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Code Issues Releases Wiki Activity

Refactor of tracking adapters

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Avoid code duplication
Based on @odrisci suggestion at #336
This commit is contained in:
Carles Fernandez 2020-02-20 00:07:03 +01:00
parent 0ec3ca0986
commit 3b965654d6
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GPG Key ID: 4C583C52B0C3877D
17 changed files with 480 additions and 1417 deletions
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117
src/algorithms/tracking/adapters/beidou_b1i_dll_pll_tracking.cc
View File

@ -37,127 +37,46 @@ BeidouB1iDllPllTracking::BeidouB1iDllPllTracking(
ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
Dll_Pll_Conf trk_param = Dll_Pll_Conf();
Dll_Pll_Conf trk_params = Dll_Pll_Conf();
DLOG(INFO) << "role " << role;
// ################# CONFIGURATION PARAMETERS ########################
std::string default_item_type = "gr_complex";
std::string item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param.fs_in = fs_in;
bool dump = configuration->property(role + ".dump", false);
trk_param.dump = dump;
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
if (FLAGS_pll_bw_hz != 0.0)
{
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
}
trk_param.pll_bw_hz = pll_bw_hz;
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 20.0);
trk_param.pll_bw_narrow_hz = pll_bw_narrow_hz;
float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 2.0);
trk_param.dll_bw_narrow_hz = dll_bw_narrow_hz;
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
if (FLAGS_dll_bw_hz != 0.0)
{
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
}
trk_param.dll_bw_hz = dll_bw_hz;
trk_params.SetFromConfiguration(configuration, role);
int dll_filter_order = configuration->property(role + ".dll_filter_order", 2);
if (dll_filter_order < 1)
int vector_length = std::round(trk_params.fs_in / (BEIDOU_B1I_CODE_RATE_CPS / BEIDOU_B1I_CODE_LENGTH_CHIPS));
trk_params.vector_length = vector_length;
if (trk_params.extend_correlation_symbols < 1)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
dll_filter_order = 1;
}
if (dll_filter_order > 3)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
dll_filter_order = 3;
}
trk_param.dll_filter_order = dll_filter_order;
int pll_filter_order = configuration->property(role + ".pll_filter_order", 3);
if (pll_filter_order < 2)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
pll_filter_order = 2;
}
if (pll_filter_order > 3)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
pll_filter_order = 3;
}
trk_param.pll_filter_order = pll_filter_order;
if (pll_filter_order == 2)
{
trk_param.fll_filter_order = 1;
}
if (pll_filter_order == 3)
{
trk_param.fll_filter_order = 2;
}
bool enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", false);
trk_param.enable_fll_pull_in = enable_fll_pull_in;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param.fll_bw_hz = fll_bw_hz;
trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
trk_param.early_late_space_chips = early_late_space_chips;
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);
trk_param.early_late_space_narrow_chips = early_late_space_narrow_chips;
std::string default_dump_filename = "./track_ch";
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
trk_param.dump_filename = dump_filename;
int vector_length = std::round(fs_in / (BEIDOU_B1I_CODE_RATE_CPS / BEIDOU_B1I_CODE_LENGTH_CHIPS));
trk_param.vector_length = vector_length;
int symbols_extended_correlator = configuration->property(role + ".extend_correlation_symbols", 1);
if (symbols_extended_correlator < 1)
{
symbols_extended_correlator = 1;
trk_params.extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: BEIDOU B1I. extend_correlation_symbols must be bigger than 1. Coherent integration has been set to 1 symbol (1 ms)" << TEXT_RESET << std::endl;
}
else if (symbols_extended_correlator > 20)
else if (trk_params.extend_correlation_symbols > 20)
{
symbols_extended_correlator = 20;
trk_params.extend_correlation_symbols = 20;
std::cout << TEXT_RED << "WARNING: BEIDOU B1I. extend_correlation_symbols must be lower than 21. Coherent integration has been set to 20 symbols (20 ms)" << TEXT_RESET << std::endl;
}
trk_param.extend_correlation_symbols = symbols_extended_correlator;
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (track_pilot)
trk_params.track_pilot = configuration->property(role + ".track_pilot", false);
if (trk_params.track_pilot)
{
std::cout << TEXT_RED << "WARNING: BEIDOU B1I does not have pilot signal. Data tracking has been enabled" << TEXT_RESET << std::endl;
trk_params.track_pilot = false;
}
if ((symbols_extended_correlator > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
if ((trk_params.extend_correlation_symbols > 1) and (trk_params.pll_bw_narrow_hz > trk_params.pll_bw_hz or trk_params.dll_bw_narrow_hz > trk_params.dll_bw_hz))
{
std::cout << TEXT_RED << "WARNING: BEIDOU B1I. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
}
trk_param.very_early_late_space_chips = 0.0;
trk_param.very_early_late_space_narrow_chips = 0.0;
trk_param.track_pilot = false;
trk_param.system = 'C';
trk_params.system = 'C';
std::array<char, 3> sig_{'B', '1', '\0'};
std::memcpy(trk_param.signal, sig_.data(), 3);
std::memcpy(trk_params.signal, sig_.data(), 3);
trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);
trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
// ################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")
// ################# Make a GNU Radio Tracking block object ################
if (trk_params.item_type == "gr_complex")
{
item_size_ = sizeof(gr_complex);
tracking_ = dll_pll_veml_make_tracking(trk_param);
tracking_ = dll_pll_veml_make_tracking(trk_params);
}
else
{
item_size_ = sizeof(gr_complex);
LOG(WARNING) << item_type << " unknown tracking item type.";
LOG(WARNING) << trk_params.item_type << " unknown tracking item type.";
}
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";

123
src/algorithms/tracking/adapters/beidou_b3i_dll_pll_tracking.cc
View File

@ -38,130 +38,37 @@ BeidouB3iDllPllTracking::BeidouB3iDllPllTracking(
ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
Dll_Pll_Conf trk_param = Dll_Pll_Conf();
Dll_Pll_Conf trk_params = Dll_Pll_Conf();
DLOG(INFO) << "role " << role;
// ################# CONFIGURATION PARAMETERS ########################
std::string default_item_type = "gr_complex";
std::string item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param.fs_in = fs_in;
bool dump = configuration->property(role + ".dump", false);
trk_param.dump = dump;
std::string default_dump_filename = "./track_ch";
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
trk_param.dump_filename = dump_filename;
bool dump_mat = configuration->property(role + ".dump_mat", true);
trk_param.dump_mat = dump_mat;
trk_param.high_dyn = configuration->property(role + ".high_dyn", false);
if (configuration->property(role + ".smoother_length", 10) < 1)
{
trk_param.smoother_length = 1;
std::cout << TEXT_RED << "WARNING: BEIDOU B3I. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
}
else
{
trk_param.smoother_length = configuration->property(role + ".smoother_length", 10);
}
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
if (FLAGS_pll_bw_hz != 0.0)
{
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
}
trk_param.pll_bw_hz = pll_bw_hz;
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
if (FLAGS_dll_bw_hz != 0.0)
{
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
}
trk_param.dll_bw_hz = dll_bw_hz;
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 2.0);
trk_param.pll_bw_narrow_hz = pll_bw_narrow_hz;
float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 0.25);
trk_param.dll_bw_narrow_hz = dll_bw_narrow_hz;
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
trk_param.early_late_space_chips = early_late_space_chips;
trk_params.SetFromConfiguration(configuration, role);
int dll_filter_order = configuration->property(role + ".dll_filter_order", 2);
if (dll_filter_order < 1)
int vector_length = std::round(static_cast<double>(trk_params.fs_in) / (BEIDOU_B3I_CODE_RATE_CPS / BEIDOU_B3I_CODE_LENGTH_CHIPS));
trk_params.vector_length = vector_length;
trk_params.track_pilot = configuration->property(role + ".track_pilot", false);
if (trk_params.extend_correlation_symbols < 1)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
dll_filter_order = 1;
}
if (dll_filter_order > 3)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
dll_filter_order = 3;
}
trk_param.dll_filter_order = dll_filter_order;
int pll_filter_order = configuration->property(role + ".pll_filter_order", 3);
if (pll_filter_order < 2)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
pll_filter_order = 2;
}
if (pll_filter_order > 3)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
pll_filter_order = 3;
}
trk_param.pll_filter_order = pll_filter_order;
if (pll_filter_order == 2)
{
trk_param.fll_filter_order = 1;
}
if (pll_filter_order == 3)
{
trk_param.fll_filter_order = 2;
}
bool enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", false);
trk_param.enable_fll_pull_in = enable_fll_pull_in;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param.fll_bw_hz = fll_bw_hz;
trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
int vector_length = std::round(static_cast<double>(fs_in) / (BEIDOU_B3I_CODE_RATE_CPS / BEIDOU_B3I_CODE_LENGTH_CHIPS));
trk_param.vector_length = vector_length;
int symbols_extended_correlator = configuration->property(role + ".extend_correlation_symbols", 1);
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);
trk_param.early_late_space_narrow_chips = early_late_space_narrow_chips;
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (symbols_extended_correlator < 1)
{
symbols_extended_correlator = 1;
trk_params.extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: BEIDOU B3I. extend_correlation_symbols must be bigger than 1. Coherent integration has been set to 1 symbol (1 ms)" << TEXT_RESET << std::endl;
}
else if (symbols_extended_correlator > 20)
else if (trk_params.extend_correlation_symbols > 20)
{
symbols_extended_correlator = 20;
trk_params.extend_correlation_symbols = 20;
std::cout << TEXT_RED << "WARNING: BEIDOU B3I. extend_correlation_symbols must be lower than 21. Coherent integration has been set to 20 symbols (20 ms)" << TEXT_RESET << std::endl;
}
trk_param.extend_correlation_symbols = symbols_extended_correlator;
trk_param.track_pilot = track_pilot;
trk_param.very_early_late_space_chips = 0.0;
trk_param.very_early_late_space_narrow_chips = 0.0;
trk_param.system = 'C';
trk_params.system = 'C';
std::array<char, 3> sig_{'B', '3', '\0'};
std::memcpy(trk_param.signal, sig_.data(), 3);
trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);
trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
std::memcpy(trk_params.signal, sig_.data(), 3);
// ################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")
// ################# Make a GNU Radio Tracking block object ################
if (trk_params.item_type == "gr_complex")
{
item_size_ = sizeof(gr_complex);
tracking_ = dll_pll_veml_make_tracking(trk_param);
tracking_ = dll_pll_veml_make_tracking(trk_params);
}
else
{
item_size_ = sizeof(gr_complex);
LOG(WARNING) << item_type << " unknown tracking item type.";
LOG(WARNING) << trk_params.item_type << " unknown tracking item type.";
}
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";

