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https://github.com/gnss-sdr/gnss-sdr
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Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next
This commit is contained in:
commit
df3a76f516
@ -83,26 +83,20 @@ gps_l1_ca_telemetry_decoder_cc::gps_l1_ca_telemetry_decoder_cc(
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}
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}
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d_stat = 0;
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d_symbol_accumulator = 0;
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d_symbol_accumulator_counter = 0;
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d_frame_bit_index = 0;
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d_flag_frame_sync = false;
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d_GPS_frame_4bytes = 0;
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d_prev_GPS_frame_4bytes = 0;
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d_flag_parity = false;
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d_TOW_at_Preamble_ms = 0;
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flag_TOW_set = false;
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d_flag_preamble = false;
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d_flag_new_tow_available = false;
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d_word_number = 0;
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d_channel = 0;
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flag_PLL_180_deg_phase_locked = false;
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d_preamble_time_samples = 0;
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d_TOW_at_current_symbol_ms = 0;
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d_symbol_history.resize(GPS_CA_PREAMBLE_LENGTH_SYMBOLS + 1); // Change fixed buffer size
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d_symbol_history.clear(); // Clear all the elements in the buffer
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d_make_correlation = true;
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d_symbol_counter_corr = 0;
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d_symbol_history.resize(GPS_CA_PREAMBLE_LENGTH_SYMBOLS); // Change fixed buffer size
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d_symbol_history.clear(); // Clear all the elements in the buffer
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d_crc_error_synchronization_counter = 0;
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d_current_subframe_symbol = 0;
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}
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@ -150,9 +144,10 @@ bool gps_l1_ca_telemetry_decoder_cc::gps_word_parityCheck(unsigned int gpsword)
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void gps_l1_ca_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite)
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{
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d_nav.reset();
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d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
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DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite;
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d_GPS_FSM.i_satellite_PRN = d_satellite.get_PRN();
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d_nav.i_satellite_PRN = d_satellite.get_PRN();
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DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
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}
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@ -160,7 +155,7 @@ void gps_l1_ca_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satelli
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void gps_l1_ca_telemetry_decoder_cc::set_channel(int channel)
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{
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d_channel = channel;
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d_GPS_FSM.i_channel_ID = channel;
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d_nav.i_channel_ID = channel;
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DLOG(INFO) << "Navigation channel set to " << channel;
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// ############# ENABLE DATA FILE LOG #################
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if (d_dump == true)
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@ -186,10 +181,128 @@ void gps_l1_ca_telemetry_decoder_cc::set_channel(int channel)
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}
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bool gps_l1_ca_telemetry_decoder_cc::decode_subframe()
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{
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char subframe[GPS_SUBFRAME_LENGTH];
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int symbol_accumulator_counter = 0;
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int frame_bit_index = 0;
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int word_index = 0;
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uint32_t GPS_frame_4bytes = 0;
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float symbol_accumulator = 0;
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bool subframe_synchro_confirmation = false;
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bool CRC_ok = true;
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for (int n = 0; n < GPS_SUBFRAME_MS; n++)
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{
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//******* SYMBOL TO BIT *******
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// extended correlation to bit period is enabled in tracking!
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symbol_accumulator += d_subframe_symbols[n]; // accumulate the input value in d_symbol_accumulator
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symbol_accumulator_counter++;
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if (symbol_accumulator_counter == 20)
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{
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//symbol to bit
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if (symbol_accumulator > 0) GPS_frame_4bytes += 1; //insert the telemetry bit in LSB
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symbol_accumulator = 0;
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symbol_accumulator_counter = 0;
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//******* bits to words ******
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frame_bit_index++;
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if (frame_bit_index == 30)
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{
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frame_bit_index = 0;
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// parity check
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// Each word in wordbuff is composed of:
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// Bits 0 to 29 = the GPS data word
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// Bits 30 to 31 = 2 LSBs of the GPS word ahead.
