mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-10-30 23:03:05 +00:00
Improving documentation and some code cleaning
git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@446 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Carles Fernandez
File diff suppressed because it is too large
Load Diff
@@ -5,7 +5,7 @@
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
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* Copyright (C) 2010-2013 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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@@ -228,22 +228,28 @@ public:
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GpsL1CaSubframeFsm::GpsL1CaSubframeFsm()
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{
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d_nav.reset();
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initiate(); //start the FSM
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d_nav.reset();
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initiate(); //start the FSM
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}
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void GpsL1CaSubframeFsm::gps_word_to_subframe(int position)
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{
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// insert the word in the correct position of the subframe
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std::memcpy(&d_subframe[position*GPS_WORD_LENGTH], &d_GPS_frame_4bytes, sizeof(char)*GPS_WORD_LENGTH);
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// insert the word in the correct position of the subframe
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std::memcpy(&d_subframe[position*GPS_WORD_LENGTH], &d_GPS_frame_4bytes, sizeof(char)*GPS_WORD_LENGTH);
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}
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void GpsL1CaSubframeFsm::gps_subframe_to_nav_msg()
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{
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int subframe_ID;
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// NEW GPS SUBFRAME HAS ARRIVED!
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subframe_ID = d_nav.subframe_decoder(this->d_subframe); //decode the subframe
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std::cout << "NAVIGATION FSM: received subframe " << subframe_ID << " for satellite " << Gnss_Satellite(std::string("GPS"), i_satellite_PRN) << std::endl;
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std::cout << "NAVIGATION FSM: received subframe "
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<< subframe_ID << " for satellite "
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<< Gnss_Satellite(std::string("GPS"), i_satellite_PRN) << std::endl;
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d_nav.i_satellite_PRN = i_satellite_PRN;
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d_nav.i_channel_ID = i_channel_ID;
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d_nav.d_subframe_timestamp_ms = this->d_preamble_time_ms;
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@@ -251,48 +257,52 @@ void GpsL1CaSubframeFsm::gps_subframe_to_nav_msg()
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switch (subframe_ID)
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{
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case 3: //we have a new set of ephemeris data for the current SV
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if (d_nav.satellite_validation()==true)
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{
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// get ephemeris object for this SV (mandatory)
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Gps_Ephemeris ephemeris=d_nav.get_ephemeris();
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d_ephemeris_queue->push(ephemeris);
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}
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break;
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if (d_nav.satellite_validation() == true)
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{
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// get ephemeris object for this SV (mandatory)
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Gps_Ephemeris ephemeris = d_nav.get_ephemeris();
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d_ephemeris_queue->push(ephemeris);
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}
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break;
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case 4: // Possible IONOSPHERE and UTC model update (page 18)
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if (d_nav.flag_iono_valid==true)
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{
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Gps_Iono iono=d_nav.get_iono(); //notice that the read operation will clear the valid flag
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d_iono_queue->push(iono);
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}
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if (d_nav.flag_utc_model_valid==true)
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{
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Gps_Utc_Model utc_model=d_nav.get_utc_model(); //notice that the read operation will clear the valid flag
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d_utc_model_queue->push(utc_model);
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}
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break;
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if (d_nav.flag_iono_valid == true)
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{
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Gps_Iono iono = d_nav.get_iono(); //notice that the read operation will clear the valid flag
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d_iono_queue->push(iono);
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}
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if (d_nav.flag_utc_model_valid == true)
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{
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Gps_Utc_Model utc_model = d_nav.get_utc_model(); //notice that the read operation will clear the valid flag
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d_utc_model_queue->push(utc_model);
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}
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break;
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case 5:
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// get almanac (if available)
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//TODO: implement almanac reader in navigation_message
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break;
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// get almanac (if available)
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//TODO: implement almanac reader in navigation_message
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break;
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default:
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break;
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break;
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}
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}
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void GpsL1CaSubframeFsm::Event_gps_word_valid()
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{
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this->process_event(Ev_gps_word_valid());
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this->process_event(Ev_gps_word_valid());
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}
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void GpsL1CaSubframeFsm::Event_gps_word_invalid()
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{
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this->process_event(Ev_gps_word_invalid());
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this->process_event(Ev_gps_word_invalid());
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}
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void GpsL1CaSubframeFsm::Event_gps_word_preamble()
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{
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this->process_event(Ev_gps_word_preamble());
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this->process_event(Ev_gps_word_preamble());
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}
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@@ -67,46 +67,48 @@ struct gps_subframe_fsm_S9;
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struct gps_subframe_fsm_S10;
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struct gps_subframe_fsm_S11;
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/*!
