mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-06-25 22:43:14 +00:00
It seems that definitions such as
const bits_slice INTEGRITY_STATUS_FLAG = {{23,1}};
used in GPS_L1_CA.h are not allowed in the C++11 standard since they do not correspond to any valid constructor. This is accepted by the current version of gcc (probably due to backward compatibility with C and earlier versions of C++), but it *could* not be accepted in future versions. This can be fixed by putting the struct into a std::vector. I don't know if this is the best way but it seems to work well and does not implies major changes in the code.
There is another issue with the Gnss_Synchro class. Since it had a constructor and a destructor, it could not be considered a POD (Plain Old Data) structure and this has some limitations: while gcc and the C99 standard allowed an array's size to be determined at run time, this extension is not permitted in standard C++. This issue has implications when passing Gnss_Synchro through memory between signal processing blocks. In order to fix this, I have removed the Gnss_Synchro.cc implementation and now this is a header-only class where the array size can be determined at compile time
git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@204 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Carles Fernandez
parent
b38b2e2177
commit
f6892a8bf3
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@ -129,7 +129,9 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
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Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; //Get the input pointer
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Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; //Get the output pointer
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Gnss_Synchro current_gnss_synchro[d_nchannels];
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const unsigned int cd_channels = d_nchannels;
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Gnss_Synchro current_gnss_synchro[cd_channels];
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std::map<int,Gnss_Synchro> current_gnss_synchro_map;
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std::map<int,Gnss_Synchro> gnss_synchro_aligned_map;
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@ -148,23 +150,24 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
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*/
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for (unsigned int i=0; i<d_nchannels ; i++)
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{
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//Copy the telemetry decoder data to local copy
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current_gnss_synchro[i]=in[i][0];
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//Copy the telemetry decoder data to local copy
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current_gnss_synchro[i]=in[i][0];
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if (current_gnss_synchro[i].Flag_valid_word) //if this channel have valid word
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{
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current_gnss_synchro_map.insert(std::pair<int,Gnss_Synchro>(current_gnss_synchro[i].Channel_ID, current_gnss_synchro[i])); //record the word structure in a map for pseudoranges
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//record the word structure in a map for pseudoranges
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current_gnss_synchro_map.insert(std::pair<int,Gnss_Synchro>(current_gnss_synchro[i].Channel_ID, current_gnss_synchro[i]));
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// RECORD PRN start timestamps history
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if (d_history_gnss_synchro_deque[i].size()<MAX_TOA_DELAY_MS)
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{
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d_history_gnss_synchro_deque[i].push_front(current_gnss_synchro[i]);
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d_history_gnss_synchro_deque[i].push_front(current_gnss_synchro[i]);
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flag_history_ok = false; // at least one channel need more samples
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}
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else
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{
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//clearQueue(d_history_prn_delay_ms[i]); //clear the queue as the preamble arrives
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d_history_gnss_synchro_deque[i].pop_back();
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d_history_gnss_synchro_deque[i].push_front(current_gnss_synchro[i]);
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//clearQueue(d_history_prn_delay_ms[i]); //clear the queue as the preamble arrives
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d_history_gnss_synchro_deque[i].pop_back();
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d_history_gnss_synchro_deque[i].push_front(current_gnss_synchro[i]);
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}
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}
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}
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@ -184,81 +187,81 @@ int gps_l1_ca_observables_cc::general_work (int noutput_items, gr_vector_int &ni
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if(current_gnss_synchro_map.size() > 0 and flag_history_ok == true)
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{
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/*
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* 2.1 Find the correct symbol timestamp in the gnss_synchro history: we have to compare timestamps between channels on the SAME symbol
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* (common TX time algorithm)
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*/
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/*
