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Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into release_0010

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Carles Fernandez 2018-12-11 00:12:18 +01:00
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101 changed files with 1149 additions and 447 deletions
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4
.clang-format
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@ -51,9 +51,9 @@ IncludeBlocks: Merge
IncludeCategories:
- Regex: '^.*.h"'
Priority: 1
- Regex: '^.*(boost|gflags|glog|gtest|gnuradio|volk|gnsssdr)/'
- Regex: '^.*(boost|gflags|glog|gnsssdr|gpstk|gtest|gnuradio|pmt|uhd|volk)/'
Priority: 2
- Regex: '^.*(armadillo|matio)'
- Regex: '^.*(armadillo|matio|pugixml)'
Priority: 2
- Regex: '.*'
Priority: 3

2
.clang-tidy
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@ -1,3 +1,3 @@
---
Checks: '-*,boost-use-to-string,cert-dcl21-cpp,cert-dcl58-cpp,cert-env33-c,cert-err52-cpp,cert-err60-cpp,cert-flp30-c,clang-analyzer-cplusplus*,cppcoreguidelines-pro-type-static-cast-downcast,cppcoreguidelines-slicing,google-build-namespaces,google-runtime-int,google-runtime-references,llvm-header-guard,misc-misplaced-const,misc-new-delete-overloads,misc-non-copyable-objects,misc-static-assert,misc-throw-by-value-catch-by-reference,misc-uniqueptr-reset-release,modernize-deprecated-headers,modernize-loop-convert,modernize-pass-by-value,modernize-raw-string-literal,modernize-use-auto,modernize-use-equals-default,modernize-use-equals-delete,modernize-use-noexcept,modernize-use-nullptr,modernize-use-using,performance-faster-string-find,performance-move-const-arg,readability-named-parameter,readability-string-compare'
Checks: '-*,boost-use-to-string,cert-dcl21-cpp,cert-dcl58-cpp,cert-env33-c,cert-err52-cpp,cert-err60-cpp,cert-flp30-c,clang-analyzer-cplusplus*,cppcoreguidelines-pro-type-static-cast-downcast,cppcoreguidelines-slicing,google-build-namespaces,google-runtime-int,google-runtime-references,llvm-header-guard,misc-misplaced-const,misc-new-delete-overloads,misc-non-copyable-objects,misc-static-assert,misc-throw-by-value-catch-by-reference,misc-uniqueptr-reset-release,modernize-deprecated-headers,modernize-loop-convert,modernize-pass-by-value,modernize-raw-string-literal,modernize-use-auto,modernize-use-equals-default,modernize-use-equals-delete,modernize-use-noexcept,modernize-use-nullptr,modernize-use-using,performance-faster-string-find,performance-move-const-arg,performance-type-promotion-in-math-fn,performance-unnecessary-copy-initialization,performance-unnecessary-value-param,readability-named-parameter,readability-string-compare'
HeaderFilterRegex: '.*'

3
src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.h
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@ -131,6 +131,9 @@ public:
void set_state(int state __attribute__((unused))) override{};
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
ConfigurationInterface* configuration_;
galileo_pcps_8ms_acquisition_cc_sptr acquisition_cc_;

110
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.cc
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@ -50,7 +50,6 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
in_streams_(in_streams),
out_streams_(out_streams)
{
Acq_Conf acq_parameters;
configuration_ = configuration;
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./acquisition.mat";
@ -61,41 +60,67 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in_;
acq_parameters.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / Galileo_E1_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters.fs_in)));
acq_parameters_.fs_in = fs_in_;
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
acq_parameters.doppler_max = doppler_max_;
acq_parameters.ms_per_code = 4;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", acq_parameters.ms_per_code);
acq_parameters.sampled_ms = sampled_ms_;
if ((acq_parameters.sampled_ms % acq_parameters.ms_per_code) != 0)
acq_parameters_.doppler_max = doppler_max_;
acq_parameters_.ms_per_code = 4;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", acq_parameters_.ms_per_code);
acq_parameters_.sampled_ms = sampled_ms_;
if ((acq_parameters_.sampled_ms % acq_parameters_.ms_per_code) != 0)
{
LOG(WARNING) << "Parameter coherent_integration_time_ms should be a multiple of 4. Setting it to 4";
acq_parameters.sampled_ms = acq_parameters.ms_per_code;
acq_parameters_.sampled_ms = acq_parameters_.ms_per_code;
}
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
acq_parameters.bit_transition_flag = bit_transition_flag_;
acq_parameters_.bit_transition_flag = bit_transition_flag_;
use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
acq_parameters.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
acq_parameters_.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
acquire_pilot_ = configuration_->property(role + ".acquire_pilot", false); //will be true in future versions
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
acq_parameters.max_dwells = max_dwells_;
acq_parameters_.max_dwells = max_dwells_;
dump_ = configuration_->property(role + ".dump", false);
acq_parameters.dump = dump_;
acq_parameters.dump_channel = configuration_->property(role + ".dump_channel", 0);
acq_parameters_.dump = dump_;
acq_parameters_.dump_channel = configuration_->property(role + ".dump_channel", 0);
blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters.blocking = blocking_;
acq_parameters_.blocking = blocking_;
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
acq_parameters.dump_filename = dump_filename_;
//--- Find number of samples per spreading code (4 ms) -----------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)));
acq_parameters_.dump_filename = dump_filename_;
float samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters.samples_per_ms = samples_per_ms;
acq_parameters.samples_per_code = acq_parameters.samples_per_ms * static_cast<float>(Galileo_E1_CODE_PERIOD_MS);
vector_length_ = sampled_ms_ * samples_per_ms;
acq_parameters_.use_automatic_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
if (acq_parameters_.use_automatic_resampler == true and item_type_ != "gr_complex")
{
LOG(WARNING) << "Galileo E1 acqisition disabled the automatic resampler feature because its item_type is not set to gr_complex";
acq_parameters_.use_automatic_resampler = false;
}
if (acq_parameters_.use_automatic_resampler)
{
if (acq_parameters_.fs_in > Galileo_E1_OPT_ACQ_FS_HZ)
{
acq_parameters_.resampler_ratio = floor(static_cast<float>(acq_parameters_.fs_in) / Galileo_E1_OPT_ACQ_FS_HZ);
uint32_t decimation = acq_parameters_.fs_in / Galileo_E1_OPT_ACQ_FS_HZ;
while (acq_parameters_.fs_in % decimation > 0)
{
decimation--;
};
acq_parameters_.resampler_ratio = decimation;
acq_parameters_.resampled_fs = acq_parameters_.fs_in / static_cast<int>(acq_parameters_.resampler_ratio);
}
//--- Find number of samples per spreading code (4 ms) -----------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(acq_parameters_.resampled_fs) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / Galileo_E1_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters_.resampled_fs)));
}
else
{
//--- Find number of samples per spreading code (4 ms) -----------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / Galileo_E1_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters_.fs_in)));
}
acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(Galileo_E1_CODE_PERIOD_MS);
vector_length_ = sampled_ms_ * acq_parameters_.samples_per_ms;
if (bit_transition_flag_)
{
vector_length_ *= 2;
@ -111,12 +136,12 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
{
item_size_ = sizeof(gr_complex);
}
acq_parameters.it_size = item_size_;
acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acq_parameters.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
acquisition_ = pcps_make_acquisition(acq_parameters);
acq_parameters_.it_size = item_size_;
acq_parameters_.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters_.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters_.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acq_parameters_.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
acquisition_ = pcps_make_acquisition(acq_parameters_);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
if (item_type_ == "cbyte")
@ -227,13 +252,29 @@ void GalileoE1PcpsAmbiguousAcquisition::set_local_code()
{
//set local signal generator to Galileo E1 pilot component (1C)
char pilot_signal[3] = "1C";
galileo_e1_code_gen_complex_sampled(code, pilot_signal,
cboc, gnss_synchro_->PRN, fs_in_, 0, false);
if (acq_parameters_.use_automatic_resampler)
{
galileo_e1_code_gen_complex_sampled(code, pilot_signal,
cboc, gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0, false);
}
else
{
galileo_e1_code_gen_complex_sampled(code, pilot_signal,
cboc, gnss_synchro_->PRN, fs_in_, 0, false);
}
}
else
{
galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
cboc, gnss_synchro_->PRN, fs_in_, 0, false);
if (acq_parameters_.use_automatic_resampler)
{
galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
cboc, gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0, false);
}
else
{
galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
cboc, gnss_synchro_->PRN, fs_in_, 0, false);
}
}
@ -352,3 +393,8 @@ gr::basic_block_sptr GalileoE1PcpsAmbiguousAcquisition::get_right_block()
{
return acquisition_;
}
void GalileoE1PcpsAmbiguousAcquisition::set_resampler_latency(uint32_t latency_samples)
{
acquisition_->set_resampler_latency(latency_samples);
}

9
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.h
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@ -32,6 +32,7 @@
#ifndef GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_H_
#define GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_H_
#include "acq_conf.h"
#include "acquisition_interface.h"
#include "complex_byte_to_float_x2.h"
#include "gnss_synchro.h"
@ -137,8 +138,16 @@ public:
*/
void stop_acquisition() override;
/*!
* \brief Sets the resampler latency to account it in the acquisition code delay estimation
*/
void set_resampler_latency(uint32_t latency_samples) override;
private:
ConfigurationInterface* configuration_;
Acq_Conf acq_parameters_;
pcps_acquisition_sptr acquisition_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;

10
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc
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@ -89,7 +89,7 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
// dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
// acq_parameters.dump_filename = dump_filename_;
//--- Find number of samples per spreading code (4 ms) -----------------
unsigned int code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)));
auto code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)));
//acq_parameters.samples_per_code = code_length_;
//int samples_per_ms = static_cast<int>(std::round(static_cast<double>(fs_in_) * 0.001));
//acq_parameters.samples_per_ms = samples_per_ms;
@ -120,9 +120,9 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
// compute all the GALILEO E1 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
// a channel is assigned)
gr::fft::fft_complex* fft_if = new gr::fft::fft_complex(nsamples_total, true); // Direct FFT
std::complex<float>* code = new std::complex<float>[nsamples_total]; // buffer for the local code
gr_complex* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
auto* fft_if = new gr::fft::fft_complex(nsamples_total, true); // Direct FFT
auto* code = new std::complex<float>[nsamples_total]; // buffer for the local code
auto* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_all_fft_codes_ = new lv_16sc_t[nsamples_total * Galileo_E1_NUMBER_OF_CODES]; // memory containing all the possible fft codes for PRN 0 to 32
float max; // temporary maxima search
@ -174,7 +174,7 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
// // fill in zero padding
for (int s = code_length; s < nsamples_total; s++)
{
code[s] = std::complex<float>(static_cast<float>(0, 0));
code[s] = std::complex<float>(0.0, 0.0);
//code[s] = 0;
}

2
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.h
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@ -142,6 +142,8 @@ public:
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
ConfigurationInterface* configuration_;
//pcps_acquisition_sptr acquisition_;

2
src/algorithms/acquisition/adapters/galileo_e1_pcps_cccwsr_ambiguous_acquisition.h
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@ -131,6 +131,8 @@ public:
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
ConfigurationInterface* configuration_;
pcps_cccwsr_acquisition_cc_sptr acquisition_cc_;

2
src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.h
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@ -135,6 +135,8 @@ public:
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
ConfigurationInterface* configuration_;
pcps_quicksync_acquisition_cc_sptr acquisition_cc_;

2
src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.h
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@ -134,6 +134,8 @@ public:
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
ConfigurationInterface* configuration_;
pcps_tong_acquisition_cc_sptr acquisition_cc_;

2
src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.h
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@ -137,6 +137,8 @@ public:
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
ConfigurationInterface* configuration_;
galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr acquisition_cc_;

89
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.cc
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@ -49,7 +49,6 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
in_streams_(in_streams),
out_streams_(out_streams)
{
Acq_Conf acq_parameters = Acq_Conf();
configuration_ = configuration;
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./acquisition.mat";
@ -60,8 +59,7 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 32000000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in_;
acq_parameters.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / Galileo_E5a_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters.fs_in)));
acq_parameters_.fs_in = fs_in_;
acq_pilot_ = configuration_->property(role + ".acquire_pilot", false);
acq_iq_ = configuration_->property(role + ".acquire_iq", false);
if (acq_iq_)
@ -69,22 +67,58 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
acq_pilot_ = false;
}
dump_ = configuration_->property(role + ".dump", false);
acq_parameters.dump = dump_;
acq_parameters.dump_channel = configuration_->property(role + ".dump_channel", 0);
acq_parameters_.dump = dump_;
acq_parameters_.dump_channel = configuration_->property(role + ".dump_channel", 0);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
acq_parameters.doppler_max = doppler_max_;
acq_parameters_.doppler_max = doppler_max_;
sampled_ms_ = 1;
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
acq_parameters.max_dwells = max_dwells_;
acq_parameters_.max_dwells = max_dwells_;
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
acq_parameters.dump_filename = dump_filename_;
acq_parameters_.dump_filename = dump_filename_;
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
acq_parameters.bit_transition_flag = bit_transition_flag_;
acq_parameters_.bit_transition_flag = bit_transition_flag_;
use_CFAR_ = configuration_->property(role + ".use_CFAR_algorithm", false);
acq_parameters.use_CFAR_algorithm_flag = use_CFAR_;
acq_parameters_.use_CFAR_algorithm_flag = use_CFAR_;
blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters.blocking = blocking_;
acq_parameters_.blocking = blocking_;
acq_parameters_.use_automatic_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
if (acq_parameters_.use_automatic_resampler == true and item_type_ != "gr_complex")
{
LOG(WARNING) << "Galileo E5a acquisition disabled the automatic resampler feature because its item_type is not set to gr_complex";
acq_parameters_.use_automatic_resampler = false;
}
if (acq_parameters_.use_automatic_resampler)
{
if (acq_parameters_.fs_in > Galileo_E5a_OPT_ACQ_FS_HZ)
{
acq_parameters_.resampler_ratio = floor(static_cast<float>(acq_parameters_.fs_in) / Galileo_E5a_OPT_ACQ_FS_HZ);
uint32_t decimation = acq_parameters_.fs_in / Galileo_E5a_OPT_ACQ_FS_HZ;
while (acq_parameters_.fs_in % decimation > 0)
{
decimation--;
};
acq_parameters_.resampler_ratio = decimation;
acq_parameters_.resampled_fs = acq_parameters_.fs_in / static_cast<int>(acq_parameters_.resampler_ratio);
}
//--- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (Galileo_E5a_CODE_CHIP_RATE_HZ / Galileo_E5a_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(acq_parameters_.resampled_fs) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / Galileo_E5a_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters_.resampled_fs)));
}
else
{
acq_parameters_.resampled_fs = fs_in_;
//--- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (Galileo_E5a_CODE_CHIP_RATE_HZ / Galileo_E5a_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / Galileo_E5a_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters_.fs_in)));
}
//--- Find number of samples per spreading code (1ms)-------------------------
code_length_ = static_cast<unsigned int>(std::round(static_cast<double>(fs_in_) / Galileo_E5a_CODE_CHIP_RATE_HZ * static_cast<double>(Galileo_E5a_CODE_LENGTH_CHIPS)));
vector_length_ = code_length_ * sampled_ms_;
@ -104,16 +138,15 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
item_size_ = sizeof(gr_complex);
LOG(WARNING) << item_type_ << " unknown acquisition item type";
}
acq_parameters.it_size = item_size_;
acq_parameters.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters.sampled_ms = sampled_ms_;
acq_parameters.ms_per_code = 1;
acq_parameters.samples_per_code = acq_parameters.samples_per_ms * static_cast<float>(GALILEO_E5a_CODE_PERIOD_MS);
acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acq_parameters.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
acquisition_ = pcps_make_acquisition(acq_parameters);
acq_parameters_.it_size = item_size_;
acq_parameters_.sampled_ms = sampled_ms_;
acq_parameters_.ms_per_code = 1;
acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(GALILEO_E5a_CODE_PERIOD_MS);
acq_parameters_.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters_.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters_.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acq_parameters_.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
acquisition_ = pcps_make_acquisition(acq_parameters_);
channel_ = 0;
threshold_ = 0.0;
@ -224,7 +257,14 @@ void GalileoE5aPcpsAcquisition::set_local_code()
strcpy(signal_, "5I");
}
galileo_e5_a_code_gen_complex_sampled(code, signal_, gnss_synchro_->PRN, fs_in_, 0);
if (acq_parameters_.use_automatic_resampler)
{
galileo_e5_a_code_gen_complex_sampled(code, signal_, gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0);
}
else
{
galileo_e5_a_code_gen_complex_sampled(code, signal_, gnss_synchro_->PRN, fs_in_, 0);
}
for (unsigned int i = 0; i < sampled_ms_; i++)
{
@ -311,3 +351,8 @@ gr::basic_block_sptr GalileoE5aPcpsAcquisition::get_right_block()
{
return acquisition_;
}
void GalileoE5aPcpsAcquisition::set_resampler_latency(uint32_t latency_samples)
{
acquisition_->set_resampler_latency(latency_samples);
}

8
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.h
View File

@ -128,13 +128,19 @@ public:
*/
void stop_acquisition() override;
/*!
* \brief Sets the resampler latency to account it in the acquisition code delay estimation
*/
void set_resampler_latency(uint32_t latency_samples) override;
private:
float calculate_threshold(float pfa);
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;
Acq_Conf acq_parameters_;
size_t item_size_;
std::string item_type_;

10
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc
View File

@ -89,7 +89,7 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
acq_pilot_ = false;
}
unsigned int code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / Galileo_E5a_CODE_CHIP_RATE_HZ * static_cast<double>(Galileo_E5a_CODE_LENGTH_CHIPS)));
auto code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / Galileo_E5a_CODE_CHIP_RATE_HZ * static_cast<double>(Galileo_E5a_CODE_LENGTH_CHIPS)));
acq_parameters.code_length = code_length;
// The FPGA can only use FFT lengths that are a power of two.
float nbits = ceilf(log2f((float)code_length));
@ -108,9 +108,9 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
// compute all the GALILEO E5 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
// a channel is assigned)
gr::fft::fft_complex* fft_if = new gr::fft::fft_complex(nsamples_total, true); // Direct FFT
std::complex<float>* code = new std::complex<float>[nsamples_total]; // buffer for the local code
gr_complex* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
auto* fft_if = new gr::fft::fft_complex(nsamples_total, true); // Direct FFT
auto* code = new std::complex<float>[nsamples_total]; // buffer for the local code
auto* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_all_fft_codes_ = new lv_16sc_t[nsamples_total * Galileo_E5a_NUMBER_OF_CODES]; // memory containing all the possible fft codes for PRN 0 to 32
float max; // temporary maxima search
@ -141,7 +141,7 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
// fill in zero padding
for (int s = code_length; s < nsamples_total; s++)
{
code[s] = std::complex<float>(static_cast<float>(0, 0));
code[s] = std::complex<float>(0.0, 0.0);
//code[s] = 0;
}

