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Code Issues Releases Wiki Activity

Add more extensive use of cstdint typenames

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This commit is contained in:
Carles Fernandez
2018-08-11 11:42:07 +02:00
parent 7c763abbbc
commit 4404516289
4 changed files with 77 additions and 74 deletions
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28
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc
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@@ -268,7 +268,7 @@ void pcps_acquisition::init()
d_mag = 0.0;
d_input_power = 0.0;
d_num_doppler_bins = static_cast<uint32_t>(std::ceil(static_cast<double>(static_cast<int>(acq_parameters.doppler_max) - static_cast<int>(-acq_parameters.doppler_max)) / static_cast<double>(d_doppler_step)));
d_num_doppler_bins = static_cast<uint32_t>(std::ceil(static_cast<double>(static_cast<int32_t>(acq_parameters.doppler_max) - static_cast<int32_t>(-acq_parameters.doppler_max)) / static_cast<double>(d_doppler_step)));
// Create the carrier Doppler wipeoff signals
d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
@@ -290,7 +290,7 @@ void pcps_acquisition::init()
{
d_magnitude_grid[doppler_index][k] = 0.0;
}
int32_t doppler = -static_cast<int>(acq_parameters.doppler_max) + d_doppler_step * doppler_index;
int32_t doppler = -static_cast<int32_t>(acq_parameters.doppler_max) + d_doppler_step * doppler_index;
update_local_carrier(d_grid_doppler_wipeoffs[doppler_index], d_fft_size, d_old_freq + doppler);
}
@@ -309,7 +309,7 @@ void pcps_acquisition::update_grid_doppler_wipeoffs()
{
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{
int32_t doppler = -static_cast<int>(acq_parameters.doppler_max) + d_doppler_step * doppler_index;
int32_t doppler = -static_cast<int32_t>(acq_parameters.doppler_max) + d_doppler_step * doppler_index;
update_local_carrier(d_grid_doppler_wipeoffs[doppler_index], d_fft_size, d_old_freq + doppler);
}
}
@@ -510,11 +510,11 @@ float pcps_acquisition::max_to_input_power_statistic(uint32_t& indext, int32_t&
indext = index_time;
if (!d_step_two)
{
doppler = -static_cast<int>(doppler_max) + doppler_step * static_cast<int>(index_doppler);
doppler = -static_cast<int32_t>(doppler_max) + doppler_step * static_cast<int32_t>(index_doppler);
}
else
{
doppler = static_cast<int>(d_doppler_center_step_two + (static_cast<float>(index_doppler) - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0))) * acq_parameters.doppler_step2);
doppler = static_cast<int32_t>(d_doppler_center_step_two + (static_cast<float>(index_doppler) - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0))) * acq_parameters.doppler_step2);
}
float magt = grid_maximum / (fft_normalization_factor * fft_normalization_factor);
@@ -548,11 +548,11 @@ float pcps_acquisition::first_vs_second_peak_statistic(uint32_t& indext, int32_t
if (!d_step_two)
{
doppler = -static_cast<int>(doppler_max) + doppler_step * static_cast<int>(index_doppler);
doppler = -static_cast<int32_t>(doppler_max) + doppler_step * static_cast<int32_t>(index_doppler);
}
else
{
doppler = static_cast<int>(d_doppler_center_step_two + (static_cast<float>(index_doppler) - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0))) * acq_parameters.doppler_step2);
doppler = static_cast<int32_t>(d_doppler_center_step_two + (static_cast<float>(index_doppler) - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0))) * acq_parameters.doppler_step2);
}
// Find 1 chip wide code phase exclude range around the peak
@@ -564,7 +564,7 @@ float pcps_acquisition::first_vs_second_peak_statistic(uint32_t& indext, int32_t
{
excludeRangeIndex1 = d_fft_size + excludeRangeIndex1;
}
else if (excludeRangeIndex2 >= static_cast<int>(d_fft_size))
else if (excludeRangeIndex2 >= static_cast<int32_t>(d_fft_size))
{
excludeRangeIndex2 = excludeRangeIndex2 - d_fft_size;
}
@@ -575,7 +575,7 @@ float pcps_acquisition::first_vs_second_peak_statistic(uint32_t& indext, int32_t
{
d_tmp_buffer[idx] = 0.0;
idx++;
if (idx == static_cast<int>(d_fft_size)) idx = 0;
if (idx == static_cast<int32_t>(d_fft_size)) idx = 0;
}
while (idx != excludeRangeIndex2);
@@ -716,11 +716,11 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
// Compute the test statistic
if (d_use_CFAR_algorithm_flag)
{
d_test_statistics = max_to_input_power_statistic(indext, doppler, d_input_power, d_num_doppler_bins_step2, static_cast<int>(d_doppler_center_step_two - (static_cast<float>(d_num_doppler_bins_step2) / 2.0) * acq_parameters.doppler_step2), acq_parameters.doppler_step2);
d_test_statistics = max_to_input_power_statistic(indext, doppler, d_input_power, d_num_doppler_bins_step2, static_cast<int32_t>(d_doppler_center_step_two - (static_cast<float>(d_num_doppler_bins_step2) / 2.0) * acq_parameters.doppler_step2), acq_parameters.doppler_step2);
}
else
{
d_test_statistics = first_vs_second_peak_statistic(indext, doppler, d_num_doppler_bins_step2, static_cast<int>(d_doppler_center_step_two - (static_cast<float>(d_num_doppler_bins_step2) / 2.0) * acq_parameters.doppler_step2), acq_parameters.doppler_step2);
d_test_statistics = first_vs_second_peak_statistic(indext, doppler, d_num_doppler_bins_step2, static_cast<int32_t>(d_doppler_center_step_two - (static_cast<float>(d_num_doppler_bins_step2) / 2.0) * acq_parameters.doppler_step2), acq_parameters.doppler_step2);
}
d_gnss_synchro->Acq_delay_samples = static_cast<double>(std::fmod(static_cast<float>(indext), acq_parameters.samples_per_code));
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
@@ -844,7 +844,7 @@ int pcps_acquisition::general_work(int noutput_items __attribute__((unused)),
{
if (!acq_parameters.blocking_on_standby)
{
d_sample_counter += ninput_items[0];
d_sample_counter += static_cast<uint64_t>(ninput_items[0]);
consume_each(ninput_items[0]);
}
if (d_step_two)
@@ -872,7 +872,7 @@ int pcps_acquisition::general_work(int noutput_items __attribute__((unused)),
d_buffer_count = 0;
if (!acq_parameters.blocking_on_standby)
{
d_sample_counter += ninput_items[0]; // sample counter
d_sample_counter += static_cast<uint64_t>(ninput_items[0]); // sample counter
consume_each(ninput_items[0]);
}
break;
@@ -913,7 +913,7 @@ int pcps_acquisition::general_work(int noutput_items __attribute__((unused)),
d_state = 2;
}
d_buffer_count += buff_increment;
d_sample_counter += buff_increment;
d_sample_counter += static_cast<uint64_t>(buff_increment);
consume_each(buff_increment);
break;
}

