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Merge branch 'fpga' of https://github.com/mmajoral/gnss-sdr into merge-marc

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This commit is contained in:
Carles Fernandez
2018-08-11 12:56:52 +02:00
parent f6af31b81f f14ad930d5
commit 05a1806c8f
42 changed files with 6582 additions and 488 deletions
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2
src/algorithms/tracking/libs/CMakeLists.txt
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@@ -47,7 +47,7 @@ set(TRACKING_LIB_SOURCES
)
if(ENABLE_FPGA)
SET(TRACKING_LIB_SOURCES ${TRACKING_LIB_SOURCES} fpga_multicorrelator.cc)
SET(TRACKING_LIB_SOURCES ${TRACKING_LIB_SOURCES} fpga_multicorrelator.cc dll_pll_conf_fpga.cc)
endif(ENABLE_FPGA)
include_directories(

91
src/algorithms/tracking/libs/dll_pll_conf_fpga.cc Normal file
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@@ -0,0 +1,91 @@
/*!
* \file dll_pll_conf.cc
* \brief Class that contains all the configuration parameters for generic
* tracking block based on a DLL and a PLL.
* \author Javier Arribas, 2018. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "dll_pll_conf_fpga.h"
#include <cstring>
Dll_Pll_Conf_Fpga::Dll_Pll_Conf_Fpga()
{
// /* DLL/PLL tracking configuration */
// fs_in = 0.0;
// vector_length = 0;
// dump = false;
// dump_filename = "./dll_pll_dump.dat";
// pll_bw_hz = 40.0;
// dll_bw_hz = 2.0;
// pll_bw_narrow_hz = 5.0;
// dll_bw_narrow_hz = 0.75;
// early_late_space_chips = 0.5;
// very_early_late_space_chips = 0.5;
// early_late_space_narrow_chips = 0.1;
// very_early_late_space_narrow_chips = 0.1;
// extend_correlation_symbols = 5;
// cn0_samples = 20;
// carrier_lock_det_mav_samples = 20;
// cn0_min = 25;
// max_lock_fail = 50;
// carrier_lock_th = 0.85;
// track_pilot = false;
// system = 'G';
// char sig_[3] = "1C";
// std::memcpy(signal, sig_, 3);
/* DLL/PLL tracking configuration */
fs_in = 0.0;
vector_length = 0;
dump = false;
dump_filename = "./dll_pll_dump.dat";
pll_bw_hz = 40.0;
dll_bw_hz = 2.0;
pll_bw_narrow_hz = 5.0;
dll_bw_narrow_hz = 0.75;
early_late_space_chips = 0.5;
very_early_late_space_chips = 0.5;
early_late_space_narrow_chips = 0.1;
very_early_late_space_narrow_chips = 0.1;
extend_correlation_symbols = 5;
cn0_samples = 20;
cn0_min = 25;
max_lock_fail = 50;
carrier_lock_th = 0.85;
track_pilot = false;
system = 'G';
char sig_[3] = "1C";
std::memcpy(signal, sig_, 3);
device_name = "/dev/uio";
device_base = 1;
multicorr_type = 0;
code_length_chips = 0;
code_samples_per_chip = 0;
//int32_t* ca_codes;
//int32_t* data_codes;
}

98
src/algorithms/tracking/libs/dll_pll_conf_fpga.h Normal file
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@@ -0,0 +1,98 @@
/*!
* \file dll_pll_conf.h
* \brief Class that contains all the configuration parameters for generic tracking block based on a DLL and a PLL.
* \author Javier Arribas, 2018. jarribas(at)cttc.es
*
* Class that contains all the configuration parameters for generic tracking block based on a DLL and a PLL.
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_DLL_PLL_CONF_FPGA_H_
#define GNSS_SDR_DLL_PLL_CONF_FPGA_H_
#include <cstdint>
#include <string>
class Dll_Pll_Conf_Fpga
{
private:
public:
// /* DLL/PLL tracking configuration */
// double fs_in;
// uint32_t vector_length;
// bool dump;
// std::string dump_filename;
// float pll_bw_hz;
// float dll_bw_hz;
// float pll_bw_narrow_hz;
// float dll_bw_narrow_hz;
// float early_late_space_chips;
// float very_early_late_space_chips;
// float early_late_space_narrow_chips;
// float very_early_late_space_narrow_chips;
// int32_t extend_correlation_symbols;
// int32_t cn0_samples;
// int32_t carrier_lock_det_mav_samples;
// int32_t cn0_min;
// int32_t max_lock_fail;
// double carrier_lock_th;
// bool track_pilot;
// char system;
// char signal[3];
/* DLL/PLL tracking configuration */
double fs_in;
uint32_t vector_length;
bool dump;
std::string dump_filename;
float pll_bw_hz;
float dll_bw_hz;
float pll_bw_narrow_hz;
float dll_bw_narrow_hz;
float early_late_space_chips;
float very_early_late_space_chips;
float early_late_space_narrow_chips;
float very_early_late_space_narrow_chips;
int32_t extend_correlation_symbols;
int32_t cn0_samples;
int32_t cn0_min;
int32_t max_lock_fail;
double carrier_lock_th;
bool track_pilot;
char system;
char signal[3];
std::string device_name;
uint32_t device_base;
uint32_t multicorr_type;
uint32_t code_length_chips;
uint32_t code_samples_per_chip;
int32_t* ca_codes;
int32_t* data_codes;
Dll_Pll_Conf_Fpga();
};
#endif

545
src/algorithms/tracking/libs/fpga_multicorrelator.cc
View File

@@ -75,7 +75,7 @@
#define CODE_RESAMPLER_NUM_BITS_PRECISION 20
#define CODE_PHASE_STEP_CHIPS_NUM_NBITS CODE_RESAMPLER_NUM_BITS_PRECISION
#define pwrtwo(x) (1 << (x))
#define MAX_CODE_RESAMPLER_COUNTER pwrtwo(CODE_PHASE_STEP_CHIPS_NUM_NBITS) // 2^CODE_PHASE_STEP_CHIPS_NUM_NBITS
#define MAX_CODE_RESAMPLER_COUNTER pwrtwo(CODE_PHASE_STEP_CHIPS_NUM_NBITS) // 2^CODE_PHASE_STEP_CHIPS_NUM_NBITS
#define PHASE_CARR_NBITS 32
#define PHASE_CARR_NBITS_INT 1
#define PHASE_CARR_NBITS_FRAC PHASE_CARR_NBITS - PHASE_CARR_NBITS_INT
@@ -84,57 +84,69 @@
#define LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY 0x0C000000
#define TEST_REGISTER_TRACK_WRITEVAL 0x55AA
int fpga_multicorrelator_8sc::read_sample_counter()
uint64_t fpga_multicorrelator_8sc::read_sample_counter()