2
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.h
View File

@ -130,6 +130,8 @@ public:
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
//float calculate_threshold(float pfa);

2
src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
View File

@ -137,6 +137,8 @@ public:
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;

2
src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.h
View File

@ -136,6 +136,8 @@ public:
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;

90
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc
View File

@ -54,7 +54,6 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
in_streams_(in_streams),
out_streams_(out_streams)
{
Acq_Conf acq_parameters = Acq_Conf();
configuration_ = configuration;
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./acquisition.mat";
@ -64,36 +63,64 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
item_type_ = configuration_->property(role + ".item_type", default_item_type);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in_;
acq_parameters.samples_per_chip = static_cast<unsigned int>(ceil(GPS_L1_CA_CHIP_PERIOD * static_cast<float>(acq_parameters.fs_in)));
acq_parameters_.fs_in = fs_in_;
dump_ = configuration_->property(role + ".dump", false);
acq_parameters.dump = dump_;
acq_parameters.dump_channel = configuration_->property(role + ".dump_channel", 0);
acq_parameters_.dump = dump_;
acq_parameters_.dump_channel = configuration_->property(role + ".dump_channel", 0);
blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters.blocking = blocking_;
acq_parameters_.blocking = blocking_;
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
acq_parameters.doppler_max = doppler_max_;
acq_parameters_.doppler_max = doppler_max_;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
acq_parameters.sampled_ms = sampled_ms_;
acq_parameters.ms_per_code = 1;
acq_parameters_.sampled_ms = sampled_ms_;
acq_parameters_.ms_per_code = 1;
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
acq_parameters.bit_transition_flag = bit_transition_flag_;
acq_parameters_.bit_transition_flag = bit_transition_flag_;
use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
acq_parameters.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
acq_parameters_.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
acq_parameters.max_dwells = max_dwells_;
acq_parameters_.max_dwells = max_dwells_;
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
acq_parameters.dump_filename = dump_filename_;
acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
//--- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
acq_parameters.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters.samples_per_code = acq_parameters.samples_per_ms * static_cast<float>(GPS_L1_CA_CODE_PERIOD * 1000.0);
acq_parameters_.dump_filename = dump_filename_;
acq_parameters_.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters_.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters_.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acq_parameters_.use_automatic_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
if (acq_parameters_.use_automatic_resampler == true and item_type_ != "gr_complex")
{
LOG(WARNING) << "GPS L1 CA acquisition disabled the automatic resampler feature because its item_type is not set to gr_complex";
acq_parameters_.use_automatic_resampler = false;
}
if (acq_parameters_.use_automatic_resampler)
{
if (acq_parameters_.fs_in > GPS_L1_CA_OPT_ACQ_FS_HZ)
{
acq_parameters_.resampler_ratio = floor(static_cast<float>(acq_parameters_.fs_in) / GPS_L1_CA_OPT_ACQ_FS_HZ);
uint32_t decimation = acq_parameters_.fs_in / GPS_L1_CA_OPT_ACQ_FS_HZ;
while (acq_parameters_.fs_in % decimation > 0)
{
decimation--;
};
acq_parameters_.resampler_ratio = decimation;
acq_parameters_.resampled_fs = acq_parameters_.fs_in / static_cast<int>(acq_parameters_.resampler_ratio);
}
//--- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(acq_parameters_.resampled_fs) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil(GPS_L1_CA_CHIP_PERIOD * static_cast<float>(acq_parameters_.resampled_fs)));
}
else
{
acq_parameters_.resampled_fs = fs_in_;
//--- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil(GPS_L1_CA_CHIP_PERIOD * static_cast<float>(acq_parameters_.fs_in)));
}
vector_length_ = std::floor(acq_parameters.sampled_ms * acq_parameters.samples_per_ms) * (acq_parameters.bit_transition_flag ? 2 : 1);
acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(GPS_L1_CA_CODE_PERIOD * 1000.0);
vector_length_ = std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2 : 1);
code_ = new gr_complex[vector_length_];
if (item_type_ == "cshort")
@ -105,9 +132,9 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
item_size_ = sizeof(gr_complex);
}
acq_parameters.it_size = item_size_;
acq_parameters.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
acquisition_ = pcps_make_acquisition(acq_parameters);
acq_parameters_.it_size = item_size_;
acq_parameters_.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
acquisition_ = pcps_make_acquisition(acq_parameters_);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
if (item_type_ == "cbyte")
@ -208,8 +235,14 @@ void GpsL1CaPcpsAcquisition::set_local_code()
{
auto* code = new std::complex<float>[code_length_];
gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
if (acq_parameters_.use_automatic_resampler)
{
gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0);
}
else
{
gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
}
for (unsigned int i = 0; i < sampled_ms_; i++)
{
memcpy(&(code_[i * code_length_]), code,
@ -325,3 +358,8 @@ gr::basic_block_sptr GpsL1CaPcpsAcquisition::get_right_block()
{
return acquisition_;
}
void GpsL1CaPcpsAcquisition::set_resampler_latency(uint32_t latency_samples)
{
acquisition_->set_resampler_latency(latency_samples);
}

9
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.h
View File

@ -36,6 +36,7 @@
#ifndef GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_H_
#define GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_H_
#include "acq_conf.h"
#include "acquisition_interface.h"
#include "complex_byte_to_float_x2.h"
#include "gnss_synchro.h"
@ -141,9 +142,17 @@ public:
*/
void stop_acquisition() override;
/*!
* \brief Sets the resampler latency to account it in the acquisition code delay estimation
*/
void set_resampler_latency(uint32_t latency_samples) override;
private:
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;
Acq_Conf acq_parameters_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
size_t item_size_;

2
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.h
View File

@ -132,6 +132,8 @@ public:
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
pcps_acquisition_fine_doppler_cc_sptr acquisition_cc_;
size_t item_size_;

10
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc
View File

@ -74,7 +74,7 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
acq_parameters.doppler_max = doppler_max_;
unsigned int sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 1);
acq_parameters.sampled_ms = sampled_ms;
unsigned int code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
auto code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
acq_parameters.code_length = code_length;
// The FPGA can only use FFT lengths that are a power of two.
float nbits = ceilf(log2f((float)code_length));
@ -90,10 +90,10 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
// compute all the GPS L1 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
// a channel is assigned)
gr::fft::fft_complex* fft_if = new gr::fft::fft_complex(vector_length, true); // Direct FFT
auto* fft_if = new gr::fft::fft_complex(vector_length, true); // Direct FFT
// allocate memory to compute all the PRNs and compute all the possible codes
std::complex<float>* code = new std::complex<float>[nsamples_total]; // buffer for the local code
gr_complex* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
auto* code = new std::complex<float>[nsamples_total]; // buffer for the local code
auto* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_all_fft_codes_ = new lv_16sc_t[nsamples_total * NUM_PRNs]; // memory containing all the possible fft codes for PRN 0 to 32
float max; // temporary maxima search
for (unsigned int PRN = 1; PRN <= NUM_PRNs; PRN++)
@ -102,7 +102,7 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
// fill in zero padding
for (int s = code_length; s < nsamples_total; s++)
{
code[s] = std::complex<float>(static_cast<float>(0, 0));
code[s] = std::complex<float>(0.0, 0.0);
//code[s] = 0;
}
int offset = 0;

2
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h
View File

@ -140,6 +140,8 @@ public:
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
ConfigurationInterface* configuration_;
pcps_acquisition_fpga_sptr acquisition_fpga_;

2
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.h
View File

@ -128,6 +128,8 @@ public:
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
pcps_assisted_acquisition_cc_sptr acquisition_cc_;
size_t item_size_;

2
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_opencl_acquisition.h
View File

@ -130,6 +130,8 @@ public:
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
ConfigurationInterface* configuration_;
pcps_opencl_acquisition_cc_sptr acquisition_cc_;

2
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.h
View File

@ -136,6 +136,8 @@ public:
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
ConfigurationInterface* configuration_;
pcps_quicksync_acquisition_cc_sptr acquisition_cc_;

2
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_tong_acquisition.h
View File

@ -135,6 +135,8 @@ public:
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
ConfigurationInterface* configuration_;
pcps_tong_acquisition_cc_sptr acquisition_cc_;

99
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.cc
View File

@ -52,7 +52,6 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
in_streams_(in_streams),
out_streams_(out_streams)
{
Acq_Conf acq_parameters = Acq_Conf();
configuration_ = configuration;
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./acquisition.mat";
@ -60,42 +59,73 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
LOG(INFO) << "role " << role;
item_type_ = configuration_->property(role + ".item_type", default_item_type);
//float pfa = configuration_->property(role + ".pfa", 0.0);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in_;
acq_parameters.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GPS_L2_M_CODE_RATE_HZ) * static_cast<float>(acq_parameters.fs_in)));
acq_parameters_.fs_in = fs_in_;
dump_ = configuration_->property(role + ".dump", false);
acq_parameters.dump = dump_;
acq_parameters.dump_channel = configuration_->property(role + ".dump_channel", 0);
acq_parameters_.dump = dump_;
acq_parameters_.dump_channel = configuration_->property(role + ".dump_channel", 0);
blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters.blocking = blocking_;
acq_parameters_.blocking = blocking_;
doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
acq_parameters.doppler_max = doppler_max_;
acq_parameters_.doppler_max = doppler_max_;
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
acq_parameters.bit_transition_flag = bit_transition_flag_;
acq_parameters_.bit_transition_flag = bit_transition_flag_;
use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
acq_parameters.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
acq_parameters_.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
acq_parameters.max_dwells = max_dwells_;
acq_parameters_.max_dwells = max_dwells_;
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
acq_parameters.dump_filename = dump_filename_;
//--- Find number of samples per spreading code -------------------------
acq_parameters.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters.ms_per_code = 20;
acq_parameters.sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", acq_parameters.ms_per_code);
if ((acq_parameters.sampled_ms % acq_parameters.ms_per_code) != 0)
acq_parameters_.dump_filename = dump_filename_;
acq_parameters_.ms_per_code = 20;
acq_parameters_.sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", acq_parameters_.ms_per_code);
if ((acq_parameters_.sampled_ms % acq_parameters_.ms_per_code) != 0)
{
LOG(WARNING) << "Parameter coherent_integration_time_ms should be a multiple of 20. Setting it to 20";
acq_parameters.sampled_ms = acq_parameters.ms_per_code;
acq_parameters_.sampled_ms = acq_parameters_.ms_per_code;
}
code_length_ = acq_parameters.ms_per_code * acq_parameters.samples_per_ms;
acq_parameters_.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters_.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters_.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acq_parameters_.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
acq_parameters_.use_automatic_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
if (acq_parameters_.use_automatic_resampler == true and item_type_ != "gr_complex")
{
LOG(WARNING) << "GPS L2CM acquisition disabled the automatic resampler feature because its item_type is not set to gr_complex";
acq_parameters_.use_automatic_resampler = false;
}
if (acq_parameters_.use_automatic_resampler)
{
if (acq_parameters_.fs_in > GPS_L2C_OPT_ACQ_FS_HZ)
{
acq_parameters_.resampler_ratio = floor(static_cast<float>(acq_parameters_.fs_in) / GPS_L2C_OPT_ACQ_FS_HZ);
uint32_t decimation = acq_parameters_.fs_in / GPS_L2C_OPT_ACQ_FS_HZ;
while (acq_parameters_.fs_in % decimation > 0)
{
decimation--;
};
acq_parameters_.resampler_ratio = decimation;
acq_parameters_.resampled_fs = acq_parameters_.fs_in / static_cast<int>(acq_parameters_.resampler_ratio);
}
vector_length_ = acq_parameters.sampled_ms * acq_parameters.samples_per_ms * (acq_parameters.bit_transition_flag ? 2 : 1);
//--- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GPS_L2_M_CODE_RATE_HZ / GPS_L2_M_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(acq_parameters_.resampled_fs) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GPS_L2_M_CODE_RATE_HZ) * static_cast<float>(acq_parameters_.resampled_fs)));
}
else
{
acq_parameters_.resampled_fs = fs_in_;
//--- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (GPS_L2_M_CODE_RATE_HZ / GPS_L2_M_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GPS_L2_M_CODE_RATE_HZ) * static_cast<float>(acq_parameters_.fs_in)));
}
acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(GPS_L2_M_PERIOD * 1000.0);
vector_length_ = acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms * (acq_parameters_.bit_transition_flag ? 2 : 1);
code_ = new gr_complex[vector_length_];
if (item_type_ == "cshort")
@ -107,14 +137,8 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
item_size_ = sizeof(gr_complex);
}
acq_parameters.samples_per_code = acq_parameters.samples_per_ms * static_cast<float>(GPS_L2_M_PERIOD * 1000.0);
acq_parameters.it_size = item_size_;
acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acq_parameters.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
acquisition_ = pcps_make_acquisition(acq_parameters);
acq_parameters_.it_size = item_size_;
acquisition_ = pcps_make_acquisition(acq_parameters_);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
if (item_type_ == "cbyte")
@ -127,7 +151,7 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
num_codes_ = acq_parameters.sampled_ms / acq_parameters.ms_per_code;
num_codes_ = acq_parameters_.sampled_ms / acq_parameters_.ms_per_code;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -223,7 +247,16 @@ void GpsL2MPcpsAcquisition::set_local_code()
{
auto* code = new std::complex<float>[code_length_];
gps_l2c_m_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_);
if (acq_parameters_.use_automatic_resampler)
{
gps_l2c_m_code_gen_complex_sampled(code, gnss_synchro_->PRN, acq_parameters_.resampled_fs);
}
else
{
gps_l2c_m_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_);
}
for (unsigned int i = 0; i < num_codes_; i++)
{
@ -339,3 +372,7 @@ gr::basic_block_sptr GpsL2MPcpsAcquisition::get_right_block()
{
return acquisition_;
}
void GpsL2MPcpsAcquisition::set_resampler_latency(uint32_t latency_samples)
{
acquisition_->set_resampler_latency(latency_samples);
}

8
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.h
View File

@ -139,9 +139,17 @@ public:
*/
void stop_acquisition() override;
/*!
* \brief Sets the resampler latency to account it in the acquisition code delay estimation
*/
void set_resampler_latency(uint32_t latency_samples) override;
private:
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;
Acq_Conf acq_parameters_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
size_t item_size_;

8
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.cc
View File

@ -104,10 +104,10 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
// compute all the GPS L1 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
// a channel is assigned)
gr::fft::fft_complex* fft_if = new gr::fft::fft_complex(vector_length, true); // Direct FFT
auto* fft_if = new gr::fft::fft_complex(vector_length, true); // Direct FFT
// allocate memory to compute all the PRNs and compute all the possible codes
std::complex<float>* code = new std::complex<float>[nsamples_total]; // buffer for the local code
gr_complex* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
auto* code = new std::complex<float>[nsamples_total]; // buffer for the local code
auto* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_all_fft_codes_ = new lv_16sc_t[nsamples_total * NUM_PRNs]; // memory containing all the possible fft codes for PRN 0 to 32
float max; // temporary maxima search
for (unsigned int PRN = 1; PRN <= NUM_PRNs; PRN++)
@ -116,7 +116,7 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
// fill in zero padding
for (int s = code_length; s < nsamples_total; s++)
{
code[s] = std::complex<float>(static_cast<float>(0, 0));
code[s] = std::complex<float>(0.0, 0.0);
//code[s] = 0;
}
memcpy(fft_if->get_inbuf(), code, sizeof(gr_complex) * nsamples_total); // copy to FFT buffer

2
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.h
View File

@ -140,6 +140,8 @@ public:
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
ConfigurationInterface* configuration_;
//pcps_acquisition_sptr acquisition_;

