[hamradio-commits] [gnss-sdr] 151/251: GPS CNAV telemetry page decoder is finally working!
Carles Fernandez
carles_fernandez-guest at moszumanska.debian.org
Wed Sep 2 00:22:45 UTC 2015
This is an automated email from the git hooks/post-receive script.
carles_fernandez-guest pushed a commit to branch master
in repository gnss-sdr.
commit f56348d2d774e16e26f3389bccd2f2450bf425d6
Author: Javier <jarribas at cttc.es>
Date: Fri May 29 16:06:22 2015 +0200
GPS CNAV telemetry page decoder is finally working!
---
.../gps_l2_m_telemetry_decoder_cc.cc | 33 ++++++++++------------
.../gps_l2_m_telemetry_decoder_cc.h | 6 ++--
src/core/system_parameters/GPS_L2C.h | 14 +++++----
.../gps_cnav_navigation_message.cc | 30 ++++++++++++++++++--
.../gps_cnav_navigation_message.h | 3 +-
5 files changed, 56 insertions(+), 30 deletions(-)
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2_m_telemetry_decoder_cc.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2_m_telemetry_decoder_cc.cc
index 6a4cc82..38586a5 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2_m_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2_m_telemetry_decoder_cc.cc
@@ -180,7 +180,7 @@ int gps_l2_m_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_in
// verify checksum
// and return the valid messages
- std::vector<msg_candiate_char_t> valid_msgs;
+ std::vector<msg_candiate_int_t> valid_msgs;
d_crc_verifier.get_valid_frames(msg_candidates, valid_msgs);
if (valid_msgs.size()==0)
{
@@ -193,7 +193,14 @@ int gps_l2_m_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_in
}
}else{ //at least one frame has good CRC, keep the invert sign for the next frames
d_flag_invert_input_symbols=d_flag_invert_buffer_symbols;
+ std::vector<int> tmp_msg;
+ std::string msg;
LOG(INFO)<<valid_msgs.size()<<" GOOD L2C CNAV FRAME DETECTED!";
+ for (int i=0;i<valid_msgs.size();i++)
+ {
+ tmp_msg =valid_msgs.at(i).second;
+ d_CNAV_Message.decode_page(tmp_msg);
+ }
break;
}
}
@@ -411,9 +418,9 @@ void gps_l2_m_telemetry_decoder_cc::crc_verifier::reset()
}
-void gps_l2_m_telemetry_decoder_cc::crc_verifier::get_valid_frames(const std::vector<msg_candiate_int_t> msg_candidates, std::vector<msg_candiate_char_t> &valid_msgs)
+void gps_l2_m_telemetry_decoder_cc::crc_verifier::get_valid_frames(const std::vector<msg_candiate_int_t> msg_candidates, std::vector<msg_candiate_int_t> &valid_msgs)
{
- std::stringstream ss;
+ std::vector <unsigned char> tmp_msg;
LOG(INFO) << "get_valid_frames(): " << "msg_candidates.size()=" << msg_candidates.size();
// for each candidate
for (std::vector<msg_candiate_int_t>::const_iterator candidate_it = msg_candidates.begin(); candidate_it < msg_candidates.end(); ++candidate_it)
@@ -430,19 +437,9 @@ void gps_l2_m_telemetry_decoder_cc::crc_verifier::get_valid_frames(const std::ve
// the final remainder must be zero for a valid message, because the CRC is done over the received CRC value
if (crc == 0)
{
- valid_msgs.push_back(msg_candiate_char_t(candidate_it->first, candidate_bytes));
- ss << "Valid message found!";
- }
- else
- {
- ss << "Not a valid message.";
+ valid_msgs.push_back(msg_candiate_int_t(candidate_it->first, candidate_it->second));
+ std::cout << "Valid CNAV message found!"<<std::endl;
}
- //ss << " Relbitoffset=" << candidate_it->first << " content=";
- for (std::vector<unsigned char>::iterator byte_it = candidate_bytes.begin(); byte_it < candidate_bytes.end(); ++byte_it)
- {
- ss << std::setw(2) << std::setfill('0') << std::hex << (unsigned int)(*byte_it);
- }
- LOG(INFO) << ss.str() << std::setfill(' ') << std::resetiosflags(std::ios::hex) << std::endl;
