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Merge branch 'carlesfernandez:next' into osnma-cesare

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cesaaargm 2024-01-06 16:42:09 +01:00 committed by GitHub
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47 changed files with 674 additions and 628 deletions
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3
.github/workflows/main.yml vendored
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@ -52,6 +52,7 @@ jobs:
rm /usr/local/bin/idle3.1* || true rm /usr/local/bin/idle3.1* || true
rm /usr/local/bin/pydoc3.1* || true rm /usr/local/bin/pydoc3.1* || true
rm /usr/local/bin/python3.1* || true rm /usr/local/bin/python3.1* || true
export HOMEBREW_NO_INSTALLED_DEPENDENTS_CHECK=1
brew install ninja hdf5 automake armadillo lapack \ brew install ninja hdf5 automake armadillo lapack \
gflags glog gnuradio log4cpp openssl pugixml protobuf gflags glog gnuradio log4cpp openssl pugixml protobuf
pip3 install mako pip3 install mako
@ -80,6 +81,7 @@ jobs:
rm /usr/local/bin/idle3.1* || true rm /usr/local/bin/idle3.1* || true
rm /usr/local/bin/pydoc3.1* || true rm /usr/local/bin/pydoc3.1* || true
rm /usr/local/bin/python3.1* || true rm /usr/local/bin/python3.1* || true
export HOMEBREW_NO_INSTALLED_DEPENDENTS_CHECK=1
brew install ninja pkg-config hdf5 automake armadillo lapack gflags glog \ brew install ninja pkg-config hdf5 automake armadillo lapack gflags glog \
gnuradio log4cpp openssl pugixml protobuf gnuradio log4cpp openssl pugixml protobuf
pip3 install mako pip3 install mako
@ -127,6 +129,7 @@ jobs:
rm /usr/local/bin/idle3.1* || true rm /usr/local/bin/idle3.1* || true
rm /usr/local/bin/pydoc3.1* || true rm /usr/local/bin/pydoc3.1* || true
rm /usr/local/bin/python3.1* || true rm /usr/local/bin/python3.1* || true
export HOMEBREW_NO_INSTALLED_DEPENDENTS_CHECK=1
brew install llvm pkg-config hdf5 armadillo lapack gflags glog gnuradio libmatio \ brew install llvm pkg-config hdf5 armadillo lapack gflags glog gnuradio libmatio \
log4cpp openssl pugixml protobuf log4cpp openssl pugixml protobuf
pip3 install mako pip3 install mako

31
CMakeLists.txt
View File

@ -1,7 +1,7 @@
# GNSS-SDR is a Global Navigation Satellite System software-defined receiver. # GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
# This file is part of GNSS-SDR. # This file is part of GNSS-SDR.
# #
# SPDX-FileCopyrightText: 2010-2023 C. Fernandez-Prades cfernandez(at)cttc.es # SPDX-FileCopyrightText: 2010-2024 C. Fernandez-Prades cfernandez(at)cttc.es
# SPDX-License-Identifier: BSD-3-Clause # SPDX-License-Identifier: BSD-3-Clause
################################################################################ ################################################################################
@ -911,6 +911,11 @@ if((Boost_VERSION_STRING VERSION_GREATER 1.71) AND (Boost_VERSION_STRING VERSION
endif() endif()
endif() endif()
# Workaround for macOS Sonoma
if((CMAKE_CXX_STANDARD EQUAL 17) AND ((${CMAKE_SYSTEM_NAME} MATCHES "Darwin") AND ("${DARWIN_VERSION}" VERSION_GREATER "22.99")))
add_definitions(-D_LIBCPP_ENABLE_CXX17_REMOVED_UNARY_BINARY_FUNCTION=1)
endif()
# Fix for Boost Asio < 1.70 when using Clang in macOS # Fix for Boost Asio < 1.70 when using Clang in macOS
if(Boost_VERSION_STRING VERSION_LESS 1.70.0) if(Boost_VERSION_STRING VERSION_LESS 1.70.0)
# Check if we have std::string_view # Check if we have std::string_view
@ -1823,7 +1828,7 @@ endif()
# Check that BLAS (Basic Linear Algebra Subprograms) is found in the system # Check that BLAS (Basic Linear Algebra Subprograms) is found in the system
# See https://www.netlib.org/blas/ # See https://www.netlib.org/blas/
################################################################################ ################################################################################
if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin") if((${CMAKE_SYSTEM_NAME} MATCHES "Darwin") AND ("${DARWIN_VERSION}" VERSION_LESS "23"))
# Avoid using the implementation that comes with the Accelerate framework # Avoid using the implementation that comes with the Accelerate framework
include(AvoidAccelerate) include(AvoidAccelerate)
else() else()
@ -1870,7 +1875,7 @@ endif()
# Check that LAPACK (Linear Algebra PACKage) is found in the system # Check that LAPACK (Linear Algebra PACKage) is found in the system
# See https://www.netlib.org/lapack/ # See https://www.netlib.org/lapack/
################################################################################ ################################################################################
if(NOT (${CMAKE_SYSTEM_NAME} MATCHES "Darwin")) if(NOT((${CMAKE_SYSTEM_NAME} MATCHES "Darwin") AND ("${DARWIN_VERSION}" VERSION_LESS "23")))
find_package(LAPACK) find_package(LAPACK)
set_package_properties(LAPACK PROPERTIES set_package_properties(LAPACK PROPERTIES
URL "https://www.netlib.org/lapack/" URL "https://www.netlib.org/lapack/"
@ -1881,13 +1886,15 @@ if(NOT (${CMAKE_SYSTEM_NAME} MATCHES "Darwin"))
endif() endif()
if(NOT LAPACK_FOUND) if(NOT LAPACK_FOUND)
message(" The LAPACK library has not been found.") message(" The LAPACK library has not been found.")
message(" You can try to install it by typing:") if(LINUX_DISTRIBUTION)
if(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat") message(" You can try to install it by typing:")
message(" sudo yum install lapack-devel") if(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "Red Hat")
elseif(${LINUX_DISTRIBUTION} MATCHES "openSUSE") message(" sudo yum install lapack-devel")
message(" sudo zypper install lapack-devel") elseif(${LINUX_DISTRIBUTION} MATCHES "openSUSE")
else() message(" sudo zypper install lapack-devel")
message(" sudo apt-get install liblapack-dev") else()
message(" sudo apt-get install liblapack-dev")
endif()
endif() endif()
message(FATAL_ERROR "LAPACK is required to build gnss-sdr") message(FATAL_ERROR "LAPACK is required to build gnss-sdr")
endif() endif()
@ -2054,7 +2061,7 @@ if(NOT ARMADILLO_FOUND OR ENABLE_OWN_ARMADILLO)
IMPORTED_LOCATION_RELWITHDEBINFO ${ARMADILLO_STATIC_LIBRARY} IMPORTED_LOCATION_RELWITHDEBINFO ${ARMADILLO_STATIC_LIBRARY}
IMPORTED_LOCATION_MINSIZEREL ${ARMADILLO_STATIC_LIBRARY} IMPORTED_LOCATION_MINSIZEREL ${ARMADILLO_STATIC_LIBRARY}
INTERFACE_INCLUDE_DIRECTORIES ${GNSSSDR_BINARY_DIR}/thirdparty/armadillo/armadillo-${armadillo_RELEASE}/include INTERFACE_INCLUDE_DIRECTORIES ${GNSSSDR_BINARY_DIR}/thirdparty/armadillo/armadillo-${armadillo_RELEASE}/include
INTERFACE_LINK_LIBRARIES ${BLAS_LIBRARIES} ${LAPACK_LIBRARIES} ${GFORTRAN} ${ARMADILLO_STATIC_LIBRARY} INTERFACE_LINK_LIBRARIES "${BLAS_LIBRARIES}" "${LAPACK_LIBRARIES}" ${GFORTRAN} ${ARMADILLO_STATIC_LIBRARY}
) )
if((CMAKE_GENERATOR STREQUAL Xcode) OR MSVC) if((CMAKE_GENERATOR STREQUAL Xcode) OR MSVC)
set_target_properties(Armadillo::armadillo PROPERTIES set_target_properties(Armadillo::armadillo PROPERTIES
@ -2062,7 +2069,7 @@ if(NOT ARMADILLO_FOUND OR ENABLE_OWN_ARMADILLO)
IMPORTED_LOCATION_RELEASE ${binary_dir}/Release/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX} IMPORTED_LOCATION_RELEASE ${binary_dir}/Release/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX}
IMPORTED_LOCATION_RELWITHDEBINFO ${binary_dir}/RelWithDebInfo/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX} IMPORTED_LOCATION_RELWITHDEBINFO ${binary_dir}/RelWithDebInfo/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX}
IMPORTED_LOCATION_MINSIZEREL ${binary_dir}/MinSizeRel/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX} IMPORTED_LOCATION_MINSIZEREL ${binary_dir}/MinSizeRel/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX}
INTERFACE_LINK_LIBRARIES ${BLAS_LIBRARIES} ${LAPACK_LIBRARIES} ${GFORTRAN} ${binary_dir}/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX}/$<$<CONFIG:Debug>:Debug/>$<$<CONFIG:Release>:Release/>$<$<CONFIG:RelWithDebInfo>:RelWithDebInfo/>$<$<CONFIG:MinSizeRel>:MinSizeRel/>${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX} INTERFACE_LINK_LIBRARIES "${BLAS_LIBRARIES}" "${LAPACK_LIBRARIES}" ${GFORTRAN} ${binary_dir}/${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX}/$<$<CONFIG:Debug>:Debug/>$<$<CONFIG:Release>:Release/>$<$<CONFIG:RelWithDebInfo>:RelWithDebInfo/>$<$<CONFIG:MinSizeRel>:MinSizeRel/>${CMAKE_FIND_LIBRARY_PREFIXES}armadillo${CMAKE_STATIC_LIBRARY_SUFFIX}
) )
endif() endif()
set_package_properties(Armadillo PROPERTIES set_package_properties(Armadillo PROPERTIES

25
README.md
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@ -4,7 +4,7 @@ SPDX-License-Identifier: GPL-3.0-or-later
) )
[comment]: # ( [comment]: # (
SPDX-FileCopyrightText: 2011-2021 Carles Fernandez-Prades <carles.fernandez@cttc.es> SPDX-FileCopyrightText: 2011-2024 Carles Fernandez-Prades <carles.fernandez@cttc.es>
) )
<!-- prettier-ignore-end --> <!-- prettier-ignore-end -->
@ -799,7 +799,7 @@ Of course, you will also need a GPU that
## macOS ## macOS
GNSS-SDR can be built on macOS (or the former Mac OS X), starting from 10.9 GNSS-SDR can be built on macOS (or the former Mac OS X), starting from 10.9
(Mavericks) and including 11 (Big Sur). If you still have not installed (Mavericks) and including 14 (Sonoma). If you still have not installed
[Xcode](https://developer.apple.com/xcode/ "Xcode"), do it now from the App [Xcode](https://developer.apple.com/xcode/ "Xcode"), do it now from the App
Store (it's free). You will also need the Xcode Command Line Tools, which do not Store (it's free). You will also need the Xcode Command Line Tools, which do not
come by default in macOS versions older than Big Sur. If you are using an older come by default in macOS versions older than Big Sur. If you are using an older
@ -830,12 +830,19 @@ In a terminal, type:
``` ```
$ sudo port selfupdate $ sudo port selfupdate
$ sudo port upgrade outdated $ sudo port upgrade outdated
$ sudo port install armadillo boost cmake gnuradio gnutls lapack libad9361-iio libiio \ $ sudo port install armadillo cmake pkgconfig protobuf3-cpp pugixml gnutls
matio pkgconfig protobuf3-cpp pugixml google-glog +gflags $ sudo port install gnuradio +uhd +grc +zeromq
$ sudo port install boost matio libad9361-iio libiio google-glog +gflags
$ sudo port install py311-mako $ sudo port install py311-mako
$ sudo port install doxygen +docs $ sudo port install doxygen +docs
``` ```
For macOS versions older than Sonoma, you will also need LAPACK:
```
$ sudo port install lapack
```
You also might need to activate a Python installation. The list of installed You also might need to activate a Python installation. The list of installed
versions can be retrieved with: versions can be retrieved with:
@ -846,7 +853,7 @@ $ port select --list python
and you can activate a certain version by typing: and you can activate a certain version by typing:
``` ```
$ sudo port select --set python python37 $ sudo port select --set python python311
``` ```
### Homebrew ### Homebrew
@ -871,13 +878,19 @@ Install the required dependencies:
``` ```
$ brew update && brew upgrade $ brew update && brew upgrade
$ brew install armadillo cmake hdf5 gflags glog gnuradio lapack libmatio log4cpp \ $ brew install armadillo cmake hdf5 gflags glog gnuradio libmatio log4cpp \
openssl pkg-config protobuf pugixml openssl pkg-config protobuf pugixml
$ pip3 install mako $ pip3 install mako
$ brew install --cask mactex # when completed, restart Terminal $ brew install --cask mactex # when completed, restart Terminal
$ brew install graphviz doxygen $ brew install graphviz doxygen
``` ```
For macOS versions older than Sonoma, you will also need LAPACK:
```
$ brew install lapack
```
### Other package managers ### Other package managers
GNU Radio and other dependencies can also be installed using other package GNU Radio and other dependencies can also be installed using other package

22
cmake/Modules/RemoveDuplicates.cmake Normal file
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@ -0,0 +1,22 @@
# GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
# This file is part of GNSS-SDR.
#
# SPDX-FileCopyrightText: 2024 C. Fernandez-Prades cfernandez(at)cttc.es
# SPDX-License-Identifier: BSD-3-Clause
# Usage:
# include(RemoveDuplicates)
# remove_duplicate_linked_libraries(my_target)
if(DEFINED __INCLUDED_REMOVE_DUPLICATE_LINKED_LIBRARIES_MODULE)
return()
endif()
set(__INCLUDED_REMOVE_DUPLICATE_LINKED_LIBRARIES_MODULE TRUE)
function(remove_duplicate_linked_libraries target_name)
if(CMAKE_VERSION VERSION_GREATER 3.5)
get_target_property(LINK_LIBRARIES ${target_name} LINK_LIBRARIES)
list(REMOVE_DUPLICATES LINK_LIBRARIES)
set_target_properties(${target_name} PROPERTIES LINK_LIBRARIES "${LINK_LIBRARIES}")
endif()
endfunction()

