New ultra-fast All-In-One Carrier wipe-off and Early-Prompt-Late correlator using Intel AVX SSE3 intrinsics.

Try it using the GPS_L1_CA_DLL_PLL_Optim_Tracking implementatioin for tracking operation!




git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@283 64b25241-fba3-4117-9849-534c7e92360d

jamroot.jam

@@ -45,7 +45,7 @@ project
 
 project : requirements
 <define>OMNITHREAD_POSIX
-<cxxflags>"-msse2 -mfpmath=sse -std=c++0x -fno-builtin-malloc -fno-builtin-calloc -fno-builtin-realloc -fno-builtin-free"
+<cxxflags>"-msse2 -msse3 -mfpmath=sse -std=c++0x -fno-builtin-malloc -fno-builtin-calloc -fno-builtin-realloc -fno-builtin-free"
 <linkflags>"-lgnuradio-blocks -lgnuradio-fft -lgnuradio-filter -larmadillo -lboost_system -lboost_filesystem -lboost_thread -lboost_date_time -llapack -lblas -lprofiler -ltcmalloc -lvolk"
 <include>src/algorithms/acquisition/adapters
 <include>src/algorithms/acquisition/gnuradio_blocks

src/algorithms/libs/nco_lib.cc

@@ -98,16 +98,52 @@ void fxp_nco(std::complex<float> *dest, int n_samples,float start_phase_rad, flo
 	for(int i = 0; i < n_samples; i++)
 		{
 			//using temp variables
-			gr_fxpt::sincos(phase_rad_i,&sin_f,&cos_f);
-			dest[i] = gr_complex(cos_f, -sin_f);
-			//using references (may be it can be a problem for c++11 standard
-			//gr_fxpt::sincos(phase_rad_i,&d_carr_sign[i].imag(),&d_carr_sign[i].real());
-
+			gr_fxpt::sincos(-phase_rad_i,&sin_f,&cos_f);
+			dest[i] = gr_complex(cos_f, sin_f);
 			phase_rad_i += phase_step_rad_i;
 
 		}
 }
 
+void fxp_nco_cpyref(std::complex<float> *dest, int n_samples,float start_phase_rad, float phase_step_rad)
+{
+	int phase_rad_i;
+	phase_rad_i=gr_fxpt::float_to_fixed(start_phase_rad);
+	int phase_step_rad_i;
+	phase_step_rad_i=gr_fxpt::float_to_fixed(phase_step_rad);
+
+	float* vector_cpx;
+	vector_cpx=(float*)dest;
+	for(int i = 0; i < n_samples; i++)
+		{
+			//using references (may be it can be a problem for c++11 standard
+			//gr_fxpt::sincos(phase_rad_i,&d_carr_sign[i].imag(),&d_carr_sign[i].real());
+			gr_fxpt::sincos(-phase_rad_i,&vector_cpx[i*2+1],&vector_cpx[i*2]);
+			phase_rad_i += phase_step_rad_i;
+
+		}
+}
+
+void fxp_nco_IQ_split(float* I, float* Q , int n_samples,float start_phase_rad, float phase_step_rad)
+{
+	int phase_rad_i;
+	phase_rad_i=gr_fxpt::float_to_fixed(start_phase_rad);
+	int phase_step_rad_i;
+	phase_step_rad_i=gr_fxpt::float_to_fixed(phase_step_rad);
+
+	float sin_f,cos_f;
+	for(int i = 0; i < n_samples; i++)
+		{
+			gr_fxpt::sincos(-phase_rad_i,&sin_f,&cos_f);
+			I[i]=cos_f;
+			Q[i]=sin_f;
+			phase_rad_i += phase_step_rad_i;
+
+		}
+}
+
+
+
 void std_nco(std::complex<float> *dest, int n_samples,float start_phase_rad, float phase_step_rad)
 {
 	float phase_rad;

src/algorithms/libs/nco_lib.h

@@ -32,11 +32,7 @@
  * -------------------------------------------------------------------------
  */
 
-/*!
- * \brief Implements a conjugate complex exponential vector in std::complex<float> *d_carr_sign
- * containing int n_samples, with the starting phase .
- *
- */
+
 
 #ifndef GNSS_SDR_NCO_LIB_CC_H_
 #define	GNSS_SDR_NCO_LIB_CC_H_
@@ -46,10 +42,48 @@
 #include <sse_mathfun.h>
 #include <cmath>
 
