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GNSS-SDR Array blocks update

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git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@482 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Javier Arribas 2014-02-18 19:40:44 +00:00
parent ae053127b4
commit 28d6b9a122
18 changed files with 950 additions and 39 deletions
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13
CMakeLists.txt
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@ -700,6 +700,19 @@ else( $ENV{GN3S_DRIVER} )
endif( GN3S_DRIVER )
endif($ENV{GN3S_DRIVER} )
if( $ENV{RAW_ARRAY_DRIVER} )
message(STATUS "RAW_ARRAY_DRIVER variable found." )
# copy firmware to install folder
# Build project gr-dbfcttc
else( $ENV{RAW_ARRAY_DRIVER} )
if( RAW_ARRAY_DRIVER )
message(STATUS "RAW_ARRAY_DRIVER driver will be compiled")
else( RAW_ARRAY_DRIVER )
message(STATUS "RAW_ARRAY_DRIVER is not defined." )
message(STATUS "Define it with 'export RAW_ARRAY_DRIVER=1' to add support for the CTTC experimental array front-end." )
endif( RAW_ARRAY_DRIVER )
endif($ENV{RAW_ARRAY_DRIVER} )
if( $ENV{RTLSDR_DRIVER} )
message(STATUS "RTLSDR_DRIVER variable found." )
# find libosmosdr (done in src/algorithms/signal_sources/adapters)

