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replace FPGA acq configuration struct by a class

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This commit is contained in:
Marc Majoral 2022-07-12 12:40:56 +02:00
parent 156ed0880b
commit 39d5608cd6
18 changed files with 282 additions and 357 deletions
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3
src/algorithms/acquisition/adapters/CMakeLists.txt
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@ -1,7 +1,7 @@
# GNSS-SDR is a Global Navigation Satellite System software-defined receiver. # GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
# This file is part of GNSS-SDR. # This file is part of GNSS-SDR.
# #
# SPDX-FileCopyrightText: 2010-2020 C. Fernandez-Prades cfernandez(at)cttc.es # SPDX-FileCopyrightText: 2010-2022 C. Fernandez-Prades cfernandez(at)cttc.es
# SPDX-License-Identifier: BSD-3-Clause # SPDX-License-Identifier: BSD-3-Clause
@ -123,7 +123,6 @@ if(ENABLE_FPGA)
target_link_libraries(acquisition_adapters target_link_libraries(acquisition_adapters
PRIVATE PRIVATE
algorithms_libs algorithms_libs
core_libs
Volk::volk Volk::volk
) )
endif() endif()

67
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc
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@ -9,7 +9,7 @@
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver. * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR. * This file is part of GNSS-SDR.
* *
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later * SPDX-License-Identifier: GPL-3.0-or-later
* *
* ----------------------------------------------------------------------------- * -----------------------------------------------------------------------------
@ -21,7 +21,6 @@
#include "galileo_e1_signal_replica.h" #include "galileo_e1_signal_replica.h"
#include "gnss_sdr_fft.h" #include "gnss_sdr_fft.h"
#include "gnss_sdr_flags.h" #include "gnss_sdr_flags.h"
#include "uio_fpga.h"
#include <glog/logging.h> #include <glog/logging.h>
#include <gnuradio/fft/fft.h> // for fft_complex #include <gnuradio/fft/fft.h> // for fft_complex
#include <gnuradio/gr_complex.h> // for gr_complex #include <gnuradio/gr_complex.h> // for gr_complex
@ -43,56 +42,21 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
in_streams_(in_streams), in_streams_(in_streams),
out_streams_(out_streams) out_streams_(out_streams)
{ {
pcpsconf_fpga_t acq_parameters; acq_parameters_.SetFromConfiguration(configuration, role, fpga_downsampling_factor, fpga_buff_num, fpga_blk_exp, GALILEO_E1_CODE_CHIP_RATE_CPS, GALILEO_E1_B_CODE_LENGTH_CHIPS);
std::string default_dump_filename = "./data/acquisition.dat";
DLOG(INFO) << "role " << role; DLOG(INFO) << "role " << role;
int64_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 4000000);
int64_t fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.repeat_satellite = configuration->property(role + ".repeat_satellite", false);
DLOG(INFO) << role << " satellite repeat = " << acq_parameters.repeat_satellite;
uint32_t downsampling_factor = configuration->property(role + ".downsampling_factor", 4);
acq_parameters.downsampling_factor = downsampling_factor;
fs_in = fs_in / downsampling_factor;
acq_parameters.fs_in = fs_in;
doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) if (FLAGS_doppler_max != 0)
{ {
doppler_max_ = FLAGS_doppler_max; acq_parameters_.doppler_max = FLAGS_doppler_max;
} }
acq_parameters.doppler_max = doppler_max_; doppler_max_ = acq_parameters_.doppler_max;
doppler_step_ = static_cast<unsigned int>(acq_parameters_.doppler_step);
fs_in_ = acq_parameters_.fs_in;
acquire_pilot_ = configuration->property(role + ".acquire_pilot", false); // could be true in future versions acquire_pilot_ = configuration->property(role + ".acquire_pilot", false); // could be true in future versions
// Find number of samples per spreading code (4 ms) uint32_t code_length = acq_parameters_.code_length;
auto code_length = static_cast<uint32_t>(std::round(static_cast<double>(fs_in) / (GALILEO_E1_CODE_CHIP_RATE_CPS / GALILEO_E1_B_CODE_LENGTH_CHIPS))); uint32_t nsamples_total = acq_parameters_.samples_per_code;
acq_parameters.code_length = code_length;
// The FPGA can only use FFT lengths that are a power of two.
float nbits = ceilf(log2f(static_cast<float>(code_length) * 2.0F));
uint32_t nsamples_total = pow(2, nbits);
uint32_t select_queue_Fpga = configuration->property(role + ".select_queue_Fpga", 0);
acq_parameters.select_queue_Fpga = select_queue_Fpga;
// UIO device file
std::string device_io_name;
// find the uio device file corresponding to the acquisition
if (find_uio_dev_file_name(device_io_name, acquisition_device_name, 0) < 0)
{
std::cout << "Cannot find the FPGA uio device file corresponding to device name " << acquisition_device_name << std::endl;
throw std::exception();
}
acq_parameters.device_name = device_io_name;
acq_parameters.samples_per_code = nsamples_total;
acq_parameters.excludelimit = static_cast<unsigned int>(1 + ceil((1.0 / GALILEO_E1_CODE_CHIP_RATE_CPS) * static_cast<float>(fs_in)));
// compute all the GALILEO E1 PRN Codes (this is done only once in the class constructor in order to avoid re-computing the PRN codes every time // compute all the GALILEO E1 PRN Codes (this is done only once in the class constructor in order to avoid re-computing the PRN codes every time
// a channel is assigned) // a channel is assigned)
@ -116,13 +80,13 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
// set local signal generator to Galileo E1 pilot component (1C) // set local signal generator to Galileo E1 pilot component (1C)
std::array<char, 3> pilot_signal = {{'1', 'C', '\0'}}; std::array<char, 3> pilot_signal = {{'1', 'C', '\0'}};
galileo_e1_code_gen_complex_sampled(code, pilot_signal, galileo_e1_code_gen_complex_sampled(code, pilot_signal,
cboc, PRN, fs_in, 0, false); cboc, PRN, fs_in_, 0, false);
} }
else else
{ {
std::array<char, 3> data_signal = {{'1', 'B', '\0'}}; std::array<char, 3> data_signal = {{'1', 'B', '\0'}};
galileo_e1_code_gen_complex_sampled(code, data_signal, galileo_e1_code_gen_complex_sampled(code, data_signal,
cboc, PRN, fs_in, 0, false); cboc, PRN, fs_in_, 0, false);
} }
for (uint32_t s = code_length; s < 2 * code_length; s++) for (uint32_t s = code_length; s < 2 * code_length; s++)
@ -165,16 +129,9 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
} }
} }
acq_parameters.all_fft_codes = d_all_fft_codes_.data(); acq_parameters_.all_fft_codes = d_all_fft_codes_.data();
acq_parameters.num_doppler_bins_step2 = configuration->property(role + ".second_nbins", 4); acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters_);
acq_parameters.doppler_step2 = configuration->property(role + ".second_doppler_step", static_cast<float>(125.0));
acq_parameters.make_2_steps = configuration->property(role + ".make_two_steps", false);
acq_parameters.max_num_acqs = configuration->property(role + ".max_num_acqs", 2);
// reference for the FPGA FFT-IFFT attenuation factor
acq_parameters.total_block_exp = configuration->property(role + ".total_block_exp", 13);
acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters);
if (in_streams_ > 1) if (in_streams_ > 1)
{ {

