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Repository: Mictronics/multi-sdr-gps-sim
Branch: master
Commit: 56b87765d25c
Files: 24
Total size: 321.5 KB
Directory structure:
gitextract__cfhgz44/
├── .gitignore
├── LICENSE
├── Makefile
├── README.md
├── almanac.c
├── almanac.h
├── circle.csv
├── fifo.c
├── fifo.h
├── gps-sim.c
├── gps-sim.h
├── gps.c
├── gps.h
├── gui.c
├── gui.h
├── help.h
├── sdr.c
├── sdr.h
├── sdr_hackrf.c
├── sdr_hackrf.h
├── sdr_iqfile.c
├── sdr_iqfile.h
├── sdr_pluto.c
└── sdr_pluto.h
================================================
FILE CONTENTS
================================================
================================================
FILE: .gitignore
================================================
# Object files
*.o
*.ko
*.obj
*.elf
# Libraries
*.lib
*.a
*.la
*.lo
# Shared objects (inc. Windows DLLs)
*.so
*.so.*
# Executables
*.out
*.hex
gps-sim
# Debug files
*.dSYM/
# Output
*.bin
# Netbeans project folder
nbproject/*
# Rinex files
*.gz
# Almanac files
*.sem
*.sem.txt
*.yuma
*.alm
================================================
FILE: LICENSE
================================================
The MIT License (MIT)
Copyright (c) 2021 Mictronics
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
================================================
FILE: Makefile
================================================
HACKRFSDR ?= no
PLUTOSDR ?= no
DIALECT = -std=c11
CFLAGS += $(DIALECT) -Og -g -W -Wall -D_GNU_SOURCE
LIBS = -lm -pthread -lpthread -lcurl -lz -lpanel -lncurses
LDFLAGS =
SDR_OBJ = sdr_iqfile.o
ifeq ($(HACKRFSDR), yes)
SDR_OBJ += sdr_hackrf.o
CPPFLAGS += -DENABLE_HACKRFSDR
CFLAGS += $(shell pkg-config --cflags libhackrf)
LIBS_SDR += $(shell pkg-config --libs libhackrf)
endif
ifeq ($(PLUTOSDR), yes)
SDR_OBJ += sdr_pluto.o
CPPFLAGS += -DENABLE_PLUTOSDR
CFLAGS += $(shell pkg-config --cflags libiio libad9361)
LIBS_SDR += $(shell pkg-config --libs libiio libad9361)
endif
all: gps-sim
%.o: %.c *.h
$(CC) $(CPPFLAGS) $(CFLAGS) -c $< -o $@
gps-sim: fifo.o almanac.o gps.o gui.o sdr.o gps-sim.o $(SDR_OBJ) $(COMPAT)
$(CC) -g -o $@ $^ $(LDFLAGS) $(LIBS) $(LIBS_SDR)
clean:
rm -f *.o gps-sim
================================================
FILE: README.md
================================================
# multi-sdr-gps-sim
multi-sdr-gps-sim generates a GPS L1 baseband signal IQ data stream, which is then transmitted by a
software-defined radio (SDR) platform. Supported at the moment are HackRF, ADLAM-Pluto and binary IQ file output.
The software interacts with the user through a curses based text user interface (TUI) in terminal.
Project based on work of [Takuji Ebinuma](https://github.com/osqzss/) and [IvanKor](https://github.com/IvanKor).
### Generating the GPS signal
The user is able to assign a static location directly through the command line or sends motion data through a predefined input file.
In addition the simulated position can be modified in realtime by user inputs.
The user also specifies the GPS satellite constellation through a GPS broadcast ephemeris file. The daily GPS broadcast ephemeris file
is a merge of the individual site navigation files into one.
These files are then used to generate the simulated pseudorange and Doppler for the GPS satellites in view. This simulated range data is
then used to generate the digitized I/Q samples for the GPS signal which are then feed into ADALM-Pluto SDR to transmit the GPS L1 frequency.
The simulation start time can be specified if the corresponding set of ephemerides is available. Otherwise the first time of ephemeris in the RINEX navigation file
is selected. RINEX input format 2 and 3 are supported.
__Note__
The SDR internal oscillator must be precise enough (frequency offset) and stable (temperature drift) for GPS signal generation.
Ideally the SDR shall be clocked from either by TCXO or more expensive (but highest precision) OCXO.
Best experience with HackRF.
### Build instructions
#### Dependencies
Build depends on libm, libpthread, libcurl4-openssl-dev, libncurses, libz and libhackrf.
You will also need the latest build and install of libhackrf, libad9361-dev and libiio-dev. The Debian packages
libad9361-dev that is available up to Debian 9 (stretch) is outdated and missing a required function.
So you have to build packages from source:
The first step is to fetch the dependencies, which as of now is only libxml2. On a Debian-flavoured GNU/Linux distribution, like Ubuntu for instance:
```
$ sudo apt-get install libxml2 libxml2-dev bison flex libcdk5-dev cmake
```
Depending on the backend (how you want to attach the IIO device), you may need at least one of:
```
$ sudo apt-get install libaio-dev libusb-1.0-0-dev libserialport-dev libxml2-dev libavahi-client-dev doxygen graphviz
```
Then build in this order:
```
$ git clone https://github.com/analogdevicesinc/libiio.git
$ cd libiio
$ cmake ./
$ make
$ sudo make install
```
```
$ git clone https://github.com/analogdevicesinc/libad9361-iio.git
$ cd libad9361-iio
$ cmake ./
$ make
$ sudo make install
```
#### Building under Linux with GCC
```
$ git clone https://github.com/mictronics/multi-sdr-gps-sim
$ cd multi-sdr-gps-sim
```
With HackRF support: `make all HACKRFSDR=yes` (depends on libhackrf)
With ADLAM-PLUTO support: `make all PLUTOSDR=yes` (depends on libiio and libad9361-iio)
Full SDR support: `make all HACKRFSDR=yes PLUTOSDR=yes`
### Usage
````
gps-sim [options]
Options:
--nav-file -e <filename> RINEX navigation file for GPS ephemeris (required)
--geo-loc -l <location> Latitude, Longitude, Height (static mode) e.g. 35.681298,139.766247,10.0
--start -s <date,time> Scenario start time YYYY/MM/DD,hh:mm:ss (use 'now' for actual time)
--gain -g <gain> Set TX gain, HackRF: 0-47dB, Pluto: -80-0dB (default 0)
--duration -d <seconds> Duration in seconds
--target -t <distance,bearing,height> Target distance [m], bearing [°] and height [m]
--ppb -p <ppb> Set oscillator error in ppb (default 0)
--radio -r <name> Set the SDR device type name (default none)
--uri -U <uri> ADLAM-Pluto URI
--network -N <network> ADLAM-Pluto network IP or hostname (default pluto.local)
--motion -m <name> User motion file (dynamic mode)
--iq16 Set IQ sample size to 16 bit (default 8 bit)
--disable-iono -I Disable ionospheric delay for spacecraft scenario
--verbose -v Show verbose output and details about simulated channels
--interactive -i Use interactive mode
--amplifier -a Enable TX amplifier (default OFF)
--use-ftp -f Pull actual RINEX navigation file from FTP server
--rinex3 -3 Use RINEX v3 navigation data format
--disable-almanac Disable transmission of almanac information
--help -? Give this help list
--usage Give a short usage message
--version -V Print program version
SDR device types (use with --radio or -r option):
none
iqfile
hackrf
plutosdr
````
### License
Copyright © 2021 Mictronics
Distributed under the [MIT License](http://www.opensource.org/licenses/mit-license.php).
================================================
FILE: almanac.c
================================================
/**
* multi-sdr-gps-sim generates a IQ data stream on-the-fly to simulate a
* GPS L1 baseband signal using a SDR platform like HackRF or ADLAM-Pluto.
*
* This file is part of the Github project at
* https://github.com/mictronics/multi-sdr-gps-sim.git
*
* Copyright © 2021 Mictronics
* Distributed under the MIT License.
*
*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include "gps-sim.h"
#include "almanac.h"
static almanac_gps_t almanac_gps;
struct sem_file {
const char *filename;
FILE *stream;
};
/**
* Initialize empty almanac.
*/
almanac_gps_t* almanac_init(void) {
almanac_gps.valid = 0;
almanac_prn_t* a = NULL;
for (int prn = 0; prn < MAX_SAT; prn++) {
a = &almanac_gps.sv[prn];
a->ura = 0;
a->health = 0;
a->config_code = 0;
a->svid = 0;
a->svn = 0;
a->valid = 0;
a->toa.sec = 0.0;
a->toa.week = 0;
a->e = 0.0;
a->delta_i = 0.0;
a->omegadot = 0.0;
a->sqrta = 0.0;
a->omega0 = 0.0;
a->aop = 0.0;
a->m0 = 0.0;
a->af0 = 0.0;
a->af1 = 0.0;
}
return &almanac_gps;
}
/**
* Curl file writer callback.
*/
static size_t fwrite_sem(void *buffer, size_t size, size_t nmemb, void *stream) {
struct sem_file *out = (struct sem_file *) stream;
if (out && !out->stream) {
/* open file for writing */
out->stream = fopen(out->filename, "wb");
if (!out->stream)
return -1; /* failure, can't open file to write */
}
return fwrite(buffer, size, nmemb, out->stream);
}
/**
* Read almanac from local file.
* sem format expected.
*/
CURLcode almanac_read_file(void) {
char buf[100];
char title[24];
char *pbuf;
unsigned int n, week, sec, id;
FILE *fp = fopen("almanac.sem", "rt");
almanac_prn_t* a = NULL;
// Start with empty almanac
almanac_init();
if (!fp) {
return CURLE_READ_ERROR;
}
pbuf = fgets(buf, sizeof (buf), fp);
if (pbuf == NULL || sscanf(buf, "%u %24s", &n, title) != 2) goto error;
pbuf = fgets(buf, sizeof (buf), fp);
if (pbuf == NULL || sscanf(buf, "%u %u", &week, &sec) != 2) goto error;
n -= 1; // PRN in file counts 1-32, array counts 0-31
if (n > 31) n = 31; // Max 32 PRN's to read (0-31)
for (unsigned int j = 0; j <= n; j++) {
pbuf = fgets(buf, sizeof (buf), fp);
if (pbuf == NULL) goto error;
// Check and skip blank line
if (buf[0] == '\n' || buf[0] == '\r') {
pbuf = fgets(buf, sizeof (buf), fp);
if (pbuf == NULL) goto error;
}
if (sscanf(buf, "%u", &id) != 1) goto error;
if (id == 0) id = 1;
if (id > 32) id = 32;
a = &almanac_gps.sv[id - 1];
a->svid = (unsigned short) id;
// SVN is optional, could be a blank line
pbuf = fgets(buf, sizeof (buf), fp);
if (pbuf == NULL) goto error;
if (buf[0] == '\n' || buf[0] == '\r') {
a->svn = 0;
} else {
if (sscanf(buf, "%hu", &a->svn) != 1) goto error;
}
pbuf = fgets(buf, sizeof (buf), fp);
if (pbuf == NULL) goto error;
if (sscanf(buf, "%hhu", &a->ura) != 1) goto error;
if (a->ura > 15) a->ura = 15;
pbuf = fgets(buf, sizeof (buf), fp);
if (pbuf == NULL) goto error;
if (sscanf(buf, "%lf %lf %lf", &a->e, &a->delta_i, &a->omegadot) != 3) goto error;
pbuf = fgets(buf, sizeof (buf), fp);
if (pbuf == NULL) goto error;
if (sscanf(buf, "%lf %lf %lf", &a->sqrta, &a->omega0, &a->aop) != 3) goto error;
pbuf = fgets(buf, sizeof (buf), fp);
if (pbuf == NULL) goto error;
if (sscanf(buf, "%lf %lf %lf", &a->m0, &a->af0, &a->af1) != 3) goto error;
pbuf = fgets(buf, sizeof (buf), fp);
if (pbuf == NULL) goto error;
if (sscanf(buf, "%hhu", &a->health) != 1) goto error;
if (a->health > 63) a->health = 63;
pbuf = fgets(buf, sizeof (buf), fp);
if (pbuf == NULL) goto error;
if (sscanf(buf, "%hhu", &a->config_code) != 1) goto error;
if (a->config_code > 15) a->config_code = 15;
/**
* ublox u-center software provides the full GPS week number whereas Celestrak follows
* IC-GPS-200L, p. 116, 20.3.3.5.1.5 Almanac Reference Week:
* The WNa term consists of eight bits which shall be a modulo 256 binary
* representation of the GPS week number...
