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

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This commit is contained in:
Carles Fernandez 2018-08-21 12:25:26 +02:00
commit 2ce3675375
345 changed files with 22263 additions and 9915 deletions
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2
AUTHORS
View File

@ -3,7 +3,7 @@ GNSS-SDR Authorship
The GNSS-SDR project is hosted and sponsored by the Centre Tecnològic de
Telecomunicacions de Catalunya (CTTC), a non-profit research foundation located
in Castelldefels (40.396764 N, 3.713379 E), 20 km south of Barcelona, Spain.
in Castelldefels (41.27504 N, 1.987709 E), 20 km south of Barcelona, Spain.
GNSS-SDR is the by-product of GNSS research conducted at the Communications
Systems Division of CTTC, and it is the combined effort of students,
software engineers and researchers from different institutions around the World.

46
CMakeLists.txt
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@ -270,7 +270,19 @@ if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
endif(${DARWIN_VERSION} MATCHES "10")
endif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
#select the release build type by default to get optimization flags
# Define extra build types and select Release by default to get optimization flags
include(GnsssdrBuildTypes)
# Available options:
# - None: nothing set
# - Debug: -O2 -g
# - Release: -O3
# - RelWithDebInfo: -O3 -g
# - MinSizeRel: -Os
# - Coverage: -Wall -pedantic -pthread -g -O0 -fprofile-arcs -ftest-coverage
# - NoOptWithASM: -O0 -g -save-temps
# - O2WithASM: -O2 -g -save-temps
# - O3WithASM: -O3 -g -save-temps
# - ASAN: -Wall -Wextra -g -O2 -fsanitize=address -fno-omit-frame-pointer
if(NOT CMAKE_BUILD_TYPE)
if(ENABLE_GPERFTOOLS OR ENABLE_GPROF)
set(CMAKE_BUILD_TYPE "RelWithDebInfo")
@ -282,11 +294,9 @@ if(NOT CMAKE_BUILD_TYPE)
else(NOT CMAKE_BUILD_TYPE)
message(STATUS "Build type set to ${CMAKE_BUILD_TYPE}.")
endif(NOT CMAKE_BUILD_TYPE)
GNSSSDR_CHECK_BUILD_TYPE(${CMAKE_BUILD_TYPE})
set(CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE} CACHE STRING "")
# Append -O2 optimization flag for Debug builds
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O2")
# allow 'large' files in 32 bit builds
if(UNIX)
add_definitions( -D_LARGEFILE_SOURCE
@ -318,6 +328,7 @@ set(GNSSSDR_APPLECLANG_MIN_VERSION "500")
set(GNSSSDR_GNURADIO_MIN_VERSION "3.7.3")
set(GNSSSDR_BOOST_MIN_VERSION "1.45")
set(GNSSSDR_PYTHON_MIN_VERSION "2.7")
set(GNSSSDR_PYTHON3_MIN_VERSION "3.4")
set(GNSSSDR_MAKO_MIN_VERSION "0.4.2")
set(GNSSSDR_ARMADILLO_MIN_VERSION "5.300.0")
set(GNSSSDR_MATIO_MIN_VERSION "1.5.3")
@ -566,25 +577,28 @@ if(NOT VOLK_GNSSSDR_FOUND)
###############################
# Find Python required modules
###############################
include(SetupPython) #sets PYTHON_EXECUTABLE and PYTHON_DASH_B
GNSSSDR_PYTHON_CHECK_MODULE("python >= ${GNSSSDR_PYTHON_MIN_VERSION}" sys "sys.version.split()[0] >= '${GNSSSDR_PYTHON_MIN_VERSION}'" PYTHON_MIN_VER_FOUND)
GNSSSDR_PYTHON_CHECK_MODULE("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
GNSSSDR_PYTHON_CHECK_MODULE("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
include(SetupPython) # sets PYTHON_EXECUTABLE and search for required modules
if(NOT PYTHON_MIN_VER_FOUND)
message(FATAL_ERROR "Python ${GNSSSDR_PYTHON_MIN_VERSION} or greater required to build VOLK_GNSSSDR")
endif()
endif(NOT PYTHON_MIN_VER_FOUND)
if(${PYTHON3})
set(PYTHON_NAME "python3")
else(${PYTHON3})
set(PYTHON_NAME "python")
endif(${PYTHON3})
# Mako
if(NOT MAKO_FOUND)
message(STATUS "Mako templates not found. See http://www.makotemplates.org/ ")
message(STATUS "Mako template library not found. See http://www.makotemplates.org/ ")
message(STATUS " You can try to install it by typing:")
if(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(STATUS " sudo yum install python-mako")
message(STATUS " sudo yum install ${PYTHON_NAME}-mako")
elseif(${LINUX_DISTRIBUTION} MATCHES "openSUSE")
message(STATUS " sudo zypper install python-Mako")
message(STATUS " sudo zypper install ${PYTHON_NAME}-Mako")
else(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(STATUS " sudo apt-get install python-mako")
message(STATUS " sudo apt-get install ${PYTHON_NAME}-mako")
endif(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(FATAL_ERROR "Mako templates required to build VOLK_GNSSSDR")
endif(NOT MAKO_FOUND)
@ -594,11 +608,11 @@ if(NOT VOLK_GNSSSDR_FOUND)
message(STATUS "python-six not found. See https://pythonhosted.org/six/ ")
message(STATUS " You can try to install it by typing:")
if(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(STATUS " sudo yum install python-six")
message(STATUS " sudo yum install ${PYTHON_NAME}-six")
elseif(${LINUX_DISTRIBUTION} MATCHES "openSUSE")
message(STATUS " sudo zypper install python-six")
message(STATUS " sudo zypper install ${PYTHON_NAME}-six")
else(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(STATUS " sudo apt-get install python-six")
message(STATUS " sudo apt-get install ${PYTHON_NAME}-six")
endif(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
message(FATAL_ERROR "six - python 2 and 3 compatibility library required to build VOLK_GNSSSDR")
endif(NOT SIX_FOUND)

219
cmake/Modules/GnsssdrBuildTypes.cmake Normal file
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@ -0,0 +1,219 @@
# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors)
#
# 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 <https://www.gnu.org/licenses/>.
if(DEFINED __INCLUDED_GNSSSDR_BUILD_TYPES_CMAKE)
return()
endif()
set(__INCLUDED_GNSSSDR_BUILD_TYPES_CMAKE TRUE)
# Standard CMake Build Types and their basic CFLAGS:
# - None: nothing set
# - Debug: -O2 -g
# - Release: -O3
# - RelWithDebInfo: -O3 -g
# - MinSizeRel: -Os
# Additional Build Types, defined below:
# - NoOptWithASM: -O0 -g -save-temps
# - O2WithASM: -O2 -g -save-temps
# - O3WithASM: -O3 -g -save-temps
# Defines the list of acceptable cmake build types. When adding a new
# build type below, make sure to add it to this list.
list(APPEND AVAIL_BUILDTYPES
None Debug Release RelWithDebInfo MinSizeRel
Coverage NoOptWithASM O2WithASM O3WithASM ASAN
)
########################################################################
# GNSSSDR_CHECK_BUILD_TYPE(build type)
#
# Use this to check that the build type set in CMAKE_BUILD_TYPE on the
# commandline is one of the valid build types used by this project. It
# checks the value set in the cmake interface against the list of
# known build types in AVAIL_BUILDTYPES. If the build type is found,
# the function exits immediately. If nothing is found by the end of
# checking all available build types, we exit with an error and list
# the avialable build types.
########################################################################
function(GNSSSDR_CHECK_BUILD_TYPE settype)
string(TOUPPER ${settype} _settype)
foreach(btype ${AVAIL_BUILDTYPES})
string(TOUPPER ${btype} _btype)
if(${_settype} STREQUAL ${_btype})
return() # found it; exit cleanly
endif(${_settype} STREQUAL ${_btype})
endforeach(btype)
# Build type not found; error out
message(FATAL_ERROR "Build type '${settype}' not valid, must be one of: ${AVAIL_BUILDTYPES}")
endfunction(GNSSSDR_CHECK_BUILD_TYPE)
########################################################################
# For GCC and Clang, we can set a build type:
#
# -DCMAKE_BUILD_TYPE=Coverage
#
# This type uses no optimization (-O0), outputs debug symbols (-g) and
# outputs all intermediary files the build system produces, including
# all assembly (.s) files. Look in the build directory for these
# files.
# NOTE: This is not defined on Windows systems.
########################################################################
if(NOT WIN32)
set(CMAKE_CXX_FLAGS_COVERAGE "-Wall -pedantic -pthread -g -O0 -fprofile-arcs -ftest-coverage" CACHE STRING
"Flags used by the C++ compiler during Coverage builds." FORCE)
set(CMAKE_C_FLAGS_COVERAGE "-Wall -pedantic -pthread -g -O0 -fprofile-arcs -ftest-coverage" CACHE STRING
"Flags used by the C compiler during Coverage builds." FORCE)
set(CMAKE_EXE_LINKER_FLAGS_COVERAGE
"-W" CACHE STRING
"Flags used for linking binaries during Coverage builds." FORCE)
set(CMAKE_SHARED_LINKER_FLAGS_COVERAGE
"-W" CACHE STRING
"Flags used by the shared lib linker during Coverage builds." FORCE)
MARK_AS_ADVANCED(
CMAKE_CXX_FLAGS_COVERAGE
CMAKE_C_FLAGS_COVERAGE
CMAKE_EXE_LINKER_FLAGS_COVERAGE
CMAKE_SHARED_LINKER_FLAGS_COVERAGE)
endif(NOT WIN32)
########################################################################
# For GCC and Clang, we can set a build type:
#
# -DCMAKE_BUILD_TYPE=NoOptWithASM
#
# This type uses no optimization (-O0), outputs debug symbols (-g) and
# outputs all intermediary files the build system produces, including
# all assembly (.s) files. Look in the build directory for these
# files.
# NOTE: This is not defined on Windows systems.
########################################################################
if(NOT WIN32)
set(CMAKE_CXX_FLAGS_NOOPTWITHASM "-Wall -save-temps -g -O0" CACHE STRING
"Flags used by the C++ compiler during NoOptWithASM builds." FORCE)
set(CMAKE_C_FLAGS_NOOPTWITHASM "-Wall -save-temps -g -O0" CACHE STRING
"Flags used by the C compiler during NoOptWithASM builds." FORCE)
set(CMAKE_EXE_LINKER_FLAGS_NOOPTWITHASM
"-W" CACHE STRING
"Flags used for linking binaries during NoOptWithASM builds." FORCE)
set(CMAKE_SHARED_LINKER_FLAGS_NOOPTWITHASM
"-W" CACHE STRING
"Flags used by the shared lib linker during NoOptWithASM builds." FORCE)
MARK_AS_ADVANCED(
CMAKE_CXX_FLAGS_NOOPTWITHASM
CMAKE_C_FLAGS_NOOPTWITHASM
CMAKE_EXE_LINKER_FLAGS_NOOPTWITHASM
CMAKE_SHARED_LINKER_FLAGS_NOOPTWITHASM)
endif(NOT WIN32)
########################################################################
# For GCC and Clang, we can set a build type:
#
# -DCMAKE_BUILD_TYPE=O2WithASM
#
# This type uses level 2 optimization (-O2), outputs debug symbols
# (-g) and outputs all intermediary files the build system produces,
# including all assembly (.s) files. Look in the build directory for
# these files.
# NOTE: This is not defined on Windows systems.
########################################################################
if(NOT WIN32)
set(CMAKE_CXX_FLAGS_O2WITHASM "-Wall -save-temps -g -O2" CACHE STRING
"Flags used by the C++ compiler during O2WithASM builds." FORCE)
set(CMAKE_C_FLAGS_O2WITHASM "-Wall -save-temps -g -O2" CACHE STRING
"Flags used by the C compiler during O2WithASM builds." FORCE)
set(CMAKE_EXE_LINKER_FLAGS_O2WITHASM
"-W" CACHE STRING
"Flags used for linking binaries during O2WithASM builds." FORCE)
set(CMAKE_SHARED_LINKER_FLAGS_O2WITHASM
"-W" CACHE STRING
"Flags used by the shared lib linker during O2WithASM builds." FORCE)
MARK_AS_ADVANCED(
CMAKE_CXX_FLAGS_O2WITHASM
CMAKE_C_FLAGS_O2WITHASM
CMAKE_EXE_LINKER_FLAGS_O2WITHASM
CMAKE_SHARED_LINKER_FLAGS_O2WITHASM)
endif(NOT WIN32)
########################################################################
# For GCC and Clang, we can set a build type:
#
# -DCMAKE_BUILD_TYPE=O3WithASM
#
# This type uses level 3 optimization (-O3), outputs debug symbols
# (-g) and outputs all intermediary files the build system produces,
# including all assembly (.s) files. Look in the build directory for
# these files.
# NOTE: This is not defined on Windows systems.
########################################################################
if(NOT WIN32)
set(CMAKE_CXX_FLAGS_O3WITHASM "-Wall -save-temps -g -O3" CACHE STRING
"Flags used by the C++ compiler during O3WithASM builds." FORCE)
set(CMAKE_C_FLAGS_O3WITHASM "-Wall -save-temps -g -O3" CACHE STRING
"Flags used by the C compiler during O3WithASM builds." FORCE)
set(CMAKE_EXE_LINKER_FLAGS_O3WITHASM
"-W" CACHE STRING
"Flags used for linking binaries during O3WithASM builds." FORCE)
set(CMAKE_SHARED_LINKER_FLAGS_O3WITHASM
"-W" CACHE STRING
"Flags used by the shared lib linker during O3WithASM builds." FORCE)
MARK_AS_ADVANCED(
CMAKE_CXX_FLAGS_O3WITHASM
CMAKE_C_FLAGS_O3WITHASM
CMAKE_EXE_LINKER_FLAGS_O3WITHASM
CMAKE_SHARED_LINKER_FLAGS_O3WITHASM)
endif(NOT WIN32)
########################################################################
# For GCC and Clang, we can set a build type:
#
# -DCMAKE_BUILD_TYPE=ASAN
#
# This type creates an address sanitized build (-fsanitize=address)
# and defaults to the DebugParanoid linker flags.
# NOTE: This is not defined on Windows systems.
########################################################################
if(NOT WIN32)
set(CMAKE_CXX_FLAGS_ASAN "-Wall -Wextra -g -O2 -fsanitize=address -fno-omit-frame-pointer" CACHE STRING
"Flags used by the C++ compiler during Address Sanitized builds." FORCE)
set(CMAKE_C_FLAGS_ASAN "-Wall -Wextra -g -O2 -fsanitize=address -fno-omit-frame-pointer" CACHE STRING
"Flags used by the C compiler during Address Sanitized builds." FORCE)
set(CMAKE_EXE_LINKER_FLAGS_ASAN
"-W" CACHE STRING
"Flags used for linking binaries during Address Sanitized builds." FORCE)
set(CMAKE_SHARED_LINKER_FLAGS_ASAN
"-W" CACHE STRING
"Flags used by the shared lib linker during Address Sanitized builds." FORCE)
MARK_AS_ADVANCED(
CMAKE_CXX_FLAGS_ASAN
CMAKE_C_FLAGS_ASAN
CMAKE_EXE_LINKER_FLAGS_ASAN
CMAKE_SHARED_LINKER_ASAN)
endif(NOT WIN32)

152
cmake/Modules/SetupPython.cmake
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@ -15,54 +15,6 @@
# You should have received a copy of the GNU General Public License
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
########################################################################
# Setup the python interpreter:
# This allows the user to specify a specific interpreter,
# or finds the interpreter via the built-in cmake module.
########################################################################
#this allows the user to override PYTHON_EXECUTABLE
if(PYTHON_EXECUTABLE)
set(PYTHONINTERP_FOUND TRUE)
#otherwise if not set, try to automatically find it
else(PYTHON_EXECUTABLE)
#use the built-in find script
set(Python_ADDITIONAL_VERSIONS 3.4 3.5 3.6)
find_package(PythonInterp 2)
#and if that fails use the find program routine
if(NOT PYTHONINTERP_FOUND)
find_program(PYTHON_EXECUTABLE NAMES python python2 python2.7 python3)
if(PYTHON_EXECUTABLE)
set(PYTHONINTERP_FOUND TRUE)
endif(PYTHON_EXECUTABLE)
endif(NOT PYTHONINTERP_FOUND)
endif(PYTHON_EXECUTABLE)
if (CMAKE_CROSSCOMPILING)
set(QA_PYTHON_EXECUTABLE "/usr/bin/python")
else (CMAKE_CROSSCOMPILING)
set(QA_PYTHON_EXECUTABLE ${PYTHON_EXECUTABLE})
endif(CMAKE_CROSSCOMPILING)
#make the path to the executable appear in the cmake gui
set(PYTHON_EXECUTABLE ${PYTHON_EXECUTABLE} CACHE FILEPATH "python interpreter")
set(QA_PYTHON_EXECUTABLE ${QA_PYTHON_EXECUTABLE} CACHE FILEPATH "python interpreter for QA tests")
#make sure we can use -B with python (introduced in 2.6)
if(PYTHON_EXECUTABLE)
execute_process(
COMMAND ${PYTHON_EXECUTABLE} -B -c ""
OUTPUT_QUIET ERROR_QUIET
RESULT_VARIABLE PYTHON_HAS_DASH_B_RESULT
)
if(PYTHON_HAS_DASH_B_RESULT EQUAL 0)
set(PYTHON_DASH_B "-B")
endif()
endif(PYTHON_EXECUTABLE)
########################################################################
# Check for the existence of a python module:
@ -71,25 +23,99 @@ endif(PYTHON_EXECUTABLE)
# - cmd an additional command to run
# - have the result variable to set
########################################################################
macro(GNSSSDR_PYTHON_CHECK_MODULE desc mod cmd have)
message(STATUS "Python checking for ${desc}")
macro(GNSSSDR_PYTHON_CHECK_MODULE_RAW desc python_code have)
execute_process(
COMMAND ${PYTHON_EXECUTABLE} -c "
#########################################
try: import ${mod}
except:
try: ${mod}
except: exit(-1)
try: assert ${cmd}
except: exit(-1)
#########################################"
RESULT_VARIABLE ${have}
COMMAND ${PYTHON_EXECUTABLE} -c "${python_code}"
OUTPUT_QUIET ERROR_QUIET
RESULT_VARIABLE return_code
)
if(${have} EQUAL 0)
if(return_code EQUAL 0)
message(STATUS "Python checking for ${desc} - found")
set(${have} TRUE)
else(${have} EQUAL 0)
else()
message(STATUS "Python checking for ${desc} - not found")
set(${have} FALSE)
endif(${have} EQUAL 0)
endif()
endmacro(GNSSSDR_PYTHON_CHECK_MODULE_RAW)
macro(GNSSSDR_PYTHON_CHECK_MODULE desc mod cmd have)
GNSSSDR_PYTHON_CHECK_MODULE_RAW(
"${desc}" "
#########################################
try:
import ${mod}
assert ${cmd}
except (ImportError, AssertionError): exit(-1)
except: pass
#########################################"
"${have}")
endmacro(GNSSSDR_PYTHON_CHECK_MODULE)
########################################################################
# Setup the python interpreter:
# This allows the user to specify a specific interpreter,
# or finds the interpreter via the built-in cmake module.
########################################################################
if(CMAKE_VERSION VERSION_LESS 3.12)
if(PYTHON_EXECUTABLE)
message(STATUS "User set python executable ${PYTHON_EXECUTABLE}")
string(FIND "${PYTHON_EXECUTABLE}" "python3" IS_PYTHON3)
if(IS_PYTHON3 EQUAL -1)
find_package(PythonInterp ${GNSSSDR_PYTHON_MIN_VERSION} REQUIRED)
else(IS_PYTHON3 EQUAL -1)
find_package(PythonInterp ${GNSSSDR_PYTHON3_MIN_VERSION} REQUIRED)
endif(IS_PYTHON3 EQUAL -1)
GNSSSDR_PYTHON_CHECK_MODULE("python >= ${GNSSSDR_PYTHON_MIN_VERSION}" sys "sys.version.split()[0] >= '${GNSSSDR_PYTHON_MIN_VERSION}'" PYTHON_MIN_VER_FOUND)
GNSSSDR_PYTHON_CHECK_MODULE("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
GNSSSDR_PYTHON_CHECK_MODULE("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
else(PYTHON_EXECUTABLE)
message(STATUS "PYTHON_EXECUTABLE not set - trying by default python2")
message(STATUS "Use -DPYTHON_EXECUTABLE=/path/to/python3 to build for python3.")
find_package(PythonInterp ${GNSSSDR_PYTHON_MIN_VERSION})
if(NOT PYTHONINTERP_FOUND)
message(STATUS "python2 not found - trying with python3")
find_package(PythonInterp ${GNSSSDR_PYTHON3_MIN_VERSION} REQUIRED)
endif(NOT PYTHONINTERP_FOUND)
GNSSSDR_PYTHON_CHECK_MODULE("python >= ${GNSSSDR_PYTHON_MIN_VERSION}" sys "sys.version.split()[0] >= '${GNSSSDR_PYTHON_MIN_VERSION}'" PYTHON_MIN_VER_FOUND)
GNSSSDR_PYTHON_CHECK_MODULE("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
GNSSSDR_PYTHON_CHECK_MODULE("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
endif(PYTHON_EXECUTABLE)
find_package(PythonLibs ${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR} EXACT)
else(CMAKE_VERSION VERSION_LESS 3.12)
find_package (Python3 COMPONENTS Interpreter)
if(Python3_FOUND)
set(PYTHON_EXECUTABLE ${Python3_EXECUTABLE})
set(PYTHON_VERSION_MAJOR ${Python3_VERSION_MAJOR})
GNSSSDR_PYTHON_CHECK_MODULE("python >= ${GNSSSDR_PYTHON_MIN_VERSION}" sys "sys.version.split()[0] >= '${GNSSSDR_PYTHON_MIN_VERSION}'" PYTHON_MIN_VER_FOUND)
GNSSSDR_PYTHON_CHECK_MODULE("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
GNSSSDR_PYTHON_CHECK_MODULE("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
endif(Python3_FOUND)
if(NOT Python3_FOUND OR NOT MAKO_FOUND OR NOT SIX_FOUND)
find_package(Python2 COMPONENTS Interpreter)
if(Python2_FOUND)
set(PYTHON_EXECUTABLE ${Python2_EXECUTABLE})
set(PYTHON_VERSION_MAJOR ${Python2_VERSION_MAJOR})
GNSSSDR_PYTHON_CHECK_MODULE("python >= ${GNSSSDR_PYTHON_MIN_VERSION}" sys "sys.version.split()[0] >= '${GNSSSDR_PYTHON_MIN_VERSION}'" PYTHON_MIN_VER_FOUND)
GNSSSDR_PYTHON_CHECK_MODULE("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
GNSSSDR_PYTHON_CHECK_MODULE("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
endif(Python2_FOUND)
endif(NOT Python3_FOUND OR NOT MAKO_FOUND OR NOT SIX_FOUND)
endif(CMAKE_VERSION VERSION_LESS 3.12)
if(${PYTHON_VERSION_MAJOR} VERSION_EQUAL 3)
set(PYTHON3 TRUE)
endif(${PYTHON_VERSION_MAJOR} VERSION_EQUAL 3)
if(CMAKE_CROSSCOMPILING)
set(QA_PYTHON_EXECUTABLE "/usr/bin/python")
else(CMAKE_CROSSCOMPILING)
set(QA_PYTHON_EXECUTABLE ${PYTHON_EXECUTABLE})
endif(CMAKE_CROSSCOMPILING)
#make the path to the executable appear in the cmake gui
set(PYTHON_EXECUTABLE ${PYTHON_EXECUTABLE} CACHE FILEPATH "python interpreter")
set(QA_PYTHON_EXECUTABLE ${QA_PYTHON_EXECUTABLE} CACHE FILEPATH "python interpreter for QA tests")

63
conf/gnss-sdr-kalman-bayes.conf Normal file
View File

@ -0,0 +1,63 @@
[GNSS-SDR]
;######### GLOBAL OPTIONS ##################
;internal_fs_sps: Internal signal sampling frequency after the signal conditioning stage [samples per second].
GNSS-SDR.internal_fs_sps=2000000
GNSS-SDR.internal_fs_hz=2000000
;######### SIGNAL_SOURCE CONFIG ############
SignalSource.implementation=File_Signal_Source
SignalSource.filename=/home/glamountain/gnss-sdr/data/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN/2013_04_04_GNSS_SIGNAL_at_CTTC_SPAIN.dat
SignalSource.item_type=ishort
SignalSource.sampling_frequency=4000000
SignalSource.freq=1575420000
SignalSource.samples=0
;######### SIGNAL_CONDITIONER CONFIG ############
SignalConditioner.implementation=Signal_Conditioner
DataTypeAdapter.implementation=Ishort_To_Complex
InputFilter.implementation=Pass_Through
InputFilter.item_type=gr_complex
Resampler.implementation=Direct_Resampler
Resampler.sample_freq_in=4000000
Resampler.sample_freq_out=2000000
Resampler.item_type=gr_complex
;######### CHANNELS GLOBAL CONFIG ############
Channels_1C.count=8
Channels.in_acquisition=1
Channel.signal=1C
;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
Acquisition_1C.item_type=gr_complex
Acquisition_1C.threshold=0.008
Acquisition_1C.doppler_max=10000
Acquisition_1C.doppler_step=250
Acquisition_1C.dump=false
Acquisition_1C.dump_filename=../data/kalman/acq_dump
;######### TRACKING GLOBAL CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_KF_Tracking
Tracking_1C.item_type=gr_complex
Tracking_1C.pll_bw_hz=40.0;
Tracking_1C.dll_bw_hz=4.0;
Tracking_1C.order=3;
Tracking_1C.dump=true
Tracking_1C.dump_filename=../data/kalman/epl_tracking_ch_
Tracking_1C.bce_run = true;
Tracking_1C.p_transient = 0;
Tracking_1C.s_transient = 100;
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
;######### OBSERVABLES CONFIG ############
Observables.implementation=GPS_L1_CA_Observables
;######### PVT CONFIG ############
PVT.implementation=GPS_L1_CA_PVT
PVT.averaging_depth=100
PVT.flag_averaging=true
PVT.output_rate_ms=10
PVT.display_rate_ms=500

211
conf/gnss-sdr_GPS_L1_nsr_kf.conf Normal file
View File

@ -0,0 +1,211 @@
; 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_sps: Internal signal sampling frequency after the signal conditioning stage [samples per second].
;GNSS-SDR.internal_fs_sps=6826700
GNSS-SDR.internal_fs_sps=2560000
;GNSS-SDR.internal_fs_sps=4096000
;GNSS-SDR.internal_fs_sps=5120000
;######### SIGNAL_SOURCE CONFIG ############
;#implementation: Use [File_Signal_Source] [Nsr_File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] (experimental)
SignalSource.implementation=Nsr_File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed
SignalSource.filename=/home/javier/signals/ifen/E1L1_FE0_Band0.stream ; <- PUT YOUR FILE HERE
;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
SignalSource.item_type=byte
;#sampling_frequency: Original Signal sampling frequency in [Hz]
SignalSource.sampling_frequency=20480000
;#freq: RF front-end center frequency in [Hz]
SignalSource.freq=1575420000
;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
SignalSource.samples=0
;#repeat: Repeat the processing file. Disable this option in this version
SignalSource.repeat=false
;#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=Signal_Conditioner
;######### DATA_TYPE_ADAPTER CONFIG ############
;## Changes the type of input data.
;#implementation: [Pass_Through] disables this block
DataTypeAdapter.implementation=Pass_Through
DataTypeAdapter.item_type=float
;######### 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]
;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation
;# that shifts IF down to zero Hz.
InputFilter.implementation=Freq_Xlating_Fir_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=float
;#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
;# Original sampling frequency stored in the signal file
InputFilter.sampling_frequency=20480000
;#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.IF=5499998.47412109
;# Decimation factor after the frequency tranaslating block
InputFilter.decimation_factor=8
;######### 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=Pass_Through
;######### CHANNELS GLOBAL CONFIG ############
;#count: Number of available GPS satellite channels.
Channels_1C.count=8
Channels.in_acquisition=1
#Channel.signal=1C
;######### ACQUISITION GLOBAL CONFIG ############
Acquisition_1C.dump=false
Acquisition_1C.dump_filename=./acq_dump.dat
Acquisition_1C.item_type=gr_complex
Acquisition_1C.if=0
Acquisition_1C.sampled_ms=1
Acquisition_1C.implementation=GPS_L1_CA_PCPS_Acquisition
;#use_CFAR_algorithm: If enabled, acquisition estimates the input signal power to implement CFAR detection algorithms
;#notice that this affects the Acquisition threshold range!
Acquisition_1C.use_CFAR_algorithm=false;
;#threshold: Acquisition threshold
Acquisition_1C.threshold=10
;Acquisition_1C.pfa=0.01
Acquisition_1C.doppler_max=5000
Acquisition_1C.doppler_step=100
;######### TRACKING GPS CONFIG ############
Tracking_1C.implementation=GPS_L1_CA_KF_Tracking
Tracking_1C.item_type=gr_complex
Tracking_1C.if=0
Tracking_1C.dump=true
Tracking_1C.dump_filename=../data/epl_tracking_ch_
Tracking_1C.pll_bw_hz=15.0;
Tracking_1C.dll_bw_hz=2.0;
Tracking_1C.order=3;
;######### TELEMETRY DECODER GPS CONFIG ############
TelemetryDecoder_1C.implementation=GPS_L1_CA_Telemetry_Decoder
TelemetryDecoder_1C.dump=false
TelemetryDecoder_1C.decimation_factor=1;
;######### OBSERVABLES CONFIG ############
;#implementation:
Observables.implementation=Hybrid_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 ############
PVT.implementation=RTKLIB_PVT
PVT.positioning_mode=PPP_Static ; options: Single, Static, Kinematic, PPP_Static, PPP_Kinematic
PVT.iono_model=Broadcast ; options: OFF, Broadcast, SBAS, Iono-Free-LC, Estimate_STEC, IONEX
PVT.trop_model=Saastamoinen ; options: OFF, Saastamoinen, SBAS, Estimate_ZTD, Estimate_ZTD_Grad
PVT.output_rate_ms=100
PVT.display_rate_ms=500
PVT.dump_filename=./PVT
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
PVT.flag_nmea_tty_port=false;
PVT.nmea_dump_devname=/dev/pts/4
PVT.flag_rtcm_server=false
PVT.flag_rtcm_tty_port=false
PVT.rtcm_dump_devname=/dev/pts/1
PVT.dump=true

5
src/algorithms/PVT/adapters/CMakeLists.txt
View File

@ -16,6 +16,11 @@
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
#
if(Boost_VERSION LESS 105800)
add_definitions(-DOLD_BOOST=1)
endif(Boost_VERSION LESS 105800)
set(PVT_ADAPTER_SOURCES
rtklib_pvt.cc
)

28
src/algorithms/PVT/adapters/rtklib_pvt.cc
View File

@ -34,9 +34,15 @@
#include "gnss_sdr_flags.h"
#include <boost/archive/xml_oarchive.hpp>
#include <boost/archive/xml_iarchive.hpp>
#include <boost/math/common_factor_rt.hpp>
#include <boost/serialization/map.hpp>
#include <glog/logging.h>
#if OLD_BOOST
#include <boost/math/common_factor_rt.hpp>
namespace bc = boost::math;
#else
#include <boost/integer/common_factor_rt.hpp>
namespace bc = boost::integer;
#endif
using google::LogMessage;
@ -94,8 +100,8 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
{
rinex_version = 2;
}
int rinexobs_rate_ms = boost::math::lcm(configuration->property(role + ".rinexobs_rate_ms", 1000), output_rate_ms);
int rinexnav_rate_ms = boost::math::lcm(configuration->property(role + ".rinexnav_rate_ms", 6000), output_rate_ms);
int rinexobs_rate_ms = bc::lcm(configuration->property(role + ".rinexobs_rate_ms", 1000), output_rate_ms);
int rinexnav_rate_ms = bc::lcm(configuration->property(role + ".rinexnav_rate_ms", 6000), output_rate_ms);
// RTCM Printer settings
bool flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false);
@ -104,13 +110,13 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
unsigned short rtcm_tcp_port = configuration->property(role + ".rtcm_tcp_port", 2101);
unsigned short rtcm_station_id = configuration->property(role + ".rtcm_station_id", 1234);
// RTCM message rates: least common multiple with output_rate_ms
int rtcm_MT1019_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1019_rate_ms", 5000), output_rate_ms);
int rtcm_MT1020_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1020_rate_ms", 5000), output_rate_ms);
int rtcm_MT1045_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1045_rate_ms", 5000), output_rate_ms);
int rtcm_MSM_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MSM_rate_ms", 1000), output_rate_ms);
int rtcm_MT1077_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1077_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
int rtcm_MT1087_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1087_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
int rtcm_MT1097_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1097_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
int rtcm_MT1019_rate_ms = bc::lcm(configuration->property(role + ".rtcm_MT1019_rate_ms", 5000), output_rate_ms);
int rtcm_MT1020_rate_ms = bc::lcm(configuration->property(role + ".rtcm_MT1020_rate_ms", 5000), output_rate_ms);
int rtcm_MT1045_rate_ms = bc::lcm(configuration->property(role + ".rtcm_MT1045_rate_ms", 5000), output_rate_ms);
int rtcm_MSM_rate_ms = bc::lcm(configuration->property(role + ".rtcm_MSM_rate_ms", 1000), output_rate_ms);
int rtcm_MT1077_rate_ms = bc::lcm(configuration->property(role + ".rtcm_MT1077_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
int rtcm_MT1087_rate_ms = bc::lcm(configuration->property(role + ".rtcm_MT1087_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
int rtcm_MT1097_rate_ms = bc::lcm(configuration->property(role + ".rtcm_MT1097_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
std::map<int, int> rtcm_msg_rate_ms;
rtcm_msg_rate_ms[1019] = rtcm_MT1019_rate_ms;
rtcm_msg_rate_ms[1020] = rtcm_MT1020_rate_ms;
@ -498,7 +504,7 @@ bool RtklibPvt::save_assistance_to_XML()
LOG(INFO) << "SUPL: Try to save GPS ephemeris to XML file " << eph_xml_filename_;
std::map<int, Gps_Ephemeris> eph_map = pvt_->get_GPS_L1_ephemeris_map();
if (eph_map.size() > 0)
if (eph_map.empty() == false)
{
try
{

5
src/algorithms/PVT/gnuradio_blocks/CMakeLists.txt
View File

@ -16,6 +16,11 @@
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
#
if(Boost_VERSION LESS 105800)
add_definitions(-DOLD_BOOST=1)
endif(Boost_VERSION LESS 105800)
set(PVT_GR_BLOCKS_SOURCES
rtklib_pvt_cc.cc
)

122
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
View File

@ -29,43 +29,49 @@
*/
#include "rtklib_pvt_cc.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/math/common_factor_rt.hpp>
#include "display.h"
#include <boost/archive/xml_oarchive.hpp>
#include <boost/archive/xml_iarchive.hpp>
#include <boost/serialization/map.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/exception/all.hpp>
#include <boost/serialization/map.hpp>
#include <glog/logging.h>
#include <gnuradio/gr_complex.h>
#include <gnuradio/io_signature.h>
#include "display.h"
#include <algorithm>
#include <iostream>
#include <map>
#include <exception>
#if OLD_BOOST
#include <boost/math/common_factor_rt.hpp>
namespace bc = boost::math;
#else
#include <boost/integer/common_factor_rt.hpp>
namespace bc = boost::integer;
#endif
using google::LogMessage;
rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int nchannels,
rtklib_pvt_cc_sptr rtklib_make_pvt_cc(uint32_t nchannels,
bool dump,
std::string dump_filename,
int output_rate_ms,
int display_rate_ms,
int32_t output_rate_ms,
int32_t display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname,
int rinex_version,
int rinexobs_rate_ms,
int rinexnav_rate_ms,
int32_t rinex_version,
int32_t rinexobs_rate_ms,
int32_t rinexnav_rate_ms,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
uint16_t rtcm_tcp_port,
uint16_t rtcm_station_id,
std::map<int, int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname,
const unsigned int type_of_receiver,
const uint32_t type_of_receiver,
rtk_t& rtk)
{
return rtklib_pvt_cc_sptr(new rtklib_pvt_cc(nchannels,
@ -239,24 +245,24 @@ std::map<int, Gps_Ephemeris> rtklib_pvt_cc::get_GPS_L1_ephemeris_map()
}
rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels,
rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
bool dump,
std::string dump_filename,
int output_rate_ms,
int display_rate_ms,
int32_t output_rate_ms,
int32_t display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname,
int rinex_version,
int rinexobs_rate_ms,
int rinexnav_rate_ms,
int32_t rinex_version,
int32_t rinexobs_rate_ms,
int32_t rinexnav_rate_ms,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
uint16_t rtcm_tcp_port,
uint16_t rtcm_station_id,
std::map<int, int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname,
const unsigned int type_of_receiver,
const uint32_t type_of_receiver,
rtk_t& rtk) : gr::sync_block("rtklib_pvt_cc",
gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(0, 0, 0))
@ -304,7 +310,7 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels,
}
else
{
d_rtcm_MT1019_rate_ms = boost::math::lcm(5000, d_output_rate_ms); // default value if not set
d_rtcm_MT1019_rate_ms = bc::lcm(5000, d_output_rate_ms); // default value if not set
}
if (rtcm_msg_rate_ms.find(1020) != rtcm_msg_rate_ms.end())
{
@ -312,7 +318,7 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels,
}
else
{
d_rtcm_MT1020_rate_ms = boost::math::lcm(5000, d_output_rate_ms); // default value if not set
d_rtcm_MT1020_rate_ms = bc::lcm(5000, d_output_rate_ms); // default value if not set
}
if (rtcm_msg_rate_ms.find(1045) != rtcm_msg_rate_ms.end())
{
@ -320,7 +326,7 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels,
}
else
{
d_rtcm_MT1045_rate_ms = boost::math::lcm(5000, d_output_rate_ms); // default value if not set
d_rtcm_MT1045_rate_ms = bc::lcm(5000, d_output_rate_ms); // default value if not set
}
if (rtcm_msg_rate_ms.find(1077) != rtcm_msg_rate_ms.end()) // whatever between 1071 and 1077
{
@ -328,7 +334,7 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels,
}
else
{
d_rtcm_MT1077_rate_ms = boost::math::lcm(1000, d_output_rate_ms); // default value if not set
d_rtcm_MT1077_rate_ms = bc::lcm(1000, d_output_rate_ms); // default value if not set
}
if (rtcm_msg_rate_ms.find(1087) != rtcm_msg_rate_ms.end()) // whatever between 1081 and 1087
{
@ -336,7 +342,7 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels,
}
else
{
d_rtcm_MT1087_rate_ms = boost::math::lcm(1000, d_output_rate_ms); // default value if not set
d_rtcm_MT1087_rate_ms = bc::lcm(1000, d_output_rate_ms); // default value if not set
}
if (rtcm_msg_rate_ms.find(1097) != rtcm_msg_rate_ms.end()) // whatever between 1091 and 1097
{
@ -345,8 +351,8 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels,
}
else
{
d_rtcm_MT1097_rate_ms = boost::math::lcm(1000, d_output_rate_ms); // default value if not set
d_rtcm_MSM_rate_ms = boost::math::lcm(1000, d_output_rate_ms); // default value if not set
d_rtcm_MT1097_rate_ms = bc::lcm(1000, d_output_rate_ms); // default value if not set
d_rtcm_MSM_rate_ms = bc::lcm(1000, d_output_rate_ms); // default value if not set
}
b_rtcm_writing_started = false;
@ -361,7 +367,7 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels,
d_dump_filename.append("_raw.dat");
dump_ls_pvt_filename.append("_ls_pvt.dat");
d_ls_pvt = std::make_shared<rtklib_solver>(static_cast<int>(nchannels), dump_ls_pvt_filename, d_dump, rtk);
d_ls_pvt = std::make_shared<rtklib_solver>(static_cast<int32_t>(nchannels), dump_ls_pvt_filename, d_dump, rtk);
d_ls_pvt->set_averaging_depth(1);
d_rx_time = 0.0;
@ -406,7 +412,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
// save GPS L2CM ephemeris to XML file
std::string file_name = "eph_GPS_CNAV.xml";
if (d_ls_pvt->gps_cnav_ephemeris_map.size() > 0)
if (d_ls_pvt->gps_cnav_ephemeris_map.empty() == false)
{
try
{
@ -429,7 +435,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
// save GPS L1 CA ephemeris to XML file
file_name = "eph_GPS_L1CA.xml";
if (d_ls_pvt->gps_ephemeris_map.size() > 0)
if (d_ls_pvt->gps_ephemeris_map.empty() == false)
{
try
{
@ -452,7 +458,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
// save Galileo E1 ephemeris to XML file
file_name = "eph_Galileo_E1.xml";
if (d_ls_pvt->galileo_ephemeris_map.size() > 0)
if (d_ls_pvt->galileo_ephemeris_map.empty() == false)
{
try
{
@ -475,7 +481,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
// save GLONASS GNAV ephemeris to XML file
file_name = "eph_GLONASS_GNAV.xml";
if (d_ls_pvt->glonass_gnav_ephemeris_map.size() > 0)
if (d_ls_pvt->glonass_gnav_ephemeris_map.empty() == false)
{
try
{
@ -534,7 +540,7 @@ bool rtklib_pvt_cc::send_sys_v_ttff_msg(ttff_msgbuf ttff)
int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items __attribute__((unused)))
{
for (int epoch = 0; epoch < noutput_items; epoch++)
for (int32_t epoch = 0; epoch < noutput_items; epoch++)
{
bool flag_display_pvt = false;
bool flag_compute_pvt_output = false;
@ -544,15 +550,15 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
bool flag_write_RTCM_MSM_output = false;
bool flag_write_RINEX_obs_output = false;
bool flag_write_RINEX_nav_output = false;
unsigned int gps_channel = 0;
unsigned int gal_channel = 0;
unsigned int glo_channel = 0;
uint32_t gps_channel = 0;
uint32_t gal_channel = 0;
uint32_t glo_channel = 0;
gnss_observables_map.clear();
const Gnss_Synchro** in = reinterpret_cast<const Gnss_Synchro**>(&input_items[0]); // Get the input buffer pointer
// ############ 1. READ PSEUDORANGES ####
for (unsigned int i = 0; i < d_nchannels; i++)
for (uint32_t i = 0; i < d_nchannels; i++)
{
if (in[i][epoch].Flag_valid_pseudorange)
{
@ -567,28 +573,28 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
try
{
if (d_ls_pvt->gps_ephemeris_map.size() > 0)
if (d_ls_pvt->gps_ephemeris_map.empty() == false)
{
if (tmp_eph_iter_gps != d_ls_pvt->gps_ephemeris_map.end())
{
d_rtcm_printer->lock_time(d_ls_pvt->gps_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
}
}
if (d_ls_pvt->galileo_ephemeris_map.size() > 0)
if (d_ls_pvt->galileo_ephemeris_map.empty() == false)
{
if (tmp_eph_iter_gal != d_ls_pvt->galileo_ephemeris_map.end())
{
d_rtcm_printer->lock_time(d_ls_pvt->galileo_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
}
}
if (d_ls_pvt->gps_cnav_ephemeris_map.size() > 0)
if (d_ls_pvt->gps_cnav_ephemeris_map.empty() == false)
{
if (tmp_eph_iter_cnav != d_ls_pvt->gps_cnav_ephemeris_map.end())
{
d_rtcm_printer->lock_time(d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
}
}
if (d_ls_pvt->glonass_gnav_ephemeris_map.size() > 0)
if (d_ls_pvt->glonass_gnav_ephemeris_map.empty() == false)
{
if (tmp_eph_iter_glo_gnav != d_ls_pvt->glonass_gnav_ephemeris_map.end())
{
@ -610,10 +616,10 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
// ############ 2 COMPUTE THE PVT ################################
if (gnss_observables_map.size() > 0)
if (gnss_observables_map.empty() == false)
{
double current_RX_time = gnss_observables_map.begin()->second.RX_time;
unsigned int current_RX_time_ms = static_cast<unsigned int>(current_RX_time * 1000.0);
uint32_t current_RX_time_ms = static_cast<uint32_t>(current_RX_time * 1000.0);
if (current_RX_time_ms % d_output_rate_ms == 0)
{
flag_compute_pvt_output = true;
@ -670,12 +676,12 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{
flag_write_RTCM_MSM_output = true;
}
if (current_RX_time_ms % static_cast<unsigned int>(d_rinexobs_rate_ms) == 0)
if (current_RX_time_ms % static_cast<uint32_t>(d_rinexobs_rate_ms) == 0)
{
flag_write_RINEX_obs_output = true;
}
if (current_RX_time_ms % static_cast<unsigned int>(d_rinexnav_rate_ms) == 0)
if (current_RX_time_ms % static_cast<uint32_t>(d_rinexnav_rate_ms) == 0)
{
flag_write_RINEX_nav_output = true;
}
@ -1387,7 +1393,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{
//gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
unsigned int i = 0;
uint32_t i = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
{
std::string system(&gnss_observables_iter->second.System, 1);
@ -1470,7 +1476,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{
//gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
unsigned int i = 0;
uint32_t i = 0;
for (gnss_observables_iter = gnss_observables_map.begin(); gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter++)
{
std::string system(&gnss_observables_iter->second.System, 1);
@ -1535,7 +1541,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{
// gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
// galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
unsigned int i = 0;
uint32_t i = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
{
std::string system(&gnss_observables_iter->second.System, 1);
@ -1600,7 +1606,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{
// gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
// galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
unsigned int i = 0;
uint32_t i = 0;
for (gnss_observables_iter = gnss_observables_map.begin(); gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter++)
{
std::string system(&gnss_observables_iter->second.System, 1);
@ -1665,7 +1671,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{
// gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
// galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
unsigned int i = 0;
uint32_t i = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
{
std::string system(&gnss_observables_iter->second.System, 1);
@ -1777,7 +1783,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
}
unsigned int i = 0;
uint32_t i = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
{
std::string system(&gnss_observables_iter->second.System, 1);
@ -1852,7 +1858,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
// gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
// galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
unsigned int i = 0;
uint32_t i = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
{
std::string system(&gnss_observables_iter->second.System, 1);
@ -1910,7 +1916,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
}
unsigned int i = 0;
uint32_t i = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
{
std::string system(&gnss_observables_iter->second.System, 1);
@ -1967,7 +1973,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
// gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
// galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
unsigned int i = 0;
uint32_t i = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
{
std::string system(&gnss_observables_iter->second.System, 1);
@ -2025,7 +2031,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
}
unsigned int i = 0;
uint32_t i = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
{
std::string system(&gnss_observables_iter->second.System, 1);
@ -2120,7 +2126,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
try
{
double tmp_double;
for (unsigned int i = 0; i < d_nchannels; i++)
for (uint32_t i = 0; i < d_nchannels; i++)
{
tmp_double = in[i][epoch].Pseudorange_m;
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));

83
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h
View File

@ -44,6 +44,7 @@
#include <sys/ipc.h>
#include <sys/msg.h>
#include <chrono>
#include <cstdint>
#include <fstream>
#include <utility>
#include <string>
@ -53,24 +54,24 @@ class rtklib_pvt_cc;
typedef boost::shared_ptr<rtklib_pvt_cc> rtklib_pvt_cc_sptr;
rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int n_channels,
rtklib_pvt_cc_sptr rtklib_make_pvt_cc(uint32_t n_channels,
bool dump,
std::string dump_filename,
int output_rate_ms,
int display_rate_ms,
int32_t output_rate_ms,
int32_t display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname,
int rinex_version,
int rinexobs_rate_ms,
int rinexnav_rate_ms,
int32_t rinex_version,
int32_t rinexobs_rate_ms,
int32_t rinexnav_rate_ms,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
uint16_t rtcm_tcp_port,
uint16_t rtcm_station_id,
std::map<int, int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname,
const unsigned int type_of_receiver,
const uint32_t type_of_receiver,
rtk_t& rtk);
/*!
@ -79,24 +80,24 @@ rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int n_channels,
class rtklib_pvt_cc : public gr::sync_block
{
private:
friend rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int nchannels,
friend rtklib_pvt_cc_sptr rtklib_make_pvt_cc(uint32_t nchannels,
bool dump,
std::string dump_filename,
int output_rate_ms,
int display_rate_ms,
int32_t output_rate_ms,
int32_t display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname,
int rinex_version,
int rinexobs_rate_ms,
int rinexnav_rate_ms,
int32_t rinex_version,
int32_t rinexobs_rate_ms,
int32_t rinexnav_rate_ms,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
uint16_t rtcm_tcp_port,
uint16_t rtcm_station_id,
std::map<int, int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname,
const unsigned int type_of_receiver,
const uint32_t type_of_receiver,
rtk_t& rtk);
void msg_handler_telemetry(pmt::pmt_t msg);
@ -105,26 +106,26 @@ private:
bool b_rinex_header_written;
bool b_rinex_header_updated;
double d_rinex_version;
int d_rinexobs_rate_ms;
int d_rinexnav_rate_ms;
int32_t d_rinexobs_rate_ms;
int32_t d_rinexnav_rate_ms;
bool b_rtcm_writing_started;
int d_rtcm_MT1045_rate_ms; //!< Galileo Broadcast Ephemeris
int d_rtcm_MT1019_rate_ms; //!< GPS Broadcast Ephemeris (orbits)
int d_rtcm_MT1020_rate_ms; //!< GLONASS Broadcast Ephemeris (orbits)
int d_rtcm_MT1077_rate_ms; //!< The type 7 Multiple Signal Message format for the USA’s GPS system, popular
int d_rtcm_MT1087_rate_ms; //!< GLONASS MSM7. The type 7 Multiple Signal Message format for the Russian GLONASS system
int d_rtcm_MT1097_rate_ms; //!< Galileo MSM7. The type 7 Multiple Signal Message format for Europe’s Galileo system
int d_rtcm_MSM_rate_ms;
int32_t d_rtcm_MT1045_rate_ms; //!< Galileo Broadcast Ephemeris
int32_t d_rtcm_MT1019_rate_ms; //!< GPS Broadcast Ephemeris (orbits)
int32_t d_rtcm_MT1020_rate_ms; //!< GLONASS Broadcast Ephemeris (orbits)
int32_t d_rtcm_MT1077_rate_ms; //!< The type 7 Multiple Signal Message format for the USA’s GPS system, popular
int32_t d_rtcm_MT1087_rate_ms; //!< GLONASS MSM7. The type 7 Multiple Signal Message format for the Russian GLONASS system
int32_t d_rtcm_MT1097_rate_ms; //!< Galileo MSM7. The type 7 Multiple Signal Message format for Europe’s Galileo system
int32_t d_rtcm_MSM_rate_ms;
int d_last_status_print_seg; //for status printer
int32_t d_last_status_print_seg; //for status printer
unsigned int d_nchannels;
uint32_t d_nchannels;
std::string d_dump_filename;
std::ofstream d_dump_file;
int d_output_rate_ms;
int d_display_rate_ms;
int32_t d_output_rate_ms;
int32_t d_display_rate_ms;
std::shared_ptr<Rinex_Printer> rp;
std::shared_ptr<Kml_Printer> d_kml_dump;
@ -139,7 +140,7 @@ private:
std::map<int, Gnss_Synchro> gnss_observables_map;
bool observables_pairCompare_min(const std::pair<int, Gnss_Synchro>& a, const std::pair<int, Gnss_Synchro>& b);
unsigned int type_of_rx;
uint32_t type_of_rx;
bool first_fix;
key_t sysv_msg_key;
@ -153,23 +154,23 @@ private:
std::chrono::time_point<std::chrono::system_clock> start, end;
public:
rtklib_pvt_cc(unsigned int nchannels,
rtklib_pvt_cc(uint32_t nchannels,
bool dump, std::string dump_filename,
int output_rate_ms,
int display_rate_ms,
int32_t output_rate_ms,
int32_t display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname,
int rinex_version,
int rinexobs_rate_ms,
int rinexnav_rate_ms,
int32_t rinex_version,
int32_t rinexobs_rate_ms,
int32_t rinexnav_rate_ms,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
uint16_t rtcm_tcp_port,
uint16_t rtcm_station_id,
std::map<int, int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname,
const unsigned int type_of_receiver,
const uint32_t type_of_receiver,
rtk_t& rtk);
/*!

