mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-13 11:40:33 +00:00
First working version of the GPU GPS tracking block (it requires NVIDIA
CUDA 3.0 GPU hardware)
This commit is contained in:
Javier Arribas
parent
f722f5f8f7
commit
26cf90cdd4
305
conf/gnss-sdr_GPS_L1_gr_complex_gpu.conf
Normal file
305
conf/gnss-sdr_GPS_L1_gr_complex_gpu.conf
Normal file
@ -0,0 +1,305 @@
|
||||
; Default configuration file
|
||||
; You can define your own receiver and invoke it by doing
|
||||
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
|
||||
;
|
||||
|
||||
[GNSS-SDR]
|
||||
|
||||
;######### GLOBAL OPTIONS ##################
|
||||
;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz].
|
||||
GNSS-SDR.internal_fs_hz=4000000
|
||||
|
||||
;######### CONTROL_THREAD CONFIG ############
|
||||
ControlThread.wait_for_flowgraph=false
|
||||
|
||||
;######### SIGNAL_SOURCE CONFIG ############
|
||||
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
|
||||
SignalSource.implementation=File_Signal_Source
|
||||
|
||||
;#filename: path to file with the captured GNSS signal samples to be processed
|
||||
SignalSource.filename=/home/javier/signals/4msps.dat
|
||||
|
||||
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
|
||||
SignalSource.item_type=gr_complex
|
||||
|
||||
;#sampling_frequency: Original Signal sampling frequency in [Hz]
|
||||
SignalSource.sampling_frequency=4000000
|
||||
|
||||
;#freq: RF front-end center frequency in [Hz]
|
||||
SignalSource.freq=1575420000
|
||||
|
||||
;#gain: Front-end Gain in [dB]
|
||||
SignalSource.gain=60
|
||||
|
||||
;#subdevice: UHD subdevice specification (for USRP1 use A:0 or B:0)
|
||||
SignalSource.subdevice=B:0
|
||||
|
||||
;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
|
||||
SignalSource.samples=0
|
||||
|
||||
;#repeat: Repeat the processing file. Disable this option in this version
|
||||
SignalSource.repeat=false
|
||||
|
||||
;#dump: Dump the Signal source data to a file. Disable this option in this version
|
||||
SignalSource.dump=false
|
||||
|
||||
SignalSource.dump_filename=../data/signal_source.dat
|
||||
|
||||
|
||||
;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
|
||||
; it helps to not overload the CPU, but the processing time will be longer.
|
||||
SignalSource.enable_throttle_control=false
|
||||
|
||||
|
||||
;######### SIGNAL_CONDITIONER CONFIG ############
|
||||
;## It holds blocks to change data type, filter and resample input data.
|
||||
|
||||
;#implementation: Use [Pass_Through] or [Signal_Conditioner]
|
||||
;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks
|
||||
;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks
|
||||
;SignalConditioner.implementation=Signal_Conditioner
|
||||
SignalConditioner.implementation=Pass_Through
|
||||
|
||||
;######### DATA_TYPE_ADAPTER CONFIG ############
|
||||
;## Changes the type of input data. Please disable it in this version.
|
||||
;#implementation: [Pass_Through] disables this block
|
||||
DataTypeAdapter.implementation=Pass_Through
|
||||
|
||||
;######### INPUT_FILTER CONFIG ############
|
||||
;## Filter the input data. Can be combined with frequency translation for IF signals
|
||||
|
||||
;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter]
|
||||
;#[Pass_Through] disables this block
|
||||
;#[Fir_Filter] enables a FIR Filter
|
||||
;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz.
|
||||
|
||||
;InputFilter.implementation=Fir_Filter
|
||||
;InputFilter.implementation=Freq_Xlating_Fir_Filter
|
||||
InputFilter.implementation=Pass_Through
|
||||
|
||||
;#dump: Dump the filtered data to a file.
|
||||
InputFilter.dump=false
|
||||
|
||||
;#dump_filename: Log path and filename.
|
||||
InputFilter.dump_filename=../data/input_filter.dat
|
||||
|
||||
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
|
||||
;#These options are based on parameters of gnuradio's function: gr_remez.
|
||||
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands.
|
||||
|
||||
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
|
||||
InputFilter.input_item_type=gr_complex
|
||||
|
||||
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
|
||||
InputFilter.output_item_type=gr_complex
|
||||
|
||||
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
|
||||
InputFilter.taps_item_type=float
|
||||
|
||||
;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time
|
||||
InputFilter.number_of_taps=5
|
||||
|
||||
;#number_of _bands: Number of frequency bands in the filter.
|
||||
InputFilter.number_of_bands=2
|
||||
|
||||
;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...].
|
||||
;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2)
|
||||
;#The number of band_begin and band_end elements must match the number of bands
|
||||
|
||||
InputFilter.band1_begin=0.0
|
||||
InputFilter.band1_end=0.45
|
||||
InputFilter.band2_begin=0.55
|
||||
InputFilter.band2_end=1.0
|
||||
|
||||
;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...].