98
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.cc
View File

@ -52,7 +52,6 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
in_streams_(in_streams),
out_streams_(out_streams)
{
Acq_Conf acq_parameters = Acq_Conf();
configuration_ = configuration;
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./acquisition.mat";
@ -63,32 +62,24 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in_;
acq_parameters.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GPS_L5i_CODE_RATE_HZ) * static_cast<float>(acq_parameters.fs_in)));
acq_parameters_.fs_in = fs_in_;
dump_ = configuration_->property(role + ".dump", false);
acq_parameters.dump = dump_;
acq_parameters.dump_channel = configuration_->property(role + ".dump_channel", 0);
acq_parameters_.dump = dump_;
acq_parameters_.dump_channel = configuration_->property(role + ".dump_channel", 0);
blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters.blocking = blocking_;
acq_parameters_.blocking = blocking_;
doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
acq_parameters.doppler_max = doppler_max_;
acq_parameters_.doppler_max = doppler_max_;
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
acq_parameters.bit_transition_flag = bit_transition_flag_;
acq_parameters_.bit_transition_flag = bit_transition_flag_;
use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
acq_parameters.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
acq_parameters_.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
acq_parameters.max_dwells = max_dwells_;
acq_parameters_.max_dwells = max_dwells_;
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
acq_parameters.dump_filename = dump_filename_;
acq_parameters.sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 1);
//--- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (GPS_L5i_CODE_RATE_HZ / GPS_L5i_CODE_LENGTH_CHIPS)));
acq_parameters.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters.samples_per_code = acq_parameters.samples_per_ms * static_cast<float>(GPS_L5i_PERIOD * 1000.0);
vector_length_ = std::floor(acq_parameters.sampled_ms * acq_parameters.samples_per_ms) * (acq_parameters.bit_transition_flag ? 2 : 1);
code_ = new gr_complex[vector_length_];
acq_parameters_.dump_filename = dump_filename_;
acq_parameters_.sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 1);
if (item_type_ == "cshort")
{
@ -99,14 +90,51 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
item_size_ = sizeof(gr_complex);
}
acq_parameters.ms_per_code = 1;
acq_parameters.it_size = item_size_;
num_codes_ = acq_parameters.sampled_ms;
acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acq_parameters.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
acquisition_ = pcps_make_acquisition(acq_parameters);
acq_parameters_.ms_per_code = 1;
acq_parameters_.it_size = item_size_;
num_codes_ = acq_parameters_.sampled_ms;
acq_parameters_.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters_.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters_.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acq_parameters_.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
acq_parameters_.use_automatic_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
if (acq_parameters_.use_automatic_resampler == true and item_type_ != "gr_complex")
{
LOG(WARNING) << "GPS L5 acquisition disabled the automatic resampler feature because its item_type is not set to gr_complex";
acq_parameters_.use_automatic_resampler = false;
}
if (acq_parameters_.use_automatic_resampler)
{
if (acq_parameters_.fs_in > GPS_L5_OPT_ACQ_FS_HZ)
{
acq_parameters_.resampler_ratio = floor(static_cast<float>(acq_parameters_.fs_in) / GPS_L5_OPT_ACQ_FS_HZ);
uint32_t decimation = acq_parameters_.fs_in / GPS_L5_OPT_ACQ_FS_HZ;
while (acq_parameters_.fs_in % decimation > 0)
{
decimation--;
};
acq_parameters_.resampler_ratio = decimation;
acq_parameters_.resampled_fs = acq_parameters_.fs_in / static_cast<int>(acq_parameters_.resampler_ratio);
}
//--- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GPS_L5i_CODE_RATE_HZ / GPS_L5i_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(acq_parameters_.resampled_fs) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GPS_L5i_CODE_RATE_HZ) * static_cast<float>(acq_parameters_.resampled_fs)));
}
else
{
acq_parameters_.resampled_fs = fs_in_;
//--- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (GPS_L5i_CODE_RATE_HZ / GPS_L5i_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GPS_L5i_CODE_RATE_HZ) * static_cast<float>(acq_parameters_.fs_in)));
}
acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(GPS_L5i_PERIOD * 1000.0);
vector_length_ = std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2 : 1);
code_ = new gr_complex[vector_length_];
acquisition_ = pcps_make_acquisition(acq_parameters_);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
if (item_type_ == "cbyte")
@ -114,6 +142,7 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
cbyte_to_float_x2_ = make_complex_byte_to_float_x2();
float_to_complex_ = gr::blocks::float_to_complex::make();
}
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
@ -211,7 +240,15 @@ void GpsL5iPcpsAcquisition::set_local_code()
{
auto* code = new std::complex<float>[code_length_];
gps_l5i_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_);
if (acq_parameters_.use_automatic_resampler)
{
gps_l5i_code_gen_complex_sampled(code, gnss_synchro_->PRN, acq_parameters_.resampled_fs);
}
else
{
gps_l5i_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_);
}
for (unsigned int i = 0; i < num_codes_; i++)
{
@ -327,3 +364,8 @@ gr::basic_block_sptr GpsL5iPcpsAcquisition::get_right_block()
{
return acquisition_;
}
void GpsL5iPcpsAcquisition::set_resampler_latency(uint32_t latency_samples)
{
acquisition_->set_resampler_latency(latency_samples);
}

7
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.h
View File

@ -139,9 +139,16 @@ public:
*/
void stop_acquisition() override;
/*!
* \brief Sets the resampler latency to account it in the acquisition code delay estimation
*/
void set_resampler_latency(uint32_t latency_samples) override;
private:
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;
Acq_Conf acq_parameters_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
size_t item_size_;

10
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc
View File

@ -89,7 +89,7 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
//dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
//acq_parameters.dump_filename = dump_filename_;
//--- Find number of samples per spreading code -------------------------
unsigned int code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / (GPS_L5i_CODE_RATE_HZ / static_cast<double>(GPS_L5i_CODE_LENGTH_CHIPS))));
auto code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / (GPS_L5i_CODE_RATE_HZ / static_cast<double>(GPS_L5i_CODE_LENGTH_CHIPS))));
acq_parameters.code_length = code_length;
// The FPGA can only use FFT lengths that are a power of two.
float nbits = ceilf(log2f((float)code_length));
@ -105,11 +105,11 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
//printf("L5 ACQ CLASS MID 01\n");
// compute all the GPS L5 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
// a channel is assigned)
gr::fft::fft_complex* fft_if = new gr::fft::fft_complex(vector_length, true); // Direct FFT
auto* fft_if = new gr::fft::fft_complex(vector_length, true); // Direct FFT
//printf("L5 ACQ CLASS MID 02\n");
std::complex<float>* code = new gr_complex[vector_length];
auto* code = new gr_complex[vector_length];
//printf("L5 ACQ CLASS MID 03\n");
gr_complex* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
auto* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
//printf("L5 ACQ CLASS MID 04\n");
d_all_fft_codes_ = new lv_16sc_t[nsamples_total * NUM_PRNs]; // memory containing all the possible fft codes for PRN 0 to 32
@ -124,7 +124,7 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
// fill in zero padding
for (int s = code_length; s < nsamples_total; s++)
{
code[s] = std::complex<float>(static_cast<float>(0, 0));
code[s] = std::complex<float>(0.0, 0.0);
//code[s] = 0;
}
memcpy(fft_if->get_inbuf(), code, sizeof(gr_complex) * nsamples_total); // copy to FFT buffer

2
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.h
View File

@ -140,6 +140,8 @@ public:
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
ConfigurationInterface* configuration_;
//pcps_acquisition_sptr acquisition_;

60
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc
View File

@ -221,6 +221,12 @@ pcps_acquisition::~pcps_acquisition()
}
void pcps_acquisition::set_resampler_latency(uint32_t latency_samples)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
acq_parameters.resampler_latency_samples = latency_samples;
}
void pcps_acquisition::set_local_code(std::complex<float>* code)
{
// reset the intermediate frequency
@ -280,7 +286,15 @@ bool pcps_acquisition::is_fdma()
void pcps_acquisition::update_local_carrier(gr_complex* carrier_vector, int32_t correlator_length_samples, float freq)
{
float phase_step_rad = GPS_TWO_PI * freq / static_cast<float>(acq_parameters.fs_in);
float phase_step_rad;
if (acq_parameters.use_automatic_resampler)
{
phase_step_rad = GPS_TWO_PI * freq / static_cast<float>(acq_parameters.resampled_fs);
}
else
{
phase_step_rad = GPS_TWO_PI * freq / static_cast<float>(acq_parameters.fs_in);
}
float _phase[1];
_phase[0] = 0.0;
volk_gnsssdr_s32f_sincos_32fc(carrier_vector, -phase_step_rad, _phase, correlator_length_samples);
@ -716,9 +730,20 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
{
d_test_statistics = first_vs_second_peak_statistic(indext, doppler, d_num_doppler_bins, acq_parameters.doppler_max, d_doppler_step);
}
d_gnss_synchro->Acq_delay_samples = static_cast<double>(std::fmod(static_cast<float>(indext), acq_parameters.samples_per_code));
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
d_gnss_synchro->Acq_samplestamp_samples = samp_count;
if (acq_parameters.use_automatic_resampler)
{
//take into account the acquisition resampler ratio
d_gnss_synchro->Acq_delay_samples = static_cast<double>(std::fmod(static_cast<float>(indext), acq_parameters.samples_per_code)) * acq_parameters.resampler_ratio;
d_gnss_synchro->Acq_delay_samples -= static_cast<double>(acq_parameters.resampler_latency_samples); //account the resampler filter latency
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
d_gnss_synchro->Acq_samplestamp_samples = rint(static_cast<double>(samp_count) * acq_parameters.resampler_ratio);
}
else
{
d_gnss_synchro->Acq_delay_samples = static_cast<double>(std::fmod(static_cast<float>(indext), acq_parameters.samples_per_code));
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
d_gnss_synchro->Acq_samplestamp_samples = samp_count;
}
}
else
{
@ -762,10 +787,23 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
{
d_test_statistics = first_vs_second_peak_statistic(indext, doppler, d_num_doppler_bins_step2, static_cast<int32_t>(d_doppler_center_step_two - (static_cast<float>(d_num_doppler_bins_step2) / 2.0) * acq_parameters.doppler_step2), acq_parameters.doppler_step2);
}
d_gnss_synchro->Acq_delay_samples = static_cast<double>(std::fmod(static_cast<float>(indext), acq_parameters.samples_per_code));
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
d_gnss_synchro->Acq_samplestamp_samples = samp_count;
d_gnss_synchro->Acq_doppler_step = acq_parameters.doppler_step2;
if (acq_parameters.use_automatic_resampler)
{
//take into account the acquisition resampler ratio
d_gnss_synchro->Acq_delay_samples = static_cast<double>(std::fmod(static_cast<float>(indext), acq_parameters.samples_per_code)) * acq_parameters.resampler_ratio;
d_gnss_synchro->Acq_delay_samples -= static_cast<double>(acq_parameters.resampler_latency_samples); //account the resampler filter latency
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
d_gnss_synchro->Acq_samplestamp_samples = rint(static_cast<double>(samp_count) * acq_parameters.resampler_ratio);
d_gnss_synchro->Acq_doppler_step = acq_parameters.doppler_step2;
}
else
{
d_gnss_synchro->Acq_delay_samples = static_cast<double>(std::fmod(static_cast<float>(indext), acq_parameters.samples_per_code));
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
d_gnss_synchro->Acq_samplestamp_samples = samp_count;
d_gnss_synchro->Acq_doppler_step = acq_parameters.doppler_step2;
}
}
lk.lock();
@ -865,6 +903,12 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
}
}
// Called by gnuradio to enable drivers, etc for i/o devices.
bool pcps_acquisition::start()
{
d_sample_counter = 0ULL;
return true;
}
int pcps_acquisition::general_work(int noutput_items __attribute__((unused)),
gr_vector_int& ninput_items, gr_vector_const_void_star& input_items,

6
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h
View File

@ -98,6 +98,9 @@ private:
float first_vs_second_peak_statistic(uint32_t& indext, int32_t& doppler, uint32_t num_doppler_bins, int32_t doppler_max, int32_t doppler_step);
float max_to_input_power_statistic(uint32_t& indext, int32_t& doppler, float input_power, uint32_t num_doppler_bins, int32_t doppler_max, int32_t doppler_step);
bool start();
Acq_Conf acq_parameters;
bool d_active;
bool d_worker_active;
@ -233,6 +236,9 @@ public:
d_doppler_step = doppler_step;
}
void set_resampler_latency(uint32_t latency_samples);
/*!
* \brief Parallel Code Phase Search Acquisition signal processing.
*/

9
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.cc
View File

@ -42,6 +42,7 @@
#include "pcps_acquisition_fpga.h"
#include <glog/logging.h>
#include <gnuradio/io_signature.h>
#include <utility>
#define AQ_DOWNSAMPLING_DELAY 40 // delay due to the downsampling filter in the acquisition
@ -50,7 +51,7 @@ using google::LogMessage;
pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_)
{
return pcps_acquisition_fpga_sptr(new pcps_acquisition_fpga(conf_));
return pcps_acquisition_fpga_sptr(new pcps_acquisition_fpga(std::move(conf_)));
}
@ -61,7 +62,7 @@ pcps_acquisition_fpga::pcps_acquisition_fpga(pcpsconf_fpga_t conf_) : gr::block(
// printf("acq constructor start\n");
this->message_port_register_out(pmt::mp("events"));
acq_parameters = conf_;
acq_parameters = std::move(conf_);
d_sample_counter = 0ULL; // SAMPLE COUNTER
d_active = false;
d_state = 0;
@ -74,7 +75,7 @@ pcps_acquisition_fpga::pcps_acquisition_fpga(pcpsconf_fpga_t conf_) : gr::block(
d_doppler_step = 0U;
d_test_statistics = 0.0;
d_channel = 0U;
d_gnss_synchro = 0;
d_gnss_synchro = nullptr;
//printf("zzzz acq_parameters.code_length = %d\n", acq_parameters.code_length);
//printf("zzzz acq_parameters.samples_per_ms = %d\n", acq_parameters.samples_per_ms);
@ -256,7 +257,7 @@ void pcps_acquisition_fpga::set_active(bool active)
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter;
d_test_statistics = (d_mag / d_input_power); //* correction_factor;
d_test_statistics = (d_mag / d_input_power); // correction_factor;
}
// In the case of the FPGA the option of dumping the results of the acquisition to a file is not available

4
src/algorithms/acquisition/libs/acq_conf.cc
View File

@ -53,4 +53,8 @@ Acq_Conf::Acq_Conf()
dump_channel = 0U;
it_size = sizeof(char);
blocking_on_standby = false;
use_automatic_resampler = false;
resampler_ratio = 1.0;
resampled_fs = 0LL;
resampler_latency_samples = 0U;
}

4
src/algorithms/acquisition/libs/acq_conf.h
View File

@ -56,6 +56,10 @@ public:
bool blocking;
bool blocking_on_standby; // enable it only for unit testing to avoid sample consume on idle status
bool make_2_steps;
bool use_automatic_resampler;
float resampler_ratio;
int64_t resampled_fs;
uint32_t resampler_latency_samples;
std::string dump_filename;
uint32_t dump_channel;
size_t it_size;

9
src/algorithms/acquisition/libs/fpga_acquisition.cc
View File

@ -40,6 +40,7 @@
#include <fcntl.h> // libraries used by the GIPO
#include <iostream>
#include <sys/mman.h> // libraries used by the GIPO
#include <utility>
#define PAGE_SIZE 0x10000 // default page size for the multicorrelator memory map
@ -102,7 +103,7 @@ fpga_acquisition::fpga_acquisition(std::string device_name,
//printf("AAA- vector_length = %d\n ", vector_length);
// initial values
d_device_name = device_name;
d_device_name = std::move(device_name);
//d_freq = freq;
d_fs_in = fs_in;
d_vector_length = vector_length;
@ -121,7 +122,7 @@ fpga_acquisition::fpga_acquisition(std::string device_name,
LOG(WARNING) << "Cannot open deviceio" << d_device_name;
std::cout << "Acq: cannot open deviceio" << d_device_name << std::endl;
}
d_map_base = reinterpret_cast<volatile uint32_t *>(mmap(NULL, PAGE_SIZE,
d_map_base = reinterpret_cast<volatile uint32_t *>(mmap(nullptr, PAGE_SIZE,
PROT_READ | PROT_WRITE, MAP_SHARED, d_fd, 0));
if (d_map_base == reinterpret_cast<void *>(-1))
@ -234,7 +235,7 @@ void fpga_acquisition::set_doppler_sweep(uint32_t num_sweeps)
float phase_step_rad_int_temp;
int32_t phase_step_rad_int;
//int32_t doppler = static_cast<int32_t>(-d_doppler_max) + d_doppler_step * doppler_index;
int32_t doppler = static_cast<int32_t>(-d_doppler_max);
auto doppler = static_cast<int32_t>(-d_doppler_max);
//float phase_step_rad = GPS_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in);
float phase_step_rad = GPS_TWO_PI * (doppler) / static_cast<float>(d_fs_in);
// The doppler step can never be outside the range -pi to +pi, otherwise there would be aliasing
@ -408,7 +409,7 @@ void fpga_acquisition::unblock_samples()
void fpga_acquisition::close_device()
{
uint32_t *aux = const_cast<uint32_t *>(d_map_base);
auto *aux = const_cast<uint32_t *>(d_map_base);
if (munmap(static_cast<void *>(aux), PAGE_SIZE) == -1)
{
printf("Failed to unmap memory uio\n");

42
src/algorithms/channel/adapters/channel.cc
View File

@ -38,12 +38,10 @@
using google::LogMessage;
// Constructor
Channel::Channel(ConfigurationInterface* configuration, uint32_t channel,
std::shared_ptr<GNSSBlockInterface> pass_through, std::shared_ptr<AcquisitionInterface> acq,
Channel::Channel(ConfigurationInterface* configuration, uint32_t channel, std::shared_ptr<AcquisitionInterface> acq,
std::shared_ptr<TrackingInterface> trk, std::shared_ptr<TelemetryDecoderInterface> nav,
std::string role, std::string implementation, gr::msg_queue::sptr queue)
{
pass_through_ = std::move(pass_through);
acq_ = std::move(acq);
trk_ = std::move(trk);
nav_ = std::move(nav);
@ -112,32 +110,15 @@ Channel::~Channel() = default;
void Channel::connect(gr::top_block_sptr top_block)
{
if (connected_)
{
LOG(WARNING) << "channel already connected internally";
return;
}
if (flag_enable_fpga == false)
{
pass_through_->connect(top_block);
}
acq_->connect(top_block);
trk_->connect(top_block);
nav_->connect(top_block);
//Synchronous ports
if (flag_enable_fpga == false)
{
top_block->connect(pass_through_->get_right_block(), 0, acq_->get_left_block(), 0);
DLOG(INFO) << "pass_through_ -> acquisition";
top_block->connect(pass_through_->get_right_block(), 0, trk_->get_left_block(), 0);
DLOG(INFO) << "pass_through_ -> tracking";
}
top_block->connect(trk_->get_right_block(), 0, nav_->get_left_block(), 0);
DLOG(INFO) << "tracking -> telemetry_decoder";
// Message ports
top_block->msg_connect(acq_->get_right_block(), pmt::mp("events"), channel_msg_rx, pmt::mp("events"));
top_block->msg_connect(trk_->get_right_block(), pmt::mp("events"), channel_msg_rx, pmt::mp("events"));
@ -153,17 +134,8 @@ void Channel::disconnect(gr::top_block_sptr top_block)
return;
}
if (flag_enable_fpga == false)
{
top_block->disconnect(pass_through_->get_right_block(), 0, acq_->get_left_block(), 0);
top_block->disconnect(pass_through_->get_right_block(), 0, trk_->get_left_block(), 0);
}
top_block->disconnect(trk_->get_right_block(), 0, nav_->get_left_block(), 0);
if (flag_enable_fpga == false)
{
pass_through_->disconnect(top_block);
}
acq_->disconnect(top_block);
trk_->disconnect(top_block);
nav_->disconnect(top_block);
@ -173,9 +145,19 @@ void Channel::disconnect(gr::top_block_sptr top_block)
gr::basic_block_sptr Channel::get_left_block()
{
return pass_through_->get_left_block();
LOG(ERROR) << "Deprecated call to get_left_block() in channel interface";
return nullptr;
}
gr::basic_block_sptr Channel::get_left_block_trk()
{
return trk_->get_left_block();
}
gr::basic_block_sptr Channel::get_left_block_acq()
{
return acq_->get_left_block();
}
gr::basic_block_sptr Channel::get_right_block()
{

