mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-14 12:10:34 +00:00
Merge branch 'next' of github.com:gnss-sdr/gnss-sdr into pps_lime
This commit is contained in:
commit
831cc2d7b6
@ -53,7 +53,7 @@ IncludeBlocks: Merge
|
||||
IncludeCategories:
|
||||
- Regex: '^.*.h"'
|
||||
Priority: 1
|
||||
- Regex: '^.*(benchmark|boost|gflags|glog|gnsssdr|gnuradio|gpstk|gsl|gtest|pmt|uhd|volk)/'
|
||||
- Regex: '^.*(benchmark|boost|gflags|glog|gnsssdr|gnuradio|gnsstk|gsl|gtest|pmt|uhd|volk)/'
|
||||
Priority: 2
|
||||
- Regex: '^.*(armadillo|iio|matio|pugixml)'
|
||||
Priority: 2
|
||||
|
2
.github/workflows/main.yml
vendored
2
.github/workflows/main.yml
vendored
@ -62,7 +62,7 @@ jobs:
|
||||
- name: install dependencies
|
||||
run: brew update && brew install llvm pkg-config hdf5 armadillo lapack gflags glog gnuradio libmatio log4cpp openssl pugixml protobuf && ln -s $(brew --prefix llvm)/bin/clang-tidy /usr/local/bin && ln -s $(brew --prefix llvm)/bin/clang-apply-replacements /usr/local/bin && ln -s $(brew --prefix llvm)/bin/run-clang-tidy /usr/local/bin && pip3 install mako
|
||||
- name: Prepare run
|
||||
run: cd build && cmake .. && make volk_gnsssdr_module gtest-1.12.0 core_monitor core_libs pvt_libs
|
||||
run: cd build && cmake .. && make volk_gnsssdr_module gtest-1.12.1 core_monitor core_libs pvt_libs
|
||||
- name: run clang-tidy
|
||||
run: cd build && run-clang-tidy -fix
|
||||
- name: check
|
||||
|
484
CMakeLists.txt
484
CMakeLists.txt
File diff suppressed because it is too large
Load Diff
29
README.md
29
README.md
@ -385,9 +385,9 @@ $ sudo apt-get install libblas-dev liblapack-dev # For Debian/Ubuntu/Linux
|
||||
$ sudo yum install lapack-devel blas-devel # For Fedora/CentOS/RHEL
|
||||
$ sudo zypper install lapack-devel blas-devel # For OpenSUSE
|
||||
$ sudo pacman -S blas lapack # For Arch Linux
|
||||
$ wget https://sourceforge.net/projects/arma/files/armadillo-11.1.1.tar.xz
|
||||
$ tar xvfz armadillo-11.1.1.tar.xz
|
||||
$ cd armadillo-11.1.1
|
||||
$ wget https://sourceforge.net/projects/arma/files/armadillo-11.2.1.tar.xz
|
||||
$ tar xvfz armadillo-11.2.1.tar.xz
|
||||
$ cd armadillo-11.2.1
|
||||
$ cmake .
|
||||
$ make
|
||||
$ sudo make install
|
||||
@ -428,8 +428,8 @@ $ sudo ldconfig
|
||||
#### Download the [Google C++ Testing Framework](https://github.com/google/googletest "Googletest Homepage"), also known as Google Test:
|
||||
|
||||
```
|
||||
$ wget https://github.com/google/googletest/archive/release-1.12.0.zip
|
||||
$ unzip release-1.12.0.zip
|
||||
$ wget https://github.com/google/googletest/archive/release-1.12.1.zip
|
||||
$ unzip release-1.12.1.zip
|
||||
```
|
||||
|
||||
Please **DO NOT build or install** Google Test. Every user needs to compile
|
||||
@ -453,10 +453,10 @@ downloaded resides. Just type in your terminal (or add it to your
|
||||
`$HOME/.bashrc` file for a permanent solution) the following line:
|
||||
|
||||
```
|
||||
export GTEST_DIR=/home/username/googletest-release-1.12.0
|
||||
export GTEST_DIR=/home/username/googletest-release-1.12.1
|
||||
```
|
||||
|
||||
changing `/home/username/googletest-release-1.12.0` by the actual path where you
|
||||
changing `/home/username/googletest-release-1.12.1` by the actual path where you
|
||||
unpacked Google Test. If the CMake script does not find that folder, or the
|
||||
environment variable is not defined, or the source code is not installed by a
|
||||
package, then it will download a fresh copy of the Google Test source code and
|
||||
@ -882,7 +882,7 @@ $ brew update && brew upgrade
|
||||
$ brew install armadillo cmake hdf5 gflags glog gnuradio lapack libmatio log4cpp \
|
||||
openssl pkg-config protobuf pugixml
|
||||
$ pip3 install mako
|
||||
$ brew cask install mactex # when completed, restart Terminal
|
||||
$ brew install --cask mactex # when completed, restart Terminal
|
||||
$ brew install graphviz doxygen
|
||||
```
|
||||
|
||||
@ -969,9 +969,8 @@ compile time if they are not detected in your machine.
|
||||
[https://github.com/carlesfernandez/docker-pybombs-gnsssdr](https://github.com/carlesfernandez/docker-pybombs-gnsssdr)
|
||||
for instructions.
|
||||
|
||||
- **Snap package**: [Snaps](https://snapcraft.io) are universal Linux packages
|
||||
aimed to work on any distribution or device, from IoT devices to servers,
|
||||
desktops to mobile devices. Visit
|
||||
- **Snap package**: [Snaps](https://snapcraft.io) are Linux packages aimed for
|
||||
Ubuntu or Ubuntu-like distros. Visit
|
||||
[https://github.com/carlesfernandez/snapcraft-sandbox](https://github.com/carlesfernandez/snapcraft-sandbox)
|
||||
for instructions, or directly
|
||||
[get the software from the Snap Store](https://snapcraft.io/gnss-sdr-next):
|
||||
@ -2048,10 +2047,10 @@ PVT.rtcm_MT1077_rate_ms=1000
|
||||
the user to post-process the received data to produce a more accurate result
|
||||
(usually with other data unknown to the original receiver, such as better
|
||||
models of the atmospheric conditions at time of measurement). RINEX files can
|
||||
be used by software packages such as [GPSTk](https://github.com/SGL-UT/GPSTk),
|
||||
[RTKLIB](http://www.rtklib.com/), and [gLAB](https://gage.upc.edu/gLAB/).
|
||||
GNSS-SDR by default generates RINEX version
|
||||
[3.02](ftp://igs.org/pub/data/format/rinex302.pdf). If
|
||||
be used by software packages such as
|
||||
[GNSSTK](https://github.com/SGL-UT/gnsstk), [RTKLIB](http://www.rtklib.com/),
|
||||
and [gLAB](https://gage.upc.edu/gLAB/). GNSS-SDR by default generates RINEX
|
||||
version [3.02](ftp://igs.org/pub/data/format/rinex302.pdf). If
|
||||
[2.11](ftp://igs.org/pub/data/format/rinex211.txt) is needed, it can be
|
||||
requested through the `rinex_version` parameter in the configuration file:
|
||||
|
||||
|
147
cmake/Modules/FindGNSSTK.cmake
Normal file
147
cmake/Modules/FindGNSSTK.cmake
Normal file
@ -0,0 +1,147 @@
|
||||
# GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
|
||||
# This file is part of GNSS-SDR.
|
||||
#
|
||||
# SPDX-FileCopyrightText: 2022 C. Fernandez-Prades cfernandez(at)cttc.es
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
# - Find gnsstk library
|
||||
# Find the native gnsstk includes and library
|
||||
# This module defines
|
||||
# GNSSTK_INCLUDE_DIR, where to find Rinex3ObsBase.hpp, etc.
|
||||
# GNSSTK_FOUND, If false, do not try to use GNSSTK.
|
||||
# GNSSTK_LIBRARY, where to find the GNSSTK library.
|
||||
#
|
||||
# Provides the following imported target:
|
||||
# Gnsstk::gnsstk
|
||||
#
|
||||
|
||||
if(NOT COMMAND feature_summary)
|
||||
include(FeatureSummary)
|
||||
endif()
|
||||
|
||||
if(NOT GNSSTK_ROOT)
|
||||
set(GNSSTK_ROOT_USER_DEFINED /usr/local)
|
||||
else()
|
||||
set(GNSSTK_ROOT_USER_DEFINED ${GNSSTK_ROOT})
|
||||
endif()
|
||||
if(DEFINED ENV{GNSSTK_ROOT})
|
||||
set(GNSSTK_ROOT_USER_DEFINED
|
||||
${GNSSTK_ROOT_USER_DEFINED}
|
||||
$ENV{GNSSTK_ROOT}
|
||||
)
|
||||
endif()
|
||||
|
||||
unset(GNSSTK_INCLUDE_DIR CACHE)
|
||||
unset(GNSSTK_USES_GPSTK_NAMESPACE CACHE)
|
||||
find_path(GNSSTK_INCLUDE_DIR gnsstk/Rinex3ObsBase.hpp
|
||||
PATHS ${GNSSTK_ROOT_USER_DEFINED}/include
|
||||
/usr/include
|
||||
/usr/local/include
|
||||
/opt/local/include
|
||||
)
|
||||
set(GNSSTK_NAMES ${CMAKE_FIND_LIBRARY_PREFIXES}gnsstk${CMAKE_SHARED_LIBRARY_SUFFIX})
|
||||
if(NOT GNSSTK_INCLUDE_DIR)
|
||||
find_path(GNSSTK_INCLUDE_DIR gpstk/Rinex3ObsBase.hpp
|
||||
PATHS ${GNSSTK_ROOT_USER_DEFINED}/include
|
||||
/usr/include
|
||||
/usr/local/include
|
||||
/opt/local/include
|
||||
)
|
||||
if(GNSSTK_INCLUDE_DIR)
|
||||
set(GNSSTK_NAMES gpstk ${CMAKE_FIND_LIBRARY_PREFIXES}gpstk${CMAKE_SHARED_LIBRARY_SUFFIX})
|
||||
set(GNSSTK_USES_GPSTK_NAMESPACE TRUE)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
include(GNUInstallDirs)
|
||||
|
||||
find_library(GNSSTK_LIBRARY NAMES ${GNSSTK_NAMES}
|
||||
PATHS ${GNSSTK_ROOT_USER_DEFINED}/lib
|
||||
${GNSSTK_ROOT_USER_DEFINED}/${CMAKE_INSTALL_LIBDIR}
|
||||
/usr/local/lib
|
||||
/usr/${CMAKE_INSTALL_LIBDIR}
|
||||
/usr/local/${CMAKE_INSTALL_LIBDIR}
|
||||
/opt/local/lib
|
||||
)
|
||||
|
||||
if(GNSSTK_LIBRARY AND GNSSTK_INCLUDE_DIR)
|
||||
set(OLD_PACKAGE_VERSION ${PACKAGE_VERSION})
|
||||
unset(PACKAGE_VERSION)
|
||||
if(GNSSTK_USES_GPSTK_NAMESPACE)
|
||||
if(EXISTS ${GNSSTK_INCLUDE_DIR}/../share/cmake/GPSTK/GPSTKConfigVersion.cmake)
|
||||
include(${GNSSTK_INCLUDE_DIR}/../share/cmake/GPSTK/GPSTKConfigVersion.cmake)
|
||||
endif()
|
||||
else()
|
||||
if(EXISTS ${GNSSTK_INCLUDE_DIR}/../share/cmake/GNSSTK/GNSSTKConfigVersion.cmake)
|
||||
include(${GNSSTK_INCLUDE_DIR}/../share/cmake/GNSSTK/GNSSTKConfigVersion.cmake)
|
||||
endif()
|
||||
endif()
|
||||
if(PACKAGE_VERSION)
|
||||
set(GNSSTK_VERSION ${PACKAGE_VERSION})
|
||||
endif()
|
||||
set(PACKAGE_VERSION ${OLD_PACKAGE_VERSION})
|
||||
endif()
|
||||
|
||||
if(GNSSTK_VERSION)
|
||||
if(GNSSTK_VERSION VERSION_LESS "9.0.0")
|
||||
set(GNSSTK_OLDER_THAN_9 TRUE)
|
||||
endif()
|
||||
if(GNSSTK_VERSION VERSION_LESS "13.0.0")
|
||||
set(GNSSTK_OLDER_THAN_13 TRUE)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
if(EXISTS ${GNSSTK_INCLUDE_DIR}/gnsstk/GPSEphemerisStore.hpp)
|
||||
set(GNSSTK_OLDER_THAN_13 TRUE)
|
||||
endif()
|
||||
|
||||
# handle the QUIET and REQUIRED arguments and set GNSSTK_FOUND to TRUE if
|
||||
# all listed variables are TRUE
|
||||
include(FindPackageHandleStandardArgs)
|
||||
find_package_handle_standard_args(GNSSTK DEFAULT_MSG GNSSTK_LIBRARY GNSSTK_INCLUDE_DIR)
|
||||
|
||||
if(GNSSTK_FOUND AND GNSSTK_VERSION)
|
||||
set_package_properties(GNSSTK PROPERTIES
|
||||
DESCRIPTION "The GNSSTk C++ Library (found: v${GNSSTK_VERSION})"
|
||||
)
|
||||
else()
|
||||
set_package_properties(GNSSTK PROPERTIES
|
||||
DESCRIPTION "The GNSSTk C++ Library"
|
||||
)
|
||||
endif()
|
||||
|
||||
if(GNSSTK_FOUND AND GNSSTK_USES_GPSTK_NAMESPACE AND NOT EXISTS ${GNSSTK_INCLUDE_DIR}/gpstk/SatelliteSystem.hpp)
|
||||
set(GNSSTK_OLDER_THAN_8 TRUE)
|
||||
endif()
|
||||
|
||||
set_package_properties(GNSSTK PROPERTIES
|
||||
URL "https://github.com/SGL-UT/gnsstk/"
|
||||
TYPE OPTIONAL
|
||||
)
|
||||
|
||||
if(GNSSTK_FOUND AND NOT ENABLE_OWN_GNSSTK AND NOT TARGET Gnsstk::gnsstk)
|
||||
add_library(Gnsstk::gnsstk SHARED IMPORTED)
|
||||
if(GNSSTK_USES_GPSTK_NAMESPACE)
|
||||
set_target_properties(Gnsstk::gnsstk PROPERTIES
|
||||
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
|
||||
IMPORTED_LOCATION "${GNSSTK_LIBRARY}"
|
||||
INTERFACE_INCLUDE_DIRECTORIES "${GNSSTK_INCLUDE_DIR};${GNSSTK_INCLUDE_DIR}/gpstk"
|
||||
INTERFACE_LINK_LIBRARIES "${GNSSTK_LIBRARY}"
|
||||
)
|
||||
else()
|
||||
set_target_properties(Gnsstk::gnsstk PROPERTIES
|
||||
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
|
||||
IMPORTED_LOCATION "${GNSSTK_LIBRARY}"
|
||||
INTERFACE_INCLUDE_DIRECTORIES "${GNSSTK_INCLUDE_DIR};${GNSSTK_INCLUDE_DIR}/gnsstk"
|
||||
INTERFACE_LINK_LIBRARIES "${GNSSTK_LIBRARY}"
|
||||
)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
mark_as_advanced(GNSSTK_LIBRARY
|
||||
GNSSTK_INCLUDE_DIR
|
||||
GNSSTK_USES_GPSTK_NAMESPACE
|
||||
GNSSTK_OLDER_THAN_8
|
||||
GNSSTK_OLDER_THAN_9
|
||||
GNSSTK_OLDER_THAN_13
|
||||
)
|
@ -346,6 +346,8 @@ if(GNURADIO_VERSION VERSION_GREATER 3.8.99)
|
||||
if(GNURADIO_IIO_LIBRARIES)
|
||||
message(STATUS " * INCLUDES=${GNURADIO_IIO_INCLUDE_DIRS}")
|
||||
message(STATUS " * LIBS=${GNURADIO_IIO_LIBRARIES}")
|
||||
else()
|
||||
message(STATUS " * IIO GNU Radio Module not found.")
