Added options for bladeRF and HackRF
This commit is contained in:
OSQZSS
parent
d1e8f91569
commit
f8f1270d04
275
gpssim.c
275
gpssim.c
@ -6,12 +6,19 @@
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#include <math.h>
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#include <time.h>
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#include <omp.h>
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#ifdef _WIN32
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#include "getopt.h"
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#else
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#include <unistd.h>
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#endif
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#define MAX_CHAR (100)
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#define MAX_SAT (32)
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#define MAX_CHAN (16)
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#define USER_MOTION_SIZE (1000) // max 300 sec at 10Hz
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#define N_SBF (51) // 6 seconds per subframe, 6 sec * 51 = 306 sec (max)
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#define N_DWRD (N_SBF*10) // 10 word per subframe
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@ -42,12 +49,119 @@
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#define CARR_FREQ (1575.42e6)
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#define CODE_FREQ (1.023e6)
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#define CARR_TO_CODE (1.0/1540.0)
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#define SAMP_FREQ (4.0e6)
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#define ADC_GAIN (250.0) // for bladeRF txvga1 = -25dB with 50dB external attenuation
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#define USER_MOTION_SIZE (3000) // max 300 sec at 10Hz
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#define IQ_BUFF_SIZE (400000) // 0.4Msps per 0.1sec
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// Sampling data format
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#define SC08 (8)
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#define SC16 (16)
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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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68,75,81,87,93,99,106,112,118,124,
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130,136,142,148,154,160,166,172,178,184,
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190,195,201,207,213,218,224,230,235,241,
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246,252,257,263,268,273,279,284,289,294,
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299,304,310,314,319,324,329,334,339,343,
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348,353,357,362,366,370,375,379,383,387,
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391,395,399,403,407,411,414,418,422,425,
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429,432,435,439,442,445,448,451,454,457,
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460,462,465,468,470,473,475,477,479,482,
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484,486,488,489,491,493,495,496,498,499,
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500,502,503,504,505,506,507,508,508,509,
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510,510,511,511,511,511,511,512,511,511,
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511,511,511,510,510,509,508,508,507,506,
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505,504,503,502,500,499,498,496,495,493,
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491,489,488,486,484,482,479,477,475,473,
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470,468,465,462,460,457,454,451,448,445,
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442,439,435,432,429,425,422,418,414,411,
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407,403,399,395,391,387,383,379,375,370,
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366,362,357,353,348,343,339,334,329,324,
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319,314,310,304,299,294,289,284,279,273,
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268,263,257,252,246,241,235,230,224,218,
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213,207,201,195,190,184,178,172,166,160,
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154,148,142,136,130,124,118,112,106,99,
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93,87,81,75,68,62,56,50,43,37,
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31,25,18,12,6,0,-7,-13,-19,-26,
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-32,-38,-44,-51,-57,-63,-69,-76,-82,-88,
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-94,-100,-107,-113,-119,-125,-131,-137,-143,-149,
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-155,-161,-167,-173,-179,-185,-191,-196,-202,-208,
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-214,-219,-225,-231,-236,-242,-247,-253,-258,-264,
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-269,-274,-280,-285,-290,-295,-300,-305,-311,-315,
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-320,-325,-330,-335,-340,-344,-349,-354,-358,-363,
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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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int cosTable512[] = {
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512,511,511,511,511,511,510,510,509,508,508,
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507,506,505,504,503,502,500,499,498,496,
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495,493,491,489,488,486,484,482,479,477,
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475,473,470,468,465,462,460,457,454,451,
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448,445,442,439,435,432,429,425,422,418,
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414,411,407,403,399,395,391,387,383,379,
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375,370,366,362,357,353,348,343,339,334,
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329,324,319,314,310,304,299,294,289,284,
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279,273,268,263,257,252,246,241,235,230,
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224,218,213,207,201,195,190,184,178,172,
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166,160,154,148,142,136,130,124,118,112,
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106,99,93,87,81,75,68,62,56,50,
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43,37,31,25,18,12,6,0,-7,-13,
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-19,-26,-32,-38,-44,-51,-57,-63,-69,-76,
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-82,-88,-94,-100,-107,-113,-119,-125,-131,-137,
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-143,-149,-155,-161,-167,-173,-179,-185,-191,-196,
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-202,-208,-214,-219,-225,-231,-236,-242,-247,-253,
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-258,-264,-269,-274,-280,-285,-290,-295,-300,-305,
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-311,-315,-320,-325,-330,-335,-340,-344,-349,-354,
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-358,-363,-367,-371,-376,-380,-384,-388,-392,-396,
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-400,-404,-408,-412,-415,-419,-423,-426,-430,-433,
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-436,-440,-443,-446,-449,-452,-455,-458,-461,-463,
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-466,-469,-471,-474,-476,-478,-480,-483,-485,-487,
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-489,-490,-492,-494,-496,-497,-499,-500,-501,-503,
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-504,-505,-506,-507,-508,-509,-509,-510,-511,-511,
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-512,-512,-512,-512,-512,-512,-512,-512,-512,-512,
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-512,-511,-511,-510,-509,-509,-508,-507,-506,-505,
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-504,-503,-501,-500,-499,-497,-496,-494,-492,-490,
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-489,-487,-485,-483,-480,-478,-476,-474,-471,-469,
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-466,-463,-461,-458,-455,-452,-449,-446,-443,-440,
