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https://github.com/gnss-sdr/gnss-sdr
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- Added TCP connector for Galileo E1 simulink tracking
- Added simulink-based Galileo_E1_DLL_PLL_VEML_Tracking git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@250 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
David Pubill
parent
a25e712be6
commit
c241b7b1d6
273
conf/gnss-sdr_galileo_e1_tcp_connector_tracking.conf
Normal file
273
conf/gnss-sdr_galileo_e1_tcp_connector_tracking.conf
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@ -0,0 +1,273 @@
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[GNSS-SDR]
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;######### GLOBAL OPTIONS ##################
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;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz].
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GNSS-SDR.internal_fs_hz=4000000
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;######### CONTROL_THREAD CONFIG ############
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ControlThread.wait_for_flowgraph=false
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;######### SIGNAL_SOURCE CONFIG ############
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;#implementation: Use File_Signal_Source or UHD_Signal_Source or GN3S_Signal_Source (experimental)
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SignalSource.implementation=File_Signal_Source
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;#filename: path to file with the captured GNSS signal samples to be processed
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SignalSource.filename=/home/engunit/workspace/cap2/cp_cttc_1_galileo_4Msps.dat
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;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
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SignalSource.item_type=gr_complex
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;#sampling_frequency: Original Signal sampling frequency in [Hz]
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SignalSource.sampling_frequency=4000000
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;#freq: RF front-end center frequency in [Hz]
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SignalSource.freq=1575420000
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;#gain: Front-end Gain in [dB]
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SignalSource.gain=50
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;#subdevice: UHD subdevice specification (for USRP1 use A:0 or B:0)
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SignalSource.subdevice=B:0
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;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
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SignalSource.samples=0
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;#repeat: Repeat the processing file. Disable this option in this version
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SignalSource.repeat=false
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;#dump: Dump the Signal source data to a file. Disable this option in this version
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SignalSource.dump=false
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SignalSource.dump_filename=../data/signal_source.dat
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;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
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; it helps to not overload the CPU, but the processing time will be longer.
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SignalSource.enable_throttle_control=false
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;######### SIGNAL_CONDITIONER CONFIG ############
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;## It holds blocks to change data type, filter and resample input data.
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;#implementation: Pass_Through disables this block
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SignalConditioner.implementation=Pass_Through
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;######### DATA_TYPE_ADAPTER CONFIG ############
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;## Changes the type of input data. Please disable it in this version.
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;#implementation: Pass_Through disables this block
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DataTypeAdapter.implementation=Pass_Through
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;######### INPUT_FILTER CONFIG ############
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;## Filter the input data. Can be combined with frequency translation for IF signals
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;#implementation: Pass_Through disables this block
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;InputFilter.implementation=Fir_Filter
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InputFilter.implementation=Pass_Through
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;#dump: Dump the filtered data to a file.
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InputFilter.dump=false
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;#dump_filename: Log path and filename.
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InputFilter.dump_filename=../data/input_filter.dat
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;#The following options are used in the filter design of Fir_Filter implementation.
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;#These options are based on parameters of gnuradio's function: gr_remez.
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;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands.
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;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
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InputFilter.input_item_type=gr_complex
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;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
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InputFilter.output_item_type=gr_complex
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;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
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InputFilter.taps_item_type=float
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;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time
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InputFilter.number_of_taps=5
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;#number_of _bands: Number of frequency bands in the filter.
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InputFilter.number_of_bands=2
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;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...].
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;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2)
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;#The number of band_begin and band_end elements must match the number of bands
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InputFilter.band1_begin=0.0
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InputFilter.band1_end=0.45
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InputFilter.band2_begin=0.55
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InputFilter.band2_end=1.0
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;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...].
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;#The number of ampl_begin and ampl_end elements must match the number of bands
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InputFilter.ampl1_begin=1.0
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InputFilter.ampl1_end=1.0
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InputFilter.ampl2_begin=0.0
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InputFilter.ampl2_end=0.0
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;#band_error: weighting applied to each band (usually 1).
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;#The number of band_error elements must match the number of bands
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InputFilter.band1_error=1.0
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InputFilter.band2_error=1.0
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;#filter_type: one of "bandpass", "hilbert" or "differentiator"
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InputFilter.filter_type=bandpass
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;#grid_density: determines how accurately the filter will be constructed.
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;The minimum value is 16; higher values are slower to compute the filter.
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InputFilter.grid_density=16
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;######### RESAMPLER CONFIG ############
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;## Resamples the input data.
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;#implementation: Pass_Through disables this block
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Resampler.implementation=Pass_Through
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;#dump: Dump the filtered data to a file.
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InputFilter.dump=false
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;#dump_filename: Log path and filename.
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InputFilter.dump=../data/resampler.dat
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;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
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Resampler.item_type=gr_complex
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;#sample_freq_in: the sample frequency of the input signal
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Resampler.sample_freq_in=4000000
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;#sample_freq_out: the desired sample frequency of the output signal
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Resampler.sample_freq_out=4000000
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;######### CHANNELS GLOBAL CONFIG ############
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;#count: Number of available satellite channels.
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Channels.count=1
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Channels.in_acquisition=1
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;######### CHANNEL 0 CONFIG ############
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Channel0.system=Galileo
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Channel0.signal=1B
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Channel0.satellite=12
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Channel0.repeat_satellite=true
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;######### CHANNEL 1 CONFIG ############
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Channel1.system=Galileo
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Channel1.signal=1B
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Channel1.satellite=11
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Channel1.repeat_satellite=true
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;######### ACQUISITION GLOBAL CONFIG ############
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;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
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Acquisition.dump=false
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;#filename: Log path and filename
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Acquisition.dump_filename=./acq_dump.dat
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;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
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Acquisition.item_type=gr_complex
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;#if: Signal intermediate frequency in [Hz]
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Acquisition.if=0
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;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
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Acquisition.sampled_ms=4
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;######### ACQUISITION CHANNELS CONFIG ######
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;######### ACQUISITION CH 0 CONFIG ############
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;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
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Acquisition0.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
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;#threshold: Acquisition threshold
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Acquisition0.threshold=50
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;#doppler_max: Maximum expected Doppler shift [Hz]
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Acquisition0.doppler_max=10000
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;#doppler_max: Doppler step in the grid search [Hz]
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Acquisition0.doppler_step=125
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;#cboc: Only for [Galileo_E1_PCPS_Ambiguous_Acquisition]. This option allows you to choose between acquiring with CBOC signal [true] or sinboc(1,1) signal [false]
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Acquisition0.cboc=true
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;######### ACQUISITION CH 1 CONFIG ############
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Acquisition1.implementation=Galileo_E1_PCPS_Ambiguous_Acquisition
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Acquisition1.threshold=50
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Acquisition1.doppler_max=10000
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Acquisition1.doppler_step=125
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Acquisition1.cboc=true
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;######### TRACKING GLOBAL CONFIG ############
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;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking] or [Galileo_E1_TCP_CONNECTOR_Tracking]
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Tracking.implementation=Galileo_E1_TCP_CONNECTOR_Tracking
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;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
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Tracking.item_type=gr_complex
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;#sampling_frequency: Signal Intermediate Frequency in [Hz]
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Tracking.if=0
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;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
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Tracking.dump=false
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;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
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Tracking.dump_filename=../data/veml_tracking_ch_
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;#pll_bw_hz: PLL loop filter bandwidth [Hz]
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Tracking.pll_bw_hz=30.0;
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;#dll_bw_hz: DLL loop filter bandwidth [Hz]
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Tracking.dll_bw_hz=2.0;
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;#fll_bw_hz: FLL loop filter bandwidth [Hz]
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Tracking.fll_bw_hz=10.0;
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;#order: PLL/DLL loop filter order [2] or [3]
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Tracking.order=3;
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;#early_late_space_chips: correlator early-late space [chips]. Use [0.5] for GPS and [0.15] for Galileo
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Tracking.early_late_space_chips=0.15;
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;#very_early_late_space_chips: only for [Galileo_E1_DLL_PLL_VEML_Tracking], correlator very early-late space [chips]. Use [0.6]
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Tracking.very_early_late_space_chips=0.6;
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;#port_ch0: local TCP port for channel 0
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Tracking.port_ch0=2070;
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;######### TELEMETRY DECODER CONFIG ############
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;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A.
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TelemetryDecoder.implementation=GPS_L1_CA_Telemetry_Decoder
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TelemetryDecoder.dump=false
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;######### OBSERVABLES CONFIG ############
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;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
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Observables.implementation=GPS_L1_CA_Observables
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;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
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Observables.dump=false
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;#dump_filename: Log path and filename.
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Observables.dump_filename=./observables.dat
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;######### PVT CONFIG ############
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;#implementation: Position Velocity and Time (PVT) implementation algorithm: Use [GPS_L1_CA_PVT] in this version.
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PVT.implementation=GPS_L1_CA_PVT
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;#averaging_depth: Number of PVT observations in the moving average algorithm
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PVT.averaging_depth=100
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;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false]
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PVT.flag_averaging=true
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;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
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PVT.output_rate_ms=100;
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;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
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PVT.display_rate_ms=500;
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;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
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PVT.dump=false
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;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
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PVT.dump_filename=./PVT
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;######### OUTPUT_FILTER CONFIG ############
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;# Receiver output filter: Leave this block disabled in this version
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OutputFilter.implementation=Null_Sink_Output_Filter
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OutputFilter.filename=data/gnss-sdr.dat
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OutputFilter.item_type=gr_complex
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@ -144,8 +144,8 @@ Resampler.sample_freq_out=4000000
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;######### CHANNELS GLOBAL CONFIG ############
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;#count: Number of available satellite channels.
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Channels.count=7
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Channels.in_acquisition=7
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Channels.count=4
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Channels.in_acquisition=4
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;######### CHANNEL 0 CONFIG ############
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;#system: GPS, GLONASS, GALILEO, SBAS or COMPASS
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@ -0,0 +1,174 @@
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/*!
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* \file gps_l1_ca_tcp_connector_tracking.cc
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* \brief Implementation of an adapter of a TCP connector block based on code DLL + carrier PLL
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* \author David Pubill, 2012. dpubill(at)cttc.es
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* Luis Esteve, 2012. luis(at)epsilon-formacion.com
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* Javier Arribas, 2011. jarribas(at)cttc.es
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*
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* Code DLL + carrier PLL according to the algorithms described in:
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* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
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* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
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* Approach, Birkhauser, 2007
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include "galileo_e1_tcp_connector_tracking.h"
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#include "GPS_L1_CA.h"
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#include "Galileo_E1.h"
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#include "configuration_interface.h"
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#ifdef GNSS_SDR_USE_BOOST_ROUND
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#include <boost/math/special_functions/round.hpp>
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#endif
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#include <gnuradio/gr_io_signature.h>
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#include <glog/log_severity.h>
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#include <glog/logging.h>
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using google::LogMessage;
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GalileoE1TcpConnectorTracking::GalileoE1TcpConnectorTracking(
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ConfigurationInterface* configuration, std::string role,
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unsigned int in_streams, unsigned int out_streams,
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gr_msg_queue_sptr queue) :
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role_(role), in_streams_(in_streams), out_streams_(out_streams),
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queue_(queue)
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{
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DLOG(INFO) << "role " << role;
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//DLOG(INFO) << "vector length " << vector_length;
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//################# CONFIGURATION PARAMETERS ########################
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int fs_in;
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int vector_length;
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int f_if;
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bool dump;
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std::string dump_filename;
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std::string item_type;
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std::string default_item_type = "gr_complex";
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float pll_bw_hz;
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float dll_bw_hz;
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float early_late_space_chips;
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float very_early_late_space_chips;
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size_t port_ch0;
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item_type = configuration->property(role + ".item_type",default_item_type);
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fs_in = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
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f_if = configuration->property(role + ".if", 0);
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dump = configuration->property(role + ".dump", false);
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pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
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dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
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early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.15);
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very_early_late_space_chips = configuration->property(role + ".very_early_late_space_chips", 0.6);
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port_ch0 = configuration->property(role + ".port_ch0", 2060);
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std::string default_dump_filename = "./track_ch";
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dump_filename = configuration->property(role + ".dump_filename",
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default_dump_filename); //unused!
