mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-04-19 09:13:20 +00:00
PCPS based Acquisition Files for FPGA
This commit is contained in:
piyush0411
parent
9e38cc4ef5
commit
4cccd97bb5
src/algorithms/acquisition/adapters
@ -0,0 +1,290 @@
|
||||
/*!
|
||||
* \file galileo_e5b_pcps_acquisition_fpga.cc
|
||||
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
|
||||
* Galileo E5b data and pilot Signals for the FPGA
|
||||
* \author Piyush Gupta, 2020. piyush04111999@gmail.com
|
||||
* \note Code added as part of GSoC 2020 Program.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "galileo_e5b_pcps_acquisition_fpga.h"
|
||||
#include "Galileo_E5b.h"
|
||||
#include "configuration_interface.h"
|
||||
#include "galileo_e5_signal_processing.h"
|
||||
#include "gnss_sdr_flags.h"
|
||||
#include <glog/logging.h>
|
||||
#include <gnuradio/fft/fft.h> // for fft_complex
|
||||
#include <gnuradio/gr_complex.h> // for gr_complex
|
||||
#include <volk/volk.h> // for volk_32fc_conjugate_32fc
|
||||
#include <volk_gnsssdr/volk_gnsssdr_alloc.h>
|
||||
#include <algorithm> // for copy_n
|
||||
#include <cmath> // for abs, pow, floor
|
||||
#include <complex> // for complex
|
||||
|
||||
GalileoE5bPcpsAcquisitionFpga::GalileoE5bPcpsAcquisitionFpga(ConfigurationInterface* configuration,
|
||||
const std::string& role,
|
||||
unsigned int in_streams,
|
||||
unsigned int out_streams) : role_(role),
|
||||
in_streams_(in_streams),
|
||||
out_streams_(out_streams)
|
||||
{
|
||||
pcpsconf_fpga_t acq_parameters;
|
||||
configuration_ = configuration;
|
||||
std::string default_dump_filename = "../data/acquisition.dat";
|
||||
|
||||
DLOG(INFO) << "Role " << role;
|
||||
|
||||
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 32000000);
|
||||
int64_t fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
|
||||
|
||||
acq_parameters.repeat_satellite = configuration_->property(role + ".repeat_satellite", false);
|
||||
DLOG(INFO) << role << " satellite repeat = " << acq_parameters.repeat_satellite;
|
||||
|
||||
uint32_t downsampling_factor = configuration_->property(role + ".downsampling_factor", 1);
|
||||
acq_parameters.downsampling_factor = downsampling_factor;
|
||||
fs_in = fs_in / downsampling_factor;
|
||||
|
||||
acq_parameters.fs_in = fs_in;
|
||||
|
||||
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
|
||||
if (FLAGS_doppler_max != 0)
|
||||
{
|
||||
doppler_max_ = FLAGS_doppler_max;
|
||||
}
|
||||
acq_parameters.doppler_max = doppler_max_;
|
||||
|
||||
acq_pilot_ = configuration_->property(role + ".acquire_pilot", false);
|
||||
acq_iq_ = configuration_->property(role + ".acquire_iq", false);
|
||||
if (acq_iq_)
|
||||
{
|
||||
acq_pilot_ = false;
|
||||
}
|
||||
|
||||
auto code_length = static_cast<uint32_t>(std::round(static_cast<double>(fs_in) / GALILEO_E5B_CODE_CHIP_RATE_CPS * static_cast<double>(GALILEO_E5B_CODE_LENGTH_CHIPS)));
|
||||
acq_parameters.code_length = code_length;
|
||||
|
||||
// The FPGA can only use FFT lengths that are a power of two.