11
src/algorithms/PVT/libs/nmea_printer.cc
View File

@ -36,6 +36,7 @@
#include "nmea_printer.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <glog/logging.h>
#include <cstdint>
#include <fcntl.h>
#include <termios.h>
@ -86,11 +87,11 @@ int Nmea_Printer::init_serial(std::string serial_device)
*/
int fd = 0;
struct termios options;
long BAUD;
long DATABITS;
long STOPBITS;
long PARITYON;
long PARITY;
int64_t BAUD;
int64_t DATABITS;
int64_t STOPBITS;
int64_t PARITYON;
int64_t PARITY;
fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
if (fd == -1) return fd; //failed to open TTY port

714
src/algorithms/PVT/libs/rinex_printer.cc
View File

File diff suppressed because it is too large Load Diff

43
src/algorithms/PVT/libs/rinex_printer.h
View File

@ -60,6 +60,7 @@
#include "GLONASS_L1_L2_CA.h"
#include "gnss_synchro.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <cstdint>
#include <string>
#include <fstream>
#include <sstream> // for stringstream
@ -221,87 +222,87 @@ public:
/*!
* \brief Writes data from the GPS L1 C/A navigation message into the RINEX file
*/
void log_rinex_nav(std::fstream& out, const std::map<int, Gps_Ephemeris>& eph_map);
void log_rinex_nav(std::fstream& out, const std::map<int32_t, Gps_Ephemeris>& eph_map);
/*!
* \brief Writes data from the GPS L2 navigation message into the RINEX file
*/
void log_rinex_nav(std::fstream& out, const std::map<int, Gps_CNAV_Ephemeris>& eph_map);
void log_rinex_nav(std::fstream& out, const std::map<int32_t, Gps_CNAV_Ephemeris>& eph_map);
/*!
* \brief Writes data from the Galileo navigation message into the RINEX file
*/
void log_rinex_nav(std::fstream& out, const std::map<int, Galileo_Ephemeris>& eph_map);
void log_rinex_nav(std::fstream& out, const std::map<int32_t, Galileo_Ephemeris>& eph_map);
/*!
* \brief Writes data from the Mixed (GPS/Galileo) navigation message into the RINEX file
*/
void log_rinex_nav(std::fstream& out, const std::map<int, Gps_Ephemeris>& gps_eph_map, const std::map<int, Galileo_Ephemeris>& galileo_eph_map);
void log_rinex_nav(std::fstream& out, const std::map<int32_t, Gps_Ephemeris>& gps_eph_map, const std::map<int32_t, Galileo_Ephemeris>& galileo_eph_map);
/*!
* \brief Writes data from the GLONASS GNAV navigation message into the RINEX file
*/
void log_rinex_nav(std::fstream& out, const std::map<int, Glonass_Gnav_Ephemeris>& eph_map);
void log_rinex_nav(std::fstream& out, const std::map<int32_t, Glonass_Gnav_Ephemeris>& eph_map);
/*!
* \brief Writes data from the Mixed (GPS/GLONASS GNAV) navigation message into the RINEX file
*/
void log_rinex_nav(std::fstream& out, const std::map<int, Gps_Ephemeris>& gps_eph_map, const std::map<int, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map);
void log_rinex_nav(std::fstream& out, const std::map<int32_t, Gps_Ephemeris>& gps_eph_map, const std::map<int32_t, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map);
/*!
* \brief Writes data from the Mixed (GPS/GLONASS GNAV) navigation message into the RINEX file
*/
void log_rinex_nav(std::fstream& out, const std::map<int, Gps_CNAV_Ephemeris>& gps_cnav_eph_map, const std::map<int, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map);
void log_rinex_nav(std::fstream& out, const std::map<int32_t, Gps_CNAV_Ephemeris>& gps_cnav_eph_map, const std::map<int32_t, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map);
/*!
* \brief Writes data from the Mixed (Galileo/ GLONASS GNAV) navigation message into the RINEX file
*/
void log_rinex_nav(std::fstream& out, const std::map<int, Galileo_Ephemeris>& galileo_eph_map, const std::map<int, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map);
void log_rinex_nav(std::fstream& out, const std::map<int32_t, Galileo_Ephemeris>& galileo_eph_map, const std::map<int32_t, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map);
/*!
* \brief Writes GPS L1 observables into the RINEX file
*/
void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*!
* \brief Writes GPS L2 observables into the RINEX file
*/
void log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
void log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*!
* \brief Writes dual frequency GPS L1 and L2 observables into the RINEX file
*/
void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, const Gps_CNAV_Ephemeris& eph_cnav, double obs_time, const std::map<int, Gnss_Synchro>& observables);
void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, const Gps_CNAV_Ephemeris& eph_cnav, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*!
* \brief Writes Galileo observables into the RINEX file. Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/
void log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& eph, double obs_time, const std::map<int, Gnss_Synchro>& observables, const std::string galileo_bands = "1B");
void log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, const std::string galileo_bands = "1B");
/*!
* \brief Writes Mixed GPS / Galileo observables into the RINEX file
*/
void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_eph, const Galileo_Ephemeris& galileo_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro>& observables);
void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_eph, const Galileo_Ephemeris& galileo_eph, const double gps_obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*!
* \brief Writes GLONASS GNAV observables into the RINEX file. Example: glonass_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/
void log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, double obs_time, const std::map<int, Gnss_Synchro>& observables, const std::string glonass_bands = "1C");
void log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, const std::string glonass_bands = "1C");
/*!
* \brief Writes Mixed GPS L1 C/A - GLONASS observables into the RINEX file
*/
void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro>& observables);
void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double gps_obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*!
* \brief Writes Mixed GPS L2C - GLONASS observables into the RINEX file
*/
void log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& gps_cnav_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro>& observables);
void log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& gps_cnav_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double gps_obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*!
* \brief Writes Mixed Galileo/GLONASS observables into the RINEX file
*/
void log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro>& observables);
void log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double gps_obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*!
* \brief Represents GPS time in the date time format. Leap years are considered, but leap seconds are not.
@ -523,9 +524,9 @@ private:
/*
* Convert a string to an integer.
* @param s string containing a number.
* @return long integer representation of string.
* @return int64_t integer representation of string.
*/
inline long asInt(const std::string& s)
inline int64_t asInt(const std::string& s)
{
return strtol(s.c_str(), 0, 10);
}
@ -658,7 +659,7 @@ inline std::string& Rinex_Printer::sci2for(std::string& aStr,
std::string::size_type idx = aStr.find('.', startPos);
int expAdd = 0;
std::string exp;
long iexp;
int64_t iexp;
//If checkSwitch is false, always redo the exponential. Otherwise,
//set it to false.
bool redoexp = !checkSwitch;
@ -761,7 +762,7 @@ inline std::string Rinex_Printer::asFixWidthString(const int x, const int width,
}
inline long asInt(const std::string& s)
inline int64_t asInt(const std::string& s)
{
return strtol(s.c_str(), 0, 10);
}

50
src/algorithms/PVT/libs/rtcm_printer.cc
View File

@ -42,7 +42,7 @@
using google::LogMessage;
Rtcm_Printer::Rtcm_Printer(std::string filename, bool flag_rtcm_server, bool flag_rtcm_tty_port, unsigned short rtcm_tcp_port, unsigned short rtcm_station_id, std::string rtcm_dump_devname, bool time_tag_name)
Rtcm_Printer::Rtcm_Printer(std::string filename, bool flag_rtcm_server, bool flag_rtcm_tty_port, uint16_t rtcm_tcp_port, uint16_t rtcm_station_id, std::string rtcm_dump_devname, bool time_tag_name)
{
boost::posix_time::ptime pt = boost::posix_time::second_clock::local_time();
tm timeinfo = boost::posix_time::to_tm(pt);
@ -50,33 +50,33 @@ Rtcm_Printer::Rtcm_Printer(std::string filename, bool flag_rtcm_server, bool fla
if (time_tag_name)
{
std::stringstream strm0;
const int year = timeinfo.tm_year - 100;
const int32_t year = timeinfo.tm_year - 100;
strm0 << year;
const int month = timeinfo.tm_mon + 1;
const int32_t month = timeinfo.tm_mon + 1;
if (month < 10)
{
strm0 << "0";
}
strm0 << month;
const int day = timeinfo.tm_mday;
const int32_t day = timeinfo.tm_mday;
if (day < 10)
{
strm0 << "0";
}
strm0 << day << "_";
const int hour = timeinfo.tm_hour;
const int32_t hour = timeinfo.tm_hour;
if (hour < 10)
{
strm0 << "0";
}
strm0 << hour;
const int min = timeinfo.tm_min;
const int32_t min = timeinfo.tm_min;
if (min < 10)
{
strm0 << "0";
}
strm0 << min;
const int sec = timeinfo.tm_sec;
const int32_t sec = timeinfo.tm_sec;
if (sec < 10)
{
strm0 << "0";
@ -153,7 +153,7 @@ Rtcm_Printer::~Rtcm_Printer()
}
bool Rtcm_Printer::Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables)
bool Rtcm_Printer::Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables)
{
std::string m1001 = rtcm->print_MT1001(gps_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1001);
@ -161,7 +161,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_ti
}
bool Rtcm_Printer::Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables)
bool Rtcm_Printer::Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables)
{
std::string m1002 = rtcm->print_MT1002(gps_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1002);
@ -169,7 +169,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_ti
}
bool Rtcm_Printer::Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables)
bool Rtcm_Printer::Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables)
{
std::string m1003 = rtcm->print_MT1003(gps_eph, cnav_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1003);
@ -177,7 +177,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNA
}
bool Rtcm_Printer::Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables)
bool Rtcm_Printer::Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables)
{
std::string m1003 = rtcm->print_MT1004(gps_eph, cnav_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1003);
@ -185,7 +185,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNA
}
bool Rtcm_Printer::Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables)
bool Rtcm_Printer::Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables)
{
std::string m1009 = rtcm->print_MT1009(glonass_gnav_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1009);
@ -193,7 +193,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_
}
bool Rtcm_Printer::Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables)
bool Rtcm_Printer::Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables)
{
std::string m1010 = rtcm->print_MT1010(glonass_gnav_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1010);
@ -201,7 +201,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_
}
bool Rtcm_Printer::Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro>& observables)
bool Rtcm_Printer::Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables)
{
std::string m1011 = rtcm->print_MT1011(glonass_gnav_ephL1, glonass_gnav_ephL2, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1011);
@ -209,7 +209,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_
}
bool Rtcm_Printer::Print_Rtcm_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro>& observables)
bool Rtcm_Printer::Print_Rtcm_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables)
{
std::string m1012 = rtcm->print_MT1012(glonass_gnav_ephL1, glonass_gnav_ephL2, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1012);
@ -241,15 +241,15 @@ bool Rtcm_Printer::Print_Rtcm_MT1045(const Galileo_Ephemeris& gal_eph)
}
bool Rtcm_Printer::Print_Rtcm_MSM(unsigned int msm_number, const Gps_Ephemeris& gps_eph,
bool Rtcm_Printer::Print_Rtcm_MSM(uint32_t msm_number, const Gps_Ephemeris& gps_eph,
const Gps_CNAV_Ephemeris& gps_cnav_eph,
const Galileo_Ephemeris& gal_eph,
const Glonass_Gnav_Ephemeris& glo_gnav_eph,
double obs_time,
const std::map<int, Gnss_Synchro>& observables,
unsigned int clock_steering_indicator,
unsigned int external_clock_indicator,
int smooth_int,
const std::map<int32_t, Gnss_Synchro>& observables,
uint32_t clock_steering_indicator,
uint32_t external_clock_indicator,
int32_t smooth_int,
bool divergence_free,
bool more_messages)
{
@ -297,7 +297,7 @@ int Rtcm_Printer::init_serial(std::string serial_device)
/*
* Opens the serial device and sets the default baud rate for a RTCM transmission (9600,8,N,1)
*/
int fd = 0;
int32_t fd = 0;
struct termios options;
long BAUD;
long DATABITS;
@ -372,25 +372,25 @@ std::string Rtcm_Printer::print_MT1005_test()
}
unsigned int Rtcm_Printer::lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro)
uint32_t Rtcm_Printer::lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro)
{
return rtcm->lock_time(eph, obs_time, gnss_synchro);
}
unsigned int Rtcm_Printer::lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro)
uint32_t Rtcm_Printer::lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro)
{
return rtcm->lock_time(eph, obs_time, gnss_synchro);
}
unsigned int Rtcm_Printer::lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro)
uint32_t Rtcm_Printer::lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro)
{
return rtcm->lock_time(eph, obs_time, gnss_synchro);
}
unsigned int Rtcm_Printer::lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro)
uint32_t Rtcm_Printer::lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro)
{
return rtcm->lock_time(eph, obs_time, gnss_synchro);
}

44
src/algorithms/PVT/libs/rtcm_printer.h
View File

@ -48,17 +48,17 @@ public:
/*!
* \brief Default constructor.
*/
Rtcm_Printer(std::string filename, bool flag_rtcm_server, bool flag_rtcm_tty_port, unsigned short rtcm_tcp_port, unsigned short rtcm_station_id, std::string rtcm_dump_filename, bool time_tag_name = true);
Rtcm_Printer(std::string filename, bool flag_rtcm_server, bool flag_rtcm_tty_port, uint16_t rtcm_tcp_port, uint16_t rtcm_station_id, std::string rtcm_dump_filename, bool time_tag_name = true);
/*!
* \brief Default destructor.
*/
~Rtcm_Printer();
bool Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*!
* \brief Prints L1-Only GLONASS RTK Observables
* \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred.
@ -68,7 +68,7 @@ public:
* \param observables Set of observables as defined by the platform
* \return true or false upon operation success
*/
bool Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*!
* \brief Prints Extended L1-Only GLONASS RTK Observables
* \details This GLONASS message type is used when only L1 data is present and bandwidth is very tight, often 1012 is used in such cases.
@ -78,7 +78,7 @@ public:
* \param observables Set of observables as defined by the platform
* \return true or false upon operation success
*/
bool Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*!
* \brief Prints L1&L2 GLONASS RTK Observables
* \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred
@ -89,7 +89,7 @@ public:
* \param observables Set of observables as defined by the platform
* \return true or false upon operation success
*/
bool Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*!
* \brief Prints Extended L1&L2 GLONASS RTK Observables
* \details This GLONASS message type is the most common observational message type, with L1/L2/SNR content. This is one of the most common messages found.
@ -100,7 +100,7 @@ public:
* \param observables Set of observables as defined by the platform
* \return true or false upon operation success
*/
bool Print_Rtcm_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1019(const Gps_Ephemeris& gps_eph); //<! GPS Ephemeris, should be broadcast in the event that the IODC does not match the IODE, and every 2 minutes.
bool Print_Rtcm_MT1045(const Galileo_Ephemeris& gal_eph); //<! Galileo Ephemeris, should be broadcast every 2 minutes
@ -114,23 +114,23 @@ public:
*/
bool Print_Rtcm_MT1020(const Glonass_Gnav_Ephemeris& glo_gnav_eph, const Glonass_Gnav_Utc_Model& utc_model);
bool Print_Rtcm_MSM(unsigned int msm_number,
bool Print_Rtcm_MSM(uint32_t msm_number,
const Gps_Ephemeris& gps_eph,
const Gps_CNAV_Ephemeris& gps_cnav_eph,
const Galileo_Ephemeris& gal_eph,
const Glonass_Gnav_Ephemeris& glo_gnav_eph,
double obs_time,
const std::map<int, Gnss_Synchro>& observables,
unsigned int clock_steering_indicator,
unsigned int external_clock_indicator,
int smooth_int,
const std::map<int32_t, Gnss_Synchro>& observables,
uint32_t clock_steering_indicator,
uint32_t external_clock_indicator,
int32_t smooth_int,
bool divergence_free,
bool more_messages);
std::string print_MT1005_test(); //<! For testing purposes
unsigned int lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
unsigned int lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
unsigned int lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
uint32_t lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
uint32_t lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
uint32_t lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
/*!
* \brief Locks time for logging given GLONASS GNAV Broadcast Ephemeris
* \note Code added as part of GSoC 2017 program
@ -139,16 +139,16 @@ public:
* \params observables Set of observables as defined by the platform
* \return locked time during logging process
*/
unsigned int lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
uint32_t lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
private:
std::string rtcm_filename; // String with the RTCM log filename
std::ofstream rtcm_file_descriptor; // Output file stream for RTCM log file
std::string rtcm_devname;
unsigned short port;
unsigned short station_id;
int rtcm_dev_descriptor; // RTCM serial device descriptor (i.e. COM port)
int init_serial(std::string serial_device); //serial port control
uint16_t port;
uint16_t station_id;
int32_t rtcm_dev_descriptor; // RTCM serial device descriptor (i.e. COM port)
int32_t init_serial(std::string serial_device); //serial port control
void close_serial();
std::shared_ptr<Rtcm> rtcm;
bool Print_Message(const std::string& message);

6
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -176,6 +176,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
band2 = true;
}
}
break;
default:
{
}
@ -495,7 +496,8 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
if (rtk_.ssat[i].vsat[0] == 1) used_sats++;
}
double azel[used_sats * 2];
std::vector<double> azel;
azel.reserve(used_sats * 2);
unsigned int index_aux = 0;
for (unsigned int i = 0; i < MAXSAT; i++)
{
@ -506,7 +508,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
index_aux++;
}
}
if (index_aux > 0) dops(index_aux, azel, 0.0, dop_);
if (index_aux > 0) dops(index_aux, azel.data(), 0.0, dop_);
this->set_valid_position(true);
arma::vec rx_position_and_time(4);

1
src/algorithms/acquisition/CMakeLists.txt
View File

@ -19,3 +19,4 @@
add_subdirectory(adapters)
add_subdirectory(gnuradio_blocks)
add_subdirectory(libs)

4
src/algorithms/acquisition/adapters/CMakeLists.txt
View File

@ -37,9 +37,9 @@ set(ACQ_ADAPTER_SOURCES
)
if(ENABLE_FPGA)
set(ACQ_ADAPTER_SOURCES ${ACQ_ADAPTER_SOURCES} gps_l1_ca_pcps_acquisition_fpga.cc)
set(ACQ_ADAPTER_SOURCES ${ACQ_ADAPTER_SOURCES} gps_l1_ca_pcps_acquisition_fpga.cc gps_l2_m_pcps_acquisition_fpga.cc galileo_e1_pcps_ambiguous_acquisition_fpga.cc galileo_e5a_pcps_acquisition_fpga.cc gps_l5i_pcps_acquisition_fpga.cc)
endif(ENABLE_FPGA)
if(OPENCL_FOUND)
set(ACQ_ADAPTER_SOURCES ${ACQ_ADAPTER_SOURCES} gps_l1_ca_pcps_opencl_acquisition.cc)
endif(OPENCL_FOUND)

40
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.cc
View File

@ -62,8 +62,14 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
acq_parameters.doppler_max = doppler_max_;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 4);
acq_parameters.ms_per_code = 4;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", acq_parameters.ms_per_code);
acq_parameters.sampled_ms = sampled_ms_;
if ((acq_parameters.sampled_ms % acq_parameters.ms_per_code) != 0)
{
LOG(WARNING) << "Parameter coherent_integration_time_ms should be a multiple of 4. Setting it to 4";
acq_parameters.sampled_ms = acq_parameters.ms_per_code;
}
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
acq_parameters.bit_transition_flag = bit_transition_flag_;
use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
@ -79,10 +85,11 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
acq_parameters.dump_filename = dump_filename_;
//--- Find number of samples per spreading code (4 ms) -----------------
code_length_ = static_cast<unsigned int>(std::round(static_cast<double>(fs_in_) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)));
acq_parameters.samples_per_code = code_length_;
int samples_per_ms = static_cast<int>(std::round(static_cast<double>(fs_in_) * 0.001));
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)));
float samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters.samples_per_ms = samples_per_ms;
acq_parameters.samples_per_code = acq_parameters.samples_per_ms * static_cast<float>(Galileo_E1_CODE_PERIOD_MS);
vector_length_ = sampled_ms_ * samples_per_ms;
if (bit_transition_flag_)
@ -108,9 +115,6 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
acquisition_ = pcps_make_acquisition(acq_parameters);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")";
if (item_type_.compare("cbyte") == 0)
{
cbyte_to_float_x2_ = make_complex_byte_to_float_x2();
@ -271,18 +275,19 @@ void GalileoE1PcpsAmbiguousAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
{
top_block->connect(stream_to_vector_, 0, acquisition_, 0);
// nothing to connect
}
else if (item_type_.compare("cshort") == 0)
{
top_block->connect(stream_to_vector_, 0, acquisition_, 0);
// nothing to connect
}
else if (item_type_.compare("cbyte") == 0)
{
// Since a byte-based acq implementation is not available,
// we just convert cshorts to gr_complex
top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
top_block->connect(float_to_complex_, 0, stream_to_vector_, 0);
top_block->connect(stream_to_vector_, 0, acquisition_, 0);
top_block->connect(float_to_complex_, 0, acquisition_, 0);
}
else
{
@ -295,20 +300,17 @@ void GalileoE1PcpsAmbiguousAcquisition::disconnect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
{
top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
// nothing to disconnect
}
else if (item_type_.compare("cshort") == 0)
{
top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
// nothing to disconnect
}
else if (item_type_.compare("cbyte") == 0)
{
// Since a byte-based acq implementation is not available,
// we just convert cshorts to gr_complex
top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
top_block->disconnect(float_to_complex_, 0, stream_to_vector_, 0);
top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
top_block->disconnect(float_to_complex_, 0, acquisition_, 0);
}
else
{
@ -321,11 +323,11 @@ gr::basic_block_sptr GalileoE1PcpsAmbiguousAcquisition::get_left_block()
{
if (item_type_.compare("gr_complex") == 0)
{
return stream_to_vector_;
return acquisition_;
}
else if (item_type_.compare("cshort") == 0)
{
return stream_to_vector_;
return acquisition_;
}
else if (item_type_.compare("cbyte") == 0)
{

2
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.h
View File

@ -36,7 +36,6 @@
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include "complex_byte_to_float_x2.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <gnuradio/blocks/float_to_complex.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <string>
@ -135,7 +134,6 @@ public:
private:
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;
gr::blocks::stream_to_vector::sptr stream_to_vector_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
size_t item_size_;

552
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc Normal file
View File

@ -0,0 +1,552 @@
/*!
* \file galileo_e1_pcps_ambiguous_acquisition.cc
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* Galileo E1 Signals
* \author Luis Esteve, 2012. luis(at)epsilon-formacion.com
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "galileo_e1_pcps_ambiguous_acquisition_fpga.h"
#include "configuration_interface.h"
#include "galileo_e1_signal_processing.h"
#include "Galileo_E1.h"
#include "gnss_sdr_flags.h"
#include <boost/lexical_cast.hpp>
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
using google::LogMessage;
GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
//printf("top acq constructor start\n");
pcpsconf_fpga_t acq_parameters;
configuration_ = configuration;
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./data/acquisition.dat";
DLOG(INFO) << "role " << role;
// item_type_ = configuration_->property(role + ".item_type", default_item_type);
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);
acq_parameters.fs_in = fs_in;
//if_ = configuration_->property(role + ".if", 0);
//acq_parameters.freq = if_;
// dump_ = configuration_->property(role + ".dump", false);
// acq_parameters.dump = dump_;
// blocking_ = configuration_->property(role + ".blocking", true);
// acq_parameters.blocking = blocking_;
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
acq_parameters.doppler_max = doppler_max_;
//unsigned int sampled_ms = 4;
//acq_parameters.sampled_ms = sampled_ms;
unsigned int sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 4);
acq_parameters.sampled_ms = sampled_ms;
// bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
// acq_parameters.bit_transition_flag = bit_transition_flag_;
// use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
// acq_parameters.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
acquire_pilot_ = configuration_->property(role + ".acquire_pilot", false); //will be true in future versions
// max_dwells_ = configuration_->property(role + ".max_dwells", 1);
// acq_parameters.max_dwells = max_dwells_;
// dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
// acq_parameters.dump_filename = dump_filename_;
//--- Find number of samples per spreading code (4 ms) -----------------
unsigned int code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)));
//acq_parameters.samples_per_code = code_length_;
//int samples_per_ms = static_cast<int>(std::round(static_cast<double>(fs_in_) * 0.001));
//acq_parameters.samples_per_ms = samples_per_ms;
//unsigned int vector_length = sampled_ms * samples_per_ms;
// if (bit_transition_flag_)
// {
// vector_length_ *= 2;
// }
//printf("fs_in = %d\n", fs_in);
//printf("Galileo_E1_B_CODE_LENGTH_CHIPS = %f\n", Galileo_E1_B_CODE_LENGTH_CHIPS);
//printf("Galileo_E1_CODE_CHIP_RATE_HZ = %f\n", Galileo_E1_CODE_CHIP_RATE_HZ);
//printf("acq adapter code_length = %d\n", code_length);
acq_parameters.code_length = 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 nsamples_total (= 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);
acq_parameters.device_name = device_name;
acq_parameters.samples_per_ms = nsamples_total/sampled_ms;
acq_parameters.samples_per_code = nsamples_total;
// compute all the GALILEO E1 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
// a channel is assigned)
gr::fft::fft_complex* fft_if = new gr::fft::fft_complex(nsamples_total, true); // Direct FFT
std::complex<float>* code = new std::complex<float>[nsamples_total]; // buffer for the local code
gr_complex* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_all_fft_codes_ = new lv_16sc_t[nsamples_total * Galileo_E1_NUMBER_OF_CODES]; // memory containing all the possible fft codes for PRN 0 to 32
float max; // temporary maxima search
//int tmp_re, tmp_im;
for (unsigned int PRN = 1; PRN <= Galileo_E1_NUMBER_OF_CODES; PRN++)
{
//code_ = new gr_complex[vector_length_];
bool cboc = false; // cboc is set to 0 when using the FPGA
//std::complex<float>* code = new std::complex<float>[code_length_];
if (acquire_pilot_ == true)
{
//printf("yes acquiring pilot!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!1\n");
//set local signal generator to Galileo E1 pilot component (1C)
char pilot_signal[3] = "1C";
galileo_e1_code_gen_complex_sampled(code, pilot_signal,
cboc, PRN, fs_in, 0, false);
}
else
{
char data_signal[3] = "1B";
galileo_e1_code_gen_complex_sampled(code, data_signal,
cboc, PRN, fs_in, 0, false);
}
// for (unsigned int i = 0; i < sampled_ms / 4; i++)
// {
// //memcpy(&(code_[i * code_length_]), code, sizeof(gr_complex) * code_length_);
// memcpy(&(d_all_fft_codes_[i * code_length_]), code, sizeof(gr_complex) * code_length_);
// }
// // debug
// char filename[25];
// FILE *fid;
// sprintf(filename,"gal_prn%d.txt", PRN);
// fid = fopen(filename, "w");
// for (unsigned int kk=0;kk< nsamples_total; kk++)
// {
// fprintf(fid, "%f\n", code[kk].real());
// fprintf(fid, "%f\n", code[kk].imag());
// }
// fclose(fid);
// // fill in zero padding
for (int s = code_length; s < nsamples_total; s++)
{
code[s] = std::complex<float>(static_cast<float>(0,0));
//code[s] = 0;
}
memcpy(fft_if->get_inbuf(), code, sizeof(gr_complex) * nsamples_total); // copy to FFT buffer
fft_if->execute(); // Run the FFT of local code
volk_32fc_conjugate_32fc(fft_codes_padded, fft_if->get_outbuf(), nsamples_total); // conjugate values
// // debug
// char filename[25];
// FILE *fid;
// sprintf(filename,"fft_gal_prn%d.txt", PRN);
// fid = fopen(filename, "w");
// for (unsigned int kk=0;kk< nsamples_total; kk++)
// {
// fprintf(fid, "%f\n", fft_codes_padded[kk].real());
// fprintf(fid, "%f\n", fft_codes_padded[kk].imag());
// }
// fclose(fid);
// normalize the code
max = 0; // initialize maximum value
for (unsigned int i = 0; i < nsamples_total; i++) // search for maxima
{
if (std::abs(fft_codes_padded[i].real()) > max)
{
max = std::abs(fft_codes_padded[i].real());
}
if (std::abs(fft_codes_padded[i].imag()) > max)
{
max = std::abs(fft_codes_padded[i].imag());
}
}
for (unsigned int i = 0; i < nsamples_total; i++) // map the FFT to the dynamic range of the fixed point values an copy to buffer containing all FFTs
{
//d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int>(floor(4096*fft_codes_padded[i].real() * (pow(2, 3) - 1) / max)),
// static_cast<int>(floor(4096*fft_codes_padded[i].imag() * (pow(2, 3) - 1) / max)));
// d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int>(floor(1024*fft_codes_padded[i].real() * (pow(2, 5) - 1) / max)),
// static_cast<int>(floor(1024*fft_codes_padded[i].imag() * (pow(2, 5) - 1) / max)));
// d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int>(floor(256*fft_codes_padded[i].real() * (pow(2, 7) - 1) / max)),
// static_cast<int>(floor(256*fft_codes_padded[i].imag() * (pow(2, 7) - 1) / max)));
// d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int>(floor(16*fft_codes_padded[i].real() * (pow(2, 11) - 1) / max)),
// static_cast<int>(floor(16*fft_codes_padded[i].imag() * (pow(2, 11) - 1) / max)));
d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int>(floor(fft_codes_padded[i].real() * (pow(2, 15) - 1) / max)),
static_cast<int>(floor(fft_codes_padded[i].imag() * (pow(2, 15) - 1) / max)));
// tmp_re = static_cast<int>(floor(fft_codes_padded[i].real() * (pow(2, 7) - 1) / max));
// tmp_im = static_cast<int>(floor(fft_codes_padded[i].imag() * (pow(2, 7) - 1) / max));
// if (tmp_re > 127)
// {
// tmp_re = 127;
// }
// if (tmp_re < -128)
// {
// tmp_re = -128;
// }
// if (tmp_im > 127)
// {
// tmp_im = 127;
// }
// if (tmp_im < -128)
// {
// tmp_im = -128;
// }
// d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int>(tmp_re), static_cast<int>(tmp_im));
//
}
// // debug
// char filename2[25];
// FILE *fid2;
// sprintf(filename2,"fft_gal_prn%d_norm.txt", PRN);
// fid2 = fopen(filename2, "w");
// for (unsigned int kk=0;kk< nsamples_total; kk++)
// {
// fprintf(fid2, "%d\n", d_all_fft_codes_[kk + nsamples_total * (PRN - 1)].real());
// fprintf(fid2, "%d\n", d_all_fft_codes_[kk + nsamples_total * (PRN - 1)].imag());
// }
// fclose(fid2);
}
// for (unsigned int PRN = 1; PRN <= Galileo_E1_NUMBER_OF_CODES; PRN++)
// {
// // debug
// char filename2[25];
// FILE *fid2;
// sprintf(filename2,"fft_gal_prn%d_norm_last.txt", PRN);
// fid2 = fopen(filename2, "w");
// for (unsigned int kk=0;kk< nsamples_total; kk++)
// {
// fprintf(fid2, "%d\n", d_all_fft_codes_[kk + nsamples_total * (PRN - 1)].real());
// fprintf(fid2, "%d\n", d_all_fft_codes_[kk + nsamples_total * (PRN - 1)].imag());
// }
// fclose(fid2);
// }
//acq_parameters
acq_parameters.all_fft_codes = d_all_fft_codes_;
// temporary buffers that we can delete
delete[] code;
delete fft_if;
delete[] fft_codes_padded;
acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters);
DLOG(INFO) << "acquisition(" << acquisition_fpga_->unique_id() << ")";
// stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
// DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")";
// if (item_type_.compare("cbyte") == 0)
// {
// cbyte_to_float_x2_ = make_complex_byte_to_float_x2();
// float_to_complex_ = gr::blocks::float_to_complex::make();
// }
channel_ = 0;
//threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = 0;
//printf("top acq constructor end\n");
}
GalileoE1PcpsAmbiguousAcquisitionFpga::~GalileoE1PcpsAmbiguousAcquisitionFpga()
{
//printf("top acq destructor start\n");
//delete[] code_;
delete[] d_all_fft_codes_;
//printf("top acq destructor end\n");
}
void GalileoE1PcpsAmbiguousAcquisitionFpga::set_channel(unsigned int channel)
{
//printf("top acq set channel start\n");
channel_ = channel;
acquisition_fpga_->set_channel(channel_);
//printf("top acq set channel end\n");
}
void GalileoE1PcpsAmbiguousAcquisitionFpga::set_threshold(float threshold)
{
//printf("top acq set threshold start\n");
// the .pfa parameter and the threshold calculation is only used for the CFAR algorithm.
// We don't use the CFAR algorithm in the FPGA. Therefore the threshold is set as such.
// float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
//
// if (pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0);
//
// if (pfa == 0.0)
// {
// threshold_ = threshold;
// }
// else
// {
// threshold_ = calculate_threshold(pfa);
// }
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold;
acquisition_fpga_->set_threshold(threshold);
// acquisition_fpga_->set_threshold(threshold_);
//printf("top acq set threshold end\n");
}
void GalileoE1PcpsAmbiguousAcquisitionFpga::set_doppler_max(unsigned int doppler_max)
{
//printf("top acq set doppler max start\n");
doppler_max_ = doppler_max;
acquisition_fpga_->set_doppler_max(doppler_max_);
//printf("top acq set doppler max end\n");
}
void GalileoE1PcpsAmbiguousAcquisitionFpga::set_doppler_step(unsigned int doppler_step)
{
//printf("top acq set doppler step start\n");
doppler_step_ = doppler_step;
acquisition_fpga_->set_doppler_step(doppler_step_);
//printf("top acq set doppler step end\n");
}
void GalileoE1PcpsAmbiguousAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{
//printf("top acq set gnss synchro start\n");
gnss_synchro_ = gnss_synchro;
acquisition_fpga_->set_gnss_synchro(gnss_synchro_);
//printf("top acq set gnss synchro end\n");
}
signed int GalileoE1PcpsAmbiguousAcquisitionFpga::mag()
{
// printf("top acq mag start\n");
return acquisition_fpga_->mag();
//printf("top acq mag end\n");
}
void GalileoE1PcpsAmbiguousAcquisitionFpga::init()
{
// printf("top acq init start\n");
acquisition_fpga_->init();
// printf("top acq init end\n");
//set_local_code();
}
void GalileoE1PcpsAmbiguousAcquisitionFpga::set_local_code()
{
// printf("top acq set local code start\n");
// bool cboc = configuration_->property(
// "Acquisition" + boost::lexical_cast<std::string>(channel_) + ".cboc", false);
//
// std::complex<float>* code = new std::complex<float>[code_length_];
//
// if (acquire_pilot_ == true)
// {
// //set local signal generator to Galileo E1 pilot component (1C)
// char pilot_signal[3] = "1C";
// galileo_e1_code_gen_complex_sampled(code, pilot_signal,
// cboc, gnss_synchro_->PRN, fs_in_, 0, false);
// }
// else
// {
// galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
// cboc, gnss_synchro_->PRN, fs_in_, 0, false);
// }
//
//
// for (unsigned int i = 0; i < sampled_ms_ / 4; i++)
// {
// memcpy(&(code_[i * code_length_]), code, sizeof(gr_complex) * code_length_);
// }
//acquisition_fpga_->set_local_code(code_);
acquisition_fpga_->set_local_code();
// delete[] code;
// printf("top acq set local code end\n");
}
void GalileoE1PcpsAmbiguousAcquisitionFpga::reset()
{
// printf("top acq reset start\n");
acquisition_fpga_->set_active(true);
// printf("top acq reset end\n");
}
void GalileoE1PcpsAmbiguousAcquisitionFpga::set_state(int state)
{
// printf("top acq set state start\n");
acquisition_fpga_->set_state(state);
// printf("top acq set state end\n");
}
//float GalileoE1PcpsAmbiguousAcquisitionFpga::calculate_threshold(float pfa)
//{
// unsigned int frequency_bins = 0;
// for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_)
// {
// frequency_bins++;
// }
//
// DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
//
// unsigned int ncells = vector_length_ * frequency_bins;
// double exponent = 1 / static_cast<double>(ncells);
// double val = pow(1.0 - pfa, exponent);
// double lambda = double(vector_length_);
// boost::math::exponential_distribution<double> mydist(lambda);
// float threshold = static_cast<float>(quantile(mydist, val));
//
// return threshold;
//}
void GalileoE1PcpsAmbiguousAcquisitionFpga::connect(gr::top_block_sptr top_block)
{
// printf("top acq connect\n");
// if (item_type_.compare("gr_complex") == 0)
// {
// top_block->connect(stream_to_vector_, 0, acquisition_fpga_, 0);
// }
// else if (item_type_.compare("cshort") == 0)
// {
// top_block->connect(stream_to_vector_, 0, acquisition_fpga_, 0);
// }
// else if (item_type_.compare("cbyte") == 0)
// {
// top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
// top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
// top_block->connect(float_to_complex_, 0, stream_to_vector_, 0);
// top_block->connect(stream_to_vector_, 0, acquisition_fpga_, 0);
// }
// else
// {
// LOG(WARNING) << item_type_ << " unknown acquisition item type";
// }
// nothing to connect
}
void GalileoE1PcpsAmbiguousAcquisitionFpga::disconnect(gr::top_block_sptr top_block)
{
// if (item_type_.compare("gr_complex") == 0)
// {
// top_block->disconnect(stream_to_vector_, 0, acquisition_fpga_, 0);
// }
// else if (item_type_.compare("cshort") == 0)
// {
// top_block->disconnect(stream_to_vector_, 0, acquisition_fpga_, 0);
// }
// else if (item_type_.compare("cbyte") == 0)
// {
// // Since a byte-based acq implementation is not available,
// // we just convert cshorts to gr_complex
// top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
// top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
// top_block->disconnect(float_to_complex_, 0, stream_to_vector_, 0);
// top_block->disconnect(stream_to_vector_, 0, acquisition_fpga_, 0);
// }
// else
// {
// LOG(WARNING) << item_type_ << " unknown acquisition item type";
// }
// nothing to disconnect
// printf("top acq disconnect\n");
}
gr::basic_block_sptr GalileoE1PcpsAmbiguousAcquisitionFpga::get_left_block()
{
// printf("top acq get left block start\n");
// if (item_type_.compare("gr_complex") == 0)
// {
// return stream_to_vector_;
// }
// else if (item_type_.compare("cshort") == 0)
// {
// return stream_to_vector_;
// }
// else if (item_type_.compare("cbyte") == 0)
// {
// return cbyte_to_float_x2_;
// }
// else
// {
// LOG(WARNING) << item_type_ << " unknown acquisition item type";
return nullptr;
// }
// printf("top acq get left block end\n");
}
gr::basic_block_sptr GalileoE1PcpsAmbiguousAcquisitionFpga::get_right_block()
{
// printf("top acq get right block start\n");
return acquisition_fpga_;
// printf("top acq get right block end\n");
}

175
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.h Normal file
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@ -0,0 +1,175 @@
/*!
* \file galileo_e1_pcps_ambiguous_acquisition.h
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* Galileo E1 Signals
* \author Luis Esteve, 2012. luis(at)epsilon-formacion.com
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_FPGA_H_
#define GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_FPGA_H_
#include "acquisition_interface.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h"
#include "complex_byte_to_float_x2.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <gnuradio/blocks/float_to_complex.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <string>
class ConfigurationInterface;
/*!
* \brief This class adapts a PCPS acquisition block to an
* AcquisitionInterface for Galileo E1 Signals
*/
class GalileoE1PcpsAmbiguousAcquisitionFpga : public AcquisitionInterface
{
public:
GalileoE1PcpsAmbiguousAcquisitionFpga(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
unsigned int out_streams);
virtual ~GalileoE1PcpsAmbiguousAcquisitionFpga();
inline std::string role() override
{
// printf("top acq role\n");
return role_;
}
/*!
* \brief Returns "Galileo_E1_PCPS_Ambiguous_Acquisition"
*/
inline std::string implementation() override
{
// printf("top acq implementation\n");
return "Galileo_E1_PCPS_Ambiguous_Acquisition_Fpga";
}
size_t item_size() override
{
// printf("top acq item size\n");
size_t item_size = sizeof(lv_16sc_t);
return item_size;
}
void connect(gr::top_block_sptr top_block) override;
void disconnect(gr::top_block_sptr top_block) override;
gr::basic_block_sptr get_left_block() override;
gr::basic_block_sptr get_right_block() override;
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to efficiently exchange synchronization data between acquisition and
* tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
/*!
* \brief Set acquisition channel unique ID
*/
void set_channel(unsigned int channel) override;
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
void set_threshold(float threshold) override;
/*!
* \brief Set maximum Doppler off grid search
*/
void set_doppler_max(unsigned int doppler_max) override;
/*!
* \brief Set Doppler steps for the grid search
*/
void set_doppler_step(unsigned int doppler_step) override;
/*!
* \brief Initializes acquisition algorithm.
*/
void init() override;
/*!
* \brief Sets local code for Galileo E1 PCPS acquisition algorithm.
*/
void set_local_code() override;
/*!
* \brief Returns the maximum peak of grid search
*/
signed int mag() override;
/*!
* \brief Restart acquisition algorithm
*/
void reset() override;
/*!
* \brief If state = 1, it forces the block to start acquiring from the first sample
*/
void set_state(int state) override;
private:
ConfigurationInterface* configuration_;
//pcps_acquisition_sptr acquisition_;
pcps_acquisition_fpga_sptr acquisition_fpga_;
gr::blocks::stream_to_vector::sptr stream_to_vector_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
// size_t item_size_;
// std::string item_type_;
//unsigned int vector_length_;
//unsigned int code_length_;
bool bit_transition_flag_;
bool use_CFAR_algorithm_flag_;
bool acquire_pilot_;
unsigned int channel_;
//float threshold_;
unsigned int doppler_max_;
unsigned int doppler_step_;
//unsigned int sampled_ms_;
unsigned int max_dwells_;
//long fs_in_;
//long if_;
bool dump_;
bool blocking_;
std::string dump_filename_;
//std::complex<float>* code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
//float calculate_threshold(float pfa);
// extra for the FPGA
lv_16sc_t* d_all_fft_codes_; // memory that contains all the code ffts
};
#endif /* GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_FPGA_H_ */

