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Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next

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This commit is contained in:
Carles Fernandez 2019-07-24 12:19:06 +02:00
commit 27cbe1f743
423 changed files with 3269 additions and 3846 deletions
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24
CMakeLists.txt
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@ -23,7 +23,7 @@ if(${CMAKE_SOURCE_DIR} STREQUAL ${CMAKE_BINARY_DIR})
message(FATAL_ERROR "Prevented in-tree build, it is bad practice.\nTry 'cd build && cmake ..' instead.")
endif()
cmake_minimum_required(VERSION 2.8.12...3.14.5)
cmake_minimum_required(VERSION 2.8.12...3.15)
project(gnss-sdr CXX C)
list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/Modules)
@ -397,11 +397,11 @@ set(GNSSSDR_PROTOBUF_MIN_VERSION "3.0.0")
################################################################################
set(GNSSSDR_GFLAGS_LOCAL_VERSION "2.2.2")
set(GNSSSDR_GLOG_LOCAL_VERSION "0.4.0")
set(GNSSSDR_ARMADILLO_LOCAL_VERSION "9.500.x")
set(GNSSSDR_ARMADILLO_LOCAL_VERSION "9.600.x")
set(GNSSSDR_GTEST_LOCAL_VERSION "1.8.1")
set(GNSSSDR_GNSS_SIM_LOCAL_VERSION "master")
set(GNSSSDR_GPSTK_LOCAL_VERSION "2.10.6")
set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.16")
set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.17")
set(GNSSSDR_PUGIXML_LOCAL_VERSION "1.9")
set(GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION "3.9.0")
@ -682,15 +682,15 @@ set_package_properties(Boost PROPERTIES
TYPE REQUIRED
)
if(CMAKE_VERSION VERSION_GREATER 3.14)
set_package_properties(Boost PROPERTIES
DESCRIPTION "Portable C++ source libraries (found: v${Boost_VERSION_STRING})"
)
else()
set_package_properties(Boost PROPERTIES
DESCRIPTION "Portable C++ source libraries (found: v${Boost_MAJOR_VERSION}.${Boost_MINOR_VERSION}.${Boost_SUBMINOR_VERSION})"
)
if(CMAKE_VERSION VERSION_LESS 3.14)
set(Boost_VERSION_STRING "${Boost_MAJOR_VERSION}.${Boost_MINOR_VERSION}.${Boost_SUBMINOR_VERSION}")
endif()
if(POLICY CMP0093)
cmake_policy(SET CMP0093 NEW) # FindBoost reports Boost_VERSION in x.y.z format.
endif()
set_package_properties(Boost PROPERTIES
DESCRIPTION "Portable C++ source libraries (found: v${Boost_VERSION_STRING})"
)
if(CMAKE_VERSION VERSION_LESS 3.5)
if(NOT TARGET Boost::boost)
@ -761,7 +761,7 @@ if(CMAKE_VERSION VERSION_LESS 3.5)
endif()
# Fix for Boost Asio < 1.70 when using Clang in macOS
if(${Boost_VERSION} VERSION_LESS 107000)
if(Boost_VERSION_STRING VERSION_LESS 1.70.0)
# Check if we have std::string_view
include(CheckCXXSourceCompiles)
check_cxx_source_compiles("

8
README.md
View File

@ -220,9 +220,9 @@ $ sudo apt-get install libblas-dev liblapack-dev # For Debian/Ubuntu/Linux
$ sudo yum install lapack-devel blas-devel # For Fedora/CentOS/RHEL
$ sudo zypper install lapack-devel blas-devel # For OpenSUSE
$ sudo pacman -S blas lapack # For Arch Linux
$ wget http://sourceforge.net/projects/arma/files/armadillo-9.400.4.tar.xz
$ tar xvfz armadillo-9.400.4.tar.xz
$ cd armadillo-9.400.4
$ wget http://sourceforge.net/projects/arma/files/armadillo-9.600.4.tar.xz
$ tar xvfz armadillo-9.600.4.tar.xz
$ cd armadillo-9.600.4
$ cmake .
$ make
$ sudo make install
@ -341,7 +341,7 @@ Cloning the GNSS-SDR repository as in the line above will create a folder named
|-----utils <- some utilities (e.g. Matlab scripts).
~~~~~~
By default, you will be in the 'master' branch of the Git repository, which corresponds to the lastest stable release. If you want to try the latest developments, you can use the 'next' branch by going to the newly created gnss-sdr folder doing:
By default, you will be in the 'master' branch of the Git repository, which corresponds to the latest stable release. If you want to try the latest developments, you can use the 'next' branch by going to the newly created gnss-sdr folder doing:
~~~~~~
$ git checkout next

2
cmake/Modules/GnsssdrBuildTypes.cmake
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@ -48,7 +48,7 @@ list(APPEND AVAIL_BUILDTYPES
# known build types in AVAIL_BUILDTYPES. If the build type is found,
# the function exits immediately. If nothing is found by the end of
# checking all available build types, we exit with an error and list
# the avialable build types.
# the available build types.
########################################################################
function(GNSSSDR_CHECK_BUILD_TYPE settype)
string(TOUPPER ${settype} _settype)

4
docs/changelog
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@ -21,6 +21,7 @@
### Improvements in Flexibility:
- Rewritten Control Thread and GNSS Flowgraph for increased control of channels' status and smarter assignation of satellites in multi-band configurations.
- New Tracking parameters allow the configuration of PLL and DLL filters order.
- Added parameter to enable FLL during pull-in time.
- Configurable pull-in time in the Tracking loops.
@ -28,7 +29,7 @@
### Improvements in Interoperability:
- Added the BeiDou B1I receiver chain.
- Added the BeiDou B1I and B3I receiver chains.
- Fix bug in GLONASS dual frequency receiver.
- Added a custom UDP/IP output for PVT data streaming.
- Improved Monitor block with UDP/IP output for internal receiver's data streaming.
@ -43,6 +44,7 @@
- Applied clang-tidy checks and fixes related to readability: readability-container-size-empty, readability-identifier-naming, readability-inconsistent-declaration-parameter-name, readability-named-parameter, readability-non-const-parameter, readability-string-compare.
- Improved includes selection following suggestions by include-what-you-use (see https://include-what-you-use.org/), allowing faster compiles, fewer recompiles and making refactoring easier.
- Deprecated boost::asio::io_service replaced by boost::asio::io_context if Boost > 1.65
- The internal communication mechanism based on gr::msg_queue has been replaced by asynchronous message passing.
### Improvements in Portability:

2
src/algorithms/PVT/adapters/CMakeLists.txt
View File

@ -44,7 +44,7 @@ target_include_directories(pvt_adapters
${CMAKE_SOURCE_DIR}/src/core/interfaces
)
if(Boost_VERSION LESS 105800)
if(Boost_VERSION_STRING VERSION_LESS 1.58.0)
target_compile_definitions(pvt_adapters PRIVATE -DOLD_BOOST=1)
endif()

2
src/algorithms/PVT/gnuradio_blocks/CMakeLists.txt
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@ -62,7 +62,7 @@ if(ENABLE_CLANG_TIDY)
endif()
endif()
if(Boost_VERSION LESS 105800)
if(Boost_VERSION_STRING VERSION_LESS 1.58.0)
target_compile_definitions(pvt_gr_blocks PRIVATE -DOLD_BOOST=1)
endif()

18
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
View File

@ -126,9 +126,12 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
{
// Send feedback message to observables block with the receiver clock offset
this->message_port_register_out(pmt::mp("pvt_to_observables"));
// Send PVT status to gnss_flowgraph
this->message_port_register_out(pmt::mp("status"));
d_output_rate_ms = conf_.output_rate_ms;
d_display_rate_ms = conf_.display_rate_ms;
d_report_rate_ms = 1000; //report every second PVT to gnss_synchro
d_dump = conf_.dump;
d_dump_mat = conf_.dump_mat and d_dump;
d_dump_filename = conf_.dump_filename;
@ -3729,10 +3732,19 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
// PVT MONITOR
if (d_pvt_solver->is_valid_position() and flag_monitor_pvt_enabled)
if (d_pvt_solver->is_valid_position())
{
Monitor_Pvt monitor_pvt = d_pvt_solver->get_monitor_pvt();
udp_sink_ptr->write_monitor_pvt(monitor_pvt);
std::shared_ptr<Monitor_Pvt> monitor_pvt = std::make_shared<Monitor_Pvt>(d_pvt_solver->get_monitor_pvt());
//publish new position to the gnss_flowgraph channel status monitor
if (current_RX_time_ms % d_report_rate_ms == 0)
{
this->message_port_pub(pmt::mp("status"), pmt::make_any(monitor_pvt));
}
if (flag_monitor_pvt_enabled)
{
udp_sink_ptr->write_monitor_pvt(monitor_pvt);
}
}
}
}

1
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
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@ -169,6 +169,7 @@ private:
int32_t d_output_rate_ms;
int32_t d_display_rate_ms;
int32_t d_report_rate_ms;
std::shared_ptr<Rinex_Printer> rp;
std::shared_ptr<Kml_Printer> d_kml_dump;

4
src/algorithms/PVT/libs/CMakeLists.txt
View File

@ -95,7 +95,7 @@ target_include_directories(pvt_libs
target_compile_definitions(pvt_libs PRIVATE -DGNSS_SDR_VERSION="${VERSION}")
if(Boost_VERSION VERSION_GREATER "106599")
if(Boost_VERSION_STRING VERSION_GREATER 1.65.99)
target_compile_definitions(pvt_libs
PUBLIC
-DBOOST_GREATER_1_65
@ -104,7 +104,7 @@ endif()
# Fix for Boost Asio < 1.70
if(OS_IS_MACOSX)
if((CMAKE_CXX_COMPILER_ID MATCHES "Clang") AND (${Boost_VERSION} VERSION_LESS 107000))
if((CMAKE_CXX_COMPILER_ID MATCHES "Clang") AND (Boost_VERSION_STRING VERSION_LESS 1.70.0))
if(${has_string_view})
target_compile_definitions(pvt_libs
PUBLIC

4
src/algorithms/PVT/libs/monitor_pvt_udp_sink.cc
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@ -51,14 +51,14 @@ Monitor_Pvt_Udp_Sink::Monitor_Pvt_Udp_Sink(const std::vector<std::string>& addre
}
bool Monitor_Pvt_Udp_Sink::write_monitor_pvt(const Monitor_Pvt& monitor_pvt)
bool Monitor_Pvt_Udp_Sink::write_monitor_pvt(const std::shared_ptr<Monitor_Pvt>& monitor_pvt)
{
std::string outbound_data;
if (use_protobuf == false)
{
std::ostringstream archive_stream;
boost::archive::binary_oarchive oa{archive_stream};
oa << monitor_pvt;
oa << *monitor_pvt.get();
outbound_data = archive_stream.str();
}
else

4
src/algorithms/PVT/libs/monitor_pvt_udp_sink.h
View File

@ -45,8 +45,8 @@ using b_io_context = boost::asio::io_service;
class Monitor_Pvt_Udp_Sink
{
public:
Monitor_Pvt_Udp_Sink(const std::vector<std::string>& addresses, const uint16_t &port, bool protobuf_enabled);
bool write_monitor_pvt(const Monitor_Pvt &monitor_pvt);
Monitor_Pvt_Udp_Sink(const std::vector<std::string>& addresses, const uint16_t& port, bool protobuf_enabled);
bool write_monitor_pvt(const std::shared_ptr<Monitor_Pvt>& monitor_pvt);
private:
b_io_context io_context;

2
src/algorithms/PVT/libs/rinex_printer.cc
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@ -6217,7 +6217,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& eph
if (version == 2)
{
// --------- WAVELENGHT FACTOR
// --------- WAVELENGTH FACTOR
// put here real data!
line.clear();
line += Rinex_Printer::rightJustify("1", 6);

2
src/algorithms/PVT/libs/rinex_printer.h
View File

@ -157,7 +157,7 @@ public:
/*!
* \brief Generates the Mixed GPS L1,L5 + BDS B1I, B3I Navigation Data header
*/
void rinex_nav_header(std::fstream& out, const Gps_Iono& gps_lnav_iono, const Gps_Utc_Model& gps_lnav_utc_model, const Gps_Ephemeris& eph, const Beidou_Dnav_Iono& bds_dnav_iono, const Beidou_Dnav_Utc_Model& bds_dnav_utc_model);
void rinex_nav_header(std::fstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Gps_Ephemeris& eph, const Beidou_Dnav_Iono& bds_dnav_iono, const Beidou_Dnav_Utc_Model& bds_dnav_utc_model);
/*!
* \brief Generates the Mixed GPS L2C + BDS B1I, B3I Navigation Data header

1
src/algorithms/PVT/libs/rtcm.h
View File

@ -43,6 +43,7 @@
#include <boost/asio.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <glog/logging.h>
#include <pmt/pmt.h>
#include <bitset>
#include <cstddef> // for size_t
#include <cstdint>

2
src/algorithms/PVT/libs/rtcm_printer.cc
View File

@ -384,7 +384,7 @@ int Rtcm_Printer::init_serial(const std::string& serial_device)
* Opens the serial device and sets the default baud rate for a RTCM transmission (9600,8,N,1)
*/
int32_t fd = 0;
struct termios options;
struct termios options{};
int64_t BAUD;
int64_t DATABITS;
int64_t STOPBITS;

60
src/algorithms/PVT/libs/serdes_monitor_pvt.h
View File

@ -34,7 +34,7 @@
#include "monitor_pvt.h"
#include "monitor_pvt.pb.h" // file created by Protocol Buffers at compile time
#include <memory>
/*!
* \brief This class implements serialization and deserialization of
@ -80,40 +80,40 @@ public:
return *this;
}
inline std::string createProtobuffer(const Monitor_Pvt& monitor) //!< Serialization into a string
inline std::string createProtobuffer(std::shared_ptr<Monitor_Pvt> monitor) //!< Serialization into a string
{
monitor_.Clear();
std::string data;
monitor_.set_tow_at_current_symbol_ms(monitor.TOW_at_current_symbol_ms);
monitor_.set_week(monitor.week);
monitor_.set_rx_time(monitor.RX_time);
monitor_.set_user_clk_offset(monitor.user_clk_offset);
monitor_.set_pos_x(monitor.pos_x);
monitor_.set_pos_y(monitor.pos_y);
monitor_.set_pos_z(monitor.pos_z);
monitor_.set_vel_x(monitor.vel_x);
monitor_.set_vel_y(monitor.vel_y);
monitor_.set_vel_z(monitor.vel_z);
monitor_.set_cov_xx(monitor.cov_xx);
monitor_.set_cov_yy(monitor.cov_yy);
monitor_.set_cov_zz(monitor.cov_zz);
monitor_.set_cov_xy(monitor.cov_xy);
monitor_.set_cov_yz(monitor.cov_yz);
monitor_.set_cov_zx(monitor.cov_zx);
monitor_.set_latitude(monitor.latitude);
monitor_.set_longitude(monitor.longitude);
monitor_.set_height(monitor.height);
monitor_.set_valid_sats(monitor.valid_sats);
monitor_.set_solution_status(monitor.solution_status);
monitor_.set_solution_type(monitor.solution_type);
monitor_.set_ar_ratio_factor(monitor.AR_ratio_factor);
monitor_.set_ar_ratio_threshold(monitor.AR_ratio_threshold);
monitor_.set_gdop(monitor.gdop);
monitor_.set_pdop(monitor.pdop);
monitor_.set_hdop(monitor.hdop);
monitor_.set_vdop(monitor.vdop);
monitor_.set_tow_at_current_symbol_ms(monitor->TOW_at_current_symbol_ms);
monitor_.set_week(monitor->week);
monitor_.set_rx_time(monitor->RX_time);
monitor_.set_user_clk_offset(monitor->user_clk_offset);
monitor_.set_pos_x(monitor->pos_x);
monitor_.set_pos_y(monitor->pos_y);
monitor_.set_pos_z(monitor->pos_z);
monitor_.set_vel_x(monitor->vel_x);
monitor_.set_vel_y(monitor->vel_y);
monitor_.set_vel_z(monitor->vel_z);
monitor_.set_cov_xx(monitor->cov_xx);
monitor_.set_cov_yy(monitor->cov_yy);
monitor_.set_cov_zz(monitor->cov_zz);
monitor_.set_cov_xy(monitor->cov_xy);
monitor_.set_cov_yz(monitor->cov_yz);
monitor_.set_cov_zx(monitor->cov_zx);
monitor_.set_latitude(monitor->latitude);
monitor_.set_longitude(monitor->longitude);
monitor_.set_height(monitor->height);
monitor_.set_valid_sats(monitor->valid_sats);
monitor_.set_solution_status(monitor->solution_status);
monitor_.set_solution_type(monitor->solution_type);
monitor_.set_ar_ratio_factor(monitor->AR_ratio_factor);
monitor_.set_ar_ratio_threshold(monitor->AR_ratio_threshold);
monitor_.set_gdop(monitor->gdop);
monitor_.set_pdop(monitor->pdop);
monitor_.set_hdop(monitor->hdop);
monitor_.set_vdop(monitor->vdop);
monitor_.SerializeToString(&data);
return data;

3
src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.cc
View File

@ -136,9 +136,6 @@ BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
}
BeidouB1iPcpsAcquisition::~BeidouB1iPcpsAcquisition() = default;
void BeidouB1iPcpsAcquisition::stop_acquisition()
{
}

2
src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.h
View File

@ -60,7 +60,7 @@ public:
const std::string& role, unsigned int in_streams,
unsigned int out_streams);
virtual ~BeidouB1iPcpsAcquisition();
~BeidouB1iPcpsAcquisition() = default;
inline std::string role() override
{

3
src/algorithms/acquisition/adapters/beidou_b3i_pcps_acquisition.cc
View File

@ -134,9 +134,6 @@ BeidouB3iPcpsAcquisition::BeidouB3iPcpsAcquisition(
}
BeidouB3iPcpsAcquisition::~BeidouB3iPcpsAcquisition() = default;
void BeidouB3iPcpsAcquisition::stop_acquisition()
{
}

2
src/algorithms/acquisition/adapters/beidou_b3i_pcps_acquisition.h
View File

@ -59,7 +59,7 @@ public:
const std::string& role, unsigned int in_streams,
unsigned int out_streams);
virtual ~BeidouB3iPcpsAcquisition();
~BeidouB3iPcpsAcquisition() = default;
inline std::string role() override
{

3
src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.cc
View File

@ -123,9 +123,6 @@ GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition(
}
GalileoE1Pcps8msAmbiguousAcquisition::~GalileoE1Pcps8msAmbiguousAcquisition() = default;
void GalileoE1Pcps8msAmbiguousAcquisition::stop_acquisition()
{
}

2
src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.h
View File

@ -54,7 +54,7 @@ public:
unsigned int in_streams,
unsigned int out_streams);
virtual ~GalileoE1Pcps8msAmbiguousAcquisition();
~GalileoE1Pcps8msAmbiguousAcquisition() = default;
inline std::string role() override
{

11
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.cc
View File

@ -154,6 +154,7 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
doppler_center_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
@ -167,9 +168,6 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
}
GalileoE1PcpsAmbiguousAcquisition::~GalileoE1PcpsAmbiguousAcquisition() = default;
void GalileoE1PcpsAmbiguousAcquisition::stop_acquisition()
{
}
@ -214,6 +212,13 @@ void GalileoE1PcpsAmbiguousAcquisition::set_doppler_step(unsigned int doppler_st
acquisition_->set_doppler_step(doppler_step_);
}
void GalileoE1PcpsAmbiguousAcquisition::set_doppler_center(int doppler_center)
{
doppler_center_ = doppler_center;
acquisition_->set_doppler_center(doppler_center_);
}
void GalileoE1PcpsAmbiguousAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{

8
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.h
View File

@ -58,7 +58,7 @@ public:
unsigned int in_streams,
unsigned int out_streams);
virtual ~GalileoE1PcpsAmbiguousAcquisition();
~GalileoE1PcpsAmbiguousAcquisition() = default;
inline std::string role() override
{
@ -123,6 +123,11 @@ public:
*/
void set_doppler_step(unsigned int doppler_step) override;
/*!
* \brief Set Doppler center for the grid search
*/
void set_doppler_center(int doppler_center) override;
/*!
* \brief Initializes acquisition algorithm.
*/
@ -176,6 +181,7 @@ private:
float threshold_;
unsigned int doppler_max_;
unsigned int doppler_step_;
int doppler_center_;
unsigned int sampled_ms_;
unsigned int max_dwells_;
int64_t fs_in_;

3
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc
View File

@ -194,9 +194,6 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
}
GalileoE1PcpsAmbiguousAcquisitionFpga::~GalileoE1PcpsAmbiguousAcquisitionFpga() = default;
void GalileoE1PcpsAmbiguousAcquisitionFpga::stop_acquisition()
{
// this command causes the SW to reset the HW.

