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started tracking pull-in test implementation for the FPGA

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This commit is contained in:
Marc Majoral 2018-08-29 18:20:41 +02:00
parent 2f0ef5753e
commit 2b15343a6a
11 changed files with 548 additions and 127 deletions
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10
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc
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@ -58,6 +58,16 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000);
long fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
float downsampling_factor = configuration_->property("GNSS-SDR.downsampling_factor", 1.0);
acq_parameters.downsampling_factor = downsampling_factor;
//fs_in = fs_in/2.0; // downampling filter
//printf("fs_in pre downsampling = %ld\n", fs_in);
fs_in = fs_in/downsampling_factor;
//printf("fs_in post downsampling = %ld\n", fs_in);
acq_parameters.fs_in = fs_in;
//if_ = configuration_->property(role + ".if", 0);
//acq_parameters.freq = if_;

13
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc
View File

@ -60,7 +60,15 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
long fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
float downsampling_factor = configuration_->property("GNSS-SDR.downsampling_factor", 1.0);
acq_parameters.downsampling_factor = downsampling_factor;
//fs_in = fs_in/2.0; // downampling filter
printf("fs_in pre downsampling = %ld\n", fs_in);
fs_in = fs_in/downsampling_factor;
printf("fs_in post downsampling = %ld\n", fs_in);
//printf("####### DEBUG Acq: fs_in = %d\n", fs_in);
acq_parameters.fs_in = fs_in;
acq_parameters.samples_per_code = static_cast<unsigned int>(ceil(GPS_L1_CA_CHIP_PERIOD * static_cast<float>(acq_parameters.fs_in)));
@ -71,16 +79,20 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
acq_parameters.sampled_ms = sampled_ms;
unsigned int code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
acq_parameters.code_length = code_length;
//printf("acq adapter code_length = %d\n", code_length);
// The FPGA can only use FFT lengths that are a power of two.
float nbits = ceilf(log2f((float)code_length));
unsigned int nsamples_total = pow(2, nbits);
unsigned int vector_length = nsamples_total;
//printf("acq adapter vector_length = %d\n", vector_length);
unsigned int select_queue_Fpga = configuration_->property(role + ".select_queue_Fpga", 0);
acq_parameters.select_queue_Fpga = select_queue_Fpga;
std::string default_device_name = "/dev/uio0";
std::string device_name = configuration_->property(role + ".devicename", default_device_name);
//printf("acq adapter device name = %s\n", device_name.c_str());
acq_parameters.device_name = device_name;
acq_parameters.samples_per_ms = nsamples_total / sampled_ms;
//printf("acq adapter samples_per_ms = %d\n", nsamples_total / sampled_ms);
acq_parameters.samples_per_code = nsamples_total;
// compute all the GPS L1 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
@ -237,6 +249,7 @@ void GpsL1CaPcpsAcquisitionFpga::set_local_code()
void GpsL1CaPcpsAcquisitionFpga::reset()
{
acquisition_fpga_->set_active(true);
//printf("acq reset end dddsss\n");
}

38
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.cc
View File

@ -76,6 +76,8 @@ pcps_acquisition_fpga::pcps_acquisition_fpga(pcpsconf_fpga_t conf_) : gr::block(
d_channel = 0U;
d_gnss_synchro = 0;
d_downsampling_factor = acq_parameters.downsampling_factor;
d_select_queue_Fpga = acq_parameters.select_queue_Fpga;
//printf("zzzz acq_parameters.code_length = %d\n", acq_parameters.code_length);
//printf("zzzz acq_parameters.samples_per_ms = %d\n", acq_parameters.samples_per_ms);
//printf("zzzz d_fft_size = %d\n", d_fft_size);
@ -176,6 +178,7 @@ void pcps_acquisition_fpga::send_positive_acquisition()
<< ", magnitude " << d_mag
<< ", input signal power " << d_input_power;
//printf("acq sending positive acquisition\n");
this->message_port_pub(pmt::mp("events"), pmt::from_long(1));
// printf("acq send positive acquisition end\n");
}
@ -196,6 +199,7 @@ void pcps_acquisition_fpga::send_negative_acquisition()
<< ", magnitude " << d_mag
<< ", input signal power " << d_input_power;
//printf("acq sending negative acquisition\n");
this->message_port_pub(pmt::mp("events"), pmt::from_long(2));
// printf("acq send negative acquisition end\n");
}
@ -269,8 +273,12 @@ void pcps_acquisition_fpga::set_active(bool active)
// run loop in hw
//printf("LAUNCH ACQ\n");
//printf("acq lib d_num_doppler_bins = %d\n", d_num_doppler_bins);
acquisition_fpga->set_doppler_sweep(d_num_doppler_bins);
//acquisition_fpga->set_doppler_sweep(2);
//printf("acq lib going to launch acquisition\n");
acquisition_fpga->run_acquisition();
//printf("acq lib going to read the acquisition results\n");
acquisition_fpga->read_acquisition_results(&indext, &magt,
&initial_sample, &d_input_power, &d_doppler_index);
//printf("READ ACQ RESULTS\n");
@ -292,12 +300,35 @@ void pcps_acquisition_fpga::set_active(bool active)
d_input_power = (d_input_power - d_mag) / (d_fft_size - 1);
int32_t doppler = -static_cast<int32_t>(acq_parameters.doppler_max) + d_doppler_step * d_doppler_index;
//d_gnss_synchro->Acq_delay_samples = static_cast<double>(2*(indext % (2*acq_parameters.samples_per_code)));
d_gnss_synchro->Acq_delay_samples = static_cast<double>(indext % acq_parameters.samples_per_code);
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
d_sample_counter = initial_sample;
if (d_select_queue_Fpga == 0)
{
if (d_downsampling_factor > 1)
{
d_gnss_synchro->Acq_delay_samples = static_cast<double>(d_downsampling_factor*(indext % acq_parameters.samples_per_code));
d_gnss_synchro->Acq_samplestamp_samples = d_downsampling_factor*d_sample_counter - 81*0.5*d_downsampling_factor; // delay due to the downsampling filter in the acquisition
}
else
{
d_gnss_synchro->Acq_delay_samples = static_cast<double>(indext % acq_parameters.samples_per_code);
d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter; // delay due to the downsampling filter in the acquisition
}
}
else
{
d_gnss_synchro->Acq_delay_samples = static_cast<double>(indext % acq_parameters.samples_per_code);
d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter; // delay due to the downsampling filter in the acquisition
}
//d_gnss_synchro->Acq_samplestamp_samples = 2*d_sample_counter - 81; // delay due to the downsampling filter in the acquisition
//d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter - 40; // delay due to the downsampling filter in the acquisition
d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter; // delay due to the downsampling filter in the acquisition
d_test_statistics = (d_mag / d_input_power); //* correction_factor;
// debug
@ -339,7 +370,7 @@ void pcps_acquisition_fpga::set_active(bool active)
send_negative_acquisition();
}
// printf("acq set active end\n");
//printf("acq set active end\n");
}
@ -347,6 +378,7 @@ int pcps_acquisition_fpga::general_work(int noutput_items __attribute__((unused)
gr_vector_int& ninput_items, gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items __attribute__((unused)))
{
//printf("ACQ GENERAL WORK CALLED\n");
// the general work is not used with the acquisition that uses the FPGA
return noutput_items;
}