|
||||
endif()
|
||||
if(GNURADIO_IIO_LIBRARIES AND GNURADIO_IIO_INCLUDE_DIRS)
|
||||
set(GNURADIO_IIO_FOUND TRUE)
|
||||
|
@ -1,99 +0,0 @@
|
||||
# GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
|
||||
# This file is part of GNSS-SDR.
|
||||
#
|
||||
# SPDX-FileCopyrightText: 2011-2020 C. Fernandez-Prades cfernandez(at)cttc.es
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
# - Find gpstk library
|
||||
# Find the native gpstk includes and library
|
||||
# This module defines
|
||||
# GPSTK_INCLUDE_DIR, where to find Rinex3ObsBase.hpp, etc.
|
||||
# GPSTK_FOUND, If false, do not try to use GPSTK.
|
||||
# GPSTK_LIBRARY, where to find the GPSTK library.
|
||||
#
|
||||
# Provides the following imported target:
|
||||
# Gpstk::gpstk
|
||||
#
|
||||
|
||||
if(NOT COMMAND feature_summary)
|
||||
include(FeatureSummary)
|
||||
endif()
|
||||
|
||||
if(NOT GPSTK_ROOT)
|
||||
set(GPSTK_ROOT_USER_DEFINED /usr/local)
|
||||
else()
|
||||
set(GPSTK_ROOT_USER_DEFINED ${GPSTK_ROOT})
|
||||
endif()
|
||||
if(DEFINED ENV{GPSTK_ROOT})
|
||||
set(GPSTK_ROOT_USER_DEFINED
|
||||
${GPSTK_ROOT_USER_DEFINED}
|
||||
$ENV{GPSTK_ROOT}
|
||||
)
|
||||
endif()
|
||||
|
||||
find_path(GPSTK_INCLUDE_DIR gpstk/Rinex3ObsBase.hpp
|
||||
PATHS ${GPSTK_ROOT_USER_DEFINED}/include
|
||||
/usr/include
|
||||
/usr/local/include
|
||||
/opt/local/include
|
||||
)
|
||||
|
||||
set(GPSTK_NAMES gpstk libgpstk)
|
||||
|
||||
include(GNUInstallDirs)
|
||||
|
||||
find_library(GPSTK_LIBRARY NAMES ${GPSTK_NAMES}
|
||||
PATHS ${GPSTK_ROOT_USER_DEFINED}/lib
|
||||
${GPSTK_ROOT_USER_DEFINED}/${CMAKE_INSTALL_LIBDIR}
|
||||
/usr/local/lib
|
||||
/usr/${CMAKE_INSTALL_LIBDIR}
|
||||
/usr/local/${CMAKE_INSTALL_LIBDIR}
|
||||
/opt/local/lib
|
||||
)
|
||||
|
||||
# handle the QUIET and REQUIRED arguments and set GPSTK_FOUND to TRUE if
|
||||
# all listed variables are TRUE
|
||||
include(FindPackageHandleStandardArgs)
|
||||
find_package_handle_standard_args(GPSTK DEFAULT_MSG GPSTK_LIBRARY GPSTK_INCLUDE_DIR)
|
||||
|
||||
if(GPSTK_FOUND)
|
||||
set(OLD_PACKAGE_VERSION ${PACKAGE_VERSION})
|
||||
unset(PACKAGE_VERSION)
|
||||
if(EXISTS ${CMAKE_INSTALL_FULL_DATADIR}/cmake/GPSTK/GPSTKConfigVersion.cmake)
|
||||
include(${CMAKE_INSTALL_FULL_DATADIR}/cmake/GPSTK/GPSTKConfigVersion.cmake)
|
||||
endif()
|
||||
if(PACKAGE_VERSION)
|
||||
set(GPSTK_VERSION ${PACKAGE_VERSION})
|
||||
endif()
|
||||
set(PACKAGE_VERSION ${OLD_PACKAGE_VERSION})
|
||||
endif()
|
||||
|
||||
if(GPSTK_FOUND AND GPSTK_VERSION)
|
||||
set_package_properties(GPSTK PROPERTIES
|
||||
DESCRIPTION "Library and suite of applications for satellite navigation (found: v${GPSTK_VERSION})"
|
||||
)
|
||||
else()
|
||||
set_package_properties(GPSTK PROPERTIES
|
||||
DESCRIPTION "Library and suite of applications for satellite navigation"
|
||||
)
|
||||
endif()
|
||||
|
||||
if(GPSTK_FOUND AND NOT EXISTS ${GPSTK_INCLUDE_DIR}/gpstk/SatelliteSystem.hpp)
|
||||
set(GPSTK_OLDER_THAN_8 TRUE)
|
||||
endif()
|
||||
|
||||
set_package_properties(GPSTK PROPERTIES
|
||||
URL "https://github.com/SGL-UT/GPSTk"
|
||||
)
|
||||
|
||||
if(GPSTK_FOUND AND NOT ENABLE_OWN_GPSTK AND NOT TARGET Gpstk::gpstk)
|
||||
add_library(Gpstk::gpstk SHARED IMPORTED)
|
||||
set_target_properties(Gpstk::gpstk PROPERTIES
|
||||
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
|
||||
IMPORTED_LOCATION "${GPSTK_LIBRARY}"
|
||||
INTERFACE_INCLUDE_DIRECTORIES "${GPSTK_INCLUDE_DIR};${GPSTK_INCLUDE_DIR}/gpstk"
|
||||
INTERFACE_LINK_LIBRARIES "${GPSTK_LIBRARY}"
|
||||
)
|
||||
endif()
|
||||
|
||||
mark_as_advanced(GPSTK_LIBRARY GPSTK_INCLUDE_DIR)
|
145
cmake/Modules/FindLIBUNWIND.cmake
Normal file
145
cmake/Modules/FindLIBUNWIND.cmake
Normal file
@ -0,0 +1,145 @@
|
||||
# GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
|
||||
# This file is part of GNSS-SDR.
|
||||
#
|
||||
# SPDX-FileCopyrightText: 2022 C. Fernandez-Prades cfernandez(at)cttc.es
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
# Find the libunwind library
|
||||
#
|
||||
# LIBUNWIND_FOUND - True if libunwind was found.
|
||||
# LIBUNWIND_LIBRARIES - The libraries needed to use libunwind
|
||||
# LIBUNWIND_INCLUDE_DIR - Location of libunwind.h
|
||||
|
||||
# INPUT (Optional):
|
||||
# LIBUNWIND_ROOT - path where include + lib of libunwind install is located
|
||||
|
||||
if(NOT COMMAND feature_summary)
|
||||
include(FeatureSummary)
|
||||
endif()
|
||||
|
||||
find_path(LIBUNWIND_INCLUDE_DIR
|
||||
NAMES
|
||||
libunwind.h
|
||||
unwind.h
|
||||
HINTS
|
||||
/usr
|
||||
/usr/local
|
||||
/opt/local
|
||||
PATH_SUFFIXES include
|
||||
PATHS "${LIBUNWIND_ROOT}/include"
|
||||
)
|
||||
|
||||
find_library(LIBUNWIND_GENERIC_LIBRARY
|
||||
NAMES
|
||||
libunwind
|
||||
unwind
|
||||
HINTS
|
||||
/usr
|
||||
/usr/local
|
||||
/opt/local
|
||||
PATH_SUFFIXES lib lib64
|
||||
PATHS
|
||||
"${LIBUNWIND_ROOT}/lib"
|
||||
"${LIBUNWIND_ROOT}/lib64"
|
||||
)
|
||||
|
||||
if(LIBUNWIND_INCLUDE_DIR)
|
||||
if(LIBUNWIND_GENERIC_LIBRARY)
|
||||
set(LIBUNWIND_LIBRARIES ${LIBUNWIND_GENERIC_LIBRARY})
|
||||
if(CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64|arm64)")
|
||||
set(LIBUNWIND_ARCH "aarch64")
|
||||
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "^arm")
|
||||
set(LIBUNWIND_ARCH "arm")
|
||||
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "(x86_64)|(AMD64|amd64)|(corei7-64)")
|
||||
set(LIBUNWIND_ARCH "x86_64")
|
||||
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "^i.86$")
|
||||
set(LIBUNWIND_ARCH "x86")
|
||||
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "^ppc64")
|
||||
set(LIBUNWIND_ARCH "ppc64")
|
||||
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "^ppc")
|
||||
set(LIBUNWIND_ARCH "ppc32")
|
||||
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "^mips")
|
||||
set(LIBUNWIND_ARCH "mips")
|
||||
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "^hppa")
|
||||
set(LIBUNWIND_ARCH "hppa")
|
||||
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "^ia64")
|
||||
set(LIBUNWIND_ARCH "ia64")
|
||||
endif()
|
||||
if(LIBUNWIND_ARCH)
|
||||
find_library(LIBUNWIND_SPECIFIC_LIBRARY
|
||||
NAMES
|
||||
libunwind-${LIBUNWIND_ARCH}
|
||||
"unwind-${LIBUNWIND_ARCH}"
|
||||
HINTS
|
||||
/usr
|
||||
/usr/local
|
||||
/opt/local
|
||||
PATH_SUFFIXES lib lib64
|
||||
PATHS "${LIBUNWIND_ROOT}"
|
||||
)
|
||||
if(NOT LIBUNWIND_SPECIFIC_LIBRARY)
|
||||
message(STATUS " -- Failed to find unwind-${LIBUNWIND_ARCH}")
|
||||
else()
|
||||
set(LIBUNWIND_LIBRARIES ${LIBUNWIND_LIBRARIES} ${LIBUNWIND_SPECIFIC_LIBRARY})
|
||||
endif()
|
||||
endif()
|
||||
endif()
|
||||
else()
|
||||
message(STATUS " -- Could NOT find libunwind.h")
|
||||
endif()
|
||||
|
||||
include(FindPackageHandleStandardArgs)
|
||||
find_package_handle_standard_args(LIBUNWIND DEFAULT_MSG LIBUNWIND_INCLUDE_DIR)
|
||||
|
||||
if(LIBUNWIND_FOUND)
|
||||
set(_Unwind_VERSION_HEADER ${LIBUNWIND_INCLUDE_DIR}/libunwind-common.h)
|
||||
if(EXISTS ${_Unwind_VERSION_HEADER})
|
||||
file(READ ${_Unwind_VERSION_HEADER} _Unwind_VERSION_CONTENTS)
|
||||
string(REGEX REPLACE ".*#define UNW_VERSION_MAJOR[ \t]+([0-9]+).*" "\\1"
|
||||
LIBUNWIND_VERSION_MAJOR "${_Unwind_VERSION_CONTENTS}")
|
||||
string(REGEX REPLACE ".*#define UNW_VERSION_MINOR[ \t]+([0-9]+).*" "\\1"
|
||||
LIBUNWIND_VERSION_MINOR "${_Unwind_VERSION_CONTENTS}")
|
||||
string(REGEX REPLACE ".*#define UNW_VERSION_EXTRA[ \t]+([0-9]+).*" "\\1"
|
||||
LIBUNWIND_VERSION_PATCH "${_Unwind_VERSION_CONTENTS}")
|
||||
set(LIBUNWIND_VERSION ${LIBUNWIND_VERSION_MAJOR}.${LIBUNWIND_VERSION_MINOR})
|
||||
if(CMAKE_MATCH_0)
|
||||
# Third version component may be empty
|
||||
set(LIBUNWIND_VERSION ${LIBUNWIND_VERSION}.${LIBUNWIND_VERSION_PATCH})
|
||||
set(LIBUNWIND_VERSION_COMPONENTS 3)
|
||||
else()
|
||||
set(LIBUNWIND_VERSION_COMPONENTS 2)
|
||||
endif()
|
||||
endif()
|
||||
endif()
|
||||
|
||||
if(LIBUNWIND_FOUND AND NOT TARGET Libunwind::libunwind)
|
||||
if(LIBUNWIND_GENERIC_LIBRARY)
|
||||
add_library(Libunwind::libunwind SHARED IMPORTED)
|
||||
set_target_properties(Libunwind::libunwind PROPERTIES
|
||||
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
|
||||
IMPORTED_LOCATION "${LIBUNWIND_GENERIC_LIBRARY}"
|
||||
INTERFACE_INCLUDE_DIRECTORIES "${LIBUNWIND_INCLUDE_DIR}"
|
||||
INTERFACE_LINK_LIBRARIES "${LIBUNWIND_LIBRARIES}"
|
||||
)
|
||||
else()
|
||||
add_library(Libunwind::libunwind INTERFACE IMPORTED)
|
||||
set_target_properties(Libunwind::libunwind PROPERTIES
|
||||
INTERFACE_INCLUDE_DIRECTORIES "${LIBUNWIND_INCLUDE_DIR}"
|
||||
)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
set_package_properties(LIBUNWIND PROPERTIES
|
||||
URL "https://www.nongnu.org/libunwind/"
|
||||
)
|
||||
if(LIBUNWIND_VERSION)
|
||||
set_package_properties(LIBUNWIND PROPERTIES
|
||||
DESCRIPTION "Portable and efficient C programming interface to determine the call-chain of a program (found: v${LIBUNWIND_VERSION})"
|
||||
)
|
||||
else()
|
||||
set_package_properties(LIBUNWIND PROPERTIES
|
||||
DESCRIPTION "Portable and efficient C programming interface to determine the call-chain of a program"
|
||||
)
|
||||
endif()
|
||||
|
||||
mark_as_advanced(LIBUNWIND_LIBRARIES LIBUNWIND_INCLUDE_DIR)
|
@ -18,6 +18,8 @@ All notable changes to GNSS-SDR will be documented in this file.
|
||||
|
||||
- Fixed bug that made the PVT block to not resolve position anymore after a loss
|
||||
of samples event.
|
||||
- Improved non-coherent acquisition when `Acquisition_XX.blocking=false`.
|
||||
- Implemented processing of BeiDou PRN 34 up to PRN 63 signals.
|
||||
|
||||
### Improvements in Interoperability:
|
||||
|
||||
@ -35,6 +37,13 @@ All notable changes to GNSS-SDR will be documented in this file.
|
||||
**not** applied to the computed PVT solution. In the Galileo E6B-only
|
||||
receiver, HAS messages are decoded and reported.
|
||||
|
||||
### Improvements in Maintainability:
|
||||
|
||||
- The now archived [GPSTk toolkit](https://github.com/SGL-UT/GPSTk), used in
|
||||
some optional tests and applications, has been replaced by the new
|
||||
[GNSSTk](https://github.com/SGL-UT/gnsstk) C++ Library. Compatibility with the
|
||||
former GPSTk toolkit is maintained.
|
||||
|
||||
### Improvements in Portability:
|
||||
|
||||
- Improved detection of the BLAS library under macOS / Macports (the `lapack`
|
||||
@ -47,6 +56,10 @@ All notable changes to GNSS-SDR will be documented in this file.
|
||||
- Fixed running time error if the binary is built with the
|
||||
`-Wp,-D_GLIBCXX_ASSERTIONS` compiler option. This is added by default in some
|
||||
GNU/Linux distributions.
|
||||
- Fixed linking against libunwind when the glog library is built locally.
|
||||
- The configuration options at building time `-DENABLE_OWN_GLOG`,
|
||||
`-DENABLE_OWN_ARMADILLO`, and `-DENABLE_OWN_GNSSTK` can now be switched `ON`
|
||||
and `OFF` without the need to start from an empty buiding folder.
|
||||
|
||||
### Improvements in Usability:
|
||||
|
||||
@ -60,6 +73,11 @@ All notable changes to GNSS-SDR will be documented in this file.
|
||||
load on the data link and thus allow more bandwidth.
|
||||
- Added gain setting and reading for the XTRX board when using the
|
||||
`Osmosdr_Signal_Source` implementation of a `SignalSource`.
|
||||
- The `Osmosdr_Signal_Source` implementation learned a new parameter `if_bw` to
|
||||
manually set the bandwidth of the bandpass filter on the radio frontend.
|
||||
- The new configuration parameter `Channels_XX.RF_channel_ID` allows to specify
|
||||
the signal source per channel group.
|
||||
- Allowed the CMake project to be a sub-project.
|
||||
|
||||
See the definitions of concepts and metrics at
|
||||
https://gnss-sdr.org/design-forces/
|
||||
@ -90,7 +108,7 @@ https://gnss-sdr.org/design-forces/
|
||||
|
||||
- Added a script at `src/utils/scripts/download-galileo-almanac.sh` that
|
||||
downloads an XML file with the latest Galileo almanac published by the
|
||||
European GNSS Service Centre at https://www.gsc-europa.eu/product-almanacs
|
||||
European GNSS Service Centre at https://www.gsc-europa.eu/gsc-products/almanac
|
||||
|
||||
See the definitions of concepts and metrics at
|
||||
https://gnss-sdr.org/design-forces/
|
||||
@ -991,7 +1009,8 @@ features and bug fixes:
|
||||
- Improvements in the RTCM server stability.
