mirrors
/
gnss-sdr
mirror of https://github.com/gnss-sdr/gnss-sdr
1
0
Fork 0
Code Issues Releases Wiki Activity
gnss-sdr/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_c...

784 lines
38 KiB
C++
Raw Blame History

/*!
* \file galileo_telemetry_decoder_cc.cc
* \brief Implementation of a Galileo unified INAV and FNAV message demodulator block
* \author Javier Arribas 2018. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (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 <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "galileo_telemetry_decoder_cc.h"
#include "convolutional.h"
#include "display.h"
#include "gnss_synchro.h"
#include <boost/lexical_cast.hpp>
#include <glog/logging.h>
#include <gnuradio/io_signature.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <iostream>
#define CRC_ERROR_LIMIT 6
using google::LogMessage;
galileo_telemetry_decoder_cc_sptr
galileo_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, int frame_type, bool dump)
{
return galileo_telemetry_decoder_cc_sptr(new galileo_telemetry_decoder_cc(satellite, frame_type, dump));
}
void galileo_telemetry_decoder_cc::viterbi_decoder(double *page_part_symbols, int32_t *page_part_bits)
{
Viterbi(page_part_bits, out0, state0, out1, state1,
page_part_symbols, KK, nn, DataLength);
}
void galileo_telemetry_decoder_cc::deinterleaver(int32_t rows, int32_t cols, const double *in, double *out)
{
for (int32_t r = 0; r < rows; r++)
{
for (int32_t c = 0; c < cols; c++)
{
out[c * rows + r] = in[r * cols + c];
}
}
}
galileo_telemetry_decoder_cc::galileo_telemetry_decoder_cc(
const Gnss_Satellite &satellite, int frame_type,
bool dump) : gr::block("galileo_telemetry_decoder_cc", gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
// Ephemeris data port out
this->message_port_register_out(pmt::mp("telemetry"));
// initialize internal vars
d_dump = dump;
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
d_frame_type = frame_type;
LOG(INFO) << "Initializing GALILEO UNIFIED TELEMETRY DECODER";
switch (d_frame_type)
{
case 1: // INAV
{
d_PRN_code_period_ms = static_cast<uint32_t>(GALILEO_E5A_CODE_PERIOD_MS);
d_samples_per_symbol = GALILEO_E1_B_SAMPLES_PER_SYMBOL;
d_bits_per_preamble = GALILEO_INAV_PREAMBLE_LENGTH_BITS;
// set the preamble
d_samples_per_preamble = GALILEO_INAV_PREAMBLE_LENGTH_BITS * d_samples_per_symbol;
d_preamble_period_symbols = GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS;
d_required_symbols = static_cast<uint32_t>(GALILEO_INAV_PAGE_SYMBOLS) + d_samples_per_preamble;
// preamble bits to sampled symbols
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_secondary_code_samples = nullptr;
d_frame_length_symbols = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS;
CodeLength = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS;
DataLength = (CodeLength / nn) - mm;
break;
}
case 2: // FNAV
{
d_PRN_code_period_ms = static_cast<uint32_t>(GALILEO_E5A_CODE_PERIOD_MS);
d_samples_per_symbol = GALILEO_FNAV_CODES_PER_SYMBOL;
d_bits_per_preamble = GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
// set the preamble
d_samples_per_preamble = GALILEO_FNAV_PREAMBLE_LENGTH_BITS * d_samples_per_symbol;
d_preamble_period_symbols = GALILEO_FNAV_CODES_PER_PAGE;
d_required_symbols = static_cast<uint32_t>(GALILEO_FNAV_SYMBOLS_PER_PAGE) * d_samples_per_symbol + d_samples_per_preamble;
// preamble bits to sampled symbols
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_secondary_code_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(GALILEO_E5A_I_SECONDARY_CODE_LENGTH * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_frame_length_symbols = GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
CodeLength = GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
DataLength = (CodeLength / nn) - mm;
for (int32_t i = 0; i < GALILEO_E5A_I_SECONDARY_CODE_LENGTH; i++)
{
if (GALILEO_E5A_I_SECONDARY_CODE.at(i) == '1')
{
