mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-10-31 15:23:04 +00:00
Towards a Galileo INAV Navigation decoder: First version of the Galileo_E1_Telemetry_Decoder block. In this version only the preamble detection and page part synchro is functional.
git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@389 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Javier Arribas
@@ -16,7 +16,10 @@
|
||||
# along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
#
|
||||
|
||||
set(TELEMETRY_DECODER_ADAPTER_SOURCES gps_l1_ca_telemetry_decoder.cc )
|
||||
set(TELEMETRY_DECODER_ADAPTER_SOURCES
|
||||
gps_l1_ca_telemetry_decoder.cc
|
||||
galileo_e1b_telemetry_decoder.cc
|
||||
)
|
||||
|
||||
include_directories(
|
||||
$(CMAKE_CURRENT_SOURCE_DIR)
|
||||
|
||||
@@ -0,0 +1,119 @@
|
||||
/*!
|
||||
* \file galileo_l1_ca_telemetry_decoder.cc
|
||||
* \brief Implementation of an adapter of a Galileo INAV data decoder block
|
||||
* to a TelemetryDecoderInterface
|
||||
* \author Javier Arribas 2013. jarribas(at)cttc.es
|
||||
* \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
|
||||
#include "galileo_e1b_telemetry_decoder.h"
|
||||
#include "configuration_interface.h"
|
||||
#include "galileo_e1b_telemetry_decoder_cc.h"
|
||||
#include <gnuradio/io_signature.h>
|
||||
#include <glog/log_severity.h>
|
||||
#include <glog/logging.h>
|
||||
|
||||
#include "galileo_ephemeris.h"
|
||||
#include "galileo_almanac.h"
|
||||
#include "galileo_iono.h"
|
||||
#include "galileo_utc_model.h"
|
||||
|
||||
extern concurrent_queue<Galileo_Ephemeris> global_galileo_ephemeris_queue;
|
||||
extern concurrent_queue<Galileo_Iono> global_galileo_iono_queue;
|
||||
extern concurrent_queue<Galileo_Utc_Model> global_galileo_utc_model_queue;
|
||||
extern concurrent_queue<Galileo_Almanac> global_galileo_almanac_queue;
|
||||
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
GalileoE1BTelemetryDecoder::GalileoE1BTelemetryDecoder(ConfigurationInterface* configuration,
|
||||
std::string role,
|
||||
unsigned int in_streams,
|
||||
unsigned int out_streams,
|
||||
boost::shared_ptr<gr::msg_queue> queue) :
|
||||
role_(role),
|
||||
in_streams_(in_streams),
|
||||
out_streams_(out_streams),
|
||||
queue_(queue)
|
||||
{
|
||||
std::string default_item_type = "gr_complex";
|
||||
std::string default_dump_filename = "./navigation.dat";
|
||||
DLOG(INFO) << "role " << role;
|
||||
DLOG(INFO) << "vector length " << vector_length_;
|
||||
vector_length_ = configuration->property(role + ".vector_length", 2048);
|
||||
dump_ = configuration->property(role + ".dump", false);
|
||||
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
|
||||
int fs_in;
|
||||
fs_in = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
|
||||
// make telemetry decoder object
|
||||
telemetry_decoder_ = galileo_e1b_make_telemetry_decoder_cc(satellite_, 0, (long)fs_in, vector_length_, queue_, dump_); // TODO fix me
|
||||
DLOG(INFO) << "telemetry_decoder(" << telemetry_decoder_->unique_id() << ")";
|
||||
// set the navigation msg queue;
|
||||
telemetry_decoder_->set_ephemeris_queue(&global_galileo_ephemeris_queue);
|
||||
telemetry_decoder_->set_iono_queue(&global_galileo_iono_queue);
|
||||
telemetry_decoder_->set_almanac_queue(&global_galileo_almanac_queue);
|
||||
telemetry_decoder_->set_utc_model_queue(&global_galileo_utc_model_queue);
|
||||
}
|
||||
|
||||
|
||||
GalileoE1BTelemetryDecoder::~GalileoE1BTelemetryDecoder()
|
||||
{}
|
||||
|
||||
|
||||
void GalileoE1BTelemetryDecoder::set_satellite(Gnss_Satellite satellite)
|
||||
{
|
||||
satellite_ = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
|
||||
telemetry_decoder_->set_satellite(satellite_);
|
||||
DLOG(INFO) << "GALILEO TELEMETRY DECODER: satellite set to " << satellite_;
|
||||
}
|
||||
|
||||
|
||||
void GalileoE1BTelemetryDecoder::connect(gr::top_block_sptr top_block)
|
||||
{
|
||||
// Nothing to connect internally
|
||||
DLOG(INFO) << "nothing to connect internally";
|
||||
}
|
||||
|
||||
|
||||
void GalileoE1BTelemetryDecoder::disconnect(gr::top_block_sptr top_block)
|
||||
{
|
||||
// Nothing to disconnect
|
||||
}
|
||||
|
||||
|
||||
gr::basic_block_sptr GalileoE1BTelemetryDecoder::get_left_block()
|
||||
{
|
||||
return telemetry_decoder_;
|
||||
}
|
||||
|
||||
|
||||
gr::basic_block_sptr GalileoE1BTelemetryDecoder::get_right_block()
|
||||
{
|
||||
return telemetry_decoder_;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,95 @@
|
||||
/*!