2
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.h
View File

@ -56,7 +56,7 @@ public:
unsigned int in_streams,
unsigned int out_streams);
virtual ~GalileoE1PcpsAmbiguousAcquisitionFpga();
~GalileoE1PcpsAmbiguousAcquisitionFpga() = default;
inline std::string role() override
{

3
src/algorithms/acquisition/adapters/galileo_e1_pcps_cccwsr_ambiguous_acquisition.cc
View File

@ -123,9 +123,6 @@ GalileoE1PcpsCccwsrAmbiguousAcquisition::GalileoE1PcpsCccwsrAmbiguousAcquisition
}
GalileoE1PcpsCccwsrAmbiguousAcquisition::~GalileoE1PcpsCccwsrAmbiguousAcquisition() = default;
void GalileoE1PcpsCccwsrAmbiguousAcquisition::stop_acquisition()
{
}

2
src/algorithms/acquisition/adapters/galileo_e1_pcps_cccwsr_ambiguous_acquisition.h
View File

@ -54,7 +54,7 @@ public:
unsigned int in_streams,
unsigned int out_streams);
virtual ~GalileoE1PcpsCccwsrAmbiguousAcquisition();
~GalileoE1PcpsCccwsrAmbiguousAcquisition() = default;
inline std::string role() override
{

3
src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.cc
View File

@ -157,9 +157,6 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcqui
}
GalileoE1PcpsQuickSyncAmbiguousAcquisition::~GalileoE1PcpsQuickSyncAmbiguousAcquisition() = default;
void GalileoE1PcpsQuickSyncAmbiguousAcquisition::stop_acquisition()
{
}

2
src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.h
View File

@ -55,7 +55,7 @@ public:
unsigned int in_streams,
unsigned int out_streams);
virtual ~GalileoE1PcpsQuickSyncAmbiguousAcquisition();
~GalileoE1PcpsQuickSyncAmbiguousAcquisition() = default;
inline std::string role() override
{

3
src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.cc
View File

@ -127,9 +127,6 @@ GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
}
GalileoE1PcpsTongAmbiguousAcquisition::~GalileoE1PcpsTongAmbiguousAcquisition() = default;
void GalileoE1PcpsTongAmbiguousAcquisition::stop_acquisition()
{
}

2
src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.h
View File

@ -54,7 +54,7 @@ public:
unsigned int in_streams,
unsigned int out_streams);
virtual ~GalileoE1PcpsTongAmbiguousAcquisition();
~GalileoE1PcpsTongAmbiguousAcquisition() = default;
inline std::string role() override
{

3
src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.cc
View File

@ -132,9 +132,6 @@ GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
}
GalileoE5aNoncoherentIQAcquisitionCaf::~GalileoE5aNoncoherentIQAcquisitionCaf() = default;
void GalileoE5aNoncoherentIQAcquisitionCaf::stop_acquisition()
{
}

2
src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.h
View File

@ -55,7 +55,7 @@ public:
unsigned int in_streams,
unsigned int out_streams);
virtual ~GalileoE5aNoncoherentIQAcquisitionCaf();
~GalileoE5aNoncoherentIQAcquisitionCaf() = default;
inline std::string role() override
{

10
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.cc
View File

@ -152,6 +152,7 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
doppler_center_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
@ -165,9 +166,6 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
}
GalileoE5aPcpsAcquisition::~GalileoE5aPcpsAcquisition() = default;
void GalileoE5aPcpsAcquisition::stop_acquisition()
{
}
@ -211,6 +209,12 @@ void GalileoE5aPcpsAcquisition::set_doppler_step(unsigned int doppler_step)
acquisition_->set_doppler_step(doppler_step_);
}
void GalileoE5aPcpsAcquisition::set_doppler_center(int doppler_center)
{
doppler_center_ = doppler_center;
acquisition_->set_doppler_center(doppler_center_);
}
void GalileoE5aPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{

8
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.h
View File

@ -49,7 +49,7 @@ public:
unsigned int in_streams,
unsigned int out_streams);
virtual ~GalileoE5aPcpsAcquisition();
~GalileoE5aPcpsAcquisition() = default;
inline std::string role() override
{
@ -111,6 +111,11 @@ public:
*/
void set_doppler_step(unsigned int doppler_step) override;
/*!
* \brief Set Doppler center for the grid search
*/
void set_doppler_center(int doppler_center) override;
/*!
* \brief Initializes acquisition algorithm.
*/
@ -169,6 +174,7 @@ private:
std::weak_ptr<ChannelFsm> channel_fsm_;
unsigned int doppler_max_;
unsigned int doppler_step_;
int doppler_center_;
unsigned int sampled_ms_;
unsigned int max_dwells_;
unsigned int in_streams_;

3
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc
View File

@ -197,9 +197,6 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
}
GalileoE5aPcpsAcquisitionFpga::~GalileoE5aPcpsAcquisitionFpga() = default;
void GalileoE5aPcpsAcquisitionFpga::stop_acquisition()
{
// this command causes the SW to reset the HW.

2
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.h
View File

@ -59,7 +59,7 @@ public:
unsigned int in_streams,
unsigned int out_streams);
virtual ~GalileoE5aPcpsAcquisitionFpga();
~GalileoE5aPcpsAcquisitionFpga() = default;
inline std::string role() override
{

3
src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
View File

@ -138,9 +138,6 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
}
GlonassL1CaPcpsAcquisition::~GlonassL1CaPcpsAcquisition() = default;
void GlonassL1CaPcpsAcquisition::stop_acquisition()
{
}

2
src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
View File

@ -57,7 +57,7 @@ public:
unsigned int in_streams,
unsigned int out_streams);
virtual ~GlonassL1CaPcpsAcquisition();
~GlonassL1CaPcpsAcquisition() = default;
inline std::string role() override
{

3
src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.cc
View File

@ -137,9 +137,6 @@ GlonassL2CaPcpsAcquisition::GlonassL2CaPcpsAcquisition(
}
GlonassL2CaPcpsAcquisition::~GlonassL2CaPcpsAcquisition() = default;
void GlonassL2CaPcpsAcquisition::stop_acquisition()
{
}

2
src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.h
View File

@ -56,7 +56,7 @@ public:
unsigned int in_streams,
unsigned int out_streams);
virtual ~GlonassL2CaPcpsAcquisition();
~GlonassL2CaPcpsAcquisition() = default;
inline std::string role() override
{

10
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc
View File

@ -148,6 +148,7 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
doppler_center_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
@ -161,9 +162,6 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
}
GpsL1CaPcpsAcquisition::~GpsL1CaPcpsAcquisition() = default;
void GpsL1CaPcpsAcquisition::stop_acquisition()
{
}
@ -203,6 +201,12 @@ void GpsL1CaPcpsAcquisition::set_doppler_step(unsigned int doppler_step)
acquisition_->set_doppler_step(doppler_step_);
}
void GpsL1CaPcpsAcquisition::set_doppler_center(int doppler_center)
{
doppler_center_ = doppler_center;
acquisition_->set_doppler_center(doppler_center_);
}
void GpsL1CaPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{

8
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.h
View File

@ -62,7 +62,7 @@ public:
unsigned int in_streams,
unsigned int out_streams);
virtual ~GpsL1CaPcpsAcquisition();
~GpsL1CaPcpsAcquisition() = default;
inline std::string role() override
{
@ -127,6 +127,11 @@ public:
*/
void set_doppler_step(unsigned int doppler_step) override;
/*!
* \brief Set Doppler center for the grid search
*/
void set_doppler_center(int doppler_center) override;
/*!
* \brief Initializes acquisition algorithm.
*/
@ -179,6 +184,7 @@ private:
float threshold_;
unsigned int doppler_max_;
unsigned int doppler_step_;
int doppler_center_;
unsigned int sampled_ms_;
unsigned int max_dwells_;
int64_t fs_in_;

3
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.cc
View File

@ -109,9 +109,6 @@ GpsL1CaPcpsAcquisitionFineDoppler::GpsL1CaPcpsAcquisitionFineDoppler(
}
GpsL1CaPcpsAcquisitionFineDoppler::~GpsL1CaPcpsAcquisitionFineDoppler() = default;
void GpsL1CaPcpsAcquisitionFineDoppler::stop_acquisition()
{
}

2
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.h
View File

@ -55,7 +55,7 @@ public:
unsigned int in_streams,
unsigned int out_streams);
virtual ~GpsL1CaPcpsAcquisitionFineDoppler();
~GpsL1CaPcpsAcquisitionFineDoppler() = default;
inline std::string role() override
{

3
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc
View File

@ -175,9 +175,6 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
}
GpsL1CaPcpsAcquisitionFpga::~GpsL1CaPcpsAcquisitionFpga() = default;
void GpsL1CaPcpsAcquisitionFpga::stop_acquisition()
{
// this command causes the SW to reset the HW.

2
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h
View File

@ -60,7 +60,7 @@ public:
unsigned int in_streams,
unsigned int out_streams);
virtual ~GpsL1CaPcpsAcquisitionFpga();
~GpsL1CaPcpsAcquisitionFpga() = default;
inline std::string role() override
{

3
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.cc
View File

@ -101,9 +101,6 @@ GpsL1CaPcpsAssistedAcquisition::GpsL1CaPcpsAssistedAcquisition(
}
GpsL1CaPcpsAssistedAcquisition::~GpsL1CaPcpsAssistedAcquisition() = default;
void GpsL1CaPcpsAssistedAcquisition::stop_acquisition()
{
}

2
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.h
View File

@ -55,7 +55,7 @@ public:
unsigned int in_streams,
unsigned int out_streams);
virtual ~GpsL1CaPcpsAssistedAcquisition();
~GpsL1CaPcpsAssistedAcquisition() = default;
inline std::string role() override
{

3
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_opencl_acquisition.cc
View File

@ -121,9 +121,6 @@ GpsL1CaPcpsOpenClAcquisition::GpsL1CaPcpsOpenClAcquisition(
}
GpsL1CaPcpsOpenClAcquisition::~GpsL1CaPcpsOpenClAcquisition() = default;
void GpsL1CaPcpsOpenClAcquisition::stop_acquisition()
{
}

2
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_opencl_acquisition.h
View File

@ -54,7 +54,7 @@ public:
unsigned int in_streams,
unsigned int out_streams);
virtual ~GpsL1CaPcpsOpenClAcquisition();
~GpsL1CaPcpsOpenClAcquisition() = default;
inline std::string role() override
{

3
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.cc
View File

@ -150,9 +150,6 @@ GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
}
GpsL1CaPcpsQuickSyncAcquisition::~GpsL1CaPcpsQuickSyncAcquisition() = default;
void GpsL1CaPcpsQuickSyncAcquisition::stop_acquisition()
{
}

2
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.h
View File

@ -56,7 +56,7 @@ public:
unsigned int in_streams,
unsigned int out_streams);
virtual ~GpsL1CaPcpsQuickSyncAcquisition();
~GpsL1CaPcpsQuickSyncAcquisition() = default;
inline std::string role() override
{

3
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_tong_acquisition.cc
View File

@ -112,9 +112,6 @@ GpsL1CaPcpsTongAcquisition::GpsL1CaPcpsTongAcquisition(
}
GpsL1CaPcpsTongAcquisition::~GpsL1CaPcpsTongAcquisition() = default;
void GpsL1CaPcpsTongAcquisition::stop_acquisition()
{
}

2
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_tong_acquisition.h
View File

@ -55,7 +55,7 @@ public:
unsigned int in_streams,
unsigned int out_streams);
virtual ~GpsL1CaPcpsTongAcquisition();
~GpsL1CaPcpsTongAcquisition() = default;
inline std::string role() override
{

10
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.cc
View File

@ -151,6 +151,7 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
doppler_center_ = 0;
gnss_synchro_ = nullptr;
num_codes_ = acq_parameters_.sampled_ms / acq_parameters_.ms_per_code;
@ -165,9 +166,6 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
}
GpsL2MPcpsAcquisition::~GpsL2MPcpsAcquisition() = default;
void GpsL2MPcpsAcquisition::stop_acquisition()
{
}
@ -213,6 +211,12 @@ void GpsL2MPcpsAcquisition::set_doppler_step(unsigned int doppler_step)
acquisition_->set_doppler_step(doppler_step_);
}
void GpsL2MPcpsAcquisition::set_doppler_center(int doppler_center)
{
doppler_center_ = doppler_center;
acquisition_->set_doppler_center(doppler_center_);
}
void GpsL2MPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{

8
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.h
View File

@ -59,7 +59,7 @@ public:
unsigned int in_streams,
unsigned int out_streams);
virtual ~GpsL2MPcpsAcquisition();
~GpsL2MPcpsAcquisition() = default;
inline std::string role() override
{
@ -124,6 +124,11 @@ public:
*/
void set_doppler_step(unsigned int doppler_step) override;
/*!
* \brief Set Doppler center for the grid search
*/
void set_doppler_center(int doppler_center) override;
/*!
* \brief Initializes acquisition algorithm.
*/
@ -176,6 +181,7 @@ private:
float threshold_;
unsigned int doppler_max_;
unsigned int doppler_step_;
int doppler_center_;
unsigned int max_dwells_;
int64_t fs_in_;
bool dump_;

3
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.cc
View File

@ -164,9 +164,6 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
}
GpsL2MPcpsAcquisitionFpga::~GpsL2MPcpsAcquisitionFpga() = default;
void GpsL2MPcpsAcquisitionFpga::stop_acquisition()
{
}

2
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.h
View File

@ -58,7 +58,7 @@ public:
unsigned int in_streams,
unsigned int out_streams);
virtual ~GpsL2MPcpsAcquisitionFpga();
~GpsL2MPcpsAcquisitionFpga() = default;
inline std::string role() override
{

10
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.cc
View File

@ -147,6 +147,7 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
doppler_center_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
@ -160,9 +161,6 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
}
GpsL5iPcpsAcquisition::~GpsL5iPcpsAcquisition() = default;
void GpsL5iPcpsAcquisition::stop_acquisition()
{
}
@ -208,6 +206,12 @@ void GpsL5iPcpsAcquisition::set_doppler_step(unsigned int doppler_step)
acquisition_->set_doppler_step(doppler_step_);
}
void GpsL5iPcpsAcquisition::set_doppler_center(int doppler_center)
{
doppler_center_ = doppler_center;
acquisition_->set_doppler_center(doppler_center_);
}
void GpsL5iPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{

8
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.h
View File

@ -59,7 +59,7 @@ public:
unsigned int in_streams,
unsigned int out_streams);
virtual ~GpsL5iPcpsAcquisition();
~GpsL5iPcpsAcquisition() = default;
inline std::string role() override
{
@ -124,6 +124,11 @@ public:
*/
void set_doppler_step(unsigned int doppler_step) override;
/*!
* \brief Set Doppler center for the grid search
*/
void set_doppler_center(int doppler_center) override;
/*!
* \brief Initializes acquisition algorithm.
*/
@ -176,6 +181,7 @@ private:
float threshold_;
unsigned int doppler_max_;
unsigned int doppler_step_;
int doppler_center_;
unsigned int max_dwells_;
int64_t fs_in_;
bool dump_;

3
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc
View File

@ -178,9 +178,6 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
}
GpsL5iPcpsAcquisitionFpga::~GpsL5iPcpsAcquisitionFpga() = default;
void GpsL5iPcpsAcquisitionFpga::stop_acquisition()
{
// this command causes the SW to reset the HW.

