diff --git a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc
index a7b68aeb4..60b9d725c 100644
--- a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc
@@ -85,10 +85,12 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
// initialize internal vars
d_veml = false;
d_cloop = true;
+ d_pull_in_transitory = true;
d_code_chip_rate = 0.0;
d_secondary_code_length = 0U;
d_secondary_code_string = nullptr;
d_preambles_symbols = nullptr;
+ d_preamble_length_symbols = 0;
signal_type = std::string(trk_parameters.signal);
std::map<std::string, std::string> map_signal_pretty_name;
@@ -124,6 +126,7 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
uint16_t preambles_bits[GPS_CA_PREAMBLE_LENGTH_BITS] = GPS_PREAMBLE;
// preamble bits to sampled symbols
+ d_preamble_length_symbols = GPS_CA_PREAMBLE_LENGTH_SYMBOLS;
d_preambles_symbols = static_cast<int32_t *>(volk_gnsssdr_malloc(GPS_CA_PREAMBLE_LENGTH_SYMBOLS * sizeof(int32_t), volk_gnsssdr_get_alignment()));
int32_t n = 0;
for (uint16_t preambles_bit : preambles_bits)
@@ -141,8 +144,8 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
n++;
}
}
- d_symbol_history.resize(GPS_CA_PREAMBLE_LENGTH_SYMBOLS); // Change fixed buffer size
- d_symbol_history.clear(); // Clear all the elements in the buffer
+ d_symbol_history.set_capacity(GPS_CA_PREAMBLE_LENGTH_SYMBOLS); // Change fixed buffer size
+ d_symbol_history.clear(); // Clear all the elements in the buffer
}
else if (signal_type == "2S")
{
@@ -268,10 +271,13 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
K_blk_samples = 0.0;
// Initialize tracking ==========================================
- d_code_loop_filter.set_DLL_BW(trk_parameters.dll_bw_hz);
- d_carrier_loop_filter.set_PLL_BW(trk_parameters.pll_bw_hz);
- d_code_loop_filter = Tracking_2nd_DLL_filter(static_cast<float>(d_code_period));
- d_carrier_loop_filter = Tracking_2nd_PLL_filter(static_cast<float>(d_code_period));
+ d_code_loop_filter = Tracking_loop_filter(d_code_period, trk_parameters.dll_bw_hz, trk_parameters.dll_filter_order, false);
+ printf("trk_parameters.fll_bw_hz = %f trk_parameters.pll_bw_hz = %f trk_parameters.pll_filter_order = %d\n", trk_parameters.fll_bw_hz, trk_parameters.pll_bw_hz, trk_parameters.pll_filter_order);
+ d_carrier_loop_filter.set_params(trk_parameters.fll_bw_hz, trk_parameters.pll_bw_hz, trk_parameters.pll_filter_order);
+ //d_code_loop_filter_old.set_DLL_BW(trk_parameters.dll_bw_hz);
+ d_carrier_loop_filter_old.set_PLL_BW(trk_parameters.pll_bw_hz);
+ //d_code_loop_filter_old = Tracking_2nd_DLL_filter(static_cast<float>(d_code_period));
+ d_carrier_loop_filter_old = Tracking_2nd_PLL_filter(static_cast<float>(d_code_period));
if (d_veml)
{
@@ -326,6 +332,7 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
}
// --- Initializations ---
+ d_Prompt_circular_buffer.set_capacity(d_secondary_code_length);
// Initial code frequency basis of NCO
d_code_freq_chips = d_code_chip_rate;
// Residual code phase (in chips)
@@ -340,6 +347,8 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
d_current_prn_length_samples = static_cast<int32_t>(trk_parameters.vector_length);
d_next_prn_length_samples = d_current_prn_length_samples;
+ d_current_correlation_time_s = 0.0;
+
d_correlation_length_samples = static_cast<int32_t>(trk_parameters.vector_length); // this one is only for initialisation and does not change its value (MM)
// CN0 estimation and lock detector buffers
@@ -370,13 +379,13 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
if (trk_parameters.smoother_length > 0)
{
- d_carr_ph_history.resize(trk_parameters.smoother_length * 2);
- d_code_ph_history.resize(trk_parameters.smoother_length * 2);
+ d_carr_ph_history.set_capacity(trk_parameters.smoother_length * 2);
+ d_code_ph_history.set_capacity(trk_parameters.smoother_length * 2);
}
else
{
- d_carr_ph_history.resize(1);
- d_code_ph_history.resize(1);
+ d_carr_ph_history.set_capacity(1);
+ d_code_ph_history.set_capacity(1);
}
d_dump = trk_parameters.dump;
