[hamradio-commits] [gnss-sdr] 78/126: Merge branch 'carrier_phase_bug_fix' of git+ssh://github.com/gnss-sdr/gnss-sdr into odrisci-contrib
Carles Fernandez
carles_fernandez-guest at moszumanska.debian.org
Sat Dec 26 18:38:03 UTC 2015
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carles_fernandez-guest pushed a commit to branch next
in repository gnss-sdr.
commit 23ce2404831630ce5796b8af7951e4f21cd5b493
Merge: 0450e17 8c22e58
Author: Carles Fernandez <carles.fernandez at gmail.com>
Date: Mon Nov 30 13:59:31 2015 +0100
Merge branch 'carrier_phase_bug_fix' of
git+ssh://github.com/gnss-sdr/gnss-sdr into odrisci-contrib
# Conflicts:
# conf/gnss-sdr_Hybrid_byte_sim.conf
# src/algorithms/observables/gnuradio_blocks/gps_l1_ca_observables_cc.cc
# src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
# src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.cc
# src/algorithms/tracking/gnuradio_blocks/galileo_e5a_dll_pll_tracking_cc.cc
# src/algorithms/tracking/gnuradio_blocks/galileo_volk_e1_dll_pll_veml_tracking_cc.cc
# src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
# src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_optim_tracking_cc.cc
# src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.cc
# src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.cc
# src/algorithms/tracking/gnuradio_blocks/gps_l2_m_dll_pll_tracking_cc.cc
# src/algorithms/tracking/libs/cpu_multicorrelator.cc
# src/algorithms/tracking/libs/cpu_multicorrelator.h
# src/algorithms/tracking/libs/cuda_multicorrelator.h
# src/algorithms/tracking/libs/tracking_discriminators.cc
# src/core/receiver/gnss_block_factory.cc
# src/core/system_parameters/GPS_L1_CA.h
conf/gnss-sdr_Galileo_E1_nsr.conf | 8 +-
conf/gnss-sdr_Hybrid_byte_sim.conf | 4 +-
src/algorithms/PVT/libs/rinex_printer.cc | 2 +-
.../gnuradio_blocks/galileo_e1_observables_cc.cc | 95 ++++++++++++++++++----
.../gnuradio_blocks/galileo_e1_observables_cc.h | 6 ++
.../gnuradio_blocks/gps_l1_ca_observables_cc.cc | 13 ++-
.../gnuradio_blocks/gps_l1_ca_observables_cc.h | 1 +
.../gps_l1_ca_telemetry_decoder_cc.cc | 1 +
.../galileo_e1_dll_pll_veml_tracking_cc.cc | 39 +++++----
.../galileo_e5a_dll_pll_tracking_cc.cc | 1 +
.../gps_l1_ca_dll_pll_c_aid_tracking_cc.cc | 4 +-
.../gps_l1_ca_dll_pll_tracking_cc.cc | 2 +-
.../gps_l1_ca_dll_pll_tracking_gpu_cc.cc | 31 +++----
.../tracking/libs/cpu_multicorrelator.cc | 4 +-
src/algorithms/tracking/libs/cpu_multicorrelator.h | 2 +
.../tracking/libs/cuda_multicorrelator.h | 1 +
src/core/receiver/gnss_block_factory.cc | 8 +-
src/core/system_parameters/GPS_L1_CA.h | 1 +
src/core/system_parameters/Galileo_E1.h | 5 ++
19 files changed, 159 insertions(+), 69 deletions(-)
diff --cc conf/gnss-sdr_Hybrid_byte_sim.conf
index 403afb9,aedc605..2f8cb06
--- a/conf/gnss-sdr_Hybrid_byte_sim.conf
+++ b/conf/gnss-sdr_Hybrid_byte_sim.conf
@@@ -233,7 -233,7 +233,7 @@@ Acquisition_1B.doppler_step=12
;######### TRACKING GPS CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
- Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_C_Aid_Tracking
-Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Tracking
++Tracking_1C.implementation=GPS_L1_CA_DLL_PLL_Artemisa_Tracking
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
Tracking_1C.item_type=gr_complex
@@@ -247,7 -247,7 +247,7 @@@ Tracking_1C.dump=tru
Tracking_1C.dump_filename=../data/epl_tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
--Tracking_1C.pll_bw_hz=20.0;
++Tracking_1C.pll_bw_hz=15.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=1.5;
diff --cc src/algorithms/observables/gnuradio_blocks/gps_l1_ca_observables_cc.cc
index 4e86773,192fc03..8a254a3
--- a/src/algorithms/observables/gnuradio_blocks/gps_l1_ca_observables_cc.cc
+++ b/src/algorithms/observables/gnuradio_blocks/gps_l1_ca_observables_cc.cc
@@@ -194,56 -191,55 +194,55 @@@ int gps_l1_ca_observables_cc::general_w
arma::vec acc_phase_vec_interp_rads;