20
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.cc
View File

@ -101,16 +101,16 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
LOG(WARNING) << item_type_ << " unknown acquisition item type";
}
acq_parameters.it_size = item_size_;
acq_parameters.samples_per_code = code_length_;
acq_parameters.samples_per_ms = code_length_;
acq_parameters.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters.sampled_ms = sampled_ms_;
acq_parameters.ms_per_code = 1;
acq_parameters.samples_per_code = acq_parameters.samples_per_ms * static_cast<float>(GALILEO_E5a_CODE_PERIOD_MS);
acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acq_parameters.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
acquisition_ = pcps_make_acquisition(acq_parameters);
stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
@ -258,15 +258,15 @@ void GalileoE5aPcpsAcquisition::set_state(int state)
}
void GalileoE5aPcpsAcquisition::connect(gr::top_block_sptr top_block)
void GalileoE5aPcpsAcquisition::connect(gr::top_block_sptr top_block __attribute__((unused)))
{
if (item_type_.compare("gr_complex") == 0)
{
top_block->connect(stream_to_vector_, 0, acquisition_, 0);
// nothing to connect
}
else if (item_type_.compare("cshort") == 0)
{
top_block->connect(stream_to_vector_, 0, acquisition_, 0);
// nothing to connect
}
else
{
@ -275,15 +275,15 @@ void GalileoE5aPcpsAcquisition::connect(gr::top_block_sptr top_block)
}
void GalileoE5aPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
void GalileoE5aPcpsAcquisition::disconnect(gr::top_block_sptr top_block __attribute__((unused)))
{
if (item_type_.compare("gr_complex") == 0)
{
top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
// nothing to disconnect
}
else if (item_type_.compare("cshort") == 0)
{
top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
// nothing to disconnect
}
else
{
@ -294,7 +294,7 @@ void GalileoE5aPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
gr::basic_block_sptr GalileoE5aPcpsAcquisition::get_left_block()
{
return stream_to_vector_;
return acquisition_;
}

2
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.h
View File

@ -35,7 +35,6 @@
#include "acquisition_interface.h"
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <string>
class ConfigurationInterface;
@ -129,7 +128,6 @@ private:
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;
gr::blocks::stream_to_vector::sptr stream_to_vector_;
size_t item_size_;

405
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc Normal file
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@ -0,0 +1,405 @@
/*!
* \file galileo_e5a_pcps_acquisition.cc
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* Galileo E5a data and pilot Signals
* \author Antonio Ramos, 2018. antonio.ramos(at)cttc.es
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (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 "galileo_e5a_pcps_acquisition_fpga.h"
#include "configuration_interface.h"
#include "galileo_e5_signal_processing.h"
#include "Galileo_E5a.h"
#include "gnss_sdr_flags.h"
#include <boost/lexical_cast.hpp>
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <volk_gnsssdr/volk_gnsssdr_complex.h>
using google::LogMessage;
GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
//printf("creating the E5A acquisition");
pcpsconf_fpga_t acq_parameters;
configuration_ = configuration;
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "../data/acquisition.dat";
DLOG(INFO) << "Role " << role;
//item_type_ = configuration_->property(role + ".item_type", default_item_type);
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 32000000);
long fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in;
//acq_parameters.freq = 0;
//dump_ = configuration_->property(role + ".dump", false);
//acq_parameters.dump = dump_;
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
acq_parameters.doppler_max = doppler_max_;
unsigned int sampled_ms = 1;
//max_dwells_ = configuration_->property(role + ".max_dwells", 1);
//acq_parameters.max_dwells = max_dwells_;
//dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
//acq_parameters.dump_filename = dump_filename_;
//bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
//acq_parameters.bit_transition_flag = bit_transition_flag_;
//use_CFAR_ = configuration_->property(role + ".use_CFAR_algorithm", false);
//acq_parameters.use_CFAR_algorithm_flag = use_CFAR_;
//blocking_ = configuration_->property(role + ".blocking", true);
//acq_parameters.blocking = blocking_;
//--- Find number of samples per spreading code (1ms)-------------------------
acq_pilot_ = configuration_->property(role + ".acquire_pilot", false);
acq_iq_ = configuration_->property(role + ".acquire_iq", false);
if (acq_iq_)
{
acq_pilot_ = false;
}
unsigned int code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / Galileo_E5a_CODE_CHIP_RATE_HZ * static_cast<double>(Galileo_E5a_CODE_LENGTH_CHIPS)));
acq_parameters.code_length = 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;
unsigned int select_queue_Fpga = configuration_->property(role + ".select_queue_Fpga", 1);
//printf("select_queue_Fpga = %d\n", select_queue_Fpga);
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);
acq_parameters.device_name = device_name;
acq_parameters.samples_per_ms = nsamples_total/sampled_ms;
acq_parameters.samples_per_code = nsamples_total;
//vector_length_ = code_length_ * sampled_ms_;
// compute all the GALILEO E5 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
// a channel is assigned)
gr::fft::fft_complex* fft_if = new gr::fft::fft_complex(nsamples_total, true); // Direct FFT
std::complex<float>* code = new std::complex<float>[nsamples_total]; // buffer for the local code
gr_complex* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_all_fft_codes_ = new lv_16sc_t[nsamples_total * Galileo_E5a_NUMBER_OF_CODES]; // memory containing all the possible fft codes for PRN 0 to 32
float max; // temporary maxima search
//printf("creating the E5A acquisition CONT");
//printf("nsamples_total = %d\n", nsamples_total);
for (unsigned int PRN = 1; PRN <= Galileo_E5a_NUMBER_OF_CODES; PRN++)
{
// gr_complex* code = new gr_complex[code_length_];
char signal_[3];
if (acq_iq_)
{
strcpy(signal_, "5X");
}
else if (acq_pilot_)
{
strcpy(signal_, "5Q");
}
else
{
strcpy(signal_, "5I");
}
galileo_e5_a_code_gen_complex_sampled(code, signal_, PRN, fs_in, 0);
// fill in zero padding
for (int s = code_length; s < nsamples_total; s++)
{
code[s] = std::complex<float>(static_cast<float>(0,0));
//code[s] = 0;
}
memcpy(fft_if->get_inbuf(), code, sizeof(gr_complex) * nsamples_total); // copy to FFT buffer
fft_if->execute(); // Run the FFT of local code
volk_32fc_conjugate_32fc(fft_codes_padded, fft_if->get_outbuf(), nsamples_total); // conjugate values
max = 0; // initialize maximum value
for (unsigned int i = 0; i < nsamples_total; i++) // search for maxima
{
if (std::abs(fft_codes_padded[i].real()) > max)
{
max = std::abs(fft_codes_padded[i].real());
}
if (std::abs(fft_codes_padded[i].imag()) > max)
{
max = std::abs(fft_codes_padded[i].imag());
}
}
for (unsigned int i = 0; i < nsamples_total; i++) // map the FFT to the dynamic range of the fixed point values an copy to buffer containing all FFTs
{
d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int>(floor(fft_codes_padded[i].real() * (pow(2, 15) - 1) / max)),
static_cast<int>(floor(fft_codes_padded[i].imag() * (pow(2, 15) - 1) / max)));
}
}
acq_parameters.all_fft_codes = d_all_fft_codes_;
// temporary buffers that we can delete
delete[] code;
delete fft_if;
delete[] fft_codes_padded;
//code_ = new gr_complex[vector_length_];
// if (item_type_.compare("gr_complex") == 0)
// {
// item_size_ = sizeof(gr_complex);
// }
// else if (item_type_.compare("cshort") == 0)
// {
// item_size_ = sizeof(lv_16sc_t);
// }
// else
// {
// item_size_ = sizeof(gr_complex);
// LOG(WARNING) << item_type_ << " unknown acquisition item type";
// }
//acq_parameters.it_size = item_size_;
//acq_parameters.samples_per_code = code_length_;
//acq_parameters.samples_per_ms = code_length_;
//acq_parameters.sampled_ms = sampled_ms_;
//acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
//acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
//acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
//acquisition_ = pcps_make_acquisition(acq_parameters);
//acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters);
//DLOG(INFO) << "acquisition(" << acquisition_fpga_->unique_id() << ")";
acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters);
DLOG(INFO) << "acquisition(" << acquisition_fpga_->unique_id() << ")";
//stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
channel_ = 0;
//threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = 0;
//printf("creating the E5A acquisition end");
}
GalileoE5aPcpsAcquisitionFpga::~GalileoE5aPcpsAcquisitionFpga()
{
//delete[] code_;
delete[] d_all_fft_codes_;
}
void GalileoE5aPcpsAcquisitionFpga::set_channel(unsigned int channel)
{
channel_ = channel;
//acquisition_->set_channel(channel_);
acquisition_fpga_->set_channel(channel_);
}
void GalileoE5aPcpsAcquisitionFpga::set_threshold(float threshold)
{
// float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
//
// if (pfa == 0.0)
// {
// pfa = configuration_->property(role_ + ".pfa", 0.0);
// }
//
// if (pfa == 0.0)
// {
// threshold_ = threshold;
// }
//
// else
// {
// threshold_ = calculate_threshold(pfa);
// }
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold;
//acquisition_->set_threshold(threshold_);
acquisition_fpga_->set_threshold(threshold);
}
void GalileoE5aPcpsAcquisitionFpga::set_doppler_max(unsigned int doppler_max)
{
doppler_max_ = doppler_max;
//acquisition_->set_doppler_max(doppler_max_);
acquisition_fpga_->set_doppler_max(doppler_max_);
}
void GalileoE5aPcpsAcquisitionFpga::set_doppler_step(unsigned int doppler_step)
{
doppler_step_ = doppler_step;
//acquisition_->set_doppler_step(doppler_step_);
acquisition_fpga_->set_doppler_step(doppler_step_);
}
void GalileoE5aPcpsAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{
gnss_synchro_ = gnss_synchro;
//acquisition_->set_gnss_synchro(gnss_synchro_);
acquisition_fpga_->set_gnss_synchro(gnss_synchro_);
}
signed int GalileoE5aPcpsAcquisitionFpga::mag()
{
//return acquisition_->mag();
return acquisition_fpga_->mag();
}
void GalileoE5aPcpsAcquisitionFpga::init()
{
//acquisition_->init();
acquisition_fpga_->init();
}
void GalileoE5aPcpsAcquisitionFpga::set_local_code()
{
// gr_complex* code = new gr_complex[code_length_];
// char signal_[3];
//
// if (acq_iq_)
// {
// strcpy(signal_, "5X");
// }
// else if (acq_pilot_)
// {
// strcpy(signal_, "5Q");
// }
// else
// {
// strcpy(signal_, "5I");
// }
//
// galileo_e5_a_code_gen_complex_sampled(code, signal_, gnss_synchro_->PRN, fs_in_, 0);
//
// for (unsigned int i = 0; i < sampled_ms_; i++)
// {
// memcpy(code_ + (i * code_length_), code, sizeof(gr_complex) * code_length_);
// }
//acquisition_->set_local_code(code_);
acquisition_fpga_->set_local_code();
// delete[] code;
}
void GalileoE5aPcpsAcquisitionFpga::reset()
{
//acquisition_->set_active(true);
acquisition_fpga_->set_active(true);
}
//float GalileoE5aPcpsAcquisitionFpga::calculate_threshold(float pfa)
//{
// unsigned int frequency_bins = 0;
// for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_)
// {
// frequency_bins++;
// }
// DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
// unsigned int ncells = vector_length_ * frequency_bins;
// double exponent = 1 / static_cast<double>(ncells);
// double val = pow(1.0 - pfa, exponent);
// double lambda = double(vector_length_);
// boost::math::exponential_distribution<double> mydist(lambda);
// float threshold = static_cast<float>(quantile(mydist, val));
//
// return threshold;
//}
void GalileoE5aPcpsAcquisitionFpga::set_state(int state)
{
//acquisition_->set_state(state);
acquisition_fpga_->set_state(state);
}
void GalileoE5aPcpsAcquisitionFpga::connect(gr::top_block_sptr top_block)
{
// if (item_type_.compare("gr_complex") == 0)
// {
// top_block->connect(stream_to_vector_, 0, acquisition_, 0);
// }
// else if (item_type_.compare("cshort") == 0)
// {
// top_block->connect(stream_to_vector_, 0, acquisition_, 0);
// }
// else
// {
// LOG(WARNING) << item_type_ << " unknown acquisition item type";
// }
}
void GalileoE5aPcpsAcquisitionFpga::disconnect(gr::top_block_sptr top_block)
{
// if (item_type_.compare("gr_complex") == 0)
// {
// top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
// }
// else if (item_type_.compare("cshort") == 0)
// {
// top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
// }
// else
// {
// LOG(WARNING) << item_type_ << " unknown acquisition item type";
// }
}
gr::basic_block_sptr GalileoE5aPcpsAcquisitionFpga::get_left_block()
{
//return stream_to_vector_;
return nullptr;
}
gr::basic_block_sptr GalileoE5aPcpsAcquisitionFpga::get_right_block()
{
//return acquisition_;
return acquisition_fpga_;
}

175
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.h Normal file
View File

@ -0,0 +1,175 @@
/*!
* \file galileo_e5a_pcps_acquisition.h
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* Galileo E5a data and pilot Signals
* \author Antonio Ramos, 2018. antonio.ramos(at)cttc.es
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (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 GALILEO_E5A_PCPS_ACQUISITION_FPGA_H_
#define GALILEO_E5A_PCPS_ACQUISITION_FPGA_H_
#include "acquisition_interface.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <string>
class ConfigurationInterface;
class GalileoE5aPcpsAcquisitionFpga : public AcquisitionInterface
{
public:
GalileoE5aPcpsAcquisitionFpga(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
unsigned int out_streams);
virtual ~GalileoE5aPcpsAcquisitionFpga();
inline std::string role() override
{
return role_;
}
inline std::string implementation() override
{
return "Galileo_E5a_Pcps_Acquisition_Fpga";
}
inline size_t item_size() override
{
return item_size_;
}
void connect(gr::top_block_sptr top_block) override;
void disconnect(gr::top_block_sptr top_block) override;
gr::basic_block_sptr get_left_block() override;
gr::basic_block_sptr get_right_block() override;
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to efficiently exchange synchronization data between acquisition and
* tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
/*!
* \brief Set acquisition channel unique ID
*/
void set_channel(unsigned int channel) override;
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
void set_threshold(float threshold) override;
/*!
* \brief Set maximum Doppler off grid search
*/
void set_doppler_max(unsigned int doppler_max) override;
/*!
* \brief Set Doppler steps for the grid search
*/
void set_doppler_step(unsigned int doppler_step) override;
/*!
* \brief Initializes acquisition algorithm.
*/
void init() override;
/*!
* \brief Sets local Galileo E5a code for PCPS acquisition algorithm.
*/
void set_local_code() override;
/*!
* \brief Returns the maximum peak of grid search
*/
signed int mag() override;
/*!
* \brief Restart acquisition algorithm
*/
void reset() override;
/*!
* \brief If set to 1, ensures that acquisition starts at the
* first available sample.
* \param state - int=1 forces start of acquisition
*/
void set_state(int state) override;
private:
//float calculate_threshold(float pfa);
ConfigurationInterface* configuration_;
pcps_acquisition_fpga_sptr acquisition_fpga_;
gr::blocks::stream_to_vector::sptr stream_to_vector_;
size_t item_size_;
std::string item_type_;
std::string dump_filename_;
std::string role_;
bool bit_transition_flag_;
bool dump_;
bool acq_pilot_;
bool use_CFAR_;
bool blocking_;
bool acq_iq_;
unsigned int vector_length_;
unsigned int code_length_;
unsigned int channel_;
unsigned int doppler_max_;
unsigned int doppler_step_;
unsigned int sampled_ms_;
unsigned int max_dwells_;
unsigned int in_streams_;
unsigned int out_streams_;
long fs_in_;
float threshold_;
/*
std::complex<float>* codeI_;
std::complex<float>* codeQ_;
*/
gr_complex* code_;
Gnss_Synchro* gnss_synchro_;
// extra for the FPGA
lv_16sc_t* d_all_fft_codes_; // memory that contains all the code ffts
};
#endif /* GALILEO_E5A_PCPS_ACQUISITION_FPGA_H_ */

26
src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
View File

@ -100,8 +100,9 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
}
acq_parameters.it_size = item_size_;
acq_parameters.sampled_ms = sampled_ms_;
acq_parameters.samples_per_ms = code_length_;
acq_parameters.samples_per_code = code_length_;
acq_parameters.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters.ms_per_code = 1;
acq_parameters.samples_per_code = acq_parameters.samples_per_ms * static_cast<float>(GLONASS_L1_CA_CODE_PERIOD * 1000.0);
acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
@ -109,9 +110,6 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
acquisition_ = pcps_make_acquisition(acq_parameters);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")";
if (item_type_.compare("cbyte") == 0)
{
cbyte_to_float_x2_ = make_complex_byte_to_float_x2();
@ -261,18 +259,17 @@ void GlonassL1CaPcpsAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
{
top_block->connect(stream_to_vector_, 0, acquisition_, 0);
// nothing to connect
}
else if (item_type_.compare("cshort") == 0)
{
top_block->connect(stream_to_vector_, 0, acquisition_, 0);
// nothing to connect
}
else if (item_type_.compare("cbyte") == 0)
{
top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
top_block->connect(float_to_complex_, 0, stream_to_vector_, 0);
top_block->connect(stream_to_vector_, 0, acquisition_, 0);
top_block->connect(float_to_complex_, 0, acquisition_, 0);
}
else
{
@ -285,11 +282,11 @@ void GlonassL1CaPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
{
top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
// nothing to disconnect
}
else if (item_type_.compare("cshort") == 0)
{
top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
// nothing to disconnect
}
else if (item_type_.compare("cbyte") == 0)
{
@ -297,8 +294,7 @@ void GlonassL1CaPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
// we just convert cshorts to gr_complex
top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
top_block->disconnect(float_to_complex_, 0, stream_to_vector_, 0);
top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
top_block->disconnect(float_to_complex_, 0, acquisition_, 0);
}
else
{
@ -311,11 +307,11 @@ gr::basic_block_sptr GlonassL1CaPcpsAcquisition::get_left_block()
{
if (item_type_.compare("gr_complex") == 0)
{
return stream_to_vector_;
return acquisition_;
}
else if (item_type_.compare("cshort") == 0)
{
return stream_to_vector_;
return acquisition_;
}
else if (item_type_.compare("cbyte") == 0)
{

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

@ -38,7 +38,6 @@
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include "complex_byte_to_float_x2.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <gnuradio/blocks/float_to_complex.h>
#include <string>
@ -135,7 +134,6 @@ public:
private:
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;
gr::blocks::stream_to_vector::sptr stream_to_vector_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
size_t item_size_;

30
src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.cc
View File

@ -99,8 +99,9 @@ GlonassL2CaPcpsAcquisition::GlonassL2CaPcpsAcquisition(
}
acq_parameters.it_size = item_size_;
acq_parameters.sampled_ms = sampled_ms_;
acq_parameters.samples_per_ms = code_length_;
acq_parameters.samples_per_code = code_length_;
acq_parameters.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters.ms_per_code = 1;
acq_parameters.samples_per_code = acq_parameters.samples_per_ms * static_cast<float>(GLONASS_L2_CA_CODE_PERIOD * 1000.0);
acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
@ -108,9 +109,6 @@ GlonassL2CaPcpsAcquisition::GlonassL2CaPcpsAcquisition(
acquisition_ = pcps_make_acquisition(acq_parameters);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")";
if (item_type_.compare("cbyte") == 0)
{
cbyte_to_float_x2_ = make_complex_byte_to_float_x2();
@ -260,18 +258,19 @@ void GlonassL2CaPcpsAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
{
top_block->connect(stream_to_vector_, 0, acquisition_, 0);
// nothing to connect
}
else if (item_type_.compare("cshort") == 0)
{
top_block->connect(stream_to_vector_, 0, acquisition_, 0);
// nothing to connect
}
else if (item_type_.compare("cbyte") == 0)
{
// Since a byte-based acq implementation is not available,
// we just convert cshorts to gr_complex
top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
top_block->connect(float_to_complex_, 0, stream_to_vector_, 0);
top_block->connect(stream_to_vector_, 0, acquisition_, 0);
top_block->connect(float_to_complex_, 0, acquisition_, 0);
}
else
{
@ -284,20 +283,17 @@ void GlonassL2CaPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
{
top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
// nothing to disconnect
}
else if (item_type_.compare("cshort") == 0)
{
top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
// nothing to disconnect
}
else if (item_type_.compare("cbyte") == 0)
{
// Since a byte-based acq implementation is not available,
// we just convert cshorts to gr_complex
top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
top_block->disconnect(float_to_complex_, 0, stream_to_vector_, 0);
top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
top_block->disconnect(float_to_complex_, 0, acquisition_, 0);
}
else
{
@ -310,11 +306,11 @@ gr::basic_block_sptr GlonassL2CaPcpsAcquisition::get_left_block()
{
if (item_type_.compare("gr_complex") == 0)
{
return stream_to_vector_;
return acquisition_;
}
else if (item_type_.compare("cshort") == 0)
{
return stream_to_vector_;
return acquisition_;
}
else if (item_type_.compare("cbyte") == 0)
{

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

@ -37,7 +37,6 @@
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include "complex_byte_to_float_x2.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <gnuradio/blocks/float_to_complex.h>
#include <string>
@ -134,7 +133,6 @@ public:
private:
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;
gr::blocks::stream_to_vector::sptr stream_to_vector_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
size_t item_size_;

42
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc
View File

@ -71,6 +71,7 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
acq_parameters.doppler_max = doppler_max_;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
acq_parameters.sampled_ms = sampled_ms_;
acq_parameters.ms_per_code = 1;
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
acq_parameters.bit_transition_flag = bit_transition_flag_;
use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
@ -83,15 +84,11 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
//--- Find number of samples per spreading code -------------------------
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)));
vector_length_ = code_length_ * sampled_ms_;
if (bit_transition_flag_)
{
vector_length_ *= 2;
}
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
acq_parameters.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters.samples_per_code = acq_parameters.samples_per_ms * static_cast<float>(GPS_L1_CA_CODE_PERIOD * 1000.0);
vector_length_ = std::floor(acq_parameters.sampled_ms * acq_parameters.samples_per_ms) * (acq_parameters.bit_transition_flag ? 2 : 1);
code_ = new gr_complex[vector_length_];
if (item_type_.compare("cshort") == 0)
@ -102,16 +99,12 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
{
item_size_ = sizeof(gr_complex);
}
acq_parameters.samples_per_ms = code_length_;
acq_parameters.samples_per_code = code_length_;
acq_parameters.it_size = item_size_;
acq_parameters.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
acquisition_ = pcps_make_acquisition(acq_parameters);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")";
if (item_type_.compare("cbyte") == 0)
{
cbyte_to_float_x2_ = make_complex_byte_to_float_x2();
@ -198,7 +191,6 @@ signed int GpsL1CaPcpsAcquisition::mag()
void GpsL1CaPcpsAcquisition::init()
{
acquisition_->init();
//set_local_code();
}
@ -255,18 +247,19 @@ void GpsL1CaPcpsAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
{
top_block->connect(stream_to_vector_, 0, acquisition_, 0);
// nothing to connect
}
else if (item_type_.compare("cshort") == 0)
{
top_block->connect(stream_to_vector_, 0, acquisition_, 0);
// nothing to connect
}
else if (item_type_.compare("cbyte") == 0)
{
// Since a byte-based acq implementation is not available,
// we just convert cshorts to gr_complex
top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
top_block->connect(float_to_complex_, 0, stream_to_vector_, 0);
top_block->connect(stream_to_vector_, 0, acquisition_, 0);
top_block->connect(float_to_complex_, 0, acquisition_, 0);
}
else
{
@ -279,20 +272,17 @@ void GpsL1CaPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
{
top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
// nothing to disconnect
}
else if (item_type_.compare("cshort") == 0)
{
top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
// nothing to disconnect
}
else if (item_type_.compare("cbyte") == 0)
{
// Since a byte-based acq implementation is not available,
// we just convert cshorts to gr_complex
top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
top_block->disconnect(float_to_complex_, 0, stream_to_vector_, 0);
top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
top_block->disconnect(float_to_complex_, 0, acquisition_, 0);
}
else
{
@ -305,11 +295,11 @@ gr::basic_block_sptr GpsL1CaPcpsAcquisition::get_left_block()
{
if (item_type_.compare("gr_complex") == 0)
{
return stream_to_vector_;
return acquisition_;
}
else if (item_type_.compare("cshort") == 0)
{
return stream_to_vector_;
return acquisition_;
}
else if (item_type_.compare("cbyte") == 0)
{

2
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.h
View File

@ -40,7 +40,6 @@
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include "complex_byte_to_float_x2.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <gnuradio/blocks/float_to_complex.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <string>
@ -139,7 +138,6 @@ public:
private:
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;
gr::blocks::stream_to_vector::sptr stream_to_vector_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
size_t item_size_;

90
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc
View File

@ -11,7 +11,7 @@
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -29,20 +29,21 @@
* 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 <https://www.gnu.org/licenses/>.
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gps_l1_ca_pcps_acquisition_fpga.h"
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include "GPS_L1_CA.h"
#include "gps_l1_ca_pcps_acquisition_fpga.h"
#include "gps_sdr_signal_processing.h"
#include "GPS_L1_CA.h"
#include <gnuradio/fft/fft.h>
#include <glog/logging.h>
#include <new>
#define NUM_PRNs 32
using google::LogMessage;
@ -59,51 +60,66 @@ 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);
//fs_in = fs_in/2.0; // downampling filter
//printf("####### DEBUG Acq: fs_in = %d\n", fs_in);
acq_parameters.fs_in = fs_in;
acq_parameters.samples_per_chip = static_cast<unsigned int>(ceil(GPS_L1_CA_CHIP_PERIOD * static_cast<float>(acq_parameters.fs_in)));
acq_parameters.samples_per_code = static_cast<unsigned int>(ceil(GPS_L1_CA_CHIP_PERIOD * static_cast<float>(acq_parameters.fs_in)));
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
acq_parameters.doppler_max = doppler_max_;
unsigned int sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 1);
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;
// 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 * sampled_ms;
unsigned int vector_length = nsamples_total;
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);
acq_parameters.device_name = device_name;
acq_parameters.samples_per_ms = nsamples_total;
acq_parameters.samples_per_ms = 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
// a channel is assigned)
gr::fft::fft_complex* fft_if = new gr::fft::fft_complex(vector_length, true); // Direct FFT
// allocate memory to compute all the PRNs and compute all the possible codes
std::complex<float>* code = new std::complex<float>[nsamples_total]; // buffer for the local code
gr_complex* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_all_fft_codes_ = new lv_16sc_t[nsamples_total * NUM_PRNs]; // memory containing all the possible fft codes for PRN 0 to 32
float max; // temporary maxima search
for (unsigned int PRN = 1; PRN <= NUM_PRNs; PRN++)
{
gps_l1_ca_code_gen_complex_sampled(code, PRN, fs_in, 0); // generate PRN code
// fill in zero padding
for (unsigned int s = code_length; s < nsamples_total; s++)
for (int s = code_length; s < nsamples_total; s++)
{
code[s] = 0;
code[s] = std::complex<float>(static_cast<float>(0, 0));
//code[s] = 0;
}
int offset = 0;
memcpy(fft_if->get_inbuf() + offset, code, sizeof(gr_complex) * nsamples_total); // copy to FFT buffer
fft_if->execute(); // Run the FFT of local code
volk_32fc_conjugate_32fc(fft_codes_padded, fft_if->get_outbuf(), nsamples_total); // conjugate values
max = 0; // initialize maximum value
for (unsigned int i = 0; i < nsamples_total; i++) // search for maxima
// // debug
// char filename[25];
// FILE *fid;
// sprintf(filename,"fft_gps_prn%d.txt", PRN);
// fid = fopen(filename, "w");
// for (unsigned int kk=0;kk< nsamples_total; kk++)
// {
// fprintf(fid, "%f\n", fft_codes_padded[kk].real());
// fprintf(fid, "%f\n", fft_codes_padded[kk].imag());
// }
// fclose(fid);
max = 0; // initialize maximum value
for (unsigned int i = 0; i < nsamples_total; i++) // search for maxima
{
if (std::abs(fft_codes_padded[i].real()) > max)
{
@ -116,12 +132,31 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
}
for (unsigned int i = 0; i < nsamples_total; i++) // map the FFT to the dynamic range of the fixed point values an copy to buffer containing all FFTs
{
d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int>(floor(fft_codes_padded[i].real() * (pow(2, 7) - 1) / max)),
static_cast<int>(floor(fft_codes_padded[i].imag() * (pow(2, 7) - 1) / max)));
//d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int>(floor(256*fft_codes_padded[i].real() * (pow(2, 7) - 1) / max)),
// static_cast<int>(floor(256*fft_codes_padded[i].imag() * (pow(2, 7) - 1) / max)));
//d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int>(16*floor(fft_codes_padded[i].real() * (pow(2, 11) - 1) / max)),
// static_cast<int>(16*floor(fft_codes_padded[i].imag() * (pow(2, 11) - 1) / max)));
//d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int>(floor(fft_codes_padded[i].real() * (pow(2, 15) - 1) / max)),
// static_cast<int>(floor(fft_codes_padded[i].imag() * (pow(2, 15) - 1) / max)));
d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int>(floor(fft_codes_padded[i].real() * (pow(2, 15) - 1) / max)),
static_cast<int>(floor(fft_codes_padded[i].imag() * (pow(2, 15) - 1) / max)));
}
//// // debug
// char filename2[25];
// FILE *fid2;
// sprintf(filename2,"fft_gps_prn%d_norm_new.txt", PRN);
// fid2 = fopen(filename2, "w");
// for (unsigned int kk=0;kk< nsamples_total; kk++)
// {
// fprintf(fid2, "%d\n", d_all_fft_codes_[kk + nsamples_total * (PRN - 1)].real());
// fprintf(fid2, "%d\n", d_all_fft_codes_[kk + nsamples_total * (PRN - 1)].imag());
// }
// fclose(fid2);
}
// acq_parameters
//acq_parameters
acq_parameters.all_fft_codes = d_all_fft_codes_;
// temporary buffers that we can delete
@ -135,14 +170,6 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
channel_ = 0;
doppler_step_ = 0;
gnss_synchro_ = 0;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
}
if (out_streams_ > 0)
{
LOG(ERROR) << "This implementation does not provide an output stream";
}
}
@ -161,6 +188,8 @@ void GpsL1CaPcpsAcquisitionFpga::set_channel(unsigned int channel)
void GpsL1CaPcpsAcquisitionFpga::set_threshold(float threshold)
{
// the .pfa parameter and the threshold calculation is only used for the CFAR algorithm.
// We don't use the CFAR algorithm in the FPGA. Therefore the threshold is set as such.
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold;
acquisition_fpga_->set_threshold(threshold);
}
@ -216,26 +245,21 @@ void GpsL1CaPcpsAcquisitionFpga::set_state(int state)
acquisition_fpga_->set_state(state);
}
void GpsL1CaPcpsAcquisitionFpga::connect(gr::top_block_sptr top_block)
{
if (top_block)
{ // nothing to disconnect
}
// nothing to connect
}
void GpsL1CaPcpsAcquisitionFpga::disconnect(gr::top_block_sptr top_block)
{
if (top_block)
{ // nothing to disconnect
}
// nothing to disconnect
}
gr::basic_block_sptr GpsL1CaPcpsAcquisitionFpga::get_left_block()
{
return acquisition_fpga_;
return nullptr;
}

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

@ -68,7 +68,7 @@ public:
*/
inline std::string implementation() override
{
return "GPS_L1_CA_PCPS_Acquisition";
return "GPS_L1_CA_PCPS_Acquisition_Fpga";
}
inline size_t item_size() override

59
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.cc
View File

@ -78,15 +78,19 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
acq_parameters.dump_filename = dump_filename_;
//--- Find number of samples per spreading code -------------------------
code_length_ = std::round(static_cast<double>(fs_in_) / (GPS_L2_M_CODE_RATE_HZ / static_cast<double>(GPS_L2_M_CODE_LENGTH_CHIPS)));
vector_length_ = code_length_;
if (bit_transition_flag_)
acq_parameters.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters.ms_per_code = 20;
acq_parameters.sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", acq_parameters.ms_per_code);
if ((acq_parameters.sampled_ms % acq_parameters.ms_per_code) != 0)
{
vector_length_ *= 2;
LOG(WARNING) << "Parameter coherent_integration_time_ms should be a multiple of 20. Setting it to 20";
acq_parameters.sampled_ms = acq_parameters.ms_per_code;
}
code_length_ = acq_parameters.ms_per_code * acq_parameters.samples_per_ms;
vector_length_ = acq_parameters.sampled_ms * acq_parameters.samples_per_ms * (acq_parameters.bit_transition_flag ? 2 : 1);
code_ = new gr_complex[vector_length_];
if (item_type_.compare("cshort") == 0)
@ -97,10 +101,10 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
{
item_size_ = sizeof(gr_complex);
}
acq_parameters.samples_per_ms = static_cast<int>(std::round(static_cast<double>(fs_in_) * 0.001));
acq_parameters.samples_per_code = code_length_;
acq_parameters.samples_per_code = acq_parameters.samples_per_ms * static_cast<float>(GPS_L2_M_PERIOD * 1000.0);
acq_parameters.it_size = item_size_;
acq_parameters.sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 20);
acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
@ -108,9 +112,6 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
acquisition_ = pcps_make_acquisition(acq_parameters);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")";
if (item_type_.compare("cbyte") == 0)
{
cbyte_to_float_x2_ = make_complex_byte_to_float_x2();
@ -121,6 +122,7 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = 0;
num_codes_ = acq_parameters.sampled_ms / acq_parameters.ms_per_code;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -209,9 +211,18 @@ void GpsL2MPcpsAcquisition::init()
void GpsL2MPcpsAcquisition::set_local_code()
{
gps_l2c_m_code_gen_complex_sampled(code_, gnss_synchro_->PRN, fs_in_);
std::complex<float>* code = new std::complex<float>[code_length_];
gps_l2c_m_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_);
for (unsigned int i = 0; i < num_codes_; i++)
{
memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex) * code_length_);
}
acquisition_->set_local_code(code_);
delete[] code;
}
@ -250,18 +261,19 @@ void GpsL2MPcpsAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
{
top_block->connect(stream_to_vector_, 0, acquisition_, 0);
// nothing to connect
}
else if (item_type_.compare("cshort") == 0)
{
top_block->connect(stream_to_vector_, 0, acquisition_, 0);
// nothing to connect
}
else if (item_type_.compare("cbyte") == 0)
{
// Since a byte-based acq implementation is not available,
// we just convert cshorts to gr_complex
top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
top_block->connect(float_to_complex_, 0, stream_to_vector_, 0);
top_block->connect(stream_to_vector_, 0, acquisition_, 0);
top_block->connect(float_to_complex_, 0, acquisition_, 0);
}
else
{
@ -274,20 +286,17 @@ void GpsL2MPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
{
top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
// nothing to disconnect
}
else if (item_type_.compare("cshort") == 0)
{
top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
// nothing to disconnect
}
else if (item_type_.compare("cbyte") == 0)
{
// Since a byte-based acq implementation is not available,
// we just convert cshorts to gr_complex
top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
top_block->disconnect(float_to_complex_, 0, stream_to_vector_, 0);
top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
top_block->disconnect(float_to_complex_, 0, acquisition_, 0);
}
else
{
@ -300,11 +309,11 @@ gr::basic_block_sptr GpsL2MPcpsAcquisition::get_left_block()
{
if (item_type_.compare("gr_complex") == 0)
{
return stream_to_vector_;
return acquisition_;
}
else if (item_type_.compare("cshort") == 0)
{
return stream_to_vector_;
return acquisition_;
}
else if (item_type_.compare("cbyte") == 0)
{

3
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.h
View File

@ -38,7 +38,6 @@
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include "complex_byte_to_float_x2.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <gnuradio/blocks/float_to_complex.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <string>
@ -137,7 +136,6 @@ public:
private:
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;
gr::blocks::stream_to_vector::sptr stream_to_vector_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
size_t item_size_;
@ -160,6 +158,7 @@ private:
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
unsigned int num_codes_;
float calculate_threshold(float pfa);
};

398
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.cc Normal file
View File

@ -0,0 +1,398 @@
/*!
* \file gps_l2_m_pcps_acquisition.cc
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* GPS L2 M signals
* \authors <ul>
* <li> Javier Arribas, 2015. jarribas(at)cttc.es
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gps_l2_m_pcps_acquisition_fpga.h"
#include "configuration_interface.h"
#include "gps_l2c_signal.h"
#include "GPS_L2C.h"
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#define NUM_PRNs 32
using google::LogMessage;
GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
//pcpsconf_t acq_parameters;
pcpsconf_fpga_t acq_parameters;
configuration_ = configuration;
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./data/acquisition.dat";
LOG(INFO) << "role " << role;
item_type_ = configuration_->property(role + ".item_type", default_item_type);
//float pfa = configuration_->property(role + ".pfa", 0.0);
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in_;
//if_ = configuration_->property(role + ".if", 0);
//acq_parameters.freq = if_;
//dump_ = configuration_->property(role + ".dump", false);
//acq_parameters.dump = dump_;
//blocking_ = configuration_->property(role + ".blocking", true);
//acq_parameters.blocking = blocking_;
doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
acq_parameters.doppler_max = doppler_max_;
//bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
//acq_parameters.bit_transition_flag = bit_transition_flag_;
//use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
//acq_parameters.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
//max_dwells_ = configuration_->property(role + ".max_dwells", 1);
//acq_parameters.max_dwells = max_dwells_;
//dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
//acq_parameters.dump_filename = dump_filename_;
//--- Find number of samples per spreading code -------------------------
//code_length_ = std::round(static_cast<double>(fs_in_) / (GPS_L2_M_CODE_RATE_HZ / static_cast<double>(GPS_L2_M_CODE_LENGTH_CHIPS)));
acq_parameters.sampled_ms = 20;
unsigned code_length = std::round(static_cast<double>(fs_in_) / (GPS_L2_M_CODE_RATE_HZ / static_cast<double>(GPS_L2_M_CODE_LENGTH_CHIPS)));
acq_parameters.code_length = 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;
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);
acq_parameters.device_name = device_name;
acq_parameters.samples_per_ms = nsamples_total/acq_parameters.sampled_ms;
//acq_parameters.samples_per_ms = static_cast<int>(std::round(static_cast<double>(fs_in_) * 0.001));
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
// a channel is assigned)
gr::fft::fft_complex* fft_if = new gr::fft::fft_complex(vector_length, true); // Direct FFT
// allocate memory to compute all the PRNs and compute all the possible codes
std::complex<float>* code = new std::complex<float>[nsamples_total]; // buffer for the local code
gr_complex* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_all_fft_codes_ = new lv_16sc_t[nsamples_total * NUM_PRNs]; // memory containing all the possible fft codes for PRN 0 to 32
float max; // temporary maxima search
for (unsigned int PRN = 1; PRN <= NUM_PRNs; PRN++)
{
gps_l2c_m_code_gen_complex_sampled(code, PRN, fs_in_);
// fill in zero padding
for (int s = code_length; s < nsamples_total; s++)
{
code[s] = std::complex<float>(static_cast<float>(0,0));
//code[s] = 0;
}
memcpy(fft_if->get_inbuf(), code, sizeof(gr_complex) * nsamples_total); // copy to FFT buffer
fft_if->execute(); // Run the FFT of local code
volk_32fc_conjugate_32fc(fft_codes_padded, fft_if->get_outbuf(), nsamples_total); // conjugate values
max = 0; // initialize maximum value
for (unsigned int i = 0; i < nsamples_total; i++) // search for maxima
{
if (std::abs(fft_codes_padded[i].real()) > max)
{
max = std::abs(fft_codes_padded[i].real());
}
if (std::abs(fft_codes_padded[i].imag()) > max)
{
max = std::abs(fft_codes_padded[i].imag());
}
}
for (unsigned int i = 0; i < nsamples_total; i++) // map the FFT to the dynamic range of the fixed point values an copy to buffer containing all FFTs
{
d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int>(floor(fft_codes_padded[i].real() * (pow(2, 7) - 1) / max)),
static_cast<int>(floor(fft_codes_padded[i].imag() * (pow(2, 7) - 1) / max)));
}
}
//acq_parameters
acq_parameters.all_fft_codes = d_all_fft_codes_;
// temporary buffers that we can delete
delete[] code;
delete fft_if;
delete[] fft_codes_padded;
acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters);
DLOG(INFO) << "acquisition(" << acquisition_fpga_->unique_id() << ")";
channel_ = 0;
doppler_step_ = 0;
gnss_synchro_ = 0;
// vector_length_ = code_length_;
//
// if (bit_transition_flag_)
// {
// vector_length_ *= 2;
// }
// code_ = new gr_complex[vector_length_];
//
// if (item_type_.compare("cshort") == 0)
// {
// item_size_ = sizeof(lv_16sc_t);
// }
// else
// {
// item_size_ = sizeof(gr_complex);
// }
//acq_parameters.samples_per_ms = static_cast<int>(std::round(static_cast<double>(fs_in_) * 0.001));
//acq_parameters.samples_per_code = code_length_;
//acq_parameters.it_size = item_size_;
//acq_parameters.sampled_ms = 20;
//acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
//acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
//acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", true);
//acquisition_ = pcps_make_acquisition(acq_parameters);
DLOG(INFO) << "acquisition(" << acquisition_fpga_->unique_id() << ")";
// stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
// DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")";
//
// if (item_type_.compare("cbyte") == 0)
// {
// cbyte_to_float_x2_ = make_complex_byte_to_float_x2();
// float_to_complex_ = gr::blocks::float_to_complex::make();
// }
// channel_ = 0;
threshold_ = 0.0;
// doppler_step_ = 0;
// gnss_synchro_ = 0;
}
GpsL2MPcpsAcquisitionFpga::~GpsL2MPcpsAcquisitionFpga()
{
//delete[] code_;
delete[] d_all_fft_codes_;
}
void GpsL2MPcpsAcquisitionFpga::set_channel(unsigned int channel)
{
channel_ = channel;
acquisition_fpga_->set_channel(channel_);
}
void GpsL2MPcpsAcquisitionFpga::set_threshold(float threshold)
{
// float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
//
// if (pfa == 0.0)
// {
// pfa = configuration_->property(role_ + ".pfa", 0.0);
// }
// if (pfa == 0.0)
// {
// threshold_ = threshold;
// }
// else
// {
// threshold_ = calculate_threshold(pfa);
// }
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
acquisition_fpga_->set_threshold(threshold_);
}
void GpsL2MPcpsAcquisitionFpga::set_doppler_max(unsigned int doppler_max)
{
doppler_max_ = doppler_max;
acquisition_fpga_->set_doppler_max(doppler_max_);
}
// Be aware that Doppler step should be set to 2/(3T) Hz, where T is the coherent integration time (GPS L2 period is 0.02s)
// Doppler bin minimum size= 33 Hz
void GpsL2MPcpsAcquisitionFpga::set_doppler_step(unsigned int doppler_step)
{
doppler_step_ = doppler_step;
acquisition_fpga_->set_doppler_step(doppler_step_);
}
void GpsL2MPcpsAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{
gnss_synchro_ = gnss_synchro;
acquisition_fpga_->set_gnss_synchro(gnss_synchro_);
}
signed int GpsL2MPcpsAcquisitionFpga::mag()
{
return acquisition_fpga_->mag();
}
void GpsL2MPcpsAcquisitionFpga::init()
{
acquisition_fpga_->init();
//set_local_code();
}
void GpsL2MPcpsAcquisitionFpga::set_local_code()
{
//gps_l2c_m_code_gen_complex_sampled(code_, gnss_synchro_->PRN, fs_in_);
//acquisition_fpga_->set_local_code(code_);
acquisition_fpga_->set_local_code();
}
void GpsL2MPcpsAcquisitionFpga::reset()
{
acquisition_fpga_->set_active(true);
}
void GpsL2MPcpsAcquisitionFpga::set_state(int state)
{
acquisition_fpga_->set_state(state);
}
//float GpsL2MPcpsAcquisitionFpga::calculate_threshold(float pfa)
//{
// //Calculate the threshold
// unsigned int frequency_bins = 0;
// for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_)
// {
// frequency_bins++;
// }
// DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
// unsigned int ncells = vector_length_ * frequency_bins;
// double exponent = 1.0 / static_cast<double>(ncells);
// double val = pow(1.0 - pfa, exponent);
// double lambda = double(vector_length_);
// boost::math::exponential_distribution<double> mydist(lambda);
// float threshold = static_cast<float>(quantile(mydist, val));
//
// return threshold;
//}
void GpsL2MPcpsAcquisitionFpga::connect(gr::top_block_sptr top_block)
{
// if (item_type_.compare("gr_complex") == 0)
// {
// top_block->connect(stream_to_vector_, 0, acquisition_, 0);
// }
// else if (item_type_.compare("cshort") == 0)
// {
// top_block->connect(stream_to_vector_, 0, acquisition_, 0);
// }
// else if (item_type_.compare("cbyte") == 0)
// {
// top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
// top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
// top_block->connect(float_to_complex_, 0, stream_to_vector_, 0);
// top_block->connect(stream_to_vector_, 0, acquisition_, 0);
// }
// else
// {
// LOG(WARNING) << item_type_ << " unknown acquisition item type";
// }
// nothing to connect
}
void GpsL2MPcpsAcquisitionFpga::disconnect(gr::top_block_sptr top_block)
{
// if (item_type_.compare("gr_complex") == 0)
// {
// top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
// }
// else if (item_type_.compare("cshort") == 0)
// {
// top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
// }
// else if (item_type_.compare("cbyte") == 0)
// {
// // Since a byte-based acq implementation is not available,
// // we just convert cshorts to gr_complex
// top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
// top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
// top_block->disconnect(float_to_complex_, 0, stream_to_vector_, 0);
// top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
// }
// else
// {
// LOG(WARNING) << item_type_ << " unknown acquisition item type";
// }
// nothing to disconnect
}
gr::basic_block_sptr GpsL2MPcpsAcquisitionFpga::get_left_block()
{
// if (item_type_.compare("gr_complex") == 0)
// {
// return stream_to_vector_;
// }
// else if (item_type_.compare("cshort") == 0)
// {
// return stream_to_vector_;
// }
// else if (item_type_.compare("cbyte") == 0)
// {
// return cbyte_to_float_x2_;
// }
// else
// {
// LOG(WARNING) << item_type_ << " unknown acquisition item type";
// return nullptr;
// }
return nullptr;
}
gr::basic_block_sptr GpsL2MPcpsAcquisitionFpga::get_right_block()
{
return acquisition_fpga_;
}

