From c97e12dbe0e368c4910cbb431c173fa398a9262b Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Fri, 20 May 2022 10:40:30 +0200
Subject: [PATCH 01/31] Adding 4 bits complex samples signal source
---
.../signal_source/adapters/CMakeLists.txt | 2 +
.../four_bit_cpx_file_signal_source.cc | 102 ++++++++++++++++++
.../four_bit_cpx_file_signal_source.h | 71 ++++++++++++
.../unpack_byte_4bit_samples.cc | 16 +--
.../unpack_byte_4bit_samples.h | 4 +-
src/core/receiver/gnss_block_factory.cc | 7 ++
6 files changed, 192 insertions(+), 10 deletions(-)
create mode 100644 src/algorithms/signal_source/adapters/four_bit_cpx_file_signal_source.cc
create mode 100644 src/algorithms/signal_source/adapters/four_bit_cpx_file_signal_source.h
diff --git a/src/algorithms/signal_source/adapters/CMakeLists.txt b/src/algorithms/signal_source/adapters/CMakeLists.txt
index 7a4c6e065..32a9c6bc9 100644
--- a/src/algorithms/signal_source/adapters/CMakeLists.txt
+++ b/src/algorithms/signal_source/adapters/CMakeLists.txt
@@ -99,6 +99,7 @@ set(SIGNAL_SOURCE_ADAPTER_SOURCES
labsat_signal_source.cc
two_bit_cpx_file_signal_source.cc
two_bit_packed_file_signal_source.cc
+ four_bit_cpx_file_signal_source.cc
file_timestamp_signal_source.cc
${OPT_DRIVER_SOURCES}
)
@@ -117,6 +118,7 @@ set(SIGNAL_SOURCE_ADAPTER_HEADERS
labsat_signal_source.h
two_bit_cpx_file_signal_source.h
two_bit_packed_file_signal_source.h
+ four_bit_cpx_file_signal_source.h
file_timestamp_signal_source.h
${OPT_DRIVER_HEADERS}
)
diff --git a/src/algorithms/signal_source/adapters/four_bit_cpx_file_signal_source.cc b/src/algorithms/signal_source/adapters/four_bit_cpx_file_signal_source.cc
new file mode 100644
index 000000000..0fc521fe9
--- /dev/null
+++ b/src/algorithms/signal_source/adapters/four_bit_cpx_file_signal_source.cc
@@ -0,0 +1,102 @@
+/*!
+ * \file four_bit_cpx_file_signal_source.cc
+ * \brief Implementation of a class that reads signals samples from a 2 bit complex sampler front-end file
+ * and adapts it to a SignalSourceInterface.
+ * \author Javier Arribas, 2015 jarribas(at)cttc.es
+ *
+ * -----------------------------------------------------------------------------
+ *
+ * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
+ * This file is part of GNSS-SDR.
+ *
+ * Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
+ * SPDX-License-Identifier: GPL-3.0-or-later
+ *
+ * -----------------------------------------------------------------------------
+ */
+
+#include "four_bit_cpx_file_signal_source.h"
+#include "configuration_interface.h"
+#include "gnss_sdr_string_literals.h"
+#include <glog/logging.h>
+
+using namespace std::string_literals;
+
+
+FourBitCpxFileSignalSource::FourBitCpxFileSignalSource(
+ const ConfigurationInterface* configuration,
+ const std::string& role,
+ unsigned int in_streams, unsigned int out_streams,
+ Concurrent_Queue<pmt::pmt_t>* queue)
+ : FileSourceBase(configuration, role, "Four_Bit_Cpx_File_Signal_Source"s, queue, "byte"s)
+{
+ sample_type_ = configuration->property(role + ".sample_type", "iq"s);
+ // the complex-ness of the input is inferred from the output type
+ if (sample_type_ == "iq")
+ {
+ reverse_interleaving_ = false;
+ }
+ else if (sample_type_ == "qi")
+ {
+ reverse_interleaving_ = true;
+ }
+ else
+ {
+ LOG(WARNING) << sample_type_ << " unrecognized sample type. Assuming: ";
+ }
+
+
+ if (in_streams > 0)
+ {
+ LOG(ERROR) << "A signal source does not have an input stream";
+ }
+ if (out_streams > 1)
+ {
+ LOG(ERROR) << "This implementation only supports one output stream";
+ }
+}
+
+
+std::tuple<size_t, bool> FourBitCpxFileSignalSource::itemTypeToSize()
+{
+ auto is_complex = false;
+ auto item_size = size_t(sizeof(char)); // default
+
+ if (item_type() == "byte")
+ {
+ item_size = sizeof(char);
+ }
+ else
+ {
+ LOG(WARNING) << item_type() << " unrecognized item type. Using byte.";
+ }
+
+ return std::make_tuple(item_size, is_complex);
+}
+
+// 1 byte -> 1 complex samples
+double FourBitCpxFileSignalSource::packetsPerSample() const { return 1.0; }
+gnss_shared_ptr<gr::block> FourBitCpxFileSignalSource::source() const { return inter_shorts_to_cpx_; }
+
+
+void FourBitCpxFileSignalSource::create_file_source_hook()
+{
+ unpack_byte_ = make_unpack_byte_4bit_samples();
+ DLOG(INFO) << "unpack_byte_2bit_cpx_samples(" << unpack_byte_->unique_id() << ")";
+ inter_shorts_to_cpx_ = gr::blocks::interleaved_short_to_complex::make(false, reverse_interleaving_); // I/Q swap enabled
+ DLOG(INFO) << "interleaved_short_to_complex(" << inter_shorts_to_cpx_->unique_id() << ")";
+}
+
+void FourBitCpxFileSignalSource::pre_connect_hook(gr::top_block_sptr top_block)
+{
+ top_block->connect(file_source(), 0, unpack_byte_, 0);
+ top_block->connect(unpack_byte_, 0, inter_shorts_to_cpx_, 0);
+ DLOG(INFO) << "connected file_source to unpacker";
+}
+
+void FourBitCpxFileSignalSource::pre_disconnect_hook(gr::top_block_sptr top_block)
+{
+ top_block->disconnect(file_source(), 0, unpack_byte_, 0);
+ top_block->disconnect(unpack_byte_, 0, inter_shorts_to_cpx_, 0);
+ DLOG(INFO) << "disconnected file_source from unpacker";
+}
diff --git a/src/algorithms/signal_source/adapters/four_bit_cpx_file_signal_source.h b/src/algorithms/signal_source/adapters/four_bit_cpx_file_signal_source.h
new file mode 100644
index 000000000..ac9b5c3fb
--- /dev/null
+++ b/src/algorithms/signal_source/adapters/four_bit_cpx_file_signal_source.h
@@ -0,0 +1,71 @@
+/*!
+ * \file FOUR_BIT_cpx_file_signal_source.h
+ * \brief Interface of a class that reads signals samples from a 2 bit complex sampler front-end file
+ * and adapts it to a SignalSourceInterface.
+ * \author Javier Arribas, 2015 jarribas(at)cttc.es
+ *
+ * This class represents a file signal source.
+ *
+ * -----------------------------------------------------------------------------
+ *
+ * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
+ * This file is part of GNSS-SDR.
+ *
+ * Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
+ * SPDX-License-Identifier: GPL-3.0-or-later
+ *
+ * -----------------------------------------------------------------------------
+ */
+
+#ifndef GNSS_SDR_FOUR_BIT_CPX_FILE_SIGNAL_SOURCE_H
+#define GNSS_SDR_FOUR_BIT_CPX_FILE_SIGNAL_SOURCE_H
+
+#include "file_source_base.h"
+#include "unpack_byte_4bit_samples.h"
+#include <gnuradio/blocks/interleaved_short_to_complex.h>
+#include <cstddef>
+#include <string>
+#include <tuple>
+
+/** \addtogroup Signal_Source
+ * \{ */
+/** \addtogroup Signal_Source_adapters
+ * \{ */
+
+
+class ConfigurationInterface;
+
+/*!
+ * \brief Class that reads signals samples from a file
+ * and adapts it to a SignalSourceInterface
+ */
+class FourBitCpxFileSignalSource : public FileSourceBase
+{
+public:
+ FourBitCpxFileSignalSource(const ConfigurationInterface* configuration,
+ const std::string& role,
+ unsigned int in_streams,
+ unsigned int out_streams,
+ Concurrent_Queue<pmt::pmt_t>* queue);
+
+ ~FourBitCpxFileSignalSource() = default;
+
+protected:
+ std::tuple<size_t, bool> itemTypeToSize() override;
+ double packetsPerSample() const override;
+ gnss_shared_ptr<gr::block> source() const override;
+ void create_file_source_hook() override;
+ void pre_connect_hook(gr::top_block_sptr top_block) override;
+ void pre_disconnect_hook(gr::top_block_sptr top_block) override;
+
+private:
+ unpack_byte_4bit_samples_sptr unpack_byte_;
+ gr::blocks::interleaved_short_to_complex::sptr inter_shorts_to_cpx_;
+ std::string sample_type_;
+ bool reverse_interleaving_;
+};
+
+
+/** \} */
+/** \} */
+#endif // GNSS_SDR_FOUR_BIT_CPX_FILE_SIGNAL_SOURCE_H
diff --git a/src/algorithms/signal_source/gnuradio_blocks/unpack_byte_4bit_samples.cc b/src/algorithms/signal_source/gnuradio_blocks/unpack_byte_4bit_samples.cc
index ca82f23b5..ccc04374f 100644
--- a/src/algorithms/signal_source/gnuradio_blocks/unpack_byte_4bit_samples.cc
+++ b/src/algorithms/signal_source/gnuradio_blocks/unpack_byte_4bit_samples.cc
@@ -26,8 +26,8 @@ unpack_byte_4bit_samples_sptr make_unpack_byte_4bit_samples()
unpack_byte_4bit_samples::unpack_byte_4bit_samples() : sync_interpolator("unpack_byte_4bit_samples",
- gr::io_signature::make(1, 1, sizeof(signed char)),
- gr::io_signature::make(1, 1, sizeof(signed char)),
+ gr::io_signature::make(1, 1, sizeof(int8_t)),
+ gr::io_signature::make(1, 1, sizeof(int16_t)),
2)
{
}
@@ -37,8 +37,8 @@ int unpack_byte_4bit_samples::work(int noutput_items,
gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items)
{
- const auto *in = reinterpret_cast<const signed char *>(input_items[0]);
- auto *out = reinterpret_cast<signed char *>(output_items[0]);
+ const auto *in = reinterpret_cast<const int8_t *>(input_items[0]);
+ auto *out = reinterpret_cast<int16_t *>(output_items[0]);
int n = 0;
unsigned char tmp_char2;
for (int i = 0; i < noutput_items / 2; i++)
@@ -46,21 +46,21 @@ int unpack_byte_4bit_samples::work(int noutput_items,
tmp_char2 = in[i] & 0x0F;
if (tmp_char2 >= 8)
{
- out[n++] = 2 * (tmp_char2 - 16) + 1;
+ out[n++] = static_cast<int16_t>(2 * (tmp_char2 - 16) + 1);
}
else
{
- out[n++] = 2 * tmp_char2 + 1;
+ out[n++] = static_cast<int16_t>(2 * tmp_char2 + 1);
}
tmp_char2 = in[i] >> 4;
tmp_char2 = tmp_char2 & 0x0F;
if (tmp_char2 >= 8)
{
- out[n++] = 2 * (tmp_char2 - 16) + 1;
+ out[n++] = static_cast<int16_t>(2 * (tmp_char2 - 16) + 1);
}
else
{
- out[n++] = 2 * tmp_char2 + 1;
+ out[n++] = static_cast<int16_t>(2 * tmp_char2 + 1);
}
}
return noutput_items;
diff --git a/src/algorithms/signal_source/gnuradio_blocks/unpack_byte_4bit_samples.h b/src/algorithms/signal_source/gnuradio_blocks/unpack_byte_4bit_samples.h
index 1d3d91da6..2b75c763c 100644
--- a/src/algorithms/signal_source/gnuradio_blocks/unpack_byte_4bit_samples.h
+++ b/src/algorithms/signal_source/gnuradio_blocks/unpack_byte_4bit_samples.h
@@ -20,8 +20,8 @@
#ifndef GNSS_SDR_UNPACK_BYTE_4BIT_SAMPLES_H
#define GNSS_SDR_UNPACK_BYTE_4BIT_SAMPLES_H
+#include "gnss_block_interface.h"
#include <gnuradio/sync_interpolator.h>
-#include <memory>
/** \addtogroup Signal_Source
* \{ */
@@ -31,7 +31,7 @@
class unpack_byte_4bit_samples;
-using unpack_byte_4bit_samples_sptr = std::shared_ptr<unpack_byte_4bit_samples>;
+using unpack_byte_4bit_samples_sptr = gnss_shared_ptr<unpack_byte_4bit_samples>;
unpack_byte_4bit_samples_sptr make_unpack_byte_4bit_samples();
diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc
index 6a92df891..adba9c0df 100644
--- a/src/core/receiver/gnss_block_factory.cc
+++ b/src/core/receiver/gnss_block_factory.cc
@@ -41,6 +41,7 @@
#include "file_signal_source.h"
#include "file_timestamp_signal_source.h"
#include "fir_filter.h"
+#include "four_bit_cpx_file_signal_source.h"
#include "freq_xlating_fir_filter.h"
#include "galileo_e1_dll_pll_veml_tracking.h"
#include "galileo_e1_pcps_8ms_ambiguous_acquisition.h"
@@ -694,6 +695,12 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
out_streams, queue);
block = std::move(block_);
}
+ else if (implementation == "Four_Bit_Cpx_File_Signal_Source")
+ {
+ std::unique_ptr<GNSSBlockInterface> block_ = std::make_unique<FourBitCpxFileSignalSource>(configuration, role, in_streams,
+ out_streams, queue);
+ block = std::move(block_);
+ }
else if (implementation == "Two_Bit_Packed_File_Signal_Source")
{
std::unique_ptr<GNSSBlockInterface> block_ = std::make_unique<TwoBitPackedFileSignalSource>(configuration, role, in_streams,
From 742113c55f008128bf44e86c588e4251845d66c7 Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Mon, 23 May 2022 12:30:12 +0200
Subject: [PATCH 02/31] Adding timestamp capability to four bits signal source
---
.../adapters/file_timestamp_signal_source.cc | 21 ++++++++++---
.../four_bit_cpx_file_signal_source.cc | 31 +++++++++++++++++--
.../four_bit_cpx_file_signal_source.h | 5 +++
.../signal_source/libs/gnss_sdr_timestamp.cc | 10 +++---
.../signal_source/libs/gnss_sdr_timestamp.h | 10 ++++--
5 files changed, 62 insertions(+), 15 deletions(-)
diff --git a/src/algorithms/signal_source/adapters/file_timestamp_signal_source.cc b/src/algorithms/signal_source/adapters/file_timestamp_signal_source.cc
index 1cc29e40a..32d27ac19 100644
--- a/src/algorithms/signal_source/adapters/file_timestamp_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/file_timestamp_signal_source.cc
@@ -16,7 +16,6 @@
#include "file_timestamp_signal_source.h"
#include "gnss_sdr_flags.h"
#include "gnss_sdr_string_literals.h"
-#include "gnss_sdr_timestamp.h"
#include <glog/logging.h>
#include <string>
@@ -51,10 +50,22 @@ gnss_shared_ptr<gr::block> FileTimestampSignalSource::source() const { return ti
void FileTimestampSignalSource::create_file_source_hook()
{
- timestamp_block_ = gnss_sdr_make_Timestamp(
- std::get<0>(itemTypeToSize()),
- timestamp_file_,
- timestamp_clock_offset_ms_);
+ if (is_complex() == false)
+ {
+ timestamp_block_ = gnss_sdr_make_Timestamp(
+ std::get<0>(itemTypeToSize()),
+ timestamp_file_,
+ timestamp_clock_offset_ms_,
+ source_item_size() * 2);
+ }
+ else
+ {
+ timestamp_block_ = gnss_sdr_make_Timestamp(
+ std::get<0>(itemTypeToSize()),
+ timestamp_file_,
+ timestamp_clock_offset_ms_,
+ source_item_size());
+ }
DLOG(INFO) << "timestamp_block_(" << timestamp_block_->unique_id() << ")";
}
diff --git a/src/algorithms/signal_source/adapters/four_bit_cpx_file_signal_source.cc b/src/algorithms/signal_source/adapters/four_bit_cpx_file_signal_source.cc
index 0fc521fe9..c22ababb3 100644
--- a/src/algorithms/signal_source/adapters/four_bit_cpx_file_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/four_bit_cpx_file_signal_source.cc
@@ -17,6 +17,7 @@
#include "four_bit_cpx_file_signal_source.h"
#include "configuration_interface.h"
+#include "gnss_sdr_flags.h"
#include "gnss_sdr_string_literals.h"
#include <glog/logging.h>
@@ -28,7 +29,9 @@ FourBitCpxFileSignalSource::FourBitCpxFileSignalSource(
const std::string& role,
unsigned int in_streams, unsigned int out_streams,
Concurrent_Queue<pmt::pmt_t>* queue)
- : FileSourceBase(configuration, role, "Four_Bit_Cpx_File_Signal_Source"s, queue, "byte"s)
+ : FileSourceBase(configuration, role, "Four_Bit_Cpx_File_Signal_Source"s, queue, "byte"s),
+ timestamp_file_(configuration->property(role + ".timestamp_filename"s, ""s)),
+ timestamp_clock_offset_ms_(configuration->property(role + ".timestamp_clock_offset_ms"s, 0.0))
{
sample_type_ = configuration->property(role + ".sample_type", "iq"s);
// the complex-ness of the input is inferred from the output type
@@ -54,6 +57,12 @@ FourBitCpxFileSignalSource::FourBitCpxFileSignalSource(
{
LOG(ERROR) << "This implementation only supports one output stream";
}
+
+ // override value with commandline flag, if present
+ if (FLAGS_timestamp_source != "-")
+ {
+ timestamp_file_ = FLAGS_timestamp_source;
+ }
}
@@ -76,7 +85,7 @@ std::tuple<size_t, bool> FourBitCpxFileSignalSource::itemTypeToSize()
// 1 byte -> 1 complex samples
double FourBitCpxFileSignalSource::packetsPerSample() const { return 1.0; }
-gnss_shared_ptr<gr::block> FourBitCpxFileSignalSource::source() const { return inter_shorts_to_cpx_; }
+gnss_shared_ptr<gr::block> FourBitCpxFileSignalSource::source() const { return timestamp_block_; }
void FourBitCpxFileSignalSource::create_file_source_hook()
@@ -85,6 +94,14 @@ void FourBitCpxFileSignalSource::create_file_source_hook()
DLOG(INFO) << "unpack_byte_2bit_cpx_samples(" << unpack_byte_->unique_id() << ")";
inter_shorts_to_cpx_ = gr::blocks::interleaved_short_to_complex::make(false, reverse_interleaving_); // I/Q swap enabled
DLOG(INFO) << "interleaved_short_to_complex(" << inter_shorts_to_cpx_->unique_id() << ")";
+ if (timestamp_file_.size() > 1)
+ {
+ timestamp_block_ = gnss_sdr_make_Timestamp(sizeof(gr_complex),
+ timestamp_file_,
+ timestamp_clock_offset_ms_,
+ 1);
+ DLOG(INFO) << "timestamp_block_(" << timestamp_block_->unique_id() << ")";
+ }
}
void FourBitCpxFileSignalSource::pre_connect_hook(gr::top_block_sptr top_block)
@@ -92,10 +109,20 @@ void FourBitCpxFileSignalSource::pre_connect_hook(gr::top_block_sptr top_block)
top_block->connect(file_source(), 0, unpack_byte_, 0);
top_block->connect(unpack_byte_, 0, inter_shorts_to_cpx_, 0);
DLOG(INFO) << "connected file_source to unpacker";
+ if (timestamp_file_.size() > 1)
+ {
+ top_block->connect(inter_shorts_to_cpx_, 0, timestamp_block_, 0);
+ DLOG(INFO) << "connected file_source to timestamp_block_";
+ }
}
void FourBitCpxFileSignalSource::pre_disconnect_hook(gr::top_block_sptr top_block)
{
+ if (timestamp_file_.size() > 1)
+ {
+ top_block->disconnect(inter_shorts_to_cpx_, 0, timestamp_block_, 0);
+ DLOG(INFO) << "disconnected file_source from timestamp_block_";
+ }
top_block->disconnect(file_source(), 0, unpack_byte_, 0);
top_block->disconnect(unpack_byte_, 0, inter_shorts_to_cpx_, 0);
DLOG(INFO) << "disconnected file_source from unpacker";
diff --git a/src/algorithms/signal_source/adapters/four_bit_cpx_file_signal_source.h b/src/algorithms/signal_source/adapters/four_bit_cpx_file_signal_source.h
index ac9b5c3fb..a36776afb 100644
--- a/src/algorithms/signal_source/adapters/four_bit_cpx_file_signal_source.h
+++ b/src/algorithms/signal_source/adapters/four_bit_cpx_file_signal_source.h
@@ -21,6 +21,7 @@
#define GNSS_SDR_FOUR_BIT_CPX_FILE_SIGNAL_SOURCE_H
#include "file_source_base.h"
+#include "gnss_sdr_timestamp.h"
#include "unpack_byte_4bit_samples.h"
#include <gnuradio/blocks/interleaved_short_to_complex.h>
#include <cstddef>
@@ -63,6 +64,10 @@ private:
gr::blocks::interleaved_short_to_complex::sptr inter_shorts_to_cpx_;
std::string sample_type_;
bool reverse_interleaving_;
+
+ gnss_shared_ptr<Gnss_Sdr_Timestamp> timestamp_block_;
+ std::string timestamp_file_;
+ double timestamp_clock_offset_ms_;
};
diff --git a/src/algorithms/signal_source/libs/gnss_sdr_timestamp.cc b/src/algorithms/signal_source/libs/gnss_sdr_timestamp.cc
index 9ac458c04..857acf1e7 100644
--- a/src/algorithms/signal_source/libs/gnss_sdr_timestamp.cc
+++ b/src/algorithms/signal_source/libs/gnss_sdr_timestamp.cc
@@ -28,22 +28,23 @@
Gnss_Sdr_Timestamp::Gnss_Sdr_Timestamp(size_t sizeof_stream_item,
- std::string timestamp_file, double clock_offset_ms)
+ std::string timestamp_file, double clock_offset_ms, int items_to_samples)
: gr::sync_block("Timestamp",
gr::io_signature::make(1, 20, sizeof_stream_item),
gr::io_signature::make(1, 20, sizeof_stream_item)),
d_timefile(std::move(timestamp_file)),
d_clock_offset_ms(clock_offset_ms),
d_fraction_ms_offset(modf(d_clock_offset_ms, &d_integer_ms_offset)), // optional clockoffset parameter to convert UTC timestamps to GPS time in some receiver's configuration
+ d_items_to_samples(items_to_samples),
d_next_timetag_samplecount(0),
d_get_next_timetag(true)
{
}
-gnss_shared_ptr<Gnss_Sdr_Timestamp> gnss_sdr_make_Timestamp(size_t sizeof_stream_item, std::string timestamp_file, double clock_offset_ms)
+gnss_shared_ptr<Gnss_Sdr_Timestamp> gnss_sdr_make_Timestamp(size_t sizeof_stream_item, std::string timestamp_file, double clock_offset_ms, int items_to_samples)
{
- gnss_shared_ptr<Gnss_Sdr_Timestamp> Timestamp_(new Gnss_Sdr_Timestamp(sizeof_stream_item, std::move(timestamp_file), clock_offset_ms));
+ gnss_shared_ptr<Gnss_Sdr_Timestamp> Timestamp_(new Gnss_Sdr_Timestamp(sizeof_stream_item, std::move(timestamp_file), clock_offset_ms, items_to_samples));
return Timestamp_;
}
@@ -110,8 +111,7 @@ int Gnss_Sdr_Timestamp::work(int noutput_items,
for (size_t ch = 0; ch < output_items.size(); ch++)
{
std::memcpy(output_items[ch], input_items[ch], noutput_items * input_signature()->sizeof_stream_item(ch));
- uint64_t bytes_to_samples = 2; // todo: improve this.. hardcoded 2 bytes -> 1 complex sample!
- int64_t diff_samplecount = uint64diff(this->nitems_written(ch), d_next_timetag_samplecount * bytes_to_samples);
+ int64_t diff_samplecount = uint64diff(this->nitems_written(ch), d_next_timetag_samplecount * d_items_to_samples);
// std::cout << "diff_samplecount: " << diff_samplecount << ", noutput_items: " << noutput_items << "\n";
if (diff_samplecount <= noutput_items and std::labs(diff_samplecount) <= noutput_items)
{
diff --git a/src/algorithms/signal_source/libs/gnss_sdr_timestamp.h b/src/algorithms/signal_source/libs/gnss_sdr_timestamp.h
index 6a7f762e2..11716ca82 100644
--- a/src/algorithms/signal_source/libs/gnss_sdr_timestamp.h
+++ b/src/algorithms/signal_source/libs/gnss_sdr_timestamp.h
@@ -39,7 +39,8 @@ class Gnss_Sdr_Timestamp;
gnss_shared_ptr<Gnss_Sdr_Timestamp> gnss_sdr_make_Timestamp(
size_t sizeof_stream_item,
std::string timestamp_file,
- double clock_offset_ms);
+ double clock_offset_ms,
+ int items_to_samples);
class Gnss_Sdr_Timestamp : public gr::sync_block
@@ -54,11 +55,13 @@ private:
friend gnss_shared_ptr<Gnss_Sdr_Timestamp> gnss_sdr_make_Timestamp(
size_t sizeof_stream_item,
std::string timestamp_file,
- double clock_offset_ms);
+ double clock_offset_ms,
+ int items_to_samples);
Gnss_Sdr_Timestamp(size_t sizeof_stream_item,
std::string timestamp_file,
- double clock_offset_ms);
+ double clock_offset_ms,
+ int items_to_samples);
int64_t uint64diff(uint64_t first, uint64_t second);
bool read_next_timetag();
@@ -69,6 +72,7 @@ private:
double d_fraction_ms_offset;
double d_integer_ms_offset;
uint64_t d_next_timetag_samplecount;
+ int d_items_to_samples;
bool d_get_next_timetag;
};
From 67e4d7c6e2b7c0cf21085fb42a800c1526f88132 Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Mon, 23 May 2022 15:34:06 +0200
Subject: [PATCH 03/31] Added Galileo E6 experimental Pseudorange generation
using signal source timetag propagation
---
.../galileo_telemetry_decoder_gs.cc | 26 ++++++++++++++++++-
.../galileo_telemetry_decoder_gs.h | 1 +
2 files changed, 26 insertions(+), 1 deletion(-)
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
index db723cdf9..f672a6b21 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
@@ -85,7 +85,8 @@ galileo_telemetry_decoder_gs::galileo_telemetry_decoder_gs(
d_enable_navdata_monitor(conf.enable_navdata_monitor),
d_dump_crc_stats(conf.dump_crc_stats),
d_enable_reed_solomon_inav(false),
- d_valid_timetag(false)
+ d_valid_timetag(false),
+ d_E6_TOW_set(false)
{
// prevent telemetry symbols accumulation in output buffers
this->set_max_noutput_items(1);
@@ -591,6 +592,7 @@ void galileo_telemetry_decoder_gs::set_satellite(const Gnss_Satellite &satellite
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
d_last_valid_preamble = d_sample_counter;
d_sent_tlm_failed_msg = false;
+ d_E6_TOW_set = false;
DLOG(INFO) << "Setting decoder Finite State Machine to satellite " << d_satellite;
DLOG(INFO) << "Navigation Satellite set to " << d_satellite;
}
@@ -607,6 +609,7 @@ void galileo_telemetry_decoder_gs::reset()
d_inav_nav.set_TOW0_flag(false);
d_last_valid_preamble = d_sample_counter;
d_sent_tlm_failed_msg = false;
+ d_E6_TOW_set = false;
d_stat = 0;
d_viterbi->reset();
if (d_enable_reed_solomon_inav == true)
@@ -1019,6 +1022,23 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
case 3: // CNAV
{
// TODO
+ // Obtain Galileo E6 TOW from timetags, if available
+ if (d_valid_timetag == true)
+ {
+ int rx_tow_at_preamble = d_current_timetag.tow_ms;
+ uint32_t predicted_tow_at_preamble_ms = 1000 * (rx_tow_at_preamble / 1000); // floor to integer number of seconds
+
+ d_TOW_at_Preamble_ms = predicted_tow_at_preamble_ms;
+ //todo: compute tow at current symbol from the decoder delay similar as d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * GALILEO_FNAV_CODES_PER_SYMBOL * GALILEO_E5A_CODE_PERIOD_MS);
+ d_TOW_at_current_symbol_ms = predicted_tow_at_preamble_ms + static_cast<uint32_t>((GALILEO_CNAV_SYMBOLS_PER_PAGE - GALILEO_CNAV_PREAMBLE_LENGTH_BITS) * d_PRN_code_period_ms);
+ if (d_E6_TOW_set == false)
+ {
+ std::cout << " Sat PRN " << d_satellite.get_PRN() << " E6 TimeTag TOW at preamble: " << predicted_tow_at_preamble_ms
+ // << " [ms] TOW fraction: " << d_current_timetag.tow_ms_fraction
+ << " [ms] d_TOW_at_current_symbol_ms: " << d_TOW_at_current_symbol_ms << " [ms]\n";
+ d_E6_TOW_set = true;
+ }
+ }
}
}
}
@@ -1078,6 +1098,10 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
case 3: // CNAV
{
// TODO
+ if (d_E6_TOW_set == true)
+ {
+ current_symbol.Flag_valid_word = true;
+ }
break;
}
}
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.h b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.h
index 59e5fcb01..98c1494a1 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.h
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.h
@@ -147,6 +147,7 @@ private:
bool d_dump_crc_stats;
bool d_enable_reed_solomon_inav;
bool d_valid_timetag;
+ bool d_E6_TOW_set;
};
From a45998d0db0f762bee177844dead7d39fc4c1e6f Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Mon, 23 May 2022 17:32:09 +0200
Subject: [PATCH 04/31] Fix computation of Galileo E6 pseudoranges using TOW
from source timetag
---
.../galileo_telemetry_decoder_gs.cc | 16 +++++++++-------
1 file changed, 9 insertions(+), 7 deletions(-)
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
index f672a6b21..2ff4a6612 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
@@ -1022,19 +1022,19 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
case 3: // CNAV
{
// TODO
- // Obtain Galileo E6 TOW from timetags, if available
+ // Add option to use system time to estimate the preamble TOW
+ // Add option to use Galileo E1 or E5 TOW information..
+
+ // Done: Obtain Galileo E6 TOW from timetags, if available
if (d_valid_timetag == true)
{
int rx_tow_at_preamble = d_current_timetag.tow_ms;
uint32_t predicted_tow_at_preamble_ms = 1000 * (rx_tow_at_preamble / 1000); // floor to integer number of seconds
-
d_TOW_at_Preamble_ms = predicted_tow_at_preamble_ms;
- //todo: compute tow at current symbol from the decoder delay similar as d_TOW_at_current_symbol_ms = d_TOW_at_Preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * GALILEO_FNAV_CODES_PER_SYMBOL * GALILEO_E5A_CODE_PERIOD_MS);
- d_TOW_at_current_symbol_ms = predicted_tow_at_preamble_ms + static_cast<uint32_t>((GALILEO_CNAV_SYMBOLS_PER_PAGE - GALILEO_CNAV_PREAMBLE_LENGTH_BITS) * d_PRN_code_period_ms);
+ d_TOW_at_current_symbol_ms = predicted_tow_at_preamble_ms + static_cast<uint32_t>((d_required_symbols + 1) * d_PRN_code_period_ms);
if (d_E6_TOW_set == false)
{
std::cout << " Sat PRN " << d_satellite.get_PRN() << " E6 TimeTag TOW at preamble: " << predicted_tow_at_preamble_ms
- // << " [ms] TOW fraction: " << d_current_timetag.tow_ms_fraction
<< " [ms] d_TOW_at_current_symbol_ms: " << d_TOW_at_current_symbol_ms << " [ms]\n";
d_E6_TOW_set = true;
}
@@ -1064,8 +1064,10 @@ int galileo_telemetry_decoder_gs::general_work(int noutput_items __attribute__((
}
case 3: // CNAV
{
- // TODO
- d_TOW_at_current_symbol_ms += d_PRN_code_period_ms; // this is not the TOW!
+ if (d_E6_TOW_set == true)
+ {
+ d_TOW_at_current_symbol_ms += d_PRN_code_period_ms;
+ }
break;
}
}
From 0eebe9c2deafdd6891f7e413a8e7e1a5a7917e23 Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Tue, 24 May 2022 15:44:11 +0200
Subject: [PATCH 05/31] Fix four bits source adapter
---
.../adapters/four_bit_cpx_file_signal_source.cc | 12 +++++++++++-
1 file changed, 11 insertions(+), 1 deletion(-)
diff --git a/src/algorithms/signal_source/adapters/four_bit_cpx_file_signal_source.cc b/src/algorithms/signal_source/adapters/four_bit_cpx_file_signal_source.cc
index c22ababb3..3ac128a05 100644
--- a/src/algorithms/signal_source/adapters/four_bit_cpx_file_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/four_bit_cpx_file_signal_source.cc
@@ -85,7 +85,17 @@ std::tuple<size_t, bool> FourBitCpxFileSignalSource::itemTypeToSize()
// 1 byte -> 1 complex samples
double FourBitCpxFileSignalSource::packetsPerSample() const { return 1.0; }
-gnss_shared_ptr<gr::block> FourBitCpxFileSignalSource::source() const { return timestamp_block_; }
+gnss_shared_ptr<gr::block> FourBitCpxFileSignalSource::source() const
+{
+ if (timestamp_file_.size() > 1)
+ {
+ return timestamp_block_;
+ }
+ else
+ {
+ return inter_shorts_to_cpx_;
+ }
+}
void FourBitCpxFileSignalSource::create_file_source_hook()
From ea573359e0fbd46265eb78d8164623aca6d7851c Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Tue, 24 May 2022 21:18:59 +0200
Subject: [PATCH 06/31] Print IGM messages if TOW is available
---
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc | 8 ++++++--
src/algorithms/PVT/libs/rtcm.cc | 8 ++++----
.../gnuradio_blocks/galileo_telemetry_decoder_gs.cc | 4 ++++
src/core/libs/galileo_e6_has_msg_receiver.cc | 8 ++++++++
src/core/system_parameters/galileo_cnav_message.cc | 2 ++
src/core/system_parameters/galileo_cnav_message.h | 5 +++++
src/core/system_parameters/galileo_has_data.h | 2 ++
src/core/system_parameters/galileo_has_page.h | 1 +
8 files changed, 32 insertions(+), 6 deletions(-)
diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
index 6fb9a2510..83299a356 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
@@ -1573,11 +1573,15 @@ void rtklib_pvt_gs::msg_handler_has_data(const pmt::pmt_t& msg) const
const size_t msg_type_hash_code = pmt::any_ref(msg).type().hash_code();
if (msg_type_hash_code == d_galileo_has_data_sptr_type_hash_code)
{
- if (d_enable_has_messages)
+ const auto has_data = wht::any_cast<std::shared_ptr<Galileo_HAS_data>>(pmt::any_ref(msg));
+ if (d_has_simple_printer)
{
- const auto has_data = wht::any_cast<std::shared_ptr<Galileo_HAS_data>>(pmt::any_ref(msg));
d_has_simple_printer->print_message(has_data.get());
}
+ if (d_rtcm_printer && has_data->tow <= 604800)
+ {
+ d_rtcm_printer->Print_IGM_Messages(*has_data.get());
+ }
}
}
catch (const wht::bad_any_cast& e)
diff --git a/src/algorithms/PVT/libs/rtcm.cc b/src/algorithms/PVT/libs/rtcm.cc
index 5beb3d9ea..bbd0abeb1 100644
--- a/src/algorithms/PVT/libs/rtcm.cc
+++ b/src/algorithms/PVT/libs/rtcm.cc
@@ -3428,7 +3428,7 @@ std::string Rtcm::get_IGM01_header(const Galileo_HAS_data& has_data, uint8_t nsy
{
std::string header;
- uint32_t tow = 0; // TODO
+ uint32_t tow = has_data.tow;
uint16_t ssr_provider_id = 0; // ?
uint8_t igm_version = 0; // ?
uint8_t ssr_solution_id = 0; // ?
@@ -3505,7 +3505,7 @@ std::string Rtcm::get_IGM02_header(const Galileo_HAS_data& has_data, uint8_t nsy
{
std::string header;
- uint32_t tow = 0; // TODO
+ uint32_t tow = has_data.tow;
uint16_t ssr_provider_id = 0; // ?
uint8_t igm_version = 0; // ?
uint8_t ssr_solution_id = 0; // ?
@@ -3576,7 +3576,7 @@ std::string Rtcm::get_IGM03_header(const Galileo_HAS_data& has_data, uint8_t nsy
{
std::string header;
- uint32_t tow = 0; // TODO
+ uint32_t tow = has_data.tow;
uint16_t ssr_provider_id = 0; // ?
uint8_t igm_version = 0; // ?
uint8_t ssr_solution_id = 0; // ?
@@ -3661,7 +3661,7 @@ std::string Rtcm::get_IGM05_header(const Galileo_HAS_data& has_data, uint8_t nsy
{
std::string header;
- uint32_t tow = 0; // TODO
+ uint32_t tow = has_data.tow;
uint16_t ssr_provider_id = 0; // ?
uint8_t igm_version = 0; // ?
uint8_t ssr_solution_id = 0; // ?
diff --git a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
index 2ff4a6612..53d4ced5b 100644
--- a/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
+++ b/src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
@@ -571,6 +571,10 @@ void galileo_telemetry_decoder_gs::decode_CNAV_word(uint64_t time_stamp, float *
}
else
{
+ if (d_E6_TOW_set == true)
+ {
+ d_cnav_nav.set_tow(d_TOW_at_Preamble_ms / 1000);
+ }
const std::shared_ptr<Galileo_HAS_page> tmp_obj = std::make_shared<Galileo_HAS_page>(d_cnav_nav.get_HAS_encoded_page());
this->message_port_pub(pmt::mp("E6_HAS_from_TLM"), pmt::make_any(tmp_obj));
if (d_print_cnav_page == true)
diff --git a/src/core/libs/galileo_e6_has_msg_receiver.cc b/src/core/libs/galileo_e6_has_msg_receiver.cc
index 53fc3d6bc..6b4c326d2 100644
--- a/src/core/libs/galileo_e6_has_msg_receiver.cc
+++ b/src/core/libs/galileo_e6_has_msg_receiver.cc
@@ -26,6 +26,7 @@
#include <glog/logging.h> // for DLOG
#include <gnuradio/io_signature.h> // for gr::io_signature::make
#include <algorithm> // for std::find, std::count
+#include <cmath> // for std::remainder
#include <cstddef> // for size_t
#include <iterator> // for std::back_inserter
#include <limits> // for std::numeric_limits
@@ -111,6 +112,7 @@ void galileo_e6_has_msg_receiver::set_enable_navdata_monitor(bool enable)
std::shared_ptr<Galileo_HAS_data> galileo_e6_has_msg_receiver::process_test_page(const pmt::pmt_t& msg)
{
int64_t timestamp = std::numeric_limits<uint64_t>::max();
+ uint32_t tow = std::numeric_limits<uint32_t>::max();
try
{
const size_t msg_type_hash_code = pmt::any_ref(msg).type().hash_code();
@@ -126,6 +128,7 @@ std::shared_ptr<Galileo_HAS_data> galileo_e6_has_msg_receiver::process_test_page
d_current_has_status = HAS_data_page->has_status;
d_current_message_id = HAS_data_page->message_id;
timestamp = HAS_data_page->time_stamp;
+ tow = HAS_data_page->tow;
if (d_printed_mids[d_current_message_id] == false)
{
process_HAS_page(*HAS_data_page.get());
@@ -146,6 +149,7 @@ std::shared_ptr<Galileo_HAS_data> galileo_e6_has_msg_receiver::process_test_page
{
d_HAS_data.has_status = d_current_has_status;
d_HAS_data.message_id = d_current_message_id;
+ d_HAS_data.tow = tow - static_cast<uint32_t>(std::remainder(tow, 3600)) + d_HAS_data.header.toh;
auto has_data_ptr = std::make_shared<Galileo_HAS_data>(d_HAS_data);
d_new_message = false;
d_printed_mids[d_current_message_id] = true;
@@ -160,6 +164,7 @@ void galileo_e6_has_msg_receiver::msg_handler_galileo_e6_has(const pmt::pmt_t& m
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with msg_handler_galileo_e6_has function called by the scheduler
int64_t timestamp = std::numeric_limits<uint64_t>::max();
+ uint32_t tow = std::numeric_limits<uint32_t>::max();
try
{
const size_t msg_type_hash_code = pmt::any_ref(msg).type().hash_code();
@@ -175,6 +180,7 @@ void galileo_e6_has_msg_receiver::msg_handler_galileo_e6_has(const pmt::pmt_t& m
d_current_has_status = HAS_data_page->has_status;
d_current_message_id = HAS_data_page->message_id;
timestamp = HAS_data_page->time_stamp;
+ tow = HAS_data_page->tow;
if (d_printed_mids[d_current_message_id] == false)
{
process_HAS_page(*HAS_data_page.get());
@@ -195,6 +201,7 @@ void galileo_e6_has_msg_receiver::msg_handler_galileo_e6_has(const pmt::pmt_t& m
{
d_HAS_data.has_status = d_current_has_status;
d_HAS_data.message_id = d_current_message_id;
+ d_HAS_data.tow = tow - static_cast<uint32_t>(std::remainder(tow, 3600)) + d_HAS_data.header.toh;
d_printed_mids[d_current_message_id] = true;
d_printed_timestamps[d_current_message_id] = timestamp;
auto has_data_ptr = std::make_shared<Galileo_HAS_data>(d_HAS_data);
@@ -399,6 +406,7 @@ int galileo_e6_has_msg_receiver::decode_message_type1(uint8_t message_id, uint8_
// Trigger HAS message content reading and fill the d_HAS_data object
d_HAS_data = Galileo_HAS_data();
+ d_HAS_data.tow = std::numeric_limits<uint32_t>::max(); // Unknown
read_MT1_header(decoded_message_type_1.substr(0, GALILEO_CNAV_MT1_HEADER_BITS));
diff --git a/src/core/system_parameters/galileo_cnav_message.cc b/src/core/system_parameters/galileo_cnav_message.cc
index 0b93f6bf0..e514b00b7 100644
--- a/src/core/system_parameters/galileo_cnav_message.cc
+++ b/src/core/system_parameters/galileo_cnav_message.cc
@@ -21,6 +21,7 @@
#include <boost/dynamic_bitset.hpp> // for boost::dynamic_bitset
#include <glog/logging.h>
#include <algorithm> // for reverse
+#include <limits>
#include <vector>
using CRC_Galileo_CNAV_type = boost::crc_optimal<24, 0x1864CFBU, 0x0, 0x0, false, false>;
@@ -60,6 +61,7 @@ void Galileo_Cnav_Message::read_HAS_page(const std::string& page_string)
const std::bitset<GALILEO_CNAV_CRC_LENGTH> checksum(CRC_data);
d_new_HAS_page = false;
has_page = Galileo_HAS_page();
+ has_page.tow = std::numeric_limits<uint32_t>::max(); // Unknown
d_flag_CRC_test = CRC_test(Word_for_CRC_bits, checksum.to_ulong());
if (d_flag_CRC_test == true)
{
diff --git a/src/core/system_parameters/galileo_cnav_message.h b/src/core/system_parameters/galileo_cnav_message.h
index 90444175b..436aed93f 100644
--- a/src/core/system_parameters/galileo_cnav_message.h
+++ b/src/core/system_parameters/galileo_cnav_message.h
@@ -74,6 +74,11 @@ public:
has_page.time_stamp = time_stamp;
}
+ inline void set_tow(uint32_t tow)
+ {
+ has_page.tow = tow;
+ }
+
private:
uint8_t read_has_page_header_parameter(const std::bitset<GALILEO_CNAV_PAGE_HEADER_BITS>& bits, const std::pair<int32_t, int32_t>& parameter) const;
bool CRC_test(const std::bitset<GALILEO_CNAV_BITS_FOR_CRC>& bits, uint32_t checksum) const;
diff --git a/src/core/system_parameters/galileo_has_data.h b/src/core/system_parameters/galileo_has_data.h
index a4a3c289e..79b50eaeb 100644
--- a/src/core/system_parameters/galileo_has_data.h
+++ b/src/core/system_parameters/galileo_has_data.h
@@ -104,6 +104,8 @@ public:
std::vector<std::vector<int16_t>> phase_bias; //!< PB - Phase bias for the m-th signal of the n-th SV. See HAS SIS ICD 1.0 Section 5.2.6
std::vector<std::vector<uint8_t>> phase_discontinuity_indicator; //!< PDI - Phase Discontinuity Indicator. See HAS SIS ICD 1.0 Section 5.2.6.
