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Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into common_solver

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This commit is contained in:
Javier Arribas 2017-03-29 10:26:54 +02:00
commit ab75381e33
14 changed files with 815 additions and 548 deletions
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2
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt
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@ -49,7 +49,7 @@ message(STATUS "Build type set to ${CMAKE_BUILD_TYPE}.")
set(VERSION_INFO_MAJOR_VERSION 0)
set(VERSION_INFO_MINOR_VERSION 0)
set(VERSION_INFO_MAINT_VERSION 9)
set(VERSION_INFO_MAINT_VERSION 9.git)
include(VolkVersion) #setup version info

2
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/README.md
View File

@ -57,7 +57,7 @@ This figure shows the role of some VOLK_GNSSSDR kernels in the context of a GNSS
If you use VOLK_GNSSSDR in your research and/or software, please cite the following paper:
* C. Fernández-Prades, J. Arribas, P. Closas, [*Accelerating GNSS Software Receivers*](https://zenodo.org/record/266493#.WJR8j7bhB89), in Proc. of the ION GNSS+ 2016 Conference, pp. 44-61, Portland, Oregon, Sept. 12-16, 2016.
* C. Fernández-Prades, J. Arribas, P. Closas, [*Accelerating GNSS Software Receivers*](https://zenodo.org/record/266493), in Proc. of the ION GNSS+ 2016 Conference, pp. 44-61, Portland, Oregon, Sept. 12-16, 2016.
Citations are useful for the continued development and maintenance of the library.

9
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/python/volk_gnsssdr_modtool/volk_gnsssdr_modtool_generate.py
View File

@ -102,6 +102,9 @@ class volk_gnsssdr_modtool:
os.makedirs(os.path.join(self.my_dict['destination'], 'volk_gnsssdr_' + self.my_dict['name'], 'kernels/volk_gnsssdr_' + self.my_dict['name']))
current_kernel_names = self.get_current_kernels();
need_ifdef_updates = ["constant.h", "volk_complex.h", "volk_malloc.h", "volk_prefs.h",
"volk_common.h", "volk_cpu.tmpl.h", "volk_config_fixed.tmpl.h",
"volk_typedefs.h", "volk.tmpl.h"]
for root, dirnames, filenames in os.walk(self.my_dict['base']):
for name in filenames:
@ -111,8 +114,14 @@ class volk_gnsssdr_modtool:
infile = os.path.join(root, name);
instring = open(infile, 'r').read();
outstring = re.sub(self.volk_gnsssdr, 'volk_gnsssdr_' + self.my_dict['name'], instring);
if name in need_ifdef_updates:
outstring = re.sub(self.volk_included, 'INCLUDED_VOLK_' + self.my_dict['name'].upper(), outstring)
newname = re.sub(self.volk_gnsssdr, 'volk_gnsssdr_' + self.my_dict['name'], name);
relpath = os.path.relpath(infile, self.my_dict['base']);
if name == 'VolkConfig.cmake.in':
outstring = re.sub("VOLK", 'VOLK_' + self.my_dict['name'].upper(), outstring)
newname = "Volk%sConfig.cmake.in" % self.my_dict['name']
newrelpath = re.sub(self.volk_gnsssdr, 'volk_gnsssdr_' + self.my_dict['name'], relpath);
dest = os.path.join(self.my_dict['destination'], 'volk_gnsssdr_' + self.my_dict['name'], os.path.dirname(newrelpath), newname);

0
src/algorithms/telemetry_decoder/libs/libswiftcnav/convolutional.h → src/algorithms/telemetry_decoder/libs/convolutional.h
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201
src/algorithms/telemetry_decoder/libs/libswiftcnav/bits.c
View File

@ -1,13 +1,32 @@
/*
/*!
* \file bits.c
* \author Fergus Noble <fergus@swift-nav.com>
*
* -------------------------------------------------------------------------
* This file was originally borrowed from libswiftnav
* <https://github.com/swift-nav/libswiftnav>,
* a portable C library implementing GNSS related functions and algorithms,
* and then modified by J. Arribas and C. Fernandez
*
* Copyright (C) 2013, 2016 Swift Navigation Inc.
* Contact: Fergus Noble <fergus@swift-nav.com>
*
* This source is subject to the license found in the file 'LICENSE' which must
* be be distributed together with this source. All other rights reserved.
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
* EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
* This file is part of GNSS-SDR.
*
* This file is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation, version 3.
*
* This program 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
* Lesser General Lesser Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "bits.h"
@ -33,11 +52,11 @@ static const u8 bitn[16] = {0, 1, 1, 2, 1, 2, 2, 3, 1, 2, 2, 3, 2, 3, 3, 4};
*/
u8 parity(u32 x)
{
x ^= x >> 16;
x ^= x >> 8;
x ^= x >> 4;
x &= 0xF;
return (0x6996 >> x) & 1;
x ^= x >> 16;
x ^= x >> 8;
x ^= x >> 4;
x &= 0xF;
return (0x6996 >> x) & 1;
}
@ -53,11 +72,12 @@ u8 parity(u32 x)
u32 getbitu(const u8 *buff, u32 pos, u8 len)
{
u32 bits = 0;
for (u32 i = pos; i < pos + len; i++) {
bits = (bits << 1) +
((buff[i/8] >> (7 - i%8)) & 1u);
}
u32 i=0;
for (i = pos; i < pos + len; i++)
{
bits = (bits << 1) +
((buff[i/8] >> (7 - i%8)) & 1u);
}
return bits;
}
@ -95,17 +115,18 @@ s32 getbits(const u8 *buff, u32 pos, u8 len)
*/
void setbitu(u8 *buff, u32 pos, u32 len, u32 data)
{
u32 mask = 1u << (len - 1);
u32 mask = 1u << (len - 1);
if (len <= 0 || 32 < len)
return;
for (u32 i = pos; i < pos + len; i++, mask >>= 1) {
if (data & mask)
buff[i/8] |= 1u << (7 - i % 8);
else
buff[i/8] &= ~(1u << (7 - i % 8));
}
if (len <= 0 || 32 < len)
return;
u32 i = 0;
for (i = pos; i < pos + len; i++, mask >>= 1)
{
if (data & mask)
buff[i/8] |= 1u << (7 - i % 8);
else
buff[i/8] &= ~(1u << (7 - i % 8));
}
}
/** Set bit field in buffer from a signed integer.
@ -119,7 +140,7 @@ void setbitu(u8 *buff, u32 pos, u32 len, u32 data)
*/
void setbits(u8 *buff, u32 pos, u32 len, s32 data)
{
setbitu(buff, pos, len, (u32)data);
setbitu(buff, pos, len, (u32)data);
}
/**
@ -134,37 +155,43 @@ void setbits(u8 *buff, u32 pos, u32 len, s32 data)
*/
void bitshl(void *buf, u32 size, u32 shift)
{
if (shift > size * CHAR_BIT) {
/* Quick check: if the shift is larger, than the buffer, zero the data */
memset(buf, 0, size);
return;
}
if (shift > size * CHAR_BIT)
{
/* Quick check: if the shift is larger, than the buffer, zero the data */
memset(buf, 0, size);
return;
}
unsigned char *dst = buf; /* Destination byte. */
const unsigned char *src = dst + shift / CHAR_BIT; /* First source byte,
* possibly incomplete. */
unsigned char *dst = buf; /* Destination byte. */
const unsigned char *src = dst + shift / CHAR_BIT; /* First source byte, possibly incomplete. */
u32 copy_bits = size * CHAR_BIT - shift; /* Number of bits to move */
u32 byte_shift = copy_bits % CHAR_BIT; /* Shift of data */
u32 full_bytes = copy_bits / CHAR_BIT; /* Number of bytes to move */
u32 copy_bits = size * CHAR_BIT - shift; /* Number of bits to move */
u32 byte_shift = copy_bits % CHAR_BIT; /* Shift of data */
u32 full_bytes = copy_bits / CHAR_BIT; /* Number of bytes to move */
if (0 == byte_shift) {
/* When moving data in character boundaries, use built-in functions: move
* data, and then zero the tail. */
memmove(dst, src, full_bytes);
memset(dst + full_bytes, 0, size - full_bytes);
} else {
/* Create an accumulator: it will hold a value of two consecutive bytes */
u32 acc = *src++;
for (u32 i = 0; i < full_bytes; ++i) {
acc = (acc << CHAR_BIT) | *src++;
*dst++ = acc >> byte_shift;
}
*dst++ = acc << CHAR_BIT >> byte_shift;
if (full_bytes + 1 < size) {
memset(dst, 0, size - full_bytes - 1);
}
}
if (0 == byte_shift)
{
/* When moving data in character boundaries, use built-in functions: move
* data, and then zero the tail. */
memmove(dst, src, full_bytes);
memset(dst + full_bytes, 0, size - full_bytes);
}
else
{
/* Create an accumulator: it will hold a value of two consecutive bytes */
u32 acc = *src++;
u32 i = 0;
for (i = 0; i < full_bytes; ++i)
{
acc = (acc << CHAR_BIT) | *src++;
*dst++ = acc >> byte_shift;
}
*dst++ = acc << CHAR_BIT >> byte_shift;
if (full_bytes + 1 < size)
{
memset(dst, 0, size - full_bytes - 1);
}
}
}
/**
@ -186,19 +213,21 @@ void bitshl(void *buf, u32 size, u32 shift)
void bitcopy(void *dst, u32 dst_index, const void *src, u32 src_index,
u32 count)
{
u32 limit1 = count / 32;
u32 limit2 = count % 32;
for (u32 idx = 0; idx < limit1; ++idx) {
u32 tmp = getbitu(src, src_index, 32);
setbitu(dst, dst_index, 32, tmp);
src_index += 32;
dst_index += 32;
}
if (0 != limit2) {
u32 tmp = getbitu(src, src_index, limit2);
setbitu(dst, dst_index, limit2, tmp);
}
u32 limit1 = count / 32;
u32 limit2 = count % 32;
u32 idx = 0;
for (idx = 0; idx < limit1; ++idx)
{
u32 tmp = getbitu(src, src_index, 32);
setbitu(dst, dst_index, 32, tmp);
src_index += 32;
dst_index += 32;
}
if (0 != limit2)
{
u32 tmp = getbitu(src, src_index, limit2);
setbitu(dst, dst_index, limit2, tmp);
}
}
/**
@ -211,10 +240,11 @@ void bitcopy(void *dst, u32 dst_index, const void *src, u32 src_index,
*/
u8 count_bits_u64(u64 v, u8 bv)
{
u8 r = 0;
for (int i = 0; i < 16; i++)
r += bitn[(v >> (i*4)) & 0xf];
return bv == 1 ? r : 64 - r;
u8 r = 0;
int i = 0;
for (i = 0; i < 16; i++)
r += bitn[(v >> (i*4)) & 0xf];
return bv == 1 ? r : 64 - r;
}
/**
@ -227,10 +257,11 @@ u8 count_bits_u64(u64 v, u8 bv)
*/
u8 count_bits_u32(u32 v, u8 bv)
{
u8 r = 0;
for (int i = 0; i < 8; i++)
r += bitn[(v >> (i*4)) & 0xf];
return bv == 1 ? r : 32 - r;
u8 r = 0;
int i = 0;
for (i = 0; i < 8; i++)
r += bitn[(v >> (i*4)) & 0xf];
return bv == 1 ? r : 32 - r;
}
/**
@ -243,10 +274,11 @@ u8 count_bits_u32(u32 v, u8 bv)
*/
u8 count_bits_u16(u16 v, u8 bv)
{
u8 r = 0;
for (int i = 0; i < 4; i++)
r += bitn[(v >> (i*4)) & 0xf];
return bv == 1 ? r : 16 - r;
u8 r = 0;
int i = 0;
for (i= 0; i < 4; i++)
r += bitn[(v >> (i*4)) & 0xf];
return bv == 1 ? r : 16 - r;
}
/**
@ -259,10 +291,11 @@ u8 count_bits_u16(u16 v, u8 bv)
*/
u8 count_bits_u8(u8 v, u8 bv)
{
u8 r = 0;
for (int i = 0; i < 2; i++)
r += bitn[(v >> (i*4)) & 0xf];
return bv == 1 ? r : 8 - r;
u8 r = 0;
int i = 0;
for (i = 0; i < 2; i++)
r += bitn[(v >> (i*4)) & 0xf];
return bv == 1 ? r : 8 - r;
}
/** \} */

