mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-07-20 19:02:55 +00:00
Adapt to gnss-sdr coding style
This commit is contained in:
Carles Fernandez
parent
fa4eb25920
commit
cff63b378a
@ -73,7 +73,8 @@ u32 getbitu(const u8 *buff, u32 pos, u8 len)
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{
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u32 bits = 0;
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u32 i=0;
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for ( i= pos; i < pos + len; i++) {
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for (i = pos; i < pos + len; i++)
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{
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bits = (bits << 1) +
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((buff[i/8] >> (7 - i%8)) & 1u);
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}
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@ -118,8 +119,9 @@ void setbitu(u8 *buff, u32 pos, u32 len, u32 data)
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if (len <= 0 || 32 < len)
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return;
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u32 i=0;
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for (i = pos; i < pos + len; i++, mask >>= 1) {
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u32 i = 0;
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for (i = pos; i < pos + len; i++, mask >>= 1)
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{
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if (data & mask)
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buff[i/8] |= 1u << (7 - i % 8);
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else
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@ -153,35 +155,40 @@ void setbits(u8 *buff, u32 pos, u32 len, s32 data)
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*/
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void bitshl(void *buf, u32 size, u32 shift)
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{
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if (shift > size * CHAR_BIT) {
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if (shift > size * CHAR_BIT)
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{
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/* Quick check: if the shift is larger, than the buffer, zero the data */
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memset(buf, 0, size);
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return;
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}
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unsigned char *dst = buf; /* Destination byte. */
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const unsigned char *src = dst + shift / CHAR_BIT; /* First source byte,
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* possibly incomplete. */
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const unsigned char *src = dst + shift / CHAR_BIT; /* First source byte, possibly incomplete. */
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u32 copy_bits = size * CHAR_BIT - shift; /* Number of bits to move */
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u32 byte_shift = copy_bits % CHAR_BIT; /* Shift of data */
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u32 full_bytes = copy_bits / CHAR_BIT; /* Number of bytes to move */
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if (0 == byte_shift) {
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if (0 == byte_shift)
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{
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/* When moving data in character boundaries, use built-in functions: move
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* data, and then zero the tail. */
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memmove(dst, src, full_bytes);
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memset(dst + full_bytes, 0, size - full_bytes);
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} else {
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}
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else
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{
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/* Create an accumulator: it will hold a value of two consecutive bytes */
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u32 acc = *src++;
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u32 i=0;
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for (i = 0; i < full_bytes; ++i) {
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u32 i = 0;
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for (i = 0; i < full_bytes; ++i)
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{
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acc = (acc << CHAR_BIT) | *src++;
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*dst++ = acc >> byte_shift;
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}
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*dst++ = acc << CHAR_BIT >> byte_shift;
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if (full_bytes + 1 < size) {
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if (full_bytes + 1 < size)
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{
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memset(dst, 0, size - full_bytes - 1);
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}
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}
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@ -208,14 +215,16 @@ void bitcopy(void *dst, u32 dst_index, const void *src, u32 src_index,
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{
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u32 limit1 = count / 32;
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u32 limit2 = count % 32;
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u32 idx=0;
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for (idx = 0; idx < limit1; ++idx) {
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u32 idx = 0;
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for (idx = 0; idx < limit1; ++idx)
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{
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u32 tmp = getbitu(src, src_index, 32);
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setbitu(dst, dst_index, 32, tmp);
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src_index += 32;
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dst_index += 32;
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}
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if (0 != limit2) {
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if (0 != limit2)
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{
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u32 tmp = getbitu(src, src_index, limit2);
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setbitu(dst, dst_index, limit2, tmp);
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}
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@ -232,7 +241,7 @@ void bitcopy(void *dst, u32 dst_index, const void *src, u32 src_index,
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u8 count_bits_u64(u64 v, u8 bv)
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{
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u8 r = 0;
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int i =0;
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int i = 0;
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for (i = 0; i < 16; i++)
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r += bitn[(v >> (i*4)) & 0xf];
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return bv == 1 ? r : 64 - r;
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@ -249,7 +258,7 @@ int i =0;
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u8 count_bits_u32(u32 v, u8 bv)
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{
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u8 r = 0;
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int i=0;
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int i = 0;
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for (i = 0; i < 8; i++)
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r += bitn[(v >> (i*4)) & 0xf];
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return bv == 1 ? r : 32 - r;
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@ -266,7 +275,7 @@ u8 count_bits_u32(u32 v, u8 bv)
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u8 count_bits_u16(u16 v, u8 bv)
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{
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u8 r = 0;
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int i =0;
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int i = 0;
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for (i= 0; i < 4; i++)
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r += bitn[(v >> (i*4)) & 0xf];
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return bv == 1 ? r : 16 - r;
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@ -283,7 +292,7 @@ int i =0;
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u8 count_bits_u8(u8 v, u8 bv)
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{
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u8 r = 0;
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int i=0;
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int i = 0;
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for (i = 0; i < 2; i++)
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r += bitn[(v >> (i*4)) & 0xf];
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return bv == 1 ? r : 8 - r;
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@ -90,6 +90,7 @@ static u32 _cnav_compute_crc(cnav_v27_part_t *part)
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return crc;
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}
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/**
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* Extracts CRC-24Q from a CNAV message buffer.
