[hamradio-commits] [gnss-sdr] 169/251: code cleaning
Carles Fernandez
carles_fernandez-guest at moszumanska.debian.org
Wed Sep 2 00:22:46 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 7e04308a67de06695a09fdf6efe060e4fad40b3d
Author: Carles Fernandez <carles.fernandez at gmail.com>
Date: Sat Jun 6 01:21:00 2015 +0200
code cleaning
---
.../gnuradio_blocks/mixed_observables_cc.cc | 15 +-
.../gps_l2_m_telemetry_decoder_cc.cc | 320 ++++++++++-----------
.../gps_l2_m_telemetry_decoder_cc.h | 7 +-
src/core/system_parameters/GPS_L2C.h | 62 ++--
src/core/system_parameters/gps_cnav_ephemeris.cc | 4 +-
.../gps_cnav_navigation_message.cc | 280 +++++++++---------
.../gps_cnav_navigation_message.h | 13 +-
7 files changed, 341 insertions(+), 360 deletions(-)
diff --git a/src/algorithms/observables/gnuradio_blocks/mixed_observables_cc.cc b/src/algorithms/observables/gnuradio_blocks/mixed_observables_cc.cc
index b209f6a..1fb8dff 100644
--- a/src/algorithms/observables/gnuradio_blocks/mixed_observables_cc.cc
+++ b/src/algorithms/observables/gnuradio_blocks/mixed_observables_cc.cc
@@ -124,13 +124,14 @@ int mixed_observables_cc::general_work (int noutput_items, gr_vector_int &ninput
*/
current_gnss_synchro[i].Flag_valid_pseudorange = false;
current_gnss_synchro[i].Pseudorange_m = 0.0;
- if(current_gnss_synchro[i].Signal[0]=='2'){
- if (current_gnss_synchro[i].Flag_valid_word) //if this channel have valid word
- {
- //record the word structure in a map for pseudorange computation
- current_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(current_gnss_synchro[i].Channel_ID, current_gnss_synchro[i]));
- }
- }
+ if(current_gnss_synchro[i].Signal[0] == '2')
+ {
+ if (current_gnss_synchro[i].Flag_valid_word) //if this channel have valid word
+ {
+ //record the word structure in a map for pseudorange computation
+ current_gnss_synchro_map.insert(std::pair<int, Gnss_Synchro>(current_gnss_synchro[i].Channel_ID, current_gnss_synchro[i]));
+ }
+ }
}
/*
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 6f1d90c..5804ce8 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
@@ -40,10 +40,10 @@
using google::LogMessage;
// logging levels
-#define EVENT 2 // logs important events which don't occur every block
-#define FLOW 3 // logs the function calls of block processing functions
-#define SAMP_SYNC 4 // about 1 log entry per sample -> high output
-#define LMORE 5 //
+#define EVENT 2 // logs important events which don't occur every block
+#define FLOW 3 // logs the function calls of block processing functions
+#define SAMP_SYNC 4 // about 1 log entry per sample -> high output
+#define LMORE 5 //
@@ -74,18 +74,18 @@ gps_l2_m_telemetry_decoder_cc::gps_l2_m_telemetry_decoder_cc(
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
LOG(INFO) << "GPS L2C M TELEMETRY PROCESSING: satellite " << d_satellite;
d_fs_in = fs_in;
- d_block_size = GPS_L2_SAMPLES_PER_SYMBOL * GPS_L2_SYMBOLS_PER_BIT * GPS_L2_CNAV_DATA_PAGE_BITS*2; // two CNAV frames
- d_decimation_output_factor=0;
+ d_block_size = GPS_L2_SAMPLES_PER_SYMBOL * GPS_L2_SYMBOLS_PER_BIT * GPS_L2_CNAV_DATA_PAGE_BITS * 2; // two CNAV frames
+ d_decimation_output_factor = 0;
//set_output_multiple (1);
- d_average_count=0;
- d_flag_invert_buffer_symbols=false;
- d_flag_invert_input_symbols=false;
- d_channel=0;
- d_iono_queue=0;
- d_ephemeris_queue=0;
- d_flag_valid_word=false;
- d_TOW_at_current_symbol=0;
- d_TOW_at_Preamble=0;
+ d_average_count = 0;
+ d_flag_invert_buffer_symbols = false;
+ d_flag_invert_input_symbols = false;
+ d_channel = 0;
+ d_iono_queue = 0;
+ d_ephemeris_queue = 0;
+ d_flag_valid_word = false;
+ d_TOW_at_current_symbol = 0;
+ d_TOW_at_Preamble = 0;
//set_history(d_samples_per_bit*8); // At least a history of 8 bits are needed to correlate with the preamble
}
@@ -97,7 +97,6 @@ gps_l2_m_telemetry_decoder_cc::~gps_l2_m_telemetry_decoder_cc()
}
-
void gps_l2_m_telemetry_decoder_cc::forecast (int noutput_items, gr_vector_int &ninput_items_required)
{
unsigned ninputs = ninput_items_required.size ();
@@ -106,140 +105,118 @@ void gps_l2_m_telemetry_decoder_cc::forecast (int noutput_items, gr_vector_int &
//LOG(INFO) << "forecast(): " << "noutput_items=" << noutput_items << "\tninput_items_required ninput_items_required.size()=" << ninput_items_required.size();
}
+
void gps_l2_m_telemetry_decoder_cc::set_decimation(int decimation)
{
d_decimation_output_factor = decimation;
}
+
int gps_l2_m_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
- //LOG(INFO) << "general_work(): " << "noutput_items=" << noutput_items << "\toutput_items real size=" << output_items.size() << "\tninput_items size=" << ninput_items.size() << "\tinput_items real size=" << input_items.size() << "\tninput_items[0]=" << ninput_items[0];
// get pointers on in- and output gnss-synchro objects
const Gnss_Synchro *in = (const Gnss_Synchro *) input_items[0]; // input
- Gnss_Synchro *out = (Gnss_Synchro *) output_items[0]; // output
+ Gnss_Synchro *out = (Gnss_Synchro *) output_items[0]; // output
// store the time stamp of the first sample in the processed sample block
double sample_stamp = in[0].Tracking_timestamp_secs;
- bool flag_new_cnav_frame=false;
- int last_frame_preamble_start=0;
+ bool flag_new_cnav_frame = false;
+ int last_frame_preamble_start = 0;
// copy correlation samples into samples vector
- //for (int i = 0; i < noutput_items; i++)
- /// {
- // check if channel is in tracking state
- // {