31
src/algorithms/telemetry_decoder/libs/libswiftcnav/bits.h
View File

@ -1,13 +1,32 @@
/*
/*!
* \file bits.h
* \author Fergus Noble <fergus@swift-nav.com>
*
* -------------------------------------------------------------------------
* This file was originally borrowed from libswiftnav
* <https://github.com/swift-nav/libswiftnav>,
* a portable C library implementing GNSS related functions and algorithms,
* and then modified by J. Arribas and C. Fernandez
*
* Copyright (C) 2013, 2016 Swift Navigation Inc.
* Contact: Fergus Noble <fergus@swift-nav.com>
*
* This source is subject to the license found in the file 'LICENSE' which must
* be be distributed together with this source. All other rights reserved.
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
* EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
* This file is part of GNSS-SDR.
*
* This file is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation, version 3.
*
* This program 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
* Lesser General Lesser Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef LIBSWIFTNAV_BITS_H

487
src/algorithms/telemetry_decoder/libs/libswiftcnav/cnav_msg.c
View File

@ -1,15 +1,36 @@
/*
/*!
* \file cnav_msg.c
* \author Valeri Atamaniouk <valeri@swift-nav.com>
*
* -------------------------------------------------------------------------
* This file was originally borrowed from libswiftnav
* <https://github.com/swift-nav/libswiftnav>,
* a portable C library implementing GNSS related functions and algorithms,
* and then modified by J. Arribas and C. Fernandez
*
* Copyright (C) 2016 Swift Navigation Inc.
* Contact: Valeri Atamaniouk <valeri@swift-nav.com>
*
* This source is subject to the license found in the file 'LICENSE' which must
* be be distributed together with this source. All other rights reserved.
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
* EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
* This file is part of GNSS-SDR.
*
* This file is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation, version 3.
*
* This program 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
* Lesser General Lesser Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "edc.h"
#include "bits.h"
#include "cnav_msg.h"
@ -63,12 +84,13 @@
*/
static u32 _cnav_compute_crc(cnav_v27_part_t *part)
{
u32 crc = crc24q_bits(0, part->decoded, GPS_CNAV_MSG_DATA_LENGTH,
part->invert);
u32 crc = crc24q_bits(0, part->decoded, GPS_CNAV_MSG_DATA_LENGTH,
part->invert);
return crc;
return crc;
}
/**
* Extracts CRC-24Q from a CNAV message buffer.
* CRC-24Q value is the last 24 bits from 300 bits message buffer.
@ -81,14 +103,16 @@ static u32 _cnav_compute_crc(cnav_v27_part_t *part)
*/
static u32 _cnav_extract_crc(const cnav_v27_part_t *part)
{
u32 crc = getbitu(part->decoded, GPS_CNAV_MSG_DATA_LENGTH,
GPS_CNAV_MSG_CRC_LENGTH);
if (part->invert) {
crc ^= 0xFFFFFF;
}
return crc;
u32 crc = getbitu(part->decoded, GPS_CNAV_MSG_DATA_LENGTH,
GPS_CNAV_MSG_CRC_LENGTH);
if (part->invert)
{
crc ^= 0xFFFFFF;
}
return crc;
}
/**
* Helper to rescan for preamble in the received buffer.
* Occasionally there could be a false lock on message contents if it the
@ -105,29 +129,35 @@ static u32 _cnav_extract_crc(const cnav_v27_part_t *part)
*/
static void _cnav_rescan_preamble(cnav_v27_part_t *part)
{
part->preamble_seen = false;
part->preamble_seen = false;
if (part->n_decoded > GPS_CNAV_PREAMBLE_LENGTH + 1) {
for (size_t i = 1, j = part->n_decoded - GPS_CNAV_PREAMBLE_LENGTH;
i < j; ++i) {
u32 c = getbitu(part->decoded, i, GPS_CNAV_PREAMBLE_LENGTH);
if (GPS_CNAV_PREAMBLE1 == c || GPS_CNAV_PREAMBLE2 == c) {
part->preamble_seen = true;
part->invert = (GPS_CNAV_PREAMBLE2 == c);
/* We shift the accumulated bits to the beginning of the buffer */
bitshl(part->decoded, sizeof(part->decoded), i);
part->n_decoded -= i;
break;
}
}
}
if (!part->preamble_seen && part->n_decoded >= GPS_CNAV_PREAMBLE_LENGTH) {
bitshl(part->decoded, sizeof(part->decoded),
part->n_decoded - GPS_CNAV_PREAMBLE_LENGTH + 1);
part->n_decoded = GPS_CNAV_PREAMBLE_LENGTH - 1;
}
if (part->n_decoded > GPS_CNAV_PREAMBLE_LENGTH + 1)
{
size_t i = 0;
size_t j = 0;
for (i = 1, j = part->n_decoded - GPS_CNAV_PREAMBLE_LENGTH; i < j; ++i)
{
u32 c = getbitu(part->decoded, i, GPS_CNAV_PREAMBLE_LENGTH);
if (GPS_CNAV_PREAMBLE1 == c || GPS_CNAV_PREAMBLE2 == c)
{
part->preamble_seen = true;
part->invert = (GPS_CNAV_PREAMBLE2 == c);
/* We shift the accumulated bits to the beginning of the buffer */
bitshl(part->decoded, sizeof(part->decoded), i);
part->n_decoded -= i;
break;
}
}
}
if (!part->preamble_seen && part->n_decoded >= GPS_CNAV_PREAMBLE_LENGTH)
{
bitshl(part->decoded, sizeof(part->decoded),
part->n_decoded - GPS_CNAV_PREAMBLE_LENGTH + 1);
part->n_decoded = GPS_CNAV_PREAMBLE_LENGTH - 1;
}
}
/**
* Feed a symbol into Viterbi decoder instance.
*
@ -144,110 +174,126 @@ static void _cnav_rescan_preamble(cnav_v27_part_t *part)
*/
static void _cnav_add_symbol(cnav_v27_part_t *part, u8 ch)
{
part->symbols[part->n_symbols++] = ch;
part->symbols[part->n_symbols++] = ch;
if (part->init) {
/* Initial step - load more symbols without decoding. */
if (part->n_symbols < (GPS_L2C_V27_INIT_BITS + GPS_L2C_V27_DECODE_BITS) * 2) {
return;
}
part->init = false;
}
else if (part->n_symbols < GPS_L2C_V27_DECODE_BITS * 2) {
/* Wait until decoding block is accumulated */
return;
}
/* Feed accumulated symbols into the buffer, reset the number of accumulated
* symbols. */
v27_update(&part->dec, part->symbols, part->n_symbols / 2);
part->n_symbols = 0;
/* Decode N+M bits, where:
* - N - Number of bits to put into decoded buffer
* - M - Number of bits in the tail to ignore.
*/
unsigned char tmp_bits[ (GPS_L2C_V27_DECODE_BITS + GPS_L2C_V27_DELAY_BITS +
CHAR_BIT - 1) / CHAR_BIT];
v27_chainback_likely(&part->dec, tmp_bits,
GPS_L2C_V27_DECODE_BITS + GPS_L2C_V27_DELAY_BITS);
/* Read decoded bits and add them to the decoded buffer */
bitcopy(part->decoded, part->n_decoded, tmp_bits, 0, GPS_L2C_V27_DECODE_BITS);
part->n_decoded += GPS_L2C_V27_DECODE_BITS;
/* Depending on the decoder state, one of the following actions are
* possible:
* - If no message lock
* - If no preamble seen - look for preamble
* - If preamble seen - collect 300 bits
* - If 300 bits are collected - verify CRC
* - If CRC is OK - message lock is acquired
* - If CRC fails - rescan for preamble
* - If found - continue collecting 300 bits
* - If not found - continue preamble wait
* - If message lock
* - If 300 bits collected, compute CRC
* - If CRC is OK, message can be decoded
* - If CRC is not OK, discard data
*/
bool retry = true;
while (retry) {
retry = false;
if (!part->preamble_seen) {
/* Rescan for preamble if possible. The first bit is ignored. */
_cnav_rescan_preamble(part);
}
if (part->preamble_seen && GPS_CNAV_MSG_LENGTH <= part->n_decoded) {
/* We have collected 300 bits starting from message preamble. Now try
* to compute CRC-24Q */
u32 crc = _cnav_compute_crc(part);
u32 crc2 = _cnav_extract_crc(part);
if (part->message_lock) {
/* We have message lock */
part->crc_ok = (crc == crc2);
if (part->crc_ok) {
/* Reset message lock counter */
part->n_crc_fail = 0;
} else {
/* Increment message lock counter */
part->n_crc_fail++;
if (part->n_crc_fail > GPS_CNAV_LOCK_MAX_CRC_FAILS) {
/* CRC has failed too many times - drop the lock. */
part->n_crc_fail = 0;
part->message_lock = false;
part->preamble_seen = false;
/* Try to find a new preamble, reuse data from buffer. */
retry = true;
}
if (part->init)
{
/* Initial step - load more symbols without decoding. */
if (part->n_symbols < (GPS_L2C_V27_INIT_BITS + GPS_L2C_V27_DECODE_BITS) * 2)
{
return;
}
part->init = false;
}
else if (part->n_symbols < GPS_L2C_V27_DECODE_BITS * 2)
{
/* Wait until decoding block is accumulated */
return;
}
} else if (crc == crc2) {
/* CRC match - message can be decoded */
part->message_lock = true;
part->crc_ok = true;
part->n_crc_fail = 0;
} else {
/* There is no message lock and the CRC check fails. Assume there is
* false positive lock - rescan for preamble. */
part->crc_ok = false;
part->preamble_seen = false;
/* CRC mismatch - try to re-scan for preamble */
retry = true;
}
}
else
{
/* No preamble or preamble and less than 300 bits decoded */
}
}
/* Feed accumulated symbols into the buffer, reset the number of accumulated
