mirror of https://github.com/gnss-sdr/gnss-sdr
Merge branch 'Acquisition' of https://github.com/piyush0411/gnss-sdr into piyush0411-Acquisition
This commit is contained in:
Carles Fernandez
commit
b5c2367788
|
|
@ -23,6 +23,7 @@ set(ACQ_ADAPTER_SOURCES
|
|||
galileo_e1_pcps_8ms_ambiguous_acquisition.cc
|
||||
galileo_e5a_noncoherent_iq_acquisition_caf.cc
|
||||
galileo_e5a_pcps_acquisition.cc
|
||||
galileo_e5b_pcps_acquisition.cc
|
||||
glonass_l1_ca_pcps_acquisition.cc
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||||
glonass_l2_ca_pcps_acquisition.cc
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||||
beidou_b1i_pcps_acquisition.cc
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||||
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|
@ -44,6 +45,7 @@ set(ACQ_ADAPTER_HEADERS
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|||
galileo_e1_pcps_8ms_ambiguous_acquisition.h
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galileo_e5a_noncoherent_iq_acquisition_caf.h
|
||||
galileo_e5a_pcps_acquisition.h
|
||||
galileo_e5b_pcps_acquisition.h
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||||
glonass_l1_ca_pcps_acquisition.h
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||||
glonass_l2_ca_pcps_acquisition.h
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||||
beidou_b1i_pcps_acquisition.h
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||||
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@ -56,6 +58,7 @@ if(ENABLE_FPGA)
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gps_l2_m_pcps_acquisition_fpga.cc
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||||
galileo_e1_pcps_ambiguous_acquisition_fpga.cc
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galileo_e5a_pcps_acquisition_fpga.cc
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||||
galileo_e5b_pcps_acquisition_fpga.cc
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gps_l5i_pcps_acquisition_fpga.cc
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||||
)
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set(ACQ_ADAPTER_HEADERS ${ACQ_ADAPTER_HEADERS}
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@ -63,6 +66,7 @@ if(ENABLE_FPGA)
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|||
gps_l2_m_pcps_acquisition_fpga.h
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||||
galileo_e1_pcps_ambiguous_acquisition_fpga.h
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||||
galileo_e5a_pcps_acquisition_fpga.h
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||||
galileo_e5b_pcps_acquisition_fpga.h
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gps_l5i_pcps_acquisition_fpga.h
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)
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endif()
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|
|
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@ -0,0 +1,247 @@
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/*!
|
||||
* \file galileo_e5b_pcps_acquisition.cc
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||||
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
|
||||
* Galileo E5b data and pilot Signals
|
||||
* \author Piyush Gupta, 2020. piyush04111999@gmail.com
|
||||
* \note Code added as part of GSoC 2020 program.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2020 (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.
|
||||
*
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
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||||
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#include "galileo_e5b_pcps_acquisition.h"
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#include "Galileo_E5b.h"
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#include "acq_conf.h"
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#include "configuration_interface.h"
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#include "galileo_e5_signal_processing.h"
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#include "gnss_sdr_flags.h"
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#include <glog/logging.h>
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#include <volk_gnsssdr/volk_gnsssdr_complex.h>
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#include <algorithm>
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#if HAS_STD_SPAN
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#include <span>
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namespace own = std;
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#else
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#include <gsl/gsl>
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namespace own = gsl;
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#endif
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GalileoE5bPcpsAcquisition::GalileoE5bPcpsAcquisition(ConfigurationInterface* configuration,
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const std::string& role,
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unsigned int in_streams,
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unsigned int out_streams) : role_(role),
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in_streams_(in_streams),
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out_streams_(out_streams)
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{
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configuration_ = configuration;
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acq_parameters_.ms_per_code = 1;
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acq_parameters_.SetFromConfiguration(configuration_, role, GALILEO_E5B_CODE_CHIP_RATE_CPS, GALILEO_E5B_OPT_ACQ_FS_SPS);
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DLOG(INFO) << "Role " << role;
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if (FLAGS_doppler_max != 0)
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{
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acq_parameters_.doppler_max = FLAGS_doppler_max;
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}
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doppler_max_ = acq_parameters_.doppler_max;
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doppler_step_ = acq_parameters_.doppler_step;
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item_type_ = acq_parameters_.item_type;
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item_size_ = acq_parameters_.it_size;
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fs_in_ = acq_parameters_.fs_in;
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acq_pilot_ = configuration_->property(role + ".acquire_pilot", false);
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acq_iq_ = configuration_->property(role + ".acquire_iq", false);
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if (acq_iq_)
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{
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acq_pilot_ = false;
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}
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code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GALILEO_E5B_CODE_CHIP_RATE_CPS / GALILEO_E5B_CODE_LENGTH_CHIPS)));
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vector_length_ = std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2 : 1);
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code_ = std::vector<std::complex<float>>(vector_length_);
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sampled_ms_ = acq_parameters_.sampled_ms;
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acquisition_ = pcps_make_acquisition(acq_parameters_);
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DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
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channel_ = 0;
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threshold_ = 0.0;
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doppler_center_ = 0;
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gnss_synchro_ = nullptr;
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if (in_streams_ > 1)
|
||||
{
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LOG(ERROR) << "This implementation only supports one input stream";
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}
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||||
if (out_streams_ > 0)
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||||
{
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||||
LOG(ERROR) << "This implementation does not provide an output stream";
|
||||
}
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}
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void GalileoE5bPcpsAcquisition::stop_acquisition()
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{
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}
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void GalileoE5bPcpsAcquisition::set_threshold(float threshold)
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{
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threshold_ = threshold;
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acquisition_->set_threshold(threshold_);
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}
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void GalileoE5bPcpsAcquisition::set_doppler_max(unsigned int doppler_max)
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{
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doppler_max_ = doppler_max;
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acquisition_->set_doppler_max(doppler_max_);
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||||
}
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void GalileoE5bPcpsAcquisition::set_doppler_step(unsigned int doppler_step)
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{
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doppler_step_ = doppler_step;
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acquisition_->set_doppler_step(doppler_step_);
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}
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void GalileoE5bPcpsAcquisition::set_doppler_center(int doppler_center)
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||||
{
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doppler_center_ = doppler_center;
|
||||
acquisition_->set_doppler_center(doppler_center_);
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||||
}
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void GalileoE5bPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
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{
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gnss_synchro_ = gnss_synchro;
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acquisition_->set_gnss_synchro(gnss_synchro_);
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}
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signed int GalileoE5bPcpsAcquisition::mag()
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||||
{
|
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return acquisition_->mag();
|
||||
}
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||||
|
||||
|
||||
void GalileoE5bPcpsAcquisition::init()
|
||||
{
|
||||
acquisition_->init();
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5bPcpsAcquisition::set_local_code()
|
||||
{
|
||||
std::vector<std::complex<float>> code(code_length_);
|
||||
std::array<char, 3> signal_{};
|
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signal_[0] = '7';
|
||||
signal_[2] = '\0';
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||||
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if (acq_iq_)
|
||||
{
|
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signal_[1] = 'X';
|
||||
}
|
||||
else if (acq_pilot_)
|
||||
{
|
||||
signal_[1] = 'Q';
|
||||
}
|
||||
else
|
||||
{
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signal_[1] = 'I';
|
||||
}
|
||||
|
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if (acq_parameters_.use_automatic_resampler)
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{
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galileo_e5_b_code_gen_complex_sampled(code, gnss_synchro_->PRN, signal_, acq_parameters_.resampled_fs, 0);
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}
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else
|
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{
|
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galileo_e5_b_code_gen_complex_sampled(code, gnss_synchro_->PRN, signal_, fs_in_, 0);
|
||||
}
|
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own::span<gr_complex> code_span(code_.data(), vector_length_);
|
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for (unsigned int i = 0; i < sampled_ms_; i++)
|
||||
{
|
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std::copy_n(code.data(), code_length_, code_span.subspan(i * code_length_, code_length_).data());
|
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}
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|
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acquisition_->set_local_code(code_.data());
|
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}
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|
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|
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void GalileoE5bPcpsAcquisition::reset()
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{
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acquisition_->set_active(true);
|
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}
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|
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|
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void GalileoE5bPcpsAcquisition::set_state(int state)
|
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{
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acquisition_->set_state(state);
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}
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|
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void GalileoE5bPcpsAcquisition::connect(gr::top_block_sptr top_block __attribute__((unused)))
|
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{
|
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if (item_type_ == "gr_complex")
|
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{
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// nothing to connect
|
||||
}
|
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else if (item_type_ == "cshort")
|
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{
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// nothing to connect
|
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}
|
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else
|
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{
|
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LOG(WARNING) << item_type_ << " unknown acquisition item type";
|
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}
|
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}
|
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|
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|
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void GalileoE5bPcpsAcquisition::disconnect(gr::top_block_sptr top_block __attribute__((unused)))
|
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{
|
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if (item_type_ == "gr_complex")
|
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{
|
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// nothing to disconnect
|
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}
|
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else if (item_type_ == "cshort")
|
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{
|
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// nothing to disconnect
|
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}
|
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else
|
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{
|
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LOG(WARNING) << item_type_ << " unknown acquisition item type";
|
||||
}
|
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}
|
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|
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|
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gr::basic_block_sptr GalileoE5bPcpsAcquisition::get_left_block()
|
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{
|
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return acquisition_;
|
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}
|
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|
||||
|
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gr::basic_block_sptr GalileoE5bPcpsAcquisition::get_right_block()
|
||||
{
|
||||
return acquisition_;
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5bPcpsAcquisition::set_resampler_latency(uint32_t latency_samples)
|
||||
{
|
||||
acquisition_->set_resampler_latency(latency_samples);
|
||||
}
|
||||
|
|
@ -0,0 +1,204 @@
|
|||
/*!
|
||||
* \file galileo_e5b_pcps_acquisition.h
|
||||
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
|
||||
* Galileo E5b data and pilot Signals
|
||||
* \author Piyush Gupta, 2020. piyush04111999@gmail.com
|
||||
* \note Code added as part of GSoC 2020 program.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2020 (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.
|
||||
*
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GNSS_SDR_GALILEO_E5B_PCPS_ACQUISITION_H
|
||||
#define GNSS_SDR_GALILEO_E5B_PCPS_ACQUISITION_H
|
||||
|
||||
|
||||
#include "channel_fsm.h"
|
||||
#include "gnss_synchro.h"
|
||||
#include "pcps_acquisition.h"
|
||||
#include <memory>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
class ConfigurationInterface;
|
||||
|
||||
class GalileoE5bPcpsAcquisition : public AcquisitionInterface
|
||||
{
|
||||
public:
|
||||
/*!
|
||||
* \brief Constructor
|
||||
*/
|
||||
GalileoE5bPcpsAcquisition(ConfigurationInterface* configuration,
|
||||
const std::string& role,
|
||||
unsigned int in_streams,
|
||||
unsigned int out_streams);
|
||||
|
||||
/*!
|
||||
* \brief Destructor
|
||||
*/
|
||||
~GalileoE5bPcpsAcquisition() = default;
|
||||
|
||||
/*!
|
||||
* \brief Role
|
||||
*/
|
||||
inline std::string role() override
|
||||
{
|
||||
return role_;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Returns "GALILEO_E5b_PCPS_Acquisition"
|
||||
*/
|
||||
|
||||
inline std::string implementation() override
|
||||
{
|
||||
return "Galileo_E5b_PCPS_Acquisition";
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Returns size of lv_16sc_t
|
||||
*/
|
||||
inline size_t item_size() override
|
||||
{
|
||||
return sizeof(int16_t);
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Connect
|
||||
*/
|
||||
void connect(gr::top_block_sptr top_block) override;
|
||||
|
||||
/*!
|
||||
* \brief Disconnect
|
||||
*/
|
||||
void disconnect(gr::top_block_sptr top_block) override;
|
||||
|
||||
/*!
|
||||
* \brief Get left block
|
||||
*/
|
||||
gr::basic_block_sptr get_left_block() override;
|
||||
|
||||
/*!
|
||||
* \brief Get right block
|
||||
*/
|
||||
gr::basic_block_sptr get_right_block() override;
|
||||
|
||||
/*!
|
||||
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
|
||||
* to efficiently exchange synchronization data between acquisition and
|
||||
* tracking blocks
|
||||
*/
|
||||
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
|
||||
|
||||
/*!
