fixed all bugs so that the system would build. Added cmake as well. T…

…he system seems to be building now

src/algorithms/telemetry_decoder/gnuradio_blocks/CMakeLists.txt

@@ -25,6 +25,7 @@ set(TELEMETRY_DECODER_GR_BLOCKS_SOURCES
      galileo_e5a_telemetry_decoder_cc.cc
      glonass_l1_ca_telemetry_decoder_cc.cc
      glonass_l2_ca_telemetry_decoder_cc.cc
+     beidou_b2a_telemetry_decoder_cc.cc
 )
 
 include_directories(

src/algorithms/telemetry_decoder/gnuradio_blocks/beidou_b2a_telemetry_decoder_cc.cc

@@ -190,8 +190,8 @@ void beidou_b2a_telemetry_decoder_cc::decode_string(double *frame_symbols, int f
     if (d_nav.flag_update_slot_number == true)
         {
             LOG(INFO) << "BEIDOU CNAV2 Slot Number Identified in channel " << d_channel;
-            d_satellite.update_PRN(d_nav.cnav2_ephemeris.d_n);
-            d_satellite.what_block(d_satellite.get_system(), d_nav.cnav2_ephemeris.d_n);
+            d_satellite.update_PRN(d_nav.cnav2_ephemeris.SatType);
+            d_satellite.what_block(d_satellite.get_system(), d_nav.cnav2_ephemeris.SatType);
             d_nav.flag_update_slot_number = false;
         }
 }
@@ -361,7 +361,7 @@ int beidou_b2a_telemetry_decoder_cc::general_work(int noutput_items __attribute_
     if (this->d_flag_preamble == true and d_nav.flag_TOW_new == true)
         //update TOW at the preamble instant
         {
-            d_TOW_at_current_symbol = floor((d_nav.cnav2_ephemeris.d_TOW - BEIDOU_CNAV2_PREAMBLE_DURATION_S) * 1000) / 1000;
+            d_TOW_at_current_symbol = floor((d_nav.cnav2_ephemeris.SOW - BEIDOU_CNAV2_PREAMBLE_DURATION_S) * 1000) / 1000;
             d_nav.flag_TOW_new = false;
         }
     else  //if there is not a new preamble, we define the TOW of the current symbol

src/algorithms/telemetry_decoder/libs/CMakeLists.txt

@@ -21,6 +21,7 @@ add_subdirectory(libswiftcnav)
 set(TELEMETRY_DECODER_LIB_SOURCES 
      gps_l1_ca_subframe_fsm.cc 
      viterbi_decoder.cc
+     crc24q.c
 )
 
 include_directories(

src/algorithms/telemetry_decoder/libs/crc24q.c

@@ -40,7 +40,7 @@
 
 #include "crc24q.h"
 
-#ifdef REBUILD_CRC_TABLE
+//#ifdef REBUILD_CRC_TABLE
 /*
  * The crc24q code table below can be regenerated with the following code:
  */

src/core/system_parameters/BEIDOU_B2a.h

@@ -99,13 +99,13 @@ const double BEIDOU_LEAP_SECONDS = -33; // uniform scale and 33 seconds behind T
 // NAVIGATION MESSAGE DEMODULATION AND DECODING
 #define BEIDOU_CNAV2_PREAMBLE                                                                    \
     {                                                                                            \
-        1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 0, 0, 1, 1, 0, 1, 1, 1, 1, 0, 1, 0, 0, 0 \
     }
+
 const double BEIDOU_CNAV2_PREAMBLE_DURATION_S = 0.120;	//[s]
 const int BEIDOU_CNAV2_PREAMBLE_LENGTH_BITS = 12;		//[bits]
 const int BEIDOU_CNAV2_PREAMBLE_LENGTH_SYMBOLS = 24;	//[symbols]
 
