mirror of https://github.com/gnss-sdr/gnss-sdr
989 lines
46 KiB
C++
989 lines
46 KiB
C++
/*!
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* \file galileo_telemetry_decoder_gs.cc
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* \brief Implementation of a Galileo unified INAV and FNAV message demodulator
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* block
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* \author Javier Arribas 2018. jarribas(at)cttc.es
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*
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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 "galileo_telemetry_decoder_gs.h"
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#include "Galileo_E1.h" // for GALILEO_E1_CODE_PERIOD_MS
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#include "Galileo_E5a.h" // for GALILEO_E5A_CODE_PERIOD_MS
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#include "Galileo_E5b.h" // for GALILEO_E5B_CODE_PERIOD_MS
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#include "Galileo_E6.h" // for GALILEO_E6_CODE_PERIOD_MS
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#include "convolutional.h"
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#include "display.h"
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#include "galileo_almanac_helper.h" // for Galileo_Almanac_Helper
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#include "galileo_ephemeris.h" // for Galileo_Ephemeris
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#include "galileo_has_data.h" // For Galileo HAS messages
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#include "galileo_iono.h" // for Galileo_Iono
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#include "galileo_utc_model.h" // for Galileo_Utc_Model
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#include "gnss_synchro.h"
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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 <array>
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#include <cmath> // for fmod
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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 <iostream> // for cout
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#include <memory> // for make_shared
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#define CRC_ERROR_LIMIT 6
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galileo_telemetry_decoder_gs_sptr
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galileo_make_telemetry_decoder_gs(const Gnss_Satellite &satellite, const Tlm_Conf &conf, int frame_type)
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{
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return galileo_telemetry_decoder_gs_sptr(new galileo_telemetry_decoder_gs(satellite, conf, frame_type));
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}
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galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
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const Gnss_Satellite &satellite,
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const Tlm_Conf &conf,
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int frame_type) : gr::block("galileo_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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{
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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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d_last_valid_preamble = 0;
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d_sent_tlm_failed_msg = false;
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d_band = '1';
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// initialize internal vars
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d_dump_filename = conf.dump_filename;
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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_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
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d_frame_type = frame_type;
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DLOG(INFO) << "Initializing GALILEO UNIFIED TELEMETRY DECODER";
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switch (d_frame_type)
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{
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case 1: // INAV
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{
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d_PRN_code_period_ms = GALILEO_E1_CODE_PERIOD_MS; // for Galileo E5b is also 4 ms
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d_bits_per_preamble = GALILEO_INAV_PREAMBLE_LENGTH_BITS;
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// set the preamble
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d_samples_per_preamble = GALILEO_INAV_PREAMBLE_LENGTH_BITS;
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d_preamble_period_symbols = GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS;
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d_required_symbols = GALILEO_INAV_PAGE_SYMBOLS + d_samples_per_preamble;
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// preamble bits to sampled symbols
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d_preamble_samples.reserve(d_samples_per_preamble);
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d_frame_length_symbols = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS;
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d_codelength = static_cast<int32_t>(d_frame_length_symbols);
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d_datalength = (d_codelength / d_nn) - d_mm;
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d_max_symbols_without_valid_frame = GALILEO_INAV_PAGE_SYMBOLS * 30; // rise alarm 60 seconds without valid tlm
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if (conf.enable_reed_solomon == true)
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{
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d_inav_nav.enable_reed_solomon();
