mirror of https://github.com/gnss-sdr/gnss-sdr
323 lines
9.2 KiB
C++
323 lines
9.2 KiB
C++
/*!
|
|
* \file gps_l1_ca_subframe_fsm.cc
|
|
* \brief Implementation of a GPS NAV message word-to-subframe decoder state machine
|
|
* \author Javier Arribas, 2011. jarribas(at)cttc.es
|
|
*
|
|
* -------------------------------------------------------------------------
|
|
*
|
|
* Copyright (C) 2010-2015 (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 "gps_l1_ca_subframe_fsm.h"
|
|
#include <string>
|
|
#include <boost/statechart/simple_state.hpp>
|
|
#include <boost/statechart/state.hpp>
|
|
#include <boost/statechart/transition.hpp>
|
|
#include <boost/statechart/custom_reaction.hpp>
|
|
#include <boost/mpl/list.hpp>
|
|
|
|
|
|
//************ GPS WORD TO SUBFRAME DECODER STATE MACHINE **********
|
|
|
|
struct Ev_gps_word_valid : sc::event<Ev_gps_word_valid> {};
|
|
struct Ev_gps_word_invalid : sc::event<Ev_gps_word_invalid>{};
|
|
struct Ev_gps_word_preamble : sc::event<Ev_gps_word_preamble>{};
|
|
|
|
|
|
struct gps_subframe_fsm_S0: public sc::state<gps_subframe_fsm_S0, GpsL1CaSubframeFsm>
|
|
{
|
|
public:
|
|
// sc::transition(event,next_status)
|
|
typedef sc::transition< Ev_gps_word_preamble, gps_subframe_fsm_S1 > reactions;
|
|
gps_subframe_fsm_S0(my_context ctx): my_base( ctx )
|
|
{
|
|
//std::cout<<"Enter S0 "<<std::endl;
|
|
}
|
|
};
|
|
|
|
|
|
|
|
|
|
struct gps_subframe_fsm_S1: public sc::state<gps_subframe_fsm_S1, GpsL1CaSubframeFsm>
|
|
{
|
|
public:
|
|
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
|
|
sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S2 > > reactions;
|
|
|
|
gps_subframe_fsm_S1(my_context ctx): my_base( ctx )
|
|
{
|
|
//std::cout<<"Enter S1 "<<std::endl;
|
|
}
|
|
};
|
|
|
|
|
|
|
|
|
|
struct gps_subframe_fsm_S2: public sc::state<gps_subframe_fsm_S2, GpsL1CaSubframeFsm>
|
|
{
|
|
public:
|
|
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
|
|
sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S3 > > reactions;
|
|
|
|
gps_subframe_fsm_S2(my_context ctx): my_base( ctx )
|
|
{
|
|
//std::cout<<"Enter S2 "<<std::endl;
|
|
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(0);
|
|
}
|
|
};
|
|
|
|
|
|
|
|
|
|
struct gps_subframe_fsm_S3: public sc::state<gps_subframe_fsm_S3, GpsL1CaSubframeFsm>
|
|
{
|
|
public:
|
|
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
|
|
sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S4 > > reactions;
|
|
|
|
gps_subframe_fsm_S3(my_context ctx): my_base( ctx )
|
|
{
|
|
//std::cout<<"Enter S3 "<<std::endl;
|
|
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(1);
|
|
}
|
|
};
|
|
|
|
|
|
|
|
|
|
struct gps_subframe_fsm_S4: public sc::state<gps_subframe_fsm_S4, GpsL1CaSubframeFsm>
|
|
{
|
|
public:
|
|
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
|
|
sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S5 > > reactions;
|
|
|
|
gps_subframe_fsm_S4(my_context ctx): my_base( ctx )
|
|
{
|
|
//std::cout<<"Enter S4 "<<std::endl;
|
|
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(2);
|
|
}
|
|
};
|
|
|
|
|
|
|
|
|
|
struct gps_subframe_fsm_S5: public sc::state<gps_subframe_fsm_S5, GpsL1CaSubframeFsm>
|
|
{
|
|
public:
|
|
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
|
|
sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S6 > > reactions;
|
|
|
|
gps_subframe_fsm_S5(my_context ctx): my_base( ctx )
|
|
{
|
|
//std::cout<<"Enter S5 "<<std::endl;
|
|
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(3);
|
|
}
|
|
};
|
|
|
|
|
|
|
|
|
|
|
|
struct gps_subframe_fsm_S6: public sc::state<gps_subframe_fsm_S6, GpsL1CaSubframeFsm>
|
|
{
|
|
public:
|
|
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
|
|
sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S7 > > reactions;
|
|
|
|
gps_subframe_fsm_S6(my_context ctx): my_base( ctx )
|
|
{
|
|
//std::cout<<"Enter S6 "<<std::endl;
|
|
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(4);
|
|
}
|
|
};
|
|
|
|
|
|
|
|
struct gps_subframe_fsm_S7: public sc::state<gps_subframe_fsm_S7, GpsL1CaSubframeFsm>
|
|
{
|
|
public:
|
|
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
|
|
sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S8 > > reactions;
|
|
|
|
gps_subframe_fsm_S7(my_context ctx): my_base( ctx )
|
|
{
|
|
//std::cout<<"Enter S7 "<<std::endl;
|
|