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* 2.1 Find the correct symbol timestamp in the gnss_synchro history: we have to compare timestamps between channels on the SAME symbol
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* (common TX time algorithm)
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*/
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double min_preamble_delay_ms;
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double max_preamble_delay_ms;
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int current_symbol=0;
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int reference_channel;
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int history_shift;
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Gnss_Synchro tmp_gnss_synchro;
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double min_preamble_delay_ms;
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double max_preamble_delay_ms;
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int current_symbol=0;
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int reference_channel;
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int history_shift;
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Gnss_Synchro tmp_gnss_synchro;
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gnss_synchro_iter = min_element(current_gnss_synchro_map.begin(), current_gnss_synchro_map.end(), pairCompare_gnss_synchro_preamble_delay_ms);
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min_preamble_delay_ms = gnss_synchro_iter->second.Preamble_timestamp_ms; //[ms]
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gnss_synchro_iter = min_element(current_gnss_synchro_map.begin(), current_gnss_synchro_map.end(), pairCompare_gnss_synchro_preamble_delay_ms);
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min_preamble_delay_ms = gnss_synchro_iter->second.Preamble_timestamp_ms; //[ms]
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gnss_synchro_iter = max_element(current_gnss_synchro_map.begin(), current_gnss_synchro_map.end(), pairCompare_gnss_synchro_preamble_delay_ms);
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max_preamble_delay_ms = gnss_synchro_iter->second.Preamble_timestamp_ms; //[ms]
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gnss_synchro_iter = max_element(current_gnss_synchro_map.begin(), current_gnss_synchro_map.end(), pairCompare_gnss_synchro_preamble_delay_ms);
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max_preamble_delay_ms = gnss_synchro_iter->second.Preamble_timestamp_ms; //[ms]
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if ((max_preamble_delay_ms-min_preamble_delay_ms)< MAX_TOA_DELAY_MS)
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{
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// we have a valid information set. Its time to align the symbols information
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// what is the most delayed symbol in the current set? -> this will be the reference symbol
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gnss_synchro_iter=min_element(current_gnss_synchro_map.begin(), current_gnss_synchro_map.end(), pairCompare_gnss_synchro_preamble_symbol_count);
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current_symbol=gnss_synchro_iter->second.Preamble_symbol_counter;
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reference_channel=gnss_synchro_iter->second.Channel_ID;
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// save it in the aligned symbols map
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gnss_synchro_aligned_map.insert(std::pair<int,Gnss_Synchro>(gnss_synchro_iter->second.Channel_ID, gnss_synchro_iter->second));
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if ((max_preamble_delay_ms-min_preamble_delay_ms)< MAX_TOA_DELAY_MS)
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{
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// we have a valid information set. Its time to align the symbols information
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// what is the most delayed symbol in the current set? -> this will be the reference symbol
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gnss_synchro_iter=min_element(current_gnss_synchro_map.begin(), current_gnss_synchro_map.end(), pairCompare_gnss_synchro_preamble_symbol_count);
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current_symbol=gnss_synchro_iter->second.Preamble_symbol_counter;
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reference_channel=gnss_synchro_iter->second.Channel_ID;
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// save it in the aligned symbols map
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gnss_synchro_aligned_map.insert(std::pair<int,Gnss_Synchro>(gnss_synchro_iter->second.Channel_ID, gnss_synchro_iter->second));
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// Now find where the same symbols were in the rest of the channels searching in the symbol history
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for(gnss_synchro_iter = current_gnss_synchro_map.begin(); gnss_synchro_iter != current_gnss_synchro_map.end(); gnss_synchro_iter++)
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{
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//TODO: Replace the loop using current current_symbol-Preamble_symbol_counter
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if (reference_channel!=gnss_synchro_iter->second.Channel_ID)
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{
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// compute the required symbol history shift in order to match the reference symbol
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history_shift=gnss_synchro_iter->second.Preamble_symbol_counter-current_symbol;
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if (history_shift<(int)MAX_TOA_DELAY_MS)// and history_shift>=0)
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{
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tmp_gnss_synchro= d_history_gnss_synchro_deque[gnss_synchro_iter->second.Channel_ID][history_shift];
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gnss_synchro_aligned_map.insert(std::pair<int,Gnss_Synchro>(gnss_synchro_iter->second.Channel_ID,tmp_gnss_synchro));