171
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.h Normal file
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@ -0,0 +1,171 @@
/*!
* \file gps_l2_m_pcps_acquisition.h
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* GPS L2 M signals
* \authors <ul>
* <li> Javier Arribas, 2015. jarribas(at)cttc.es
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GPS_L2_M_PCPS_ACQUISITION_FPGA_H_
#define GNSS_SDR_GPS_L2_M_PCPS_ACQUISITION_FPGA_H_
#include "acquisition_interface.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h"
#include "complex_byte_to_float_x2.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <gnuradio/blocks/float_to_complex.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <string>
class ConfigurationInterface;
/*!
* \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
* for GPS L2 M signals
*/
class GpsL2MPcpsAcquisitionFpga : public AcquisitionInterface
{
public:
GpsL2MPcpsAcquisitionFpga(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
unsigned int out_streams);
virtual ~GpsL2MPcpsAcquisitionFpga();
inline std::string role() override
{
return role_;
}
/*!
* \brief Returns "GPS_L2_M_PCPS_Acquisition"
*/
inline std::string implementation() override
{
return "GPS_L2_M_PCPS_Acquisition";
}
inline size_t item_size() override
{
return item_size_;
}
void connect(gr::top_block_sptr top_block) override;
void disconnect(gr::top_block_sptr top_block) override;
gr::basic_block_sptr get_left_block() override;
gr::basic_block_sptr get_right_block() override;
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to efficiently exchange synchronization data between acquisition and
* tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
/*!
* \brief Set acquisition channel unique ID
*/
void set_channel(unsigned int channel) override;
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
void set_threshold(float threshold) override;
/*!
* \brief Set maximum Doppler off grid search
*/
void set_doppler_max(unsigned int doppler_max) override;
/*!
* \brief Set Doppler steps for the grid search
*/
void set_doppler_step(unsigned int doppler_step) override;
/*!
* \brief Initializes acquisition algorithm.
*/
void init() override;
/*!
* \brief Sets local code for GPS L2/M PCPS acquisition algorithm.
*/
void set_local_code() override;
/*!
* \brief Returns the maximum peak of grid search
*/
signed int mag() override;
/*!
* \brief Restart acquisition algorithm
*/
void reset() override;
/*!
* \brief If state = 1, it forces the block to start acquiring from the first sample
*/
void set_state(int state) override;
private:
ConfigurationInterface* configuration_;
//pcps_acquisition_sptr acquisition_;
pcps_acquisition_fpga_sptr acquisition_fpga_;
gr::blocks::stream_to_vector::sptr stream_to_vector_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
size_t item_size_;
std::string item_type_;
unsigned int vector_length_;
unsigned int code_length_;
bool bit_transition_flag_;
bool use_CFAR_algorithm_flag_;
unsigned int channel_;
float threshold_;
unsigned int doppler_max_;
unsigned int doppler_step_;
unsigned int max_dwells_;
long fs_in_;
//long if_;
bool dump_;
bool blocking_;
std::string dump_filename_;
std::complex<float>* code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
lv_16sc_t* d_all_fft_codes_; // memory that contains all the code ffts
//float calculate_threshold(float pfa);
};
#endif /* GNSS_SDR_GPS_L2_M_PCPS_ACQUISITION_FPGA_H_ */

56
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.cc
View File

@ -76,16 +76,13 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
acq_parameters.max_dwells = max_dwells_;
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
acq_parameters.dump_filename = dump_filename_;
acq_parameters.sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 1);
//--- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::round(static_cast<double>(fs_in_) / (GPS_L5i_CODE_RATE_HZ / static_cast<double>(GPS_L5i_CODE_LENGTH_CHIPS))));
vector_length_ = code_length_;
if (bit_transition_flag_)
{
vector_length_ *= 2;
}
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (GPS_L5i_CODE_RATE_HZ / GPS_L5i_CODE_LENGTH_CHIPS)));
acq_parameters.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters.samples_per_code = acq_parameters.samples_per_ms * static_cast<float>(GPS_L5i_PERIOD * 1000.0);
vector_length_ = std::floor(acq_parameters.sampled_ms * acq_parameters.samples_per_ms) * (acq_parameters.bit_transition_flag ? 2 : 1);
code_ = new gr_complex[vector_length_];
if (item_type_.compare("cshort") == 0)
@ -96,10 +93,10 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
{
item_size_ = sizeof(gr_complex);
}
acq_parameters.samples_per_code = code_length_;
acq_parameters.samples_per_ms = code_length_;
acq_parameters.ms_per_code = 1;
acq_parameters.it_size = item_size_;
acq_parameters.sampled_ms = 1;
num_codes_ = acq_parameters.sampled_ms;
acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
@ -107,15 +104,11 @@ GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
acquisition_ = pcps_make_acquisition(acq_parameters);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")";
if (item_type_.compare("cbyte") == 0)
{
cbyte_to_float_x2_ = make_complex_byte_to_float_x2();
float_to_complex_ = gr::blocks::float_to_complex::make();
}
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
@ -206,9 +199,18 @@ void GpsL5iPcpsAcquisition::init()
void GpsL5iPcpsAcquisition::set_local_code()
{
gps_l5i_code_gen_complex_sampled(code_, gnss_synchro_->PRN, fs_in_);
std::complex<float>* code = new std::complex<float>[code_length_];
gps_l5i_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_);
for (unsigned int i = 0; i < num_codes_; i++)
{
memcpy(&(code_[i * code_length_]), code,
sizeof(gr_complex) * code_length_);
}
acquisition_->set_local_code(code_);
delete[] code;
}
@ -247,18 +249,19 @@ void GpsL5iPcpsAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
{
top_block->connect(stream_to_vector_, 0, acquisition_, 0);
// nothing to connect
}
else if (item_type_.compare("cshort") == 0)
{
top_block->connect(stream_to_vector_, 0, acquisition_, 0);
// nothing to connect
}
else if (item_type_.compare("cbyte") == 0)
{
// Since a byte-based acq implementation is not available,
// we just convert cshorts to gr_complex
top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
top_block->connect(float_to_complex_, 0, stream_to_vector_, 0);
top_block->connect(stream_to_vector_, 0, acquisition_, 0);
top_block->connect(float_to_complex_, 0, acquisition_, 0);
}
else
{
@ -271,20 +274,17 @@ void GpsL5iPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
{
top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
// nothing to disconnect
}
else if (item_type_.compare("cshort") == 0)
{
top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
// nothing to disconnect
}
else if (item_type_.compare("cbyte") == 0)
{
// Since a byte-based acq implementation is not available,
// we just convert cshorts to gr_complex
top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
top_block->disconnect(float_to_complex_, 0, stream_to_vector_, 0);
top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
top_block->disconnect(float_to_complex_, 0, acquisition_, 0);
}
else
{
@ -297,11 +297,11 @@ gr::basic_block_sptr GpsL5iPcpsAcquisition::get_left_block()
{
if (item_type_.compare("gr_complex") == 0)
{
return stream_to_vector_;
return acquisition_;
}
else if (item_type_.compare("cshort") == 0)
{
return stream_to_vector_;
return acquisition_;
}
else if (item_type_.compare("cbyte") == 0)
{

3
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.h
View File

@ -38,7 +38,6 @@
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include "complex_byte_to_float_x2.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <gnuradio/blocks/float_to_complex.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <string>
@ -137,7 +136,6 @@ public:
private:
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;
gr::blocks::stream_to_vector::sptr stream_to_vector_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
size_t item_size_;
@ -158,6 +156,7 @@ private:
std::complex<float>* code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int num_codes_;
unsigned int in_streams_;
unsigned int out_streams_;

404
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc Normal file
View File

@ -0,0 +1,404 @@
/*!
* \file gps_l5i pcps_acquisition.cc
* \brief Adapts a PCPS acquisition block to an Acquisition Interface for
* GPS L5i signals
* \authors <ul>
* <li> Javier Arribas, 2017. jarribas(at)cttc.es
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gps_l5i_pcps_acquisition_fpga.h"
#include "configuration_interface.h"
#include "gps_l5_signal.h"
#include "GPS_L5.h"
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#define NUM_PRNs 32
using google::LogMessage;
GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
//printf("L5 ACQ CLASS CREATED\n");
pcpsconf_fpga_t acq_parameters;
configuration_ = configuration;
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./data/acquisition.dat";
LOG(INFO) << "role " << role;
//item_type_ = configuration_->property(role + ".item_type", default_item_type);
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);
acq_parameters.fs_in = fs_in;
//if_ = configuration_->property(role + ".if", 0);
//acq_parameters.freq = if_;
//dump_ = configuration_->property(role + ".dump", false);
//acq_parameters.dump = dump_;
//blocking_ = configuration_->property(role + ".blocking", true);
//acq_parameters.blocking = blocking_;
doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
acq_parameters.doppler_max = doppler_max_;
//acq_parameters.sampled_ms = 1;
unsigned int sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 1);
acq_parameters.sampled_ms = sampled_ms;
//printf("L5 ACQ CLASS MID 0\n");
//bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
//acq_parameters.bit_transition_flag = bit_transition_flag_;
//use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
//acq_parameters.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
//max_dwells_ = configuration_->property(role + ".max_dwells", 1);
//acq_parameters.max_dwells = max_dwells_;
//dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
//acq_parameters.dump_filename = dump_filename_;
//--- Find number of samples per spreading code -------------------------
unsigned int code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / (GPS_L5i_CODE_RATE_HZ / static_cast<double>(GPS_L5i_CODE_LENGTH_CHIPS))));
acq_parameters.code_length = 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;
unsigned int select_queue_Fpga = configuration_->property(role + ".select_queue_Fpga", 1);
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);
acq_parameters.device_name = device_name;
acq_parameters.samples_per_ms = nsamples_total;
acq_parameters.samples_per_code = nsamples_total;
//printf("L5 ACQ CLASS MID 01\n");
// compute all the GPS L5 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
// a channel is assigned)
gr::fft::fft_complex* fft_if = new gr::fft::fft_complex(vector_length, true); // Direct FFT
//printf("L5 ACQ CLASS MID 02\n");
std::complex<float>* code = new gr_complex[vector_length];
//printf("L5 ACQ CLASS MID 03\n");
gr_complex* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
//printf("L5 ACQ CLASS MID 04\n");
d_all_fft_codes_ = new lv_16sc_t[nsamples_total * NUM_PRNs]; // memory containing all the possible fft codes for PRN 0 to 32
//printf("L5 ACQ CLASS MID 1 vector_length = %d\n", vector_length);
float max; // temporary maxima search
for (unsigned int PRN = 1; PRN <= NUM_PRNs; PRN++)
{
//printf("L5 ACQ CLASS processing PRN = %d\n", PRN);
gps_l5i_code_gen_complex_sampled(code, PRN, fs_in);
//printf("L5 ACQ CLASS processing PRN = %d (cont) \n", PRN);
// fill in zero padding
for (int s = code_length; s < nsamples_total; s++)
{
code[s] = std::complex<float>(static_cast<float>(0,0));
//code[s] = 0;
}
memcpy(fft_if->get_inbuf(), code, sizeof(gr_complex) * nsamples_total); // copy to FFT buffer
fft_if->execute(); // Run the FFT of local code
volk_32fc_conjugate_32fc(fft_codes_padded, fft_if->get_outbuf(), nsamples_total); // conjugate values
max = 0; // initialize maximum value
for (unsigned int i = 0; i < nsamples_total; i++) // search for maxima
{
if (std::abs(fft_codes_padded[i].real()) > max)
{
max = std::abs(fft_codes_padded[i].real());
}
if (std::abs(fft_codes_padded[i].imag()) > max)
{
max = std::abs(fft_codes_padded[i].imag());
}
}
for (unsigned int i = 0; i < nsamples_total; i++) // map the FFT to the dynamic range of the fixed point values an copy to buffer containing all FFTs
{
//d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int>(floor(256*fft_codes_padded[i].real() * (pow(2, 7) - 1) / max)),
// static_cast<int>(floor(256*fft_codes_padded[i].imag() * (pow(2, 7) - 1) / max)));
//d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int>(16*floor(fft_codes_padded[i].real() * (pow(2, 11) - 1) / max)),
// static_cast<int>(16*floor(fft_codes_padded[i].imag() * (pow(2, 11) - 1) / max)));
//d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int>(floor(fft_codes_padded[i].real() * (pow(2, 15) - 1) / max)),
// static_cast<int>(floor(fft_codes_padded[i].imag() * (pow(2, 15) - 1) / max)));
d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int>(floor(fft_codes_padded[i].real() * (pow(2, 15) - 1) / max)),
static_cast<int>(floor(fft_codes_padded[i].imag() * (pow(2, 15) - 1) / max)));
}
}
//printf("L5 ACQ CLASS MID 2\n");
//acq_parameters
acq_parameters.all_fft_codes = d_all_fft_codes_;
// temporary buffers that we can delete
delete[] code;
delete fft_if;
delete[] fft_codes_padded;
// vector_length_ = code_length_;
//
// if (bit_transition_flag_)
// {
// vector_length_ *= 2;
// }
//
// code_ = new gr_complex[vector_length_];
//
// if (item_type_.compare("cshort") == 0)
// {
// item_size_ = sizeof(lv_16sc_t);
// }
// else
// {
// item_size_ = sizeof(gr_complex);
// }
// acq_parameters.samples_per_code = code_length_;
// acq_parameters.samples_per_ms = code_length_;
// acq_parameters.it_size = item_size_;
//acq_parameters.sampled_ms = 1;
// acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
// acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
// acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
// acquisition_fpga_ = pcps_make_acquisition(acq_parameters);
// DLOG(INFO) << "acquisition(" << acquisition_fpga_->unique_id() << ")";
acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters);
DLOG(INFO) << "acquisition(" << acquisition_fpga_->unique_id() << ")";
// stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
// DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")";
//
// if (item_type_.compare("cbyte") == 0)
// {
// cbyte_to_float_x2_ = make_complex_byte_to_float_x2();
// float_to_complex_ = gr::blocks::float_to_complex::make();
// }
channel_ = 0;
// threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = 0;
//printf("L5 ACQ CLASS FINISHED\n");
}
GpsL5iPcpsAcquisitionFpga::~GpsL5iPcpsAcquisitionFpga()
{
//delete[] code_;
delete[] d_all_fft_codes_;
}
void GpsL5iPcpsAcquisitionFpga::set_channel(unsigned int channel)
{
channel_ = channel;
acquisition_fpga_->set_channel(channel_);
}
void GpsL5iPcpsAcquisitionFpga::set_threshold(float threshold)
{
// float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
//
// if (pfa == 0.0)
// {
// pfa = configuration_->property(role_ + ".pfa", 0.0);
// }
// if (pfa == 0.0)
// {
// threshold_ = threshold;
// }
// else
// {
// threshold_ = calculate_threshold(pfa);
// }
// DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
// the .pfa parameter and the threshold calculation is only used for the CFAR algorithm.
// We don't use the CFAR algorithm in the FPGA. Therefore the threshold is set as such.
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold;
acquisition_fpga_->set_threshold(threshold);
}
void GpsL5iPcpsAcquisitionFpga::set_doppler_max(unsigned int doppler_max)
{
doppler_max_ = doppler_max;
acquisition_fpga_->set_doppler_max(doppler_max_);
}
// Be aware that Doppler step should be set to 2/(3T) Hz, where T is the coherent integration time (GPS L2 period is 0.02s)
// Doppler bin minimum size= 33 Hz
void GpsL5iPcpsAcquisitionFpga::set_doppler_step(unsigned int doppler_step)
{
doppler_step_ = doppler_step;
acquisition_fpga_->set_doppler_step(doppler_step_);
}
void GpsL5iPcpsAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{
gnss_synchro_ = gnss_synchro;
acquisition_fpga_->set_gnss_synchro(gnss_synchro_);
}
signed int GpsL5iPcpsAcquisitionFpga::mag()
{
return acquisition_fpga_->mag();
}
void GpsL5iPcpsAcquisitionFpga::init()
{
acquisition_fpga_->init();
}
void GpsL5iPcpsAcquisitionFpga::set_local_code()
{
acquisition_fpga_->set_local_code();
}
void GpsL5iPcpsAcquisitionFpga::reset()
{
acquisition_fpga_->set_active(true);
}
void GpsL5iPcpsAcquisitionFpga::set_state(int state)
{
acquisition_fpga_->set_state(state);
}
//float GpsL5iPcpsAcquisitionFpga::calculate_threshold(float pfa)
//{
// //Calculate the threshold
// unsigned int frequency_bins = 0;
// for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_)
// {
// frequency_bins++;
// }
// DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
// unsigned int ncells = vector_length_ * frequency_bins;
// double exponent = 1.0 / static_cast<double>(ncells);
// double val = pow(1.0 - pfa, exponent);
// double lambda = double(vector_length_);
// boost::math::exponential_distribution<double> mydist(lambda);
// float threshold = static_cast<float>(quantile(mydist, val));
//
// return threshold;
//}
void GpsL5iPcpsAcquisitionFpga::connect(gr::top_block_sptr top_block)
{
// if (item_type_.compare("gr_complex") == 0)
// {
// top_block->connect(stream_to_vector_, 0, acquisition_fpga_, 0);
// }
// else if (item_type_.compare("cshort") == 0)
// {
// top_block->connect(stream_to_vector_, 0, acquisition_fpga_, 0);
// }
// else if (item_type_.compare("cbyte") == 0)
// {
// top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
// top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
// top_block->connect(float_to_complex_, 0, stream_to_vector_, 0);
// top_block->connect(stream_to_vector_, 0, acquisition_fpga_, 0);
// }
// else
// {
// LOG(WARNING) << item_type_ << " unknown acquisition item type";
// }
// nothing to connect
}
void GpsL5iPcpsAcquisitionFpga::disconnect(gr::top_block_sptr top_block)
{
// if (item_type_.compare("gr_complex") == 0)
// {
// top_block->disconnect(stream_to_vector_, 0, acquisition_fpga_, 0);
// }
// else if (item_type_.compare("cshort") == 0)
// {
// top_block->disconnect(stream_to_vector_, 0, acquisition_fpga_, 0);
// }
// else if (item_type_.compare("cbyte") == 0)
// {
// // Since a byte-based acq implementation is not available,
// // we just convert cshorts to gr_complex
// top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
// top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
// top_block->disconnect(float_to_complex_, 0, stream_to_vector_, 0);
// top_block->disconnect(stream_to_vector_, 0, acquisition_fpga_, 0);
// }
// else
// {
// LOG(WARNING) << item_type_ << " unknown acquisition item type";
// }
// nothing to disconnect
}
gr::basic_block_sptr GpsL5iPcpsAcquisitionFpga::get_left_block()
{
// if (item_type_.compare("gr_complex") == 0)
// {
// return stream_to_vector_;
// }
// else if (item_type_.compare("cshort") == 0)
// {
// return stream_to_vector_;
// }
// else if (item_type_.compare("cbyte") == 0)
// {
// return cbyte_to_float_x2_;
// }
// else
// {
// LOG(WARNING) << item_type_ << " unknown acquisition item type";
// return nullptr;
// }
return nullptr;
}
gr::basic_block_sptr GpsL5iPcpsAcquisitionFpga::get_right_block()
{
return acquisition_fpga_;
}

171
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.h Normal file
View File

@ -0,0 +1,171 @@
/*!
* \file GPS_L5i_PCPS_Acquisition.h
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* GPS L5i signals
* \authors <ul>
* <li> Javier Arribas, 2017. jarribas(at)cttc.es
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GPS_L5i_PCPS_ACQUISITION_FPGA_H_
#define GNSS_SDR_GPS_L5i_PCPS_ACQUISITION_FPGA_H_
#include "acquisition_interface.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h"
#include "complex_byte_to_float_x2.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <gnuradio/blocks/float_to_complex.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <string>
class ConfigurationInterface;
/*!
* \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
* for GPS L5i signals
*/
class GpsL5iPcpsAcquisitionFpga : public AcquisitionInterface
{
public:
GpsL5iPcpsAcquisitionFpga(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
unsigned int out_streams);
virtual ~GpsL5iPcpsAcquisitionFpga();
inline std::string role() override
{
return role_;
}
/*!
* \brief Returns "GPS_L5i_PCPS_Acquisition"
*/
inline std::string implementation() override
{
return "GPS_L5i_PCPS_Acquisition";
}
inline size_t item_size() override
{
return item_size_;
}
void connect(gr::top_block_sptr top_block) override;
void disconnect(gr::top_block_sptr top_block) override;
gr::basic_block_sptr get_left_block() override;
gr::basic_block_sptr get_right_block() override;
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to efficiently exchange synchronization data between acquisition and
* tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
/*!
* \brief Set acquisition channel unique ID
*/
void set_channel(unsigned int channel) override;
/*!
* \brief Set statistics threshold of PCPS algorithm
*/
void set_threshold(float threshold) override;
/*!
* \brief Set maximum Doppler off grid search
*/
void set_doppler_max(unsigned int doppler_max) override;
/*!
* \brief Set Doppler steps for the grid search
*/
void set_doppler_step(unsigned int doppler_step) override;
/*!
* \brief Initializes acquisition algorithm.
*/
void init() override;
/*!
* \brief Sets local code for GPS L2/M PCPS acquisition algorithm.
*/
void set_local_code() override;
/*!
* \brief Returns the maximum peak of grid search
*/
signed int mag() override;
/*!
* \brief Restart acquisition algorithm
*/
void reset() override;
/*!
* \brief If state = 1, it forces the block to start acquiring from the first sample
*/
void set_state(int state) override;
private:
ConfigurationInterface* configuration_;
//pcps_acquisition_sptr acquisition_;
pcps_acquisition_fpga_sptr acquisition_fpga_;
gr::blocks::stream_to_vector::sptr stream_to_vector_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
size_t item_size_;
std::string item_type_;
unsigned int vector_length_;
unsigned int code_length_;
bool bit_transition_flag_;
bool use_CFAR_algorithm_flag_;
unsigned int channel_;
float threshold_;
unsigned int doppler_max_;
unsigned int doppler_step_;
unsigned int max_dwells_;
long fs_in_;
//long if_;
bool dump_;
bool blocking_;
std::string dump_filename_;
std::complex<float>* code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
lv_16sc_t* d_all_fft_codes_; // memory that contains all the code ffts
float calculate_threshold(float pfa);
};
#endif /* GNSS_SDR_GPS_L5i_PCPS_ACQUISITION_FPGA_H_ */

4
src/algorithms/acquisition/gnuradio_blocks/CMakeLists.txt
View File

@ -26,12 +26,12 @@ set(ACQ_GR_BLOCKS_SOURCES
pcps_quicksync_acquisition_cc.cc
galileo_pcps_8ms_acquisition_cc.cc
galileo_e5a_noncoherent_iq_acquisition_caf_cc.cc
)
)
if(ENABLE_FPGA)
set(ACQ_GR_BLOCKS_SOURCES ${ACQ_GR_BLOCKS_SOURCES} pcps_acquisition_fpga.cc)
endif(ENABLE_FPGA)
if(OPENCL_FOUND)
set(ACQ_GR_BLOCKS_SOURCES ${ACQ_GR_BLOCKS_SOURCES} pcps_opencl_acquisition_cc.cc)
endif(OPENCL_FOUND)

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

@ -48,7 +48,7 @@ using google::LogMessage;
galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(
unsigned int sampled_ms,
unsigned int max_dwells,
unsigned int doppler_max, long fs_in,
unsigned int doppler_max, int64_t fs_in,
int samples_per_ms, int samples_per_code,
bool bit_transition_flag,
bool dump,
@ -67,7 +67,7 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc::galileo_e5a_noncoherentIQ_acquisit
unsigned int sampled_ms,
unsigned int max_dwells,
unsigned int doppler_max,
long fs_in,
int64_t fs_in,
int samples_per_ms,
int samples_per_code,
bool bit_transition_flag,
@ -80,7 +80,7 @@ galileo_e5a_noncoherentIQ_acquisition_caf_cc::galileo_e5a_noncoherentIQ_acquisit
gr::io_signature::make(0, 0, sizeof(gr_complex)))
{
this->message_port_register_out(pmt::mp("events"));
d_sample_counter = 0; // SAMPLE COUNTER
d_sample_counter = 0ULL; // SAMPLE COUNTER
d_active = false;
d_state = 0;
d_fs_in = fs_in;
@ -280,7 +280,8 @@ void galileo_e5a_noncoherentIQ_acquisition_caf_cc::init()
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_gnss_synchro->Acq_doppler_step = 0U;
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
d_mag = 0.0;
d_input_power = 0.0;
const double GALILEO_TWO_PI = 6.283185307179600;
@ -328,7 +329,8 @@ void galileo_e5a_noncoherentIQ_acquisition_caf_cc::set_state(int state)
{
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
d_gnss_synchro->Acq_doppler_step = 0U;
d_well_count = 0;
d_mag = 0.0;
d_input_power = 0.0;
@ -376,14 +378,15 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
//restart acquisition variables
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
d_gnss_synchro->Acq_doppler_step = 0U;
d_well_count = 0;
d_mag = 0.0;
d_input_power = 0.0;
d_test_statistics = 0.0;
d_state = 1;
}
d_sample_counter += ninput_items[0]; // sample counter
d_sample_counter += static_cast<uint64_t>(ninput_items[0]); // sample counter
consume_each(ninput_items[0]);
break;
@ -407,7 +410,7 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
d_state = 2;
}
d_buffer_count += buff_increment;
d_sample_counter += buff_increment; // sample counter
d_sample_counter += static_cast<uint64_t>(buff_increment); // sample counter
consume_each(buff_increment);
break;
}
@ -419,7 +422,7 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
{
memcpy(&d_inbuffer[d_buffer_count], in, sizeof(gr_complex) * (d_fft_size - d_buffer_count));
}
d_sample_counter += (d_fft_size - d_buffer_count); // sample counter
d_sample_counter += static_cast<uint64_t>(d_fft_size - d_buffer_count); // sample counter
// initialize acquisition algorithm
int doppler;
@ -633,7 +636,7 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
d_gnss_synchro->Acq_delay_samples = static_cast<double>(indext % d_samples_per_code);
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter;
d_gnss_synchro->Acq_doppler_step = d_doppler_step;
// 5- Compute the test statistics and compare to the threshold
d_test_statistics = d_mag / d_input_power;
}
@ -806,7 +809,7 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
acquisition_message = 1;
this->message_port_pub(pmt::mp("events"), pmt::from_long(acquisition_message));
d_sample_counter += ninput_items[0]; // sample counter
d_sample_counter += static_cast<uint64_t>(ninput_items[0]); // sample counter
consume_each(ninput_items[0]);
break;
}
@ -826,7 +829,7 @@ int galileo_e5a_noncoherentIQ_acquisition_caf_cc::general_work(int noutput_items
d_active = false;
d_state = 0;
d_sample_counter += ninput_items[0]; // sample counter
d_sample_counter += static_cast<uint64_t>(ninput_items[0]); // sample counter
consume_each(ninput_items[0]);
acquisition_message = 2;
this->message_port_pub(pmt::mp("events"), pmt::from_long(acquisition_message));

10
src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.h
View File

@ -52,7 +52,7 @@ typedef boost::shared_ptr<galileo_e5a_noncoherentIQ_acquisition_caf_cc> galileo_
galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr
galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(unsigned int sampled_ms,
unsigned int max_dwells,
unsigned int doppler_max, long fs_in,
unsigned int doppler_max, int64_t fs_in,
int samples_per_ms, int samples_per_code,
bool bit_transition_flag,
bool dump,
@ -74,7 +74,7 @@ private:
galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(
unsigned int sampled_ms,
unsigned int max_dwells,
unsigned int doppler_max, long fs_in,
unsigned int doppler_max, int64_t fs_in,
int samples_per_ms, int samples_per_code,
bool bit_transition_flag,
bool dump,
@ -86,7 +86,7 @@ private:
galileo_e5a_noncoherentIQ_acquisition_caf_cc(
unsigned int sampled_ms,
unsigned int max_dwells,
unsigned int doppler_max, long fs_in,
unsigned int doppler_max, int64_t fs_in,
int samples_per_ms, int samples_per_code,
bool bit_transition_flag,
bool dump,
@ -99,7 +99,7 @@ private:
int doppler_offset);
float estimate_input_power(gr_complex* in);
long d_fs_in;
int64_t d_fs_in;
int d_samples_per_ms;
int d_sampled_ms;
int d_samples_per_code;
@ -111,7 +111,7 @@ private:
unsigned int d_max_dwells;
unsigned int d_well_count;
unsigned int d_fft_size;
unsigned long int d_sample_counter;
uint64_t d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
unsigned int d_num_doppler_bins;
gr_complex* d_fft_code_I_A;

19
src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.cc
View File

@ -60,7 +60,7 @@ galileo_pcps_8ms_acquisition_cc::galileo_pcps_8ms_acquisition_cc(
gr::io_signature::make(0, 0, sizeof(gr_complex) * sampled_ms * samples_per_ms))
{
this->message_port_register_out(pmt::mp("events"));
d_sample_counter = 0; // SAMPLE COUNTER
d_sample_counter = 0ULL; // SAMPLE COUNTER
d_active = false;
d_state = 0;
d_fs_in = fs_in;
@ -151,10 +151,10 @@ void galileo_pcps_8ms_acquisition_cc::init()
d_gnss_synchro->Flag_valid_symbol_output = false;
d_gnss_synchro->Flag_valid_pseudorange = false;
d_gnss_synchro->Flag_valid_word = false;
d_gnss_synchro->Acq_doppler_step = 0U;
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
d_mag = 0.0;
d_input_power = 0.0;
const double GALILEO_TWO_PI = 6.283185307179600;
@ -188,7 +188,8 @@ void galileo_pcps_8ms_acquisition_cc::set_state(int state)
{
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
d_gnss_synchro->Acq_doppler_step = 0U;
d_well_count = 0;
d_mag = 0.0;
d_input_power = 0.0;
@ -219,7 +220,8 @@ int galileo_pcps_8ms_acquisition_cc::general_work(int noutput_items,
//restart acquisition variables
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
d_gnss_synchro->Acq_doppler_step = 0U;
d_well_count = 0;
d_mag = 0.0;
d_input_power = 0.0;
@ -228,7 +230,7 @@ int galileo_pcps_8ms_acquisition_cc::general_work(int noutput_items,
d_state = 1;
}
d_sample_counter += d_fft_size * ninput_items[0]; // sample counter
d_sample_counter += static_cast<uint64_t>(d_fft_size * ninput_items[0]); // sample counter
consume_each(ninput_items[0]);
break;
@ -249,7 +251,7 @@ int galileo_pcps_8ms_acquisition_cc::general_work(int noutput_items,
d_input_power = 0.0;
d_mag = 0.0;
d_sample_counter += d_fft_size; // sample counter
d_sample_counter += static_cast<uint64_t>(d_fft_size); // sample counter
d_well_count++;
@ -328,6 +330,7 @@ int galileo_pcps_8ms_acquisition_cc::general_work(int noutput_items,
d_gnss_synchro->Acq_delay_samples = static_cast<double>(indext % d_samples_per_code);
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter;
d_gnss_synchro->Acq_doppler_step = d_doppler_step;
}
// Record results to file if required
@ -404,7 +407,7 @@ int galileo_pcps_8ms_acquisition_cc::general_work(int noutput_items,
d_active = false;
d_state = 0;
d_sample_counter += d_fft_size * ninput_items[0]; // sample counter
d_sample_counter += static_cast<uint64_t>(d_fft_size * ninput_items[0]); // sample counter
consume_each(ninput_items[0]);
acquisition_message = 2;

2
src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.h
View File

@ -83,7 +83,7 @@ private:
unsigned int d_max_dwells;
unsigned int d_well_count;
unsigned int d_fft_size;
unsigned long int d_sample_counter;
uint64_t d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
unsigned int d_num_doppler_bins;
gr_complex* d_fft_code_A;