+/*!
+ * \brief Implements a conjugate complex exponential vector in std::complex<float> *d_carr_sign
+ * containing int n_samples, with the starting phase float start_phase_rad and the pase step between vector elements
+ * float phase_step_rad. This function uses a SSE CORDIC implementation.
+ *
+ */
 void sse_nco(std::complex<float> *dest, int n_samples,float start_phase_rad, float phase_step_rad);
 
+/*!
+ * \brief Implements a conjugate complex exponential vector in std::complex<float> *d_carr_sign
+ * containing int n_samples, with the starting phase float start_phase_rad and the pase step between vector elements
+ * float phase_step_rad. This function uses the GNU Radio fixed point CORDIC implementation.
+ *
+ */
 void fxp_nco(std::complex<float> *dest, int n_samples,float start_phase_rad, float phase_step_rad);
 
+/*!
+ * \brief Implements a conjugate complex exponential vector in std::complex<float> *d_carr_sign
+ * containing int n_samples, with the starting phase float start_phase_rad and the pase step between vector elements
+ * float phase_step_rad. This function uses the stdlib sin() and cos() implementation.
+ *
+ */
+
 void std_nco(std::complex<float> *dest, int n_samples,float start_phase_rad, float phase_step_rad);
 
+/*!
+ * \brief Implements a conjugate complex exponential vector in std::complex<float> *d_carr_sign
+ * containing int n_samples, with the starting phase float start_phase_rad and the pase step between vector elements
+ * float phase_step_rad. This function uses the GNU Radio fixed point CORDIC implementation.
+ *
+ */
+
+void fxp_nco_cpyref(std::complex<float> *dest, int n_samples,float start_phase_rad, float phase_step_rad);
+
+
+/*!
+ * \brief Implements a conjugate complex exponential vector in two separated float arrays (In-phase and Quadrature)
+ * containing int n_samples, with the starting phase float start_phase_rad and the pase step between vector elements
+ * float phase_step_rad. This function uses the GNU Radio fixed point CORDIC implementation.
+ *
+ */
+
+void fxp_nco_IQ_split(float* I, float* Q, int n_samples,float start_phase_rad, float phase_step_rad);
+
 #endif //NCO_LIB_CC_H

src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_optim_tracking_cc.cc

@@ -397,7 +397,7 @@ int Gps_L1_Ca_Dll_Pll_Optim_Tracking_cc::general_work (int noutput_items, gr_vec
 			update_local_carrier();
 
             // perform Early, Prompt and Late correlation
-            d_correlator.Carrier_wipeoff_and_EPL_volk(d_current_prn_length_samples,
+            d_correlator.Carrier_wipeoff_and_EPL_volk_custom(d_current_prn_length_samples,
                     in,
                     d_carr_sign,
                     d_early_code,

src/algorithms/tracking/libs/correlator.cc

@@ -37,6 +37,9 @@
 #include <gnuradio/gr_block.h>
 #include "correlator.h"
 
+#define LV_HAVE_SSE3
+#include "volk_cw_epl_corr.h"
+
 unsigned long Correlator::next_power_2(unsigned long v)
 {
     v--;
@@ -109,6 +112,11 @@ void Correlator::Carrier_wipeoff_and_EPL_volk(int signal_length_samples,const gr
     //}
 }
 
+void Correlator::Carrier_wipeoff_and_EPL_volk_custom(int signal_length_samples,const gr_complex* input, gr_complex* carrier,gr_complex* E_code, gr_complex* P_code, gr_complex* L_code,gr_complex* E_out, gr_complex* P_out, gr_complex* L_out, bool input_vector_unaligned)
+{
+    volk_cw_epl_corr_u(input, carrier, E_code, P_code, L_code, E_out, P_out, L_out, signal_length_samples);
+}
+
 void Correlator::Carrier_wipeoff_and_VEPL_volk(int signal_length_samples,const gr_complex* input, gr_complex* carrier,gr_complex* VE_code,gr_complex* E_code, gr_complex* P_code, gr_complex* L_code,gr_complex* VL_code,gr_complex* VE_out,gr_complex* E_out, gr_complex* P_out, gr_complex* L_out,gr_complex* VL_out,bool input_vector_aligned)
 {
     gr_complex* bb_signal;