136
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.cc
View File

@ -36,146 +36,40 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
Dll_Pll_Conf trk_param = Dll_Pll_Conf();
Dll_Pll_Conf trk_params = Dll_Pll_Conf();
DLOG(INFO) << "role " << role;
// ################# CONFIGURATION PARAMETERS ########################
std::string default_item_type = "gr_complex";
std::string item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param.fs_in = fs_in;
bool dump = configuration->property(role + ".dump", false);
trk_param.dump = dump;
std::string default_dump_filename = "./track_ch";
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
trk_param.dump_filename = dump_filename;
bool dump_mat = configuration->property(role + ".dump_mat", true);
trk_param.dump_mat = dump_mat;
trk_param.high_dyn = configuration->property(role + ".high_dyn", false);
if (configuration->property(role + ".smoother_length", 10) < 1)
{
trk_param.smoother_length = 1;
std::cout << TEXT_RED << "WARNING: Gal. E1. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
}
else
{
trk_param.smoother_length = configuration->property(role + ".smoother_length", 10);
}
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 5.0);
if (FLAGS_pll_bw_hz != 0.0)
{
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
}
trk_param.pll_bw_hz = pll_bw_hz;
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 0.5);
if (FLAGS_dll_bw_hz != 0.0)
{
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
}
trk_param.dll_bw_hz = dll_bw_hz;
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 2.0);
trk_param.pll_bw_narrow_hz = pll_bw_narrow_hz;
float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 0.25);
trk_param.dll_bw_narrow_hz = dll_bw_narrow_hz;
trk_params.SetFromConfiguration(configuration, role);
int dll_filter_order = configuration->property(role + ".dll_filter_order", 2);
if (dll_filter_order < 1)
if (trk_params.extend_correlation_symbols < 1)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
dll_filter_order = 1;
}
if (dll_filter_order > 3)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
dll_filter_order = 3;
}
trk_param.dll_filter_order = dll_filter_order;
int pll_filter_order = configuration->property(role + ".pll_filter_order", 3);
if (pll_filter_order < 2)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
pll_filter_order = 2;
}
if (pll_filter_order > 3)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
pll_filter_order = 3;
}
trk_param.pll_filter_order = pll_filter_order;
if (pll_filter_order == 2)
{
trk_param.fll_filter_order = 1;
}
if (pll_filter_order == 3)
{
trk_param.fll_filter_order = 2;
}
bool enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", false);
trk_param.enable_fll_pull_in = enable_fll_pull_in;
bool enable_fll_steady_state = configuration->property(role + ".enable_fll_steady_state", false);
trk_param.enable_fll_steady_state = enable_fll_steady_state;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param.fll_bw_hz = fll_bw_hz;
trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
int extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.15);
trk_param.early_late_space_chips = early_late_space_chips;
float very_early_late_space_chips = configuration->property(role + ".very_early_late_space_chips", 0.5);
trk_param.very_early_late_space_chips = very_early_late_space_chips;
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.15);
trk_param.early_late_space_narrow_chips = early_late_space_narrow_chips;
float very_early_late_space_narrow_chips = configuration->property(role + ".very_early_late_space_narrow_chips", 0.5);
trk_param.very_early_late_space_narrow_chips = very_early_late_space_narrow_chips;
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (extend_correlation_symbols < 1)
{
extend_correlation_symbols = 1;
trk_params.extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: Galileo E1. extend_correlation_symbols must be bigger than 0. Coherent integration has been set to 1 symbol (4 ms)" << TEXT_RESET << std::endl;
}
else if (!track_pilot and extend_correlation_symbols > 1)
else if (!trk_params.track_pilot and trk_params.extend_correlation_symbols > 1)
{
extend_correlation_symbols = 1;
trk_params.extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: Galileo E1. Extended coherent integration is not allowed when tracking the data component. Coherent integration has been set to 4 ms (1 symbol)" << TEXT_RESET << std::endl;
}
if ((extend_correlation_symbols > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
if ((trk_params.extend_correlation_symbols > 1) and (trk_params.pll_bw_narrow_hz > trk_params.pll_bw_hz or trk_params.dll_bw_narrow_hz > trk_params.dll_bw_hz))
{
std::cout << TEXT_RED << "WARNING: Galileo E1. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
}
trk_param.track_pilot = track_pilot;
trk_param.extend_correlation_symbols = extend_correlation_symbols;
int vector_length = std::round(fs_in / (GALILEO_E1_CODE_CHIP_RATE_CPS / GALILEO_E1_B_CODE_LENGTH_CHIPS));
trk_param.vector_length = vector_length;
trk_param.system = 'E';
int vector_length = std::round(trk_params.fs_in / (GALILEO_E1_CODE_CHIP_RATE_CPS / GALILEO_E1_B_CODE_LENGTH_CHIPS));
trk_params.vector_length = vector_length;
trk_params.system = 'E';
std::array<char, 3> sig_{'1', 'B', '\0'};
std::memcpy(trk_param.signal, sig_.data(), 3);
trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);
trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
std::memcpy(trk_params.signal, sig_.data(), 3);
// tracking lock tests smoother parameters
trk_param.cn0_smoother_samples = configuration->property(role + ".cn0_smoother_samples", trk_param.cn0_smoother_samples);
trk_param.cn0_smoother_alpha = configuration->property(role + ".cn0_smoother_alpha", trk_param.cn0_smoother_alpha);
trk_param.carrier_lock_test_smoother_samples = configuration->property(role + ".carrier_lock_test_smoother_samples", trk_param.carrier_lock_test_smoother_samples);
trk_param.carrier_lock_test_smoother_alpha = configuration->property(role + ".carrier_lock_test_smoother_alpha", trk_param.carrier_lock_test_smoother_alpha);
// ################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")
// ################# Make a GNU Radio Tracking block object ################
if (trk_params.item_type == "gr_complex")
{
item_size_ = sizeof(gr_complex);
tracking_ = dll_pll_veml_make_tracking(trk_param);
tracking_ = dll_pll_veml_make_tracking(trk_params);
}
else
{
item_size_ = sizeof(gr_complex);
LOG(WARNING) << item_type << " unknown tracking item type.";
LOG(WARNING) << trk_params.item_type << " unknown tracking item type.";
}
channel_ = 0;

162
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking_fpga.cc
View File

@ -38,148 +38,42 @@ GalileoE1DllPllVemlTrackingFpga::GalileoE1DllPllVemlTrackingFpga(
ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
Dll_Pll_Conf_Fpga trk_param_fpga = Dll_Pll_Conf_Fpga();
Dll_Pll_Conf_Fpga trk_params_fpga = Dll_Pll_Conf_Fpga();
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
int32_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 12500000);
int32_t fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param_fpga.fs_in = fs_in;
bool dump = configuration->property(role + ".dump", false);
trk_param_fpga.dump = dump;
std::string default_dump_filename = "./track_ch";
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
trk_param_fpga.dump_filename = dump_filename;
bool dump_mat = configuration->property(role + ".dump_mat", true);
trk_param_fpga.dump_mat = dump_mat;
trk_param_fpga.high_dyn = configuration->property(role + ".high_dyn", false);
if (configuration->property(role + ".smoother_length", 10) < 1)
{
trk_param_fpga.smoother_length = 1;
std::cout << TEXT_RED << "WARNING: Gal. E1. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
}
else
{
trk_param_fpga.smoother_length = configuration->property(role + ".smoother_length", 10);
}
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 5.0);
if (FLAGS_pll_bw_hz != 0.0)
{
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
}
trk_param_fpga.pll_bw_hz = pll_bw_hz;
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 0.5);
if (FLAGS_dll_bw_hz != 0.0)
{
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
}
trk_param_fpga.dll_bw_hz = dll_bw_hz;
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 2.0);
trk_param_fpga.pll_bw_narrow_hz = pll_bw_narrow_hz;
float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 0.25);
trk_param_fpga.dll_bw_narrow_hz = dll_bw_narrow_hz;
trk_params_fpga.SetFromConfiguration(configuration, role);
int dll_filter_order = configuration->property(role + ".dll_filter_order", 2);
if (dll_filter_order < 1)
if (trk_params_fpga.extend_correlation_symbols < 1)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
dll_filter_order = 1;
}
if (dll_filter_order > 3)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
dll_filter_order = 3;
}
trk_param_fpga.dll_filter_order = dll_filter_order;
int pll_filter_order = configuration->property(role + ".pll_filter_order", 3);
if (pll_filter_order < 2)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
pll_filter_order = 2;
}
if (pll_filter_order > 3)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
pll_filter_order = 3;
}
trk_param_fpga.pll_filter_order = pll_filter_order;
if (pll_filter_order == 2)
{
trk_param_fpga.fll_filter_order = 1;
}
if (pll_filter_order == 3)
{
trk_param_fpga.fll_filter_order = 2;
}
bool enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", false);
trk_param_fpga.enable_fll_pull_in = enable_fll_pull_in;
bool enable_fll_steady_state = configuration->property(role + ".enable_fll_steady_state", false);
trk_param_fpga.enable_fll_steady_state = enable_fll_steady_state;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param_fpga.fll_bw_hz = fll_bw_hz;
float pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param_fpga.pull_in_time_s);
trk_param_fpga.pull_in_time_s = pull_in_time_s;
int32_t extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.15);
trk_param_fpga.early_late_space_chips = early_late_space_chips;
float very_early_late_space_chips = configuration->property(role + ".very_early_late_space_chips", 0.5);
trk_param_fpga.very_early_late_space_chips = very_early_late_space_chips;
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.15);
trk_param_fpga.early_late_space_narrow_chips = early_late_space_narrow_chips;
float very_early_late_space_narrow_chips = configuration->property(role + ".very_early_late_space_narrow_chips", 0.5);
trk_param_fpga.very_early_late_space_narrow_chips = very_early_late_space_narrow_chips;
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (extend_correlation_symbols < 1)
{
extend_correlation_symbols = 1;
trk_params_fpga.extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: Galileo E1. extend_correlation_symbols must be bigger than 0. Coherent integration has been set to 1 symbol (4 ms)" << TEXT_RESET << std::endl;
}
else if (!track_pilot and extend_correlation_symbols > 1)
else if (!trk_params_fpga.track_pilot and trk_params_fpga.extend_correlation_symbols > 1)
{
extend_correlation_symbols = 1;
trk_params_fpga.extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: Galileo E1. Extended coherent integration is not allowed when tracking the data component. Coherent integration has been set to 4 ms (1 symbol)" << TEXT_RESET << std::endl;
}
if ((extend_correlation_symbols > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
if ((trk_params_fpga.extend_correlation_symbols > 1) and (trk_params_fpga.pll_bw_narrow_hz > trk_params_fpga.pll_bw_hz or trk_params_fpga.dll_bw_narrow_hz > trk_params_fpga.dll_bw_hz))
{
std::cout << TEXT_RED << "WARNING: Galileo E1. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
}
trk_param_fpga.track_pilot = track_pilot;
d_track_pilot = track_pilot;
trk_param_fpga.extend_correlation_symbols = extend_correlation_symbols;
int32_t vector_length = std::round(fs_in / (GALILEO_E1_CODE_CHIP_RATE_CPS / GALILEO_E1_B_CODE_LENGTH_CHIPS));
trk_param_fpga.vector_length = vector_length;
trk_param_fpga.system = 'E';
d_track_pilot = trk_params_fpga.track_pilot;
int32_t vector_length = std::round(trk_params_fpga.fs_in / (GALILEO_E1_CODE_CHIP_RATE_CPS / GALILEO_E1_B_CODE_LENGTH_CHIPS));
trk_params_fpga.vector_length = vector_length;
trk_params_fpga.system = 'E';
std::array<char, 3> sig_{'1', 'B', '\0'};
std::memcpy(trk_param_fpga.signal, sig_.data(), 3);
trk_param_fpga.cn0_samples = configuration->property(role + ".cn0_samples", trk_param_fpga.cn0_samples);
trk_param_fpga.cn0_min = configuration->property(role + ".cn0_min", trk_param_fpga.cn0_min);
trk_param_fpga.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param_fpga.max_code_lock_fail);
trk_param_fpga.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param_fpga.max_carrier_lock_fail);
trk_param_fpga.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param_fpga.carrier_lock_th);
// tracking lock tests smoother parameters
trk_param_fpga.cn0_smoother_samples = configuration->property(role + ".cn0_smoother_samples", trk_param_fpga.cn0_smoother_samples);
trk_param_fpga.cn0_smoother_alpha = configuration->property(role + ".cn0_smoother_alpha", trk_param_fpga.cn0_smoother_alpha);
trk_param_fpga.carrier_lock_test_smoother_samples = configuration->property(role + ".carrier_lock_test_smoother_samples", trk_param_fpga.carrier_lock_test_smoother_samples);
trk_param_fpga.carrier_lock_test_smoother_alpha = configuration->property(role + ".carrier_lock_test_smoother_alpha", trk_param_fpga.carrier_lock_test_smoother_alpha);
std::memcpy(trk_params_fpga.signal, sig_.data(), 3);
// FPGA configuration parameters
std::string default_device_name = "/dev/uio";
std::string device_name = configuration->property(role + ".devicename", default_device_name);
trk_param_fpga.device_name = device_name;
// obtain the number of the first uio device corresponding to a HW accelerator in the FPGA
// that can be assigned to the tracking of the E1 signal
trk_param_fpga.dev_file_num = configuration->property(role + ".dev_file_num", 15);
trk_params_fpga.dev_file_num = configuration->property(role + ".dev_file_num", 15);
// compute the number of tracking channels that have already been instantiated. The order in which
// GNSS-SDR instantiates the tracking channels i L1, L2, L5, E1, E5a
trk_param_fpga.num_prev_assigned_ch = configuration->property("Channels_1C.count", 0) +
configuration->property("Channels_2S.count", 0) +
configuration->property("Channels_L5.count", 0);
trk_params_fpga.num_prev_assigned_ch = configuration->property("Channels_1C.count", 0) +
configuration->property("Channels_2S.count", 0) +
configuration->property("Channels_L5.count", 0);
//################# PRE-COMPUTE ALL THE CODES #################
// ################# PRE-COMPUTE ALL THE CODES #################
uint32_t code_samples_per_chip = 2;
d_ca_codes = static_cast<int32_t*>(volk_gnsssdr_malloc(static_cast<int32_t>(GALILEO_E1_B_CODE_LENGTH_CHIPS) * code_samples_per_chip * GALILEO_E1_NUMBER_OF_CODES * sizeof(int32_t), volk_gnsssdr_get_alignment()));
volk_gnsssdr::vector<float> ca_codes_f(static_cast<uint32_t>(GALILEO_E1_B_CODE_LENGTH_CHIPS) * code_samples_per_chip);
@ -189,10 +83,6 @@ GalileoE1DllPllVemlTrackingFpga::GalileoE1DllPllVemlTrackingFpga(
if (d_track_pilot)
{
d_data_codes = static_cast<int32_t*>(volk_gnsssdr_malloc((static_cast<uint32_t>(GALILEO_E1_B_CODE_LENGTH_CHIPS)) * code_samples_per_chip * GALILEO_E1_NUMBER_OF_CODES * sizeof(int32_t), volk_gnsssdr_get_alignment()));
}
if (d_track_pilot)
{
data_codes_f.resize(static_cast<uint32_t>(GALILEO_E1_B_CODE_LENGTH_CHIPS) * code_samples_per_chip, 0.0);
}
@ -242,16 +132,16 @@ GalileoE1DllPllVemlTrackingFpga::GalileoE1DllPllVemlTrackingFpga(
}
}
trk_param_fpga.ca_codes = d_ca_codes;
trk_param_fpga.data_codes = d_data_codes;
trk_param_fpga.code_length_chips = GALILEO_E1_B_CODE_LENGTH_CHIPS;
trk_param_fpga.code_samples_per_chip = code_samples_per_chip; // 2 sample per chip
trk_param_fpga.extended_correlation_in_fpga = false;
trk_param_fpga.extend_fpga_integration_periods = 1; // (number of FPGA integrations that are combined in the SW)
trk_param_fpga.fpga_integration_period = 1; // (number of symbols that are effectively integrated in the FPGA)
trk_params_fpga.ca_codes = d_ca_codes;
trk_params_fpga.data_codes = d_data_codes;
trk_params_fpga.code_length_chips = GALILEO_E1_B_CODE_LENGTH_CHIPS;
trk_params_fpga.code_samples_per_chip = code_samples_per_chip; // 2 sample per chip
trk_params_fpga.extended_correlation_in_fpga = false;
trk_params_fpga.extend_fpga_integration_periods = 1; // (number of FPGA integrations that are combined in the SW)
trk_params_fpga.fpga_integration_period = 1; // (number of symbols that are effectively integrated in the FPGA)
//################# MAKE TRACKING GNURadio object ###################
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_param_fpga);
// ################# MAKE TRACKING GNU Radio object ###################
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_params_fpga);
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_fpga_sc->unique_id() << ")";