2
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.h
View File

@ -59,7 +59,7 @@ public:
unsigned int in_streams,
unsigned int out_streams);
virtual ~GpsL5iPcpsAcquisitionFpga();
~GpsL5iPcpsAcquisitionFpga() = default;
inline std::string role() override
{

193
src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.cc
View File

@ -40,9 +40,9 @@
#include <gnuradio/io_signature.h>
#include <volk/volk.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <array>
#include <exception>
#include <sstream>
#include <utility>
galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(
@ -106,42 +106,26 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc::galileo_e5a_noncoherentIQ_acquisit
d_both_signal_components = both_signal_components_;
d_CAF_window_hz = CAF_window_hz_;
d_inbuffer = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_fft_code_I_A = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitudeIA = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
d_inbuffer.reserve(d_fft_size);
d_fft_code_I_A.reserve(d_fft_size);
d_magnitudeIA.reserve(d_fft_size);
if (d_both_signal_components == true)
{
d_fft_code_Q_A = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitudeQA = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
}
else
{
d_fft_code_Q_A = nullptr;
d_magnitudeQA = nullptr;
d_fft_code_Q_A.reserve(d_fft_size);
d_magnitudeQA.reserve(d_fft_size);
}
// IF COHERENT INTEGRATION TIME > 1
if (d_sampled_ms > 1)
{
d_fft_code_I_B = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitudeIB = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
d_fft_code_I_B.reserve(d_fft_size);
d_magnitudeIB.reserve(d_fft_size);
if (d_both_signal_components == true)
{
d_fft_code_Q_B = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitudeQB = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
d_fft_code_Q_B.reserve(d_fft_size);
d_magnitudeQB.reserve(d_fft_size);
}
else
{
d_fft_code_Q_B = nullptr;
d_magnitudeQB = nullptr;
}
}
else
{
d_fft_code_I_B = nullptr;
d_magnitudeIB = nullptr;
d_fft_code_Q_B = nullptr;
d_magnitudeQB = nullptr;
}
// Direct FFT
@ -157,14 +141,10 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc::galileo_e5a_noncoherentIQ_acquisit
d_doppler_resolution = 0;
d_threshold = 0;
d_doppler_step = 250;
d_grid_doppler_wipeoffs = nullptr;
d_gnss_synchro = nullptr;
d_code_phase = 0;
d_doppler_freq = 0;
d_test_statistics = 0;
d_CAF_vector = nullptr;
d_CAF_vector_I = nullptr;
d_CAF_vector_Q = nullptr;
d_channel = 0;
d_gr_stream_buffer = 0;
}
@ -172,44 +152,6 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc::galileo_e5a_noncoherentIQ_acquisit
galileo_e5a_noncoherentIQ_acquisition_caf_cc::~galileo_e5a_noncoherentIQ_acquisition_caf_cc()
{
if (d_num_doppler_bins > 0)
{
for (unsigned int i = 0; i < d_num_doppler_bins; i++)
{
volk_gnsssdr_free(d_grid_doppler_wipeoffs[i]);
}
delete[] d_grid_doppler_wipeoffs;
}
volk_gnsssdr_free(d_inbuffer);
volk_gnsssdr_free(d_fft_code_I_A);
volk_gnsssdr_free(d_magnitudeIA);
if (d_both_signal_components == true)
{
volk_gnsssdr_free(d_fft_code_Q_A);
volk_gnsssdr_free(d_magnitudeQA);
}
// IF INTEGRATION TIME > 1
if (d_sampled_ms > 1)
{
volk_gnsssdr_free(d_fft_code_I_B);
volk_gnsssdr_free(d_magnitudeIB);
if (d_both_signal_components == true)
{
volk_gnsssdr_free(d_fft_code_Q_B);
volk_gnsssdr_free(d_magnitudeQB);
}
}
if (d_CAF_window_hz > 0)
{
volk_gnsssdr_free(d_CAF_vector);
volk_gnsssdr_free(d_CAF_vector_I);
if (d_both_signal_components == true)
{
volk_gnsssdr_free(d_CAF_vector_Q);
}
}
try
{
if (d_dump)
@ -236,8 +178,8 @@ void galileo_e5a_noncoherentIQ_acquisition_caf_cc::set_local_code(std::complex<f
d_fft_if->execute(); // We need the FFT of local code
//Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_code_I_A, d_fft_if->get_outbuf(), d_fft_size);
// Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_code_I_A.data(), d_fft_if->get_outbuf(), d_fft_size);
// SAME FOR PILOT SIGNAL
if (d_both_signal_components == true)
@ -247,8 +189,8 @@ void galileo_e5a_noncoherentIQ_acquisition_caf_cc::set_local_code(std::complex<f
d_fft_if->execute(); // We need the FFT of local code
//Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_code_Q_A, d_fft_if->get_outbuf(), d_fft_size);
// Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_code_Q_A.data(), d_fft_if->get_outbuf(), d_fft_size);
}
// IF INTEGRATION TIME > 1 code, we need to evaluate the other possible combination
// Note: max integration time allowed = 3ms (dealt in adapter)
@ -261,8 +203,8 @@ void galileo_e5a_noncoherentIQ_acquisition_caf_cc::set_local_code(std::complex<f
d_fft_if->execute(); // We need the FFT of local code
//Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_code_I_B, d_fft_if->get_outbuf(), d_fft_size);
// Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_code_I_B.data(), d_fft_if->get_outbuf(), d_fft_size);
if (d_both_signal_components == true)
{
@ -272,8 +214,8 @@ void galileo_e5a_noncoherentIQ_acquisition_caf_cc::set_local_code(std::complex<f
d_samples_per_code);
d_fft_if->execute(); // We need the FFT of local code
//Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_code_Q_B, d_fft_if->get_outbuf(), d_fft_size);
// Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_code_Q_B.data(), d_fft_if->get_outbuf(), d_fft_size);
}
}
}
@ -304,27 +246,24 @@ void galileo_e5a_noncoherentIQ_acquisition_caf_cc::init()
}
// Create the carrier Doppler wipeoff signals
d_grid_doppler_wipeoffs = new gr_complex *[d_num_doppler_bins];
d_grid_doppler_wipeoffs = std::vector<std::vector<gr_complex>>(d_num_doppler_bins, std::vector<gr_complex>(d_fft_size));
for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{
d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
float phase_step_rad = GALILEO_TWO_PI * doppler / static_cast<float>(d_fs_in);
float _phase[1];
_phase[0] = 0;
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], -phase_step_rad, _phase, d_fft_size);
std::array<float, 1> _phase{};
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index].data(), -phase_step_rad, _phase.data(), d_fft_size);
}
/* CAF Filtering to resolve doppler ambiguity. Phase and quadrature must be processed
* separately before non-coherent integration */
// if (d_CAF_filter)
if (d_CAF_window_hz > 0)
{
d_CAF_vector = static_cast<float *>(volk_gnsssdr_malloc(d_num_doppler_bins * sizeof(float), volk_gnsssdr_get_alignment()));
d_CAF_vector_I = static_cast<float *>(volk_gnsssdr_malloc(d_num_doppler_bins * sizeof(float), volk_gnsssdr_get_alignment()));
d_CAF_vector.reserve(d_num_doppler_bins);
d_CAF_vector_I.reserve(d_num_doppler_bins);
if (d_both_signal_components == true)
{
d_CAF_vector_Q = static_cast<float *>(volk_gnsssdr_malloc(d_num_doppler_bins * sizeof(float), volk_gnsssdr_get_alignment()));
d_CAF_vector_Q.reserve(d_num_doppler_bins);
}
}
}
@ -370,8 +309,8 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
* 7. Declare positive or negative acquisition using a message port
*/
int acquisition_message = -1; //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
/* States: 0 Stop Channel
int acquisition_message = -1; // 0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
/* States: 0 Stop Channel
* 1 Load the buffer until it reaches fft_size
* 2 Acquisition algorithm
* 3 Positive acquisition
@ -383,7 +322,7 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
{
if (d_active)
{
//restart acquisition variables
// restart acquisition variables
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
@ -401,7 +340,7 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
}
case 1:
{
const auto *in = reinterpret_cast<const gr_complex *>(input_items[0]); //Get the input samples pointer
const auto *in = reinterpret_cast<const gr_complex *>(input_items[0]); // Get the input samples pointer
unsigned int buff_increment;
if ((ninput_items[0] + d_buffer_count) <= d_fft_size)
{
@ -425,7 +364,7 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
case 2:
{
// Fill last part of the buffer and reset counter
const auto *in = reinterpret_cast<const gr_complex *>(input_items[0]); //Get the input samples pointer
const auto *in = reinterpret_cast<const gr_complex *>(input_items[0]); // Get the input samples pointer
if (d_buffer_count < d_fft_size)
{
memcpy(&d_inbuffer[d_buffer_count], in, sizeof(gr_complex) * (d_fft_size - d_buffer_count));
@ -456,19 +395,18 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
<< ", doppler_step: " << d_doppler_step;
// 1- Compute the input signal power estimation
volk_32fc_magnitude_squared_32f(d_magnitudeIA, d_inbuffer, d_fft_size);
volk_32f_accumulator_s32f(&d_input_power, d_magnitudeIA, d_fft_size);
volk_32fc_magnitude_squared_32f(d_magnitudeIA.data(), d_inbuffer.data(), d_fft_size);
volk_32f_accumulator_s32f(&d_input_power, d_magnitudeIA.data(), d_fft_size);
d_input_power /= static_cast<float>(d_fft_size);
// 2- Doppler frequency search loop
for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{
// doppler search steps
doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
volk_32fc_x2_multiply_32fc(d_fft_if->get_inbuf(), d_inbuffer,
d_grid_doppler_wipeoffs[doppler_index], d_fft_size);
volk_32fc_x2_multiply_32fc(d_fft_if->get_inbuf(), d_inbuffer.data(),
d_grid_doppler_wipeoffs[doppler_index].data(), d_fft_size);
// 3- Perform the FFT-based convolution (parallel time search)
// Compute the FFT of the carrier wiped--off incoming signal
@ -478,14 +416,14 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
// Multiply carrier wiped--off, Fourier transformed incoming signal
// with the local FFT'd code reference using SIMD operations with VOLK library
volk_32fc_x2_multiply_32fc(d_ifft->get_inbuf(),
d_fft_if->get_outbuf(), d_fft_code_I_A, d_fft_size);
d_fft_if->get_outbuf(), d_fft_code_I_A.data(), d_fft_size);
// compute the inverse FFT
d_ifft->execute();
// Search maximum
volk_32fc_magnitude_squared_32f(d_magnitudeIA, d_ifft->get_outbuf(), d_fft_size);
volk_gnsssdr_32f_index_max_32u(&indext_IA, d_magnitudeIA, d_fft_size);
volk_32fc_magnitude_squared_32f(d_magnitudeIA.data(), d_ifft->get_outbuf(), d_fft_size);
volk_gnsssdr_32f_index_max_32u(&indext_IA, d_magnitudeIA.data(), d_fft_size);
// Normalize the maximum value to correct the scale factor introduced by FFTW
magt_IA = d_magnitudeIA[indext_IA] / (fft_normalization_factor * fft_normalization_factor);
@ -493,30 +431,30 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
{
// REPEAT FOR ALL CODES. CODE_QA
volk_32fc_x2_multiply_32fc(d_ifft->get_inbuf(),
d_fft_if->get_outbuf(), d_fft_code_Q_A, d_fft_size);
d_fft_if->get_outbuf(), d_fft_code_Q_A.data(), d_fft_size);
d_ifft->execute();
volk_32fc_magnitude_squared_32f(d_magnitudeQA, d_ifft->get_outbuf(), d_fft_size);
volk_gnsssdr_32f_index_max_32u(&indext_QA, d_magnitudeQA, d_fft_size);
volk_32fc_magnitude_squared_32f(d_magnitudeQA.data(), d_ifft->get_outbuf(), d_fft_size);
volk_gnsssdr_32f_index_max_32u(&indext_QA, d_magnitudeQA.data(), d_fft_size);
magt_QA = d_magnitudeQA[indext_QA] / (fft_normalization_factor * fft_normalization_factor);
}
if (d_sampled_ms > 1) // If Integration time > 1 code
{
// REPEAT FOR ALL CODES. CODE_IB
volk_32fc_x2_multiply_32fc(d_ifft->get_inbuf(),
d_fft_if->get_outbuf(), d_fft_code_I_B, d_fft_size);
d_fft_if->get_outbuf(), d_fft_code_I_B.data(), d_fft_size);
d_ifft->execute();
volk_32fc_magnitude_squared_32f(d_magnitudeIB, d_ifft->get_outbuf(), d_fft_size);
volk_gnsssdr_32f_index_max_32u(&indext_IB, d_magnitudeIB, d_fft_size);
volk_32fc_magnitude_squared_32f(d_magnitudeIB.data(), d_ifft->get_outbuf(), d_fft_size);
volk_gnsssdr_32f_index_max_32u(&indext_IB, d_magnitudeIB.data(), d_fft_size);
magt_IB = d_magnitudeIB[indext_IB] / (fft_normalization_factor * fft_normalization_factor);
if (d_both_signal_components == true)
{
// REPEAT FOR ALL CODES. CODE_QB
volk_32fc_x2_multiply_32fc(d_ifft->get_inbuf(),
d_fft_if->get_outbuf(), d_fft_code_Q_B, d_fft_size);
d_fft_if->get_outbuf(), d_fft_code_Q_B.data(), d_fft_size);
d_ifft->execute();
volk_32fc_magnitude_squared_32f(d_magnitudeQB, d_ifft->get_outbuf(), d_fft_size);
volk_gnsssdr_32f_index_max_32u(&indext_QB, d_magnitudeQB, d_fft_size);
volk_32fc_magnitude_squared_32f(d_magnitudeQB.data(), d_ifft->get_outbuf(), d_fft_size);
volk_gnsssdr_32f_index_max_32u(&indext_QB, d_magnitudeQB.data(), d_fft_size);
magt_QB = d_magnitudeIB[indext_QB] / (fft_normalization_factor * fft_normalization_factor);
}
}
@ -529,7 +467,6 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
{
if (magt_IA >= magt_IB)
{
// if (d_CAF_filter) {d_CAF_vector_I[doppler_index] = magt_IA;}
if (d_CAF_window_hz > 0)
{
d_CAF_vector_I[doppler_index] = d_magnitudeIA[indext_IA];
@ -539,7 +476,6 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
// Integrate non-coherently I+Q
if (magt_QA >= magt_QB)
{
// if (d_CAF_filter) {d_CAF_vector_Q[doppler_index] = magt_QA;}
if (d_CAF_window_hz > 0)
{
d_CAF_vector_Q[doppler_index] = d_magnitudeQA[indext_QA];
@ -551,7 +487,6 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
}
else
{
// if (d_CAF_filter) {d_CAF_vector_Q[doppler_index] = magt_QB;}
if (d_CAF_window_hz > 0)
{
d_CAF_vector_Q[doppler_index] = d_magnitudeQB[indext_QB];
@ -562,12 +497,11 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
}
}
}
volk_gnsssdr_32f_index_max_32u(&indext, d_magnitudeIA, d_fft_size);
volk_gnsssdr_32f_index_max_32u(&indext, d_magnitudeIA.data(), d_fft_size);
magt = d_magnitudeIA[indext] / (fft_normalization_factor * fft_normalization_factor);
}
else
{
// if (d_CAF_filter) {d_CAF_vector_I[doppler_index] = magt_IB;}
if (d_CAF_window_hz > 0)
{
d_CAF_vector_I[doppler_index] = d_magnitudeIB[indext_IB];
@ -577,7 +511,6 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
// Integrate non-coherently I+Q
if (magt_QA >= magt_QB)
{
//if (d_CAF_filter) {d_CAF_vector_Q[doppler_index] = magt_QA;}
if (d_CAF_window_hz > 0)
{
d_CAF_vector_Q[doppler_index] = d_magnitudeQA[indext_QA];
@ -589,7 +522,6 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
}
else
{
// if (d_CAF_filter) {d_CAF_vector_Q[doppler_index] = magt_QB;}
if (d_CAF_window_hz > 0)
{
d_CAF_vector_Q[doppler_index] = d_magnitudeQB[indext_QB];
@ -600,20 +532,18 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
}
}
}
volk_gnsssdr_32f_index_max_32u(&indext, d_magnitudeIB, d_fft_size);
volk_gnsssdr_32f_index_max_32u(&indext, d_magnitudeIB.data(), d_fft_size);
magt = d_magnitudeIB[indext] / (fft_normalization_factor * fft_normalization_factor);
}
}
else
{
// if (d_CAF_filter) {d_CAF_vector_I[doppler_index] = magt_IA;}
if (d_CAF_window_hz > 0)
{
d_CAF_vector_I[doppler_index] = d_magnitudeIA[indext_IA];
}
if (d_both_signal_components)
{
// if (d_CAF_filter) {d_CAF_vector_Q[doppler_index] = magt_QA;}
if (d_CAF_window_hz > 0)
{
d_CAF_vector_Q[doppler_index] = d_magnitudeQA[indext_QA];
@ -624,7 +554,7 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
d_magnitudeIA[i] += d_magnitudeQA[i];
}
}
volk_gnsssdr_32f_index_max_32u(&indext, d_magnitudeIA, d_fft_size);
volk_gnsssdr_32f_index_max_32u(&indext, d_magnitudeIA.data(), d_fft_size);
magt = d_magnitudeIA[indext] / (fft_normalization_factor * fft_normalization_factor);
}
@ -663,16 +593,16 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
{
if (magt_IA >= magt_IB)
{
d_dump_file.write(reinterpret_cast<char *>(d_magnitudeIA), n);
d_dump_file.write(reinterpret_cast<char *>(d_magnitudeIA.data()), n);
}
else
{
d_dump_file.write(reinterpret_cast<char *>(d_magnitudeIB), n);
d_dump_file.write(reinterpret_cast<char *>(d_magnitudeIB.data()), n);
}
}
else
{
d_dump_file.write(reinterpret_cast<char *>(d_magnitudeIA), n);
d_dump_file.write(reinterpret_cast<char *>(d_magnitudeIA.data()), n);
}
d_dump_file.close();
}
@ -682,7 +612,7 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
if (d_CAF_window_hz > 0)
{
int CAF_bins_half;
auto *accum = static_cast<float *>(volk_gnsssdr_malloc(sizeof(float), volk_gnsssdr_get_alignment()));
std::array<float, 1> accum{};
CAF_bins_half = d_CAF_window_hz / (2 * d_doppler_step);
float weighting_factor;
weighting_factor = 0.5 / static_cast<float>(CAF_bins_half);
@ -692,22 +622,18 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
for (int doppler_index = 0; doppler_index < CAF_bins_half; doppler_index++)
{
d_CAF_vector[doppler_index] = 0;
// volk_32f_accumulator_s32f_a(&d_CAF_vector[doppler_index], d_CAF_vector_I, CAF_bins_half+doppler_index+1);
for (int i = 0; i < CAF_bins_half + doppler_index + 1; i++)
{
d_CAF_vector[doppler_index] += d_CAF_vector_I[i] * (1 - weighting_factor * static_cast<unsigned int>((doppler_index - i)));
}
// d_CAF_vector[doppler_index] /= CAF_bins_half+doppler_index+1;
d_CAF_vector[doppler_index] /= 1 + CAF_bins_half + doppler_index - weighting_factor * CAF_bins_half * (CAF_bins_half + 1) / 2 - weighting_factor * doppler_index * (doppler_index + 1) / 2; // triangles = [n*(n+1)/2]
if (d_both_signal_components)
{
accum[0] = 0;
// volk_32f_accumulator_s32f_a(&accum[0], d_CAF_vector_Q, CAF_bins_half+doppler_index+1);
for (int i = 0; i < CAF_bins_half + doppler_index + 1; i++)
{
accum[0] += d_CAF_vector_Q[i] * (1 - weighting_factor * static_cast<unsigned int>(abs(doppler_index - i)));
}
// accum[0] /= CAF_bins_half+doppler_index+1;
accum[0] /= 1 + CAF_bins_half + doppler_index - weighting_factor * CAF_bins_half * (CAF_bins_half + 1) / 2 - weighting_factor * doppler_index * (doppler_index + 1) / 2; // triangles = [n*(n+1)/2]
d_CAF_vector[doppler_index] += accum[0];
}
@ -716,22 +642,18 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
for (unsigned int doppler_index = CAF_bins_half; doppler_index < d_num_doppler_bins - CAF_bins_half; doppler_index++)
{
d_CAF_vector[doppler_index] = 0;
// volk_32f_accumulator_s32f_a(&d_CAF_vector[doppler_index], &d_CAF_vector_I[doppler_index-CAF_bins_half], 2*CAF_bins_half+1);
for (int i = doppler_index - CAF_bins_half; i < static_cast<int>(doppler_index + CAF_bins_half + 1); i++)
{
d_CAF_vector[doppler_index] += d_CAF_vector_I[i] * (1 - weighting_factor * static_cast<unsigned int>((doppler_index - i)));
}
// d_CAF_vector[doppler_index] /= 2*CAF_bins_half+1;
d_CAF_vector[doppler_index] /= 1 + 2 * CAF_bins_half - 2 * weighting_factor * CAF_bins_half * (CAF_bins_half + 1) / 2;
if (d_both_signal_components)
{
accum[0] = 0;
// volk_32f_accumulator_s32f_a(&accum[0], &d_CAF_vector_Q[doppler_index-CAF_bins_half], 2*CAF_bins_half);
for (int i = doppler_index - CAF_bins_half; i < static_cast<int>(doppler_index + CAF_bins_half + 1); i++)
{
accum[0] += d_CAF_vector_Q[i] * (1 - weighting_factor * static_cast<unsigned int>((doppler_index - i)));
}
// accum[0] /= 2*CAF_bins_half+1;
accum[0] /= 1 + 2 * CAF_bins_half - 2 * weighting_factor * CAF_bins_half * (CAF_bins_half + 1) / 2;
d_CAF_vector[doppler_index] += accum[0];
}
@ -740,29 +662,25 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
for (int doppler_index = d_num_doppler_bins - CAF_bins_half; doppler_index < static_cast<int>(d_num_doppler_bins); doppler_index++)
{
d_CAF_vector[doppler_index] = 0;
// volk_32f_accumulator_s32f_a(&d_CAF_vector[doppler_index], &d_CAF_vector_I[doppler_index-CAF_bins_half], CAF_bins_half + (d_num_doppler_bins-doppler_index));
for (int i = doppler_index - CAF_bins_half; i < static_cast<int>(d_num_doppler_bins); i++)
{
d_CAF_vector[doppler_index] += d_CAF_vector_I[i] * (1 - weighting_factor * (abs(doppler_index - i)));
}
// d_CAF_vector[doppler_index] /= CAF_bins_half+(d_num_doppler_bins-doppler_index);
d_CAF_vector[doppler_index] /= 1 + CAF_bins_half + (d_num_doppler_bins - doppler_index - 1) - weighting_factor * CAF_bins_half * (CAF_bins_half + 1) / 2 - weighting_factor * (d_num_doppler_bins - doppler_index - 1) * (d_num_doppler_bins - doppler_index) / 2;
if (d_both_signal_components)
{
accum[0] = 0;
// volk_32f_accumulator_s32f_a(&accum[0], &d_CAF_vector_Q[doppler_index-CAF_bins_half], CAF_bins_half + (d_num_doppler_bins-doppler_index));
for (int i = doppler_index - CAF_bins_half; i < static_cast<int>(d_num_doppler_bins); i++)
{
accum[0] += d_CAF_vector_Q[i] * (1 - weighting_factor * (abs(doppler_index - i)));
}
// accum[0] /= CAF_bins_half+(d_num_doppler_bins-doppler_index);
accum[0] /= 1 + CAF_bins_half + (d_num_doppler_bins - doppler_index - 1) - weighting_factor * CAF_bins_half * (CAF_bins_half + 1) / 2 - weighting_factor * (d_num_doppler_bins - doppler_index - 1) * (d_num_doppler_bins - doppler_index) / 2;
d_CAF_vector[doppler_index] += accum[0];
}
}
// Recompute the maximum doppler peak
volk_gnsssdr_32f_index_max_32u(&indext, d_CAF_vector, d_num_doppler_bins);
volk_gnsssdr_32f_index_max_32u(&indext, d_CAF_vector.data(), d_num_doppler_bins);
doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * indext;
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
// Dump if required, appended at the end of the file
@ -773,10 +691,9 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
filename.str("");
filename << "../data/test_statistics_E5a_sat_" << d_gnss_synchro->PRN << "_CAF.dat";
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
d_dump_file.write(reinterpret_cast<char *>(d_CAF_vector), n);
d_dump_file.write(reinterpret_cast<char *>(d_CAF_vector.data()), n);
d_dump_file.close();
}
volk_gnsssdr_free(accum);
}
if (d_well_count == d_max_dwells)