- d_sample_buf.push_back(in[0].Prompt_I);
- // }
- // }
+ d_sample_buf.push_back(in[0].Prompt_I);
consume_each(1); //one by one
// decode only if enough samples in buffer
if(d_sample_buf.size() >= d_block_size)
{
- if (in[0].Flag_valid_tracking==false) // check if the tracking is locked
- {
- //LOG(INFO)<< "Discarting channel "<<d_channel<<" tracking not ready!"<<std::endl;
- d_flag_valid_word=false;
- }else{
- d_flag_invert_buffer_symbols=d_flag_invert_input_symbols;
- while (true)
- {
-
- if (d_flag_invert_buffer_symbols==true)
- {
-// for (int m=0;m<d_sample_buf.size();m++)
-// {
-// d_sample_buf.at(m)=-d_sample_buf.at(m);
-// }
- for (std::vector<double>::iterator symbol_it = d_sample_buf.begin(); symbol_it != d_sample_buf.end(); symbol_it++)
- {
- *symbol_it = -(*symbol_it);
- }
- //LOG(INFO)<<"Inverting buffer symbols";
- }
-
- //debug
-// std::stringstream ss2;
-// for (std::vector<double>::const_iterator symbol_it = d_sample_buf.begin(); symbol_it < d_sample_buf.end(); ++symbol_it)
-// {
-//
-// ss2<<*symbol_it<<",";
-// if(*symbol_it>=0)
-// {
-// ss2<<'1';
-// }else{
-// ss2<<'0';
-// }
-// }
- //LOG(INFO)<<"get_symbols="<<ss2.str();
-
-
- // align symbols in pairs
- // and obtain the bits by decoding the symbols (viterbi decoder)
- // they can be already aligned or shifted by one position
- std::vector<int> bits;
- bool symbol_alignment = d_symbol_aligner_and_decoder.get_bits(d_sample_buf, bits);
-
- std::stringstream ss;
-
- for (std::vector<int>::const_iterator bit_it = bits.begin(); bit_it < bits.end(); ++bit_it)
- {
- ss << *bit_it;
- }
-
-// LOG(INFO)<<"get_bits="<<ss.str()<<std::endl;
- // search for preambles
- // and extract the corresponding message candidates
- std::vector<msg_candiate_int_t> msg_candidates;
- d_frame_detector.get_frame_candidates(bits, msg_candidates);
-
- // verify checksum
- // and return the valid messages
- std::vector<msg_candiate_int_t> valid_msgs;
- d_crc_verifier.get_valid_frames(msg_candidates, valid_msgs);
- if (valid_msgs.size()==0)
- {
- if (d_flag_invert_buffer_symbols==d_flag_invert_input_symbols)
- {
- d_flag_invert_buffer_symbols=not d_flag_invert_buffer_symbols;
- }else{//already tested the symbol inversion but CRC still fail
- LOG(INFO)<<"Discarting this buffer, no CNAV frames detected CH "<<this->d_channel;
- break;
- }
- }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! CH "<<this->d_channel;
- for (unsigned int i=0;i<valid_msgs.size();i++)
- {
- tmp_msg =valid_msgs.at(i).second;
- d_CNAV_Message.decode_page(tmp_msg);
- std::cout<<"Valid CNAV frame with relative preamble start at "<<valid_msgs.at(i).first<<std::endl;
- flag_new_cnav_frame=true;
- d_flag_valid_word=true;
- last_frame_preamble_start=valid_msgs.at(i).first;
- // 4. Push the new navigation data to the queues
- if (d_CNAV_Message.have_new_ephemeris() == true)
- {
- // get ephemeris object for this SV
- Gps_CNAV_Ephemeris ephemeris = d_CNAV_Message.get_ephemeris();//notice that the read operation will clear the valid flag
- std::cout<<"New GPS CNAV Ephemeris received for SV "<<ephemeris.i_satellite_PRN<<std::endl;
- d_ephemeris_queue->push(ephemeris);
- }
- if (d_CNAV_Message.have_new_iono() == true)
- {
- Gps_CNAV_Iono iono= d_CNAV_Message.get_iono(); //notice that the read operation will clear the valid flag
- std::cout<<"New GPS CNAV IONO model received for SV "<<d_satellite.get_PRN()<<std::endl;
- d_iono_queue->push(iono);
- }
- }
- break;
- }
- }
- }
+ if (in[0].Flag_valid_tracking == false) // check if the tracking is locked
+ {
+ //LOG(INFO)<< "Discarting channel "<<d_channel<<" tracking not ready!"<<std::endl;
+ d_flag_valid_word = false;
+ }
+ else
+ {
+ d_flag_invert_buffer_symbols = d_flag_invert_input_symbols;
+ while (true)
+ {
+ if (d_flag_invert_buffer_symbols == true)
+ {
+ for (std::vector<double>::iterator symbol_it = d_sample_buf.begin(); symbol_it != d_sample_buf.end(); symbol_it++)
+ {
+ *symbol_it = -(*symbol_it);
+ }
+ //LOG(INFO)<<"Inverting buffer symbols";
+ }
+ // align symbols in pairs
+ // and obtain the bits by decoding the symbols (viterbi decoder)
+ // they can be already aligned or shifted by one position
+ std::vector<int> bits;
+ bool symbol_alignment = d_symbol_aligner_and_decoder.get_bits(d_sample_buf, bits);
+
+ //std::stringstream ss;
+ //for (std::vector<int>::const_iterator bit_it = bits.begin(); bit_it < bits.end(); ++bit_it)
+ // {
+ // ss << *bit_it;
+ // }
+ // LOG(INFO) << "get_bits=" << ss.str() << std::endl;
+
+ // search for preambles
+ // and extract the corresponding message candidates
+ std::vector<msg_candiate_int_t> msg_candidates;
+ d_frame_detector.get_frame_candidates(bits, msg_candidates);
+
+ // verify checksum
+ // and return the valid messages
+ std::vector<msg_candiate_int_t> valid_msgs;
+ d_crc_verifier.get_valid_frames(msg_candidates, valid_msgs);
+ if (valid_msgs.size() == 0)
+ {
+ if (d_flag_invert_buffer_symbols == d_flag_invert_input_symbols)
+ {
+ d_flag_invert_buffer_symbols = not d_flag_invert_buffer_symbols;
+ }
+ else
+ {//already tested the symbol inversion but CRC still fail
+ LOG(INFO) << "Discarting this buffer, no CNAV frames detected CH " << this->d_channel;
+ break;
+ }
+ }
+ 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! CH " <<this->d_channel;
+ for (unsigned int i = 0;i < valid_msgs.size(); i++)
+ {
+ tmp_msg = valid_msgs.at(i).second;
+ d_CNAV_Message.decode_page(tmp_msg);
+ std::cout << "Valid CNAV frame with relative preamble start at " << valid_msgs.at(i).first << std::endl;