|
||||
;#The number of ampl_begin and ampl_end elements must match the number of bands
|
||||
|
||||
InputFilter.ampl1_begin=1.0
|
||||
InputFilter.ampl1_end=1.0
|
||||
InputFilter.ampl2_begin=0.0
|
||||
InputFilter.ampl2_end=0.0
|
||||
|
||||
;#band_error: weighting applied to each band (usually 1).
|
||||
;#The number of band_error elements must match the number of bands
|
||||
InputFilter.band1_error=1.0
|
||||
InputFilter.band2_error=1.0
|
||||
|
||||
;#filter_type: one of "bandpass", "hilbert" or "differentiator"
|
||||
InputFilter.filter_type=bandpass
|
||||
|
||||
;#grid_density: determines how accurately the filter will be constructed.
|
||||
;The minimum value is 16; higher values are slower to compute the filter.
|
||||
InputFilter.grid_density=16
|
||||
|
||||
;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
|
||||
;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz
|
||||
|
||||
InputFilter.sampling_frequency=4000000
|
||||
InputFilter.IF=0
|
||||
|
||||
|
||||
|
||||
;######### RESAMPLER CONFIG ############
|
||||
;## Resamples the input data.
|
||||
|
||||
;#implementation: Use [Pass_Through] or [Direct_Resampler]
|
||||
;#[Pass_Through] disables this block
|
||||
;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
|
||||
;Resampler.implementation=Direct_Resampler
|
||||
Resampler.implementation=Pass_Through
|
||||
|
||||
;#dump: Dump the resamplered data to a file.
|
||||
Resampler.dump=false
|
||||
;#dump_filename: Log path and filename.
|
||||
Resampler.dump_filename=../data/resampler.dat
|
||||
|
||||
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
|
||||
Resampler.item_type=gr_complex
|
||||
|
||||
;#sample_freq_in: the sample frequency of the input signal
|
||||
Resampler.sample_freq_in=8000000
|
||||
|
||||
;#sample_freq_out: the desired sample frequency of the output signal
|
||||
Resampler.sample_freq_out=4000000
|
||||
|
||||
|
||||
;######### CHANNELS GLOBAL CONFIG ############
|
||||
;#count: Number of available GPS satellite channels.
|
||||
Channels_GPS.count=8
|
||||
;#count: Number of available Galileo satellite channels.
|
||||
Channels_Galileo.count=0
|
||||
;#in_acquisition: Number of channels simultaneously acquiring for the whole receiver
|
||||
Channels.in_acquisition=1
|
||||
;#system: GPS, GLONASS, GALILEO, SBAS or COMPASS
|
||||
;#if the option is disabled by default is assigned GPS
|
||||
Channel.system=GPS
|
||||
|
||||
;#if the option is disabled by default is assigned "1C" GPS L1 C/A
|
||||
Channel.signal=1C
|
||||
|
||||
|
||||
;######### SPECIFIC CHANNELS CONFIG ######
|
||||
;#The following options are specific to each channel and overwrite the generic options
|
||||
|
||||
;######### CHANNEL 0 CONFIG ############
|
||||
|
||||
;Channel0.system=GPS
|
||||
;Channel0.signal=1C
|
||||
|
||||
;#satellite: Satellite PRN ID for this channel. Disable this option to random search
|
||||
;Channel0.satellite=11
|
||||
|
||||
;######### CHANNEL 1 CONFIG ############
|
||||
|
||||
;Channel1.system=GPS
|
||||
;Channel1.signal=1C
|
||||
;Channel1.satellite=18
|
||||
|
||||
;######### ACQUISITION GLOBAL CONFIG ############
|
||||
|
||||
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
|
||||
Acquisition_GPS.dump=false
|
||||
;#filename: Log path and filename
|
||||
Acquisition_GPS.dump_filename=./acq_dump.dat
|
||||
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
|
||||
Acquisition_GPS.item_type=gr_complex
|
||||
;#if: Signal intermediate frequency in [Hz]
|
||||
Acquisition_GPS.if=0
|
||||
;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
|
||||
Acquisition_GPS.sampled_ms=1
|
||||
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
|
||||
Acquisition_GPS.implementation=GPS_L1_CA_PCPS_Acquisition
|
||||
;#threshold: Acquisition threshold
|
||||
Acquisition_GPS.threshold=0.005
|
||||
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
|
||||
;Acquisition_GPS.pfa=0.01
|
||||
;#doppler_max: Maximum expected Doppler shift [Hz]
|
||||
Acquisition_GPS.doppler_max=10000
|
||||
;#doppler_max: Doppler step in the grid search [Hz]
|
||||
Acquisition_GPS.doppler_step=500
