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Replacing software sample counter with hardware sample counter if FPGA is enabled. Fix a compilation bug when ENABLE_FPGA is selected

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This commit is contained in:
Javier Arribas 2018-08-10 11:53:40 +02:00
parent 66bfbffe89
commit 2517e7bb31
7 changed files with 266 additions and 26 deletions
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2
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc
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@ -60,7 +60,7 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
long fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in;
acq_parameters.samples_per_chip = static_cast<unsigned int>(ceil(GPS_L1_CA_CHIP_PERIOD * static_cast<float>(acq_parameters.fs_in)));
acq_parameters.samples_per_code = static_cast<unsigned int>(ceil(GPS_L1_CA_CHIP_PERIOD * static_cast<float>(acq_parameters.fs_in)));
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
acq_parameters.doppler_max = doppler_max_;

1
src/algorithms/libs/CMakeLists.txt
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@ -40,6 +40,7 @@ if(ENABLE_FPGA)
conjugate_cc.cc
conjugate_sc.cc
conjugate_ic.cc
gnss_sdr_fpga_sample_counter.cc
)
else(ENABLE_FPGA)
set(GNSS_SPLIBS_SOURCES

171
src/algorithms/libs/gnss_sdr_fpga_sample_counter.cc Normal file
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@ -0,0 +1,171 @@
/*!
* \file gnss_sdr_fpga_sample_counter.cc
* \brief Simple block to report the current receiver time based on the output of the tracking or telemetry blocks
* \author Javier Arribas 2018. jarribas(at)cttc.es
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gnss_sdr_fpga_sample_counter.h"
#include "gnss_synchro.h"
#include <gnuradio/io_signature.h>
#include <cmath>
#include <iostream>
#include <string>
gnss_sdr_fpga_sample_counter::gnss_sdr_fpga_sample_counter(double _fs, int _interval_ms) : gr::block("fpga_fpga_sample_counter",
gr::io_signature::make(0, 0, 0),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
message_port_register_out(pmt::mp("fpga_sample_counter"));
set_max_noutput_items(1);
interval_ms = _interval_ms;
fs = _fs;
samples_per_output = std::round(fs * static_cast<double>(interval_ms) / 1e3);
//todo: Load here the hardware counter register with this amount of samples. It should produde an
//interrupt every samples_per_output count.
//The hardware timmer must keep always interrupting the PS. It must not wait for the interrupt to
//be served.
sample_counter = 0;
current_T_rx_ms = 0;
current_s = 0;
current_m = 0;
current_h = 0;
current_days = 0;
report_interval_ms = 1000; // default reporting 1 second
flag_enable_send_msg = false; // enable it for reporting time with asynchronous message
flag_m = false;
flag_h = false;
flag_days = false;
}
gnss_sdr_fpga_sample_counter_sptr gnss_sdr_make_fpga_sample_counter(double _fs, int _interval_ms)
{
gnss_sdr_fpga_sample_counter_sptr fpga_sample_counter_(new gnss_sdr_fpga_sample_counter(_fs, _interval_ms));
return fpga_sample_counter_;
}
// Called by gnuradio to enable drivers, etc for i/o devices.
bool gnss_sdr_fpga_sample_counter::start()
{
//todo: place here the RE-INITIALIZATION routines. This function will be called by GNURadio at every start of the flowgraph.
// return true if everything is ok.
return true;
}
// Called by GNURadio to disable drivers, etc for i/o devices.
bool gnss_sdr_fpga_sample_counter::stop()
{
//todo: place here the routines to stop the associated hardware (if needed).This function will be called by GNURadio at every stop of the flowgraph.
// return true if everything is ok.
return true;
}
int gnss_sdr_fpga_sample_counter::general_work(int noutput_items __attribute__((unused)),
__attribute__((unused)) gr_vector_int &ninput_items,
__attribute__((unused)) gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items)
{
//todo: Call here a function that waits for an interrupt. Do not open a thread,
//it must be a simple call to a BLOCKING function.
// The function will return the actual absolute sample count of the internal counter of the timmer.
// store the sample count in class member sample_counter
// Possible problem: what happen if the PS is overloaded and gnuradio does not call this function
// with the sufficient rate to catch all the interrupts in the counter. To be evaluated later.
Gnss_Synchro *out = reinterpret_cast<Gnss_Synchro *>(output_items[0]);
out[0] = Gnss_Synchro();
out[0].Flag_valid_symbol_output = false;
out[0].Flag_valid_word = false;
out[0].Channel_ID = -1;
out[0].fs = fs;
if ((current_T_rx_ms % report_interval_ms) == 0)
{
current_s++;
if ((current_s % 60) == 0)
{
current_s = 0;
current_m++;
flag_m = true;
if ((current_m % 60) == 0)
{
current_m = 0;
current_h++;
flag_h = true;
if ((current_h % 24) == 0)
{
current_h = 0;
current_days++;
flag_days = true;
}
}
}
if (flag_days)
{
std::string day;
if (current_days == 1)
{
day = " day ";
}
else
{
day = " days ";
}
std::cout << "Current receiver time: " << current_days << day << current_h << " h " << current_m << " min " << current_s << " s" << std::endl;
}
else
{
if (flag_h)
{
std::cout << "Current receiver time: " << current_h << " h " << current_m << " min " << current_s << " s" << std::endl;
}
else
{
if (flag_m)
{
std::cout << "Current receiver time: " << current_m << " min " << current_s << " s" << std::endl;
}
else
{
std::cout << "Current receiver time: " << current_s << " s" << std::endl;
}
}
}
if (flag_enable_send_msg)
{
message_port_pub(pmt::mp("receiver_time"), pmt::from_double(static_cast<double>(current_T_rx_ms) / 1000.0));
}
}
out[0].Tracking_sample_counter = sample_counter;
current_T_rx_ms = (sample_counter * 1000) / samples_per_output;
return 1;
}

