::mp("events")); this->set_relative_rate(1.0 / vector_length); // initialize internal vars @@ -224,7 +222,7 @@ void Galileo_E1_Tcp_Connector_Tracking_cc::start_tracking() // DEBUG OUTPUT std::cout << "Tracking of Galileo E1 signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl; - LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; + LOG(INFO) << "Tracking of Galileo E1 signal for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; // enable tracking d_pull_in = true; @@ -263,6 +261,45 @@ Galileo_E1_Tcp_Connector_Tracking_cc::~Galileo_E1_Tcp_Connector_Tracking_cc() } +void Galileo_E1_Tcp_Connector_Tracking_cc::set_channel(unsigned int channel) +{ + d_channel = channel; + LOG(INFO) << "Tracking Channel set to " << d_channel; + // ############# ENABLE DATA FILE LOG ################# + if (d_dump == true) + { + if (d_dump_file.is_open() == false) + { + try + { + d_dump_filename.append(boost::lexical_cast(d_channel)); + d_dump_filename.append(".dat"); + d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); + d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); + LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); + } + catch (const std::ifstream::failure &e) + { + LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what(); + } + } + } + + //! Listen for connections on a TCP port + if (d_listen_connection == true) + { + d_port = d_port_ch0 + d_channel; + d_listen_connection = d_tcp_com.listen_tcp_connection(d_port, d_port_ch0); + } +} + + +void Galileo_E1_Tcp_Connector_Tracking_cc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro) +{ + d_acquisition_gnss_synchro = p_gnss_synchro; +} + + int Galileo_E1_Tcp_Connector_Tracking_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { @@ -381,7 +418,7 @@ int Galileo_E1_Tcp_Connector_Tracking_cc::general_work(int noutput_items __attri d_cn0_estimation_counter = 0; // Code lock indicator - d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, FLAGS_cn0_samples, d_fs_in, Galileo_E1_B_CODE_LENGTH_CHIPS); + d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, FLAGS_cn0_samples, Galileo_E1_CODE_PERIOD); // Carrier lock indicator d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, FLAGS_cn0_samples); @@ -514,42 +551,3 @@ int Galileo_E1_Tcp_Connector_Tracking_cc::general_work(int noutput_items __attri return 0; } } - - -void Galileo_E1_Tcp_Connector_Tracking_cc::set_channel(unsigned int channel) -{ - d_channel = channel; - LOG(INFO) << "Tracking Channel set to " << d_channel; - // ############# ENABLE DATA FILE LOG ################# - if (d_dump == true) - { - if (d_dump_file.is_open() == false) - { - try - { - d_dump_filename.append(boost::lexical_cast(d_channel)); - d_dump_filename.append(".dat"); - d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); - d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); - LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); - } - catch (const std::ifstream::failure &e) - { - LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what(); - } - } - } - - //! Listen for connections on a TCP port - if (d_listen_connection == true) - { - d_port = d_port_ch0 + d_channel; - d_listen_connection = d_tcp_com.listen_tcp_connection(d_port, d_port_ch0); - } -} - - -void Galileo_E1_Tcp_Connector_Tracking_cc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro) -{ - d_acquisition_gnss_synchro = p_gnss_synchro; -} diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc index df57be51e..b492cc5ed 100644 --- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc +++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc @@ -295,8 +295,8 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_cc::start_tracking() sys = sys_.substr(0, 1); // DEBUG OUTPUT - std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl; - LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; + std::cout << "Tracking of GLONASS L1 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl; + LOG(INFO) << "Tracking of GLONASS L1 C/A signal for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; // enable tracking d_pull_in = true; @@ -558,6 +558,38 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_cc::save_matfile() } +void glonass_l1_ca_dll_pll_c_aid_tracking_cc::set_channel(unsigned int channel) +{ + d_channel = channel; + LOG(INFO) << "Tracking Channel set to " << d_channel; + // ############# ENABLE DATA FILE LOG ################# + if (d_dump == true) + { + if (d_dump_file.is_open() == false) + { + try + { + d_dump_filename.append(boost::lexical_cast(d_channel)); + d_dump_filename.append(".dat"); + d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); + d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); + LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl; + } + catch (const std::ifstream::failure *e) + { + LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what() << std::endl; + } + } + } +} + + +void glonass_l1_ca_dll_pll_c_aid_tracking_cc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro) +{ + d_acquisition_gnss_synchro = p_gnss_synchro; +} + + int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { @@ -762,7 +794,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at { d_cn0_estimation_counter = 0; // Code lock indicator - d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GLONASS_L1_CA_CODE_LENGTH_CHIPS); + d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, GLONASS_L1_CA_CODE_PERIOD); // Carrier lock indicator d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES); // Loss of lock detection @@ -895,35 +927,3 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false } - - -void glonass_l1_ca_dll_pll_c_aid_tracking_cc::set_channel(unsigned int channel) -{ - d_channel = channel; - LOG(INFO) << "Tracking Channel set to " << d_channel; - // ############# ENABLE DATA FILE LOG ################# - if (d_dump == true) - { - if (d_dump_file.is_open() == false) - { - try - { - d_dump_filename.append(boost::lexical_cast(d_channel)); - d_dump_filename.append(".dat"); - d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); - d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); - LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl; - } - catch (const std::ifstream::failure *e) - { - LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what() << std::endl; - } - } - } -} - - -void glonass_l1_ca_dll_pll_c_aid_tracking_cc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro) -{ - d_acquisition_gnss_synchro = p_gnss_synchro; -} diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc index 313756921..1f429eee3 100644 --- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc +++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc @@ -49,7 +49,6 @@ #include #include #include -#include #include #include #include @@ -292,8 +291,8 @@ void glonass_l1_ca_dll_pll_c_aid_tracking_sc::start_tracking() sys = sys_.substr(0, 1); // DEBUG OUTPUT - std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl; - LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; + std::cout << "Tracking of GLONASS L1 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl; + LOG(INFO) << "Tracking of GLONASS L1 C/A signal for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; // enable tracking d_pull_in = true; @@ -551,6 +550,38 @@ glonass_l1_ca_dll_pll_c_aid_tracking_sc::~glonass_l1_ca_dll_pll_c_aid_tracking_s } +void glonass_l1_ca_dll_pll_c_aid_tracking_sc::set_channel(unsigned int channel) +{ + d_channel = channel; + LOG(INFO) << "Tracking Channel set to " << d_channel; + // ############# ENABLE DATA FILE LOG ################# + if (d_dump == true) + { + if (d_dump_file.is_open() == false) + { + try + { + d_dump_filename.append(boost::lexical_cast(d_channel)); + d_dump_filename.append(".dat"); + d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); + d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); + LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl; + } + catch (const std::ifstream::failure *e) + { + LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what() << std::endl; + } + } + } +} + + +void glonass_l1_ca_dll_pll_c_aid_tracking_sc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro) +{ + d_acquisition_gnss_synchro = p_gnss_synchro; +} + + int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { @@ -753,7 +784,7 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at { d_cn0_estimation_counter = 0; // Code lock indicator - d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GLONASS_L1_CA_CODE_LENGTH_CHIPS); + d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, GLONASS_L1_CA_CODE_PERIOD); // Carrier lock indicator d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES); // Loss of lock detection @@ -886,35 +917,3 @@ int glonass_l1_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false } - - -void glonass_l1_ca_dll_pll_c_aid_tracking_sc::set_channel(unsigned int channel) -{ - d_channel = channel; - LOG(INFO) << "Tracking Channel set to " << d_channel; - // ############# ENABLE DATA FILE LOG ################# - if (d_dump == true) - { - if (d_dump_file.is_open() == false) - { - try - { - d_dump_filename.append(boost::lexical_cast(d_channel)); - d_dump_filename.append(".dat"); - d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); - d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); - LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl; - } - catch (const std::ifstream::failure *e) - { - LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what() << std::endl; - } - } - } -} - - -void glonass_l1_ca_dll_pll_c_aid_tracking_sc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro) -{ - d_acquisition_gnss_synchro = p_gnss_synchro; -} diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h index 8a26c0e73..11ed0e145 100644 --- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h +++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.h @@ -47,7 +47,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc index d35b6159c..2f09fec63 100644 --- a/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc +++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_tracking_cc.cc @@ -94,8 +94,6 @@ Glonass_L1_Ca_Dll_Pll_Tracking_cc::Glonass_L1_Ca_Dll_Pll_Tracking_cc( float early_late_space_chips) : gr::block("Glonass_L1_Ca_Dll_Pll_Tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)), gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) { - // Telemetry bit synchronization message port input - this->message_port_register_in(pmt::mp("preamble_timestamp_s")); this->message_port_register_out(pmt::mp("events")); // initialize internal vars @@ -253,7 +251,7 @@ void Glonass_L1_Ca_Dll_Pll_Tracking_cc::start_tracking() // DEBUG OUTPUT std::cout << "Tracking of GLONASS L1 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl; - LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; + LOG(INFO) << "Tracking of GLONASS L1 C/A signal for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; // enable tracking d_pull_in = true; @@ -512,6 +510,38 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::save_matfile() } +void Glonass_L1_Ca_Dll_Pll_Tracking_cc::set_channel(unsigned int channel) +{ + d_channel = channel; + LOG(INFO) << "Tracking Channel set to " << d_channel; + // ############# ENABLE DATA FILE LOG ################# + if (d_dump == true) + { + if (d_dump_file.is_open() == false) + { + try + { + d_dump_filename.append(boost::lexical_cast(d_channel)); + d_dump_filename.append(".dat"); + d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); + d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); + LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); + } + catch (const std::ifstream::failure &e) + { + LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what(); + } + } + } +} + + +void Glonass_L1_Ca_Dll_Pll_Tracking_cc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro) +{ + d_acquisition_gnss_synchro = p_gnss_synchro; +} + + int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { @@ -622,7 +652,7 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribut { d_cn0_estimation_counter = 0; // Code lock indicator - d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GLONASS_L1_CA_CODE_LENGTH_CHIPS); + d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, GLONASS_L1_CA_CODE_PERIOD); // Carrier lock indicator d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES); // Loss of lock detection @@ -738,35 +768,3 @@ int Glonass_L1_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribut d_sample_counter += d_current_prn_length_samples; // count for the processed samples return 1; // output tracking result ALWAYS even in the case of d_enable_tracking==false } - - -void Glonass_L1_Ca_Dll_Pll_Tracking_cc::set_channel(unsigned int channel) -{ - d_channel = channel; - LOG(INFO) << "Tracking Channel set to " << d_channel; - // ############# ENABLE DATA FILE LOG ################# - if (d_dump == true) - { - if (d_dump_file.is_open() == false) - { - try - { - d_dump_filename.append(boost::lexical_cast(d_channel)); - d_dump_filename.append(".dat"); - d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); - d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); - LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); - } - catch (const std::ifstream::failure &e) - { - LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what(); - } - } - } -} - - -void Glonass_L1_Ca_Dll_Pll_Tracking_cc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro) -{ - d_acquisition_gnss_synchro = p_gnss_synchro; -} diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_cc.cc index 53f8f704b..f8c1cf9a0 100644 --- a/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_cc.cc +++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_cc.cc @@ -292,8 +292,8 @@ void glonass_l2_ca_dll_pll_c_aid_tracking_cc::start_tracking() sys = sys_.substr(0, 1); // DEBUG OUTPUT - std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl; - LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; + std::cout << "Tracking of GLONASS L2 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl; + LOG(INFO) << "Tracking of GLONASS L2 C/A signal for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; // enable tracking d_pull_in = true; @@ -555,6 +555,38 @@ int glonass_l2_ca_dll_pll_c_aid_tracking_cc::save_matfile() } +void glonass_l2_ca_dll_pll_c_aid_tracking_cc::set_channel(unsigned int channel) +{ + d_channel = channel; + LOG(INFO) << "Tracking Channel set to " << d_channel; + // ############# ENABLE DATA FILE LOG ################# + if (d_dump == true) + { + if (d_dump_file.is_open() == false) + { + try + { + d_dump_filename.append(boost::lexical_cast(d_channel)); + d_dump_filename.append(".dat"); + d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); + d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); + LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl; + } + catch (const std::ifstream::failure *e) + { + LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what() << std::endl; + } + } + } +} + + +void glonass_l2_ca_dll_pll_c_aid_tracking_cc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro) +{ + d_acquisition_gnss_synchro = p_gnss_synchro; +} + + int glonass_l2_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { @@ -759,7 +791,7 @@ int glonass_l2_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at { d_cn0_estimation_counter = 0; // Code lock indicator - d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GLONASS_L2_CA_CODE_LENGTH_CHIPS); + d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, GLONASS_L2_CA_CODE_PERIOD); // Carrier lock indicator d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES); // Loss of lock detection @@ -892,35 +924,3 @@ int glonass_l2_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __at return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false } - - -void glonass_l2_ca_dll_pll_c_aid_tracking_cc::set_channel(unsigned int channel) -{ - d_channel = channel; - LOG(INFO) << "Tracking Channel set to " << d_channel; - // ############# ENABLE DATA FILE LOG ################# - if (d_dump == true) - { - if (d_dump_file.is_open() == false) - { - try - { - d_dump_filename.append(boost::lexical_cast(d_channel)); - d_dump_filename.append(".dat"); - d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); - d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); - LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl; - } - catch (const std::ifstream::failure *e) - { - LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what() << std::endl; - } - } - } -} - - -void glonass_l2_ca_dll_pll_c_aid_tracking_cc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro) -{ - d_acquisition_gnss_synchro = p_gnss_synchro; -} diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc index decc5d5ca..b8bd3de86 100644 --- a/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc +++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc @@ -47,7 +47,6 @@ #include #include #include -#include #include #include #include @@ -290,8 +289,8 @@ void glonass_l2_ca_dll_pll_c_aid_tracking_sc::start_tracking() sys = sys_.substr(0, 1); // DEBUG OUTPUT - std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl; - LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; + std::cout << "Tracking of GLONASS L2 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl; + LOG(INFO) << "Tracking of GLONASS L2 C/A signal for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; // enable tracking d_pull_in = true; @@ -549,6 +548,38 @@ glonass_l2_ca_dll_pll_c_aid_tracking_sc::~glonass_l2_ca_dll_pll_c_aid_tracking_s } +void glonass_l2_ca_dll_pll_c_aid_tracking_sc::set_channel(unsigned int channel) +{ + d_channel = channel; + LOG(INFO) << "Tracking Channel set to " << d_channel; + // ############# ENABLE DATA FILE LOG ################# + if (d_dump == true) + { + if (d_dump_file.is_open() == false) + { + try + { + d_dump_filename.append(boost::lexical_cast(d_channel)); + d_dump_filename.append(".dat"); + d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); + d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); + LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl; + } + catch (const std::ifstream::failure *e) + { + LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what() << std::endl; + } + } + } +} + + +void glonass_l2_ca_dll_pll_c_aid_tracking_sc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro) +{ + d_acquisition_gnss_synchro = p_gnss_synchro; +} + + int glonass_l2_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { @@ -751,7 +782,7 @@ int glonass_l2_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at { d_cn0_estimation_counter = 0; // Code lock indicator - d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GLONASS_L2_CA_CODE_LENGTH_CHIPS); + d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, GLONASS_L2_CA_CODE_PERIOD); // Carrier lock indicator d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES); // Loss of lock detection @@ -884,35 +915,3 @@ int glonass_l2_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __at return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false } - - -void glonass_l2_ca_dll_pll_c_aid_tracking_sc::set_channel(unsigned int channel) -{ - d_channel = channel; - LOG(INFO) << "Tracking Channel set to " << d_channel; - // ############# ENABLE DATA FILE LOG ################# - if (d_dump == true) - { - if (d_dump_file.is_open() == false) - { - try - { - d_dump_filename.append(boost::lexical_cast(d_channel)); - d_dump_filename.append(".dat"); - d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); - d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); - LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl; - } - catch (const std::ifstream::failure *e) - { - LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what() << std::endl; - } - } - } -} - - -void glonass_l2_ca_dll_pll_c_aid_tracking_sc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro) -{ - d_acquisition_gnss_synchro = p_gnss_synchro; -} diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.h b/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.h index 6ee493185..38cf9d8b9 100644 --- a/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.h +++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.h @@ -45,7 +45,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_tracking_cc.cc index f6428bc5c..c922709a7 100644 --- a/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_tracking_cc.cc +++ b/src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_tracking_cc.cc @@ -94,8 +94,6 @@ Glonass_L2_Ca_Dll_Pll_Tracking_cc::Glonass_L2_Ca_Dll_Pll_Tracking_cc( float early_late_space_chips) : gr::block("Glonass_L2_Ca_Dll_Pll_Tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)), gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) { - // Telemetry bit synchronization message port input - this->message_port_register_in(pmt::mp("preamble_timestamp_s")); this->message_port_register_out(pmt::mp("events")); // initialize internal vars @@ -253,7 +251,7 @@ void Glonass_L2_Ca_Dll_Pll_Tracking_cc::start_tracking() // DEBUG OUTPUT std::cout << "Tracking of GLONASS L2 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl; - LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; + LOG(INFO) << "Tracking of GLONASS L2 C/A signal for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; // enable tracking d_pull_in = true; @@ -512,6 +510,38 @@ int Glonass_L2_Ca_Dll_Pll_Tracking_cc::save_matfile() } +void Glonass_L2_Ca_Dll_Pll_Tracking_cc::set_channel(unsigned int channel) +{ + d_channel = channel; + LOG(INFO) << "Tracking Channel set to " << d_channel; + // ############# ENABLE DATA FILE LOG ################# + if (d_dump == true) + { + if (d_dump_file.is_open() == false) + { + try + { + d_dump_filename.append(boost::lexical_cast(d_channel)); + d_dump_filename.append(".dat"); + d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); + d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); + LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); + } + catch (const std::ifstream::failure &e) + { + LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what(); + } + } + } +} + + +void Glonass_L2_Ca_Dll_Pll_Tracking_cc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro) +{ + d_acquisition_gnss_synchro = p_gnss_synchro; +} + + int Glonass_L2_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { @@ -622,7 +652,7 @@ int Glonass_L2_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribut { d_cn0_estimation_counter = 0; // Code lock indicator - d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GLONASS_L2_CA_CODE_LENGTH_CHIPS); + d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, GLONASS_L2_CA_CODE_PERIOD); // Carrier lock indicator d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES); // Loss of lock detection @@ -738,35 +768,3 @@ int Glonass_L2_Ca_Dll_Pll_Tracking_cc::general_work(int noutput_items __attribut d_sample_counter += d_current_prn_length_samples; // count for the processed samples return 1; // output tracking result ALWAYS even in the case of d_enable_tracking==false } - - -void Glonass_L2_Ca_Dll_Pll_Tracking_cc::set_channel(unsigned int channel) -{ - d_channel = channel; - LOG(INFO) << "Tracking Channel set to " << d_channel; - // ############# ENABLE DATA FILE LOG ################# - if (d_dump == true) - { - if (d_dump_file.is_open() == false) - { - try - { - d_dump_filename.append(boost::lexical_cast(d_channel)); - d_dump_filename.append(".dat"); - d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); - d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); - LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); - } - catch (const std::ifstream::failure &e) - { - LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what(); - } - } - } -} - - -void Glonass_L2_Ca_Dll_Pll_Tracking_cc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro) -{ - d_acquisition_gnss_synchro = p_gnss_synchro; -} diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc index c242a10b8..295f894d6 100644 --- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc +++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc @@ -39,7 +39,6 @@ #include #include #include -#include #include #include #include @@ -276,7 +275,7 @@ void gps_l1_ca_dll_pll_c_aid_tracking_cc::start_tracking() // DEBUG OUTPUT std::cout << "Tracking of GPS L1 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl; - LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; + LOG(INFO) << "Tracking of GPS L1 C/A signal for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; // enable tracking d_pull_in = true; @@ -538,6 +537,38 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::save_matfile() } +void gps_l1_ca_dll_pll_c_aid_tracking_cc::set_channel(unsigned int channel) +{ + d_channel = channel; + LOG(INFO) << "Tracking Channel set to " << d_channel; + // ############# ENABLE DATA FILE LOG ################# + if (d_dump == true) + { + if (d_dump_file.is_open() == false) + { + try + { + d_dump_filename.append(boost::lexical_cast(d_channel)); + d_dump_filename.append(".dat"); + d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); + d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); + LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); + } + catch (const std::ifstream::failure *e) + { + LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what() << std::endl; + } + } + } +} + + +void gps_l1_ca_dll_pll_c_aid_tracking_cc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro) +{ + d_acquisition_gnss_synchro = p_gnss_synchro; +} + + int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { @@ -741,7 +772,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __attrib { d_cn0_estimation_counter = 0; // Code lock indicator - d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, FLAGS_cn0_samples, d_fs_in, GPS_L1_CA_CODE_LENGTH_CHIPS); + d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, FLAGS_cn0_samples, GPS_L1_CA_CODE_PERIOD); // Carrier lock indicator d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, FLAGS_cn0_samples); // Loss of lock detection @@ -842,7 +873,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __attrib // PLL commands tmp_float = 1.0 / (d_carr_phase_error_secs_Ti * CURRENT_INTEGRATION_TIME_S); d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - tmp_float = 1.0 / (d_code_error_filt_chips_Ti * CURRENT_INTEGRATION_TIME_S);; + tmp_float = 1.0 / (d_code_error_filt_chips_Ti * CURRENT_INTEGRATION_TIME_S); d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); // DLL commands tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S; @@ -881,35 +912,3 @@ int gps_l1_ca_dll_pll_c_aid_tracking_cc::general_work(int noutput_items __attrib return 0; } } - - -void gps_l1_ca_dll_pll_c_aid_tracking_cc::set_channel(unsigned int channel) -{ - d_channel = channel; - LOG(INFO) << "Tracking Channel set to " << d_channel; - // ############# ENABLE DATA FILE LOG ################# - if (d_dump == true) - { - if (d_dump_file.is_open() == false) - { - try - { - d_dump_filename.append(boost::lexical_cast(d_channel)); - d_dump_filename.append(".dat"); - d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); - d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); - LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); - } - catch (const std::ifstream::failure *e) - { - LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what() << std::endl; - } - } - } -} - - -void gps_l1_ca_dll_pll_c_aid_tracking_cc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro) -{ - d_acquisition_gnss_synchro = p_gnss_synchro; -} diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.cc index 1d1561a21..5f9a6ec23 100644 --- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.cc +++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.cc @@ -42,7 +42,6 @@ #include #include #include -#include #include #include #include @@ -268,12 +267,8 @@ void gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::start_tracking() sys = sys_.substr(0, 1); // DEBUG OUTPUT - std::cout << "Tracking start on channel " << d_channel << " for satellite " - << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) - << std::endl; - LOG(INFO) << "Starting tracking of satellite " - << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) - << " on channel " << d_channel; + std::cout << "Tracking of GPS L1 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl; + LOG(INFO) << "Tracking of GPS L1 C/A signal for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; // enable tracking d_pull_in = true; @@ -333,378 +328,6 @@ gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::~gps_l1_ca_dll_pll_c_aid_tracking_fpga } -int gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::general_work( - int noutput_items __attribute__((unused)), - gr_vector_int &ninput_items __attribute__((unused)), - gr_vector_const_void_star &input_items, - gr_vector_void_star &output_items) -{ - // samples offset - int samples_offset; - - // Block input data and block output stream pointers - Gnss_Synchro **out = reinterpret_cast(&output_items[0]); - - Gnss_Synchro current_synchro_data = Gnss_Synchro(); - - // process vars - double code_error_filt_secs_Ti = 0.0; - double CURRENT_INTEGRATION_TIME_S = 0.0; - double CORRECTED_INTEGRATION_TIME_S = 0.0; - - if (d_enable_tracking == true) - { - // Fill the acquisition data - current_synchro_data = *d_acquisition_gnss_synchro; - // Receiver signal alignment - if (d_pull_in == true) - { - double acq_trk_shif_correction_samples; - int acq_to_trk_delay_samples; - acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp; - acq_trk_shif_correction_samples = d_correlation_length_samples - fmod(static_cast(acq_to_trk_delay_samples), static_cast(d_correlation_length_samples)); - samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples); - current_synchro_data.Tracking_sample_counter = d_sample_counter + samples_offset; - d_sample_counter += samples_offset; // count for the processed samples - d_pull_in = false; - d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * samples_offset / GPS_TWO_PI; - current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_cycles * GPS_TWO_PI; - current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz; - current_synchro_data.fs = d_fs_in; - *out[0] = current_synchro_data; - //consume_each(samples_offset); // shift input to perform alignment with local replica - multicorrelator_fpga_8sc->set_initial_sample(samples_offset); - - return 1; - } - - // ################# CARRIER WIPEOFF AND CORRELATORS ############################## - // perform carrier wipe-off and compute Early, Prompt and Late correlation - multicorrelator_fpga_8sc->set_output_vectors(d_correlator_outs_16sc); - - multicorrelator_fpga_8sc->Carrier_wipeoff_multicorrelator_resampler( - d_rem_carrier_phase_rad, d_carrier_phase_step_rad, - d_rem_code_phase_chips, d_code_phase_step_chips, - d_correlation_length_samples); - - // ####### coherent integration extension - // keep the last symbols - d_E_history.push_back(d_correlator_outs_16sc[0]); // save early output - d_P_history.push_back(d_correlator_outs_16sc[1]); // save prompt output - d_L_history.push_back(d_correlator_outs_16sc[2]); // save late output - - if (static_cast(d_P_history.size()) > d_extend_correlation_ms) - { - d_E_history.pop_front(); - d_P_history.pop_front(); - d_L_history.pop_front(); - } - - bool enable_dll_pll; - if (d_enable_extended_integration == true) - { - long int symbol_diff = round(1000.0 * ((static_cast(d_sample_counter) + d_rem_code_phase_samples) / static_cast(d_fs_in) - d_preamble_timestamp_s)); - if (symbol_diff > 0 and symbol_diff % d_extend_correlation_ms == 0) - { - // compute coherent integration and enable tracking loop - // perform coherent integration using correlator output history - // std::cout<<"##### RESET COHERENT INTEGRATION ####"<PRN) - << " pll_bw = " << d_pll_bw_hz - << " [Hz], pll_narrow_bw = " - << d_pll_bw_narrow_hz << " [Hz]" - << std::endl - << " dll_bw = " - << d_dll_bw_hz - << " [Hz], dll_narrow_bw = " - << d_dll_bw_narrow_hz << " [Hz]" - << std::endl; - } - // UPDATE INTEGRATION TIME - CURRENT_INTEGRATION_TIME_S = static_cast(d_extend_correlation_ms) * GPS_L1_CA_CODE_PERIOD; - enable_dll_pll = true; - } - else - { - if (d_preamble_synchronized == true) - { - // continue extended coherent correlation - // Compute the next buffer length based on the period of the PRN sequence and the code phase error estimation - double T_chip_seconds = 1.0 / d_code_freq_chips; - double T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS; - double T_prn_samples = T_prn_seconds * static_cast(d_fs_in); - int K_prn_samples = round(T_prn_samples); - double K_T_prn_error_samples = K_prn_samples - T_prn_samples; - - d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples; - d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples - d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples; - d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples; - // code phase step (Code resampler phase increment per sample) [chips/sample] - d_code_phase_step_chips = d_code_freq_chips / static_cast(d_fs_in); - // remnant code phase [chips] - d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast(d_fs_in)); - d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + d_carrier_phase_step_rad * static_cast(d_correlation_length_samples), GPS_TWO_PI); - - // UPDATE ACCUMULATED CARRIER PHASE - CORRECTED_INTEGRATION_TIME_S = (static_cast(d_correlation_length_samples) / static_cast(d_fs_in)); - d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GPS_TWO_PI; - - // disable tracking loop and inform telemetry decoder - enable_dll_pll = false; - } - else - { - // perform basic (1ms) correlation - // UPDATE INTEGRATION TIME - CURRENT_INTEGRATION_TIME_S = static_cast(d_correlation_length_samples) / static_cast(d_fs_in); - enable_dll_pll = true; - } - } - } - else - { - // UPDATE INTEGRATION TIME - CURRENT_INTEGRATION_TIME_S = static_cast(d_correlation_length_samples) / static_cast(d_fs_in); - enable_dll_pll = true; - } - - if (enable_dll_pll == true) - { - // ################## PLL ########################################################## - // Update PLL discriminator [rads/Ti -> Secs/Ti] - d_carr_phase_error_secs_Ti = pll_cloop_two_quadrant_atan(std::complex(d_correlator_outs_16sc[1].real(), d_correlator_outs_16sc[1].imag())) / GPS_TWO_PI; //prompt output - - // Carrier discriminator filter - // NOTICE: The carrier loop filter includes the Carrier Doppler accumulator, as described in Kaplan - // Input [s/Ti] -> output [Hz] - d_carrier_doppler_hz = d_carrier_loop_filter.get_carrier_error(0.0, d_carr_phase_error_secs_Ti, CURRENT_INTEGRATION_TIME_S); - // PLL to DLL assistance [Secs/Ti] - d_pll_to_dll_assist_secs_Ti = (d_carrier_doppler_hz * CURRENT_INTEGRATION_TIME_S) / GPS_L1_FREQ_HZ; - // code Doppler frequency update - d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GPS_L1_CA_CODE_RATE_HZ) / GPS_L1_FREQ_HZ); - - // ################## DLL ########################################################## - // DLL discriminator - d_code_error_chips_Ti = dll_nc_e_minus_l_normalized( - std::complex( - d_correlator_outs_16sc[0].real(), - d_correlator_outs_16sc[0].imag()), - std::complex( - d_correlator_outs_16sc[2].real(), - d_correlator_outs_16sc[2].imag())); // [chips/Ti] //early and late - // Code discriminator filter - d_code_error_filt_chips_s = d_code_loop_filter.get_code_nco(d_code_error_chips_Ti); // input [chips/Ti] -> output [chips/second] - d_code_error_filt_chips_Ti = d_code_error_filt_chips_s * CURRENT_INTEGRATION_TIME_S; - code_error_filt_secs_Ti = d_code_error_filt_chips_Ti / d_code_freq_chips; // [s/Ti] - - // ################## CARRIER AND CODE NCO BUFFER ALIGNMENT ####################### - // keep alignment parameters for the next input buffer - // Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation - double T_chip_seconds = 1.0 / d_code_freq_chips; - double T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS; - double T_prn_samples = T_prn_seconds * static_cast(d_fs_in); - double K_prn_samples = round(T_prn_samples); - double K_T_prn_error_samples = K_prn_samples - T_prn_samples; - - d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples + code_error_filt_secs_Ti * static_cast(d_fs_in); //(code_error_filt_secs_Ti + d_pll_to_dll_assist_secs_Ti) * static_cast(d_fs_in); - d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples - d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples; - d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples; - - //################### PLL COMMANDS ################################################# - //carrier phase step (NCO phase increment per sample) [rads/sample] - d_carrier_phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz / static_cast(d_fs_in); - d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GPS_TWO_PI; - // UPDATE ACCUMULATED CARRIER PHASE - CORRECTED_INTEGRATION_TIME_S = (static_cast(d_correlation_length_samples) / static_cast(d_fs_in)); - //remnant carrier phase [rad] - d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * CORRECTED_INTEGRATION_TIME_S, GPS_TWO_PI); - - //################### DLL COMMANDS ################################################# - //code phase step (Code resampler phase increment per sample) [chips/sample] - d_code_phase_step_chips = d_code_freq_chips / static_cast(d_fs_in); - //remnant code phase [chips] - d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast(d_fs_in)); - - // ####### CN0 ESTIMATION AND LOCK DETECTORS ####################################### - if (d_cn0_estimation_counter < FLAGS_cn0_samples) - { - // fill buffer with prompt correlator output values - d_Prompt_buffer[d_cn0_estimation_counter] = lv_cmake(static_cast(d_correlator_outs_16sc[1].real()), - static_cast(d_correlator_outs_16sc[1].imag())); // prompt - d_cn0_estimation_counter++; - } - else - { - d_cn0_estimation_counter = 0; - // Code lock indicator - d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, FLAGS_cn0_samples, d_fs_in, GPS_L1_CA_CODE_LENGTH_CHIPS); - // Carrier lock indicator - d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, FLAGS_cn0_samples); - // Loss of lock detection - if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < FLAGS_cn0_min) - { - d_carrier_lock_fail_counter++; - } - else - { - if (d_carrier_lock_fail_counter > 0) - { - d_carrier_lock_fail_counter--; - } - } - if (d_carrier_lock_fail_counter > FLAGS_max_lock_fail) - { - std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl; - LOG(INFO) << "Loss of lock in channel " << d_channel << "!"; - this->message_port_pub(pmt::mp("events"), pmt::from_long(3)); //3 -> loss of lock - d_carrier_lock_fail_counter = 0; - d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine - multicorrelator_fpga_8sc->unlock_channel(); - } - } - // ########### Output the tracking data to navigation and PVT ########## - current_synchro_data.Prompt_I = static_cast((d_correlator_outs_16sc[1]).real()); - current_synchro_data.Prompt_Q = static_cast((d_correlator_outs_16sc[1]).imag()); - current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples; - current_synchro_data.Code_phase_samples = d_rem_code_phase_samples; - current_synchro_data.Carrier_phase_rads = GPS_TWO_PI * d_acc_carrier_phase_cycles; - 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; - if (d_preamble_synchronized == true) - { - current_synchro_data.correlation_length_ms = d_extend_correlation_ms; - } - else - { - current_synchro_data.correlation_length_ms = 1; - } - } - else - { - current_synchro_data.Prompt_I = static_cast((d_correlator_outs_16sc[1]).real()); - current_synchro_data.Prompt_Q = static_cast((d_correlator_outs_16sc[1]).imag()); - current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples; - current_synchro_data.Code_phase_samples = d_rem_code_phase_samples; - current_synchro_data.Carrier_phase_rads = GPS_TWO_PI * d_acc_carrier_phase_cycles; - current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz; // todo: project the carrier doppler - current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz; - } - } - else - { - for (int n = 0; n < d_n_correlator_taps; n++) - { - d_correlator_outs_16sc[n] = lv_cmake(0, 0); - } - - current_synchro_data.System = {'G'}; - current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples; - } - - current_synchro_data.fs = d_fs_in; - *out[0] = current_synchro_data; - - if (d_dump) - { - // MULTIPLEXED FILE RECORDING - Record results to file - float prompt_I; - float prompt_Q; - float tmp_E, tmp_P, tmp_L; - float tmp_VE = 0.0; - float tmp_VL = 0.0; - float tmp_float; - prompt_I = d_correlator_outs_16sc[1].real(); - prompt_Q = d_correlator_outs_16sc[1].imag(); - tmp_E = std::abs(gr_complex(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag())); - tmp_P = std::abs(gr_complex(d_correlator_outs_16sc[1].real(), d_correlator_outs_16sc[1].imag())); - tmp_L = std::abs(gr_complex(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag())); - try - { - // Dump correlators output - d_dump_file.write(reinterpret_cast(&tmp_VE), sizeof(float)); - d_dump_file.write(reinterpret_cast(&tmp_E), sizeof(float)); - d_dump_file.write(reinterpret_cast(&tmp_P), sizeof(float)); - d_dump_file.write(reinterpret_cast(&tmp_L), sizeof(float)); - d_dump_file.write(reinterpret_cast(&tmp_VL), sizeof(float)); - // PROMPT I and Q (to analyze navigation symbols) - d_dump_file.write(reinterpret_cast(&prompt_I), sizeof(float)); - d_dump_file.write(reinterpret_cast(&prompt_Q), sizeof(float)); - // PRN start sample stamp - d_dump_file.write(reinterpret_cast(&d_sample_counter), sizeof(unsigned long int)); - // accumulated carrier phase - tmp_float = d_acc_carrier_phase_cycles * GPS_TWO_PI; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - // carrier and code frequency - tmp_float = d_carrier_doppler_hz; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - tmp_float = d_code_freq_chips; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - // PLL commands - tmp_float = 1.0 / (d_carr_phase_error_secs_Ti * CURRENT_INTEGRATION_TIME_S); - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - tmp_float = 1.0 / (d_code_error_filt_chips_Ti * CURRENT_INTEGRATION_TIME_S); - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - // DLL commands - tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - tmp_float = d_code_error_filt_chips_Ti; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - // CN0 and carrier lock test - tmp_float = d_CN0_SNV_dB_Hz; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - tmp_float = d_carrier_lock_test; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - // AUX vars (for debug purposes) - tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S; - d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); - double tmp_double = static_cast(d_sample_counter + d_correlation_length_samples); - d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); - // PRN - unsigned int prn_ = d_acquisition_gnss_synchro->PRN; - d_dump_file.write(reinterpret_cast(&prn_), sizeof(unsigned int)); - } - catch (const std::ifstream::failure *e) - { - LOG(WARNING) << "Exception writing trk dump file " << e->what(); - } - } - - //consume_each(d_correlation_length_samples); // this is necessary in gr::block derivates - d_sample_counter += d_correlation_length_samples; //count for the processed samples - - if (d_enable_tracking) - { - return 1; - } - else - { - return 0; - } -} - - void gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::set_channel(unsigned int channel) { d_channel = channel; @@ -942,6 +565,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::save_matfile() return 0; } + void gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::set_gnss_synchro( Gnss_Synchro *p_gnss_synchro) { @@ -953,3 +577,375 @@ void gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::reset(void) { multicorrelator_fpga_8sc->unlock_channel(); } + + +int gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::general_work( + int noutput_items __attribute__((unused)), + gr_vector_int &ninput_items __attribute__((unused)), + gr_vector_const_void_star &input_items, + gr_vector_void_star &output_items) +{ + // samples offset + int samples_offset; + + // Block input data and block output stream pointers + Gnss_Synchro **out = reinterpret_cast(&output_items[0]); + + Gnss_Synchro current_synchro_data = Gnss_Synchro(); + + // process vars + double code_error_filt_secs_Ti = 0.0; + double CURRENT_INTEGRATION_TIME_S = 0.0; + double CORRECTED_INTEGRATION_TIME_S = 0.0; + + if (d_enable_tracking == true) + { + // Fill the acquisition data + current_synchro_data = *d_acquisition_gnss_synchro; + // Receiver signal alignment + if (d_pull_in == true) + { + double acq_trk_shif_correction_samples; + int acq_to_trk_delay_samples; + acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp; + acq_trk_shif_correction_samples = d_correlation_length_samples - fmod(static_cast(acq_to_trk_delay_samples), static_cast(d_correlation_length_samples)); + samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples); + current_synchro_data.Tracking_sample_counter = d_sample_counter + samples_offset; + d_sample_counter += samples_offset; // count for the processed samples + d_pull_in = false; + d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * samples_offset / GPS_TWO_PI; + current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_cycles * GPS_TWO_PI; + current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz; + current_synchro_data.fs = d_fs_in; + *out[0] = current_synchro_data; + //consume_each(samples_offset); // shift input to perform alignment with local replica + multicorrelator_fpga_8sc->set_initial_sample(samples_offset); + + return 1; + } + + // ################# CARRIER WIPEOFF AND CORRELATORS ############################## + // perform carrier wipe-off and compute Early, Prompt and Late correlation + multicorrelator_fpga_8sc->set_output_vectors(d_correlator_outs_16sc); + + multicorrelator_fpga_8sc->Carrier_wipeoff_multicorrelator_resampler( + d_rem_carrier_phase_rad, d_carrier_phase_step_rad, + d_rem_code_phase_chips, d_code_phase_step_chips, + d_correlation_length_samples); + + // ####### coherent integration extension + // keep the last symbols + d_E_history.push_back(d_correlator_outs_16sc[0]); // save early output + d_P_history.push_back(d_correlator_outs_16sc[1]); // save prompt output + d_L_history.push_back(d_correlator_outs_16sc[2]); // save late output + + if (static_cast(d_P_history.size()) > d_extend_correlation_ms) + { + d_E_history.pop_front(); + d_P_history.pop_front(); + d_L_history.pop_front(); + } + + bool enable_dll_pll; + if (d_enable_extended_integration == true) + { + long int symbol_diff = round(1000.0 * ((static_cast(d_sample_counter) + d_rem_code_phase_samples) / static_cast(d_fs_in) - d_preamble_timestamp_s)); + if (symbol_diff > 0 and symbol_diff % d_extend_correlation_ms == 0) + { + // compute coherent integration and enable tracking loop + // perform coherent integration using correlator output history + // std::cout<<"##### RESET COHERENT INTEGRATION ####"<PRN) + << " pll_bw = " << d_pll_bw_hz + << " [Hz], pll_narrow_bw = " + << d_pll_bw_narrow_hz << " [Hz]" + << std::endl + << " dll_bw = " + << d_dll_bw_hz + << " [Hz], dll_narrow_bw = " + << d_dll_bw_narrow_hz << " [Hz]" + << std::endl; + } + // UPDATE INTEGRATION TIME + CURRENT_INTEGRATION_TIME_S = static_cast(d_extend_correlation_ms) * GPS_L1_CA_CODE_PERIOD; + enable_dll_pll = true; + } + else + { + if (d_preamble_synchronized == true) + { + // continue extended coherent correlation + // Compute the next buffer length based on the period of the PRN sequence and the code phase error estimation + double T_chip_seconds = 1.0 / d_code_freq_chips; + double T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS; + double T_prn_samples = T_prn_seconds * static_cast(d_fs_in); + int K_prn_samples = round(T_prn_samples); + double K_T_prn_error_samples = K_prn_samples - T_prn_samples; + + d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples; + d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples + d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples; + d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples; + // code phase step (Code resampler phase increment per sample) [chips/sample] + d_code_phase_step_chips = d_code_freq_chips / static_cast(d_fs_in); + // remnant code phase [chips] + d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast(d_fs_in)); + d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + d_carrier_phase_step_rad * static_cast(d_correlation_length_samples), GPS_TWO_PI); + + // UPDATE ACCUMULATED CARRIER PHASE + CORRECTED_INTEGRATION_TIME_S = (static_cast(d_correlation_length_samples) / static_cast(d_fs_in)); + d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GPS_TWO_PI; + + // disable tracking loop and inform telemetry decoder + enable_dll_pll = false; + } + else + { + // perform basic (1ms) correlation + // UPDATE INTEGRATION TIME + CURRENT_INTEGRATION_TIME_S = static_cast(d_correlation_length_samples) / static_cast(d_fs_in); + enable_dll_pll = true; + } + } + } + else + { + // UPDATE INTEGRATION TIME + CURRENT_INTEGRATION_TIME_S = static_cast(d_correlation_length_samples) / static_cast(d_fs_in); + enable_dll_pll = true; + } + + if (enable_dll_pll == true) + { + // ################## PLL ########################################################## + // Update PLL discriminator [rads/Ti -> Secs/Ti] + d_carr_phase_error_secs_Ti = pll_cloop_two_quadrant_atan(std::complex(d_correlator_outs_16sc[1].real(), d_correlator_outs_16sc[1].imag())) / GPS_TWO_PI; //prompt output + + // Carrier discriminator filter + // NOTICE: The carrier loop filter includes the Carrier Doppler accumulator, as described in Kaplan + // Input [s/Ti] -> output [Hz] + d_carrier_doppler_hz = d_carrier_loop_filter.get_carrier_error(0.0, d_carr_phase_error_secs_Ti, CURRENT_INTEGRATION_TIME_S); + // PLL to DLL assistance [Secs/Ti] + d_pll_to_dll_assist_secs_Ti = (d_carrier_doppler_hz * CURRENT_INTEGRATION_TIME_S) / GPS_L1_FREQ_HZ; + // code Doppler frequency update + d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GPS_L1_CA_CODE_RATE_HZ) / GPS_L1_FREQ_HZ); + + // ################## DLL ########################################################## + // DLL discriminator + d_code_error_chips_Ti = dll_nc_e_minus_l_normalized( + std::complex( + d_correlator_outs_16sc[0].real(), + d_correlator_outs_16sc[0].imag()), + std::complex( + d_correlator_outs_16sc[2].real(), + d_correlator_outs_16sc[2].imag())); // [chips/Ti] //early and late + // Code discriminator filter + d_code_error_filt_chips_s = d_code_loop_filter.get_code_nco(d_code_error_chips_Ti); // input [chips/Ti] -> output [chips/second] + d_code_error_filt_chips_Ti = d_code_error_filt_chips_s * CURRENT_INTEGRATION_TIME_S; + code_error_filt_secs_Ti = d_code_error_filt_chips_Ti / d_code_freq_chips; // [s/Ti] + + // ################## CARRIER AND CODE NCO BUFFER ALIGNMENT ####################### + // keep alignment parameters for the next input buffer + // Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation + double T_chip_seconds = 1.0 / d_code_freq_chips; + double T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS; + double T_prn_samples = T_prn_seconds * static_cast(d_fs_in); + double