mirror of https://github.com/gnss-sdr/gnss-sdr
536 lines
23 KiB
C++
536 lines
23 KiB
C++
/*!
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* \file glonass_l2_ca_telemetry_decoder_gs.cc
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* \brief Implementation of a GLONASS L2 C/A NAV data decoder block
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* \author Damian Miralles, 2018. dmiralles2009(at)gmail.com
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*
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* -----------------------------------------------------------------------------
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*
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* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
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* This file is part of GNSS-SDR.
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*
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* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
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* SPDX-License-Identifier: GPL-3.0-or-later
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*
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* -----------------------------------------------------------------------------
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*/
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#include "glonass_l2_ca_telemetry_decoder_gs.h"
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#include "display.h"
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#include "glonass_gnav_almanac.h"
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#include "glonass_gnav_ephemeris.h"
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#include "glonass_gnav_utc_model.h"
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#include "gnss_sdr_make_unique.h" // for std::make_unique in C++11
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#include "tlm_utils.h"
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#include <glog/logging.h>
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#include <gnuradio/io_signature.h>
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#include <pmt/pmt.h> // for make_any
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#include <pmt/pmt_sugar.h> // for mp
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#include <cmath> // for floor, round
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#include <cstddef> // for size_t
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#include <cstdlib> // for abs
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#include <exception> // for exception
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#include <iomanip> // for std::setprecision
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#include <iostream> // for cout
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#include <memory> // for shared_ptr, make_shared
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#define CRC_ERROR_LIMIT 6
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glonass_l2_ca_telemetry_decoder_gs_sptr
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glonass_l2_ca_make_telemetry_decoder_gs(const Gnss_Satellite &satellite, const Tlm_Conf &conf)
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{
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return glonass_l2_ca_telemetry_decoder_gs_sptr(new glonass_l2_ca_telemetry_decoder_gs(satellite, conf));
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}
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glonass_l2_ca_telemetry_decoder_gs::glonass_l2_ca_telemetry_decoder_gs(
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const Gnss_Satellite &satellite,
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const Tlm_Conf &conf) : gr::block("glonass_l2_ca_telemetry_decoder_gs", gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
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gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))),
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d_dump_filename(conf.dump_filename),
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d_preamble_time_samples(0),
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d_TOW_at_current_symbol(0),
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d_sample_counter(0ULL),
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d_preamble_index(0ULL),
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d_stat(0),
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d_CRC_error_counter(0),
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d_channel(0),
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d_flag_frame_sync(false),
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d_flag_preamble(false),
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d_dump(conf.dump),
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d_dump_mat(conf.dump_mat),
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d_remove_dat(conf.remove_dat),
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d_enable_navdata_monitor(conf.enable_navdata_monitor),
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d_dump_crc_stats(conf.dump_crc_stats)
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{
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// prevent telemetry symbols accumulation in output buffers
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this->set_max_noutput_items(1);
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// Ephemeris data port out
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this->message_port_register_out(pmt::mp("telemetry"));
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// Control messages to tracking block
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this->message_port_register_out(pmt::mp("telemetry_to_trk"));
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this->message_port_register_out(pmt::mp("preamble_timestamp_samples"));
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if (d_enable_navdata_monitor)
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{
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// register nav message monitor out
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this->message_port_register_out(pmt::mp("Nav_msg_from_TLM"));
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d_nav_msg_packet.system = std::string("R");
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d_nav_msg_packet.signal = std::string("2G");
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}
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d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
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LOG(INFO) << "Initializing GLONASS L2 CA TELEMETRY DECODING";
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// preamble bits to sampled symbols
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int32_t n = 0;
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for (uint16_t d_preambles_bit : d_preambles_bits)
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{
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for (uint32_t j = 0; j < GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_PREAMBLE_BIT; j++)
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{
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if (d_preambles_bit == 1)
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{
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d_preambles_symbols[n] = 1;
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}
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else
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{
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d_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.set_capacity(GLONASS_GNAV_STRING_SYMBOLS);
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if (d_dump_crc_stats)
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{
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// initialize the telemetry CRC statistics class
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d_Tlm_CRC_Stats = std::make_unique<Tlm_CRC_Stats>();
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d_Tlm_CRC_Stats->initialize(conf.dump_crc_stats_filename);
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}
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else