* Celestrak almanac files use a modulo 256 week number in file name.
* See https://celestrak.com/GPS/almanac/SEM/2021/
*
* NOTE: It seems like sometime in the last four years this changed.
* a->toa.week = (int) week % 256; results in incorrect date parsing.
*/
a->toa.week = (int) week;
a->toa.sec = (double) sec;
// GPS week rollover
a->toa.week += 2048;
a->valid = 1;
almanac_gps.valid = 1; // We have at least one valid record
}
fclose(fp);
return CURLE_OK;
error:
if (!feof(fp)) {
// Not end of file, something wrong
// Drop all parsed almanac data on error
almanac_init();
}
/**
* If this is the end of file we may read less records than what
* field "number of records" announced.
* Found this happening when saving almanac.sem in ublox u-center software.
*/
fclose(fp);
return CURLE_READ_ERROR;
}
/**
* Read almanac from online source.
* sem format expected.
*
*/
CURLcode almanac_download(void) {
CURL *curl;
CURLcode res = CURLE_GOT_NOTHING;
struct sem_file sem = {
"almanac.sem",
NULL
};
curl_global_init(CURL_GLOBAL_DEFAULT);
curl = curl_easy_init();
if (curl) {
curl_easy_setopt(curl, CURLOPT_URL, ALMANAC_DOWNLOAD_SEM_URL);
curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, fwrite_sem);
curl_easy_setopt(curl, CURLOPT_WRITEDATA, &sem);
curl_easy_setopt(curl, CURLOPT_VERBOSE, 0L);
res = curl_easy_perform(curl);
curl_easy_cleanup(curl);
}
if (sem.stream)
fclose(sem.stream);
curl_global_cleanup();
if (res != CURLE_OK) {
return res;
}
return (almanac_read_file());
}
================================================
FILE: almanac.h
================================================
/**
* multi-sdr-gps-sim generates a IQ data stream on-the-fly to simulate a
* GPS L1 baseband signal using a SDR platform like HackRF or ADLAM-Pluto.
*
* This file is part of the Github project at
* https://github.com/mictronics/multi-sdr-gps-sim.git
*
* Copyright © 2021 Mictronics
* Distributed under the MIT License.
*
*/
#ifndef ALMANAC_H
#define ALMANAC_H
#include <curl/curl.h>
#include "gps.h"
#define ALMANAC_DOWNLOAD_SEM_URL "https://www.celestrak.com/GPS/almanac/SEM/almanac.sem.txt"
typedef struct {
unsigned char ura; // User Range Accuracy lookup code, [0-15], see p. 91 IS-GPS-200L, 0 <2.4m, 15 is >6144m
unsigned char health; // 0=healthy, unhealthy otherwise [], subframe 4 and 5, page 25 six-bit health code
unsigned char config_code; // configuration code [], if >=9 Anti-Spoofing is on
unsigned short svid; // GPS SV id or prn number 1-32 []
unsigned short svn; // Satellite vehicle number []
unsigned int valid; // Validity of this almanac
double e; // eccentricity []
double delta_i; // orbital inclination at reference time [rad]
double omegadot; // rate of right ascension [rad/s]
double sqrta; // square root of the semi-major axis [m^(1/2)]
double omega0; // longitude of ascending node of orbit plane at weekly epoch [rad]
double aop; // argument of perigee [rad]
double m0; // mean anomaly at reference time [rad]
double af0; // polynomial clock correction coefficient (clock bias) [s], Note: parameters from ephemeris preferred vs almanac (22 vs 11 bits)
double af1; // polynomial clock correction coefficient (clock drift) [s/s], Note: parameters from ephemeris preferred vs almanac (16 vs 11 bits)
gpstime_t toa; // almanac time of applicability (reference time) [s]
} almanac_prn_t;
typedef struct {
unsigned int valid; // Almanac validity
almanac_prn_t sv[MAX_SAT]; // 32 SV's almanac
} almanac_gps_t;
almanac_gps_t* almanac_init(void);
CURLcode almanac_read_file(void);
CURLcode almanac_download(void);
#endif /* ALMANAC_H */
================================================
FILE: circle.csv
================================================
0.0,-3813477.954, 3554276.552, 3662785.237
0.1,-3813477.599, 3554276.226, 3662785.918
0.2,-3813477.240, 3554275.906, 3662786.598
0.3,-3813476.876, 3554275.590, 3662787.278
0.4,-3813476.508, 3554275.280, 3662787.958
0.5,-3813476.135, 3554274.975, 3662788.638
0.6,-3813475.757, 3554274.675, 3662789.318
0.7,-3813475.375, 3554274.381, 3662789.997
0.8,-3813474.988, 3554274.091, 3662790.676
0.9,-3813474.597, 3554273.807, 3662791.355
1.0,-3813474.201, 3554273.528, 3662792.033
1.1,-3813473.800, 3554273.255, 3662792.711
1.2,-3813473.396, 3554272.986, 3662793.388
1.3,-3813472.986, 3554272.723, 3662794.065
1.4,-3813472.573, 3554272.466, 3662794.741
1.5,-3813472.155, 3554272.213, 3662795.416
1.6,-3813471.733, 3554271.967, 3662796.091
1.7,-3813471.306, 3554271.725, 3662796.764
1.8,-3813470.875, 3554271.489, 3662797.438
1.9,-3813470.440, 3554271.258, 3662798.110
2.0,-3813470.001, 3554271.033, 3662798.781
2.1,-3813469.557, 3554270.814, 3662799.452
2.2,-3813469.110, 3554270.599, 3662800.121
2.3,-3813468.658, 3554270.391, 3662800.790
2.4,-3813468.202, 3554270.187, 3662801.457
2.5,-3813467.742, 3554269.990, 3662802.123
2.6,-3813467.278, 3554269.798, 3662802.788
2.7,-3813466.810, 3554269.611, 3662803.452
2.8,-3813466.338, 3554269.430, 3662804.114
2.9,-3813465.862, 3554269.254, 3662804.776
3.0,-3813465.383, 3554269.084, 3662805.436
3.1,-3813464.899, 3554268.920, 3662806.094
3.2,-3813464.412, 3554268.761, 3662806.751
3.3,-3813463.920, 3554268.608, 3662807.407
3.4,-3813463.425, 3554268.461, 3662808.061
3.5,-3813462.927, 3554268.319, 3662808.713
3.6,-3813462.424, 3554268.183, 3662809.364
3.7,-3813461.918, 3554268.053, 3662810.013
3.8,-3813461.409, 3554267.928, 3662810.660
3.9,-3813460.895, 3554267.809, 3662811.306
4.0,-3813460.379, 3554267.695, 3662811.950
4.1,-3813459.858, 3554267.587, 3662812.592
4.2,-3813459.335, 3554267.485, 3662813.232
4.3,-3813458.807, 3554267.389, 3662813.870
4.4,-3813458.277, 3554267.298, 3662814.506
4.5,-3813457.743, 3554267.213, 3662815.140
4.6,-3813457.205, 3554267.134, 3662815.772
4.7,-3813456.665, 3554267.061, 3662816.402
4.8,-3813456.121, 3554266.993, 3662817.030
4.9,-3813455.574, 3554266.931, 3662817.655
5.0,-3813455.023, 3554266.875, 3662818.278
5.1,-3813454.470, 3554266.825, 3662818.899
5.2,-3813453.913, 3554266.780, 3662819.518
5.3,-3813453.354, 3554266.741, 3662820.134
5.4,-3813452.791, 3554266.708, 3662820.748
5.5,-3813452.226, 3554266.680, 3662821.359
5.6,-3813451.657, 3554266.659, 3662821.968
5.7,-3813451.085, 3554266.643, 3662822.575
5.8,-3813450.511, 3554266.633, 3662823.178
5.9,-3813449.934, 3554266.628, 3662823.779
6.0,-3813449.354, 3554266.630, 3662824.378
6.1,-3813448.771, 3554266.637, 3662824.973
6.2,-3813448.186, 3554266.650, 3662825.566
6.3,-3813447.598, 3554266.669, 3662826.156
6.4,-3813447.007, 3554266.693, 3662826.744
6.5,-3813446.414, 3554266.723, 3662827.328
6.6,-3813445.818, 3554266.759, 3662827.910
6.7,-3813445.220, 3554266.801, 3662828.488
6.8,-3813444.619, 3554266.849, 3662829.064
6.9,-3813444.016, 3554266.902, 3662829.636
7.0,-3813443.410, 3554266.961, 3662830.206
7.1,-3813442.802, 3554267.026, 3662830.772
7.2,-3813442.192, 3554267.096, 3662831.335
7.3,-3813441.579, 3554267.173, 3662831.895
7.4,-3813440.965, 3554267.255, 3662832.451
7.5,-3813440.348, 3554267.342, 3662833.005
7.6,-3813439.729, 3554267.436, 3662833.555
7.7,-3813439.108, 3554267.535, 3662834.102
7.8,-3813438.485, 3554267.640, 3662834.645
7.9,-3813437.859, 3554267.750, 3662835.185
8.0,-3813437.232, 3554267.867, 3662835.721
8.1,-3813436.603, 3554267.988, 3662836.254
8.2,-3813435.973, 3554268.116, 3662836.783
8.3,-3813435.340, 3554268.249, 3662837.309
8.4,-3813434.706, 3554268.388, 3662837.831
8.5,-3813434.069, 3554268.533, 3662838.350
8.6,-3813433.432, 3554268.683, 3662838.865
8.7,-3813432.792, 3554268.839, 3662839.376
8.8,-3813432.151, 3554269.000, 3662839.883
8.9,-3813431.508, 3554269.167, 3662840.387
9.0,-3813430.864, 3554269.340, 3662840.886
9.1,-3813430.219, 3554269.518, 3662841.382
9.2,-3813429.572, 3554269.702, 3662841.874
9.3,-3813428.923, 3554269.891, 3662842.362
9.4,-3813428.274, 3554270.086, 3662842.846
9.5,-3813427.623, 3554270.287, 3662843.326
9.6,-3813426.970, 3554270.493, 3662843.802
9.7,-3813426.317, 3554270.704, 3662844.274
9.8,-3813425.662, 3554270.921, 3662844.742
9.9,-3813425.007, 3554271.143, 3662845.206
10.0,-3813424.350, 3554271.371, 3662845.665
10.1,-3813423.692, 3554271.605, 3662846.121
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288.7,-3813479.389, 3554349.487, 3662713.451
288.8,-3813479.719, 3554348.795, 3662713.777
288.9,-3813480.043, 3554348.102, 3662714.109
289.0,-3813480.363, 3554347.410, 3662714.445
289.1,-3813480.678, 3554346.718, 3662714.786
289.2,-3813480.988, 3554346.027, 3662715.133
289.3,-3813481.293, 3554345.335, 3662715.484
289.4,-3813481.593, 3554344.644, 3662715.840
289.5,-3813481.888, 3554343.953, 3662716.200
289.6,-3813482.178, 3554343.263, 3662716.566
289.7,-3813482.463, 3554342.573, 3662716.936
289.8,-3813482.743, 3554341.883, 3662717.311
289.9,-3813483.018, 3554341.194, 3662717.691
290.0,-3813483.288, 3554340.506, 3662718.076
290.1,-3813483.553, 3554339.818, 3662718.465
290.2,-3813483.812, 3554339.131, 3662718.858
290.3,-3813484.067, 3554338.445, 3662719.257
290.4,-3813484.316, 3554337.759, 3662719.660
290.5,-3813484.560, 3554337.075, 3662720.067
290.6,-3813484.799, 3554336.391, 3662720.479
290.7,-3813485.033, 3554335.708, 3662720.896
290.8,-3813485.261, 3554335.026, 3662721.317
290.9,-3813485.485, 3554334.345, 3662721.742
291.0,-3813485.703, 3554333.666, 3662722.172
291.1,-3813485.915, 3554332.987, 3662722.606
291.2,-3813486.123, 3554332.309, 3662723.045
291.3,-3813486.325, 3554331.633, 3662723.488
291.4,-3813486.522, 3554330.958, 3662723.935
291.5,-3813486.713, 3554330.284, 3662724.386
291.6,-3813486.899, 3554329.612, 3662724.842
291.7,-3813487.080, 3554328.941, 3662725.302
291.8,-3813487.255, 3554328.271, 3662725.766
