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/*!
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* \ file gps_l1_ca_dll_pll_tracking_fpga . cc
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* \ brief Implementation of an adapter of a DLL + PLL tracking loop block
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* for GPS L1 C / A to a TrackingInterface for the FPGA
* \ author Marc Majoral , 2019 , mmajoral ( at ) cttc . es
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*
* Code DLL + carrier PLL according to the algorithms described in :
* K . Borre , D . M . Akos , N . Bertelsen , P . Rinder , and S . H . Jensen ,
* A Software - Defined GPS and Galileo Receiver . A Single - Frequency
* Approach , Birkhauser , 2007
*
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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 "gps_l1_ca_dll_pll_tracking_fpga.h"
# include "GPS_L1_CA.h"
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# include "configuration_interface.h"
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# include "display.h"
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# include "dll_pll_conf_fpga.h"
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# include "gnss_sdr_flags.h"
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# include "gps_sdr_signal_replica.h"
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# include "uio_fpga.h"
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# include <volk_gnsssdr/volk_gnsssdr.h>
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# include <algorithm>
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# include <array>
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# if USE_GLOG_AND_GFLAGS
# include <glog/logging.h>
# else
# include <absl/log/log.h>
# endif
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GpsL1CaDllPllTrackingFpga : : GpsL1CaDllPllTrackingFpga (
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const ConfigurationInterface * configuration ,
const std : : string & role ,
unsigned int in_streams ,
unsigned int out_streams )
: role_ ( role ) ,
num_prev_assigned_ch_ ( 0 ) ,
channel_ ( 0 ) ,
in_streams_ ( in_streams ) ,
out_streams_ ( out_streams )
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{
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Dll_Pll_Conf_Fpga trk_params_fpga = Dll_Pll_Conf_Fpga ( ) ;
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trk_params_fpga . SetFromConfiguration ( configuration , role_ ) ;
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const auto vector_length = static_cast < int32_t > ( std : : round ( trk_params_fpga . fs_in / ( GPS_L1_CA_CODE_RATE_CPS / GPS_L1_CA_CODE_LENGTH_CHIPS ) ) ) ;
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trk_params_fpga . vector_length = vector_length ;
if ( trk_params_fpga . extend_correlation_symbols < 1 )
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{
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trk_params_fpga . extend_correlation_symbols = 1 ;
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std : : cout < < TEXT_RED < < " WARNING: GPS L1 C/A. extend_correlation_symbols must be bigger than 1. Coherent integration has been set to 1 symbol (1 ms) " < < TEXT_RESET < < ' \n ' ;
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}
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else if ( trk_params_fpga . extend_correlation_symbols > GPS_CA_BIT_DURATION_MS )
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{
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trk_params_fpga . extend_correlation_symbols = GPS_CA_BIT_DURATION_MS ;
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std : : cout < < TEXT_RED < < " WARNING: GPS L1 C/A. extend_correlation_symbols must be lower than 21. Coherent integration has been set to 20 symbols (20 ms) " < < TEXT_RESET < < ' \n ' ;
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}
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trk_params_fpga . track_pilot = configuration - > property ( role_ + " .track_pilot " , false ) ;
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if ( trk_params_fpga . track_pilot )
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{
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trk_params_fpga . track_pilot = false ;
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std : : cout < < TEXT_RED < < " WARNING: GPS L1 C/A does not have pilot signal. Data tracking has been enabled " < < TEXT_RESET < < ' \n ' ;
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}
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if ( ( trk_params_fpga . extend_correlation_symbols > 1 ) and ( trk_params_fpga . pll_bw_narrow_hz > trk_params_fpga . pll_bw_hz or trk_params_fpga . dll_bw_narrow_hz > trk_params_fpga . dll_bw_hz ) )
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{
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std : : cout < < TEXT_RED < < " WARNING: GPS L1 C/A. PLL or DLL narrow tracking bandwidth is higher than wide tracking one " < < TEXT_RESET < < ' \n ' ;
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}
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trk_params_fpga . system = ' G ' ;
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const std : : array < char , 3 > sig { ' 1 ' , ' C ' , ' \0 ' } ;
std : : copy_n ( sig . data ( ) , 3 , trk_params_fpga . signal ) ;
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// UIO device file
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device_name_ = configuration - > property ( role_ + " .devicename " , default_device_name_GPS_L1 ) ;
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// ################# PRE-COMPUTE ALL THE CODES #################
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ca_codes_ptr_ = static_cast < int32_t * > ( volk_gnsssdr_malloc ( static_cast < int32_t > ( GPS_L1_CA_CODE_LENGTH_CHIPS * NUM_PRNs ) * sizeof ( int32_t ) , volk_gnsssdr_get_alignment ( ) ) ) ;
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for ( uint32_t PRN = 1 ; PRN < = NUM_PRNs ; PRN + + )
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{
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gps_l1_ca_code_gen_int ( own : : span < int32_t > ( & ca_codes_ptr_ [ static_cast < int32_t > ( GPS_L1_CA_CODE_LENGTH_CHIPS ) * ( PRN - 1 ) ] , & ca_codes_ptr_ [ static_cast < int32_t > ( GPS_L1_CA_CODE_LENGTH_CHIPS ) * ( PRN ) ] ) , PRN , 0 ) ;
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// The code is generated as a series of 1s and -1s. In order to store the values using only one bit, a -1 is stored as a 0 in the FPGA
for ( uint32_t k = 0 ; k < GPS_L1_CA_CODE_LENGTH_CHIPS ; k + + )
{
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int32_t tmp_value = ca_codes_ptr_ [ ( int32_t ( GPS_L1_CA_CODE_LENGTH_CHIPS ) ) * ( PRN - 1 ) + k ] ;
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if ( tmp_value < 0 )
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{
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tmp_value = 0 ;