* symbols. */
v27_update(&part->dec, part->symbols, part->n_symbols / 2);
part->n_symbols = 0;
/* Decode N+M bits, where:
* - N - Number of bits to put into decoded buffer
* - M - Number of bits in the tail to ignore.
*/
unsigned char tmp_bits[ (GPS_L2C_V27_DECODE_BITS + GPS_L2C_V27_DELAY_BITS +
CHAR_BIT - 1) / CHAR_BIT];
v27_chainback_likely(&part->dec, tmp_bits,
GPS_L2C_V27_DECODE_BITS + GPS_L2C_V27_DELAY_BITS);
/* Read decoded bits and add them to the decoded buffer */
bitcopy(part->decoded, part->n_decoded, tmp_bits, 0, GPS_L2C_V27_DECODE_BITS);
part->n_decoded += GPS_L2C_V27_DECODE_BITS;
/* Depending on the decoder state, one of the following actions are
* possible:
* - If no message lock
* - If no preamble seen - look for preamble
* - If preamble seen - collect 300 bits
* - If 300 bits are collected - verify CRC
* - If CRC is OK - message lock is acquired
* - If CRC fails - rescan for preamble
* - If found - continue collecting 300 bits
* - If not found - continue preamble wait
* - If message lock
* - If 300 bits collected, compute CRC
* - If CRC is OK, message can be decoded
* - If CRC is not OK, discard data
*/
bool retry = true;
while (retry)
{
retry = false;
if (!part->preamble_seen)
{
/* Rescan for preamble if possible. The first bit is ignored. */
_cnav_rescan_preamble(part);
}
if (part->preamble_seen && GPS_CNAV_MSG_LENGTH <= part->n_decoded)
{
/* We have collected 300 bits starting from message preamble. Now try
* to compute CRC-24Q */
u32 crc = _cnav_compute_crc(part);
u32 crc2 = _cnav_extract_crc(part);
if (part->message_lock)
{
/* We have message lock */
part->crc_ok = (crc == crc2);
if (part->crc_ok)
{
/* Reset message lock counter */
part->n_crc_fail = 0;
}
else
{
/* Increment message lock counter */
part->n_crc_fail++;
if (part->n_crc_fail > GPS_CNAV_LOCK_MAX_CRC_FAILS)
{
/* CRC has failed too many times - drop the lock. */
part->n_crc_fail = 0;
part->message_lock = false;
part->preamble_seen = false;
/* Try to find a new preamble, reuse data from buffer. */
retry = true;
}
}
}
else if (crc == crc2)
{
/* CRC match - message can be decoded */
part->message_lock = true;
part->crc_ok = true;
part->n_crc_fail = 0;
}
else
{
/* There is no message lock and the CRC check fails. Assume there is
* false positive lock - rescan for preamble. */
part->crc_ok = false;
part->preamble_seen = false;
/* CRC mismatch - try to re-scan for preamble */
retry = true;
}
}
else
{
/* No preamble or preamble and less than 300 bits decoded */
}
}
}
/**
* Invert message bits in the buffer.
*
@ -259,11 +305,14 @@ static void _cnav_add_symbol(cnav_v27_part_t *part, u8 ch)
*/
static void _cnav_msg_invert(cnav_v27_part_t *part)
{
for (size_t i = 0; i < sizeof(part->decoded); i++) {
part->decoded[i] ^= 0xFFu;
}
size_t i = 0;
for (i = 0; i < sizeof(part->decoded); i++)
{
part->decoded[i] ^= 0xFFu;
}
}
/**
* Performs CNAV message decoding.
*
@ -286,39 +335,45 @@ static void _cnav_msg_invert(cnav_v27_part_t *part)
*/
static bool _cnav_msg_decode(cnav_v27_part_t *part, cnav_msg_t *msg, u32 *delay)
{
bool res = false;
if (GPS_CNAV_MSG_LENGTH <= part->n_decoded) {
if (part->crc_ok) {
/* CRC is OK */
if (part->invert) {
_cnav_msg_invert(part);
}
bool res = false;
if (GPS_CNAV_MSG_LENGTH <= part->n_decoded)
{
if (part->crc_ok)
{
/* CRC is OK */
if (part->invert)
{
_cnav_msg_invert(part);
}
msg->prn = getbitu(part->decoded, 8, 6);
msg->msg_id = getbitu(part->decoded, 14, 6);
msg->tow = getbitu(part->decoded, 20, 17);
msg->alert = getbitu(part->decoded, 37, 1) ? true : false;
msg->prn = getbitu(part->decoded, 8, 6);
msg->msg_id = getbitu(part->decoded, 14, 6);
msg->tow = getbitu(part->decoded, 20, 17);
msg->alert = getbitu(part->decoded, 37, 1) ? true : false;
/* copy RAW message for GNSS-SDR */
memcpy(msg->raw_msg,part->decoded,GPS_L2C_V27_DECODE_BITS + GPS_L2C_V27_DELAY_BITS);
/* copy RAW message for GNSS-SDR */
memcpy(msg->raw_msg,part->decoded,GPS_L2C_V27_DECODE_BITS + GPS_L2C_V27_DELAY_BITS);
*delay = (part->n_decoded - GPS_CNAV_MSG_LENGTH + GPS_L2C_V27_DELAY_BITS)
* 2 + part->n_symbols;
*delay = (part->n_decoded - GPS_CNAV_MSG_LENGTH + GPS_L2C_V27_DELAY_BITS) * 2 + part->n_symbols;
if (part->invert) {
_cnav_msg_invert(part);
}
res = true;
} else {
/* CRC mismatch - no decoding */
}
bitshl(part->decoded, sizeof(part->decoded), GPS_CNAV_MSG_LENGTH);
part->n_decoded -= GPS_CNAV_MSG_LENGTH;
}
if (part->invert)
{
_cnav_msg_invert(part);
}
res = true;
}
else
{
/* CRC mismatch - no decoding */
}
bitshl(part->decoded, sizeof(part->decoded), GPS_CNAV_MSG_LENGTH);
part->n_decoded -= GPS_CNAV_MSG_LENGTH;
}
return res;
return res;
}
/**
* Initialize CNAV decoder.
*
@ -331,20 +386,20 @@ static bool _cnav_msg_decode(cnav_v27_part_t *part, cnav_msg_t *msg, u32 *delay)
*/
void cnav_msg_decoder_init(cnav_msg_decoder_t *dec)
{
memset(dec, 0, sizeof(*dec));
v27_init(&dec->part1.dec,
dec->part1.decisions,
GPS_L2_V27_HISTORY_LENGTH_BITS,
cnav_msg_decoder_get_poly(),
0);
v27_init(&dec->part2.dec,
dec->part2.decisions,
GPS_L2_V27_HISTORY_LENGTH_BITS,
cnav_msg_decoder_get_poly(),
0);
dec->part1.init = true;
dec->part2.init = true;
_cnav_add_symbol(&dec->part2, 0x80);
memset(dec, 0, sizeof(*dec));
v27_init(&dec->part1.dec,
dec->part1.decisions,
GPS_L2_V27_HISTORY_LENGTH_BITS,
cnav_msg_decoder_get_poly(),
0);
v27_init(&dec->part2.dec,
dec->part2.decisions,
GPS_L2_V27_HISTORY_LENGTH_BITS,
cnav_msg_decoder_get_poly(),
0);
dec->part1.init = true;
dec->part2.init = true;
_cnav_add_symbol(&dec->part2, 0x80);
}
/**
@ -370,29 +425,32 @@ void cnav_msg_decoder_init(cnav_msg_decoder_t *dec)
* \retval false More data is required.
*/
bool cnav_msg_decoder_add_symbol(cnav_msg_decoder_t *dec,
u8 symbol,
cnav_msg_t *msg,
u32 *pdelay)
u8 symbol,
cnav_msg_t *msg,
u32 *pdelay)
{
_cnav_add_symbol(&dec->part1, symbol);
_cnav_add_symbol(&dec->part2, symbol);
_cnav_add_symbol(&dec->part1, symbol);
_cnav_add_symbol(&dec->part2, symbol);
if (dec->part1.message_lock) {
/* Flush data in decoder. */
dec->part2.n_decoded = 0;
dec->part2.n_symbols = 0;
return _cnav_msg_decode(&dec->part1, msg, pdelay);
}
if (dec->part2.message_lock) {
/* Flush data in decoder. */
dec->part1.n_decoded = 0;
dec->part1.n_symbols = 0;
return _cnav_msg_decode(&dec->part2, msg, pdelay);
}
if (dec->part1.message_lock)
{
/* Flush data in decoder. */
dec->part2.n_decoded = 0;
dec->part2.n_symbols = 0;
return _cnav_msg_decode(&dec->part1, msg, pdelay);
}
if (dec->part2.message_lock)
{
/* Flush data in decoder. */
dec->part1.n_decoded = 0;
dec->part1.n_symbols = 0;
return _cnav_msg_decode(&dec->part2, msg, pdelay);
}
return false;
return false;
}
/**
* Provides a singleton polynomial object.
*
@ -405,27 +463,28 @@ bool cnav_msg_decoder_add_symbol(cnav_msg_decoder_t *dec,
*/
const v27_poly_t *cnav_msg_decoder_get_poly(void)
{
static v27_poly_t instance;
static bool initialized = false;
static v27_poly_t instance;
static bool initialized = false;
if (!initialized) {
/* Coefficients for polynomial object */
const signed char coeffs[2] = { GPS_L2C_V27_POLY_A, GPS_L2C_V27_POLY_B };
if (!initialized)
{
/* Coefficients for polynomial object */
const signed char coeffs[2] = { GPS_L2C_V27_POLY_A, GPS_L2C_V27_POLY_B };
/* Racing condition handling: the data can be potential initialized more
* than once in case multiple threads request concurrent access. However,
* nature of the v27_poly_init() function and data alignment ensure that
* the data returned from the earlier finished call is consistent and can
* be used even when re-initialization is happening.
*
* Other possible approaches are:
* - Replace late initialization with an explicit call.
* - Use POSIX synchronization objects like pthread_once_t.
*/
v27_poly_init(&instance, coeffs);
initialized = true;
}
return &instance;
/* Racing condition handling: the data can be potential initialized more
* than once in case multiple threads request concurrent access. However,
* nature of the v27_poly_init() function and data alignment ensure that
* the data returned from the earlier finished call is consistent and can
* be used even when re-initialization is happening.
*
* Other possible approaches are:
* - Replace late initialization with an explicit call.
* - Use POSIX synchronization objects like pthread_once_t.
*/
v27_poly_init(&instance, coeffs);
initialized = true;
}
return &instance;
}
/** \} */