|
||||
* \brief Set acquisition channel unique ID
|
||||
*/
|
||||
inline void set_channel(unsigned int channel) override
|
||||
{
|
||||
channel_ = channel;
|
||||
acquisition_->set_channel(channel_);
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Set channel fsm associated to this acquisition instance
|
||||
*/
|
||||
inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
|
||||
{
|
||||
channel_fsm_ = channel_fsm;
|
||||
acquisition_->set_channel_fsm(channel_fsm);
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Set statistics threshold of PCPS algorithm
|
||||
*/
|
||||
void set_threshold(float threshold) override;
|
||||
|
||||
/*!
|
||||
* \brief Set maximum Doppler off grid search
|
||||
*/
|
||||
void set_doppler_max(unsigned int doppler_max) override;
|
||||
|
||||
/*!
|
||||
* \brief Set Doppler steps for the grid search
|
||||
*/
|
||||
void set_doppler_step(unsigned int doppler_step) override;
|
||||
|
||||
/*!
|
||||
* \brief Set Doppler center for the grid search
|
||||
*/
|
||||
void set_doppler_center(int doppler_center) override;
|
||||
|
||||
/*!
|
||||
* \brief Initializes acquisition algorithm.
|
||||
*/
|
||||
void init() override;
|
||||
|
||||
/*!
|
||||
* \brief Sets local Galileo E5b code for PCPS acquisition algorithm.
|
||||
*/
|
||||
void set_local_code() override;
|
||||
|
||||
/*!
|
||||
* \brief Returns the maximum peak of grid search
|
||||
*/
|
||||
signed int mag() override;
|
||||
|
||||
/*!
|
||||
* \brief Restart acquisition algorithm
|
||||
*/
|
||||
void reset() override;
|
||||
|
||||
/*!
|
||||
* \brief If set to 1, ensures that acquisition starts at the
|
||||
* first available sample.
|
||||
* \param state - int=1 forces start of acquisition
|
||||
*/
|
||||
void set_state(int state) override;
|
||||
|
||||
/*!
|
||||
* \brief Stop running acquisition
|
||||
*/
|
||||
void stop_acquisition() override;
|
||||
|
||||
/*!
|
||||
* \brief Sets the resampler latency to account it in the acquisition code delay estimation
|
||||
*/
|
||||
void set_resampler_latency(uint32_t latency_samples) override;
|
||||
|
||||
private:
|
||||
ConfigurationInterface* configuration_;
|
||||
pcps_acquisition_sptr acquisition_;
|
||||
Acq_Conf acq_parameters_;
|
||||
size_t item_size_;
|
||||
std::string item_type_;
|
||||
std::string dump_filename_;
|
||||
std::string role_;
|
||||
bool acq_pilot_;
|
||||
bool acq_iq_;
|
||||
unsigned int vector_length_;
|
||||
unsigned int code_length_;
|
||||
unsigned int channel_;
|
||||
std::weak_ptr<ChannelFsm> channel_fsm_;
|
||||
unsigned int doppler_max_;
|
||||
unsigned int doppler_step_;
|
||||
int doppler_center_;
|
||||
unsigned int sampled_ms_;
|
||||
unsigned int in_streams_;
|
||||
unsigned int out_streams_;
|
||||
int64_t fs_in_;
|
||||
float threshold_;
|
||||
std::vector<std::complex<float>> code_;
|
||||
Gnss_Synchro* gnss_synchro_;
|
||||
};
|
||||
|
||||
#endif // GNSS_SDR_GALILEO_E5B_PCPS_ACQUISITION_H
|
||||
|
|
@ -0,0 +1,290 @@
|
|||
/*!
|
||||
* \file galileo_e5b_pcps_acquisition_fpga.cc
|
||||
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
|
||||
* Galileo E5b data and pilot Signals for the FPGA
|
||||
* \author Piyush Gupta, 2020. piyush04111999@gmail.com
|
||||
* \note Code added as part of GSoC 2020 Program.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2020 (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.
|
||||
*
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "galileo_e5b_pcps_acquisition_fpga.h"
|
||||
#include "Galileo_E5b.h"
|
||||
#include "configuration_interface.h"
|
||||
#include "galileo_e5_signal_processing.h"
|
||||
#include "gnss_sdr_flags.h"
|
||||
#include <glog/logging.h>
|
||||
#include <gnuradio/fft/fft.h> // for fft_complex
|
||||
#include <gnuradio/gr_complex.h> // for gr_complex
|
||||
#include <volk/volk.h> // for volk_32fc_conjugate_32fc
|
||||
#include <volk_gnsssdr/volk_gnsssdr_alloc.h>
|
||||
#include <algorithm> // for copy_n
|
||||
#include <cmath> // for abs, pow, floor
|
||||
#include <complex> // for complex
|
||||
|
||||
GalileoE5bPcpsAcquisitionFpga::GalileoE5bPcpsAcquisitionFpga(ConfigurationInterface* configuration,
|
||||
const std::string& role,
|
||||
unsigned int in_streams,
|
||||
unsigned int out_streams) : role_(role),
|
||||
in_streams_(in_streams),
|
||||
out_streams_(out_streams)
|
||||
{
|
||||
pcpsconf_fpga_t acq_parameters;
|
||||
configuration_ = configuration;
|
||||
std::string default_dump_filename = "../data/acquisition.dat";
|
||||
|
||||
DLOG(INFO) << "Role " << role;
|
||||
|
||||
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 32000000);
|
||||
int64_t fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
|
||||
|
||||
acq_parameters.repeat_satellite = configuration_->property(role + ".repeat_satellite", false);
|
||||
DLOG(INFO) << role << " satellite repeat = " << acq_parameters.repeat_satellite;
|
||||
|
||||
uint32_t downsampling_factor = configuration_->property(role + ".downsampling_factor", 1);
|
||||
acq_parameters.downsampling_factor = downsampling_factor;
|
||||
fs_in = fs_in / downsampling_factor;
|
||||
|
||||
acq_parameters.fs_in = fs_in;
|
||||
|
||||
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
|
||||
if (FLAGS_doppler_max != 0)
|
||||
{
|
||||
doppler_max_ = FLAGS_doppler_max;
|
||||
}
|
||||
acq_parameters.doppler_max = doppler_max_;
|
||||
|
||||
acq_pilot_ = configuration_->property(role + ".acquire_pilot", false);
|
||||
acq_iq_ = configuration_->property(role + ".acquire_iq", false);
|
||||
if (acq_iq_)
|
||||
{
|
||||
acq_pilot_ = false;
|
||||
}
|
||||
|
||||
auto code_length = static_cast<uint32_t>(std::round(static_cast<double>(fs_in) / GALILEO_E5B_CODE_CHIP_RATE_CPS * static_cast<double>(GALILEO_E5B_CODE_LENGTH_CHIPS)));
|
||||
acq_parameters.code_length = code_length;
|
||||
|
||||
// The FPGA can only use FFT lengths that are a power of two.
|
||||
float nbits = ceilf(log2f(static_cast<float>(code_length) * 2.0));
|
||||
uint32_t nsamples_total = pow(2, nbits);
|
||||
uint32_t select_queue_Fpga = configuration_->property(role + ".select_queue_Fpga", 1);
|
||||
acq_parameters.select_queue_Fpga = select_queue_Fpga;
|
||||
std::string default_device_name = "/dev/uio0";
|
||||
std::string device_name = configuration_->property(role + ".devicename", default_device_name);
|
||||
acq_parameters.device_name = device_name;
|
||||
acq_parameters.samples_per_code = nsamples_total;
|
||||
|
||||
acq_parameters.excludelimit = static_cast<unsigned int>(1 + ceil((1.0 / GALILEO_E5B_CODE_CHIP_RATE_CPS) * static_cast<float>(fs_in)));
|
||||
|
||||
// compute all the GALILEO E5b PRN Codes (this is done only once in the class constructor in order to avoid re-computing the PRN codes every time
|
||||
// a channel is assigned)
|
||||
auto fft_if = std::unique_ptr<gr::fft::fft_complex>(new gr::fft::fft_complex(nsamples_total, true)); // Direct FFT
|
||||
volk_gnsssdr::vector<std::complex<float>> code(nsamples_total); // Buffer for local code
|
||||
volk_gnsssdr::vector<std::complex<float>> fft_codes_padded(nsamples_total);
|
||||
d_all_fft_codes_ = std::vector<uint32_t>(nsamples_total * GALILEO_E5B_NUMBER_OF_CODES); // memory containing all the possible fft codes for PRN 0 to 32
|
||||
|
||||
float max; // temporary maxima search
|
||||
int32_t tmp;
|
||||
int32_t tmp2;
|
||||
int32_t local_code;
|
||||
int32_t fft_data;
|
||||
|
||||
for (uint32_t PRN = 1; PRN <= GALILEO_E5B_NUMBER_OF_CODES; PRN++)
|
||||
{
|
||||
std::array<char, 3> signal_;
|
||||
signal_[0] = '7';
|
||||
signal_[2] = '\0';
|
||||
|
||||
if (acq_iq_)
|
||||
{
|
||||
signal_[1] = 'X';
|
||||
}
|
||||
else if (acq_pilot_)
|
||||
{
|
||||
signal_[1] = 'Q';
|
||||
}
|
||||
else
|
||||
{
|
||||
signal_[1] = 'I';
|
||||
}
|
||||
|
||||
galileo_e5_b_code_gen_complex_sampled(code, PRN, signal_, fs_in, 0);
|
||||
|
||||
for (uint32_t s = code_length; s < 2 * code_length; s++)
|
||||
{
|
||||
code[s] = code[s - code_length];
|
||||
}
|
||||
|
||||
// fill in zero padding
|
||||
for (uint32_t s = 2 * code_length; s < nsamples_total; s++)
|
||||
{
|
||||
code[s] = std::complex<float>(0.0, 0.0);
|
||||
}
|
||||
|
||||
std::copy_n(code.data(), nsamples_total, fft_if->get_inbuf()); // copy to FFT buffer
|
||||
fft_if->execute(); // Run the FFT of local code
|
||||
volk_32fc_conjugate_32fc(fft_codes_padded.data(), fft_if->get_outbuf(), nsamples_total); // conjugate values
|
||||
|
||||
max = 0; // initialize maximum value
|
||||
for (uint32_t i = 0; i < nsamples_total; i++) // search for maxima
|
||||
{
|
||||
if (std::abs(fft_codes_padded[i].real()) > max)
|
||||
{
|
||||
max = std::abs(fft_codes_padded[i].real());
|
||||
}
|
||||
if (std::abs(fft_codes_padded[i].imag()) > max)
|
||||
{
|
||||
max = std::abs(fft_codes_padded[i].imag());
|
||||
}
|
||||
}
|
||||
// map the FFT to the dynamic range of the fixed point values an copy to buffer containing all FFTs
|
||||
// and package codes in a format that is ready to be written to the FPGA
|
||||
for (uint32_t i = 0; i < nsamples_total; i++)
|
||||
{
|
||||
tmp = static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, quant_bits_local_code - 1) - 1) / max));
|
||||
tmp2 = static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, quant_bits_local_code - 1) - 1) / max));
|
||||
local_code = (tmp & select_lsbits) | ((tmp2 * shl_code_bits) & select_msbits); // put together the real part and the imaginary part
|
||||
fft_data = local_code & select_all_code_bits;
|
||||
d_all_fft_codes_[i + (nsamples_total * (PRN - 1))] = fft_data;
|
||||
}
|
||||
}
|
||||
|
||||
acq_parameters.all_fft_codes = d_all_fft_codes_.data();
|
||||
|
||||
// reference for the FPGA FFT-IFFT attenuation factor
|
||||
acq_parameters.total_block_exp = configuration_->property(role + ".total_block_exp", 13);
|
||||
|
||||
acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
|
||||
acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
|
||||
acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
|
||||
acq_parameters.max_num_acqs = configuration_->property(role + ".max_num_acqs", 2);
|
||||
acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters);
|
||||
|
||||
channel_ = 0;
|
||||
doppler_step_ = 0;
|
||||
gnss_synchro_ = nullptr;
|
||||
|
||||
if (in_streams_ > 1)
|
||||
{
|
||||
LOG(ERROR) << "This implementation only supports one input stream";
|
||||
}
|
||||
if (out_streams_ > 0)
|
||||
{
|
||||
LOG(ERROR) << "This implementation does not provide an output stream";
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5bPcpsAcquisitionFpga::stop_acquisition()
|
||||
{
|
||||
// this command causes the SW to reset the HW.