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}
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}
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}
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}
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// Now find where the same symbols were in the rest of the channels searching in the symbol history
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for(gnss_synchro_iter = current_gnss_synchro_map.begin(); gnss_synchro_iter != current_gnss_synchro_map.end(); gnss_synchro_iter++)
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{
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//TODO: Replace the loop using current current_symbol-Preamble_symbol_counter
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if (reference_channel!=gnss_synchro_iter->second.Channel_ID)
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{
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// compute the required symbol history shift in order to match the reference symbol
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history_shift=gnss_synchro_iter->second.Preamble_symbol_counter-current_symbol;
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if (history_shift<(int)MAX_TOA_DELAY_MS)// and history_shift>=0)
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{
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tmp_gnss_synchro= d_history_gnss_synchro_deque[gnss_synchro_iter->second.Channel_ID][history_shift];
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gnss_synchro_aligned_map.insert(std::pair<int,Gnss_Synchro>(gnss_synchro_iter->second.Channel_ID,tmp_gnss_synchro));
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}
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}
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}
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}
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/*
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* 3 Compute the pseudorranges using the aligned data map
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*/
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double min_symbol_timestamp_ms;
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double max_symbol_timestamp_ms;
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gnss_synchro_iter = min_element(gnss_synchro_aligned_map.begin(), gnss_synchro_aligned_map.end(), pairCompare_gnss_synchro_Prn_delay_ms);
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min_symbol_timestamp_ms = gnss_synchro_iter->second.Prn_timestamp_ms; //[ms]
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/*
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* 3 Compute the pseudorranges using the aligned data map
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*/
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double min_symbol_timestamp_ms;
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double max_symbol_timestamp_ms;
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gnss_synchro_iter = min_element(gnss_synchro_aligned_map.begin(), gnss_synchro_aligned_map.end(), pairCompare_gnss_synchro_Prn_delay_ms);
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min_symbol_timestamp_ms = gnss_synchro_iter->second.Prn_timestamp_ms; //[ms]
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gnss_synchro_iter = max_element(gnss_synchro_aligned_map.begin(), gnss_synchro_aligned_map.end(), pairCompare_gnss_synchro_Prn_delay_ms);
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max_symbol_timestamp_ms = gnss_synchro_iter->second.Prn_timestamp_ms; //[ms]
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gnss_synchro_iter = max_element(gnss_synchro_aligned_map.begin(), gnss_synchro_aligned_map.end(), pairCompare_gnss_synchro_Prn_delay_ms);
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max_symbol_timestamp_ms = gnss_synchro_iter->second.Prn_timestamp_ms; //[ms]
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// check again if this is a valid set of observations
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if ((max_symbol_timestamp_ms - min_symbol_timestamp_ms) < MAX_TOA_DELAY_MS)
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/*
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* 2.3 compute the pseudoranges
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*/
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{
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for(gnss_synchro_iter = gnss_synchro_aligned_map.begin(); gnss_synchro_iter != gnss_synchro_aligned_map.end(); gnss_synchro_iter++)
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{
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traveltime_ms = gnss_synchro_iter->second.Prn_timestamp_ms - min_symbol_timestamp_ms + GPS_STARTOFFSET_ms; //[ms]
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pseudorange_m = traveltime_ms*GPS_C_m_ms; // [m]
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// update the pseudorange object
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current_gnss_synchro[gnss_synchro_iter->second.Channel_ID]=gnss_synchro_iter->second;
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current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Pseudorange_m = pseudorange_m;
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current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Pseudorange_symbol_shift = (double)current_symbol; // number of symbols shifted from preamble start symbol
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current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Flag_valid_pseudorange = true;
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current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Pseudorange_timestamp_ms=max_symbol_timestamp_ms;
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}
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}
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// check again if this is a valid set of observations
