[hamradio-commits] [gnss-sdr] 136/236: Merge branch next_gps_20ms_corr with next. Removing obsolete code and code cleaning
Carles Fernandez
carles_fernandez-guest at moszumanska.debian.org
Tue Apr 26 16:02:44 UTC 2016
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carles_fernandez-guest pushed a commit to branch next
in repository gnss-sdr.
commit b2034896e10374050a4b2badb941cfd9cc8fa92e
Merge: 1b9516f d15066f
Author: Javier Arribas <javiarribas at gmail.com>
Date: Wed Mar 30 15:03:25 2016 +0200
Merge branch next_gps_20ms_corr with next. Removing obsolete code and code cleaning
conf/gnss-sdr_GPS_L1_USRP_X300_realtime.conf | 1 -
conf/gnss-sdr_GPS_L1_USRP_realtime.conf | 2 +-
conf/gnss-sdr_GPS_L1_ishort.conf | 87 +++
conf/gnss-sdr_GPS_L1_rtl_tcp_realtime.conf | 2 +-
conf/gnss-sdr_GPS_L1_rtlsdr_realtime.conf | 2 +-
...im_trk.conf => gnss-sdr_Hybrid_gr_complex.conf} | 208 ++++---
conf/gnss-sdr_Hybrid_nsr.conf | 17 +-
src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc | 11 +-
src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc | 17 +-
src/algorithms/PVT/libs/hybrid_ls_pvt.cc | 25 +-
src/algorithms/PVT/libs/pvt_solution.h | 7 +-
src/algorithms/channel/adapters/channel.cc | 5 +
.../galileo_e1b_telemetry_decoder_cc.cc | 2 +
.../galileo_e5a_telemetry_decoder_cc.cc | 2 +
.../gps_l1_ca_telemetry_decoder_cc.cc | 180 +++---
.../gps_l1_ca_telemetry_decoder_cc.h | 11 +-
.../gps_l2_m_telemetry_decoder_cc.cc | 2 +
.../sbas_l1_telemetry_decoder_cc.cc | 2 +
.../adapters/gps_l1_ca_dll_pll_c_aid_tracking.cc | 12 +
.../galileo_e1_dll_pll_veml_tracking_cc.cc | 2 +
.../galileo_e1_tcp_connector_tracking_cc.cc | 3 +
.../galileo_e5a_dll_pll_tracking_cc.cc | 3 +
.../gps_l1_ca_dll_fll_pll_tracking_cc.cc | 15 +-
.../gps_l1_ca_dll_pll_c_aid_tracking_cc.cc | 397 +++++++++-----
.../gps_l1_ca_dll_pll_c_aid_tracking_cc.h | 33 ++
.../gps_l1_ca_dll_pll_c_aid_tracking_sc.cc | 23 +-
.../gps_l1_ca_dll_pll_c_aid_tracking_sc.h | 10 +
.../gps_l1_ca_dll_pll_tracking_cc.cc | 19 +-
.../gps_l1_ca_dll_pll_tracking_gpu_cc.cc | 5 +
.../gps_l1_ca_dll_pll_tracking_gpu_cc_old.cc | 606 ---------------------
.../gps_l1_ca_tcp_connector_tracking_cc.cc | 6 +-
.../gps_l2_m_dll_pll_tracking_cc.cc | 15 +-
.../tracking/libs/cpu_multicorrelator.cc | 28 +-
src/algorithms/tracking/libs/lock_detectors.cc | 21 +-
src/core/system_parameters/GPS_L1_CA.h | 5 +-
src/core/system_parameters/gnss_synchro.h | 3 +
36 files changed, 778 insertions(+), 1011 deletions(-)
diff --cc conf/gnss-sdr_Hybrid_nsr.conf
index f58d543,b9dcfeb..e643557
--- a/conf/gnss-sdr_Hybrid_nsr.conf
+++ b/conf/gnss-sdr_Hybrid_nsr.conf
@@@ -198,9 -199,9 +198,9 @@@ Acquisition_1C.threshold=0.007
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
;Acquisition_1C.pfa=0.01
;#doppler_max: Maximum expected Doppler shift [Hz]
- Acquisition_1C.doppler_max=10000
+ Acquisition_1C.doppler_max=5000
;#doppler_max: Doppler step in the grid search [Hz]
-Acquisition_1C.doppler_step=250
+Acquisition_1C.doppler_step=500
;######### GALILEO ACQUISITION CONFIG ############
@@@ -242,14 -243,23 +242,23 @@@ Tracking_1C.dump=fals
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking_1C.dump_filename=../data/epl_tracking_ch_
+ ;# Extended correlation after telemetry bit synchronization
+ ;# Valid values are: [1,2,4,5,10,20] (integer divisors of the GPS L1 CA bit period (20 ms) )
+ ;# Longer integration period require more stable front-end LO
+
-Tracking_1C.extend_correlation_ms=1
++Tracking_1C.extend_correlation_ms=10
+
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
- Tracking_1C.pll_bw_hz=45.0;
++
+ Tracking_1C.pll_bw_hz=40;
+ Tracking_1C.pll_bw_narrow_hz=40;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking_1C.dll_bw_hz=2.0;
-
+ Tracking_1C.dll_bw_narrow_hz=2.0;
;#fll_bw_hz: FLL loop filter bandwidth [Hz]
-Tracking_1C.fll_bw_hz=2.0;
+Tracking_1C.fll_bw_hz=10.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking_1C.order=3;
diff --cc src/algorithms/channel/adapters/channel.cc
index 6269bc8,34eb971..cc235cd
--- a/src/algorithms/channel/adapters/channel.cc
+++ b/src/algorithms/channel/adapters/channel.cc
@@@ -119,12 -119,16 +119,17 @@@ void Channel::connect(gr::top_block_spt
trk_->connect(top_block);
nav_->connect(top_block);
++ //Synchronous ports
top_block->connect(pass_through_->get_right_block(), 0, acq_->get_left_block(), 0);
DLOG(INFO) << "pass_through_ -> acquisition";
top_block->connect(pass_through_->get_right_block(), 0, trk_->get_left_block(), 0);
DLOG(INFO) << "pass_through_ -> tracking";
top_block->connect(trk_->get_right_block(), 0, nav_->get_left_block(), 0);
DLOG(INFO) << "tracking -> telemetry_decoder";
+
++ // Message ports
+ top_block->msg_connect(nav_->get_left_block(),pmt::mp("preamble_timestamp_s"),trk_->get_right_block(),pmt::mp("preamble_timestamp_s"));
+ DLOG(INFO) << "MSG FEEDBACK CHANNEL telemetry_decoder -> tracking";
-
connected_ = true;
}
diff --cc src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc
index fbd583c,fbd583c..b286aba
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc
@@@ -120,6 -120,6 +120,8 @@@ galileo_e1b_telemetry_decoder_cc::galil
gr::block("galileo_e1b_telemetry_decoder_cc", gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
++ // Telemetry Bit transition synchronization port out
++ this->message_port_register_out(pmt::mp("preamble_timestamp_s"));
// initialize internal vars
d_queue = queue;
d_dump = dump;
diff --cc src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc
index c8167c4,c8167c4..a00ab0f
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc
@@@ -197,6 -197,6 +197,8 @@@ galileo_e5a_telemetry_decoder_cc::galil
gr::block("galileo_e5a_telemetry_decoder_cc", gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
++ // Telemetry Bit transition synchronization port out
++ this->message_port_register_out(pmt::mp("preamble_timestamp_s"));
// initialize internal vars
d_queue = queue;
d_dump = dump;
diff --cc src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l1_ca_telemetry_decoder_cc.cc
index 5e4a6d5,e66fe7e..2fb6e14
--- 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
@@@ -78,6 -61,7 +61,8 @@@ gps_l1_ca_telemetry_decoder_cc::gps_l1_
gr::block("gps_navigation_cc", gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
++ // Telemetry Bit transition synchronization port out
+ this->message_port_register_out(pmt::mp("preamble_timestamp_s"));
// initialize internal vars
d_queue = queue;
d_dump = dump;
@@@ -425,4 -405,4 +406,3 @@@ void gps_l1_ca_telemetry_decoder_cc::se
}
}
}
--
diff --cc src/algorithms/telemetry_decoder/gnuradio_blocks/gps_l2_m_telemetry_decoder_cc.cc
index 44900bc,44900bc..2b4fa80
--- 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
@@@ -63,6 -63,6 +63,8 @@@ gps_l2_m_telemetry_decoder_cc::gps_l2_m
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
++ // Telemetry Bit transition synchronization port out
++ this->message_port_register_out(pmt::mp("preamble_timestamp_s"));
// initialize internal vars
d_dump = dump;
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
diff --cc src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_cc.cc
index eea32ad,eea32ad..36af479
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_cc.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/sbas_l1_telemetry_decoder_cc.cc
@@@ -63,6 -63,6 +63,8 @@@ sbas_l1_telemetry_decoder_cc::sbas_l1_t
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
++ // Telemetry Bit transition synchronization port out
++ this->message_port_register_out(pmt::mp("preamble_timestamp_s"));
// initialize internal vars
d_dump = dump;
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
diff --cc src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.cc
index b66a788,b66a788..530aca3
--- 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
@@@ -105,6 -105,6 +105,8 @@@ galileo_e1_dll_pll_veml_tracking_cc::ga
gr::block("galileo_e1_dll_pll_veml_tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
++ // Telemetry bit synchronization message port input
++ this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
this->set_relative_rate(1.0/vector_length);
// initialize internal vars
d_queue = queue;
diff --cc src/algorithms/tracking/gnuradio_blocks/galileo_e1_tcp_connector_tracking_cc.cc
index 1b6a5db,1b6a5db..e84b01f
--- a/src/algorithms/tracking/gnuradio_blocks/galileo_e1_tcp_connector_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/galileo_e1_tcp_connector_tracking_cc.cc
@@@ -108,6 -108,6 +108,9 @@@ Galileo_E1_Tcp_Connector_Tracking_cc::G
gr::block("Galileo_E1_Tcp_Connector_Tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
++ // Telemetry bit synchronization message port input
++ this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
++
this->set_relative_rate(1.0/vector_length);
// initialize internal vars
d_queue = queue;
diff --cc src/algorithms/tracking/gnuradio_blocks/galileo_e5a_dll_pll_tracking_cc.cc
index e8b53ea,e8b53ea..d33b2d9
--- 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
@@@ -108,6 -108,6 +108,9 @@@ Galileo_E5a_Dll_Pll_Tracking_cc::Galile
gr::block("Galileo_E5a_Dll_Pll_Tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
++ // Telemetry bit synchronization message port input
++ this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
++
this->set_relative_rate(1.0/vector_length);
// initialize internal vars
d_queue = queue;
diff --cc src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_fll_pll_tracking_cc.cc
index 99497e1,99497e1..60f2614
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_fll_pll_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_fll_pll_tracking_cc.cc
@@@ -105,6 -105,6 +105,8 @@@ Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::Gps_
gr::block("Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
++ // Telemetry bit synchronization message port input
++ this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
// initialize internal vars
d_queue = queue;
d_dump = dump;
@@@ -290,16 -290,16 +292,6 @@@ void Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc:
memcpy(d_prompt_code,&d_early_code[early_late_spc_samples],d_current_prn_length_samples* sizeof(gr_complex));
memcpy(d_late_code,&d_early_code[early_late_spc_samples*2],d_current_prn_length_samples* sizeof(gr_complex));
-- // for (int i=0; i<d_current_prn_length_samples; i++)
-- // {
-- // associated_chip_index = 1 + round(fmod(tcode_chips - d_early_late_spc_chips, code_length_chips));
-- // d_early_code[i] = d_ca_code[associated_chip_index];
-- // associated_chip_index = 1 + round(fmod(tcode_chips, code_length_chips));
-- // d_prompt_code[i] = d_ca_code[associated_chip_index];
-- // associated_chip_index = 1 + round(fmod(tcode_chips + d_early_late_spc_chips, code_length_chips));
-- // d_late_code[i] = d_ca_code[associated_chip_index];
-- // tcode_chips = tcode_chips + code_phase_step_chips;
-- // }
}