-//const int BEIDOU_CNAV2_PREAMBLE_PERIOD_SYMBOLS = 2000;
+const int BEIDOU_CNAV2_PREAMBLE_PERIOD_SYMBOLS = 600;
 const int BEIDOU_CNAV2_TELEMETRY_RATE_BITS_SECOND = 100;																					//bps
 const int BEIDOU_CNAV2_TELEMETRY_SYMBOLS_PER_BIT = 2;																						//spb
 const int BEIDOU_CNAV2_TELEMETRY_SYMBOLS_PER_PREAMBLE_BIT = 2;																				//spb

src/core/system_parameters/CMakeLists.txt

@@ -39,10 +39,14 @@ set(SYSTEM_PARAMETERS_SOURCES
 	 gps_cnav_iono.cc
 	 gps_cnav_utc_model.cc
 	 rtcm.cc
-   glonass_gnav_ephemeris.cc
-   glonass_gnav_almanac.cc
-   glonass_gnav_utc_model.cc
-   glonass_gnav_navigation_message.cc
+     glonass_gnav_ephemeris.cc
+     glonass_gnav_almanac.cc
+     glonass_gnav_utc_model.cc
+     glonass_gnav_navigation_message.cc
+   	 beidou_cnav2_navigation_message.cc
+   	 beidou_cnav2_ephemeris.cc
+   	 beidou_cnav2_almanac.cc
+   	 beidou_cnav2_utc_model.cc
 )
 
 

src/core/system_parameters/beidou_cnav2_navigation_message.cc

@@ -33,7 +33,7 @@
 #include "beidou_cnav2_navigation_message.h"
 #include "gnss_satellite.h"
 #include <glog/logging.h>
-#include "crc24q.h"
+#include "../../algorithms/telemetry_decoder/libs/crc24q.h"
 
 void Beidou_Cnav2_Navigation_Message::reset()
 {
@@ -63,8 +63,7 @@ void Beidou_Cnav2_Navigation_Message::reset()
     flag_TOW_new = false;
 
     flag_CRC_test = false;
-    d_frame_ID = 0;
-    d_string_ID = 0;
+    i_string_MesType = 0;
     i_channel_ID = 0;
 
     // Clock terms
@@ -174,8 +173,6 @@ bool Beidou_Cnav2_Navigation_Message::CRC_test(std::bitset<BEIDOU_CNAV2_STRING_B
 
 int Beidou_Cnav2_Navigation_Message::string_decoder(std::string const &frame_string)
 {
-    int J = 0;
-
     // Unpack bytes to bits
     std::bitset<BEIDOU_CNAV2_STRING_BITS> string_bits(frame_string);
 
@@ -221,6 +218,8 @@ int Beidou_Cnav2_Navigation_Message::string_decoder(std::string const &frame_str
 
             flag_ephemeris_str_10 = true;
 
+            //cnav2_utc_model.beidt_to_utc(cnav2_ephemeris, 0, 1142341);
+
             break;
 
         case 11:
@@ -550,13 +549,13 @@ int Beidou_Cnav2_Navigation_Message::string_decoder(std::string const &frame_str
 
 
         default:
-            LOG(INFO) << "BEIDOU CNAV2: Invalid String ID of received. Received " << d_string_ID
+            LOG(INFO) << "BEIDOU CNAV2: Invalid String ID of received. Received " << i_string_MesType
                       << ", but acceptable range is from 10 11 30 31 32 33 34 40";
 
             break;
         }  // switch string ID
 
-    return d_string_ID;
+    return i_string_MesType;
 }
 
 
@@ -642,4 +641,6 @@ bool Beidou_Cnav2_Navigation_Message::have_new_almanac()  //Check if we have a n
                     }
             }
 
+    // todo  fix
+    return false;
 }

src/core/system_parameters/beidou_cnav2_utc_model.cc

@@ -31,6 +31,7 @@
  */
 
 #include "beidou_cnav2_utc_model.h"
+#include <cmath>
 
 Beidou_Cnav2_Utc_Model::Beidou_Cnav2_Utc_Model()
 {
@@ -67,35 +68,43 @@ double Beidou_Cnav2_Utc_Model::utc_time(double beidou_time)
 {
     double t_utc;
 