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-436,-433,-430,-426,-423,-419,-415,-412,-408,-404,
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-400,-396,-392,-388,-384,-380,-376,-371,-367,-363,
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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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typedef struct
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{
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int week;
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@ -330,7 +444,7 @@ void satpos(ephem_t eph, gpstime_t g, double *pos, double *vel, double *clk)
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double xpk,ypk;
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double xpkdot,ypkdot;
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double relativistic, OneMinusecosE, sqrtOneMinuse2, tmp;
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double relativistic, OneMinusecosE, sqrtOneMinuse2, tmp;
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tk = g.sec - eph.toe.sec;
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@ -342,10 +456,10 @@ void satpos(ephem_t eph, gpstime_t g, double *pos, double *vel, double *clk)
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a = eph.sqrta*eph.sqrta;
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mkdot = sqrt(GM_EARTH/(a*a*a)) + eph.deltan;
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mk = eph.m0 + mkdot*tk;
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mk = eph.m0 + mkdot*tk;
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ek = mk;
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ekold = ek + 1.0;
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ekold = ek + 1.0;
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while(fabs(ek-ekold)>1.0E-14)
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{
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@ -985,6 +1099,19 @@ int readUserMotion(double xyz[USER_MOTION_SIZE][3], char *filename)
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return (numd);
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}
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void usage(void)
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{
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printf("Usage: gps-sdr-sim [options]\n"
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"Options:\n"
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" -e <gps_nav> RINEX navigation file for GPS ephemerides (required)\n"
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" -u <user_motion> User motion file (required)\n"
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" -o <output> I/Q sampling data file (default: gpssim.bin)\n"
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" -f <furequency> Sampling frequency [Hz] (default: 2.6MHz)\n"
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" -b <iq_bits> I/Q data format [8/16] (default: 8)\n");
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return;
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}
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int main(int argc, char *argv[])
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{
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clock_t tstart,tend;
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@ -1015,13 +1142,13 @@ int main(int argc, char *argv[])
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unsigned long prevwrd;
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int nib;
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double ip,qp;
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short *iq_buff = NULL;
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int ip,qp;
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void *iq_buff = NULL;
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gpstime_t grx0,grx1;
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range_t rho0,rho1;
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double delt = 1.0/SAMP_FREQ;
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double delt; // = 1.0/SAMP_FREQ;
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int isamp;
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int iumd;
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@ -1032,23 +1159,87 @@ int main(int argc, char *argv[])
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char navfile[MAX_CHAR];
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char outfile[MAX_CHAR];
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double samp_freq;
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int iq_buff_size;
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int data_format;
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int result;
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int iTable;
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////////////////////////////////////////////////////////////
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// Read arguments
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// Read options
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////////////////////////////////////////////////////////////
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if (argc!=3 && argc!=4)
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// Default options
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navfile[0] = 0;
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umfile[0] = 0;
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strcpy(outfile, "gpssim.bin");
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samp_freq = 2.6e6;
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data_format = SC08;
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if (argc<3)
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{
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printf("Usage: gps-sdr-sim <gps_nav> <user_motion> [output (default: gpssim.bin)]\n");
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usage();
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exit(1);
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}
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strcpy(navfile, argv[1]);
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strcpy(umfile, argv[2]);
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while ((result=getopt(argc,argv,"e:u:o:f:b:"))!=-1)
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{
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switch (result)
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{
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case 'e':
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strcpy(navfile, optarg);
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break;
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case 'u':
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strcpy(umfile, optarg);
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break;
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case 'o':
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strcpy(outfile, optarg);
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break;
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case 'f':
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samp_freq = atof(optarg);
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if (samp_freq<1.0e6)
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{
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printf("Invalid sampling frequency.\n");
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exit(1);
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}
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break;
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case 'b':
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data_format = atoi(optarg);
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if (data_format!=SC08 && data_format!=SC16)
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{
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printf("Invalid data format.\n");
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exit(1);
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}
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break;