5
docs/CHANGELOG.md
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@ -4,7 +4,7 @@ SPDX-License-Identifier: GPL-3.0-or-later
) )
[comment]: # ( [comment]: # (
SPDX-FileCopyrightText: 2011-2023 Carles Fernandez-Prades <carles.fernandez@cttc.es> SPDX-FileCopyrightText: 2011-2024 Carles Fernandez-Prades <carles.fernandez@cttc.es>
) )
<!-- prettier-ignore-end --> <!-- prettier-ignore-end -->
@ -45,11 +45,12 @@ All notable changes to GNSS-SDR will be documented in this file.
- Updated local `cpu_features` library to v0.9.0. - Updated local `cpu_features` library to v0.9.0.
- `volk_gnsssdr`: fix syntax for Python 3.12 without breaking backward - `volk_gnsssdr`: fix syntax for Python 3.12 without breaking backward
compatibility with Python 2.7. compatibility with Python 2.7.
- Fixed linking against latest GNU Radio version. - Fixed linking against GNU Radio v3.10.9.1.
- Make use of new API if linking against VOLK >= 3.1. - Make use of new API if linking against VOLK >= 3.1.
- Fixed undefined behaviour in `volk_gnsssdr` arising from incompatibility - Fixed undefined behaviour in `volk_gnsssdr` arising from incompatibility
between complex numbers in C and C++. between complex numbers in C and C++.
- Now build system paths are not leaked when cross-compiling. - Now build system paths are not leaked when cross-compiling.
- Enabled building using macOS Sonoma and `arm64` processor architecture.
### Improvements in Repeatability: ### Improvements in Repeatability:

2
src/algorithms/PVT/libs/rinex_printer.cc
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@ -5651,7 +5651,7 @@ void Rinex_Printer::log_rinex_nav(std::fstream& out, const std::map<int32_t, Gal
std::string E1B_DVS = std::to_string(galileo_ephemeris_iter->second.E1B_DVS); std::string E1B_DVS = std::to_string(galileo_ephemeris_iter->second.E1B_DVS);
std::string SVhealth_str = std::move(E5B_HS) + std::to_string(galileo_ephemeris_iter->second.E5b_DVS) + "11" + "1" + std::string(E1B_DVS) + std::string(E1B_HS) + std::to_string(galileo_ephemeris_iter->second.E1B_DVS); std::string SVhealth_str = std::move(E5B_HS) + std::to_string(galileo_ephemeris_iter->second.E5b_DVS) + "11" + "1" + std::move(E1B_DVS) + std::move(E1B_HS) + std::to_string(galileo_ephemeris_iter->second.E1B_DVS);
int32_t SVhealth = Rinex_Printer::toInt(SVhealth_str, 9); int32_t SVhealth = Rinex_Printer::toInt(SVhealth_str, 9);
line += Rinex_Printer::doub2for(static_cast<double>(SVhealth), 18, 2); line += Rinex_Printer::doub2for(static_cast<double>(SVhealth), 18, 2);
line += std::string(1, ' '); line += std::string(1, ' ');

2
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc
View File

@ -44,7 +44,7 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
out_streams_(out_streams), out_streams_(out_streams),
acquire_pilot_(configuration->property(role + ".acquire_pilot", false)) acquire_pilot_(configuration->property(role + ".acquire_pilot", false))
{ {
acq_parameters_.SetFromConfiguration(configuration, role_, fpga_buff_num, fpga_blk_exp, GALILEO_E1_CODE_CHIP_RATE_CPS, GALILEO_E1_B_CODE_LENGTH_CHIPS); acq_parameters_.SetFromConfiguration(configuration, role_, fpga_buff_num, fpga_blk_exp, downsampling_factor_default, GALILEO_E1_CODE_CHIP_RATE_CPS, GALILEO_E1_B_CODE_LENGTH_CHIPS);
if (FLAGS_doppler_max != 0) if (FLAGS_doppler_max != 0)
{ {

1
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.h
View File

@ -182,6 +182,7 @@ public:
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{}; void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private: private:
static const uint32_t downsampling_factor_default = 4;
static const uint32_t fpga_buff_num = 0; // L1/E1 band static const uint32_t fpga_buff_num = 0; // L1/E1 band
static const uint32_t fpga_blk_exp = 13; // default block exponent static const uint32_t fpga_blk_exp = 13; // default block exponent

2
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc
View File

@ -43,7 +43,7 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(
acq_pilot_(configuration->property(role + ".acquire_pilot", false)), acq_pilot_(configuration->property(role + ".acquire_pilot", false)),
acq_iq_(configuration->property(role + ".acquire_iq", false)) acq_iq_(configuration->property(role + ".acquire_iq", false))
{ {
acq_parameters_.SetFromConfiguration(configuration, role_, fpga_buff_num, fpga_blk_exp, GALILEO_E5A_CODE_CHIP_RATE_CPS, GALILEO_E5A_CODE_LENGTH_CHIPS); acq_parameters_.SetFromConfiguration(configuration, role_, fpga_buff_num, fpga_blk_exp, downsampling_factor_default, GALILEO_E5A_CODE_CHIP_RATE_CPS, GALILEO_E5A_CODE_LENGTH_CHIPS);
if (FLAGS_doppler_max != 0) if (FLAGS_doppler_max != 0)
{ {

1
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.h
View File

@ -189,6 +189,7 @@ public:
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{}; void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private: private:
static const uint32_t downsampling_factor_default = 1;
static const uint32_t fpga_buff_num = 1; // L5/E5a band static const uint32_t fpga_buff_num = 1; // L5/E5a band
static const uint32_t fpga_blk_exp = 13; // default block exponent static const uint32_t fpga_blk_exp = 13; // default block exponent

2
src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition_fpga.cc
View File

@ -43,7 +43,7 @@ GalileoE5bPcpsAcquisitionFpga::GalileoE5bPcpsAcquisitionFpga(const Configuration
acq_pilot_(configuration->property(role + ".acquire_pilot", false)), acq_pilot_(configuration->property(role + ".acquire_pilot", false)),
acq_iq_(configuration->property(role + ".acquire_iq", false)) acq_iq_(configuration->property(role + ".acquire_iq", false))
{ {
acq_parameters_.SetFromConfiguration(configuration, role_, fpga_buff_num, fpga_blk_exp, GALILEO_E5B_CODE_CHIP_RATE_CPS, GALILEO_E5B_CODE_LENGTH_CHIPS); acq_parameters_.SetFromConfiguration(configuration, role_, fpga_buff_num, fpga_blk_exp, downsampling_factor_default, GALILEO_E5B_CODE_CHIP_RATE_CPS, GALILEO_E5B_CODE_LENGTH_CHIPS);
if (FLAGS_doppler_max != 0) if (FLAGS_doppler_max != 0)
{ {
acq_parameters_.doppler_max = FLAGS_doppler_max; acq_parameters_.doppler_max = FLAGS_doppler_max;

1
src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition_fpga.h
View File

@ -188,6 +188,7 @@ public:
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{}; void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private: private:
static const uint32_t downsampling_factor_default = 1;
static const uint32_t fpga_buff_num = 1; // E5b band static const uint32_t fpga_buff_num = 1; // E5b band
static const uint32_t fpga_blk_exp = 13; // default block exponent static const uint32_t fpga_blk_exp = 13; // default block exponent

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

@ -43,7 +43,7 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
in_streams_(in_streams), in_streams_(in_streams),
out_streams_(out_streams) out_streams_(out_streams)
{ {
acq_parameters_.SetFromConfiguration(configuration, role, fpga_buff_num, fpga_blk_exp, GPS_L1_CA_CODE_RATE_CPS, GPS_L1_CA_CODE_LENGTH_CHIPS); acq_parameters_.SetFromConfiguration(configuration, role, fpga_buff_num, fpga_blk_exp, downsampling_factor_default, GPS_L1_CA_CODE_RATE_CPS, GPS_L1_CA_CODE_LENGTH_CHIPS);
DLOG(INFO) << "role " << role; DLOG(INFO) << "role " << role;

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

@ -186,7 +186,7 @@ public:
private: private:
static const uint32_t NUM_PRNs = 32; static const uint32_t NUM_PRNs = 32;
static const uint32_t downsampling_factor_default = 4;
static const uint32_t fpga_buff_num = 0; // L1/E1 band static const uint32_t fpga_buff_num = 0; // L1/E1 band
static const uint32_t fpga_blk_exp = 10; // default block exponent static const uint32_t fpga_blk_exp = 10; // default block exponent

2
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.cc
View File

@ -43,7 +43,7 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
in_streams_(in_streams), in_streams_(in_streams),
out_streams_(out_streams) out_streams_(out_streams)
{ {
acq_parameters_.SetFromConfiguration(configuration, role, fpga_buff_num, fpga_blk_exp, GPS_L2_M_CODE_RATE_CPS, GPS_L2_M_CODE_LENGTH_CHIPS); acq_parameters_.SetFromConfiguration(configuration, role, fpga_buff_num, fpga_blk_exp, downsampling_factor_default, GPS_L2_M_CODE_RATE_CPS, GPS_L2_M_CODE_LENGTH_CHIPS);
LOG(INFO) << "role " << role; LOG(INFO) << "role " << role;

1
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.h
View File

@ -150,6 +150,7 @@ public:
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{}; void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private: private:
static const uint32_t downsampling_factor_default = 1;
static const uint32_t fpga_buff_num = 0; // L2 band static const uint32_t fpga_buff_num = 0; // L2 band
static const uint32_t fpga_blk_exp = 13; // default block exponent static const uint32_t fpga_blk_exp = 13; // default block exponent

2
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc
View File

@ -44,7 +44,7 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
in_streams_(in_streams), in_streams_(in_streams),
out_streams_(out_streams) out_streams_(out_streams)
{ {
acq_parameters_.SetFromConfiguration(configuration, role, fpga_buff_num, fpga_blk_exp, GPS_L5I_CODE_RATE_CPS, GPS_L5I_CODE_LENGTH_CHIPS); acq_parameters_.SetFromConfiguration(configuration, role, fpga_buff_num, fpga_blk_exp, downsampling_factor_default, GPS_L5I_CODE_RATE_CPS, GPS_L5I_CODE_LENGTH_CHIPS);
LOG(INFO) << "role " << role; LOG(INFO) << "role " << role;

2
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.h
View File

@ -186,7 +186,7 @@ public:
private: private:
static const uint32_t NUM_PRNs = 32; static const uint32_t NUM_PRNs = 32;
static const uint32_t downsampling_factor_default = 1;
static const uint32_t fpga_buff_num = 1; // L5/E5a band static const uint32_t fpga_buff_num = 1; // L5/E5a band
static const uint32_t fpga_blk_exp = 13; // default block exponent static const uint32_t fpga_blk_exp = 13; // default block exponent

3
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.h
View File

@ -33,6 +33,7 @@
#include <cstdint> // for uint32_t #include <cstdint> // for uint32_t
#include <memory> // for shared_ptr #include <memory> // for shared_ptr
#include <string> // for string #include <string> // for string
#include <utility> // for move
/** \addtogroup Acquisition /** \addtogroup Acquisition
* \{ */ * \{ */
@ -118,7 +119,7 @@ public:
*/ */
inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
{ {
d_channel_fsm = channel_fsm; d_channel_fsm = std::move(channel_fsm);
} }
/*! /*!

7
src/algorithms/acquisition/libs/acq_conf_fpga.cc
View File

@ -21,9 +21,10 @@
#include <glog/logging.h> #include <glog/logging.h>
#include <cmath> #include <cmath>
#include <iostream> #include <iostream>
#include <utility>
void Acq_Conf_Fpga::SetFromConfiguration(const ConfigurationInterface *configuration, void Acq_Conf_Fpga::SetFromConfiguration(const ConfigurationInterface *configuration,
const std::string &role, uint32_t sel_queue_fpga, uint32_t blk_exp, double chip_rate, double code_length_chips) const std::string &role, uint32_t sel_queue_fpga, uint32_t blk_exp, uint32_t downsampling_factor_default, double chip_rate, double code_length_chips)
{ {
// sampling frequency // sampling frequency
const int64_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", fs_in); const int64_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", fs_in);
@ -33,7 +34,7 @@ void Acq_Conf_Fpga::SetFromConfiguration(const ConfigurationInterface *configura
doppler_max = configuration->property(role + ".doppler_max", doppler_max); doppler_max = configuration->property(role + ".doppler_max", doppler_max);
// downsampling factor // downsampling factor
downsampling_factor = configuration->property(role + ".downsampling_factor", downsampling_factor); downsampling_factor = configuration->property(role + ".downsampling_factor", downsampling_factor_default);
fs_in = fs_in / downsampling_factor; fs_in = fs_in / downsampling_factor;
@ -58,7 +59,7 @@ void Acq_Conf_Fpga::SetFromConfiguration(const ConfigurationInterface *configura
std::cout << "Cannot find the FPGA uio device file corresponding to device name " << acquisition_device_name << std::endl; std::cout << "Cannot find the FPGA uio device file corresponding to device name " << acquisition_device_name << std::endl;
throw std::exception(); throw std::exception();
} }
device_name = device_io_name; device_name = std::move(device_io_name);
// exclusion limit // exclusion limit
excludelimit = static_cast<unsigned int>(1 + ceil((1.0 / chip_rate) * static_cast<float>(fs_in))); excludelimit = static_cast<unsigned int>(1 + ceil((1.0 / chip_rate) * static_cast<float>(fs_in)));