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#ifdef GNSS_SDR_USE_BOOST_ROUND
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vector_length = round(fs_in / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS));
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#else
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vector_length = std::round(fs_in / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS));
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#endif
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//################# MAKE TRACKING GNURadio object ###################
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if (item_type.compare("gr_complex") == 0)
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{
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item_size_ = sizeof(gr_complex);
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tracking_ = galileo_e1_tcp_connector_make_tracking_cc(
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f_if,
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fs_in,
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vector_length,
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queue_,
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dump,
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dump_filename,
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pll_bw_hz,
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dll_bw_hz,
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early_late_space_chips,
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very_early_late_space_chips,
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port_ch0);
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}
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else
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{
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LOG_AT_LEVEL(WARNING) << item_type << " unknown tracking item type.";
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}
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||||
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DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";
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}
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GalileoE1TcpConnectorTracking::~GalileoE1TcpConnectorTracking()
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{
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}
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void GalileoE1TcpConnectorTracking::start_tracking()
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{
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tracking_->start_tracking();
|
||||
}
|
||||
|
||||
/*
|
||||
* Set tracking channel unique ID
|
||||
*/
|
||||
void GalileoE1TcpConnectorTracking::set_channel(unsigned int channel)
|
||||
{
|
||||
channel_ = channel;
|
||||
tracking_->set_channel(channel);
|
||||
}
|
||||
|
||||
/*
|
||||
* Set tracking channel internal queue
|
||||
*/
|
||||
void GalileoE1TcpConnectorTracking::set_channel_queue(
|
||||
concurrent_queue<int> *channel_internal_queue)
|
||||
{
|
||||
channel_internal_queue_ = channel_internal_queue;
|
||||
|
||||
tracking_->set_channel_queue(channel_internal_queue_);
|
||||
|
||||
}
|
||||
|
||||
void GalileoE1TcpConnectorTracking::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
|
||||
{
|
||||
tracking_->set_gnss_synchro(p_gnss_synchro);
|
||||
}
|
||||
|
||||
void GalileoE1TcpConnectorTracking::connect(gr_top_block_sptr top_block)
|
||||
{
|
||||
//nothing to connect, now the tracking uses gr_sync_decimator
|
||||
}
|
||||
|
||||
void GalileoE1TcpConnectorTracking::disconnect(gr_top_block_sptr top_block)
|
||||
{
|
||||
//nothing to disconnect, now the tracking uses gr_sync_decimator
|
||||
}
|
||||
|
||||
gr_basic_block_sptr GalileoE1TcpConnectorTracking::get_left_block()
|
||||
{
|
||||
return tracking_;
|
||||
}
|
||||
|
||||
gr_basic_block_sptr GalileoE1TcpConnectorTracking::get_right_block()
|
||||
{
|
||||
return tracking_;
|
||||
}
|
||||
|
||||
@ -0,0 +1,116 @@
|
||||
/*!
|
||||
* \file gps_l1_ca_tcp_connector_tracking.h
|
||||
* \brief Interface of an adapter of a TCP connector block based on code DLL + carrier PLL
|
||||
* for GPS L1 C/A to a TrackingInterface
|
||||
* \author David Pubill, 2012. dpubill(at)cttc.es
|
||||
* Luis Esteve, 2012. luis(at)epsilon-formacion.com
|
||||
* Javier Arribas, 2011. jarribas(at)cttc.es
|
||||
*
|
||||
* Code DLL + carrier PLL according to the algorithms described in:
|
||||
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
|
||||
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
|
||||
* Approach, Birkha user, 2007
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2012 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GNSS_SDR_GALILEO_E1_TCP_CONNECTOR_TRACKING_H_
|
||||
#define GNSS_SDR_GALILEO_E1_TCP_CONNECTOR_TRACKING_H_
|
||||
|
||||
#include "tracking_interface.h"
|
||||
#include "galileo_e1_tcp_connector_tracking_cc.h"
|
||||
#include <gnuradio/gr_msg_queue.h>
|
||||
|
||||
class ConfigurationInterface;
|
||||
|
||||
/*!
|
||||
* \brief This class implements a code DLL + carrier PLL tracking loop
|
||||
*/
|
||||
class GalileoE1TcpConnectorTracking : public TrackingInterface
|
||||
{
|
||||
|
||||
public:
|
||||
|
||||
GalileoE1TcpConnectorTracking(ConfigurationInterface* configuration,
|
||||
std::string role,
|
||||
unsigned int in_streams,
|
||||
unsigned int out_streams,
|
||||
gr_msg_queue_sptr queue);
|
||||
|
||||
virtual ~GalileoE1TcpConnectorTracking();
|
||||
|
||||
std::string role()
|
||||
{
|
||||
return role_;
|
||||
}
|
||||
std::string implementation()
|
||||
{
|
||||
return "Galileo_E1_TCP_CONNECTOR_Tracking";
|
||||
}
|
||||
size_t item_size()
|
||||
{
|
||||
return item_size_;
|
||||
}
|
||||
|
||||
void connect(gr_top_block_sptr top_block);
|
||||
void disconnect(gr_top_block_sptr top_block);
|
||||
gr_basic_block_sptr get_left_block();
|
||||
gr_basic_block_sptr get_right_block();
|
||||
|
||||
|
||||
/*!
|
||||
* \brief Set tracking channel unique ID
|
||||
*/
|
||||
void set_channel(unsigned int channel);
|
||||
|
||||
/*!
|
||||
* \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);
|
||||
|
||||
/*!
|
||||
* \brief Set tracking channel internal queue
|
||||
*/
|
||||
void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
|
||||
|
||||
void start_tracking();
|
||||
|
||||
private:
|
||||
|
||||
galileo_e1_tcp_connector_tracking_cc_sptr tracking_;
|
||||
size_t item_size_;
|
||||
|
||||
unsigned int channel_;
|
||||
|
||||
std::string role_;
|
||||
unsigned int in_streams_;
|
||||
unsigned int out_streams_;
|
||||
gr_msg_queue_sptr queue_;
|
||||
concurrent_queue<int> *channel_internal_queue_;
|
||||
};
|
||||
|
||||
#endif // GNSS_SDR_GALILEO_E1_TCP_CONNECTOR_TRACKING_H_
|
||||
@ -2,6 +2,7 @@
|
||||
* \file gps_l1_ca_tcp_connector_tracking.cc
|
||||
* \brief Implementation of an adapter of a TCP connector block based on code DLL + carrier PLL
|
||||
* \author David Pubill, 2012. dpubill(at)cttc.es
|
||||
* Luis Esteve, 2012. luis(at)epsilon-formacion.com
|
||||
* Javier Arribas, 2011. jarribas(at)cttc.es
|
||||
*
|
||||
* Code DLL + carrier PLL according to the algorithms described in:
|
||||
|
||||
@ -4,4 +4,5 @@ obj gps_l1_ca_dll_pll_tracking : gps_l1_ca_dll_pll_tracking.cc : <toolset>darwin
|
||||
obj gps_l1_ca_dll_fll_pll_tracking : gps_l1_ca_dll_fll_pll_tracking.cc : <toolset>darwin:<define>GNSS_SDR_USE_BOOST_ROUND ;
|
||||
obj gps_l1_ca_tcp_connector_tracking : gps_l1_ca_tcp_connector_tracking.cc : <toolset>darwin:<define>GNSS_SDR_USE_BOOST_ROUND ;
|
||||
obj galileo_e1_dll_pll_veml_tracking : galileo_e1_dll_pll_veml_tracking.cc : <toolset>darwin:<define>GNSS_SDR_USE_BOOST_ROUND ;
|
||||
obj galileo_e1_tcp_connector_tracking : galileo_e1_tcp_connector_tracking.cc : <toolset>darwin:<define>GNSS_SDR_USE_BOOST_ROUND ;
|
||||
obj gps_l1_ca_dll_pll_optim_tracking : gps_l1_ca_dll_pll_optim_tracking.cc : <toolset>darwin:<define>GNSS_SDR_USE_BOOST_ROUND ;
|
||||
@ -0,0 +1,637 @@
|
||||
/*!
|
||||
* \file galileo_e1_tcp_connector_tracking_cc.cc
|
||||
* \brief Implementation of a TCP connector block based on Code DLL + carrier PLL
|
||||
* \author David Pubill, 2012. dpubill(at)cttc.es
|
||||
* Luis Esteve, 2012. luis(at)epsilon-formacion.com
|
||||
* Javier Arribas, 2011. jarribas(at)cttc.es
|
||||
*
|
||||
*
|
||||
* Code DLL + carrier PLL according to the algorithms described in:
|
||||
* [1] K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
|
||||
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
|
||||
* Approach, Birkha user, 2007
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "gnss_synchro.h"
|
||||
#include "galileo_e1_tcp_connector_tracking_cc.h"
|
||||
#include "galileo_e1_signal_processing.h"
|
||||
#include "tracking_discriminators.h"
|
||||
#include "CN_estimators.h"
|
||||
#include "GPS_L1_CA.h"
|
||||
#include "Galileo_E1.h"
|
||||
#include "control_message_factory.h"
|
||||
#include "tcp_communication.h"
|
||||
#include <boost/lexical_cast.hpp>
|
||||
#include <iostream>
|
||||
#include <sstream>
|
||||
#include <cmath>
|
||||
#include "math.h"
|
||||
#include <gnuradio/gr_io_signature.h>
|
||||
#include <glog/log_severity.h>
|
||||
#include <glog/logging.h>
|
||||
|
||||
#include <boost/asio.hpp>
|
||||
#include "tcp_packet_data.h"
|
||||
|
||||
/*!