309
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc
View File

@ -52,20 +52,20 @@ pcps_acquisition_sptr pcps_make_acquisition(const Acq_Conf& conf_)
pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acquisition",
gr::io_signature::make(1, 1, conf_.it_size * conf_.sampled_ms * conf_.samples_per_ms * (conf_.bit_transition_flag ? 2 : 1)),
gr::io_signature::make(0, 0, conf_.it_size * conf_.sampled_ms * conf_.samples_per_ms * (conf_.bit_transition_flag ? 2 : 1)))
gr::io_signature::make(1, 1, conf_.it_size),
gr::io_signature::make(0, 0, conf_.it_size))
{
this->message_port_register_out(pmt::mp("events"));
acq_parameters = conf_;
d_sample_counter = 0; // SAMPLE COUNTER
d_sample_counter = 0ULL; // SAMPLE COUNTER
d_active = false;
d_positive_acq = 0;
d_state = 0;
d_old_freq = 0;
d_num_noncoherent_integrations_counter = 0;
d_old_freq = 0LL;
d_num_noncoherent_integrations_counter = 0U;
d_consumed_samples = acq_parameters.sampled_ms * acq_parameters.samples_per_ms * (acq_parameters.bit_transition_flag ? 2 : 1);
if (acq_parameters.sampled_ms == (acq_parameters.samples_per_code / acq_parameters.samples_per_ms)) //
if (acq_parameters.sampled_ms == acq_parameters.ms_per_code)
{
d_fft_size = d_consumed_samples;
}
@ -73,15 +73,15 @@ pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acqu
{
d_fft_size = d_consumed_samples * 2;
}
//d_fft_size = next power of two? ////
// d_fft_size = next power of two? ////
d_mag = 0;
d_input_power = 0.0;
d_num_doppler_bins = 0;
d_num_doppler_bins = 0U;
d_threshold = 0.0;
d_doppler_step = 0;
d_doppler_step = 0U;
d_doppler_center_step_two = 0.0;
d_test_statistics = 0.0;
d_channel = 0;
d_channel = 0U;
if (conf_.it_size == sizeof(gr_complex))
{
d_cshort = false;
@ -133,10 +133,13 @@ pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acqu
d_data_buffer_sc = nullptr;
}
grid_ = arma::fmat();
narrow_grid_ = arma::fmat();
d_step_two = false;
d_dump_number = 0;
d_num_doppler_bins_step2 = acq_parameters.num_doppler_bins_step2;
d_dump_number = 0LL;
d_dump_channel = acq_parameters.dump_channel;
d_samplesPerChip = acq_parameters.samples_per_chip;
d_buffer_count = 0U;
// todo: CFAR statistic not available for non-coherent integration
if (acq_parameters.max_dwells == 1)
{
@ -153,7 +156,7 @@ pcps_acquisition::~pcps_acquisition()
{
if (d_num_doppler_bins > 0)
{
for (unsigned int i = 0; i < d_num_doppler_bins; i++)
for (uint32_t i = 0; i < d_num_doppler_bins; i++)
{
volk_gnsssdr_free(d_grid_doppler_wipeoffs[i]);
volk_gnsssdr_free(d_magnitude_grid[i]);
@ -163,7 +166,7 @@ pcps_acquisition::~pcps_acquisition()
}
if (acq_parameters.make_2_steps)
{
for (unsigned int i = 0; i < acq_parameters.num_doppler_bins_step2; i++)
for (uint32_t i = 0; i < d_num_doppler_bins_step2; i++)
{
volk_gnsssdr_free(d_grid_doppler_wipeoffs_step_two[i]);
}
@ -186,7 +189,7 @@ pcps_acquisition::~pcps_acquisition()
void pcps_acquisition::set_local_code(std::complex<float>* code)
{
// reset the intermediate frequency
d_old_freq = 0;
d_old_freq = 0LL;
// This will check if it's fdma, if yes will update the intermediate frequency and the doppler grid
if (is_fdma())
{
@ -199,13 +202,13 @@ void pcps_acquisition::set_local_code(std::complex<float>* code)
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
if (acq_parameters.bit_transition_flag)
{
int offset = d_fft_size / 2;
int32_t offset = d_fft_size / 2;
std::fill_n(d_fft_if->get_inbuf(), offset, gr_complex(0.0, 0.0));
memcpy(d_fft_if->get_inbuf() + offset, code, sizeof(gr_complex) * offset);
}
else
{
if (acq_parameters.sampled_ms == (acq_parameters.samples_per_code / acq_parameters.samples_per_ms))
if (acq_parameters.sampled_ms == acq_parameters.ms_per_code)
{
memcpy(d_fft_if->get_inbuf(), code, sizeof(gr_complex) * d_consumed_samples);
}
@ -243,11 +246,11 @@ bool pcps_acquisition::is_fdma()
}
void pcps_acquisition::update_local_carrier(gr_complex* carrier_vector, int correlator_length_samples, float freq)
void pcps_acquisition::update_local_carrier(gr_complex* carrier_vector, int32_t correlator_length_samples, float freq)
{
float phase_step_rad = GPS_TWO_PI * freq / static_cast<float>(acq_parameters.fs_in);
float _phase[1];
_phase[0] = 0;
_phase[0] = 0.0;
volk_gnsssdr_s32f_sincos_32fc(carrier_vector, -phase_step_rad, _phase, correlator_length_samples);
}
@ -258,49 +261,55 @@ void pcps_acquisition::init()
d_gnss_synchro->Flag_valid_symbol_output = false;
d_gnss_synchro->Flag_valid_pseudorange = false;
d_gnss_synchro->Flag_valid_word = false;
d_gnss_synchro->Acq_doppler_step = 0U;
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
d_mag = 0.0;
d_input_power = 0.0;
d_num_doppler_bins = static_cast<unsigned int>(std::ceil(static_cast<double>(static_cast<int>(acq_parameters.doppler_max) - static_cast<int>(-acq_parameters.doppler_max)) / static_cast<double>(d_doppler_step)));
d_num_doppler_bins = static_cast<uint32_t>(std::ceil(static_cast<double>(static_cast<int32_t>(acq_parameters.doppler_max) - static_cast<int32_t>(-acq_parameters.doppler_max)) / static_cast<double>(d_doppler_step)));
// Create the carrier Doppler wipeoff signals
d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
if (acq_parameters.make_2_steps)
{
d_grid_doppler_wipeoffs_step_two = new gr_complex*[acq_parameters.num_doppler_bins_step2];
for (unsigned int doppler_index = 0; doppler_index < acq_parameters.num_doppler_bins_step2; doppler_index++)
d_grid_doppler_wipeoffs_step_two = new gr_complex*[d_num_doppler_bins_step2];
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins_step2; doppler_index++)
{
d_grid_doppler_wipeoffs_step_two[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
}
}
d_magnitude_grid = new float*[d_num_doppler_bins];
for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{
d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitude_grid[doppler_index] = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
int doppler = -static_cast<int>(acq_parameters.doppler_max) + d_doppler_step * doppler_index;
for (uint32_t k = 0; k < d_fft_size; k++)
{
d_magnitude_grid[doppler_index][k] = 0.0;
}
int32_t doppler = -static_cast<int32_t>(acq_parameters.doppler_max) + d_doppler_step * doppler_index;
update_local_carrier(d_grid_doppler_wipeoffs[doppler_index], d_fft_size, d_old_freq + doppler);
}
d_worker_active = false;
if (acq_parameters.dump)
{
unsigned int effective_fft_size = (acq_parameters.bit_transition_flag ? (d_fft_size / 2) : d_fft_size);
uint32_t effective_fft_size = (acq_parameters.bit_transition_flag ? (d_fft_size / 2) : d_fft_size);
grid_ = arma::fmat(effective_fft_size, d_num_doppler_bins, arma::fill::zeros);
narrow_grid_ = arma::fmat(effective_fft_size, d_num_doppler_bins_step2, arma::fill::zeros);
}
}
void pcps_acquisition::update_grid_doppler_wipeoffs()
{
for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{
int doppler = -static_cast<int>(acq_parameters.doppler_max) + d_doppler_step * doppler_index;
int32_t doppler = -static_cast<int32_t>(acq_parameters.doppler_max) + d_doppler_step * doppler_index;
update_local_carrier(d_grid_doppler_wipeoffs[doppler_index], d_fft_size, d_old_freq + doppler);
}
}
@ -308,15 +317,15 @@ void pcps_acquisition::update_grid_doppler_wipeoffs()
void pcps_acquisition::update_grid_doppler_wipeoffs_step2()
{
for (unsigned int doppler_index = 0; doppler_index < acq_parameters.num_doppler_bins_step2; doppler_index++)
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins_step2; doppler_index++)
{
float doppler = (static_cast<float>(doppler_index) - static_cast<float>(acq_parameters.num_doppler_bins_step2) / 2.0) * acq_parameters.doppler_step2;
float doppler = (static_cast<float>(doppler_index) - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0))) * acq_parameters.doppler_step2;
update_local_carrier(d_grid_doppler_wipeoffs_step_two[doppler_index], d_fft_size, d_doppler_center_step_two + doppler);
}
}
void pcps_acquisition::set_state(int state)
void pcps_acquisition::set_state(int32_t state)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
d_state = state;
@ -324,7 +333,8 @@ void pcps_acquisition::set_state(int state)
{
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
d_gnss_synchro->Acq_doppler_step = 0U;
d_mag = 0.0;
d_input_power = 0.0;
d_test_statistics = 0.0;
@ -342,8 +352,8 @@ void pcps_acquisition::set_state(int state)
void pcps_acquisition::send_positive_acquisition()
{
// 6.1- Declare positive acquisition using a message port
//0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
// Declare positive acquisition using a message port
// 0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
DLOG(INFO) << "positive acquisition"
<< ", satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< ", sample_stamp " << d_sample_counter
@ -360,8 +370,8 @@ void pcps_acquisition::send_positive_acquisition()
void pcps_acquisition::send_negative_acquisition()
{
// 6.2- Declare negative acquisition using a message port
//0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
// Declare negative acquisition using a message port
// 0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
DLOG(INFO) << "negative acquisition"
<< ", satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< ", sample_stamp " << d_sample_counter
@ -376,7 +386,7 @@ void pcps_acquisition::send_negative_acquisition()
}
void pcps_acquisition::dump_results(int effective_fft_size)
void pcps_acquisition::dump_results(int32_t effective_fft_size)
{
d_dump_number++;
std::string filename = acq_parameters.dump_filename;
@ -450,21 +460,45 @@ void pcps_acquisition::dump_results(int effective_fft_size)
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("num_dwells", MAT_C_UINT32, MAT_T_UINT32, 1, dims, &d_num_noncoherent_integrations_counter, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
if (acq_parameters.make_2_steps)
{
dims[0] = static_cast<size_t>(effective_fft_size);
dims[1] = static_cast<size_t>(d_num_doppler_bins_step2);
matvar = Mat_VarCreate("acq_grid_narrow", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, narrow_grid_.memptr(), 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
dims[0] = static_cast<size_t>(1);
dims[1] = static_cast<size_t>(1);
matvar = Mat_VarCreate("doppler_step_narrow", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims, &acq_parameters.doppler_step2, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
aux = d_doppler_center_step_two - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0)) * acq_parameters.doppler_step2;
matvar = Mat_VarCreate("doppler_grid_narrow_min", MAT_C_SINGLE, MAT_T_SINGLE, 1, dims, &aux, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
}
Mat_Close(matfp);
}
}
float pcps_acquisition::max_to_input_power_statistic(uint32_t& indext, int& doppler, float input_power)
float pcps_acquisition::max_to_input_power_statistic(uint32_t& indext, int32_t& doppler, float input_power, uint32_t num_doppler_bins, int32_t doppler_max, int32_t doppler_step)
{
float grid_maximum = 0.0;
unsigned int index_doppler = 0;
uint32_t tmp_intex_t = 0;
uint32_t index_time = 0;
uint32_t index_doppler = 0U;
uint32_t tmp_intex_t = 0U;
uint32_t index_time = 0U;
float fft_normalization_factor = static_cast<float>(d_fft_size) * static_cast<float>(d_fft_size);
// Find the correlation peak and the carrier frequency
for (unsigned int i = 0; i < d_num_doppler_bins; i++)
for (uint32_t i = 0; i < num_doppler_bins; i++)
{
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_magnitude_grid[i], d_fft_size);
if (d_magnitude_grid[i][tmp_intex_t] > grid_maximum)
@ -475,26 +509,33 @@ float pcps_acquisition::max_to_input_power_statistic(uint32_t& indext, int& dopp
}
}
indext = index_time;
doppler = -static_cast<int>(acq_parameters.doppler_max) + d_doppler_step * static_cast<int>(index_doppler);
if (!d_step_two)
{
doppler = -static_cast<int32_t>(doppler_max) + doppler_step * static_cast<int32_t>(index_doppler);
}
else
{
doppler = static_cast<int32_t>(d_doppler_center_step_two + (static_cast<float>(index_doppler) - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0))) * acq_parameters.doppler_step2);
}
float magt = grid_maximum / (fft_normalization_factor * fft_normalization_factor);
return magt / input_power;
}
float pcps_acquisition::first_vs_second_peak_statistic(uint32_t& indext, int& doppler)
float pcps_acquisition::first_vs_second_peak_statistic(uint32_t& indext, int32_t& doppler, uint32_t num_doppler_bins, int32_t doppler_max, int32_t doppler_step)
{
// Look for correlation peaks in the results
// Find the highest peak and compare it to the second highest peak
// The second peak is chosen not closer than 1 chip to the highest peak
float firstPeak = 0.0;
unsigned int index_doppler = 0;
uint32_t tmp_intex_t = 0;
uint32_t index_time = 0;
uint32_t index_doppler = 0U;
uint32_t tmp_intex_t = 0U;
uint32_t index_time = 0U;
// Find the correlation peak and the carrier frequency
for (unsigned int i = 0; i < d_num_doppler_bins; i++)
for (uint32_t i = 0; i < num_doppler_bins; i++)
{
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_magnitude_grid[i], d_fft_size);
if (d_magnitude_grid[i][tmp_intex_t] > firstPeak)
@ -505,7 +546,15 @@ float pcps_acquisition::first_vs_second_peak_statistic(uint32_t& indext, int& do
}
}
indext = index_time;
doppler = -static_cast<int>(acq_parameters.doppler_max) + d_doppler_step * static_cast<int>(index_doppler);
if (!d_step_two)
{
doppler = -static_cast<int32_t>(doppler_max) + doppler_step * static_cast<int32_t>(index_doppler);
}
else
{
doppler = static_cast<int32_t>(d_doppler_center_step_two + (static_cast<float>(index_doppler) - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0))) * acq_parameters.doppler_step2);
}
// Find 1 chip wide code phase exclude range around the peak
int32_t excludeRangeIndex1 = index_time - d_samplesPerChip;
@ -516,7 +565,7 @@ float pcps_acquisition::first_vs_second_peak_statistic(uint32_t& indext, int& do
{
excludeRangeIndex1 = d_fft_size + excludeRangeIndex1;
}
else if (excludeRangeIndex2 >= static_cast<int>(d_fft_size))
else if (excludeRangeIndex2 >= static_cast<int32_t>(d_fft_size))
{
excludeRangeIndex2 = excludeRangeIndex2 - d_fft_size;
}
@ -527,7 +576,7 @@ float pcps_acquisition::first_vs_second_peak_statistic(uint32_t& indext, int& do
{
d_tmp_buffer[idx] = 0.0;
idx++;
if (idx == static_cast<int>(d_fft_size)) idx = 0;
if (idx == static_cast<int32_t>(d_fft_size)) idx = 0;
}
while (idx != excludeRangeIndex2);
@ -540,15 +589,14 @@ float pcps_acquisition::first_vs_second_peak_statistic(uint32_t& indext, int& do
}
void pcps_acquisition::acquisition_core(unsigned long int samp_count)
void pcps_acquisition::acquisition_core(uint64_t samp_count)
{
gr::thread::scoped_lock lk(d_setlock);
// initialize acquisition algorithm
float magt = 0.0;
int doppler = 0;
uint32_t indext = 0;
int effective_fft_size = (acq_parameters.bit_transition_flag ? d_fft_size / 2 : d_fft_size);
// Initialize acquisition algorithm
int32_t doppler = 0;
uint32_t indext = 0U;
int32_t effective_fft_size = (acq_parameters.bit_transition_flag ? d_fft_size / 2 : d_fft_size);
if (d_cshort)
{
volk_gnsssdr_16ic_convert_32fc(d_data_buffer, d_data_buffer_sc, d_consumed_samples);
@ -556,13 +604,12 @@ void pcps_acquisition::acquisition_core(unsigned long int samp_count)
memcpy(d_input_signal, d_data_buffer, d_consumed_samples * sizeof(gr_complex));
if (d_fft_size > d_consumed_samples)
{
for (unsigned int i = d_consumed_samples; i < d_fft_size; i++)
for (uint32_t i = d_consumed_samples; i < d_fft_size; i++)
{
d_input_signal[i] = gr_complex(0.0, 0.0);
}
}
const gr_complex* in = d_input_signal; // Get the input samples pointer
float fft_normalization_factor = static_cast<float>(d_fft_size) * static_cast<float>(d_fft_size);
d_input_power = 0.0;
d_mag = 0.0;
@ -588,7 +635,7 @@ void pcps_acquisition::acquisition_core(unsigned long int samp_count)
// Doppler frequency grid loop
if (!d_step_two)
{
for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{
// Remove Doppler
volk_32fc_x2_multiply_32fc(d_fft_if->get_inbuf(), in, d_grid_doppler_wipeoffs[doppler_index], d_fft_size);
@ -624,26 +671,23 @@ void pcps_acquisition::acquisition_core(unsigned long int samp_count)
// Compute the test statistic
if (d_use_CFAR_algorithm_flag)
{
d_test_statistics = max_to_input_power_statistic(indext, doppler, d_input_power);
d_test_statistics = max_to_input_power_statistic(indext, doppler, d_input_power, d_num_doppler_bins, acq_parameters.doppler_max, d_doppler_step);
}
else
{
d_test_statistics = first_vs_second_peak_statistic(indext, doppler);
d_test_statistics = first_vs_second_peak_statistic(indext, doppler, d_num_doppler_bins, acq_parameters.doppler_max, d_doppler_step);
}
d_gnss_synchro->Acq_delay_samples = static_cast<double>(indext % acq_parameters.samples_per_code);
d_gnss_synchro->Acq_delay_samples = static_cast<double>(std::fmod(static_cast<float>(indext), acq_parameters.samples_per_code));
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
d_gnss_synchro->Acq_samplestamp_samples = samp_count;
}
else
{
for (unsigned int doppler_index = 0; doppler_index < acq_parameters.num_doppler_bins_step2; doppler_index++)
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins_step2; doppler_index++)
{
// doppler search steps
float doppler = d_doppler_center_step_two + (static_cast<float>(doppler_index) - static_cast<float>(acq_parameters.num_doppler_bins_step2) / 2.0) * acq_parameters.doppler_step2;
volk_32fc_x2_multiply_32fc(d_fft_if->get_inbuf(), in, d_grid_doppler_wipeoffs_step_two[doppler_index], d_fft_size);
// 3- Perform the FFT-based convolution (parallel time search)
// Perform the FFT-based convolution (parallel time search)
// Compute the FFT of the carrier wiped--off incoming signal
d_fft_if->execute();
@ -654,54 +698,35 @@ void pcps_acquisition::acquisition_core(unsigned long int samp_count)
// compute the inverse FFT
d_ifft->execute();
// Search maximum
size_t offset = (acq_parameters.bit_transition_flag ? effective_fft_size : 0);
volk_32fc_magnitude_squared_32f(d_magnitude, d_ifft->get_outbuf() + offset, effective_fft_size);
volk_gnsssdr_32f_index_max_32u(&indext, d_magnitude, effective_fft_size);
magt = d_magnitude[indext];
if (d_use_CFAR_algorithm_flag)
if (d_num_noncoherent_integrations_counter == 1)
{
// Normalize the maximum value to correct the scale factor introduced by FFTW
magt = d_magnitude[indext] / (fft_normalization_factor * fft_normalization_factor);
volk_32fc_magnitude_squared_32f(d_magnitude_grid[doppler_index], d_ifft->get_outbuf() + offset, effective_fft_size);
}
// 4- record the maximum peak and the associated synchronization parameters
if (d_mag < magt)
else
{
d_mag = magt;
if (!d_use_CFAR_algorithm_flag)
{
// Search grid noise floor approximation for this doppler line
volk_32f_accumulator_s32f(&d_input_power, d_magnitude, effective_fft_size);
d_input_power = (d_input_power - d_mag) / (effective_fft_size - 1);
}
// In case that acq_parameters.bit_transition_flag = true, we compare the potentially
// new maximum test statistics (d_mag/d_input_power) with the value in
// d_test_statistics. When the second dwell is being processed, the value
// of d_mag/d_input_power could be lower than d_test_statistics (i.e,
// the maximum test statistics in the previous dwell is greater than
// current d_mag/d_input_power). Note that d_test_statistics is not
// restarted between consecutive dwells in multidwell operation.
if (d_test_statistics < (d_mag / d_input_power) or !acq_parameters.bit_transition_flag)
{
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_gnss_synchro->Acq_samplestamp_samples = samp_count;
// 5- Compute the test statistics and compare to the threshold
//d_test_statistics = 2 * d_fft_size * d_mag / d_input_power;
d_test_statistics = d_mag / d_input_power;
}
volk_32fc_magnitude_squared_32f(d_tmp_buffer, d_ifft->get_outbuf() + offset, effective_fft_size);
volk_32f_x2_add_32f(d_magnitude_grid[doppler_index], d_magnitude_grid[doppler_index], d_tmp_buffer, effective_fft_size);
}
// Record results to file if required
if (acq_parameters.dump and d_channel == d_dump_channel)
{
memcpy(grid_.colptr(doppler_index), d_magnitude, sizeof(float) * effective_fft_size);
memcpy(narrow_grid_.colptr(doppler_index), d_magnitude_grid[doppler_index], sizeof(float) * effective_fft_size);
}
}
// Compute the test statistic
if (d_use_CFAR_algorithm_flag)
{
d_test_statistics = max_to_input_power_statistic(indext, doppler, d_input_power, d_num_doppler_bins_step2, static_cast<int32_t>(d_doppler_center_step_two - (static_cast<float>(d_num_doppler_bins_step2) / 2.0) * acq_parameters.doppler_step2), acq_parameters.doppler_step2);
}
else
{
d_test_statistics = first_vs_second_peak_statistic(indext, doppler, d_num_doppler_bins_step2, static_cast<int32_t>(d_doppler_center_step_two - (static_cast<float>(d_num_doppler_bins_step2) / 2.0) * acq_parameters.doppler_step2), acq_parameters.doppler_step2);
}
d_gnss_synchro->Acq_delay_samples = static_cast<double>(std::fmod(static_cast<float>(indext), acq_parameters.samples_per_code));
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
d_gnss_synchro->Acq_samplestamp_samples = samp_count;
d_gnss_synchro->Acq_doppler_step = acq_parameters.doppler_step2;
}
lk.lock();
@ -721,6 +746,8 @@ void pcps_acquisition::acquisition_core(unsigned long int samp_count)
else
{
d_step_two = true; // Clear input buffer and make small grid acquisition
d_num_noncoherent_integrations_counter = 0;
d_positive_acq = 0;
d_state = 0;
}
}
@ -730,6 +757,11 @@ void pcps_acquisition::acquisition_core(unsigned long int samp_count)
d_state = 0; // Positive acquisition
}
}
else
{
d_buffer_count = 0;
d_state = 1;
}
if (d_num_noncoherent_integrations_counter == acq_parameters.max_dwells)
{
@ -755,6 +787,7 @@ void pcps_acquisition::acquisition_core(unsigned long int samp_count)
else
{
d_step_two = true; // Clear input buffer and make small grid acquisition
d_num_noncoherent_integrations_counter = 0U;
d_state = 0;
}
}
@ -780,8 +813,16 @@ void pcps_acquisition::acquisition_core(unsigned long int samp_count)
{
pcps_acquisition::dump_results(effective_fft_size);
}
d_num_noncoherent_integrations_counter = 0;
d_num_noncoherent_integrations_counter = 0U;
d_positive_acq = 0;
// Reset grid
for (uint32_t i = 0; i < d_num_doppler_bins; i++)
{
for (uint32_t k = 0; k < d_fft_size; k++)
{
d_magnitude_grid[i][k] = 0.0;
}
}
}
}
@ -800,13 +841,12 @@ int pcps_acquisition::general_work(int noutput_items __attribute__((unused)),
* 5. Compute the test statistics and compare to the threshold
* 6. Declare positive or negative acquisition using a message port
*/
gr::thread::scoped_lock lk(d_setlock);
if (!d_active or d_worker_active)
{
if (!acq_parameters.blocking_on_standby)
{
d_sample_counter += d_consumed_samples * ninput_items[0];
d_sample_counter += static_cast<uint64_t>(ninput_items[0]);
consume_each(ninput_items[0]);
}
if (d_step_two)
@ -823,33 +863,66 @@ int pcps_acquisition::general_work(int noutput_items __attribute__((unused)),
{
case 0:
{
//restart acquisition variables
// Restart acquisition variables
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
d_gnss_synchro->Acq_doppler_step = 0U;
d_mag = 0.0;
d_input_power = 0.0;
d_test_statistics = 0.0;
d_state = 1;
d_buffer_count = 0U;
if (!acq_parameters.blocking_on_standby)
{
d_sample_counter += d_consumed_samples * ninput_items[0]; // sample counter
d_sample_counter += static_cast<uint64_t>(ninput_items[0]); // sample counter
consume_each(ninput_items[0]);
}
break;
}
case 1:
{
// Copy the data to the core and let it know that new data is available
uint32_t buff_increment;
if (d_cshort)
{
memcpy(d_data_buffer_sc, input_items[0], d_consumed_samples * sizeof(lv_16sc_t));
const lv_16sc_t* in = reinterpret_cast<const lv_16sc_t*>(input_items[0]); // Get the input samples pointer
if ((ninput_items[0] + d_buffer_count) <= d_consumed_samples)
{
buff_increment = ninput_items[0];
}
else
{
buff_increment = d_consumed_samples - d_buffer_count;
}
memcpy(&d_data_buffer_sc[d_buffer_count], in, sizeof(lv_16sc_t) * buff_increment);
}
else
{
memcpy(d_data_buffer, input_items[0], d_consumed_samples * sizeof(gr_complex));
const gr_complex* in = reinterpret_cast<const gr_complex*>(input_items[0]); // Get the input samples pointer
if ((ninput_items[0] + d_buffer_count) <= d_consumed_samples)
{
buff_increment = ninput_items[0];
}
else
{
buff_increment = d_consumed_samples - d_buffer_count;
}
memcpy(&d_data_buffer[d_buffer_count], in, sizeof(gr_complex) * buff_increment);
}
// If buffer will be full in next iteration
if (d_buffer_count >= d_consumed_samples)
{
d_state = 2;
}
d_buffer_count += buff_increment;
d_sample_counter += static_cast<uint64_t>(buff_increment);
consume_each(buff_increment);
break;
}
case 2:
{
// Copy the data to the core and let it know that new data is available
if (acq_parameters.blocking)
{
lk.unlock();
@ -860,8 +933,8 @@ int pcps_acquisition::general_work(int noutput_items __attribute__((unused)),
gr::thread::thread d_worker(&pcps_acquisition::acquisition_core, this, d_sample_counter);
d_worker_active = true;
}
d_sample_counter += d_consumed_samples;
consume_each(1);
consume_each(0);
d_buffer_count = 0U;
break;
}
}

47
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h
View File

@ -82,21 +82,21 @@ private:
pcps_acquisition(const Acq_Conf& conf_);
void update_local_carrier(gr_complex* carrier_vector, int correlator_length_samples, float freq);
void update_local_carrier(gr_complex* carrier_vector, int32_t correlator_length_samples, float freq);
void update_grid_doppler_wipeoffs();
void update_grid_doppler_wipeoffs_step2();
bool is_fdma();
void acquisition_core(unsigned long int samp_count);
void acquisition_core(uint64_t samp_count);
void send_negative_acquisition();
void send_positive_acquisition();
void dump_results(int effective_fft_size);
void dump_results(int32_t effective_fft_size);
float first_vs_second_peak_statistic(uint32_t& indext, int& doppler);
float max_to_input_power_statistic(uint32_t& indext, int& doppler, float input_power);
float first_vs_second_peak_statistic(uint32_t& indext, int32_t& doppler, uint32_t num_doppler_bins, int32_t doppler_max, int32_t doppler_step);
float max_to_input_power_statistic(uint32_t& indext, int32_t& doppler, float input_power, uint32_t num_doppler_bins, int32_t doppler_max, int32_t doppler_step);
Acq_Conf acq_parameters;
bool d_active;
@ -104,7 +104,7 @@ private:
bool d_cshort;
bool d_step_two;
bool d_use_CFAR_algorithm_flag;
int d_positive_acq;
int32_t d_positive_acq;
float d_threshold;
float d_mag;
float d_input_power;
@ -114,16 +114,16 @@ private:
float* d_tmp_buffer;
gr_complex* d_input_signal;
uint32_t d_samplesPerChip;
long d_old_freq;
int d_state;
unsigned int d_channel;
unsigned int d_doppler_step;
int64_t d_old_freq;
int32_t d_state;
uint32_t d_channel;
uint32_t d_doppler_step;
float d_doppler_center_step_two;
unsigned int d_num_noncoherent_integrations_counter;
unsigned int d_fft_size;
unsigned int d_consumed_samples;
unsigned int d_num_doppler_bins;
unsigned long int d_sample_counter;
uint32_t d_num_noncoherent_integrations_counter;
uint32_t d_fft_size;
uint32_t d_consumed_samples;
uint32_t d_num_doppler_bins;
uint64_t d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
gr_complex** d_grid_doppler_wipeoffs_step_two;
gr_complex* d_fft_codes;
@ -133,8 +133,11 @@ private:
gr::fft::fft_complex* d_ifft;
Gnss_Synchro* d_gnss_synchro;
arma::fmat grid_;
long int d_dump_number;
unsigned int d_dump_channel;
arma::fmat narrow_grid_;
uint32_t d_num_doppler_bins_step2;
int64_t d_dump_number;
uint32_t d_dump_channel;
uint32_t d_buffer_count;
public:
~pcps_acquisition();
@ -153,7 +156,7 @@ public:
/*!
* \brief Returns the maximum peak of grid search.
*/
inline unsigned int mag() const
inline uint32_t mag() const
{
return d_mag;
}
@ -185,13 +188,13 @@ public:
* first available sample.
* \param state - int=1 forces start of acquisition
*/
void set_state(int state);
void set_state(int32_t state);
/*!
* \brief Set acquisition channel unique ID
* \param channel - receiver channel.
*/
inline void set_channel(unsigned int channel)
inline void set_channel(uint32_t channel)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
d_channel = channel;
@ -212,7 +215,7 @@ public:
* \brief Set maximum Doppler grid search
* \param doppler_max - Maximum Doppler shift considered in the grid search [Hz].
*/
inline void set_doppler_max(unsigned int doppler_max)
inline void set_doppler_max(uint32_t doppler_max)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
acq_parameters.doppler_max = doppler_max;
@ -222,7 +225,7 @@ public:
* \brief Set Doppler steps for the grid search
* \param doppler_step - Frequency bin of the search grid [Hz].
*/
inline void set_doppler_step(unsigned int doppler_step)
inline void set_doppler_step(uint32_t doppler_step)
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with work function called by the scheduler
d_doppler_step = doppler_step;

26
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.cc
View File

@ -59,7 +59,7 @@ pcps_acquisition_fine_doppler_cc::pcps_acquisition_fine_doppler_cc(const Acq_Con
{
this->message_port_register_out(pmt::mp("events"));
acq_parameters = conf_;
d_sample_counter = 0; // SAMPLE COUNTER
d_sample_counter = 0ULL; // SAMPLE COUNTER
d_active = false;
d_fs_in = conf_.fs_in;
d_samples_per_ms = conf_.samples_per_ms;
@ -180,10 +180,10 @@ void pcps_acquisition_fine_doppler_cc::init()
d_gnss_synchro->Flag_valid_symbol_output = false;
d_gnss_synchro->Flag_valid_pseudorange = false;
d_gnss_synchro->Flag_valid_word = false;
d_gnss_synchro->Acq_doppler_step = 0U;
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
d_state = 0;
}
@ -295,6 +295,7 @@ double pcps_acquisition_fine_doppler_cc::compute_CAF()
d_gnss_synchro->Acq_delay_samples = static_cast<double>(index_time);
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(index_doppler * d_doppler_step - d_config_doppler_max);
d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter;
d_gnss_synchro->Acq_doppler_step = d_doppler_step;
return d_test_statistics;
}
@ -447,7 +448,7 @@ int pcps_acquisition_fine_doppler_cc::estimate_Doppler()
// Called by gnuradio to enable drivers, etc for i/o devices.
bool pcps_acquisition_fine_doppler_cc::start()
{
d_sample_counter = 0;
d_sample_counter = 0ULL;
return true;
}
@ -461,7 +462,8 @@ void pcps_acquisition_fine_doppler_cc::set_state(int state)
{
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
d_gnss_synchro->Acq_doppler_step = 0U;
d_well_count = 0;
d_test_statistics = 0.0;
d_active = true;
@ -507,7 +509,7 @@ int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items,
}
if (!acq_parameters.blocking_on_standby)
{
d_sample_counter += d_fft_size; // sample counter
d_sample_counter += static_cast<uint64_t>(d_fft_size); // sample counter
consume_each(d_fft_size);
}
break;
@ -520,7 +522,7 @@ int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items,
{
d_state = 2;
}
d_sample_counter += d_fft_size; // sample counter
d_sample_counter += static_cast<uint64_t>(d_fft_size); // sample counter
consume_each(d_fft_size);
break;
case 2: // Compute test statistics and decide
@ -543,7 +545,7 @@ int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items,
{
memcpy(&d_10_ms_buffer[d_n_samples_in_buffer], reinterpret_cast<const gr_complex *>(input_items[0]), noutput_items * sizeof(gr_complex));
d_n_samples_in_buffer += noutput_items;
d_sample_counter += noutput_items; // sample counter
d_sample_counter += static_cast<uint64_t>(noutput_items); // sample counter
consume_each(noutput_items);
}
else
@ -551,7 +553,7 @@ int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items,
if (samples_remaining > 0)
{
memcpy(&d_10_ms_buffer[d_n_samples_in_buffer], reinterpret_cast<const gr_complex *>(input_items[0]), samples_remaining * sizeof(gr_complex));
d_sample_counter += samples_remaining; // sample counter
d_sample_counter += static_cast<uint64_t>(samples_remaining); // sample counter
consume_each(samples_remaining);
}
estimate_Doppler(); //disabled in repo
@ -579,7 +581,7 @@ int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items,
d_state = 0;
if (!acq_parameters.blocking_on_standby)
{
d_sample_counter += noutput_items; // sample counter
d_sample_counter += static_cast<uint64_t>(noutput_items); // sample counter
consume_each(noutput_items);
}
break;
@ -603,7 +605,7 @@ int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items,
d_state = 0;
if (!acq_parameters.blocking_on_standby)
{
d_sample_counter += noutput_items; // sample counter
d_sample_counter += static_cast<uint64_t>(noutput_items); // sample counter
consume_each(noutput_items);
}
break;
@ -611,7 +613,7 @@ int pcps_acquisition_fine_doppler_cc::general_work(int noutput_items,
d_state = 0;
if (!acq_parameters.blocking_on_standby)
{
d_sample_counter += noutput_items; // sample counter
d_sample_counter += static_cast<uint64_t>(noutput_items); // sample counter
consume_each(noutput_items);
}
break;

6
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.h
View File

@ -98,7 +98,7 @@ private:
int d_num_doppler_points;
int d_doppler_step;
unsigned int d_fft_size;
unsigned long int d_sample_counter;
uint64_t d_sample_counter;
gr_complex* d_carrier;
gr_complex* d_fft_codes;
gr_complex* d_10_ms_buffer;
@ -124,8 +124,8 @@ private:
std::string d_dump_filename;
arma::fmat grid_;
long int d_dump_number;
arma ::fmat grid_;
int64_t d_dump_number;
unsigned int d_dump_channel;
public:

150
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.cc
View File

@ -15,7 +15,7 @@
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -33,16 +33,19 @@
* 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 <https://www.gnu.org/licenses/>.
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "pcps_acquisition_fpga.h"
#include <glog/logging.h>
#include <gnuradio/io_signature.h>
#include "pcps_acquisition_fpga.h"
#define AQ_DOWNSAMPLING_DELAY 40 // delay due to the downsampling filter in the acquisition
using google::LogMessage;
pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_)
@ -55,41 +58,67 @@ pcps_acquisition_fpga::pcps_acquisition_fpga(pcpsconf_fpga_t conf_) : gr::block(
gr::io_signature::make(0, 0, 0),
gr::io_signature::make(0, 0, 0))
{
// printf("acq constructor start\n");
this->message_port_register_out(pmt::mp("events"));
acq_parameters = conf_;
d_sample_counter = 0; // SAMPLE COUNTER
d_sample_counter = 0ULL; // SAMPLE COUNTER
d_active = false;
d_state = 0;
d_fft_size = acq_parameters.sampled_ms * acq_parameters.samples_per_ms;
//d_fft_size = acq_parameters.sampled_ms * acq_parameters.samples_per_ms;
d_fft_size = acq_parameters.samples_per_code;
d_mag = 0;
d_input_power = 0.0;
d_num_doppler_bins = 0;
d_num_doppler_bins = 0U;
d_threshold = 0.0;
d_doppler_step = 0;
d_doppler_step = 0U;
d_test_statistics = 0.0;
d_channel = 0;
d_channel = 0U;
d_gnss_synchro = 0;
acquisition_fpga = std::make_shared<fpga_acquisition>(acq_parameters.device_name, d_fft_size, acq_parameters.doppler_max, acq_parameters.samples_per_ms,
//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);
// this one works we don't know why
// acquisition_fpga = std::make_shared <fpga_acquisition>
// (acq_parameters.device_name, acq_parameters.code_length, acq_parameters.doppler_max, acq_parameters.samples_per_ms,
// acq_parameters.fs_in, acq_parameters.freq, acq_parameters.sampled_ms, acq_parameters.select_queue_Fpga, acq_parameters.all_fft_codes);
// this one is the one it should be but it doesn't work
acquisition_fpga = std::make_shared<fpga_acquisition>(acq_parameters.device_name, acq_parameters.code_length, acq_parameters.doppler_max, d_fft_size,
acq_parameters.fs_in, acq_parameters.sampled_ms, acq_parameters.select_queue_Fpga, acq_parameters.all_fft_codes);
// acquisition_fpga = std::make_shared <fpga_acquisition>
// (acq_parameters.device_name, acq_parameters.samples_per_code, acq_parameters.doppler_max, acq_parameters.samples_per_code,
// acq_parameters.fs_in, acq_parameters.freq, acq_parameters.sampled_ms, acq_parameters.select_queue_Fpga, acq_parameters.all_fft_codes);
// debug
//debug_d_max_absolute = 0.0;
//debug_d_input_power_absolute = 0.0;
// printf("acq constructor end\n");
}
pcps_acquisition_fpga::~pcps_acquisition_fpga()
{
// printf("acq destructor start\n");
acquisition_fpga->free();
// printf("acq destructor end\n");
}
void pcps_acquisition_fpga::set_local_code()
{
// printf("acq set local code start\n");
acquisition_fpga->set_local_code(d_gnss_synchro->PRN);
// printf("acq set local code end\n");
}
void pcps_acquisition_fpga::init()
{
// printf("acq init start\n");
d_gnss_synchro->Flag_valid_acquisition = false;
d_gnss_synchro->Flag_valid_symbol_output = false;
d_gnss_synchro->Flag_valid_pseudorange = false;
@ -99,14 +128,16 @@ void pcps_acquisition_fpga::init()
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_mag = 0.0;
d_input_power = 0.0;
d_num_doppler_bins = static_cast<unsigned int>(std::ceil(static_cast<double>(static_cast<int>(acq_parameters.doppler_max) - static_cast<int>(-acq_parameters.doppler_max)) / static_cast<double>(d_doppler_step)));
d_num_doppler_bins = static_cast<uint32_t>(std::ceil(static_cast<double>(static_cast<int32_t>(acq_parameters.doppler_max) - static_cast<int32_t>(-acq_parameters.doppler_max)) / static_cast<double>(d_doppler_step)));
acquisition_fpga->init();
// printf("acq init end\n");
}
void pcps_acquisition_fpga::set_state(int state)
void pcps_acquisition_fpga::set_state(int32_t state)
{
// printf("acq set state start\n");
d_state = state;
if (d_state == 1)
{
@ -126,11 +157,13 @@ void pcps_acquisition_fpga::set_state(int state)
{
LOG(ERROR) << "State can only be set to 0 or 1";
}
// printf("acq set state end\n");
}
void pcps_acquisition_fpga::send_positive_acquisition()
{
// printf("acq send positive acquisition start\n");
// 6.1- Declare positive acquisition using a message port
//0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
DLOG(INFO) << "positive acquisition"
@ -144,11 +177,13 @@ void pcps_acquisition_fpga::send_positive_acquisition()
<< ", input signal power " << d_input_power;
this->message_port_pub(pmt::mp("events"), pmt::from_long(1));
// printf("acq send positive acquisition end\n");
}
void pcps_acquisition_fpga::send_negative_acquisition()
{
// printf("acq send negative acquisition start\n");
// 6.2- Declare negative acquisition using a message port
//0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
DLOG(INFO) << "negative acquisition"
@ -162,16 +197,19 @@ void pcps_acquisition_fpga::send_negative_acquisition()
<< ", input signal power " << d_input_power;
this->message_port_pub(pmt::mp("events"), pmt::from_long(2));
// printf("acq send negative acquisition end\n");
}
void pcps_acquisition_fpga::set_active(bool active)
{
// printf("acq set active start\n");
d_active = active;
// initialize acquisition algorithm
uint32_t indext = 0;
uint32_t indext = 0U;
float magt = 0.0;
float fft_normalization_factor = static_cast<float>(d_fft_size) * static_cast<float>(d_fft_size);
d_input_power = 0.0;
d_mag = 0.0;
@ -184,24 +222,32 @@ void pcps_acquisition_fpga::set_active(bool active)
// no CFAR algorithm in the FPGA
<< ", use_CFAR_algorithm_flag: false";
unsigned int initial_sample;
uint64_t initial_sample;
float input_power_all = 0.0;
float input_power_computed = 0.0;
float temp_d_input_power;
// loop through acquisition
/*
for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{
// doppler search steps
int doppler = -static_cast<int>(acq_parameters.doppler_max) + d_doppler_step * doppler_index;
int32_t doppler = -static_cast<int32_t>(acq_parameters.doppler_max) + d_doppler_step * doppler_index;
acquisition_fpga->set_phase_step(doppler_index);
acquisition_fpga->run_acquisition(); // runs acquisition and waits until it is finished
//acquisition_fpga->set_phase_step(doppler_index);
acquisition_fpga->set_doppler_sweep_debug(1, doppler_index);
acquisition_fpga->run_acquisition(); // runs acquisition and waits until it is finished
acquisition_fpga->read_acquisition_results(&indext, &magt,
&initial_sample, &d_input_power);
&initial_sample, &d_input_power, &d_doppler_index);
d_sample_counter = initial_sample;
if (d_mag < magt)
{
d_mag = magt;
temp_d_input_power = d_input_power;
input_power_all = d_input_power / (d_fft_size - 1);
input_power_computed = (d_input_power - d_mag) / (d_fft_size - 1);
d_input_power = (d_input_power - d_mag) / (d_fft_size - 1);
@ -210,16 +256,79 @@ void pcps_acquisition_fpga::set_active(bool active)
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter;
d_test_statistics = (d_mag / d_input_power); //* correction_factor;
d_test_statistics = (d_mag / d_input_power); //* correction_factor;
}
// In the case of the FPGA the option of dumping the results of the acquisition to a file is not available
// because the IFFT vector is not available
}
*/
// debug
//acquisition_fpga->block_samples();
// run loop in hw
//printf("LAUNCH ACQ\n");
acquisition_fpga->set_doppler_sweep(d_num_doppler_bins);
acquisition_fpga->run_acquisition();
acquisition_fpga->read_acquisition_results(&indext, &magt,
&initial_sample, &d_input_power, &d_doppler_index);
//printf("READ ACQ RESULTS\n");
// debug
//acquisition_fpga->unblock_samples();
d_mag = magt;
// debug
debug_d_max_absolute = magt;
debug_d_input_power_absolute = d_input_power;
debug_indext = indext;
debug_doppler_index = d_doppler_index;
// temp_d_input_power = d_input_power;
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;
//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
// if (d_gnss_synchro->Acq_delay_samples > acq_parameters.code_length)
// {
// printf("d_gnss_synchro->Acq_samplestamp_samples = %d\n", d_gnss_synchro->Acq_samplestamp_samples);
// printf("d_gnss_synchro->Acq_delay_samples = %f\n", d_gnss_synchro->Acq_delay_samples);
// }
// if (temp_d_input_power > debug_d_input_power_absolute)
// {
// debug_d_max_absolute = d_mag;
// debug_d_input_power_absolute = temp_d_input_power;
// }
// printf ("max debug_d_max_absolute = %f\n", debug_d_max_absolute);
// printf ("debug_d_input_power_absolute = %f\n", debug_d_input_power_absolute);
// printf("&&&&& d_test_statistics = %f\n", d_test_statistics);
// printf("&&&&& debug_d_max_absolute =%f\n",debug_d_max_absolute);
// printf("&&&&& debug_d_input_power_absolute =%f\n",debug_d_input_power_absolute);
// printf("&&&&& debug_indext = %d\n",debug_indext);
// printf("&&&&& debug_doppler_index = %d\n",debug_doppler_index);
if (d_test_statistics > d_threshold)
{
d_active = false;
// printf("##### d_test_statistics = %f\n", d_test_statistics);
// printf("##### debug_d_max_absolute =%f\n",debug_d_max_absolute);
// printf("##### debug_d_input_power_absolute =%f\n",debug_d_input_power_absolute);
// printf("##### initial_sample = %llu\n",initial_sample);
// printf("##### debug_doppler_index = %d\n",debug_doppler_index);
send_positive_acquisition();
d_state = 0; // Positive acquisition
}
@ -229,12 +338,13 @@ void pcps_acquisition_fpga::set_active(bool active)
d_active = false;
send_negative_acquisition();
}
// printf("acq set active end\n");
}
int pcps_acquisition_fpga::general_work(int noutput_items __attribute__((unused)),
gr_vector_int& ninput_items __attribute__((unused)),
gr_vector_const_void_star& input_items __attribute__((unused)),
gr_vector_int& ninput_items, gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items __attribute__((unused)))
{
// the general work is not used with the acquisition that uses the FPGA

53
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.h
View File

@ -64,13 +64,13 @@
typedef struct
{
/* pcps acquisition configuration */
unsigned int sampled_ms;
unsigned int doppler_max;
long freq;
long fs_in;
int samples_per_ms;
int samples_per_code;
unsigned int select_queue_Fpga;
uint32_t sampled_ms;
uint32_t doppler_max;
int64_t fs_in;
int32_t samples_per_ms;
int32_t samples_per_code;
int32_t code_length;
uint32_t select_queue_Fpga;
std::string device_name;
lv_16sc_t* all_fft_codes; // memory that contains all the code ffts
@ -107,16 +107,23 @@ private:
float d_threshold;
float d_mag;
float d_input_power;
uint32_t d_doppler_index;
float d_test_statistics;
int d_state;
unsigned int d_channel;
unsigned int d_doppler_step;
unsigned int d_fft_size;
unsigned int d_num_doppler_bins;
unsigned long int d_sample_counter;
int32_t d_state;
uint32_t d_channel;
uint32_t d_doppler_step;
uint32_t d_fft_size;
uint32_t d_num_doppler_bins;
uint64_t d_sample_counter;
Gnss_Synchro* d_gnss_synchro;
std::shared_ptr<fpga_acquisition> acquisition_fpga;
// debug
float debug_d_max_absolute;
float debug_d_input_power_absolute;
int32_t debug_indext;
int32_t debug_doppler_index;
public:
~pcps_acquisition_fpga();
@ -127,15 +134,19 @@ public:
*/
inline void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
// printf("acq set gnss synchro start\n");
d_gnss_synchro = p_gnss_synchro;
// printf("acq set gnss synchro end\n");
}
/*!
* \brief Returns the maximum peak of grid search.
*/
inline unsigned int mag() const
inline uint32_t mag() const
{
// printf("acq dmag start\n");
return d_mag;
// printf("acq dmag end\n");
}
/*!
@ -154,7 +165,7 @@ public:
* first available sample.
* \param state - int=1 forces start of acquisition
*/
void set_state(int state);
void set_state(int32_t state);
/*!
* \brief Starts acquisition algorithm, turning from standby mode to
@ -167,7 +178,7 @@ public:
* \brief Set acquisition channel unique ID
* \param channel - receiver channel.
*/
inline void set_channel(unsigned int channel)
inline void set_channel(uint32_t channel)
{
d_channel = channel;
}
@ -179,27 +190,33 @@ public:
*/
inline void set_threshold(float threshold)
{
// printf("acq set threshold start\n");
d_threshold = threshold;
// printf("acq set threshold end\n");
}
/*!
* \brief Set maximum Doppler grid search
* \param doppler_max - Maximum Doppler shift considered in the grid search [Hz].
*/
inline void set_doppler_max(unsigned int doppler_max)
inline void set_doppler_max(uint32_t doppler_max)
{
// printf("acq set doppler max start\n");
acq_parameters.doppler_max = doppler_max;
acquisition_fpga->set_doppler_max(doppler_max);
// printf("acq set doppler max end\n");
}
/*!
* \brief Set Doppler steps for the grid search
* \param doppler_step - Frequency bin of the search grid [Hz].
*/
inline void set_doppler_step(unsigned int doppler_step)
inline void set_doppler_step(uint32_t doppler_step)
{
// printf("acq set doppler step start\n");
d_doppler_step = doppler_step;
acquisition_fpga->set_doppler_step(doppler_step);
// printf("acq set doppler step end\n");
}
/*!

21
src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.cc
View File

@ -64,7 +64,7 @@ pcps_assisted_acquisition_cc::pcps_assisted_acquisition_cc(
gr::io_signature::make(0, 0, sizeof(gr_complex)))
{
this->message_port_register_out(pmt::mp("events"));
d_sample_counter = 0; // SAMPLE COUNTER
d_sample_counter = 0ULL; // SAMPLE COUNTER
d_active = false;
d_fs_in = fs_in;
d_samples_per_ms = samples_per_ms;
@ -150,10 +150,10 @@ void pcps_assisted_acquisition_cc::init()
d_gnss_synchro->Flag_valid_symbol_output = false;
d_gnss_synchro->Flag_valid_pseudorange = false;
d_gnss_synchro->Flag_valid_word = false;
d_gnss_synchro->Acq_doppler_step = 0U;
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
d_input_power = 0.0;
d_state = 0;
@ -279,6 +279,7 @@ double pcps_assisted_acquisition_cc::search_maximum()
d_gnss_synchro->Acq_delay_samples = static_cast<double>(index_time);
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(index_doppler * d_doppler_step + d_doppler_min);
d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter;
d_gnss_synchro->Acq_doppler_step = d_doppler_step;
// Record results to file if required
if (d_dump)
@ -380,14 +381,14 @@ int pcps_assisted_acquisition_cc::general_work(int noutput_items,
{
case 0: // S0. StandBy
if (d_active == true) d_state = 1;
d_sample_counter += ninput_items[0]; // sample counter
d_sample_counter += static_cast<uint64_t>(ninput_items[0]); // sample counter
consume_each(ninput_items[0]);
break;
case 1: // S1. GetAssist
get_assistance();
redefine_grid();
reset_grid();
d_sample_counter += ninput_items[0]; // sample counter
d_sample_counter += static_cast<uint64_t>(ninput_items[0]); // sample counter
consume_each(ninput_items[0]);
d_state = 2;
break;
@ -399,7 +400,7 @@ int pcps_assisted_acquisition_cc::general_work(int noutput_items,
{
d_state = 3;
}
d_sample_counter += consumed_samples;
d_sample_counter += static_cast<uint64_t>(consumed_samples);
consume_each(consumed_samples);
break;
case 3: // Compute test statistics and decide
@ -422,14 +423,14 @@ int pcps_assisted_acquisition_cc::general_work(int noutput_items,
d_state = 6;
}
}
d_sample_counter += ninput_items[0]; // sample counter
d_sample_counter += static_cast<uint64_t>(ninput_items[0]); // sample counter
consume_each(ninput_items[0]);
break;
case 4: // RedefineGrid
free_grid_memory();
redefine_grid();
reset_grid();
d_sample_counter += ninput_items[0]; // sample counter
d_sample_counter += static_cast<uint64_t>(ninput_items[0]); // sample counter
consume_each(ninput_items[0]);
d_state = 2;
break;
@ -447,7 +448,7 @@ int pcps_assisted_acquisition_cc::general_work(int noutput_items,
this->message_port_pub(pmt::mp("events"), pmt::from_long(1));
free_grid_memory();
// consume samples to not block the GNU Radio flowgraph
d_sample_counter += ninput_items[0]; // sample counter
d_sample_counter += static_cast<uint64_t>(ninput_items[0]); // sample counter
consume_each(ninput_items[0]);
d_state = 0;
break;
@ -465,7 +466,7 @@ int pcps_assisted_acquisition_cc::general_work(int noutput_items,
this->message_port_pub(pmt::mp("events"), pmt::from_long(2));
free_grid_memory();
// consume samples to not block the GNU Radio flowgraph
d_sample_counter += ninput_items[0]; // sample counter
d_sample_counter += static_cast<uint64_t>(ninput_items[0]); // sample counter
consume_each(ninput_items[0]);
d_state = 0;
break;

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

@ -112,7 +112,7 @@ private:
int d_doppler_step;
unsigned int d_sampled_ms;
unsigned int d_fft_size;
unsigned long int d_sample_counter;
uint64_t d_sample_counter;
gr_complex* d_carrier;
gr_complex* d_fft_codes;

21
src/algorithms/acquisition/gnuradio_blocks/pcps_cccwsr_acquisition_cc.cc
View File

@ -67,7 +67,7 @@ pcps_cccwsr_acquisition_cc::pcps_cccwsr_acquisition_cc(
gr::io_signature::make(0, 0, sizeof(gr_complex) * sampled_ms * samples_per_ms))
{
this->message_port_register_out(pmt::mp("events"));
d_sample_counter = 0; // SAMPLE COUNTER
d_sample_counter = 0ULL; // SAMPLE COUNTER
d_active = false;
d_state = 0;
d_fs_in = fs_in;
@ -165,10 +165,10 @@ void pcps_cccwsr_acquisition_cc::init()
d_gnss_synchro->Flag_valid_symbol_output = false;
d_gnss_synchro->Flag_valid_pseudorange = false;
d_gnss_synchro->Flag_valid_word = false;
d_gnss_synchro->Acq_doppler_step = 0U;
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
d_mag = 0.0;
d_input_power = 0.0;
@ -203,7 +203,8 @@ void pcps_cccwsr_acquisition_cc::set_state(int state)
{
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
d_gnss_synchro->Acq_doppler_step = 0U;
d_well_count = 0;
d_mag = 0.0;
d_input_power = 0.0;
@ -234,7 +235,8 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
//restart acquisition variables
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
d_gnss_synchro->Acq_doppler_step = 0U;
d_well_count = 0;
d_mag = 0.0;
d_input_power = 0.0;
@ -243,7 +245,7 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
d_state = 1;
}
d_sample_counter += d_fft_size * ninput_items[0]; // sample counter
d_sample_counter += static_cast<uint64_t>(d_fft_size * ninput_items[0]); // sample counter
consume_each(ninput_items[0]);
break;
@ -262,7 +264,7 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
const gr_complex *in = reinterpret_cast<const gr_complex *>(input_items[0]); //Get the input samples pointer
float fft_normalization_factor = static_cast<float>(d_fft_size) * static_cast<float>(d_fft_size);
d_sample_counter += d_fft_size; // sample counter
d_sample_counter += static_cast<uint64_t>(d_fft_size); // sample counter
d_well_count++;
@ -354,6 +356,7 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
d_gnss_synchro->Acq_delay_samples = static_cast<double>(indext % d_samples_per_code);
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter;
d_gnss_synchro->Acq_doppler_step = d_doppler_step;
}
// Record results to file if required
@ -406,7 +409,7 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
d_active = false;
d_state = 0;
d_sample_counter += d_fft_size * ninput_items[0]; // sample counter
d_sample_counter += static_cast<uint64_t>(d_fft_size * ninput_items[0]); // sample counter
consume_each(ninput_items[0]);
acquisition_message = 1;
@ -431,7 +434,7 @@ int pcps_cccwsr_acquisition_cc::general_work(int noutput_items,
d_active = false;
d_state = 0;
d_sample_counter += d_fft_size * ninput_items[0]; // sample counter
d_sample_counter += static_cast<uint64_t>(d_fft_size * ninput_items[0]); // sample counter
consume_each(ninput_items[0]);
acquisition_message = 2;

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

@ -88,7 +88,7 @@ private:
unsigned int d_max_dwells;
unsigned int d_well_count;
unsigned int d_fft_size;
unsigned long int d_sample_counter;
uint64_t d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
unsigned int d_num_doppler_bins;
gr_complex* d_fft_code_data;