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if ((max_symbol_timestamp_ms - min_symbol_timestamp_ms) < MAX_TOA_DELAY_MS)
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/*
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* 2.3 compute the pseudoranges
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*/
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{
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for(gnss_synchro_iter = gnss_synchro_aligned_map.begin(); gnss_synchro_iter != gnss_synchro_aligned_map.end(); gnss_synchro_iter++)
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{
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traveltime_ms = gnss_synchro_iter->second.Prn_timestamp_ms - min_symbol_timestamp_ms + GPS_STARTOFFSET_ms; //[ms]
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pseudorange_m = traveltime_ms*GPS_C_m_ms; // [m]
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// update the pseudorange object
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current_gnss_synchro[gnss_synchro_iter->second.Channel_ID]=gnss_synchro_iter->second;
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current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Pseudorange_m = pseudorange_m;
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current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Pseudorange_symbol_shift = (double)current_symbol; // number of symbols shifted from preamble start symbol
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current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Flag_valid_pseudorange = true;
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current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Pseudorange_timestamp_ms=max_symbol_timestamp_ms;
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}
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}
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}
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@ -33,7 +33,9 @@
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#define GNSS_SDR_GPS_L1_CA_H_
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#include <complex>
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#include <vector>
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#include <gnss_satellite.h>
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//#include <initializer_list>
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// Physical constants
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const double GPS_C_m_s = 299792458.0; //!< The speed of light, [m/s]
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@ -81,19 +83,25 @@ const int GPS_WORD_BITS=30; //!< Number of bits per word in t
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/*!
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* \brief Navigation message bits slice structure: A portion of bits is indicated by
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* the start position inside the subframe and the length in number of bits */
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typedef struct bits_slice
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* the start position inside the subframe and the length in number of bits
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* */
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typedef struct bits_slice_struct
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{
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int position;
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int length;
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bits_slice(int p,int l)
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bits_slice_struct(int p,int l)
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{
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position=p;
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length=l;
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length=l;
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}
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} bits_slice;
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} bits_slice_struct;
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typedef std::vector<bits_slice_struct> bits_slice;
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/* Constants for scaling the ephemeris found in the data message
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the format is the following: TWO_N5 -> 2^-5, TWO_P4 -> 2^4, PI_TWO_N43 -> Pi*2^-43, etc etc
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Additionally some of the PI*2^N terms are used in the tracking stuff
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@ -146,130 +154,130 @@ const double PI_TWO_N23 =(3.745070282923929e-007); //!< Pi*2^-2
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// SUBFRAME 1-5 (TLM and HOW)
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const bits_slice TOW[]= {{31,17}};
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const bits_slice INTEGRITY_STATUS_FLAG[] = {{23,1}};
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const bits_slice ALERT_FLAG[] = {{48,1}};
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const bits_slice ANTI_SPOOFING_FLAG[] = {{49,1}};
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const bits_slice SUBFRAME_ID[]= {{50,3}};
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const bits_slice TOW = { {31,17} };
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const bits_slice INTEGRITY_STATUS_FLAG = {{23,1}};
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const bits_slice ALERT_FLAG = {{48,1}};
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const bits_slice ANTI_SPOOFING_FLAG = {{49,1}};
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const bits_slice SUBFRAME_ID= {{50,3}};
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// SUBFRAME 1
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const bits_slice GPS_WEEK[]= {{61,10}};
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const bits_slice CA_OR_P_ON_L2[]= {{71,2}}; //*
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const bits_slice SV_ACCURACY[]= {{73,4}};