+ flag_new_cnav_frame = true;
+ d_flag_valid_word = true;
+ last_frame_preamble_start = valid_msgs.at(i).first;
+ // 4. Push the new navigation data to the queues
+ if (d_CNAV_Message.have_new_ephemeris() == true)
+ {
+ // get ephemeris object for this SV
+ Gps_CNAV_Ephemeris ephemeris = d_CNAV_Message.get_ephemeris(); //notice that the read operation will clear the valid flag
+ std::cout << "New GPS CNAV Ephemeris received for SV " << ephemeris.i_satellite_PRN << std::endl;
+ d_ephemeris_queue->push(ephemeris);
+ }
+ if (d_CNAV_Message.have_new_iono() == true)
+ {
+ Gps_CNAV_Iono iono = d_CNAV_Message.get_iono(); //notice that the read operation will clear the valid flag
+ std::cout << "New GPS CNAV IONO model received for SV " << d_satellite.get_PRN() << std::endl;
+ d_iono_queue->push(iono);
+ }
+ }
+ break;
+ }
+ }
+ }
// clear all processed samples in the input buffer
d_sample_buf.clear();
}
@@ -250,36 +227,39 @@ int gps_l2_m_telemetry_decoder_cc::general_work (int noutput_items, gr_vector_in
//1. Copy the current tracking output
current_synchro_data = in[0];
-
- if (d_flag_valid_word==true)
- {
- double Prn_timestamp_at_preamble_ms=0;
- //2. Add the telemetry decoder information
- if (flag_new_cnav_frame==true)
- {
- //update TOW at the preamble instant
- Prn_timestamp_at_preamble_ms = (in[0].Tracking_timestamp_secs * 1000.0)-(d_block_size-last_frame_preamble_start)*GPS_L2_M_PERIOD;
- d_TOW_at_Preamble = d_CNAV_Message.d_TOW - GPS_L2_CNAV_DATA_PAGE_DURATION_S;
- d_TOW_at_current_symbol = d_TOW_at_Preamble + (d_block_size-last_frame_preamble_start)*GPS_L2_M_PERIOD;
- current_synchro_data.d_TOW = d_TOW_at_Preamble;
- current_synchro_data.d_TOW_at_current_symbol = d_TOW_at_current_symbol;
- current_synchro_data.d_TOW_hybrid_at_current_symbol = current_synchro_data.d_TOW_at_current_symbol;
- current_synchro_data.Flag_preamble = false;
- current_synchro_data.Prn_timestamp_ms = in[0].Tracking_timestamp_secs * 1000.0;
- current_synchro_data.Prn_timestamp_at_preamble_ms = Prn_timestamp_at_preamble_ms;
- }else{
- d_TOW_at_current_symbol = d_TOW_at_Preamble + (d_block_size-last_frame_preamble_start)*GPS_L2_M_PERIOD;
- current_synchro_data.d_TOW = d_TOW_at_Preamble;
- current_synchro_data.d_TOW_at_current_symbol = d_TOW_at_current_symbol;
- current_synchro_data.d_TOW_hybrid_at_current_symbol = current_synchro_data.d_TOW_at_current_symbol;
- current_synchro_data.Flag_preamble = false;
- current_synchro_data.Prn_timestamp_ms = in[0].Tracking_timestamp_secs * 1000.0;
- current_synchro_data.Prn_timestamp_at_preamble_ms = Prn_timestamp_at_preamble_ms;
- }
- current_synchro_data.Flag_valid_word = true;
- }else{
- current_synchro_data.Flag_valid_word = false;
- }
+ if (d_flag_valid_word == true)
+ {
+ double Prn_timestamp_at_preamble_ms = 0;
+ //2. Add the telemetry decoder information
+ if (flag_new_cnav_frame == true)
+ {
+ //update TOW at the preamble instant
+ Prn_timestamp_at_preamble_ms = (in[0].Tracking_timestamp_secs * 1000.0) - (d_block_size - last_frame_preamble_start) * GPS_L2_M_PERIOD;
+ d_TOW_at_Preamble = d_CNAV_Message.d_TOW - GPS_L2_CNAV_DATA_PAGE_DURATION_S;
+ d_TOW_at_current_symbol = d_TOW_at_Preamble + (d_block_size - last_frame_preamble_start) * GPS_L2_M_PERIOD;
+ current_synchro_data.d_TOW = d_TOW_at_Preamble;
+ current_synchro_data.d_TOW_at_current_symbol = d_TOW_at_current_symbol;
+ current_synchro_data.d_TOW_hybrid_at_current_symbol = current_synchro_data.d_TOW_at_current_symbol;
+ current_synchro_data.Flag_preamble = false;
+ current_synchro_data.Prn_timestamp_ms = in[0].Tracking_timestamp_secs * 1000.0;
+ current_synchro_data.Prn_timestamp_at_preamble_ms = Prn_timestamp_at_preamble_ms;
+ }
+ else
+ {
+ d_TOW_at_current_symbol = d_TOW_at_Preamble + (d_block_size - last_frame_preamble_start) * GPS_L2_M_PERIOD;
+ current_synchro_data.d_TOW = d_TOW_at_Preamble;
+ current_synchro_data.d_TOW_at_current_symbol = d_TOW_at_current_symbol;
+ current_synchro_data.d_TOW_hybrid_at_current_symbol = current_synchro_data.d_TOW_at_current_symbol;
+ current_synchro_data.Flag_preamble = false;
+ current_synchro_data.Prn_timestamp_ms = in[0].Tracking_timestamp_secs * 1000.0;
+ current_synchro_data.Prn_timestamp_at_preamble_ms = Prn_timestamp_at_preamble_ms;
+ }
+ current_synchro_data.Flag_valid_word = true;
+ }
+ else
+ {
+ current_synchro_data.Flag_valid_word = false;
+ }
d_average_count++;
if (d_average_count == d_decimation_output_factor)
@@ -346,8 +326,8 @@ void gps_l2_m_telemetry_decoder_cc::symbol_aligner_and_decoder::reset()
bool gps_l2_m_telemetry_decoder_cc::symbol_aligner_and_decoder::get_bits(const std::vector<double> symbols, std::vector<int> &bits)
{
- const int traceback_depth = 5*d_KK;
- int nbits_requested = symbols.size()/GPS_L2_SYMBOLS_PER_BIT;
+ const int traceback_depth = 5 * d_KK;
+ int nbits_requested = symbols.size() / GPS_L2_SYMBOLS_PER_BIT;
int nbits_decoded;
// fill two vectors with the two possible symbol alignments
std::vector<double> symbols_vd1(symbols); // aligned symbol vector -> copy input symbol vector
@@ -448,12 +428,12 @@ void gps_l2_m_telemetry_decoder_cc::frame_detector::get_frame_candidates(const s
// ### helper class for checking the CRC of the message candidates ###
-
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_int_t> &valid_msgs)
{
std::vector <unsigned char> tmp_msg;
@@ -481,11 +461,9 @@ void gps_l2_m_telemetry_decoder_cc::crc_verifier::get_valid_frames(const std::ve