@@@ -555,6 -555,6 +547,8 @@@ int Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
current_synchro_data.Flag_valid_tracking = true;
++ current_synchro_data.Flag_valid_symbol_output = true;
++ current_synchro_data.correlation_length_ms=1;
current_synchro_data.Flag_valid_pseudorange = false;
*out[0] = current_synchro_data;
}
@@@ -583,6 -583,6 +577,7 @@@
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; //block output streams pointer
d_acquisition_gnss_synchro->Flag_valid_pseudorange = false;
++ d_acquisition_gnss_synchro->Flag_valid_symbol_output = false;
*out[0] = *d_acquisition_gnss_synchro;
}
diff --cc src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
index ecc4e89,a15ec03..8751e05
--- 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
@@@ -97,6 -116,13 +116,13 @@@ gps_l1_ca_dll_pll_c_aid_tracking_cc::gp
gr::block("gps_l1_ca_dll_pll_c_aid_tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
- // create asynchronous message ports
++ // Telemetry bit synchronization message port input
+ this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
+
+ this->set_msg_handler(pmt::mp("preamble_timestamp_s"),
+ boost::bind(&gps_l1_ca_dll_pll_c_aid_tracking_cc::msg_handler_preamble_index, this, _1));
+
+
// initialize internal vars
d_queue = queue;
d_dump = dump;
diff --cc src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.cc
index d74738e,12b8351..8e21de7
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.cc
@@@ -98,6 -102,6 +102,8 @@@ gps_l1_ca_dll_pll_c_aid_tracking_sc::gp
gr::block("gps_l1_ca_dll_pll_c_aid_tracking_sc", gr::io_signature::make(1, 1, sizeof(lv_16sc_t)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
++ // Telemetry bit synchronization message port input
++ this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
// initialize internal vars
d_queue = queue;
d_dump = dump;
@@@ -330,17 -338,17 +340,9 @@@ int gps_l1_ca_dll_pll_c_aid_tracking_sc
// ################# CARRIER WIPEOFF AND CORRELATORS ##############################
// perform carrier wipe-off and compute Early, Prompt and Late correlation
-- //volk_gnsssdr_32fc_convert_16ic(d_in_16sc,in,d_correlation_length_samples);
-- //std::cout << std::fixed << std::setw( 11 ) << std::setprecision( 6 );
-- //std::cout<<"in="<<in[0]<<std::endl;
--
multicorrelator_cpu_16sc.set_input_output_vectors(d_correlator_outs_16sc,in);
multicorrelator_cpu_16sc.Carrier_wipeoff_multicorrelator_resampler(d_rem_carrier_phase_rad, d_carrier_phase_step_rad, d_rem_code_phase_chips, d_code_phase_step_chips, d_correlation_length_samples);
-- //std::cout<<"E 16sc="<<d_correlator_outs_16sc[0]<<std::endl;
-- //std::cout<<"P 16sc="<<d_correlator_outs_16sc[1]<<std::endl;
-- //std::cout<<"L 16sc="<<d_correlator_outs_16sc[2]<<std::endl;
--
//std::cout<<std::endl;
// UPDATE INTEGRATION TIME
CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in);
@@@ -450,6 -458,6 +452,8 @@@
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
current_synchro_data.Flag_valid_pseudorange = false;
++ current_synchro_data.Flag_valid_symbol_output = true;
++ current_synchro_data.correlation_length_ms=1;
*out[0] = current_synchro_data;
// ########## DEBUG OUTPUT
@@@ -504,6 -512,6 +508,7 @@@
current_synchro_data.System = {'G'};
current_synchro_data.Flag_valid_pseudorange = false;
++ current_synchro_data.Flag_valid_symbol_output = false;
*out[0] = current_synchro_data;
}
diff --cc src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_cc.cc
index 5f6d335,5f6d335..d7b3401
--- 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
@@@ -104,6 -104,6 +104,8 @@@ Gps_L1_Ca_Dll_Pll_Tracking_cc::Gps_L1_C
gr::block("Gps_L1_Ca_Dll_Pll_Tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
++ // Telemetry bit synchronization message port input
++ this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
// initialize internal vars
d_queue = queue;
d_dump = dump;
@@@ -309,8 -309,8 +311,6 @@@ void Gps_L1_Ca_Dll_Pll_Tracking_cc::upd
d_carr_sign[i] = std::complex<float>(cos_f, -sin_f);
phase_rad_i += phase_step_rad_i;
}
-- //d_rem_carr_phase_rad = fmod(phase_rad, GPS_TWO_PI);
-- //d_acc_carrier_phase_rad = d_acc_carrier_phase_rad + d_rem_carr_phase_rad;
}
@@@ -362,11 -362,11 +362,8 @@@ int Gps_L1_Ca_Dll_Pll_Tracking_cc::gene
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);
-- // /todo: Check if the sample counter sent to the next block as a time reference should be incremented AFTER sended or BEFORE
-- //d_sample_counter_seconds = d_sample_counter_seconds + (((double)samples_offset) / static_cast<double>(d_fs_in));
d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples
d_pull_in = false;
-- //std::cout<<" samples_offset="<<samples_offset<<"\r\n";
// Fill the acquisition data
current_synchro_data = *d_acquisition_gnss_synchro;
*out[0] = current_synchro_data;
@@@ -493,11 -493,11 +490,6 @@@
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).real());
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).imag());
-- // Tracking_timestamp_secs is aligned with the NEXT PRN start sample (Hybridization problem!)
-- //compute remnant code phase samples BEFORE the Tracking timestamp
-- //d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
-- //current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter + (double)d_current_prn_length_samples + (double)d_rem_code_phase_samples)/static_cast<double>(d_fs_in);
--
// Tracking_timestamp_secs is aligned with the CURRENT PRN start sample (Hybridization OK!, but some glitches??)