132
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.cc
View File

@ -35,142 +35,40 @@ GalileoE5aDllPllTracking::GalileoE5aDllPllTracking(
ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
Dll_Pll_Conf trk_param = Dll_Pll_Conf();
Dll_Pll_Conf trk_params = Dll_Pll_Conf();
DLOG(INFO) << "role " << role;
// ################# CONFIGURATION PARAMETERS ########################
std::string default_item_type = "gr_complex";
std::string item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 12000000);
int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param.fs_in = fs_in;
bool dump = configuration->property(role + ".dump", false);
trk_param.dump = dump;
std::string default_dump_filename = "./track_ch";
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
trk_param.dump_filename = dump_filename;
bool dump_mat = configuration->property(role + ".dump_mat", true);
trk_param.dump_mat = dump_mat;
trk_param.high_dyn = configuration->property(role + ".high_dyn", false);
if (configuration->property(role + ".smoother_length", 10) < 1)
{
trk_param.smoother_length = 1;
std::cout << TEXT_RED << "WARNING: Gal. E5a. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
}
else
{
trk_param.smoother_length = configuration->property(role + ".smoother_length", 10);
}
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 20.0);
if (FLAGS_pll_bw_hz != 0.0)
{
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
}
trk_param.pll_bw_hz = pll_bw_hz;
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 20.0);
if (FLAGS_dll_bw_hz != 0.0)
{
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
}
trk_param.dll_bw_hz = dll_bw_hz;
trk_params.SetFromConfiguration(configuration, role);
int dll_filter_order = configuration->property(role + ".dll_filter_order", 2);
if (dll_filter_order < 1)
int vector_length = std::round(trk_params.fs_in / (GALILEO_E5A_CODE_CHIP_RATE_CPS / GALILEO_E5A_CODE_LENGTH_CHIPS));
trk_params.vector_length = vector_length;
if (trk_params.extend_correlation_symbols < 1)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
dll_filter_order = 1;
}
if (dll_filter_order > 3)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
dll_filter_order = 3;
}
trk_param.dll_filter_order = dll_filter_order;
int pll_filter_order = configuration->property(role + ".pll_filter_order", 3);
if (pll_filter_order < 2)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
pll_filter_order = 2;
}
if (pll_filter_order > 3)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
pll_filter_order = 3;
}
trk_param.pll_filter_order = pll_filter_order;
if (pll_filter_order == 2)
{
trk_param.fll_filter_order = 1;
}
if (pll_filter_order == 3)
{
trk_param.fll_filter_order = 2;
}
bool enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", false);
trk_param.enable_fll_pull_in = enable_fll_pull_in;
bool enable_fll_steady_state = configuration->property(role + ".enable_fll_steady_state", false);
trk_param.enable_fll_steady_state = enable_fll_steady_state;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param.fll_bw_hz = fll_bw_hz;
trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 5.0);
trk_param.pll_bw_narrow_hz = pll_bw_narrow_hz;
float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 2.0);
trk_param.dll_bw_narrow_hz = dll_bw_narrow_hz;
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
trk_param.early_late_space_chips = early_late_space_chips;
int vector_length = std::round(fs_in / (GALILEO_E5A_CODE_CHIP_RATE_CPS / GALILEO_E5A_CODE_LENGTH_CHIPS));
trk_param.vector_length = vector_length;
int extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);
trk_param.early_late_space_narrow_chips = early_late_space_narrow_chips;
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (extend_correlation_symbols < 1)
{
extend_correlation_symbols = 1;
trk_params.extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: Galileo E5a. extend_correlation_symbols must be bigger than 0. Coherent integration has been set to 1 symbol (1 ms)" << TEXT_RESET << std::endl;
}
else if (!track_pilot and extend_correlation_symbols > GALILEO_E5A_I_SECONDARY_CODE_LENGTH)
else if (!trk_params.track_pilot and trk_params.extend_correlation_symbols > GALILEO_E5A_I_SECONDARY_CODE_LENGTH)
{
extend_correlation_symbols = GALILEO_E5A_I_SECONDARY_CODE_LENGTH;
trk_params.extend_correlation_symbols = GALILEO_E5A_I_SECONDARY_CODE_LENGTH;
std::cout << TEXT_RED << "WARNING: Galileo E5a. extend_correlation_symbols must be lower than 21 when tracking the data component. Coherent integration has been set to 20 symbols (20 ms)" << TEXT_RESET << std::endl;
}
if ((extend_correlation_symbols > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
if ((trk_params.extend_correlation_symbols > 1) and (trk_params.pll_bw_narrow_hz > trk_params.pll_bw_hz or trk_params.dll_bw_narrow_hz > trk_params.dll_bw_hz))
{
std::cout << TEXT_RED << "WARNING: Galileo E5a. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
}
trk_param.extend_correlation_symbols = extend_correlation_symbols;
trk_param.track_pilot = track_pilot;
trk_param.very_early_late_space_chips = 0.0;
trk_param.very_early_late_space_narrow_chips = 0.0;
trk_param.system = 'E';
trk_params.system = 'E';
std::array<char, 3> sig_{'5', 'X', '\0'};
std::memcpy(trk_param.signal, sig_.data(), 3);
trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);
trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
std::memcpy(trk_params.signal, sig_.data(), 3);
// tracking lock tests smoother parameters
trk_param.cn0_smoother_samples = configuration->property(role + ".cn0_smoother_samples", trk_param.cn0_smoother_samples);
trk_param.cn0_smoother_alpha = configuration->property(role + ".cn0_smoother_alpha", trk_param.cn0_smoother_alpha);
trk_param.carrier_lock_test_smoother_samples = configuration->property(role + ".carrier_lock_test_smoother_samples", trk_param.carrier_lock_test_smoother_samples);
trk_param.carrier_lock_test_smoother_alpha = configuration->property(role + ".carrier_lock_test_smoother_alpha", trk_param.carrier_lock_test_smoother_alpha);
// ################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")
// ################# Make a GNU Radio Tracking block object ################
if (trk_params.item_type == "gr_complex")
{
item_size_ = sizeof(gr_complex);
tracking_ = dll_pll_veml_make_tracking(trk_param);
tracking_ = dll_pll_veml_make_tracking(trk_params);
}
else
{
item_size_ = sizeof(gr_complex);
LOG(WARNING) << item_type << " unknown tracking item type.";
LOG(WARNING) << trk_params.item_type << " unknown tracking item type.";
}
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";

174
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking_fpga.cc
View File

@ -33,150 +33,46 @@ GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
ConfigurationInterface *configuration, const std::string &role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
Dll_Pll_Conf_Fpga trk_param_fpga = Dll_Pll_Conf_Fpga();
Dll_Pll_Conf_Fpga trk_params_fpga = Dll_Pll_Conf_Fpga();
DLOG(INFO) << "role " << role;
// ################# CONFIGURATION PARAMETERS ########################
int32_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 12500000);
int32_t fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param_fpga.fs_in = fs_in;
bool dump = configuration->property(role + ".dump", false);
trk_param_fpga.dump = dump;
std::string default_dump_filename = "./track_ch";
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
trk_param_fpga.dump_filename = dump_filename;
bool dump_mat = configuration->property(role + ".dump_mat", true);
trk_param_fpga.dump_mat = dump_mat;
trk_param_fpga.high_dyn = configuration->property(role + ".high_dyn", false);
if (configuration->property(role + ".smoother_length", 10) < 1)
{
trk_param_fpga.smoother_length = 1;
std::cout << TEXT_RED << "WARNING: Gal. E5a. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
}
else
{
trk_param_fpga.smoother_length = configuration->property(role + ".smoother_length", 10);
}
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 20.0);
if (FLAGS_pll_bw_hz != 0.0)
{
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
}
trk_param_fpga.pll_bw_hz = pll_bw_hz;
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 20.0);
if (FLAGS_dll_bw_hz != 0.0)
{
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
}
trk_param_fpga.dll_bw_hz = dll_bw_hz;
trk_params_fpga.SetFromConfiguration(configuration, role);
int dll_filter_order = configuration->property(role + ".dll_filter_order", 2);
if (dll_filter_order < 1)
int32_t vector_length = std::round(trk_params_fpga.fs_in / (GALILEO_E5A_CODE_CHIP_RATE_CPS / GALILEO_E5A_CODE_LENGTH_CHIPS));
trk_params_fpga.vector_length = vector_length;
d_track_pilot = trk_params_fpga.track_pilot;
if (trk_params_fpga.extend_correlation_symbols < 1)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
dll_filter_order = 1;
}
if (dll_filter_order > 3)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
dll_filter_order = 3;
}
trk_param_fpga.dll_filter_order = dll_filter_order;
int pll_filter_order = configuration->property(role + ".pll_filter_order", 3);
if (pll_filter_order < 2)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
pll_filter_order = 2;
}
if (pll_filter_order > 3)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
pll_filter_order = 3;
}
trk_param_fpga.pll_filter_order = pll_filter_order;
if (pll_filter_order == 2)
{
trk_param_fpga.fll_filter_order = 1;
}
if (pll_filter_order == 3)
{
trk_param_fpga.fll_filter_order = 2;
}
bool enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", false);
trk_param_fpga.enable_fll_pull_in = enable_fll_pull_in;
bool enable_fll_steady_state = configuration->property(role + ".enable_fll_steady_state", false);
trk_param_fpga.enable_fll_steady_state = enable_fll_steady_state;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param_fpga.fll_bw_hz = fll_bw_hz;
float pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param_fpga.pull_in_time_s);
trk_param_fpga.pull_in_time_s = pull_in_time_s;
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 5.0);
trk_param_fpga.pll_bw_narrow_hz = pll_bw_narrow_hz;
float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 2.0);
trk_param_fpga.dll_bw_narrow_hz = dll_bw_narrow_hz;
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
trk_param_fpga.early_late_space_chips = early_late_space_chips;
int32_t vector_length = std::round(fs_in / (GALILEO_E5A_CODE_CHIP_RATE_CPS / GALILEO_E5A_CODE_LENGTH_CHIPS));
trk_param_fpga.vector_length = vector_length;
int32_t extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);
trk_param_fpga.early_late_space_narrow_chips = early_late_space_narrow_chips;
bool track_pilot = configuration->property(role + ".track_pilot", false);
d_track_pilot = track_pilot;
if (extend_correlation_symbols < 1)
{
extend_correlation_symbols = 1;
trk_params_fpga.extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: Galileo E5a. extend_correlation_symbols must be bigger than 0. Coherent integration has been set to 1 symbol (1 ms)" << TEXT_RESET << std::endl;
}
else if (!track_pilot and extend_correlation_symbols > GALILEO_E5A_I_SECONDARY_CODE_LENGTH)
else if (!trk_params_fpga.track_pilot and trk_params_fpga.extend_correlation_symbols > GALILEO_E5A_I_SECONDARY_CODE_LENGTH)
{
extend_correlation_symbols = GALILEO_E5A_I_SECONDARY_CODE_LENGTH;
trk_params_fpga.extend_correlation_symbols = GALILEO_E5A_I_SECONDARY_CODE_LENGTH;
std::cout << TEXT_RED << "WARNING: Galileo E5a. extend_correlation_symbols must be lower than 21 when tracking the data component. Coherent integration has been set to 20 symbols (20 ms)" << TEXT_RESET << std::endl;
}
if ((extend_correlation_symbols > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
if ((trk_params_fpga.extend_correlation_symbols > 1) and (trk_params_fpga.pll_bw_narrow_hz > trk_params_fpga.pll_bw_hz or trk_params_fpga.dll_bw_narrow_hz > trk_params_fpga.dll_bw_hz))
{
std::cout << TEXT_RED << "WARNING: Galileo E5a. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
}
trk_param_fpga.extend_correlation_symbols = extend_correlation_symbols;
trk_param_fpga.track_pilot = track_pilot;
trk_param_fpga.very_early_late_space_chips = 0.0;
trk_param_fpga.very_early_late_space_narrow_chips = 0.0;
trk_param_fpga.system = 'E';
trk_params_fpga.system = 'E';
std::array<char, 3> sig_{'5', 'X', '\0'};
std::memcpy(trk_param_fpga.signal, sig_.data(), 3);
trk_param_fpga.cn0_samples = configuration->property(role + ".cn0_samples", trk_param_fpga.cn0_samples);
trk_param_fpga.cn0_min = configuration->property(role + ".cn0_min", trk_param_fpga.cn0_min);
trk_param_fpga.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param_fpga.max_code_lock_fail);
trk_param_fpga.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param_fpga.max_carrier_lock_fail);
trk_param_fpga.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param_fpga.carrier_lock_th);
// tracking lock tests smoother parameters
trk_param_fpga.cn0_smoother_samples = configuration->property(role + ".cn0_smoother_samples", trk_param_fpga.cn0_smoother_samples);
trk_param_fpga.cn0_smoother_alpha = configuration->property(role + ".cn0_smoother_alpha", trk_param_fpga.cn0_smoother_alpha);
trk_param_fpga.carrier_lock_test_smoother_samples = configuration->property(role + ".carrier_lock_test_smoother_samples", trk_param_fpga.carrier_lock_test_smoother_samples);
trk_param_fpga.carrier_lock_test_smoother_alpha = configuration->property(role + ".carrier_lock_test_smoother_alpha", trk_param_fpga.carrier_lock_test_smoother_alpha);
std::memcpy(trk_params_fpga.signal, sig_.data(), 3);
d_data_codes = nullptr;
// FPGA configuration parameters
std::string default_device_name = "/dev/uio";
std::string device_name = configuration->property(role + ".devicename", default_device_name);
trk_param_fpga.device_name = device_name;
// obtain the number of the first uio device corresponding to a HW accelerator in the FPGA
// that can be assigned to the tracking of the E5a signal
trk_param_fpga.dev_file_num = configuration->property(role + ".dev_file_num", 27);
trk_params_fpga.dev_file_num = configuration->property(role + ".dev_file_num", 27);
// compute the number of tracking channels that have already been instantiated. The order in which
// GNSS-SDR instantiates the tracking channels i L1, L2, L5, E1, E5a
// However E5a can use the same tracking HW accelerators as L5 (but not simultaneously).
// Therefore for the proper assignment of the FPGA tracking device file numbers to the E5a tracking channels,
// the number of channels that have already been assigned to L5 must not be substracted to this channel number,
// so they are not counted here.
trk_param_fpga.num_prev_assigned_ch = configuration->property("Channels_1C.count", 0) +
configuration->property("Channels_2S.count", 0) +
configuration->property("Channels_1B.count", 0);
trk_params_fpga.num_prev_assigned_ch = configuration->property("Channels_1C.count", 0) +
configuration->property("Channels_2S.count", 0) +
configuration->property("Channels_1B.count", 0);
// ################# PRE-COMPUTE ALL THE CODES #################
uint32_t code_samples_per_chip = 1;
@ -186,7 +82,7 @@ GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
d_ca_codes = static_cast<int32_t *>(volk_gnsssdr_malloc(static_cast<int32_t>(code_length_chips) * code_samples_per_chip * GALILEO_E5A_NUMBER_OF_CODES * sizeof(int32_t), volk_gnsssdr_get_alignment()));
if (trk_param_fpga.track_pilot)
if (trk_params_fpga.track_pilot)
{
d_data_codes = static_cast<int32_t *>(volk_gnsssdr_malloc((static_cast<uint32_t>(code_length_chips)) * code_samples_per_chip * GALILEO_E5A_NUMBER_OF_CODES * sizeof(int32_t), volk_gnsssdr_get_alignment()));
}
@ -196,7 +92,7 @@ GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
std::array<char, 3> sig_a = {'5', 'X', '\0'};
galileo_e5_a_code_gen_complex_primary(aux_code, PRN, sig_a);
if (trk_param_fpga.track_pilot)
if (trk_params_fpga.track_pilot)
{
// The code is generated as a series of 1s and -1s. In order to store the values using only one bit, a -1 is stored as a 0 in the FPGA
for (uint32_t s = 0; s < code_length_chips; s++)
@ -234,40 +130,40 @@ GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
}
}
trk_param_fpga.ca_codes = d_ca_codes;
trk_param_fpga.data_codes = d_data_codes;
trk_param_fpga.code_length_chips = code_length_chips;
trk_param_fpga.code_samples_per_chip = code_samples_per_chip; // 2 sample per chip
trk_params_fpga.ca_codes = d_ca_codes;
trk_params_fpga.data_codes = d_data_codes;
trk_params_fpga.code_length_chips = code_length_chips;
trk_params_fpga.code_samples_per_chip = code_samples_per_chip; // 2 sample per chip
trk_param_fpga.extended_correlation_in_fpga = false; // by default
trk_param_fpga.extend_fpga_integration_periods = 1; // (number of FPGA integrations that are combined in the SW)
trk_param_fpga.fpga_integration_period = 1; // (number of symbols that are effectively integrated in the FPGA)
trk_params_fpga.extended_correlation_in_fpga = false; // by default
trk_params_fpga.extend_fpga_integration_periods = 1; // (number of FPGA integrations that are combined in the SW)
trk_params_fpga.fpga_integration_period = 1; // (number of symbols that are effectively integrated in the FPGA)
if (d_track_pilot)
{
if (extend_correlation_symbols > 1)
if (trk_params_fpga.extend_correlation_symbols > 1)
{
if (extend_correlation_symbols <= GALILEO_E5A_I_SECONDARY_CODE_LENGTH)
if (trk_params_fpga.extend_correlation_symbols <= GALILEO_E5A_I_SECONDARY_CODE_LENGTH)
{
if ((GALILEO_E5A_I_SECONDARY_CODE_LENGTH % extend_correlation_symbols) == 0)
if ((GALILEO_E5A_I_SECONDARY_CODE_LENGTH % trk_params_fpga.extend_correlation_symbols) == 0)
{
trk_param_fpga.extended_correlation_in_fpga = true;
trk_param_fpga.fpga_integration_period = extend_correlation_symbols;
trk_params_fpga.extended_correlation_in_fpga = true;
trk_params_fpga.fpga_integration_period = trk_params_fpga.extend_correlation_symbols;
}
}
else
{
if (extend_correlation_symbols % GALILEO_E5A_I_SECONDARY_CODE_LENGTH == 0)
if (trk_params_fpga.extend_correlation_symbols % GALILEO_E5A_I_SECONDARY_CODE_LENGTH == 0)
{
trk_param_fpga.extended_correlation_in_fpga = true;
trk_param_fpga.extend_fpga_integration_periods = extend_correlation_symbols / GALILEO_E5A_I_SECONDARY_CODE_LENGTH;
trk_param_fpga.fpga_integration_period = GALILEO_E5A_I_SECONDARY_CODE_LENGTH;
trk_params_fpga.extended_correlation_in_fpga = true;
trk_params_fpga.extend_fpga_integration_periods = trk_params_fpga.extend_correlation_symbols / GALILEO_E5A_I_SECONDARY_CODE_LENGTH;
trk_params_fpga.fpga_integration_period = GALILEO_E5A_I_SECONDARY_CODE_LENGTH;
}
}
}
}
// ################# MAKE TRACKING GNURadio object ###################
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_param_fpga);
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_params_fpga);
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_fpga_sc->unique_id() << ")";