@@ -424,6 +433,7 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
multicorrelator_fpga->set_output_vectors(d_correlator_outs, d_Prompt_Data);
//multicorrelator_fpga->fpga_compute_signal_parameters_in_fpga();
d_sample_counter_next = 0ULL;
+
}
void dll_pll_veml_tracking_fpga::msg_handler_telemetry_to_trk(const pmt::pmt_t &msg)
@@ -468,72 +478,20 @@ void dll_pll_veml_tracking_fpga::start_tracking()
d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
d_carrier_phase_step_rad = PI_2 * d_carrier_doppler_hz / trk_parameters.fs_in;
d_carrier_phase_rate_step_rad = 0.0;
- // d_carr_ph_history.clear();
- // d_code_ph_history.clear();
- // // DLL/PLL filter initialization
- // d_carrier_loop_filter.initialize(); // initialize the carrier filter
- // d_code_loop_filter.initialize(); // initialize the code filter
- //
- // if (systemName == "GPS" and signal_type == "L5")
- // {
- // if (trk_parameters.track_pilot)
- // {
- // d_Prompt_Data[0] = gr_complex(0.0, 0.0);
- // }
- // }
- // else if (systemName == "Galileo" and signal_type == "1B")
- // {
- // if (trk_parameters.track_pilot)
- // {
- // d_Prompt_Data[0] = gr_complex(0.0, 0.0);
- // }
- // }
- // else if (systemName == "Galileo" and signal_type == "5X")
- // {
- // if (trk_parameters.track_pilot)
- // {
- // d_secondary_code_string = const_cast<std::string *>(&GALILEO_E5A_Q_SECONDARY_CODE[d_acquisition_gnss_synchro->PRN - 1]);
- // d_Prompt_Data[0] = gr_complex(0.0, 0.0);
- // }
- // }
- //
- // std::fill_n(d_correlator_outs, d_n_correlator_taps, gr_complex(0.0, 0.0));
- //
- // d_carrier_lock_fail_counter = 0;
- // d_rem_code_phase_samples = 0.0;
- // d_rem_carr_phase_rad = 0.0;
- // d_rem_code_phase_chips = 0.0;
- // d_acc_carrier_phase_rad = 0.0;
- // d_cn0_estimation_counter = 0;
- // d_carrier_lock_test = 1.0;
- // d_CN0_SNV_dB_Hz = 0.0;
- // if (d_veml)
- // {
- // d_local_code_shift_chips[0] = -trk_parameters.very_early_late_space_chips * static_cast<float>(d_code_samples_per_chip);
- // d_local_code_shift_chips[1] = -trk_parameters.early_late_space_chips * static_cast<float>(d_code_samples_per_chip);
- // d_local_code_shift_chips[3] = trk_parameters.early_late_space_chips * static_cast<float>(d_code_samples_per_chip);
- // d_local_code_shift_chips[4] = trk_parameters.very_early_late_space_chips * static_cast<float>(d_code_samples_per_chip);
- // }
- // else
- // {
- // d_local_code_shift_chips[0] = -trk_parameters.early_late_space_chips * static_cast<float>(d_code_samples_per_chip);
- // d_local_code_shift_chips[2] = trk_parameters.early_late_space_chips * static_cast<float>(d_code_samples_per_chip);
- // }
+ // filter initialization
+ //printf("d_carrier_loop_filter init d_acq_carrier_doppler_hz = %lf\n", d_acq_carrier_doppler_hz);
+ d_carrier_loop_filter.initialize(static_cast<float>(d_acq_carrier_doppler_hz)); // initialize the carrier filter
- // d_code_loop_filter.set_DLL_BW(trk_parameters.dll_bw_hz);
- // d_carrier_loop_filter.set_PLL_BW(trk_parameters.pll_bw_hz);
- // d_carrier_loop_filter.set_pdi(static_cast<float>(d_code_period));
- // d_code_loop_filter.set_pdi(static_cast<float>(d_code_period));
- //
// DEBUG OUTPUT
std::cout << "Tracking of " << systemName << " " << signal_pretty_name << " signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
DLOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
- //
- // multicorrelator_fpga->set_local_code_and_taps(d_local_code_shift_chips, d_prompt_data_shift, d_acquisition_gnss_synchro->PRN);
+
// enable tracking pull-in
d_state = 1;
d_cloop = true;
+ d_pull_in_transitory = true;
+ d_Prompt_circular_buffer.clear();
// d_Prompt_buffer_deque.clear();
// d_last_prompt = gr_complex(0.0, 0.0);
}
@@ -589,7 +547,8 @@ bool dll_pll_veml_tracking_fpga::acquire_secondary()
int32_t corr_value = 0;
for (uint32_t i = 0; i < d_secondary_code_length; i++)
{
- if (d_Prompt_buffer_deque.at(i).real() < 0.0) // symbols clipping
+ if (d_Prompt_circular_buffer[i].real() < 0.0) // symbols clipping