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// prepare the extended frame [-2 -1 0 ... 30]
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if (d_prev_GPS_frame_4bytes & 0x00000001)
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{
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GPS_frame_4bytes = GPS_frame_4bytes | 0x40000000;
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}
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if (d_prev_GPS_frame_4bytes & 0x00000002)
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{
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GPS_frame_4bytes = GPS_frame_4bytes | 0x80000000;
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}
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/* Check that the 2 most recently logged words pass parity. Have to first
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invert the data bits according to bit 30 of the previous word. */
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if (GPS_frame_4bytes & 0x40000000)
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{
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GPS_frame_4bytes ^= 0x3FFFFFC0; // invert the data bits (using XOR)
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}
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if (gps_l1_ca_telemetry_decoder_cc::gps_word_parityCheck(GPS_frame_4bytes))
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{
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subframe_synchro_confirmation = true;
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}
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else
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{
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//std::cout << "word invalid sat " << this->d_satellite << std::endl;
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CRC_ok = false;
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//break;
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}
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//add word to subframe
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// insert the word in the correct position of the subframe
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std::memcpy(&subframe[word_index * GPS_WORD_LENGTH], &GPS_frame_4bytes, sizeof(uint32_t));
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word_index++;
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d_prev_GPS_frame_4bytes = GPS_frame_4bytes; // save the actual frame
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GPS_frame_4bytes = 0;
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}
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else
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{
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GPS_frame_4bytes <<= 1; //shift 1 bit left the telemetry word
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}
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}
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}
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//decode subframe
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// NEW GPS SUBFRAME HAS ARRIVED!
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if (CRC_ok)
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{
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int subframe_ID = d_nav.subframe_decoder(subframe); //decode the subframe
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std::cout << "New GPS NAV message received in channel " << this->d_channel << ": "
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<< "subframe "
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<< subframe_ID << " from satellite "
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<< Gnss_Satellite(std::string("GPS"), d_nav.i_satellite_PRN) << std::endl;
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switch (subframe_ID)
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{
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case 3: //we have a new set of ephemeris data for the current SV
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if (d_nav.satellite_validation() == true)
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{
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// get ephemeris object for this SV (mandatory)
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std::shared_ptr<Gps_Ephemeris> tmp_obj = std::make_shared<Gps_Ephemeris>(d_nav.get_ephemeris());
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this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
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}
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break;
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case 4: // Possible IONOSPHERE and UTC model update (page 18)
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if (d_nav.flag_iono_valid == true)
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{
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std::shared_ptr<Gps_Iono> tmp_obj = std::make_shared<Gps_Iono>(d_nav.get_iono());
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this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
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}
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if (d_nav.flag_utc_model_valid == true)
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{
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std::shared_ptr<Gps_Utc_Model> tmp_obj = std::make_shared<Gps_Utc_Model>(d_nav.get_utc_model());
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this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
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}
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break;
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case 5:
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// get almanac (if available)
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//TODO: implement almanac reader in navigation_message
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break;
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default:
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break;
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}
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d_flag_new_tow_available = true;
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}
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return subframe_synchro_confirmation;
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}
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int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
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gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
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{
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int corr_value = 0;
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int preamble_diff_ms = 0;
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Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]); // Get the output buffer pointer
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@ -198,15 +311,25 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__
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Gnss_Synchro current_symbol; //structure to save the synchronization information and send the output object to the next block
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//1. Copy the current tracking output
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current_symbol = in[0][0];
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//record the oldest subframe symbol before inserting a new symbol into the circular buffer
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if (d_current_subframe_symbol < GPS_SUBFRAME_MS and d_symbol_history.size() > 0)
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{
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d_subframe_symbols[d_current_subframe_symbol] = d_symbol_history.at(0).Prompt_I;
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d_current_subframe_symbol++;
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}
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d_symbol_history.push_back(current_symbol); //add new symbol to the symbol queue
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consume_each(1);
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unsigned int required_symbols = GPS_CA_PREAMBLE_LENGTH_SYMBOLS;
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d_flag_preamble = false;
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if ((d_symbol_history.size() > required_symbols) and (d_make_correlation or !d_flag_frame_sync))