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}
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break;
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}
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case 2: // FNAV
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{
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d_PRN_code_period_ms = static_cast<uint32_t>(GALILEO_E5A_CODE_PERIOD_MS * GALILEO_E5A_I_SECONDARY_CODE_LENGTH);
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d_bits_per_preamble = GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
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// set the preamble
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d_samples_per_preamble = GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
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d_preamble_period_symbols = GALILEO_FNAV_SYMBOLS_PER_PAGE;
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d_required_symbols = static_cast<uint32_t>(GALILEO_FNAV_SYMBOLS_PER_PAGE) + d_samples_per_preamble;
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// preamble bits to sampled symbols
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d_preamble_samples.reserve(d_samples_per_preamble);
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d_frame_length_symbols = GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
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d_codelength = static_cast<int32_t>(d_frame_length_symbols);
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d_datalength = (d_codelength / d_nn) - d_mm;
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d_max_symbols_without_valid_frame = GALILEO_FNAV_SYMBOLS_PER_PAGE * 5; // rise alarm 100 seconds without valid tlm
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break;
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}
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case 3: // CNAV
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{
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d_PRN_code_period_ms = GALILEO_E6_CODE_PERIOD_MS;
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d_bits_per_preamble = GALILEO_CNAV_PREAMBLE_LENGTH_BITS;
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d_samples_per_preamble = GALILEO_CNAV_PREAMBLE_LENGTH_BITS;
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d_preamble_period_symbols = GALILEO_CNAV_SYMBOLS_PER_PAGE;
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d_required_symbols = static_cast<uint32_t>(GALILEO_CNAV_SYMBOLS_PER_PAGE) + d_samples_per_preamble;
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d_preamble_samples.reserve(d_samples_per_preamble);
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d_frame_length_symbols = GALILEO_CNAV_SYMBOLS_PER_PAGE - GALILEO_CNAV_PREAMBLE_LENGTH_BITS;
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d_codelength = static_cast<int32_t>(d_frame_length_symbols);
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d_datalength = (d_codelength / d_nn) - d_mm;
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d_max_symbols_without_valid_frame = GALILEO_CNAV_SYMBOLS_PER_PAGE * 60;
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break;
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}
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default:
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d_bits_per_preamble = 0;
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d_samples_per_preamble = 0;
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d_preamble_period_symbols = 0;
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d_PRN_code_period_ms = 0U;
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d_required_symbols = 0U;
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d_frame_length_symbols = 0U;
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d_codelength = 0;
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d_datalength = 0;
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d_max_symbols_without_valid_frame = 0;
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std::cout << "Galileo unified telemetry decoder error: Unknown frame type\n";
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}
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d_page_part_symbols.reserve(d_frame_length_symbols);
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for (int32_t i = 0; i < d_bits_per_preamble; i++)
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{
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switch (d_frame_type)
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{
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case 1: // INAV
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{
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if (GALILEO_INAV_PREAMBLE[i] == '1')
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{
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d_preamble_samples[i] = 1;
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}
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else
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{
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d_preamble_samples[i] = -1;
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}
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break;
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}
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case 2: // FNAV for E5a-I
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{
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if (GALILEO_FNAV_PREAMBLE[i] == '1')
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{
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d_preamble_samples[i] = 1;
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}
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else
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{
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d_preamble_samples[i] = -1;