|
||||
acquisition_fpga_->reset_acquisition();
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5bPcpsAcquisitionFpga::set_threshold(float threshold)
|
||||
{
|
||||
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold;
|
||||
acquisition_fpga_->set_threshold(threshold);
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5bPcpsAcquisitionFpga::set_doppler_max(unsigned int doppler_max)
|
||||
{
|
||||
doppler_max_ = doppler_max;
|
||||
acquisition_fpga_->set_doppler_max(doppler_max_);
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5bPcpsAcquisitionFpga::set_doppler_step(unsigned int doppler_step)
|
||||
{
|
||||
doppler_step_ = doppler_step;
|
||||
acquisition_fpga_->set_doppler_step(doppler_step_);
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5bPcpsAcquisitionFpga::set_doppler_center(int doppler_center)
|
||||
{
|
||||
doppler_center_ = doppler_center;
|
||||
acquisition_fpga_->set_doppler_center(doppler_center_);
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5bPcpsAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
|
||||
{
|
||||
gnss_synchro_ = gnss_synchro;
|
||||
acquisition_fpga_->set_gnss_synchro(gnss_synchro_);
|
||||
}
|
||||
|
||||
|
||||
signed int GalileoE5bPcpsAcquisitionFpga::mag()
|
||||
{
|
||||
return acquisition_fpga_->mag();
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5bPcpsAcquisitionFpga::init()
|
||||
{
|
||||
acquisition_fpga_->init();
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5bPcpsAcquisitionFpga::set_local_code()
|
||||
{
|
||||
acquisition_fpga_->set_local_code();
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5bPcpsAcquisitionFpga::reset()
|
||||
{
|
||||
acquisition_fpga_->set_active(true);
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5bPcpsAcquisitionFpga::set_state(int state)
|
||||
{
|
||||
acquisition_fpga_->set_state(state);
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5bPcpsAcquisitionFpga::connect(gr::top_block_sptr top_block)
|
||||
{
|
||||
if (top_block)
|
||||
{
|
||||
/* top_block is not null */
|
||||
};
|
||||
// Nothing to connect
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5bPcpsAcquisitionFpga::disconnect(gr::top_block_sptr top_block)
|
||||
{
|
||||
if (top_block)
|
||||
{
|
||||
/* top_block is not null */
|
||||
};
|
||||
// Nothing to disconnect
|
||||
}
|
||||
|
||||
|
||||
gr::basic_block_sptr GalileoE5bPcpsAcquisitionFpga::get_left_block()
|
||||
{
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
|
||||
gr::basic_block_sptr GalileoE5bPcpsAcquisitionFpga::get_right_block()
|
||||
{
|
||||
return nullptr;
|
||||
}
|
||||
|
|
@ -0,0 +1,213 @@
|
|||
/*!
|
||||
* \file galileo_e5b_pcps_acquisition_fpga.h
|
||||
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
|
||||
* Galileo E5b data and pilot Signals for the FPGA
|
||||
* \author Piyush Gupta, 2020. piyush04111999@gmail.com
|
||||
* \note Code added as part of GSoC 2020 Program.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2020 (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.
|
||||
*
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GNSS_SDR_GALILEO_E5B_PCPS_ACQUISITION_FPGA_H
|
||||
#define GNSS_SDR_GALILEO_E5B_PCPS_ACQUISITION_FPGA_H
|
||||
|
||||
|
||||
#include "channel_fsm.h"
|
||||
#include "gnss_synchro.h"
|
||||
#include "pcps_acquisition_fpga.h"
|
||||
#include <memory>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
class ConfigurationInterface;
|
||||
|
||||
/*!
|
||||
* \brief This class adapts a PCPS acquisition block off-loaded on an FPGA
|
||||
* to an AcquisitionInterface for Galileo E5b signals
|
||||
*/
|
||||
class GalileoE5bPcpsAcquisitionFpga : public AcquisitionInterface
|
||||
{
|
||||
public:
|
||||
/*!
|
||||
* \brief Constructor
|
||||
*/
|
||||
GalileoE5bPcpsAcquisitionFpga(ConfigurationInterface* configuration,
|
||||
const std::string& role,
|
||||
unsigned int in_streams,
|
||||
unsigned int out_streams);
|
||||
|
||||
/*!
|
||||
* \brief Destructor
|
||||
*/
|
||||
~GalileoE5bPcpsAcquisitionFpga() = default;
|
||||
|
||||
/*!
|
||||
* \brief Role
|
||||
*/
|
||||
inline std::string role() override
|
||||
{
|
||||
return role_;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Returns "Galileo_E5b_Pcps_Acquisition_Fpga"
|
||||
*/
|
||||
inline std::string implementation() override
|
||||
{
|
||||
return "Galileo_E5b_PCPS_Acquisition_FPGA";
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Returns size of lv_16sc_t
|
||||
*/
|
||||
inline size_t item_size() override
|
||||
{
|
||||
return sizeof(int16_t);
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Connect
|
||||
*/
|
||||
void connect(gr::top_block_sptr top_block) override;
|
||||
|
||||
/*!
|
||||
* \brief Disconnect
|
||||
*/
|
||||
void disconnect(gr::top_block_sptr top_block) override;
|
||||
|
||||
/*!
|
||||
* \brief Get left block
|
||||
*/
|
||||
gr::basic_block_sptr get_left_block() override;
|
||||
|
||||
/*!
|
||||
* \brief Get right block
|
||||
*/
|
||||
gr::basic_block_sptr get_right_block() override;
|
||||
|
||||
/*!
|
||||
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
|
||||
* to efficiently exchange synchronization data between acquisition and
|
||||
* tracking blocks
|
||||
*/
|
||||
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
|
||||
|
||||
/*!
|
||||
* \brief Set acquisition channel unique ID
|
||||
*/
|
||||
inline void set_channel(unsigned int channel) override
|
||||
{
|
||||
channel_ = channel;
|
||||
acquisition_fpga_->set_channel(channel_);
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Set channel fsm associated to this acquisition instance
|
||||
*/
|
||||
inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
|
||||
{
|
||||
channel_fsm_ = channel_fsm;
|
||||
acquisition_fpga_->set_channel_fsm(channel_fsm);
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Set statistics threshold of PCPS algorithm
|
||||
*/
|
||||
void set_threshold(float threshold) override;
|
||||
|
||||
/*!
|
||||
* \brief Set maximum Doppler off grid search
|
||||
*/
|
||||
void set_doppler_max(unsigned int doppler_max) override;
|
||||
|
||||
/*!
|
||||
* \brief Set Doppler steps for the grid search
|
||||
*/
|
||||
void set_doppler_step(unsigned int doppler_step) override;
|
||||
|
||||
/*!
|
||||
* \brief Set Doppler center for the grid search
|
||||
*/
|
||||
void set_doppler_center(int doppler_center) override;
|
||||
|
||||
/*!
|
||||
* \brief Initializes acquisition algorithm.
|
||||
*/
|
||||
void init() override;
|
||||
|
||||
/*!
|
||||
* \brief Sets local Galileo E5b code for PCPS acquisition algorithm.
|
||||
*/
|
||||
void set_local_code() override;
|
||||
|
||||
/*!
|
||||
* \brief Returns the maximum peak of grid search
|
||||
*/
|
||||
signed int mag() override;
|
||||
|
||||
/*!
|
||||
* \brief Restart acquisition algorithm
|
||||
*/
|
||||
void reset() override;
|
||||
|
||||
/*!
|
||||
* \brief If set to 1, ensures that acquisition starts at the
|
||||
* first available sample.
|
||||
* \param state - int=1 forces start of acquisition
|
||||
*/
|
||||
void set_state(int state) override;
|
||||
|
||||
/*!
|
||||
* \brief This function is only used in the unit tests
|
||||
*/
|
||||
void set_single_doppler_flag(unsigned int single_doppler_flag);
|
||||
|
||||
/*!
|
||||
* \brief Stop running acquisition
|
||||
*/
|
||||
void stop_acquisition() override;
|
||||
|
||||
/*!
|
||||
* \brief Set resampler latency
|
||||
*/
|
||||
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
|
||||
|
||||
private:
|
||||
// the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
|
||||
// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
|
||||
static const uint32_t quant_bits_local_code = 16;
|
||||
static const uint32_t select_lsbits = 0x0000FFFF; // Select the 10 LSbits out of a 20-bit word
|
||||
static const uint32_t select_msbits = 0xFFFF0000; // Select the 10 MSbits out of a 20-bit word
|
||||
static const uint32_t select_all_code_bits = 0xFFFFFFFF; // Select a 20 bit word
|
||||
static const uint32_t shl_code_bits = 65536; // shift left by 10 bits
|
||||
|
||||
ConfigurationInterface* configuration_;
|
||||
pcps_acquisition_fpga_sptr acquisition_fpga_;
|
||||
std::string item_type_;
|
||||
std::string dump_filename_;
|
||||
std::string role_;
|
||||
bool acq_pilot_;
|
||||
bool acq_iq_;
|
||||
uint32_t channel_;
|
||||
std::weak_ptr<ChannelFsm> channel_fsm_;
|
||||
uint32_t doppler_max_;
|
||||
uint32_t doppler_step_;
|
||||
int32_t doppler_center_;
|
||||
unsigned int in_streams_;
|
||||
unsigned int out_streams_;
|
||||
Gnss_Synchro* gnss_synchro_;
|
||||
std::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
|
||||
};
|
||||
|
||||
#endif // GNSS_SDR_GALILEO_E5B_PCPS_ACQUISITION_FPGA_H
|
||||
|
|
@ -6,7 +6,7 @@
|
|||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
|
||||
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
|
|
@ -25,6 +25,7 @@
|
|||
#include "GPS_L1_CA.h"
|
||||
#include "Galileo_E1.h"
|
||||
#include "Galileo_E5a.h"
|
||||
#include "Galileo_E5b.h"
|
||||
#include "configuration_interface.h"
|
||||
#include <glog/logging.h>
|
||||
#include <cstdint>
|
||||
|
|
@ -80,6 +81,10 @@ SignalGenerator::SignalGenerator(ConfigurationInterface* configuration,
|
|||
{
|
||||
vector_length = round(static_cast<float>(fs_in) / (GALILEO_E5A_CODE_CHIP_RATE_CPS / GALILEO_E5A_CODE_LENGTH_CHIPS));
|
||||
}
|
||||
else if (signal1[0].at(0) == '7')
|
||||
{
|
||||
vector_length = round(static_cast<float>(fs_in) / (GALILEO_E5B_CODE_CHIP_RATE_CPS / GALILEO_E5B_CODE_LENGTH_CHIPS));