K_prn_samples = round(T_prn_samples); + double K_T_prn_error_samples = K_prn_samples - T_prn_samples; + + d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples + code_error_filt_secs_Ti * static_cast(d_fs_in); //(code_error_filt_secs_Ti + d_pll_to_dll_assist_secs_Ti) * static_cast(d_fs_in); + d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples + d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples; + d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples; + + //################### PLL COMMANDS ################################################# + //carrier phase step (NCO phase increment per sample) [rads/sample] + d_carrier_phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz / static_cast(d_fs_in); + d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GPS_TWO_PI; + // UPDATE ACCUMULATED CARRIER PHASE + CORRECTED_INTEGRATION_TIME_S = (static_cast(d_correlation_length_samples) / static_cast(d_fs_in)); + //remnant carrier phase [rad] + d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * CORRECTED_INTEGRATION_TIME_S, GPS_TWO_PI); + + //################### DLL COMMANDS ################################################# + //code phase step (Code resampler phase increment per sample) [chips/sample] + d_code_phase_step_chips = d_code_freq_chips / static_cast(d_fs_in); + //remnant code phase [chips] + d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast(d_fs_in)); + + // ####### CN0 ESTIMATION AND LOCK DETECTORS ####################################### + if (d_cn0_estimation_counter < FLAGS_cn0_samples) + { + // fill buffer with prompt correlator output values + d_Prompt_buffer[d_cn0_estimation_counter] = lv_cmake(static_cast(d_correlator_outs_16sc[1].real()), + static_cast(d_correlator_outs_16sc[1].imag())); // prompt + d_cn0_estimation_counter++; + } + else + { + d_cn0_estimation_counter = 0; + // Code lock indicator + d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, FLAGS_cn0_samples, GPS_L1_CA_CODE_PERIOD); + // Carrier lock indicator + d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, FLAGS_cn0_samples); + // Loss of lock detection + if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < FLAGS_cn0_min) + { + d_carrier_lock_fail_counter++; + } + else + { + if (d_carrier_lock_fail_counter > 0) + { + d_carrier_lock_fail_counter--; + } + } + if (d_carrier_lock_fail_counter > FLAGS_max_lock_fail) + { + std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl; + LOG(INFO) << "Loss of lock in channel " << d_channel << "!"; + this->message_port_pub(pmt::mp("events"), pmt::from_long(3)); //3 -> loss of lock + d_carrier_lock_fail_counter = 0; + d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine + multicorrelator_fpga_8sc->unlock_channel(); + } + } + // ########### Output the tracking data to navigation and PVT ########## + current_synchro_data.Prompt_I = static_cast((d_correlator_outs_16sc[1]).real()); + current_synchro_data.Prompt_Q = static_cast((d_correlator_outs_16sc[1]).imag()); + current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples; + current_synchro_data.Code_phase_samples = d_rem_code_phase_samples; + current_synchro_data.Carrier_phase_rads = GPS_TWO_PI * d_acc_carrier_phase_cycles; + 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; + if (d_preamble_synchronized == true) + { + current_synchro_data.correlation_length_ms = d_extend_correlation_ms; + } + else + { + current_synchro_data.correlation_length_ms = 1; + } + } + else + { + current_synchro_data.Prompt_I = static_cast((d_correlator_outs_16sc[1]).real()); + current_synchro_data.Prompt_Q = static_cast((d_correlator_outs_16sc[1]).imag()); + current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples; + current_synchro_data.Code_phase_samples = d_rem_code_phase_samples; + current_synchro_data.Carrier_phase_rads = GPS_TWO_PI * d_acc_carrier_phase_cycles; + current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz; // todo: project the carrier doppler + current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz; + } + } + else + { + for (int n = 0; n < d_n_correlator_taps; n++) + { + d_correlator_outs_16sc[n] = lv_cmake(0, 0); + } + + current_synchro_data.System = {'G'}; + current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples; + } + + current_synchro_data.fs = d_fs_in; + *out[0] = current_synchro_data; + + if (d_dump) + { + // MULTIPLEXED FILE RECORDING - Record results to file + float prompt_I; + float prompt_Q; + float tmp_E, tmp_P, tmp_L; + float tmp_VE = 0.0; + float tmp_VL = 0.0; + float tmp_float; + prompt_I = d_correlator_outs_16sc[1].real(); + prompt_Q = d_correlator_outs_16sc[1].imag(); + tmp_E = std::abs(gr_complex(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag())); + tmp_P = std::abs(gr_complex(d_correlator_outs_16sc[1].real(), d_correlator_outs_16sc[1].imag())); + tmp_L = std::abs(gr_complex(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag())); + try + { + // Dump correlators output + d_dump_file.write(reinterpret_cast(&tmp_VE), sizeof(float)); + d_dump_file.write(reinterpret_cast(&tmp_E), sizeof(float)); + d_dump_file.write(reinterpret_cast(&tmp_P), sizeof(float)); + d_dump_file.write(reinterpret_cast(&tmp_L), sizeof(float)); + d_dump_file.write(reinterpret_cast(&tmp_VL), sizeof(float)); + // PROMPT I and Q (to analyze navigation symbols) + d_dump_file.write(reinterpret_cast(&prompt_I), sizeof(float)); + d_dump_file.write(reinterpret_cast(&prompt_Q), sizeof(float)); + // PRN start sample stamp + d_dump_file.write(reinterpret_cast(&d_sample_counter), sizeof(unsigned long int)); + // accumulated carrier phase + tmp_float = d_acc_carrier_phase_cycles * GPS_TWO_PI; + d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); + // carrier and code frequency + tmp_float = d_carrier_doppler_hz; + d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); + tmp_float = d_code_freq_chips; + d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); + // PLL commands + tmp_float = 1.0 / (d_carr_phase_error_secs_Ti * CURRENT_INTEGRATION_TIME_S); + d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); + tmp_float = 1.0 / (d_code_error_filt_chips_Ti * CURRENT_INTEGRATION_TIME_S); + d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); + // DLL commands + tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S; + d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); + tmp_float = d_code_error_filt_chips_Ti; + d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); + // CN0 and carrier lock test + tmp_float = d_CN0_SNV_dB_Hz; + d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); + tmp_float = d_carrier_lock_test; + d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); + // AUX vars (for debug purposes) + tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S; + d_dump_file.write(reinterpret_cast(&tmp_float), sizeof(float)); + double tmp_double = static_cast(d_sample_counter + d_correlation_length_samples); + d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); + // PRN + unsigned int prn_ = d_acquisition_gnss_synchro->PRN; + d_dump_file.write(reinterpret_cast(&prn_), sizeof(unsigned int)); + } + catch (const std::ifstream::failure *e) + { + LOG(WARNING) << "Exception writing trk dump file " << e->what(); + } + } + + //consume_each(d_correlation_length_samples); // this is necessary in gr::block derivates + d_sample_counter += d_correlation_length_samples; //count for the processed samples + + if (d_enable_tracking) + { + return 1; + } + else + { + return 0; + } +} diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.cc index 9a4332f06..fdfd0c04d 100644 --- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.cc +++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.cc @@ -40,7 +40,6 @@ #include #include #include -#include #include #include #include @@ -277,7 +276,7 @@ void gps_l1_ca_dll_pll_c_aid_tracking_sc::start_tracking() // DEBUG OUTPUT std::cout << "Tracking of GPS L1 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl; - LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; + LOG(INFO) << "Tracking of GPS L1 C/A signal for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; // enable tracking d_pull_in = true; @@ -541,6 +540,38 @@ int gps_l1_ca_dll_pll_c_aid_tracking_sc::save_matfile() } +void gps_l1_ca_dll_pll_c_aid_tracking_sc::set_channel(unsigned int channel) +{ + d_channel = channel; + LOG(INFO) << "Tracking Channel set to " << d_channel; + // ############# ENABLE DATA FILE LOG ################# + if (d_dump == true) + { + if (d_dump_file.is_open() == false) + { + try + { + d_dump_filename.append(boost::lexical_cast(d_channel)); + d_dump_filename.append(".dat"); + d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); + d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); + LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); + } + catch (const std::ifstream::failure *e) + { + LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what(); + } + } + } +} + + +void gps_l1_ca_dll_pll_c_aid_tracking_sc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro) +{ + d_acquisition_gnss_synchro = p_gnss_synchro; +} + + int gps_l1_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { @@ -743,7 +774,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __attrib { d_cn0_estimation_counter = 0; // Code lock indicator - d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, FLAGS_cn0_samples, d_fs_in, GPS_L1_CA_CODE_LENGTH_CHIPS); + d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, FLAGS_cn0_samples, GPS_L1_CA_CODE_PERIOD); // Carrier lock indicator d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, FLAGS_cn0_samples); // Loss of lock detection @@ -883,35 +914,3 @@ int gps_l1_ca_dll_pll_c_aid_tracking_sc::general_work(int noutput_items __attrib return 0; } } - - -void gps_l1_ca_dll_pll_c_aid_tracking_sc::set_channel(unsigned int channel) -{ - d_channel = channel; - LOG(INFO) << "Tracking Channel set to " << d_channel; - // ############# ENABLE DATA FILE LOG ################# - if (d_dump == true) - { - if (d_dump_file.is_open() == false) - { - try - { - d_dump_filename.append(boost::lexical_cast(d_channel)); - d_dump_filename.append(".dat"); - d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); - d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); - LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); - } - catch (const std::ifstream::failure *e) - { - LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what(); - } - } - } -} - - -void gps_l1_ca_dll_pll_c_aid_tracking_sc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro) -{ - d_acquisition_gnss_synchro = p_gnss_synchro; -} diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.h b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.h index ec68aed0f..0e690f74f 100644 --- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.h +++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.h @@ -45,7 +45,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_fpga_sc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_fpga_sc.cc new file mode 100644 index 000000000..30a99b5d5 --- /dev/null +++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_fpga_sc.cc @@ -0,0 +1,540 @@ +/*! + * \file gps_l1_ca_dll_pll_tracking_cc.cc + * \brief Implementation of a code DLL + carrier PLL tracking block + * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com + * Javier Arribas, 2011. jarribas(at)cttc.es + * + * Code DLL + carrier PLL according to the algorithms described in: + * [1] K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen, + * A Software-Defined GPS and Galileo Receiver. A Single-Frequency + * Approach, Birkhauser, 2007 + * + * ------------------------------------------------------------------------- + * + * Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors) + * + * GNSS-SDR is a software defined Global Navigation + * Satellite Systems receiver + * + * This file is part of GNSS-SDR. + * + * GNSS-SDR is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * GNSS-SDR is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with GNSS-SDR. If not, see . + * + * ------------------------------------------------------------------------- + */ + +#include "gps_l1_ca_dll_pll_tracking_fpga_sc.h" +#include "control_message_factory.h" +#include "gnss_sdr_flags.h" +#include "GPS_L1_CA.h" +#include "gps_sdr_signal_processing.h" +#include "lock_detectors.h" +#include "tracking_discriminators.h" +#include +#include +#include +#include +#include +#include +#include + + +using google::LogMessage; + +gps_l1_ca_dll_pll_tracking_fpga_sc_sptr +gps_l1_ca_dll_pll_make_tracking_fpga_sc( + long if_freq, + long fs_in, + unsigned int vector_length, + bool dump, + std::string dump_filename, + float pll_bw_hz, + float dll_bw_hz, + float early_late_space_chips, + std::string device_name, + unsigned int device_base) +{ + return gps_l1_ca_dll_pll_tracking_fpga_sc_sptr(new Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc(if_freq, + fs_in, vector_length, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips, device_name, device_base)); +} + + +Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc::Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc( + long if_freq, + long fs_in, + unsigned int vector_length, + bool dump, + std::string dump_filename, + float pll_bw_hz, + float dll_bw_hz, + float early_late_space_chips, + std::string device_name, + unsigned int device_base) : gr::block("Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc", gr::io_signature::make(0, 0, sizeof(lv_16sc_t)), + gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) +{ + // Telemetry bit synchronization message port input + this->message_port_register_out(pmt::mp("events")); + + // initialize internal vars + d_dump = dump; + d_if_freq = if_freq; + d_fs_in = fs_in; + d_vector_length = vector_length; + d_dump_filename = dump_filename; + d_current_prn_length_samples = static_cast(d_vector_length); + d_correlation_length_samples = static_cast(d_vector_length); + + // Initialize tracking ========================================== + d_code_loop_filter.set_DLL_BW(dll_bw_hz); + d_carrier_loop_filter.set_PLL_BW(pll_bw_hz); + + //--- DLL variables -------------------------------------------------------- + d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips) + + // Initialization of local code replica + // Get space for a vector with the C/A code replica sampled 1x/chip + //d_ca_code = static_cast(volk_gnsssdr_malloc(static_cast(GPS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(float), volk_gnsssdr_get_alignment())); + //d_ca_code_16sc = static_cast(volk_gnsssdr_malloc(static_cast(GPS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(lv_16sc_t), volk_gnsssdr_get_alignment())); + //d_ca_code_16sc = static_cast(volk_gnsssdr_malloc(static_cast(GPS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(int), volk_gnsssdr_get_alignment())); + + // correlator outputs (scalar) + d_n_correlator_taps = 3; // Early, Prompt, and Late + d_correlator_outs = static_cast(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(gr_complex), volk_gnsssdr_get_alignment())); + for (int n = 0; n < d_n_correlator_taps; n++) + { + d_correlator_outs[n] = gr_complex(0, 0); + } + d_local_code_shift_chips = static_cast(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(float), volk_gnsssdr_get_alignment())); + + // Set TAPs delay values [chips] + d_local_code_shift_chips[0] = -d_early_late_spc_chips; + d_local_code_shift_chips[1] = 0.0; + d_local_code_shift_chips[2] = d_early_late_spc_chips; + + // create multicorrelator class + multicorrelator_fpga_8sc = std::make_shared(d_n_correlator_taps, device_name, device_base); + + //--- Perform initializations ------------------------------ + // define initial code frequency basis of NCO + d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ; + // define residual code phase (in chips) + d_rem_code_phase_samples = 0.0; + // define residual carrier phase + d_rem_carr_phase_rad = 0.0; + + // sample synchronization + d_sample_counter = 0; + d_acq_sample_stamp = 0; + + d_enable_tracking = false; + d_pull_in = false; + + // CN0 estimation and lock detector buffers + d_cn0_estimation_counter = 0; + d_Prompt_buffer = new gr_complex[FLAGS_cn0_samples]; + d_carrier_lock_test = 1; + d_CN0_SNV_dB_Hz = 0; + d_carrier_lock_fail_counter = 0; + d_carrier_lock_threshold = FLAGS_carrier_lock_th; + + systemName["G"] = std::string("GPS"); + systemName["S"] = std::string("SBAS"); + + d_acquisition_gnss_synchro = 0; + d_channel = 0; + d_acq_code_phase_samples = 0.0; + d_acq_carrier_doppler_hz = 0.0; + d_carrier_doppler_hz = 0.0; + d_acc_carrier_phase_rad = 0.0; + d_code_phase_samples = 0.0; + d_rem_code_phase_chips = 0.0; + d_code_phase_step_chips = 0.0; + d_carrier_phase_step_rad = 0.0; + + set_relative_rate(1.0 / static_cast(d_vector_length)); + + multicorrelator_fpga_8sc->set_output_vectors(d_correlator_outs); +} + + +void Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc::start_tracking() +{ + /* + * correct the code phase according to the delay between acq and trk + */ + //printf("TRK : start tracking for satellite %d\n", d_acquisition_gnss_synchro->PRN); + d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples; + d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz; + d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples; + long int acq_trk_diff_samples; + double acq_trk_diff_seconds; + acq_trk_diff_samples = static_cast(d_sample_counter) - static_cast(d_acq_sample_stamp); //-d_vector_length; + DLOG(INFO) << "Number of samples between Acquisition and Tracking = " << acq_trk_diff_samples; + acq_trk_diff_seconds = static_cast(acq_trk_diff_samples) / static_cast(d_fs_in); + // Doppler effect + // Fd=(C/(C+Vr))*F + double radial_velocity = (GPS_L1_FREQ_HZ + d_acq_carrier_doppler_hz) / GPS_L1_FREQ_HZ; + // new chip and prn sequence periods based on acq Doppler + double T_chip_mod_seconds; + double T_prn_mod_seconds; + double T_prn_mod_samples; + d_code_freq_chips = radial_velocity * GPS_L1_CA_CODE_RATE_HZ; + d_code_phase_step_chips = static_cast(d_code_freq_chips) / static_cast(d_fs_in); + T_chip_mod_seconds = 1 / d_code_freq_chips; + T_prn_mod_seconds = T_chip_mod_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS; + T_prn_mod_samples = T_prn_mod_seconds * static_cast(d_fs_in); + d_current_prn_length_samples = round(T_prn_mod_samples); + double T_prn_true_seconds = GPS_L1_CA_CODE_LENGTH_CHIPS / GPS_L1_CA_CODE_RATE_HZ; + double T_prn_true_samples = T_prn_true_seconds * static_cast(d_fs_in); + double T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds; + double N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds; + double corrected_acq_phase_samples, delay_correction_samples; + corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast(d_fs_in)), T_prn_true_samples); + if (corrected_acq_phase_samples < 0) + { + corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples; + } + delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples; + d_acq_code_phase_samples = corrected_acq_phase_samples; + d_carrier_doppler_hz = d_acq_carrier_doppler_hz; + d_carrier_phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz / static_cast(d_fs_in); + // DLL/PLL filter initialization + d_carrier_loop_filter.initialize(); // initialize the carrier filter + d_code_loop_filter.initialize(); // initialize the code filter + // generate local reference ALWAYS starting at chip 1 (1 sample per chip) + //gps_l1_ca_code_gen_float(d_ca_code, d_acquisition_gnss_synchro->PRN, 0); + //gps_l1_ca_code_gen_int(d_ca_code_16sc, d_acquisition_gnss_synchro->PRN, 0); + /* for (int n = 0; n < static_cast(GPS_L1_CA_CODE_LENGTH_CHIPS); n++) + { + d_ca_code_16sc[n] = d_ca_code[n]; + } */ + //multicorrelator_fpga_8sc->set_local_code_and_taps(static_cast(GPS_L1_CA_CODE_LENGTH_CHIPS), d_ca_code_16sc, d_local_code_shift_chips, d_acquisition_gnss_synchro->PRN); + multicorrelator_fpga_8sc->set_local_code_and_taps(static_cast(GPS_L1_CA_CODE_LENGTH_CHIPS), d_local_code_shift_chips, d_acquisition_gnss_synchro->PRN); + for (int n = 0; n < d_n_correlator_taps; n++) + { + d_correlator_outs[n] = gr_complex(0, 0); + } + d_carrier_lock_fail_counter = 0; + d_rem_code_phase_samples = 0; + d_rem_carr_phase_rad = 0.0; + d_rem_code_phase_chips = 0.0; + d_acc_carrier_phase_rad = 0.0; + d_code_phase_samples = d_acq_code_phase_samples; + std::string sys_ = &d_acquisition_gnss_synchro->System; + sys = sys_.substr(0, 1); + std::cout << "Tracking of GPS L1 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl; + LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; + // enable tracking + d_pull_in = true; + d_enable_tracking = true; //do it in the end to avoid starting running tracking before finishing this function + LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz + << " Code Phase correction [samples]=" << delay_correction_samples + << " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples; +} + + +Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc::~Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc() +{ + if (d_dump_file.is_open()) + { + try + { + d_dump_file.close(); + } + catch (const std::exception &ex) + { + LOG(WARNING) << "Exception in destructor " << ex.what(); + } + } + try + { + volk_gnsssdr_free(d_local_code_shift_chips); + volk_gnsssdr_free(d_correlator_outs); + delete[] d_Prompt_buffer; + multicorrelator_fpga_8sc->free(); + } + catch (const std::exception &ex) + { + LOG(WARNING) << "Exception in destructor " << ex.what(); + } +} + + +int Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), + gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) +{ + unsigned absolute_samples_offset; + // process vars + double carr_error_hz = 0.0; + double carr_error_filt_hz = 0.0; + double code_error_chips = 0.0; + double code_error_filt_chips = 0.0; + + int next_prn_length_samples = d_current_prn_length_samples; + + // Block input data and block output stream pointers + Gnss_Synchro **out = reinterpret_cast(&output_items[0]); + + // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder + Gnss_Synchro current_synchro_data = Gnss_Synchro(); + + if (d_enable_tracking == true) + { + // Fill the acquisition data + current_synchro_data = *d_acquisition_gnss_synchro; + // Receiver signal alignment + if (d_pull_in == true) + { + d_pull_in = false; + multicorrelator_fpga_8sc->lock_channel(); + unsigned counter_value = multicorrelator_fpga_8sc->read_sample_counter(); + unsigned num_frames = ceil((counter_value - current_synchro_data.Acq_samplestamp_samples - current_synchro_data.Acq_delay_samples) / d_correlation_length_samples); + absolute_samples_offset = current_synchro_data.Acq_delay_samples + current_synchro_data.Acq_samplestamp_samples + num_frames * d_correlation_length_samples; + multicorrelator_fpga_8sc->set_initial_sample(absolute_samples_offset); + d_sample_counter = absolute_samples_offset; + current_synchro_data.Tracking_sample_counter = absolute_samples_offset; + } + else + { + // continue as from the previous point + d_sample_counter = d_sample_counter_next; + } + d_sample_counter_next = d_sample_counter + d_current_prn_length_samples; + + // ################# CARRIER WIPEOFF AND CORRELATORS ############################## + // perform carrier wipe-off and compute Early, Prompt and Late correlation + multicorrelator_fpga_8sc->Carrier_wipeoff_multicorrelator_resampler( + d_rem_carr_phase_rad, d_carrier_phase_step_rad, + d_rem_code_phase_chips, d_code_phase_step_chips, + d_current_prn_length_samples); + + // ################## PLL ########################################################## + // PLL discriminator + // Update PLL discriminator [rads/Ti -> Secs/Ti] + carr_error_hz = pll_cloop_two_quadrant_atan(d_correlator_outs[1]) / GPS_TWO_PI; // prompt output + // Carrier discriminator filter + carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz); + // New carrier Doppler frequency estimation + d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz; + // New code Doppler frequency estimation + d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GPS_L1_CA_CODE_RATE_HZ) / GPS_L1_FREQ_HZ); + + // ################## DLL ########################################################## + // DLL discriminator + code_error_chips = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]); // [chips/Ti] //early and late + // Code discriminator filter + code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); // [chips/second] + double T_chip_seconds = 1.0 / static_cast(d_code_freq_chips); + double T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS; + double code_error_filt_secs = (T_prn_seconds * code_error_filt_chips * T_chip_seconds); //[seconds] + + // ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT ####################### + // keep alignment parameters for the next input buffer + // Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation + double T_prn_samples = T_prn_seconds * static_cast(d_fs_in); + double K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * static_cast(d_fs_in); + next_prn_length_samples = round(K_blk_samples); + + //################### PLL COMMANDS ################################################# + // carrier phase step (NCO phase increment per sample) [rads/sample] + d_carrier_phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz / static_cast(d_fs_in); + // remnant carrier phase to prevent overflow in the code NCO + d_rem_carr_phase_rad = d_rem_carr_phase_rad + d_carrier_phase_step_rad * d_current_prn_length_samples; + d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GPS_TWO_PI); + // carrier phase accumulator + d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * d_current_prn_length_samples; + + //################### DLL