Experimental carrier phase support
This commit is contained in:
OSQZSS
parent
8cee8d2dfa
commit
b41678f8d4
232
gpssim.c
232
gpssim.c
@ -56,114 +56,76 @@
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#define ADC_GAIN (250) // for bladeRF txvga1 = -25dB with 50dB external attenuation
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#define ADC_GAIN (250) // for bladeRF txvga1 = -25dB with 50dB external attenuation
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//#define _SINE_LUT
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#define _SINE_LUT
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#ifdef _SINE_LUT
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#ifdef _SINE_LUT
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int sinTable512[] = {
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int sinTable512[] = {
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0,6,12,18,25,31,37,43,50,56,62,
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2, 5, 8, 11, 14, 17, 20, 23, 26, 29, 32, 35, 38, 41, 44, 47,
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68,75,81,87,93,99,106,112,118,124,
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50, 53, 56, 59, 62, 65, 68, 71, 74, 77, 80, 83, 86, 89, 91, 94,
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130,136,142,148,154,160,166,172,178,184,
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97, 100, 103, 105, 108, 111, 114, 116, 119, 122, 125, 127, 130, 132, 135, 138,
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190,195,201,207,213,218,224,230,235,241,
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140, 143, 145, 148, 150, 153, 155, 157, 160, 162, 164, 167, 169, 171, 173, 176,
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246,252,257,263,268,273,279,284,289,294,
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178, 180, 182, 184, 186, 188, 190, 192, 194, 196, 198, 200, 202, 204, 205, 207,
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299,304,310,314,319,324,329,334,339,343,
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209, 210, 212, 214, 215, 217, 218, 220, 221, 223, 224, 225, 227, 228, 229, 230,
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348,353,357,362,366,370,375,379,383,387,
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232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 241, 242, 243, 244, 244, 245,
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391,395,399,403,407,411,414,418,422,425,
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245, 246, 247, 247, 248, 248, 248, 249, 249, 249, 249, 250, 250, 250, 250, 250,
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429,432,435,439,442,445,448,451,454,457,
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250, 250, 250, 250, 250, 249, 249, 249, 249, 248, 248, 248, 247, 247, 246, 245,
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460,462,465,468,470,473,475,477,479,482,
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245, 244, 244, 243, 242, 241, 241, 240, 239, 238, 237, 236, 235, 234, 233, 232,
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484,486,488,489,491,493,495,496,498,499,
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230, 229, 228, 227, 225, 224, 223, 221, 220, 218, 217, 215, 214, 212, 210, 209,
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500,502,503,504,505,506,507,508,508,509,
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207, 205, 204, 202, 200, 198, 196, 194, 192, 190, 188, 186, 184, 182, 180, 178,
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510,510,511,511,511,511,511,512,511,511,
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176, 173, 171, 169, 167, 164, 162, 160, 157, 155, 153, 150, 148, 145, 143, 140,
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511,511,511,510,510,509,508,508,507,506,
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138, 135, 132, 130, 127, 125, 122, 119, 116, 114, 111, 108, 105, 103, 100, 97,
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505,504,503,502,500,499,498,496,495,493,
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94, 91, 89, 86, 83, 80, 77, 74, 71, 68, 65, 62, 59, 56, 53, 50,
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491,489,488,486,484,482,479,477,475,473,
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47, 44, 41, 38, 35, 32, 29, 26, 23, 20, 17, 14, 11, 8, 5, 2,
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470,468,465,462,460,457,454,451,448,445,
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-2, -5, -8, -11, -14, -17, -20, -23, -26, -29, -32, -35, -38, -41, -44, -47,
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442,439,435,432,429,425,422,418,414,411,
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-50, -53, -56, -59, -62, -65, -68, -71, -74, -77, -80, -83, -86, -89, -91, -94,
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407,403,399,395,391,387,383,379,375,370,
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-97,-100,-103,-105,-108,-111,-114,-116,-119,-122,-125,-127,-130,-132,-135,-138,
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366,362,357,353,348,343,339,334,329,324,