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}
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tmp_value = tmp_value | LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY ;
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ca_codes_ptr_ [ ( int32_t ( GPS_L1_CA_CODE_LENGTH_CHIPS ) ) * ( PRN - 1 ) + k ] = tmp_value ;
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}
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}
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trk_params_fpga . ca_codes = ca_codes_ptr_ ;
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trk_params_fpga . code_length_chips = GPS_L1_CA_CODE_LENGTH_CHIPS ;
trk_params_fpga . code_samples_per_chip = 1 ; // 1 sample per chip
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trk_params_fpga . extended_correlation_in_fpga = false ; // by default
trk_params_fpga . extend_fpga_integration_periods = 1 ; // (number of FPGA integrations that are combined in the SW)
trk_params_fpga . fpga_integration_period = 1 ; // (number of symbols that are effectively integrated in the FPGA)
if ( trk_params_fpga . extend_correlation_symbols > 1 )
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{
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if ( trk_params_fpga . extend_correlation_symbols < = GPS_CA_BIT_DURATION_MS )
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{
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if ( ( GPS_CA_BIT_DURATION_MS % trk_params_fpga . extend_correlation_symbols ) = = 0 )
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{
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trk_params_fpga . extended_correlation_in_fpga = true ;
trk_params_fpga . fpga_integration_period = trk_params_fpga . extend_correlation_symbols ;
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}
}
}
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// ################# MAKE TRACKING GNU Radio object ###################
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DLOG ( INFO ) < < " role " < < role_ ;
tracking_fpga_sc_sptr_ = dll_pll_veml_make_tracking_fpga ( trk_params_fpga ) ;
DLOG ( INFO ) < < " tracking( " < < tracking_fpga_sc_sptr_ - > unique_id ( ) < < " ) " ;
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if ( in_streams_ > 1 )
{
LOG ( ERROR ) < < " This implementation only supports one input stream " ;
}
if ( out_streams_ > 1 )
{
LOG ( ERROR ) < < " This implementation only supports one output stream " ;
}
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}
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GpsL1CaDllPllTrackingFpga : : ~ GpsL1CaDllPllTrackingFpga ( )
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{
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volk_gnsssdr_free ( ca_codes_ptr_ ) ;
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}
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void GpsL1CaDllPllTrackingFpga : : start_tracking ( )
{
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tracking_fpga_sc_sptr_ - > start_tracking ( ) ;
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}
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void GpsL1CaDllPllTrackingFpga : : stop_tracking ( )
{
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tracking_fpga_sc_sptr_ - > stop_tracking ( ) ;
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}
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/*
* Set tracking channel unique ID
*/
void GpsL1CaDllPllTrackingFpga : : set_channel ( unsigned int channel )
{
channel_ = channel ;
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// UIO device file
std : : string device_io_name ;
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// find the uio device file corresponding to the tracking multicorrelator
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if ( find_uio_dev_file_name ( device_io_name , device_name_ , channel_ - num_prev_assigned_ch_ ) < 0 )
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{
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bool alt_device_found = false ; // alternative compatible HW accelerator device not found by default
// If the HW accelerator is the default one in the L1 band then look for an alternative hardware accelerator
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if ( device_name_ = = default_device_name_GPS_L1 )
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{
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if ( find_uio_dev_file_name ( device_io_name , default_device_name_Galileo_E1 , channel_ - num_prev_assigned_ch_ ) < 0 )
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{
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std : : cout < < " Cannot find the FPGA uio device file corresponding to device names " < < device_name_ < < " or " < < default_device_name_Galileo_E1 < < std : : endl ;
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throw std : : exception ( ) ;
}
else
{
alt_device_found = true ; // alternative compatible HW accelerator device has been found
}
}
if ( ! alt_device_found )
{
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std : : cout < < " Cannot find the FPGA uio device file corresponding to device name " < < device_name_ < < std : : endl ;
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throw std : : exception ( ) ;
}
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}
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tracking_fpga_sc_sptr_ - > set_channel ( channel_ , device_io_name ) ;
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}
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void GpsL1CaDllPllTrackingFpga : : set_gnss_synchro ( Gnss_Synchro * p_gnss_synchro )
{
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tracking_fpga_sc_sptr_ - > set_gnss_synchro ( p_gnss_synchro ) ;
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}
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void GpsL1CaDllPllTrackingFpga : : connect ( gr : : top_block_sptr top_block )
{
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if ( top_block )
{ /* top_block is not null */
} ;
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// nothing to connect
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}
void GpsL1CaDllPllTrackingFpga : : disconnect ( gr : : top_block_sptr top_block )
{
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if ( top_block )
{ /* top_block is not null */
} ;
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// nothing to disconnect
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}
gr : : basic_block_sptr GpsL1CaDllPllTrackingFpga : : get_left_block ( )
{
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return tracking_fpga_sc_sptr_ ;
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}
gr : : basic_block_sptr GpsL1CaDllPllTrackingFpga : : get_right_block ( )
{
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return tracking_fpga_sc_sptr_ ;
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}