-
-
void gps_l2_m_telemetry_decoder_cc::crc_verifier::zerropad_back_and_convert_to_bytes(const std::vector<int> msg_candidate, std::vector<unsigned char> &bytes)
{
- std::stringstream ss;
+ //std::stringstream ss;
const size_t bits_per_byte = 8;
unsigned char byte = 0;
//LOG(INFO) << "zerropad_back_and_convert_to_bytes():" << byte;
@@ -494,7 +472,7 @@ void gps_l2_m_telemetry_decoder_cc::crc_verifier::zerropad_back_and_convert_to_b
int idx_bit = candidate_bit_it - msg_candidate.begin();
int bit_pos_in_current_byte = (bits_per_byte - 1) - (idx_bit % bits_per_byte);
byte |= (unsigned char)(*candidate_bit_it) << bit_pos_in_current_byte;
- ss << *candidate_bit_it;
+ // ss << *candidate_bit_it;
if (idx_bit % bits_per_byte == bits_per_byte - 1)
{
bytes.push_back(byte);
@@ -512,7 +490,7 @@ void gps_l2_m_telemetry_decoder_cc::crc_verifier::zerropad_back_and_convert_to_b
void gps_l2_m_telemetry_decoder_cc::crc_verifier::zerropad_front_and_convert_to_bytes(const std::vector<int> msg_candidate, std::vector<unsigned char> &bytes)
{
- std::stringstream ss;
+ //std::stringstream ss;
const size_t bits_per_byte = 8;
unsigned char byte = 0;
int idx_bit = 6; // insert 6 zeros at the front to fit the 250bits into a multiple of bytes
@@ -521,7 +499,7 @@ void gps_l2_m_telemetry_decoder_cc::crc_verifier::zerropad_front_and_convert_to_
{
int bit_pos_in_current_byte = (bits_per_byte - 1) - (idx_bit % bits_per_byte);
byte |= (unsigned char)(*candidate_bit_it) << bit_pos_in_current_byte;
- ss << *candidate_bit_it;
+ // ss << *candidate_bit_it;
if (idx_bit % bits_per_byte == bits_per_byte - 1)
{
bytes.push_back(byte);
@@ -536,12 +514,14 @@ void gps_l2_m_telemetry_decoder_cc::crc_verifier::zerropad_front_and_convert_to_
// << std::setfill(' ') << std::resetiosflags(std::ios::hex);
}
+
void gps_l2_m_telemetry_decoder_cc::set_iono_queue(concurrent_queue<Gps_CNAV_Iono> *iono_queue)
{
- d_iono_queue=iono_queue;
+ d_iono_queue = iono_queue;
}
+
void gps_l2_m_telemetry_decoder_cc::set_ephemeris_queue(concurrent_queue<Gps_CNAV_Ephemeris> *ephemeris_queue)
{
- d_ephemeris_queue=ephemeris_queue;
+ d_ephemeris_queue = ephemeris_queue;
}
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 f540b63..15d5d08 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
@@ -68,9 +68,11 @@ public:
void set_channel(int channel); //!< Set receiver's channel
// queues to communicate broadcasted CNAV data to other blocks of GNSS-SDR
- void set_iono_queue(concurrent_queue<Gps_CNAV_Iono> *iono_queue); //!< Set iono queue
- void set_ephemeris_queue(concurrent_queue<Gps_CNAV_Ephemeris> *ephemeris_queue); //!< Set ephemeris queue
+ void set_iono_queue(concurrent_queue<Gps_CNAV_Iono> *iono_queue); //!< Set iono queue
+ void set_ephemeris_queue(concurrent_queue<Gps_CNAV_Ephemeris> *ephemeris_queue); //!< Set ephemeris queue
+
void set_decimation(int decimation);
+
/*!
* \brief This is where all signal processing takes place
*/
@@ -158,7 +160,6 @@ private:
void zerropad_back_and_convert_to_bytes(const std::vector<int> msg_candidate, std::vector<unsigned char> &bytes);
} d_crc_verifier;
-
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 5e8041e..f2e1216 100644
--- a/src/core/system_parameters/GPS_L2C.h
+++ b/src/core/system_parameters/GPS_L2C.h
@@ -36,7 +36,7 @@
#include <complex>
#include <vector>
#include <utility> // std::pair
-#include <gnss_satellite.h>
+#include "gnss_satellite.h"
#include "MATH_CONSTANTS.h"
// Physical constants
@@ -61,35 +61,35 @@ const int GPS_L2_L_CODE_LENGTH_CHIPS = 767250; //!< GPS L2 L code length [chip
const double GPS_L2_L_PERIOD = 1.5; //!< GPS L2 L code period [seconds]
const int32_t GPS_L2C_M_INIT_REG[115] =
-{0742417664, 0756014035,0002747144,0066265724, // 1:4
-0601403471, 0703232733, 0124510070,0617316361, // 5:8
-0047541621, 0733031046, 0713512145, 0024437606,
-0021264003, 0230655351, 0001314400, 0222021506,
-0540264026, 0205521705, 0064022144, 0120161274,
-0044023533, 0724744327, 0045743577, 0741201660,
-0700274134, 0010247261, 0713433445, 0737324162,
-0311627434, 0710452007, 0722462133, 0050172213,
-0500653703, 0755077436, 0136717361, 0756675453,
-0435506112, 0771353753, 0226107701, 0022025110,
-0402466344, 0752566114, 0702011164, 0041216771,
-0047457275, 0266333164, 0713167356, 0060546335,
-0355173035, 0617201036, 0157465571, 0767360553,
-0023127030, 0431343777, 0747317317, 0045706125,
-0002744276, 0060036467, 0217744147, 0603340174,//57:60
-0326616775, 0063240065, 0111460621, //61:63
-0604055104, 0157065232, 0013305707, 0603552017,//159:162
-0230461355, 0603653437, 0652346475, 0743107103,
-0401521277, 0167335110, 0014013575, 0362051132,
-0617753265, 0216363634, 0755561123, 0365304033,
-0625025543, 0054420334, 0415473671, 0662364360,
-0373446602, 0417564100, 0000526452, 0226631300,
-0113752074, 0706134401, 0041352546, 0664630154,
-0276524255, 0714720530, 0714051771, 0044526647,
-0207164322, 0262120161, 0204244652, 0202133131,
-0714351204, 0657127260, 0130567507, 0670517677,
-0607275514, 0045413633, 0212645405, 0613700455,
-0706202440, 0705056276, 0020373522, 0746013617,
-0132720621, 0434015513, 0566721727, 0140633660};
+ {0742417664, 0756014035,0002747144,0066265724, // 1:4
+ 0601403471, 0703232733, 0124510070, 0617316361, // 5:8
+ 0047541621, 0733031046, 0713512145, 0024437606,
+ 0021264003, 0230655351, 0001314400, 0222021506,
+ 0540264026, 0205521705, 0064022144, 0120161274,
+ 0044023533, 0724744327, 0045743577, 0741201660,
