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/*!
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* \ file galileo_e1_pcps_ambiguous_acquisition_fpga . cc
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* \ brief Adapts a PCPS acquisition block to an AcquisitionInterface for
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* Galileo E1 Signals for the FPGA
* \ author Marc Majoral , 2019. mmajoral ( at ) cttc . es
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*
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* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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*
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* GNSS - SDR is a Global Navigation Satellite System software - defined receiver .
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* This file is part of GNSS - SDR .
*
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* Copyright ( C ) 2010 - 2020 ( see AUTHORS file for a list of contributors )
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* SPDX - License - Identifier : GPL - 3.0 - or - later
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*
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* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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*/
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# include "galileo_e1_pcps_ambiguous_acquisition_fpga.h"
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# include "Galileo_E1.h"
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# include "configuration_interface.h"
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# include "galileo_e1_signal_replica.h"
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# include "gnss_sdr_fft.h"
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# include "gnss_sdr_flags.h"
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# include "uio_fpga.h"
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# include <glog/logging.h>
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# include <gnuradio/fft/fft.h> // for fft_complex
# include <gnuradio/gr_complex.h> // for gr_complex
# include <volk/volk.h> // for volk_32fc_conjugate_32fc
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# include <volk_gnsssdr/volk_gnsssdr_alloc.h>
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# include <algorithm> // for copy_n
# include <cmath> // for abs, pow, floor
# include <complex> // for complex
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GalileoE1PcpsAmbiguousAcquisitionFpga : : GalileoE1PcpsAmbiguousAcquisitionFpga (
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const ConfigurationInterface * configuration ,
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const std : : string & role ,
unsigned int in_streams ,
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unsigned int out_streams ) : gnss_synchro_ ( nullptr ) ,
role_ ( role ) ,
doppler_center_ ( 0 ) ,
channel_ ( 0 ) ,
doppler_step_ ( 0 ) ,
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in_streams_ ( in_streams ) ,
out_streams_ ( out_streams )
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{
pcpsconf_fpga_t acq_parameters ;
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std : : string default_dump_filename = " ./data/acquisition.dat " ;
DLOG ( INFO ) < < " role " < < role ;
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int64_t fs_in_deprecated = configuration - > property ( " GNSS-SDR.internal_fs_hz " , 4000000 ) ;
int64_t fs_in = configuration - > property ( " GNSS-SDR.internal_fs_sps " , fs_in_deprecated ) ;
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acq_parameters . repeat_satellite = configuration - > property ( role + " .repeat_satellite " , false ) ;
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DLOG ( INFO ) < < role < < " satellite repeat = " < < acq_parameters . repeat_satellite ;
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uint32_t downsampling_factor = configuration - > property ( role + " .downsampling_factor " , 4 ) ;
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acq_parameters . downsampling_factor = downsampling_factor ;
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fs_in = fs_in / downsampling_factor ;
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acq_parameters . fs_in = fs_in ;
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doppler_max_ = configuration - > property ( role + " .doppler_max " , 5000 ) ;
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if ( FLAGS_doppler_max ! = 0 )
{
doppler_max_ = FLAGS_doppler_max ;
}
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acq_parameters . doppler_max = doppler_max_ ;
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acquire_pilot_ = configuration - > property ( role + " .acquire_pilot " , false ) ; // could be true in future versions
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// Find number of samples per spreading code (4 ms)
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auto code_length = static_cast < uint32_t > ( std : : round ( static_cast < double > ( fs_in ) / ( GALILEO_E1_CODE_CHIP_RATE_CPS / GALILEO_E1_B_CODE_LENGTH_CHIPS ) ) ) ;
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acq_parameters . code_length = code_length ;
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// The FPGA can only use FFT lengths that are a power of two.