|
||||
* \todo Include in definition header file
|
||||
*/
|
||||
#define CN0_ESTIMATION_SAMPLES 10
|
||||
#define MINIMUM_VALID_CN0 25
|
||||
#define MAXIMUM_LOCK_FAIL_COUNTER 200
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
galileo_e1_tcp_connector_tracking_cc_sptr
|
||||
galileo_e1_tcp_connector_make_tracking_cc(
|
||||
long if_freq,
|
||||
long fs_in,
|
||||
unsigned int vector_length,
|
||||
gr_msg_queue_sptr queue,
|
||||
bool dump,
|
||||
std::string dump_filename,
|
||||
float pll_bw_hz,
|
||||
float dll_bw_hz,
|
||||
float early_late_space_chips,
|
||||
float very_early_late_space_chips,
|
||||
size_t port_ch0)
|
||||
{
|
||||
return galileo_e1_tcp_connector_tracking_cc_sptr(new Galileo_E1_Tcp_Connector_Tracking_cc(if_freq,
|
||||
fs_in, vector_length, queue, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips, very_early_late_space_chips, port_ch0));
|
||||
}
|
||||
|
||||
|
||||
|
||||
void Galileo_E1_Tcp_Connector_Tracking_cc::forecast (int noutput_items,
|
||||
gr_vector_int &ninput_items_required)
|
||||
{
|
||||
ninput_items_required[0] = (int)d_vector_length*2; //set the required available samples in each call
|
||||
}
|
||||
|
||||
|
||||
|
||||
Galileo_E1_Tcp_Connector_Tracking_cc::Galileo_E1_Tcp_Connector_Tracking_cc(
|
||||
long if_freq,
|
||||
long fs_in,
|
||||
unsigned int vector_length,
|
||||
gr_msg_queue_sptr queue,
|
||||
bool dump,
|
||||
std::string dump_filename,
|
||||
float pll_bw_hz,
|
||||
float dll_bw_hz,
|
||||
float early_late_space_chips,
|
||||
float very_early_late_space_chips,
|
||||
size_t port_ch0):
|
||||
gr_block ("Galileo_E1_Tcp_Connector_Tracking_cc", gr_make_io_signature (1, 1, sizeof(gr_complex)),
|
||||
gr_make_io_signature(1, 1, sizeof(Gnss_Synchro)))
|
||||
{
|
||||
this->set_relative_rate(1.0/vector_length);
|
||||
// initialize internal vars
|
||||
d_queue = queue;
|
||||
d_dump = dump;
|
||||
d_if_freq = if_freq;
|
||||
d_fs_in = fs_in;
|
||||
d_vector_length = vector_length;
|
||||
d_dump_filename = dump_filename;
|
||||
d_code_loop_filter=Tracking_2nd_DLL_filter(0.004);
|
||||
d_carrier_loop_filter=Tracking_2nd_PLL_filter(0.004);
|
||||
|
||||
// Initialize tracking ==========================================
|
||||
|
||||
d_code_loop_filter.set_DLL_BW(dll_bw_hz);
|
||||
d_carrier_loop_filter.set_PLL_BW(pll_bw_hz);
|
||||
|
||||
//--- DLL variables --------------------------------------------------------
|
||||
d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
|
||||
d_very_early_late_spc_chips = very_early_late_space_chips; // Define very-early-late offset (in chips)
|
||||
|
||||
//--- TCP CONNECTOR variables --------------------------------------------------------
|
||||
d_port_ch0 = port_ch0;
|
||||
d_port = 0;
|
||||
d_listen_connection = true;
|
||||
d_control_id = 0;
|
||||
|
||||
// Initialization of local code replica
|
||||
// Get space for a vector with the sinboc(1,1) replica sampled 2x/chip
|
||||
// int d_ca_code_size = (int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS + 4);
|
||||
d_ca_code = new gr_complex[(int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS + 4)];
|
||||
|
||||
// std::cout << "d_ca_code_size = " << d_ca_code_size << std::endl;
|
||||
|
||||
/* If an array is partitioned for more than one thread to operate on,
|
||||
* having the sub-array boundaries unaligned to cache lines could lead
|
||||
* to performance degradation. Here we allocate memory
|
||||
* (gr_comlex array of size 2*d_vector_length) aligned to cache of 16 bytes
|
||||
*/
|
||||
// todo: do something if posix_memalign fails
|
||||
// Get space for the resampled early / prompt / late local replicas
|
||||
if (posix_memalign((void**)&d_very_early_code, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){};
|
||||
if (posix_memalign((void**)&d_early_code, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){};
|
||||
if (posix_memalign((void**)&d_prompt_code, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){};
|
||||
if (posix_memalign((void**)&d_late_code, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){};
|
||||
if (posix_memalign((void**)&d_very_late_code, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){};
|
||||
// space for carrier wipeoff and signal baseband vectors
|
||||
if (posix_memalign((void**)&d_carr_sign, 16, d_vector_length * sizeof(gr_complex) * 2) == 0){};
|
||||
// correlator outputs (scalar)
|
||||
if (posix_memalign((void**)&d_Very_Early, 16, sizeof(gr_complex)) == 0){};
|
||||
if (posix_memalign((void**)&d_Early, 16, sizeof(gr_complex)) == 0){};
|
||||
if (posix_memalign((void**)&d_Prompt, 16, sizeof(gr_complex)) == 0){};
|
||||
if (posix_memalign((void**)&d_Late, 16, sizeof(gr_complex)) == 0){};
|
||||
if (posix_memalign((void**)&d_Very_Late, 16, sizeof(gr_complex)) == 0){};
|
||||
|
||||
|
||||
//--- Perform initializations ------------------------------
|
||||
// define initial code frequency basis of NCO
|
||||
d_code_freq_hz = Galileo_E1_CODE_CHIP_RATE_HZ;
|
||||
// define residual code phase (in chips)
|
||||
d_rem_code_phase_samples = 0.0;
|
||||
// define residual carrier phase
|
||||
d_rem_carr_phase_rad = 0.0;
|
||||
// define phase step
|
||||
d_code_phase_step_chips = d_code_freq_hz / (float)d_fs_in; //[chips]
|
||||
|
||||
// sample synchronization
|
||||
d_sample_counter = 0;
|
||||
//d_sample_counter_seconds = 0;
|
||||
d_acq_sample_stamp = 0;
|
||||
|
||||
d_enable_tracking = false;
|
||||
d_pull_in = false;
|
||||
d_last_seg = 0;
|
||||
|
||||
d_current_prn_length_samples = (int)d_vector_length;
|
||||
|
||||
// CN0 estimation and lock detector buffers
|
||||
d_cn0_estimation_counter = 0;
|
||||
d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES];
|
||||
d_carrier_lock_test = 1;
|
||||
d_CN0_SNV_dB_Hz = 0;
|
||||
d_carrier_lock_fail_counter = 0;
|
||||
d_carrier_lock_threshold = 20;
|
||||
|
||||
systemName["G"] = std::string("GPS");
|
||||
systemName["R"] = std::string("GLONASS");
|
||||
systemName["S"] = std::string("SBAS");
|
||||
systemName["E"] = std::string("Galileo");
|
||||
systemName["C"] = std::string("Compass");
|
||||
}
|
||||
|
||||
void Galileo_E1_Tcp_Connector_Tracking_cc::start_tracking()
|
||||
{
|
||||
|
||||
d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
|
||||
d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
|
||||
d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
|
||||
|
||||
// DLL/PLL filter initialization
|
||||
d_carrier_loop_filter.initialize(d_acq_carrier_doppler_hz); //initialize the carrier filter
|
||||
d_code_loop_filter.initialize(d_acq_code_phase_samples); //initialize the code filter
|
||||
|
||||
|
||||
// generate local reference ALWAYS starting at chip 2 (2 samples per chip)
|
||||
galileo_e1_code_gen_complex_sampled(&d_ca_code[2],d_acquisition_gnss_synchro->Signal, false, d_acquisition_gnss_synchro->PRN, 2*Galileo_E1_CODE_CHIP_RATE_HZ, 0);
|
||||
|
||||
d_ca_code[0] = d_ca_code[(int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS)];
|
||||
d_ca_code[1] = d_ca_code[(int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS+1)];
|
||||
d_ca_code[(int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS+2)] = d_ca_code[2];
|
||||
d_ca_code[(int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS+3)] = d_ca_code[3];
|
||||
d_carrier_lock_fail_counter = 0;
|
||||
d_rem_code_phase_samples = 0.0;
|
||||
d_rem_carr_phase_rad = 0;
|
||||
d_next_rem_code_phase_samples = 0;
|
||||
d_acc_carrier_phase_rad = 0;
|
||||
|
||||
d_code_phase_samples = d_acq_code_phase_samples;
|
||||
d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
|
||||
|
||||
d_next_prn_length_samples = d_vector_length;
|
||||
|
||||
std::string sys_ = &d_acquisition_gnss_synchro->System;
|
||||
sys = sys_.substr(0,1);
|
||||
|
||||
// DEBUG OUTPUT
|
||||
std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
|
||||
DLOG(INFO) << "Start tracking for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " received" << std::endl;
|
||||
|
||||
// enable tracking
|
||||
d_pull_in = true;
|
||||
d_enable_tracking = true;
|
||||
|
||||
std::cout << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
|
||||
<< " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples << std::endl;
|
||||
}
|
||||
|
||||
|
||||
void Galileo_E1_Tcp_Connector_Tracking_cc::update_local_code()
|
||||
{
|
||||
|
||||
double tcode_half_chips;
|
||||
float rem_code_phase_half_chips;
|
||||
int associated_chip_index;
|
||||
int code_length_half_chips = (int)(2*Galileo_E1_B_CODE_LENGTH_CHIPS);
|
||||
double code_phase_step_chips;
|
||||
double code_phase_step_half_chips;
|
||||
int early_late_spc_samples;
|
||||
int very_early_late_spc_samples;
|
||||
int epl_loop_length_samples;
|
||||
|
||||
// unified loop for E, P, L code vectors
|
||||
code_phase_step_chips = ((double)d_code_freq_hz) / ((double)d_fs_in);
|
||||
code_phase_step_half_chips = (2.0*(double)d_code_freq_hz) / ((double)d_fs_in);
|
||||
|
||||
rem_code_phase_half_chips = d_rem_code_phase_samples * (2*d_code_freq_hz / d_fs_in);
|
||||
tcode_half_chips = -(double)rem_code_phase_half_chips;
|
||||
|
