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Make use of cstdint typedefs, fix warning, remove unused variable

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This commit is contained in:
Carles Fernandez
2019-02-10 12:40:03 +01:00
parent 111c0eec11
commit a6b94eaccf
3 changed files with 225 additions and 227 deletions
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95
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_cc.cc
View File

@@ -8,7 +8,7 @@
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@@ -73,7 +73,6 @@ beidou_b1i_telemetry_decoder_cc::beidou_b1i_telemetry_decoder_cc(
d_secondary_code_symbols = static_cast<int32_t *>(volk_gnsssdr_malloc(BEIDOU_B1I_SECONDARY_CODE_LENGTH * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * d_samples_per_symbol;
d_subframe_length_symbols = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS;
// Setting samples of secondary code
for (int32_t i = 0; i < BEIDOU_B1I_SECONDARY_CODE_LENGTH; i++)
@@ -115,7 +114,7 @@ beidou_b1i_telemetry_decoder_cc::beidou_b1i_telemetry_decoder_cc(
}
}
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(d_subframe_length_symbols * sizeof(double), volk_gnsssdr_get_alignment()));
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(double), volk_gnsssdr_get_alignment()));
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS * d_samples_per_symbol + d_samples_per_preamble;
// Generic settings
@@ -154,15 +153,15 @@ beidou_b1i_telemetry_decoder_cc::~beidou_b1i_telemetry_decoder_cc()
void beidou_b1i_telemetry_decoder_cc::decode_bch15_11_01(const int32_t *bits, int32_t *decbits)
{
int bit, err, reg[4] = {1, 1, 1, 1};
int errind[15] = {14, 13, 10, 12, 6, 9, 4, 11, 0, 5, 7, 8, 1, 3, 2};
int32_t bit, err, reg[4] = {1, 1, 1, 1};
int32_t errind[15] = {14, 13, 10, 12, 6, 9, 4, 11, 0, 5, 7, 8, 1, 3, 2};
for (unsigned int i = 0; i < 15; i++)
for (uint32_t i = 0; i < 15; i++)
{
decbits[i] = bits[i];
}
for (unsigned int i = 0; i < 15; i++)
for (uint32_t i = 0; i < 15; i++)
{
bit = reg[3];
reg[3] = reg[2];
@@ -180,6 +179,7 @@ void beidou_b1i_telemetry_decoder_cc::decode_bch15_11_01(const int32_t *bits, in
}
}
void beidou_b1i_telemetry_decoder_cc::decode_word(
int32_t word_counter,
const double *enc_word_symbols,
@@ -189,31 +189,31 @@ void beidou_b1i_telemetry_decoder_cc::decode_word(
if (word_counter == 1)
{
for (unsigned int j = 0; j < 30; j++)
for (uint32_t j = 0; j < 30; j++)
{
dec_word_symbols[j] = (int32_t)(enc_word_symbols[j] > 0) ? (1) : (-1);
dec_word_symbols[j] = static_cast<int32_t>(enc_word_symbols[j] > 0) ? (1) : (-1);
}
}
else
{
for (unsigned int r = 0; r < 2; r++)
for (uint32_t r = 0; r < 2; r++)
{
for (unsigned int c = 0; c < 15; c++)
for (uint32_t c = 0; c < 15; c++)
{
bitsbch[r * 15 + c] = (int32_t)(enc_word_symbols[c * 2 + r] > 0) ? (1) : (-1);
bitsbch[r * 15 + c] = static_cast<int32_t>(enc_word_symbols[c * 2 + r] > 0) ? (1) : (-1);
}
}
decode_bch15_11_01(&bitsbch[0], first_branch);
decode_bch15_11_01(&bitsbch[15], second_branch);
for (unsigned int j = 0; j < 11; j++)
for (uint32_t j = 0; j < 11; j++)
{
dec_word_symbols[j] = first_branch[j];
dec_word_symbols[j + 11] = second_branch[j];
}
for (unsigned int j = 0; j < 4; j++)
for (uint32_t j = 0; j < 4; j++)
{
dec_word_symbols[j + 22] = first_branch[11 + j];
dec_word_symbols[j + 26] = second_branch[11 + j];
@@ -222,7 +222,7 @@ void beidou_b1i_telemetry_decoder_cc::decode_word(
}
void beidou_b1i_telemetry_decoder_cc::decode_subframe(double *frame_symbols, int32_t frame_length)
void beidou_b1i_telemetry_decoder_cc::decode_subframe(double *frame_symbols)
{
// 1. Transform from symbols to bits
std::string data_bits;
@@ -287,9 +287,9 @@ void beidou_b1i_telemetry_decoder_cc::decode_subframe(double *frame_symbols, int
}
if (d_nav.have_new_almanac() == true)
{
// unsigned int slot_nbr = d_nav.i_alm_satellite_PRN;
// std::shared_ptr<Beidou_Dnav_Almanac> tmp_obj = std::make_shared<Beidou_Dnav_Almanac>(d_nav.get_almanac(slot_nbr));
// this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
// uint32_t slot_nbr = d_nav.i_alm_satellite_PRN;
// std::shared_ptr<Beidou_Dnav_Almanac> tmp_obj = std::make_shared<Beidou_Dnav_Almanac>(d_nav.get_almanac(slot_nbr));
// this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