COMMANDS ################################################# + // code phase step (Code resampler phase increment per sample) [chips/sample] + d_code_phase_step_chips = d_code_freq_chips / static_cast(d_fs_in); + // remnant code phase [chips] + d_rem_code_phase_samples = K_blk_samples - next_prn_length_samples; // rounding error < 1 sample + d_rem_code_phase_chips = d_code_freq_chips * (d_rem_code_phase_samples / static_cast(d_fs_in)); + + // ####### CN0 ESTIMATION AND LOCK DETECTORS ###### + if (d_cn0_estimation_counter < FLAGS_cn0_samples) + { + // fill buffer with prompt correlator output values + d_Prompt_buffer[d_cn0_estimation_counter] = d_correlator_outs[1]; //prompt + d_cn0_estimation_counter++; + } + else + { + d_cn0_estimation_counter = 0; + // Code lock indicator + d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, FLAGS_cn0_samples, GPS_L1_CA_CODE_PERIOD); + // Carrier lock indicator + d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, FLAGS_cn0_samples); + // Loss of lock detection + if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < FLAGS_cn0_min) + { + d_carrier_lock_fail_counter++; + } + else + { + if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--; + } + if (d_carrier_lock_fail_counter > FLAGS_max_lock_fail) + { + std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl; + LOG(INFO) << "Loss of lock in channel " << d_channel << "!"; + this->message_port_pub(pmt::mp("events"), pmt::from_long(3)); // 3 -> loss of lock + d_carrier_lock_fail_counter = 0; + d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine + multicorrelator_fpga_8sc->unlock_channel(); + } + } + + // ########### Output the tracking data to navigation and PVT ########## + current_synchro_data.Prompt_I = static_cast((d_correlator_outs[1]).real()); + current_synchro_data.Prompt_Q = static_cast((d_correlator_outs[1]).imag()); + current_synchro_data.Tracking_sample_counter = d_sample_counter + d_current_prn_length_samples; + 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 = 1; + } + else + { + for (int n = 0; n < d_n_correlator_taps; n++) + { + d_correlator_outs[n] = gr_complex(0, 0); + } + + current_synchro_data.Tracking_sample_counter = d_sample_counter + d_current_prn_length_samples; + current_synchro_data.System = {'G'}; + current_synchro_data.correlation_length_ms = 1; + } + + //assign the GNURadio block output data + current_synchro_data.fs = d_fs_in; + *out[0] = current_synchro_data; + if (d_enable_tracking == true) // in the FPGA case dump data only when tracking is enabled, otherwise the dumped data is useless + { + if (d_dump) + { + // MULTIPLEXED FILE RECORDING - Record results to file + float prompt_I; + float prompt_Q; + float tmp_E, tmp_P, tmp_L; + double tmp_double; + unsigned long int tmp_long; + prompt_I = d_correlator_outs[1].real(); + prompt_Q = d_correlator_outs[1].imag(); + tmp_E = std::abs(d_correlator_outs[0]); + tmp_P = std::abs(d_correlator_outs[1]); + tmp_L = std::abs(d_correlator_outs[2]); + try + { + // EPR + d_dump_file.write(reinterpret_cast(&tmp_E), sizeof(float)); + d_dump_file.write(reinterpret_cast(&tmp_P), sizeof(float)); + d_dump_file.write(reinterpret_cast(&tmp_L), sizeof(float)); + // PROMPT I and Q (to analyze navigation symbols) + d_dump_file.write(reinterpret_cast(&prompt_I), sizeof(float)); + d_dump_file.write(reinterpret_cast(&prompt_Q), sizeof(float)); + // PRN start sample stamp + tmp_long = d_sample_counter + d_current_prn_length_samples; + d_dump_file.write(reinterpret_cast(&tmp_long), sizeof(unsigned long int)); + // accumulated carrier phase + d_dump_file.write(reinterpret_cast(&d_acc_carrier_phase_rad), sizeof(double)); + + // carrier and code frequency + d_dump_file.write(reinterpret_cast(&d_carrier_doppler_hz), sizeof(double)); + d_dump_file.write(reinterpret_cast(&d_code_freq_chips), sizeof(double)); + + // PLL commands + d_dump_file.write(reinterpret_cast(&carr_error_hz), sizeof(double)); + d_dump_file.write(reinterpret_cast(&carr_error_filt_hz), sizeof(double)); + + // DLL commands + d_dump_file.write(reinterpret_cast(&code_error_chips), sizeof(double)); + d_dump_file.write(reinterpret_cast(&code_error_filt_chips), sizeof(double)); + + // CN0 and carrier lock test + d_dump_file.write(reinterpret_cast(&d_CN0_SNV_dB_Hz), sizeof(double)); + d_dump_file.write(reinterpret_cast(&d_carrier_lock_test), sizeof(double)); + + // AUX vars (for debug purposes) + tmp_double = d_rem_code_phase_samples; + d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); + tmp_double = static_cast(d_sample_counter); + d_dump_file.write(reinterpret_cast(&tmp_double), sizeof(double)); + + // PRN + unsigned int prn_ = d_acquisition_gnss_synchro->PRN; + d_dump_file.write(reinterpret_cast(&prn_), sizeof(unsigned int)); + } + catch (const std::ifstream::failure &e) + { + LOG(WARNING) << "Exception writing trk dump file " << e.what(); + } + } + } + + + d_current_prn_length_samples = next_prn_length_samples; + d_sample_counter += d_current_prn_length_samples; // count for the processed samples + + if (d_enable_tracking == true) + { + return 1; + } + else + { + return 0; + } +} + + +void Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc::set_channel(unsigned int channel) +{ + d_channel = channel; + multicorrelator_fpga_8sc->set_channel(d_channel); + LOG(INFO) << "Tracking Channel set to " << d_channel; + + // ############# ENABLE DATA FILE LOG ################# + if (d_dump == true) + { + if (d_dump_file.is_open() == false) + { + try + { + d_dump_filename.append(boost::lexical_cast(d_channel)); + d_dump_filename.append(".dat"); + d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); + d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); + LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); + } + catch (const std::ifstream::failure &e) + { + LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what(); + } + } + } +} + + +void Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro) +{ + d_acquisition_gnss_synchro = p_gnss_synchro; +} + + +void Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc::reset(void) +{ + multicorrelator_fpga_8sc->unlock_channel(); +} diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.h b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_fpga_sc.h similarity index 53% rename from src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.h rename to src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_fpga_sc.h index fd6630eef..295c3f177 100644 --- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.h +++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_fpga_sc.h @@ -1,9 +1,9 @@ /*! - * \file gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.h + * \file gps_l1_ca_dll_pll_tracking_cc.h * \brief Interface of a code DLL + carrier PLL tracking block - * \author Marc Majoral, 2017. mmajoral(at)cttc.cat - * Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com + * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com * Javier Arribas, 2011. jarribas(at)cttc.es + * Cillian O'Driscoll, 2017. cillian.odriscoll(at)gmail.com * * Code DLL + carrier PLL according to the algorithms described in: * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen, @@ -12,7 +12,7 @@ * * ------------------------------------------------------------------------- * - * Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors) + * Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors) * * GNSS-SDR is a software defined Global Navigation * Satellite Systems receiver @@ -35,63 +35,79 @@ * ------------------------------------------------------------------------- */ -#ifndef GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_FPGA_SC_H -#define GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_FPGA_SC_H +#ifndef GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_FPGA_SC_H +#define GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_FPGA_SC_H + #include "gps_sdr_signal_processing.h" #include "gnss_synchro.h" #include "tracking_2nd_DLL_filter.h" -#include "tracking_FLL_PLL_filter.h" +#include "tracking_2nd_PLL_filter.h" #include "fpga_multicorrelator_8sc.h" #include #include #include -#include +#include #include #include #include -class gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc; -typedef boost::shared_ptr gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc_sptr; +class Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc; + +typedef boost::shared_ptr + gps_l1_ca_dll_pll_tracking_fpga_sc_sptr; + +gps_l1_ca_dll_pll_tracking_fpga_sc_sptr +gps_l1_ca_dll_pll_make_tracking_fpga_sc(long if_freq, + long fs_in, unsigned int vector_length, + bool dump, + std::string dump_filename, + float pll_bw_hz, + float dll_bw_hz, + float early_late_space_chips, + std::string device_name, + unsigned int device_base); -gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc_sptr -gps_l1_ca_dll_pll_c_aid_make_tracking_fpga_sc(long if_freq, long fs_in, unsigned int vector_length, bool dump, std::string dump_filename, float pll_bw_hz, - float dll_bw_hz, float pll_bw_narrow_hz, float dll_bw_narrow_hz, - int extend_correlation_ms, float early_late_space_chips, - std::string device_name, unsigned int device_base); /*! * \brief This class implements a DLL + PLL tracking loop block */ -class gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc : public gr::block +class Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc : public gr::block { public: - ~gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc(); + ~Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc(); void set_channel(unsigned int channel); void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro); void start_tracking(); int general_work(int noutput_items, gr_vector_int& ninput_items, - gr_vector_const_void_star& input_items, - gr_vector_void_star& output_items); + gr_vector_const_void_star& input_items, gr_vector_void_star& output_items); void reset(void); private: - friend gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc_sptr - gps_l1_ca_dll_pll_c_aid_make_tracking_fpga_sc(long if_freq, long fs_in, - unsigned int vector_length, bool dump, std::string dump_filename, - float pll_bw_hz, float dll_bw_hz, float pll_bw_narrow_hz, - float dll_bw_narrow_hz, int extend_correlation_ms, - float early_late_space_chips, std::string device_name, + friend gps_l1_ca_dll_pll_tracking_fpga_sc_sptr + gps_l1_ca_dll_pll_make_tracking_fpga_sc(long if_freq, + long fs_in, unsigned int vector_length, + bool dump, + std::string dump_filename, + float pll_bw_hz, + float dll_bw_hz, + float early_late_space_chips, + std::string device_name, unsigned int device_base); - gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc(long if_freq, long fs_in, unsigned int vector_length, bool dump, std::string dump_filename, float pll_bw_hz, - float dll_bw_hz, float pll_bw_narrow_hz, float dll_bw_narrow_hz, - int extend_correlation_ms, float early_late_space_chips, - std::string device_name, unsigned int device_base); + Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc(long if_freq, + long fs_in, unsigned int vector_length, + bool dump, + std::string dump_filename, + float pll_bw_hz, + float dll_bw_hz, + float early_late_space_chips, + std::string device_name, + unsigned int device_base); // tracking configuration vars unsigned int d_vector_length; @@ -104,58 +120,38 @@ private: long d_fs_in; double d_early_late_spc_chips; - int d_n_correlator_taps; - - gr_complex* d_ca_code; - lv_16sc_t* d_ca_code_16sc; - float* d_local_code_shift_chips; - lv_16sc_t* d_correlator_outs_16sc; - //fpga_multicorrelator_8sc multicorrelator_fpga_8sc; - std::shared_ptr multicorrelator_fpga_8sc; // remaining code phase and carrier phase between tracking loops double d_rem_code_phase_samples; double d_rem_code_phase_chips; - double d_rem_carrier_phase_rad; - int d_rem_code_phase_integer_samples; + double d_rem_carr_phase_rad; // PLL and DLL filter library Tracking_2nd_DLL_filter d_code_loop_filter; - Tracking_FLL_PLL_filter d_carrier_loop_filter; + Tracking_2nd_PLL_filter d_carrier_loop_filter; // acquisition double d_acq_code_phase_samples; double d_acq_carrier_doppler_hz; + // correlator + int d_n_correlator_taps; + //float* d_ca_code; + //int* d_ca_code_16sc; + + float* d_local_code_shift_chips; + gr_complex* d_correlator_outs; + std::shared_ptr multicorrelator_fpga_8sc; // tracking vars - float d_dll_bw_hz; - float d_pll_bw_hz; - float d_dll_bw_narrow_hz; - float d_pll_bw_narrow_hz; double d_code_freq_chips; double d_code_phase_step_chips; double d_carrier_doppler_hz; double d_carrier_phase_step_rad; - double d_acc_carrier_phase_cycles; + double d_acc_carrier_phase_rad; double d_code_phase_samples; - double d_pll_to_dll_assist_secs_Ti; - double d_carr_phase_error_secs_Ti; - double d_code_error_chips_Ti; - double d_preamble_timestamp_s; - int d_extend_correlation_ms; - bool d_enable_extended_integration; - bool d_preamble_synchronized; - double d_code_error_filt_chips_s; - double d_code_error_filt_chips_Ti; - void msg_handler_preamble_index(pmt::pmt_t msg); - // symbol history to detect bit transition - std::deque d_E_history; - std::deque d_P_history; - std::deque d_L_history; - - //Integration period in samples - int d_correlation_length_samples; + //PRN period in samples + int d_current_prn_length_samples; //processing samples counters unsigned long int d_sample_counter; @@ -180,7 +176,13 @@ private: std::map systemName; std::string sys; - int save_matfile(); + // extra + int d_correlation_length_samples; + unsigned long int d_sample_counter_next; + double d_rem_carrier_phase_rad; + + double d_K_blk_samples_previous; + int d_offset_sample_previous; }; -#endif //GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_FPGA_SC_H +#endif //GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_FPGA_SC_H diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.cc index 759128d0b..e1f0c31c3 100644 --- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.cc +++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.cc @@ -29,21 +29,20 @@ */ #include "gps_l1_ca_dll_pll_tracking_gpu_cc.h" -#include -#include -#include -#include -#include -#include -#include #include "gps_sdr_signal_processing.h" #include "tracking_discriminators.h" #include "lock_detectors.h" #include "GPS_L1_CA.h" #include "control_message_factory.h" #include "gnss_sdr_flags.h" -// includes +#include #include +#include +#include +#include +#include +#include +#include using google::LogMessage; @@ -245,7 +244,7 @@ void Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::start_tracking() // DEBUG OUTPUT std::cout << "Tracking of GPS L1 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl; - LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; + LOG(INFO) << "Tracking of GPS L1 C/A signal for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; // enable tracking d_pull_in = true; @@ -287,6 +286,38 @@ Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::~Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc() } +void Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::set_channel(unsigned int channel) +{ + d_channel = channel; + LOG(INFO) << "Tracking Channel set to " << d_channel; + // ############# ENABLE DATA FILE LOG ################# + if (d_dump == true) + { + if (d_dump_file.is_open() == false) + { + try + { + d_dump_filename.append(boost::lexical_cast(d_channel)); + d_dump_filename.append(".dat"); + d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); + d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); + LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); + } + catch (const std::ifstream::failure *e) + { + LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what(); + } + } + } +} + + +void Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro) +{ + d_acquisition_gnss_synchro = p_gnss_synchro; +} + + int Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { @@ -413,7 +444,7 @@ int Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::general_work(int noutput_items __attribut { d_cn0_estimation_counter = 0; // Code lock indicator - d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, FLAGS_cn0_samples, d_fs_in, GPS_L1_CA_CODE_LENGTH_CHIPS); + d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, FLAGS_cn0_samples, GPS_L1_CA_CODE_PERIOD); // Carrier lock indicator d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, FLAGS_cn0_samples); // Loss of lock detection @@ -539,35 +570,3 @@ int Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::general_work(int noutput_items __attribut return 0; } } - - -void Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::set_channel(unsigned int channel) -{ - d_channel = channel; - LOG(INFO) << "Tracking Channel set to " << d_channel; - // ############# ENABLE DATA FILE LOG ################# - if (d_dump == true) - { - if (d_dump_file.is_open() == false) - { - try - { - d_dump_filename.append(boost::lexical_cast(d_channel)); - d_dump_filename.append(".dat"); - d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); - d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); - LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); - } - catch (const std::ifstream::failure *e) - { - LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what(); - } - } - } -} - - -void Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro) -{ - d_acquisition_gnss_synchro = p_gnss_synchro; -} diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.h b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.h index 2743f5c99..be8959f49 100644 --- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.h +++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.h @@ -36,14 +36,15 @@ #ifndef GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_GPU_CC_H #define GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_GPU_CC_H -#include -#include -#include -#include +#include "cuda_multicorrelator.h" #include "gnss_synchro.h" #include "tracking_2nd_DLL_filter.h" #include "tracking_FLL_PLL_filter.h" -#include "cuda_multicorrelator.h" +#include +#include +#include +#include + class Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc; diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.cc index cd4c86652..a650238cc 100644 --- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.cc +++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.cc @@ -36,22 +36,22 @@ */ #include "gps_l1_ca_tcp_connector_tracking_cc.h" -#include -#include -#include +#include "control_message_factory.h" +#include "gnss_sdr_flags.h" +#include "gps_sdr_signal_processing.h" +#include "GPS_L1_CA.h" +#include "lock_detectors.h" +#include "tcp_communication.h" +#include "tcp_packet_data.h" +#include "tracking_discriminators.h" #include #include #include #include #include -#include "gps_sdr_signal_processing.h" -#include "tracking_discriminators.h" -#include "lock_detectors.h" -#include "GPS_L1_CA.h" -#include "control_message_factory.h" -#include "gnss_sdr_flags.h" -#include "tcp_communication.h" -#include "tcp_packet_data.h" +#include +#include +#include using google::LogMessage; @@ -91,8 +91,6 @@ Gps_L1_Ca_Tcp_Connector_Tracking_cc::Gps_L1_Ca_Tcp_Connector_Tracking_cc( size_t port_ch0) : gr::block("Gps_L1_Ca_Tcp_Connector_Tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)), gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) { - // Telemetry bit synchronization message port input - this->message_port_register_in(pmt::mp("preamble_timestamp_s")); this->message_port_register_out(pmt::mp("events")); // initialize internal vars d_dump = dump; @@ -252,7 +250,7 @@ void Gps_L1_Ca_Tcp_Connector_Tracking_cc::start_tracking() // DEBUG OUTPUT std::cout << "Tracking of GPS L1 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl; - LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; + LOG(INFO) << "Tracking of GPS L1 C/A signal for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel; // enable tracking d_pull_in = true; @@ -293,6 +291,45 @@ Gps_L1_Ca_Tcp_Connector_Tracking_cc::~Gps_L1_Ca_Tcp_Connector_Tracking_cc() } +void Gps_L1_Ca_Tcp_Connector_Tracking_cc::set_channel(unsigned int channel) +{ + d_channel = channel; + LOG(INFO) << "Tracking Channel set to " << d_channel; + // ############# ENABLE DATA FILE LOG ################# + if (d_dump == true) + { + if (d_dump_file.is_open() == false) + { + try + { + d_dump_filename.append(boost::lexical_cast(d_channel)); + d_dump_filename.append(".dat"); + d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); + d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); + LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); + } + catch (const std::ifstream::failure &e) + { + LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what(); + } + } + } + + //! Listen for connections on a TCP port + if (d_listen_connection == true) + { + d_port = d_port_ch0 + d_channel; + d_listen_connection = d_tcp_com.listen_tcp_connection(d_port, d_port_ch0); + } +} + + +void Gps_L1_Ca_Tcp_Connector_Tracking_cc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro) +{ + d_acquisition_gnss_synchro = p_gnss_synchro; +} + + int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)), gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) { @@ -418,7 +455,7 @@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work(int noutput_items __attrib else { d_cn0_estimation_counter = 0; - d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, FLAGS_cn0_samples, d_fs_in, GPS_L1_CA_CODE_LENGTH_CHIPS); + d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, FLAGS_cn0_samples, GPS_L1_CA_CODE_PERIOD); d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, FLAGS_cn0_samples); // ###### TRACKING UNLOCK NOTIFICATION ##### @@ -553,42 +590,3 @@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work(int noutput_items __attrib return 0; } } - - -void Gps_L1_Ca_Tcp_Connector_Tracking_cc::set_channel(unsigned int channel) -{ - d_channel = channel; - LOG(INFO) << "Tracking Channel set to " << d_channel; - // ############# ENABLE DATA FILE LOG ################# - if (d_dump == true) - { - if (d_dump_file.is_open() == false) - { - try - { - d_dump_filename.append(boost::lexical_cast(d_channel)); - d_dump_filename.append(".dat"); - d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit); - d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary); - LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str(); - } - catch (const std::ifstream::failure &e) - { - LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what(); - } - } - } - - //! Listen for connections on a TCP port - if (d_listen_connection == true) - { - d_port = d_port_ch0 + d_channel; - d_listen_connection = d_tcp_com.listen_tcp_connection(d_port, d_port_ch0); - } -} - - -void Gps_L1_Ca_Tcp_Connector_Tracking_cc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro) -{ - d_acquisition_gnss_synchro = p_gnss_synchro; -} diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.h index 89140e4b6..21bf6f02c 100644 --- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.h +++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.h @@ -37,13 +37,13 @@ #ifndef GNSS_SDR_GPS_L1_CA_TCP_CONNECTOR_TRACKING_CC_H #define GNSS_SDR_GPS_L1_CA_TCP_CONNECTOR_TRACKING_CC_H +#include "cpu_multicorrelator.h" +#include "gnss_synchro.h" +#include "tcp_communication.h" +#include #include #include #include -#include -#include "gnss_synchro.h" -#include "cpu_multicorrelator.h" -#include "tcp_communication.h" class Gps_L1_Ca_Tcp_Connector_Tracking_cc; diff --git a/src/algorithms/tracking/libs/CMakeLists.txt b/src/algorithms/tracking/libs/CMakeLists.txt index 5c5ce7a2a..88c4eb2a5 100644 --- a/src/algorithms/tracking/libs/CMakeLists.txt +++ b/src/algorithms/tracking/libs/CMakeLists.txt @@ -54,6 +54,7 @@ include_directories( ${CMAKE_SOURCE_DIR}/src/core/system_parameters ${CMAKE_SOURCE_DIR}/src/core/interfaces ${CMAKE_SOURCE_DIR}/src/core/receiver + ${CMAKE_SOURCE_DIR}/src/algorithms/libs ${VOLK_INCLUDE_DIRS} ${GLOG_INCLUDE_DIRS} ${GFlags_INCLUDE_DIRS} diff --git a/src/algorithms/tracking/libs/fpga_multicorrelator_8sc.cc b/src/algorithms/tracking/libs/fpga_multicorrelator_8sc.cc index 9af959232..737e414d9 100644 --- a/src/algorithms/tracking/libs/fpga_multicorrelator_8sc.cc +++ b/src/algorithms/tracking/libs/fpga_multicorrelator_8sc.cc @@ -36,7 +36,6 @@ #include "fpga_multicorrelator_8sc.h" #include - // FPGA stuff #include @@ -63,6 +62,12 @@ // string manipulation #include +// constants +#include "GPS_L1_CA.h" + +#include "gps_sdr_signal_processing.h" + +#define NUM_PRNs 32 #define PAGE_SIZE 0x10000 #define MAX_LENGTH_DEVICEIO_NAME 50 #define CODE_RESAMPLER_NUM_BITS_PRECISION 20 @@ -77,72 +82,59 @@ #define LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY 0x0C000000 #define TEST_REGISTER_TRACK_WRITEVAL 0x55AA +int fpga_multicorrelator_8sc::read_sample_counter() +{ + return d_map_base[7]; +} + void fpga_multicorrelator_8sc::set_initial_sample(int samples_offset) { d_initial_sample_counter = samples_offset; + d_map_base[13] = d_initial_sample_counter; } - -bool fpga_multicorrelator_8sc::set_local_code_and_taps(int code_length_chips, - const lv_16sc_t* local_code_in, float* shifts_chips) +void fpga_multicorrelator_8sc::set_local_code_and_taps(int code_length_chips, + float *shifts_chips, int PRN) { - d_local_code_in = local_code_in; d_shifts_chips = shifts_chips; d_code_length_chips = code_length_chips; - - fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code(); - - return true; + fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code(PRN); } - -bool fpga_multicorrelator_8sc::set_output_vectors(lv_16sc_t* corr_out) +void fpga_multicorrelator_8sc::set_output_vectors(gr_complex *corr_out) { - // Save CPU pointers d_corr_out = corr_out; - - return true; } - void fpga_multicorrelator_8sc::update_local_code(float rem_code_phase_chips) { d_rem_code_phase_chips = rem_code_phase_chips; - fpga_multicorrelator_8sc::fpga_compute_code_shift_parameters(); fpga_multicorrelator_8sc::fpga_configure_code_parameters_in_fpga(); } - -bool fpga_multicorrelator_8sc::Carrier_wipeoff_multicorrelator_resampler( +void fpga_multicorrelator_8sc::Carrier_wipeoff_multicorrelator_resampler( float rem_carrier_phase_in_rad, float phase_step_rad, float rem_code_phase_chips, float code_phase_step_chips, int signal_length_samples) { update_local_code(rem_code_phase_chips); - d_rem_carrier_phase_in_rad = rem_carrier_phase_in_rad; d_code_phase_step_chips = code_phase_step_chips; d_phase_step_rad = phase_step_rad; d_correlator_length_samples = signal_length_samples; - fpga_multicorrelator_8sc::fpga_compute_signal_parameters_in_fpga(); fpga_multicorrelator_8sc::fpga_configure_signal_parameters_in_fpga(); fpga_multicorrelator_8sc::fpga_launch_multicorrelator_fpga(); - int irq_count; ssize_t nb; - // wait for interrupt nb = read(d_device_descriptor, &irq_count, sizeof(irq_count)); if (nb != sizeof(irq_count)) { printf("Tracking_module Read failed to retrieve 4 bytes!