Add support for QZSS (WIP - do not merge)

DEVELOPMENT.rst

@@ -7,6 +7,7 @@ Tools needed:
  - doxygen
  - convert from ImageMagick
  - pip install gcovr diff-cover
+ - pdflatex from TeX Live
 
 To get started, run::
 

include/libswiftnav/signal.h

@@ -17,11 +17,13 @@
 
 #define NUM_SATS_GPS 32
 #define NUM_SATS_SBAS 22
-#define NUM_SATS (NUM_SATS_GPS + NUM_SATS_SBAS)
+#define NUM_SATS_QZSS 5
+#define NUM_SATS (NUM_SATS_GPS + NUM_SATS_SBAS + NUM_SATS_QZSS)
 
 enum constellation {
   CONSTELLATION_GPS,
   CONSTELLATION_SBAS,
+  CONSTELLATION_QZSS,
   CONSTELLATION_COUNT,
 };
 
@@ -32,6 +34,7 @@ enum band {
 
 #define GPS_FIRST_PRN 1
 #define SBAS_FIRST_PRN 120
+#define QZSS_FIRST_PRN 192
 
 #define SID_STR_LEN_MAX 16
 
@@ -80,4 +83,3 @@ gnss_signal_t sid_from_index(u32 i);
 u32 sid_to_index(gnss_signal_t sid);
 
 #endif /* LIBSWIFTNAV_SIGNAL_H */
-

python/swiftnav/signal.pxd

@@ -12,16 +12,9 @@ from libcpp cimport bool
 
 cdef extern from "libswiftnav/signal.h":
   enum:
-    GPS_L1_SATS
-    WAAS_SATS
-    EGNOS_SATS
-    GAGAN_SATS
-    MSAS_SATS
-    SDCM_SATS
-    SBAS_SATS
-    ALL_SATS
     CONSTELLATION_GPS
     CONSTELLATION_SBAS
+    CONSTELLATION_QZSS
     BAND_L1
 
   ctypedef struct gnss_signal_t:

src/almanac.c

@@ -105,6 +105,7 @@ static void gps_calc_sat_state_almanac(const almanac_t* alm_, double t, s16 week
   double ea = ma;  /* Starting value for E. */
   double ea_old;
   double temp;
+  // TODO: inclination offset for QZSS different from GPS
   double ecc = alm->ecc;
   u32 count = 0;
 
@@ -144,6 +145,7 @@ static void gps_calc_sat_state_almanac(const almanac_t* alm_, double t, s16 week
 
   /* Compute the satellite's position in Earth-Centered Earth-Fixed
    * coordinates. */
+  // TODO: inclination offset for QZSS different from GPS
   pos[0] = x * cos(om) - y * cos(alm->inc) * sin(om);
   pos[1] = x * sin(om) + y * cos(alm->inc) * cos(om);
   pos[2] = y * sin(alm->inc);
@@ -176,6 +178,7 @@ void calc_sat_state_almanac(const almanac_t* alm, double t, s16 week,
 {
   switch(alm->sid.constellation) {
   case CONSTELLATION_GPS:
+  case CONSTELLATION_QZSS:
     gps_calc_sat_state_almanac(alm, t, week, pos, vel);
     break;
   case CONSTELLATION_SBAS:
@@ -241,4 +244,3 @@ double calc_sat_doppler_almanac(const almanac_t* alm, double t, s16 week,
 }
 
 /** \} */
-

src/ephemeris.c

@@ -230,6 +230,7 @@ s8 calc_sat_state(const ephemeris_t *e, gps_time_t t,
 
   switch (e->sid.constellation) {
   case CONSTELLATION_GPS:
+  case CONSTELLATION_QZSS:
     return calc_sat_state_kepler(e, t, pos, vel, clock_err, clock_rate_err);
   case CONSTELLATION_SBAS:
     return calc_sat_state_xyz(e, t, pos, vel, clock_err, clock_rate_err);
@@ -276,7 +277,7 @@ void decode_ephemeris(u32 frame_words[3][8], ephemeris_t *e)
 {
   assert(frame_words != NULL);
   assert(e != NULL);
-  assert(e->sid.constellation == CONSTELLATION_GPS);
+  assert((e->sid.constellation == CONSTELLATION_GPS) || (e->sid.constellation == CONSTELLATION_QZSS));
   ephemeris_kepler_t *k = &e->kepler;
 