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

@ -35,7 +35,7 @@ class Acq_Conf_Fpga
public: public:
Acq_Conf_Fpga() = default; Acq_Conf_Fpga() = default;
void SetFromConfiguration(const ConfigurationInterface *configuration, const std::string &role, uint32_t sel_queue_fpga, uint32_t blk_exp, double chip_rate, double code_length_chips); void SetFromConfiguration(const ConfigurationInterface *configuration, const std::string &role, uint32_t sel_queue_fpga, uint32_t blk_exp, uint32_t downsampling_factor_default, double chip_rate, double code_length_chips);
/* PCPS Acquisition configuration */ /* PCPS Acquisition configuration */
std::string device_name = "uio0"; std::string device_name = "uio0";

4
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/lib/CMakeLists.txt
View File

@ -224,9 +224,9 @@ check_c_source_compiles("#include <arm_neon.h>\nint main(){ uint8_t *dest; uint8
if(neon_compile_result) if(neon_compile_result)
set(CMAKE_REQUIRED_INCLUDES ${PROJECT_SOURCE_DIR}/include) set(CMAKE_REQUIRED_INCLUDES ${PROJECT_SOURCE_DIR}/include)
check_c_source_compiles("#include <volk_gnsssdr/volk_gnsssdr_common.h>\n int main(){__VOLK_ASM __VOLK_VOLATILE(\"vrev32.8 q0, q0\");}" check_c_source_compiles("#include <volk_gnsssdr/volk_gnsssdr_common.h>\n int main(){__VOLK_ASM(\"vrev32.8 q0, q0\");}"
have_neonv7_result) have_neonv7_result)
check_c_source_compiles("#include <volk_gnsssdr/volk_gnsssdr_common.h>\n int main(){__VOLK_ASM __VOLK_VOLATILE(\"sub v1.4s,v1.4s,v1.4s\");}" check_c_source_compiles("#include <volk_gnsssdr/volk_gnsssdr_common.h>\n int main(){__VOLK_ASM(\"sub v1.4s,v1.4s,v1.4s\");}"
have_neonv8_result) have_neonv8_result)
if(NOT have_neonv7_result) if(NOT have_neonv7_result)

29
src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.cc
View File

@ -73,7 +73,7 @@ Ad9361FpgaSignalSource::Ad9361FpgaSignalSource(const ConfigurationInterface *con
tx_bandwidth_(configuration->property(role + ".tx_bandwidth", static_cast<uint64_t>(500000))), tx_bandwidth_(configuration->property(role + ".tx_bandwidth", static_cast<uint64_t>(500000))),
Fpass_(configuration->property(role + ".Fpass", static_cast<float>(0.0))), Fpass_(configuration->property(role + ".Fpass", static_cast<float>(0.0))),
Fstop_(configuration->property(role + ".Fstop", static_cast<float>(0.0))), Fstop_(configuration->property(role + ".Fstop", static_cast<float>(0.0))),
num_freq_bands_(2), num_input_files_(1),
dma_buff_offset_pos_(0), dma_buff_offset_pos_(0),
in_stream_(in_stream), in_stream_(in_stream),
out_stream_(out_stream), out_stream_(out_stream),
@ -95,16 +95,14 @@ Ad9361FpgaSignalSource::Ad9361FpgaSignalSource(const ConfigurationInterface *con
{ {
const double seconds_to_skip = configuration->property(role + ".seconds_to_skip", 0.0); const double seconds_to_skip = configuration->property(role + ".seconds_to_skip", 0.0);
const size_t header_size = configuration->property(role + ".header_size", 0); const size_t header_size = configuration->property(role + ".header_size", 0);
const int num_ch_rx1 = configuration->property("Channels_1C.count", 0) +
configuration->property("Channels_1B.count", 0);
const int num_ch_rx2 = (configuration->property("Channels_L2.count", 0) > 0) ? configuration->property("Channels_L2.count", 0) : configuration->property("Channels_L5.count", 0) + configuration->property("Channels_5X.count", 0);
// number of frequency bands const bool enable_rx1_band((configuration->property("Channels_1C.count", 0) > 0) ||
if (num_ch_rx2 == 0) (configuration->property("Channels_1B.count", 0) > 0));
{ const bool enable_rx2_band((configuration->property("Channels_L2.count", 0) > 0) ||
num_freq_bands_ = 1; (configuration->property("Channels_L5.count", 0) > 0) ||
} (configuration->property("Channels_5X.count", 0) > 0));
const uint32_t num_freq_bands = ((enable_rx1_band == true) and (enable_rx2_band == true)) ? 2 : 1;
if (freq0_ == 0) if (freq0_ == 0)
{ {
// use ".freq0" // use ".freq0"
@ -132,6 +130,7 @@ Ad9361FpgaSignalSource::Ad9361FpgaSignalSource(const ConfigurationInterface *con
if (filename0_.empty()) if (filename0_.empty())
{ {
num_input_files_ = 2;
filename0_ = configuration->property(role + ".filename0", empty_string); filename0_ = configuration->property(role + ".filename0", empty_string);
filename1_ = configuration->property(role + ".filename1", empty_string); filename1_ = configuration->property(role + ".filename1", empty_string);
} }
@ -141,7 +140,7 @@ Ad9361FpgaSignalSource::Ad9361FpgaSignalSource(const ConfigurationInterface *con
// if more than one input file are specified then the DMA transfer the samples to both the L1 and the L2/L5 frequency channels. // if more than one input file are specified then the DMA transfer the samples to both the L1 and the L2/L5 frequency channels.
if (filename1_.empty()) if (filename1_.empty())
{ {
if (num_ch_rx1 != 0) if (enable_rx1_band)
{ {
dma_buff_offset_pos_ = 2; dma_buff_offset_pos_ = 2;
} }
@ -427,14 +426,14 @@ Ad9361FpgaSignalSource::Ad9361FpgaSignalSource(const ConfigurationInterface *con
return; return;
} }
buffer_monitor_fpga = std::make_shared<Fpga_buffer_monitor>(device_io_name_buffer_monitor, num_freq_bands_, dump_, dump_filename); buffer_monitor_fpga = std::make_shared<Fpga_buffer_monitor>(device_io_name_buffer_monitor, num_freq_bands, dump_, dump_filename);
thread_buffer_monitor = std::thread([&] { run_buffer_monitor_process(); }); thread_buffer_monitor = std::thread([&] { run_buffer_monitor_process(); });
} }
// dynamic bits selection // dynamic bits selection
if (enable_dynamic_bit_selection_) if (enable_dynamic_bit_selection_)
{ {
dynamic_bit_selection_fpga = std::make_shared<Fpga_dynamic_bit_selection>(num_freq_bands_); dynamic_bit_selection_fpga = std::make_shared<Fpga_dynamic_bit_selection>(enable_rx1_band, enable_rx2_band);
thread_dynamic_bit_selection = std::thread([&] { run_dynamic_bit_selection_process(); }); thread_dynamic_bit_selection = std::thread([&] { run_dynamic_bit_selection_process(); });
} }
@ -607,7 +606,7 @@ void Ad9361FpgaSignalSource::run_DMA_process(const std::string &filename0_, cons
// if only one frequency band is used then clear the samples corresponding to the unused frequency band // if only one frequency band is used then clear the samples corresponding to the unused frequency band
uint32_t dma_index = 0; uint32_t dma_index = 0;
if (num_freq_bands_ == 1) if (num_input_files_ == 1)
{ {
// if only one file is enabled then clear the samples corresponding to the frequency band that is not used. // if only one file is enabled then clear the samples corresponding to the frequency band that is not used.
for (int index0 = 0; index0 < (nread_elements); index0 += 2) for (int index0 = 0; index0 < (nread_elements); index0 += 2)
@ -660,7 +659,7 @@ void Ad9361FpgaSignalSource::run_DMA_process(const std::string &filename0_, cons
} }
// read filename 1 (if enabled) // read filename 1 (if enabled)
if (num_freq_bands_ > 1) if (num_input_files_ > 1)
{ {
dma_index = 0; dma_index = 0;
try try
@ -781,7 +780,7 @@ void Ad9361FpgaSignalSource::run_DMA_process(const std::string &filename0_, cons
std::cerr << "Exception closing file " << filename0_ << '\n'; std::cerr << "Exception closing file " << filename0_ << '\n';
} }
if (num_freq_bands_ > 1) if (num_input_files_ > 1)
{ {
try try
{ {

6
src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.h
View File

@ -23,11 +23,7 @@
#include "concurrent_queue.h" #include "concurrent_queue.h"
#include "fpga_buffer_monitor.h" #include "fpga_buffer_monitor.h"
#if INTPTR_MAX == INT64_MAX // 64-bit processor architecture
#include "fpga_dma-proxy.h" #include "fpga_dma-proxy.h"
#else
#include "fpga_ezdma.h"
#endif
#include "fpga_dynamic_bit_selection.h" #include "fpga_dynamic_bit_selection.h"
#include "fpga_switch.h" #include "fpga_switch.h"
#include "gnss_block_interface.h" #include "gnss_block_interface.h"
@ -145,7 +141,7 @@ private:
float Fpass_; float Fpass_;
float Fstop_; float Fstop_;
uint32_t num_freq_bands_; uint32_t num_input_files_;
uint32_t dma_buff_offset_pos_; uint32_t dma_buff_offset_pos_;
uint32_t in_stream_; uint32_t in_stream_;
uint32_t out_stream_; uint32_t out_stream_;

9
src/algorithms/signal_source/libs/CMakeLists.txt
View File

@ -19,13 +19,8 @@ if(ENABLE_FPGA OR ENABLE_AD9361)
set(OPT_SIGNAL_SOURCE_LIB_HEADERS ${OPT_SIGNAL_SOURCE_LIB_HEADERS} fpga_dynamic_bit_selection.h) set(OPT_SIGNAL_SOURCE_LIB_HEADERS ${OPT_SIGNAL_SOURCE_LIB_HEADERS} fpga_dynamic_bit_selection.h)
set(OPT_SIGNAL_SOURCE_LIB_SOURCES ${OPT_SIGNAL_SOURCE_LIB_SOURCES} fpga_buffer_monitor.cc) set(OPT_SIGNAL_SOURCE_LIB_SOURCES ${OPT_SIGNAL_SOURCE_LIB_SOURCES} fpga_buffer_monitor.cc)
set(OPT_SIGNAL_SOURCE_LIB_HEADERS ${OPT_SIGNAL_SOURCE_LIB_HEADERS} fpga_buffer_monitor.h) set(OPT_SIGNAL_SOURCE_LIB_HEADERS ${OPT_SIGNAL_SOURCE_LIB_HEADERS} fpga_buffer_monitor.h)
if(ARCH_64BITS) set(OPT_SIGNAL_SOURCE_LIB_SOURCES ${OPT_SIGNAL_SOURCE_LIB_SOURCES} fpga_dma-proxy.cc)
set(OPT_SIGNAL_SOURCE_LIB_SOURCES ${OPT_SIGNAL_SOURCE_LIB_SOURCES} fpga_dma-proxy.cc) set(OPT_SIGNAL_SOURCE_LIB_HEADERS ${OPT_SIGNAL_SOURCE_LIB_HEADERS} fpga_dma-proxy.h)
set(OPT_SIGNAL_SOURCE_LIB_HEADERS ${OPT_SIGNAL_SOURCE_LIB_HEADERS} fpga_dma-proxy.h)
else()
set(OPT_SIGNAL_SOURCE_LIB_SOURCES ${OPT_SIGNAL_SOURCE_LIB_SOURCES} fpga_ezdma.cc)
set(OPT_SIGNAL_SOURCE_LIB_HEADERS ${OPT_SIGNAL_SOURCE_LIB_HEADERS} fpga_ezdma.h)
endif()
endif() endif()

16
src/algorithms/signal_source/libs/ad9361_manager.cc
View File

@ -157,7 +157,7 @@ void cfg_ad9361_streaming_ch(struct stream_cfg *cfg, iio_channel *chn)
int setup_filter(const std::string &filter_source_, uint64_t bandwidth_, uint64_t sample_rate_, uint64_t freq_, const std::string &rf_port_select_, int setup_filter(const std::string &filter_source_, uint64_t bandwidth_, uint64_t sample_rate_, uint64_t freq_, const std::string &rf_port_select_,
struct iio_device *ad9361_phy_dev, struct iio_channel *rx_chan, struct iio_channel *chn, int chid, std::string filter_filename_, float Fpass_, float Fstop_) struct iio_device *ad9361_phy_dev, struct iio_channel *rx_chan, struct iio_channel *chn, int chid, std::string filter_filename_, [[maybe_unused]] float Fpass_, [[maybe_unused]] float Fstop_)
{ {
int ret; int ret;
if (filter_source_ == "Off") if (filter_source_ == "Off")
@ -337,6 +337,7 @@ bool config_ad9361_rx_local(uint64_t bandwidth_,
struct iio_channel *rx_chan0; // stream channel 0 struct iio_channel *rx_chan0; // stream channel 0
struct iio_channel *rx_chan1; // stream channel 1 struct iio_channel *rx_chan1; // stream channel 1
struct iio_channel *chn; // phy channel struct iio_channel *chn; // phy channel
struct iio_channel *lo_chn; // phy channel
int ret; int ret;
@ -419,12 +420,12 @@ bool config_ad9361_rx_local(uint64_t bandwidth_,
} }
// Configure LO channel // Configure LO channel
std::cout << "* Acquiring " << RX_DEV_A << " LO RX channel 0\n"; std::cout << "* Acquiring " << RX_DEV_A << " LO RX channel 0\n";
if (!get_lo_chan(ad9361_phy, RX, 0, &chn)) if (!get_lo_chan(ad9361_phy, RX, 0, &lo_chn))
{ {
std::cout << "RX LO channel 0not found\n"; std::cout << "RX LO channel 0not found\n";
throw std::runtime_error("RX LO channel 0not found"); throw std::runtime_error("RX LO channel 0not found");
} }
wr_ch_lli(chn, "frequency", freq0_); wr_ch_lli(lo_chn, "frequency", freq0_);
if (enable_ad9361_b) if (enable_ad9361_b)
{ {
@ -449,7 +450,7 @@ bool config_ad9361_rx_local(uint64_t bandwidth_,
{ {
return false; return false;
} }
if (setup_filter(filter_source_, bandwidth_, sample_rate_, freq1_, rf_port_select_, ad9361_phy_B, rx_chan1, chn, 0, filter_filename_, Fpass_, Fstop_) == -1) if (setup_filter(filter_source_, bandwidth_, sample_rate_, freq1_, rf_port_select_, ad9361_phy_B, rx_chan1, chn, 0, std::move(filter_filename_), Fpass_, Fstop_) == -1)
{ {
return false; return false;
} }
@ -471,7 +472,7 @@ bool config_ad9361_rx_local(uint64_t bandwidth_,
std::cout << rx_stream_dev_a << " channel 1 not found\n"; std::cout << rx_stream_dev_a << " channel 1 not found\n";
throw std::runtime_error(rx_stream_dev_a + "RX channel 1 not found"); throw std::runtime_error(rx_stream_dev_a + "RX channel 1 not found");
} }
if (setup_filter(filter_source_, bandwidth_, sample_rate_, freq0_, rf_port_select_, ad9361_phy, rx_chan1, chn, 1, filter_filename_, Fpass_, Fstop_) == -1) if (setup_filter(filter_source_, bandwidth_, sample_rate_, freq0_, rf_port_select_, ad9361_phy, rx_chan1, chn, 1, std::move(filter_filename_), Fpass_, Fstop_) == -1)
{ {
return false; return false;
} }
@ -485,7 +486,10 @@ bool config_ad9361_rx_local(uint64_t bandwidth_,
if (rx2_enable_) if (rx2_enable_)
{ {
iio_channel_enable(rx_chan1); iio_channel_enable(rx_chan1);
ad9361_fmcomms5_multichip_sync(ctx, FIXUP_INTERFACE_TIMING | CHECK_SAMPLE_RATES); if (enable_ad9361_b)
{
ad9361_fmcomms5_multichip_sync(ctx, FIXUP_INTERFACE_TIMING | CHECK_SAMPLE_RATES);
}
} }
if (!rx1_enable_ and !rx2_enable_) if (!rx1_enable_ and !rx2_enable_)
{ {