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

@ -73,7 +73,7 @@ typedef struct
uint32_t select_queue_Fpga;
std::string device_name;
lv_16sc_t* all_fft_codes; // memory that contains all the code ffts
float downsampling_factor;
} pcpsconf_fpga_t;
class pcps_acquisition_fpga;
@ -124,6 +124,9 @@ private:
int32_t debug_indext;
int32_t debug_doppler_index;
float d_downsampling_factor;
uint32_t d_select_queue_Fpga;
public:
~pcps_acquisition_fpga();

31
src/algorithms/acquisition/libs/fpga_acquisition.cc
View File

@ -70,6 +70,7 @@
bool fpga_acquisition::init()
{
//printf("acq lib init called\n");
// configure the acquisition with the main initialization values
fpga_acquisition::configure_acquisition();
return true;
@ -78,6 +79,7 @@ bool fpga_acquisition::init()
bool fpga_acquisition::set_local_code(uint32_t PRN)
{
//printf("acq lib set_local_code_called\n");
// select the code with the chosen PRN
fpga_acquisition::fpga_configure_acquisition_local_code(
&d_all_fft_codes[d_nsamples_total * (PRN - 1)]);
@ -96,6 +98,7 @@ fpga_acquisition::fpga_acquisition(std::string device_name,
uint32_t sampled_ms, uint32_t select_queue,
lv_16sc_t *all_fft_codes)
{
//printf("acq lib constructor called\n");
//printf("AAA- sampled_ms = %d\n ", sampled_ms);
uint32_t vector_length = nsamples_total; // * sampled_ms;
@ -121,6 +124,10 @@ fpga_acquisition::fpga_acquisition(std::string device_name,
LOG(WARNING) << "Cannot open deviceio" << d_device_name;
std::cout << "Acq: cannot open deviceio" << d_device_name << std::endl;
}
else
{
//printf("acq lib DEVICE OPENED CORRECTLY\n");
}
d_map_base = reinterpret_cast<volatile uint32_t *>(mmap(NULL, PAGE_SIZE,
PROT_READ | PROT_WRITE, MAP_SHARED, d_fd, 0));
@ -129,6 +136,10 @@ fpga_acquisition::fpga_acquisition(std::string device_name,
LOG(WARNING) << "Cannot map the FPGA acquisition module into user memory";
std::cout << "Acq: cannot map deviceio" << d_device_name << std::endl;
}
else
{
//printf("acq lib MAP BASE MAPPED CORRECTLY\n");
}
// sanity check : check test register
uint32_t writeval = TEST_REG_SANITY_CHECK;
@ -141,6 +152,7 @@ fpga_acquisition::fpga_acquisition(std::string device_name,
else
{
LOG(INFO) << "Acquisition test register sanity check success!";
//printf("acq lib REG SANITY CHECK SUCCESS\n");
//std::cout << "Acquisition test register sanity check success!" << std::endl;
}
fpga_acquisition::reset_acquisition();
@ -150,18 +162,21 @@ fpga_acquisition::fpga_acquisition(std::string device_name,
fpga_acquisition::~fpga_acquisition()
{
//printf("acq lib destructor called\n");
close_device();
}
bool fpga_acquisition::free()
{
//printf("acq lib free called\n");
return true;
}
uint32_t fpga_acquisition::fpga_acquisition_test_register(uint32_t writeval)
{
//printf("acq lib test register called\n");
uint32_t readval;
// write value to test register
d_map_base[15] = writeval;
@ -177,7 +192,7 @@ void fpga_acquisition::fpga_configure_acquisition_local_code(lv_16sc_t fft_local
uint32_t local_code;
uint32_t k, tmp, tmp2;
uint32_t fft_data;
//printf("acq lib fpga_configure_acquisition_local_code_called\n");
// clear memory address counter
//d_map_base[6] = LOCAL_CODE_CLEAR_MEM;
d_map_base[9] = LOCAL_CODE_CLEAR_MEM;
@ -208,13 +223,14 @@ void fpga_acquisition::fpga_configure_acquisition_local_code(lv_16sc_t fft_local
void fpga_acquisition::run_acquisition(void)
{
//printf("acq lib run_acqisition called\n");
// enable interrupts
int32_t reenable = 1;
write(d_fd, reinterpret_cast<void *>(&reenable), sizeof(int32_t));
// launch the acquisition process
//printf("launchin acquisition ...\n");
//printf("acq lib launchin acquisition ...\n");
d_map_base[8] = LAUNCH_ACQUISITION; // writing a 1 to reg 8 launches the acquisition process
//printf("acq lib waiting for interrupt ...\n");
int32_t irq_count;
ssize_t nb;
// wait for interrupt
@ -230,6 +246,7 @@ void fpga_acquisition::run_acquisition(void)
void fpga_acquisition::set_doppler_sweep(uint32_t num_sweeps)
{
//printf("acq lib set_doppler_sweep called\n");
float phase_step_rad_real;
float phase_step_rad_int_temp;
int32_t phase_step_rad_int;
@ -276,6 +293,7 @@ void fpga_acquisition::set_doppler_sweep(uint32_t num_sweeps)
void fpga_acquisition::set_doppler_sweep_debug(uint32_t num_sweeps, uint32_t doppler_index)
{
//printf("acq lib set_doppler_sweep_debug called\n");
float phase_step_rad_real;
float phase_step_rad_int_temp;
int32_t phase_step_rad_int;
@ -323,6 +341,7 @@ void fpga_acquisition::set_doppler_sweep_debug(uint32_t num_sweeps, uint32_t dop
void fpga_acquisition::configure_acquisition()
{
//printf("acq lib configure acquisition called\n");
//printf("AAA d_select_queue = %d\n", d_select_queue);
d_map_base[0] = d_select_queue;
//printf("AAA writing d_vector_length = %d to d map base 1\n ", d_vector_length);
@ -338,6 +357,7 @@ void fpga_acquisition::configure_acquisition()
void fpga_acquisition::set_phase_step(uint32_t doppler_index)
{
//printf("acq lib set phase step called\n");
float phase_step_rad_real;
float phase_step_rad_int_temp;
int32_t phase_step_rad_int;
@ -367,6 +387,7 @@ void fpga_acquisition::set_phase_step(uint32_t doppler_index)
void fpga_acquisition::read_acquisition_results(uint32_t *max_index,
float *max_magnitude, uint64_t *initial_sample, float *power_sum, uint32_t *doppler_index)
{
//printf("acq lib read_acquisition_results_called\n");
uint64_t initial_sample_tmp = 0;
uint32_t readval = 0;
@ -396,18 +417,21 @@ void fpga_acquisition::read_acquisition_results(uint32_t *max_index,
void fpga_acquisition::block_samples()
{
//printf("acq lib block samples called\n");
d_map_base[14] = 1; // block the samples
}
void fpga_acquisition::unblock_samples()
{
//printf("acq lib unblock samples called\n");
d_map_base[14] = 0; // unblock the samples
}
void fpga_acquisition::close_device()
{
//printf("acq lib close device called\n");
uint32_t *aux = const_cast<uint32_t *>(d_map_base);
if (munmap(static_cast<void *>(aux), PAGE_SIZE) == -1)
{
@ -419,5 +443,6 @@ void fpga_acquisition::close_device()
void fpga_acquisition::reset_acquisition(void)
{
//printf("acq lib reset acquisition called\n");
d_map_base[8] = RESET_ACQUISITION; // writing a 2 to d_map_base[8] resets the multicorrelator
}

