diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc index e2f5e701e..9e1dc3394 100644 --- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc +++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc @@ -303,11 +303,11 @@ int galileo_e1b_telemetry_decoder_cc::general_work(int noutput_items __attribute Gnss_Synchro **out = reinterpret_cast(&output_items[0]); // Get the output buffer pointer const Gnss_Synchro **in = reinterpret_cast(&input_items[0]); // Get the input buffer pointer - Gnss_Synchro current_symbol; //structure to save the synchronization information and send the output object to the next block - //1. Copy the current tracking output + Gnss_Synchro current_symbol; // structure to save the synchronization information and send the output object to the next block + // 1. Copy the current tracking output current_symbol = in[0][0]; - d_symbol_history.push_back(current_symbol); //add new symbol to the symbol queue - d_sample_counter++; //count for the processed samples + d_symbol_history.push_back(current_symbol); // add new symbol to the symbol queue + d_sample_counter++; // count for the processed samples consume_each(1); d_flag_preamble = false; @@ -316,7 +316,7 @@ int galileo_e1b_telemetry_decoder_cc::general_work(int noutput_items __attribute if (d_symbol_history.size() > required_symbols) { // TODO Optimize me! - //******* preamble correlation ******** + // ******* preamble correlation ******** for (int i = 0; i < d_symbols_per_preamble; i++) { if (d_symbol_history.at(i).Prompt_I < 0) // symbols clipping @@ -330,12 +330,12 @@ int galileo_e1b_telemetry_decoder_cc::general_work(int noutput_items __attribute } } - //******* frame sync ****************** - if (d_stat == 0) //no preamble information + // ******* frame sync ****************** + if (d_stat == 0) // no preamble information { if (abs(corr_value) >= d_symbols_per_preamble) { - d_preamble_index = d_sample_counter; //record the preamble sample stamp + d_preamble_index = d_sample_counter; // record the preamble sample stamp LOG(INFO) << "Preamble detection for Galileo satellite " << this->d_satellite; d_stat = 1; // enter into frame pre-detection status } @@ -344,13 +344,13 @@ int galileo_e1b_telemetry_decoder_cc::general_work(int noutput_items __attribute { if (abs(corr_value) >= d_symbols_per_preamble) { - //check preamble separation + // check preamble separation preamble_diff = d_sample_counter - d_preamble_index; if (abs(preamble_diff - GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS) == 0) { - //try to decode frame + // try to decode frame LOG(INFO) << "Starting page decoder for Galileo satellite " << this->d_satellite; - d_preamble_index = d_sample_counter; //record the preamble sample stamp + d_preamble_index = d_sample_counter; // record the preamble sample stamp d_stat = 2; } else @@ -383,13 +383,13 @@ int galileo_e1b_telemetry_decoder_cc::general_work(int noutput_items __attribute } } - //call the decoder + // call the decoder decode_word(page_part_symbols, frame_length); if (d_nav.flag_CRC_test == true) { d_CRC_error_counter = 0; - d_flag_preamble = true; //valid preamble indicator (initialized to false every work()) - d_preamble_index = d_sample_counter; //record the preamble sample stamp (t_P) + d_flag_preamble = true; // valid preamble indicator (initialized to false every work()) + d_preamble_index = d_sample_counter; // record the preamble sample stamp (t_P) if (!d_flag_frame_sync) { d_flag_frame_sync = true; @@ -400,7 +400,7 @@ int galileo_e1b_telemetry_decoder_cc::general_work(int noutput_items __attribute else { d_CRC_error_counter++; - d_preamble_index = d_sample_counter; //record the preamble sample stamp + d_preamble_index = d_sample_counter; // record the preamble sample stamp if (d_CRC_error_counter > CRC_ERROR_LIMIT) { LOG(INFO) << "Lost of frame sync SAT " << this->d_satellite; @@ -412,37 +412,37 @@ int galileo_e1b_telemetry_decoder_cc::general_work(int noutput_items __attribute } // UPDATE GNSS SYNCHRO DATA - //2. Add the telemetry decoder information + // 2. Add the telemetry decoder information if (this->d_flag_preamble == true and d_nav.flag_TOW_set == true) - //update TOW at the preamble instant + // update TOW at the preamble instant { - if (d_nav.flag_TOW_5 == true) //page 5 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec) + if (d_nav.flag_TOW_5 == true) // page 5 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec) { - //TOW_5 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later plus the decoding delay + // TOW_5 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later plus the decoding delay d_TOW_at_current_symbol = d_nav.TOW_5 + static_cast(GALILEO_INAV_PAGE_PART_SECONDS) + static_cast(required_symbols + 1) * GALILEO_E1_CODE_PERIOD; d_nav.flag_TOW_5 = false; } - else if (d_nav.flag_TOW_6 == true) //page 6 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec) + else if (d_nav.flag_TOW_6 == true) // page 6 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec) { - //TOW_6 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later plus the decoding delay + // TOW_6 