   /* These unions facilitate signed/unsigned conversion and sign extension. */
@@ -308,6 +309,7 @@ void decode_ephemeris(u32 frame_words[3][8], ephemeris_t *e)
   e->healthy = !(frame_words[0][3-3] >> (30-17) & 1);
 
   /* t_gd: Word 7, bits 17-24 */
+  // TODO
   onebyte.u8 = frame_words[0][7-3] >> (30-24) & 0xFF;
   k->tgd = onebyte.s8 * pow(2,-31);
 
@@ -468,6 +470,7 @@ bool ephemeris_equal(const ephemeris_t *a, const ephemeris_t *b)
 
   switch (a->sid.constellation) {
   case CONSTELLATION_GPS:
+  case CONSTELLATION_QZSS:
     return ephemeris_kepler_equal(&a->kepler, &b->kepler);
   case CONSTELLATION_SBAS:
     return ephemeris_xyz_equal(&a->xyz, &b->xyz);
@@ -476,4 +479,3 @@ bool ephemeris_equal(const ephemeris_t *a, const ephemeris_t *b)
     return false;
   }
 }
-

src/prns.c

@@ -16,6 +16,7 @@
 
 static const u8 gps_ca_codes[][128];
 static const u8 sbas_ca_codes[][128];
+static const u8 qzss_ca_codes[][128];
 
 /** \defgroup prns Spreading Codes
  *
@@ -44,6 +45,9 @@ const u8* ca_code(gnss_signal_t sid)
     case CONSTELLATION_SBAS:
       assert(sid.sat - SBAS_FIRST_PRN < NUM_SATS_SBAS);
       return sbas_ca_codes[sid.sat - SBAS_FIRST_PRN];
+    case CONSTELLATION_QZSS:
+      assert(sid.sat - QZSS_FIRST_PRN < NUM_SATS_QZSS);
+      return qzss_ca_codes[sid.sat - QZSS_FIRST_PRN];
     default:
       assert("unsupported constellation");
   }
@@ -557,3 +561,49 @@ static const u8 sbas_ca_codes[NUM_SATS_SBAS][128] = {
    0xA3,0x24,0xB3,0x35,0x07,0x0E,0x45,0x50,0x67,0xBD,0x77,0xAE,0x06,0x54,0x7B,0x66}
 };
 