|
||||
- Improvements in the correctness of generated RINEX files.
|
||||
- The receiver can read and make use of Galileo almanac XML files published by
|
||||
the European GNSS Service Centre at https://www.gsc-europa.eu/product-almanacs
|
||||
the European GNSS Service Centre at
|
||||
https://www.gsc-europa.eu/gsc-products/almanac
|
||||
- Own-defined XML schemas for navigation data published at
|
||||
https://github.com/gnss-sdr/gnss-sdr/tree/next/docs/xml-schemas
|
||||
- Added program `rinex2assist` to convert RINEX navigation files into XML files
|
||||
|
@ -514,7 +514,7 @@ Observables.dump_filename=./observables.dat
|
||||
\subsection pvt Computation of Position, Velocity and Time
|
||||
Although data processing for obtaining high-accuracy PVT solutions is out of the scope of GNSS-SDR, we provide a module that can compute a simple least square
|
||||
solution and leaves room for more sophisticated positioning methods. The integration with libraries and software tools that are able to deal with multi-constellation
|
||||
data such as <a href="https://github.com/SGL-UT/GPSTk" target="_blank">GPSTk</a> or <a href="https://gage.upc.edu/gLAB/" target="_blank">gLAB</a> appears as a viable solution for high performance, completely customizable GNSS receivers.
|
||||
data such as <a href="https://github.com/SGL-UT/gnsstk" target="_blank">GNSSTk</a> or <a href="https://gage.upc.edu/gLAB/" target="_blank">gLAB</a> appears as a viable solution for high performance, completely customizable GNSS receivers.
|
||||
|
||||
The common interface is PvtInterface. For instance, in order to use the implementation RTKLIB_PVT, add to the configuration file:
|
||||
\verbatim
|
||||
|
@ -29,7 +29,7 @@ target_link_libraries(pvt_adapters
|
||||
|
||||
target_include_directories(pvt_adapters
|
||||
PUBLIC
|
||||
${CMAKE_SOURCE_DIR}/src/core/interfaces
|
||||
${GNSSSDR_SOURCE_DIR}/src/core/interfaces
|
||||
)
|
||||
|
||||
if(USE_OLD_BOOST_MATH_COMMON_FACTOR)
|
||||
|
@ -40,7 +40,7 @@ endif()
|
||||
|
||||
target_include_directories(pvt_gr_blocks
|
||||
PUBLIC
|
||||
${CMAKE_SOURCE_DIR}/src/core/interfaces
|
||||
${GNSSSDR_SOURCE_DIR}/src/core/interfaces
|
||||
)
|
||||
|
||||
if(USE_GENERIC_LAMBDAS)
|
||||
|
@ -142,6 +142,7 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
|
||||
d_rinex_version(conf_.rinex_version),
|
||||
d_rx_time(0.0),
|
||||
d_local_counter_ms(0ULL),
|
||||
d_timestamp_rx_clock_offset_correction_msg_ms(0LL),
|
||||
d_rinexobs_rate_ms(conf_.rinexobs_rate_ms),
|
||||
d_kml_rate_ms(conf_.kml_rate_ms),
|
||||
d_gpx_rate_ms(conf_.gpx_rate_ms),
|
||||
@ -155,6 +156,7 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
|
||||
d_nchannels(nchannels),
|
||||
d_type_of_rx(conf_.type_of_receiver),
|
||||
d_observable_interval_ms(conf_.observable_interval_ms),
|
||||
d_pvt_errors_counter(0),
|
||||
d_dump(conf_.dump),
|
||||
d_dump_mat(conf_.dump_mat && conf_.dump),
|
||||
d_rinex_output_enabled(conf_.rinex_output_enabled),
|
||||
@ -166,13 +168,10 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
|
||||
d_flag_monitor_pvt_enabled(conf_.monitor_enabled),
|
||||
d_flag_monitor_ephemeris_enabled(conf_.monitor_ephemeris_enabled),
|
||||
d_show_local_time_zone(conf_.show_local_time_zone),
|
||||
d_timestamp_rx_clock_offset_correction_msg_ms(0LL),
|
||||
d_enable_rx_clock_correction(conf_.enable_rx_clock_correction),
|
||||
d_an_printer_enabled(conf_.an_output_enabled),
|
||||
d_log_timetag(conf_.log_source_timetag)
|
||||
{
|
||||
// debug
|
||||
d_pvt_errors_counter = 0;
|
||||
// Send feedback message to observables block with the receiver clock offset
|
||||
this->message_port_register_out(pmt::mp("pvt_to_observables"));
|
||||
// Experimental: VLT commands from PVT to tracking channels
|
||||
|
@ -243,6 +243,7 @@ private:
|
||||
double d_rinex_version;
|
||||
double d_rx_time;
|
||||
uint64_t d_local_counter_ms;
|
||||
uint64_t d_timestamp_rx_clock_offset_correction_msg_ms;
|
||||
|
||||
key_t d_sysv_msg_key;
|
||||
int d_sysv_msqid;
|
||||
@ -268,6 +269,7 @@ private:
|
||||
uint32_t d_nchannels;
|
||||
uint32_t d_type_of_rx;
|
||||
uint32_t d_observable_interval_ms;
|
||||
uint32_t d_pvt_errors_counter;
|
||||
|
||||
bool d_dump;
|
||||
bool d_dump_mat;
|
||||
@ -282,8 +284,6 @@ private:
|
||||
bool d_flag_monitor_pvt_enabled;
|
||||
bool d_flag_monitor_ephemeris_enabled;
|
||||
bool d_show_local_time_zone;
|
||||
uint64_t d_timestamp_rx_clock_offset_correction_msg_ms;
|
||||
uint32_t d_pvt_errors_counter;
|
||||
bool d_enable_rx_clock_correction;
|
||||
bool d_enable_has_messages;
|
||||
bool d_an_printer_enabled;
|
||||
|
@ -4,9 +4,9 @@
|
||||
# SPDX-FileCopyrightText: 2010-2020 C. Fernandez-Prades cfernandez(at)cttc.es
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS ${CMAKE_SOURCE_DIR}/docs/protobuf/monitor_pvt.proto)
|
||||
protobuf_generate_cpp(PROTO_SRCS2 PROTO_HDRS2 ${CMAKE_SOURCE_DIR}/docs/protobuf/gps_ephemeris.proto)
|
||||
protobuf_generate_cpp(PROTO_SRCS3 PROTO_HDRS3 ${CMAKE_SOURCE_DIR}/docs/protobuf/galileo_ephemeris.proto)
|
||||
protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS ${GNSSSDR_SOURCE_DIR}/docs/protobuf/monitor_pvt.proto)
|
||||
protobuf_generate_cpp(PROTO_SRCS2 PROTO_HDRS2 ${GNSSSDR_SOURCE_DIR}/docs/protobuf/gps_ephemeris.proto)
|
||||
protobuf_generate_cpp(PROTO_SRCS3 PROTO_HDRS3 ${GNSSSDR_SOURCE_DIR}/docs/protobuf/galileo_ephemeris.proto)
|
||||
|
||||
set(PVT_LIB_SOURCES
|
||||
an_packet_printer.cc
|
||||
@ -98,7 +98,7 @@ get_filename_component(PROTO_INCLUDE_HEADERS_DIR ${PROTO_HDRS} DIRECTORY)
|
||||
# for concurrent_queue.h
|
||||
target_include_directories(pvt_libs
|
||||
PUBLIC
|
||||
${CMAKE_SOURCE_DIR}/src/core/receiver
|
||||
${GNSSSDR_SOURCE_DIR}/src/core/receiver
|
||||
)
|
||||
|
||||
# Do not apply clang-tidy fixes to protobuf generated headers
|
||||
|
@ -1015,7 +1015,7 @@ private:
|
||||
};
|
||||
|
||||
|
||||
// Implementation of inline functions (modified versions from GPSTk https://github.com/SGL-UT/GPSTk)
|
||||
// Implementation of inline functions (modified versions from GNSSTk https://github.com/SGL-UT/gnsstk)
|
||||
|
||||
inline std::string& Rinex_Printer::leftJustify(std::string& s,
|
||||
std::string::size_type length,
|
||||
|
@ -32,7 +32,6 @@
|
||||
#include <cmath> // for std::fmod, std::lround
|
||||
#include <cstdlib> // for strtol
|
||||
#include <iostream> // for std::cout
|
||||
#include <sstream> // for std::stringstream
|
||||
|
||||
|
||||
Rtcm::Rtcm(uint16_t port) : RTCM_port(port), server_is_running(false)
|
||||
|
@ -30,17 +30,18 @@
|
||||
#include <boost/asio.hpp>
|
||||
#include <boost/date_time/posix_time/posix_time.hpp>
|
||||
#include <glog/logging.h>
|
||||
#include <algorithm> // for min
|
||||
#include <algorithm> // for std::max, std::min, std::copy_n
|
||||
#include <array>
|
||||
#include <bitset>
|
||||
#include <cstddef> // for size_t
|
||||
#include <cstdint>
|
||||
#include <cstring> // for memcpy
|
||||
#include <deque>
|
||||
#include <iomanip> // for std::setw
|
||||
#include <list>
|
||||
#include <map>
|
||||
#include <memory>
|
||||
#include <set>
|
||||
#include <sstream> // for std::stringstream
|
||||
#include <string>
|
||||
#include <thread>
|
||||
#include <utility>
|
||||
@ -612,8 +613,10 @@ private:
|
||||
inline void encode_header()
|
||||
{
|
||||
char header[header_length + 1] = "";
|
||||
std::snprintf(header, header_length + 1, "GS%4d", std::max(std::min(static_cast<int>(body_length_), static_cast<int>(max_body_length)), 0));
|
||||
std::memcpy(data_.data(), header, header_length);
|
||||
std::stringstream ss;
|
||||
ss << "GS" << std::setw(4) << std::max(std::min(static_cast<int>(body_length_), static_cast<int>(max_body_length)), 0);
|
||||
std::copy_n(ss.str().c_str(), header_length + 1, header);
|
||||
std::copy_n(header, header_length, data_.data());
|
||||
}
|
||||
|
||||
private:
|
||||
@ -895,7 +898,7 @@ private:
|
||||
|
||||
const char* char_msg = message.c_str();
|
||||
msg.body_length(message.length());
|
||||
std::memcpy(msg.body(), char_msg, msg.body_length());
|
||||
std::copy_n(char_msg, msg.body_length(), msg.body());
|
||||
msg.encode_header();
|
||||
c->write(msg);
|
||||
}
|
||||
|
@ -463,7 +463,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
|
||||
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter;
|
||||
std::map<int, Beidou_Dnav_Ephemeris>::const_iterator beidou_ephemeris_iter;
|
||||
|
||||
const Glonass_Gnav_Utc_Model gnav_utc = this->glonass_gnav_utc_model;
|
||||
const Glonass_Gnav_Utc_Model &gnav_utc = this->glonass_gnav_utc_model;
|
||||
|
||||
this->set_averaging_flag(flag_averaging);
|
||||
|
||||
@ -941,89 +941,89 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
|
||||
if ((valid_obs + glo_valid_obs) > 3)
|
||||
{
|
||||
int result = 0;
|
||||
nav_t nav_data{};
|
||||
nav_data.eph = eph_data.data();
|
||||
nav_data.geph = geph_data.data();
|
||||
nav_data.n = valid_obs;
|
||||
nav_data.ng = glo_valid_obs;
|
||||
d_nav_data = {};
|
||||
d_nav_data.eph = eph_data.data();
|
||||
d_nav_data.geph = geph_data.data();
|
||||
d_nav_data.n = valid_obs;
|
||||
d_nav_data.ng = glo_valid_obs;
|
||||
if (gps_iono.valid)
|
||||
{
|
||||
nav_data.ion_gps[0] = gps_iono.alpha0;
|
||||
nav_data.ion_gps[1] = gps_iono.alpha1;
|
||||
nav_data.ion_gps[2] = gps_iono.alpha2;
|
||||
nav_data.ion_gps[3] = gps_iono.alpha3;
|
||||
nav_data.ion_gps[4] = gps_iono.beta0;
|
||||
nav_data.ion_gps[5] = gps_iono.beta1;
|
||||
nav_data.ion_gps[6] = gps_iono.beta2;
|
||||
nav_data.ion_gps[7] = gps_iono.beta3;
|
||||
d_nav_data.ion_gps[0] = gps_iono.alpha0;
|
||||
d_nav_data.ion_gps[1] = gps_iono.alpha1;
|
||||
d_nav_data.ion_gps[2] = gps_iono.alpha2;
|
||||
d_nav_data.ion_gps[3] = gps_iono.alpha3;
|
||||
d_nav_data.ion_gps[4] = gps_iono.beta0;
|
||||
d_nav_data.ion_gps[5] = gps_iono.beta1;
|
||||
d_nav_data.ion_gps[6] = gps_iono.beta2;
|
||||
d_nav_data.ion_gps[7] = gps_iono.beta3;
|
||||
}
|
||||
if (!(gps_iono.valid) and gps_cnav_iono.valid)
|
||||
{
|
||||
nav_data.ion_gps[0] = gps_cnav_iono.alpha0;
|
||||
nav_data.ion_gps[1] = gps_cnav_iono.alpha1;
|
||||
nav_data.ion_gps[2] = gps_cnav_iono.alpha2;
|
||||
nav_data.ion_gps[3] = gps_cnav_iono.alpha3;
|
||||
nav_data.ion_gps[4] = gps_cnav_iono.beta0;
|
||||
nav_data.ion_gps[5] = gps_cnav_iono.beta1;
|
||||
nav_data.ion_gps[6] = gps_cnav_iono.beta2;
|
||||
nav_data.ion_gps[7] = gps_cnav_iono.beta3;
|
||||
d_nav_data.ion_gps[0] = gps_cnav_iono.alpha0;
|
||||
d_nav_data.ion_gps[1] = gps_cnav_iono.alpha1;
|
||||
d_nav_data.ion_gps[2] = gps_cnav_iono.alpha2;
|
||||
d_nav_data.ion_gps[3] = gps_cnav_iono.alpha3;
|
||||
d_nav_data.ion_gps[4] = gps_cnav_iono.beta0;
|
||||
d_nav_data.ion_gps[5] = gps_cnav_iono.beta1;
|
||||
d_nav_data.ion_gps[6] = gps_cnav_iono.beta2;
|
||||
d_nav_data.ion_gps[7] = gps_cnav_iono.beta3;
|
||||
}
|
||||
if (galileo_iono.ai0 != 0.0)
|
||||
{
|
||||
nav_data.ion_gal[0] = galileo_iono.ai0;
|
||||
nav_data.ion_gal[1] = galileo_iono.ai1;
|
||||
nav_data.ion_gal[2] = galileo_iono.ai2;
|
||||
nav_data.ion_gal[3] = 0.0;
|
||||
d_nav_data.ion_gal[0] = galileo_iono.ai0;
|
||||
d_nav_data.ion_gal[1] = galileo_iono.ai1;
|
||||
d_nav_data.ion_gal[2] = galileo_iono.ai2;
|
||||
d_nav_data.ion_gal[3] = 0.0;
|
||||
}
|
||||
if (beidou_dnav_iono.valid)
|
||||
{
|
||||
nav_data.ion_cmp[0] = beidou_dnav_iono.alpha0;
|
||||
nav_data.ion_cmp[1] = beidou_dnav_iono.alpha1;
|
||||
nav_data.ion_cmp[2] = beidou_dnav_iono.alpha2;
|
||||
nav_data.ion_cmp[3] = beidou_dnav_iono.alpha3;
|
||||
nav_data.ion_cmp[4] = beidou_dnav_iono.beta0;
|
||||
nav_data.ion_cmp[5] = beidou_dnav_iono.beta0;
|
||||
nav_data.ion_cmp[6] = beidou_dnav_iono.beta0;
|
||||
nav_data.ion_cmp[7] = beidou_dnav_iono.beta3;
|
||||
d_nav_data.ion_cmp[0] = beidou_dnav_iono.alpha0;
|
||||
d_nav_data.ion_cmp[1] = beidou_dnav_iono.alpha1;
|
||||
d_nav_data.ion_cmp[2] = beidou_dnav_iono.alpha2;
|
||||
d_nav_data.ion_cmp[3] = beidou_dnav_iono.alpha3;
|
||||
d_nav_data.ion_cmp[4] = beidou_dnav_iono.beta0;
|
||||
d_nav_data.ion_cmp[5] = beidou_dnav_iono.beta0;
|
||||
d_nav_data.ion_cmp[6] = beidou_dnav_iono.beta0;
|
||||
d_nav_data.ion_cmp[7] = beidou_dnav_iono.beta3;
|
||||
}
|
||||
if (gps_utc_model.valid)
|
||||
{
|
||||
nav_data.utc_gps[0] = gps_utc_model.A0;
|
||||
nav_data.utc_gps[1] = gps_utc_model.A1;
|
||||
nav_data.utc_gps[2] = gps_utc_model.tot;
|
||||
nav_data.utc_gps[3] = gps_utc_model.WN_T;
|
||||
nav_data.leaps = gps_utc_model.DeltaT_LS;
|
||||
d_nav_data.utc_gps[0] = gps_utc_model.A0;
|
||||
d_nav_data.utc_gps[1] = gps_utc_model.A1;
|
||||
d_nav_data.utc_gps[2] = gps_utc_model.tot;
|
||||
d_nav_data.utc_gps[3] = gps_utc_model.WN_T;
|
||||
d_nav_data.leaps = gps_utc_model.DeltaT_LS;
|
||||
}
|
||||
if (!(gps_utc_model.valid) and gps_cnav_utc_model.valid)
|
||||
{
|
||||
nav_data.utc_gps[0] = gps_cnav_utc_model.A0;
|
||||
nav_data.utc_gps[1] = gps_cnav_utc_model.A1;
|
||||
nav_data.utc_gps[2] = gps_cnav_utc_model.tot;
|
||||
nav_data.utc_gps[3] = gps_cnav_utc_model.WN_T;
|
||||
nav_data.leaps = gps_cnav_utc_model.DeltaT_LS;
|
||||
d_nav_data.utc_gps[0] = gps_cnav_utc_model.A0;
|
||||
d_nav_data.utc_gps[1] = gps_cnav_utc_model.A1;
|
||||
d_nav_data.utc_gps[2] = gps_cnav_utc_model.tot;
|
||||
d_nav_data.utc_gps[3] = gps_cnav_utc_model.WN_T;
|
||||
d_nav_data.leaps = gps_cnav_utc_model.DeltaT_LS;
|
||||
}
|
||||
if (glonass_gnav_utc_model.valid)
|
||||
{
|
||||
nav_data.utc_glo[0] = glonass_gnav_utc_model.d_tau_c; // ??