10
src/algorithms/channel/adapters/channel.h
View File

@ -60,16 +60,17 @@ class Channel : public ChannelInterface
{
public:
//! Constructor
Channel(ConfigurationInterface* configuration, uint32_t channel,
std::shared_ptr<GNSSBlockInterface> pass_through, std::shared_ptr<AcquisitionInterface> acq,
Channel(ConfigurationInterface* configuration, uint32_t channel, std::shared_ptr<AcquisitionInterface> acq,
std::shared_ptr<TrackingInterface> trk, std::shared_ptr<TelemetryDecoderInterface> nav,
std::string role, std::string implementation, gr::msg_queue::sptr queue);
//! Virtual destructor
virtual ~Channel();
void connect(gr::top_block_sptr top_block) override;
void connect(gr::top_block_sptr top_block) override; //!< connects the tracking block to the top_block and to the telemetry
void disconnect(gr::top_block_sptr top_block) override;
gr::basic_block_sptr get_left_block() override;
gr::basic_block_sptr get_left_block() override; //!< gets the gnuradio tracking block pointer
gr::basic_block_sptr get_left_block_trk() override; //!< gets the gnuradio tracking block pointer
gr::basic_block_sptr get_left_block_acq() override; //!< gets the gnuradio tracking block pointer
gr::basic_block_sptr get_right_block() override;
inline std::string role() override { return role_; }
@ -88,7 +89,6 @@ public:
private:
channel_msg_receiver_cc_sptr channel_msg_rx;
std::shared_ptr<GNSSBlockInterface> pass_through_;
std::shared_ptr<AcquisitionInterface> acq_;
std::shared_ptr<TrackingInterface> trk_;
std::shared_ptr<TelemetryDecoderInterface> nav_;

8
src/algorithms/libs/gnss_sdr_fpga_sample_counter.cc
View File

@ -33,9 +33,9 @@
#include "gnss_synchro.h"
#include <glog/logging.h>
#include <gnuradio/io_signature.h>
#include <cinttypes>
#include <cmath>
#include <fcntl.h> // libraries used by the GIPO
#include <inttypes.h>
#include <iostream>
#include <string>
#include <sys/mman.h> // libraries used by the GIPO
@ -129,7 +129,7 @@ int gnss_sdr_fpga_sample_counter::general_work(int noutput_items __attribute__((
// variable number).
sample_counter = sample_counter + samples_passed; //samples_per_output;
Gnss_Synchro *out = reinterpret_cast<Gnss_Synchro *>(output_items[0]);
auto *out = reinterpret_cast<Gnss_Synchro *>(output_items[0]);
out[0] = Gnss_Synchro();
out[0].Flag_valid_symbol_output = false;
out[0].Flag_valid_word = false;
@ -236,7 +236,7 @@ void gnss_sdr_fpga_sample_counter::open_device()
LOG(WARNING) << "Cannot open deviceio" << device_name;
std::cout << "Counter-Intr: cannot open deviceio" << device_name << std::endl;
}
map_base = reinterpret_cast<volatile uint32_t *>(mmap(NULL, PAGE_SIZE,
map_base = reinterpret_cast<volatile uint32_t *>(mmap(nullptr, PAGE_SIZE,
PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0));
if (map_base == reinterpret_cast<void *>(-1))
@ -265,7 +265,7 @@ void gnss_sdr_fpga_sample_counter::close_device()
//printf("=========================================== NOW closing device ...\n");
map_base[2] = 0; // disable the generation of the interrupt in the device
uint32_t *aux = const_cast<uint32_t *>(map_base);
auto *aux = const_cast<uint32_t *>(map_base);
if (munmap(static_cast<void *>(aux), PAGE_SIZE) == -1)
{
printf("Failed to unmap memory uio\n");

4
src/algorithms/libs/gnss_sdr_time_counter.cc
View File

@ -63,8 +63,8 @@ gnss_sdr_time_counter_sptr gnss_sdr_make_time_counter()
int gnss_sdr_time_counter::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items __attribute__((unused)), gr_vector_void_star &output_items)
{
Gnss_Synchro *out = reinterpret_cast<Gnss_Synchro *>(output_items[0]);
const Gnss_Synchro *in = reinterpret_cast<const Gnss_Synchro *>(input_items[0]);
auto *out = reinterpret_cast<Gnss_Synchro *>(output_items[0]);
const auto *in = reinterpret_cast<const Gnss_Synchro *>(input_items[0]);
out[0] = in[0];
if ((current_T_rx_ms % report_interval_ms) == 0)
{

2
src/algorithms/resampler/adapters/mmse_resampler_conditioner.cc
View File

@ -69,7 +69,7 @@ MmseResamplerConditioner::MmseResamplerConditioner(
std::vector<float> taps = gr::filter::firdes::low_pass(1.0,
sample_freq_in_,
sample_freq_out_ / 2.1,
sample_freq_out_ / 10,
sample_freq_out_ / 5,
gr::filter::firdes::win_type::WIN_HAMMING);
std::cout << "Enabled fractional resampler low pass filter with " << taps.size() << " taps" << std::endl;
fir_filter_ccf_ = gr::filter::fir_filter_ccf::make(1, taps);

5
src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.cc
View File

@ -38,6 +38,7 @@
#include <glog/logging.h>
#include <exception>
#include <iostream> // for cout, endl
#include <utility>
#ifdef __APPLE__
#include <iio/iio.h>
@ -46,8 +47,8 @@
#endif
Ad9361FpgaSignalSource::Ad9361FpgaSignalSource(ConfigurationInterface* configuration,
std::string role, unsigned int in_stream, unsigned int out_stream,
boost::shared_ptr<gr::msg_queue> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(queue)
const std::string& role, unsigned int in_stream, unsigned int out_stream,
boost::shared_ptr<gr::msg_queue> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(std::move(queue))
{
std::string default_item_type = "gr_complex";
std::string default_dump_file = "./data/signal_source.dat";

2
src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.h
View File

@ -45,7 +45,7 @@ class Ad9361FpgaSignalSource : public GNSSBlockInterface
{
public:
Ad9361FpgaSignalSource(ConfigurationInterface* configuration,
std::string role, unsigned int in_stream,
const std::string& role, unsigned int in_stream,
unsigned int out_stream, boost::shared_ptr<gr::msg_queue> queue);
~Ad9361FpgaSignalSource();

8
src/algorithms/signal_source/adapters/custom_udp_signal_source.cc
View File

@ -36,14 +36,15 @@
#include <boost/format.hpp>
#include <glog/logging.h>
#include <iostream>
#include <utility>
using google::LogMessage;
CustomUDPSignalSource::CustomUDPSignalSource(ConfigurationInterface* configuration,
std::string role, unsigned int in_stream, unsigned int out_stream,
boost::shared_ptr<gr::msg_queue> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(queue)
const std::string& role, unsigned int in_stream, unsigned int out_stream,
boost::shared_ptr<gr::msg_queue> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(std::move(queue))
{
// DUMP PARAMETERS
std::string empty = "";
@ -113,8 +114,7 @@ CustomUDPSignalSource::CustomUDPSignalSource(ConfigurationInterface* configurati
CustomUDPSignalSource::~CustomUDPSignalSource()
{
}
= default;
void CustomUDPSignalSource::connect(gr::top_block_sptr top_block)

2
src/algorithms/signal_source/adapters/custom_udp_signal_source.h
View File

@ -54,7 +54,7 @@ class CustomUDPSignalSource : public GNSSBlockInterface
{
public:
CustomUDPSignalSource(ConfigurationInterface* configuration,
std::string role, unsigned int in_stream,
const std::string& role, unsigned int in_stream,
unsigned int out_stream, boost::shared_ptr<gr::msg_queue> queue);
virtual ~CustomUDPSignalSource();

7
src/algorithms/signal_source/adapters/fmcomms2_signal_source.cc
View File

@ -38,13 +38,14 @@
#include <glog/logging.h>
#include <exception>
#include <iostream>
#include <utility>
using google::LogMessage;
Fmcomms2SignalSource::Fmcomms2SignalSource(ConfigurationInterface* configuration,
std::string role, unsigned int in_stream, unsigned int out_stream,
boost::shared_ptr<gr::msg_queue> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(queue)
const std::string& role, unsigned int in_stream, unsigned int out_stream,
boost::shared_ptr<gr::msg_queue> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(std::move(queue))
{
std::string default_item_type = "gr_complex";
std::string default_dump_file = "./data/signal_source.dat";
@ -85,7 +86,7 @@ Fmcomms2SignalSource::Fmcomms2SignalSource(ConfigurationInterface* configuration
std::cout << "LO frequency : " << freq_ << " Hz" << std::endl;
std::cout << "sample rate: " << sample_rate_ << " Hz" << std::endl;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
if (RF_channels_ == 1)
{

2
src/algorithms/signal_source/adapters/fmcomms2_signal_source.h
View File

@ -46,7 +46,7 @@ class Fmcomms2SignalSource : public GNSSBlockInterface
{
public:
Fmcomms2SignalSource(ConfigurationInterface* configuration,
std::string role, unsigned int in_stream,
const std::string& role, unsigned int in_stream,
unsigned int out_stream, boost::shared_ptr<gr::msg_queue> queue);
virtual ~Fmcomms2SignalSource();

12
src/algorithms/signal_source/adapters/osmosdr_signal_source.cc
View File

@ -37,14 +37,15 @@
#include <glog/logging.h>
#include <gnuradio/blocks/file_sink.h>
#include <iostream>
#include <utility>
using google::LogMessage;
OsmosdrSignalSource::OsmosdrSignalSource(ConfigurationInterface* configuration,
std::string role, unsigned int in_stream, unsigned int out_stream,
boost::shared_ptr<gr::msg_queue> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(queue)
const std::string& role, unsigned int in_stream, unsigned int out_stream,
boost::shared_ptr<gr::msg_queue> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(std::move(queue))
{
// DUMP PARAMETERS
std::string empty = "";
@ -66,11 +67,11 @@ OsmosdrSignalSource::OsmosdrSignalSource(ConfigurationInterface* configuration,
osmosdr_args_ = configuration->property(role + ".osmosdr_args", std::string());
antenna_ = configuration->property(role + ".antenna", empty);
if (item_type_.compare("short") == 0)
if (item_type_ == "short")
{
item_size_ = sizeof(short);
}
else if (item_type_.compare("gr_complex") == 0)
else if (item_type_ == "gr_complex")
{
item_size_ = sizeof(gr_complex);
// 1. Make the driver instance
@ -158,8 +159,7 @@ OsmosdrSignalSource::OsmosdrSignalSource(ConfigurationInterface* configuration,
OsmosdrSignalSource::~OsmosdrSignalSource()
{
}
= default;
void OsmosdrSignalSource::driver_instance()

2
src/algorithms/signal_source/adapters/osmosdr_signal_source.h
View File

@ -52,7 +52,7 @@ class OsmosdrSignalSource : public GNSSBlockInterface
{
public:
OsmosdrSignalSource(ConfigurationInterface* configuration,
std::string role, unsigned int in_stream,
const std::string& role, unsigned int in_stream,
unsigned int out_stream, boost::shared_ptr<gr::msg_queue> queue);
virtual ~OsmosdrSignalSource();

10
src/algorithms/signal_source/adapters/plutosdr_signal_source.cc
View File

@ -34,14 +34,15 @@
#include "gnss_sdr_valve.h"
#include <glog/logging.h>
#include <iostream>
#include <utility>
using google::LogMessage;
PlutosdrSignalSource::PlutosdrSignalSource(ConfigurationInterface* configuration,
std::string role, unsigned int in_stream, unsigned int out_stream,
boost::shared_ptr<gr::msg_queue> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(queue)
const std::string& role, unsigned int in_stream, unsigned int out_stream,
boost::shared_ptr<gr::msg_queue> queue) : role_(role), in_stream_(in_stream), out_stream_(out_stream), queue_(std::move(queue))
{
std::string default_item_type = "gr_complex";
std::string default_dump_file = "./data/signal_source.dat";
@ -63,7 +64,7 @@ PlutosdrSignalSource::PlutosdrSignalSource(ConfigurationInterface* configuration
dump_ = configuration->property(role + ".dump", false);
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_file);
if (item_type_.compare("gr_complex") != 0)
if (item_type_ != "gr_complex")
{
std::cout << "Configuration error: item_type must be gr_complex" << std::endl;
LOG(FATAL) << "Configuration error: item_type must be gr_complex!";
@ -106,8 +107,7 @@ PlutosdrSignalSource::PlutosdrSignalSource(ConfigurationInterface* configuration
PlutosdrSignalSource::~PlutosdrSignalSource()
{
}
= default;
void PlutosdrSignalSource::connect(gr::top_block_sptr top_block)

2
src/algorithms/signal_source/adapters/plutosdr_signal_source.h
View File

@ -48,7 +48,7 @@ class PlutosdrSignalSource : public GNSSBlockInterface
{
public:
PlutosdrSignalSource(ConfigurationInterface* configuration,
std::string role, unsigned int in_stream,
const std::string& role, unsigned int in_stream,
unsigned int out_stream, boost::shared_ptr<gr::msg_queue> queue);
virtual ~PlutosdrSignalSource();

4
src/algorithms/signal_source/adapters/uhd_signal_source.cc
View File

@ -33,10 +33,10 @@
#include "configuration_interface.h"
#include "gnss_sdr_valve.h"
#include <glog/logging.h>
#include <volk/volk.h>
#include <iostream>
#include <uhd/exception.hpp>
#include <uhd/types/device_addr.hpp>
#include <volk/volk.h>
#include <iostream>
#include <utility>

41
src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.cc
View File

@ -32,6 +32,7 @@
#include "gr_complex_ip_packet_source.h"
#include <gnuradio/io_signature.h>
#include <utility>
const int FIFO_SIZE = 1472000;
@ -76,15 +77,15 @@ typedef struct gr_udp_header
gr_complex_ip_packet_source::sptr
gr_complex_ip_packet_source::make(std::string src_device,
std::string origin_address,
const std::string& origin_address,
int udp_port,
int udp_packet_size,
int n_baseband_channels,
std::string wire_sample_type,
const std::string& wire_sample_type,
size_t item_size,
bool IQ_swap_)
{
return gnuradio::get_initial_sptr(new gr_complex_ip_packet_source(src_device,
return gnuradio::get_initial_sptr(new gr_complex_ip_packet_source(std::move(src_device),
origin_address,
udp_port,
udp_packet_size,
@ -99,11 +100,11 @@ gr_complex_ip_packet_source::make(std::string src_device,
* The private constructor
*/
gr_complex_ip_packet_source::gr_complex_ip_packet_source(std::string src_device,
__attribute__((unused)) std::string origin_address,
__attribute__((unused)) const std::string& origin_address,
int udp_port,
int udp_packet_size,
int n_baseband_channels,
std::string wire_sample_type,
const std::string& wire_sample_type,
size_t item_size,
bool IQ_swap_)
: gr::sync_block("gr_complex_ip_packet_source",
@ -113,12 +114,12 @@ gr_complex_ip_packet_source::gr_complex_ip_packet_source(std::string src_device,
std::cout << "Start Ethernet packet capture\n";
d_n_baseband_channels = n_baseband_channels;
if (wire_sample_type.compare("cbyte") == 0)
if (wire_sample_type == "cbyte")
{
d_wire_sample_type = 1;
d_bytes_per_sample = d_n_baseband_channels * 2;
}
else if (wire_sample_type.compare("c4bits") == 0)
else if (wire_sample_type == "c4bits")
{
d_wire_sample_type = 2;
d_bytes_per_sample = d_n_baseband_channels;
@ -129,7 +130,7 @@ gr_complex_ip_packet_source::gr_complex_ip_packet_source(std::string src_device,
exit(0);
}
std::cout << "d_wire_sample_type:" << d_wire_sample_type << std::endl;
d_src_device = src_device;
d_src_device = std::move(src_device);
d_udp_port = udp_port;
d_udp_payload_size = udp_packet_size;
d_fifo_full = false;
@ -142,8 +143,8 @@ gr_complex_ip_packet_source::gr_complex_ip_packet_source(std::string src_device,
d_item_size = item_size;
d_IQ_swap = IQ_swap_;
d_sock_raw = 0;
d_pcap_thread = NULL;
descr = NULL;
d_pcap_thread = nullptr;
descr = nullptr;
memset(reinterpret_cast<char *>(&si_me), 0, sizeof(si_me));
}
@ -171,7 +172,7 @@ bool gr_complex_ip_packet_source::start()
bool gr_complex_ip_packet_source::stop()
{
std::cout << "gr_complex_ip_packet_source STOP\n";
if (descr != NULL)
if (descr != nullptr)
{
pcap_breakloop(descr);
d_pcap_thread->join();
@ -187,7 +188,7 @@ bool gr_complex_ip_packet_source::open()
boost::mutex::scoped_lock lock(d_mutex); // hold mutex for duration of this function
// open device for reading
descr = pcap_open_live(d_src_device.c_str(), 1500, 1, 1000, errbuf);
if (descr == NULL)
if (descr == nullptr)
{
std::cout << "Error opening Ethernet device " << d_src_device << std::endl;
std::cout << "Fatal Error in pcap_open_live(): " << std::string(errbuf) << std::endl;
@ -220,7 +221,7 @@ bool gr_complex_ip_packet_source::open()
gr_complex_ip_packet_source::~gr_complex_ip_packet_source()
{
if (d_pcap_thread != NULL)
if (d_pcap_thread != nullptr)
{
delete d_pcap_thread;
}
@ -232,7 +233,7 @@ gr_complex_ip_packet_source::~gr_complex_ip_packet_source()
void gr_complex_ip_packet_source::static_pcap_callback(u_char *args, const struct pcap_pkthdr *pkthdr,
const u_char *packet)
{
gr_complex_ip_packet_source *bridge = reinterpret_cast<gr_complex_ip_packet_source *>(args);
auto *bridge = reinterpret_cast<gr_complex_ip_packet_source *>(args);
bridge->pcap_callback(args, pkthdr, packet);
}
@ -327,22 +328,22 @@ void gr_complex_ip_packet_source::demux_samples(gr_vector_void_star output_items
switch (d_wire_sample_type)
{
case 1: // interleaved byte samples
for (long unsigned int i = 0; i < output_items.size(); i++)
for (auto & output_item : output_items)
{
real = fifo_buff[fifo_read_ptr++];
imag = fifo_buff[fifo_read_ptr++];
if (d_IQ_swap)
{
static_cast<gr_complex *>(output_items[i])[n] = gr_complex(real, imag);
static_cast<gr_complex *>(output_item)[n] = gr_complex(real, imag);
}
else
{
static_cast<gr_complex *>(output_items[i])[n] = gr_complex(imag, real);
static_cast<gr_complex *>(output_item)[n] = gr_complex(imag, real);
}
}
break;
case 2: // 4-bit samples
for (long unsigned int i = 0; i < output_items.size(); i++)
for (auto & output_item : output_items)
{
tmp_char2 = fifo_buff[fifo_read_ptr] & 0x0F;
if (tmp_char2 >= 8)
@ -365,11 +366,11 @@ void gr_complex_ip_packet_source::demux_samples(gr_vector_void_star output_items
}
if (d_IQ_swap)
{
static_cast<gr_complex *>(output_items[i])[n] = gr_complex(imag, real);
static_cast<gr_complex *>(output_item)[n] = gr_complex(imag, real);
}
else
{
static_cast<gr_complex *>(output_items[i])[n] = gr_complex(real, imag);
static_cast<gr_complex *>(output_item)[n] = gr_complex(real, imag);
}
}
break;