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-140,-143,-145,-148,-150,-153,-155,-157,-160,-162,-164,-167,-169,-171,-173,-176,
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319,314,310,304,299,294,289,284,279,273,
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-178,-180,-182,-184,-186,-188,-190,-192,-194,-196,-198,-200,-202,-204,-205,-207,
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268,263,257,252,246,241,235,230,224,218,
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-209,-210,-212,-214,-215,-217,-218,-220,-221,-223,-224,-225,-227,-228,-229,-230,
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213,207,201,195,190,184,178,172,166,160,
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-232,-233,-234,-235,-236,-237,-238,-239,-240,-241,-241,-242,-243,-244,-244,-245,
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154,148,142,136,130,124,118,112,106,99,
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-245,-246,-247,-247,-248,-248,-248,-249,-249,-249,-249,-250,-250,-250,-250,-250,
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93,87,81,75,68,62,56,50,43,37,
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-250,-250,-250,-250,-250,-249,-249,-249,-249,-248,-248,-248,-247,-247,-246,-245,
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31,25,18,12,6,0,-7,-13,-19,-26,
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-245,-244,-244,-243,-242,-241,-241,-240,-239,-238,-237,-236,-235,-234,-233,-232,
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-32,-38,-44,-51,-57,-63,-69,-76,-82,-88,
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-230,-229,-228,-227,-225,-224,-223,-221,-220,-218,-217,-215,-214,-212,-210,-209,
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-94,-100,-107,-113,-119,-125,-131,-137,-143,-149,
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-207,-205,-204,-202,-200,-198,-196,-194,-192,-190,-188,-186,-184,-182,-180,-178,
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-155,-161,-167,-173,-179,-185,-191,-196,-202,-208,
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-176,-173,-171,-169,-167,-164,-162,-160,-157,-155,-153,-150,-148,-145,-143,-140,
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-214,-219,-225,-231,-236,-242,-247,-253,-258,-264,
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-138,-135,-132,-130,-127,-125,-122,-119,-116,-114,-111,-108,-105,-103,-100, -97,
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-269,-274,-280,-285,-290,-295,-300,-305,-311,-315,
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-94, -91, -89, -86, -83, -80, -77, -74, -71, -68, -65, -62, -59, -56, -53, -50,
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-320,-325,-330,-335,-340,-344,-349,-354,-358,-363,
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-47, -44, -41, -38, -35, -32, -29, -26, -23, -20, -17, -14, -11, -8, -5, -2
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-367,-371,-376,-380,-384,-388,-392,-396,-400,-404,
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-408,-412,-415,-419,-423,-426,-430,-433,-436,-440,
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-443,-446,-449,-452,-455,-458,-461,-463,-466,-469,
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-471,-474,-476,-478,-480,-483,-485,-487,-489,-490,
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-492,-494,-496,-497,-499,-500,-501,-503,-504,-505,
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-506,-507,-508,-509,-509,-510,-511,-511,-512,-512,
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-512,-512,-512,-512,-512,-512,-512,-512,-512,-511,
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-511,-510,-509,-509,-508,-507,-506,-505,-504,-503,
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-501,-500,-499,-497,-496,-494,-492,-490,-489,-487,
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-485,-483,-480,-478,-476,-474,-471,-469,-466,-463,
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-461,-458,-455,-452,-449,-446,-443,-440,-436,-433,
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-430,-426,-423,-419,-415,-412,-408,-404,-400,-396,
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-392,-388,-384,-380,-376,-371,-367,-363,-358,-354,
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-349,-344,-340,-335,-330,-325,-320,-315,-311,-305,
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-300,-295,-290,-285,-280,-274,-269,-264,-258,-253,
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-247,-242,-236,-231,-225,-219,-214,-208,-202,-196,
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-191,-185,-179,-173,-167,-161,-155,-149,-143,-137,
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-131,-125,-119,-113,-107,-100,-94,-88,-82,-76,
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-69,-63,-57,-51,-44,-38,-32,-26,-19,-13,-7
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};
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};
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int cosTable512[] = {
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int cosTable512[] = {
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512,511,511,511,511,511,510,510,509,508,508,