|
||||
}
|
||||
else
|
||||
{
|
||||
vector_length = round(static_cast<float>(fs_in) / (GALILEO_E1_CODE_CHIP_RATE_CPS / GALILEO_E1_B_CODE_LENGTH_CHIPS)) * GALILEO_E1_C_SECONDARY_CODE_LENGTH;
|
||||
|
|
|
|||
|
|
@ -6,7 +6,7 @@
|
|||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
|
||||
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
|
|
|
|||
|
|
@ -5,7 +5,7 @@
|
|||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
|
||||
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
|
|
@ -22,6 +22,7 @@
|
|||
#include "GPS_L1_CA.h"
|
||||
#include "Galileo_E1.h"
|
||||
#include "Galileo_E5a.h"
|
||||
#include "Galileo_E5b.h"
|
||||
#include "galileo_e1_signal_processing.h"
|
||||
#include "galileo_e5_signal_processing.h"
|
||||
#include "glonass_l1_signal_processing.h"
|
||||
|
|
@ -124,6 +125,14 @@ void signal_generator_c::init()
|
|||
|
||||
data_bit_duration_ms_.push_back(1e3 / GALILEO_E5A_SYMBOL_RATE_BPS);
|
||||
}
|
||||
else if (signal_[sat].at(0) == '7')
|
||||
{
|
||||
int codelen = static_cast<int>(GALILEO_E5B_CODE_LENGTH_CHIPS);
|
||||
samples_per_code_.push_back(round(static_cast<float>(fs_in_) / (GALILEO_E5B_CODE_CHIP_RATE_CPS / codelen)));
|
||||
num_of_codes_per_vector_.push_back(1);
|
||||
|
||||
data_bit_duration_ms_.push_back(1e3 / GALILEO_E5B_SYMBOL_RATE_BPS);
|
||||
}
|
||||
else
|
||||
{
|
||||
samples_per_code_.push_back(round(static_cast<float>(fs_in_) / (GALILEO_E1_CODE_CHIP_RATE_CPS / GALILEO_E1_B_CODE_LENGTH_CHIPS)));
|
||||
|
|
@ -206,6 +215,21 @@ void signal_generator_c::generate_codes()
|
|||
}
|
||||
}
|
||||
}
|
||||
else if (signal_[sat].at(0) == '7')
|
||||
{
|
||||
std::array<char, 3> signal = {{'7', 'X', '\0'}};
|
||||
|
||||
galileo_e5_b_code_gen_complex_sampled(sampled_code_data_[sat], PRN_[sat], signal, fs_in_,
|
||||
static_cast<int>(GALILEO_E5B_CODE_LENGTH_CHIPS) - delay_chips_[sat]);
|
||||
// noise
|
||||
if (noise_flag_)
|
||||
{
|
||||
for (unsigned int i = 0; i < vector_length_; i++)
|
||||
{
|
||||
sampled_code_data_[sat][i] *= sqrt(pow(10, CN0_dB_[sat] / 10) / BW_BB_ / 2);
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
// Generate one code-period of E1B signal
|
||||
|
|
@ -370,6 +394,37 @@ int signal_generator_c::general_work(int noutput_items __attribute__((unused)),
|
|||
|
||||
ms_counter_[sat] = ms_counter_[sat] + static_cast<int>(round(1e3 * GALILEO_E5A_CODE_PERIOD_S));
|
||||
|
||||
for (k = delay_samples; k < samples_per_code_[sat]; k++)
|
||||
{
|
||||
out[out_idx] += (gr_complex(sampled_code_data_[sat][out_idx].real() * data_modulation_[sat],
|
||||
sampled_code_data_[sat][out_idx].imag() * pilot_modulation_[sat])) *
|
||||
complex_phase_[out_idx];
|
||||
out_idx++;
|
||||
}
|
||||
}
|
||||
else if (signal_[sat].at(0) == '7')
|
||||
{
|
||||
// EACH WORK outputs 1 modulated primary code
|
||||
int codelen = static_cast<int>(GALILEO_E5B_CODE_LENGTH_CHIPS);
|
||||
unsigned int delay_samples = (delay_chips_[sat] % codelen) * samples_per_code_[sat] / codelen;
|
||||
for (k = 0; k < delay_samples; k++)
|
||||
{
|
||||
out[out_idx] += (gr_complex(sampled_code_data_[sat][out_idx].real() * data_modulation_[sat],
|
||||
sampled_code_data_[sat][out_idx].imag() * pilot_modulation_[sat])) *
|
||||
complex_phase_[out_idx];
|
||||
out_idx++;
|
||||
}
|
||||
|
||||
if (ms_counter_[sat] % data_bit_duration_ms_[sat] == 0 && data_flag_)
|
||||
{
|
||||
// New random data bit
|
||||
current_data_bit_int_[sat] = (uniform_dist(e1) % 2) == 0 ? 1 : -1;
|
||||
}
|
||||
data_modulation_[sat] = current_data_bit_int_[sat] * (GALILEO_E5B_I_SECONDARY_CODE.at((ms_counter_[sat] + delay_sec_[sat]) % 20) == '0' ? 1 : -1);
|
||||
pilot_modulation_[sat] = (GALILEO_E5B_Q_SECONDARY_CODE[PRN_[sat] - 1].at((ms_counter_[sat] + delay_sec_[sat]) % 100) == '0' ? 1 : -1);
|
||||
|
||||
ms_counter_[sat] = ms_counter_[sat] + static_cast<int>(round(1e3 * GALILEO_E5B_CODE_PERIOD_S));
|
||||
|
||||
for (k = delay_samples; k < samples_per_code_[sat]; k++)
|
||||
{
|
||||
out[out_idx] += (gr_complex(sampled_code_data_[sat][out_idx].real() * data_modulation_[sat],
|
||||
|
|
|
|||
|
|
@ -5,7 +5,7 @@
|
|||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
|
||||
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
|
|
|
|||
|
|
@ -55,6 +55,7 @@
|
|||
#include "galileo_e5a_noncoherent_iq_acquisition_caf.h"
|
||||
#include "galileo_e5a_pcps_acquisition.h"
|
||||
#include "galileo_e5a_telemetry_decoder.h"
|
||||
#include "galileo_e5b_pcps_acquisition.h"
|
||||
#include "glonass_l1_ca_dll_pll_c_aid_tracking.h"
|
||||
#include "glonass_l1_ca_dll_pll_tracking.h"
|
||||
#include "glonass_l1_ca_pcps_acquisition.h"
|
||||
|
|
@ -118,6 +119,7 @@
|
|||
#include "galileo_e1_pcps_ambiguous_acquisition_fpga.h"
|
||||
#include "galileo_e5a_dll_pll_tracking_fpga.h"
|
||||
#include "galileo_e5a_pcps_acquisition_fpga.h"
|
||||
#include "galileo_e5b_pcps_acquisition_fpga.h"
|
||||
#include "gps_l1_ca_dll_pll_tracking_fpga.h"
|
||||
#include "gps_l1_ca_pcps_acquisition_fpga.h"
|
||||
#include "gps_l2_m_dll_pll_tracking_fpga.h"
|
||||
|
|
@ -263,6 +265,7 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetObservables(Configurati
|
|||
LOG(INFO) << "Getting Observables with implementation " << implementation;
|
||||
unsigned int Galileo_channels = configuration->property("Channels_1B.count", 0);
|
||||
Galileo_channels += configuration->property("Channels_5X.count", 0);
|
||||
Galileo_channels += configuration->property("Channels_7X.count", 0);
|
||||
unsigned int GPS_channels = configuration->property("Channels_1C.count", 0);
|
||||
GPS_channels += configuration->property("Channels_2S.count", 0);
|
||||
GPS_channels += configuration->property("Channels_L5.count", 0);
|
||||
|
|
@ -291,6 +294,7 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetPVT(ConfigurationInterf
|
|||
LOG(INFO) << "Getting PVT with implementation " << implementation;
|
||||
unsigned int Galileo_channels = configuration->property("Channels_1B.count", 0);
|
||||
Galileo_channels += configuration->property("Channels_5X.count", 0);
|
||||
Galileo_channels += configuration->property("Channels_7X.count", 0);
|
||||
unsigned int GPS_channels = configuration->property("Channels_1C.count", 0);
|
||||
GPS_channels += configuration->property("Channels_2S.count", 0);
|
||||
GPS_channels += configuration->property("Channels_L5.count", 0);
|
||||
|
|
@ -557,6 +561,70 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_5X(
|
|||
}
|
||||
|
||||
|
||||
// ********* GALILEO E5b CHANNEL *****************
|
||||
std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_7X(
|
||||
ConfigurationInterface* configuration,
|
||||
const std::string& acq, const std::string& trk, const std::string& tlm, int channel,
|
||||
Concurrent_Queue<pmt::pmt_t>* queue)
|
||||
{
|
||||
std::stringstream stream;
|
||||
stream << channel;
|
||||
std::string id = stream.str();
|
||||
LOG(INFO) << "Instantiating Channel " << id << " with Acquisition Implementation: "
|
||||
<< acq << ", Tracking Implementation: " << trk << ", Telemetry Decoder implementation: " << tlm;
|
||||
std::string aux = configuration->property("Acquisition_7X" + std::to_string(channel) + ".implementation", std::string("W"));
|
||||
std::string appendix1;
|
||||
if (aux != "W")
|
||||
{
|
||||
appendix1 = std::to_string(channel);
|
||||
}
|
||||
else
|
||||
{
|
||||
appendix1 = "";
|
||||
}
|
||||
aux = configuration->property("Tracking_7X" + std::to_string(channel) + ".implementation", std::string("W"));
|
||||
std::string appendix2;
|
||||
if (aux != "W")
|
||||
{
|
||||
appendix2 = std::to_string(channel);
|
||||
}
|
||||
else
|
||||
{
|
||||
appendix2 = "";
|
||||
}
|
||||
aux = configuration->property("TelemetryDecoder_7X" + std::to_string(channel) + ".implementation", std::string("W"));
|
||||
std::string appendix3;
|
||||
if (aux != "W")
|
||||
{
|
||||
appendix3 = std::to_string(channel);
|
||||
}
|
||||
else
|
||||
{
|
||||
appendix3 = "";
|
||||
}
|
||||
// Automatically detect input data type
|
||||
std::string default_item_type = "gr_complex";
|
||||
std::string acq_item_type = configuration->property("Acquisition_7X" + appendix1 + ".item_type", default_item_type);
|
||||
std::string trk_item_type = configuration->property("Tracking_7X" + appendix2 + ".item_type", default_item_type);
|
||||
if (acq_item_type != trk_item_type)
|
||||
{
|
||||
LOG(ERROR) << "Acquisition and Tracking blocks must have the same input data type!";
|
||||
}
|
||||
|
||||
std::unique_ptr<AcquisitionInterface> acq_ = GetAcqBlock(configuration, "Acquisition_7X" + appendix1, acq, 1, 0);
|
||||
std::unique_ptr<TrackingInterface> trk_ = GetTrkBlock(configuration, "Tracking_7X" + appendix2, trk, 1, 1);
|
||||
std::unique_ptr<TelemetryDecoderInterface> tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_7X" + appendix3, tlm, 1, 1);
|
||||
|
||||
std::unique_ptr<GNSSBlockInterface> channel_ = std::make_unique<Channel>(configuration, channel,
|
||||
std::move(acq_),
|
||||
std::move(trk_),
|
||||
std::move(tlm_),
|
||||
"Channel", "7X", queue);
|
||||
|
||||
return channel_;
|
||||
}
|
||||
|
||||
|
||||
// ********* GLONASS L1 C/A CHANNEL *****************
|
||||
std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_1G(
|
||||
ConfigurationInterface* configuration,
|
||||
|
|
@ -895,6 +963,7 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
|
|||
unsigned int Channels_2G_count = configuration->property("Channels_2G.count", 0);
|
||||