|
||||
|
||||
;######### TRACKING GLOBAL CONFIG ############
|
||||
|
||||
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking] or [Galileo_E1_DLL_PLL_VEML_Tracking]
|
||||
Tracking_GPS.implementation=GPS_L1_CA_DLL_PLL_Tracking_GPU
|
||||
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
|
||||
Tracking_GPS.item_type=gr_complex
|
||||
|
||||
;#sampling_frequency: Signal Intermediate Frequency in [Hz]
|
||||
Tracking_GPS.if=0
|
||||
|
||||
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
|
||||
Tracking_GPS.dump=false
|
||||
|
||||
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
|
||||
Tracking_GPS.dump_filename=../data/epl_tracking_ch_
|
||||
|
||||
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
|
||||
Tracking_GPS.pll_bw_hz=45.0;
|
||||
|
||||
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
|
||||
Tracking_GPS.dll_bw_hz=2.0;
|
||||
|
||||
;#fll_bw_hz: FLL loop filter bandwidth [Hz]
|
||||
Tracking_GPS.fll_bw_hz=10.0;
|
||||
|
||||
;#order: PLL/DLL loop filter order [2] or [3]
|
||||
Tracking_GPS.order=3;
|
||||
|
||||
;######### TELEMETRY DECODER GPS CONFIG ############
|
||||
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A
|
||||
TelemetryDecoder_GPS.implementation=GPS_L1_CA_Telemetry_Decoder
|
||||
TelemetryDecoder_GPS.dump=false
|
||||
;#decimation factor
|
||||
TelemetryDecoder_GPS.decimation_factor=1;
|
||||
|
||||
;######### OBSERVABLES CONFIG ############
|
||||
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
|
||||
Observables.implementation=GPS_L1_CA_Observables
|
||||
|
||||
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
|
||||
Observables.dump=false
|
||||
|
||||
;#dump_filename: Log path and filename.
|
||||
Observables.dump_filename=./observables.dat
|
||||
|
||||
|
||||
;######### PVT CONFIG ############
|
||||
;#implementation: Position Velocity and Time (PVT) implementation algorithm: Use [GPS_L1_CA_PVT] in this version.
|
||||
PVT.implementation=GPS_L1_CA_PVT
|
||||
|
||||
;#averaging_depth: Number of PVT observations in the moving average algorithm
|
||||
PVT.averaging_depth=100
|
||||
|
||||
;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false]
|
||||
PVT.flag_averaging=false
|
||||
|
||||
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
|
||||
PVT.output_rate_ms=10
|
||||
|
||||
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
|
||||
PVT.display_rate_ms=500
|
||||
|
||||
;# RINEX, KML, and NMEA output configuration
|
||||
|
||||
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
|
||||
PVT.dump_filename=./PVT
|
||||
|
||||
;#nmea_dump_filename: NMEA log path and filename
|
||||
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
|
||||
|
||||
;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
|
||||
PVT.flag_nmea_tty_port=false;
|
||||
|
||||
;#nmea_dump_devname: serial device descriptor for NMEA logging
|
||||
PVT.nmea_dump_devname=/dev/pts/4
|
||||
|
||||
|
||||
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
|
||||
PVT.dump=false
|
||||
|
||||
;######### OUTPUT_FILTER CONFIG ############
|
||||
;# Receiver output filter: Leave this block disabled in this version
|
||||
OutputFilter.implementation=Null_Sink_Output_Filter
|
||||
OutputFilter.filename=data/gnss-sdr.dat
|
||||
OutputFilter.item_type=gr_complex
|
||||
@ -16,6 +16,9 @@
|
||||
# along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
#
|
||||
|
||||
if(ENABLE_CUDA)
|
||||
FIND_PACKAGE(CUDA REQUIRED)
|
||||
endif(ENABLE_CUDA)
|
||||
|
||||
set(TRACKING_ADAPTER_SOURCES
|
||||
galileo_e1_dll_pll_veml_tracking.cc
|
||||
@ -27,6 +30,7 @@ set(TRACKING_ADAPTER_SOURCES
|
||||
gps_l1_ca_tcp_connector_tracking.cc
|
||||
galileo_e5a_dll_pll_tracking.cc
|
||||
gps_l2_m_dll_pll_tracking.cc
|
||||
gps_l1_ca_dll_pll_tracking_gpu.cc
|
||||
)
|
||||
|
||||
include_directories(
|
||||
@ -40,6 +44,7 @@ include_directories(
|
||||
${GLOG_INCLUDE_DIRS}
|
||||
${GFlags_INCLUDE_DIRS}
|
||||
${GNURADIO_RUNTIME_INCLUDE_DIRS}
|
||||
${CUDA_INCLUDE_DIRS}
|
||||
)
|
||||
|
||||
file(GLOB TRACKING_ADAPTER_HEADERS "*.h")
|
||||
|
||||
@ -0,0 +1,158 @@
|
||||
/*!