{
return d_map_base[7];
uint64_t sample_counter_tmp, sample_counter_msw_tmp;
sample_counter_tmp = d_map_base[d_SAMPLE_COUNTER_REG_ADDR_LSW];
sample_counter_msw_tmp = d_map_base[d_SAMPLE_COUNTER_REG_ADDR_MSW];
sample_counter_msw_tmp = sample_counter_msw_tmp << 32;
sample_counter_tmp = sample_counter_tmp + sample_counter_msw_tmp; // 2^32
//return d_map_base[d_SAMPLE_COUNTER_REG_ADDR];
return sample_counter_tmp;
}
void fpga_multicorrelator_8sc::set_initial_sample(int samples_offset)
void fpga_multicorrelator_8sc::set_initial_sample(uint64_t samples_offset)
{
d_initial_sample_counter = samples_offset;
d_map_base[13] = d_initial_sample_counter;
//printf("www writing d map base %d = d_initial_sample_counter = %d\n", d_INITIAL_COUNTER_VALUE_REG_ADDR, d_initial_sample_counter);
d_map_base[d_INITIAL_COUNTER_VALUE_REG_ADDR_LSW] = (d_initial_sample_counter & 0xFFFFFFFF);
d_map_base[d_INITIAL_COUNTER_VALUE_REG_ADDR_MSW] = (d_initial_sample_counter >> 32) & 0xFFFFFFFF;
}
void fpga_multicorrelator_8sc::set_local_code_and_taps(int code_length_chips,
float *shifts_chips, int PRN)
{
//void fpga_multicorrelator_8sc::set_local_code_and_taps(int32_t code_length_chips,
// float *shifts_chips, int32_t PRN)
void fpga_multicorrelator_8sc::set_local_code_and_taps(float *shifts_chips, float *prompt_data_shift, int32_t PRN)
{
d_shifts_chips = shifts_chips;
d_code_length_chips = code_length_chips;
d_prompt_data_shift = prompt_data_shift;
//d_code_length_chips = code_length_chips;
fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code(PRN);
}
void fpga_multicorrelator_8sc::set_output_vectors(gr_complex* corr_out)
void fpga_multicorrelator_8sc::set_output_vectors(gr_complex *corr_out, gr_complex *Prompt_Data)
{
d_corr_out = corr_out;
d_Prompt_Data = Prompt_Data;
}
void fpga_multicorrelator_8sc::update_local_code(float rem_code_phase_chips)
{
d_rem_code_phase_chips = rem_code_phase_chips;
//printf("uuuuu d_rem_code_phase_chips = %f\n", d_rem_code_phase_chips);
fpga_multicorrelator_8sc::fpga_compute_code_shift_parameters();
fpga_multicorrelator_8sc::fpga_configure_code_parameters_in_fpga();
}
void fpga_multicorrelator_8sc::Carrier_wipeoff_multicorrelator_resampler(
float rem_carrier_phase_in_rad, float phase_step_rad,
float rem_code_phase_chips, float code_phase_step_chips,
int signal_length_samples)
float rem_carrier_phase_in_rad, float phase_step_rad,
float rem_code_phase_chips, float code_phase_step_chips,
int32_t signal_length_samples)
{
update_local_code(rem_code_phase_chips);
d_rem_carrier_phase_in_rad = rem_carrier_phase_in_rad;
d_code_phase_step_chips = code_phase_step_chips;
d_phase_step_rad = phase_step_rad;
d_correlator_length_samples = signal_length_samples;
fpga_multicorrelator_8sc::fpga_compute_signal_parameters_in_fpga();
fpga_multicorrelator_8sc::fpga_configure_signal_parameters_in_fpga();
fpga_multicorrelator_8sc::fpga_compute_signal_parameters_in_fpga();
fpga_multicorrelator_8sc::fpga_configure_signal_parameters_in_fpga();
fpga_multicorrelator_8sc::fpga_launch_multicorrelator_fpga();
int irq_count;
int32_t irq_count;
ssize_t nb;
//printf("$$$$$ waiting for interrupt ... \n");
nb = read(d_device_descriptor, &irq_count, sizeof(irq_count));
//printf("$$$$$ interrupt received ... \n");
if (nb != sizeof(irq_count))
{
printf("Tracking_module Read failed to retrieve 4 bytes!\n");
@@ -143,23 +155,35 @@ void fpga_multicorrelator_8sc::Carrier_wipeoff_multicorrelator_resampler(
fpga_multicorrelator_8sc::read_tracking_gps_results();
}
fpga_multicorrelator_8sc::fpga_multicorrelator_8sc(int n_correlators,
std::string device_name, unsigned int device_base, int *ca_codes, unsigned int code_length)
fpga_multicorrelator_8sc::fpga_multicorrelator_8sc(int32_t n_correlators,
std::string device_name, uint32_t device_base, int32_t *ca_codes, int32_t *data_codes, uint32_t code_length_chips, bool track_pilot,
uint32_t multicorr_type, uint32_t code_samples_per_chip)
{
//printf("tracking fpga class created\n");
d_n_correlators = n_correlators;
d_device_name = device_name;
d_device_base = device_base;
d_track_pilot = track_pilot;
d_device_descriptor = 0;
d_map_base = nullptr;
// instantiate variable length vectors
d_initial_index = static_cast<unsigned*>(volk_gnsssdr_malloc(
n_correlators * sizeof(unsigned), volk_gnsssdr_get_alignment()));
d_initial_interp_counter = static_cast<unsigned*>(volk_gnsssdr_malloc(
n_correlators * sizeof(unsigned), volk_gnsssdr_get_alignment()));
//d_local_code_in = nullptr;
if (d_track_pilot)
{
d_initial_index = static_cast<uint32_t *>(volk_gnsssdr_malloc(
(n_correlators + 1) * sizeof(uint32_t), volk_gnsssdr_get_alignment()));
d_initial_interp_counter = static_cast<uint32_t *>(volk_gnsssdr_malloc(
(n_correlators + 1) * sizeof(uint32_t), volk_gnsssdr_get_alignment()));
}
else
{
d_initial_index = static_cast<uint32_t *>(volk_gnsssdr_malloc(
n_correlators * sizeof(uint32_t), volk_gnsssdr_get_alignment()));
d_initial_interp_counter = static_cast<uint32_t *>(volk_gnsssdr_malloc(
n_correlators * sizeof(uint32_t), volk_gnsssdr_get_alignment()));
}
d_shifts_chips = nullptr;
d_prompt_data_shift = nullptr;
d_corr_out = nullptr;
d_code_length_chips = 0;
d_rem_code_phase_chips = 0;
@@ -171,23 +195,103 @@ fpga_multicorrelator_8sc::fpga_multicorrelator_8sc(int n_correlators,
d_initial_sample_counter = 0;
d_channel = 0;
d_correlator_length_samples = 0,
d_code_length = code_length;