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const bits_slice SV_HEALTH[]= {{77,6}};
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const bits_slice L2_P_DATA_FLAG[] = {{91,1}};
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const bits_slice T_GD[]= {{197,8}};
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const bits_slice GPS_WEEK= {{61,10}};
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const bits_slice CA_OR_P_ON_L2= {{71,2}}; //*
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const bits_slice SV_ACCURACY= {{73,4}};
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const bits_slice SV_HEALTH= {{77,6}};
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const bits_slice L2_P_DATA_FLAG = {{91,1}};
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const bits_slice T_GD= {{197,8}};
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const double T_GD_LSB=TWO_N31;
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const bits_slice IODC[]= {{83,2},{211,8}};
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const bits_slice T_OC[]= {{219,16}};
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const bits_slice IODC= {{83,2},{211,8}};
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const bits_slice T_OC= {{219,16}};
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const double T_OC_LSB=TWO_P4;
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const bits_slice A_F2[]= {{241,8}};
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const bits_slice A_F2= {{241,8}};
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const double A_F2_LSB=TWO_N55;
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const bits_slice A_F1[]= {{249,16}};
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const bits_slice A_F1= {{249,16}};
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const double A_F1_LSB=TWO_N43;
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const bits_slice A_F0[]= {{271,22}};
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const bits_slice A_F0= {{271,22}};
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const double A_F0_LSB=TWO_N31;
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// SUBFRAME 2
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const bits_slice IODE_SF2[]= {{61,8}};
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const bits_slice C_RS[]= {{69,16}};
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const bits_slice IODE_SF2= {{61,8}};
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const bits_slice C_RS= {{69,16}};
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const double C_RS_LSB=TWO_N5;
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const bits_slice DELTA_N[]= {{91,16}};
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const bits_slice DELTA_N= {{91,16}};
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const double DELTA_N_LSB=PI_TWO_N43;
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const bits_slice M_0[]= {{107,8},{121,24}};
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const bits_slice M_0= {{107,8},{121,24}};
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const double M_0_LSB=PI_TWO_N31;
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const bits_slice C_UC[]= {{151,16}};
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const bits_slice C_UC= {{151,16}};
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const double C_UC_LSB=TWO_N29;
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const bits_slice E[]= {{167,8},{181,24}};
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const bits_slice E= {{167,8},{181,24}};
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const double E_LSB=TWO_N33;
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const bits_slice C_US[]= {{211,16}};
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const bits_slice C_US= {{211,16}};
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const double C_US_LSB=TWO_N29;
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const bits_slice SQRT_A[]= {{227,8},{241,24}};
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const bits_slice SQRT_A= {{227,8},{241,24}};
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const double SQRT_A_LSB=TWO_N19;
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const bits_slice T_OE[]= {{271,16}};
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const bits_slice T_OE= {{271,16}};
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const double T_OE_LSB=TWO_P4;
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const bits_slice FIT_INTERVAL_FLAG[]= {{271,1}};
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const bits_slice AODO[] = {{272,5}};
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const bits_slice FIT_INTERVAL_FLAG= {{271,1}};
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const bits_slice AODO = {{272,5}};
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const int AODO_LSB = 900;
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// SUBFRAME 3
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const bits_slice C_IC[]= {{61,16}};
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const bits_slice C_IC= {{61,16}};
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const double C_IC_LSB=TWO_N29;
|
||||
const bits_slice OMEGA_0[]= {{77,8},{91,24}};
|
||||
const bits_slice OMEGA_0 = {{77,8},{91,24}};
|
||||
const double OMEGA_0_LSB=PI_TWO_N31;
|
||||
const bits_slice C_IS[]= {{121,16}};
|
||||
const bits_slice C_IS = {{121,16}};
|
||||
const double C_IS_LSB=TWO_N29;
|
||||
const bits_slice I_0[]= {{137,8},{151,24}};
|
||||
const bits_slice I_0 = {{137,8},{151,24}};
|
||||
const double I_0_LSB=PI_TWO_N31;
|
||||
const bits_slice C_RC[]= {{181,16}};
|
||||
const bits_slice C_RC = {{181,16}};
|
||||
const double C_RC_LSB=TWO_N5;
|
||||
const bits_slice OMEGA[]= {{197,8},{211,24}};
|
||||
const bits_slice OMEGA = {{197,8},{211,24}};
|
||||
const double OMEGA_LSB=PI_TWO_N31;
|
||||
const bits_slice OMEGA_DOT[]= {{241,24}};
|
||||
const bits_slice OMEGA_DOT = {{241,24}};
|
||||
const double OMEGA_DOT_LSB=PI_TWO_N43;
|
||||