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

@ -74,6 +74,7 @@ public:
*/
void set_doppler_max(uint32_t doppler_max)
{
//printf("acq lib set doppler max called\n");
d_doppler_max = doppler_max;
}
@ -83,6 +84,7 @@ public:
*/
void set_doppler_step(uint32_t doppler_step)
{
//printf("acq lib set doppler step called\n");
d_doppler_step = doppler_step;
}

2
src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.cc
View File

@ -106,7 +106,7 @@ Ad9361FpgaSignalSource::Ad9361FpgaSignalSource(ConfigurationInterface* configura
}
// turn switch to A/D position
std::string default_device_name = "/dev/uio13";
std::string default_device_name = "/dev/uio1";
std::string device_name = configuration->property(role + ".devicename", default_device_name);
int switch_position = configuration->property(role + ".switch_position", 0);
switch_fpga = std::make_shared<fpga_switch>(device_name);

2
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking.cc
View File

@ -581,7 +581,7 @@ dll_pll_veml_tracking::~dll_pll_veml_tracking()
{
std::cout << "Writing .mat files ...";
}
save_matfile();
// save_matfile();
if (d_channel == 0)
{
std::cout << " done." << std::endl;

4
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc
View File

@ -589,7 +589,7 @@ dll_pll_veml_tracking_fpga::~dll_pll_veml_tracking_fpga()
{
std::cout << "Writing .mat files ...";
}
save_matfile();
// save_matfile();
if (d_channel == 0)
{
std::cout << " done." << std::endl;
@ -1251,8 +1251,10 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
//printf("333333 current_synchro_data.Acq_delay_samples = %f\n", current_synchro_data.Acq_delay_samples);
//printf("333333 d_correlation_length_samples = %d\n", d_correlation_length_samples);
uint32_t num_frames = ceil((counter_value - current_synchro_data.Acq_samplestamp_samples - current_synchro_data.Acq_delay_samples) / d_correlation_length_samples);
//uint32_t num_frames = ceil((counter_value - current_synchro_data.Acq_samplestamp_samples*2 - current_synchro_data.Acq_delay_samples*2) / d_correlation_length_samples);
//printf("333333 num_frames = %d\n", num_frames);
uint64_t absolute_samples_offset = static_cast<uint64_t>(current_synchro_data.Acq_delay_samples + current_synchro_data.Acq_samplestamp_samples + num_frames * d_correlation_length_samples);
//uint64_t absolute_samples_offset = static_cast<uint64_t>(current_synchro_data.Acq_delay_samples*2 + current_synchro_data.Acq_samplestamp_samples*2 + num_frames * d_correlation_length_samples);
//printf("333333 absolute_samples_offset = %llu\n", absolute_samples_offset);
multicorrelator_fpga->set_initial_sample(absolute_samples_offset);
d_absolute_samples_offset = absolute_samples_offset;

2
src/tests/test_main.cc
View File

@ -149,7 +149,7 @@ DECLARE_string(log_dir);
#include "unit-tests/signal-processing-blocks/tracking/gps_l2_m_dll_pll_tracking_test.cc"
#include "unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test.cc"
#include "unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test.cc"
#if ENABLE_FPGA
#if FPGA_BLOCKS_TEST
#include "unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test_fpga.cc"
#endif
#include "unit-tests/signal-processing-blocks/telemetry_decoder/gps_l1_ca_telemetry_decoder_test.cc"

566
src/tests/unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test_fpga.cc
View File