// pre-compute all the codes
// d_ca_codes = static_cast<int*>(volk_gnsssdr_malloc(static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS*NUM_PRNs) * sizeof(int), volk_gnsssdr_get_alignment()));
// for (unsigned int PRN = 1; PRN <= NUM_PRNs; PRN++)
// {
// gps_l1_ca_code_gen_int(&d_ca_codes[(int(GPS_L1_CA_CODE_LENGTH_CHIPS)) * (PRN - 1)], PRN, 0);
// }
//d_code_length = code_length;
d_code_length_chips = code_length_chips;
d_ca_codes = ca_codes;
d_data_codes = data_codes;
d_multicorr_type = multicorr_type;
d_code_samples_per_chip = code_samples_per_chip;
// set up register mapping
// write-only registers
d_CODE_PHASE_STEP_CHIPS_NUM_REG_ADDR = 0;
d_INITIAL_INDEX_REG_BASE_ADDR = 1;
// if (d_multicorr_type == 0)
// {
// // multicorrelator with 3 correlators (16 registers only)
// d_INITIAL_INTERP_COUNTER_REG_BASE_ADDR = 4;
// d_NSAMPLES_MINUS_1_REG_ADDR = 7;
// d_CODE_LENGTH_MINUS_1_REG_ADDR = 8;
// d_REM_CARR_PHASE_RAD_REG_ADDR = 9;
// d_PHASE_STEP_RAD_REG_ADDR = 10;
// d_PROG_MEMS_ADDR = 11;
// d_DROP_SAMPLES_REG_ADDR = 12;
// d_INITIAL_COUNTER_VALUE_REG_ADDR = 13;
// d_START_FLAG_ADDR = 14;
// }
// else
// {
// other types of multicorrelators (32 registers)
d_INITIAL_INTERP_COUNTER_REG_BASE_ADDR = 7;
d_NSAMPLES_MINUS_1_REG_ADDR = 13;
d_CODE_LENGTH_MINUS_1_REG_ADDR = 14;
d_REM_CARR_PHASE_RAD_REG_ADDR = 15;
d_PHASE_STEP_RAD_REG_ADDR = 16;
d_PROG_MEMS_ADDR = 17;
d_DROP_SAMPLES_REG_ADDR = 18;
d_INITIAL_COUNTER_VALUE_REG_ADDR_LSW = 19;
d_INITIAL_COUNTER_VALUE_REG_ADDR_MSW = 20;
d_START_FLAG_ADDR = 30;
// }
//printf("d_n_correlators = %d\n", d_n_correlators);
//printf("d_multicorr_type = %d\n", d_multicorr_type);
// read-write registers
// if (d_multicorr_type == 0)
// {
// // multicorrelator with 3 correlators (16 registers only)
// d_TEST_REG_ADDR = 15;
// }
// else
// {
// other types of multicorrelators (32 registers)
d_TEST_REG_ADDR = 31;
// }
// result 2's complement saturation value
// if (d_multicorr_type == 0)
// {
// // multicorrelator with 3 correlators (16 registers only)
// d_result_SAT_value = 1048576; // 21 bits 2's complement -> 2^20
// }
// else
// {
// // other types of multicorrelators (32 registers)
// d_result_SAT_value = 4194304; // 23 bits 2's complement -> 2^22
// }
// read only registers
d_RESULT_REG_REAL_BASE_ADDR = 1;
// if (d_multicorr_type == 0)
// {
// // multicorrelator with 3 correlators (16 registers only)
// d_RESULT_REG_IMAG_BASE_ADDR = 4;
// d_RESULT_REG_DATA_REAL_BASE_ADDR = 0; // no pilot tracking
// d_RESULT_REG_DATA_IMAG_BASE_ADDR = 0;
// d_SAMPLE_COUNTER_REG_ADDR = 7;
//
// }
// else
// {
// other types of multicorrelators (32 registers)
d_RESULT_REG_IMAG_BASE_ADDR = 7;
d_RESULT_REG_DATA_REAL_BASE_ADDR = 6; // no pilot tracking
d_RESULT_REG_DATA_IMAG_BASE_ADDR = 12;
d_SAMPLE_COUNTER_REG_ADDR_LSW = 13;
d_SAMPLE_COUNTER_REG_ADDR_MSW = 14;
// }
//printf("d_SAMPLE_COUNTER_REG_ADDR = %d\n", d_SAMPLE_COUNTER_REG_ADDR);
//printf("mmmmmmmmmmmmm d_n_correlators = %d\n", d_n_correlators);
DLOG(INFO) << "TRACKING FPGA CLASS CREATED";
}
fpga_multicorrelator_8sc::~fpga_multicorrelator_8sc()
{
delete[] d_ca_codes;
//delete[] d_ca_codes;
close_device();
}
@@ -195,7 +299,7 @@ fpga_multicorrelator_8sc::~fpga_multicorrelator_8sc()
bool fpga_multicorrelator_8sc::free()
{
// unlock the channel
fpga_multicorrelator_8sc::unlock_channel();
fpga_multicorrelator_8sc::unlock_channel();
// free the FPGA dynamically created variables
if (d_initial_index != nullptr)
@@ -214,73 +318,140 @@ bool fpga_multicorrelator_8sc::free()
}
void fpga_multicorrelator_8sc::set_channel(unsigned int channel)
void fpga_multicorrelator_8sc::set_channel(uint32_t channel)
{
char device_io_name[MAX_LENGTH_DEVICEIO_NAME]; // driver io name
//printf("www trk set channel\n");
char device_io_name[MAX_LENGTH_DEVICEIO_NAME]; // driver io name
d_channel = channel;
// open the device corresponding to the assigned channel
std::string mergedname;
std::stringstream devicebasetemp;
int numdevice = d_device_base + d_channel;
int32_t numdevice = d_device_base + d_channel;
devicebasetemp << numdevice;
mergedname = d_device_name + devicebasetemp.str();
strcpy(device_io_name, mergedname.c_str());
//printf("ppps opening device %s\n", device_io_name);
if ((d_device_descriptor = open(device_io_name, O_RDWR | O_SYNC)) == -1)
{
LOG(WARNING) << "Cannot open deviceio" << device_io_name;
}
d_map_base = reinterpret_cast<volatile unsigned *>(mmap(NULL, PAGE_SIZE,
PROT_READ | PROT_WRITE, MAP_SHARED, d_device_descriptor, 0));
std::cout << "Cannot open deviceio" << device_io_name << std::endl;
if (d_map_base == reinterpret_cast<void*>(-1))
//printf("error opening device\n");
}
// else
// {
// std::cout << "deviceio" << device_io_name << " opened successfully" << std::endl;
//
// }
d_map_base = reinterpret_cast<volatile uint32_t *>(mmap(NULL, PAGE_SIZE,
PROT_READ | PROT_WRITE, MAP_SHARED, d_device_descriptor, 0));
if (d_map_base == reinterpret_cast<void *>(-1))
{
LOG(WARNING) << "Cannot map the FPGA tracking module "
<< d_channel << "into user memory";
<< d_channel << "into user memory";
std::cout << "Cannot map deviceio" << device_io_name << std::endl;
//printf("error mapping registers\n");
}
// else
// {
// std::cout << "deviceio" << device_io_name << "mapped successfully" << std::endl;
// }
// else
// {
// printf("trk mapping registers succes\n"); // this is for debug -- remove !