arma::vec desired_symbol_TOW(1);
for(gnss_synchro_iter = current_gnss_synchro_map.begin(); gnss_synchro_iter != current_gnss_synchro_map.end(); gnss_synchro_iter++)
- {
- // compute the required symbol history shift in order to match the reference symbol
- delta_rx_time_ms = gnss_synchro_iter->second.Prn_timestamp_ms - d_ref_PRN_rx_time_ms;
- //compute the pseudorange
- traveltime_ms = (d_TOW_reference-gnss_synchro_iter->second.d_TOW_at_current_symbol)*1000.0 + delta_rx_time_ms + GPS_STARTOFFSET_ms;
- pseudorange_m = traveltime_ms * GPS_C_m_ms; // [m]
- // update the pseudorange object
- current_gnss_synchro[gnss_synchro_iter->second.Channel_ID] = gnss_synchro_iter->second;
- current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Pseudorange_m = pseudorange_m;
- current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Flag_valid_pseudorange = true;
- current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].d_TOW_at_current_symbol = round(d_TOW_reference*1000.0)/1000.0 + GPS_STARTOFFSET_ms/1000.0;
-
- if (d_symbol_TOW_queue_s[gnss_synchro_iter->second.Channel_ID].size()>=GPS_L1_CA_HISTORY_DEEP)
{
- // compute interpolated observation values for Doppler and Accumulate carrier phase
- symbol_TOW_vec_s=arma::vec(std::vector<double>(d_symbol_TOW_queue_s[gnss_synchro_iter->second.Channel_ID].begin(), d_symbol_TOW_queue_s[gnss_synchro_iter->second.Channel_ID].end()));
- acc_phase_vec_rads=arma::vec(std::vector<double>(d_acc_carrier_phase_queue_rads[gnss_synchro_iter->second.Channel_ID].begin(), d_acc_carrier_phase_queue_rads[gnss_synchro_iter->second.Channel_ID].end()));
- dopper_vec_hz=arma::vec(std::vector<double>(d_carrier_doppler_queue_hz[gnss_synchro_iter->second.Channel_ID].begin(), d_carrier_doppler_queue_hz[gnss_synchro_iter->second.Channel_ID].end()));
-
- //std::cout<<"symbol_TOW_vec_s[0]="<<symbol_TOW_vec_s[0]<<std::endl;
- //std::cout<<"symbol_TOW_vec_s[GPS_L1_CA_HISTORY_DEEP-1]="<<symbol_TOW_vec_s[GPS_L1_CA_HISTORY_DEEP-1]<<std::endl;
- //std::cout<<"acc_phase_vec_rads="<<acc_phase_vec_rads<<std::endl;
- //std::cout<<"dopper_vec_hz="<<dopper_vec_hz<<std::endl;
-
- desired_symbol_TOW[0]=symbol_TOW_vec_s[GPS_L1_CA_HISTORY_DEEP-1]+delta_rx_time_ms/1000.0;
- //std::cout<<"desired_symbol_TOW="<<desired_symbol_TOW[0]<<std::endl;
-
-// arma::interp1(symbol_TOW_vec_s,dopper_vec_hz,desired_symbol_TOW,dopper_vec_interp_hz);
-// arma::interp1(symbol_TOW_vec_s,acc_phase_vec_rads,desired_symbol_TOW,acc_phase_vec_interp_rads);
-
- // Curve fitting to cuadratic function
- arma::mat A=arma::ones<arma::mat> (GPS_L1_CA_HISTORY_DEEP,2);
- A.col(1)=symbol_TOW_vec_s;
- //A.col(2)=symbol_TOW_vec_s % symbol_TOW_vec_s;
- arma::mat coef_acc_phase(1,3);
- coef_acc_phase=arma::pinv(A.t()*A)*A.t()*acc_phase_vec_rads;
- arma::mat coef_doppler(1,3);
- coef_doppler=arma::pinv(A.t()*A)*A.t()*dopper_vec_hz;
- arma::vec acc_phase_lin;
- arma::vec carrier_doppler_lin;
- acc_phase_lin=coef_acc_phase[0]+coef_acc_phase[1]*desired_symbol_TOW[0];//+coef_acc_phase[2]*desired_symbol_TOW[0]*desired_symbol_TOW[0];
- carrier_doppler_lin=coef_doppler[0]+coef_doppler[1]*desired_symbol_TOW[0];//+coef_doppler[2]*desired_symbol_TOW[0]*desired_symbol_TOW[0];
- //std::cout<<"acc_phase_vec_interp_rads="<<acc_phase_vec_interp_rads[0]<<std::endl;
- //std::cout<<"dopper_vec_interp_hz="<<dopper_vec_interp_hz[0]<<std::endl;
- current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Carrier_phase_rads =acc_phase_lin[0];
- current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Carrier_Doppler_hz =carrier_doppler_lin[0];
- }
+ // compute the required symbol history shift in order to match the reference symbol
+ delta_rx_time_ms = gnss_synchro_iter->second.Prn_timestamp_ms - d_ref_PRN_rx_time_ms;
+ //compute the pseudorange
- traveltime_ms = (d_TOW_reference-gnss_synchro_iter->second.d_TOW_at_current_symbol)*1000.0 + delta_rx_time_ms + GPS_STARTOFFSET_ms;