+ //if (d_Prompt_buffer_deque.at(i).real() < 0.0) // symbols clipping
{
if (d_secondary_code_string->at(i) == '0')
{
@@ -617,17 +576,14 @@ bool dll_pll_veml_tracking_fpga::acquire_secondary()
{
return true;
}
- else
- {
- return false;
- }
+
+ return false;
}
bool dll_pll_veml_tracking_fpga::cn0_and_tracking_lock_status(double coh_integration_time_s)
{
// ####### CN0 ESTIMATION AND LOCK DETECTORS ######
-
if (d_cn0_estimation_counter < trk_parameters.cn0_samples)
{
// fill buffer with prompt correlator output values
@@ -643,13 +599,19 @@ bool dll_pll_veml_tracking_fpga::cn0_and_tracking_lock_status(double coh_integra
// Carrier lock indicator
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, trk_parameters.cn0_samples);
// Loss of lock detection
- if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < trk_parameters.cn0_min)
+ if (!d_pull_in_transitory)
{
- d_carrier_lock_fail_counter++;
- }
- else
- {
- if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
+ if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < trk_parameters.cn0_min)
+ {
+ d_carrier_lock_fail_counter++;
+ }
+ else
+ {
+ if (d_carrier_lock_fail_counter > 0)
+ {
+ d_carrier_lock_fail_counter--;
+ }
+ }
}
if (d_carrier_lock_fail_counter > trk_parameters.max_lock_fail)
{
@@ -673,10 +635,10 @@ bool dll_pll_veml_tracking_fpga::cn0_and_tracking_lock_status(double coh_integra
// - updated remnant code phase in samples (d_rem_code_phase_samples)
// - d_code_freq_chips
// - d_carrier_doppler_hz
-//void dll_pll_veml_tracking_fpga::do_correlation_step(const gr_complex *input_samples)
void dll_pll_veml_tracking_fpga::do_correlation_step(void)
{
- // // ################# CARRIER WIPEOFF AND CORRELATORS ##############################
+ // ################# CARRIER WIPEOFF AND CORRELATORS ##############################
+ // perform carrier wipe-off and compute Early, Prompt and Late correlation
multicorrelator_fpga->Carrier_wipeoff_multicorrelator_resampler(
d_rem_carr_phase_rad,
@@ -692,22 +654,52 @@ void dll_pll_veml_tracking_fpga::run_dll_pll()
{
// ################## PLL ##########################################################
// PLL discriminator
+ //printf("d_cloop = %d\n", d_cloop);
if (d_cloop)
{
// Costas loop discriminator, insensitive to 180 deg phase transitions
+ d_carr_phase_error_hz = pll_cloop_two_quadrant_atan(d_P_accu) / PI_2;
d_carr_error_hz = pll_cloop_two_quadrant_atan(d_P_accu) / PI_2;
}
else
{
// Secondary code acquired. No symbols transition should be present in the signal
+ d_carr_phase_error_hz = pll_four_quadrant_atan(d_P_accu) / PI_2;
d_carr_error_hz = pll_four_quadrant_atan(d_P_accu) / PI_2;
}
- // Carrier discriminator filter
- d_carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(d_carr_error_hz);
- // New carrier Doppler frequency estimation
- d_carrier_doppler_hz = d_acq_carrier_doppler_hz + d_carr_error_filt_hz;
+ if ((d_pull_in_transitory == true and trk_parameters.enable_fll_pull_in == true) or trk_parameters.enable_fll_steady_state)
+ {
+ // FLL discriminator
+ d_carr_freq_error_hz = fll_four_quadrant_atan(d_P_accu_old, d_P_accu, 0, d_current_correlation_time_s) / GPS_TWO_PI;
+ d_P_accu_old = d_P_accu;
+ //std::cout << "d_carr_freq_error_hz: " << d_carr_freq_error_hz << std::endl;
+ // Carrier discriminator filter
+ if ((d_pull_in_transitory == true and trk_parameters.enable_fll_pull_in == true))
+ {
+ //pure FLL, disable PLL
+ d_carr_error_filt_hz = d_carrier_loop_filter.get_carrier_error(d_carr_freq_error_hz, 0, d_current_correlation_time_s);
+ }
+ else
+ {
+ //FLL-aided PLL
+ d_carr_error_filt_hz = d_carrier_loop_filter.get_carrier_error(d_carr_freq_error_hz, d_carr_phase_error_hz, d_current_correlation_time_s);
+ }
+ }
+ else
+ {
+ // Carrier discriminator filter
+ d_carr_error_filt_hz = d_carrier_loop_filter.get_carrier_error(0, d_carr_phase_error_hz, d_current_correlation_time_s);
+ }
+ //// Carrier discriminator filter
+ //d_carr_error_filt_hz = d_carrier_loop_filter_old.get_carrier_nco(d_carr_error_hz);