@ -45,12 +45,21 @@
#include "GPS_L1_CA.h"
#include "gnss_block_factory.h"
#include "tracking_interface.h"
//------------- remove when transition to FPGA is complete -----
#include "gps_l2_m_pcps_acquisition.h"
#include "gps_l1_ca_pcps_acquisition.h"
//--------------------------------------------------------------
#include "gps_l1_ca_pcps_acquisition_fpga.h"
#include "galileo_e1_pcps_ambiguous_acquisition_fpga.h"
#include "galileo_e5a_pcps_acquisition_fpga.h"
#include "gps_l5i_pcps_acquisition_fpga.h"
//------------- remove when transition to FPGA is complete -----
#include "gps_l1_ca_pcps_acquisition_fine_doppler.h"
#include "galileo_e5a_noncoherent_iq_acquisition_caf.h"
#include "galileo_e5a_pcps_acquisition.h"
#include "gps_l5i_pcps_acquisition.h"
//--------------------------------------------------------------
#include "in_memory_configuration.h"
#include "tracking_true_obs_reader.h"
#include "tracking_dump_reader.h"
@ -59,36 +68,45 @@
#include "test_flags.h"
#include "tracking_tests_flags.h"
// threads
#include <pthread.h> // for pthread stuff
#include <fcntl.h> // for open, O_RDWR, O_SYNC
#include <iostream> // for cout, endl
#include <sys/mman.h> // for mmap
#define MAX_INPUT_COMPLEX_SAMPLES_TOTAL 8192 // maximum DMA sample block size in complex samples
#define COMPLEX_SAMPLE_SIZE 2 // sample size in bytes
#define NUM_QUEUES 2 // number of queues (1 for GPS L1/Galileo E1, and 1 for GPS L5/Galileo E5)
// ######## GNURADIO ACQUISITION BLOCK MESSAGE RECEVER #########
class Acquisition_msg_rx;
class Acquisition_msg_rx_Fpga;
typedef boost::shared_ptr<Acquisition_msg_rx> Acquisition_msg_rx_sptr;
typedef boost::shared_ptr<Acquisition_msg_rx_Fpga> Acquisition_msg_rx_Fpga_sptr;
Acquisition_msg_rx_sptr Acquisition_msg_rx_make();
Acquisition_msg_rx_Fpga_sptr Acquisition_msg_rx_Fpga_make();
class Acquisition_msg_rx : public gr::block
class Acquisition_msg_rx_Fpga : public gr::block
{
private:
friend Acquisition_msg_rx_sptr Acquisition_msg_rx_make();
friend Acquisition_msg_rx_Fpga_sptr Acquisition_msg_rx_Fpga_make();
void msg_handler_events(pmt::pmt_t msg);
Acquisition_msg_rx();
Acquisition_msg_rx_Fpga();
public:
int rx_message;
gr::top_block_sptr top_block;
~Acquisition_msg_rx(); //!< Default destructor
~Acquisition_msg_rx_Fpga(); //!< Default destructor
};
Acquisition_msg_rx_sptr Acquisition_msg_rx_make()
Acquisition_msg_rx_Fpga_sptr Acquisition_msg_rx_Fpga_make()
{
return Acquisition_msg_rx_sptr(new Acquisition_msg_rx());
return Acquisition_msg_rx_Fpga_sptr(new Acquisition_msg_rx_Fpga());
}
void Acquisition_msg_rx::msg_handler_events(pmt::pmt_t msg)
void Acquisition_msg_rx_Fpga::msg_handler_events(pmt::pmt_t msg)
{
try
{
@ -104,15 +122,15 @@ void Acquisition_msg_rx::msg_handler_events(pmt::pmt_t msg)
}
Acquisition_msg_rx::Acquisition_msg_rx() : gr::block("Acquisition_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
Acquisition_msg_rx_Fpga::Acquisition_msg_rx_Fpga() : gr::block("Acquisition_msg_rx_Fpga", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
{
this->message_port_register_in(pmt::mp("events"));
this->set_msg_handler(pmt::mp("events"), boost::bind(&Acquisition_msg_rx::msg_handler_events, this, _1));
this->set_msg_handler(pmt::mp("events"), boost::bind(&Acquisition_msg_rx_Fpga::msg_handler_events, this, _1));
rx_message = 0;
}
Acquisition_msg_rx::~Acquisition_msg_rx() {}
Acquisition_msg_rx_Fpga::~Acquisition_msg_rx_Fpga() {}
// ######## GNURADIO TRACKING BLOCK MESSAGE RECEVER #########
class TrackingPullInTestFpga_msg_rx;
@ -306,7 +324,10 @@ void TrackingPullInTestFpga::configure_receiver(
config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(baseband_sampling_freq));
std::string System_and_Signal;
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking") == 0)
printf("¿¿¿¿¿¿¿¿¿ implementation = %s\n", implementation.c_str());
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
gnss_synchro.System = 'G';
std::string signal = "1C";
@ -315,7 +336,7 @@ void TrackingPullInTestFpga::configure_receiver(
config->set_property("Tracking.early_late_space_chips", "0.5");
config->set_property("Tracking.early_late_space_narrow_chips", "0.5");
}
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking") == 0)
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
gnss_synchro.System = 'E';
std::string signal = "1B";
@ -327,7 +348,7 @@ void TrackingPullInTestFpga::configure_receiver(
config->set_property("Tracking.very_early_late_space_narrow_chips", "0.6");
config->set_property("Tracking.track_pilot", "true");
}
else if (implementation.compare("GPS_L2_M_DLL_PLL_Tracking") == 0)
else if (implementation.compare("GPS_L2_M_DLL_PLL_Tracking_Fpga") == 0)
{
gnss_synchro.System = 'G';
std::string signal = "2S";
@ -336,7 +357,7 @@ void TrackingPullInTestFpga::configure_receiver(
config->set_property("Tracking.early_late_space_chips", "0.5");
config->set_property("Tracking.track_pilot", "false");
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking") == 0 or implementation.compare("Galileo_E5a_DLL_PLL_Tracking_b") == 0)
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0) // or implementation.compare("Galileo_E5a_DLL_PLL_Tracking_b") == 0)
{
gnss_synchro.System = 'E';
std::string signal = "5X";
@ -350,7 +371,7 @@ void TrackingPullInTestFpga::configure_receiver(
config->set_property("Tracking.track_pilot", "false");
config->set_property("Tracking.order", "2");
}
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking") == 0)
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
{
gnss_synchro.System = 'G';
std::string signal = "L5";
@ -380,9 +401,197 @@ void TrackingPullInTestFpga::configure_receiver(
std::cout << "*****************************************\n";
}
const size_t PAGE_SIZE = 0x10000;
const unsigned int TEST_REGISTER_TRACK_WRITEVAL = 0x55AA;
void setup_fpga_switch(void)
{
//printf("starting switch function\n");
int switch_device_descriptor; // driver descriptor
volatile unsigned *switch_map_base; // driver memory map
if ((switch_device_descriptor = open("/dev/uio1", O_RDWR | O_SYNC)) == -1)
{
LOG(WARNING) << "Cannot open deviceio" << "/dev/uio1";
}
switch_map_base = reinterpret_cast<volatile unsigned *>(mmap(nullptr, PAGE_SIZE,
PROT_READ | PROT_WRITE, MAP_SHARED, switch_device_descriptor, 0));
if (switch_map_base == reinterpret_cast<void *>(-1))
{
LOG(WARNING) << "Cannot map the FPGA switch module into tracking memory";
std::cout << "Could not map switch memory." << std::endl;
}
else
{
// std::cout << "Switch memory successfully mapped." << std::endl;
}
// sanity check : check test register
unsigned writeval = TEST_REGISTER_TRACK_WRITEVAL;
unsigned readval;
// write value to test register
switch_map_base[3] = writeval;