12
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.h
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@ -9,7 +9,7 @@
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver. * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR. * This file is part of GNSS-SDR.
* *
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later * SPDX-License-Identifier: GPL-3.0-or-later
* *
* ----------------------------------------------------------------------------- * -----------------------------------------------------------------------------
@ -18,7 +18,7 @@
#ifndef GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_FPGA_H #ifndef GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_FPGA_H
#define GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_FPGA_H #define GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_FPGA_H
#include "acq_conf.h" #include "acq_conf_fpga.h"
#include "channel_fsm.h" #include "channel_fsm.h"
#include "gnss_synchro.h" #include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h" #include "pcps_acquisition_fpga.h"
@ -181,7 +181,9 @@ public:
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{}; void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private: private:
const std::string acquisition_device_name = "acquisition_S00_AXI"; // UIO device name static const uint32_t fpga_downsampling_factor = 4; // downampling factor in the FPGA
static const uint32_t fpga_buff_num = 0; // L1/E1 band
static const uint32_t fpga_blk_exp = 13; // default block exponent
// the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA // the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking. // expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
@ -195,8 +197,10 @@ private:
volk_gnsssdr::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts volk_gnsssdr::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
std::weak_ptr<ChannelFsm> channel_fsm_; std::weak_ptr<ChannelFsm> channel_fsm_;
Gnss_Synchro* gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string dump_filename_; const ConfigurationInterface* configuration_;
Acq_Conf_Fpga acq_parameters_;
std::string role_; std::string role_;
int64_t fs_in_;
int32_t doppler_center_; int32_t doppler_center_;
uint32_t channel_; uint32_t channel_;
uint32_t doppler_max_; uint32_t doppler_max_;

61
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc
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@ -9,7 +9,7 @@
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver. * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR. * This file is part of GNSS-SDR.
* *
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later * SPDX-License-Identifier: GPL-3.0-or-later
* *
* ----------------------------------------------------------------------------- * -----------------------------------------------------------------------------
@ -21,7 +21,6 @@
#include "galileo_e5_signal_replica.h" #include "galileo_e5_signal_replica.h"
#include "gnss_sdr_fft.h" #include "gnss_sdr_fft.h"
#include "gnss_sdr_flags.h" #include "gnss_sdr_flags.h"
#include "uio_fpga.h"
#include <glog/logging.h> #include <glog/logging.h>
#include <gnuradio/gr_complex.h> // for gr_complex #include <gnuradio/gr_complex.h> // for gr_complex
#include <volk/volk.h> // for volk_32fc_conjugate_32fc #include <volk/volk.h> // for volk_32fc_conjugate_32fc
@ -42,29 +41,17 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(
in_streams_(in_streams), in_streams_(in_streams),
out_streams_(out_streams) out_streams_(out_streams)
{ {
pcpsconf_fpga_t acq_parameters; acq_parameters_.SetFromConfiguration(configuration, role, fpga_downsampling_factor, fpga_buff_num, fpga_blk_exp, GALILEO_E5A_CODE_CHIP_RATE_CPS, GALILEO_E5A_CODE_LENGTH_CHIPS);
const std::string default_dump_filename("../data/acquisition.dat");
DLOG(INFO) << "Role " << role; DLOG(INFO) << "Role " << role;
int64_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 32000000);
int64_t fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.repeat_satellite = configuration->property(role + ".repeat_satellite", false);
DLOG(INFO) << role << " satellite repeat = " << acq_parameters.repeat_satellite;
uint32_t downsampling_factor = configuration->property(role + ".downsampling_factor", 1);
acq_parameters.downsampling_factor = downsampling_factor;
fs_in = fs_in / downsampling_factor;
acq_parameters.fs_in = fs_in;
doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) if (FLAGS_doppler_max != 0)
{ {
doppler_max_ = FLAGS_doppler_max; acq_parameters_.doppler_max = FLAGS_doppler_max;
} }
acq_parameters.doppler_max = doppler_max_; doppler_max_ = acq_parameters_.doppler_max;
doppler_step_ = static_cast<unsigned int>(acq_parameters_.doppler_step);
fs_in_ = acq_parameters_.fs_in;
acq_pilot_ = configuration->property(role + ".acquire_pilot", false); acq_pilot_ = configuration->property(role + ".acquire_pilot", false);
acq_iq_ = configuration->property(role + ".acquire_iq", false); acq_iq_ = configuration->property(role + ".acquire_iq", false);
@ -73,27 +60,8 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(
acq_pilot_ = false; acq_pilot_ = false;
} }
auto code_length = static_cast<uint32_t>(std::round(static_cast<double>(fs_in) / GALILEO_E5A_CODE_CHIP_RATE_CPS * static_cast<double>(GALILEO_E5A_CODE_LENGTH_CHIPS))); uint32_t code_length = acq_parameters_.code_length;
acq_parameters.code_length = code_length; uint32_t nsamples_total = acq_parameters_.samples_per_code;
// The FPGA can only use FFT lengths that are a power of two.
float nbits = ceilf(log2f(static_cast<float>(code_length) * 2.0F));
uint32_t nsamples_total = pow(2, nbits);
uint32_t select_queue_Fpga = configuration->property(role + ".select_queue_Fpga", 1);
acq_parameters.select_queue_Fpga = select_queue_Fpga;
// UIO device file
std::string device_io_name;
// find the uio device file corresponding to the acquisition
if (find_uio_dev_file_name(device_io_name, acquisition_device_name, 0) < 0)
{
std::cout << "Cannot find the FPGA uio device file corresponding to device name " << acquisition_device_name << std::endl;
throw std::exception();
}
acq_parameters.device_name = device_io_name;
acq_parameters.samples_per_code = nsamples_total;
acq_parameters.excludelimit = static_cast<unsigned int>(1 + ceil((1.0 / GALILEO_E5A_CODE_CHIP_RATE_CPS) * static_cast<float>(fs_in)));
// compute all the GALILEO E5 PRN Codes (this is done only once in the class constructor in order to avoid re-computing the PRN codes every time // compute all the GALILEO E5 PRN Codes (this is done only once in the class constructor in order to avoid re-computing the PRN codes every time
// a channel is assigned) // a channel is assigned)
@ -127,7 +95,7 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(
signal_[1] = 'I'; signal_[1] = 'I';
} }
galileo_e5_a_code_gen_complex_sampled(code, PRN, signal_, fs_in, 0); galileo_e5_a_code_gen_complex_sampled(code, PRN, signal_, fs_in_, 0);
for (uint32_t s = code_length; s < 2 * code_length; s++) for (uint32_t s = code_length; s < 2 * code_length; s++)
{ {
@ -168,16 +136,9 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(
} }
} }
acq_parameters.all_fft_codes = d_all_fft_codes_.data(); acq_parameters_.all_fft_codes = d_all_fft_codes_.data();
// reference for the FPGA FFT-IFFT attenuation factor acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters_);
acq_parameters.total_block_exp = configuration->property(role + ".total_block_exp", 13);
acq_parameters.num_doppler_bins_step2 = configuration->property(role + ".second_nbins", 4);
acq_parameters.doppler_step2 = configuration->property(role + ".second_doppler_step", static_cast<float>(125.0));
acq_parameters.make_2_steps = configuration->property(role + ".make_two_steps", false);
acq_parameters.max_num_acqs = configuration->property(role + ".max_num_acqs", 2);
acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters);
if (in_streams_ > 1) if (in_streams_ > 1)
{ {