291.9,-3813487.425, 3554327.603, 3662726.234
292.0,-3813487.590, 3554326.936, 3662726.706
292.1,-3813487.749, 3554326.271, 3662727.183
292.2,-3813487.903, 3554325.608, 3662727.663
292.3,-3813488.052, 3554324.946, 3662728.147
292.4,-3813488.195, 3554324.286, 3662728.636
292.5,-3813488.332, 3554323.628, 3662729.128
292.6,-3813488.464, 3554322.972, 3662729.624
292.7,-3813488.591, 3554322.317, 3662730.124
292.8,-3813488.712, 3554321.665, 3662730.628
292.9,-3813488.827, 3554321.014, 3662731.135
293.0,-3813488.938, 3554320.365, 3662731.647
293.1,-3813489.042, 3554319.718, 3662732.162
293.2,-3813489.141, 3554319.074, 3662732.681
293.3,-3813489.235, 3554318.431, 3662733.203
293.4,-3813489.323, 3554317.791, 3662733.729
293.5,-3813489.406, 3554317.153, 3662734.259
293.6,-3813489.483, 3554316.517, 3662734.792
293.7,-3813489.554, 3554315.884, 3662735.328
293.8,-3813489.620, 3554315.253, 3662735.869
293.9,-3813489.681, 3554314.624, 3662736.412
294.0,-3813489.736, 3554313.998, 3662736.959
294.1,-3813489.785, 3554313.374, 3662737.509
294.2,-3813489.829, 3554312.752, 3662738.063
294.3,-3813489.867, 3554312.134, 3662738.620
294.4,-3813489.900, 3554311.517, 3662739.180
294.5,-3813489.927, 3554310.904, 3662739.743
294.6,-3813489.948, 3554310.293, 3662740.310
294.7,-3813489.964, 3554309.685, 3662740.879
294.8,-3813489.975, 3554309.080, 3662741.452
294.9,-3813489.979, 3554308.477, 3662742.028
295.0,-3813489.979, 3554307.878, 3662742.607
295.1,-3813489.972, 3554307.281, 3662743.188
295.2,-3813489.961, 3554306.687, 3662743.773
295.3,-3813489.943, 3554306.097, 3662744.360
295.4,-3813489.920, 3554305.509, 3662744.951
295.5,-3813489.891, 3554304.924, 3662745.544
295.6,-3813489.857, 3554304.343, 3662746.140
295.7,-3813489.818, 3554303.764, 3662746.738
295.8,-3813489.772, 3554303.189, 3662747.339
295.9,-3813489.722, 3554302.617, 3662747.943
296.0,-3813489.665, 3554302.048, 3662748.550
296.1,-3813489.603, 3554301.483, 3662749.159
296.2,-3813489.536, 3554300.921, 3662749.770
296.3,-3813489.463, 3554300.362, 3662750.384
296.4,-3813489.384, 3554299.807, 3662751.001
296.5,-3813489.300, 3554299.255, 3662751.620
296.6,-3813489.211, 3554298.707, 3662752.241
296.7,-3813489.115, 3554298.162, 3662752.864
296.8,-3813489.015, 3554297.621, 3662753.490
296.9,-3813488.909, 3554297.083, 3662754.118
297.0,-3813488.797, 3554296.550, 3662754.748
297.1,-3813488.680, 3554296.019, 3662755.380
297.2,-3813488.557, 3554295.493, 3662756.014
297.3,-3813488.429, 3554294.970, 3662756.650
297.4,-3813488.296, 3554294.451, 3662757.289
297.5,-3813488.157, 3554293.936, 3662757.929
297.6,-3813488.012, 3554293.425, 3662758.571
297.7,-3813487.863, 3554292.918, 3662759.215
297.8,-3813487.707, 3554292.415, 3662759.861
297.9,-3813487.547, 3554291.915, 3662760.508
298.0,-3813487.380, 3554291.420, 3662761.157
298.1,-3813487.209, 3554290.929, 3662761.808
298.2,-3813487.032, 3554290.441, 3662762.461
298.3,-3813486.850, 3554289.958, 3662763.115
298.4,-3813486.662, 3554289.479, 3662763.771
298.5,-3813486.469, 3554289.004, 3662764.428
298.6,-3813486.271, 3554288.534, 3662765.086
298.7,-3813486.068, 3554288.068, 3662765.746
298.8,-3813485.859, 3554287.606, 3662766.408
298.9,-3813485.645, 3554287.148, 3662767.070
299.0,-3813485.425, 3554286.695, 3662767.734
299.1,-3813485.201, 3554286.246, 3662768.399
299.2,-3813484.971, 3554285.801, 3662769.066
299.3,-3813484.736, 3554285.361, 3662769.733
299.4,-3813484.495, 3554284.925, 3662770.401
299.5,-3813484.250, 3554284.494, 3662771.071
299.6,-3813483.999, 3554284.067, 3662771.741
299.7,-3813483.743, 3554283.645, 3662772.413
299.8,-3813483.482, 3554283.228, 3662773.085
299.9,-3813483.216, 3554282.815, 3662773.758
================================================
FILE: fifo.c
================================================
/**
* multi-sdr-gps-sim generates a IQ data stream on-the-fly to simulate a
* GPS L1 baseband signal using a SDR platform like HackRF or ADLAM-Pluto.
*
* This file is part of the Github project at
* https://github.com/mictronics/multi-sdr-gps-sim.git
*
* Copyright © 2021 Mictronics
* Distributed under the MIT License.
*
*/
#include <stdlib.h>
#include <stdio.h>
#include <errno.h>
#include <string.h>
#include <pthread.h>
#include <assert.h>
#include "fifo.h"
static pthread_mutex_t fifo_mutex = PTHREAD_MUTEX_INITIALIZER; // mutex protecting the queues
static pthread_cond_t fifo_notempty_cond = PTHREAD_COND_INITIALIZER; // condition used to signal FIFO-not-empty
static pthread_cond_t fifo_empty_cond = PTHREAD_COND_INITIALIZER; // condition used to signal FIFO-empty
static pthread_cond_t fifo_free_cond = PTHREAD_COND_INITIALIZER; // condition used to signal freelist-not-empty
static pthread_cond_t fifo_full_cond = PTHREAD_COND_INITIALIZER; // condition used to signal FIFO-full
static struct iq_buf *fifo_head; // head of queued buffers awaiting demodulation
static struct iq_buf *fifo_tail; // tail of queued buffers awaiting demodulation
static struct iq_buf *fifo_freelist; // freelist of preallocated buffers
static bool fifo_halted; // true if queue has been halted
// Create the queue structures. Not threadsafe.
bool fifo_create(unsigned buffer_count, unsigned buffer_size, unsigned sample_size) {
for (unsigned i = 0; i < buffer_count; ++i) {
struct iq_buf *newbuf;
if (!(newbuf = calloc(1, sizeof (*newbuf)))) {
goto nomem;
}
if (sample_size == sizeof (signed short)) {
if (!(newbuf->data16 = calloc(buffer_size, sizeof (newbuf->data16[0])))) {
free(newbuf);
goto nomem;
}
newbuf->data8 = NULL;
} else {
if (!(newbuf->data8 = calloc(buffer_size, sizeof (newbuf->data8[0])))) {
free(newbuf);
goto nomem;
}
newbuf->data16 = NULL;
}
newbuf->totalLength = buffer_size;
newbuf->validLength = 0;
newbuf->next = fifo_freelist;
fifo_freelist = newbuf;
}
return true;
nomem:
fifo_destroy();
return false;
}
static void free_buffer_list(struct iq_buf *head) {
while (head) {
struct iq_buf *next = head->next;
free(head->data8);
free(head->data16);
free(head);
head = next;
}
}
void fifo_destroy() {
free_buffer_list(fifo_head);
free_buffer_list(fifo_freelist);
fifo_freelist = NULL;
fifo_head = fifo_tail = NULL;
pthread_cond_destroy(&fifo_notempty_cond);
pthread_cond_destroy(&fifo_full_cond);
pthread_cond_destroy(&fifo_free_cond);
pthread_cond_destroy(&fifo_empty_cond);
pthread_mutex_destroy(&fifo_mutex);
}
void fifo_wait_next() {
pthread_mutex_lock(&fifo_mutex);
while (fifo_head && !fifo_halted) {
pthread_cond_wait(&fifo_empty_cond, &fifo_mutex);
}
pthread_mutex_unlock(&fifo_mutex);
}
void fifo_wait_full() {
pthread_mutex_lock(&fifo_mutex);
if (!fifo_halted) {
pthread_cond_wait(&fifo_full_cond, &fifo_mutex);
}
pthread_mutex_unlock(&fifo_mutex);
}
void fifo_halt() {
pthread_mutex_lock(&fifo_mutex);
// Drain all enqueued buffers to the freelist
while (fifo_head) {
struct iq_buf *freebuf = fifo_head;
fifo_head = freebuf->next;
freebuf->next = fifo_freelist;
fifo_freelist = freebuf;
}
fifo_tail = NULL;
fifo_halted = true;
// wake all waiters
pthread_cond_broadcast(&fifo_notempty_cond);
pthread_cond_broadcast(&fifo_empty_cond);
pthread_cond_broadcast(&fifo_free_cond);
pthread_cond_broadcast(&fifo_full_cond);
pthread_mutex_unlock(&fifo_mutex);
}
struct iq_buf *fifo_acquire(void) {
pthread_mutex_lock(&fifo_mutex);
struct iq_buf *result = NULL;
if (!fifo_halted && !fifo_freelist) {
pthread_cond_signal(&fifo_full_cond);
// No free buffers, wait for one
pthread_cond_wait(&fifo_free_cond, &fifo_mutex);
}
if (!fifo_halted) {
result = fifo_freelist;
fifo_freelist = result->next;
result->validLength = 0;
result->next = NULL;
}
pthread_mutex_unlock(&fifo_mutex);
return result;
}
void fifo_enqueue(struct iq_buf *buf) {
assert(buf->validLength <= buf->totalLength);
pthread_mutex_lock(&fifo_mutex);
if (fifo_halted) {
// Shutting down, just return the buffer to the freelist.
buf->next = fifo_freelist;
fifo_freelist = buf;
goto done;
}
// enqueue and tell the main thread
buf->next = NULL;
if (!fifo_head) {
fifo_head = fifo_tail = buf;
pthread_cond_signal(&fifo_notempty_cond);
} else {
fifo_tail->next = buf;
}
done:
pthread_mutex_unlock(&fifo_mutex);
}
struct iq_buf *fifo_dequeue(void) {
pthread_mutex_lock(&fifo_mutex);
struct iq_buf *result = NULL;
if (!fifo_head && !fifo_halted) {
// No data pending, wait for some
pthread_cond_wait(&fifo_notempty_cond, &fifo_mutex);
}
if (!fifo_halted) {
result = fifo_head;
fifo_head = result->next;
result->next = NULL;
if (!fifo_head) {
fifo_tail = NULL;
pthread_cond_broadcast(&fifo_empty_cond);
}
}
pthread_mutex_unlock(&fifo_mutex);
return result;
}
void fifo_release(struct iq_buf *buf) {
pthread_mutex_lock(&fifo_mutex);
if (!fifo_freelist) {
pthread_cond_signal(&fifo_free_cond);
}
buf->next = fifo_freelist;
fifo_freelist = buf;
pthread_mutex_unlock(&fifo_mutex);
}
================================================
FILE: fifo.h
================================================
/**
* multi-sdr-gps-sim generates a IQ data stream on-the-fly to simulate a
* GPS L1 baseband signal using a SDR platform like HackRF or ADLAM-Pluto.
*
* This file is part of the Github project at
* https://github.com/mictronics/multi-sdr-gps-sim.git
*
* Copyright © 2021 Mictronics
* Distributed under the MIT License.
*
*/
#ifndef FIFO_H
#define FIFO_H
#include <stdbool.h>
#include <stdint.h>
struct iq_buf {
signed char *data8; // 8 bit IQ data
signed short *data16; // 16 bit IQ data
unsigned int totalLength; // Maximum number of samples (allocated size of "data")
unsigned int validLength; // Number of valid samples in "data"
struct iq_buf *next; // linked list forward link
};
// Create the queue structures. Not threadsafe. Returns true on success.