|
||||
* \file gps_l1_ca_dll_pll_tracking_gpu.cc
|
||||
* \brief Implementation of an adapter of a DLL+PLL tracking loop block using GPU accelerated functions
|
||||
* for GPS L1 C/A to a TrackingInterface
|
||||
* \author Javier Arribas, 2015. jarribas(at)cttc.es
|
||||
*
|
||||
* Code DLL + carrier PLL according to the algorithms described in:
|
||||
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
|
||||
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
|
||||
* Approach, Birkhauser, 2007
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
|
||||
#include "gps_l1_ca_dll_pll_tracking_gpu.h"
|
||||
#include <glog/logging.h>
|
||||
#include "GPS_L1_CA.h"
|
||||
#include "configuration_interface.h"
|
||||
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
GpsL1CaDllPllTrackingGPU::GpsL1CaDllPllTrackingGPU(
|
||||
ConfigurationInterface* configuration, std::string role,
|
||||
unsigned int in_streams, unsigned int out_streams,
|
||||
boost::shared_ptr<gr::msg_queue> queue) :
|
||||
role_(role), in_streams_(in_streams), out_streams_(out_streams),
|
||||
queue_(queue)
|
||||
{
|
||||
DLOG(INFO) << "role " << role;
|
||||
//################# CONFIGURATION PARAMETERS ########################
|
||||
int fs_in;
|
||||
int vector_length;
|
||||
int f_if;
|
||||
bool dump;
|
||||
std::string dump_filename;
|
||||
std::string item_type;
|
||||
std::string default_item_type = "gr_complex";
|
||||
float pll_bw_hz;
|
||||
float dll_bw_hz;
|
||||
float early_late_space_chips;
|
||||
item_type = configuration->property(role + ".item_type", default_item_type);
|
||||
//vector_length = configuration->property(role + ".vector_length", 2048);
|
||||
fs_in = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
|
||||
f_if = configuration->property(role + ".if", 0);
|
||||
dump = configuration->property(role + ".dump", false);
|
||||
pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
|
||||
dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
|
||||
early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
|
||||
std::string default_dump_filename = "./track_ch";
|
||||
dump_filename = configuration->property(role + ".dump_filename",
|
||||
default_dump_filename); //unused!
|
||||
vector_length = std::round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
|
||||
|
||||
//################# MAKE TRACKING GNURadio object ###################
|
||||
if (item_type.compare("gr_complex") == 0)
|
||||
{
|
||||
item_size_ = sizeof(gr_complex);
|
||||
tracking_ = gps_l1_ca_dll_pll_make_tracking_gpu_cc(
|
||||
f_if,
|
||||
fs_in,
|
||||
vector_length,
|
||||
queue_,
|
||||
dump,
|
||||
dump_filename,
|
||||
pll_bw_hz,
|
||||
dll_bw_hz,
|
||||
early_late_space_chips);
|
||||
}
|
||||
else
|
||||
{
|
||||
item_size_ = sizeof(gr_complex);
|
||||
LOG(WARNING) << item_type << " unknown tracking item type.";
|
||||
}
|
||||
channel_ = 0;
|
||||
channel_internal_queue_ = 0;
|
||||
DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";
|
||||
}
|
||||
|
||||
|
||||
GpsL1CaDllPllTrackingGPU::~GpsL1CaDllPllTrackingGPU()
|
||||
{}
|
||||
|
||||
|
||||
void GpsL1CaDllPllTrackingGPU::start_tracking()
|
||||
{
|
||||
tracking_->start_tracking();
|
||||
}
|
||||
|
||||
/*
|
||||
* Set tracking channel unique ID
|
||||
*/
|
||||
void GpsL1CaDllPllTrackingGPU::set_channel(unsigned int channel)
|
||||
{
|
||||
channel_ = channel;
|
||||
tracking_->set_channel(channel);
|
||||
}
|
||||
|
||||
/*
|
||||
* Set tracking channel internal queue
|
||||
*/
|
||||
void GpsL1CaDllPllTrackingGPU::set_channel_queue(
|
||||
concurrent_queue<int> *channel_internal_queue)
|
||||
{
|
||||
channel_internal_queue_ = channel_internal_queue;
|
||||
tracking_->set_channel_queue(channel_internal_queue_);
|
||||
}
|
||||
|
||||
void GpsL1CaDllPllTrackingGPU::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
|
||||
{
|
||||
tracking_->set_gnss_synchro(p_gnss_synchro);
|
||||
}
|
||||
|
||||
void GpsL1CaDllPllTrackingGPU::connect(gr::top_block_sptr top_block)
|
||||
{
|
||||
if(top_block) { /* top_block is not null */};
|
||||
//nothing to connect, now the tracking uses gr_sync_decimator
|
||||
}
|
||||
|
||||
void GpsL1CaDllPllTrackingGPU::disconnect(gr::top_block_sptr top_block)
|
||||
{
|
||||
if(top_block) { /* top_block is not null */};
|
||||
//nothing to disconnect, now the tracking uses gr_sync_decimator
|
||||
}
|
||||
|
||||
gr::basic_block_sptr GpsL1CaDllPllTrackingGPU::get_left_block()
|
||||
{
|
||||
return tracking_;
|
||||
}
|
||||
|
||||
gr::basic_block_sptr GpsL1CaDllPllTrackingGPU::get_right_block()
|
||||
{
|
||||
return tracking_;
|
||||
}
|
||||
|
||||
@ -0,0 +1,113 @@
|
||||
/*!