13
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.h
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@ -9,7 +9,7 @@
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver. * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR. * This file is part of GNSS-SDR.
* *
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later * SPDX-License-Identifier: GPL-3.0-or-later
* *
* ----------------------------------------------------------------------------- * -----------------------------------------------------------------------------
@ -18,7 +18,7 @@
#ifndef GNSS_SDR_GALILEO_E5A_PCPS_ACQUISITION_FPGA_H #ifndef GNSS_SDR_GALILEO_E5A_PCPS_ACQUISITION_FPGA_H
#define GNSS_SDR_GALILEO_E5A_PCPS_ACQUISITION_FPGA_H #define GNSS_SDR_GALILEO_E5A_PCPS_ACQUISITION_FPGA_H
#include "acq_conf_fpga.h"
#include "channel_fsm.h" #include "channel_fsm.h"
#include "gnss_synchro.h" #include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h" #include "pcps_acquisition_fpga.h"
@ -188,7 +188,9 @@ public:
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{}; void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private: private:
const std::string acquisition_device_name = "acquisition_S00_AXI"; // UIO device name static const uint32_t fpga_downsampling_factor = 1; // downampling factor in the FPGA
static const uint32_t fpga_buff_num = 1; // L5/E5a band
static const uint32_t fpga_blk_exp = 13; // default block exponent
// the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA // the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking. // expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
@ -202,9 +204,10 @@ private:
std::weak_ptr<ChannelFsm> channel_fsm_; std::weak_ptr<ChannelFsm> channel_fsm_;
volk_gnsssdr::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts volk_gnsssdr::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
Gnss_Synchro* gnss_synchro_; Gnss_Synchro* gnss_synchro_;
const ConfigurationInterface* configuration_;
Acq_Conf_Fpga acq_parameters_;
std::string role_; std::string role_;
std::string item_type_; int64_t fs_in_;
std::string dump_filename_;
int32_t doppler_center_; int32_t doppler_center_;
uint32_t channel_; uint32_t channel_;
uint32_t doppler_max_; uint32_t doppler_max_;

63
src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition_fpga.cc
View File

@ -10,7 +10,7 @@
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver. * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR. * This file is part of GNSS-SDR.
* *
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later * SPDX-License-Identifier: GPL-3.0-or-later
* *
* ----------------------------------------------------------------------------- * -----------------------------------------------------------------------------
@ -22,7 +22,6 @@
#include "galileo_e5_signal_replica.h" #include "galileo_e5_signal_replica.h"
#include "gnss_sdr_fft.h" #include "gnss_sdr_fft.h"
#include "gnss_sdr_flags.h" #include "gnss_sdr_flags.h"
#include "uio_fpga.h"
#include <glog/logging.h> #include <glog/logging.h>
#include <gnuradio/gr_complex.h> // for gr_complex #include <gnuradio/gr_complex.h> // for gr_complex
#include <volk/volk.h> // for volk_32fc_conjugate_32fc #include <volk/volk.h> // for volk_32fc_conjugate_32fc
@ -41,29 +40,15 @@ GalileoE5bPcpsAcquisitionFpga::GalileoE5bPcpsAcquisitionFpga(const Configuration
in_streams_(in_streams), in_streams_(in_streams),
out_streams_(out_streams) out_streams_(out_streams)
{ {
pcpsconf_fpga_t acq_parameters; acq_parameters_.SetFromConfiguration(configuration, role, fpga_downsampling_factor, fpga_buff_num, fpga_blk_exp, GALILEO_E5B_CODE_CHIP_RATE_CPS, GALILEO_E5B_CODE_LENGTH_CHIPS);
std::string default_dump_filename = "../data/acquisition.dat";
DLOG(INFO) << "Role " << role;
int64_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 32000000);
int64_t fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.repeat_satellite = configuration->property(role + ".repeat_satellite", false);
DLOG(INFO) << role << " satellite repeat = " << acq_parameters.repeat_satellite;
uint32_t downsampling_factor = configuration->property(role + ".downsampling_factor", 1);
acq_parameters.downsampling_factor = downsampling_factor;
fs_in = fs_in / downsampling_factor;
acq_parameters.fs_in = fs_in;
doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) if (FLAGS_doppler_max != 0)
{ {
doppler_max_ = FLAGS_doppler_max; acq_parameters_.doppler_max = FLAGS_doppler_max;
} }
acq_parameters.doppler_max = doppler_max_; doppler_max_ = acq_parameters_.doppler_max;
doppler_step_ = static_cast<unsigned int>(acq_parameters_.doppler_step);
fs_in_ = acq_parameters_.fs_in;
acq_pilot_ = configuration->property(role + ".acquire_pilot", false); acq_pilot_ = configuration->property(role + ".acquire_pilot", false);
acq_iq_ = configuration->property(role + ".acquire_iq", false); acq_iq_ = configuration->property(role + ".acquire_iq", false);
@ -72,27 +57,8 @@ GalileoE5bPcpsAcquisitionFpga::GalileoE5bPcpsAcquisitionFpga(const Configuration
acq_pilot_ = false; acq_pilot_ = false;
} }
auto code_length = static_cast<uint32_t>(std::round(static_cast<double>(fs_in) / GALILEO_E5B_CODE_CHIP_RATE_CPS * static_cast<double>(GALILEO_E5B_CODE_LENGTH_CHIPS))); uint32_t code_length = acq_parameters_.code_length;
acq_parameters.code_length = code_length; uint32_t nsamples_total = acq_parameters_.samples_per_code;
// The FPGA can only use FFT lengths that are a power of two.
float nbits = ceilf(log2f(static_cast<float>(code_length) * 2.0F));
uint32_t nsamples_total = pow(2, nbits);
uint32_t select_queue_Fpga = configuration->property(role + ".select_queue_Fpga", 1);
acq_parameters.select_queue_Fpga = select_queue_Fpga;
// UIO device file
std::string device_io_name;
// find the uio device file corresponding to the acquisition
if (find_uio_dev_file_name(device_io_name, acquisition_device_name, 0) < 0)
{
std::cout << "Cannot find the FPGA uio device file corresponding to device name " << acquisition_device_name << std::endl;
throw std::exception();
}
acq_parameters.device_name = device_io_name;
acq_parameters.samples_per_code = nsamples_total;
acq_parameters.excludelimit = static_cast<unsigned int>(1 + ceil((1.0 / GALILEO_E5B_CODE_CHIP_RATE_CPS) * static_cast<float>(fs_in)));
// compute all the GALILEO E5b PRN Codes (this is done only once in the class constructor in order to avoid re-computing the PRN codes every time // compute all the GALILEO E5b PRN Codes (this is done only once in the class constructor in order to avoid re-computing the PRN codes every time
// a channel is assigned) // a channel is assigned)
@ -126,7 +92,7 @@ GalileoE5bPcpsAcquisitionFpga::GalileoE5bPcpsAcquisitionFpga(const Configuration
signal_[1] = 'I'; signal_[1] = 'I';
} }
galileo_e5_b_code_gen_complex_sampled(code, PRN, signal_, fs_in, 0); galileo_e5_b_code_gen_complex_sampled(code, PRN, signal_, fs_in_, 0);
for (uint32_t s = code_length; s < 2 * code_length; s++) for (uint32_t s = code_length; s < 2 * code_length; s++)
{ {
@ -167,16 +133,9 @@ GalileoE5bPcpsAcquisitionFpga::GalileoE5bPcpsAcquisitionFpga(const Configuration
} }
} }
acq_parameters.all_fft_codes = d_all_fft_codes_.data(); acq_parameters_.all_fft_codes = d_all_fft_codes_.data();
// reference for the FPGA FFT-IFFT attenuation factor acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters_);
acq_parameters.total_block_exp = configuration->property(role + ".total_block_exp", 13);
acq_parameters.num_doppler_bins_step2 = configuration->property(role + ".second_nbins", 4);
acq_parameters.doppler_step2 = configuration->property(role + ".second_doppler_step", static_cast<float>(125.0));
acq_parameters.make_2_steps = configuration->property(role + ".make_two_steps", false);
acq_parameters.max_num_acqs = configuration->property(role + ".max_num_acqs", 2);
acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters);
if (in_streams_ > 1) if (in_streams_ > 1)
{ {