//
// buffer_count - the number of buffers to preallocate
// buffer_size - the size of each IQ buffer, in samples
bool fifo_create(unsigned buffer_count, unsigned buffer_size, unsigned sample_size);
// Destroy the fifo structures allocated in fifo_create. Not threadsafe; ensure all FIFO users
// are done before calling.
void fifo_destroy();
// Block until the FIFO is empty.
void fifo_wait_next();
// Block until the FIFO is full.
void fifo_wait_full();
// Mark the FIFO as halted. Move any buffers in FIFO to the freelist immediately.
void fifo_halt();
// Get an unused buffer from the freelist and return it.
// Block waiting for a free buffer.
// free buffers available within the timeout, or if the FIFO is halted.
struct iq_buf *fifo_acquire(void);
// Put a filled buffer (previously obtained from fifo_acquire) onto the head of the FIFO.
// The caller should have filled:
// buf->validLength
// buf->data[0 .. buf->validLength-1]
void fifo_enqueue(struct iq_buf *buf);
// Get a buffer from the tail of the FIFO.
// If the FIFO is halted (or becomes halted), return NULL immediately.
// return NULL if no data arrives
struct iq_buf *fifo_dequeue(void);
// Release a buffer previously returned by fifo_acquire() back to the freelist.
void fifo_release(struct iq_buf *buf);
#endif
================================================
FILE: gps-sim.c
================================================
/**
* multi-sdr-gps-sim generates a IQ data stream on-the-fly to simulate a
* GPS L1 baseband signal using a SDR platform like HackRF or ADLAM-Pluto.
*
* This file is part of the Github project at
* https://github.com/mictronics/multi-sdr-gps-sim.git
*
* Copyright © 2021 Mictronics
* Distributed under the MIT License.
*
*/
#include <stdio.h>
#include <stdlib.h>
#include <signal.h>
#include <sched.h>
#include <fcntl.h>
#include <unistd.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <sys/time.h>
#include "help.h"
#include "gui.h"
#include "sdr.h"
#include "gps-sim.h"
simulator_t simulator;
static error_t parse_opt(int key, char *arg, struct argp_state *state);
const char *argp_program_version = "v1.0";
const char args_doc[] = "";
const char doc[] = "gps-sim generates a GPS L1 baseband signal IQ data stream, which is then transmitted by a software-defined radio (SDR) platform.";
static struct argp argp = {options, parse_opt, args_doc, doc, NULL, NULL, NULL};
static error_t parse_opt(int key, char *arg, struct argp_state *state) {
double d = 0.0;
switch (key) {
case 'e':
if (arg == NULL) {
return ARGP_ERR_UNKNOWN;
}
simulator.nav_file_name = strdup(arg);
break;
case 'r':
if (arg == NULL) {
return ARGP_ERR_UNKNOWN;
}
simulator.sdr_name = strdup(arg);
break;
case 'U':
if (arg == NULL) {
return ARGP_ERR_UNKNOWN;
}
simulator.pluto_uri = strdup(arg);
break;
case 'N':
if (arg == NULL) {
return ARGP_ERR_UNKNOWN;
}
simulator.pluto_hostname = strdup(arg);
break;
case 'm':
if (arg == NULL) {
return ARGP_ERR_UNKNOWN;
}
simulator.motion_file_name = strdup(arg);
simulator.interactive_mode = false;
break;
case 701: // --station
if (arg == NULL) {
return ARGP_ERR_UNKNOWN;
}
simulator.station_id = strndup(arg, 9);
break;
case 'f':
simulator.use_ftp = true;
break;
case 'l':
if (arg == NULL) {
return ARGP_ERR_UNKNOWN;
}
sscanf(arg, "%lf,%lf,%lf", &simulator.location.lat, &simulator.location.lon, &simulator.location.height);
break;
case 's':
if (arg == NULL) {
return ARGP_ERR_UNKNOWN;
}
if (strncmp(arg, "now", 3) == 0) {
simulator.time_overwrite = true;
time_t timer;
struct tm *gmt;
time(&timer);
gmt = gmtime(&timer);
simulator.start.y = gmt->tm_year + 1900;
simulator.start.m = gmt->tm_mon + 1;
simulator.start.d = gmt->tm_mday;
simulator.start.hh = gmt->tm_hour;
simulator.start.mm = gmt->tm_min;
simulator.start.sec = (double) gmt->tm_sec;
} else {
sscanf(arg, "%d/%d/%d,%d:%d:%lf", &simulator.start.y, &simulator.start.m, &simulator.start.d, &simulator.start.hh, &simulator.start.mm, &simulator.start.sec);
}
if (simulator.start.y <= 1980 ||
simulator.start.m < 1 || simulator.start.m > 12 ||
simulator.start.d < 1 || simulator.start.d > 31 ||
simulator.start.hh < 0 || simulator.start.hh > 23 ||
simulator.start.mm < 0 || simulator.start.mm > 59 ||
simulator.start.sec < 0.0 || simulator.start.sec >= 60.0) {
fprintf(stderr, "ERROR: Invalid date and time.\n");
return ARGP_ERR_UNKNOWN;
}
break;
case 'I':
simulator.ionosphere_enable = false;
break;
case 'v':
simulator.show_verbose = true;
break;
case 'a':
simulator.enable_tx_amp = true;
break;
case 'g':
if (arg == NULL) {
return ARGP_ERR_UNKNOWN;
}
simulator.tx_gain = (int) strtoul(arg, NULL, 10);
break;
case 'd':
if (arg == NULL) {
return ARGP_ERR_UNKNOWN;
}
d = atof(arg);
if (d < 0.0 || d > ((double) USER_MOTION_SIZE) / 10.0) {
gui_status_wprintw(RED, "Error: Invalid duration.\n");
return -1;
}
simulator.duration = (int) (d * 10.0 + 0.5);
break;
case 't':
if (arg == NULL) {
return ARGP_ERR_UNKNOWN;
}
simulator.target.valid = true;
sscanf(arg, "%lf,%lf,%lf", &simulator.target.distance, &simulator.target.bearing, &simulator.target.height);
simulator.target.bearing *= 1000;
break;
case 'i':
simulator.interactive_mode = true;
break;
case '3':
simulator.use_rinex3 = true;
break;
case 'p':
if (arg == NULL) {
return ARGP_ERR_UNKNOWN;
}
simulator.ppb = atoi(arg);
break;
case 700: // --iq16
simulator.sample_size = SC16;
break;
case 702: // --disable-almanac
simulator.almanac_enable = false;
break;
case ARGP_KEY_END:
if (state->arg_num > 0)
/* We use only options but no arguments */
argp_usage(state);
break;
default:
return ARGP_ERR_UNKNOWN;
}
return 0;
}
static void simulator_init(void) {
simulator.main_exit = false;
simulator.show_verbose = false;
simulator.ionosphere_enable = true;
simulator.gps_thread_running = false;
simulator.interactive_mode = false;
simulator.use_ftp = false;
simulator.enable_tx_amp = false;
simulator.use_rinex3 = false;
simulator.time_overwrite = false;
simulator.almanac_enable = true;
simulator.duration = USER_MOTION_SIZE;
simulator.tx_gain = 0;
simulator.ppb = 0;
simulator.location.lat = 0;
simulator.location.lon = 0;
simulator.location.height = 0;
simulator.target.bearing = 0;
simulator.target.distance = 0;
simulator.target.lat = 0;
simulator.target.lon = 0;
simulator.target.height = 0;
simulator.target.valid = false;
simulator.nav_file_name = NULL;
simulator.sdr_name = NULL;
simulator.pluto_hostname = NULL;
simulator.motion_file_name = NULL;
simulator.pluto_uri = NULL;
simulator.station_id = NULL;
simulator.sdr_type = SDR_NONE;
simulator.sample_size = SC08;
pthread_cond_init(&simulator.gps_init_done, NULL);
pthread_mutex_init(&simulator.gps_lock, NULL);
}
static void signal_handler(int sig) {
signal(sig, SIG_DFL); // Reset signal handler
simulator.main_exit = true;
gui_status_wprintw(RED, "Caught signal %s, shutting down\n", strsignal(sig));
}
static void cleanup_and_exit(int code) {
simulator.gps_thread_exit = true;
pthread_join(simulator.gps_thread, NULL); /* Wait on GPS read thread exit */
pthread_cond_destroy(&simulator.gps_init_done);
pthread_mutex_destroy(&simulator.gps_lock);
/* Free when pointing to string in heap (strdup allocated when given as run option) */
free(simulator.nav_file_name);
free(simulator.sdr_name);
free(simulator.pluto_hostname);
free(simulator.pluto_uri);
free(simulator.motion_file_name);
free(simulator.station_id);
sdr_close();
gui_destroy();
fflush(stdout);
exit(code);
}
/* Set trhead name if supported. */
void set_thread_name(const char *name) {
#if (__GLIBC__ > 2) || (__GLIBC__ == 2 && __GLIBC_MINOR__ >= 12)
pthread_setname_np(pthread_self(), name);
#else
NOTUSED(name);
#endif
}
// Set affinity of calling thread to specific core on a multi-core CPU
int thread_to_core(int core_id) {
int num_cores = sysconf(_SC_NPROCESSORS_ONLN);
if (core_id < 0 || core_id >= num_cores)
return EINVAL;
cpu_set_t cpuset;
CPU_ZERO(&cpuset);
CPU_SET(core_id, &cpuset);
pthread_t current_thread = pthread_self();
return pthread_setaffinity_np(current_thread, sizeof (cpu_set_t), &cpuset);
}
/*
*
*/
int main(int argc, char** argv) {
int ch = 0;
bool is_info_shown = false;
bool is_help_shown = false;
// signal handlers:
signal(SIGINT, signal_handler);
signal(SIGTERM, signal_handler);
signal(SIGABRT, signal_handler);
// Initialize all simulator variables
simulator_init();
/* On a multi-core CPU we run the main thread and reader thread on different cores.
* Try sticking the main thread to core 1
*/
thread_to_core(1);
set_thread_name("simulator-thread");
// Parse the command line options
if (argp_parse(&argp, argc, argv, 0, 0, 0)) {
return (EXIT_FAILURE);
}
if (simulator.nav_file_name == NULL && simulator.use_ftp == false) {
fprintf(stderr, "Error: GPS ephemeris file is not specified\n");
return (EXIT_FAILURE);
}
gui_init();
// No access to GUI until this point
if (simulator.interactive_mode && simulator.motion_file_name != NULL) {
simulator.interactive_mode = false;
simulator.target.valid = false;
gui_status_wprintw(YELLOW, "User motion file supplied. Interactive mode disabled!\n");
}
// Wait maximum 30 seconds for GPS thread to become ready
struct timespec timeout;
struct timeval now;
gettimeofday(&now, NULL);
timeout.tv_sec = now.tv_sec + 30;
timeout.tv_nsec = 0;
// Init prior GPS thread, creates FIFO.
if (sdr_init(&simulator) == 0) {
// Start GPS baseband signal generation
gui_top_panel(LS_FIX);
pthread_create(&simulator.gps_thread, NULL, gps_thread_ep, &simulator);
pthread_mutex_lock(&(simulator.gps_lock));
int ret = pthread_cond_timedwait(&(simulator.gps_init_done), &(simulator.gps_lock), &timeout);
pthread_mutex_unlock(&(simulator.gps_lock));
if (ret == ETIMEDOUT) {
gui_status_wprintw(RED, "Time out waiting for GPS thread. Running?\n");
}
if (!simulator.gps_thread_exit) {
if (sdr_run() != 0) {
gui_status_wprintw(RED, "Starting SDR streaming failed.\n");
simulator.gps_thread_exit = true;
}
}
}
// Run this until we get a termination signal.