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250, 250, 250, 250, 250, 249, 249, 249, 249, 248, 248, 248, 247, 247, 246, 245,
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507,506,505,504,503,502,500,499,498,496,
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245, 244, 244, 243, 242, 241, 241, 240, 239, 238, 237, 236, 235, 234, 233, 232,
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495,493,491,489,488,486,484,482,479,477,
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230, 229, 228, 227, 225, 224, 223, 221, 220, 218, 217, 215, 214, 212, 210, 209,
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475,473,470,468,465,462,460,457,454,451,
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207, 205, 204, 202, 200, 198, 196, 194, 192, 190, 188, 186, 184, 182, 180, 178,
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448,445,442,439,435,432,429,425,422,418,
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176, 173, 171, 169, 167, 164, 162, 160, 157, 155, 153, 150, 148, 145, 143, 140,
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414,411,407,403,399,395,391,387,383,379,
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138, 135, 132, 130, 127, 125, 122, 119, 116, 114, 111, 108, 105, 103, 100, 97,
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375,370,366,362,357,353,348,343,339,334,
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94, 91, 89, 86, 83, 80, 77, 74, 71, 68, 65, 62, 59, 56, 53, 50,
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329,324,319,314,310,304,299,294,289,284,
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47, 44, 41, 38, 35, 32, 29, 26, 23, 20, 17, 14, 11, 8, 5, 2,
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279,273,268,263,257,252,246,241,235,230,
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-2, -5, -8, -11, -14, -17, -20, -23, -26, -29, -32, -35, -38, -41, -44, -47,
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224,218,213,207,201,195,190,184,178,172,
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-50, -53, -56, -59, -62, -65, -68, -71, -74, -77, -80, -83, -86, -89, -91, -94,
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166,160,154,148,142,136,130,124,118,112,
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-97,-100,-103,-105,-108,-111,-114,-116,-119,-122,-125,-127,-130,-132,-135,-138,
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106,99,93,87,81,75,68,62,56,50,
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-140,-143,-145,-148,-150,-153,-155,-157,-160,-162,-164,-167,-169,-171,-173,-176,
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43,37,31,25,18,12,6,0,-7,-13,
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-178,-180,-182,-184,-186,-188,-190,-192,-194,-196,-198,-200,-202,-204,-205,-207,
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-19,-26,-32,-38,-44,-51,-57,-63,-69,-76,
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-209,-210,-212,-214,-215,-217,-218,-220,-221,-223,-224,-225,-227,-228,-229,-230,
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-82,-88,-94,-100,-107,-113,-119,-125,-131,-137,
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-232,-233,-234,-235,-236,-237,-238,-239,-240,-241,-241,-242,-243,-244,-244,-245,
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-143,-149,-155,-161,-167,-173,-179,-185,-191,-196,
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-245,-246,-247,-247,-248,-248,-248,-249,-249,-249,-249,-250,-250,-250,-250,-250,
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-202,-208,-214,-219,-225,-231,-236,-242,-247,-253,
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-250,-250,-250,-250,-250,-249,-249,-249,-249,-248,-248,-248,-247,-247,-246,-245,
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-258,-264,-269,-274,-280,-285,-290,-295,-300,-305,
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-245,-244,-244,-243,-242,-241,-241,-240,-239,-238,-237,-236,-235,-234,-233,-232,
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-311,-315,-320,-325,-330,-335,-340,-344,-349,-354,
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-230,-229,-228,-227,-225,-224,-223,-221,-220,-218,-217,-215,-214,-212,-210,-209,
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-358,-363,-367,-371,-376,-380,-384,-388,-392,-396,
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-207,-205,-204,-202,-200,-198,-196,-194,-192,-190,-188,-186,-184,-182,-180,-178,
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-400,-404,-408,-412,-415,-419,-423,-426,-430,-433,
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-176,-173,-171,-169,-167,-164,-162,-160,-157,-155,-153,-150,-148,-145,-143,-140,
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-436,-440,-443,-446,-449,-452,-455,-458,-461,-463,
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-138,-135,-132,-130,-127,-125,-122,-119,-116,-114,-111,-108,-105,-103,-100, -97,
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-466,-469,-471,-474,-476,-478,-480,-483,-485,-487,
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-94, -91, -89, -86, -83, -80, -77, -74, -71, -68, -65, -62, -59, -56, -53, -50,
