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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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2
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking_fpga.cc
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@@ -123,7 +123,7 @@ GalileoE1DllPllVemlTrackingFpga::GalileoE1DllPllVemlTrackingFpga(
std::string default_device_name = "/dev/uio";
std::string device_name = configuration->property(role + ".devicename", default_device_name);
trk_param_fpga.device_name = device_name;
unsigned int device_base = configuration->property(role + ".device_base", 1);
unsigned int device_base = configuration->property(role + ".device_base", 15);
trk_param_fpga.device_base = device_base;
//unsigned int multicorr_type = configuration->property(role + ".multicorr_type", 1);
trk_param_fpga.multicorr_type = 1; // 0 -> 3 correlators, 1 -> 5 correlators

2
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking_fpga.cc
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@@ -123,7 +123,7 @@ GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
std::string default_device_name = "/dev/uio";
std::string device_name = configuration->property(role + ".devicename", default_device_name);
trk_param_fpga.device_name = device_name;
unsigned int device_base = configuration->property(role + ".device_base", 1);
unsigned int device_base = configuration->property(role + ".device_base", 27);
trk_param_fpga.device_base = device_base;
//unsigned int multicorr_type = configuration->property(role + ".multicorr_type", 1);
trk_param_fpga.multicorr_type = 1; // 0 -> 3 correlators, 1 -> up to 5+1 correlators

2
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_fpga.cc
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@@ -127,7 +127,7 @@ GpsL1CaDllPllTrackingFpga::GpsL1CaDllPllTrackingFpga(
std::string default_device_name = "/dev/uio";
std::string device_name = configuration->property(role + ".devicename", default_device_name);
trk_param_fpga.device_name = device_name;
unsigned int device_base = configuration->property(role + ".device_base", 1);
unsigned int device_base = configuration->property(role + ".device_base", 3);
trk_param_fpga.device_base = device_base;
//unsigned int multicorr_type = configuration->property(role + ".multicorr_type", 0);
trk_param_fpga.multicorr_type = 0; //multicorr_type : 0 -> 3 correlators, 1 -> 5 correlators

2
src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking_fpga.cc
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@@ -123,7 +123,7 @@ GpsL5DllPllTrackingFpga::GpsL5DllPllTrackingFpga(
std::string default_device_name = "/dev/uio";
std::string device_name = configuration->property(role + ".devicename", default_device_name);
trk_param_fpga.device_name = device_name;
unsigned int device_base = configuration->property(role + ".device_base", 1);
unsigned int device_base = configuration->property(role + ".device_base", 27);
trk_param_fpga.device_base = device_base;
//unsigned int multicorr_type = configuration->property(role + ".multicorr_type", 0);
trk_param_fpga.multicorr_type = 0; //multicorr_type : 0 -> 3 correlators, 1 -> 5 correlators