||||
early_late_spc_samples=round(d_early_late_spc_chips/code_phase_step_chips);
|
||||
very_early_late_spc_samples=round(d_very_early_late_spc_chips/code_phase_step_chips);
|
||||
|
||||
epl_loop_length_samples=d_current_prn_length_samples+very_early_late_spc_samples*2;
|
||||
|
||||
|
||||
for (int i=0; i<epl_loop_length_samples; i++)
|
||||
{
|
||||
associated_chip_index = 2 + round(fmod(tcode_half_chips - 2*d_very_early_late_spc_chips, code_length_half_chips));
|
||||
d_very_early_code[i] = d_ca_code[associated_chip_index];
|
||||
tcode_half_chips = tcode_half_chips + code_phase_step_half_chips;
|
||||
}
|
||||
memcpy(d_early_code,&d_very_early_code[very_early_late_spc_samples-early_late_spc_samples],d_current_prn_length_samples* sizeof(gr_complex));
|
||||
memcpy(d_prompt_code,&d_very_early_code[very_early_late_spc_samples],d_current_prn_length_samples* sizeof(gr_complex));
|
||||
memcpy(d_late_code,&d_very_early_code[2*very_early_late_spc_samples-early_late_spc_samples],d_current_prn_length_samples* sizeof(gr_complex));
|
||||
memcpy(d_very_late_code,&d_very_early_code[2*very_early_late_spc_samples],d_current_prn_length_samples* sizeof(gr_complex));
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void Galileo_E1_Tcp_Connector_Tracking_cc::update_local_carrier()
|
||||
{
|
||||
float phase_rad, phase_step_rad;
|
||||
|
||||
phase_step_rad = (float)GPS_TWO_PI*d_carrier_doppler_hz / (float)d_fs_in;
|
||||
phase_rad = d_rem_carr_phase_rad;
|
||||
for(int i = 0; i < d_current_prn_length_samples; i++)
|
||||
{
|
||||
d_carr_sign[i] = gr_complex(cos(phase_rad), -sin(phase_rad));
|
||||
phase_rad += phase_step_rad;
|
||||
}
|
||||
d_rem_carr_phase_rad = fmod(phase_rad, GPS_TWO_PI);
|
||||
d_acc_carrier_phase_rad = d_acc_carrier_phase_rad + d_rem_carr_phase_rad;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
Galileo_E1_Tcp_Connector_Tracking_cc::~Galileo_E1_Tcp_Connector_Tracking_cc()
|
||||
{
|
||||
d_dump_file.close();
|
||||
|
||||
free(d_very_early_code);
|
||||
free(d_early_code);
|
||||
free(d_prompt_code);
|
||||
free(d_late_code);
|
||||
free(d_very_late_code);
|
||||
free(d_carr_sign);
|
||||
free(d_Very_Early);
|
||||
free(d_Early);
|
||||
free(d_Prompt);
|
||||
free(d_Late);
|
||||
free(d_Very_Late);
|
||||
|
||||
delete[] d_ca_code;
|
||||
delete[] d_Prompt_buffer;
|
||||
|
||||
d_tcp_com.close_tcp_connection(d_port);
|
||||
}
|
||||
|
||||
|
||||
int Galileo_E1_Tcp_Connector_Tracking_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
|
||||
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
|
||||
{
|
||||
|
||||
// process vars
|
||||
float carr_nco_hz;
|
||||
float code_nco_chips;
|
||||
|
||||
tcp_packet_data tcp_data;
|
||||
|
||||
if (d_enable_tracking == true)
|
||||
{
|
||||
/*
|
||||
* Receiver signal alignment
|
||||
*/
|
||||
if (d_pull_in == true)
|
||||
{
|
||||
int samples_offset;
|
||||
float acq_trk_shif_correction_samples;
|
||||
int acq_to_trk_delay_samples;
|
||||
acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
|
||||
acq_trk_shif_correction_samples = d_next_prn_length_samples - fmod((float)acq_to_trk_delay_samples, (float)d_next_prn_length_samples);
|
||||
samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
|
||||
// /todo: Check if the sample counter sent to the next block as a time reference should be incremented AFTER sended or BEFORE
|
||||
//d_sample_counter_seconds = d_sample_counter_seconds + (((double)samples_offset) / (double)d_fs_in);
|
||||
d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples
|
||||
d_pull_in = false;
|
||||
consume_each(samples_offset); //shift input to perform alignement with local replica
|
||||
return 1;
|
||||
}
|
||||
|
||||
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
|
||||
Gnss_Synchro current_synchro_data;
|
||||
// Fill the acquisition data
|
||||
current_synchro_data = *d_acquisition_gnss_synchro;
|
||||
|
||||
const gr_complex* in = (gr_complex*) input_items[0]; //PRN start block alignement
|
||||
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
|
||||
|
||||
// Update the prn length based on code freq (variable) and
|
||||
// sampling frequency (fixed)
|
||||
// variable code PRN sample block size
|
||||
d_current_prn_length_samples = d_next_prn_length_samples;
|
||||
|
||||
update_local_code();
|
||||
update_local_carrier();
|
||||
|
||||
// perform Early, Prompt and Late correlation
|
||||
d_correlator.Carrier_wipeoff_and_VEPL_volk(d_current_prn_length_samples,
|
||||
in,
|
||||
d_carr_sign,
|
||||
d_very_early_code,
|
||||
d_early_code,
|
||||
d_prompt_code,
|
||||
d_late_code,
|
||||
d_very_late_code,
|
||||
d_Very_Early,
|
||||
d_Early,
|
||||
d_Prompt,
|
||||
d_Late,
|
||||
d_Very_Late,
|
||||
is_unaligned());
|
||||
|
||||
|
||||
//! Variable used for control
|
||||
d_control_id++;
|
||||
|
||||
//! Send and receive a TCP packet
|
||||
boost::array<float, NUM_TX_VARIABLES_GALILEO_E1> tx_variables_array = {{d_control_id,(*d_Very_Early).real(),(*d_Very_Early).imag(),(*d_Early).real(),(*d_Early).imag(),(*d_Late).real(),(*d_Late).imag(),(*d_Very_Late).real(),(*d_Very_Late).imag(),(*d_Prompt).real(),(*d_Prompt).imag(),d_acq_carrier_doppler_hz,1}};
|
||||
d_tcp_com.send_receive_tcp_packet_galileo_e1(tx_variables_array, &tcp_data);
|
||||
|
||||
// PLL discriminator, carrier loop filter implementation and NCO command generation (TCP_connector)
|
||||
carr_nco_hz = tcp_data.proc_pack_carr_error;
|
||||
// Modify carrier freq based on NCO command (TCP_connector)
|
||||
d_carrier_doppler_hz = tcp_data.proc_pack_carrier_doppler_hz;
|
||||
|
||||
// DLL discriminator, carrier loop filter implementation and NCO command generation (TCP_connector)
|
||||
code_nco_chips = tcp_data.proc_pack_code_error;
|
||||
// Modify code freq based on NCO command
|
||||
d_code_freq_hz = Galileo_E1_CODE_CHIP_RATE_HZ + (d_carrier_doppler_hz * Galileo_E1_CODE_CHIP_RATE_HZ) / Galileo_E1_FREQ_HZ - code_nco_chips;
|
||||
// Update the phase step based on code freq (variable) and sampling frequency (fixed)
|
||||
d_code_phase_step_chips = d_code_freq_hz / (float)d_fs_in; //[chips]
|
||||
|
||||
// keep alignment parameters for the next input buffer
|
||||
float T_chip_seconds;
|
||||
float T_prn_seconds;
|
||||
float T_prn_samples;
|
||||
float K_blk_samples;
|
||||
T_chip_seconds = 1 / d_code_freq_hz;
|
||||
T_prn_seconds = T_chip_seconds * Galileo_E1_B_CODE_LENGTH_CHIPS;
|
||||
T_prn_samples = T_prn_seconds * d_fs_in;
|
||||
d_rem_code_phase_samples = d_next_rem_code_phase_samples;
|
||||
K_blk_samples = T_prn_samples + d_rem_code_phase_samples;
|
||||
d_next_prn_length_samples = round(K_blk_samples); //round to a discrete samples
|
||||
d_next_rem_code_phase_samples = K_blk_samples - d_next_prn_length_samples; //rounding error
|
||||
|
||||
/*!
|
||||
* \todo Improve the lock detection algorithm!
|
||||
*/
|
||||
// ####### CN0 ESTIMATION AND LOCK DETECTORS ######
|
||||
if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
|
||||
{
|
||||
// fill buffer with prompt correlator output values
|
||||
d_Prompt_buffer[d_cn0_estimation_counter] = *d_Prompt;
|
||||
d_cn0_estimation_counter++;
|
||||
}
|
||||
else
|
||||
{
|
||||
d_cn0_estimation_counter = 0;
|
||||
d_CN0_SNV_dB_Hz = galileo_e1_CN0_SNV(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in);
|
||||
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
|
||||
// ###### TRACKING UNLOCK NOTIFICATION #####
|
||||
if (std::abs(d_carrier_lock_test) > d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
|
||||
{
|
||||
d_carrier_lock_fail_counter++;
|
||||
}
|
||||
else
|
||||
{
|
||||
if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
|
||||
}
|
||||
if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
|
||||
{
|
||||
std::cout << "Channel " << d_channel << " loss of lock!" << std::endl ;
|
||||
//tracking_message = 3; //loss of lock
|
||||
//d_channel_internal_queue->push(tracking_message);
|
||||
ControlMessageFactory* cmf = new ControlMessageFactory();
|
||||
if (d_queue != gr_msg_queue_sptr()) {
|
||||
d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
|
||||
}
|
||||
delete cmf;
|
||||
d_carrier_lock_fail_counter = 0;
|
||||
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
// ########### Output the tracking data to navigation and PVT ##########
|
||||
|
||||
current_synchro_data.Prompt_I = (double)(*d_Prompt).real();
|
||||
current_synchro_data.Prompt_Q = (double)(*d_Prompt).imag();
|
||||
// Tracking_timestamp_secs is aligned with the PRN start sample
|
||||
current_synchro_data.Tracking_timestamp_secs=((double)d_sample_counter+(double)d_next_prn_length_samples+(double)d_next_rem_code_phase_samples)/(double)d_fs_in;
|
||||
// This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0
|
||||
current_synchro_data.Code_phase_secs=0;
|
||||
current_synchro_data.Carrier_phase_rads = (double)d_acc_carrier_phase_rad;
|
||||
current_synchro_data.CN0_dB_hz = (double)d_CN0_SNV_dB_Hz;
|
||||
*out[0] = current_synchro_data;
|
||||
|
||||
// ########## DEBUG OUTPUT
|
||||
/*!
|
||||
* \todo The stop timer has to be moved to the signal source!