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{
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d_Tlm_CRC_Stats = nullptr;
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}
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}
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glonass_l2_ca_telemetry_decoder_gs::~glonass_l2_ca_telemetry_decoder_gs()
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{
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DLOG(INFO) << "Glonass L2 Telemetry decoder block (channel " << d_channel << ") destructor called.";
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size_t pos = 0;
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if (d_dump_file.is_open() == true)
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{
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pos = d_dump_file.tellp();
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try
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{
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d_dump_file.close();
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}
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catch (const std::exception &ex)
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{
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LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
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}
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if (pos == 0)
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{
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if (!tlm_remove_file(d_dump_filename))
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{
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LOG(WARNING) << "Error deleting temporary file";
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}
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}
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}
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if (d_dump && (pos != 0) && d_dump_mat)
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{
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save_tlm_matfile(d_dump_filename);
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if (d_remove_dat)
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{
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if (!tlm_remove_file(d_dump_filename))
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{
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LOG(WARNING) << "Error deleting temporary file";
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}
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}
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}
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}
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void glonass_l2_ca_telemetry_decoder_gs::decode_string(const double *frame_symbols, int32_t frame_length, double cn0)
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{
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double chip_acc = 0.0;
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int32_t chip_acc_counter = 0;
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// 1. Transform from symbols to bits
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std::string bi_binary_code;
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bi_binary_code.reserve(frame_length / GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_BIT);
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std::string relative_code;
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relative_code.reserve(GLONASS_GNAV_STRING_BITS);
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std::string data_bits;
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data_bits.reserve(GLONASS_GNAV_STRING_BITS + 1);
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// Group samples into bi-binary code
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for (int32_t i = 0; i < (frame_length); i++)
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{
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chip_acc += frame_symbols[i];
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chip_acc_counter += 1;
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if (chip_acc_counter == (GLONASS_GNAV_TELEMETRY_SYMBOLS_PER_BIT))
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{
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if (chip_acc > 0)
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{
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bi_binary_code.push_back('1');
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chip_acc_counter = 0;
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chip_acc = 0;
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}
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else
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{
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bi_binary_code.push_back('0');
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chip_acc_counter = 0;
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chip_acc = 0;
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}
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}
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}
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// Convert from bi-binary code to relative code
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for (int32_t i = 0; i < (GLONASS_GNAV_STRING_BITS); i++)
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{
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if (bi_binary_code[2 * i] == '1' && bi_binary_code[2 * i + 1] == '0')
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{
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relative_code.push_back('1');
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}
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else
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{
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relative_code.push_back('0');
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}
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}
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// Convert from relative code to data bits
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data_bits.push_back('0');
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for (int32_t i = 1; i < (GLONASS_GNAV_STRING_BITS); i++)
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{
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data_bits.push_back(((relative_code[i - 1] - '0') ^ (relative_code[i] - '0')) + '0');
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}
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if (d_enable_navdata_monitor)
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{
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d_nav_msg_packet.nav_message = data_bits;
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}
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// 2. Call the GLONASS GNAV string decoder
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d_nav.string_decoder(data_bits);
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// 3. Check operation executed correctly
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bool crc_ok = d_nav.get_flag_CRC_test();
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if (crc_ok)
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{
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LOG(INFO) << "GLONASS GNAV CRC correct in channel " << d_channel << " from satellite " << d_satellite;
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}
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else
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{
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LOG(INFO) << "GLONASS GNAV CRC error in channel " << d_channel << " from satellite " << d_satellite;
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}
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if (d_dump_crc_stats)
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{
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// update CRC statistics
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d_Tlm_CRC_Stats->update_CRC_stats(crc_ok);
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}
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// 4. Push the new navigation data to the queues