\n"); printf("Tracking_module Interrupt number %d\n", irq_count); } - fpga_multicorrelator_8sc::read_tracking_gps_results(); - - return true; } @@ -156,12 +148,12 @@ fpga_multicorrelator_8sc::fpga_multicorrelator_8sc(int n_correlators, d_map_base = nullptr; // instantiate variable length vectors - d_initial_index = static_cast(volk_gnsssdr_malloc( + d_initial_index = static_cast(volk_gnsssdr_malloc( n_correlators * sizeof(unsigned), volk_gnsssdr_get_alignment())); - d_initial_interp_counter = static_cast(volk_gnsssdr_malloc( + d_initial_interp_counter = static_cast(volk_gnsssdr_malloc( n_correlators * sizeof(unsigned), volk_gnsssdr_get_alignment())); - d_local_code_in = nullptr; + //d_local_code_in = nullptr; d_shifts_chips = nullptr; d_corr_out = nullptr; d_code_length_chips = 0; @@ -172,22 +164,30 @@ fpga_multicorrelator_8sc::fpga_multicorrelator_8sc(int n_correlators, d_rem_carr_phase_rad_int = 0; d_phase_step_rad_int = 0; d_initial_sample_counter = 0; - d_channel = 0; d_correlator_length_samples = 0; + + // pre-compute all the codes + d_ca_codes = static_cast(volk_gnsssdr_malloc(static_cast(GPS_L1_CA_CODE_LENGTH_CHIPS * NUM_PRNs) * sizeof(int), volk_gnsssdr_get_alignment())); + for (unsigned int PRN = 1; PRN <= NUM_PRNs; PRN++) + { + gps_l1_ca_code_gen_int(&d_ca_codes[(int(GPS_L1_CA_CODE_LENGTH_CHIPS)) * (PRN - 1)], PRN, 0); + } + DLOG(INFO) << "TRACKING FPGA CLASS CREATED"; } fpga_multicorrelator_8sc::~fpga_multicorrelator_8sc() { - close(d_device_descriptor); + delete[] d_ca_codes; + close_device(); } bool fpga_multicorrelator_8sc::free() { - // unlock the hardware - fpga_multicorrelator_8sc::unlock_channel(); // unlock the channel + // unlock the channel + fpga_multicorrelator_8sc::unlock_channel(); // free the FPGA dynamically created variables if (d_initial_index != nullptr) @@ -209,27 +209,23 @@ bool fpga_multicorrelator_8sc::free() void fpga_multicorrelator_8sc::set_channel(unsigned int channel) { char device_io_name[MAX_LENGTH_DEVICEIO_NAME]; // driver io name - d_channel = channel; // open the device corresponding to the assigned channel std::string mergedname; std::stringstream devicebasetemp; - int numdevice = d_device_base + d_channel; devicebasetemp << numdevice; mergedname = d_device_name + devicebasetemp.str(); strcpy(device_io_name, mergedname.c_str()); - printf("Opening Device Name : %s\n", device_io_name); if ((d_device_descriptor = open(device_io_name, O_RDWR | O_SYNC)) == -1) { LOG(WARNING) << "Cannot open deviceio" << device_io_name; } - - d_map_base = reinterpret_cast(mmap(NULL, PAGE_SIZE, + d_map_base = reinterpret_cast(mmap(NULL, PAGE_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, d_device_descriptor, 0)); - if (d_map_base == reinterpret_cast(-1)) + if (d_map_base == reinterpret_cast(-1)) { LOG(WARNING) << "Cannot map the FPGA tracking module " << d_channel << "into user memory"; @@ -263,12 +259,11 @@ unsigned fpga_multicorrelator_8sc::fpga_acquisition_test_register( } -void fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code(void) +void fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code(int PRN) { int k, s; unsigned code_chip; unsigned select_fpga_correlator; - select_fpga_correlator = 0; for (s = 0; s < d_n_correlators; s++) @@ -276,7 +271,8 @@ void fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code(void) d_map_base[11] = LOCAL_CODE_FPGA_CLEAR_ADDRESS_COUNTER; for (k = 0; k < d_code_length_chips; k++) { - if (lv_creal(d_local_code_in[k]) == 1) + //if (d_local_code_in[k] == 1) + if (d_ca_codes[((int(GPS_L1_CA_CODE_LENGTH_CHIPS)) * (PRN - 1)) + k] == 1) { code_chip = 1; } @@ -299,17 +295,15 @@ void fpga_multicorrelator_8sc::fpga_compute_code_shift_parameters(void) for (i = 0; i < d_n_correlators; i++) { - // initial index calculation temp_calculation = floor( - d_shifts_chips[i] + d_rem_code_phase_chips); + d_shifts_chips[i] - d_rem_code_phase_chips); + if (temp_calculation < 0) { temp_calculation = temp_calculation + d_code_length_chips; // % operator does not work as in Matlab with negative numbers } d_initial_index[i] = static_cast((static_cast(temp_calculation)) % d_code_length_chips); - - // initial interpolator counter calculation - temp_calculation = fmod(d_shifts_chips[i] + d_rem_code_phase_chips, + temp_calculation = fmod(d_shifts_chips[i] - d_rem_code_phase_chips, 1.0); if (temp_calculation < 0) { @@ -337,7 +331,6 @@ void fpga_multicorrelator_8sc::fpga_compute_signal_parameters_in_fpga(void) float d_rem_carrier_phase_in_rad_temp; d_code_phase_step_chips_num = static_cast(roundf(MAX_CODE_RESAMPLER_COUNTER * d_code_phase_step_chips)); - if (d_rem_carrier_phase_in_rad > M_PI) { d_rem_carrier_phase_in_rad_temp = -2 * M_PI + d_rem_carrier_phase_in_rad; @@ -350,10 +343,8 @@ void fpga_multicorrelator_8sc::fpga_compute_signal_parameters_in_fpga(void) { d_rem_carrier_phase_in_rad_temp = d_rem_carrier_phase_in_rad; } - d_rem_carr_phase_rad_int = static_cast(roundf( (fabs(d_rem_carrier_phase_in_rad_temp) / M_PI) * pow(2, PHASE_CARR_NBITS_FRAC))); - if (d_rem_carrier_phase_in_rad_temp < 0) { d_rem_carr_phase_rad_int = -d_rem_carr_phase_rad_int; @@ -374,7 +365,6 @@ void fpga_multicorrelator_8sc::fpga_configure_signal_parameters_in_fpga(void) d_map_base[7] = d_correlator_length_samples - 1; d_map_base[9] = d_rem_carr_phase_rad_int; d_map_base[10] = d_phase_step_rad_int; - d_map_base[13] = d_initial_sample_counter; } @@ -382,9 +372,10 @@ void fpga_multicorrelator_8sc::fpga_launch_multicorrelator_fpga(void) { // enable interrupts int reenable = 1; - write(d_device_descriptor, reinterpret_cast(&reenable), sizeof(int)); + write(d_device_descriptor, reinterpret_cast(&reenable), sizeof(int)); - d_map_base[14] = 0; // writing anything to reg 14 launches the tracking + // writing 1 to reg 14 launches the tracking + d_map_base[14] = 1; } @@ -401,16 +392,13 @@ void fpga_multicorrelator_8sc::read_tracking_gps_results(void) { readval_real = -2097152 + readval_real; } - readval_real = readval_real * 2; // the results are shifted two bits to the left due to the complex multiplier in the FPGA readval_imag = d_map_base[1 + d_n_correlators + k]; if (readval_imag >= 1048576) // 0x100000 (21 bits two's complement) { readval_imag = -2097152 + readval_imag; } - readval_imag = readval_imag * 2; // the results are shifted two bits to the left due to the complex multiplier in the FPGA - - d_corr_out[k] = lv_cmake(readval_real, readval_imag); + d_corr_out[k] = gr_complex(readval_real, readval_imag); } } @@ -422,8 +410,38 @@ void fpga_multicorrelator_8sc::unlock_channel(void) } +void fpga_multicorrelator_8sc::close_device() +{ + unsigned *aux = const_cast(d_map_base); + if (munmap(static_cast(aux), PAGE_SIZE) == -1) + { + printf("Failed to unmap memory uio\n"); + } + /* else + { + printf("memory uio unmapped\n"); + } */ + close(d_device_descriptor); +} + + void fpga_multicorrelator_8sc::lock_channel(void) { // lock the channel for processing d_map_base[12] = 0; // lock the channel } + + +void fpga_multicorrelator_8sc::read_sample_counters(int *sample_counter, int *secondary_sample_counter, int *counter_corr_0_in, int *counter_corr_0_out) +{ + *sample_counter = d_map_base[11]; + *secondary_sample_counter = d_map_base[8]; + *counter_corr_0_in = d_map_base[10]; + *counter_corr_0_out = d_map_base[9]; +} + + +void fpga_multicorrelator_8sc::reset_multicorrelator(void) +{ + d_map_base[14] = 2; // writing a 2 to d_map_base[14] resets the multicorrelator +} diff --git a/src/algorithms/tracking/libs/fpga_multicorrelator_8sc.h b/src/algorithms/tracking/libs/fpga_multicorrelator_8sc.h index 9608a487c..1eceb1936 100644 --- a/src/algorithms/tracking/libs/fpga_multicorrelator_8sc.h +++ b/src/algorithms/tracking/libs/fpga_multicorrelator_8sc.h @@ -37,6 +37,7 @@ #ifndef GNSS_SDR_FPGA_MULTICORRELATOR_8SC_H_ #define GNSS_SDR_FPGA_MULTICORRELATOR_8SC_H_ +#include #include #define MAX_LENGTH_DEVICEIO_NAME 50 @@ -50,25 +51,33 @@ public: fpga_multicorrelator_8sc(int n_correlators, std::string device_name, unsigned int device_base); ~fpga_multicorrelator_8sc(); - bool set_local_code_and_taps( - int code_length_chips, const lv_16sc_t *local_code_in, - float *shifts_chips); - bool set_output_vectors(lv_16sc_t *corr_out); + //bool set_output_vectors(gr_complex* corr_out); + void set_output_vectors(gr_complex *corr_out); + // bool set_local_code_and_taps( + // int code_length_chips, const int* local_code_in, + // float *shifts_chips, int PRN); + //bool set_local_code_and_taps( + void set_local_code_and_taps( + int code_length_chips, + float *shifts_chips, int PRN); + //bool set_output_vectors(lv_16sc_t* corr_out); void update_local_code(float rem_code_phase_chips); - bool Carrier_wipeoff_multicorrelator_resampler( + //bool Carrier_wipeoff_multicorrelator_resampler( + void Carrier_wipeoff_multicorrelator_resampler( float rem_carrier_phase_in_rad, float phase_step_rad, float rem_code_phase_chips, float code_phase_step_chips, int signal_length_samples); bool free(); - void set_channel(unsigned int channel); void set_initial_sample(int samples_offset); + int read_sample_counter(); void lock_channel(void); void unlock_channel(void); + void read_sample_counters(int *sample_counter, int *secondary_sample_counter, int *counter_corr_0_in, int *counter_corr_0_out); // debug private: - const lv_16sc_t *d_local_code_in; - lv_16sc_t *d_corr_out; + //const int *d_local_code_in; + gr_complex *d_corr_out; float *d_shifts_chips; int d_code_length_chips; int d_n_correlators; @@ -98,20 +107,19 @@ private: std::string d_device_name; unsigned int d_device_base; - // results - //int *d_readval_real; - //int *d_readval_imag; - // FPGA private functions + int *d_ca_codes; + + // private functions unsigned fpga_acquisition_test_register(unsigned writeval); - void fpga_configure_tracking_gps_local_code(void); + void fpga_configure_tracking_gps_local_code(int PRN); void fpga_compute_code_shift_parameters(void); void fpga_configure_code_parameters_in_fpga(void); void fpga_compute_signal_parameters_in_fpga(void); void fpga_configure_signal_parameters_in_fpga(void); void fpga_launch_multicorrelator_fpga(void); void read_tracking_gps_results(void); - - //void unlock_channel(void); + void reset_multicorrelator(void); + void close_device(void); }; #endif /* GNSS_SDR_FPGA_MULTICORRELATOR_H_ */ diff --git a/src/algorithms/tracking/libs/lock_detectors.cc b/src/algorithms/tracking/libs/lock_detectors.cc index 4457e361f..44201a4fb 100644 --- a/src/algorithms/tracking/libs/lock_detectors.cc +++ b/src/algorithms/tracking/libs/lock_detectors.cc @@ -58,14 +58,14 @@ * \f$\hat{P}_{tot}=\frac{1}{N}\sum^{N-1}_{i=0}|Pc(i)|^2\f$ is the estimator of the total power, \f$|\cdot|\f$ is the absolute value, * \f$Re(\cdot)\f$ stands for the real part of the value, and \f$Pc(i)\f$ is the prompt correlator output for the sample index i. * - * The SNR value is converted to CN0 [dB-Hz], taking to account the receiver bandwidth and the PRN code gain, using the following formula: + * The SNR value is converted to CN0 [dB-Hz], taking to account the coherent integration time, using the following formula: * \f{equation} - * CN0_{dB}=10*log(\hat{\rho})+10*log(\frac{f_s}{2})-10*log(L_{PRN}), + * CN0_{dB}=10*log(\hat{\rho})-10*log(T_{int}), * \f} - * where \f$f_s\f$ is the sampling frequency and \f$L_{PRN}\f$ is the PRN sequence length. + * where \f$T_{int}\f$ is the coherent integration time, in seconds. * */ -float cn0_svn_estimator(gr_complex* Prompt_buffer, int length, long fs_in, double code_length) +float cn0_svn_estimator(const gr_complex* Prompt_buffer, int length, double coh_integration_time_s) { double SNR = 0.0; double SNR_dB_Hz = 0.0; @@ -80,7 +80,7 @@ float cn0_svn_estimator(gr_complex* Prompt_buffer, int length, long fs_in, doubl Psig = Psig * Psig; Ptot /= static_cast(length); SNR = Psig / (Ptot - Psig); - SNR_dB_Hz = 10.0 * log10(SNR) + 10.0 * log10(static_cast(fs_in) / 2.0) - 10.0 * log10(code_length); + SNR_dB_Hz = 10.0 * log10(SNR) - 10.0 * log10(coh_integration_time_s); return static_cast(SNR_dB_Hz); } diff --git a/src/algorithms/tracking/libs/lock_detectors.h b/src/algorithms/tracking/libs/lock_detectors.h index 22ec4945e..4955393d2 100644 --- a/src/algorithms/tracking/libs/lock_detectors.h +++ b/src/algorithms/tracking/libs/lock_detectors.h @@ -62,17 +62,17 @@ * \f$\hat{P}_{tot}=\frac{1}{N}\sum^{N-1}_{i=0}|Pc(i)|^2\f$ is the estimator of the total power, \f$|\cdot|\f$ is the absolute value, * \f$Re(\cdot)\f$ stands for the real part of the value, and \f$Pc(i)\f$ is the prompt correlator output for the sample index i. * - * The SNR value is converted to CN0 [dB-Hz], taking to account the receiver bandwidth and the PRN code gain, using the following formula: + * The SNR value is converted to CN0 [dB-Hz], taking to account the coherent integration time, using the following formula: * \f{equation} - * CN0_{dB}=10*log(\hat{\rho})+10*log(\frac{f_s}{2})-10*log(L_{PRN}), + * CN0_{dB}=10*log(\hat{\rho})-10*log(2 * T_{int}), * \f} - * where \f$f_s\f$ is the sampling frequency and \f$L_{PRN}\f$ is the PRN sequence length. + * where \f$T_{int}\f$ is the coherent integration time, in seconds. * Ref: Marco Pini, Emanuela Falletti and Maurizio Fantino, "Performance * Evaluation of C/N0 Estimators using a Real Time GNSS Software Receiver," * IEEE 10th International Symposium on Spread Spectrum Techniques and * Applications, pp.28-30, August 2008. */ -float cn0_svn_estimator(gr_complex* Prompt_buffer, int length, long fs_in, double code_length); +float cn0_svn_estimator(const gr_complex* Prompt_buffer, int length, double coh_integration_time_s); /*! \brief A carrier lock detector diff --git a/src/core/receiver/CMakeLists.txt b/src/core/receiver/CMakeLists.txt index e632d6833..9d276e786 100644 --- a/src/core/receiver/CMakeLists.txt +++ b/src/core/receiver/CMakeLists.txt @@ -90,6 +90,11 @@ if(ENABLE_FMCOMMS2) set(OPT_RECEIVER_INCLUDE_DIRS ${OPT_RECEIVER_INCLUDE_DIRS} ${IIO_INCLUDE_DIRS}) endif(ENABLE_FMCOMMS2) +if(ENABLE_AD9361) + add_definitions(-DAD9361_DRIVER=1) + set(OPT_RECEIVER_INCLUDE_DIRS ${OPT_RECEIVER_INCLUDE_DIRS} ${IIO_INCLUDE_DIRS}) +endif(ENABLE_AD9361) + if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.15" ) add_definitions( -DGR_GREATER_38=1 ) endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.15" ) diff --git a/src/core/receiver/control_thread.cc b/src/core/receiver/control_thread.cc index db3e3841b..aba3c0272 100644 --- a/src/core/receiver/control_thread.cc +++ b/src/core/receiver/control_thread.cc @@ -110,7 +110,15 @@ ControlThread::~ControlThread() void ControlThread::run() { // Connect the flowgraph - flowgraph_->connect(); + try + { + flowgraph_->connect(); + } + catch (const std::exception e) + { + LOG(ERROR) << e.what(); + return; + } if (flowgraph_->connected()) { LOG(INFO) << "Flowgraph connected"; @@ -138,6 +146,13 @@ void ControlThread::run() keyboard_thread_ = boost::thread(&ControlThread::keyboard_listener, this); sysv_queue_thread_ = boost::thread(&ControlThread::sysv_queue_listener, this); + bool enable_FPGA = configuration_->property("Channel.enable_FPGA", false); + + if (enable_FPGA == true) + { + flowgraph_->start_acquisition_helper(); + } + // Main loop to read and process the control messages while (flowgraph_->running() && !stop_) { @@ -148,6 +163,7 @@ void ControlThread::run() std::cout << "Stopping GNSS-SDR, please wait!" << std::endl; flowgraph_->stop(); stop_ = true; + flowgraph_->disconnect(); //Join keyboard thread #ifdef OLD_BOOST @@ -263,6 +279,7 @@ bool ControlThread::read_assistance_from_XML() return ret; } + void ControlThread::assist_GNSS() { //######### GNSS Assistance ################################# diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc index 3270f79d6..b745245b7 100644 --- a/src/core/receiver/gnss_block_factory.cc +++ b/src/core/receiver/gnss_block_factory.cc @@ -91,7 +91,7 @@ #include "glonass_l1_ca_dll_pll_c_aid_tracking.h" #include "glonass_l2_ca_dll_pll_tracking.h" #include "glonass_l2_ca_dll_pll_c_aid_tracking.h" -#include "gps_l5i_dll_pll_tracking.h" +#include "gps_l5_dll_pll_tracking.h" #include "gps_l1_ca_telemetry_decoder.h" #include "gps_l2c_telemetry_decoder.h" #include "gps_l5_telemetry_decoder.h" @@ -105,8 +105,8 @@ #include "gps_l1_ca_kf_tracking.h" #if ENABLE_FPGA -#include "gps_l1_ca_dll_pll_c_aid_tracking_fpga.h" #include "gps_l1_ca_pcps_acquisition_fpga.h" +#include "gps_l1_ca_dll_pll_tracking_fpga.h" #endif #if OPENCL_BLOCKS @@ -137,6 +137,10 @@ #include "fmcomms2_signal_source.h" #endif +#if AD9361_DRIVER +#include "ad9361_fpga_signal_source.h" +#endif + #if FLEXIBAND_DRIVER #include "flexiband_signal_source.h" #endif @@ -145,7 +149,6 @@ #include "gps_l1_ca_dll_pll_tracking_gpu.h" #endif -#include #include #include #include @@ -166,9 +169,16 @@ std::unique_ptr GNSSBlockFactory::GetSignalSource( { std::string default_implementation = "File_Signal_Source"; std::string role = "SignalSource"; //backwards compatibility for old conf files - if (ID != -1) + try { - role = "SignalSource" + boost::lexical_cast(ID); + if (ID != -1) + { + role = "SignalSource" + std::to_string(ID); + } + } + catch (const std::exception &e) + { + LOG(WARNING) << e.what(); } std::string implementation = configuration->property(role + ".implementation", default_implementation); LOG(INFO) << "Getting SignalSource with implementation " << implementation; @@ -185,15 +195,20 @@ std::unique_ptr GNSSBlockFactory::GetSignalConditioner( std::string role_datatypeadapter = "DataTypeAdapter"; std::string role_inputfilter = "InputFilter"; std::string role_resampler = "Resampler"; - - if (ID != -1) + try { - role_conditioner = "SignalConditioner" + boost::lexical_cast(ID); - role_datatypeadapter = "DataTypeAdapter" + boost::lexical_cast(ID); - role_inputfilter = "InputFilter" + boost::lexical_cast(ID); - role_resampler = "Resampler" + boost::lexical_cast(ID); + if (ID != -1) + { + role_conditioner = "SignalConditioner" + std::to_string(ID); + role_datatypeadapter = "DataTypeAdapter" + std::to_string(ID); + role_inputfilter = "InputFilter" + std::to_string(ID); + role_resampler = "Resampler" + std::to_string(ID); + } + } + catch (const std::exception &e) + { + LOG(WARNING) << e.what(); } - std::string signal_conditioner = configuration->property(role_conditioner + ".implementation", default_implementation); std::string data_type_adapter; @@ -251,13 +266,13 @@ std::unique_ptr GNSSBlockFactory::GetObservables(std::shared GPS_channels += configuration->property("Channels_2S.count", 0); GPS_channels += configuration->property("Channels_L5.count", 0); unsigned int Glonass_channels = configuration->property("Channels_1G.count", 0); - unsigned int extra_channels = 1; // For monitor channel sample counter + unsigned int extra_channels = 1; // For monitor channel sample counter return GetBlock(configuration, "Observables", implementation, - Galileo_channels + + Galileo_channels + GPS_channels + Glonass_channels + extra_channels, - Galileo_channels + + Galileo_channels + GPS_channels + Glonass_channels); } @@ -274,7 +289,6 @@ std::unique_ptr GNSSBlockFactory::GetPVT(std::shared_ptrproperty("Channels_2S.count", 0); GPS_channels += configuration->property("Channels_L5.count", 0); unsigned int Glonass_channels = configuration->property("Channels_1G.count", 0); - Glonass_channels += configuration->property("Channels_2G.count", 0); return GetBlock(configuration, "PVT", implementation, Galileo_channels + GPS_channels + Glonass_channels, 0); } @@ -291,31 +305,31 @@ std::unique_ptr GNSSBlockFactory::GetChannel_1C( LOG(INFO) << "Instantiating Channel " << channel << " with Acquisition Implementation: " << acq << ", Tracking Implementation: " << trk << ", Telemetry Decoder implementation: " << tlm; - std::string aux = configuration->property("Acquisition_1C" + boost::lexical_cast(channel) + ".implementation", std::string("W")); + std::string aux = configuration->property("Acquisition_1C" + std::to_string(channel) + ".implementation", std::string("W")); std::string appendix1; if (aux.compare("W") != 0) { - appendix1 = boost::lexical_cast(channel); + appendix1 = std::to_string(channel); } else { appendix1 = ""; } - aux = configuration->property("Tracking_1C" + boost::lexical_cast(channel) + ".implementation", std::string("W")); + aux = configuration->property("Tracking_1C" + std::to_string(channel) + ".implementation", std::string("W")); std::string appendix2; if (aux.compare("W") != 0) { - appendix2 = boost::lexical_cast(channel); + appendix2 = std::to_string(channel); } else { appendix2 = ""; } - aux = configuration->property("TelemetryDecoder_1C" + boost::lexical_cast(channel) + ".implementation", std::string("W")); + aux = configuration->property("TelemetryDecoder_1C" + std::to_string(channel) + ".implementation", std::string("W")); std::string appendix3; if (aux.compare("W") != 0) { - appendix3 = boost::lexical_cast(channel); + appendix3 = std::to_string(channel); } else { @@ -356,31 +370,31 @@ std::unique_ptr GNSSBlockFactory::GetChannel_2S( { LOG(INFO) << "Instantiating Channel " << channel << " with Acquisition Implementation: " << acq << ", Tracking Implementation: " << trk << ", Telemetry Decoder implementation: " << tlm; - std::string aux = configuration->property("Acquisition_2S" + boost::lexical_cast(channel) + ".implementation", std::string("W")); + std::string aux = configuration->property("Acquisition_2S" + std::to_string(channel) + ".implementation", std::string("W")); std::string appendix1; if (aux.compare("W") != 0) { - appendix1 = boost::lexical_cast(channel); + appendix1 = std::to_string(channel); } else { appendix1 = ""; } - aux = configuration->property("Tracking_2S" + boost::lexical_cast(channel) + ".implementation", std::string("W")); + aux = configuration->property("Tracking_2S" + std::to_string(channel) + ".implementation", std::string("W")); std::string appendix2; if (aux.compare("W") != 0) { - appendix2 = boost::lexical_cast(channel); + appendix2 = std::to_string(channel); } else { appendix2 = ""; } - aux = configuration->property("TelemetryDecoder_2S" + boost::lexical_cast(channel) + ".implementation", std::string("W")); + aux = configuration->property("TelemetryDecoder_2S" + std::to_string(channel) + ".implementation", std::string("W")); std::string appendix3; if (aux.compare("W") != 0) { - appendix3 = boost::lexical_cast(channel); + appendix3 = std::to_string(channel); } else { @@ -424,31 +438,31 @@ std::unique_ptr GNSSBlockFactory::GetChannel_1B( std::string id = stream.str(); LOG(INFO) << "Instantiating Channel " << id << " with Acquisition Implementation: " << acq << ", Tracking Implementation: " << trk << ", Telemetry Decoder implementation: " << tlm; - std::string aux = configuration->property("Acquisition_1B" + boost::lexical_cast(channel) + ".implementation", std::string("W")); + std::string aux = configuration->property("Acquisition_1B" + std::to_string(channel) + ".implementation", std::string("W")); std::string appendix1; if (aux.compare("W") != 0) { - appendix1 = boost::lexical_cast(channel); + appendix1 = std::to_string(channel); } else { appendix1 = ""; } - aux = configuration->property("Tracking_1B" + boost::lexical_cast(channel) + ".implementation", std::string("W")); + aux = configuration->property("Tracking_1B" + std::to_string(channel) + ".implementation", std::string("W")); std::string appendix2; if (aux.compare("W") != 0) { - appendix2 = boost::lexical_cast(channel); + appendix2 = std::to_string(channel); } else { appendix2 = ""; } - aux = configuration->property("TelemetryDecoder_1B" + boost::lexical_cast(channel) + ".implementation", std::string("W")); + aux = configuration->property("TelemetryDecoder_1B" + std::to_string(channel) + ".implementation", std::string("W")); std::string appendix3; if (aux.compare("W") != 0) { - appendix3 = boost::lexical_cast(channel); + appendix3 = std::to_string(channel); } else { @@ -492,31 +506,31 @@ std::unique_ptr GNSSBlockFactory::GetChannel_5X( std::string id = stream.str(); LOG(INFO) << "Instantiating Channel " << id << " with Acquisition Implementation: " << acq << ", Tracking Implementation: " << trk << ", Telemetry Decoder implementation: " << tlm; - std::string aux = configuration->property("Acquisition_5X" + boost::lexical_cast(channel) + ".implementation", std::string("W")); + std::string aux = configuration->property("Acquisition_5X" + std::to_string(channel) + ".implementation", std::string("W")); std::string appendix1; if (aux.compare("W") != 0) { - appendix1 = boost::lexical_cast(channel); + appendix1 = std::to_string(channel); } else { appendix1 = ""; } - aux = configuration->property("Tracking_5X" + boost::lexical_cast(channel) + ".implementation", std::string("W")); + aux = configuration->property("Tracking_5X" + std::to_string(channel) + ".implementation", std::string("W")); std::string appendix2; if (aux.compare("W") != 0) { - appendix2 = boost::lexical_cast(channel); + appendix2 = std::to_string(channel); } else { appendix2 = ""; } - aux = configuration->property("TelemetryDecoder_5X" + boost::lexical_cast(channel) + ".implementation", std::string("W")); + aux = configuration->property("TelemetryDecoder_5X" + std::to_string(channel) + ".implementation", std::string("W")); std::string appendix3; if (aux.compare("W") != 0) { - appendix3 = boost::lexical_cast(channel); + appendix3 = std::to_string(channel); } else { @@ -561,31 +575,31 @@ std::unique_ptr GNSSBlockFactory::GetChannel_1G( LOG(INFO) << "Instantiating Channel " << channel << " with Acquisition Implementation: " << acq << ", Tracking Implementation: " << trk << ", Telemetry Decoder Implementation: " << tlm; - std::string aux = configuration->property("Acquisition_1G" + boost::lexical_cast(channel) + ".implementation", std::string("W")); + std::string aux = configuration->property("Acquisition_1G" + std::to_string(channel) + ".implementation", std::string("W")); std::string appendix1; if (aux.compare("W") != 0) { - appendix1 = boost::lexical_cast(channel); + appendix1 = std::to_string(channel); } else { appendix1 = ""; } - aux = configuration->property("Tracking_1G" + boost::lexical_cast(channel) + ".implementation", std::string("W")); + aux = configuration->property("Tracking_1G" + std::to_string(channel) + ".implementation", std::string("W")); std::string appendix2; if (aux.compare("W") != 0) { - appendix2 = boost::lexical_cast(channel); + appendix2 = std::to_string(channel); } else { appendix2 = ""; } - aux = configuration->property("TelemetryDecoder_1G" + boost::lexical_cast(channel) + ".implementation", std::string("W")); + aux = configuration->property("TelemetryDecoder_1G" + std::to_string(channel) + ".implementation", std::string("W")); std::string appendix3; if (aux.compare("W") != 0) { - appendix3 = boost::lexical_cast(channel); + appendix3 = std::to_string(channel); } else { @@ -618,7 +632,6 @@ std::unique_ptr GNSSBlockFactory::GetChannel_1G( } - //********* GLONASS L2 C/A CHANNEL ***************** std::unique_ptr GNSSBlockFactory::GetChannel_2G( std::shared_ptr configuration, @@ -631,31 +644,31 @@ std::unique_ptr GNSSBlockFactory::GetChannel_2G( LOG(INFO) << "Instantiating Channel " << channel << " with Acquisition Implementation: " << acq << ", Tracking Implementation: " << trk << ", Telemetry Decoder Implementation: " << tlm; - std::string aux = configuration->property("Acquisition_2G" + boost::lexical_cast(channel) + ".implementation", std::string("W")); + std::string aux = configuration->property("Acquisition_2G" + std::to_string(channel) + ".implementation", std::string("W")); std::string appendix1; if (aux.compare("W") != 0) { - appendix1 = boost::lexical_cast(channel); + appendix1 = std::to_string(channel); } else { appendix1 = ""; } - aux = configuration->property("Tracking_2G" + boost::lexical_cast(channel) + ".implementation", std::string("W")); + aux = configuration->property("Tracking_2G" + std::to_string(channel) + ".implementation", std::string("W")); std::string appendix2; if (aux.compare("W") != 0) { - appendix2 = boost::lexical_cast(channel); + appendix2 = std::to_string(channel); } else { appendix2 = ""; } - aux = configuration->property("TelemetryDecoder_2G" + boost::lexical_cast(channel) + ".implementation", std::string("W")); + aux = configuration->property("TelemetryDecoder_2G" + std::to_string(channel) + ".implementation", std::string("W")); std::string appendix3; if (aux.compare("W") != 0) { - appendix3 = boost::lexical_cast(channel); + appendix3 = std::to_string(channel); } else { @@ -688,7 +701,6 @@ std::unique_ptr GNSSBlockFactory::GetChannel_2G( } - //********* GPS L5 CHANNEL ***************** std::unique_ptr GNSSBlockFactory::GetChannel_L5( std::shared_ptr configuration, @@ -700,31 +712,31 @@ std::unique_ptr GNSSBlockFactory::GetChannel_L5( std::string id = stream.str(); LOG(INFO) << "Instantiating Channel " << id << " with Acquisition Implementation: " << acq << ", Tracking Implementation: " << trk << ", Telemetry Decoder implementation: " << tlm; - std::string aux = configuration->property("Acquisition_L5" + boost::lexical_cast(channel) + ".implementation", std::string("W")); + std::string aux = configuration->property("Acquisition_L5" + std::to_string(channel) + ".implementation", std::string("W")); std::string appendix1; if (aux.compare("W") != 0) { - appendix1 = boost::lexical_cast(channel); + appendix1 = std::to_string(channel); } else { appendix1 = ""; } - aux = configuration->property("Tracking_L5" + boost::lexical_cast(channel) + ".implementation", std::string("W")); + aux = configuration->property("Tracking_L5" + std::to_string(channel) + ".implementation", std::string("W")); std::string appendix2; if (aux.compare("W") != 0) { - appendix2 = boost::lexical_cast(channel); + appendix2 = std::to_string(channel); } else { appendix2 = ""; } - aux = configuration->property("TelemetryDecoder_L5" + boost::lexical_cast(channel) + ".implementation", std::string("W")); + aux = configuration->property("TelemetryDecoder_L5" + std::to_string(channel) + ".implementation", std::string("W")); std::string appendix3; if (aux.compare("W") != 0) { - appendix3 = boost::lexical_cast(channel); + appendix3 = std::to_string(channel); } else { @@ -768,227 +780,233 @@ std::unique_ptr>> GNSSBlockFacto unsigned int channel_absolute_id = 0; unsigned int Channels_1C_count = configuration->property("Channels_1C.count", 0); - unsigned int Channels_2S_count = configuration->property("Channels_2S.count", 0); unsigned int Channels_1B_count = configuration->property("Channels_1B.count", 0); - unsigned int Channels_5X_count = configuration->property("Channels_5X.count", 0); unsigned int Channels_1G_count = configuration->property("Channels_1G.count", 0); unsigned int Channels_2G_count = configuration->property("Channels_2G.count", 0); + unsigned int Channels_2S_count = configuration->property("Channels_2S.count", 0); + unsigned int Channels_5X_count = configuration->property("Channels_5X.count", 0); unsigned int Channels_L5_count = configuration->property("Channels_L5.count", 0); unsigned int total_channels = Channels_1C_count + - Channels_2S_count + Channels_1B_count + - Channels_5X_count + Channels_1G_count + - Channels_2G_count + + Channels_2S_count + + Channels_2G_count + + Channels_5X_count + Channels_L5_count; std::unique_ptr>> channels(new std::vector>(total_channels)); - - //**************** GPS L1 C/A CHANNELS ********************** - LOG(INFO) << "Getting " << Channels_1C_count << " GPS L1 C/A channels"; - acquisition_implementation = configuration->property("Acquisition_1C.implementation", default_implementation); - tracking_implementation = configuration->property("Tracking_1C.implementation", default_implementation); - telemetry_decoder_implementation = configuration->property("TelemetryDecoder_1C.implementation", default_implementation); - - for (unsigned int i = 0; i < Channels_1C_count; i++) + try { - //(i.e. Acquisition_1C0.implementation=xxxx) - std::string acquisition_implementation_specific = configuration->property( - "Acquisition_1C" + boost::lexical_cast(channel_absolute_id) + ".implementation", - acquisition_implementation); - //(i.e. Tracking_1C0.implementation=xxxx) - std::string tracking_implementation_specific = configuration->property( - "Tracking_1C" + boost::lexical_cast(channel_absolute_id) + ".implementation", - tracking_implementation); - std::string telemetry_decoder_implementation_specific = configuration->property( - "TelemetryDecoder_1C" + boost::lexical_cast(channel_absolute_id) + ".implementation", - telemetry_decoder_implementation); + //**************** GPS L1 C/A CHANNELS ********************** + LOG(INFO) << "Getting " << Channels_1C_count << " GPS L1 C/A channels"; + acquisition_implementation = configuration->property("Acquisition_1C.implementation", default_implementation); + tracking_implementation = configuration->property("Tracking_1C.implementation", default_implementation); + telemetry_decoder_implementation = configuration->property("TelemetryDecoder_1C.implementation", default_implementation); - // Push back the channel to the vector of channels - channels->at(channel_absolute_id) = std::move(GetChannel_1C(configuration, - acquisition_implementation_specific, - tracking_implementation_specific, - telemetry_decoder_implementation_specific, - channel_absolute_id, - queue)); - channel_absolute_id++; + for (unsigned int i = 0; i < Channels_1C_count; i++) + { + //(i.e. Acquisition_1C0.implementation=xxxx) + std::string acquisition_implementation_specific = configuration->property( + "Acquisition_1C" + std::to_string(channel_absolute_id) + ".implementation", + acquisition_implementation); + //(i.e. Tracking_1C0.implementation=xxxx) + std::string tracking_implementation_specific = configuration->property( + "Tracking_1C" + std::to_string(channel_absolute_id) + ".implementation", + tracking_implementation); + std::string telemetry_decoder_implementation_specific = configuration->property( + "TelemetryDecoder_1C" + std::to_string(channel_absolute_id) + ".implementation", + telemetry_decoder_implementation); + + // Push back the channel to the vector of channels + channels->at(channel_absolute_id) = std::move(GetChannel_1C(configuration, + acquisition_implementation_specific, + tracking_implementation_specific, + telemetry_decoder_implementation_specific, + channel_absolute_id, + queue)); + channel_absolute_id++; + } + + //**************** GPS L2C (M) CHANNELS ********************** + LOG(INFO) << "Getting " << Channels_2S_count << " GPS L2C (M) channels"; + tracking_implementation = configuration->property("Tracking_2S.implementation", default_implementation); + telemetry_decoder_implementation = configuration->property("TelemetryDecoder_2S.implementation", default_implementation); + acquisition_implementation = configuration->property("Acquisition_2S.implementation", default_implementation); + for (unsigned int i = 0; i < Channels_2S_count; i++) + { + //(i.e. Acquisition_1C0.implementation=xxxx) + std::string acquisition_implementation_specific = configuration->property( + "Acquisition_2S" + std::to_string(channel_absolute_id) + ".implementation", + acquisition_implementation); + //(i.e. Tracking_1C0.implementation=xxxx) + std::string tracking_implementation_specific = configuration->property( + "Tracking_2S" + std::to_string(channel_absolute_id) + ".implementation", + tracking_implementation); + std::string telemetry_decoder_implementation_specific = configuration->property( + "TelemetryDecoder_2S" + std::to_string(channel_absolute_id) + ".implementation", + telemetry_decoder_implementation); + + // Push back the channel to the vector of channels + channels->at(channel_absolute_id) = std::move(GetChannel_2S(configuration, + acquisition_implementation_specific, + tracking_implementation_specific, + telemetry_decoder_implementation_specific, + channel_absolute_id, + queue)); + channel_absolute_id++; + } + + //**************** GPS L5 CHANNELS ********************** + LOG(INFO) << "Getting " << Channels_L5_count << " GPS L5 channels"; + tracking_implementation = configuration->property("Tracking_L5.implementation", default_implementation); + telemetry_decoder_implementation = configuration->property("TelemetryDecoder_L5.implementation", default_implementation); + acquisition_implementation = configuration->property("Acquisition_L5.implementation", default_implementation); + for (unsigned int i = 0; i < Channels_L5_count; i++) + { + //(i.e. Acquisition_1C0.implementation=xxxx) + std::string acquisition_implementation_specific = configuration->property( + "Acquisition_L5" + std::to_string(channel_absolute_id) + ".implementation", + acquisition_implementation); + //(i.e. Tracking_1C0.implementation=xxxx) + std::string tracking_implementation_specific = configuration->property( + "Tracking_L5" + std::to_string(channel_absolute_id) + ".implementation", + tracking_implementation); + std::string telemetry_decoder_implementation_specific = configuration->property( + "TelemetryDecoder_L5" + std::to_string(channel_absolute_id) + ".implementation", + telemetry_decoder_implementation); + + // Push back the channel to the vector of channels + channels->at(channel_absolute_id) = std::move(GetChannel_L5(configuration, + acquisition_implementation_specific, + tracking_implementation_specific, + telemetry_decoder_implementation_specific, + channel_absolute_id, + queue)); + channel_absolute_id++; + } + + //**************** GALILEO E1 B (I/NAV OS) CHANNELS ********************** + LOG(INFO) << "Getting " << Channels_1B_count << " GALILEO E1 B (I/NAV OS) channels"; + tracking_implementation = configuration->property("Tracking_1B.implementation", default_implementation); + telemetry_decoder_implementation = configuration->property("TelemetryDecoder_1B.implementation", default_implementation); + acquisition_implementation = configuration->property("Acquisition_1B.implementation", default_implementation); + for (unsigned int i = 0; i < Channels_1B_count; i++) + { + //(i.e. Acquisition_1C0.implementation=xxxx) + std::string acquisition_implementation_specific = configuration->property( + "Acquisition_1B" + std::to_string(channel_absolute_id) + ".implementation", + acquisition_implementation); + //(i.e. Tracking_1C0.implementation=xxxx) + std::string tracking_implementation_specific = configuration->property( + "Tracking_1B" + std::to_string(channel_absolute_id) + ".implementation", + tracking_implementation); + std::string telemetry_decoder_implementation_specific = configuration->property( + "TelemetryDecoder_1B" + std::to_string(channel_absolute_id) + ".implementation", + telemetry_decoder_implementation); + + // Push back the channel to the vector of channels + channels->at(channel_absolute_id) = std::move(GetChannel_1B(configuration, + acquisition_implementation_specific, + tracking_implementation_specific, + telemetry_decoder_implementation_specific, + channel_absolute_id, + queue)); + channel_absolute_id++; + } + + //**************** GALILEO E5a I (F/NAV OS) CHANNELS ********************** + LOG(INFO) << "Getting " << Channels_5X_count << " GALILEO E5a I (F/NAV OS) channels"; + tracking_implementation = configuration->property("Tracking_5X.implementation", default_implementation); + telemetry_decoder_implementation = configuration->property("TelemetryDecoder_5X.implementation", default_implementation); + acquisition_implementation = configuration->property("Acquisition_5X.implementation", default_implementation); + for (unsigned int i = 0; i < Channels_5X_count; i++) + { + //(i.e. Acquisition_1C0.implementation=xxxx) + std::string acquisition_implementation_specific = configuration->property( + "Acquisition_5X" + std::to_string(channel_absolute_id) + ".implementation", + acquisition_implementation); + //(i.e. Tracking_1C0.implementation=xxxx) + std::string tracking_implementation_specific = configuration->property( + "Tracking_5X" + std::to_string(channel_absolute_id) + ".implementation", + tracking_implementation); + std::string telemetry_decoder_implementation_specific = configuration->property( + "TelemetryDecoder_5X" + std::to_string(channel_absolute_id) + ".implementation", + telemetry_decoder_implementation); + + // Push back the channel to the vector of channels + channels->at(channel_absolute_id) = std::move(GetChannel_5X(configuration, + acquisition_implementation_specific, + tracking_implementation_specific, + telemetry_decoder_implementation_specific, + channel_absolute_id, + queue)); + channel_absolute_id++; + } + + //**************** GLONASS L1 C/A CHANNELS ********************** + LOG(INFO) << "Getting " << Channels_1G_count << " GLONASS L1 C/A channels"; + acquisition_implementation = configuration->property("Acquisition_1G.implementation", default_implementation); + tracking_implementation = configuration->property("Tracking_1G.implementation", default_implementation); + telemetry_decoder_implementation = configuration->property("TelemetryDecoder_1G.implementation", default_implementation); + + for (unsigned int i = 0; i < Channels_1G_count; i++) + { + //(i.e. Acquisition_1G0.implementation=xxxx) + std::string acquisition_implementation_specific = configuration->property( + "Acquisition_1G" + std::to_string(channel_absolute_id) + ".implementation", + acquisition_implementation); + //(i.e. Tracking_1G0.implementation=xxxx) + std::string tracking_implementation_specific = configuration->property( + "Tracking_1G" + std::to_string(channel_absolute_id) + ".implementation", + tracking_implementation); + std::string telemetry_decoder_implementation_specific = configuration->property( + "TelemetryDecoder_1G" + std::to_string(channel_absolute_id) + ".implementation", + telemetry_decoder_implementation); + + // Push back the channel to the vector of channels + channels->at(channel_absolute_id) = std::move(GetChannel_1G(configuration, + acquisition_implementation_specific, + tracking_implementation_specific, + telemetry_decoder_implementation_specific, + channel_absolute_id, + queue)); + channel_absolute_id++; + } + + //**************** GLONASS L2 C/A CHANNELS ********************** + LOG(INFO) << "Getting " << Channels_2G_count << " GLONASS L2 C/A channels"; + acquisition_implementation = configuration->property("Acquisition_2G.implementation", default_implementation); + tracking_implementation = configuration->property("Tracking_2G.implementation", default_implementation); + telemetry_decoder_implementation = configuration->property("TelemetryDecoder_2G.implementation", default_implementation); + + for (unsigned int i = 0; i < Channels_2G_count; i++) + { + //(i.e. Acquisition_2G0.implementation=xxxx) + std::string acquisition_implementation_specific = configuration->property( + "Acquisition_2G" + std::to_string(channel_absolute_id) + ".implementation", + acquisition_implementation); + //(i.e. Tracking_2G0.implementation=xxxx) + std::string tracking_implementation_specific = configuration->property( + "Tracking_2G" + std::to_string(channel_absolute_id) + ".implementation", + tracking_implementation); + std::string telemetry_decoder_implementation_specific = configuration->property( + "TelemetryDecoder_2G" + std::to_string(channel_absolute_id) + ".implementation", + telemetry_decoder_implementation); + + // Push back the channel to the vector of channels + channels->at(channel_absolute_id) = std::move(GetChannel_2G(configuration, + acquisition_implementation_specific, + tracking_implementation_specific, + telemetry_decoder_implementation_specific, + channel_absolute_id, + queue)); + channel_absolute_id++; + } } - - //**************** GPS L2C (M) CHANNELS ********************** - LOG(INFO) << "Getting " << Channels_2S_count << " GPS L2C (M) channels"; - tracking_implementation = configuration->property("Tracking_2S.implementation", default_implementation); - telemetry_decoder_implementation = configuration->property("TelemetryDecoder_2S.implementation", default_implementation); - acquisition_implementation = configuration->property("Acquisition_2S.implementation", default_implementation); - for (unsigned int i = 0; i < Channels_2S_count; i++) + catch (const std::exception &e) { - //(i.e. Acquisition_1C0.implementation=xxxx) - std::string acquisition_implementation_specific = configuration->property( - "Acquisition_2S" + boost::lexical_cast(channel_absolute_id) + ".implementation", - acquisition_implementation); - //(i.e. Tracking_1C0.implementation=xxxx) - std::string tracking_implementation_specific = configuration->property( - "Tracking_2S" + boost::lexical_cast(channel_absolute_id) + ".implementation", - tracking_implementation); - std::string telemetry_decoder_implementation_specific = configuration->property( - "TelemetryDecoder_2S" + boost::lexical_cast(channel_absolute_id) + ".implementation", - telemetry_decoder_implementation); - - // Push back the channel to the vector of channels - channels->at(channel_absolute_id) = std::move(GetChannel_2S(configuration, - acquisition_implementation_specific, - tracking_implementation_specific, - telemetry_decoder_implementation_specific, - channel_absolute_id, - queue)); - channel_absolute_id++; - } - - //**************** GPS L5 CHANNELS ********************** - LOG(INFO) << "Getting " << Channels_L5_count << " GPS L5 channels"; - tracking_implementation = configuration->property("Tracking_L5.implementation", default_implementation); - telemetry_decoder_implementation = configuration->property("TelemetryDecoder_L5.implementation", default_implementation); - acquisition_implementation = configuration->property("Acquisition_L5.implementation", default_implementation); - for (unsigned int i = 0; i < Channels_L5_count; i++) - { - //(i.e. Acquisition_1C0.implementation=xxxx) - std::string acquisition_implementation_specific = configuration->property( - "Acquisition_L5" + boost::lexical_cast(channel_absolute_id) + ".implementation", - acquisition_implementation); - //(i.e. Tracking_1C0.implementation=xxxx) - std::string tracking_implementation_specific = configuration->property( - "Tracking_L5" + boost::lexical_cast(channel_absolute_id) + ".implementation", - tracking_implementation); - std::string telemetry_decoder_implementation_specific = configuration->property( - "TelemetryDecoder_L5" + boost::lexical_cast(channel_absolute_id) + ".implementation", - telemetry_decoder_implementation); - - // Push back the channel to the vector of channels - channels->at(channel_absolute_id) = std::move(GetChannel_L5(configuration, - acquisition_implementation_specific, - tracking_implementation_specific, - telemetry_decoder_implementation_specific, - channel_absolute_id, - queue)); - channel_absolute_id++; - } - - //**************** GALILEO E1 B (I/NAV OS) CHANNELS ********************** - LOG(INFO) << "Getting " << Channels_1B_count << " GALILEO E1 B (I/NAV OS) channels"; - tracking_implementation = configuration->property("Tracking_1B.implementation", default_implementation); - telemetry_decoder_implementation = configuration->property("TelemetryDecoder_1B.implementation", default_implementation); - acquisition_implementation = configuration->property("Acquisition_1B.implementation", default_implementation); - for (unsigned int i = 0; i < Channels_1B_count; i++) - { - //(i.e. Acquisition_1C0.implementation=xxxx) - std::string acquisition_implementation_specific = configuration->property( - "Acquisition_1B" + boost::lexical_cast(channel_absolute_id) + ".implementation", - acquisition_implementation); - //(i.e. Tracking_1C0.implementation=xxxx) - std::string tracking_implementation_specific = configuration->property( - "Tracking_1B" + boost::lexical_cast(channel_absolute_id) + ".implementation", - tracking_implementation); - std::string telemetry_decoder_implementation_specific = configuration->property( - "TelemetryDecoder_1B" + boost::lexical_cast(channel_absolute_id) + ".implementation", - telemetry_decoder_implementation); - - // Push back the channel to the vector of channels - channels->at(channel_absolute_id) = std::move(GetChannel_1B(configuration, - acquisition_implementation_specific, - tracking_implementation_specific, - telemetry_decoder_implementation_specific, - channel_absolute_id, - queue)); - channel_absolute_id++; - } - - //**************** GALILEO E5a I (F/NAV OS) CHANNELS ********************** - LOG(INFO) << "Getting " << Channels_5X_count << " GALILEO E5a I (F/NAV OS) channels"; - tracking_implementation = configuration->property("Tracking_5X.implementation", default_implementation); - telemetry_decoder_implementation = configuration->property("TelemetryDecoder_5X.implementation", default_implementation); - acquisition_implementation = configuration->property("Acquisition_5X.implementation", default_implementation); - for (unsigned int i = 0; i < Channels_5X_count; i++) - { - //(i.e. Acquisition_1C0.implementation=xxxx) - std::string acquisition_implementation_specific = configuration->property( - "Acquisition_5X" + boost::lexical_cast(channel_absolute_id) + ".implementation", - acquisition_implementation); - //(i.e. Tracking_1C0.implementation=xxxx) - std::string tracking_implementation_specific = configuration->property( - "Tracking_5X" + boost::lexical_cast(channel_absolute_id) + ".implementation", - tracking_implementation); - std::string telemetry_decoder_implementation_specific = configuration->property( - "TelemetryDecoder_5X" + boost::lexical_cast(channel_absolute_id) + ".implementation", - telemetry_decoder_implementation); - - // Push back the channel to the vector of channels - channels->at(channel_absolute_id) = std::move(GetChannel_5X(configuration, - acquisition_implementation_specific, - tracking_implementation_specific, - telemetry_decoder_implementation_specific, - channel_absolute_id, - queue)); - channel_absolute_id++; - } - - //**************** GLONASS L1 C/A CHANNELS ********************** - LOG(INFO) << "Getting " << Channels_1G_count << " GLONASS L1 C/A channels"; - acquisition_implementation = configuration->property("Acquisition_1G.implementation", default_implementation); - tracking_implementation = configuration->property("Tracking_1G.implementation", default_implementation); - telemetry_decoder_implementation = configuration->property("TelemetryDecoder_1G.implementation", default_implementation); - - for (unsigned int