|
||||
*/
|
||||
// debug: Second counter in channel 0
|
||||
if (d_channel == 0)
|
||||
{
|
||||
if (floor(d_sample_counter / d_fs_in) != d_last_seg)
|
||||
{
|
||||
d_last_seg = floor(d_sample_counter / d_fs_in);
|
||||
std::cout << "Current input signal time = " << d_last_seg << " [s]" << std::endl;
|
||||
std::cout << "Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
|
||||
<< ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if (floor(d_sample_counter / d_fs_in) != d_last_seg)
|
||||
{
|
||||
d_last_seg = floor(d_sample_counter / d_fs_in);
|
||||
std::cout << "Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
|
||||
<< ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
*d_Early = gr_complex(0,0);
|
||||
*d_Prompt = gr_complex(0,0);
|
||||
*d_Late = gr_complex(0,0);
|
||||
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; //block output streams pointer
|
||||
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
|
||||
Gnss_Synchro current_synchro_data;
|
||||
*out[0] = current_synchro_data;
|
||||
|
||||
//! When tracking is disabled an array of 1's is sent to maintain the TCP connection
|
||||
boost::array<float, NUM_TX_VARIABLES_GALILEO_E1> tx_variables_array = {{1,1,1,1,1,1,1,1,1,1,1,1,0}};
|
||||
d_tcp_com.send_receive_tcp_packet_galileo_e1(tx_variables_array, &tcp_data);
|
||||
}
|
||||
|
||||
if(d_dump)
|
||||
{
|
||||
// MULTIPLEXED FILE RECORDING - Record results to file
|
||||
float prompt_I;
|
||||
float prompt_Q;
|
||||
float tmp_VE, tmp_E, tmp_P, tmp_L, tmp_VL;
|
||||
float tmp_float;
|
||||
tmp_float=0;
|
||||
double tmp_double;
|
||||
prompt_I = (*d_Prompt).real();
|
||||
prompt_Q = (*d_Prompt).imag();
|
||||
tmp_VE = std::abs<float>(*d_Very_Early);
|
||||
tmp_E = std::abs<float>(*d_Early);
|
||||
tmp_P = std::abs<float>(*d_Prompt);
|
||||
tmp_L = std::abs<float>(*d_Late);
|
||||
tmp_VL = std::abs<float>(*d_Very_Late);
|
||||
|
||||
try
|
||||
{
|
||||
// EPR
|
||||
d_dump_file.write((char*)&tmp_VE, sizeof(float));
|
||||
d_dump_file.write((char*)&tmp_E, sizeof(float));
|
||||
d_dump_file.write((char*)&tmp_P, sizeof(float));
|
||||
d_dump_file.write((char*)&tmp_L, sizeof(float));
|
||||
d_dump_file.write((char*)&tmp_VL, sizeof(float));
|
||||
// PROMPT I and Q (to analyze navigation symbols)
|
||||
d_dump_file.write((char*)&prompt_I, sizeof(float));
|
||||
d_dump_file.write((char*)&prompt_Q, sizeof(float));
|
||||
// PRN start sample stamp
|
||||
d_dump_file.write((char*)&d_sample_counter, sizeof(unsigned long int));
|
||||
// accumulated carrier phase
|
||||
d_dump_file.write((char*)&d_acc_carrier_phase_rad, sizeof(float));
|
||||
|
||||
// carrier and code frequency
|
||||
d_dump_file.write((char*)&d_carrier_doppler_hz, sizeof(float));
|
||||
d_dump_file.write((char*)&d_code_freq_hz, sizeof(float));
|
||||
|
||||
//PLL commands
|
||||
d_dump_file.write((char*)&tmp_float, sizeof(float));
|
||||
d_dump_file.write((char*)&carr_nco_hz, sizeof(float));
|
||||
|
||||
//DLL commands
|
||||
d_dump_file.write((char*)&tmp_float, sizeof(float));
|
||||
d_dump_file.write((char*)&code_nco_chips, sizeof(float));
|
||||
|
||||
// CN0 and carrier lock test
|
||||
d_dump_file.write((char*)&d_CN0_SNV_dB_Hz, sizeof(float));
|
||||
d_dump_file.write((char*)&d_carrier_lock_test, sizeof(float));
|
||||
|
||||
// AUX vars (for debug purposes)
|
||||
tmp_float = d_rem_code_phase_samples;
|
||||
d_dump_file.write((char*)&tmp_float, sizeof(float));
|
||||
tmp_double=(double)(d_sample_counter+d_current_prn_length_samples);
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
}
|
||||
catch (std::ifstream::failure e)
|
||||
{
|
||||
std::cout << "Exception writing trk dump file " << e.what() << std::endl;
|
||||
}
|
||||
}
|
||||
// if(d_current_prn_length_samples!=d_vector_length)
|
||||
// std::cout << "d_current_prn_length_samples = " << d_current_prn_length_samples << std::endl;
|
||||
consume_each(d_current_prn_length_samples); // this is necesary in gr_block derivates
|
||||
d_sample_counter += d_current_prn_length_samples; //count for the processed samples
|
||||
return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
|
||||
}
|
||||
|
||||
|
||||
|
||||
void Galileo_E1_Tcp_Connector_Tracking_cc::set_channel(unsigned int channel)
|
||||
{
|
||||
d_channel = channel;
|
||||
LOG_AT_LEVEL(INFO) << "Tracking Channel set to " << d_channel;
|
||||
// ############# ENABLE DATA FILE LOG #################
|
||||
if (d_dump==true)
|
||||
{
|
||||
if (d_dump_file.is_open() == false)
|
||||
{
|
||||
try
|
||||
{
|
||||
d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
|
||||
d_dump_filename.append(".dat");
|
||||
d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
|
||||
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
|
||||
std::cout << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl;
|
||||
}
|
||||
catch (std::ifstream::failure e)
|
||||
{
|
||||
std::cout << "channel " << d_channel << " Exception opening trk dump file " << e.what() << std::endl;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//! Listen for connections on a TCP port
|
||||
if (d_listen_connection == true)
|
||||
{
|
||||
d_port = d_port_ch0 + d_channel;
|
||||
d_listen_connection = d_tcp_com.listen_tcp_connection(d_port,d_port_ch0);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
void Galileo_E1_Tcp_Connector_Tracking_cc::set_channel_queue(concurrent_queue<int> *channel_internal_queue)
|
||||
{
|
||||
d_channel_internal_queue = channel_internal_queue;
|
||||
}
|
||||
|
||||
void Galileo_E1_Tcp_Connector_Tracking_cc::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
|
||||
{
|
||||
d_acquisition_gnss_synchro = p_gnss_synchro;
|
||||
|
||||
// Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
|
||||
//DLOG(INFO) << "Tracking code phase set to " << d_acq_code_phase_samples;
|
||||
//DLOG(INFO) << "Tracking carrier doppler set to " << d_acq_carrier_doppler_hz;
|
||||
//DLOG(INFO) << "Tracking Satellite set to " << d_satellite;
|
||||
|
||||
}
|
||||
@ -0,0 +1,215 @@
|
||||
/*!
|
||||
* \file gps_l1_ca_tcp_connector_tracking_cc.h
|
||||
* \brief Interface of a TCP connector block based on code DLL + carrier PLL VEML (Very Early
|
||||
* Minus Late) tracking block for Galileo E1 signals
|
||||
* \author David Pubill, 2012. dpubill(at)cttc.es
|
||||
* Luis Esteve, 2012. luis(at)epsilon-formacion.com
|
||||
* Javier Arribas, 2011. jarribas(at)cttc.es
|
||||
*
|
||||
* Code DLL + carrier PLL according to the algorithms described in:
|
||||
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
|
||||
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency Approach,
|
||||
* Birkhauser, 2007
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
#ifndef GNSS_SDR_GALILEO_E1_TCP_CONNECTOR_TRACKING_CC_H
|
||||
#define GNSS_SDR_GALILEO_E1_TCP_CONNECTOR_TRACKING_CC_H
|
||||
|
||||
#include <fstream>
|
||||
#include <queue>
|
||||
#include <boost/thread/mutex.hpp>
|
||||
#include <boost/thread/thread.hpp>
|
||||
#include <gnuradio/gr_block.h>
|
||||
#include <gnuradio/gr_msg_queue.h>
|
||||
|
||||
#include "concurrent_queue.h"
|
||||
#include "gnss_synchro.h"
|
||||
#include "tracking_2nd_DLL_filter.h"
|
||||
#include "tracking_2nd_PLL_filter.h"
|
||||
#include "correlator.h"
|
||||
#include "tcp_communication.h"
|
||||
|
||||
|
||||
|
||||
class Galileo_E1_Tcp_Connector_Tracking_cc;
|
||||
typedef boost::shared_ptr<Galileo_E1_Tcp_Connector_Tracking_cc>
|
||||
galileo_e1_tcp_connector_tracking_cc_sptr;
|
||||
|
||||
galileo_e1_tcp_connector_tracking_cc_sptr
|
||||
galileo_e1_tcp_connector_make_tracking_cc(long if_freq,
|
||||
long fs_in, unsigned
|
||||
int vector_length,
|
||||
gr_msg_queue_sptr queue,
|
||||
bool dump,
|
||||
std::string dump_filename,
|
||||
float pll_bw_hz,
|
||||
float dll_bw_hz,
|
||||
float early_late_space_chips,
|
||||
float very_early_late_space_chips,
|
||||
size_t port_ch0);
|
||||
|
||||
/*!
|
||||
* \brief This class implements a code DLL + carrier PLL VEML (Very Early
|
||||
* Minus Late) tracking block for Galileo E1 signals
|
||||
*/
|
||||
class Galileo_E1_Tcp_Connector_Tracking_cc: public gr_block
|
||||
{
|
||||
public:
|
||||
|
||||
~Galileo_E1_Tcp_Connector_Tracking_cc();
|
||||
|
||||
void set_channel(unsigned int channel);
|
||||
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
|
||||
void start_tracking();
|
||||
void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
|
||||
|
||||
|
||||
int general_work (int noutput_items, gr_vector_int &ninput_items,
|
||||
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
|
||||
|
||||
void forecast (int noutput_items, gr_vector_int &ninput_items_required);
|
||||
|
||||
|
||||
private:
|
||||
|
||||
friend galileo_e1_tcp_connector_tracking_cc_sptr
|
||||
galileo_e1_tcp_connector_make_tracking_cc(long if_freq,
|
||||
long fs_in, unsigned
|
||||
int vector_length,
|
||||
gr_msg_queue_sptr queue,
|
||||
bool dump,
|
||||
std::string dump_filename,
|
||||
float pll_bw_hz,
|
||||
float dll_bw_hz,
|
||||
float early_late_space_chips,
|
||||
float very_early_late_space_chips,
|
||||
size_t port_ch0);
|
||||
|
||||
Galileo_E1_Tcp_Connector_Tracking_cc(long if_freq,
|
||||
long fs_in, unsigned
|
||||
int vector_length,
|
||||
gr_msg_queue_sptr queue,
|
||||
bool dump,
|
||||
std::string dump_filename,
|
||||
float pll_bw_hz,
|
||||
float dll_bw_hz,
|
