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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
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commit
fe16e2443d
@ -32,13 +32,10 @@
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#include "gps_l5_signal.h"
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#include "gps_l5_signal.h"
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#include "GPS_L5.h"
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#include "GPS_L5.h"
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#include <cinttypes>
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#include <cmath>
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#include <complex>
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#include <deque>
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#include <deque>
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std::deque<bool> l5i_xa_shift(std::deque<bool> xa)
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std::deque<bool> l5i_xa_shift(std::deque<bool> xa) // GPS-IS-705E Figure 3-4 pp. 15
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{
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{
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if (xa == std::deque<bool>{true, true, true, true, true, true, true, true, true, true, true, false, true})
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if (xa == std::deque<bool>{true, true, true, true, true, true, true, true, true, true, true, false, true})
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{
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{
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@ -62,7 +59,7 @@ std::deque<bool> l5q_xa_shift(std::deque<bool> xa)
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}
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}
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std::deque<bool> l5i_xb_shift(std::deque<bool> xb)
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std::deque<bool> l5i_xb_shift(std::deque<bool> xb) // GPS-IS-705E Figure 3-5 pp. 16
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{
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{
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std::deque<bool> out(xb.begin(), xb.end() - 1);
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std::deque<bool> out(xb.begin(), xb.end() - 1);
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out.push_front(xb[12] xor xb[11] xor xb[7] xor xb[6] xor xb[5] xor xb[3] xor xb[2] xor xb[0]);
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out.push_front(xb[12] xor xb[11] xor xb[7] xor xb[6] xor xb[5] xor xb[3] xor xb[2] xor xb[0]);
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@ -146,7 +143,7 @@ void make_l5i(int32_t* _dest, int32_t prn)
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{
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{
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xb_shift[n] = xb[(xb_offset + n) % GPS_L5I_CODE_LENGTH_CHIPS];
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xb_shift[n] = xb[(xb_offset + n) % GPS_L5I_CODE_LENGTH_CHIPS];
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}
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}
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std::deque<bool> out_code(GPS_L5I_CODE_LENGTH_CHIPS, false);
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for (int32_t n = 0; n < GPS_L5I_CODE_LENGTH_CHIPS; n++)
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for (int32_t n = 0; n < GPS_L5I_CODE_LENGTH_CHIPS; n++)
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{
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{
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_dest[n] = xa[n] xor xb_shift[n];
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_dest[n] = xa[n] xor xb_shift[n];
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@ -166,7 +163,7 @@ void make_l5q(int32_t* _dest, int32_t prn)
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{
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{
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xb_shift[n] = xb[(xb_offset + n) % GPS_L5Q_CODE_LENGTH_CHIPS];
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xb_shift[n] = xb[(xb_offset + n) % GPS_L5Q_CODE_LENGTH_CHIPS];
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}
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}
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std::deque<bool> out_code(GPS_L5Q_CODE_LENGTH_CHIPS, false);
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for (int32_t n = 0; n < GPS_L5Q_CODE_LENGTH_CHIPS; n++)
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for (int32_t n = 0; n < GPS_L5Q_CODE_LENGTH_CHIPS; n++)
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{
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{
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_dest[n] = xa[n] xor xb_shift[n];
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_dest[n] = xa[n] xor xb_shift[n];
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@ -231,28 +228,24 @@ void gps_l5i_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn,
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//--- Find time constants --------------------------------------------------
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//--- Find time constants --------------------------------------------------
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_ts = 1.0 / static_cast<float>(_fs); // Sampling period in sec
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_ts = 1.0 / static_cast<float>(_fs); // Sampling period in sec
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_tc = 1.0 / static_cast<float>(GPS_L5I_CODE_RATE_HZ); // C/A chip period in sec
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_tc = 1.0 / static_cast<float>(GPS_L5I_CODE_RATE_HZ); // L5I primary chip period in sec
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//float aux;
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for (int32_t i = 0; i < _samplesPerCode; i++)
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for (int32_t i = 0; i < _samplesPerCode; i++)
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{
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{
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//=== Digitizing =======================================================
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//=== Digitizing =======================================================
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//--- Make index array to read L5 code values -------------------------
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//--- Make index array to read L5 code values -------------------------
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//TODO: Check this formula! Seems to start with an extra sample
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_codeValueIndex = static_cast<int32_t>(std::ceil(_ts * static_cast<float>(i + 1) / _tc)) - 1;
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_codeValueIndex = std::ceil((_ts * (static_cast<float>(i) + 1)) / _tc) - 1;
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//aux = (_ts * (i + 1)) / _tc;
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//_codeValueIndex = static_cast<int32_t> (static_cast<long>(aux)) - 1;
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//--- Make the digitized version of the L2C code -----------------------
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//--- Make the digitized version of the L5I code -----------------------
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if (i == _samplesPerCode - 1)
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if (i == _samplesPerCode - 1)
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{
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{
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//--- Correct the last index (due to number rounding issues) -----------
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//--- Correct the last index (due to number rounding issues) -----------
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_dest[i] = std::complex<float>(1.0 - 2.0 * _code[_codeLength - 1], 0);
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_dest[i] = std::complex<float>(1.0 - 2.0 * _code[_codeLength - 1], 0.0);
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}
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}
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else
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else
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{
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{