27
src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.h
View File

@ -47,6 +47,7 @@
#include <memory>
#include <string>
#include <utility>
#include <vector>
class galileo_e5a_noncoherentIQ_acquisition_caf_cc;
@ -221,23 +222,23 @@ private:
unsigned int d_well_count;
unsigned int d_fft_size;
uint64_t d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
std::vector<std::vector<gr_complex>> d_grid_doppler_wipeoffs;
unsigned int d_num_doppler_bins;
gr_complex* d_fft_code_I_A;
gr_complex* d_fft_code_I_B;
gr_complex* d_fft_code_Q_A;
gr_complex* d_fft_code_Q_B;
gr_complex* d_inbuffer;
std::vector<gr_complex> d_fft_code_I_A;
std::vector<gr_complex> d_fft_code_I_B;
std::vector<gr_complex> d_fft_code_Q_A;
std::vector<gr_complex> d_fft_code_Q_B;
std::vector<gr_complex> d_inbuffer;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
unsigned int d_code_phase;
float d_doppler_freq;
float d_mag;
float* d_magnitudeIA;
float* d_magnitudeIB;
float* d_magnitudeQA;
float* d_magnitudeQB;
std::vector<float> d_magnitudeIA;
std::vector<float> d_magnitudeIB;
std::vector<float> d_magnitudeQA;
std::vector<float> d_magnitudeQB;
float d_input_power;
float d_test_statistics;
bool d_bit_transition_flag;
@ -247,9 +248,9 @@ private:
bool d_dump;
bool d_both_signal_components;
int d_CAF_window_hz;
float* d_CAF_vector;
float* d_CAF_vector_I;
float* d_CAF_vector_Q;
std::vector<float> d_CAF_vector;
std::vector<float> d_CAF_vector_I;
std::vector<float> d_CAF_vector_Q;
unsigned int d_channel;
std::string d_dump_filename;
unsigned int d_buffer_count;

65
src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.cc
View File

@ -34,9 +34,9 @@
#include <gnuradio/io_signature.h>
#include <volk/volk.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <array>
#include <exception>
#include <sstream>
#include <utility>
galileo_pcps_8ms_acquisition_cc_sptr galileo_pcps_8ms_make_acquisition_cc(
@ -82,9 +82,9 @@ galileo_pcps_8ms_acquisition_cc::galileo_pcps_8ms_acquisition_cc(
d_input_power = 0.0;
d_num_doppler_bins = 0;
d_fft_code_A = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_fft_code_B = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitude = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
d_fft_code_A = std::vector<gr_complex>(d_fft_size, lv_cmake(0.0F, 0.0F));
d_fft_code_B = std::vector<gr_complex>(d_fft_size, lv_cmake(0.0F, 0.0F));
d_magnitude = std::vector<float>(d_fft_size, 0.0F);
// Direct FFT
d_fft_if = std::make_shared<gr::fft::fft_complex>(d_fft_size, true);
@ -99,7 +99,6 @@ galileo_pcps_8ms_acquisition_cc::galileo_pcps_8ms_acquisition_cc(
d_doppler_resolution = 0;
d_threshold = 0;
d_doppler_step = 0;
d_grid_doppler_wipeoffs = nullptr;
d_gnss_synchro = nullptr;
d_code_phase = 0;
d_doppler_freq = 0;
@ -110,19 +109,6 @@ galileo_pcps_8ms_acquisition_cc::galileo_pcps_8ms_acquisition_cc(
galileo_pcps_8ms_acquisition_cc::~galileo_pcps_8ms_acquisition_cc()
{
if (d_num_doppler_bins > 0)
{
for (uint32_t i = 0; i < d_num_doppler_bins; i++)
{
volk_gnsssdr_free(d_grid_doppler_wipeoffs[i]);
}
delete[] d_grid_doppler_wipeoffs;
}
volk_gnsssdr_free(d_fft_code_A);
volk_gnsssdr_free(d_fft_code_B);
volk_gnsssdr_free(d_magnitude);
try
{
if (d_dump)
@ -148,8 +134,8 @@ void galileo_pcps_8ms_acquisition_cc::set_local_code(std::complex<float> *code)
d_fft_if->execute(); // We need the FFT of local code
//Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_code_A, d_fft_if->get_outbuf(), d_fft_size);
// Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_code_A.data(), d_fft_if->get_outbuf(), d_fft_size);
// code B: two replicas of a primary code; the second replica is inverted.
volk_32fc_s32fc_multiply_32fc(&(d_fft_if->get_inbuf())[d_samples_per_code],
@ -158,8 +144,8 @@ void galileo_pcps_8ms_acquisition_cc::set_local_code(std::complex<float> *code)
d_fft_if->execute(); // We need the FFT of local code
//Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_code_B, d_fft_if->get_outbuf(), d_fft_size);
// Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_code_B.data(), d_fft_if->get_outbuf(), d_fft_size);
}
@ -184,17 +170,14 @@ void galileo_pcps_8ms_acquisition_cc::init()
{
d_num_doppler_bins++;
}
// Create the carrier Doppler wipeoff signals
d_grid_doppler_wipeoffs = new gr_complex *[d_num_doppler_bins];
d_grid_doppler_wipeoffs = std::vector<std::vector<gr_complex>>(d_num_doppler_bins, std::vector<gr_complex>(d_fft_size));
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{
d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
int32_t doppler = -static_cast<int32_t>(d_doppler_max) + d_doppler_step * doppler_index;
float phase_step_rad = static_cast<float>(GALILEO_TWO_PI) * doppler / static_cast<float>(d_fs_in);
float _phase[1];
_phase[0] = 0;
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], -phase_step_rad, _phase, d_fft_size);
std::array<float, 1> _phase{};
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index].data(), -phase_step_rad, _phase.data(), d_fft_size);
}
}
@ -227,7 +210,7 @@ int galileo_pcps_8ms_acquisition_cc::general_work(int noutput_items,
gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items __attribute__((unused)))
{
int32_t acquisition_message = -1; //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
int32_t acquisition_message = -1; // 0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
switch (d_state)
{
@ -235,7 +218,7 @@ int galileo_pcps_8ms_acquisition_cc::general_work(int noutput_items,
{
if (d_active)
{
//restart acquisition variables
// restart acquisition variables
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
@ -264,7 +247,7 @@ int galileo_pcps_8ms_acquisition_cc::general_work(int noutput_items,
float magt = 0.0;
float magt_A = 0.0;
float magt_B = 0.0;
const auto *in = reinterpret_cast<const gr_complex *>(input_items[0]); //Get the input samples pointer
const auto *in = reinterpret_cast<const gr_complex *>(input_items[0]); // Get the input samples pointer
float fft_normalization_factor = static_cast<float>(d_fft_size) * static_cast<float>(d_fft_size);
d_input_power = 0.0;
d_mag = 0.0;
@ -280,8 +263,8 @@ int galileo_pcps_8ms_acquisition_cc::general_work(int noutput_items,
<< ", doppler_step: " << d_doppler_step;
// 1- Compute the input signal power estimation
volk_32fc_magnitude_squared_32f(d_magnitude, in, d_fft_size);
volk_32f_accumulator_s32f(&d_input_power, d_magnitude, d_fft_size);
volk_32fc_magnitude_squared_32f(d_magnitude.data(), in, d_fft_size);
volk_32f_accumulator_s32f(&d_input_power, d_magnitude.data(), d_fft_size);
d_input_power /= static_cast<float>(d_fft_size);
// 2- Doppler frequency search loop
@ -291,7 +274,7 @@ int galileo_pcps_8ms_acquisition_cc::general_work(int noutput_items,
doppler = -static_cast<int32_t>(d_doppler_max) + d_doppler_step * doppler_index;
volk_32fc_x2_multiply_32fc(d_fft_if->get_inbuf(), in,
d_grid_doppler_wipeoffs[doppler_index], d_fft_size);
d_grid_doppler_wipeoffs[doppler_index].data(), d_fft_size);
// 3- Perform the FFT-based convolution (parallel time search)
// Compute the FFT of the carrier wiped--off incoming signal
@ -301,14 +284,14 @@ int galileo_pcps_8ms_acquisition_cc::general_work(int noutput_items,
// with the local FFT'd code A reference using SIMD operations with
// VOLK library
volk_32fc_x2_multiply_32fc(d_ifft->get_inbuf(),
d_fft_if->get_outbuf(), d_fft_code_A, d_fft_size);
d_fft_if->get_outbuf(), d_fft_code_A.data(), d_fft_size);
// compute the inverse FFT
d_ifft->execute();
// Search maximum
volk_32fc_magnitude_squared_32f(d_magnitude, d_ifft->get_outbuf(), d_fft_size);
volk_gnsssdr_32f_index_max_32u(&indext_A, d_magnitude, d_fft_size);
volk_32fc_magnitude_squared_32f(d_magnitude.data(), d_ifft->get_outbuf(), d_fft_size);
volk_gnsssdr_32f_index_max_32u(&indext_A, d_magnitude.data(), d_fft_size);
// Normalize the maximum value to correct the scale factor introduced by FFTW
magt_A = d_magnitude[indext_A] / (fft_normalization_factor * fft_normalization_factor);
@ -317,14 +300,14 @@ int galileo_pcps_8ms_acquisition_cc::general_work(int noutput_items,
// with the local FFT'd code B reference using SIMD operations with
// VOLK library
volk_32fc_x2_multiply_32fc(d_ifft->get_inbuf(),
d_fft_if->get_outbuf(), d_fft_code_B, d_fft_size);
d_fft_if->get_outbuf(), d_fft_code_B.data(), d_fft_size);
// compute the inverse FFT
d_ifft->execute();
// Search maximum
volk_32fc_magnitude_squared_32f(d_magnitude, d_ifft->get_outbuf(), d_fft_size);
volk_gnsssdr_32f_index_max_32u(&indext_B, d_magnitude, d_fft_size);
volk_32fc_magnitude_squared_32f(d_magnitude.data(), d_ifft->get_outbuf(), d_fft_size);
volk_gnsssdr_32f_index_max_32u(&indext_B, d_magnitude.data(), d_fft_size);
// Normalize the maximum value to correct the scale factor introduced by FFTW
magt_B = d_magnitude[indext_B] / (fft_normalization_factor * fft_normalization_factor);
@ -358,7 +341,7 @@ int galileo_pcps_8ms_acquisition_cc::general_work(int noutput_items,
std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write
filename.str("");
filename << "../data/test_statistics_" << d_gnss_synchro->System
<< "_" << d_gnss_synchro->Signal << "_sat_"
<< "_" << d_gnss_synchro->Signal[0] << d_gnss_synchro->Signal[1] << "_sat_"
<< d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat";
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
d_dump_file.write(reinterpret_cast<char *>(d_ifft->get_outbuf()), n); //write directly |abs(x)|^2 in this Doppler bin?

11
src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.h
View File

@ -41,6 +41,7 @@
#include <memory>
#include <string>
#include <utility>
#include <vector>
class galileo_pcps_8ms_acquisition_cc;
@ -206,17 +207,17 @@ private:
uint32_t d_well_count;
uint32_t d_fft_size;
uint64_t d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
std::vector<std::vector<gr_complex>> d_grid_doppler_wipeoffs;
uint32_t d_num_doppler_bins;
gr_complex* d_fft_code_A;
gr_complex* d_fft_code_B;
std::vector<gr_complex> d_fft_code_A;
std::vector<gr_complex> d_fft_code_B;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
uint32_t d_code_phase;
float d_doppler_freq;
float d_mag;
float* d_magnitude;
std::vector<float> d_magnitude;
float d_input_power;
float d_test_statistics;
std::ofstream d_dump_file;
@ -228,4 +229,4 @@ private:
std::string d_dump_filename;
};
#endif /* GNSS_SDR_PCPS_8MS_ACQUISITION_CC_H_*/
#endif /* GNSS_SDR_PCPS_8MS_ACQUISITION_CC_H_ */

45
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc
View File

@ -48,7 +48,6 @@
#else
#include <boost/filesystem/path.hpp>
#endif
#include <glog/logging.h>
#include <gnuradio/io_signature.h>
#include <matio.h>
#include <pmt/pmt.h> // for from_long
@ -90,7 +89,7 @@ pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acqu
d_active = false;
d_positive_acq = 0;
d_state = 0;
d_old_freq = 0LL;
d_doppler_bias = 0;
d_num_noncoherent_integrations_counter = 0U;
d_consumed_samples = acq_parameters.sampled_ms * acq_parameters.samples_per_ms * (acq_parameters.bit_transition_flag ? 2 : 1);
if (acq_parameters.sampled_ms == acq_parameters.ms_per_code)
@ -107,6 +106,7 @@ pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acqu
d_num_doppler_bins = 0U;
d_threshold = 0.0;
d_doppler_step = 0U;
d_doppler_center = 0U;
d_doppler_center_step_two = 0.0;
d_test_statistics = 0.0;
d_channel = 0U;
@ -206,9 +206,6 @@ pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acqu
}
pcps_acquisition::~pcps_acquisition() = default;
void pcps_acquisition::set_resampler_latency(uint32_t latency_samples)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
@ -218,8 +215,6 @@ void pcps_acquisition::set_resampler_latency(uint32_t latency_samples)
void pcps_acquisition::set_local_code(std::complex<float>* code)
{
// reset the intermediate frequency
d_old_freq = 0LL;
// This will check if it's fdma, if yes will update the intermediate frequency and the doppler grid
if (is_fdma())
{
@ -256,17 +251,19 @@ void pcps_acquisition::set_local_code(std::complex<float>* code)
bool pcps_acquisition::is_fdma()
{
// reset the intermediate frequency
d_doppler_bias = 0;
// Dealing with FDMA system
if (strcmp(d_gnss_synchro->Signal, "1G") == 0)
{
d_old_freq += DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN);
LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << d_old_freq << " in Glonass Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
d_doppler_bias = static_cast<int32_t>(DFRQ1_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN));
LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << d_doppler_bias << " in Glonass Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
return true;
}
if (strcmp(d_gnss_synchro->Signal, "2G") == 0)
{
d_old_freq += DFRQ2_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN);
LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << d_old_freq << " in Glonass Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
d_doppler_bias += static_cast<int32_t>(DFRQ2_GLO * GLONASS_PRN.at(d_gnss_synchro->PRN));
LOG(INFO) << "Trying to acquire SV PRN " << d_gnss_synchro->PRN << " with freq " << d_doppler_bias << " in Glonass Channel " << GLONASS_PRN.at(d_gnss_synchro->PRN) << std::endl;
return true;
}
return false;
@ -284,9 +281,8 @@ void pcps_acquisition::update_local_carrier(gsl::span<gr_complex> carrier_vector
{
phase_step_rad = GPS_TWO_PI * freq / static_cast<float>(acq_parameters.fs_in);
}
float _phase[1];
_phase[0] = 0.0;
volk_gnsssdr_s32f_sincos_32fc(carrier_vector.data(), -phase_step_rad, _phase, carrier_vector.length());
std::array<float, 1> _phase{};
volk_gnsssdr_s32f_sincos_32fc(carrier_vector.data(), -phase_step_rad, _phase.data(), carrier_vector.length());
}
@ -322,14 +318,10 @@ void pcps_acquisition::init()
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{
for (uint32_t k = 0; k < d_fft_size; k++)
{
d_magnitude_grid[doppler_index][k] = 0.0;
}
int32_t doppler = -static_cast<int32_t>(acq_parameters.doppler_max) + d_doppler_step * doppler_index;
update_local_carrier(gsl::span<gr_complex>(d_grid_doppler_wipeoffs[doppler_index].data(), d_fft_size), d_old_freq + doppler);
std::fill(d_magnitude_grid[doppler_index].begin(), d_magnitude_grid[doppler_index].end(), 0.0);
}
update_grid_doppler_wipeoffs();
d_worker_active = false;
if (d_dump)
@ -345,8 +337,8 @@ void pcps_acquisition::update_grid_doppler_wipeoffs()
{
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{
int32_t doppler = -static_cast<int32_t>(acq_parameters.doppler_max) + d_doppler_step * doppler_index;
update_local_carrier(gsl::span<gr_complex>(d_grid_doppler_wipeoffs[doppler_index].data(), d_fft_size), d_old_freq + doppler);
int32_t doppler = -static_cast<int32_t>(acq_parameters.doppler_max) + d_doppler_center + d_doppler_step * doppler_index;
update_local_carrier(d_grid_doppler_wipeoffs[doppler_index], d_doppler_bias + doppler);
}
}
@ -356,7 +348,7 @@ void pcps_acquisition::update_grid_doppler_wipeoffs_step2()
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins_step2; doppler_index++)
{
float doppler = (static_cast<float>(doppler_index) - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0))) * acq_parameters.doppler_step2;
update_local_carrier(gsl::span<gr_complex>(d_grid_doppler_wipeoffs_step_two[doppler_index].data(), d_fft_size), d_doppler_center_step_two + doppler);
update_local_carrier(d_grid_doppler_wipeoffs_step_two[doppler_index], d_doppler_center_step_two + doppler);
}
}
@ -398,7 +390,8 @@ void pcps_acquisition::send_positive_acquisition()
<< ", code phase " << d_gnss_synchro->Acq_delay_samples
<< ", doppler " << d_gnss_synchro->Acq_doppler_hz
<< ", magnitude " << d_mag
<< ", input signal power " << d_input_power;
<< ", input signal power " << d_input_power
<< ", Assist doppler_center " << d_doppler_center;
d_positive_acq = 1;
if (!d_channel_fsm.expired())
@ -556,7 +549,7 @@ float pcps_acquisition::max_to_input_power_statistic(uint32_t& indext, int32_t&
indext = index_time;
if (!d_step_two)
{
doppler = -static_cast<int32_t>(doppler_max) + doppler_step * static_cast<int32_t>(index_doppler);
doppler = -static_cast<int32_t>(doppler_max) + d_doppler_center + doppler_step * static_cast<int32_t>(index_doppler);
}
else
{
@ -594,7 +587,7 @@ float pcps_acquisition::first_vs_second_peak_statistic(uint32_t& indext, int32_t
if (!d_step_two)
{
doppler = -static_cast<int32_t>(doppler_max) + doppler_step * static_cast<int32_t>(index_doppler);
doppler = -static_cast<int32_t>(doppler_max) + d_doppler_center + doppler_step * static_cast<int32_t>(index_doppler);
}
else
{