+ uint32_t tow; //!< Time of Week
+
mt1_header header; //!< MT1 Header parameters. See HAS SIS ICD 1.0 Section 5.1.1
uint8_t has_status; //!< HASS - HAS Status (from HAS page header). See HAS SIS ICD 1.0 Section 3.1.1
uint8_t message_id; //!< MID - Message ID (from HAS page header). See HAS SIS ICD 1.0 Section 3.1
diff --git a/src/core/system_parameters/galileo_has_page.h b/src/core/system_parameters/galileo_has_page.h
index 099ddd645..27da69f9b 100644
--- a/src/core/system_parameters/galileo_has_page.h
+++ b/src/core/system_parameters/galileo_has_page.h
@@ -39,6 +39,7 @@ public:
std::string has_message_string; //!< HAS message content
uint64_t time_stamp{}; //!< HAS page time stamp, in [s]
+ uint32_t tow{}; //!< HAS page time of week, in [s]
// HAS page header
uint8_t has_status{}; //!< HAS status
From 657a7298f352276a147956f7a2a3c4f8eff5d997 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Wed, 25 May 2022 14:43:01 +0200
Subject: [PATCH 07/31] Compute PVT with E6 only and xml assistance
---
.../PVT/gnuradio_blocks/rtklib_pvt_gs.cc | 11 +++++
src/algorithms/PVT/libs/rtklib_solver.cc | 48 +++++++++++++++++++
.../libs/rtklib/rtklib_conversions.cc | 4 ++
src/core/libs/gnss_sdr_supl_client.cc | 7 +++
4 files changed, 70 insertions(+)
diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
index 83299a356..77468dcfe 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
@@ -651,6 +651,13 @@ rtklib_pvt_gs::~rtklib_pvt_gs()
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
+ // Annotate as GPS week number
+ for (auto gal_eph_iter = d_internal_pvt_solver->galileo_ephemeris_map.begin();
+ gal_eph_iter != d_internal_pvt_solver->galileo_ephemeris_map.end();
+ ++gal_eph_iter)
+ {
+ gal_eph_iter->second.WN += 1024;
+ }
xml << boost::serialization::make_nvp("GNSS-SDR_gal_ephemeris_map", d_internal_pvt_solver->galileo_ephemeris_map);
LOG(INFO) << "Saved Galileo E1 Ephemeris map data";
}
@@ -2049,6 +2056,10 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
store_valid_observable = true;
}
}
+ if (std::string(in[i][epoch].Signal) == std::string("E6"))
+ {
+ store_valid_observable = true;
+ }
if (store_valid_observable)
{
diff --git a/src/algorithms/PVT/libs/rtklib_solver.cc b/src/algorithms/PVT/libs/rtklib_solver.cc
index bfa3bd52b..1c9c0b3ea 100644
--- a/src/algorithms/PVT/libs/rtklib_solver.cc
+++ b/src/algorithms/PVT/libs/rtklib_solver.cc
@@ -407,6 +407,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
bool band1 = false;
bool band2 = false;
bool gal_e5_is_e5b = false;
+ bool gal_e6 = false;
for (gnss_observables_iter = gnss_observables_map.cbegin();
gnss_observables_iter != gnss_observables_map.cend();
++gnss_observables_iter)
@@ -514,6 +515,48 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
gal_e5_is_e5b = true;
}
}
+ if (sig_ == "E6")
+ {
+ gal_e6 = true;
+ galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
+ if (galileo_ephemeris_iter != galileo_ephemeris_map.cend())
+ {
+ bool found_E1_obs = false;
+ for (int i = 0; i < valid_obs; i++)
+ {
+ if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN + NSATGPS + NSATGLO)))
+ {
+ d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i + glo_valid_obs],
+ gnss_observables_iter->second,
+ galileo_ephemeris_iter->second.WN,
+ 0); // Band 1 (E6)
+ found_E1_obs = true;
+ break;
+ }
+ }
+ if (!found_E1_obs)
+ {
+ // insert Galileo E6 obs as new obs and also insert its ephemeris
+ // convert ephemeris from GNSS-SDR class to RTKLIB structure
+ eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
+ // convert observation from GNSS-SDR class to RTKLIB structure
+ const auto default_code_ = static_cast<unsigned char>(CODE_NONE);
+ obsd_t newobs = {{0, 0}, '0', '0', {}, {},
+ {default_code_, default_code_, default_code_},
+ {}, {0.0, 0.0, 0.0}, {}};
+ d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
+ gnss_observables_iter->second,
+ galileo_ephemeris_iter->second.WN,
+ 0); // Band 1 (E6)
+ // std::cout << "Week " << galileo_ephemeris_iter->second.WN << '\n';
+ valid_obs++;
+ }
+ }
+ else // the ephemeris are not available for this SV
+ {
+ DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
+ }
+ }
break;
}
case 'G':
@@ -879,6 +922,11 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{
for (int j = 0; j < NFREQ; j++)
{
+ if (j == 0 && gal_e6)
+ {
+ // frq = 3 corresponds to E6 in that function
+ nav_data.lam[i][j] = satwavelen(i + 1, 3, &nav_data);
+ }
if (j == 2 && gal_e5_is_e5b)
{
// frq = 4 corresponds to E5B in that function
diff --git a/src/algorithms/libs/rtklib/rtklib_conversions.cc b/src/algorithms/libs/rtklib/rtklib_conversions.cc
index 45eacabcb..b7e50519c 100644
--- a/src/algorithms/libs/rtklib/rtklib_conversions.cc
+++ b/src/algorithms/libs/rtklib/rtklib_conversions.cc
@@ -75,6 +75,10 @@ obsd_t insert_obs_to_rtklib(obsd_t& rtklib_obs, const Gnss_Synchro& gnss_synchro
{
rtklib_obs.code[band] = static_cast<unsigned char>(CODE_L7X);
}
+ if (sig_ == "E6")
+ {
+ rtklib_obs.code[band] = static_cast<unsigned char>(CODE_L6B);
+ }
break;
case 'R':
rtklib_obs.sat = gnss_synchro.PRN + NSATGPS;
diff --git a/src/core/libs/gnss_sdr_supl_client.cc b/src/core/libs/gnss_sdr_supl_client.cc
index e079b0a9f..33a6969f0 100644
--- a/src/core/libs/gnss_sdr_supl_client.cc
+++ b/src/core/libs/gnss_sdr_supl_client.cc
@@ -414,6 +414,13 @@ bool Gnss_Sdr_Supl_Client::load_gal_ephemeris_xml(const std::string& file_name)
gal_ephemeris_map.clear();
xml >> boost::serialization::make_nvp("GNSS-SDR_gal_ephemeris_map", this->gal_ephemeris_map);
LOG(INFO) << "Loaded Ephemeris map data with " << this->gal_ephemeris_map.size() << " satellites";
+ // Convert to GPS week number
+ for (auto gal_eph_iter = this->gal_ephemeris_map.begin();
+ gal_eph_iter != this->gal_ephemeris_map.end();
+ ++gal_eph_iter)
+ {
+ gal_eph_iter->second.WN -= 1024;
+ }
}
catch (std::exception& e)
{
From ab4020178323e61e2e769f6cc4b55f4e91d118e6 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Wed, 25 May 2022 21:04:44 +0200
Subject: [PATCH 08/31] Improve loops
---
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc | 8 +++-----
src/core/libs/gnss_sdr_supl_client.cc | 8 +++-----
2 files changed, 6 insertions(+), 10 deletions(-)
diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
index 77468dcfe..f44573db8 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
@@ -651,12 +651,10 @@ rtklib_pvt_gs::~rtklib_pvt_gs()
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
- // Annotate as GPS week number
- for (auto gal_eph_iter = d_internal_pvt_solver->galileo_ephemeris_map.begin();
- gal_eph_iter != d_internal_pvt_solver->galileo_ephemeris_map.end();
- ++gal_eph_iter)
+ // Annotate as full GPS week number
+ for (auto& gal_eph_iter : d_internal_pvt_solver->galileo_ephemeris_map)
{
- gal_eph_iter->second.WN += 1024;
+ gal_eph_iter.second.WN += 1024;
}
xml << boost::serialization::make_nvp("GNSS-SDR_gal_ephemeris_map", d_internal_pvt_solver->galileo_ephemeris_map);
LOG(INFO) << "Saved Galileo E1 Ephemeris map data";
diff --git a/src/core/libs/gnss_sdr_supl_client.cc b/src/core/libs/gnss_sdr_supl_client.cc
index 33a6969f0..e2e9a3c73 100644
--- a/src/core/libs/gnss_sdr_supl_client.cc
+++ b/src/core/libs/gnss_sdr_supl_client.cc
@@ -414,12 +414,10 @@ bool Gnss_Sdr_Supl_Client::load_gal_ephemeris_xml(const std::string& file_name)
gal_ephemeris_map.clear();
xml >> boost::serialization::make_nvp("GNSS-SDR_gal_ephemeris_map", this->gal_ephemeris_map);
LOG(INFO) << "Loaded Ephemeris map data with " << this->gal_ephemeris_map.size() << " satellites";
- // Convert to GPS week number
- for (auto gal_eph_iter = this->gal_ephemeris_map.begin();
- gal_eph_iter != this->gal_ephemeris_map.end();
- ++gal_eph_iter)
+ // Convert to full GPS week number
+ for (auto& gal_eph_iter : this->gal_ephemeris_map)
{
- gal_eph_iter->second.WN -= 1024;
+ gal_eph_iter.second.WN -= 1024;
}
}
catch (std::exception& e)
From 92b021f1b6855db2f9dbd2137809576e1ea5eda8 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Thu, 26 May 2022 10:02:58 +0200
Subject: [PATCH 09/31] Improve handling of E6 observables
---
src/algorithms/PVT/libs/rtklib_solver.cc | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/src/algorithms/PVT/libs/rtklib_solver.cc b/src/algorithms/PVT/libs/rtklib_solver.cc
index 1c9c0b3ea..cc0f96ac4 100644
--- a/src/algorithms/PVT/libs/rtklib_solver.cc
+++ b/src/algorithms/PVT/libs/rtklib_solver.cc
@@ -529,7 +529,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i + glo_valid_obs],
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN,
- 0); // Band 1 (E6)
+ 2); // Band E6
found_E1_obs = true;
break;
}
@@ -547,7 +547,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN,
- 0); // Band 1 (E6)
+ 2); // Band E6
// std::cout << "Week " << galileo_ephemeris_iter->second.WN << '\n';
valid_obs++;
}
@@ -922,7 +922,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{
for (int j = 0; j < NFREQ; j++)
{
- if (j == 0 && gal_e6)
+ if (j == 2 && gal_e6)
{
// frq = 3 corresponds to E6 in that function
nav_data.lam[i][j] = satwavelen(i + 1, 3, &nav_data);
From 934bbcaa459c8974104a2d8430cdb354b3db6ae1 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Mon, 30 May 2022 14:20:34 +0200
Subject: [PATCH 10/31] Add Galileo E6B observables in RINEX files if available
---
src/algorithms/PVT/libs/rinex_printer.cc | 160 +++++++++++++++++++++--
1 file changed, 146 insertions(+), 14 deletions(-)
diff --git a/src/algorithms/PVT/libs/rinex_printer.cc b/src/algorithms/PVT/libs/rinex_printer.cc
index 4b41dcd2a..af29e783b 100644
--- a/src/algorithms/PVT/libs/rinex_printer.cc
+++ b/src/algorithms/PVT/libs/rinex_printer.cc
@@ -112,7 +112,7 @@ Rinex_Printer::Rinex_Printer(int32_t conf_version,
observationCode["GALILEO_E5_IQ"] = "8X"; // "8X" GALILEO E5 I+Q
observationCode["GALILEO_E56_A"] = "6A"; // "6A" GALILEO E6 A
observationCode["GALILEO_E56_B"] = "6B"; // "6B" GALILEO E6 B
- observationCode["GALILEO_E56_B"] = "6C"; // "6C" GALILEO E6 C
+ observationCode["GALILEO_E56_C"] = "6C"; // "6C" GALILEO E6 C
observationCode["GALILEO_E56_BC"] = "6X"; // "6X" GALILEO E6 B+C
observationCode["GALILEO_E56_ABC"] = "6Z"; // "6Z" GALILEO E6 A+B+C
observationCode["SBAS_L1_CA"] = "1C"; // "1C" SBAS L1 C/A
@@ -621,10 +621,22 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver, cons
d_rinex_header_written = true; // do not write header anymore
}
break;
+ case 100: // Galileo E6B
+ if (galileo_ephemeris_iter != pvt_solver->galileo_ephemeris_map.cend())
+ {
+ const std::string gal_signal("E6");
+ rinex_obs_header(obsFile, galileo_ephemeris_iter->second, rx_time, gal_signal);
+ rinex_nav_header(navGalFile, pvt_solver->galileo_iono, pvt_solver->galileo_utc_model);
+ output_navfilename.push_back(navGalfilename);
+ log_rinex_nav(navGalFile, pvt_solver->galileo_ephemeris_map);
+ d_rinex_header_written = true; // do not write header anymore
+ }
+ break;
case 101: // Galileo E1B + Galileo E6B
if (galileo_ephemeris_iter != pvt_solver->galileo_ephemeris_map.cend())
{
- rinex_obs_header(obsFile, galileo_ephemeris_iter->second, rx_time);
+ const std::string gal_signal("1B E6");
+ rinex_obs_header(obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, rx_time, gal_signal);
rinex_nav_header(navGalFile, pvt_solver->galileo_iono, pvt_solver->galileo_utc_model);
output_navfilename.push_back(navGalfilename);
log_rinex_nav(navGalFile, pvt_solver->galileo_ephemeris_map);
@@ -634,7 +646,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver, cons
case 102: // Galileo E5a + Galileo E6B
if (galileo_ephemeris_iter != pvt_solver->galileo_ephemeris_map.cend())
{
- const std::string signal("5X");
+ const std::string signal("5X E6");
rinex_obs_header(obsFile, galileo_ephemeris_iter->second, rx_time, signal);
rinex_nav_header(navGalFile, pvt_solver->galileo_iono, pvt_solver->galileo_utc_model);
output_navfilename.push_back(navGalfilename);
@@ -645,7 +657,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver, cons
case 103: // Galileo E5b + Galileo E6B
if (galileo_ephemeris_iter != pvt_solver->galileo_ephemeris_map.cend())
{
- const std::string signal("7X");
+ const std::string signal("7X E6");
rinex_obs_header(obsFile, galileo_ephemeris_iter->second, rx_time, signal);
rinex_nav_header(navGalFile, pvt_solver->galileo_iono, pvt_solver->galileo_utc_model);
output_navfilename.push_back(navGalfilename);
@@ -656,7 +668,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver, cons
case 104: // Galileo E1B + Galileo E5a + Galileo E6B
if ((galileo_ephemeris_iter != pvt_solver->galileo_ephemeris_map.cend()))
{
- const std::string gal_signal("1B 5X");
+ const std::string gal_signal("1B 5X E6");
rinex_obs_header(obsFile, galileo_ephemeris_iter->second, rx_time, gal_signal);
rinex_nav_header(navGalFile, pvt_solver->galileo_iono, pvt_solver->galileo_utc_model);
output_navfilename.push_back(navGalfilename);
@@ -667,7 +679,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver, cons
case 105: // Galileo E1B + Galileo E5b + Galileo E6B
if ((galileo_ephemeris_iter != pvt_solver->galileo_ephemeris_map.cend()))
{
- const std::string gal_signal("1B 7X");
+ const std::string gal_signal("1B 7X E6");
rinex_obs_header(obsFile, galileo_ephemeris_iter->second, rx_time, gal_signal);
rinex_nav_header(navGalFile, pvt_solver->galileo_iono, pvt_solver->galileo_utc_model);
output_navfilename.push_back(navGalfilename);
@@ -678,7 +690,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver, cons
case 106: // GPS L1 C/A + Galileo E1B + Galileo E6B
if ((galileo_ephemeris_iter != pvt_solver->galileo_ephemeris_map.cend()) and (gps_ephemeris_iter != pvt_solver->gps_ephemeris_map.cend()))
{
- const std::string gal_signal("1B");
+ const std::string gal_signal("1B E6");
rinex_obs_header(obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, rx_time, gal_signal);
rinex_nav_header(navMixFile, pvt_solver->gps_iono, pvt_solver->gps_utc_model, gps_ephemeris_iter->second, pvt_solver->galileo_iono, pvt_solver->galileo_utc_model);
output_navfilename.push_back(navMixfilename);
@@ -1077,10 +1089,22 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver, cons
}
}
break;
+ case 100: // Galileo E6B
+ if (galileo_ephemeris_iter != pvt_solver->galileo_ephemeris_map.cend())
+ {
+ log_rinex_obs(obsFile, galileo_ephemeris_iter->second, rx_time, gnss_observables_map, "E6");
+ }
+ if (!d_rinex_header_updated and (pvt_solver->galileo_utc_model.A0 != 0))
+ {
+ update_nav_header(navGalFile, pvt_solver->galileo_iono, pvt_solver->galileo_utc_model);
+ update_obs_header(obsFile, pvt_solver->galileo_utc_model);
+ d_rinex_header_updated = true;
+ }
+ break;
case 101: // Galileo E1B + Galileo E6B
if (galileo_ephemeris_iter != pvt_solver->galileo_ephemeris_map.cend())
{
- log_rinex_obs(obsFile, galileo_ephemeris_iter->second, rx_time, gnss_observables_map, "1B");
+ log_rinex_obs(obsFile, galileo_ephemeris_iter->second, rx_time, gnss_observables_map, "1B E6");
}
if (!d_rinex_header_updated and (pvt_solver->galileo_utc_model.A0 != 0))
{
@@ -1092,7 +1116,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver, cons
case 102: // Galileo E5a + Galileo E6B
if (galileo_ephemeris_iter != pvt_solver->galileo_ephemeris_map.cend())
{
- log_rinex_obs(obsFile, galileo_ephemeris_iter->second, rx_time, gnss_observables_map, "5X");
+ log_rinex_obs(obsFile, galileo_ephemeris_iter->second, rx_time, gnss_observables_map, "5X E6");
}
if (!d_rinex_header_updated and (pvt_solver->galileo_utc_model.A0 != 0))
{
@@ -1104,7 +1128,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver, cons
case 103: // Galileo E5b + Galileo E6B
if (galileo_ephemeris_iter != pvt_solver->galileo_ephemeris_map.cend())
{
- log_rinex_obs(obsFile, galileo_ephemeris_iter->second, rx_time, gnss_observables_map, "5X");
+ log_rinex_obs(obsFile, galileo_ephemeris_iter->second, rx_time, gnss_observables_map, "7X E6");
}
if (!d_rinex_header_updated and (pvt_solver->galileo_utc_model.A0 != 0))
{
@@ -1116,7 +1140,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver, cons
case 104: // Galileo E1B + Galileo E5a + Galileo E6B
if (galileo_ephemeris_iter != pvt_solver->galileo_ephemeris_map.cend())
{
- log_rinex_obs(obsFile, galileo_ephemeris_iter->second, rx_time, gnss_observables_map, "1B 5X");
+ log_rinex_obs(obsFile, galileo_ephemeris_iter->second, rx_time, gnss_observables_map, "1B 5X E6");
}
if (!d_rinex_header_updated and (pvt_solver->galileo_utc_model.A0 != 0))
{
@@ -1128,7 +1152,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver, cons
case 105: // Galileo E1B + Galileo E5b + Galileo E6B
if (galileo_ephemeris_iter != pvt_solver->galileo_ephemeris_map.cend())
{
- log_rinex_obs(obsFile, galileo_ephemeris_iter->second, rx_time, gnss_observables_map, "1B 7X");
+ log_rinex_obs(obsFile, galileo_ephemeris_iter->second, rx_time, gnss_observables_map, "1B 7X E6");
}
if (!d_rinex_header_updated and (pvt_solver->galileo_utc_model.A0 != 0))
{
@@ -1317,6 +1341,7 @@ void Rinex_Printer::log_rinex_nav_gal_nav(int type_of_rx, const std::map<int32_t
case 33: // L1+E1+E5a
log_rinex_nav(navMixFile, new_eph, new_gal_eph);
break;
+ case 100: // E6B
case 101: // E1B + E6B
case 102: // Galileo E5a + Galileo E6B
case 103: // Galileo E5b + Galileo E6B
@@ -3264,6 +3289,7 @@ void Rinex_Printer::rinex_nav_header(std::fstream& out, const Gps_CNAV_Iono& gps
out << line << '\n';
}
+
void Rinex_Printer::rinex_nav_header(std::fstream& out, const Glonass_Gnav_Utc_Model& glo_gnav_utc_model, const Beidou_Dnav_Iono& bds_dnav_iono, const Beidou_Dnav_Utc_Model& bds_dnav_utc_model) const
{
std::string line;
@@ -8747,7 +8773,14 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris&
// -------- Line 1
line = std::string(5, ' ');
- line += "3.02";
+ if (bands.find("E6") != std::string::npos)
+ {
+ line += "3.05";
+ }
+ else
+ {
+ line += "3.02";
+ }
line += std::string(11, ' ');
line += Rinex_Printer::leftJustify("OBSERVATION DATA", 20);
line += satelliteSystem.find("Galileo")->second;
@@ -8899,7 +8932,6 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris&
number_of_observations = number_of_observations + 4;
}
- line.clear();
signal_ = "7X";
const std::size_t found_7X = bands.find(signal_);
if (found_7X != std::string::npos)
@@ -8907,6 +8939,13 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris&
number_of_observations = number_of_observations + 4;
}
+ signal_ = "E6";
+ const std::size_t found_E6 = bands.find(signal_);
+ if (found_E6 != std::string::npos)
+ {
+ number_of_observations = number_of_observations + 4;
+ }
+
line.clear();
line += satelliteSystem.find("Galileo")->second;
@@ -8961,6 +9000,22 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris&
line += observationCode["GALILEO_E5b_IQ"];
}
+ if (found_E6 != std::string::npos)
+ {
+ line += std::string(1, ' ');
+ line += observationType["PSEUDORANGE"];
+ line += observationCode["GALILEO_E56_B"];
+ line += std::string(1, ' ');
+ line += observationType["CARRIER_PHASE"];
+ line += observationCode["GALILEO_E56_B"];
+ line += std::string(1, ' ');
+ line += observationType["DOPPLER"];
+ line += observationCode["GALILEO_E56_B"];
+ line += std::string(1, ' ');
+ line += observationType["SIGNAL_STRENGTH"];
+ line += observationCode["GALILEO_E56_B"];
+ }
+
line += std::string(60 - line.size(), ' ');
line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
Rinex_Printer::lengthCheck(line);
@@ -11586,6 +11641,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
std::map<int32_t, Gnss_Synchro> observablesE1B;
std::map<int32_t, Gnss_Synchro> observablesE5A;
std::map<int32_t, Gnss_Synchro> observablesE5B;
+ std::map<int32_t, Gnss_Synchro> observablesE6B;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
for (observables_iter = observables.cbegin();
@@ -11606,10 +11662,15 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
{
observablesE5B.insert(std::pair<int32_t, Gnss_Synchro>(observables_iter->first, observables_iter->second));
}
+ if ((system_ == "E") && (sig_ == "E6"))
+ {
+ observablesE6B.insert(std::pair<int32_t, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+ }
}
const std::size_t found_1B = galileo_bands.find("1B");
const std::size_t found_E5a = galileo_bands.find("5X");
const std::size_t found_E5b = galileo_bands.find("7X");
+ const std::size_t found_E6b = galileo_bands.find("E6");
std::multimap<uint32_t, Gnss_Synchro> total_map;
std::set<uint32_t> available_prns;
@@ -11706,6 +11767,23 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
total_map.insert(std::pair<uint32_t, Gnss_Synchro>(prn_, observables_iter->second));
}
}
+
+ if (found_E6b != std::string::npos)
+ {
+ for (observables_iter = observablesE6B.cbegin();
+ observables_iter != observablesE6B.cend();
+ observables_iter++)
+ {
+ const uint32_t prn_ = observables_iter->second.PRN;
+ total_map.insert(std::pair<uint32_t, Gnss_Synchro>(prn_, observables_iter->second));
+ it = available_prns.find(prn_);
+ if (it == available_prns.end())
+ {
+ available_prns.insert(prn_);
+ }
+ }
+ }
+
const int32_t numSatellitesObserved = available_prns.size();
line += Rinex_Printer::rightJustify(std::to_string(numSatellitesObserved), 3);
// Receiver clock offset (optional)
@@ -11834,6 +11912,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
std::map<int32_t, Gnss_Synchro> observablesE1B;
std::map<int32_t, Gnss_Synchro> observablesE5A;
std::map<int32_t, Gnss_Synchro> observablesE5B;
+ std::map<int32_t, Gnss_Synchro> observablesE6B;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
for (observables_iter = observables.cbegin();
@@ -11854,6 +11933,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
{
observablesE5B.insert(std::pair<int32_t, Gnss_Synchro>(observables_iter->first, observables_iter->second));
}
+ if ((system_ == "E") && (sig_ == "E6"))
+ {
+ observablesE6B.insert(std::pair<int32_t, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+ }
if ((system_ == "G") && (sig_ == "1C"))
{
observablesG1C.insert(std::pair<int32_t, Gnss_Synchro>(observables_iter->first, observables_iter->second));
@@ -11902,6 +11985,19 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
}
}
+ for (observables_iter = observablesE6B.cbegin();
+ observables_iter != observablesE6B.cend();
+ observables_iter++)
+ {
+ const uint32_t prn_ = observables_iter->second.PRN;
+ total_gal_map.insert(std::pair<uint32_t, Gnss_Synchro>(prn_, observables_iter->second));
+ it = available_gal_prns.find(prn_);
+ if (it == available_gal_prns.end())
+ {
+ available_gal_prns.insert(prn_);
+ }
+ }
+
const int32_t numGalSatellitesObserved = available_gal_prns.size();
const int32_t numGpsSatellitesObserved = observablesG1C.size();
const int32_t numSatellitesObserved = numGalSatellitesObserved + numGpsSatellitesObserved;
@@ -12107,6 +12203,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
std::map<int32_t, Gnss_Synchro> observablesE1B;
std::map<int32_t, Gnss_Synchro> observablesE5A;
std::map<int32_t, Gnss_Synchro> observablesE5B;
+ std::map<int32_t, Gnss_Synchro> observablesE6B;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
for (observables_iter = observables.cbegin();
@@ -12127,6 +12224,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
{
observablesE5B.insert(std::pair<int32_t, Gnss_Synchro>(observables_iter->first, observables_iter->second));
}
+ if ((system_ == "E") && (sig_ == "E6"))
+ {
+ observablesE6B.insert(std::pair<int32_t, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+ }
if ((system_ == "G") && (sig_ == "2S"))
{
observablesG2S.insert(std::pair<int32_t, Gnss_Synchro>(observables_iter->first, observables_iter->second));
@@ -12181,6 +12282,19 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& e
}
}
+ for (observables_iter = observablesE6B.cbegin();
+ observables_iter != observablesE6B.cend();
+ observables_iter++)
+ {
+ const uint32_t prn_ = observables_iter->second.PRN;
+ total_gal_map.insert(std::pair<uint32_t, Gnss_Synchro>(prn_, observables_iter->second));
+ it = available_gal_prns.find(prn_);
+ if (it == available_gal_prns.end())
+ {
+ available_gal_prns.insert(prn_);
+ }
+ }
+
for (observables_iter = observablesG2S.cbegin();
observables_iter != observablesG2S.cend();
observables_iter++)
@@ -12405,6 +12519,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
std::map<int32_t, Gnss_Synchro> observablesE1B;
std::map<int32_t, Gnss_Synchro> observablesE5A;
std::map<int32_t, Gnss_Synchro> observablesE5B;
+ std::map<int32_t, Gnss_Synchro> observablesE6B;
std::map<int32_t, Gnss_Synchro>::const_iterator observables_iter;
for (observables_iter = observables.cbegin();
@@ -12425,6 +12540,10 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
{
observablesE5B.insert(std::pair<int32_t, Gnss_Synchro>(observables_iter->first, observables_iter->second));
}
+ if ((system_ == "E") && (sig_ == "E6"))
+ {
+ observablesE6B.insert(std::pair<int32_t, Gnss_Synchro>(observables_iter->first, observables_iter->second));
+ }
if ((system_ == "G") && (sig_ == "2S"))
{
observablesG2S.insert(std::pair<int32_t, Gnss_Synchro>(observables_iter->first, observables_iter->second));
@@ -12483,6 +12602,19 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_ep
}
}
+ for (observables_iter = observablesE6B.cbegin();
+ observables_iter != observablesE6B.cend();
+ observables_iter++)
+ {
+ const uint32_t prn_ = observables_iter->second.PRN;
+ total_gal_map.insert(std::pair<uint32_t, Gnss_Synchro>(prn_, observables_iter->second));
+ it = available_gal_prns.find(prn_);
+ if (it == available_gal_prns.end())
+ {
+ available_gal_prns.insert(prn_);
+ }
+ }
+
for (observables_iter = observablesG1C.cbegin();
observables_iter != observablesG1C.cend();
observables_iter++)
From b347bcbb79500e8a92d02bfc129b862f1257ea0b Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Mon, 30 May 2022 14:42:57 +0200
Subject: [PATCH 11/31] Fix Gal E1/E6 RINEX reporting
---
src/algorithms/PVT/libs/rinex_printer.cc | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/algorithms/PVT/libs/rinex_printer.cc b/src/algorithms/PVT/libs/rinex_printer.cc
index af29e783b..4a5e8c20c 100644
--- a/src/algorithms/PVT/libs/rinex_printer.cc
+++ b/src/algorithms/PVT/libs/rinex_printer.cc
@@ -636,7 +636,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver, cons
if (galileo_ephemeris_iter != pvt_solver->galileo_ephemeris_map.cend())
{
const std::string gal_signal("1B E6");
- rinex_obs_header(obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, rx_time, gal_signal);
+ rinex_obs_header(obsFile, galileo_ephemeris_iter->second, rx_time, gal_signal);
rinex_nav_header(navGalFile, pvt_solver->galileo_iono, pvt_solver->galileo_utc_model);
output_navfilename.push_back(navGalfilename);
log_rinex_nav(navGalFile, pvt_solver->galileo_ephemeris_map);
From e074883f06f11fad62d2d9c084461cedfb869c59 Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Tue, 7 Jun 2022 09:19:29 +0200
Subject: [PATCH 12/31] Adding a native AD936x custom signal source, still not
usable
---
CMakeLists.txt | 5 +
.../gnuradio_blocks/CMakeLists.txt | 4 +
.../gnuradio_blocks/ad936x_iio_source.cc | 96 +++++++++++++++++
.../gnuradio_blocks/ad936x_iio_source.h | 100 ++++++++++++++++++
4 files changed, 205 insertions(+)
create mode 100644 src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.cc
create mode 100644 src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.h
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0a813ad30..a96d63e93 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -39,6 +39,8 @@ option(ENABLE_FMCOMMS2 "Enable the use of FMCOMMS4-EBZ + ZedBoard hardware, requ
option(ENABLE_PLUTOSDR "Enable the use of ADALM-PLUTO Evaluation Boards (Analog Devices Inc.), requires gr-iio" OFF)
+option(ENABLE_AD936X_SDR "Enable the use of AD936X front-ends using libiio, requires libiio" OFF)
+
option(ENABLE_AD9361 "Enable the use of AD9361 direct to FPGA hardware, requires libiio" OFF)
option(ENABLE_RAW_UDP "Enable the use of high-optimized custom UDP packet sample source, requires libpcap" OFF)
@@ -3055,6 +3057,7 @@ set_package_properties(LIBAD9361 PROPERTIES
)
if(NOT LIBAD9361_FOUND)
set(ENABLE_AD9361 OFF)
+ set(ENABLE_AD936X_SDR OFF)
set(ENABLE_FMCOMMS2 OFF)
endif()
if(ENABLE_PLUTOSDR OR ENABLE_FMCOMMS2)
@@ -3094,6 +3097,7 @@ if(ENABLE_AD9361 OR ENABLE_FMCOMMS2)
message(STATUS " * gnuradio-iio from https://github.com/analogdevicesinc/gr-iio")
if(ENABLE_PACKAGING)
set(ENABLE_AD9361 OFF)
+ set(ENABLE_AD936X_SDR OFF)
set(ENABLE_FMCOMMS2 OFF)
else()
message(FATAL_ERROR "libiio is required for building gnss-sdr with -DENABLE_AD9361=ON.")
@@ -3337,6 +3341,7 @@ add_feature_info(ENABLE_LIMESDR ENABLE_LIMESDR "Enables Limesdr_Signal_Source. R
add_feature_info(ENABLE_FMCOMMS2 ENABLE_FMCOMMS2 "Enables Fmcomms2_Signal_Source for FMCOMMS2/3/4 devices. Requires gr-iio and libad9361-dev.")
add_feature_info(ENABLE_PLUTOSDR ENABLE_PLUTOSDR "Enables Plutosdr_Signal_Source for using ADALM-PLUTO boards. Requires gr-iio.")
add_feature_info(ENABLE_AD9361 ENABLE_AD9361 "Enables Ad9361_Fpga_Signal_Source for devices with the AD9361 chipset. Requires libiio and libad9361-dev.")
+add_feature_info(ENABLE_AD936X_SDR ENABLE_AD9361 "Enables Ad936x_Iio_Signal_Source to access AD936X front-ends using libiio. Requires libiio and libad9361-dev.")
add_feature_info(ENABLE_RAW_UDP ENABLE_RAW_UDP "Enables Custom_UDP_Signal_Source for custom UDP packet sample source. Requires libpcap.")
add_feature_info(ENABLE_FLEXIBAND ENABLE_FLEXIBAND "Enables Flexiband_Signal_Source for using Teleorbit's Flexiband RF front-end. Requires gr-teleorbit.")
add_feature_info(ENABLE_ARRAY ENABLE_ARRAY "Enables Raw_Array_Signal_Source and Array_Signal_Conditioner for using CTTC's antenna array. Requires gr-dbfcttc.")
diff --git a/src/algorithms/signal_source/gnuradio_blocks/CMakeLists.txt b/src/algorithms/signal_source/gnuradio_blocks/CMakeLists.txt
index 96fa168c2..6172102bc 100644
--- a/src/algorithms/signal_source/gnuradio_blocks/CMakeLists.txt
+++ b/src/algorithms/signal_source/gnuradio_blocks/CMakeLists.txt
@@ -12,6 +12,10 @@ if(ENABLE_RAW_UDP AND PCAP_FOUND)
set(OPT_DRIVER_HEADERS gr_complex_ip_packet_source.h)
endif()
+if(ENABLE_AD936X_SDR)
+ set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} gr_complex_ip_packet_source.cc)
+ set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} gr_complex_ip_packet_source.h)
+endif()
set(SIGNAL_SOURCE_GR_BLOCKS_SOURCES
fifo_reader.cc
diff --git a/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.cc b/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.cc
new file mode 100644
index 000000000..efee6ad49
--- /dev/null
+++ b/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.cc
@@ -0,0 +1,96 @@
+/*!
+ * \file ad936x_iio_source.cc
+ *
+ * \brief Unpacks capture files in the LabSat 2 (ls2), LabSat 3 (ls3), or LabSat
+ * 3 Wideband (LS3W) formats.
+ * \author Javier Arribas jarribas (at) cttc.es
+ *
+ * -----------------------------------------------------------------------------
+ *
+ * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
+ * This file is part of GNSS-SDR.
+ *
+ * Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
+ * SPDX-License-Identifier: GPL-3.0-or-later
+ *
+ * -----------------------------------------------------------------------------
+ */
+
+
+#include "ad936x_iio_source.h"
+#include "INIReader.h"
+#include "command_event.h"
+#include "gnss_sdr_make_unique.h"
+#include <gnuradio/io_signature.h>
+#include <algorithm>
+#include <array>
+#include <bitset>
+#include <exception>
+#include <iomanip>
+#include <iostream>
+#include <memory>
+#include <sstream>
+#include <utility>
+
+
+ad936x_iio_source_sptr ad936x_iio_make_source_sptr(Concurrent_Queue<pmt::pmt_t> *queue,
+ std::string pluto_device_uri,
+ std::string board_type,
+ long long bandwidth_,
+ long long sample_rate_,
+ std::vector<std::string> ch_list,
+ std::vector<std::string> ch_gain_mode,
+ std::vector<double> ch_gain_db,
+ std::vector<long int> ch_freq_hz,
+ int ch_sample_size,
+ int ch_sample_bits_shift)
+{
+ return ad936x_iio_source_sptr(new ad936x_iio_source(*queue,
+ pluto_device_uri,
+ board_type,
+ bandwidth_,
+ sample_rate_,
+ ch_list,
+ ch_gain_mode,
+ ch_gain_db,
+ ch_freq_hz,
+ ch_sample_size,
+ ch_sample_bits_shift));
+}
+
+
+ad936x_iio_source::ad936x_iio_source(Concurrent_Queue<pmt::pmt_t> *queue,
+ std::string pluto_device_uri,
+ std::string board_type,
+ long long bandwidth_,
+ long long sample_rate_,
+ std::vector<std::string> ch_list,
+ std::vector<std::string> ch_gain_mode,
+ std::vector<double> ch_gain_db,
+ std::vector<long int> ch_freq_hz,
+ int ch_sample_size,
+ int ch_sample_bits_shift) : gr::block("ad936x_iio_source",
+ gr::io_signature::make(0, 0, 0),
+ gr::io_signature::make(1, 3, sizeof(gr_complex)))
+{
+}
+
+
+ad936x_iio_source::~ad936x_iio_source()
+{
+}
+
+
+int ad936x_iio_source::general_work(int noutput_items,
+ __attribute__((unused)) gr_vector_int &ninput_items,
+ __attribute__((unused)) gr_vector_const_void_star &input_items,
+ gr_vector_void_star &output_items)
+{
+ std::vector<gr_complex *> out;
+ for (auto &output_item : output_items)
+ {
+ out.push_back(reinterpret_cast<gr_complex *>(output_item));
+ }
+ std::cout << "Warning!!\n";
+ return 0;
+}
diff --git a/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.h b/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.h
new file mode 100644
index 000000000..aec4a3c56
--- /dev/null
+++ b/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.h
@@ -0,0 +1,100 @@
+/*!
+ * \file ad936x_iio_source.h
+ *
+ * \brief signal source to receive samples from the AD936x FE family over libiio, including special custom functionalities in FPGA firmware.
+ * \author Javier Arribas jarribas (at) cttc.es
+ *
+ * -----------------------------------------------------------------------------
+ *
+ * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
+ * This file is part of GNSS-SDR.
+ *
+ * Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
+ * SPDX-License-Identifier: GPL-3.0-or-later
+ *
+ * -----------------------------------------------------------------------------
+ */
+
+#ifndef GNSS_SDR_AD9361_IIO_SOURCE_H
+#define GNSS_SDR_AD9361_IIO_SOURCE_H
+
+#include "concurrent_queue.h"
+#include "gnss_block_interface.h"
+#include <gnuradio/block.h>
+#include <iio.h>
+#include <pmt/pmt.h>
+#include <ad9361.h> //multichip sync and high level functions
+#include <cstddef>
+#include <cstdint>
+#include <fstream>
+#include <string>
+#include <vector>
+
+/** \addtogroup Signal_Source
+ * \{ */
+/** \addtogroup Signal_Source_gnuradio_blocks
+ * \{ */
+
+
+class ad936x_iio_source;
+
+using ad936x_iio_source_sptr = gnss_shared_ptr<ad936x_iio_source>;
+
+ad936x_iio_source_sptr ad936x_iio_make_source_sptr(
+ Concurrent_Queue<pmt::pmt_t> *queue,
+ std::string pluto_device_uri,
+ std::string board_type,
+ long long bandwidth_,
+ long long sample_rate_,
+ std::vector<std::string> ch_list,
+ std::vector<std::string> ch_gain_mode,
+ std::vector<double> ch_gain_db,
+ std::vector<long int> ch_freq_hz,
+ int ch_sample_size,
+ int ch_sample_bits_shift);
+
+/*!