||||
float early_late_space_chips,
|
||||
float very_early_late_space_chips,
|
||||
size_t port_ch0);
|
||||
|
||||
void update_local_code();
|
||||
|
||||
void update_local_carrier();
|
||||
|
||||
// tracking configuration vars
|
||||
gr_msg_queue_sptr d_queue;
|
||||
concurrent_queue<int> *d_channel_internal_queue;
|
||||
unsigned int d_vector_length;
|
||||
bool d_dump;
|
||||
|
||||
Gnss_Synchro* d_acquisition_gnss_synchro;
|
||||
unsigned int d_channel;
|
||||
int d_last_seg;
|
||||
long d_if_freq;
|
||||
long d_fs_in;
|
||||
|
||||
float d_early_late_spc_chips;
|
||||
float d_very_early_late_spc_chips;
|
||||
|
||||
float d_code_phase_step_chips;
|
||||
|
||||
gr_complex* d_ca_code;
|
||||
|
||||
gr_complex* d_very_early_code;
|
||||
gr_complex* d_early_code;
|
||||
gr_complex* d_prompt_code;
|
||||
gr_complex* d_late_code;
|
||||
gr_complex* d_very_late_code;
|
||||
gr_complex* d_carr_sign;
|
||||
|
||||
gr_complex *d_Very_Early;
|
||||
gr_complex *d_Early;
|
||||
gr_complex *d_Prompt;
|
||||
gr_complex *d_Late;
|
||||
gr_complex *d_Very_Late;
|
||||
|
||||
// remaining code phase and carrier phase between tracking loops
|
||||
float d_rem_code_phase_samples;
|
||||
float d_next_rem_code_phase_samples;
|
||||
float d_rem_carr_phase_rad;
|
||||
|
||||
// PLL and DLL filter library
|
||||
Tracking_2nd_DLL_filter d_code_loop_filter;
|
||||
Tracking_2nd_PLL_filter d_carrier_loop_filter;
|
||||
|
||||
// acquisition
|
||||
float d_acq_code_phase_samples;
|
||||
float d_acq_carrier_doppler_hz;
|
||||
|
||||
// correlator
|
||||
Correlator d_correlator;
|
||||
|
||||
// tracking vars
|
||||
float d_code_freq_hz;
|
||||
float d_carrier_doppler_hz;
|
||||
float d_acc_carrier_phase_rad;
|
||||
float d_code_phase_samples;
|
||||
size_t d_port_ch0;
|
||||
size_t d_port;
|
||||
int d_listen_connection;
|
||||
float d_control_id;
|
||||
tcp_communication d_tcp_com;
|
||||
|
||||
//PRN period in samples
|
||||
int d_current_prn_length_samples;
|
||||
int d_next_prn_length_samples;
|
||||
//double d_sample_counter_seconds;
|
||||
|
||||
//processing samples counters
|
||||
unsigned long int d_sample_counter;
|
||||
unsigned long int d_acq_sample_stamp;
|
||||
|
||||
// CN0 estimation and lock detector
|
||||
int d_cn0_estimation_counter;
|
||||
gr_complex* d_Prompt_buffer;
|
||||
float d_carrier_lock_test;
|
||||
float d_CN0_SNV_dB_Hz;
|
||||
float d_carrier_lock_threshold;
|
||||
int d_carrier_lock_fail_counter;
|
||||
|
||||
// control vars
|
||||
bool d_enable_tracking;
|
||||
bool d_pull_in;
|
||||
|
||||
// file dump
|
||||
std::string d_dump_filename;
|
||||
std::ofstream d_dump_file;
|
||||
|
||||
std::map<std::string, std::string> systemName;
|
||||
std::string sys;
|
||||
};
|
||||
|
||||
#endif //GNSS_SDR_GALILEO_E1_TCP_CONNECTOR_TRACKING_CC_H
|
||||
@ -61,8 +61,6 @@
|
||||
#define CN0_ESTIMATION_SAMPLES 10
|
||||
#define MINIMUM_VALID_CN0 25
|
||||
#define MAXIMUM_LOCK_FAIL_COUNTER 200
|
||||
#define NUM_TX_VARIABLES 9
|
||||
#define NUM_RX_VARIABLES 4
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
@ -356,16 +354,6 @@ Gps_L1_Ca_Tcp_Connector_Tracking_cc::~Gps_L1_Ca_Tcp_Connector_Tracking_cc()
|
||||
d_tcp_com.close_tcp_connection(d_port);
|
||||
}
|
||||
|
||||
tcp_packet_data::tcp_packet_data() {
|
||||
|
||||
proc_pack_code_error = 0;
|
||||
proc_pack_carr_error = 0;
|
||||
proc_pack_carrier_doppler_hz = 0;
|
||||
}
|
||||
|
||||
tcp_packet_data::~tcp_packet_data() {
|
||||
}
|
||||
|
||||
|
||||
/* Tracking signal processing
|
||||
* Notice that this is a class derived from gr_sync_decimator, so each of the ninput_items has vector_length samples
|
||||
@ -462,8 +450,8 @@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work (int noutput_items, gr_vec
|
||||
d_control_id++;
|
||||
|
||||
//! Send and receive a TCP packet
|
||||
boost::array<float, NUM_TX_VARIABLES> tx_variables_array = {{d_control_id,(*d_Early).real(),(*d_Early).imag(),(*d_Late).real(),(*d_Late).imag(),(*d_Prompt).real(),(*d_Prompt).imag(),d_acq_carrier_doppler_hz,1}};
|
||||
d_tcp_com.send_receive_tcp_packet(tx_variables_array, &tcp_data);
|
||||
boost::array<float, NUM_TX_VARIABLES_GPS_L1_CA> tx_variables_array = {{d_control_id,(*d_Early).real(),(*d_Early).imag(),(*d_Late).real(),(*d_Late).imag(),(*d_Prompt).real(),(*d_Prompt).imag(),d_acq_carrier_doppler_hz,1}};
|
||||
d_tcp_com.send_receive_tcp_packet_gps_l1_ca(tx_variables_array, &tcp_data);
|
||||
|
||||
//! Recover the tracking data
|
||||
code_error = tcp_data.proc_pack_code_error;
|
||||
@ -585,8 +573,8 @@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work (int noutput_items, gr_vec
|
||||
*out[0] = current_synchro_data;
|
||||
|
||||
//! When tracking is disabled an array of 1's is sent to maintain the TCP connection
|
||||
boost::array<float, NUM_TX_VARIABLES> tx_variables_array = {{1,1,1,1,1,1,1,1,0}};
|
||||
d_tcp_com.send_receive_tcp_packet(tx_variables_array, &tcp_data);
|
||||
boost::array<float, NUM_TX_VARIABLES_GPS_L1_CA> tx_variables_array = {{1,1,1,1,1,1,1,1,0}};
|
||||
d_tcp_com.send_receive_tcp_packet_gps_l1_ca(tx_variables_array, &tcp_data);
|
||||
}
|
||||
|
||||
if(d_dump)
|
||||
|
||||
@ -4,4 +4,5 @@ obj gps_l1_ca_dll_pll_tracking_cc : gps_l1_ca_dll_pll_tracking_cc.cc : <toolset>
|
||||
obj gps_l1_ca_dll_fll_pll_tracking_cc : gps_l1_ca_dll_fll_pll_tracking_cc.cc : <toolset>darwin:<define>GNSS_SDR_USE_BOOST_ROUND ;
|
||||
obj gps_l1_ca_tcp_connector_tracking_cc : gps_l1_ca_tcp_connector_tracking_cc.cc : <toolset>darwin:<define>GNSS_SDR_USE_BOOST_ROUND ;
|
||||
obj galileo_e1_dll_pll_veml_tracking_cc : galileo_e1_dll_pll_veml_tracking_cc.cc : <toolset>darwin:<define>GNSS_SDR_USE_BOOST_ROUND ;
|
||||
obj galileo_e1_tcp_connector_tracking_cc : galileo_e1_tcp_connector_tracking_cc.cc : <toolset>darwin:<define>GNSS_SDR_USE_BOOST_ROUND ;
|
||||
obj gps_l1_ca_dll_pll_optim_tracking_cc : gps_l1_ca_dll_pll_optim_tracking_cc.cc : <toolset>darwin:<define>GNSS_SDR_USE_BOOST_ROUND ;
|
||||
|
||||
@ -8,3 +8,4 @@ obj tracking_2nd_DLL_filter : tracking_2nd_DLL_filter.cc ;
|
||||
obj correlator : correlator.cc ;
|
||||
obj cordic : cordic.cc ;
|
||||
obj tcp_communication : tcp_communication.cc ;
|
||||
obj tcp_packet_data : tcp_packet_data.cc ;
|
||||
|
||||
@ -35,9 +35,6 @@
|
||||
#include <string>
|
||||
|
||||
|
||||
#define NUM_TX_VARIABLES 9
|
||||
#define NUM_RX_VARIABLES 4
|
||||
|
||||
|
||||
tcp_communication::tcp_communication() : tcp_socket_(io_service_)
|
||||
{}
|
||||
@ -82,7 +79,7 @@ int tcp_communication::listen_tcp_connection(size_t d_port_, size_t d_port_ch0_)
|
||||
|
||||
|
||||
|
||||
void tcp_communication::send_receive_tcp_packet(boost::array<float, NUM_TX_VARIABLES> buf, tcp_packet_data *tcp_data_)
|
||||
void tcp_communication::send_receive_tcp_packet_galileo_e1(boost::array<float, NUM_TX_VARIABLES_GALILEO_E1> buf, tcp_packet_data *tcp_data_)
|
||||
{
|
||||
int controlc = 0;
|
||||
boost::array<float, NUM_RX_VARIABLES> readbuf;
|
||||
@ -116,7 +113,39 @@ void tcp_communication::send_receive_tcp_packet(boost::array<float, NUM_TX_VARIA
|
||||
return;
|
||||
}
|
||||
|
||||
void tcp_communication::send_receive_tcp_packet_gps_l1_ca(boost::array<float, NUM_TX_VARIABLES_GPS_L1_CA> buf, tcp_packet_data *tcp_data_)
|
||||
{
|
||||
int controlc = 0;
|
||||
boost::array<float, NUM_RX_VARIABLES> readbuf;
|
||||
float d_control_id_ = buf.data()[0];
|
||||
|
||||
try
|
||||
{
|
||||
// Send a TCP packet
|
||||
tcp_socket_.write_some(boost::asio::buffer(buf));
|
||||
|
||||
// Read the received TCP packet
|
||||
tcp_socket_.read_some(boost::asio::buffer(readbuf));
|
||||
|
||||
//! Control. The GNSS-SDR program ends if an error in a TCP packet is detected.
|
||||
if (d_control_id_ != readbuf.data()[0])
|
||||
{
|
||||
throw "Packet error!";
|
||||
}
|
||||
|
||||
// Recover the variables received
|
||||
tcp_data_->proc_pack_code_error = readbuf.data()[1];
|
||||
tcp_data_->proc_pack_carr_error = readbuf.data()[2];
|
||||
tcp_data_->proc_pack_carrier_doppler_hz = readbuf.data()[3];
|
||||
}
|
||||
|
||||
catch(std::exception& e)
|
||||
{
|
||||
std::cerr << "Exception: " << e.what() << ". Please press Ctrl+C to end the program." << std::endl;
|
||||
std::cin >> controlc;
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
void tcp_communication::close_tcp_connection(size_t d_port_)
|
||||
{
|
||||
|
||||
@ -36,6 +36,9 @@
|
||||
#include <boost/array.hpp>
|
||||
#include "tcp_packet_data.h"
|
||||
|
||||
#define NUM_TX_VARIABLES_GALILEO_E1 13
|
||||
#define NUM_TX_VARIABLES_GPS_L1_CA 9
|
||||
#define NUM_RX_VARIABLES 4
|
||||
|
||||
class tcp_communication
|
||||
{
|
||||
@ -45,7 +48,8 @@ public:
|
||||
~tcp_communication();
|
||||
|
||||
int listen_tcp_connection(size_t d_port_, size_t d_port_ch0_);
|
||||
void send_receive_tcp_packet(boost::array<float, 9> buf, tcp_packet_data *tcp_data_);
|
||||
void send_receive_tcp_packet_galileo_e1(boost::array<float, NUM_TX_VARIABLES_GALILEO_E1> buf, tcp_packet_data *tcp_data_);
|
||||
void send_receive_tcp_packet_gps_l1_ca(boost::array<float, NUM_TX_VARIABLES_GPS_L1_CA> buf, tcp_packet_data *tcp_data_);
|
||||
void close_tcp_connection(size_t d_port_);
|
||||
|
||||
private:
|
||||
|
||||
42
src/algorithms/tracking/libs/tcp_packet_data.cc
Normal file
42
src/algorithms/tracking/libs/tcp_packet_data.cc
Normal file
@ -0,0 +1,42 @@
|
||||
/*!
