mirror of https://github.com/gnss-sdr/gnss-sdr
1637 lines
79 KiB
C++
1637 lines
79 KiB
C++
/*!
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* \file dll_pll_veml_tracking_fpga.cc
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* \brief Implementation of a code DLL + carrier PLL tracking block using an FPGA
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* \author Marc Majoral, 2018. marc.majoral(at)cttc.es
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* Antonio Ramos, 2018 antonio.ramosdet(at)gmail.com
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* Javier Arribas, 2018. jarribas(at)cttc.es
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*
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* Code DLL + carrier PLL according to the algorithms described in:
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* [1] K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
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* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
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* Approach, Birkhauser, 2007
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include "dll_pll_veml_tracking_fpga.h"
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#include "tracking_discriminators.h"
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#include "lock_detectors.h"
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#include "control_message_factory.h"
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#include "MATH_CONSTANTS.h"
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#include "Galileo_E1.h"
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#include "Galileo_E5a.h"
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#include "GPS_L1_CA.h"
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#include "GPS_L2C.h"
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#include "gps_l2c_signal.h"
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#include "GPS_L5.h"
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#include "gps_l5_signal.h"
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#include <boost/lexical_cast.hpp>
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#include <glog/logging.h>
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#include <gnuradio/io_signature.h>
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#include <matio.h>
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#include <volk_gnsssdr/volk_gnsssdr.h>
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#include <algorithm>
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#include <cmath>
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#include <iostream>
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#include <sstream>
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using google::LogMessage;
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dll_pll_veml_tracking_fpga_sptr dll_pll_veml_make_tracking_fpga(const Dll_Pll_Conf_Fpga &conf_)
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{
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return dll_pll_veml_tracking_fpga_sptr(new dll_pll_veml_tracking_fpga(conf_));
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}
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dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &conf_) : gr::block("dll_pll_veml_tracking_fpga", gr::io_signature::make(0, 0, sizeof(lv_16sc_t)),
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gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
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{
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trk_parameters = conf_;
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// Telemetry bit synchronization message port input
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this->message_port_register_out(pmt::mp("events"));
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this->set_relative_rate(1.0 / static_cast<double>(trk_parameters.vector_length));
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// Telemetry bit synchronization message port input (mainly for GPS L1 CA)
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this->message_port_register_in(pmt::mp("preamble_samplestamp"));
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// initialize internal vars
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d_veml = false;
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d_cloop = true;
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d_synchonizing = false;
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d_code_chip_rate = 0.0;
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d_secondary_code_length = 0;
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d_secondary_code_string = nullptr;
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signal_type = std::string(trk_parameters.signal);
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std::map<std::string, std::string> map_signal_pretty_name;
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map_signal_pretty_name["1C"] = "L1 C/A";
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map_signal_pretty_name["1B"] = "E1";
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map_signal_pretty_name["1G"] = "L1 C/A";
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map_signal_pretty_name["2S"] = "L2C";
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map_signal_pretty_name["2G"] = "L2 C/A";
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map_signal_pretty_name["5X"] = "E5a";
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map_signal_pretty_name["L5"] = "L5";
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signal_pretty_name = map_signal_pretty_name[signal_type];
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d_prompt_data_shift = nullptr;
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if (trk_parameters.system == 'G')
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{
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systemName = "GPS";
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if (signal_type.compare("1C") == 0)
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{
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d_signal_carrier_freq = GPS_L1_FREQ_HZ;
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d_code_period = GPS_L1_CA_CODE_PERIOD;
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d_code_chip_rate = GPS_L1_CA_CODE_RATE_HZ;
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d_symbols_per_bit = GPS_CA_TELEMETRY_SYMBOLS_PER_BIT;
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d_correlation_length_ms = 1;
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//d_code_samples_per_chip = 1;
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//d_code_length_chips = static_cast<uint32_t >(GPS_L1_CA_CODE_LENGTH_CHIPS);
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// GPS L1 C/A does not have pilot component nor secondary code
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d_secondary = false;
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trk_parameters.track_pilot = false;
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interchange_iq = false;
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// set the preamble
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uint16_t preambles_bits[GPS_CA_PREAMBLE_LENGTH_BITS] = GPS_PREAMBLE;
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// preamble bits to sampled symbols
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d_gps_l1ca_preambles_symbols = static_cast<int32_t *>(volk_gnsssdr_malloc(GPS_CA_PREAMBLE_LENGTH_SYMBOLS * sizeof(int32_t), volk_gnsssdr_get_alignment()));
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int32_t n = 0;
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for (int32_t i = 0; i < GPS_CA_PREAMBLE_LENGTH_BITS; i++)
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{
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for (uint32_t j = 0; j < GPS_CA_TELEMETRY_SYMBOLS_PER_BIT; j++)
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{
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if (preambles_bits[i] == 1)
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{
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d_gps_l1ca_preambles_symbols[n] = 1;
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}
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else
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{
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d_gps_l1ca_preambles_symbols[n] = -1;
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}
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n++;
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}
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}
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d_symbol_history.resize(GPS_CA_PREAMBLE_LENGTH_SYMBOLS); // Change fixed buffer size
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d_symbol_history.clear(); // Clear all the elements in the buffer
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}
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else if (signal_type.compare("2S") == 0)
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{
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d_signal_carrier_freq = GPS_L2_FREQ_HZ;
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d_code_period = GPS_L2_M_PERIOD;
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d_code_chip_rate = GPS_L2_M_CODE_RATE_HZ;
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//d_code_length_chips = static_cast<uint32_t >(GPS_L2_M_CODE_LENGTH_CHIPS);
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d_symbols_per_bit = GPS_L2_SAMPLES_PER_SYMBOL;
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d_correlation_length_ms = 20;
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//d_code_samples_per_chip = 1;
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// GPS L2 does not have pilot component nor secondary code
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d_secondary = false;
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trk_parameters.track_pilot = false;
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interchange_iq = false;
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}
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else if (signal_type.compare("L5") == 0)
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{
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d_signal_carrier_freq = GPS_L5_FREQ_HZ;
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d_code_period = GPS_L5i_PERIOD;
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d_code_chip_rate = GPS_L5i_CODE_RATE_HZ;
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d_symbols_per_bit = GPS_L5_SAMPLES_PER_SYMBOL;
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d_correlation_length_ms = 1;
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//d_code_samples_per_chip = 1;
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//d_code_length_chips = static_cast<uint32_t >(GPS_L5i_CODE_LENGTH_CHIPS);
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d_secondary = true;
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// interchange_iq = false;
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if (trk_parameters.track_pilot)
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{
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d_secondary_code_length = static_cast<uint32_t>(GPS_L5q_NH_CODE_LENGTH);
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d_secondary_code_string = const_cast<std::string *>(&GPS_L5q_NH_CODE_STR);
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signal_pretty_name = signal_pretty_name + "Q";
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interchange_iq = true;
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}
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else
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{
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d_secondary_code_length = static_cast<uint32_t>(GPS_L5i_NH_CODE_LENGTH);
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d_secondary_code_string = const_cast<std::string *>(&GPS_L5i_NH_CODE_STR);
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signal_pretty_name = signal_pretty_name + "I";
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interchange_iq = false;
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}
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}
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else
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{
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LOG(WARNING) << "Invalid Signal argument when instantiating tracking blocks";
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std::cerr << "Invalid Signal argument when instantiating tracking blocks" << std::endl;
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d_correlation_length_ms = 1;
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d_secondary = false;
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interchange_iq = false;
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d_signal_carrier_freq = 0.0;
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d_code_period = 0.0;
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//d_code_length_chips = 0;
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//d_code_samples_per_chip = 0;
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d_symbols_per_bit = 0;
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}
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}
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else if (trk_parameters.system == 'E')
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{
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systemName = "Galileo";
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if (signal_type.compare("1B") == 0)
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{
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d_signal_carrier_freq = Galileo_E1_FREQ_HZ;
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d_code_period = Galileo_E1_CODE_PERIOD;
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d_code_chip_rate = Galileo_E1_CODE_CHIP_RATE_HZ;
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//d_code_length_chips = static_cast<uint32_t >(Galileo_E1_B_CODE_LENGTH_CHIPS);
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d_symbols_per_bit = 1;
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d_correlation_length_ms = 4;
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//d_code_samples_per_chip = 2; // CBOC disabled: 2 samples per chip. CBOC enabled: 12 samples per chip
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d_veml = true;
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if (trk_parameters.track_pilot)
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{
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d_secondary = true;
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d_secondary_code_length = static_cast<uint32_t>(Galileo_E1_C_SECONDARY_CODE_LENGTH);
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d_secondary_code_string = const_cast<std::string *>(&Galileo_E1_C_SECONDARY_CODE);
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signal_pretty_name = signal_pretty_name + "C";
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}
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else
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{
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d_secondary = false;
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signal_pretty_name = signal_pretty_name + "B";
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}
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interchange_iq = false; // Note that E1-B and E1-C are in anti-phase, NOT IN QUADRATURE. See Galileo ICD.