// read value from test register
readval = switch_map_base[3];
if (writeval != readval)
{
LOG(WARNING) << "Test register sanity check failed";
}
else
{
LOG(INFO) << "Test register sanity check success !";
}
switch_map_base[0] = 0; //0 -> DMA to queue 0, 1 -> DMA to queue 1, 2 -> A/Ds to queues
//printf("switch set to DMA\n");
}
static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
unsigned int send_samples_start = 0;
int8_t input_samples[MAX_INPUT_COMPLEX_SAMPLES_TOTAL*COMPLEX_SAMPLE_SIZE]; // re - im
int8_t input_samples_dma[MAX_INPUT_COMPLEX_SAMPLES_TOTAL*COMPLEX_SAMPLE_SIZE*NUM_QUEUES];
struct DMA_handler_args {
std::string file;
unsigned int nsamples_tx;
};
void *handler_DMA(void *arguments)
{
// DMA process that configures the DMA to send the samples to the acquisition engine
int tx_fd; // DMA descriptor
FILE *rx_signal_file_id; // Input file descriptor
bool file_completed = false; // flag to indicate if the file is completed
unsigned int nsamples_block; // number of samples to send in the next DMA block of samples
unsigned int nread_elements; // number of elements effectively read from the input file
unsigned int nsamples = 0; // number of complex samples effectively transferred
unsigned int index0, dma_index = 0; // counters used for putting the samples in the order expected by the DMA
unsigned int num_bytes_to_transfer; // DMA transfer block size in bytes
unsigned int testdummy;
struct DMA_handler_args *args = (struct DMA_handler_args *) arguments;
unsigned int nsamples_tx = args->nsamples_tx;
//std::string *file = (std::string *)file_void_ptr; // input filename
std::string file = args->file; // input filename
//unsigned int *nsamples_tx = (unsigned int *)nsamples_tx_void_ptr; // number of samples to transfer in total
// debug
//printf("DMA %s\n", file.c_str());
//printf("DMA Starting DMA child process\n");
//printf("DMA nsamples to send = %d\n", nsamples_tx);
// open DMA device
tx_fd = open("/dev/loop_tx", O_WRONLY);
if ( tx_fd < 0 )
{
printf("DMA can't open loop device\n");
exit(1);
}
else
{
// printf("DMA loop device opened successfully\n");
}
// open input file
rx_signal_file_id = fopen(file.c_str(), "rb");
if (rx_signal_file_id < 0)
{
printf("DMA can't open input file\n");
exit(1);
}
else
{
// printf("DMA open file opened successfully\n");
}
while(send_samples_start == 0); // wait until acquisition starts
//printf("DMA going to sleep to give time\n");
usleep(50000); // wait 1 second to give time to the main thread to start the acquisition module
// printf("DMA child process: starting sample transfer\n");
// transfer samples
while (file_completed == false)
{
if (nsamples_tx - nsamples > MAX_INPUT_COMPLEX_SAMPLES_TOTAL)
{
nsamples_block = MAX_INPUT_COMPLEX_SAMPLES_TOTAL;
}
else
{
nsamples_block = nsamples_tx - nsamples; // remaining samples to be sent
file_completed = true;
}
nread_elements = fread(input_samples, sizeof(int8_t), nsamples_block*COMPLEX_SAMPLE_SIZE, rx_signal_file_id);
if (nread_elements != nsamples_block * COMPLEX_SAMPLE_SIZE)
{
printf("could not read the desired number of samples from the input file\n");
file_completed = true;
}
nsamples+=(nread_elements/COMPLEX_SAMPLE_SIZE);
if (nread_elements > 0)
{
// for the 32-BIT DMA
dma_index = 0;
for (index0 = 0;index0 < (nread_elements);index0+=COMPLEX_SAMPLE_SIZE)
{
// channel 1 (queue 1) -> E5/L5
input_samples_dma[dma_index] = 0;
input_samples_dma[dma_index+1] = 0;
// channel 0 (queue 0) -> E1/L1
input_samples_dma[dma_index+2] = input_samples[index0];
input_samples_dma[dma_index+3] = input_samples[index0+1];
dma_index += 4;
}
//send_tracking_gps_input_samples(tx_fd, input_samples_dma, nread_elements*2); // for the 32-bit DMA
//assert( num_bytes_to_transfer == write(tx_fd, &input_samples_dma[0], nread_elements*NUM_QUEUES) );
testdummy = write(tx_fd, &input_samples_dma[0], nread_elements*NUM_QUEUES);
//testdummy = write(tx_fd, &input_samples_dma[0], nread_elements*NUM_QUEUES);
//printf("testdummy = %d nread_elements*NUM_QUEUES = %d\n", testdummy, nread_elements*NUM_QUEUES);
}
//printf("DMA nsamples transferred = %d...\n", nsamples);
// if (nread_elements != MAX_INPUT_COMPLEX_SAMPLES_TOTAL*COMPLEX_SAMPLE_SIZE)
// {
// file_completed = true;
// }
}
// printf("number of samples transferred = %d\n",nsamples);
close(tx_fd);
fclose(rx_signal_file_id);
//printf("Ending the DMA child process\n");
return NULL;
}
bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
{
// pointer to the DMA thread that sends the samples to the acquisition engine
pthread_t thread_DMA;
// 1. Setup GNU Radio flowgraph (file_source -> Acquisition_10m)
gr::top_block_sptr top_block;
top_block = gr::make_top_block("Acquisition test");
@ -398,11 +607,15 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
config->set_property("Acquisition.dump_filename", "./data/acquisition.dat");
config->set_property("Acquisition.use_CFAR_algorithm", "false");
std::shared_ptr<AcquisitionInterface> acquisition;
//std::shared_ptr<AcquisitionInterface> acquisition;
std::shared_ptr<AcquisitionInterface> acquisition_Fpga;
std::string System_and_Signal;
//printf("¿¿¿¿¿¿¿¿¿2 implementation = %s\n", implementation.c_str());
//create the correspondign acquisition block according to the desired tracking signal
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking") == 0)
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
tmp_gnss_synchro.System = 'G';
std::string signal = "1C";
@ -412,9 +625,10 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
System_and_Signal = "GPS L1 CA";
config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_external_signal_acquisition_dwells));
//acquisition = std::make_shared<GpsL1CaPcpsAcquisitionFineDoppler>(config.get(), "Acquisition", 1, 0);
acquisition = std::make_shared<GpsL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 0);
//acquisition = std::make_shared<GpsL1CaPcpsAcquisition>(config.get(), "Acquisition", 1, 0);
acquisition_Fpga = std::make_shared<GpsL1CaPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
}
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking") == 0)
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
tmp_gnss_synchro.System = 'E';
std::string signal = "1B";
@ -423,9 +637,10 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
tmp_gnss_synchro.PRN = SV_ID;
System_and_Signal = "Galileo E1B";
config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_external_signal_acquisition_dwells));
acquisition = std::make_shared<GalileoE1PcpsAmbiguousAcquisition>(config.get(), "Acquisition", 1, 0);
//acquisition = std::make_shared<GalileoE1PcpsAmbiguousAcquisition>(config.get(), "Acquisition", 1, 0);