src/algorithms/tracking/libs/correlator.h

@@ -54,6 +54,7 @@ class Correlator
 public:
     void Carrier_wipeoff_and_EPL_generic(int signal_length_samples,const gr_complex* input, gr_complex* carrier,gr_complex* E_code, gr_complex* P_code, gr_complex* L_code,gr_complex* E_out, gr_complex* P_out, gr_complex* L_out);
     void Carrier_wipeoff_and_EPL_volk(int signal_length_samples,const gr_complex* input, gr_complex* carrier,gr_complex* E_code, gr_complex* P_code, gr_complex* L_code,gr_complex* E_out, gr_complex* P_out, gr_complex* L_out,bool input_vector_aligned);
+    void Carrier_wipeoff_and_EPL_volk_custom(int signal_length_samples,const gr_complex* input, gr_complex* carrier,gr_complex* E_code, gr_complex* P_code, gr_complex* L_code,gr_complex* E_out, gr_complex* P_out, gr_complex* L_out,bool input_vector_aligned);
     void Carrier_wipeoff_and_VEPL_volk(int signal_length_samples,const gr_complex* input, gr_complex* carrier,gr_complex* VE_code,gr_complex* E_code, gr_complex* P_code, gr_complex* L_code,gr_complex* VL_code,gr_complex* VE_out,gr_complex* E_out, gr_complex* P_out, gr_complex* L_out,gr_complex* VL_out,bool input_vector_unaligned);
     Correlator();
     ~Correlator();