30
src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.cc
View File

@ -93,7 +93,7 @@ pcps_opencl_acquisition_cc::pcps_opencl_acquisition_cc(
gr::io_signature::make(0, 0, sizeof(gr_complex) * sampled_ms * samples_per_ms))
{
this->message_port_register_out(pmt::mp("events"));
d_sample_counter = 0; // SAMPLE COUNTER
d_sample_counter = 0ULL; // SAMPLE COUNTER
d_active = false;
d_state = 0;
d_core_working = false;
@ -290,10 +290,10 @@ void pcps_opencl_acquisition_cc::init()
d_gnss_synchro->Flag_valid_symbol_output = false;
d_gnss_synchro->Flag_valid_pseudorange = false;
d_gnss_synchro->Flag_valid_word = false;
d_gnss_synchro->Acq_doppler_step = 0U;
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
d_mag = 0.0;
d_input_power = 0.0;
@ -387,7 +387,7 @@ void pcps_opencl_acquisition_cc::acquisition_core_volk()
float magt = 0.0;
float fft_normalization_factor = static_cast<float>(d_fft_size) * static_cast<float>(d_fft_size);
gr_complex *in = d_in_buffer[d_well_count];
unsigned long int samplestamp = d_sample_counter_buffer[d_well_count];
uint64_t samplestamp = d_sample_counter_buffer[d_well_count];
d_input_power = 0.0;
d_mag = 0.0;
@ -450,6 +450,7 @@ void pcps_opencl_acquisition_cc::acquisition_core_volk()
d_gnss_synchro->Acq_delay_samples = static_cast<double>(indext % d_samples_per_code);
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
d_gnss_synchro->Acq_samplestamp_samples = samplestamp;
d_gnss_synchro->Acq_doppler_step = d_doppler_step;
// 5- Compute the test statistics and compare to the threshold
//d_test_statistics = 2 * d_fft_size * d_mag / d_input_power;
@ -510,7 +511,7 @@ void pcps_opencl_acquisition_cc::acquisition_core_opencl()
float magt = 0.0;
float fft_normalization_factor = (static_cast<float>(d_fft_size_pow2) * static_cast<float>(d_fft_size)); //This works, but I am not sure why.
gr_complex *in = d_in_buffer[d_well_count];
unsigned long int samplestamp = d_sample_counter_buffer[d_well_count];
uint64_t samplestamp = d_sample_counter_buffer[d_well_count];
d_input_power = 0.0;
d_mag = 0.0;
@ -613,6 +614,7 @@ void pcps_opencl_acquisition_cc::acquisition_core_opencl()
d_gnss_synchro->Acq_delay_samples = static_cast<double>(indext % d_samples_per_code);
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
d_gnss_synchro->Acq_samplestamp_samples = samplestamp;
d_gnss_synchro->Acq_doppler_step = d_doppler_step;
// 5- Compute the test statistics and compare to the threshold
//d_test_statistics = 2 * d_fft_size * d_mag / d_input_power;
@ -676,7 +678,8 @@ void pcps_opencl_acquisition_cc::set_state(int state)
{
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
d_gnss_synchro->Acq_doppler_step = 0U;
d_well_count = 0;
d_mag = 0.0;
d_input_power = 0.0;
@ -708,7 +711,8 @@ int pcps_opencl_acquisition_cc::general_work(int noutput_items,
//restart acquisition variables
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
d_gnss_synchro->Acq_doppler_step = 0U;
d_well_count = 0;
d_mag = 0.0;
d_input_power = 0.0;
@ -719,7 +723,7 @@ int pcps_opencl_acquisition_cc::general_work(int noutput_items,
d_state = 1;
}
d_sample_counter += d_fft_size * ninput_items[0]; // sample counter
d_sample_counter += static_cast<uint64_t>(d_fft_size * ninput_items[0]); // sample counter
break;
}
@ -736,20 +740,20 @@ int pcps_opencl_acquisition_cc::general_work(int noutput_items,
{
memcpy(d_in_buffer[d_in_dwell_count++], static_cast<const gr_complex *>(input_items[i]),
sizeof(gr_complex) * d_fft_size);
d_sample_counter += d_fft_size;
d_sample_counter += static_cast<uint64_t>(d_fft_size);
d_sample_counter_buffer.push_back(d_sample_counter);
}
if (ninput_items[0] > static_cast<int>(num_dwells))
{
d_sample_counter += d_fft_size * (ninput_items[0] - num_dwells);
d_sample_counter += static_cast<uint64_t>(d_fft_size * (ninput_items[0] - num_dwells));
}
}
else
{
// We already have d_max_dwells consecutive blocks in the internal buffer,
// just skip input blocks.
d_sample_counter += d_fft_size * ninput_items[0];
d_sample_counter += static_cast<uint64_t>(d_fft_size * ninput_items[0]);
}
// We create a new thread to process next block if the following
@ -793,7 +797,7 @@ int pcps_opencl_acquisition_cc::general_work(int noutput_items,
d_active = false;
d_state = 0;
d_sample_counter += d_fft_size * ninput_items[0]; // sample counter
d_sample_counter += static_cast<uint64_t>(d_fft_size * ninput_items[0]); // sample counter
acquisition_message = 1;
this->message_port_pub(pmt::mp("events"), pmt::from_long(acquisition_message));
@ -817,7 +821,7 @@ int pcps_opencl_acquisition_cc::general_work(int noutput_items,
d_active = false;
d_state = 0;
d_sample_counter += d_fft_size * ninput_items[0]; // sample counter
d_sample_counter += static_cast<uint64_t>(d_fft_size * ninput_items[0]); // sample counter
acquisition_message = 2;
this->message_port_pub(pmt::mp("events"), pmt::from_long(acquisition_message));

4
src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.h
View File

@ -121,7 +121,7 @@ private:
unsigned int d_fft_size;
unsigned int d_fft_size_pow2;
int* d_max_doppler_indexs;
unsigned long int d_sample_counter;
uint64_t d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
unsigned int d_num_doppler_bins;
gr_complex* d_fft_codes;
@ -144,7 +144,7 @@ private:
std::string d_dump_filename;
gr_complex* d_zero_vector;
gr_complex** d_in_buffer;
std::vector<unsigned long int> d_sample_counter_buffer;
std::vector<uint64_t> d_sample_counter_buffer;
unsigned int d_in_dwell_count;
cl::Platform d_cl_platform;

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

@ -73,7 +73,7 @@ pcps_quicksync_acquisition_cc::pcps_quicksync_acquisition_cc(
gr::io_signature::make(0, 0, (sizeof(gr_complex) * sampled_ms * samples_per_ms)))
{
this->message_port_register_out(pmt::mp("events"));
d_sample_counter = 0; // SAMPLE COUNTER
d_sample_counter = 0ULL; // SAMPLE COUNTER
d_active = false;
d_state = 0;
d_fs_in = fs_in;
@ -199,7 +199,8 @@ void pcps_quicksync_acquisition_cc::init()
//DLOG(INFO) << "START init";
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
d_gnss_synchro->Acq_doppler_step = 0U;
d_mag = 0.0;
d_input_power = 0.0;
@ -236,7 +237,8 @@ void pcps_quicksync_acquisition_cc::set_state(int state)
{
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
d_gnss_synchro->Acq_doppler_step = 0U;
d_well_count = 0;
d_mag = 0.0;
d_input_power = 0.0;
@ -279,7 +281,8 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
//restart acquisition variables
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
d_gnss_synchro->Acq_doppler_step = 0U;
d_well_count = 0;
d_mag = 0.0;
d_input_power = 0.0;
@ -288,7 +291,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
d_state = 1;
}
d_sample_counter += d_sampled_ms * d_samples_per_ms * ninput_items[0]; // sample counter
d_sample_counter += static_cast<uint64_t>(d_sampled_ms * d_samples_per_ms * ninput_items[0]); // sample counter
consume_each(ninput_items[0]);
//DLOG(INFO) << "END CASE 0";
break;
@ -324,7 +327,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
d_test_statistics = 0.0;
d_noise_floor_power = 0.0;
d_sample_counter += d_sampled_ms * d_samples_per_ms; // sample counter
d_sample_counter += static_cast<uint64_t>(d_sampled_ms * d_samples_per_ms); // sample counter
d_well_count++;
@ -456,6 +459,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
d_gnss_synchro->Acq_delay_samples = static_cast<double>(d_possible_delay[indext]);
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter;
d_gnss_synchro->Acq_doppler_step = d_doppler_step;
/* 5- Compute the test statistics and compare to the threshold d_test_statistics = 2 * d_fft_size * d_mag / d_input_power;*/
d_test_statistics = d_mag / d_input_power;
@ -536,7 +540,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
d_active = false;
d_state = 0;
d_sample_counter += d_sampled_ms * d_samples_per_ms * ninput_items[0]; // sample counter
d_sample_counter += static_cast<uint64_t>(d_sampled_ms * d_samples_per_ms * ninput_items[0]); // sample counter
consume_each(ninput_items[0]);
acquisition_message = 1;
@ -565,7 +569,7 @@ int pcps_quicksync_acquisition_cc::general_work(int noutput_items,
d_active = false;
d_state = 0;
d_sample_counter += d_sampled_ms * d_samples_per_ms * ninput_items[0]; // sample counter
d_sample_counter += static_cast<uint64_t>(d_sampled_ms * d_samples_per_ms * ninput_items[0]); // sample counter
consume_each(ninput_items[0]);
acquisition_message = 2;

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

@ -127,7 +127,7 @@ private:
unsigned int d_max_dwells;
unsigned int d_well_count;
unsigned int d_fft_size;
unsigned long int d_sample_counter;
uint64_t d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
unsigned int d_num_doppler_bins;
gr_complex* d_fft_codes;

21
src/algorithms/acquisition/gnuradio_blocks/pcps_tong_acquisition_cc.cc
View File

@ -82,7 +82,7 @@ pcps_tong_acquisition_cc::pcps_tong_acquisition_cc(
gr::io_signature::make(0, 0, sizeof(gr_complex) * sampled_ms * samples_per_ms))
{
this->message_port_register_out(pmt::mp("events"));
d_sample_counter = 0; // SAMPLE COUNTER
d_sample_counter = 0ULL; // SAMPLE COUNTER
d_active = false;
d_state = 0;
d_fs_in = fs_in;
@ -166,10 +166,10 @@ void pcps_tong_acquisition_cc::init()
d_gnss_synchro->Flag_valid_symbol_output = false;
d_gnss_synchro->Flag_valid_pseudorange = false;
d_gnss_synchro->Flag_valid_word = false;
d_gnss_synchro->Acq_doppler_step = 0U;
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
d_mag = 0.0;
d_input_power = 0.0;
@ -211,7 +211,8 @@ void pcps_tong_acquisition_cc::set_state(int state)
{
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
d_gnss_synchro->Acq_doppler_step = 0U;
d_dwell_count = 0;
d_tong_count = d_tong_init_val;
d_mag = 0.0;
@ -250,7 +251,8 @@ int pcps_tong_acquisition_cc::general_work(int noutput_items,
//restart acquisition variables
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_gnss_synchro->Acq_samplestamp_samples = 0ULL;
d_gnss_synchro->Acq_doppler_step = 0U;
d_dwell_count = 0;
d_tong_count = d_tong_init_val;
d_mag = 0.0;
@ -268,7 +270,7 @@ int pcps_tong_acquisition_cc::general_work(int noutput_items,
d_state = 1;
}
d_sample_counter += d_fft_size * ninput_items[0]; // sample counter
d_sample_counter += static_cast<uint64_t>(d_fft_size * ninput_items[0]); // sample counter
consume_each(ninput_items[0]);
break;
@ -285,7 +287,7 @@ int pcps_tong_acquisition_cc::general_work(int noutput_items,
d_input_power = 0.0;
d_mag = 0.0;
d_sample_counter += d_fft_size; // sample counter
d_sample_counter += static_cast<uint64_t>(d_fft_size); // sample counter
d_dwell_count++;
@ -345,6 +347,7 @@ int pcps_tong_acquisition_cc::general_work(int noutput_items,
d_gnss_synchro->Acq_delay_samples = static_cast<double>(indext % d_samples_per_code);
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter;
d_gnss_synchro->Acq_doppler_step = d_doppler_step;
}
// Record results to file if required
@ -407,7 +410,7 @@ int pcps_tong_acquisition_cc::general_work(int noutput_items,
d_active = false;
d_state = 0;
d_sample_counter += d_fft_size * ninput_items[0]; // sample counter
d_sample_counter += static_cast<uint64_t>(d_fft_size * ninput_items[0]); // sample counter
consume_each(ninput_items[0]);
acquisition_message = 1;
@ -432,7 +435,7 @@ int pcps_tong_acquisition_cc::general_work(int noutput_items,
d_active = false;
d_state = 0;
d_sample_counter += d_fft_size * ninput_items[0]; // sample counter
d_sample_counter += static_cast<uint64_t>(d_fft_size * ninput_items[0]); // sample counter
consume_each(ninput_items[0]);
acquisition_message = 2;

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

@ -108,7 +108,7 @@ private:
unsigned int d_tong_max_val;
unsigned int d_tong_max_dwells;
unsigned int d_fft_size;
unsigned long int d_sample_counter;
uint64_t d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
unsigned int d_num_doppler_bins;
gr_complex* d_fft_codes;

19
src/algorithms/acquisition/libs/acq_conf.cc
View File

@ -34,22 +34,23 @@
Acq_Conf::Acq_Conf()
{
/* PCPS acquisition configuration */
sampled_ms = 0;
max_dwells = 0;
samples_per_chip = 0;
doppler_max = 0;
num_doppler_bins_step2 = 0;
sampled_ms = 0U;
ms_per_code = 0U;
max_dwells = 0U;
samples_per_chip = 0U;
doppler_max = 0U;
num_doppler_bins_step2 = 0U;
doppler_step2 = 0.0;
fs_in = 0;
samples_per_ms = 0;
samples_per_code = 0;
fs_in = 0LL;
samples_per_ms = 0.0;
samples_per_code = 0.0;
bit_transition_flag = false;
use_CFAR_algorithm_flag = false;
dump = false;
blocking = false;
make_2_steps = false;
dump_filename = "";
dump_channel = 0;
dump_channel = 0U;
it_size = sizeof(char);
blocking_on_standby = false;
}

20
src/algorithms/acquisition/libs/acq_conf.h
View File

@ -33,21 +33,23 @@
#define GNSS_SDR_ACQ_CONF_H_
#include <cstddef>
#include <cstdint>
#include <string>
class Acq_Conf
{
public:
/* PCPS Acquisition configuration */
unsigned int sampled_ms;
unsigned int samples_per_chip;
unsigned int max_dwells;
unsigned int doppler_max;
unsigned int num_doppler_bins_step2;
uint32_t sampled_ms;
uint32_t ms_per_code;
uint32_t samples_per_chip;
uint32_t max_dwells;
uint32_t doppler_max;
uint32_t num_doppler_bins_step2;
float doppler_step2;
long fs_in;
int samples_per_ms;
int samples_per_code;
int64_t fs_in;
float samples_per_ms;
float samples_per_code;
bool bit_transition_flag;
bool use_CFAR_algorithm_flag;
bool dump;
@ -55,7 +57,7 @@ public:
bool blocking_on_standby; // enable it only for unit testing to avoid sample consume on idle status
bool make_2_steps;
std::string dump_filename;
unsigned int dump_channel;
uint32_t dump_channel;
size_t it_size;
Acq_Conf();

243
src/algorithms/acquisition/libs/fpga_acquisition.cc
View File

@ -37,6 +37,7 @@
#include "GPS_L1_CA.h"
#include "gps_sdr_signal_processing.h"
#include <glog/logging.h>
#include <iostream>
#include <fcntl.h> // libraries used by the GIPO
#include <sys/mman.h> // libraries used by the GIPO
@ -55,6 +56,17 @@
#define SELECT_16_BITS 0xFFFF // value to select 16 bits
#define SHL_8_BITS 256 // value used to shift a value 8 bits to the left
// 12-bits
//#define SELECT_LSBits 0x0FFF
//#define SELECT_MSBbits 0x00FFF000
//#define SELECT_24_BITS 0x00FFFFFF
//#define SHL_12_BITS 4096
// 16-bits
#define SELECT_LSBits 0x0FFFF
#define SELECT_MSBbits 0xFFFF0000
#define SELECT_32_BITS 0xFFFFFFFF
#define SHL_16_BITS 65536
bool fpga_acquisition::init()
{
@ -64,25 +76,34 @@ bool fpga_acquisition::init()
}
bool fpga_acquisition::set_local_code(unsigned int PRN)
bool fpga_acquisition::set_local_code(uint32_t PRN)
{
// select the code with the chosen PRN
fpga_acquisition::fpga_configure_acquisition_local_code(
&d_all_fft_codes[d_nsamples_total * (PRN - 1)]);
//fpga_acquisition::fpga_configure_acquisition_local_code(
// &d_all_fft_codes[0]);
return true;
}
fpga_acquisition::fpga_acquisition(std::string device_name,
unsigned int nsamples,
unsigned int doppler_max,
unsigned int nsamples_total, long fs_in,
unsigned int sampled_ms, unsigned select_queue,
uint32_t nsamples,
uint32_t doppler_max,
uint32_t nsamples_total, int64_t fs_in,
uint32_t sampled_ms, uint32_t select_queue,
lv_16sc_t *all_fft_codes)
{
unsigned int vector_length = nsamples_total * sampled_ms;
//printf("AAA- sampled_ms = %d\n ", sampled_ms);
uint32_t vector_length = nsamples_total; // * sampled_ms;
//printf("AAA- vector_length = %d\n ", vector_length);
// initial values
d_device_name = device_name;
//d_freq = freq;
d_fs_in = fs_in;
d_vector_length = vector_length;
d_nsamples = nsamples; // number of samples not including padding
@ -98,18 +119,20 @@ fpga_acquisition::fpga_acquisition(std::string device_name,
if ((d_fd = open(d_device_name.c_str(), O_RDWR | O_SYNC)) == -1)
{
LOG(WARNING) << "Cannot open deviceio" << d_device_name;
std::cout << "Acq: cannot open deviceio" << d_device_name << std::endl;
}
d_map_base = reinterpret_cast<volatile unsigned *>(mmap(NULL, PAGE_SIZE,
d_map_base = reinterpret_cast<volatile uint32_t *>(mmap(NULL, PAGE_SIZE,
PROT_READ | PROT_WRITE, MAP_SHARED, d_fd, 0));
if (d_map_base == reinterpret_cast<void *>(-1))
{
LOG(WARNING) << "Cannot map the FPGA acquisition module into user memory";
std::cout << "Acq: cannot map deviceio" << d_device_name << std::endl;
}
// sanity check : check test register
unsigned writeval = TEST_REG_SANITY_CHECK;
unsigned readval;
uint32_t writeval = TEST_REG_SANITY_CHECK;
uint32_t readval;
readval = fpga_acquisition::fpga_acquisition_test_register(writeval);
if (writeval != readval)
{
@ -118,6 +141,7 @@ fpga_acquisition::fpga_acquisition(std::string device_name,
else
{
LOG(INFO) << "Acquisition test register sanity check success!";
//std::cout << "Acquisition test register sanity check success!" << std::endl;
}
fpga_acquisition::reset_acquisition();
DLOG(INFO) << "Acquisition FPGA class created";
@ -136,9 +160,9 @@ bool fpga_acquisition::free()
}
unsigned fpga_acquisition::fpga_acquisition_test_register(unsigned writeval)
uint32_t fpga_acquisition::fpga_acquisition_test_register(uint32_t writeval)
{
unsigned readval;
uint32_t readval;
// write value to test register
d_map_base[15] = writeval;
// read value from test register
@ -150,35 +174,52 @@ unsigned fpga_acquisition::fpga_acquisition_test_register(unsigned writeval)
void fpga_acquisition::fpga_configure_acquisition_local_code(lv_16sc_t fft_local_code[])
{
unsigned short local_code;
unsigned int k, tmp, tmp2;
unsigned int fft_data;
uint32_t local_code;
uint32_t k, tmp, tmp2;
uint32_t fft_data;
// clear memory address counter
d_map_base[4] = LOCAL_CODE_CLEAR_MEM;
//d_map_base[6] = LOCAL_CODE_CLEAR_MEM;
d_map_base[9] = LOCAL_CODE_CLEAR_MEM;
// write local code
for (k = 0; k < d_vector_length; k++)
{
tmp = fft_local_code[k].real();
tmp2 = fft_local_code[k].imag();
local_code = (tmp & SELECT_LSB) | ((tmp2 * SHL_8_BITS) & SELECT_MSB); // put together the real part and the imaginary part
fft_data = MEM_LOCAL_CODE_WR_ENABLE | (local_code & SELECT_16_BITS);
d_map_base[4] = fft_data;
//tmp = k;
//tmp2 = k;
//local_code = (tmp & SELECT_LSB) | ((tmp2 * SHL_8_BITS) & SELECT_MSB); // put together the real part and the imaginary part
//fft_data = MEM_LOCAL_CODE_WR_ENABLE | (local_code & SELECT_16_BITS);
//local_code = (tmp & SELECT_LSBits) | ((tmp2 * SHL_12_BITS) & SELECT_MSBbits); // put together the real part and the imaginary part
local_code = (tmp & SELECT_LSBits) | ((tmp2 * SHL_16_BITS) & SELECT_MSBbits); // put together the real part and the imaginary part
//fft_data = MEM_LOCAL_CODE_WR_ENABLE | (local_code & SELECT_24_BITS);
fft_data = local_code & SELECT_32_BITS;
d_map_base[6] = fft_data;
//printf("debug local code %d real = %d imag = %d local_code = %d fft_data = %d\n", k, tmp, tmp2, local_code, fft_data);
//printf("debug local code %d real = 0x%08X imag = 0x%08X local_code = 0x%08X fft_data = 0x%08X\n", k, tmp, tmp2, local_code, fft_data);
}
//printf("d_vector_length = %d\n", d_vector_length);
//while(1);
}
void fpga_acquisition::run_acquisition(void)
{
// enable interrupts
int reenable = 1;
write(d_fd, reinterpret_cast<void *>(&reenable), sizeof(int));
int32_t reenable = 1;
write(d_fd, reinterpret_cast<void *>(&reenable), sizeof(int32_t));
// launch the acquisition process
d_map_base[6] = LAUNCH_ACQUISITION; // writing anything to reg 6 launches the acquisition process
//printf("launchin acquisition ...\n");
d_map_base[8] = LAUNCH_ACQUISITION; // writing a 1 to reg 8 launches the acquisition process
int irq_count;
int32_t irq_count;
ssize_t nb;
// wait for interrupt
nb = read(d_fd, &irq_count, sizeof(irq_count));
//printf("interrupt received\n");
if (nb != sizeof(irq_count))
{
printf("acquisition module Read failed to retrieve 4 bytes!\n");
@ -187,22 +228,15 @@ void fpga_acquisition::run_acquisition(void)
}
void fpga_acquisition::configure_acquisition()
{
d_map_base[0] = d_select_queue;
d_map_base[1] = d_vector_length;
d_map_base[2] = d_nsamples;
d_map_base[5] = (int)log2((float)d_vector_length); // log2 FFTlength
}
void fpga_acquisition::set_phase_step(unsigned int doppler_index)
void fpga_acquisition::set_doppler_sweep(uint32_t num_sweeps)
{
float phase_step_rad_real;
float phase_step_rad_int_temp;
int32_t phase_step_rad_int;
int doppler = static_cast<int>(-d_doppler_max) + d_doppler_step * doppler_index;
float phase_step_rad = GPS_TWO_PI * doppler / static_cast<float>(d_fs_in);
//int32_t doppler = static_cast<int32_t>(-d_doppler_max) + d_doppler_step * doppler_index;
int32_t doppler = static_cast<int32_t>(-d_doppler_max);
//float phase_step_rad = GPS_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in);
float phase_step_rad = GPS_TWO_PI * (doppler) / static_cast<float>(d_fs_in);
// The doppler step can never be outside the range -pi to +pi, otherwise there would be aliasing
// The FPGA expects phase_step_rad between -1 (-pi) to +1 (+pi)
// The FPGA also expects the phase to be negative since it produces cos(x) -j*sin(x)
@ -210,28 +244,153 @@ void fpga_acquisition::set_phase_step(unsigned int doppler_index)
phase_step_rad_real = phase_step_rad / (GPS_TWO_PI / 2);
// avoid saturation of the fixed point representation in the fpga
// (only the positive value can saturate due to the 2's complement representation)
//printf("AAA phase_step_rad_real for initial doppler = %f\n", phase_step_rad_real);
if (phase_step_rad_real >= 1.0)
{
phase_step_rad_real = MAX_PHASE_STEP_RAD;
}
phase_step_rad_int_temp = phase_step_rad_real * POW_2_2; // * 2^2
phase_step_rad_int = (int32_t)(phase_step_rad_int_temp * (POW_2_29)); // * 2^29 (in total it makes x2^31 in two steps to avoid the warnings
//printf("AAA phase_step_rad_real for initial doppler after checking = %f\n", phase_step_rad_real);
phase_step_rad_int_temp = phase_step_rad_real * POW_2_2; // * 2^2
phase_step_rad_int = static_cast<int32_t>(phase_step_rad_int_temp * (POW_2_29)); // * 2^29 (in total it makes x2^31 in two steps to avoid the warnings
//printf("AAA writing phase_step_rad_int for initial doppler = %d to d map base 3\n", phase_step_rad_int);
d_map_base[3] = phase_step_rad_int;
// repeat the calculation with the doppler step
doppler = static_cast<int32_t>(d_doppler_step);
phase_step_rad = GPS_TWO_PI * (doppler) / static_cast<float>(d_fs_in);
phase_step_rad_real = phase_step_rad / (GPS_TWO_PI / 2);
//printf("AAA phase_step_rad_real for doppler step = %f\n", phase_step_rad_real);
if (phase_step_rad_real >= 1.0)
{
phase_step_rad_real = MAX_PHASE_STEP_RAD;
}
//printf("AAA phase_step_rad_real for doppler step after checking = %f\n", phase_step_rad_real);
phase_step_rad_int_temp = phase_step_rad_real * POW_2_2; // * 2^2
phase_step_rad_int = static_cast<int32_t>(phase_step_rad_int_temp * (POW_2_29)); // * 2^29 (in total it makes x2^31 in two steps to avoid the warnings
//printf("AAA writing phase_step_rad_int for doppler step = %d to d map base 4\n", phase_step_rad_int);
d_map_base[4] = phase_step_rad_int;
//printf("AAA writing num sweeps to d map base 5 = %d\n", num_sweeps);
d_map_base[5] = num_sweeps;
}
void fpga_acquisition::set_doppler_sweep_debug(uint32_t num_sweeps, uint32_t doppler_index)
{
float phase_step_rad_real;
float phase_step_rad_int_temp;
int32_t phase_step_rad_int;
int32_t doppler = -static_cast<int32_t>(d_doppler_max) + d_doppler_step * doppler_index;
//int32_t doppler = static_cast<int32_t>(-d_doppler_max);
//float phase_step_rad = GPS_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in);
float phase_step_rad = GPS_TWO_PI * (doppler) / static_cast<float>(d_fs_in);
// The doppler step can never be outside the range -pi to +pi, otherwise there would be aliasing
// The FPGA expects phase_step_rad between -1 (-pi) to +1 (+pi)
// The FPGA also expects the phase to be negative since it produces cos(x) -j*sin(x)
// while the gnss-sdr software (volk_gnsssdr_s32f_sincos_32fc) generates cos(x) + j*sin(x)
phase_step_rad_real = phase_step_rad / (GPS_TWO_PI / 2);
// avoid saturation of the fixed point representation in the fpga
// (only the positive value can saturate due to the 2's complement representation)
//printf("AAAh phase_step_rad_real for initial doppler = %f\n", phase_step_rad_real);
if (phase_step_rad_real >= 1.0)
{
phase_step_rad_real = MAX_PHASE_STEP_RAD;
}
//printf("AAAh phase_step_rad_real for initial doppler after checking = %f\n", phase_step_rad_real);
phase_step_rad_int_temp = phase_step_rad_real * POW_2_2; // * 2^2
phase_step_rad_int = static_cast<int32_t>(phase_step_rad_int_temp * (POW_2_29)); // * 2^29 (in total it makes x2^31 in two steps to avoid the warnings
//printf("AAAh writing phase_step_rad_int for initial doppler = %d to d map base 3\n", phase_step_rad_int);
d_map_base[3] = phase_step_rad_int;
// repeat the calculation with the doppler step
doppler = static_cast<int32_t>(d_doppler_step);
phase_step_rad = GPS_TWO_PI * (doppler) / static_cast<float>(d_fs_in);
phase_step_rad_real = phase_step_rad / (GPS_TWO_PI / 2);
//printf("AAAh phase_step_rad_real for doppler step = %f\n", phase_step_rad_real);
if (phase_step_rad_real >= 1.0)
{
phase_step_rad_real = MAX_PHASE_STEP_RAD;
}
//printf("AAAh phase_step_rad_real for doppler step after checking = %f\n", phase_step_rad_real);
phase_step_rad_int_temp = phase_step_rad_real * POW_2_2; // * 2^2
phase_step_rad_int = static_cast<int32_t>(phase_step_rad_int_temp * (POW_2_29)); // * 2^29 (in total it makes x2^31 in two steps to avoid the warnings
//printf("AAAh writing phase_step_rad_int for doppler step = %d to d map base 4\n", phase_step_rad_int);
d_map_base[4] = phase_step_rad_int;
//printf("AAAh writing num sweeps to d map base 5 = %d\n", num_sweeps);
d_map_base[5] = num_sweeps;
}
void fpga_acquisition::configure_acquisition()
{
//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);
d_map_base[1] = d_vector_length;
//printf("AAA writing d_nsamples = %d to d map base 2\n ", d_nsamples);
d_map_base[2] = d_nsamples;
//printf("AAA writing LOG2 d_vector_length = %d to d map base 7\n ", (int)log2((float)d_vector_length));
d_map_base[7] = static_cast<int32_t>(log2(static_cast<float>(d_vector_length))); // log2 FFTlength
//printf("acquisition debug vector length = %d\n", d_vector_length);
//printf("acquisition debug vector length = %d\n", (int)log2((float)d_vector_length));
}
void fpga_acquisition::set_phase_step(uint32_t doppler_index)
{
float phase_step_rad_real;
float phase_step_rad_int_temp;
int32_t phase_step_rad_int;
int32_t doppler = -static_cast<int32_t>(d_doppler_max) + d_doppler_step * doppler_index;
//float phase_step_rad = GPS_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in);
float phase_step_rad = GPS_TWO_PI * (doppler) / static_cast<float>(d_fs_in);
// The doppler step can never be outside the range -pi to +pi, otherwise there would be aliasing
// The FPGA expects phase_step_rad between -1 (-pi) to +1 (+pi)
// The FPGA also expects the phase to be negative since it produces cos(x) -j*sin(x)
// while the gnss-sdr software (volk_gnsssdr_s32f_sincos_32fc) generates cos(x) + j*sin(x)
phase_step_rad_real = phase_step_rad / (GPS_TWO_PI / 2);
// avoid saturation of the fixed point representation in the fpga
// (only the positive value can saturate due to the 2's complement representation)
//printf("AAA+ phase_step_rad_real = %f\n", phase_step_rad_real);
if (phase_step_rad_real >= 1.0)
{
phase_step_rad_real = MAX_PHASE_STEP_RAD;
}
//printf("AAA+ phase_step_rad_real after checking = %f\n", phase_step_rad_real);
phase_step_rad_int_temp = phase_step_rad_real * POW_2_2; // * 2^2
phase_step_rad_int = static_cast<int32_t>(phase_step_rad_int_temp * (POW_2_29)); // * 2^29 (in total it makes x2^31 in two steps to avoid the warnings
//printf("writing phase_step_rad_int = %d to d_map_base 3\n", phase_step_rad_int);
d_map_base[3] = phase_step_rad_int;
}
void fpga_acquisition::read_acquisition_results(uint32_t *max_index,
float *max_magnitude, unsigned *initial_sample, float *power_sum)
float *max_magnitude, uint64_t *initial_sample, float *power_sum, uint32_t *doppler_index)
{
unsigned readval = 0;
uint64_t initial_sample_tmp = 0;
uint32_t readval = 0;
uint64_t readval_long = 0;
uint64_t readval_long_shifted = 0;
readval = d_map_base[1];
*initial_sample = readval;
readval = d_map_base[2];
initial_sample_tmp = readval;
readval_long = d_map_base[2];
readval_long_shifted = readval_long << 32; // 2^32
initial_sample_tmp = initial_sample_tmp + readval_long_shifted; // 2^32
//printf("----------------------------------------------------------------> acq initial sample TOTAL = %llu\n", initial_sample_tmp);
*initial_sample = initial_sample_tmp;
readval = d_map_base[6];
*max_magnitude = static_cast<float>(readval);
//printf("read max_magnitude dmap 2 = %d\n", readval);
readval = d_map_base[4];
*power_sum = static_cast<float>(readval);
//printf("read power sum dmap 4 = %d\n", readval);
readval = d_map_base[5]; // read doppler index
*doppler_index = readval;
//printf("read doppler_index dmap 5 = %d\n", readval);
readval = d_map_base[3];
*max_index = readval;
//printf("read max index dmap 3 = %d\n", readval);
}
@ -249,7 +408,7 @@ void fpga_acquisition::unblock_samples()
void fpga_acquisition::close_device()
{
unsigned *aux = const_cast<unsigned *>(d_map_base);
uint32_t *aux = const_cast<uint32_t *>(d_map_base);
if (munmap(static_cast<void *>(aux), PAGE_SIZE) == -1)
{
printf("Failed to unmap memory uio\n");
@ -260,5 +419,5 @@ void fpga_acquisition::close_device()
void fpga_acquisition::reset_acquisition(void)
{
d_map_base[6] = RESET_ACQUISITION; // writing a 2 to d_map_base[6] resets the multicorrelator
d_map_base[8] = RESET_ACQUISITION; // writing a 2 to d_map_base[8] resets the multicorrelator
}

45
src/algorithms/acquisition/libs/fpga_acquisition.h
View File

@ -38,6 +38,7 @@
#include <gnuradio/fft/fft.h>
#include <volk/volk.h>
#include <cstdint>
/*!
* \brief Class that implements carrier wipe-off and correlators.
@ -46,20 +47,24 @@ class fpga_acquisition
{
public:
fpga_acquisition(std::string device_name,
unsigned int nsamples,
unsigned int doppler_max,
unsigned int nsamples_total, long fs_in,
unsigned int sampled_ms, unsigned select_queue,
uint32_t nsamples,
uint32_t doppler_max,
uint32_t nsamples_total,
int64_t fs_in,
uint32_t sampled_ms,
uint32_t select_queue,
lv_16sc_t *all_fft_codes);
~fpga_acquisition();
bool init();
bool set_local_code(
unsigned int PRN);
bool set_local_code(uint32_t PRN);
bool free();
void set_doppler_sweep(uint32_t num_sweeps);
void set_doppler_sweep_debug(uint32_t num_sweeps, uint32_t doppler_index);
void run_acquisition(void);
void set_phase_step(unsigned int doppler_index);
void set_phase_step(uint32_t doppler_index);
void read_acquisition_results(uint32_t *max_index, float *max_magnitude,
unsigned *initial_sample, float *power_sum);
uint64_t *initial_sample, float *power_sum, uint32_t *doppler_index);
void block_samples();
void unblock_samples();
@ -67,7 +72,7 @@ public:
* \brief Set maximum Doppler grid search
* \param doppler_max - Maximum Doppler shift considered in the grid search [Hz].
*/
void set_doppler_max(unsigned int doppler_max)
void set_doppler_max(uint32_t doppler_max)
{
d_doppler_max = doppler_max;
}
@ -76,26 +81,26 @@ public:
* \brief Set Doppler steps for the grid search
* \param doppler_step - Frequency bin of the search grid [Hz].
*/
void set_doppler_step(unsigned int doppler_step)
void set_doppler_step(uint32_t doppler_step)
{
d_doppler_step = doppler_step;
}
private:
long d_fs_in;
int64_t d_fs_in;
// data related to the hardware module and the driver
int d_fd; // driver descriptor
volatile unsigned *d_map_base; // driver memory map
int32_t d_fd; // driver descriptor
volatile uint32_t *d_map_base; // driver memory map
lv_16sc_t *d_all_fft_codes; // memory that contains all the code ffts
unsigned int d_vector_length; // number of samples incluing padding and number of ms
unsigned int d_nsamples_total; // number of samples including padding
unsigned int d_nsamples; // number of samples not including padding
unsigned int d_select_queue; // queue selection
uint32_t d_vector_length; // number of samples incluing padding and number of ms
uint32_t d_nsamples_total; // number of samples including padding
uint32_t d_nsamples; // number of samples not including padding
uint32_t d_select_queue; // queue selection
std::string d_device_name; // HW device name
unsigned int d_doppler_max; // max doppler
unsigned int d_doppler_step; // doppler step
uint32_t d_doppler_max; // max doppler
uint32_t d_doppler_step; // doppler step
// FPGA private functions
unsigned fpga_acquisition_test_register(unsigned writeval);
uint32_t fpga_acquisition_test_register(uint32_t writeval);
void fpga_configure_acquisition_local_code(lv_16sc_t fft_local_code[]);
void configure_acquisition();
void reset_acquisition(void);

10
src/algorithms/channel/adapters/channel.cc
View File

@ -34,12 +34,12 @@
#include "gnss_sdr_flags.h"
#include <boost/lexical_cast.hpp>
#include <glog/logging.h>
#include <cstdint>
using google::LogMessage;
// Constructor
Channel::Channel(ConfigurationInterface* configuration, unsigned int channel,
Channel::Channel(ConfigurationInterface* configuration, uint32_t channel,
std::shared_ptr<GNSSBlockInterface> pass_through, std::shared_ptr<AcquisitionInterface> acq,
std::shared_ptr<TrackingInterface> trk, std::shared_ptr<TelemetryDecoderInterface> nav,
std::string role, std::string implementation, gr::msg_queue::sptr queue)
@ -66,7 +66,7 @@ Channel::Channel(ConfigurationInterface* configuration, unsigned int channel,
// Provide a warning to the user about the change of parameter name
if (channel_ == 0)
{
long int deprecation_warning = configuration->property("GNSS-SDR.internal_fs_hz", 0);
int64_t deprecation_warning = configuration->property("GNSS-SDR.internal_fs_hz", 0);
if (deprecation_warning != 0)
{
std::cout << "WARNING: The global parameter name GNSS-SDR.internal_fs_hz has been DEPRECATED." << std::endl;
@ -76,9 +76,9 @@ Channel::Channel(ConfigurationInterface* configuration, unsigned int channel,
// IMPORTANT: Do not change the order between set_doppler_step and set_threshold
unsigned int doppler_step = configuration->property("Acquisition_" + implementation_ + boost::lexical_cast<std::string>(channel_) + ".doppler_step", 0);
uint32_t doppler_step = configuration->property("Acquisition_" + implementation_ + boost::lexical_cast<std::string>(channel_) + ".doppler_step", 0);
if (doppler_step == 0) doppler_step = configuration->property("Acquisition_" + implementation_ + ".doppler_step", 500);
if (FLAGS_doppler_step != 0) doppler_step = static_cast<unsigned int>(FLAGS_doppler_step);
if (FLAGS_doppler_step != 0) doppler_step = static_cast<uint32_t>(FLAGS_doppler_step);
DLOG(INFO) << "Channel " << channel_ << " Doppler_step = " << doppler_step;
acq_->set_doppler_step(doppler_step);

4
src/algorithms/channel/adapters/channel.h
View File

@ -60,7 +60,7 @@ class Channel : public ChannelInterface
{
public:
//! Constructor
Channel(ConfigurationInterface* configuration, unsigned int channel,
Channel(ConfigurationInterface* configuration, uint32_t channel,
std::shared_ptr<GNSSBlockInterface> pass_through, std::shared_ptr<AcquisitionInterface> acq,
std::shared_ptr<TrackingInterface> trk, std::shared_ptr<TelemetryDecoderInterface> nav,
std::string role, std::string implementation, gr::msg_queue::sptr queue);
@ -99,7 +99,7 @@ private:
std::string role_;
std::string implementation_;
bool flag_enable_fpga;
unsigned int channel_;
uint32_t channel_;
Gnss_Synchro gnss_synchro_;
Gnss_Signal gnss_signal_;
bool connected_;

12
src/algorithms/channel/libs/channel_fsm.cc
View File

@ -39,16 +39,16 @@ ChannelFsm::ChannelFsm()
{
acq_ = nullptr;
trk_ = nullptr;
channel_ = 0;
d_state = 0;
channel_ = 0U;
d_state = 0U;
}
ChannelFsm::ChannelFsm(std::shared_ptr<AcquisitionInterface> acquisition) : acq_(acquisition)
{
trk_ = nullptr;
channel_ = 0;
d_state = 0;
channel_ = 0U;
d_state = 0U;
}
@ -129,7 +129,7 @@ bool ChannelFsm::Event_failed_tracking_standby()
}
else
{
d_state = 0;
d_state = 0U;
notify_stop_tracking();
DLOG(INFO) << "CH = " << channel_ << ". Ev failed tracking standby";
return true;
@ -158,7 +158,7 @@ void ChannelFsm::set_queue(gr::msg_queue::sptr queue)
}
void ChannelFsm::set_channel(unsigned int channel)
void ChannelFsm::set_channel(uint32_t channel)
{
std::lock_guard<std::mutex> lk(mx);
channel_ = channel;

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

@ -36,6 +36,7 @@
#include "tracking_interface.h"
#include "telemetry_decoder_interface.h"
#include <gnuradio/msg_queue.h>
#include <cstdint>
#include <memory>
#include <mutex>
@ -52,7 +53,7 @@ public:
void set_acquisition(std::shared_ptr<AcquisitionInterface> acquisition);
void set_tracking(std::shared_ptr<TrackingInterface> tracking);
void set_queue(gr::msg_queue::sptr queue);
void set_channel(unsigned int channel);
void set_channel(uint32_t channel);
//FSM EVENTS
bool Event_start_acquisition();
@ -70,8 +71,8 @@ private:
std::shared_ptr<AcquisitionInterface> acq_;
std::shared_ptr<TrackingInterface> trk_;
gr::msg_queue::sptr queue_;
unsigned int channel_;
unsigned int d_state;
uint32_t channel_;
uint32_t d_state;
std::mutex mx;
};

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

@ -33,6 +33,7 @@
#include <gnuradio/gr_complex.h>
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include <cstdint>
using google::LogMessage;
@ -48,7 +49,7 @@ void channel_msg_receiver_cc::msg_handler_events(pmt::pmt_t msg)
bool result = false;
try
{
long int message = pmt::to_long(msg);
int64_t message = pmt::to_long(msg);
switch (message)
{
case 1: // positive acquisition

174
src/algorithms/input_filter/adapters/freq_xlating_fir_filter.cc
View File

@ -43,38 +43,112 @@ using google::LogMessage;
FreqXlatingFirFilter::FreqXlatingFirFilter(ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : config_(configuration), role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
size_t item_size;
(*this).init();
int decimation_factor;
std::string default_input_item_type = "gr_complex";
std::string default_output_item_type = "gr_complex";
std::string default_taps_item_type = "float";
std::string default_dump_filename = "../data/input_filter.dat";
double default_intermediate_freq = 0.0;
double default_sampling_freq = 4000000.0;
int default_number_of_taps = 6;
unsigned int default_number_of_bands = 2;
std::vector<double> default_bands = {0.0, 0.4, 0.6, 1.0};
std::vector<double> default_ampl = {1.0, 1.0, 0.0, 0.0};
std::vector<double> default_error_w = {1.0, 1.0};
std::string default_filter_type = "bandpass";
int default_grid_density = 16;
int default_decimation_factor = 1;
decimation_factor = config_->property(role_ + ".decimation_factor", default_decimation_factor);
DLOG(INFO) << "role " << role_;
input_item_type_ = config_->property(role_ + ".input_item_type", default_input_item_type);
output_item_type_ = config_->property(role_ + ".output_item_type", default_output_item_type);
taps_item_type_ = config_->property(role_ + ".taps_item_type", default_taps_item_type);
dump_ = config_->property(role_ + ".dump", false);
dump_filename_ = config_->property(role_ + ".dump_filename", default_dump_filename);
intermediate_freq_ = config_->property(role_ + ".IF", default_intermediate_freq);
sampling_freq_ = config_->property(role_ + ".sampling_frequency", default_sampling_freq);
int number_of_taps = config_->property(role_ + ".number_of_taps", default_number_of_taps);
unsigned int number_of_bands = config_->property(role_ + ".number_of_bands", default_number_of_bands);
std::string filter_type = config_->property(role_ + ".filter_type", default_filter_type);
decimation_factor_ = config_->property(role_ + ".decimation_factor", default_decimation_factor);
if (filter_type.compare("lowpass") != 0)
{
std::vector<double> taps_d;
std::vector<double> bands;
std::vector<double> ampl;
std::vector<double> error_w;
std::string option;
double option_value;
for (unsigned int i = 0; i < number_of_bands; i++)
{
option = ".band" + boost::lexical_cast<std::string>(i + 1) + "_begin";
option_value = config_->property(role_ + option, default_bands[i]);
bands.push_back(option_value);
option = ".band" + boost::lexical_cast<std::string>(i + 1) + "_end";
option_value = config_->property(role_ + option, default_bands[i]);
bands.push_back(option_value);
option = ".ampl" + boost::lexical_cast<std::string>(i + 1) + "_begin";
option_value = config_->property(role_ + option, default_bands[i]);
ampl.push_back(option_value);
option = ".ampl" + boost::lexical_cast<std::string>(i + 1) + "_end";
option_value = config_->property(role_ + option, default_bands[i]);
ampl.push_back(option_value);
option = ".band" + boost::lexical_cast<std::string>(i + 1) + "_error";
option_value = config_->property(role_ + option, default_bands[i]);
error_w.push_back(option_value);
}
int grid_density = config_->property(role_ + ".grid_density", default_grid_density);
taps_d = gr::filter::pm_remez(number_of_taps - 1, bands, ampl, error_w, filter_type, grid_density);
taps_.reserve(taps_d.size());
for (std::vector<double>::iterator it = taps_d.begin(); it != taps_d.end(); it++)
{
taps_.push_back(static_cast<float>(*it));
}
}
else
{
double default_bw = (sampling_freq_ / decimation_factor_) / 2;
double bw_ = config_->property(role_ + ".bw", default_bw);
double default_tw = bw_ / 10.0;
double tw_ = config_->property(role_ + ".tw", default_tw);
taps_ = gr::filter::firdes::low_pass(1.0, sampling_freq_, bw_, tw_);
}
size_t item_size;
if ((taps_item_type_.compare("float") == 0) && (input_item_type_.compare("gr_complex") == 0) && (output_item_type_.compare("gr_complex") == 0))
{
item_size = sizeof(gr_complex); //output
input_size_ = sizeof(gr_complex); //input
freq_xlating_fir_filter_ccf_ = gr::filter::freq_xlating_fir_filter_ccf::make(decimation_factor, taps_, intermediate_freq_, sampling_freq_);
freq_xlating_fir_filter_ccf_ = gr::filter::freq_xlating_fir_filter_ccf::make(decimation_factor_, taps_, intermediate_freq_, sampling_freq_);
DLOG(INFO) << "input_filter(" << freq_xlating_fir_filter_ccf_->unique_id() << ")";
}
else if ((taps_item_type_.compare("float") == 0) && (input_item_type_.compare("float") == 0) && (output_item_type_.compare("gr_complex") == 0))
{
item_size = sizeof(gr_complex);
input_size_ = sizeof(float); //input
freq_xlating_fir_filter_fcf_ = gr::filter::freq_xlating_fir_filter_fcf::make(decimation_factor, taps_, intermediate_freq_, sampling_freq_);
freq_xlating_fir_filter_fcf_ = gr::filter::freq_xlating_fir_filter_fcf::make(decimation_factor_, taps_, intermediate_freq_, sampling_freq_);
DLOG(INFO) << "input_filter(" << freq_xlating_fir_filter_fcf_->unique_id() << ")";
}
else if ((taps_item_type_.compare("float") == 0) && (input_item_type_.compare("short") == 0) && (output_item_type_.compare("gr_complex") == 0))
{
item_size = sizeof(gr_complex);
input_size_ = sizeof(int16_t); //input
freq_xlating_fir_filter_scf_ = gr::filter::freq_xlating_fir_filter_scf::make(decimation_factor, taps_, intermediate_freq_, sampling_freq_);
freq_xlating_fir_filter_scf_ = gr::filter::freq_xlating_fir_filter_scf::make(decimation_factor_, taps_, intermediate_freq_, sampling_freq_);
DLOG(INFO) << "input_filter(" << freq_xlating_fir_filter_scf_->unique_id() << ")";
}
else if ((taps_item_type_.compare("float") == 0) && (input_item_type_.compare("short") == 0) && (output_item_type_.compare("cshort") == 0))
{
item_size = sizeof(lv_16sc_t);
input_size_ = sizeof(int16_t); //input
freq_xlating_fir_filter_scf_ = gr::filter::freq_xlating_fir_filter_scf::make(decimation_factor, taps_, intermediate_freq_, sampling_freq_);
freq_xlating_fir_filter_scf_ = gr::filter::freq_xlating_fir_filter_scf::make(decimation_factor_, taps_, intermediate_freq_, sampling_freq_);
DLOG(INFO) << "input_filter(" << freq_xlating_fir_filter_scf_->unique_id() << ")";
complex_to_float_ = gr::blocks::complex_to_float::make();
float_to_short_1_ = gr::blocks::float_to_short::make();
@ -86,7 +160,7 @@ FreqXlatingFirFilter::FreqXlatingFirFilter(ConfigurationInterface* configuration
item_size = sizeof(gr_complex);
input_size_ = sizeof(int8_t); //input
gr_char_to_short_ = gr::blocks::char_to_short::make();
freq_xlating_fir_filter_scf_ = gr::filter::freq_xlating_fir_filter_scf::make(decimation_factor, taps_, intermediate_freq_, sampling_freq_);
freq_xlating_fir_filter_scf_ = gr::filter::freq_xlating_fir_filter_scf::make(decimation_factor_, taps_, intermediate_freq_, sampling_freq_);
DLOG(INFO) << "input_filter(" << freq_xlating_fir_filter_scf_->unique_id() << ")";
}
else if ((taps_item_type_.compare("float") == 0) && (input_item_type_.compare("byte") == 0) && (output_item_type_.compare("cbyte") == 0))
@ -94,7 +168,7 @@ FreqXlatingFirFilter::FreqXlatingFirFilter(ConfigurationInterface* configuration
item_size = sizeof(lv_8sc_t);
input_size_ = sizeof(int8_t); //input
gr_char_to_short_ = gr::blocks::char_to_short::make();
freq_xlating_fir_filter_scf_ = gr::filter::freq_xlating_fir_filter_scf::make(decimation_factor, taps_, intermediate_freq_, sampling_freq_);
freq_xlating_fir_filter_scf_ = gr::filter::freq_xlating_fir_filter_scf::make(decimation_factor_, taps_, intermediate_freq_, sampling_freq_);
DLOG(INFO) << "input_filter(" << freq_xlating_fir_filter_scf_->unique_id() << ")";
complex_to_complex_byte_ = make_complex_float_to_complex_byte();
}
@ -311,83 +385,3 @@ gr::basic_block_sptr FreqXlatingFirFilter::get_right_block()
LOG(ERROR) << " Unknown input filter input/output item type conversion";
}
}
void FreqXlatingFirFilter::init()
{
std::string default_input_item_type = "gr_complex";
std::string default_output_item_type = "gr_complex";
std::string default_taps_item_type = "float";
std::string default_dump_filename = "../data/input_filter.dat";
double default_intermediate_freq = 0.0;
double default_sampling_freq = 4000000.0;
int default_number_of_taps = 6;
unsigned int default_number_of_bands = 2;
std::vector<double> default_bands = {0.0, 0.4, 0.6, 1.0};
std::vector<double> default_ampl = {1.0, 1.0, 0.0, 0.0};
std::vector<double> default_error_w = {1.0, 1.0};
std::string default_filter_type = "bandpass";
int default_grid_density = 16;
DLOG(INFO) << "role " << role_;
input_item_type_ = config_->property(role_ + ".input_item_type", default_input_item_type);
output_item_type_ = config_->property(role_ + ".output_item_type", default_output_item_type);
taps_item_type_ = config_->property(role_ + ".taps_item_type", default_taps_item_type);
dump_ = config_->property(role_ + ".dump", false);
dump_filename_ = config_->property(role_ + ".dump_filename", default_dump_filename);
intermediate_freq_ = config_->property(role_ + ".IF", default_intermediate_freq);
sampling_freq_ = config_->property(role_ + ".sampling_frequency", default_sampling_freq);
int number_of_taps = config_->property(role_ + ".number_of_taps", default_number_of_taps);
unsigned int number_of_bands = config_->property(role_ + ".number_of_bands", default_number_of_bands);
std::string filter_type = config_->property(role_ + ".filter_type", default_filter_type);
if (filter_type.compare("lowpass") != 0)
{
std::vector<double> taps_d;
std::vector<double> bands;
std::vector<double> ampl;
std::vector<double> error_w;
std::string option;
double option_value;
for (unsigned int i = 0; i < number_of_bands; i++)
{
option = ".band" + boost::lexical_cast<std::string>(i + 1) + "_begin";
option_value = config_->property(role_ + option, default_bands[i]);
bands.push_back(option_value);
option = ".band" + boost::lexical_cast<std::string>(i + 1) + "_end";
option_value = config_->property(role_ + option, default_bands[i]);
bands.push_back(option_value);
option = ".ampl" + boost::lexical_cast<std::string>(i + 1) + "_begin";
option_value = config_->property(role_ + option, default_bands[i]);
ampl.push_back(option_value);
option = ".ampl" + boost::lexical_cast<std::string>(i + 1) + "_end";
option_value = config_->property(role_ + option, default_bands[i]);
ampl.push_back(option_value);
option = ".band" + boost::lexical_cast<std::string>(i + 1) + "_error";
option_value = config_->property(role_ + option, default_bands[i]);
error_w.push_back(option_value);
}
int grid_density = config_->property(role_ + ".grid_density", default_grid_density);
taps_d = gr::filter::pm_remez(number_of_taps - 1, bands, ampl, error_w, filter_type, grid_density);
taps_.reserve(taps_d.size());
for (std::vector<double>::iterator it = taps_d.begin(); it != taps_d.end(); it++)
{
taps_.push_back(static_cast<float>(*it));
}
}
else
{
double default_bw = 2000000.0;
double bw_ = config_->property(role_ + ".bw", default_bw);
double default_tw = bw_ / 10.0;
double tw_ = config_->property(role_ + ".tw", default_tw);
taps_ = gr::filter::firdes::low_pass(1.0, sampling_freq_, bw_, tw_);
}
}