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if (d_nav.have_new_ephemeris() == true)
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{
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// get object for this SV (mandatory)
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d_nav.set_rf_link(d_satellite.get_rf_link());
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const std::shared_ptr<Glonass_Gnav_Ephemeris> tmp_obj = std::make_shared<Glonass_Gnav_Ephemeris>(d_nav.get_ephemeris());
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this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
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LOG(INFO) << "GLONASS GNAV Ephemeris have been received in channel" << d_channel << " from satellite " << d_satellite;
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#if __cplusplus == 201103L
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const int default_precision = std::cout.precision();
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#else
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const auto default_precision{std::cout.precision()};
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#endif
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std::cout << TEXT_CYAN << "New GLONASS L2 GNAV message received in channel " << d_channel
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<< ": ephemeris from satellite " << d_satellite
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<< " with CN0=" << std::setprecision(2) << cn0 << std::setprecision(default_precision)
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<< " dB-Hz" << TEXT_RESET << std::endl;
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}
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if (d_nav.have_new_utc_model() == true)
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{
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// get object for this SV (mandatory)
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const std::shared_ptr<Glonass_Gnav_Utc_Model> tmp_obj = std::make_shared<Glonass_Gnav_Utc_Model>(d_nav.get_utc_model());
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this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
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LOG(INFO) << "GLONASS GNAV UTC Model data have been received in channel" << d_channel << " from satellite " << d_satellite;
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#if __cplusplus == 201103L
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const int default_precision = std::cout.precision();
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#else
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const auto default_precision{std::cout.precision()};
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#endif
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std::cout << TEXT_CYAN << "New GLONASS L2 GNAV message received in channel " << d_channel
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<< ": UTC model parameters from satellite " << d_satellite
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<< " with CN0=" << std::setprecision(2) << cn0 << std::setprecision(default_precision)
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<< " dB-Hz" << TEXT_RESET << std::endl;
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}
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if (d_nav.have_new_almanac() == true)
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{
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const uint32_t slot_nbr = d_nav.get_alm_satellite_slot_number();
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const std::shared_ptr<Glonass_Gnav_Almanac> tmp_obj = std::make_shared<Glonass_Gnav_Almanac>(d_nav.get_almanac(slot_nbr));
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this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
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LOG(INFO) << "GLONASS GNAV Almanac data have been received in channel" << d_channel << " in slot number " << slot_nbr;
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#if __cplusplus == 201103L
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const int default_precision = std::cout.precision();
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#else
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const auto default_precision{std::cout.precision()};
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#endif
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std::cout << TEXT_CYAN << "New GLONASS L2 GNAV almanac received in channel " << d_channel
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<< " from satellite " << d_satellite
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<< " with CN0=" << std::setprecision(2) << cn0 << std::setprecision(default_precision)
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<< " dB-Hz" << TEXT_RESET << std::endl;
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}
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// 5. Update satellite information on system
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if (d_nav.get_flag_update_slot_number() == true)
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{
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LOG(INFO) << "GLONASS GNAV Slot Number Identified in channel " << d_channel;
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d_satellite.update_PRN(d_nav.get_ephemeris().d_n);
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d_satellite.what_block(d_satellite.get_system(), d_nav.get_ephemeris().d_n);
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d_nav.set_flag_update_slot_number(false);
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}
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}
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void glonass_l2_ca_telemetry_decoder_gs::set_satellite(const Gnss_Satellite &satellite)
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{
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d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
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DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite;
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DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
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}
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void glonass_l2_ca_telemetry_decoder_gs::set_channel(int32_t channel)
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{
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d_channel = channel;
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LOG(INFO) << "Navigation channel set to " << channel;
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// ############# ENABLE DATA FILE LOG #################
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if (d_dump == true)
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{
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if (d_dump_file.is_open() == false)
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{
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try
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{
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d_dump_filename.append(std::to_string(d_channel));
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d_dump_filename.append(".dat");
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d_dump_file.exceptions(std::ofstream::failbit | std::ofstream::badbit);
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d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
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LOG(INFO) << "Telemetry decoder dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str();
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}
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catch (const std::ofstream::failure &e)
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{
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LOG(WARNING) << "channel " << d_channel << ": exception opening Glonass TLM dump file. " << e.what();
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}
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}
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}
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if (d_dump_crc_stats)