current_synchro_data.Tracking_timestamp_secs = (static_cast<double>(d_sample_counter) + static_cast<double>(d_rem_code_phase_samples)) / static_cast<double>(d_fs_in);
//compute remnant code phase samples AFTER the Tracking timestamp
@@@ -510,6 -510,6 +502,8 @@@
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
current_synchro_data.Flag_valid_pseudorange = false;
++ current_synchro_data.Flag_valid_symbol_output = true;
++ current_synchro_data.correlation_length_ms=1;
*out[0] = current_synchro_data;
// ########## DEBUG OUTPUT
@@@ -563,6 -563,6 +557,7 @@@
current_synchro_data.System = {'G'};
current_synchro_data.Flag_valid_pseudorange = false;
++ current_synchro_data.Flag_valid_symbol_output = false;
*out[0] = current_synchro_data;
}
@@@ -616,7 -616,7 +611,7 @@@
tmp_double = static_cast<double>(d_sample_counter + d_current_prn_length_samples);
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
}
-- catch (std::ifstream::failure e)
++ catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "Exception writing trk dump file " << e.what();
}
@@@ -651,7 -651,7 +646,7 @@@ void Gps_L1_Ca_Dll_Pll_Tracking_cc::set
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl;
}
-- catch (std::ifstream::failure e)
++ catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what() << std::endl;
}
diff --cc src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.cc
index ffa2bdb,ffa2bdb..83bb734
--- 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
@@@ -99,6 -99,6 +99,8 @@@ Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::Gps_
gr::block("Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
++ // Telemetry bit synchronization message port input
++ this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
// initialize internal vars
d_queue = queue;
d_dump = dump;
@@@ -451,6 -451,6 +453,8 @@@ int Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
current_synchro_data.Flag_valid_pseudorange = false;
++ current_synchro_data.Flag_valid_symbol_output = true;
++ current_synchro_data.correlation_length_ms=1;
*out[0] = current_synchro_data;
// ########## DEBUG OUTPUT
@@@ -505,6 -505,6 +509,7 @@@
current_synchro_data.System = {'G'};
current_synchro_data.Flag_valid_pseudorange = false;
++ current_synchro_data.Flag_valid_symbol_output = false;
*out[0] = current_synchro_data;
}
diff --cc src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc_old.cc
index 3fd78c4,3fd78c4..0000000
deleted file mode 100644,100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc_old.cc
+++ /dev/null
@@@ -1,606 -1,606 +1,0 @@@
--/*!
-- * \file gps_l1_ca_dll_pll_tracking_gpu_cc.cc
-- * \brief Implementation of a code DLL + carrier PLL tracking block, GPU ACCELERATED
-- * \author Javier Arribas, 2015. jarribas(at)cttc.es
-- *
-- * Code DLL + carrier PLL according to the algorithms described in:
-- * [1] K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
-- * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
-- * Approach, Birkhauser, 2007
-- *
-- * -------------------------------------------------------------------------
-- *
-- * Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
-- *
-- * GNSS-SDR is a software defined Global Navigation
-- * Satellite Systems receiver
-- *
-- * This file is part of GNSS-SDR.
-- *
-- * GNSS-SDR is free software: you can redistribute it and/or modify
-- * it under the terms of the GNU General Public License as published by
-- * the Free Software Foundation, either version 3 of the License, or
-- * (at your option) any later version.
-- *
-- * GNSS-SDR is distributed in the hope that it will be useful,
-- * but WITHOUT ANY WARRANTY; without even the implied warranty of
-- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-- * GNU General Public License for more details.
-- *
-- * You should have received a copy of the GNU General Public License
-- * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
-- *
-- * -------------------------------------------------------------------------
-- */
--
--#include "gps_l1_ca_dll_pll_tracking_gpu_cc.h"
--#include <cmath>
--#include <iostream>
--#include <memory>
--#include <sstream>
--#include <boost/lexical_cast.hpp>
--#include <gnuradio/io_signature.h>
--#include <glog/logging.h>
--#include "gnss_synchro.h"
--#include "gps_sdr_signal_processing.h"
--#include "tracking_discriminators.h"
--#include "lock_detectors.h"
--#include "GPS_L1_CA.h"
--#include "control_message_factory.h"
--#include <volk/volk.h> //volk_alignement
--// includes
--#include <cuda_profiler_api.h>
--
--
--/*!
-- * \todo Include in definition header file
-- */
--#define CN0_ESTIMATION_SAMPLES 20
--#define MINIMUM_VALID_CN0 25
--#define MAXIMUM_LOCK_FAIL_COUNTER 50
--#define CARRIER_LOCK_THRESHOLD 0.85
--
--
--using google::LogMessage;
--
--gps_l1_ca_dll_pll_tracking_gpu_cc_sptr
--gps_l1_ca_dll_pll_make_tracking_gpu_cc(
-- long if_freq,
-- long fs_in,
-- unsigned int vector_length,
-- boost::shared_ptr<gr::msg_queue> queue,
-- bool dump,
-- std::string dump_filename,
-- float pll_bw_hz,
-- float dll_bw_hz,
-- float early_late_space_chips)
--{
-- return gps_l1_ca_dll_pll_tracking_gpu_cc_sptr(new Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc(if_freq,
-- fs_in, vector_length, queue, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips));
--}
--
--
--void Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::forecast (int noutput_items,
-- gr_vector_int &ninput_items_required)
--{
-- ninput_items_required[0] = static_cast<int>(d_vector_length) * 2; //set the required available samples in each call
--}
--
--
--
--Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc(
-- long if_freq,
-- long fs_in,
-- unsigned int vector_length,
-- boost::shared_ptr<gr::msg_queue> queue,
-- bool dump,
-- std::string dump_filename,
-- float pll_bw_hz,
-- float dll_bw_hz,
-- float early_late_space_chips) :
-- gr::block("Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
-- gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
--{
-- // initialize internal vars
-- d_queue = queue;
-- d_dump = dump;
-- d_if_freq = if_freq;
-- d_fs_in = fs_in;
-- d_vector_length = vector_length;
-- d_dump_filename = dump_filename;
--
-- // Initialize tracking ==========================================
-- d_code_loop_filter.set_DLL_BW(dll_bw_hz);
-- d_carrier_loop_filter.set_PLL_BW(pll_bw_hz);
--
-- //--- DLL variables --------------------------------------------------------
-- d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