|
||||
* \file tcp_packet_data.cc
|
||||
* \brief Interface of the TCP packet data class
|
||||
* \author David Pubill, 2011. dpubill(at)cttc.es
|
||||
*
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
#include "tcp_packet_data.h"
|
||||
|
||||
tcp_packet_data::tcp_packet_data()
|
||||
{
|
||||
|
||||
proc_pack_code_error = 0;
|
||||
proc_pack_carr_error = 0;
|
||||
proc_pack_carrier_doppler_hz = 0;
|
||||
}
|
||||
|
||||
tcp_packet_data::~tcp_packet_data() {
|
||||
}
|
||||
@ -60,6 +60,7 @@
|
||||
#include "gps_l1_ca_dll_fll_pll_tracking.h"
|
||||
#include "gps_l1_ca_tcp_connector_tracking.h"
|
||||
#include "galileo_e1_dll_pll_veml_tracking.h"
|
||||
#include "galileo_e1_tcp_connector_tracking.h"
|
||||
#include "gps_l1_ca_telemetry_decoder.h"
|
||||
#include "gps_l1_ca_observables.h"
|
||||
#include "gps_l1_ca_pvt.h"
|
||||
@ -373,6 +374,11 @@ GNSSBlockInterface* GNSSBlockFactory::GetBlock(
|
||||
block = new GalileoE1DllPllVemlTracking(configuration, role, in_streams,
|
||||
out_streams, queue);
|
||||
}
|
||||
else if (implementation.compare("Galileo_E1_TCP_CONNECTOR_Tracking") == 0)
|
||||
{
|
||||
block = new GalileoE1TcpConnectorTracking(configuration, role, in_streams,
|
||||
out_streams, queue);
|
||||
}
|
||||
|
||||
// TELEMETRY DECODERS ----------------------------------------------------------
|
||||
|
||||
|
||||
@ -55,11 +55,13 @@ exe gnss-sdr : main.cc
|
||||
../algorithms/tracking/adapters//gps_l1_ca_dll_fll_pll_tracking
|
||||
../algorithms/tracking/adapters//gps_l1_ca_tcp_connector_tracking
|
||||
../algorithms/tracking/adapters//galileo_e1_dll_pll_veml_tracking
|
||||
../algorithms/tracking/adapters//galileo_e1_tcp_connector_tracking
|
||||
../algorithms/tracking/gnuradio_blocks//gps_l1_ca_dll_pll_tracking_cc
|
||||
../algorithms/tracking/gnuradio_blocks//gps_l1_ca_dll_pll_optim_tracking_cc
|
||||
../algorithms/tracking/gnuradio_blocks//gps_l1_ca_dll_fll_pll_tracking_cc
|
||||
../algorithms/tracking/gnuradio_blocks//gps_l1_ca_tcp_connector_tracking_cc
|
||||
../algorithms/tracking/gnuradio_blocks//galileo_e1_dll_pll_veml_tracking_cc
|
||||
../algorithms/tracking/gnuradio_blocks//galileo_e1_tcp_connector_tracking_cc
|
||||
../algorithms/tracking/libs//tracking_discriminators
|
||||
../algorithms/tracking/libs//CN_estimators
|
||||
../algorithms/tracking/libs//tracking_FLL_PLL_filter
|
||||
@ -68,6 +70,7 @@ exe gnss-sdr : main.cc
|
||||
../algorithms/tracking/libs//correlator
|
||||
../algorithms/tracking/libs//cordic
|
||||
../algorithms/tracking/libs//tcp_communication
|
||||
../algorithms/tracking/libs//tcp_packet_data
|
||||
../core/libs//INIReader
|
||||
../core/libs//ini
|
||||
../core/libs//string_converter
|
||||
|
||||
@ -52,11 +52,13 @@ exe run_tests : test_main.cc
|
||||
../algorithms/tracking/adapters//gps_l1_ca_dll_fll_pll_tracking
|
||||
../algorithms/tracking/adapters//gps_l1_ca_tcp_connector_tracking
|
||||
../algorithms/tracking/adapters//galileo_e1_dll_pll_veml_tracking
|
||||
../algorithms/tracking/adapters//galileo_e1_tcp_connector_tracking
|
||||
../algorithms/tracking/gnuradio_blocks//gps_l1_ca_dll_pll_tracking_cc
|
||||
../algorithms/tracking/gnuradio_blocks//gps_l1_ca_dll_pll_optim_tracking_cc
|
||||
../algorithms/tracking/gnuradio_blocks//gps_l1_ca_dll_fll_pll_tracking_cc
|
||||
../algorithms/tracking/gnuradio_blocks//gps_l1_ca_tcp_connector_tracking_cc
|
||||
../algorithms/tracking/gnuradio_blocks//galileo_e1_dll_pll_veml_tracking_cc
|
||||
../algorithms/tracking/gnuradio_blocks//galileo_e1_tcp_connector_tracking_cc
|
||||
../algorithms/tracking/libs//tracking_discriminators
|
||||
../algorithms/tracking/libs//CN_estimators
|
||||
../algorithms/tracking/libs//tracking_FLL_PLL_filter
|
||||
@ -65,6 +67,7 @@ exe run_tests : test_main.cc
|
||||
../algorithms/tracking/libs//correlator
|
||||
../algorithms/tracking/libs//cordic
|
||||
../algorithms/tracking/libs//tcp_communication
|
||||
../algorithms/tracking/libs//tcp_packet_data
|
||||
../core/libs//INIReader
|
||||
../core/libs//ini
|
||||
../core/libs//string_converter
|
||||
|
||||
@ -0,0 +1,136 @@
|
||||
/*!
|
||||
* \file README.txt
|
||||
* \brief How to add a block to the Simulink Library repository of Matlab,
|
||||
* how to use the "gnss_sdr_galileo_e1_tcp_connector_tracking_start.m" script and how
|
||||
* to replace the tracking block of the library.
|
||||
*
|
||||
* \author David Pubill, 2012. dpubill(at)cttc.es
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
|
||||
IMPORTANT: Please, to use this tracking check the configuration file called
|
||||
'gnss-sdr_galileo_e1_tcp_connector_tracking.conf'. There are two major changes:
|
||||
1.- Choose the [Galileo_E1_TCP_CONNECTOR_Tracking] tracking algorithm.
|
||||
2.- Choose a tcp port for channel 0 (e.g. Tracking.port_ch0=2070;)
|
||||
|
||||
|
||||
A) HOW TO add a block to the Simulink Library repository of your Matlab installation
|
||||
---------------------------------------------------------------------------------
|
||||
(These steps should be followed only the first time)
|
||||
|
||||
1.- Copy the content of this folder to a folder accessible from Simulink.
|
||||
|
||||
2.- In the Matlab Command Window type:
|
||||
>> simulink;
|
||||
to open the Simulink Library Browser.
|
||||
|
||||
3.- Right-click on the Simulink/User-Defined Functions of the Simulink
|
||||
Library menu, and click on "Open User-Defined Functions library"
|
||||
(Window_1)
|
||||
|
||||
4.- Open the library model 'gnss_sdr_galileo_e1_tcp_connector_tracking_lib.mdl'
|
||||
(Window_2)
|
||||
|
||||
5.- If this is not the first time there should be an existing 'gnss-sdr'
|
||||
block in the 'User-Defined Functions' window that should be deleted
|
||||
before drag and drop the new 'gnss_sdr' block (which includes 3 blocks:
|
||||
- 'gnss_sdr_galileo_e1_tcp_connector_tracking_rx' block
|
||||
- 'gnss_sdr_galileo_e1_tcp_connector_tracking' block
|
||||
- 'gnss_sdr_galileo_e1_tcp_connector_tracking_tx' block)
|
||||
from Window_2 to Window_1. A new message should appear: "This library
|
||||
is locked. The action performed requires it to be unlocked". Then,
|
||||
click on the "Unlock" button (the block will be copied) and close
|
||||
Window_2.
|
||||
|
||||
6.- Right-click on the 'gnss-sdr' block and click on "Link Options -->
|
||||
Disable link", repeat the action but now clicking on "Link Options -->
|
||||
Break link". This action disables and breaks the link with the
|
||||
original library model.
|
||||
|
||||
7.- On Window_1 save the "simulink/User-Defined Functions" library.
|
||||
To do that go to "File > Save". Then, close Window_1.
|
||||
|
||||
8.- From "Simulink Library Browser" window, press F5 to refresh and generate
|
||||
the new Simulink Library repository (it may take a few seconds). This
|
||||
completes the installation of the custom Simulink block.
|
||||
|
||||
|
||||
B) HOW TO use the "gnss_sdr_galileo_e1_tcp_connector_tracking_start.m" script:
|
||||
----------------------------------------------------------------
|
||||
|
||||
---------------------- ---------------- ----------------------
|
||||
| | | gnss_sdr_ | | |
|
||||
| gnss_sdr_galileo_e1_ | | galileo_e1_ | | gnss_sdr_galileo_e1_ |
|
||||
| tcp_connector_ | --> | tcp_connector_ | --> | tcp_connector_ |
|
||||
| tracking_rx | | tracking | | tracking_tx |
|
||||
| | | | | |
|
||||
---------------------- ---------------- ----------------------
|
||||
|
||||
The 'gnss_sdr_galileo_e1_tcp_connector_tracking_start.m' is the script that builds
|
||||
and configures a simulink model for interacting with the GNSS-SDR platform
|
||||
through a TCP communication. 'User parameters' can be modified but, by
|
||||
default, these are the values assigned:
|
||||
|
||||
%User parameters
|
||||
host = '84.88.61.86'; %Remote IP address (GNSS-SDR computer IP)
|
||||
port = 2070; %Remote port (GNSS-SDR computer port for Ch0)
|
||||
num_vars_rx = 13; %Number of variables expected from GNSS-SDR
|
||||
num_vars_tx = 4; %Number of variable to be transmitted to GNSS-SDR
|
||||
timeout = '10'; %Timeout in seconds
|
||||
|
||||
'host', 'port' and 'timeout' parameters configure both
|
||||
'gnss_sdr_galileo_e1_tcp_connector_tracking_rx' and
|
||||
'gnss_sdr_galileo_e1_tcp_connector_tracking_tx' blocks. The 'port' parameter
|
||||
sets the base port number for the first channel (ch0). Each of the subsequent
|
||||
channels increases their port by one unit (e.g. ch0_port=2070, ch1_port=2071,...).
|
||||
|
||||
Also the name of the tracking block can be modified. It must match with
|
||||
the Simulink model name:
|
||||
|
||||
%Name of the tracking block, it must match the Simulink model name
|
||||
tracking_block_name = 'gnss_sdr_galileo_e1_tcp_connector_tracking';
|
||||
|
||||
To run the script just type in the Matlab Command window the following:
|
||||
|
||||
>>gnss_sdr_galileo_e1_tcp_connector_tracking_start(N);
|
||||
|
||||
where N must match the number of channels configured in the GNSS-SDR
|
||||
platform.
|
||||
|
||||
|
||||
C) HOW TO replace the tracking block of the library
|
||||
------------------------------------------------
|
||||
|
||||
1.- Open the library model 'gnss_sdr_galileo_e1_tcp_connector_tracking_lib.mdl'
|
||||
2.- Unlock the library. Click on "Edit > Unlock Library".
|
||||
3.- Open the "gnss-sdr" block and change the "gnss_sdr_galileo_e1_tcp_connector_tracking"
|
||||
block by another one. If the name is different it must be updated in
|
||||
the "gnss_sdr_galileo_e1_tcp_connector_parallel_tracking_start.m" code (see
|
||||
section B)
|
||||
4.- Save the new library.
|
||||
5.- Go to section A and follow the instructions.