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}
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else if (signal_type.compare("5X") == 0)
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{
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d_signal_carrier_freq = Galileo_E5a_FREQ_HZ;
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d_code_period = GALILEO_E5a_CODE_PERIOD;
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d_code_chip_rate = Galileo_E5a_CODE_CHIP_RATE_HZ;
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d_symbols_per_bit = 20;
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d_correlation_length_ms = 1;
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//d_code_samples_per_chip = 1;
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//d_code_length_chips = static_cast<uint32_t >(Galileo_E5a_CODE_LENGTH_CHIPS);
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d_secondary = true;
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//interchange_iq = false;
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if (trk_parameters.track_pilot)
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{
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d_secondary_code_length = static_cast<uint32_t>(Galileo_E5a_Q_SECONDARY_CODE_LENGTH);
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signal_pretty_name = signal_pretty_name + "Q";
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interchange_iq = true;
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}
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else
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{
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d_secondary_code_length = static_cast<uint32_t>(Galileo_E5a_I_SECONDARY_CODE_LENGTH);
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d_secondary_code_string = const_cast<std::string *>(&Galileo_E5a_I_SECONDARY_CODE);
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signal_pretty_name = signal_pretty_name + "I";
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interchange_iq = false;
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}
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}
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else
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{
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LOG(WARNING) << "Invalid Signal argument when instantiating tracking blocks";
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std::cout << "Invalid Signal argument when instantiating tracking blocks" << std::endl;
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d_correlation_length_ms = 1;
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d_secondary = false;
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interchange_iq = false;
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d_signal_carrier_freq = 0.0;
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d_code_period = 0.0;
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//d_code_length_chips = 0;
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//d_code_samples_per_chip = 0;
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d_symbols_per_bit = 0;
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}
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}
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else
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{
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LOG(WARNING) << "Invalid System argument when instantiating tracking blocks";
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std::cerr << "Invalid System argument when instantiating tracking blocks" << std::endl;
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d_correlation_length_ms = 1;
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d_secondary = false;
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interchange_iq = false;
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d_signal_carrier_freq = 0.0;
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d_code_period = 0.0;
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//d_code_length_chips = 0;
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//d_code_samples_per_chip = 0;
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d_symbols_per_bit = 0;
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}
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T_chip_seconds = 0.0;
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T_prn_seconds = 0.0;
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T_prn_samples = 0.0;
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K_blk_samples = 0.0;
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// Initialize tracking ==========================================
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d_code_loop_filter = Tracking_2nd_DLL_filter(static_cast<float>(d_code_period));
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d_carrier_loop_filter = Tracking_2nd_PLL_filter(static_cast<float>(d_code_period));
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d_carrier_loop_filter.set_PLL_BW(trk_parameters.pll_bw_hz);
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d_code_loop_filter.set_DLL_BW(trk_parameters.dll_bw_hz);
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if (d_veml)
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{
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// Very-Early, Early, Prompt, Late, Very-Late
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d_n_correlator_taps = 5;
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}
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else
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{
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// Early, Prompt, Late
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d_n_correlator_taps = 3;
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}
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d_correlator_outs = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
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d_local_code_shift_chips = static_cast<float *>(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(float), volk_gnsssdr_get_alignment()));
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//std::fill_n(d_correlator_outs, d_n_correlator_taps, gr_complex(0.0, 0.0));
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d_code_samples_per_chip = trk_parameters.code_samples_per_chip; // number of samples per chip
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// map memory pointers of correlator outputs
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if (d_veml)
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{
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d_Very_Early = &d_correlator_outs[0];
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d_Early = &d_correlator_outs[1];
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d_Prompt = &d_correlator_outs[2];
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d_Late = &d_correlator_outs[3];
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d_Very_Late = &d_correlator_outs[4];