395
conf/gnss-sdr_array.conf Normal file
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@ -0,0 +1,395 @@
; Default configuration file
; You can define your own receiver and invoke it by doing
; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
;
[GNSS-SDR]
;######### GLOBAL OPTIONS ##################
;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz].
GNSS-SDR.internal_fs_hz=5000000
;######### CONTROL_THREAD CONFIG ############
ControlThread.wait_for_flowgraph=false
;######### SUPL RRLP GPS assistance configuration #####
GNSS-SDR.SUPL_gps_enabled=false
GNSS-SDR.SUPL_read_gps_assistance_xml=true
GNSS-SDR.SUPL_gps_ephemeris_server=supl.nokia.com
GNSS-SDR.SUPL_gps_ephemeris_port=7275
GNSS-SDR.SUPL_gps_acquisition_server=supl.google.com
GNSS-SDR.SUPL_gps_acquisition_port=7275
GNSS-SDR.SUPL_MCC=244
GNSS-SDR.SUPL_MNS=5
GNSS-SDR.SUPL_LAC=0x59e2
GNSS-SDR.SUPL_CI=0x31b0
;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] [Raw_Array_Signal_Source]
SignalSource.implementation=Raw_Array_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed
SignalSource.filename=/media/DATALOGGER/Agilent GPS Generator/cap2/agilent_cap2.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=gr_complex
;#sampling_frequency: Original Signal sampling frequency in [Hz]
SignalSource.sampling_frequency=5000000
;#gigabit ethernet device
SignalSource.ethernet_dev=eth0
;#active array channles
SignalSource.channels=8
;#Ethernet transport parameters
SignalSource.snapshots_per_frame=80
SignalSource.inter_frame_delay=10
;#dump: Dump the Signal source data to a file. Disable this option in this version
SignalSource.dump=false
SignalSource.dump_filename=../data/signal_source.dat
;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
; it helps to not overload the CPU, but the processing time will be longer.
SignalSource.enable_throttle_control=false
;######### SIGNAL_CONDITIONER CONFIG ############
;## It holds blocks to change data type, filter and resample input data.
;#implementation: Use [Pass_Through] or [Signal_Conditioner]
;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks
;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks
SignalConditioner.implementation=Array_Signal_Conditioner
;######### DATA_TYPE_ADAPTER CONFIG ############
;## Changes the type of input data. Please disable it in this version.
;#implementation: [Pass_Through] disables this block
DataTypeAdapter.implementation=Pass_Through
;######### INPUT_FILTER CONFIG ############
;## Filter the input data. Can be combined with frequency translation for IF signals
;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter]
;#[Pass_Through] disables this block
;#[Fir_Filter] enables a FIR Filter
;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz.
InputFilter.implementation=Beamformer_Filter
;#dump: Dump the filtered data to a file.
InputFilter.dump=false
;#dump_filename: Log path and filename.
InputFilter.dump_filename=../data/input_filter.dat
;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
;#These options are based on parameters of gnuradio's function: gr_remez.
;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands.
;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
InputFilter.input_item_type=gr_complex
;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
InputFilter.output_item_type=gr_complex
;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
InputFilter.taps_item_type=float
;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time
InputFilter.number_of_taps=5
;#number_of _bands: Number of frequency bands in the filter.
InputFilter.number_of_bands=2
;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...].
;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2)
;#The number of band_begin and band_end elements must match the number of bands
InputFilter.band1_begin=0.0
InputFilter.band1_end=0.45
InputFilter.band2_begin=0.55
InputFilter.band2_end=1.0
;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...].
;#The number of ampl_begin and ampl_end elements must match the number of bands
InputFilter.ampl1_begin=1.0
InputFilter.ampl1_end=1.0
InputFilter.ampl2_begin=0.0
InputFilter.ampl2_end=0.0
;#band_error: weighting applied to each band (usually 1).
;#The number of band_error elements must match the number of bands
InputFilter.band1_error=1.0
InputFilter.band2_error=1.0
;#filter_type: one of "bandpass", "hilbert" or "differentiator"
InputFilter.filter_type=bandpass
;#grid_density: determines how accurately the filter will be constructed.
;The minimum value is 16; higher values are slower to compute the filter.
InputFilter.grid_density=16
;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz
InputFilter.sampling_frequency=5000000
InputFilter.IF=0
;######### RESAMPLER CONFIG ############
;## Resamples the input data.
;#implementation: Use [Pass_Through] or [Direct_Resampler]
;#[Pass_Through] disables this block
;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
;Resampler.implementation=Direct_Resampler
Resampler.implementation=Pass_Through
;#dump: Dump the resamplered data to a file.
Resampler.dump=false
;#dump_filename: Log path and filename.
Resampler.dump_filename=../data/resampler.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Resampler.item_type=gr_complex
;#sample_freq_in: the sample frequency of the input signal
Resampler.sample_freq_in=8000000
;#sample_freq_out: the desired sample frequency of the output signal
Resampler.sample_freq_out=4000000
;######### CHANNELS GLOBAL CONFIG ############
;#count: Number of available satellite channels.
Channels.count=8
;#in_acquisition: Number of channels simultaneously acquiring
Channels.in_acquisition=1
;#system: GPS, GLONASS, Galileo, SBAS or Compass
;#if the option is disabled by default is assigned GPS
Channel.system=GPS
;#signal:
;# "1C" GPS L1 C/A
;# "1P" GPS L1 P
;# "1W" GPS L1 Z-tracking and similar (AS on)
;# "1Y" GPS L1 Y
;# "1M" GPS L1 M
;# "1N" GPS L1 codeless
;# "2C" GPS L2 C/A
;# "2D" GPS L2 L1(C/A)+(P2-P1) semi-codeless
;# "2S" GPS L2 L2C (M)
;# "2L" GPS L2 L2C (L)
;# "2X" GPS L2 L2C (M+L)
;# "2P" GPS L2 P
;# "2W" GPS L2 Z-tracking and similar (AS on)