|
||||
* \file gps_l1_ca_dll_pll_tracking_gpu.h
|
||||
* \brief Implementation of an adapter of a DLL+PLL tracking loop block using GPU accelerated functions
|
||||
* for GPS L1 C/A to a TrackingInterface
|
||||
* \author Javier Arribas, 2015. jarribas(at)cttc.es
|
||||
*
|
||||
* Code DLL + carrier PLL according to the algorithms described in:
|
||||
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
|
||||
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
|
||||
* Approach, Birkha user, 2007
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_GPU_H_
|
||||
#define GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_GPU_H_
|
||||
|
||||
#include <string>
|
||||
#include <gnuradio/msg_queue.h>
|
||||
#include "tracking_interface.h"
|
||||
#include "gps_l1_ca_dll_pll_tracking_gpu_cc.h"
|
||||
|
||||
|
||||
class ConfigurationInterface;
|
||||
|
||||
/*!
|
||||
* \brief This class implements a code DLL + carrier PLL tracking loop using GPU accelerated functions
|
||||
*/
|
||||
class GpsL1CaDllPllTrackingGPU : public TrackingInterface
|
||||
{
|
||||
public:
|
||||
|
||||
GpsL1CaDllPllTrackingGPU(ConfigurationInterface* configuration,
|
||||
std::string role,
|
||||
unsigned int in_streams,
|
||||
unsigned int out_streams,
|
||||
boost::shared_ptr<gr::msg_queue> queue);
|
||||
|
||||
virtual ~GpsL1CaDllPllTrackingGPU();
|
||||
|
||||
std::string role()
|
||||
{
|
||||
return role_;
|
||||
}
|
||||
|
||||
//! Returns "GPS_L1_CA_DLL_PLL_Tracking"
|
||||
std::string implementation()
|
||||
{
|
||||
return "GPS_L1_CA_DLL_PLL_Tracking_GPU";
|
||||
}
|
||||
size_t item_size()
|
||||
{
|
||||
return item_size_;
|
||||
}
|
||||
|
||||
void connect(gr::top_block_sptr top_block);
|
||||
void disconnect(gr::top_block_sptr top_block);
|
||||
gr::basic_block_sptr get_left_block();
|
||||
gr::basic_block_sptr get_right_block();
|
||||
|
||||
|
||||
/*!
|
||||
* \brief Set tracking channel unique ID
|
||||
*/
|
||||
void set_channel(unsigned int channel);
|
||||
|
||||
/*!
|
||||
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
|
||||
* to efficiently exchange synchronization data between acquisition and tracking blocks
|
||||
*/
|
||||
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
|
||||
|
||||
/*!
|
||||
* \brief Set tracking channel internal queue
|
||||
*/
|
||||
void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
|
||||
|
||||
void start_tracking();
|
||||
|
||||
private:
|
||||
gps_l1_ca_dll_pll_tracking_gpu_cc_sptr tracking_;
|
||||
size_t item_size_;
|
||||
unsigned int channel_;
|
||||
std::string role_;
|
||||
unsigned int in_streams_;
|
||||
unsigned int out_streams_;
|
||||
boost::shared_ptr<gr::msg_queue> queue_;
|
||||
concurrent_queue<int> *channel_internal_queue_;
|
||||
};
|
||||
|
||||
#endif // GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_GPU_H_
|
||||
@ -57,7 +57,8 @@ endif(ENABLE_GENERIC_ARCH)
|
||||
file(GLOB TRACKING_GR_BLOCKS_HEADERS "*.h")
|
||||
add_library(tracking_gr_blocks ${TRACKING_GR_BLOCKS_SOURCES} ${TRACKING_GR_BLOCKS_HEADERS})
|
||||
source_group(Headers FILES ${TRACKING_GR_BLOCKS_HEADERS})
|
||||
target_link_libraries(tracking_gr_blocks tracking_lib ${GNURADIO_RUNTIME_LIBRARIES} gnss_sp_libs ${Boost_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES} ${ORC_LIBRARIES} )
|
||||
|
||||
target_link_libraries(tracking_gr_blocks tracking_lib ${GNURADIO_RUNTIME_LIBRARIES} gnss_sp_libs ${Boost_LIBRARIES} ${VOLK_GNSSSDR_LIBRARIES} ${ORC_LIBRARIES} ${CUDA_LIBRARIES})
|
||||
if(NOT VOLK_GNSSSDR_FOUND)
|
||||
add_dependencies(tracking_gr_blocks volk_gnsssdr_module)
|
||||
endif(NOT VOLK_GNSSSDR_FOUND)
|
||||
|
||||
@ -48,17 +48,11 @@
|
||||
#include "GPS_L1_CA.h"
|
||||
#include "control_message_factory.h"
|
||||
#include <volk/volk.h> //volk_alignement
|
||||
|
||||
#include <cuda.h>
|
||||
// CUDA runtime
|
||||
#include <cuda_runtime.h>
|
||||
// includes
|
||||
#include <cuda_profiler_api.h>
|
||||
#include <helper_functions.h> // helper for shared functions common to CUDA Samples
|
||||
#include <helper_cuda.h> // helper functions for CUDA error checking and initialization
|
||||
|
||||
|
||||
|
||||
/*!