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-489,-490,-492,-494,-496,-497,-499,-500,-501,-503,
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-47, -44, -41, -38, -35, -32, -29, -26, -23, -20, -17, -14, -11, -8, -5, -2,
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-504,-505,-506,-507,-508,-509,-509,-510,-511,-511,
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2, 5, 8, 11, 14, 17, 20, 23, 26, 29, 32, 35, 38, 41, 44, 47,
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-512,-512,-512,-512,-512,-512,-512,-512,-512,-512,
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50, 53, 56, 59, 62, 65, 68, 71, 74, 77, 80, 83, 86, 89, 91, 94,
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-512,-511,-511,-510,-509,-509,-508,-507,-506,-505,
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97, 100, 103, 105, 108, 111, 114, 116, 119, 122, 125, 127, 130, 132, 135, 138,
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-504,-503,-501,-500,-499,-497,-496,-494,-492,-490,
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140, 143, 145, 148, 150, 153, 155, 157, 160, 162, 164, 167, 169, 171, 173, 176,
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-489,-487,-485,-483,-480,-478,-476,-474,-471,-469,
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178, 180, 182, 184, 186, 188, 190, 192, 194, 196, 198, 200, 202, 204, 205, 207,
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-466,-463,-461,-458,-455,-452,-449,-446,-443,-440,
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209, 210, 212, 214, 215, 217, 218, 220, 221, 223, 224, 225, 227, 228, 229, 230,
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-436,-433,-430,-426,-423,-419,-415,-412,-408,-404,
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232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 241, 242, 243, 244, 244, 245,
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-400,-396,-392,-388,-384,-380,-376,-371,-367,-363,
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245, 246, 247, 247, 248, 248, 248, 249, 249, 249, 249, 250, 250, 250, 250, 250
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-358,-354,-349,-344,-340,-335,-330,-325,-320,-315,
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-311,-305,-300,-295,-290,-285,-280,-274,-269,-264,
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-258,-253,-247,-242,-236,-231,-225,-219,-214,-208,
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-202,-196,-191,-185,-179,-173,-167,-161,-155,-149,
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-143,-137,-131,-125,-119,-113,-107,-100,-94,-88,
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-82,-76,-69,-63,-57,-51,-44,-38,-32,-26,
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-19,-13,-7,-1,6,12,18,25,31,37,
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43,50,56,62,68,75,81,87,93,99,
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106,112,118,124,130,136,142,148,154,160,
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166,172,178,184,190,195,201,207,213,218,
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224,230,235,241,246,252,257,263,268,273,
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279,284,289,294,299,304,310,314,319,324,
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329,334,339,343,348,353,357,362,366,370,
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375,379,383,387,391,395,399,403,407,411,
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414,418,422,425,429,432,435,439,442,445,
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448,451,454,457,460,462,465,468,470,473,
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475,477,479,482,484,486,488,489,491,493,
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495,496,498,499,500,502,503,504,505,506,
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507,508,508,509,510,510,511,511,511,511,511
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};
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};
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#endif
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#endif
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@ -1155,15 +1117,15 @@ int main(int argc, char *argv[])
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void *iq_buff = NULL;
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void *iq_buff = NULL;
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gpstime_t grx;
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gpstime_t grx;
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range_t rho_backup[MAX_SAT];
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range_t rho0[MAX_SAT];
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double delt; // = 1.0/SAMP_FREQ;
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double delt;
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int isamp;
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int isamp;
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int iumd;
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int iumd;
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int numd;