;# "2Y" GPS L2 Y
;# "2M" GPS GPS L2 M
;# "2N" GPS L2 codeless
;# "5I" GPS L5 I
;# "5Q" GPS L5 Q
;# "5X" GPS L5 I+Q
;# "1C" GLONASS G1 C/A
;# "1P" GLONASS G1 P
;# "2C" GLONASS G2 C/A (Glonass M)
;# "2P" GLONASS G2 P
;# "1A" GALILEO E1 A (PRS)
;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
;# "1C" GALILEO E1 C (no data)
;# "1X" GALILEO E1 B+C
;# "1Z" GALILEO E1 A+B+C
;# "5I" GALILEO E5a I (F/NAV OS)
;# "5Q" GALILEO E5a Q (no data)
;# "5X" GALILEO E5a I+Q
;# "7I" GALILEO E5b I
;# "7Q" GALILEO E5b Q
;# "7X" GALILEO E5b I+Q
;# "8I" GALILEO E5 I
;# "8Q" GALILEO E5 Q
;# "8X" GALILEO E5 I+Q
;# "6A" GALILEO E6 A
;# "6B" GALILEO E6 B
;# "6C" GALILEO E6 C
;# "6X" GALILEO E6 B+C
;# "6Z" GALILEO E6 A+B+C
;# "1C" SBAS L1 C/A
;# "5I" SBAS L5 I
;# "5Q" SBAS L5 Q
;# "5X" SBAS L5 I+Q
;# "2I" COMPASS E2 I
;# "2Q" COMPASS E2 Q
;# "2X" COMPASS E2 IQ
;# "7I" COMPASS E5b I
;# "7Q" COMPASS E5b Q
;# "7X" COMPASS E5b IQ
;# "6I" COMPASS E6 I
;# "6Q" COMPASS E6 Q
;# "6X" COMPASS E6 IQ
;#if the option is disabled by default is assigned "1C" GPS L1 C/A
Channel.signal=1C
;######### SPECIFIC CHANNELS CONFIG ######
;#The following options are specific to each channel and overwrite the generic options
;######### CHANNEL 0 CONFIG ############
;Channel0.system=GPS
;Channel0.signal=1C
;#satellite: Satellite PRN ID for this channel. Disable this option to random search
;Channel0.satellite=11
;######### ACQUISITION GLOBAL CONFIG ############
;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
Acquisition.dump=false
;#filename: Log path and filename
Acquisition.dump_filename=./acq_dump.dat
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
Acquisition.item_type=gr_complex
;#if: Signal intermediate frequency in [Hz]
Acquisition.if=0
;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
Acquisition.coherent_integration_time_ms=1
;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
Acquisition.implementation=GPS_L1_CA_PCPS_Acquisition
;#threshold: Acquisition threshold. It will be ignored if pfa is defined.
Acquisition.threshold=0.01
;#pfa: Acquisition false alarm probability. This option overrides the threshold option. Only use with implementations: [GPS_L1_CA_PCPS_Acquisition] or [Galileo_E1_PCPS_Ambiguous_Acquisition]
;Acquisition.pfa=0.0000000001
;#doppler_max: Maximum expected Doppler shift [Hz]
Acquisition.doppler_max=10000
;#doppler_max: Doppler step in the grid search [Hz]
Acquisition.doppler_step=500
;#bit_transition_flag: Enable or disable a strategy to deal with bit transitions in GPS signals: process two dwells and take
maximum test statistics. Only use with implementation: [GPS_L1_CA_PCPS_Acquisition] (should not be used for Galileo_E1_PCPS_Ambiguous_Acquisition])
Acquisition.bit_transition_flag=false
;#max_dwells: Maximum number of consecutive dwells to be processed. It will be ignored if bit_transition_flag=true
Acquisition.max_dwells=1
;######### ACQUISITION CHANNELS CONFIG ######
;#The following options are specific to each channel and overwrite the generic options
;######### ACQUISITION CH 0 CONFIG ############
;Acquisition0.implementation=GPS_L1_CA_PCPS_Acquisition
;Acquisition0.threshold=0.005
;Acquisition0.pfa=0.001
;Acquisition0.doppler_max=10000
;Acquisition0.doppler_step=250
;#repeat_satellite: Use only jointly with the satellite PRN ID option. The default value is false
;Acquisition0.repeat_satellite = false
;######### ACQUISITION CH 1 CONFIG ############
;Acquisition1.implementation=GPS_L1_CA_PCPS_Acquisition
;Acquisition1.threshold=0.005
;Acquisition1.pfa=0.001
;Acquisition1.doppler_max=10000
;Acquisition1.doppler_step=250
;Acquisition1.repeat_satellite = false
;######### TRACKING GLOBAL CONFIG ############
;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking]
Tracking.implementation=GPS_L1_CA_DLL_PLL_Optim_Tracking
;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
Tracking.item_type=gr_complex
;#sampling_frequency: Signal Intermediate Frequency in [Hz]
Tracking.if=0
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking.dump_filename=./tracking_ch_
;#pll_bw_hz: PLL loop filter bandwidth [Hz]
Tracking.pll_bw_hz=50.0;
;#dll_bw_hz: DLL loop filter bandwidth [Hz]
Tracking.dll_bw_hz=2.0;
;#fll_bw_hz: FLL loop filter bandwidth [Hz]
Tracking.fll_bw_hz=10.0;
;#order: PLL/DLL loop filter order [2] or [3]
Tracking.order=3;
;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
Tracking.early_late_space_chips=0.5;
;######### TELEMETRY DECODER CONFIG ############
;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A.
TelemetryDecoder.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder.dump=false
;######### OBSERVABLES CONFIG ############
;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
Observables.implementation=GPS_L1_CA_Observables
;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
Observables.dump=false
;#dump_filename: Log path and filename.
Observables.dump_filename=./observables.dat
;######### PVT CONFIG ############
;#implementation: Position Velocity and Time (PVT) implementation algorithm: Use [GPS_L1_CA_PVT] in this version.
PVT.implementation=GPS_L1_CA_PVT
;#averaging_depth: Number of PVT observations in the moving average algorithm
PVT.averaging_depth=10
;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false]
PVT.flag_averaging=true
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
PVT.output_rate_ms=100
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
PVT.display_rate_ms=500
;# RINEX, KML, and NMEA output configuration
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
PVT.dump_filename=./PVT
;#nmea_dump_filename: NMEA log path and filename
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
PVT.flag_nmea_tty_port=true;
;#nmea_dump_devname: serial device descriptor for NMEA logging
PVT.nmea_dump_devname=/dev/pts/4
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
PVT.dump=false
;######### OUTPUT_FILTER CONFIG ############
;# Receiver output filter: Leave this block disabled in this version
OutputFilter.implementation=Null_Sink_Output_Filter
OutputFilter.filename=data/gnss-sdr.dat
OutputFilter.item_type=gr_complex