2
src/algorithms/input_filter/adapters/freq_xlating_fir_filter.h
View File

@ -95,6 +95,7 @@ private:
gr::filter::freq_xlating_fir_filter_fcf::sptr freq_xlating_fir_filter_fcf_;
gr::filter::freq_xlating_fir_filter_scf::sptr freq_xlating_fir_filter_scf_;
ConfigurationInterface* config_;
int decimation_factor_;
bool dump_;
std::string dump_filename_;
std::string input_item_type_;
@ -114,7 +115,6 @@ private:
gr::blocks::float_to_short::sptr float_to_short_2_;
short_x2_to_cshort_sptr short_x2_to_cshort_;
complex_float_to_complex_byte_sptr complex_to_complex_byte_;
void init();
};
#endif // GNSS_SDR_FREQ_XLATING_FIR_FILTER_H_

32
src/algorithms/input_filter/gnuradio_blocks/notch_cc.cc
View File

@ -39,7 +39,7 @@
using google::LogMessage;
notch_sptr make_notch_filter(float pfa, float p_c_factor,
int length_, int n_segments_est, int n_segments_reset)
int32_t length_, int32_t n_segments_est, int32_t n_segments_reset)
{
return notch_sptr(new Notch(pfa, p_c_factor, length_, n_segments_est, n_segments_reset));
}
@ -47,31 +47,31 @@ notch_sptr make_notch_filter(float pfa, float p_c_factor,
Notch::Notch(float pfa,
float p_c_factor,
int length_,
int n_segments_est,
int n_segments_reset) : gr::block("Notch",
gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(1, 1, sizeof(gr_complex)))
int32_t length_,
int32_t n_segments_est,
int32_t n_segments_reset) : gr::block("Notch",
gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(1, 1, sizeof(gr_complex)))
{
const int alignment_multiple = volk_get_alignment() / sizeof(gr_complex);
const int32_t alignment_multiple = volk_get_alignment() / sizeof(gr_complex);
set_alignment(std::max(1, alignment_multiple));
set_history(2);
this->pfa = pfa;
noise_pow_est = 0.0;
this->p_c_factor = gr_complex(p_c_factor, 0);
this->length_ = length_; //Set the number of samples per segment
filter_state_ = false; //Initial state of the filter
n_deg_fred = 2 * length_; //Number of dregrees of freedom
this->p_c_factor = gr_complex(p_c_factor, 0.0);
this->length_ = length_; // Set the number of samples per segment
filter_state_ = false; // Initial state of the filter
n_deg_fred = 2 * length_; // Number of dregrees of freedom
n_segments = 0;
this->n_segments_est = n_segments_est; // Set the number of segments for noise power estimation
this->n_segments_reset = n_segments_reset; // Set the period (in segments) when the noise power is estimated
z_0 = gr_complex(0, 0);
z_0 = gr_complex(0.0, 0.0);
boost::math::chi_squared_distribution<float> my_dist_(n_deg_fred);
thres_ = boost::math::quantile(boost::math::complement(my_dist_, pfa));
c_samples = static_cast<gr_complex *>(volk_malloc(length_ * sizeof(gr_complex), volk_get_alignment()));
angle_ = static_cast<float *>(volk_malloc(length_ * sizeof(float), volk_get_alignment()));
power_spect = static_cast<float *>(volk_malloc(length_ * sizeof(float), volk_get_alignment()));
last_out = gr_complex(0, 0);
last_out = gr_complex(0.0, 0.0);
d_fft = std::unique_ptr<gr::fft::fft_complex>(new gr::fft::fft_complex(length_, true));
}
@ -86,7 +86,7 @@ Notch::~Notch()
void Notch::forecast(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items_required)
{
for (unsigned int aux = 0; aux < ninput_items_required.size(); aux++)
for (uint32_t aux = 0; aux < ninput_items_required.size(); aux++)
{
ninput_items_required[aux] = length_;
}
@ -96,7 +96,7 @@ void Notch::forecast(int noutput_items __attribute__((unused)), gr_vector_int &n
int Notch::general_work(int noutput_items, gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
int index_out = 0;
int32_t index_out = 0;
float sig2dB = 0.0;
float sig2lin = 0.0;
lv_32fc_t dot_prod_;
@ -127,7 +127,7 @@ int Notch::general_work(int noutput_items, gr_vector_int &ninput_items __attribu
}
volk_32fc_x2_multiply_conjugate_32fc(c_samples, in, (in - 1), length_);
volk_32fc_s32f_atan2_32f(angle_, c_samples, static_cast<float>(1.0), length_);
for (int aux = 0; aux < length_; aux++)
for (int32_t aux = 0; aux < length_; aux++)
{
z_0 = std::exp(gr_complex(0, 1) * (*(angle_ + aux)));
*(out + aux) = *(in + aux) - z_0 * (*(in + aux - 1)) + p_c_factor * z_0 * last_out;

15
src/algorithms/input_filter/gnuradio_blocks/notch_cc.h
View File

@ -34,6 +34,7 @@
#include <boost/shared_ptr.hpp>
#include <gnuradio/block.h>
#include <gnuradio/fft/fft.h>
#include <cstdint>
#include <memory>
class Notch;
@ -41,7 +42,7 @@ class Notch;
typedef boost::shared_ptr<Notch> notch_sptr;
notch_sptr make_notch_filter(float pfa, float p_c_factor,
int length_, int n_segments_est, int n_segments_reset);
int32_t length_, int32_t n_segments_est, int32_t n_segments_reset);
/*!
* \brief This class implements a real-time software-defined multi state notch filter
@ -53,11 +54,11 @@ private:
float pfa;
float noise_pow_est;
float thres_;
int length_;
int n_deg_fred;
unsigned int n_segments;
unsigned int n_segments_est;
unsigned int n_segments_reset;
int32_t length_;
int32_t n_deg_fred;
uint32_t n_segments;
uint32_t n_segments_est;
uint32_t n_segments_reset;
bool filter_state_;
gr_complex last_out;
gr_complex z_0;
@ -68,7 +69,7 @@ private:
std::unique_ptr<gr::fft::fft_complex> d_fft;
public:
Notch(float pfa, float p_c_factor, int length_, int n_segments_est, int n_segments_reset);
Notch(float pfa, float p_c_factor, int32_t length_, int32_t n_segments_est, int32_t n_segments_reset);
~Notch();

32
src/algorithms/input_filter/gnuradio_blocks/notch_lite_cc.cc
View File

@ -38,7 +38,7 @@
using google::LogMessage;
notch_lite_sptr make_notch_filter_lite(float p_c_factor, float pfa, int length_, int n_segments_est, int n_segments_reset, int n_segments_coeff)
notch_lite_sptr make_notch_filter_lite(float p_c_factor, float pfa, int32_t length_, int32_t n_segments_est, int32_t n_segments_reset, int32_t n_segments_coeff)
{
return notch_lite_sptr(new NotchLite(p_c_factor, pfa, length_, n_segments_est, n_segments_reset, n_segments_coeff));
}
@ -46,17 +46,17 @@ notch_lite_sptr make_notch_filter_lite(float p_c_factor, float pfa, int length_,
NotchLite::NotchLite(float p_c_factor,
float pfa,
int length_,
int n_segments_est,
int n_segments_reset,
int n_segments_coeff) : gr::block("NotchLite",
gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(1, 1, sizeof(gr_complex)))
int32_t length_,
int32_t n_segments_est,
int32_t n_segments_reset,
int32_t n_segments_coeff) : gr::block("NotchLite",
gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(1, 1, sizeof(gr_complex)))
{
const int alignment_multiple = volk_get_alignment() / sizeof(gr_complex);
const int32_t alignment_multiple = volk_get_alignment() / sizeof(gr_complex);
set_alignment(std::max(1, alignment_multiple));
set_history(2);
this->p_c_factor = gr_complex(p_c_factor, 0);
this->p_c_factor = gr_complex(p_c_factor, 0.0);
this->n_segments_est = n_segments_est;
this->n_segments_reset = n_segments_reset;
this->n_segments_coeff_reset = n_segments_coeff;
@ -68,12 +68,12 @@ NotchLite::NotchLite(float p_c_factor,
n_deg_fred = 2 * length_;
noise_pow_est = 0.0;
filter_state_ = false;
z_0 = gr_complex(0, 0);
last_out = gr_complex(0, 0);
z_0 = gr_complex(0.0, 0.0);
last_out = gr_complex(0.0, 0.0);
boost::math::chi_squared_distribution<float> my_dist_(n_deg_fred);
thres_ = boost::math::quantile(boost::math::complement(my_dist_, pfa));
c_samples1 = gr_complex(0, 0);
c_samples2 = gr_complex(0, 0);
c_samples1 = gr_complex(0.0, 0.0);
c_samples2 = gr_complex(0.0, 0.0);
angle1 = 0.0;
angle2 = 0.0;
power_spect = static_cast<float *>(volk_malloc(length_ * sizeof(float), volk_get_alignment()));
@ -89,7 +89,7 @@ NotchLite::~NotchLite()
void NotchLite::forecast(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items_required)
{
for (unsigned int aux = 0; aux < ninput_items_required.size(); aux++)
for (uint32_t aux = 0; aux < ninput_items_required.size(); aux++)
{
ninput_items_required[aux] = length_;
}
@ -99,7 +99,7 @@ void NotchLite::forecast(int noutput_items __attribute__((unused)), gr_vector_in
int NotchLite::general_work(int noutput_items, gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
int index_out = 0;
int32_t index_out = 0;
float sig2dB = 0.0;
float sig2lin = 0.0;
lv_32fc_t dot_prod_;
@ -138,7 +138,7 @@ int NotchLite::general_work(int noutput_items, gr_vector_int &ninput_items __att
float angle_ = (angle1 + angle2) / 2.0;
z_0 = std::exp(gr_complex(0, 1) * angle_);
}
for (int aux = 0; aux < length_; aux++)
for (int32_t aux = 0; aux < length_; aux++)
{
*(out + aux) = *(in + aux) - z_0 * (*(in + aux - 1)) + p_c_factor * z_0 * last_out;
last_out = *(out + aux);

19
src/algorithms/input_filter/gnuradio_blocks/notch_lite_cc.h
View File

@ -34,13 +34,14 @@
#include <boost/shared_ptr.hpp>
#include <gnuradio/block.h>
#include <gnuradio/fft/fft.h>
#include <cstdint>
#include <memory>
class NotchLite;
typedef boost::shared_ptr<NotchLite> notch_lite_sptr;
notch_lite_sptr make_notch_filter_lite(float p_c_factor, float pfa, int length_, int n_segments_est, int n_segments_reset, int n_segments_coeff);
notch_lite_sptr make_notch_filter_lite(float p_c_factor, float pfa, int32_t length_, int32_t n_segments_est, int32_t n_segments_reset, int32_t n_segments_coeff);
/*!
* \brief This class implements a real-time software-defined multi state notch filter light version
@ -49,13 +50,13 @@ notch_lite_sptr make_notch_filter_lite(float p_c_factor, float pfa, int length_,
class NotchLite : public gr::block
{
private:
int length_;
int n_segments;
int n_segments_est;
int n_segments_reset;
int n_segments_coeff_reset;
int n_segments_coeff;
int n_deg_fred;
int32_t length_;
int32_t n_segments;
int32_t n_segments_est;
int32_t n_segments_reset;
int32_t n_segments_coeff_reset;
int32_t n_segments_coeff;
int32_t n_deg_fred;
float pfa;
float thres_;
float noise_pow_est;
@ -71,7 +72,7 @@ private:
std::unique_ptr<gr::fft::fft_complex> d_fft;
public:
NotchLite(float p_c_factor, float pfa, int length_, int n_segments_est, int n_segments_reset, int n_segments_coeff);
NotchLite(float p_c_factor, float pfa, int32_t length_, int32_t n_segments_est, int32_t n_segments_reset, int32_t n_segments_coeff);
~NotchLite();

24
src/algorithms/input_filter/gnuradio_blocks/pulse_blanking_cc.cc
View File

@ -37,21 +37,21 @@
using google::LogMessage;
pulse_blanking_cc_sptr make_pulse_blanking_cc(float pfa, int length_,
int n_segments_est, int n_segments_reset)
pulse_blanking_cc_sptr make_pulse_blanking_cc(float pfa, int32_t length_,
int32_t n_segments_est, int32_t n_segments_reset)
{
return pulse_blanking_cc_sptr(new pulse_blanking_cc(pfa, length_, n_segments_est, n_segments_reset));
}
pulse_blanking_cc::pulse_blanking_cc(float pfa,
int length_,
int n_segments_est,
int n_segments_reset) : gr::block("pulse_blanking_cc",
gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(1, 1, sizeof(gr_complex)))
int32_t length_,
int32_t n_segments_est,
int32_t n_segments_reset) : gr::block("pulse_blanking_cc",
gr::io_signature::make(1, 1, sizeof(gr_complex)),
gr::io_signature::make(1, 1, sizeof(gr_complex)))
{
const int alignment_multiple = volk_get_alignment() / sizeof(gr_complex);
const int32_t alignment_multiple = volk_get_alignment() / sizeof(gr_complex);
set_alignment(std::max(1, alignment_multiple));
this->pfa = pfa;
this->length_ = length_;
@ -64,9 +64,9 @@ pulse_blanking_cc::pulse_blanking_cc(float pfa,
boost::math::chi_squared_distribution<float> my_dist_(n_deg_fred);
thres_ = boost::math::quantile(boost::math::complement(my_dist_, pfa));
zeros_ = static_cast<gr_complex *>(volk_malloc(length_ * sizeof(gr_complex), volk_get_alignment()));
for (int aux = 0; aux < length_; aux++)
for (int32_t aux = 0; aux < length_; aux++)
{
zeros_[aux] = gr_complex(0, 0);
zeros_[aux] = gr_complex(0.0, 0.0);
}
}
@ -79,7 +79,7 @@ pulse_blanking_cc::~pulse_blanking_cc()
void pulse_blanking_cc::forecast(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items_required)
{
for (unsigned int aux = 0; aux < ninput_items_required.size(); aux++)
for (uint32_t aux = 0; aux < ninput_items_required.size(); aux++)
{
ninput_items_required[aux] = length_;
}
@ -93,7 +93,7 @@ int pulse_blanking_cc::general_work(int noutput_items, gr_vector_int &ninput_ite
gr_complex *out = reinterpret_cast<gr_complex *>(output_items[0]);
float *magnitude = static_cast<float *>(volk_malloc(noutput_items * sizeof(float), volk_get_alignment()));
volk_32fc_magnitude_squared_32f(magnitude, in, noutput_items);
int sample_index = 0;
int32_t sample_index = 0;
float segment_energy;
while ((sample_index + length_) < noutput_items)
{

15
src/algorithms/input_filter/gnuradio_blocks/pulse_blanking_cc.h
View File

@ -33,22 +33,23 @@
#include <boost/shared_ptr.hpp>
#include <gnuradio/block.h>
#include <cstdint>
class pulse_blanking_cc;
typedef boost::shared_ptr<pulse_blanking_cc> pulse_blanking_cc_sptr;
pulse_blanking_cc_sptr make_pulse_blanking_cc(float pfa, int length_, int n_segments_est, int n_segments_reset);
pulse_blanking_cc_sptr make_pulse_blanking_cc(float pfa, int32_t length_, int32_t n_segments_est, int32_t n_segments_reset);
class pulse_blanking_cc : public gr::block
{
private:
int length_;
int n_segments;
int n_segments_est;
int n_segments_reset;
int n_deg_fred;
int32_t length_;
int32_t n_segments;
int32_t n_segments_est;
int32_t n_segments_reset;
int32_t n_deg_fred;
bool last_filtered;
float noise_power_estimation;
float thres_;
@ -56,7 +57,7 @@ private:
gr_complex *zeros_;
public:
pulse_blanking_cc(float pfa, int length_, int n_segments_est, int n_segments_reset);
pulse_blanking_cc(float pfa, int32_t length_, int32_t n_segments_est, int32_t n_segments_reset);
~pulse_blanking_cc();

1
src/algorithms/libs/CMakeLists.txt
View File

@ -40,6 +40,7 @@ if(ENABLE_FPGA)
conjugate_cc.cc
conjugate_sc.cc
conjugate_ic.cc
gnss_sdr_fpga_sample_counter.cc
)
else(ENABLE_FPGA)
set(GNSS_SPLIBS_SOURCES

112
src/algorithms/libs/galileo_e1_signal_processing.cc
View File

@ -33,16 +33,17 @@
#include "galileo_e1_signal_processing.h"
#include "Galileo_E1.h"
#include "gnss_signal_processing.h"
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <string>
void galileo_e1_code_gen_int(int* _dest, char _Signal[3], signed int _prn)
void galileo_e1_code_gen_int(int* _dest, char _Signal[3], int32_t _prn)
{
std::string _galileo_signal = _Signal;
signed int prn = _prn - 1;
int index = 0;
int32_t prn = _prn - 1;
int32_t index = 0;
/* A simple error check */
// A simple error check
if ((_prn < 1) || (_prn > 50))
{
return;
@ -67,17 +68,17 @@ void galileo_e1_code_gen_int(int* _dest, char _Signal[3], signed int _prn)
}
void galileo_e1_sinboc_11_gen_int(int* _dest, int* _prn, unsigned int _length_out)
void galileo_e1_sinboc_11_gen_int(int* _dest, int* _prn, uint32_t _length_out)
{
const unsigned int _length_in = Galileo_E1_B_CODE_LENGTH_CHIPS;
unsigned int _period = static_cast<unsigned int>(_length_out / _length_in);
for (unsigned int i = 0; i < _length_in; i++)
const uint32_t _length_in = Galileo_E1_B_CODE_LENGTH_CHIPS;
uint32_t _period = static_cast<uint32_t>(_length_out / _length_in);
for (uint32_t i = 0; i < _length_in; i++)
{
for (unsigned int j = 0; j < (_period / 2); j++)
for (uint32_t j = 0; j < (_period / 2); j++)
{
_dest[i * _period + j] = _prn[i];
}
for (unsigned int j = (_period / 2); j < _period; j++)
for (uint32_t j = (_period / 2); j < _period; j++)
{
_dest[i * _period + j] = -_prn[i];
}
@ -85,53 +86,55 @@ void galileo_e1_sinboc_11_gen_int(int* _dest, int* _prn, unsigned int _length_ou
}
void galileo_e1_sinboc_61_gen_int(int* _dest, int* _prn, unsigned int _length_out)
void galileo_e1_sinboc_61_gen_int(int* _dest, int* _prn, uint32_t _length_out)
{
const unsigned int _length_in = Galileo_E1_B_CODE_LENGTH_CHIPS;
unsigned int _period = static_cast<unsigned int>(_length_out / _length_in);
const uint32_t _length_in = Galileo_E1_B_CODE_LENGTH_CHIPS;
uint32_t _period = static_cast<uint32_t>(_length_out / _length_in);
for (unsigned int i = 0; i < _length_in; i++)
for (uint32_t i = 0; i < _length_in; i++)
{
for (unsigned int j = 0; j < _period; j += 2)
for (uint32_t j = 0; j < _period; j += 2)
{
_dest[i * _period + j] = _prn[i];
}
for (unsigned int j = 1; j < _period; j += 2)
for (uint32_t j = 1; j < _period; j += 2)
{
_dest[i * _period + j] = -_prn[i];
}
}
}
void galileo_e1_code_gen_sinboc11_float(float* _dest, char _Signal[3], unsigned int _prn)
void galileo_e1_code_gen_sinboc11_float(float* _dest, char _Signal[3], uint32_t _prn)
{
std::string _galileo_signal = _Signal;
unsigned int _codeLength = static_cast<unsigned int>(Galileo_E1_B_CODE_LENGTH_CHIPS);
int primary_code_E1_chips[4092]; // _codeLength not accepted by Clang
const uint32_t _codeLength = static_cast<const uint32_t>(Galileo_E1_B_CODE_LENGTH_CHIPS);
int32_t primary_code_E1_chips[4092]; // _codeLength not accepted by Clang
galileo_e1_code_gen_int(primary_code_E1_chips, _Signal, _prn); //generate Galileo E1 code, 1 sample per chip
for (unsigned int i = 0; i < _codeLength; i++)
for (uint32_t i = 0; i < _codeLength; i++)
{
_dest[2 * i] = static_cast<float>(primary_code_E1_chips[i]);
_dest[2 * i + 1] = -_dest[2 * i];
}
}
void galileo_e1_gen_float(float* _dest, int* _prn, char _Signal[3])
{
std::string _galileo_signal = _Signal;
const unsigned int _codeLength = 12 * Galileo_E1_B_CODE_LENGTH_CHIPS;
const uint32_t _codeLength = 12 * Galileo_E1_B_CODE_LENGTH_CHIPS;
const float alpha = sqrt(10.0 / 11.0);
const float beta = sqrt(1.0 / 11.0);
int sinboc_11[12 * 4092]; // _codeLength not accepted by Clang
int sinboc_61[12 * 4092];
int32_t sinboc_11[12 * 4092]; // _codeLength not accepted by Clang
int32_t sinboc_61[12 * 4092];
galileo_e1_sinboc_11_gen_int(sinboc_11, _prn, _codeLength); //generate sinboc(1,1) 12 samples per chip
galileo_e1_sinboc_61_gen_int(sinboc_61, _prn, _codeLength); //generate sinboc(6,1) 12 samples per chip
if (_galileo_signal.rfind("1B") != std::string::npos && _galileo_signal.length() >= 2)
{
for (unsigned int i = 0; i < _codeLength; i++)
for (uint32_t i = 0; i < _codeLength; i++)
{
_dest[i] = alpha * static_cast<float>(sinboc_11[i]) +
beta * static_cast<float>(sinboc_61[i]);
@ -139,7 +142,7 @@ void galileo_e1_gen_float(float* _dest, int* _prn, char _Signal[3])
}
else if (_galileo_signal.rfind("1C") != std::string::npos && _galileo_signal.length() >= 2)
{
for (unsigned int i = 0; i < _codeLength; i++)
for (uint32_t i = 0; i < _codeLength; i++)
{
_dest[i] = alpha * static_cast<float>(sinboc_11[i]) -
beta * static_cast<float>(sinboc_61[i]);
@ -149,21 +152,22 @@ void galileo_e1_gen_float(float* _dest, int* _prn, char _Signal[3])
void galileo_e1_code_gen_float_sampled(float* _dest, char _Signal[3],
bool _cboc, unsigned int _prn, signed int _fs, unsigned int _chip_shift,
bool _cboc, uint32_t _prn, int32_t _fs, uint32_t _chip_shift,
bool _secondary_flag)
{
// This function is based on the GNU software GPS for MATLAB in Kay Borre's book
std::string _galileo_signal = _Signal;
unsigned int _samplesPerCode;
const int _codeFreqBasis = Galileo_E1_CODE_CHIP_RATE_HZ; //Hz
unsigned int _codeLength = Galileo_E1_B_CODE_LENGTH_CHIPS;
int primary_code_E1_chips[static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS)];
_samplesPerCode = static_cast<unsigned int>(static_cast<double>(_fs) / (static_cast<double>(_codeFreqBasis) / static_cast<double>(_codeLength)));
const int _samplesPerChip = (_cboc == true) ? 12 : 2;
uint32_t _samplesPerCode;
const int32_t _codeFreqBasis = Galileo_E1_CODE_CHIP_RATE_HZ; // Hz
uint32_t _codeLength = static_cast<uint32_t>(Galileo_E1_B_CODE_LENGTH_CHIPS);
int32_t* primary_code_E1_chips = static_cast<int32_t*>(volk_gnsssdr_malloc(static_cast<uint32_t>(Galileo_E1_B_CODE_LENGTH_CHIPS) * sizeof(int32_t), volk_gnsssdr_get_alignment()));
const unsigned int delay = ((static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS) - _chip_shift) % static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS)) * _samplesPerCode / Galileo_E1_B_CODE_LENGTH_CHIPS;
_samplesPerCode = static_cast<uint32_t>(static_cast<double>(_fs) / (static_cast<double>(_codeFreqBasis) / static_cast<double>(_codeLength)));
const int32_t _samplesPerChip = (_cboc == true) ? 12 : 2;
galileo_e1_code_gen_int(primary_code_E1_chips, _Signal, _prn); //generate Galileo E1 code, 1 sample per chip
const uint32_t delay = ((static_cast<int32_t>(Galileo_E1_B_CODE_LENGTH_CHIPS) - _chip_shift) % static_cast<int32_t>(Galileo_E1_B_CODE_LENGTH_CHIPS)) * _samplesPerCode / Galileo_E1_B_CODE_LENGTH_CHIPS;
galileo_e1_code_gen_int(primary_code_E1_chips, _Signal, _prn); // generate Galileo E1 code, 1 sample per chip
float* _signal_E1;
@ -172,24 +176,26 @@ void galileo_e1_code_gen_float_sampled(float* _dest, char _Signal[3],
if (_cboc == true)
{
galileo_e1_gen_float(_signal_E1, primary_code_E1_chips, _Signal); //generate cboc 12 samples per chip
galileo_e1_gen_float(_signal_E1, primary_code_E1_chips, _Signal); // generate cboc 12 samples per chip
}
else
{
int _signal_E1_int[_codeLength];
galileo_e1_sinboc_11_gen_int(_signal_E1_int, primary_code_E1_chips, _codeLength); //generate sinboc(1,1) 2 samples per chip
int32_t* _signal_E1_int = static_cast<int32_t*>(volk_gnsssdr_malloc(_codeLength * sizeof(int32_t), volk_gnsssdr_get_alignment()));
galileo_e1_sinboc_11_gen_int(_signal_E1_int, primary_code_E1_chips, _codeLength); // generate sinboc(1,1) 2 samples per chip
for (unsigned int ii = 0; ii < _codeLength; ++ii)
for (uint32_t ii = 0; ii < _codeLength; ++ii)
{
_signal_E1[ii] = static_cast<float>(_signal_E1_int[ii]);
}
volk_gnsssdr_free(_signal_E1_int);
}
if (_fs != _samplesPerChip * _codeFreqBasis)
{
float* _resampled_signal = new float[_samplesPerCode];
resampler(_signal_E1, _resampled_signal, _samplesPerChip * _codeFreqBasis, _fs,
_codeLength, _samplesPerCode); //resamples code to fs
_codeLength, _samplesPerCode); // resamples code to fs
delete[] _signal_E1;
_signal_E1 = _resampled_signal;
@ -197,9 +203,9 @@ void galileo_e1_code_gen_float_sampled(float* _dest, char _Signal[3],
if (_galileo_signal.rfind("1C") != std::string::npos && _galileo_signal.length() >= 2 && _secondary_flag)
{
float* _signal_E1C_secondary = new float[static_cast<int>(Galileo_E1_C_SECONDARY_CODE_LENGTH) * _samplesPerCode];
float* _signal_E1C_secondary = new float[static_cast<int32_t>(Galileo_E1_C_SECONDARY_CODE_LENGTH) * _samplesPerCode];
for (unsigned int i = 0; i < static_cast<unsigned int>(Galileo_E1_C_SECONDARY_CODE_LENGTH); i++)
for (uint32_t i = 0; i < static_cast<uint32_t>(Galileo_E1_C_SECONDARY_CODE_LENGTH); i++)
{
for (unsigned k = 0; k < _samplesPerCode; k++)
{
@ -207,55 +213,57 @@ void galileo_e1_code_gen_float_sampled(float* _dest, char _Signal[3],
}
}
_samplesPerCode *= static_cast<int>(Galileo_E1_C_SECONDARY_CODE_LENGTH);
_samplesPerCode *= static_cast<int32_t>(Galileo_E1_C_SECONDARY_CODE_LENGTH);
delete[] _signal_E1;
_signal_E1 = _signal_E1C_secondary;
}
for (unsigned int i = 0; i < _samplesPerCode; i++)
for (uint32_t i = 0; i < _samplesPerCode; i++)
{
_dest[(i + delay) % _samplesPerCode] = _signal_E1[i];
}
delete[] _signal_E1;
volk_gnsssdr_free(primary_code_E1_chips);
}
void galileo_e1_code_gen_complex_sampled(std::complex<float>* _dest, char _Signal[3],
bool _cboc, unsigned int _prn, signed int _fs, unsigned int _chip_shift,
bool _cboc, uint32_t _prn, int32_t _fs, uint32_t _chip_shift,
bool _secondary_flag)
{
std::string _galileo_signal = _Signal;
const int _codeFreqBasis = Galileo_E1_CODE_CHIP_RATE_HZ; //Hz
unsigned int _samplesPerCode = static_cast<unsigned int>(static_cast<double>(_fs) /
(static_cast<double>(_codeFreqBasis) / static_cast<double>(Galileo_E1_B_CODE_LENGTH_CHIPS)));
const int32_t _codeFreqBasis = Galileo_E1_CODE_CHIP_RATE_HZ; // Hz
uint32_t _samplesPerCode = static_cast<uint32_t>(static_cast<double>(_fs) /
(static_cast<double>(_codeFreqBasis) / static_cast<double>(Galileo_E1_B_CODE_LENGTH_CHIPS)));
if (_galileo_signal.rfind("1C") != std::string::npos && _galileo_signal.length() >= 2 && _secondary_flag)
{
_samplesPerCode *= static_cast<int>(Galileo_E1_C_SECONDARY_CODE_LENGTH);
_samplesPerCode *= static_cast<int32_t>(Galileo_E1_C_SECONDARY_CODE_LENGTH);
}
float real_code[_samplesPerCode];
float* real_code = static_cast<float*>(volk_gnsssdr_malloc(_samplesPerCode * sizeof(float), volk_gnsssdr_get_alignment()));
galileo_e1_code_gen_float_sampled(real_code, _Signal, _cboc, _prn, _fs, _chip_shift, _secondary_flag);
for (unsigned int ii = 0; ii < _samplesPerCode; ++ii)
for (uint32_t ii = 0; ii < _samplesPerCode; ++ii)
{
_dest[ii] = std::complex<float>(real_code[ii], 0.0f);
}
volk_gnsssdr_free(real_code);
}
void galileo_e1_code_gen_float_sampled(float* _dest, char _Signal[3],
bool _cboc, unsigned int _prn, signed int _fs, unsigned int _chip_shift)
bool _cboc, uint32_t _prn, int32_t _fs, uint32_t _chip_shift)
{
galileo_e1_code_gen_float_sampled(_dest, _Signal, _cboc, _prn, _fs, _chip_shift, false);
}
void galileo_e1_code_gen_complex_sampled(std::complex<float>* _dest, char _Signal[3],
bool _cboc, unsigned int _prn, signed int _fs, unsigned int _chip_shift)
bool _cboc, uint32_t _prn, int32_t _fs, uint32_t _chip_shift)
{
galileo_e1_code_gen_complex_sampled(_dest, _Signal, _cboc, _prn, _fs, _chip_shift, false);
}

11
src/algorithms/libs/galileo_e1_signal_processing.h
View File

@ -33,12 +33,13 @@
#define GNSS_SDR_GALILEO_E1_SIGNAL_PROCESSING_H_
#include <complex>
#include <cstdint>
/*!
* \brief This function generates Galileo E1 code (can select E1B or E1C sinboc).
*
*/
void galileo_e1_code_gen_sinboc11_float(float* _dest, char _Signal[3], unsigned int _prn);
void galileo_e1_code_gen_sinboc11_float(float* _dest, char _Signal[3], uint32_t _prn);
/*!
* \brief This function generates Galileo E1 code (can select E1B or E1C, cboc or sinboc
@ -46,7 +47,7 @@ void galileo_e1_code_gen_sinboc11_float(float* _dest, char _Signal[3], unsigned
*
*/
void galileo_e1_code_gen_float_sampled(float* _dest, char _Signal[3],
bool _cboc, unsigned int _prn, signed int _fs, unsigned int _chip_shift,
bool _cboc, uint32_t _prn, int32_t _fs, uint32_t _chip_shift,
bool _secondary_flag);
/*!
@ -55,7 +56,7 @@ void galileo_e1_code_gen_float_sampled(float* _dest, char _Signal[3],
*
*/
void galileo_e1_code_gen_float_sampled(float* _dest, char _Signal[3],
bool _cboc, unsigned int _prn, signed int _fs, unsigned int _chip_shift);
bool _cboc, uint32_t _prn, int32_t _fs, uint32_t _chip_shift);
/*!
* \brief This function generates Galileo E1 code (can select E1B or E1C, cboc or sinboc
@ -63,13 +64,13 @@ void galileo_e1_code_gen_float_sampled(float* _dest, char _Signal[3],
*
*/
void galileo_e1_code_gen_complex_sampled(std::complex<float>* _dest, char _Signal[3],
bool _cboc, unsigned int _prn, signed int _fs, unsigned int _chip_shift,
bool _cboc, uint32_t _prn, int32_t _fs, uint32_t _chip_shift,
bool _secondary_flag);
/*!
* \brief galileo_e1_code_gen_complex_sampled without _secondary_flag for backward compatibility.
*/
void galileo_e1_code_gen_complex_sampled(std::complex<float>* _dest, char _Signal[3],
bool _cboc, unsigned int _prn, signed int _fs, unsigned int _chip_shift);
bool _cboc, uint32_t _prn, int32_t _fs, uint32_t _chip_shift);
#endif /* GNSS_SDR_GALILEO_E1_SIGNAL_PROCESSING_H_ */

27
src/algorithms/libs/galileo_e5_signal_processing.cc
View File

@ -37,11 +37,11 @@
#include <gnuradio/gr_complex.h>
void galileo_e5_a_code_gen_complex_primary(std::complex<float>* _dest, signed int _prn, char _Signal[3])
void galileo_e5_a_code_gen_complex_primary(std::complex<float>* _dest, int32_t _prn, char _Signal[3])
{
unsigned int prn = _prn - 1;
unsigned int index = 0;
int a[4];
uint32_t prn = _prn - 1;
uint32_t index = 0;
int32_t a[4];
if ((_prn < 1) || (_prn > 50))
{
return;
@ -80,7 +80,7 @@ void galileo_e5_a_code_gen_complex_primary(std::complex<float>* _dest, signed in
}
else if (_Signal[0] == '5' && _Signal[1] == 'X')
{
int b[4];
int32_t b[4];
for (size_t i = 0; i < Galileo_E5a_I_PRIMARY_CODE[prn].length() - 1; i++)
{
hex_to_binary_converter(a, Galileo_E5a_I_PRIMARY_CODE[prn].at(i));
@ -99,19 +99,20 @@ void galileo_e5_a_code_gen_complex_primary(std::complex<float>* _dest, signed in
}
}
void galileo_e5_a_code_gen_complex_sampled(std::complex<float>* _dest, char _Signal[3],
unsigned int _prn, signed int _fs, unsigned int _chip_shift)
uint32_t _prn, int32_t _fs, uint32_t _chip_shift)
{
unsigned int _samplesPerCode;
unsigned int delay;
const unsigned int _codeLength = Galileo_E5a_CODE_LENGTH_CHIPS;
const int _codeFreqBasis = Galileo_E5a_CODE_CHIP_RATE_HZ;
uint32_t _samplesPerCode;
uint32_t delay;
const uint32_t _codeLength = Galileo_E5a_CODE_LENGTH_CHIPS;
const int32_t _codeFreqBasis = Galileo_E5a_CODE_CHIP_RATE_HZ;
std::complex<float>* _code = new std::complex<float>[_codeLength]();
galileo_e5_a_code_gen_complex_primary(_code, _prn, _Signal);
_samplesPerCode = static_cast<unsigned int>(static_cast<double>(_fs) / (static_cast<double>(_codeFreqBasis) / static_cast<double>(_codeLength)));
_samplesPerCode = static_cast<uint32_t>(static_cast<double>(_fs) / (static_cast<double>(_codeFreqBasis) / static_cast<double>(_codeLength)));
delay = ((_codeLength - _chip_shift) % _codeLength) * _samplesPerCode / _codeLength;
@ -121,12 +122,12 @@ void galileo_e5_a_code_gen_complex_sampled(std::complex<float>* _dest, char _Sig
if (posix_memalign((void**)&_resampled_signal, 16, _samplesPerCode * sizeof(gr_complex)) == 0)
{
};
resampler(_code, _resampled_signal, _codeFreqBasis, _fs, _codeLength, _samplesPerCode); //resamples code to fs
resampler(_code, _resampled_signal, _codeFreqBasis, _fs, _codeLength, _samplesPerCode); // resamples code to fs
delete[] _code;
_code = _resampled_signal;
}
for (unsigned int i = 0; i < _samplesPerCode; i++)
for (uint32_t i = 0; i < _samplesPerCode; i++)
{
_dest[(i + delay) % _samplesPerCode] = _code[i];
}

8
src/algorithms/libs/galileo_e5_signal_processing.h
View File

@ -35,23 +35,23 @@
#define GNSS_SDR_GALILEO_E5_SIGNAL_PROCESSING_H_
#include <complex>
#include <cstdint>
/*!
* \brief Generates Galileo E5a code at 1 sample/chip
* bool _pilot generates E5aQ code if true and E5aI (data signal) if false.
*/
void galileo_e5_a_code_gen_complex_primary(std::complex<float>* _dest, signed int _prn, char _Signal[3]);
void galileo_e5_a_code_gen_complex_primary(std::complex<float>* _dest, int32_t _prn, char _Signal[3]);
void galileo_e5_a_code_gen_tiered(std::complex<float>* _dest, std::complex<float>* _primary, unsigned int _prn, char _Signal[3]);
void galileo_e5_a_code_gen_tiered(std::complex<float>* _dest, std::complex<float>* _primary, uint32_t _prn, char _Signal[3]);
/*!
* \brief Generates Galileo E5a complex code, shifted to the desired chip and sampled at a frequency fs
* bool _pilot generates E5aQ code if true and E5aI (data signal) if false.
*/
void galileo_e5_a_code_gen_complex_sampled(std::complex<float>* _dest,
char _Signal[3], unsigned int _prn, signed int _fs, unsigned int _chip_shift);
char _Signal[3], uint32_t _prn, int32_t _fs, uint32_t _chip_shift);
#endif /* GNSS_SDR_GALILEO_E5_SIGNAL_PROCESSING_H_ */

22
src/algorithms/libs/glonass_l1_signal_processing.cc
View File

@ -32,17 +32,17 @@
#include "glonass_l1_signal_processing.h"
auto auxCeil = [](float x) { return static_cast<int>(static_cast<long>((x) + 1)); };
auto auxCeil = [](float x) { return static_cast<int32_t>(static_cast<int64_t>((x) + 1)); };
void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest, /* signed int _prn,*/ unsigned int _chip_shift)
void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest, /* int32_t _prn,*/ uint32_t _chip_shift)
{
const unsigned int _code_length = 511;
const uint32_t _code_length = 511;
bool G1[_code_length];
bool G1_register[9];
bool feedback1;
bool aux;
unsigned int delay;
unsigned int lcv, lcv2;
uint32_t delay;
uint32_t lcv, lcv2;
for (lcv = 0; lcv < 9; lcv++)
{
@ -104,26 +104,26 @@ void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest, /* signed int _p
/*
* Generates complex GLONASS L1 C/A code for the desired SV ID and sampled to specific sampling frequency
*/
void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, /* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift)
void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, /* uint32_t _prn,*/ int32_t _fs, uint32_t _chip_shift)
{
// This function is based on the GNU software GPS for MATLAB in the Kay Borre book
std::complex<float> _code[511];
signed int _samplesPerCode, _codeValueIndex;
int32_t _samplesPerCode, _codeValueIndex;
float _ts;
float _tc;
float aux;
const signed int _codeFreqBasis = 511000; //Hz
const signed int _codeLength = 511;
const int32_t _codeFreqBasis = 511000; //Hz
const int32_t _codeLength = 511;
//--- Find number of samples per spreading code ----------------------------
_samplesPerCode = static_cast<signed int>(static_cast<double>(_fs) / static_cast<double>(_codeFreqBasis / _codeLength));
_samplesPerCode = static_cast<int32_t>(static_cast<double>(_fs) / static_cast<double>(_codeFreqBasis / _codeLength));
//--- Find time constants --------------------------------------------------
_ts = 1.0 / static_cast<float>(_fs); // Sampling period in sec
_tc = 1.0 / static_cast<float>(_codeFreqBasis); // C/A chip period in sec
glonass_l1_ca_code_gen_complex(_code, _chip_shift); //generate C/A code 1 sample per chip
for (signed int i = 0; i < _samplesPerCode; i++)
for (int32_t i = 0; i < _samplesPerCode; i++)
{
//=== Digitizing =======================================================