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_dest[i] = std::complex<float>(1.0 - 2.0 * _code[_codeValueIndex], 0); //repeat the chip -> upsample
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_dest[i] = std::complex<float>(1.0 - 2.0 * _code[_codeValueIndex], 0.0); // repeat the chip -> upsample
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}
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}
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}
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}
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delete[] _code;
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delete[] _code;
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@ -296,7 +289,7 @@ void gps_l5q_code_gen_float(float* _dest, uint32_t _prn)
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/*
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/*
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* Generates complex GPS L5i code for the desired SV ID and sampled to specific sampling frequency
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* Generates complex GPS L5Q code for the desired SV ID and sampled to specific sampling frequency
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*/
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*/
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void gps_l5q_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn, int32_t _fs)
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void gps_l5q_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn, int32_t _fs)
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{
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{
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@ -316,7 +309,7 @@ void gps_l5q_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn,
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//--- Find time constants --------------------------------------------------
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//--- Find time constants --------------------------------------------------
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_ts = 1.0 / static_cast<float>(_fs); // Sampling period in sec
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_ts = 1.0 / static_cast<float>(_fs); // Sampling period in sec
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_tc = 1.0 / static_cast<float>(GPS_L5Q_CODE_RATE_HZ); // C/A chip period in sec
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_tc = 1.0 / static_cast<float>(GPS_L5Q_CODE_RATE_HZ); // L5Q chip period in sec
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//float aux;
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//float aux;
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for (int32_t i = 0; i < _samplesPerCode; i++)
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for (int32_t i = 0; i < _samplesPerCode; i++)
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@ -324,12 +317,9 @@ void gps_l5q_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn,
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//=== Digitizing =======================================================
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//=== Digitizing =======================================================
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//--- Make index array to read L5 code values -------------------------
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//--- Make index array to read L5 code values -------------------------
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//TODO: Check this formula! Seems to start with an extra sample
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_codeValueIndex = static_cast<int32_t>(std::ceil(_ts * static_cast<float>(i + 1) / _tc)) - 1;
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_codeValueIndex = std::ceil((_ts * (static_cast<float>(i) + 1)) / _tc) - 1;
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//aux = (_ts * (i + 1)) / _tc;
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//_codeValueIndex = static_cast<int32_t> (static_cast<long>(aux)) - 1;
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//--- Make the digitized version of the L2C code -----------------------
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//--- Make the digitized version of the L5Q code -----------------------
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if (i == _samplesPerCode - 1)
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if (i == _samplesPerCode - 1)
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{
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{
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//--- Correct the last index (due to number rounding issues) -----------
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//--- Correct the last index (due to number rounding issues) -----------
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@ -337,7 +327,7 @@ void gps_l5q_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn,
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}
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}
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else
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else
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{
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{
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_dest[i] = std::complex<float>(1.0 - 2.0 * _code[_codeValueIndex], 0); //repeat the chip -> upsample
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_dest[i] = std::complex<float>(1.0 - 2.0 * _code[_codeValueIndex], 0); // repeat the chip -> upsample
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}
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}
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}
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}
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delete[] _code;
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delete[] _code;
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@ -36,18 +36,22 @@
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#include <complex>
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#include <complex>
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#include <cstdint>
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#include <cstdint>
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//!Generates complex GPS L5i M code for the desired SV ID
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//! Generates complex GPS L5I code for the desired SV ID
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void gps_l5i_code_gen_complex(std::complex<float>* _dest, uint32_t _prn);
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void gps_l5i_code_gen_complex(std::complex<float>* _dest, uint32_t _prn);
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//! Generates real GPS L5I code for the desired SV ID
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void gps_l5i_code_gen_float(float* _dest, uint32_t _prn);
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void gps_l5i_code_gen_float(float* _dest, uint32_t _prn);
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//!Generates complex GPS L5q M code for the desired SV ID
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//! Generates complex GPS L5Q code for the desired SV ID
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void gps_l5q_code_gen_complex(std::complex<float>* _dest, uint32_t _prn);
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void gps_l5q_code_gen_complex(std::complex<float>* _dest, uint32_t _prn);
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//! Generates real GPS L5Q code for the desired SV ID
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void gps_l5q_code_gen_float(float* _dest, uint32_t _prn);
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void gps_l5q_code_gen_float(float* _dest, uint32_t _prn);
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//! Generates complex GPS L5i M code for the desired SV ID, and sampled to specific sampling frequency
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//! Generates complex GPS L5I code for the desired SV ID, and sampled to specific sampling frequency
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void gps_l5i_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn, int32_t _fs);
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void gps_l5i_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn, int32_t _fs);
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//! Generates complex GPS L5q M code for the desired SV ID, and sampled to specific sampling frequency
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//! Generates complex GPS L5Q code for the desired SV ID, and sampled to specific sampling frequency