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{
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// set the channel number for the telemetry CRC statistics
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// disable the telemetry CRC statistics if there is a problem opening the output file
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d_dump_crc_stats = d_Tlm_CRC_Stats->set_channel(d_channel);
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}
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}
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int glonass_l2_ca_telemetry_decoder_gs::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
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gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
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{
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int32_t corr_value = 0;
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int32_t preamble_diff = 0;
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auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]); // Get the output buffer pointer
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const auto **in = reinterpret_cast<const Gnss_Synchro **>(&input_items[0]); // Get the input buffer pointer
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Gnss_Synchro current_symbol{}; // structure to save the synchronization information and send the output object to the next block
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// 1. Copy the current tracking output
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current_symbol = in[0][0];
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d_symbol_history.push_back(current_symbol); // add new symbol to the symbol queue
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d_sample_counter++; // count for the processed samples
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consume_each(1);
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d_flag_preamble = false;
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if (static_cast<int32_t>(d_symbol_history.size()) >= d_symbols_per_preamble)
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{
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// ******* preamble correlation ********
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for (int32_t i = 0; i < d_symbols_per_preamble; i++)
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{
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if (d_symbol_history[i].Prompt_I < 0.0) // symbols clipping
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{
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corr_value -= d_preambles_symbols[i];
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}
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else
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{
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corr_value += d_preambles_symbols[i];
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}
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}
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}
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// ******* frame sync ******************
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if (d_stat == 0) // no preamble information
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{
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if (abs(corr_value) >= d_symbols_per_preamble)
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{
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// Record the preamble sample stamp
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d_preamble_index = d_sample_counter;
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LOG(INFO) << "Preamble detection for GLONASS L2 C/A SAT " << this->d_satellite;
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// Enter into frame pre-detection status
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d_stat = 1;
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d_preamble_time_samples = d_symbol_history[0].Tracking_sample_counter; // record the preamble sample stamp
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}
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}
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else if (d_stat == 1) // possible preamble lock
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{
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if (abs(corr_value) >= d_symbols_per_preamble)
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{
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// check preamble separation
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preamble_diff = static_cast<int32_t>(d_sample_counter - d_preamble_index);
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// Record the PRN start sample index associated to the preamble
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d_preamble_time_samples = static_cast<double>(d_symbol_history[0].Tracking_sample_counter);
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if (abs(preamble_diff - GLONASS_GNAV_PREAMBLE_PERIOD_SYMBOLS) == 0)
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{
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// try to decode frame
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LOG(INFO) << "Starting string decoder for GLONASS L2 C/A SAT " << this->d_satellite;
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d_preamble_index = d_sample_counter; // record the preamble sample stamp
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this->message_port_pub(pmt::mp("preamble_timestamp_samples"), pmt::mp(d_preamble_time_samples));
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d_stat = 2;
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}
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else
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{
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if (preamble_diff > GLONASS_GNAV_PREAMBLE_PERIOD_SYMBOLS)
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{
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d_stat = 0; // start again
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}
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DLOG(INFO) << "Failed string decoder for GLONASS L2 C/A SAT " << this->d_satellite;
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}
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}
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}
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else if (d_stat == 2)
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{
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// FIXME: The preamble index marks the first symbol of the string count. Here I just wait for another full string to be received before processing
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if (d_sample_counter == d_preamble_index + static_cast<uint64_t>(GLONASS_GNAV_STRING_SYMBOLS))
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{
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// NEW GLONASS string received
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// 0. fetch the symbols into an array
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const int32_t string_length = GLONASS_GNAV_STRING_SYMBOLS - d_symbols_per_preamble;
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std::array<double, GLONASS_GNAV_DATA_SYMBOLS> string_symbols{};
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// ******* SYMBOL TO BIT *******
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for (int32_t i = 0; i < string_length; i++)
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{
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if (corr_value > 0)
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{
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string_symbols[i] = d_symbol_history[i + d_symbols_per_preamble].Prompt_I; // because last symbol of the preamble is just received now!
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}
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else
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{
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string_symbols[i] = -d_symbol_history[i + d_symbols_per_preamble].Prompt_I; // because last symbol of the preamble is just received now!