d_secondary_code_samples[i] = 1;
}
else
{
d_secondary_code_samples[i] = -1;
}
}
break;
}
default:
d_bits_per_preamble = 0;
d_samples_per_preamble = 0;
d_preamble_period_symbols = 0;
d_preamble_samples = nullptr;
d_secondary_code_samples = nullptr;
d_samples_per_symbol = 0U;
d_PRN_code_period_ms = 0U;
d_required_symbols = 0U;
d_frame_length_symbols = 0U;
CodeLength = 0;
DataLength = 0;
std::cout << "Galileo unified telemetry decoder error: Unknown frame type " << std::endl;
}
d_page_part_symbols = static_cast<double *>(volk_gnsssdr_malloc(d_frame_length_symbols * sizeof(double), volk_gnsssdr_get_alignment()));
int32_t n = 0;
for (int32_t i = 0; i < d_bits_per_preamble; i++)
{
switch (d_frame_type)
{
case 1: // INAV
{
if (GALILEO_INAV_PREAMBLE.at(i) == '1')
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = 1;
n++;
}
}
else
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = -1;
n++;
}
}
break;
}
case 2: // FNAV for E5a-I
{
// Galileo E5a data channel (E5a-I) still has a secondary code
int m = 0;
if (GALILEO_FNAV_PREAMBLE.at(i) == '1')
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = d_secondary_code_samples[m];
n++;
m++;
m = m % GALILEO_E5A_I_SECONDARY_CODE_LENGTH;
}
}
else
{
for (uint32_t j = 0; j < d_samples_per_symbol; j++)
{
d_preamble_samples[n] = -d_secondary_code_samples[m];
n++;
m++;
m = m % GALILEO_E5A_I_SECONDARY_CODE_LENGTH;
}
}
break;
}
}
}
d_sample_counter = 0ULL;
d_stat = 0;
d_preamble_index = 0ULL;
d_flag_frame_sync = false;
d_flag_parity = false;
d_TOW_at_current_symbol_ms = 0;
d_TOW_at_Preamble_ms = 0;
delta_t = 0;
d_CRC_error_counter = 0;
flag_even_word_arrived = 0;
d_flag_preamble = false;
d_channel = 0;
flag_TOW_set = false;
// vars for Viterbi decoder
int32_t max_states = 1 << mm; // 2^mm
g_encoder[0] = 121; // Polynomial G1
g_encoder[1] = 91; // Polynomial G2
out0 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment()));
out1 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment()));
state0 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment()));
state1 = static_cast<int32_t *>(volk_gnsssdr_malloc(max_states * sizeof(int32_t), volk_gnsssdr_get_alignment()));
// create appropriate transition matrices
nsc_transit(out0, state0, 0, g_encoder, KK, nn);
nsc_transit(out1, state1, 1, g_encoder, KK, nn);
}
galileo_telemetry_decoder_cc::~galileo_telemetry_decoder_cc()
{
volk_gnsssdr_free(d_preamble_samples);
if (d_frame_type == 2)
{
volk_gnsssdr_free(d_secondary_code_samples);
}
volk_gnsssdr_free(d_page_part_symbols);
volk_gnsssdr_free(out0);
volk_gnsssdr_free(out1);
volk_gnsssdr_free(state0);
volk_gnsssdr_free(state1);
if (d_dump_file.is_open() == true)
{
try
{
d_dump_file.close();
}
catch (const std::exception &ex)
{
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
}
}
}
void galileo_telemetry_decoder_cc::decode_INAV_word(double *page_part_symbols, int32_t frame_length)
{
// 1. De-interleave
auto *page_part_symbols_deint = static_cast<double *>(volk_gnsssdr_malloc(frame_length * sizeof(double), volk_gnsssdr_get_alignment()));
deinterleaver(GALILEO_INAV_INTERLEAVER_ROWS, GALILEO_INAV_INTERLEAVER_COLS, page_part_symbols, page_part_symbols_deint);
// 2. Viterbi decoder
// 2.1 Take into account the NOT gate in G2 polynomial (Galileo ICD Figure 13, FEC encoder)
// 2.2 Take into account the possible inversion of the polarity due to PLL lock at 180º
for (int32_t i = 0; i < frame_length; i++)
{
if ((i + 1) % 2 == 0)
{
page_part_symbols_deint[i] = -page_part_symbols_deint[i];
}
}
auto *page_part_bits = static_cast<int32_t *>(volk_gnsssdr_malloc((frame_length / 2) * sizeof(int32_t), volk_gnsssdr_get_alignment()));
viterbi_decoder(page_part_symbols_deint, page_part_bits);
volk_gnsssdr_free(page_part_symbols_deint);
// 3. Call the Galileo page decoder
std::string page_String;
for (int32_t i = 0; i < (frame_length / 2); i++)
{
if (page_part_bits[i] > 0)
{
page_String.push_back('1');
}
else
{