while (!simulator.main_exit) {
ch = gui_getch();
if (ch != -1) {
switch (ch) {
case 'x':
case 'X':
simulator.main_exit = true;
break;
case 'i':
case 'I':
gui_show_panel(INFO, ON);
is_info_shown = true;
break;
case '?':
case 'h':
case 'H':
gui_show_panel(HELP, ON);
is_help_shown = true;
break;
case 9: // TAB
gui_toggle_current_panel();
break;
case 265: // F1
gui_top_panel(TRACK);
break;
case 266: // F2
gui_top_panel(LS_FIX);
break;
case 267: // F3
gui_top_panel(KF_FIX);
break;
case LEFT_KEY:
simulator.target.bearing -= 127.0;
if (simulator.target.bearing < 0) simulator.target.bearing = 360000.0;
if (simulator.target.bearing > 360000) simulator.target.bearing = 0;
gui_show_heading((float) (simulator.target.bearing / 1000));
break;
case RIGHT_KEY:
simulator.target.bearing += 127.0;
if (simulator.target.bearing < 0) simulator.target.bearing = 360000.0;
if (simulator.target.bearing > 360000) simulator.target.bearing = 0;
gui_show_heading((float) (simulator.target.bearing / 1000));
break;
case UP_KEY:
simulator.target.vertical_speed += 1;
gui_show_vertical_speed((float) simulator.target.vertical_speed);
break;
case DOWN_KEY:
simulator.target.vertical_speed -= 1;
gui_show_vertical_speed((float) simulator.target.vertical_speed);
break;
case UPSPEED_KEY:
simulator.target.speed += 1.0;
simulator.target.velocity = simulator.target.speed / 100.0;
gui_show_speed((float) (simulator.target.velocity * 3.6));
break;
case DOWNSPEED_KEY:
simulator.target.speed -= 1.0;
if (simulator.target.speed < 0) simulator.target.speed = 0;
simulator.target.velocity = simulator.target.speed / 100.0;
gui_show_speed((float) (simulator.target.velocity * 3.6));
break;
case GAIN_INC_KEY:
simulator.tx_gain = sdr_set_gain(simulator.tx_gain + 1);
gui_status_wprintw(GREEN, "Gain: %ddB.\r", simulator.tx_gain);
break;
case GAIN_DEC_KEY:
simulator.tx_gain = sdr_set_gain(simulator.tx_gain - 1);
gui_status_wprintw(GREEN, "Gain: %ddB.\r", simulator.tx_gain);
break;
default:
if (is_info_shown) {
gui_show_panel(INFO, OFF);
is_info_shown = false;
}
if (is_help_shown) {
gui_show_panel(HELP, OFF);
is_help_shown = false;
}
break;
}
}
}
cleanup_and_exit(EXIT_SUCCESS);
return (EXIT_SUCCESS);
}
================================================
FILE: gps-sim.h
================================================
/**
* multi-sdr-gps-sim generates a IQ data stream on-the-fly to simulate a
* GPS L1 baseband signal using a SDR platform like HackRF or ADLAM-Pluto.
*
* This file is part of the Github project at
* https://github.com/mictronics/multi-sdr-gps-sim.git
*
* Copyright © 2021 Mictronics
* Distributed under the MIT License.
*
*/
#ifndef GPS_SIM_H
#define GPS_SIM_H
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <stdbool.h>
#include <pthread.h>
#include <stdatomic.h>
#include "gps.h"
#define NOTUSED(V) ((void) V)
// Sampling data format
#define SC08 sizeof(signed char)
#define SC16 sizeof(signed short)
/* SDR device types */
typedef enum {
SDR_NONE = 0, SDR_IQFILE, SDR_HACKRF, SDR_PLUTOSDR
} sdr_type_t;
/* Target information. */
typedef struct {
double bearing;
double distance;
double lat;
double lon;
double height;
double velocity;
double speed;
double vertical_speed;
bool valid;
} target_t;
/* Simulator location. */
typedef struct {
double lat; // Latitude
double lon; // Longitude
double height; // Height/Elevation
} location_t;
/* All the GPS simulators variables. */
typedef struct {
atomic_bool main_exit;
atomic_bool gps_thread_exit;
atomic_bool gps_thread_running;
bool show_verbose;
bool ionosphere_enable;
bool interactive_mode;
bool use_ftp;
bool enable_tx_amp;
bool use_rinex3;
bool time_overwrite;
bool almanac_enable;
int duration;
int tx_gain;
int ppb;
int sample_size;
sdr_type_t sdr_type;
char *nav_file_name;
char *motion_file_name;
char *sdr_name;
char *pluto_uri;
char *pluto_hostname;
char *station_id;
pthread_mutex_t gps_lock;
pthread_t gps_thread;
pthread_cond_t gps_init_done; // Condition signals GPS thread is running
location_t location; // Simulator geo location
target_t target; // Target information
datetime_t start; // Simulation start time
} simulator_t;
void set_thread_name(const char *name);
int thread_to_core(int core_id);
#endif /* GPS_SIM_H */
================================================
FILE: gps.c
================================================
/**
* multi-sdr-gps-sim generates a IQ data stream on-the-fly to simulate a
* GPS L1 baseband signal using a SDR platform like HackRF or ADLAM-Pluto.
*
* This file is part of the Github project at
* https://github.com/mictronics/multi-sdr-gps-sim.git
*
* Copyright © 2021 Mictronics
* Distributed under the MIT License.
*
*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <time.h>
#include <pthread.h>
#include <errno.h>
#include <curl/curl.h>
#include <zlib.h>
#include "sdr.h"
#include "gui.h"
#include "fifo.h"
#include "almanac.h"
#include "gps-sim.h"
/**
* Note:
* Not all stations provide RINEX data with ionosphere data.
*/
/**
* Stations providing Rinex v3 format.
* 4-characters station ID
* 9-characters station ID
* Station name
* Including Ionosphere data in Rinex file
*/
const stations_t stations_v3[] = {
{"func", "FUNC00PRT", "Funchal"},
{"flrs", "FLRS00PRT", "Santa Cruz das Flore"},
{"pdel", "PDEL00PRT", "PONTA DELGADA"},
{NULL, NULL, NULL} // Always last entry
};
/**
* Stations providing Rinex v2 format.
* 4-characters station ID
* 9-characters station ID
* Station name
*/
const stations_t stations_v2[] = {
{"abmf", "ABMF00GLP", "Aeroport du Raizet"},
{"aggo", "AGGO00ARG", "AGGO"},
{"ajac", "AJAC00FRA", "Ajaccio"},
{"ankr", "ANKR00TUR", "Ankara"},
{"areg", "AREG00PER", "Arequipa"},
{"ascg", "ASCG00SHN", "Ascension"},
{"bogi", "BOGI00POL", "Borowa Gora"},
{"bor1", "BOR100POL", "Borowiec"},
{"brst", "BRST00FRA", "Brest"},
{"chpg", "CHPG00BRA", "Cachoeira Paulista"},
{"cibg", "CIBG00IDN", "Cibinong"},
{"cpvg", "CPVG00CPV", "CAP-VERT"},
{"djig", "DJIG00DJI", "Djibouti"},
{"dlf1", "DLF100NLD", "Delft"},
{"ffmj", "FFMJ00DEU", "Frankfurt/Main"},
{"ftna", "FTNA00WLF", "Futuna"},
{"gamb", "GAMB00PYF", "Rikitea"},
{"gamg", "GAMG00KOR", "Geochang"},
{"glps", "GLPS00ECU", "Galapagos Permanent Station"},
{"glsv", "GLSV00UKR", "Kiev/Golosiiv"},
{"gmsd", "GMSD00JPN", "GUTS Masda"},
{"gop6", "GOP600CZE", "Pecny, Ondrejov"},
{"gop7", "GOP700CZE", "Pecny, Ondrejov"},
{"gope", "GOPE00CZE", "Pecny, Ondrejov"},
{"grac", "GRAC00FRA", "Grasse"},
{"gras", "GRAS00FRA", "Observatoire de Calern - OCA"},
{"holb", "HOLB00CAN", "Holberg"},
{"hueg", "HUEG00DEU", "Huegelheim"},
{"ieng", "IENG00ITA", "Torino"},
{"ista", "ISTA00TUR", "Istanbul"},
{"izmi", "IZMI00TUR", "Izmir"},
{"jfng", "JFNG00CHN", "Juifeng"},
{"joz2", "JOZ200POL", "Jozefoslaw"},
{"joze", "JOZE00POL", "Jozefoslaw"},
{"kerg", "KERG00ATF", "Kerguelen Islands"},
{"kitg", "KITG00UZB", "Kitab"},
{"koug", "KOUG00GUF", "Kourou"},
{"krgg", "KRGG00ATF", "Kerguelen Islands"},
{"krs1", "KRS100TUR", "Kars"},
{"lama", "LAMA00POL", "Lamkowo"},
{"leij", "LEIJ00DEU", "Leipzig"},
{"lmmf", "LMMF00MTQ", "Aeroport Aime CESAIRE-LE LAMENTIN"},
{"lroc", "LROC00FRA", "La Rochelle"},
{"mad2", "MAD200ESP", "Madrid Deep Space Tracking Station"},
{"madr", "MADR00ESP", "Madrid Deep Space Tracking Station"},
{"mayg", "MAYG00MYT", "Dzaoudzi"},
{"mers", "MERS00TUR", "Mersin"},
{"mikl", "MIKL00UKR", "Mykolaiv"},
{"morp", "MORP00GBR", "Morpeth"},
{"nklg", "NKLG00GAB", "N'KOLTANG"},
{"nyal", "NYAL00NOR", "Ny-Alesund"},
{"nya1", "NYA100NOR", "Ny-Alesund"},
{"ohi2", "OHI200ATA", "O'Higgins"},
{"orid", "ORID00MKD", "Ohrid"},
{"owmg", "OWMG00NZL", "Chatham Island"},
{"polv", "POLV00UKR", "Poltava"},
{"ptbb", "PTBB00DEU", "Braunschweig"},
{"ptgg", "PTGG00PHL", "Manilla"},
{"rabt", "RABT00MAR", "Rabat, EMI"},
{"reun", "REUN00REU", "La Reunion - Observatoire Volcanologique"},
{"rgdg", "RGDG00ARG", "Rio Grande"},
{"riga", "RIGA00LVA", "RIGA permanent GPS"},
{"seyg", "SEYG00SYC", "Mahe"},
{"sofi", "SOFI00BGR", "Sofia"},
{"stj3", "STJ300CAN", "STJ3 CACS-GSD"},
{"sulp", "SULP00UKR", "Lviv Polytechnic"},
{"svtl", "SVTL00RUS", "Svetloe"},
{"tana", "TANA00ETH", "ILA, Bahir Dar University"},
{"thtg", "THTG00PYF", "Papeete Tahiti"},
{"thti", "THTI00PYF", "Tahiti"},
{"tit2", "TIT200DEU", "Titz / Jackerath"},
{"tlse", "TLSE00FRA", "Toulouse"},
{"tro1", "TRO100NOR", "Tromsoe"},
{"warn", "WARN00DEU", "Warnemuende"},
{"whit", "WHIT00CAN", "WHIT CACS-GSD"},
{"wroc", "WROC00POL", "Wroclaw"},
{"wtza", "WTZA00DEU", "Wettzell"},
{"yel2", "YEL200CAN", "Yellow Knife"},
{"zeck", "ZECK00RUS", "Zelenchukskaya"},
{"zim2", "ZIM200CHE", "Zimmerwald"},
{"zimm", "ZIMM00CHE", "Zimmerwald L+T 88"},