|
||||
nav_data.utc_glo[1] = 0.0; // ??
|
||||
nav_data.utc_glo[2] = 0.0; // ??
|
||||
nav_data.utc_glo[3] = 0.0; // ??
|
||||
d_nav_data.utc_glo[0] = glonass_gnav_utc_model.d_tau_c; // ??
|
||||
d_nav_data.utc_glo[1] = 0.0; // ??
|
||||
d_nav_data.utc_glo[2] = 0.0; // ??
|
||||
d_nav_data.utc_glo[3] = 0.0; // ??
|
||||
}
|
||||
if (galileo_utc_model.A0 != 0.0)
|
||||
{
|
||||
nav_data.utc_gal[0] = galileo_utc_model.A0;
|
||||
nav_data.utc_gal[1] = galileo_utc_model.A1;
|
||||
nav_data.utc_gal[2] = galileo_utc_model.tot;
|
||||
nav_data.utc_gal[3] = galileo_utc_model.WNot;
|
||||
nav_data.leaps = galileo_utc_model.Delta_tLS;
|
||||
d_nav_data.utc_gal[0] = galileo_utc_model.A0;
|
||||
d_nav_data.utc_gal[1] = galileo_utc_model.A1;
|
||||
d_nav_data.utc_gal[2] = galileo_utc_model.tot;
|
||||
d_nav_data.utc_gal[3] = galileo_utc_model.WNot;
|
||||
d_nav_data.leaps = galileo_utc_model.Delta_tLS;
|
||||
}
|
||||
if (beidou_dnav_utc_model.valid)
|
||||
{
|
||||
nav_data.utc_cmp[0] = beidou_dnav_utc_model.A0_UTC;
|
||||
nav_data.utc_cmp[1] = beidou_dnav_utc_model.A1_UTC;
|
||||
nav_data.utc_cmp[2] = 0.0; // ??
|
||||
nav_data.utc_cmp[3] = 0.0; // ??
|
||||
nav_data.leaps = beidou_dnav_utc_model.DeltaT_LS;
|
||||
d_nav_data.utc_cmp[0] = beidou_dnav_utc_model.A0_UTC;
|
||||
d_nav_data.utc_cmp[1] = beidou_dnav_utc_model.A1_UTC;
|
||||
d_nav_data.utc_cmp[2] = 0.0; // ??
|
||||
d_nav_data.utc_cmp[3] = 0.0; // ??
|
||||
d_nav_data.leaps = beidou_dnav_utc_model.DeltaT_LS;
|
||||
}
|
||||
|
||||
/* update carrier wave length using native function call in RTKlib */
|
||||
@ -1031,11 +1031,11 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
|
||||
{
|
||||
for (int j = 0; j < NFREQ; j++)
|
||||
{
|
||||
nav_data.lam[i][j] = satwavelen(i + 1, d_rtklib_freq_index[j], &nav_data);
|
||||
d_nav_data.lam[i][j] = satwavelen(i + 1, d_rtklib_freq_index[j], &d_nav_data);
|
||||
}
|
||||
}
|
||||
|
||||
result = rtkpos(&d_rtk, d_obs_data.data(), valid_obs + glo_valid_obs, &nav_data);
|
||||
result = rtkpos(&d_rtk, d_obs_data.data(), valid_obs + glo_valid_obs, &d_nav_data);
|
||||
|
||||
if (result == 0)
|
||||
{
|
||||
@ -1136,7 +1136,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
|
||||
// TOW
|
||||
d_monitor_pvt.TOW_at_current_symbol_ms = gnss_observables_map.cbegin()->second.TOW_at_current_symbol_ms;
|
||||
// WEEK
|
||||
d_monitor_pvt.week = adjgpsweek(nav_data.eph[0].week, this->is_pre_2009());
|
||||
d_monitor_pvt.week = adjgpsweek(d_nav_data.eph[0].week, this->is_pre_2009());
|
||||
// PVT GPS time
|
||||
d_monitor_pvt.RX_time = gnss_observables_map.cbegin()->second.RX_time;
|
||||
// User clock offset [s]
|
||||
@ -1202,7 +1202,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
|
||||
tmp_uint32 = gnss_observables_map.cbegin()->second.TOW_at_current_symbol_ms;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_uint32), sizeof(uint32_t));
|
||||
// WEEK
|
||||
tmp_uint32 = adjgpsweek(nav_data.eph[0].week, this->is_pre_2009());
|
||||
tmp_uint32 = adjgpsweek(d_nav_data.eph[0].week, this->is_pre_2009());
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_uint32), sizeof(uint32_t));
|
||||
// PVT GPS time
|
||||
tmp_double = gnss_observables_map.cbegin()->second.RX_time;
|
||||
|
@ -128,6 +128,7 @@ private:
|
||||
std::string d_dump_filename;
|
||||
std::ofstream d_dump_file;
|
||||
rtk_t d_rtk{};
|
||||
nav_t d_nav_data{};
|
||||
Monitor_Pvt d_monitor_pvt{};
|
||||
uint32_t d_type_of_rx;
|
||||
bool d_flag_dump_enabled;
|
||||
|
@ -1,7 +1,7 @@
|
||||
# GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
|
||||
# This file is part of GNSS-SDR.
|
||||
#
|
||||
# SPDX-FileCopyrightText: 2010-2020 C. Fernandez-Prades cfernandez(at)cttc.es
|
||||
# SPDX-FileCopyrightText: 2010-2022 C. Fernandez-Prades cfernandez(at)cttc.es
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
|
||||
@ -123,14 +123,13 @@ if(ENABLE_FPGA)
|
||||
target_link_libraries(acquisition_adapters
|
||||
PRIVATE
|
||||
algorithms_libs
|
||||
core_libs
|
||||
Volk::volk
|
||||
)
|
||||
endif()
|
||||
|
||||
target_include_directories(acquisition_adapters
|
||||
PUBLIC
|
||||
${CMAKE_SOURCE_DIR}/src/core/interfaces
|
||||
${GNSSSDR_SOURCE_DIR}/src/core/interfaces
|
||||
)
|
||||
|
||||
if(ENABLE_CLANG_TIDY)
|
||||
|
@ -9,7 +9,7 @@
|
||||
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
|
||||
* Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -----------------------------------------------------------------------------
|
||||
@ -21,7 +21,6 @@
|
||||
#include "galileo_e1_signal_replica.h"
|
||||
#include "gnss_sdr_fft.h"
|
||||
#include "gnss_sdr_flags.h"
|
||||
#include "uio_fpga.h"
|
||||
#include <glog/logging.h>
|
||||
#include <gnuradio/fft/fft.h> // for fft_complex
|
||||
#include <gnuradio/gr_complex.h> // for gr_complex
|
||||
@ -43,56 +42,21 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
|
||||
in_streams_(in_streams),
|
||||
out_streams_(out_streams)
|
||||
{
|
||||
pcpsconf_fpga_t acq_parameters;
|
||||
|
||||
std::string default_dump_filename = "./data/acquisition.dat";
|
||||
acq_parameters_.SetFromConfiguration(configuration, role, fpga_downsampling_factor, fpga_buff_num, fpga_blk_exp, GALILEO_E1_CODE_CHIP_RATE_CPS, GALILEO_E1_B_CODE_LENGTH_CHIPS);
|
||||
|
||||
DLOG(INFO) << "role " << role;
|
||||
|
||||
int64_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 4000000);
|
||||
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", 4);
|
||||
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 = FLAGS_doppler_max;
|
||||
}
|
||||
acq_parameters.doppler_max = doppler_max_;
|
||||
|
||||
doppler_max_ = acq_parameters_.doppler_max;
|
||||
doppler_step_ = static_cast<unsigned int>(acq_parameters_.doppler_step);
|
||||
fs_in_ = acq_parameters_.fs_in;
|
||||
acquire_pilot_ = configuration->property(role + ".acquire_pilot", false); // could be true in future versions
|
||||
|
||||
// Find number of samples per spreading code (4 ms)
|
||||
auto code_length = static_cast<uint32_t>(std::round(static_cast<double>(fs_in) / (GALILEO_E1_CODE_CHIP_RATE_CPS / GALILEO_E1_B_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) * 2.0F));
|
||||
uint32_t nsamples_total = pow(2, nbits);
|
||||
uint32_t select_queue_Fpga = configuration->property(role + ".select_queue_Fpga", 0);
|
||||
acq_parameters.select_queue_Fpga = select_queue_Fpga;
|
||||
|
||||
// UIO device file
|
||||
std::string device_io_name;
|
||||
// find the uio device file corresponding to the acquisition
|
||||
if (find_uio_dev_file_name(device_io_name, acquisition_device_name, 0) < 0)
|
||||
{
|
||||
std::cout << "Cannot find the FPGA uio device file corresponding to device name " << acquisition_device_name << std::endl;
|
||||
throw std::exception();
|
||||
}
|
||||
acq_parameters.device_name = device_io_name;
|
||||
|
||||
acq_parameters.samples_per_code = nsamples_total;
|
||||
acq_parameters.excludelimit = static_cast<unsigned int>(1 + ceil((1.0 / GALILEO_E1_CODE_CHIP_RATE_CPS) * static_cast<float>(fs_in)));
|
||||
uint32_t code_length = acq_parameters_.code_length;
|
||||
uint32_t nsamples_total = acq_parameters_.samples_per_code;
|
||||
|
||||
// compute all the GALILEO E1 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)
|
||||
@ -116,13 +80,13 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
|
||||
// set local signal generator to Galileo E1 pilot component (1C)
|
||||
std::array<char, 3> pilot_signal = {{'1', 'C', '\0'}};
|
||||
galileo_e1_code_gen_complex_sampled(code, pilot_signal,
|
||||
cboc, PRN, fs_in, 0, false);
|
||||
cboc, PRN, fs_in_, 0, false);
|
||||
}
|
||||
else
|
||||
{
|
||||
std::array<char, 3> data_signal = {{'1', 'B', '\0'}};
|
||||
galileo_e1_code_gen_complex_sampled(code, data_signal,
|
||||
cboc, PRN, fs_in, 0, false);
|
||||
cboc, PRN, fs_in_, 0, false);
|
||||
}
|
||||
|
||||
for (uint32_t s = code_length; s < 2 * code_length; s++)
|
||||
@ -165,16 +129,9 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
|
||||
}
|
||||
}
|
||||
|
||||
acq_parameters.all_fft_codes = d_all_fft_codes_.data();
|
||||
acq_parameters_.all_fft_codes = d_all_fft_codes_.data();
|
||||
|
||||
acq_parameters.num_doppler_bins_step2 = configuration->property(role + ".second_nbins", 4);
|
||||
acq_parameters.doppler_step2 = configuration->property(role + ".second_doppler_step", static_cast<float>(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);
|
||||
// reference for the FPGA FFT-IFFT attenuation factor
|
||||
acq_parameters.total_block_exp = configuration->property(role + ".total_block_exp", 13);
|
||||
|
||||
acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters);
|
||||
acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters_);
|
||||
|
||||
if (in_streams_ > 1)
|
||||
{
|
||||
|
@ -9,7 +9,7 @@
|
||||
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
|
||||
* Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -----------------------------------------------------------------------------
|
||||
@ -18,7 +18,7 @@
|
||||
#ifndef GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_FPGA_H
|
||||
#define GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_FPGA_H
|
||||
|
||||
#include "acq_conf.h"
|
||||
#include "acq_conf_fpga.h"
|
||||
#include "channel_fsm.h"
|
||||
#include "gnss_synchro.h"
|
||||
#include "pcps_acquisition_fpga.h"
|
||||
@ -181,7 +181,9 @@ public:
|
||||
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
|
||||
|
||||
private:
|
||||
const std::string acquisition_device_name = "acquisition_S00_AXI"; // UIO device name
|
||||
static const uint32_t fpga_downsampling_factor = 4; // downampling factor in the FPGA
|
||||
static const uint32_t fpga_buff_num = 0; // L1/E1 band
|
||||
static const uint32_t fpga_blk_exp = 13; // default block exponent
|
||||
|
||||
// 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.