82
src/algorithms/telemetry_decoder/libs/libswiftcnav/cnav_msg.h
View File

@ -1,15 +1,35 @@
/*
/*!
* \file cnav_msg.h
* \author Valeri Atamaniouk <valeri@swift-nav.com>
*
* -------------------------------------------------------------------------
* This file was originally borrowed from libswiftnav
* <https://github.com/swift-nav/libswiftnav>,
* a portable C library implementing GNSS related functions and algorithms,
* and then modified by J. Arribas and C. Fernandez
*
* Copyright (C) 2016 Swift Navigation Inc.
* Contact: Valeri Atamaniouk <valeri@swift-nav.com>
*
* This source is subject to the license found in the file 'LICENSE' which must
* be be distributed together with this source. All other rights reserved.
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
* EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
* This file is part of GNSS-SDR.
*
* This file is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation, version 3.
*
* This program 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
* Lesser General Lesser Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef LIBSWIFTNAV_CNAV_MSG_H
#define LIBSWIFTNAV_CNAV_MSG_H
@ -42,11 +62,11 @@
*/
typedef struct
{
u8 prn; /**< SV PRN. 0..31 */
u8 msg_id; /**< Message id. 0..31 */
u32 tow; /**< GPS ToW in 6-second units. Multiply to 6 to get seconds. */
bool alert; /**< CNAV message alert flag */
u8 raw_msg[GPS_L2C_V27_DECODE_BITS + GPS_L2C_V27_DELAY_BITS]; /**< RAW MSG for GNSS-SDR */
u8 prn; /**< SV PRN. 0..31 */
u8 msg_id; /**< Message id. 0..31 */
u32 tow; /**< GPS ToW in 6-second units. Multiply to 6 to get seconds. */
bool alert; /**< CNAV message alert flag */
u8 raw_msg[GPS_L2C_V27_DECODE_BITS + GPS_L2C_V27_DELAY_BITS]; /**< RAW MSG for GNSS-SDR */
} cnav_msg_t;
/**
@ -56,24 +76,24 @@ typedef struct
* @sa cnav_msg_decoder_t
*/
typedef struct {
v27_t dec; /**< Viterbi block decoder object */
v27_decision_t decisions[GPS_L2_V27_HISTORY_LENGTH_BITS];
/**< Decision graph */
unsigned char symbols[(GPS_L2C_V27_INIT_BITS + GPS_L2C_V27_DECODE_BITS) * 2];
/**< Symbol buffer */
size_t n_symbols; /**< Count of symbols in the symbol buffer */
unsigned char decoded[GPS_L2C_V27_DECODE_BITS + GPS_L2C_V27_DELAY_BITS];
/**< Decode buffer */
size_t n_decoded; /**< Number of bits in the decode buffer */
bool preamble_seen; /**< When true, the decode buffer is aligned on
* preamble. */
bool invert; /**< When true, indicates the bits are inverted */
bool message_lock; /**< When true, indicates the message boundary
* is found. */
bool crc_ok; /**< Flag that the last message had good CRC */
size_t n_crc_fail; /**< Counter for CRC failures */
bool init; /**< Initial state flag. When true, initial bits
* do not produce output. */
v27_t dec; /**< Viterbi block decoder object */
v27_decision_t decisions[GPS_L2_V27_HISTORY_LENGTH_BITS];
/**< Decision graph */
unsigned char symbols[(GPS_L2C_V27_INIT_BITS + GPS_L2C_V27_DECODE_BITS) * 2];
/**< Symbol buffer */
size_t n_symbols; /**< Count of symbols in the symbol buffer */
unsigned char decoded[GPS_L2C_V27_DECODE_BITS + GPS_L2C_V27_DELAY_BITS];
/**< Decode buffer */
size_t n_decoded; /**< Number of bits in the decode buffer */
bool preamble_seen; /**< When true, the decode buffer is aligned on
* preamble. */
bool invert; /**< When true, indicates the bits are inverted */
bool message_lock; /**< When true, indicates the message boundary
* is found. */
bool crc_ok; /**< Flag that the last message had good CRC */
size_t n_crc_fail; /**< Counter for CRC failures */
bool init; /**< Initial state flag. When true, initial bits
* do not produce output. */
} cnav_v27_part_t;
/**
@ -84,8 +104,8 @@ typedef struct {
*/
typedef struct
{
cnav_v27_part_t part1; /**< Decoder for odd symbol pairs */
cnav_v27_part_t part2; /**< Decoder for even symbol pairs */
cnav_v27_part_t part1; /**< Decoder for odd symbol pairs */
cnav_v27_part_t part2; /**< Decoder for even symbol pairs */
} cnav_msg_decoder_t;
const v27_poly_t *cnav_msg_decoder_get_poly(void);

