Merge pull request #224 from gsmcmullin/use_signal_t

Define gnss_signal_t structure and use in place of 8-bit prns.

Author: gsmcmullin

include/libswiftnav/amb_kf.h

@@ -70,8 +70,8 @@ void set_nkf(nkf_t *kf, double amb_drift_var, double phase_var, double code_var,
             u8 num_sdiffs, sdiff_t *sdiffs_with_ref_first, double *dd_measurements, double ref_ecef[3]);
 void set_nkf_matrices(nkf_t *kf, double phase_var, double code_var,
                      u8 num_sdiffs, sdiff_t *sdiffs_with_ref_first, double ref_ecef[3]);
-s32 find_index_of_element_in_u8s(const u32 num_elements, const u8 x, const u8 *list);
-void rebase_nkf(nkf_t *kf, u8 num_sats, u8 *old_prns, u8 *new_prns);
+s32 find_index_of_signal(const u32 num_elements, const gnss_signal_t x, const gnss_signal_t *list);
+void rebase_nkf(nkf_t *kf, u8 num_sats, const gnss_signal_t *old_sids, const gnss_signal_t *new_sids);
 
 void nkf_state_projection(nkf_t *kf,
                                     u8 num_old_non_ref_sats,
@@ -84,11 +84,10 @@ void nkf_state_inclusion(nkf_t *kf,
                          double *estimates,
                          double int_init_var);
 
-void rebase_nkf(nkf_t *kf, u8 num_sats, u8 *old_prns, u8 *new_prns);
-void rebase_covariance_udu(double *state_cov_U, double *state_cov_D, u8 num_sats, u8 *old_prns, u8 *new_prns);
+void rebase_covariance_udu(double *state_cov_U, double *state_cov_D, u8 num_sats, const gnss_signal_t *old_sids, const gnss_signal_t *new_sids);
 
-void rebase_mean_N(double *mean, const u8 num_sats, const u8 *old_prns, const u8 *new_prns);
-void rebase_covariance_sigma(double *state_cov, const u8 num_sats, const u8 *old_prns, const u8 *new_prns);
+void rebase_mean_N(double *mean, const u8 num_sats, const gnss_signal_t *old_sids, const gnss_signal_t *new_sids);
+void rebase_covariance_sigma(double *state_cov, const u8 num_sats, const gnss_signal_t *old_sids, const gnss_signal_t *new_sids);
 
 double get_sos_innov(const nkf_t *kf, const double *decor_obs);
 double compute_innovation_terms(u32 state_dim, const double *h,

include/libswiftnav/ambiguity_test.h

@@ -119,8 +119,8 @@ s8 determine_sats_addition(ambiguity_test_t *amb_test,
                            z_t *Z_inv);
 // TODO(dsk) delete
 void add_sats_old(ambiguity_test_t *amb_test,
-                  u8 ref_prn,
-                  u32 num_added_dds, u8 *added_prns,
+                  gnss_signal_t ref_sid,
+                  u32 num_added_dds, gnss_signal_t *added_sids,
                   z_t *lower_bounds, z_t *upper_bounds,
                   z_t *Z_inv);
 void init_residual_matrices(residual_mtxs_t *res_mtxs, u8 num_dds, double *DE_mtx, double *obs_cov);

include/libswiftnav/baseline.h

@@ -22,12 +22,12 @@
 
 typedef struct {
   double amb;
-  u8 prn;
+  gnss_signal_t sid;
 } ambiguity_t;
 
 typedef struct {
   double ambs[MAX_CHANNELS-1];
-  u8 prns[MAX_CHANNELS];
+  gnss_signal_t sids[MAX_CHANNELS];
   u8 n;
 } ambiguities_t;
 
@@ -51,7 +51,7 @@ s8 least_squares_solve_b_external_ambs(u8 num_dds, const double *ambs,
          const double ref_ecef[3], double b[3],
          bool disable_raim, double raim_threshold);
 
-void diff_ambs(u8 ref_prn, u8 num_ambs, const ambiguity_t *amb_set,
+void diff_ambs(gnss_signal_t ref_sid, u8 num_ambs, const ambiguity_t *amb_set,
                double *dd_ambs);
 s8 baseline_(u8 num_sdiffs, const sdiff_t *sdiffs, const double ref_ecef[3],
              u8 num_ambs, const ambiguity_t *single_ambs,

