First working version of the GPU GPS tracking block (it requires NVIDIA

CUDA
3.0 GPU hardware)

src/algorithms/tracking/adapters/CMakeLists.txt

@@ -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")

src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_gpu.cc

@@ -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_;
+}
+

src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_gpu.h

@@ -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_