|
||||
* \file galileo_l1_ca_telemetry_decoder.h
|
||||
* \brief Interface of an adapter of a GALILEO E1B NAV data decoder block
|
||||
* to a TelemetryDecoderInterface
|
||||
* \author Javier Arribas 2013. jarribas(at)cttc.es * \author Javier Arribas 2013. jarribas(at)cttc.es
|
||||
* \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
|
||||
#ifndef GNSS_SDR_GALILEO_E1B_TELEMETRY_DECODER_H_
|
||||
#define GNSS_SDR_GALILEO_E1B_TELEMETRY_DECODER_H_
|
||||
|
||||
#include "telemetry_decoder_interface.h"
|
||||
#include "galileo_e1b_telemetry_decoder_cc.h"
|
||||
#include <gnuradio/msg_queue.h>
|
||||
|
||||
|
||||
class ConfigurationInterface;
|
||||
|
||||
/*!
|
||||
* \brief This class implements a NAV data decoder for Galileo INAV frames in E1B radio link
|
||||
*/
|
||||
class GalileoE1BTelemetryDecoder : public TelemetryDecoderInterface
|
||||
{
|
||||
public:
|
||||
GalileoE1BTelemetryDecoder(ConfigurationInterface* configuration,
|
||||
std::string role,
|
||||
unsigned int in_streams,
|
||||
unsigned int out_streams,
|
||||
boost::shared_ptr<gr::msg_queue> queue);
|
||||
|
||||
virtual ~GalileoE1BTelemetryDecoder();
|
||||
std::string role()
|
||||
{
|
||||
return role_;
|
||||
}
|
||||
|
||||
std::string implementation()
|
||||
{
|
||||
return "Galileo_E1B_Telemetry_Decoder";
|
||||
}
|
||||
void connect(gr::top_block_sptr top_block);
|
||||
void disconnect(gr::top_block_sptr top_block);
|
||||
gr::basic_block_sptr get_left_block();
|
||||
gr::basic_block_sptr get_right_block();
|
||||
void set_satellite(Gnss_Satellite satellite);
|
||||
void set_channel(int channel){telemetry_decoder_->set_channel(channel);}
|
||||
void reset()
|
||||
{
|
||||
return;
|
||||
}
|
||||
size_t item_size()
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
private:
|
||||
galileo_e1b_telemetry_decoder_cc_sptr telemetry_decoder_;
|
||||
Gnss_Satellite satellite_;
|
||||
int channel_;
|
||||
unsigned int vector_length_;
|
||||
std::string item_type_;
|
||||
bool dump_;
|
||||
std::string dump_filename_;
|
||||
std::string role_;
|
||||
unsigned int in_streams_;
|
||||
unsigned int out_streams_;
|
||||
boost::shared_ptr<gr::msg_queue> queue_;
|
||||
};
|
||||
|
||||
#endif
|
||||
@@ -18,7 +18,7 @@
|
||||
|
||||
set(TELEMETRY_DECODER_GR_BLOCKS_SOURCES
|
||||
gps_l1_ca_telemetry_decoder_cc.cc
|
||||
# direct_resampler_conditioner_ss.cc
|
||||
galileo_e1b_telemetry_decoder_cc.cc
|
||||
)
|
||||
|
||||
include_directories(
|
||||
|
||||
@@ -0,0 +1,333 @@
|
||||
/*!
|
||||
* \file galileo_e1b_telemetry_decoder_cc.cc
|
||||
* \brief Implementation of a NAV message demodulator block
|
||||
* \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
|
||||
* \author Javier Arribas 2013. jarribas(at)cttc.es
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "gnss_synchro.h"
|
||||
#include "galileo_e1b_telemetry_decoder_cc.h"
|
||||
#include <iostream>
|
||||
#include <sstream>
|
||||
#include <bitset>
|
||||
#include <gnuradio/io_signature.h>
|
||||
#include <glog/log_severity.h>
|
||||
#include <glog/logging.h>
|
||||
#include <boost/lexical_cast.hpp>
|
||||
#include "control_message_factory.h"
|
||||
|
||||
#include "gnss_synchro.h"
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
|
||||
galileo_e1b_telemetry_decoder_cc_sptr
|
||||
galileo_e1b_make_telemetry_decoder_cc(Gnss_Satellite satellite, long if_freq, long fs_in, unsigned
|
||||
int vector_length, boost::shared_ptr<gr::msg_queue> queue, bool dump)
|
||||
{
|
||||
return galileo_e1b_telemetry_decoder_cc_sptr(new galileo_e1b_telemetry_decoder_cc(satellite, if_freq,
|