+ * \brief This class implements conversion between Labsat 2, 3 and 3 Wideband
+ * formats to gr_complex
+ */
+class ad936x_iio_source : public gr::block
+{
+public:
+ ~ad936x_iio_source();
+
+ int general_work(int noutput_items,
+ gr_vector_int &ninput_items,
+ gr_vector_const_void_star &input_items,
+ gr_vector_void_star &output_items);
+
+private:
+ friend ad936x_iio_source_sptr ad936x_iio_make_source_sptr(
+ Concurrent_Queue<pmt::pmt_t> *queue,
+ std::string pluto_device_uri,
+ std::string board_type,
+ long long bandwidth_,
+ long long sample_rate_,
+ std::vector<std::string> ch_list,
+ std::vector<std::string> ch_gain_mode,
+ std::vector<double> ch_gain_db,
+ std::vector<long int> ch_freq_hz,
+ int ch_sample_size,
+ int ch_sample_bits_shift);
+
+ ad936x_iio_source(Concurrent_Queue<pmt::pmt_t> *queue,
+ std::string pluto_device_uri,
+ std::string board_type,
+ long long bandwidth_,
+ long long sample_rate_,
+ std::vector<std::string> ch_list,
+ std::vector<std::string> ch_gain_mode,
+ std::vector<double> ch_gain_db,
+ std::vector<long int> ch_freq_hz,
+ int ch_sample_size,
+ int ch_sample_bits_shift);
+};
+
+
+/** \} */
+/** \} */
+#endif // GNSS_SDR_AD9361_IIO_SOURCE_H
From 0a346c301767a593cc1bed73b79a38ee1bbc9a80 Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Wed, 8 Jun 2022 10:21:05 +0200
Subject: [PATCH 13/31] Fix segmentation fault in file_timestamp_signal_source
---
.../adapters/file_timestamp_signal_source.cc | 33 +++++++++++++++++--
1 file changed, 30 insertions(+), 3 deletions(-)
diff --git a/src/algorithms/signal_source/adapters/file_timestamp_signal_source.cc b/src/algorithms/signal_source/adapters/file_timestamp_signal_source.cc
index 32d27ac19..8e17180f8 100644
--- a/src/algorithms/signal_source/adapters/file_timestamp_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/file_timestamp_signal_source.cc
@@ -50,21 +50,48 @@ gnss_shared_ptr<gr::block> FileTimestampSignalSource::source() const { return ti
void FileTimestampSignalSource::create_file_source_hook()
{
- if (is_complex() == false)
+ int source_items_to_samples = 1;
+ bool is_complex = false;
+
+ if (item_type().compare("ibyte") == 0)
{
+ source_items_to_samples = 1;
+ }
+ else if (item_type().compare("byte") == 0)
+ {
+ source_items_to_samples = 1;
+ }
+ else if (item_type().compare("short") == 0)
+ {
+ source_items_to_samples = 1;
+ }
+ else if (item_type().compare("ishort") == 0)
+ {
+ source_items_to_samples = 1;
+ }
+ else if (item_type().compare("gr_complex") == 0)
+ {
+ source_items_to_samples = 1;
+ is_complex = true;
+ }
+
+ if (is_complex == false)
+ {
+ std::cout << "A : " << std::get<0>(itemTypeToSize()) << "\n";
timestamp_block_ = gnss_sdr_make_Timestamp(
std::get<0>(itemTypeToSize()),
timestamp_file_,
timestamp_clock_offset_ms_,
- source_item_size() * 2);
+ source_items_to_samples * 2);
}
else
{
+ std::cout << "B : " << std::get<0>(itemTypeToSize()) << "\n";
timestamp_block_ = gnss_sdr_make_Timestamp(
std::get<0>(itemTypeToSize()),
timestamp_file_,
timestamp_clock_offset_ms_,
- source_item_size());
+ source_items_to_samples);
}
DLOG(INFO) << "timestamp_block_(" << timestamp_block_->unique_id() << ")";
}
From a7147702bc2d2ddd9c61b1e90a8f991886bade68 Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Thu, 30 Jun 2022 10:38:29 +0200
Subject: [PATCH 14/31] Bug fix: PVT does not resolve position anymore after a
loss of samples event
---
.../PVT/gnuradio_blocks/rtklib_pvt_gs.cc | 25 +++++++++++++++----
.../PVT/gnuradio_blocks/rtklib_pvt_gs.h | 3 ++-
.../gnuradio_blocks/hybrid_observables_gs.cc | 20 ++++++++++++++-
.../gnuradio_blocks/hybrid_observables_gs.h | 1 +
4 files changed, 42 insertions(+), 7 deletions(-)
diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
index 9ec599576..6a4f82616 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
@@ -166,11 +166,13 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
d_flag_monitor_pvt_enabled(conf_.monitor_enabled),
d_flag_monitor_ephemeris_enabled(conf_.monitor_ephemeris_enabled),
d_show_local_time_zone(conf_.show_local_time_zone),
- d_waiting_obs_block_rx_clock_offset_correction_msg(false),
+ d_timestamp_rx_clock_offset_correction_msg_ms(0LL),
d_enable_rx_clock_correction(conf_.enable_rx_clock_correction),
d_an_printer_enabled(conf_.an_output_enabled),
d_log_timetag(conf_.log_source_timetag)
{
+ //debug
+ d_pvt_errors_counter = 0;
// Send feedback message to observables block with the receiver clock offset
this->message_port_register_out(pmt::mp("pvt_to_observables"));
// Experimental: VLT commands from PVT to tracking channels
@@ -2168,18 +2170,18 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (fabs(Rx_clock_offset_s) * 1000.0 > d_max_obs_block_rx_clock_offset_ms)
{
- if (!d_waiting_obs_block_rx_clock_offset_correction_msg)
+ //check if the message was just sent to not duplicate it while it is being applied
+ if ((d_local_counter_ms - d_timestamp_rx_clock_offset_correction_msg_ms) > 1000)
{
this->message_port_pub(pmt::mp("pvt_to_observables"), pmt::make_any(Rx_clock_offset_s));
- d_waiting_obs_block_rx_clock_offset_correction_msg = true;
- LOG(INFO) << "Sent clock offset correction to observables: " << Rx_clock_offset_s << "[s]";
+ d_timestamp_rx_clock_offset_correction_msg_ms = d_local_counter_ms;
+ LOG(INFO) << "PVT: Sent clock offset correction to observables: " << Rx_clock_offset_s << "[s]";
}
}
else
{
if (d_enable_rx_clock_correction == true)
{
- d_waiting_obs_block_rx_clock_offset_correction_msg = false;
d_gnss_observables_map_t0 = d_gnss_observables_map_t1;
apply_rx_clock_offset(d_gnss_observables_map, Rx_clock_offset_s);
d_gnss_observables_map_t1 = d_gnss_observables_map;
@@ -2209,6 +2211,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
else
{
+ d_pvt_errors_counter = 0;
d_rx_time = d_gnss_observables_map.begin()->second.RX_time;
current_RX_time_ms = static_cast<uint32_t>(d_rx_time * 1000.0);
if (current_RX_time_ms % d_output_rate_ms == 0)
@@ -2221,6 +2224,18 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
}
}
+ else
+ {
+ //sanity check: If the PVT solver is getting 100 consecutive errors, send a reset command to observables block
+ d_pvt_errors_counter++;
+ if (d_pvt_errors_counter >= 100)
+ {
+ int command = 1;
+ this->message_port_pub(pmt::mp("pvt_to_observables"), pmt::make_any(command));
+ LOG(INFO) << "PVT: Number of consecutive position solver error reached, Sent reset to observables.";
+ d_pvt_errors_counter = 0;
+ }
+ }
// compute on the fly PVT solution
if (flag_compute_pvt_output == true)
diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
index bfd53db63..c9a627e72 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
@@ -282,7 +282,8 @@ private:
bool d_flag_monitor_pvt_enabled;
bool d_flag_monitor_ephemeris_enabled;
bool d_show_local_time_zone;
- bool d_waiting_obs_block_rx_clock_offset_correction_msg;
+ uint64_t d_timestamp_rx_clock_offset_correction_msg_ms;
+ uint32_t d_pvt_errors_counter;
bool d_enable_rx_clock_correction;
bool d_enable_has_messages;
bool d_an_printer_enabled;
diff --git a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc
index 82b86fc9e..0778dd5c3 100644
--- a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc
+++ b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.cc
@@ -226,6 +226,25 @@ void hybrid_observables_gs::msg_handler_pvt_to_observables(const pmt::pmt_t &msg
LOG(INFO) << "Corrected new RX Time offset: " << static_cast<int>(round(new_rx_clock_offset_s * 1000.0)) << "[ms]";
}
+ if (pmt::any_ref(msg).type().hash_code() == d_int_type_hash_code)
+ {
+ const auto command_from_pvt = wht::any_cast<int>(pmt::any_ref(msg));
+ switch (command_from_pvt)
+ {
+ case 1: //reset TOW
+ d_T_rx_TOW_ms = 0;
+ d_last_rx_clock_round20ms_error = 0;
+ d_T_rx_TOW_set = false;
+ for (uint32_t n = 0; n < d_nchannels_out; n++)
+ {
+ d_gnss_synchro_history->clear(n);
+ }
+ LOG(INFO) << "Received reset observables TOW command from PVT";
+ break;
+ default:
+ break;
+ }
+ }
}
catch (const wht::bad_any_cast &e)
{
@@ -786,7 +805,6 @@ int hybrid_observables_gs::general_work(int noutput_items __attribute__((unused)
}
epoch_data[n] = interpolated_gnss_synchro;
}
-
if (d_T_rx_TOW_set)
{
update_TOW(epoch_data);
diff --git a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.h b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.h
index a6966b5d6..5c4863c7c 100644
--- a/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.h
+++ b/src/algorithms/observables/gnuradio_blocks/hybrid_observables_gs.h
@@ -70,6 +70,7 @@ private:
explicit hybrid_observables_gs(const Obs_Conf& conf_);
const size_t d_double_type_hash_code = typeid(double).hash_code();
+ const size_t d_int_type_hash_code = typeid(int).hash_code();
void msg_handler_pvt_to_observables(const pmt::pmt_t& msg);
double compute_T_rx_s(const Gnss_Synchro& a) const;
From 5292f0d8fc36384afaad98bb4fba86a6177aeb12 Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Thu, 30 Jun 2022 12:31:25 +0200
Subject: [PATCH 15/31] Improve PVT error detection
---
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
index bb989eb96..dca10600a 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
@@ -2128,6 +2128,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
// #### solve PVT and store the corrected observable set
if (d_internal_pvt_solver->get_PVT(d_gnss_observables_map, false))
{
+ d_pvt_errors_counter = 0; // Reset consecutive PVT error counter
const double Rx_clock_offset_s = d_internal_pvt_solver->get_time_offset_s();
// **************** time tags ****************
@@ -2211,7 +2212,6 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
else
{
- d_pvt_errors_counter = 0;
d_rx_time = d_gnss_observables_map.begin()->second.RX_time;
current_RX_time_ms = static_cast<uint32_t>(d_rx_time * 1000.0);
if (current_RX_time_ms % d_output_rate_ms == 0)
From 6311530cb4a8072c640cb5d6b200d65cd37958c3 Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Sun, 14 Aug 2022 12:10:59 +0200
Subject: [PATCH 16/31] Adding new Ad936x custom signal source, initial commit,
experimental
---
.../signal_source/adapters/CMakeLists.txt | 6 +
.../adapters/ad936x_custom_signal_source.cc | 325 +++++
.../adapters/ad936x_custom_signal_source.h | 118 ++
.../gnuradio_blocks/CMakeLists.txt | 7 +
.../gnuradio_blocks/ad936x_iio_source.cc | 262 +++-
.../gnuradio_blocks/ad936x_iio_source.h | 115 +-
.../signal_source/libs/CMakeLists.txt | 18 +-
.../signal_source/libs/ad936x_iio_custom.cc | 1195 +++++++++++++++++
.../signal_source/libs/ad936x_iio_custom.h | 144 ++
.../signal_source/libs/ad936x_iio_samples.cc | 26 +
.../signal_source/libs/ad936x_iio_samples.h | 41 +
.../signal_source/libs/pps_samplestamp.h | 20 +
src/algorithms/signal_source/libs/ppstcprx.cc | 154 +++
src/algorithms/signal_source/libs/ppstcprx.h | 34 +
src/core/receiver/concurrent_queue.h | 12 +
src/core/receiver/gnss_block_factory.cc | 7 +
16 files changed, 2405 insertions(+), 79 deletions(-)
create mode 100644 src/algorithms/signal_source/adapters/ad936x_custom_signal_source.cc
create mode 100644 src/algorithms/signal_source/adapters/ad936x_custom_signal_source.h
create mode 100644 src/algorithms/signal_source/libs/ad936x_iio_custom.cc
create mode 100644 src/algorithms/signal_source/libs/ad936x_iio_custom.h
create mode 100644 src/algorithms/signal_source/libs/ad936x_iio_samples.cc
create mode 100644 src/algorithms/signal_source/libs/ad936x_iio_samples.h
create mode 100644 src/algorithms/signal_source/libs/pps_samplestamp.h
create mode 100644 src/algorithms/signal_source/libs/ppstcprx.cc
create mode 100644 src/algorithms/signal_source/libs/ppstcprx.h
diff --git a/src/algorithms/signal_source/adapters/CMakeLists.txt b/src/algorithms/signal_source/adapters/CMakeLists.txt
index e99748358..40e72049c 100644
--- a/src/algorithms/signal_source/adapters/CMakeLists.txt
+++ b/src/algorithms/signal_source/adapters/CMakeLists.txt
@@ -21,6 +21,12 @@ if(ENABLE_PLUTOSDR)
##############################################
set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} plutosdr_signal_source.cc)
set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} plutosdr_signal_source.h)
+
+ ##############################################
+ # CUSTOM AD936X IIO SOURCE
+ ##############################################
+ set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} ad936x_custom_signal_source.cc)
+ set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} ad936x_custom_signal_source.h)
endif()
diff --git a/src/algorithms/signal_source/adapters/ad936x_custom_signal_source.cc b/src/algorithms/signal_source/adapters/ad936x_custom_signal_source.cc
new file mode 100644
index 000000000..91f11b410
--- /dev/null
+++ b/src/algorithms/signal_source/adapters/ad936x_custom_signal_source.cc
@@ -0,0 +1,325 @@
+/*!
+ * \file ad936x_custom_signal_source.cc
+ * \brief A direct IIO custom front-end gnss-sdr signal source for the AD936x AD front-end family with special FPGA custom functionalities.
+ * \author Javier Arribas, jarribas(at)cttc.es
+ *
+ * -----------------------------------------------------------------------------
+ *
+ * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
+ * This file is part of GNSS-SDR.
+ *
+ * Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
+ * SPDX-License-Identifier: GPL-3.0-or-later
+ *
+ * -----------------------------------------------------------------------------
+ */
+
+
+#include "ad936x_custom_signal_source.h"
+#include "configuration_interface.h"
+#include "gnss_frequencies.h"
+#include "gnss_sdr_string_literals.h"
+#include "gnss_sdr_valve.h"
+#include <boost/exception/diagnostic_information.hpp>
+#include <glog/logging.h>
+#include <gnuradio/blocks/file_sink.h>
+#include <iostream>
+
+using namespace std::string_literals;
+
+Ad936xCustomSignalSource::Ad936xCustomSignalSource(const ConfigurationInterface* configuration,
+ const std::string& role,
+ unsigned int in_stream,
+ unsigned int out_stream,
+ Concurrent_Queue<pmt::pmt_t>* queue __attribute__((unused)))
+ : SignalSourceBase(configuration, role, "Ad936x_Custom_Signal_Source"s),
+ in_stream_(in_stream),
+ out_stream_(out_stream),
+ item_type_(configuration->property(role + ".item_type", std::string("gr_complex"))),
+ samples_(configuration->property(role + ".samples", int64_t(0))),
+ dump_(configuration->property(role + ".dump", false)),
+ dump_filename_(configuration->property(role + ".dump_filename", std::string("./data/signal_source.dat"))),
+ pluto_uri_(configuration->property(role + ".pluto_uri", std::string("local"))),
+ board_type_(configuration->property(role + ".board_type", std::string("single_ad9361"))),
+ sample_rate_(configuration->property(role + ".sampling_frequency", 4.0e6)),
+ bandwidth_(configuration->property(role + ".bandwidth", configuration->property(role + ".sampling_frequency", 4.0e6) / 1.1)),
+ freq_(configuration->property(role + ".freq", FREQ1)),
+ freq_2ch(configuration->property(role + ".freq_2ch", FREQ1)),
+ rf_port_select_(configuration->property(role + ".rf_port_select", std::string("A_BALANCED"))),
+ rf_filter(configuration->property(role + ".rf_filter", std::string("none"))),
+ gain_mode_rx0_(configuration->property(role + ".gain_mode_rx0", std::string("slow_attack"))),
+ gain_mode_rx1_(configuration->property(role + ".gain_mode_rx1", std::string("slow_attack"))),
+ rf_gain_rx0_(configuration->property(role + ".gain_rx0", 40.0)),
+ rf_gain_rx1_(configuration->property(role + ".gain_rx1", 40.0)),
+ enable_ch0(configuration->property(role + ".enable_ch0", true)),
+ enable_ch1(configuration->property(role + ".enable_ch1", false)),
+ PPS_mode_(configuration->property(role + ".PPS_mode", false)),
+ fe_ip_(configuration->property(role + ".fe_ip", std::string("192.168.2.1"))),
+ fe_ctlport_(configuration->property(role + ".fe_ctlport", int32_t(10000))),
+ ssize_(configuration->property(role + ".ssize", int32_t(16))),
+ bshift_(configuration->property(role + ".bshift", int64_t(0))),
+ spattern_(configuration->property(role + ".spattern", false)),
+ inverted_spectrum_ch0_(configuration->property(role + ".inverted_spectrum_ch0", false)),
+ inverted_spectrum_ch1_(configuration->property(role + ".inverted_spectrum_ch1", false))
+
+
+{
+ if (item_type_ == "gr_complex")
+ {
+ item_size_ = sizeof(gr_complex);
+ // 1. Make the driver instance
+ bool customsamplesize = false;
+ if (ssize_ != 16 or spattern_ == true) customsamplesize = true;
+
+ ad936x_iio_source = ad936x_iio_make_source_sptr(
+ pluto_uri_,
+ board_type_,
+ bandwidth_,
+ sample_rate_,
+ freq_,
+ rf_port_select_,
+ rf_filter,
+ gain_mode_rx0_,
+ gain_mode_rx1_,
+ rf_gain_rx0_,
+ rf_gain_rx1_,
+ enable_ch0,
+ enable_ch1,
+ freq_2ch,
+ PPS_mode_,
+ customsamplesize,
+ fe_ip_,
+ fe_ctlport_,
+ ssize_,
+ bshift_,
+ spattern_);
+
+ n_channels = 1;
+ if (enable_ch0 == true and enable_ch1 == true)
+ {
+ n_channels = 2;
+ }
+
+ for (int n = 0; n < n_channels; n++)
+ {
+ if (ssize_ == 16)
+ {
+ gr_interleaved_short_to_complex_.push_back(gr::blocks::interleaved_short_to_complex::make());
+ }
+ else if (ssize_ == 8)
+ {
+ gr_interleaved_char_to_complex_.push_back(gr::blocks::interleaved_char_to_complex::make());
+ }
+ else if (ssize_ == 4)
+ {
+ gr_interleaved_short_to_complex_.push_back(gr::blocks::interleaved_short_to_complex::make(false, false));
+ unpack_byte_fourbits.push_back(make_unpack_byte_4bit_samples());
+ }
+ else if (ssize_ == 2)
+ {
+ gr_interleaved_short_to_complex_.push_back(gr::blocks::interleaved_short_to_complex::make(false, false));
+ unpack_byte_twobits.push_back(make_unpack_byte_2bit_cpx_samples());
+ }
+ }
+ }
+ else
+ {
+ LOG(ERROR) << item_type_ << " unrecognized item type";
+ exit(1);
+ }
+
+
+ if (dump_)
+ {
+ for (int n = 0; n < n_channels; n++)
+ {
+ DLOG(INFO) << "Dumping output into file " << (dump_filename_ + "c_h" + std::to_string(n) + ".bin");
+ sink_.emplace_back(gr::blocks::file_sink::make(item_size_, (dump_filename_ + "_ch" + std::to_string(n) + ".bin").c_str()));
+ }
+ }
+
+ if (in_stream_ > 0)
+ {
+ LOG(ERROR) << "A signal source does not have an input stream";
+ }
+ if (out_stream_ > 1)
+ {
+ LOG(ERROR) << "This implementation only supports one output stream";
+ }
+}
+
+
+void Ad936xCustomSignalSource::connect(gr::top_block_sptr top_block)
+{
+ for (int n = 0; n < n_channels; n++)
+ {
+ if (ssize_ == 16)
+ {
+ top_block->connect(ad936x_iio_source, n, gr_interleaved_short_to_complex_.at(n), 0);
+ DLOG(INFO) << "connected ad936x_iio_source source to gr_interleaved_short_to_complex for channel " << n;
+ if (dump_)
+ {
+ top_block->connect(gr_interleaved_short_to_complex_.at(n), 0, sink_.at(n), 0);
+ DLOG(INFO) << "connected source to file sink";
+ }
+ }
+ else if (ssize_ == 8)
+ {
+ top_block->connect(ad936x_iio_source, n, gr_interleaved_char_to_complex_.at(n), 0);
+ DLOG(INFO) << "connected ad936x_iio_source source to gr_interleaved_char_to_complex_ for channel " << n;
+ if (dump_)
+ {
+ top_block->connect(gr_interleaved_char_to_complex_.at(n), 0, sink_.at(n), 0);
+ DLOG(INFO) << "connected source to file sink";
+ }
+ }
+ else if (ssize_ == 4)
+ {
+ top_block->connect(ad936x_iio_source, n, unpack_byte_fourbits.at(n), 0);
+ top_block->connect(unpack_byte_fourbits.at(n), 0, gr_interleaved_short_to_complex_.at(n), 0);
+ DLOG(INFO) << "connected ad936x_iio_source source to unpack_byte_fourbits for channel " << n;
+ if (dump_)
+ {
+ top_block->connect(gr_interleaved_short_to_complex_.at(n), 0, sink_.at(n), 0);
+ DLOG(INFO) << "connected source to file sink";
+ }
+ }
+ else if (ssize_ == 2)
+ {
+ top_block->connect(ad936x_iio_source, n, unpack_byte_twobits.at(n), 0);
+ top_block->connect(unpack_byte_twobits.at(n), 0, gr_interleaved_short_to_complex_.at(n), 0);
+ DLOG(INFO) << "connected ad936x_iio_source source to unpack_byte_fourbits for channel " << n;
+ if (dump_)
+ {
+ top_block->connect(gr_interleaved_short_to_complex_.at(n), 0, sink_.at(n), 0);
+ DLOG(INFO) << "connected source to file sink";
+ }
+ }
+ else
+ {
+ top_block->connect(ad936x_iio_source, n, gr_interleaved_short_to_complex_.at(n), 0);
+ DLOG(INFO) << "connected ad936x_iio_source source to gr_interleaved_short_to_complex for channel " << n;
+ if (dump_)
+ {
+ top_block->connect(gr_interleaved_short_to_complex_.at(n), 0, sink_.at(n), 0);
+ DLOG(INFO) << "connected source to file sink";
+ }
+ }
+ }
+}
+
+
+void Ad936xCustomSignalSource::disconnect(gr::top_block_sptr top_block)
+{
+ for (int n = 0; n < n_channels; n++)
+ {
+ if (ssize_ == 16)
+ {
+ top_block->disconnect(ad936x_iio_source, n, gr_interleaved_short_to_complex_.at(n), 0);
+ DLOG(INFO) << "connected ad936x_iio_source source to gr_interleaved_short_to_complex for channel " << n;
+ if (dump_)
+ {
+ top_block->disconnect(gr_interleaved_short_to_complex_.at(n), 0, sink_.at(n), 0);
+ DLOG(INFO) << "connected source to file sink";
+ }
+ }
+ else if (ssize_ == 8)
+ {
+ top_block->disconnect(ad936x_iio_source, n, gr_interleaved_char_to_complex_.at(n), 0);
+ DLOG(INFO) << "connected ad936x_iio_source source to gr_interleaved_char_to_complex_ for channel " << n;
+ if (dump_)
+ {
+ top_block->disconnect(gr_interleaved_char_to_complex_.at(n), 0, sink_.at(n), 0);
+ DLOG(INFO) << "connected source to file sink";
+ }
+ }
+ else if (ssize_ == 4)
+ {
+ top_block->disconnect(ad936x_iio_source, n, unpack_byte_fourbits.at(n), 0);
+ top_block->disconnect(unpack_byte_fourbits.at(n), 0, gr_interleaved_short_to_complex_.at(n), 0);
+ DLOG(INFO) << "connected ad936x_iio_source source to unpack_byte_fourbits for channel " << n;
+ if (dump_)
+ {
+ top_block->connect(gr_interleaved_short_to_complex_.at(n), 0, sink_.at(n), 0);
+ DLOG(INFO) << "connected source to file sink";
+ }
+ }
+ else if (ssize_ == 2)
+ {
+ top_block->disconnect(ad936x_iio_source, n, unpack_byte_twobits.at(n), 0);
+ top_block->disconnect(unpack_byte_twobits.at(n), 0, gr_interleaved_short_to_complex_.at(n), 0);
+ DLOG(INFO) << "connected ad936x_iio_source source to unpack_byte_fourbits for channel " << n;
+ if (dump_)
+ {
+ top_block->disconnect(gr_interleaved_short_to_complex_.at(n), 0, sink_.at(n), 0);
+ DLOG(INFO) << "connected source to file sink";
+ }
+ }
+ else
+ {
+ top_block->disconnect(ad936x_iio_source, n, gr_interleaved_short_to_complex_.at(n), 0);
+ DLOG(INFO) << "connected ad936x_iio_source source to gr_interleaved_short_to_complex for channel " << n;
+ if (dump_)
+ {
+ top_block->disconnect(gr_interleaved_short_to_complex_.at(n), 0, sink_.at(n), 0);
+ DLOG(INFO) << "connected source to file sink";
+ }
+ }
+ }
+}
+
+
+gr::basic_block_sptr Ad936xCustomSignalSource::get_left_block()
+{
+ LOG(WARNING) << "Trying to get signal source left block.";
+ return {};
+}
+
+
+gr::basic_block_sptr Ad936xCustomSignalSource::get_right_block()
+{
+ if (ssize_ == 16)
+ {
+ return gr_interleaved_short_to_complex_.at(0);
+ }
+ else if (ssize_ == 8)
+ {
+ return gr_interleaved_char_to_complex_.at(0);
+ }
+ else if (ssize_ == 4)
+ {
+ return gr_interleaved_short_to_complex_.at(0);
+ }
+ else if (ssize_ == 2)
+ {
+ return gr_interleaved_short_to_complex_.at(0);
+ }
+ else
+ {
+ return gr_interleaved_short_to_complex_.at(0);
+ }
+}
+
+gr::basic_block_sptr Ad936xCustomSignalSource::get_right_block(int RF_channel)
+{
+ if (ssize_ == 16)
+ {
+ return gr_interleaved_short_to_complex_.at(RF_channel);
+ }
+ else if (ssize_ == 8)
+ {
+ return gr_interleaved_char_to_complex_.at(RF_channel);
+ }
+ else if (ssize_ == 4)
+ {
+ return gr_interleaved_short_to_complex_.at(RF_channel);
+ }
+ else if (ssize_ == 2)
+ {
+ return gr_interleaved_short_to_complex_.at(RF_channel);
+ }
+ else
+ {
+ return gr_interleaved_short_to_complex_.at(RF_channel);
+ }
+}
diff --git a/src/algorithms/signal_source/adapters/ad936x_custom_signal_source.h b/src/algorithms/signal_source/adapters/ad936x_custom_signal_source.h
new file mode 100644
index 000000000..cc9abb82b
--- /dev/null
+++ b/src/algorithms/signal_source/adapters/ad936x_custom_signal_source.h
@@ -0,0 +1,118 @@
+/*!
+ * \file ad936x_custom_signal_source.h
+ * \brief A direct IIO custom front-end gnss-sdr signal source for the AD936x AD front-end family with special FPGA custom functionalities.
+ * \author Javier Arribas, jarribas(at)cttc.es
+ *
+ * -----------------------------------------------------------------------------
+ *
+ * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
+ * This file is part of GNSS-SDR.
+ *
+ * Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
+ * SPDX-License-Identifier: GPL-3.0-or-later
+ *
+ * -----------------------------------------------------------------------------
+ */
+
+#ifndef GNSS_SDR_Ad936xCustom_SIGNAL_SOURCE_H
+#define GNSS_SDR_Ad936xCustom_SIGNAL_SOURCE_H
+
+#include "ad936x_iio_source.h"
+#include "concurrent_queue.h"
+#include "conjugate_cc.h"
+#include "signal_source_base.h"
+#include "unpack_byte_2bit_cpx_samples.h"
+#include "unpack_byte_4bit_samples.h"
+#include <gnuradio/blocks/file_sink.h>
+#include <gnuradio/blocks/interleaved_char_to_complex.h>
+#include <gnuradio/blocks/interleaved_short_to_complex.h>
+#include <pmt/pmt.h>
+#include <cstdint>
+#include <memory>
+#include <stdexcept>
+#include <string>
+#include <vector>
+
+/** \addtogroup Signal_Source
+ * \{ */
+/** \addtogroup Signal_Source_adapters
+ * \{ */
+
+
+class ConfigurationInterface;
+
+/*!
+ * \brief This class instantiates the Ad936xCustom gnuradio signal source.
+ * It has support also for a customized Ad936xCustom firmware and signal source to support PPS samplestamp reading.
+ */
+class Ad936xCustomSignalSource : public SignalSourceBase
+{
+public:
+ Ad936xCustomSignalSource(const ConfigurationInterface* configuration,
+ const std::string& role, unsigned int in_stream,
+ unsigned int out_stream, Concurrent_Queue<pmt::pmt_t>* queue);
+
+ ~Ad936xCustomSignalSource() = default;
+
+ inline size_t item_size() override
+ {
+ return item_size_;
+ }
+
+ void connect(gr::top_block_sptr top_block) override;
+ void disconnect(gr::top_block_sptr top_block) override;
+ gr::basic_block_sptr get_left_block() override;
+ gr::basic_block_sptr get_right_block() override;
+ gr::basic_block_sptr get_right_block(int RF_channel) override;
+
+private:
+ unsigned int in_stream_;
+ unsigned int out_stream_;
+ gr::block_sptr ad936x_iio_source;
+ std::vector<gr::blocks::file_sink::sptr> sink_;
+ std::vector<std::string> filename_vec_;
+
+ std::vector<gr::blocks::interleaved_short_to_complex::sptr> gr_interleaved_short_to_complex_;
+ std::vector<gr::blocks::interleaved_char_to_complex::sptr> gr_interleaved_char_to_complex_;
+ std::vector<unpack_byte_4bit_samples_sptr> unpack_byte_fourbits;
+ std::vector<unpack_byte_2bit_cpx_samples_sptr> unpack_byte_twobits;
+
+
+ std::string item_type_;
+ size_t item_size_;
+ int64_t samples_;
+ bool dump_;
+ std::string dump_filename_;
+
+ // Front-end settings
+ std::string pluto_uri_;
+ std::string board_type_;
+ long long sample_rate_;
+ long long bandwidth_;
+ long long freq_;
+ long long freq_2ch;
+ std::string rf_port_select_;
+ std::string rf_filter;
+ std::string gain_mode_rx0_;
+ std::string gain_mode_rx1_;
+ double rf_gain_rx0_;
+ double rf_gain_rx1_;
+ bool enable_ch0;
+ bool enable_ch1;
+ bool PPS_mode_;
+ std::string fe_ip_;
+ int fe_ctlport_;
+ int ssize_;
+ int bshift_;
+ bool spattern_;
+ bool inverted_spectrum_ch0_;
+ bool inverted_spectrum_ch1_;
+
+
+ int n_channels;
+};
+
+
+/** \} */
+/** \} */
+#endif // GNSS_SDR_Ad936xCustom_SIGNAL_SOURCE_H
diff --git a/src/algorithms/signal_source/gnuradio_blocks/CMakeLists.txt b/src/algorithms/signal_source/gnuradio_blocks/CMakeLists.txt
index c1198c08b..b09f94cca 100644
--- a/src/algorithms/signal_source/gnuradio_blocks/CMakeLists.txt
+++ b/src/algorithms/signal_source/gnuradio_blocks/CMakeLists.txt
@@ -17,6 +17,13 @@ if(ENABLE_AD936X_SDR)
set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} gr_complex_ip_packet_source.h)
endif()
+
+if(ENABLE_PLUTOSDR)
+ set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} ad936x_iio_source.cc)
+ set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} ad936x_iio_source.h)
+endif()
+
+
set(SIGNAL_SOURCE_GR_BLOCKS_SOURCES
fifo_reader.cc
unpack_byte_2bit_samples.cc
diff --git a/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.cc b/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.cc
index efee6ad49..f19a7e0a3 100644
--- a/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.cc
+++ b/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.cc
@@ -1,16 +1,14 @@
/*!
* \file ad936x_iio_source.cc
- *
- * \brief Unpacks capture files in the LabSat 2 (ls2), LabSat 3 (ls3), or LabSat
- * 3 Wideband (LS3W) formats.
- * \author Javier Arribas jarribas (at) cttc.es
+ * \brief A direct IIO custom front-end gnss-sdr signal gnuradio block for the AD936x AD front-end family with special FPGA custom functionalities.
+ * \author Javier Arribas, jarribas(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
- * Copyright (C) 2010-2021 (see AUTHORS file for a list of contributors)
+ * Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
@@ -19,12 +17,13 @@
#include "ad936x_iio_source.h"
#include "INIReader.h"
+#include "ad936x_iio_samples.h"
#include "command_event.h"
#include "gnss_sdr_make_unique.h"
+#include "pps_samplestamp.h"
#include <gnuradio/io_signature.h>
#include <algorithm>
#include <array>
-#include <bitset>
#include <exception>
#include <iomanip>
#include <iostream>
@@ -33,64 +32,245 @@
#include <utility>
-ad936x_iio_source_sptr ad936x_iio_make_source_sptr(Concurrent_Queue<pmt::pmt_t> *queue,
- std::string pluto_device_uri,
- std::string board_type,
+ad936x_iio_source_sptr ad936x_iio_make_source_sptr(
+ std::string pluto_uri_,
+ std::string board_type_,
long long bandwidth_,
long long sample_rate_,
- std::vector<std::string> ch_list,
- std::vector<std::string> ch_gain_mode,
- std::vector<double> ch_gain_db,
- std::vector<long int> ch_freq_hz,
- int ch_sample_size,
- int ch_sample_bits_shift)
+ long long freq_,
+ std::string rf_port_select_,
+ std::string rf_filter,
+ std::string gain_mode_rx0_,
+ std::string gain_mode_rx1_,
+ double rf_gain_rx0_,
+ double rf_gain_rx1_,
+ bool enable_ch0,
+ bool enable_ch1,
+ long long freq_2ch,
+ bool ppsmode_,
+ bool customsamplesize_,
+ std::string fe_ip_,
+ int fe_ctlport_,
+ int ssize_,
+ int bshift_,
+ bool spattern_)
{
- return ad936x_iio_source_sptr(new ad936x_iio_source(*queue,
- pluto_device_uri,
- board_type,
+ return ad936x_iio_source_sptr(new ad936x_iio_source(
+ pluto_uri_,
+ board_type_,
bandwidth_,
sample_rate_,
- ch_list,
- ch_gain_mode,
- ch_gain_db,
- ch_freq_hz,
- ch_sample_size,
- ch_sample_bits_shift));
+ freq_,
+ rf_port_select_,
+ rf_filter,
+ gain_mode_rx0_,
+ gain_mode_rx1_,
+ rf_gain_rx0_,
+ rf_gain_rx1_,
+ enable_ch0,
+ enable_ch1,
+ freq_2ch,
+ ppsmode_,
+ customsamplesize_,
+ fe_ip_,
+ fe_ctlport_,
+ ssize_,
+ bshift_,
+ spattern_));
}
-ad936x_iio_source::ad936x_iio_source(Concurrent_Queue<pmt::pmt_t> *queue,
- std::string pluto_device_uri,
- std::string board_type,
+ad936x_iio_source::ad936x_iio_source(
+ std::string pluto_uri_,
+ std::string board_type_,
long long bandwidth_,
long long sample_rate_,
- std::vector<std::string> ch_list,
- std::vector<std::string> ch_gain_mode,
- std::vector<double> ch_gain_db,
- std::vector<long int> ch_freq_hz,
- int ch_sample_size,
- int ch_sample_bits_shift) : gr::block("ad936x_iio_source",
- gr::io_signature::make(0, 0, 0),
- gr::io_signature::make(1, 3, sizeof(gr_complex)))
+ long long freq_,
+ std::string rf_port_select_,
+ std::string rf_filter,
+ std::string gain_mode_rx0_,
+ std::string gain_mode_rx1_,
+ double rf_gain_rx0_,
+ double rf_gain_rx1_,
+ bool enable_ch0,
+ bool enable_ch1,
+ long long freq_2ch,
+ bool ppsmode_,
+ bool customsamplesize_,
+ std::string fe_ip_,
+ int fe_ctlport_,
+ int ssize_,
+ int bshift_,
+ bool spattern_) : gr::block("ad936x_iio_source",
+ gr::io_signature::make(0, 0, 0),
+ gr::io_signature::make(1, 4, sizeof(int16_t)))
{
-}
+ ad936x_custom = std::make_unique<ad936x_iio_custom>(0, 0);
+ try
+ {
+ if (ad936x_custom->initialize_device(pluto_uri_, board_type_) == true)
+ {
+ //configure channels
+ if (ad936x_custom->init_config_ad9361_rx(bandwidth_,
+ sample_rate_,
+ freq_,
+ rf_port_select_,
+ rf_filter,
+ gain_mode_rx0_,
+ gain_mode_rx1_,
+ rf_gain_rx0_,
+ rf_gain_rx1_,
+ enable_ch0,
+ enable_ch1,
+ freq_2ch) == true)
+ {
+ std::cout << "ad936x_iio_source HW configured OK!\n";
+ //PPS FPGA Samplestamp information from TCP server
+ pps_rx = std::make_shared<pps_tcp_rx>();
+ ppsqueue = std::shared_ptr<Concurrent_Queue<PpsSamplestamp>>(new Concurrent_Queue<PpsSamplestamp>());
+
+ pps_rx->set_pps_samplestamp_queue(ppsqueue);
+ ad936x_custom->set_pps_samplestamp_queue(ppsqueue);
+
+ //start PPS RX thread
+ if (ppsmode_ == true or customsamplesize_ == true)
+ {
+ pps_rx_thread = std::thread(&pps_tcp_rx::receive_pps, pps_rx, fe_ip_, fe_ctlport_);
+ std::this_thread::sleep_for(std::chrono::milliseconds(500));
+ //configure custom FPGA options
+ switch (ssize_)
+ {
+ case 16:
+ {
+ std::cout << "FPGA sample size set to 16 bits per sample.\n";
+ if (pps_rx->send_cmd("ssize=16\n") == false) std::cout << "cmd send error!\n";
+ break;
+ }
+ case 8:
+ {
+ std::cout << "FPGA sample size set to 8 bits per sample.\n";
+ if (pps_rx->send_cmd("ssize=8\n") == false) std::cout << "cmd send error!\n";
+ break;
+ }
+ case 4:
+ {
+ std::cout << "FPGA sample size set to 4 bits per sample.\n";
+ if (pps_rx->send_cmd("ssize=4\n") == false) std::cout << "cmd send error!\n";
+ break;
+ }
+ case 2:
+ {
+ std::cout << "FPGA sample size set to 2 bits per sample.\n";
+ if (pps_rx->send_cmd("ssize=2\n") == false) std::cout << "cmd send error!\n";
+ break;
+ }
+ default:
+ {
+ std::cout << "WARNING: Unsupported ssize. FPGA sample size set to 16 bits per sample.\n";
+ if (pps_rx->send_cmd("ssize=16") == false) std::cout << "cmd send error!\n";
+ }
+ }
+
+ if (bshift_ >= 0 and bshift_ <= 14)
+ {
+ std::cout << "FPGA sample bits shift left set to " + std::to_string(bshift_) + " positions.\n";
+ if (pps_rx->send_cmd("bshift=" + std::to_string(bshift_) + "\n") == false) std::cout << "cmd send error!\n";
+ }
+ else
+ {
+ std::cout << "WARNING: Unsupported bshift. FPGA sample bits shift left set to 0.\n";
+ if (pps_rx->send_cmd("bshift=0\n") == false) std::cout << "cmd send error!\n";
+ }
+
+ if (spattern_ == true)
+ {
+ std::cout << "FPGA debug sample pattern is active!.\n";
+ if (pps_rx->send_cmd("spattern=1\n") == false) std::cout << "cmd send error!\n";
+ }
+ else
+ {
+ std::cout << "FPGA debug sample pattern disabled.\n";
+ if (pps_rx->send_cmd("spattern=0\n") == false) std::cout << "cmd send error!\n";
+ }
+ }
+ else
+ {
+ std::cout << "PPS mode NOT enabled, not configuring PlutoSDR custom timestamping FPGA IP.\n";
+ }
+ }
+ else
+ {
+ std::cerr << "ad936x_iio_source IIO initialization error." << std::endl;
+ exit(1);
+ }
+ }
+ else
+ {
+ std::cerr << "ad936x_iio_source IIO initialization error." << std::endl;
+ exit(1);
+ }
+ }
+ catch (std::exception const &ex)
+ {
+ std::cerr << "STD exception: " << ex.what() << std::endl;
+ exit(1);
+ }
+ catch (...)
+ {
+ std::cerr << "Unexpected catch" << std::endl;
+ exit(1);
+ }
+
+ //set_min_noutput_items(IIO_DEFAULTAD936XAPIFIFOSIZE_SAMPLES * 2);
+ set_min_output_buffer(IIO_DEFAULTAD936XAPIFIFOSIZE_SAMPLES * 2);
+ //std::cout << "max_output_buffer " << min_output_buffer(0) << " min_noutput_items: " << min_noutput_items() << "\n";
+}
ad936x_iio_source::~ad936x_iio_source()
{
+ // Terminate PPS thread
+ if (pps_rx_thread.joinable())
+ {
+ pthread_t id = pps_rx_thread.native_handle();
+ pps_rx_thread.detach();
+ pthread_cancel(id);
+ }
}
+bool ad936x_iio_source::start()
+{
+ return ad936x_custom->start_sample_rx(false);
+}
+
+bool ad936x_iio_source::stop()
+{
+ ad936x_custom->stop_record();
+ return true;
+}
+
int ad936x_iio_source::general_work(int noutput_items,
__attribute__((unused)) gr_vector_int &ninput_items,
__attribute__((unused)) gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items)
{
- std::vector<gr_complex *> out;
- for (auto &output_item : output_items)
+ std::shared_ptr<ad936x_iio_samples> current_buffer;
+ ad936x_iio_samples *current_samples;
+ ad936x_custom->pop_sample_buffer(current_buffer);
+ current_samples = current_buffer.get();
+
+ //I and Q samples are interleaved in buffer: IQIQIQ...
+
+ for (size_t n = 0; n < ad936x_custom->n_channels; n++)
{
- out.push_back(reinterpret_cast<gr_complex *>(output_item));
+ if (output_items.size() > n) // check if the output channel is connected
+ {
+ memcpy(reinterpret_cast<void *>(output_items[n]), reinterpret_cast<void *>(current_samples->buffer[n]), current_samples->n_bytes[n]);
+ produce(n, current_samples->n_samples[n]);
+ }
}
- std::cout << "Warning!!\n";
- return 0;
+
+ ad936x_custom->push_sample_buffer(current_buffer);
+ return this->WORK_CALLED_PRODUCE;
}
diff --git a/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.h b/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.h
index aec4a3c56..497146277 100644
--- a/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.h
+++ b/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.h
@@ -1,8 +1,7 @@
/*!
* \file ad936x_iio_source.h
- *
- * \brief signal source to receive samples from the AD936x FE family over libiio, including special custom functionalities in FPGA firmware.
- * \author Javier Arribas jarribas (at) cttc.es
+ * \brief A direct IIO custom front-end gnss-sdr signal gnuradio block for the AD936x AD front-end family with special FPGA custom functionalities.
+ * \author Javier Arribas, jarribas(at)cttc.es
*
* -----------------------------------------------------------------------------
*
@@ -15,19 +14,22 @@
* -----------------------------------------------------------------------------
*/
-#ifndef GNSS_SDR_AD9361_IIO_SOURCE_H
-#define GNSS_SDR_AD9361_IIO_SOURCE_H
+#ifndef GNSS_SDR_AD936X_IIO_SOURCE_H
+#define GNSS_SDR_AD936X_IIO_SOURCE_H
+
+#include "ad936x_iio_custom.h"
#include "concurrent_queue.h"
#include "gnss_block_interface.h"
+#include "ppstcprx.h"
#include <gnuradio/block.h>
-#include <iio.h>
#include <pmt/pmt.h>
-#include <ad9361.h> //multichip sync and high level functions
#include <cstddef>
#include <cstdint>
#include <fstream>
+#include <memory>
#include <string>
+#include <thread>
#include <vector>
/** \addtogroup Signal_Source
@@ -41,17 +43,27 @@ class ad936x_iio_source;
using ad936x_iio_source_sptr = gnss_shared_ptr<ad936x_iio_source>;
ad936x_iio_source_sptr ad936x_iio_make_source_sptr(
- Concurrent_Queue<pmt::pmt_t> *queue,
- std::string pluto_device_uri,
- std::string board_type,
+ std::string pluto_uri_,
+ std::string board_type_,
long long bandwidth_,
long long sample_rate_,
- std::vector<std::string> ch_list,
- std::vector<std::string> ch_gain_mode,
- std::vector<double> ch_gain_db,
- std::vector<long int> ch_freq_hz,
- int ch_sample_size,
- int ch_sample_bits_shift);
+ long long freq_,
+ std::string rf_port_select_,
+ std::string rf_filter,
+ std::string gain_mode_rx0_,
+ std::string gain_mode_rx1_,
+ double rf_gain_rx0_,
+ double rf_gain_rx1_,
+ bool enable_ch0,
+ bool enable_ch1,
+ long long freq_2ch,
+ bool ppsmode_,
+ bool customsamplesize_,
+ std::string fe_ip_,
+ int fe_ctlport_,
+ int ssize_,
+ int bshift_,
+ bool spattern_);
/*!
* \brief This class implements conversion between Labsat 2, 3 and 3 Wideband
@@ -62,6 +74,11 @@ class ad936x_iio_source : public gr::block
public:
~ad936x_iio_source();
+ //! start the sample transmission
+ bool start();
+ //! stop the sample transmission
+ bool stop();
+
int general_work(int noutput_items,
gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items,
@@ -69,32 +86,60 @@ public:
private:
friend ad936x_iio_source_sptr ad936x_iio_make_source_sptr(
- Concurrent_Queue<pmt::pmt_t> *queue,
- std::string pluto_device_uri,
- std::string board_type,
+ std::string pluto_uri_,
+ std::string board_type_,
long long bandwidth_,
long long sample_rate_,
- std::vector<std::string> ch_list,
- std::vector<std::string> ch_gain_mode,
- std::vector<double> ch_gain_db,
- std::vector<long int> ch_freq_hz,
- int ch_sample_size,
- int ch_sample_bits_shift);
+ long long freq_,
+ std::string rf_port_select_,
+ std::string rf_filter,
+ std::string gain_mode_rx0_,
+ std::string gain_mode_rx1_,
+ double rf_gain_rx0_,
+ double rf_gain_rx1_,
+ bool enable_ch0,
+ bool enable_ch1,
+ long long freq_2ch,
+ bool ppsmode_,
+ bool customsamplesize_,
+ std::string fe_ip_,
+ int fe_ctlport_,
+ int ssize_,
+ int bshift_,
+ bool spattern_);
- ad936x_iio_source(Concurrent_Queue<pmt::pmt_t> *queue,
- std::string pluto_device_uri,
- std::string board_type,
+ ad936x_iio_source(
+ std::string pluto_uri_,
+ std::string board_type_,
long long bandwidth_,
long long sample_rate_,
- std::vector<std::string> ch_list,
- std::vector<std::string> ch_gain_mode,
- std::vector<double> ch_gain_db,
- std::vector<long int> ch_freq_hz,
- int ch_sample_size,
- int ch_sample_bits_shift);
+ long long freq_,
+ std::string rf_port_select_,
+ std::string rf_filter,
+ std::string gain_mode_rx0_,
+ std::string gain_mode_rx1_,
+ double rf_gain_rx0_,
+ double rf_gain_rx1_,
+ bool enable_ch0,
+ bool enable_ch1,
+ long long freq_2ch,
+ bool ppsmode_,
+ bool customsamplesize_,
+ std::string fe_ip_,
+ int fe_ctlport_,
+ int ssize_,
+ int bshift_,
+ bool spattern_);
+
+ std::thread pps_rx_thread;
+
+
+ std::unique_ptr<ad936x_iio_custom> ad936x_custom;
+ std::shared_ptr<pps_tcp_rx> pps_rx;
+ std::shared_ptr<Concurrent_Queue<PpsSamplestamp>> ppsqueue;
};
/** \} */
/** \} */
-#endif // GNSS_SDR_AD9361_IIO_SOURCE_H
+#endif // GNSS_SDR_AD936X_IIO_SOURCE_H
diff --git a/src/algorithms/signal_source/libs/CMakeLists.txt b/src/algorithms/signal_source/libs/CMakeLists.txt
index 34cb13e88..00555c424 100644
--- a/src/algorithms/signal_source/libs/CMakeLists.txt
+++ b/src/algorithms/signal_source/libs/CMakeLists.txt
@@ -8,8 +8,8 @@
set(OPT_SIGNAL_SOURCE_LIB_SOURCES "")
set(OPT_SIGNAL_SOURCE_LIB_HEADERS "")
if(ENABLE_FMCOMMS2 OR ENABLE_AD9361)
- set(OPT_SIGNAL_SOURCE_LIB_SOURCES ad9361_manager.cc)
- set(OPT_SIGNAL_SOURCE_LIB_HEADERS ad9361_manager.h)
+ set(OPT_SIGNAL_SOURCE_LIB_SOURCES ${OPT_SIGNAL_SOURCE_LIB_SOURCES} ad9361_manager.cc)
+ set(OPT_SIGNAL_SOURCE_LIB_HEADERS ${OPT_SIGNAL_SOURCE_LIB_SOURCES} ad9361_manager.h)
endif()
if(ENABLE_FPGA OR ENABLE_AD9361)
@@ -23,6 +23,18 @@ if(ENABLE_FPGA OR ENABLE_AD9361)
set(OPT_SIGNAL_SOURCE_LIB_HEADERS ${OPT_SIGNAL_SOURCE_LIB_HEADERS} fpga_dma.h)
endif()
+
+if(ENABLE_PLUTOSDR)
+ set(OPT_SIGNAL_SOURCE_LIB_SOURCES ${OPT_SIGNAL_SOURCE_LIB_SOURCES} ad936x_iio_samples.cc)
+ set(OPT_SIGNAL_SOURCE_LIB_HEADERS ${OPT_SIGNAL_SOURCE_LIB_SOURCES} ad936x_iio_samples.h)
+ set(OPT_SIGNAL_SOURCE_LIB_SOURCES ${OPT_SIGNAL_SOURCE_LIB_SOURCES} ad936x_iio_custom.cc)
+ set(OPT_SIGNAL_SOURCE_LIB_HEADERS ${OPT_SIGNAL_SOURCE_LIB_SOURCES} ad936x_iio_custom.h)
+ set(OPT_SIGNAL_SOURCE_LIB_HEADERS ${OPT_SIGNAL_SOURCE_LIB_SOURCES} pps_samplestamp.h)
+ set(OPT_SIGNAL_SOURCE_LIB_SOURCES ${OPT_SIGNAL_SOURCE_LIB_SOURCES} ppstcprx.cc)
+ set(OPT_SIGNAL_SOURCE_LIB_HEADERS ${OPT_SIGNAL_SOURCE_LIB_SOURCES} ppstcprx.h)
+endif()
+
+
set(SIGNAL_SOURCE_LIB_SOURCES
rtl_tcp_commands.cc
rtl_tcp_dongle_info.cc
@@ -88,7 +100,7 @@ if(GNURADIO_USES_SPDLOG)
)
endif()
-if(ENABLE_FMCOMMS2 OR ENABLE_AD9361)
+if(ENABLE_FMCOMMS2 OR ENABLE_AD9361 OR ENABLE_PLUTOSDR)
target_link_libraries(signal_source_libs
PUBLIC
Iio::iio
diff --git a/src/algorithms/signal_source/libs/ad936x_iio_custom.cc b/src/algorithms/signal_source/libs/ad936x_iio_custom.cc
new file mode 100644
index 000000000..0076c27fc
--- /dev/null
+++ b/src/algorithms/signal_source/libs/ad936x_iio_custom.cc
@@ -0,0 +1,1195 @@
+/*!