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}
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break;
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}
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case 3: // CNAV for E6
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{
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if (GALILEO_CNAV_PREAMBLE[i] == '1')
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{
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d_preamble_samples[i] = 1;
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}
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else
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{
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d_preamble_samples[i] = -1;
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}
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break;
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}
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}
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}
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d_sample_counter = 0ULL;
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d_stat = 0;
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d_preamble_index = 0ULL;
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d_flag_frame_sync = false;
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d_flag_parity = false;
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d_TOW_at_current_symbol_ms = 0;
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d_TOW_at_Preamble_ms = 0;
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d_delta_t = 0;
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d_CRC_error_counter = 0;
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flag_even_word_arrived = 0;
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d_flag_preamble = false;
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d_channel = 0;
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d_flag_PLL_180_deg_phase_locked = false;
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d_symbol_history.set_capacity(d_required_symbols + 1);
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// vars for Viterbi decoder
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const int32_t max_states = 1U << static_cast<uint32_t>(d_mm); // 2^d_mm
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std::array<int32_t, 2> g_encoder{{121, 91}}; // Polynomial G1 and G2
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d_out0.reserve(max_states);
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d_out1.reserve(max_states);
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d_state0.reserve(max_states);
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d_state1.reserve(max_states);
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d_inav_nav.init_PRN(d_satellite.get_PRN());
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d_first_eph_sent = false;
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// create appropriate transition matrices
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nsc_transit(d_out0.data(), d_state0.data(), 0, g_encoder.data(), d_KK, d_nn);
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nsc_transit(d_out1.data(), d_state1.data(), 1, g_encoder.data(), d_KK, d_nn);
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}
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galileo_telemetry_decoder_gs::~galileo_telemetry_decoder_gs()
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{
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DLOG(INFO) << "Galileo 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 galileo_telemetry_decoder_gs::viterbi_decoder(float *page_part_symbols, int32_t *page_part_bits)
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{
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Viterbi(page_part_bits, d_out0.data(), d_state0.data(), d_out1.data(), d_state1.data(),
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page_part_symbols, d_KK, d_nn, d_datalength);
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}
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void galileo_telemetry_decoder_gs::deinterleaver(int32_t rows, int32_t cols, const float *in, float *out)
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{
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for (int32_t r = 0; r < rows; r++)
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{
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for (int32_t c = 0; c < cols; c++)
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{
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out[c * rows + r] = in[r * cols + c];
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}
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}
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}
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void galileo_telemetry_decoder_gs::decode_INAV_word(float *page_part_symbols, int32_t frame_length)
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{
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// 1. De-interleave
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std::vector<float> page_part_symbols_deint(frame_length);
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deinterleaver(GALILEO_INAV_INTERLEAVER_ROWS, GALILEO_INAV_INTERLEAVER_COLS, page_part_symbols, page_part_symbols_deint.data());
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// 2. Viterbi decoder
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// 2.1 Take into account the NOT gate in G2 polynomial (Galileo ICD Figure 13, FEC encoder)
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// 2.2 Take into account the possible inversion of the polarity due to PLL lock at 180º
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for (int32_t i = 0; i < frame_length; i++)
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{
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if ((i + 1) % 2 == 0)
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{