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// printf("aaaa very early %f\n",-trk_parameters.very_early_late_space_chips);
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// printf("aaaa early %f\n",-trk_parameters.early_late_space_chips);
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// printf("aaaa normal %f\n",0);
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// printf("aaaa late %f\n",trk_parameters.early_late_space_chips);
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// printf("aaaa very late %f\n",trk_parameters.very_early_late_space_chips);
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d_local_code_shift_chips[0] = -trk_parameters.very_early_late_space_chips * static_cast<float>(d_code_samples_per_chip);
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d_local_code_shift_chips[1] = -trk_parameters.early_late_space_chips * static_cast<float>(d_code_samples_per_chip);
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d_local_code_shift_chips[2] = 0.0;
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d_local_code_shift_chips[3] = trk_parameters.early_late_space_chips * static_cast<float>(d_code_samples_per_chip);
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d_local_code_shift_chips[4] = trk_parameters.very_early_late_space_chips * static_cast<float>(d_code_samples_per_chip);
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d_prompt_data_shift = &d_local_code_shift_chips[2];
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}
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else
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{
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d_Very_Early = nullptr;
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d_Early = &d_correlator_outs[0];
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d_Prompt = &d_correlator_outs[1];
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d_Late = &d_correlator_outs[2];
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d_Very_Late = nullptr;
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// printf("aaaa early %f\n",-trk_parameters.early_late_space_chips);
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// printf("aaaa normal %f\n",0);
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// printf("aaaa late %f\n",trk_parameters.early_late_space_chips);
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d_local_code_shift_chips[0] = -trk_parameters.early_late_space_chips * static_cast<float>(d_code_samples_per_chip);
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d_local_code_shift_chips[1] = 0.0;
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d_local_code_shift_chips[2] = trk_parameters.early_late_space_chips * static_cast<float>(d_code_samples_per_chip);
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d_prompt_data_shift = &d_local_code_shift_chips[1];
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}
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if (trk_parameters.extend_correlation_symbols > 1)
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{
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d_enable_extended_integration = true;
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}
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else
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{
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d_enable_extended_integration = false;
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trk_parameters.extend_correlation_symbols = 1;
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}
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// Enable Data component prompt correlator (slave to Pilot prompt) if tracking uses Pilot signal
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if (trk_parameters.track_pilot)
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{
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// Extra correlator for the data component
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//d_Prompt_Data = static_cast<gr_complex *>(volk_gnsssdr_malloc(sizeof(gr_complex), volk_gnsssdr_get_alignment()));
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//d_Prompt_Data[0] = gr_complex(0.0, 0.0);
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}
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else
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{
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//d_Prompt_Data = nullptr;
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}
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//--- Initializations ---//
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// Initial code frequency basis of NCO
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d_code_freq_chips = d_code_chip_rate;
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// Residual code phase (in chips)
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d_rem_code_phase_samples = 0.0;
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// Residual carrier phase
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d_rem_carr_phase_rad = 0.0;
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// sample synchronization
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d_sample_counter = 0ULL;
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d_acq_sample_stamp = 0ULL;
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d_absolute_samples_offset = 0ULL;
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d_current_prn_length_samples = static_cast<int32_t>(trk_parameters.vector_length);
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d_next_prn_length_samples = d_current_prn_length_samples;
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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)
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// CN0 estimation and lock detector buffers
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d_cn0_estimation_counter = 0;
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d_Prompt_buffer = new gr_complex[trk_parameters.cn0_samples];
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d_carrier_lock_test = 1.0;
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d_CN0_SNV_dB_Hz = 0.0;
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d_carrier_lock_fail_counter = 0;
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d_carrier_lock_threshold = trk_parameters.carrier_lock_th;
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d_Prompt_Data = static_cast<gr_complex *>(volk_gnsssdr_malloc(sizeof(gr_complex), volk_gnsssdr_get_alignment()));
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//clear_tracking_vars();
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d_acquisition_gnss_synchro = nullptr;
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d_channel = 0;
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d_acq_code_phase_samples = 0.0;
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d_acq_carrier_doppler_hz = 0.0;
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d_carrier_doppler_hz = 0.0;
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d_acc_carrier_phase_rad = 0.0;
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d_extend_correlation_symbols_count = 0;