|
||||
float nbits = ceilf(log2f(static_cast<float>(code_length) * 2.0));
|
||||
uint32_t nsamples_total = pow(2, nbits);
|
||||
uint32_t select_queue_Fpga = configuration_->property(role + ".select_queue_Fpga", 1);
|
||||
acq_parameters.select_queue_Fpga = select_queue_Fpga;
|
||||
std::string default_device_name = "/dev/uio0";
|
||||
std::string device_name = configuration_->property(role + ".devicename", default_device_name);
|
||||
acq_parameters.device_name = device_name;
|
||||
acq_parameters.samples_per_code = nsamples_total;
|
||||
|
||||
acq_parameters.excludelimit = static_cast<unsigned int>(1 + ceil((1.0 / GALILEO_E5B_CODE_CHIP_RATE_CPS) * static_cast<float>(fs_in)));
|
||||
|
||||
// compute all the GALILEO E5b PRN Codes (this is done only once in the class constructor in order to avoid re-computing the PRN codes every time
|
||||
// a channel is assigned)
|
||||
auto fft_if = std::unique_ptr<gr::fft::fft_complex>(new gr::fft::fft_complex(nsamples_total, true)); // Direct FFT
|
||||
volk_gnsssdr::vector<std::complex<float>> code(nsamples_total); // Buffer for local code
|
||||
volk_gnsssdr::vector<std::complex<float>> fft_codes_padded(nsamples_total);
|
||||
d_all_fft_codes_ = std::vector<uint32_t>(nsamples_total * GALILEO_E5B_NUMBER_OF_CODES); // memory containing all the possible fft codes for PRN 0 to 32
|
||||
|
||||
float max; // temporary maxima search
|
||||
int32_t tmp;
|
||||
int32_t tmp2;
|
||||
int32_t local_code;
|
||||
int32_t fft_data;
|
||||
|
||||
for (uint32_t PRN = 1; PRN <= GALILEO_E5B_NUMBER_OF_CODES; PRN++)
|
||||
{
|
||||
std::array<char, 3> signal_;
|
||||
signal_[0] = '7';
|
||||
signal_[2] = '\0';
|
||||
|
||||
if (acq_iq_)
|
||||
{
|
||||
signal_[1] = 'X';
|
||||
}
|
||||
else if (acq_pilot_)
|
||||
{
|
||||
signal_[1] = 'Q';
|
||||
}
|
||||
else
|
||||
{
|
||||
signal_[1] = 'I';
|
||||
}
|
||||
|
||||
galileo_e5_b_code_gen_complex_sampled(code, PRN, signal_, fs_in, 0);
|
||||
|
||||
for (uint32_t s = code_length; s < 2 * code_length; s++)
|
||||
{
|
||||
code[s] = code[s - code_length];
|
||||
}
|
||||
|
||||
// fill in zero padding
|
||||
for (uint32_t s = 2 * code_length; s < nsamples_total; s++)
|
||||
{
|
||||
code[s] = std::complex<float>(0.0, 0.0);
|
||||
}
|
||||
|
||||
std::copy_n(code.data(), nsamples_total, fft_if->get_inbuf()); // copy to FFT buffer
|
||||
fft_if->execute(); // Run the FFT of local code
|
||||
volk_32fc_conjugate_32fc(fft_codes_padded.data(), fft_if->get_outbuf(), nsamples_total); // conjugate values
|
||||
|
||||
max = 0; // initialize maximum value
|
||||
for (uint32_t i = 0; i < nsamples_total; i++) // search for maxima
|
||||
{
|
||||
if (std::abs(fft_codes_padded[i].real()) > max)
|
||||
{
|
||||
max = std::abs(fft_codes_padded[i].real());
|
||||
}
|
||||
if (std::abs(fft_codes_padded[i].imag()) > max)
|
||||
{
|
||||
max = std::abs(fft_codes_padded[i].imag());
|
||||
}
|
||||
}
|
||||
// map the FFT to the dynamic range of the fixed point values an copy to buffer containing all FFTs
|
||||
// and package codes in a format that is ready to be written to the FPGA
|
||||
for (uint32_t i = 0; i < nsamples_total; i++)
|
||||
{
|
||||
tmp = static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, quant_bits_local_code - 1) - 1) / max));
|
||||
tmp2 = static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, quant_bits_local_code - 1) - 1) / max));
|
||||
local_code = (tmp & select_lsbits) | ((tmp2 * shl_code_bits) & select_msbits); // put together the real part and the imaginary part
|
||||
fft_data = local_code & select_all_code_bits;
|
||||
d_all_fft_codes_[i + (nsamples_total * (PRN - 1))] = fft_data;
|
||||
}
|
||||
}
|
||||
|
||||
acq_parameters.all_fft_codes = d_all_fft_codes_.data();
|
||||
|
||||
// reference for the FPGA FFT-IFFT attenuation factor
|
||||
acq_parameters.total_block_exp = configuration_->property(role + ".total_block_exp", 13);
|
||||
|
||||
acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
|
||||
acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
|
||||
acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
|
||||
acq_parameters.max_num_acqs = configuration_->property(role + ".max_num_acqs", 2);
|
||||
acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters);
|
||||
|
||||
channel_ = 0;
|
||||
doppler_step_ = 0;
|
||||
gnss_synchro_ = nullptr;
|
||||
|
||||
if (in_streams_ > 1)
|
||||
{
|
||||
LOG(ERROR) << "This implementation only supports one input stream";
|
||||
}
|
||||
if (out_streams_ > 0)
|
||||
{
|
||||
LOG(ERROR) << "This implementation does not provide an output stream";
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5bPcpsAcquisitionFpga::stop_acquisition()
|
||||
{
|
||||
// this command causes the SW to reset the HW.