++ traveltime_ms = (d_TOW_reference-gnss_synchro_iter->second.d_TOW_at_current_symbol) * 1000.0 + delta_rx_time_ms + GPS_STARTOFFSET_ms;
+ pseudorange_m = traveltime_ms * GPS_C_m_ms; // [m]
+ // update the pseudorange object
+ current_gnss_synchro[gnss_synchro_iter->second.Channel_ID] = gnss_synchro_iter->second;
- current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].debug_var1 = delta_rx_time_ms;
+ current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Pseudorange_m = pseudorange_m;
+ current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Flag_valid_pseudorange = true;
+ current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].d_TOW_at_current_symbol = round(d_TOW_reference*1000.0)/1000.0 + GPS_STARTOFFSET_ms/1000.0;
+
- if (d_symbol_TOW_queue_s[gnss_synchro_iter->second.Channel_ID].size() >= GPS_L1_CA_HISTORY_DEEP)
++ if (d_symbol_TOW_queue_s[gnss_synchro_iter->second.Channel_ID].size()>=GPS_L1_CA_HISTORY_DEEP)
+ {
+ // compute interpolated observation values for Doppler and Accumulate carrier phase
+ symbol_TOW_vec_s = arma::vec(std::vector<double>(d_symbol_TOW_queue_s[gnss_synchro_iter->second.Channel_ID].begin(), d_symbol_TOW_queue_s[gnss_synchro_iter->second.Channel_ID].end()));
+ acc_phase_vec_rads = arma::vec(std::vector<double>(d_acc_carrier_phase_queue_rads[gnss_synchro_iter->second.Channel_ID].begin(), d_acc_carrier_phase_queue_rads[gnss_synchro_iter->second.Channel_ID].end()));
+ dopper_vec_hz = arma::vec(std::vector<double>(d_carrier_doppler_queue_hz[gnss_synchro_iter->second.Channel_ID].begin(), d_carrier_doppler_queue_hz[gnss_synchro_iter->second.Channel_ID].end()));
+
+ //std::cout<<"symbol_TOW_vec_s[0]="<<symbol_TOW_vec_s[0]<<std::endl;
+ //std::cout<<"symbol_TOW_vec_s[GPS_L1_CA_HISTORY_DEEP-1]="<<symbol_TOW_vec_s[GPS_L1_CA_HISTORY_DEEP-1]<<std::endl;
+ //std::cout<<"acc_phase_vec_rads="<<acc_phase_vec_rads<<std::endl;
+ //std::cout<<"dopper_vec_hz="<<dopper_vec_hz<<std::endl;
+
- desired_symbol_TOW[0] = symbol_TOW_vec_s[GPS_L1_CA_HISTORY_DEEP-1] + delta_rx_time_ms / 1000.0;
++ desired_symbol_TOW[0] = symbol_TOW_vec_s[GPS_L1_CA_HISTORY_DEEP - 1] + delta_rx_time_ms / 1000.0;
+ //std::cout<<"desired_symbol_TOW="<<desired_symbol_TOW[0]<<std::endl;
+
- // arma::interp1(symbol_TOW_vec_s,dopper_vec_hz,desired_symbol_TOW,dopper_vec_interp_hz);
- // arma::interp1(symbol_TOW_vec_s,acc_phase_vec_rads,desired_symbol_TOW,acc_phase_vec_interp_rads);
++ // arma::interp1(symbol_TOW_vec_s,dopper_vec_hz,desired_symbol_TOW,dopper_vec_interp_hz);
++ // arma::interp1(symbol_TOW_vec_s,acc_phase_vec_rads,desired_symbol_TOW,acc_phase_vec_interp_rads);
+
+ // Curve fitting to cuadratic function
- arma::mat A = arma::ones<arma::mat>(GPS_L1_CA_HISTORY_DEEP,2);
++ arma::mat A = arma::ones<arma::mat> (GPS_L1_CA_HISTORY_DEEP, 2);
+ A.col(1) = symbol_TOW_vec_s;
+ //A.col(2)=symbol_TOW_vec_s % symbol_TOW_vec_s;
+ arma::mat coef_acc_phase(1,3);
+ coef_acc_phase = arma::pinv(A.t() * A) * A.t() * acc_phase_vec_rads;
+ arma::mat coef_doppler(1,3);
+ coef_doppler = arma::pinv(A.t() * A) * A.t() * dopper_vec_hz;
+ arma::vec acc_phase_lin;
+ arma::vec carrier_doppler_lin;
+ acc_phase_lin = coef_acc_phase[0] + coef_acc_phase[1] * desired_symbol_TOW[0];//+coef_acc_phase[2]*desired_symbol_TOW[0]*desired_symbol_TOW[0];
+ carrier_doppler_lin = coef_doppler[0] + coef_doppler[1] * desired_symbol_TOW[0];//+coef_doppler[2]*desired_symbol_TOW[0]*desired_symbol_TOW[0];
+ //std::cout<<"acc_phase_vec_interp_rads="<<acc_phase_vec_interp_rads[0]<<std::endl;
+ //std::cout<<"dopper_vec_interp_hz="<<dopper_vec_interp_hz[0]<<std::endl;
+ current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Carrier_phase_rads = acc_phase_lin[0];
+ current_gnss_synchro[gnss_synchro_iter->second.Channel_ID].Carrier_Doppler_hz = carrier_doppler_lin[0];
+ }
- }
+ }
}
if(d_dump == true)
diff --cc src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
index 92ca95e,604379d..f8d3f7c