+ * \file ad936x_iio_custom.cc
+ * \brief A direct IIO custom front-end driver for the AD936x AD front-end family with special FPGA custom functionalities.
+ * \author Javier Arribas, jarribas(at)cttc.es
+ * -----------------------------------------------------------------------------
+ *
+ * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
+ * This file is part of GNSS-SDR.
+ *
+ * Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
+ * SPDX-License-Identifier: GPL-3.0-or-later
+ *
+ * -----------------------------------------------------------------------------
+ */
+#include "ad936x_iio_custom.h"
+#include <boost/filesystem.hpp>
+#include <boost/lexical_cast.hpp>
+#include <glog/logging.h>
+#include <chrono>
+#include <cmath>
+#include <fstream>
+#include <iostream>
+#include <string>
+#include <vector>
+
+ad936x_iio_custom::ad936x_iio_custom(int debug_level_, int log_level_)
+{
+ receive_samples = false;
+ fpga_overflow = false;
+ sample_rate_sps = 0;
+ ctx = NULL;
+ phy = NULL;
+ dds_dev = NULL;
+ stream_dev = NULL;
+ debug_level = debug_level_;
+ log_level = log_level_;
+ PPS_mode = false;
+ n_channels = 0;
+}
+
+ad936x_iio_custom::~ad936x_iio_custom()
+{
+ //disable TX
+ if (phy != NULL) PlutoTxEnable(false);
+
+ //Close device
+ if (ctx != NULL) iio_context_destroy(ctx);
+}
+
+
+void ad936x_iio_custom::set_gnsstime_queue(std::shared_ptr<Concurrent_Queue<GnssTime>> queue)
+{
+ GnssTime_queue = std::move(queue);
+}
+
+void ad936x_iio_custom::set_pps_samplestamp_queue(std::shared_ptr<Concurrent_Queue<PpsSamplestamp>> queue)
+{
+ Pps_queue = std::move(queue);
+}
+
+bool ad936x_iio_custom::initialize_device(std::string pluto_device_uri, std::string board_type)
+{
+ //Find devices
+ if (pluto_device_uri == "local")
+ {
+ struct iio_scan_context *tmp_ctx = iio_create_scan_context("usb", 0);
+ if (!tmp_ctx)
+ {
+ std::cout << "Unable to create scan context\n";
+ return false;
+ }
+
+ struct iio_context_info **info;
+ int ret = iio_scan_context_get_info_list(tmp_ctx, &info);
+ if (ret < 0)
+ {
+ iio_scan_context_destroy(tmp_ctx);
+
+ std::cout << "Unable to scan for Pluto devices\n";
+ return false;
+ }
+
+ if (ret == 0)
+ {
+ iio_context_info_list_free(info);
+ iio_scan_context_destroy(tmp_ctx);
+ std::cout << " No Pluto device found\n ";
+ return false;
+ }
+
+ if (ret > 1)
+ {
+ std::cout << "More than one Pluto found:\n";
+
+ for (unsigned int i = 0; i < (size_t)ret; i++)
+ {
+ printf("\t%d: %s [%s]\n", i,
+ iio_context_info_get_description(info[i]),
+ iio_context_info_get_uri(info[i]));
+ }
+
+ std::cout << "We will use the first one.\n";
+ }
+
+ std::string uri(iio_context_info_get_uri(info[0]));
+ iio_context_info_list_free(info);
+ iio_scan_context_destroy(tmp_ctx);
+
+ ctx = iio_create_context_from_uri(uri.c_str());
+ }
+ else
+ {
+ ctx = iio_create_context_from_uri(pluto_device_uri.c_str());
+ }
+
+ if (ctx == NULL)
+ {
+ std::cout << "Unable to create context from uri: " << pluto_device_uri << std::endl;
+ return false;
+ }
+
+
+ phy = iio_context_find_device(ctx, "ad9361-phy");
+
+ if (phy == NULL)
+ {
+ std::cout << "Unable to find ad9361-phy device from uri: " << pluto_device_uri << std::endl;
+ return false;
+ }
+
+ if (board_type.compare("fmcomms5") == 0)
+ {
+ stream_dev = iio_context_find_device(ctx, "cf-ad9361-A"); //first ad9361 in FMCOMMS5
+ if (stream_dev == NULL)
+ {
+ std::cout << "Unable to find cf-ad9361-A device from uri: " << pluto_device_uri << std::endl;
+ return false;
+ };
+ }
+ else
+ {
+ stream_dev = iio_context_find_device(ctx, "cf-ad9361-lpc"); //regular AD9361 stream device in single AD9361 boards
+ if (stream_dev == NULL)
+ {
+ std::cout << "Unable to find cf-ad9361-lpc device from uri: " << pluto_device_uri << std::endl;
+ return false;
+ };
+ dds_dev = iio_context_find_device(ctx, "cf-ad9361-dds-core-lpc"); //DDS core for LO oscillator (external transverter operation)
+ if (stream_dev == NULL)
+ {
+ std::cout << "Warning: Unable to find cf-ad9361-dds-core-lpc device from uri: " << pluto_device_uri << std::endl;
+ };
+ }
+
+ return true;
+}
+
+
+void ad936x_iio_custom::configure_params(struct iio_device *phy,
+ const std::vector<std::string> ¶ms)
+{
+ for (std::vector<std::string>::const_iterator it = params.begin();
+ it != params.end(); ++it)
+ {
+ struct iio_channel *chn = NULL;
+ const char *attr = NULL;
+ size_t pos;
+ int ret;
+
+ pos = it->find('=');
+ if (pos == std::string::npos)
+ {
+ std::cerr << "Misformed line: " << *it << std::endl;
+ continue;
+ }
+
+ std::string key = it->substr(0, pos);
+ std::string val = it->substr(pos + 1, std::string::npos);
+
+ ret = iio_device_identify_filename(phy,
+ key.c_str(), &chn, &attr);
+ if (ret)
+ {
+ std::cerr << "Parameter not recognized: "
+ << key << std::endl;
+ continue;
+ }
+
+ if (chn)
+ ret = iio_channel_attr_write(chn,
+ attr, val.c_str());
+ else if (iio_device_find_attr(phy, attr))
+ ret = iio_device_attr_write(phy, attr, val.c_str());
+ else
+ ret = iio_device_debug_attr_write(phy,
+ attr, val.c_str());
+ if (ret < 0)
+ {
+ std::cerr << "Unable to write attribute " << key
+ << ": " << ret << std::endl;
+ }
+ }
+}
+
+
+void ad936x_iio_custom::set_params_rx(struct iio_device *phy_device,
+ unsigned long long frequency,
+ unsigned long samplerate, unsigned long bandwidth,
+ bool quadrature, bool rfdc, bool bbdc,
+ std::string gain1, double gain1_value,
+ std::string gain2, double gain2_value,
+ std::string port_select)
+{
+ std::vector<std::string> params;
+
+ params.push_back("out_altvoltage0_RX_LO_frequency=" +
+ std::to_string(frequency));
+ std::cout << params.back() << "\n";
+ params.push_back("in_voltage_sampling_frequency=" +
+ std::to_string(samplerate));
+ std::cout << params.back() << "\n";
+ params.push_back("in_voltage_rf_bandwidth=" +
+ std::to_string(bandwidth));
+ std::cout << params.back() << "\n";
+ params.push_back("in_voltage_quadrature_tracking_en=" +
+ std::to_string(quadrature));
+ params.push_back("in_voltage_rf_dc_offset_tracking_en=" +
+ std::to_string(rfdc));
+ params.push_back("in_voltage_bb_dc_offset_tracking_en=" +
+ std::to_string(bbdc));
+ params.push_back("in_voltage0_gain_control_mode=" +
+ gain1);
+ params.push_back("in_voltage0_hardwaregain=" +
+ std::to_string(gain1_value));
+ params.push_back("in_voltage1_gain_control_mode=" +
+ gain2);
+ params.push_back("in_voltage1_hardwaregain=" +
+ std::to_string(gain2_value));
+ params.push_back("in_voltage0_rf_port_select=" +
+ port_select);
+
+ configure_params(phy_device, params);
+}
+
+
+bool ad936x_iio_custom::config_ad9361_dds(uint64_t freq_rf_tx_hz_,
+ double tx_attenuation_db_,
+ int64_t freq_dds_tx_hz_,
+ double scale_dds_,
+ double phase_dds_deg_)
+{
+ // TX stream config
+ std::cout << "Start of AD9361 TX Oscillator DDS configuration\n";
+
+ std::cout << "* Configuring AD9361 for streaming TX\n";
+
+ // ENABLE DDS on TX1
+ // Configure LO channel
+ std::vector<std::string> params_phy;
+
+ params_phy.push_back("out_altvoltage1_TX_LO_frequency=" +
+ std::to_string(freq_rf_tx_hz_));
+
+ params_phy.push_back("out_voltage0_hardwaregain=" +
+ std::to_string(-tx_attenuation_db_));
+
+ //disable the other TX
+ params_phy.push_back("out_voltage1_hardwaregain=" +
+ std::to_string(-tx_attenuation_db_));
+
+
+ configure_params(phy, params_phy);
+
+ std::vector<std::string> params_dds;
+
+ //DDS TX CH1 I (tone #1)
+ params_dds.push_back("out_altvoltage0_TX1_I_F1_frequency=" +
+ std::to_string(freq_dds_tx_hz_));
+ params_dds.push_back("out_altvoltage0_TX1_I_F1_phase=" +
+ std::to_string(phase_dds_deg_ * 1000.0));
+ params_dds.push_back("out_altvoltage0_TX1_I_F1_scale=" +
+ std::to_string(scale_dds_));
+ params_dds.push_back("out_altvoltage0_TX1_I_F1_raw=1");
+ //DDS TX CH1 Q (tone #1)
+ params_dds.push_back("out_altvoltage2_TX1_Q_F1_frequency=" +
+ std::to_string(freq_dds_tx_hz_));
+ params_dds.push_back("out_altvoltage2_TX1_Q_F1_phase=" +
+ std::to_string(phase_dds_deg_ * 1000.0 + 270000.0));
+ params_dds.push_back("out_altvoltage2_TX1_Q_F1_scale=" +
+ std::to_string(scale_dds_));
+ params_dds.push_back("out_altvoltage2_TX1_Q_F1_raw=1");
+
+ //DDS TX CH1 I (tone #1)
+ // params_dds.push_back("out_altvoltage4_TX2_I_F1_frequency=" +
+ // std::to_string(freq_dds_tx_hz_));
+ // params_dds.push_back("out_altvoltage4_TX2_I_F1_phase=" +
+ // std::to_string(phase_dds_deg_ * 1000.0));
+ // params_dds.push_back("out_altvoltage4_TX2_I_F1_scale=" +
+ // std::to_string(scale_dds_));
+ // params_dds.push_back("out_altvoltage4_TX2_I_F1_raw=1");
+ // //DDS TX CH1 Q (tone #1)
+ // params_dds.push_back("out_altvoltage6_TX2_Q_F1_frequency=" +
+ // std::to_string(freq_dds_tx_hz_));
+ // params_dds.push_back("out_altvoltage6_TX2_Q_F1_phase=" +
+ // std::to_string(phase_dds_deg_ * 1000.0 + 270000.0));
+ // params_dds.push_back("out_altvoltage6_TX2_Q_F1_scale=" +
+ // std::to_string(scale_dds_));
+ // params_dds.push_back("out_altvoltage6_TX2_Q_F1_raw=1");
+
+ configure_params(dds_dev, params_dds);
+
+ return true;
+}
+
+
+bool ad936x_iio_custom::check_device()
+{
+ if (stream_dev != NULL)
+ {
+ return true;
+ }
+ else
+ {
+ return false;
+ }
+}
+
+bool ad936x_iio_custom::get_iio_param(iio_device *dev, const std::string ¶m, std::string &value)
+{
+ struct iio_channel *chn = 0;
+ const char *attr = 0;
+ char valuestr[256];
+ int ret;
+ ssize_t nchars;
+
+ ret = iio_device_identify_filename(dev, param.c_str(), &chn, &attr);
+
+ if (ret)
+ {
+ std::cerr << "DevicePlutoSDR::get_param: Parameter not recognized: " << param << std::endl;
+ return false;
+ }
+
+ if (chn)
+ {
+ nchars = iio_channel_attr_read(chn, attr, valuestr, 256);
+ }
+ else if (iio_device_find_attr(dev, attr))
+ {
+ nchars = iio_device_attr_read(dev, attr, valuestr, 256);
+ }
+ else
+ {
+ nchars = iio_device_debug_attr_read(dev, attr, valuestr, 256);
+ }
+
+ if (nchars < 0)
+ {
+ std::cerr << "DevicePlutoSDR::get_param: Unable to read attribute " << param << ": " << nchars << std::endl;
+ return false;
+ }
+ else
+ {
+ value.assign(valuestr);
+ return true;
+ }
+}
+
+bool ad936x_iio_custom::read_die_temp(double &temp_c)
+{
+ std::string temp_mC_str;
+
+ if (get_iio_param(phy, "in_temp0_input", temp_mC_str))
+ {
+ try
+ {
+ uint32_t temp_mC = boost::lexical_cast<uint32_t>(temp_mC_str);
+ temp_c = static_cast<double>(temp_mC) / 1000.0;
+ if (temp_c > 120) temp_c = -1;
+ return true;
+ }
+ catch (const boost::bad_lexical_cast &e)
+ {
+ std::cerr << "PlutoSDRDevice::getTemp: bad conversion to numeric" << std::endl;
+ return false;
+ }
+ }
+ else
+ {
+ return false;
+ }
+}
+bool ad936x_iio_custom::init_config_ad9361_rx(long long bandwidth_,
+ long long sample_rate_,
+ long long freq_,
+ std::string rf_port_select_,
+ std::string rf_filter,
+ std::string gain_mode_rx0_,
+ std::string gain_mode_rx1_,
+ double rf_gain_rx0_,
+ double rf_gain_rx1_,
+ bool enable_ch0,
+ bool enable_ch1,
+ long long freq_2ch)
+
+{
+ if (check_device() == false) return false;
+
+ bool no_errors = true;
+ std::cout << "Configuring phy device parameters...\n";
+ int ret;
+ if (rf_filter.compare("Disabled") == 0)
+ {
+ std::cout << "LNA Filter switch is disabled.\n";
+ }
+ else if (rf_filter.compare("Auto") == 0)
+ {
+ std::cout << "Selecting LNA RF filter based on the selected RF frequency... \n";
+ if (freq_ == 1575420000)
+ {
+ if (select_rf_filter("E1") == true)
+ {
+ std::cout << "LNA RF filter board switch set to E1\n";
+ }
+ else
+ {
+ std::cout << "Problem setting LNA RF filter switch value\n";
+ }
+ }
+ else
+ {
+ if (select_rf_filter("E5E6") == true)
+ {
+ std::cout << "LNA RF filter board switch set to E5E6\n";
+ }
+ else
+ {
+ std::cout << "Problem setting LNA RF filter switch value\n";
+ }
+ }
+ }
+ else
+ {
+ if (select_rf_filter(rf_filter) == true)
+ {
+ std::cout << "LNA RF filter board switch set to " << rf_filter << "\n";
+ }
+ else
+ {
+ std::cout << "Problem setting LNA RF filter switch value\n";
+ }
+ }
+
+ std::vector<std::string> params;
+ // Configure RX LO channel (NOTICE that altvoltage0 is the RX LO oscillator!, altvoltage1 is the TX oscillator)
+ params.push_back("out_altvoltage0_RX_LO_frequency=" +
+ std::to_string(freq_));
+
+ sample_rate_sps = sample_rate_;
+
+ params.push_back("in_voltage_sampling_frequency=" +
+ std::to_string(sample_rate_));
+
+ params.push_back("out_voltage_sampling_frequency=" +
+ std::to_string(sample_rate_));
+
+ params.push_back("in_voltage_rf_bandwidth=" +
+ std::to_string(bandwidth_));
+
+ params.push_back("out_voltage_rf_bandwidth=" +
+ std::to_string(bandwidth_));
+
+ params.push_back("in_voltage_quadrature_tracking_en=1");
+ params.push_back("in_voltage_rf_dc_offset_tracking_en=1");
+ params.push_back("in_voltage_bb_dc_offset_tracking_en=1");
+
+ configure_params(phy, params);
+
+ ret = iio_device_attr_write(phy, "trx_rate_governor", "nominal");
+ if (ret < 0)
+ {
+ std::cerr << "Failed to set trx_rate_governor: " << ret << std::endl;
+ no_errors = false;
+ }
+ ret = iio_device_attr_write(phy, "ensm_mode", "fdd");
+ if (ret < 0)
+ {
+ std::cerr << "Failed to set ensm_mode: " << ret << std::endl;
+ no_errors = false;
+ }
+ ret = iio_device_attr_write(phy, "calib_mode", "auto");
+ if (ret < 0)
+ {
+ std::cerr << "Failed to set calib_mode: " << ret << std::endl;
+ no_errors = false;
+ }
+
+
+ std::cout << "no_errors: " << no_errors << "\n";
+
+ if (enable_ch1 == true and enable_ch0 == true and freq_ != freq_2ch)
+ {
+ std::cout << "Two channels enabled with different frequencies, enabling the external RF transverter board:\n";
+ long long int delta_freq_hz = freq_2ch - freq_;
+ if (delta_freq_hz < 0)
+ {
+ std::cout << "Configuration problem: 2nd channel frequency is " << freq_2ch << " [Hz], must be higher than main channel (" << freq_ << " [Hz])\n";
+ return false;
+ }
+
+ std::cout << "Configuring DDS Local Oscillator generation. LO Freq. is " << delta_freq_hz << " [Hz]\n";
+ PlutoTxEnable(true);
+ config_ad9361_dds(delta_freq_hz,
+ 30,
+ 100000,
+ 0.9,
+ 0);
+ std::cout << "Configuring DDS Local Oscillator generation DONE\n";
+ }
+ else
+ {
+ PlutoTxEnable(false); //power down the TX LO to reduce interferences
+ }
+
+ if (enable_ch0 == true)
+ {
+ n_channels++;
+ std::cerr << "* Get AD9361 Phy RX channel 0...\n";
+ std::stringstream name;
+ name.str("");
+ name << "voltage";
+ name << 0;
+ struct iio_channel *phy_ch;
+ phy_ch = iio_device_find_channel(phy, name.str().c_str(), false); //false means RX
+ if (!phy_ch)
+ {
+ std::cerr << "Could not find AD9361 phy channel: " << name.str() << "\n";
+ no_errors = false;
+ }
+
+ ret = iio_channel_attr_write(phy_ch, "rf_port_select", rf_port_select_.c_str());
+ if (ret < 0)
+ {
+ std::cerr << "Warning: rf_port_select write returned: " << ret << "\n";
+ no_errors = false;
+ }
+
+ ret = iio_channel_attr_write_longlong(phy_ch, "rf_bandwidth", bandwidth_);
+ if (ret < 0)
+ {
+ std::cerr << "Warning: rf_bandwidth write returned: " << ret << "\n";
+ no_errors = false;
+ }
+
+ long long set_rf_bw;
+ ret = iio_channel_attr_read_longlong(phy_ch, "rf_bandwidth", &set_rf_bw);
+ if (ret < 0)
+ {
+ std::cerr << "Warning: rf_bandwidth read returned: " << ret << "\n";
+ no_errors = false;
+ }
+ else
+ {
+ std::cerr << "Info: rf_bandwidth read returned: " << set_rf_bw << " Hz \n";
+ }
+
+
+ if (setRXGain(0, gain_mode_rx0_, rf_gain_rx0_) == false)
+ {
+ std::cerr << "Info: setRXGain read returned false \n";
+ no_errors = false;
+ }
+ }
+
+ if (enable_ch1 == true)
+ {
+ n_channels++;
+ std::cerr << "* Get AD9361 Phy RX channel 1...\n";
+ std::stringstream name;
+ name.str("");
+ name << "voltage";
+ name << 1;
+ struct iio_channel *phy_ch;
+ phy_ch = iio_device_find_channel(phy, name.str().c_str(), false); //false means RX
+ if (!phy_ch)
+ {
+ std::cerr << "Could not find AD9361 phy channel: " << name.str() << "\n";
+ no_errors = false;
+ }
+
+ ret = iio_channel_attr_write(phy_ch, "rf_port_select", rf_port_select_.c_str());
+ if (ret < 0)
+ {
+ std::cerr << "Warning: rf_port_select write returned: " << ret << "\n";
+ no_errors = false;
+ }
+
+ ret = iio_channel_attr_write_longlong(phy_ch, "rf_bandwidth", bandwidth_);
+ if (ret < 0)
+ {
+ std::cerr << "Warning: rf_bandwidth write returned: " << ret << "\n";
+ no_errors = false;
+ }
+
+ if (setRXGain(1, gain_mode_rx1_, rf_gain_rx1_) == false)
+ {
+ std::cerr << "Info: setRXGain read returned false \n";
+ no_errors = false;
+ }
+ }
+
+ int set_filter_ret = ad9361_set_bb_rate_custom_filter_auto(phy, sample_rate_sps);
+ if (set_filter_ret != 0)
+ {
+ std::cout << "Warning: Unable to set AD936x RX filter parameters!\n";
+ }
+
+ //testing: set manual RX filter chain
+ // unsigned long RX_analog_bb_lpf_stop_hz = 1000000;
+ // unsigned long TX_analog_bb_lpf_stop_hz = 1000000;
+ //
+ // unsigned long FIR_lpf_passband_hz = 1000000;
+ // unsigned long FIR_lpf_stopband_hz = 1200000;
+ // int set_filter_ret = ad9361_set_bb_rate_custom_filter_manual(phy,
+ // sample_rate_sps,
+ // FIR_lpf_passband_hz,
+ // FIR_lpf_stopband_hz,
+ // RX_analog_bb_lpf_stop_hz,
+ // TX_analog_bb_lpf_stop_hz);
+ // if (set_filter_ret != 0)
+ // {
+ // std::cout << "Warning: Unable to set AD936x RX filter parameters!\n";
+ // }
+
+ std::cout << "AD936x Front-end configuration summary: \n";
+ std::cout << "Baseband sampling frequency: " << sample_rate_sps << " [SPS]\n";
+ std::cout << "RX chain gain: " << rf_gain_rx0_ << " [dB][only valid in manual mode]\n";
+ std::cout << "RX chain gain mode: " << gain_mode_rx0_ << "\n";
+ // std::cout << "Analog baseband LPF stop frequency: " << RX_analog_bb_lpf_stop_hz << " [Hz]\n";
+ // std::cout << "Digital baseband LPF FIR passband frequency: " << FIR_lpf_passband_hz << " [Hz]\n";
+ // std::cout << "Digital baseband LPF FIR stopband frequency: " << FIR_lpf_stopband_hz << " [Hz]\n";
+ std::cout << "End of AD9361 RX configuration.\n";
+ return no_errors;
+}
+
+bool ad936x_iio_custom::set_rx_frequency(long long freq_hz)
+{
+ if (check_device() == false) return false;
+ // Configure RX LO channel (NOTICE that altvoltage0 is the RX LO oscillator!, altvoltage1 is the TX oscillator)
+ struct iio_channel *lo_ch;
+
+ lo_ch = iio_device_find_channel(phy, "altvoltage0", true);
+ if (!lo_ch)
+ {
+ std::cerr << "Could not find AD9361 RX LO channel altvoltage0\n";
+ return false;
+ }
+ int ret;
+ ret = iio_channel_attr_write_longlong(lo_ch, "frequency", freq_hz);
+ if (ret < 0)
+ {
+ std::cerr << "Warning: RX LO frequency write returned: " << ret << "\n";
+ return false;
+ }
+ return true;
+}
+
+
+bool ad936x_iio_custom::get_rx_frequency(long long &freq_hz)
+{
+ if (check_device() == false) return false;
+ // Configure RX LO channel (NOTICE that altvoltage0 is the RX LO oscillator!, altvoltage1 is the TX oscillator)
+ struct iio_channel *lo_ch;
+
+ lo_ch = iio_device_find_channel(phy, "altvoltage0", true);
+ if (!lo_ch)
+ {
+ std::cerr << "Could not find AD9361 RX LO channel altvoltage0\n";
+ return false;
+ }
+ int ret;
+ ret = iio_channel_attr_read_longlong(lo_ch, "frequency", &freq_hz);
+ if (ret < 0)
+ {
+ std::cerr << "Warning: RX LO frequency read returned: " << ret << "\n";
+ return false;
+ }
+ return true;
+}
+
+bool ad936x_iio_custom::setRXGain(int ch_num, std::string gain_mode, double gain_dB)
+{
+ if (check_device() == false) return false;
+ std::vector<std::string> params;
+ if (ch_num == 0)
+ {
+ params.clear();
+ params.push_back("in_voltage0_gain_control_mode=" + gain_mode);
+ if (gain_mode == "manual")
+ {
+ params.push_back("in_voltage0_hardwaregain=" + std::to_string(gain_dB));
+ }
+ configure_params(phy, params);
+ return true;
+ }
+ else if (ch_num == 1)
+ {
+ params.clear();
+ params.push_back("in_voltage1_gain_control_mode=" + gain_mode);
+ if (gain_mode == "manual")
+ {
+ params.push_back("in_voltage1_hardwaregain=" + std::to_string(gain_dB));
+ }
+ configure_params(phy, params);
+ return true;
+ }
+ else
+ {
+ return false;
+ }
+}
+
+double ad936x_iio_custom::get_rx_gain(int ch_num)
+{
+ if (check_device() == false) return -1;
+ double gain_dB; //gain in dB
+ int ret = 0;
+ if (ch_num == 0)
+ {
+ ret = iio_device_attr_read_double(phy, "in_voltage0_hardwaregain", &gain_dB);
+ if (ret < 0)
+ {
+ std::cerr << "Failed to read in_voltage0_hardwaregain: " << ret << std::endl;
+ return -1.0;
+ }
+ }
+ else if (ch_num == 1)
+ {
+ ret = iio_device_attr_read_double(phy, "in_voltage1_hardwaregain", &gain_dB);
+ if (ret < 0)
+ {
+ std::cerr << "Failed to read in_voltage1_hardwaregain: " << ret << std::endl;
+ return -1.0;
+ }
+ }
+ else
+ {
+ return -1.0;
+ }
+ return gain_dB;
+}
+
+
+bool ad936x_iio_custom::calibrate(int ch, double bw_hz)
+{
+ if (check_device() == false) return false;
+ //todo
+ return true;
+}
+
+void ad936x_iio_custom::monitor_thread_fn()
+{
+ uint32_t val;
+ int ret;
+
+ /* Give the main thread a moment to start the DMA */
+ sleep(1);
+
+ /* Clear all status bits */
+ ret = iio_device_reg_write(stream_dev, 0x80000088, 0x6);
+ if (ret)
+ {
+ fprintf(stderr, "Failed to clearn DMA status register: %s\n",
+ strerror(-ret));
+ }
+
+ while (receive_samples)
+ {
+ ret = iio_device_reg_read(stream_dev, 0x80000088, &val);
+ if (ret)
+ {
+ fprintf(stderr, "Failed to read status register: %s\n",
+ strerror(-ret));
+ continue;
+ }
+
+ // if (device_is_tx) {
+ // if (val & 1)
+ // fprintf(stderr, "Underflow detected\n");
+ // } else {
+ if (val & 4)
+ {
+ std::cout << "WARNING: IIO status register reported overflow!\n";
+ LOG(INFO) << "WARNING: IIO status register reported overflow!";
+ }
+
+
+ /* Clear bits */
+ if (val)
+ {
+ ret = iio_device_reg_write(stream_dev, 0x80000088, val);
+ if (ret)
+ fprintf(stderr, "Failed to clearn DMA status register: %s\n",
+ strerror(-ret));
+ }
+ sleep(1);
+ }
+ return;
+}
+
+void ad936x_iio_custom::stop_record()
+{
+ receive_samples = false;
+
+ if (capture_time_thread.joinable() == true)
+ {
+ std::cout << "Joining sample cature thread...\n";
+ capture_samples_thread.join();
+ }
+
+ if (capture_time_thread.joinable() == true)
+ {
+ std::cout << "Joining overflow monitor thread...\n";
+ overflow_monitor_thread.join();
+ }
+
+ if (capture_time_thread.joinable() == true)
+ {
+ std::cout << "Joining time cature thread...\n";
+ capture_time_thread.join();
+ }
+}
+
+
+void ad936x_iio_custom::PlutoTxEnable(bool txon)
+{
+ if (check_device())
+ {
+ int ret;
+ if (txon == false)
+ {
+ ret = iio_channel_attr_write_bool(iio_device_find_channel(phy, "altvoltage1", true), "powerdown", true); //turn off TX LO
+ if (ret < 0)
+ {
+ std::cerr << "Failed to write altvoltage1 powerdown: " << ret << std::endl;
+ }
+ }
+ else
+ {
+ ret = iio_channel_attr_write_bool(iio_device_find_channel(phy, "altvoltage1", true), "powerdown", false); //turn on TX LO
+ if (ret < 0)
+ {
+ std::cerr << "Failed to write altvoltage1 powerdown: " << ret << std::endl;
+ }
+ }
+ }
+}
+
+void ad936x_iio_custom::setPlutoGpo(int p)
+{
+ char pins[11];
+ sprintf(pins, "0x27 0x%x0", p); //direct access to AD9361 registers... WARNING!
+ pins[9] = 0;
+ int ret;
+ //std::cout << "send: " << pins << " \n";
+ if (check_device())
+ {
+ ret = iio_device_debug_attr_write(phy, "direct_reg_access", pins);
+ if (ret < 0)
+ {
+ std::cerr << "Failed to write direct_reg_access: " << ret << std::endl;
+ }
+ }
+}
+
+
+bool ad936x_iio_custom::select_rf_filter(std::string rf_filter)
+{
+ // adi,gpo-manual-mode-enable Enables GPO manual mode, this will conflict with automatic ENSM slave and eLNA mode
+ // adi,gpo-manual-mode-enable-mask Enable bit mask, setting or clearing bits will change the level of the corresponding output. Bit0 → GPO, Bit1 → GPO1, Bit2 → GPO2, Bit3 → GP03
+ // adi,gpo-manual-mode-enable
+ // adi,gpo-manual-mode-enable-mask does not work...
+ // some software use the direct_reg_access (see https://github.com/g4eml/Langstone/blob/master/LangstoneGUI.c)
+
+ //since plutosdr fw 31:
+ // GPOs can be addressed individual 0..3 or altogether using 0xF as Identifier.
+ //
+ // SYNTAX:
+ //
+ // gpo_set <Identifier> <Value>
+ // Enable
+ // Value Function
+ // 0 Disable
+ // 1 Enable
+ // X Enable Mask if Identifier=0xF
+
+
+ if (check_device() == false) return false;
+ int plutoGpo = 0;
+ int ret;
+ ret = iio_device_debug_attr_write(phy, "adi,gpo-manual-mode-enable", "1");
+
+ if (ret < 0)
+ {
+ std::cerr << "Failed to write adi,gpo-manual-mode-enable: " << ret << std::endl;
+ return false;
+ }
+
+ if (rf_filter.compare("E1") == 0)
+ {
+ //set gpio0 to switch L1 filter
+ // setPlutoGpo(plutoGpo);
+ ret = iio_device_debug_attr_write(phy, "gpo_set", "0 0");
+ if (ret < 0)
+ {
+ std::cerr << "Failed to write gpo_set: " << ret << std::endl;
+ return false;
+ }
+ }
+ else if (rf_filter.compare("E5E6") == 0)
+ {
+ //set gpio0 to switch L5/L6 filter (GPO0)
+ // plutoGpo = plutoGpo | 0x10;
+ // setPlutoGpo(plutoGpo); //set the Pluto GPO Pin
+ ret = iio_device_debug_attr_write(phy, "gpo_set", "0 1");
+ if (ret < 0)
+ {
+ std::cerr << "Failed to write gpo_set: " << ret << std::endl;
+ return false;
+ }
+ }
+ if (rf_filter.compare("none") == 0)
+ {
+ std::cout << "RF external filter not selected\n";
+ }
+
+ else
+ {
+ std::cout << "Unknown filter selected, switching to E1 filter...\n";
+ ret = iio_device_debug_attr_write(phy, "gpo_set", "0 0");
+ if (ret < 0)
+ {
+ std::cerr << "Failed to write gpo_set: " << ret << std::endl;
+ return false;
+ }
+ }
+
+ return true;
+}
+void ad936x_iio_custom::get_PPS_timestamp()
+{
+ GnssTime tow;
+ PpsSamplestamp pps;
+ GnssTime_queue->clear();
+ Pps_queue->clear();
+
+ std::cout << "Waiting for uBlox time message synchronization... (wait up to 10 seconds)\n";
+ if (GnssTime_queue->timed_wait_and_pop(tow, 10000) == false)
+ {
+ std::cout << "uBlox time message synchronization error.\n";
+ return;
+ }
+
+ std::cout << "Waiting for PPS Samplestamp message synchronization... (wait up to 10 seconds)\n";
+ if (Pps_queue->timed_wait_and_pop(pps, 10000) == false)
+ {
+ std::cout << "PPS IP message synchronization error.\n";
+ return;
+ }
+
+ //Get new PPS samplestamp and associate it to the corresponding uBlox TP message
+ while (receive_samples == true)
+ {
+ std::cout << "[" << pps.samplestamp << "][o:" << pps.overflow_reg << "] uBlox time message received with TOW=" << tow.tow_ms << "\n";
+ LOG(INFO) << "[" << pps.samplestamp << "][o:" << pps.overflow_reg << "] uBlox time message received with TOW=" << tow.tow_ms << "\n";
+ //write timestamp information to timestamp metadata file:
+ //uint64_t: absolute sample counter from the beginning of sample capture associated to the rising edge of the PPS signal
+ // ppstimefile.write(reinterpret_cast<char *>(&pps.samplestamp), sizeof(uint64_t));
+ //int32_t: Galileo/GPS Week Number associated to the rising edge of PPS signal
+ // ppstimefile.write(reinterpret_cast<char *>(&tow.week), sizeof(int32_t));
+ //int32_t: Galileo/GPS TOW associated to the rising edge of PPS signal
+ // ppstimefile.write(reinterpret_cast<char *>(&tow.tow_ms), sizeof(int32_t));
+ //record pps rise samplestamp associated to the absolute sample counter
+ //PPS rising edge must be associated with the corresponding uBlox time message (tx once a second)
+
+
+ if (GnssTime_queue->timed_wait_and_pop(tow, 2000) == false)
+ {
+ if (receive_samples == true)
+ {
+ std::cout << "ERROR: uBlox time message not received, check uBlox GNSS signal quality!\n";
+ LOG(INFO) << "ERROR: uBlox time message not received!";
+ }
+ break;
+ }
+ if (Pps_queue->timed_wait_and_pop(pps, 2000) == false)
+ {
+ if (receive_samples == true)
+ {
+ std::cout << "ERROR: PPS time message not received, check uBlox GNSS signal quality!\n";
+ LOG(INFO) << "ERROR: PPS time message not received!";
+ }
+ break;
+ }
+ if (pps.overflow_reg > 0)
+ {
+ if (receive_samples == true)
+ {
+ fpga_overflow = true;
+ std::cout << "ERROR: FPGA reported RX sample buffer overflow!\n";
+ LOG(INFO) << "ERROR: FPGA reported RX sample buffer overflow!\n";
+ }
+ break;
+ }
+ }
+}
+bool ad936x_iio_custom::start_sample_rx(bool ppsmode)
+{
+ //using queues of smart pointers to preallocated buffers
+ free_buffers.clear();
+ used_buffers.clear();
+ //preallocate buffers and use queues
+ std::cerr << "Allocating memory..\n";
+ try
+ {
+ for (int n = 0; n < IIO_INPUTRAMFIFOSIZE; n++)
+ {
+ free_buffers.push(std::make_shared<ad936x_iio_samples>());
+ }
+ }
+ catch (const std::exception &ex)
+ {
+ std::cout << "ERROR: Problem allocating RAM buffer: " << ex.what() << "\n";
+ return false;
+ }
+
+ //prepare capture channels
+ std::vector<std::string> channels;
+ switch (n_channels)
+ {
+ case 1:
+ channels.push_back("voltage0"); //Channel 0 I
+ channels.push_back("voltage1"); //Channel 0 Q
+ break;
+ case 2:
+ channels.push_back("voltage0"); //Channel 0 I
+ channels.push_back("voltage1"); //Channel 0 Q
+ channels.push_back("voltage2"); //Channel 1 I
+ channels.push_back("voltage3"); //Channel 1 Q
+ break;
+ default:
+ channels.push_back("voltage0"); //Channel 0 I
+ channels.push_back("voltage1"); //Channel 0 Q
+ }
+
+ receive_samples = true;
+ //start sample capture thread
+ capture_samples_thread = std::thread(&ad936x_iio_custom::capture, this, channels);
+ //start sample overflow detector
+ overflow_monitor_thread = std::thread(&ad936x_iio_custom::monitor_thread_fn, this);
+
+
+ //start PPS and GNSS Time capture thread
+
+ if (ppsmode == true)
+ {
+ capture_time_thread = std::thread(&ad936x_iio_custom::get_PPS_timestamp, this);
+ }
+ return true;
+}
+
+void ad936x_iio_custom::pop_sample_buffer(std::shared_ptr<ad936x_iio_samples> ¤t_buffer)
+{
+ used_buffers.wait_and_pop(current_buffer);
+}
+
+void ad936x_iio_custom::push_sample_buffer(std::shared_ptr<ad936x_iio_samples> ¤t_buffer)
+{
+ free_buffers.push(current_buffer);
+}
+
+void ad936x_iio_custom::capture(const std::vector<std::string> &channels)
+{
+ if (check_device() == false) return;
+
+ struct iio_buffer *rxbuf;
+
+ std::vector<struct iio_channel *> channel_list;
+
+ /* First disable all channels */
+ unsigned int nb_channels;
+ nb_channels = iio_device_get_channels_count(stream_dev);
+ for (unsigned int i = 0; i < nb_channels; i++)
+ {
+ iio_channel_disable(iio_device_get_channel(stream_dev, i));
+ }
+
+ // enable channels
+ if (channels.empty())
+ {
+ for (unsigned int i = 0; i < nb_channels; i++)
+ {
+ struct iio_channel *chn =
+ iio_device_get_channel(stream_dev, i);
+
+ iio_channel_enable(chn);
+ channel_list.push_back(chn);
+ }
+ }
+ else
+ {
+ for (std::vector<std::string>::const_iterator it =
+ channels.begin();
+ it != channels.end(); ++it)
+ {
+ struct iio_channel *chn =
+ iio_device_find_channel(stream_dev,
+ it->c_str(), false);
+ if (!chn)
+ {
+ std::cerr << "Channel " << it->c_str() << " not found\n";
+ return;
+ }
+ else
+ {
+ iio_channel_enable(chn);
+ channel_list.push_back(chn);
+ }
+ }
+ }
+
+ const struct iio_data_format *format = iio_channel_get_data_format(channel_list[0]);
+
+ std::cerr << "Format: length " << format->length
+ << " bits " << format->bits
+ << " shift " << format->shift
+ << " is_signed " << format->is_signed
+ << " is_fully_defined " << format->is_fully_defined
+ << " is_be " << format->is_be
+ << " with_scale " << format->with_scale
+ << " scale " << format->scale
+ << " repeat " << format->repeat << "\n";
+
+ rxbuf = iio_device_create_buffer(stream_dev, IIO_DEFAULTAD936XAPIFIFOSIZE_SAMPLES, false);
+ if (!rxbuf)
+ {
+ std::cout << "Could not create RX buffer. \n";
+ return;
+ }
+
+ std::shared_ptr<ad936x_iio_samples> current_buffer;
+ ad936x_iio_samples *current_samples;
+ unsigned long items_in_buffer;
+ std::cerr << "Enter capture loop...\n";
+ int ret;
+ int bytes_per_channel = static_cast<int>(channels.size()) * 2; //each channel has two items in channels vector (I,Q). Each component has two bytes.
+ while (receive_samples == true)
+ {
+ free_buffers.wait_and_pop(current_buffer);
+ current_samples = current_buffer.get();
+ ret = iio_buffer_refill(rxbuf);
+ if (ret < 0)
+ {
+ /* -EBADF happens when the buffer is cancelled */
+ if (ret != -EBADF)
+ {
+ char err_buf[256];
+ iio_strerror(-ret, err_buf, sizeof(err_buf));
+ std::string error(err_buf);
+
+ std::cerr << "Unable to refill buffer: " << error << std::endl;
+ iio_buffer_destroy(rxbuf);
+ return;
+ }
+ }
+
+ // Demultiplex the samples of a given channel
+ int n_ch = 0;
+ for (auto it = std::begin(channel_list); it != std::end(channel_list); ++it)
+ {
+ current_samples->n_bytes[n_ch] = iio_channel_read_raw(*it, rxbuf, ¤t_samples->buffer[n_ch][0], IIO_MAX_BYTES_PER_CHANNEL);
+ current_samples->n_samples[n_ch] = current_samples->n_bytes[n_ch] / sizeof(short);
+ n_ch++;
+ }
+
+ // old, valid only for one channel
+ //memcpy(¤t_samples->buffer[0], iio_buffer_start(rxbuf), ret);
+
+ if (current_samples->n_bytes[0] == 0) return;
+
+ used_buffers.push(current_buffer);
+ }
+
+ iio_buffer_destroy(rxbuf);
+}
diff --git a/src/algorithms/signal_source/libs/ad936x_iio_custom.h b/src/algorithms/signal_source/libs/ad936x_iio_custom.h
new file mode 100644
index 000000000..f8c1fe718
--- /dev/null
+++ b/src/algorithms/signal_source/libs/ad936x_iio_custom.h
@@ -0,0 +1,144 @@
+/*!
+ * \file ad936x_iio_custom.h
+ * \brief A direct IIO custom front-end driver for the AD936x AD front-end family with special FPGA custom functionalities.
+ * \author Javier Arribas, jarribas(at)cttc.es
+ * -----------------------------------------------------------------------------
+ *
+ * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
+ * This file is part of GNSS-SDR.