138
src/algorithms/telemetry_decoder/libs/libswiftcnav/edc.c
View File

@ -1,13 +1,32 @@
/*
/*!
* \file edc.c
* \author Fergus Noble <fergus@swift-nav.com>
*
* -------------------------------------------------------------------------
* This file was originally borrowed from libswiftnav
* <https://github.com/swift-nav/libswiftnav>,
* a portable C library implementing GNSS related functions and algorithms,
* and then modified by J. Arribas and C. Fernandez
*
* Copyright (C) 2010 Swift Navigation Inc.
* Contact: Fergus Noble <fergus@swift-nav.com>
*
* This source is subject to the license found in the file 'LICENSE' which must
* be be distributed together with this source. All other rights reserved.
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
* EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
* This file is part of GNSS-SDR.
*
* This file is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation, version 3.
*
* This program 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
* Lesser General Lesser Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "edc.h"
@ -21,38 +40,38 @@
* \{ */
static const u32 crc24qtab[256] = {
0x000000, 0x864CFB, 0x8AD50D, 0x0C99F6, 0x93E6E1, 0x15AA1A, 0x1933EC, 0x9F7F17,
0xA18139, 0x27CDC2, 0x2B5434, 0xAD18CF, 0x3267D8, 0xB42B23, 0xB8B2D5, 0x3EFE2E,
0xC54E89, 0x430272, 0x4F9B84, 0xC9D77F, 0x56A868, 0xD0E493, 0xDC7D65, 0x5A319E,
0x64CFB0, 0xE2834B, 0xEE1ABD, 0x685646, 0xF72951, 0x7165AA, 0x7DFC5C, 0xFBB0A7,
0x0CD1E9, 0x8A9D12, 0x8604E4, 0x00481F, 0x9F3708, 0x197BF3, 0x15E205, 0x93AEFE,
0xAD50D0, 0x2B1C2B, 0x2785DD, 0xA1C926, 0x3EB631, 0xB8FACA, 0xB4633C, 0x322FC7,
0xC99F60, 0x4FD39B, 0x434A6D, 0xC50696, 0x5A7981, 0xDC357A, 0xD0AC8C, 0x56E077,
0x681E59, 0xEE52A2, 0xE2CB54, 0x6487AF, 0xFBF8B8, 0x7DB443, 0x712DB5, 0xF7614E,
0x19A3D2, 0x9FEF29, 0x9376DF, 0x153A24, 0x8A4533, 0x0C09C8, 0x00903E, 0x86DCC5,
0xB822EB, 0x3E6E10, 0x32F7E6, 0xB4BB1D, 0x2BC40A, 0xAD88F1, 0xA11107, 0x275DFC,
0xDCED5B, 0x5AA1A0, 0x563856, 0xD074AD, 0x4F0BBA, 0xC94741, 0xC5DEB7, 0x43924C,
0x7D6C62, 0xFB2099, 0xF7B96F, 0x71F594, 0xEE8A83, 0x68C678, 0x645F8E, 0xE21375,
0x15723B, 0x933EC0, 0x9FA736, 0x19EBCD, 0x8694DA, 0x00D821, 0x0C41D7, 0x8A0D2C,
0xB4F302, 0x32BFF9, 0x3E260F, 0xB86AF4, 0x2715E3, 0xA15918, 0xADC0EE, 0x2B8C15,
0xD03CB2, 0x567049, 0x5AE9BF, 0xDCA544, 0x43DA53, 0xC596A8, 0xC90F5E, 0x4F43A5,
0x71BD8B, 0xF7F170, 0xFB6886, 0x7D247D, 0xE25B6A, 0x641791, 0x688E67, 0xEEC29C,
0x3347A4, 0xB50B5F, 0xB992A9, 0x3FDE52, 0xA0A145, 0x26EDBE, 0x2A7448, 0xAC38B3,
0x92C69D, 0x148A66, 0x181390, 0x9E5F6B, 0x01207C, 0x876C87, 0x8BF571, 0x0DB98A,
0xF6092D, 0x7045D6, 0x7CDC20, 0xFA90DB, 0x65EFCC, 0xE3A337, 0xEF3AC1, 0x69763A,
0x578814, 0xD1C4EF, 0xDD5D19, 0x5B11E2, 0xC46EF5, 0x42220E, 0x4EBBF8, 0xC8F703,
0x3F964D, 0xB9DAB6, 0xB54340, 0x330FBB, 0xAC70AC, 0x2A3C57, 0x26A5A1, 0xA0E95A,
0x9E1774, 0x185B8F, 0x14C279, 0x928E82, 0x0DF195, 0x8BBD6E, 0x872498, 0x016863,
0xFAD8C4, 0x7C943F, 0x700DC9, 0xF64132, 0x693E25, 0xEF72DE, 0xE3EB28, 0x65A7D3,
0x5B59FD, 0xDD1506, 0xD18CF0, 0x57C00B, 0xC8BF1C, 0x4EF3E7, 0x426A11, 0xC426EA,
0x2AE476, 0xACA88D, 0xA0317B, 0x267D80, 0xB90297, 0x3F4E6C, 0x33D79A, 0xB59B61,
0x8B654F, 0x0D29B4, 0x01B042, 0x87FCB9, 0x1883AE, 0x9ECF55, 0x9256A3, 0x141A58,
0xEFAAFF, 0x69E604, 0x657FF2, 0xE33309, 0x7C4C1E, 0xFA00E5, 0xF69913, 0x70D5E8,
0x4E2BC6, 0xC8673D, 0xC4FECB, 0x42B230, 0xDDCD27, 0x5B81DC, 0x57182A, 0xD154D1,
0x26359F, 0xA07964, 0xACE092, 0x2AAC69, 0xB5D37E, 0x339F85, 0x3F0673, 0xB94A88,
0x87B4A6, 0x01F85D, 0x0D61AB, 0x8B2D50, 0x145247, 0x921EBC, 0x9E874A, 0x18CBB1,
0xE37B16, 0x6537ED, 0x69AE1B, 0xEFE2E0, 0x709DF7, 0xF6D10C, 0xFA48FA, 0x7C0401,
0x42FA2F, 0xC4B6D4, 0xC82F22, 0x4E63D9, 0xD11CCE, 0x575035, 0x5BC9C3, 0xDD8538
0x000000, 0x864CFB, 0x8AD50D, 0x0C99F6, 0x93E6E1, 0x15AA1A, 0x1933EC, 0x9F7F17,