34
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.h
View File

@@ -64,13 +64,13 @@
typedef struct
{
/* pcps acquisition configuration */
unsigned int sampled_ms;
unsigned int doppler_max;
long freq;
long fs_in;
int samples_per_ms;
int samples_per_code;
unsigned int select_queue_Fpga;
uint32_t sampled_ms;
uint32_t doppler_max;
int64_t freq;
int64_t fs_in;
int32_tsamples_per_ms;
int32_tsamples_per_code;
uint32_t select_queue_Fpga;
std::string device_name;
lv_16sc_t* all_fft_codes; // memory that contains all the code ffts
@@ -108,11 +108,11 @@ private:
float d_mag;
float d_input_power;
float d_test_statistics;
int d_state;
unsigned int d_channel;
unsigned int d_doppler_step;
unsigned int d_fft_size;
unsigned int d_num_doppler_bins;
int32_td_state;
uint32_t d_channel;
uint32_t d_doppler_step;
uint32_t d_fft_size;
uint32_t d_num_doppler_bins;
uint64_t d_sample_counter;
Gnss_Synchro* d_gnss_synchro;
std::shared_ptr<fpga_acquisition> acquisition_fpga;
@@ -133,7 +133,7 @@ public:
/*!
* \brief Returns the maximum peak of grid search.
*/
inline unsigned int mag() const
inline uint32_t mag() const
{
return d_mag;
}
@@ -154,7 +154,7 @@ public:
* first available sample.
* \param state - int=1 forces start of acquisition
*/
void set_state(int state);
void set_state(int32_tstate);
/*!
* \brief Starts acquisition algorithm, turning from standby mode to
@@ -167,7 +167,7 @@ public:
* \brief Set acquisition channel unique ID
* \param channel - receiver channel.
*/
inline void set_channel(unsigned int channel)
inline void set_channel(uint32_t channel)
{
d_channel = channel;
}
@@ -186,7 +186,7 @@ public:
* \brief Set maximum Doppler grid search
* \param doppler_max - Maximum Doppler shift considered in the grid search [Hz].
*/
inline void set_doppler_max(unsigned int doppler_max)
inline void set_doppler_max(uint32_t doppler_max)
{
acq_parameters.doppler_max = doppler_max;
acquisition_fpga->set_doppler_max(doppler_max);
@@ -196,7 +196,7 @@ public:
* \brief Set Doppler steps for the grid search
* \param doppler_step - Frequency bin of the search grid [Hz].
*/
inline void set_doppler_step(unsigned int doppler_step)
inline void set_doppler_step(uint32_t doppler_step)
{
d_doppler_step = doppler_step;
acquisition_fpga->set_doppler_step(doppler_step);