21
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h
View File

@ -55,6 +55,7 @@
#include "acq_conf.h"
#include "channel_fsm.h"
#include <armadillo>
#include <glog/logging.h>
#include <gnuradio/block.h>
#include <gnuradio/fft/fft.h>
#include <gnuradio/gr_complex.h> // for gr_complex
@ -90,7 +91,7 @@ pcps_acquisition_sptr pcps_make_acquisition(const Acq_Conf& conf_);
class pcps_acquisition : public gr::block
{
public:
~pcps_acquisition();
~pcps_acquisition() = default;
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
@ -188,6 +189,21 @@ public:
d_doppler_step = doppler_step;
}
/*!
* \brief Set Doppler center frequency for the grid search. It will refresh the Doppler grid.
* \param doppler_center - Frequency center of the search grid [Hz].
*/
inline void set_doppler_center(int32_t doppler_center)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
if (doppler_center != d_doppler_center)
{
DLOG(INFO) << " Doppler assistance for Channel: " << d_channel << " => Doppler: " << doppler_center << "[Hz]";
d_doppler_center = doppler_center;
update_grid_doppler_wipeoffs();
}
}
void set_resampler_latency(uint32_t latency_samples);
/*!
@ -211,6 +227,8 @@ private:
uint32_t d_channel;
uint32_t d_samplesPerChip;
uint32_t d_doppler_step;
int32_t d_doppler_center;
int32_t d_doppler_bias;
uint32_t d_num_noncoherent_integrations_counter;
uint32_t d_fft_size;
uint32_t d_consumed_samples;
@ -220,7 +238,6 @@ private:
uint32_t d_buffer_count;
uint64_t d_sample_counter;
int64_t d_dump_number;
int64_t d_old_freq;
float d_threshold;
float d_mag;
float d_input_power;

10
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.cc
View File

@ -158,11 +158,11 @@ pcps_acquisition_fine_doppler_cc::pcps_acquisition_fine_doppler_cc(const Acq_Con
unsigned int pcps_acquisition_fine_doppler_cc::nextPowerOf2(unsigned int n)
{
n--;
n |= n >> 1;
n |= n >> 2;
n |= n >> 4;
n |= n >> 8;
n |= n >> 16;
n |= n >> 1U;
n |= n >> 2U;
n |= n >> 4U;
n |= n >> 8U;
n |= n >> 16U;
n++;
return n;
}

3
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.cc
View File

@ -84,9 +84,6 @@ pcps_acquisition_fpga::pcps_acquisition_fpga(pcpsconf_fpga_t conf_)
}
pcps_acquisition_fpga::~pcps_acquisition_fpga() = default;
void pcps_acquisition_fpga::set_local_code()
{
acquisition_fpga->set_local_code(d_gnss_synchro->PRN);

2
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.h
View File

@ -89,7 +89,7 @@ pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_);
class pcps_acquisition_fpga
{
public:
~pcps_acquisition_fpga();
~pcps_acquisition_fpga() = default;
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer

41
src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.cc
View File

@ -38,10 +38,12 @@
#include <gnuradio/io_signature.h>
#include <volk/volk.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <array>
#include <exception>
#include <sstream>
#include <utility>
extern Concurrent_Map<Gps_Acq_Assist> global_gps_acq_assist_map;
@ -78,8 +80,7 @@ pcps_assisted_acquisition_cc::pcps_assisted_acquisition_cc(
d_input_power = 0.0;
d_state = 0;
d_disable_assist = false;
d_fft_codes = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_carrier = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_fft_codes.reserve(d_fft_size);
// Direct FFT
d_fft_if = std::make_shared<gr::fft::fft_complex>(d_fft_size, true);
@ -114,8 +115,6 @@ void pcps_assisted_acquisition_cc::set_doppler_step(uint32_t doppler_step)
pcps_assisted_acquisition_cc::~pcps_assisted_acquisition_cc()
{
volk_gnsssdr_free(d_carrier);
volk_gnsssdr_free(d_fft_codes);
try
{
if (d_dump)
@ -155,8 +154,8 @@ void pcps_assisted_acquisition_cc::init()
d_fft_if->execute(); // We need the FFT of local code
//Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_codes, d_fft_if->get_outbuf(), d_fft_size);
// Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_codes.data(), d_fft_if->get_outbuf(), d_fft_size);
}
@ -233,9 +232,8 @@ void pcps_assisted_acquisition_cc::redefine_grid()
// doppler search steps
// compute the carrier doppler wipe-off signal and store it
phase_step_rad = static_cast<float>(GPS_TWO_PI) * doppler_hz / static_cast<float>(d_fs_in);
float _phase[1];
_phase[0] = 0;
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index].data(), -phase_step_rad, _phase, d_fft_size);
std::array<float, 1> _phase{};
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index].data(), -phase_step_rad, _phase.data(), d_fft_size);
}
}
@ -279,10 +277,10 @@ double pcps_assisted_acquisition_cc::search_maximum()
std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write
filename.str("");
filename << "../data/test_statistics_" << d_gnss_synchro->System
<< "_" << d_gnss_synchro->Signal << "_sat_"
<< "_" << d_gnss_synchro->Signal[0] << d_gnss_synchro->Signal[1] << "_sat_"
<< d_gnss_synchro->PRN << "_doppler_" << d_gnss_synchro->Acq_doppler_hz << ".dat";
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
d_dump_file.write(reinterpret_cast<char *>(d_grid_data[index_doppler].data()), n); //write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.write(reinterpret_cast<char *>(d_grid_data[index_doppler].data()), n); // write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.close();
}
@ -292,16 +290,14 @@ double pcps_assisted_acquisition_cc::search_maximum()
float pcps_assisted_acquisition_cc::estimate_input_power(gr_vector_const_void_star &input_items)
{
const auto *in = reinterpret_cast<const gr_complex *>(input_items[0]); //Get the input samples pointer
const auto *in = reinterpret_cast<const gr_complex *>(input_items[0]); // Get the input samples pointer
// 1- Compute the input signal power estimation
auto *p_tmp_vector = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
std::vector<float> p_tmp_vector(d_fft_size);
volk_32fc_magnitude_squared_32f(p_tmp_vector, in, d_fft_size);
volk_32fc_magnitude_squared_32f(p_tmp_vector.data(), in, d_fft_size);
const float *p_const_tmp_vector = p_tmp_vector;
float power;
volk_32f_accumulator_s32f(&power, p_const_tmp_vector, d_fft_size);
volk_gnsssdr_free(p_tmp_vector);
volk_32f_accumulator_s32f(&power, p_tmp_vector.data(), d_fft_size);
return (power / static_cast<float>(d_fft_size));
}
@ -309,7 +305,7 @@ float pcps_assisted_acquisition_cc::estimate_input_power(gr_vector_const_void_st
int32_t pcps_assisted_acquisition_cc::compute_and_accumulate_grid(gr_vector_const_void_star &input_items)
{
// initialize acquisition algorithm
const auto *in = reinterpret_cast<const gr_complex *>(input_items[0]); //Get the input samples pointer
const auto *in = reinterpret_cast<const gr_complex *>(input_items[0]); // Get the input samples pointer
DLOG(INFO) << "Channel: " << d_channel
<< " , doing acquisition of satellite: " << d_gnss_synchro->System << " "
@ -319,7 +315,7 @@ int32_t pcps_assisted_acquisition_cc::compute_and_accumulate_grid(gr_vector_cons
<< ", doppler_step: " << d_doppler_step;
// 2- Doppler frequency search loop
auto *p_tmp_vector = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
std::vector<float> p_tmp_vector(d_fft_size);
for (int32_t doppler_index = 0; doppler_index < d_num_doppler_points; doppler_index++)
{
@ -332,17 +328,16 @@ int32_t pcps_assisted_acquisition_cc::compute_and_accumulate_grid(gr_vector_cons
// Multiply carrier wiped--off, Fourier transformed incoming signal
// with the local FFT'd code reference using SIMD operations with VOLK library
volk_32fc_x2_multiply_32fc(d_ifft->get_inbuf(), d_fft_if->get_outbuf(), d_fft_codes, d_fft_size);
volk_32fc_x2_multiply_32fc(d_ifft->get_inbuf(), d_fft_if->get_outbuf(), d_fft_codes.data(), d_fft_size);
// compute the inverse FFT
d_ifft->execute();
// save the grid matrix delay file
volk_32fc_magnitude_squared_32f(p_tmp_vector, d_ifft->get_outbuf(), d_fft_size);
volk_32fc_magnitude_squared_32f(p_tmp_vector.data(), d_ifft->get_outbuf(), d_fft_size);
const float *old_vector = d_grid_data[doppler_index].data();
volk_32f_x2_add_32f(d_grid_data[doppler_index].data(), old_vector, p_tmp_vector, d_fft_size);
volk_32f_x2_add_32f(d_grid_data[doppler_index].data(), old_vector, p_tmp_vector.data(), d_fft_size);
}
volk_gnsssdr_free(p_tmp_vector);
return d_fft_size;
}

5
src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.h
View File

@ -215,8 +215,7 @@ private:
uint32_t d_sampled_ms;
uint32_t d_fft_size;
uint64_t d_sample_counter;
gr_complex* d_carrier;
gr_complex* d_fft_codes;
std::vector<gr_complex> d_fft_codes;
std::vector<std::vector<float>> d_grid_data;
std::vector<std::vector<std::complex<float>>> d_grid_doppler_wipeoffs;
@ -239,4 +238,4 @@ private:
std::string d_dump_filename;
};
#endif /* GNSS_SDR_PCPS_assisted_acquisition_cc_H_*/
#endif /* GNSS_SDR_PCPS_ASSISTED_ACQUISITION_CC_H_ */

82
src/algorithms/acquisition/gnuradio_blocks/pcps_cccwsr_acquisition_cc.cc
View File

@ -88,13 +88,13 @@ pcps_cccwsr_acquisition_cc::pcps_cccwsr_acquisition_cc(
d_input_power = 0.0;
d_num_doppler_bins = 0;
d_fft_code_data = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_fft_code_pilot = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_data_correlation = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_pilot_correlation = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_correlation_plus = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_correlation_minus = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitude = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
d_fft_code_data.reserve(d_fft_size);
d_fft_code_pilot.reserve(d_fft_size);
d_data_correlation.reserve(d_fft_size);
d_pilot_correlation.reserve(d_fft_size);
d_correlation_plus.reserve(d_fft_size);
d_correlation_minus.reserve(d_fft_size);
d_magnitude.reserve(d_fft_size);
// Direct FFT
d_fft_if = std::make_shared<gr::fft::fft_complex>(d_fft_size, true);
@ -109,7 +109,6 @@ pcps_cccwsr_acquisition_cc::pcps_cccwsr_acquisition_cc(
d_doppler_resolution = 0;
d_threshold = 0;
d_doppler_step = 0;
d_grid_doppler_wipeoffs = nullptr;
d_gnss_synchro = nullptr;
d_code_phase = 0;
d_doppler_freq = 0;
@ -120,23 +119,6 @@ pcps_cccwsr_acquisition_cc::pcps_cccwsr_acquisition_cc(
pcps_cccwsr_acquisition_cc::~pcps_cccwsr_acquisition_cc()
{
if (d_num_doppler_bins > 0)
{
for (uint32_t i = 0; i < d_num_doppler_bins; i++)
{
volk_gnsssdr_free(d_grid_doppler_wipeoffs[i]);
}
delete[] d_grid_doppler_wipeoffs;
}
volk_gnsssdr_free(d_fft_code_data);
volk_gnsssdr_free(d_fft_code_pilot);
volk_gnsssdr_free(d_data_correlation);
volk_gnsssdr_free(d_pilot_correlation);
volk_gnsssdr_free(d_correlation_plus);
volk_gnsssdr_free(d_correlation_minus);
volk_gnsssdr_free(d_magnitude);
try
{
if (d_dump)
@ -163,16 +145,16 @@ void pcps_cccwsr_acquisition_cc::set_local_code(std::complex<float> *code_data,
d_fft_if->execute(); // We need the FFT of local code
//Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_code_data, d_fft_if->get_outbuf(), d_fft_size);
// Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_code_data.data(), d_fft_if->get_outbuf(), d_fft_size);
// Pilot code (E1C)
memcpy(d_fft_if->get_inbuf(), code_pilot, sizeof(gr_complex) * d_fft_size);
d_fft_if->execute(); // We need the FFT of local code
//Conjugate the local code,
volk_32fc_conjugate_32fc(d_fft_code_pilot, d_fft_if->get_outbuf(), d_fft_size);
// Conjugate the local code,
volk_32fc_conjugate_32fc(d_fft_code_pilot.data(), d_fft_if->get_outbuf(), d_fft_size);
}
@ -199,16 +181,13 @@ void pcps_cccwsr_acquisition_cc::init()
}
// Create the carrier Doppler wipeoff signals
d_grid_doppler_wipeoffs = new gr_complex *[d_num_doppler_bins];
d_grid_doppler_wipeoffs = std::vector<std::vector<gr_complex>>(d_num_doppler_bins, std::vector<gr_complex>(d_fft_size));
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{
d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
int32_t doppler = -static_cast<int32_t>(d_doppler_max) + d_doppler_step * doppler_index;
float phase_step_rad = GPS_TWO_PI * doppler / static_cast<float>(d_fs_in);
float _phase[1];
_phase[0] = 0;
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], -phase_step_rad, _phase, d_fft_size);
std::array<float, 1> _phase{};
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index].data(), -phase_step_rad, _phase.data(), d_fft_size);
}
}
@ -241,7 +220,7 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items __attribute__((unused)))
{
int32_t acquisition_message = -1; //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
int32_t acquisition_message = -1; // 0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
switch (d_state)
{
@ -249,7 +228,7 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
{
if (d_active)
{
//restart acquisition variables
// restart acquisition variables
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
@ -278,7 +257,7 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
float magt = 0.0;
float magt_plus = 0.0;
float magt_minus = 0.0;
const auto *in = reinterpret_cast<const gr_complex *>(input_items[0]); //Get the input samples pointer
const auto *in = reinterpret_cast<const gr_complex *>(input_items[0]); // Get the input samples pointer
float fft_normalization_factor = static_cast<float>(d_fft_size) * static_cast<float>(d_fft_size);
d_sample_counter += static_cast<uint64_t>(d_fft_size); // sample counter
@ -292,19 +271,18 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
<< ", doppler_step: " << d_doppler_step;
// 1- Compute the input signal power estimation
volk_32fc_magnitude_squared_32f(d_magnitude, in, d_fft_size);
volk_32f_accumulator_s32f(&d_input_power, d_magnitude, d_fft_size);
volk_32fc_magnitude_squared_32f(d_magnitude.data(), in, d_fft_size);
volk_32f_accumulator_s32f(&d_input_power, d_magnitude.data(), d_fft_size);
d_input_power /= static_cast<float>(d_fft_size);
// 2- Doppler frequency search loop
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{
// doppler search steps
doppler = -static_cast<int32_t>(d_doppler_max) + d_doppler_step * doppler_index;
volk_32fc_x2_multiply_32fc(d_fft_if->get_inbuf(), in,
d_grid_doppler_wipeoffs[doppler_index], d_fft_size);
d_grid_doppler_wipeoffs[doppler_index].data(), d_fft_size);
// 3- Perform the FFT-based convolution (parallel time search)
// Compute the FFT of the carrier wiped--off incoming signal
@ -314,27 +292,27 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
// with the local FFT'd data code reference (E1B) using SIMD operations
// with VOLK library
volk_32fc_x2_multiply_32fc(d_ifft->get_inbuf(),
d_fft_if->get_outbuf(), d_fft_code_data, d_fft_size);
d_fft_if->get_outbuf(), d_fft_code_data.data(), d_fft_size);
// compute the inverse FFT
d_ifft->execute();
// Copy the result of the correlation between wiped--off signal and data code in
// d_data_correlation.
memcpy(d_data_correlation, d_ifft->get_outbuf(), sizeof(gr_complex) * d_fft_size);
memcpy(d_data_correlation.data(), d_ifft->get_outbuf(), sizeof(gr_complex) * d_fft_size);
// Multiply carrier wiped--off, Fourier transformed incoming signal
// with the local FFT'd pilot code reference (E1C) using SIMD operations
// with VOLK library
volk_32fc_x2_multiply_32fc(d_ifft->get_inbuf(),
d_fft_if->get_outbuf(), d_fft_code_pilot, d_fft_size);
d_fft_if->get_outbuf(), d_fft_code_pilot.data(), d_fft_size);
// Compute the inverse FFT
d_ifft->execute();
// Copy the result of the correlation between wiped--off signal and pilot code in
// d_data_correlation.
memcpy(d_pilot_correlation, d_ifft->get_outbuf(), sizeof(gr_complex) * d_fft_size);
memcpy(d_pilot_correlation.data(), d_ifft->get_outbuf(), sizeof(gr_complex) * d_fft_size);
for (uint32_t i = 0; i < d_fft_size; i++)
{
@ -347,12 +325,12 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
d_data_correlation[i].imag() - d_pilot_correlation[i].real());
}
volk_32fc_magnitude_squared_32f(d_magnitude, d_correlation_plus, d_fft_size);
volk_gnsssdr_32f_index_max_32u(&indext_plus, d_magnitude, d_fft_size);
volk_32fc_magnitude_squared_32f(d_magnitude.data(), d_correlation_plus.data(), d_fft_size);
volk_gnsssdr_32f_index_max_32u(&indext_plus, d_magnitude.data(), d_fft_size);
magt_plus = d_magnitude[indext_plus] / (fft_normalization_factor * fft_normalization_factor);
volk_32fc_magnitude_squared_32f(d_magnitude, d_correlation_minus, d_fft_size);
volk_gnsssdr_32f_index_max_32u(&indext_minus, d_magnitude, d_fft_size);
volk_32fc_magnitude_squared_32f(d_magnitude.data(), d_correlation_minus.data(), d_fft_size);
volk_gnsssdr_32f_index_max_32u(&indext_minus, d_magnitude.data(), d_fft_size);
magt_minus = d_magnitude[indext_minus] / (fft_normalization_factor * fft_normalization_factor);
if (magt_plus >= magt_minus)
@ -383,10 +361,10 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write
filename.str("");
filename << "../data/test_statistics_" << d_gnss_synchro->System
<< "_" << d_gnss_synchro->Signal << "_sat_"
<< "_" << d_gnss_synchro->Signal[0] << d_gnss_synchro->Signal[1] << "_sat_"
<< d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat";
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
d_dump_file.write(reinterpret_cast<char *>(d_ifft->get_outbuf()), n); //write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.write(reinterpret_cast<char *>(d_ifft->get_outbuf()), n); // write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.close();
}
}