+ 0700274134, 0010247261, 0713433445, 0737324162,
+ 0311627434, 0710452007, 0722462133, 0050172213,
+ 0500653703, 0755077436, 0136717361, 0756675453,
+ 0435506112, 0771353753, 0226107701, 0022025110,
+ 0402466344, 0752566114, 0702011164, 0041216771,
+ 0047457275, 0266333164, 0713167356, 0060546335,
+ 0355173035, 0617201036, 0157465571, 0767360553,
+ 0023127030, 0431343777, 0747317317, 0045706125,
+ 0002744276, 0060036467, 0217744147, 0603340174,//57:60
+ 0326616775, 0063240065, 0111460621, //61:63
+ 0604055104, 0157065232, 0013305707, 0603552017,//159:162
+ 0230461355, 0603653437, 0652346475, 0743107103,
+ 0401521277, 0167335110, 0014013575, 0362051132,
+ 0617753265, 0216363634, 0755561123, 0365304033,
+ 0625025543, 0054420334, 0415473671, 0662364360,
+ 0373446602, 0417564100, 0000526452, 0226631300,
+ 0113752074, 0706134401, 0041352546, 0664630154,
+ 0276524255, 0714720530, 0714051771, 0044526647,
+ 0207164322, 0262120161, 0204244652, 0202133131,
+ 0714351204, 0657127260, 0130567507, 0670517677,
+ 0607275514, 0045413633, 0212645405, 0613700455,
+ 0706202440, 0705056276, 0020373522, 0746013617,
+ 0132720621, 0434015513, 0566721727, 0140633660};
// CNAV GPS NAVIGATION MESSAGE STRUCTURE
// NAVIGATION MESSAGE FIELDS POSITIONS (from IS-GPS-200E Appendix III)
@@ -99,7 +99,7 @@ const int32_t GPS_L2C_M_INIT_REG[115] =
const int GPS_L2_CNAV_DATA_PAGE_BITS = 300; //!< GPS L2 CNAV page length, including preamble and CRC [bits]
const int GPS_L2_SYMBOLS_PER_BIT = 2;
const int GPS_L2_SAMPLES_PER_SYMBOL = 1;
-const int GPS_L2_CNAV_DATA_PAGE_DURATION_S=12;
+const int GPS_L2_CNAV_DATA_PAGE_DURATION_S = 12;
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
diff --git a/src/core/system_parameters/gps_cnav_ephemeris.cc b/src/core/system_parameters/gps_cnav_ephemeris.cc
index 54520a6..ac911a1 100644
--- a/src/core/system_parameters/gps_cnav_ephemeris.cc
+++ b/src/core/system_parameters/gps_cnav_ephemeris.cc
@@ -36,8 +36,8 @@ Gps_CNAV_Ephemeris::Gps_CNAV_Ephemeris()
{
i_satellite_PRN = 0;
- d_Toe1=-1;
- d_Toe2=-1;
+ d_Toe1 = -1;
+ d_Toe2 = -1;
d_TOW = 0;
d_Crs = 0;
diff --git a/src/core/system_parameters/gps_cnav_navigation_message.cc b/src/core/system_parameters/gps_cnav_navigation_message.cc
index 121e8a8..683c089 100644
--- a/src/core/system_parameters/gps_cnav_navigation_message.cc
+++ b/src/core/system_parameters/gps_cnav_navigation_message.cc
@@ -38,9 +38,9 @@
void Gps_CNAV_Navigation_Message::reset()
{
- b_flag_ephemeris_1=false;
- b_flag_ephemeris_2=false;
- b_flag_iono_valid=false;
+ b_flag_ephemeris_1 = false;
+ b_flag_ephemeris_2 = false;
+ b_flag_iono_valid = false;
// satellite positions
d_satpos_X = 0;
@@ -57,6 +57,7 @@ void Gps_CNAV_Navigation_Message::reset()
d_satvel_Z = 0;
}
+
Gps_CNAV_Navigation_Message::Gps_CNAV_Navigation_Message()
{
reset();
@@ -68,6 +69,7 @@ Gps_CNAV_Navigation_Message::Gps_CNAV_Navigation_Message()
b_flag_iono_valid = false;
}
+
void Gps_CNAV_Navigation_Message::print_gps_word_bytes(unsigned int GPS_word)
{
std::cout << " Word =";
@@ -75,6 +77,7 @@ void Gps_CNAV_Navigation_Message::print_gps_word_bytes(unsigned int GPS_word)
std::cout << std::endl;
}
+
bool Gps_CNAV_Navigation_Message::read_navigation_bool(std::bitset<GPS_L2_CNAV_DATA_PAGE_BITS> bits, const std::vector<std::pair<int,int>> parameter)
{
bool value;
@@ -172,31 +175,21 @@ signed long int Gps_CNAV_Navigation_Message::read_navigation_signed(std::bitset<
void Gps_CNAV_Navigation_Message::decode_page(std::vector<int> 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;
- }
+ std::bitset<GPS_L2_CNAV_DATA_PAGE_BITS> data_bits;
+
+ try
+ {
+ for(int i = 0; i < GPS_L2_CNAV_DATA_PAGE_BITS; i++)
+ {
+ data_bits[i] = static_cast<uint8_t>(data[GPS_L2_CNAV_DATA_PAGE_BITS - i - 1]);
+ }
+
+ }
+ catch(std::exception &e)
+ {
+ std::cout << "Exception converting to bitset " << e.what() << std::endl;
+ return;
+ }
int PRN;
int page_type;
@@ -205,138 +198,143 @@ void Gps_CNAV_Navigation_Message::decode_page(std::vector<int> data)
// common to all messages
PRN = static_cast<int>(read_navigation_unsigned(data_bits, CNAV_PRN));
- ephemeris_record.i_satellite_PRN=PRN;
+ ephemeris_record.i_satellite_PRN = PRN;
d_TOW = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_TOW));
- d_TOW=d_TOW*CNAV_TOW_LSB;
- ephemeris_record.d_TOW=d_TOW;
+ d_TOW = d_TOW * CNAV_TOW_LSB;
+ ephemeris_record.d_TOW = d_TOW;
- alert_flag= static_cast<bool>(read_navigation_bool(data_bits, CNAV_ALERT_FLAG));
- ephemeris_record.b_alert_flag=alert_flag;
+ alert_flag = static_cast<bool>(read_navigation_bool(data_bits, CNAV_ALERT_FLAG));
+ ephemeris_record.b_alert_flag = alert_flag;
page_type = static_cast<int>(read_navigation_unsigned(data_bits, CNAV_MSG_TYPE));
- std::cout<<"PRN= "<<PRN<<" TOW="<<d_TOW<<" alert_flag= "<<alert_flag<<" page_type= "<<page_type<<std::endl;
+ std::cout << "PRN=" << PRN << " TOW=" << d_TOW << " alert_flag=" << alert_flag << " page_type= " << page_type << std::endl;
switch(page_type)
{
case 10: // Ephemeris 1/2
- ephemeris_record.i_GPS_week=static_cast<int>(read_navigation_unsigned(data_bits, CNAV_WN));
- ephemeris_record.i_signal_health=static_cast<int>(read_navigation_unsigned(data_bits, CNAV_HEALTH));
- ephemeris_record.d_Top=static_cast<double>(read_navigation_unsigned(data_bits, CNAV_TOP1));
- ephemeris_record.d_Top=ephemeris_record.d_Top*CNAV_TOP1_LSB;
- ephemeris_record.d_URA0=static_cast<double>(read_navigation_signed(data_bits, CNAV_URA));