const bits_slice IODE_SF3[]= {{271,8}};
|
||||
const bits_slice IODE_SF3 = {{271,8}};
|
||||
|
||||
const bits_slice I_DOT[]= {{279,14}};
|
||||
const bits_slice I_DOT = {{279,14}};
|
||||
const double I_DOT_LSB=PI_TWO_N43;
|
||||
|
||||
|
||||
// SUBFRAME 4-5
|
||||
|
||||
const bits_slice SV_DATA_ID[]= {{61,2}};
|
||||
const bits_slice SV_PAGE[]= {{63,6}};
|
||||
const bits_slice SV_DATA_ID = {{61,2}};
|
||||
const bits_slice SV_PAGE = {{63,6}};
|
||||
|
||||
// SUBFRAME 4
|
||||
|
||||
//! \todo read all pages of subframe 4
|
||||
|
||||
// Page 18 - Ionospheric and UTC data
|
||||
const bits_slice ALPHA_0[]= {{69,8}};
|
||||
const bits_slice ALPHA_0 = {{69,8}};
|
||||
const double ALPHA_0_LSB=TWO_N30;
|
||||
const bits_slice ALPHA_1[]= {{77,8}};
|
||||
const bits_slice ALPHA_1 = {{77,8}};
|
||||
const double ALPHA_1_LSB=TWO_N27;
|
||||
const bits_slice ALPHA_2[]= {{91,8}};
|
||||
const bits_slice ALPHA_2 = {{91,8}};
|
||||
const double ALPHA_2_LSB=TWO_N24;
|
||||
const bits_slice ALPHA_3[]= {{99,8}};
|
||||
const bits_slice ALPHA_3 = {{99,8}};
|
||||
const double ALPHA_3_LSB=TWO_N24;
|
||||
const bits_slice BETA_0[]= {{107,8}};
|
||||
const bits_slice BETA_0 = {{107,8}};
|
||||
const double BETA_0_LSB=TWO_P11;
|
||||
const bits_slice BETA_1[]= {{121,8}};
|
||||
const bits_slice BETA_1 = {{121,8}};
|
||||
const double BETA_1_LSB=TWO_P14;
|
||||
const bits_slice BETA_2[]= {{129,8}};
|
||||
const bits_slice BETA_2 = {{129,8}};
|
||||
const double BETA_2_LSB=TWO_P16;
|
||||
const bits_slice BETA_3[]= {{137,8}};
|
||||
const bits_slice BETA_3 = {{137,8}};
|
||||
const double BETA_3_LSB=TWO_P16;
|
||||
const bits_slice A_1[]= {{151,24}};
|
||||
const bits_slice A_1 = {{151,24}};
|
||||
const double A_1_LSB=TWO_N50;
|
||||
const bits_slice A_0[]= {{181,24},{211,8}};
|
||||
const bits_slice A_0 = {{181,24},{211,8}};
|
||||
const double A_0_LSB=TWO_N30;
|
||||
const bits_slice T_OT[]= {{219,8}};
|
||||
const bits_slice T_OT = {{219,8}};
|
||||
const double T_OT_LSB=TWO_P12;
|
||||
const bits_slice WN_T[]= {{227,8}};
|
||||
const bits_slice WN_T = {{227,8}};
|
||||
const double WN_T_LSB = 1;
|
||||
const bits_slice DELTAT_LS[]= {{241,8}};
|
||||
const bits_slice DELTAT_LS = {{241,8}};
|
||||
const double DELTAT_LS_LSB = 1;
|
||||
const bits_slice WN_LSF[]= {{249,8}};
|
||||
const bits_slice WN_LSF = {{249,8}};
|
||||
const double WN_LSF_LSB = 1;
|
||||
const bits_slice DN[]= {{257,8}};
|
||||
const bits_slice DN = {{257,8}};
|
||||
const double DN_LSB = 1;
|
||||
const bits_slice DELTAT_LSF[]= {{271,8}};
|
||||
const bits_slice DELTAT_LSF = {{271,8}};
|
||||
const double DELTAT_LSF_LSB = 1;
|
||||
|
||||
// Page 25 - Antispoofing, SV config and SV health (PRN 25 -32)
|
||||
const bits_slice HEALTH_SV25[]={{229,6}};
|
||||
const bits_slice HEALTH_SV26[]={{241,6}};
|
||||
const bits_slice HEALTH_SV27[]={{247,6}};
|
||||
const bits_slice HEALTH_SV28[]={{253,6}};
|
||||
const bits_slice HEALTH_SV29[]={{259,6}};
|
||||
const bits_slice HEALTH_SV30[]={{271,6}};
|
||||
const bits_slice HEALTH_SV31[]={{277,6}};
|
||||
const bits_slice HEALTH_SV32[]={{283,6}};
|
||||
const bits_slice HEALTH_SV25 ={{229,6}};
|
||||
const bits_slice HEALTH_SV26 ={{241,6}};
|
||||
const bits_slice HEALTH_SV27 ={{247,6}};
|
||||
const bits_slice HEALTH_SV28 ={{253,6}};
|
||||
const bits_slice HEALTH_SV29 ={{259,6}};
|
||||
const bits_slice HEALTH_SV30 ={{271,6}};
|
||||
const bits_slice HEALTH_SV31 ={{277,6}};
|
||||
const bits_slice HEALTH_SV32 ={{283,6}};
|
||||
|
||||
|
||||
|
||||
|
|
@ -280,33 +288,33 @@ const bits_slice HEALTH_SV32[]={{283,6}};
|
|||
|
||||
|
||||
// page 25 - Health (PRN 1 - 24)
|
||||
const bits_slice T_OA[]={{69,8}};
|
||||
const bits_slice T_OA ={{69,8}};
|
||||
const double T_OA_LSB = TWO_P12;
|
||||
const bits_slice WN_A[]={{77,8}};
|
||||
const bits_slice HEALTH_SV1[]={{91,6}};
|
||||
const bits_slice HEALTH_SV2[]={{97,6}};
|
||||
const bits_slice HEALTH_SV3[]={{103,6}};
|
||||
const bits_slice HEALTH_SV4[]={{109,6}};
|
||||
const bits_slice HEALTH_SV5[]={{121,6}};
|
||||
const bits_slice HEALTH_SV6[]={{127,6}};
|
||||
const bits_slice HEALTH_SV7[]={{133,6}};
|
||||
const bits_slice HEALTH_SV8[]={{139,6}};
|
||||
const bits_slice HEALTH_SV9[]={{151,6}};
|
||||
const bits_slice HEALTH_SV10[]={{157,6}};
|
||||
const bits_slice HEALTH_SV11[]={{163,6}};
|
||||
const bits_slice HEALTH_SV12[]={{169,6}};
|
||||
const bits_slice HEALTH_SV13[]={{181,6}};
|
||||
const bits_slice HEALTH_SV14[]={{187,6}};
|
||||
const bits_slice HEALTH_SV15[]={{193,6}};
|
||||
const bits_slice HEALTH_SV16[]={{199,6}};
|
||||
const bits_slice HEALTH_SV17[]={{211,6}};
|
||||
const bits_slice HEALTH_SV18[]={{217,6}};
|
||||
const bits_slice HEALTH_SV19[]={{223,6}};
|
||||
const bits_slice HEALTH_SV20[]={{229,6}};
|
||||
const bits_slice HEALTH_SV21[]={{241,6}};
|
||||
const bits_slice HEALTH_SV22[]={{247,6}};
|
||||
const bits_slice HEALTH_SV23[]={{253,6}};
|
||||
const bits_slice HEALTH_SV24[]={{259,6}};
|
||||
const bits_slice WN_A ={{77,8}};
|
||||
const bits_slice HEALTH_SV1 ={{91,6}};
|
||||
const bits_slice HEALTH_SV2 ={{97,6}};
|
||||
const bits_slice HEALTH_SV3 ={{103,6}};
|
||||
const bits_slice HEALTH_SV4 ={{109,6}};
|
||||
const bits_slice HEALTH_SV5 ={{121,6}};
|
||||
const bits_slice HEALTH_SV6 ={{127,6}};
|
||||
const bits_slice HEALTH_SV7 ={{133,6}};
|
||||
const bits_slice HEALTH_SV8 ={{139,6}};
|
||||
const bits_slice HEALTH_SV9 ={{151,6}};
|
||||
const bits_slice HEALTH_SV10 ={{157,6}};
|
||||
const bits_slice HEALTH_SV11 ={{163,6}};
|
||||
const bits_slice HEALTH_SV12 ={{169,6}};
|
||||
const bits_slice HEALTH_SV13 ={{181,6}};
|
||||
const bits_slice HEALTH_SV14 ={{187,6}};
|
||||
const bits_slice HEALTH_SV15 ={{193,6}};
|
||||
const bits_slice HEALTH_SV16 ={{199,6}};
|
||||
const bits_slice HEALTH_SV17 ={{211,6}};
|
||||
const bits_slice HEALTH_SV18 ={{217,6}};
|
||||
const bits_slice HEALTH_SV19 ={{223,6}};
|
||||
const bits_slice HEALTH_SV20 ={{229,6}};
|
||||
const bits_slice HEALTH_SV21 ={{241,6}};
|
||||
const bits_slice HEALTH_SV22 ={{247,6}};
|
||||
const bits_slice HEALTH_SV23 ={{253,6}};
|
||||
const bits_slice HEALTH_SV24 ={{259,6}};
|
||||
|
||||
/*
|
||||
|
||||
|
|
|
|||
|
|
@ -1,64 +0,0 @@
|
|||
/*!