--
-- // Set GPU flags
-- cudaSetDeviceFlags(cudaDeviceMapHost);
-- //allocate host memory
-- //pinned memory mode - use special function to get OS-pinned memory
-- 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);
-- // 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);
-- // correlator outputs (scalar)
-- cudaHostAlloc((void**)&d_corr_outs_gpu ,sizeof(gr_complex)*N_CORRELATORS, cudaHostAllocMapped || cudaHostAllocWriteCombined );
--
-- //map to EPL pointers
-- d_Early = &d_corr_outs_gpu[0];
-- 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);
--
-- // define initial code frequency basis of NCO
-- d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ;
-- // define residual code phase (in chips)
-- d_rem_code_phase_samples = 0.0;
-- // define residual carrier phase
-- d_rem_carr_phase_rad = 0.0;
--
-- // sample synchronization
-- d_sample_counter = 0;
-- //d_sample_counter_seconds = 0;
-- d_acq_sample_stamp = 0;
--
-- d_enable_tracking = false;
-- d_pull_in = false;
-- d_last_seg = 0;
--
-- d_current_prn_length_samples = static_cast<int>(d_vector_length);
--
-- // CN0 estimation and lock detector buffers
-- d_cn0_estimation_counter = 0;
-- d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES];
-- d_carrier_lock_test = 1;
-- d_CN0_SNV_dB_Hz = 0;
-- d_carrier_lock_fail_counter = 0;
-- d_carrier_lock_threshold = CARRIER_LOCK_THRESHOLD;
--
-- systemName["G"] = std::string("GPS");
-- systemName["S"] = std::string("SBAS");
--
--
-- set_relative_rate(1.0/((double)d_vector_length*2));
--
-- d_channel_internal_queue = 0;
-- d_acquisition_gnss_synchro = 0;
-- d_channel = 0;
-- d_acq_code_phase_samples = 0.0;
-- d_acq_carrier_doppler_hz = 0.0;
-- d_carrier_doppler_hz = 0.0;
-- d_acc_carrier_phase_rad = 0.0;
-- d_code_phase_samples = 0.0;
-- d_acc_code_phase_secs = 0.0;
-- //set_min_output_buffer((long int)300);
--}
--
--
--void Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::start_tracking()
--{
-- /*
-- * correct the code phase according to the delay between acq and trk
-- */
-- d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
-- d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
-- d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
--
-- long int acq_trk_diff_samples;
-- double acq_trk_diff_seconds;
-- acq_trk_diff_samples = static_cast<long int>(d_sample_counter) - static_cast<long int>(d_acq_sample_stamp);//-d_vector_length;
-- DLOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples;
-- acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / static_cast<double>(d_fs_in);
-- //doppler effect
-- // Fd=(C/(C+Vr))*F
-- double radial_velocity = (GPS_L1_FREQ_HZ + d_acq_carrier_doppler_hz) / GPS_L1_FREQ_HZ;
-- // new chip and prn sequence periods based on acq Doppler
-- double T_chip_mod_seconds;
-- double T_prn_mod_seconds;
-- double T_prn_mod_samples;
-- d_code_freq_chips = radial_velocity * GPS_L1_CA_CODE_RATE_HZ;
-- T_chip_mod_seconds = 1.0/d_code_freq_chips;
-- T_prn_mod_seconds = T_chip_mod_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
-- T_prn_mod_samples = T_prn_mod_seconds * static_cast<double>(d_fs_in);
--
-- d_current_prn_length_samples = round(T_prn_mod_samples);
--
-- double T_prn_true_seconds = GPS_L1_CA_CODE_LENGTH_CHIPS / GPS_L1_CA_CODE_RATE_HZ;
-- double T_prn_true_samples = T_prn_true_seconds * static_cast<double>(d_fs_in);
-- double T_prn_diff_seconds= T_prn_true_seconds - T_prn_mod_seconds;
-- double N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
-- double corrected_acq_phase_samples, delay_correction_samples;
-- corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast<double>(d_fs_in)), T_prn_true_samples);
-- if (corrected_acq_phase_samples < 0)
-- {
-- corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples;
-- }
-- delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
--
-- d_acq_code_phase_samples = corrected_acq_phase_samples;
--
-- d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
--
-- // DLL/PLL filter initialization
-- d_carrier_loop_filter.initialize(); // initialize the carrier filter
-- d_code_loop_filter.initialize(); // initialize the code filter
--
-- // 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;
--
-- 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;
-- d_rem_carr_phase_rad = 0;
-- d_acc_carrier_phase_rad = 0;
-- d_acc_code_phase_secs = 0;
--
-- d_code_phase_samples = d_acq_code_phase_samples;
--
-- std::string sys_ = &d_acquisition_gnss_synchro->System;
-- sys = sys_.substr(0,1);
--
-- // DEBUG OUTPUT
-- std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
-- LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
--
--
-- // enable tracking
-- d_pull_in = true;
-- d_enable_tracking = true;
--
-- LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
-- << " Code Phase correction [samples]=" << delay_correction_samples
-- << " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
--}
--
--
--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);
-- delete[] d_Prompt_buffer;
--}
--
--
--
--int Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
-- gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
--{
-- // process vars
-- 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;
--
-- // Block input data and block output stream pointers
-- const gr_complex* in = (gr_complex*) input_items[0];
-- Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
--
-- // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
-- Gnss_Synchro current_synchro_data = Gnss_Synchro();
--
-- if (d_enable_tracking == true)
-- {
-- // Receiver signal alignment
-- if (d_pull_in == true)
-- {
-- int samples_offset;
-- 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);
-- // /todo: Check if the sample counter sent to the next block as a time reference should be incremented AFTER sended or BEFORE
-- //d_sample_counter_seconds = d_sample_counter_seconds + (((double)samples_offset) / static_cast<double>(d_fs_in));
-- d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples
-- d_pull_in = false;
-- //std::cout<<" samples_offset="<<samples_offset<<"\r\n";
-- // Fill the acquisition data
-- current_synchro_data = *d_acquisition_gnss_synchro;
-- *out[0] = current_synchro_data;
-- consume_each(samples_offset); //shift input to perform alignment with local replica
-- return 1;
-- }
--
-- // Fill the acquisition data
-- current_synchro_data = *d_acquisition_gnss_synchro;
--
-- // UPDATE NCO COMMAND