- ephemeris_record.d_Toe1=static_cast<double>(read_navigation_unsigned(data_bits, CNAV_TOE1));
- ephemeris_record.d_Toe1=ephemeris_record.d_Toe1*CNAV_TOE1_LSB;
- ephemeris_record.d_DELTA_A=static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_A));
- ephemeris_record.d_DELTA_A=ephemeris_record.d_DELTA_A*CNAV_DELTA_A_LSB;
- ephemeris_record.d_A_DOT=static_cast<double>(read_navigation_signed(data_bits, CNAV_A_DOT));
- ephemeris_record.d_A_DOT=ephemeris_record.d_A_DOT*CNAV_A_DOT_LSB;
- ephemeris_record.d_Delta_n=static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_N0));
- ephemeris_record.d_Delta_n=ephemeris_record.d_Delta_n*CNAV_DELTA_N0_LSB;
- ephemeris_record.d_DELTA_DOT_N=static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_N0_DOT));
- ephemeris_record.d_DELTA_DOT_N=ephemeris_record.d_DELTA_DOT_N*CNAV_DELTA_N0_DOT_LSB;
- ephemeris_record.d_M_0=static_cast<double>(read_navigation_signed(data_bits, CNAV_M0));
- ephemeris_record.d_M_0=ephemeris_record.d_M_0*CNAV_M0_LSB;
- ephemeris_record.d_e_eccentricity=static_cast<double>(read_navigation_signed(data_bits, CNAV_E_ECCENTRICITY));
- ephemeris_record.d_e_eccentricity=ephemeris_record.d_e_eccentricity*CNAV_E_ECCENTRICITY_LSB;
- ephemeris_record.d_OMEGA=static_cast<double>(read_navigation_signed(data_bits, CNAV_OMEGA));
- ephemeris_record.d_OMEGA=ephemeris_record.d_OMEGA*CNAV_OMEGA_LSB;
-
- ephemeris_record.b_integrity_status_flag=static_cast<bool>(read_navigation_bool(data_bits, CNAV_INTEGRITY_FLAG));
- ephemeris_record.b_l2c_phasing_flag=static_cast<bool>(read_navigation_bool(data_bits, CNAV_L2_PHASING_FLAG));
-
- b_flag_ephemeris_1=true;
+ ephemeris_record.i_GPS_week = static_cast<int>(read_navigation_unsigned(data_bits, CNAV_WN));
+ ephemeris_record.i_signal_health = static_cast<int>(read_navigation_unsigned(data_bits, CNAV_HEALTH));
+ ephemeris_record.d_Top = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_TOP1));
+ ephemeris_record.d_Top = ephemeris_record.d_Top * CNAV_TOP1_LSB;
+ ephemeris_record.d_URA0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_URA));
+ ephemeris_record.d_Toe1 = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_TOE1));
+ ephemeris_record.d_Toe1 = ephemeris_record.d_Toe1 * CNAV_TOE1_LSB;
+ ephemeris_record.d_DELTA_A = static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_A));
+ ephemeris_record.d_DELTA_A = ephemeris_record.d_DELTA_A * CNAV_DELTA_A_LSB;
+ ephemeris_record.d_A_DOT = static_cast<double>(read_navigation_signed(data_bits, CNAV_A_DOT));
+ ephemeris_record.d_A_DOT = ephemeris_record.d_A_DOT * CNAV_A_DOT_LSB;
+ ephemeris_record.d_Delta_n = static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_N0));
+ ephemeris_record.d_Delta_n = ephemeris_record.d_Delta_n * CNAV_DELTA_N0_LSB;
+ ephemeris_record.d_DELTA_DOT_N = static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_N0_DOT));
+ ephemeris_record.d_DELTA_DOT_N = ephemeris_record.d_DELTA_DOT_N * CNAV_DELTA_N0_DOT_LSB;
+ ephemeris_record.d_M_0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_M0));
+ ephemeris_record.d_M_0 = ephemeris_record.d_M_0 * CNAV_M0_LSB;
+ ephemeris_record.d_e_eccentricity = static_cast<double>(read_navigation_signed(data_bits, CNAV_E_ECCENTRICITY));
+ ephemeris_record.d_e_eccentricity = ephemeris_record.d_e_eccentricity * CNAV_E_ECCENTRICITY_LSB;
+ ephemeris_record.d_OMEGA = static_cast<double>(read_navigation_signed(data_bits, CNAV_OMEGA));
+ ephemeris_record.d_OMEGA = ephemeris_record.d_OMEGA * CNAV_OMEGA_LSB;
+
+ ephemeris_record.b_integrity_status_flag = static_cast<bool>(read_navigation_bool(data_bits, CNAV_INTEGRITY_FLAG));
+ ephemeris_record.b_l2c_phasing_flag = static_cast<bool>(read_navigation_bool(data_bits, CNAV_L2_PHASING_FLAG));
+
+ b_flag_ephemeris_1 = true;
break;
case 11: // Ephemeris 2/2
- ephemeris_record.d_Toe2=static_cast<double>(read_navigation_unsigned(data_bits, CNAV_TOE2));
- ephemeris_record.d_Toe2=ephemeris_record.d_Toe2*CNAV_TOE2_LSB;
- ephemeris_record.d_OMEGA0=static_cast<double>(read_navigation_signed(data_bits, CNAV_OMEGA0));
- ephemeris_record.d_OMEGA0=ephemeris_record.d_OMEGA0*CNAV_OMEGA0_LSB;
- ephemeris_record.d_DELTA_OMEGA_DOT=static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_OMEGA_DOT));
- ephemeris_record.d_DELTA_OMEGA_DOT=ephemeris_record.d_DELTA_OMEGA_DOT*CNAV_DELTA_OMEGA_DOT_LSB;
- ephemeris_record.d_i_0=static_cast<double>(read_navigation_signed(data_bits, CNAV_I0));
- ephemeris_record.d_i_0=ephemeris_record.d_i_0*CNAV_I0_LSB;
- ephemeris_record.d_IDOT=static_cast<double>(read_navigation_signed(data_bits, CNAV_I0_DOT));
- ephemeris_record.d_IDOT=ephemeris_record.d_IDOT*CNAV_I0_DOT_LSB;
- ephemeris_record.d_Cis=static_cast<double>(read_navigation_signed(data_bits, CNAV_CIS));
- ephemeris_record.d_Cis=ephemeris_record.d_Cis*CNAV_CIS_LSB;
- ephemeris_record.d_Cic=static_cast<double>(read_navigation_signed(data_bits, CNAV_CIC));
- ephemeris_record.d_Cic=ephemeris_record.d_Cic*CNAV_CIC_LSB;
- ephemeris_record.d_Crs=static_cast<double>(read_navigation_signed(data_bits, CNAV_CRS));
- ephemeris_record.d_Crs=ephemeris_record.d_Crs*CNAV_CRS_LSB;
- ephemeris_record.d_Crc=static_cast<double>(read_navigation_signed(data_bits, CNAV_CRC));
- ephemeris_record.d_Cic=ephemeris_record.d_Cic*CNAV_CRC_LSB;
- ephemeris_record.d_Cus=static_cast<double>(read_navigation_signed(data_bits, CNAV_CUS));
- ephemeris_record.d_Cus=ephemeris_record.d_Cus*CNAV_CUS_LSB;
- ephemeris_record.d_Cuc=static_cast<double>(read_navigation_signed(data_bits, CNAV_CUC));