8
src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.h
View File

@ -84,19 +84,19 @@ private:
public:
typedef boost::shared_ptr<gr_complex_ip_packet_source> sptr;
static sptr make(std::string src_device,
std::string origin_address,
const std::string& origin_address,
int udp_port,
int udp_packet_size,
int n_baseband_channels,
std::string wire_sample_type,
const std::string& wire_sample_type,
size_t item_size,
bool IQ_swap_);
gr_complex_ip_packet_source(std::string src_device,
std::string origin_address,
const std::string& origin_address,
int udp_port,
int udp_packet_size,
int n_baseband_channels,
std::string wire_sample_type,
const std::string& wire_sample_type,
size_t item_size,
bool IQ_swap_);
~gr_complex_ip_packet_source();

34
src/algorithms/signal_source/libs/ad9361_manager.cc
View File

@ -75,10 +75,10 @@ bool get_ad9361_stream_dev(struct iio_context *ctx, enum iodev d, struct iio_dev
{
case TX:
*dev = iio_context_find_device(ctx, "cf-ad9361-dds-core-lpc");
return *dev != NULL;
return *dev != nullptr;
case RX:
*dev = iio_context_find_device(ctx, "cf-ad9361-lpc");
return *dev != NULL;
return *dev != nullptr;
default:
return false;
}
@ -100,7 +100,7 @@ bool get_ad9361_stream_ch(struct iio_context *ctx __attribute__((unused)), enum
name << chid;
*chn = iio_device_find_channel(dev, name.str().c_str(), d == TX);
}
return *chn != NULL;
return *chn != nullptr;
}
@ -115,14 +115,14 @@ bool get_phy_chan(struct iio_context *ctx, enum iodev d, int chid, struct iio_ch
name << "voltage";
name << chid;
*chn = iio_device_find_channel(get_ad9361_phy(ctx), name.str().c_str(), false);
return *chn != NULL;
return *chn != nullptr;
break;
case TX:
name.str("");
name << "voltage";
name << chid;
*chn = iio_device_find_channel(get_ad9361_phy(ctx), name.str().c_str(), true);
return *chn != NULL;
return *chn != nullptr;
break;
default:
return false;
@ -138,10 +138,10 @@ bool get_lo_chan(struct iio_context *ctx, enum iodev d, struct iio_channel **chn
// LO chan is always output, i.e. true
case RX:
*chn = iio_device_find_channel(get_ad9361_phy(ctx), "altvoltage0", true);
return *chn != NULL;
return *chn != nullptr;
case TX:
*chn = iio_device_find_channel(get_ad9361_phy(ctx), "altvoltage1", true);
return *chn != NULL;
return *chn != nullptr;
default:
return false;
}
@ -151,7 +151,7 @@ bool get_lo_chan(struct iio_context *ctx, enum iodev d, struct iio_channel **chn
/* applies streaming configuration through IIO */
bool cfg_ad9361_streaming_ch(struct iio_context *ctx, struct stream_cfg *cfg, enum iodev type, int chid)
{
struct iio_channel *chn = NULL;
struct iio_channel *chn = nullptr;
// Configure phy and lo channels
//LOG(INFO)<<"* Acquiring AD9361 phy channel"<<chid;
@ -179,9 +179,9 @@ bool cfg_ad9361_streaming_ch(struct iio_context *ctx, struct stream_cfg *cfg, en
bool config_ad9361_rx_local(uint64_t bandwidth_,
uint64_t sample_rate_,
uint64_t freq_,
std::string rf_port_select_,
std::string gain_mode_rx1_,
std::string gain_mode_rx2_,
const std::string& rf_port_select_,
const std::string& gain_mode_rx1_,
const std::string& gain_mode_rx2_,
double rf_gain_rx1_,
double rf_gain_rx2_)
@ -291,13 +291,13 @@ bool config_ad9361_rx_local(uint64_t bandwidth_,
}
bool config_ad9361_rx_remote(std::string remote_host,
bool config_ad9361_rx_remote(const std::string& remote_host,
uint64_t bandwidth_,
uint64_t sample_rate_,
uint64_t freq_,
std::string rf_port_select_,
std::string gain_mode_rx1_,
std::string gain_mode_rx2_,
const std::string& rf_port_select_,
const std::string& gain_mode_rx1_,
const std::string& gain_mode_rx2_,
double rf_gain_rx1_,
double rf_gain_rx2_)
{
@ -543,7 +543,7 @@ bool config_ad9361_lo_local(uint64_t bandwidth_,
}
bool config_ad9361_lo_remote(std::string remote_host,
bool config_ad9361_lo_remote(const std::string& remote_host,
uint64_t bandwidth_,
uint64_t sample_rate_,
uint64_t freq_rf_tx_hz_,
@ -680,7 +680,7 @@ bool config_ad9361_lo_remote(std::string remote_host,
}
bool ad9361_disable_lo_remote(std::string remote_host)
bool ad9361_disable_lo_remote(const std::string& remote_host)
{
std::cout << "AD9361 Acquiring IIO REMOTE context in host " << remote_host << std::endl;
struct iio_context *ctx;

18
src/algorithms/signal_source/libs/ad9361_manager.h
View File

@ -92,19 +92,19 @@ bool cfg_ad9361_streaming_ch(struct iio_context *ctx, struct stream_cfg *cfg, en
bool config_ad9361_rx_local(uint64_t bandwidth_,
uint64_t sample_rate_,
uint64_t freq_,
std::string rf_port_select_,
std::string gain_mode_rx1_,
std::string gain_mode_rx2_,
const std::string& rf_port_select_,
const std::string& gain_mode_rx1_,
const std::string& gain_mode_rx2_,
double rf_gain_rx1_,
double rf_gain_rx2_);
bool config_ad9361_rx_remote(std::string remote_host,
bool config_ad9361_rx_remote(const std::string& remote_host,
uint64_t bandwidth_,
uint64_t sample_rate_,
uint64_t freq_,
std::string rf_port_select_,
std::string gain_mode_rx1_,
std::string gain_mode_rx2_,
const std::string& rf_port_select_,
const std::string& gain_mode_rx1_,
const std::string& gain_mode_rx2_,
double rf_gain_rx1_,
double rf_gain_rx2_);
@ -115,7 +115,7 @@ bool config_ad9361_lo_local(uint64_t bandwidth_,
int64_t freq_dds_tx_hz_,
double scale_dds_dbfs_);
bool config_ad9361_lo_remote(std::string remote_host,
bool config_ad9361_lo_remote(const std::string& remote_host,
uint64_t bandwidth_,
uint64_t sample_rate_,
uint64_t freq_rf_tx_hz_,
@ -124,7 +124,7 @@ bool config_ad9361_lo_remote(std::string remote_host,
double scale_dds_dbfs_);
bool ad9361_disable_lo_remote(std::string remote_host);
bool ad9361_disable_lo_remote(const std::string& remote_host);
bool ad9361_disable_lo_local();

4
src/algorithms/signal_source/libs/fpga_switch.cc
View File

@ -45,7 +45,7 @@
const size_t PAGE_SIZE = 0x10000;
const unsigned int TEST_REGISTER_TRACK_WRITEVAL = 0x55AA;
fpga_switch::fpga_switch(std::string device_name)
fpga_switch::fpga_switch(const std::string& device_name)
{
if ((d_device_descriptor = open(device_name.c_str(), O_RDWR | O_SYNC)) == -1)
{
@ -108,7 +108,7 @@ unsigned fpga_switch::fpga_switch_test_register(
void fpga_switch::close_device()
{
unsigned *aux = const_cast<unsigned *>(d_map_base);
auto *aux = const_cast<unsigned *>(d_map_base);
if (munmap(static_cast<void *>(aux), PAGE_SIZE) == -1)
{
std::cout << "Failed to unmap memory uio" << std::endl;

2
src/algorithms/signal_source/libs/fpga_switch.h
View File

@ -44,7 +44,7 @@
class fpga_switch
{
public:
fpga_switch(std::string device_name);
fpga_switch(const std::string& device_name);
~fpga_switch();
void set_switch_position(int switch_position);

2
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking_fpga.cc
View File

@ -51,7 +51,7 @@ void GalileoE1DllPllVemlTrackingFpga::stop_tracking()
}
GalileoE1DllPllVemlTrackingFpga::GalileoE1DllPllVemlTrackingFpga(
ConfigurationInterface* configuration, std::string role,
ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
//dllpllconf_t trk_param;

2
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking_fpga.h
View File

@ -52,7 +52,7 @@ class GalileoE1DllPllVemlTrackingFpga : public TrackingInterface
{
public:
GalileoE1DllPllVemlTrackingFpga(ConfigurationInterface* configuration,
std::string role,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);

6
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking_fpga.cc
View File

@ -51,7 +51,7 @@ void GalileoE5aDllPllTrackingFpga::stop_tracking()
}
GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
ConfigurationInterface *configuration, std::string role,
ConfigurationInterface *configuration, const std::string &role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
//printf("creating the E5A tracking");
@ -136,9 +136,9 @@ GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
//################# PRE-COMPUTE ALL THE CODES #################
unsigned int code_samples_per_chip = 1;
unsigned int code_length_chips = static_cast<unsigned int>(Galileo_E5a_CODE_LENGTH_CHIPS);
auto code_length_chips = static_cast<unsigned int>(Galileo_E5a_CODE_LENGTH_CHIPS);
gr_complex *aux_code = static_cast<gr_complex *>(volk_gnsssdr_malloc(sizeof(gr_complex) * code_length_chips * code_samples_per_chip, volk_gnsssdr_get_alignment()));
auto *aux_code = static_cast<gr_complex *>(volk_gnsssdr_malloc(sizeof(gr_complex) * code_length_chips * code_samples_per_chip, volk_gnsssdr_get_alignment()));
float *tracking_code;
float *data_code;

2
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking_fpga.h
View File

@ -52,7 +52,7 @@ class GalileoE5aDllPllTrackingFpga : public TrackingInterface
{
public:
GalileoE5aDllPllTrackingFpga(ConfigurationInterface* configuration,
std::string role,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);

2
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_fpga.cc
View File

@ -53,7 +53,7 @@ void GpsL1CaDllPllTrackingFpga::stop_tracking()
}
GpsL1CaDllPllTrackingFpga::GpsL1CaDllPllTrackingFpga(
ConfigurationInterface* configuration, std::string role,
ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
Dll_Pll_Conf_Fpga trk_param_fpga = Dll_Pll_Conf_Fpga();

2
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_fpga.h
View File

@ -53,7 +53,7 @@ class GpsL1CaDllPllTrackingFpga : public TrackingInterface
{
public:
GpsL1CaDllPllTrackingFpga(ConfigurationInterface* configuration,
std::string role,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);

8
src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking_fpga.cc
View File

@ -52,7 +52,7 @@ void GpsL2MDllPllTrackingFpga::stop_tracking()
}
GpsL2MDllPllTrackingFpga::GpsL2MDllPllTrackingFpga(
ConfigurationInterface* configuration, std::string role,
ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
//dllpllconf_t trk_param;
@ -125,7 +125,7 @@ GpsL2MDllPllTrackingFpga::GpsL2MDllPllTrackingFpga(
//d_tracking_code = static_cast<float *>(volk_gnsssdr_malloc(2 * static_cast<unsigned int>(GPS_L2_M_CODE_LENGTH_CHIPS) * sizeof(float), volk_gnsssdr_get_alignment()));
d_ca_codes = static_cast<int*>(volk_gnsssdr_malloc(static_cast<unsigned int>(GPS_L2_M_CODE_LENGTH_CHIPS) * NUM_PRNs * sizeof(int), volk_gnsssdr_get_alignment()));
float* ca_codes_f = static_cast<float*>(volk_gnsssdr_malloc(static_cast<unsigned int>(GPS_L2_M_CODE_LENGTH_CHIPS) * sizeof(float), volk_gnsssdr_get_alignment()));
auto* ca_codes_f = static_cast<float*>(volk_gnsssdr_malloc(static_cast<unsigned int>(GPS_L2_M_CODE_LENGTH_CHIPS) * sizeof(float), volk_gnsssdr_get_alignment()));
//################# PRE-COMPUTE ALL THE CODES #################
d_ca_codes = static_cast<int*>(volk_gnsssdr_malloc(static_cast<int>(GPS_L2_M_CODE_LENGTH_CHIPS * NUM_PRNs) * sizeof(int), volk_gnsssdr_get_alignment()));
@ -167,9 +167,7 @@ GpsL2MDllPllTrackingFpga::GpsL2MDllPllTrackingFpga(
}
GpsL2MDllPllTrackingFpga::~GpsL2MDllPllTrackingFpga()
{
}
GpsL2MDllPllTrackingFpga::~GpsL2MDllPllTrackingFpga() = default;
void GpsL2MDllPllTrackingFpga::start_tracking()

2
src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking_fpga.h
View File

@ -52,7 +52,7 @@ class GpsL2MDllPllTrackingFpga : public TrackingInterface
{
public:
GpsL2MDllPllTrackingFpga(ConfigurationInterface* configuration,
std::string role,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);

4
src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking_fpga.cc
View File

@ -52,7 +52,7 @@ void GpsL5DllPllTrackingFpga::stop_tracking()
}
GpsL5DllPllTrackingFpga::GpsL5DllPllTrackingFpga(
ConfigurationInterface *configuration, std::string role,
ConfigurationInterface *configuration, const std::string &role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
//printf("L5 TRK CLASS CREATED\n");
@ -136,7 +136,7 @@ GpsL5DllPllTrackingFpga::GpsL5DllPllTrackingFpga(
//################# PRE-COMPUTE ALL THE CODES #################
unsigned int code_samples_per_chip = 1;
unsigned int code_length_chips = static_cast<unsigned int>(GPS_L5i_CODE_LENGTH_CHIPS);
auto code_length_chips = static_cast<unsigned int>(GPS_L5i_CODE_LENGTH_CHIPS);
//printf("TRK code_length_chips = %d\n", code_length_chips);
float *tracking_code;

2
src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking_fpga.h
View File

@ -50,7 +50,7 @@ class GpsL5DllPllTrackingFpga : public TrackingInterface
{
public:
GpsL5DllPllTrackingFpga(ConfigurationInterface* configuration,
std::string role,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);