0xA18139, 0x27CDC2, 0x2B5434, 0xAD18CF, 0x3267D8, 0xB42B23, 0xB8B2D5, 0x3EFE2E,
0xC54E89, 0x430272, 0x4F9B84, 0xC9D77F, 0x56A868, 0xD0E493, 0xDC7D65, 0x5A319E,
0x64CFB0, 0xE2834B, 0xEE1ABD, 0x685646, 0xF72951, 0x7165AA, 0x7DFC5C, 0xFBB0A7,
0x0CD1E9, 0x8A9D12, 0x8604E4, 0x00481F, 0x9F3708, 0x197BF3, 0x15E205, 0x93AEFE,
0xAD50D0, 0x2B1C2B, 0x2785DD, 0xA1C926, 0x3EB631, 0xB8FACA, 0xB4633C, 0x322FC7,
0xC99F60, 0x4FD39B, 0x434A6D, 0xC50696, 0x5A7981, 0xDC357A, 0xD0AC8C, 0x56E077,
0x681E59, 0xEE52A2, 0xE2CB54, 0x6487AF, 0xFBF8B8, 0x7DB443, 0x712DB5, 0xF7614E,
0x19A3D2, 0x9FEF29, 0x9376DF, 0x153A24, 0x8A4533, 0x0C09C8, 0x00903E, 0x86DCC5,
0xB822EB, 0x3E6E10, 0x32F7E6, 0xB4BB1D, 0x2BC40A, 0xAD88F1, 0xA11107, 0x275DFC,
0xDCED5B, 0x5AA1A0, 0x563856, 0xD074AD, 0x4F0BBA, 0xC94741, 0xC5DEB7, 0x43924C,
0x7D6C62, 0xFB2099, 0xF7B96F, 0x71F594, 0xEE8A83, 0x68C678, 0x645F8E, 0xE21375,
0x15723B, 0x933EC0, 0x9FA736, 0x19EBCD, 0x8694DA, 0x00D821, 0x0C41D7, 0x8A0D2C,
0xB4F302, 0x32BFF9, 0x3E260F, 0xB86AF4, 0x2715E3, 0xA15918, 0xADC0EE, 0x2B8C15,
0xD03CB2, 0x567049, 0x5AE9BF, 0xDCA544, 0x43DA53, 0xC596A8, 0xC90F5E, 0x4F43A5,
0x71BD8B, 0xF7F170, 0xFB6886, 0x7D247D, 0xE25B6A, 0x641791, 0x688E67, 0xEEC29C,
0x3347A4, 0xB50B5F, 0xB992A9, 0x3FDE52, 0xA0A145, 0x26EDBE, 0x2A7448, 0xAC38B3,
0x92C69D, 0x148A66, 0x181390, 0x9E5F6B, 0x01207C, 0x876C87, 0x8BF571, 0x0DB98A,
0xF6092D, 0x7045D6, 0x7CDC20, 0xFA90DB, 0x65EFCC, 0xE3A337, 0xEF3AC1, 0x69763A,
0x578814, 0xD1C4EF, 0xDD5D19, 0x5B11E2, 0xC46EF5, 0x42220E, 0x4EBBF8, 0xC8F703,
0x3F964D, 0xB9DAB6, 0xB54340, 0x330FBB, 0xAC70AC, 0x2A3C57, 0x26A5A1, 0xA0E95A,
0x9E1774, 0x185B8F, 0x14C279, 0x928E82, 0x0DF195, 0x8BBD6E, 0x872498, 0x016863,
0xFAD8C4, 0x7C943F, 0x700DC9, 0xF64132, 0x693E25, 0xEF72DE, 0xE3EB28, 0x65A7D3,
0x5B59FD, 0xDD1506, 0xD18CF0, 0x57C00B, 0xC8BF1C, 0x4EF3E7, 0x426A11, 0xC426EA,
0x2AE476, 0xACA88D, 0xA0317B, 0x267D80, 0xB90297, 0x3F4E6C, 0x33D79A, 0xB59B61,
0x8B654F, 0x0D29B4, 0x01B042, 0x87FCB9, 0x1883AE, 0x9ECF55, 0x9256A3, 0x141A58,
0xEFAAFF, 0x69E604, 0x657FF2, 0xE33309, 0x7C4C1E, 0xFA00E5, 0xF69913, 0x70D5E8,
0x4E2BC6, 0xC8673D, 0xC4FECB, 0x42B230, 0xDDCD27, 0x5B81DC, 0x57182A, 0xD154D1,
0x26359F, 0xA07964, 0xACE092, 0x2AAC69, 0xB5D37E, 0x339F85, 0x3F0673, 0xB94A88,
0x87B4A6, 0x01F85D, 0x0D61AB, 0x8B2D50, 0x145247, 0x921EBC, 0x9E874A, 0x18CBB1,
0xE37B16, 0x6537ED, 0x69AE1B, 0xEFE2E0, 0x709DF7, 0xF6D10C, 0xFA48FA, 0x7C0401,
0x42FA2F, 0xC4B6D4, 0xC82F22, 0x4E63D9, 0xD11CCE, 0x575035, 0x5BC9C3, 0xDD8538
};
/** Calculate Qualcomm 24-bit Cyclical Redundancy Check (CRC-24Q).
@ -72,9 +91,10 @@ static const u32 crc24qtab[256] = {
*/
u32 crc24q(const u8 *buf, u32 len, u32 crc)
{
for (u32 i = 0; i < len; i++)
crc = ((crc << 8) & 0xFFFFFF) ^ crc24qtab[((crc >> 16) ^ buf[i]) & 0xff];
return crc;
u32 i = 0;
for (i = 0; i < len; i++)
crc = ((crc << 8) & 0xFFFFFF) ^ crc24qtab[((crc >> 16) ^ buf[i]) & 0xff];
return crc;
}
/**
@ -94,26 +114,30 @@ u32 crc24q(const u8 *buf, u32 len, u32 crc)
*/
u32 crc24q_bits(u32 crc, const u8 *buf, u32 n_bits, bool invert)
{
u16 acc = 0;
u8 b = 0;
u32 shift = 8 - n_bits % 8;
u16 acc = 0;
u8 b = 0;
u32 shift = 8 - n_bits % 8;
for (u32 i = 0; i < n_bits / 8; ++i) {
acc = (acc << 8) | *buf++;
if (invert) {
acc ^= 0xFFu;
}
u32 i = 0;
for (i = 0; i < n_bits / 8; ++i)
{
acc = (acc << 8) | *buf++;
if (invert)
{
acc ^= 0xFFu;
}
b = (acc >> shift) & 0xFFu;
crc = ((crc << 8) & 0xFFFFFFu) ^ crc24qtab[((crc >> 16) ^ b) & 0xFFu];
}
acc = (acc << 8) | *buf;
if (invert)
{
acc ^= 0xFFu;
}
b = (acc >> shift) & 0xFFu;
crc = ((crc << 8) & 0xFFFFFFu) ^ crc24qtab[((crc >> 16) ^ b) & 0xFFu];
}
acc = (acc << 8) | *buf;
if (invert) {
acc ^= 0xFFu;
}
b = (acc >> shift) & 0xFFu;
crc = ((crc << 8) & 0xFFFFFFu) ^ crc24qtab[((crc >> 16) ^ b) & 0xFFu];
return crc;
return crc;
}