// }
// sanity check : check test register
unsigned writeval = TEST_REGISTER_TRACK_WRITEVAL;
unsigned readval;
uint32_t writeval = TEST_REGISTER_TRACK_WRITEVAL;
uint32_t readval;
readval = fpga_multicorrelator_8sc::fpga_acquisition_test_register(writeval);
if (writeval != readval)
{
LOG(WARNING) << "Test register sanity check failed";
printf("tracking test register sanity check failed\n");
//printf("lslslls test sanity check reg failure\n");
}
else
{
LOG(INFO) << "Test register sanity check success !";
//printf("tracking test register sanity check success\n");
//printf("lslslls test sanity check reg success\n");
}
}
unsigned fpga_multicorrelator_8sc::fpga_acquisition_test_register(
unsigned writeval)
uint32_t fpga_multicorrelator_8sc::fpga_acquisition_test_register(
uint32_t writeval)
{
unsigned readval;
//printf("d_TEST_REG_ADDR = %d\n", d_TEST_REG_ADDR);
uint32_t readval = 0;
// write value to test register
d_map_base[15] = writeval;
d_map_base[d_TEST_REG_ADDR] = writeval;
// read value from test register
readval = d_map_base[15];
readval = d_map_base[d_TEST_REG_ADDR];
// return read value
return readval;
}
void fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code(int PRN)
void fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code(int32_t PRN)
{
int k, s;
unsigned code_chip;
unsigned select_fpga_correlator;
select_fpga_correlator = 0;
uint32_t k;
uint32_t code_chip;
uint32_t select_pilot_corelator = LOCAL_CODE_FPGA_CORRELATOR_SELECT_COUNT;
// select_fpga_correlator = 0;
for (s = 0; s < d_n_correlators; s++)
//printf("kkk d_n_correlators = %x\n", d_n_correlators);
//printf("kkk d_code_length_chips = %d\n", d_code_length_chips);
//printf("programming mems d map base %d\n", d_PROG_MEMS_ADDR);
//FILE *fp;
//char str[80];
//sprintf(str, "generated_code_PRN%d", PRN);
//fp = fopen(str,"w");
// for (s = 0; s < d_n_correlators; s++)
// {
//printf("kkk select_fpga_correlator = %x\n", select_fpga_correlator);
d_map_base[d_PROG_MEMS_ADDR] = LOCAL_CODE_FPGA_CLEAR_ADDRESS_COUNTER;
for (k = 0; k < d_code_length_chips * d_code_samples_per_chip; k++)
{
d_map_base[11] = LOCAL_CODE_FPGA_CLEAR_ADDRESS_COUNTER;
for (k = 0; k < d_code_length_chips; k++)
//if (d_local_code_in[k] == 1)
//printf("kkk d_ca_codes %d = %d\n", k, d_ca_codes[((int(d_code_length)) * (PRN - 1)) + k]);
//fprintf(fp, "%d\n", d_ca_codes[((int(d_code_length_chips)) * d_code_samples_per_chip * (PRN - 1)) + k]);
if (d_ca_codes[((int(d_code_length_chips)) * d_code_samples_per_chip * (PRN - 1)) + k] == 1)
{
code_chip = 1;
}
else
{
code_chip = 0;
}
// copy the local code to the FPGA memory one by one
d_map_base[d_PROG_MEMS_ADDR] = LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY | code_chip; // | select_fpga_correlator;
}
// select_fpga_correlator = select_fpga_correlator
// + LOCAL_CODE_FPGA_CORRELATOR_SELECT_COUNT;
// }
//fclose(fp);
//printf("kkk d_track_pilot = %d\n", d_track_pilot);
if (d_track_pilot)
{
//printf("kkk select_fpga_correlator = %x\n", select_fpga_correlator);
d_map_base[d_PROG_MEMS_ADDR] = LOCAL_CODE_FPGA_CLEAR_ADDRESS_COUNTER;
for (k = 0; k < d_code_length_chips * d_code_samples_per_chip; k++)
{
//if (d_local_code_in[k] == 1)
if (d_ca_codes[((int(d_code_length)) * (PRN - 1)) + k] == 1)
if (d_data_codes[((int(d_code_length_chips)) * d_code_samples_per_chip * (PRN - 1)) + k] == 1)
{
code_chip = 1;
}
@@ -288,51 +459,95 @@ void fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code(int PRN)
{
code_chip = 0;
}
//printf("%d %d | ", d_data_codes, code_chip);
// copy the local code to the FPGA memory one by one
d_map_base[11] = LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY
| code_chip | select_fpga_correlator;
d_map_base[d_PROG_MEMS_ADDR] = LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY | code_chip | select_pilot_corelator;
}
select_fpga_correlator = select_fpga_correlator
+ LOCAL_CODE_FPGA_CORRELATOR_SELECT_COUNT;
}
//printf("\n");
}
void fpga_multicorrelator_8sc::fpga_compute_code_shift_parameters(void)
{
float temp_calculation;
int i;
int32_t i;
//printf("ppp d_rem_code_phase_chips = %f\n", d_rem_code_phase_chips);
for (i = 0; i < d_n_correlators; i++)
{
//printf("ppp d_shifts_chips %d = %f\n", i, d_shifts_chips[i]);
//printf("ppp d_code_samples_per_chip = %d\n", d_code_samples_per_chip);
temp_calculation = floor(
d_shifts_chips[i] - d_rem_code_phase_chips);