|
||||
* \file gnss_synchro.cc
|
||||
* \brief Implementation of the Gnss_Synchro class
|
||||
* \author
|
||||
* Luis Esteve, 2012. luis(at)epsilon-formacion.com
|
||||
* Javier Arribas, 2012. jarribas(at)cttc.es
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "gnss_synchro.h"
|
||||
|
||||
Gnss_Synchro::Gnss_Synchro()
|
||||
{
|
||||
PRN = 0;
|
||||
// Acquisition
|
||||
Acq_delay_samples = 0.0;
|
||||
Acq_doppler_hz = 0.0;
|
||||
Acq_samplestamp_samples = 0;
|
||||
Flag_valid_acquisition = false;
|
||||
//Tracking
|
||||
Prompt_I = 0.0;
|
||||
Prompt_Q = 0.0;
|
||||
Carrier_phase_rads = 0.0;
|
||||
Code_phase_secs = 0.0;
|
||||
Tracking_timestamp_secs = 0.0;
|
||||
CN0_dB_hz = 0.0;
|
||||
Flag_valid_tracking = false;
|
||||
//Telemetry Decoder
|
||||
Preamble_timestamp_ms = 0.0;
|
||||
Prn_timestamp_ms = 0.0;
|
||||
Channel_ID = 0;
|
||||
Flag_valid_word = false;
|
||||
Flag_preamble = false;
|
||||
// Pseudorange
|
||||
Pseudorange_m = 0.0;
|
||||
Pseudorange_symbol_shift = 0.0;
|
||||
Flag_valid_pseudorange = false;
|
||||
}
|
||||
|
||||
Gnss_Synchro::~Gnss_Synchro()
|
||||
{}
|
||||
|
||||
|
|
@ -37,11 +37,11 @@
|
|||
* \brief This is the class that contains the information that is shared
|
||||
* by the processing blocks.
|
||||
*/
|
||||
class Gnss_Synchro
|
||||
class Gnss_Synchro
|
||||
{
|
||||
public:
|
||||
Gnss_Synchro();
|
||||
~Gnss_Synchro();
|
||||
//reset();
|
||||
//~Gnss_Synchro();
|
||||
// Satellite and signal info
|
||||
char System; //!< Set by Channel::set_signal(Gnss_Signal gnss_signal)
|
||||
char Signal[3]; //!< Set by Channel::set_signal(Gnss_Signal gnss_signal)
|
||||
|
|
|
|||
|
|
@ -197,11 +197,12 @@ void Gps_Navigation_Message::print_gps_word_bytes(unsigned int GPS_word)
|
|||
|
||||
|
||||
|
||||
bool Gps_Navigation_Message::read_navigation_bool(std::bitset<GPS_SUBFRAME_BITS> bits, const bits_slice *slices)
|
||||
bool Gps_Navigation_Message::read_navigation_bool(std::bitset<GPS_SUBFRAME_BITS> bits, const bits_slice slices)
|
||||
{
|
||||
bool value;
|
||||
|
||||
if (bits[GPS_SUBFRAME_BITS - slices[0].position] == 1)
|
||||
//if (bits[GPS_SUBFRAME_BITS - slices->front().position] == 1)
|
||||
if (bits[GPS_SUBFRAME_BITS - slices.at(0).position] == 1)
|
||||
{
|
||||
value = true;
|
||||
}
|
||||
|
|
@ -217,17 +218,16 @@ bool Gps_Navigation_Message::read_navigation_bool(std::bitset<GPS_SUBFRAME_BITS>
|
|||
|
||||
|
||||
|
||||
unsigned long int Gps_Navigation_Message::read_navigation_unsigned(std::bitset<GPS_SUBFRAME_BITS> bits, const bits_slice *slices, int num_of_slices)
|
||||
unsigned long int Gps_Navigation_Message::read_navigation_unsigned(std::bitset<GPS_SUBFRAME_BITS> bits, const bits_slice slices, int num_of_slices)
|
||||
{
|
||||
unsigned long int value;
|
||||
|
||||
value = 0;
|
||||
for (int i=0; i<num_of_slices; i++)
|
||||
{
|
||||
for (int j=0; j<slices[i].length; j++)
|
||||
for (int j=0; j<slices.at(i).length; j++)
|
||||
{
|
||||
value <<= 1; //shift left
|
||||
if (bits[GPS_SUBFRAME_BITS - slices[i].position - j] == 1)
|
||||
if (bits[GPS_SUBFRAME_BITS - slices.at(i).position - j] == 1)
|
||||
{
|
||||
value += 1; // insert the bit
|
||||
}
|
||||
|
|
@ -241,12 +241,12 @@ unsigned long int Gps_Navigation_Message::read_navigation_unsigned(std::bitset<G
|
|||
|
||||
|
||||
|
||||
signed long int Gps_Navigation_Message::read_navigation_signed(std::bitset<GPS_SUBFRAME_BITS> bits, const bits_slice *slices, int num_of_slices)
|
||||
signed long int Gps_Navigation_Message::read_navigation_signed(std::bitset<GPS_SUBFRAME_BITS> bits, const bits_slice slices, int num_of_slices)