LOG(INFO) << "BEIDOU DNAV Almanac have been received in channel" << d_channel << " from satellite " << d_satellite << std::endl;
std::cout << "New BEIDOU B1I DNAV almanac received in channel " << d_channel << " from satellite " << d_satellite << std::endl;
}
@@ -321,7 +321,6 @@ void beidou_b1i_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satell
d_secondary_code_symbols = nullptr;
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_preamble_period_samples = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * d_samples_per_symbol;
d_subframe_length_symbols = BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS;
// Setting samples of preamble code
int32_t n = 0;
@@ -345,13 +344,13 @@ void beidou_b1i_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satell
}
}
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(d_subframe_length_symbols * sizeof(double), volk_gnsssdr_get_alignment()));
d_subframe_symbols = static_cast<double *>(volk_gnsssdr_malloc(BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS * sizeof(double), volk_gnsssdr_get_alignment()));
d_required_symbols = BEIDOU_DNAV_SUBFRAME_SYMBOLS * d_samples_per_symbol + d_samples_per_preamble;
}
}
void beidou_b1i_telemetry_decoder_cc::set_channel(int channel)
void beidou_b1i_telemetry_decoder_cc::set_channel(int32_t channel)
{
d_channel = channel;
LOG(INFO) << "Navigation channel set to " << channel;
@@ -387,11 +386,11 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_
auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]); // Get the output buffer pointer
const auto **in = reinterpret_cast<const Gnss_Synchro **>(&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
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][0];
d_symbol_history.push_back(current_symbol.Prompt_I); //add new symbol to the symbol queue
d_sample_counter++; //count for the processed samples
d_symbol_history.push_back(current_symbol.Prompt_I); // add new symbol to the symbol queue
d_sample_counter++; // count for the processed samples
consume_each(1);
d_flag_preamble = false;
@@ -399,7 +398,7 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_
if (d_symbol_history.size() > d_required_symbols)
{
//******* preamble correlation ********
for (int i = 0; i < d_samples_per_preamble; i++)
for (int32_t i = 0; i < d_samples_per_preamble; i++)
{
if (d_symbol_history.at(i) < 0) // symbols clipping
{
@@ -413,7 +412,7 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_
}
//******* frame sync ******************
if (d_stat == 0) //no preamble information
if (d_stat == 0) // no preamble information
{
if (abs(corr_value) >= d_samples_per_preamble)
{
@@ -428,11 +427,11 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_
{
if (abs(corr_value) >= d_samples_per_preamble)
{
//check preamble separation
// check preamble separation
preamble_diff = static_cast<int32_t>(d_sample_counter - d_preamble_index);
if (abs(preamble_diff - d_preamble_period_samples) == 0)
{
//try to decode frame
// try to decode frame
LOG(INFO) << "Starting BeiDou DNAV frame decoding for BeiDou B1I SAT " << this->d_satellite;
d_preamble_index = d_sample_counter; //record the preamble sample stamp
d_stat = 2;
@@ -451,14 +450,14 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_
{
if (d_sample_counter == d_preamble_index + static_cast<uint64_t>(d_preamble_period_samples))
{
//******* SAMPLES TO SYMBOLS *******
// ******* SAMPLES TO SYMBOLS *******
if (corr_value > 0) //normal PLL lock
{
int k = 0;
for (uint32_t i = 0; i < d_subframe_length_symbols; i++)
int32_t k = 0;
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
d_subframe_symbols[i] = 0;
//integrate samples into symbols
// integrate samples into symbols
for (uint32_t m = 0; m < d_samples_per_symbol; m++)
{
if (d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6)
@@ -476,13 +475,13 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_
}
}
}
else //180 deg. inverted carrier phase PLL lock
else // 180 deg. inverted carrier phase PLL lock
{
int k = 0;
for (uint32_t i = 0; i < d_subframe_length_symbols; i++)
int32_t k = 0;
for (uint32_t i = 0; i < BEIDOU_DNAV_PREAMBLE_PERIOD_SYMBOLS; i++)
{
d_subframe_symbols[i] = 0;
//integrate samples into symbols
// integrate samples into symbols
for (uint32_t m = 0; m < d_samples_per_symbol; m++)
{