unsigned int Channels_2S_count = configuration->property("Channels_2S.count", 0);
|
||||
unsigned int Channels_5X_count = configuration->property("Channels_5X.count", 0);
|
||||
unsigned int Channels_7X_count = configuration->property("Channels_7X.count", 0);
|
||||
unsigned int Channels_L5_count = configuration->property("Channels_L5.count", 0);
|
||||
unsigned int Channels_B1_count = configuration->property("Channels_B1.count", 0);
|
||||
unsigned int Channels_B3_count = configuration->property("Channels_B3.count", 0);
|
||||
|
|
@ -905,6 +974,7 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
|
|||
Channels_2S_count +
|
||||
Channels_2G_count +
|
||||
Channels_5X_count +
|
||||
Channels_7X_count +
|
||||
Channels_L5_count +
|
||||
Channels_B1_count +
|
||||
Channels_B3_count;
|
||||
|
|
@ -1058,6 +1128,35 @@ std::unique_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> GNSSBlockFacto
|
|||
channel_absolute_id++;
|
||||
}
|
||||
|
||||
// **************** GALILEO E5b I (I/NAV OS) CHANNELS **********************
|
||||
LOG(INFO) << "Getting " << Channels_7X_count << " GALILEO f I (I/NAV OS) channels";
|
||||
tracking_implementation = configuration->property("Tracking_7X.implementation", default_implementation);
|
||||
telemetry_decoder_implementation = configuration->property("TelemetryDecoder_7X.implementation", default_implementation);
|
||||
acquisition_implementation = configuration->property("Acquisition_7X.implementation", default_implementation);
|
||||
for (unsigned int i = 0; i < Channels_7X_count; i++)
|
||||
{
|
||||
// (i.e. Acquisition_1C0.implementation=xxxx)
|
||||
std::string acquisition_implementation_specific = configuration->property(
|
||||
"Acquisition_7X" + std::to_string(channel_absolute_id) + ".implementation",
|
||||
acquisition_implementation);
|
||||
// (i.e. Tracking_1C0.implementation=xxxx)
|
||||
std::string tracking_implementation_specific = configuration->property(
|
||||
"Tracking_7X" + std::to_string(channel_absolute_id) + ".implementation",
|
||||
tracking_implementation);
|
||||
std::string telemetry_decoder_implementation_specific = configuration->property(
|
||||
"TelemetryDecoder_7X" + std::to_string(channel_absolute_id) + ".implementation",
|
||||
telemetry_decoder_implementation);
|
||||
|
||||
// Push back the channel to the vector of channels
|
||||
channels->at(channel_absolute_id) = GetChannel_7X(configuration,
|
||||
acquisition_implementation_specific,
|
||||
tracking_implementation_specific,
|
||||
telemetry_decoder_implementation_specific,
|
||||
channel_absolute_id,
|
||||
queue);
|
||||
channel_absolute_id++;
|
||||
}
|
||||
|
||||
// **************** GLONASS L1 C/A CHANNELS **********************
|
||||
LOG(INFO) << "Getting " << Channels_1G_count << " GLONASS L1 C/A channels";
|
||||
acquisition_implementation = configuration->property("Acquisition_1G.implementation", default_implementation);
|
||||
|
|
@ -1640,6 +1739,20 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
|
|||
out_streams);
|
||||
block = std::move(block_);
|
||||
}
|
||||
#endif
|
||||
else if (implementation == "Galileo_E5b_PCPS_Acquisition")
|
||||
{
|
||||
std::unique_ptr<GNSSBlockInterface> block_ = std::make_unique<GalileoE5bPcpsAcquisition>(configuration, role, in_streams,
|
||||
out_streams);
|
||||
block = std::move(block_);
|
||||
}
|
||||
#if ENABLE_FPGA
|
||||
else if (implementation == "Galileo_E5b_PCPS_Acquisition_FPGA")
|
||||
{
|
||||
std::unique_ptr<GNSSBlockInterface> block = std::make_unique<GalileoE5bPcpsAcquisitionFpga>(configuration, role, in_streams,
|
||||
out_streams);
|
||||
block = std::move(block_);
|
||||
}
|
||||
#endif
|
||||
else if (implementation == "Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition")
|
||||
{
|
||||
|
|
@ -2054,6 +2167,20 @@ std::unique_ptr<AcquisitionInterface> GNSSBlockFactory::GetAcqBlock(
|
|||
out_streams);
|
||||
block = std::move(block_);
|
||||
}
|
||||
#endif
|
||||
else if (implementation == "Galileo_E5b_PCPS_Acquisition")
|
||||
{
|
||||
std::unique_ptr<AcquisitionInterface> block_ = std::make_unique<GalileoE5bPcpsAcquisition>(configuration, role, in_streams,
|
||||
out_streams);
|
||||
block = std::move(block_);
|
||||
}
|
||||
#if ENABLE_FPGA
|
||||
else if (implementation == "Galileo_E5b_PCPS_Acquisition_FPGA")
|
||||
{
|
||||
std::unique_ptr<AcquisitionInterface> block_ = std::make_unique<GalileoE5bPcpsAcquisitionFpga>(configuration, role, in_streams,
|
||||
out_streams);
|
||||
block = std::move(block_);
|
||||
}
|
||||
#endif
|
||||
else if (implementation == "GLONASS_L1_CA_PCPS_Acquisition")
|
||||
{
|
||||
|
|
|
|||
|
|
@ -86,6 +86,10 @@ private:
|
|||
const std::string& acq, const std::string& trk, const std::string& tlm, int channel,
|
||||
Concurrent_Queue<pmt::pmt_t>* queue);
|
||||
|
||||
std::unique_ptr<GNSSBlockInterface> GetChannel_7X(ConfigurationInterface* configuration,
|
||||
const std::string& acq, const std::string& trk, const std::string& tlm, int channel,
|
||||
Concurrent_Queue<pmt::pmt_t>* queue);
|
||||
|
||||
std::unique_ptr<GNSSBlockInterface> GetChannel_L5(ConfigurationInterface* configuration,
|
||||
const std::string& acq, const std::string& trk, const std::string& tlm, int channel,
|
||||
Concurrent_Queue<pmt::pmt_t>* queue);
|
||||
|
|
|
|||
|
|
@ -28,6 +28,7 @@
|
|||
#include "GPS_L5.h"
|
||||
#include "Galileo_E1.h"
|
||||
#include "Galileo_E5a.h"
|
||||
#include "Galileo_E5b.h"
|
||||
#include "channel.h"
|
||||
#include "channel_fsm.h"
|
||||
#include "channel_interface.h"
|
||||
|
|
@ -410,6 +411,9 @@ void GNSSFlowgraph::connect()
|
|||
case evGAL_5X:
|
||||
acq_fs = GALILEO_E5A_OPT_ACQ_FS_SPS;
|
||||
break;
|
||||
case evGAL_7X:
|
||||
acq_fs = GALILEO_E5B_OPT_ACQ_FS_SPS;
|
||||
break;
|
||||
case evGLO_1G:
|
||||
acq_fs = fs;
|
||||
break;
|
||||
|
|
@ -635,6 +639,12 @@ void GNSSFlowgraph::connect()
|
|||
available_GAL_5X_signals_.remove(signal_value);
|
||||
break;
|
||||
|
||||
case evGAL_7X:
|
||||
gnss_system = "Galileo";
|
||||
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
|
||||
available_GAL_7X_signals_.remove(signal_value);
|
||||
break;
|
||||
|
||||
case evGLO_1G:
|
||||
gnss_system = "Glonass";
|
||||
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
|
||||
|
|
@ -1086,6 +1096,11 @@ void GNSSFlowgraph::push_back_signal(const Gnss_Signal& gs)
|
|||
available_GAL_5X_signals_.push_back(gs);
|
||||
break;
|
||||
|
||||
case evGAL_7X:
|
||||
available_GAL_7X_signals_.remove(gs);
|
||||
available_GAL_7X_signals_.push_back(gs);
|
||||
break;
|
||||
|
||||
case evGLO_1G:
|
||||
available_GLO_1G_signals_.remove(gs);
|
||||
available_GLO_1G_signals_.push_back(gs);
|
||||
|
|
@ -1137,6 +1152,10 @@ void GNSSFlowgraph::remove_signal(const Gnss_Signal& gs)
|
|||
available_GAL_5X_signals_.remove(gs);
|
||||
break;
|
||||
|
||||
case evGAL_7X:
|
||||
available_GAL_7X_signals_.remove(gs);
|
||||
break;
|
||||
|
||||
case evGLO_1G:
|
||||
available_GLO_1G_signals_.remove(gs);
|
||||
break;
|
||||
|
|
@ -1171,6 +1190,9 @@ double GNSSFlowgraph::project_doppler(const std::string& searched_signal, double
|
|||
case evGAL_5X:
|
||||
return (primary_freq_doppler_hz / FREQ1) * FREQ5;
|
||||
break;
|
||||
case evGAL_7X:
|
||||
return (primary_freq_doppler_hz / FREQ1) * FREQ7;
|
||||
break;
|
||||
case evGPS_2S:
|
||||
return (primary_freq_doppler_hz / FREQ1) * FREQ2;
|
||||
break;
|
||||
|
|
@ -1430,6 +1452,14 @@ void GNSSFlowgraph::priorize_satellites(const std::vector<std::pair<int, Gnss_Sa
|
|||
{
|
||||
available_GAL_5X_signals_.push_front(gs);
|
||||
}
|
||||
|
||||
gs = Gnss_Signal(visible_satellite.second, "7X");
|
||||
old_size = available_GAL_7X_signals_.size();
|
||||
available_GAL_7X_signals_.remove(gs);
|
||||
if (old_size > available_GAL_7X_signals_.size())
|
||||
{
|
||||
available_GAL_7X_signals_.push_front(gs);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -1574,6 +1604,7 @@ void GNSSFlowgraph::init()
|
|||
mapStringValues_["L5"] = evGPS_L5;
|
||||
mapStringValues_["1B"] = evGAL_1B;
|
||||
mapStringValues_["5X"] = evGAL_5X;
|
||||
mapStringValues_["7X"] = evGAL_7X;
|
||||
mapStringValues_["1G"] = evGLO_1G;
|
||||
mapStringValues_["2G"] = evGLO_2G;
|
||||
mapStringValues_["B1"] = evBDS_B1;
|
||||
|
|
@ -1805,6 +1836,19 @@ void GNSSFlowgraph::set_signals_list()
|
|||
}
|
||||
}
|
||||
|
||||
if (configuration_->property("Channels_7X.count", 0) > 0)
|
||||
{
|
||||
// Loop to create the list of Galileo E5b signals
|
||||
for (available_gnss_prn_iter = available_galileo_prn.cbegin();
|
||||
available_gnss_prn_iter != available_galileo_prn.cend();
|
||||
available_gnss_prn_iter++)
|
||||
{
|
||||
available_GAL_7X_signals_.emplace_back(
|
||||
Gnss_Satellite(std::string("Galileo"), *available_gnss_prn_iter),
|
||||
std::string("7X"));
|
||||
}
|
||||
}
|
||||
|
||||
if (configuration_->property("Channels_1G.count", 0) > 0)
|
||||
{
|
||||
// Loop to create the list of GLONASS L1 C/A signals
|
||||
|
|
@ -1906,6 +1950,10 @@ bool GNSSFlowgraph::is_multiband() const
|
|||
{
|
||||
multiband = true;
|
||||
}
|
||||
if (configuration_->property("Channels_7X.count", 0) > 0)
|
||||
{
|
||||
multiband = true;
|
||||
}
|
||||
}
|
||||
if (configuration_->property("Channels_1G.count", 0) > 0)
|
||||
{
|
||||
|
|
@ -2099,6 +2147,50 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal
|
|||
}
|
||||
break;
|
||||
|
||||
case evGAL_7X:
|
||||
if (configuration_->property("Channels_1B.count", 0) > 0)
|
||||
{
|
||||
// 1. Get the current channel status map