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* CRC-24Q value is the last 24 bits from 300 bits message buffer.
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@ -104,12 +105,14 @@ static u32 _cnav_extract_crc(const cnav_v27_part_t *part)
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{
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u32 crc = getbitu(part->decoded, GPS_CNAV_MSG_DATA_LENGTH,
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GPS_CNAV_MSG_CRC_LENGTH);
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if (part->invert) {
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if (part->invert)
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{
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crc ^= 0xFFFFFF;
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}
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return crc;
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}
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/**
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* Helper to rescan for preamble in the received buffer.
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* Occasionally there could be a false lock on message contents if it the
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@ -128,13 +131,15 @@ static void _cnav_rescan_preamble(cnav_v27_part_t *part)
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{
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part->preamble_seen = false;
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if (part->n_decoded > GPS_CNAV_PREAMBLE_LENGTH + 1) {
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size_t i=0;
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size_t j=0;
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for (i = 1, j = part->n_decoded - GPS_CNAV_PREAMBLE_LENGTH;
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i < j; ++i) {
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if (part->n_decoded > GPS_CNAV_PREAMBLE_LENGTH + 1)
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{
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size_t i = 0;
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size_t j = 0;
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for (i = 1, j = part->n_decoded - GPS_CNAV_PREAMBLE_LENGTH; i < j; ++i)
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{
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u32 c = getbitu(part->decoded, i, GPS_CNAV_PREAMBLE_LENGTH);
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if (GPS_CNAV_PREAMBLE1 == c || GPS_CNAV_PREAMBLE2 == c) {
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if (GPS_CNAV_PREAMBLE1 == c || GPS_CNAV_PREAMBLE2 == c)
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{
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part->preamble_seen = true;
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part->invert = (GPS_CNAV_PREAMBLE2 == c);
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/* We shift the accumulated bits to the beginning of the buffer */
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@ -144,13 +149,15 @@ static void _cnav_rescan_preamble(cnav_v27_part_t *part)
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}
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}
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}
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if (!part->preamble_seen && part->n_decoded >= GPS_CNAV_PREAMBLE_LENGTH) {
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if (!part->preamble_seen && part->n_decoded >= GPS_CNAV_PREAMBLE_LENGTH)
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{
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bitshl(part->decoded, sizeof(part->decoded),
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part->n_decoded - GPS_CNAV_PREAMBLE_LENGTH + 1);
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part->n_decoded = GPS_CNAV_PREAMBLE_LENGTH - 1;
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}
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}
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/**
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* Feed a symbol into Viterbi decoder instance.