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page_part_symbols_deint[i] = -page_part_symbols_deint[i];
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}
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}
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const int32_t decoded_length = frame_length / 2;
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std::vector<int32_t> page_part_bits(decoded_length);
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viterbi_decoder(page_part_symbols_deint.data(), page_part_bits.data());
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// 3. Call the Galileo page decoder
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std::string page_String;
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page_String.reserve(decoded_length);
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for (int32_t i = 0; i < decoded_length; i++)
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{
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if (page_part_bits[i] > 0)
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{
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page_String.push_back('1');
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}
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else
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{
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page_String.push_back('0');
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}
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}
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if (page_part_bits[0] == 1)
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{
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// DECODE COMPLETE WORD (even + odd) and TEST CRC
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d_inav_nav.split_page(page_String, flag_even_word_arrived);
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if (d_inav_nav.get_flag_CRC_test() == true)
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{
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if (d_band == '1')
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{
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DLOG(INFO) << "Galileo E1 CRC correct in channel " << d_channel << " from satellite " << d_satellite;
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}
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else if (d_band == '7')
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{
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DLOG(INFO) << "Galileo E5b CRC correct in channel " << d_channel << " from satellite " << d_satellite;
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}
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}
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else
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{
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if (d_band == '1')
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{
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DLOG(INFO) << "Galileo E1 CRC error in channel " << d_channel << " from satellite " << d_satellite;
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}
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else if (d_band == '7')
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{
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DLOG(INFO) << "Galileo E5b CRC error in channel " << d_channel << " from satellite " << d_satellite;
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}
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}
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flag_even_word_arrived = 0;
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}
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else
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{
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// STORE HALF WORD (even page)
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d_inav_nav.split_page(page_String, flag_even_word_arrived);
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flag_even_word_arrived = 1;
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}
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// 4. Push the new navigation data to the queues
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if (d_inav_nav.have_new_ephemeris() == true)
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{
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// get object for this SV (mandatory)
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const std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(d_inav_nav.get_ephemeris());
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if (d_band == '1')
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{
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std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << '\n';
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}
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else if (d_band == '7')
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{
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std::cout << TEXT_BLUE << "New Galileo E5b I/NAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << TEXT_RESET << '\n';
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}
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this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
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d_first_eph_sent = true; // do not send reduced CED anymore, since we have the full ephemeris set
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}
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else
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{
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// If we still do not have ephemeris, check if we have a reduced CED
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if ((d_band == '1') && !d_first_eph_sent && (d_inav_nav.have_new_reduced_ced() == true))