32
src/algorithms/telemetry_decoder/libs/libswiftcnav/edc.h
View File

@ -1,15 +1,35 @@
/*
/*!
* \file edc.h
* \author Fergus Noble <fergus@swift-nav.com>
*
* -------------------------------------------------------------------------
* This file was originally borrowed from libswiftnav
* <https://github.com/swift-nav/libswiftnav>,
* a portable C library implementing GNSS related functions and algorithms,
* and then modified by J. Arribas and C. Fernandez
*
* Copyright (C) 2010 Swift Navigation Inc.
* Contact: Fergus Noble <fergus@swift-nav.com>
*
* This source is subject to the license found in the file 'LICENSE' which must
* be be distributed together with this source. All other rights reserved.
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
* EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
* This file is part of GNSS-SDR.
*
* This file is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation, version 3.
*
* This program 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
* Lesser General Lesser Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef LIBSWIFTNAV_EDC_H
#define LIBSWIFTNAV_EDC_H

58
src/algorithms/telemetry_decoder/libs/libswiftcnav/fec.h
View File

@ -1,10 +1,36 @@
/* User include file for libfec
* Copyright 2004, Phil Karn, KA9Q
* May be used under the terms of the GNU Lesser General Public License (LGPL)
/*!
* \file fec.h
* \author Phil Karn, KA9Q
*
* -------------------------------------------------------------------------
* This file was originally borrowed from libswiftnav
* <https://github.com/swift-nav/libswiftnav>,
* a portable C library implementing GNSS related functions and algorithms,
* and then modified by J. Arribas and C. Fernandez
*
* Copyright (C) 2004, Phil Karn, KA9Q
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* This file is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation, version 3.
*
* This program 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
* Lesser General Lesser Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef _FEC_H_
#define _FEC_H_
#ifndef LIBSWIFTNAV_FEC_H_
#define LIBSWIFTNAV_FEC_H_
/* r=1/2 k=7 convolutional encoder polynomials
* The NASA-DSN convention is to use V27POLYA inverted, then V27POLYB
@ -14,25 +40,25 @@
#define V27POLYB 0x6d
typedef struct {
unsigned char c0[32];
unsigned char c1[32];
unsigned char c0[32];
unsigned char c1[32];
} v27_poly_t;
typedef struct {
unsigned int w[2];
unsigned int w[2];
} v27_decision_t;
/* State info for instance of r=1/2 k=7 Viterbi decoder
*/
typedef struct {
unsigned int metrics1[64]; /* Path metric buffer 1 */
unsigned int metrics2[64]; /* Path metric buffer 2 */
/* Pointers to path metrics, swapped on every bit */
unsigned int *old_metrics, *new_metrics;
const v27_poly_t *poly; /* Polynomial to use */
v27_decision_t *decisions; /* Beginning of decisions for block */
unsigned int decisions_index; /* Index of current decision */
unsigned int decisions_count; /* Number of decisions in history */
unsigned int metrics1[64]; /* Path metric buffer 1 */
unsigned int metrics2[64]; /* Path metric buffer 2 */
/* Pointers to path metrics, swapped on every bit */
unsigned int *old_metrics, *new_metrics;
const v27_poly_t *poly; /* Polynomial to use */
v27_decision_t *decisions; /* Beginning of decisions for block */
unsigned int decisions_index; /* Index of current decision */
unsigned int decisions_count; /* Number of decisions in history */
} v27_t;
void v27_poly_init(v27_poly_t *poly, const signed char polynomial[2]);

33
src/algorithms/telemetry_decoder/libs/libswiftcnav/swift_common.h
View File

@ -1,16 +1,37 @@
/*
/*!
* \file swift_common.h
* \author Henry Hallam <henry@swift-nav.com>
* Fergus Noble <fergus@swift-nav.com>
*
* -------------------------------------------------------------------------
* This file was originally borrowed from libswiftnav
* <https://github.com/swift-nav/libswiftnav>,
* a portable C library implementing GNSS related functions and algorithms,
* and then modified by J. Arribas and C. Fernandez
*
* Copyright (C) 2012 Swift Navigation Inc.
* Contact: Henry Hallam <henry@swift-nav.com>
* Fergus Noble <fergus@swift-nav.com>
*
* This source is subject to the license found in the file 'LICENSE' which must
* be be distributed together with this source. All other rights reserved.
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
* EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
* This file is part of GNSS-SDR.
*
* This file is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation, version 3.
*
* This program 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
* Lesser General Lesser Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef LIBSWIFTNAV_COMMON_H
#define LIBSWIFTNAV_COMMON_H