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int numd;
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double umd[USER_MOTION_SIZE][3];
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char umfile[MAX_CHAR];
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char umfile[MAX_CHAR];
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double xyz[USER_MOTION_SIZE][3];
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char navfile[MAX_CHAR];
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char navfile[MAX_CHAR];
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char outfile[MAX_CHAR];
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char outfile[MAX_CHAR];
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@ -1253,7 +1215,7 @@ int main(int argc, char *argv[])
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////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////
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// Read user motion file
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// Read user motion file
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numd = readUserMotion(umd, umfile);
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numd = readUserMotion(xyz, umfile);
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if (numd==-1)
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if (numd==-1)
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{
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{
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@ -1269,9 +1231,9 @@ int main(int argc, char *argv[])
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printf("User motion data = %d\n", numd);
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printf("User motion data = %d\n", numd);
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// Initial location in Geodetic coordinate system
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// Initial location in Geodetic coordinate system
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xyz2llh(umd[0], llh);
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xyz2llh(xyz[0], llh);
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printf("xyz = %11.1f, %11.1f, %11.1f\n", umd[0][0], umd[0][1], umd[0][2]);
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printf("xyz = %11.1f, %11.1f, %11.1f\n", xyz[0][0], xyz[0][1], xyz[0][2]);
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printf("llh = %11.6f, %11.6f, %11.1f\n", llh[0]*R2D, llh[1]*R2D, llh[2]);
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printf("llh = %11.6f, %11.6f, %11.1f\n", llh[0]*R2D, llh[1]*R2D, llh[2]);
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////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////
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@ -1320,7 +1282,7 @@ int main(int argc, char *argv[])
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if (eph[sv].vflg==1)
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if (eph[sv].vflg==1)
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{
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{
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satpos(eph[sv], g0, pos, vel, clk);
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satpos(eph[sv], g0, pos, vel, clk);
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subVect(los, pos, umd[0]);
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subVect(los, pos, xyz[0]);
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ecef2neu(los, tmat, neu);
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ecef2neu(los, tmat, neu);
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neu2azel(azel, neu);
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neu2azel(azel, neu);
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@ -1371,9 +1333,6 @@ int main(int argc, char *argv[])
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// C/A code generation
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// C/A code generation
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codegen(chan[i].ca, chan[i].prn);
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codegen(chan[i].ca, chan[i].prn);
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// Initialize carrier phase
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chan[i].carr_phase = 0.0; // !!FIXME!! Need proper initialization for RTK
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// Allocate I/Q buffer
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// Allocate I/Q buffer
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chan[i].iq_buff = (short *)calloc(2*iq_buff_size, 2);
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chan[i].iq_buff = (short *)calloc(2*iq_buff_size, 2);
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@ -1384,6 +1343,29 @@ int main(int argc, char *argv[])
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}
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}
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}
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}
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// Initialize carrier phase