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
@@@ -343,11 -341,11 +343,12 @@@ int gps_l1_ca_telemetry_decoder_cc::gen
current_synchro_data.Prn_timestamp_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
current_synchro_data.Prn_timestamp_at_preamble_ms = Prn_timestamp_at_preamble_ms;
- if (flag_PLL_180_deg_phase_locked==true)
- {
- //correct the accumulated phase for the costas loop phase shift, if required
- current_synchro_data.Carrier_phase_rads+=GPS_PI;
- }
+ if (flag_PLL_180_deg_phase_locked == true)
+ {
+ //correct the accumulated phase for the costas loop phase shift, if required
+ current_synchro_data.Carrier_phase_rads += GPS_PI;
+ }
++
if(d_dump == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file
diff --cc src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.cc
index 934e00a,e98d99c..e9daf72
--- a/src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.cc
@@@ -252,14 -252,14 +252,14 @@@ void galileo_e1_dll_pll_veml_tracking_c
rem_code_phase_half_chips = d_rem_code_phase_samples * (2*d_code_freq_chips / d_fs_in);
tcode_half_chips = - rem_code_phase_half_chips;
-- early_late_spc_samples = round(d_early_late_spc_chips / code_phase_step_chips);
-- very_early_late_spc_samples = round(d_very_early_late_spc_chips / code_phase_step_chips);
++ early_late_spc_samples = std::round(d_early_late_spc_chips / code_phase_step_chips);
++ very_early_late_spc_samples = std::round(d_very_early_late_spc_chips / code_phase_step_chips);
epl_loop_length_samples = d_current_prn_length_samples + very_early_late_spc_samples * 2;
for (int i = 0; i < epl_loop_length_samples; i++)
{
-- associated_chip_index = 2 + round(fmod(tcode_half_chips - 2 * d_very_early_late_spc_chips, code_length_half_chips));
++ associated_chip_index = 2 + std::round(std::fmod(tcode_half_chips - 2 * d_very_early_late_spc_chips, code_length_half_chips));
d_very_early_code[i] = d_ca_code[associated_chip_index];
tcode_half_chips = tcode_half_chips + code_phase_step_half_chips;
}
@@@ -310,11 -310,14 +310,10 @@@ galileo_e1_dll_pll_veml_tracking_cc::~g
int galileo_e1_dll_pll_veml_tracking_cc::general_work (int noutput_items,gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
- double carr_error_hz = 0.0;
- double carr_error_filt_hz = 0.0;
- double code_error_chips = 0.0;
- double code_error_filt_chips = 0.0;
-
- double carr_error_hz;
- carr_error_hz=0.0;
- double carr_error_filt_hz;
- carr_error_filt_hz=0.0;
- double code_error_chips;
- code_error_chips=0.0;
- double code_error_filt_chips;
- code_error_filt_chips=0.0;
++ double carr_error_hz = 0.0;
++ double carr_error_filt_hz = 0.0;
++ double code_error_chips = 0.0;
++ double code_error_filt_chips = 0.0;
if (d_enable_tracking == true)
{
@@@ -327,8 -330,8 +326,8 @@@
double acq_trk_shif_correction_samples;
int acq_to_trk_delay_samples;
acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
-- acq_trk_shif_correction_samples = d_current_prn_length_samples - fmod(static_cast<float>(acq_to_trk_delay_samples), static_cast<float>(d_current_prn_length_samples));
-- samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
++ acq_trk_shif_correction_samples = d_current_prn_length_samples - std::fmod(static_cast<float>(acq_to_trk_delay_samples), static_cast<float>(d_current_prn_length_samples));
++ samples_offset = std::round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples
d_pull_in = false;
consume_each(samples_offset); //shift input to perform alignment with local replica
@@@ -372,11 -375,11 +371,11 @@@
d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz;
// New code Doppler frequency estimation
d_code_freq_chips = Galileo_E1_CODE_CHIP_RATE_HZ + ((d_carrier_doppler_hz * Galileo_E1_CODE_CHIP_RATE_HZ) / Galileo_E1_FREQ_HZ);
-- //carrier phase accumulator for (K) Doppler estimation
- d_acc_carrier_phase_rad -= GPS_TWO_PI * d_carrier_doppler_hz * Galileo_E1_CODE_PERIOD;