+ // New carrier Doppler frequency estimation
+ //d_carrier_doppler_hz = d_acq_carrier_doppler_hz + d_carr_error_filt_hz;
+ d_carrier_doppler_hz = d_carr_error_filt_hz;
+
+ // std::cout << "d_carrier_doppler_hz: " << d_carrier_doppler_hz << std::endl;
+ // std::cout << "d_CN0_SNV_dB_Hz: " << this->d_CN0_SNV_dB_Hz << std::endl;
// ################## DLL ##########################################################
// DLL discriminator
if (d_veml)
@@ -719,7 +711,8 @@ void dll_pll_veml_tracking_fpga::run_dll_pll()
d_code_error_chips = dll_nc_e_minus_l_normalized(d_E_accu, d_L_accu); // [chips/Ti]
}
// Code discriminator filter
- d_code_error_filt_chips = d_code_loop_filter.get_code_nco(d_code_error_chips); // [chips/second]
+ d_code_error_filt_chips = d_code_loop_filter.apply(d_code_error_chips); // [chips/second]
+ //d_code_error_filt_chips = d_code_loop_filter_old.get_code_nco(d_code_error_chips); // [chips/second]
// New code Doppler frequency estimation
d_code_freq_chips = (1.0 + (d_carrier_doppler_hz / d_signal_carrier_freq)) * d_code_chip_rate - d_code_error_filt_chips;
@@ -729,13 +722,20 @@ void dll_pll_veml_tracking_fpga::run_dll_pll()
void dll_pll_veml_tracking_fpga::clear_tracking_vars()
{
std::fill_n(d_correlator_outs, d_n_correlator_taps, gr_complex(0.0, 0.0));
- if (trk_parameters.track_pilot) d_Prompt_Data[0] = gr_complex(0.0, 0.0);
+ if (trk_parameters.track_pilot)
+ {
+ d_Prompt_Data[0] = gr_complex(0.0, 0.0);
+ }
+ d_P_accu_old = gr_complex(0.0, 0.0);
+ d_carr_phase_error_hz = 0.0;
+ d_carr_freq_error_hz = 0.0;
d_carr_error_hz = 0.0;
d_carr_error_filt_hz = 0.0;
d_code_error_chips = 0.0;
d_code_error_filt_chips = 0.0;
d_current_symbol = 0;
- d_Prompt_buffer_deque.clear();
+ d_Prompt_circular_buffer.clear();
+ //d_Prompt_buffer_deque.clear();
d_last_prompt = gr_complex(0.0, 0.0);
d_carrier_phase_rate_step_rad = 0.0;
d_code_phase_rate_step_chips = 0.0;
@@ -754,6 +754,7 @@ void dll_pll_veml_tracking_fpga::update_tracking_vars()
// Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
T_prn_samples = T_prn_seconds * trk_parameters.fs_in;
K_blk_samples = T_prn_samples + d_rem_code_phase_samples;
+ //d_next_prn_length_samples = static_cast<int32_t>(std::floor(K_blk_samples)); // round to a discrete number of samples
d_next_prn_length_samples = static_cast<int32_t>(std::floor(K_blk_samples)); // round to a discrete number of samples
//################### PLL COMMANDS #################################################
@@ -768,22 +769,26 @@ void dll_pll_veml_tracking_fpga::update_tracking_vars()
double tmp_cp1 = 0.0;
double tmp_cp2 = 0.0;
double tmp_samples = 0.0;
- for (uint32_t k = 0; k < trk_parameters.smoother_length; k++)
+ for (unsigned int k = 0; k < trk_parameters.smoother_length; k++)
{
- tmp_cp1 += d_carr_ph_history.at(k).first;
- tmp_cp2 += d_carr_ph_history.at(trk_parameters.smoother_length * 2 - k - 1).first;
- tmp_samples += d_carr_ph_history.at(trk_parameters.smoother_length * 2 - k - 1).second;
+ tmp_cp1 += d_carr_ph_history[k].first;
+ tmp_cp2 += d_carr_ph_history[trk_parameters.smoother_length * 2 - k - 1].first;
+ tmp_samples += d_carr_ph_history[trk_parameters.smoother_length * 2 - k - 1].second;
}
tmp_cp1 /= static_cast<double>(trk_parameters.smoother_length);
tmp_cp2 /= static_cast<double>(trk_parameters.smoother_length);
d_carrier_phase_rate_step_rad = (tmp_cp2 - tmp_cp1) / tmp_samples;
}
}
+ //std::cout << d_carrier_phase_rate_step_rad * trk_parameters.fs_in * trk_parameters.fs_in / PI_2 << std::endl;
// remnant carrier phase to prevent overflow in the code NCO
d_rem_carr_phase_rad += static_cast<float>(d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples) + 0.5 * d_carrier_phase_rate_step_rad * static_cast<double>(d_current_prn_length_samples) * static_cast<double>(d_current_prn_length_samples));
d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, PI_2);
// carrier phase accumulator
+ //double a = d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples);