|
||||
std::map<int, std::shared_ptr<Gnss_Synchro>> current_channels_status = channels_status_->get_current_status_map();
|
||||
// 2. search the currently tracked Galileo E1 satellites and assist the Galileo E5 acquisition if the satellite is not tracked on E5
|
||||
for (auto& current_status : current_channels_status)
|
||||
{
|
||||
if (std::string(current_status.second->Signal) == "1B")
|
||||
{
|
||||
std::list<Gnss_Signal>::iterator it2;
|
||||
it2 = std::find_if(std::begin(available_GAL_7X_signals_), std::end(available_GAL_7X_signals_),
|
||||
[&](Gnss_Signal const& sig) { return sig.get_satellite().get_PRN() == current_status.second->PRN; });
|
||||
|
||||
if (it2 != available_GAL_7X_signals_.end())
|
||||
{
|
||||
estimated_doppler = current_status.second->Carrier_Doppler_hz;
|
||||
RX_time = current_status.second->RX_time;
|
||||
// std::cout << " Channel: " << it->first << " => Doppler: " << estimated_doppler << "[Hz] \n";
|
||||
// 3. return the Gal 7X satellite and remove it from list
|
||||
result = *it2;
|
||||
if (pop)
|
||||
{
|
||||
available_GAL_7X_signals_.erase(it2);
|
||||
}
|
||||
found_signal = true;
|
||||
assistance_available = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
// fallback: pick the front satellite because there is no tracked satellites in E1 to assist E5
|
||||
if (found_signal == false)
|
||||
{
|
||||
result = available_GAL_7X_signals_.front();
|
||||
available_GAL_7X_signals_.pop_front();
|
||||
if (!pop)
|
||||
{
|
||||
available_GAL_7X_signals_.push_back(result);
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case evGLO_1G:
|
||||
result = available_GLO_1G_signals_.front();
|
||||
available_GLO_1G_signals_.pop_front();
|
||||
|
|
|
|||
|
|
@ -188,6 +188,7 @@ private:
|
|||
std::list<Gnss_Signal> available_SBAS_1C_signals_;
|
||||
std::list<Gnss_Signal> available_GAL_1B_signals_;
|
||||
std::list<Gnss_Signal> available_GAL_5X_signals_;
|
||||
std::list<Gnss_Signal> available_GAL_7X_signals_;
|
||||
std::list<Gnss_Signal> available_GLO_1G_signals_;
|
||||
std::list<Gnss_Signal> available_GLO_2G_signals_;
|
||||
std::list<Gnss_Signal> available_BDS_B1_signals_;
|
||||
|
|
@ -201,6 +202,7 @@ private:
|
|||
evSBAS_1C,
|
||||
evGAL_1B,
|
||||
evGAL_5X,
|
||||
evGAL_7X,
|
||||
evGLO_1G,
|
||||
evGLO_2G,
|
||||
evBDS_B1,
|
||||
|
|
|
|||
|
|
@ -21,6 +21,7 @@
|
|||
#ifndef GNSS_SDR_GALILEO_E5B_H
|
||||
#define GNSS_SDR_GALILEO_E5B_H
|
||||
|
||||
#include "Galileo_E1.h"
|
||||
#include "MATH_CONSTANTS.h"
|
||||
#include "gnss_frequencies.h"
|
||||
#include <cstdint>
|
||||
|
|
@ -29,15 +30,6 @@
|
|||
#include <vector>
|
||||
|
||||
|
||||
// Physical constants
|
||||
const double GALILEO_PI = 3.1415926535898; //!< Pi as defined in GALILEO ICD
|
||||
const double GALILEO_TWO_PI = 6.283185307179600; //!< 2*Pi as defined in GALILEO ICD
|
||||
const double GALILEO_GM = 3.986004418e14; //!< Geocentric gravitational constant[m^3/s^2]
|
||||
const double GALILEO_OMEGA_EARTH_DOT = 7.2921151467e-5; //!< Mean angular velocity of the Earth [rad/s]
|
||||
const double GALILEO_C_M_S = 299792458.0; //!< The speed of light, [m/s]
|
||||
const double GALILEO_C_M_MS = 299792.4580; //!< The speed of light, [m/ms]
|
||||
const double GALILEO_F = -4.442807309e-10; //!< Constant, [s/(m)^(1/2)]
|
||||
|
||||
// Carrier and code frequencies
|
||||
const double GALILEO_E5B_FREQ_HZ = FREQ7; //!< Galileo E5b carrier frequency [Hz]
|
||||
const double GALILEO_E5B_CODE_CHIP_RATE_CPS = 1.023e7; //!< Galileo E5b code rate [chips/s]
|
||||
|
|
@ -48,6 +40,8 @@ const int32_t GALILEO_E5B_I_SECONDARY_CODE_LENGTH = 4; //!< Galileo E5b-I sec
|
|||
const int32_t GALILEO_E5B_Q_SECONDARY_CODE_LENGTH = 100; //!< Galileo E5b-Q secondary code length [chips]
|
||||
const int32_t GALILEO_E5B_SYMBOL_RATE_BPS = 250; //!< Galileo E5b symbol rate [bits/second]
|
||||
const int32_t GALILEO_E5B_NUMBER_OF_CODES = 50;
|
||||
const double GALILEO_E5B_CODE_PERIOD_S = 0.001; //!< Galileo E1 primary code period [s]
|
||||
const int32_t GALILEO_E5B_CODE_PERIOD_MS = 1; //!< Galileo E1 primary code period [ms]
|
||||
|
||||
|
||||
// OBSERVABLE HISTORY DEEP FOR INTERPOLATION
|
||||
|
|
@ -56,235 +50,6 @@ const int32_t GALILEO_E5B_HISTORY_DEEP = 100;
|
|||
// optimum parameters
|
||||
const uint32_t GALILEO_E5B_OPT_ACQ_FS_SPS = 10000000; //!< Sampling frequency that maximizes the acquisition SNR while using a non-multiple of chip rate
|
||||
|
||||
// Galileo I/NAV message structure
|
||||
|
||||
const std::string GALILEO_INAV_PREAMBLE = {"0101100000"};
|
||||
const int32_t GALILEO_INAV_PREAMBLE_LENGTH_BITS = 10;
|
||||
const double GALILEO_INAV_PAGE_PART_WITH_PREABLE_SECONDS = 2.04; //!< Page Duration + (Galileo I/NAV Preamble bits)*(Galileo E5b-I tiered Code Period(seconds))
|
||||
const int32_t GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS = 250;
|
||||
const int32_t GALILEO_INAV_PAGE_PART_SYMBOLS = 250; //!< Each Galileo INAV pages are composed of two parts (even and odd) each of 250 symbols, including preamble. See Galileo ICD 4.3.2
|
||||
const int32_t GALILEO_INAV_PAGE_SYMBOLS = 500; //!< The complete Galileo INAV page length
|
||||
const int32_t GALILEO_INAV_PAGE_PART_SECONDS = 1; // a page part last 1 sec
|
||||
const int32_t GALILEO_INAV_PAGE_PART_MS = 1000; // a page part last 1 sec
|
||||
const int32_t GALILEO_INAV_PAGE_SECONDS = 2; // a full page last 2 sec
|
||||
const int32_t GALILEO_INAV_INTERLEAVER_ROWS = 8;
|
||||
const int32_t GALILEO_INAV_INTERLEAVER_COLS = 30;
|
||||
const int32_t GALILEO_TELEMETRY_RATE_BITS_SECOND = 250; // bps
|
||||
const int32_t GALILEO_PAGE_TYPE_BITS = 6;
|
||||
const int32_t GALILEO_DATA_JK_BITS = 128;
|
||||
const int32_t GALILEO_DATA_FRAME_BITS = 196;
|
||||
const int32_t GALILEO_DATA_FRAME_BYTES = 25;
|
||||
|
||||
const std::vector<std::pair<int32_t, int32_t>> TYPE({{1, 6}});
|
||||
const std::vector<std::pair<int32_t, int32_t>> PAGE_TYPE_BIT({{1, 6}});
|
||||
|
||||
/* Page 0 */
|
||||
const std::vector<std::pair<int32_t, int32_t>> TIME_0_BIT({{7, 2}});
|
||||
const std::vector<std::pair<int32_t, int32_t>> WN_0_BIT({{97, 12}});
|
||||
const std::vector<std::pair<int32_t, int32_t>> TOW_0_BIT({{109, 20}});
|
||||
|
||||
|
||||
/* Page 1 - Word type 1: Ephemeris (1/4) */
|
||||
const std::vector<std::pair<int32_t, int32_t>> IOD_NAV_1_BIT({{7, 10}});
|
||||
const std::vector<std::pair<int32_t, int32_t>> T0_E_1_BIT({{17, 14}});
|
||||
const int32_t T0E_1_LSB = 60;
|
||||
const std::vector<std::pair<int32_t, int32_t>> M0_1_BIT({{31, 32}});
|
||||
const double M0_1_LSB = PI_TWO_N31;
|
||||
const std::vector<std::pair<int32_t, int32_t>> E_1_BIT({{63, 32}});
|
||||
const double E_1_LSB = TWO_N33;
|
||||
const std::vector<std::pair<int32_t, int32_t>> A_1_BIT({{95, 32}});
|
||||
const double A_1_LSB_GAL = TWO_N19;
|
||||
// last two bits are reserved
|
||||
|
||||
|
||||
/* Page 2 - Word type 2: Ephemeris (2/4) */
|
||||
const std::vector<std::pair<int32_t, int32_t>> IOD_NAV_2_BIT({{7, 10}});
|
||||
const std::vector<std::pair<int32_t, int32_t>> OMEGA_0_2_BIT({{17, 32}});
|
||||
const double OMEGA_0_2_LSB = PI_TWO_N31;
|
||||
const std::vector<std::pair<int32_t, int32_t>> I_0_2_BIT({{49, 32}});
|
||||
const double I_0_2_LSB = PI_TWO_N31;
|
||||
const std::vector<std::pair<int32_t, int32_t>> OMEGA_2_BIT({{81, 32}});
|
||||
const double OMEGA_2_LSB = PI_TWO_N31;
|
||||
const std::vector<std::pair<int32_t, int32_t>> I_DOT_2_BIT({{113, 14}});
|
||||
const double I_DOT_2_LSB = PI_TWO_N43;
|
||||
// last two bits are reserved
|
||||
|
||||
|
||||
/* Word type 3: Ephemeris (3/4) and SISA */
|
||||
const std::vector<std::pair<int32_t, int32_t>> IOD_NAV_3_BIT({{7, 10}});
|
||||
const std::vector<std::pair<int32_t, int32_t>> OMEGA_DOT_3_BIT({{17, 24}});
|
||||
const double OMEGA_DOT_3_LSB = PI_TWO_N43;
|
||||
const std::vector<std::pair<int32_t, int32_t>> DELTA_N_3_BIT({{41, 16}});
|
||||
const double DELTA_N_3_LSB = PI_TWO_N43;
|
||||
const std::vector<std::pair<int32_t, int32_t>> C_UC_3_BIT({{57, 16}});
|
||||
const double C_UC_3_LSB = TWO_N29;
|
||||
const std::vector<std::pair<int32_t, int32_t>> C_US_3_BIT({{73, 16}});
|
||||
const double C_US_3_LSB = TWO_N29;
|
||||
const std::vector<std::pair<int32_t, int32_t>> C_RC_3_BIT({{89, 16}});
|
||||
const double C_RC_3_LSB = TWO_N5;
|
||||
const std::vector<std::pair<int32_t, int32_t>> C_RS_3_BIT({{105, 16}});
|
||||
const double C_RS_3_LSB = TWO_N5;
|
||||
const std::vector<std::pair<int32_t, int32_t>> SISA_3_BIT({{121, 8}});
|
||||
|
||||
|
||||
/* Word type 4: Ephemeris (4/4) and Clock correction parameters */
|
||||
const std::vector<std::pair<int32_t, int32_t>> IOD_NAV_4_BIT({{7, 10}});
|
||||
const std::vector<std::pair<int32_t, int32_t>> SV_ID_PRN_4_BIT({{17, 6}});
|
||||
const std::vector<std::pair<int32_t, int32_t>> C_IC_4_BIT({{23, 16}});
|
||||
const double C_IC_4_LSB = TWO_N29;
|
||||
const std::vector<std::pair<int32_t, int32_t>> C_IS_4_BIT({{39, 16}});
|
||||
const double C_IS_4_LSB = TWO_N29;
|
||||
const std::vector<std::pair<int32_t, int32_t>> T0C_4_BIT({{55, 14}}); //
|
||||
const int32_t T0C_4_LSB = 60;
|
||||
const std::vector<std::pair<int32_t, int32_t>> AF0_4_BIT({{69, 31}}); //
|
||||
const double AF0_4_LSB = TWO_N34;
|
||||
const std::vector<std::pair<int32_t, int32_t>> AF1_4_BIT({{100, 21}}); //
|
||||
const double AF1_4_LSB = TWO_N46;
|
||||
const std::vector<std::pair<int32_t, int32_t>> AF2_4_BIT({{121, 6}});
|
||||
const double AF2_4_LSB = TWO_N59;
|
||||