|
||||
acquisition_fpga_->reset_acquisition();
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5bPcpsAcquisitionFpga::set_threshold(float threshold)
|
||||
{
|
||||
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold;
|
||||
acquisition_fpga_->set_threshold(threshold);
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5bPcpsAcquisitionFpga::set_doppler_max(unsigned int doppler_max)
|
||||
{
|
||||
doppler_max_ = doppler_max;
|
||||
acquisition_fpga_->set_doppler_max(doppler_max_);
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5bPcpsAcquisitionFpga::set_doppler_step(unsigned int doppler_step)
|
||||
{
|
||||
doppler_step_ = doppler_step;
|
||||
acquisition_fpga_->set_doppler_step(doppler_step_);
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5bPcpsAcquisitionFpga::set_doppler_center(int doppler_center)
|
||||
{
|
||||
doppler_center_ = doppler_center;
|
||||
acquisition_fpga_->set_doppler_center(doppler_center_);
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5bPcpsAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
|
||||
{
|
||||
gnss_synchro_ = gnss_synchro;
|
||||
acquisition_fpga_->set_gnss_synchro(gnss_synchro_);
|
||||
}
|
||||
|
||||
|
||||
signed int GalileoE5bPcpsAcquisitionFpga::mag()
|
||||
{
|
||||
return acquisition_fpga_->mag();
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5bPcpsAcquisitionFpga::init()
|
||||
{
|
||||
acquisition_fpga_->init();
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5bPcpsAcquisitionFpga::set_local_code()
|
||||
{
|
||||
acquisition_fpga_->set_local_code();
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5bPcpsAcquisitionFpga::reset()
|
||||
{
|
||||
acquisition_fpga_->set_active(true);
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5bPcpsAcquisitionFpga::set_state(int state)
|
||||
{
|
||||
acquisition_fpga_->set_state(state);
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5bPcpsAcquisitionFpga::connect(gr::top_block_sptr top_block)
|
||||
{
|
||||
if (top_block)
|
||||
{
|
||||
/* top_block is not null */
|
||||
};
|
||||
// Nothing to connect
|
||||
}
|
||||
|
||||
|
||||
void GalileoE5bPcpsAcquisitionFpga::disconnect(gr::top_block_sptr top_block)
|
||||
{
|
||||
if (top_block)
|
||||
{
|
||||
/* top_block is not null */
|
||||
};
|
||||
// Nothing to disconnect
|
||||
}
|
||||
|
||||
|
||||
gr::basic_block_sptr GalileoE5bPcpsAcquisitionFpga::get_left_block()
|
||||
{
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
|
||||
gr::basic_block_sptr GalileoE5bPcpsAcquisitionFpga::get_right_block()
|
||||
{
|
||||
return nullptr;
|
||||
}
|
||||
@ -0,0 +1,213 @@
|
||||
/*!
|
||||
* \file galileo_e5b_pcps_acquisition_fpga.h
|
||||
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
|
||||
* Galileo E5b data and pilot Signals for the FPGA
|
||||
* \author Piyush Gupta, 2020. piyush04111999@gmail.com
|
||||
* \note Code added as part of GSoC 2020 Program.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GNSS_SDR_GALILEO_E5B_PCPS_ACQUISITION_FPGA_H
|
||||
#define GNSS_SDR_GALILEO_E5B_PCPS_ACQUISITION_FPGA_H
|
||||
|
||||
|
||||
#include "channel_fsm.h"
|
||||
#include "gnss_synchro.h"
|
||||
#include "pcps_acquisition_fpga.h"
|
||||
#include <memory>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
class ConfigurationInterface;
|
||||
|
||||
/*!
|
||||
* \brief This class adapts a PCPS acquisition block off-loaded on an FPGA
|
||||
* to an AcquisitionInterface for Galileo E5b signals
|
||||
*/
|
||||
class GalileoE5bPcpsAcquisitionFpga : public AcquisitionInterface
|
||||
{
|
||||
public:
|
||||
/*!
|
||||
* \brief Constructor
|
||||
*/
|
||||
GalileoE5bPcpsAcquisitionFpga(ConfigurationInterface* configuration,
|
||||
const std::string& role,
|
||||
unsigned int in_streams,
|
||||
unsigned int out_streams);
|
||||
|
||||
/*!
|
||||
* \brief Destructor
|
||||
*/
|
||||
~GalileoE5bPcpsAcquisitionFpga() = default;
|
||||
|
||||
/*!
|
||||
* \brief Role
|
||||
*/
|
||||
inline std::string role() override
|
||||
{
|
||||
return role_;
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Returns "Galileo_E5b_Pcps_Acquisition_Fpga"
|
||||
*/
|
||||
inline std::string implementation() override
|
||||
{
|
||||
return "Galileo_E5b_PCPS_Acquisition_FPGA";
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Returns size of lv_16sc_t
|
||||
*/
|
||||
inline size_t item_size() override
|
||||
{
|
||||
return sizeof(int16_t);
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Connect
|
||||
*/
|
||||
void connect(gr::top_block_sptr top_block) override;
|
||||
|
||||
/*!