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{
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const std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(d_inav_nav.get_reduced_ced());
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std::cout << "New Galileo E1 I/NAV reduced CED message received in channel " << d_channel << " from satellite " << d_satellite << '\n';
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this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
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}
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}
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if (d_inav_nav.have_new_iono_and_GST() == true)
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{
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// get object for this SV (mandatory)
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const std::shared_ptr<Galileo_Iono> tmp_obj = std::make_shared<Galileo_Iono>(d_inav_nav.get_iono());
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if (d_band == '1')
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{
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std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel << ": iono/GST model parameters from satellite " << d_satellite << '\n';
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}
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else if (d_band == '7')
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{
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std::cout << TEXT_BLUE << "New Galileo E5b I/NAV message received in channel " << d_channel << ": iono/GST model parameters from satellite " << d_satellite << TEXT_RESET << '\n';
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}
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this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
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}
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if (d_inav_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<Galileo_Utc_Model> tmp_obj = std::make_shared<Galileo_Utc_Model>(d_inav_nav.get_utc_model());
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if (d_band == '1')
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{
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std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << '\n';
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}
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else if (d_band == '7')
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{
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std::cout << TEXT_BLUE << "New Galileo E5b I/NAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << TEXT_RESET << '\n';
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}
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this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
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d_delta_t = tmp_obj->A_0G + tmp_obj->A_1G * (static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0 - tmp_obj->t_0G + 604800 * (std::fmod(static_cast<float>(d_inav_nav.get_Galileo_week() - tmp_obj->WN_0G), 64.0)));
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DLOG(INFO) << "delta_t=" << d_delta_t << "[s]";
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}
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if (d_inav_nav.have_new_almanac() == true)
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{
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const std::shared_ptr<Galileo_Almanac_Helper> tmp_obj = std::make_shared<Galileo_Almanac_Helper>(d_inav_nav.get_almanac());
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this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
|
// debug
|
|
if (d_band == '1')
|
|
{
|
|
std::cout << "Galileo E1 I/NAV almanac received in channel " << d_channel << " from satellite " << d_satellite << '\n';
|
|
}
|
|
else if (d_band == '7')
|
|
{
|
|
std::cout << "Galileo E5b I/NAV almanac received in channel " << d_channel << " from satellite " << d_satellite << '\n';
|
|
}
|
|
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.get_Galileo_week();
|
|
}
|
|
}
|
|
|
|
|
|
void galileo_telemetry_decoder_gs::decode_FNAV_word(float *page_symbols, int32_t frame_length)
|
|
{
|
|
// 1. De-interleave
|
|
std::vector<float> page_symbols_deint(frame_length);
|
|
deinterleaver(GALILEO_FNAV_INTERLEAVER_ROWS, GALILEO_FNAV_INTERLEAVER_COLS, page_symbols, page_symbols_deint.data());
|
|
|
|
// 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 degrees
|
|
for (int32_t i = 0; i < frame_length; i++)
|
|
{
|
|
if ((i + 1) % 2 == 0)
|
|
{
|
|
page_symbols_deint[i] = -page_symbols_deint[i];
|
|
}
|
|
}
|
|
|
|
const int32_t decoded_length = frame_length / 2;
|
|
std::vector<int32_t> page_bits(decoded_length);
|
|
viterbi_decoder(page_symbols_deint.data(), page_bits.data());
|
|
|
|
// 3. Call the Galileo page decoder
|
|
std::string page_String;
|
|
page_String.reserve(decoded_length);
|
|
for (int32_t i = 0; i < decoded_length; i++)
|
|
{
|
|
if (page_bits[i] > 0)
|
|
{
|
|
page_String.push_back('1');
|
|
}
|
|
else
|
|
{
|
|
page_String.push_back('0');
|
|
}
|
|
}
|
|
|
|
// DECODE COMPLETE WORD (even + odd) and TEST CRC
|
|
d_fnav_nav.split_page(page_String);
|
|
if (d_fnav_nav.get_flag_CRC_test() == true)
|
|
{
|
|
DLOG(INFO) << "Galileo E5a CRC correct in channel " << d_channel << " from satellite " << d_satellite;
|
|
}
|
|
else
|
|
{
|
|
DLOG(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)
|
|
{
|
|
const 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 << '\n';
|
|
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
|
}
|
|
if (d_fnav_nav.have_new_iono_and_GST() == true)
|
|
{
|
|
const 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 << '\n';
|
|
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
|
}
|
|
if (d_fnav_nav.have_new_utc_model() == true)
|
|
{
|
|
const 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 << '\n';
|
|
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