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for (i=0; i<nsat; i++)
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{
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range_t tmp;
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double ref[3]={0.0};
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double phase_offset,phase_offset_time;
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double phase_ini,phase_ini_time;
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sv = chan[i].prn-1;
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computeRange(&tmp, eph[sv], grx, ref);
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phase_offset_time = grx.sec - tmp.range/SPEED_OF_LIGHT;
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phase_offset = tmp.range/LAMBDA_L1;
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phase_offset -= floor(phase_offset);
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computeRange(&tmp, eph[sv], grx, xyz[0]);
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phase_ini_time = grx.sec - tmp.range/SPEED_OF_LIGHT;
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phase_ini = phase_offset + (phase_ini_time - phase_offset_time)*SPEED_OF_LIGHT/LAMBDA_L1;
|
||||||
|
phase_ini -= floor(phase_ini);
|
||||||
|
|
||||||
|
chan[i].carr_phase = phase_ini;
|
||||||
|
}
|
||||||
|
|
||||||
////////////////////////////////////////////////////////////
|
////////////////////////////////////////////////////////////
|
||||||
// Generate subframes and data bits
|
// Generate subframes and data bits
|
||||||
////////////////////////////////////////////////////////////
|
////////////////////////////////////////////////////////////
|
||||||
@ -1443,10 +1425,12 @@ int main(int argc, char *argv[])
|
|||||||
for (i=0; i<nsat; i++)
|
for (i=0; i<nsat; i++)
|
||||||
{
|
{
|
||||||
sv = chan[i].prn-1;
|
sv = chan[i].prn-1;
|
||||||
computeRange(&rho_backup[sv], eph[sv], grx, umd[0]);
|
computeRange(&rho0[sv], eph[sv], grx, xyz[0]);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// Update receiver time
|
||||||
grx.sec += 0.1;
|
grx.sec += 0.1;
|
||||||
|
|
||||||
for (iumd=1; iumd<numd; iumd++)
|
for (iumd=1; iumd<numd; iumd++)
|
||||||
{
|
{
|
||||||
#pragma omp parallel for private(isamp)
|
#pragma omp parallel for private(isamp)
|
||||||
@ -1458,11 +1442,13 @@ int main(int argc, char *argv[])
|
|||||||
range_t rho;
|
range_t rho;
|
||||||
|
|
||||||
// Current pseudorange
|
// Current pseudorange
|
||||||
computeRange(&rho, eph[sv], grx, umd[iumd]);
|
computeRange(&rho, eph[sv], grx, xyz[iumd]);
|
||||||
|
|
||||||
// Update code phase and data bit counters
|
// Update code phase and data bit counters
|
||||||
computeCodePhase(&chan[i], rho_backup[sv], rho, 0.1);
|
computeCodePhase(&chan[i], rho0[sv], rho, 0.1);
|
||||||
rho_backup[sv] = rho;
|
|
||||||
|
// Save current pseudorange
|
||||||
|
rho0[sv] = rho;
|
||||||
|
|
||||||
for (isamp=0; isamp<iq_buff_size; isamp++)
|
for (isamp=0; isamp<iq_buff_size; isamp++)
|
||||||
{
|
{
|
||||||
@ -1473,8 +1459,8 @@ int main(int argc, char *argv[])
|
|||||||
qp = chan[i].dataBit * chan[i].codeCA * sinTable512[iTable];
|
qp = chan[i].dataBit * chan[i].codeCA * sinTable512[iTable];
|
||||||
|
|
||||||
// Store I/Q samples into buffer
|
// Store I/Q samples into buffer
|
||||||
chan[i].iq_buff[isamp*2] = (short)(ip>>1);
|
chan[i].iq_buff[isamp*2] = (short)ip;
|
||||||
chan[i].iq_buff[isamp*2+1] = (short)(qp>>1);
|
chan[i].iq_buff[isamp*2+1] = (short)qp;
|
||||||
#else
|
#else
|
||||||
ip = chan[i].dataBit * chan[i].codeCA * cos(2.0*PI*chan[i].carr_phase);
|
ip = chan[i].dataBit * chan[i].codeCA * cos(2.0*PI*chan[i].carr_phase);
|
||||||
qp = chan[i].dataBit * chan[i].codeCA * sin(2.0*PI*chan[i].carr_phase);
|
qp = chan[i].dataBit * chan[i].codeCA * sin(2.0*PI*chan[i].carr_phase);
|
||||||
@ -1525,13 +1511,15 @@ int main(int argc, char *argv[])
|
|||||||
{
|
{
|
||||||
for (isamp=0; isamp<2*iq_buff_size; isamp++)
|
for (isamp=0; isamp<2*iq_buff_size; isamp++)
|
||||||
{
|
{
|
||||||
char sample = 0;
|
signed char sample = 0;
|
||||||
for (i=0; i<nsat; i++)
|
for (i=0; i<nsat; i++)
|
||||||
sample += (signed char)(chan[i].iq_buff[isamp]>>4); // 12-bit bladeRF -> 8-bit HackRF
|
sample += (signed char)(chan[i].iq_buff[isamp]>>4); // 12-bit bladeRF -> 8-bit HackRF
|
||||||
((signed char*)iq_buff)[isamp] = sample;
|
((signed char*)iq_buff)[isamp] = sample;
|
||||||
}
|
}
|
||||||
fwrite(iq_buff, 1, 2*iq_buff_size, fp);
|
fwrite(iq_buff, 1, 2*iq_buff_size, fp);
|
||||||
} else {
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
for (isamp=0; isamp<2*iq_buff_size; isamp++)
|
for (isamp=0; isamp<2*iq_buff_size; isamp++)
|
||||||
{
|
{
|
||||||
short sample = 0;
|
short sample = 0;
|
||||||
@ -1542,7 +1530,7 @@ int main(int argc, char *argv[])
|
|||||||
fwrite(iq_buff, 2, 2*iq_buff_size, fp);
|
fwrite(iq_buff, 2, 2*iq_buff_size, fp);
|
||||||
}
|
}
|
||||||
|
|
||||||
// Next second
|
// Update receiver time
|
||||||
grx.sec += 0.1;
|
grx.sec += 0.1;
|
||||||
|
|
||||||
// Update time counter
|
// Update time counter
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user