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*
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@ -169,14 +176,17 @@ static void _cnav_add_symbol(cnav_v27_part_t *part, u8 ch)
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{
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part->symbols[part->n_symbols++] = ch;
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if (part->init) {
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if (part->init)
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{
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/* Initial step - load more symbols without decoding. */
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if (part->n_symbols < (GPS_L2C_V27_INIT_BITS + GPS_L2C_V27_DECODE_BITS) * 2) {
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if (part->n_symbols < (GPS_L2C_V27_INIT_BITS + GPS_L2C_V27_DECODE_BITS) * 2)
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{
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return;
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}
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part->init = false;
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}
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else if (part->n_symbols < GPS_L2C_V27_DECODE_BITS * 2) {
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else if (part->n_symbols < GPS_L2C_V27_DECODE_BITS * 2)
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{
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/* Wait until decoding block is accumulated */
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return;
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}
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@ -217,30 +227,38 @@ static void _cnav_add_symbol(cnav_v27_part_t *part, u8 ch)
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*/
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bool retry = true;
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while (retry) {
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while (retry)
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{
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retry = false;
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if (!part->preamble_seen) {
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if (!part->preamble_seen)
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{
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/* Rescan for preamble if possible. The first bit is ignored. */
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_cnav_rescan_preamble(part);
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}
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if (part->preamble_seen && GPS_CNAV_MSG_LENGTH <= part->n_decoded) {
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if (part->preamble_seen && GPS_CNAV_MSG_LENGTH <= part->n_decoded)
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{
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/* We have collected 300 bits starting from message preamble. Now try
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* to compute CRC-24Q */
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u32 crc = _cnav_compute_crc(part);
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u32 crc2 = _cnav_extract_crc(part);
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if (part->message_lock) {
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if (part->message_lock)
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{
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/* We have message lock */
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part->crc_ok = (crc == crc2);
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if (part->crc_ok) {
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if (part->crc_ok)
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{
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/* Reset message lock counter */
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part->n_crc_fail = 0;
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} else {
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}
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else
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{
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/* Increment message lock counter */
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part->n_crc_fail++;
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if (part->n_crc_fail > GPS_CNAV_LOCK_MAX_CRC_FAILS) {
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if (part->n_crc_fail > GPS_CNAV_LOCK_MAX_CRC_FAILS)
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{
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/* CRC has failed too many times - drop the lock. */
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part->n_crc_fail = 0;
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part->message_lock = false;
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@ -249,12 +267,16 @@ static void _cnav_add_symbol(cnav_v27_part_t *part, u8 ch)
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retry = true;
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}
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}
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} else if (crc == crc2) {
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}
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else if (crc == crc2)
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{
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/* CRC match - message can be decoded */
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part->message_lock = true;
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part->crc_ok = true;
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part->n_crc_fail = 0;
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} else {
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}
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else
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{
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/* There is no message lock and the CRC check fails. Assume there is
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* false positive lock - rescan for preamble. */
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part->crc_ok = false;
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@ -271,6 +293,7 @@ static void _cnav_add_symbol(cnav_v27_part_t *part, u8 ch)
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}
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}
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/**
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* Invert message bits in the buffer.
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*
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@ -283,11 +306,13 @@ static void _cnav_add_symbol(cnav_v27_part_t *part, u8 ch)
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static void _cnav_msg_invert(cnav_v27_part_t *part)
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{
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size_t i = 0;
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for (i = 0; i < sizeof(part->decoded); i++) {
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for (i = 0; i < sizeof(part->decoded); i++)
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{
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part->decoded[i] ^= 0xFFu;
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}
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}
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/**
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* Performs CNAV message decoding.
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*
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@ -311,10 +336,13 @@ static void _cnav_msg_invert(cnav_v27_part_t *part)
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static bool _cnav_msg_decode(cnav_v27_part_t *part, cnav_msg_t *msg, u32 *delay)
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{
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bool res = false;
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if (GPS_CNAV_MSG_LENGTH <= part->n_decoded) {
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if (part->crc_ok) {
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if (GPS_CNAV_MSG_LENGTH <= part->n_decoded)
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{
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if (part->crc_ok)
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{
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/* CRC is OK */
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if (part->invert) {
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if (part->invert)
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{
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_cnav_msg_invert(part);
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}
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@ -326,14 +354,16 @@ static bool _cnav_msg_decode(cnav_v27_part_t *part, cnav_msg_t *msg, u32 *delay)
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/* copy RAW message for GNSS-SDR */
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memcpy(msg->raw_msg,part->decoded,GPS_L2C_V27_DECODE_BITS + GPS_L2C_V27_DELAY_BITS);
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*delay = (part->n_decoded - GPS_CNAV_MSG_LENGTH + GPS_L2C_V27_DELAY_BITS)
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* 2 + part->n_symbols;
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*delay = (part->n_decoded - GPS_CNAV_MSG_LENGTH + GPS_L2C_V27_DELAY_BITS) * 2 + part->n_symbols;
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if (part->invert) {
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if (part->invert)
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{
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_cnav_msg_invert(part);
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}
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res = true;
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} else {
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}
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else
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{
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/* CRC mismatch - no decoding */
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}
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bitshl(part->decoded, sizeof(part->decoded), GPS_CNAV_MSG_LENGTH);
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@ -343,6 +373,7 @@ static bool _cnav_msg_decode(cnav_v27_part_t *part, cnav_msg_t *msg, u32 *delay)
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return res;
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}
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/**
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* Initialize CNAV decoder.