acquisition_Fpga = std::make_shared<GalileoE1PcpsAmbiguousAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
}
else if (implementation.compare("GPS_L2_M_DLL_PLL_Tracking") == 0)
else if (implementation.compare("GPS_L2_M_DLL_PLL_Tracking_Fpga") == 0)
{
tmp_gnss_synchro.System = 'G';
std::string signal = "2S";
@ -434,25 +649,26 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
tmp_gnss_synchro.PRN = SV_ID;
System_and_Signal = "GPS L2CM";
config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_external_signal_acquisition_dwells));
acquisition = std::make_shared<GpsL2MPcpsAcquisition>(config.get(), "Acquisition", 1, 0);
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_b") == 0)
{
tmp_gnss_synchro.System = 'E';
std::string signal = "5X";
const char* str = signal.c_str(); // get a C style null terminated string
std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3); // copy string into synchro char array: 2 char + null
tmp_gnss_synchro.PRN = SV_ID;
System_and_Signal = "Galileo E5a";
config->set_property("Acquisition_5X.coherent_integration_time_ms", "1");
config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_external_signal_acquisition_dwells));
config->set_property("Acquisition.CAF_window_hz", "0"); // **Only for E5a** Resolves doppler ambiguity averaging the specified BW in the winner code delay. If set to 0 CAF filter is desactivated. Recommended value 3000 Hz
config->set_property("Acquisition.Zero_padding", "0"); //**Only for E5a** Avoids power loss and doppler ambiguity in bit transitions by correlating one code with twice the input data length, ensuring that at least one full code is present without transitions. If set to 1 it is ON, if set to 0 it is OFF.
config->set_property("Acquisition.bit_transition_flag", "false");
acquisition = std::make_shared<GalileoE5aNoncoherentIQAcquisitionCaf>(config.get(), "Acquisition", 1, 0);
//acquisition = std::make_shared<GpsL2MPcpsAcquisition>(config.get(), "Acquisition", 1, 0);
}
// else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_b") == 0)
// {
// tmp_gnss_synchro.System = 'E';
// std::string signal = "5X";
// const char* str = signal.c_str(); // get a C style null terminated string
// std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3); // copy string into synchro char array: 2 char + null
// tmp_gnss_synchro.PRN = SV_ID;
// System_and_Signal = "Galileo E5a";
// config->set_property("Acquisition_5X.coherent_integration_time_ms", "1");
// config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_external_signal_acquisition_dwells));
// config->set_property("Acquisition.CAF_window_hz", "0"); // **Only for E5a** Resolves doppler ambiguity averaging the specified BW in the winner code delay. If set to 0 CAF filter is desactivated. Recommended value 3000 Hz
// config->set_property("Acquisition.Zero_padding", "0"); //**Only for E5a** Avoids power loss and doppler ambiguity in bit transitions by correlating one code with twice the input data length, ensuring that at least one full code is present without transitions. If set to 1 it is ON, if set to 0 it is OFF.
// config->set_property("Acquisition.bit_transition_flag", "false");
// //acquisition = std::make_shared<GalileoE5aNoncoherentIQAcquisitionCaf>(config.get(), "Acquisition", 1, 0);
//
// }
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking") == 0)
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{
tmp_gnss_synchro.System = 'E';
std::string signal = "5X";
@ -461,9 +677,10 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
tmp_gnss_synchro.PRN = SV_ID;
System_and_Signal = "Galileo E5a";
config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_external_signal_acquisition_dwells));
acquisition = std::make_shared<GalileoE5aPcpsAcquisition>(config.get(), "Acquisition", 1, 0);
//acquisition = std::make_shared<GalileoE5aPcpsAcquisition>(config.get(), "Acquisition", 1, 0);
acquisition_Fpga = std::make_shared<GalileoE5aPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
}
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking") == 0)
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
{
tmp_gnss_synchro.System = 'G';
std::string signal = "L5";
@ -472,7 +689,8 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
tmp_gnss_synchro.PRN = SV_ID;
System_and_Signal = "GPS L5I";
config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_external_signal_acquisition_dwells));
acquisition = std::make_shared<GpsL5iPcpsAcquisition>(config.get(), "Acquisition", 1, 0);
//acquisition = std::make_shared<GpsL5iPcpsAcquisition>(config.get(), "Acquisition", 1, 0);
acquisition_Fpga = std::make_shared<GpsL5iPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
}
else
{
@ -480,32 +698,54 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
throw(std::exception());
}
acquisition->set_gnss_synchro(&tmp_gnss_synchro);
acquisition->set_channel(0);
acquisition->set_doppler_max(config->property("Acquisition.doppler_max", FLAGS_external_signal_acquisition_doppler_max_hz));
acquisition->set_doppler_step(config->property("Acquisition.doppler_step", FLAGS_external_signal_acquisition_doppler_step_hz));
acquisition->set_threshold(config->property("Acquisition.threshold", FLAGS_external_signal_acquisition_threshold));
acquisition->init();
acquisition->set_local_code();
acquisition->set_state(1); // Ensure that acquisition starts at the first sample
acquisition->connect(top_block);
//acquisition->set_gnss_synchro(&tmp_gnss_synchro);
//acquisition->set_channel(0);
//acquisition->set_doppler_max(config->property("Acquisition.doppler_max", FLAGS_external_signal_acquisition_doppler_max_hz));
//acquisition->set_doppler_step(config->property("Acquisition.doppler_step", FLAGS_external_signal_acquisition_doppler_step_hz));
//acquisition->set_threshold(config->property("Acquisition.threshold", FLAGS_external_signal_acquisition_threshold));
//acquisition->init();
//acquisition->set_local_code();
//acquisition->set_state(1); // Ensure that acquisition starts at the first sample
//acquisition->connect(top_block);
gr::blocks::file_source::sptr file_source;
//acquisition_Fpga->set_gnss_synchro(&tmp_gnss_synchro);
acquisition_Fpga->set_channel(0);
acquisition_Fpga->set_doppler_max(config->property("Acquisition.doppler_max", FLAGS_external_signal_acquisition_doppler_max_hz));
acquisition_Fpga->set_doppler_step(config->property("Acquisition.doppler_step", FLAGS_external_signal_acquisition_doppler_step_hz));
acquisition_Fpga->set_threshold(config->property("Acquisition.threshold", FLAGS_external_signal_acquisition_threshold));
//acquisition_Fpga->init();
//acquisition_Fpga->set_local_code();
// PROBABLY WE DONN'T NEED THIS acquisition_Fpga->set_state(1); // Ensure that acquisition starts at the first sample