||||
fs_in, vector_length, queue, dump));
|
||||
}
|
||||
|
||||
|
||||
|
||||
void galileo_e1b_telemetry_decoder_cc::forecast (int noutput_items, gr_vector_int &ninput_items_required)
|
||||
{
|
||||
for (unsigned i = 0; i < 3; i++)
|
||||
{
|
||||
ninput_items_required[i] = GALILEO_INAV_PAGE_SYMBOLS; //set the required sample history
|
||||
}
|
||||
}
|
||||
|
||||
galileo_e1b_telemetry_decoder_cc::galileo_e1b_telemetry_decoder_cc(
|
||||
Gnss_Satellite satellite,
|
||||
long if_freq,
|
||||
long fs_in,
|
||||
unsigned
|
||||
int vector_length,
|
||||
boost::shared_ptr<gr::msg_queue> queue,
|
||||
bool dump) :
|
||||
gr::block("galileo_e1b_telemetry_decoder_cc", gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
|
||||
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
|
||||
{
|
||||
// initialize internal vars
|
||||
d_queue = queue;
|
||||
d_dump = dump;
|
||||
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
|
||||
DLOG(INFO) << "GALILEO E1B TELEMETRY PROCESSING: satellite " << d_satellite;
|
||||
d_vector_length = vector_length;
|
||||
d_samples_per_symbol = ( Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS ) / Galileo_E1_B_SYMBOL_RATE_BPS;
|
||||
d_fs_in = fs_in;
|
||||
|
||||
// set the preamble
|
||||
unsigned short int preambles_bits[GALILEO_INAV_PREAMBLE_LENGTH_BITS]=GALILEO_INAV_PREAMBLE;
|
||||
|
||||
d_symbols_per_preamble=GALILEO_INAV_PREAMBLE_LENGTH_BITS * d_samples_per_symbol;
|
||||
|
||||
memcpy((unsigned short int*)this->d_preambles_bits, (unsigned short int*)preambles_bits, GALILEO_INAV_PREAMBLE_LENGTH_BITS*sizeof(unsigned short int));
|
||||
|
||||
// preamble bits to sampled symbols
|
||||
d_preambles_symbols = (signed int*)malloc(sizeof(signed int) * d_symbols_per_preamble);
|
||||
int n = 0;
|
||||
for (int i=0; i<GALILEO_INAV_PREAMBLE_LENGTH_BITS; i++)
|
||||
{
|
||||
for (unsigned int j=0; j<d_samples_per_symbol; j++)
|
||||
{
|
||||
if (d_preambles_bits[i] == 1)
|
||||
{
|
||||
d_preambles_symbols[n] = 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
d_preambles_symbols[n] = -1;
|
||||
}
|
||||
n++;
|
||||
}
|
||||
}
|
||||
d_sample_counter = 0;
|
||||
d_stat = 0;
|
||||
d_preamble_index = 0;
|
||||
|
||||
d_preamble_time_seconds = 0;
|
||||
d_flag_frame_sync = false;
|
||||
|
||||
d_flag_parity = false;
|
||||
d_TOW_at_Preamble = 0;
|
||||
d_TOW_at_current_symbol = 0;
|
||||
flag_TOW_set = false;
|
||||
|
||||
// set up de-interleaver table
|
||||
// std::vector<int> positions;
|
||||
// for (int rows=0;rows<GALILEO_INAV_INTERLEAVER_ROWS;rows++)
|
||||
// {
|
||||
// for (int cols=0;cols<GALILEO_INAV_INTERLEAVER_COLS;cols++)
|
||||
// {
|
||||
// positions.push_back(rows*GALILEO_INAV_INTERLEAVER_ROWS+cols);
|
||||
// }
|
||||
// }
|
||||
// d_interleaver= new gr::trellis::interleaver();
|
||||
|
||||
// set up trellis decoder
|
||||
|
||||
}
|
||||
|
||||
|
||||
galileo_e1b_telemetry_decoder_cc::~galileo_e1b_telemetry_decoder_cc()
|
||||
{
|
||||
delete d_preambles_symbols;
|
||||
d_dump_file.close();
|
||||
}
|
||||
|
||||
|
||||
int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
|
||||
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
|
||||
{
|
||||
int corr_value = 0;
|
||||
int preamble_diff = 0;
|
||||
|
||||
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
|
||||
d_sample_counter++; //count for the processed samples
|
||||
|
||||
// ########### Output the tracking data to navigation and PVT ##########
|
||||
const Gnss_Synchro **in = (const Gnss_Synchro **) &input_items[0]; //Get the input samples pointer
|
||||
|
||||
// TODO Optimize me!