84
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc
View File

@ -103,7 +103,7 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
if (trk_parameters.system == 'G')
{
systemName = "GPS";
if (signal_type.compare("1C") == 0)
if (signal_type == "1C")
{
d_signal_carrier_freq = GPS_L1_FREQ_HZ;
d_code_period = GPS_L1_CA_CODE_PERIOD;
@ -124,11 +124,11 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
// preamble bits to sampled symbols
d_gps_l1ca_preambles_symbols = static_cast<int32_t *>(volk_gnsssdr_malloc(GPS_CA_PREAMBLE_LENGTH_SYMBOLS * sizeof(int32_t), volk_gnsssdr_get_alignment()));
int32_t n = 0;
for (int32_t i = 0; i < GPS_CA_PREAMBLE_LENGTH_BITS; i++)
for (unsigned short preambles_bit : preambles_bits)
{
for (uint32_t j = 0; j < GPS_CA_TELEMETRY_SYMBOLS_PER_BIT; j++)
{
if (preambles_bits[i] == 1)
if (preambles_bit == 1)
{
d_gps_l1ca_preambles_symbols[n] = 1;
}
@ -142,7 +142,7 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
d_symbol_history.resize(GPS_CA_PREAMBLE_LENGTH_SYMBOLS); // Change fixed buffer size
d_symbol_history.clear(); // Clear all the elements in the buffer
}
else if (signal_type.compare("2S") == 0)
else if (signal_type == "2S")
{
d_signal_carrier_freq = GPS_L2_FREQ_HZ;
d_code_period = GPS_L2_M_PERIOD;
@ -156,7 +156,7 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
trk_parameters.track_pilot = false;
interchange_iq = false;
}
else if (signal_type.compare("L5") == 0)
else if (signal_type == "L5")
{
d_signal_carrier_freq = GPS_L5_FREQ_HZ;
d_code_period = GPS_L5i_PERIOD;
@ -199,7 +199,7 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
else if (trk_parameters.system == 'E')
{
systemName = "Galileo";
if (signal_type.compare("1B") == 0)
if (signal_type == "1B")
{
d_signal_carrier_freq = Galileo_E1_FREQ_HZ;
d_code_period = Galileo_E1_CODE_PERIOD;
@ -223,7 +223,7 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
}
interchange_iq = false; // Note that E1-B and E1-C are in anti-phase, NOT IN QUADRATURE. See Galileo ICD.
}
else if (signal_type.compare("5X") == 0)
else if (signal_type == "5X")
{
d_signal_carrier_freq = Galileo_E5a_FREQ_HZ;
d_code_period = GALILEO_E5a_CODE_PERIOD;
@ -428,10 +428,10 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
{
d_dump_filename = trk_parameters.dump_filename;
std::string dump_path;
if (d_dump_filename.find_last_of("/") != std::string::npos)
if (d_dump_filename.find_last_of('/') != std::string::npos)
{
std::string dump_filename_ = d_dump_filename.substr(d_dump_filename.find_last_of("/") + 1);
dump_path = d_dump_filename.substr(0, d_dump_filename.find_last_of("/"));
std::string dump_filename_ = d_dump_filename.substr(d_dump_filename.find_last_of('/') + 1);
dump_path = d_dump_filename.substr(0, d_dump_filename.find_last_of('/'));
d_dump_filename = dump_filename_;
}
else
@ -443,9 +443,9 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
d_dump_filename = "trk_channel_";
}
// remove extension if any
if (d_dump_filename.substr(1).find_last_of(".") != std::string::npos)
if (d_dump_filename.substr(1).find_last_of('.') != std::string::npos)
{
d_dump_filename = d_dump_filename.substr(0, d_dump_filename.find_last_of("."));
d_dump_filename = d_dump_filename.substr(0, d_dump_filename.find_last_of('.'));
}
d_dump_filename = dump_path + boost::filesystem::path::preferred_separator + d_dump_filename;
@ -501,15 +501,15 @@ void dll_pll_veml_tracking_fpga::start_tracking()
d_carrier_loop_filter.initialize(); // initialize the carrier filter
d_code_loop_filter.initialize(); // initialize the code filter
if (systemName.compare("GPS") == 0 and signal_type.compare("1C") == 0)
if (systemName == "GPS" and signal_type == "1C")
{
// nothing to compute : the local codes are pre-computed in the adapter class
}
else if (systemName.compare("GPS") == 0 and signal_type.compare("2S") == 0)
else if (systemName == "GPS" and signal_type == "2S")
{
// nothing to compute : the local codes are pre-computed in the adapter class
}
else if (systemName.compare("GPS") == 0 and signal_type.compare("L5") == 0)
else if (systemName == "GPS" and signal_type == "L5")
{
if (trk_parameters.track_pilot)
{
@ -520,7 +520,7 @@ void dll_pll_veml_tracking_fpga::start_tracking()
// nothing to compute : the local codes are pre-computed in the adapter class
}
}
else if (systemName.compare("Galileo") == 0 and signal_type.compare("1B") == 0)
else if (systemName == "Galileo" and signal_type == "1B")
{
if (trk_parameters.track_pilot)
{
@ -533,7 +533,7 @@ void dll_pll_veml_tracking_fpga::start_tracking()
// nothing to compute : the local codes are pre-computed in the adapter class
}
}
else if (systemName.compare("Galileo") == 0 and signal_type.compare("5X") == 0)
else if (systemName == "Galileo" and signal_type == "5X")
{
if (trk_parameters.track_pilot)
{
@ -604,7 +604,7 @@ void dll_pll_veml_tracking_fpga::start_tracking()
dll_pll_veml_tracking_fpga::~dll_pll_veml_tracking_fpga()
{
if (signal_type.compare("1C") == 0)
if (signal_type == "1C")
{
volk_gnsssdr_free(d_gps_l1ca_preambles_symbols);
}
@ -1025,26 +1025,26 @@ int32_t dll_pll_veml_tracking_fpga::save_matfile()
{
return 1;
}
float *abs_VE = new float[num_epoch];
float *abs_E = new float[num_epoch];
float *abs_P = new float[num_epoch];
float *abs_L = new float[num_epoch];
float *abs_VL = new float[num_epoch];
float *Prompt_I = new float[num_epoch];
float *Prompt_Q = new float[num_epoch];
uint64_t *PRN_start_sample_count = new uint64_t[num_epoch];
float *acc_carrier_phase_rad = new float[num_epoch];
float *carrier_doppler_hz = new float[num_epoch];
float *code_freq_chips = new float[num_epoch];
float *carr_error_hz = new float[num_epoch];
float *carr_error_filt_hz = new float[num_epoch];
float *code_error_chips = new float[num_epoch];
float *code_error_filt_chips = new float[num_epoch];
float *CN0_SNV_dB_Hz = new float[num_epoch];
float *carrier_lock_test = new float[num_epoch];
float *aux1 = new float[num_epoch];
double *aux2 = new double[num_epoch];
uint32_t *PRN = new uint32_t[num_epoch];
auto *abs_VE = new float[num_epoch];
auto *abs_E = new float[num_epoch];
auto *abs_P = new float[num_epoch];
auto *abs_L = new float[num_epoch];
auto *abs_VL = new float[num_epoch];
auto *Prompt_I = new float[num_epoch];
auto *Prompt_Q = new float[num_epoch];
auto *PRN_start_sample_count = new uint64_t[num_epoch];
auto *acc_carrier_phase_rad = new float[num_epoch];
auto *carrier_doppler_hz = new float[num_epoch];
auto *code_freq_chips = new float[num_epoch];
auto *carr_error_hz = new float[num_epoch];
auto *carr_error_filt_hz = new float[num_epoch];
auto *code_error_chips = new float[num_epoch];
auto *code_error_filt_chips = new float[num_epoch];
auto *CN0_SNV_dB_Hz = new float[num_epoch];
auto *carrier_lock_test = new float[num_epoch];
auto *aux1 = new float[num_epoch];
auto *aux2 = new double[num_epoch];
auto *PRN = new uint32_t[num_epoch];
try
{
@ -1108,8 +1108,8 @@ int32_t dll_pll_veml_tracking_fpga::save_matfile()
std::string filename = dump_filename_;
filename.erase(filename.length() - 4, 4);
filename.append(".mat");
matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73);
if (reinterpret_cast<int64_t *>(matfp) != NULL)
matfp = Mat_CreateVer(filename.c_str(), nullptr, MAT_FT_MAT73);
if (reinterpret_cast<int64_t *>(matfp) != nullptr)
{
size_t dims[2] = {1, static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("abs_VE", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_VE, 0);
@ -1264,7 +1264,7 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
{
gr::thread::scoped_lock l(d_setlock);
// Block input data and block output stream pointers
Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
auto **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
Gnss_Synchro current_synchro_data = Gnss_Synchro();
@ -1297,7 +1297,7 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
//printf("333333 d_correlation_length_samples = %d\n", d_correlation_length_samples);
uint32_t num_frames = ceil((counter_value - current_synchro_data.Acq_samplestamp_samples - current_synchro_data.Acq_delay_samples) / d_correlation_length_samples);
//printf("333333 num_frames = %d\n", num_frames);
uint64_t absolute_samples_offset = static_cast<uint64_t>(current_synchro_data.Acq_delay_samples + current_synchro_data.Acq_samplestamp_samples + num_frames * d_correlation_length_samples);
auto absolute_samples_offset = static_cast<uint64_t>(current_synchro_data.Acq_delay_samples + current_synchro_data.Acq_samplestamp_samples + num_frames * d_correlation_length_samples);
//printf("333333 absolute_samples_offset = %llu\n", absolute_samples_offset);
multicorrelator_fpga->set_initial_sample(absolute_samples_offset);
d_absolute_samples_offset = absolute_samples_offset;

2
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.cc
View File

@ -47,11 +47,11 @@
#include <glog/logging.h>
#include <gnuradio/io_signature.h>
#include <matio.h>
#include <pmt/pmt.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cmath>
#include <iostream>
#include <memory>
#include <pmt/pmt.h>
#include <sstream>
#include <utility>

2
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_cc.h
View File

@ -45,10 +45,10 @@
//#include "tracking_loop_filter.h"
#include "cpu_multicorrelator.h"
#include <gnuradio/block.h>
#include <pmt/pmt.h>
#include <deque>
#include <fstream>
#include <map>
#include <pmt/pmt.h>
#include <string>
class glonass_l1_ca_dll_pll_c_aid_tracking_cc;

2
src/algorithms/tracking/gnuradio_blocks/glonass_l1_ca_dll_pll_c_aid_tracking_sc.cc
View File

@ -47,10 +47,10 @@
#include <glog/logging.h>
#include <gnuradio/io_signature.h>
#include <matio.h>
#include <pmt/pmt.h>
#include <cmath>
#include <iostream>
#include <memory>
#include <pmt/pmt.h>
#include <sstream>
#include <utility>

2
src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_cc.cc
View File

@ -45,11 +45,11 @@
#include <glog/logging.h>
#include <gnuradio/io_signature.h>
#include <matio.h>
#include <pmt/pmt.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cmath>
#include <iostream>
#include <memory>
#include <pmt/pmt.h>
#include <sstream>
#include <utility>

2
src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_cc.h
View File

@ -43,10 +43,10 @@
//#include "tracking_loop_filter.h"
#include "cpu_multicorrelator.h"
#include <gnuradio/block.h>
#include <pmt/pmt.h>
#include <deque>
#include <fstream>
#include <map>
#include <pmt/pmt.h>
#include <string>
class glonass_l2_ca_dll_pll_c_aid_tracking_cc;

2
src/algorithms/tracking/gnuradio_blocks/glonass_l2_ca_dll_pll_c_aid_tracking_sc.cc
View File

@ -45,10 +45,10 @@
#include <glog/logging.h>
#include <gnuradio/io_signature.h>
#include <matio.h>
#include <pmt/pmt.h>
#include <cmath>
#include <iostream>
#include <memory>
#include <pmt/pmt.h>
#include <sstream>
#include <utility>

2
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_cc.h
View File

@ -43,10 +43,10 @@
//#include "tracking_loop_filter.h"
#include "cpu_multicorrelator.h"
#include <gnuradio/block.h>
#include <pmt/pmt.h>
#include <deque>
#include <fstream>
#include <map>
#include <pmt/pmt.h>
#include <string>
class gps_l1_ca_dll_pll_c_aid_tracking_cc;

2
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_sc.cc
View File

@ -39,10 +39,10 @@
#include <glog/logging.h>
#include <gnuradio/io_signature.h>
#include <matio.h>
#include <pmt/pmt.h>
#include <cmath>
#include <iostream>
#include <memory>
#include <pmt/pmt.h>
#include <sstream>
#include <utility>

19
src/algorithms/tracking/libs/fpga_multicorrelator.cc
View File

@ -41,20 +41,20 @@
#include <new>
// libraries used by DMA test code and GIPO test code
#include <errno.h>
#include <cerrno>
#include <cstdio>
#include <fcntl.h>
#include <stdio.h>
#include <unistd.h>
// libraries used by DMA test code
#include <assert.h>
#include <stdint.h>
#include <cassert>
#include <cstdint>
#include <sys/stat.h>
#include <unistd.h>
// libraries used by GPIO test code
#include <signal.h>
#include <stdlib.h>
#include <csignal>
#include <cstdlib>
#include <sys/mman.h>
// logging
@ -62,6 +62,7 @@
// string manipulation
#include <string>
#include <utility>
// constants
#include "GPS_L1_CA.h"
@ -160,7 +161,7 @@ fpga_multicorrelator_8sc::fpga_multicorrelator_8sc(int32_t n_correlators,
{
//printf("tracking fpga class created\n");
d_n_correlators = n_correlators;
d_device_name = device_name;
d_device_name = std::move(device_name);
d_device_base = device_base;
d_track_pilot = track_pilot;
d_device_descriptor = 0;
@ -345,7 +346,7 @@ void fpga_multicorrelator_8sc::set_channel(uint32_t channel)
// std::cout << "deviceio" << device_io_name << " opened successfully" << std::endl;
//
// }
d_map_base = reinterpret_cast<volatile uint32_t *>(mmap(NULL, PAGE_SIZE,
d_map_base = reinterpret_cast<volatile uint32_t *>(mmap(nullptr, PAGE_SIZE,
PROT_READ | PROT_WRITE, MAP_SHARED, d_device_descriptor, 0));
if (d_map_base == reinterpret_cast<void *>(-1))
@ -709,7 +710,7 @@ void fpga_multicorrelator_8sc::unlock_channel(void)
void fpga_multicorrelator_8sc::close_device()
{
uint32_t *aux = const_cast<uint32_t *>(d_map_base);
auto *aux = const_cast<uint32_t *>(d_map_base);
if (munmap(static_cast<void *>(aux), PAGE_SIZE) == -1)
{
printf("Failed to unmap memory uio\n");

1
src/core/interfaces/acquisition_interface.h
View File

@ -65,6 +65,7 @@ public:
virtual signed int mag() = 0;
virtual void reset() = 0;
virtual void stop_acquisition() = 0;
virtual void set_resampler_latency(uint32_t latency_samples) = 0;
};
#endif /* GNSS_SDR_ACQUISITION_INTERFACE */

4
src/core/interfaces/channel_interface.h
View File

@ -51,6 +51,10 @@
class ChannelInterface : public GNSSBlockInterface
{
public:
virtual gr::basic_block_sptr get_left_block_trk() = 0;
virtual gr::basic_block_sptr get_left_block_acq() = 0;
virtual gr::basic_block_sptr get_left_block() = 0;
virtual gr::basic_block_sptr get_right_block() = 0;
virtual Gnss_Signal get_signal() const = 0;
virtual void start_acquisition() = 0;
virtual void stop_channel() = 0;

2
src/core/libs/gnss_sdr_supl_client.cc
View File

@ -32,8 +32,8 @@
*/
#include "gnss_sdr_supl_client.h"
#include <cmath>
#include <pugixml.hpp>
#include <cmath>
#include <utility>
gnss_sdr_supl_client::gnss_sdr_supl_client()

5
src/core/receiver/control_thread.cc
View File

@ -67,6 +67,7 @@
#include <sys/ipc.h>
#include <sys/msg.h>
#include <sys/types.h>
#include <utility>
extern concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
@ -294,14 +295,14 @@ int ControlThread::run()
}
void ControlThread::set_control_queue(gr::msg_queue::sptr control_queue)
void ControlThread::set_control_queue(const gr::msg_queue::sptr& control_queue)
{
if (flowgraph_->running())
{
LOG(WARNING) << "Unable to set control queue while flowgraph is running";
return;
}
control_queue_ = control_queue;
control_queue_ = std::move(control_queue);
cmd_interface_.set_msg_queue(control_queue_);
}

2
src/core/receiver/control_thread.h
View File

@ -93,7 +93,7 @@ public:
*
* \param[in] boost::shared_ptr<gr::msg_queue> control_queue
*/
void set_control_queue(gr::msg_queue::sptr control_queue);
void set_control_queue(const gr::msg_queue::sptr& control_queue);
unsigned int processed_control_messages()

21
src/core/receiver/gnss_block_factory.cc
View File

@ -360,12 +360,11 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_1C(
}
config->set_property("Channel.item_type", acq_item_type);
std::unique_ptr<GNSSBlockInterface> pass_through_ = GetBlock(config, "Channel", "Pass_Through", 1, 1, queue);
std::unique_ptr<AcquisitionInterface> acq_ = GetAcqBlock(configuration, "Acquisition_1C" + appendix1, acq, 1, 0);
std::unique_ptr<TrackingInterface> trk_ = GetTrkBlock(configuration, "Tracking_1C" + appendix2, trk, 1, 1);
std::unique_ptr<TelemetryDecoderInterface> tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_1C" + appendix3, tlm, 1, 1);
std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel, std::move(pass_through_),
std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel,
std::move(acq_),
std::move(trk_),
std::move(tlm_),
@ -425,12 +424,11 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_2S(
}
config->set_property("Channel.item_type", acq_item_type);
std::unique_ptr<GNSSBlockInterface> pass_through_ = GetBlock(configuration, "Channel", "Pass_Through", 1, 1, queue);
std::unique_ptr<AcquisitionInterface> acq_ = GetAcqBlock(configuration, "Acquisition_2S" + appendix1, acq, 1, 0);
std::unique_ptr<TrackingInterface> trk_ = GetTrkBlock(configuration, "Tracking_2S" + appendix2, trk, 1, 1);
std::unique_ptr<TelemetryDecoderInterface> tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_2S" + appendix3, tlm, 1, 1);
std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel, std::move(pass_through_),
std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel,
std::move(acq_),
std::move(trk_),
std::move(tlm_),
@ -493,12 +491,11 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_1B(
}
config->set_property("Channel.item_type", acq_item_type);
std::unique_ptr<GNSSBlockInterface> pass_through_ = GetBlock(configuration, "Channel", "Pass_Through", 1, 1, queue);
std::unique_ptr<AcquisitionInterface> acq_ = GetAcqBlock(configuration, "Acquisition_1B" + appendix1, acq, 1, 0);
std::unique_ptr<TrackingInterface> trk_ = GetTrkBlock(configuration, "Tracking_1B" + appendix2, trk, 1, 1);
std::unique_ptr<TelemetryDecoderInterface> tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_1B" + appendix3, tlm, 1, 1);
std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel, std::move(pass_through_),
std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel,
std::move(acq_),
std::move(trk_),
std::move(tlm_),
@ -561,12 +558,11 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_5X(
}
config->set_property("Channel.item_type", acq_item_type);
std::unique_ptr<GNSSBlockInterface> pass_through_ = GetBlock(configuration, "Channel", "Pass_Through", 1, 1, queue);
std::unique_ptr<AcquisitionInterface> acq_ = GetAcqBlock(configuration, "Acquisition_5X" + appendix1, acq, 1, 0);
std::unique_ptr<TrackingInterface> trk_ = GetTrkBlock(configuration, "Tracking_5X" + appendix2, trk, 1, 1);
std::unique_ptr<TelemetryDecoderInterface> tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_5X" + appendix3, tlm, 1, 1);
std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel, std::move(pass_through_),
std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel,
std::move(acq_),
std::move(trk_),
std::move(tlm_),
@ -630,12 +626,11 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_1G(
}
config->set_property("Channel.item_type", acq_item_type);
std::unique_ptr<GNSSBlockInterface> pass_through_ = GetBlock(config, "Channel", "Pass_Through", 1, 1, queue);
std::unique_ptr<AcquisitionInterface> acq_ = GetAcqBlock(configuration, "Acquisition_1G" + appendix1, acq, 1, 0);
std::unique_ptr<TrackingInterface> trk_ = GetTrkBlock(configuration, "Tracking_1G" + appendix2, trk, 1, 1);
std::unique_ptr<TelemetryDecoderInterface> tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_1G" + appendix3, tlm, 1, 1);
std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel, std::move(pass_through_),
std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel,
std::move(acq_),
std::move(trk_),
std::move(tlm_),
@ -699,12 +694,11 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_2G(
}
config->set_property("Channel.item_type", acq_item_type);
std::unique_ptr<GNSSBlockInterface> pass_through_ = GetBlock(config, "Channel", "Pass_Through", 1, 1, queue);
std::unique_ptr<AcquisitionInterface> acq_ = GetAcqBlock(configuration, "Acquisition_2G" + appendix1, acq, 1, 0);
std::unique_ptr<TrackingInterface> trk_ = GetTrkBlock(configuration, "Tracking_2G" + appendix2, trk, 1, 1);
std::unique_ptr<TelemetryDecoderInterface> tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_2G" + appendix3, tlm, 1, 1);
std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel, std::move(pass_through_),
std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel,
std::move(acq_),
std::move(trk_),
std::move(tlm_),
@ -767,12 +761,11 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetChannel_L5(
}
config->set_property("Channel.item_type", acq_item_type);
std::unique_ptr<GNSSBlockInterface> pass_through_ = GetBlock(configuration, "Channel", "Pass_Through", 1, 1, queue);
std::unique_ptr<AcquisitionInterface> acq_ = GetAcqBlock(configuration, "Acquisition_L5" + appendix1, acq, 1, 0);
std::unique_ptr<TrackingInterface> trk_ = GetTrkBlock(configuration, "Tracking_L5" + appendix2, trk, 1, 1);
std::unique_ptr<TelemetryDecoderInterface> tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_L5" + appendix3, tlm, 1, 1);
std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel, std::move(pass_through_),
std::unique_ptr<GNSSBlockInterface> channel_(new Channel(configuration.get(), channel,
std::move(acq_),
std::move(trk_),
std::move(tlm_),