-    // BEIDOU Time is relative to UTC Moscow, so we simply add its time difference
     t_utc = beidou_time + dt_LS;	// Adds the leap seconds that is broadcasted
 
     return t_utc;
 }
 
-boost::posix_time::ptime Beidou_Cnav2_Utc_Model::beidt_to_utc(const double offset_time, const double beidt2utc_corr) const
+double Beidou_Cnav2_Utc_Model::beidt_to_utc(Beidou_Cnav2_Ephemeris const&eph)
 {
-    /*
-     * 1) DN is not in the past
-     * t_UTC = (t_E - dt_UTC)mod86400
-     * dt_UTC = dt_LS + A_0UTC + A_1UTC * (t_E - t_ot + 604800 * (WN - WN_ot)) + A_2UTC * (t_E - t_ot + 604800 * (WN - WN_ot))^2
-     *
-     * 2) user's present time falls within the time span which starts six hours prior to the leap second time and ends six hours after the leap second time
-     * t_UTC = W mod(86400 + dt_LSF - dt_LS)
-     * W = ((t_E - dt_UTC - 43200) mod86400) + 43200
-     *
-     * 3) DN is in the past
-     * t_UTC = (t_E - dt_UTC)mod86400
-     * dt_UTC = dt_LSF + A_0UTC + A_1UTC * (t_E - t_ot + 604800 * (WN - WN_ot)) + A_2UTC * (t_E - t_ot + 604800 * (WN - WN_ot))^2
-     */
+	double t_UTC;
+	double dt_UTC;
+	double W;
+
+     // 1) DN is not in the past
+	dt_UTC = dt_LS + A_0UTC + A_1UTC * (eph.t_oe - t_ot + 604800 * (eph.WN - WN_ot)) + A_2UTC * (eph.t_oe - t_ot + 604800 * (eph.WN - WN_ot)) * (eph.t_oe - t_ot + 604800 * (eph.WN - WN_ot));
+	t_UTC = fmod((eph.t_oe - dt_UTC),86400);
+
+	 // 2) user's present time falls within the time span which starts six hours prior to the leap second time and ends six hours after the leap second time
+	W = fmod((eph.t_oe - dt_UTC - 43200),86400) + 43200;
+	t_UTC = fmod(W,(86400 + dt_LSF - dt_LS));
+
+     // 3) DN is in the past
+    dt_UTC = dt_LSF + A_0UTC + A_1UTC * (eph.t_oe - t_ot + 604800 * (eph.WN - WN_ot)) + A_2UTC * (eph.t_oe - t_ot + 604800 * (eph.WN - WN_ot)) * (eph.t_oe - t_ot + 604800 * (eph.WN - WN_ot));
+    t_UTC = fmod((eph.t_oe - dt_UTC),86400);
+
+    return t_UTC;
 }
 
+/*
 template < typename t >
 t square(t x) { return x * x; }
+*/
 
-void Beidou_Cnav2_Utc_Model::beidt_to_gpst(double tod_offset, double beidt2utc_corr, double beidt2gpst_corr, double* wn, double* tow) const
+double Beidou_Cnav2_Utc_Model::beidt_to_gpst(Beidou_Cnav2_Ephemeris const&eph, double beidou_time)
 {
+	double t_GNSS;
 
-	 dT_systems = t_BD - t_GNSS = A_0BGTO + A_1BGTO*[t_BD - t_0BGTO + 604800*(WN - WN_BGTO)] + A_2BGTO*square(t_BD - t_0BGTO +604800*(WN - WN_BGTO))
+	 //dT_systems = t_BD - t_GNSS = A_0BGTO + A_1BGTO*[t_BD - t_0BGTO + 604800*(WN - WN_BGTO)] + A_2BGTO*square(t_BD - t_0BGTO +604800*(WN - WN_BGTO));
+	 t_GNSS = beidou_time - (A_0BGTO + A_1BGTO*(beidou_time - t_0BGTO + 604800*(eph.WN - WN_0BGTO)) + A_2BGTO*(beidou_time - t_0BGTO +604800*(eph.WN - WN_0BGTO)))*(beidou_time - t_0BGTO +604800*(eph.WN - WN_0BGTO));
 