- ephemeris_record.d_Cuc=ephemeris_record.d_Cuc*CNAV_CUS_LSB;
- b_flag_ephemeris_2=true;
+ ephemeris_record.d_Toe2 = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_TOE2));
+ ephemeris_record.d_Toe2 = ephemeris_record.d_Toe2 * CNAV_TOE2_LSB;
+ ephemeris_record.d_OMEGA0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_OMEGA0));
+ ephemeris_record.d_OMEGA0 = ephemeris_record.d_OMEGA0 * CNAV_OMEGA0_LSB;
+ ephemeris_record.d_DELTA_OMEGA_DOT = static_cast<double>(read_navigation_signed(data_bits, CNAV_DELTA_OMEGA_DOT));
+ ephemeris_record.d_DELTA_OMEGA_DOT = ephemeris_record.d_DELTA_OMEGA_DOT * CNAV_DELTA_OMEGA_DOT_LSB;
+ ephemeris_record.d_i_0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_I0));
+ ephemeris_record.d_i_0 = ephemeris_record.d_i_0 * CNAV_I0_LSB;
+ ephemeris_record.d_IDOT = static_cast<double>(read_navigation_signed(data_bits, CNAV_I0_DOT));
+ ephemeris_record.d_IDOT = ephemeris_record.d_IDOT * CNAV_I0_DOT_LSB;
+ ephemeris_record.d_Cis = static_cast<double>(read_navigation_signed(data_bits, CNAV_CIS));
+ ephemeris_record.d_Cis = ephemeris_record.d_Cis * CNAV_CIS_LSB;
+ ephemeris_record.d_Cic = static_cast<double>(read_navigation_signed(data_bits, CNAV_CIC));
+ ephemeris_record.d_Cic = ephemeris_record.d_Cic * CNAV_CIC_LSB;
+ ephemeris_record.d_Crs = static_cast<double>(read_navigation_signed(data_bits, CNAV_CRS));
+ ephemeris_record.d_Crs = ephemeris_record.d_Crs * CNAV_CRS_LSB;
+ ephemeris_record.d_Crc = static_cast<double>(read_navigation_signed(data_bits, CNAV_CRC));
+ ephemeris_record.d_Cic = ephemeris_record.d_Cic * CNAV_CRC_LSB;
+ ephemeris_record.d_Cus = static_cast<double>(read_navigation_signed(data_bits, CNAV_CUS));
+ ephemeris_record.d_Cus = ephemeris_record.d_Cus * CNAV_CUS_LSB;
+ ephemeris_record.d_Cuc = static_cast<double>(read_navigation_signed(data_bits, CNAV_CUC));
+ ephemeris_record.d_Cuc = ephemeris_record.d_Cuc * CNAV_CUS_LSB;
+ b_flag_ephemeris_2 = true;
break;
case 30: // (CLOCK, IONO, GRUP DELAY)
//clock
- ephemeris_record.d_Toc=static_cast<double>(read_navigation_unsigned(data_bits, CNAV_TOC));
- ephemeris_record.d_Toc=ephemeris_record.d_Toc*CNAV_TOC_LSB;
+ ephemeris_record.d_Toc = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_TOC));
+ ephemeris_record.d_Toc = ephemeris_record.d_Toc * CNAV_TOC_LSB;
ephemeris_record.d_URA0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_URA_NED0));
ephemeris_record.d_URA1 = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_URA_NED1));
ephemeris_record.d_URA2 = static_cast<double>(read_navigation_unsigned(data_bits, CNAV_URA_NED2));
- ephemeris_record.d_A_f0=static_cast<double>(read_navigation_signed(data_bits, CNAV_AF0));
- ephemeris_record.d_A_f0=ephemeris_record.d_A_f0*CNAV_AF0_LSB;
- ephemeris_record.d_A_f1=static_cast<double>(read_navigation_signed(data_bits, CNAV_AF1));
- ephemeris_record.d_A_f1=ephemeris_record.d_A_f1*CNAV_AF1_LSB;
- ephemeris_record.d_A_f2=static_cast<double>(read_navigation_signed(data_bits, CNAV_AF2));
- ephemeris_record.d_A_f2=ephemeris_record.d_A_f2*CNAV_AF2_LSB;
+ ephemeris_record.d_A_f0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF0));
+ ephemeris_record.d_A_f0 = ephemeris_record.d_A_f0 * CNAV_AF0_LSB;
+ ephemeris_record.d_A_f1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF1));
+ ephemeris_record.d_A_f1 = ephemeris_record.d_A_f1 * CNAV_AF1_LSB;
+ ephemeris_record.d_A_f2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_AF2));
+ ephemeris_record.d_A_f2 = ephemeris_record.d_A_f2 * CNAV_AF2_LSB;
//group delays
- ephemeris_record.d_TGD=static_cast<double>(read_navigation_signed(data_bits, CNAV_TGD));
- ephemeris_record.d_TGD=ephemeris_record.d_TGD*CNAV_TGD_LSB;
- ephemeris_record.d_ISCL1=static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL1));
- ephemeris_record.d_ISCL1=ephemeris_record.d_ISCL1*CNAV_ISCL1_LSB;
- ephemeris_record.d_ISCL2=static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL2));
- ephemeris_record.d_ISCL2=ephemeris_record.d_ISCL2*CNAV_ISCL2_LSB;
- ephemeris_record.d_ISCL5I=static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL5I));
- ephemeris_record.d_ISCL5I=ephemeris_record.d_ISCL5I*CNAV_ISCL5I_LSB;
- ephemeris_record.d_ISCL5Q=static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL5Q));
- ephemeris_record.d_ISCL5Q=ephemeris_record.d_ISCL5Q*CNAV_ISCL5Q_LSB;
+ ephemeris_record.d_TGD = static_cast<double>(read_navigation_signed(data_bits, CNAV_TGD));
+ ephemeris_record.d_TGD = ephemeris_record.d_TGD * CNAV_TGD_LSB;
+ ephemeris_record.d_ISCL1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL1));
+ ephemeris_record.d_ISCL1 = ephemeris_record.d_ISCL1 * CNAV_ISCL1_LSB;
+ ephemeris_record.d_ISCL2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL2));
+ ephemeris_record.d_ISCL2 = ephemeris_record.d_ISCL2 * CNAV_ISCL2_LSB;
+ ephemeris_record.d_ISCL5I = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL5I));
+ ephemeris_record.d_ISCL5I = ephemeris_record.d_ISCL5I * CNAV_ISCL5I_LSB;
+ ephemeris_record.d_ISCL5Q = static_cast<double>(read_navigation_signed(data_bits, CNAV_ISCL5Q));
+ ephemeris_record.d_ISCL5Q = ephemeris_record.d_ISCL5Q * CNAV_ISCL5Q_LSB;
//iono
- iono_record.d_alpha0=static_cast<double>(read_navigation_signed(data_bits, CNAV_ALPHA0));
- iono_record.d_alpha0=iono_record.d_alpha0*CNAV_ALPHA0_LSB;
- iono_record.d_alpha1=static_cast<double>(read_navigation_signed(data_bits, CNAV_ALPHA1));