|
||||
{
|
||||
signed long int value = 0;
|
||||
|
||||
// read the MSB and perform the sign extension
|
||||
if (bits[GPS_SUBFRAME_BITS-slices[0].position]==1)
|
||||
if (bits[GPS_SUBFRAME_BITS-slices.at(0).position]==1)
|
||||
{
|
||||
value^=0xFFFFFFFF;
|
||||
}
|
||||
|
|
@ -257,11 +257,11 @@ signed long int Gps_Navigation_Message::read_navigation_signed(std::bitset<GPS_S
|
|||
|
||||
for (int i=0; i<num_of_slices; i++)
|
||||
{
|
||||
for (int j=0; j<slices[i].length; j++)
|
||||
for (int j=0; j<slices.at(i).length; j++)
|
||||
{
|
||||
value<<=1; //shift left
|
||||
value&=0xFFFFFFFE; //reset the corresponding bit
|
||||
if (bits[GPS_SUBFRAME_BITS - slices[i].position-j] == 1)
|
||||
if (bits[GPS_SUBFRAME_BITS - slices.at(i).position-j] == 1)
|
||||
{
|
||||
value+=1; // insert the bit
|
||||
}
|
||||
|
|
|
|||
|
|
@ -54,9 +54,9 @@ class Gps_Navigation_Message
|
|||
{
|
||||
|
||||
private:
|
||||
unsigned long int read_navigation_unsigned(std::bitset<GPS_SUBFRAME_BITS> bits, const bits_slice *slices, int num_of_slices);
|
||||
signed long int read_navigation_signed(std::bitset<GPS_SUBFRAME_BITS> bits, const bits_slice *slices, int num_of_slices);
|
||||
bool read_navigation_bool(std::bitset<GPS_SUBFRAME_BITS> bits, const bits_slice *slices);
|
||||
unsigned long int read_navigation_unsigned(std::bitset<GPS_SUBFRAME_BITS> bits, const bits_slice slices, int num_of_slices);
|
||||
signed long int read_navigation_signed(std::bitset<GPS_SUBFRAME_BITS> bits, const bits_slice slices, int num_of_slices);
|
||||
bool read_navigation_bool(std::bitset<GPS_SUBFRAME_BITS> bits, const bits_slice slices);
|
||||
void print_gps_word_bytes(unsigned int GPS_word);
|
||||
|
||||
/*
|
||||
|
|
|
|||
|
|
@ -3,4 +3,4 @@ project : build-dir ../../../build ;
|
|||
obj gps_navigation_message : gps_navigation_message.cc ;
|
||||
obj gnss_satellite : gnss_satellite.cc ;
|
||||
obj gnss_signal : gnss_signal.cc ;
|
||||
obj gnss_synchro : gnss_synchro.cc ;
|
||||
#obj gnss_synchro : gnss_synchro.hpp ;
|
||||
|
|
@ -57,12 +57,11 @@ exe gnss-sdr : main.cc
|
|||
../core/system_parameters//gps_navigation_message
|
||||
../core/system_parameters//gnss_satellite
|
||||
../core/system_parameters//gnss_signal
|
||||
../core/system_parameters//gnss_synchro
|
||||
#../core/system_parameters//gnss_synchro
|
||||
../..//gflags
|
||||
../..//glog
|
||||
../..//gnuradio-core
|
||||
../..//uhd
|
||||
../..//gnuradio-uhd ;
|
||||
#../..//gnuradio-usrp ;
|
||||
|
||||
install ../../install : gnss-sdr ;
|
||||
|
|
|
|||
|
|
@ -108,8 +108,8 @@ int main(int argc, char** argv)
|
|||
// report the elapsed time
|
||||
gettimeofday(&tv, NULL);
|
||||
long long int end = tv.tv_sec * 1000000 + tv.tv_usec;
|
||||
std::cout << "Total GNSS-SDR run time " << ((double)(end - begin))/1000000.0<< " [seconds]"<< std::endl;
|
||||
std::cout << "Total GNSS-SDR run time " << ((double)(end - begin))/1000000.0 << " [seconds]" << std::endl;
|
||||
|
||||
google::ShutDownCommandLineFlags();
|
||||
std::cout<<"GNSS-SDR program ended"<<std::endl;
|
||||
std::cout << "GNSS-SDR program ended." << std::endl;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -58,7 +58,7 @@ exe run_tests : test_main.cc
|
|||
../core/system_parameters//gps_navigation_message
|
||||
../core/system_parameters//gnss_satellite
|
||||
../core/system_parameters//gnss_signal
|
||||
../core/system_parameters//gnss_synchro
|
||||
#../core/system_parameters//gnss_synchro
|
||||
../..//gflags
|
||||
../..//glog
|
||||
../..//gnuradio-core
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user