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float nbits = ceilf ( log2f ( static_cast < float > ( code_length ) * 2.0F ) ) ;
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uint32_t nsamples_total = pow ( 2 , nbits ) ;
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uint32_t select_queue_Fpga = configuration - > property ( role + " .select_queue_Fpga " , 0 ) ;
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acq_parameters . select_queue_Fpga = select_queue_Fpga ;
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// UIO device file
std : : string device_io_name ;
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// find the uio device file corresponding to the acquisition
if ( find_uio_dev_file_name ( device_io_name , acquisition_device_name , 0 ) < 0 )
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{
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std : : cout < < " Cannot find the FPGA uio device file corresponding to device name " < < acquisition_device_name < < std : : endl ;
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throw std : : exception ( ) ;
}
acq_parameters . device_name = device_io_name ;
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acq_parameters . samples_per_code = nsamples_total ;
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acq_parameters . excludelimit = static_cast < unsigned int > ( 1 + ceil ( ( 1.0 / GALILEO_E1_CODE_CHIP_RATE_CPS ) * static_cast < float > ( fs_in ) ) ) ;
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// compute all the GALILEO E1 PRN Codes (this is done only once in the class constructor in order to avoid re-computing the PRN codes every time
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// a channel is assigned)
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auto fft_if = gnss_fft_fwd_make_unique ( nsamples_total ) ; // Direct FFT
volk_gnsssdr : : vector < std : : complex < float > > code ( nsamples_total ) ; // buffer for the local code
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volk_gnsssdr : : vector < gr_complex > fft_codes_padded ( nsamples_total ) ;
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d_all_fft_codes_ = volk_gnsssdr : : vector < uint32_t > ( nsamples_total * GALILEO_E1_NUMBER_OF_CODES ) ; // memory containing all the possible fft codes for PRN 0 to 32
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float max ; // temporary maxima search
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int32_t tmp ;
int32_t tmp2 ;
int32_t local_code ;
int32_t fft_data ;
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for ( uint32_t PRN = 1 ; PRN < = GALILEO_E1_NUMBER_OF_CODES ; PRN + + )
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{
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bool cboc = false ; // cboc is set to 0 when using the FPGA
if ( acquire_pilot_ = = true )
{
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// set local signal generator to Galileo E1 pilot component (1C)
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std : : array < char , 3 > pilot_signal = { { ' 1 ' , ' C ' , ' \0 ' } } ;
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galileo_e1_code_gen_complex_sampled ( code , pilot_signal ,
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cboc , PRN , fs_in , 0 , false ) ;
}
else
{
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std : : array < char , 3 > data_signal = { { ' 1 ' , ' B ' , ' \0 ' } } ;
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galileo_e1_code_gen_complex_sampled ( code , data_signal ,
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cboc , PRN , fs_in , 0 , false ) ;
}
for ( uint32_t s = code_length ; s < 2 * code_length ; s + + )
{
code [ s ] = code [ s - code_length ] ;
}
// fill in zero padding
for ( uint32_t s = 2 * code_length ; s < nsamples_total ; s + + )
{
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code [ s ] = std : : complex < float > ( 0.0 , 0.0 ) ;
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}
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std : : copy_n ( code . data ( ) , nsamples_total , fft_if - > get_inbuf ( ) ) ; // copy to FFT buffer
fft_if - > execute ( ) ; // Run the FFT of local code
volk_32fc_conjugate_32fc ( fft_codes_padded . data ( ) , fft_if - > get_outbuf ( ) , nsamples_total ) ; // conjugate values
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// normalize the code
max = 0 ; // initialize maximum value
for ( uint32_t i = 0 ; i < nsamples_total ; i + + ) // search for maxima
{
if ( std : : abs ( fft_codes_padded [ i ] . real ( ) ) > max )
{
max = std : : abs ( fft_codes_padded [ i ] . real ( ) ) ;
}
if ( std : : abs ( fft_codes_padded [ i ] . imag ( ) ) > max )
{
max = std : : abs ( fft_codes_padded [ i ] . imag ( ) ) ;
}
}
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// map the FFT to the dynamic range of the fixed point values an copy to buffer containing all FFTs
// and package codes in a format that is ready to be written to the FPGA
for ( uint32_t i = 0 ; i < nsamples_total ; i + + )
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{
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tmp = static_cast < int32_t > ( floor ( fft_codes_padded [ i ] . real ( ) * ( pow ( 2 , quant_bits_local_code - 1 ) - 1 ) / max ) ) ;
