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0004-pps_correction.patch
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Index: gnss-sdr/src/algorithms/PVT/adapters/rtklib_pvt.cc
===================================================================
--- gnss-sdr.orig/src/algorithms/PVT/adapters/rtklib_pvt.cc
+++ gnss-sdr/src/algorithms/PVT/adapters/rtklib_pvt.cc
@@ -53,6 +53,15 @@ Rtklib_Pvt::Rtklib_Pvt(const Configurati
const std::string default_nmea_dump_devname("/dev/tty1");
const std::string default_rtcm_dump_devname("/dev/pts/1");
DLOG(INFO) << "role " << role;
+
+ PPS_Kp=configuration->property(role + ".PPS_Kp", 15000.);
+ PPS_Ki=configuration->property(role + ".PPS_Ki", 5000.);
+ SMA_internal_source_clock=configuration->property(role + ".SMA_internal_source_clock",true);
+ LO_external_frequ=configuration->property(role + ".LO_external_frequ",10000000);
+ PPS_correction=configuration->property(role + ".PPS_correction",false);
+ PPS_estimator_selected=configuration->property(role + ".PPS_estimator_selected",false);
+ SMA_IP_address=configuration->property(role + ".SMA_IP_address",std::string("192.168.1.69"));
+
pvt_output_parameters.dump = configuration->property(role + ".dump", false);
pvt_output_parameters.dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
pvt_output_parameters.dump_mat = configuration->property(role + ".dump_mat", true);
@@ -768,7 +777,7 @@ Rtklib_Pvt::Rtklib_Pvt(const Configurati
pvt_output_parameters.max_obs_block_rx_clock_offset_ms = configuration->property(role + ".max_clock_offset_ms", pvt_output_parameters.max_obs_block_rx_clock_offset_ms);
// make PVT object
- pvt_ = rtklib_make_pvt_gs(in_streams_, pvt_output_parameters, rtk);
+ pvt_ = rtklib_make_pvt_gs(in_streams_, pvt_output_parameters, rtk, PPS_Kp, PPS_Ki,SMA_internal_source_clock,LO_external_frequ,PPS_correction,PPS_estimator_selected,SMA_IP_address);
DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
if (out_streams_ > 0)
{
Index: gnss-sdr/src/algorithms/PVT/gnuradio_blocks/CMakeLists.txt
===================================================================
--- gnss-sdr.orig/src/algorithms/PVT/gnuradio_blocks/CMakeLists.txt
+++ gnss-sdr/src/algorithms/PVT/gnuradio_blocks/CMakeLists.txt
@@ -20,6 +20,11 @@ else()
add_library(pvt_gr_blocks rtklib_pvt_gs.cc rtklib_pvt_gs.h)
endif()
+# ADD VXI11 LIBRARY (JMF)
+find_library(VXI11 libvxi11.so.1 REQUIRED)
+ target_link_libraries( pvt_gr_blocks PRIVATE ${VXI11})
+# END ADD VXI11 LIBRARY (JMF)
+
if(${FILESYSTEM_FOUND})
target_compile_definitions(pvt_gr_blocks PRIVATE -DHAS_STD_FILESYSTEM=1)
if(${find_experimental})
Index: gnss-sdr/src/algorithms/PVT/adapters/rtklib_pvt.h
===================================================================
--- gnss-sdr.orig/src/algorithms/PVT/adapters/rtklib_pvt.h
+++ gnss-sdr/src/algorithms/PVT/adapters/rtklib_pvt.h
@@ -97,6 +97,13 @@ private:
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
+ double PPS_Kp;
+ double PPS_Ki;
+ bool SMA_internal_source_clock;