i = 0; i < Channels_1G_count; i++) - { - //(i.e. Acquisition_1G0.implementation=xxxx) - std::string acquisition_implementation_specific = configuration->property( - "Acquisition_1G" + boost::lexical_cast(channel_absolute_id) + ".implementation", - acquisition_implementation); - //(i.e. Tracking_1G0.implementation=xxxx) - std::string tracking_implementation_specific = configuration->property( - "Tracking_1G" + boost::lexical_cast(channel_absolute_id) + ".implementation", - tracking_implementation); - std::string telemetry_decoder_implementation_specific = configuration->property( - "TelemetryDecoder_1G" + boost::lexical_cast(channel_absolute_id) + ".implementation", - telemetry_decoder_implementation); - - // Push back the channel to the vector of channels - channels->at(channel_absolute_id) = std::move(GetChannel_1G(configuration, - acquisition_implementation_specific, - tracking_implementation_specific, - telemetry_decoder_implementation_specific, - channel_absolute_id, - queue)); - channel_absolute_id++; - } - - //**************** GLONASS L2 C/A CHANNELS ********************** - LOG(INFO) << "Getting " << Channels_2G_count << " GLONASS L2 C/A channels"; - acquisition_implementation = configuration->property("Acquisition_2G.implementation", default_implementation); - tracking_implementation = configuration->property("Tracking_2G.implementation", default_implementation); - telemetry_decoder_implementation = configuration->property("TelemetryDecoder_2G.implementation", default_implementation); - - for (unsigned int i = 0; i < Channels_2G_count; i++) - { - //(i.e. Acquisition_2G0.implementation=xxxx) - std::string acquisition_implementation_specific = configuration->property( - "Acquisition_2G" + boost::lexical_cast(channel_absolute_id) + ".implementation", - acquisition_implementation); - //(i.e. Tracking_2G0.implementation=xxxx) - std::string tracking_implementation_specific = configuration->property( - "Tracking_2G" + boost::lexical_cast(channel_absolute_id) + ".implementation", - tracking_implementation); - std::string telemetry_decoder_implementation_specific = configuration->property( - "TelemetryDecoder_2G" + boost::lexical_cast(channel_absolute_id) + ".implementation", - telemetry_decoder_implementation); - - // Push back the channel to the vector of channels - channels->at(channel_absolute_id) = std::move(GetChannel_2G(configuration, - acquisition_implementation_specific, - tracking_implementation_specific, - telemetry_decoder_implementation_specific, - channel_absolute_id, - queue)); - channel_absolute_id++; + LOG(WARNING) << e.what(); } return channels; @@ -1189,6 +1207,15 @@ std::unique_ptr GNSSBlockFactory::GetBlock( } #endif +#if AD9361_DRIVER + else if (implementation.compare("Ad9361_Fpga_Signal_Source") == 0) + { + std::unique_ptr block_(new Ad9361FpgaSignalSource(configuration.get(), role, in_streams, + out_streams, queue)); + block = std::move(block_); + } +#endif + #if FLEXIBAND_DRIVER else if (implementation.compare("Flexiband_Signal_Source") == 0) { @@ -1425,9 +1452,9 @@ std::unique_ptr GNSSBlockFactory::GetBlock( block = std::move(block_); } #if ENABLE_FPGA - else if (implementation.compare("GPS_L1_CA_DLL_PLL_C_Aid_Tracking_Fpga") == 0) + else if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0) { - std::unique_ptr block_(new GpsL1CaDllPllCAidTrackingFpga(configuration.get(), role, in_streams, + std::unique_ptr block_(new GpsL1CaDllPllTrackingFpga(configuration.get(), role, in_streams, out_streams)); block = std::move(block_); } @@ -1444,9 +1471,9 @@ std::unique_ptr GNSSBlockFactory::GetBlock( out_streams)); block = std::move(block_); } - else if (implementation.compare("GPS_L5i_DLL_PLL_Tracking") == 0) + else if ((implementation.compare("GPS_L5i_DLL_PLL_Tracking") == 0) or (implementation.compare("GPS_L5_DLL_PLL_Tracking") == 0)) { - std::unique_ptr block_(new GpsL5iDllPllTracking(configuration.get(), role, in_streams, + std::unique_ptr block_(new GpsL5DllPllTracking(configuration.get(), role, in_streams, out_streams)); block = std::move(block_); } @@ -1742,9 +1769,9 @@ std::unique_ptr GNSSBlockFactory::GetTrkBlock( block = std::move(block_); } #if ENABLE_FPGA - else if (implementation.compare("GPS_L1_CA_DLL_PLL_C_Aid_Tracking_Fpga") == 0) + else if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0) { - std::unique_ptr block_(new GpsL1CaDllPllCAidTrackingFpga(configuration.get(), role, in_streams, + std::unique_ptr block_(new GpsL1CaDllPllTrackingFpga(configuration.get(), role, in_streams, out_streams)); block = std::move(block_); } @@ -1779,9 +1806,9 @@ std::unique_ptr GNSSBlockFactory::GetTrkBlock( out_streams)); block = std::move(block_); } - else if (implementation.compare("GPS_L5i_DLL_PLL_Tracking") == 0) + else if ((implementation.compare("GPS_L5i_DLL_PLL_Tracking") == 0) or (implementation.compare("GPS_L5_DLL_PLL_Tracking") == 0)) { - std::unique_ptr block_(new GpsL5iDllPllTracking(configuration.get(), role, in_streams, + std::unique_ptr block_(new GpsL5DllPllTracking(configuration.get(), role, in_streams, out_streams)); block = std::move(block_); } diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc index eec75d2f0..28fd703c9 100644 --- a/src/core/receiver/gnss_flowgraph.cc +++ b/src/core/receiver/gnss_flowgraph.cc @@ -1,15 +1,13 @@ /*! * \file gnss_flowgraph.cc - * \brief Implementation of a GNSS receiver flowgraph + * \brief Implementation of a GNSS receiver flow graph * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com * Luis Esteve, 2012. luis(at)epsilon-formacion.com * Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es * - * Detailed description of the file here if needed. - * * ------------------------------------------------------------------------- * - * Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors) + * Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors) * * GNSS-SDR is a software defined Global Navigation * Satellite Systems receiver @@ -33,6 +31,7 @@ */ #include "gnss_flowgraph.h" +#include "gnss_synchro.h" #include "configuration_interface.h" #include "gnss_block_interface.h" #include "channel_interface.h" @@ -60,7 +59,15 @@ GNSSFlowgraph::GNSSFlowgraph(std::shared_ptr configurati } -GNSSFlowgraph::~GNSSFlowgraph() {} +GNSSFlowgraph::~GNSSFlowgraph() +{ + if (connected_) + { + GNSSFlowgraph::disconnect(); + } +} + + void GNSSFlowgraph::start() { if (running_) @@ -93,10 +100,9 @@ void GNSSFlowgraph::stop() void GNSSFlowgraph::connect() { - /* Connects the blocks in the flowgraph - * - * Signal Source > Signal conditioner >> Channels >> Observables >> PVT - */ + // Connects the blocks in the flow graph + // Signal Source > Signal conditioner >> Channels >> Observables >> PVT + LOG(INFO) << "Connecting flowgraph"; if (connected_) { @@ -106,32 +112,38 @@ void GNSSFlowgraph::connect() for (int i = 0; i < sources_count_; i++) { - try + if (configuration_->property(sig_source_.at(i)->role() + ".enable_FPGA", false) == false) { - sig_source_.at(i)->connect(top_block_); - } - catch (const std::exception& e) - { - LOG(INFO) << "Can't connect signal source block " << i << " internally"; - LOG(ERROR) << e.what(); - top_block_->disconnect_all(); - return; + try + { + sig_source_.at(i)->connect(top_block_); + } + catch (const std::exception& e) + { + LOG(INFO) << "Can't connect signal source block " << i << " internally"; + LOG(ERROR) << e.what(); + top_block_->disconnect_all(); + return; + } } } // Signal Source > Signal conditioner > for (unsigned int i = 0; i < sig_conditioner_.size(); i++) { - try + if (configuration_->property(sig_conditioner_.at(i)->role() + ".enable_FPGA", false) == false) { - sig_conditioner_.at(i)->connect(top_block_); - } - catch (const std::exception& e) - { - LOG(INFO) << "Can't connect signal conditioner block " << i << " internally"; - LOG(ERROR) << e.what(); - top_block_->disconnect_all(); - return; + try + { + sig_conditioner_.at(i)->connect(top_block_); + } + catch (const std::exception& e) + { + LOG(INFO) << "Can't connect signal conditioner block " << i << " internally"; + LOG(ERROR) << e.what(); + top_block_->disconnect_all(); + return; + } } } @@ -182,70 +194,125 @@ void GNSSFlowgraph::connect() for (int i = 0; i < sources_count_; i++) { - try + //FPGA Accelerators do not need signal sources or conditioners + //as the samples are feed directly to the FPGA fabric, so, if enabled, do not connect any source + if (configuration_->property(sig_source_.at(i)->role() + ".enable_FPGA", false) == false) { - //TODO: Remove this array implementation and create generic multistream connector - //(if a signal source has more than 1 stream, then connect it to the multistream signal conditioner) - if (sig_source_.at(i)->implementation().compare("Raw_Array_Signal_Source") == 0) + try { - //Multichannel Array - std::cout << "ARRAY MODE" << std::endl; - for (int j = 0; j < GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS; j++) + //TODO: Remove this array implementation and create generic multistream connector + //(if a signal source has more than 1 stream, then connect it to the multistream signal conditioner) + if (sig_source_.at(i)->implementation().compare("Raw_Array_Signal_Source") == 0) { - std::cout << "connecting ch " << j << std::endl; - top_block_->connect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(i)->get_left_block(), j); - } - } - else - { - //TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface. - //Include GetRFChannels in the interface to avoid read config parameters here - //read the number of RF channels for each front-end - RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1); - - for (int j = 0; j < RF_Channels; j++) - { - //Connect the multichannel signal source to multiple signal conditioners - // GNURADIO max_streams=-1 means infinite ports! - LOG(INFO) << "sig_source_.at(i)->get_right_block()->output_signature()->max_streams()=" << sig_source_.at(i)->get_right_block()->output_signature()->max_streams(); - LOG(INFO) << "sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()=" << sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()->max_streams(); - - if (sig_source_.at(i)->get_right_block()->output_signature()->max_streams() > 1) + //Multichannel Array + std::cout << "ARRAY MODE" << std::endl; + for (int j = 0; j < GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS; j++) { - LOG(INFO) << "connecting sig_source_ " << i << " stream " << j << " to conditioner " << j; - top_block_->connect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0); + std::cout << "connecting ch " << j << std::endl; + top_block_->connect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(i)->get_left_block(), j); } - else + } + else + { + //TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface. + //Include GetRFChannels in the interface to avoid read config parameters here + //read the number of RF channels for each front-end + RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1); + + for (int j = 0; j < RF_Channels; j++) { - if (j == 0) + //Connect the multichannel signal source to multiple signal conditioners + // GNURADIO max_streams=-1 means infinite ports! + LOG(INFO) << "sig_source_.at(i)->get_right_block()->output_signature()->max_streams()=" << sig_source_.at(i)->get_right_block()->output_signature()->max_streams(); + LOG(INFO) << "sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()=" << sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()->max_streams(); + + if (sig_source_.at(i)->get_right_block()->output_signature()->max_streams() > 1) { - // RF_channel 0 backward compatibility with single channel sources - LOG(INFO) << "connecting sig_source_ " << i << " stream " << 0 << " to conditioner " << j; - top_block_->connect(sig_source_.at(i)->get_right_block(), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0); + LOG(INFO) << "connecting sig_source_ " << i << " stream " << j << " to conditioner " << j; + top_block_->connect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0); } else { - // Multiple channel sources using multiple output blocks of single channel (requires RF_channel selector in call) - LOG(INFO) << "connecting sig_source_ " << i << " stream " << j << " to conditioner " << j; - top_block_->connect(sig_source_.at(i)->get_right_block(j), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0); + if (j == 0) + { + // RF_channel 0 backward compatibility with single channel sources + LOG(INFO) << "connecting sig_source_ " << i << " stream " << 0 << " to conditioner " << j; + top_block_->connect(sig_source_.at(i)->get_right_block(), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0); + } + else + { + // Multiple channel sources using multiple output blocks of single channel (requires RF_channel selector in call) + LOG(INFO) << "connecting sig_source_ " << i << " stream " << j << " to conditioner " << j; + top_block_->connect(sig_source_.at(i)->get_right_block(j), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0); + } } + signal_conditioner_ID++; } - signal_conditioner_ID++; } } + catch (const std::exception& e) + { + LOG(WARNING) << "Can't connect signal source " << i << " to signal conditioner " << i; + LOG(ERROR) << e.what(); + top_block_->disconnect_all(); + return; + } + } + } + DLOG(INFO) << "Signal source connected to signal conditioner"; + bool FPGA_enabled = configuration_->property(sig_source_.at(0)->role() + ".enable_FPGA", false); + +#if ENABLE_FPGA + if (FPGA_enabled == false) + { + //connect the signal source to sample counter + //connect the sample counter to Observables + try + { + double fs = static_cast(configuration_->property("GNSS-SDR.internal_fs_sps", 0)); + if (fs == 0.0) + { + LOG(WARNING) << "Set GNSS-SDR.internal_fs_sps in configuration file"; + std::cout << "Set GNSS-SDR.internal_fs_sps in configuration file" << std::endl; + throw(std::invalid_argument("Set GNSS-SDR.internal_fs_sps in configuration")); + } + ch_out_sample_counter = gnss_sdr_make_sample_counter(fs, sig_conditioner_.at(0)->get_right_block()->output_signature()->sizeof_stream_item(0)); + top_block_->connect(sig_conditioner_.at(0)->get_right_block(), 0, ch_out_sample_counter, 0); + top_block_->connect(ch_out_sample_counter, 0, observables_->get_left_block(), channels_count_); //extra port for the sample counter pulse } catch (const std::exception& e) { - LOG(WARNING) << "Can't connect signal source " << i << " to signal conditioner " << i; + LOG(WARNING) << "Can't connect sample counter"; LOG(ERROR) << e.what(); top_block_->disconnect_all(); return; } } - DLOG(INFO) << "Signal source connected to signal conditioner"; - - //connect the signal source to sample counter - //connect the sample counter to Observables + else + { + //create a software-defined 1kHz gnss_synchro pulse for the observables block + try + { + //null source + null_source_ = gr::blocks::null_source::make(sizeof(Gnss_Synchro)); + //throttle 1kHz + throttle_ = gr::blocks::throttle::make(sizeof(Gnss_Synchro), 1000); // 1000 samples per second (1kHz) + time_counter_ = gnss_sdr_make_time_counter(); + top_block_->connect(null_source_, 0, throttle_, 0); + top_block_->connect(throttle_, 0, time_counter_, 0); + top_block_->connect(time_counter_, 0, observables_->get_left_block(), channels_count_); + } + catch (const std::exception& e) + { + LOG(WARNING) << "Can't connect sample counter"; + LOG(ERROR) << e.what(); + top_block_->disconnect_all(); + return; + } + } +#else + // connect the signal source to sample counter + // connect the sample counter to Observables try { double fs = static_cast(configuration_->property("GNSS-SDR.internal_fs_sps", 0)); @@ -266,28 +333,36 @@ void GNSSFlowgraph::connect() top_block_->disconnect_all(); return; } - - +#endif // Signal conditioner (selected_signal_source) >> channels (i) (dependent of their associated SignalSource_ID) - int selected_signal_conditioner_ID; + int selected_signal_conditioner_ID = 0; for (unsigned int i = 0; i < channels_count_; i++) { - selected_signal_conditioner_ID = configuration_->property("Channel" + boost::lexical_cast(i) + ".RF_channel_ID", 0); - try + if (FPGA_enabled == false) { - top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0, - channels_.at(i)->get_left_block(), 0); - } - catch (const std::exception& e) - { - LOG(WARNING) << "Can't connect signal conditioner " << selected_signal_conditioner_ID << " to channel " << i; - LOG(ERROR) << e.what(); - top_block_->disconnect_all(); - return; - } - - DLOG(INFO) << "signal conditioner " << selected_signal_conditioner_ID << " connected to channel " << i; + try + { + selected_signal_conditioner_ID = configuration_->property("Channel" + std::to_string(i) + ".RF_channel_ID", 0); + } + catch (const std::exception& e) + { + LOG(WARNING) << e.what(); + } + try + { + top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0, + channels_.at(i)->get_left_block(), 0); + } + catch (const std::exception& e) + { + LOG(WARNING) << "Can't connect signal conditioner " << selected_signal_conditioner_ID << " to channel " << i; + LOG(ERROR) << e.what(); + top_block_->disconnect_all(); + return; + } + DLOG(INFO) << "signal conditioner " << selected_signal_conditioner_ID << " connected to channel " << i; + } // Signal Source > Signal conditioner >> Channels >> Observables try { @@ -301,26 +376,62 @@ void GNSSFlowgraph::connect() top_block_->disconnect_all(); return; } + } - std::string gnss_signal = channels_.at(i)->get_signal().get_signal_str(); // use channel's implicit signal! - channels_.at(i)->set_signal(search_next_signal(gnss_signal, false)); - - if (channels_state_[i] == 1) + // Put channels fixed to a given satellite at the beginning of the vector, then the rest + std::vector vector_of_channels; + for (unsigned int i = 0; i < channels_count_; i++) + { + unsigned int sat = 0; + try { - channels_.at(i)->start_acquisition(); - available_GNSS_signals_.pop_front(); - LOG(INFO) << "Channel " << i << " assigned to " << channels_.at(i)->get_signal(); - LOG(INFO) << "Channel " << i << " connected to observables and ready for acquisition"; + sat = configuration_->property("Channel" + std::to_string(i) + ".satellite", 0); + } + catch (const std::exception& e) + { + LOG(WARNING) << e.what(); + } + if (sat == 0) + { + vector_of_channels.push_back(i); } else { - LOG(INFO) << "Channel " << i << " connected to observables in standby mode"; + auto it = vector_of_channels.begin(); + it = vector_of_channels.insert(it, i); } } - /* - * Connect the observables output of each channel to the PVT block - */ + // Assign satellites to channels in the initialization + for (unsigned int& i : vector_of_channels) + { + std::string gnss_signal = channels_.at(i)->get_signal().get_signal_str(); // use channel's implicit signal + unsigned int sat = 0; + try + { + sat = configuration_->property("Channel" + std::to_string(i) + ".satellite", 0); + } + catch (const std::exception& e) + { + LOG(WARNING) << e.what(); + } + if (sat == 0) + { + channels_.at(i)->set_signal(search_next_signal(gnss_signal, true)); + } + else + { + std::string gnss_system; + if ((gnss_signal.compare("1C") == 0) or (gnss_signal.compare("2S") == 0) or (gnss_signal.compare("L5") == 0)) gnss_system = "GPS"; + if ((gnss_signal.compare("1B") == 0) or (gnss_signal.compare("5X") == 0)) gnss_system = "Galileo"; + if ((gnss_signal.compare("1G") == 0) or (gnss_signal.compare("2G") == 0)) gnss_system = "Glonass"; + Gnss_Signal signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal); + available_GNSS_signals_.remove(signal_value); + channels_.at(i)->set_signal(signal_value); + } + } + + // Connect the observables output of each channel to the PVT block try { for (unsigned int i = 0; i < channels_count_; i++) @@ -337,12 +448,273 @@ void GNSSFlowgraph::connect() return; } + // Activate acquisition in enabled channels + for (unsigned int i = 0; i < channels_count_; i++) + { + LOG(INFO) << "Channel " << i << " assigned to " << channels_.at(i)->get_signal(); + if (channels_state_[i] == 1) + { + if (FPGA_enabled == false) + { + channels_.at(i)->start_acquisition(); + } + LOG(INFO) << "Channel " << i << " connected to observables and ready for acquisition"; + } + else + { + LOG(INFO) << "Channel " << i << " connected to observables in standby mode"; + } + } + connected_ = true; LOG(INFO) << "Flowgraph connected"; top_block_->dump(); } +void GNSSFlowgraph::disconnect() +{ + LOG(INFO) << "Disconnecting flowgraph"; + + if (!connected_) + { + LOG(INFO) << "flowgraph was not connected"; + return; + } + connected_ = false; + // Signal Source (i) > Signal conditioner (i) > + int RF_Channels = 0; + int signal_conditioner_ID = 0; + + for (int i = 0; i < sources_count_; i++) + { + try + { + // TODO: Remove this array implementation and create generic multistream connector + // (if a signal source has more than 1 stream, then connect it to the multistream signal conditioner) + if (sig_source_.at(i)->implementation().compare("Raw_Array_Signal_Source") == 0) + { + //Multichannel Array + for (int j = 0; j < GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS; j++) + { + top_block_->disconnect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(i)->get_left_block(), j); + } + } + else + { + // TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface. + // Include GetRFChannels in the interface to avoid read config parameters here + // read the number of RF channels for each front-end + RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1); + + for (int j = 0; j < RF_Channels; j++) + { + if (sig_source_.at(i)->get_right_block()->output_signature()->max_streams() > 1) + { + top_block_->disconnect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0); + } + else + { + if (j == 0) + { + // RF_channel 0 backward compatibility with single channel sources + top_block_->disconnect(sig_source_.at(i)->get_right_block(), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0); + } + else + { + // Multiple channel sources using multiple output blocks of single channel (requires RF_channel selector in call) + top_block_->disconnect(sig_source_.at(i)->get_right_block(j), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0); + } + } + signal_conditioner_ID++; + } + } + } + catch (const std::exception& e) + { + LOG(INFO) << "Can't disconnect signal source " << i << " to signal conditioner " << i << ": " << e.what(); + top_block_->disconnect_all(); + return; + } + } + +#if ENABLE_FPGA + bool FPGA_enabled = configuration_->property(sig_source_.at(0)->role() + ".enable_FPGA", false); + if (FPGA_enabled == false) + { + // disconnect the signal source to sample counter + // disconnect the sample counter to Observables + try + { + top_block_->disconnect(sig_conditioner_.at(0)->get_right_block(), 0, ch_out_sample_counter, 0); + top_block_->disconnect(ch_out_sample_counter, 0, observables_->get_left_block(), channels_count_); // extra port for the sample counter pulse + } + catch (const std::exception& e) + { + LOG(WARNING) << "Can't disconnect sample counter"; + LOG(ERROR) << e.what(); + top_block_->disconnect_all(); + return; + } + } + else + { + try + { + top_block_->disconnect(null_source_, 0, throttle_, 0); + top_block_->disconnect(throttle_, 0, time_counter_, 0); + top_block_->disconnect(time_counter_, 0, observables_->get_left_block(), channels_count_); + } + catch (const std::exception& e) + { + LOG(WARNING) << "Can't connect sample counter"; + LOG(ERROR) << e.what(); + top_block_->disconnect_all(); + return; + } + } +#else + // disconnect the signal source to sample counter + // disconnect the sample counter to Observables + try + { + top_block_->disconnect(sig_conditioner_.at(0)->get_right_block(), 0, ch_out_sample_counter, 0); + top_block_->disconnect(ch_out_sample_counter, 0, observables_->get_left_block(), channels_count_); // extra port for the sample counter pulse + } + catch (const std::exception& e) + { + LOG(WARNING) << "Can't connect sample counter"; + LOG(ERROR) << e.what(); + top_block_->disconnect_all(); + return; + } +#endif + // Signal conditioner (selected_signal_source) >> channels (i) (dependent of their associated SignalSource_ID) + int selected_signal_conditioner_ID; + for (unsigned int i = 0; i < channels_count_; i++) + { + try + { + selected_signal_conditioner_ID = configuration_->property("Channel" + std::to_string(i) + ".RF_channel_ID", 0); + } + catch (const std::exception& e) + { + LOG(WARNING) << e.what(); + top_block_->disconnect_all(); + return; + } + try + { + top_block_->disconnect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0, + channels_.at(i)->get_left_block(), 0); + } + catch (const std::exception& e) + { + LOG(INFO) << "Can't disconnect signal conditioner " << selected_signal_conditioner_ID << " to channel " << i << ": " << e.what(); + top_block_->disconnect_all(); + return; + } + + // Signal Source > Signal conditioner >> Channels >> Observables + try + { + top_block_->disconnect(channels_.at(i)->get_right_block(), 0, + observables_->get_left_block(), i); + } + catch (const std::exception& e) + { + LOG(INFO) << "Can't disconnect channel " << i << " to observables: " << e.what(); + top_block_->disconnect_all(); + return; + } + } + + try + { + for (unsigned int i = 0; i < channels_count_; i++) + { + top_block_->disconnect(observables_->get_right_block(), i, pvt_->get_left_block(), i); + top_block_->msg_disconnect(channels_.at(i)->get_right_block(), pmt::mp("telemetry"), pvt_->get_left_block(), pmt::mp("telemetry")); + } + } + catch (const std::exception& e) + { + LOG(INFO) << "Can't disconnect observables to PVT: " << e.what(); + top_block_->disconnect_all(); + return; + } + + for (int i = 0; i < sources_count_; i++) + { + try + { + sig_source_.at(i)->disconnect(top_block_); + } + catch (const std::exception& e) + { + LOG(INFO) << "Can't