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//******* preamble correlation ********
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int corr_value = 0;
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if ((d_symbol_history.size() == GPS_CA_PREAMBLE_LENGTH_SYMBOLS)) // and (d_make_correlation or !d_flag_frame_sync))
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{
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//******* preamble correlation ********
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// std::cout << "-------\n";
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for (unsigned int i = 0; i < GPS_CA_PREAMBLE_LENGTH_SYMBOLS; i++)
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{
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if (d_symbol_history.at(i).Flag_valid_symbol_output == true)
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@ -221,38 +344,27 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__
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}
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}
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}
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if (std::abs(corr_value) >= GPS_CA_PREAMBLE_LENGTH_SYMBOLS)
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{
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d_symbol_counter_corr++;
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}
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}
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//******* frame sync ******************
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if (std::abs(corr_value) == GPS_CA_PREAMBLE_LENGTH_SYMBOLS)
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{
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//TODO: Rewrite with state machine
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if (d_stat == 0)
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{
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d_GPS_FSM.Event_gps_word_preamble();
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//record the preamble sample stamp
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d_preamble_time_samples = d_symbol_history.at(0).Tracking_sample_counter; // record the preamble sample stamp
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DLOG(INFO) << "Preamble detection for SAT " << this->d_satellite << "d_symbol_history.at(0).Tracking_sample_counter=" << d_symbol_history.at(0).Tracking_sample_counter;
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//sync the symbol to bits integrator
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d_symbol_accumulator = 0;
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d_symbol_accumulator_counter = 0;
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d_frame_bit_index = 0;
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d_stat = 1; // enter into frame pre-detection status
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}
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else if (d_stat == 1) //check 6 seconds of preamble separation
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{
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preamble_diff_ms = std::round(((static_cast<double>(d_symbol_history.at(0).Tracking_sample_counter) - d_preamble_time_samples) / static_cast<double>(d_symbol_history.at(0).fs)) * 1000.0);
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if (std::abs(preamble_diff_ms - GPS_SUBFRAME_MS) < 1)
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if (std::abs(preamble_diff_ms - GPS_SUBFRAME_MS) % GPS_SUBFRAME_MS == 0)
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{
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DLOG(INFO) << "Preamble confirmation for SAT " << this->d_satellite;
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d_GPS_FSM.Event_gps_word_preamble();
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d_flag_preamble = true;
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d_make_correlation = false;
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d_symbol_counter_corr = 0;
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d_preamble_time_samples = d_symbol_history.at(0).Tracking_sample_counter; // record the PRN start sample index associated to the preamble
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if (!d_flag_frame_sync)
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{
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@ -269,131 +381,46 @@ int gps_l1_ca_telemetry_decoder_cc::general_work(int noutput_items __attribute__
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DLOG(INFO) << " Frame sync SAT " << this->d_satellite << " with preamble start at "
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<< static_cast<double>(d_preamble_time_samples) / static_cast<double>(d_symbol_history.at(0).fs) << " [s]";
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}
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//try to decode the subframe:
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if (decode_subframe() == false)
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{
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d_crc_error_synchronization_counter++;
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if (d_crc_error_synchronization_counter > 3)
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{
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DLOG(INFO) << "TOO MANY CRC ERRORS: Lost of frame sync SAT " << this->d_satellite << std::endl;
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d_stat = 0; //lost of frame sync
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d_flag_frame_sync = false;
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flag_TOW_set = false;
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d_crc_error_synchronization_counter = 0;
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}
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}
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d_current_subframe_symbol = 0;
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}
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}
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}
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else
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{
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d_symbol_counter_corr++;
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if (d_symbol_counter_corr > (GPS_SUBFRAME_MS - GPS_CA_TELEMETRY_SYMBOLS_PER_BIT))
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{
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d_make_correlation = true;
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}
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if (d_stat == 1)
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{
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preamble_diff_ms = round(((static_cast<double>(d_symbol_history.at(0).Tracking_sample_counter) - static_cast<double>(d_preamble_time_samples)) / static_cast<double>(d_symbol_history.at(0).fs)) * 1000.0);
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if (preamble_diff_ms > GPS_SUBFRAME_MS + 1)
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if (preamble_diff_ms > GPS_SUBFRAME_MS)
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{
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DLOG(INFO) << "Lost of frame sync SAT " << this->d_satellite << " preamble_diff= " << preamble_diff_ms;
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// std::cout << "Lost of frame sync SAT " << this->d_satellite << " preamble_diff= " << preamble_diff_ms << std::endl;
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d_stat = 0; //lost of frame sync
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d_flag_frame_sync = false;
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flag_TOW_set = false;
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d_make_correlation = true;
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d_symbol_counter_corr = 0;
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d_current_subframe_symbol = 0;
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d_crc_error_synchronization_counter = 0;
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}
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}
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}
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//******* SYMBOL TO BIT *******
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if (d_symbol_history.at(0).Flag_valid_symbol_output == true)
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{
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// extended correlation to bit period is enabled in tracking!