|
||||
@ -195,8 +197,10 @@ private:
|
||||
volk_gnsssdr::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
|
||||
std::weak_ptr<ChannelFsm> channel_fsm_;
|
||||
Gnss_Synchro* gnss_synchro_;
|
||||
std::string dump_filename_;
|
||||
const ConfigurationInterface* configuration_;
|
||||
Acq_Conf_Fpga acq_parameters_;
|
||||
std::string role_;
|
||||
int64_t fs_in_;
|
||||
int32_t doppler_center_;
|
||||
uint32_t channel_;
|
||||
uint32_t doppler_max_;
|
||||
|
@ -9,7 +9,7 @@
|
||||
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
|
||||
* Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -----------------------------------------------------------------------------
|
||||
@ -21,7 +21,6 @@
|
||||
#include "galileo_e5_signal_replica.h"
|
||||
#include "gnss_sdr_fft.h"
|
||||
#include "gnss_sdr_flags.h"
|
||||
#include "uio_fpga.h"
|
||||
#include <glog/logging.h>
|
||||
#include <gnuradio/gr_complex.h> // for gr_complex
|
||||
#include <volk/volk.h> // for volk_32fc_conjugate_32fc
|
||||
@ -42,29 +41,17 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(
|
||||
in_streams_(in_streams),
|
||||
out_streams_(out_streams)
|
||||
{
|
||||
pcpsconf_fpga_t acq_parameters;
|
||||
const std::string default_dump_filename("../data/acquisition.dat");
|
||||
acq_parameters_.SetFromConfiguration(configuration, role, fpga_downsampling_factor, fpga_buff_num, fpga_blk_exp, GALILEO_E5A_CODE_CHIP_RATE_CPS, GALILEO_E5A_CODE_LENGTH_CHIPS);
|
||||
|
||||
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 = FLAGS_doppler_max;
|
||||
}
|
||||
acq_parameters.doppler_max = doppler_max_;
|
||||
doppler_max_ = acq_parameters_.doppler_max;
|
||||
doppler_step_ = static_cast<unsigned int>(acq_parameters_.doppler_step);
|
||||
fs_in_ = acq_parameters_.fs_in;
|
||||
|
||||
acq_pilot_ = configuration->property(role + ".acquire_pilot", false);
|
||||
acq_iq_ = configuration->property(role + ".acquire_iq", false);
|
||||
@ -73,27 +60,8 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(
|
||||
acq_pilot_ = false;
|
||||
}
|
||||
|
||||
auto code_length = static_cast<uint32_t>(std::round(static_cast<double>(fs_in) / GALILEO_E5A_CODE_CHIP_RATE_CPS * static_cast<double>(GALILEO_E5A_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) * 2.0F));
|
||||
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;
|
||||
|
||||
// UIO device file
|
||||
std::string device_io_name;
|
||||
// find the uio device file corresponding to the acquisition
|
||||
if (find_uio_dev_file_name(device_io_name, acquisition_device_name, 0) < 0)
|
||||
{
|
||||
std::cout << "Cannot find the FPGA uio device file corresponding to device name " << acquisition_device_name << std::endl;
|
||||
throw std::exception();
|
||||
}
|
||||
acq_parameters.device_name = device_io_name;
|
||||
|
||||
acq_parameters.samples_per_code = nsamples_total;
|
||||
acq_parameters.excludelimit = static_cast<unsigned int>(1 + ceil((1.0 / GALILEO_E5A_CODE_CHIP_RATE_CPS) * static_cast<float>(fs_in)));
|
||||
uint32_t code_length = acq_parameters_.code_length;
|
||||
uint32_t nsamples_total = acq_parameters_.samples_per_code;
|
||||
|
||||
// compute all the GALILEO E5 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)
|
||||
@ -127,7 +95,7 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(
|
||||
signal_[1] = 'I';
|
||||
}
|
||||
|
||||
galileo_e5_a_code_gen_complex_sampled(code, PRN, signal_, fs_in, 0);
|
||||
galileo_e5_a_code_gen_complex_sampled(code, PRN, signal_, fs_in_, 0);
|
||||
|
||||
for (uint32_t s = code_length; s < 2 * code_length; s++)
|
||||
{
|
||||
@ -168,16 +136,9 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(
|
||||
}
|
||||
}
|
||||
|
||||
acq_parameters.all_fft_codes = d_all_fft_codes_.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", static_cast<float>(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);
|
||||
acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters_);
|
||||
|
||||
if (in_streams_ > 1)
|
||||
{
|
||||
|
@ -9,7 +9,7 @@
|
||||
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
|
||||
* Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -----------------------------------------------------------------------------
|
||||
@ -18,7 +18,7 @@
|
||||
#ifndef GNSS_SDR_GALILEO_E5A_PCPS_ACQUISITION_FPGA_H
|
||||
#define GNSS_SDR_GALILEO_E5A_PCPS_ACQUISITION_FPGA_H
|
||||
|
||||
|
||||
#include "acq_conf_fpga.h"
|
||||
#include "channel_fsm.h"
|
||||
#include "gnss_synchro.h"
|
||||
#include "pcps_acquisition_fpga.h"
|
||||
@ -188,7 +188,9 @@ public:
|
||||
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
|
||||
|
||||
private:
|
||||
const std::string acquisition_device_name = "acquisition_S00_AXI"; // UIO device name
|
||||
static const uint32_t fpga_downsampling_factor = 1; // downampling factor in the FPGA
|
||||
static const uint32_t fpga_buff_num = 1; // L5/E5a band
|
||||
static const uint32_t fpga_blk_exp = 13; // default block exponent
|
||||
|
||||
// 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.
|
||||
@ -202,9 +204,10 @@ private:
|
||||
std::weak_ptr<ChannelFsm> channel_fsm_;
|
||||
volk_gnsssdr::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
|
||||
Gnss_Synchro* gnss_synchro_;
|
||||
const ConfigurationInterface* configuration_;
|
||||
Acq_Conf_Fpga acq_parameters_;
|
||||
std::string role_;
|
||||
std::string item_type_;
|
||||
std::string dump_filename_;
|
||||
int64_t fs_in_;
|
||||
int32_t doppler_center_;
|
||||
uint32_t channel_;
|
||||
uint32_t doppler_max_;
|
||||
|
@ -10,7 +10,7 @@
|
||||
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
|
||||
* Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -----------------------------------------------------------------------------
|
||||
@ -22,7 +22,6 @@
|
||||
#include "galileo_e5_signal_replica.h"
|
||||
#include "gnss_sdr_fft.h"
|
||||
#include "gnss_sdr_flags.h"
|
||||
#include "uio_fpga.h"
|
||||
#include <glog/logging.h>
|
||||
#include <gnuradio/gr_complex.h> // for gr_complex
|
||||
#include <volk/volk.h> // for volk_32fc_conjugate_32fc
|
||||
@ -41,29 +40,15 @@ GalileoE5bPcpsAcquisitionFpga::GalileoE5bPcpsAcquisitionFpga(const Configuration
|
||||
in_streams_(in_streams),
|
||||
out_streams_(out_streams)
|
||||
{
|
||||
pcpsconf_fpga_t acq_parameters;
|
||||
std::string default_dump_filename = "../data/acquisition.dat";
|
||||
acq_parameters_.SetFromConfiguration(configuration, role, fpga_downsampling_factor, fpga_buff_num, fpga_blk_exp, GALILEO_E5B_CODE_CHIP_RATE_CPS, GALILEO_E5B_CODE_LENGTH_CHIPS);
|
||||
|
||||
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 = FLAGS_doppler_max;
|
||||
}
|
||||
acq_parameters.doppler_max = doppler_max_;
|
||||
doppler_max_ = acq_parameters_.doppler_max;
|
||||
doppler_step_ = static_cast<unsigned int>(acq_parameters_.doppler_step);
|
||||
fs_in_ = acq_parameters_.fs_in;
|
||||
|
||||
acq_pilot_ = configuration->property(role + ".acquire_pilot", false);
|
||||
acq_iq_ = configuration->property(role + ".acquire_iq", false);
|
||||
@ -72,27 +57,8 @@ GalileoE5bPcpsAcquisitionFpga::GalileoE5bPcpsAcquisitionFpga(const Configuration
|
||||
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) * 2.0F));
|
||||
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;
|
||||
|
||||
// UIO device file
|
||||
std::string device_io_name;
|
||||
// find the uio device file corresponding to the acquisition
|
||||
if (find_uio_dev_file_name(device_io_name, acquisition_device_name, 0) < 0)
|
||||
{
|
||||
std::cout << "Cannot find the FPGA uio device file corresponding to device name " << acquisition_device_name << std::endl;
|
||||
throw std::exception();
|
||||
}
|
||||
acq_parameters.device_name = device_io_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)));
|
||||
uint32_t code_length = acq_parameters_.code_length;
|
||||
uint32_t nsamples_total = acq_parameters_.samples_per_code;
|
||||
|
||||
// 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)
|
||||
@ -126,7 +92,7 @@ GalileoE5bPcpsAcquisitionFpga::GalileoE5bPcpsAcquisitionFpga(const Configuration
|
||||
signal_[1] = 'I';
|
||||
}
|
||||
|
||||
galileo_e5_b_code_gen_complex_sampled(code, PRN, signal_, fs_in, 0);
|
||||
galileo_e5_b_code_gen_complex_sampled(code, PRN, signal_, fs_in_, 0);
|
||||
|
||||
for (uint32_t s = code_length; s < 2 * code_length; s++)
|
||||
{
|
||||
@ -167,16 +133,9 @@ GalileoE5bPcpsAcquisitionFpga::GalileoE5bPcpsAcquisitionFpga(const Configuration
|
||||
}
|
||||
}
|
||||
|
||||
acq_parameters.all_fft_codes = d_all_fft_codes_.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", static_cast<float>(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);
|
||||
acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters_);
|
||||
|
||||
if (in_streams_ > 1)
|
||||
{
|
||||
|
@ -10,7 +10,7 @@
|
||||
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
|
||||
* Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -----------------------------------------------------------------------------
|
||||
@ -19,7 +19,7 @@
|
||||
#ifndef GNSS_SDR_GALILEO_E5B_PCPS_ACQUISITION_FPGA_H
|
||||
#define GNSS_SDR_GALILEO_E5B_PCPS_ACQUISITION_FPGA_H
|
||||
|
||||
|
||||
#include "acq_conf_fpga.h"
|
||||
#include "channel_fsm.h"
|
||||
#include "gnss_synchro.h"
|
||||
#include "pcps_acquisition_fpga.h"
|
||||
@ -187,7 +187,9 @@ public:
|
||||
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
|
||||
|
||||
private:
|
||||
const std::string acquisition_device_name = "acquisition_S00_AXI"; // UIO device name
|
||||
static const uint32_t fpga_downsampling_factor = 1; // downampling factor in the FPGA
|
||||
static const uint32_t fpga_buff_num = 1; // E5b band
|
||||
static const uint32_t fpga_blk_exp = 13; // default block exponent
|
||||
|
||||
// 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.
|
||||
@ -202,10 +204,10 @@ private:
|
||||
std::weak_ptr<ChannelFsm> channel_fsm_;
|
||||
|
||||
Gnss_Synchro* gnss_synchro_;
|
||||
|
||||
std::string item_type_;
|
||||
std::string dump_filename_;
|
||||
const ConfigurationInterface* configuration_;
|
||||
Acq_Conf_Fpga acq_parameters_;
|
||||
std::string role_;
|
||||
int64_t fs_in_;
|
||||
int32_t doppler_center_;
|
||||
uint32_t channel_;
|
||||
uint32_t doppler_max_;
|
||||
|
@ -12,7 +12,7 @@
|
||||
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
|
||||
* Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -----------------------------------------------------------------------------
|
||||
@ -24,7 +24,6 @@
|
||||
#include "gnss_sdr_fft.h"
|
||||
#include "gnss_sdr_flags.h"
|
||||
#include "gps_sdr_signal_replica.h"
|
||||
#include "uio_fpga.h"
|
||||
#include <glog/logging.h>
|
||||
#include <gnuradio/gr_complex.h> // for gr_complex
|
||||
#include <volk/volk.h> // for volk_32fc_conjugate_32fc
|
||||
@ -44,47 +43,20 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
|
||||
in_streams_(in_streams),
|
||||
out_streams_(out_streams)
|
||||
{
|
||||
pcpsconf_fpga_t acq_parameters;
|
||||
acq_parameters_.SetFromConfiguration(configuration, role, fpga_downsampling_factor, fpga_buff_num, fpga_blk_exp, GPS_L1_CA_CODE_RATE_CPS, GPS_L1_CA_CODE_LENGTH_CHIPS);
|
||||
|
||||
DLOG(INFO) << "role " << role;
|
||||
|
||||
int64_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
|
||||
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", 4);
|
||||
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 = FLAGS_doppler_max;
|
||||
}
|
||||
acq_parameters.doppler_max = doppler_max_;
|
||||
auto code_length = static_cast<uint32_t>(std::round(static_cast<double>(fs_in) / (GPS_L1_CA_CODE_RATE_CPS / GPS_L1_CA_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) * 2.0F));
|
||||
uint32_t nsamples_total = pow(2, nbits);
|
||||
uint32_t select_queue_Fpga = configuration->property(role + ".select_queue_Fpga", 0);
|
||||
acq_parameters.select_queue_Fpga = select_queue_Fpga;
|
||||
doppler_max_ = acq_parameters_.doppler_max;
|
||||
doppler_step_ = static_cast<unsigned int>(acq_parameters_.doppler_step);
|
||||
fs_in_ = acq_parameters_.fs_in;
|
||||
|
||||
// UIO device file
|
||||
std::string device_io_name;
|
||||
// find the uio device file corresponding to the acquisition
|
||||
if (find_uio_dev_file_name(device_io_name, acquisition_device_name, 0) < 0)
|
||||
{
|
||||
std::cout << "Cannot find the FPGA uio device file corresponding to device name " << acquisition_device_name << std::endl;
|
||||
throw std::exception();
|
||||
}
|
||||
acq_parameters.device_name = device_io_name;
|
||||
|
||||
acq_parameters.samples_per_code = nsamples_total;
|
||||
acq_parameters.excludelimit = static_cast<unsigned int>(1 + ceil(GPS_L1_CA_CHIP_PERIOD_S * static_cast<float>(fs_in)));
|
||||
uint32_t code_length = acq_parameters_.code_length;
|
||||
uint32_t nsamples_total = acq_parameters_.samples_per_code;
|
||||
|
||||
// compute all the GPS L1 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
|
||||
// a channel is assigned)
|
||||
@ -101,7 +73,7 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
|
||||
// temporary maxima search
|
||||
for (uint32_t PRN = 1; PRN <= NUM_PRNs; PRN++)
|
||||
{
|
||||
gps_l1_ca_code_gen_complex_sampled(code, PRN, fs_in, 0); // generate PRN code
|
||||
gps_l1_ca_code_gen_complex_sampled(code, PRN, fs_in_, 0); // generate PRN code
|
||||
|
||||
for (uint32_t s = code_length; s < 2 * code_length; s++)
|
||||
{
|
||||
@ -143,16 +115,9 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
|
||||
}
|
||||
|
||||
// acq_parameters
|
||||
acq_parameters.all_fft_codes = d_all_fft_codes_.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", 10);
|
||||
|
||||
acq_parameters.num_doppler_bins_step2 = configuration->property(role + ".second_nbins", 4);
|
||||
acq_parameters.doppler_step2 = configuration->property(role + ".second_doppler_step", static_cast<float>(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);
|
||||
acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters_);
|
||||
|
||||
if (in_streams_ > 1)
|
||||
{
|
||||
|
@ -12,7 +12,7 @@
|
||||
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
|
||||
* Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -----------------------------------------------------------------------------
|
||||
@ -21,7 +21,7 @@
|
||||
#ifndef GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_FPGA_H
|
||||
#define GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_FPGA_H
|
||||
|
||||
|
||||
#include "acq_conf_fpga.h"
|
||||
#include "channel_fsm.h"
|
||||
#include "gnss_synchro.h"
|
||||
#include "pcps_acquisition_fpga.h"
|
||||
@ -129,6 +129,8 @@ public:
|
||||
/*!
|
||||
* \brief Set statistics threshold of PCPS algorithm
|
||||
*/
|
||||
std::string item_type_;
|
||||
|
||||
void set_threshold(float threshold) override;
|
||||
|
||||
/*!
|
||||
@ -184,7 +186,9 @@ public:
|
||||
private:
|
||||
static const uint32_t NUM_PRNs = 32;
|
||||
|
||||
const std::string acquisition_device_name = "acquisition_S00_AXI"; // UIO device name
|
||||
static const uint32_t fpga_downsampling_factor = 4; // downampling factor in the FPGA
|
||||
static const uint32_t fpga_buff_num = 0; // L1/E1 band
|
||||
static const uint32_t fpga_blk_exp = 10; // default block exponent
|
||||
|
||||
// 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.