+ double LO_external_frequ;
+ bool PPS_correction;
+ bool PPS_estimator_selected;
+ std::string SMA_IP_address;
};
#endif
Index: gnss-sdr/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
===================================================================
--- gnss-sdr.orig/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
+++ gnss-sdr/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
@@ -107,23 +107,148 @@ namespace bc = boost::math;
namespace bc = boost::integer;
#endif
+//------------ To access B210
+
+#include "uhd/convert.hpp"
+#include "uhd/usrp/multi_usrp.hpp"
+#include "uhd/utils/safe_main.hpp"
+#include <stdint.h>
+#include <stdlib.h>
+#include <iostream>
+
+static const std::string GPIO_DEFAULT_GPIO = "FP0";
+uhd::usrp::multi_usrp::sptr uhd_source_;
+
+//-------------R&S SMA
+#include "vxi11_user.h"
+#pragma message "With VXI11"
+#define BUF_LEN 1000
+// VXI11_CLINK *d_clink;
+//-------------R&S SMA end
+
+
rtklib_pvt_gs_sptr rtklib_make_pvt_gs(uint32_t nchannels,
const Pvt_Conf& conf_,
- const rtk_t& rtk)
+ const rtk_t& rtk,
+ const double PPS_Kp,
+ const double PPS_Ki,
+ const bool SMA_internal_source_clock,
+ double LO_external_frequ,
+ const bool PPS_correction,
+ const bool PPS_estimator_selected,
+ const std::string SMA_IP_address)
{
return rtklib_pvt_gs_sptr(new rtklib_pvt_gs(nchannels,
conf_,
- rtk));
+ rtk,
+ PPS_Kp,
+ PPS_Ki,
+ SMA_internal_source_clock,
+ LO_external_frequ,
+ PPS_correction,
+ PPS_estimator_selected,
+ SMA_IP_address));
}
rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
const Pvt_Conf& conf_,
- const rtk_t& rtk) : gr::sync_block("rtklib_pvt_gs",
+ const rtk_t& rtk,
+ const double PPS_Kp,
+ const double PPS_Ki,
+ const bool SMA_internal_source_clock,
+ double LO_external_frequ,
+ const bool PPS_correction,
+ const bool PPS_estimator_selected,
+ const std::string SMA_IP_address) : gr::sync_block("rtklib_pvt_gs",
gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(0, 0, 0))
{
+ char* device_name = NULL;
+ char buf[BUF_LEN];
+ long bytes_returned;
+ char cmd[256];
+ d_PPS_correction=PPS_correction;
+ if (d_PPS_correction)
+ {
+ d_PPS_estimator_selected=PPS_estimator_selected;
+ d_PPS_Kp=PPS_Kp;
+ d_PPS_Ki=PPS_Ki;
+ d_LO_external_frequ=LO_external_frequ;
+ d_SMA_IP_address=SMA_IP_address;
+
+ std::cout
+ << std::setprecision(9)
+ << "Kp: " << d_PPS_Kp
+ << " Ki: " << d_PPS_Ki
+ << " LO: " << d_LO_external_frequ << "[Hz]" << '\n';
+
+ LOG(INFO) << "vxi11 init\n";
+ std::cout
+ << "SMA IP address: "
+ << d_SMA_IP_address << '\n';
+
+ vxi11_open_device(&d_clink, d_SMA_IP_address.c_str(), device_name);
+ sprintf (cmd, "*IDN?\n");
+ vxi11_send (d_clink, cmd,strlen(cmd));
+ bytes_returned=vxi11_receive (d_clink, buf, BUF_LEN);
+ LOG(INFO) << buf ;
+ if (SMA_internal_source_clock)
+ {
+ sprintf (cmd, "ROSC:SOUR INT");
+ vxi11_send (d_clink, cmd,strlen(cmd));
+ std::cout << "SMA Internal source clock selected\n";
+ }
+ else
+ {
+ sprintf (cmd, "ROSC:SOUR EXT");