+ //double b = 0.5 * d_carrier_phase_rate_step_rad * static_cast<double>(d_current_prn_length_samples) * static_cast<double>(d_current_prn_length_samples);
+ //std::cout << fmod(b, PI_2) / fmod(a, PI_2) << std::endl;
d_acc_carrier_phase_rad -= (d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples) + 0.5 * d_carrier_phase_rate_step_rad * static_cast<double>(d_current_prn_length_samples) * static_cast<double>(d_current_prn_length_samples));
//################### DLL COMMANDS #################################################
@@ -797,11 +802,11 @@ void dll_pll_veml_tracking_fpga::update_tracking_vars()
double tmp_cp1 = 0.0;
double tmp_cp2 = 0.0;
double tmp_samples = 0.0;
- for (uint32_t k = 0; k < trk_parameters.smoother_length; k++)
+ for (unsigned int k = 0; k < trk_parameters.smoother_length; k++)
{
- tmp_cp1 += d_code_ph_history.at(k).first;
- tmp_cp2 += d_code_ph_history.at(trk_parameters.smoother_length * 2 - k - 1).first;
- tmp_samples += d_code_ph_history.at(trk_parameters.smoother_length * 2 - k - 1).second;
+ tmp_cp1 += d_code_ph_history[k].first;
+ tmp_cp2 += d_code_ph_history[trk_parameters.smoother_length * 2 - k - 1].first;
+ tmp_samples += d_code_ph_history[trk_parameters.smoother_length * 2 - k - 1].second;
}
tmp_cp1 /= static_cast<double>(trk_parameters.smoother_length);
tmp_cp2 /= static_cast<double>(trk_parameters.smoother_length);
@@ -859,9 +864,14 @@ void dll_pll_veml_tracking_fpga::save_correlation_results()
}
// If tracking pilot, disable Costas loop
if (trk_parameters.track_pilot)
- d_cloop = false;
+ {
+ d_cloop = false;
+ }
else
- d_cloop = true;
+ {
+ d_cloop = true;
+ }
+ //printf("d_cloop = %d\n", d_cloop);
}
@@ -959,7 +969,8 @@ void dll_pll_veml_tracking_fpga::log_data(bool integrating)
tmp_float = d_code_phase_rate_step_chips * trk_parameters.fs_in * trk_parameters.fs_in;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
// PLL commands
- tmp_float = d_carr_error_hz;
+ tmp_float = d_carr_phase_error_hz;
+ //tmp_float = d_carr_error_hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
tmp_float = d_carr_error_filt_hz;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
@@ -1253,6 +1264,8 @@ void dll_pll_veml_tracking_fpga::set_channel(uint32_t channel)
{
try
{
+ //trk_parameters.dump_filename.append(boost::lexical_cast<std::string>(d_channel));
+ //trk_parameters.dump_filename.append(".dat");
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.open(dump_filename_.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << dump_filename_.c_str();
@@ -1271,13 +1284,24 @@ void dll_pll_veml_tracking_fpga::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro)
d_acquisition_gnss_synchro = p_gnss_synchro;
if (p_gnss_synchro->PRN > 0)
{
+ // When using the FPGA the SW only reads the sample counter during active tracking.
+ // For the temporary pull-in conditions to work the sample_counter in the SW must be
+ // cleared before reading the actual sample counter from the FPGA the first time
+ d_sample_counter = 0;
+ d_sample_counter_next = 0;
//std::cout << "Acquisition is about to start " << std::endl;
- d_carr_ph_history.clear();
d_code_ph_history.clear();
// DLL/PLL filter initialization
- d_carrier_loop_filter.initialize(); // initialize the carrier filter
- d_code_loop_filter.initialize(); // initialize the code filter
+ // the carrier loop filter uses a variable not available until the start_tracking function is called
+ //d_carrier_loop_filter.initialize(static_cast<float>(d_acq_carrier_doppler_hz)); // initialize the carrier filter
+ d_code_loop_filter.initialize(); // initialize the code filter
+
+
+ d_carr_ph_history.clear();
+ // DLL/PLL filter initialization
+ d_carrier_loop_filter_old.initialize(); // initialize the carrier filter
+ //d_code_loop_filter_old.initialize(); // initialize the code filter
if (systemName == "GPS" and signal_type == "L5")
{
@@ -1302,6 +1326,8 @@ void dll_pll_veml_tracking_fpga::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro)
}
}
+ // call this but in FPGA ???