137
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking.cc
View File

@ -37,146 +37,47 @@ GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
Dll_Pll_Conf trk_param = Dll_Pll_Conf();
Dll_Pll_Conf trk_params = Dll_Pll_Conf();
DLOG(INFO) << "role " << role;
// ################# CONFIGURATION PARAMETERS ########################
std::string default_item_type = "gr_complex";
std::string item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param.fs_in = fs_in;
trk_param.high_dyn = configuration->property(role + ".high_dyn", false);
if (configuration->property(role + ".smoother_length", 10) < 1)
{
trk_param.smoother_length = 1;
std::cout << TEXT_RED << "WARNING: GPS L1 C/A. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
}
else
{
trk_param.smoother_length = configuration->property(role + ".smoother_length", 10);
}
bool dump = configuration->property(role + ".dump", false);
trk_param.dump = dump;
std::string default_dump_filename = "./track_ch";
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
trk_param.dump_filename = dump_filename;
bool dump_mat = configuration->property(role + ".dump_mat", true);
trk_param.dump_mat = dump_mat;
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
if (FLAGS_pll_bw_hz != 0.0)
{
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
}
trk_param.pll_bw_hz = pll_bw_hz;
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 20.0);
trk_param.pll_bw_narrow_hz = pll_bw_narrow_hz;
float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 2.0);
trk_param.dll_bw_narrow_hz = dll_bw_narrow_hz;
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
if (FLAGS_dll_bw_hz != 0.0)
{
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
}
trk_param.dll_bw_hz = dll_bw_hz;
trk_params.SetFromConfiguration(configuration, role);
int dll_filter_order = configuration->property(role + ".dll_filter_order", 2);
if (dll_filter_order < 1)
int vector_length = std::round(trk_params.fs_in / (GPS_L1_CA_CODE_RATE_CPS / GPS_L1_CA_CODE_LENGTH_CHIPS));
trk_params.vector_length = vector_length;
if (trk_params.extend_correlation_symbols < 1)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
dll_filter_order = 1;
}
if (dll_filter_order > 3)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
dll_filter_order = 3;
}
trk_param.dll_filter_order = dll_filter_order;
int pll_filter_order = configuration->property(role + ".pll_filter_order", 3);
if (pll_filter_order < 2)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
pll_filter_order = 2;
}
if (pll_filter_order > 3)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
pll_filter_order = 3;
}
trk_param.pll_filter_order = pll_filter_order;
if (pll_filter_order == 2)
{
trk_param.fll_filter_order = 1;
}
if (pll_filter_order == 3)
{
trk_param.fll_filter_order = 2;
}
bool enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", false);
trk_param.enable_fll_pull_in = enable_fll_pull_in;
bool enable_fll_steady_state = configuration->property(role + ".enable_fll_steady_state", false);
trk_param.enable_fll_steady_state = enable_fll_steady_state;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param.fll_bw_hz = fll_bw_hz;
trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
trk_param.early_late_space_chips = early_late_space_chips;
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);
trk_param.early_late_space_narrow_chips = early_late_space_narrow_chips;
int vector_length = std::round(fs_in / (GPS_L1_CA_CODE_RATE_CPS / GPS_L1_CA_CODE_LENGTH_CHIPS));
trk_param.vector_length = vector_length;
int symbols_extended_correlator = configuration->property(role + ".extend_correlation_symbols", 1);
if (symbols_extended_correlator < 1)
{
symbols_extended_correlator = 1;
trk_params.extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: GPS L1 C/A. extend_correlation_symbols must be bigger than 1. Coherent integration has been set to 1 symbol (1 ms)" << TEXT_RESET << std::endl;
}
else if (symbols_extended_correlator > 20)
else if (trk_params.extend_correlation_symbols > 20)
{
symbols_extended_correlator = 20;
trk_params.extend_correlation_symbols = 20;
std::cout << TEXT_RED << "WARNING: GPS L1 C/A. extend_correlation_symbols must be lower than 21. Coherent integration has been set to 20 symbols (20 ms)" << TEXT_RESET << std::endl;
}
trk_param.extend_correlation_symbols = symbols_extended_correlator;
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (track_pilot)
trk_params.track_pilot = configuration->property(role + ".track_pilot", false);
if (trk_params.track_pilot)
{
trk_params.track_pilot = false;
std::cout << TEXT_RED << "WARNING: GPS L1 C/A does not have pilot signal. Data tracking has been enabled" << TEXT_RESET << std::endl;
}
if ((symbols_extended_correlator > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
if ((trk_params.extend_correlation_symbols > 1) and (trk_params.pll_bw_narrow_hz > trk_params.pll_bw_hz or trk_params.dll_bw_narrow_hz > trk_params.dll_bw_hz))
{
std::cout << TEXT_RED << "WARNING: GPS L1 C/A. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
}
trk_param.very_early_late_space_chips = 0.0;
trk_param.very_early_late_space_narrow_chips = 0.0;
trk_param.track_pilot = false;
trk_param.system = 'G';
trk_params.system = 'G';
std::array<char, 3> sig_{'1', 'C', '\0'};
std::memcpy(trk_param.signal, sig_.data(), 3);
trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);
trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
std::memcpy(trk_params.signal, sig_.data(), 3);
// tracking lock tests smoother parameters
trk_param.cn0_smoother_samples = configuration->property(role + ".cn0_smoother_samples", trk_param.cn0_smoother_samples);
trk_param.cn0_smoother_alpha = configuration->property(role + ".cn0_smoother_alpha", trk_param.cn0_smoother_alpha);
trk_param.carrier_lock_test_smoother_samples = configuration->property(role + ".carrier_lock_test_smoother_samples", trk_param.carrier_lock_test_smoother_samples);
trk_param.carrier_lock_test_smoother_alpha = configuration->property(role + ".carrier_lock_test_smoother_alpha", trk_param.carrier_lock_test_smoother_alpha);
// ################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")
// ################# Make a GNU Radio Tracking block object ################
if (trk_params.item_type == "gr_complex")
{
item_size_ = sizeof(gr_complex);
tracking_ = dll_pll_veml_make_tracking(trk_param);
tracking_ = dll_pll_veml_make_tracking(trk_params);
}
else
{
item_size_ = sizeof(gr_complex);
LOG(WARNING) << item_type << " unknown tracking item type.";
LOG(WARNING) << trk_params.item_type << " unknown tracking item type.";
}
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";