14
src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition_fpga.h
View File

@ -10,7 +10,7 @@
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver. * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR. * This file is part of GNSS-SDR.
* *
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later * SPDX-License-Identifier: GPL-3.0-or-later
* *
* ----------------------------------------------------------------------------- * -----------------------------------------------------------------------------
@ -19,7 +19,7 @@
#ifndef GNSS_SDR_GALILEO_E5B_PCPS_ACQUISITION_FPGA_H #ifndef GNSS_SDR_GALILEO_E5B_PCPS_ACQUISITION_FPGA_H
#define GNSS_SDR_GALILEO_E5B_PCPS_ACQUISITION_FPGA_H #define GNSS_SDR_GALILEO_E5B_PCPS_ACQUISITION_FPGA_H
#include "acq_conf_fpga.h"
#include "channel_fsm.h" #include "channel_fsm.h"
#include "gnss_synchro.h" #include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h" #include "pcps_acquisition_fpga.h"
@ -187,7 +187,9 @@ public:
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{}; void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private: private:
const std::string acquisition_device_name = "acquisition_S00_AXI"; // UIO device name static const uint32_t fpga_downsampling_factor = 1; // downampling factor in the FPGA
static const uint32_t fpga_buff_num = 1; // E5b band
static const uint32_t fpga_blk_exp = 13; // default block exponent
// the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA // the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking. // expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
@ -202,10 +204,10 @@ private:
std::weak_ptr<ChannelFsm> channel_fsm_; std::weak_ptr<ChannelFsm> channel_fsm_;
Gnss_Synchro* gnss_synchro_; Gnss_Synchro* gnss_synchro_;
const ConfigurationInterface* configuration_;
std::string item_type_; Acq_Conf_Fpga acq_parameters_;
std::string dump_filename_;
std::string role_; std::string role_;
int64_t fs_in_;
int32_t doppler_center_; int32_t doppler_center_;
uint32_t channel_; uint32_t channel_;
uint32_t doppler_max_; uint32_t doppler_max_;

57
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc
View File

@ -12,7 +12,7 @@
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver. * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR. * This file is part of GNSS-SDR.
* *
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later * SPDX-License-Identifier: GPL-3.0-or-later
* *
* ----------------------------------------------------------------------------- * -----------------------------------------------------------------------------
@ -24,7 +24,6 @@
#include "gnss_sdr_fft.h" #include "gnss_sdr_fft.h"
#include "gnss_sdr_flags.h" #include "gnss_sdr_flags.h"
#include "gps_sdr_signal_replica.h" #include "gps_sdr_signal_replica.h"
#include "uio_fpga.h"
#include <glog/logging.h> #include <glog/logging.h>
#include <gnuradio/gr_complex.h> // for gr_complex #include <gnuradio/gr_complex.h> // for gr_complex
#include <volk/volk.h> // for volk_32fc_conjugate_32fc #include <volk/volk.h> // for volk_32fc_conjugate_32fc
@ -44,47 +43,20 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
in_streams_(in_streams), in_streams_(in_streams),
out_streams_(out_streams) out_streams_(out_streams)
{ {
pcpsconf_fpga_t acq_parameters; acq_parameters_.SetFromConfiguration(configuration, role, fpga_downsampling_factor, fpga_buff_num, fpga_blk_exp, GPS_L1_CA_CODE_RATE_CPS, GPS_L1_CA_CODE_LENGTH_CHIPS);
DLOG(INFO) << "role " << role; DLOG(INFO) << "role " << role;
int64_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
int64_t fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.repeat_satellite = configuration->property(role + ".repeat_satellite", false);
DLOG(INFO) << role << " satellite repeat = " << acq_parameters.repeat_satellite;
uint32_t downsampling_factor = configuration->property(role + ".downsampling_factor", 4);
acq_parameters.downsampling_factor = downsampling_factor;
fs_in = fs_in / downsampling_factor;
acq_parameters.fs_in = fs_in;
doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) if (FLAGS_doppler_max != 0)
{ {
doppler_max_ = FLAGS_doppler_max; acq_parameters_.doppler_max = FLAGS_doppler_max;
} }
acq_parameters.doppler_max = doppler_max_; doppler_max_ = acq_parameters_.doppler_max;
auto code_length = static_cast<uint32_t>(std::round(static_cast<double>(fs_in) / (GPS_L1_CA_CODE_RATE_CPS / GPS_L1_CA_CODE_LENGTH_CHIPS))); doppler_step_ = static_cast<unsigned int>(acq_parameters_.doppler_step);
acq_parameters.code_length = code_length; fs_in_ = acq_parameters_.fs_in;
// The FPGA can only use FFT lengths that are a power of two.
float nbits = ceilf(log2f(static_cast<float>(code_length) * 2.0F));
uint32_t nsamples_total = pow(2, nbits);
uint32_t select_queue_Fpga = configuration->property(role + ".select_queue_Fpga", 0);
acq_parameters.select_queue_Fpga = select_queue_Fpga;
// UIO device file uint32_t code_length = acq_parameters_.code_length;
std::string device_io_name; uint32_t nsamples_total = acq_parameters_.samples_per_code;
// find the uio device file corresponding to the acquisition
if (find_uio_dev_file_name(device_io_name, acquisition_device_name, 0) < 0)
{
std::cout << "Cannot find the FPGA uio device file corresponding to device name " << acquisition_device_name << std::endl;
throw std::exception();
}
acq_parameters.device_name = device_io_name;
acq_parameters.samples_per_code = nsamples_total;
acq_parameters.excludelimit = static_cast<unsigned int>(1 + ceil(GPS_L1_CA_CHIP_PERIOD_S * static_cast<float>(fs_in)));
// 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 // 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) // a channel is assigned)
@ -101,7 +73,7 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
// temporary maxima search // temporary maxima search
for (uint32_t PRN = 1; PRN <= NUM_PRNs; PRN++) for (uint32_t PRN = 1; PRN <= NUM_PRNs; PRN++)
{ {
gps_l1_ca_code_gen_complex_sampled(code, PRN, fs_in, 0); // generate PRN code gps_l1_ca_code_gen_complex_sampled(code, PRN, fs_in_, 0); // generate PRN code
for (uint32_t s = code_length; s < 2 * code_length; s++) for (uint32_t s = code_length; s < 2 * code_length; s++)
{ {
@ -143,16 +115,9 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
} }
// acq_parameters // acq_parameters
acq_parameters.all_fft_codes = d_all_fft_codes_.data(); acq_parameters_.all_fft_codes = d_all_fft_codes_.data();
// reference for the FPGA FFT-IFFT attenuation factor acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters_);
acq_parameters.total_block_exp = configuration->property(role + ".total_block_exp", 10);
acq_parameters.num_doppler_bins_step2 = configuration->property(role + ".second_nbins", 4);
acq_parameters.doppler_step2 = configuration->property(role + ".second_doppler_step", static_cast<float>(125.0));
acq_parameters.make_2_steps = configuration->property(role + ".make_two_steps", false);
acq_parameters.max_num_acqs = configuration->property(role + ".max_num_acqs", 2);
acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters);
if (in_streams_ > 1) if (in_streams_ > 1)
{ {