|
||||
//******* preamble correlation ********
|
||||
for (int i=0; i<d_symbols_per_preamble; i++)
|
||||
{
|
||||
if (in[0][i].Prompt_I < 0) // symbols clipping
|
||||
{
|
||||
corr_value -= d_preambles_symbols[i];
|
||||
}
|
||||
else
|
||||
{
|
||||
corr_value += d_preambles_symbols[i];
|
||||
}
|
||||
}
|
||||
d_flag_preamble = false;
|
||||
|
||||
//******* frame sync ******************
|
||||
if (abs(corr_value) >= d_symbols_per_preamble)
|
||||
{
|
||||
//std::cout << "Positive preamble correlation for Galileo SAT " << this->d_satellite << std::endl;
|
||||
//TODO: Rewrite with state machine
|
||||
if (d_stat == 0)
|
||||
{
|
||||
//d_GPS_FSM.Event_gps_word_preamble();
|
||||
d_preamble_index = d_sample_counter;//record the preamble sample stamp
|
||||
std::cout << "Preamble detection for Galileo SAT " << this->d_satellite << std::endl;
|
||||
d_stat = 1; // enter into frame pre-detection status
|
||||
}
|
||||
else if (d_stat == 1) //check preamble separation
|
||||
{
|
||||
preamble_diff = abs(d_sample_counter - d_preamble_index);
|
||||
//std::cout << "preamble_diff="<< preamble_diff <<" for Galileo SAT " << this->d_satellite << std::endl;
|
||||
if (abs(preamble_diff - GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS) < 1)
|
||||
{
|
||||
// NEW Galileo page part is received
|
||||
// 1. De-interleave
|
||||
|
||||
// 2. Viterbi decoder
|
||||
|
||||
// 3. Call the Galileo page decoder
|
||||
|
||||
//d_GPS_FSM.Event_gps_word_preamble();
|
||||
d_flag_preamble = true;
|
||||
d_preamble_index = d_sample_counter; //record the preamble sample stamp (t_P)
|
||||
d_preamble_time_seconds = in[0][0].Tracking_timestamp_secs;// - d_preamble_duration_seconds; //record the PRN start sample index associated to the preamble
|
||||
|
||||
if (!d_flag_frame_sync)
|
||||
{
|
||||
d_flag_frame_sync = true;
|
||||
std::cout <<" Frame sync SAT " << this->d_satellite << " with preamble start at " << d_preamble_time_seconds << " [s]" << std::endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if (d_stat == 1)
|
||||
{
|
||||
preamble_diff = d_sample_counter - d_preamble_index;
|
||||
if (preamble_diff > GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS)
|
||||
{
|
||||
std::cout << "Lost of frame sync SAT " << this->d_satellite << " preamble_diff= " << preamble_diff << std::endl;
|
||||
d_stat = 0; //lost of frame sync
|
||||
d_flag_frame_sync = false;
|
||||
//flag_TOW_set=false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
consume_each(1); //one by one
|
||||
// UPDATE GNSS SYNCHRO DATA
|
||||
Gnss_Synchro current_synchro_data; //structure to save the synchronization information and send the output object to the next block
|
||||
//1. Copy the current tracking output
|
||||
current_synchro_data = in[0][0];
|
||||
//2. Add the telemetry decoder information
|
||||
//if (this->d_flag_preamble==true and d_GPS_FSM.d_nav.d_TOW>0) //update TOW at the preamble instant (todo: check for valid d_TOW)
|
||||
if (this->d_flag_preamble==true) //update TOW at the preamble instant (todo: check for valid d_TOW)
|
||||
{
|
||||
//d_TOW_at_Preamble = d_GPS_FSM.d_nav.d_TOW + GPS_SUBFRAME_SECONDS; //we decoded the current TOW when the last word of the subframe arrive, so, we have a lag of ONE SUBFRAME
|
||||
//d_TOW_at_current_symbol = d_TOW_at_Preamble + GALILEO_INAV_PREAMBLE_LENGTH_BITS/Galileo_E1_B_SYMBOL_RATE_BPS;
|
||||
Prn_timestamp_at_preamble_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
|
||||
///if (flag_TOW_set==false)
|
||||
//{
|
||||
// flag_TOW_set = true;
|
||||
//}
|
||||
}
|
||||
else
|
||||
{
|
||||
//d_TOW_at_current_symbol = d_TOW_at_current_symbol + Galileo_E1_CODE_PERIOD;
|
||||
}
|
||||
|
||||
|
||||
current_synchro_data.d_TOW = d_TOW_at_Preamble;
|
||||
current_synchro_data.d_TOW_at_current_symbol = d_TOW_at_current_symbol;
|
||||
current_synchro_data.Flag_valid_word = (d_flag_frame_sync == true and d_flag_parity == true and flag_TOW_set==true);
|
||||
current_synchro_data.Flag_preamble = d_flag_preamble;
|
||||
current_synchro_data.Prn_timestamp_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
|
||||
current_synchro_data.Prn_timestamp_at_preamble_ms = Prn_timestamp_at_preamble_ms;
|
||||
|
||||
if(d_dump == true)
|
||||
{
|
||||
// MULTIPLEXED FILE RECORDING - Record results to file
|
||||
try
|
||||
{
|
||||
double tmp_double;
|
||||
tmp_double = d_TOW_at_current_symbol;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
tmp_double = current_synchro_data.Prn_timestamp_ms;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