+ *
+ * Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
+ * SPDX-License-Identifier: GPL-3.0-or-later
+ *
+ * -----------------------------------------------------------------------------
+ */
+
+
+#ifndef SRC_LIBS_ad936x_iio_custom_H_
+#define SRC_LIBS_ad936x_iio_custom_H_
+
+#include "concurrent_queue.h"
+#include "gnss_time.h"
+#include "pps_samplestamp.h"
+#include <boost/atomic.hpp>
+#include <memory>
+#include <string>
+
+#ifdef __APPLE__
+#include <iio/iio.h>
+#else
+#include <iio.h>
+#endif
+
+#include "ad936x_iio_samples.h"
+#include <ad9361.h> //multichip sync and high level functions
+#include <thread>
+#include <vector>
+
+class ad936x_iio_custom
+{
+public:
+ ad936x_iio_custom(int debug_level_, int log_level_);
+ virtual ~ad936x_iio_custom();
+ bool initialize_device(std::string pluto_device_uri, std::string board_type);
+
+ bool init_config_ad9361_rx(long long bandwidth_,
+ long long sample_rate_,
+ long long freq_,
+ std::string rf_port_select_,
+ std::string rf_filter,
+ std::string gain_mode_rx0_,
+ std::string gain_mode_rx1_,
+ double rf_gain_rx0_,
+ double rf_gain_rx1_,
+ bool enable_ch0,
+ bool enable_ch1,
+ long long freq_2ch);
+
+ bool calibrate(int ch, double bw_hz);
+
+ double get_rx_gain(int ch_num);
+ bool setRXGain(int ch_num, std::string gain_mode, double gain_dB);
+
+ bool set_antenna_port(int ch, int antenna_idx);
+ double get_frequency(int ch);
+ bool set_frequency(int ch, double freq_hz);
+
+ bool start_sample_rx(bool ppsmode);
+ void stop_record();
+
+ void set_gnsstime_queue(std::shared_ptr<Concurrent_Queue<GnssTime>> queue);
+ void set_pps_samplestamp_queue(std::shared_ptr<Concurrent_Queue<PpsSamplestamp>> queue);
+
+ bool get_rx_frequency(long long &freq_hz);
+ bool set_rx_frequency(long long freq_hz);
+ bool read_die_temp(double &temp_c);
+
+ void pop_sample_buffer(std::shared_ptr<ad936x_iio_samples> ¤t_buffer);
+
+ void push_sample_buffer(std::shared_ptr<ad936x_iio_samples> ¤t_buffer);
+
+ int n_channels;
+
+private:
+ std::shared_ptr<Concurrent_Queue<GnssTime>> GnssTime_queue;
+ std::shared_ptr<Concurrent_Queue<PpsSamplestamp>> Pps_queue;
+ bool check_device();
+ bool get_iio_param(iio_device *dev, const std::string ¶m, std::string &value);
+ void configure_params(struct iio_device *phy,
+ const std::vector<std::string> ¶ms);
+ void set_params_rx(struct iio_device *phy_device,
+ unsigned long long frequency,
+ unsigned long samplerate, unsigned long bandwidth,
+ bool quadrature, bool rfdc, bool bbdc,
+ std::string gain1, double gain1_value,
+ std::string gain2, double gain2_value,
+ std::string port_select);
+
+ bool config_ad9361_dds(uint64_t freq_rf_tx_hz_,
+ double tx_attenuation_db_,
+ int64_t freq_dds_tx_hz_,
+ double scale_dds_,
+ double phase_dds_deg_);
+
+ void get_PPS_timestamp();
+ void capture(const std::vector<std::string> &channels);
+
+ bool select_rf_filter(std::string rf_filter);
+
+ void monitor_thread_fn();
+
+ void PlutoTxEnable(bool txon);
+ void setPlutoGpo(int p);
+
+ //Device structure
+ struct iio_context *ctx;
+ struct iio_device *phy;
+ struct iio_device *stream_dev;
+ struct iio_device *dds_dev;
+
+ //stream
+
+ uint64_t sample_rate_sps;
+
+
+ int debug_level;
+ int log_level;
+ bool PPS_mode;
+
+ std::mutex mtx;
+ std::condition_variable cv;
+
+ boost::atomic<bool> receive_samples;
+
+ boost::atomic<bool> fpga_overflow;
+ //using queues of smart pointers to preallocated buffers
+ Concurrent_Queue<std::shared_ptr<ad936x_iio_samples>> free_buffers;
+ Concurrent_Queue<std::shared_ptr<ad936x_iio_samples>> used_buffers;
+
+ std::thread capture_samples_thread;
+ std::thread overflow_monitor_thread;
+ std::thread capture_time_thread;
+};
+
+#endif /* SRC_LIBS_ad936x_iio_custom_H_ */
diff --git a/src/algorithms/signal_source/libs/ad936x_iio_samples.cc b/src/algorithms/signal_source/libs/ad936x_iio_samples.cc
new file mode 100644
index 000000000..7d1ef5681
--- /dev/null
+++ b/src/algorithms/signal_source/libs/ad936x_iio_samples.cc
@@ -0,0 +1,26 @@
+/*!
+ * \file ad936x_iio_samples.cc
+ * \brief A class that holds a custom sample buffer for Analog Devices AD936x family front-ends.
+ * \author Javier Arribas, jarribas(at)cttc.es
+ *
+ * -----------------------------------------------------------------------------
+ *
+ * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
+ * This file is part of GNSS-SDR.
+ *
+ * Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
+ * SPDX-License-Identifier: GPL-3.0-or-later
+ *
+ * -----------------------------------------------------------------------------
+ */
+
+#include "ad936x_iio_samples.h"
+
+ad936x_iio_samples::ad936x_iio_samples()
+{
+ for (int n = 0; n < IIO_MAX_CH; n++)
+ {
+ n_bytes[n] = 0;
+ n_samples[n] = 0;
+ }
+}
diff --git a/src/algorithms/signal_source/libs/ad936x_iio_samples.h b/src/algorithms/signal_source/libs/ad936x_iio_samples.h
new file mode 100644
index 000000000..5e932075c
--- /dev/null
+++ b/src/algorithms/signal_source/libs/ad936x_iio_samples.h
@@ -0,0 +1,41 @@
+/*!
+ * \file ad936x_iio_samples.h
+ * \brief A class that holds a custom sample buffer for Analog Devices AD936x family front-ends.
+ * \author Javier Arribas, jarribas(at)cttc.es
+ *
+ * -----------------------------------------------------------------------------
+ *
+ * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
+ * This file is part of GNSS-SDR.
+ *
+ * Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
+ * SPDX-License-Identifier: GPL-3.0-or-later
+ *
+ * -----------------------------------------------------------------------------
+ */
+
+
+#ifndef SRC_LIBS_ad936x_iio_samples_H_
+#define SRC_LIBS_ad936x_iio_samples_H_
+
+#define IIO_DEFAULTAD936XAPIFIFOSIZE_SAMPLES 32768 * 2
+
+#define IIO_INPUTRAMFIFOSIZE 512
+
+#define IIO_MAX_CH 4
+#define IIO_MAX_BYTES_PER_CHANNEL IIO_DEFAULTAD936XAPIFIFOSIZE_SAMPLES * 2 * 2 //(2-bytes per I + 2-bytes per Q)
+
+#include <memory>
+#include <stdint.h>
+#include <vector>
+
+class ad936x_iio_samples
+{
+public:
+ ad936x_iio_samples();
+ uint32_t n_bytes[IIO_MAX_CH];
+ uint32_t n_samples[IIO_MAX_CH];
+ int16_t buffer[IIO_MAX_CH][IIO_DEFAULTAD936XAPIFIFOSIZE_SAMPLES * 2]; //16 bits I,Q samples buffers
+};
+
+#endif
diff --git a/src/algorithms/signal_source/libs/pps_samplestamp.h b/src/algorithms/signal_source/libs/pps_samplestamp.h
new file mode 100644
index 000000000..cdbc1276f
--- /dev/null
+++ b/src/algorithms/signal_source/libs/pps_samplestamp.h
@@ -0,0 +1,20 @@
+/* -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2022 (see AUTHORS file for a list of contributors)
+ *
+ *
+ */
+
+#ifndef IIOPPS_PPS_SAMPLESTAMP_H
+#define IIOPPS_PPS_SAMPLESTAMP_H
+
+#include <cstdint>
+
+class PpsSamplestamp
+{
+public:
+ uint64_t samplestamp; //PPS rising edge samples counter from the beginning of rx stream opperation. Notice that it is reseted to zero if sample buffer overflow is detected on the FPGA side
+ uint32_t overflow_reg; // >0 indicates overflow situation in the FPGA RX buffer
+};
+
+#endif
diff --git a/src/algorithms/signal_source/libs/ppstcprx.cc b/src/algorithms/signal_source/libs/ppstcprx.cc
new file mode 100644
index 000000000..0a10d8545
--- /dev/null
+++ b/src/algorithms/signal_source/libs/ppstcprx.cc
@@ -0,0 +1,154 @@
+/*
+ * ppstcprx.cc
+ *
+ * Created on: 28 feb 2022
+ * Author: javier
+ */
+
+#include "ppstcprx.h"
+#include <cstring>
+#include <iostream>
+#include <sstream>
+#include <vector>
+
+pps_tcp_rx::pps_tcp_rx()
+{
+ // TODO Auto-generated constructor stub
+ is_connected = false;
+ clientSd = -1;
+}
+
+pps_tcp_rx::~pps_tcp_rx()
+{
+ // TODO Auto-generated destructor stub
+}
+
+void pps_tcp_rx::set_pps_samplestamp_queue(std::shared_ptr<Concurrent_Queue<PpsSamplestamp>> queue)
+{
+ Pps_queue = std::move(queue);
+}
+
+bool pps_tcp_rx::send_cmd(std::string cmd)
+{
+ if (is_connected == true)
+ {
+ // send call sends the data you specify as second param and it's length as 3rd param, also returns how many bytes were actually sent
+ auto bytes_sent = send(clientSd, cmd.data(), cmd.length(), 0);
+ if (bytes_sent <= 0)
+ {
+ std::cerr << "Connection terminated...\n";
+ return false;
+ }
+ else
+ {
+ std::cout << "sent bytes..\n";
+ }
+ }
+ else
+ {
+ return false;
+ }
+ return true;
+}
+void pps_tcp_rx::receive_pps(std::string ip_address, int port)
+{
+ //create a message buffer
+ char buf[1500];
+ //setup a socket and connection tools
+ sockaddr_in sendSockAddr;
+ sendSockAddr.sin_family = AF_INET;
+ sendSockAddr.sin_addr.s_addr =
+ inet_addr(ip_address.c_str());
+ sendSockAddr.sin_port = htons(port);
+ clientSd = socket(AF_INET, SOCK_STREAM, 0);
+ //try to connect...
+ int status = connect(clientSd,
+ (sockaddr *)&sendSockAddr, sizeof(sendSockAddr));
+ if (status < 0)
+ {
+ std::cout << "pps_tcp_rx: Error connecting to PPS TCP server IP " << ip_address << " at port " << port << std::endl;
+ return;
+ }
+ std::string new_pps_line;
+
+ is_connected = true;
+ while (true)
+ {
+ int numBytesRead = recv(clientSd, buf, sizeof(buf), 0);
+ if (numBytesRead > 0)
+ {
+ for (int i = 0; i < numBytesRead; i++)
+ {
+ char c = buf[i];
+ if (c == '\n')
+ {
+ if (new_pps_line.length() > 0)
+ {
+ //std::cout << "pps_tcp_rx debug: " << new_pps_line << "\n";
+ //parse string and push PPS data to the PPS queue
+ std::stringstream ss(new_pps_line);
+ std::vector<std::string> data;
+ while (ss.good())
+ {
+ std::string substr;
+ std::getline(ss, substr, ',');
+ data.push_back(substr);
+ }
+ if (data.size() >= 2)
+ {
+ PpsSamplestamp new_pps;
+ //sample counter
+ std::size_t found = data.at(0).find("sc=");
+ if (found != std::string::npos)
+ {
+ try
+ {
+ new_pps.samplestamp = std::strtoul(data.at(0).substr(found + 3).c_str(), NULL, 0);
+ }
+ catch (const std::exception &ex)
+ {
+ std::cout << "pps_tcp_rx debug: sc parse error str " << data.at(0) << "\n";
+ }
+ }
+ else
+ {
+ std::cout << "pps_tcp_rx debug: sc parse error str " << data.at(0) << "\n";
+ }
+ found = data.at(1).find("o=");
+ if (found != std::string::npos)
+ {
+ try
+ {
+ new_pps.overflow_reg = std::stoi(data.at(1).substr(found + 2).c_str(), NULL, 0);
+ }
+ catch (const std::exception &ex)
+ {
+ std::cout << "pps_tcp_rx debug: o parse error str " << data.at(0) << "\n";
+ }
+ }
+ else
+ {
+ std::cout << "pps_tcp_rx debug: o parse error str " << data.at(1) << "\n";
+ }
+ Pps_queue->push(new_pps);
+ //std::cout << "pps_tcp_rx debug: pps pushed!\n";
+ }
+ else
+ {
+ std::cout << "pps_tcp_rx debug: protocol error!\n";
+ }
+ new_pps_line = "";
+ }
+ }
+ else
+ new_pps_line += c;
+ }
+ }
+ else
+ {
+ std::cout << "pps_tcp_rx: Socket disconnected!\n!";
+ break;
+ }
+ }
+ is_connected = false;
+}
diff --git a/src/algorithms/signal_source/libs/ppstcprx.h b/src/algorithms/signal_source/libs/ppstcprx.h
new file mode 100644
index 000000000..37c8de92f
--- /dev/null
+++ b/src/algorithms/signal_source/libs/ppstcprx.h
@@ -0,0 +1,34 @@
+/*
+ * ppstcprx.h
+ *
+ * Created on: 28 feb 2022
+ * Author: javier
+ */
+
+#ifndef SRC_LIBS_PPSTCPRX_H_
+#define SRC_LIBS_PPSTCPRX_H_
+#include "concurrent_queue.h"
+#include "pps_samplestamp.h"
+#include <arpa/inet.h>
+#include <netinet/in.h>
+#include <string>
+#include <sys/socket.h>
+#include <sys/types.h>
+class pps_tcp_rx
+{
+private:
+ std::shared_ptr<Concurrent_Queue<PpsSamplestamp>> Pps_queue;
+ int clientSd;
+
+public:
+ volatile bool is_connected;
+ pps_tcp_rx();
+ virtual ~pps_tcp_rx();
+
+ void receive_pps(std::string ip_address, int port);
+ bool send_cmd(std::string cmd);
+
+ void set_pps_samplestamp_queue(std::shared_ptr<Concurrent_Queue<PpsSamplestamp>> queue);
+};
+
+#endif /* SRC_LIBS_PPSTCPRX_H_ */
diff --git a/src/core/receiver/concurrent_queue.h b/src/core/receiver/concurrent_queue.h
index fc5c97053..ac7be0f17 100644
--- a/src/core/receiver/concurrent_queue.h
+++ b/src/core/receiver/concurrent_queue.h
@@ -55,6 +55,18 @@ public:
return the_queue.empty();
}
+ size_t size() const
+ {
+ std::unique_lock<std::mutex> lock(the_mutex);
+ return the_queue.size();
+ }
+
+ void clear()
+ {
+ std::unique_lock<std::mutex> lock(the_mutex);
+ the_queue = std::queue<Data>();
+ }
+
bool try_pop(Data& popped_value)
{
std::unique_lock<std::mutex> lock(the_mutex);
diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc
index adba9c0df..d7bd03b97 100644
--- a/src/core/receiver/gnss_block_factory.cc
+++ b/src/core/receiver/gnss_block_factory.cc
@@ -153,6 +153,7 @@
#endif
#if PLUTOSDR_DRIVER
+#include "ad936x_custom_signal_source.h"
#include "plutosdr_signal_source.h"
#endif
@@ -775,6 +776,12 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
out_streams, queue);
block = std::move(block_);
}
+ else if (implementation == "Ad936x_Custom_Signal_Source")
+ {
+ std::unique_ptr<GNSSBlockInterface> block_ = std::make_unique<Ad936xCustomSignalSource>(configuration, role, in_streams,
+ out_streams, queue);
+ block = std::move(block_);
+ }
#endif
#if FMCOMMS2_DRIVER
From 0c5d38145f21beecc1938df95f1e41239ca596c0 Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Tue, 30 Aug 2022 15:28:18 +0200
Subject: [PATCH 17/31] Adding extra control for the AD936x custom source
external mixer
---
.../adapters/ad936x_custom_signal_source.cc | 55 ++++++---
.../adapters/ad936x_custom_signal_source.h | 10 +-
.../gnuradio_blocks/ad936x_iio_source.cc | 20 +++-
.../gnuradio_blocks/ad936x_iio_source.h | 12 +-
.../signal_source/libs/ad936x_iio_custom.cc | 108 +++++++++++-------
.../signal_source/libs/ad936x_iio_custom.h | 4 +-
6 files changed, 138 insertions(+), 71 deletions(-)
diff --git a/src/algorithms/signal_source/adapters/ad936x_custom_signal_source.cc b/src/algorithms/signal_source/adapters/ad936x_custom_signal_source.cc
index a999d1025..5229405dd 100644
--- a/src/algorithms/signal_source/adapters/ad936x_custom_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/ad936x_custom_signal_source.cc
@@ -56,12 +56,13 @@ Ad936xCustomSignalSource::Ad936xCustomSignalSource(const ConfigurationInterface*
PPS_mode_(configuration->property(role + ".PPS_mode", false)),
fe_ip_(configuration->property(role + ".fe_ip", std::string("192.168.2.1"))),
fe_ctlport_(configuration->property(role + ".fe_ctlport", int32_t(10000))),
- ssize_(configuration->property(role + ".ssize", int32_t(16))),
+ ssize_(configuration->property(role + ".ssize", int32_t(12))),
bshift_(configuration->property(role + ".bshift", int64_t(0))),
spattern_(configuration->property(role + ".spattern", false)),
inverted_spectrum_ch0_(configuration->property(role + ".inverted_spectrum_ch0", false)),
- inverted_spectrum_ch1_(configuration->property(role + ".inverted_spectrum_ch1", false))
-
+ inverted_spectrum_ch1_(configuration->property(role + ".inverted_spectrum_ch1", false)),
+ lo_attenuation_db_(configuration->property(role + ".lo_attenuation_db", 6.0)),
+ high_side_lo_(configuration->property(role + ".high_side_lo", false))
{
if (item_type_ == "gr_complex")
@@ -69,7 +70,11 @@ Ad936xCustomSignalSource::Ad936xCustomSignalSource(const ConfigurationInterface*
item_size_ = sizeof(gr_complex);
// 1. Make the driver instance
bool customsamplesize = false;
- if (ssize_ != 16 or spattern_ == true) customsamplesize = true;
+ if (ssize_ != 12 or spattern_ == true) customsamplesize = true; // custom FPGA DMA firmware
+ if (ssize_ == 12) // default original FPGA DMA firmware
+ {
+ ssize_ = 16; // set to 16 bits and do not try to change sample size
+ }
ad936x_iio_source = ad936x_iio_make_source_sptr(
pluto_uri_,
@@ -92,7 +97,9 @@ Ad936xCustomSignalSource::Ad936xCustomSignalSource(const ConfigurationInterface*
fe_ctlport_,
ssize_,
bshift_,
- spattern_);
+ spattern_,
+ lo_attenuation_db_,
+ high_side_lo_);
n_channels = 1;
if (enable_ch0 == true and enable_ch1 == true)
@@ -100,26 +107,34 @@ Ad936xCustomSignalSource::Ad936xCustomSignalSource(const ConfigurationInterface*
n_channels = 2;
}
+
+ for (int n = 0; n < n_channels; n++)
+ {
+ if (n == 0) inverted_spectrum_vec.push_back(inverted_spectrum_ch0_);
+ if (n == 1) inverted_spectrum_vec.push_back(inverted_spectrum_ch1_);
+ }
+
for (int n = 0; n < n_channels; n++)
{
if (ssize_ == 16)
{
- gr_interleaved_short_to_complex_.push_back(gr::blocks::interleaved_short_to_complex::make());
+ gr_interleaved_short_to_complex_.push_back(gr::blocks::interleaved_short_to_complex::make(false, inverted_spectrum_vec.at(n)));
}
else if (ssize_ == 8)
{
- gr_interleaved_char_to_complex_.push_back(gr::blocks::interleaved_char_to_complex::make());
unpack_short_byte.push_back(make_unpack_short_byte_samples());
+ gr_char_to_short_.push_back(gr::blocks::char_to_short::make());
+ gr_interleaved_short_to_complex_.push_back(gr::blocks::interleaved_short_to_complex::make(false, inverted_spectrum_vec.at(n)));
}
else if (ssize_ == 4)
{
- gr_interleaved_short_to_complex_.push_back(gr::blocks::interleaved_short_to_complex::make(false, false));
+ gr_interleaved_short_to_complex_.push_back(gr::blocks::interleaved_short_to_complex::make(false, inverted_spectrum_vec.at(n)));
unpack_byte_fourbits.push_back(make_unpack_byte_4bit_samples());
unpack_short_byte.push_back(make_unpack_short_byte_samples());
}
else if (ssize_ == 2)
{
- gr_interleaved_short_to_complex_.push_back(gr::blocks::interleaved_short_to_complex::make(false, false));
+ gr_interleaved_short_to_complex_.push_back(gr::blocks::interleaved_short_to_complex::make(false, inverted_spectrum_vec.at(n)));
unpack_byte_twobits.push_back(make_unpack_byte_2bit_cpx_samples());
unpack_short_byte.push_back(make_unpack_short_byte_samples());
}
@@ -169,11 +184,12 @@ void Ad936xCustomSignalSource::connect(gr::top_block_sptr top_block)
else if (ssize_ == 8)
{
top_block->connect(ad936x_iio_source, n, unpack_short_byte.at(n), 0);
- top_block->connect(unpack_short_byte.at(n), 0, gr_interleaved_char_to_complex_.at(n), 0);
- DLOG(INFO) << "connected ad936x_iio_source source to gr_interleaved_char_to_complex_ for channel " << n;
+ top_block->connect(unpack_short_byte.at(n), 0, gr_char_to_short_.at(n), 0);
+ top_block->connect(gr_char_to_short_.at(n), 0, gr_interleaved_short_to_complex_.at(n), 0);
+ DLOG(INFO) << "connected ad936x_iio_source source to gr_interleaved_short_to_complex_ for channel " << n;
if (dump_)
{
- top_block->connect(gr_interleaved_char_to_complex_.at(n), 0, sink_.at(n), 0);
+ top_block->connect(gr_interleaved_short_to_complex_.at(n), 0, sink_.at(n), 0);
DLOG(INFO) << "connected source to file sink";
}
}
@@ -231,13 +247,14 @@ void Ad936xCustomSignalSource::disconnect(gr::top_block_sptr top_block)
}
else if (ssize_ == 8)
{
- top_block->connect(ad936x_iio_source, n, unpack_short_byte.at(n), 0);
- top_block->connect(unpack_short_byte.at(n), 0, unpack_byte_fourbits.at(n), 0);
- DLOG(INFO) << "disconnect ad936x_iio_source source to gr_interleaved_char_to_complex_ for channel " << n;
+ top_block->disconnect(ad936x_iio_source, n, unpack_short_byte.at(n), 0);
+ top_block->disconnect(unpack_short_byte.at(n), 0, gr_char_to_short_.at(n), 0);
+ top_block->disconnect(gr_char_to_short_.at(n), 0, gr_interleaved_short_to_complex_.at(n), 0);
+ DLOG(INFO) << "disconnect ad936x_iio_source source to gr_interleaved_short_to_complex_ for channel " << n;
if (dump_)
{
- top_block->disconnect(gr_interleaved_char_to_complex_.at(n), 0, sink_.at(n), 0);
- DLOG(INFO) << "disconnect source to file sink";
+ top_block->disconnect(gr_interleaved_short_to_complex_.at(n), 0, sink_.at(n), 0);
+ DLOG(INFO) << "connected source to file sink";
}
}
else if (ssize_ == 4)
@@ -293,7 +310,7 @@ gr::basic_block_sptr Ad936xCustomSignalSource::get_right_block()
}
else if (ssize_ == 8)
{
- return gr_interleaved_char_to_complex_.at(0);
+ return gr_interleaved_short_to_complex_.at(0);
}
else if (ssize_ == 4)
{
@@ -317,7 +334,7 @@ gr::basic_block_sptr Ad936xCustomSignalSource::get_right_block(int RF_channel)
}
else if (ssize_ == 8)
{
- return gr_interleaved_char_to_complex_.at(RF_channel);
+ return gr_interleaved_short_to_complex_.at(RF_channel);
}
else if (ssize_ == 4)
{
diff --git a/src/algorithms/signal_source/adapters/ad936x_custom_signal_source.h b/src/algorithms/signal_source/adapters/ad936x_custom_signal_source.h
index 88bba68ef..11c5823a0 100644
--- a/src/algorithms/signal_source/adapters/ad936x_custom_signal_source.h
+++ b/src/algorithms/signal_source/adapters/ad936x_custom_signal_source.h
@@ -24,8 +24,9 @@
#include "unpack_byte_2bit_cpx_samples.h"
#include "unpack_byte_4bit_samples.h"
#include "unpack_short_byte_samples.h"
+#include <gnuradio/blocks/char_to_short.h>
#include <gnuradio/blocks/file_sink.h>
-#include <gnuradio/blocks/interleaved_char_to_complex.h>
+// #include <gnuradio/blocks/interleaved_char_to_complex.h>
#include <gnuradio/blocks/interleaved_short_to_complex.h>
#include <pmt/pmt.h>
#include <cstdint>
@@ -73,8 +74,9 @@ private:
std::vector<gr::blocks::file_sink::sptr> sink_;
std::vector<std::string> filename_vec_;
+ std::vector<gr::blocks::char_to_short::sptr> gr_char_to_short_;
std::vector<gr::blocks::interleaved_short_to_complex::sptr> gr_interleaved_short_to_complex_;
- std::vector<gr::blocks::interleaved_char_to_complex::sptr> gr_interleaved_char_to_complex_;
+ // std::vector<gr::blocks::interleaved_char_to_complex::sptr> gr_interleaved_char_to_complex_;
std::vector<unpack_short_byte_samples_sptr> unpack_short_byte;
std::vector<unpack_byte_4bit_samples_sptr> unpack_byte_fourbits;
std::vector<unpack_byte_2bit_cpx_samples_sptr> unpack_byte_twobits;
@@ -109,8 +111,10 @@ private:
bool spattern_;
bool inverted_spectrum_ch0_;
bool inverted_spectrum_ch1_;
+ double lo_attenuation_db_;
+ bool high_side_lo_;
-
+ std::vector<bool> inverted_spectrum_vec;
int n_channels;
};
diff --git a/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.cc b/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.cc
index 77ebd64bc..a54a5a966 100644
--- a/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.cc
+++ b/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.cc
@@ -53,7 +53,9 @@ ad936x_iio_source_sptr ad936x_iio_make_source_sptr(
int fe_ctlport_,
int ssize_,
int bshift_,
- bool spattern_)
+ bool spattern_,
+ double lo_attenuation_db_,
+ bool high_side_lo_)
{
return ad936x_iio_source_sptr(new ad936x_iio_source(
pluto_uri_,
@@ -76,7 +78,9 @@ ad936x_iio_source_sptr ad936x_iio_make_source_sptr(
fe_ctlport_,
ssize_,
bshift_,
- spattern_));
+ spattern_,
+ lo_attenuation_db_,
+ high_side_lo_));
}
void ad936x_iio_source::ad9361_channel_demux_and_record(ad936x_iio_samples *samples_in, int nchannels, std::vector<std::fstream> *files_out)
@@ -116,9 +120,11 @@ ad936x_iio_source::ad936x_iio_source(
int fe_ctlport_,
int ssize_,
int bshift_,
- bool spattern_) : gr::block("ad936x_iio_source",
- gr::io_signature::make(0, 0, 0),
- gr::io_signature::make(1, 4, sizeof(int16_t)))
+ bool spattern_,
+ double lo_attenuation_db_,
+ bool high_side_lo_) : gr::block("ad936x_iio_source",
+ gr::io_signature::make(0, 0, 0),
+ gr::io_signature::make(1, 4, sizeof(int16_t)))
{
ad936x_custom = std::make_unique<ad936x_iio_custom>(0, 0);
try
@@ -137,7 +143,9 @@ ad936x_iio_source::ad936x_iio_source(
rf_gain_rx1_,
enable_ch0,
enable_ch1,
- freq_2ch) == true)
+ freq_2ch,
+ lo_attenuation_db_,
+ high_side_lo_) == true)
{
std::cout << "ad936x_iio_source HW configured OK!\n";
diff --git a/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.h b/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.h
index 7285ce15b..f3856b3d6 100644
--- a/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.h
+++ b/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.h
@@ -64,7 +64,9 @@ ad936x_iio_source_sptr ad936x_iio_make_source_sptr(
int fe_ctlport_,
int ssize_,
int bshift_,
- bool spattern_);
+ bool spattern_,
+ double lo_attenuation_db_,
+ bool high_side_lo_);
/*!
* \brief This class implements conversion between Labsat 2, 3 and 3 Wideband
@@ -107,7 +109,9 @@ private:
int fe_ctlport_,
int ssize_,
int bshift_,
- bool spattern_);
+ bool spattern_,
+ double lo_attenuation_db_,
+ bool high_side_lo_);
ad936x_iio_source(
std::string pluto_uri_,
@@ -130,7 +134,9 @@ private:
int fe_ctlport_,
int ssize_,
int bshift_,
- bool spattern_);
+ bool spattern_,
+ double lo_attenuation_db_,
+ bool high_side_lo_);
void ad9361_channel_demux_to_buffer(ad936x_iio_samples *samples_in, int nchannels, gr_vector_void_star &output_items);
diff --git a/src/algorithms/signal_source/libs/ad936x_iio_custom.cc b/src/algorithms/signal_source/libs/ad936x_iio_custom.cc
index 92be896c4..3357a59d6 100644
--- a/src/algorithms/signal_source/libs/ad936x_iio_custom.cc
+++ b/src/algorithms/signal_source/libs/ad936x_iio_custom.cc
@@ -410,7 +410,9 @@ bool ad936x_iio_custom::init_config_ad9361_rx(long long bandwidth_,
double rf_gain_rx1_,
bool enable_ch0,
bool enable_ch1,
- long long freq_2ch)
+ long long freq_2ch,
+ double lo_attenuation_db_,
+ bool high_side_lo_)
{
if (check_device() == false) return false;
@@ -510,17 +512,32 @@ bool ad936x_iio_custom::init_config_ad9361_rx(long long bandwidth_,
if (enable_ch1 == true and enable_ch0 == true and freq_ != freq_2ch)
{
std::cout << "Two channels enabled with different frequencies, enabling the external RF transverter board:\n";
- long long int delta_freq_hz = freq_2ch - freq_;
- if (delta_freq_hz < 0)
+ long long int lo_freq_hz = 0;
+ if (high_side_lo_ == false)
{
- std::cout << "Configuration problem: 2nd channel frequency is " << freq_2ch << " [Hz], must be higher than main channel (" << freq_ << " [Hz])\n";
- return false;
+ std::cout << "Using LOW SIDE Local Oscillator (F_RF > F_LO)\n";
+ lo_freq_hz = freq_2ch - freq_;
+ if (lo_freq_hz < 0)
+ {
+ std::cout << "Configuration problem: 2nd channel frequency is " << freq_2ch << " [Hz], must be higher than main channel (" << freq_ << " [Hz])\n";
+ return false;
+ }
+ }
+ else
+ {
+ std::cout << "Using HIGH SIDE Local Oscillator (F_RF < F_LO), consider baseband spectrum inversion.\n";
+ lo_freq_hz = freq_2ch + freq_;
+ if (lo_freq_hz < 0)
+ {
+ std::cout << "Configuration problem: 2nd channel frequency is " << freq_2ch << " [Hz], must be higher than main channel (" << freq_ << " [Hz])\n";
+ return false;
+ }
}
- std::cout << "Configuring DDS Local Oscillator generation. LO Freq. is " << delta_freq_hz << " [Hz]\n";
+ std::cout << "Configuring DDS Local Oscillator generation. LO Freq. is " << lo_freq_hz << " [Hz]\n";
PlutoTxEnable(true);
- config_ad9361_dds(delta_freq_hz,
- 0,
+ config_ad9361_dds(lo_freq_hz,
+ lo_attenuation_db_,
0,
0.9,
0,
@@ -532,6 +549,30 @@ bool ad936x_iio_custom::init_config_ad9361_rx(long long bandwidth_,
PlutoTxEnable(false); //power down the TX LO to reduce interferences
}
+
+ int set_filter_ret = ad9361_set_bb_rate_custom_filter_auto(phy, sample_rate_sps);
+ if (set_filter_ret != 0)
+ {
+ std::cout << "Warning: Unable to set AD936x RX filter parameters!\n";
+ }
+
+ //testing: set manual RX filter chain
+ // unsigned long RX_analog_bb_lpf_stop_hz = 1000000;
+ // unsigned long TX_analog_bb_lpf_stop_hz = 1000000;
+ //
+ // unsigned long FIR_lpf_passband_hz = 1000000;
+ // unsigned long FIR_lpf_stopband_hz = 1200000;
+ // int set_filter_ret = ad9361_set_bb_rate_custom_filter_manual(phy,
+ // sample_rate_sps,
+ // FIR_lpf_passband_hz,
+ // FIR_lpf_stopband_hz,
+ // RX_analog_bb_lpf_stop_hz,
+ // TX_analog_bb_lpf_stop_hz);
+ // if (set_filter_ret != 0)
+ // {
+ // std::cout << "Warning: Unable to set AD936x RX filter parameters!\n";
+ // }
+
if (enable_ch0 == true)
{
n_channels++;
@@ -555,12 +596,12 @@ bool ad936x_iio_custom::init_config_ad9361_rx(long long bandwidth_,
no_errors = false;
}
- ret = iio_channel_attr_write_longlong(phy_ch, "rf_bandwidth", bandwidth_);
- if (ret < 0)
- {
- std::cerr << "Warning: rf_bandwidth write returned: " << ret << "\n";
- no_errors = false;
- }
+ // ret = iio_channel_attr_write_longlong(phy_ch, "rf_bandwidth", bandwidth_);
+ // if (ret < 0)
+ // {
+ // std::cerr << "Warning: rf_bandwidth write returned: " << ret << "\n";
+ // no_errors = false;
+ // }
long long set_rf_bw;
ret = iio_channel_attr_read_longlong(phy_ch, "rf_bandwidth", &set_rf_bw);
@@ -605,12 +646,24 @@ bool ad936x_iio_custom::init_config_ad9361_rx(long long bandwidth_,
no_errors = false;
}
- ret = iio_channel_attr_write_longlong(phy_ch, "rf_bandwidth", bandwidth_);
+ // ret = iio_channel_attr_write_longlong(phy_ch, "rf_bandwidth", bandwidth_);
+ // if (ret < 0)
+ // {
+ // std::cerr << "Warning: rf_bandwidth write returned: " << ret << "\n";
+ // no_errors = false;
+ // }
+
+ long long set_rf_bw;
+ ret = iio_channel_attr_read_longlong(phy_ch, "rf_bandwidth", &set_rf_bw);
if (ret < 0)
{
- std::cerr << "Warning: rf_bandwidth write returned: " << ret << "\n";
+ std::cerr << "Warning: rf_bandwidth read returned: " << ret << "\n";
no_errors = false;
}
+ else
+ {
+ std::cerr << "Info: rf_bandwidth read returned: " << set_rf_bw << " Hz \n";
+ }
if (setRXGain(1, gain_mode_rx1_, rf_gain_rx1_) == false)
{
@@ -619,29 +672,6 @@ bool ad936x_iio_custom::init_config_ad9361_rx(long long bandwidth_,
}
}
- int set_filter_ret = ad9361_set_bb_rate_custom_filter_auto(phy, sample_rate_sps);
- if (set_filter_ret != 0)
- {
- std::cout << "Warning: Unable to set AD936x RX filter parameters!\n";
- }
-
- //testing: set manual RX filter chain
- // unsigned long RX_analog_bb_lpf_stop_hz = 1000000;
- // unsigned long TX_analog_bb_lpf_stop_hz = 1000000;
- //
- // unsigned long FIR_lpf_passband_hz = 1000000;
- // unsigned long FIR_lpf_stopband_hz = 1200000;
- // int set_filter_ret = ad9361_set_bb_rate_custom_filter_manual(phy,
- // sample_rate_sps,
- // FIR_lpf_passband_hz,
- // FIR_lpf_stopband_hz,
- // RX_analog_bb_lpf_stop_hz,
- // TX_analog_bb_lpf_stop_hz);
- // if (set_filter_ret != 0)
- // {
- // std::cout << "Warning: Unable to set AD936x RX filter parameters!\n";
- // }
-
std::cout << "AD936x Front-end configuration summary: \n";
std::cout << "RF frequency tunned in AD936x: " << freq_ << " [Hz]\n";
std::cout << "Baseband sampling frequency: " << sample_rate_sps << " [SPS]\n";
diff --git a/src/algorithms/signal_source/libs/ad936x_iio_custom.h b/src/algorithms/signal_source/libs/ad936x_iio_custom.h
index 4d95fb340..cbf5e65e7 100644
--- a/src/algorithms/signal_source/libs/ad936x_iio_custom.h
+++ b/src/algorithms/signal_source/libs/ad936x_iio_custom.h
@@ -53,7 +53,9 @@ public:
double rf_gain_rx1_,
bool enable_ch0,
bool enable_ch1,
- long long freq_2ch);
+ long long freq_2ch,
+ double lo_attenuation_db_,
+ bool high_side_lo_);
bool calibrate(int ch, double bw_hz);
From db2addd9bc4e5433b20dcd560e1efc8ccdad29a5 Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Tue, 30 Aug 2022 16:50:38 +0200
Subject: [PATCH 18/31] AD936x custom source switch from custom to default
baseband filters
---
.../signal_source/libs/ad936x_iio_custom.cc | 11 ++++++++---
1 file changed, 8 insertions(+), 3 deletions(-)
diff --git a/src/algorithms/signal_source/libs/ad936x_iio_custom.cc b/src/algorithms/signal_source/libs/ad936x_iio_custom.cc
index 3357a59d6..705180ef7 100644
--- a/src/algorithms/signal_source/libs/ad936x_iio_custom.cc
+++ b/src/algorithms/signal_source/libs/ad936x_iio_custom.cc
@@ -549,13 +549,18 @@ bool ad936x_iio_custom::init_config_ad9361_rx(long long bandwidth_,
PlutoTxEnable(false); //power down the TX LO to reduce interferences
}
-
- int set_filter_ret = ad9361_set_bb_rate_custom_filter_auto(phy, sample_rate_sps);
+ int set_filter_ret = ad9361_set_bb_rate(phy, sample_rate_sps);
if (set_filter_ret != 0)
{
- std::cout << "Warning: Unable to set AD936x RX filter parameters!\n";
+ std::cout << "Warning: Unable to set AD936x ad9361_set_bb_rate parameters!\n";
}
+ // int set_filter_ret = ad9361_set_bb_rate_custom_filter_auto(phy, sample_rate_sps);
+ // if (set_filter_ret != 0)
+ // {
+ // std::cout << "Warning: Unable to set AD936x RX filter parameters!\n";
+ // }
+
//testing: set manual RX filter chain
// unsigned long RX_analog_bb_lpf_stop_hz = 1000000;
// unsigned long TX_analog_bb_lpf_stop_hz = 1000000;
From dd1ce7893c0da4835be653ec6c8e5b3c2d7e41b7 Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Tue, 13 Sep 2022 17:34:23 +0200
Subject: [PATCH 19/31] Adding ad936x custom source optional interchannel delay
compensation
---
.../adapters/ad936x_custom_signal_source.cc | 297 +++++++++++++++---
.../adapters/ad936x_custom_signal_source.h | 6 +
.../gnuradio_blocks/ad936x_iio_source.cc | 12 +-
.../gnuradio_blocks/ad936x_iio_source.h | 9 +-
.../signal_source/libs/ad936x_iio_custom.cc | 88 +++---
.../signal_source/libs/ad936x_iio_custom.h | 4 +-
6 files changed, 314 insertions(+), 102 deletions(-)
diff --git a/src/algorithms/signal_source/adapters/ad936x_custom_signal_source.cc b/src/algorithms/signal_source/adapters/ad936x_custom_signal_source.cc
index 5229405dd..067bf0e3d 100644
--- a/src/algorithms/signal_source/adapters/ad936x_custom_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/ad936x_custom_signal_source.cc
@@ -62,7 +62,10 @@ Ad936xCustomSignalSource::Ad936xCustomSignalSource(const ConfigurationInterface*
inverted_spectrum_ch0_(configuration->property(role + ".inverted_spectrum_ch0", false)),
inverted_spectrum_ch1_(configuration->property(role + ".inverted_spectrum_ch1", false)),
lo_attenuation_db_(configuration->property(role + ".lo_attenuation_db", 6.0)),
- high_side_lo_(configuration->property(role + ".high_side_lo", false))
+ high_side_lo_(configuration->property(role + ".high_side_lo", false)),
+ tx_lo_channel_(configuration->property(role + ".tx_lo_channel", 1)),
+ rx0_to_rx1_delay_ns_(configuration->property(role + ".rx0_to_rx1_delay_ns", 0.0))
+
{
if (item_type_ == "gr_complex")
@@ -99,7 +102,8 @@ Ad936xCustomSignalSource::Ad936xCustomSignalSource(const ConfigurationInterface*
bshift_,
spattern_,
lo_attenuation_db_,
- high_side_lo_);
+ high_side_lo_,
+ tx_lo_channel_);
n_channels = 1;
if (enable_ch0 == true and enable_ch1 == true)
@@ -107,6 +111,42 @@ Ad936xCustomSignalSource::Ad936xCustomSignalSource(const ConfigurationInterface*
n_channels = 2;
}
+ int delay_samples = 0;
+ if (n_channels == 2 and rx0_to_rx1_delay_ns_ != 0.0)
+ {
+ double ts = 1.0 / static_cast<double>(sample_rate_);
+ delay_samples = std::round(ts * rx0_to_rx1_delay_ns_ * 1e-9);
+ if (delay_samples != 0)
+ {
+ delay_enabled = true;
+ if (delay_samples > 0)
+ {
+ apply_delay_on_rx0 = true;
+ LOG(INFO) << " Instantiating delay of rx0 equal to " << delay_samples << " samples.";
+ }
+ else
+ {
+ // delay applied to rx1 instead.