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

@ -12,7 +12,7 @@
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver. * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR. * This file is part of GNSS-SDR.
* *
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later * SPDX-License-Identifier: GPL-3.0-or-later
* *
* ----------------------------------------------------------------------------- * -----------------------------------------------------------------------------
@ -21,7 +21,7 @@
#ifndef GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_FPGA_H #ifndef GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_FPGA_H
#define GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_FPGA_H #define GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_FPGA_H
#include "acq_conf_fpga.h"
#include "channel_fsm.h" #include "channel_fsm.h"
#include "gnss_synchro.h" #include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h" #include "pcps_acquisition_fpga.h"
@ -129,6 +129,8 @@ public:
/*! /*!
* \brief Set statistics threshold of PCPS algorithm * \brief Set statistics threshold of PCPS algorithm
*/ */
std::string item_type_;
void set_threshold(float threshold) override; void set_threshold(float threshold) override;
/*! /*!
@ -184,7 +186,9 @@ public:
private: private:
static const uint32_t NUM_PRNs = 32; static const uint32_t NUM_PRNs = 32;
const std::string acquisition_device_name = "acquisition_S00_AXI"; // UIO device name static const uint32_t fpga_downsampling_factor = 4; // downampling factor in the FPGA
static const uint32_t fpga_buff_num = 0; // L1/E1 band
static const uint32_t fpga_blk_exp = 10; // default block exponent
// the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA // the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking. // expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
@ -198,7 +202,10 @@ private:
std::weak_ptr<ChannelFsm> channel_fsm_; std::weak_ptr<ChannelFsm> channel_fsm_;
volk_gnsssdr::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts volk_gnsssdr::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
Gnss_Synchro* gnss_synchro_; Gnss_Synchro* gnss_synchro_;
const ConfigurationInterface* configuration_;
Acq_Conf_Fpga acq_parameters_;
std::string role_; std::string role_;
int64_t fs_in_;
int32_t doppler_center_; int32_t doppler_center_;
uint32_t channel_; uint32_t channel_;
uint32_t doppler_max_; uint32_t doppler_max_;

54
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.cc
View File

@ -11,7 +11,7 @@
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver. * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR. * This file is part of GNSS-SDR.
* *
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later * SPDX-License-Identifier: GPL-3.0-or-later
* *
* ----------------------------------------------------------------------------- * -----------------------------------------------------------------------------
@ -24,7 +24,6 @@
#include "gnss_sdr_flags.h" #include "gnss_sdr_flags.h"
#include "gnss_synchro.h" #include "gnss_synchro.h"
#include "gps_l2c_signal_replica.h" #include "gps_l2c_signal_replica.h"
#include "uio_fpga.h"
#include <glog/logging.h> #include <glog/logging.h>
#include <gnuradio/gr_complex.h> // for gr_complex #include <gnuradio/gr_complex.h> // for gr_complex
#include <volk/volk.h> // for volk_32fc_conjugate_32fc #include <volk/volk.h> // for volk_32fc_conjugate_32fc
@ -45,47 +44,20 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
in_streams_(in_streams), in_streams_(in_streams),
out_streams_(out_streams) out_streams_(out_streams)
{ {
pcpsconf_fpga_t acq_parameters; acq_parameters_.SetFromConfiguration(configuration, role, fpga_downsampling_factor, fpga_buff_num, fpga_blk_exp, GPS_L2_M_CODE_RATE_CPS, GPS_L2_M_CODE_LENGTH_CHIPS);
std::string default_dump_filename = "./acquisition.mat";
LOG(INFO) << "role " << role; LOG(INFO) << "role " << role;
int64_t 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_;
acq_parameters.repeat_satellite = configuration->property(role + ".repeat_satellite", false);
DLOG(INFO) << role << " satellite repeat = " << acq_parameters.repeat_satellite;
doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) if (FLAGS_doppler_max != 0)
{ {
doppler_max_ = FLAGS_doppler_max; acq_parameters_.doppler_max = FLAGS_doppler_max;
} }
acq_parameters.doppler_max = doppler_max_; doppler_max_ = acq_parameters_.doppler_max;
doppler_step_ = static_cast<unsigned int>(acq_parameters_.doppler_step);
fs_in_ = acq_parameters_.fs_in;
auto code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in_) / (GPS_L2_M_CODE_RATE_CPS / static_cast<double>(GPS_L2_M_CODE_LENGTH_CHIPS)))); uint32_t code_length = acq_parameters_.code_length;
acq_parameters.code_length = code_length; uint32_t nsamples_total = acq_parameters_.samples_per_code;
// The FPGA can only use FFT lengths that are a power of two.
float nbits = ceilf(log2f(static_cast<float>(code_length)));
unsigned int nsamples_total = pow(2, nbits);
unsigned int select_queue_Fpga = configuration->property(role + ".select_queue_Fpga", 0);
acq_parameters.select_queue_Fpga = select_queue_Fpga;
// UIO device file
std::string device_io_name;
// find the uio device file corresponding to the acquisition
if (find_uio_dev_file_name(device_io_name, acquisition_device_name, 0) < 0)
{
std::cout << "Cannot find the FPGA uio device file corresponding to device name " << acquisition_device_name << std::endl;
throw std::exception();
}
acq_parameters.device_name = device_io_name;
acq_parameters.samples_per_code = nsamples_total;
acq_parameters.downsampling_factor = configuration->property(role + ".downsampling_factor", 1.0);
acq_parameters.total_block_exp = configuration->property(role + ".total_block_exp", 14);
acq_parameters.excludelimit = static_cast<uint32_t>(std::round(static_cast<double>(fs_in_) / GPS_L2_M_CODE_RATE_CPS));
// compute all the GPS L2C PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time // compute all the GPS L2C 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) // a channel is assigned)
@ -139,15 +111,9 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
} }
} }
acq_parameters.all_fft_codes = d_all_fft_codes_.data(); acq_parameters_.all_fft_codes = d_all_fft_codes_.data();
acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters); acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters_);
channel_ = 0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
threshold_ = 0.0;
if (in_streams_ > 1) if (in_streams_ > 1)
{ {