+ //multicorrelator_cpu.set_local_code_and_taps(d_code_samples_per_chip * d_code_length_chips, d_tracking_code, d_local_code_shift_chips);
std::fill_n(d_correlator_outs, d_n_correlator_taps, gr_complex(0.0, 0.0));
d_carrier_lock_fail_counter = 0;
@@ -1326,18 +1352,19 @@ void dll_pll_veml_tracking_fpga::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro)
d_local_code_shift_chips[2] = trk_parameters.early_late_space_chips * static_cast<float>(d_code_samples_per_chip);
}
- d_code_loop_filter.set_DLL_BW(trk_parameters.dll_bw_hz);
- d_carrier_loop_filter.set_PLL_BW(trk_parameters.pll_bw_hz);
- d_carrier_loop_filter.set_pdi(static_cast<float>(d_code_period));
- d_code_loop_filter.set_pdi(static_cast<float>(d_code_period));
+ d_current_correlation_time_s = d_code_period;
- // // DEBUG OUTPUT
- // std::cout << "Tracking of " << systemName << " " << signal_pretty_name << " signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
- // DLOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
+ //d_code_loop_filter_old.set_DLL_BW(trk_parameters.dll_bw_hz);
+ d_carrier_loop_filter_old.set_PLL_BW(trk_parameters.pll_bw_hz);
+ d_carrier_loop_filter_old.set_pdi(static_cast<float>(d_code_period));
+ //d_code_loop_filter_old.set_pdi(static_cast<float>(d_code_period));
+
+ d_code_loop_filter.set_noise_bandwidth(trk_parameters.dll_bw_hz);
+ d_code_loop_filter.set_update_interval(d_code_period);
multicorrelator_fpga->set_local_code_and_taps(d_local_code_shift_chips, d_prompt_data_shift, d_acquisition_gnss_synchro->PRN);
- d_Prompt_buffer_deque.clear();
+ //d_Prompt_buffer_deque.clear();
d_last_prompt = gr_complex(0.0, 0.0);
}
}
@@ -1365,6 +1392,17 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
d_current_prn_length_samples = d_next_prn_length_samples;
+
+ if (d_pull_in_transitory == true)
+ {
+ if (d_sample_counter > 0) // do not execute this condition until the sample counter has ben read for the first time after start_tracking
+ {
+ if (trk_parameters.pull_in_time_s < (d_sample_counter - d_acq_sample_stamp) / static_cast<int>(trk_parameters.fs_in))
+ {
+ d_pull_in_transitory = false;
+ }
+ }
+ }
switch (d_state)
{
case 0: // Standby - Consume samples at full throttle, do nothing
@@ -1376,6 +1414,8 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
}
case 1: // Pull-in
{
+ // Signal alignment (skip samples until the incoming signal is aligned with local replica)
+
int64_t acq_trk_diff_samples;
double acq_trk_diff_seconds;
double delta_trk_to_acq_prn_start_samples;
@@ -1409,7 +1449,6 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
current_synchro_data.Tracking_sample_counter = absolute_samples_offset;
d_sample_counter_next = d_sample_counter;
- // Signal alignment (skip samples until the incoming signal is aligned with local replica)
// Doppler effect Fd = (C / (C + Vr)) * F
double radial_velocity = (d_signal_carrier_freq + d_acq_carrier_doppler_hz) / d_signal_carrier_freq;
@@ -1576,9 +1615,6 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
if (current_synchro_data.Flag_valid_symbol_output)
{
current_synchro_data.fs = static_cast<int64_t>(trk_parameters.fs_in);
- // two choices for the reporting of the sample counter:
- // either the sample counter position that should be (d_sample_counter_next)
- //or the sample counter corresponding to the number of samples that the FPGA actually consumed.