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case ':':
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case '?':
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usage();
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exit(1);
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default:
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break;
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}
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}
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if (argc==3)
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strcpy(outfile, "gpssim.bin");
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else
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strcpy(outfile, argv[3]);
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if (navfile[0]==0)
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{
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printf("GPS ephemeris file is not specified.\n");
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exit(1);
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}
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if (umfile[0]==0)
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{
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printf("User motion file is not specified.\n");
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exit(1);
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}
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// Buffer size
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samp_freq = floor(samp_freq/10.0);
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iq_buff_size = (int)samp_freq; // samples per 0.1sec
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samp_freq *= 10.0;
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delt = 1.0/samp_freq;
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////////////////////////////////////////////////////////////
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// Receiver position
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@ -1142,21 +1333,20 @@ int main(int argc, char *argv[])
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printf("%02d %6.1f %5.1f\n", sv+1, azel[0]*R2D, azel[1]*R2D);
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}
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//printf("%1c%02d %6.1f %5.1f\n", (azel[1]>elvmask)?'*':' ', sv+1, azel[0]*R2D, azel[1]*R2D);
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}
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}
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printf("Number of channels = %d\n", nsat);
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//return(0);
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////////////////////////////////////////////////////////////
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// Baseband signal buffer and output file
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////////////////////////////////////////////////////////////
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// Allocate I/Q buffer
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iq_buff = (short *)calloc(2*IQ_BUFF_SIZE, 2);
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if (data_format==SC08)
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iq_buff = (signed char *)calloc(2*iq_buff_size, 1);
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else
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iq_buff = (short *)calloc(2*iq_buff_size, 2);
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if (iq_buff==NULL)
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{
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@ -1184,10 +1374,10 @@ int main(int argc, char *argv[])
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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;
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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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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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if (chan[i].iq_buff==NULL)
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{
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@ -1280,14 +1470,16 @@ int main(int argc, char *argv[])
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// Properties -> Configuration Properties -> C/C++ -> Language -> Open MP Support -> Yes (/openmp)
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for (i=0; i<nsat; i++)
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{
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for (isamp=0; isamp<IQ_BUFF_SIZE; isamp++)
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for (isamp=0; isamp<iq_buff_size; isamp++)
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{
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ip = chan[i].dataBit * chan[i].codeCA * cos(2.0*PI*chan[i].carr_phase);
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qp = chan[i].dataBit * chan[i].codeCA * sin(2.0*PI*chan[i].carr_phase);
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iTable = (int)floor(chan[i].carr_phase*512.0);
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ip = chan[i].dataBit * chan[i].codeCA * cosTable512[iTable];
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qp = chan[i].dataBit * chan[i].codeCA * sinTable512[iTable];
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// Sotre I/Q samples into buffer
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chan[i].iq_buff[isamp*2] = (short)(ADC_GAIN*ip);
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chan[i].iq_buff[isamp*2+1] = (short)(ADC_GAIN*qp);
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chan[i].iq_buff[isamp*2] = (short)(ip>>2);
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chan[i].iq_buff[isamp*2+1] = (short)(qp>>2);
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// Update code phase
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chan[i].code_phase += chan[i].f_code * delt;
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@ -1327,15 +1519,26 @@ int main(int argc, char *argv[])
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}
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} // End of omp parallel for
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for (isamp=0; isamp<2*IQ_BUFF_SIZE; isamp++)
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for (isamp=0; isamp<2*iq_buff_size; isamp++)
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{
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iq_buff[isamp] = 0;
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if (data_format==SC08)
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((signed char*)iq_buff)[isamp] = 0;
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else
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((short*)iq_buff)[isamp] = 0;
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for (i=0; i<nsat; i++)
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iq_buff[isamp] += chan[i].iq_buff[isamp];
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{
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if (data_format==SC08)
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((signed char*)iq_buff)[isamp] += (signed char)(chan[i].iq_buff[isamp]>>4); // 12-bit bladeRF -> 8-bit HackRF
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else
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((short*)iq_buff)[isamp] += chan[i].iq_buff[isamp];
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}
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}
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fwrite(iq_buff, 2, 2*IQ_BUFF_SIZE, fp); // 2 (I/Q) * 2 (short) * 4 Msps = 16,000,000 byte/s
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if (data_format==SC08)
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fwrite(iq_buff, 1, 2*iq_buff_size, fp);
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else
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fwrite(iq_buff, 2, 2*iq_buff_size, fp);
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// Next second
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grx0.sec += 0.1;
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