d_shifts_chips[i] - d_rem_code_phase_chips);
//printf("ppp d_rem_code_phase_chips = %f\n", d_rem_code_phase_chips);
//printf("ppp temp calculation %d = %f ================================ \n", i, temp_calculation);
if (temp_calculation < 0)
{
temp_calculation = temp_calculation + d_code_length_chips; // % operator does not work as in Matlab with negative numbers
temp_calculation = temp_calculation + (d_code_length_chips * d_code_samples_per_chip); // % operator does not work as in Matlab with negative numbers
}
d_initial_index[i] = static_cast<unsigned>( (static_cast<int>(temp_calculation)) % d_code_length_chips);
//printf("ppp d_rem_code_phase_chips = %f\n", d_rem_code_phase_chips);
//printf("ppp temp calculation %d = %f ================================ \n", i, temp_calculation);
d_initial_index[i] = static_cast<uint32_t>((static_cast<int32_t>(temp_calculation)) % (d_code_length_chips * d_code_samples_per_chip));
//printf("ppp d_initial_index %d = %d\n", i, d_initial_index[i]);
temp_calculation = fmod(d_shifts_chips[i] - d_rem_code_phase_chips,
1.0);
1.0);
//printf("ppp fmod %d = fmod(%f, 1) = %f\n", i, d_shifts_chips[i] - d_rem_code_phase_chips, temp_calculation);
if (temp_calculation < 0)
{
temp_calculation = temp_calculation + 1.0; // fmod operator does not work as in Matlab with negative numbers
temp_calculation = temp_calculation + 1.0; // fmod operator does not work as in Matlab with negative numbers
}
d_initial_interp_counter[i] = static_cast<unsigned>( floor( MAX_CODE_RESAMPLER_COUNTER * temp_calculation));
d_initial_interp_counter[i] = static_cast<uint32_t>(floor(MAX_CODE_RESAMPLER_COUNTER * temp_calculation));
//printf("ppp d_initial_interp_counter %d = %d\n", i, d_initial_interp_counter[i]);
//printf("MAX_CODE_RESAMPLER_COUNTER = %d\n", MAX_CODE_RESAMPLER_COUNTER);
}
if (d_track_pilot)
{
//printf("tracking pilot !!!!!!!!!!!!!!!!\n");
temp_calculation = floor(
d_prompt_data_shift[0] - d_rem_code_phase_chips);
if (temp_calculation < 0)
{
temp_calculation = temp_calculation + (d_code_length_chips * d_code_samples_per_chip); // % operator does not work as in Matlab with negative numbers
}
d_initial_index[d_n_correlators] = static_cast<uint32_t>((static_cast<int32_t>(temp_calculation)) % (d_code_length_chips * d_code_samples_per_chip));
temp_calculation = fmod(d_prompt_data_shift[0] - d_rem_code_phase_chips,
1.0);
if (temp_calculation < 0)
{
temp_calculation = temp_calculation + 1.0; // fmod operator does not work as in Matlab with negative numbers
}
d_initial_interp_counter[d_n_correlators] = static_cast<uint32_t>(floor(MAX_CODE_RESAMPLER_COUNTER * temp_calculation));
}
//while(1);
}
void fpga_multicorrelator_8sc::fpga_configure_code_parameters_in_fpga(void)
{
int i;
int32_t i;
for (i = 0; i < d_n_correlators; i++)
{
d_map_base[1 + i] = d_initial_index[i];
d_map_base[1 + d_n_correlators + i] = d_initial_interp_counter[i];
//printf("www writing d map base %d = d_initial_index %d = %d\n", d_INITIAL_INDEX_REG_BASE_ADDR + i, i, d_initial_index[i]);
d_map_base[d_INITIAL_INDEX_REG_BASE_ADDR + i] = d_initial_index[i];
//d_map_base[1 + d_n_correlators + i] = d_initial_interp_counter[i];
//printf("www writing d map base %d = d_initial_interp_counter %d = %d\n", d_INITIAL_INTERP_COUNTER_REG_BASE_ADDR + i, i, d_initial_interp_counter[i]);
d_map_base[d_INITIAL_INTERP_COUNTER_REG_BASE_ADDR + i] = d_initial_interp_counter[i];
}
d_map_base[8] = d_code_length_chips - 1; // number of samples - 1
if (d_track_pilot)
{
//printf("www writing d map base %d = d_initial_index %d = %d\n", d_INITIAL_INDEX_REG_BASE_ADDR + d_n_correlators, d_n_correlators, d_initial_index[d_n_correlators]);
d_map_base[d_INITIAL_INDEX_REG_BASE_ADDR + d_n_correlators] = d_initial_index[d_n_correlators];
//d_map_base[1 + d_n_correlators + i] = d_initial_interp_counter[i];
//printf("www writing d map base %d = d_initial_interp_counter %d = %d\n", d_INITIAL_INTERP_COUNTER_REG_BASE_ADDR + d_n_correlators, d_n_correlators, d_initial_interp_counter[d_n_correlators]);
d_map_base[d_INITIAL_INTERP_COUNTER_REG_BASE_ADDR + d_n_correlators] = d_initial_interp_counter[d_n_correlators];
}
//printf("www writing d map base %d = d_code_length_chips*d_code_samples_per_chip - 1 = %d\n", d_CODE_LENGTH_MINUS_1_REG_ADDR, (d_code_length_chips*d_code_samples_per_chip) - 1);
d_map_base[d_CODE_LENGTH_MINUS_1_REG_ADDR] = (d_code_length_chips * d_code_samples_per_chip) - 1; // number of samples - 1