tmp2 = static_cast < int32_t > ( floor ( fft_codes_padded [ i ] . imag ( ) * ( pow ( 2 , quant_bits_local_code - 1 ) - 1 ) / max ) ) ;
local_code = ( tmp & select_lsbits ) | ( ( tmp2 * shl_code_bits ) & select_msbits ) ; // put together the real part and the imaginary part
fft_data = local_code & select_all_code_bits ;
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d_all_fft_codes_ [ i + ( nsamples_total * ( PRN - 1 ) ) ] = fft_data ;
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}
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}
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acq_parameters . all_fft_codes = d_all_fft_codes_ . data ( ) ;
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acq_parameters . num_doppler_bins_step2 = configuration - > property ( role + " .second_nbins " , 4 ) ;
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acq_parameters . doppler_step2 = configuration - > property ( role + " .second_doppler_step " , static_cast < float > ( 125.0 ) ) ;
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acq_parameters . make_2_steps = configuration - > property ( role + " .make_two_steps " , false ) ;
acq_parameters . max_num_acqs = configuration - > property ( role + " .max_num_acqs " , 2 ) ;
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// reference for the FPGA FFT-IFFT attenuation factor
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acq_parameters . total_block_exp = configuration - > property ( role + " .total_block_exp " , 13 ) ;
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acquisition_fpga_ = pcps_make_acquisition_fpga ( acq_parameters ) ;
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if ( in_streams_ > 1 )
{
LOG ( ERROR ) < < " This implementation only supports one input stream " ;
}
if ( out_streams_ > 0 )
{
LOG ( ERROR ) < < " This implementation does not provide an output stream " ;
}
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}
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void GalileoE1PcpsAmbiguousAcquisitionFpga : : stop_acquisition ( )
{
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// stop the acquisition and the other FPGA modules.
acquisition_fpga_ - > stop_acquisition ( ) ;
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}
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void GalileoE1PcpsAmbiguousAcquisitionFpga : : set_threshold ( float threshold )
{
DLOG ( INFO ) < < " Channel " < < channel_ < < " Threshold = " < < threshold ;
acquisition_fpga_ - > set_threshold ( threshold ) ;
}
void GalileoE1PcpsAmbiguousAcquisitionFpga : : set_doppler_max ( unsigned int doppler_max )
{
doppler_max_ = doppler_max ;
acquisition_fpga_ - > set_doppler_max ( doppler_max_ ) ;
}
void GalileoE1PcpsAmbiguousAcquisitionFpga : : set_doppler_step ( unsigned int doppler_step )
{
doppler_step_ = doppler_step ;
acquisition_fpga_ - > set_doppler_step ( doppler_step_ ) ;
}
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void GalileoE1PcpsAmbiguousAcquisitionFpga : : set_doppler_center ( int doppler_center )
{
doppler_center_ = doppler_center ;
acquisition_fpga_ - > set_doppler_center ( doppler_center_ ) ;
}
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void GalileoE1PcpsAmbiguousAcquisitionFpga : : set_gnss_synchro ( Gnss_Synchro * gnss_synchro )
{
gnss_synchro_ = gnss_synchro ;
acquisition_fpga_ - > set_gnss_synchro ( gnss_synchro_ ) ;
}
signed int GalileoE1PcpsAmbiguousAcquisitionFpga : : mag ( )
{
return acquisition_fpga_ - > mag ( ) ;
}
void GalileoE1PcpsAmbiguousAcquisitionFpga : : init ( )
{
acquisition_fpga_ - > init ( ) ;
}
void GalileoE1PcpsAmbiguousAcquisitionFpga : : set_local_code ( )
{
acquisition_fpga_ - > set_local_code ( ) ;
}
void GalileoE1PcpsAmbiguousAcquisitionFpga : : reset ( )
{
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// This command starts the acquisition process
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acquisition_fpga_ - > set_active ( true ) ;
}
void GalileoE1PcpsAmbiguousAcquisitionFpga : : set_state ( int state )
{
acquisition_fpga_ - > set_state ( state ) ;
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}
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void GalileoE1PcpsAmbiguousAcquisitionFpga : : connect ( gr : : top_block_sptr top_block )
{
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if ( top_block )
{ /* top_block is not null */
} ;
// Nothing to connect
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}
void GalileoE1PcpsAmbiguousAcquisitionFpga : : disconnect ( gr : : top_block_sptr top_block )
{
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if ( top_block )
{ /* top_block is not null */
} ;
// Nothing to disconnect
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}
gr : : basic_block_sptr GalileoE1PcpsAmbiguousAcquisitionFpga : : get_left_block ( )
{
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return nullptr ;
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}
gr : : basic_block_sptr GalileoE1PcpsAmbiguousAcquisitionFpga : : get_right_block ( )
{
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return nullptr ;
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}