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*
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@ -401,13 +432,15 @@ bool cnav_msg_decoder_add_symbol(cnav_msg_decoder_t *dec,
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_cnav_add_symbol(&dec->part1, symbol);
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_cnav_add_symbol(&dec->part2, symbol);
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if (dec->part1.message_lock) {
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if (dec->part1.message_lock)
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{
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/* Flush data in decoder. */
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dec->part2.n_decoded = 0;
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dec->part2.n_symbols = 0;
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return _cnav_msg_decode(&dec->part1, msg, pdelay);
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}
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if (dec->part2.message_lock) {
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if (dec->part2.message_lock)
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{
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/* Flush data in decoder. */
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dec->part1.n_decoded = 0;
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dec->part1.n_symbols = 0;
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@ -417,6 +450,7 @@ bool cnav_msg_decoder_add_symbol(cnav_msg_decoder_t *dec,
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return false;
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}
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/**
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* Provides a singleton polynomial object.
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*
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@ -432,7 +466,8 @@ const v27_poly_t *cnav_msg_decoder_get_poly(void)
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static v27_poly_t instance;
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static bool initialized = false;
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if (!initialized) {
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if (!initialized)
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{
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/* Coefficients for polynomial object */
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const signed char coeffs[2] = { GPS_L2C_V27_POLY_A, GPS_L2C_V27_POLY_B };
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@ -91,8 +91,8 @@ static const u32 crc24qtab[256] = {
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*/
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u32 crc24q(const u8 *buf, u32 len, u32 crc)
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{
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u32 i=0;
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for ( i= 0; i < len; i++)
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u32 i = 0;
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for (i = 0; i < len; i++)
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crc = ((crc << 8) & 0xFFFFFF) ^ crc24qtab[((crc >> 16) ^ buf[i]) & 0xff];
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return crc;
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}
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@ -118,17 +118,20 @@ u32 crc24q_bits(u32 crc, const u8 *buf, u32 n_bits, bool invert)
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u8 b = 0;
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u32 shift = 8 - n_bits % 8;
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u32 i=0;
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for ( i= 0; i < n_bits / 8; ++i) {
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u32 i = 0;
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for (i = 0; i < n_bits / 8; ++i)
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{
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acc = (acc << 8) | *buf++;
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if (invert) {
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if (invert)
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{
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acc ^= 0xFFu;
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}
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b = (acc >> shift) & 0xFFu;
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crc = ((crc << 8) & 0xFFFFFFu) ^ crc24qtab[((crc >> 16) ^ b) & 0xFFu];
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}
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acc = (acc << 8) | *buf;
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if (invert) {
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if (invert)
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{
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acc ^= 0xFFu;
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}
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b = (acc >> shift) & 0xFFu;
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@ -42,6 +42,7 @@ static inline int parity(int x)
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return (0x6996 >> x) & 1;
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}
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/** Initialize a v27_poly_t struct for use with a v27_t decoder.
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*
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* \param poly Structure to initialize.