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}
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}
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// call the decoder
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decode_string(string_symbols.data(), string_length, current_symbol.CN0_dB_hz);
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if (d_nav.get_flag_CRC_test() == true)
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{
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d_CRC_error_counter = 0;
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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 << " with preamble start at "
|
|
<< d_symbol_history[0].Tracking_sample_counter << " [samples]";
|
|
}
|
|
}
|
|
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;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// UPDATE GNSS SYNCHRO DATA
|
|
// 2. Add the telemetry decoder information
|
|
if (this->d_flag_preamble == true && d_nav.get_flag_TOW_new() == true)
|
|
// update TOW at the preamble instant
|
|
{
|
|
d_TOW_at_current_symbol = floor((d_nav.get_ephemeris().d_TOW - GLONASS_GNAV_PREAMBLE_DURATION_S) * 1000) / 1000;
|
|
d_nav.set_flag_TOW_new(false);
|
|
}
|
|
else // if there is not a new preamble, we define the TOW of the current symbol
|
|
{
|
|
d_TOW_at_current_symbol = d_TOW_at_current_symbol + GLONASS_L2_CA_CODE_PERIOD_S;
|
|
}
|
|
|
|
// if (d_flag_frame_sync == true && d_nav.flag_TOW_set==true && d_nav.get_flag_CRC_test() == true)
|
|
|
|
// if(d_nav.flag_GGTO_1 == true && d_nav.flag_GGTO_2 == true && d_nav.flag_GGTO_3 == true && d_nav.flag_GGTO_4 == true) // all GGTO parameters arrived
|
|
// {
|
|
// delta_t = d_nav.A_0G + d_nav.A_1G * (d_TOW_at_current_symbol - d_nav.t_0G + 604800.0 * (fmod((d_nav.WN_0 - d_nav.WN_0G), 64)));
|
|
// }
|
|
|
|
current_symbol.PRN = this->d_satellite.get_PRN();
|
|
current_symbol.TOW_at_current_symbol_ms = round(d_TOW_at_current_symbol * 1000.0);
|
|
|
|
if (d_flag_frame_sync == true && d_nav.is_flag_TOW_set() == true)
|
|
{
|
|
current_symbol.Flag_valid_word = true;
|
|
if (d_flag_frame_sync == true && d_nav.is_flag_TOW_set() == true)
|
|
{
|
|
current_symbol.Flag_valid_word = true;
|
|
if (d_enable_navdata_monitor && !d_nav_msg_packet.nav_message.empty())
|
|
{
|
|
d_nav_msg_packet.prn = static_cast<int32_t>(current_symbol.PRN);
|
|
d_nav_msg_packet.tow_at_current_symbol_ms = static_cast<int32_t>(current_symbol.TOW_at_current_symbol_ms);
|
|
const std::shared_ptr<Nav_Message_Packet> tmp_obj = std::make_shared<Nav_Message_Packet>(d_nav_msg_packet);
|
|
this->message_port_pub(pmt::mp("Nav_msg_from_TLM"), pmt::make_any(tmp_obj));
|
|
d_nav_msg_packet.nav_message = "";
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
current_symbol.Flag_valid_word = false;
|
|
}
|
|
|
|
// todo: glonass time to gps time should be done in observables block
|
|
// current_symbol.TOW_at_current_symbol_ms -= static_cast<uint32_t>(delta_t) * 1000;
|
|
|
|
if (d_dump == true)
|
|
{
|
|
// MULTIPLEXED FILE RECORDING - Record results to file
|
|
try
|
|
{
|
|
double tmp_double;
|
|
uint64_t tmp_ulong_int;
|
|
int32_t tmp_int;
|
|
tmp_double = d_TOW_at_current_symbol;
|
|
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 = 0;
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
|
tmp_int = (current_symbol.Prompt_I > 0.0 ? 1 : -1);
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_int), sizeof(int32_t));
|
|
tmp_int = static_cast<int32_t>(current_symbol.PRN);
|
|
d_dump_file.write(reinterpret_cast<char *>(&tmp_int), sizeof(int32_t));
|
|
}
|
|
catch (const std::ofstream::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;
|
|
}
|