{NULL, NULL, NULL} // Always last entry
};
static char rinex_date[21];
struct ftp_file {
const char *filename;
FILE *stream;
};
const int sinTable512[] = {
2, 5, 8, 11, 14, 17, 20, 23, 26, 29, 32, 35, 38, 41, 44, 47,
50, 53, 56, 59, 62, 65, 68, 71, 74, 77, 80, 83, 86, 89, 91, 94,
97, 100, 103, 105, 108, 111, 114, 116, 119, 122, 125, 127, 130, 132, 135, 138,
140, 143, 145, 148, 150, 153, 155, 157, 160, 162, 164, 167, 169, 171, 173, 176,
178, 180, 182, 184, 186, 188, 190, 192, 194, 196, 198, 200, 202, 204, 205, 207,
209, 210, 212, 214, 215, 217, 218, 220, 221, 223, 224, 225, 227, 228, 229, 230,
232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 241, 242, 243, 244, 244, 245,
245, 246, 247, 247, 248, 248, 248, 249, 249, 249, 249, 250, 250, 250, 250, 250,
250, 250, 250, 250, 250, 249, 249, 249, 249, 248, 248, 248, 247, 247, 246, 245,
245, 244, 244, 243, 242, 241, 241, 240, 239, 238, 237, 236, 235, 234, 233, 232,
230, 229, 228, 227, 225, 224, 223, 221, 220, 218, 217, 215, 214, 212, 210, 209,
207, 205, 204, 202, 200, 198, 196, 194, 192, 190, 188, 186, 184, 182, 180, 178,
176, 173, 171, 169, 167, 164, 162, 160, 157, 155, 153, 150, 148, 145, 143, 140,
138, 135, 132, 130, 127, 125, 122, 119, 116, 114, 111, 108, 105, 103, 100, 97,
94, 91, 89, 86, 83, 80, 77, 74, 71, 68, 65, 62, 59, 56, 53, 50,
47, 44, 41, 38, 35, 32, 29, 26, 23, 20, 17, 14, 11, 8, 5, 2,
-2, -5, -8, -11, -14, -17, -20, -23, -26, -29, -32, -35, -38, -41, -44, -47,
-50, -53, -56, -59, -62, -65, -68, -71, -74, -77, -80, -83, -86, -89, -91, -94,
-97, -100, -103, -105, -108, -111, -114, -116, -119, -122, -125, -127, -130, -132, -135, -138,
-140, -143, -145, -148, -150, -153, -155, -157, -160, -162, -164, -167, -169, -171, -173, -176,
-178, -180, -182, -184, -186, -188, -190, -192, -194, -196, -198, -200, -202, -204, -205, -207,
-209, -210, -212, -214, -215, -217, -218, -220, -221, -223, -224, -225, -227, -228, -229, -230,
-232, -233, -234, -235, -236, -237, -238, -239, -240, -241, -241, -242, -243, -244, -244, -245,
-245, -246, -247, -247, -248, -248, -248, -249, -249, -249, -249, -250, -250, -250, -250, -250,
-250, -250, -250, -250, -250, -249, -249, -249, -249, -248, -248, -248, -247, -247, -246, -245,
-245, -244, -244, -243, -242, -241, -241, -240, -239, -238, -237, -236, -235, -234, -233, -232,
-230, -229, -228, -227, -225, -224, -223, -221, -220, -218, -217, -215, -214, -212, -210, -209,
-207, -205, -204, -202, -200, -198, -196, -194, -192, -190, -188, -186, -184, -182, -180, -178,
-176, -173, -171, -169, -167, -164, -162, -160, -157, -155, -153, -150, -148, -145, -143, -140,
-138, -135, -132, -130, -127, -125, -122, -119, -116, -114, -111, -108, -105, -103, -100, -97,
-94, -91, -89, -86, -83, -80, -77, -74, -71, -68, -65, -62, -59, -56, -53, -50,
-47, -44, -41, -38, -35, -32, -29, -26, -23, -20, -17, -14, -11, -8, -5, -2
};
const int cosTable512[] = {
250, 250, 250, 250, 250, 249, 249, 249, 249, 248, 248, 248, 247, 247, 246, 245,
245, 244, 244, 243, 242, 241, 241, 240, 239, 238, 237, 236, 235, 234, 233, 232,
230, 229, 228, 227, 225, 224, 223, 221, 220, 218, 217, 215, 214, 212, 210, 209,
207, 205, 204, 202, 200, 198, 196, 194, 192, 190, 188, 186, 184, 182, 180, 178,
176, 173, 171, 169, 167, 164, 162, 160, 157, 155, 153, 150, 148, 145, 143, 140,
138, 135, 132, 130, 127, 125, 122, 119, 116, 114, 111, 108, 105, 103, 100, 97,
94, 91, 89, 86, 83, 80, 77, 74, 71, 68, 65, 62, 59, 56, 53, 50,
47, 44, 41, 38, 35, 32, 29, 26, 23, 20, 17, 14, 11, 8, 5, 2,
-2, -5, -8, -11, -14, -17, -20, -23, -26, -29, -32, -35, -38, -41, -44, -47,
-50, -53, -56, -59, -62, -65, -68, -71, -74, -77, -80, -83, -86, -89, -91, -94,
-97, -100, -103, -105, -108, -111, -114, -116, -119, -122, -125, -127, -130, -132, -135, -138,
-140, -143, -145, -148, -150, -153, -155, -157, -160, -162, -164, -167, -169, -171, -173, -176,
-178, -180, -182, -184, -186, -188, -190, -192, -194, -196, -198, -200, -202, -204, -205, -207,
-209, -210, -212, -214, -215, -217, -218, -220, -221, -223, -224, -225, -227, -228, -229, -230,
-232, -233, -234, -235, -236, -237, -238, -239, -240, -241, -241, -242, -243, -244, -244, -245,
-245, -246, -247, -247, -248, -248, -248, -249, -249, -249, -249, -250, -250, -250, -250, -250,
-250, -250, -250, -250, -250, -249, -249, -249, -249, -248, -248, -248, -247, -247, -246, -245,
-245, -244, -244, -243, -242, -241, -241, -240, -239, -238, -237, -236, -235, -234, -233, -232,
-230, -229, -228, -227, -225, -224, -223, -221, -220, -218, -217, -215, -214, -212, -210, -209,
-207, -205, -204, -202, -200, -198, -196, -194, -192, -190, -188, -186, -184, -182, -180, -178,
-176, -173, -171, -169, -167, -164, -162, -160, -157, -155, -153, -150, -148, -145, -143, -140,
-138, -135, -132, -130, -127, -125, -122, -119, -116, -114, -111, -108, -105, -103, -100, -97,
-94, -91, -89, -86, -83, -80, -77, -74, -71, -68, -65, -62, -59, -56, -53, -50,
-47, -44, -41, -38, -35, -32, -29, -26, -23, -20, -17, -14, -11, -8, -5, -2,
2, 5, 8, 11, 14, 17, 20, 23, 26, 29, 32, 35, 38, 41, 44, 47,
50, 53, 56, 59, 62, 65, 68, 71, 74, 77, 80, 83, 86, 89, 91, 94,
97, 100, 103, 105, 108, 111, 114, 116, 119, 122, 125, 127, 130, 132, 135, 138,
140, 143, 145, 148, 150, 153, 155, 157, 160, 162, 164, 167, 169, 171, 173, 176,
178, 180, 182, 184, 186, 188, 190, 192, 194, 196, 198, 200, 202, 204, 205, 207,
209, 210, 212, 214, 215, 217, 218, 220, 221, 223, 224, 225, 227, 228, 229, 230,
232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 241, 242, 243, 244, 244, 245,
245, 246, 247, 247, 248, 248, 248, 249, 249, 249, 249, 250, 250, 250, 250, 250
};
// Receiver antenna attenuation in dB for boresight angle = 0:5:180 [deg]
const double ant_pat_db[37] = {
0.00, 0.00, 0.22, 0.44, 0.67, 1.11, 1.56, 2.00, 2.44, 2.89, 3.56, 4.22,
4.89, 5.56, 6.22, 6.89, 7.56, 8.22, 8.89, 9.78, 10.67, 11.56, 12.44, 13.33,
14.44, 15.56, 16.67, 17.78, 18.89, 20.00, 21.33, 22.67, 24.00, 25.56, 27.33, 29.33,
31.56
};
// Page number to SVID conversion for subframe 4&5
// See IS-GPS-200L, p.110, table 20-V
const unsigned long sbf4_svId[25] = {
57UL, 0UL, 0UL, 0UL, 0UL, 57UL, 0UL, 0UL, 0UL, 0UL,
57UL, 62UL, 52UL, 53UL, 54UL, 57UL, 55UL, 56UL, 58UL,
59UL, 57UL, 60UL, 61UL, 62UL, 63UL
};
const unsigned long sbf5_svId[25] = {
0UL, 0UL, 0UL, 0UL, 0UL, 0UL, 0UL, 0UL, 0UL, 0UL,
0UL, 0UL, 0UL, 0UL, 0UL, 0UL, 0UL, 0UL, 0UL, 0UL,
0UL, 0UL, 0UL, 0UL, 51UL
};
static int allocatedSat[MAX_SAT];
/* Subtract two vectors of double
* y Result of subtraction
* x1 Minuend of subtracion
* x2 Subtrahend of subtracion
*/
static void subVect(double *y, const double *x1, const double *x2) {
y[0] = x1[0] - x2[0];
y[1] = x1[1] - x2[1];
y[2] = x1[2] - x2[2];
return;
}
/* Compute Norm of Vector
* x Input vector
* Length (Norm) of the input vector
*/
static double normVect(const double *x) {
return (sqrt(x[0] * x[0] + x[1] * x[1] + x[2] * x[2]));
}
/* Compute dot-product of two vectors
* x1 First multiplicand
* x2 Second multiplicand
* Dot-product of both multiplicands
*/
static double dotProd(const double *x1, const double *x2) {
return (x1[0] * x2[0] + x1[1] * x2[1] + x1[2] * x2[2]);
}
/* Generate the C/A code sequence for a given Satellite Vehicle PRN
* prn PRN nuber of the Satellite Vehicle
* ca Caller-allocated integer array of 1023 bytes
*/
static void codegen(int *ca, int prn) {
int delay[] = {
5, 6, 7, 8, 17, 18, 139, 140, 141, 251,
252, 254, 255, 256, 257, 258, 469, 470, 471, 472,
473, 474, 509, 512, 513, 514, 515, 516, 859, 860,
861, 862
};
int g1[CA_SEQ_LEN], g2[CA_SEQ_LEN];
int r1[N_DWRD_SBF], r2[N_DWRD_SBF];
int c1, c2;
int i, j;
if (prn < 1 || prn > 32)
return;
for (i = 0; i < N_DWRD_SBF; i++)
r1[i] = r2[i] = -1;
for (i = 0; i < CA_SEQ_LEN; i++) {
g1[i] = r1[9];
g2[i] = r2[9];
c1 = r1[2] * r1[9];
c2 = r2[1] * r2[2] * r2[5] * r2[7] * r2[8] * r2[9];
for (j = 9; j > 0; j--) {
r1[j] = r1[j - 1];
r2[j] = r2[j - 1];
}
r1[0] = c1;
r2[0] = c2;
}
for (i = 0, j = CA_SEQ_LEN - delay[prn - 1]; i < CA_SEQ_LEN; i++, j++)
ca[i] = (1 - g1[i] * g2[j % CA_SEQ_LEN]) / 2;
return;
}
/* Convert a UTC date into a GPS date
* t input date in UTC form
* g output date in GPS form
*/
static void date2gps(const datetime_t *t, gpstime_t *g) {
int doy[12] = {0, 31, 59, 90, 120, 151, 181, 212, 243, 273, 304, 334};
int ye;
int de;
int lpdays;
ye = t->y - 1980;
// Compute the number of leap days since Jan 5/Jan 6, 1980.
lpdays = ye / 4 + 1;
if ((ye % 4) == 0 && t->m <= 2)
lpdays--;
// Compute the number of days elapsed since Jan 5/Jan 6, 1980.
de = ye * 365 + doy[t->m - 1] + t->d + lpdays - 6;
// Convert time to GPS weeks and seconds.