160
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_fpga.cc
View File

@ -38,145 +38,43 @@ GpsL1CaDllPllTrackingFpga::GpsL1CaDllPllTrackingFpga(
ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
Dll_Pll_Conf_Fpga trk_param_fpga = Dll_Pll_Conf_Fpga();
Dll_Pll_Conf_Fpga trk_params_fpga = Dll_Pll_Conf_Fpga();
DLOG(INFO) << "role " << role;
// ################# CONFIGURATION PARAMETERS ########################
int32_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 12500000);
int32_t fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param_fpga.fs_in = fs_in;
trk_param_fpga.high_dyn = configuration->property(role + ".high_dyn", false);
if (configuration->property(role + ".smoother_length", 10) < 1)
{
trk_param_fpga.smoother_length = 1;
std::cout << TEXT_RED << "WARNING: GPS L1 C/A. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
}
else
{
trk_param_fpga.smoother_length = configuration->property(role + ".smoother_length", 10);
}
bool dump = configuration->property(role + ".dump", false);
trk_param_fpga.dump = dump;
std::string default_dump_filename = "./track_ch";
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
trk_param_fpga.dump_filename = dump_filename;
bool dump_mat = configuration->property(role + ".dump_mat", true);
trk_param_fpga.dump_mat = dump_mat;
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
if (FLAGS_pll_bw_hz != 0.0)
{
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
}
trk_param_fpga.pll_bw_hz = pll_bw_hz;
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 20.0);
trk_param_fpga.pll_bw_narrow_hz = pll_bw_narrow_hz;
float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 2.0);
trk_param_fpga.dll_bw_narrow_hz = dll_bw_narrow_hz;
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
if (FLAGS_dll_bw_hz != 0.0)
{
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
}
trk_param_fpga.dll_bw_hz = dll_bw_hz;
trk_params_fpga.SetFromConfiguration(configuration, role);
int dll_filter_order = configuration->property(role + ".dll_filter_order", 2);
if (dll_filter_order < 1)
int32_t vector_length = std::round(trk_params_fpga.fs_in / (GPS_L1_CA_CODE_RATE_CPS / GPS_L1_CA_CODE_LENGTH_CHIPS));
trk_params_fpga.vector_length = vector_length;
if (trk_params_fpga.extend_correlation_symbols < 1)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
dll_filter_order = 1;
}
if (dll_filter_order > 3)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
dll_filter_order = 3;
}
trk_param_fpga.dll_filter_order = dll_filter_order;
int pll_filter_order = configuration->property(role + ".pll_filter_order", 3);
if (pll_filter_order < 2)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
pll_filter_order = 2;
}
if (pll_filter_order > 3)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
pll_filter_order = 3;
}
trk_param_fpga.pll_filter_order = pll_filter_order;
if (pll_filter_order == 2)
{
trk_param_fpga.fll_filter_order = 1;
}
if (pll_filter_order == 3)
{
trk_param_fpga.fll_filter_order = 2;
}
bool enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", false);
trk_param_fpga.enable_fll_pull_in = enable_fll_pull_in;
bool enable_fll_steady_state = configuration->property(role + ".enable_fll_steady_state", false);
trk_param_fpga.enable_fll_steady_state = enable_fll_steady_state;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param_fpga.fll_bw_hz = fll_bw_hz;
float pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param_fpga.pull_in_time_s);
trk_param_fpga.pull_in_time_s = pull_in_time_s;
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
trk_param_fpga.early_late_space_chips = early_late_space_chips;
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);
trk_param_fpga.early_late_space_narrow_chips = early_late_space_narrow_chips;
int32_t vector_length = std::round(fs_in / (GPS_L1_CA_CODE_RATE_CPS / GPS_L1_CA_CODE_LENGTH_CHIPS));
trk_param_fpga.vector_length = vector_length;
int32_t symbols_extended_correlator = configuration->property(role + ".extend_correlation_symbols", 1);
if (symbols_extended_correlator < 1)
{
symbols_extended_correlator = 1;
trk_params_fpga.extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: GPS L1 C/A. extend_correlation_symbols must be bigger than 1. Coherent integration has been set to 1 symbol (1 ms)" << TEXT_RESET << std::endl;
}
else if (symbols_extended_correlator > GPS_CA_BIT_DURATION_MS)
else if (trk_params_fpga.extend_correlation_symbols > GPS_CA_BIT_DURATION_MS)
{
symbols_extended_correlator = GPS_CA_BIT_DURATION_MS;
trk_params_fpga.extend_correlation_symbols = GPS_CA_BIT_DURATION_MS;
std::cout << TEXT_RED << "WARNING: GPS L1 C/A. extend_correlation_symbols must be lower than 21. Coherent integration has been set to 20 symbols (20 ms)" << TEXT_RESET << std::endl;
}
trk_param_fpga.extend_correlation_symbols = symbols_extended_correlator;
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (track_pilot)
trk_params_fpga.track_pilot = configuration->property(role + ".track_pilot", false);
if (trk_params_fpga.track_pilot)
{
trk_params_fpga.track_pilot = false;
std::cout << TEXT_RED << "WARNING: GPS L1 C/A does not have pilot signal. Data tracking has been enabled" << TEXT_RESET << std::endl;
}
if ((symbols_extended_correlator > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
if ((trk_params_fpga.extend_correlation_symbols > 1) and (trk_params_fpga.pll_bw_narrow_hz > trk_params_fpga.pll_bw_hz or trk_params_fpga.dll_bw_narrow_hz > trk_params_fpga.dll_bw_hz))
{
std::cout << TEXT_RED << "WARNING: GPS L1 C/A. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
}
trk_param_fpga.very_early_late_space_chips = 0.0;
trk_param_fpga.very_early_late_space_narrow_chips = 0.0;
trk_param_fpga.track_pilot = false;
trk_param_fpga.system = 'G';
trk_params_fpga.system = 'G';
std::array<char, 3> sig_{'1', 'C', '\0'};
std::memcpy(trk_param_fpga.signal, sig_.data(), 3);
trk_param_fpga.cn0_samples = configuration->property(role + ".cn0_samples", trk_param_fpga.cn0_samples);
trk_param_fpga.cn0_min = configuration->property(role + ".cn0_min", trk_param_fpga.cn0_min);
trk_param_fpga.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param_fpga.max_code_lock_fail);
trk_param_fpga.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param_fpga.max_carrier_lock_fail);
trk_param_fpga.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param_fpga.carrier_lock_th);
// tracking lock tests smoother parameters
trk_param_fpga.cn0_smoother_samples = configuration->property(role + ".cn0_smoother_samples", trk_param_fpga.cn0_smoother_samples);
trk_param_fpga.cn0_smoother_alpha = configuration->property(role + ".cn0_smoother_alpha", trk_param_fpga.cn0_smoother_alpha);
trk_param_fpga.carrier_lock_test_smoother_samples = configuration->property(role + ".carrier_lock_test_smoother_samples", trk_param_fpga.carrier_lock_test_smoother_samples);
trk_param_fpga.carrier_lock_test_smoother_alpha = configuration->property(role + ".carrier_lock_test_smoother_alpha", trk_param_fpga.carrier_lock_test_smoother_alpha);
std::memcpy(trk_params_fpga.signal, sig_.data(), 3);
// FPGA configuration parameters
std::string default_device_name = "/dev/uio";
std::string device_name = configuration->property(role + ".devicename", default_device_name);
trk_param_fpga.device_name = device_name;
// obtain the number of the first uio device corresponding to a HW accelerator in the FPGA
// that can be assigned to the tracking of the L1 signal
trk_param_fpga.dev_file_num = configuration->property(role + ".dev_file_num", 3);
trk_params_fpga.dev_file_num = configuration->property(role + ".dev_file_num", 3);
// compute the number of tracking channels that have already been instantiated. The order in which
// GNSS-SDR instantiates the tracking channels i L1, l2, L5, E1, E5a
trk_param_fpga.num_prev_assigned_ch = 0;
trk_params_fpga.num_prev_assigned_ch = 0;
// ################# PRE-COMPUTE ALL THE CODES #################
d_ca_codes = static_cast<int32_t*>(volk_gnsssdr_malloc(static_cast<int32_t>(GPS_L1_CA_CODE_LENGTH_CHIPS * NUM_PRNs) * sizeof(int32_t), volk_gnsssdr_get_alignment()));
@ -196,27 +94,27 @@ GpsL1CaDllPllTrackingFpga::GpsL1CaDllPllTrackingFpga(
d_ca_codes[(int32_t(GPS_L1_CA_CODE_LENGTH_CHIPS)) * (PRN - 1) + k] = tmp_value;
}
}
trk_param_fpga.ca_codes = d_ca_codes;
trk_param_fpga.code_length_chips = GPS_L1_CA_CODE_LENGTH_CHIPS;
trk_param_fpga.code_samples_per_chip = 1; // 1 sample per chip
trk_params_fpga.ca_codes = d_ca_codes;
trk_params_fpga.code_length_chips = GPS_L1_CA_CODE_LENGTH_CHIPS;
trk_params_fpga.code_samples_per_chip = 1; // 1 sample per chip
trk_param_fpga.extended_correlation_in_fpga = false; // by default
trk_param_fpga.extend_fpga_integration_periods = 1; // (number of FPGA integrations that are combined in the SW)
trk_param_fpga.fpga_integration_period = 1; // (number of symbols that are effectively integrated in the FPGA)
if (symbols_extended_correlator > 1)
trk_params_fpga.extended_correlation_in_fpga = false; // by default
trk_params_fpga.extend_fpga_integration_periods = 1; // (number of FPGA integrations that are combined in the SW)
trk_params_fpga.fpga_integration_period = 1; // (number of symbols that are effectively integrated in the FPGA)
if (trk_params_fpga.extend_correlation_symbols > 1)
{
if (symbols_extended_correlator <= GPS_CA_BIT_DURATION_MS)
if (trk_params_fpga.extend_correlation_symbols <= GPS_CA_BIT_DURATION_MS)
{
if ((GPS_CA_BIT_DURATION_MS % symbols_extended_correlator) == 0)
if ((GPS_CA_BIT_DURATION_MS % trk_params_fpga.extend_correlation_symbols) == 0)
{
trk_param_fpga.extended_correlation_in_fpga = true;
trk_param_fpga.fpga_integration_period = symbols_extended_correlator;
trk_params_fpga.extended_correlation_in_fpga = true;
trk_params_fpga.fpga_integration_period = trk_params_fpga.extend_correlation_symbols;
}
}
}
// ################# MAKE TRACKING GNURadio object ###################
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_param_fpga);
// ################# MAKE TRACKING GNU Radio object ###################
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_params_fpga);
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_fpga_sc->unique_id() << ")";

116
src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.cc
View File

@ -36,123 +36,37 @@ GpsL2MDllPllTracking::GpsL2MDllPllTracking(
ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
Dll_Pll_Conf trk_param = Dll_Pll_Conf();
Dll_Pll_Conf trk_params = Dll_Pll_Conf();
DLOG(INFO) << "role " << role;
// ################# CONFIGURATION PARAMETERS ########################
std::string default_item_type = "gr_complex";
std::string item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param.fs_in = fs_in;
bool dump = configuration->property(role + ".dump", false);
trk_param.dump = dump;
std::string default_dump_filename = "./track_ch";
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
trk_param.dump_filename = dump_filename;
bool dump_mat = configuration->property(role + ".dump_mat", true);
trk_param.dump_mat = dump_mat;
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 2.0);
if (FLAGS_pll_bw_hz != 0.0)
{
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
}
trk_param.pll_bw_hz = pll_bw_hz;
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 0.75);
if (FLAGS_dll_bw_hz != 0.0)
{
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
}
trk_param.dll_bw_hz = dll_bw_hz;
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
trk_param.early_late_space_chips = early_late_space_chips;
trk_param.early_late_space_narrow_chips = 0.0;
trk_params.SetFromConfiguration(configuration, role);
int dll_filter_order = configuration->property(role + ".dll_filter_order", 2);
if (dll_filter_order < 1)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
dll_filter_order = 1;
}
if (dll_filter_order > 3)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
dll_filter_order = 3;
}
trk_param.dll_filter_order = dll_filter_order;
int pll_filter_order = configuration->property(role + ".pll_filter_order", 3);
if (pll_filter_order < 2)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
pll_filter_order = 2;
}
if (pll_filter_order > 3)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
pll_filter_order = 3;
}
trk_param.pll_filter_order = pll_filter_order;
if (pll_filter_order == 2)
{
trk_param.fll_filter_order = 1;
}
if (pll_filter_order == 3)
{
trk_param.fll_filter_order = 2;
}
bool enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", false);
trk_param.enable_fll_pull_in = enable_fll_pull_in;
bool enable_fll_steady_state = configuration->property(role + ".enable_fll_steady_state", false);
trk_param.enable_fll_steady_state = enable_fll_steady_state;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param.fll_bw_hz = fll_bw_hz;
trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
int vector_length = std::round(static_cast<double>(fs_in) / (static_cast<double>(GPS_L2_M_CODE_RATE_CPS) / static_cast<double>(GPS_L2_M_CODE_LENGTH_CHIPS)));
trk_param.vector_length = vector_length;
int symbols_extended_correlator = configuration->property(role + ".extend_correlation_symbols", 1);
if (symbols_extended_correlator != 1)
int vector_length = std::round(static_cast<double>(trk_params.fs_in) / (static_cast<double>(GPS_L2_M_CODE_RATE_CPS) / static_cast<double>(GPS_L2_M_CODE_LENGTH_CHIPS)));
trk_params.vector_length = vector_length;
if (trk_params.extend_correlation_symbols != 1)
{
trk_params.extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: Extended coherent integration is not allowed in GPS L2. Coherent integration has been set to 20 ms (1 symbol)" << TEXT_RESET << std::endl;
}
trk_param.extend_correlation_symbols = 1;
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (track_pilot)
trk_params.track_pilot = configuration->property(role + ".track_pilot", false);
if (trk_params.track_pilot)
{
trk_params.track_pilot = false;
std::cout << TEXT_RED << "WARNING: GPS L2 does not have pilot signal. Data tracking has been enabled" << TEXT_RESET << std::endl;
}
trk_param.track_pilot = false;
trk_param.very_early_late_space_chips = 0.0;
trk_param.very_early_late_space_narrow_chips = 0.0;
trk_param.pll_bw_narrow_hz = 0.0;
trk_param.dll_bw_narrow_hz = 0.0;
trk_param.system = 'G';
trk_params.system = 'G';
std::array<char, 3> sig_{'2', 'S', '\0'};
std::memcpy(trk_param.signal, sig_.data(), 3);
trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);
trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
std::memcpy(trk_params.signal, sig_.data(), 3);
// tracking lock tests smoother parameters
trk_param.cn0_smoother_samples = configuration->property(role + ".cn0_smoother_samples", trk_param.cn0_smoother_samples);
trk_param.cn0_smoother_alpha = configuration->property(role + ".cn0_smoother_alpha", trk_param.cn0_smoother_alpha);
trk_param.carrier_lock_test_smoother_samples = configuration->property(role + ".carrier_lock_test_smoother_samples", trk_param.carrier_lock_test_smoother_samples);
trk_param.carrier_lock_test_smoother_alpha = configuration->property(role + ".carrier_lock_test_smoother_alpha", trk_param.carrier_lock_test_smoother_alpha);
// ################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")
// ################# Make a GNU Radio Tracking block object ################
if (trk_params.item_type == "gr_complex")
{
item_size_ = sizeof(gr_complex);
tracking_ = dll_pll_veml_make_tracking(trk_param);
tracking_ = dll_pll_veml_make_tracking(trk_params);
}
else
{
item_size_ = sizeof(gr_complex);
LOG(WARNING) << item_type << " unknown tracking item type.";
LOG(WARNING) << trk_params.item_type << " unknown tracking item type.";
}
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";