+ apply_delay_on_rx0 = false;
+ delay_samples = -delay_samples;
+ LOG(INFO) << " Instantiating delay of rx1 equal to " << delay_samples << " samples.";
+ }
+ }
+ else
+ {
+ LOG(INFO) << " Specified rx0_to_rx1 delay is smaller than the front-end sample period.";
+ }
+ }
+ else
+ {
+ apply_delay_on_rx0 = false;
+ delay_enabled = false;
+ }
+
+ if (delay_enabled == true)
+ {
+ gr_delay = gr::blocks::delay::make(sizeof(gr_complex), delay_samples);
+ }
for (int n = 0; n < n_channels; n++)
{
@@ -175,10 +215,44 @@ void Ad936xCustomSignalSource::connect(gr::top_block_sptr top_block)
{
top_block->connect(ad936x_iio_source, n, gr_interleaved_short_to_complex_.at(n), 0);
DLOG(INFO) << "connected ad936x_iio_source source to gr_interleaved_short_to_complex for channel " << n;
- if (dump_)
+ if (delay_enabled == true)
{
- top_block->connect(gr_interleaved_short_to_complex_.at(n), 0, sink_.at(n), 0);
- DLOG(INFO) << "connected source to file sink";
+ if (n == 0 and apply_delay_on_rx0 == true)
+ {
+ top_block->connect(gr_interleaved_short_to_complex_.at(n), 0, gr_delay, 0);
+ DLOG(INFO) << "connected gr_interleaved_short_to_complex to gr_delay for channel " << n;
+ if (dump_)
+ {
+ top_block->connect(gr_delay, 0, sink_.at(n), 0);
+ DLOG(INFO) << "connected delayed source to file sink";
+ }
+ }
+ else if (n == 1 and apply_delay_on_rx0 == false)
+ {
+ top_block->connect(gr_interleaved_short_to_complex_.at(n), 0, gr_delay, 0);
+ DLOG(INFO) << "connected gr_interleaved_short_to_complex to gr_delay for channel " << n;
+ if (dump_)
+ {
+ top_block->connect(gr_delay, 0, sink_.at(n), 0);
+ DLOG(INFO) << "connected delayed source to file sink";
+ }
+ }
+ else
+ {
+ if (dump_)
+ {
+ top_block->connect(gr_interleaved_short_to_complex_.at(n), 0, sink_.at(n), 0);
+ DLOG(INFO) << "connected source to file sink";
+ }
+ }
+ }
+ else
+ {
+ if (dump_)
+ {
+ top_block->connect(gr_interleaved_short_to_complex_.at(n), 0, sink_.at(n), 0);
+ DLOG(INFO) << "connected source to file sink";
+ }
}
}
else if (ssize_ == 8)
@@ -186,11 +260,44 @@ void Ad936xCustomSignalSource::connect(gr::top_block_sptr top_block)
top_block->connect(ad936x_iio_source, n, unpack_short_byte.at(n), 0);
top_block->connect(unpack_short_byte.at(n), 0, gr_char_to_short_.at(n), 0);
top_block->connect(gr_char_to_short_.at(n), 0, gr_interleaved_short_to_complex_.at(n), 0);
- DLOG(INFO) << "connected ad936x_iio_source source to gr_interleaved_short_to_complex_ for channel " << n;
- if (dump_)
+ if (delay_enabled == true)
{
- top_block->connect(gr_interleaved_short_to_complex_.at(n), 0, sink_.at(n), 0);
- DLOG(INFO) << "connected source to file sink";
+ if (n == 0 and apply_delay_on_rx0 == true)
+ {
+ top_block->connect(gr_interleaved_short_to_complex_.at(n), 0, gr_delay, 0);
+ DLOG(INFO) << "connected gr_interleaved_short_to_complex to gr_delay for channel " << n;
+ if (dump_)
+ {
+ top_block->connect(gr_delay, 0, sink_.at(n), 0);
+ DLOG(INFO) << "connected delayed source to file sink";
+ }
+ }
+ else if (n == 1 and apply_delay_on_rx0 == false)
+ {
+ top_block->connect(gr_interleaved_short_to_complex_.at(n), 0, gr_delay, 0);
+ DLOG(INFO) << "connected gr_interleaved_short_to_complex to gr_delay for channel " << n;
+ if (dump_)
+ {
+ top_block->connect(gr_delay, 0, sink_.at(n), 0);
+ DLOG(INFO) << "connected delayed source to file sink";
+ }
+ }
+ else
+ {
+ if (dump_)
+ {
+ top_block->connect(gr_interleaved_short_to_complex_.at(n), 0, sink_.at(n), 0);
+ DLOG(INFO) << "connected source to file sink";
+ }
+ }
+ }
+ else
+ {
+ if (dump_)
+ {
+ top_block->connect(gr_interleaved_short_to_complex_.at(n), 0, sink_.at(n), 0);
+ DLOG(INFO) << "connected source to file sink";
+ }
}
}
else if (ssize_ == 4)
@@ -199,10 +306,45 @@ void Ad936xCustomSignalSource::connect(gr::top_block_sptr top_block)
top_block->connect(unpack_short_byte.at(n), 0, unpack_byte_fourbits.at(n), 0);
top_block->connect(unpack_byte_fourbits.at(n), 0, gr_interleaved_short_to_complex_.at(n), 0);
DLOG(INFO) << "connected ad936x_iio_source source to unpack_byte_fourbits for channel " << n;
- if (dump_)
+
+ if (delay_enabled == true)
{
- top_block->connect(gr_interleaved_short_to_complex_.at(n), 0, sink_.at(n), 0);
- DLOG(INFO) << "connected source to file sink";
+ if (n == 0 and apply_delay_on_rx0 == true)
+ {
+ top_block->connect(gr_interleaved_short_to_complex_.at(n), 0, gr_delay, 0);
+ DLOG(INFO) << "connected gr_interleaved_short_to_complex to gr_delay for channel " << n;
+ if (dump_)
+ {
+ top_block->connect(gr_delay, 0, sink_.at(n), 0);
+ DLOG(INFO) << "connected delayed source to file sink";
+ }
+ }
+ else if (n == 1 and apply_delay_on_rx0 == false)
+ {
+ top_block->connect(gr_interleaved_short_to_complex_.at(n), 0, gr_delay, 0);
+ DLOG(INFO) << "connected gr_interleaved_short_to_complex to gr_delay for channel " << n;
+ if (dump_)
+ {
+ top_block->connect(gr_delay, 0, sink_.at(n), 0);
+ DLOG(INFO) << "connected delayed source to file sink";
+ }
+ }
+ else
+ {
+ if (dump_)
+ {
+ top_block->connect(gr_interleaved_short_to_complex_.at(n), 0, sink_.at(n), 0);
+ DLOG(INFO) << "connected source to file sink";
+ }
+ }
+ }
+ else
+ {
+ if (dump_)
+ {
+ top_block->connect(gr_interleaved_short_to_complex_.at(n), 0, sink_.at(n), 0);
+ DLOG(INFO) << "connected source to file sink";
+ }
}
}
else if (ssize_ == 2)
@@ -211,20 +353,91 @@ void Ad936xCustomSignalSource::connect(gr::top_block_sptr top_block)
top_block->connect(unpack_short_byte.at(n), 0, unpack_byte_twobits.at(n), 0);
top_block->connect(unpack_byte_twobits.at(n), 0, gr_interleaved_short_to_complex_.at(n), 0);
DLOG(INFO) << "connected ad936x_iio_source source to unpack_byte_fourbits for channel " << n;
- if (dump_)
+
+ if (delay_enabled == true)
{
- top_block->connect(gr_interleaved_short_to_complex_.at(n), 0, sink_.at(n), 0);
- DLOG(INFO) << "connected source to file sink";
+ if (n == 0 and apply_delay_on_rx0 == true)
+ {
+ top_block->connect(gr_interleaved_short_to_complex_.at(n), 0, gr_delay, 0);
+ DLOG(INFO) << "connected gr_interleaved_short_to_complex to gr_delay for channel " << n;
+ if (dump_)
+ {
+ top_block->connect(gr_delay, 0, sink_.at(n), 0);
+ DLOG(INFO) << "connected delayed source to file sink";
+ }
+ }
+ else if (n == 1 and apply_delay_on_rx0 == false)
+ {
+ top_block->connect(gr_interleaved_short_to_complex_.at(n), 0, gr_delay, 0);
+ DLOG(INFO) << "connected gr_interleaved_short_to_complex to gr_delay for channel " << n;
+ if (dump_)
+ {
+ top_block->connect(gr_delay, 0, sink_.at(n), 0);
+ DLOG(INFO) << "connected delayed source to file sink";
+ }
+ }
+ else
+ {
+ if (dump_)
+ {
+ top_block->connect(gr_interleaved_short_to_complex_.at(n), 0, sink_.at(n), 0);
+ DLOG(INFO) << "connected source to file sink";
+ }
+ }
+ }
+ else
+ {
+ if (dump_)
+
+ {
+ top_block->connect(gr_interleaved_short_to_complex_.at(n), 0, sink_.at(n), 0);
+ DLOG(INFO) << "connected source to file sink";
+ }
}
}
else
{
top_block->connect(ad936x_iio_source, n, gr_interleaved_short_to_complex_.at(n), 0);
DLOG(INFO) << "connected ad936x_iio_source source to gr_interleaved_short_to_complex for channel " << n;
- if (dump_)
+
+ if (delay_enabled == true)
{
- top_block->connect(gr_interleaved_short_to_complex_.at(n), 0, sink_.at(n), 0);
- DLOG(INFO) << "connected source to file sink";
+ if (n == 0 and apply_delay_on_rx0 == true)
+ {
+ top_block->connect(gr_interleaved_short_to_complex_.at(n), 0, gr_delay, 0);
+ DLOG(INFO) << "connected gr_interleaved_short_to_complex to gr_delay for channel " << n;
+ if (dump_)
+ {
+ top_block->connect(gr_delay, 0, sink_.at(n), 0);
+ DLOG(INFO) << "connected delayed source to file sink";
+ }
+ }
+ else if (n == 1 and apply_delay_on_rx0 == false)
+ {
+ top_block->connect(gr_interleaved_short_to_complex_.at(n), 0, gr_delay, 0);
+ DLOG(INFO) << "connected gr_interleaved_short_to_complex to gr_delay for channel " << n;
+ if (dump_)
+ {
+ top_block->connect(gr_delay, 0, sink_.at(n), 0);
+ DLOG(INFO) << "connected delayed source to file sink";
+ }
+ }
+ else
+ {
+ if (dump_)
+ {
+ top_block->connect(gr_interleaved_short_to_complex_.at(n), 0, sink_.at(n), 0);
+ DLOG(INFO) << "connected source to file sink";
+ }
+ }
+ }
+ else
+ {
+ if (dump_)
+ {
+ top_block->connect(gr_interleaved_short_to_complex_.at(n), 0, sink_.at(n), 0);
+ DLOG(INFO) << "connected source to file sink";
+ }
}
}
}
@@ -304,45 +517,25 @@ gr::basic_block_sptr Ad936xCustomSignalSource::get_left_block()
gr::basic_block_sptr Ad936xCustomSignalSource::get_right_block()
{
- if (ssize_ == 16)
- {
- return gr_interleaved_short_to_complex_.at(0);
- }
- else if (ssize_ == 8)
- {
- return gr_interleaved_short_to_complex_.at(0);
- }
- else if (ssize_ == 4)
- {
- return gr_interleaved_short_to_complex_.at(0);
- }
- else if (ssize_ == 2)
- {
- return gr_interleaved_short_to_complex_.at(0);
- }
- else
- {
- return gr_interleaved_short_to_complex_.at(0);
- }
+ return gr_interleaved_short_to_complex_.at(0);
}
gr::basic_block_sptr Ad936xCustomSignalSource::get_right_block(int RF_channel)
{
- if (ssize_ == 16)
+ if (delay_enabled == true)
{
- return gr_interleaved_short_to_complex_.at(RF_channel);
- }
- else if (ssize_ == 8)
- {
- return gr_interleaved_short_to_complex_.at(RF_channel);
- }
- else if (ssize_ == 4)
- {
- return gr_interleaved_short_to_complex_.at(RF_channel);
- }
- else if (ssize_ == 2)
- {
- return gr_interleaved_short_to_complex_.at(RF_channel);
+ if (RF_channel == 0 and apply_delay_on_rx0 == true)
+ {
+ return gr_delay;
+ }
+ else if (RF_channel == 1 and apply_delay_on_rx0 == false)
+ {
+ return gr_delay;
+ }
+ else
+ {
+ return gr_interleaved_short_to_complex_.at(RF_channel);
+ }
}
else
{
diff --git a/src/algorithms/signal_source/adapters/ad936x_custom_signal_source.h b/src/algorithms/signal_source/adapters/ad936x_custom_signal_source.h
index 11c5823a0..4d4ae813c 100644
--- a/src/algorithms/signal_source/adapters/ad936x_custom_signal_source.h
+++ b/src/algorithms/signal_source/adapters/ad936x_custom_signal_source.h
@@ -27,6 +27,7 @@
#include <gnuradio/blocks/char_to_short.h>
#include <gnuradio/blocks/file_sink.h>
// #include <gnuradio/blocks/interleaved_char_to_complex.h>
+#include <gnuradio/blocks/delay.h>
#include <gnuradio/blocks/interleaved_short_to_complex.h>
#include <pmt/pmt.h>
#include <cstdint>
@@ -74,6 +75,7 @@ private:
std::vector<gr::blocks::file_sink::sptr> sink_;
std::vector<std::string> filename_vec_;
+ gr::blocks::delay::sptr gr_delay;
std::vector<gr::blocks::char_to_short::sptr> gr_char_to_short_;
std::vector<gr::blocks::interleaved_short_to_complex::sptr> gr_interleaved_short_to_complex_;
// std::vector<gr::blocks::interleaved_char_to_complex::sptr> gr_interleaved_char_to_complex_;
@@ -113,6 +115,10 @@ private:
bool inverted_spectrum_ch1_;
double lo_attenuation_db_;
bool high_side_lo_;
+ int tx_lo_channel_;
+ double rx0_to_rx1_delay_ns_;
+ bool delay_enabled;
+ bool apply_delay_on_rx0;
std::vector<bool> inverted_spectrum_vec;
int n_channels;
diff --git a/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.cc b/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.cc
index a54a5a966..ffaae3e9c 100644
--- a/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.cc
+++ b/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.cc
@@ -55,7 +55,8 @@ ad936x_iio_source_sptr ad936x_iio_make_source_sptr(
int bshift_,
bool spattern_,
double lo_attenuation_db_,
- bool high_side_lo_)
+ bool high_side_lo_,
+ int tx_lo_channel_)
{
return ad936x_iio_source_sptr(new ad936x_iio_source(
pluto_uri_,
@@ -80,7 +81,8 @@ ad936x_iio_source_sptr ad936x_iio_make_source_sptr(
bshift_,
spattern_,
lo_attenuation_db_,
- high_side_lo_));
+ high_side_lo_,
+ tx_lo_channel_));
}
void ad936x_iio_source::ad9361_channel_demux_and_record(ad936x_iio_samples *samples_in, int nchannels, std::vector<std::fstream> *files_out)
@@ -122,7 +124,8 @@ ad936x_iio_source::ad936x_iio_source(
int bshift_,
bool spattern_,
double lo_attenuation_db_,
- bool high_side_lo_) : gr::block("ad936x_iio_source",
+ bool high_side_lo_,
+ int tx_lo_channel_) : gr::block("ad936x_iio_source",
gr::io_signature::make(0, 0, 0),
gr::io_signature::make(1, 4, sizeof(int16_t)))
{
@@ -145,7 +148,8 @@ ad936x_iio_source::ad936x_iio_source(
enable_ch1,
freq_2ch,
lo_attenuation_db_,
- high_side_lo_) == true)
+ high_side_lo_,
+ tx_lo_channel_) == true)
{
std::cout << "ad936x_iio_source HW configured OK!\n";
diff --git a/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.h b/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.h
index f3856b3d6..411906a3e 100644
--- a/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.h
+++ b/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.h
@@ -66,7 +66,8 @@ ad936x_iio_source_sptr ad936x_iio_make_source_sptr(
int bshift_,
bool spattern_,
double lo_attenuation_db_,
- bool high_side_lo_);
+ bool high_side_lo_,
+ int tx_lo_channel_);
/*!
* \brief This class implements conversion between Labsat 2, 3 and 3 Wideband
@@ -111,7 +112,8 @@ private:
int bshift_,
bool spattern_,
double lo_attenuation_db_,
- bool high_side_lo_);
+ bool high_side_lo_,
+ int tx_lo_channel_);
ad936x_iio_source(
std::string pluto_uri_,
@@ -136,7 +138,8 @@ private:
int bshift_,
bool spattern_,
double lo_attenuation_db_,
- bool high_side_lo_);
+ bool high_side_lo_,
+ int tx_lo_channel_);
void ad9361_channel_demux_to_buffer(ad936x_iio_samples *samples_in, int nchannels, gr_vector_void_star &output_items);
diff --git a/src/algorithms/signal_source/libs/ad936x_iio_custom.cc b/src/algorithms/signal_source/libs/ad936x_iio_custom.cc
index 705180ef7..c1bb56f5e 100644
--- a/src/algorithms/signal_source/libs/ad936x_iio_custom.cc
+++ b/src/algorithms/signal_source/libs/ad936x_iio_custom.cc
@@ -258,17 +258,39 @@ bool ad936x_iio_custom::config_ad9361_dds(uint64_t freq_rf_tx_hz_,
// ENABLE DDS on TX1
// Configure LO channel
std::vector<std::string> params_phy;
+ std::vector<std::string> params_dds;
params_phy.push_back("out_altvoltage1_TX_LO_frequency=" +
std::to_string(freq_rf_tx_hz_));
double disabled_tx_attenuation = 89.75;
- if (channel == 1)
+ if (channel == 0)
{
params_phy.push_back("out_voltage0_hardwaregain=" +
std::to_string(-tx_attenuation_db_));
//disable the other TX
params_phy.push_back("out_voltage1_hardwaregain=" +
std::to_string(-disabled_tx_attenuation));
+
+ configure_params(phy, params_phy);
+
+ //DDS TX CH1 I (tone #1)
+ params_dds.push_back("out_altvoltage0_TX1_I_F1_frequency=" +
+ std::to_string(freq_dds_tx_hz_));
+ params_dds.push_back("out_altvoltage0_TX1_I_F1_phase=" +
+ std::to_string(phase_dds_deg_ * 1000.0));
+ params_dds.push_back("out_altvoltage0_TX1_I_F1_scale=" +
+ std::to_string(scale_dds_));
+ params_dds.push_back("out_altvoltage0_TX1_I_F1_raw=1");
+ //DDS TX CH1 Q (tone #1)
+ params_dds.push_back("out_altvoltage2_TX1_Q_F1_frequency=" +
+ std::to_string(freq_dds_tx_hz_));
+ params_dds.push_back("out_altvoltage2_TX1_Q_F1_phase=" +
+ std::to_string(phase_dds_deg_ * 1000.0 + 270000.0));
+ params_dds.push_back("out_altvoltage2_TX1_Q_F1_scale=" +
+ std::to_string(scale_dds_));
+ params_dds.push_back("out_altvoltage2_TX1_Q_F1_raw=1");
+
+ configure_params(dds_dev, params_dds);
}
else
{
@@ -277,46 +299,29 @@ bool ad936x_iio_custom::config_ad9361_dds(uint64_t freq_rf_tx_hz_,
//disable the other TX
params_phy.push_back("out_voltage0_hardwaregain=" +
std::to_string(-disabled_tx_attenuation));
+
+ configure_params(phy, params_phy);
+
+ //DDS TX CH2 I (tone #1)
+ params_dds.push_back("out_altvoltage4_TX2_I_F1_frequency=" +
+ std::to_string(freq_dds_tx_hz_));
+ params_dds.push_back("out_altvoltage4_TX2_I_F1_phase=" +
+ std::to_string(phase_dds_deg_ * 1000.0));
+ params_dds.push_back("out_altvoltage4_TX2_I_F1_scale=" +
+ std::to_string(scale_dds_));
+ params_dds.push_back("out_altvoltage4_TX2_I_F1_raw=1");
+ //DDS TX CH2 Q (tone #1)
+ params_dds.push_back("out_altvoltage6_TX2_Q_F1_frequency=" +
+ std::to_string(freq_dds_tx_hz_));
+ params_dds.push_back("out_altvoltage6_TX2_Q_F1_phase=" +
+ std::to_string(phase_dds_deg_ * 1000.0 + 270000.0));
+ params_dds.push_back("out_altvoltage6_TX2_Q_F1_scale=" +
+ std::to_string(scale_dds_));
+ params_dds.push_back("out_altvoltage6_TX2_Q_F1_raw=1");
+
+ configure_params(dds_dev, params_dds);
}
- configure_params(phy, params_phy);
- std::vector<std::string> params_dds;
-
- //DDS TX CH1 I (tone #1)
- // params_dds.push_back("out_altvoltage0_TX1_I_F1_frequency=" +
- // std::to_string(freq_dds_tx_hz_));
- // params_dds.push_back("out_altvoltage0_TX1_I_F1_phase=" +
- // std::to_string(phase_dds_deg_ * 1000.0));
- // params_dds.push_back("out_altvoltage0_TX1_I_F1_scale=" +
- // std::to_string(scale_dds_));
- // params_dds.push_back("out_altvoltage0_TX1_I_F1_raw=1");
- // //DDS TX CH1 Q (tone #1)
- // params_dds.push_back("out_altvoltage2_TX1_Q_F1_frequency=" +
- // std::to_string(freq_dds_tx_hz_));
- // params_dds.push_back("out_altvoltage2_TX1_Q_F1_phase=" +
- // std::to_string(phase_dds_deg_ * 1000.0 + 270000.0));
- // params_dds.push_back("out_altvoltage2_TX1_Q_F1_scale=" +
- // std::to_string(scale_dds_));
- // params_dds.push_back("out_altvoltage2_TX1_Q_F1_raw=1");
-
- //DDS TX CH2 I (tone #1)
- params_dds.push_back("out_altvoltage4_TX2_I_F1_frequency=" +
- std::to_string(freq_dds_tx_hz_));
- params_dds.push_back("out_altvoltage4_TX2_I_F1_phase=" +
- std::to_string(phase_dds_deg_ * 1000.0));
- params_dds.push_back("out_altvoltage4_TX2_I_F1_scale=" +
- std::to_string(scale_dds_));
- params_dds.push_back("out_altvoltage4_TX2_I_F1_raw=1");
- //DDS TX CH2 Q (tone #1)
- params_dds.push_back("out_altvoltage6_TX2_Q_F1_frequency=" +
- std::to_string(freq_dds_tx_hz_));
- params_dds.push_back("out_altvoltage6_TX2_Q_F1_phase=" +
- std::to_string(phase_dds_deg_ * 1000.0 + 270000.0));
- params_dds.push_back("out_altvoltage6_TX2_Q_F1_scale=" +
- std::to_string(scale_dds_));
- params_dds.push_back("out_altvoltage6_TX2_Q_F1_raw=1");
-
- configure_params(dds_dev, params_dds);
return true;
}
@@ -412,7 +417,8 @@ bool ad936x_iio_custom::init_config_ad9361_rx(long long bandwidth_,
bool enable_ch1,
long long freq_2ch,
double lo_attenuation_db_,
- bool high_side_lo_)
+ bool high_side_lo_,
+ int tx_lo_channel_)
{
if (check_device() == false) return false;
@@ -541,7 +547,7 @@ bool ad936x_iio_custom::init_config_ad9361_rx(long long bandwidth_,
0,
0.9,
0,
- 2);
+ tx_lo_channel_);
std::cout << "Configuring DDS Local Oscillator generation DONE\n";
}
else
diff --git a/src/algorithms/signal_source/libs/ad936x_iio_custom.h b/src/algorithms/signal_source/libs/ad936x_iio_custom.h
index cbf5e65e7..de36f5b5b 100644
--- a/src/algorithms/signal_source/libs/ad936x_iio_custom.h
+++ b/src/algorithms/signal_source/libs/ad936x_iio_custom.h
@@ -55,7 +55,8 @@ public:
bool enable_ch1,
long long freq_2ch,
double lo_attenuation_db_,
- bool high_side_lo_);
+ bool high_side_lo_,
+ int tx_lo_channel_);
bool calibrate(int ch, double bw_hz);
@@ -79,7 +80,6 @@ public:
void pop_sample_buffer(std::shared_ptr<ad936x_iio_samples> ¤t_buffer);
void push_sample_buffer(std::shared_ptr<ad936x_iio_samples> ¤t_buffer);
-
int n_channels;
private:
From 205583bb277de1d911ee8e91a1c9a4e85167acae Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Thu, 22 Sep 2022 15:15:07 +0200
Subject: [PATCH 20/31] Update ad936x iio custom lib
---
.../signal_source/libs/ad936x_iio_custom.cc | 122 +++++++++---------
1 file changed, 60 insertions(+), 62 deletions(-)
diff --git a/src/algorithms/signal_source/libs/ad936x_iio_custom.cc b/src/algorithms/signal_source/libs/ad936x_iio_custom.cc
index c1bb56f5e..efd67e778 100644
--- a/src/algorithms/signal_source/libs/ad936x_iio_custom.cc
+++ b/src/algorithms/signal_source/libs/ad936x_iio_custom.cc
@@ -512,9 +512,6 @@ bool ad936x_iio_custom::init_config_ad9361_rx(long long bandwidth_,
no_errors = false;
}
-
- std::cout << "no_errors: " << no_errors << "\n";
-
if (enable_ch1 == true and enable_ch0 == true and freq_ != freq_2ch)
{
std::cout << "Two channels enabled with different frequencies, enabling the external RF transverter board:\n";
@@ -583,10 +580,8 @@ bool ad936x_iio_custom::init_config_ad9361_rx(long long bandwidth_,
// {
// std::cout << "Warning: Unable to set AD936x RX filter parameters!\n";
// }
-
if (enable_ch0 == true)
{
- n_channels++;
std::cerr << "* Get AD9361 Phy RX channel 0...\n";
std::stringstream name;
name.str("");
@@ -599,44 +594,45 @@ bool ad936x_iio_custom::init_config_ad9361_rx(long long bandwidth_,
std::cerr << "Could not find AD9361 phy channel: " << name.str() << "\n";
no_errors = false;
}
-
- ret = iio_channel_attr_write(phy_ch, "rf_port_select", rf_port_select_.c_str());
- if (ret < 0)
- {
- std::cerr << "Warning: rf_port_select write returned: " << ret << "\n";
- no_errors = false;
- }
-
- // ret = iio_channel_attr_write_longlong(phy_ch, "rf_bandwidth", bandwidth_);
- // if (ret < 0)
- // {
- // std::cerr << "Warning: rf_bandwidth write returned: " << ret << "\n";
- // no_errors = false;
- // }
-
- long long set_rf_bw;
- ret = iio_channel_attr_read_longlong(phy_ch, "rf_bandwidth", &set_rf_bw);
- if (ret < 0)
- {
- std::cerr << "Warning: rf_bandwidth read returned: " << ret << "\n";
- no_errors = false;
- }
else
{
- std::cerr << "Info: rf_bandwidth read returned: " << set_rf_bw << " Hz \n";
- }
+ ret = iio_channel_attr_write(phy_ch, "rf_port_select", rf_port_select_.c_str());
+ if (ret < 0)
+ {
+ std::cerr << "Warning: rf_port_select write returned: " << ret << "\n";
+ no_errors = false;
+ }
+
+ // ret = iio_channel_attr_write_longlong(phy_ch, "rf_bandwidth", bandwidth_);
+ // if (ret < 0)
+ // {
+ // std::cerr << "Warning: rf_bandwidth write returned: " << ret << "\n";
+ // no_errors = false;
+ // }
+
+ long long set_rf_bw;
+ ret = iio_channel_attr_read_longlong(phy_ch, "rf_bandwidth", &set_rf_bw);
+ if (ret < 0)
+ {
+ std::cerr << "Warning: rf_bandwidth read returned: " << ret << "\n";
+ no_errors = false;
+ }
+ else
+ {
+ std::cerr << "Info: rf_bandwidth read returned: " << set_rf_bw << " Hz \n";
+ }
- if (setRXGain(0, gain_mode_rx0_, rf_gain_rx0_) == false)
- {
- std::cerr << "Info: setRXGain read returned false \n";
- no_errors = false;
+ if (setRXGain(0, gain_mode_rx0_, rf_gain_rx0_) == false)
+ {
+ std::cerr << "Info: setRXGain read returned false \n";
+ no_errors = false;
+ }
}
}
if (enable_ch1 == true)
{
- n_channels++;
std::cerr << "* Get AD9361 Phy RX channel 1...\n";
std::stringstream name;
name.str("");
@@ -649,37 +645,39 @@ bool ad936x_iio_custom::init_config_ad9361_rx(long long bandwidth_,
std::cerr << "Could not find AD9361 phy channel: " << name.str() << "\n";
no_errors = false;
}
-
- ret = iio_channel_attr_write(phy_ch, "rf_port_select", rf_port_select_.c_str());
- if (ret < 0)
- {
- std::cerr << "Warning: rf_port_select write returned: " << ret << "\n";
- no_errors = false;
- }
-
- // ret = iio_channel_attr_write_longlong(phy_ch, "rf_bandwidth", bandwidth_);
- // if (ret < 0)
- // {
- // std::cerr << "Warning: rf_bandwidth write returned: " << ret << "\n";
- // no_errors = false;
- // }
-
- long long set_rf_bw;
- ret = iio_channel_attr_read_longlong(phy_ch, "rf_bandwidth", &set_rf_bw);
- if (ret < 0)
- {
- std::cerr << "Warning: rf_bandwidth read returned: " << ret << "\n";
- no_errors = false;
- }
else
{
- std::cerr << "Info: rf_bandwidth read returned: " << set_rf_bw << " Hz \n";
- }
+ ret = iio_channel_attr_write(phy_ch, "rf_port_select", rf_port_select_.c_str());
+ if (ret < 0)
+ {
+ std::cerr << "Warning: rf_port_select write returned: " << ret << "\n";
+ no_errors = false;
+ }
- if (setRXGain(1, gain_mode_rx1_, rf_gain_rx1_) == false)
- {
- std::cerr << "Info: setRXGain read returned false \n";
- no_errors = false;
+ // ret = iio_channel_attr_write_longlong(phy_ch, "rf_bandwidth", bandwidth_);
+ // if (ret < 0)
+ // {
+ // std::cerr << "Warning: rf_bandwidth write returned: " << ret << "\n";
+ // no_errors = false;
+ // }
+
+ long long set_rf_bw;
+ ret = iio_channel_attr_read_longlong(phy_ch, "rf_bandwidth", &set_rf_bw);
+ if (ret < 0)
+ {
+ std::cerr << "Warning: rf_bandwidth read returned: " << ret << "\n";
+ no_errors = false;
+ }
+ else
+ {
+ std::cerr << "Info: rf_bandwidth read returned: " << set_rf_bw << " Hz \n";
+ }
+
+ if (setRXGain(1, gain_mode_rx1_, rf_gain_rx1_) == false)
+ {
+ std::cerr << "Info: setRXGain read returned false \n";
+ no_errors = false;
+ }
}
}
From be2e5d8d5e495665f0d4519d6299df9a5b63b8cf Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Fri, 9 Jun 2023 14:09:18 +0200
Subject: [PATCH 21/31] Adding c2bits sample stream to UDP custom source
---
.../gr_complex_ip_packet_source.cc | 251 +++++++++++-------
.../gr_complex_ip_packet_source.h | 4 +-
2 files changed, 163 insertions(+), 92 deletions(-)
diff --git a/src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.cc b/src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.cc
index 6cead4e46..20f829e6a 100644
--- a/src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.cc
+++ b/src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.cc
@@ -30,6 +30,11 @@
const int FIFO_SIZE = 1472000;
+struct byte_2bit_struct
+{
+ signed two_bit_sample : 2; // <- 2 bits wide only
+};
+
/* 4 bytes IP address */
typedef struct gr_ip_address
{
@@ -120,6 +125,11 @@ Gr_Complex_Ip_Packet_Source::Gr_Complex_Ip_Packet_Source(std::string src_device,
d_wire_sample_type = 1;
d_bytes_per_sample = d_n_baseband_channels * 2;
}
+ else if (wire_sample_type == "c2bits")
+ {
+ d_wire_sample_type = 5;
+ d_bytes_per_sample = d_n_baseband_channels;
+ }
else if (wire_sample_type == "c4bits")
{
d_wire_sample_type = 2;
@@ -183,7 +193,8 @@ bool Gr_Complex_Ip_Packet_Source::stop()
bool Gr_Complex_Ip_Packet_Source::open()
{
std::array<char, PCAP_ERRBUF_SIZE> errbuf{};
- boost::mutex::scoped_lock lock(d_mutex); // hold mutex for duration of this function
+ //boost::mutex::scoped_lock lock(d_mutex); // hold mutex for duration of this function
+ gr::thread::scoped_lock guard(d_setlock);
// open device for reading
descr = pcap_open_live(d_src_device.c_str(), 1500, 1, 1000, errbuf.data());
if (descr == nullptr)
@@ -239,7 +250,7 @@ void Gr_Complex_Ip_Packet_Source::static_pcap_callback(u_char *args, const struc
void Gr_Complex_Ip_Packet_Source::pcap_callback(__attribute__((unused)) u_char *args, __attribute__((unused)) const struct pcap_pkthdr *pkthdr,
const u_char *packet)
{
- boost::mutex::scoped_lock lock(d_mutex); // hold mutex for duration of this function
+ //boost::mutex::scoped_lock lock(d_mutex); // hold mutex for duration of this function
const gr_ip_header *ih;
const gr_udp_header *uh;
@@ -321,107 +332,164 @@ void Gr_Complex_Ip_Packet_Source::my_pcap_loop_thread(pcap_t *pcap_handle)
void Gr_Complex_Ip_Packet_Source::demux_samples(const gr_vector_void_star &output_items, int num_samples_readed)
{
- for (int n = 0; n < num_samples_readed; n++)
+ if (d_wire_sample_type == 5)
{
- switch (d_wire_sample_type)
+ //interleaved 2-bit I 2-bit Q samples packed in bytes: 1 byte -> 2 complex samples
+ int nsample = 0;
+ byte_2bit_struct sample{}; // <- 2 bits wide only
+ int real;
+ int imag;
+ for (int nbyte = 0; nbyte < num_samples_readed / 2; nbyte++)
{
- case 1: // interleaved byte samples
for (const auto &output_item : output_items)
{
- int8_t real;
- int8_t imag;
- real = fifo_buff[fifo_read_ptr++];
- imag = fifo_buff[fifo_read_ptr++];
+ // Read packed input sample (1 byte = 2 complex samples)
+ // * Packing Order
+ // * Most Significant Nibble - Sample n
+ // * Least Significant Nibble - Sample n+1
+ // * Bit Packing order in Nibble Q1 Q0 I1 I0
+ // normal
+ int8_t c = fifo_buff[fifo_read_ptr++];
+
+ // Q[n]
+ sample.two_bit_sample = (c >> 6) & 3;
+ imag = (2 * static_cast<int8_t>(sample.two_bit_sample) + 1);
+ // I[n]
+ sample.two_bit_sample = (c >> 4) & 3;
+ real = (2 * static_cast<int8_t>(sample.two_bit_sample) + 1);
+
if (d_IQ_swap)
{
- static_cast<gr_complex *>(output_item)[n] = gr_complex(real, imag);
+ static_cast<gr_complex *>(output_item)[nsample] = gr_complex(real, imag);
}
else
{
- static_cast<gr_complex *>(output_item)[n] = gr_complex(imag, real);
- }
- }
- break;
- case 2: // 4-bit samples
- for (const auto &output_item : output_items)
- {
- int8_t real;
- int8_t imag;
- uint8_t tmp_char2;
- tmp_char2 = fifo_buff[fifo_read_ptr] & 0x0F;
- if (tmp_char2 >= 8)
- {
- real = 2 * (tmp_char2 - 16) + 1;
- }
- else
- {
- real = 2 * tmp_char2 + 1;
- }
- tmp_char2 = fifo_buff[fifo_read_ptr++] >> 4;
- tmp_char2 = tmp_char2 & 0x0F;
- if (tmp_char2 >= 8)
- {
- imag = 2 * (tmp_char2 - 16) + 1;
- }
- else
- {
- imag = 2 * tmp_char2 + 1;
+ static_cast<gr_complex *>(output_item)[nsample] = gr_complex(imag, real);
}
+
+
+ // Q[n+1]
+ sample.two_bit_sample = (c >> 2) & 3;
+ imag = (2 * static_cast<int8_t>(sample.two_bit_sample) + 1);
+ // I[n+1]
+ sample.two_bit_sample = c & 3;
+ real = (2 * static_cast<int8_t>(sample.two_bit_sample) + 1);
+
if (d_IQ_swap)
{
- static_cast<gr_complex *>(output_item)[n] = gr_complex(imag, real);
+ static_cast<gr_complex *>(output_item)[nsample + 1] = gr_complex(real, imag);
}
else
{
- static_cast<gr_complex *>(output_item)[n] = gr_complex(real, imag);
+ static_cast<gr_complex *>(output_item)[nsample + 1] = gr_complex(imag, real);
}
}
- break;
- case 3: // interleaved float samples
- for (const auto &output_item : output_items)
- {
- float real;
- float imag;
- memcpy(&real, &fifo_buff[fifo_read_ptr], sizeof(real));
- fifo_read_ptr += 4; // Four bytes in float
- memcpy(&imag, &fifo_buff[fifo_read_ptr], sizeof(imag));
- fifo_read_ptr += 4; // Four bytes in float
- if (d_IQ_swap)
- {
- static_cast<gr_complex *>(output_item)[n] = gr_complex(real, imag);
- }
- else
- {
- static_cast<gr_complex *>(output_item)[n] = gr_complex(imag, real);
- }
- }
- break;
- case 4: // interleaved short samples
- for (const auto &output_item : output_items)
- {
- int16_t real;
- int16_t imag;
- memcpy(&real, &fifo_buff[fifo_read_ptr], sizeof(real));
- fifo_read_ptr += 2; // two bytes in short
- memcpy(&imag, &fifo_buff[fifo_read_ptr], sizeof(imag));
- fifo_read_ptr += 2; // two bytes in short
- if (d_IQ_swap)
- {
- static_cast<gr_complex *>(output_item)[n] = gr_complex(real, imag);
- }
- else
- {
- static_cast<gr_complex *>(output_item)[n] = gr_complex(imag, real);
- }
- }
- break;
- default:
- std::cout << "Unknown wire sample type\n";
- exit(0);
}
- if (fifo_read_ptr == FIFO_SIZE)
+ }
+ else
+ {
+ for (int n = 0; n < num_samples_readed; n++)
{
- fifo_read_ptr = 0;
+ switch (d_wire_sample_type)
+ {
+ case 1: // interleaved byte samples
+ for (const auto &output_item : output_items)
+ {
+ int8_t real;
+ int8_t imag;
+ real = fifo_buff[fifo_read_ptr++];
+ imag = fifo_buff[fifo_read_ptr++];
+ if (d_IQ_swap)
+ {
+ static_cast<gr_complex *>(output_item)[n] = gr_complex(real, imag);
+ }
+ else
+ {
+ static_cast<gr_complex *>(output_item)[n] = gr_complex(imag, real);
+ }
+ }
+ break;
+ case 2: // 4-bit samples
+ for (const auto &output_item : output_items)
+ {
+ int8_t real;
+ int8_t imag;
+ uint8_t tmp_char2;
+ tmp_char2 = fifo_buff[fifo_read_ptr] & 0x0F;
+ if (tmp_char2 >= 8)
+ {
+ real = 2 * (tmp_char2 - 16) + 1;
+ }
+ else
+ {
+ real = 2 * tmp_char2 + 1;
+ }
+ tmp_char2 = fifo_buff[fifo_read_ptr++] >> 4;
+ tmp_char2 = tmp_char2 & 0x0F;
+ if (tmp_char2 >= 8)
+ {
+ imag = 2 * (tmp_char2 - 16) + 1;
+ }
+ else
+ {
+ imag = 2 * tmp_char2 + 1;
+ }
+ if (d_IQ_swap)
+ {
+ static_cast<gr_complex *>(output_item)[n] = gr_complex(imag, real);
+ }
+ else
+ {
+ static_cast<gr_complex *>(output_item)[n] = gr_complex(real, imag);
+ }
+ }
+ break;
+ case 3: // interleaved float samples
+ for (const auto &output_item : output_items)
+ {
+ float real;
+ float imag;
+ memcpy(&real, &fifo_buff[fifo_read_ptr], sizeof(real));
+ fifo_read_ptr += 4; // Four bytes in float
+ memcpy(&imag, &fifo_buff[fifo_read_ptr], sizeof(imag));
+ fifo_read_ptr += 4; // Four bytes in float
+ if (d_IQ_swap)
+ {
+ static_cast<gr_complex *>(output_item)[n] = gr_complex(real, imag);
+ }
+ else
+ {
+ static_cast<gr_complex *>(output_item)[n] = gr_complex(imag, real);
+ }
+ }
+ break;
+ case 4: // interleaved short samples
+ for (const auto &output_item : output_items)
+ {
+ int16_t real;
+ int16_t imag;
+ memcpy(&real, &fifo_buff[fifo_read_ptr], sizeof(real));
+ fifo_read_ptr += 2; // two bytes in short
+ memcpy(&imag, &fifo_buff[fifo_read_ptr], sizeof(imag));
+ fifo_read_ptr += 2; // two bytes in short
+ if (d_IQ_swap)
+ {
+ static_cast<gr_complex *>(output_item)[n] = gr_complex(real, imag);
+ }
+ else
+ {
+ static_cast<gr_complex *>(output_item)[n] = gr_complex(imag, real);
+ }
+ }
+ break;
+ default:
+ std::cout << "Unknown wire sample type\n";
+ exit(0);
+ }
+ if (fifo_read_ptr == FIFO_SIZE)
+ {
+ fifo_read_ptr = 0;
+ }
}
}
}
@@ -432,7 +500,7 @@ int Gr_Complex_Ip_Packet_Source::work(int noutput_items,
gr_vector_void_star &output_items)
{
// send samples to next GNU Radio block
- boost::mutex::scoped_lock lock(d_mutex); // hold mutex for duration of this function
+ //boost::mutex::scoped_lock lock(d_mutex); // hold mutex for duration of this function
if (fifo_items == 0)
{
return 0;
@@ -446,21 +514,24 @@ int Gr_Complex_Ip_Packet_Source::work(int noutput_items,
int num_samples_readed;
int bytes_requested;
- bytes_requested = noutput_items * d_bytes_per_sample;
+ bytes_requested = static_cast<int>(static_cast<float>(noutput_items) * d_bytes_per_sample);
if (bytes_requested < fifo_items)
{
num_samples_readed = noutput_items; // read all
+ // update fifo items
+ fifo_items = fifo_items - bytes_requested;
}
else
{
- num_samples_readed = fifo_items / d_bytes_per_sample; // read what we have
+ num_samples_readed = static_cast<int>(static_cast<float>(fifo_items) / d_bytes_per_sample); // read what we have
+ bytes_requested = fifo_items;
+ // update fifo items
+ fifo_items = 0;
}
- bytes_requested = num_samples_readed * d_bytes_per_sample;
+
// read all in a single loop
demux_samples(output_items, num_samples_readed); // it also increases the fifo read pointer
- // update fifo items
- fifo_items = fifo_items - bytes_requested;
for (uint64_t n = 0; n < output_items.size(); n++)
{
diff --git a/src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.h b/src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.h
index c24ee5417..9f8939904 100644
--- a/src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.h
+++ b/src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.h
@@ -83,7 +83,7 @@ private:
bool open();
boost::thread *d_pcap_thread;
- boost::mutex d_mutex;
+ //boost::mutex d_mutex;
struct sockaddr_in si_me
{
};
@@ -98,7 +98,7 @@ private:
int d_udp_port;
int d_n_baseband_channels;
int d_wire_sample_type;
- int d_bytes_per_sample;
+ float d_bytes_per_sample;
bool d_IQ_swap;
};
From 36e709dda646484c44eb6591db1d9e429c624922 Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Tue, 4 Jul 2023 13:09:45 +0200
Subject: [PATCH 22/31] Adding a simple PVT Holonomic Kalman filter for
position and velocity
---
src/algorithms/PVT/adapters/rtklib_pvt.cc | 7 +
.../PVT/gnuradio_blocks/rtklib_pvt_gs.cc | 7 +-
.../PVT/gnuradio_blocks/rtklib_pvt_gs.h | 1 -
src/algorithms/PVT/libs/CMakeLists.txt | 2 +
src/algorithms/PVT/libs/pvt_conf.h | 7 +
src/algorithms/PVT/libs/pvt_kf.cc | 132 ++++++++++++++++++
src/algorithms/PVT/libs/pvt_kf.h | 66 +++++++++
src/algorithms/PVT/libs/rtklib_solver.cc | 51 ++++++-
src/algorithms/PVT/libs/rtklib_solver.h | 7 +-
.../pvt/nmea_printer_test.cc | 5 +-
.../pvt/rinex_printer_test.cc | 41 ++++--
.../pvt/rtklib_solver_test.cc | 6 +-
12 files changed, 305 insertions(+), 27 deletions(-)
create mode 100644 src/algorithms/PVT/libs/pvt_kf.cc
create mode 100644 src/algorithms/PVT/libs/pvt_kf.h
diff --git a/src/algorithms/PVT/adapters/rtklib_pvt.cc b/src/algorithms/PVT/adapters/rtklib_pvt.cc
index 9ce402bcc..9bf6174ab 100644
--- a/src/algorithms/PVT/adapters/rtklib_pvt.cc
+++ b/src/algorithms/PVT/adapters/rtklib_pvt.cc
@@ -74,6 +74,13 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
// display rate
pvt_output_parameters.display_rate_ms = bc::lcm(pvt_output_parameters.output_rate_ms, configuration->property(role + ".display_rate_ms", 500));
+ // PVT KF settings
+ pvt_output_parameters.enable_pvt_kf = configuration->property(role + ".enable_pvt_kf", false);
+ pvt_output_parameters.measures_ecef_pos_sd_m = configuration->property(role + ".kf_measures_ecef_pos_sd_m", 1.0);
+ pvt_output_parameters.measures_ecef_vel_sd_ms = configuration->property(role + ".kf_measures_ecef_vel_sd_ms", 0.1);
+ pvt_output_parameters.system_ecef_pos_sd_m = configuration->property(role + ".kf_system_ecef_pos_sd_m", 0.01);
+ pvt_output_parameters.system_ecef_vel_sd_ms = configuration->property(role + ".kf_system_ecef_vel_sd_ms", 0.001);
+
// NMEA Printer settings
pvt_output_parameters.flag_nmea_tty_port = configuration->property(role + ".flag_nmea_tty_port", false);
pvt_output_parameters.nmea_dump_filename = configuration->property(role + ".nmea_dump_filename", default_nmea_dump_filename);
diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
index 8f6f1648a..ab145aff4 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
@@ -178,7 +178,6 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
d_enable_rx_clock_correction(conf_.enable_rx_clock_correction),
d_an_printer_enabled(conf_.an_output_enabled),
d_log_timetag(conf_.log_source_timetag),
- d_use_e6_for_pvt(conf_.use_e6_for_pvt),
d_use_has_corrections(conf_.use_has_corrections),
d_use_unhealthy_sats(conf_.use_unhealthy_sats)
{
@@ -535,21 +534,21 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
{
// setup two PVT solvers: internal solver for rx clock and user solver
// user PVT solver
- d_user_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, dump_ls_pvt_filename, d_type_of_rx, d_dump, d_dump_mat, d_use_e6_for_pvt);
+ d_user_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, dump_ls_pvt_filename, d_type_of_rx, d_dump, d_dump_mat, conf_);
d_user_pvt_solver->set_averaging_depth(1);
d_user_pvt_solver->set_pre_2009_file(conf_.pre_2009_file);
// internal PVT solver, mainly used to estimate the receiver clock
rtk_t internal_rtk = rtk;
internal_rtk.opt.mode = PMODE_SINGLE; // use single positioning mode in internal PVT solver
- d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(internal_rtk, dump_ls_pvt_filename, d_type_of_rx, false, false, d_use_e6_for_pvt);
+ d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(internal_rtk, dump_ls_pvt_filename, d_type_of_rx, false, false, conf_);
d_internal_pvt_solver->set_averaging_depth(1);
d_internal_pvt_solver->set_pre_2009_file(conf_.pre_2009_file);
}
else
{
// only one solver, customized by the user options
- d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, dump_ls_pvt_filename, d_type_of_rx, d_dump, d_dump_mat, d_use_e6_for_pvt);
+ d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, dump_ls_pvt_filename, d_type_of_rx, d_dump, d_dump_mat, conf_);
d_internal_pvt_solver->set_averaging_depth(1);
d_internal_pvt_solver->set_pre_2009_file(conf_.pre_2009_file);
d_user_pvt_solver = d_internal_pvt_solver;
diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
index 747c31c65..83d1f830d 100644
--- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
+++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
@@ -276,7 +276,6 @@ private:
bool d_enable_has_messages;
bool d_an_printer_enabled;
bool d_log_timetag;
- bool d_use_e6_for_pvt;
bool d_use_has_corrections;
bool d_use_unhealthy_sats;
};
diff --git a/src/algorithms/PVT/libs/CMakeLists.txt b/src/algorithms/PVT/libs/CMakeLists.txt
index 2460a3d4b..07e905a2c 100644
--- a/src/algorithms/PVT/libs/CMakeLists.txt
+++ b/src/algorithms/PVT/libs/CMakeLists.txt
@@ -23,6 +23,7 @@ set(PVT_LIB_SOURCES
monitor_ephemeris_udp_sink.cc
has_simple_printer.cc
geohash.cc
+ pvt_kf.cc
)
set(PVT_LIB_HEADERS
@@ -45,6 +46,7 @@ set(PVT_LIB_HEADERS
monitor_ephemeris_udp_sink.h
has_simple_printer.h
geohash.h
+ pvt_kf.h
)
list(SORT PVT_LIB_HEADERS)
diff --git a/src/algorithms/PVT/libs/pvt_conf.h b/src/algorithms/PVT/libs/pvt_conf.h
index d77a0b24c..26aac201a 100644
--- a/src/algorithms/PVT/libs/pvt_conf.h
+++ b/src/algorithms/PVT/libs/pvt_conf.h
@@ -94,6 +94,13 @@ public:
bool use_e6_for_pvt = true;
bool use_has_corrections = true;
bool use_unhealthy_sats = false;
+
+ //PVT KF parameters
+ bool enable_pvt_kf = false;
+ double measures_ecef_pos_sd_m = 1.0;
+ double measures_ecef_vel_sd_ms = 0.1;
+ double system_ecef_pos_sd_m = 0.01;
+ double system_ecef_vel_sd_ms = 0.001;
};
diff --git a/src/algorithms/PVT/libs/pvt_kf.cc b/src/algorithms/PVT/libs/pvt_kf.cc
new file mode 100644
index 000000000..be7871974
--- /dev/null
+++ b/src/algorithms/PVT/libs/pvt_kf.cc
@@ -0,0 +1,132 @@
+/*!