tmp_double = d_TOW_at_Preamble;
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
}
|
||||
catch (std::ifstream::failure e)
|
||||
{
|
||||
std::cout << "Exception writing observables dump file " << e.what() << std::endl;
|
||||
}
|
||||
}
|
||||
//3. Make the output (copy the object contents to the GNURadio reserved memory)
|
||||
*out[0] = current_synchro_data;
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
||||
void galileo_e1b_telemetry_decoder_cc::set_satellite(Gnss_Satellite satellite)
|
||||
{
|
||||
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
|
||||
DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite;
|
||||
//d_GPS_FSM.i_satellite_PRN = d_satellite.get_PRN();
|
||||
DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
|
||||
}
|
||||
|
||||
|
||||
void galileo_e1b_telemetry_decoder_cc::set_channel(int channel)
|
||||
{
|
||||
d_channel = channel;
|
||||
//d_GPS_FSM.i_channel_ID = channel;
|
||||
DLOG(INFO) << "Navigation channel set to " << channel;
|
||||
// ############# ENABLE DATA FILE LOG #################
|
||||
if (d_dump == true)
|
||||
{
|
||||
if (d_dump_file.is_open() == false)
|
||||
{
|
||||
try
|
||||
{
|
||||
d_dump_filename = "telemetry";
|
||||
d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
|
||||
d_dump_filename.append(".dat");
|
||||
d_dump_file.exceptions ( std::ifstream::failbit | std::ifstream::badbit );
|
||||
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
|
||||
std::cout << "Telemetry decoder dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl;
|
||||
}
|
||||
catch (std::ifstream::failure e)
|
||||
{
|
||||
std::cout << "channel " << d_channel << " Exception opening trk dump file " << e.what() << std::endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void galileo_e1b_telemetry_decoder_cc::set_ephemeris_queue(concurrent_queue<Galileo_Ephemeris> *ephemeris_queue)
|
||||
{
|
||||
//d_Galileo_INAV_FSM.d_ephemeris_queue = ephemeris_queue;
|
||||
}
|
||||
void galileo_e1b_telemetry_decoder_cc::set_iono_queue(concurrent_queue<Galileo_Iono> *iono_queue)
|
||||
{
|
||||
//d_Galileo_INAV_FSM.d_iono_queue = iono_queue;
|
||||
}
|
||||
void galileo_e1b_telemetry_decoder_cc::set_almanac_queue(concurrent_queue<Galileo_Almanac> *almanac_queue)
|
||||
{
|
||||
//d_Galileo_INAV_FSM.d_almanac_queue = almanac_queue;
|
||||
}
|
||||
void galileo_e1b_telemetry_decoder_cc::set_utc_model_queue(concurrent_queue<Galileo_Utc_Model> *utc_model_queue)
|
||||
{
|
||||
//d_Galileo_INAV_FSM.d_utc_model_queue = utc_model_queue;
|
||||
}
|
||||
|
||||
|
||||
@@ -0,0 +1,132 @@
|
||||
/*!
|
||||
* \file galileo_e1b_telemetry_decoder_cc.h
|
||||
* \brief Interface of a Galileo NAV message demodulator block
|
||||
* \author Javier Arribas 2013. jarribas(at)cttc.es
|
||||
* \author Mara Branzanti 2013. mara.branzanti(at)gmail.com
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2011 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GNSS_SDR_galileo_e1b_TELEMETRY_DECODER_CC_H
|
||||
#define GNSS_SDR_galileo_e1b_TELEMETRY_DECODER_CC_H
|
||||
|
||||
|
||||
#include "Galileo_E1.h"
|
||||
#include "concurrent_queue.h"
|
||||
#include <fstream>
|
||||
#include <bitset>
|
||||
#include <gnuradio/block.h>
|
||||
#include <gnuradio/msg_queue.h>
|
||||
|
||||
#include "gnuradio/trellis/interleaver.h"
|
||||
#include "gnuradio/trellis/permutation.h"
|
||||
#include "gnuradio/fec/viterbi.h"
|
||||
|
||||
//#include <gnuradio/gr_sync_block.h>
|
||||
#include "gnss_satellite.h"
|
||||
//#include "galileo_inav_fsm.h"
|
||||
#include "galileo_navigation_message.h"
|
||||
#include "galileo_ephemeris.h"
|
||||
#include "galileo_almanac.h"
|
||||
#include "galileo_iono.h"
|
||||
#include "galileo_utc_model.h"
|
||||
|
||||
class galileo_e1b_telemetry_decoder_cc;
|
||||
|
||||
typedef boost::shared_ptr<galileo_e1b_telemetry_decoder_cc> galileo_e1b_telemetry_decoder_cc_sptr;
|
||||
|
||||
galileo_e1b_telemetry_decoder_cc_sptr
|
||||
galileo_e1b_make_telemetry_decoder_cc(Gnss_Satellite satellite, long if_freq, long fs_in, unsigned
|
||||
int vector_length, boost::shared_ptr<gr::msg_queue> queue, bool dump);
|
||||
|
||||
/*!
|
||||
* \brief This class implements a block that decodes the INAV data defined in Galileo ICD
|
||||
*
|
||||
*/
|
||||
class galileo_e1b_telemetry_decoder_cc : public gr::block
|
||||
{
|
||||
public:
|
||||
~galileo_e1b_telemetry_decoder_cc();
|
||||
void set_satellite(Gnss_Satellite satellite); //!< Set satellite PRN
|
||||
void set_channel(int channel); //!< Set receiver's channel
|
||||
/*!