include/libswiftnav/dgnss_management.h

@@ -50,7 +50,7 @@ void dgnss_init(u8 num_sats, sdiff_t *sdiffs, double reciever_ecef[3]);
 void dgnss_update(u8 num_sats, sdiff_t *sdiffs, double reciever_ecef[3],
                   bool disable_raim, double raim_threshold);
 void dgnss_rebase_ref(u8 num_sats, sdiff_t *sdiffs, double reciever_ecef[3],
-                      u8 old_prns[MAX_CHANNELS], sdiff_t *corrected_sdiffs);
+                      gnss_signal_t old_sids[MAX_CHANNELS], sdiff_t *corrected_sdiffs);
 nkf_t * get_dgnss_nkf(void);
 sats_management_t * get_sats_management(void);
 ambiguity_test_t* get_ambiguity_test(void);
@@ -86,8 +86,8 @@ double dgnss_iar_pool_ll(u8 num_ambs, double *ambs);
 double dgnss_iar_pool_prob(u8 num_ambs, double *ambs);
 u8 get_amb_kf_mean(double *ambs);
 u8 get_amb_kf_cov(double *cov);
-u8 get_amb_kf_prns(u8 *prns);
-u8 get_amb_test_prns(u8 *prns);
+u8 get_amb_kf_sids(gnss_signal_t *sids);
+u8 get_amb_test_sids(gnss_signal_t *sids);
 u8 dgnss_iar_MLE_ambs(s32 *ambs);
 
 #endif /* LIBSWIFTNAV_DGNSS_MANAGEMENT_H */

include/libswiftnav/ephemeris.h

@@ -14,6 +14,7 @@
 #ifndef LIBSWIFTNAV_EPHEMERIS_H
 #define LIBSWIFTNAV_EPHEMERIS_H
 
+#include "signal.h"
 #include "gpstime.h"
 #include "common.h"
 
@@ -25,7 +26,7 @@ typedef struct {
   gps_time_t toe, toc;
   u8 valid;
   u8 healthy;
-  u8 prn;
+  gnss_signal_t sid;
   u8 iode;
 } ephemeris_t;
 

include/libswiftnav/observation.h

@@ -27,20 +27,20 @@ typedef struct {
   double sat_vel[3];
   double snr;
   u16 lock_counter;
-  u8 prn;
+  gnss_signal_t sid;
 } sdiff_t;
 
 int cmp_sdiff(const void *a_, const void *b_);
 int cmp_amb(const void *a_, const void *b_);
 int cmp_amb_sdiff(const void *a_, const void *b_);
-int cmp_sdiff_prn(const void *a_, const void *b_);
-int cmp_amb_prn(const void *a_, const void *b_);
+int cmp_sdiff_sid(const void *a_, const void *b_);
+int cmp_amb_sid(const void *a_, const void *b_);
 
 u8 single_diff(u8 n_a, navigation_measurement_t *m_a,
                u8 n_b, navigation_measurement_t *m_b,
                sdiff_t *sds);
 
-int sdiff_search_prn(const void *a, const void *b);
+int cmp_sid_sdiff(const void *a, const void *b);
 
 u8 make_propagated_sdiffs_wip(u8 n_local, navigation_measurement_t *m_local,
                               u8 n_remote, navigation_measurement_t *m_remote,
@@ -51,19 +51,19 @@ u8 make_propagated_sdiffs(u8 n_local, navigation_measurement_t *m_local,
                           ephemeris_t *es, gps_time_t t,
                           sdiff_t *sds);
 
-s8 make_dd_measurements_and_sdiffs(u8 ref_prn, const u8 *non_ref_prns, u8 num_dds,
+s8 make_dd_measurements_and_sdiffs(gnss_signal_t ref_sid, const gnss_signal_t *non_ref_sids, u8 num_dds,
                                    u8 num_sdiffs, const sdiff_t *sdiffs_in,
                                    double *dd_meas, sdiff_t *sdiffs_out);
 
 u8 check_lock_counters(u8 n_sds, const sdiff_t *sds, u16 *lock_counters,
-                       u8 *sats_to_drop);
+                       gnss_signal_t *sats_to_drop);
 
-s8 copy_sdiffs_put_ref_first(const u8 ref_prn, const u8 num_sdiffs,
+s8 copy_sdiffs_put_ref_first(const gnss_signal_t ref_sid, const u8 num_sdiffs,
                              const sdiff_t *sdiffs,
                              sdiff_t *sdiffs_with_ref_first);
 
 u8 filter_sdiffs(u8 num_sdiffs, sdiff_t *sdiffs, u8 num_sats_to_drop,
-                 u8 *sats_to_drop);
+                 gnss_signal_t *sats_to_drop);
 
 void debug_sdiff(sdiff_t sd);
 void debug_sdiffs(u8 n, sdiff_t *sds);

include/libswiftnav/sats_management.h

@@ -27,10 +27,10 @@
  */
 typedef struct {
   u8 num_sats;
-  u8 prns[MAX_CHANNELS];
+  gnss_signal_t sids[MAX_CHANNELS];
 } sats_management_t;
 