|
||||
@ -198,7 +202,10 @@ private:
|
||||
std::weak_ptr<ChannelFsm> channel_fsm_;
|
||||
volk_gnsssdr::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
|
||||
Gnss_Synchro* gnss_synchro_;
|
||||
const ConfigurationInterface* configuration_;
|
||||
Acq_Conf_Fpga acq_parameters_;
|
||||
std::string role_;
|
||||
int64_t fs_in_;
|
||||
int32_t doppler_center_;
|
||||
uint32_t channel_;
|
||||
uint32_t doppler_max_;
|
||||
|
@ -11,7 +11,7 @@
|
||||
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
|
||||
* Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -----------------------------------------------------------------------------
|
||||
@ -24,7 +24,6 @@
|
||||
#include "gnss_sdr_flags.h"
|
||||
#include "gnss_synchro.h"
|
||||
#include "gps_l2c_signal_replica.h"
|
||||
#include "uio_fpga.h"
|
||||
#include <glog/logging.h>
|
||||
#include <gnuradio/gr_complex.h> // for gr_complex
|
||||
#include <volk/volk.h> // for volk_32fc_conjugate_32fc
|
||||
@ -45,47 +44,20 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
|
||||
in_streams_(in_streams),
|
||||
out_streams_(out_streams)
|
||||
{
|
||||
pcpsconf_fpga_t acq_parameters;
|
||||
std::string default_dump_filename = "./acquisition.mat";
|
||||
acq_parameters_.SetFromConfiguration(configuration, role, fpga_downsampling_factor, fpga_buff_num, fpga_blk_exp, GPS_L2_M_CODE_RATE_CPS, GPS_L2_M_CODE_LENGTH_CHIPS);
|
||||
|
||||
LOG(INFO) << "role " << role;
|
||||
|
||||
int64_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
|
||||
fs_in_ = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
|
||||
acq_parameters.fs_in = fs_in_;
|
||||
|
||||
acq_parameters.repeat_satellite = configuration->property(role + ".repeat_satellite", false);
|
||||
DLOG(INFO) << role << " satellite repeat = " << acq_parameters.repeat_satellite;
|
||||
|
||||
doppler_max_ = configuration->property(role + ".doppler_max", 5000);
|
||||
if (FLAGS_doppler_max != 0)
|
||||
{
|
||||
doppler_max_ = FLAGS_doppler_max;
|
||||
acq_parameters_.doppler_max = FLAGS_doppler_max;
|
||||
}
|
||||
acq_parameters.doppler_max = doppler_max_;
|
||||
doppler_max_ = acq_parameters_.doppler_max;
|
||||
doppler_step_ = static_cast<unsigned int>(acq_parameters_.doppler_step);
|
||||
fs_in_ = acq_parameters_.fs_in;
|
||||
|
||||
auto code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in_) / (GPS_L2_M_CODE_RATE_CPS / static_cast<double>(GPS_L2_M_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)));
|
||||
unsigned int nsamples_total = pow(2, nbits);
|
||||
unsigned int select_queue_Fpga = configuration->property(role + ".select_queue_Fpga", 0);
|
||||
acq_parameters.select_queue_Fpga = select_queue_Fpga;
|
||||
|
||||
// UIO device file
|
||||
std::string device_io_name;
|
||||
// find the uio device file corresponding to the acquisition
|
||||
if (find_uio_dev_file_name(device_io_name, acquisition_device_name, 0) < 0)
|
||||
{
|
||||
std::cout << "Cannot find the FPGA uio device file corresponding to device name " << acquisition_device_name << std::endl;
|
||||
throw std::exception();
|
||||
}
|
||||
acq_parameters.device_name = device_io_name;
|
||||
|
||||
acq_parameters.samples_per_code = nsamples_total;
|
||||
acq_parameters.downsampling_factor = configuration->property(role + ".downsampling_factor", 1.0);
|
||||
acq_parameters.total_block_exp = configuration->property(role + ".total_block_exp", 14);
|
||||
acq_parameters.excludelimit = static_cast<uint32_t>(std::round(static_cast<double>(fs_in_) / GPS_L2_M_CODE_RATE_CPS));
|
||||
uint32_t code_length = acq_parameters_.code_length;
|
||||
uint32_t nsamples_total = acq_parameters_.samples_per_code;
|
||||
|
||||
// compute all the GPS L2C PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
|
||||
// a channel is assigned)
|
||||
@ -139,15 +111,9 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
|
||||
}
|
||||
}
|
||||
|
||||
acq_parameters.all_fft_codes = d_all_fft_codes_.data();
|
||||
acq_parameters_.all_fft_codes = d_all_fft_codes_.data();
|
||||
|
||||
acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters);
|
||||
|
||||
channel_ = 0;
|
||||
doppler_step_ = 0;
|
||||
gnss_synchro_ = nullptr;
|
||||
|
||||
threshold_ = 0.0;
|
||||
acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters_);
|
||||
|
||||
if (in_streams_ > 1)
|
||||
{
|
||||
|
@ -11,7 +11,7 @@
|
||||
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
|
||||
* Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -----------------------------------------------------------------------------
|
||||
@ -20,6 +20,7 @@
|
||||
#ifndef GNSS_SDR_GPS_L2_M_PCPS_ACQUISITION_FPGA_H
|
||||
#define GNSS_SDR_GPS_L2_M_PCPS_ACQUISITION_FPGA_H
|
||||
|
||||
#include "acq_conf_fpga.h"
|
||||
#include "channel_fsm.h"
|
||||
#include "pcps_acquisition_fpga.h"
|
||||
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
|
||||
@ -148,7 +149,9 @@ public:
|
||||
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
|
||||
|
||||
private:
|
||||
const std::string acquisition_device_name = "acquisition_S00_AXI"; // UIO device name
|
||||
static const uint32_t fpga_downsampling_factor = 4; // downampling factor in the FPGA
|
||||
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 NUM_PRNs = 32;
|
||||
static const uint32_t QUANT_BITS_LOCAL_CODE = 16;
|
||||
@ -161,8 +164,8 @@ private:
|
||||
volk_gnsssdr::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
|
||||
std::weak_ptr<ChannelFsm> channel_fsm_;
|
||||
Gnss_Synchro* gnss_synchro_;
|
||||
std::string item_type_;
|
||||
std::string dump_filename_;
|
||||
const ConfigurationInterface* configuration_;
|
||||
Acq_Conf_Fpga acq_parameters_;
|
||||
std::string role_;
|
||||
int64_t fs_in_;
|
||||
float threshold_;
|
||||
|
@ -12,7 +12,7 @@
|
||||
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
|
||||
* Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -----------------------------------------------------------------------------
|
||||
@ -24,7 +24,6 @@
|
||||
#include "gnss_sdr_fft.h"
|
||||
#include "gnss_sdr_flags.h"
|
||||
#include "gps_l5_signal_replica.h"
|
||||
#include "uio_fpga.h"
|
||||
#include <glog/logging.h>
|
||||
#include <gnuradio/gr_complex.h> // for gr_complex
|
||||
#include <volk/volk.h> // for volk_32fc_conjugate_32fc
|
||||
@ -45,51 +44,20 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
|
||||
in_streams_(in_streams),
|
||||
out_streams_(out_streams)
|
||||
{
|
||||
pcpsconf_fpga_t acq_parameters;
|
||||
std::string default_dump_filename = "./data/acquisition.dat";
|
||||
acq_parameters_.SetFromConfiguration(configuration, role, fpga_downsampling_factor, fpga_buff_num, fpga_blk_exp, GPS_L5I_CODE_RATE_CPS, GPS_L5I_CODE_LENGTH_CHIPS);
|
||||
|
||||
LOG(INFO) << "role " << role;
|
||||
|
||||
int64_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
|
||||
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 = FLAGS_doppler_max;
|
||||
}
|
||||
acq_parameters.doppler_max = doppler_max_;
|
||||
doppler_max_ = acq_parameters_.doppler_max;
|
||||
doppler_step_ = static_cast<unsigned int>(acq_parameters_.doppler_step);
|
||||
fs_in_ = acq_parameters_.fs_in;
|
||||
|
||||
// -- Find number of samples per spreading code -------------------------
|
||||
auto code_length = static_cast<uint32_t>(std::round(static_cast<double>(fs_in) / (GPS_L5I_CODE_RATE_CPS / static_cast<double>(GPS_L5I_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) * 2.0F));
|
||||
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;
|
||||
|
||||
// UIO device file
|
||||
std::string device_io_name;
|
||||
// find the uio device file corresponding to the acquisition
|
||||
if (find_uio_dev_file_name(device_io_name, acquisition_device_name, 0) < 0)
|
||||
{
|
||||
std::cout << "Cannot find the FPGA uio device file corresponding to device name " << acquisition_device_name << std::endl;
|
||||
throw std::exception();
|
||||
}
|
||||
acq_parameters.device_name = device_io_name;
|
||||
|
||||
acq_parameters.samples_per_code = nsamples_total;
|
||||
acq_parameters.excludelimit = static_cast<unsigned int>(1 + ceil((1.0 / GPS_L5I_CODE_RATE_CPS) * static_cast<float>(fs_in)));
|
||||
uint32_t code_length = acq_parameters_.code_length;
|
||||
uint32_t nsamples_total = acq_parameters_.samples_per_code;
|
||||
|
||||
// compute all the GPS L5 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
|
||||
// a channel is assigned)
|
||||
@ -106,7 +74,7 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
|
||||
|
||||
for (uint32_t PRN = 1; PRN <= NUM_PRNs; PRN++)
|
||||
{
|
||||
gps_l5i_code_gen_complex_sampled(code, PRN, fs_in);
|
||||
gps_l5i_code_gen_complex_sampled(code, PRN, fs_in_);
|
||||
|
||||
for (uint32_t s = code_length; s < 2 * code_length; s++)
|
||||
{
|
||||
@ -146,16 +114,9 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
|
||||
}
|
||||
}
|
||||
|
||||
acq_parameters.all_fft_codes = d_all_fft_codes_.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", static_cast<float>(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);
|
||||
acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters_);
|
||||
|
||||
if (in_streams_ > 1)
|
||||
{
|
||||
|
@ -12,7 +12,7 @@
|
||||
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
|
||||
* Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -----------------------------------------------------------------------------
|
||||
@ -21,6 +21,7 @@
|
||||
#ifndef GNSS_SDR_GPS_L5I_PCPS_ACQUISITION_FPGA_H
|
||||
#define GNSS_SDR_GPS_L5I_PCPS_ACQUISITION_FPGA_H
|
||||
|
||||
#include "acq_conf_fpga.h"
|
||||
#include "channel_fsm.h"
|
||||
#include "gnss_synchro.h"
|
||||
#include "pcps_acquisition_fpga.h"
|
||||
@ -185,7 +186,9 @@ public:
|
||||
private:
|
||||
static const uint32_t NUM_PRNs = 32;
|
||||
|
||||
const std::string acquisition_device_name = "acquisition_S00_AXI"; // UIO device name
|
||||
static const uint32_t fpga_downsampling_factor = 1; // downampling factor in the FPGA
|
||||
static const uint32_t fpga_buff_num = 1; // L5/E5a band
|
||||
static const uint32_t fpga_blk_exp = 13; // default block exponent
|
||||
|
||||
// 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.
|
||||
@ -201,9 +204,10 @@ private:
|
||||
std::weak_ptr<ChannelFsm> channel_fsm_;
|
||||
volk_gnsssdr::vector<uint32_t> d_all_fft_codes_; // memory that contains all the code ffts
|
||||
Gnss_Synchro* gnss_synchro_;
|
||||
std::string item_type_;
|
||||
std::string dump_filename_;
|
||||
const ConfigurationInterface* configuration_;
|
||||
Acq_Conf_Fpga acq_parameters_;
|
||||
std::string role_;
|
||||
int64_t fs_in_;
|
||||
int32_t doppler_center_;
|
||||
uint32_t channel_;
|
||||
uint32_t doppler_max_;
|
||||
|
@ -72,7 +72,7 @@ target_link_libraries(acquisition_gr_blocks
|
||||
|
||||
target_include_directories(acquisition_gr_blocks
|
||||
PRIVATE
|
||||
${CMAKE_SOURCE_DIR}/src/core/receiver
|
||||
${GNSSSDR_SOURCE_DIR}/src/core/receiver
|
||||
)
|
||||
|
||||
if(GNURADIO_USES_STD_POINTERS)
|
||||
@ -97,7 +97,7 @@ if(ENABLE_OPENCL)
|
||||
target_link_libraries(acquisition_gr_blocks PUBLIC OpenCL::OpenCL)
|
||||
target_include_directories(acquisition_gr_blocks
|
||||
PUBLIC
|
||||
${CMAKE_SOURCE_DIR}/src/algorithms/libs/opencl
|
||||
${GNSSSDR_SOURCE_DIR}/src/algorithms/libs/opencl
|
||||
)
|
||||
endif()
|
||||
|
||||
@ -113,5 +113,5 @@ endif()
|
||||
set_property(TARGET acquisition_gr_blocks
|
||||
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
|
||||
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
|
||||
$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/src/algorithms/libs/opencl>
|
||||
$<BUILD_INTERFACE:${GNSSSDR_SOURCE_DIR}/src/algorithms/libs/opencl>
|
||||
)
|
||||
|
@ -909,7 +909,9 @@ int pcps_acquisition::general_work(int noutput_items __attribute__((unused)),
|
||||
gr::thread::scoped_lock lk(d_setlock);
|
||||
if (!d_active or d_worker_active)
|
||||
{
|
||||
if (!d_acq_parameters.blocking_on_standby)
|
||||
// do not consume samples while performing a non-coherent integration
|
||||
bool consume_samples = ((!d_active) || (d_active && (d_num_noncoherent_integrations_counter == d_acq_parameters.max_dwells)));
|
||||
if ((!d_acq_parameters.blocking_on_standby) && consume_samples)
|
||||
{
|
||||
d_sample_counter += static_cast<uint64_t>(ninput_items[0]);
|
||||
consume_each(ninput_items[0]);
|
||||
|
@ -11,7 +11,7 @@
|
||||
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
|
||||
* Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -----------------------------------------------------------------------------
|
||||
@ -27,14 +27,14 @@
|
||||
#include <utility> // for move
|
||||
|
||||
|
||||
pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_)
|
||||
pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(Acq_Conf_Fpga& conf_)
|
||||
{
|
||||
return pcps_acquisition_fpga_sptr(new pcps_acquisition_fpga(std::move(conf_)));
|
||||
return pcps_acquisition_fpga_sptr(new pcps_acquisition_fpga(conf_));
|
||||
}
|
||||
|
||||
|
||||
pcps_acquisition_fpga::pcps_acquisition_fpga(pcpsconf_fpga_t conf_)
|
||||
: d_acq_parameters(std::move(conf_)),
|
||||
pcps_acquisition_fpga::pcps_acquisition_fpga(Acq_Conf_Fpga& conf_)
|
||||
: d_acq_parameters(conf_),
|
||||
d_gnss_synchro(nullptr),
|
||||
d_sample_counter(0ULL),
|
||||
d_threshold(0.0),
|
||||
|
@ -17,7 +17,7 @@
|
||||
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
|
||||
* Copyright (C) 2010-2022 (see AUTHORS file for a list of contributors)
|
||||
* SPDX-License-Identifier: GPL-3.0-or-later
|
||||
*
|
||||
* -----------------------------------------------------------------------------
|
||||
@ -26,7 +26,7 @@
|
||||
#ifndef GNSS_SDR_PCPS_ACQUISITION_FPGA_H
|
||||
#define GNSS_SDR_PCPS_ACQUISITION_FPGA_H
|
||||
|
||||
|
||||
#include "acq_conf_fpga.h"
|
||||
#include "channel_fsm.h"
|
||||
#include "fpga_acquisition.h"
|
||||
#include <glog/logging.h>
|
||||
@ -42,31 +42,11 @@
|
||||
|
||||
class Gnss_Synchro;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
/* pcps acquisition configuration */
|
||||
std::string device_name;
|
||||
int64_t fs_in;
|
||||
float doppler_step2;
|
||||
uint32_t* all_fft_codes; // pointer to memory that contains all the code ffts
|
||||
uint32_t doppler_max;
|
||||
uint32_t select_queue_Fpga;
|
||||
uint32_t downsampling_factor;
|
||||
uint32_t total_block_exp;
|
||||
uint32_t excludelimit;
|
||||
uint32_t num_doppler_bins_step2;
|
||||
uint32_t max_num_acqs;
|
||||
int32_t samples_per_code;
|
||||
int32_t code_length;
|
||||
bool make_2_steps;
|
||||
bool repeat_satellite;
|
||||
} pcpsconf_fpga_t;
|
||||
|
||||
class pcps_acquisition_fpga;
|
||||
|
||||
using pcps_acquisition_fpga_sptr = std::shared_ptr<pcps_acquisition_fpga>;
|
||||
|
||||
pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_);
|
||||
pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(Acq_Conf_Fpga& conf_);
|
||||
|
||||
/*!
|
||||
* \brief This class implements a Parallel Code Phase Search Acquisition that uses the FPGA.