page_String.push_back('0');
}
}
if (page_part_bits[0] == 1)
{
// DECODE COMPLETE WORD (even + odd) and TEST CRC
d_inav_nav.split_page(page_String, flag_even_word_arrived);
if (d_inav_nav.flag_CRC_test == true)
{
LOG(INFO) << "Galileo E1 CRC correct in channel " << d_channel << " from satellite " << d_satellite;
}
else
{
LOG(INFO) << "Galileo E1 CRC error in channel " << d_channel << " from satellite " << d_satellite;
}
flag_even_word_arrived = 0;
}
else
{
// STORE HALF WORD (even page)
d_inav_nav.split_page(page_String, flag_even_word_arrived);
flag_even_word_arrived = 1;
}
volk_gnsssdr_free(page_part_bits);
// 4. Push the new navigation data to the queues
if (d_inav_nav.have_new_ephemeris() == true)
{
// get object for this SV (mandatory)
std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(d_inav_nav.get_ephemeris());
std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
}
if (d_inav_nav.have_new_iono_and_GST() == true)
{
// get object for this SV (mandatory)
std::shared_ptr<Galileo_Iono> tmp_obj = std::make_shared<Galileo_Iono>(d_inav_nav.get_iono());
std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel << ": iono/GST model parameters from satellite " << d_satellite << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
}
if (d_inav_nav.have_new_utc_model() == true)
{
// get object for this SV (mandatory)
std::shared_ptr<Galileo_Utc_Model> tmp_obj = std::make_shared<Galileo_Utc_Model>(d_inav_nav.get_utc_model());
std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
delta_t = tmp_obj->A_0G_10 + tmp_obj->A_1G_10 * (static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0 - tmp_obj->t_0G_10 + 604800 * (fmod((d_inav_nav.WN_0 - tmp_obj->WN_0G_10), 64)));
DLOG(INFO) << "delta_t=" << delta_t << "[s]";
}
if (d_inav_nav.have_new_almanac() == true)
{
std::shared_ptr<Galileo_Almanac_Helper> tmp_obj = std::make_shared<Galileo_Almanac_Helper>(d_inav_nav.get_almanac());
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
//debug
std::cout << "Galileo E1 I/NAV almanac received in channel " << d_channel << " from satellite " << d_satellite << std::endl;
DLOG(INFO) << "Current parameters:";
DLOG(INFO) << "d_TOW_at_current_symbol_ms=" << d_TOW_at_current_symbol_ms;
DLOG(INFO) << "d_nav.WN_0=" << d_inav_nav.WN_0;
}
}
void galileo_telemetry_decoder_cc::decode_FNAV_word(double *page_symbols, int32_t frame_length)
{
// 1. De-interleave
auto *page_symbols_deint = static_cast<double *>(volk_gnsssdr_malloc(frame_length * sizeof(double), volk_gnsssdr_get_alignment()));
deinterleaver(GALILEO_FNAV_INTERLEAVER_ROWS, GALILEO_FNAV_INTERLEAVER_COLS, page_symbols, page_symbols_deint);
// 2. Viterbi decoder
// 2.1 Take into account the NOT gate in G2 polynomial (Galileo ICD Figure 13, FEC encoder)
// 2.2 Take into account the possible inversion of the polarity due to PLL lock at 180<38>
for (int32_t i = 0; i < frame_length; i++)
{
if ((i + 1) % 2 == 0)
{
page_symbols_deint[i] = -page_symbols_deint[i];
}
}
auto *page_bits = static_cast<int32_t *>(volk_gnsssdr_malloc((frame_length / 2) * sizeof(int32_t), volk_gnsssdr_get_alignment()));
viterbi_decoder(page_symbols_deint, page_bits);
volk_gnsssdr_free(page_symbols_deint);
// 3. Call the Galileo page decoder
std::string page_String;
for (int32_t i = 0; i < frame_length; i++)
{
if (page_bits[i] > 0)
{
page_String.push_back('1');
}
else
{
page_String.push_back('0');
}
}
volk_gnsssdr_free(page_bits);
// DECODE COMPLETE WORD (even + odd) and TEST CRC
d_fnav_nav.split_page(page_String);
if (d_fnav_nav.flag_CRC_test == true)
{
LOG(INFO) << "Galileo E5a CRC correct in channel " << d_channel << " from satellite " << d_satellite;
}
else
{
LOG(INFO) << "Galileo E5a CRC error in channel " << d_channel << " from satellite " << d_satellite;
}
// 4. Push the new navigation data to the queues
if (d_fnav_nav.have_new_ephemeris() == true)
{
std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(d_fnav_nav.get_ephemeris());