+static const u8 qzss_ca_codes[NUM_SATS_QZSS][128] = {
+  {0x75,0xC3,0x02,0x81,0x09,0x62,0x80,0x42,0xAC,0xFF,0x2B,0xFE,0x06,0x96,0xEF,0x02,
+   0xBF,0x02,0x18,0x5C,0x5E,0x7C,0x47,0xC8,0x75,0x24,0x56,0x6F,0xBC,0xC2,0xBF,0x6E,
+   0x19,0xC8,0x0F,0x8E,0x02,0x39,0x47,0x52,0x02,0xF0,0xF6,0xD6,0xD5,0x3D,0xD6,0xE4,
+   0xE3,0x5D,0xBD,0x6E,0xA0,0x36,0x39,0x5D,0xF7,0xAA,0x79,0x68,0x08,0xF9,0xD6,0xA7,
+   0xA2,0x6E,0x13,0x13,0xB5,0x89,0x2F,0x90,0x3F,0x65,0xE8,0x93,0x8F,0x74,0x19,0x87,
+   0xB9,0xA4,0x75,0x69,0x72,0xAB,0xC6,0x69,0x4E,0xF5,0x7F,0xBA,0xFD,0x40,0x4A,0xCB,
+   0x4E,0x4B,0x4A,0x06,0x93,0x64,0x80,0xC1,0xD9,0xA2,0xA2,0x02,0x82,0x85,0xD4,0xB9,
+   0xD2,0x93,0xB1,0x54,0xF4,0xC2,0xEE,0x78,0x43,0x4C,0xB3,0x9C,0xF7,0x2B,0xF7,0xA8},
+
+  {0x1E,0x2E,0x85,0x9C,0xEF,0xE5,0xC0,0x7B,0x34,0xB7,0x6D,0xDE,0x34,0xB5,0x44,0xA5,
+   0x90,0xC7,0x34,0xBB,0x48,0x21,0x23,0x69,0x43,0x4B,0x11,0x65,0x2D,0x82,0x3D,0x48,
+   0x6F,0x9E,0xD0,0xCC,0xD5,0x59,0xF7,0x57,0xDF,0x01,0x06,0x51,0x2E,0xBA,0x70,0xBC,
+   0x5A,0x0D,0x7B,0x86,0x1C,0xBB,0x0E,0x45,0xCC,0xDC,0xC9,0xD6,0x6B,0x36,0x36,0xDF,
+   0x29,0x1D,0x7E,0x5C,0x26,0xC1,0x34,0x6F,0x12,0x4E,0x3C,0x8C,0xDA,0xD4,0xBE,0xF5,
+   0xA3,0x97,0x9A,0x00,0x97,0xB5,0x02,0xD4,0xB4,0xBE,0x1B,0xA0,0x75,0x11,0x1D,0x3E,
+   0xAF,0xFF,0x03,0x37,0xCF,0x2A,0x82,0x94,0x9F,0x64,0xF1,0x00,0x31,0xA2,0x33,0xF2,
+   0x50,0xE8,0x18,0x1D,0x23,0xFF,0x81,0x62,0x96,0xC2,0xFB,0x61,0x69,0x27,0xC4,0xFC},
+
+  {0x06,0x15,0xF3,0x2C,0x51,0x86,0x0F,0x9B,0x4C,0x3C,0x1E,0xB3,0x7B,0x26,0x0C,0xBE,
+   0x6F,0xEA,0x1F,0x6F,0x57,0x74,0x83,0xCE,0x31,0x51,0x22,0x8A,0x44,0x67,0x23,0x8C,
+   0xD2,0x64,0x9B,0xA8,0xCF,0xD1,0xA6,0x00,0x2A,0xE0,0xB2,0x18,0x1F,0xE6,0x3E,0xBE,
+   0x0F,0x4B,0xBD,0xD5,0x1E,0x08,0x29,0xA2,0x87,0x5E,0xB2,0x7F,0x22,0xE1,0x0B,0xB0,
+   0x33,0xC8,0xF0,0x14,0xDB,0x5F,0x38,0x5C,0x46,0x99,0xE7,0x82,0xE1,0x19,0xB0,0x75,
+   0xD0,0xA7,0x0A,0x8C,0xD7,0xD1,0x45,0x83,0xFA,0xE1,0x91,0xF9,0xBB,0x3D,0xA7,0xF7,
+   0xED,0x93,0xDD,0xB9,0xDA,0x08,0x03,0x90,0xD3,0x88,0x5C,0xBE,0xB4,0x0C,0xF2,0x92,
+   0x5B,0x53,0xFB,0xFC,0x2C,0x08,0x8E,0x2E,0x27,0xB0,0x5A,0xEC,0xB8,0x5E,0xDE,0x92},
+
+  {0x4E,0xB5,0xB2,0x3F,0x6A,0xAD,0x60,0x3A,0x27,0x8C,0x46,0xB1,0x95,0xDE,0xF4,0xFD,
+   0x92,0x29,0xCC,0x43,0x0B,0xDC,0xE0,0xBA,0x6F,0x17,0xB9,0x06,0x59,0xDC,0x7B,0xD3,
+   0xE3,0x83,0x6B,0x94,0x8A,0x68,0x10,0xA7,0xE3,0x44,0xBF,0xE7,0x89,0x73,0xD4,0xB1,
+   0xA5,0x9B,0xEE,0x6C,0x13,0x11,0xDE,0x16,0x75,0xD1,0xD0,0x21,0xDF,0xC4,0xB9,0xBD,
+   0x77,0xE0,0x5B,0xEE,0x2B,0x85,0x1C,0xC4,0xE8,0xBE,0xE6,0xA8,0x42,0x7A,0x99,0xF4,
+   0x89,0x34,0xF9,0x29,0x16,0xEC,0x91,0x27,0x11,0x7F,0x26,0x74,0xD1,0xFA,0x83,0x89,
+   0x22,0x95,0xC4,0x13,0xB1,0xE5,0x84,0x8D,0x35,0x0F,0x1C,0x87,0x2C,0x44,0xB4,0xB2,
+   0x69,0x70,0x50,0x5B,0x03,0xCD,0xA2,0xC9,0x31,0xED,0x3E,0x4D,0x8E,0x31,0x99,0x98},
+
+  {0xA7,0xC5,0xFD,0x4A,0x43,0x97,0x87,0x97,0xC4,0xD6,0xF7,0x78,0x8A,0x6D,0x35,0x7B,
+   0xF8,0xB3,0x37,0x22,0xCC,0xA5,0x41,0x6A,0x61,0x71,0xAB,0x17,0xD1,0xD0,0xF3,0x39,
+   0x0A,0x48,0x9A,0xDF,0xB3,0xAD,0x87,0xFE,0xCB,0x09,0x24,0x36,0x4B,0xD7,0x84,0x91,
+   0x2C,0x06,0x7B,0xDB,0xC3,0xA4,0x06,0x3A,0x74,0xA6,0xAC,0x5D,0xFE,0x3A,0x58,0x54,
+   0xE1,0xCE,0x0F,0xDF,0x91,0xAA,0x3F,0x89,0x2E,0xB0,0x3B,0x04,0x6D,0xE2,0x6A,0x0C,
+   0x97,0x16,0x25,0xF2,0x45,0x08,0x43,0x21,0xEE,0xB4,0x6C,0x81,0xD6,0x2F,0xEB,0xA0,
+   0xFE,0x13,0x48,0xE8,0x6B,0x9C,0xC3,0x3C,0x1A,0x71,0x8E,0x5E,0x2A,0xE6,0xA0,0xE7,
+   0x94,0x08,0x3D,0x49,0x4F,0x9A,0xB1,0x49,0xA4,0xBC,0x8F,0xD9,0x4E,0x9D,0x50,0x60}
+};