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@ -0,0 +1,174 @@
|
||||
% /*!
|
||||
% * \file gnss_sdr_galileo_e1_tcp_connector_tracking_start.m
|
||||
% * \brief This MATLAB function builds and configures a simulink model
|
||||
% * for interacting with the GNSS-SDR platform through a TCP communication.
|
||||
% * \author David Pubill, 2012. dpubill(at)cttc.es
|
||||
% *
|
||||
% * ----------------------------------------------------------------------
|
||||
% *
|
||||
% * Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
|
||||
% *
|
||||
% * GNSS-SDR is a software defined Global Navigation
|
||||
% * Satellite Systems receiver
|
||||
% *
|
||||
% * This file is part of GNSS-SDR.
|
||||
% *
|
||||
% * GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
% * it under the terms of the GNU General Public License as published by
|
||||
% * the Free Software Foundation, either version 3 of the License, or
|
||||
% * at your option) any later version.
|
||||
% *
|
||||
% * GNSS-SDR is distributed in the hope that it will be useful,
|
||||
% * but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
% * GNU General Public License for more details.
|
||||
% *
|
||||
% * You should have received a copy of the GNU General Public License
|
||||
% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
% *
|
||||
% * ----------------------------------------------------------------------
|
||||
% */
|
||||
|
||||
function gnss_sdr_galileo_e1_tcp_connector_tracking_start(num_channels)
|
||||
|
||||
%User parameters
|
||||
host = '84.88.61.86'; %Remote IP address (GNSS-SDR computer IP)
|
||||
port = 2070; %Remote port (GNSS-SDR computer port for Ch0)
|
||||
num_vars_rx = 13; %Number of variables expected from GNSS-SDR
|
||||
num_vars_tx = 4; %Number of variable to be transmitted to GNSS-SDR
|
||||
timeout = '10'; %Timeout [s]
|
||||
|
||||
%name of the tracking block, it must match the name of the Simulink
|
||||
%model
|
||||
tracking_block_name = 'gnss_sdr_galileo_e1_tcp_connector_tracking';
|
||||
|
||||
% Layout coordinates for the first gnss_sdr_galileo_e1_tcp_connector_tracking
|
||||
% block and offset definitions
|
||||
X0 = 20;
|
||||
X1 = 170;
|
||||
Y0 = 20;
|
||||
Y1 = 140;
|
||||
X_offset = 200;
|
||||
Y_offset = 160;
|
||||
|
||||
%Calculate the size of the data received from GNSS-SDR
|
||||
%(float = 4 bytes each variable)
|
||||
datasize_RX = num_vars_rx*4;
|
||||
|
||||
%Create a Simulink model
|
||||
simulink('open');
|
||||
new_system('gnss_sdr_galileo_e1_tcp_connector_tracking_aux');
|
||||
open_system('gnss_sdr_galileo_e1_tcp_connector_tracking_aux');
|
||||
|
||||
%Set parameters to avoid warnings in the Command Window
|
||||
set_param('gnss_sdr_galileo_e1_tcp_connector_tracking_aux',...
|
||||
'InheritedTsInSrcMsg', 'none');
|
||||
warning('off', 'Simulink:Commands:SetParamLinkChangeWarn');
|
||||
|
||||
%Assign values to the variables used by Simulink in the base workspace
|
||||
%DLL
|
||||
assignin('base', 'B_DLL', 2);
|
||||
assignin('base', 'zeta_DLL', 0.7);
|
||||
assignin('base', 'k_DLL', 1);
|
||||
assignin('base', 'd_pdi_code', 0.004);
|
||||
|
||||
%PLL
|
||||
assignin('base', 'B_PLL', 30);
|
||||
assignin('base', 'zeta_PLL', 0.65);
|
||||
assignin('base', 'k_PLL', 0.25);
|
||||
assignin('base', 'd_pdi_carr', 0.004);
|
||||
|
||||
%Block generation from the Simulink Library
|
||||
for i = 0:num_channels-1;
|
||||
|
||||
%Add and prepare an empty block to become the TCP connector block
|
||||
tcp_connector_block=['gnss_sdr_galileo_e1_tcp_connector_tracking_aux/gnss_sdr_galileo_e1_tcp_connector_tracking_', num2str(i)];
|
||||
|
||||
add_block('simulink/Ports & Subsystems/Subsystem', tcp_connector_block);
|
||||
delete_line(tcp_connector_block,'In1/1', 'Out1/1')
|
||||
|
||||
tcp_connector_tracking_i_In1 = ['gnss_sdr_galileo_e1_tcp_connector_tracking_aux/gnss_sdr_galileo_e1_tcp_connector_tracking_',num2str(i),'/In1'];
|
||||
tcp_connector_tracking_i_Out1 = ['gnss_sdr_galileo_e1_tcp_connector_tracking_aux/gnss_sdr_galileo_e1_tcp_connector_tracking_',num2str(i),'/Out1'];
|
||||
|
||||
delete_block(tcp_connector_tracking_i_In1);
|
||||
delete_block(tcp_connector_tracking_i_Out1);
|
||||
|
||||
%Add to the TCP connector block the receiver, the tracking and the
|
||||
%transmitter blocks
|
||||
tcp_connector_tracking_rx_block = ['gnss_sdr_galileo_e1_tcp_connector_tracking_aux/gnss_sdr_galileo_e1_tcp_connector_tracking_',num2str(i),'/gnss_sdr_galileo_e1_tcp_connector_tracking_rx'];
|
||||
tcp_connector_tracking_block = ['gnss_sdr_galileo_e1_tcp_connector_tracking_aux/gnss_sdr_galileo_e1_tcp_connector_tracking_',num2str(i),'/',tracking_block_name];
|
||||
tcp_connector_tracking_tx_block = ['gnss_sdr_galileo_e1_tcp_connector_tracking_aux/gnss_sdr_galileo_e1_tcp_connector_tracking_',num2str(i),'/gnss_sdr_galileo_e1_tcp_connector_tracking_tx'];
|
||||
|
||||
add_block('simulink/User-Defined Functions/gnss_sdr/gnss_sdr_galileo_e1_tcp_connector_tracking_rx',tcp_connector_tracking_rx_block);
|
||||
|
||||
path_to_tracking_block = ['simulink/User-Defined Functions/gnss_sdr/', tracking_block_name];
|
||||
add_block(path_to_tracking_block, tcp_connector_tracking_block);
|
||||
|
||||
add_block('simulink/User-Defined Functions/gnss_sdr/gnss_sdr_galileo_e1_tcp_connector_tracking_tx',tcp_connector_tracking_tx_block);
|
||||
|
||||
%Connect the receiver block to the tracking block
|
||||
for j=1:num_vars_rx;
|
||||
rx_out_ports =['gnss_sdr_galileo_e1_tcp_connector_tracking_rx/',num2str(j)];
|
||||
tracking_in_ports =[tracking_block_name,'/',num2str(j)];
|
||||
|
||||
add_line(tcp_connector_block, rx_out_ports, tracking_in_ports)
|
||||
end
|
||||
|
||||
%Connect the tracking block to the transmitter block
|
||||
for k=1:num_vars_tx;
|
||||
tracking_out_ports =[tracking_block_name,'/',num2str(k)];
|
||||
tx_in_ports =['gnss_sdr_galileo_e1_tcp_connector_tracking_tx/',num2str(k)];
|
||||
|
||||
add_line(tcp_connector_block, tracking_out_ports, tx_in_ports)
|
||||
end
|
||||
|
||||
%Add, place and connect two scopes in the TCP connector block
|
||||
name_scope_1 = [tcp_connector_block,'/Scope'];
|
||||
add_block('simulink/Sinks/Scope', name_scope_1, 'Position', [600 425 650 475]);
|
||||
set_param(name_scope_1, 'NumInputPorts', '5', 'LimitDataPoints', 'off');
|
||||
add_line(tcp_connector_block, 'gnss_sdr_galileo_e1_tcp_connector_tracking_rx/10', 'Scope/1', 'autorouting','on')
|
||||
add_line(tcp_connector_block, 'gnss_sdr_galileo_e1_tcp_connector_tracking_rx/11', 'Scope/2', 'autorouting','on')
|
||||
tracking_scope_port3 = [tracking_block_name,'/2'];
|
||||
add_line(tcp_connector_block, tracking_scope_port3, 'Scope/3', 'autorouting','on')
|
||||
tracking_scope_port4 = [tracking_block_name,'/3'];
|
||||
add_line(tcp_connector_block, tracking_scope_port4, 'Scope/4', 'autorouting','on')
|
||||
tracking_scope_port5 = [tracking_block_name,'/4'];
|
||||
add_line(tcp_connector_block, tracking_scope_port5, 'Scope/5', 'autorouting','on')
|
||||
|
||||
name_scope_2 = [tcp_connector_block,'/EPL'];
|
||||
add_block('simulink/Sinks/Scope', name_scope_2, 'Position', [475 500 525 550]);
|
||||
set_param(name_scope_2, 'LimitDataPoints', 'off');
|
||||
tracking_scope2_port5 = [tracking_block_name,'/5'];
|
||||
add_line(tcp_connector_block, tracking_scope2_port5, 'EPL/1', 'autorouting','on')
|
||||
|
||||
%Set the TCP receiver parameters
|
||||
tcp_receiver = ['gnss_sdr_galileo_e1_tcp_connector_tracking_aux/gnss_sdr_galileo_e1_tcp_connector_tracking_',num2str(i),'/gnss_sdr_galileo_e1_tcp_connector_tracking_rx/RX'];
|
||||
set_param(tcp_receiver, 'Port', num2str(port+i), 'Host', host, 'DataSize', num2str(datasize_RX), 'Timeout', timeout);
|
||||
|
||||
%Set the TCP transmitter parameters
|
||||
tcp_transmitter = ['gnss_sdr_galileo_e1_tcp_connector_tracking_aux/gnss_sdr_galileo_e1_tcp_connector_tracking_',num2str(i),'/gnss_sdr_galileo_e1_tcp_connector_tracking_tx/TX'];
|
||||
set_param(tcp_transmitter, 'Port', num2str(port+i), 'Host', host,'Timeout', timeout);
|
||||
|
||||
%New layout coordinates for each block
|
||||
X2 = X0 + floor(i/4)*X_offset;
|
||||
X3 = X1 + floor(i/4)*X_offset;
|
||||
Y2 = Y0 + (i-4*floor(i/4))*Y_offset;
|
||||
Y3 = Y1 + (i-4*floor(i/4))*Y_offset;
|
||||
|
||||
%Place the block in the layout
|
||||
set_param(tcp_connector_block, 'Position', [X2 Y2 X3 Y3]);
|
||||
end
|
||||
|
||||
%Set parameters to configure the model Solver
|
||||
set_param('gnss_sdr_galileo_e1_tcp_connector_tracking_aux',...
|
||||
'SolverType', 'Fixed-step', 'Solver', 'FixedStepDiscrete',...
|
||||
'FixedStep', 'auto', 'StopTime', 'inf');
|
||||
|
||||
%Save the model with a definitive name
|
||||
save_system('gnss_sdr_galileo_e1_tcp_connector_tracking_aux', 'gnss_sdr_galileo_e1_tcp_connector_tracking_ready');
|
||||
simulink('close');
|
||||
|
||||
%Run the Simulink model
|
||||
set_param('gnss_sdr_galileo_e1_tcp_connector_tracking_ready','simulationcommand','start');
|
||||
|
||||
end
|
||||
Loading…
x
Reference in New Issue
Block a user