|
||||
@ -195,8 +175,8 @@ public:
|
||||
void stop_acquisition();
|
||||
|
||||
private:
|
||||
friend pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_);
|
||||
explicit pcps_acquisition_fpga(pcpsconf_fpga_t conf_);
|
||||
friend pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(Acq_Conf_Fpga& conf_);
|
||||
explicit pcps_acquisition_fpga(Acq_Conf_Fpga& conf_);
|
||||
|
||||
void send_negative_acquisition();
|
||||
void send_positive_acquisition();
|
||||
@ -206,7 +186,7 @@ private:
|
||||
std::shared_ptr<Fpga_Acquisition> d_acquisition_fpga;
|
||||
std::weak_ptr<ChannelFsm> d_channel_fsm;
|
||||
|
||||
pcpsconf_fpga_t d_acq_parameters;
|
||||
Acq_Conf_Fpga d_acq_parameters;
|
||||
|
||||
Gnss_Synchro* d_gnss_synchro;
|
||||
|
||||
|
@ -1,7 +1,7 @@
|
||||
# GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
|
||||
# This file is part of GNSS-SDR.
|
||||
#
|
||||
# SPDX-FileCopyrightText: 2010-2020 C. Fernandez-Prades cfernandez(at)cttc.es
|
||||
# SPDX-FileCopyrightText: 2010-2022 C. Fernandez-Prades cfernandez(at)cttc.es
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
|
||||
@ -9,6 +9,8 @@ set(ACQUISITION_LIB_HEADERS acq_conf.h)
|
||||
set(ACQUISITION_LIB_SOURCES acq_conf.cc)
|
||||
|
||||
if(ENABLE_FPGA)
|
||||
set(ACQUISITION_LIB_SOURCES ${ACQUISITION_LIB_SOURCES} acq_conf_fpga.cc)
|
||||
set(ACQUISITION_LIB_HEADERS ${ACQUISITION_LIB_HEADERS} acq_conf_fpga.h)
|
||||
set(ACQUISITION_LIB_SOURCES ${ACQUISITION_LIB_SOURCES} fpga_acquisition.cc)
|
||||
set(ACQUISITION_LIB_HEADERS ${ACQUISITION_LIB_HEADERS} fpga_acquisition.h)
|
||||
endif()
|
||||
@ -55,3 +57,11 @@ set_property(TARGET acquisition_libs
|
||||
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
|
||||
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
|
||||
)
|
||||
|
||||
if(ENABLE_FPGA)
|
||||
target_link_libraries(acquisition_libs
|
||||
PRIVATE
|
||||
core_libs
|
||||
)
|
||||
endif()
|
||||
|
||||
|
75
src/algorithms/acquisition/libs/acq_conf_fpga.cc
Normal file
75
src/algorithms/acquisition/libs/acq_conf_fpga.cc
Normal file
@ -0,0 +1,75 @@
|
||||
/*!
|
||||
* \file acq_conf_fpga.cc
|
||||
* \brief Class that contains all the configuration parameters for generic
|
||||
* acquisition block based on the PCPS algorithm running in the FPGA.
|
||||
* \author Marc Majoral, 2022. 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 "acq_conf_fpga.h"
|
||||
#include "item_type_helpers.h"
|
||||
#include "uio_fpga.h"
|
||||
#include <glog/logging.h>
|
||||
#include <cmath>
|
||||
#include <iostream>
|
||||
|
||||
void Acq_Conf_Fpga::SetFromConfiguration(const ConfigurationInterface *configuration,
|
||||
const std::string &role, uint32_t downs_factor, uint32_t sel_queue_fpga, uint32_t blk_exp, double chip_rate, double code_length_chips)
|
||||
{
|
||||
// sampling frequency
|
||||
const int64_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", fs_in);
|
||||
fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
|
||||
|
||||
// max doppler
|
||||
doppler_max = configuration->property(role + ".doppler_max", doppler_max);
|
||||
|
||||
// downsampling factor
|
||||
uint32_t downsampling_factor = configuration->property(role + ".downsampling_factor", downs_factor);
|
||||
downsampling_factor = downsampling_factor;
|
||||
fs_in = fs_in / downsampling_factor;
|
||||
|
||||
// code length in samples
|
||||
code_length = static_cast<uint32_t>(std::round(static_cast<double>(fs_in) / (chip_rate / code_length_chips)));
|
||||
|
||||
// The FPGA can only use FFT lengths that are a power of two.
|
||||
float nbits = ceilf(log2f(static_cast<float>(code_length) * 2.0F));
|
||||
samples_per_code = pow(2, nbits);
|
||||
|
||||
// repeat satellite
|
||||
repeat_satellite = configuration->property(role + ".repeat_satellite", false);
|
||||
|
||||
// FPGA buffer number
|
||||
select_queue_Fpga = configuration->property(role + ".select_queue_Fpga", sel_queue_fpga);
|
||||
|
||||
// UIO device file
|
||||
std::string device_io_name;
|
||||
// find the uio device file corresponding to the acquisition
|
||||
if (find_uio_dev_file_name(device_io_name, acquisition_device_name, 0) < 0)
|
||||
{
|
||||
std::cout << "Cannot find the FPGA uio device file corresponding to device name " << acquisition_device_name << std::endl;
|
||||
throw std::exception();
|
||||
}
|
||||
device_name = device_io_name;
|
||||
|
||||
// exclusion limit
|
||||
excludelimit = static_cast<unsigned int>(1 + ceil((1.0 / chip_rate) * static_cast<float>(fs_in)));
|
||||
|
||||
// acquisition step 2 parameters
|
||||
num_doppler_bins_step2 = configuration->property(role + ".second_nbins", num_doppler_bins_step2);
|
||||
doppler_step2 = configuration->property(role + ".second_doppler_step", doppler_step2);
|
||||
doppler_step = configuration->property(role + ".doppler_step", doppler_step);
|
||||
make_2_steps = configuration->property(role + ".make_two_steps", make_2_steps);
|
||||
max_num_acqs = configuration->property(role + ".max_num_acqs", 2);
|
||||
|
||||
// reference for the FPGA FFT-IFFT attenuation factor
|
||||
total_block_exp = configuration->property(role + ".total_block_exp", blk_exp);
|
||||
}
|
69
src/algorithms/acquisition/libs/acq_conf_fpga.h
Normal file
69
src/algorithms/acquisition/libs/acq_conf_fpga.h
Normal file
@ -0,0 +1,69 @@
|
||||
/*!
|
||||
* \file acq_conf_fpga.h
|
||||
* \brief Class that contains all the configuration parameters for generic
|
||||
* acquisition block based on the PCPS algorithm running in the FPGA.
|
||||
* \author Marc Majoral, 2022. 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_ACQ_CONF_FPGA_H
|
||||
#define GNSS_SDR_ACQ_CONF_FPGA_H
|
||||
|
||||
#include "configuration_interface.h"
|
||||
#include <gnuradio/gr_complex.h>
|
||||
#include <cstdint>
|
||||
#include <string>
|
||||
|
||||
/** \addtogroup Acquisition
|
||||
* \{ */
|
||||
/** \addtogroup acquisition_libs acquisition_libs
|
||||
* Library with utilities for GNSS signal acquisition
|
||||
* \{ */
|
||||
|
||||
|
||||
class Acq_Conf_Fpga
|
||||
{
|
||||
public:
|
||||
Acq_Conf_Fpga() = default;
|
||||
|
||||
void SetFromConfiguration(const ConfigurationInterface *configuration, const std::string &role, uint32_t downs_factor, uint32_t sel_queue_fpga, uint32_t blk_exp, double chip_rate, double code_length_chips);
|
||||
|
||||
/* PCPS Acquisition configuration */
|
||||
std::string device_name = "uio0";
|
||||
uint32_t *all_fft_codes = NULL; // pointer to memory that contains all the code ffts
|
||||
int64_t fs_in{4000000LL};
|
||||
|
||||
float doppler_step{250.0};
|
||||
float doppler_step2{125.0};
|
||||
|
||||
uint32_t num_doppler_bins_step2{4U};
|
||||
|
||||
int32_t doppler_max{5000};
|
||||
|
||||
uint32_t select_queue_Fpga{0U};
|
||||
uint32_t downsampling_factor{4U};
|
||||
uint32_t total_block_exp{13U};
|
||||
uint32_t excludelimit{5U};
|
||||
uint32_t max_num_acqs{2U};
|
||||
uint32_t samples_per_code{1U};
|
||||
uint32_t code_length{16000U};
|
||||
bool make_2_steps{false};
|
||||
bool repeat_satellite{false};
|
||||
|
||||
private:
|
||||
const std::string acquisition_device_name = "acquisition_S00_AXI"; // UIO device name
|
||||
};
|
||||
|
||||
|
||||
/** \} */
|
||||
/** \} */
|
||||
#endif // GNSS_SDR_ACQ_CONF_FPGA_H
|
@ -31,8 +31,8 @@ target_link_libraries(channel_adapters
|
||||
|
||||
target_include_directories(channel_adapters
|
||||
PUBLIC
|
||||
${CMAKE_SOURCE_DIR}/src/core/interfaces
|
||||
${CMAKE_SOURCE_DIR}/src/core/receiver
|
||||
${GNSSSDR_SOURCE_DIR}/src/core/interfaces
|
||||
${GNSSSDR_SOURCE_DIR}/src/core/receiver
|
||||
)
|
||||
|
||||
if(ENABLE_CLANG_TIDY)
|
||||
|
@ -45,7 +45,7 @@ target_link_libraries(channel_libs
|
||||
|
||||
target_include_directories(channel_libs
|
||||
PUBLIC
|
||||
${CMAKE_SOURCE_DIR}/src/core/receiver
|
||||
${GNSSSDR_SOURCE_DIR}/src/core/receiver
|
||||
)
|
||||
|
||||
if(GNURADIO_USES_STD_POINTERS)
|
||||
|
@ -52,7 +52,7 @@ endif()
|
||||
|
||||
target_include_directories(conditioner_adapters
|
||||
PUBLIC
|
||||
${CMAKE_SOURCE_DIR}/src/core/interfaces
|
||||
${GNSSSDR_SOURCE_DIR}/src/core/interfaces
|
||||
)
|
||||
|
||||
if(ENABLE_CLANG_TIDY)
|
||||
|
@ -44,7 +44,7 @@ endif()
|
||||
|
||||
target_include_directories(data_type_adapters
|
||||
PUBLIC
|
||||
${CMAKE_SOURCE_DIR}/src/core/interfaces
|
||||
${GNSSSDR_SOURCE_DIR}/src/core/interfaces
|
||||
)
|
||||
|
||||
target_link_libraries(data_type_adapters
|
||||
|
@ -46,7 +46,7 @@ target_link_libraries(data_type_gr_blocks
|
||||
|
||||
target_include_directories(data_type_gr_blocks
|
||||
PUBLIC
|
||||
${CMAKE_SOURCE_DIR}/src/core/interfaces
|
||||
${GNSSSDR_SOURCE_DIR}/src/core/interfaces
|
||||
)
|
||||
|
||||
if(GNURADIO_USES_STD_POINTERS)
|
||||
|
@ -65,7 +65,7 @@ endif()
|
||||
|
||||
target_include_directories(input_filter_gr_blocks
|
||||
PUBLIC
|
||||
${CMAKE_SOURCE_DIR}/src/core/interfaces
|
||||
${GNSSSDR_SOURCE_DIR}/src/core/interfaces
|
||||
)
|
||||
|
||||
if(GNURADIO_USES_STD_POINTERS)
|
||||
|
@ -94,7 +94,7 @@ endif()
|
||||
if(NOT has_span)
|
||||
target_include_directories(algorithms_libs
|
||||
PUBLIC
|
||||
${CMAKE_SOURCE_DIR}/src/algorithms/libs/gsl/include
|
||||
${GNSSSDR_SOURCE_DIR}/src/algorithms/libs/gsl/include
|
||||
)
|
||||
endif()
|
||||
|
||||
@ -164,7 +164,7 @@ endif()
|
||||
|
||||
target_include_directories(algorithms_libs
|
||||
PUBLIC
|
||||
${CMAKE_SOURCE_DIR}/src/core/interfaces
|
||||
${GNSSSDR_SOURCE_DIR}/src/core/interfaces
|
||||
)
|
||||
|
||||
target_compile_definitions(algorithms_libs
|
||||
@ -221,7 +221,7 @@ target_link_libraries(gnss_sdr_flags
|
||||
Gflags::gflags
|
||||
)
|
||||
|
||||
if(${GFLAGS_GREATER_20})
|
||||
if(GFLAGS_GREATER_20 OR ${LOCAL_GFLAGS})
|
||||
target_compile_definitions(gnss_sdr_flags PRIVATE -DGFLAGS_GREATER_2_0=1)
|
||||
endif()
|
||||
|
||||
|
@ -26,11 +26,9 @@ const auto AUX_CEIL = [](float x) { return static_cast<int32_t>(static_cast<int6
|
||||
void beidou_b1i_code_gen_int(own::span<int32_t> dest, int32_t prn, uint32_t chip_shift)
|
||||
{
|
||||
constexpr uint32_t code_length = 2046;
|
||||
const std::array<int32_t, 33> delays = {712 /*PRN1*/, 1581, 1414, 1550, 581, 771, 1311, 1043, 1549, 359, 710, 1579, 1548, 1103, 579, 769, 358, 709, 1411, 1547,
|
||||
1102, 578, 357, 1577, 1410, 1546, 1101, 707, 1576, 1409, 1545, 354 /*PRN32*/,
|
||||
705};
|
||||
const std::array<int32_t, 37> phase1 = {1, 1, 1, 1, 1, 1, 1, 1, 2, 3, 3, 3, 3, 3, 3, 3, 4, 4, 4, 4, 4, 4, 5, 5, 5, 5, 5, 6, 6, 6, 6, 8, 8, 8, 9, 9, 10};
|
||||
const std::array<int32_t, 37> phase2 = {3, 4, 5, 6, 8, 9, 10, 11, 7, 4, 5, 6, 8, 9, 10, 11, 5, 6, 8, 9, 10, 11, 6, 8, 9, 10, 11, 8, 9, 10, 11, 9, 10, 11, 10, 11, 11};
|
||||
const std::array<int32_t, 63> phase1 = {1, 1, 1, 1, 1, 1, 1, 1, 2, 3, 3, 3, 3, 3, 3, 3, 4, 4, 4, 4, 4, 4, 5, 5, 5, 5, 5, 6, 6, 6, 6, 8, 8, 8, 9, 9, 10, 2, 3, 3, 3, 3, 3, 4, 4, 5, 5, 5, 5, 6, 8, 9, 9, 3, 5, 7, 4, 4, 5, 5, 5, 5, 6};
|
||||
const std::array<int32_t, 63> phase2 = {3, 4, 5, 6, 8, 9, 10, 11, 7, 4, 5, 6, 8, 9, 10, 11, 5, 6, 8, 9, 10, 11, 6, 8, 9, 10, 11, 8, 9, 10, 11, 9, 10, 11, 10, 11, 11, 7, 4, 6, 8, 10, 11, 5, 9, 6, 8, 10, 11, 9, 9, 10, 11, 7, 7, 9, 5, 9, 6, 8, 10, 11, 9};
|
||||
const std::array<int32_t, 63> phase3 = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 3, 3, 3, 3, 3, 3, 3};
|
||||
|
||||
std::bitset<code_length> G1{};
|
||||
std::bitset<code_length> G2{};
|
||||
@ -50,7 +48,7 @@ void beidou_b1i_code_gen_int(own::span<int32_t> dest, int32_t prn, uint32_t chip
|
||||
prn_idx = prn - 1;
|
||||
|
||||
// A simple error check
|
||||
if ((prn_idx < 0) || (prn_idx > 32))
|
||||
if ((prn_idx < 0) || (prn_idx > 62))
|
||||
{
|
||||
return;
|
||||
}
|
||||
@ -59,7 +57,7 @@ void beidou_b1i_code_gen_int(own::span<int32_t> dest, int32_t prn, uint32_t chip
|
||||
for (lcv = 0; lcv < code_length; lcv++)
|
||||
{
|
||||