138
src/core/receiver/gnss_flowgraph.cc
View File

@ -33,30 +33,41 @@
*/
#include "gnss_flowgraph.h"
#include "GPS_L1_CA.h"
#include "GPS_L2C.h"
#include "GPS_L5.h"
#include "Galileo_E1.h"
#include "Galileo_E5a.h"
#include "channel.h"
#include "channel_interface.h"
#include "configuration_interface.h"
#include "gnss_block_factory.h"
#include "gnss_block_interface.h"
#include "gnss_synchro.h"
#include <boost/lexical_cast.hpp>
#include <boost/tokenizer.hpp>
#include <glog/logging.h>
#include <gnuradio/filter/firdes.h>
#include <algorithm>
#include <exception>
#include <iostream>
#include <set>
#include <utility>
#ifdef GR_GREATER_38
#include <gnuradio/filter/fir_filter_blk.h>
#else
#include <gnuradio/filter/fir_filter_ccf.h>
#endif
#define GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS 8
using google::LogMessage;
GNSSFlowgraph::GNSSFlowgraph(std::shared_ptr<ConfigurationInterface> configuration, gr::msg_queue::sptr queue)
GNSSFlowgraph::GNSSFlowgraph(std::shared_ptr<ConfigurationInterface> configuration, const gr::msg_queue::sptr& queue)
{
connected_ = false;
running_ = false;
configuration_ = configuration;
queue_ = queue;
queue_ = std::move(queue);
init();
}
@ -343,6 +354,8 @@ void GNSSFlowgraph::connect()
#endif
// Signal conditioner (selected_signal_source) >> channels (i) (dependent of their associated SignalSource_ID)
int selected_signal_conditioner_ID = 0;
bool use_acq_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
uint32_t fs = configuration_->property("GNSS-SDR.internal_fs_sps", 0);
for (unsigned int i = 0; i < channels_count_; i++)
{
if (FPGA_enabled == false)
@ -357,8 +370,119 @@ void GNSSFlowgraph::connect()
}
try
{
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
channels_.at(i)->get_left_block(), 0);
// Enable automatic resampler for the acquisition, if required
if (use_acq_resampler == true)
{
//create acquisition resamplers if required
double resampler_ratio = 1.0;
double acq_fs = fs;
//find the signal associated to this channel
switch (mapStringValues_[channels_.at(i)->implementation()])
{
case evGPS_1C:
acq_fs = GPS_L1_CA_OPT_ACQ_FS_HZ;
break;
case evGPS_2S:
acq_fs = GPS_L2C_OPT_ACQ_FS_HZ;
break;
case evGPS_L5:
acq_fs = GPS_L5_OPT_ACQ_FS_HZ;
break;
case evSBAS_1C:
acq_fs = GPS_L1_CA_OPT_ACQ_FS_HZ;
break;
case evGAL_1B:
acq_fs = Galileo_E1_OPT_ACQ_FS_HZ;
break;
case evGAL_5X:
acq_fs = Galileo_E5a_OPT_ACQ_FS_HZ;
break;
case evGLO_1G:
acq_fs = fs;
break;
case evGLO_2G:
acq_fs = fs;
break;
}
if (acq_fs < fs)
{
//check if the resampler is already created for the channel system/signal and for the specific RF Channel
std::string map_key = channels_.at(i)->implementation() + std::to_string(selected_signal_conditioner_ID);
resampler_ratio = static_cast<double>(fs) / acq_fs;
int decimation = floor(resampler_ratio);
while (fs % decimation > 0)
{
decimation--;
};
double acq_fs = fs / decimation;
if (decimation > 1)
{
//create a FIR low pass filter
std::vector<float> taps;
taps = gr::filter::firdes::low_pass(1.0,
fs,
acq_fs / 2.1,
acq_fs / 10,
gr::filter::firdes::win_type::WIN_HAMMING);
gr::basic_block_sptr fir_filter_ccf_ = gr::filter::fir_filter_ccf::make(decimation, taps);
std::pair<std::map<std::string, gr::basic_block_sptr>::iterator, bool> ret;
ret = acq_resamplers_.insert(std::pair<std::string, gr::basic_block_sptr>(map_key, fir_filter_ccf_));
if (ret.second == true)
{
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
acq_resamplers_.at(map_key), 0);
LOG(INFO) << "Created "
<< channels_.at(i)->implementation()
<< " acquisition resampler for RF channel " << std::to_string(signal_conditioner_ID) << " with " << taps.size() << " taps and decimation factor of " << decimation;
}
else
{
LOG(INFO) << "Found existing "
<< channels_.at(i)->implementation()
<< " acquisition resampler for RF channel " << std::to_string(signal_conditioner_ID) << " with " << taps.size() << " taps and decimation factor of " << decimation;
}
top_block_->connect(acq_resamplers_.at(map_key), 0,
channels_.at(i)->get_left_block_acq(), 0);
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
channels_.at(i)->get_left_block_trk(), 0);
std::shared_ptr<Channel> channel_ptr;
channel_ptr = std::dynamic_pointer_cast<Channel>(channels_.at(i));
channel_ptr->acquisition()->set_resampler_latency((taps.size() - 1) / 2);
}
else
{
LOG(INFO) << "Disabled acquisition resampler because the input sampling frequency is too low";
//resampler not required!
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
channels_.at(i)->get_left_block_acq(), 0);
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
channels_.at(i)->get_left_block_trk(), 0);
}
}
else
{
LOG(INFO) << "Disabled acquisition resampler because the input sampling frequency is too low";
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
channels_.at(i)->get_left_block_acq(), 0);
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
channels_.at(i)->get_left_block_trk(), 0);
}
}
else
{
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
channels_.at(i)->get_left_block_acq(), 0);
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
channels_.at(i)->get_left_block_trk(), 0);
}
}
catch (const std::exception& e)
{
@ -678,7 +802,7 @@ void GNSSFlowgraph::disconnect()
try
{
top_block_->disconnect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
channels_.at(i)->get_left_block(), 0);
channels_.at(i)->get_left_block_trk(), 0);
}
catch (const std::exception& e)
{

4
src/core/receiver/gnss_flowgraph.h
View File

@ -55,6 +55,7 @@
#include <queue>
#include <string>
#include <vector>
#include <map>
#if ENABLE_FPGA
#include "gnss_sdr_fpga_sample_counter.h"
@ -72,7 +73,7 @@ public:
/*!
* \brief Constructor that initializes the receiver flow graph
*/
GNSSFlowgraph(std::shared_ptr<ConfigurationInterface> configuration, gr::msg_queue::sptr queue);
GNSSFlowgraph(std::shared_ptr<ConfigurationInterface> configuration, const gr::msg_queue::sptr& queue);
/*!
* \brief Destructor
@ -166,6 +167,7 @@ private:
std::shared_ptr<GNSSBlockInterface> observables_;
std::shared_ptr<GNSSBlockInterface> pvt_;
std::map<std::string, gr::basic_block_sptr> acq_resamplers_;
std::vector<std::shared_ptr<ChannelInterface>> channels_;
gnss_sdr_sample_counter_sptr ch_out_sample_counter;
#if ENABLE_FPGA

3
src/core/system_parameters/GPS_L1_CA.h
View File

@ -57,6 +57,9 @@ const double GPS_L1_CA_CODE_PERIOD = 0.001; //!< GPS L1 C/A code period
const uint32_t GPS_L1_CA_CODE_PERIOD_MS = 1U; //!< GPS L1 C/A code period [ms]
const double GPS_L1_CA_CHIP_PERIOD = 9.7752e-07; //!< GPS L1 C/A chip period [seconds]
//optimum parameters
const uint32_t GPS_L1_CA_OPT_ACQ_FS_HZ = 1000000; //!< Sampling frequncy that maximizes the acquisition SNR while using a non-multiple of chip rate
/*!
* \brief Maximum Time-Of-Arrival (TOA) difference between satellites for a receiver operated on Earth surface is 20 ms
*

4
src/core/system_parameters/GPS_L2C.h
View File

@ -63,6 +63,10 @@ const double GPS_L2_L_PERIOD = 1.5; //!< GPS L2 L code period [s
const int32_t GPS_L2C_HISTORY_DEEP = 5;
//optimum parameters
const uint32_t GPS_L2C_OPT_ACQ_FS_HZ = 1000000; //!< Sampling frequncy that maximizes the acquisition SNR while using a non-multiple of chip rate
const int32_t GPS_L2C_M_INIT_REG[115] =
{0742417664, 0756014035, 0002747144, 0066265724, // 1:4
0601403471, 0703232733, 0124510070, 0617316361, // 5:8

3
src/core/system_parameters/GPS_L5.h
View File

@ -64,6 +64,9 @@ const double GPS_L5q_PERIOD = 0.001; //!< GPS L5 code period [secon
const int32_t GPS_L5_HISTORY_DEEP = 5;
//optimum parameters
const uint32_t GPS_L5_OPT_ACQ_FS_HZ = 10000000; //!< Sampling frequncy that maximizes the acquisition SNR while using a non-multiple of chip rate
const int32_t GPS_L5i_INIT_REG[210] =
{266, 365, 804, 1138,
1509, 1559, 1756, 2084,

5
src/core/system_parameters/Galileo_E1.h
View File

@ -63,6 +63,11 @@ const int32_t Galileo_E1_B_SAMPLES_PER_SYMBOL = 1; //!< (Galileo_E1_CODE_
const int32_t Galileo_E1_C_SECONDARY_CODE_LENGTH = 25; //!< Galileo E1-C secondary code length [chips]
const int32_t Galileo_E1_NUMBER_OF_CODES = 50;
//optimum parameters
const uint32_t Galileo_E1_OPT_ACQ_FS_HZ = 2000000; //!< Sampling frequncy that maximizes the acquisition SNR while using a non-multiple of chip rate
const double GALILEO_STARTOFFSET_ms = 68.802; //[ms] Initial sign. travel time (this cannot go here)

3
src/core/system_parameters/Galileo_E5a.h
View File

@ -57,6 +57,9 @@ const int32_t Galileo_E5a_NUMBER_OF_CODES = 50;
const int32_t GALILEO_E5A_HISTORY_DEEP = 20;
const int32_t GALILEO_E5A_CRC_ERROR_LIMIT = 6;
//optimum parameters
const uint32_t Galileo_E5a_OPT_ACQ_FS_HZ = 10000000; //!< Sampling frequncy that maximizes the acquisition SNR while using a non-multiple of chip rate
// F/NAV message structure
const int32_t GALILEO_FNAV_PREAMBLE_LENGTH_BITS = 12;

1
src/tests/common-files/tracking_tests_flags.h
View File

@ -42,6 +42,7 @@ DEFINE_double(external_signal_acquisition_threshold, 2.5, "Threshold for satelli
DEFINE_int32(external_signal_acquisition_dwells, 5, "Maximum dwells count for satellite acquisition when external file is used");
DEFINE_double(external_signal_acquisition_doppler_max_hz, 5000.0, "Doppler max for satellite acquisition when external file is used");
DEFINE_double(external_signal_acquisition_doppler_step_hz, 125.0, "Doppler step for satellite acquisition when external file is used");
DEFINE_bool(use_acquisition_resampler, false, "Reduce the sampling rate of the input signal for the acquisition in order to optimize the SNR and decrease the processor load");
DEFINE_string(signal_file, std::string("signal_out.bin"), "Path of the external signal capture file");
DEFINE_double(CN0_dBHz_start, std::numeric_limits<double>::infinity(), "Enable noise generator and set the CN0 start sweep value [dB-Hz]");

9
src/tests/system-tests/position_test.cc
View File

@ -33,6 +33,7 @@
*/
#include "MATH_CONSTANTS.h"
#include "acquisition_msg_rx.h"
#include "concurrent_map.h"
#include "concurrent_queue.h"
#include "control_thread.h"
@ -45,6 +46,7 @@
#include "signal_generator_flags.h"
#include "spirent_motion_csv_dump_reader.h"
#include "test_flags.h"
#include "tracking_tests_flags.h" //acquisition resampler
#include <armadillo>
#include <boost/filesystem.hpp>
#include <glog/logging.h>
@ -183,6 +185,11 @@ int PositionSystemTest::configure_receiver()
const int output_rate_ms = 100;
config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(sampling_rate_internal));
// Enable automatic resampler for the acquisition, if required
if (FLAGS_use_acquisition_resampler == true)
{
config->set_property("GNSS-SDR.use_acquisition_resampler", "true");
}
// Set the assistance system parameters
config->set_property("GNSS-SDR.SUPL_read_gps_assistance_xml", "false");
@ -830,7 +837,7 @@ void PositionSystemTest::print_results(const arma::mat& R_eb_enu)
{
boost::filesystem::path p(gnuplot_executable);
boost::filesystem::path dir = p.parent_path();
std::string gnuplot_path = dir.native();
const std::string& gnuplot_path = dir.native();
Gnuplot::set_GNUPlotPath(gnuplot_path);
Gnuplot g1("points");

138
src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test.cc
View File

@ -31,6 +31,10 @@
*/
#include "GPS_L1_CA.h"
#include "GPS_L2C.h"
#include "GPS_L5.h"
#include "Galileo_E1.h"
#include "Galileo_E5a.h"
#include "acquisition_msg_rx.h"
#include "galileo_e1_pcps_ambiguous_acquisition.h"
#include "galileo_e5a_noncoherent_iq_acquisition_caf.h"
@ -64,17 +68,23 @@
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/interleaved_char_to_complex.h>
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/filter/firdes.h>
#include <gnuradio/top_block.h>
#include <gtest/gtest.h>
#include <matio.h>
#include <chrono>
#include <exception>
#include <gpstk/Rinex3ObsBase.hpp>
#include <gpstk/Rinex3ObsData.hpp>
#include <gpstk/Rinex3ObsHeader.hpp>
#include <gpstk/Rinex3ObsStream.hpp>
#include <gpstk/RinexUtilities.hpp>
#include <gtest/gtest.h>
#include <matio.h>
#include <chrono>
#include <exception>
#include <unistd.h>
#ifdef GR_GREATER_38
#include <gnuradio/filter/fir_filter_blk.h>
#else
#include <gnuradio/filter/fir_filter_ccf.h>
#endif
// ######## GNURADIO BLOCK MESSAGE RECEVER FOR TRACKING MESSAGES #########
@ -186,6 +196,19 @@ HybridObservablesTest_tlm_msg_rx::~HybridObservablesTest_tlm_msg_rx()
class HybridObservablesTest : public ::testing::Test
{
public:
enum StringValue
{
evGPS_1C,
evGPS_2S,
evGPS_L5,
evSBAS_1C,
evGAL_1B,
evGAL_5X,
evGLO_1G,
evGLO_2G
};
std::map<std::string, StringValue> mapStringValues_;
std::string generator_binary;
std::string p1;
std::string p2;
@ -247,6 +270,13 @@ public:
factory = std::make_shared<GNSSBlockFactory>();
config = std::make_shared<InMemoryConfiguration>();
item_size = sizeof(gr_complex);
mapStringValues_["1C"] = evGPS_1C;
mapStringValues_["2S"] = evGPS_2S;
mapStringValues_["L5"] = evGPS_L5;
mapStringValues_["1B"] = evGAL_1B;
mapStringValues_["5X"] = evGAL_5X;
mapStringValues_["1G"] = evGLO_1G;
mapStringValues_["2G"] = evGLO_2G;
}
~HybridObservablesTest()
@ -328,6 +358,11 @@ bool HybridObservablesTest::acquire_signal()
tmp_gnss_synchro.Channel_ID = 0;
config = std::make_shared<InMemoryConfiguration>();
config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(baseband_sampling_freq));
// Enable automatic resampler for the acquisition, if required
if (FLAGS_use_acquisition_resampler == true)
{
config->set_property("GNSS-SDR.use_acquisition_resampler", "true");
}
config->set_property("Acquisition.blocking_on_standby", "true");
config->set_property("Acquisition.blocking", "true");
config->set_property("Acquisition.dump", "false");
@ -337,11 +372,12 @@ bool HybridObservablesTest::acquire_signal()
std::shared_ptr<AcquisitionInterface> acquisition;
std::string System_and_Signal;
std::string signal;
//create the correspondign acquisition block according to the desired tracking signal
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking") == 0)
{
tmp_gnss_synchro.System = 'G';
std::string signal = "1C";
signal = "1C";
const char* str = signal.c_str(); // get a C style null terminated string
std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3); // copy string into synchro char array: 2 char + null
tmp_gnss_synchro.PRN = SV_ID;
@ -353,7 +389,7 @@ bool HybridObservablesTest::acquire_signal()
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking") == 0)
{
tmp_gnss_synchro.System = 'E';
std::string signal = "1B";
signal = "1B";
const char* str = signal.c_str(); // get a C style null terminated string
std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3); // copy string into synchro char array: 2 char + null
tmp_gnss_synchro.PRN = SV_ID;
@ -364,7 +400,7 @@ bool HybridObservablesTest::acquire_signal()
else if (implementation.compare("GPS_L2_M_DLL_PLL_Tracking") == 0)
{
tmp_gnss_synchro.System = 'G';
std::string signal = "2S";
signal = "2S";
const char* str = signal.c_str(); // get a C style null terminated string
std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3); // copy string into synchro char array: 2 char + null
tmp_gnss_synchro.PRN = SV_ID;
@ -375,7 +411,7 @@ bool HybridObservablesTest::acquire_signal()
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_b") == 0)
{
tmp_gnss_synchro.System = 'E';
std::string signal = "5X";
signal = "5X";
const char* str = signal.c_str(); // get a C style null terminated string
std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3); // copy string into synchro char array: 2 char + null
tmp_gnss_synchro.PRN = SV_ID;
@ -391,7 +427,7 @@ bool HybridObservablesTest::acquire_signal()
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking") == 0)
{
tmp_gnss_synchro.System = 'E';
std::string signal = "5X";
signal = "5X";
const char* str = signal.c_str(); // get a C style null terminated string
std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3); // copy string into synchro char array: 2 char + null
tmp_gnss_synchro.PRN = SV_ID;
@ -402,7 +438,7 @@ bool HybridObservablesTest::acquire_signal()
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking") == 0)
{
tmp_gnss_synchro.System = 'G';
std::string signal = "L5";
signal = "L5";
const char* str = signal.c_str(); // get a C style null terminated string
std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3); // copy string into synchro char array: 2 char + null
tmp_gnss_synchro.PRN = SV_ID;
@ -433,10 +469,88 @@ bool HybridObservablesTest::acquire_signal()
file_source->seek(2 * FLAGS_skip_samples, 0); //skip head. ibyte, two bytes per complex sample
gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make();
//gr::blocks::head::sptr head_samples = gr::blocks::head::make(sizeof(gr_complex), baseband_sampling_freq * FLAGS_duration);
//top_block->connect(head_samples, 0, acquisition->get_left_block(), 0);
top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0);
top_block->connect(gr_interleaved_char_to_complex, 0, acquisition->get_left_block(), 0);
//top_block->connect(head_samples, 0, acquisition->get_left_block(), 0);
// Enable automatic resampler for the acquisition, if required
if (FLAGS_use_acquisition_resampler == true)
{
//create acquisition resamplers if required
double resampler_ratio = 1.0;
double opt_fs = baseband_sampling_freq;
//find the signal associated to this channel
switch (mapStringValues_[signal])
{
case evGPS_1C:
opt_fs = GPS_L1_CA_OPT_ACQ_FS_HZ;
break;
case evGPS_2S:
opt_fs = GPS_L2C_OPT_ACQ_FS_HZ;
break;
case evGPS_L5:
opt_fs = GPS_L5_OPT_ACQ_FS_HZ;
break;
case evSBAS_1C:
opt_fs = GPS_L1_CA_OPT_ACQ_FS_HZ;
break;
case evGAL_1B:
opt_fs = Galileo_E1_OPT_ACQ_FS_HZ;
break;
case evGAL_5X:
opt_fs = Galileo_E5a_OPT_ACQ_FS_HZ;
break;
case evGLO_1G:
opt_fs = baseband_sampling_freq;
break;
case evGLO_2G:
opt_fs = baseband_sampling_freq;
break;
}
if (opt_fs < baseband_sampling_freq)
{
resampler_ratio = baseband_sampling_freq / opt_fs;
int decimation = floor(resampler_ratio);
while (baseband_sampling_freq % decimation > 0)
{
decimation--;
};
double acq_fs = baseband_sampling_freq / decimation;
if (decimation > 1)
{
//create a FIR low pass filter
std::vector<float> taps;
taps = gr::filter::firdes::low_pass(1.0,
baseband_sampling_freq,
acq_fs / 2.1,
acq_fs / 10,
gr::filter::firdes::win_type::WIN_HAMMING);
std::cout << "Enabled decimation low pass filter with " << taps.size() << " taps and decimation factor of " << decimation << std::endl;
acquisition->set_resampler_latency((taps.size() - 1) / 2);
gr::basic_block_sptr fir_filter_ccf_ = gr::filter::fir_filter_ccf::make(decimation, taps);
top_block->connect(gr_interleaved_char_to_complex, 0, fir_filter_ccf_, 0);
top_block->connect(fir_filter_ccf_, 0, acquisition->get_left_block(), 0);
}
else
{
std::cout << "Disabled acquisition resampler because the input sampling frequency is too low\n";
top_block->connect(gr_interleaved_char_to_complex, 0, acquisition->get_left_block(), 0);
}
}
else
{
std::cout << "Disabled acquisition resampler because the input sampling frequency is too low\n";
top_block->connect(gr_interleaved_char_to_complex, 0, acquisition->get_left_block(), 0);
}
}
else
{
top_block->connect(gr_interleaved_char_to_complex, 0, acquisition->get_left_block(), 0);
//top_block->connect(head_samples, 0, acquisition->get_left_block(), 0);
}
boost::shared_ptr<Acquisition_msg_rx> msg_rx;
try