19
src/algorithms/acquisition/gnuradio_blocks/pcps_cccwsr_acquisition_cc.h
View File

@ -46,6 +46,7 @@
#include <memory>
#include <string>
#include <utility>
#include <vector>
class pcps_cccwsr_acquisition_cc;
@ -201,21 +202,21 @@ private:
uint32_t d_well_count;
uint32_t d_fft_size;
uint64_t d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
std::vector<std::vector<gr_complex>> d_grid_doppler_wipeoffs;
uint32_t d_num_doppler_bins;
gr_complex* d_fft_code_data;
gr_complex* d_fft_code_pilot;
std::vector<gr_complex> d_fft_code_data;
std::vector<gr_complex> d_fft_code_pilot;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
uint32_t d_code_phase;
float d_doppler_freq;
float d_mag;
float* d_magnitude;
gr_complex* d_data_correlation;
gr_complex* d_pilot_correlation;
gr_complex* d_correlation_plus;
gr_complex* d_correlation_minus;
std::vector<float> d_magnitude;
std::vector<gr_complex> d_data_correlation;
std::vector<gr_complex> d_pilot_correlation;
std::vector<gr_complex> d_correlation_plus;
std::vector<gr_complex> d_correlation_minus;
float d_input_power;
float d_test_statistics;
std::ofstream d_dump_file;
@ -227,4 +228,4 @@ private:
std::string d_dump_filename;
};
#endif /* GNSS_SDR_PCPS_CCCWSR_ACQUISITION_CC_H_*/
#endif /* GNSS_SDR_PCPS_CCCWSR_ACQUISITION_CC_H_ */

115
src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.cc
View File

@ -57,11 +57,11 @@
#include <volk/volk.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <algorithm>
#include <array>
#include <exception>
#include <fstream>
#include <iostream>
#include <sstream>
#include <utility>
pcps_opencl_acquisition_cc_sptr pcps_make_opencl_acquisition_cc(
@ -112,19 +112,10 @@ pcps_opencl_acquisition_cc::pcps_opencl_acquisition_cc(
d_in_dwell_count = 0;
d_cl_fft_batch_size = 1;
d_in_buffer = new gr_complex *[d_max_dwells];
for (uint32_t i = 0; i < d_max_dwells; i++)
{
d_in_buffer[i] = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
}
d_magnitude = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
d_fft_codes = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size_pow2 * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_zero_vector = static_cast<gr_complex *>(volk_gnsssdr_malloc((d_fft_size_pow2 - d_fft_size) * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
for (uint32_t i = 0; i < (d_fft_size_pow2 - d_fft_size); i++)
{
d_zero_vector[i] = gr_complex(0.0, 0.0);
}
d_in_buffer = std::vector<std::vector<gr_complex>>(d_max_dwells, std::vector<gr_complex>(d_fft_size));
d_magnitude.reserve(d_fft_size);
d_fft_codes.reserve(d_fft_size_pow2);
d_zero_vector = std::vector<gr_complex>(d_fft_size_pow2 - d_fft_size, 0.0);
d_opencl = init_opencl_environment("math_kernel.cl");
@ -145,25 +136,6 @@ pcps_opencl_acquisition_cc::pcps_opencl_acquisition_cc(
pcps_opencl_acquisition_cc::~pcps_opencl_acquisition_cc()
{
if (d_num_doppler_bins > 0)
{
for (uint32_t i = 0; i < d_num_doppler_bins; i++)
{
volk_gnsssdr_free(d_grid_doppler_wipeoffs[i]);
}
delete[] d_grid_doppler_wipeoffs;
}
for (uint32_t i = 0; i < d_max_dwells; i++)
{
volk_gnsssdr_free(d_in_buffer[i]);
}
delete[] d_in_buffer;
volk_gnsssdr_free(d_fft_codes);
volk_gnsssdr_free(d_magnitude);
volk_gnsssdr_free(d_zero_vector);
if (d_opencl == 0)
{
delete d_cl_queue;
@ -200,7 +172,7 @@ pcps_opencl_acquisition_cc::~pcps_opencl_acquisition_cc()
int pcps_opencl_acquisition_cc::init_opencl_environment(const std::string &kernel_filename)
{
//get all platforms (drivers)
// get all platforms (drivers)
std::vector<cl::Platform> all_platforms;
cl::Platform::get(&all_platforms);
@ -210,11 +182,11 @@ int pcps_opencl_acquisition_cc::init_opencl_environment(const std::string &kerne
return 1;
}
d_cl_platform = all_platforms[0]; //get default platform
d_cl_platform = all_platforms[0]; // get default platform
std::cout << "Using platform: " << d_cl_platform.getInfo<CL_PLATFORM_NAME>()
<< std::endl;
//get default GPU device of the default platform
// get default GPU device of the default platform
std::vector<cl::Device> gpu_devices;
d_cl_platform.getDevices(CL_DEVICE_TYPE_GPU, &gpu_devices);
@ -239,8 +211,6 @@ int pcps_opencl_acquisition_cc::init_opencl_environment(const std::string &kerne
(std::istreambuf_iterator<char>()));
kernel_file.close();
// std::cout << "Kernel code: \n" << kernel_code << std::endl;
cl::Program::Sources sources;
sources.push_back({kernel_code.c_str(), kernel_code.length()});
@ -262,10 +232,10 @@ int pcps_opencl_acquisition_cc::init_opencl_environment(const std::string &kerne
d_cl_buffer_2 = new cl::Buffer(d_cl_context, CL_MEM_READ_WRITE, sizeof(gr_complex) * d_fft_size_pow2);
d_cl_buffer_magnitude = new cl::Buffer(d_cl_context, CL_MEM_READ_WRITE, sizeof(float) * d_fft_size);
//create queue to which we will push commands for the device.
// create queue to which we will push commands for the device.
d_cl_queue = new cl::CommandQueue(d_cl_context, d_cl_device);
//create FFT plan
// create FFT plan
cl_int err;
clFFT_Dim3 dim = {d_fft_size_pow2, 1, 1};
@ -312,7 +282,7 @@ void pcps_opencl_acquisition_cc::init()
}
// Create the carrier Doppler wipeoff signals
d_grid_doppler_wipeoffs = new gr_complex *[d_num_doppler_bins];
d_grid_doppler_wipeoffs = std::vector<std::vector<gr_complex>>(d_num_doppler_bins, std::vector<gr_complex>(d_fft_size));
if (d_opencl == 0)
{
d_cl_buffer_grid_doppler_wipeoffs = new cl::Buffer *[d_num_doppler_bins];
@ -320,13 +290,10 @@ void pcps_opencl_acquisition_cc::init()
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{
d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
int doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
float phase_step_rad = static_cast<float>(GPS_TWO_PI) * doppler / static_cast<float>(d_fs_in);
float _phase[1];
_phase[0] = 0;
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], -phase_step_rad, _phase, d_fft_size);
std::array<float, 1> _phase{};
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index].data(), -phase_step_rad, _phase.data(), d_fft_size);
if (d_opencl == 0)
{
@ -335,7 +302,7 @@ void pcps_opencl_acquisition_cc::init()
d_cl_queue->enqueueWriteBuffer(*(d_cl_buffer_grid_doppler_wipeoffs[doppler_index]),
CL_TRUE, 0, sizeof(gr_complex) * d_fft_size,
d_grid_doppler_wipeoffs[doppler_index]);
d_grid_doppler_wipeoffs[doppler_index].data());
}
}
@ -343,7 +310,7 @@ void pcps_opencl_acquisition_cc::init()
if (d_opencl == 0)
{
d_cl_queue->enqueueWriteBuffer(*d_cl_buffer_1, CL_TRUE, sizeof(gr_complex) * d_fft_size,
sizeof(gr_complex) * (d_fft_size_pow2 - d_fft_size), d_zero_vector);
sizeof(gr_complex) * (d_fft_size_pow2 - d_fft_size), d_zero_vector.data());
}
}
@ -357,7 +324,7 @@ void pcps_opencl_acquisition_cc::set_local_code(std::complex<float> *code)
d_cl_queue->enqueueWriteBuffer(*d_cl_buffer_2, CL_TRUE, sizeof(gr_complex) * d_fft_size,
sizeof(gr_complex) * (d_fft_size_pow2 - 2 * d_fft_size),
d_zero_vector);
d_zero_vector.data());
d_cl_queue->enqueueWriteBuffer(*d_cl_buffer_2, CL_TRUE, sizeof(gr_complex) * (d_fft_size_pow2 - d_fft_size),
sizeof(gr_complex) * d_fft_size, code);
@ -366,10 +333,10 @@ void pcps_opencl_acquisition_cc::set_local_code(std::complex<float> *code)
clFFT_Forward, (*d_cl_buffer_2)(), (*d_cl_buffer_2)(),
0, nullptr, nullptr);
//Conjucate the local code
// Conjucate the local code
cl::Kernel kernel = cl::Kernel(d_cl_program, "conj_vector");
kernel.setArg(0, *d_cl_buffer_2); //input
kernel.setArg(1, *d_cl_buffer_fft_codes); //output
kernel.setArg(0, *d_cl_buffer_2); // input
kernel.setArg(1, *d_cl_buffer_fft_codes); // output
d_cl_queue->enqueueNDRangeKernel(kernel, cl::NullRange, cl::NDRange(d_fft_size_pow2), cl::NullRange);
}
else
@ -378,8 +345,8 @@ void pcps_opencl_acquisition_cc::set_local_code(std::complex<float> *code)
d_fft_if->execute(); // We need the FFT of local code
//Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_codes, d_fft_if->get_outbuf(), d_fft_size);
// Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_codes.data(), d_fft_if->get_outbuf(), d_fft_size);
}
}
@ -391,7 +358,6 @@ void pcps_opencl_acquisition_cc::acquisition_core_volk()
uint32_t indext = 0;
float magt = 0.0;
float fft_normalization_factor = static_cast<float>(d_fft_size) * static_cast<float>(d_fft_size);
gr_complex *in = d_in_buffer[d_well_count];
uint64_t samplestamp = d_sample_counter_buffer[d_well_count];
d_input_power = 0.0;
@ -406,8 +372,8 @@ void pcps_opencl_acquisition_cc::acquisition_core_volk()
<< ", doppler_step: " << d_doppler_step;
// 1- Compute the input signal power estimation
volk_32fc_magnitude_squared_32f(d_magnitude, in, d_fft_size);
volk_32f_accumulator_s32f(&d_input_power, d_magnitude, d_fft_size);
volk_32fc_magnitude_squared_32f(d_magnitude.data(), d_in_buffer[d_well_count].data(), d_fft_size);
volk_32f_accumulator_s32f(&d_input_power, d_magnitude.data(), d_fft_size);
d_input_power /= static_cast<float>(d_fft_size);
// 2- Doppler frequency search loop
@ -416,8 +382,8 @@ void pcps_opencl_acquisition_cc::acquisition_core_volk()
// doppler search steps
doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
volk_32fc_x2_multiply_32fc(d_fft_if->get_inbuf(), in,
d_grid_doppler_wipeoffs[doppler_index], d_fft_size);
volk_32fc_x2_multiply_32fc(d_fft_if->get_inbuf(), d_in_buffer[d_well_count].data(),
d_grid_doppler_wipeoffs[doppler_index].data(), d_fft_size);
// 3- Perform the FFT-based convolution (parallel time search)
// Compute the FFT of the carrier wiped--off incoming signal
@ -426,14 +392,14 @@ void pcps_opencl_acquisition_cc::acquisition_core_volk()
// Multiply carrier wiped--off, Fourier transformed incoming signal
// with the local FFT'd code reference using SIMD operations with VOLK library
volk_32fc_x2_multiply_32fc(d_ifft->get_inbuf(),
d_fft_if->get_outbuf(), d_fft_codes, d_fft_size);
d_fft_if->get_outbuf(), d_fft_codes.data(), d_fft_size);
// compute the inverse FFT
d_ifft->execute();
// Search maximum
volk_32fc_magnitude_squared_32f(d_magnitude, d_ifft->get_outbuf(), d_fft_size);
volk_gnsssdr_32f_index_max_32u(&indext, d_magnitude, d_fft_size);
volk_32fc_magnitude_squared_32f(d_magnitude.data(), d_ifft->get_outbuf(), d_fft_size);
volk_gnsssdr_32f_index_max_32u(&indext, d_magnitude.data(), d_fft_size);
// Normalize the maximum value to correct the scale factor introduced by FFTW
magt = d_magnitude[indext] / (fft_normalization_factor * fft_normalization_factor);
@ -470,7 +436,7 @@ void pcps_opencl_acquisition_cc::acquisition_core_volk()
std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write
filename.str("");
filename << "../data/test_statistics_" << d_gnss_synchro->System
<< "_" << d_gnss_synchro->Signal << "_sat_"
<< "_" << d_gnss_synchro->Signal[0] << d_gnss_synchro->Signal[1] << "_sat_"
<< d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat";
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
d_dump_file.write(reinterpret_cast<char *>(d_ifft->get_outbuf()), n); //write directly |abs(x)|^2 in this Doppler bin?
@ -515,14 +481,13 @@ void pcps_opencl_acquisition_cc::acquisition_core_opencl()
uint32_t indext = 0;
float magt = 0.0;
float fft_normalization_factor = (static_cast<float>(d_fft_size_pow2) * static_cast<float>(d_fft_size)); //This works, but I am not sure why.
gr_complex *in = d_in_buffer[d_well_count];
uint64_t samplestamp = d_sample_counter_buffer[d_well_count];
d_input_power = 0.0;
d_mag = 0.0;
// write input vector in buffer of OpenCL device
d_cl_queue->enqueueWriteBuffer(*d_cl_buffer_in, CL_TRUE, 0, sizeof(gr_complex) * d_fft_size, in);
d_cl_queue->enqueueWriteBuffer(*d_cl_buffer_in, CL_TRUE, 0, sizeof(gr_complex) * d_fft_size, d_in_buffer[d_well_count].data());
d_well_count++;
@ -540,8 +505,8 @@ void pcps_opencl_acquisition_cc::acquisition_core_opencl()
<< ", doppler_step: " << d_doppler_step;
// 1- Compute the input signal power estimation
volk_32fc_magnitude_squared_32f(d_magnitude, in, d_fft_size);
volk_32f_accumulator_s32f(&d_input_power, d_magnitude, d_fft_size);
volk_32fc_magnitude_squared_32f(d_magnitude.data(), d_in_buffer[d_well_count].data(), d_fft_size);
volk_32f_accumulator_s32f(&d_input_power, d_magnitude.data(), d_fft_size);
d_input_power /= static_cast<float>(d_fft_size);
cl::Kernel kernel;
@ -550,10 +515,9 @@ void pcps_opencl_acquisition_cc::acquisition_core_opencl()
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{
// doppler search steps
doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
//Multiply input signal with doppler wipe-off
// Multiply input signal with doppler wipe-off
kernel = cl::Kernel(d_cl_program, "mult_vectors");
kernel.setArg(0, *d_cl_buffer_in); //input 1
kernel.setArg(1, *d_cl_buffer_grid_doppler_wipeoffs[doppler_index]); //input 2
@ -564,7 +528,6 @@ void pcps_opencl_acquisition_cc::acquisition_core_opencl()
// In the previous operation, we store the result in the first d_fft_size positions
// of d_cl_buffer_1. The rest d_fft_size_pow2-d_fft_size already have zeros
// (zero-padding is made in init() for optimization purposes).
clFFT_ExecuteInterleaved((*d_cl_queue)(), d_cl_fft_plan, d_cl_fft_batch_size,
clFFT_Forward, (*d_cl_buffer_1)(), (*d_cl_buffer_2)(),
0, nullptr, nullptr);
@ -593,11 +556,11 @@ void pcps_opencl_acquisition_cc::acquisition_core_opencl()
// This is the only function that blocks this thread until all previously enqueued
// OpenCL commands are completed.
d_cl_queue->enqueueReadBuffer(*d_cl_buffer_magnitude, CL_TRUE, 0,
sizeof(float) * d_fft_size, d_magnitude);
sizeof(float) * d_fft_size, d_magnitude.data());
// Search maximum
// @TODO: find an efficient way to search the maximum with OpenCL in the GPU.
volk_gnsssdr_32f_index_max_32u(&indext, d_magnitude, d_fft_size);
volk_gnsssdr_32f_index_max_32u(&indext, d_magnitude.data(), d_fft_size);
// Normalize the maximum value to correct the scale factor introduced by FFTW
magt = d_magnitude[indext] / (fft_normalization_factor * fft_normalization_factor);
@ -634,7 +597,7 @@ void pcps_opencl_acquisition_cc::acquisition_core_opencl()
std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write
filename.str("");
filename << "../data/test_statistics_" << d_gnss_synchro->System
<< "_" << d_gnss_synchro->Signal << "_sat_"
<< "_" << d_gnss_synchro->Signal[0] << d_gnss_synchro->Signal[1] << "_sat_"
<< d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat";
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
d_dump_file.write(reinterpret_cast<char *>(d_ifft->get_outbuf()), n); //write directly |abs(x)|^2 in this Doppler bin?
@ -706,14 +669,14 @@ int pcps_opencl_acquisition_cc::general_work(int noutput_items,
gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items __attribute__((unused)))
{
int acquisition_message = -1; //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
int acquisition_message = -1; // 0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
switch (d_state)
{
case 0:
{
if (d_active)
{
//restart acquisition variables
// restart acquisition variables
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
@ -743,7 +706,7 @@ int pcps_opencl_acquisition_cc::general_work(int noutput_items,
uint32_t num_dwells = std::min(static_cast<int>(d_max_dwells - d_in_dwell_count), ninput_items[0]);
for (uint32_t i = 0; i < num_dwells; i++)
{
memcpy(d_in_buffer[d_in_dwell_count++], static_cast<const gr_complex *>(input_items[i]),
memcpy(d_in_buffer[d_in_dwell_count++].data(), static_cast<const gr_complex *>(input_items[i]),
sizeof(gr_complex) * d_fft_size);
d_sample_counter += static_cast<uint64_t>(d_fft_size);
d_sample_counter_buffer.push_back(d_sample_counter);