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void gps_l5q_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn, int32_t _fs);
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void gps_l5q_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn, int32_t _fs);
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@ -97,7 +97,7 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
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d_frame_length_symbols = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS;
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d_frame_length_symbols = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS;
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CodeLength = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS;
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CodeLength = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS;
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DataLength = (CodeLength / nn) - mm;
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DataLength = (CodeLength / nn) - mm;
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d_max_symbols_without_valid_frame = GALILEO_INAV_PAGE_PART_SYMBOLS * 10; //rise alarm 10 seconds without valid tlm
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d_max_symbols_without_valid_frame = GALILEO_INAV_PAGE_PART_SYMBOLS * 30; //rise alarm 30 seconds without valid tlm
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break;
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break;
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}
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}
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@ -127,7 +127,7 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
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d_secondary_code_samples[i] = -1;
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d_secondary_code_samples[i] = -1;
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}
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}
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}
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}
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d_max_symbols_without_valid_frame = GALILEO_FNAV_CODES_PER_SYMBOL * GALILEO_FNAV_SYMBOLS_PER_PAGE * 10; //rise alarm 10 seconds without valid tlm
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d_max_symbols_without_valid_frame = GALILEO_FNAV_CODES_PER_SYMBOL * GALILEO_FNAV_SYMBOLS_PER_PAGE * 30; //rise alarm 30 seconds without valid tlm
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break;
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break;
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}
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}
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default:
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default:
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@ -532,13 +532,14 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
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corr_value += d_preamble_samples[i];
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corr_value += d_preamble_samples[i];
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}
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}
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}
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}
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}
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if (abs(corr_value) >= d_samples_per_preamble)
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if (abs(corr_value) >= d_samples_per_preamble)
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{
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{
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d_preamble_index = d_sample_counter; // record the preamble sample stamp
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d_preamble_index = d_sample_counter; // record the preamble sample stamp
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DLOG(INFO) << "Preamble detection for Galileo satellite " << this->d_satellite;
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DLOG(INFO) << "Preamble detection for Galileo satellite " << this->d_satellite;
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d_stat = 1; // enter into frame pre-detection status
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d_stat = 1; // enter into frame pre-detection status
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}
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}
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}
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break;
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break;
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}
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}
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case 1: // possible preamble lock
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case 1: // possible preamble lock
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@ -560,7 +561,6 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
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corr_value += d_preamble_samples[i];
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corr_value += d_preamble_samples[i];
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}
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}
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}
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}
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}
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if (abs(corr_value) >= d_samples_per_preamble)
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if (abs(corr_value) >= d_samples_per_preamble)
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{
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{
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// check preamble separation
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// check preamble separation
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@ -571,7 +571,14 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
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DLOG(INFO) << "Starting page decoder for Galileo satellite " << this->d_satellite;
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DLOG(INFO) << "Starting page decoder for Galileo satellite " << this->d_satellite;
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d_preamble_index = d_sample_counter; // record the preamble sample stamp
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d_preamble_index = d_sample_counter; // record the preamble sample stamp
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d_CRC_error_counter = 0;
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d_CRC_error_counter = 0;
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if (corr_value < 0) flag_PLL_180_deg_phase_locked = true;
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if (corr_value < 0)
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{
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flag_PLL_180_deg_phase_locked = true;
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}
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else
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{
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flag_PLL_180_deg_phase_locked = false;
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}
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d_stat = 2;
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d_stat = 2;
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}
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}
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else
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else
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@ -582,6 +589,7 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
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}
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}
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}
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}
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}
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}
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}
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break;
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break;
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}
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}
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case 2: // preamble acquired
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case 2: // preamble acquired
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