From 28d6b9a1225ff7285baa94d6220ea04da4ac78ba Mon Sep 17 00:00:00 2001 From: Javier Arribas Date: Tue, 18 Feb 2014 19:40:44 +0000 Subject: [PATCH] GNSS-SDR Array blocks update git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@482 64b25241-fba3-4117-9849-534c7e92360d --- CMakeLists.txt | 13 + conf/gnss-sdr_array.conf | 395 ++++++++++++++++++ drivers/gr-dbfcttc/README | 7 + drivers/gr-dbfcttc/lib/raw_array_impl.cc | 25 +- .../conditioner/adapters/CMakeLists.txt | 5 +- .../adapters/array_signal_conditioner.cc | 127 ++++++ .../adapters/array_signal_conditioner.h | 88 ++++ .../input_filter/adapters/CMakeLists.txt | 6 +- .../adapters/beamformer_filter.cc | 112 +++++ .../input_filter/adapters/beamformer_filter.h | 84 ++++ .../gnuradio_blocks/beamformer.cc | 45 +- .../input_filter/gnuradio_blocks/beamformer.h | 2 + .../signal_source/adapters/CMakeLists.txt | 12 +- .../adapters/raw_array_signal_source.cc | 7 +- .../adapters/raw_array_signal_source.h | 3 +- src/core/receiver/CMakeLists.txt | 8 + src/core/receiver/gnss_block_factory.cc | 29 +- src/core/receiver/gnss_flowgraph.cc | 21 +- 18 files changed, 950 insertions(+), 39 deletions(-) create mode 100644 conf/gnss-sdr_array.conf create mode 100644 drivers/gr-dbfcttc/README create mode 100644 src/algorithms/conditioner/adapters/array_signal_conditioner.cc create mode 100644 src/algorithms/conditioner/adapters/array_signal_conditioner.h create mode 100644 src/algorithms/input_filter/adapters/beamformer_filter.cc create mode 100644 src/algorithms/input_filter/adapters/beamformer_filter.h diff --git a/CMakeLists.txt b/CMakeLists.txt index e56b4f60f..49218e7ed 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -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) diff --git a/conf/gnss-sdr_array.conf b/conf/gnss-sdr_array.conf new file mode 100644 index 000000000..9a5b65418 --- /dev/null +++ b/conf/gnss-sdr_array.conf @@ -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 diff --git a/drivers/gr-dbfcttc/README b/drivers/gr-dbfcttc/README new file mode 100644 index 000000000..cd948d083 --- /dev/null +++ b/drivers/gr-dbfcttc/README @@ -0,0 +1,7 @@ +HOW TO BUILD GR-DBFCTTC +---------------------- +Source maintainer: +Javier Arribas +jarribas@cttc.es + +TODO \ No newline at end of file diff --git a/drivers/gr-dbfcttc/lib/raw_array_impl.cc b/drivers/gr-dbfcttc/lib/raw_array_impl.cc index 429bd12ae..dc415d8b4 100644 --- a/drivers/gr-dbfcttc/lib/raw_array_impl.cc +++ b/drivers/gr-dbfcttc/lib/raw_array_impl.cc @@ -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. + * + * ------------------------------------------------------------------------- + */ + +#include "array_signal_conditioner.h" +#include +#include +#include +#include +#include +#include +#include +#include +#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 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(); +} + diff --git a/src/algorithms/conditioner/adapters/array_signal_conditioner.h b/src/algorithms/conditioner/adapters/array_signal_conditioner.h new file mode 100644 index 000000000..72da85d52 --- /dev/null +++ b/src/algorithms/conditioner/adapters/array_signal_conditioner.h @@ -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 . + * + * ------------------------------------------------------------------------- + */ + +#ifndef GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_H_ +#define GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_H_ + + +#include +#include +#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 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 queue_; +}; + +#endif /*GNSS_SDR_SIGNAL_CONDITIONER_H_*/ diff --git a/src/algorithms/input_filter/adapters/CMakeLists.txt b/src/algorithms/input_filter/adapters/CMakeLists.txt index 752c3bc07..6d4303991 100644 --- a/src/algorithms/input_filter/adapters/CMakeLists.txt +++ b/src/algorithms/input_filter/adapters/CMakeLists.txt @@ -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}) diff --git a/src/algorithms/input_filter/adapters/beamformer_filter.cc b/src/algorithms/input_filter/adapters/beamformer_filter.cc new file mode 100644 index 000000000..9d9bc5e1b --- /dev/null +++ b/src/algorithms/input_filter/adapters/beamformer_filter.cc @@ -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 . + * + * ------------------------------------------------------------------------- + */ + +#include "beamformer_filter.h" +#include +#include +#include +#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_; +} diff --git a/src/algorithms/input_filter/adapters/beamformer_filter.h b/src/algorithms/input_filter/adapters/beamformer_filter.h new file mode 100644 index 000000000..da7b57710 --- /dev/null +++ b/src/algorithms/input_filter/adapters/beamformer_filter.h @@ -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 . + * + * ------------------------------------------------------------------------- + */ + + +#ifndef GNSS_SDR_BEAMFORMER_FILTER_H_ +#define GNSS_SDR_BEAMFORMER_FILTER_H_ + +#include +#include +#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_*/ diff --git a/src/algorithms/input_filter/gnuradio_blocks/beamformer.cc b/src/algorithms/input_filter/gnuradio_blocks/beamformer.cc index cc17756b0..2dac27734 100644 --- a/src/algorithms/input_filter/gnuradio_blocks/beamformer.cc +++ b/src/algorithms/input_filter/gnuradio_blocks/beamformer.cc @@ -31,9 +31,10 @@ #include "beamformer.h" #include +#include #include - +#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;iproperty(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); diff --git a/src/algorithms/signal_source/adapters/raw_array_signal_source.h b/src/algorithms/signal_source/adapters/raw_array_signal_source.h index c4c90c71d..8ce096f63 100644 --- a/src/algorithms/signal_source/adapters/raw_array_signal_source.h +++ b/src/algorithms/signal_source/adapters/raw_array_signal_source.h @@ -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 queue_; diff --git a/src/core/receiver/CMakeLists.txt b/src/core/receiver/CMakeLists.txt index 966578054..47fedc374 100644 --- a/src/core/receiver/CMakeLists.txt +++ b/src/core/receiver/CMakeLists.txt @@ -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) diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc index 4f8ea929e..b713e9577 100644 --- a/src/core/receiver/gnss_block_factory.cc +++ b/src/core/receiver/gnss_block_factory.cc @@ -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) diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc index 7b8ac0221..8b6d562ed 100644 --- a/src/core/receiver/gnss_flowgraph.cc +++ b/src/core/receiver/gnss_flowgraph.cc @@ -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"<connect(signal_source()->get_right_block(), i, + signal_conditioner()->get_left_block(), i); + } + }else{ + //single channel + std::cout<<"NORMAL MODE"<connect(signal_source()->get_right_block(), 0, signal_conditioner()->get_left_block(), 0); + } + } catch (std::exception& e) {