const std::vector<std::pair<int32_t, int32_t>> SPARE_4_BIT({{127, 2}});
|
||||
// last two bits are reserved
|
||||
|
||||
|
||||
/* Word type 5: Ionospheric correction, BGD, signal health and data validity status and GST */
|
||||
/* Ionospheric correction */
|
||||
/* Az */
|
||||
const std::vector<std::pair<int32_t, int32_t>> AI0_5_BIT({{7, 11}}); //
|
||||
const double AI0_5_LSB = TWO_N2;
|
||||
const std::vector<std::pair<int32_t, int32_t>> AI1_5_BIT({{18, 11}}); //
|
||||
const double AI1_5_LSB = TWO_N8;
|
||||
const std::vector<std::pair<int32_t, int32_t>> AI2_5_BIT({{29, 14}}); //
|
||||
const double AI2_5_LSB = TWO_N15;
|
||||
|
||||
|
||||
/* Ionospheric disturbance flag */
|
||||
const std::vector<std::pair<int32_t, int32_t>> REGION1_5_BIT({{43, 1}}); //
|
||||
const std::vector<std::pair<int32_t, int32_t>> REGION2_5_BIT({{44, 1}}); //
|
||||
const std::vector<std::pair<int32_t, int32_t>> REGION3_5_BIT({{45, 1}}); //
|
||||
const std::vector<std::pair<int32_t, int32_t>> REGION4_5_BIT({{46, 1}}); //
|
||||
const std::vector<std::pair<int32_t, int32_t>> REGION5_5_BIT({{47, 1}}); //
|
||||
const std::vector<std::pair<int32_t, int32_t>> BGD_E1_E5A_5_BIT({{48, 10}}); //
|
||||
const double BGD_E1_E5A_5_LSB = TWO_N32;
|
||||
const std::vector<std::pair<int32_t, int32_t>> BGD_E1_E5B_5_BIT({{58, 10}}); //
|
||||
const double BGD_E1_E5B_5_LSB = TWO_N32;
|
||||
const std::vector<std::pair<int32_t, int32_t>> E5B_HS_5_BIT({{68, 2}}); //
|
||||
const std::vector<std::pair<int32_t, int32_t>> E1_B_HS_5_BIT({{70, 2}}); //
|
||||
const std::vector<std::pair<int32_t, int32_t>> E5B_DVS_5_BIT({{72, 1}}); //
|
||||
const std::vector<std::pair<int32_t, int32_t>> E1_B_DVS_5_BIT({{73, 1}}); //
|
||||
|
||||
|
||||
/* GST */
|
||||
const std::vector<std::pair<int32_t, int32_t>> WN_5_BIT({{74, 12}});
|
||||
const std::vector<std::pair<int32_t, int32_t>> TOW_5_BIT({{86, 20}});
|
||||
const std::vector<std::pair<int32_t, int32_t>> SPARE_5_BIT({{106, 23}});
|
||||
|
||||
|
||||
/* Page 6 */
|
||||
const std::vector<std::pair<int32_t, int32_t>> A0_6_BIT({{7, 32}});
|
||||
const double A0_6_LSB = TWO_N30;
|
||||
const std::vector<std::pair<int32_t, int32_t>> A1_6_BIT({{39, 24}});
|
||||
const double A1_6_LSB = TWO_N50;
|
||||
const std::vector<std::pair<int32_t, int32_t>> DELTA_T_LS_6_BIT({{63, 8}});
|
||||
const std::vector<std::pair<int32_t, int32_t>> T0T_6_BIT({{71, 8}});
|
||||
const int32_t T0T_6_LSB = 3600;
|
||||
const std::vector<std::pair<int32_t, int32_t>> W_NOT_6_BIT({{79, 8}});
|
||||
const std::vector<std::pair<int32_t, int32_t>> WN_LSF_6_BIT({{87, 8}});
|
||||
const std::vector<std::pair<int32_t, int32_t>> DN_6_BIT({{95, 3}});
|
||||
const std::vector<std::pair<int32_t, int32_t>> DELTA_T_LSF_6_BIT({{98, 8}});
|
||||
const std::vector<std::pair<int32_t, int32_t>> TOW_6_BIT({{106, 20}});
|
||||
|
||||
|
||||
/* Page 7 */
|
||||
const std::vector<std::pair<int32_t, int32_t>> IOD_A_7_BIT({{7, 4}});
|
||||
const std::vector<std::pair<int32_t, int32_t>> WN_A_7_BIT({{11, 2}});
|
||||
const std::vector<std::pair<int32_t, int32_t>> T0A_7_BIT({{13, 10}});
|
||||
const int32_t T0A_7_LSB = 600;
|
||||
const std::vector<std::pair<int32_t, int32_t>> SVI_D1_7_BIT({{23, 6}});
|
||||
const std::vector<std::pair<int32_t, int32_t>> DELTA_A_7_BIT({{29, 13}});
|
||||
const double DELTA_A_7_LSB = TWO_N9;
|
||||
const std::vector<std::pair<int32_t, int32_t>> E_7_BIT({{42, 11}});
|
||||
const double E_7_LSB = TWO_N16;
|
||||
const std::vector<std::pair<int32_t, int32_t>> OMEGA_7_BIT({{53, 16}});
|
||||
const double OMEGA_7_LSB = TWO_N15;
|
||||
const std::vector<std::pair<int32_t, int32_t>> DELTA_I_7_BIT({{69, 11}});
|
||||
const double DELTA_I_7_LSB = TWO_N14;
|
||||
const std::vector<std::pair<int32_t, int32_t>> OMEGA0_7_BIT({{80, 16}});
|
||||
const double OMEGA0_7_LSB = TWO_N15;
|
||||
const std::vector<std::pair<int32_t, int32_t>> OMEGA_DOT_7_BIT({{96, 11}});
|
||||
const double OMEGA_DOT_7_LSB = TWO_N33;
|
||||
const std::vector<std::pair<int32_t, int32_t>> M0_7_BIT({{107, 16}});
|
||||
const double M0_7_LSB = TWO_N15;
|
||||
|
||||
|
||||
/* Page 8 */
|
||||
const std::vector<std::pair<int32_t, int32_t>> IOD_A_8_BIT({{7, 4}});
|
||||
const std::vector<std::pair<int32_t, int32_t>> AF0_8_BIT({{11, 16}});
|
||||
const double AF0_8_LSB = TWO_N19;
|
||||
const std::vector<std::pair<int32_t, int32_t>> AF1_8_BIT({{27, 13}});
|
||||
const double AF1_8_LSB = TWO_N38;
|
||||
const std::vector<std::pair<int32_t, int32_t>> E5B_HS_8_BIT({{40, 2}});
|
||||
const std::vector<std::pair<int32_t, int32_t>> E1_B_HS_8_BIT({{42, 2}});
|
||||
const std::vector<std::pair<int32_t, int32_t>> SVI_D2_8_BIT({{44, 6}});
|
||||
const std::vector<std::pair<int32_t, int32_t>> DELTA_A_8_BIT({{50, 13}});
|
||||
const double DELTA_A_8_LSB = TWO_N9;
|
||||
const std::vector<std::pair<int32_t, int32_t>> E_8_BIT({{63, 11}});
|
||||
const double E_8_LSB = TWO_N16;
|
||||
const std::vector<std::pair<int32_t, int32_t>> OMEGA_8_BIT({{74, 16}});
|
||||
const double OMEGA_8_LSB = TWO_N15;
|
||||
const std::vector<std::pair<int32_t, int32_t>> DELTA_I_8_BIT({{90, 11}});
|
||||
const double DELTA_I_8_LSB = TWO_N14;
|
||||
const std::vector<std::pair<int32_t, int32_t>> OMEGA0_8_BIT({{101, 16}});
|
||||
const double OMEGA0_8_LSB = TWO_N15;
|
||||
const std::vector<std::pair<int32_t, int32_t>> OMEGA_DOT_8_BIT({{117, 11}});
|
||||
const double OMEGA_DOT_8_LSB = TWO_N33;
|
||||
|
||||
|
||||
/* Page 9 */
|
||||
const std::vector<std::pair<int32_t, int32_t>> IOD_A_9_BIT({{7, 4}});
|
||||
const std::vector<std::pair<int32_t, int32_t>> WN_A_9_BIT({{11, 2}});
|
||||
const std::vector<std::pair<int32_t, int32_t>> T0A_9_BIT({{13, 10}});
|
||||
const int32_t T0A_9_LSB = 600;
|
||||
const std::vector<std::pair<int32_t, int32_t>> M0_9_BIT({{23, 16}});
|
||||
const double M0_9_LSB = TWO_N15;
|
||||
const std::vector<std::pair<int32_t, int32_t>> AF0_9_BIT({{39, 16}});
|
||||
const double AF0_9_LSB = TWO_N19;
|
||||
const std::vector<std::pair<int32_t, int32_t>> AF1_9_BIT({{55, 13}});
|
||||
const double AF1_9_LSB = TWO_N38;
|
||||
const std::vector<std::pair<int32_t, int32_t>> E5B_HS_9_BIT({{68, 2}});
|
||||
const std::vector<std::pair<int32_t, int32_t>> E1_B_HS_9_BIT({{70, 2}});
|
||||
const std::vector<std::pair<int32_t, int32_t>> SVI_D3_9_BIT({{72, 6}});
|
||||
const std::vector<std::pair<int32_t, int32_t>> DELTA_A_9_BIT({{78, 13}});
|
||||
const double DELTA_A_9_LSB = TWO_N9;
|
||||
const std::vector<std::pair<int32_t, int32_t>> E_9_BIT({{91, 11}});
|
||||
const double E_9_LSB = TWO_N16;
|
||||
const std::vector<std::pair<int32_t, int32_t>> OMEGA_9_BIT({{102, 16}});
|
||||
const double OMEGA_9_LSB = TWO_N15;
|
||||
const std::vector<std::pair<int32_t, int32_t>> DELTA_I_9_BIT({{118, 11}});
|
||||
const double DELTA_I_9_LSB = TWO_N14;
|
||||
|
||||
|
||||
/* Page 10 */
|
||||
const std::vector<std::pair<int32_t, int32_t>> IOD_A_10_BIT({{7, 4}});
|
||||
const std::vector<std::pair<int32_t, int32_t>> OMEGA0_10_BIT({{11, 16}});
|
||||
const double OMEGA0_10_LSB = TWO_N15;
|
||||
const std::vector<std::pair<int32_t, int32_t>> OMEGA_DOT_10_BIT({{27, 11}});
|
||||
const double OMEGA_DOT_10_LSB = TWO_N33;
|
||||
const std::vector<std::pair<int32_t, int32_t>> M0_10_BIT({{38, 16}});
|
||||
const double M0_10_LSB = TWO_N15;
|
||||
const std::vector<std::pair<int32_t, int32_t>> AF0_10_BIT({{54, 16}});
|
||||
const double AF0_10_LSB = TWO_N19;
|
||||
const std::vector<std::pair<int32_t, int32_t>> AF1_10_BIT({{70, 13}});
|
||||
const double AF1_10_LSB = TWO_N38;
|
||||
const std::vector<std::pair<int32_t, int32_t>> E5B_HS_10_BIT({{83, 2}});
|
||||
const std::vector<std::pair<int32_t, int32_t>> E1_B_HS_10_BIT({{85, 2}});
|
||||
const std::vector<std::pair<int32_t, int32_t>> A_0_G_10_BIT({{87, 16}});
|
||||
const double A_0G_10_LSB = TWO_N35;
|
||||
const std::vector<std::pair<int32_t, int32_t>> A_1_G_10_BIT({{103, 12}});
|
||||
const double A_1G_10_LSB = TWO_N51;
|
||||
const std::vector<std::pair<int32_t, int32_t>> T_0_G_10_BIT({{115, 8}});
|
||||
const int32_t T_0_G_10_LSB = 3600;
|
||||
const std::vector<std::pair<int32_t, int32_t>> WN_0_G_10_BIT({{123, 6}});
|
||||
|
||||
|
||||
// Galileo E5b-I primary codes
|
||||
const std::string GALILEO_E5B_I_PRIMARY_CODE[GALILEO_E5B_NUMBER_OF_CODES] = {
|
||||
|
|
|
|||
|
|
@ -65,6 +65,7 @@ DECLARE_string(log_dir);
|
|||
#include "unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_quicksync_ambiguous_acquisition_gsoc2014_test.cc"
|
||||
#include "unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_tong_ambiguous_acquisition_gsoc2013_test.cc"
|
||||
#include "unit-tests/signal-processing-blocks/acquisition/galileo_e5a_pcps_acquisition_gsoc2014_gensource_test.cc"
|
||||
#include "unit-tests/signal-processing-blocks/acquisition/galileo_e5b_pcps_acquisition_test.cc"
|
||||
#include "unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc"
|
||||
#include "unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_gsoc2013_test.cc"
|
||||
#include "unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_test.cc"
|
||||
|
|
|
|||
|
|
@ -0,0 +1,316 @@
|
|||
/*!
|
||||
* \file Galileo_E5b_pcps_acquisition_test.cc
|
||||
* \brief This class implements an acquisition test for
|
||||
* GalileoE5bPcpsAcquisition class based on some input parameters.
|
||||
* \author Piyush Gupta, 2020. piyush04111999@gmail.com
|
||||
* \note Code added as GSoC 2020 Program.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2020 (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.