std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << TEXT_RESET << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
}
if (d_fnav_nav.have_new_iono_and_GST() == true)
{
std::shared_ptr<Galileo_Iono> tmp_obj = std::make_shared<Galileo_Iono>(d_fnav_nav.get_iono());
std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel " << d_channel << ": iono/GST model parameters from satellite " << d_satellite << TEXT_RESET << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
}
if (d_fnav_nav.have_new_utc_model() == true)
{
std::shared_ptr<Galileo_Utc_Model> tmp_obj = std::make_shared<Galileo_Utc_Model>(d_fnav_nav.get_utc_model());
std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << TEXT_RESET << std::endl;
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
}
}
void galileo_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite)
{
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite;
DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
}
void galileo_telemetry_decoder_cc::set_channel(int32_t channel)
{
d_channel = channel;
LOG(INFO) << "Navigation channel set to " << channel;
// ############# ENABLE DATA FILE LOG #################
if (d_dump == true)
{
if (d_dump_file.is_open() == false)
{
try
{
d_dump_filename = "telemetry";
d_dump_filename.append(std::to_string(d_channel));
d_dump_filename.append(".dat");
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str();
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
}
}
}
}
int galileo_telemetry_decoder_cc::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)
{
int32_t corr_value = 0;
int32_t preamble_diff = 0;
auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]); // Get the output buffer pointer
const auto **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]); // Get the input buffer pointer
Gnss_Synchro current_symbol{}; // structure to save the synchronization information and send the output object to the next block
// 1. Copy the current tracking output
current_symbol = in[0][0];
// add new symbol to the symbol queue
d_symbol_history.push_back(current_symbol.Prompt_I);
d_sample_counter++; // count for the processed samples
consume_each(1);
d_flag_preamble = false;
if (d_symbol_history.size() > d_required_symbols)
{
// TODO Optimize me!
// ******* preamble correlation ********
for (int32_t i = 0; i < d_samples_per_preamble; i++)
{
if (d_symbol_history.at(i) < 0.0) // symbols clipping
{
corr_value -= d_preamble_samples[i];
}
else
{
corr_value += d_preamble_samples[i];
}
}
}
// ******* frame sync ******************
switch (d_stat)
{
case 0: // no preamble information
{
if (abs(corr_value) >= d_samples_per_preamble)
{
d_preamble_index = d_sample_counter; // record the preamble sample stamp
LOG(INFO) << "Preamble detection for Galileo satellite " << this->d_satellite;
d_stat = 1; // enter into frame pre-detection status
}
break;
}
case 1: // possible preamble lock
{
if (abs(corr_value) >= d_samples_per_preamble)
{
// check preamble separation
preamble_diff = static_cast<int32_t>(d_sample_counter - d_preamble_index);
if (abs(preamble_diff - d_preamble_period_symbols) == 0)
{
// try to decode frame
LOG(INFO) << "Starting page decoder for Galileo satellite " << this->d_satellite;
d_preamble_index = d_sample_counter; // record the preamble sample stamp
d_stat = 2;
}
else
{
if (preamble_diff > d_preamble_period_symbols)
{
d_stat = 0; // start again
}
}
}
break;
}
case 2: //preamble acquired
{
if (d_sample_counter == d_preamble_index + static_cast<uint64_t>(d_preamble_period_symbols))
{
// call the decoder
switch (d_frame_type)
{
case 1: // INAV
// NEW Galileo page part is received
// 0. fetch the symbols into an array
if (corr_value > 0) //normal PLL lock
{
for (uint32_t i = 0; i < d_frame_length_symbols; i++)
{
d_page_part_symbols[i] = d_symbol_history.at(i + d_samples_per_preamble); // because last symbol of the preamble is just received now!