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d_symbol_accumulator += d_symbol_history.at(0).Prompt_I; // accumulate the input value in d_symbol_accumulator
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d_symbol_accumulator_counter += d_symbol_history.at(0).correlation_length_ms;
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}
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if (d_symbol_accumulator_counter >= 20)
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{
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if (d_symbol_accumulator > 0)
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{ //symbol to bit
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d_GPS_frame_4bytes += 1; //insert the telemetry bit in LSB
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}
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d_symbol_accumulator = 0;
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d_symbol_accumulator_counter = 0;
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//******* bits to words ******
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d_frame_bit_index++;
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if (d_frame_bit_index == 30)
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{
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d_frame_bit_index = 0;
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// parity check
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// Each word in wordbuff is composed of:
|
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// Bits 0 to 29 = the GPS data word
|
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// Bits 30 to 31 = 2 LSBs of the GPS word ahead.
|
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// prepare the extended frame [-2 -1 0 ... 30]
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if (d_prev_GPS_frame_4bytes & 0x00000001)
|
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{
|
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d_GPS_frame_4bytes = d_GPS_frame_4bytes | 0x40000000;
|
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}
|
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if (d_prev_GPS_frame_4bytes & 0x00000002)
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{
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d_GPS_frame_4bytes = d_GPS_frame_4bytes | 0x80000000;
|
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}
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/* Check that the 2 most recently logged words pass parity. Have to first
|
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invert the data bits according to bit 30 of the previous word. */
|
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if (d_GPS_frame_4bytes & 0x40000000)
|
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{
|
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d_GPS_frame_4bytes ^= 0x3FFFFFC0; // invert the data bits (using XOR)
|
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}
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if (gps_l1_ca_telemetry_decoder_cc::gps_word_parityCheck(d_GPS_frame_4bytes))
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{
|
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memcpy(&d_GPS_FSM.d_GPS_frame_4bytes, &d_GPS_frame_4bytes, sizeof(char) * 4);
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//d_GPS_FSM.d_preamble_time_ms = d_preamble_time_seconds * 1000.0;
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d_GPS_FSM.Event_gps_word_valid();
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// send TLM data to PVT using asynchronous message queues
|
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if (d_GPS_FSM.d_flag_new_subframe == true)
|
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{
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switch (d_GPS_FSM.d_subframe_ID)
|
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{
|
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case 3: //we have a new set of ephemeris data for the current SV
|
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if (d_GPS_FSM.d_nav.satellite_validation() == true)
|
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{
|
||||
// get ephemeris object for this SV (mandatory)
|
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std::shared_ptr<Gps_Ephemeris> tmp_obj = std::make_shared<Gps_Ephemeris>(d_GPS_FSM.d_nav.get_ephemeris());
|
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this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
||||
}
|
||||
break;
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||||
case 4: // Possible IONOSPHERE and UTC model update (page 18)
|