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* \brief This class implements a Finite State Machine that handles the decoding
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* of the GPS L1 C/A NAV message
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*/
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class GpsL1CaSubframeFsm : public sc::state_machine< GpsL1CaSubframeFsm, gps_subframe_fsm_S0 >
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{
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public:
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// channel and satellite info
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int i_channel_ID;
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unsigned int i_satellite_PRN;
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GpsL1CaSubframeFsm(); //!< The constructor starts the Finite State Machine
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// ephemeris queue
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concurrent_queue<Gps_Ephemeris> *d_ephemeris_queue;
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// ionospheric parameters queue
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concurrent_queue<Gps_Iono> *d_iono_queue;
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// UTC model parameters queue
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concurrent_queue<Gps_Utc_Model> *d_utc_model_queue;
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// Almanac queue
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concurrent_queue<Gps_Almanac> *d_almanac_queue;
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// channel and satellite info
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int i_channel_ID; //!< Channel id
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unsigned int i_satellite_PRN; //!< Satellite PRN number
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// navigation message class
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Gps_Navigation_Message d_nav;
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concurrent_queue<Gps_Ephemeris> *d_ephemeris_queue; //!< Ephemeris queue
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concurrent_queue<Gps_Iono> *d_iono_queue; //!< Ionospheric parameters queue
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concurrent_queue<Gps_Utc_Model> *d_utc_model_queue; //!< UTC model parameters queue
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concurrent_queue<Gps_Almanac> *d_almanac_queue; //!< Almanac queue
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// GPS SV and System parameters
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Gps_Ephemeris ephemeris;
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Gps_Almanac almanac;
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Gps_Utc_Model utc_model;
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Gps_Iono iono;
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Gps_Navigation_Message d_nav; //!< GPS L1 C/A navigation message object
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// GPS SV and System parameters
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Gps_Ephemeris ephemeris; //!< Object that handles GPS ephemeris parameters
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Gps_Almanac almanac; //!< Object that handles GPS almanac data
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Gps_Utc_Model utc_model; //!< Object that handles UTM model parameters
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Gps_Iono iono; //!< Object that handles ionospheric parameters
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char d_subframe[GPS_SUBFRAME_LENGTH];
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char d_GPS_frame_4bytes[GPS_WORD_LENGTH];
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char d_subframe[GPS_SUBFRAME_LENGTH];
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char d_GPS_frame_4bytes[GPS_WORD_LENGTH];
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double d_preamble_time_ms;
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double d_preamble_time_ms;
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void gps_word_to_subframe(int position); //!< inserts the word in the correct position of the subframe
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void gps_word_to_subframe(int position);
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void gps_subframe_to_nav_msg();
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/*!
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* \brief This function decodes a NAv message subframe and pushes the information to the right queues
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*/
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void gps_subframe_to_nav_msg();
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//FSM EVENTS
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void Event_gps_word_valid();
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void Event_gps_word_invalid();
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void Event_gps_word_preamble();
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GpsL1CaSubframeFsm();
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//FSM EVENTS
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void Event_gps_word_valid(); //!< FSM event: the received word is valid
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void Event_gps_word_invalid(); //!< FSM event: the received word is not valid
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void Event_gps_word_preamble(); //!< FSM event: word preamble detected
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};
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#endif
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@@ -47,7 +47,6 @@
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Viterbi_Decoder::Viterbi_Decoder(const int g_encoder[], const int KK, const int nn)
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{
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d_nn = nn; //Coding rate 1/n
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d_KK = KK; //Constraint Length
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@@ -84,27 +83,25 @@ Viterbi_Decoder::~Viterbi_Decoder()
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delete[] d_metric_c;
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}
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void
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Viterbi_Decoder::reset()
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void Viterbi_Decoder::reset()
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{
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init_trellis_state();
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}
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/* Function decode_block()
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Description: Uses the Viterbi algorithm to perform hard-decision decoding of a convolutional code.