+ * \file Pvt_Kf.cc
+ * \brief Kalman Filter for Position and Velocity
+ * \author Javier Arribas, 2023. jarribas(at)cttc.es
+ *
+ *
+ * -----------------------------------------------------------------------------
+ *
+ * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
+ * This file is part of GNSS-SDR.
+ *
+ * Copyright (C) 2010-2023 (see AUTHORS file for a list of contributors)
+ * SPDX-License-Identifier: GPL-3.0-or-later
+ *
+ * -----------------------------------------------------------------------------
+ */
+#include "pvt_kf.h"
+#include <glog/logging.h>
+
+
+void Pvt_Kf::init_kf(arma::vec p, arma::vec v,
+ double solver_interval_s,
+ double measures_ecef_pos_sd_m,
+ double measures_ecef_vel_sd_ms,
+ double system_ecef_pos_sd_m,
+ double system_ecef_vel_sd_ms)
+{
+ // Kalman Filter class variables
+ const double Ti = solver_interval_s;
+
+ std::cout << "Ti=" << Ti << "\n";
+ d_F = {{1.0, 0.0, 0.0, Ti, 0.0, 0.0},
+ {0.0, 1.0, 0.0, 0.0, Ti, 0.0},
+ {0.0, 0.0, 1.0, 0.0, 0.0, Ti},
+ {0.0, 0.0, 0.0, 1.0, 0.0, 0.0},
+ {0.0, 0.0, 0.0, 0.0, 1.0, 0.0},
+ {0.0, 0.0, 0.0, 0.0, 0.0, 1.0}};
+
+ d_H = arma::eye(6, 6);
+
+ //measurement matrix static covariances
+ d_R = {{pow(measures_ecef_pos_sd_m, 2.0), 0.0, 0.0, 0.0, 0.0, 0.0},
+ {0.0, pow(measures_ecef_pos_sd_m, 2.0), 0.0, 0.0, 0.0, 0.0},
+ {0.0, 0.0, pow(measures_ecef_pos_sd_m, 2.0), 0.0, 0.0, 0.0},
+ {0.0, 0.0, 0.0, pow(measures_ecef_vel_sd_ms, 2.0), 0.0, 0.0},
+ {0.0, 0.0, 0.0, 0.0, pow(measures_ecef_vel_sd_ms, 2.0), 0.0},
+ {0.0, 0.0, 0.0, 0.0, 0.0, pow(measures_ecef_vel_sd_ms, 2.0)}};
+
+
+ // system covariance matrix (static)
+
+ d_Q = {{pow(system_ecef_pos_sd_m, 2.0), 0.0, 0.0, 0.0, 0.0, 0.0},
+ {0.0, pow(system_ecef_pos_sd_m, 2.0), 0.0, 0.0, 0.0, 0.0},
+ {0.0, 0.0, pow(system_ecef_pos_sd_m, 2.0), 0.0, 0.0, 0.0},
+ {0.0, 0.0, 0.0, pow(system_ecef_vel_sd_ms, 2.0), 0.0, 0.0},
+ {0.0, 0.0, 0.0, 0.0, pow(system_ecef_vel_sd_ms, 2.0), 0.0},
+ {0.0, 0.0, 0.0, 0.0, 0.0, pow(system_ecef_vel_sd_ms, 2.0)}};
+
+ // initial Kalman covariance matrix
+ d_P_old_old = {{pow(system_ecef_pos_sd_m, 2.0), 0.0, 0.0, 0.0, 0.0, 0.0},
+ {0.0, pow(system_ecef_pos_sd_m, 2.0), 0.0, 0.0, 0.0, 0.0},
+ {0.0, 0.0, pow(system_ecef_pos_sd_m, 2.0), 0.0, 0.0, 0.0},
+ {0.0, 0.0, 0.0, pow(system_ecef_vel_sd_ms, 2.0), 0.0, 0.0},
+ {0.0, 0.0, 0.0, 0.0, pow(system_ecef_vel_sd_ms, 2.0), 0.0},
+ {0.0, 0.0, 0.0, 0.0, 0.0, pow(system_ecef_vel_sd_ms, 2.0)}};
+
+ // states: position ecef [m], velocity ecef [m/s]
+ d_x_old_old = arma::zeros(6);
+ d_x_old_old.subvec(0, 2) = p;
+ d_x_old_old.subvec(3, 5) = v;
+
+ initialized = true;
+
+ DLOG(INFO) << "F: " << d_F;
+ DLOG(INFO) << "H: " << d_H;
+ DLOG(INFO) << "R: " << d_R;
+ DLOG(INFO) << "Q: " << d_Q;
+ DLOG(INFO) << "P: " << d_P_old_old;
+ DLOG(INFO) << "x: " << d_x_old_old;
+}
+
+void Pvt_Kf::run_Kf(arma::vec p, arma::vec v)
+{
+ //
+ // Pkp{1,i}=F*Pk{1,i-1}*F'+Q;
+ // Xkp{1,i}=F*Xk{1,i-1}; %nuevo estado a partir del modelo de transición
+ //
+ // %% Ganancia de Kalman
+ //
+ // K=Pkp{1,i}*A'*inv(A*Pkp{1,i}*A'+R); %en base a lo que acaba de predecir
+ //
+ // %% Corrección de la predicción y la covarianza, usando la info de las
+ // %% observaciones
+ //
+ // Xk{1,i}=Xkp{1,i}+K*(Z{1,i}-A*Xkp{1,i}); %correccion de lo predicho en base a la observación Z
+ //
+ // Pk{1,i}=(eye(4)-K*A)*Pkp{1,i}; % Corrección de la covarianza
+ // %pause(1)
+ //
+
+ // Kalman loop
+ // Prediction
+ // std::cout << "d_x_old_old=" << d_x_old_old << "\n";
+ d_x_new_old = d_F * d_x_old_old;
+ // std::cout << "d_x_new_old=" << d_x_new_old << "\n";
+ d_P_new_old = d_F * d_P_old_old * d_F.t() + d_Q;
+
+ // Measurement update
+ arma::vec z = arma::join_cols(p, v);
+ arma::mat K = d_P_new_old * d_H.t() * arma::inv(d_H * d_P_new_old * d_H.t() + d_R); // Kalman gain
+ d_x_new_new = d_x_new_old + K * (z - d_H * d_x_new_old);
+ // std::cout << "z=" << z << "\n";
+ // std::cout << "K=" << K << "\n";
+
+ // std::cout << "d_x_new_new=" << d_x_new_new << "\n";
+ d_P_new_new = (arma::eye(6, 6) - K * d_H) * d_P_new_old;
+
+ // prepare data for next KF epoch
+ d_x_old_old = d_x_new_new;
+ d_P_old_old = d_P_new_new;
+}
+
+Pvt_Kf::Pvt_Kf()
+{
+ initialized = false;
+}
+
+void Pvt_Kf::get_pvt(arma::vec& p, arma::vec& v)
+{
+ p = d_x_new_new.subvec(0, 2);
+ v = d_x_new_new.subvec(3, 5);
+}
diff --git a/src/algorithms/PVT/libs/pvt_kf.h b/src/algorithms/PVT/libs/pvt_kf.h
new file mode 100644
index 000000000..ce1a3f8ba
--- /dev/null
+++ b/src/algorithms/PVT/libs/pvt_kf.h
@@ -0,0 +1,66 @@
+/*!
+ * \file Pvt_Kf.h
+ * \brief Kalman Filter for Position and Velocity
+ * \author Javier Arribas, 2023. jarribas(at)cttc.es
+ *
+ *
+ * -----------------------------------------------------------------------------
+ *
+ * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
+ * This file is part of GNSS-SDR.
+ *
+ * Copyright (C) 2010-2023 (see AUTHORS file for a list of contributors)
+ * SPDX-License-Identifier: GPL-3.0-or-later
+ *
+ * -----------------------------------------------------------------------------
+ */
+
+#ifndef GNSS_SDR_PVT_KF_H
+#define GNSS_SDR_PVT_KF_H
+
+#include <armadillo>
+
+/** \addtogroup PVT
+ * \{ */
+/** \addtogroup PVT_libs
+ * \{ */
+
+
+/*!
+ * \brief Kalman Filter for Position and Velocity
+ *
+ */
+class Pvt_Kf
+{
+public:
+ Pvt_Kf();
+ virtual ~Pvt_Kf() = default;
+ void init_kf(arma::vec p, arma::vec v,
+ double solver_interval_s,
+ double measures_ecef_pos_sd_m,
+ double measures_ecef_vel_sd_ms,
+ double system_ecef_pos_sd_m,
+ double system_ecef_vel_sd_ms);
+
+ void run_Kf(arma::vec p, arma::vec v);
+ bool initialized;
+ void get_pvt(arma::vec &p, arma::vec &v);
+
+private:
+ // Kalman Filter class variables
+ arma::mat d_F;
+ arma::mat d_H;
+ arma::mat d_R;
+ arma::mat d_Q;
+ arma::mat d_P_old_old;
+ arma::mat d_P_new_old;
+ arma::mat d_P_new_new;
+ arma::vec d_x_old_old;
+ arma::vec d_x_new_old;
+ arma::vec d_x_new_new;
+};
+
+
+/** \} */
+/** \} */
+#endif // GNSS_SDR_Pvt_Kf_H
diff --git a/src/algorithms/PVT/libs/rtklib_solver.cc b/src/algorithms/PVT/libs/rtklib_solver.cc
index 8763cc12a..538de50df 100644
--- a/src/algorithms/PVT/libs/rtklib_solver.cc
+++ b/src/algorithms/PVT/libs/rtklib_solver.cc
@@ -49,12 +49,13 @@ Rtklib_Solver::Rtklib_Solver(const rtk_t &rtk,
uint32_t type_of_rx,
bool flag_dump_to_file,
bool flag_dump_to_mat,
- bool use_e6_for_pvt) : d_dump_filename(dump_filename),
- d_rtk(rtk),
- d_type_of_rx(type_of_rx),
- d_flag_dump_enabled(flag_dump_to_file),
- d_flag_dump_mat_enabled(flag_dump_to_mat),
- d_use_e6_for_pvt(use_e6_for_pvt)
+ Pvt_Conf conf) : d_dump_filename(dump_filename),
+ d_rtk(rtk),
+ d_type_of_rx(type_of_rx),
+ d_flag_dump_enabled(flag_dump_to_file),
+ d_flag_dump_mat_enabled(flag_dump_to_mat),
+ d_conf(conf)
+
{
this->set_averaging_flag(false);
@@ -1039,7 +1040,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
}
}
- if (sig_ == "E6" && d_use_e6_for_pvt)
+ if (sig_ == "E6" && d_conf.use_e6_for_pvt)
{
galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (galileo_ephemeris_iter != galileo_ephemeris_map.cend())
@@ -1466,6 +1467,10 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_rtk.neb = 0; // clear error buffer to avoid repeating the error message
this->set_time_offset_s(0.0); // reset rx time estimation
this->set_num_valid_observations(0);
+ if (d_conf.enable_pvt_kf == true)
+ {
+ d_pvt_kf.initialized = false;
+ }
}
else
{
@@ -1500,9 +1505,41 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
}
this->set_valid_position(true);
std::array<double, 4> rx_position_and_time{};
+
+ if (d_conf.enable_pvt_kf == true)
+ {
+ if (d_pvt_kf.initialized == false)
+ {
+ arma::vec p = {pvt_sol.rr[0], pvt_sol.rr[1], pvt_sol.rr[2]};
+ arma::vec v = {pvt_sol.rr[3], pvt_sol.rr[4], pvt_sol.rr[5]};
+
+ d_pvt_kf.init_kf(p,
+ v,
+ d_conf.observable_interval_ms / 1000.0,
+ d_conf.measures_ecef_pos_sd_m,
+ d_conf.measures_ecef_vel_sd_ms,
+ d_conf.system_ecef_pos_sd_m,
+ d_conf.system_ecef_vel_sd_ms);
+ }
+ else
+ {
+ arma::vec p = {pvt_sol.rr[0], pvt_sol.rr[1], pvt_sol.rr[2]};
+ arma::vec v = {pvt_sol.rr[3], pvt_sol.rr[4], pvt_sol.rr[5]};
+ d_pvt_kf.run_Kf(p, v);
+ d_pvt_kf.get_pvt(p, v);
+ pvt_sol.rr[0] = p[0]; // [m]
+ pvt_sol.rr[1] = p[1]; // [m]
+ pvt_sol.rr[2] = p[2]; // [m]
+ pvt_sol.rr[3] = v[0]; // [ms]
+ pvt_sol.rr[4] = v[1]; // [ms]
+ pvt_sol.rr[5] = v[2]; // [ms]
+ }
+ }
+
rx_position_and_time[0] = pvt_sol.rr[0]; // [m]
rx_position_and_time[1] = pvt_sol.rr[1]; // [m]
rx_position_and_time[2] = pvt_sol.rr[2]; // [m]
+
// todo: fix this ambiguity in the RTKLIB units in receiver clock offset!
if (d_rtk.opt.mode == PMODE_SINGLE)
{
diff --git a/src/algorithms/PVT/libs/rtklib_solver.h b/src/algorithms/PVT/libs/rtklib_solver.h
index 0a7fc056b..b967cb02f 100644
--- a/src/algorithms/PVT/libs/rtklib_solver.h
+++ b/src/algorithms/PVT/libs/rtklib_solver.h
@@ -56,6 +56,8 @@
#include "gps_iono.h"
#include "gps_utc_model.h"
#include "monitor_pvt.h"
+#include "pvt_conf.h"
+#include "pvt_kf.h"
#include "pvt_solution.h"
#include "rtklib.h"
#include "rtklib_conversions.h"
@@ -84,7 +86,7 @@ public:
uint32_t type_of_rx,
bool flag_dump_to_file,
bool flag_dump_to_mat,
- bool use_e6_for_pvt = true);
+ Pvt_Conf conf);
~Rtklib_Solver();
bool get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_map, bool flag_averaging);
@@ -152,7 +154,8 @@ private:
uint32_t d_type_of_rx;
bool d_flag_dump_enabled;
bool d_flag_dump_mat_enabled;
- bool d_use_e6_for_pvt;
+ Pvt_Conf d_conf;
+ Pvt_Kf d_pvt_kf;
};
diff --git a/src/tests/unit-tests/signal-processing-blocks/pvt/nmea_printer_test.cc b/src/tests/unit-tests/signal-processing-blocks/pvt/nmea_printer_test.cc
index 94c904f95..fcc0920be 100644
--- a/src/tests/unit-tests/signal-processing-blocks/pvt/nmea_printer_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/pvt/nmea_printer_test.cc
@@ -17,6 +17,7 @@
#include "gnss_sdr_filesystem.h"
#include "nmea_printer.h"
+#include "pvt_conf.h"
#include "rtklib_rtkpos.h"
#include "rtklib_solver.h"
#include <fstream>
@@ -144,7 +145,9 @@ void NmeaPrinterTest::conf()
TEST_F(NmeaPrinterTest, PrintLine)
{
std::string filename("nmea_test.nmea");
- std::shared_ptr<Rtklib_Solver> pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 1, false, false);
+ Pvt_Conf conf;
+ conf.use_e6_for_pvt = false;
+ std::shared_ptr<Rtklib_Solver> pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 1, false, false, conf);
boost::posix_time::ptime pt(boost::gregorian::date(1994, boost::date_time::Nov, 19),
boost::posix_time::hours(22) + boost::posix_time::minutes(54) + boost::posix_time::seconds(46));
diff --git a/src/tests/unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc b/src/tests/unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc
index 05f7d115e..a4a4fe90a 100644
--- a/src/tests/unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc
@@ -15,6 +15,7 @@
*/
#include "gnss_sdr_filesystem.h"
+#include "pvt_conf.h"
#include "rinex_printer.h"
#include "rtklib_rtkpos.h"
#include "rtklib_solver.h"
@@ -142,7 +143,9 @@ void RinexPrinterTest::conf()
TEST_F(RinexPrinterTest, GalileoObsHeader)
{
- auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 4, false, false);
+ Pvt_Conf conf;
+ conf.use_e6_for_pvt = false;
+ auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 4, false, false, conf);
auto eph = Galileo_Ephemeris();
eph.PRN = 1;
pvt_solution->galileo_ephemeris_map[1] = eph;
@@ -228,7 +231,9 @@ TEST_F(RinexPrinterTest, GalileoObsHeader)
TEST_F(RinexPrinterTest, GlonassObsHeader)
{
- auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 28, false, false);
+ Pvt_Conf conf;
+ conf.use_e6_for_pvt = false;
+ auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 28, false, false, conf);
auto eph = Glonass_Gnav_Ephemeris();
eph.PRN = 1;
pvt_solution->glonass_gnav_ephemeris_map[1] = eph;
@@ -288,7 +293,9 @@ TEST_F(RinexPrinterTest, MixedObsHeader)
auto eph_gps = Gps_Ephemeris();
eph_gal.PRN = 1;
eph_gps.PRN = 1;
- auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 106, false, false);
+ Pvt_Conf conf;
+ conf.use_e6_for_pvt = false;
+ auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 106, false, false, conf);
pvt_solution->galileo_ephemeris_map[1] = eph_gal;
pvt_solution->gps_ephemeris_map[1] = eph_gps;
@@ -358,7 +365,9 @@ TEST_F(RinexPrinterTest, MixedObsHeaderGpsGlo)
auto eph_gps = Gps_Ephemeris();
eph_glo.PRN = 1;
eph_gps.PRN = 1;
- auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 26, false, false);
+ Pvt_Conf conf;
+ conf.use_e6_for_pvt = false;
+ auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 26, false, false, conf);
pvt_solution->glonass_gnav_ephemeris_map[1] = eph_glo;
pvt_solution->gps_ephemeris_map[1] = eph_gps;
@@ -425,7 +434,9 @@ TEST_F(RinexPrinterTest, GalileoObsLog)
bool no_more_finds = false;
auto eph = Galileo_Ephemeris();
eph.PRN = 1;
- auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 4, false, false);
+ Pvt_Conf conf;
+ conf.use_e6_for_pvt = false;
+ auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 4, false, false, conf);
pvt_solution->galileo_ephemeris_map[1] = eph;
std::map<int, Gnss_Synchro> gnss_observables_map;
@@ -505,7 +516,9 @@ TEST_F(RinexPrinterTest, GlonassObsLog)
bool no_more_finds = false;
auto eph = Glonass_Gnav_Ephemeris();
eph.PRN = 22;
- auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 23, false, false);
+ Pvt_Conf conf;
+ conf.use_e6_for_pvt = false;
+ auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 23, false, false, conf);
pvt_solution->glonass_gnav_ephemeris_map[1] = eph;
std::map<int, Gnss_Synchro> gnss_observables_map;
@@ -587,7 +600,9 @@ TEST_F(RinexPrinterTest, GpsObsLogDualBand)
auto eph_cnav = Gps_CNAV_Ephemeris();
eph.PRN = 1;
eph_cnav.PRN = 1;
- auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 7, false, false);
+ Pvt_Conf conf;
+ conf.use_e6_for_pvt = false;
+ auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 7, false, false, conf);
pvt_solution->gps_ephemeris_map[1] = eph;
pvt_solution->gps_cnav_ephemeris_map[1] = eph_cnav;
std::map<int, Gnss_Synchro> gnss_observables_map;
@@ -675,7 +690,9 @@ TEST_F(RinexPrinterTest, GpsObsLogDualBand)
TEST_F(RinexPrinterTest, GalileoObsLogDualBand)
{
- auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 14, false, false);
+ Pvt_Conf conf;
+ conf.use_e6_for_pvt = false;
+ auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 14, false, false, conf);
auto eph = Galileo_Ephemeris();
eph.PRN = 1;
pvt_solution->galileo_ephemeris_map[1] = eph;
@@ -775,7 +792,9 @@ TEST_F(RinexPrinterTest, MixedObsLog)
auto eph_gal = Galileo_Ephemeris();
eph_gps.PRN = 1;
eph_gal.PRN = 1;
- auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 9, false, false);
+ Pvt_Conf conf;
+ conf.use_e6_for_pvt = false;
+ auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 9, false, false, conf);
pvt_solution->gps_ephemeris_map[1] = eph_gps;
pvt_solution->galileo_ephemeris_map[1] = eph_gal;
std::map<int, Gnss_Synchro> gnss_observables_map;
@@ -899,7 +918,9 @@ TEST_F(RinexPrinterTest, MixedObsLogGpsGlo)
auto eph_glo = Glonass_Gnav_Ephemeris();
eph_gps.PRN = 1;
eph_glo.PRN = 1;
- auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 26, false, false);
+ Pvt_Conf conf;
+ conf.use_e6_for_pvt = false;
+ auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, "filename", 26, false, false, conf);
pvt_solution->gps_ephemeris_map[1] = eph_gps;
pvt_solution->glonass_gnav_ephemeris_map[1] = eph_glo;
std::map<int, Gnss_Synchro> gnss_observables_map;
diff --git a/src/tests/unit-tests/signal-processing-blocks/pvt/rtklib_solver_test.cc b/src/tests/unit-tests/signal-processing-blocks/pvt/rtklib_solver_test.cc
index 4da572895..805ffdb9e 100644
--- a/src/tests/unit-tests/signal-processing-blocks/pvt/rtklib_solver_test.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/pvt/rtklib_solver_test.cc
@@ -18,6 +18,7 @@
#include "gnss_sdr_make_unique.h"
#include "gnss_sdr_supl_client.h"
#include "in_memory_configuration.h"
+#include "pvt_conf.h"
#include "rtklib_solver.h"
#include <armadillo>
#include <boost/archive/xml_iarchive.hpp>
@@ -28,7 +29,6 @@
#include <iostream>
#include <string>
-
rtk_t configure_rtklib_options()
{
std::shared_ptr<InMemoryConfiguration> configuration;
@@ -384,7 +384,9 @@ TEST(RTKLibSolverTest, test1)
bool save_to_mat = false;
rtk_t rtk = configure_rtklib_options();
- auto d_ls_pvt = std::make_unique<Rtklib_Solver>(rtk, nchannels, dump_filename, 1, flag_dump_to_file, save_to_mat);
+ Pvt_Conf conf;
+ conf.use_e6_for_pvt = false;
+ auto d_ls_pvt = std::make_unique<Rtklib_Solver>(rtk, nchannels, dump_filename, 1, flag_dump_to_file, save_to_mat, conf);
d_ls_pvt->set_averaging_depth(1);
// load ephemeris
From 4c448251fae7a361ca31426a529ed71181383486 Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Tue, 4 Jul 2023 17:19:17 +0200
Subject: [PATCH 23/31] Code cleaning
---
src/algorithms/PVT/libs/pvt_conf.h | 2 +-
src/algorithms/PVT/libs/pvt_kf.cc | 26 ++------------------------
2 files changed, 3 insertions(+), 25 deletions(-)
diff --git a/src/algorithms/PVT/libs/pvt_conf.h b/src/algorithms/PVT/libs/pvt_conf.h
index 26aac201a..bf4a3501a 100644
--- a/src/algorithms/PVT/libs/pvt_conf.h
+++ b/src/algorithms/PVT/libs/pvt_conf.h
@@ -95,7 +95,7 @@ public:
bool use_has_corrections = true;
bool use_unhealthy_sats = false;
- //PVT KF parameters
+ // PVT KF parameters
bool enable_pvt_kf = false;
double measures_ecef_pos_sd_m = 1.0;
double measures_ecef_vel_sd_ms = 0.1;
diff --git a/src/algorithms/PVT/libs/pvt_kf.cc b/src/algorithms/PVT/libs/pvt_kf.cc
index be7871974..fc06b8757 100644
--- a/src/algorithms/PVT/libs/pvt_kf.cc
+++ b/src/algorithms/PVT/libs/pvt_kf.cc
@@ -38,7 +38,7 @@ void Pvt_Kf::init_kf(arma::vec p, arma::vec v,
d_H = arma::eye(6, 6);
- //measurement matrix static covariances
+ // measurement matrix static covariances
d_R = {{pow(measures_ecef_pos_sd_m, 2.0), 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, pow(measures_ecef_pos_sd_m, 2.0), 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, pow(measures_ecef_pos_sd_m, 2.0), 0.0, 0.0, 0.0},
@@ -81,38 +81,16 @@ void Pvt_Kf::init_kf(arma::vec p, arma::vec v,
void Pvt_Kf::run_Kf(arma::vec p, arma::vec v)
{
- //
- // Pkp{1,i}=F*Pk{1,i-1}*F'+Q;
- // Xkp{1,i}=F*Xk{1,i-1}; %nuevo estado a partir del modelo de transición
- //
- // %% Ganancia de Kalman
- //
- // K=Pkp{1,i}*A'*inv(A*Pkp{1,i}*A'+R); %en base a lo que acaba de predecir
- //
- // %% Corrección de la predicción y la covarianza, usando la info de las
- // %% observaciones
- //
- // Xk{1,i}=Xkp{1,i}+K*(Z{1,i}-A*Xkp{1,i}); %correccion de lo predicho en base a la observación Z
- //
- // Pk{1,i}=(eye(4)-K*A)*Pkp{1,i}; % Corrección de la covarianza
- // %pause(1)
- //
-
// Kalman loop
// Prediction
- // std::cout << "d_x_old_old=" << d_x_old_old << "\n";
d_x_new_old = d_F * d_x_old_old;
- // std::cout << "d_x_new_old=" << d_x_new_old << "\n";
d_P_new_old = d_F * d_P_old_old * d_F.t() + d_Q;
// Measurement update
arma::vec z = arma::join_cols(p, v);
arma::mat K = d_P_new_old * d_H.t() * arma::inv(d_H * d_P_new_old * d_H.t() + d_R); // Kalman gain
- d_x_new_new = d_x_new_old + K * (z - d_H * d_x_new_old);
- // std::cout << "z=" << z << "\n";
- // std::cout << "K=" << K << "\n";
- // std::cout << "d_x_new_new=" << d_x_new_new << "\n";
+ d_x_new_new = d_x_new_old + K * (z - d_H * d_x_new_old);
d_P_new_new = (arma::eye(6, 6) - K * d_H) * d_P_new_old;
// prepare data for next KF epoch
From 1cf508ad200591f6b5543f5bb9b031deab47113d Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Tue, 4 Jul 2023 17:45:20 +0200
Subject: [PATCH 24/31] Code cleaning
---
.../gnuradio_blocks/ad936x_iio_source.cc | 22 ++---
.../gr_complex_ip_packet_source.cc | 6 +-
.../gr_complex_ip_packet_source.h | 2 +-
.../signal_source/libs/ad936x_iio_custom.cc | 92 +++++++++----------
.../signal_source/libs/ad936x_iio_custom.h | 8 +-
.../signal_source/libs/ad936x_iio_samples.h | 2 +-
.../signal_source/libs/pps_samplestamp.h | 2 +-
src/algorithms/signal_source/libs/ppstcprx.cc | 14 +--
8 files changed, 74 insertions(+), 74 deletions(-)
diff --git a/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.cc b/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.cc
index ffaae3e9c..45cc5046f 100644
--- a/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.cc
+++ b/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.cc
@@ -94,8 +94,8 @@ void ad936x_iio_source::ad9361_channel_demux_and_record(ad936x_iio_samples *samp
{
for (ch = 0; ch < nchannels; ch++)
{
- //std::cout << current_byte << " of " << samples_in->n_bytes << " test: " << (int)samples_in->buffer[current_byte] << "\n";
- (*files_out).at(ch).write(&samples_in->buffer[current_byte], 4); //two bytes I + two bytes Q per channel
+ // std::cout << current_byte << " of " << samples_in->n_bytes << " test: " << (int)samples_in->buffer[current_byte] << "\n";
+ (*files_out).at(ch).write(&samples_in->buffer[current_byte], 4); // two bytes I + two bytes Q per channel
current_byte += 4;
}
}
@@ -134,7 +134,7 @@ ad936x_iio_source::ad936x_iio_source(
{
if (ad936x_custom->initialize_device(pluto_uri_, board_type_) == true)
{
- //configure channels
+ // configure channels
if (ad936x_custom->init_config_ad9361_rx(bandwidth_,
sample_rate_,
freq_,
@@ -153,19 +153,19 @@ ad936x_iio_source::ad936x_iio_source(
{
std::cout << "ad936x_iio_source HW configured OK!\n";
- //PPS FPGA Samplestamp information from TCP server
+ // PPS FPGA Samplestamp information from TCP server
pps_rx = std::make_shared<pps_tcp_rx>();
ppsqueue = std::shared_ptr<Concurrent_Queue<PpsSamplestamp>>(new Concurrent_Queue<PpsSamplestamp>());
pps_rx->set_pps_samplestamp_queue(ppsqueue);
ad936x_custom->set_pps_samplestamp_queue(ppsqueue);
- //start PPS RX thread
+ // start PPS RX thread
if (ppsmode_ == true or customsamplesize_ == true)
{
pps_rx_thread = std::thread(&pps_tcp_rx::receive_pps, pps_rx, fe_ip_, fe_ctlport_);
std::this_thread::sleep_for(std::chrono::milliseconds(500));
- //configure custom FPGA options
+ // configure custom FPGA options
switch (ssize_)
{
case 16:
@@ -251,13 +251,13 @@ ad936x_iio_source::ad936x_iio_source(
set_min_noutput_items(IIO_DEFAULTAD936XAPIFIFOSIZE_SAMPLES * 2); // multiplexed I,Q, so, two samples per complex sample
set_min_output_buffer(IIO_DEFAULTAD936XAPIFIFOSIZE_SAMPLES * sizeof(int16_t) * 2);
- //std::cout << "max_output_buffer " << min_output_buffer(0) << " min_noutput_items: " << min_noutput_items() << "\n";
+ // std::cout << "max_output_buffer " << min_output_buffer(0) << " min_noutput_items: " << min_noutput_items() << "\n";
// for (int n = 0; n < ad936x_custom->n_channels; n++)
// {
// std::string cap_file_root_name = "./debug_cap_ch";
// samplesfile.push_back(std::fstream(cap_file_root_name + std::to_string(n) + ".dat", std::ios::out | std::ios::binary));
- // //samplesfile.back().exceptions(std::ios_base::badbit | std::ios_base::failbit); //this will enable exceptions for debug
+ // // samplesfile.back().exceptions(std::ios_base::badbit | std::ios_base::failbit); //this will enable exceptions for debug
//
// if (samplesfile.back().is_open() == false)
// {
@@ -301,7 +301,7 @@ int ad936x_iio_source::general_work(int noutput_items,
ad936x_custom->pop_sample_buffer(current_buffer);
current_samples = current_buffer.get();
- //I and Q samples are interleaved in buffer: IQIQIQ...
+ // I and Q samples are interleaved in buffer: IQIQIQ...
int32_t n_interleaved_iq_samples_per_channel = current_samples->n_bytes / (ad936x_custom->n_channels * 2);
if (noutput_items < n_interleaved_iq_samples_per_channel)
{
@@ -310,12 +310,12 @@ int ad936x_iio_source::general_work(int noutput_items,
}
else
{
- //ad9361_channel_demux_and_record(current_samples, ad936x_custom->n_channels, &samplesfile);
+ // ad9361_channel_demux_and_record(current_samples, ad936x_custom->n_channels, &samplesfile);
uint32_t current_byte = 0;
uint32_t current_byte_in_gr = 0;
int16_t ch = 0;
- //std::cout << "nbytes: " << samples_in->n_bytes << " nsamples: " << samples_in->n_samples << " nch: " << nchannels << "\n";
+ // std::cout << "nbytes: " << samples_in->n_bytes << " nsamples: " << samples_in->n_samples << " nch: " << nchannels << "\n";
if (ad936x_custom->n_channels == 1)
{
memcpy(&((char *)output_items[0])[0], ¤t_samples->buffer[current_byte], current_samples->n_bytes);
diff --git a/src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.cc b/src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.cc
index 20f829e6a..0153a11a2 100644
--- a/src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.cc
+++ b/src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.cc
@@ -193,7 +193,7 @@ bool Gr_Complex_Ip_Packet_Source::stop()
bool Gr_Complex_Ip_Packet_Source::open()
{
std::array<char, PCAP_ERRBUF_SIZE> errbuf{};
- //boost::mutex::scoped_lock lock(d_mutex); // hold mutex for duration of this function
+ // boost::mutex::scoped_lock lock(d_mutex); // hold mutex for duration of this function
gr::thread::scoped_lock guard(d_setlock);
// open device for reading
descr = pcap_open_live(d_src_device.c_str(), 1500, 1, 1000, errbuf.data());
@@ -250,7 +250,7 @@ void Gr_Complex_Ip_Packet_Source::static_pcap_callback(u_char *args, const struc
void Gr_Complex_Ip_Packet_Source::pcap_callback(__attribute__((unused)) u_char *args, __attribute__((unused)) const struct pcap_pkthdr *pkthdr,
const u_char *packet)
{
- //boost::mutex::scoped_lock lock(d_mutex); // hold mutex for duration of this function
+ // boost::mutex::scoped_lock lock(d_mutex); // hold mutex for duration of this function
const gr_ip_header *ih;
const gr_udp_header *uh;
@@ -500,7 +500,7 @@ int Gr_Complex_Ip_Packet_Source::work(int noutput_items,
gr_vector_void_star &output_items)
{
// send samples to next GNU Radio block
- //boost::mutex::scoped_lock lock(d_mutex); // hold mutex for duration of this function
+ // boost::mutex::scoped_lock lock(d_mutex); // hold mutex for duration of this function
if (fifo_items == 0)
{
return 0;
diff --git a/src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.h b/src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.h
index 9f8939904..a7d37b5a0 100644
--- a/src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.h
+++ b/src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.h
@@ -83,7 +83,7 @@ private:
bool open();
boost::thread *d_pcap_thread;
- //boost::mutex d_mutex;
+ // boost::mutex d_mutex;
struct sockaddr_in si_me
{
};
diff --git a/src/algorithms/signal_source/libs/ad936x_iio_custom.cc b/src/algorithms/signal_source/libs/ad936x_iio_custom.cc
index efd67e778..c9d788bdd 100644
--- a/src/algorithms/signal_source/libs/ad936x_iio_custom.cc
+++ b/src/algorithms/signal_source/libs/ad936x_iio_custom.cc
@@ -40,10 +40,10 @@ ad936x_iio_custom::ad936x_iio_custom(int debug_level_, int log_level_)
ad936x_iio_custom::~ad936x_iio_custom()
{
- //disable TX
+ // disable TX
if (phy != NULL) PlutoTxEnable(false);
- //Close device
+ // Close device
if (ctx != NULL) iio_context_destroy(ctx);
}
@@ -60,7 +60,7 @@ void ad936x_iio_custom::set_pps_samplestamp_queue(std::shared_ptr<Concurrent_Que
bool ad936x_iio_custom::initialize_device(std::string pluto_device_uri, std::string board_type)
{
- //Find devices
+ // Find devices
if (pluto_device_uri == "local")
{
struct iio_scan_context *tmp_ctx = iio_create_scan_context("usb", 0);
@@ -130,7 +130,7 @@ bool ad936x_iio_custom::initialize_device(std::string pluto_device_uri, std::str
if (board_type.compare("fmcomms5") == 0)
{
- stream_dev = iio_context_find_device(ctx, "cf-ad9361-A"); //first ad9361 in FMCOMMS5
+ stream_dev = iio_context_find_device(ctx, "cf-ad9361-A"); // first ad9361 in FMCOMMS5
if (stream_dev == NULL)
{
std::cout << "Unable to find cf-ad9361-A device from uri: " << pluto_device_uri << std::endl;
@@ -139,13 +139,13 @@ bool ad936x_iio_custom::initialize_device(std::string pluto_device_uri, std::str
}
else
{
- stream_dev = iio_context_find_device(ctx, "cf-ad9361-lpc"); //regular AD9361 stream device in single AD9361 boards
+ stream_dev = iio_context_find_device(ctx, "cf-ad9361-lpc"); // regular AD9361 stream device in single AD9361 boards
if (stream_dev == NULL)
{
std::cout << "Unable to find cf-ad9361-lpc device from uri: " << pluto_device_uri << std::endl;
return false;
};
- dds_dev = iio_context_find_device(ctx, "cf-ad9361-dds-core-lpc"); //DDS core for LO oscillator (external transverter operation)
+ dds_dev = iio_context_find_device(ctx, "cf-ad9361-dds-core-lpc"); // DDS core for LO oscillator (external transverter operation)
if (stream_dev == NULL)
{
std::cout << "Warning: Unable to find cf-ad9361-dds-core-lpc device from uri: " << pluto_device_uri << std::endl;
@@ -267,13 +267,13 @@ bool ad936x_iio_custom::config_ad9361_dds(uint64_t freq_rf_tx_hz_,
{
params_phy.push_back("out_voltage0_hardwaregain=" +
std::to_string(-tx_attenuation_db_));
- //disable the other TX
+ // disable the other TX
params_phy.push_back("out_voltage1_hardwaregain=" +
std::to_string(-disabled_tx_attenuation));
configure_params(phy, params_phy);
- //DDS TX CH1 I (tone #1)
+ // DDS TX CH1 I (tone #1)
params_dds.push_back("out_altvoltage0_TX1_I_F1_frequency=" +
std::to_string(freq_dds_tx_hz_));
params_dds.push_back("out_altvoltage0_TX1_I_F1_phase=" +
@@ -281,7 +281,7 @@ bool ad936x_iio_custom::config_ad9361_dds(uint64_t freq_rf_tx_hz_,
params_dds.push_back("out_altvoltage0_TX1_I_F1_scale=" +
std::to_string(scale_dds_));
params_dds.push_back("out_altvoltage0_TX1_I_F1_raw=1");
- //DDS TX CH1 Q (tone #1)
+ // DDS TX CH1 Q (tone #1)
params_dds.push_back("out_altvoltage2_TX1_Q_F1_frequency=" +
std::to_string(freq_dds_tx_hz_));
params_dds.push_back("out_altvoltage2_TX1_Q_F1_phase=" +
@@ -296,13 +296,13 @@ bool ad936x_iio_custom::config_ad9361_dds(uint64_t freq_rf_tx_hz_,
{
params_phy.push_back("out_voltage1_hardwaregain=" +
std::to_string(-tx_attenuation_db_));
- //disable the other TX
+ // disable the other TX
params_phy.push_back("out_voltage0_hardwaregain=" +
std::to_string(-disabled_tx_attenuation));
configure_params(phy, params_phy);
- //DDS TX CH2 I (tone #1)
+ // DDS TX CH2 I (tone #1)
params_dds.push_back("out_altvoltage4_TX2_I_F1_frequency=" +
std::to_string(freq_dds_tx_hz_));
params_dds.push_back("out_altvoltage4_TX2_I_F1_phase=" +
@@ -310,7 +310,7 @@ bool ad936x_iio_custom::config_ad9361_dds(uint64_t freq_rf_tx_hz_,
params_dds.push_back("out_altvoltage4_TX2_I_F1_scale=" +
std::to_string(scale_dds_));
params_dds.push_back("out_altvoltage4_TX2_I_F1_raw=1");
- //DDS TX CH2 Q (tone #1)
+ // DDS TX CH2 Q (tone #1)
params_dds.push_back("out_altvoltage6_TX2_Q_F1_frequency=" +
std::to_string(freq_dds_tx_hz_));
params_dds.push_back("out_altvoltage6_TX2_Q_F1_phase=" +
@@ -549,7 +549,7 @@ bool ad936x_iio_custom::init_config_ad9361_rx(long long bandwidth_,
}
else
{
- PlutoTxEnable(false); //power down the TX LO to reduce interferences
+ PlutoTxEnable(false); // power down the TX LO to reduce interferences
}
int set_filter_ret = ad9361_set_bb_rate(phy, sample_rate_sps);
@@ -564,7 +564,7 @@ bool ad936x_iio_custom::init_config_ad9361_rx(long long bandwidth_,
// std::cout << "Warning: Unable to set AD936x RX filter parameters!\n";
// }
- //testing: set manual RX filter chain
+ // testing: set manual RX filter chain
// unsigned long RX_analog_bb_lpf_stop_hz = 1000000;
// unsigned long TX_analog_bb_lpf_stop_hz = 1000000;
//
@@ -588,7 +588,7 @@ bool ad936x_iio_custom::init_config_ad9361_rx(long long bandwidth_,
name << "voltage";
name << 0;
struct iio_channel *phy_ch;
- phy_ch = iio_device_find_channel(phy, name.str().c_str(), false); //false means RX
+ phy_ch = iio_device_find_channel(phy, name.str().c_str(), false); // false means RX
if (!phy_ch)
{
std::cerr << "Could not find AD9361 phy channel: " << name.str() << "\n";
@@ -639,7 +639,7 @@ bool ad936x_iio_custom::init_config_ad9361_rx(long long bandwidth_,
name << "voltage";
name << 1;
struct iio_channel *phy_ch;
- phy_ch = iio_device_find_channel(phy, name.str().c_str(), false); //false means RX
+ phy_ch = iio_device_find_channel(phy, name.str().c_str(), false); // false means RX
if (!phy_ch)
{
std::cerr << "Could not find AD9361 phy channel: " << name.str() << "\n";
@@ -773,7 +773,7 @@ bool ad936x_iio_custom::setRXGain(int ch_num, std::string gain_mode, double gain
double ad936x_iio_custom::get_rx_gain(int ch_num)
{
if (check_device() == false) return -1;
- double gain_dB; //gain in dB
+ double gain_dB; // gain in dB
int ret = 0;
if (ch_num == 0)
{
@@ -804,7 +804,7 @@ double ad936x_iio_custom::get_rx_gain(int ch_num)
bool ad936x_iio_custom::calibrate(int ch, double bw_hz)
{
if (check_device() == false) return false;
- //todo
+ // todo
return true;
}
@@ -889,7 +889,7 @@ void ad936x_iio_custom::PlutoTxEnable(bool txon)
int ret;
if (txon == false)
{
- ret = iio_channel_attr_write_bool(iio_device_find_channel(phy, "altvoltage1", true), "powerdown", true); //turn off TX LO
+ ret = iio_channel_attr_write_bool(iio_device_find_channel(phy, "altvoltage1", true), "powerdown", true); // turn off TX LO
if (ret < 0)
{
std::cerr << "Failed to write altvoltage1 powerdown: " << ret << std::endl;
@@ -897,7 +897,7 @@ void ad936x_iio_custom::PlutoTxEnable(bool txon)
}
else
{
- ret = iio_channel_attr_write_bool(iio_device_find_channel(phy, "altvoltage1", true), "powerdown", false); //turn on TX LO
+ ret = iio_channel_attr_write_bool(iio_device_find_channel(phy, "altvoltage1", true), "powerdown", false); // turn on TX LO
if (ret < 0)
{
std::cerr << "Failed to write altvoltage1 powerdown: " << ret << std::endl;
@@ -909,10 +909,10 @@ void ad936x_iio_custom::PlutoTxEnable(bool txon)
void ad936x_iio_custom::setPlutoGpo(int p)
{
char pins[11];
- sprintf(pins, "0x27 0x%x0", p); //direct access to AD9361 registers... WARNING!