|
||||
* \brief Set the satellite data queue
|
||||
*/
|
||||
void set_ephemeris_queue(concurrent_queue<Galileo_Ephemeris> *ephemeris_queue);
|
||||
void set_iono_queue(concurrent_queue<Galileo_Iono> *iono_queue);
|
||||
void set_almanac_queue(concurrent_queue<Galileo_Almanac> *almanac_queue);
|
||||
void set_utc_model_queue(concurrent_queue<Galileo_Utc_Model> *utc_model_queue);
|
||||
|
||||
int general_work (int noutput_items, gr_vector_int &ninput_items,
|
||||
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
|
||||
void forecast (int noutput_items, gr_vector_int &ninput_items_required);
|
||||
|
||||
private:
|
||||
friend galileo_e1b_telemetry_decoder_cc_sptr
|
||||
galileo_e1b_make_telemetry_decoder_cc(Gnss_Satellite satellite, long if_freq, long fs_in,unsigned
|
||||
int vector_length, boost::shared_ptr<gr::msg_queue> queue, bool dump);
|
||||
galileo_e1b_telemetry_decoder_cc(Gnss_Satellite satellite, long if_freq, long fs_in, unsigned
|
||||
int vector_length, boost::shared_ptr<gr::msg_queue> queue, bool dump);
|
||||
|
||||
unsigned short int d_preambles_bits[GALILEO_INAV_PREAMBLE_LENGTH_BITS];
|
||||
|
||||
signed int *d_preambles_symbols;
|
||||
unsigned int d_samples_per_symbol;
|
||||
int d_symbols_per_preamble;
|
||||
|
||||
long unsigned int d_sample_counter;
|
||||
long unsigned int d_preamble_index;
|
||||
unsigned int d_stat;
|
||||
bool d_flag_frame_sync;
|
||||
|
||||
bool d_flag_parity;
|
||||
bool d_flag_preamble;
|
||||
|
||||
long d_fs_in;
|
||||
|
||||
//gr::trellis::interleaver d_interleaver;
|
||||
|
||||
// navigation message vars
|
||||
Galileo_Navigation_Message d_nav;
|
||||
|
||||
//GalileoINAVFsm d_Galileo_INAV_FSM;
|
||||
|
||||
boost::shared_ptr<gr::msg_queue> d_queue;
|
||||
unsigned int d_vector_length;
|
||||
bool d_dump;
|
||||
Gnss_Satellite d_satellite;
|
||||
int d_channel;
|
||||
|
||||
double d_preamble_time_seconds;
|
||||
|
||||
double d_TOW_at_Preamble;
|
||||
double d_TOW_at_current_symbol;
|
||||
double Prn_timestamp_at_preamble_ms;
|
||||
bool flag_TOW_set;
|
||||
|
||||
std::string d_dump_filename;
|
||||
std::ofstream d_dump_file;
|
||||
};
|
||||
|
||||
#endif
|
||||
298
src/algorithms/telemetry_decoder/libs/galileo_inav_fsm.cc
Normal file
298
src/algorithms/telemetry_decoder/libs/galileo_inav_fsm.cc
Normal file
@@ -0,0 +1,298 @@
|
||||
/*!
|
||||
* \file gps_l1_ca_subframe_fsm.cc
|
||||
* \brief Implementation of a GPS NAV message word-to-subframe decoder state machine
|
||||
* \author Javier Arribas, 2011. jarribas(at)cttc.es
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "gps_l1_ca_subframe_fsm.h"
|
||||
|
||||
|
||||
//************ GPS WORD TO SUBFRAME DECODER STATE MACHINE **********
|
||||
|
||||
struct Ev_gps_word_valid : sc::event<Ev_gps_word_valid> {};
|
||||
struct Ev_gps_word_invalid : sc::event<Ev_gps_word_invalid>{};
|
||||
struct Ev_gps_word_preamble : sc::event<Ev_gps_word_preamble>{};
|
||||
|
||||
|
||||
struct gps_subframe_fsm_S0: public sc::state<gps_subframe_fsm_S0, GpsL1CaSubframeFsm>
|
||||
{
|
||||
public:
|
||||
// sc::transition(event,next_status)
|
||||
typedef sc::transition< Ev_gps_word_preamble, gps_subframe_fsm_S1 > reactions;
|
||||
gps_subframe_fsm_S0(my_context ctx): my_base( ctx )
|
||||
{
|
||||
//std::cout<<"Enter S0 "<<std::endl;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
struct gps_subframe_fsm_S1: public sc::state<gps_subframe_fsm_S1, GpsL1CaSubframeFsm>
|
||||
{
|
||||
public:
|
||||
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
|
||||
sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S2 > > reactions;
|
||||
|
||||
gps_subframe_fsm_S1(my_context ctx): my_base( ctx )
|
||||
{
|
||||
//std::cout<<"Enter S1 "<<std::endl;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
struct gps_subframe_fsm_S2: public sc::state<gps_subframe_fsm_S2, GpsL1CaSubframeFsm>
|
||||
{
|
||||
public:
|
||||
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
|
||||
sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S3 > > reactions;
|
||||
|
||||
gps_subframe_fsm_S2(my_context ctx): my_base( ctx )
|
||||
{
|
||||
//std::cout<<"Enter S2 "<<std::endl;
|
||||
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(0);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
struct gps_subframe_fsm_S3: public sc::state<gps_subframe_fsm_S3, GpsL1CaSubframeFsm>
|
||||
{
|
||||
public:
|
||||
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
|
||||
sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S4 > > reactions;
|
||||
|
||||
gps_subframe_fsm_S3(my_context ctx): my_base( ctx )
|
||||
{
|
||||
//std::cout<<"Enter S3 "<<std::endl;
|
||||