-- double phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
--
-- //code resampler on GPU (new)
-- double code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
-- double rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / d_fs_in);
--
-- std::cout<<"rem_code_phase_chips="<<rem_code_phase_chips<<" d_current_prn_length_samples="<<d_current_prn_length_samples<<std::endl;
-- memcpy(in_gpu, in, sizeof(gr_complex) * d_current_prn_length_samples);
-- cudaProfilerStart();
-- multicorrelator_gpu->Carrier_wipeoff_multicorrelator_resampler_cuda( static_cast<float>(d_rem_carr_phase_rad),
-- static_cast<float>(phase_step_rad),
-- static_cast<float>(code_phase_step_chips),
-- static_cast<float>(rem_code_phase_chips),
-- d_current_prn_length_samples, 3);
-- cudaProfilerStop();
--
-- // ################## PLL ##########################################################
-- // PLL discriminator
-- carr_error_hz = pll_cloop_two_quadrant_atan(*d_Prompt) / GPS_TWO_PI;
-- // Carrier discriminator filter
-- carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz);
-- // New carrier Doppler frequency estimation
-- d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz;
-- // New code Doppler frequency estimation
-- d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GPS_L1_CA_CODE_RATE_HZ) / GPS_L1_FREQ_HZ);
-- //carrier phase accumulator for (K) doppler estimation
-- d_acc_carrier_phase_rad -= GPS_TWO_PI * d_carrier_doppler_hz * GPS_L1_CA_CODE_PERIOD;
-- //remanent 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 * GPS_L1_CA_CODE_PERIOD;
-- d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GPS_TWO_PI);
--
-- // ################## DLL ##########################################################
-- // DLL discriminator
-- code_error_chips = dll_nc_e_minus_l_normalized(*d_Early, *d_Late); //[chips/Ti]
-- // Code discriminator filter
-- code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); //[chips/second]
-- //Code phase accumulator
-- double code_error_filt_secs;
-- code_error_filt_secs = (GPS_L1_CA_CODE_PERIOD * code_error_filt_chips) / GPS_L1_CA_CODE_RATE_HZ; //[seconds]
-- d_acc_code_phase_secs = d_acc_code_phase_secs + code_error_filt_secs;
--
-- // ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
-- // keep alignment parameters for the next input buffer
-- double T_chip_seconds;
-- double T_prn_seconds;
-- double T_prn_samples;
-- double K_blk_samples;
-- // Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
-- T_chip_seconds = 1 / static_cast<double>(d_code_freq_chips);
-- T_prn_seconds = T_chip_seconds * GPS_L1_CA_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_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
--
-- // ####### CN0 ESTIMATION AND LOCK DETECTORS ######
-- if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
-- {
-- // fill buffer with prompt correlator output values
-- d_Prompt_buffer[d_cn0_estimation_counter] = *d_Prompt;
-- d_cn0_estimation_counter++;
-- }
-- else
-- {
-- d_cn0_estimation_counter = 0;
-- // Code lock indicator
-- d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GPS_L1_CA_CODE_LENGTH_CHIPS);
-- // Carrier lock indicator
-- d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
-- // Loss of lock detection
-- if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
-- {
-- d_carrier_lock_fail_counter++;
-- }
-- else
-- {
-- if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
-- }
-- if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
-- {
-- std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
-- LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
-- std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
-- if (d_queue != gr::msg_queue::sptr())
-- {
-- d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
-- }
-- d_carrier_lock_fail_counter = 0;
-- d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
-- }
-- }
-- // ########### Output the tracking data to navigation and PVT ##########
-- current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).real());
-- current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).imag());
--
-- // Tracking_timestamp_secs is aligned with the NEXT PRN start sample (Hybridization problem!)
-- //compute remnant code phase samples BEFORE the Tracking timestamp
-- //d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
-- //current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter + (double)d_current_prn_length_samples + (double)d_rem_code_phase_samples)/static_cast<double>(d_fs_in);
--
-- // Tracking_timestamp_secs is aligned with the CURRENT PRN start sample (Hybridization OK!, but some glitches??)
-- current_synchro_data.Tracking_timestamp_secs = (static_cast<double>(d_sample_counter) + d_rem_code_phase_samples) / static_cast<double>(d_fs_in);
-- //compute remnant code phase samples AFTER the Tracking timestamp
-- d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
--
-- //current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter)/static_cast<double>(d_fs_in);
-- // This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0
-- current_synchro_data.Code_phase_secs = 0;
-- current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
-- current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
-- current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
-- current_synchro_data.Flag_valid_pseudorange = false;
-- *out[0] = current_synchro_data;
--
-- // ########## DEBUG OUTPUT
-- /*!
-- * \todo The stop timer has to be moved to the signal source!
-- */
-- // debug: Second counter in channel 0
-- if (d_channel == 0)
-- {
-- if (floor(d_sample_counter / d_fs_in) != d_last_seg)
-- {
-- d_last_seg = floor(d_sample_counter / d_fs_in);
-- std::cout << "Current input signal time = " << d_last_seg << " [s]" << std::endl;
-- DLOG(INFO) << "GPS L1 C/A Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
-- << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
-- //if (d_last_seg==5) d_carrier_lock_fail_counter=500; //DEBUG: force unlock!
-- }
-- }
-- else
-- {
-- if (floor(d_sample_counter / d_fs_in) != d_last_seg)
-- {
-- d_last_seg = floor(d_sample_counter / d_fs_in);
-- DLOG(INFO) << "Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
-- << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]";
-- }
-- }
-- }
-- else
-- {
-- // ########## DEBUG OUTPUT (TIME ONLY for channel 0 when tracking is disabled)
-- /*!
-- * \todo The stop timer has to be moved to the signal source!