73
src/algorithms/libs/gnss_sdr_fpga_sample_counter.h Normal file
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@ -0,0 +1,73 @@
/*!
* \file gnss_sdr_fpga_sample_counter.h
* \brief Simple block to report the current receiver time based on the output of the tracking or telemetry blocks
* \author Javier Arribas 2018. jarribas(at)cttc.es
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_FPGA_sample_counter_H_
#define GNSS_SDR_FPGA_sample_counter_H_
#include <gnuradio/block.h>
#include <boost/shared_ptr.hpp>
class gnss_sdr_fpga_sample_counter;
typedef boost::shared_ptr<gnss_sdr_fpga_sample_counter> gnss_sdr_fpga_sample_counter_sptr;
gnss_sdr_fpga_sample_counter_sptr gnss_sdr_make_fpga_sample_counter(double _fs, int _interval_ms);
class gnss_sdr_fpga_sample_counter : public gr::block
{
private:
gnss_sdr_fpga_sample_counter(double _fs, int _interval_ms);
bool start();
bool stop();
unsigned int samples_per_output;
double fs;
unsigned long long int sample_counter;
int interval_ms;
long long int current_T_rx_ms; // Receiver time in ms since the beginning of the run
unsigned int current_s; // Receiver time in seconds, modulo 60
bool flag_m; // True if the receiver has been running for at least 1 minute
unsigned int current_m; // Receiver time in minutes, modulo 60
bool flag_h; // True if the receiver has been running for at least 1 hour
unsigned int current_h; // Receiver time in hours, modulo 24
bool flag_days; // True if the receiver has been running for at least 1 day
unsigned int current_days; // Receiver time in days since the beginning of the run
int report_interval_ms;
bool flag_enable_send_msg;
public:
friend gnss_sdr_fpga_sample_counter_sptr gnss_sdr_make_fpga_sample_counter(double _fs, int _interval_ms);
int general_work(int noutput_items,
gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items);
};
#endif /*GNSS_SDR_FPGA_sample_counter_H_*/