+ vxi11_send (d_clink, cmd,strlen(cmd));
+ sprintf (cmd, "ROSC:EXT:FREQ 10MHz");
+ vxi11_send (d_clink, cmd,strlen(cmd));
+ std::cout << "SMA External source clock selected\n";
+ }
+
+ sprintf(cmd, "FREQ %0.3fHz",d_LO_external_frequ);
+ vxi11_send (d_clink, cmd,strlen(cmd));
+
+
+
+//uhd not used yet
+
+
+ // variables to be set by po
+ std::string args;
+ uint32_t rb;
+ std::string gpio=GPIO_DEFAULT_GPIO; // FP0
+ uint32_t ddr;
+ uint32_t ctrl;
+ uint32_t mask;
+ // create a uhd_source_ device
+ std::cout << std::endl;
+ std::cout << boost::format("Creating the uhd_source_ device with: %s...") % args
+ << std::endl;
+ uhd_source_ = uhd::usrp::multi_usrp::make(args);
+
+//uhd_source_
+ std::cout << boost::format("Using Device: %s") % uhd_source_->get_pp_string() << std::endl;
+ std::cout << "Using GPIO bank: " << gpio << std::endl;
+
+ ddr=0x00;
+ ctrl=0x00;
+ mask=0xff;
+ // writing config
+ uhd_source_->set_gpio_attr(gpio, "DDR", ddr, mask); // set data direction register (DDR)
+ uhd_source_->set_gpio_attr(gpio, "CTRL", ctrl, mask); // set control register
+ uhd_source_->set_gpio_attr(gpio, "OUT", 0x00, mask); // set control register
+ uhd_source_->set_gpio_attr(gpio, "ATR_0X", 0x00, mask); // set ATR registers
+ // reading back
+ rb= uhd_source_->get_gpio_attr(gpio, "DDR") & mask;
+ std::cout << "DDR:" << rb << std::endl;
+ rb= uhd_source_->get_gpio_attr(gpio, "CTRL") & mask;
+ std::cout << "CTRL:" << rb << std::endl;
+ }
+
// Send feedback message to observables block with the receiver clock offset
this->message_port_register_out(pmt::mp("pvt_to_observables"));
// Send PVT status to gnss_flowgraph
@@ -519,6 +644,10 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nc
rtklib_pvt_gs::~rtklib_pvt_gs()
{
DLOG(INFO) << "PVT block destructor called.";
+ if (d_PPS_correction)
+ {
+ vxi11_close_device(d_clink, d_SMA_IP_address.c_str());
+ }
if (d_sysv_msqid != -1)
{
msgctl(d_sysv_msqid, IPC_RMID, nullptr);
@@ -2115,8 +2244,6 @@ int rtklib_pvt_gs::work(int noutput_item
if (current_RX_time_ms % d_output_rate_ms == 0)
{
flag_compute_pvt_output = true;
- // std::cout.precision(17);
- // std::cout << "current_RX_time: " << current_RX_time << " map time: " << d_gnss_observables_map.begin()->second.RX_time << '\n';
}
flag_pvt_valid = true;
}
@@ -2215,11 +2342,28 @@ int rtklib_pvt_gs::work(int noutput_item
{
if (d_show_local_time_zone)
{
+
const boost::posix_time::ptime time_first_solution = d_user_pvt_solver->get_position_UTC_time() + d_utc_diff_time;
std::cout << "First position fix at " << time_first_solution << d_local_time_str;
+ if(d_PPS_correction)
+ {
+ d_pps_init_offset=d_user_pvt_solver->get_time_offset_s();
+ d_pps_prev_error=0.;
+ d_estimator=0.;
+ LOG(INFO) << "init offset: " << d_pps_init_offset << "\n";
+ d_LO_external_frequ_init=d_LO_external_frequ;
+ }
}
else
{
+ if(d_PPS_correction)
+ {
+ d_pps_init_offset=d_user_pvt_solver->get_time_offset_s();
+ d_pps_prev_error=0.;
+ d_estimator=0.;