2
src/algorithms/signal_source/libs/ad936x_iio_custom.cc
View File

@ -805,7 +805,7 @@ double ad936x_iio_custom::get_rx_gain(int ch_num)
} }
bool ad936x_iio_custom::calibrate(int ch, double bw_hz) bool ad936x_iio_custom::calibrate([[maybe_unused]] int ch, [[maybe_unused]] double bw_hz)
{ {
if (check_device() == false) return false; if (check_device() == false) return false;
// todo // todo

2
src/algorithms/signal_source/libs/fpga_dma-proxy.cc
View File

@ -42,11 +42,13 @@ int Fpga_DMA::DMA_open()
return 0; return 0;
} }
int8_t *Fpga_DMA::get_buffer_address() // NOLINT(readability-make-member-function-const) int8_t *Fpga_DMA::get_buffer_address() // NOLINT(readability-make-member-function-const)
{ {
return tx_channel.buf_ptr[0].buffer; return tx_channel.buf_ptr[0].buffer;
} }
int Fpga_DMA::DMA_write(int nbytes) const int Fpga_DMA::DMA_write(int nbytes) const
{ {
int buffer_id = 0; int buffer_id = 0;

151
src/algorithms/signal_source/libs/fpga_dynamic_bit_selection.cc
View File

@ -26,38 +26,31 @@
#include <iostream> // for cout #include <iostream> // for cout
#include <sys/mman.h> // for mmap #include <sys/mman.h> // for mmap
Fpga_dynamic_bit_selection::Fpga_dynamic_bit_selection(uint32_t num_freq_bands) Fpga_dynamic_bit_selection::Fpga_dynamic_bit_selection(bool enable_rx1_band, bool enable_rx2_band)
: d_num_freq_bands(num_freq_bands) : d_map_base_freq_band_1(nullptr),
d_map_base_freq_band_2(nullptr),
d_dev_descr_freq_band_1(0),
d_dev_descr_freq_band_2(0),
d_shift_out_bits_freq_band_1(0),
d_shift_out_bits_freq_band_2(0),
d_enable_rx1_band(enable_rx1_band),
d_enable_rx2_band(enable_rx2_band)
{ {
d_map_base = std::vector<volatile unsigned *>(d_num_freq_bands); if (d_enable_rx1_band)
d_device_descriptors = std::vector<int>(d_num_freq_bands);
d_shift_out_bits = std::vector<uint32_t>(d_num_freq_bands);
for (uint32_t k = 0; k < d_num_freq_bands; k++)
{ {
// find the uio device file corresponding to the dynamic bit selector 0 module. open_device(&d_map_base_freq_band_1, d_dev_descr_freq_band_1, 0);
std::string device_name;
if (find_uio_dev_file_name(device_name, dyn_bit_sel_device_name, 0) < 0)
{
std::cerr << "Cannot find the FPGA uio device file corresponding to device name " << dyn_bit_sel_device_name << '\n';
return;
}
// dynamic bits selection corresponding to frequency band 1
if ((d_device_descriptors[k] = open(device_name.c_str(), O_RDWR | O_SYNC)) == -1)
{
LOG(WARNING) << "Cannot open deviceio" << device_name;
}
d_map_base[k] = reinterpret_cast<volatile unsigned *>(mmap(nullptr, FPGA_PAGE_SIZE,
PROT_READ | PROT_WRITE, MAP_SHARED, d_device_descriptors[k], 0));
if (d_map_base[k] == reinterpret_cast<void *>(-1)) // init bit selection corresponding to frequency band 1
{ d_shift_out_bits_freq_band_1 = shift_out_bits_default;
LOG(WARNING) << "Cannot map the FPGA dynamic bit selection module in frequency band 1 into tracking memory"; d_map_base_freq_band_1[0] = d_shift_out_bits_freq_band_1;
std::cout << "Could not map dynamic bit selection memory corresponding to frequency band 1.\n"; }
} if (d_enable_rx2_band)
{
open_device(&d_map_base_freq_band_2, d_dev_descr_freq_band_2, 1);
// init bit selection corresopnding to frequency band 1 // init bit selection corresponding to frequency band 2
d_shift_out_bits[k] = shift_out_bits_default; d_shift_out_bits_freq_band_2 = shift_out_bits_default;
d_map_base[k][0] = d_shift_out_bits[k]; d_map_base_freq_band_2[0] = d_shift_out_bits_freq_band_2;
} }
DLOG(INFO) << "Dynamic bit selection FPGA class created"; DLOG(INFO) << "Dynamic bit selection FPGA class created";
} }
@ -65,48 +58,90 @@ Fpga_dynamic_bit_selection::Fpga_dynamic_bit_selection(uint32_t num_freq_bands)
Fpga_dynamic_bit_selection::~Fpga_dynamic_bit_selection() Fpga_dynamic_bit_selection::~Fpga_dynamic_bit_selection()
{ {
close_devices(); if (d_enable_rx1_band)
{
close_device(d_map_base_freq_band_1, d_dev_descr_freq_band_1);
}
if (d_enable_rx2_band)
{
close_device(d_map_base_freq_band_2, d_dev_descr_freq_band_2);
}
} }
void Fpga_dynamic_bit_selection::bit_selection() void Fpga_dynamic_bit_selection::bit_selection()
{ {
for (uint32_t k = 0; k < d_num_freq_bands; k++) if (d_enable_rx1_band)
{ {
// estimated signal power bit_selection_per_rf_band(d_map_base_freq_band_1, d_shift_out_bits_freq_band_1);
uint32_t rx_signal_power = d_map_base[k][1]; }
// dynamic bit selection if (d_enable_rx2_band)
if (rx_signal_power > Power_Threshold_High) {
{ bit_selection_per_rf_band(d_map_base_freq_band_2, d_shift_out_bits_freq_band_2);
if (d_shift_out_bits[k] < shift_out_bit_max)
{
d_shift_out_bits[k] = d_shift_out_bits[k] + 1;
}
}
else if (rx_signal_power < Power_Threshold_Low)
{
if (d_shift_out_bits[k] > shift_out_bits_min)
{
d_shift_out_bits[k] = d_shift_out_bits[k] - 1;
}
}
// update bit selection corresopnding to frequency band 1
d_map_base[k][0] = d_shift_out_bits[k];
} }
} }
void Fpga_dynamic_bit_selection::close_devices() void Fpga_dynamic_bit_selection::open_device(volatile unsigned **d_map_base, int &d_dev_descr, int freq_band)
{ {
for (uint32_t k = 0; k < d_num_freq_bands; k++) // find the uio device file corresponding to the dynamic bit selector 0 module.
std::string device_name;
if (find_uio_dev_file_name(device_name, dyn_bit_sel_device_name, freq_band) < 0)
{ {
auto *aux = const_cast<unsigned *>(d_map_base[k]); std::cerr << "Cannot find the FPGA uio device file corresponding to device name " << dyn_bit_sel_device_name << '\n';
if (munmap(static_cast<void *>(aux), FPGA_PAGE_SIZE) == -1) std::cout << "Cannot find the FPGA uio device file corresponding to device name " << dyn_bit_sel_device_name << '\n';
{ return;
std::cout << "Failed to unmap memory uio\n"; }
} // dynamic bits selection corresponding to frequency band 1
close(d_device_descriptors[k]); if ((d_dev_descr = open(device_name.c_str(), O_RDWR | O_SYNC)) == -1)
{
LOG(WARNING) << "Cannot open deviceio" << device_name;
std::cout << "Cannot open deviceio" << device_name << std::endl;
}
*d_map_base = reinterpret_cast<volatile unsigned *>(mmap(nullptr, FPGA_PAGE_SIZE,
PROT_READ | PROT_WRITE, MAP_SHARED, d_dev_descr, 0));
if (*d_map_base == reinterpret_cast<void *>(-1))
{
LOG(WARNING) << "Cannot map the FPGA dynamic bit selection module in frequency band 1 into tracking memory";
std::cout << "Could not map dynamic bit selection memory corresponding to frequency band 1.\n";
} }
} }
void Fpga_dynamic_bit_selection::bit_selection_per_rf_band(volatile unsigned *d_map_base, uint32_t shift_out_bits)
{
// estimated signal power
uint32_t rx_signal_power = d_map_base[1];
// dynamic bit selection
if (rx_signal_power > Power_Threshold_High)
{
if (shift_out_bits < shift_out_bit_max)
{
shift_out_bits = shift_out_bits + 1;
}
}
else if (rx_signal_power < Power_Threshold_Low)
{
if (shift_out_bits > shift_out_bits_min)
{
shift_out_bits = shift_out_bits - 1;
}
}
// update bit selection corresopnding to frequency band 1
d_map_base[0] = shift_out_bits;
}
void Fpga_dynamic_bit_selection::close_device(volatile unsigned *d_map_base, int &d_dev_descr)
{
auto *aux = const_cast<unsigned *>(d_map_base);
if (munmap(static_cast<void *>(aux), FPGA_PAGE_SIZE) == -1)
{
std::cout << "Failed to unmap memory uio\n";
}
close(d_dev_descr);
}

19
src/algorithms/signal_source/libs/fpga_dynamic_bit_selection.h
View File

@ -43,7 +43,7 @@ public:
/*! /*!
* \brief Constructor * \brief Constructor
*/ */
explicit Fpga_dynamic_bit_selection(uint32_t num_freq_bands); explicit Fpga_dynamic_bit_selection(bool enable_rx1_band, bool enable_rx2_band);
/*! /*!
* \brief Destructor * \brief Destructor
@ -69,13 +69,18 @@ private:
static const uint32_t Power_Threshold_High = 9000; static const uint32_t Power_Threshold_High = 9000;
static const uint32_t Power_Threshold_Low = 3000; static const uint32_t Power_Threshold_Low = 3000;
void close_devices(void); void open_device(volatile unsigned **d_map_base, int &d_dev_descr, int freq_band);
void bit_selection_per_rf_band(volatile unsigned *d_map_base, uint32_t shift_out_bits);
void close_device(volatile unsigned *d_map_base, int &d_dev_descr);
std::vector<volatile unsigned*> d_map_base; volatile unsigned *d_map_base_freq_band_1;
std::vector<int> d_device_descriptors; volatile unsigned *d_map_base_freq_band_2;
std::vector<uint32_t> d_shift_out_bits; int d_dev_descr_freq_band_1;
int d_dev_descr_freq_band_2;
uint32_t d_num_freq_bands; // number of frequency bands uint32_t d_shift_out_bits_freq_band_1;
uint32_t d_shift_out_bits_freq_band_2;
bool d_enable_rx1_band;
bool d_enable_rx2_band;
}; };

68
src/algorithms/signal_source/libs/fpga_ezdma.cc
View File

@ -1,68 +0,0 @@
/*!
* \file fpga_edma.cc
* \brief FPGA DMA control using the ezdma (See https://github.com/jeremytrimble/ezdma).
* \author Marc Majoral, mmajoral(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#include "fpga_ezdma.h"
#include <fcntl.h>
#include <iostream> // for std::cerr
#include <unistd.h>
int Fpga_DMA::DMA_open()
{
tx_fd = open("/dev/loop_tx", O_WRONLY);
if (tx_fd < 1)
{
return tx_fd;
}
// note: a problem was identified with the DMA: when switching from tx to rx or rx to tx mode
// the DMA transmission may hang. This problem will be fixed soon.
// for the moment this problem can be avoided by closing and opening the DMA a second time
if (close(tx_fd) < 0)
{
std::cerr << "Error closing loop device " << '\n';
return -1;
}
// open the DMA a second time
tx_fd = open("/dev/loop_tx", O_WRONLY);
if (tx_fd < 1)
{
std::cerr << "Cannot open loop device\n";
// stop the receiver
return tx_fd;
}
return 0;
}
int8_t *Fpga_DMA::get_buffer_address()
{
return buffer;
}
int Fpga_DMA::DMA_write(int nbytes) const
{
const int num_bytes_sent = write(tx_fd, buffer, nbytes);
if (num_bytes_sent != nbytes)
{
return -1;
}
return 0;
}
int Fpga_DMA::DMA_close() const
{
return close(tx_fd);
}