|
||||
*
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
|
||||
#include "concurrent_queue.h"
|
||||
#include "fir_filter.h"
|
||||
#include "galileo_e5b_pcps_acquisition.h"
|
||||
#include "gnss_block_factory.h"
|
||||
#include "gnss_block_interface.h"
|
||||
#include "gnss_sdr_valve.h"
|
||||
#include "gnss_synchro.h"
|
||||
#include "in_memory_configuration.h"
|
||||
#include "pass_through.h"
|
||||
#include "signal_generator.h"
|
||||
#include "signal_generator_c.h"
|
||||
#include <boost/make_shared.hpp>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gtest/gtest.h>
|
||||
#include <pmt/pmt.h>
|
||||
#include <chrono>
|
||||
#include <cstdlib>
|
||||
#include <utility>
|
||||
#if HAS_GENERIC_LAMBDA
|
||||
#else
|
||||
#include <boost/bind.hpp>
|
||||
#endif
|
||||
#ifdef GR_GREATER_38
|
||||
#include <gnuradio/analog/sig_source.h>
|
||||
#else
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#endif
|
||||
|
||||
|
||||
// ######## GNURADIO BLOCK MESSAGE RECEVER #########
|
||||
class GalileoE5bPcpsAcquisitionTest_msg_rx;
|
||||
|
||||
#if GNURADIO_USES_STD_POINTERS
|
||||
using GalileoE5bPcpsAcquisitionTest_msg_rx_sptr = std::shared_ptr<GalileoE5bPcpsAcquisitionTest_msg_rx>;
|
||||
#else
|
||||
using GalileoE5bPcpsAcquisitionTest_msg_rx_sptr = boost::shared_ptr<GalileoE5bPcpsAcquisitionTest_msg_rx>;
|
||||
#endif
|
||||
|
||||
GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make();
|
||||
|
||||
class GalileoE5bPcpsAcquisitionTest_msg_rx : public gr::block
|
||||
{
|
||||
private:
|
||||
friend GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make();
|
||||
void msg_handler_events(pmt::pmt_t msg);
|
||||
GalileoE5bPcpsAcquisitionTest_msg_rx();
|
||||
|
||||
public:
|
||||
int rx_message;
|
||||
~GalileoE5bPcpsAcquisitionTest_msg_rx(); //!< Default destructor
|
||||
};
|
||||
|
||||
|
||||
GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make()
|
||||
{
|
||||
return GalileoE5bPcpsAcquisitionTest_msg_rx_sptr(new GalileoE5bPcpsAcquisitionTest_msg_rx());
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5bPcpsAcquisitionTest_msg_rx::msg_handler_events(pmt::pmt_t msg)
|
||||
{
|
||||
try
|
||||
{
|
||||
int64_t message = pmt::to_long(std::move(msg));
|
||||
rx_message = message;
|
||||
}
|
||||
catch (boost::bad_any_cast& e)
|
||||
{
|
||||
std::cout << "msg_handler_telemetry Bad any cast!" << std::endl;
|
||||
rx_message = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
GalileoE5bPcpsAcquisitionTest_msg_rx::GalileoE5bPcpsAcquisitionTest_msg_rx() : gr::block("GalileoE5bPcpsAcquisitionTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
|
||||
{
|
||||
this->message_port_register_in(pmt::mp("events"));
|
||||
this->set_msg_handler(pmt::mp("events"),
|
||||
#if HAS_GENERIC_LAMBDA
|
||||
[this](pmt::pmt_t&& PH1) { msg_handler_events(PH1); });
|
||||
#else
|
||||
#if BOOST_173_OR_GREATER
|
||||
boost::bind(&GalileoE5bPcpsAcquisitionTest_msg_rx::msg_handler_events, this, boost::placeholders::_1));
|
||||
#else
|
||||
boost::bind(&GalileoE5bPcpsAcquisitionTest_msg_rx::msg_handler_events, this, _1));
|
||||
#endif
|
||||
#endif
|
||||
rx_message = 0;
|
||||
}
|
||||
|
||||
|
||||
GalileoE5bPcpsAcquisitionTest_msg_rx::~GalileoE5bPcpsAcquisitionTest_msg_rx() = default;
|
||||
|
||||
|
||||
// ###########################################################
|
||||
|
||||
class GalileoE5bPcpsAcquisitionTest : public ::testing::Test
|
||||
{
|
||||
protected:
|
||||
GalileoE5bPcpsAcquisitionTest()
|
||||
{
|
||||
factory = std::make_shared<GNSSBlockFactory>();
|
||||
config = std::make_shared<InMemoryConfiguration>();
|
||||
item_size = sizeof(gr_complex);
|
||||
gnss_synchro = Gnss_Synchro();
|
||||
}
|
||||
|
||||
~GalileoE5bPcpsAcquisitionTest() = default;
|
||||
|
||||
void init();
|
||||
|
||||
gr::top_block_sptr top_block;
|
||||
std::shared_ptr<GNSSBlockFactory> factory;
|
||||
std::shared_ptr<InMemoryConfiguration> config;
|
||||
Gnss_Synchro gnss_synchro;
|
||||
size_t item_size;
|
||||
};
|
||||
|
||||
|
||||
void GalileoE5bPcpsAcquisitionTest::init()
|
||||
{
|
||||
gnss_synchro.Channel_ID = 0;
|
||||
gnss_synchro.System = 'E';
|
||||
std::string signal = "7X";
|
||||
signal.copy(gnss_synchro.Signal, 2, 0);
|
||||
gnss_synchro.PRN = 1;
|
||||
config->set_property("SignalSource.item_type", "gr_complex");
|
||||
config->set_property("SignalSource.num_satellites", "1");
|
||||
config->set_property("SignalSource.system_0", "E");
|
||||
config->set_property("SignalSource.signal_0", "7X");
|
||||
config->set_property("SignalSource.PRN_0", "11");
|
||||
config->set_property("SignalSource.CN0_dB_0", "50");
|
||||
config->set_property("SignalSource.doppler_Hz_0", std::to_string(1000));
|
||||
config->set_property("SignalSource.delay_chips_0", std::to_string(50));
|
||||
config->set_property("SignalSource.delay_sec_0", std::to_string(94));
|
||||
config->set_property("SignalSource.noise_flag", "false");
|
||||
config->set_property("SignalSource.data_flag", "false");
|
||||
config->set_property("SignalSource.BW_BB", "0.97");
|
||||
config->set_property("SignalSource.dump", "false");
|
||||
config->set_property("SignalSource.dump_filename", "../data/signal_source.dat");
|
||||
config->set_property("GNSS-SDR.internal_fs_sps", "4000000");
|
||||
config->set_property("InputFilter.implementation", "Fir_Filter");
|
||||
config->set_property("InputFilter.input_item_type", "gr_complex");
|
||||
config->set_property("InputFilter.output_item_type", "gr_complex");
|
||||
config->set_property("InputFilter.taps_item_type", "float");
|
||||
config->set_property("InputFilter.number_of_taps", "11");
|
||||
config->set_property("InputFilter.number_of_bands", "2");
|
||||
config->set_property("InputFilter.band1_begin", "0.0");
|
||||
config->set_property("InputFilter.band1_end", "0.97");
|
||||
config->set_property("InputFilter.band2_begin", "0.98");
|
||||
config->set_property("InputFilter.band2_end", "1.0");
|
||||
config->set_property("InputFilter.ampl1_begin", "1.0");
|
||||
config->set_property("InputFilter.ampl1_end", "1.0");
|
||||
config->set_property("InputFilter.ampl2_begin", "0.0");
|
||||
config->set_property("InputFilter.ampl2_end", "0.0");
|
||||
config->set_property("InputFilter.band1_error", "1.0");
|
||||
config->set_property("InputFilter.band2_error", "1.0");
|
||||
config->set_property("InputFilter.filter_type", "bandpass");
|
||||
config->set_property("InputFilter.grid_density", "16");
|
||||
config->set_property("Acquisition_7X.item_type", "gr_complex");
|
||||
config->set_property("Acquisition_7X.coherent_integration_time_ms", "1");
|
||||
config->set_property("Acquisition_7X.dump", "true");
|
||||
config->set_property("Acquisition_7X.dump_filename", "./acquisition");
|
||||
config->set_property("Acquisition_7X.implementation", "Galileo_E5b_PCPS_Acquisition");
|
||||
config->set_property("Acquisition_7X.threshold", "0.001");
|
||||
config->set_property("Acquisition_7X.doppler_max", "10000");
|
||||
config->set_property("Acquisition_7X.doppler_step", "250");
|
||||
config->set_property("Acquisition_7X.repeat_satellite", "false");
|
||||
}
|
||||
|
||||
|
||||
TEST_F(GalileoE5bPcpsAcquisitionTest, Instantiate)
|
||||
{
|
||||
init();
|
||||
#if GNURADIO_USES_STD_POINTERS
|
||||
std::shared_ptr<GalileoE5bPcpsAcquisition> acquisition = std::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
|
||||
#else
|
||||
boost::shared_ptr<GalileoE5bPcpsAcquisition> acquisition = boost::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
TEST_F(GalileoE5bPcpsAcquisitionTest, ConnectAndRun)
|
||||
{
|
||||
int fs_in = 4000000;
|
||||
int nsamples = 4000;
|
||||
std::chrono::time_point<std::chrono::system_clock> begin, end;
|
||||
std::chrono::duration<double> elapsed_seconds(0);
|
||||
std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
|
||||
|
||||
top_block = gr::make_top_block("Acquisition test");
|
||||
init();
|
||||
#if GNURADIO_USES_STD_POINTERS
|
||||
std::shared_ptr<GalileoE5bPcpsAcquisition> acquisition = std::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
|
||||
#else
|
||||
boost::shared_ptr<GalileoE5bPcpsAcquisition> acquisition = boost::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
|
||||
#endif
|
||||
|
||||
auto msg_rx = GalileoE5bPcpsAcquisitionTest_msg_rx_make();
|
||||
|
||||
ASSERT_NO_THROW({
|
||||
acquisition->connect(top_block);
|
||||
auto source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0));
|
||||
auto valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue.get());
|
||||
top_block->connect(source, 0, valve, 0);
|
||||
top_block->connect(valve, 0, acquisition->get_left_block(), 0);
|
||||
top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
|
||||
}) << "Failure connecting the blocks of acquisition test.";
|
||||
|
||||
EXPECT_NO_THROW({
|
||||
begin = std::chrono::system_clock::now();
|
||||
top_block->run(); // Start threads and wait
|
||||
end = std::chrono::system_clock::now();
|
||||
elapsed_seconds = end - begin;
|
||||
}) << "Failure running the top_block.";
|
||||
|
||||
std::cout << "Processed " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
|
||||
}
|
||||
|
||||
|
||||
TEST_F(GalileoE5bPcpsAcquisitionTest, ValidationOfResults)
|
||||
{
|
||||
std::chrono::time_point<std::chrono::system_clock> begin, end;
|
||||
std::chrono::duration<double> elapsed_seconds(0);
|
||||
top_block = gr::make_top_block("Acquisition test");
|
||||
|
||||
double expected_delay_samples = 2920;
|
||||
double expected_doppler_hz = -632;
|
||||
init();
|
||||
std::shared_ptr<GalileoE5bPcpsAcquisition> acquisition = std::make_shared<GalileoE5bPcpsAcquisition>(config.get(), "Acquisition_7X", 1, 0);
|
||||
std::shared_ptr<FirFilter> input_filter = std::make_shared<FirFilter>(config.get(), "InputFilter", 1, 1);
|
||||
auto msg_rx = GalileoE5bPcpsAcquisitionTest_msg_rx_make();
|
||||
std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue = std::make_shared<Concurrent_Queue<pmt::pmt_t>>();
|
||||
|
||||
ASSERT_NO_THROW({
|
||||
acquisition->set_channel(1);
|
||||
}) << "Failure setting channel.";
|
||||
|
||||
ASSERT_NO_THROW({
|
||||
acquisition->set_gnss_synchro(&gnss_synchro);
|
||||
}) << "Failure setting gnss_synchro.";
|
||||
|
||||
ASSERT_NO_THROW({
|
||||
acquisition->set_threshold(0.001);
|
||||
}) << "Failure setting threshold.";
|
||||
|
||||
ASSERT_NO_THROW({
|
||||
acquisition->set_doppler_max(5000);
|
||||
}) << "Failure setting doppler_max.";
|
||||
|
||||
ASSERT_NO_THROW({
|
||||
acquisition->set_doppler_step(100);
|
||||
}) << "Failure setting doppler_step.";
|
||||
|
||||
ASSERT_NO_THROW({
|
||||
acquisition->connect(top_block);
|
||||
}) << "Failure connecting acquisition to the top_block.";
|
||||
|
||||
acquisition->set_local_code();
|
||||
acquisition->set_state(1); // Ensure that acquisition starts at the first sample
|
||||
acquisition->init();
|
||||
|
||||
ASSERT_NO_THROW({
|
||||
std::shared_ptr<GNSSBlockInterface> signal_generator = std::make_shared<SignalGenerator>(config.get(), "SignalSource", 0, 1, queue.get());
|
||||
std::shared_ptr<GNSSBlockInterface> filter = std::make_shared<FirFilter>(config.get(), "InputFilter", 1, 1);
|
||||
std::shared_ptr<GNSSBlockInterface> signal_source = std::make_shared<GenSignalSource>(signal_generator, filter, "SignalSource", queue.get());
|
||||
filter->connect(top_block);
|
||||
signal_source->connect(top_block);
|
||||
top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0);
|
||||
top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
|
||||
}) << "Failure connecting the blocks of acquisition test.";
|
||||
|
||||
EXPECT_NO_THROW({
|
||||
begin = std::chrono::system_clock::now();
|
||||
top_block->run(); // Start threads and wait
|
||||
end = std::chrono::system_clock::now();
|
||||
elapsed_seconds = end - begin;
|
||||
}) << "Failure running the top_block.";
|
||||
|
||||
uint64_t nsamples = gnss_synchro.Acq_samplestamp_samples;
|
||||
std::cout << "Acquired " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
|
||||
|
||||
ASSERT_EQ(1, msg_rx->rx_message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS.";
|
||||
|
||||
double delay_error_samples = std::abs(expected_delay_samples - gnss_synchro.Acq_delay_samples);
|
||||
float delay_error_chips = static_cast<float>(delay_error_samples) * 10230.0 / 4000.0;
|
||||
double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz);
|
||||
|
||||
EXPECT_LE(doppler_error_hz, 666) << "Doppler error exceeds the expected value: 666 Hz = 2/(3*integration period)";
|
||||
EXPECT_LT(delay_error_chips, 0.5) << "Delay error exceeds the expected value: 0.5 chips";
|
||||
}
|
||||
Loading…
Reference in New Issue