- d_acc_carrier_phase_rad -= GALILEO_TWO_PI * d_carrier_doppler_hz * d_current_prn_length_samples/static_cast<double>(d_fs_in);
++ //carrier phase accumulator for (K) Doppler estimation-
++ d_acc_carrier_phase_rad -= GALILEO_TWO_PI * d_carrier_doppler_hz * static_cast(d_current_prn_length_samples)/static_cast<double>(d_fs_in);
//remnant carrier phase to prevent overflow in the code NCO
- d_rem_carr_phase_rad = d_rem_carr_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * Galileo_E1_CODE_PERIOD;
- d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GPS_TWO_PI);
+ d_rem_carr_phase_rad = d_rem_carr_phase_rad + GALILEO_TWO_PI * d_carrier_doppler_hz * d_current_prn_length_samples/static_cast<double>(d_fs_in);
- d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GALILEO_TWO_PI);
++ d_rem_carr_phase_rad = std::fmod(d_rem_carr_phase_rad, GALILEO_TWO_PI);
// ################## DLL ##########################################################
// DLL discriminator
@@@ -400,7 -403,7 +399,7 @@@
T_prn_seconds = T_chip_seconds * Galileo_E1_B_CODE_LENGTH_CHIPS;
T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * static_cast<double>(d_fs_in);
-- d_current_prn_length_samples = round(K_blk_samples); //round to a discrete samples
++ d_current_prn_length_samples = std::round(K_blk_samples); //round to a discrete samples
//d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
// ####### CN0 ESTIMATION AND LOCK DETECTORS ######
@@@ -473,9 -476,9 +472,9 @@@
*/
// stream to collect cout calls to improve thread safety
std::stringstream tmp_str_stream;
-- if (floor(d_sample_counter / d_fs_in) != d_last_seg)
++ if (std::floor(d_sample_counter / d_fs_in) != d_last_seg)
{
-- d_last_seg = floor(d_sample_counter / d_fs_in);
++ d_last_seg = std::floor(d_sample_counter / d_fs_in);
if (d_channel == 0)
{
@@@ -498,9 -501,9 +497,9 @@@
*/
// stream to collect cout calls to improve thread safety
std::stringstream tmp_str_stream;
-- if (floor(d_sample_counter / d_fs_in) != d_last_seg)
++ if (std::floor(d_sample_counter / d_fs_in) != d_last_seg)
{
-- d_last_seg = floor(d_sample_counter / d_fs_in);
++ d_last_seg = std::floor(d_sample_counter / d_fs_in);
if (d_channel == 0)
{
diff --cc src/algorithms/tracking/gnuradio_blocks/galileo_e5a_dll_pll_tracking_cc.cc
index 90d7f1b,fccccfb..9f989e2
--- a/src/algorithms/tracking/gnuradio_blocks/galileo_e5a_dll_pll_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/galileo_e5a_dll_pll_tracking_cc.cc
@@@ -400,10 -400,10 +400,11 @@@ int Galileo_E5a_Dll_Pll_Tracking_cc::ge
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
// process vars
- double carr_error_hz;
- double carr_error_filt_hz;
- double code_error_chips;
- double code_error_filt_chips;
+ double carr_error_hz;
+ double carr_error_filt_hz;
+ double code_error_chips;
+ double code_error_filt_chips;
++
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; //block output streams pointer
diff --cc src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
index 8201d80,72b4b86..714674b
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
@@@ -218,7 -219,7 +218,8 @@@ void gps_l1_ca_dll_pll_c_aid_tracking_c
d_acq_code_phase_samples = corrected_acq_phase_samples;
d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
- d_carrier_phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz/static_cast<double>(d_fs_in);
- d_carrier_phase_step_rad=GPS_TWO_PI*d_carrier_doppler_hz/static_cast<double>(d_fs_in);
++
++ d_carrier_phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
// DLL/PLL filter initialization
d_carrier_loop_filter.initialize(d_acq_carrier_doppler_hz); //The carrier loop filter implements the Doppler accumulator
@@@ -236,10 -238,10 +237,9 @@@
d_carrier_lock_fail_counter = 0;
d_rem_code_phase_samples = 0.0;
d_rem_carrier_phase_rad = 0.0;
- d_rem_code_phase_chips =0.0;
+ d_rem_code_phase_chips = 0.0;
d_acc_carrier_phase_cycles = 0.0;
- d_pll_to_dll_assist_secs_Ti=0.0;
-
+ d_pll_to_dll_assist_secs_Ti = 0.0;
-