64
src/algorithms/signal_source/libs/fpga_ezdma.h
View File

@ -1,64 +0,0 @@
/*!
* \file fpga_ezdma.h
* \brief FPGA DMA control using the ezdma (See https://github.com/jeremytrimble/ezdma).
* \author Marc Majoral, mmajoral(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_FPGA_EDMA_H
#define GNSS_SDR_FPGA_EDMA_H
#include <cstdint> // for std::int8_t
/*!
* \brief Class that controls the switch DMA in the FPGA
*/
class Fpga_DMA
{
public:
/*!
* \brief Default constructor.
*/
Fpga_DMA() = default;
/*!
* \brief Default destructor.
*/
~Fpga_DMA() = default;
/*!
* \brief Open the DMA device driver.
*/
int DMA_open(void);
/*!
* \brief Obtain DMA buffer address.
*/
int8_t *get_buffer_address(void); // NOLINT(readability-make-member-function-const)
/*!
* \brief Transfer DMA data
*/
int DMA_write(int nbytes) const;
/*!
* \brief Close the DMA device driver
*/
int DMA_close(void) const;
private:
static const uint32_t DMA_MAX_BUFFER_SIZE = 4 * 16384; // 4-channel 16384-sample buffers
int8_t buffer[DMA_MAX_BUFFER_SIZE];
int tx_fd;
};
#endif // GNSS_SDR_FPGA_EDMA_H

5
src/algorithms/signal_source/libs/ppstcprx.cc
View File

@ -27,16 +27,19 @@ pps_tcp_rx::pps_tcp_rx()
clientSd = -1; clientSd = -1;
} }
pps_tcp_rx::~pps_tcp_rx() pps_tcp_rx::~pps_tcp_rx()
{ {
// TODO Auto-generated destructor stub // TODO Auto-generated destructor stub
} }
void pps_tcp_rx::set_pps_samplestamp_queue(std::shared_ptr<Concurrent_Queue<PpsSamplestamp>> queue) void pps_tcp_rx::set_pps_samplestamp_queue(std::shared_ptr<Concurrent_Queue<PpsSamplestamp>> queue)
{ {
Pps_queue = std::move(queue); Pps_queue = std::move(queue);
} }
bool pps_tcp_rx::send_cmd(std::string cmd) bool pps_tcp_rx::send_cmd(std::string cmd)
{ {
if (is_connected == true) if (is_connected == true)
@ -59,6 +62,8 @@ bool pps_tcp_rx::send_cmd(std::string cmd)
} }
return true; return true;
} }
void pps_tcp_rx::receive_pps(std::string ip_address, int port) void pps_tcp_rx::receive_pps(std::string ip_address, int port)
{ {
// create a message buffer // create a message buffer

5
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc
View File

@ -446,7 +446,7 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
{ {
std::string dump_filename_ = d_dump_filename.substr(d_dump_filename.find_last_of('/') + 1); std::string dump_filename_ = d_dump_filename.substr(d_dump_filename.find_last_of('/') + 1);
dump_path = d_dump_filename.substr(0, d_dump_filename.find_last_of('/')); dump_path = d_dump_filename.substr(0, d_dump_filename.find_last_of('/'));
d_dump_filename = dump_filename_; d_dump_filename = std::move(dump_filename_);
} }
else else
{ {
@ -1383,6 +1383,7 @@ void dll_pll_veml_tracking_fpga::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro)
d_acquisition_gnss_synchro = p_gnss_synchro; d_acquisition_gnss_synchro = p_gnss_synchro;
if (p_gnss_synchro->PRN > 0) if (p_gnss_synchro->PRN > 0)
{ {
gr::thread::scoped_lock lock(d_setlock);
// A set_gnss_synchro command with a valid PRN is received when the system is going to run acquisition with that PRN. // A set_gnss_synchro command with a valid PRN is received when the system is going to run acquisition with that PRN.
// We can use this command to pre-initialize tracking parameters and variables before the actual acquisition process takes place. // We can use this command to pre-initialize tracking parameters and variables before the actual acquisition process takes place.
// In this way we minimize the latency between acquisition and tracking once the acquisition has been made. // In this way we minimize the latency between acquisition and tracking once the acquisition has been made.
@ -1527,8 +1528,8 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
{ {
case 1: // Pull-in case 1: // Pull-in
{ {
d_worker_is_done = false;
boost::mutex::scoped_lock lock(d_mutex); boost::mutex::scoped_lock lock(d_mutex);
d_worker_is_done = false;
while (!d_worker_is_done) while (!d_worker_is_done)
{ {
d_m_condition.wait(lock); d_m_condition.wait(lock);

10
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_gaussian_tracking_cc.cc
View File

@ -235,6 +235,7 @@ Gps_L1_Ca_Gaussian_Tracking_cc::Gps_L1_Ca_Gaussian_Tracking_cc(
void Gps_L1_Ca_Gaussian_Tracking_cc::start_tracking() void Gps_L1_Ca_Gaussian_Tracking_cc::start_tracking()
{ {
gr::thread::scoped_lock l(d_setlock);
/* /*
* correct the code phase according to the delay between acq and trk * correct the code phase according to the delay between acq and trk
*/ */
@ -308,10 +309,6 @@ void Gps_L1_Ca_Gaussian_Tracking_cc::start_tracking()
sys = std::string(1, d_acquisition_gnss_synchro->System); sys = std::string(1, d_acquisition_gnss_synchro->System);
// DEBUG OUTPUT
std::cout << "Tracking of GPS L1 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << '\n';
LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
// enable tracking // enable tracking
d_pull_in = true; d_pull_in = true;
d_enable_tracking = true; d_enable_tracking = true;
@ -319,6 +316,9 @@ void Gps_L1_Ca_Gaussian_Tracking_cc::start_tracking()
LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
<< " Code Phase correction [samples]=" << delay_correction_samples << " Code Phase correction [samples]=" << delay_correction_samples
<< " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples; << " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
std::cout << "Tracking of GPS L1 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << '\n';
LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
} }
@ -609,7 +609,7 @@ int Gps_L1_Ca_Gaussian_Tracking_cc::general_work(int noutput_items __attribute__
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
Gnss_Synchro current_synchro_data = Gnss_Synchro(); Gnss_Synchro current_synchro_data = Gnss_Synchro();
gr::thread::scoped_lock l(d_setlock);
if (d_enable_tracking == true) if (d_enable_tracking == true)
{ {
// Fill the acquisition data // Fill the acquisition data

14
src/algorithms/tracking/libs/fpga_multicorrelator.cc
View File

@ -57,20 +57,26 @@ Fpga_Multicorrelator_8sc::Fpga_Multicorrelator_8sc(int32_t n_correlators,
d_Prompt_Data(nullptr), d_Prompt_Data(nullptr),
d_shifts_chips(nullptr), d_shifts_chips(nullptr),
d_prompt_data_shift(nullptr), d_prompt_data_shift(nullptr),
d_rem_code_phase_chips(0), d_rem_code_phase_chips(0.0),
d_code_phase_step_chips(0), d_code_phase_step_chips(0.0),
d_rem_carrier_phase_in_rad(0), d_code_phase_rate_step_chips(0.0),
d_phase_step_rad(0), d_rem_carrier_phase_in_rad(0.0),
d_phase_step_rad(0.0),
d_carrier_phase_rate_step_rad(0.0),
d_code_length_samples(code_length_chips * code_samples_per_chip), d_code_length_samples(code_length_chips * code_samples_per_chip),
d_n_correlators(n_correlators), d_n_correlators(n_correlators),
d_device_descriptor(0), d_device_descriptor(0),
d_map_base(nullptr), d_map_base(nullptr),
d_correlator_length_samples(0), d_correlator_length_samples(0),
d_code_phase_step_chips_num(0), d_code_phase_step_chips_num(0),
d_code_phase_rate_step_chips_num(0),
d_rem_carr_phase_rad_int(0), d_rem_carr_phase_rad_int(0),
d_phase_step_rad_int(0), d_phase_step_rad_int(0),
d_carrier_phase_rate_step_rad_int(0),
d_ca_codes(ca_codes), d_ca_codes(ca_codes),
d_data_codes(data_codes), d_data_codes(data_codes),
d_secondary_code_0_length(0),
d_secondary_code_1_length(0),
d_track_pilot(track_pilot), d_track_pilot(track_pilot),
d_secondary_code_enabled(false) d_secondary_code_enabled(false)
{ {

2
src/core/libs/gnss_sdr_fpga_sample_counter.cc
View File

@ -206,7 +206,7 @@ int gnss_sdr_fpga_sample_counter::general_work(int noutput_items __attribute__((
out[0].Channel_ID = -1; out[0].Channel_ID = -1;
out[0].fs = fs; out[0].fs = fs;
if ((sample_counter - last_sample_counter) > samples_per_report) if ((sample_counter - last_sample_counter) >= samples_per_report)
{ {
last_sample_counter = sample_counter; last_sample_counter = sample_counter;

1
src/core/receiver/gnss_flowgraph.cc
View File

@ -2163,6 +2163,7 @@ void GNSSFlowgraph::set_configuration(const std::shared_ptr<ConfigurationInterfa
#if ENABLE_FPGA #if ENABLE_FPGA
void GNSSFlowgraph::start_acquisition_helper() void GNSSFlowgraph::start_acquisition_helper()
{ {
std::lock_guard<std::mutex> lock(signal_list_mutex_);
for (int i = 0; i < channels_count_; i++) for (int i = 0; i < channels_count_; i++)
{ {
if (channels_state_[i] == 1) if (channels_state_[i] == 1)

2
src/main/CMakeLists.txt
View File

@ -60,6 +60,8 @@ if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
target_link_libraries(gnss-sdr PRIVATE "-lc++") target_link_libraries(gnss-sdr PRIVATE "-lc++")
endif() endif()
endif() endif()
include(RemoveDuplicates)
remove_duplicate_linked_libraries(gnss-sdr)
if(ENABLE_STRIP) if(ENABLE_STRIP)
set_target_properties(gnss-sdr PROPERTIES LINK_FLAGS "-s") set_target_properties(gnss-sdr PROPERTIES LINK_FLAGS "-s")