|
||||
* \todo Include in definition header file
|
||||
*/
|
||||
@ -130,8 +124,9 @@ Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc(
|
||||
|
||||
|
||||
multicorrelator_gpu = new cuda_multicorrelator();
|
||||
// Get space for the resampled early / prompt / late local replicas
|
||||
int N_CORRELATORS=3;
|
||||
multicorrelator_gpu->init_cuda(0, NULL, 2 * d_vector_length , 2 * d_vector_length , N_CORRELATORS);
|
||||
// Get space for the resampled early / prompt / late local replicas
|
||||
checkCudaErrors(cudaHostAlloc((void**)&d_local_code_shift_samples, N_CORRELATORS * sizeof(int), cudaHostAllocMapped ));
|
||||
|
||||
|
||||
@ -323,9 +318,6 @@ Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::~Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc()
|
||||
multicorrelator_gpu->free_cuda();
|
||||
delete(multicorrelator_gpu);
|
||||
|
||||
volk_free(d_Early);
|
||||
volk_free(d_Prompt);
|
||||
volk_free(d_Late);
|
||||
volk_free(d_ca_code);
|
||||
|
||||
delete[] d_Prompt_buffer;
|
||||
@ -381,18 +373,20 @@ int Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::general_work (int noutput_items, gr_vecto
|
||||
|
||||
// UPDATE NCO COMMAND
|
||||
float phase_step_rad = static_cast<float>(GPS_TWO_PI) * d_carrier_doppler_hz / static_cast<float>(d_fs_in);
|
||||
|
||||
//std::cout<<"d_current_prn_length_samples="<<d_current_prn_length_samples<<std::endl;
|
||||
// perform carrier wipe-off and compute Early, Prompt and Late correlation
|
||||
cudaProfilerStart();
|
||||
multicorrelator_gpu->Carrier_wipeoff_multicorrelator_cuda(
|
||||
d_corr_outs_gpu,
|
||||
in,//in_gpu,
|
||||
in,
|
||||
d_local_codes_gpu,
|
||||
d_rem_carr_phase_rad,
|
||||
phase_step_rad,
|
||||
d_local_code_shift_samples,
|
||||
d_current_prn_length_samples,
|
||||
3);
|
||||
|
||||
cudaProfilerStop();
|
||||
//std::cout<<"d_Prompt="<<*d_Prompt<<"d_Early="<<*d_Early<<"d_Late="<<*d_Late<<std::endl;
|
||||
// check for samples consistency (this should be done before in the receiver / here only if the source is a file)
|
||||
if (std::isnan((*d_Prompt).real()) == true or std::isnan((*d_Prompt).imag()) == true ) // or std::isinf(in[i].real())==true or std::isinf(in[i].imag())==true)
|
||||
{
|
||||
|
||||
@ -21,9 +21,9 @@ if(ENABLE_CUDA)
|
||||
FIND_PACKAGE(CUDA REQUIRED)
|
||||
|
||||
# Append current NVCC flags by something, eg comput capability
|
||||
# set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} --gpu-architecture sm_30 --default-stream-per-thread)
|
||||
# set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} --gpu-architecture sm_30)
|
||||
|
||||
list(APPEND CUDA_NVCC_FLAGS "-gencode arch=compute_30,code=sm_30; -std=c++11;-O3; -use_fast_math")
|
||||
list(APPEND CUDA_NVCC_FLAGS "-gencode arch=compute_30,code=sm_30; -std=c++11;-O3; -use_fast_math -default-stream per-thread")
|
||||
SET(CUDA_PROPAGATE_HOST_FLAGS OFF)
|
||||
|
||||
CUDA_INCLUDE_DIRECTORIES(
|
||||
@ -33,8 +33,6 @@ if(ENABLE_CUDA)
|
||||
|
||||
SET(LIB_TYPE STATIC) #set the lib type
|
||||
CUDA_ADD_LIBRARY(CUDA_CORRELATOR_LIB ${LIB_TYPE} cuda_multicorrelator.h cuda_multicorrelator.cu)
|
||||
|
||||
set(OPT_LIBRARIES ${OPT_LIBRARIES} ${CUDA_CORRELATOR_LIB})
|
||||
|
||||
endif(ENABLE_CUDA)
|
||||
|
||||
@ -71,4 +69,4 @@ endif(SSE3_AVAILABLE)
|
||||
file(GLOB TRACKING_LIB_HEADERS "*.h")
|
||||
add_library(tracking_lib ${TRACKING_LIB_SOURCES} ${TRACKING_LIB_HEADERS})
|
||||