d_code_phase_samples = d_acq_code_phase_samples;
std::string sys_ = &d_acquisition_gnss_synchro->System;
diff --cc src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.cc
index b75505e,07d64b9..cd7bb2b
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.cc
@@@ -297,7 -297,7 +297,7 @@@ void Gps_L1_Ca_Dll_Pll_Tracking_cc::upd
void Gps_L1_Ca_Dll_Pll_Tracking_cc::update_local_carrier()
{
float sin_f, cos_f;
- float phase_step_rad = static_cast<float>(GPS_TWO_PI) * ( d_if_freq + d_carrier_doppler_hz ) / static_cast<float>(d_fs_in);
- float phase_step_rad = static_cast<float>(GPS_TWO_PI) * static_cast<float>(d_carrier_doppler_hz) / static_cast<float>(d_fs_in);
++ float phase_step_rad = static_cast<float>(GPS_TWO_PI) * static_cast<float>( d_if_freq + d_carrier_doppler_hz ) / static_cast<float>(d_fs_in);
int phase_step_rad_i = gr::fxpt::float_to_fixed(phase_step_rad);
int phase_rad_i = gr::fxpt::float_to_fixed(d_rem_carr_phase_rad);
diff --cc src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.cc
index 592d351,3927e03..fb38759
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.cc
@@@ -120,25 -120,28 +120,26 @@@ Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::Gps_
cudaSetDeviceFlags(cudaDeviceMapHost);
//allocate host memory
//pinned memory mode - use special function to get OS-pinned memory
- int N_CORRELATORS=3;
+ int N_CORRELATORS = 3;
// Get space for a vector with the C/A code replica sampled 1x/chip
-- cudaHostAlloc((void**)&d_ca_code, (GPS_L1_CA_CODE_LENGTH_CHIPS* sizeof(gr_complex)), cudaHostAllocMapped || cudaHostAllocWriteCombined);
++ cudaHostAlloc((void**)&d_ca_code, (GPS_L1_CA_CODE_LENGTH_CHIPS* sizeof(gr_complex)), cudaHostAllocMapped || cudaHostAllocWriteCombined);
// Get space for the resampled early / prompt / late local replicas
-- cudaHostAlloc((void**)&d_local_code_shift_chips, N_CORRELATORS * sizeof(float), cudaHostAllocMapped || cudaHostAllocWriteCombined);
- cudaHostAlloc((void**)&in_gpu, 2 * d_vector_length * sizeof(gr_complex), cudaHostAllocMapped || cudaHostAllocWriteCombined);
- cudaHostAlloc((void**)&in_gpu, 2 * d_vector_length * sizeof(gr_complex), cudaHostAllocMapped || cudaHostAllocWriteCombined);
-- // correlator outputs (scalar)
-- cudaHostAlloc((void**)&d_corr_outs_gpu ,sizeof(gr_complex)*N_CORRELATORS, cudaHostAllocMapped || cudaHostAllocWriteCombined );
++ cudaHostAlloc((void**)&d_local_code_shift_chips, N_CORRELATORS * sizeof(float), cudaHostAllocMapped || cudaHostAllocWriteCombined);
++ cudaHostAlloc((void**)&in_gpu, 2 * d_vector_length * sizeof(gr_complex), cudaHostAllocMapped || cudaHostAllocWriteCombined);
++ // correlator outputs (scalar)
++ cudaHostAlloc((void**)&d_corr_outs_gpu ,sizeof(gr_complex)*N_CORRELATORS, cudaHostAllocMapped || cudaHostAllocWriteCombined );
-- //map to EPL pointers
++ //map to EPL pointers
d_Early = &d_corr_outs_gpu[0];
- d_Prompt = &d_corr_outs_gpu[1];
+ d_Prompt = &d_corr_outs_gpu[1];
d_Late = &d_corr_outs_gpu[2];
//--- Perform initializations ------------------------------
multicorrelator_gpu = new cuda_multicorrelator();
//local code resampler on GPU
- multicorrelator_gpu->init_cuda_integrated_resampler(2 * d_vector_length,GPS_L1_CA_CODE_LENGTH_CHIPS,3);
- multicorrelator_gpu->set_input_output_vectors(
- d_corr_outs_gpu,
- in_gpu
- );
+ multicorrelator_gpu->init_cuda_integrated_resampler(2 * d_vector_length, GPS_L1_CA_CODE_LENGTH_CHIPS, 3);
+ multicorrelator_gpu->set_input_output_vectors(d_corr_outs_gpu, in_gpu);
++
// define initial code frequency basis of NCO
d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ;
// define residual code phase (in chips)
@@@ -234,11 -238,16 +236,11 @@@ void Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc:
// generate local reference ALWAYS starting at chip 1 (1 sample per chip)
gps_l1_ca_code_gen_complex(d_ca_code, d_acquisition_gnss_synchro->PRN, 0);
-- d_local_code_shift_chips[0]=-d_early_late_spc_chips;
-- d_local_code_shift_chips[1]=0.0;