g->week = de / 7;
g->sec = (double) (de % 7) * SECONDS_IN_DAY + t->hh * SECONDS_IN_HOUR
+ t->mm * SECONDS_IN_MINUTE + t->sec;
return;
}
static void gps2date(const gpstime_t *g, datetime_t *t) {
// Convert Julian day number to calendar date
int c = (int) (7 * g->week + floor(g->sec / 86400.0) + 2444245.0) + 1537;
int d = (int) ((c - 122.1) / 365.25);
int e = 365 * d + d / 4;
int f = (int) ((c - e) / 30.6001);
t->d = c - e - (int) (30.6001 * f);
t->m = f - 1 - 12 * (f / 14);
t->y = d - 4715 - ((7 + t->m) / 10);
t->hh = ((int) (g->sec / 3600.0)) % 24;
t->mm = ((int) (g->sec / 60.0)) % 60;
t->sec = g->sec - 60.0 * floor(g->sec / 60.0);
return;
}
/* Convert Earth-centered Earth-fixed (ECEF) into Lat/Long/Height
* xyz Input Array of X, Y and Z ECEF coordinates
* llh Output Array of Latitude, Longitude and Height
*/
static void xyz2llh(const double *xyz, double *llh) {
double a, eps, e, e2;
double x, y, z;
double rho2, dz, zdz, nh, slat, n, dz_new;
a = WGS84_RADIUS;
e = WGS84_ECCENTRICITY;
eps = 1.0e-3;
e2 = e*e;
if (normVect(xyz) < eps) {
// Invalid ECEF vector
llh[0] = 0.0;
llh[1] = 0.0;
llh[2] = -a;
return;
}
x = xyz[0];
y = xyz[1];
z = xyz[2];
rho2 = x * x + y*y;
dz = e2*z;
while (1) {
zdz = z + dz;
nh = sqrt(rho2 + zdz * zdz);
slat = zdz / nh;
n = a / sqrt(1.0 - e2 * slat * slat);
dz_new = n * e2*slat;
if (fabs(dz - dz_new) < eps)
break;
dz = dz_new;
}
llh[0] = atan2(zdz, sqrt(rho2));
llh[1] = atan2(y, x);
llh[2] = nh - n;
return;
}
/* Convert Lat/Long/Height into Earth-centered Earth-fixed (ECEF)
* llh Input Array of Latitude, Longitude and Height
* xyz Output Array of X, Y and Z ECEF coordinates
*/
static void llh2xyz(const double *llh, double *xyz) {
double n;
double a;
double e;
double e2;
double clat;
double slat;
double clon;
double slon;
double d, nph;
double tmp;
a = WGS84_RADIUS;
e = WGS84_ECCENTRICITY;
e2 = e*e;
clat = cos(llh[0]);
slat = sin(llh[0]);
clon = cos(llh[1]);
slon = sin(llh[1]);
d = e*slat;
n = a / sqrt(1.0 - d * d);
nph = n + llh[2];
tmp = nph*clat;
xyz[0] = tmp*clon;
xyz[1] = tmp*slon;
xyz[2] = ((1.0 - e2) * n + llh[2]) * slat;
return;
}
/* Compute the intermediate matrix for LLH to ECEF
* llh Input position in Latitude-Longitude-Height format
* t Three-by-Three output matrix
*/
static void ltcmat(const double *llh, double t[3][3]) {
double slat, clat;
double slon, clon;
slat = sin(llh[0]);
clat = cos(llh[0]);
slon = sin(llh[1]);
clon = cos(llh[1]);
t[0][0] = -slat*clon;
t[0][1] = -slat*slon;
t[0][2] = clat;
t[1][0] = -slon;
t[1][1] = clon;
t[1][2] = 0.0;
t[2][0] = clat*clon;
t[2][1] = clat*slon;
t[2][2] = slat;
return;
}
/* Convert Earth-centered Earth-Fixed to ?
* xyz Input position as vector in ECEF format
* t Intermediate matrix computed by \ref ltcmat
* neu Output position as North-East-Up format
*/
static void ecef2neu(const double *xyz, double t[3][3], double *neu) {
neu[0] = t[0][0] * xyz[0] + t[0][1] * xyz[1] + t[0][2] * xyz[2];
neu[1] = t[1][0] * xyz[0] + t[1][1] * xyz[1] + t[1][2] * xyz[2];
neu[2] = t[2][0] * xyz[0] + t[2][1] * xyz[1] + t[2][2] * xyz[2];
return;
}
/* Convert North-Eeast-Up to Azimuth + Elevation
* neu Input position in North-East-Up format
* azel Output array of azimuth + elevation as double
*/
static void neu2azel(double *azel, const double *neu) {
double ne;
azel[0] = atan2(neu[1], neu[0]);
if (azel[0] < 0.0)
azel[0] += (2.0 * PI);
ne = sqrt(neu[0] * neu[0] + neu[1] * neu[1]);
azel[1] = atan2(neu[2], ne);
return;
}
/* Compute Satellite position, velocity and clock at given time
* eph Ephemeris data of the satellite
* g GPS time at which position is to be computed
* pos Computed position (vector)
* vel Computed velociy (vector)
* clk Computed clock
*/
static void satpos(ephem_t eph, gpstime_t g, double *pos, double *vel, double *clk) {
// Computing Satellite Velocity using the Broadcast Ephemeris
// http://www.ngs.noaa.gov/gps-toolbox/bc_velo.htm
double tk;
double mk;
double ek;
double ekold;
double ekdot;
double cek, sek;
double pk;
double pkdot;
double c2pk, s2pk;
double uk;
double ukdot;
double cuk, suk;
double ok;
double sok, cok;
double ik;
double ikdot;
double sik, cik;
double rk;
double rkdot;
double xpk, ypk;
double xpkdot, ypkdot;
double relativistic, OneMinusecosE, tmp;
tk = g.sec - eph.toe.sec;
if (tk > SECONDS_IN_HALF_WEEK)
tk -= SECONDS_IN_WEEK;
else if (tk<-SECONDS_IN_HALF_WEEK)
tk += SECONDS_IN_WEEK;
mk = eph.m0 + eph.n*tk;
ek = mk;
ekold = ek + 1.0;
OneMinusecosE = 0; // Suppress the uninitialized warning.
while (fabs(ek - ekold) > 1.0E-14) {
ekold = ek;
OneMinusecosE = 1.0 - eph.ecc * cos(ekold);
ek = ek + (mk - ekold + eph.ecc * sin(ekold)) / OneMinusecosE;
}
sek = sin(ek);
cek = cos(ek);
ekdot = eph.n / OneMinusecosE;
relativistic = -4.442807633E-10 * eph.ecc * eph.sqrta*sek;
pk = atan2(eph.sq1e2*sek, cek - eph.ecc) + eph.aop;
pkdot = eph.sq1e2 * ekdot / OneMinusecosE;
s2pk = sin(2.0 * pk);
c2pk = cos(2.0 * pk);
uk = pk + eph.cus * s2pk + eph.cuc*c2pk;
suk = sin(uk);
cuk = cos(uk);
ukdot = pkdot * (1.0 + 2.0 * (eph.cus * c2pk - eph.cuc * s2pk));
rk = eph.A * OneMinusecosE + eph.crc * c2pk + eph.crs*s2pk;
rkdot = eph.A * eph.ecc * sek * ekdot + 2.0 * pkdot * (eph.crs * c2pk - eph.crc * s2pk);
ik = eph.inc0 + eph.idot * tk + eph.cic * c2pk + eph.cis*s2pk;
sik = sin(ik);
cik = cos(ik);
ikdot = eph.idot + 2.0 * pkdot * (eph.cis * c2pk - eph.cic * s2pk);
xpk = rk*cuk;
ypk = rk*suk;
xpkdot = rkdot * cuk - ypk*ukdot;
ypkdot = rkdot * suk + xpk*ukdot;
ok = eph.omg0 + tk * eph.omgkdot - OMEGA_EARTH * eph.toe.sec;
sok = sin(ok);
cok = cos(ok);
pos[0] = xpk * cok - ypk * cik*sok;
pos[1] = xpk * sok + ypk * cik*cok;
pos[2] = ypk*sik;
tmp = ypkdot * cik - ypk * sik*ikdot;
vel[0] = -eph.omgkdot * pos[1] + xpkdot * cok - tmp*sok;
vel[1] = eph.omgkdot * pos[0] + xpkdot * sok + tmp*cok;
vel[2] = ypk * cik * ikdot + ypkdot*sik;
// Satellite clock correction
tk = g.sec - eph.toc.sec;
if (tk > SECONDS_IN_HALF_WEEK)
tk -= SECONDS_IN_WEEK;
else if (tk<-SECONDS_IN_HALF_WEEK)
tk += SECONDS_IN_WEEK;
clk[0] = eph.af0 + tk * (eph.af1 + tk * eph.af2) + relativistic - eph.tgd;
clk[1] = eph.af1 + 2.0 * tk * eph.af2;
return;
}
/* Compute Subframe from Ephemeris
* eph Ephemeris of given SV
* sbf Array of five sub-frames, 10 long words each
*/
void eph2sbf(const ephem_t eph, const ionoutc_t ionoutc, const almanac_gps_t *alm, unsigned long sbf[N_SBF_PAGE][N_DWRD_SBF]) {
unsigned long wn;
unsigned long toe;
unsigned long toc;
unsigned long iode;
unsigned long iodc;
long deltan;
long cuc;
long cus;
long cic;
long cis;
long crc;
long crs;
unsigned long ecc;
unsigned long sqrta;
long m0;
long omega0;
long inc0;
long aop;
long omegadot;
long idot;
long af0;
long af1;
long af2;
long tgd;
unsigned long ura = 0UL;
unsigned long dataId = 1UL;
unsigned long wna;
unsigned long toa;
signed long alpha0, alpha1, alpha2, alpha3;
signed long beta0, beta1, beta2, beta3;
signed long A0, A1;
signed long dtls, dtlsf;
unsigned long tot, wnt, wnlsf, dn;
int sv, i;
unsigned long svId;
signed long delta_i; // Relative to i0 = 0.30 semicircles
// FIXED: This has to be the "transmission" week number, not for the ephemeris reference time
//wn = (unsigned long)(eph.toe.week%1024);
wn = 0UL;
toe = (unsigned long) (eph.toe.sec / 16.0);
toc = (unsigned long) (eph.toc.sec / 16.0);
iode = (unsigned long) (eph.iode);
iodc = (unsigned long) (eph.iodc);
deltan = (long) (eph.deltan / POW2_M43 / PI);
cuc = (long) (eph.cuc / POW2_M29);
cus = (long) (eph.cus / POW2_M29);
cic = (long) (eph.cic / POW2_M29);
cis = (long) (eph.cis / POW2_M29);
crc = (long) (eph.crc / POW2_M5);
crs = (long) (eph.crs / POW2_M5);
ecc = (unsigned long) (eph.ecc / POW2_M33);
sqrta = (unsigned long) (eph.sqrta / POW2_M19);
m0 = (long) (eph.m0 / POW2_M31 / PI);
omega0 = (long) (eph.omg0 / POW2_M31 / PI);
inc0 = (long) (eph.inc0 / POW2_M31 / PI);
aop = (long) (eph.aop / POW2_M31 / PI);
omegadot = (long) (eph.omgdot / POW2_M43 / PI);
idot = (long) (eph.idot / POW2_M43 / PI);
af0 = (long) (eph.af0 / POW2_M31);
af1 = (long) (eph.af1 / POW2_M43);
af2 = (long) (eph.af2 / POW2_M55);
tgd = (long) (eph.tgd / POW2_M31);
alpha0 = (signed long) round(ionoutc.alpha0 / POW2_M30);
alpha1 = (signed long) round(ionoutc.alpha1 / POW2_M27);
alpha2 = (signed long) round(ionoutc.alpha2 / POW2_M24);
alpha3 = (signed long) round(ionoutc.alpha3 / POW2_M24);
beta0 = (signed long) round(ionoutc.beta0 / 2048.0);
beta1 = (signed long) round(ionoutc.beta1 / 16384.0);
beta2 = (signed long) round(ionoutc.beta2 / 65536.0);
beta3 = (signed long) round(ionoutc.beta3 / 65536.0);
A0 = (signed long) round(ionoutc.A0 / POW2_M30);
A1 = (signed long) round(ionoutc.A1 / POW2_M50);
dtls = (signed long) (ionoutc.dtls);
tot = (unsigned long) (ionoutc.tot / 4096);
wnt =
gitextract__cfhgz44/ ├── .gitignore ├── LICENSE ├── Makefile ├── README.md ├── almanac.c ├── almanac.h ├── circle.csv ├── fifo.c ├── fifo.h ├── gps-sim.c ├── gps-sim.h ├── gps.c ├── gps.h ├── gui.c ├── gui.h ├── help.h ├── sdr.c ├── sdr.h ├── sdr_hackrf.c ├── sdr_hackrf.h ├── sdr_iqfile.c ├── sdr_iqfile.h ├── sdr_pluto.c └── sdr_pluto.h
SYMBOL INDEX (141 symbols across 15 files)
FILE: almanac.c
type sem_file (line 21) | struct sem_file {
function almanac_gps_t (line 29) | almanac_gps_t* almanac_init(void) {
function fwrite_sem (line 58) | static size_t fwrite_sem(void *buffer, size_t size, size_t nmemb, void *...
function CURLcode (line 73) | CURLcode almanac_read_file(void) {
function CURLcode (line 191) | CURLcode almanac_download(void) {
FILE: almanac.h
type almanac_prn_t (line 21) | typedef struct {
type almanac_gps_t (line 40) | typedef struct {
FILE: fifo.c
type iq_buf (line 26) | struct iq_buf
type iq_buf (line 27) | struct iq_buf
type iq_buf (line 28) | struct iq_buf
function fifo_create (line 33) | bool fifo_create(unsigned buffer_count, unsigned buffer_size, unsigned s...