source_group(Headers FILES ${TRACKING_LIB_HEADERS})
|
||||
target_link_libraries(tracking_lib ${VOLK_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES} ${OPT_LIBRARIES})
|
||||
target_link_libraries(tracking_lib CUDA_CORRELATOR_LIB ${VOLK_LIBRARIES} ${GNURADIO_RUNTIME_LIBRARIES})
|
||||
@ -261,7 +261,7 @@ CUDA_32fc_x2_add_32fc( GPU_Complex *A, GPU_Complex *B, GPU_Complex *C, int
|
||||
}
|
||||
|
||||
|
||||
bool cuda_multicorrelator::init_cuda(const int argc, const char **argv, int signal_length_samples, int *shifts_samples, int n_correlators)
|
||||
bool cuda_multicorrelator::init_cuda(const int argc, const char **argv, int signal_length_samples, int local_codes_length_samples, int n_correlators)
|
||||
{
|
||||
// use command-line specified CUDA device, otherwise use device with highest Gflops/s
|
||||
findCudaDevice(argc, (const char **)argv);
|
||||
@ -298,7 +298,8 @@ bool cuda_multicorrelator::init_cuda(const int argc, const char **argv, int sign
|
||||
|
||||
// new version: only one vector with extra samples to shift the local code for the correlator set
|
||||
// Required: The last correlator tap in d_shifts_samples has the largest sample shift
|
||||
checkCudaErrors(cudaMalloc((void **)&d_local_codes_in, size+sizeof(GPU_Complex)*shifts_samples[n_correlators-1]));
|
||||
size_t size_local_code_bytes = local_codes_length_samples * sizeof(GPU_Complex);
|
||||
checkCudaErrors(cudaMalloc((void **)&d_local_codes_in, size_local_code_bytes));
|
||||
checkCudaErrors(cudaMalloc((void **)&d_shifts_samples, size+sizeof(int)*n_correlators));
|
||||
|
||||
//scalars
|
||||
@ -308,6 +309,8 @@ bool cuda_multicorrelator::init_cuda(const int argc, const char **argv, int sign
|
||||
threadsPerBlock = 256;
|
||||
blocksPerGrid =(int)(signal_length_samples+threadsPerBlock-1)/threadsPerBlock;
|
||||
|
||||
cudaStreamCreate (&stream1) ;
|
||||
cudaStreamCreate (&stream2) ;
|
||||
return true;
|
||||
}
|
||||
|
||||
@ -323,14 +326,10 @@ bool cuda_multicorrelator::Carrier_wipeoff_multicorrelator_cuda(
|
||||
int n_correlators)
|
||||
{
|
||||
|
||||
cudaStream_t stream1;
|
||||
cudaStream_t stream2;
|
||||
cudaStreamCreate ( &stream1) ;
|
||||
cudaStreamCreate ( &stream2) ;
|
||||
|
||||
size_t memSize = signal_length_samples * sizeof(std::complex<float>);
|
||||
|
||||
// input signal CPU -> GPU copy memory
|
||||
|
||||
checkCudaErrors(cudaMemcpyAsync(d_sig_in, sig_in, memSize,
|
||||
cudaMemcpyHostToDevice, stream1));
|
||||
|
||||
@ -362,7 +361,9 @@ bool cuda_multicorrelator::Carrier_wipeoff_multicorrelator_cuda(
|
||||
//printf("CUDA kernel launch with %d blocks of %d threads\n", blocksPerGrid, threadsPerBlock);
|
||||
|
||||
//wait for Doppler wipeoff end...
|
||||
checkCudaErrors(cudaDeviceSynchronize());
|
||||
checkCudaErrors(cudaStreamSynchronize(stream1));
|
||||
checkCudaErrors(cudaStreamSynchronize(stream2));
|
||||
//checkCudaErrors(cudaDeviceSynchronize());
|
||||
|
||||
//old
|
||||
// scalarProdGPUCPXxN<<<blocksPerGrid, threadsPerBlock,0 ,stream2>>>(
|
||||
@ -385,16 +386,13 @@ bool cuda_multicorrelator::Carrier_wipeoff_multicorrelator_cuda(
|
||||
);
|
||||
checkCudaErrors(cudaGetLastError());
|
||||
//wait for correlators end...
|
||||
checkCudaErrors(cudaDeviceSynchronize());
|
||||
checkCudaErrors(cudaStreamSynchronize(stream2));
|
||||
// Copy the device result vector in device memory to the host result vector
|
||||
// in host memory.
