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but solved: double acquisition was using uint32_t for the initial doppler estimation. Therefore when the first estimated doppler was negative it was reset to zero.

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This commit is contained in:
Marc Majoral
2019-03-01 20:37:14 +01:00
parent 528c79d1e7
commit 5a2dc274cf
4 changed files with 32 additions and 31 deletions
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2
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.cc
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@@ -174,7 +174,7 @@ void pcps_acquisition_fpga::send_negative_acquisition()
this->message_port_pub(pmt::mp("events"), pmt::from_long(2));
}
void pcps_acquisition_fpga::acquisition_core(uint32_t num_doppler_bins, uint32_t doppler_step, uint32_t doppler_min)
void pcps_acquisition_fpga::acquisition_core(uint32_t num_doppler_bins, uint32_t doppler_step, int32_t doppler_min)
{
uint32_t indext = 0U;
float firstpeak = 0.0;

2
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.h
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@@ -97,7 +97,7 @@ private:
float first_vs_second_peak_statistic(uint32_t& indext, int32_t& doppler, uint32_t num_doppler_bins, int32_t doppler_max, int32_t doppler_step);
void acquisition_core(uint32_t num_doppler_bins, uint32_t doppler_step, uint32_t doppler_max);
void acquisition_core(uint32_t num_doppler_bins, uint32_t doppler_step, int32_t doppler_max);
pcpsconf_fpga_t acq_parameters;
bool d_active;