27
src/core/receiver/gnss_flowgraph.cc
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@ -292,22 +292,23 @@ void GNSSFlowgraph::connect()
}
else
{
//create a software-defined 1kHz gnss_synchro pulse for the observables block
//create a hardware-defined gnss_synchro pulse for the observables block
try
{
//null source
null_source_ = gr::blocks::null_source::make(sizeof(Gnss_Synchro));
//throttle to observable interval
double fs = static_cast<double>(configuration_->property("GNSS-SDR.internal_fs_sps", 0));
if (fs == 0.0)
{
LOG(WARNING) << "Set GNSS-SDR.internal_fs_sps in configuration file";
std::cout << "Set GNSS-SDR.internal_fs_sps in configuration file" << std::endl;
throw(std::invalid_argument("Set GNSS-SDR.internal_fs_sps in configuration"));
}
int observable_interval_ms = static_cast<double>(configuration_->property("GNSS-SDR.observable_interval_ms", 20));
throttle_ = gr::blocks::throttle::make(sizeof(Gnss_Synchro), std::round(1.0 / static_cast<double>(observable_interval_ms))); // 1000 samples per second (1kHz)
time_counter_ = gnss_sdr_make_time_counter();
top_block_->connect(null_source_, 0, throttle_, 0);
top_block_->connect(throttle_, 0, time_counter_, 0);
top_block_->connect(time_counter_, 0, observables_->get_left_block(), channels_count_);
ch_out_fpga_sample_counter = gnss_sdr_make_fpga_sample_counter(fs, observable_interval_ms);
top_block_->connect(ch_out_fpga_sample_counter, 0, observables_->get_left_block(), channels_count_); //extra port for the sample counter pulse
}
catch (const std::exception& e)
{
LOG(WARNING) << "Can't connect sample counter";
LOG(WARNING) << "Can't connect FPGA sample counter";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
@ -633,13 +634,11 @@ void GNSSFlowgraph::disconnect()
{
try
{
top_block_->disconnect(null_source_, 0, throttle_, 0);
top_block_->disconnect(throttle_, 0, time_counter_, 0);
top_block_->disconnect(time_counter_, 0, observables_->get_left_block(), channels_count_);
top_block_->disconnect(ch_out_fpga_sample_counter, 0, observables_->get_left_block(), channels_count_);
}
catch (const std::exception& e)
{
LOG(WARNING) << "Can't connect sample counter";
LOG(WARNING) << "Can't connect FPGA sample counter";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;

8
src/core/receiver/gnss_flowgraph.h
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@ -43,8 +43,6 @@
#include "gnss_synchro_monitor.h"
#include <gnuradio/top_block.h>
#include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_source.h>
#include <gnuradio/blocks/throttle.h>
#include <list>
#include <map>
#include <memory>
@ -54,7 +52,7 @@
#include <vector>
#if ENABLE_FPGA
#include "gnss_sdr_time_counter.h"
#include "gnss_sdr_fpga_sample_counter.h"
#endif
class GNSSBlockInterface;
@ -157,10 +155,8 @@ private:
std::vector<std::shared_ptr<ChannelInterface>> channels_;
gnss_sdr_sample_counter_sptr ch_out_sample_counter;
#if ENABLE_FPGA
gnss_sdr_time_counter_sptr time_counter_;
gnss_sdr_fpga_sample_counter_sptr ch_out_fpga_sample_counter;
#endif
gr::blocks::null_source::sptr null_source_;
gr::blocks::throttle::sptr throttle_;
gr::top_block_sptr top_block_;
gr::msg_queue::sptr queue_;

10
src/tests/CMakeLists.txt
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@ -211,7 +211,7 @@ if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
find_package(GPSTK)
if(NOT GPSTK_FOUND OR ENABLE_OWN_GPSTK)
message(STATUS "GPSTk v${GNSSSDR_GPSTK_LOCAL_VERSION} will be automatically downloaded and built when doing 'make'.")
if(NOT ENABLE_FPGA)
# if(NOT ENABLE_FPGA)
if(CMAKE_VERSION VERSION_LESS 3.2)
ExternalProject_Add(
gpstk-${GNSSSDR_GPSTK_LOCAL_VERSION}
@ -245,10 +245,10 @@ if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
add_definitions(-DGPSTK_BINDIR="${GPSTK_BINDIR}")
set(gpstk_libs gpstk)
set(OWN_GPSTK True)
else(NOT ENABLE_FPGA)
message(STATUS "GPSTk has not been found, try to install it on target.")
message(STATUS "Some extra tests requiring GPSTk will not be built.")
endif(NOT ENABLE_FPGA)
# else(NOT ENABLE_FPGA)
# message(STATUS "GPSTk has not been found, try to install it on target.")
# message(STATUS "Some extra tests requiring GPSTk will not be built.")
# endif(NOT ENABLE_FPGA)
else(NOT GPSTK_FOUND OR ENABLE_OWN_GPSTK)
set(gpstk_libs ${GPSTK_LIBRARIES})
set(GPSTK_INCLUDE_DIRS ${GPSTK_INCLUDE_DIR})