79
src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking_fpga.cc
View File

@ -43,74 +43,35 @@ GpsL2MDllPllTrackingFpga::GpsL2MDllPllTrackingFpga(
ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
Dll_Pll_Conf_Fpga trk_param_fpga = Dll_Pll_Conf_Fpga();
Dll_Pll_Conf_Fpga trk_params_fpga = Dll_Pll_Conf_Fpga();
DLOG(INFO) << "role " << role;
// ################# CONFIGURATION PARAMETERS ########################
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param_fpga.fs_in = fs_in;
bool dump = configuration->property(role + ".dump", false);
trk_param_fpga.dump = dump;
std::string default_dump_filename = "./track_ch";
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
trk_param_fpga.dump_filename = dump_filename;
bool dump_mat = configuration->property(role + ".dump_mat", true);
trk_param_fpga.dump_mat = dump_mat;
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 2.0);
if (FLAGS_pll_bw_hz != 0.0)
{
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
}
trk_param_fpga.pll_bw_hz = pll_bw_hz;
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 0.75);
if (FLAGS_dll_bw_hz != 0.0)
{
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
}
trk_param_fpga.dll_bw_hz = dll_bw_hz;
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
trk_param_fpga.early_late_space_chips = early_late_space_chips;
trk_param_fpga.early_late_space_narrow_chips = 0.0;
int vector_length = std::round(static_cast<double>(fs_in) / (static_cast<double>(GPS_L2_M_CODE_RATE_CPS) / static_cast<double>(GPS_L2_M_CODE_LENGTH_CHIPS)));
trk_param_fpga.vector_length = vector_length;
int symbols_extended_correlator = configuration->property(role + ".extend_correlation_symbols", 1);
if (symbols_extended_correlator != 1)
trk_params_fpga.SetFromConfiguration(configuration, role);
int vector_length = std::round(static_cast<double>(trk_params_fpga.fs_in) / (static_cast<double>(GPS_L2_M_CODE_RATE_CPS) / static_cast<double>(GPS_L2_M_CODE_LENGTH_CHIPS)));
trk_params_fpga.vector_length = vector_length;
trk_params_fpga.extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
if (trk_params_fpga.extend_correlation_symbols != 1)
{
trk_params_fpga.extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: Extended coherent integration is not allowed in GPS L2. Coherent integration has been set to 20 ms (1 symbol)" << TEXT_RESET << std::endl;
}
trk_param_fpga.extend_correlation_symbols = 1;
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (track_pilot)
trk_params_fpga.track_pilot = configuration->property(role + ".track_pilot", false);
if (trk_params_fpga.track_pilot)
{
trk_params_fpga.track_pilot = false;
std::cout << TEXT_RED << "WARNING: GPS L2 does not have pilot signal. Data tracking has been enabled" << TEXT_RESET << std::endl;
}
trk_param_fpga.track_pilot = false;
trk_param_fpga.very_early_late_space_chips = 0.0;
trk_param_fpga.very_early_late_space_narrow_chips = 0.0;
trk_param_fpga.pll_bw_narrow_hz = 0.0;
trk_param_fpga.dll_bw_narrow_hz = 0.0;
trk_param_fpga.system = 'G';
trk_params_fpga.system = 'G';
std::array<char, 3> sig_{'2', 'S', '\0'};
std::memcpy(trk_param_fpga.signal, sig_.data(), 3);
trk_param_fpga.cn0_samples = configuration->property(role + ".cn0_samples", trk_param_fpga.cn0_samples);
trk_param_fpga.cn0_min = configuration->property(role + ".cn0_min", trk_param_fpga.cn0_min);
trk_param_fpga.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param_fpga.max_code_lock_fail);
trk_param_fpga.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param_fpga.max_carrier_lock_fail);
trk_param_fpga.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param_fpga.carrier_lock_th);
trk_param_fpga.cn0_smoother_samples = configuration->property(role + ".cn0_smoother_samples", trk_param_fpga.cn0_smoother_samples);
trk_param_fpga.cn0_smoother_alpha = configuration->property(role + ".cn0_smoother_alpha", trk_param_fpga.cn0_smoother_alpha);
trk_param_fpga.carrier_lock_test_smoother_samples = configuration->property(role + ".carrier_lock_test_smoother_samples", trk_param_fpga.carrier_lock_test_smoother_samples);
trk_param_fpga.carrier_lock_test_smoother_alpha = configuration->property(role + ".carrier_lock_test_smoother_alpha", trk_param_fpga.carrier_lock_test_smoother_alpha);
std::memcpy(trk_params_fpga.signal, sig_.data(), 3);
// FPGA configuration parameters
std::string default_device_name = "/dev/uio";
std::string device_name = configuration->property(role + ".devicename", default_device_name);
trk_param_fpga.device_name = device_name;
// obtain the number of the first uio device file that is assigned to the FPGA L2 tracking multicorrelator HW accelerators
trk_param_fpga.dev_file_num = configuration->property(role + ".dev_file_num", 27);
trk_params_fpga.dev_file_num = configuration->property(role + ".dev_file_num", 27);
// compute the number of tracking channels that have already been instantiated. The order in which
// GNSS-SDR instantiates the tracking channels i L1, L2, L5, E1, E5a
trk_param_fpga.num_prev_assigned_ch = configuration->property("Channels_1C.count", 0);
trk_params_fpga.num_prev_assigned_ch = configuration->property("Channels_1C.count", 0);
volk_gnsssdr::vector<float> ca_codes_f(static_cast<unsigned int>(GPS_L2_M_CODE_LENGTH_CHIPS), 0.0);
// ################# PRE-COMPUTE ALL THE CODES #################
@ -124,12 +85,12 @@ GpsL2MDllPllTrackingFpga::GpsL2MDllPllTrackingFpga(
}
}
trk_param_fpga.ca_codes = d_ca_codes;
trk_param_fpga.code_length_chips = GPS_L2_M_CODE_LENGTH_CHIPS;
trk_param_fpga.code_samples_per_chip = 1; // 1 sample per chip
trk_params_fpga.ca_codes = d_ca_codes;
trk_params_fpga.code_length_chips = GPS_L2_M_CODE_LENGTH_CHIPS;
trk_params_fpga.code_samples_per_chip = 1; // 1 sample per chip
// ################# MAKE TRACKING GNU Radio object ###################
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_param_fpga);
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_params_fpga);
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_fpga_sc->unique_id() << ")";

133
src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking.cc
View File

@ -36,143 +36,40 @@ GpsL5DllPllTracking::GpsL5DllPllTracking(
ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
Dll_Pll_Conf trk_param = Dll_Pll_Conf();
Dll_Pll_Conf trk_params = Dll_Pll_Conf();
DLOG(INFO) << "role " << role;
// ################# CONFIGURATION PARAMETERS ########################
std::string default_item_type = "gr_complex";
std::string item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param.fs_in = fs_in;
bool dump = configuration->property(role + ".dump", false);
trk_param.dump = dump;
std::string default_dump_filename = "./track_ch";
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
trk_param.dump_filename = dump_filename;
bool dump_mat = configuration->property(role + ".dump_mat", true);
trk_param.dump_mat = dump_mat;
trk_param.high_dyn = configuration->property(role + ".high_dyn", false);
if (configuration->property(role + ".smoother_length", 10) < 1)
{
trk_param.smoother_length = 1;
std::cout << TEXT_RED << "WARNING: GPS L5. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
}
else
{
trk_param.smoother_length = configuration->property(role + ".smoother_length", 10);
}
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
if (FLAGS_pll_bw_hz != 0.0)
{
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
}
trk_param.pll_bw_hz = pll_bw_hz;
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
if (FLAGS_dll_bw_hz != 0.0)
{
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
}
trk_param.dll_bw_hz = dll_bw_hz;
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 2.0);
trk_param.pll_bw_narrow_hz = pll_bw_narrow_hz;
float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 0.25);
trk_param.dll_bw_narrow_hz = dll_bw_narrow_hz;
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
trk_param.early_late_space_chips = early_late_space_chips;
trk_params.SetFromConfiguration(configuration, role);
int dll_filter_order = configuration->property(role + ".dll_filter_order", 2);
if (dll_filter_order < 1)
int vector_length = std::round(static_cast<double>(trk_params.fs_in) / (static_cast<double>(GPS_L5I_CODE_RATE_CPS) / static_cast<double>(GPS_L5I_CODE_LENGTH_CHIPS)));
trk_params.vector_length = vector_length;
if (trk_params.extend_correlation_symbols < 1)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
dll_filter_order = 1;
}
if (dll_filter_order > 3)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
dll_filter_order = 3;
}
trk_param.dll_filter_order = dll_filter_order;
int pll_filter_order = configuration->property(role + ".pll_filter_order", 3);
if (pll_filter_order < 2)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
pll_filter_order = 2;
}
if (pll_filter_order > 3)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
pll_filter_order = 3;
}
trk_param.pll_filter_order = pll_filter_order;
if (pll_filter_order == 2)
{
trk_param.fll_filter_order = 1;
}
if (pll_filter_order == 3)
{
trk_param.fll_filter_order = 2;
}
bool enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", false);
trk_param.enable_fll_pull_in = enable_fll_pull_in;
bool enable_fll_steady_state = configuration->property(role + ".enable_fll_steady_state", false);
trk_param.enable_fll_steady_state = enable_fll_steady_state;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param.fll_bw_hz = fll_bw_hz;
trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
int vector_length = std::round(static_cast<double>(fs_in) / (static_cast<double>(GPS_L5I_CODE_RATE_CPS) / static_cast<double>(GPS_L5I_CODE_LENGTH_CHIPS)));
trk_param.vector_length = vector_length;
int extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);
trk_param.early_late_space_narrow_chips = early_late_space_narrow_chips;
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (extend_correlation_symbols < 1)
{
extend_correlation_symbols = 1;
trk_params.extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: GPS L5. extend_correlation_symbols must be bigger than 0. Coherent integration has been set to 1 symbol (1 ms)" << TEXT_RESET << std::endl;
}
else if (!track_pilot and extend_correlation_symbols > GPS_L5I_NH_CODE_LENGTH)
else if (!trk_params.track_pilot and trk_params.extend_correlation_symbols > GPS_L5I_NH_CODE_LENGTH)
{
extend_correlation_symbols = GPS_L5I_NH_CODE_LENGTH;
trk_params.extend_correlation_symbols = GPS_L5I_NH_CODE_LENGTH;
std::cout << TEXT_RED << "WARNING: GPS L5. extend_correlation_symbols must be lower than 11 when tracking the data component. Coherent integration has been set to 10 symbols (10 ms)" << TEXT_RESET << std::endl;
}
if ((extend_correlation_symbols > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
if ((trk_params.extend_correlation_symbols > 1) and (trk_params.pll_bw_narrow_hz > trk_params.pll_bw_hz or trk_params.dll_bw_narrow_hz > trk_params.dll_bw_hz))
{
std::cout << TEXT_RED << "WARNING: GPS L5. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
}
trk_param.extend_correlation_symbols = extend_correlation_symbols;
trk_param.track_pilot = track_pilot;
trk_param.very_early_late_space_chips = 0.0;
trk_param.very_early_late_space_narrow_chips = 0.0;
trk_param.system = 'G';
trk_params.system = 'G';
std::array<char, 3> sig_{'L', '5', '\0'};
std::memcpy(trk_param.signal, sig_.data(), 3);
std::memcpy(trk_params.signal, sig_.data(), 3);
trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);
trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
// tracking lock tests smoother parameters
trk_param.cn0_smoother_samples = configuration->property(role + ".cn0_smoother_samples", trk_param.cn0_smoother_samples);
trk_param.cn0_smoother_alpha = configuration->property(role + ".cn0_smoother_alpha", trk_param.cn0_smoother_alpha);
trk_param.carrier_lock_test_smoother_samples = configuration->property(role + ".carrier_lock_test_smoother_samples", trk_param.carrier_lock_test_smoother_samples);
trk_param.carrier_lock_test_smoother_alpha = configuration->property(role + ".carrier_lock_test_smoother_alpha", trk_param.carrier_lock_test_smoother_alpha);
// ################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")
// ################# Make a GNU Radio Tracking block object ################
if (trk_params.item_type == "gr_complex")
{
item_size_ = sizeof(gr_complex);
tracking_ = dll_pll_veml_make_tracking(trk_param);
tracking_ = dll_pll_veml_make_tracking(trk_params);
}
else
{
item_size_ = sizeof(gr_complex);
LOG(WARNING) << item_type << " unknown tracking item type.";
LOG(WARNING) << trk_params.item_type << " unknown tracking item type.";
}
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";