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(1);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
struct gps_subframe_fsm_S4: public sc::state<gps_subframe_fsm_S4, GpsL1CaSubframeFsm>
|
||||
{
|
||||
public:
|
||||
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
|
||||
sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S5 > > reactions;
|
||||
|
||||
gps_subframe_fsm_S4(my_context ctx): my_base( ctx )
|
||||
{
|
||||
//std::cout<<"Enter S4 "<<std::endl;
|
||||
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(2);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
struct gps_subframe_fsm_S5: public sc::state<gps_subframe_fsm_S5, GpsL1CaSubframeFsm>
|
||||
{
|
||||
public:
|
||||
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
|
||||
sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S6 > > reactions;
|
||||
|
||||
gps_subframe_fsm_S5(my_context ctx): my_base( ctx )
|
||||
{
|
||||
//std::cout<<"Enter S5 "<<std::endl;
|
||||
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(3);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
struct gps_subframe_fsm_S6: public sc::state<gps_subframe_fsm_S6, GpsL1CaSubframeFsm>
|
||||
{
|
||||
public:
|
||||
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
|
||||
sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S7 > > reactions;
|
||||
|
||||
gps_subframe_fsm_S6(my_context ctx): my_base( ctx )
|
||||
{
|
||||
//std::cout<<"Enter S6 "<<std::endl;
|
||||
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(4);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
struct gps_subframe_fsm_S7: public sc::state<gps_subframe_fsm_S7, GpsL1CaSubframeFsm>
|
||||
{
|
||||
public:
|
||||
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
|
||||
sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S8 > > reactions;
|
||||
|
||||
gps_subframe_fsm_S7(my_context ctx): my_base( ctx )
|
||||
{
|
||||
//std::cout<<"Enter S7 "<<std::endl;
|
||||
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(5);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
struct gps_subframe_fsm_S8: public sc::state<gps_subframe_fsm_S8, GpsL1CaSubframeFsm>
|
||||
{
|
||||
public:
|
||||
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
|
||||
sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S9 > > reactions;
|
||||
|
||||
gps_subframe_fsm_S8(my_context ctx): my_base( ctx )
|
||||
{
|
||||
//std::cout<<"Enter S8 "<<std::endl;
|
||||
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(6);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
struct gps_subframe_fsm_S9: public sc::state<gps_subframe_fsm_S9, GpsL1CaSubframeFsm>
|
||||
{
|
||||
public:
|
||||
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
|
||||
sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S10 > > reactions;
|
||||
|
||||
gps_subframe_fsm_S9(my_context ctx): my_base( ctx )
|
||||
{
|
||||
//std::cout<<"Enter S9 "<<std::endl;
|
||||
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(7);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
struct gps_subframe_fsm_S10: public sc::state<gps_subframe_fsm_S10, GpsL1CaSubframeFsm>
|
||||
{
|
||||
public:
|
||||
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
|
||||
sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S11 > > reactions;
|
||||
|
||||
gps_subframe_fsm_S10(my_context ctx): my_base( ctx )
|
||||
{
|
||||
//std::cout<<"Enter S10 "<<std::endl;
|
||||
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(8);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
struct gps_subframe_fsm_S11: public sc::state<gps_subframe_fsm_S11, GpsL1CaSubframeFsm>
|
||||
{
|
||||
public:
|
||||
typedef sc::transition< Ev_gps_word_preamble, gps_subframe_fsm_S1 > reactions;
|
||||
|
||||
gps_subframe_fsm_S11(my_context ctx): my_base( ctx )
|
||||
{
|
||||
//std::cout<<"Completed GPS Subframe!"<<std::endl;
|
||||
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(9);
|
||||
context< GpsL1CaSubframeFsm >().gps_subframe_to_nav_msg(); //decode the subframe
|
||||
// DECODE SUBFRAME
|
||||
//std::cout<<"Enter S11"<<std::endl;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
GpsL1CaSubframeFsm::GpsL1CaSubframeFsm()
|
||||
{
|
||||
d_nav.reset();
|
||||
initiate(); //start the FSM
|
||||
}
|
||||
|
||||
void GpsL1CaSubframeFsm::gps_word_to_subframe(int position)
|
||||
{
|
||||
// insert the word in the correct position of the subframe
|
||||
std::memcpy(&d_subframe[position*GPS_WORD_LENGTH], &d_GPS_frame_4bytes, sizeof(char)*GPS_WORD_LENGTH);
|
||||
}
|
||||
|
||||
void GpsL1CaSubframeFsm::gps_subframe_to_nav_msg()
|
||||
{
|
||||
int subframe_ID;
|
||||
// NEW GPS SUBFRAME HAS ARRIVED!