}
}
else //180 deg. inverted carrier phase PLL lock
{
for (uint32_t i = 0; i < d_frame_length_symbols; i++)
{
d_page_part_symbols[i] = d_symbol_history.at(i + d_samples_per_preamble); // because last symbol of the preamble is just received now!
}
}
decode_INAV_word(d_page_part_symbols, d_frame_length_symbols);
break;
case 2: // FNAV
// NEW Galileo page part is received
// 0. fetch the symbols into an array
if (corr_value > 0) //normal PLL lock
{
int k = 0;
for (uint32_t i = 0; i < d_frame_length_symbols; i++)
{
d_page_part_symbols[i] = 0;
for (uint32_t m = 0; m < d_samples_per_symbol; m++)
{
d_page_part_symbols[i] += static_cast<float>(d_secondary_code_samples[k]) * d_symbol_history.at(i * d_samples_per_symbol + d_samples_per_preamble + m); // because last symbol of the preamble is just received now!
k++;
k = k % GALILEO_E5A_I_SECONDARY_CODE_LENGTH;
}
}
}
else //180 deg. inverted carrier phase PLL lock
{
int k = 0;
for (uint32_t i = 0; i < d_frame_length_symbols; i++)
{
d_page_part_symbols[i] = 0;
for (uint32_t m = 0; m < d_samples_per_symbol; m++) //integrate samples into symbols
{
d_page_part_symbols[i] -= static_cast<float>(d_secondary_code_samples[k]) * d_symbol_history.at(i * d_samples_per_symbol + d_samples_per_preamble + m); // because last symbol of the preamble is just received now!
k++;
k = k % GALILEO_E5A_I_SECONDARY_CODE_LENGTH;
}
}
}
decode_FNAV_word(d_page_part_symbols, d_frame_length_symbols);
break;
default:
return -1;
break;
}
if (d_inav_nav.flag_CRC_test == true or d_fnav_nav.flag_CRC_test == true)
{
d_CRC_error_counter = 0;
d_flag_preamble = true; // valid preamble indicator (initialized to false every work())
d_preamble_index = d_sample_counter; // record the preamble sample stamp (t_P)
if (!d_flag_frame_sync)
{
d_flag_frame_sync = true;
DLOG(INFO) << " Frame sync SAT " << this->d_satellite;
}
}
else
{
d_CRC_error_counter++;
d_preamble_index = d_sample_counter; // record the preamble sample stamp
if (d_CRC_error_counter > CRC_ERROR_LIMIT)
{
LOG(INFO) << "Lost of frame sync SAT " << this->d_satellite;
d_flag_frame_sync = false;
d_stat = 0;
d_TOW_at_current_symbol_ms = 0;
d_TOW_at_Preamble_ms = 0;
d_fnav_nav.flag_TOW_set = false;
d_inav_nav.flag_TOW_set = false;
}
}
}
break;
}
}
// UPDATE GNSS SYNCHRO DATA
// 2. Add the telemetry decoder information
if (this->d_flag_preamble == true)
// update TOW at the preamble instant
{
switch (d_frame_type)
{
case 1: // INAV
{
if (d_inav_nav.flag_TOW_set == true)
{
if (d_inav_nav.flag_TOW_5 == true) // page 5 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec)
{
// TOW_5 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later plus the decoding delay
d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_inav_nav.TOW_5 * 1000.0);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>(GALILEO_INAV_PAGE_PART_MS + (d_required_symbols + 1) * GALILEO_E5A_CODE_PERIOD_MS);
d_inav_nav.flag_TOW_5 = false;
}
else if (d_inav_nav.flag_TOW_6 == true) // page 6 arrived and decoded, so we are in the odd page (since Tow refers to the even page, we have to add 1 sec)
{
// TOW_6 refers to the even preamble, but when we decode it we are in the odd part, so 1 second later plus the decoding delay
d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_inav_nav.TOW_6 * 1000.0);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>(GALILEO_INAV_PAGE_PART_MS + (d_required_symbols + 1) * GALILEO_E5A_CODE_PERIOD_MS);
d_inav_nav.flag_TOW_6 = false;
}
else
{
// this page has no timing information
d_TOW_at_current_symbol_ms += static_cast<uint32_t>(GALILEO_E5A_CODE_PERIOD_MS); // + GALILEO_INAV_PAGE_PART_SYMBOLS*GALILEO_E1_CODE_PERIOD;