- iono_record.d_alpha1=iono_record.d_alpha1*CNAV_ALPHA1_LSB;
- iono_record.d_alpha2=static_cast<double>(read_navigation_signed(data_bits, CNAV_ALPHA2));
- iono_record.d_alpha2=iono_record.d_alpha2*CNAV_ALPHA2_LSB;
- iono_record.d_alpha3=static_cast<double>(read_navigation_signed(data_bits, CNAV_ALPHA3));
- iono_record.d_alpha3=iono_record.d_alpha3*CNAV_ALPHA3_LSB;
- iono_record.d_beta0=static_cast<double>(read_navigation_signed(data_bits, CNAV_BETA0));
- iono_record.d_beta0=iono_record.d_beta0*CNAV_BETA0_LSB;
- iono_record.d_beta1=static_cast<double>(read_navigation_signed(data_bits, CNAV_BETA1));
- iono_record.d_beta1=iono_record.d_beta1*CNAV_BETA1_LSB;
- iono_record.d_beta2=static_cast<double>(read_navigation_signed(data_bits, CNAV_BETA2));
- iono_record.d_beta2=iono_record.d_beta2*CNAV_BETA2_LSB;
- iono_record.d_beta3=static_cast<double>(read_navigation_signed(data_bits, CNAV_BETA3));
- iono_record.d_beta3=iono_record.d_beta3*CNAV_BETA3_LSB;
- b_flag_iono_valid=true;
+ iono_record.d_alpha0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ALPHA0));
+ iono_record.d_alpha0 = iono_record.d_alpha0 * CNAV_ALPHA0_LSB;
+ iono_record.d_alpha1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ALPHA1));
+ iono_record.d_alpha1 = iono_record.d_alpha1 * CNAV_ALPHA1_LSB;
+ iono_record.d_alpha2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ALPHA2));
+ iono_record.d_alpha2 = iono_record.d_alpha2 * CNAV_ALPHA2_LSB;
+ iono_record.d_alpha3 = static_cast<double>(read_navigation_signed(data_bits, CNAV_ALPHA3));
+ iono_record.d_alpha3 = iono_record.d_alpha3 * CNAV_ALPHA3_LSB;
+ iono_record.d_beta0 = static_cast<double>(read_navigation_signed(data_bits, CNAV_BETA0));
+ iono_record.d_beta0 = iono_record.d_beta0 * CNAV_BETA0_LSB;
+ iono_record.d_beta1 = static_cast<double>(read_navigation_signed(data_bits, CNAV_BETA1));
+ iono_record.d_beta1 = iono_record.d_beta1 * CNAV_BETA1_LSB;
+ iono_record.d_beta2 = static_cast<double>(read_navigation_signed(data_bits, CNAV_BETA2));
+ iono_record.d_beta2 = iono_record.d_beta2 * CNAV_BETA2_LSB;
+ iono_record.d_beta3 = static_cast<double>(read_navigation_signed(data_bits, CNAV_BETA3));
+ iono_record.d_beta3 = iono_record.d_beta3 * CNAV_BETA3_LSB;
+ b_flag_iono_valid = true;
break;
default:
break;
}
}
+
+
bool Gps_CNAV_Navigation_Message::have_new_ephemeris() //Check if we have a new ephemeris stored in the galileo navigation class
{
- if (b_flag_ephemeris_1==true and b_flag_ephemeris_2==true)
- {
- if (ephemeris_record.d_Toe1 == ephemeris_record.d_Toe2)
+ if (b_flag_ephemeris_1 == true and b_flag_ephemeris_2 == true)
+ {
+ if (ephemeris_record.d_Toe1 == ephemeris_record.d_Toe2)
+ {
+ //if all ephemeris pages have the same TOE, then they belong to the same block
+ // std::cout << "Ephemeris (1, 2) have been received and belong to the same batch" << std::endl;
+ b_flag_ephemeris_1 = false;// clear the flag
+ b_flag_ephemeris_2 = false;// clear the flag
+ return true;
+ }
+ else
+ {
+ return false;
+ }
+ }
+ else
{
- //if all ephemeris pages have the same TOE, then they belong to the same block
- // std::cout << "Ephemeris (1, 2) have been received and belong to the same batch" << std::endl;
- b_flag_ephemeris_1 = false;// clear the flag
- b_flag_ephemeris_2 = false;// clear the flag
- return true;
- }else{
return false;
- }
- }else
- {
- return false;
- }
+ }
}
@@ -348,16 +346,18 @@ Gps_CNAV_Ephemeris Gps_CNAV_Navigation_Message::get_ephemeris()
bool Gps_CNAV_Navigation_Message::have_new_iono() //Check if we have a new iono data stored in the galileo navigation class
{
- if (b_flag_iono_valid==true)
- {
- b_flag_iono_valid = false;// clear the flag
- return true;
- }else
- {
- return false;
- }
+ if (b_flag_iono_valid == true)
+ {
+ b_flag_iono_valid = false;// clear the flag
+ return true;
+ }
+ else
+ {
+ return false;
+ }
}
+
Gps_CNAV_Iono Gps_CNAV_Navigation_Message::get_iono()
{
return iono_record;
diff --git a/src/core/system_parameters/gps_cnav_navigation_message.h b/src/core/system_parameters/gps_cnav_navigation_message.h
index 114c1dc..e3ee659 100644
--- a/src/core/system_parameters/gps_cnav_navigation_message.h
+++ b/src/core/system_parameters/gps_cnav_navigation_message.h
@@ -1,6 +1,6 @@
/*!
- * \file Gps_CNAV_Navigation_Message.h
- * \brief Interface of a GPS NAV Data message decoder
+ * \file gps_cnav_navigation_message.h
+ * \brief Interface of a GPS CNAV Data message decoder
* \author Javier Arribas, 2015. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
@@ -32,16 +32,16 @@
#ifndef GNSS_SDR_Gps_CNAV_Navigation_Message_H_
#define GNSS_SDR_Gps_CNAV_Navigation_Message_H_
+#include "stdint.h"
#include <algorithm>
#include <bitset>
-#include "stdint.h"
#include <cmath>
#include <iostream>
#include <map>
#include <string>
#include <vector>
#include <utility>
-#include "boost/assign.hpp"
+#include <boost/assign.hpp>
#include "GPS_L2C.h"
#include "gps_cnav_ephemeris.h"
#include "gps_cnav_iono.h"
@@ -69,10 +69,9 @@ private:
Gps_CNAV_Utc_Model utc_model_record;
public:
-
double d_TOW;
- bool b_flag_ephemeris_1;
- bool b_flag_ephemeris_2;
+ bool b_flag_ephemeris_1;
+ bool b_flag_ephemeris_2;
bool b_flag_iono_valid; //!< If set, it indicates that the ionospheric parameters are filled (page 18 has arrived and decoded)
std::map<int,std::string> satelliteBlock; //!< Map that stores to which block the PRN belongs http://www.navcen.uscg.gov/?Do=constellationStatus
--
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