if (d_satellite.get_PRN() > 0 and d_satellite.get_PRN() < 6)
@@ -501,14 +500,14 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_
}
}
//call the decoder
decode_subframe(d_subframe_symbols, d_subframe_length_symbols);
// call the decoder
decode_subframe(d_subframe_symbols);
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;
@@ -518,7 +517,7 @@ int beidou_b1i_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 > CRC_ERROR_LIMIT)
{
LOG(INFO) << "BeiDou DNAV frame sync lost for SAT " << this->d_satellite;
@@ -531,9 +530,9 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_
}
// UPDATE GNSS SYNCHRO DATA
//2. Add the telemetry decoder information
// 2. Add the telemetry decoder information
if (this->d_flag_preamble == true and d_nav.flag_new_SOW_available == true)
//update TOW at the preamble instant
// update TOW at the preamble instant
{
// Reporting sow as gps time of week
d_TOW_at_Preamble_ms = static_cast<uint32_t>((d_nav.d_SOW + 14) * 1000.0);
@@ -541,7 +540,7 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_
flag_SOW_set = true;
d_nav.flag_new_SOW_available = false;
}
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_ms += static_cast<uint32_t>(BEIDOU_B1I_CODE_PERIOD_MS);
}
@@ -565,11 +564,11 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_
try
{
double tmp_double;
unsigned long int tmp_ulong_int;
uint64_t tmp_ulong_int;
tmp_double = d_TOW_at_current_symbol_ms;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_ulong_int = current_symbol.Tracking_sample_counter;
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(unsigned long int));
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t));
tmp_double = 0;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
}
@@ -584,7 +583,7 @@ int beidou_b1i_telemetry_decoder_cc::general_work(int noutput_items __attribute_
{
d_symbol_history.pop_front();
}
//3. Make the output (copy the object contents to the GNURadio reserved memory)
// 3. Make the output (copy the object contents to the GNURadio reserved memory)
*out[0] = current_symbol;
return 1;

26
src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b1i_telemetry_decoder_cc.h
View File

@@ -9,7 +9,7 @@
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@@ -78,13 +78,12 @@ private:
beidou_b1i_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump);
beidou_b1i_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump);
void decode_subframe(double *symbols, int32_t frame_length);
void decode_subframe(double *symbols);
void decode_word(int32_t word_counter, const double *enc_word_symbols, int32_t *dec_word_symbols);
void decode_bch15_11_01(const int32_t *bits, int32_t *decbits);
//!< Preamble decoding
unsigned short int d_preambles_symbols[BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS];
// Preamble decoding
int32_t *d_preamble_samples;
int32_t *d_secondary_code_symbols;
uint32_t d_samples_per_symbol;
@@ -92,20 +91,19 @@ private:
int32_t d_samples_per_preamble;
int32_t d_preamble_period_samples;
double *d_subframe_symbols;
uint32_t d_subframe_length_symbols;
uint32_t d_required_symbols;
//!< Storage for incoming data
// Storage for incoming data
std::deque<float> d_symbol_history;
//!< Variables for internal functionality
uint64_t d_sample_counter; //!< Sample counter as an index (1,2,3,..etc) indicating number of samples processed
uint64_t d_preamble_index; //!< Index of sample number where preamble was found
uint32_t d_stat; //!< Status of decoder
bool d_flag_frame_sync; //!< Indicate when a frame sync is achieved
bool d_flag_preamble; //!< Flag indicating when preamble was found
int32_t d_CRC_error_counter; //!< Number of failed CRC operations
bool flag_SOW_set; //!< Indicates when time of week is set
// Variables for internal functionality
uint64_t d_sample_counter; // Sample counter as an index (1,2,3,..etc) indicating number of samples processed
uint64_t d_preamble_index; // Index of sample number where preamble was found
uint32_t d_stat; // Status of decoder
bool d_flag_frame_sync; // Indicate when a frame sync is achieved
bool d_flag_preamble; // Flag indicating when preamble was found
int32_t d_CRC_error_counter; // Number of failed CRC operations
bool flag_SOW_set; // Indicates when time of week is set
//!< Navigation Message variable
Beidou_Dnav_Navigation_Message d_nav;