-- */
-- // 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)
-- {
-- d_last_seg = floor(d_sample_counter / d_fs_in);
--
-- if (d_channel == 0)
-- {
-- // debug: Second counter in channel 0
-- tmp_str_stream << "Current input signal time = " << d_last_seg << " [s]" << std::endl << std::flush;
-- std::cout << tmp_str_stream.rdbuf() << std::flush;
-- }
-- }
-- *d_Early = gr_complex(0,0);
-- *d_Prompt = gr_complex(0,0);
-- *d_Late = gr_complex(0,0);
--
-- current_synchro_data.System = {'G'};
-- current_synchro_data.Flag_valid_pseudorange = false;
-- *out[0] = current_synchro_data;
-- }
--
-- if(d_dump)
-- {
-- // MULTIPLEXED FILE RECORDING - Record results to file
-- float prompt_I;
-- float prompt_Q;
-- float tmp_E, tmp_P, tmp_L;
-- float tmp_float;
-- double tmp_double;
-- prompt_I = (*d_Prompt).real();
-- prompt_Q = (*d_Prompt).imag();
-- tmp_E = std::abs<float>(*d_Early);
-- tmp_P = std::abs<float>(*d_Prompt);
-- tmp_L = std::abs<float>(*d_Late);
-- try
-- {
--
-- // EPR
-- d_dump_file.write((char*)&tmp_E, sizeof(float));
-- d_dump_file.write((char*)&tmp_P, sizeof(float));
-- d_dump_file.write((char*)&tmp_L, sizeof(float));
-- // PROMPT I and Q (to analyze navigation symbols)
-- d_dump_file.write((char*)&prompt_I, sizeof(float));
-- d_dump_file.write((char*)&prompt_Q, sizeof(float));
-- // PRN start sample stamp
-- //tmp_float=(float)d_sample_counter;
-- d_dump_file.write((char*)&d_sample_counter, sizeof(unsigned long int));
-- // accumulated carrier phase
-- tmp_float = d_acc_carrier_phase_rad;
-- d_dump_file.write((char*)&tmp_float, sizeof(float));
--
-- // carrier and code frequency
-- tmp_float = d_carrier_doppler_hz;
-- d_dump_file.write((char*)&tmp_float, sizeof(float));
-- tmp_float = d_code_freq_chips;
-- d_dump_file.write((char*)&tmp_float, sizeof(float));
--
-- //PLL commands
-- tmp_float = carr_error_hz;
-- d_dump_file.write((char*)&tmp_float, sizeof(float));
-- tmp_float = carr_error_filt_hz;
-- d_dump_file.write((char*)&tmp_float, sizeof(float));
--
-- //DLL commands
-- tmp_float = code_error_chips;
-- d_dump_file.write((char*)&tmp_float, sizeof(float));
-- tmp_float = code_error_filt_chips;
-- d_dump_file.write((char*)&tmp_float, sizeof(float));
--
-- // CN0 and carrier lock test
-- tmp_float = d_CN0_SNV_dB_Hz;
-- d_dump_file.write((char*)&tmp_float, sizeof(float));
-- tmp_float = d_carrier_lock_test;
-- d_dump_file.write((char*)&tmp_float, sizeof(float));
--
-- // AUX vars (for debug purposes)
-- tmp_float = d_rem_code_phase_samples;
-- d_dump_file.write((char*)&tmp_float, sizeof(float));
-- tmp_double = (double)(d_sample_counter + d_current_prn_length_samples);
-- d_dump_file.write((char*)&tmp_double, sizeof(double));
-- }
-- catch (std::ifstream::failure e)
-- {
-- LOG(WARNING) << "Exception writing trk dump file " << e.what();
-- }
-- }
--
-- consume_each(d_current_prn_length_samples); // this is necessary in gr::block derivates
-- d_sample_counter += d_current_prn_length_samples; //count for the processed samples
-- //LOG(INFO)<<"GPS tracking output end on CH="<<this->d_channel << " SAMPLE STAMP="<<d_sample_counter<<std::endl;
-- return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
--}
--
--
--
--void Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::set_channel(unsigned int channel)
--{
-- d_channel = channel;
-- LOG(INFO) << "Tracking Channel set to " << d_channel;
-- // ############# ENABLE DATA FILE LOG #################
-- if (d_dump == true)
-- {
-- if (d_dump_file.is_open() == false)
-- {
-- try
-- {
-- d_dump_filename.append(boost::lexical_cast<std::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) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl;
-- }
-- catch (std::ifstream::failure e)
-- {
-- LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what() << std::endl;
-- }
-- }
-- }
--}
--
--
--
--void Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::set_channel_queue(concurrent_queue<int> *channel_internal_queue)
--{
-- d_channel_internal_queue = channel_internal_queue;
--}
--
--
--void Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
--{
-- d_acquisition_gnss_synchro = p_gnss_synchro;
--}
diff --cc src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.cc
index fdfe495,fdfe495..431ee9c
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_tcp_connector_tracking_cc.cc
@@@ -106,6 -106,6 +106,8 @@@ Gps_L1_Ca_Tcp_Connector_Tracking_cc::Gp
gr::block("Gps_L1_Ca_Tcp_Connector_Tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
++ // Telemetry bit synchronization message port input
++ this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
// initialize internal vars
d_queue = queue;
d_dump = dump;
@@@ -434,7 -434,7 +436,7 @@@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc
current_synchro_data.CN0_dB_hz = 0.0;
current_synchro_data.Flag_valid_tracking = false;
current_synchro_data.Flag_valid_pseudorange = false;
--
++ current_synchro_data.Flag_valid_symbol_output = true;
*out[0] = current_synchro_data;
return 1;
@@@ -547,6 -547,6 +549,8 @@@
current_synchro_data.Code_phase_secs = (double)d_code_phase_samples * (1/(float)d_fs_in);
current_synchro_data.CN0_dB_hz = (double)d_CN0_SNV_dB_Hz;
current_synchro_data.Flag_valid_pseudorange = false;
++ current_synchro_data.Flag_valid_symbol_output = true;
++ current_synchro_data.correlation_length_ms=1;
*out[0] = current_synchro_data;
// ########## DEBUG OUTPUT
diff --cc src/algorithms/tracking/gnuradio_blocks/gps_l2_m_dll_pll_tracking_cc.cc
index 887ac73,887ac73..8eeefd9
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l2_m_dll_pll_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l2_m_dll_pll_tracking_cc.cc
@@@ -102,7 -102,7 +102,8 @@@ gps_l2_m_dll_pll_tracking_cc::gps_l2_m_
float early_late_space_chips) :
gr::block("gps_l2_m_dll_pll_tracking_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
--{
++{ // Telemetry bit synchronization message port input
++ this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
// initialize internal vars
d_queue = queue;
d_dump = dump;
@@@ -311,8 -311,8 +312,6 @@@ void gps_l2_m_dll_pll_tracking_cc::upda
d_carr_sign[i] = gr_complex(cos(phase_rad), -sin(phase_rad));
phase_rad += phase_step_rad;
}
-- //d_rem_carr_phase_rad = fmod(phase_rad, GPS_L2_TWO_PI);
-- //d_acc_carrier_phase_rad = d_acc_carrier_phase_rad + d_rem_carr_phase_rad;
}
@@@ -414,7 -414,7 +413,7 @@@ int gps_l2_m_dll_pll_tracking_cc::gener
current_synchro_data.CN0_dB_hz = 0.0;
current_synchro_data.Flag_valid_tracking = false;
current_synchro_data.Flag_valid_pseudorange = false;
--
++ current_synchro_data.Flag_valid_symbol_output = false;
*out[0] = current_synchro_data;
return 1;
@@@ -499,11 -499,11 +498,6 @@@
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).real());
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).imag());
-- // Tracking_timestamp_secs is aligned with the NEXT PRN start sample (Hybridization problem!)