11
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.h
View File

@ -11,7 +11,7 @@
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver. * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR. * This file is part of GNSS-SDR.
* *
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later * SPDX-License-Identifier: GPL-3.0-or-later
* *
* ----------------------------------------------------------------------------- * -----------------------------------------------------------------------------
@ -20,6 +20,7 @@
#ifndef GNSS_SDR_GPS_L2_M_PCPS_ACQUISITION_FPGA_H #ifndef GNSS_SDR_GPS_L2_M_PCPS_ACQUISITION_FPGA_H
#define GNSS_SDR_GPS_L2_M_PCPS_ACQUISITION_FPGA_H #define GNSS_SDR_GPS_L2_M_PCPS_ACQUISITION_FPGA_H
#include "acq_conf_fpga.h"
#include "channel_fsm.h" #include "channel_fsm.h"
#include "pcps_acquisition_fpga.h" #include "pcps_acquisition_fpga.h"
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr #include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
@ -148,7 +149,9 @@ public:
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{}; void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private: private:
const std::string acquisition_device_name = "acquisition_S00_AXI"; // UIO device name static const uint32_t fpga_downsampling_factor = 4; // downampling factor in the FPGA
static const uint32_t fpga_buff_num = 0; // L2 band
static const uint32_t fpga_blk_exp = 13; // default block exponent
static const uint32_t NUM_PRNs = 32; static const uint32_t NUM_PRNs = 32;
static const uint32_t QUANT_BITS_LOCAL_CODE = 16; static const uint32_t QUANT_BITS_LOCAL_CODE = 16;
@ -161,8 +164,8 @@ private:
volk_gnsssdr::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts volk_gnsssdr::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
std::weak_ptr<ChannelFsm> channel_fsm_; std::weak_ptr<ChannelFsm> channel_fsm_;
Gnss_Synchro* gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string item_type_; const ConfigurationInterface* configuration_;
std::string dump_filename_; Acq_Conf_Fpga acq_parameters_;
std::string role_; std::string role_;
int64_t fs_in_; int64_t fs_in_;
float threshold_; float threshold_;

61
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc
View File

@ -12,7 +12,7 @@
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver. * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR. * This file is part of GNSS-SDR.
* *
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later * SPDX-License-Identifier: GPL-3.0-or-later
* *
* ----------------------------------------------------------------------------- * -----------------------------------------------------------------------------
@ -24,7 +24,6 @@
#include "gnss_sdr_fft.h" #include "gnss_sdr_fft.h"
#include "gnss_sdr_flags.h" #include "gnss_sdr_flags.h"
#include "gps_l5_signal_replica.h" #include "gps_l5_signal_replica.h"
#include "uio_fpga.h"
#include <glog/logging.h> #include <glog/logging.h>
#include <gnuradio/gr_complex.h> // for gr_complex #include <gnuradio/gr_complex.h> // for gr_complex
#include <volk/volk.h> // for volk_32fc_conjugate_32fc #include <volk/volk.h> // for volk_32fc_conjugate_32fc
@ -45,51 +44,20 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
in_streams_(in_streams), in_streams_(in_streams),
out_streams_(out_streams) out_streams_(out_streams)
{ {
pcpsconf_fpga_t acq_parameters; acq_parameters_.SetFromConfiguration(configuration, role, fpga_downsampling_factor, fpga_buff_num, fpga_blk_exp, GPS_L5I_CODE_RATE_CPS, GPS_L5I_CODE_LENGTH_CHIPS);
std::string default_dump_filename = "./data/acquisition.dat";
LOG(INFO) << "role " << role; LOG(INFO) << "role " << role;
int64_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
int64_t fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.repeat_satellite = configuration->property(role + ".repeat_satellite", false);
DLOG(INFO) << role << " satellite repeat = " << acq_parameters.repeat_satellite;
uint32_t downsampling_factor = configuration->property(role + ".downsampling_factor", 1);
acq_parameters.downsampling_factor = downsampling_factor;
fs_in = fs_in / downsampling_factor;
acq_parameters.fs_in = fs_in;
doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) if (FLAGS_doppler_max != 0)
{ {
doppler_max_ = FLAGS_doppler_max; acq_parameters_.doppler_max = FLAGS_doppler_max;
} }
acq_parameters.doppler_max = doppler_max_; doppler_max_ = acq_parameters_.doppler_max;
doppler_step_ = static_cast<unsigned int>(acq_parameters_.doppler_step);
fs_in_ = acq_parameters_.fs_in;
// -- Find number of samples per spreading code ------------------------- uint32_t code_length = acq_parameters_.code_length;
auto code_length = static_cast<uint32_t>(std::round(static_cast<double>(fs_in) / (GPS_L5I_CODE_RATE_CPS / static_cast<double>(GPS_L5I_CODE_LENGTH_CHIPS)))); uint32_t nsamples_total = acq_parameters_.samples_per_code;
acq_parameters.code_length = code_length;
// The FPGA can only use FFT lengths that are a power of two.
float nbits = ceilf(log2f(static_cast<float>(code_length) * 2.0F));
uint32_t nsamples_total = pow(2, nbits);
uint32_t select_queue_Fpga = configuration->property(role + ".select_queue_Fpga", 1);
acq_parameters.select_queue_Fpga = select_queue_Fpga;
// UIO device file
std::string device_io_name;
// find the uio device file corresponding to the acquisition
if (find_uio_dev_file_name(device_io_name, acquisition_device_name, 0) < 0)
{
std::cout << "Cannot find the FPGA uio device file corresponding to device name " << acquisition_device_name << std::endl;
throw std::exception();
}
acq_parameters.device_name = device_io_name;
acq_parameters.samples_per_code = nsamples_total;
acq_parameters.excludelimit = static_cast<unsigned int>(1 + ceil((1.0 / GPS_L5I_CODE_RATE_CPS) * static_cast<float>(fs_in)));
// 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 // 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) // a channel is assigned)
@ -106,7 +74,7 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
for (uint32_t PRN = 1; PRN <= NUM_PRNs; PRN++) for (uint32_t PRN = 1; PRN <= NUM_PRNs; PRN++)
{ {
gps_l5i_code_gen_complex_sampled(code, PRN, fs_in); gps_l5i_code_gen_complex_sampled(code, PRN, fs_in_);
for (uint32_t s = code_length; s < 2 * code_length; s++) for (uint32_t s = code_length; s < 2 * code_length; s++)
{ {
@ -146,16 +114,9 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
} }
} }
acq_parameters.all_fft_codes = d_all_fft_codes_.data(); acq_parameters_.all_fft_codes = d_all_fft_codes_.data();
// reference for the FPGA FFT-IFFT attenuation factor acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters_);
acq_parameters.total_block_exp = configuration->property(role + ".total_block_exp", 13);
acq_parameters.num_doppler_bins_step2 = configuration->property(role + ".second_nbins", 4);
acq_parameters.doppler_step2 = configuration->property(role + ".second_doppler_step", static_cast<float>(125.0));
acq_parameters.make_2_steps = configuration->property(role + ".make_two_steps", false);
acq_parameters.max_num_acqs = configuration->property(role + ".max_num_acqs", 2);
acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters);
if (in_streams_ > 1) if (in_streams_ > 1)
{ {