-- d_local_code_shift_chips[2]=d_early_late_spc_chips;
++ d_local_code_shift_chips[0] = - d_early_late_spc_chips;
++ d_local_code_shift_chips[1] = 0.0;
++ d_local_code_shift_chips[2] = d_early_late_spc_chips;
- multicorrelator_gpu->set_local_code_and_taps(
- GPS_L1_CA_CODE_LENGTH_CHIPS,
- d_ca_code,
- d_local_code_shift_chips,
- 3
- );
+ multicorrelator_gpu->set_local_code_and_taps(GPS_L1_CA_CODE_LENGTH_CHIPS, d_ca_code, d_local_code_shift_chips, 3);
d_carrier_lock_fail_counter = 0;
d_rem_code_phase_samples = 0;
@@@ -269,13 -278,14 +271,12 @@@
Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::~Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc()
{
d_dump_file.close();
-
- cudaFreeHost(in_gpu);
- cudaFreeHost(d_corr_outs_gpu);
- cudaFreeHost(d_local_code_shift_chips);
- cudaFreeHost(d_ca_code);
-
- multicorrelator_gpu->free_cuda();
- delete(multicorrelator_gpu);
+ cudaFreeHost(in_gpu);
+ cudaFreeHost(d_corr_outs_gpu);
+ cudaFreeHost(d_local_code_shift_chips);
+ cudaFreeHost(d_ca_code);
-
+ multicorrelator_gpu->free_cuda();
+ delete(multicorrelator_gpu);
delete[] d_Prompt_buffer;
}
diff --cc src/algorithms/tracking/libs/cpu_multicorrelator.cc
index befac31,0ed2ac9..268aeb3
--- a/src/algorithms/tracking/libs/cpu_multicorrelator.cc
+++ b/src/algorithms/tracking/libs/cpu_multicorrelator.cc
@@@ -47,58 -47,62 +47,60 @@@ bool cpu_multicorrelator::init
// ALLOCATE MEMORY FOR INTERNAL vectors
size_t size = max_signal_length_samples * sizeof(std::complex<float>);
- // NCO signal
- d_nco_in=static_cast<std::complex<float>*>(volk_malloc(size, volk_get_alignment()));
+ // NCO signal
+ d_nco_in = static_cast<std::complex<float>*>(volk_malloc(size, volk_get_alignment()));
- // Doppler-free signal
- d_sig_doppler_wiped=static_cast<std::complex<float>*>(volk_malloc(size, volk_get_alignment()));
+ // Doppler-free signal
+ d_sig_doppler_wiped = static_cast<std::complex<float>*>(volk_malloc(size, volk_get_alignment()));
- d_local_codes_resampled=new std::complex<float>*[n_correlators];
- for (int n=0;n<n_correlators;n++)
- {
- d_local_codes_resampled[n]=static_cast<std::complex<float>*>(volk_malloc(size, volk_get_alignment()));
- }
- d_n_correlators=n_correlators;
- return true;
+ d_local_codes_resampled = new std::complex<float>*[n_correlators];
+ for (int n = 0; n < n_correlators; n++)
+ {
+ d_local_codes_resampled[n] = static_cast<std::complex<float>*>(volk_malloc(size, volk_get_alignment()));
+ }
+ d_n_correlators = n_correlators;
+ return true;
}
+
++
bool cpu_multicorrelator::set_local_code_and_taps(
int code_length_chips,
const std::complex<float>* local_code_in,
float *shifts_chips
)
{
-
- d_local_code_in=local_code_in;
- d_shifts_chips=shifts_chips;
- d_code_length_chips=code_length_chips;
- return true;
+ d_local_code_in = local_code_in;
+ d_shifts_chips = shifts_chips;
+ d_code_length_chips = code_length_chips;
+ return true;
}
-bool cpu_multicorrelator::set_input_output_vectors(
- std::complex<float>* corr_out,
- const std::complex<float>* sig_in
- )
-{
- // Save CPU pointers
- d_sig_in =sig_in;
- d_corr_out = corr_out;
- return true;
+bool cpu_multicorrelator::set_input_output_vectors(std::complex<float>* corr_out, const std::complex<float>* sig_in)
+{
+ // Save CPU pointers
+ d_sig_in = sig_in;
+ d_corr_out = corr_out;
+ return true;
}
+
++
void cpu_multicorrelator::update_local_code(int correlator_length_samples,float rem_code_phase_chips, float code_phase_step_chips)
{
float local_code_chip_index;
- for (int current_correlator_tap=0; current_correlator_tap<d_n_correlators;current_correlator_tap++)
- {
- for (int n = 0; n < correlator_length_samples; n++)
- {
- // resample code for current tap
- local_code_chip_index= fmod(code_phase_step_chips*static_cast<float>(n)+ d_shifts_chips[current_correlator_tap] - rem_code_phase_chips, d_code_length_chips);
- //Take into account that in multitap correlators, the shifts can be negative!