176
src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking_fpga.cc
View File

@ -40,143 +40,39 @@ GpsL5DllPllTrackingFpga::GpsL5DllPllTrackingFpga(
ConfigurationInterface *configuration, const std::string &role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
Dll_Pll_Conf_Fpga trk_param_fpga = Dll_Pll_Conf_Fpga();
Dll_Pll_Conf_Fpga trk_params_fpga = Dll_Pll_Conf_Fpga();
DLOG(INFO) << "role " << role;
// ################# CONFIGURATION PARAMETERS ########################
int32_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 12500000);
int32_t fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param_fpga.fs_in = fs_in;
bool dump = configuration->property(role + ".dump", false);
trk_param_fpga.dump = dump;
std::string default_dump_filename = "./track_ch";
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
trk_param_fpga.dump_filename = dump_filename;
bool dump_mat = configuration->property(role + ".dump_mat", true);
trk_param_fpga.dump_mat = dump_mat;
trk_param_fpga.high_dyn = configuration->property(role + ".high_dyn", false);
if (configuration->property(role + ".smoother_length", 10) < 1)
{
trk_param_fpga.smoother_length = 1;
std::cout << TEXT_RED << "WARNING: GPS L5. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
}
else
{
trk_param_fpga.smoother_length = configuration->property(role + ".smoother_length", 10);
}
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
if (FLAGS_pll_bw_hz != 0.0)
{
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
}
trk_param_fpga.pll_bw_hz = pll_bw_hz;
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
if (FLAGS_dll_bw_hz != 0.0)
{
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
}
trk_param_fpga.dll_bw_hz = dll_bw_hz;
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 2.0);
trk_param_fpga.pll_bw_narrow_hz = pll_bw_narrow_hz;
float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 0.25);
trk_param_fpga.dll_bw_narrow_hz = dll_bw_narrow_hz;
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
trk_param_fpga.early_late_space_chips = early_late_space_chips;
trk_params_fpga.SetFromConfiguration(configuration, role);
int dll_filter_order = configuration->property(role + ".dll_filter_order", 2);
if (dll_filter_order < 1)
int32_t vector_length = std::round(static_cast<double>(trk_params_fpga.fs_in) / (static_cast<double>(GPS_L5I_CODE_RATE_CPS) / static_cast<double>(GPS_L5I_CODE_LENGTH_CHIPS)));
trk_params_fpga.vector_length = vector_length;
if (trk_params_fpga.extend_correlation_symbols < 1)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
dll_filter_order = 1;
}
if (dll_filter_order > 3)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
dll_filter_order = 3;
}
trk_param_fpga.dll_filter_order = dll_filter_order;
int pll_filter_order = configuration->property(role + ".pll_filter_order", 3);
if (pll_filter_order < 2)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
pll_filter_order = 2;
}
if (pll_filter_order > 3)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
pll_filter_order = 3;
}
trk_param_fpga.pll_filter_order = pll_filter_order;
if (pll_filter_order == 2)
{
trk_param_fpga.fll_filter_order = 1;
}
if (pll_filter_order == 3)
{
trk_param_fpga.fll_filter_order = 2;
}
bool enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", false);
trk_param_fpga.enable_fll_pull_in = enable_fll_pull_in;
bool enable_fll_steady_state = configuration->property(role + ".enable_fll_steady_state", false);
trk_param_fpga.enable_fll_steady_state = enable_fll_steady_state;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param_fpga.fll_bw_hz = fll_bw_hz;
float pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param_fpga.pull_in_time_s);
trk_param_fpga.pull_in_time_s = pull_in_time_s;
int32_t vector_length = std::round(static_cast<double>(fs_in) / (static_cast<double>(GPS_L5I_CODE_RATE_CPS) / static_cast<double>(GPS_L5I_CODE_LENGTH_CHIPS)));
trk_param_fpga.vector_length = vector_length;
int32_t extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);
trk_param_fpga.early_late_space_narrow_chips = early_late_space_narrow_chips;
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (extend_correlation_symbols < 1)
{
extend_correlation_symbols = 1;
trk_params_fpga.extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: GPS L5. extend_correlation_symbols must be bigger than 0. Coherent integration has been set to 1 symbol (1 ms)" << TEXT_RESET << std::endl;
}
else if (!track_pilot and extend_correlation_symbols > GPS_L5I_NH_CODE_LENGTH)
else if (!trk_params_fpga.track_pilot and trk_params_fpga.extend_correlation_symbols > GPS_L5I_NH_CODE_LENGTH)
{
extend_correlation_symbols = GPS_L5I_NH_CODE_LENGTH;
trk_params_fpga.extend_correlation_symbols = GPS_L5I_NH_CODE_LENGTH;
std::cout << TEXT_RED << "WARNING: GPS L5. extend_correlation_symbols must be lower than 11 when tracking the data component. Coherent integration has been set to 10 symbols (10 ms)" << TEXT_RESET << std::endl;
}
if ((extend_correlation_symbols > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
if ((trk_params_fpga.extend_correlation_symbols > 1) and (trk_params_fpga.pll_bw_narrow_hz > trk_params_fpga.pll_bw_hz or trk_params_fpga.dll_bw_narrow_hz > trk_params_fpga.dll_bw_hz))
{
std::cout << TEXT_RED << "WARNING: GPS L5. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
}
trk_param_fpga.extend_correlation_symbols = extend_correlation_symbols;
trk_param_fpga.track_pilot = track_pilot;
d_track_pilot = track_pilot;
trk_param_fpga.very_early_late_space_chips = 0.0;
trk_param_fpga.very_early_late_space_narrow_chips = 0.0;
trk_param_fpga.system = 'G';
d_track_pilot = trk_params_fpga.track_pilot;
trk_params_fpga.system = 'G';
std::array<char, 3> sig_{'L', '5', '\0'};
std::memcpy(trk_param_fpga.signal, sig_.data(), 3);
trk_param_fpga.cn0_samples = configuration->property(role + ".cn0_samples", trk_param_fpga.cn0_samples);
trk_param_fpga.cn0_min = configuration->property(role + ".cn0_min", trk_param_fpga.cn0_min);
trk_param_fpga.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param_fpga.max_code_lock_fail);
trk_param_fpga.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param_fpga.max_carrier_lock_fail);
trk_param_fpga.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param_fpga.carrier_lock_th);
std::memcpy(trk_params_fpga.signal, sig_.data(), 3);
// FPGA configuration parameters
std::string default_device_name = "/dev/uio";
std::string device_name = configuration->property(role + ".devicename", default_device_name);
trk_param_fpga.device_name = device_name;
// obtain the number of the first uio device corresponding to a HW accelerator in the FPGA
// that can be assigned to the tracking of the L5 signal
trk_param_fpga.dev_file_num = configuration->property(role + ".dev_file_num", 27);
trk_params_fpga.dev_file_num = configuration->property(role + ".dev_file_num", 27);
// compute the number of tracking channels that have already been instantiated. The order in which
// GNSS-SDR instantiates the tracking channels i L1, L2, L5, E1, E5a
trk_param_fpga.num_prev_assigned_ch = configuration->property("Channels_1C.count", 0) +
configuration->property("Channels_2S.count", 0);
// tracking lock tests smoother parameters
trk_param_fpga.cn0_smoother_samples = configuration->property(role + ".cn0_smoother_samples", trk_param_fpga.cn0_smoother_samples);
trk_param_fpga.cn0_smoother_alpha = configuration->property(role + ".cn0_smoother_alpha", trk_param_fpga.cn0_smoother_alpha);
trk_param_fpga.carrier_lock_test_smoother_samples = configuration->property(role + ".carrier_lock_test_smoother_samples", trk_param_fpga.carrier_lock_test_smoother_samples);
trk_param_fpga.carrier_lock_test_smoother_alpha = configuration->property(role + ".carrier_lock_test_smoother_alpha", trk_param_fpga.carrier_lock_test_smoother_alpha);
trk_params_fpga.num_prev_assigned_ch = configuration->property("Channels_1C.count", 0) +
configuration->property("Channels_2S.count", 0);
// ################# PRE-COMPUTE ALL THE CODES #################
uint32_t code_samples_per_chip = 1;
@ -185,7 +81,7 @@ GpsL5DllPllTrackingFpga::GpsL5DllPllTrackingFpga(
volk_gnsssdr::vector<float> data_code;
volk_gnsssdr::vector<float> tracking_code(code_length_chips, 0.0);
if (track_pilot)
if (d_track_pilot)
{
data_code.resize(code_length_chips, 0.0);
}
@ -193,14 +89,14 @@ GpsL5DllPllTrackingFpga::GpsL5DllPllTrackingFpga(
d_ca_codes = static_cast<int32_t *>(volk_gnsssdr_malloc(static_cast<int32_t>(code_length_chips * NUM_PRNs) * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_data_codes = nullptr;
if (track_pilot)
if (d_track_pilot)
{
d_data_codes = static_cast<int32_t *>(volk_gnsssdr_malloc((static_cast<uint32_t>(code_length_chips)) * NUM_PRNs * sizeof(int32_t), volk_gnsssdr_get_alignment()));
}
for (uint32_t PRN = 1; PRN <= NUM_PRNs; PRN++)
{
if (track_pilot)
if (d_track_pilot)
{
gps_l5q_code_gen_float(tracking_code, PRN);
gps_l5i_code_gen_float(data_code, PRN);
@ -243,40 +139,40 @@ GpsL5DllPllTrackingFpga::GpsL5DllPllTrackingFpga(
}
}
trk_param_fpga.ca_codes = d_ca_codes;
trk_param_fpga.data_codes = d_data_codes;
trk_param_fpga.code_length_chips = code_length_chips;
trk_param_fpga.code_samples_per_chip = code_samples_per_chip; // 2 sample per chip
trk_params_fpga.ca_codes = d_ca_codes;
trk_params_fpga.data_codes = d_data_codes;
trk_params_fpga.code_length_chips = code_length_chips;
trk_params_fpga.code_samples_per_chip = code_samples_per_chip; // 2 sample per chip
trk_param_fpga.extended_correlation_in_fpga = false; // by default
trk_param_fpga.extend_fpga_integration_periods = 1; // (number of FPGA integrations that are combined in the SW)
trk_param_fpga.fpga_integration_period = 1; // (number of symbols that are effectively integrated in the FPGA)
trk_params_fpga.extended_correlation_in_fpga = false; // by default
trk_params_fpga.extend_fpga_integration_periods = 1; // (number of FPGA integrations that are combined in the SW)
trk_params_fpga.fpga_integration_period = 1; // (number of symbols that are effectively integrated in the FPGA)
if (d_track_pilot)
{
if (extend_correlation_symbols > 1)
if (trk_params_fpga.extend_correlation_symbols > 1)
{
if (extend_correlation_symbols <= GPS_L5I_NH_CODE_LENGTH)
if (trk_params_fpga.extend_correlation_symbols <= GPS_L5I_NH_CODE_LENGTH)
{
if ((GPS_L5I_NH_CODE_LENGTH % extend_correlation_symbols) == 0)
if ((GPS_L5I_NH_CODE_LENGTH % trk_params_fpga.extend_correlation_symbols) == 0)
{
trk_param_fpga.extended_correlation_in_fpga = true;
trk_param_fpga.fpga_integration_period = extend_correlation_symbols;
trk_params_fpga.extended_correlation_in_fpga = true;
trk_params_fpga.fpga_integration_period = trk_params_fpga.extend_correlation_symbols;
}
}
else
{
if (extend_correlation_symbols % GPS_L5I_NH_CODE_LENGTH == 0)
if (trk_params_fpga.extend_correlation_symbols % GPS_L5I_NH_CODE_LENGTH == 0)
{
trk_param_fpga.extended_correlation_in_fpga = true;
trk_param_fpga.extend_fpga_integration_periods = extend_correlation_symbols / GPS_L5I_NH_CODE_LENGTH;
trk_param_fpga.fpga_integration_period = GPS_L5I_NH_CODE_LENGTH;
trk_params_fpga.extended_correlation_in_fpga = true;
trk_params_fpga.extend_fpga_integration_periods = trk_params_fpga.extend_correlation_symbols / GPS_L5I_NH_CODE_LENGTH;
trk_params_fpga.fpga_integration_period = GPS_L5I_NH_CODE_LENGTH;
}
}
}
}
// ################# MAKE TRACKING GNURadio object ###################
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_param_fpga);
// ################# MAKE TRACKING GNU Radio object ###################
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_params_fpga);
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_fpga_sc->unique_id() << ")";

5
src/algorithms/tracking/libs/CMakeLists.txt
View File

@ -132,6 +132,11 @@ if(ENABLE_ARMA_NO_DEBUG)
)
endif()
target_include_directories(tracking_libs
PUBLIC
${CMAKE_SOURCE_DIR}/src/core/interfaces
)
if(ENABLE_CLANG_TIDY)
if(CLANG_TIDY_EXE)
set_target_properties(tracking_libs