current_synchro_data.Tracking_sample_counter = d_sample_counter_next;
*out[0] = current_synchro_data;
return 1;
@@ -1621,17 +1657,20 @@ void dll_pll_veml_tracking_fpga::run_state_2(Gnss_Synchro ¤t_synchro_data)
if (d_secondary)
{
// ####### SECONDARY CODE LOCK #####
- d_Prompt_buffer_deque.push_back(*d_Prompt);
- if (d_Prompt_buffer_deque.size() == d_secondary_code_length)
+ d_Prompt_circular_buffer.push_back(*d_Prompt);
+ //d_Prompt_buffer_deque.push_back(*d_Prompt);
+ //if (d_Prompt_buffer_deque.size() == d_secondary_code_length)
+ if (d_Prompt_circular_buffer.size() == d_secondary_code_length)
{
next_state = acquire_secondary();
if (next_state)
{
+ LOG(INFO) << systemName << " " << signal_pretty_name << " secondary code locked in channel " << d_channel
+ << " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
std::cout << systemName << " " << signal_pretty_name << " secondary code locked in channel " << d_channel
<< " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
}
-
- d_Prompt_buffer_deque.pop_front();
+ //d_Prompt_buffer_deque.pop_front();
}
}
else if (d_symbols_per_bit > 1) //Signal does not have secondary code. Search a bit transition by sign change
@@ -1644,9 +1683,10 @@ void dll_pll_veml_tracking_fpga::run_state_2(Gnss_Synchro ¤t_synchro_data)
int32_t corr_value = 0;
if ((d_symbol_history.size() == GPS_CA_PREAMBLE_LENGTH_SYMBOLS)) // and (d_make_correlation or !d_flag_frame_sync))
{
- for (uint32_t i = 0; i < GPS_CA_PREAMBLE_LENGTH_SYMBOLS; i++)
+ int i = 0;
+ for (const auto &iter : d_symbol_history)
{
- if (d_symbol_history.at(i) < 0) // symbols clipping
+ if (iter < 0.0) // symbols clipping
{
corr_value -= d_preambles_symbols[i];
}
@@ -1654,10 +1694,13 @@ void dll_pll_veml_tracking_fpga::run_state_2(Gnss_Synchro ¤t_synchro_data)
{
corr_value += d_preambles_symbols[i];
}
+ i++;
}
}
if (corr_value == GPS_CA_PREAMBLE_LENGTH_SYMBOLS)
{
+ LOG(INFO) << systemName << " " << signal_pretty_name << " tracking preamble detected in channel " << d_channel
+ << " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
next_state = true;
}
else
@@ -1704,6 +1747,7 @@ void dll_pll_veml_tracking_fpga::run_state_2(Gnss_Synchro ¤t_synchro_data)
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).imag());
}
}
+
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
@@ -1718,17 +1762,19 @@ void dll_pll_veml_tracking_fpga::run_state_2(Gnss_Synchro ¤t_synchro_data)
d_P_accu = gr_complex(0.0, 0.0);
d_L_accu = gr_complex(0.0, 0.0);
d_VL_accu = gr_complex(0.0, 0.0);
- d_last_prompt = gr_complex(0.0, 0.0);
- d_Prompt_buffer_deque.clear();
+ d_Prompt_circular_buffer.clear();
d_current_symbol = 0;
+ d_last_prompt = gr_complex(0.0, 0.0);
+ //d_Prompt_buffer_deque.clear();
if (d_enable_extended_integration)
{
// UPDATE INTEGRATION TIME
d_extend_correlation_symbols_count = 0;
+ d_current_correlation_time_s = static_cast<float>(trk_parameters.extend_correlation_symbols) * static_cast<float>(d_code_period);
float new_correlation_time = static_cast<float>(trk_parameters.extend_correlation_symbols) * static_cast<float>(d_code_period);
- d_carrier_loop_filter.set_pdi(new_correlation_time);
- d_code_loop_filter.set_pdi(new_correlation_time);
+ d_carrier_loop_filter_old.set_pdi(new_correlation_time);
+ //d_code_loop_filter_old.set_pdi(new_correlation_time);
d_state = 3; // next state is the extended correlator integrator
LOG(INFO) << "Enabled " << trk_parameters.extend_correlation_symbols * static_cast<int32_t>(d_code_period * 1000.0) << " ms extended correlator in channel "
<< d_channel
@@ -1737,8 +1783,11 @@ void dll_pll_veml_tracking_fpga::run_state_2(Gnss_Synchro ¤t_synchro_data)
<< d_channel
<< " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << std::endl;
// Set narrow taps delay values [chips]
- d_code_loop_filter.set_DLL_BW(trk_parameters.dll_bw_narrow_hz);
- d_carrier_loop_filter.set_PLL_BW(trk_parameters.pll_bw_narrow_hz);
+ //d_code_loop_filter_old.set_DLL_BW(trk_parameters.dll_bw_narrow_hz);
+ d_carrier_loop_filter_old.set_PLL_BW(trk_parameters.pll_bw_narrow_hz);
+ d_code_loop_filter.set_update_interval(d_current_correlation_time_s);
+ d_code_loop_filter.set_noise_bandwidth(trk_parameters.dll_bw_narrow_hz);
+ d_carrier_loop_filter.set_params(trk_parameters.fll_bw_hz, trk_parameters.pll_bw_narrow_hz, trk_parameters.pll_filter_order);
if (d_veml)
{
d_local_code_shift_chips[0] = -trk_parameters.very_early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
diff --git a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.h b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.h
index 4d619f50e..dbdfc71d4 100644
--- a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.h
+++ b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.h
@@ -35,18 +35,20 @@
#include "dll_pll_conf_fpga.h"
#include "tracking_2nd_DLL_filter.h"
#include "tracking_2nd_PLL_filter.h"
+#include "tracking_FLL_PLL_filter.h" // for PLL/FLL filter
+#include "tracking_loop_filter.h" // for DLL filter
#include <boost/circular_buffer.hpp>
-#include <boost/shared_ptr.hpp>
-#include <gnuradio/block.h>
+#include <boost/shared_ptr.hpp> // for boost::shared_ptr
+#include <gnuradio/block.h> // for block
#include <gnuradio/gr_complex.h> // for gr_complex
-#include <gnuradio/types.h> // for gr_vector_const_void_star
+#include <gnuradio/types.h> // for gr_vector_int, gr_vector...