src/signal.c

@@ -25,7 +25,8 @@ typedef struct {
 
 static const char * constellation_strs[CONSTELLATION_COUNT] = {
   [CONSTELLATION_GPS] = "GPS",
-  [CONSTELLATION_SBAS] = "SBAS"
+  [CONSTELLATION_SBAS] = "SBAS",
+  [CONSTELLATION_QZSS] = "QZSS"
 };
 
 static const char * band_strs[BAND_COUNT] = {
@@ -36,8 +37,10 @@ static const char * unknown_str = "?";
 
 static u16 sat_get_gps(u32 local_index);
 static u16 sat_get_sbas(u32 local_index);
+static u16 sat_get_qzss(u32 local_index);
 static u32 local_index_get_gps(u16 sat);
 static u32 local_index_get_sbas(u16 sat);
+static u32 local_index_get_qzss(u16 sat);
 
 static const sat_group_t sat_groups[CONSTELLATION_COUNT] = {
   [CONSTELLATION_GPS] = {
@@ -47,6 +50,10 @@ static const sat_group_t sat_groups[CONSTELLATION_COUNT] = {
   [CONSTELLATION_SBAS] = {
     CONSTELLATION_SBAS, BAND_L1, NUM_SATS_SBAS,
     sat_get_sbas, local_index_get_sbas
+  },
+  [CONSTELLATION_QZSS] = {
+    CONSTELLATION_QZSS, BAND_L1, NUM_SATS_QZSS,
+    sat_get_qzss, local_index_get_qzss
   }
 };
 
@@ -60,6 +67,11 @@ static u16 sat_get_sbas(u32 local_index)
   return local_index + SBAS_FIRST_PRN;
 }
 
+static u16 sat_get_qzss(u32 local_index)
+{
+  return local_index + QZSS_FIRST_PRN;
+}
+
 static u32 local_index_get_gps(u16 sat)
 {
   return sat - GPS_FIRST_PRN;
@@ -70,6 +82,11 @@ static u32 local_index_get_sbas(u16 sat)
   return sat - SBAS_FIRST_PRN;
 }
 
+static u32 local_index_get_qzss(u16 sat)
+{
+  return sat - QZSS_FIRST_PRN;
+}
+
 int sid_to_string(char *s, int n, gnss_signal_t sid)
 {
   const char *constellation_str = (sid.constellation < CONSTELLATION_COUNT) ?