acquisition_Fpga->connect(top_block);
//gr::blocks::file_source::sptr file_source;
std::string file = FLAGS_signal_file;
const char* file_name = file.c_str();
file_source = gr::blocks::file_source::make(sizeof(int8_t), file_name, false);
file_source->seek(2 * FLAGS_skip_samples, 0); //skip head. ibyte, two bytes per complex sample
gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make();
struct DMA_handler_args args;
args.file = file;
args.nsamples_tx = 50000000; // number of samples to transfer
const char* file_name = file.c_str();
//file_source = gr::blocks::file_source::make(sizeof(int8_t), file_name, false);
//file_source->seek(2 * FLAGS_skip_samples, 0); //skip head. ibyte, two bytes per complex sample
//gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make();
//gr::blocks::head::sptr head_samples = gr::blocks::head::make(sizeof(gr_complex), baseband_sampling_freq * FLAGS_duration);
top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0);
top_block->connect(gr_interleaved_char_to_complex, 0, acquisition->get_left_block(), 0);
//top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0);
//top_block->connect(gr_interleaved_char_to_complex, 0, acquisition->get_left_block(), 0);
//top_block->connect(head_samples, 0, acquisition->get_left_block(), 0);
boost::shared_ptr<Acquisition_msg_rx> msg_rx;
boost::shared_ptr<Acquisition_msg_rx_Fpga> msg_rx;
try
{
msg_rx = Acquisition_msg_rx_make();
msg_rx = Acquisition_msg_rx_Fpga_make();
}
catch (const std::exception& e)
{
@ -514,7 +754,9 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
}
msg_rx->top_block = top_block;
top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
//top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
top_block->msg_connect(acquisition_Fpga->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
// 5. Run the flowgraph
// Get visible GPS satellites (positive acquisitions with Doppler measurements)
@ -543,16 +785,52 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
MAX_PRN_IDX = 33;
}
//printf("NOW CALLING SWITCH\n");
setup_fpga_switch();
for (unsigned int PRN = 1; PRN < MAX_PRN_IDX; PRN++)
{
tmp_gnss_synchro.PRN = PRN;
acquisition->set_gnss_synchro(&tmp_gnss_synchro);
acquisition->init();
acquisition->set_local_code();
acquisition->reset();
acquisition->set_state(1);
//printf("PRN %d\n", PRN);
tmp_gnss_synchro.PRN = PRN;
// acquisition->set_gnss_synchro(&tmp_gnss_synchro);
// acquisition->init();
// acquisition->set_local_code();
// acquisition->reset();
// acquisition->set_state(1);
// printf("SSSSSSSSSSSSSSSSSSSSTEPA\n");
acquisition_Fpga->set_gnss_synchro(&tmp_gnss_synchro);
acquisition_Fpga->init();
acquisition_Fpga->set_local_code();
// printf("SSSSSSSSSSSSSSSSSSSSTEPB\n");
// create DMA child process
//if (pthread_create(&thread_DMA, NULL, handler_DMA, &file, nsamples_tx) < 0)
if (pthread_create(&thread_DMA, NULL, handler_DMA, (void *)&args) < 0)
{
printf("ERROR cannot create DMA Process\n");
}
// else
// {
// printf("DMA child process created successfully\n");
// }
pthread_mutex_lock(&mutex);
send_samples_start = 1;
pthread_mutex_unlock(&mutex);
msg_rx->rx_message = 0;
top_block->run();
top_block->start();
// printf("main thread: starting acquisition\n");
acquisition_Fpga->reset(); //NOT YET
// printf("zzzzzzzzzzzzzzzzzzzzz\n");
// PROBABLY WE DON'T NEED THIS acquisition_Fpga->set_state(1);
//msg_rx->rx_message = 0;
// printf("aaaaaaaaaaaaaaaaaaaaaaaa\n");
//top_block->run();
// printf("bbbbbbbbbbbbbbbbbbbbbbbb\n");
if (start_msg == true)
{
std::cout << "Reading external signal file: " << FLAGS_signal_file << std::endl;
@ -560,12 +838,29 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
std::cout << "[";
start_msg = false;
}
// wait for the child DMA process to finish
pthread_join(thread_DMA, NULL);
// printf("DMA child process terminated successfully\n");
//printf("enter number whatever\n");
//unsigned int kk;
//scanf("%d\n", &kk);
//printf("ok number obtained \n");
send_samples_start = 0;
while (msg_rx->rx_message == 0)
{
//printf("message is zero\n");
usleep(100000);
}
if (msg_rx->rx_message == 1)
{
//printf("message is something\n");
std::cout << " " << PRN << " ";
doppler_measurements_map.insert(std::pair<int, double>(PRN, tmp_gnss_synchro.Acq_doppler_hz));
code_delay_measurements_map.insert(std::pair<int, double>(PRN, tmp_gnss_synchro.Acq_delay_samples));
@ -573,10 +868,11 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
}
else
{
//printf("message is something not contemplated\n");
std::cout << " . ";
}
top_block->stop();
file_source->seek(2 * FLAGS_skip_samples, 0); //skip head. ibyte, two bytes per complex sample
//file_source->seek(2 * FLAGS_skip_samples, 0); //skip head. ibyte, two bytes per complex sample
std::cout.flush();
}
std::cout << "]" << std::endl;
@ -598,6 +894,14 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
TEST_F(TrackingPullInTestFpga, ValidationOfResults)
{
// pointer to the DMA thread that sends the samples to the acquisition engine
pthread_t thread_DMA;
struct DMA_handler_args args;
//*************************************************
//***** STEP 1: Prepare the parameters sweep ******
//*************************************************
@ -624,10 +928,12 @@ TEST_F(TrackingPullInTestFpga, ValidationOfResults)
std::vector<double> generator_CN0_values;
if (FLAGS_enable_external_signal_file)
{
printf("XXXXXXXXXXXXXXXXXXXXXXXXXXXXX READ FROM FILE\n");
generator_CN0_values.push_back(999); // an external input signal capture is selected, no CN0 information available
}
else
{
printf("XXXXXXXXXXXXXXXXXXXXXXXXXXXXX GENERATE INPUT SIGNAL\n");
if (FLAGS_CN0_dBHz_start == FLAGS_CN0_dBHz_stop)
{
generator_CN0_values.push_back(FLAGS_CN0_dBHz_start);
@ -644,6 +950,7 @@ TEST_F(TrackingPullInTestFpga, ValidationOfResults)
// use generator or use an external capture file
if (FLAGS_enable_external_signal_file)
{
printf("XXXXXXXXXXXXXXXXXXXXXXXXXXXXX READ FROM FILE 2\n");
//create and configure an acquisition block and perform an acquisition to obtain the synchronization parameters
ASSERT_EQ(acquire_signal(FLAGS_test_satellite_PRN), true);
bool found_satellite = doppler_measurements_map.find(FLAGS_test_satellite_PRN) != doppler_measurements_map.end();
@ -652,6 +959,7 @@ TEST_F(TrackingPullInTestFpga, ValidationOfResults)
}
else
{
printf("XXXXXXXXXXXXXXXXXXXXXXXXXXXXX GENERATE INPUT SIGNAL 2\n");
for (unsigned int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
{
// Configure the signal generator
@ -682,6 +990,7 @@ TEST_F(TrackingPullInTestFpga, ValidationOfResults)
tracking_true_obs_reader true_obs_data;
if (!FLAGS_enable_external_signal_file)
{
