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implemented tracking pull-in tests for the FPGA

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solved a bug in which the SW was using the doppler shift index reported by the HW acquisition accelerator plus one, instead of using the doppler shift index as such.
This commit is contained in:
Marc Majoral
2018-09-12 16:02:23 +02:00
parent 57c358d1b1
commit 5b9b63cc77
19 changed files with 940 additions and 378 deletions
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153
src/algorithms/acquisition/libs/fpga_acquisition.cc
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@@ -156,7 +156,12 @@ fpga_acquisition::fpga_acquisition(std::string device_name,
//std::cout << "Acquisition test register sanity check success!" << std::endl;
}
fpga_acquisition::reset_acquisition();
// flag used for testing purposes
d_single_doppler_flag = 0;
DLOG(INFO) << "Acquisition FPGA class created";
}
@@ -246,51 +251,102 @@ void fpga_acquisition::run_acquisition(void)
void fpga_acquisition::set_doppler_sweep(uint32_t num_sweeps)
{
//printf("acq lib set_doppler_sweep called\n");
float phase_step_rad_real;
float phase_step_rad_int_temp;
int32_t phase_step_rad_int;
//int32_t doppler = static_cast<int32_t>(-d_doppler_max) + d_doppler_step * doppler_index;
int32_t doppler = static_cast<int32_t>(-d_doppler_max);
//float phase_step_rad = GPS_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in);
float phase_step_rad = GPS_TWO_PI * (doppler) / static_cast<float>(d_fs_in);
// The doppler step can never be outside the range -pi to +pi, otherwise there would be aliasing
// The FPGA expects phase_step_rad between -1 (-pi) to +1 (+pi)
// The FPGA also expects the phase to be negative since it produces cos(x) -j*sin(x)
// while the gnss-sdr software (volk_gnsssdr_s32f_sincos_32fc) generates 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 (d_single_doppler_flag == 0)
{
//printf("acq lib set_doppler_sweep called\n");
float phase_step_rad_real;
float phase_step_rad_int_temp;
int32_t phase_step_rad_int;
//int32_t doppler = static_cast<int32_t>(-d_doppler_max) + d_doppler_step * doppler_index;
int32_t doppler = static_cast<int32_t>(-d_doppler_max);
//float phase_step_rad = GPS_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in);
float phase_step_rad = GPS_TWO_PI * (doppler) / static_cast<float>(d_fs_in);
// The doppler step can never be outside the range -pi to +pi, otherwise there would be aliasing
// The FPGA expects phase_step_rad between -1 (-pi) to +1 (+pi)
// The FPGA also expects the phase to be negative since it produces cos(x) -j*sin(x)
// while the gnss-sdr software (volk_gnsssdr_s32f_sincos_32fc) generates 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)
//printf("AAA phase_step_rad_real for initial doppler = %f\n", phase_step_rad_real);
if (phase_step_rad_real >= 1.0)
{
phase_step_rad_real = MAX_PHASE_STEP_RAD;
}
//printf("AAA phase_step_rad_real for initial doppler after checking = %f\n", phase_step_rad_real);
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
//printf("AAA writing phase_step_rad_int for initial doppler = %d to d map base 3\n", phase_step_rad_int);
d_map_base[3] = phase_step_rad_int;
//printf("AAA phase_step_rad_real for initial doppler = %f\n", phase_step_rad_real);
if (phase_step_rad_real >= 1.0)
{
phase_step_rad_real = MAX_PHASE_STEP_RAD;
}
//printf("AAA phase_step_rad_real for initial doppler after checking = %f\n", phase_step_rad_real);
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
//printf("AAA writing phase_step_rad_int for initial doppler = %d to d map base 3\n", phase_step_rad_int);
d_map_base[3] = phase_step_rad_int;
// repeat the calculation with the doppler step
doppler = static_cast<int32_t>(d_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);
//printf("AAA phase_step_rad_real for doppler step = %f\n", phase_step_rad_real);
if (phase_step_rad_real >= 1.0)
{
phase_step_rad_real = MAX_PHASE_STEP_RAD;
}
//printf("AAA phase_step_rad_real for doppler step after checking = %f\n", phase_step_rad_real);
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
//printf("AAA writing phase_step_rad_int for doppler step = %d to d map base 4\n", phase_step_rad_int);
d_map_base[4] = phase_step_rad_int;