disconnect signal source block " << i << " internally: " << e.what(); + top_block_->disconnect_all(); + return; + } + } + + // Signal Source > Signal conditioner > + for (unsigned int i = 0; i < sig_conditioner_.size(); i++) + { + try + { + sig_conditioner_.at(i)->disconnect(top_block_); + } + catch (const std::exception& e) + { + LOG(INFO) << "Can't disconnect signal conditioner block " << i << " internally: " << e.what(); + top_block_->disconnect_all(); + return; + } + } + + for (unsigned int i = 0; i < channels_count_; i++) + { + try + { + channels_.at(i)->disconnect(top_block_); + } + catch (const std::exception& e) + { + LOG(INFO) << "Can't disconnect channel " << i << " internally: " << e.what(); + top_block_->disconnect_all(); + return; + } + } + + try + { + observables_->disconnect(top_block_); + } + catch (const std::exception& e) + { + LOG(INFO) << "Can't disconnect observables block internally: " << e.what(); + top_block_->disconnect_all(); + return; + } + + // Signal Source > Signal conditioner >> Channels >> Observables > PVT + try + { + pvt_->disconnect(top_block_); + } + catch (const std::exception& e) + { + LOG(INFO) << "Can't disconnect PVT block internally: " << e.what(); + top_block_->disconnect_all(); + return; + } + + DLOG(INFO) << "blocks disconnected internally"; + LOG(INFO) << "Flowgraph disconnected"; +} + + void GNSSFlowgraph::wait() { if (!running_) @@ -366,7 +738,7 @@ bool GNSSFlowgraph::send_telemetry_msg(pmt::pmt_t msg) /* - * Applies an action to the flowgraph + * Applies an action to the flow graph * * \param[in] who Who generated the action * \param[in] what What is the action 0: acquisition failed @@ -374,50 +746,80 @@ bool GNSSFlowgraph::send_telemetry_msg(pmt::pmt_t msg) void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what) { DLOG(INFO) << "Received " << what << " from " << who << ". Number of applied actions = " << applied_actions_; + unsigned int sat = 0; + try + { + sat = configuration_->property("Channel" + std::to_string(who) + ".satellite", 0); + } + catch (const std::exception& e) + { + LOG(WARNING) << e.what(); + } switch (what) { case 0: - DLOG(INFO) << "Channel " << who << " ACQ FAILED satellite " << channels_.at(who)->get_signal().get_satellite() << ", Signal " << channels_.at(who)->get_signal().get_signal_str(); - available_GNSS_signals_.push_back(channels_.at(who)->get_signal()); - channels_.at(who)->set_signal(search_next_signal(channels_.at(who)->get_signal().get_signal_str(), true)); - DLOG(INFO) << "Channel " << who << " Starting acquisition " << channels_.at(who)->get_signal().get_satellite() << ", Signal " << channels_.at(who)->get_signal().get_signal_str(); - channels_.at(who)->start_acquisition(); + DLOG(INFO) << "Channel " << who << " ACQ FAILED satellite " << channels_[who]->get_signal().get_satellite() << ", Signal " << channels_[who]->get_signal().get_signal_str(); + if (sat == 0) + { + std::lock_guard lock(signal_list_mutex); + available_GNSS_signals_.push_back(channels_[who]->get_signal()); + channels_[who]->set_signal(search_next_signal(channels_[who]->get_signal().get_signal_str(), true)); + } + DLOG(INFO) << "Channel " << who << " Starting acquisition " << channels_[who]->get_signal().get_satellite() << ", Signal " << channels_[who]->get_signal().get_signal_str(); + channels_[who]->start_acquisition(); break; case 1: - LOG(INFO) << "Channel " << who << " ACQ SUCCESS satellite " << channels_.at(who)->get_signal().get_satellite(); + LOG(INFO) << "Channel " << who << " ACQ SUCCESS satellite " << channels_[who]->get_signal().get_satellite(); channels_state_[who] = 2; acq_channels_count_--; for (unsigned int i = 0; i < channels_count_; i++) { + unsigned int sat_ = 0; + try + { + sat_ = configuration_->property("Channel" + std::to_string(i) + ".satellite", 0); + } + catch (const std::exception& e) + { + LOG(WARNING) << e.what(); + } if (!available_GNSS_signals_.empty() && (acq_channels_count_ < max_acq_channels_) && (channels_state_[i] == 0)) { channels_state_[i] = 1; - channels_.at(i)->set_signal(search_next_signal(channels_.at(i)->get_signal().get_signal_str(), true)); + if (sat_ == 0) + { + std::lock_guard lock(signal_list_mutex); + channels_[i]->set_signal(search_next_signal(channels_[i]->get_signal().get_signal_str(), true)); + } acq_channels_count_++; - DLOG(INFO) << "Channel " << i << " Starting acquisition " << channels_.at(i)->get_signal().get_satellite() << ", Signal " << channels_.at(i)->get_signal().get_signal_str(); - channels_.at(i)->start_acquisition(); + DLOG(INFO) << "Channel " << i << " Starting acquisition " << channels_[i]->get_signal().get_satellite() << ", Signal " << channels_[i]->get_signal().get_signal_str(); + channels_[i]->start_acquisition(); } DLOG(INFO) << "Channel " << i << " in state " << channels_state_[i]; } break; case 2: - LOG(INFO) << "Channel " << who << " TRK FAILED satellite " << channels_.at(who)->get_signal().get_satellite(); + LOG(INFO) << "Channel " << who << " TRK FAILED satellite " << channels_[who]->get_signal().get_satellite(); DLOG(INFO) << "Number of channels in acquisition = " << acq_channels_count_; if (acq_channels_count_ < max_acq_channels_) { channels_state_[who] = 1; acq_channels_count_++; - LOG(INFO) << "Channel " << who << " Starting acquisition " << channels_.at(who)->get_signal().get_satellite() << ", Signal " << channels_.at(who)->get_signal().get_signal_str(); - channels_.at(who)->start_acquisition(); + LOG(INFO) << "Channel " << who << " Starting acquisition " << channels_[who]->get_signal().get_satellite() << ", Signal " << channels_[who]->get_signal().get_signal_str(); + channels_[who]->start_acquisition(); } else { channels_state_[who] = 0; LOG(INFO) << "Channel " << who << " Idle state"; - available_GNSS_signals_.push_back(channels_.at(who)->get_signal()); + if (sat == 0) + { + std::lock_guard lock(signal_list_mutex); + available_GNSS_signals_.push_back(channels_[who]->get_signal()); + } } break; @@ -436,7 +838,6 @@ void GNSSFlowgraph::set_configuration(std::shared_ptr co LOG(WARNING) << "Unable to update configuration while flowgraph running"; return; } - if (connected_) { LOG(WARNING) << "Unable to update configuration while flowgraph connected"; @@ -445,6 +846,18 @@ void GNSSFlowgraph::set_configuration(std::shared_ptr co } +void GNSSFlowgraph::start_acquisition_helper() +{ + for (unsigned int i = 0; i < channels_count_; i++) + { + if (channels_state_[i] == 1) + { + channels_.at(i)->start_acquisition(); + } + } +} + + void GNSSFlowgraph::init() { /* @@ -464,9 +877,9 @@ void GNSSFlowgraph::init() { std::cout << "Creating source " << i << std::endl; sig_source_.push_back(block_factory_->GetSignalSource(configuration_, queue_, i)); - //TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface. - //Include GetRFChannels in the interface to avoid read config parameters here - //read the number of RF channels for each front-end + // TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface. + // Include GetRFChannels in the interface to avoid read config parameters here + // read the number of RF channels for each front-end RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1); std::cout << "RF Channels " << RF_Channels << std::endl; for (int j = 0; j < RF_Channels; j++) @@ -478,11 +891,11 @@ void GNSSFlowgraph::init() } else { - //backwards compatibility for old config files + // backwards compatibility for old config files sig_source_.push_back(block_factory_->GetSignalSource(configuration_, queue_, -1)); - //TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface. - //Include GetRFChannels in the interface to avoid read config parameters here - //read the number of RF channels for each front-end + // TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface. + // Include GetRFChannels in the interface to avoid read config parameters here + // read the number of RF channels for each front-end RF_Channels = configuration_->property(sig_source_.at(0)->role() + ".RF_channels", 0); if (RF_Channels != 0) { @@ -494,7 +907,7 @@ void GNSSFlowgraph::init() } else { - //old config file, single signal source and single channel, not specified + // old config file, single signal source and single channel, not specified sig_conditioner_.push_back(block_factory_->GetSignalConditioner(configuration_, -1)); } } @@ -521,7 +934,6 @@ void GNSSFlowgraph::init() std::shared_ptr>> channels = block_factory_->GetChannels(configuration_, queue_); - //todo:check smart pointer coherence... channels_count_ = channels->size(); for (unsigned int i = 0; i < channels_count_; i++) { @@ -541,34 +953,10 @@ void GNSSFlowgraph::init() void GNSSFlowgraph::set_signals_list() { - /* - * Sets a sequential list of GNSS satellites - */ + // Set a sequential list of GNSS satellites std::set::const_iterator available_gnss_prn_iter; - /* - * \TODO Describe GNSS satellites more nicely, with RINEX notation - * See http://igscb.jpl.nasa.gov/igscb/data/format/rinex301.pdf (page 5) - */ - - /* - * Read GNSS-SDR default GNSS system and signal - */ - - unsigned int total_channels = configuration_->property("Channels_1C.count", 0) + - configuration_->property("Channels_2S.count", 0) + - configuration_->property("Channels_1B.count", 0) + - configuration_->property("Channels_5X.count", 0) + - configuration_->property("Channels_1G.count", 0) + - configuration_->property("Channels_2G.count", 0) + - configuration_->property("Channels_5X.count", 0) + - configuration_->property("Channels_L5.count", 0); - - /* - * Loop to create the list of GNSS Signals - * To add signals from other systems, add another loop 'for' - */ - + // Create the lists of GNSS satellites std::set available_gps_prn = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32}; @@ -690,6 +1078,7 @@ void GNSSFlowgraph::set_signals_list() std::string("L5"))); } } + if (configuration_->property("Channels_SBAS.count", 0) > 0) { /* @@ -705,7 +1094,6 @@ void GNSSFlowgraph::set_signals_list() } } - if (configuration_->property("Channels_1B.count", 0) > 0) { /* @@ -765,39 +1153,12 @@ void GNSSFlowgraph::set_signals_list() std::string("2G"))); } } - /* - * Ordering the list of signals from configuration file - */ - std::list::iterator gnss_it = available_GNSS_signals_.begin(); - - // Pre-assignation if not defined at ChannelX.signal=1C ...? In what order? - - for (unsigned int i = 0; i < total_channels; i++) - { - std::string gnss_signal = (configuration_->property("Channel" + boost::lexical_cast(i) + ".signal", std::string("1C"))); - std::string gnss_system; - if ((gnss_signal.compare("1C") == 0) or (gnss_signal.compare("2S") == 0) or (gnss_signal.compare("L5") == 0)) gnss_system = "GPS"; - if ((gnss_signal.compare("1B") == 0) or (gnss_signal.compare("5X") == 0)) gnss_system = "Galileo"; - if ((gnss_signal.compare("1G") == 0) or (gnss_signal.compare("2G") == 0)) gnss_system = "Glonass"; - unsigned int sat = configuration_->property("Channel" + boost::lexical_cast(i) + ".satellite", 0); - LOG(INFO) << "Channel " << i << " system " << gnss_system << ", signal " << gnss_signal << ", sat " << sat; - if (sat == 0) // 0 = not PRN in configuration file - { - gnss_it++; - } - else - { - Gnss_Signal signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal); - available_GNSS_signals_.remove(signal_value); - gnss_it = available_GNSS_signals_.insert(gnss_it, signal_value); - } - } } void GNSSFlowgraph::set_channels_state() { - max_acq_channels_ = (configuration_->property("Channels.in_acquisition", channels_count_)); + max_acq_channels_ = configuration_->property("Channels.in_acquisition", channels_count_); if (max_acq_channels_ > channels_count_) { max_acq_channels_ = channels_count_; diff --git a/src/core/receiver/gnss_flowgraph.h b/src/core/receiver/gnss_flowgraph.h index 7f8891f29..c17ecb827 100644 --- a/src/core/receiver/gnss_flowgraph.h +++ b/src/core/receiver/gnss_flowgraph.h @@ -1,12 +1,12 @@ /*! * \file gnss_flowgraph.h - * \brief Interface of a GNSS receiver flowgraph. + * \brief Interface of a GNSS receiver flow graph. * \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com * Luis Esteve, 2011. luis(at)epsilon-formacion.com * Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es * * It contains a signal source, - * a signal conditioner, a set of channels, a pvt and an output filter. + * a signal conditioner, a set of channels, an observables block and a pvt. * * ------------------------------------------------------------------------- * @@ -41,19 +41,25 @@ #include "gnss_sdr_sample_counter.h" #include #include +#include +#include #include #include +#include #include #include #include +#if ENABLE_FPGA +#include "gnss_sdr_time_counter.h" +#endif class GNSSBlockInterface; class ChannelInterface; class ConfigurationInterface; class GNSSBlockFactory; -/*! \brief This class represents a GNSS flowgraph. +/*! \brief This class represents a GNSS flow graph. * * It contains a signal source, * a signal conditioner, a set of channels, a PVT and an output filter. @@ -62,35 +68,39 @@ class GNSSFlowgraph { public: /*! - * \brief Constructor that initializes the receiver flowgraph + * \brief Constructor that initializes the receiver flow graph */ GNSSFlowgraph(std::shared_ptr configuration, gr::msg_queue::sptr queue); /*! - * \brief Virtual destructor + * \brief Destructor */ - virtual ~GNSSFlowgraph(); + ~GNSSFlowgraph(); - //! \brief Start the flowgraph + //! \brief Start the flow graph void start(); - //! \brief Stop the flowgraph + //! \brief Stop the flow graph void stop(); /*! - * \brief Connects the defined blocks in the flowgraph + * \brief Connects the defined blocks in the flow graph * * Signal Source > Signal conditioner > Channels >> Observables >> PVT > Output filter */ void connect(); + void disconnect(); + void wait(); + void start_acquisition_helper(); + /*! - * \brief Applies an action to the flowgraph + * \brief Applies an action to the flow graph * * \param[in] who Who generated the action - * \param[in] what What is the action 0: acquisition failed + * \param[in] what What is the action. 0: acquisition failed; 1: acquisition success; 2: tracking lost */ void apply_action(unsigned int who, unsigned int what); @@ -100,14 +110,17 @@ public: { return applied_actions_; } + bool connected() { return connected_; } + bool running() { return running_; } + /*! * \brief Sends a GNURadio asynchronous message from telemetry to PVT * @@ -140,10 +153,16 @@ private: std::vector> channels_; gnss_sdr_sample_counter_sptr ch_out_sample_counter; +#if ENABLE_FPGA + gnss_sdr_time_counter_sptr time_counter_; +#endif + gr::blocks::null_source::sptr null_source_; + gr::blocks::throttle::sptr throttle_; gr::top_block_sptr top_block_; gr::msg_queue::sptr queue_; std::list available_GNSS_signals_; std::vector channels_state_; + std::mutex signal_list_mutex; }; #endif /*GNSS_SDR_GNSS_FLOWGRAPH_H_*/ diff --git a/src/tests/CMakeLists.txt b/src/tests/CMakeLists.txt index c43b47a07..ff2d91ee8 100644 --- a/src/tests/CMakeLists.txt +++ b/src/tests/CMakeLists.txt @@ -308,6 +308,7 @@ include_directories( ${CMAKE_SOURCE_DIR}/src/core/libs/supl/asn-rrlp ${CMAKE_SOURCE_DIR}/src/core/libs/supl/asn-supl ${CMAKE_SOURCE_DIR}/src/algorithms/libs + ${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib ${CMAKE_SOURCE_DIR}/src/algorithms/data_type_adapter/adapters ${CMAKE_SOURCE_DIR}/src/algorithms/data_type_adapter/gnuradio_blocks ${CMAKE_SOURCE_DIR}/src/algorithms/resampler/adapters diff --git a/src/tests/system-tests/position_test.cc b/src/tests/system-tests/position_test.cc index 350055d2f..4018552bc 100644 --- a/src/tests/system-tests/position_test.cc +++ b/src/tests/system-tests/position_test.cc @@ -277,8 +277,8 @@ int StaticPositionSystemTest::configure_receiver() const float dll_bw_narrow_hz = 2.0; const int extend_correlation_ms = 1; - const int display_rate_ms = 1000; - const int output_rate_ms = 1000; + const int display_rate_ms = 500; + const int output_rate_ms = 500; config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(sampling_rate_internal)); @@ -361,12 +361,11 @@ int StaticPositionSystemTest::configure_receiver() config->set_property("Tracking_1C.pll_bw_narrow_hz", std::to_string(pll_bw_narrow_hz)); config->set_property("Tracking_1C.dll_bw_narrow_hz", std::to_string(dll_bw_narrow_hz)); - config->set_property("Tracking_1C.extend_correlation_ms", std::to_string(extend_correlation_ms)); + config->set_property("Tracking_1C.extend_correlation_symbols", std::to_string(extend_correlation_ms)); // Set Telemetry config->set_property("TelemetryDecoder_1C.implementation", "GPS_L1_CA_Telemetry_Decoder"); config->set_property("TelemetryDecoder_1C.dump", "false"); - config->set_property("TelemetryDecoder_1C.decimation_factor", std::to_string(decimation_factor)); // Set Observables config->set_property("Observables.implementation", "Hybrid_Observables"); @@ -454,6 +453,7 @@ int StaticPositionSystemTest::run_receiver() void StaticPositionSystemTest::check_results() { std::fstream myfile(StaticPositionSystemTest::generated_kml_file, std::ios_base::in); + ASSERT_TRUE(myfile.is_open()) << "No valid kml file could be opened"; std::string line; std::vector pos_e; @@ -466,6 +466,7 @@ void StaticPositionSystemTest::check_results() while (is_header) { std::getline(myfile, line); + ASSERT_FALSE(myfile.eof()) << "No valid kml file found."; std::size_t found = line.find(""); if (found != std::string::npos) is_header = false; } @@ -474,7 +475,11 @@ void StaticPositionSystemTest::check_results() //read data while (is_data) { - std::getline(myfile, line); + if (!std::getline(myfile, line)) + { + is_data = false; + break; + } std::size_t found = line.find(""); if (found != std::string::npos) is_data = false; @@ -504,6 +509,7 @@ void StaticPositionSystemTest::check_results() } } myfile.close(); + ASSERT_FALSE(pos_e.size() == 0) << "KML file is empty"; double sigma_E_2_precision = std::pow(compute_stdev_precision(pos_e), 2.0); double sigma_N_2_precision = std::pow(compute_stdev_precision(pos_n), 2.0); diff --git a/src/tests/unit-tests/signal-processing-blocks/pvt/nmea_printer_test.cc b/src/tests/unit-tests/signal-processing-blocks/pvt/nmea_printer_test.cc index 0e260dd75..f259947e5 100644 --- a/src/tests/unit-tests/signal-processing-blocks/pvt/nmea_printer_test.cc +++ b/src/tests/unit-tests/signal-processing-blocks/pvt/nmea_printer_test.cc @@ -38,8 +38,10 @@ TEST(NmeaPrinterTest, PrintLine) { std::string filename("nmea_test.nmea"); - - std::shared_ptr pvt_solution = std::make_shared(); + rtk_t rtk; + prcopt_t rtklib_configuration_options; + rtkinit(&rtk, &rtklib_configuration_options); + std::shared_ptr pvt_solution = std::make_shared(12, "filename", false, rtk); boost::posix_time::ptime pt(boost::gregorian::date(1994, boost::date_time::Nov, 19), boost::posix_time::hours(22) + boost::posix_time::minutes(54) + boost::posix_time::seconds(46)); // example from http://aprs.gids.nl/nmea/#rmc @@ -77,8 +79,10 @@ TEST(NmeaPrinterTest, PrintLine) TEST(NmeaPrinterTest, PrintLineLessthan10min) { std::string filename("nmea_test.nmea"); - - std::shared_ptr pvt_solution = std::make_shared(); + rtk_t rtk; + prcopt_t rtklib_configuration_options; + rtkinit(&rtk, &rtklib_configuration_options); + std::shared_ptr pvt_solution = std::make_shared(12, "filename", false, rtk); boost::posix_time::ptime pt(boost::gregorian::date(1994, boost::date_time::Nov, 19), boost::posix_time::hours(22) + boost::posix_time::minutes(54) + boost::posix_time::seconds(46)); // example from http://aprs.gids.nl/nmea/#rmc diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc index 97d1d18f0..ff276be66 100644 --- a/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc +++ b/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc @@ -55,7 +55,8 @@ #include "test_flags.h" DEFINE_bool(plot_gps_l1_tracking_test, false, "Plots results of GpsL1CADllPllTrackingTest with gnuplot"); - +DEFINE_double(CN0_dBHz, std::numeric_limits::infinity(), "Enable noise generator and set the CN0 [dB-Hz]"); +DEFINE_int32(extend_correlation_symbols, 1, "Set the tracking coherent correlation to N symbols (up to 20 for GPS L1 C/A)"); // ######## GNURADIO BLOCK MESSAGE RECEVER ######### class GpsL1CADllPllTrackingTest_msg_rx; @@ -122,7 +123,7 @@ public: std::string p3; std::string p4; std::string p5; - + std::string p6; std::string implementation = "GPS_L1_CA_DLL_PLL_Tracking"; //"GPS_L1_CA_DLL_PLL_C_Aid_Tracking"; const int baseband_sampling_freq = FLAGS_fs_gen_sps; @@ -184,6 +185,7 @@ int GpsL1CADllPllTrackingTest::configure_generator() p3 = std::string("-rinex_obs_file=") + FLAGS_filename_rinex_obs; // RINEX 2.10 observation file output p4 = std::string("-sig_out_file=") + FLAGS_filename_raw_data; // Baseband signal output file. Will be stored in int8_t IQ multiplexed samples p5 = std::string("-sampling_freq=") + std::to_string(baseband_sampling_freq); //Baseband sampling frequency [MSps] + p6 = std::string("-CN0_dBHz=") + std::to_string(FLAGS_CN0_dBHz); // Signal generator CN0 return 0; } @@ -192,7 +194,7 @@ int GpsL1CADllPllTrackingTest::generate_signal() { int child_status; - char* const parmList[] = {&generator_binary[0], &generator_binary[0], &p1[0], &p2[0], &p3[0], &p4[0], &p5[0], NULL}; + char* const parmList[] = {&generator_binary[0], &generator_binary[0], &p1[0], &p2[0], &p3[0], &p4[0], &p5[0],&p6[0], NULL}; int pid; if ((pid = fork()) == -1) @@ -240,10 +242,10 @@ void GpsL1CADllPllTrackingTest::configure_receiver() config->set_property("Tracking_1C.dll_bw_hz", "2.0"); } config->set_property("Tracking_1C.early_late_space_chips", "0.5"); - config->set_property("Tracking_1C.pll_bw_narrow_hz", "20.0"); - config->set_property("Tracking_1C.dll_bw_narrow_hz", "2.0"); + config->set_property("Tracking_1C.extend_correlation_symbols", std::to_string(FLAGS_extend_correlation_symbols)); + config->set_property("Tracking_1C.pll_bw_narrow_hz", "2.0"); + config->set_property("Tracking_1C.dll_bw_narrow_hz", "1.0"); config->set_property("Tracking_1C.early_late_space_narrow_chips", "0.5"); - config->set_property("Tracking_1C.extend_correlation_ms", "1"); config->set_property("Tracking_1C.dump", "true"); config->set_property("Tracking_1C.dump_filename", "./tracking_ch_"); } @@ -486,6 +488,7 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults) std::vector late; std::vector promptI; std::vector promptQ; + std::vector CN0_dBHz; epoch_counter = 0; while (trk_dump.read_binary_obs()) @@ -503,6 +506,7 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults) late.push_back(trk_dump.abs_L); promptI.push_back(trk_dump.prompt_I); promptQ.push_back(trk_dump.prompt_Q); + CN0_dBHz.push_back(trk_dump.CN0_SNV_dB_Hz); } // Align initial measurements and cut the tracking pull-in transitory @@ -570,6 +574,17 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults) g2.savetops("Constellation"); g2.savetopdf("Constellation", 18); g2.showonscreen(); // window output + + Gnuplot g3("linespoints"); + g3.set_title("GPS L1 C/A tracking CN0 output (satellite PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")"); + g3.set_grid(); + g3.set_xlabel("Time [s]"); + g3.set_ylabel("Reported CN0 [dB-Hz]"); + g3.cmd("set key box opaque"); + g3.plot_xy(timevec, CN0_dBHz, "Prompt", decimate); + g3.savetops("CN0_output"); + g3.savetopdf("CN0_output", 18); + g3.showonscreen(); // window output } catch (const GnuplotException& ge) { diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test_fpga.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test_fpga.cc index 5cb24b330..797f2c3d9 100644 --- a/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test_fpga.cc +++ b/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test_fpga.cc @@ -33,6 +33,7 @@ #include #include +#include #include #include #include // to test the FPGA we have to create a simultaneous task to send the samples using the DMA and stop the test @@ -53,7 +54,8 @@ #include "tracking_interface.h" #include "in_memory_configuration.h" #include "gnss_synchro.h" -#include "gps_l1_ca_dll_pll_c_aid_tracking_fpga.h" +//#include "gps_l1_ca_dll_pll_c_aid_tracking_fpga.h" +#include "gps_l1_ca_dll_pll_tracking_fpga.h" #include "tracking_true_obs_reader.h" #include "tracking_dump_reader.h" #include "signal_generator_flags.h" @@ -308,8 +310,10 @@ void GpsL1CADllPllTrackingTestFpga::configure_receiver() config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(baseband_sampling_freq)); // Set Tracking + //config->set_property("Tracking_1C.implementation", + // "GPS_L1_CA_DLL_PLL_C_Aid_Tracking_Fpga"); config->set_property("Tracking_1C.implementation", - "GPS_L1_CA_DLL_PLL_C_Aid_Tracking_Fpga"); + "GPS_L1_CA_DLL_PLL_Tracking_Fpga"); config->set_property("Tracking_1C.item_type", "cshort"); config->set_property("Tracking_1C.if", "0"); config->set_property("Tracking_1C.dump", "true"); @@ -466,7 +470,8 @@ TEST_F(GpsL1CADllPllTrackingTestFpga, ValidationOfResultsFpga) << "Failure opening true observables file"; top_block = gr::make_top_block("Tracking test"); - std::shared_ptr tracking = std::make_shared(config.get(), "Tracking_1C", 1, 1); + //std::shared_ptr tracking = std::make_shared (config.get(), "Tracking_1C", 1, 1); + std::shared_ptr tracking = std::make_shared(config.get(), "Tracking_1C", 1, 1); boost::shared_ptr msg_rx = GpsL1CADllPllTrackingTestFpga_msg_rx_make(); diff --git a/src/utils/reproducibility/ieee-access18/L2-access18.conf b/src/utils/reproducibility/ieee-access18/L2-access18.conf index 57e1af0a3..e4bc4ae44 100644 --- a/src/utils/reproducibility/ieee-access18/L2-access18.conf +++ b/src/utils/reproducibility/ieee-access18/L2-access18.conf @@ -56,7 +56,7 @@ Resampler.item_type=gr_complex Channels_2S.count=10 -Channels.in_acquisition=1 +;Channels.in_acquisition=1 Channel0.signal=2S Channel1.signal=2S