7
drivers/gr-dbfcttc/README Normal file
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@ -0,0 +1,7 @@
HOW TO BUILD GR-DBFCTTC
----------------------
Source maintainer:
Javier Arribas
jarribas@cttc.es
TODO

25
drivers/gr-dbfcttc/lib/raw_array_impl.cc
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@ -124,6 +124,7 @@ namespace gr {
descr = pcap_open_live(d_src_device,1500,1,1000,errbuf);
if(descr == NULL)
{
printf("Error openning ethernet device: %s\n",d_src_device);
printf("Fatal Error in pcap_open_live(): %s\n",errbuf);
return false;
}
@ -253,15 +254,19 @@ namespace gr {
}else{
exit(1); //ethernet error!
}
fprintf(stdout,"Destructing DBFCTTC\n");
fflush(stdout);
if(descr != NULL)
{
pcap_breakloop(descr);
d_pcap_thread->join();
pcap_close(descr);
}
fprintf(stdout,"All stopped OK\n");
for (int i=0;i<DBFCTTC_NUM_CHANNELS;i++)
{
delete[] fifo_buff_ch[i];
}
delete fifo_buff_ch;
fprintf(stdout,"All stopped OK\n");
}
@ -282,11 +287,11 @@ namespace gr {
// eth frame parameters
int number_of_channels;
unsigned short int snapshots_per_frame;
//
// // **** CTTC DBF PACKET DECODER ****
// **** CTTC DBF PACKET DECODER ****
if ((packet[12]==0xCD) & (packet[13]==0xBF))
{
//printf(".");
//printf(".");
// control parameters
number_of_channels=(int)packet[14];
//std::cout<<"number_of_channels="<<number_of_channels<<std::endl;
@ -300,7 +305,9 @@ namespace gr {
{
real = (signed char)packet[17 + ch*2 + i * 16];
imag = (signed char)packet[17 + ch*2 + 1 + i * 16];
fifo_buff_ch[ch][fifo_write_ptr] = std::complex<float>(real, imag);
//todo: invert IQ in FPGA
//fifo_buff_ch[ch][fifo_write_ptr] = std::complex<float>(real, imag);
fifo_buff_ch[ch][fifo_write_ptr] = std::complex<float>(imag, real); //inverted due to inversion in front-end
//std::cout<<"["<<ch<<"]["<<fifo_write_ptr<<"]"<<fifo_buff_ch[ch][fifo_write_ptr]<<std::endl;
}
fifo_write_ptr++;
@ -316,7 +323,7 @@ namespace gr {
}
}
// //frame counter check for overflows!
//frame counter check for overflows!
numframebyte=(unsigned char)packet[16+snapshots_per_frame*2*number_of_channels+1];
//std::cout<<"numframebyte="<<numframebyte<<std::endl;
//test RX
@ -334,7 +341,7 @@ namespace gr {
if (abs(d_last_frame_counter-numframebyte)!=255 )
{
d_num_rx_errors=d_num_rx_errors + 1;
printf("Error ethernet RX %d\n",numframebyte);
printf("RAW Array driver overflow RX %d\n",numframebyte);
}
}
}

5
src/algorithms/conditioner/adapters/CMakeLists.txt
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@ -17,7 +17,10 @@
#
set(COND_ADAPTER_SOURCES signal_conditioner.cc)
set(COND_ADAPTER_SOURCES
signal_conditioner.cc
array_signal_conditioner.cc
)
include_directories(
$(CMAKE_CURRENT_SOURCE_DIR)

127
src/algorithms/conditioner/adapters/array_signal_conditioner.cc Normal file
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@ -0,0 +1,127 @@
/*!
* \file array_signal_conditioner.cc
* \brief It wraps blocks to change data type, filter and resample input data, adapted to array receiver
* \author Javier Arribas jarribas (at) cttc.es
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "array_signal_conditioner.h"
#include <iostream>
#include <sstream>
#include <boost/lexical_cast.hpp>
#include <boost/thread/thread.hpp>
#include <gnuradio/io_signature.h>
#include <gnuradio/message.h>
#include <glog/log_severity.h>
#include <glog/logging.h>
#include "gnss_flowgraph.h"
using google::LogMessage;
// Constructor
ArraySignalConditioner::ArraySignalConditioner(ConfigurationInterface *configuration,
GNSSBlockInterface *data_type_adapt, GNSSBlockInterface *in_filt,
GNSSBlockInterface *res, std::string role, std::string implementation,
boost::shared_ptr<gr::msg_queue> queue) : data_type_adapt_(data_type_adapt),
in_filt_(in_filt), res_(res), role_(role), implementation_(implementation),
queue_(queue)
{
connected_ = false;
}
// Destructor
ArraySignalConditioner::~ArraySignalConditioner()
{
delete data_type_adapt_;
delete in_filt_;
delete res_;
}
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)
if (connected_)
{
LOG_AT_LEVEL(WARNING) << "Array Signal conditioner already connected internally";
return;
}
//data_type_adapt_->connect(top_block);
in_filt_->connect(top_block);
res_->connect(top_block);
//top_block->connect(data_type_adapt_->get_right_block(), 0, in_filt_->get_left_block(), 0);
//DLOG(INFO) << "data_type_adapter -> input_filter";
top_block->connect(in_filt_->get_right_block(), 0,
res_->get_left_block(), 0);
DLOG(INFO) << "Array input_filter -> resampler";
connected_ = true;
}
void ArraySignalConditioner::disconnect(gr::top_block_sptr top_block)
{
if (!connected_)
{
LOG_AT_LEVEL(WARNING) << "Array Signal conditioner already disconnected internally";
return;
}
//top_block->disconnect(data_type_adapt_->get_right_block(), 0,
// in_filt_->get_left_block(), 0);
top_block->disconnect(in_filt_->get_right_block(), 0,
res_->get_left_block(), 0);
//data_type_adapt_->disconnect(top_block);
in_filt_->disconnect(top_block);
res_->disconnect(top_block);
connected_ = false;
}
gr::basic_block_sptr ArraySignalConditioner::get_left_block()
{
//return data_type_adapt_->get_left_block();
return in_filt_->get_left_block();
}
gr::basic_block_sptr ArraySignalConditioner::get_right_block()
{
return res_->get_right_block();
}