}
}
@@ -470,9 +467,9 @@ void gps_l2_m_telemetry_decoder_cc::crc_verifier::zerropad_back_and_convert_to_b
}
}
bytes.push_back(byte); // implies: insert 6 zeros at the end to fit the 250bits into a multiple of bytes
- LOG(INFO) << " -> byte=" << std::setw(2)
- << std::setfill('0') << std::hex << (unsigned int)byte
- << std::setfill(' ') << std::resetiosflags(std::ios::hex);
+ //LOG(INFO) << " -> byte=" << std::setw(2)
+ // << std::setfill('0') << std::hex << (unsigned int)byte
+ // << std::setfill(' ') << std::resetiosflags(std::ios::hex);
}
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2_m_telemetry_decoder_cc.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2_m_telemetry_decoder_cc.h
index 14e8e8a..d66916f 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2_m_telemetry_decoder_cc.h
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2_m_telemetry_decoder_cc.h
@@ -42,7 +42,7 @@
#include <gnuradio/msg_queue.h>
#include "gnss_satellite.h"
#include "viterbi_decoder.h"
-//#include "sbas_telemetry_data.h"
+#include "gps_cnav_navigation_message.h"
class gps_l2_m_telemetry_decoder_cc;
@@ -146,7 +146,7 @@ private:
{
public:
void reset();
- void get_valid_frames(const std::vector<msg_candiate_int_t> msg_candidates, std::vector<msg_candiate_char_t> &valid_msgs);
+ void get_valid_frames(const std::vector<msg_candiate_int_t> msg_candidates, std::vector<msg_candiate_int_t> &valid_msgs);
private:
typedef boost::crc_optimal<24, 0x1864CFBu, 0x0, 0x0, false, false> crc_24_q_type;
crc_24_q_type d_checksum_agent;
@@ -155,7 +155,7 @@ private:
} d_crc_verifier;
- //Sbas_Telemetry_Data sbas_telemetry_data;
+ Gps_CNAV_Navigation_Message d_CNAV_Message;
};
diff --git a/src/core/system_parameters/GPS_L2C.h b/src/core/system_parameters/GPS_L2C.h
index ed4c9b2..f0bea03 100644
--- a/src/core/system_parameters/GPS_L2C.h
+++ b/src/core/system_parameters/GPS_L2C.h
@@ -97,11 +97,13 @@ const int32_t GPS_L2C_M_INIT_REG[115] =
#define GPS_CNAV_PREAMBLE {1, 0, 0, 0, 1, 0, 1, 1}
const int GPS_L2_CNAV_DATA_PAGE_BITS = 300; //!< GPS L2 CNAV page length, including preamble and CRC [bits]
+const int GPS_L2_CNAV_DATA_PAGE_BITS_EXTENDED_BYTES = 304; //!< GPS L2 CNAV page length, including preamble and CRC [bits]
// common to all messages
const std::vector<std::pair<int,int> > CNAV_PRN( { {9,6} } );
const std::vector<std::pair<int,int> > CNAV_MSG_TYPE( { {15,6} } );
-const std::vector<std::pair<int,int> > CNAV_TOW( { {21,17} } );
+const std::vector<std::pair<int,int> > CNAV_TOW( { {21,17} } ); //GPS Time Of Week in seconds
+const double CNAV_TOW_LSB = 6.0;
const std::vector<std::pair<int,int> > CNAV_ALERT_FLAG( { {38,1} } );
// MESSAGE TYPE 10 (Ephemeris 1)
@@ -109,11 +111,11 @@ const std::vector<std::pair<int,int> > CNAV_ALERT_FLAG( { {38,1} } );
const std::vector<std::pair<int,int> > CNAV_WN({{39,13}});
const std::vector<std::pair<int,int> > CNAV_HEALTH({{52,3}});
const std::vector<std::pair<int,int> > CNAV_TOP1({{55,11}});
-const double CNAV_TOP1_LSB = 300;
+const double CNAV_TOP1_LSB = 300.0;
const std::vector<std::pair<int,int> > CNAV_URA({{66,5}});
const std::vector<std::pair<int,int> > CNAV_TOE1({{71,11}});
-const double CNAV_TOE1_LSB = 300;
+const double CNAV_TOE1_LSB = 300.0;
const std::vector<std::pair<int,int> > CNAV_DELTA_A({{82,26}}); //Relative to AREF = 26,559,710 meters
const double CNAV_DELTA_A_LSB = TWO_N9;
@@ -137,7 +139,7 @@ const std::vector<std::pair<int,int> > CNAV_L2_PHASING_FLAG({{273,1}});
// MESSAGE TYPE 11 (Ephemeris 2)