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d_code_phase_step_chips = 0.0;
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d_carrier_phase_step_rad = 0.0;
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d_rem_code_phase_chips = 0.0;
|
|
d_K_blk_samples = 0.0;
|
|
d_code_phase_samples = 0.0;
|
|
d_last_prompt = gr_complex(0.0, 0.0);
|
|
d_state = 0; // initial state: standby
|
|
clear_tracking_vars();
|
|
|
|
//printf("hhhhhhhhhhh d_n_correlator_taps = %d\n", d_n_correlator_taps);
|
|
|
|
// create multicorrelator class
|
|
std::string device_name = trk_parameters.device_name;
|
|
uint32_t device_base = trk_parameters.device_base;
|
|
int32_t *ca_codes = trk_parameters.ca_codes;
|
|
int32_t *data_codes = trk_parameters.data_codes;
|
|
//uint32_t code_length = trk_parameters.code_length_chips;
|
|
d_code_length_chips = trk_parameters.code_length_chips;
|
|
uint32_t multicorr_type = trk_parameters.multicorr_type;
|
|
multicorrelator_fpga = std::make_shared<fpga_multicorrelator_8sc>(d_n_correlator_taps, device_name, device_base, ca_codes, data_codes, d_code_length_chips, trk_parameters.track_pilot, multicorr_type, d_code_samples_per_chip);
|
|
multicorrelator_fpga->set_output_vectors(d_correlator_outs, d_Prompt_Data);
|
|
|
|
d_pull_in = 0;
|
|
}
|
|
|
|
|
|
void dll_pll_veml_tracking_fpga::start_tracking()
|
|
{
|
|
// correct the code phase according to the delay between acq and trk
|
|
d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
|
|
d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
|
|
d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
|
|
|
|
double acq_trk_diff_seconds = 0; // when using the FPGA we don't use the global sample counter
|
|
// Doppler effect Fd = (C / (C + Vr)) * F
|
|
double radial_velocity = (d_signal_carrier_freq + d_acq_carrier_doppler_hz) / d_signal_carrier_freq;
|
|
// new chip and PRN sequence periods based on acq Doppler
|
|
d_code_freq_chips = radial_velocity * d_code_chip_rate;
|
|
d_code_phase_step_chips = d_code_freq_chips / trk_parameters.fs_in;
|
|
|
|
double T_chip_mod_seconds = 1.0 / d_code_freq_chips;
|
|
double T_prn_mod_seconds = T_chip_mod_seconds * static_cast<double>(d_code_length_chips);
|
|
double T_prn_mod_samples = T_prn_mod_seconds * trk_parameters.fs_in;
|
|
|
|
//d_current_prn_length_samples = std::round(T_prn_mod_samples);
|
|
d_current_prn_length_samples = std::floor(T_prn_mod_samples);
|
|
d_next_prn_length_samples = d_current_prn_length_samples;
|
|
double T_prn_true_seconds = static_cast<double>(d_code_length_chips) / d_code_chip_rate;
|
|
double T_prn_true_samples = T_prn_true_seconds * trk_parameters.fs_in;
|
|
double T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds;
|
|
double N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
|
|
double corrected_acq_phase_samples = std::fmod(d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * trk_parameters.fs_in, T_prn_true_samples);
|
|
if (corrected_acq_phase_samples < 0.0)
|
|
{
|
|
corrected_acq_phase_samples += T_prn_mod_samples;
|
|
}
|
|
double delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
|
|
|
|
d_acq_code_phase_samples = corrected_acq_phase_samples;
|
|
|
|
d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
|
|
d_carrier_phase_step_rad = PI_2 * d_carrier_doppler_hz / trk_parameters.fs_in;
|
|
|
|
// DLL/PLL filter initialization
|
|
d_carrier_loop_filter.initialize(); // initialize the carrier filter
|
|
d_code_loop_filter.initialize(); // initialize the code filter
|
|
|
|
if (systemName.compare("GPS") == 0 and signal_type.compare("1C") == 0)
|
|
{
|
|
// nothing to compute : the local codes are pre-computed in the adapter class
|
|
}
|
|
else if (systemName.compare("GPS") == 0 and signal_type.compare("2S") == 0)
|
|
{
|
|
// nothing to compute : the local codes are pre-computed in the adapter class
|
|
}
|
|
else if (systemName.compare("GPS") == 0 and signal_type.compare("L5") == 0)
|
|
{
|
|
if (trk_parameters.track_pilot)
|
|
{
|
|
d_Prompt_Data[0] = gr_complex(0.0, 0.0);
|
|
}
|
|
else
|
|
{
|
|
// nothing to compute : the local codes are pre-computed in the adapter class
|
|
}
|
|
}
|
|
else if (systemName.compare("Galileo") == 0 and signal_type.compare("1B") == 0)
|
|
{
|
|
if (trk_parameters.track_pilot)
|
|
{
|
|
//char pilot_signal[3] = "1C";
|
|
d_Prompt_Data[0] = gr_complex(0.0, 0.0);
|
|
// MISSING _: set_local_code_and_taps for the data correlator
|
|
}
|
|
else
|
|
{
|
|
// nothing to compute : the local codes are pre-computed in the adapter class
|
|
}
|
|
}
|
|
else if (systemName.compare("Galileo") == 0 and signal_type.compare("5X") == 0)
|
|
{
|
|
if (trk_parameters.track_pilot)
|
|
{
|
|
d_secondary_code_string = const_cast<std::string *>(&Galileo_E5a_Q_SECONDARY_CODE[d_acquisition_gnss_synchro->PRN - 1]);
|
|
for (uint32_t i = 0; i < d_code_length_chips; i++)
|
|
{
|
|
// nothing to compute : the local codes are pre-computed in the adapter class
|
|
}
|
|
d_Prompt_Data[0] = gr_complex(0.0, 0.0);
|
|
}
|
|
else
|
|
{
|
|
for (uint32_t i = 0; i < d_code_length_chips; i++)
|
|
{
|
|
// nothing to compute : the local codes are pre-computed in the adapter class
|
|
}
|
|
}
|
|
}
|
|
|
|
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);
|
|
}
|
|
|
|
d_code_phase_samples = d_acq_code_phase_samples;
|
|
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;
|
|
LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
|
|
|
|
d_synchonizing = false;
|
|
d_cloop = true;
|
|
d_Prompt_buffer_deque.clear();
|
|
d_last_prompt = gr_complex(0.0, 0.0);
|
|
LOG(INFO) << "PULL-IN Doppler [Hz] = " << d_carrier_doppler_hz
|
|
<< ". Code Phase correction [samples] = " << delay_correction_samples
|
|
<< ". PULL-IN Code Phase [samples] = " << d_acq_code_phase_samples;
|
|
//multicorrelator_fpga->set_local_code_and_taps(d_code_length_chips, d_local_code_shift_chips, d_acquisition_gnss_synchro->PRN);
|
|
multicorrelator_fpga->set_local_code_and_taps(d_local_code_shift_chips, d_prompt_data_shift, d_acquisition_gnss_synchro->PRN);
|
|
d_pull_in = 1;
|
|
// enable tracking pull-in and d_state at the end to avoid general work from starting pull-in before the start tracking function is finished
|
|
d_state = 1;
|
|
}
|
|
|
|
|
|
dll_pll_veml_tracking_fpga::~dll_pll_veml_tracking_fpga()
|
|
{
|
|
if (signal_type.compare("1C") == 0)
|
|
{
|
|
volk_gnsssdr_free(d_gps_l1ca_preambles_symbols);
|
|
}
|
|
|
|
if (d_dump_file.is_open())
|
|
{
|
|
try
|
|
{
|
|
d_dump_file.close();
|
|
}
|
|
catch (const std::exception &ex)
|
|
{
|
|
LOG(WARNING) << "Exception in destructor " << ex.what();
|
|
}
|
|
}
|
|
if (trk_parameters.dump)
|
|
{
|
|
if (d_channel == 0)
|
|
{
|
|
std::cout << "Writing .mat files ...";
|
|
}
|
|
save_matfile();
|
|
if (d_channel == 0)
|
|
{
|
|
std::cout << " done." << std::endl;
|
|
}
|
|
}
|
|
try
|
|
{
|
|
volk_gnsssdr_free(d_local_code_shift_chips);
|
|
volk_gnsssdr_free(d_correlator_outs);
|
|
volk_gnsssdr_free(d_Prompt_Data);
|
|
// if (trk_parameters.track_pilot)
|
|
// {
|
|
// volk_gnsssdr_free(d_Prompt_Data);
|
|
// }
|
|
delete[] d_Prompt_buffer;
|
|
multicorrelator_fpga->free();
|
|
}
|
|
catch (const std::exception &ex)
|
|
{
|
|
LOG(WARNING) << "Exception in destructor " << ex.what();
|
|
}
|
|
}
|
|
|
|
|
|