printf("XXXXXXXXXXXXXXXXXXXXXXXXXXXXX GENERATE INPUT SIGNAL 3\n");
test_satellite_PRN = FLAGS_test_satellite_PRN;
std::string true_obs_file = std::string("./gps_l1_ca_obs_prn");
true_obs_file.append(std::to_string(test_satellite_PRN));
@ -701,6 +1010,7 @@ TEST_F(TrackingPullInTestFpga, ValidationOfResults)
}
else
{
printf("XXXXXXXXXXXXXXXXXXXXXXXXXXXXX READ FROM FILE 3\n");
true_acq_doppler_hz = doppler_measurements_map.find(FLAGS_test_satellite_PRN)->second;
true_acq_delay_samples = code_delay_measurements_map.find(FLAGS_test_satellite_PRN)->second;
acq_samplestamp_samples = 0;
@ -747,30 +1057,50 @@ TEST_F(TrackingPullInTestFpga, ValidationOfResults)
ASSERT_NO_THROW({
if (!FLAGS_enable_external_signal_file)
{
printf("XXXXXXXXXXXXXXXXXXXXXXXXXXXXX GENERATE INPUT SIGNAL 4\n");
file = "./" + filename_raw_data + std::to_string(current_cn0_idx);
}
else
{
printf("XXXXXXXXXXXXXXXXXXXXXXXXXXXXX READ FROM FILE 4\n");
file = FLAGS_signal_file;
}
const char* file_name = file.c_str();
gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(int8_t), file_name, false);
gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make();
//gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(int8_t), file_name, false);
//gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make();
gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
gr::blocks::head::sptr head_samples = gr::blocks::head::make(sizeof(gr_complex), baseband_sampling_freq * FLAGS_duration);
top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0);
top_block->connect(gr_interleaved_char_to_complex, 0, head_samples, 0);
top_block->connect(head_samples, 0, tracking->get_left_block(), 0);
//gr::blocks::head::sptr head_samples = gr::blocks::head::make(sizeof(gr_complex), baseband_sampling_freq * FLAGS_duration);
//top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0);
//top_block->connect(gr_interleaved_char_to_complex, 0, head_samples, 0);
//top_block->connect(head_samples, 0, tracking->get_left_block(), 0);
top_block->connect(tracking->get_right_block(), 0, sink, 0);
top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
file_source->seek(2 * FLAGS_skip_samples, 0); //skip head. ibyte, two bytes per complex sample
//file_source->seek(2 * FLAGS_skip_samples, 0); //skip head. ibyte, two bytes per complex sample
}) << "Failure connecting the blocks of tracking test.";
//********************************************************************
//***** STEP 5: Perform the signal tracking and read the results *****
//********************************************************************
args.file = file;
args.nsamples_tx = 500000000; // number of samples to transfer
if (pthread_create(&thread_DMA, NULL, handler_DMA, (void *)&args) < 0)
{
printf("ERROR cannot create DMA Process\n");
}
else
{
printf("DMA child process created successfully\n");
}
std::cout << "--- START TRACKING WITH PULL-IN ERROR: " << acq_doppler_error_hz_values.at(current_acq_doppler_error_idx) << " [Hz] and " << acq_delay_error_chips_values.at(current_acq_doppler_error_idx).at(current_acq_code_error_idx) << " [Chips] ---" << std::endl;
pthread_mutex_lock(&mutex);
send_samples_start = 1;
pthread_mutex_unlock(&mutex);
tracking->start_tracking();
std::chrono::time_point<std::chrono::system_clock> start, end;
EXPECT_NO_THROW({
@ -782,9 +1112,14 @@ TEST_F(TrackingPullInTestFpga, ValidationOfResults)
std::chrono::duration<double> elapsed_seconds = end - start;
std::cout << "Signal tracking completed in " << elapsed_seconds.count() << " seconds" << std::endl;
pull_in_results_v.push_back(msg_rx->rx_message != 3); //save last asynchronous tracking message in order to detect a loss of lock
// wait for the child DMA process to finish
pthread_join(thread_DMA, NULL);
printf("DMA child process terminated successfully\n");
send_samples_start = 0;
//********************************
//***** STEP 7: Plot results *****
//********************************
@ -973,46 +1308,45 @@ TEST_F(TrackingPullInTestFpga, ValidationOfResults)
std::vector<double> pull_in_result_mesh;
pull_in_result_mesh = pull_in_results_v_v.at(current_cn0_idx);
//plot grid
Gnuplot g4("points palette pointsize 2 pointtype 7");
if (FLAGS_show_plots)
{
g4.showonscreen(); // window output
}
else
{
g4.disablescreen();
}
g4.cmd("set palette defined ( 0 \"black\", 1 \"green\" )");
g4.cmd("set key off");
g4.cmd("set view map");
std::string title;
if (!FLAGS_enable_external_signal_file)
{
title = std::string("Tracking Pull-in result grid at CN0:" + std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))) + " [dB-Hz], PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " [Hz].");
}
else
{
title = std::string("Tracking Pull-in result grid, PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " [Hz], GPS L1 C/A (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
Gnuplot g4("points palette pointsize 2 pointtype 7");
g4.showonscreen(); // window output
g4.cmd("set palette defined ( 0 \"black\", 1 \"green\" )");
g4.cmd("set key off");
g4.cmd("set view map");
std::string title;
if (!FLAGS_enable_external_signal_file)
{
title = std::string("Tracking Pull-in result grid at CN0:" + std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))) + " [dB-Hz], PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " [Hz].");
}
else
{
title = std::string("Tracking Pull-in result grid, PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " [Hz], GPS L1 C/A (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
}
g4.set_title(title);
g4.set_grid();
g4.set_xlabel("Acquisition Doppler error [Hz]");
g4.set_ylabel("Acquisition Code Delay error [Chips]");
g4.cmd("set cbrange[0:1]");
g4.plot_xyz(doppler_error_mesh,
code_delay_error_mesh,
pull_in_result_mesh);
g4.set_legend();
if (!FLAGS_enable_external_signal_file)
{
g4.savetops("trk_pull_in_grid_" + std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))));
g4.savetopdf("trk_pull_in_grid_" + std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))), 12);
}
else
{
g4.savetops("trk_pull_in_grid_external_file");
g4.savetopdf("trk_pull_in_grid_external_file", 12);
}
}
g4.set_title(title);
g4.set_grid();
g4.set_xlabel("Acquisition Doppler error [Hz]");
g4.set_ylabel("Acquisition Code Delay error [Chips]");
g4.cmd("set cbrange[0:1]");
g4.plot_xyz(doppler_error_mesh,
code_delay_error_mesh,
pull_in_result_mesh);
g4.set_legend();
if (!FLAGS_enable_external_signal_file)
{
g4.savetops("trk_pull_in_grid_" + std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))));
g4.savetopdf("trk_pull_in_grid_" + std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))), 12);
}
else
{
g4.savetops("trk_pull_in_grid_external_file");
g4.savetopdf("trk_pull_in_grid_external_file", 12);
}
}
}