26
src/tests/CMakeLists.txt
View File

@ -1,12 +1,13 @@
# GNSS-SDR is a Global Navigation Satellite System software-defined receiver. # GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
# This file is part of GNSS-SDR. # This file is part of GNSS-SDR.
# #
# SPDX-FileCopyrightText: 2010-2020 C. Fernandez-Prades cfernandez(at)cttc.es # SPDX-FileCopyrightText: 2010-2024 C. Fernandez-Prades cfernandez(at)cttc.es
# SPDX-License-Identifier: BSD-3-Clause # SPDX-License-Identifier: BSD-3-Clause
add_subdirectory(unit-tests/signal-processing-blocks/libs) add_subdirectory(unit-tests/signal-processing-blocks/libs)
add_subdirectory(system-tests/libs) add_subdirectory(system-tests/libs)
include(RemoveDuplicates)
################################################################################ ################################################################################
# Google Test - https://github.com/google/googletest # Google Test - https://github.com/google/googletest
@ -408,6 +409,10 @@ if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
set(GNSSTK_FLAGS "-DCMAKE_CXX_FLAGS:STRING=-w") # Fix for clang in aarch64 set(GNSSTK_FLAGS "-DCMAKE_CXX_FLAGS:STRING=-w") # Fix for clang in aarch64
endif() endif()
if(CMAKE_VERSION VERSION_GREATER 3.17.0) if(CMAKE_VERSION VERSION_GREATER 3.17.0)
set(GNSSTK_CXX_STANDARD 17)
if((${CMAKE_SYSTEM_NAME} MATCHES "Darwin") AND ("${DARWIN_VERSION}" VERSION_GREATER_EQUAL "14"))
set(GNSSTK_CXX_STANDARD 14)
endif()
ExternalProject_Add(gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION} ExternalProject_Add(gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION}
GIT_REPOSITORY https://github.com/SGL-UT/gnsstk GIT_REPOSITORY https://github.com/SGL-UT/gnsstk
GIT_TAG v${GNSSSDR_GNSSTK_LOCAL_VERSION} GIT_TAG v${GNSSSDR_GNSSTK_LOCAL_VERSION}
@ -420,7 +425,7 @@ if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
-DCMAKE_INSTALL_PREFIX=${GNSSSDR_BINARY_DIR}/gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION}/install -DCMAKE_INSTALL_PREFIX=${GNSSSDR_BINARY_DIR}/gnsstk-${GNSSSDR_GNSSTK_LOCAL_VERSION}/install
-DBUILD_EXT=ON -DBUILD_EXT=ON
-DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
-DCMAKE_CXX_STANDARD=17 -DCMAKE_CXX_STANDARD=${GNSSTK_CXX_STANDARD}
-DCMAKE_CXX_EXTENSIONS=ON -DCMAKE_CXX_EXTENSIONS=ON
-DCMAKE_C_STANDARD=11 -DCMAKE_C_STANDARD=11
-DCMAKE_C_EXTENSIONS=ON -DCMAKE_C_EXTENSIONS=ON
@ -641,6 +646,7 @@ if(ENABLE_UNIT_TESTING)
target_compile_definitions(run_tests PRIVATE -DGNSSTK_OLDER_THAN_9=1) target_compile_definitions(run_tests PRIVATE -DGNSSTK_OLDER_THAN_9=1)
endif() endif()
endif() endif()
remove_duplicate_linked_libraries(run_tests)
if(ENABLE_STRIP) if(ENABLE_STRIP)
set_target_properties(run_tests PROPERTIES LINK_FLAGS "-s") set_target_properties(run_tests PROPERTIES LINK_FLAGS "-s")
endif() endif()
@ -763,6 +769,7 @@ if(ENABLE_FPGA)
target_include_directories(gps_l1_ca_dll_pll_tracking_test_fpga target_include_directories(gps_l1_ca_dll_pll_tracking_test_fpga
INTERFACE ${GNSSSDR_SOURCE_DIR}/src/tests/common-files INTERFACE ${GNSSSDR_SOURCE_DIR}/src/tests/common-files
) )
remove_duplicate_linked_libraries(gps_l1_ca_dll_pll_tracking_test_fpga)
install(TARGETS gps_l1_ca_dll_pll_tracking_test_fpga install(TARGETS gps_l1_ca_dll_pll_tracking_test_fpga
RUNTIME DESTINATION bin RUNTIME DESTINATION bin
COMPONENT "fpga-test" COMPONENT "fpga-test"
@ -852,6 +859,7 @@ if(ENABLE_SYSTEM_TESTING)
) )
if(NOT ENABLE_PACKAGING) if(NOT ENABLE_PACKAGING)
add_system_test(ttff) add_system_test(ttff)
remove_duplicate_linked_libraries(ttff)
endif() endif()
if(ENABLE_SYSTEM_TESTING_EXTRA) if(ENABLE_SYSTEM_TESTING_EXTRA)
@ -873,6 +881,7 @@ if(ENABLE_SYSTEM_TESTING)
) )
endif() endif()
endif() endif()
remove_duplicate_linked_libraries(position_test)
if(NOT GNSSSIMULATOR_FOUND OR ENABLE_GNSS_SIM_INSTALL) if(NOT GNSSSIMULATOR_FOUND OR ENABLE_GNSS_SIM_INSTALL)
if(NOT CMAKE_CROSSCOMPILING) if(NOT CMAKE_CROSSCOMPILING)
add_dependencies(position_test gnss-sim) add_dependencies(position_test gnss-sim)
@ -933,7 +942,7 @@ if(NOT ENABLE_PACKAGING AND NOT ENABLE_FPGA)
PRIVATE PRIVATE
${GNSSSDR_SOURCE_DIR}/src/algorithms/libs ${GNSSSDR_SOURCE_DIR}/src/algorithms/libs
) )
remove_duplicate_linked_libraries(flowgraph_test)
add_test(flowgraph_test flowgraph_test) add_test(flowgraph_test flowgraph_test)
set_property(TEST flowgraph_test PROPERTY TIMEOUT 30) set_property(TEST flowgraph_test PROPERTY TIMEOUT 30)
@ -988,7 +997,7 @@ if(NOT ENABLE_PACKAGING AND NOT ENABLE_FPGA)
if(ENABLE_FPGA) if(ENABLE_FPGA)
target_compile_definitions(gnss_block_test PRIVATE -DENABLE_FPGA=1) target_compile_definitions(gnss_block_test PRIVATE -DENABLE_FPGA=1)
endif() endif()
remove_duplicate_linked_libraries(gnss_block_test)
add_test(gnss_block_test gnss_block_test) add_test(gnss_block_test gnss_block_test)
set_property(TEST gnss_block_test PROPERTY TIMEOUT 60) set_property(TEST gnss_block_test PROPERTY TIMEOUT 60)
@ -1025,7 +1034,7 @@ if(NOT ENABLE_PACKAGING AND NOT ENABLE_FPGA)
core_receiver core_receiver
algorithms_libs algorithms_libs
) )
remove_duplicate_linked_libraries(gnuradio_block_test)
add_test(gnuradio_block_test gnuradio_block_test) add_test(gnuradio_block_test gnuradio_block_test)
set_property(TEST gnuradio_block_test PROPERTY TIMEOUT 30) set_property(TEST gnuradio_block_test PROPERTY TIMEOUT 30)
@ -1059,7 +1068,7 @@ target_include_directories(matio_test
INTERFACE INTERFACE
${GNSSSDR_SOURCE_DIR}/src/tests/common-files ${GNSSSDR_SOURCE_DIR}/src/tests/common-files
) )
remove_duplicate_linked_libraries(matio_test)
add_test(matio_test matio_test) add_test(matio_test matio_test)
set_property(TEST matio_test PROPERTY TIMEOUT 30) set_property(TEST matio_test PROPERTY TIMEOUT 30)
@ -1108,6 +1117,7 @@ if(NOT ENABLE_PACKAGING AND NOT ENABLE_FPGA)
-DPMT_USES_BOOST_ANY=1 -DPMT_USES_BOOST_ANY=1
) )
endif() endif()
remove_duplicate_linked_libraries(acq_test)
add_test(acq_test acq_test) add_test(acq_test acq_test)
if(USE_GENERIC_LAMBDAS) if(USE_GENERIC_LAMBDAS)
@ -1203,7 +1213,7 @@ if(NOT ENABLE_PACKAGING AND NOT ENABLE_FPGA)
-DPMT_USES_BOOST_ANY=1 -DPMT_USES_BOOST_ANY=1
) )
endif() endif()
remove_duplicate_linked_libraries(trk_test)
add_test(trk_test trk_test) add_test(trk_test trk_test)
set_property(TEST trk_test PROPERTY TIMEOUT 30) set_property(TEST trk_test PROPERTY TIMEOUT 30)
@ -1234,7 +1244,7 @@ if(NOT ENABLE_PACKAGING AND NOT ENABLE_FPGA)
algorithms_libs algorithms_libs
core_receiver core_receiver
) )
remove_duplicate_linked_libraries(control_thread_test)
add_test(control_thread_test control_thread_test) add_test(control_thread_test control_thread_test)
set_property(TEST control_thread_test PROPERTY TIMEOUT 30) set_property(TEST control_thread_test PROPERTY TIMEOUT 30)

7
src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_acquisition_test_fpga.cc
View File

@ -91,6 +91,7 @@ GalileoE1PcpsAmbiguousAcquisitionTestFpga::GalileoE1PcpsAmbiguousAcquisitionTest
doppler_max = 5000; doppler_max = 5000;
doppler_step = 100; doppler_step = 100;
nsamples_to_transfer = 0;
} }
@ -280,7 +281,7 @@ public:
} }
private: private:
bool acquisition_successful; bool acquisition_successful{};
}; };
@ -310,7 +311,7 @@ bool GalileoE1PcpsAmbiguousAcquisitionTestFpga::acquire_signal()
args.scaling_factor = DMA_SIGNAL_SCALING_FACTOR; args.scaling_factor = DMA_SIGNAL_SCALING_FACTOR;
std::string file = "data/Galileo_E1_ID_1_Fs_4Msps_8ms.dat"; std::string file = "data/Galileo_E1_ID_1_Fs_4Msps_8ms.dat";
args.file = file; // DMA file configuration args.file = std::move(file); // DMA file configuration
// instantiate the FPGA switch and set the // instantiate the FPGA switch and set the
// switch position to DMA. // switch position to DMA.
@ -348,7 +349,7 @@ bool GalileoE1PcpsAmbiguousAcquisitionTestFpga::acquire_signal()
args.nsamples_tx = nsamples_to_transfer; args.nsamples_tx = nsamples_to_transfer;
// run the acquisition. The acquisition must run in a separate thread because it is a blocking function // run the acquisition. The acquisition must run in a separate thread because it is a blocking function
args_acq.acquisition = acquisition; args_acq.acquisition = std::move(acquisition);
if (pthread_create(&thread_acquisition, nullptr, handler_acquisition_galileo_e1_pcps_ambiguous_acq_test, reinterpret_cast<void*>(&args_acq)) < 0) if (pthread_create(&thread_acquisition, nullptr, handler_acquisition_galileo_e1_pcps_ambiguous_acq_test, reinterpret_cast<void*>(&args_acq)) < 0)
{ {

7
src/tests/unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_test_fpga.cc
View File

@ -90,6 +90,7 @@ GpsL1CaPcpsAcquisitionTestFpga::GpsL1CaPcpsAcquisitionTestFpga()
doppler_max = 5000; doppler_max = 5000;
doppler_step = 100; doppler_step = 100;
nsamples_to_transfer = 0;
} }
@ -279,7 +280,7 @@ public:
} }
private: private:
bool acquisition_successful; bool acquisition_successful{};
}; };
@ -309,7 +310,7 @@ bool GpsL1CaPcpsAcquisitionTestFpga::acquire_signal()
args.scaling_factor = DMA_SIGNAL_SCALING_FACTOR; args.scaling_factor = DMA_SIGNAL_SCALING_FACTOR;
std::string file = "data/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat"; std::string file = "data/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat";
args.file = file; // DMA file configuration args.file = std::move(file); // DMA file configuration
// instantiate the FPGA switch and set the // instantiate the FPGA switch and set the
// switch position to DMA. // switch position to DMA.
@ -347,7 +348,7 @@ bool GpsL1CaPcpsAcquisitionTestFpga::acquire_signal()
args.nsamples_tx = nsamples_to_transfer; args.nsamples_tx = nsamples_to_transfer;
// run the acquisition. The acquisition must run in a separate thread because it is a blocking function // run the acquisition. The acquisition must run in a separate thread because it is a blocking function
args_acq.acquisition = acquisition; args_acq.acquisition = std::move(acquisition);
if (pthread_create(&thread_acquisition, nullptr, handler_acquisition_gps_l1_acq_test, reinterpret_cast<void*>(&args_acq)) < 0) if (pthread_create(&thread_acquisition, nullptr, handler_acquisition_gps_l1_acq_test, reinterpret_cast<void*>(&args_acq)) < 0)
{ {

2
src/tests/unit-tests/signal-processing-blocks/filter/fir_filter_test.cc
View File

@ -224,7 +224,7 @@ TEST_F(FirFilterTest, ConnectAndRunGrcomplex)
config2->set_property("Test_Source.sampling_frequency", "4000000"); config2->set_property("Test_Source.sampling_frequency", "4000000");
std::string path = std::string(TEST_PATH); std::string path = std::string(TEST_PATH);
std::string filename = path + "signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat"; std::string filename = path + "signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat";
config2->set_property("Test_Source.filename", filename); config2->set_property("Test_Source.filename", std::move(filename));
config2->set_property("Test_Source.item_type", "gr_complex"); config2->set_property("Test_Source.item_type", "gr_complex");
config2->set_property("Test_Source.repeat", "true"); config2->set_property("Test_Source.repeat", "true");

3
src/tests/unit-tests/signal-processing-blocks/filter/notch_filter_test.cc
View File

@ -21,6 +21,7 @@
#include <complex> #include <complex>
#include <cstdint> #include <cstdint>
#include <thread> #include <thread>
#include <utility>
#ifdef GR_GREATER_38 #ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h> #include <gnuradio/analog/sig_source.h>
#else #else
@ -177,7 +178,7 @@ TEST_F(NotchFilterTest, ConnectAndRunGrcomplex)
config2->set_property("Test_Source.sampling_frequency", "4000000"); config2->set_property("Test_Source.sampling_frequency", "4000000");
std::string path = std::string(TEST_PATH); std::string path = std::string(TEST_PATH);
std::string filename = path + "signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat"; std::string filename = path + "signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat";
config2->set_property("Test_Source.filename", filename); config2->set_property("Test_Source.filename", std::move(filename));
config2->set_property("Test_Source.item_type", "gr_complex"); config2->set_property("Test_Source.item_type", "gr_complex");
config2->set_property("Test_Source.repeat", "true"); config2->set_property("Test_Source.repeat", "true");

3
src/tests/unit-tests/signal-processing-blocks/filter/pulse_blanking_filter_test.cc
View File

@ -21,6 +21,7 @@
#include <complex> #include <complex>
#include <cstdint> #include <cstdint>
#include <thread> #include <thread>
#include <utility>
#ifdef GR_GREATER_38 #ifdef GR_GREATER_38
#include <gnuradio/analog/sig_source.h> #include <gnuradio/analog/sig_source.h>
#else #else
@ -176,7 +177,7 @@ TEST_F(PulseBlankingFilterTest, ConnectAndRunGrcomplex)
config2->set_property("Test_Source.sampling_frequency", "4000000"); config2->set_property("Test_Source.sampling_frequency", "4000000");
std::string path = std::string(TEST_PATH); std::string path = std::string(TEST_PATH);
std::string filename = path + "signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat"; std::string filename = path + "signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat";
config2->set_property("Test_Source.filename", filename); config2->set_property("Test_Source.filename", std::move(filename));
config2->set_property("Test_Source.item_type", "gr_complex"); config2->set_property("Test_Source.item_type", "gr_complex");
config2->set_property("Test_Source.repeat", "true"); config2->set_property("Test_Source.repeat", "true");