10
src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.h
View File

@ -241,16 +241,16 @@ private:
uint32_t d_fft_size_pow2;
int* d_max_doppler_indexs;
uint64_t d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
std::vector<std::vector<gr_complex>> d_grid_doppler_wipeoffs;
uint32_t d_num_doppler_bins;
gr_complex* d_fft_codes;
std::vector<gr_complex> d_fft_codes;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
uint32_t d_code_phase;
float d_doppler_freq;
float d_mag;
float* d_magnitude;
std::vector<float> d_magnitude;
float d_input_power;
float d_test_statistics;
bool d_bit_transition_flag;
@ -261,8 +261,8 @@ private:
bool d_dump;
uint32_t d_channel;
std::string d_dump_filename;
gr_complex* d_zero_vector;
gr_complex** d_in_buffer;
std::vector<gr_complex> d_zero_vector;
std::vector<std::vector<gr_complex>> d_in_buffer;
std::vector<uint64_t> d_sample_counter_buffer;
uint32_t d_in_dwell_count;
std::weak_ptr<ChannelFsm> d_channel_fsm;

140
src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.cc
View File

@ -38,7 +38,6 @@
#include <cmath>
#include <exception>
#include <sstream>
#include <utility>
pcps_quicksync_acquisition_cc_sptr pcps_quicksync_make_acquisition_cc(
@ -92,19 +91,19 @@ pcps_quicksync_acquisition_cc::pcps_quicksync_acquisition_cc(
d_bit_transition_flag = bit_transition_flag;
d_folding_factor = folding_factor;
//fft size is reduced.
// fft size is reduced.
d_fft_size = (d_samples_per_code) / d_folding_factor;
d_fft_codes = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitude = static_cast<float*>(volk_gnsssdr_malloc(d_samples_per_code * d_folding_factor * sizeof(float), volk_gnsssdr_get_alignment()));
d_magnitude_folded = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
d_fft_codes.reserve(d_fft_size);
d_magnitude.reserve(d_samples_per_code * d_folding_factor);
d_magnitude_folded.reserve(d_fft_size);
d_possible_delay = new uint32_t[d_folding_factor];
d_corr_output_f = new float[d_folding_factor];
d_possible_delay.reserve(d_folding_factor);
d_corr_output_f.reserve(d_folding_factor);
/*Create the d_code signal , which would store the values of the code in its
original form to perform later correlation in time domain*/
d_code = new gr_complex[d_samples_per_code]();
d_code = std::vector<gr_complex>(d_samples_per_code, lv_cmake(0.0F, 0.0F));
// Direct FFT
d_fft_if = std::make_shared<gr::fft::fft_complex>(d_fft_size, true);
@ -115,46 +114,22 @@ pcps_quicksync_acquisition_cc::pcps_quicksync_acquisition_cc(
d_dump = dump;
d_dump_filename = std::move(dump_filename);
d_corr_acumulator = nullptr;
d_signal_folded = nullptr;
d_code_folded = new gr_complex[d_fft_size]();
d_code_folded = std::vector<gr_complex>(d_fft_size, lv_cmake(0.0F, 0.0F));
d_signal_folded.reserve(d_fft_size);
d_noise_floor_power = 0;
d_doppler_resolution = 0;
d_threshold = 0;
d_doppler_step = 0;
d_grid_doppler_wipeoffs = nullptr;
d_gnss_synchro = nullptr;
d_code_phase = 0;
d_doppler_freq = 0;
d_test_statistics = 0;
d_channel = 0;
//d_code_folded = 0;
// DLOG(INFO) << "END CONSTRUCTOR";
}
pcps_quicksync_acquisition_cc::~pcps_quicksync_acquisition_cc()
{
//DLOG(INFO) << "START DESTROYER";
if (d_num_doppler_bins > 0)
{
for (uint32_t i = 0; i < d_num_doppler_bins; i++)
{
volk_gnsssdr_free(d_grid_doppler_wipeoffs[i]);
}
delete[] d_grid_doppler_wipeoffs;
}
volk_gnsssdr_free(d_fft_codes);
volk_gnsssdr_free(d_magnitude);
volk_gnsssdr_free(d_magnitude_folded);
delete d_code;
delete d_possible_delay;
delete d_corr_output_f;
delete[] d_code_folded;
try
{
if (d_dump)
@ -175,16 +150,15 @@ pcps_quicksync_acquisition_cc::~pcps_quicksync_acquisition_cc()
void pcps_quicksync_acquisition_cc::set_local_code(std::complex<float>* code)
{
/*save a local copy of the code without the folding process to perform corre-
lation in time in the final steps of the acquisition stage*/
memcpy(d_code, code, sizeof(gr_complex) * d_samples_per_code);
/* save a local copy of the code without the folding process to perform corre-
lation in time in the final steps of the acquisition stage */
memcpy(d_code.data(), code, sizeof(gr_complex) * d_samples_per_code);
//d_code_folded = new gr_complex[d_fft_size]();
memcpy(d_fft_if->get_inbuf(), d_code_folded, sizeof(gr_complex) * (d_fft_size));
memcpy(d_fft_if->get_inbuf(), d_code_folded.data(), sizeof(gr_complex) * (d_fft_size));
/*perform folding of the code by the factorial factor parameter. Notice that
/* perform folding of the code by the factorial factor parameter. Notice that
folding of the code in the time stage would result in a downsampled spectrum
in the frequency domain after applying the fftw operation*/
in the frequency domain after applying the fftw operation */
for (uint32_t i = 0; i < d_folding_factor; i++)
{
std::transform((code + i * d_fft_size), (code + ((i + 1) * d_fft_size)),
@ -194,8 +168,8 @@ void pcps_quicksync_acquisition_cc::set_local_code(std::complex<float>* code)
d_fft_if->execute(); // We need the FFT of local code
//Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_codes, d_fft_if->get_outbuf(), d_fft_size);
// Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_codes.data(), d_fft_if->get_outbuf(), d_fft_size);
}
@ -205,8 +179,6 @@ void pcps_quicksync_acquisition_cc::init()
d_gnss_synchro->Flag_valid_symbol_output = false;
d_gnss_synchro->Flag_valid_pseudorange = false;
d_gnss_synchro->Flag_valid_word = false;
//DLOG(INFO) << "START init";
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
@ -229,17 +201,14 @@ void pcps_quicksync_acquisition_cc::init()
}
// Create the carrier Doppler wipeoff signals
d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
d_grid_doppler_wipeoffs = std::vector<std::vector<gr_complex>>(d_num_doppler_bins, std::vector<gr_complex>(d_samples_per_code * d_folding_factor));
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{
d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_samples_per_code * d_folding_factor * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
int32_t doppler = -static_cast<int32_t>(d_doppler_max) + d_doppler_step * doppler_index;
float phase_step_rad = GPS_TWO_PI * doppler / static_cast<float>(d_fs_in);
float _phase[1];
_phase[0] = 0;
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], -phase_step_rad, _phase, d_samples_per_code * d_folding_factor);
std::array<float, 1> _phase{};
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index].data(), -phase_step_rad, _phase.data(), d_samples_per_code * d_folding_factor);
}
// DLOG(INFO) << "end init";
}
@ -281,17 +250,16 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
* 5. Compute the test statistics and compare to the threshold
* 6. Declare positive or negative acquisition using a message queue
*/
//DLOG(INFO) << "START GENERAL WORK";
int32_t acquisition_message = -1; //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
//std::cout<<"general_work in quicksync gnuradio block"<<std::endl;
// DLOG(INFO) << "START GENERAL WORK";
int32_t acquisition_message = -1; // 0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
switch (d_state)
{
case 0:
{
//DLOG(INFO) << "START CASE 0";
// DLOG(INFO) << "START CASE 0";
if (d_active)
{
//restart acquisition variables
// restart acquisition variables
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
@ -306,29 +274,27 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
d_sample_counter += static_cast<uint64_t>(d_sampled_ms * d_samples_per_ms * ninput_items[0]); // sample counter
consume_each(ninput_items[0]);
//DLOG(INFO) << "END CASE 0";
// DLOG(INFO) << "END CASE 0";
break;
}
case 1:
{
// initialize acquisition implementing the QuickSync algorithm
//DLOG(INFO) << "START CASE 1";
// DLOG(INFO) << "START CASE 1";
int32_t doppler;
uint32_t indext = 0;
float magt = 0.0;
const auto* in = reinterpret_cast<const gr_complex*>(input_items[0]); // Get the input samples pointer
auto* in_temp = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_samples_per_code * d_folding_factor * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
auto* in_temp_folded = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
std::vector<gr_complex> in_temp(d_samples_per_code * d_folding_factor);
// Create a signal to store a signal of size 1ms, to perform correlation
// in time. No folding on this data is required
auto* in_1code = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_samples_per_code * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
std::vector<gr_complex> in_1code(d_samples_per_code);
// Stores the values of the correlation output between the local code
// and the signal with doppler shift corrected
auto* corr_output = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_samples_per_code * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
std::vector<gr_complex> corr_output(d_samples_per_code);
// Stores a copy of the folded version of the signal.This is used for
// the FFT operations in future steps of execution*/
@ -357,8 +323,8 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
// 1- Compute the input signal power estimation. This operation is
// being performed in a signal of size nxp
volk_32fc_magnitude_squared_32f(d_magnitude, in, d_samples_per_code * d_folding_factor);
volk_32f_accumulator_s32f(&d_input_power, d_magnitude, d_samples_per_code * d_folding_factor);
volk_32fc_magnitude_squared_32f(d_magnitude.data(), in, d_samples_per_code * d_folding_factor);
volk_32f_accumulator_s32f(&d_input_power, d_magnitude.data(), d_samples_per_code * d_folding_factor);
d_input_power /= static_cast<float>(d_samples_per_code * d_folding_factor);
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
@ -366,8 +332,8 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
// Ensure that the signal is going to start with all samples
// at zero. This is done to avoid over acumulation when performing
// the folding process to be stored in d_fft_if->get_inbuf()
d_signal_folded = new gr_complex[d_fft_size]();
memcpy(d_fft_if->get_inbuf(), d_signal_folded, sizeof(gr_complex) * (d_fft_size));
d_signal_folded = std::vector<gr_complex>(d_fft_size, lv_cmake(0.0F, 0.0F));
memcpy(d_fft_if->get_inbuf(), d_signal_folded.data(), sizeof(gr_complex) * (d_fft_size));
// Doppler search steps and then multiplication of the incoming
// signal with the doppler wipeoffs to eliminate frequency offset
@ -376,8 +342,8 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
// Perform multiplication of the incoming signal with the
// complex exponential vector. This removes the frequency doppler
// shift offset
volk_32fc_x2_multiply_32fc(in_temp, in,
d_grid_doppler_wipeoffs[doppler_index],
volk_32fc_x2_multiply_32fc(in_temp.data(), in,
d_grid_doppler_wipeoffs[doppler_index].data(),
d_samples_per_code * d_folding_factor);
// Perform folding of the carrier wiped-off incoming signal. Since
@ -385,8 +351,8 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
// incoming raw data signal is of d_folding_factor^2
for (int32_t i = 0; i < static_cast<int32_t>(d_folding_factor * d_folding_factor); i++)
{
std::transform((in_temp + i * d_fft_size),
(in_temp + ((i + 1) * d_fft_size)),
std::transform((in_temp.data() + i * d_fft_size),
(in_temp.data() + ((i + 1) * d_fft_size)),
d_fft_if->get_inbuf(),
d_fft_if->get_inbuf(),
std::plus<gr_complex>());
@ -400,24 +366,22 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
// signal with the local FFT'd code reference using SIMD
// operations with VOLK library
volk_32fc_x2_multiply_32fc(d_ifft->get_inbuf(),
d_fft_if->get_outbuf(), d_fft_codes, d_fft_size);
d_fft_if->get_outbuf(), d_fft_codes.data(), d_fft_size);
// compute the inverse FFT of the aliased signal
d_ifft->execute();
// Compute the magnitude and get the maximum value with its
// index position
volk_32fc_magnitude_squared_32f(d_magnitude_folded,
volk_32fc_magnitude_squared_32f(d_magnitude_folded.data(),
d_ifft->get_outbuf(), d_fft_size);
// Normalize the maximum value to correct the scale factor
// introduced by FFTW
volk_gnsssdr_32f_index_max_32u(&indext, d_magnitude_folded, d_fft_size);
volk_gnsssdr_32f_index_max_32u(&indext, d_magnitude_folded.data(), d_fft_size);
magt = d_magnitude_folded[indext] / (fft_normalization_factor * fft_normalization_factor);
delete[] d_signal_folded;
// 4- record the maximum peak and the associated synchronization parameters
if (d_mag < magt)
{
@ -445,7 +409,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
{
// Copy a signal of 1 code length into suggested buffer.
// The copied signal must have doppler effect corrected*/
memcpy(in_1code, &in_temp[d_possible_delay[i]],
memcpy(in_1code.data(), &in_temp[d_possible_delay[i]],
sizeof(gr_complex) * (d_samples_per_code));
// Perform multiplication of the unmodified local
@ -453,7 +417,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
// effect corrected and accumulates its value. This
// is indeed correlation in time for an specific value
// of a shift
volk_32fc_x2_multiply_32fc(corr_output, in_1code, d_code, d_samples_per_code);
volk_32fc_x2_multiply_32fc(corr_output.data(), in_1code.data(), d_code.data(), d_samples_per_code);
for (int32_t j = 0; j < d_samples_per_code; j++)
{
@ -461,8 +425,8 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
}
}
// Obtain maximum value of correlation given the possible delay selected
volk_32fc_magnitude_squared_32f(d_corr_output_f, complex_acumulator.data(), d_folding_factor);
volk_gnsssdr_32f_index_max_32u(&indext, d_corr_output_f, d_folding_factor);
volk_32fc_magnitude_squared_32f(d_corr_output_f.data(), complex_acumulator.data(), d_folding_factor);
volk_gnsssdr_32f_index_max_32u(&indext, d_corr_output_f.data(), d_folding_factor);
// Now save the real code phase in the gnss_syncro block for use in other stages
d_gnss_synchro->Acq_delay_samples = static_cast<double>(d_possible_delay[indext]);
@ -485,10 +449,10 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
std::streamsize n = sizeof(float) * (d_fft_size); // complex file write
filename.str("");
filename << "../data/test_statistics_" << d_gnss_synchro->System
<< "_" << d_gnss_synchro->Signal << "_sat_"
<< "_" << d_gnss_synchro->Signal[0] << d_gnss_synchro->Signal[1] << "_sat_"
<< d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat";
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
d_dump_file.write(reinterpret_cast<char*>(d_magnitude_folded), n); // write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.write(reinterpret_cast<char*>(d_magnitude_folded.data()), n); // write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.close();
}
}
@ -519,10 +483,6 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
}
}
volk_gnsssdr_free(in_temp);
volk_gnsssdr_free(in_temp_folded);
volk_gnsssdr_free(in_1code);
volk_gnsssdr_free(corr_output);
consume_each(1);
break;
@ -530,7 +490,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
case 2:
{
//DLOG(INFO) << "START CASE 2";
// DLOG(INFO) << "START CASE 2";
// 6.1- Declare positive acquisition using a message port
DLOG(INFO) << "positive acquisition";
DLOG(INFO) << "satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN;
@ -556,13 +516,13 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
acquisition_message = 1;
this->message_port_pub(pmt::mp("events"), pmt::from_long(acquisition_message));
//DLOG(INFO) << "END CASE 2";
// DLOG(INFO) << "END CASE 2";
break;
}
case 3:
{
//DLOG(INFO) << "START CASE 3";
// DLOG(INFO) << "START CASE 3";
// 6.2- Declare negative acquisition using a message port
DLOG(INFO) << "negative acquisition";
DLOG(INFO) << "satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN;
@ -588,7 +548,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
acquisition_message = 2;
this->message_port_pub(pmt::mp("events"), pmt::from_long(acquisition_message));
//DLOG(INFO) << "END CASE 3";
// DLOG(INFO) << "END CASE 3";
break;
}
}

20
src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.h
View File

@ -62,6 +62,7 @@
#include <functional>
#include <string>
#include <utility>
#include <vector>
class pcps_quicksync_acquisition_cc;
@ -213,14 +214,13 @@ private:
void calculate_magnitudes(gr_complex* fft_begin, int32_t doppler_shift,
int32_t doppler_offset);
gr_complex* d_code;
std::vector<gr_complex> d_code;
uint32_t d_folding_factor; // also referred in the paper as 'p'
float* d_corr_acumulator;
uint32_t* d_possible_delay;
float* d_corr_output_f;
float* d_magnitude_folded;
gr_complex* d_signal_folded;
gr_complex* d_code_folded;
std::vector<uint32_t> d_possible_delay;
std::vector<float> d_corr_output_f;
std::vector<float> d_magnitude_folded;
std::vector<gr_complex> d_signal_folded;
std::vector<gr_complex> d_code_folded;
float d_noise_floor_power;
int64_t d_fs_in;
int32_t d_samples_per_ms;
@ -235,16 +235,16 @@ private:
uint32_t d_well_count;
uint32_t d_fft_size;
uint64_t d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
std::vector<std::vector<gr_complex>> d_grid_doppler_wipeoffs;
uint32_t d_num_doppler_bins;
gr_complex* d_fft_codes;
std::vector<gr_complex> d_fft_codes;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
uint32_t d_code_phase;
float d_doppler_freq;
float d_mag;
float* d_magnitude;
std::vector<float> d_magnitude;
float d_input_power;
float d_test_statistics;
bool d_bit_transition_flag;

75
src/algorithms/acquisition/gnuradio_blocks/pcps_tong_acquisition_cc.cc
View File