}
}
break;
}
case 2: // FNAV
{
if (d_fnav_nav.flag_TOW_set == true)
{
if (d_fnav_nav.flag_TOW_1 == true)
{
d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_fnav_nav.FNAV_TOW_1 * 1000.0);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * GALILEO_E5A_CODE_PERIOD_MS);
//d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD_MS);
d_fnav_nav.flag_TOW_1 = false;
}
else if (d_fnav_nav.flag_TOW_2 == true)
{
d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_fnav_nav.FNAV_TOW_2 * 1000.0);
//d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD_MS);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * GALILEO_E5A_CODE_PERIOD_MS);
d_fnav_nav.flag_TOW_2 = false;
}
else if (d_fnav_nav.flag_TOW_3 == true)
{
d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_fnav_nav.FNAV_TOW_3 * 1000.0);
//d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD_MS);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * GALILEO_E5A_CODE_PERIOD_MS);
d_fnav_nav.flag_TOW_3 = false;
}
else if (d_fnav_nav.flag_TOW_4 == true)
{
d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_fnav_nav.FNAV_TOW_4 * 1000.0);
//d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((GALILEO_FNAV_CODES_PER_PAGE + GALILEO_FNAV_CODES_PER_PREAMBLE) * GALILEO_E5a_CODE_PERIOD_MS);
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * GALILEO_E5A_CODE_PERIOD_MS);
d_fnav_nav.flag_TOW_4 = false;
}
else
{
d_TOW_at_current_symbol_ms += static_cast<uint32_t>(GALILEO_E5A_CODE_PERIOD_MS);
}
break;
}
}
}
}
else // if there is not a new preamble, we define the TOW of the current symbol
{
switch (d_frame_type)
{
case 1: // INAV
{
if (d_inav_nav.flag_TOW_set == true)
{
d_TOW_at_current_symbol_ms += d_PRN_code_period_ms;
}
break;
}
case 2: // FNAV
{
if (d_fnav_nav.flag_TOW_set == true)
{
d_TOW_at_current_symbol_ms += d_PRN_code_period_ms;
}
break;
}
}
}
// remove used symbols from history
// todo: Use circular buffer here
if (d_symbol_history.size() > d_required_symbols)
{
d_symbol_history.pop_front();
}
switch (d_frame_type)
{
case 1: // INAV
{
if (d_inav_nav.flag_TOW_set)
{
if (d_inav_nav.flag_GGTO_1 == true and d_inav_nav.flag_GGTO_2 == true and d_inav_nav.flag_GGTO_3 == true and d_inav_nav.flag_GGTO_4 == true) // all GGTO parameters arrived
{
delta_t = d_inav_nav.A_0G_10 + d_inav_nav.A_1G_10 * (static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0 - d_inav_nav.t_0G_10 + 604800.0 * (fmod((d_inav_nav.WN_0 - d_inav_nav.WN_0G_10), 64.0)));
}
current_symbol.Flag_valid_word = true;
}
break;
}
case 2: // FNAV
{
if (d_fnav_nav.flag_TOW_set)
{
current_symbol.Flag_valid_word = true;
}
break;
}
}
if (d_inav_nav.flag_TOW_set or d_fnav_nav.flag_TOW_set)
{
current_symbol.TOW_at_current_symbol_ms = d_TOW_at_current_symbol_ms;
// todo: Galileo to GPS time conversion should be moved to observable block.
// current_symbol.TOW_at_current_symbol_ms -= delta_t; //Galileo to GPS TOW
if (d_dump == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
double tmp_double;
uint64_t tmp_ulong_int;
tmp_double = static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_ulong_int = current_symbol.Tracking_sample_counter;
d_dump_file.write(reinterpret_cast<char *>(&tmp_ulong_int), sizeof(uint64_t));
tmp_double = static_cast<double>(d_TOW_at_Preamble_ms) / 1000.0;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "Exception writing observables dump file " << e.what();
}
}
// 3. Make the output (copy the object contents to the GNURadio reserved memory)
*out[0] = current_symbol;
return 1;
}
return 0;
}
Reference in New Issue View Git Blame Copy Permalink