bool dll_pll_veml_tracking_fpga::acquire_secondary()
|
|
{
|
|
// ******* preamble correlation ********
|
|
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_secondary_code_string->at(i) == '0')
|
|
{
|
|
corr_value++;
|
|
}
|
|
else
|
|
{
|
|
corr_value--;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (d_secondary_code_string->at(i) == '0')
|
|
{
|
|
corr_value--;
|
|
}
|
|
else
|
|
{
|
|
corr_value++;
|
|
}
|
|
}
|
|
}
|
|
|
|
// if (abs(corr_value) == d_secondary_code_length)
|
|
if (abs(corr_value) == static_cast<int32_t>(d_secondary_code_length))
|
|
{
|
|
return true;
|
|
}
|
|
else
|
|
{
|
|
return false;
|
|
}
|
|
}
|
|
|
|
|
|
bool dll_pll_veml_tracking_fpga::cn0_and_tracking_lock_status(double coh_integration_time_s)
|
|
{
|
|
//printf("kkkkkkkkkkkkk d_cn0_estimation_counter = %d\n", d_cn0_estimation_counter);
|
|
// ####### CN0 ESTIMATION AND LOCK DETECTORS ######
|
|
if (d_cn0_estimation_counter < trk_parameters.cn0_samples)
|
|
{
|
|
// fill buffer with prompt correlator output values
|
|
d_Prompt_buffer[d_cn0_estimation_counter] = d_P_accu;
|
|
d_cn0_estimation_counter++;
|
|
return true;
|
|
}
|
|
else
|
|
{
|
|
//printf("KKKKKKKKKKK checking count fail ...\n");
|
|
d_cn0_estimation_counter = 0;
|
|
// Code lock indicator
|
|
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, trk_parameters.cn0_samples, coh_integration_time_s);
|
|
// 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)
|
|
{
|
|
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)
|
|
{
|
|
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
|
|
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
|
|
this->message_port_pub(pmt::mp("events"), pmt::from_long(3)); // 3 -> loss of lock
|
|
d_carrier_lock_fail_counter = 0;
|
|
multicorrelator_fpga->unlock_channel();
|
|
return false;
|
|
}
|
|
else
|
|
{
|
|
return true;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
void dll_pll_veml_tracking_fpga::run_dll_pll()
|
|
{
|
|
// ################## PLL ##########################################################
|
|
// PLL discriminator
|
|
if (d_cloop)
|
|
{
|
|
// Costas loop discriminator, insensitive to 180 deg phase transitions
|
|
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_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;
|
|
// New code Doppler frequency estimation
|
|
d_code_freq_chips = (1.0 + (d_carrier_doppler_hz / d_signal_carrier_freq)) * d_code_chip_rate;
|
|
|
|
// ################## DLL ##########################################################
|
|
// DLL discriminator
|
|
if (d_veml)
|
|
{
|
|
d_code_error_chips = dll_nc_vemlp_normalized(d_VE_accu, d_E_accu, d_L_accu, d_VL_accu); // [chips/Ti]
|
|
}
|
|
else
|
|
{
|
|
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]
|
|
}
|
|
|
|
|
|
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 = gr_complex(0.0, 0.0);
|
|
if (trk_parameters.track_pilot) d_Prompt_Data[0] = gr_complex(0.0, 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_last_prompt = gr_complex(0.0, 0.0);
|
|
}
|
|
|
|
|
|
void dll_pll_veml_tracking_fpga::update_tracking_vars()
|
|
{
|
|
T_chip_seconds = 1.0 / d_code_freq_chips;
|
|
T_prn_seconds = T_chip_seconds * static_cast<double>(d_code_length_chips);
|
|
double code_error_filt_secs = T_prn_seconds * d_code_error_filt_chips * T_chip_seconds; //[seconds]
|
|
|
|
// ################## CARRIER AND CODE NCO BUFFER ALIGNMENT #######################
|
|
// keep alignment parameters for the next input buffer
|
|
// 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 + code_error_filt_secs * trk_parameters.fs_in;
|
|
//d_next_prn_length_samples = round(K_blk_samples);
|
|
d_next_prn_length_samples = static_cast<int32_t>(std::floor(K_blk_samples)); // round to a discrete number of samples
|
|
|
|
//################### PLL COMMANDS #################################################
|
|
// carrier phase step (NCO phase increment per sample) [rads/sample]
|
|
d_carrier_phase_step_rad = PI_2 * d_carrier_doppler_hz / trk_parameters.fs_in;
|
|
// remnant carrier phase to prevent overflow in the code NCO
|
|
d_rem_carr_phase_rad += d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples);
|
|
d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, PI_2);
|
|
// carrier phase accumulator
|
|
d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples);
|
|
|
|
//################### DLL COMMANDS #################################################
|
|
// code phase step (Code resampler phase increment per sample) [chips/sample]
|
|
d_code_phase_step_chips = d_code_freq_chips / trk_parameters.fs_in;
|
|
// remnant code phase [chips]
|
|
d_rem_code_phase_samples = K_blk_samples - static_cast<double>(d_current_prn_length_samples); // rounding error < 1 sample
|
|
d_rem_code_phase_chips = d_code_freq_chips * d_rem_code_phase_samples / trk_parameters.fs_in;
|
|
//printf("lll d_code_freq_chips = %f\n", d_code_freq_chips);
|
|
//printf("lll d_rem_code_phase_samples = %f\n", d_rem_code_phase_samples);
|
|
//printf("lll trk_parameters.fs_in = %f\n", trk_parameters.fs_in);
|
|
//printf("lll d_rem_code_phase_chips = %f\n", d_rem_code_phase_chips);
|
|
}
|
|
|
|
|
|
void dll_pll_veml_tracking_fpga::save_correlation_results()
|
|
{
|
|
if (d_secondary)
|
|
{
|
|
if (d_secondary_code_string->at(d_current_symbol) == '0')
|
|
{
|
|
if (d_veml)
|
|
{
|
|
d_VE_accu += *d_Very_Early;
|
|
d_VL_accu += *d_Very_Late;
|
|
}
|
|
d_E_accu += *d_Early;
|
|
d_P_accu += *d_Prompt;
|
|
d_L_accu += *d_Late;
|
|
}
|
|
else
|
|
{
|
|
if (d_veml)
|
|
{
|
|
d_VE_accu -= *d_Very_Early;
|
|
d_VL_accu -= *d_Very_Late;
|
|
}
|
|
d_E_accu -= *d_Early;
|
|
d_P_accu -= *d_Prompt;
|
|
d_L_accu -= *d_Late;
|
|
}
|
|
d_current_symbol++;
|
|
// secondary code roll-up
|
|
d_current_symbol %= d_secondary_code_length;
|
|
}
|
|
else
|
|
{
|
|
if (d_veml)
|
|
{
|
|
d_VE_accu += *d_Very_Early;
|
|
d_VL_accu += *d_Very_Late;
|
|
}
|
|
d_E_accu += *d_Early;
|
|
d_P_accu += *d_Prompt;
|
|
d_L_accu += *d_Late;
|
|
d_current_symbol++;
|
|
d_current_symbol %= d_symbols_per_bit;
|
|
}
|
|
// If tracking pilot, disable Costas loop
|
|
if (trk_parameters.track_pilot)
|
|
d_cloop = false;
|
|
else
|
|
d_cloop = true;
|
|
}
|
|
|
|
|
|
void dll_pll_veml_tracking_fpga::log_data(bool integrating)
|
|
{
|
|
if (trk_parameters.dump)
|
|
{
|
|
// Dump results to file
|
|
float prompt_I;
|
|
float prompt_Q;
|
|
float tmp_VE, tmp_E, tmp_P, tmp_L, tmp_VL;
|
|
float tmp_float;
|
|
double tmp_double;
|
|
uint64_t tmp_long_int;
|
|
if (trk_parameters.track_pilot)
|
|
{
|
|
if (interchange_iq)
|
|
{
|
|
prompt_I = d_Prompt_Data->imag();
|
|
prompt_Q = d_Prompt_Data->real();
|
|
}
|
|
else
|
|
{
|
|
prompt_I = d_Prompt_Data->real();
|
|
prompt_Q = d_Prompt_Data->imag();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (interchange_iq)
|
|
{
|
|
prompt_I = d_Prompt->imag();
|
|
prompt_Q = d_Prompt->real();
|
|
}
|
|
else
|
|
{
|
|
prompt_I = d_Prompt->real();
|
|
prompt_Q = d_Prompt->imag();
|
|
}
|
|
}
|
|
if (d_veml)
|
|
{
|
|
tmp_VE = std::abs<float>(d_VE_accu);
|
|
tmp_VL = std::abs<float>(d_VL_accu);
|
|
}
|
|
else
|
|
{
|
|
tmp_VE = 0.0;
|
|
tmp_VL = 0.0;
|
|
}
|
|
tmp_E = std::abs<float>(d_E_accu);
|
|
tmp_P = std::abs<float>(d_P_accu);
|
|
tmp_L = std::abs<float>(d_L_accu);
|
|
if (integrating)
|
|
{
|
|
//TODO: Improve this solution!