88
src/algorithms/conditioner/adapters/array_signal_conditioner.h Normal file
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@ -0,0 +1,88 @@
/*!
* \file array_signal_conditioner.h
* \brief It wraps blocks to change data type, filter and resample input data, adapted to array receiver
* \author Javier Arribas jarribas (at) cttc.es
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_H_
#define GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_H_
#include <string>
#include <gnuradio/msg_queue.h>
#include "gnss_block_interface.h"
#include "control_message_factory.h"
class ConfigurationInterface;
class AcquisitionInterface;
class TrackingInterface;
class TelemetryDecoderInterface;
/*!
* \brief This class wraps blocks to change data_type_adapter, input_filter and resampler
* to be applied to the input flow of sampled signal.
*/
class ArraySignalConditioner: public GNSSBlockInterface
{
public:
//! Constructor
ArraySignalConditioner(ConfigurationInterface *configuration,
GNSSBlockInterface *data_type_adapt, GNSSBlockInterface *in_filt,
GNSSBlockInterface *res, std::string role, std::string implementation,
boost::shared_ptr<gr::msg_queue> queue);
//! Virtual destructor
virtual ~ArraySignalConditioner();
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
std::string role(){ return role_; }
//! Returns "Signal_Conditioner"
std::string implementation(){ return "Array_Signal_Conditioner"; }
size_t item_size(){ return 0; }
GNSSBlockInterface *data_type_adapter(){ return data_type_adapt_; }
GNSSBlockInterface *input_filter(){ return in_filt_; }
GNSSBlockInterface *resampler(){ return res_; }
private:
GNSSBlockInterface *data_type_adapt_;
GNSSBlockInterface *in_filt_;
GNSSBlockInterface *res_;
std::string role_;
std::string implementation_;
bool connected_;
//bool stop_;
boost::shared_ptr<gr::msg_queue> queue_;
};
#endif /*GNSS_SDR_SIGNAL_CONDITIONER_H_*/

6
src/algorithms/input_filter/adapters/CMakeLists.txt
View File

@ -18,13 +18,15 @@
set(INPUT_FILTER_ADAPTER_SOURCES
fir_filter.cc
freq_xlating_fir_filter.cc
freq_xlating_fir_filter.cc
beamformer_filter.cc
)
include_directories(
$(CMAKE_CURRENT_SOURCE_DIR)
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/algorithms/input_filter/gnuradio_blocks
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
@ -32,4 +34,4 @@ include_directories(
add_library(input_filter_adapters ${INPUT_FILTER_ADAPTER_SOURCES})
add_dependencies(input_filter_adapters glog-${glog_RELEASE})
target_link_libraries(input_filter_adapters ${GNURADIO_RUNTIME_LIBRARIES} ${GNURADIO_BLOCKS_LIBRARIES} ${GNURADIO_FILTER_LIBRARIES})
target_link_libraries(input_filter_adapters input_filter_gr_blocks ${GNURADIO_RUNTIME_LIBRARIES} ${GNURADIO_BLOCKS_LIBRARIES} ${GNURADIO_FILTER_LIBRARIES})

112
src/algorithms/input_filter/adapters/beamformer_filter.cc Normal file
View File