|
}
|
|
}
|
|
|
|
|
|
void galileo_telemetry_decoder_gs::decode_CNAV_word(float *page_symbols, int32_t page_length)
|
|
{
|
|
// 1. De-interleave
|
|
std::vector<float> page_symbols_deint(page_length);
|
|
deinterleaver(GALILEO_CNAV_INTERLEAVER_ROWS, GALILEO_CNAV_INTERLEAVER_COLS, page_symbols, page_symbols_deint.data());
|
|
|
|
// 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 degrees
|
|
for (int32_t i = 0; i < page_length; i++)
|
|
{
|
|
if ((i + 1) % 2 == 0)
|
|
{
|
|
page_symbols_deint[i] = -page_symbols_deint[i];
|
|
}
|
|
}
|
|
const int32_t decoded_length = page_length / 2;
|
|
std::vector<int32_t> page_bits(decoded_length);
|
|
viterbi_decoder(page_symbols_deint.data(), page_bits.data());
|
|
|
|
// 3. Call the Galileo page decoder
|
|
std::string page_String;
|
|
page_String.reserve(decoded_length);
|
|
for (int32_t i = 0; i < decoded_length; i++)
|
|
{
|
|
if (page_bits[i] > 0)
|
|
{
|
|
page_String.push_back('1');
|
|
}
|
|
else
|
|
{
|
|
page_String.push_back('0');
|
|
}
|
|
}
|
|
d_cnav_nav.read_HAS_page(page_String);
|
|
|
|
// 4. If we have a new full message, read it
|
|
if (d_cnav_nav.have_new_HAS_message() == true)
|
|
{
|
|
if (d_cnav_nav.is_HAS_message_dummy() == true)
|
|
{
|
|
std::cout << TEXT_MAGENTA << "New Galileo E6 HAS dummy message received in channel " << d_channel << " from satellite " << d_satellite << TEXT_RESET << '\n';
|
|
}
|
|
else
|
|
{
|
|
const std::shared_ptr<Galileo_HAS_data> tmp_obj = std::make_shared<Galileo_HAS_data>(d_cnav_nav.get_HAS_data());
|
|
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
|
std::cout << TEXT_MAGENTA << "New Galileo E6 HAS message received in channel " << d_channel << " from satellite " << d_satellite << TEXT_RESET << '\n';
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
void galileo_telemetry_decoder_gs::set_satellite(const Gnss_Satellite &satellite)
|
|
{
|
|
gr::thread::scoped_lock lock(d_setlock);
|
|
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
|
|
d_last_valid_preamble = d_sample_counter;
|
|
d_sent_tlm_failed_msg = false;
|
|
DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite;
|
|
DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
|
|
}
|
|
|
|
|
|
void galileo_telemetry_decoder_gs::reset()
|
|
{
|
|
gr::thread::scoped_lock lock(d_setlock);
|
|
d_last_valid_preamble = d_sample_counter;
|
|
d_sent_tlm_failed_msg = false;
|
|
d_stat = 0;
|
|
DLOG(INFO) << "Telemetry decoder reset for satellite " << d_satellite;
|
|
}
|
|
|
|
|
|
void galileo_telemetry_decoder_gs::set_channel(int32_t channel)
|
|
{
|
|
d_channel = channel;
|
|
DLOG(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.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_gs::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)
|
|
{
|
|
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];
|
|
d_band = current_symbol.Signal[0];
|
|
|
|
// add new symbol to the symbol queue
|
|
switch (d_frame_type)
|
|
{
|
|
case 1: // INAV
|
|
{
|
|
d_symbol_history.push_back(current_symbol.Prompt_I);
|
|
break;
|
|
}
|
|
case 2: // FNAV
|
|
{
|
|
d_symbol_history.push_back(current_symbol.Prompt_Q);
|
|
break;
|
|
}
|
|
case 3: // CNAV
|
|
{
|
|
d_symbol_history.push_back(current_symbol.Prompt_I);
|
|
break;
|
|
}
|
|
default:
|
|
{
|
|
LOG(WARNING) << "Frame type " << d_frame_type << " is not defined";
|
|
d_symbol_history.push_back(current_symbol.Prompt_I);
|
|
break;
|
|
}
|
|
}
|
|
d_sample_counter++; // count for the processed symbols
|
|
consume_each(1);
|
|
d_flag_preamble = false;
|
|
|
|
// check if there is a problem with the telemetry of the current satellite
|
|
if (d_sent_tlm_failed_msg == false)
|
|
{
|
|
if ((d_sample_counter - d_last_valid_preamble) > d_max_symbols_without_valid_frame)
|
|
{
|
|
const int message = 1; // bad telemetry
|
|
DLOG(INFO) << "sent msg sat " << this->d_satellite;
|
|
this->message_port_pub(pmt::mp("telemetry_to_trk"), pmt::make_any(message));
|
|
d_sent_tlm_failed_msg = true;
|
|
}
|
|
}
|
|
|
|
// ******* frame sync ******************
|
|
switch (d_stat)
|
|
{
|
|
case 0: // no preamble information
|
|
{
|
|
// correlate with preamble
|
|
int32_t corr_value = 0;
|
|
if (d_symbol_history.size() > d_required_symbols)
|
|
{
|
|
// ******* preamble correlation ********
|
|
for (int32_t i = 0; i < d_samples_per_preamble; i++)
|
|
{
|
|
if (d_symbol_history[i] < 0.0) // symbols clipping
|
|
{
|
|
corr_value -= d_preamble_samples[i];
|
|
}
|
|
else
|
|
{
|
|
corr_value += d_preamble_samples[i];
|
|
}
|
|
}
|
|
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 << " in channel " << this->d_channel;
|
|
d_stat = 1; // enter into frame pre-detection status
|
|
}
|
|
}
|
|
|
|
break;
|
|
}
|
|
case 1: // possible preamble lock
|
|
{
|
|
// correlate with preamble
|
|
int32_t corr_value = 0;
|
|
if (d_symbol_history.size() > d_required_symbols)
|
|
{
|
|
// ******* preamble correlation ********
|
|
for (int32_t i = 0; i < d_samples_per_preamble; i++)
|
|
{
|
|
if (d_symbol_history[i] < 0.0) // symbols clipping
|
|
{
|
|
corr_value -= d_preamble_samples[i];
|
|
}
|
|
else
|
|
{
|
|
corr_value += d_preamble_samples[i];
|
|
}
|
|
}
|
|
if (abs(corr_value) >= d_samples_per_preamble)
|
|
{
|
|
// check preamble separation
|
|
const auto 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
|
|
DLOG(INFO) << "Starting page decoder for Galileo satellite " << this->d_satellite;
|
|
d_preamble_index = d_sample_counter; // record the preamble sample stamp
|
|
d_CRC_error_counter = 0;
|
|
if (corr_value < 0)
|
|
{
|
|
d_flag_PLL_180_deg_phase_locked = true;
|
|
}
|
|
else
|
|
{
|
|
d_flag_PLL_180_deg_phase_locked = false;
|
|
}
|
|
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
|
|
// NEW Galileo page part is received
|
|
// 0. fetch the symbols into an array
|
|
if (d_flag_PLL_180_deg_phase_locked == false) // normal PLL lock
|
|
{
|
|
for (uint32_t i = 0; i < d_frame_length_symbols; i++)
|
|
{
|
|
d_page_part_symbols[i] = d_symbol_history[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[i + d_samples_per_preamble]; // because last symbol of the preamble is just received now!