- if (local_code_chip_index<0.0) local_code_chip_index+=d_code_length_chips;
- d_local_codes_resampled[current_correlator_tap][n]=d_local_code_in[static_cast<int>(round(local_code_chip_index))];
-
- }
- }
+ for (int current_correlator_tap = 0; current_correlator_tap < d_n_correlators; current_correlator_tap++)
+ {
+ for (int n = 0; n < correlator_length_samples; n++)
+ {
+ // resample code for current tap
- local_code_chip_index = fmod(code_phase_step_chips*static_cast<float>(n)+ d_shifts_chips[current_correlator_tap] - rem_code_phase_chips, d_code_length_chips);
++ local_code_chip_index = std::fmod(code_phase_step_chips*static_cast<float>(n)+ d_shifts_chips[current_correlator_tap] - rem_code_phase_chips, d_code_length_chips);
+ //Take into account that in multitap correlators, the shifts can be negative!
+ if (local_code_chip_index < 0.0) local_code_chip_index += d_code_length_chips;
+ d_local_codes_resampled[current_correlator_tap][n] = d_local_code_in[static_cast<int>(round(local_code_chip_index))];
+ }
+ }
}
diff --cc src/algorithms/tracking/libs/cpu_multicorrelator.h
index bce16fc,ca0f068..2c8c966
--- a/src/algorithms/tracking/libs/cpu_multicorrelator.h
+++ b/src/algorithms/tracking/libs/cpu_multicorrelator.h
@@@ -32,9 -32,9 +32,10 @@@
* -------------------------------------------------------------------------
*/
-#ifndef CPU_MULTICORRELATOR_H_
-#define CPU_MULTICORRELATOR_H_
+#ifndef GNSS_SDR_CPU_MULTICORRELATOR_H_
+#define GNSS_SDR_CPU_MULTICORRELATOR_H_
+
+
#include <complex>
/*!
@@@ -43,14 -43,39 +44,15 @@@
class cpu_multicorrelator
{
public:
- cpu_multicorrelator();
- bool init(
- int max_signal_length_samples,
- int n_correlators
- );
- bool set_local_code_and_taps(
- int code_length_chips,
- const std::complex<float>* local_code_in,
- float *shifts_chips
- );
- bool set_input_output_vectors(
- std::complex<float>* corr_out,
- const std::complex<float>* sig_in
- );
- void update_local_code(
- int correlator_length_samples,
- float rem_code_phase_chips,
- float code_phase_step_chips
- );
-
- void update_local_carrier(
- int correlator_length_samples,
- float rem_carr_phase_rad,
- float phase_step_rad
- );
- bool Carrier_wipeoff_multicorrelator_resampler(
- float rem_carrier_phase_in_rad,
- float phase_step_rad,
- float rem_code_phase_chips,
- float code_phase_step_chips,
- int signal_length_samples);
+ cpu_multicorrelator();
+ bool init(int max_signal_length_samples, int n_correlators);
+ bool set_local_code_and_taps(int code_length_chips, const std::complex<float>* local_code_in, float *shifts_chips);
+ bool set_input_output_vectors(std::complex<float>* corr_out, const std::complex<float>* sig_in);
+ void update_local_code(int correlator_length_samples, float rem_code_phase_chips, float code_phase_step_chips);
+ void update_local_carrier(int correlator_length_samples, float rem_carr_phase_rad, float phase_step_rad);
+ bool Carrier_wipeoff_multicorrelator_resampler(float rem_carrier_phase_in_rad, float phase_step_rad, float rem_code_phase_chips, float code_phase_step_chips, int signal_length_samples);
bool free();
+
private:
// Allocate the device input vectors
const std::complex<float> *d_sig_in;
diff --cc src/algorithms/tracking/libs/cuda_multicorrelator.h
index 2f8610c,fb2c9a9..161cbfe
--- a/src/algorithms/tracking/libs/cuda_multicorrelator.h
+++ b/src/algorithms/tracking/libs/cuda_multicorrelator.h
@@@ -128,9 -126,9 +128,10 @@@ public
int n_correlators
);
bool set_input_output_vectors(
- std::complex<float>* corr_out,
- std::complex<float>* sig_in
- );
+ std::complex<float>* corr_out,
+ std::complex<float>* sig_in
+ );
++
bool free_cuda();
bool Carrier_wipeoff_multicorrelator_resampler_cuda(
float rem_carrier_phase_in_rad,
diff --cc src/core/system_parameters/GPS_L1_CA.h
index 16b6b2a,cb63bb3..e6aa63b
--- a/src/core/system_parameters/GPS_L1_CA.h
+++ b/src/core/system_parameters/GPS_L1_CA.h
@@@ -70,7 -70,7 +70,8 @@@ const double GPS_STARTOFFSET_ms = 68.80
// OBSERVABLE HISTORY DEEP FOR INTERPOLATION
-const int GPS_L1_CA_HISTORY_DEEP=100;
+const int GPS_L1_CA_HISTORY_DEEP = 100;
++
// NAVIGATION MESSAGE DEMODULATION AND DECODING
#define GPS_PREAMBLE {1, 0, 0, 0, 1, 0, 1, 1}
--
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