}
@@ -340,78 +555,148 @@ void fpga_multicorrelator_8sc::fpga_compute_signal_parameters_in_fpga(void)
{
float d_rem_carrier_phase_in_rad_temp;
d_code_phase_step_chips_num = static_cast<unsigned>( roundf(MAX_CODE_RESAMPLER_COUNTER * d_code_phase_step_chips));
d_code_phase_step_chips_num = static_cast<uint32_t>(roundf(MAX_CODE_RESAMPLER_COUNTER * d_code_phase_step_chips));
if (d_code_phase_step_chips > 1.0)
{
printf("Warning : d_code_phase_step_chips = %f cannot be bigger than one\n", d_code_phase_step_chips);
}
//printf("d_rem_carrier_phase_in_rad = %f\n", d_rem_carrier_phase_in_rad);
if (d_rem_carrier_phase_in_rad > M_PI)
{
d_rem_carrier_phase_in_rad_temp = -2 * M_PI
+ d_rem_carrier_phase_in_rad;
d_rem_carrier_phase_in_rad_temp = -2 * M_PI + d_rem_carrier_phase_in_rad;
}
else if (d_rem_carrier_phase_in_rad < -M_PI)
{
d_rem_carrier_phase_in_rad_temp = 2 * M_PI
+ d_rem_carrier_phase_in_rad;
d_rem_carrier_phase_in_rad_temp = 2 * M_PI + d_rem_carrier_phase_in_rad;
}
else
{
d_rem_carrier_phase_in_rad_temp = d_rem_carrier_phase_in_rad;
}
d_rem_carr_phase_rad_int = static_cast<int>( roundf(
(fabs(d_rem_carrier_phase_in_rad_temp) / M_PI)
* pow(2, PHASE_CARR_NBITS_FRAC)));
d_rem_carr_phase_rad_int = static_cast<int32_t>(roundf(
(fabs(d_rem_carrier_phase_in_rad_temp) / M_PI) * pow(2, PHASE_CARR_NBITS_FRAC)));
if (d_rem_carrier_phase_in_rad_temp < 0)
{
d_rem_carr_phase_rad_int = -d_rem_carr_phase_rad_int;
}
d_phase_step_rad_int = static_cast<int>( roundf(
(fabs(d_phase_step_rad) / M_PI) * pow(2, PHASE_CARR_NBITS_FRAC))); // the FPGA accepts a range for the phase step between -pi and +pi
d_phase_step_rad_int = static_cast<int32_t>(roundf(
(fabs(d_phase_step_rad) / M_PI) * pow(2, PHASE_CARR_NBITS_FRAC))); // the FPGA accepts a range for the phase step between -pi and +pi
//printf("d_phase_step_rad_int = %d\n", d_phase_step_rad_int);
if (d_phase_step_rad < 0)
{
d_phase_step_rad_int = -d_phase_step_rad_int;
}
//printf("d_phase_step_rad_int = %d\n", d_phase_step_rad_int);
}
void fpga_multicorrelator_8sc::fpga_configure_signal_parameters_in_fpga(void)
{
d_map_base[0] = d_code_phase_step_chips_num;
d_map_base[7] = d_correlator_length_samples - 1;
d_map_base[9] = d_rem_carr_phase_rad_int;
d_map_base[10] = d_phase_step_rad_int;
//printf("www d map base %d = d_code_phase_step_chips_num = %d\n", d_CODE_PHASE_STEP_CHIPS_NUM_REG_ADDR, d_code_phase_step_chips_num);
d_map_base[d_CODE_PHASE_STEP_CHIPS_NUM_REG_ADDR] = d_code_phase_step_chips_num;
//printf("www d map base %d = d_correlator_length_samples - 1 = %d\n", d_NSAMPLES_MINUS_1_REG_ADDR, d_correlator_length_samples - 1);
d_map_base[d_NSAMPLES_MINUS_1_REG_ADDR] = d_correlator_length_samples - 1;
//printf("www d map base %d = d_rem_carr_phase_rad_int = %d\n", d_REM_CARR_PHASE_RAD_REG_ADDR, d_rem_carr_phase_rad_int);
d_map_base[d_REM_CARR_PHASE_RAD_REG_ADDR] = d_rem_carr_phase_rad_int;
//printf("www d map base %d = d_phase_step_rad_int = %d\n", d_PHASE_STEP_RAD_REG_ADDR, d_phase_step_rad_int);
d_map_base[d_PHASE_STEP_RAD_REG_ADDR] = d_phase_step_rad_int;
}
void fpga_multicorrelator_8sc::fpga_launch_multicorrelator_fpga(void)
{
// enable interrupts
int reenable = 1;
write(d_device_descriptor, reinterpret_cast<void*>(&reenable), sizeof(int));
int32_t reenable = 1;
write(d_device_descriptor, reinterpret_cast<void *>(&reenable), sizeof(int32_t));
// writing 1 to reg 14 launches the tracking
d_map_base[14] = 1;
// writing 1 to reg 14 launches the tracking
//printf("www writing 1 to d map base %d = start flag\n", d_START_FLAG_ADDR);
d_map_base[d_START_FLAG_ADDR] = 1;
//while(1);
}
void fpga_multicorrelator_8sc::read_tracking_gps_results(void)
{
int readval_real;
int readval_imag;
int k;
int32_t readval_real;
int32_t readval_imag;
int32_t k;
//printf("www reading trk results\n");
for (k = 0; k < d_n_correlators; k++)
{
readval_real = d_map_base[1 + k];
if (readval_real >= 1048576) // 0x100000 (21 bits two's complement)
{
readval_real = -2097152 + readval_real;
}
readval_real = d_map_base[d_RESULT_REG_REAL_BASE_ADDR + k];
//printf("read real before checking d map base %d = %d\n", d_RESULT_REG_BASE_ADDR + k, readval_real);
//// if (readval_real > debug_max_readval_real[k])
//// {
//// debug_max_readval_real[k] = readval_real;
//// }
// if (readval_real >= d_result_SAT_value) // 0x100000 (21 bits two's complement)
// {
