From 57ea8cf5bad39016348605aad0d9f01156a5e527 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A0ndez=20Juan?= <shernand@iri.upc.edu>
Date: Thu, 4 Feb 2016 07:22:43 +0000
Subject: [PATCH] Made available the GPS RAW subframes needed to compute the
Ephemeris.
---
src/asterx1_gps.cpp | 2 +-
src/asterx1_process.cpp | 24 +++++++++++++++++++++++-
src/asterx1_process.h | 4 +++-
src/examples/testasterx1.cpp | 3 ++-
src/gps_types.h | 11 +++++++++--
5 files changed, 38 insertions(+), 6 deletions(-)
diff --git a/src/asterx1_gps.cpp b/src/asterx1_gps.cpp
index ef62b30..79f4b92 100644
--- a/src/asterx1_gps.cpp
+++ b/src/asterx1_gps.cpp
@@ -700,7 +700,7 @@ void CasteRx1::process_gps_raw_ca(unsigned char *data,unsigned short int length)
for(i=0;i<10;i++)
new_frame.frame_bits[i]=gps_raw_ca.nav_bits[i];
this->gps_raw_frames.push(new_frame);
- this->event_server->set_event(new_gps_raw_block_event_id);
+ this->event_server->set_event(this->new_gps_raw_block_event_id);
this->nav_access.exit();
}
diff --git a/src/asterx1_process.cpp b/src/asterx1_process.cpp
index 17cf690..5e04d15 100644
--- a/src/asterx1_process.cpp
+++ b/src/asterx1_process.cpp
@@ -64,8 +64,19 @@ void CAsteRx1Process::generate_gps_nav(gpstk::EngEphemeris &ephemeris,TGPSNav &g
}
}
+unsigned int CAsteRx1Process::get_subframe_id(TGPSFrame &frame)
+{
+ unsigned long int SFword2=(unsigned long int)frame.frame_bits[1];
+ SFword2&=0x00000700;// Strip all but three bit subframe ID
+ SFword2>>=8;// Right shift to move to lsbs;
+
+ return SFword2;
+}
+
void CAsteRx1Process::add_subframe(TGPSFrame &frame)
{
+ TGPSFrames gps_frames;
+ unsigned int i=0,j=0;
TGPSNav gps_nav;
try{
@@ -87,7 +98,16 @@ void CAsteRx1Process::add_subframe(TGPSFrame &frame)
// process the data and build a GPSNav structure
this->generate_gps_nav(this->ephemeris_data[frame.sat_id].ephemeris,gps_nav);
gps_nav.local_timestamp=frame.local_timestamp;
+ gps_frames.wn=this->ephemeris_data[frame.sat_id].ephemeris.weeknum;
+ gps_frames.sat_id=this->ephemeris_data[frame.sat_id].ephemeris.PRNID;
+ gps_frames.track_id=this->ephemeris_data[frame.sat_id].ephemeris.tracker;
+ for(i=0;i<3;i++)
+ {
+ for(j=0;j<10;j++)
+ gps_frames.subframes[i][j]=this->ephemeris_data[frame.sat_id].ephemeris.subframeStore[i][j];
+ }
this->gps_nav_data.push(gps_nav);
+ this->gps_raw_data.push(gps_frames);
}
}
}catch(gpstk::InvalidParameter &e){
@@ -107,12 +127,14 @@ bool CAsteRx1Process::is_new_gps_nav_data_available(void)
return false;
}
-void CAsteRx1Process::get_gps_nav_data(TGPSNav &gps_nav)
+void CAsteRx1Process::get_gps_nav_data(TGPSNav &gps_nav,TGPSFrames &frames)
{
if(this->gps_nav_data.size()>0)
{
gps_nav=this->gps_nav_data.front();
this->gps_nav_data.pop();
+ frames=this->gps_raw_data.front();
+ this->gps_raw_data.pop();
}
}
diff --git a/src/asterx1_process.h b/src/asterx1_process.h
index ef73f3f..6a3df10 100644
--- a/src/asterx1_process.h
+++ b/src/asterx1_process.h
@@ -16,13 +16,15 @@ class CAsteRx1Process
private:
std::vector<TEphemerisData> ephemeris_data;
std::queue<TGPSNav> gps_nav_data;
+ std::queue<TGPSFrames> gps_raw_data;
protected:
void generate_gps_nav(gpstk::EngEphemeris &ephemeris,TGPSNav &gps_nav);
public:
CAsteRx1Process();
+ static unsigned int get_subframe_id(TGPSFrame &frame);
void add_subframe(TGPSFrame &frame);
bool is_new_gps_nav_data_available(void);
- void get_gps_nav_data(TGPSNav &gps_nav);
+ void get_gps_nav_data(TGPSNav &gps_nav,TGPSFrames &frames);
~CAsteRx1Process();
};
diff --git a/src/examples/testasterx1.cpp b/src/examples/testasterx1.cpp
index b9c93a7..4decdaa 100644
--- a/src/examples/testasterx1.cpp
+++ b/src/examples/testasterx1.cpp
@@ -40,6 +40,7 @@ int main(int argc, char **argv)
#ifdef HAVE_GPSTK
CAsteRx1Process gps_process;
TGPSFrame gps_frame;
+ TGPSFrames gps_frames;
TGPSNav gps_nav;
#else
TGPSNav gps_nav;
@@ -81,7 +82,7 @@ int main(int argc, char **argv)
gps_process.add_subframe(gps_frame);
if(gps_process.is_new_gps_nav_data_available())
{
- gps_process.get_gps_nav_data(gps_nav);
+ gps_process.get_gps_nav_data(gps_nav,gps_frames);
std::cout << gps_nav << std::endl;
}
}
diff --git a/src/gps_types.h b/src/gps_types.h
index 8078923..d106dac 100644
--- a/src/gps_types.h
+++ b/src/gps_types.h
@@ -2,12 +2,12 @@
#define _GPS_TYPES_H
// global satellite information
-typedef struct{
+typedef struct {
unsigned int tow;
unsigned short int wnc;
}TBlockTimeStamp;
-typedef struct{
+typedef struct {
TBlockTimeStamp gps_timestamp;
double local_timestamp;
long int frame_bits[10];
@@ -16,6 +16,13 @@ typedef struct{
short int track_id;
}TGPSFrame;
+typedef struct {
+ long int subframes[3][10];
+ int wn;
+ short int sat_id;
+ short int track_id;
+}TGPSFrames;
+
// User data structures
typedef enum {elev_setting=0,elev_rising=1,elev_unknown=3} rise_set_t;
--
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