@ -0,0 +1,112 @@
/*!
* \file beamformer_filter.cc
* \brief Interface of an adapter of a digital beamformer
* \author Javier Arribas jarribas (at) cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "beamformer_filter.h"
#include <glog/log_severity.h>
#include <glog/logging.h>
#include <gnuradio/blocks/file_sink.h>
#include "beamformer.h"
#include "configuration_interface.h"
using google::LogMessage;
BeamformerFilter::BeamformerFilter(
ConfigurationInterface* configuration, std::string role,
unsigned int in_stream, unsigned int out_stream) :
role_(role), in_stream_(in_stream), out_stream_(out_stream)
{
std::string default_item_type = "gr_complex";
std::string default_dump_file = "./data/input_filter.dat";
item_type_ = configuration->property(role + ".item_type", default_item_type);
dump_ = configuration->property(role + ".dump", false);
DLOG(INFO) << "dump_ is " << dump_;
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_file);
if (item_type_.compare("gr_complex") == 0)
{
item_size_ = sizeof(gr_complex);
beamformer_ = make_beamformer();
DLOG(INFO) << "Item size " << item_size_;
DLOG(INFO) << "resampler(" << beamformer_->unique_id() << ")";
}
else
{
LOG_AT_LEVEL(WARNING) << item_type_
<< " unrecognized item type for beamformer";
item_size_ = sizeof(gr_complex);
}
if (dump_)
{
DLOG(INFO) << "Dumping output into file " << dump_filename_;
file_sink_ = gr::blocks::file_sink::make(item_size_, dump_filename_.c_str());
DLOG(INFO) << "file_sink(" << file_sink_->unique_id() << ")";
}
}
BeamformerFilter::~BeamformerFilter() {}
void BeamformerFilter::connect(gr::top_block_sptr top_block)
{
if (dump_)
{
top_block->connect(beamformer_, 0, file_sink_, 0);
DLOG(INFO) << "connected beamformer output to file sink";
}
else
{
DLOG(INFO) << "nothing to connect internally";
}
}
void BeamformerFilter::disconnect(gr::top_block_sptr top_block)
{
if (dump_)
{
top_block->disconnect(beamformer_, 0, file_sink_, 0);
}
}
gr::basic_block_sptr BeamformerFilter::get_left_block()
{
return beamformer_;
}
gr::basic_block_sptr BeamformerFilter::get_right_block()
{
return beamformer_;
}

84
src/algorithms/input_filter/adapters/beamformer_filter.h Normal file
View File

@ -0,0 +1,84 @@
/*!
* \file beamformer_filter.h
* \brief Interface of an adapter of a digital beamformer
* \author Javier Arribas jarribas (at) cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_BEAMFORMER_FILTER_H_
#define GNSS_SDR_BEAMFORMER_FILTER_H_
#include <string>
#include <gnuradio/hier_block2.h>
#include "gnss_block_interface.h"
class ConfigurationInterface;
/*!
* \brief Interface of an adapter of a direct resampler conditioner block
* to a SignalConditionerInterface
*/
class BeamformerFilter: public GNSSBlockInterface
{
public:
BeamformerFilter(ConfigurationInterface* configuration,
std::string role, unsigned int in_stream,
unsigned int out_stream);
virtual ~BeamformerFilter();
std::string role()
{
return role_;
}
//! returns "Direct_Resampler"
std::string implementation()
{
return "Beamformer_Filter";
}
size_t item_size()
{
return item_size_;
}
void connect(gr::top_block_sptr top_block);
void disconnect(gr::top_block_sptr top_block);
gr::basic_block_sptr get_left_block();
gr::basic_block_sptr get_right_block();
private:
std::string role_;
unsigned int in_stream_;
unsigned int out_stream_;
std::string item_type_;
size_t item_size_;
unsigned long long samples_;
bool dump_;
std::string dump_filename_;
gr::block_sptr beamformer_;
gr::block_sptr file_sink_;
};
#endif /*GNSS_SDR_BEAMFORMER_FILTER_H_*/

45
src/algorithms/input_filter/gnuradio_blocks/beamformer.cc
View File

@ -31,9 +31,10 @@
#include "beamformer.h"
#include <iostream>
#include <sstream>
#include <gnuradio/io_signature.h>
#define GNSS_SDR_BEAMFORMER_CHANNELS 8
beamformer_sptr make_beamformer()
{
@ -42,31 +43,51 @@ beamformer_sptr make_beamformer()
beamformer::beamformer()
: gr::sync_block("beamformer",
gr::io_signature::make(8, 8,sizeof(gr_complex)),
gr::io_signature::make(GNSS_SDR_BEAMFORMER_CHANNELS, GNSS_SDR_BEAMFORMER_CHANNELS,sizeof(gr_complex)),
gr::io_signature::make(1, 1,sizeof(gr_complex)))
{
//initialize weight vector
if (posix_memalign((void**)&weight_vector, 16, GNSS_SDR_BEAMFORMER_CHANNELS * sizeof(gr_complex)) == 0){};
for (int i=0;i<GNSS_SDR_BEAMFORMER_CHANNELS;i++)
{
weight_vector[i]=gr_complex(1,0);
}
}
beamformer::~beamformer()
{
free(weight_vector);
}
int beamformer::work(int noutput_items,gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items)
{
//gr_complex *out = (gr_complex *) output_items[0];
gr_complex *out = (gr_complex *) output_items[0];
// channel output buffers
// gr_complex *ch1 = (gr_complex *) output_items[0];
// gr_complex *ch2 = (gr_complex *) output_items[1];
// gr_complex *ch3 = (gr_complex *) output_items[2];
// gr_complex *ch4 = (gr_complex *) output_items[3];
// gr_complex *ch5 = (gr_complex *) output_items[4];
// gr_complex *ch6 = (gr_complex *) output_items[5];
// gr_complex *ch7 = (gr_complex *) output_items[6];
// gr_complex *ch8 = (gr_complex *) output_items[7];
// gr_complex *ch1 = (gr_complex *) input_items[0];
// gr_complex *ch2 = (gr_complex *) input_items[1];
// gr_complex *ch3 = (gr_complex *) input_items[2];
// gr_complex *ch4 = (gr_complex *) input_items[3];
// gr_complex *ch5 = (gr_complex *) input_items[4];
// gr_complex *ch6 = (gr_complex *) input_items[5];
// gr_complex *ch7 = (gr_complex *) input_items[6];
// gr_complex *ch8 = (gr_complex *) input_items[7];
// NON-VOLK beamforming operation
//TODO: Implement VOLK SIMD-accelerated beamformer!
gr_complex sum;
for(int n=0;n<noutput_items;n++)
{
sum=gr_complex(0,0);
for (int i=0;i<GNSS_SDR_BEAMFORMER_CHANNELS;i++)
{
sum=sum+((gr_complex *) input_items[i])[n]*weight_vector[i];
}
out[n]=sum;
}
return noutput_items;
}