-u8 choose_reference_sat(const u8 num_sats, const sdiff_t *sats);
+gnss_signal_t choose_reference_sat(const u8 num_sats, const sdiff_t *sats);
 
 void init_sats_management(sats_management_t *sats_management,
                           const u8 num_sats, const sdiff_t *sdiffs, sdiff_t *sdiffs_with_ref_first);
@@ -40,7 +40,7 @@ s8 rebase_sats_management(sats_management_t *sats_management,
                           const u8 num_sats, const sdiff_t *sdiffs, sdiff_t *sdiffs_with_ref_first);
 void update_sats_sats_management(sats_management_t *sats_management, u8 num_non_ref_sdiffs, sdiff_t *non_ref_sdiffs);
 
-void set_reference_sat_of_prns(u8 ref_prn, u8 num_sats, u8 *prns);
+void set_reference_sat_of_sids(gnss_signal_t ref_sid, u8 num_sats, gnss_signal_t *sids);
 s8 match_sdiffs_to_sats_man(sats_management_t *sats, u8 num_sdiffs, sdiff_t *sdiffs, sdiff_t *sdiffs_with_ref_first);
 
 #endif /* LIBSWIFTNAV_SATS_MANAGEMENT_H */

include/libswiftnav/set.h

@@ -14,6 +14,7 @@
 #define LIBSWIFTNAV_SET_H
 
 #include "common.h"
+#include "signal.h"
 
 /** \addtogroup set
  * \{ */
@@ -32,11 +33,10 @@ typedef int (*cmp_fn) (const void* a, const void* b);
 
 /** \} */
 
-int cmp_u8_u8(const void * a, const void * b);
 int cmp_s32_s32(const void * a, const void * b);
 
 bool is_set(u8 n, size_t sz, const void *set, cmp_fn cmp);
-bool is_prn_set(u8 len, const u8 *prns);
+bool is_sid_set(u8 len, const gnss_signal_t *sids);
 
 s32 intersection_map(u32 na, size_t sa, const void *as,
                      u32 nb, size_t sb, const void *bs,

include/libswiftnav/signal.h

@@ -0,0 +1,59 @@
+/*
+ * Copyright (c) 2015 Swift Navigation Inc.
+ * Contact: Vlad Ungureanu <vvu@vdev.ro>
+ *
+ * This source is subject to the license found in the file 'LICENSE' which must
+ * be be distributed together with this source. All other rights reserved.
+ *
+ * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
+ * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
+ */
+
+#ifndef LIBSWIFTNAV_SIGNAL_H
+#define LIBSWIFTNAV_SIGNAL_H
+
+#include "common.h"
+
+#define GPS_L1_SATS 32
+#define WAAS_SATS 3
+#define EGNOS_SATS 3
+#define GAGAN_SATS 2
+#define MSAS_SATS 2
+#define SDCM_SATS 2
+#define SBAS_SATS (WAAS_SATS + EGNOS_SATS + GAGAN_SATS + MSAS_SATS + SDCM_SATS)
+#define ALL_SATS (GPS_L1_SATS + SBAS_SATS)
+
+#define CONSTELLATION_GPS 0
+#define CONSTELLATION_SBAS 1
+
+#define BAND_L1 0
+
+typedef struct __attribute__((packed)) {
+  u16 sat;
+  u8 band;
+  u8 constellation;
+} gnss_signal_t;
+
+static inline int sid_compare(const gnss_signal_t a, const gnss_signal_t b)
+{
+  s32 x;
+  if ((x = a.constellation - b.constellation))
+    return x;
+  if ((x = a.band - b.band))
+    return x;
+  return a.sat - b.sat;
+}
+
+static inline int cmp_sid_sid(const void *a, const void *b)
+{
+  return sid_compare(*(gnss_signal_t *)a, *(gnss_signal_t*)b);
+}
+
+static inline bool sid_is_equal(const gnss_signal_t a, const gnss_signal_t b)
+{
+  return sid_compare(a, b) == 0;
+}
+
+#endif /* LIBSWIFTNAV_SIGNAL_H */
+

include/libswiftnav/track.h

@@ -15,6 +15,7 @@
 
 #include "common.h"
 #include "ephemeris.h"
+#include "signal.h"
 
 /** \addtogroup track
  * \{ */
@@ -138,7 +139,7 @@ typedef struct {
  * \see calc_navigation_measurement()
  */
 typedef struct {
-  u8 prn;                  /**< Satellite PRN. */
+  gnss_signal_t sid;       /**< Satellite signal. */
   double code_phase_chips; /**< The code-phase in chips at `receiver_time`. */
   double code_phase_rate;  /**< Code phase rate in chips/s. */
   double carrier_phase;    /**< Carrier phase in cycles. */
@@ -167,7 +168,7 @@ typedef struct {
   double snr;
   double lock_time;
   gps_time_t tot;
-  u8 prn;
+  gnss_signal_t sid;
   u16 lock_counter;
 } navigation_measurement_t;