const std::vector<std::pair<int,int> > CNAV_TOE2({{39,11}});
-const double CNAV_TOE2_LSB = 300;
+const double CNAV_TOE2_LSB = 300.0;
const std::vector<std::pair<int,int> > CNAV_OMEGA0({{50,33}});
const double CNAV_OMEGA0_LSB = TWO_N32;
const std::vector<std::pair<int,int> > CNAV_I0({{83,33}});
@@ -163,13 +165,13 @@ const double CNAV_CUC_LSB = TWO_N30;
// MESSAGE TYPE 30 (CLOCK, IONO, GRUP DELAY)
const std::vector<std::pair<int,int> > CNAV_TOP2({{39,11}});
-const double CNAV_TOP2_LSB = 300;
+const double CNAV_TOP2_LSB = 300.0;
const std::vector<std::pair<int,int> > CNAV_URA_NED0({{50,5}});
const std::vector<std::pair<int,int> > CNAV_URA_NED1({{55,3}});
const std::vector<std::pair<int,int> > CNAV_URA_NED2({{58,3}});
const std::vector<std::pair<int,int> > CNAV_TOC({{61,11}});
-const double CNAV_TOC_LSB = 300;
+const double CNAV_TOC_LSB = 300.0;
const std::vector<std::pair<int,int> > CNAV_AF0({{72,26}});
const double CNAV_AF0_LSB = TWO_N60;
const std::vector<std::pair<int,int> > CNAV_AF1({{98,20}});
diff --git a/src/core/system_parameters/gps_cnav_navigation_message.cc b/src/core/system_parameters/gps_cnav_navigation_message.cc
index 7c6d34d..34dd96e 100644
--- a/src/core/system_parameters/gps_cnav_navigation_message.cc
+++ b/src/core/system_parameters/gps_cnav_navigation_message.cc
@@ -167,9 +167,33 @@ signed long int Gps_CNAV_Navigation_Message::read_navigation_signed(std::bitset<
}
-void Gps_CNAV_Navigation_Message::decode_page(std::string data)
+void Gps_CNAV_Navigation_Message::decode_page(std::vector<int> data)
{
- std::bitset<GPS_L2_CNAV_DATA_PAGE_BITS> data_bits(data);
+ std::bitset<GPS_L2_CNAV_DATA_PAGE_BITS> data_bits;
+
+ try {
+
+// std::cout<<"data length="<<data.size()<<std::endl;
+// std::cout<<"data=";
+// for (int p=0;p<data.size();p++)
+// {
+// std::cout<<data.at(p)<<",";
+// }
+// std::cout<<std::endl;
+
+ for(int i=0;i<GPS_L2_CNAV_DATA_PAGE_BITS;i++)
+ {
+ //std::cout<<"byte["<<i<<"]="<<(int)data[i]<<std::endl;
+ data_bits[i]=(uint8_t)data[GPS_L2_CNAV_DATA_PAGE_BITS-i-1];
+
+ }
+ //std::cout<<"bitset="<<data_bits<<std::endl;
+ // try {
+ // data_bits=std::bitset<GPS_L2_CNAV_DATA_PAGE_BITS>(data);
+ } catch(std::exception &e) {
+ std::cout << "Exception converting to bitset " << e.what() << std::endl;
+ return;
+ }
int PRN;
int page_type;
@@ -179,9 +203,11 @@ void Gps_CNAV_Navigation_Message::decode_page(std::string data)
// common to all messages
PRN = static_cast<int>(read_navigation_unsigned(data_bits, CNAV_PRN));
TOW = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_TOW));
+ TOW=TOW*CNAV_TOW_LSB;
alert_flag= static_cast<bool>(read_navigation_bool(data_bits, CNAV_ALERT_FLAG));
page_type = static_cast<int>(read_navigation_unsigned(data_bits, CNAV_MSG_TYPE));
+ std::cout<<"PRN= "<<PRN<<" TOW="<<TOW<<" alert_flag= "<<alert_flag<<" page_type= "<<page_type<<std::endl;
switch(page_type)
{
case 10: // Ephemeris 1/2
diff --git a/src/core/system_parameters/gps_cnav_navigation_message.h b/src/core/system_parameters/gps_cnav_navigation_message.h
index 2c3ea56..f72ba9e 100644
--- a/src/core/system_parameters/gps_cnav_navigation_message.h
+++ b/src/core/system_parameters/gps_cnav_navigation_message.h
@@ -34,6 +34,7 @@
#include <algorithm>
#include <bitset>
+#include "stdint.h"
#include <cmath>
#include <iostream>
#include <map>
@@ -91,7 +92,7 @@ public:
// public functions
void reset();
- void decode_page(std::string data);
+ void decode_page(std::vector<int> data);
/*!
* \brief Obtain a GPS SV Ephemeris class filled with current SV data
*/
--
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