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if (d_GPS_FSM.d_nav.flag_iono_valid == true)
|
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{
|
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std::shared_ptr<Gps_Iono> tmp_obj = std::make_shared<Gps_Iono>(d_GPS_FSM.d_nav.get_iono());
|
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this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
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}
|
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if (d_GPS_FSM.d_nav.flag_utc_model_valid == true)
|
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{
|
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std::shared_ptr<Gps_Utc_Model> tmp_obj = std::make_shared<Gps_Utc_Model>(d_GPS_FSM.d_nav.get_utc_model());
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this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
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}
|
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break;
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case 5:
|
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// get almanac (if available)
|
||||
//TODO: implement almanac reader in navigation_message
|
||||
break;
|
||||
default:
|
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break;
|
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}
|
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d_GPS_FSM.clear_flag_new_subframe();
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d_flag_new_tow_available = true;
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}
|
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|
||||
d_flag_parity = true;
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}
|
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else
|
||||
{
|
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d_GPS_FSM.Event_gps_word_invalid();
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d_flag_parity = false;
|
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}
|
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d_prev_GPS_frame_4bytes = d_GPS_frame_4bytes; // save the actual frame
|
||||
d_GPS_frame_4bytes = d_GPS_frame_4bytes & 0;
|
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}
|
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else
|
||||
{
|
||||
d_GPS_frame_4bytes <<= 1; //shift 1 bit left the telemetry word
|
||||
}
|
||||
}
|
||||
|
||||
//2. Add the telemetry decoder information
|
||||
if (this->d_flag_preamble == true and d_flag_new_tow_available == true)
|
||||
{
|
||||
d_TOW_at_current_symbol_ms = static_cast<unsigned int>(d_GPS_FSM.d_nav.d_TOW) * 1000 + GPS_L1_CA_CODE_PERIOD_MS + GPS_CA_PREAMBLE_DURATION_MS;
|
||||
d_TOW_at_current_symbol_ms = static_cast<unsigned int>(d_nav.d_TOW) * 1000 + GPS_L1_CA_CODE_PERIOD_MS + GPS_CA_PREAMBLE_DURATION_MS;
|
||||
d_TOW_at_Preamble_ms = d_TOW_at_current_symbol_ms;
|
||||
flag_TOW_set = true;
|
||||
d_flag_new_tow_available = false;
|
||||
|
@ -72,7 +72,9 @@ private:
|
||||
|
||||
bool gps_word_parityCheck(unsigned int gpsword);
|
||||
|
||||
// class private vars
|
||||
bool decode_subframe();
|
||||
bool new_decoder();
|
||||
int d_crc_error_synchronization_counter;
|
||||
|
||||
int *d_preambles_symbols;
|
||||
unsigned int d_stat;
|
||||
@ -80,26 +82,22 @@ private:
|
||||
|
||||
// symbols
|
||||
boost::circular_buffer<Gnss_Synchro> d_symbol_history;
|
||||
|
||||
double d_symbol_accumulator;
|
||||
short int d_symbol_accumulator_counter;
|
||||
|
||||
// symbol counting
|
||||
bool d_make_correlation;
|
||||
unsigned int d_symbol_counter_corr;
|
||||
float d_subframe_symbols[GPS_SUBFRAME_MS]; //symbols per subframe
|
||||
int d_current_subframe_symbol;
|
||||
//double d_symbol_accumulator;
|
||||
//short int d_symbol_accumulator_counter;
|
||||
|
||||
//bits and frame
|
||||
unsigned short int d_frame_bit_index;
|
||||
unsigned int d_GPS_frame_4bytes;
|
||||
//unsigned short int d_frame_bit_index;
|
||||
//unsigned int d_GPS_frame_4bytes;
|
||||
unsigned int d_prev_GPS_frame_4bytes;
|
||||
bool d_flag_parity;
|
||||
//bool d_flag_parity;
|
||||
bool d_flag_preamble;
|
||||
bool d_flag_new_tow_available;
|
||||
int d_word_number;
|
||||
//int d_word_number;
|
||||
|
||||
// navigation message vars
|
||||
Gps_Navigation_Message d_nav;
|
||||
GpsL1CaSubframeFsm d_GPS_FSM;
|
||||
|
||||
bool d_dump;
|
||||
Gnss_Satellite d_satellite;
|
||||
|
@ -418,7 +418,7 @@ void GNSSFlowgraph::connect()
|
||||
}
|
||||
if (sat == 0)
|
||||
{
|
||||
channels_.at(i)->set_signal(search_next_signal(gnss_signal, false));
|
||||
//channels_.at(i)->set_signal(search_next_signal(gnss_signal, false));
|
||||
}
|
||||
else
|
||||
{
|
||||
|
Loading…
Reference in New Issue
Block a user