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@ -51,12 +52,14 @@ void v27_poly_init(v27_poly_t *poly, const signed char polynomial[2])
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{
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int state;
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for(state = 0; state < 32; state++) {
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for(state = 0; state < 32; state++)
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{
|
||||
poly->c0[state] = (polynomial[0] < 0) ^ parity((2*state) & abs(polynomial[0])) ? 255 : 0;
|
||||
poly->c1[state] = (polynomial[1] < 0) ^ parity((2*state) & abs(polynomial[1])) ? 255 : 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/** Initialize a v27_t struct for Viterbi decoding.
|
||||
*
|
||||
* \param v Structure to initialize
|
||||
@ -86,9 +89,10 @@ void v27_init(v27_t *v, v27_decision_t *decisions, unsigned int decisions_count,
|
||||
v->old_metrics[initial_state & 63] = 0; /* Bias known start state */
|
||||
}
|
||||
|
||||
|
||||
/* C-language butterfly */
|
||||
#define BFLY(i) {\
|
||||
unsigned int metric,m0,m1,decision;\
|
||||
unsigned int metric,m0,m1,decision;\
|
||||
metric = (v->poly->c0[i] ^ sym0) + (v->poly->c1[i] ^ sym1);\
|
||||
m0 = v->old_metrics[i] + metric;\
|
||||
m1 = v->old_metrics[i+32] + (510 - metric);\
|
||||
@ -115,7 +119,8 @@ void v27_update(v27_t *v, const unsigned char *syms, int nbits)
|
||||
unsigned int *tmp;
|
||||
int normalize = 0;
|
||||
|
||||
while(nbits--) {
|
||||
while(nbits--)
|
||||
{
|
||||
v27_decision_t *d = &v->decisions[v->decisions_index];
|
||||
|
||||
d->w[0] = d->w[1] = 0;
|
||||
@ -156,16 +161,18 @@ void v27_update(v27_t *v, const unsigned char *syms, int nbits)
|
||||
BFLY(31);
|
||||
|
||||
/* Normalize metrics if they are nearing overflow */
|
||||
if(v->new_metrics[0] > (1<<30)) {
|
||||
if(v->new_metrics[0] > (1 << 30))
|
||||
{
|
||||
int i;
|
||||
unsigned int minmetric = 1<<31;
|
||||
unsigned int minmetric = 1 << 31;
|
||||
|
||||
for(i=0; i<64; i++) {
|
||||
for(i = 0; i < 64; i++)
|
||||
{
|
||||
if(v->new_metrics[i] < minmetric)
|
||||
minmetric = v->new_metrics[i];
|
||||
}
|
||||
|
||||
for(i=0; i<64; i++)
|
||||
for(i = 0; i < 64; i++)
|
||||
v->new_metrics[i] -= minmetric;
|
||||
|
||||
normalize += minmetric;
|
||||
@ -182,6 +189,7 @@ void v27_update(v27_t *v, const unsigned char *syms, int nbits)
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/** Retrieve the most likely output bit sequence with known final state from
|
||||
* a v27_t decoder.
|
||||
*
|
||||
@ -199,22 +207,24 @@ void v27_chainback_fixed(v27_t *v, unsigned char *data, unsigned int nbits,
|
||||
final_state %= 64;
|
||||
final_state <<= 2;
|
||||
|
||||
while(nbits-- != 0) {
|
||||
while(nbits-- != 0)
|
||||
{
|
||||
|
||||
/* Decrement decision index */
|
||||
decisions_index = (decisions_index == 0) ?
|
||||
v->decisions_count-1 : decisions_index-1;
|
||||
|
||||
v27_decision_t *d = &v->decisions[decisions_index];
|
||||
k = (d->w[(final_state>>2)/32] >> ((final_state>>2)%32)) & 1;
|
||||
k = (d->w[(final_state >> 2) / 32] >> ((final_state >> 2) % 32)) & 1;
|
||||
/* The store into data[] only needs to be done every 8 bits.
|
||||
* But this avoids a conditional branch, and the writes will
|
||||
* combine in the cache anyway
|
||||
*/
|
||||
data[nbits>>3] = final_state = (final_state >> 1) | (k << 7);
|
||||
data[nbits >> 3] = final_state = (final_state >> 1) | (k << 7);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/** Retrieve the most likely output bit sequence with unknown final state from
|
||||
* a v27_t decoder.
|
||||
*
|
||||
@ -229,7 +239,7 @@ void v27_chainback_likely(v27_t *v, unsigned char *data, unsigned int nbits)
|
||||
int i;
|
||||
unsigned int best_metric = 0xffffffff;
|
||||
unsigned char best_state = 0;
|
||||
for(i=0; i<64; i++)
|
||||
for(i = 0; i < 64; i++)
|
||||
{
|
||||
if(v->new_metrics[i] < best_metric)
|
||||
{
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user