7
src/algorithms/libs/glonass_l1_signal_processing.h
View File

@ -34,14 +34,15 @@
#define GNSS_SDR_GLONASS_SDR_SIGNAL_PROCESSING_H_
#include <complex>
#include <cstdint>
//!Generates complex GLONASS L1 C/A code for the desired SV ID and code shift, and sampled to specific sampling frequency
void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest, /*signed int _prn,*/ unsigned int _chip_shift);
void glonass_l1_ca_code_gen_complex(std::complex<float>* _dest, /*int32_t _prn,*/ uint32_t _chip_shift);
//! Generates N complex GLONASS L1 C/A codes for the desired SV ID and code shift
void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, /* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift, unsigned int _ncodes);
void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, /* uint32_t _prn,*/ int32_t _fs, uint32_t _chip_shift, uint32_t _ncodes);
//! Generates complex GLONASS L1 C/A code for the desired SV ID and code shift
void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, /* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift);
void glonass_l1_ca_code_gen_complex_sampled(std::complex<float>* _dest, /* uint32_t _prn,*/ int32_t _fs, uint32_t _chip_shift);
#endif /* GNSS_SDR_GLONASS_SDR_SIGNAL_PROCESSING_H_ */

22
src/algorithms/libs/glonass_l2_signal_processing.cc
View File

@ -32,17 +32,17 @@
#include "glonass_l2_signal_processing.h"
auto auxCeil = [](float x) { return static_cast<int>(static_cast<long>((x) + 1)); };
auto auxCeil = [](float x) { return static_cast<int32_t>(static_cast<int64_t>((x) + 1)); };
void glonass_l2_ca_code_gen_complex(std::complex<float>* _dest, /* signed int _prn,*/ unsigned int _chip_shift)
void glonass_l2_ca_code_gen_complex(std::complex<float>* _dest, /* int32_t _prn,*/ uint32_t _chip_shift)
{
const unsigned int _code_length = 511;
const uint32_t _code_length = 511;
bool G1[_code_length];
bool G1_register[9];
bool feedback1;
bool aux;
unsigned int delay;
unsigned int lcv, lcv2;
uint32_t delay;
uint32_t lcv, lcv2;
for (lcv = 0; lcv < 9; lcv++)
{
@ -104,26 +104,26 @@ void glonass_l2_ca_code_gen_complex(std::complex<float>* _dest, /* signed int _p
/*
* Generates complex GLONASS L2 C/A code for the desired SV ID and sampled to specific sampling frequency
*/
void glonass_l2_ca_code_gen_complex_sampled(std::complex<float>* _dest, /* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift)
void glonass_l2_ca_code_gen_complex_sampled(std::complex<float>* _dest, /* uint32_t _prn,*/ int32_t _fs, uint32_t _chip_shift)
{
// This function is based on the GNU software GPS for MATLAB in the Kay Borre book
std::complex<float> _code[511];
signed int _samplesPerCode, _codeValueIndex;
int32_t _samplesPerCode, _codeValueIndex;
float _ts;
float _tc;
float aux;
const signed int _codeFreqBasis = 511000; //Hz
const signed int _codeLength = 511;
const int32_t _codeFreqBasis = 511000; //Hz
const int32_t _codeLength = 511;
//--- Find number of samples per spreading code ----------------------------
_samplesPerCode = static_cast<signed int>(static_cast<double>(_fs) / static_cast<double>(_codeFreqBasis / _codeLength));
_samplesPerCode = static_cast<int32_t>(static_cast<double>(_fs) / static_cast<double>(_codeFreqBasis / _codeLength));
//--- Find time constants --------------------------------------------------
_ts = 1.0 / static_cast<float>(_fs); // Sampling period in sec
_tc = 1.0 / static_cast<float>(_codeFreqBasis); // C/A chip period in sec
glonass_l2_ca_code_gen_complex(_code, _chip_shift); //generate C/A code 1 sample per chip
for (signed int i = 0; i < _samplesPerCode; i++)
for (int32_t i = 0; i < _samplesPerCode; i++)
{
//=== Digitizing =======================================================

7
src/algorithms/libs/glonass_l2_signal_processing.h
View File

@ -34,14 +34,15 @@
#define GNSS_SDR_GLONASS_L2_SIGNAL_PROCESSING_H_
#include <complex>
#include <cstdint>
//!Generates complex GLONASS L2 C/A code for the desired SV ID and code shift, and sampled to specific sampling frequency
void glonass_l2_ca_code_gen_complex(std::complex<float>* _dest, /*signed int _prn,*/ unsigned int _chip_shift);
void glonass_l2_ca_code_gen_complex(std::complex<float>* _dest, /*int32_t _prn,*/ uint32_t _chip_shift);
//! Generates N complex GLONASS L2 C/A codes for the desired SV ID and code shift
void glonass_l2_ca_code_gen_complex_sampled(std::complex<float>* _dest, /* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift, unsigned int _ncodes);
void glonass_l2_ca_code_gen_complex_sampled(std::complex<float>* _dest, /* uint32_t _prn,*/ int32_t _fs, uint32_t _chip_shift, uint32_t _ncodes);
//! Generates complex GLONASS L2 C/A code for the desired SV ID and code shift
void glonass_l2_ca_code_gen_complex_sampled(std::complex<float>* _dest, /* unsigned int _prn,*/ signed int _fs, unsigned int _chip_shift);
void glonass_l2_ca_code_gen_complex_sampled(std::complex<float>* _dest, /* uint32_t _prn,*/ int32_t _fs, uint32_t _chip_shift);
#endif /* GNSS_SDR_GLONASS_L2_SIGNAL_PROCESSING_H_ */

305
src/algorithms/libs/gnss_sdr_fpga_sample_counter.cc Normal file
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@ -0,0 +1,305 @@
/*!
* \file gnss_sdr_fpga_sample_counter.cc
* \brief Simple block to report the current receiver time based on the output of the tracking or telemetry blocks
* \author Javier Arribas 2018. jarribas(at)cttc.es
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (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 <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gnss_sdr_fpga_sample_counter.h"
#include "gnss_synchro.h"
#include <gnuradio/io_signature.h>
#include <cmath>
#include <iostream>
#include <string>
#include <glog/logging.h>
#include <fcntl.h> // libraries used by the GIPO
#include <sys/mman.h> // libraries used by the GIPO
#include <inttypes.h>
#define PAGE_SIZE 0x10000 // default page size for the multicorrelator memory map
#define TEST_REG_SANITY_CHECK 0x55AA // value to check the presence of the test register (to detect the hw)
gnss_sdr_fpga_sample_counter::gnss_sdr_fpga_sample_counter(double _fs, int32_t _interval_ms) : gr::block("fpga_fpga_sample_counter",
gr::io_signature::make(0, 0, 0),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
message_port_register_out(pmt::mp("fpga_sample_counter"));
set_max_noutput_items(1);
interval_ms = _interval_ms;
fs = _fs;
//printf("CREATOR fs = %f\n", fs);
//printf("CREATOR interval_ms = %" PRIu32 "\n", interval_ms);
samples_per_output = std::round(fs * static_cast<double>(interval_ms) / 1e3);
//printf("CREATOR samples_per_output = %" PRIu32 "\n", samples_per_output);
//todo: Load here the hardware counter register with this amount of samples. It should produce an
//interrupt every samples_per_output count.
//The hardware timer must keep always interrupting the PS. It must not wait for the interrupt to
//be served.
open_device();
sample_counter = 0ULL;
current_T_rx_ms = 0;
current_s = 0;
current_m = 0;
current_h = 0;
current_days = 0;
report_interval_ms = 1000; // default reporting 1 second
flag_enable_send_msg = false; // enable it for reporting time with asynchronous message
flag_m = false;
flag_h = false;
flag_days = false;
}
gnss_sdr_fpga_sample_counter_sptr gnss_sdr_make_fpga_sample_counter(double _fs, int32_t _interval_ms)
{
gnss_sdr_fpga_sample_counter_sptr fpga_sample_counter_(new gnss_sdr_fpga_sample_counter(_fs, _interval_ms));
return fpga_sample_counter_;
}
// Called by gnuradio to enable drivers, etc for i/o devices.
bool gnss_sdr_fpga_sample_counter::start()
{
//todo: place here the RE-INITIALIZATION routines. This function will be called by GNURadio at every start of the flowgraph.
// configure the number of samples per output in the FPGA and enable the interrupts
configure_samples_per_output(samples_per_output);
// return true if everything is ok.
return true;
}
// Called by GNURadio to disable drivers, etc for i/o devices.
bool gnss_sdr_fpga_sample_counter::stop()
{
//todo: place here the routines to stop the associated hardware (if needed).This function will be called by GNURadio at every stop of the flowgraph.
// return true if everything is ok.
close_device();
return true;
}
int gnss_sdr_fpga_sample_counter::general_work(int noutput_items __attribute__((unused)),
__attribute__((unused)) gr_vector_int &ninput_items,
__attribute__((unused)) gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items)
{
//todo: Call here a function that waits for an interrupt. Do not open a thread,
//it must be a simple call to a BLOCKING function.
// The function will return the actual absolute sample count of the internal counter of the timmer.
// store the sample count in class member sample_counter
// Possible problem: what happen if the PS is overloaded and gnuradio does not call this function
// with the sufficient rate to catch all the interrupts in the counter. To be evaluated later.
uint32_t counter = wait_for_interrupt_and_read_counter();
uint64_t samples_passed = 2*static_cast<uint64_t>(samples_per_output) - static_cast<uint64_t>(counter); // ellapsed samples
//printf("============================================ interrupter : samples_passed = %" PRIu64 "\n", samples_passed);
// Note: at this moment the sample counter is implemented as a sample counter that decreases to zero and then it is automatically
// reloaded again and keeps counter. It is done in this way to minimize the logic in the FPGA and maximize the FPGA clock performance
// (it takes less resources and latency in the FPGA to compare a number against a fixed value like zero than to compare it to a programmable
// variable number).
sample_counter = sample_counter + samples_passed; //samples_per_output;
Gnss_Synchro *out = reinterpret_cast<Gnss_Synchro *>(output_items[0]);
out[0] = Gnss_Synchro();
out[0].Flag_valid_symbol_output = false;
out[0].Flag_valid_word = false;
out[0].Channel_ID = -1;
out[0].fs = fs;
if ((current_T_rx_ms % report_interval_ms) == 0)
{
//printf("time to print sample_counter = %" PRIu64 "\n", sample_counter);
//printf("time to print current Tx ms : %" PRIu64 "\n", current_T_rx_ms);
//printf("time to print report_interval_ms : %" PRIu32 "\n", report_interval_ms);
//printf("time to print %f\n", (current_T_rx_ms % report_interval_ms));
current_s++;
if ((current_s % 60) == 0)
{
current_s = 0;
current_m++;
flag_m = true;
if ((current_m % 60) == 0)
{
current_m = 0;
current_h++;
flag_h = true;
if ((current_h % 24) == 0)
{
current_h = 0;
current_days++;
flag_days = true;
}
}
}
if (flag_days)
{
std::string day;
if (current_days == 1)
{
day = " day ";
}
else
{
day = " days ";
}
std::cout << "Current receiver time: " << current_days << day << current_h << " h " << current_m << " min " << current_s << " s" << std::endl;
}
else
{
if (flag_h)
{
std::cout << "Current receiver time: " << current_h << " h " << current_m << " min " << current_s << " s" << std::endl;
}
else
{
if (flag_m)
{
std::cout << "Current receiver time: " << current_m << " min " << current_s << " s" << std::endl;
}
else
{
std::cout << "Current receiver time: " << current_s << " s" << std::endl;
}
}
}
if (flag_enable_send_msg)
{
message_port_pub(pmt::mp("receiver_time"), pmt::from_double(static_cast<double>(current_T_rx_ms) / 1000.0));
}
}
out[0].Tracking_sample_counter = sample_counter;
//current_T_rx_ms = (sample_counter * 1000) / samples_per_output;
current_T_rx_ms = interval_ms*(sample_counter) / samples_per_output;
return 1;
}
uint32_t gnss_sdr_fpga_sample_counter::test_register(uint32_t writeval)
{
uint32_t readval;
// write value to test register
map_base[3] = writeval;
// read value from test register
readval = map_base[3];
// return read value
return readval;
}
void gnss_sdr_fpga_sample_counter::configure_samples_per_output(uint32_t interval)
{
// note : the counter is a 48-bit value in the HW.
//printf("============================================ total counter - interrupted interval : %" PRIu32 "\n", interval);
//uint64_t temp_interval;
//temp_interval = (interval & static_cast<uint32_t>(0xFFFFFFFF));
//printf("LSW counter - interrupted interval : %" PRIu32 "\n", static_cast<uint32_t>(temp_interval));
//map_base[0] = static_cast<uint32_t>(temp_interval);
map_base[0] = interval - 1;
//temp_interval = (interval >> 32) & static_cast<uint32_t>(0xFFFFFFFF);
//printf("MSbits counter - interrupted interval : %" PRIu32 "\n", static_cast<uint32_t>(temp_interval));
//map_base[1] = static_cast<uint32_t>(temp_interval); // writing the most significant bits also enables the interrupts
}
void gnss_sdr_fpga_sample_counter::open_device()
{
// open communication with HW accelerator
if ((fd = open(device_name.c_str(), O_RDWR | O_SYNC)) == -1)
{
LOG(WARNING) << "Cannot open deviceio" << device_name;
std::cout << "Counter-Intr: cannot open deviceio" << device_name << std::endl;
}
map_base = reinterpret_cast<volatile uint32_t *>(mmap(NULL, PAGE_SIZE,
PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0));
if (map_base == reinterpret_cast<void *>(-1))
{
LOG(WARNING) << "Cannot map the FPGA acquisition module into user memory";
std::cout << "Counter-Intr: cannot map deviceio" << device_name << std::endl;
}
// sanity check : check test register
uint32_t writeval = TEST_REG_SANITY_CHECK;
uint32_t readval;
readval = gnss_sdr_fpga_sample_counter::test_register(writeval);
if (writeval != readval)
{
LOG(WARNING) << "Acquisition test register sanity check failed";
}
else
{
LOG(INFO) << "Acquisition test register sanity check success!";
//std::cout << "Acquisition test register sanity check success!" << std::endl;
}
}
void gnss_sdr_fpga_sample_counter::close_device()
{
//printf("=========================================== NOW closing device ...\n");
map_base[2] = 0; // disable the generation of the interrupt in the device
uint32_t *aux = const_cast<uint32_t *>(map_base);
if (munmap(static_cast<void *>(aux), PAGE_SIZE) == -1)
{
printf("Failed to unmap memory uio\n");
}
close(fd);
}
uint32_t gnss_sdr_fpga_sample_counter::wait_for_interrupt_and_read_counter()
{
int32_t irq_count;
ssize_t nb;
int32_t counter;
// enable interrupts
int32_t reenable = 1;
write(fd, reinterpret_cast<void *>(&reenable), sizeof(int32_t));
// wait for interrupt
//printf("============================================ interrupter : going to wait for interupt\n");
nb = read(fd, &irq_count, sizeof(irq_count));
//printf("============================================ interrupter : interrupt received\n");
//printf("interrupt received\n");
if (nb != sizeof(irq_count))
{
printf("acquisition module Read failed to retrieve 4 bytes!\n");
printf("acquisition module Interrupt number %d\n", irq_count);
}
// acknowledge the interrupt
map_base[1] = 0; // writing anything to reg 1 acknowledges the interrupt
// add number of passed samples or read the current counter value for more accuracy
counter = samples_per_output; //map_base[0];
return counter;
}

81
src/algorithms/libs/gnss_sdr_fpga_sample_counter.h Normal file
View File

@ -0,0 +1,81 @@
/*!
* \file gnss_sdr_fpga_sample_counter.h
* \brief Simple block to report the current receiver time based on the output of the tracking or telemetry blocks
* \author Javier Arribas 2018. jarribas(at)cttc.es
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (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 <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_FPGA_sample_counter_H_
#define GNSS_SDR_FPGA_sample_counter_H_
#include <gnuradio/block.h>
#include <boost/shared_ptr.hpp>
#include <cstdint>
class gnss_sdr_fpga_sample_counter;
typedef boost::shared_ptr<gnss_sdr_fpga_sample_counter> gnss_sdr_fpga_sample_counter_sptr;
gnss_sdr_fpga_sample_counter_sptr gnss_sdr_make_fpga_sample_counter(double _fs, int32_t _interval_ms);
class gnss_sdr_fpga_sample_counter : public gr::block
{
private:
gnss_sdr_fpga_sample_counter(double _fs, int32_t _interval_ms);
uint32_t test_register(uint32_t writeval);
void configure_samples_per_output(uint32_t interval);
void close_device(void);
void open_device(void);
bool start();
bool stop();
uint32_t wait_for_interrupt_and_read_counter(void);
uint32_t samples_per_output;
double fs;
uint64_t sample_counter;
uint32_t interval_ms;
uint64_t current_T_rx_ms; // Receiver time in ms since the beginning of the run
uint32_t current_s; // Receiver time in seconds, modulo 60
bool flag_m; // True if the receiver has been running for at least 1 minute
uint32_t current_m; // Receiver time in minutes, modulo 60
bool flag_h; // True if the receiver has been running for at least 1 hour
uint32_t current_h; // Receiver time in hours, modulo 24
bool flag_days; // True if the receiver has been running for at least 1 day
uint32_t current_days; // Receiver time in days since the beginning of the run
int32_t report_interval_ms;
bool flag_enable_send_msg;
int32_t fd; // driver descriptor
volatile uint32_t *map_base; // driver memory map
std::string device_name = "/dev/uio26"; // HW device name
public:
friend gnss_sdr_fpga_sample_counter_sptr gnss_sdr_make_fpga_sample_counter(double _fs, int32_t _interval_ms);
int general_work(int noutput_items,
gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items);
};
#endif /*GNSS_SDR_FPGA_sample_counter_H_*/

24
src/algorithms/libs/gnss_sdr_sample_counter.cc
View File

@ -36,13 +36,17 @@
#include <iostream>
#include <string>
gnss_sdr_sample_counter::gnss_sdr_sample_counter(double _fs, size_t _size) : gr::sync_decimator("sample_counter",
gr::io_signature::make(1, 1, _size),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
static_cast<unsigned int>(std::floor(_fs * 0.001)))
gnss_sdr_sample_counter::gnss_sdr_sample_counter(double _fs, int32_t _interval_ms, size_t _size) : gr::sync_decimator("sample_counter",
gr::io_signature::make(1, 1, _size),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
static_cast<uint32_t>(std::round(_fs * static_cast<double>(_interval_ms) / 1e3)))
{
message_port_register_out(pmt::mp("sample_counter"));
set_max_noutput_items(1);
interval_ms = _interval_ms;
fs = _fs;
samples_per_output = std::round(fs * static_cast<double>(interval_ms) / 1e3);
sample_counter = 0;
current_T_rx_ms = 0;
current_s = 0;
current_m = 0;
@ -56,9 +60,9 @@ gnss_sdr_sample_counter::gnss_sdr_sample_counter(double _fs, size_t _size) : gr:
}
gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter(double _fs, size_t _size)
gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter(double _fs, int32_t _interval_ms, size_t _size)
{
gnss_sdr_sample_counter_sptr sample_counter_(new gnss_sdr_sample_counter(_fs, _size));
gnss_sdr_sample_counter_sptr sample_counter_(new gnss_sdr_sample_counter(_fs, _interval_ms, _size));
return sample_counter_;
}
@ -69,6 +73,10 @@ int gnss_sdr_sample_counter::work(int noutput_items __attribute__((unused)),
{
Gnss_Synchro *out = reinterpret_cast<Gnss_Synchro *>(output_items[0]);
out[0] = Gnss_Synchro();
out[0].Flag_valid_symbol_output = false;
out[0].Flag_valid_word = false;
out[0].Channel_ID = -1;
out[0].fs = fs;
if ((current_T_rx_ms % report_interval_ms) == 0)
{
current_s++;
@ -127,6 +135,8 @@ int gnss_sdr_sample_counter::work(int noutput_items __attribute__((unused)),
message_port_pub(pmt::mp("receiver_time"), pmt::from_double(static_cast<double>(current_T_rx_ms) / 1000.0));
}
}
current_T_rx_ms++;
sample_counter += samples_per_output;
out[0].Tracking_sample_counter = sample_counter;
current_T_rx_ms += interval_ms;
return 1;
}

29
src/algorithms/libs/gnss_sdr_sample_counter.h
View File

@ -33,31 +33,36 @@
#include <gnuradio/sync_decimator.h>
#include <boost/shared_ptr.hpp>
#include <cstdint>
class gnss_sdr_sample_counter;
typedef boost::shared_ptr<gnss_sdr_sample_counter> gnss_sdr_sample_counter_sptr;
gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter(double _fs, size_t _size);
gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter(double _fs, int32_t _interval_ms, size_t _size);
class gnss_sdr_sample_counter : public gr::sync_decimator
{
private:
gnss_sdr_sample_counter(double _fs, size_t _size);
long long int current_T_rx_ms; // Receiver time in ms since the beginning of the run
unsigned int current_s; // Receiver time in seconds, modulo 60
bool flag_m; // True if the receiver has been running for at least 1 minute
unsigned int current_m; // Receiver time in minutes, modulo 60
bool flag_h; // True if the receiver has been running for at least 1 hour
unsigned int current_h; // Receiver time in hours, modulo 24
bool flag_days; // True if the receiver has been running for at least 1 day
unsigned int current_days; // Receiver time in days since the beginning of the run
int report_interval_ms;
gnss_sdr_sample_counter(double _fs, int32_t _interval_ms, size_t _size);
uint32_t samples_per_output;
double fs;
uint64_t sample_counter;
int32_t interval_ms;
int64_t current_T_rx_ms; // Receiver time in ms since the beginning of the run
uint32_t current_s; // Receiver time in seconds, modulo 60
bool flag_m; // True if the receiver has been running for at least 1 minute
uint32_t current_m; // Receiver time in minutes, modulo 60
bool flag_h; // True if the receiver has been running for at least 1 hour
uint32_t current_h; // Receiver time in hours, modulo 24
bool flag_days; // True if the receiver has been running for at least 1 day
uint32_t current_days; // Receiver time in days since the beginning of the run
int32_t report_interval_ms;
bool flag_enable_send_msg;
public:
friend gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter(double _fs, size_t _size);
friend gnss_sdr_sample_counter_sptr gnss_sdr_make_sample_counter(double _fs, int32_t _interval_ms, size_t _size);
int work(int noutput_items,
gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items);

22
src/algorithms/libs/gnss_sdr_time_counter.h
View File

@ -33,7 +33,7 @@
#include <gnuradio/block.h>
#include <boost/shared_ptr.hpp>
#include <cstdint>
class gnss_sdr_time_counter;
@ -45,20 +45,20 @@ class gnss_sdr_time_counter : public gr::block
{
private:
gnss_sdr_time_counter();
long long int current_T_rx_ms; // Receiver time in ms since the beginning of the run
unsigned int current_s; // Receiver time in seconds, modulo 60
bool flag_m; // True if the receiver has been running for at least 1 minute
unsigned int current_m; // Receiver time in minutes, modulo 60
bool flag_h; // True if the receiver has been running for at least 1 hour
unsigned int current_h; // Receiver time in hours, modulo 24
bool flag_days; // True if the receiver has been running for at least 1 day
unsigned int current_days; // Receiver time in days since the beginning of the run
int report_interval_ms;
int64_t current_T_rx_ms; // Receiver time in ms since the beginning of the run
uint32_t current_s; // Receiver time in seconds, modulo 60
bool flag_m; // True if the receiver has been running for at least 1 minute
uint32_t current_m; // Receiver time in minutes, modulo 60
bool flag_h; // True if the receiver has been running for at least 1 hour
uint32_t current_h; // Receiver time in hours, modulo 24
bool flag_days; // True if the receiver has been running for at least 1 day
uint32_t current_days; // Receiver time in days since the beginning of the run
int32_t report_interval_ms;
public:
friend gnss_sdr_time_counter_sptr gnss_sdr_make_time_counter();
int general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items __attribute__((unused)), gr_vector_void_star &output_items);
gr_vector_const_void_star &input_items __attribute__((unused)), gr_vector_void_star &output_items);
};
#endif /*GNSS_SDR_SAMPLE_COUNTER_H_*/

27
src/algorithms/libs/gnss_signal_processing.cc
View File

@ -36,9 +36,9 @@
#include <gnuradio/fxpt_nco.h>
auto auxCeil2 = [](float x) { return static_cast<int>(static_cast<long>((x) + 1)); };
auto auxCeil2 = [](float x) { return static_cast<int32_t>(static_cast<int64_t>((x) + 1)); };
void complex_exp_gen(std::complex<float>* _dest, double _f, double _fs, unsigned int _samps)
void complex_exp_gen(std::complex<float>* _dest, double _f, double _fs, uint32_t _samps)
{
gr::fxpt_nco d_nco;
d_nco.set_freq((GPS_TWO_PI * _f) / _fs);
@ -46,14 +46,15 @@ void complex_exp_gen(std::complex<float>* _dest, double _f, double _fs, unsigned
}
void complex_exp_gen_conj(std::complex<float>* _dest, double _f, double _fs, unsigned int _samps)
void complex_exp_gen_conj(std::complex<float>* _dest, double _f, double _fs, uint32_t _samps)
{
gr::fxpt_nco d_nco;
d_nco.set_freq(-(GPS_TWO_PI * _f) / _fs);
d_nco.sincos(_dest, _samps, 1);
}
void hex_to_binary_converter(int* _dest, char _from)
void hex_to_binary_converter(int32_t* _dest, char _from)
{
switch (_from)
{
@ -156,15 +157,16 @@ void hex_to_binary_converter(int* _dest, char _from)
}
}
void resampler(float* _from, float* _dest, float _fs_in,
float _fs_out, unsigned int _length_in, unsigned int _length_out)
void resampler(const float* _from, float* _dest, float _fs_in,
float _fs_out, uint32_t _length_in, uint32_t _length_out)
{
unsigned int _codeValueIndex;
uint32_t _codeValueIndex;
float aux;
//--- Find time constants --------------------------------------------------
const float _t_in = 1 / _fs_in; // Incoming sampling period in sec
const float _t_out = 1 / _fs_out; // Out sampling period in sec
for (unsigned int i = 0; i < _length_out - 1; i++)
for (uint32_t i = 0; i < _length_out - 1; i++)
{
//=== Digitizing =======================================================
//--- compute index array to read sampled values -------------------------
@ -179,15 +181,16 @@ void resampler(float* _from, float* _dest, float _fs_in,
_dest[_length_out - 1] = _from[_length_in - 1];
}
void resampler(std::complex<float>* _from, std::complex<float>* _dest, float _fs_in,
float _fs_out, unsigned int _length_in, unsigned int _length_out)
void resampler(const std::complex<float>* _from, std::complex<float>* _dest, float _fs_in,
float _fs_out, uint32_t _length_in, uint32_t _length_out)
{
unsigned int _codeValueIndex;
uint32_t _codeValueIndex;
float aux;
//--- Find time constants --------------------------------------------------
const float _t_in = 1 / _fs_in; // Incoming sampling period in sec
const float _t_out = 1 / _fs_out; // Out sampling period in sec
for (unsigned int i = 0; i < _length_out - 1; i++)
for (uint32_t i = 0; i < _length_out - 1; i++)
{
//=== Digitizing =======================================================
//--- compute index array to read sampled values -------------------------

19
src/algorithms/libs/gnss_signal_processing.h
View File

@ -36,6 +36,7 @@
#define GNSS_SDR_GNSS_SIGNAL_PROCESSING_H_
#include <complex>
#include <cstdint>
/*!
@ -43,14 +44,14 @@
*
*/
void complex_exp_gen(std::complex<float>* _dest, double _f, double _fs,
unsigned int _samps);
uint32_t _samps);
/*!
* \brief This function generates a conjugate complex exponential in _dest.
*
*/
void complex_exp_gen_conj(std::complex<float>* _dest, double _f, double _fs,
unsigned int _samps);
uint32_t _samps);
/*!
@ -58,21 +59,21 @@ void complex_exp_gen_conj(std::complex<float>* _dest, double _f, double _fs,
* to binary (the output are 4 ints with +1 or -1 values).
*
*/
void hex_to_binary_converter(int* _dest, char _from);
void hex_to_binary_converter(int32_t* _dest, char _from);
/*!
* \brief This function resamples a sequence of float values.
*
*/
void resampler(float* _from, float* _dest,
float _fs_in, float _fs_out, unsigned int _length_in,
unsigned int _length_out);
void resampler(const float* _from, float* _dest,
float _fs_in, float _fs_out, uint32_t _length_in,
uint32_t _length_out);
/*!
* \brief This function resamples a sequence of complex values.
*
*/
void resampler(std::complex<float>* _from, std::complex<float>* _dest,
float _fs_in, float _fs_out, unsigned int _length_in,
unsigned int _length_out);
void resampler(const std::complex<float>* _from, std::complex<float>* _dest,
float _fs_in, float _fs_out, uint32_t _length_in,
uint32_t _length_out);
#endif /* GNSS_SDR_GNSS_SIGNAL_PROCESSING_H_ */

26
src/algorithms/libs/gps_l2c_signal.cc
View File

@ -32,7 +32,6 @@
#include "gps_l2c_signal.h"
#include "GPS_L2C.h"
#include <cstdint>
#include <cmath>
@ -42,11 +41,11 @@ int32_t gps_l2c_m_shift(int32_t x)
}
void gps_l2c_m_code(int32_t* _dest, unsigned int _prn)
void gps_l2c_m_code(int32_t* _dest, uint32_t _prn)
{
int32_t x;
x = GPS_L2C_M_INIT_REG[_prn - 1];
for (int n = 0; n < GPS_L2_M_CODE_LENGTH_CHIPS; n++)
for (int32_t n = 0; n < GPS_L2_M_CODE_LENGTH_CHIPS; n++)
{
_dest[n] = static_cast<int8_t>(x & 1);
x = gps_l2c_m_shift(x);
@ -54,7 +53,7 @@ void gps_l2c_m_code(int32_t* _dest, unsigned int _prn)
}
void gps_l2c_m_code_gen_complex(std::complex<float>* _dest, unsigned int _prn)
void gps_l2c_m_code_gen_complex(std::complex<float>* _dest, uint32_t _prn)
{
int32_t* _code = new int32_t[GPS_L2_M_CODE_LENGTH_CHIPS];
@ -63,7 +62,7 @@ void gps_l2c_m_code_gen_complex(std::complex<float>* _dest, unsigned int _prn)
gps_l2c_m_code(_code, _prn);
}
for (signed int i = 0; i < GPS_L2_M_CODE_LENGTH_CHIPS; i++)
for (int32_t i = 0; i < GPS_L2_M_CODE_LENGTH_CHIPS; i++)
{
_dest[i] = std::complex<float>(1.0 - 2.0 * _code[i], 0.0);
}
@ -71,7 +70,8 @@ void gps_l2c_m_code_gen_complex(std::complex<float>* _dest, unsigned int _prn)
delete[] _code;
}
void gps_l2c_m_code_gen_float(float* _dest, unsigned int _prn)
void gps_l2c_m_code_gen_float(float* _dest, uint32_t _prn)
{
int32_t* _code = new int32_t[GPS_L2_M_CODE_LENGTH_CHIPS];
@ -80,7 +80,7 @@ void gps_l2c_m_code_gen_float(float* _dest, unsigned int _prn)
gps_l2c_m_code(_code, _prn);
}
for (signed int i = 0; i < GPS_L2_M_CODE_LENGTH_CHIPS; i++)
for (int32_t i = 0; i < GPS_L2_M_CODE_LENGTH_CHIPS; i++)
{
_dest[i] = 1.0 - 2.0 * static_cast<float>(_code[i]);
}
@ -92,7 +92,7 @@ void gps_l2c_m_code_gen_float(float* _dest, unsigned int _prn)
/*
* Generates complex GPS L2C M code for the desired SV ID and sampled to specific sampling frequency
*/
void gps_l2c_m_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs)
void gps_l2c_m_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn, int32_t _fs)
{
int32_t* _code = new int32_t[GPS_L2_M_CODE_LENGTH_CHIPS];
if (_prn > 0 and _prn < 51)
@ -100,20 +100,20 @@ void gps_l2c_m_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int
gps_l2c_m_code(_code, _prn);
}
signed int _samplesPerCode, _codeValueIndex;
int32_t _samplesPerCode, _codeValueIndex;
float _ts;
float _tc;
const signed int _codeLength = GPS_L2_M_CODE_LENGTH_CHIPS;
const int32_t _codeLength = GPS_L2_M_CODE_LENGTH_CHIPS;
//--- Find number of samples per spreading code ----------------------------
_samplesPerCode = static_cast<int>(static_cast<double>(_fs) / (static_cast<double>(GPS_L2_M_CODE_RATE_HZ) / static_cast<double>(_codeLength)));
_samplesPerCode = static_cast<int32_t>(static_cast<double>(_fs) / (static_cast<double>(GPS_L2_M_CODE_RATE_HZ) / static_cast<double>(_codeLength)));
//--- Find time constants --------------------------------------------------
_ts = 1.0 / static_cast<float>(_fs); // Sampling period in sec
_tc = 1.0 / static_cast<float>(GPS_L2_M_CODE_RATE_HZ); // C/A chip period in sec
//float aux;
for (signed int i = 0; i < _samplesPerCode; i++)
for (int32_t i = 0; i < _samplesPerCode; i++)
{
//=== Digitizing =======================================================
@ -121,7 +121,7 @@ void gps_l2c_m_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int
//TODO: Check this formula! Seems to start with an extra sample
_codeValueIndex = ceil((_ts * (static_cast<float>(i) + 1)) / _tc) - 1;
//aux = (_ts * (i + 1)) / _tc;
//_codeValueIndex = static_cast<int>(static_cast<long>(aux)) - 1;
//_codeValueIndex = static_cast<int32_t>(static_cast<long>(aux)) - 1;
//--- Make the digitized version of the L2C code -----------------------
if (i == _samplesPerCode - 1)

9
src/algorithms/libs/gps_l2c_signal.h
View File

@ -34,13 +34,14 @@
#define GNSS_SDR_GPS_L2C_SIGNAL_H_
#include <complex>
#include <cstdint>
//!Generates complex GPS L2C M code for the desired SV ID
void gps_l2c_m_code_gen_complex(std::complex<float>* _dest, unsigned int _prn);
void gps_l2c_m_code_gen_float(float* _dest, unsigned int _prn);
//! Generates complex GPS L2C M code for the desired SV ID
void gps_l2c_m_code_gen_complex(std::complex<float>* _dest, uint32_t _prn);
void gps_l2c_m_code_gen_float(float* _dest, uint32_t _prn);
//! Generates complex GPS L2C M code for the desired SV ID, and sampled to specific sampling frequency
void gps_l2c_m_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs);
void gps_l2c_m_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn, int32_t _fs);
#endif /* GNSS_GPS_L2C_SIGNAL_H_ */

69
src/algorithms/libs/gps_l5_signal.cc
View File

@ -89,7 +89,7 @@ std::deque<bool> make_l5i_xa()
std::deque<bool> xa = {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1};
std::deque<bool> y(GPS_L5i_CODE_LENGTH_CHIPS, 0);
for (int i = 0; i < GPS_L5i_CODE_LENGTH_CHIPS; i++)
for (int32_t i = 0; i < GPS_L5i_CODE_LENGTH_CHIPS; i++)
{
y[i] = xa[12];
xa = l5i_xa_shift(xa);
@ -103,7 +103,7 @@ std::deque<bool> make_l5i_xb()
std::deque<bool> xb = {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1};
std::deque<bool> y(GPS_L5i_CODE_LENGTH_CHIPS, 0);
for (int i = 0; i < GPS_L5i_CODE_LENGTH_CHIPS; i++)
for (int32_t i = 0; i < GPS_L5i_CODE_LENGTH_CHIPS; i++)
{
y[i] = xb[12];
xb = l5i_xb_shift(xb);
@ -117,7 +117,7 @@ std::deque<bool> make_l5q_xa()
std::deque<bool> xa = {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1};
std::deque<bool> y(GPS_L5q_CODE_LENGTH_CHIPS, 0);
for (int i = 0; i < GPS_L5q_CODE_LENGTH_CHIPS; i++)
for (int32_t i = 0; i < GPS_L5q_CODE_LENGTH_CHIPS; i++)
{
y[i] = xa[12];
xa = l5q_xa_shift(xa);
@ -131,7 +131,7 @@ std::deque<bool> make_l5q_xb()
std::deque<bool> xb = {1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1};
std::deque<bool> y(GPS_L5q_CODE_LENGTH_CHIPS, 0);
for (int i = 0; i < GPS_L5q_CODE_LENGTH_CHIPS; i++)
for (int32_t i = 0; i < GPS_L5q_CODE_LENGTH_CHIPS; i++)
{
y[i] = xb[12];
xb = l5q_xb_shift(xb);
@ -140,47 +140,47 @@ std::deque<bool> make_l5q_xb()
}
void make_l5i(int32_t* _dest, int prn)
void make_l5i(int32_t* _dest, int32_t prn)
{
int xb_offset = GPS_L5i_INIT_REG[prn];
int32_t xb_offset = GPS_L5i_INIT_REG[prn];
std::deque<bool> xb = make_l5i_xb();
std::deque<bool> xa = make_l5i_xa();
std::deque<bool> xb_shift(GPS_L5i_CODE_LENGTH_CHIPS, 0);
for (int n = 0; n < GPS_L5i_CODE_LENGTH_CHIPS; n++)
for (int32_t n = 0; n < GPS_L5i_CODE_LENGTH_CHIPS; n++)
{
xb_shift[n] = xb[(xb_offset + n) % GPS_L5i_CODE_LENGTH_CHIPS];
}
std::deque<bool> out_code(GPS_L5i_CODE_LENGTH_CHIPS, 0);
for (int n = 0; n < GPS_L5i_CODE_LENGTH_CHIPS; n++)
for (int32_t n = 0; n < GPS_L5i_CODE_LENGTH_CHIPS; n++)
{
_dest[n] = xa[n] xor xb_shift[n];
}
}
void make_l5q(int32_t* _dest, int prn)
void make_l5q(int32_t* _dest, int32_t prn)
{
int xb_offset = GPS_L5q_INIT_REG[prn];
int32_t xb_offset = GPS_L5q_INIT_REG[prn];
std::deque<bool> xb = make_l5q_xb();
std::deque<bool> xa = make_l5q_xa();
std::deque<bool> xb_shift(GPS_L5q_CODE_LENGTH_CHIPS, 0);
for (int n = 0; n < GPS_L5q_CODE_LENGTH_CHIPS; n++)
for (int32_t n = 0; n < GPS_L5q_CODE_LENGTH_CHIPS; n++)
{
xb_shift[n] = xb[(xb_offset + n) % GPS_L5q_CODE_LENGTH_CHIPS];
}
std::deque<bool> out_code(GPS_L5q_CODE_LENGTH_CHIPS, 0);
for (int n = 0; n < GPS_L5q_CODE_LENGTH_CHIPS; n++)
for (int32_t n = 0; n < GPS_L5q_CODE_LENGTH_CHIPS; n++)
{
_dest[n] = xa[n] xor xb_shift[n];
}
}
void gps_l5i_code_gen_complex(std::complex<float>* _dest, unsigned int _prn)
void gps_l5i_code_gen_complex(std::complex<float>* _dest, uint32_t _prn)
{
int32_t* _code = new int32_t[GPS_L5i_CODE_LENGTH_CHIPS];
@ -189,7 +189,7 @@ void gps_l5i_code_gen_complex(std::complex<float>* _dest, unsigned int _prn)
make_l5i(_code, _prn - 1);
}
for (signed int i = 0; i < GPS_L5i_CODE_LENGTH_CHIPS; i++)
for (int32_t i = 0; i < GPS_L5i_CODE_LENGTH_CHIPS; i++)
{
_dest[i] = std::complex<float>(1.0 - 2.0 * _code[i], 0.0);
}
@ -197,7 +197,8 @@ void gps_l5i_code_gen_complex(std::complex<float>* _dest, unsigned int _prn)
delete[] _code;
}
void gps_l5i_code_gen_float(float* _dest, unsigned int _prn)
void gps_l5i_code_gen_float(float* _dest, uint32_t _prn)
{
int32_t* _code = new int32_t[GPS_L5i_CODE_LENGTH_CHIPS];
@ -206,7 +207,7 @@ void gps_l5i_code_gen_float(float* _dest, unsigned int _prn)
make_l5i(_code, _prn - 1);
}
for (signed int i = 0; i < GPS_L5i_CODE_LENGTH_CHIPS; i++)
for (int32_t i = 0; i < GPS_L5i_CODE_LENGTH_CHIPS; i++)
{
_dest[i] = 1.0 - 2.0 * static_cast<float>(_code[i]);
}
@ -214,10 +215,11 @@ void gps_l5i_code_gen_float(float* _dest, unsigned int _prn)
delete[] _code;
}
/*
* Generates complex GPS L5i code for the desired SV ID and sampled to specific sampling frequency
*/
void gps_l5i_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs)
void gps_l5i_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn, int32_t _fs)
{
int32_t* _code = new int32_t[GPS_L5i_CODE_LENGTH_CHIPS];
if (_prn > 0 and _prn < 51)
@ -225,20 +227,20 @@ void gps_l5i_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _
make_l5i(_code, _prn - 1);
}
signed int _samplesPerCode, _codeValueIndex;
int32_t _samplesPerCode, _codeValueIndex;
float _ts;
float _tc;
const signed int _codeLength = GPS_L5i_CODE_LENGTH_CHIPS;
const int32_t _codeLength = GPS_L5i_CODE_LENGTH_CHIPS;
//--- Find number of samples per spreading code ----------------------------
_samplesPerCode = static_cast<int>(static_cast<double>(_fs) / (static_cast<double>(GPS_L5i_CODE_RATE_HZ) / static_cast<double>(_codeLength)));
_samplesPerCode = static_cast<int32_t>(static_cast<double>(_fs) / (static_cast<double>(GPS_L5i_CODE_RATE_HZ) / static_cast<double>(_codeLength)));
//--- Find time constants --------------------------------------------------
_ts = 1.0 / static_cast<float>(_fs); // Sampling period in sec
_tc = 1.0 / static_cast<float>(GPS_L5i_CODE_RATE_HZ); // C/A chip period in sec
//float aux;
for (signed int i = 0; i < _samplesPerCode; i++)
for (int32_t i = 0; i < _samplesPerCode; i++)
{
//=== Digitizing =======================================================
@ -246,7 +248,7 @@ void gps_l5i_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _
//TODO: Check this formula! Seems to start with an extra sample
_codeValueIndex = ceil((_ts * (static_cast<float>(i) + 1)) / _tc) - 1;
//aux = (_ts * (i + 1)) / _tc;
//_codeValueIndex = static_cast<int>(static_cast<long>(aux)) - 1;
//_codeValueIndex = static_cast<int32_t> (static_cast<long>(aux)) - 1;
//--- Make the digitized version of the L2C code -----------------------
if (i == _samplesPerCode - 1)
@ -263,7 +265,7 @@ void gps_l5i_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _
}
void gps_l5q_code_gen_complex(std::complex<float>* _dest, unsigned int _prn)
void gps_l5q_code_gen_complex(std::complex<float>* _dest, uint32_t _prn)
{
int32_t* _code = new int32_t[GPS_L5q_CODE_LENGTH_CHIPS];
@ -272,7 +274,7 @@ void gps_l5q_code_gen_complex(std::complex<float>* _dest, unsigned int _prn)
make_l5q(_code, _prn - 1);
}
for (signed int i = 0; i < GPS_L5q_CODE_LENGTH_CHIPS; i++)
for (int32_t i = 0; i < GPS_L5q_CODE_LENGTH_CHIPS; i++)
{
_dest[i] = std::complex<float>(1.0 - 2.0 * _code[i], 0.0);
}
@ -280,7 +282,8 @@ void gps_l5q_code_gen_complex(std::complex<float>* _dest, unsigned int _prn)
delete[] _code;
}
void gps_l5q_code_gen_float(float* _dest, unsigned int _prn)
void gps_l5q_code_gen_float(float* _dest, uint32_t _prn)
{
int32_t* _code = new int32_t[GPS_L5q_CODE_LENGTH_CHIPS];
@ -289,17 +292,19 @@ void gps_l5q_code_gen_float(float* _dest, unsigned int _prn)
make_l5q(_code, _prn - 1);
}
for (signed int i = 0; i < GPS_L5q_CODE_LENGTH_CHIPS; i++)
for (int32_t i = 0; i < GPS_L5q_CODE_LENGTH_CHIPS; i++)
{
_dest[i] = 1.0 - 2.0 * static_cast<float>(_code[i]);
}
delete[] _code;
}
/*
* Generates complex GPS L5i code for the desired SV ID and sampled to specific sampling frequency
*/
void gps_l5q_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _prn, signed int _fs)
void gps_l5q_code_gen_complex_sampled(std::complex<float>* _dest, uint32_t _prn, int32_t _fs)
{
int32_t* _code = new int32_t[GPS_L5q_CODE_LENGTH_CHIPS];
if (_prn > 0 and _prn < 51)
@ -307,20 +312,20 @@ void gps_l5q_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _
make_l5q(_code, _prn - 1);
}
signed int _samplesPerCode, _codeValueIndex;
int32_t _samplesPerCode, _codeValueIndex;
float _ts;
float _tc;
const signed int _codeLength = GPS_L5q_CODE_LENGTH_CHIPS;
const int32_t _codeLength = GPS_L5q_CODE_LENGTH_CHIPS;
//--- Find number of samples per spreading code ----------------------------
_samplesPerCode = static_cast<int>(static_cast<double>(_fs) / (static_cast<double>(GPS_L5q_CODE_RATE_HZ) / static_cast<double>(_codeLength)));
_samplesPerCode = static_cast<int32_t>(static_cast<double>(_fs) / (static_cast<double>(GPS_L5q_CODE_RATE_HZ) / static_cast<double>(_codeLength)));
//--- Find time constants --------------------------------------------------
_ts = 1.0 / static_cast<float>(_fs); // Sampling period in sec
_tc = 1.0 / static_cast<float>(GPS_L5q_CODE_RATE_HZ); // C/A chip period in sec
//float aux;
for (signed int i = 0; i < _samplesPerCode; i++)
for (int32_t i = 0; i < _samplesPerCode; i++)
{
//=== Digitizing =======================================================
@ -328,7 +333,7 @@ void gps_l5q_code_gen_complex_sampled(std::complex<float>* _dest, unsigned int _
//TODO: Check this formula! Seems to start with an extra sample
_codeValueIndex = ceil((_ts * (static_cast<float>(i) + 1)) / _tc) - 1;
//aux = (_ts * (i + 1)) / _tc;
//_codeValueIndex = static_cast<int>(static_cast<long>(aux)) - 1;
//_codeValueIndex = static_cast<int32_t> (static_cast<long>(aux)) - 1;
//--- Make the digitized version of the L2C code -----------------------
if (i == _samplesPerCode - 1)

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