+ LOG(INFO) << "init offset: " << d_pps_init_offset << "\n";
+ d_LO_external_frequ_init=d_LO_external_frequ;
+ }
std::cout << "First position fix at " << d_user_pvt_solver->get_position_UTC_time() << " UTC";
}
std::cout << " is Lat = " << d_user_pvt_solver->get_latitude() << " [deg], Long = " << d_user_pvt_solver->get_longitude()
@@ -4134,8 +4278,49 @@ int rtklib_pvt_gs::work(int noutput_item
<< " [deg], Height = " << d_user_pvt_solver->get_height() << " [m]" << TEXT_RESET << '\n';
std::cout << std::setprecision(ss);
- DLOG(INFO) << "RX clock offset: " << d_user_pvt_solver->get_time_offset_s() << "[s]";
-
+ if (d_PPS_correction)
+ {
+ if (d_PPS_estimator_selected)
+ {
+ d_estimator_prev=d_estimator;
+ d_pps_offset=d_internal_pvt_solver->get_time_offset_s();
+ d_estimator=d_estimator*0.9+5.5e-8*(d_LO_external_frequ-d_LO_external_frequ_init)+0.1*(d_pps_offset-d_pps_init_offset);
+ d_FREQU_correction=d_estimator*(d_PPS_Kp+d_PPS_Ki)-d_estimator_prev*d_PPS_Kp;
+ }
+ else
+ {
+ d_pps_prev_error=d_pps_offset-d_pps_init_offset;
+ d_pps_offset=d_internal_pvt_solver->get_time_offset_s();
+ d_FREQU_correction=(d_pps_offset-d_pps_init_offset)*(d_PPS_Kp+d_PPS_Ki)-d_pps_prev_error*d_PPS_Kp;
+ }
+ if (d_FREQU_correction>0.074) //max 0.074 Hz
+ {
+ d_FREQU_correction=0.074;
+ std::cout << "sat\n";
+ }
+ if (d_FREQU_correction<-0.074) //max 0.074 Hz
+ {
+ d_FREQU_correction=-0.074;
+ std::cout << "SAT\n";
+ }
+ std::cout
+ << "Estimator selected: " << std::boolalpha << d_PPS_estimator_selected << " value: " << d_estimator << '\n';
+ std::cout
+ << std::fixed << std::setprecision(12)
+ << "RX clock offset: " << d_pps_offset << " [s] "
+ << "diff offset: " << d_pps_offset-d_pps_init_offset << " [s] "
+ << "Frequ correction: " << d_FREQU_correction << " [Hz]" << '\n';
+
+ char cmd[256];
+ d_LO_external_frequ=d_LO_external_frequ-d_FREQU_correction;
+
+ std::cout
+ << std::fixed << std::setprecision(3)
+ << "LO Frequency: " << d_LO_external_frequ << " [Hz]" << '\n';
+
+ sprintf(cmd, "FREQ %0.3fHz",d_LO_external_frequ);
+ vxi11_send (d_clink, cmd,strlen(cmd));
+ }
std::cout
<< TEXT_BOLD_GREEN
<< "Velocity: " << std::fixed << std::setprecision(3)
Index: gnss-sdr/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
===================================================================
--- gnss-sdr.orig/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
+++ gnss-sdr/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
@@ -41,6 +41,8 @@
#include <boost/shared_ptr.hpp>
#endif
+#include "vxi11_user.h"
+
class Beidou_Dnav_Almanac;
class Beidou_Dnav_Ephemeris;
class Galileo_Almanac;
@@ -66,7 +68,14 @@ using rtklib_pvt_gs_sptr = boost::shared
rtklib_pvt_gs_sptr rtklib_make_pvt_gs(uint32_t nchannels,
const Pvt_Conf& conf_,
- const rtk_t& rtk);
+ const rtk_t& rtk,
+ const double PPS_Kp,
+ const double PPS_Ki,
+ const bool SMA_internal_source_clock,
+ double LO_external_frequ,
+ const bool PPS_correction,
+ const bool PPS_estimator_selected,
+ const std::string SMA_IP_address);
/*!