32
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc
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@@ -1218,6 +1218,7 @@ void dll_pll_veml_tracking_fpga::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro)
int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
// Block input data and block output stream pointers
Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
@@ -1247,15 +1248,29 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
multicorrelator_fpga->lock_channel();
uint64_t counter_value = multicorrelator_fpga->read_sample_counter();
//printf("333333 counter_value = %llu\n", counter_value);
//printf("333333 current_synchro_data.Acq_samplestamp_samples = %d\n", current_synchro_data.Acq_samplestamp_samples);
//printf("333333 current_synchro_data.Acq_samplestamp_samples = %llu\n", current_synchro_data.Acq_samplestamp_samples);
//printf("333333 current_synchro_data.Acq_delay_samples = %f\n", current_synchro_data.Acq_delay_samples);
//printf("333333 d_correlation_length_samples = %d\n", d_correlation_length_samples);
uint32_t num_frames = ceil((counter_value - current_synchro_data.Acq_samplestamp_samples - current_synchro_data.Acq_delay_samples) / d_correlation_length_samples);
//uint32_t num_frames = ceil((counter_value - current_synchro_data.Acq_samplestamp_samples*2 - current_synchro_data.Acq_delay_samples*2) / d_correlation_length_samples);
//printf("333333 num_frames = %d\n", num_frames);
uint64_t absolute_samples_offset = static_cast<uint64_t>(current_synchro_data.Acq_delay_samples + current_synchro_data.Acq_samplestamp_samples + num_frames * d_correlation_length_samples);
//uint64_t absolute_samples_offset = static_cast<uint64_t>(current_synchro_data.Acq_delay_samples*2 + current_synchro_data.Acq_samplestamp_samples*2 + num_frames * d_correlation_length_samples);
//printf("333333 absolute_samples_offset = %llu\n", absolute_samples_offset);
uint64_t absolute_samples_offset;
if (counter_value > (current_synchro_data.Acq_samplestamp_samples + current_synchro_data.Acq_delay_samples))
{
// normal operation
uint32_t num_frames = ceil((counter_value - current_synchro_data.Acq_samplestamp_samples - current_synchro_data.Acq_delay_samples) / d_correlation_length_samples);
//uint32_t num_frames = ceil((counter_value - current_synchro_data.Acq_samplestamp_samples*2 - current_synchro_data.Acq_delay_samples*2) / d_correlation_length_samples);
//printf("333333 num_frames = %d\n", num_frames);
absolute_samples_offset = static_cast<uint64_t>(current_synchro_data.Acq_delay_samples + current_synchro_data.Acq_samplestamp_samples + num_frames * d_correlation_length_samples);
//uint64_t absolute_samples_offset = static_cast<uint64_t>(current_synchro_data.Acq_delay_samples*2 + current_synchro_data.Acq_samplestamp_samples*2 + num_frames * d_correlation_length_samples);
//printf("333333 absolute_samples_offset = %llu\n", absolute_samples_offset);
}
else
{
// during the unit tests the counter value may be reset after the acquisition process. We have to take this into account
absolute_samples_offset = static_cast<uint64_t>(current_synchro_data.Acq_delay_samples + current_synchro_data.Acq_samplestamp_samples);
//printf("333333 absolute_samples_offset = %llu\n", absolute_samples_offset);
}
multicorrelator_fpga->set_initial_sample(absolute_samples_offset);
d_absolute_samples_offset = absolute_samples_offset;
d_sample_counter = absolute_samples_offset;
@@ -1268,6 +1283,7 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
case 2:
{
//printf("trk state 2 counter value = %" PRIu64 "\n", multicorrelator_fpga->read_sample_counter());
d_sample_counter = d_sample_counter_next;
d_sample_counter_next = d_sample_counter + static_cast<uint64_t>(d_current_prn_length_samples);
@@ -1481,6 +1497,7 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
case 3:
{
//printf("trk state 3 counter value = %" PRIu64 "\n", multicorrelator_fpga->read_sample_counter());
d_sample_counter = d_sample_counter_next;
d_sample_counter_next = d_sample_counter + static_cast<uint64_t>(d_current_prn_length_samples);
@@ -1541,6 +1558,7 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
case 4: // narrow tracking
{
//printf("trk state 4 counter value = %" PRIu64 "\n", multicorrelator_fpga->read_sample_counter());
d_sample_counter = d_sample_counter_next;
d_sample_counter_next = d_sample_counter + static_cast<uint64_t>(d_current_prn_length_samples);

2
src/algorithms/tracking/libs/fpga_multicorrelator.cc
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@@ -320,7 +320,7 @@ bool fpga_multicorrelator_8sc::free()
void fpga_multicorrelator_8sc::set_channel(uint32_t channel)
{
//printf("www trk set channel\n");
//printf("www trk set channel channel=%lu\n", (unsigned long) channel);
char device_io_name[MAX_LENGTH_DEVICEIO_NAME]; // driver io name
d_channel = channel;