+	 return t_GNSS;
 }

src/core/system_parameters/beidou_cnav2_utc_model.h

@@ -36,6 +36,7 @@
 
 #include <boost/assign.hpp>
 #include <boost/serialization/nvp.hpp>
+#include "beidou_cnav2_ephemeris.h"
 
 //!!! Check
 /*!
@@ -112,26 +113,19 @@ class Beidou_Cnav2_Utc_Model
         archive& make_nvp("a_2", a_2);
     }
 
-    /*!
-     * \brief Sets (\a d_satClkDrift)and returns the clock drift in seconds according to the User Algorithm for SV Clock Correction
-     *  (IS-GPS-200E,  20.3.3.3.3.1)
-     */
-    double sv_clock_drift(double transmitTime, double timeCorrUTC);
-
-    /*!
-     *  \brief Computes the BEIDOU System Time and returns a boost::posix_time::ptime object
-     * \ param offset_time Is the start of day offset to compute the time
-     */
-    boost::posix_time::ptime compute_BEIDOU_time(const double offset_time) const;
+    double beidt_to_gpst(const double offset_time, const double glot2utc_corr);
 
     /*!
-     * \brief Converts from BEIDOUT to UTC
-     * \details The function simply adjust for the 6 hrs offset between BEIDOUT and UTC
-     * \param[in] offset_time Is the start of day offset
+     * \brief Converts from BEIDOUT to GPST
+     * \details Converts from BEIDOUT to GPST in time of week (TOW) and week number (WN) format
+     * \param[in] tod_offset Is the start of day offset
      * \param[in] beidt2utc_corr Correction from BEIDOUT to UTC
-     * \returns UTC time as a boost::posix_time::ptime object
+     * \param[in] beidt2gpst_corr Correction from BEIDOUT to GPST
+     * \param[out] WN Week Number, not in mod(1024) format
+     * \param[out] TOW Time of Week in seconds of week
      */
-    boost::posix_time::ptime beidt_to_utc(const double offset_time, const double glot2utc_corr) const;
+    double beidt_to_utc(Beidou_Cnav2_Ephemeris const&eph);
+
 
     /*!
      * \brief Converts from BEIDOUT to GPST
@@ -142,24 +136,21 @@ class Beidou_Cnav2_Utc_Model
      * \param[out] WN Week Number, not in mod(1024) format
      * \param[out] TOW Time of Week in seconds of week
      */
-    void beidt_to_gpst(double tod_offset, double beidt2utc_corr, double beidt2gpst_corr, double* WN, double* TOW) const;
+
+    double beidt_to_gpst(const Beidou_Cnav2_Ephemeris &eph, double beid_time);
 
     /*!
      * Default constructor
      */
 
-
+    double utc_time(double beidou_time);
 
     /*!
      * Default constructor
      */
+
     Beidou_Cnav2_Utc_Model();
 
-    /*!
-     * \brief Computes the Coordinated Universal Time (UTC) and
-     * returns it in [s]
-     */
-    double utc_time(double beidou_time);
 };
 
 #endif

src/core/system_parameters/gnss_satellite.cc

@@ -222,6 +222,18 @@ void Gnss_Satellite::set_PRN(unsigned int PRN_)
                     PRN = PRN_;
                 }
         }
+    else if (system.compare("Beidou") == 0)
+        {
+            if (PRN_ < 1 or PRN_ > 63)
+                {
+                    DLOG(INFO) << "This PRN is not defined";
+                    PRN = 0;
+                }
+            else
+                {
+                    PRN = PRN_;
+                }
+        }
     else
         {
             DLOG(INFO) << "System " << system << " is not defined";