|
||||
|
||||
//scalar products (correlators outputs)
|
||||
checkCudaErrors(cudaMemcpyAsync(corr_out, d_corr_out, sizeof(std::complex<float>)*n_correlators,
|
||||
cudaMemcpyDeviceToHost, 0));
|
||||
|
||||
cudaStreamDestroy(stream1) ;
|
||||
cudaStreamDestroy(stream2) ;
|
||||
checkCudaErrors(cudaMemcpy(corr_out, d_corr_out, sizeof(std::complex<float>)*n_correlators,
|
||||
cudaMemcpyDeviceToHost));
|
||||
return true;
|
||||
}
|
||||
|
||||
@ -406,13 +404,16 @@ bool cuda_multicorrelator::free_cuda()
|
||||
cudaFree(d_local_codes_in);
|
||||
cudaFree(d_corr_out);
|
||||
|
||||
cudaStreamDestroy(stream1) ;
|
||||
cudaStreamDestroy(stream2) ;
|
||||
|
||||
// Reset the device and exit
|
||||
// cudaDeviceReset causes the driver to clean up all state. While
|
||||
// not mandatory in normal operation, it is good practice. It is also
|
||||
// needed to ensure correct operation when the application is being
|
||||
// profiled. Calling cudaDeviceReset causes all profile data to be
|
||||
// flushed before the application exits
|
||||
checkCudaErrors(cudaDeviceReset());
|
||||
//checkCudaErrors(cudaDeviceReset());
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
@ -46,6 +46,10 @@
|
||||
|
||||
#include <complex>
|
||||
|
||||
#include <cuda.h>
|
||||
// CUDA runtime
|
||||
#include <cuda_runtime.h>
|
||||
|
||||
// GPU new internal data types for complex numbers
|
||||
|
||||
struct GPU_Complex {
|
||||
@ -109,7 +113,7 @@ struct GPU_Complex_Short {
|
||||
class cuda_multicorrelator
|
||||
{
|
||||
public:
|
||||
bool init_cuda(const int argc, const char **argv, int signal_length_samples, int *shifts_samples, int n_correlators);
|
||||
bool init_cuda(const int argc, const char **argv, int signal_length_samples, int local_codes_length_samples, int n_correlators);
|
||||
|
||||
bool free_cuda();
|
||||
bool Carrier_wipeoff_multicorrelator_cuda(
|
||||
@ -132,6 +136,9 @@ private:
|
||||
int threadsPerBlock;
|
||||
int blocksPerGrid;
|
||||
|
||||
cudaStream_t stream1;
|
||||
cudaStream_t stream2;
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
@ -16,6 +16,10 @@
|
||||
# along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
#
|
||||
|
||||
if(ENABLE_CUDA)
|
||||
FIND_PACKAGE(CUDA REQUIRED)
|
||||
endif(ENABLE_CUDA)
|
||||
|
||||
set(GNSS_RECEIVER_SOURCES
|
||||
control_thread.cc
|
||||
control_message_factory.cc
|
||||
@ -64,8 +68,9 @@ include_directories(
|
||||
${GFlags_INCLUDE_DIRS}
|
||||
${Boost_INCLUDE_DIRS}
|
||||
${GNURADIO_RUNTIME_INCLUDE_DIRS}
|
||||
${CUDA_INCLUDE_DIRS}
|
||||
)
|
||||
|
||||
|
||||
if(Boost_VERSION LESS 105000)
|
||||
add_definitions(-DOLD_BOOST=1)
|
||||
endif(Boost_VERSION LESS 105000)
|
||||
|
||||
@ -77,6 +77,7 @@
|
||||
#include "galileo_e1_pcps_quicksync_ambiguous_acquisition.h"
|
||||
#include "galileo_e5a_noncoherent_iq_acquisition_caf.h"
|
||||
#include "gps_l1_ca_dll_pll_tracking.h"
|
||||
#include "gps_l1_ca_dll_pll_tracking_gpu.h"
|
||||
#include "gps_l1_ca_dll_pll_optim_tracking.h"
|
||||
#include "gps_l1_ca_dll_fll_pll_tracking.h"
|
||||
#include "gps_l1_ca_tcp_connector_tracking.h"
|
||||
@ -1609,6 +1610,12 @@ std::unique_ptr<TrackingInterface> GNSSBlockFactory::GetTrkBlock(
|
||||
out_streams, queue));
|
||||
block = std::move(block_);
|
||||
}
|
||||
else if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_GPU") == 0)
|
||||
{
|
||||
std::unique_ptr<TrackingInterface> block_(new GpsL1CaDllPllTrackingGPU(configuration.get(), role, in_streams,
|
||||
out_streams, queue));
|
||||
block = std::move(block_);
|
||||
}
|
||||
else
|
||||
{
|
||||
// Log fatal. This causes execution to stop.
|
||||
|
||||
@ -16,6 +16,7 @@
|
||||
# along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
#
|
||||
|
||||
|
||||
set(GNSS_SDR_OPTIONAL_LIBS "")
|
||||
set(GNSS_SDR_OPTIONAL_HEADERS "")
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user