12
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.h
View File

@ -12,7 +12,7 @@
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver. * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR. * This file is part of GNSS-SDR.
* *
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later * SPDX-License-Identifier: GPL-3.0-or-later
* *
* ----------------------------------------------------------------------------- * -----------------------------------------------------------------------------
@ -21,6 +21,7 @@
#ifndef GNSS_SDR_GPS_L5I_PCPS_ACQUISITION_FPGA_H #ifndef GNSS_SDR_GPS_L5I_PCPS_ACQUISITION_FPGA_H
#define GNSS_SDR_GPS_L5I_PCPS_ACQUISITION_FPGA_H #define GNSS_SDR_GPS_L5I_PCPS_ACQUISITION_FPGA_H
#include "acq_conf_fpga.h"
#include "channel_fsm.h" #include "channel_fsm.h"
#include "gnss_synchro.h" #include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h" #include "pcps_acquisition_fpga.h"
@ -185,7 +186,9 @@ public:
private: private:
static const uint32_t NUM_PRNs = 32; static const uint32_t NUM_PRNs = 32;
const std::string acquisition_device_name = "acquisition_S00_AXI"; // UIO device name static const uint32_t fpga_downsampling_factor = 1; // downampling factor in the FPGA
static const uint32_t fpga_buff_num = 1; // L5/E5a band
static const uint32_t fpga_blk_exp = 13; // default block exponent
// the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA // the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking. // expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
@ -201,9 +204,10 @@ private:
std::weak_ptr<ChannelFsm> channel_fsm_; std::weak_ptr<ChannelFsm> channel_fsm_;
volk_gnsssdr::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts volk_gnsssdr::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
Gnss_Synchro* gnss_synchro_; Gnss_Synchro* gnss_synchro_;
std::string item_type_; const ConfigurationInterface* configuration_;
std::string dump_filename_; Acq_Conf_Fpga acq_parameters_;
std::string role_; std::string role_;
int64_t fs_in_;
int32_t doppler_center_; int32_t doppler_center_;
uint32_t channel_; uint32_t channel_;
uint32_t doppler_max_; uint32_t doppler_max_;

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

@ -11,7 +11,7 @@
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver. * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR. * This file is part of GNSS-SDR.
* *
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later * SPDX-License-Identifier: GPL-3.0-or-later
* *
* ----------------------------------------------------------------------------- * -----------------------------------------------------------------------------
@ -27,14 +27,14 @@
#include <utility> // for move #include <utility> // for move
pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_) pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(Acq_Conf_Fpga& conf_)
{ {
return pcps_acquisition_fpga_sptr(new pcps_acquisition_fpga(std::move(conf_))); return pcps_acquisition_fpga_sptr(new pcps_acquisition_fpga(conf_));
} }
pcps_acquisition_fpga::pcps_acquisition_fpga(pcpsconf_fpga_t conf_) pcps_acquisition_fpga::pcps_acquisition_fpga(Acq_Conf_Fpga& conf_)
: d_acq_parameters(std::move(conf_)), : d_acq_parameters(conf_),
d_gnss_synchro(nullptr), d_gnss_synchro(nullptr),
d_sample_counter(0ULL), d_sample_counter(0ULL),
d_threshold(0.0), d_threshold(0.0),

32
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.h
View File

@ -17,7 +17,7 @@
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver. * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR. * This file is part of GNSS-SDR.
* *
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) * Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later * SPDX-License-Identifier: GPL-3.0-or-later
* *
* ----------------------------------------------------------------------------- * -----------------------------------------------------------------------------
@ -26,7 +26,7 @@
#ifndef GNSS_SDR_PCPS_ACQUISITION_FPGA_H #ifndef GNSS_SDR_PCPS_ACQUISITION_FPGA_H
#define GNSS_SDR_PCPS_ACQUISITION_FPGA_H #define GNSS_SDR_PCPS_ACQUISITION_FPGA_H
#include "acq_conf_fpga.h"
#include "channel_fsm.h" #include "channel_fsm.h"
#include "fpga_acquisition.h" #include "fpga_acquisition.h"
#include <glog/logging.h> #include <glog/logging.h>
@ -42,31 +42,11 @@
class Gnss_Synchro; class Gnss_Synchro;
typedef struct
{
/* pcps acquisition configuration */
std::string device_name;
int64_t fs_in;
float doppler_step2;
uint32_t* all_fft_codes; // pointer to memory that contains all the code ffts
uint32_t doppler_max;
uint32_t select_queue_Fpga;
uint32_t downsampling_factor;
uint32_t total_block_exp;
uint32_t excludelimit;
uint32_t num_doppler_bins_step2;
uint32_t max_num_acqs;
int32_t samples_per_code;
int32_t code_length;
bool make_2_steps;
bool repeat_satellite;
} pcpsconf_fpga_t;
class pcps_acquisition_fpga; class pcps_acquisition_fpga;
using pcps_acquisition_fpga_sptr = std::shared_ptr<pcps_acquisition_fpga>; using pcps_acquisition_fpga_sptr = std::shared_ptr<pcps_acquisition_fpga>;
pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_); pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(Acq_Conf_Fpga& conf_);
/*! /*!
* \brief This class implements a Parallel Code Phase Search Acquisition that uses the FPGA. * \brief This class implements a Parallel Code Phase Search Acquisition that uses the FPGA.
@ -195,8 +175,8 @@ public:
void stop_acquisition(); void stop_acquisition();
private: private:
friend pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_); friend pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(Acq_Conf_Fpga& conf_);
explicit pcps_acquisition_fpga(pcpsconf_fpga_t conf_); explicit pcps_acquisition_fpga(Acq_Conf_Fpga& conf_);
void send_negative_acquisition(); void send_negative_acquisition();
void send_positive_acquisition(); void send_positive_acquisition();
@ -206,7 +186,7 @@ private:
std::shared_ptr<Fpga_Acquisition> d_acquisition_fpga; std::shared_ptr<Fpga_Acquisition> d_acquisition_fpga;
std::weak_ptr<ChannelFsm> d_channel_fsm; std::weak_ptr<ChannelFsm> d_channel_fsm;
pcpsconf_fpga_t d_acq_parameters; Acq_Conf_Fpga d_acq_parameters;
Gnss_Synchro* d_gnss_synchro; Gnss_Synchro* d_gnss_synchro;