* \brief This class implements a block that computes the PVT solution using the RTKLIB integrated library
@@ -127,11 +136,26 @@ public:
private:
friend rtklib_pvt_gs_sptr rtklib_make_pvt_gs(uint32_t nchannels,
const Pvt_Conf& conf_,
- const rtk_t& rtk);
+ const rtk_t& rtk,
+ const double PPS_Kp,
+ const double PPS_Ki,
+ const bool SMA_internal_source_clock,
+ double LO_external_frequ,
+ const bool PPS_correction,
+ const bool PPS_estimator_selected,
+ const std::string SMA_IP_address);
rtklib_pvt_gs(uint32_t nchannels,
const Pvt_Conf& conf_,
- const rtk_t& rtk);
+ const rtk_t& rtk,
+ const double PPS_Kp,
+ const double PPS_Ki,
+ const bool SMA_internal_source_clock,
+ double LO_external_frequ,
+ const bool PPS_correction,
+ const bool PPS_estimator_selected,
+ const std::string SMA_IP_address);
+
void msg_handler_telemetry(const pmt::pmt_t& msg);
@@ -267,6 +291,26 @@ private:
bool d_enable_rx_clock_correction;
bool d_rtcm_writing_started;
bool d_rtcm_enabled;
+
+ bool d_PPS_correction;
+ bool d_PPS_estimator_selected;
+ double d_PPS_Kp;
+ double d_PPS_Ki;
+ double d_LO_external_frequ;
+ double d_LO_external_frequ_init;
+
+ std::string d_SMA_IP_address;
+ VXI11_CLINK *d_clink;
+
+
+//-------------1PPS variables
+
+ double d_FREQU_correction;
+ double d_pps_prev_error;
+ double d_estimator;
+ double d_estimator_prev;
+ double d_pps_init_offset;
+ double d_pps_offset;
};
#endif // GNSS_SDR_RTKLIB_PVT_GS_H
Index: gnss-sdr/src/algorithms/signal_source/adapters/uhd_signal_source.cc
===================================================================
--- gnss-sdr.orig/src/algorithms/signal_source/adapters/uhd_signal_source.cc
+++ gnss-sdr/src/algorithms/signal_source/adapters/uhd_signal_source.cc
@@ -162,7 +162,8 @@ UhdSignalSource::UhdSignalSource(const C
}
// 1.2 Make the UHD source object
- uhd_source_ = gr::uhd::usrp_source::make(dev_addr, uhd_stream_args_);
+
+ uhd_source_ = gr::uhd::usrp_source::make(dev_addr, uhd_stream_args_, true); // jmfriedt 201026 true added to issue stream (now + 0.1 s)
// Set subdevice specification string for USRP family devices. It is composed of:
// <motherboard slot name>:<daughterboard frontend name>
@@ -257,6 +258,11 @@ UhdSignalSource::UhdSignalSource(const C
{
LOG(ERROR) << "This implementation only supports one output stream";
}
+// ajout 201026 : delayed start
+uhd::time_spec_t curr_hw_time = uhd_source_->get_time_last_pps();
+uhd_source_->set_time_next_pps(uhd::time_spec_t(1.0) + curr_hw_time);
+// sleep(1.0)
+uhd_source_->set_start_time(uhd::time_spec_t(2.01) + curr_hw_time);
}
Index: gnss-sdr/src/algorithms/signal_source/adapters/uhd_signal_source.h
===================================================================
--- gnss-sdr.orig/src/algorithms/signal_source/adapters/uhd_signal_source.h
+++ gnss-sdr/src/algorithms/signal_source/adapters/uhd_signal_source.h
@@ -74,8 +74,9 @@ public:
gr::basic_block_sptr get_right_block() override;
gr::basic_block_sptr get_right_block(int RF_channel) override;
-private:
gr::uhd::usrp_source::sptr uhd_source_;
+
+private:
#if GNURADIO_USES_STD_POINTERS
std::vector<std::shared_ptr<gr::block>> valve_;
std::shared_ptr<gr::block> spoofing_detect_;