#include <pmt/pmt.h> // for pmt_t
-#include <cstdint>
-#include <deque> // for deque
-#include <fstream> // for ofstream
-#include <memory> // for shared_ptr
+#include <cstdint> // for int32_t
+#include <deque> // for deque
+#include <fstream> // for string, ofstream
+#include <memory> // for shared_ptr
#include <string>
-#include <utility>
+#include <utility> // for pair
class Fpga_Multicorrelator_8sc;
class Gnss_Synchro;
@@ -116,11 +118,13 @@ private:
std::string signal_pretty_name;
int32_t *d_preambles_symbols;
+ int32_t d_preamble_length_symbols;
boost::circular_buffer<float> d_symbol_history;
- //tracking state machine
+ // tracking state machine
int32_t d_state;
- //Integration period in samples
+
+ // Integration period in samples
int32_t d_correlation_length_ms;
int32_t d_n_correlator_taps;
@@ -146,6 +150,7 @@ private:
gr_complex d_VE_accu;
gr_complex d_E_accu;
gr_complex d_P_accu;
+ gr_complex d_P_accu_old;
gr_complex d_L_accu;
gr_complex d_VL_accu;
gr_complex d_last_prompt;
@@ -162,15 +167,22 @@ private:
double d_rem_code_phase_samples;
float d_rem_carr_phase_rad;
+ Tracking_loop_filter d_code_loop_filter;
+ Tracking_FLL_PLL_filter d_carrier_loop_filter;
+
// PLL and DLL filter library
- Tracking_2nd_DLL_filter d_code_loop_filter;
- Tracking_2nd_PLL_filter d_carrier_loop_filter;
+ //Tracking_2nd_DLL_filter d_code_loop_filter_old;
+ Tracking_2nd_PLL_filter d_carrier_loop_filter_old;
// acquisition
double d_acq_code_phase_samples;
double d_acq_carrier_doppler_hz;
// tracking vars
+ bool d_pull_in_transitory;
+ double d_current_correlation_time_s;
+ double d_carr_phase_error_hz;
+ double d_carr_freq_error_hz;
double d_carr_error_hz;
double d_carr_error_filt_hz;
double d_code_error_chips;
@@ -194,11 +206,12 @@ private:
// CN0 estimation and lock detector
int32_t d_cn0_estimation_counter;
int32_t d_carrier_lock_fail_counter;
- std::deque<float> d_carrier_lock_detector_queue;
+ //std::deque<float> d_carrier_lock_detector_queue;
double d_carrier_lock_test;
double d_CN0_SNV_dB_Hz;
double d_carrier_lock_threshold;
- std::deque<gr_complex> d_Prompt_buffer_deque;
+ boost::circular_buffer<gr_complex> d_Prompt_circular_buffer;
+ //std::deque<gr_complex> d_Prompt_buffer_deque;
gr_complex *d_Prompt_buffer;
// file dump
diff --git a/src/algorithms/tracking/libs/dll_pll_conf_fpga.h b/src/algorithms/tracking/libs/dll_pll_conf_fpga.h
index c09ab1693..a614d32ff 100644
--- a/src/algorithms/tracking/libs/dll_pll_conf_fpga.h
+++ b/src/algorithms/tracking/libs/dll_pll_conf_fpga.h
@@ -45,7 +45,7 @@ public:
int fll_filter_order;
bool enable_fll_pull_in;
bool enable_fll_steady_state;
- unsigned int pull_in_time_s;
+ unsigned int pull_in_time_s; // signed integer, when pull in time is not yet reached it has to be compared against a negative number
int pll_filter_order;
int dll_filter_order;