|
||||
subframe_ID = d_nav.subframe_decoder(this->d_subframe); //decode the subframe
|
||||
std::cout << "NAVIGATION FSM: received subframe " << subframe_ID << " for satellite " << Gnss_Satellite(std::string("GPS"), i_satellite_PRN) << std::endl;
|
||||
d_nav.i_satellite_PRN = i_satellite_PRN;
|
||||
d_nav.i_channel_ID = i_channel_ID;
|
||||
d_nav.d_subframe_timestamp_ms = this->d_preamble_time_ms;
|
||||
|
||||
switch (subframe_ID)
|
||||
{
|
||||
case 3: //we have a new set of ephemeris data for the current SV
|
||||
if (d_nav.satellite_validation()==true)
|
||||
{
|
||||
// get ephemeris object for this SV (mandatory)
|
||||
Gps_Ephemeris ephemeris=d_nav.get_ephemeris();
|
||||
d_ephemeris_queue->push(ephemeris);
|
||||
}
|
||||
break;
|
||||
case 4: // Possible IONOSPHERE and UTC model update (page 18)
|
||||
if (d_nav.flag_iono_valid==true)
|
||||
{
|
||||
Gps_Iono iono=d_nav.get_iono(); //notice that the read operation will clear the valid flag
|
||||
d_iono_queue->push(iono);
|
||||
}
|
||||
if (d_nav.flag_utc_model_valid==true)
|
||||
{
|
||||
Gps_Utc_Model utc_model=d_nav.get_utc_model(); //notice that the read operation will clear the valid flag
|
||||
d_utc_model_queue->push(utc_model);
|
||||
}
|
||||
break;
|
||||
case 5:
|
||||
// get almanac (if available)
|
||||
//TODO: implement almanac reader in navigation_message
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void GpsL1CaSubframeFsm::Event_gps_word_valid()
|
||||
{
|
||||
this->process_event(Ev_gps_word_valid());
|
||||
}
|
||||
|
||||
void GpsL1CaSubframeFsm::Event_gps_word_invalid()
|
||||
{
|
||||
this->process_event(Ev_gps_word_invalid());
|
||||
}
|
||||
|
||||
|
||||
|
||||
void GpsL1CaSubframeFsm::Event_gps_word_preamble()
|
||||
{
|
||||
this->process_event(Ev_gps_word_preamble());
|
||||
}
|
||||
|
||||
112
src/algorithms/telemetry_decoder/libs/galileo_inav_fsm.h
Normal file
112
src/algorithms/telemetry_decoder/libs/galileo_inav_fsm.h
Normal file
@@ -0,0 +1,112 @@
|
||||
/*!
|
||||
* \file gps_l1_ca_subframe_fsm.h
|
||||
* \brief Interface of a Galileo NAV message word-to-subframe decoder state machine
|
||||
* \author Javier Arribas, 2011. jarribas(at)cttc.es
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
|
||||
#ifndef GNSS_SDR_GALILEO_INAV_FSM_H_
|
||||
#define GNSS_SDR_GALILEO_INAV_FSM_H_
|
||||
|
||||
#include <boost/statechart/state_machine.hpp>
|
||||
#include <boost/statechart/simple_state.hpp>
|
||||
#include <boost/statechart/state.hpp>
|
||||
#include <boost/statechart/transition.hpp>
|
||||
#include <boost/statechart/custom_reaction.hpp>
|
||||
#include <boost/mpl/list.hpp>
|
||||
#include <queue>
|
||||
#include <boost/thread/mutex.hpp>
|
||||
#include <boost/thread/thread.hpp>
|
||||
#include "concurrent_queue.h"
|
||||
#include <iostream>
|
||||
#include <cstring>
|
||||
|
||||
#include "galileo_navigation_message.h"
|
||||
#include "galileo_ephemeris.h"
|
||||
#include "galileo_almanac.h"
|
||||
#include "galileo_iono.h"
|
||||
#include "galileo_utc_model.h"
|
||||
|
||||
namespace sc = boost::statechart;
|
||||
namespace mpl = boost::mpl;
|
||||
|
||||
struct gps_subframe_fsm_S0;
|
||||
struct gps_subframe_fsm_S1;
|
||||
struct gps_subframe_fsm_S2;
|
||||
struct gps_subframe_fsm_S3;
|
||||
struct gps_subframe_fsm_S4;
|
||||
struct gps_subframe_fsm_S5;
|
||||
struct gps_subframe_fsm_S6;
|
||||
struct gps_subframe_fsm_S7;
|
||||
struct gps_subframe_fsm_S8;
|
||||
struct gps_subframe_fsm_S9;
|
||||
struct gps_subframe_fsm_S10;
|
||||
struct gps_subframe_fsm_S11;
|
||||
|
||||
class GalileoINAVFsm : public sc::state_machine< GalileoINAVFsm, gps_subframe_fsm_S0 >
|
||||
{
|
||||
public:
|
||||
// channel and satellite info
|
||||
int i_channel_ID;
|
||||
unsigned int i_satellite_PRN;
|
||||
|
||||
// ephemeris queue
|
||||
concurrent_queue<Galileo_Ephemeris> *d_ephemeris_queue;
|
||||
// ionospheric parameters queue
|
||||
concurrent_queue<Galileo_Iono> *d_iono_queue;
|
||||
// UTC model parameters queue
|
||||
concurrent_queue<Galileo_Utc_Model> *d_utc_model_queue;
|
||||
// Almanac queue
|
||||
concurrent_queue<Galileo_Almanac> *d_almanac_queue;
|
||||
|
||||
// navigation message class
|
||||
Gps_Navigation_Message d_nav;
|
||||
|
||||
// GPS SV and System parameters
|
||||
Galileo_Ephemeris ephemeris;
|
||||
Galileo_Almanac almanac;
|
||||
Galileo_Utc_Model utc_model;
|
||||
Galileo_Iono iono;
|
||||
|
||||
|
||||
char d_subframe[GPS_SUBFRAME_LENGTH];
|
||||
char d_GPS_frame_4bytes[GPS_WORD_LENGTH];
|
||||
|
||||
double d_preamble_time_ms;
|
||||
|
||||
void gps_word_to_subframe(int position);
|
||||
void gps_subframe_to_nav_msg();
|
||||
|
||||
//FSM EVENTS
|
||||
void Event_gps_word_valid();
|
||||
void Event_gps_word_invalid();
|
||||
void Event_gps_word_preamble();
|
||||
|
||||
GalileoINAVFsm();
|
||||
};
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user