// readval_real = -2*d_result_SAT_value + readval_real;
// }
//// if (readval_real > debug_max_readval_real_after_check[k])
//// {
//// debug_max_readval_real_after_check[k] = readval_real;
//// }
//printf("read real d map base %d = %d\n", d_RESULT_REG_BASE_ADDR + k, readval_real);
readval_imag = d_map_base[d_RESULT_REG_IMAG_BASE_ADDR + k];
//printf("read imag before checking d map base %d = %d\n", d_RESULT_REG_BASE_ADDR + k, readval_imag);
//// if (readval_imag > debug_max_readval_imag[k])
//// {
//// debug_max_readval_imag[k] = readval_imag;
//// }
//
// if (readval_imag >= d_result_SAT_value) // 0x100000 (21 bits two's complement)
// {
// readval_imag = -2*d_result_SAT_value + readval_imag;
// }
//// if (readval_imag > debug_max_readval_imag_after_check[k])
//// {
//// debug_max_readval_imag_after_check[k] = readval_real;
//// }
//printf("read imag d map base %d = %d\n", d_RESULT_REG_BASE_ADDR + k, readval_imag);
d_corr_out[k] = gr_complex(readval_real, readval_imag);
readval_imag = d_map_base[1 + d_n_correlators + k];
if (readval_imag >= 1048576) // 0x100000 (21 bits two's complement)
{
readval_imag = -2097152 + readval_imag;
}
d_corr_out[k] = gr_complex(readval_real,readval_imag);
// if (printcounter > 100)
// {
// printcounter = 0;
// for (int32_t ll=0;ll<d_n_correlators;ll++)
// {
// printf("debug_max_readval_real %d = %d\n", ll, debug_max_readval_real[ll]);
// printf("debug_max_readval_imag %d = %d\n", ll, debug_max_readval_imag[ll]);
// printf("debug_max_readval_real_%d after_check = %d\n", ll, debug_max_readval_real_after_check[ll]);
// printf("debug_max_readval_imag_%d after_check = %d\n", ll, debug_max_readval_imag_after_check[ll]);
// }
//
// }
// else
// {
// printcounter = printcounter + 1;
// }
}
if (d_track_pilot)
{
//printf("reading pilot !!!\n");
readval_real = d_map_base[d_RESULT_REG_DATA_REAL_BASE_ADDR];
// if (readval_real >= d_result_SAT_value) // 0x100000 (21 bits two's complement)
// {
// readval_real = -2*d_result_SAT_value + readval_real;
// }
readval_imag = d_map_base[d_RESULT_REG_DATA_IMAG_BASE_ADDR];
// if (readval_imag >= d_result_SAT_value) // 0x100000 (21 bits two's complement)
// {
// readval_imag = -2*d_result_SAT_value + readval_imag;
// }
d_Prompt_Data[0] = gr_complex(readval_real, readval_imag);
}
}
@@ -419,40 +704,38 @@ void fpga_multicorrelator_8sc::read_tracking_gps_results(void)
void fpga_multicorrelator_8sc::unlock_channel(void)
{
// unlock the channel to let the next samples go through
d_map_base[12] = 1; // unlock the channel
//printf("www writing 1 to d map base %d = drop samples\n", d_DROP_SAMPLES_REG_ADDR);
d_map_base[d_DROP_SAMPLES_REG_ADDR] = 1; // unlock the channel
}
void fpga_multicorrelator_8sc::close_device()
{
unsigned * aux = const_cast<unsigned*>(d_map_base);
if (munmap(static_cast<void*>(aux), PAGE_SIZE) == -1)
uint32_t *aux = const_cast<uint32_t *>(d_map_base);
if (munmap(static_cast<void *>(aux), PAGE_SIZE) == -1)
{
printf("Failed to unmap memory uio\n");
}
/* else
{
printf("memory uio unmapped\n");
} */
close(d_device_descriptor);
}
void fpga_multicorrelator_8sc::lock_channel(void)
{
// lock the channel for processing
d_map_base[12] = 0; // lock the channel
//printf("www writing 0 to d map base %d = drop samples\n", d_DROP_SAMPLES_REG_ADDR);
d_map_base[d_DROP_SAMPLES_REG_ADDR] = 0; // lock the channel
}
void fpga_multicorrelator_8sc::read_sample_counters(int *sample_counter, int *secondary_sample_counter, int *counter_corr_0_in, int *counter_corr_0_out)
{
*sample_counter = d_map_base[11];
*secondary_sample_counter = d_map_base[8];
*counter_corr_0_in = d_map_base[10];
*counter_corr_0_out = d_map_base[9];
}
//void fpga_multicorrelator_8sc::read_sample_counters(int32_t *sample_counter, int32_t *secondary_sample_counter, int32_t *counter_corr_0_in, int32_t *counter_corr_0_out)
//{
// *sample_counter = d_map_base[11];
// *secondary_sample_counter = d_map_base[8];
// *counter_corr_0_in = d_map_base[10];
// *counter_corr_0_out = d_map_base[9];
//
//}
void fpga_multicorrelator_8sc::reset_multicorrelator(void)
{
d_map_base[14] = 2; // writing a 2 to d_map_base[14] resets the multicorrelator
}
//void fpga_multicorrelator_8sc::reset_multicorrelator(void)
//{
// d_map_base[14] = 2; // writing a 2 to d_map_base[14] resets the multicorrelator
//}

112
src/algorithms/tracking/libs/fpga_multicorrelator.h
View File

@@ -1,6 +1,6 @@
/*!