21
src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test_fpga.cc
View File

@ -54,10 +54,11 @@
#include <gnuradio/top_block.h>
#include <gtest/gtest.h>
#include <chrono>
#include <cstdio> // FPGA read input file
#include <fcntl.h>
#include <iostream>
#include <stdio.h> // FPGA read input file
#include <unistd.h>
#include <utility>
#ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h>
#else
@ -69,7 +70,7 @@
#define FIVE_SECONDS 5000000 // five seconds in microseconds
void send_tracking_gps_input_samples(FILE *rx_signal_file,
int num_remaining_samples, gr::top_block_sptr top_block)
int num_remaining_samples, const gr::top_block_sptr& top_block)
{
int num_samples_transferred = 0; // number of samples that have been transferred to the DMA so far
static int flowgraph_stopped = 0; // flag to indicate if the flowgraph is stopped already
@ -142,7 +143,7 @@ void sending_thread(gr::top_block_sptr top_block, const char *file_name)
usleep(FIVE_SECONDS); // wait for some time to give time to the other thread to program the device
//send_tracking_gps_input_samples(dma_descr, rx_signal_file, file_length);
send_tracking_gps_input_samples(rx_signal_file, file_length, top_block);
send_tracking_gps_input_samples(rx_signal_file, file_length, std::move(top_block));
fclose(rx_signal_file);
}
@ -151,7 +152,7 @@ void sending_thread(gr::top_block_sptr top_block, const char *file_name)
// ######## GNURADIO BLOCK MESSAGE RECEVER #########
class GpsL1CADllPllTrackingTestFpga_msg_rx;
typedef boost::shared_ptr<GpsL1CADllPllTrackingTestFpga_msg_rx> GpsL1CADllPllTrackingTestFpga_msg_rx_sptr;
using GpsL1CADllPllTrackingTestFpga_msg_rx_sptr = boost::shared_ptr<GpsL1CADllPllTrackingTestFpga_msg_rx>;
GpsL1CADllPllTrackingTestFpga_msg_rx_sptr GpsL1CADllPllTrackingTestFpga_msg_rx_make();
@ -180,7 +181,7 @@ void GpsL1CADllPllTrackingTestFpga_msg_rx::msg_handler_events(pmt::pmt_t msg)
{
try
{
int64_t message = pmt::to_long(msg);
int64_t message = pmt::to_long(std::move(msg));
rx_message = message;
}
catch (boost::bad_any_cast &e)
@ -204,9 +205,7 @@ GpsL1CADllPllTrackingTestFpga_msg_rx::GpsL1CADllPllTrackingTestFpga_msg_rx() : g
}
GpsL1CADllPllTrackingTestFpga_msg_rx::~GpsL1CADllPllTrackingTestFpga_msg_rx()
{
}
GpsL1CADllPllTrackingTestFpga_msg_rx::~GpsL1CADllPllTrackingTestFpga_msg_rx() = default;
// ###########################################################
@ -243,9 +242,7 @@ public:
gnss_synchro = Gnss_Synchro();
}
~GpsL1CADllPllTrackingTestFpga()
{
}
~GpsL1CADllPllTrackingTestFpga() = default;
void configure_receiver();
@ -283,7 +280,7 @@ int GpsL1CADllPllTrackingTestFpga::generate_signal()
int child_status;
char *const parmList[] = {&generator_binary[0], &generator_binary[0], &p1[0], &p2[0], &p3[0],
&p4[0], &p5[0], NULL};
&p4[0], &p5[0], nullptr};
int pid;
if ((pid = fork()) == -1)

142
src/tests/unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test.cc
View File

@ -30,8 +30,11 @@
* -------------------------------------------------------------------------
*/
#include "GPS_L1_CA.h"
#include "GPS_L2C.h"
#include "GPS_L5.h"
#include "Galileo_E1.h"
#include "Galileo_E5a.h"
#include "acquisition_msg_rx.h"
#include "control_message_factory.h"
#include "galileo_e1_pcps_ambiguous_acquisition.h"
@ -58,12 +61,18 @@
#include <gnuradio/blocks/interleaved_char_to_complex.h>
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h>
#include <gnuradio/filter/firdes.h>
#include <gnuradio/msg_queue.h>
#include <gnuradio/top_block.h>
#include <gtest/gtest.h>
#include <chrono>
#include <cstdint>
#include <vector>
#ifdef GR_GREATER_38
#include <gnuradio/filter/fir_filter_blk.h>
#else
#include <gnuradio/filter/fir_filter_ccf.h>
#endif
// ######## GNURADIO TRACKING BLOCK MESSAGE RECEVER #########
@ -126,6 +135,19 @@ TrackingPullInTest_msg_rx::~TrackingPullInTest_msg_rx()
class TrackingPullInTest : public ::testing::Test
{
public:
enum StringValue
{
evGPS_1C,
evGPS_2S,
evGPS_L5,
evSBAS_1C,
evGAL_1B,
evGAL_5X,
evGLO_1G,
evGLO_2G
};
std::map<std::string, StringValue> mapStringValues_;
std::string generator_binary;
std::string p1;
std::string p2;
@ -171,6 +193,13 @@ public:
config = std::make_shared<InMemoryConfiguration>();
item_size = sizeof(gr_complex);
gnss_synchro = Gnss_Synchro();
mapStringValues_["1C"] = evGPS_1C;
mapStringValues_["2S"] = evGPS_2S;
mapStringValues_["L5"] = evGPS_L5;
mapStringValues_["1B"] = evGAL_1B;
mapStringValues_["5X"] = evGAL_5X;
mapStringValues_["1G"] = evGLO_1G;
mapStringValues_["2G"] = evGLO_2G;
}
~TrackingPullInTest()
@ -289,7 +318,7 @@ void TrackingPullInTest::configure_receiver(
System_and_Signal = "GPS L2CM";
signal.copy(gnss_synchro.Signal, 2, 0);
config->set_property("Tracking.early_late_space_chips", "0.5");
config->set_property("Tracking.track_pilot", "false");
config->set_property("Tracking.track_pilot", "true");
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking") == 0 or implementation.compare("Galileo_E5a_DLL_PLL_Tracking_b") == 0)
{
@ -302,7 +331,7 @@ void TrackingPullInTest::configure_receiver(
config->supersede_property("Tracking.implementation", std::string("Galileo_E5a_DLL_PLL_Tracking"));
}
config->set_property("Tracking.early_late_space_chips", "0.5");
config->set_property("Tracking.track_pilot", "false");
config->set_property("Tracking.track_pilot", "true");
config->set_property("Tracking.order", "2");
}
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking") == 0)
@ -312,7 +341,7 @@ void TrackingPullInTest::configure_receiver(
System_and_Signal = "GPS L5I";
signal.copy(gnss_synchro.Signal, 2, 0);
config->set_property("Tracking.early_late_space_chips", "0.5");
config->set_property("Tracking.track_pilot", "false");
config->set_property("Tracking.track_pilot", "true");
config->set_property("Tracking.order", "2");
}
else
@ -345,8 +374,15 @@ bool TrackingPullInTest::acquire_signal(int SV_ID)
// Satellite signal definition
Gnss_Synchro tmp_gnss_synchro;
tmp_gnss_synchro.Channel_ID = 0;
config = std::make_shared<InMemoryConfiguration>();
config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(baseband_sampling_freq));
// Enable automatic resampler for the acquisition, if required
if (FLAGS_use_acquisition_resampler == true)
{
config->set_property("GNSS-SDR.use_acquisition_resampler", "true");
}
config->set_property("Acquisition.blocking_on_standby", "true");
config->set_property("Acquisition.blocking", "true");
config->set_property("Acquisition.dump", "false");
@ -356,11 +392,12 @@ bool TrackingPullInTest::acquire_signal(int SV_ID)
std::shared_ptr<AcquisitionInterface> acquisition;
std::string System_and_Signal;
std::string signal;
//create the correspondign acquisition block according to the desired tracking signal
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking") == 0)
{
tmp_gnss_synchro.System = 'G';
std::string signal = "1C";
signal = "1C";
const char* str = signal.c_str(); // get a C style null terminated string
std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3); // copy string into synchro char array: 2 char + null
tmp_gnss_synchro.PRN = SV_ID;
@ -372,7 +409,7 @@ bool TrackingPullInTest::acquire_signal(int SV_ID)
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking") == 0)
{
tmp_gnss_synchro.System = 'E';
std::string signal = "1B";
signal = "1B";
const char* str = signal.c_str(); // get a C style null terminated string
std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3); // copy string into synchro char array: 2 char + null
tmp_gnss_synchro.PRN = SV_ID;
@ -383,7 +420,7 @@ bool TrackingPullInTest::acquire_signal(int SV_ID)
else if (implementation.compare("GPS_L2_M_DLL_PLL_Tracking") == 0)
{
tmp_gnss_synchro.System = 'G';
std::string signal = "2S";
signal = "2S";
const char* str = signal.c_str(); // get a C style null terminated string
std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3); // copy string into synchro char array: 2 char + null
tmp_gnss_synchro.PRN = SV_ID;
@ -394,7 +431,7 @@ bool TrackingPullInTest::acquire_signal(int SV_ID)
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_b") == 0)
{
tmp_gnss_synchro.System = 'E';
std::string signal = "5X";
signal = "5X";
const char* str = signal.c_str(); // get a C style null terminated string
std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3); // copy string into synchro char array: 2 char + null
tmp_gnss_synchro.PRN = SV_ID;
@ -410,7 +447,7 @@ bool TrackingPullInTest::acquire_signal(int SV_ID)
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking") == 0)
{
tmp_gnss_synchro.System = 'E';
std::string signal = "5X";
signal = "5X";
const char* str = signal.c_str(); // get a C style null terminated string
std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3); // copy string into synchro char array: 2 char + null
tmp_gnss_synchro.PRN = SV_ID;
@ -421,7 +458,7 @@ bool TrackingPullInTest::acquire_signal(int SV_ID)
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking") == 0)
{
tmp_gnss_synchro.System = 'G';
std::string signal = "L5";
signal = "L5";
const char* str = signal.c_str(); // get a C style null terminated string
std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3); // copy string into synchro char array: 2 char + null
tmp_gnss_synchro.PRN = SV_ID;
@ -449,13 +486,90 @@ bool TrackingPullInTest::acquire_signal(int SV_ID)
std::string file = FLAGS_signal_file;
const char* file_name = file.c_str();
file_source = gr::blocks::file_source::make(sizeof(int8_t), file_name, false);
file_source->seek(2 * FLAGS_skip_samples, 0); //skip head. ibyte, two bytes per complex sample
file_source->seek(2 * FLAGS_skip_samples, SEEK_SET); //skip head. ibyte, two bytes per complex sample
gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make();
//gr::blocks::head::sptr head_samples = gr::blocks::head::make(sizeof(gr_complex), baseband_sampling_freq * FLAGS_duration);
top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0);
top_block->connect(gr_interleaved_char_to_complex, 0, acquisition->get_left_block(), 0);
//top_block->connect(head_samples, 0, acquisition->get_left_block(), 0);
// Enable automatic resampler for the acquisition, if required
if (FLAGS_use_acquisition_resampler == true)
{
//create acquisition resamplers if required
double resampler_ratio = 1.0;
double opt_fs = baseband_sampling_freq;
//find the signal associated to this channel
switch (mapStringValues_[signal])
{
case evGPS_1C:
opt_fs = GPS_L1_CA_OPT_ACQ_FS_HZ;
break;
case evGPS_2S:
opt_fs = GPS_L2C_OPT_ACQ_FS_HZ;
break;
case evGPS_L5:
opt_fs = GPS_L5_OPT_ACQ_FS_HZ;
break;
case evSBAS_1C:
opt_fs = GPS_L1_CA_OPT_ACQ_FS_HZ;
break;
case evGAL_1B:
opt_fs = Galileo_E1_OPT_ACQ_FS_HZ;
break;
case evGAL_5X:
opt_fs = Galileo_E5a_OPT_ACQ_FS_HZ;
break;
case evGLO_1G:
opt_fs = baseband_sampling_freq;
break;
case evGLO_2G:
opt_fs = baseband_sampling_freq;
break;
}
if (opt_fs < baseband_sampling_freq)
{
resampler_ratio = baseband_sampling_freq / opt_fs;
int decimation = floor(resampler_ratio);
while (baseband_sampling_freq % decimation > 0)
{
decimation--;
};
double acq_fs = baseband_sampling_freq / decimation;
if (decimation > 1)
{
//create a FIR low pass filter
std::vector<float> taps;
taps = gr::filter::firdes::low_pass(1.0,
baseband_sampling_freq,
acq_fs / 2.1,
acq_fs / 10,
gr::filter::firdes::win_type::WIN_HAMMING);
std::cout << "Enabled decimation low pass filter with " << taps.size() << " taps and decimation factor of " << decimation << std::endl;
acquisition->set_resampler_latency((taps.size() - 1) / 2);
gr::basic_block_sptr fir_filter_ccf_ = gr::filter::fir_filter_ccf::make(decimation, taps);
top_block->connect(gr_interleaved_char_to_complex, 0, fir_filter_ccf_, 0);
top_block->connect(fir_filter_ccf_, 0, acquisition->get_left_block(), 0);
}
else
{
std::cout << "Disabled acquisition resampler because the input sampling frequency is too low\n";
top_block->connect(gr_interleaved_char_to_complex, 0, acquisition->get_left_block(), 0);
}
}
else
{
std::cout << "Disabled acquisition resampler because the input sampling frequency is too low\n";
top_block->connect(gr_interleaved_char_to_complex, 0, acquisition->get_left_block(), 0);
}
}
else
{
top_block->connect(gr_interleaved_char_to_complex, 0, acquisition->get_left_block(), 0);
//top_block->connect(head_samples, 0, acquisition->get_left_block(), 0);
}
boost::shared_ptr<Acquisition_msg_rx> msg_rx;
try
@ -531,7 +645,7 @@ bool TrackingPullInTest::acquire_signal(int SV_ID)
std::cout << " . ";
}
top_block->stop();
file_source->seek(2 * FLAGS_skip_samples, 0); //skip head. ibyte, two bytes per complex sample
file_source->seek(2 * FLAGS_skip_samples, SEEK_SET); //skip head. ibyte, two bytes per complex sample
std::cout.flush();
}
std::cout << "]" << std::endl;

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