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Input parameters:
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r[] The received signal in LLR-form. For BPSK, must be in form r = 2*a*y/(sigma^2).
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LL The number of data bits to be decoded (doen't inlcude the mm zero-tail-bits)
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r[] The received signal in LLR-form. For BPSK, must be in form r = 2*a*y/(sigma^2).
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LL The number of data bits to be decoded (doen't inlcude the mm zero-tail-bits)
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Output parameters:
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output_u_int[] Hard decisions on the data bits (without the mm zero-tail-bits)
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output_u_int[] Hard decisions on the data bits (without the mm zero-tail-bits)
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*/
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float
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Viterbi_Decoder::decode_block(const double input_c[], int output_u_int[], const int LL)
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float Viterbi_Decoder::decode_block(const double input_c[], int output_u_int[], const int LL)
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{
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int state;
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int decoding_length_mismatch;
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@@ -125,9 +122,13 @@ Viterbi_Decoder::decode_block(const double input_c[], int output_u_int[], const
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return d_indicator_metric;
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}
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float
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Viterbi_Decoder::decode_continuous(const double sym[], const int traceback_depth, int bits[],
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const int nbits_requested, int &nbits_decoded)
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float Viterbi_Decoder::decode_continuous(const double sym[],
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const int traceback_depth,
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int bits[],
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const int nbits_requested,
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int &nbits_decoded)
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{
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int state;
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int decoding_length_mismatch;
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@@ -150,11 +151,11 @@ Viterbi_Decoder::decode_continuous(const double sym[], const int traceback_depth
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return d_indicator_metric;
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}
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void
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Viterbi_Decoder::init_trellis_state()
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void Viterbi_Decoder::init_trellis_state()
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{
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int state;
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// if trellis state has been initialised, free old state memory
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if(d_trellis_state_is_initialised)
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{
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@@ -182,8 +183,10 @@ Viterbi_Decoder::init_trellis_state()
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d_indicator_metric = 0;
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}
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int
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Viterbi_Decoder::do_acs(const double sym[], int nbits)
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int Viterbi_Decoder::do_acs(const double sym[], int nbits)
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{
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int t, i, state_at_t;
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float metric;
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@@ -202,11 +205,9 @@ Viterbi_Decoder::do_acs(const double sym[], int nbits)
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pm_t_next[state_at_t] = -MAXLOG;
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}
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/* go through trellis */
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for (t = 0; t < nbits; t++)
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{
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/* Temporarily store the received symbols current decoding step */
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for (i = 0; i < d_nn; i++)
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d_rec_array[i] = (float) sym[d_nn * t + i];
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@@ -223,7 +224,6 @@ Viterbi_Decoder::do_acs(const double sym[], int nbits)
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/* step through all states */
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for (state_at_t = 0; state_at_t < d_states; state_at_t++)
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{
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int next_state_if_0 = d_state0[state_at_t];
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int next_state_if_1 = d_state1[state_at_t];
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@@ -256,7 +256,6 @@ Viterbi_Decoder::do_acs(const double sym[], int nbits)
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d_trellis_paths.push_front(next_trellis_states);
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/* normalize -> afterwards, the largest metric value is always 0 */