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later plus the decoding delay d_TOW_at_current_symbol = d_nav.TOW_6 + static_cast(GALILEO_INAV_PAGE_PART_SECONDS) + static_cast(required_symbols + 1) * GALILEO_E1_CODE_PERIOD; d_nav.flag_TOW_6 = false; } else { - //this page has no timing information + // this page has no timing information d_TOW_at_current_symbol += GALILEO_E1_CODE_PERIOD; // + GALILEO_INAV_PAGE_PART_SYMBOLS*GALILEO_E1_CODE_PERIOD; } } - else //if there is not a new preamble, we define the TOW of the current symbol + else // if there is not a new preamble, we define the TOW of the current symbol { d_TOW_at_current_symbol += GALILEO_E1_CODE_PERIOD; } - //if (d_flag_frame_sync == true and d_nav.flag_TOW_set==true and d_nav.flag_CRC_test == true) + // if (d_flag_frame_sync == true and d_nav.flag_TOW_set==true and d_nav.flag_CRC_test == true) - if (d_nav.flag_GGTO_1 == true and d_nav.flag_GGTO_2 == true and d_nav.flag_GGTO_3 == true and d_nav.flag_GGTO_4 == true) //all GGTO parameters arrived + if (d_nav.flag_GGTO_1 == true and d_nav.flag_GGTO_2 == true and d_nav.flag_GGTO_3 == true and d_nav.flag_GGTO_4 == true) // all GGTO parameters arrived { delta_t = d_nav.A_0G_10 + d_nav.A_1G_10 * (d_TOW_at_current_symbol - d_nav.t_0G_10 + 604800.0 * (fmod((d_nav.WN_0 - d_nav.WN_0G_10), 64.0))); } @@ -457,8 +457,8 @@ int galileo_e1b_telemetry_decoder_cc::general_work(int noutput_items __attribute } current_symbol.TOW_at_current_symbol_ms = round(d_TOW_at_current_symbol * 1000.0); - //todo: Galileo to GPS time conversion should be moved to observable block. - //current_symbol.TOW_at_current_symbol_ms -= delta_t; //Galileo to GPS TOW + // todo: Galileo to GPS time conversion should be moved to observable block. + // current_symbol.TOW_at_current_symbol_ms -= delta_t; //Galileo to GPS TOW if (d_dump == true) { @@ -485,8 +485,7 @@ int galileo_e1b_telemetry_decoder_cc::general_work(int noutput_items __attribute { d_symbol_history.pop_front(); } - //3. Make the output (copy the object contents to the GNURadio reserved memory) + // 3. Make the output (copy the object contents to the GNURadio reserved memory) *out[0] = current_symbol; - //std::cout<<"GPS L1 TLM output on CH="<d_channel << " SAMPLE STAMP="<set_property("Tracking_1B15.implementation", "Galileo_E1_DLL_PLL_VEML_Tracking"); config->set_property("TelemetryDecoder_1C0.implementation", "GPS_L1_CA_Telemetry_Decoder"); - config->set_property("TelemetryDecoder_1C0.decimation_factor", "4"); config->set_property("TelemetryDecoder_1C1.implementation", "GPS_L1_CA_Telemetry_Decoder"); - config->set_property("TelemetryDecoder_1C1.decimation_factor", "4"); config->set_property("TelemetryDecoder_1C2.implementation", "GPS_L1_CA_Telemetry_Decoder"); - config->set_property("TelemetryDecoder_1C2.decimation_factor", "4"); config->set_property("TelemetryDecoder_1C3.implementation", "GPS_L1_CA_Telemetry_Decoder"); - config->set_property("TelemetryDecoder_1C3.decimation_factor", "4"); config->set_property("TelemetryDecoder_1C4.implementation", "GPS_L1_CA_Telemetry_Decoder"); - config->set_property("TelemetryDecoder_1C4.decimation_factor", "4"); config->set_property("TelemetryDecoder_1C5.implementation", "GPS_L1_CA_Telemetry_Decoder"); - config->set_property("TelemetryDecoder_1C5.decimation_factor", "4"); config->set_property("TelemetryDecoder_1C6.implementation", "GPS_L1_CA_Telemetry_Decoder"); - config->set_property("TelemetryDecoder_1C6.decimation_factor", "4"); config->set_property("TelemetryDecoder_1C7.implementation", "GPS_L1_CA_Telemetry_Decoder"); - config->set_property("TelemetryDecoder_1C7.decimation_factor", "4"); config->set_property("TelemetryDecoder_1B8.implementation", "Galileo_E1B_Telemetry_Decoder"); - config->set_property("TelemetryDecoder_1B8.decimation_factor", "1"); config->set_property("TelemetryDecoder_1B9.implementation", "Galileo_E1B_Telemetry_Decoder"); - config->set_property("TelemetryDecoder_1B9.decimation_factor", "1"); config->set_property("TelemetryDecoder_1B10.implementation", "Galileo_E1B_Telemetry_Decoder"); - config->set_property("TelemetryDecoder_1B10.decimation_factor", "1"); config->set_property("TelemetryDecoder_1B11.implementation", "Galileo_E1B_Telemetry_Decoder"); - config->set_property("TelemetryDecoder_1B11.decimation_factor", "1"); config->set_property("TelemetryDecoder_1B12.implementation", "Galileo_E1B_Telemetry_Decoder"); - config->set_property("TelemetryDecoder_1B12.decimation_factor", "1"); config->set_property("TelemetryDecoder_1B13.implementation", "Galileo_E1B_Telemetry_Decoder"); - config->set_property("TelemetryDecoder_1B13.decimation_factor", "1"); config->set_property("TelemetryDecoder_1B14.implementation", "Galileo_E1B_Telemetry_Decoder"); - config->set_property("TelemetryDecoder_1B14.decimation_factor", "1"); config->set_property("TelemetryDecoder_1B15.implementation", "Galileo_E1B_Telemetry_Decoder"); - config->set_property("TelemetryDecoder_1B15.decimation_factor", "1"); config->set_property("Observables.implementation", "Hybrid_Observables"); config->set_property("PVT.implementation", "RTKLIB_PVT");