104
src/algorithms/tracking/libs/dll_pll_conf.cc
View File

@ -18,9 +18,11 @@
* -------------------------------------------------------------------------
*/
#include "dll_pll_conf.h"
#include "gnss_sdr_flags.h"
#include "item_type_helpers.h"
#include <glog/logging.h>
Dll_Pll_Conf::Dll_Pll_Conf()
{
@ -46,14 +48,14 @@ Dll_Pll_Conf::Dll_Pll_Conf()
dll_bw_hz = 2.0;
pll_bw_narrow_hz = 5.0;
dll_bw_narrow_hz = 0.75;
early_late_space_chips = 0.5;
early_late_space_chips = 0.25;
very_early_late_space_chips = 0.5;
early_late_space_narrow_chips = 0.1;
very_early_late_space_narrow_chips = 0.1;
very_early_late_space_narrow_chips = 0.5;
slope = 1.0;
spc = 0.5;
y_intercept = 1.0;
extend_correlation_symbols = 5;
extend_correlation_symbols = 1;
cn0_samples = FLAGS_cn0_samples;
cn0_smoother_samples = 200;
cn0_smoother_alpha = 0.002;
@ -63,10 +65,102 @@ Dll_Pll_Conf::Dll_Pll_Conf()
max_carrier_lock_fail = FLAGS_max_carrier_lock_fail;
max_code_lock_fail = FLAGS_max_lock_fail;
carrier_lock_th = FLAGS_carrier_lock_th;
track_pilot = true;
enable_doppler_correction = false;
track_pilot = false;
system = 'G';
signal[0] = '1';
signal[1] = 'C';
signal[2] = '\0';
item_type = "gr_complex";
}
void Dll_Pll_Conf::SetFromConfiguration(ConfigurationInterface *configuration,
const std::string &role)
{
item_type = configuration->property(role + ".item_type", item_type);
if (!item_type_valid(item_type))
{
throw std::invalid_argument("Unknown item type: " + item_type);
}
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", fs_in);
fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
high_dyn = configuration->property(role + ".high_dyn", high_dyn);
dump = configuration->property(role + ".dump", dump);
dump_filename = configuration->property(role + ".dump_filename", dump_filename);
dump_mat = configuration->property(role + ".dump_mat", dump_mat);
pll_bw_hz = configuration->property(role + ".pll_bw_hz", pll_bw_hz);
if (FLAGS_pll_bw_hz != 0.0)
{
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
}
pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", pll_bw_narrow_hz);
dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", dll_bw_narrow_hz);
dll_bw_hz = configuration->property(role + ".dll_bw_hz", dll_bw_hz);
if (FLAGS_dll_bw_hz != 0.0)
{
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
}
dll_filter_order = configuration->property(role + ".dll_filter_order", dll_filter_order);
pll_filter_order = configuration->property(role + ".pll_filter_order", pll_filter_order);
if (dll_filter_order < 1)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
dll_filter_order = 1;
}
if (dll_filter_order > 3)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
dll_filter_order = 3;
}
if (pll_filter_order < 2)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
pll_filter_order = 2;
}
if (pll_filter_order > 3)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
pll_filter_order = 3;
}
if (pll_filter_order == 2)
{
fll_filter_order = 1;
}
if (pll_filter_order == 3)
{
fll_filter_order = 2;
}
enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", enable_fll_pull_in);
enable_fll_steady_state = configuration->property(role + ".enable_fll_steady_state", enable_fll_steady_state);
fll_bw_hz = configuration->property(role + ".fll_bw_hz", fll_bw_hz);
pull_in_time_s = configuration->property(role + ".pull_in_time_s", pull_in_time_s);
bit_synchronization_time_limit_s = pull_in_time_s + 60;
early_late_space_chips = configuration->property(role + ".early_late_space_chips", early_late_space_chips);
early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", early_late_space_narrow_chips);
very_early_late_space_chips = configuration->property(role + ".very_early_late_space_chips", very_early_late_space_chips);
very_early_late_space_narrow_chips = configuration->property(role + ".very_early_late_space_narrow_chips", very_early_late_space_narrow_chips);
extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", extend_correlation_symbols);
track_pilot = configuration->property(role + ".track_pilot", track_pilot);
cn0_samples = configuration->property(role + ".cn0_samples", cn0_samples);
cn0_min = configuration->property(role + ".cn0_min", cn0_min);
max_code_lock_fail = configuration->property(role + ".max_lock_fail", max_code_lock_fail);
max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", max_carrier_lock_fail);
carrier_lock_th = configuration->property(role + ".carrier_lock_th", carrier_lock_th);
// tracking lock tests smoother parameters
cn0_smoother_samples = configuration->property(role + ".cn0_smoother_samples", cn0_smoother_samples);
cn0_smoother_alpha = configuration->property(role + ".cn0_smoother_alpha", cn0_smoother_alpha);
smoother_length = configuration->property(role + ".smoother_length", smoother_length);
if (smoother_length < 1)
{
smoother_length = 1;
LOG(WARNING) << "smoother_length must be bigger than 0. It has been set to 1";
}
carrier_lock_test_smoother_samples = configuration->property(role + ".carrier_lock_test_smoother_samples", carrier_lock_test_smoother_samples);
carrier_lock_test_smoother_alpha = configuration->property(role + ".carrier_lock_test_smoother_alpha", carrier_lock_test_smoother_alpha);
}

17
src/algorithms/tracking/libs/dll_pll_conf.h
View File

@ -22,20 +22,24 @@
#ifndef GNSS_SDR_DLL_PLL_CONF_H
#define GNSS_SDR_DLL_PLL_CONF_H
#include "configuration_interface.h"
#include <cstdint>
#include <string>
class Dll_Pll_Conf
{
public:
Dll_Pll_Conf();
void SetFromConfiguration(ConfigurationInterface *configuration, const std::string &role);
/* DLL/PLL tracking configuration */
int fll_filter_order;
int32_t fll_filter_order;
bool enable_fll_pull_in;
bool enable_fll_steady_state;
unsigned int pull_in_time_s;
unsigned int bit_synchronization_time_limit_s;
int pll_filter_order;
int dll_filter_order;
uint32_t pull_in_time_s;
uint32_t bit_synchronization_time_limit_s;
int32_t pll_filter_order;
int32_t dll_filter_order;
double fs_in;
uint32_t vector_length;
bool dump;
@ -57,6 +61,7 @@ public:
float y_intercept;
int32_t extend_correlation_symbols;
bool high_dyn;
std::string item_type;
int32_t cn0_samples;
int32_t cn0_smoother_samples;
float cn0_smoother_alpha;
@ -71,8 +76,6 @@ public:
bool enable_doppler_correction;
char system;
char signal[3]{};
Dll_Pll_Conf();
};
#endif

109
src/algorithms/tracking/libs/dll_pll_conf_fpga.cc
View File

@ -22,7 +22,8 @@
#include "dll_pll_conf_fpga.h"
#include "gnss_sdr_flags.h"
#include <cstring>
#include <glog/logging.h>
Dll_Pll_Conf_Fpga::Dll_Pll_Conf_Fpga()
{
@ -44,18 +45,18 @@ Dll_Pll_Conf_Fpga::Dll_Pll_Conf_Fpga()
fll_bw_hz = 35.0;
pll_pull_in_bw_hz = 50.0;
dll_pull_in_bw_hz = 3.0;
pll_bw_hz = 35.0;
dll_bw_hz = 2.0;
pll_bw_narrow_hz = 5.0;
dll_bw_narrow_hz = 0.75;
early_late_space_chips = 0.5;
pll_bw_hz = 5.0;
dll_bw_hz = 0.5;
pll_bw_narrow_hz = 2.0;
dll_bw_narrow_hz = 0.25;
early_late_space_chips = 0.25;
very_early_late_space_chips = 0.5;
early_late_space_narrow_chips = 0.1;
very_early_late_space_narrow_chips = 0.1;
early_late_space_narrow_chips = 0.15;
very_early_late_space_narrow_chips = 0.5;
slope = 1.0;
spc = 0.5;
y_intercept = 1.0;
extend_correlation_symbols = 5;
extend_correlation_symbols = 1;
cn0_samples = FLAGS_cn0_samples;
cn0_smoother_samples = 200;
cn0_smoother_alpha = 0.002;
@ -67,7 +68,7 @@ Dll_Pll_Conf_Fpga::Dll_Pll_Conf_Fpga()
carrier_lock_th = FLAGS_carrier_lock_th;
// max_lock_fail = 50;
enable_doppler_correction = false;
track_pilot = false;
track_pilot = true;
system = 'G';
signal[0] = '1';
signal[1] = 'C';
@ -83,3 +84,91 @@ Dll_Pll_Conf_Fpga::Dll_Pll_Conf_Fpga()
extend_fpga_integration_periods = 1;
fpga_integration_period = 0;
}
void Dll_Pll_Conf_Fpga::SetFromConfiguration(ConfigurationInterface *configuration,
const std::string &role)
{
int32_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 12500000);
fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
high_dyn = configuration->property(role + ".high_dyn", high_dyn);
smoother_length = configuration->property(role + ".smoother_length", smoother_length);
if (smoother_length < 1)
{
smoother_length = 1;
LOG(WARNING) << "smoother_length must be bigger than 0. It has been set to 1";
}
dump = configuration->property(role + ".dump", dump);
dump_mat = configuration->property(role + ".dump_mat", dump_mat);
dump_filename = configuration->property(role + ".dump_filename", dump_filename);
enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", enable_fll_pull_in);
enable_fll_steady_state = configuration->property(role + ".enable_fll_steady_state", enable_fll_steady_state);
pull_in_time_s = configuration->property(role + ".pull_in_time_s", pull_in_time_s);
track_pilot = configuration->property(role + ".track_pilot", track_pilot);
bit_synchronization_time_limit_s = pull_in_time_s + 60;
dll_filter_order = configuration->property(role + ".dll_filter_order", dll_filter_order);
pll_filter_order = configuration->property(role + ".pll_filter_order", pll_filter_order);
if (dll_filter_order < 1)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
dll_filter_order = 1;
}
if (dll_filter_order > 3)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
dll_filter_order = 3;
}
if (pll_filter_order < 2)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
pll_filter_order = 2;
}
if (pll_filter_order > 3)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
pll_filter_order = 3;
}
if (pll_filter_order == 2)
{
fll_filter_order = 1;
}
if (pll_filter_order == 3)
{
fll_filter_order = 2;
}
fll_bw_hz = configuration->property(role + ".fll_bw_hz", fll_bw_hz);
pll_pull_in_bw_hz = 50.0;
dll_pull_in_bw_hz = 3.0;
pll_bw_hz = configuration->property(role + ".pll_bw_hz", pll_bw_hz);
if (FLAGS_pll_bw_hz != 0.0)
{
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
}
dll_bw_hz = configuration->property(role + ".dll_bw_hz", dll_bw_hz);
if (FLAGS_dll_bw_hz != 0.0)
{
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
}
pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", pll_bw_narrow_hz);
dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", dll_bw_narrow_hz);
early_late_space_chips = configuration->property(role + ".early_late_space_chips", early_late_space_chips);
very_early_late_space_chips = configuration->property(role + ".very_early_late_space_chips", very_early_late_space_chips);
early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", early_late_space_narrow_chips);
very_early_late_space_narrow_chips = configuration->property(role + ".very_early_late_space_narrow_chips", very_early_late_space_narrow_chips);
extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", extend_correlation_symbols);
cn0_samples = configuration->property(role + ".cn0_samples", cn0_samples);
// tracking lock tests smoother parameters
cn0_smoother_samples = configuration->property(role + ".cn0_smoother_samples", cn0_smoother_samples);
cn0_smoother_alpha = configuration->property(role + ".cn0_smoother_alpha", cn0_smoother_alpha);
carrier_lock_test_smoother_alpha = configuration->property(role + ".carrier_lock_test_smoother_alpha", carrier_lock_test_smoother_alpha);
carrier_lock_test_smoother_samples = configuration->property(role + ".carrier_lock_test_smoother_samples", carrier_lock_test_smoother_samples);
cn0_min = configuration->property(role + ".cn0_min", cn0_min);
max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", max_carrier_lock_fail);
max_code_lock_fail = configuration->property(role + ".max_lock_fail", max_code_lock_fail);
carrier_lock_th = configuration->property(role + ".carrier_lock_th", carrier_lock_th);
// max_lock_fail = 50;
device_name = configuration->property(role + ".devicename", device_name);
}

17
src/algorithms/tracking/libs/dll_pll_conf_fpga.h
View File

@ -24,21 +24,24 @@
#ifndef GNSS_SDR_DLL_PLL_CONF_FPGA_H
#define GNSS_SDR_DLL_PLL_CONF_FPGA_H
#include "configuration_interface.h"
#include <cstdint>
#include <string>
class Dll_Pll_Conf_Fpga
{
public:
/* DLL/PLL tracking configuration */
Dll_Pll_Conf_Fpga();
void SetFromConfiguration(ConfigurationInterface* configuration, const std::string& role);
int fll_filter_order;
/* DLL/PLL tracking configuration */
int32_t fll_filter_order;
bool enable_fll_pull_in;
bool enable_fll_steady_state;
unsigned int pull_in_time_s; // signed integer, when pull in time is not yet reached it has to be compared against a negative number
unsigned int bit_synchronization_time_limit_s;
int pll_filter_order;
int dll_filter_order;
uint32_t pull_in_time_s; // signed integer, when pull in time is not yet reached it has to be compared against a negative number
uint32_t bit_synchronization_time_limit_s;
int32_t pll_filter_order;
int32_t dll_filter_order;
double fs_in;
uint32_t vector_length;
@ -88,8 +91,6 @@ public:
bool extended_correlation_in_fpga;
uint32_t extend_fpga_integration_periods;
uint32_t fpga_integration_period;
Dll_Pll_Conf_Fpga();
};
#endif