|
|
// It compensates the amplitude difference while integrating
|
|
if (d_extend_correlation_symbols_count > 0)
|
|
{
|
|
float scale_factor = static_cast<float>(trk_parameters.extend_correlation_symbols) / static_cast<float>(d_extend_correlation_symbols_count);
|
|
tmp_VE *= scale_factor;
|
|
tmp_E *= scale_factor;
|
|
tmp_P *= scale_factor;
|
|
tmp_L *= scale_factor;
|
|
tmp_VL *= scale_factor;
|
|
}
|
|
}
|
|
|
|
try
|
|
{
|
|
// Dump correlators output
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_VE), sizeof(float));
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_E), sizeof(float));
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_P), sizeof(float));
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_L), sizeof(float));
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_VL), sizeof(float));
|
|
// PROMPT I and Q (to analyze navigation symbols)
|
|
d_dump_file.write(reinterpret_cast<char *>(&prompt_I), sizeof(float));
|
|
d_dump_file.write(reinterpret_cast<char *>(&prompt_Q), sizeof(float));
|
|
// PRN start sample stamp
|
|
tmp_long_int = d_sample_counter + static_cast<uint64_t>(d_current_prn_length_samples);
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_long_int), sizeof(uint64_t));
|
|
// accumulated carrier phase
|
|
tmp_float = d_acc_carrier_phase_rad;
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
// carrier and code frequency
|
|
tmp_float = d_carrier_doppler_hz;
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
tmp_float = d_code_freq_chips;
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
// PLL commands
|
|
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));
|
|
// DLL commands
|
|
tmp_float = d_code_error_chips;
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
tmp_float = d_code_error_filt_chips;
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
// CN0 and carrier lock test
|
|
tmp_float = d_CN0_SNV_dB_Hz;
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
tmp_float = d_carrier_lock_test;
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
// AUX vars (for debug purposes)
|
|
tmp_float = d_rem_code_phase_samples;
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
|
tmp_double = static_cast<double>(d_sample_counter + d_current_prn_length_samples);
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
|
// PRN
|
|
uint32_t prn_ = d_acquisition_gnss_synchro->PRN;
|
|
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(uint32_t));
|
|
}
|
|
catch (const std::ifstream::failure &e)
|
|
{
|
|
LOG(WARNING) << "Exception writing trk dump file " << e.what();
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
int32_t dll_pll_veml_tracking_fpga::save_matfile()
|
|
{
|
|
// READ DUMP FILE
|
|
std::ifstream::pos_type size;
|
|
int32_t number_of_double_vars = 1;
|
|
int32_t number_of_float_vars = 17;
|
|
int32_t epoch_size_bytes = sizeof(uint64_t) + sizeof(double) * number_of_double_vars +
|
|
sizeof(float) * number_of_float_vars + sizeof(uint32_t);
|
|
std::ifstream dump_file;
|
|
dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
|
|
try
|
|
{
|
|
dump_file.open(trk_parameters.dump_filename.c_str(), std::ios::binary | std::ios::ate);
|
|
}
|
|
catch (const std::ifstream::failure &e)
|
|
{
|
|
std::cerr << "Problem opening dump file:" << e.what() << std::endl;
|
|
return 1;
|
|
}
|
|
// count number of epochs and rewind
|
|
int64_t num_epoch = 0;
|
|
if (dump_file.is_open())
|
|
{
|
|
size = dump_file.tellg();
|
|
num_epoch = static_cast<int64_t>(size) / static_cast<int64_t>(epoch_size_bytes);
|
|
dump_file.seekg(0, std::ios::beg);
|
|
}
|
|
else
|
|
{
|
|
return 1;
|
|
}
|
|
float *abs_VE = new float[num_epoch];
|
|
float *abs_E = new float[num_epoch];
|
|
float *abs_P = new float[num_epoch];
|
|
float *abs_L = new float[num_epoch];
|
|
float *abs_VL = new float[num_epoch];
|
|
float *Prompt_I = new float[num_epoch];
|
|
float *Prompt_Q = new float[num_epoch];
|
|
uint64_t *PRN_start_sample_count = new uint64_t[num_epoch];
|
|
float *acc_carrier_phase_rad = new float[num_epoch];
|
|
float *carrier_doppler_hz = new float[num_epoch];
|
|
float *code_freq_chips = new float[num_epoch];
|
|
float *carr_error_hz = new float[num_epoch];
|
|
float *carr_error_filt_hz = new float[num_epoch];
|
|
float *code_error_chips = new float[num_epoch];
|
|
float *code_error_filt_chips = new float[num_epoch];
|
|
float *CN0_SNV_dB_Hz = new float[num_epoch];
|
|
float *carrier_lock_test = new float[num_epoch];
|
|
float *aux1 = new float[num_epoch];
|
|
double *aux2 = new double[num_epoch];
|
|
uint32_t *PRN = new uint32_t[num_epoch];
|
|
|
|
try
|
|
{
|
|
if (dump_file.is_open())
|
|
{
|
|
for (int64_t i = 0; i < num_epoch; i++)
|
|
{
|
|
dump_file.read(reinterpret_cast<char *>(&abs_VE[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&abs_E[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&abs_P[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&abs_L[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&abs_VL[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&Prompt_I[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&Prompt_Q[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&PRN_start_sample_count[i]), sizeof(uint64_t));
|
|
dump_file.read(reinterpret_cast<char *>(&acc_carrier_phase_rad[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&carrier_doppler_hz[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&code_freq_chips[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&carr_error_hz[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&carr_error_filt_hz[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&code_error_chips[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&code_error_filt_chips[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&CN0_SNV_dB_Hz[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&carrier_lock_test[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&aux1[i]), sizeof(float));
|
|
dump_file.read(reinterpret_cast<char *>(&aux2[i]), sizeof(double));
|
|
dump_file.read(reinterpret_cast<char *>(&PRN[i]), sizeof(uint32_t));
|
|
}
|
|
}
|
|
dump_file.close();
|
|
}
|
|
catch (const std::ifstream::failure &e)
|
|
{
|
|
std::cerr << "Problem reading dump file:" << e.what() << std::endl;
|
|
delete[] abs_VE;
|
|
delete[] abs_E;
|
|
delete[] abs_P;
|
|
delete[] abs_L;
|
|
delete[] abs_VL;
|
|
delete[] Prompt_I;
|
|
delete[] Prompt_Q;
|
|
delete[] PRN_start_sample_count;
|
|
delete[] acc_carrier_phase_rad;
|
|
delete[] carrier_doppler_hz;
|
|
delete[] code_freq_chips;
|
|
delete[] carr_error_hz;
|
|
delete[] carr_error_filt_hz;
|
|
delete[] code_error_chips;
|
|
delete[] code_error_filt_chips;
|
|
delete[] CN0_SNV_dB_Hz;
|
|
delete[] carrier_lock_test;
|
|
delete[] aux1;
|
|
delete[] aux2;
|
|
delete[] PRN;
|
|
return 1;
|
|
}
|
|
|
|
// WRITE MAT FILE
|
|
mat_t *matfp;
|
|
matvar_t *matvar;
|
|
std::string filename = trk_parameters.dump_filename;
|
|
filename.erase(filename.length() - 4, 4);
|
|
filename.append(".mat");
|
|
matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73);
|
|
if (reinterpret_cast<int64_t *>(matfp) != NULL)
|
|
{
|
|
size_t dims[2] = {1, static_cast<size_t>(num_epoch)};
|
|
matvar = Mat_VarCreate("abs_VE", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_VE, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_P, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_L, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("abs_VL", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_VL, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_I, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_Q, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims, PRN_start_sample_count, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, acc_carrier_phase_rad, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carrier_doppler_hz, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("code_freq_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_freq_chips, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("carr_error_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carr_error_hz, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carr_error_filt_hz, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("code_error_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_error_chips, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_error_filt_chips, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, CN0_SNV_dB_Hz, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carrier_lock_test, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("aux1", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, aux1, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux2, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