2
src/algorithms/input_filter/gnuradio_blocks/beamformer.h
View File

@ -47,6 +47,8 @@ private:
friend beamformer_sptr
make_beamformer_sptr();
gr_complex* weight_vector;
public:
beamformer();
~beamformer();

12
src/algorithms/signal_source/adapters/CMakeLists.txt
View File

@ -69,12 +69,12 @@ if($ENV{RAW_ARRAY_DRIVER})
)
# Set up variables
#set(GRDBFCTTC_INCLUDE_DIRS ${GRDBFCTTC_DIR}/include ${GRDBFCTTC_DIR} ${GRDBFCTTC_DIR}/src)
#set(GRDBFCTTC_LIBRARIES
# "${CMAKE_CURRENT_BINARY_DIR}/../../../../gr-dbfcttc/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gr-dbfcttc${CMAKE_SHARED_LIBRARY_SUFFIX}"
#)
#set(OPT_LIBRARIES ${OPT_LIBRARIES} ${GRDBFCTTC_LIBRARIES})
#set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${GRDBFCTTC_INCLUDE_DIRS})
set(GRDBFCTTC_INCLUDE_DIRS ${GRDBFCTTC_DIR}/include ${GRDBFCTTC_DIR} ${GRDBFCTTC_DIR}/src)
set(GRDBFCTTC_LIBRARIES
"${CMAKE_CURRENT_BINARY_DIR}/../../../../gr-dbfcttc/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gnuradio-dbfcttc${CMAKE_SHARED_LIBRARY_SUFFIX}"
)
set(OPT_LIBRARIES ${OPT_LIBRARIES} ${GRDBFCTTC_LIBRARIES})
set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${GRDBFCTTC_INCLUDE_DIRS})
set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} raw_array_signal_source.cc)
endif($ENV{RAW_ARRAY_DRIVER})

7
src/algorithms/signal_source/adapters/raw_array_signal_source.cc
View File

@ -45,12 +45,15 @@ RawArraySignalSource::RawArraySignalSource(ConfigurationInterface* configuration
std::string default_item_type = "gr_complex";
std::string default_dump_file = "./data/raw_array_source.dat";
item_type_ = configuration->property(role + ".item_type", default_item_type);
//dump_ = configuration->property(role + ".dump", false);
//dump_filename_ = configuration->property(role + ".dump_filename", default_dump_file);
dump_=false;
std::string eth_device_;
eth_device_ = configuration->property(role + ".ethernet_dev", "eth0");
std::string default_ethernet_dev = "eth0";
eth_device_ = configuration->property(role + ".ethernet_dev", default_ethernet_dev);
int channels_;
channels_ = configuration->property(role + ".channels", 8);

3
src/algorithms/signal_source/adapters/raw_array_signal_source.h
View File

@ -62,7 +62,7 @@ public:
*/
std::string implementation()
{
return "RawArraySignalSource";
return "Raw_Array_Signal_Source";
}
size_t item_size()
{
@ -82,6 +82,7 @@ private:
long samples_;
bool dump_;
std::string dump_filename_;
std::string eth_device_;
gr::block_sptr raw_array_source_;
gr::blocks::file_sink::sptr file_sink_;
boost::shared_ptr<gr::msg_queue> queue_;