682
src/utils/front-end-cal/main.cc
View File

@ -269,18 +269,26 @@ static time_t utc_time(int week, int64_t tow)
int main(int argc, char** argv) int main(int argc, char** argv)
{ {
const std::string intro_help( try
std::string("\n RTL-SDR E4000 RF front-end center frequency and sampling rate calibration tool that uses GPS signals\n") + {
"Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)\n" + const std::string intro_help(
"This program comes with ABSOLUTELY NO WARRANTY;\n" + std::string("\n RTL-SDR E4000 RF front-end center frequency and sampling rate calibration tool that uses GPS signals\n") +
"See COPYING file to see a copy of the General Public License\n \n"); "Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)\n" +
"This program comes with ABSOLUTELY NO WARRANTY;\n" +
"See COPYING file to see a copy of the General Public License\n \n");
gflags::SetUsageMessage(intro_help); gflags::SetUsageMessage(intro_help);
google::SetVersionString(FRONT_END_CAL_VERSION); google::SetVersionString(FRONT_END_CAL_VERSION);
gflags::ParseCommandLineFlags(&argc, &argv, true); gflags::ParseCommandLineFlags(&argc, &argv, true);
std::cout << "Initializing... Please wait.\n";
std::cout << "Initializing... Please wait.\n";
}
catch (const std::exception& e)
{
std::cerr << e.what() << '\n';
std::cout << "front-end-cal program ended.\n";
return 1;
}
google::InitGoogleLogging(argv[0]); google::InitGoogleLogging(argv[0]);
if (FLAGS_log_dir.empty()) if (FLAGS_log_dir.empty())
{ {
@ -292,358 +300,390 @@ int main(int argc, char** argv)
} }
else else
{ {
const fs::path p(FLAGS_log_dir); try
if (!fs::exists(p))
{ {
std::cout << "The path " const fs::path p(FLAGS_log_dir);
<< FLAGS_log_dir if (!fs::exists(p))
<< " does not exist, attempting to create it" {
<< '\n'; std::cout << "The path "
fs::create_directory(p); << FLAGS_log_dir
<< " does not exist, attempting to create it"
<< '\n';
errorlib::error_code ec;
if (!fs::create_directory(p, ec))
{
std::cerr << "Could not create the " << FLAGS_log_dir << " folder. Front-end-cal program ended.\n";
gflags::ShutDownCommandLineFlags();
return 1;
}
}
std::cout << "Logging with be done at "
<< FLAGS_log_dir << '\n';
}
catch (const std::exception& e)
{
std::cerr << e.what() << '\n';
std::cerr << "Could not create the " << FLAGS_log_dir << " folder. Front-end-cal program ended.\n";
gflags::ShutDownCommandLineFlags();
return 1;
} }
std::cout << "Logging with be done at "
<< FLAGS_log_dir << '\n';
} }
// 0. Instantiate the FrontEnd Calibration class // 0. Instantiate the FrontEnd Calibration class
FrontEndCal front_end_cal;
// 1. Load configuration parameters from config file
std::shared_ptr<ConfigurationInterface> configuration = std::make_shared<FileConfiguration>(FLAGS_config_file);
front_end_cal.set_configuration(configuration);
// 2. Get SUPL information from server: Ephemeris record, assistance info and TOW
try try
{ {
if (front_end_cal.get_ephemeris() == true) FrontEndCal front_end_cal;
{
std::cout << "SUPL data received OK!\n";
}
else
{
std::cout << "Failure connecting to SUPL server\n";
}
}
catch (const boost::exception& e)
{
std::cout << "Failure connecting to SUPL server\n";
}
// 3. Capture some front-end samples to hard disk // 1. Load configuration parameters from config file
try std::shared_ptr<ConfigurationInterface> configuration = std::make_shared<FileConfiguration>(FLAGS_config_file);
{ front_end_cal.set_configuration(configuration);
if (front_end_capture(configuration))
{
std::cout << "Front-end RAW samples captured\n";
}
else
{
std::cout << "Failure capturing front-end samples\n";
}
}
catch (const boost::bad_lexical_cast& e)
{
std::cout << "Exception caught while capturing samples (bad lexical cast)\n";
}
catch (const std::exception& e)
{
std::cout << "Exception caught while capturing samples: " << e.what() << '\n';
}
catch (...)
{
std::cout << "Unexpected exception\n";
}
// 4. Setup GNU Radio flowgraph (file_source -> Acquisition_10m) // 2. Get SUPL information from server: Ephemeris record, assistance info and TOW
gr::top_block_sptr top_block;
top_block = gr::make_top_block("Acquisition test");
// Satellite signal definition
gnss_synchro = Gnss_Synchro();
gnss_synchro.Channel_ID = 0;
gnss_synchro.System = 'G';
std::string signal = "1C";
signal.copy(gnss_synchro.Signal, 2, 0);
gnss_synchro.PRN = 1;
int64_t fs_in_ = configuration->property("GNSS-SDR.internal_fs_sps", 2048000);
configuration->set_property("Acquisition.max_dwells", "10");
auto acquisition = std::make_shared<GpsL1CaPcpsAcquisitionFineDoppler>(configuration.get(), "Acquisition", 1, 1);
acquisition->set_channel(1);
acquisition->set_gnss_synchro(&gnss_synchro);
acquisition->set_threshold(configuration->property("Acquisition.threshold", 2.0));
acquisition->set_doppler_max(configuration->property("Acquisition.doppler_max", 10000));
acquisition->set_doppler_step(configuration->property("Acquisition.doppler_step", 250));
gr::block_sptr source;
source = gr::blocks::file_source::make(sizeof(gr_complex), "tmp_capture.dat");
#if GNURADIO_USES_STD_POINTERS
std::shared_ptr<FrontEndCal_msg_rx> msg_rx;
#else
boost::shared_ptr<FrontEndCal_msg_rx> msg_rx;
#endif
try
{
msg_rx = FrontEndCal_msg_rx_make();
}
catch (const std::exception& e)
{
std::cout << "Failure connecting the message port system: " << e.what() << '\n';
exit(0);
}
try
{
acquisition->connect(top_block);
top_block->connect(source, 0, acquisition->get_left_block(), 0);
top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
}
catch (const std::exception& e)
{
std::cout << "Failure connecting the GNU Radio blocks: " << e.what() << '\n';
}
// 5. Run the flowgraph
// Get visible GPS satellites (positive acquisitions with Doppler measurements)
// Compute Doppler estimations
// todo: Fix the front-end cal to support new channel internal message system (no more external queues)
std::map<int, double> doppler_measurements_map;
std::map<int, double> cn0_measurements_map;
std::thread ch_thread;
// record startup time
std::chrono::time_point<std::chrono::system_clock> start;
std::chrono::time_point<std::chrono::system_clock> end;
std::chrono::duration<double> elapsed_seconds{};
start = std::chrono::system_clock::now();
bool start_msg = true;
for (unsigned int PRN = 1; PRN < 33; PRN++)
{
gnss_synchro.PRN = PRN;
acquisition->set_gnss_synchro(&gnss_synchro);
acquisition->init();
acquisition->set_local_code();
acquisition->reset();
stop = false;
try try
{ {
ch_thread = std::thread(wait_message); if (front_end_cal.get_ephemeris() == true)
}
catch (const std::exception& e)
{
LOG(INFO) << "Exception caught (thread resource error)";
}
top_block->run();
if (start_msg == true)
{
std::cout << "Searching for GPS Satellites in L1 band...\n";
std::cout << "[";
start_msg = false;
}
if (!gnss_sync_vector.empty())
{
std::cout << " " << PRN << " ";
double doppler_measurement_hz = 0;
for (auto& it : gnss_sync_vector)
{ {
doppler_measurement_hz += it.Acq_doppler_hz; std::cout << "SUPL data received OK!\n";
}
else
{
std::cout << "Failure connecting to SUPL server\n";
} }
doppler_measurement_hz = doppler_measurement_hz / gnss_sync_vector.size();
doppler_measurements_map.insert(std::pair<int, double>(PRN, doppler_measurement_hz));
}
else
{
std::cout << " . ";
}
try
{
channel_internal_queue.push(3);
} }
catch (const boost::exception& e) catch (const boost::exception& e)
{ {
LOG(INFO) << "Exception caught while pushing to the internal queue."; std::cout << "Failure connecting to SUPL server\n";
} }
// 3. Capture some front-end samples to hard disk
try try
{ {
ch_thread.join(); if (front_end_capture(configuration))
{
std::cout << "Front-end RAW samples captured\n";
}
else
{
std::cout << "Failure capturing front-end samples\n";
}
}
catch (const boost::bad_lexical_cast& e)
{
std::cout << "Exception caught while capturing samples (bad lexical cast)\n";
} }
catch (const std::exception& e) catch (const std::exception& e)
{ {
LOG(INFO) << "Exception caught while joining threads."; std::cout << "Exception caught while capturing samples: " << e.what() << '\n';
} }
gnss_sync_vector.clear(); catch (...)
{
std::cout << "Unexpected exception\n";
}
// 4. Setup GNU Radio flowgraph (file_source -> Acquisition_10m)
gr::top_block_sptr top_block;
top_block = gr::make_top_block("Acquisition test");
// Satellite signal definition
gnss_synchro = Gnss_Synchro();
gnss_synchro.Channel_ID = 0;
gnss_synchro.System = 'G';
std::string signal = "1C";
signal.copy(gnss_synchro.Signal, 2, 0);
gnss_synchro.PRN = 1;
int64_t fs_in_ = configuration->property("GNSS-SDR.internal_fs_sps", 2048000);
configuration->set_property("Acquisition.max_dwells", "10");
auto acquisition = std::make_shared<GpsL1CaPcpsAcquisitionFineDoppler>(configuration.get(), "Acquisition", 1, 1);
acquisition->set_channel(1);
acquisition->set_gnss_synchro(&gnss_synchro);
acquisition->set_threshold(configuration->property("Acquisition.threshold", 2.0));
acquisition->set_doppler_max(configuration->property("Acquisition.doppler_max", 10000));
acquisition->set_doppler_step(configuration->property("Acquisition.doppler_step", 250));
gr::block_sptr source;
source = gr::blocks::file_source::make(sizeof(gr_complex), "tmp_capture.dat");
#if GNURADIO_USES_STD_POINTERS #if GNURADIO_USES_STD_POINTERS
std::dynamic_pointer_cast<gr::blocks::file_source>(source)->seek(0, 0); std::shared_ptr<FrontEndCal_msg_rx> msg_rx;
#else #else
boost::dynamic_pointer_cast<gr::blocks::file_source>(source)->seek(0, 0); boost::shared_ptr<FrontEndCal_msg_rx> msg_rx;
#endif #endif
std::cout.flush(); try
}
std::cout << "]\n";
// report the elapsed time
end = std::chrono::system_clock::now();
elapsed_seconds = end - start;
std::cout << "Total signal acquisition run time "
<< elapsed_seconds.count()
<< " [seconds]\n";
// 6. find TOW from SUPL assistance
double current_TOW = 0;
try
{
if (global_gps_ephemeris_map.size() > 0)
{ {
std::map<int, Gps_Ephemeris> Eph_map; msg_rx = FrontEndCal_msg_rx_make();
Eph_map = global_gps_ephemeris_map.get_map_copy();
current_TOW = Eph_map.begin()->second.tow;
time_t t = utc_time(Eph_map.begin()->second.WN, static_cast<int64_t>(current_TOW));
std::cout << "Reference Time:\n";
std::cout << " GPS Week: " << Eph_map.begin()->second.WN << '\n';
std::cout << " GPS TOW: " << static_cast<int64_t>(current_TOW) << " " << static_cast<int64_t>(current_TOW) * 0.08 << '\n';
std::cout << " ~ UTC: " << ctime(&t) << '\n';
std::cout << "Current TOW obtained from SUPL assistance = " << current_TOW << '\n';
} }
else catch (const std::exception& e)
{ {
std::cout << "Unable to get Ephemeris SUPL assistance. TOW is unknown!\n"; std::cout << "Failure connecting the message port system: " << e.what() << '\n';
exit(0);
}
try
{
acquisition->connect(top_block);
top_block->connect(source, 0, acquisition->get_left_block(), 0);
top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
}
catch (const std::exception& e)
{
std::cout << "Failure connecting the GNU Radio blocks: " << e.what() << '\n';
}
// 5. Run the flowgraph
// Get visible GPS satellites (positive acquisitions with Doppler measurements)
// Compute Doppler estimations
// todo: Fix the front-end cal to support new channel internal message system (no more external queues)
std::map<int, double> doppler_measurements_map;
std::map<int, double> cn0_measurements_map;
std::thread ch_thread;
// record startup time
std::chrono::time_point<std::chrono::system_clock> start;
std::chrono::time_point<std::chrono::system_clock> end;
std::chrono::duration<double> elapsed_seconds{};
start = std::chrono::system_clock::now();
bool start_msg = true;
for (unsigned int PRN = 1; PRN < 33; PRN++)
{
gnss_synchro.PRN = PRN;
acquisition->set_gnss_synchro(&gnss_synchro);
acquisition->init();
acquisition->set_local_code();
acquisition->reset();
stop = false;
try
{
ch_thread = std::thread(wait_message);
}
catch (const std::exception& e)
{
LOG(INFO) << "Exception caught (thread resource error)";
}
top_block->run();
if (start_msg == true)
{
std::cout << "Searching for GPS Satellites in L1 band...\n";
std::cout << "[";
start_msg = false;
}
if (!gnss_sync_vector.empty())
{
std::cout << " " << PRN << " ";
double doppler_measurement_hz = 0;
for (auto& it : gnss_sync_vector)
{
doppler_measurement_hz += it.Acq_doppler_hz;
}
doppler_measurement_hz = doppler_measurement_hz / gnss_sync_vector.size();
doppler_measurements_map.insert(std::pair<int, double>(PRN, doppler_measurement_hz));
}
else
{
std::cout << " . ";
}
try
{
channel_internal_queue.push(3);
}
catch (const boost::exception& e)
{
LOG(INFO) << "Exception caught while pushing to the internal queue.";
}
try
{
ch_thread.join();
}
catch (const std::exception& e)
{
LOG(INFO) << "Exception caught while joining threads.";
}
gnss_sync_vector.clear();
#if GNURADIO_USES_STD_POINTERS
std::dynamic_pointer_cast<gr::blocks::file_source>(source)->seek(0, 0);
#else
boost::dynamic_pointer_cast<gr::blocks::file_source>(source)->seek(0, 0);
#endif
std::cout.flush();
}
std::cout << "]\n";
// report the elapsed time
end = std::chrono::system_clock::now();
elapsed_seconds = end - start;
std::cout << "Total signal acquisition run time "
<< elapsed_seconds.count()
<< " [seconds]\n";
// 6. find TOW from SUPL assistance
double current_TOW = 0;
try
{
if (global_gps_ephemeris_map.size() > 0)
{
std::map<int, Gps_Ephemeris> Eph_map;
Eph_map = global_gps_ephemeris_map.get_map_copy();
current_TOW = Eph_map.begin()->second.tow;
time_t t = utc_time(Eph_map.begin()->second.WN, static_cast<int64_t>(current_TOW));
std::cout << "Reference Time:\n";
std::cout << " GPS Week: " << Eph_map.begin()->second.WN << '\n';
std::cout << " GPS TOW: " << static_cast<int64_t>(current_TOW) << " " << static_cast<int64_t>(current_TOW) * 0.08 << '\n';
std::cout << " ~ UTC: " << ctime(&t) << '\n';
std::cout << "Current TOW obtained from SUPL assistance = " << current_TOW << '\n';
}
else
{
std::cout << "Unable to get Ephemeris SUPL assistance. TOW is unknown!\n";
gflags::ShutDownCommandLineFlags();
std::cout << "GNSS-SDR Front-end calibration program ended.\n";
return 0;
}
}
catch (const boost::exception& e)
{
std::cout << "Exception in getting Global ephemeris map\n";
gflags::ShutDownCommandLineFlags(); gflags::ShutDownCommandLineFlags();
std::cout << "GNSS-SDR Front-end calibration program ended.\n"; std::cout << "GNSS-SDR Front-end calibration program ended.\n";
return 0; return 0;
} }
// Get user position from config file (or from SUPL using GSM Cell ID)
double lat_deg = configuration->property("GNSS-SDR.init_latitude_deg", 41.0);
double lon_deg = configuration->property("GNSS-SDR.init_longitude_deg", 2.0);
double altitude_m = configuration->property("GNSS-SDR.init_altitude_m", 100);
std::cout << "Reference location (defined in config file):\n";
std::cout << "Latitude=" << lat_deg << " [º]\n";
std::cout << "Longitude=" << lon_deg << " [º]\n";
std::cout << "Altitude=" << altitude_m << " [m]\n";
if (doppler_measurements_map.empty())
{
std::cout << "Sorry, no GPS satellites detected in the front-end capture, please check the antenna setup...\n";
gflags::ShutDownCommandLineFlags();
std::cout << "GNSS-SDR Front-end calibration program ended.\n";
return 0;
}
std::map<int, double> f_if_estimation_Hz_map;
std::map<int, double> f_fs_estimation_Hz_map;
std::map<int, double> f_ppm_estimation_Hz_map;
std::cout << std::setiosflags(std::ios::fixed) << std::setprecision(2) << "Doppler analysis results:\n";
std::cout << "SV ID Measured [Hz] Predicted [Hz]\n";
for (auto& it : doppler_measurements_map)
{
try
{
double doppler_estimated_hz;
doppler_estimated_hz = front_end_cal.estimate_doppler_from_eph(it.first, current_TOW, lat_deg, lon_deg, altitude_m);
std::cout << " " << it.first << " " << it.second << " " << doppler_estimated_hz << '\n';
// 7. Compute front-end IF and sampling frequency estimation
// Compare with the measurements and compute clock drift using FE model
double estimated_fs_Hz;
double estimated_f_if_Hz;
double f_osc_err_ppm;
front_end_cal.GPS_L1_front_end_model_E4000(doppler_estimated_hz, it.second, fs_in_, &estimated_fs_Hz, &estimated_f_if_Hz, &f_osc_err_ppm);
f_if_estimation_Hz_map.insert(std::pair<int, double>(it.first, estimated_f_if_Hz));
f_fs_estimation_Hz_map.insert(std::pair<int, double>(it.first, estimated_fs_Hz));
f_ppm_estimation_Hz_map.insert(std::pair<int, double>(it.first, f_osc_err_ppm));
}
catch (const std::logic_error& e)
{
std::cout << "Logic error caught: " << e.what() << '\n';
}
catch (const boost::lock_error& e)
{
std::cout << "Exception caught while reading ephemeris\n";
}
catch (const std::exception& ex)
{
std::cout << " " << it.first << " " << it.second << " (Eph not found)\n";
}
}
// FINAL FE estimations
double mean_f_if_Hz = 0;
double mean_fs_Hz = 0;
double mean_osc_err_ppm = 0;
int n_elements = f_if_estimation_Hz_map.size();
for (auto& it : f_if_estimation_Hz_map)
{
mean_f_if_Hz += it.second;
const auto est_fs = f_fs_estimation_Hz_map.find(it.first);
if (est_fs != f_fs_estimation_Hz_map.cend())
{
mean_fs_Hz += est_fs->second;
}
const auto est_ppm = f_ppm_estimation_Hz_map.find(it.first);
if (est_ppm != f_ppm_estimation_Hz_map.cend())
{
mean_osc_err_ppm += est_ppm->second;
}
}
mean_f_if_Hz /= n_elements;
mean_fs_Hz /= n_elements;
mean_osc_err_ppm /= n_elements;
std::cout << std::setiosflags(std::ios::fixed) << std::setprecision(2) << "Parameters estimation for Elonics E4000 Front-End:\n";
std::cout << "Sampling frequency =" << mean_fs_Hz << " [Hz]\n";
std::cout << "IF bias present in baseband=" << mean_f_if_Hz << " [Hz]\n";
std::cout << "Reference oscillator error =" << mean_osc_err_ppm << " [ppm]\n";
std::cout << std::setiosflags(std::ios::fixed) << std::setprecision(2)
<< "Corrected Doppler vs. Predicted\n";
std::cout << "SV ID Corrected [Hz] Predicted [Hz]\n";
for (auto& it : doppler_measurements_map)
{
try
{
double doppler_estimated_hz;
doppler_estimated_hz = front_end_cal.estimate_doppler_from_eph(it.first, current_TOW, lat_deg, lon_deg, altitude_m);
std::cout << " " << it.first << " " << it.second - mean_f_if_Hz << " " << doppler_estimated_hz << '\n';
}
catch (const std::logic_error& e)
{
std::cout << "Logic error caught: " << e.what() << '\n';
}
catch (const boost::lock_error& e)
{
std::cout << "Exception caught while reading ephemeris\n";
}
catch (const std::exception& ex)
{
std::cout << " " << it.first << " " << it.second - mean_f_if_Hz << " (Eph not found)\n";
}
}
} }
catch (const boost::exception& e) catch (const std::exception& e)
{ {
std::cout << "Exception in getting Global ephemeris map\n"; std::cerr << "Exception: " << e.what();
gflags::ShutDownCommandLineFlags(); gflags::ShutDownCommandLineFlags();
std::cout << "GNSS-SDR Front-end calibration program ended.\n"; return 1;
return 0;
} }
catch (...)
// Get user position from config file (or from SUPL using GSM Cell ID)
double lat_deg = configuration->property("GNSS-SDR.init_latitude_deg", 41.0);
double lon_deg = configuration->property("GNSS-SDR.init_longitude_deg", 2.0);
double altitude_m = configuration->property("GNSS-SDR.init_altitude_m", 100);
std::cout << "Reference location (defined in config file):\n";
std::cout << "Latitude=" << lat_deg << " [º]\n";
std::cout << "Longitude=" << lon_deg << " [º]\n";
std::cout << "Altitude=" << altitude_m << " [m]\n";
if (doppler_measurements_map.empty())
{ {
std::cout << "Sorry, no GPS satellites detected in the front-end capture, please check the antenna setup...\n"; std::cerr << "Unknown error\n";
gflags::ShutDownCommandLineFlags(); gflags::ShutDownCommandLineFlags();
std::cout << "GNSS-SDR Front-end calibration program ended.\n"; return 1;
return 0;
}
std::map<int, double> f_if_estimation_Hz_map;
std::map<int, double> f_fs_estimation_Hz_map;
std::map<int, double> f_ppm_estimation_Hz_map;
std::cout << std::setiosflags(std::ios::fixed) << std::setprecision(2) << "Doppler analysis results:\n";
std::cout << "SV ID Measured [Hz] Predicted [Hz]\n";
for (auto& it : doppler_measurements_map)
{
try
{
double doppler_estimated_hz;
doppler_estimated_hz = front_end_cal.estimate_doppler_from_eph(it.first, current_TOW, lat_deg, lon_deg, altitude_m);
std::cout << " " << it.first << " " << it.second << " " << doppler_estimated_hz << '\n';
// 7. Compute front-end IF and sampling frequency estimation
// Compare with the measurements and compute clock drift using FE model
double estimated_fs_Hz;
double estimated_f_if_Hz;
double f_osc_err_ppm;
front_end_cal.GPS_L1_front_end_model_E4000(doppler_estimated_hz, it.second, fs_in_, &estimated_fs_Hz, &estimated_f_if_Hz, &f_osc_err_ppm);
f_if_estimation_Hz_map.insert(std::pair<int, double>(it.first, estimated_f_if_Hz));
f_fs_estimation_Hz_map.insert(std::pair<int, double>(it.first, estimated_fs_Hz));
f_ppm_estimation_Hz_map.insert(std::pair<int, double>(it.first, f_osc_err_ppm));
}
catch (const std::logic_error& e)
{
std::cout << "Logic error caught: " << e.what() << '\n';
}
catch (const boost::lock_error& e)
{
std::cout << "Exception caught while reading ephemeris\n";
}
catch (const std::exception& ex)
{
std::cout << " " << it.first << " " << it.second << " (Eph not found)\n";
}
}
// FINAL FE estimations
double mean_f_if_Hz = 0;
double mean_fs_Hz = 0;
double mean_osc_err_ppm = 0;
int n_elements = f_if_estimation_Hz_map.size();
for (auto& it : f_if_estimation_Hz_map)
{
mean_f_if_Hz += it.second;
const auto est_fs = f_fs_estimation_Hz_map.find(it.first);
if (est_fs != f_fs_estimation_Hz_map.cend())
{
mean_fs_Hz += est_fs->second;
}
const auto est_ppm = f_ppm_estimation_Hz_map.find(it.first);
if (est_ppm != f_ppm_estimation_Hz_map.cend())
{
mean_osc_err_ppm += est_ppm->second;
}
}
mean_f_if_Hz /= n_elements;
mean_fs_Hz /= n_elements;
mean_osc_err_ppm /= n_elements;
std::cout << std::setiosflags(std::ios::fixed) << std::setprecision(2) << "Parameters estimation for Elonics E4000 Front-End:\n";
std::cout << "Sampling frequency =" << mean_fs_Hz << " [Hz]\n";
std::cout << "IF bias present in baseband=" << mean_f_if_Hz << " [Hz]\n";
std::cout << "Reference oscillator error =" << mean_osc_err_ppm << " [ppm]\n";
std::cout << std::setiosflags(std::ios::fixed) << std::setprecision(2)
<< "Corrected Doppler vs. Predicted\n";
std::cout << "SV ID Corrected [Hz] Predicted [Hz]\n";
for (auto& it : doppler_measurements_map)
{
try
{
double doppler_estimated_hz;
doppler_estimated_hz = front_end_cal.estimate_doppler_from_eph(it.first, current_TOW, lat_deg, lon_deg, altitude_m);
std::cout << " " << it.first << " " << it.second - mean_f_if_Hz << " " << doppler_estimated_hz << '\n';
}
catch (const std::logic_error& e)
{
std::cout << "Logic error caught: " << e.what() << '\n';
}
catch (const boost::lock_error& e)
{
std::cout << "Exception caught while reading ephemeris\n";
}
catch (const std::exception& ex)
{
std::cout << " " << it.first << " " << it.second - mean_f_if_Hz << " (Eph not found)\n";
}
} }
gflags::ShutDownCommandLineFlags(); gflags::ShutDownCommandLineFlags();
std::cout << "GNSS-SDR Front-end calibration program ended.\n"; std::cout << "GNSS-SDR Front-end calibration program ended.\n";
return 0;
} }