-- //compute remnant code phase samples BEFORE the Tracking timestamp
-- //d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
-- //current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter + (double)d_current_prn_length_samples + (double)d_rem_code_phase_samples)/static_cast<double>(d_fs_in);
--
// Tracking_timestamp_secs is aligned with the CURRENT PRN start sample (Hybridization OK!, but some glitches??)
current_synchro_data.Tracking_timestamp_secs = (static_cast<double>(d_sample_counter) + d_rem_code_phase_samples) / static_cast<double>(d_fs_in);
//compute remnant code phase samples AFTER the Tracking timestamp
@@@ -516,6 -516,6 +510,8 @@@
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
current_synchro_data.Flag_valid_tracking = true;
++ current_synchro_data.Flag_valid_symbol_output = true;
++ current_synchro_data.correlation_length_ms=1;
*out[0] = current_synchro_data;
// ########## DEBUG OUTPUT
@@@ -570,6 -570,6 +566,7 @@@
*d_Late = gr_complex(0,0);
current_synchro_data.Flag_valid_pseudorange = false;
++ current_synchro_data.Flag_valid_symbol_output = false;
*out[0] = current_synchro_data;
}
diff --cc src/algorithms/tracking/libs/cpu_multicorrelator.cc
index 933d06e,089a4a8..751ad22
--- a/src/algorithms/tracking/libs/cpu_multicorrelator.cc
+++ b/src/algorithms/tracking/libs/cpu_multicorrelator.cc
@@@ -100,24 -85,38 +100,26 @@@ bool cpu_multicorrelator::set_input_out
return true;
}
-
- void cpu_multicorrelator::update_local_code(int correlator_length_samples, float rem_code_phase_chips, float code_phase_step_chips)
+ 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;
+ int 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 = 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))];
- }
- }
++
+ {
+ for (int n = 0; n < correlator_length_samples; n++)
+ {
+ // resample code for current tap
+ local_code_chip_index = floor(code_phase_step_chips*static_cast<float>(n) + d_shifts_chips[current_correlator_tap]- rem_code_phase_chips);
+ local_code_chip_index = local_code_chip_index % d_code_length_chips;
+ //Take into account that in multitap correlators, the shifts can be negative!
+ if (local_code_chip_index < 0) local_code_chip_index += d_code_length_chips;
+ d_local_codes_resampled[current_correlator_tap][n] = d_local_code_in[local_code_chip_index];
+ }
+ }
-}
+
-
-void cpu_multicorrelator::update_local_carrier(int correlator_length_samples, float rem_carr_phase_rad, float phase_step_rad)
-{
- float sin_f, cos_f;
- int phase_step_rad_i = gr::fxpt::float_to_fixed(phase_step_rad);
- int phase_rad_i = gr::fxpt::float_to_fixed(rem_carr_phase_rad);
-
- for(int i = 0; i < correlator_length_samples; i++)
- {
- gr::fxpt::sincos(phase_rad_i, &sin_f, &cos_f);
- d_nco_in[i] = std::complex<float>(cos_f, -sin_f);
- phase_rad_i += phase_step_rad_i;
- }
}
+
bool cpu_multicorrelator::Carrier_wipeoff_multicorrelator_resampler(
float rem_carrier_phase_in_rad,
float phase_step_rad,
diff --cc src/core/system_parameters/GPS_L1_CA.h
index 2c9e041,2ae6ddf..ec6b79f
--- a/src/core/system_parameters/GPS_L1_CA.h
+++ b/src/core/system_parameters/GPS_L1_CA.h
@@@ -74,8 -74,10 +74,10 @@@ const int GPS_L1_CA_HISTORY_DEEP = 100
#define GPS_PREAMBLE {1, 0, 0, 0, 1, 0, 1, 1}
const int GPS_CA_PREAMBLE_LENGTH_BITS = 8;
+ const int GPS_CA_PREAMBLE_LENGTH_SYMBOLS = 160;
const int GPS_CA_TELEMETRY_RATE_BITS_SECOND = 50; //!< NAV message bit rate [bits/s]
- const int GPS_CA_TELEMETRY_RATE_SYMBOLS_SECOND = GPS_CA_TELEMETRY_RATE_BITS_SECOND*20; //!< NAV message bit rate [symbols/s]
+ const int GPS_CA_TELEMETRY_SYMBOLS_PER_BIT = 20;
-const int GPS_CA_TELEMETRY_RATE_SYMBOLS_SECOND = GPS_CA_TELEMETRY_RATE_BITS_SECOND*20; //!< NAV message bit rate [symbols/s]
++const int GPS_CA_TELEMETRY_RATE_SYMBOLS_SECOND = GPS_CA_TELEMETRY_RATE_BITS_SECOND*GPS_CA_TELEMETRY_SYMBOLS_PER_BIT; //!< NAV message bit rate [symbols/s]
const int GPS_WORD_LENGTH = 4; //!< CRC + GPS WORD (-2 -1 0 ... 29) Bits = 4 bytes
const int GPS_SUBFRAME_LENGTH = 40; //!< GPS_WORD_LENGTH x 10 = 40 bytes
const int GPS_SUBFRAME_BITS = 300; //!< Number of bits per subframe in the NAV message [bits]
diff --cc src/core/system_parameters/gnss_synchro.h
index 27c1d6b,5aea0d2..6e3509f
--- a/src/core/system_parameters/gnss_synchro.h
+++ b/src/core/system_parameters/gnss_synchro.h
@@@ -60,7 -60,9 +60,10 @@@ public
double Code_phase_secs; //!< Set by Tracking processing block
double Tracking_timestamp_secs; //!< Set by Tracking processing block
bool Flag_valid_tracking;
+
+ bool Flag_valid_symbol_output;
+ int correlation_length_ms; //!< Set by Tracking processing block
+
//Telemetry Decoder
double Prn_timestamp_ms; //!< Set by Telemetry Decoder processing block
double Prn_timestamp_at_preamble_ms; //!< Set by Telemetry Decoder processing block
--
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