57
src/algorithms/acquisition/libs/fpga_acquisition.cc
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@@ -44,23 +44,23 @@
// FPGA register parameters
#define PAGE_SIZE 0x10000 // default page size for the multicorrelator memory map
#define MAX_PHASE_STEP_RAD 0.999999999534339 // 1 - pow(2,-31);
#define RESET_ACQUISITION 2 // command to reset the multicorrelator
#define LAUNCH_ACQUISITION 1 // command to launch the multicorrelator
#define TEST_REG_SANITY_CHECK 0x55AA // value to check the presence of the test register (to detect the hw)
#define LOCAL_CODE_CLEAR_MEM 0x10000000 // command to clear the internal memory of the multicorrelator
#define MEM_LOCAL_CODE_WR_ENABLE 0x0C000000 // command to enable the ENA and WR pins of the internal memory of the multicorrelator
#define POW_2_2 4 // 2^2 (used for the conversion of floating point numbers to integers)
#define POW_2_29 536870912 // 2^29 (used for the conversion of floating point numbers to integers)
#define SELECT_LSB 0x00FF // value to select the least significant byte
#define SELECT_MSB 0XFF00 // value to select the most significant byte
#define SELECT_16_BITS 0xFFFF // value to select 16 bits
#define SHL_8_BITS 256 // value used to shift a value 8 bits to the left
#define SELECT_LSBits 0x000003FF // Select the 10 LSbits out of a 20-bit word
#define SELECT_MSBbits 0x000FFC00 // Select the 10 MSbits out of a 20-bit word
#define SELECT_ALL_CODE_BITS 0x000FFFFF // Select a 20 bit word
#define SHL_CODE_BITS 1024 // shift left by 10 bits
#define PAGE_SIZE 0x10000 // default page size for the multicorrelator memory map
//#define MAX_PHASE_STEP_RAD 0.999999999534339 // 1 - pow(2,-31);
#define RESET_ACQUISITION 2 // command to reset the multicorrelator
#define LAUNCH_ACQUISITION 1 // command to launch the multicorrelator
#define TEST_REG_SANITY_CHECK 0x55AA // value to check the presence of the test register (to detect the hw)
#define LOCAL_CODE_CLEAR_MEM 0x10000000 // command to clear the internal memory of the multicorrelator
#define MEM_LOCAL_CODE_WR_ENABLE 0x0C000000 // command to enable the ENA and WR pins of the internal memory of the multicorrelator
#define POW_2_2 4 // 2^2 (used for the conversion of floating point numbers to integers)
#define POW_2_29 536870912 // 2^29 (used for the conversion of floating point numbers to integers)
#define SELECT_LSB 0x00FF // value to select the least significant byte
#define SELECT_MSB 0XFF00 // value to select the most significant byte
#define SELECT_16_BITS 0xFFFF // value to select 16 bits
#define SHL_8_BITS 256 // value used to shift a value 8 bits to the left
#define SELECT_LSBits 0x000003FF // Select the 10 LSbits out of a 20-bit word
#define SELECT_MSBbits 0x000FFC00 // Select the 10 MSbits out of a 20-bit word
#define SELECT_ALL_CODE_BITS 0x000FFFFF // Select a 20 bit word
#define SHL_CODE_BITS 1024 // shift left by 10 bits
bool fpga_acquisition::init()
@@ -114,6 +114,7 @@ fpga_acquisition::fpga_acquisition(std::string device_name,
d_PRN = 0;
DLOG(INFO) << "Acquisition FPGA class created";
//printf("d_excludelimit = %d\n", d_excludelimit);
}
void fpga_acquisition::open_device()
@@ -216,7 +217,7 @@ void fpga_acquisition::set_block_exp(uint32_t total_block_exp)
d_map_base[11] = total_block_exp;
}
void fpga_acquisition::set_doppler_sweep(uint32_t num_sweeps, uint32_t doppler_step, uint32_t doppler_min)
void fpga_acquisition::set_doppler_sweep(uint32_t num_sweeps, uint32_t doppler_step, int32_t doppler_min)
{
float phase_step_rad_real;
float phase_step_rad_int_temp;
@@ -229,12 +230,12 @@ void fpga_acquisition::set_doppler_sweep(uint32_t num_sweeps, uint32_t doppler_s
// The FPGA also expects the phase to be negative since it produces cos(x) -j*sin(x)
phase_step_rad_real = phase_step_rad / (GPS_TWO_PI / 2);
// avoid saturation of the fixed point representation in the fpga
// (only the positive value can saturate due to the 2's complement representation)
if (phase_step_rad_real >= 1.0)
{
phase_step_rad_real = MAX_PHASE_STEP_RAD;
}
// // avoid saturation of the fixed point representation in the fpga
// // (only the positive value can saturate due to the 2's complement representation)
// if (phase_step_rad_real >= 1.0)
// {
// phase_step_rad_real = MAX_PHASE_STEP_RAD;
// }
phase_step_rad_int_temp = phase_step_rad_real * POW_2_2; // * 2^2
phase_step_rad_int = static_cast<int32_t>(phase_step_rad_int_temp * (POW_2_29)); // * 2^29 (in total it makes x2^31 in two steps to avoid the warnings
d_map_base[3] = phase_step_rad_int;
@@ -244,10 +245,10 @@ void fpga_acquisition::set_doppler_sweep(uint32_t num_sweeps, uint32_t doppler_s
doppler = static_cast<int32_t>(doppler_step);
phase_step_rad = GPS_TWO_PI * (doppler) / static_cast<float>(d_fs_in);
phase_step_rad_real = phase_step_rad / (GPS_TWO_PI / 2);
if (phase_step_rad_real >= 1.0)
{
phase_step_rad_real = MAX_PHASE_STEP_RAD;
}
// if (phase_step_rad_real >= 1.0)
// {
// phase_step_rad_real = MAX_PHASE_STEP_RAD;
// }
phase_step_rad_int_temp = phase_step_rad_real * POW_2_2; // * 2^2
phase_step_rad_int = static_cast<int32_t>(phase_step_rad_int_temp * (POW_2_29)); // * 2^29 (in total it makes x2^31 in two steps to avoid the warnings
d_map_base[4] = phase_step_rad_int;

2
src/algorithms/acquisition/libs/fpga_acquisition.h
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@@ -60,7 +60,7 @@ public:
bool init();
bool set_local_code(uint32_t PRN);
bool free();
void set_doppler_sweep(uint32_t num_sweeps, uint32_t doppler_step, uint32_t doppler_max);
void set_doppler_sweep(uint32_t num_sweeps, uint32_t doppler_step, int32_t doppler_min);
void run_acquisition(void);
void read_acquisition_results(uint32_t *max_index, float *firstpeak, float *secondpeak, uint64_t *initial_sample, float *power_sum, uint32_t *doppler_index, uint32_t *total_blk_exp);