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(5);
|
|
}
|
|
};
|
|
|
|
|
|
|
|
struct gps_subframe_fsm_S8: public sc::state<gps_subframe_fsm_S8, GpsL1CaSubframeFsm>
|
|
{
|
|
public:
|
|
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
|
|
sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S9 > > reactions;
|
|
|
|
gps_subframe_fsm_S8(my_context ctx): my_base( ctx )
|
|
{
|
|
//std::cout<<"Enter S8 "<<std::endl;
|
|
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(6);
|
|
}
|
|
};
|
|
|
|
|
|
|
|
|
|
struct gps_subframe_fsm_S9: public sc::state<gps_subframe_fsm_S9, GpsL1CaSubframeFsm>
|
|
{
|
|
public:
|
|
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
|
|
sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S10 > > reactions;
|
|
|
|
gps_subframe_fsm_S9(my_context ctx): my_base( ctx )
|
|
{
|
|
//std::cout<<"Enter S9 "<<std::endl;
|
|
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(7);
|
|
}
|
|
};
|
|
|
|
|
|
|
|
struct gps_subframe_fsm_S10: public sc::state<gps_subframe_fsm_S10, GpsL1CaSubframeFsm>
|
|
{
|
|
public:
|
|
typedef mpl::list<sc::transition< Ev_gps_word_invalid, gps_subframe_fsm_S0 >,
|
|
sc::transition< Ev_gps_word_valid, gps_subframe_fsm_S11 > > reactions;
|
|
|
|
gps_subframe_fsm_S10(my_context ctx): my_base( ctx )
|
|
{
|
|
//std::cout<<"Enter S10 "<<std::endl;
|
|
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(8);
|
|
}
|
|
};
|
|
|
|
|
|
|
|
struct gps_subframe_fsm_S11: public sc::state<gps_subframe_fsm_S11, GpsL1CaSubframeFsm>
|
|
{
|
|
public:
|
|
typedef sc::transition< Ev_gps_word_preamble, gps_subframe_fsm_S1 > reactions;
|
|
|
|
gps_subframe_fsm_S11(my_context ctx): my_base( ctx )
|
|
{
|
|
//std::cout<<"Completed GPS Subframe!"<<std::endl;
|
|
context< GpsL1CaSubframeFsm >().gps_word_to_subframe(9);
|
|
context< GpsL1CaSubframeFsm >().gps_subframe_to_nav_msg(); //decode the subframe
|
|
// DECODE SUBFRAME
|
|
//std::cout<<"Enter S11"<<std::endl;
|
|
}
|
|
};
|
|
|
|
|
|
|
|
|
|
GpsL1CaSubframeFsm::GpsL1CaSubframeFsm()
|
|
{
|
|
d_nav.reset();
|
|
i_channel_ID = 0;
|
|
i_satellite_PRN = 0;
|
|
d_ephemeris_queue = 0;
|
|
d_iono_queue = 0;
|
|
d_utc_model_queue = 0;
|
|
d_almanac_queue = 0;
|
|
d_preamble_time_ms = 0;
|
|
initiate(); //start the FSM
|
|
}
|
|
|
|
|
|
|
|
void GpsL1CaSubframeFsm::gps_word_to_subframe(int position)
|
|
{
|
|
// insert the word in the correct position of the subframe
|
|
std::memcpy(&d_subframe[position*GPS_WORD_LENGTH], &d_GPS_frame_4bytes, sizeof(char)*GPS_WORD_LENGTH);
|
|
}
|
|
|
|
|
|
|
|
void GpsL1CaSubframeFsm::gps_subframe_to_nav_msg()
|
|
{
|
|
int subframe_ID;
|
|
// NEW GPS SUBFRAME HAS ARRIVED!
|
|
subframe_ID = d_nav.subframe_decoder(this->d_subframe); //decode the subframe
|
|
std::cout << "NAV Message: received subframe "
|
|
<< subframe_ID << " from satellite "
|
|
<< Gnss_Satellite(std::string("GPS"), i_satellite_PRN) << std::endl;
|
|
|
|
d_nav.i_satellite_PRN = i_satellite_PRN;
|
|
d_nav.i_channel_ID = i_channel_ID;
|
|
d_nav.d_subframe_timestamp_ms = this->d_preamble_time_ms;
|
|
|
|
switch (subframe_ID)
|
|
{
|
|
case 3: //we have a new set of ephemeris data for the current SV
|
|
if (d_nav.satellite_validation() == true)
|
|
{
|
|
// get ephemeris object for this SV (mandatory)
|
|
Gps_Ephemeris ephemeris = d_nav.get_ephemeris();
|
|
d_ephemeris_queue->push(ephemeris);
|
|
}
|
|
break;
|
|
case 4: // Possible IONOSPHERE and UTC model update (page 18)
|
|
if (d_nav.flag_iono_valid == true)
|
|
{
|
|
Gps_Iono iono = d_nav.get_iono(); //notice that the read operation will clear the valid flag
|
|
d_iono_queue->push(iono);
|
|
}
|
|
if (d_nav.flag_utc_model_valid == true)
|
|
{
|
|
Gps_Utc_Model utc_model = d_nav.get_utc_model(); //notice that the read operation will clear the valid flag
|
|
d_utc_model_queue->push(utc_model);
|
|
}
|
|
break;
|
|
case 5:
|
|
// get almanac (if available)
|
|
//TODO: implement almanac reader in navigation_message
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
|
|
|
|
|
|
void GpsL1CaSubframeFsm::Event_gps_word_valid()
|
|
{
|
|
this->process_event(Ev_gps_word_valid());
|
|
}
|
|
|
|
|
|
|
|
void GpsL1CaSubframeFsm::Event_gps_word_invalid()
|
|
{
|
|
this->process_event(Ev_gps_word_invalid());
|
|
}
|
|
|
|
|
|
|
|
void GpsL1CaSubframeFsm::Event_gps_word_preamble()
|
|
{
|
|
this->process_event(Ev_gps_word_preamble());
|
|
}
|
|
|