src/algorithms/tracking/libs/volk_cw_epl_corr.h

@@ -0,0 +1,203 @@
+/*!
+ * \file volk_cw_epl_corr.h
+ * \brief Implements the carrier wipeoff function and the Early Prompt Late correlators in a single SSE-enabled loop.
+ *
+ * \author Javier Arribas 2012, jarribas(at)cttc.es
+ *
+ * Detailed description of the file here if needed.
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2012  (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 <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#ifndef INCLUDED_volk_cw_epl_corr_H
+#define INCLUDED_volk_cw_epl_corr_H
+
+#include <inttypes.h>
+#include <stdio.h>
+#include <volk/volk_complex.h>
+#include <float.h>
+#include <string.h>
+
+/*!
+ * TODO: Code the SSE4 version and benchmark it
+ */
+#ifdef LV_HAVE_SSE3
+#include <pmmintrin.h>
+  /*!
+    \brief Performs the carrier wipe-off mixing and the Early, Prompt, and Late correlation
+    \param input The input signal input
+    \param carrier The carrier signal input
+    \param E_code Early PRN code replica input
+    \param P_code Early PRN code replica input
+    \param L_code Early PRN code replica input
+    \param E_out Early correlation output
+    \param P_out Early correlation output
+    \param L_out Early correlation output
+    \param num_points The number of complex values in vectors
+  */
+
+static inline void volk_cw_epl_corr_u(const lv_32fc_t* input, const lv_32fc_t* carrier, const lv_32fc_t* E_code, const lv_32fc_t* P_code, const lv_32fc_t* L_code, lv_32fc_t* E_out, lv_32fc_t* P_out, lv_32fc_t* L_out,  unsigned int num_points){
+	unsigned int number = 0;
+    const unsigned int halfPoints = num_points / 2;
+
+    lv_32fc_t dotProduct_E;
+    memset(&dotProduct_E, 0x0, 2*sizeof(float));
+    lv_32fc_t dotProduct_P;
+    memset(&dotProduct_P, 0x0, 2*sizeof(float));
+    lv_32fc_t dotProduct_L;
+    memset(&dotProduct_L, 0x0, 2*sizeof(float));
+
+    // Aux vars
+    __m128 x, y, yl, yh, z, tmp1, tmp2, z_E, z_P, z_L;
+
+    z_E=_mm_setzero_ps();
+    z_P=_mm_setzero_ps();
+    z_L=_mm_setzero_ps();
+
+    //input and output vectors
+    //lv_32fc_t* _input_BB = input_BB;
+    const lv_32fc_t* _input = input;
+    const lv_32fc_t* _carrier = carrier;
+    const lv_32fc_t* _E_code = E_code;
+    const lv_32fc_t* _P_code = P_code;
+    const lv_32fc_t* _L_code = L_code;
+
+    for(;number < halfPoints; number++){
+
+      // carrier wipe-off (vector point-to-point product)
+      x = _mm_loadu_ps((float*)_input); // Load the ar + ai, br + bi as ar,ai,br,bi
+      y = _mm_loadu_ps((float*)_carrier); // Load the cr + ci, dr + di as cr,ci,dr,di
+
+      yl = _mm_moveldup_ps(y); // Load yl with cr,cr,dr,dr
+      yh = _mm_movehdup_ps(y); // Load yh with ci,ci,di,di
+
+      tmp1 = _mm_mul_ps(x,yl); // tmp1 = ar*cr,ai*cr,br*dr,bi*dr
+
+      x = _mm_shuffle_ps(x,x,0xB1); // Re-arrange x to be ai,ar,bi,br
+
+      tmp2 = _mm_mul_ps(x,yh); // tmp2 = ai*ci,ar*ci,bi*di,br*di
+
+      z = _mm_addsub_ps(tmp1,tmp2); // ar*cr-ai*ci, ai*cr+ar*ci, br*dr-bi*di, bi*dr+br*di
+
+      //_mm_storeu_ps((float*)_input_BB,z); // Store the results back into the _input_BB container
+
+      // correlation E,P,L (3x vector scalar product)
+      // Early
+      //x = _mm_load_ps((float*)_input_BB); // Load the ar + ai, br + bi as ar,ai,br,bi
+      x=z;
+
+      y = _mm_load_ps((float*)_E_code); // Load the cr + ci, dr + di as cr,ci,dr,di
+
+      yl = _mm_moveldup_ps(y); // Load yl with cr,cr,dr,dr
+      yh = _mm_movehdup_ps(y); // Load yh with ci,ci,di,di
+
+      tmp1 = _mm_mul_ps(x,yl); // tmp1 = ar*cr,ai*cr,br*dr,bi*dr
+
+      x = _mm_shuffle_ps(x,x,0xB1); // Re-arrange x to be ai,ar,bi,br
+
+      tmp2 = _mm_mul_ps(x,yh); // tmp2 = ai*ci,ar*ci,bi*di,br*di
+
+      z = _mm_addsub_ps(tmp1,tmp2); // ar*cr-ai*ci, ai*cr+ar*ci, br*dr-bi*di, bi*dr+br*di
+
+      z_E = _mm_add_ps(z_E, z); // Add the complex multiplication results together
+
+      // Prompt
+      //x = _mm_load_ps((float*)_input_BB); // Load the ar + ai, br + bi as ar,ai,br,bi
+      y = _mm_load_ps((float*)_P_code); // Load the cr + ci, dr + di as cr,ci,dr,di
+
+      yl = _mm_moveldup_ps(y); // Load yl with cr,cr,dr,dr
+      yh = _mm_movehdup_ps(y); // Load yh with ci,ci,di,di
+
+      x = _mm_shuffle_ps(x,x,0xB1); // Re-arrange x to be ai,ar,bi,br
+
+      tmp1 = _mm_mul_ps(x,yl); // tmp1 = ar*cr,ai*cr,br*dr,bi*dr
+
+      x = _mm_shuffle_ps(x,x,0xB1); // Re-arrange x to be ai,ar,bi,br
+
+      tmp2 = _mm_mul_ps(x,yh); // tmp2 = ai*ci,ar*ci,bi*di,br*di
+
+      z = _mm_addsub_ps(tmp1,tmp2); // ar*cr-ai*ci, ai*cr+ar*ci, br*dr-bi*di, bi*dr+br*di
+
+      z_P = _mm_add_ps(z_P, z); // Add the complex multiplication results together
+
+      // Late
+      //x = _mm_load_ps((float*)_input_BB); // Load the ar + ai, br + bi as ar,ai,br,bi
+      y = _mm_load_ps((float*)_L_code); // Load the cr + ci, dr + di as cr,ci,dr,di
+
+      yl = _mm_moveldup_ps(y); // Load yl with cr,cr,dr,dr
+      yh = _mm_movehdup_ps(y); // Load yh with ci,ci,di,di
+
+      x = _mm_shuffle_ps(x,x,0xB1); // Re-arrange x to be ai,ar,bi,br
+
+      tmp1 = _mm_mul_ps(x,yl); // tmp1 = ar*cr,ai*cr,br*dr,bi*dr
+
+      x = _mm_shuffle_ps(x,x,0xB1); // Re-arrange x to be ai,ar,bi,br
+
+      tmp2 = _mm_mul_ps(x,yh); // tmp2 = ai*ci,ar*ci,bi*di,br*di
+
+      z = _mm_addsub_ps(tmp1,tmp2); // ar*cr-ai*ci, ai*cr+ar*ci, br*dr-bi*di, bi*dr+br*di
+
+      z_L = _mm_add_ps(z_L, z); // Add the complex multiplication results together
+
+      /*pointer increment*/
+      _carrier += 2;
+      _input += 2;
+      //_input_BB += 2;
+      _E_code += 2;
+      _P_code += 2;
+      _L_code +=2;
+    }
+
+
+    __VOLK_ATTR_ALIGNED(16) lv_32fc_t dotProductVector_E[2];
+    __VOLK_ATTR_ALIGNED(16) lv_32fc_t dotProductVector_P[2];
+    __VOLK_ATTR_ALIGNED(16) lv_32fc_t dotProductVector_L[2];
+    //__VOLK_ATTR_ALIGNED(16) lv_32fc_t _input_BB;
+
+    _mm_store_ps((float*)dotProductVector_E,z_E); // Store the results back into the dot product vector
+    _mm_store_ps((float*)dotProductVector_P,z_P); // Store the results back into the dot product vector
+    _mm_store_ps((float*)dotProductVector_L,z_L); // Store the results back into the dot product vector
+
+    dotProduct_E += ( dotProductVector_E[0] + dotProductVector_E[1] );
+    dotProduct_P += ( dotProductVector_P[0] + dotProductVector_P[1] );
+    dotProduct_L += ( dotProductVector_L[0] + dotProductVector_L[1] );
+
+    if((num_points % 2) != 0) {
+      //_input_BB = (*_input) * (*_carrier);
+  	  dotProduct_E += (*_input) * (*_E_code)*(*_carrier);
+  	  dotProduct_P += (*_input) * (*_P_code)*(*_carrier);
+  	  dotProduct_L += (*_input) * (*_L_code)*(*_carrier);
+
+    }
+
+    *E_out = dotProduct_E;
+    *P_out = dotProduct_P;
+    *L_out = dotProduct_L;
+}
+
+
+#endif /* LV_HAVE_SSE */
+
+#endif /* INCLUDED_volk_cw_epl_corr_H */