|
|
}
|
|
}
|
|
switch (d_frame_type)
|
|
{
|
|
case 1: // INAV
|
|
decode_INAV_word(d_page_part_symbols.data(), d_frame_length_symbols);
|
|
break;
|
|
case 2: // FNAV
|
|
decode_FNAV_word(d_page_part_symbols.data(), d_frame_length_symbols);
|
|
break;
|
|
case 3: // CNAV
|
|
decode_CNAV_word(d_page_part_symbols.data(), d_frame_length_symbols);
|
|
break;
|
|
default:
|
|
return -1;
|
|
break;
|
|
}
|
|
d_preamble_index = d_sample_counter; // record the preamble sample stamp (t_P)
|
|
if (d_inav_nav.get_flag_CRC_test() == true or d_fnav_nav.get_flag_CRC_test() == true)
|
|
{
|
|
d_CRC_error_counter = 0;
|
|
d_flag_preamble = true; // valid preamble indicator (initialized to false every work())
|
|
gr::thread::scoped_lock lock(d_setlock);
|
|
d_last_valid_preamble = d_sample_counter;
|
|
if (!d_flag_frame_sync)
|
|
{
|
|
d_flag_frame_sync = true;
|
|
DLOG(INFO) << " Frame sync SAT " << this->d_satellite;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
d_CRC_error_counter++;
|
|
if ((d_CRC_error_counter > CRC_ERROR_LIMIT) and (d_frame_type != 3))
|
|
{
|
|
DLOG(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.set_flag_TOW_set(false);
|
|
d_inav_nav.set_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.get_flag_TOW_set() == true)
|
|
{
|
|
if (d_inav_nav.is_TOW5_set() == 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.get_TOW5() * 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) * d_PRN_code_period_ms);
|
|
d_inav_nav.set_TOW5_flag(false);
|
|
}
|
|
|
|
else if (d_inav_nav.is_TOW6_set() == 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.get_TOW6() * 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) * d_PRN_code_period_ms);
|
|
d_inav_nav.set_TOW6_flag(false);
|
|
}
|
|
else
|
|
{
|
|
// this page has no timing information
|
|
d_TOW_at_current_symbol_ms += d_PRN_code_period_ms;
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
case 2: // FNAV
|
|
{
|
|
if (d_fnav_nav.get_flag_TOW_set() == true)
|
|
{
|
|
if (d_fnav_nav.is_TOW1_set() == true)
|
|
{
|
|
d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_fnav_nav.get_TOW1() * 1000.0);
|
|
d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * GALILEO_FNAV_CODES_PER_SYMBOL * 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.set_TOW1_flag(false);
|
|
}
|
|
else if (d_fnav_nav.is_TOW2_set() == true)
|
|
{
|
|
d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_fnav_nav.get_TOW2() * 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_FNAV_CODES_PER_SYMBOL * GALILEO_E5A_CODE_PERIOD_MS);
|
|
d_fnav_nav.set_TOW2_flag(false);
|
|
}
|
|
else if (d_fnav_nav.is_TOW3_set() == true)
|
|
{
|
|
d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_fnav_nav.get_TOW3() * 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_FNAV_CODES_PER_SYMBOL * GALILEO_E5A_CODE_PERIOD_MS);