|
||||
* \brief Disconnect
|
||||
*/
|
||||
void disconnect(gr::top_block_sptr top_block) override;
|
||||
|
||||
/*!
|
||||
* \brief Get left block
|
||||
*/
|
||||
gr::basic_block_sptr get_left_block() override;
|
||||
|
||||
/*!
|
||||
* \brief Get right block
|
||||
*/
|
||||
gr::basic_block_sptr get_right_block() override;
|
||||
|
||||
/*!
|
||||
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
|
||||
* to efficiently exchange synchronization data between acquisition and
|
||||
* tracking blocks
|
||||
*/
|
||||
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
|
||||
|
||||
/*!
|
||||
* \brief Set acquisition channel unique ID
|
||||
*/
|
||||
inline void set_channel(unsigned int channel) override
|
||||
{
|
||||
channel_ = channel;
|
||||
acquisition_fpga_->set_channel(channel_);
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Set channel fsm associated to this acquisition instance
|
||||
*/
|
||||
inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm) override
|
||||
{
|
||||
channel_fsm_ = channel_fsm;
|
||||
acquisition_fpga_->set_channel_fsm(channel_fsm);
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Set statistics threshold of PCPS algorithm
|
||||
*/
|
||||
void set_threshold(float threshold) override;
|
||||
|
||||
/*!
|
||||
* \brief Set maximum Doppler off grid search
|
||||
*/
|
||||
void set_doppler_max(unsigned int doppler_max) override;
|
||||
|
||||
/*!
|
||||
* \brief Set Doppler steps for the grid search
|
||||
*/
|
||||
void set_doppler_step(unsigned int doppler_step) override;
|
||||
|
||||
/*!
|
||||
* \brief Set Doppler center for the grid search
|
||||
*/
|
||||
void set_doppler_center(int doppler_center) override;
|
||||
|
||||
/*!
|
||||
* \brief Initializes acquisition algorithm.
|
||||
*/
|
||||
void init() override;
|
||||
|
||||
/*!
|
||||
* \brief Sets local Galileo E5b code for PCPS acquisition algorithm.
|
||||
*/
|
||||
void set_local_code() override;
|
||||
|
||||
/*!
|
||||
* \brief Returns the maximum peak of grid search
|
||||
*/
|
||||
signed int mag() override;
|
||||
|
||||
/*!
|
||||
* \brief Restart acquisition algorithm
|
||||
*/
|
||||
void reset() override;
|
||||
|
||||
/*!
|
||||
* \brief If set to 1, ensures that acquisition starts at the
|
||||
* first available sample.
|
||||
* \param state - int=1 forces start of acquisition
|
||||
*/
|
||||
void set_state(int state) override;
|
||||
|
||||
/*!
|
||||
* \brief This function is only used in the unit tests
|
||||
*/
|
||||
void set_single_doppler_flag(unsigned int single_doppler_flag);
|
||||
|
||||
/*!
|
||||
* \brief Stop running acquisition
|
||||
*/
|
||||
void stop_acquisition() override;
|
||||
|
||||
/*!
|
||||
* \brief Set resampler latency
|
||||
*/
|
||||
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
|
||||
|
||||
private:
|
||||
// the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
|
||||
// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
|
||||
static const uint32_t quant_bits_local_code = 16;
|
||||
static const uint32_t select_lsbits = 0x0000FFFF; // Select the 10 LSbits out of a 20-bit word
|
||||
static const uint32_t select_msbits = 0xFFFF0000; // Select the 10 MSbits out of a 20-bit word
|
||||
static const uint32_t select_all_code_bits = 0xFFFFFFFF; // Select a 20 bit word
|
||||
static const uint32_t shl_code_bits = 65536; // shift left by 10 bits
|
||||
|
||||
ConfigurationInterface* configuration_;
|
||||
pcps_acquisition_fpga_sptr acquisition_fpga_;
|
||||
std::string item_type_;
|
||||
std::string dump_filename_;
|
||||
std::string role_;
|
||||
bool acq_pilot_;
|
||||
bool acq_iq_;
|
||||
uint32_t channel_;
|
||||
std::weak_ptr<ChannelFsm> channel_fsm_;
|
||||
uint32_t doppler_max_;
|
||||
uint32_t doppler_step_;
|
||||
int32_t doppler_center_;
|
||||
unsigned int in_streams_;
|
||||
unsigned int out_streams_;
|
||||
Gnss_Synchro* gnss_synchro_;
|
||||
std::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
|
||||
};
|
||||
|
||||
#endif // GNSS_SDR_GALILEO_E5B_PCPS_ACQUISITION_FPGA_H
|
||||
Loading…
x
Reference in New Issue
Block a user