@ -54,9 +54,9 @@
#include <gnuradio/io_signature.h>
#include <volk/volk.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <array>
#include <exception>
#include <sstream>
#include <utility>
pcps_tong_acquisition_cc_sptr pcps_tong_make_acquisition_cc(
@ -109,8 +109,8 @@ pcps_tong_acquisition_cc::pcps_tong_acquisition_cc(
d_input_power = 0.0;
d_num_doppler_bins = 0;
d_fft_codes = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitude = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
d_fft_codes.reserve(d_fft_size);
d_magnitude.reserve(d_fft_size);
// Direct FFT
d_fft_if = std::make_shared<gr::fft::fft_complex>(d_fft_size, true);
@ -125,8 +125,6 @@ pcps_tong_acquisition_cc::pcps_tong_acquisition_cc(
d_doppler_resolution = 0;
d_threshold = 0;
d_doppler_step = 0;
d_grid_data = nullptr;
d_grid_doppler_wipeoffs = nullptr;
d_gnss_synchro = nullptr;
d_code_phase = 0;
d_doppler_freq = 0;
@ -137,20 +135,6 @@ pcps_tong_acquisition_cc::pcps_tong_acquisition_cc(
pcps_tong_acquisition_cc::~pcps_tong_acquisition_cc()
{
if (d_num_doppler_bins > 0)
{
for (uint32_t i = 0; i < d_num_doppler_bins; i++)
{
volk_gnsssdr_free(d_grid_doppler_wipeoffs[i]);
volk_gnsssdr_free(d_grid_data[i]);
}
delete[] d_grid_doppler_wipeoffs;
delete[] d_grid_data;
}
volk_gnsssdr_free(d_fft_codes);
volk_gnsssdr_free(d_magnitude);
try
{
if (d_dump)
@ -175,8 +159,8 @@ void pcps_tong_acquisition_cc::set_local_code(std::complex<float> *code)
d_fft_if->execute(); // We need the FFT of local code
//Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_codes, d_fft_if->get_outbuf(), d_fft_size);
// Conjugate the local code
volk_32fc_conjugate_32fc(d_fft_codes.data(), d_fft_if->get_outbuf(), d_fft_size);
}
@ -203,24 +187,14 @@ void pcps_tong_acquisition_cc::init()
}
// Create the carrier Doppler wipeoff signals and allocate data grid.
d_grid_doppler_wipeoffs = new gr_complex *[d_num_doppler_bins];
d_grid_data = new float *[d_num_doppler_bins];
d_grid_doppler_wipeoffs = std::vector<std::vector<gr_complex>>(d_num_doppler_bins, std::vector<gr_complex>(d_fft_size));
d_grid_data = std::vector<std::vector<float>>(d_num_doppler_bins, std::vector<float>(d_fft_size, 0.0));
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{
d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
int32_t doppler = -static_cast<int32_t>(d_doppler_max) + d_doppler_step * doppler_index;
float phase_step_rad = GPS_TWO_PI * doppler / static_cast<float>(d_fs_in);
float _phase[1];
_phase[0] = 0;
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], -phase_step_rad, _phase, d_fft_size);
d_grid_data[doppler_index] = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
for (uint32_t i = 0; i < d_fft_size; i++)
{
d_grid_data[doppler_index][i] = 0;
}
std::array<float, 1> _phase{};
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index].data(), -phase_step_rad, _phase.data(), d_fft_size);
}
}
@ -244,7 +218,7 @@ void pcps_tong_acquisition_cc::set_state(int32_t state)
{
for (uint32_t i = 0; i < d_fft_size; i++)
{
d_grid_data[doppler_index][i] = 0;
d_grid_data[doppler_index][i] = 0.0;
}
}
}
@ -262,7 +236,7 @@ int pcps_tong_acquisition_cc::general_work(int noutput_items,
gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items __attribute__((unused)))
{
int32_t acquisition_message = -1; //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
int32_t acquisition_message = -1; // 0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
switch (d_state)
{
@ -270,7 +244,7 @@ int pcps_tong_acquisition_cc::general_work(int noutput_items,
{
if (d_active)
{
//restart acquisition variables
// restart acquisition variables
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
@ -285,7 +259,7 @@ int pcps_tong_acquisition_cc::general_work(int noutput_items,
{
for (uint32_t i = 0; i < d_fft_size; i++)
{
d_grid_data[doppler_index][i] = 0;
d_grid_data[doppler_index][i] = 0.0;
}
}
@ -304,7 +278,7 @@ int pcps_tong_acquisition_cc::general_work(int noutput_items,
int32_t doppler;
uint32_t indext = 0;
float magt = 0.0;
const auto *in = reinterpret_cast<const gr_complex *>(input_items[0]); //Get the input samples pointer
const auto *in = reinterpret_cast<const gr_complex *>(input_items[0]); // Get the input samples pointer
float fft_normalization_factor = static_cast<float>(d_fft_size) * static_cast<float>(d_fft_size);
d_input_power = 0.0;
d_mag = 0.0;
@ -320,19 +294,18 @@ int pcps_tong_acquisition_cc::general_work(int noutput_items,
<< ", doppler_step: " << d_doppler_step;
// 1- Compute the input signal power estimation
volk_32fc_magnitude_squared_32f(d_magnitude, in, d_fft_size);
volk_32f_accumulator_s32f(&d_input_power, d_magnitude, d_fft_size);
volk_32fc_magnitude_squared_32f(d_magnitude.data(), in, d_fft_size);
volk_32f_accumulator_s32f(&d_input_power, d_magnitude.data(), d_fft_size);
d_input_power /= static_cast<float>(d_fft_size);
// 2- Doppler frequency search loop
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{
// doppler search steps
doppler = -static_cast<int32_t>(d_doppler_max) + d_doppler_step * doppler_index;
volk_32fc_x2_multiply_32fc(d_fft_if->get_inbuf(), in,
d_grid_doppler_wipeoffs[doppler_index], d_fft_size);
d_grid_doppler_wipeoffs[doppler_index].data(), d_fft_size);
// 3- Perform the FFT-based convolution (parallel time search)
// Compute the FFT of the carrier wiped--off incoming signal
@ -341,24 +314,24 @@ int pcps_tong_acquisition_cc::general_work(int noutput_items,
// Multiply carrier wiped--off, Fourier transformed incoming signal
// with the local FFT'd code reference using SIMD operations with VOLK library
volk_32fc_x2_multiply_32fc(d_ifft->get_inbuf(),
d_fft_if->get_outbuf(), d_fft_codes, d_fft_size);
d_fft_if->get_outbuf(), d_fft_codes.data(), d_fft_size);
// compute the inverse FFT
d_ifft->execute();
// Compute magnitude
volk_32fc_magnitude_squared_32f(d_magnitude, d_ifft->get_outbuf(), d_fft_size);
volk_32fc_magnitude_squared_32f(d_magnitude.data(), d_ifft->get_outbuf(), d_fft_size);
// Compute vector of test statistics corresponding to current doppler index.
volk_32f_s32f_multiply_32f(d_magnitude, d_magnitude,
volk_32f_s32f_multiply_32f(d_magnitude.data(), d_magnitude.data(),
1 / (fft_normalization_factor * fft_normalization_factor * d_input_power),
d_fft_size);
// Accumulate test statistics in d_grid_data.
volk_32f_x2_add_32f(d_grid_data[doppler_index], d_magnitude, d_grid_data[doppler_index], d_fft_size);
volk_32f_x2_add_32f(d_grid_data[doppler_index].data(), d_magnitude.data(), d_grid_data[doppler_index].data(), d_fft_size);
// Search maximum
volk_gnsssdr_32f_index_max_32u(&indext, d_grid_data[doppler_index], d_fft_size);
volk_gnsssdr_32f_index_max_32u(&indext, d_grid_data[doppler_index].data(), d_fft_size);
magt = d_grid_data[doppler_index][indext];
@ -379,10 +352,10 @@ int pcps_tong_acquisition_cc::general_work(int noutput_items,
std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write
filename.str("");
filename << "../data/test_statistics_" << d_gnss_synchro->System
<< "_" << d_gnss_synchro->Signal << "_sat_"
<< "_" << d_gnss_synchro->Signal[0] << d_gnss_synchro->Signal[1] << "_sat_"
<< d_gnss_synchro->PRN << "_doppler_" << doppler << ".dat";
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
d_dump_file.write(reinterpret_cast<char *>(d_ifft->get_outbuf()), n); //write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.write(reinterpret_cast<char *>(d_ifft->get_outbuf()), n); // write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.close();
}
}

9
src/algorithms/acquisition/gnuradio_blocks/pcps_tong_acquisition_cc.h
View File

@ -59,6 +59,7 @@
#include <fstream>
#include <string>
#include <utility>
#include <vector>
class pcps_tong_acquisition_cc;
@ -220,17 +221,17 @@ private:
uint32_t d_tong_max_dwells;
uint32_t d_fft_size;
uint64_t d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
std::vector<std::vector<gr_complex>> d_grid_doppler_wipeoffs;
uint32_t d_num_doppler_bins;
gr_complex* d_fft_codes;
float** d_grid_data;
std::vector<gr_complex> d_fft_codes;
std::vector<std::vector<float>> d_grid_data;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
uint32_t d_code_phase;
float d_doppler_freq;
float d_mag;
float* d_magnitude;
std::vector<float> d_magnitude;
float d_input_power;
float d_test_statistics;
std::ofstream d_dump_file;

3
src/algorithms/acquisition/libs/fpga_acquisition.cc
View File

@ -108,9 +108,6 @@ Fpga_Acquisition::Fpga_Acquisition(std::string device_name,
}
Fpga_Acquisition::~Fpga_Acquisition() = default;
bool Fpga_Acquisition::set_local_code(uint32_t PRN)
{
// select the code with the chosen PRN

2
src/algorithms/acquisition/libs/fpga_acquisition.h
View File

@ -56,7 +56,7 @@ public:
uint32_t *all_fft_codes,
uint32_t excludelimit);
~Fpga_Acquisition();
~Fpga_Acquisition() = default;
bool set_local_code(uint32_t PRN);

1
src/algorithms/channel/adapters/CMakeLists.txt
View File

@ -40,6 +40,7 @@ target_link_libraries(channel_adapters
target_include_directories(channel_adapters
PUBLIC
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
)
if(ENABLE_CLANG_TIDY)

9
src/algorithms/channel/adapters/channel.cc
View File

@ -42,7 +42,7 @@
Channel::Channel(ConfigurationInterface* configuration, uint32_t channel, std::shared_ptr<AcquisitionInterface> acq,
std::shared_ptr<TrackingInterface> trk, std::shared_ptr<TelemetryDecoderInterface> nav,
std::string role, std::string implementation, gr::msg_queue::sptr queue)
std::string role, std::string implementation, std::shared_ptr<Concurrent_Queue<pmt::pmt_t> > queue)
{
acq_ = std::move(acq);
trk_ = std::move(trk);
@ -118,9 +118,6 @@ Channel::Channel(ConfigurationInterface* configuration, uint32_t channel, std::s
}
Channel::~Channel() = default;
void Channel::connect(gr::top_block_sptr top_block)
{
if (!flag_enable_fpga)
@ -235,6 +232,10 @@ void Channel::stop_channel()
}
void Channel::assist_acquisition_doppler(double Carrier_Doppler_hz)
{
acq_->set_doppler_center(static_cast<int>(Carrier_Doppler_hz));
}
void Channel::start_acquisition()
{
std::lock_guard<std::mutex> lk(mx);

13
src/algorithms/channel/adapters/channel.h
View File

@ -38,10 +38,11 @@
#include "channel_fsm.h"
#include "channel_interface.h"
#include "channel_msg_receiver_cc.h"
#include "concurrent_queue.h"
#include "gnss_signal.h"
#include "gnss_synchro.h"
#include <gnuradio/block.h>
#include <gnuradio/msg_queue.h>
#include <pmt/pmt.h>
#include <cstddef>
#include <cstdint>
#include <memory>
@ -66,9 +67,9 @@ public:
//! Constructor
Channel(ConfigurationInterface* configuration, uint32_t channel, std::shared_ptr<AcquisitionInterface> acq,
std::shared_ptr<TrackingInterface> trk, std::shared_ptr<TelemetryDecoderInterface> nav,
std::string role, std::string implementation, gr::msg_queue::sptr queue);
std::string role, std::string implementation, std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
virtual ~Channel(); //!< Virtual destructor
~Channel() = default; //!< Destructor
void connect(gr::top_block_sptr top_block) override; //!< connects the tracking block to the top_block and to the telemetry
void disconnect(gr::top_block_sptr top_block) override;
@ -86,6 +87,8 @@ public:
void stop_channel() override; //!< Stop the State Machine
void set_signal(const Gnss_Signal& gnss_signal_) override; //!< Sets the channel GNSS signal
void assist_acquisition_doppler(double Carrier_Doppler_hz) override;
inline std::shared_ptr<AcquisitionInterface> acquisition() { return acq_; }
inline std::shared_ptr<TrackingInterface> tracking() { return trk_; }
inline std::shared_ptr<TelemetryDecoderInterface> telemetry() { return nav_; }
@ -100,12 +103,12 @@ private:
std::string implementation_;
bool flag_enable_fpga;
uint32_t channel_;
Gnss_Synchro gnss_synchro_;
Gnss_Synchro gnss_synchro_{};
Gnss_Signal gnss_signal_;
bool connected_;
bool repeat_;
std::shared_ptr<ChannelFsm> channel_fsm_;
gr::msg_queue::sptr queue_;
std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue_;
std::mutex mx;
};

11
src/algorithms/channel/libs/CMakeLists.txt
View File

@ -24,7 +24,7 @@ set(CHANNEL_FSM_SOURCES
set(CHANNEL_FSM_HEADERS
channel_fsm.h
channel_msg_receiver_cc.h
)
)
list(SORT CHANNEL_FSM_HEADERS)
list(SORT CHANNEL_FSM_SOURCES)
@ -35,14 +35,19 @@ add_library(channel_libs ${CHANNEL_FSM_SOURCES} ${CHANNEL_FSM_HEADERS})
target_link_libraries(channel_libs
PUBLIC
core_system_parameters
Gnuradio::runtime
Gnuradio::pmt
core_system_parameters
PRIVATE
core_libs
Boost::boost
Gflags::gflags
Glog::glog
core_receiver
)
target_include_directories(channel_libs
PUBLIC
${CMAKE_SOURCE_DIR}/src/core/receiver
)
if(ENABLE_CLANG_TIDY)

22
src/algorithms/channel/libs/channel_fsm.cc
View File

@ -31,7 +31,7 @@
*/
#include "channel_fsm.h"
#include "control_message_factory.h"
#include "channel_event.h"
#include <glog/logging.h>
#include <utility>
@ -179,7 +179,7 @@ void ChannelFsm::set_telemetry(std::shared_ptr<TelemetryDecoderInterface> teleme
}
void ChannelFsm::set_queue(gr::msg_queue::sptr queue)
void ChannelFsm::set_queue(std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue)
{
std::lock_guard<std::mutex> lk(mx);
queue_ = std::move(queue);
@ -215,29 +215,17 @@ void ChannelFsm::start_acquisition()
void ChannelFsm::start_tracking()
{
trk_->start_tracking();
std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
if (queue_ != gr::msg_queue::make())
{
queue_->handle(cmf->GetQueueMessage(channel_, 1));
}
queue_->push(pmt::make_any(channel_event_make(channel_, 1)));
}
void ChannelFsm::request_satellite()
{
std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
if (queue_ != gr::msg_queue::make())
{
queue_->handle(cmf->GetQueueMessage(channel_, 0));
}
queue_->push(pmt::make_any(channel_event_make(channel_, 0)));
}
void ChannelFsm::notify_stop_tracking()
{
std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
if (queue_ != gr::msg_queue::make())
{
queue_->handle(cmf->GetQueueMessage(channel_, 2));
}
queue_->push(pmt::make_any(channel_event_make(channel_, 2)));
}

7
src/algorithms/channel/libs/channel_fsm.h
View File

@ -34,9 +34,10 @@
#define GNSS_SDR_CHANNEL_FSM_H
#include "acquisition_interface.h"
#include "concurrent_queue.h"
#include "telemetry_decoder_interface.h"
#include "tracking_interface.h"
#include <gnuradio/msg_queue.h>
#include <pmt/pmt.h>
#include <cstdint>
#include <memory>
#include <mutex>
@ -54,7 +55,7 @@ public:
void set_acquisition(std::shared_ptr<AcquisitionInterface> acquisition);
void set_tracking(std::shared_ptr<TrackingInterface> tracking);
void set_telemetry(std::shared_ptr<TelemetryDecoderInterface> telemetry);
void set_queue(gr::msg_queue::sptr queue);
void set_queue(std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue);
void set_channel(uint32_t channel);
void start_acquisition();
// FSM EVENTS
@ -76,7 +77,7 @@ private:
std::shared_ptr<AcquisitionInterface> acq_;
std::shared_ptr<TrackingInterface> trk_;
std::shared_ptr<TelemetryDecoderInterface> nav_;
gr::msg_queue::sptr queue_;
std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue_;
uint32_t channel_;
uint32_t d_state;
std::mutex mx;

3
src/algorithms/channel/libs/channel_msg_receiver_cc.cc
View File

@ -55,9 +55,6 @@ channel_msg_receiver_cc::channel_msg_receiver_cc(std::shared_ptr<ChannelFsm> cha
}
channel_msg_receiver_cc::~channel_msg_receiver_cc() = default;
void channel_msg_receiver_cc::msg_handler_events(pmt::pmt_t msg)
{
bool result = false;

2
src/algorithms/channel/libs/channel_msg_receiver_cc.h
View File

@ -48,7 +48,7 @@ channel_msg_receiver_cc_sptr channel_msg_receiver_make_cc(std::shared_ptr<Channe
class channel_msg_receiver_cc : public gr::block
{
public:
~channel_msg_receiver_cc(); //!< Default destructor
~channel_msg_receiver_cc() = default; //!< Default destructor
private:
friend channel_msg_receiver_cc_sptr channel_msg_receiver_make_cc(std::shared_ptr<ChannelFsm> channel_fsm, bool repeat);

4
src/algorithms/conditioner/adapters/array_signal_conditioner.cc
View File

@ -54,10 +54,6 @@ ArraySignalConditioner::ArraySignalConditioner(ConfigurationInterface *configura
}
// Destructor
ArraySignalConditioner::~ArraySignalConditioner() = default;
void ArraySignalConditioner::connect(gr::top_block_sptr top_block)
{
// note: the array signal conditioner do not have data type adapter, and must use the array input filter (multichannel)

4
src/algorithms/conditioner/adapters/array_signal_conditioner.h
View File

@ -55,8 +55,8 @@ public:
std::shared_ptr<GNSSBlockInterface> data_type_adapt, std::shared_ptr<GNSSBlockInterface> in_filt,
std::shared_ptr<GNSSBlockInterface> res, std::string role, std::string implementation);
//! Virtual destructor
virtual ~ArraySignalConditioner();
//! Destructor
~ArraySignalConditioner() = default;
void connect(gr::top_block_sptr top_block) override;
void disconnect(gr::top_block_sptr top_block) override;

4
src/algorithms/conditioner/adapters/signal_conditioner.cc
View File

@ -54,10 +54,6 @@ SignalConditioner::SignalConditioner(ConfigurationInterface *configuration,
}
// Destructor
SignalConditioner::~SignalConditioner() = default;
void SignalConditioner::connect(gr::top_block_sptr top_block)
{
if (connected_)

4
src/algorithms/conditioner/adapters/signal_conditioner.h
View File

@ -52,8 +52,8 @@ public:
std::shared_ptr<GNSSBlockInterface> data_type_adapt, std::shared_ptr<GNSSBlockInterface> in_filt,
std::shared_ptr<GNSSBlockInterface> res, std::string role, std::string implementation);
//! Virtual destructor
virtual ~SignalConditioner();
//! Destructor
~SignalConditioner() = default;
void connect(gr::top_block_sptr top_block) override;
void disconnect(gr::top_block_sptr top_block) override;

3
src/algorithms/data_type_adapter/adapters/byte_to_short.cc
View File

@ -71,9 +71,6 @@ ByteToShort::ByteToShort(ConfigurationInterface* configuration, std::string role
}
ByteToShort::~ByteToShort() = default;
void ByteToShort::connect(gr::top_block_sptr top_block)
{
if (dump_)

2
src/algorithms/data_type_adapter/adapters/byte_to_short.h
View File

@ -49,7 +49,7 @@ public:
std::string role, unsigned int in_streams,
unsigned int out_streams);
virtual ~ByteToShort();
~ByteToShort() = default;
inline std::string role() override
{

3
src/algorithms/data_type_adapter/adapters/ibyte_to_cbyte.cc
View File

@ -76,9 +76,6 @@ IbyteToCbyte::IbyteToCbyte(ConfigurationInterface* configuration, const std::str
}
IbyteToCbyte::~IbyteToCbyte() = default;
void IbyteToCbyte::connect(gr::top_block_sptr top_block)
{
if (dump_)

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