/** Manages acquisition searches and starts tracking channels after successful acquisitions. */ static void manage_acq() { /* Decide which PRN to try and then start it acquiring. */ u8 prn = choose_prn(); if (prn == (u8)-1) return; u32 timer_count; float snr, cp, cf; acq_set_prn(prn); /* We have our PRN chosen, now load some fresh data * into the acquisition ram on the Swift NAP for * an initial coarse acquisition. */ do { timer_count = nap_timing_count() + 20000; /* acq_load could timeout if we're preempted and miss the timing strobe */ } while (!acq_load(timer_count)); acq_search(acq_prn_param[prn].dopp_hint_low, acq_prn_param[prn].dopp_hint_high, ACQ_FULL_CF_STEP); /* Done with the coarse acquisition, check if we have found a * satellite, if so save the results and start the loading * for the fine acquisition. If not, start again choosing a * different PRN. */ acq_get_results(&cp, &cf, &snr); /* Send result of an acquisition to the host. */ acq_send_result(prn, snr, cp, cf); if (snr < ACQ_THRESHOLD) { /* Didn't find the satellite :( */ /* Double the size of the doppler search space for next time. */ float dilute = (acq_prn_param[prn].dopp_hint_high - acq_prn_param[prn].dopp_hint_low) / 2; acq_prn_param[prn].dopp_hint_high = MIN(acq_prn_param[prn].dopp_hint_high + dilute, ACQ_FULL_CF_MAX); acq_prn_param[prn].dopp_hint_low = MAX(acq_prn_param[prn].dopp_hint_low - dilute, ACQ_FULL_CF_MIN); /* Decay hint scores */ for (u8 i = 0; i < ACQ_HINT_NUM; i++) acq_prn_param[prn].score[i] = (acq_prn_param[prn].score[i] * 3) / 4; /* Reset hint score for acuisition. */ acq_prn_param[prn].score[ACQ_HINT_ACQ] = 0; return; } log_info("acq: PRN %d found @ %d Hz, %d SNR\n", prn + 1, (int)cf, (int)snr); u8 chan = manage_track_new_acq(); if (chan == MANAGE_NO_CHANNELS_FREE) { /* No channels are free to accept our new satellite :( */ /* TODO: Perhaps we can try to warm start this one * later using another fine acq. */ log_info("No channels free :(\n"); if (snr > ACQ_RETRY_THRESHOLD) { acq_prn_param[prn].score[ACQ_HINT_ACQ] = SCORE_ACQ + (snr - 20) / 20; acq_prn_param[prn].dopp_hint_low = cf - ACQ_FULL_CF_STEP; acq_prn_param[prn].dopp_hint_high = cf + ACQ_FULL_CF_STEP; } return; } /* Transition to tracking. */ u32 track_count = nap_timing_count() + 20000; cp = propagate_code_phase(cp, cf, track_count - timer_count); // Contrive for the timing strobe to occur at or close to a PRN edge (code phase = 0) track_count += 16*(1023.0-cp)*(1.0 + cf / GPS_L1_HZ); tracking_channel_init(chan, prn, cf, track_count, snr); acq_prn_param[prn].state = ACQ_PRN_TRACKING; nap_timing_strobe_wait(100); }
/** Manages acquisition searches and starts tracking channels after successful acquisitions. */ static void manage_acq() { /* Decide which PRN to try and then start it acquiring. */ u8 prn = choose_prn(); if (prn == (u8)-1) return; gnss_signal_t sid = {.sat = prn}; u32 timer_count; float cn0, cp, cf; acq_set_prn(prn); /* We have our PRN chosen, now load some fresh data * into the acquisition ram on the Swift NAP for * an initial coarse acquisition. */ do { timer_count = nap_timing_count() + 20000; /* acq_load could timeout if we're preempted and miss the timing strobe */ } while (!acq_load(timer_count)); /* Check for NaNs in dopp hints, or low > high */ if (!(acq_prn_param[prn].dopp_hint_low <= acq_prn_param[prn].dopp_hint_high)) { log_error("Acq: caught bogus dopp_hints (%f, %f)", acq_prn_param[prn].dopp_hint_low, acq_prn_param[prn].dopp_hint_high); acq_prn_param[prn].dopp_hint_high = ACQ_FULL_CF_MAX; acq_prn_param[prn].dopp_hint_low = ACQ_FULL_CF_MIN; } acq_search(acq_prn_param[prn].dopp_hint_low, acq_prn_param[prn].dopp_hint_high, ACQ_FULL_CF_STEP); /* Done with the coarse acquisition, check if we have found a * satellite, if so save the results and start the loading * for the fine acquisition. If not, start again choosing a * different PRN. */ acq_get_results(&cp, &cf, &cn0); /* Send result of an acquisition to the host. */ acq_send_result(sid, cn0, cp, cf); if (cn0 < ACQ_THRESHOLD) { /* Didn't find the satellite :( */ /* Double the size of the doppler search space for next time. */ float dilute = (acq_prn_param[prn].dopp_hint_high - acq_prn_param[prn].dopp_hint_low) / 2; acq_prn_param[prn].dopp_hint_high = MIN(acq_prn_param[prn].dopp_hint_high + dilute, ACQ_FULL_CF_MAX); acq_prn_param[prn].dopp_hint_low = MAX(acq_prn_param[prn].dopp_hint_low - dilute, ACQ_FULL_CF_MIN); /* Decay hint scores */ for (u8 i = 0; i < ACQ_HINT_NUM; i++) acq_prn_param[prn].score[i] = (acq_prn_param[prn].score[i] * 3) / 4; /* Reset hint score for acquisition. */ acq_prn_param[prn].score[ACQ_HINT_PREV_ACQ] = 0; return; } u8 chan = manage_track_new_acq(); if (chan == MANAGE_NO_CHANNELS_FREE) { /* No channels are free to accept our new satellite :( */ /* TODO: Perhaps we can try to warm start this one * later using another fine acq. */ if (cn0 > ACQ_RETRY_THRESHOLD) { acq_prn_param[prn].score[ACQ_HINT_PREV_ACQ] = SCORE_ACQ + (cn0 - ACQ_THRESHOLD); acq_prn_param[prn].dopp_hint_low = cf - ACQ_FULL_CF_STEP; acq_prn_param[prn].dopp_hint_high = cf + ACQ_FULL_CF_STEP; } return; } /* Transition to tracking. */ u32 track_count = nap_timing_count() + 20000; cp = propagate_code_phase(cp, cf, track_count - timer_count); // Contrive for the timing strobe to occur at or close to a PRN edge (code phase = 0) track_count += 16*(1023.0-cp)*(1.0 + cf / GPS_L1_HZ); /* Start the tracking channel */ tracking_channel_init(chan, sid, cf, track_count, cn0, TRACKING_ELEVATION_UNKNOWN); /* TODO: Initialize elevation from ephemeris if we know it precisely */ acq_prn_param[prn].state = ACQ_PRN_TRACKING; nap_timing_strobe_wait(100); }