43
src/utils/rinex-tools/obsdiff.cc
View File

@ -30,6 +30,7 @@
#include <set> #include <set>
#include <stdexcept> #include <stdexcept>
#include <string> #include <string>
#include <utility>
#include <vector> #include <vector>
#if GNSSTK_USES_GPSTK_NAMESPACE #if GNSSTK_USES_GPSTK_NAMESPACE
@ -673,7 +674,7 @@ void carrier_doppler_single_diff(
{ {
// 2. RMSE // 2. RMSE
arma::vec err; arma::vec err;
err = delta_measured_carrier_doppler_cycles; err = std::move(delta_measured_carrier_doppler_cycles);
arma::vec err2 = arma::square(err); arma::vec err2 = arma::square(err);
double rmse = sqrt(arma::mean(err2)); double rmse = sqrt(arma::mean(err2));
@ -865,7 +866,7 @@ void code_pseudorange_single_diff(
// 2. RMSE // 2. RMSE
arma::vec err; arma::vec err;
err = delta_measured_obs; err = std::move(delta_measured_obs);
arma::vec err2 = arma::square(err); arma::vec err2 = arma::square(err);
double rmse = sqrt(arma::mean(err2)); double rmse = sqrt(arma::mean(err2));
@ -1014,7 +1015,7 @@ void coderate_phaserate_consistence(
// 2. RMSE // 2. RMSE
arma::vec err; arma::vec err;
err = ratediff; err = std::move(ratediff);
arma::vec err2 = arma::square(err); arma::vec err2 = arma::square(err);
double rmse = sqrt(arma::mean(err2)); double rmse = sqrt(arma::mean(err2));
@ -1098,7 +1099,7 @@ void code_phase_diff(
{ {
// 2. RMSE // 2. RMSE
arma::vec err; arma::vec err;
err = code_minus_phase; err = std::move(code_minus_phase);
arma::vec err2 = arma::square(err); arma::vec err2 = arma::square(err);
double rmse = sqrt(arma::mean(err2)); double rmse = sqrt(arma::mean(err2));
@ -1727,22 +1728,42 @@ int main(int argc, char** argv)
{ {
std::cout << "Running RINEX observables difference tool...\n"; std::cout << "Running RINEX observables difference tool...\n";
gflags::ParseCommandLineFlags(&argc, &argv, true); gflags::ParseCommandLineFlags(&argc, &argv, true);
if (FLAGS_single_diff) try
{ {
if (FLAGS_dupli_sat) if (FLAGS_single_diff)
{ {
RINEX_doublediff_dupli_sat(); if (FLAGS_dupli_sat)
{
RINEX_doublediff_dupli_sat();
}
else
{
RINEX_singlediff();
}
} }
else else
{ {
RINEX_singlediff(); RINEX_doublediff(FLAGS_remove_rx_clock_error);
} }
} }
else catch (const gnsstk::Exception& e)
{ {
RINEX_doublediff(FLAGS_remove_rx_clock_error); std::cerr << e;
gflags::ShutDownCommandLineFlags();
return 1;
}
catch (const std::exception& e)
{
std::cerr << "Exception: " << e.what();
gflags::ShutDownCommandLineFlags();
return 1;
}
catch (...)
{
std::cerr << "Unknown error\n";
gflags::ShutDownCommandLineFlags();
return 1;
} }
gflags::ShutDownCommandLineFlags(); gflags::ShutDownCommandLineFlags();
return 0; return 0;
} }