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//max_val = 0;
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max_val = -MAXLOG;
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@@ -275,14 +274,14 @@ Viterbi_Decoder::do_acs(const double sym[], int nbits)
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}
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}
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delete[] pm_t_next;
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return t;
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}
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int
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Viterbi_Decoder::do_traceback(size_t traceback_length)
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int Viterbi_Decoder::do_traceback(size_t traceback_length)
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{
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// traceback_length is in bits
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int state;
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@@ -303,17 +302,17 @@ Viterbi_Decoder::do_traceback(size_t traceback_length)
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return state;
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}
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int
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Viterbi_Decoder::do_tb_and_decode(int traceback_length, int requested_decoding_length, int state, int output_u_int[], float& indicator_metric)
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int Viterbi_Decoder::do_tb_and_decode(int traceback_length, int requested_decoding_length, int state, int output_u_int[], float& indicator_metric)
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{
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int n_of_branches_for_indicator_metric = 500;
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int t_out;
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std::deque<Prev>::iterator it;
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int decoding_length_mismatch;
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int overstep_length;
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int n_im=0;
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int n_im = 0;
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VLOG(FLOW) << "do_tb_and_decode(): requested_decoding_length=" << requested_decoding_length;
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@@ -323,12 +322,13 @@ Viterbi_Decoder::do_tb_and_decode(int traceback_length, int requested_decoding_l
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overstep_length = decoding_length_mismatch >= 0 ? decoding_length_mismatch : 0;
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VLOG(BLOCK) << "overstep_length=" << overstep_length;
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for (it = d_trellis_paths.begin() + traceback_length; it < d_trellis_paths.begin()+traceback_length + overstep_length; ++it)
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for (it = d_trellis_paths.begin() + traceback_length;
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it < d_trellis_paths.begin() + traceback_length + overstep_length; ++it)
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{
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state = it->get_anchestor_state_of_current_state(state);
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}
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t_out = d_trellis_paths.end()-(d_trellis_paths.begin() + traceback_length + overstep_length)-1;//requested_decoding_length-1;
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t_out = d_trellis_paths.end() - (d_trellis_paths.begin() + traceback_length + overstep_length) - 1;//requested_decoding_length-1;
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indicator_metric = 0;
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for (it = d_trellis_paths.begin() + traceback_length + overstep_length; it < d_trellis_paths.end(); ++it)
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{
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@@ -342,19 +342,20 @@ Viterbi_Decoder::do_tb_and_decode(int traceback_length, int requested_decoding_l
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}
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output_u_int[t_out] = it->get_bit_of_current_state(state);
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state = it->get_anchestor_state_of_current_state(state);
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t_out--;
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}
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indicator_metric/=n_im;
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indicator_metric /= n_im;
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VLOG(BLOCK) << "indicator metric: " << indicator_metric;
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// remove old states
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if (d_trellis_paths.begin() + traceback_length+overstep_length <= d_trellis_paths.end())
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if (d_trellis_paths.begin() + traceback_length + overstep_length <= d_trellis_paths.end())
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{
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d_trellis_paths.erase(d_trellis_paths.begin()+traceback_length+overstep_length, d_trellis_paths.end());
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d_trellis_paths.erase(d_trellis_paths.begin() + traceback_length+overstep_length, d_trellis_paths.end());
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}
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return decoding_length_mismatch;
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}
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/* function Gamma()