286
src/algorithms/telemetry_decoder/libs/libswiftcnav/viterbi27.c
View File

@ -1,21 +1,48 @@
/* K=7 r=1/2 Viterbi decoder in portable C
* Copyright Feb 2004, Phil Karn, KA9Q
* May be used under the terms of the GNU Lesser General Public License (LGPL)
/*!
* \file viterbi27.c
* \author Phil Karn, KA9Q
* \brief K=7 r=1/2 Viterbi decoder in portable C
*
* -------------------------------------------------------------------------
* This file was originally borrowed from libswiftnav
* <https://github.com/swift-nav/libswiftnav>,
* a portable C library implementing GNSS related functions and algorithms,
* and then modified by J. Arribas and C. Fernandez
*
* Copyright (C) 2004, Phil Karn, KA9Q
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* This file is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation, version 3.
*
* This program 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
* Lesser General Lesser Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdlib.h>
#include <stdlib.h>
#include "fec.h"
static inline int parity(int x)
{
x ^= x >> 16;
x ^= x >> 8;
x ^= x >> 4;
x &= 0xf;
return (0x6996 >> x) & 1;
x ^= x >> 16;
x ^= x >> 8;
x ^= x >> 4;
x &= 0xf;
return (0x6996 >> x) & 1;
}
/** Initialize a v27_poly_t struct for use with a v27_t decoder.
*
* \param poly Structure to initialize.
@ -23,14 +50,16 @@ static inline int parity(int x)
*/
void v27_poly_init(v27_poly_t *poly, const signed char polynomial[2])
{
int state;
int state;
for(state = 0; state < 32; state++) {
poly->c0[state] = (polynomial[0] < 0) ^ parity((2*state) & abs(polynomial[0])) ? 255 : 0;
poly->c1[state] = (polynomial[1] < 0) ^ parity((2*state) & abs(polynomial[1])) ? 255 : 0;
}
for(state = 0; state < 32; state++)
{
poly->c0[state] = (polynomial[0] < 0) ^ parity((2*state) & abs(polynomial[0])) ? 255 : 0;
poly->c1[state] = (polynomial[1] < 0) ^ parity((2*state) & abs(polynomial[1])) ? 255 : 0;
}
}
/** Initialize a v27_t struct for Viterbi decoding.
*
* \param v Structure to initialize
@ -45,35 +74,36 @@ void v27_poly_init(v27_poly_t *poly, const signed char polynomial[2])
void v27_init(v27_t *v, v27_decision_t *decisions, unsigned int decisions_count,
const v27_poly_t *poly, unsigned char initial_state)
{
int i;
int i;
v->old_metrics = v->metrics1;
v->new_metrics = v->metrics2;
v->poly = poly;
v->decisions = decisions;
v->decisions_index = 0;
v->decisions_count = decisions_count;
v->old_metrics = v->metrics1;
v->new_metrics = v->metrics2;
v->poly = poly;
v->decisions = decisions;
v->decisions_index = 0;
v->decisions_count = decisions_count;
for(i = 0; i < 64; i++)
v->old_metrics[i] = 63;
for(i = 0; i < 64; i++)
v->old_metrics[i] = 63;
v->old_metrics[initial_state & 63] = 0; /* Bias known start state */
v->old_metrics[initial_state & 63] = 0; /* Bias known start state */
}
/* C-language butterfly */
#define BFLY(i) {\
unsigned int metric,m0,m1,decision;\
metric = (v->poly->c0[i] ^ sym0) + (v->poly->c1[i] ^ sym1);\
m0 = v->old_metrics[i] + metric;\
m1 = v->old_metrics[i+32] + (510 - metric);\
decision = (signed int)(m0-m1) > 0;\
v->new_metrics[2*i] = decision ? m1 : m0;\
d->w[i/16] |= decision << ((2*i)&31);\
m0 -= (metric+metric-510);\
m1 += (metric+metric-510);\
decision = (signed int)(m0-m1) > 0;\
v->new_metrics[2*i+1] = decision ? m1 : m0;\
d->w[i/16] |= decision << ((2*i+1)&31);\
unsigned int metric,m0,m1,decision;\
metric = (v->poly->c0[i] ^ sym0) + (v->poly->c1[i] ^ sym1);\
m0 = v->old_metrics[i] + metric;\
m1 = v->old_metrics[i+32] + (510 - metric);\
decision = (signed int)(m0-m1) > 0;\
v->new_metrics[2*i] = decision ? m1 : m0;\
d->w[i/16] |= decision << ((2*i)&31);\
m0 -= (metric+metric-510);\
m1 += (metric+metric-510);\
decision = (signed int)(m0-m1) > 0;\
v->new_metrics[2*i+1] = decision ? m1 : m0;\
d->w[i/16] |= decision << ((2*i+1)&31);\
}
/** Update a v27_t decoder with a block of symbols.
@ -85,77 +115,81 @@ unsigned int metric,m0,m1,decision;\
*/
void v27_update(v27_t *v, const unsigned char *syms, int nbits)
{
unsigned char sym0, sym1;
unsigned int *tmp;
int normalize = 0;
unsigned char sym0, sym1;
unsigned int *tmp;
int normalize = 0;
while(nbits--) {
v27_decision_t *d = &v->decisions[v->decisions_index];
while(nbits--)
{
v27_decision_t *d = &v->decisions[v->decisions_index];
d->w[0] = d->w[1] = 0;
sym0 = *syms++;
sym1 = *syms++;
d->w[0] = d->w[1] = 0;
sym0 = *syms++;
sym1 = *syms++;
BFLY(0);
BFLY(1);
BFLY(2);
BFLY(3);
BFLY(4);
BFLY(5);
BFLY(6);
BFLY(7);
BFLY(8);
BFLY(9);
BFLY(10);
BFLY(11);
BFLY(12);
BFLY(13);
BFLY(14);
BFLY(15);
BFLY(16);
BFLY(17);
BFLY(18);
BFLY(19);
BFLY(20);
BFLY(21);
BFLY(22);
BFLY(23);
BFLY(24);
BFLY(25);
BFLY(26);
BFLY(27);
BFLY(28);
BFLY(29);
BFLY(30);
BFLY(31);
BFLY(0);
BFLY(1);
BFLY(2);
BFLY(3);
BFLY(4);
BFLY(5);
BFLY(6);
BFLY(7);
BFLY(8);
BFLY(9);
BFLY(10);
BFLY(11);
BFLY(12);
BFLY(13);
BFLY(14);
BFLY(15);
BFLY(16);
BFLY(17);
BFLY(18);
BFLY(19);
BFLY(20);
BFLY(21);
BFLY(22);
BFLY(23);
BFLY(24);
BFLY(25);
BFLY(26);
BFLY(27);
BFLY(28);
BFLY(29);
BFLY(30);
BFLY(31);
/* Normalize metrics if they are nearing overflow */
if(v->new_metrics[0] > (1<<30)) {
int i;
unsigned int minmetric = 1<<31;
/* Normalize metrics if they are nearing overflow */
if(v->new_metrics[0] > (1 << 30))
{
int i;
unsigned int minmetric = 1 << 31;
for(i=0; i<64; i++) {
if(v->new_metrics[i] < minmetric)
minmetric = v->new_metrics[i];
}
for(i = 0; i < 64; i++)
{
if(v->new_metrics[i] < minmetric)
minmetric = v->new_metrics[i];
}
for(i=0; i<64; i++)
v->new_metrics[i] -= minmetric;
for(i = 0; i < 64; i++)
v->new_metrics[i] -= minmetric;
normalize += minmetric;
}
normalize += minmetric;
}
/* Advance decision index */
if(++v->decisions_index >= v->decisions_count)
v->decisions_index = 0;
/* Advance decision index */
if(++v->decisions_index >= v->decisions_count)
v->decisions_index = 0;
/* Swap pointers to old and new metrics */
tmp = v->old_metrics;
v->old_metrics = v->new_metrics;
v->new_metrics = tmp;
}
/* Swap pointers to old and new metrics */
tmp = v->old_metrics;
v->old_metrics = v->new_metrics;
v->new_metrics = tmp;
}
}
/** Retrieve the most likely output bit sequence with known final state from
* a v27_t decoder.
*
@ -167,28 +201,30 @@ void v27_update(v27_t *v, const unsigned char *syms, int nbits)
void v27_chainback_fixed(v27_t *v, unsigned char *data, unsigned int nbits,
unsigned char final_state)
{
int k;
unsigned int decisions_index = v->decisions_index;
int k;
unsigned int decisions_index = v->decisions_index;
final_state %= 64;
final_state <<= 2;
final_state %= 64;
final_state <<= 2;
while(nbits-- != 0) {
while(nbits-- != 0)
{
/* Decrement decision index */
decisions_index = (decisions_index == 0) ?
v->decisions_count-1 : decisions_index-1;
/* Decrement decision index */
decisions_index = (decisions_index == 0) ?
v->decisions_count-1 : decisions_index-1;
v27_decision_t *d = &v->decisions[decisions_index];
k = (d->w[(final_state>>2)/32] >> ((final_state>>2)%32)) & 1;
/* The store into data[] only needs to be done every 8 bits.
* But this avoids a conditional branch, and the writes will
* combine in the cache anyway
*/
data[nbits>>3] = final_state = (final_state >> 1) | (k << 7);
}
v27_decision_t *d = &v->decisions[decisions_index];
k = (d->w[(final_state >> 2) / 32] >> ((final_state >> 2) % 32)) & 1;
/* The store into data[] only needs to be done every 8 bits.
* But this avoids a conditional branch, and the writes will
* combine in the cache anyway
*/
data[nbits >> 3] = final_state = (final_state >> 1) | (k << 7);
}
}
/** Retrieve the most likely output bit sequence with unknown final state from
* a v27_t decoder.
*
@ -198,19 +234,19 @@ void v27_chainback_fixed(v27_t *v, unsigned char *data, unsigned int nbits,
*/
void v27_chainback_likely(v27_t *v, unsigned char *data, unsigned int nbits)
{
/* Determine state with minimum metric */
/* Determine state with minimum metric */
int i;
unsigned int best_metric = 0xffffffff;
unsigned char best_state = 0;
for(i=0; i<64; i++)
{
if(v->new_metrics[i] < best_metric)
{
best_metric = v->new_metrics[i];
best_state = i;
}
}
int i;
unsigned int best_metric = 0xffffffff;
unsigned char best_state = 0;
for(i = 0; i < 64; i++)
{
if(v->new_metrics[i] < best_metric)
{
best_metric = v->new_metrics[i];
best_state = i;
}
}
v27_chainback_fixed(v, data, nbits, best_state);
v27_chainback_fixed(v, data, nbits, best_state);
}

2
src/core/system_parameters/gps_cnav_utc_model.cc
View File

@ -29,7 +29,7 @@
*/
#include "gps_cnav_utc_model.h"
#include <cmath>
Gps_CNAV_Utc_Model::Gps_CNAV_Utc_Model()
{