12
src/algorithms/acquisition/libs/CMakeLists.txt
View File

@ -1,7 +1,7 @@
# GNSS-SDR is a Global Navigation Satellite System software-defined receiver. # GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
# This file is part of GNSS-SDR. # This file is part of GNSS-SDR.
# #
# SPDX-FileCopyrightText: 2010-2020 C. Fernandez-Prades cfernandez(at)cttc.es # SPDX-FileCopyrightText: 2010-2022 C. Fernandez-Prades cfernandez(at)cttc.es
# SPDX-License-Identifier: BSD-3-Clause # SPDX-License-Identifier: BSD-3-Clause
@ -9,6 +9,8 @@ set(ACQUISITION_LIB_HEADERS acq_conf.h)
set(ACQUISITION_LIB_SOURCES acq_conf.cc) set(ACQUISITION_LIB_SOURCES acq_conf.cc)
if(ENABLE_FPGA) if(ENABLE_FPGA)
set(ACQUISITION_LIB_SOURCES ${ACQUISITION_LIB_SOURCES} acq_conf_fpga.cc)
set(ACQUISITION_LIB_HEADERS ${ACQUISITION_LIB_HEADERS} acq_conf_fpga.h)
set(ACQUISITION_LIB_SOURCES ${ACQUISITION_LIB_SOURCES} fpga_acquisition.cc) set(ACQUISITION_LIB_SOURCES ${ACQUISITION_LIB_SOURCES} fpga_acquisition.cc)
set(ACQUISITION_LIB_HEADERS ${ACQUISITION_LIB_HEADERS} fpga_acquisition.h) set(ACQUISITION_LIB_HEADERS ${ACQUISITION_LIB_HEADERS} fpga_acquisition.h)
endif() endif()
@ -55,3 +57,11 @@ set_property(TARGET acquisition_libs
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}> $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
) )
if(ENABLE_FPGA)
target_link_libraries(acquisition_libs
PRIVATE
core_libs
)
endif()

75
src/algorithms/acquisition/libs/acq_conf_fpga.cc Normal file
View File

@ -0,0 +1,75 @@
/*!
* \file acq_conf_fpga.cc
* \brief Class that contains all the configuration parameters for generic
* acquisition block based on the PCPS algorithm running in the FPGA.
* \author Marc Majoral, 2022. mmajoral(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#include "acq_conf_fpga.h"
#include "item_type_helpers.h"
#include "uio_fpga.h"
#include <glog/logging.h>
#include <cmath>
#include <iostream>
void Acq_Conf_Fpga::SetFromConfiguration(const ConfigurationInterface *configuration,
const std::string &role, uint32_t downs_factor, uint32_t sel_queue_fpga, uint32_t blk_exp, double chip_rate, double code_length_chips)
{
// sampling frequency
const int64_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", fs_in);
fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
// max doppler
doppler_max = configuration->property(role + ".doppler_max", doppler_max);
// downsampling factor
uint32_t downsampling_factor = configuration->property(role + ".downsampling_factor", downs_factor);
downsampling_factor = downsampling_factor;
fs_in = fs_in / downsampling_factor;
// code length in samples
code_length = static_cast<uint32_t>(std::round(static_cast<double>(fs_in) / (chip_rate / code_length_chips)));
// The FPGA can only use FFT lengths that are a power of two.
float nbits = ceilf(log2f(static_cast<float>(code_length) * 2.0F));
samples_per_code = pow(2, nbits);
// repeat satellite
repeat_satellite = configuration->property(role + ".repeat_satellite", false);
// FPGA buffer number
select_queue_Fpga = configuration->property(role + ".select_queue_Fpga", sel_queue_fpga);
// UIO device file
std::string device_io_name;
// find the uio device file corresponding to the acquisition
if (find_uio_dev_file_name(device_io_name, acquisition_device_name, 0) < 0)
{
std::cout << "Cannot find the FPGA uio device file corresponding to device name " << acquisition_device_name << std::endl;
throw std::exception();
}
device_name = device_io_name;
// exclusion limit
excludelimit = static_cast<unsigned int>(1 + ceil((1.0 / chip_rate) * static_cast<float>(fs_in)));
// acquisition step 2 parameters
num_doppler_bins_step2 = configuration->property(role + ".second_nbins", num_doppler_bins_step2);
doppler_step2 = configuration->property(role + ".second_doppler_step", doppler_step2);
doppler_step = configuration->property(role + ".doppler_step", doppler_step);
make_2_steps = configuration->property(role + ".make_two_steps", make_2_steps);
max_num_acqs = configuration->property(role + ".max_num_acqs", 2);
// reference for the FPGA FFT-IFFT attenuation factor
total_block_exp = configuration->property(role + ".total_block_exp", blk_exp);
}

69
src/algorithms/acquisition/libs/acq_conf_fpga.h Normal file
View File

@ -0,0 +1,69 @@
/*!
* \file acq_conf_fpga.h
* \brief Class that contains all the configuration parameters for generic
* acquisition block based on the PCPS algorithm running in the FPGA.
* \author Marc Majoral, 2022. mmajoral(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_ACQ_CONF_FPGA_H
#define GNSS_SDR_ACQ_CONF_FPGA_H
#include "configuration_interface.h"
#include <gnuradio/gr_complex.h>
#include <cstdint>
#include <string>
/** \addtogroup Acquisition
* \{ */
/** \addtogroup acquisition_libs acquisition_libs
* Library with utilities for GNSS signal acquisition
* \{ */
class Acq_Conf_Fpga
{
public:
Acq_Conf_Fpga() = default;
void SetFromConfiguration(const ConfigurationInterface *configuration, const std::string &role, uint32_t downs_factor, uint32_t sel_queue_fpga, uint32_t blk_exp, double chip_rate, double code_length_chips);
/* PCPS Acquisition configuration */
std::string device_name = "uio0";
uint32_t *all_fft_codes = NULL; // pointer to memory that contains all the code ffts
int64_t fs_in{4000000LL};
float doppler_step{250.0};
float doppler_step2{125.0};
uint32_t num_doppler_bins_step2{4U};
int32_t doppler_max{5000};
uint32_t select_queue_Fpga{0U};
uint32_t downsampling_factor{4U};
uint32_t total_block_exp{13U};
uint32_t excludelimit{5U};
uint32_t max_num_acqs{2U};
uint32_t samples_per_code{1U};
uint32_t code_length{16000U};
bool make_2_steps{false};
bool repeat_satellite{false};
private:
const std::string acquisition_device_name = "acquisition_S00_AXI"; // UIO device name
};
/** \} */
/** \} */
#endif // GNSS_SDR_ACQ_CONF_FPGA_H