|
|
d_fnav_nav.set_TOW3_flag(false);
|
|
}
|
|
else if (d_fnav_nav.is_TOW4_set() == true)
|
|
{
|
|
d_TOW_at_Preamble_ms = static_cast<uint32_t>(d_fnav_nav.get_TOW4() * 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_FNAV_CODES_PER_SYMBOL * GALILEO_E5A_CODE_PERIOD_MS);
|
|
d_fnav_nav.set_TOW4_flag(false);
|
|
}
|
|
else
|
|
{
|
|
d_TOW_at_current_symbol_ms += static_cast<uint32_t>(GALILEO_FNAV_CODES_PER_SYMBOL * GALILEO_E5A_CODE_PERIOD_MS);
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
case 3: // CNAV
|
|
{
|
|
// TODO
|
|
}
|
|
}
|
|
}
|
|
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.get_flag_TOW_set() == true)
|
|
{
|
|
d_TOW_at_current_symbol_ms += d_PRN_code_period_ms;
|
|
}
|
|
break;
|
|
}
|
|
case 2: // FNAV
|
|
{
|
|
if (d_fnav_nav.get_flag_TOW_set() == true)
|
|
{
|
|
d_TOW_at_current_symbol_ms += d_PRN_code_period_ms;
|
|
}
|
|
break;
|
|
}
|
|
case 3: // CNAV
|
|
{
|
|
// TODO
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
switch (d_frame_type)
|
|
{
|
|
case 1: // INAV
|
|
{
|
|
if (d_inav_nav.get_flag_TOW_set() == true)
|
|
{
|
|
if (d_inav_nav.get_flag_GGTO() == true) // all GGTO parameters arrived
|
|
{
|
|
d_delta_t = d_inav_nav.get_A0G() + d_inav_nav.get_A1G() * (static_cast<double>(d_TOW_at_current_symbol_ms) / 1000.0 - d_inav_nav.get_t0G() + 604800.0 * (std::fmod(static_cast<float>(d_inav_nav.get_Galileo_week() - d_inav_nav.get_WN0G()), 64.0)));
|
|
}
|
|
|
|
current_symbol.Flag_valid_word = true;
|
|
}
|
|
break;
|
|
}
|
|
|
|
case 2: // FNAV
|
|
{
|
|
if (d_fnav_nav.get_flag_TOW_set() == true)
|
|
{
|
|
current_symbol.Flag_valid_word = true;
|
|
}
|
|
break;
|
|
}
|
|
case 3: // CNAV
|
|
{
|
|
// TODO
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (d_inav_nav.get_flag_TOW_set() == true or d_fnav_nav.get_flag_TOW_set() == true)
|
|
{
|
|
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 -= d_delta_t; // Galileo to GPS TOW
|
|
|
|
if (d_flag_PLL_180_deg_phase_locked == true)
|
|
{
|
|
// correct the accumulated phase for the Costas loop phase shift, if required
|
|
current_symbol.Carrier_phase_rads += GNSS_PI;
|
|
}
|
|
|
|
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 = 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));
|
|
switch (d_frame_type)
|
|
{
|
|
case 1:
|
|
tmp_int = (current_symbol.Prompt_I > 0.0 ? 1 : -1);
|
|
break;
|
|
case 2:
|
|
tmp_int = (current_symbol.Prompt_Q > 0.0 ? 1 : -1);
|
|
break;
|
|
case 3:
|
|
tmp_int = (current_symbol.Prompt_I > 0.0 ? 1 : -1);
|
|
break;
|
|
default:
|
|
tmp_int = 0;
|
|
break;
|
|
}
|
|
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::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;
|
|
}
|