src/tests/arithmetic/cordic_test.cc

@@ -49,6 +49,8 @@ TEST(Cordic_Test, StandardCIsFasterThanCordic)
     cordicPtr = new Cordic(largest_k);
 
     std::complex<float> *d_carr_sign;
+    float* d_carr_sign_I;
+    float* d_carr_sign_Q;
     // carrier parameters
     int d_vector_length=4000;
     float phase_rad;
@@ -59,6 +61,10 @@ TEST(Cordic_Test, StandardCIsFasterThanCordic)
 
     // space for carrier wipeoff and signal baseband vectors
     if (posix_memalign((void**)&d_carr_sign, 16, d_vector_length * sizeof(std::complex<float>) * 2) == 0){};
+
+    if (posix_memalign((void**)&d_carr_sign_I, 16, d_vector_length * sizeof(float) * 2) == 0){};
+    if (posix_memalign((void**)&d_carr_sign_Q, 16, d_vector_length * sizeof(float) * 2) == 0){};
+
     double sin_d,cos_d;
     double sin_f,cos_f;
 
@@ -123,6 +129,27 @@ TEST(Cordic_Test, StandardCIsFasterThanCordic)
     long long int end4 = tv.tv_sec *1000000 + tv.tv_usec;
 
 
+    //*** GNU RADIO FIXED POINT ARITHMETIC COPY BY REFERENCE********
+    gettimeofday(&tv, NULL);
+    long long int begin5 = tv.tv_sec * 1000000 + tv.tv_usec;
+    for(int i=0; i<niter; i++)
+        {
+        	fxp_nco_cpyref(d_carr_sign, d_vector_length,0, phase_step_rad);
+        }
+    gettimeofday(&tv, NULL);
+    long long int end5 = tv.tv_sec *1000000 + tv.tv_usec;
+
+
+    //*** GNU RADIO FIXED POINT ARITHMETIC COPY BY REFERENCE SPLIT IQ********
+    gettimeofday(&tv, NULL);
+    long long int begin6 = tv.tv_sec * 1000000 + tv.tv_usec;
+    for(int i=0; i<niter; i++)
+        {
+        	fxp_nco_IQ_split(d_carr_sign_I, d_carr_sign_Q, d_vector_length,0, phase_step_rad);
+        }
+    gettimeofday(&tv, NULL);
+    long long int end6 = tv.tv_sec *1000000 + tv.tv_usec;
+
     delete cordicPtr;
 
 
@@ -130,6 +157,7 @@ TEST(Cordic_Test, StandardCIsFasterThanCordic)
     std::cout << "STD LIB ARITHM computed " << niter << " times in " << (end2-begin2) << " microseconds" << std::endl;
     std::cout << "FXPT CORDIC computed " << niter << " times in " << (end3-begin3) << " microseconds" << std::endl;
     std::cout << "SSE CORDIC computed " << niter << " times in " << (end4-begin4) << " microseconds" << std::endl;
-
+    std::cout << "FXPT CORDIC CPY REF computed " << niter << " times in " << (end5-begin5) << " microseconds" << std::endl;
+    std::cout << "FXPT CORDIC CPY REF SPLIT computed " << niter << " times in " << (end6-begin6) << " microseconds" << std::endl;
     EXPECT_TRUE((end2-begin2) < (end1-begin1)); // if true, standard C++ is faster than the cordic implementation
 }