|
|
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims, PRN, 0);
|
|
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
|
Mat_VarFree(matvar);
|
|
}
|
|
Mat_Close(matfp);
|
|
delete[] abs_VE;
|
|
delete[] abs_E;
|
|
delete[] abs_P;
|
|
delete[] abs_L;
|
|
delete[] abs_VL;
|
|
delete[] Prompt_I;
|
|
delete[] Prompt_Q;
|
|
delete[] PRN_start_sample_count;
|
|
delete[] acc_carrier_phase_rad;
|
|
delete[] carrier_doppler_hz;
|
|
delete[] code_freq_chips;
|
|
delete[] carr_error_hz;
|
|
delete[] carr_error_filt_hz;
|
|
delete[] code_error_chips;
|
|
delete[] code_error_filt_chips;
|
|
delete[] CN0_SNV_dB_Hz;
|
|
delete[] carrier_lock_test;
|
|
delete[] aux1;
|
|
delete[] aux2;
|
|
delete[] PRN;
|
|
return 0;
|
|
}
|
|
|
|
|
|
void dll_pll_veml_tracking_fpga::set_channel(uint32_t channel)
|
|
{
|
|
d_channel = channel;
|
|
multicorrelator_fpga->set_channel(d_channel);
|
|
LOG(INFO) << "Tracking Channel set to " << d_channel;
|
|
// ############# ENABLE DATA FILE LOG #################
|
|
if (trk_parameters.dump)
|
|
{
|
|
if (!d_dump_file.is_open())
|
|
{
|
|
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(trk_parameters.dump_filename.c_str(), std::ios::out | std::ios::binary);
|
|
LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << trk_parameters.dump_filename.c_str();
|
|
}
|
|
catch (const std::ifstream::failure &e)
|
|
{
|
|
LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
void dll_pll_veml_tracking_fpga::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro)
|
|
{
|
|
d_acquisition_gnss_synchro = p_gnss_synchro;
|
|
}
|
|
|
|
void dll_pll_veml_tracking_fpga::stop_tracking()
|
|
{
|
|
gr::thread::scoped_lock l(d_setlock);
|
|
d_state = 0;
|
|
}
|
|
|
|
int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
|
|
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
|
|
{
|
|
gr::thread::scoped_lock l(d_setlock);
|
|
// Block input data and block output stream pointers
|
|
Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
|
|
|
|
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
|
|
Gnss_Synchro current_synchro_data = Gnss_Synchro();
|
|
|
|
d_current_prn_length_samples = d_next_prn_length_samples;
|
|
current_synchro_data = *d_acquisition_gnss_synchro;
|
|
|
|
switch (d_state)
|
|
{
|
|
case 0: // Standby - Consume samples at full throttle, do nothing
|
|
{
|
|
for (int32_t n = 0; n < d_n_correlator_taps; n++)
|
|
{
|
|
d_correlator_outs[n] = gr_complex(0, 0);
|
|
}
|
|
|
|
current_synchro_data.Tracking_sample_counter = 0ULL; // in order to reduce computational workload do not read the sample counter until we start tracking d_sample_counter + d_current_prn_length_samples;
|
|
current_synchro_data.System = {'G'};
|
|
current_synchro_data.correlation_length_ms = 1;
|
|
break;
|
|
}
|
|
case 1: // Standby - Consume samples at full throttle, do nothing
|
|
{
|
|
d_pull_in = 0;
|
|
multicorrelator_fpga->lock_channel();
|
|
uint64_t counter_value = multicorrelator_fpga->read_sample_counter();
|
|
//printf("333333 counter_value = %llu\n", counter_value);
|
|
//printf("333333 current_synchro_data.Acq_samplestamp_samples = %d\n", current_synchro_data.Acq_samplestamp_samples);
|
|
//printf("333333 current_synchro_data.Acq_delay_samples = %f\n", current_synchro_data.Acq_delay_samples);
|
|
//printf("333333 d_correlation_length_samples = %d\n", d_correlation_length_samples);
|
|
uint32_t num_frames = ceil((counter_value - current_synchro_data.Acq_samplestamp_samples - current_synchro_data.Acq_delay_samples) / d_correlation_length_samples);
|
|
//printf("333333 num_frames = %d\n", num_frames);
|
|
uint64_t absolute_samples_offset = static_cast<uint64_t>(current_synchro_data.Acq_delay_samples + current_synchro_data.Acq_samplestamp_samples + num_frames * d_correlation_length_samples);
|
|
//printf("333333 absolute_samples_offset = %llu\n", absolute_samples_offset);
|
|
multicorrelator_fpga->set_initial_sample(absolute_samples_offset);
|
|
d_absolute_samples_offset = absolute_samples_offset;
|
|
d_sample_counter = absolute_samples_offset;
|
|
current_synchro_data.Tracking_sample_counter = absolute_samples_offset;
|
|
d_sample_counter_next = d_sample_counter;
|
|
d_state = 2;
|
|
return 0;
|
|
break;
|
|
}
|
|
|
|
case 2:
|
|
{
|
|
d_sample_counter = d_sample_counter_next;
|
|
d_sample_counter_next = d_sample_counter + static_cast<uint64_t>(d_current_prn_length_samples);
|
|
|
|
// ################# 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, d_carrier_phase_step_rad,
|
|
d_rem_code_phase_chips * static_cast<float>(d_code_samples_per_chip), d_code_phase_step_chips * static_cast<float>(d_code_samples_per_chip),
|
|
d_current_prn_length_samples);
|
|
|
|
// Save single correlation step variables
|
|
if (d_veml)
|
|
{
|
|
d_VE_accu = *d_Very_Early;
|
|
d_VL_accu = *d_Very_Late;
|
|
}
|
|
d_E_accu = *d_Early;
|
|
d_P_accu = *d_Prompt;
|
|
d_L_accu = *d_Late;
|
|
|
|
if (!cn0_and_tracking_lock_status(d_code_period))
|
|
{
|
|
clear_tracking_vars();
|
|
d_state = 0; // loss-of-lock detected
|
|
}
|
|
else
|
|
{
|
|
bool next_state = false;
|
|
// Perform DLL/PLL tracking loop computations. Costas Loop enabled
|
|
run_dll_pll();
|
|
update_tracking_vars();
|
|
|
|
// enable write dump file this cycle (valid DLL/PLL cycle)
|
|
log_data(false);
|
|
if (d_secondary)
|
|
{
|
|
// ####### SECONDARY CODE LOCK #####
|
|
d_Prompt_buffer_deque.push_back(*d_Prompt);
|
|
if (d_Prompt_buffer_deque.size() == d_secondary_code_length)
|
|
{
|
|
next_state = acquire_secondary();
|
|
if (next_state)
|
|
{
|
|
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();
|
|
}
|
|
}
|
|
else if (d_symbols_per_bit > 1) //Signal does not have secondary code. Search a bit transition by sign change
|
|
{
|
|
// if (d_synchonizing)
|
|
// {
|
|
// if (d_Prompt->real() * d_last_prompt.real() > 0.0)
|
|
// {
|
|
// d_current_symbol++;
|
|
// }
|
|
// else if (d_current_symbol > d_symbols_per_bit)
|
|
// {
|
|
// d_synchonizing = false;
|
|
// d_current_symbol = 1;
|
|
// }
|
|
// else
|
|
// {
|
|
// d_current_symbol = 1;
|
|
// d_last_prompt = *d_Prompt;
|
|
// }
|
|
// }
|
|
// else if (d_last_prompt.real() != 0.0)
|
|
// {
|
|
// d_current_symbol++;
|
|
// if (d_current_symbol == d_symbols_per_bit) next_state = true;
|
|
// }
|
|
// else
|
|
// {
|
|
// d_last_prompt = *d_Prompt;
|
|
// d_synchonizing = true;
|
|
// d_current_symbol = 1;
|
|
// }
|
|
// }
|
|
//===========================================================================================================
|
|
//float current_tracking_time_s = static_cast<float>(d_sample_counter - d_acq_sample_stamp) / trk_parameters.fs_in;
|
|
float current_tracking_time_s = static_cast<float>(d_sample_counter - d_absolute_samples_offset) / trk_parameters.fs_in;
|
|
if (current_tracking_time_s > 10)
|
|
{
|
|
d_symbol_history.push_back(d_Prompt->real());
|
|
//******* preamble correlation ********
|
|
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++)
|
|
{
|
|
if (d_symbol_history.at(i) < 0) // symbols clipping
|
|
{
|
|
corr_value -= d_gps_l1ca_preambles_symbols[i];
|
|
}
|
|
else
|
|
{
|
|
corr_value += d_gps_l1ca_preambles_symbols[i];
|
|
}
|
|
}
|
|
}
|
|
if (corr_value == GPS_CA_PREAMBLE_LENGTH_SYMBOLS)
|
|
{
|
|
//std::cout << "Preamble detected at tracking!" << std::endl;
|
|
next_state = true;