//printf("AAA writing num sweeps to d map base 5 = %d\n", num_sweeps);
d_map_base[5] = num_sweeps;
}
else
{
//printf("acq lib set_doppler_sweep called\n");
float phase_step_rad_real;
float phase_step_rad_int_temp;
int32_t phase_step_rad_int;
//int32_t doppler = static_cast<int32_t>(-d_doppler_max) + d_doppler_step * doppler_index;
int32_t doppler = static_cast<int32_t>(d_doppler_max);
//float phase_step_rad = GPS_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in);
float phase_step_rad = GPS_TWO_PI * (doppler) / static_cast<float>(d_fs_in);
// The doppler step can never be outside the range -pi to +pi, otherwise there would be aliasing
// The FPGA expects phase_step_rad between -1 (-pi) to +1 (+pi)
// The FPGA also expects the phase to be negative since it produces cos(x) -j*sin(x)
// while the gnss-sdr software (volk_gnsssdr_s32f_sincos_32fc) generates 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)
//printf("AAA phase_step_rad_real for initial doppler = %f\n", phase_step_rad_real);
if (phase_step_rad_real >= 1.0)
{
phase_step_rad_real = MAX_PHASE_STEP_RAD;
}
//printf("AAA phase_step_rad_real for initial doppler after checking = %f\n", phase_step_rad_real);
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
//printf("AAA writing phase_step_rad_int for initial doppler = %d to d map base 3\n", phase_step_rad_int);
d_map_base[3] = phase_step_rad_int;
// repeat the calculation with the doppler step
doppler = 0;
phase_step_rad = GPS_TWO_PI * (doppler) / static_cast<float>(d_fs_in);
phase_step_rad_real = phase_step_rad / (GPS_TWO_PI / 2);
//printf("AAA phase_step_rad_real for doppler step = %f\n", phase_step_rad_real);
if (phase_step_rad_real >= 1.0)
{
phase_step_rad_real = MAX_PHASE_STEP_RAD;
}
//printf("AAA phase_step_rad_real for doppler step after checking = %f\n", phase_step_rad_real);
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
//printf("AAA writing phase_step_rad_int for doppler step = %d to d map base 4\n", phase_step_rad_int);
d_map_base[4] = phase_step_rad_int;
//printf("AAA writing num sweeps to d map base 5 = %d\n", num_sweeps);
d_map_base[5] = 1; // 1 sweep
}
// repeat the calculation with the doppler step
doppler = static_cast<int32_t>(d_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);
//printf("AAA phase_step_rad_real for doppler step = %f\n", phase_step_rad_real);
if (phase_step_rad_real >= 1.0)
{
phase_step_rad_real = MAX_PHASE_STEP_RAD;
}
//printf("AAA phase_step_rad_real for doppler step after checking = %f\n", phase_step_rad_real);
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
//printf("AAA writing phase_step_rad_int for doppler step = %d to d map base 4\n", phase_step_rad_int);
d_map_base[4] = phase_step_rad_int;
//printf("AAA writing num sweeps to d map base 5 = %d\n", num_sweeps);
d_map_base[5] = num_sweeps;
}
/*
void fpga_acquisition::set_doppler_sweep_debug(uint32_t num_sweeps, uint32_t doppler_index)
{
//printf("acq lib set_doppler_sweep_debug called\n");
@@ -337,7 +393,7 @@ void fpga_acquisition::set_doppler_sweep_debug(uint32_t num_sweeps, uint32_t dop
//printf("AAAh writing num sweeps to d map base 5 = %d\n", num_sweeps);
d_map_base[5] = num_sweeps;
}
*/
void fpga_acquisition::configure_acquisition()
{
@@ -402,10 +458,10 @@ void fpga_acquisition::read_acquisition_results(uint32_t *max_index,
*initial_sample = initial_sample_tmp;
readval = d_map_base[6];
*max_magnitude = static_cast<float>(readval);
//printf("read max_magnitude dmap 2 = %d\n", readval);
//printf("acq lib read max_magnitude dmap 2 = %d = %f\n", readval, *max_magnitude);
readval = d_map_base[4];
*power_sum = static_cast<float>(readval);
//printf("read power sum dmap 4 = %d\n", readval);
//printf("acq lib read power sum dmap 4 = %d = %f\n", readval, *power_sum);
readval = d_map_base[5]; // read doppler index
*doppler_index = readval;
//printf("read doppler_index dmap 5 = %d\n", readval);
@@ -446,3 +502,10 @@ void fpga_acquisition::reset_acquisition(void)
//printf("acq lib reset acquisition called\n");
d_map_base[8] = RESET_ACQUISITION; // writing a 2 to d_map_base[8] resets the multicorrelator
}
// this function is only used for the unit tests
void fpga_acquisition::set_single_doppler_flag(unsigned int single_doppler_flag)
{
d_single_doppler_flag = single_doppler_flag;
}