+ sprintf(pins, "0x27 0x%x0", p); // direct access to AD9361 registers... WARNING!
pins[9] = 0;
int ret;
- //std::cout << "send: " << pins << " \n";
+ // std::cout << "send: " << pins << " \n";
if (check_device())
{
ret = iio_device_debug_attr_write(phy, "direct_reg_access", pins);
@@ -932,7 +932,7 @@ bool ad936x_iio_custom::select_rf_filter(std::string rf_filter)
// adi,gpo-manual-mode-enable-mask does not work...
// some software use the direct_reg_access (see https://github.com/g4eml/Langstone/blob/master/LangstoneGUI.c)
- //since plutosdr fw 31:
+ // since plutosdr fw 31:
// GPOs can be addressed individual 0..3 or altogether using 0xF as Identifier.
//
// SYNTAX:
@@ -958,7 +958,7 @@ bool ad936x_iio_custom::select_rf_filter(std::string rf_filter)
if (rf_filter.compare("E1") == 0)
{
- //set gpio0 to switch L1 filter
+ // set gpio0 to switch L1 filter
// setPlutoGpo(plutoGpo);
ret = iio_device_debug_attr_write(phy, "gpo_set", "0 0");
if (ret < 0)
@@ -969,7 +969,7 @@ bool ad936x_iio_custom::select_rf_filter(std::string rf_filter)
}
else if (rf_filter.compare("E5E6") == 0)
{
- //set gpio0 to switch L5/L6 filter (GPO0)
+ // set gpio0 to switch L5/L6 filter (GPO0)
// plutoGpo = plutoGpo | 0x10;
// setPlutoGpo(plutoGpo); //set the Pluto GPO Pin
ret = iio_device_debug_attr_write(phy, "gpo_set", "0 1");
@@ -1018,20 +1018,20 @@ void ad936x_iio_custom::get_PPS_timestamp()
return;
}
- //Get new PPS samplestamp and associate it to the corresponding uBlox TP message
+ // Get new PPS samplestamp and associate it to the corresponding uBlox TP message
while (receive_samples == true)
{
std::cout << "[" << pps.samplestamp << "][o:" << pps.overflow_reg << "] uBlox time message received with TOW=" << tow.tow_ms << "\n";
LOG(INFO) << "[" << pps.samplestamp << "][o:" << pps.overflow_reg << "] uBlox time message received with TOW=" << tow.tow_ms << "\n";
- //write timestamp information to timestamp metadata file:
- //uint64_t: absolute sample counter from the beginning of sample capture associated to the rising edge of the PPS signal
+ // write timestamp information to timestamp metadata file:
+ // uint64_t: absolute sample counter from the beginning of sample capture associated to the rising edge of the PPS signal
// ppstimefile.write(reinterpret_cast<char *>(&pps.samplestamp), sizeof(uint64_t));
- //int32_t: Galileo/GPS Week Number associated to the rising edge of PPS signal
+ // int32_t: Galileo/GPS Week Number associated to the rising edge of PPS signal
// ppstimefile.write(reinterpret_cast<char *>(&tow.week), sizeof(int32_t));
- //int32_t: Galileo/GPS TOW associated to the rising edge of PPS signal
+ // int32_t: Galileo/GPS TOW associated to the rising edge of PPS signal
// ppstimefile.write(reinterpret_cast<char *>(&tow.tow_ms), sizeof(int32_t));
- //record pps rise samplestamp associated to the absolute sample counter
- //PPS rising edge must be associated with the corresponding uBlox time message (tx once a second)
+ // record pps rise samplestamp associated to the absolute sample counter
+ // PPS rising edge must be associated with the corresponding uBlox time message (tx once a second)
if (GnssTime_queue->timed_wait_and_pop(tow, 2000) == false)
@@ -1066,10 +1066,10 @@ void ad936x_iio_custom::get_PPS_timestamp()
}
bool ad936x_iio_custom::start_sample_rx(bool ppsmode)
{
- //using queues of smart pointers to preallocated buffers
+ // using queues of smart pointers to preallocated buffers
free_buffers.clear();
used_buffers.clear();
- //preallocate buffers and use queues
+ // preallocate buffers and use queues
std::cerr << "Allocating memory..\n";
try
{
@@ -1084,33 +1084,33 @@ bool ad936x_iio_custom::start_sample_rx(bool ppsmode)
return false;
}
- //prepare capture channels
+ // prepare capture channels
std::vector<std::string> channels;
switch (n_channels)
{
case 1:
- channels.push_back("voltage0"); //Channel 0 I
- channels.push_back("voltage1"); //Channel 0 Q
+ channels.push_back("voltage0"); // Channel 0 I
+ channels.push_back("voltage1"); // Channel 0 Q
break;
case 2:
- channels.push_back("voltage0"); //Channel 0 I
- channels.push_back("voltage1"); //Channel 0 Q
- channels.push_back("voltage2"); //Channel 1 I
- channels.push_back("voltage3"); //Channel 1 Q
+ channels.push_back("voltage0"); // Channel 0 I
+ channels.push_back("voltage1"); // Channel 0 Q
+ channels.push_back("voltage2"); // Channel 1 I
+ channels.push_back("voltage3"); // Channel 1 Q
break;
default:
- channels.push_back("voltage0"); //Channel 0 I
- channels.push_back("voltage1"); //Channel 0 Q
+ channels.push_back("voltage0"); // Channel 0 I
+ channels.push_back("voltage1"); // Channel 0 Q
}
receive_samples = true;
- //start sample capture thread
+ // start sample capture thread
capture_samples_thread = std::thread(&ad936x_iio_custom::capture, this, channels);
- //start sample overflow detector
+ // start sample overflow detector
overflow_monitor_thread = std::thread(&ad936x_iio_custom::monitor_thread_fn, this);
- //start PPS and GNSS Time capture thread
+ // start PPS and GNSS Time capture thread
if (ppsmode == true)
{
diff --git a/src/algorithms/signal_source/libs/ad936x_iio_custom.h b/src/algorithms/signal_source/libs/ad936x_iio_custom.h
index de36f5b5b..83a61282a 100644
--- a/src/algorithms/signal_source/libs/ad936x_iio_custom.h
+++ b/src/algorithms/signal_source/libs/ad936x_iio_custom.h
@@ -31,7 +31,7 @@
#endif
#include "ad936x_iio_samples.h"
-#include <ad9361.h> //multichip sync and high level functions
+#include <ad9361.h> // multichip sync and high level functions
#include <thread>
#include <vector>
@@ -114,13 +114,13 @@ private:
void PlutoTxEnable(bool txon);
void setPlutoGpo(int p);
- //Device structure
+ // Device structure
struct iio_context *ctx;
struct iio_device *phy;
struct iio_device *stream_dev;
struct iio_device *dds_dev;
- //stream
+ // stream
uint64_t sample_rate_sps;
@@ -135,7 +135,7 @@ private:
boost::atomic<bool> receive_samples;
boost::atomic<bool> fpga_overflow;
- //using queues of smart pointers to preallocated buffers
+ // using queues of smart pointers to preallocated buffers
Concurrent_Queue<std::shared_ptr<ad936x_iio_samples>> free_buffers;
Concurrent_Queue<std::shared_ptr<ad936x_iio_samples>> used_buffers;
diff --git a/src/algorithms/signal_source/libs/ad936x_iio_samples.h b/src/algorithms/signal_source/libs/ad936x_iio_samples.h
index 5156e89f0..96fd9e6ae 100644
--- a/src/algorithms/signal_source/libs/ad936x_iio_samples.h
+++ b/src/algorithms/signal_source/libs/ad936x_iio_samples.h
@@ -34,7 +34,7 @@ public:
uint32_t n_interleaved_iq_samples;
uint16_t n_channels;
uint16_t step_bytes;
- char buffer[IIO_DEFAULTAD936XAPIFIFOSIZE_SAMPLES * 4 * 4]; //max 16 bits samples per buffer (4 channels, 2-bytes per I + 2-bytes per Q)
+ char buffer[IIO_DEFAULTAD936XAPIFIFOSIZE_SAMPLES * 4 * 4]; // max 16 bits samples per buffer (4 channels, 2-bytes per I + 2-bytes per Q)
};
#endif
diff --git a/src/algorithms/signal_source/libs/pps_samplestamp.h b/src/algorithms/signal_source/libs/pps_samplestamp.h
index cdbc1276f..900388867 100644
--- a/src/algorithms/signal_source/libs/pps_samplestamp.h
+++ b/src/algorithms/signal_source/libs/pps_samplestamp.h
@@ -13,7 +13,7 @@
class PpsSamplestamp
{
public:
- uint64_t samplestamp; //PPS rising edge samples counter from the beginning of rx stream opperation. Notice that it is reseted to zero if sample buffer overflow is detected on the FPGA side
+ uint64_t samplestamp; // PPS rising edge samples counter from the beginning of rx stream opperation. Notice that it is reseted to zero if sample buffer overflow is detected on the FPGA side
uint32_t overflow_reg; // >0 indicates overflow situation in the FPGA RX buffer
};
diff --git a/src/algorithms/signal_source/libs/ppstcprx.cc b/src/algorithms/signal_source/libs/ppstcprx.cc
index 0a10d8545..73ea791db 100644
--- a/src/algorithms/signal_source/libs/ppstcprx.cc
+++ b/src/algorithms/signal_source/libs/ppstcprx.cc
@@ -52,16 +52,16 @@ bool pps_tcp_rx::send_cmd(std::string cmd)
}
void pps_tcp_rx::receive_pps(std::string ip_address, int port)
{
- //create a message buffer
+ // create a message buffer
char buf[1500];
- //setup a socket and connection tools
+ // setup a socket and connection tools
sockaddr_in sendSockAddr;
sendSockAddr.sin_family = AF_INET;
sendSockAddr.sin_addr.s_addr =
inet_addr(ip_address.c_str());
sendSockAddr.sin_port = htons(port);
clientSd = socket(AF_INET, SOCK_STREAM, 0);
- //try to connect...
+ // try to connect...
int status = connect(clientSd,
(sockaddr *)&sendSockAddr, sizeof(sendSockAddr));
if (status < 0)
@@ -84,8 +84,8 @@ void pps_tcp_rx::receive_pps(std::string ip_address, int port)
{
if (new_pps_line.length() > 0)
{
- //std::cout << "pps_tcp_rx debug: " << new_pps_line << "\n";
- //parse string and push PPS data to the PPS queue
+ // std::cout << "pps_tcp_rx debug: " << new_pps_line << "\n";
+ // parse string and push PPS data to the PPS queue
std::stringstream ss(new_pps_line);
std::vector<std::string> data;
while (ss.good())
@@ -97,7 +97,7 @@ void pps_tcp_rx::receive_pps(std::string ip_address, int port)
if (data.size() >= 2)
{
PpsSamplestamp new_pps;
- //sample counter
+ // sample counter
std::size_t found = data.at(0).find("sc=");
if (found != std::string::npos)
{
@@ -131,7 +131,7 @@ void pps_tcp_rx::receive_pps(std::string ip_address, int port)
std::cout << "pps_tcp_rx debug: o parse error str " << data.at(1) << "\n";
}
Pps_queue->push(new_pps);
- //std::cout << "pps_tcp_rx debug: pps pushed!\n";
+ // std::cout << "pps_tcp_rx debug: pps pushed!\n";
}
else
{
From 1517bb1ab81c769a2d7c2bfb10c42f31b55c8c8d Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Wed, 5 Jul 2023 11:37:33 +0200
Subject: [PATCH 25/31] Make Clang-format happy
---
.../signal_source/adapters/CMakeLists.txt | 1 -
.../gnuradio_blocks/ad936x_iio_source.cc | 7 ++++---
.../gr_complex_ip_packet_source.cc | 2 +-
.../signal_source/libs/ad936x_iio_custom.cc | 17 +++++++++--------
.../signal_source/libs/gnss_sdr_timestamp.h | 2 +-
.../signal_source/libs/pps_samplestamp.h | 12 ++++++++++--
src/algorithms/signal_source/libs/ppstcprx.cc | 16 ++++++++++++----
src/algorithms/signal_source/libs/ppstcprx.h | 16 ++++++++++++----
8 files changed, 49 insertions(+), 24 deletions(-)
diff --git a/src/algorithms/signal_source/adapters/CMakeLists.txt b/src/algorithms/signal_source/adapters/CMakeLists.txt
index 1fd3d6ee8..afbf36296 100644
--- a/src/algorithms/signal_source/adapters/CMakeLists.txt
+++ b/src/algorithms/signal_source/adapters/CMakeLists.txt
@@ -18,7 +18,6 @@ if(ENABLE_PLUTOSDR)
##############################################
set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} plutosdr_signal_source.cc)
set(OPT_DRIVER_HEADERS ${OPT_DRIVER_HEADERS} plutosdr_signal_source.h)
-
##############################################
# CUSTOM AD936X IIO SOURCE
##############################################
diff --git a/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.cc b/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.cc
index 45cc5046f..0cf885fe2 100644
--- a/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.cc
+++ b/src/algorithms/signal_source/gnuradio_blocks/ad936x_iio_source.cc
@@ -301,6 +301,7 @@ int ad936x_iio_source::general_work(int noutput_items,
ad936x_custom->pop_sample_buffer(current_buffer);
current_samples = current_buffer.get();
+
// I and Q samples are interleaved in buffer: IQIQIQ...
int32_t n_interleaved_iq_samples_per_channel = current_samples->n_bytes / (ad936x_custom->n_channels * 2);
if (noutput_items < n_interleaved_iq_samples_per_channel)
@@ -311,14 +312,14 @@ int ad936x_iio_source::general_work(int noutput_items,
else
{
// ad9361_channel_demux_and_record(current_samples, ad936x_custom->n_channels, &samplesfile);
-
+ auto **out = reinterpret_cast<int8_t **>(&output_items[0]);
uint32_t current_byte = 0;
uint32_t current_byte_in_gr = 0;
int16_t ch = 0;
// std::cout << "nbytes: " << samples_in->n_bytes << " nsamples: " << samples_in->n_samples << " nch: " << nchannels << "\n";
if (ad936x_custom->n_channels == 1)
{
- memcpy(&((char *)output_items[0])[0], ¤t_samples->buffer[current_byte], current_samples->n_bytes);
+ memcpy(out[0], ¤t_samples->buffer[current_byte], current_samples->n_bytes);
}
else
{
@@ -327,7 +328,7 @@ int ad936x_iio_source::general_work(int noutput_items,
{
for (ch = 0; ch < ad936x_custom->n_channels; ch++)
{
- memcpy(&((char *)output_items[ch])[current_byte_in_gr], ¤t_samples->buffer[current_byte], 4); // two bytes I + two bytes Q per channel: 4 bytes
+ memcpy(&out[ch][current_byte_in_gr], ¤t_samples->buffer[current_byte], 4); // two bytes I + two bytes Q per channel: 4 bytes
current_byte += 4;
}
current_byte_in_gr += 4;
diff --git a/src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.cc b/src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.cc
index 0153a11a2..04840a799 100644
--- a/src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.cc
+++ b/src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.cc
@@ -334,7 +334,7 @@ void Gr_Complex_Ip_Packet_Source::demux_samples(const gr_vector_void_star &outpu
{
if (d_wire_sample_type == 5)
{
- //interleaved 2-bit I 2-bit Q samples packed in bytes: 1 byte -> 2 complex samples
+ // interleaved 2-bit I 2-bit Q samples packed in bytes: 1 byte -> 2 complex samples
int nsample = 0;
byte_2bit_struct sample{}; // <- 2 bits wide only
int real;
diff --git a/src/algorithms/signal_source/libs/ad936x_iio_custom.cc b/src/algorithms/signal_source/libs/ad936x_iio_custom.cc
index c9d788bdd..1f7dfd823 100644
--- a/src/algorithms/signal_source/libs/ad936x_iio_custom.cc
+++ b/src/algorithms/signal_source/libs/ad936x_iio_custom.cc
@@ -21,6 +21,7 @@
#include <fstream>
#include <iostream>
#include <string>
+#include <utility>
#include <vector>
ad936x_iio_custom::ad936x_iio_custom(int debug_level_, int log_level_)
@@ -834,10 +835,10 @@ void ad936x_iio_custom::monitor_thread_fn()
continue;
}
- // if (device_is_tx) {
- // if (val & 1)
- // fprintf(stderr, "Underflow detected\n");
- // } else {
+ // if (device_is_tx) {
+ // if (val & 1)
+ // fprintf(stderr, "Underflow detected\n");
+ // } else {
if (val & 4)
{
std::cout << "WARNING: IIO status register reported overflow!\n";
@@ -909,7 +910,7 @@ void ad936x_iio_custom::PlutoTxEnable(bool txon)
void ad936x_iio_custom::setPlutoGpo(int p)
{
char pins[11];
- sprintf(pins, "0x27 0x%x0", p); // direct access to AD9361 registers... WARNING!
+ snprintf(pins, sizeof(pins), "0x27 0x%x0", p); // direct access to AD9361 registers... WARNING!
pins[9] = 0;
int ret;
// std::cout << "send: " << pins << " \n";
@@ -926,9 +927,9 @@ void ad936x_iio_custom::setPlutoGpo(int p)
bool ad936x_iio_custom::select_rf_filter(std::string rf_filter)
{
- // adi,gpo-manual-mode-enable Enables GPO manual mode, this will conflict with automatic ENSM slave and eLNA mode
- // adi,gpo-manual-mode-enable-mask Enable bit mask, setting or clearing bits will change the level of the corresponding output. Bit0 → GPO, Bit1 → GPO1, Bit2 → GPO2, Bit3 → GP03
- // adi,gpo-manual-mode-enable
+ // adi,gpo-manual-mode-enable Enables GPO manual mode, this will conflict with automatic ENSM slave and eLNA mode
+ // adi,gpo-manual-mode-enable-mask Enable bit mask, setting or clearing bits will change the level of the corresponding output. Bit0 → GPO, Bit1 → GPO1, Bit2 → GPO2, Bit3 → GP03
+ // adi,gpo-manual-mode-enable
// adi,gpo-manual-mode-enable-mask does not work...
// some software use the direct_reg_access (see https://github.com/g4eml/Langstone/blob/master/LangstoneGUI.c)
diff --git a/src/algorithms/signal_source/libs/gnss_sdr_timestamp.h b/src/algorithms/signal_source/libs/gnss_sdr_timestamp.h
index 11716ca82..6caafd8e5 100644
--- a/src/algorithms/signal_source/libs/gnss_sdr_timestamp.h
+++ b/src/algorithms/signal_source/libs/gnss_sdr_timestamp.h
@@ -71,8 +71,8 @@ private:
double d_clock_offset_ms;
double d_fraction_ms_offset;
double d_integer_ms_offset;
- uint64_t d_next_timetag_samplecount;
int d_items_to_samples;
+ uint64_t d_next_timetag_samplecount;
bool d_get_next_timetag;
};
diff --git a/src/algorithms/signal_source/libs/pps_samplestamp.h b/src/algorithms/signal_source/libs/pps_samplestamp.h
index 900388867..d6891aa3e 100644
--- a/src/algorithms/signal_source/libs/pps_samplestamp.h
+++ b/src/algorithms/signal_source/libs/pps_samplestamp.h
@@ -1,8 +1,16 @@
-/* -------------------------------------------------------------------------
+/*!
+ * \file pps_samplestamp.h
+ * \brief A simple container for the sample count associated to PPS rising edge
+ * \author Javier Arribas, jarribas(at)cttc.es
+ * -----------------------------------------------------------------------------
*
- * Copyright (C) 2022 (see AUTHORS file for a list of contributors)
+ * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
+ * This file is part of GNSS-SDR.
*
+ * Copyright (C) 2010-2023 (see AUTHORS file for a list of contributors)
+ * SPDX-License-Identifier: GPL-3.0-or-later
*
+ * -----------------------------------------------------------------------------
*/
#ifndef IIOPPS_PPS_SAMPLESTAMP_H
diff --git a/src/algorithms/signal_source/libs/ppstcprx.cc b/src/algorithms/signal_source/libs/ppstcprx.cc
index 73ea791db..93db26f61 100644
--- a/src/algorithms/signal_source/libs/ppstcprx.cc
+++ b/src/algorithms/signal_source/libs/ppstcprx.cc
@@ -1,8 +1,16 @@
-/*
- * ppstcprx.cc
+/*!
+ * \file ppstcprx.cc
+ * \brief TCP client class for front-end PPS samplestamp information reception
+ * \author Javier Arribas, jarribas(at)cttc.es
+ * -----------------------------------------------------------------------------
*
- * Created on: 28 feb 2022
- * Author: javier
+ * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
+ * This file is part of GNSS-SDR.
+ *
+ * Copyright (C) 2010-2023 (see AUTHORS file for a list of contributors)
+ * SPDX-License-Identifier: GPL-3.0-or-later
+ *
+ * -----------------------------------------------------------------------------
*/
#include "ppstcprx.h"
diff --git a/src/algorithms/signal_source/libs/ppstcprx.h b/src/algorithms/signal_source/libs/ppstcprx.h
index 37c8de92f..653b2fdbd 100644
--- a/src/algorithms/signal_source/libs/ppstcprx.h
+++ b/src/algorithms/signal_source/libs/ppstcprx.h
@@ -1,8 +1,16 @@
-/*
- * ppstcprx.h
+/*!
+ * \file ppstcprx.h
+ * \brief TCP client class for front-end PPS samplestamp information reception
+ * \author Javier Arribas, jarribas(at)cttc.es
+ * -----------------------------------------------------------------------------
*
- * Created on: 28 feb 2022
- * Author: javier
+ * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
+ * This file is part of GNSS-SDR.
+ *
+ * Copyright (C) 2010-2023 (see AUTHORS file for a list of contributors)
+ * SPDX-License-Identifier: GPL-3.0-or-later
+ *
+ * -----------------------------------------------------------------------------
*/
#ifndef SRC_LIBS_PPSTCPRX_H_
From 8e42b55f8d2fbc696ca77166cff17288552039f3 Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Wed, 5 Jul 2023 12:02:50 +0200
Subject: [PATCH 26/31] Code cleaning
---
src/algorithms/signal_source/libs/ad936x_iio_custom.cc | 2 +-
src/algorithms/signal_source/libs/pps_samplestamp.h | 4 ++--
src/algorithms/signal_source/libs/ppstcprx.cc | 1 +
src/algorithms/signal_source/libs/ppstcprx.h | 2 ++
4 files changed, 6 insertions(+), 3 deletions(-)
diff --git a/src/algorithms/signal_source/libs/ad936x_iio_custom.cc b/src/algorithms/signal_source/libs/ad936x_iio_custom.cc
index 1f7dfd823..c99dba789 100644
--- a/src/algorithms/signal_source/libs/ad936x_iio_custom.cc
+++ b/src/algorithms/signal_source/libs/ad936x_iio_custom.cc
@@ -947,7 +947,7 @@ bool ad936x_iio_custom::select_rf_filter(std::string rf_filter)
if (check_device() == false) return false;
- int plutoGpo = 0;
+ // int plutoGpo = 0;
int ret;
ret = iio_device_debug_attr_write(phy, "adi,gpo-manual-mode-enable", "1");
diff --git a/src/algorithms/signal_source/libs/pps_samplestamp.h b/src/algorithms/signal_source/libs/pps_samplestamp.h
index d6891aa3e..df4b40929 100644
--- a/src/algorithms/signal_source/libs/pps_samplestamp.h
+++ b/src/algorithms/signal_source/libs/pps_samplestamp.h
@@ -21,8 +21,8 @@
class PpsSamplestamp
{
public:
- uint64_t samplestamp; // PPS rising edge samples counter from the beginning of rx stream opperation. Notice that it is reseted to zero if sample buffer overflow is detected on the FPGA side
- uint32_t overflow_reg; // >0 indicates overflow situation in the FPGA RX buffer
+ uint64_t samplestamp = 0; // PPS rising edge samples counter from the beginning of rx stream opperation. Notice that it is reseted to zero if sample buffer overflow is detected on the FPGA side
+ uint32_t overflow_reg = 0; // >0 indicates overflow situation in the FPGA RX buffer
};
#endif
diff --git a/src/algorithms/signal_source/libs/ppstcprx.cc b/src/algorithms/signal_source/libs/ppstcprx.cc
index 93db26f61..0855ad0b6 100644
--- a/src/algorithms/signal_source/libs/ppstcprx.cc
+++ b/src/algorithms/signal_source/libs/ppstcprx.cc
@@ -17,6 +17,7 @@
#include <cstring>
#include <iostream>
#include <sstream>
+#include <utility>
#include <vector>
pps_tcp_rx::pps_tcp_rx()
diff --git a/src/algorithms/signal_source/libs/ppstcprx.h b/src/algorithms/signal_source/libs/ppstcprx.h
index 653b2fdbd..3fb5878fb 100644
--- a/src/algorithms/signal_source/libs/ppstcprx.h
+++ b/src/algorithms/signal_source/libs/ppstcprx.h
@@ -18,10 +18,12 @@
#include "concurrent_queue.h"
#include "pps_samplestamp.h"
#include <arpa/inet.h>
+#include <memory>
#include <netinet/in.h>
#include <string>
#include <sys/socket.h>
#include <sys/types.h>
+
class pps_tcp_rx
{
private:
From 4f9a9068e97041550f34e6160e7b8643659cc01c Mon Sep 17 00:00:00 2001
From: Javier Arribas <javiarribas@gmail.com>
Date: Wed, 5 Jul 2023 15:51:01 +0200
Subject: [PATCH 27/31] Bug fix in iio signal source and ip packet source
---
.../gnuradio_blocks/gr_complex_ip_packet_source.cc | 5 ++++-
src/algorithms/signal_source/libs/ad936x_iio_custom.cc | 7 +++++--
2 files changed, 9 insertions(+), 3 deletions(-)
diff --git a/src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.cc b/src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.cc
index 04840a799..d5659d0dc 100644
--- a/src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.cc
+++ b/src/algorithms/signal_source/gnuradio_blocks/gr_complex_ip_packet_source.cc
@@ -19,6 +19,7 @@
#include "gr_complex_ip_packet_source.h"
#include <gnuradio/io_signature.h>
+#include <volk/volk.h>
#include <array>
#include <cstdint>
#include <utility>
@@ -110,7 +111,7 @@ Gr_Complex_Ip_Packet_Source::Gr_Complex_Ip_Packet_Source(std::string src_device,
d_pcap_thread(nullptr),
d_src_device(std::move(src_device)),
descr(nullptr),
- fifo_buff(new char[FIFO_SIZE]),
+ fifo_buff(static_cast<char *>(volk_malloc(static_cast<int32_t>(FIFO_SIZE * sizeof(char)), volk_get_alignment()))),
fifo_read_ptr(0),
fifo_write_ptr(0),
fifo_items(0),
@@ -297,6 +298,7 @@ void Gr_Complex_Ip_Packet_Source::pcap_callback(__attribute__((unused)) u_char *
if (aligned_write_items >= payload_length_bytes)
{
// write all in a single memcpy
+ gr::thread::scoped_lock guard(d_setlock);
memcpy(&fifo_buff[fifo_write_ptr], &udp_payload[0], payload_length_bytes); // size in bytes
fifo_write_ptr += payload_length_bytes;
if (fifo_write_ptr == FIFO_SIZE)
@@ -308,6 +310,7 @@ void Gr_Complex_Ip_Packet_Source::pcap_callback(__attribute__((unused)) u_char *
else
{
// two step wrap write
+ gr::thread::scoped_lock guard(d_setlock);
memcpy(&fifo_buff[fifo_write_ptr], &udp_payload[0], aligned_write_items); // size in bytes
fifo_write_ptr = payload_length_bytes - aligned_write_items;
memcpy(&fifo_buff[0], &udp_payload[aligned_write_items], fifo_write_ptr); // size in bytes
diff --git a/src/algorithms/signal_source/libs/ad936x_iio_custom.cc b/src/algorithms/signal_source/libs/ad936x_iio_custom.cc
index c99dba789..e487d29b5 100644
--- a/src/algorithms/signal_source/libs/ad936x_iio_custom.cc
+++ b/src/algorithms/signal_source/libs/ad936x_iio_custom.cc
@@ -581,9 +581,11 @@ bool ad936x_iio_custom::init_config_ad9361_rx(long long bandwidth_,
// {
// std::cout << "Warning: Unable to set AD936x RX filter parameters!\n";
// }
+ n_channels = 0;
if (enable_ch0 == true)
{
- std::cerr << "* Get AD9361 Phy RX channel 0...\n";
+ n_channels++;
+ std::cout << "* Get AD9361 Phy RX channel 0...\n";
std::stringstream name;
name.str("");
name << "voltage";
@@ -634,7 +636,8 @@ bool ad936x_iio_custom::init_config_ad9361_rx(long long bandwidth_,
if (enable_ch1 == true)
{
- std::cerr << "* Get AD9361 Phy RX channel 1...\n";
+ n_channels++;
+ std::cout << "* Get AD9361 Phy RX channel 1...\n";
std::stringstream name;
name.str("");
name << "voltage";
From a29f52e2e48b184e10d0cf3d5bc5f781f05a2980 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Wed, 5 Jul 2023 19:37:35 +0200
Subject: [PATCH 28/31] Make clang-tidy happy
---
src/algorithms/PVT/libs/pvt_kf.cc | 21 ++++++++----------
src/algorithms/PVT/libs/pvt_kf.h | 14 ++++++------
src/algorithms/PVT/libs/rtklib_solver.cc | 5 ++---
src/algorithms/PVT/libs/rtklib_solver.h | 4 ++--
.../adapters/file_timestamp_signal_source.cc | 22 ++++++++++++-------
.../adapters/file_timestamp_signal_source.h | 3 ++-
6 files changed, 36 insertions(+), 33 deletions(-)
diff --git a/src/algorithms/PVT/libs/pvt_kf.cc b/src/algorithms/PVT/libs/pvt_kf.cc
index fc06b8757..a0fdda1d3 100644
--- a/src/algorithms/PVT/libs/pvt_kf.cc
+++ b/src/algorithms/PVT/libs/pvt_kf.cc
@@ -1,5 +1,5 @@
/*!
- * \file Pvt_Kf.cc
+ * \file pvt_kf.cc
* \brief Kalman Filter for Position and Velocity
* \author Javier Arribas, 2023. jarribas(at)cttc.es
*
@@ -14,11 +14,13 @@
*
* -----------------------------------------------------------------------------
*/
+
#include "pvt_kf.h"
#include <glog/logging.h>
-void Pvt_Kf::init_kf(arma::vec p, arma::vec v,
+void Pvt_Kf::init_kf(const arma::vec& p,
+ const arma::vec& v,
double solver_interval_s,
double measures_ecef_pos_sd_m,
double measures_ecef_vel_sd_ms,
@@ -28,7 +30,6 @@ void Pvt_Kf::init_kf(arma::vec p, arma::vec v,
// Kalman Filter class variables
const double Ti = solver_interval_s;
- std::cout << "Ti=" << Ti << "\n";
d_F = {{1.0, 0.0, 0.0, Ti, 0.0, 0.0},
{0.0, 1.0, 0.0, 0.0, Ti, 0.0},
{0.0, 0.0, 1.0, 0.0, 0.0, Ti},
@@ -38,7 +39,7 @@ void Pvt_Kf::init_kf(arma::vec p, arma::vec v,
d_H = arma::eye(6, 6);
- // measurement matrix static covariances
+ // measurement matrix static covariances
d_R = {{pow(measures_ecef_pos_sd_m, 2.0), 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, pow(measures_ecef_pos_sd_m, 2.0), 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, pow(measures_ecef_pos_sd_m, 2.0), 0.0, 0.0, 0.0},
@@ -46,9 +47,7 @@ void Pvt_Kf::init_kf(arma::vec p, arma::vec v,
{0.0, 0.0, 0.0, 0.0, pow(measures_ecef_vel_sd_ms, 2.0), 0.0},
{0.0, 0.0, 0.0, 0.0, 0.0, pow(measures_ecef_vel_sd_ms, 2.0)}};
-
// system covariance matrix (static)
-
d_Q = {{pow(system_ecef_pos_sd_m, 2.0), 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, pow(system_ecef_pos_sd_m, 2.0), 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, pow(system_ecef_pos_sd_m, 2.0), 0.0, 0.0, 0.0},
@@ -71,6 +70,7 @@ void Pvt_Kf::init_kf(arma::vec p, arma::vec v,
initialized = true;
+ DLOG(INFO) << "Ti: " << Ti;
DLOG(INFO) << "F: " << d_F;
DLOG(INFO) << "H: " << d_H;
DLOG(INFO) << "R: " << d_R;
@@ -79,9 +79,10 @@ void Pvt_Kf::init_kf(arma::vec p, arma::vec v,
DLOG(INFO) << "x: " << d_x_old_old;
}
-void Pvt_Kf::run_Kf(arma::vec p, arma::vec v)
+
+void Pvt_Kf::run_Kf(const arma::vec& p, const arma::vec& v);
{
- // Kalman loop
+ // Kalman loop
// Prediction
d_x_new_old = d_F * d_x_old_old;
d_P_new_old = d_F * d_P_old_old * d_F.t() + d_Q;
@@ -98,10 +99,6 @@ void Pvt_Kf::run_Kf(arma::vec p, arma::vec v)
d_P_old_old = d_P_new_new;
}
-Pvt_Kf::Pvt_Kf()
-{
- initialized = false;
-}
void Pvt_Kf::get_pvt(arma::vec& p, arma::vec& v)
{
diff --git a/src/algorithms/PVT/libs/pvt_kf.h b/src/algorithms/PVT/libs/pvt_kf.h
index ce1a3f8ba..26dc25a43 100644
--- a/src/algorithms/PVT/libs/pvt_kf.h
+++ b/src/algorithms/PVT/libs/pvt_kf.h
@@ -1,5 +1,5 @@
/*!
- * \file Pvt_Kf.h
+ * \file pvt_kf.h
* \brief Kalman Filter for Position and Velocity
* \author Javier Arribas, 2023. jarribas(at)cttc.es
*
@@ -33,18 +33,18 @@
class Pvt_Kf
{
public:
- Pvt_Kf();
+ Pvt_Kf() = default;
virtual ~Pvt_Kf() = default;
- void init_kf(arma::vec p, arma::vec v,
+ void init_kf(const arma::vec& p,
+ const arma::vec& v,
double solver_interval_s,
double measures_ecef_pos_sd_m,
double measures_ecef_vel_sd_ms,
double system_ecef_pos_sd_m,
double system_ecef_vel_sd_ms);
-
- void run_Kf(arma::vec p, arma::vec v);
- bool initialized;
- void get_pvt(arma::vec &p, arma::vec &v);
+ void run_Kf(const arma::vec& p, const arma::vec& v);
+ void get_pvt(arma::vec& p, arma::vec& v);
+ bool initialized{false};
private:
// Kalman Filter class variables
diff --git a/src/algorithms/PVT/libs/rtklib_solver.cc b/src/algorithms/PVT/libs/rtklib_solver.cc
index 70384d613..e17edfa14 100644
--- a/src/algorithms/PVT/libs/rtklib_solver.cc
+++ b/src/algorithms/PVT/libs/rtklib_solver.cc
@@ -51,11 +51,10 @@ Rtklib_Solver::Rtklib_Solver(const rtk_t &rtk,
bool flag_dump_to_mat,
Pvt_Conf conf) : d_dump_filename(dump_filename),
d_rtk(rtk),
+ d_conf(std::move(conf)),
d_type_of_rx(type_of_rx),
d_flag_dump_enabled(flag_dump_to_file),
- d_flag_dump_mat_enabled(flag_dump_to_mat),
- d_conf(conf)
-
+ d_flag_dump_mat_enabled(flag_dump_to_mat)
{
this->set_averaging_flag(false);
diff --git a/src/algorithms/PVT/libs/rtklib_solver.h b/src/algorithms/PVT/libs/rtklib_solver.h
index b967cb02f..7bffa042d 100644
--- a/src/algorithms/PVT/libs/rtklib_solver.h
+++ b/src/algorithms/PVT/libs/rtklib_solver.h
@@ -151,11 +151,11 @@ private:
rtk_t d_rtk{};
nav_t d_nav_data{};
Monitor_Pvt d_monitor_pvt{};
+ Pvt_Conf d_conf;
+ Pvt_Kf d_pvt_kf;
uint32_t d_type_of_rx;
bool d_flag_dump_enabled;
bool d_flag_dump_mat_enabled;
- Pvt_Conf d_conf;
- Pvt_Kf d_pvt_kf;
};
diff --git a/src/algorithms/signal_source/adapters/file_timestamp_signal_source.cc b/src/algorithms/signal_source/adapters/file_timestamp_signal_source.cc
index 8e17180f8..8a7c2958f 100644
--- a/src/algorithms/signal_source/adapters/file_timestamp_signal_source.cc
+++ b/src/algorithms/signal_source/adapters/file_timestamp_signal_source.cc
@@ -1,6 +1,7 @@
/*!
- * \file file_timestamp_signal_source.h
- * \brief This class reads samples stored in a file and generate stream tags with its timestamp information stored in separated file
+ * \file file_timestamp_signal_source.cc
+ * \brief This class reads samples stored in a file and generate stream tags
+ * with its timestamp information stored in separated file
* \author Javier Arribas, jarribas(at)cttc.es
*
* -----------------------------------------------------------------------------
@@ -13,6 +14,7 @@
*
* -----------------------------------------------------------------------------
*/
+
#include "file_timestamp_signal_source.h"
#include "gnss_sdr_flags.h"
#include "gnss_sdr_string_literals.h"
@@ -22,7 +24,9 @@
using namespace std::string_literals;
FileTimestampSignalSource::FileTimestampSignalSource(const ConfigurationInterface* configuration,
- const std::string& role, unsigned int in_streams, unsigned int out_streams,
+ const std::string& role,
+ unsigned int in_streams,
+ unsigned int out_streams,
Concurrent_Queue<pmt::pmt_t>* queue)
: FileSourceBase(configuration, role, "File_Timestamp_Signal_Source"s, queue, "byte"s),
timestamp_file_(configuration->property(role + ".timestamp_filename"s, "../data/example_capture_timestamp.dat"s)),
@@ -53,23 +57,23 @@ void FileTimestampSignalSource::create_file_source_hook()
int source_items_to_samples = 1;
bool is_complex = false;
- if (item_type().compare("ibyte") == 0)
+ if (item_type() == "ibyte")
{
source_items_to_samples = 1;
}
- else if (item_type().compare("byte") == 0)
+ else if (item_type() == "byte")
{
source_items_to_samples = 1;
}
- else if (item_type().compare("short") == 0)
+ else if (item_type() == "short")
{
source_items_to_samples = 1;
}
- else if (item_type().compare("ishort") == 0)
+ else if (item_type() == "ishort")
{
source_items_to_samples = 1;
}
- else if (item_type().compare("gr_complex") == 0)
+ else if (item_type() == "gr_complex")
{
source_items_to_samples = 1;
is_complex = true;
@@ -96,12 +100,14 @@ void FileTimestampSignalSource::create_file_source_hook()
DLOG(INFO) << "timestamp_block_(" << timestamp_block_->unique_id() << ")";
}
+
void FileTimestampSignalSource::pre_connect_hook(gr::top_block_sptr top_block)
{
top_block->connect(file_source(), 0, timestamp_block_, 0);
DLOG(INFO) << "connected file_source to timestamp_block_";
}
+
void FileTimestampSignalSource::pre_disconnect_hook(gr::top_block_sptr top_block)
{
top_block->disconnect(file_source(), 0, timestamp_block_, 0);
diff --git a/src/algorithms/signal_source/adapters/file_timestamp_signal_source.h b/src/algorithms/signal_source/adapters/file_timestamp_signal_source.h
index f95b3622e..0c82cab86 100644
--- a/src/algorithms/signal_source/adapters/file_timestamp_signal_source.h
+++ b/src/algorithms/signal_source/adapters/file_timestamp_signal_source.h
@@ -1,6 +1,7 @@
/*!
* \file file_timestamp_signal_source.h
- * \brief This class reads samples stored in a file and generate stream tags with its timestamp information stored in separated file
+ * \brief This class reads samples stored in a file and generate stream tags
+ * with its timestamp information stored in separated file
* \author Javier Arribas, jarribas(at)cttc.es
*
* -----------------------------------------------------------------------------
From 5759e0a38545abeaaae3a033c044affa9f6bdda7 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Wed, 5 Jul 2023 19:39:17 +0200
Subject: [PATCH 29/31] Bump Benchmark to 1.8.1
---
CMakeLists.txt | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 398c1f266..23e562631 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -344,7 +344,7 @@ set(GNSSSDR_PUGIXML_LOCAL_VERSION "1.13")
set(GNSSSDR_GTEST_LOCAL_VERSION "1.13.0")
set(GNSSSDR_GNSS_SIM_LOCAL_VERSION "master")
set(GNSSSDR_GNSSTK_LOCAL_VERSION "14.0.0")
-set(GNSSSDR_BENCHMARK_LOCAL_VERSION "1.8.0")
+set(GNSSSDR_BENCHMARK_LOCAL_VERSION "1.8.1")
set(GNSSSDR_MATHJAX_EXTERNAL_VERSION "2.7.7")
# Downgrade versions if requirements are not met
From 4cc4a6cbb62e678acf2d6089ee12921e80777b6c Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Wed, 5 Jul 2023 20:03:22 +0200
Subject: [PATCH 30/31] Update changelog
---
docs/CHANGELOG.md | 14 ++++++++++++++
1 file changed, 14 insertions(+)
diff --git a/docs/CHANGELOG.md b/docs/CHANGELOG.md
index 5fd567b0c..422237dd3 100644
--- a/docs/CHANGELOG.md
+++ b/docs/CHANGELOG.md
@@ -12,6 +12,20 @@ SPDX-FileCopyrightText: 2011-2023 Carles Fernandez-Prades <carles.fernandez@cttc
All notable changes to GNSS-SDR will be documented in this file.
+## [Unreleased](https://github.com/gnss-sdr/gnss-sdr/tree/next)
+
+### Improvements in Repeatability
+
+- A Kalman filter is now available in the PVT block, smoothing the outputs of a
+ simple Least Squares solution and improving the precision of delivered fixes.
+ It can be enabled by setting `PVT.enable_pvt_kf=true` in the configuration
+ file. The user can set values for the measurement and process noise
+ covariances with the following optional parameters (here with their default
+ values): `PVT.kf_measures_ecef_pos_sd_m=1.0`, in [m];
+ `PVT.kf_measures_ecef_vel_sd_ms=0.1`, in [m/s];
+ `PVT.kf_system_ecef_pos_sd_m=0.01`, in [m]; and
+ `PVT.kf_system_ecef_vel_sd_ms=0.001`, in [m/s].
+
## [GNSS-SDR v0.0.18](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.18) - 2023-04-06
[](https://doi.org/10.5281/zenodo.7805514)
From 7d475f9ffe4ddc9169a9184b849321af272adbea Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Wed, 5 Jul 2023 20:20:51 +0200
Subject: [PATCH 31/31] Add missing change
---
src/algorithms/PVT/libs/pvt_kf.cc | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/algorithms/PVT/libs/pvt_kf.cc b/src/algorithms/PVT/libs/pvt_kf.cc
index a0fdda1d3..10083b221 100644
--- a/src/algorithms/PVT/libs/pvt_kf.cc
+++ b/src/algorithms/PVT/libs/pvt_kf.cc
@@ -80,7 +80,7 @@ void Pvt_Kf::init_kf(const arma::vec& p,
}
-void Pvt_Kf::run_Kf(const arma::vec& p, const arma::vec& v);
+void Pvt_Kf::run_Kf(const arma::vec& p, const arma::vec& v)
{
// Kalman loop
// Prediction