|
|
}
|
|
else
|
|
{
|
|
next_state = false;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
next_state = false;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
next_state = true;
|
|
}
|
|
|
|
// ########### Output the tracking results to Telemetry block ##########
|
|
if (interchange_iq)
|
|
{
|
|
if (trk_parameters.track_pilot)
|
|
{
|
|
// Note that data and pilot components are in quadrature. I and Q are interchanged
|
|
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt_Data).imag());
|
|
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt_Data).real());
|
|
}
|
|
else
|
|
{
|
|
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).imag());
|
|
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).real());
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (trk_parameters.track_pilot)
|
|
{
|
|
// Note that data and pilot components are in quadrature. I and Q are interchanged
|
|
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt_Data).real());
|
|
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt_Data).imag());
|
|
}
|
|
else
|
|
{
|
|
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).real());
|
|
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;
|
|
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
|
|
current_synchro_data.Flag_valid_symbol_output = true;
|
|
current_synchro_data.correlation_length_ms = d_correlation_length_ms;
|
|
|
|
if (next_state)
|
|
{ // reset extended correlator
|
|
d_VE_accu = gr_complex(0.0, 0.0);
|
|
d_E_accu = gr_complex(0.0, 0.0);
|
|
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_current_symbol = 0;
|
|
d_synchonizing = false;
|
|
|
|
if (d_enable_extended_integration)
|
|
{
|
|
// UPDATE INTEGRATION TIME
|
|
d_extend_correlation_symbols_count = 0;
|
|
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_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
|
|
<< " for satellite " << Gnss_Satellite(systemName, d_acquisition_gnss_synchro->PRN);
|
|
std::cout << "Enabled " << trk_parameters.extend_correlation_symbols * static_cast<int32_t>(d_code_period * 1000.0) << " ms extended correlator in channel "
|
|
<< 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);
|
|
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);
|
|
d_local_code_shift_chips[1] = -trk_parameters.early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
|
|
d_local_code_shift_chips[3] = trk_parameters.early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
|
|
d_local_code_shift_chips[4] = trk_parameters.very_early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
|
|
}
|
|
else
|
|
{
|
|
d_local_code_shift_chips[0] = -trk_parameters.early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
|
|
d_local_code_shift_chips[2] = trk_parameters.early_late_space_narrow_chips * static_cast<float>(d_code_samples_per_chip);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
d_state = 4;
|
|
}
|
|
}
|
|
}
|
|
|
|
break;
|
|
}
|
|
|
|
case 3:
|
|
{
|
|
d_sample_counter = d_sample_counter_next;
|
|
d_sample_counter_next = d_sample_counter + static_cast<uint64_t>(d_current_prn_length_samples);
|
|
|
|
// Fill the acquisition data
|
|
current_synchro_data = *d_acquisition_gnss_synchro;
|
|
// perform a correlation step
|
|
multicorrelator_fpga->Carrier_wipeoff_multicorrelator_resampler(
|
|
d_rem_carr_phase_rad, d_carrier_phase_step_rad,
|
|
d_rem_code_phase_chips * static_cast<float>(d_code_samples_per_chip), d_code_phase_step_chips * static_cast<float>(d_code_samples_per_chip),
|
|
d_current_prn_length_samples);
|
|
update_tracking_vars();
|
|
save_correlation_results();
|
|
|
|
// ########### Output the tracking results to Telemetry block ##########
|
|
if (interchange_iq)
|
|
{
|
|
if (trk_parameters.track_pilot)
|
|
{
|
|
// Note that data and pilot components are in quadrature. I and Q are interchanged
|
|
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt_Data).imag());
|
|
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt_Data).real());
|
|
}
|
|
else
|
|
{
|
|
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).imag());
|
|
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).real());
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (trk_parameters.track_pilot)
|
|
{
|
|
// Note that data and pilot components are in quadrature. I and Q are interchanged
|
|
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt_Data).real());
|
|
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt_Data).imag());
|
|
}
|
|
else
|
|
{
|
|
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).real());
|
|
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;
|
|
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
|
|
current_synchro_data.Flag_valid_symbol_output = true;
|
|
current_synchro_data.correlation_length_ms = d_correlation_length_ms;
|
|
d_extend_correlation_symbols_count++;
|
|
if (d_extend_correlation_symbols_count == (trk_parameters.extend_correlation_symbols - 1))
|
|
{
|
|
d_extend_correlation_symbols_count = 0;
|
|
d_state = 4;
|
|
}
|
|
log_data(true);
|
|
break;
|
|
}
|
|
|
|
case 4: // narrow tracking
|
|
{
|
|
d_sample_counter = d_sample_counter_next;
|
|
d_sample_counter_next = d_sample_counter + static_cast<uint64_t>(d_current_prn_length_samples);
|
|
|
|
// perform a correlation step
|
|
//do_correlation_step(in);
|
|
multicorrelator_fpga->Carrier_wipeoff_multicorrelator_resampler(
|
|
d_rem_carr_phase_rad, d_carrier_phase_step_rad,
|
|
d_rem_code_phase_chips * static_cast<float>(d_code_samples_per_chip), d_code_phase_step_chips * static_cast<float>(d_code_samples_per_chip),
|
|
d_current_prn_length_samples);
|
|
|
|
save_correlation_results();
|
|
|
|
// check lock status
|
|
if (!cn0_and_tracking_lock_status(d_code_period * static_cast<double>(trk_parameters.extend_correlation_symbols)))
|
|
{
|
|
clear_tracking_vars();
|
|
d_state = 0; // loss-of-lock detected
|
|
}
|
|
else
|
|
{
|
|
run_dll_pll();
|
|
update_tracking_vars();
|
|
|
|
// ########### Output the tracking results to Telemetry block ##########
|
|
if (interchange_iq)
|
|
{
|
|
if (trk_parameters.track_pilot)
|
|
{
|
|
// Note that data and pilot components are in quadrature. I and Q are interchanged
|
|
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt_Data).imag());
|
|
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt_Data).real());
|
|
}
|
|
else
|
|
{
|
|
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).imag());
|
|
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).real());
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (trk_parameters.track_pilot)
|
|
{
|
|
// Note that data and pilot components are in quadrature. I and Q are interchanged
|
|
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt_Data).real());
|
|
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt_Data).imag());
|
|
}
|
|
else
|
|
{
|
|
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).real());
|
|
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;
|
|
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
|
|
current_synchro_data.Flag_valid_symbol_output = true;
|
|
current_synchro_data.correlation_length_ms = d_correlation_length_ms;
|
|
// enable write dump file this cycle (valid DLL/PLL cycle)
|
|
log_data(false);
|
|
// reset extended correlator
|
|
d_VE_accu = gr_complex(0.0, 0.0);
|
|
d_E_accu = gr_complex(0.0, 0.0);
|
|
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);
|
|
if (d_enable_extended_integration)
|
|
{
|
|
d_state = 3; // new coherent integration (correlation time extension) cycle
|
|
}
|
|
}
|
|
}
|
|
}
|
|
if (current_synchro_data.Flag_valid_symbol_output)
|
|
{
|
|
current_synchro_data.fs = static_cast<int64_t>(trk_parameters.fs_in);
|
|
current_synchro_data.Tracking_sample_counter = d_sample_counter + static_cast<uint64_t>(d_current_prn_length_samples);
|
|
*out[0] = current_synchro_data;
|
|
return 1;
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
|
|
void dll_pll_veml_tracking_fpga::reset(void)
|
|
{
|
|
multicorrelator_fpga->unlock_channel();
|
|
}
|