* \file fpga_multicorrelator_8sc.h
* \brief High optimized FPGA vector correlator class for lv_16sc_t (short int complex)
* \brief High optimized FPGA vector correlator class for lv_16sc_t (short int32_t complex)
* \authors <ul>
* <li> Marc Majoral, 2017. mmajoral(at)cttc.cat
* <li> Javier Arribas, 2016. jarribas(at)cttc.es
@@ -11,7 +11,7 @@
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@@ -29,7 +29,7 @@
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
@@ -39,6 +39,7 @@
#include <gnuradio/block.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cstdint>
#define MAX_LENGTH_DEVICEIO_NAME 50
@@ -48,84 +49,121 @@
class fpga_multicorrelator_8sc
{
public:
fpga_multicorrelator_8sc(int n_correlators, std::string device_name,
unsigned int device_base, int *ca_codes, unsigned int code_length);
fpga_multicorrelator_8sc(int32_t n_correlators, std::string device_name,
uint32_t device_base, int32_t *ca_codes, int32_t *data_codes, uint32_t code_length_chips, bool track_pilot, uint32_t multicorr_type, uint32_t code_samples_per_chip);
~fpga_multicorrelator_8sc();
//bool set_output_vectors(gr_complex* corr_out);
void set_output_vectors(gr_complex *corr_out);
void set_output_vectors(gr_complex *corr_out, gr_complex *Prompt_Data);
// bool set_local_code_and_taps(
// int code_length_chips, const int* local_code_in,
// float *shifts_chips, int PRN);
// int32_t code_length_chips, const int* local_code_in,
// float *shifts_chips, int32_t PRN);
//bool set_local_code_and_taps(
void set_local_code_and_taps(
int code_length_chips,
float *shifts_chips, int PRN);
// int32_t code_length_chips,
float *shifts_chips, float *prompt_data_shift, int32_t PRN);
//bool set_output_vectors(lv_16sc_t* corr_out);
void update_local_code(float rem_code_phase_chips);
//bool Carrier_wipeoff_multicorrelator_resampler(
void Carrier_wipeoff_multicorrelator_resampler(
float rem_carrier_phase_in_rad, float phase_step_rad,
float rem_code_phase_chips, float code_phase_step_chips,
int signal_length_samples);
int32_t signal_length_samples);
bool free();
void set_channel(unsigned int channel);
void set_initial_sample(int samples_offset);
int read_sample_counter();
void set_channel(uint32_t channel);
void set_initial_sample(uint64_t samples_offset);
uint64_t read_sample_counter();
void lock_channel(void);
void unlock_channel(void);
void read_sample_counters(int *sample_counter, int *secondary_sample_counter, int *counter_corr_0_in, int *counter_corr_0_out); // debug
//void read_sample_counters(int32_t *sample_counter, int32_t *secondary_sample_counter, int32_t *counter_corr_0_in, int32_t *counter_corr_0_out); // debug
private:
//const int *d_local_code_in;
//const int32_t *d_local_code_in;
gr_complex *d_corr_out;
gr_complex *d_Prompt_Data;
float *d_shifts_chips;
int d_code_length_chips;
int d_n_correlators;
float *d_prompt_data_shift;
int32_t d_code_length_chips;
int32_t d_n_correlators;
// data related to the hardware module and the driver
int d_device_descriptor; // driver descriptor
volatile unsigned *d_map_base; // driver memory map
int32_t d_device_descriptor; // driver descriptor
volatile uint32_t *d_map_base; // driver memory map
// configuration data received from the interface
unsigned int d_channel; // channel number
unsigned d_correlator_length_samples;
uint32_t d_channel; // channel number
uint32_t d_ncorrelators; // number of correlators
uint32_t d_correlator_length_samples;
float d_rem_code_phase_chips;
float d_code_phase_step_chips;
float d_rem_carrier_phase_in_rad;
float d_phase_step_rad;
// configuration data computed in the format that the FPGA expects
unsigned *d_initial_index;
unsigned *d_initial_interp_counter;
unsigned d_code_phase_step_chips_num;
int d_rem_carr_phase_rad_int;
int d_phase_step_rad_int;
unsigned d_initial_sample_counter;
uint32_t *d_initial_index;
uint32_t *d_initial_interp_counter;
uint32_t d_code_phase_step_chips_num;
int32_t d_rem_carr_phase_rad_int;
int32_t d_phase_step_rad_int;
uint64_t d_initial_sample_counter;
// driver
std::string d_device_name;
unsigned int d_device_base;
uint32_t d_device_base;
int32_t *d_ca_codes;
int32_t *d_data_codes;
int *d_ca_codes;
//uint32_t d_code_length; // nominal number of chips
unsigned int d_code_length; // nominal number of chips
uint32_t d_code_samples_per_chip;
bool d_track_pilot;
uint32_t d_multicorr_type;
// register addresses
// write-only regs
uint32_t d_CODE_PHASE_STEP_CHIPS_NUM_REG_ADDR;
uint32_t d_INITIAL_INDEX_REG_BASE_ADDR;
uint32_t d_INITIAL_INTERP_COUNTER_REG_BASE_ADDR;
uint32_t d_NSAMPLES_MINUS_1_REG_ADDR;
uint32_t d_CODE_LENGTH_MINUS_1_REG_ADDR;
uint32_t d_REM_CARR_PHASE_RAD_REG_ADDR;
uint32_t d_PHASE_STEP_RAD_REG_ADDR;
uint32_t d_PROG_MEMS_ADDR;
uint32_t d_DROP_SAMPLES_REG_ADDR;
uint32_t d_INITIAL_COUNTER_VALUE_REG_ADDR_LSW;
uint32_t d_INITIAL_COUNTER_VALUE_REG_ADDR_MSW;
uint32_t d_START_FLAG_ADDR;
// read-write regs
uint32_t d_TEST_REG_ADDR;
// read-only regs
uint32_t d_RESULT_REG_REAL_BASE_ADDR;
uint32_t d_RESULT_REG_IMAG_BASE_ADDR;
uint32_t d_RESULT_REG_DATA_REAL_BASE_ADDR;
uint32_t d_RESULT_REG_DATA_IMAG_BASE_ADDR;
uint32_t d_SAMPLE_COUNTER_REG_ADDR_LSW;
uint32_t d_SAMPLE_COUNTER_REG_ADDR_MSW;
// private functions
unsigned fpga_acquisition_test_register(unsigned writeval);
void fpga_configure_tracking_gps_local_code(int PRN);
uint32_t fpga_acquisition_test_register(uint32_t writeval);
void fpga_configure_tracking_gps_local_code(int32_t PRN);
void fpga_compute_code_shift_parameters(void);
void fpga_configure_code_parameters_in_fpga(void);
void fpga_compute_signal_parameters_in_fpga(void);
void fpga_configure_signal_parameters_in_fpga(void);
void fpga_launch_multicorrelator_fpga(void);
void read_tracking_gps_results(void);
void reset_multicorrelator(void);
//void reset_multicorrelator(void);
void close_device(void);
// debug
//unsigned int first_time = 1;
uint32_t d_result_SAT_value;
int32_t debug_max_readval_real[5] = {0, 0, 0, 0, 0};
int32_t debug_max_readval_imag[5] = {0, 0, 0, 0, 0};
int32_t debug_max_readval_real_after_check[5] = {0, 0, 0, 0, 0};
int32_t debug_max_readval_imag_after_check[5] = {0, 0, 0, 0, 0};
int32_t printcounter = 0;
};
#endif /* GNSS_SDR_FPGA_MULTICORRELATOR_H_ */