46
src/algorithms/acquisition/libs/fpga_acquisition.cc
View File

@@ -64,7 +64,7 @@ bool fpga_acquisition::init()
}
bool fpga_acquisition::set_local_code(unsigned int PRN)
bool fpga_acquisition::set_local_code(uint32_t PRN)
{
// select the code with the chosen PRN
fpga_acquisition::fpga_configure_acquisition_local_code(
@@ -74,13 +74,13 @@ bool fpga_acquisition::set_local_code(unsigned int PRN)
fpga_acquisition::fpga_acquisition(std::string device_name,
unsigned int nsamples,
unsigned int doppler_max,
unsigned int nsamples_total, long fs_in,
unsigned int sampled_ms, unsigned select_queue,
uint32_t nsamples,
uint32_t doppler_max,
uint32_t nsamples_total, int64_t fs_in,
uint32_t sampled_ms, uint32_t select_queue,
lv_16sc_t *all_fft_codes)
{
unsigned int vector_length = nsamples_total * sampled_ms;
uint32_t vector_length = nsamples_total * sampled_ms;
// initial values
d_device_name = device_name;
d_fs_in = fs_in;
@@ -99,7 +99,7 @@ fpga_acquisition::fpga_acquisition(std::string device_name,
{
LOG(WARNING) << "Cannot open deviceio" << d_device_name;
}
d_map_base = reinterpret_cast<volatile unsigned *>(mmap(NULL, PAGE_SIZE,
d_map_base = reinterpret_cast<volatile uint32_t *>(mmap(NULL, PAGE_SIZE,
PROT_READ | PROT_WRITE, MAP_SHARED, d_fd, 0));
if (d_map_base == reinterpret_cast<void *>(-1))
@@ -108,8 +108,8 @@ fpga_acquisition::fpga_acquisition(std::string device_name,
}
// sanity check : check test register
unsigned writeval = TEST_REG_SANITY_CHECK;
unsigned readval;
uint32_t writeval = TEST_REG_SANITY_CHECK;
uint32_t readval;
readval = fpga_acquisition::fpga_acquisition_test_register(writeval);
if (writeval != readval)
{
@@ -136,9 +136,9 @@ bool fpga_acquisition::free()
}
unsigned fpga_acquisition::fpga_acquisition_test_register(unsigned writeval)
uint32_t fpga_acquisition::fpga_acquisition_test_register(uint32_t writeval)
{
unsigned readval;
uint32_t readval;
// write value to test register
d_map_base[15] = writeval;
// read value from test register
@@ -150,9 +150,9 @@ unsigned fpga_acquisition::fpga_acquisition_test_register(unsigned writeval)
void fpga_acquisition::fpga_configure_acquisition_local_code(lv_16sc_t fft_local_code[])
{
unsigned short local_code;
unsigned int k, tmp, tmp2;
unsigned int fft_data;
uint16_t local_code;
uint32_t k, tmp, tmp2;
uint32_t fft_data;
// clear memory address counter
d_map_base[4] = LOCAL_CODE_CLEAR_MEM;
// write local code
@@ -170,12 +170,12 @@ void fpga_acquisition::fpga_configure_acquisition_local_code(lv_16sc_t fft_local
void fpga_acquisition::run_acquisition(void)
{
// enable interrupts
int reenable = 1;
write(d_fd, reinterpret_cast<void *>(&reenable), sizeof(int));
int32_t reenable = 1;
write(d_fd, reinterpret_cast<void *>(&reenable), sizeof(int32_t));
// launch the acquisition process
d_map_base[6] = LAUNCH_ACQUISITION; // writing anything to reg 6 launches the acquisition process
int irq_count;
int32_t irq_count;
ssize_t nb;
// wait for interrupt
nb = read(d_fd, &irq_count, sizeof(irq_count));
@@ -192,16 +192,16 @@ void fpga_acquisition::configure_acquisition()
d_map_base[0] = d_select_queue;
d_map_base[1] = d_vector_length;
d_map_base[2] = d_nsamples;
d_map_base[5] = (int)log2((float)d_vector_length); // log2 FFTlength
d_map_base[5] = static_cast<int32_t>(log2(static_cast<float>(d_vector_length))); // log2 FFTlength
}
void fpga_acquisition::set_phase_step(unsigned int doppler_index)
void fpga_acquisition::set_phase_step(uint32_t doppler_index)
{
float phase_step_rad_real;
float phase_step_rad_int_temp;
int32_t phase_step_rad_int;
int doppler = static_cast<int>(-d_doppler_max) + d_doppler_step * doppler_index;
int32_t doppler = static_cast<int>(-d_doppler_max) + d_doppler_step * doppler_index;
float phase_step_rad = GPS_TWO_PI * doppler / static_cast<float>(d_fs_in);
// The doppler step can never be outside the range -pi to +pi, otherwise there would be aliasing
// The FPGA expects phase_step_rad between -1 (-pi) to +1 (+pi)
@@ -221,9 +221,9 @@ void fpga_acquisition::set_phase_step(unsigned int doppler_index)
void fpga_acquisition::read_acquisition_results(uint32_t *max_index,
float *max_magnitude, unsigned *initial_sample, float *power_sum)
float *max_magnitude, uint32_t *initial_sample, float *power_sum)
{
unsigned readval = 0;
uint32_t readval = 0;
readval = d_map_base[1];
*initial_sample = readval;
readval = d_map_base[2];
@@ -249,7 +249,7 @@ void fpga_acquisition::unblock_samples()
void fpga_acquisition::close_device()
{
unsigned *aux = const_cast<unsigned *>(d_map_base);
uint32_t *aux = const_cast<uint32_t *>(d_map_base);
if (munmap(static_cast<void *>(aux), PAGE_SIZE) == -1)
{
printf("Failed to unmap memory uio\n");