function free_buffer_list (line 67) | static void free_buffer_list(struct iq_buf *head) {
function fifo_destroy (line 77) | void fifo_destroy() {
function fifo_wait_next (line 89) | void fifo_wait_next() {
function fifo_wait_full (line 97) | void fifo_wait_full() {
function fifo_halt (line 105) | void fifo_halt() {
type iq_buf (line 128) | struct iq_buf
type iq_buf (line 131) | struct iq_buf
function fifo_enqueue (line 150) | void fifo_enqueue(struct iq_buf *buf) {
type iq_buf (line 174) | struct iq_buf
type iq_buf (line 177) | struct iq_buf
function fifo_release (line 197) | void fifo_release(struct iq_buf *buf) {
FILE: fifo.h
type iq_buf (line 19) | struct iq_buf {
type iq_buf (line 49) | struct iq_buf
type iq_buf (line 55) | struct iq_buf
type iq_buf (line 60) | struct iq_buf
type iq_buf (line 63) | struct iq_buf
FILE: gps-sim.c
type argp_state (line 29) | struct argp_state
type argp (line 33) | struct argp
function error_t (line 35) | static error_t parse_opt(int key, char *arg, struct argp_state *state) {
function simulator_init (line 179) | static void simulator_init(void) {
function signal_handler (line 214) | static void signal_handler(int sig) {
function cleanup_and_exit (line 220) | static void cleanup_and_exit(int code) {
function set_thread_name (line 241) | void set_thread_name(const char *name) {
function thread_to_core (line 251) | int thread_to_core(int core_id) {
function main (line 267) | int main(int argc, char** argv) {
FILE: gps-sim.h
type sdr_type_t (line 31) | typedef enum {
type target_t (line 36) | typedef struct {
type location_t (line 49) | typedef struct {
type simulator_t (line 56) | typedef struct {
FILE: gps.c
type ftp_file (line 140) | struct ftp_file {
function subVect (line 243) | static void subVect(double *y, const double *x1, const double *x2) {
function normVect (line 255) | static double normVect(const double *x) {
function dotProd (line 264) | static double dotProd(const double *x1, const double *x2) {
function codegen (line 272) | static void codegen(int *ca, int prn) {
function date2gps (line 315) | static void date2gps(const datetime_t *t, gpstime_t *g) {
function gps2date (line 339) | static void gps2date(const gpstime_t *g, datetime_t *t) {
function xyz2llh (line 361) | static void xyz2llh(const double *xyz, double *llh) {
function llh2xyz (line 412) | static void llh2xyz(const double *llh, double *xyz) {
function ltcmat (line 449) | static void ltcmat(const double *llh, double t[3][3]) {
function ecef2neu (line 476) | static void ecef2neu(const double *xyz, double t[3][3], double *neu) {
function neu2azel (line 488) | static void neu2azel(double *azel, const double *neu) {
function satpos (line 508) | static void satpos(ephem_t eph, gpstime_t g, double *pos, double *vel, d...
function eph2sbf (line 617) | void eph2sbf(const ephem_t eph, const ionoutc_t ionoutc, const almanac_g...
function countBits (line 890) | static unsigned long countBits(unsigned long v) {
function decode_wordN (line 907) | static int decode_wordN(unsigned int word) {
function validate_parityN (line 926) | static bool validate_parityN(unsigned int W) {
function computeChecksum (line 1008) | static unsigned long computeChecksum(unsigned long source, int nib) {
function replaceExpDesignator (line 1079) | static int replaceExpDesignator(char *str, int len) {
function subGpsTime (line 1096) | static double subGpsTime(gpstime_t g1, gpstime_t g0) {
function gpstime_t (line 1105) | static gpstime_t incGpsTime(gpstime_t g0, double dt) {
function readRinex2 (line 1131) | static int readRinex2(ephem_t eph[][MAX_SAT], ionoutc_t *ionoutc, const ...
function readRinex3 (line 1512) | static int readRinex3(ephem_t eph[][MAX_SAT], ionoutc_t *ionoutc, const ...
function ionosphericDelay (line 1893) | static double ionosphericDelay(const ionoutc_t *ionoutc, gpstime_t g, do...
function computeRange (line 1972) | static void computeRange(range_t *rho, ephem_t eph, ionoutc_t *ionoutc, ...
function computeCodePhase (line 2033) | static void computeCodePhase(channel_t *chan, range_t rho1, double dt) {
function generateNavMsg (line 2066) | void generateNavMsg(gpstime_t g, channel_t *chan, int init) {
function checkSatVisibility (line 2142) | static int checkSatVisibility(ephem_t eph, gpstime_t g, double *xyz, dou...
function allocateChannel (line 2164) | static int allocateChannel(channel_t *chan, almanac_gps_t *alm, ephem_t ...
function fwrite_rinex (line 2237) | static size_t fwrite_rinex(void *buffer, size_t size, size_t nmemb, void...
function readUserMotion (line 2253) | static int readUserMotion(double xyz[USER_MOTION_SIZE][3], const char *f...
type ftp_file (line 2369) | struct ftp_file
type tm (line 2390) | struct tm
type iq_buf (line 2698) | struct iq_buf
FILE: gps.h
type gpstime_t (line 137) | typedef struct {
type datetime_t (line 143) | typedef struct {
type ephem_t (line 153) | typedef struct {
type ionoutc_t (line 193) | typedef struct {
type range_t (line 203) | typedef struct {
type channel_t (line 213) | typedef struct {
type stations_t (line 239) | typedef struct {
FILE: gui.c
function gui_update (line 37) | static void gui_update() {
function show_footer (line 42) | static void show_footer(WINDOW *win) {
function show_window (line 49) | static void show_window(WINDOW *win, char *label) {
function ls_show_header (line 75) | static void ls_show_header(void) {
function show_heading (line 82) | static void show_heading(float degree) {
function show_vertical_speed (line 152) | static void show_vertical_speed(float height) {
function show_speed (line 165) | static void show_speed(float speed) {
function show_target (line 178) | static void show_target(target_t *target) {
function show_local (line 191) | static void show_local(location_t *loc) {
function eph_show_header (line 201) | static void eph_show_header(void) {
function init_windows (line 208) | static void init_windows(void) {
function gui_init (line 301) | void gui_init(void) {
function gui_destroy (line 343) | void gui_destroy(void) {
function gui_mvwprintw (line 361) | void gui_mvwprintw(window_panel_t w, int y, int x, const char * fmt, ...) {
function gui_status_wprintw (line 376) | void gui_status_wprintw(status_color_t clr, const char * fmt, ...) {
function gui_colorpair (line 392) | void gui_colorpair(window_panel_t w, unsigned clr, attr_status_t onoff) {
function gui_getch (line 402) | int gui_getch(void) {
function gui_top_panel (line 412) | void gui_top_panel(window_panel_t p) {
function gui_toggle_current_panel (line 423) | void gui_toggle_current_panel(void) {
function gui_show_panel (line 434) | void gui_show_panel(window_panel_t p, attr_status_t onoff) {
function gui_show_speed (line 445) | void gui_show_speed(float speed) {
function gui_show_heading (line 451) | void gui_show_heading(float hdg) {
function gui_show_vertical_speed (line 457) | void gui_show_vertical_speed(float vs) {
function gui_show_location (line 463) | void gui_show_location(void *l) {
function gui_show_target (line 469) | void gui_show_target(void *t) {
FILE: gui.h
type window_panel_t (line 34) | typedef enum {
type attr_status_t (line 50) | typedef enum {
type status_color_t (line 55) | typedef enum {
FILE: help.h
type argp_state (line 18) | struct argp_state
type argp_option (line 20) | struct argp_option
FILE: sdr.c
type sdr_handler (line 24) | typedef struct {
function no_init (line 48) | static int no_init() {
function no_close (line 56) | static void no_close() {
function no_run (line 59) | static int no_run() {
function no_set_gain (line 63) | static int no_set_gain(const int gain) {
function sdr_handler (line 68) | static sdr_handler *current_handler(void) {
function sdr_init (line 78) | int sdr_init(simulator_t *simulator) {
function sdr_close (line 89) | void sdr_close(void) {
function sdr_run (line 93) | int sdr_run(void) {
function sdr_set_gain (line 97) | int sdr_set_gain(const int gain) {
FILE: sdr_hackrf.c
function sdr_hackrf_init (line 32) | int sdr_hackrf_init(simulator_t *simulator) {
function sdr_hackrf_close (line 223) | void sdr_hackrf_close(void) {
function sdr_tx_callback (line 236) | static int sdr_tx_callback(hackrf_transfer *transfer) {
function sdr_hackrf_run (line 250) | int sdr_hackrf_run(void) {
function sdr_hackrf_set_gain (line 267) | int sdr_hackrf_set_gain(const int gain) {
FILE: sdr_iqfile.c
type iq_buf (line 39) | struct iq_buf
function sdr_iqfile_init (line 57) | int sdr_iqfile_init(simulator_t *simulator) {
function sdr_iqfile_close (line 66) | void sdr_iqfile_close(void) {
function sdr_iqfile_run (line 73) | int sdr_iqfile_run(void) {
FILE: sdr_pluto.c
type iio_context (line 35) | struct iio_context
type iio_device (line 36) | struct iio_device
type iio_device (line 37) | struct iio_device
type iio_channel (line 38) | struct iio_channel
type iio_channel (line 39) | struct iio_channel
type iio_buffer (line 40) | struct iio_buffer
type iq_buf (line 57) | struct iq_buf
function sdr_pluto_init (line 96) | int sdr_pluto_init(simulator_t *simulator) {
function sdr_pluto_close (line 256) | void sdr_pluto_close(void) {
function sdr_pluto_run (line 263) | int sdr_pluto_run(void) {
function sdr_pluto_set_gain (line 273) | int sdr_pluto_set_gain(const int gain) {
Condensed preview — 24 files, each showing path, character count, and a content snippet. Download the .json file or copy for the full structured content (340K chars).
[
{
"path": ".gitignore",
"chars": 298,
"preview": "# Object files\n*.o\n*.ko\n*.obj\n*.elf\n\n# Libraries\n*.lib\n*.a\n*.la\n*.lo\n\n# Shared objects (inc. Windows DLLs)\n*.so\n*.so.*\n\n"
},
{
"path": "LICENSE",
"chars": 1078,
"preview": "The MIT License (MIT)\n\nCopyright (c) 2021 Mictronics\n\nPermission is hereby granted, free of charge, to any person obtain"
},
{
"path": "Makefile",
"chars": 831,
"preview": "HACKRFSDR ?= no\nPLUTOSDR ?= no\n\nDIALECT = -std=c11\nCFLAGS += $(DIALECT) -Og -g -W -Wall -D_GNU_SOURCE\nLIBS = -lm -pthrea"
},
{
"path": "README.md",
"chars": 4960,
"preview": "# multi-sdr-gps-sim\n\nmulti-sdr-gps-sim generates a GPS L1 baseband signal IQ data stream, which is then transmitted by a"
},
{
"path": "almanac.c",
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},
{
"path": "circle.csv",
"chars": 135000,
"preview": " 0.0,-3813477.954, 3554276.552, 3662785.237\n 0.1,-3813477.599, 3554276.226, 3662785.918\n 0.2,-3813477.240, 3554275.90"
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"preview": "/**\n * multi-sdr-gps-sim generates a IQ data stream on-the-fly to simulate a\n * GPS L1 baseband signal using a SDR platf"
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"chars": 774,
"preview": "/**\n * multi-sdr-gps-sim generates a IQ data stream on-the-fly to simulate a\n * GPS L1 baseband signal using a SDR platf"
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}
]
About this extraction
This page contains the full source code of the Mictronics/multi-sdr-gps-sim GitHub repository, extracted and formatted as plain text for AI agents and large language models (LLMs). The extraction includes 24 files (321.5 KB), approximately 136.0k tokens, and a symbol index with 141 extracted functions, classes, methods, constants, and types. Use this with OpenClaw, Claude, ChatGPT, Cursor, Windsurf, or any other AI tool that accepts text input. You can copy the full output to your clipboard or download it as a .txt file.
Extracted by GitExtract — free GitHub repo to text converter for AI. Built by Nikandr Surkov.