8
src/core/receiver/CMakeLists.txt
View File

@ -43,6 +43,7 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/algorithms/data_type_adapter/adapters
${CMAKE_SOURCE_DIR}/src/algorithms/resampler/adapters
${CMAKE_SOURCE_DIR}/src/algorithms/input_filter/adapters
${CMAKE_SOURCE_DIR}/src/algorithms/input_filter/gnuradio_blocks
${CMAKE_SOURCE_DIR}/src/algorithms/acquisition/adapters
${CMAKE_SOURCE_DIR}/src/algorithms/acquisition/gnuradio_blocks
${CMAKE_SOURCE_DIR}/src/algorithms/tracking/adapters
@ -74,6 +75,12 @@ if( GN3S_DRIVER )
add_definitions(-DGN3S_DRIVER=1)
endif( GN3S_DRIVER )
if( $ENV{RAW_ARRAY_DRIVER} )
message(STATUS "Support for CTTC RAW ARRAY enabled" )
add_definitions(-DRAW_ARRAY_DRIVER=1)
endif( $ENV{RAW_ARRAY_DRIVER} )
if( RAW_ARRAY_DRIVER )
message(STATUS "Support for CTTC RAW ARRAY enabled" )
add_definitions(-DRAW_ARRAY_DRIVER=1)
@ -84,6 +91,7 @@ if( $ENV{RTLSDR_DRIVER} )
message(STATUS "Support for RF front-end based on RTL dongle enabled" )
add_definitions(-DRTLSDR_DRIVER=1)
endif( $ENV{RTLSDR_DRIVER} )
if( RTLSDR_DRIVER )
message(STATUS "Support for RF front-end based on RTL dongle enabled" )
add_definitions(-DRTLSDR_DRIVER=1)

29
src/core/receiver/gnss_block_factory.cc
View File

@ -50,10 +50,12 @@
#include "channel.h"
#include "uhd_signal_source.h"
#include "signal_conditioner.h"
#include "array_signal_conditioner.h"
#include "ishort_to_complex.h"
#include "direct_resampler_conditioner.h"
#include "fir_filter.h"
#include "freq_xlating_fir_filter.h"
#include "beamformer_filter.h"
#include "gps_l1_ca_pcps_acquisition.h"
#include "gps_l1_ca_pcps_multithread_acquisition.h"
#include "gps_l1_ca_pcps_tong_acquisition.h"
@ -148,11 +150,23 @@ GNSSBlockInterface* GNSSBlockFactory::GetSignalConditioner(
<< input_filter << ", and Resampler implementation: "
<< resampler;
return new SignalConditioner(configuration, GetBlock(configuration,
"DataTypeAdapter", data_type_adapter, 1, 1, queue), GetBlock(
configuration,"InputFilter", input_filter, 1, 1, queue),
GetBlock(configuration,"Resampler", resampler, 1, 1, queue),
"SignalConditioner", "Signal_Conditioner", queue);
if(signal_conditioner.compare("Array_Signal_Conditioner") == 0)
{
//instantiate the array version
return new ArraySignalConditioner(configuration, GetBlock(configuration,
"DataTypeAdapter", data_type_adapter, 1, 1, queue), GetBlock(
configuration,"InputFilter", input_filter, 1, 1, queue),
GetBlock(configuration,"Resampler", resampler, 1, 1, queue),
"SignalConditioner", "Signal_Conditioner", queue);
}else{
//normal version
return new SignalConditioner(configuration, GetBlock(configuration,
"DataTypeAdapter", data_type_adapter, 1, 1, queue), GetBlock(
configuration,"InputFilter", input_filter, 1, 1, queue),
GetBlock(configuration,"Resampler", resampler, 1, 1, queue),
"SignalConditioner", "Signal_Conditioner", queue);
}
}
@ -354,6 +368,11 @@ GNSSBlockInterface* GNSSBlockFactory::GetBlock(
block = new FreqXlatingFirFilter(configuration, role, in_streams,
out_streams, queue);
}
else if (implementation.compare("Beamformer_Filter") == 0)
{
block = new BeamformerFilter(configuration, role, in_streams,
out_streams);
}
// RESAMPLER -------------------------------------------------------------------
else if (implementation.compare("Direct_Resampler") == 0)

21
src/core/receiver/gnss_flowgraph.cc
View File

@ -44,6 +44,8 @@
#include "channel_interface.h"
#include "gnss_block_factory.h"
#define GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS 8
using google::LogMessage;
GNSSFlowgraph::GNSSFlowgraph(ConfigurationInterface *configuration,
@ -212,10 +214,27 @@ void GNSSFlowgraph::connect()
DLOG(INFO) << "blocks connected internally";
// Signal Source > Signal conditioner >
try
{
top_block_->connect(signal_source()->get_right_block(), 0,
if(signal_source()->implementation().compare("Raw_Array_Signal_Source")==0)
{
//Multichannel Array
std::cout<<"ARRAY MODE"<<std::endl;
for (int i=0;i<GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS;i++)
{
std::cout<<"connecting ch "<<i<<std::endl;
top_block_->connect(signal_source()->get_right_block(), i,
signal_conditioner()->get_left_block(), i);
}
}else{
//single channel
std::cout<<"NORMAL MODE"<<std::endl;
top_block_->connect(signal_source()->get_right_block(), 0,
signal_conditioner()->get_left_block(), 0);
}
}
catch (std::exception& e)
{