43
src/algorithms/acquisition/libs/fpga_acquisition.h
View File

@@ -38,6 +38,7 @@
#include <gnuradio/fft/fft.h>
#include <volk/volk.h>
#include <cstdint>
/*!
* \brief Class that implements carrier wipe-off and correlators.
@@ -46,20 +47,22 @@ class fpga_acquisition
{
public:
fpga_acquisition(std::string device_name,
unsigned int nsamples,
unsigned int doppler_max,
unsigned int nsamples_total, long fs_in,
unsigned int sampled_ms, unsigned select_queue,
uint32_t nsamples,
uint32_t doppler_max,
uint32_t nsamples_total,
int64_t fs_in,
uint32_t sampled_ms,
uint32_t select_queue,
lv_16sc_t *all_fft_codes);
~fpga_acquisition();
bool init();
bool set_local_code(
unsigned int PRN);
bool set_local_code(uint32_t PRN);
bool free();
void run_acquisition(void);
void set_phase_step(unsigned int doppler_index);
void set_phase_step(uint32_t doppler_index);
void read_acquisition_results(uint32_t *max_index, float *max_magnitude,
unsigned *initial_sample, float *power_sum);
uint32_t *initial_sample, float *power_sum);
void block_samples();
void unblock_samples();
@@ -67,7 +70,7 @@ public:
* \brief Set maximum Doppler grid search
* \param doppler_max - Maximum Doppler shift considered in the grid search [Hz].
*/
void set_doppler_max(unsigned int doppler_max)
void set_doppler_max(uint32_t doppler_max)
{
d_doppler_max = doppler_max;
}
@@ -76,26 +79,26 @@ public:
* \brief Set Doppler steps for the grid search
* \param doppler_step - Frequency bin of the search grid [Hz].
*/
void set_doppler_step(unsigned int doppler_step)
void set_doppler_step(uint32_t doppler_step)
{
d_doppler_step = doppler_step;
}
private:
long d_fs_in;
int64_t d_fs_in;
// data related to the hardware module and the driver
int d_fd; // driver descriptor
volatile unsigned *d_map_base; // driver memory map
int32_t d_fd; // driver descriptor
volatile uint32_t *d_map_base; // driver memory map
lv_16sc_t *d_all_fft_codes; // memory that contains all the code ffts
unsigned int d_vector_length; // number of samples incluing padding and number of ms
unsigned int d_nsamples_total; // number of samples including padding
unsigned int d_nsamples; // number of samples not including padding
unsigned int d_select_queue; // queue selection
uint32_t d_vector_length; // number of samples incluing padding and number of ms
uint32_t d_nsamples_total; // number of samples including padding
uint32_t d_nsamples; // number of samples not including padding
uint32_t d_select_queue; // queue selection
std::string d_device_name; // HW device name
unsigned int d_doppler_max; // max doppler
unsigned int d_doppler_step; // doppler step
uint32_t d_doppler_max; // max doppler
uint32_t d_doppler_step; // doppler step
// FPGA private functions
unsigned fpga_acquisition_test_register(unsigned writeval);
uint32_t fpga_acquisition_test_register(uint32_t writeval);
void fpga_configure_acquisition_local_code(lv_16sc_t fft_local_code[]);
void configure_acquisition();
void reset_acquisition(void);