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Description: Computes the branch metric used for decoding.
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@@ -426,8 +427,7 @@ Viterbi_Decoder::nsc_transit(int output_p[], int trans_p[], int input, const int
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This function is used by rsc_encode(), nsc_transit(), rsc_transit(), and nsc_transit() */
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int
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Viterbi_Decoder::nsc_enc_bit(int state_out_p[], int input, int state_in,
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int Viterbi_Decoder::nsc_enc_bit(int state_out_p[], int input, int state_in,
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const int g[], int KK, int nn)
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{
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/* declare variables */
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@@ -462,18 +462,15 @@ Viterbi_Decoder::nsc_enc_bit(int state_out_p[], int input, int state_in,
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This function is used by nsc_enc_bit(), rsc_enc_bit(), and rsc_tail() */
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|
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int
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Viterbi_Decoder::parity_counter(int symbol, int length)
|
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int Viterbi_Decoder::parity_counter(int symbol, int length)
|
||||
{
|
||||
int counter;
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||||
int temp_parity = 0;
|
||||
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||||
for (counter = 0; counter < length; counter++)
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||||
{
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||||
temp_parity = temp_parity ^ (symbol & 1);
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||||
symbol = symbol >> 1;
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||||
}
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||||
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return (temp_parity);
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||||
}
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||||
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@@ -486,27 +483,26 @@ Viterbi_Decoder::Prev::Prev(int states, int t)
|
||||
state = new int[states];
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||||
bit = new int[states];
|
||||
metric = new float[states];
|
||||
|
||||
refcount = new int;
|
||||
*refcount = 1;
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||||
|
||||
//std::cout << "Prev(" << states << ", " << t << ")" << " constructor" << std::endl;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// copy constructor
|
||||
Viterbi_Decoder::Prev::Prev(const Prev& prev)
|
||||
{
|
||||
refcount = prev.refcount;
|
||||
(*refcount)++;
|
||||
|
||||
t = prev.t;
|
||||
state = prev.state;
|
||||
bit = prev.bit;
|
||||
metric = prev.metric;
|
||||
|
||||
VLOG(LMORE) << "Prev(" << "?" << ", " << t << ")" << " copy, new refcount = " << *refcount;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// assignment constructor
|
||||
Viterbi_Decoder::Prev& Viterbi_Decoder::Prev::operator=(const Prev& other)
|
||||
{
|
||||
@@ -517,7 +513,7 @@ Viterbi_Decoder::Prev& Viterbi_Decoder::Prev::operator=(const Prev& other)
|
||||
}
|
||||
|
||||
// handle old resources
|
||||
if(*refcount==1)
|
||||
if(*refcount == 1)
|
||||
{ // if they are not used anymore -> unallocate them
|
||||
delete[] state;
|
||||
delete[] bit;
|
||||
@@ -543,6 +539,9 @@ Viterbi_Decoder::Prev& Viterbi_Decoder::Prev::operator=(const Prev& other)
|
||||
return *this;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
Viterbi_Decoder::Prev::~Prev()
|
||||
{
|
||||
if (*refcount == 1)
|
||||
@@ -560,12 +559,16 @@ Viterbi_Decoder::Prev::~Prev()
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
int Viterbi_Decoder::Prev::get_anchestor_state_of_current_state(int current_state)
|
||||
{
|
||||
//std::cout << "get prev state: for state " << current_state << " at time " << t << ", the prev state at time " << t-1 << " is " << state[current_state] << std::endl;
|
||||
return state[current_state];
|
||||
}
|
||||
|
||||
|
||||
|
||||
int Viterbi_Decoder::Prev::get_bit_of_current_state(int current_state)
|
||||
{
|
||||
//std::cout << "get prev bit : for state " << current_state << " at time " << t << ", the send bit is " << bit[current_state] << std::endl;
|
||||
|
||||
@@ -29,8 +29,8 @@
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GNSS_SDR_VITERBIDECODER_H_
|
||||
#define GNSS_SDR_VITERBIDECODER_H_
|
||||
#ifndef GNSS_SDR_VITERBI_DECODER_H_
|
||||
#define GNSS_SDR_VITERBI_DECODER_H_
|
||||
|
||||
#include <deque>
|
||||
#include <iostream>
|
||||
@@ -41,12 +41,22 @@ public:
|
||||
Viterbi_Decoder(const int g_encoder[], const int KK, const int nn);
|
||||
~Viterbi_Decoder();
|
||||
void reset();
|
||||
|
||||
/*!
|
||||
* \brief Uses the Viterbi algorithm to perform hard-decision decoding of a convolutional code.
|
||||
*
|
||||
* \param input_c[] The received signal in LLR-form. For BPSK, must be in form r = 2*a*y/(sigma^2).
|
||||
* \param LL The number of data bits to be decoded (does not include the mm zero-tail-bits)
|
||||
*
|
||||
* \return output_u_int[] Hard decisions on the data bits (without the mm zero-tail-bits)
|
||||
*/
|
||||
float decode_block(const double input_c[], int* output_u_int, const int LL);
|
||||
|
||||
|
||||
float decode_continuous(const double sym[], const int traceback_depth, int output_u_int[],
|
||||
const int nbits_requested, int &nbits_decoded);
|
||||
|
||||
private:
|
||||
|
||||
class Prev
|
||||
{
|
||||
public:
|
||||
@@ -111,4 +121,4 @@ private:
|
||||
int parity_counter(int symbol, int length);
|
||||
};
|
||||
|
||||
#endif /* GNSS_SDR_VITERBIDECODER_H_ */
|
||||
#endif /* GNSS_SDR_VITERBI_DECODER_H_ */
|
||||
|
||||
Reference in New Issue
Block a user