G1[lcv] = G1_register[0];
|
||||
G2[lcv] = G2_register[-(phase1[prn_idx] - 11)] xor G2_register[-(phase2[prn_idx] - 11)];
|
||||
G2[lcv] = G2_register[-(phase1[prn_idx] - 11)] xor G2_register[-(phase2[prn_idx] - 11)] xor (phase3[prn_idx] ? G2_register[-(phase3[prn_idx] - 11)] : 0);
|
||||
|
||||
feedback1 = G1_register[0] xor G1_register[1] xor G1_register[2] xor G1_register[3] xor G1_register[4] xor G1_register[10];
|
||||
feedback2 = G2_register[0] xor G2_register[2] xor G2_register[3] xor G2_register[6] xor G2_register[7] xor G2_register[8] xor G2_register[9] xor G2_register[10];
|
||||
@ -75,7 +73,7 @@ void beidou_b1i_code_gen_int(own::span<int32_t> dest, int32_t prn, uint32_t chip
|
||||
}
|
||||
|
||||
// Set the delay
|
||||
delay = code_length - delays[prn_idx] * 0; // *********************************
|
||||
delay = code_length; // *********************************
|
||||
delay += chip_shift;
|
||||
delay %= code_length;
|
||||
|
||||
|
@ -202,7 +202,7 @@ const int NSYSQZS = 0;
|
||||
#define ENABDS
|
||||
#ifdef ENABDS
|
||||
const int MINPRNBDS = 1; //!< min satellite sat number of BeiDou
|
||||
const int MAXPRNBDS = 37; //!< max satellite sat number of BeiDou
|
||||
const int MAXPRNBDS = 63; //!< max satellite sat number of BeiDou
|
||||
const int NSATBDS = (MAXPRNBDS - MINPRNBDS + 1); //!< number of BeiDou satellites
|
||||
const int NSYSBDS = 1;
|
||||
#else
|
||||
|
@ -34,6 +34,7 @@
|
||||
#include "rtklib_preceph.h"
|
||||
#include "rtklib_rtkcmn.h"
|
||||
#include "rtklib_sbas.h"
|
||||
#include <vector>
|
||||
|
||||
/* constants -----------------------------------------------------------------*/
|
||||
|
||||
@ -284,7 +285,7 @@ void eph2pos(gtime_t time, const eph_t *eph, double *rs, double *dts,
|
||||
cosi = cos(i);
|
||||
|
||||
/* beidou geo satellite (ref [9]) */
|
||||
if (sys == SYS_BDS && prn <= 5)
|
||||
if (sys == SYS_BDS && (prn <= 5 || prn > 58))
|
||||
{
|
||||
O = eph->OMG0 + eph->OMGd * tk - omge * eph->toes;
|
||||
sinO = sin(O);
|
||||
@ -1023,7 +1024,7 @@ int satpos(gtime_t time, gtime_t teph, int sat, int ephopt,
|
||||
void satposs(gtime_t teph, const obsd_t *obs, int n, const nav_t *nav,
|
||||
int ephopt, double *rs, double *dts, double *var, int *svh)
|
||||
{
|
||||
gtime_t time[MAXOBS] = {};
|
||||
std::vector<gtime_t> time(MAXOBS);
|
||||
double dt;
|
||||
double pr;
|
||||
int i;
|
||||
|
@ -39,6 +39,7 @@
|
||||
#include "rtklib_ionex.h"
|
||||
#include "rtklib_rtkcmn.h"
|
||||
#include <cstring>
|
||||
#include <vector>
|
||||
|
||||
/* get index -----------------------------------------------------------------*/
|
||||
int getindex(double value, const double *range)
|
||||
@ -425,8 +426,8 @@ void readtec(const char *file, nav_t *nav, int opt)
|
||||
double hgts[3] = {0};
|
||||
double rb = 0.0;
|
||||
double nexp = -1.0;
|
||||
double dcb[MAXSAT] = {0};
|
||||
double rms[MAXSAT] = {0};
|
||||
std::vector<double> dcb(MAXSAT, 0);
|
||||
std::vector<double> rms(MAXSAT, 0);
|
||||
int i;
|
||||
int n;
|
||||
char *efiles[MAXEXFILE];
|
||||
@ -463,7 +464,7 @@ void readtec(const char *file, nav_t *nav, int opt)
|
||||
}
|
||||
|
||||
/* read ionex header */
|
||||
if (readionexh(fp, lats, lons, hgts, &rb, &nexp, dcb, rms) <= 0.0)
|
||||
if (readionexh(fp, lats, lons, hgts, &rb, &nexp, dcb.data(), rms.data()) <= 0.0)
|
||||
{
|
||||
trace(2, "ionex file format error %s\n", efiles[i]);
|
||||
fclose(fp);
|
||||
|
@ -34,6 +34,7 @@
|
||||
#include "rtklib_ionex.h"
|
||||
#include "rtklib_sbas.h"
|
||||
#include <cstring>
|
||||
#include <vector>
|
||||
|
||||
/* pseudorange measurement error variance ------------------------------------*/
|
||||
double varerr(const prcopt_t *opt, double el, int sys)
|
||||
@ -988,8 +989,8 @@ int pntpos(const obsd_t *obs, int n, const nav_t *nav,
|
||||
double *resp;
|
||||
int i;
|
||||
int stat;
|
||||
int vsat[MAXOBS] = {0};
|
||||
int svh[MAXOBS];
|
||||
std::vector<int> vsat(MAXOBS, 0);
|
||||
std::vector<int> svh(MAXOBS, 0);
|
||||
|
||||
sol->stat = SOLQ_NONE;
|
||||
|
||||
@ -1019,20 +1020,20 @@ int pntpos(const obsd_t *obs, int n, const nav_t *nav,
|
||||
opt_.tropopt = TROPOPT_SAAS;
|
||||
}
|
||||
/* satellite positions, velocities and clocks */
|
||||
satposs(sol->time, obs, n, nav, opt_.sateph, rs, dts, var, svh);
|
||||
satposs(sol->time, obs, n, nav, opt_.sateph, rs, dts, var, svh.data());
|
||||
|
||||
/* estimate receiver position with pseudorange */
|
||||
stat = estpos(obs, n, rs, dts, var, svh, nav, &opt_, sol, azel_, vsat, resp, msg);
|
||||
stat = estpos(obs, n, rs, dts, var, svh.data(), nav, &opt_, sol, azel_, vsat.data(), resp, msg);
|
||||
|
||||
/* raim fde */
|
||||
if (!stat && n >= 6 && opt->posopt[4])
|
||||
{
|
||||
stat = raim_fde(obs, n, rs, dts, var, svh, nav, &opt_, sol, azel_, vsat, resp, msg);
|
||||
stat = raim_fde(obs, n, rs, dts, var, svh.data(), nav, &opt_, sol, azel_, vsat.data(), resp, msg);
|
||||
}
|
||||
/* estimate receiver velocity with doppler */
|
||||
if (stat)
|
||||
{
|
||||
estvel(obs, n, rs, dts, nav, &opt_, sol, azel_, vsat);
|
||||
estvel(obs, n, rs, dts, nav, &opt_, sol, azel_, vsat.data());
|
||||
}
|
||||
|
||||
if (azel)
|
||||
|
@ -38,6 +38,7 @@
|
||||
#include "rtklib_sbas.h"
|
||||
#include "rtklib_tides.h"
|
||||
#include <cstring>
|
||||
#include <vector>
|
||||
|
||||
/* wave length of LC (m) -----------------------------------------------------*/
|
||||
double lam_LC(int i, int j, int k)
|
||||
@ -351,7 +352,7 @@ int sel_amb(int *sat1, int *sat2, double *N, double *var, int n)
|
||||
{
|
||||
int i;
|
||||
int j;
|
||||
int flgs[MAXSAT] = {0};
|
||||
std::vector<int> flgs(MAXSAT, 0);
|
||||
int max_flg = 0;
|
||||
|
||||
/* sort by variance */
|
||||
@ -372,7 +373,7 @@ int sel_amb(int *sat1, int *sat2, double *N, double *var, int n)
|
||||
/* select linearly independent satellite pair */
|
||||
for (i = j = 0; i < n; i++)
|
||||
{
|
||||
if (!is_depend(sat1[i], sat2[i], flgs, &max_flg))
|
||||
if (!is_depend(sat1[i], sat2[i], flgs.data(), &max_flg))
|
||||
{
|
||||
continue;
|
||||
}
|
||||
@ -546,7 +547,7 @@ int fix_amb_ILS(rtk_t *rtk, int *sat1, int *sat2, int *NW, int n)
|
||||
int m = 0;
|
||||
int info;
|
||||
int stat;
|
||||
int flgs[MAXSAT] = {0};
|
||||
std::vector<int> flgs(MAXSAT, 0);
|
||||
int max_flg = 0;
|
||||
|
||||
lam1 = LAM_CARR[0];
|
||||
@ -565,7 +566,7 @@ int fix_amb_ILS(rtk_t *rtk, int *sat1, int *sat2, int *NW, int n)
|
||||
for (i = 0; i < n; i++)
|
||||
{
|
||||
/* check linear independency */
|
||||
if (!is_depend(sat1[i], sat2[i], flgs, &max_flg))
|
||||
if (!is_depend(sat1[i], sat2[i], flgs.data(), &max_flg))
|
||||
{
|
||||
continue;
|
||||
}
|
||||
@ -1362,7 +1363,7 @@ void udbias_ppp(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav)
|
||||
{
|
||||
double meas[2];
|
||||
double var[2];
|
||||
double bias[MAXOBS] = {0};
|
||||
std::vector<double> bias(MAXOBS, 0.0);
|
||||
double offset = 0.0;
|
||||
double pos[3] = {0};
|
||||
int i;
|
||||
@ -1562,7 +1563,7 @@ int res_ppp(int iter __attribute__((unused)), const obsd_t *obs, int n, const do
|
||||
double dtdx[3];
|
||||
double dantr[NFREQ] = {0};
|
||||
double dants[NFREQ] = {0};
|
||||
double var[MAXOBS * 2];
|
||||
std::vector<double> var(MAXOBS * 2, 0.0);
|
||||
double dtrp = 0.0;
|
||||
double vart = 0.0;
|
||||
double varm[2] = {0};
|
||||
@ -1781,7 +1782,7 @@ void pppos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav)
|
||||
int i;
|
||||
int nv;
|
||||
int info;
|
||||
int svh[MAXOBS];
|
||||
std::vector<int> svh(MAXOBS);
|
||||
int stat = SOLQ_SINGLE;
|
||||
|
||||
trace(3, "pppos : nx=%d n=%d\n", rtk->nx, n);
|
||||
@ -1803,7 +1804,7 @@ void pppos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav)
|
||||
tracemat(4, rtk->x, 1, NR_PPP(opt), 13, 4);
|
||||
|
||||
/* satellite positions and clocks */
|
||||
satposs(obs[0].time, obs, n, nav, rtk->opt.sateph, rs, dts, var, svh);
|
||||
satposs(obs[0].time, obs, n, nav, rtk->opt.sateph, rs, dts, var, svh.data());
|
||||
|
||||
/* exclude measurements of eclipsing satellite */
|
||||
if (rtk->opt.posopt[3])
|
||||
@ -1821,7 +1822,7 @@ void pppos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav)
|
||||
for (i = 0; i < rtk->opt.niter; i++)
|
||||
{
|
||||
/* phase and code residuals */
|
||||
if ((nv = res_ppp(i, obs, n, rs, dts, var, svh, nav, xp, rtk, v, H, R, azel)) <= 0)
|
||||
if ((nv = res_ppp(i, obs, n, rs, dts, var, svh.data(), nav, xp, rtk, v, H, R, azel)) <= 0)
|
||||
{
|
||||
break;
|
||||
}
|
||||
@ -1842,7 +1843,7 @@ void pppos(rtk_t *rtk, const obsd_t *obs, int n, const nav_t *nav)
|
||||
if (stat == SOLQ_PPP)
|
||||
{
|
||||
/* postfit residuals */
|
||||
res_ppp(1, obs, n, rs, dts, var, svh, nav, xp, rtk, v, H, R, azel);
|
||||
res_ppp(1, obs, n, rs, dts, var, svh.data(), nav, xp, rtk, v, H, R, azel);
|
||||
|
||||
/* update state and covariance matrix */
|
||||
matcpy(rtk->x, xp, rtk->nx, 1);
|
||||
|
@ -43,6 +43,7 @@
|
||||
#include "rtklib_preceph.h"
|
||||
#include "rtklib_rtkcmn.h"
|
||||
#include <cstring>
|
||||
#include <vector>
|
||||
|
||||
/* satellite code to satellite system ----------------------------------------*/
|
||||
int code2sys(char code)
|
||||
@ -390,7 +391,7 @@ void readsp3(const char *file, nav_t *nav, int opt)
|
||||
int j;
|
||||
int n;
|
||||
int ns;
|
||||
int sats[MAXSAT] = {};
|
||||
std::vector<int> sats(MAXSAT);
|
||||
char *efiles[MAXEXFILE];
|
||||
char *ext;
|
||||
char type = ' ';
|
||||
@ -431,10 +432,10 @@ void readsp3(const char *file, nav_t *nav, int opt)
|
||||
continue;
|
||||
}
|
||||
/* read sp3 header */
|
||||
ns = readsp3h(fp, &time, &type, sats, bfact, tsys);
|
||||
ns = readsp3h(fp, &time, &type, sats.data(), bfact, tsys);
|
||||
|
||||
/* read sp3 body */
|
||||
readsp3b(fp, type, sats, ns, bfact, tsys, j++, opt, nav);
|
||||
readsp3b(fp, type, sats.data(), ns, bfact, tsys, j++, opt, nav);
|
||||
|
||||
fclose(fp);
|
||||
}
|
||||
|
@ -31,6 +31,7 @@
|
||||
|
||||
#include "rtklib_rtkcmn.h"
|
||||
#include <glog/logging.h>
|
||||
#include <array>
|
||||
#include <cassert>
|
||||
#include <cstring>
|
||||
#include <dirent.h>
|
||||
@ -40,6 +41,7 @@
|
||||
#include <sys/stat.h>
|
||||
#include <sys/time.h>
|
||||
#include <sys/types.h>
|
||||
#include <vector>
|
||||
|
||||
|
||||
const double GPST0[] = {1980, 1, 6, 0, 0, 0}; /* gps time reference */
|
||||
@ -4496,7 +4498,7 @@ double satazel(const double *pos, const double *e, double *azel)
|
||||
*-----------------------------------------------------------------------------*/
|
||||
void dops(int ns, const double *azel, double elmin, double *dop)
|
||||
{
|
||||
double H[4 * MAXSAT];
|
||||
std::vector<double> H(4 * MAXSAT);
|
||||
double Q[16];
|
||||
double cosel;
|
||||
double sinel;
|
||||
@ -4525,7 +4527,7 @@ void dops(int ns, const double *azel, double elmin, double *dop)
|
||||
return;
|
||||
}
|
||||
|
||||
matmul("NT", 4, 4, n, 1.0, H, H, 0.0, Q);
|
||||
matmul("NT", 4, 4, n, 1.0, H.data(), H.data(), 0.0, Q);
|
||||
if (!matinv(Q, 4))
|
||||
{
|
||||
dop[0] = std::sqrt(Q[0] + Q[5] + Q[10] + Q[15]); /* GDOP */
|
||||
@ -5029,16 +5031,23 @@ void sunmoonpos(gtime_t tutc, const double *erpv, double *rsun,
|
||||
*-----------------------------------------------------------------------------*/
|
||||
void csmooth(obs_t *obs, int ns)
|
||||
{
|
||||
double Ps[2][MAXSAT][NFREQ] = {};
|
||||
double Lp[2][MAXSAT][NFREQ] = {};
|
||||
std::vector<std::array<double, NFREQ>> Ps[2];
|
||||
std::vector<std::array<double, NFREQ>> Lp[2];
|
||||
double dcp;
|
||||
int i;
|
||||
int j;
|
||||
int s;
|
||||
int r;
|
||||
int n[2][MAXSAT][NFREQ] = {};
|
||||
std::vector<std::array<int, NFREQ>> n[2];
|
||||
obsd_t *p;
|
||||
|
||||
Ps[0].resize(MAXSAT);
|
||||
Ps[1].resize(MAXSAT);
|
||||
Lp[0].resize(MAXSAT);
|
||||
Lp[1].resize(MAXSAT);
|
||||
n[0].resize(MAXSAT);
|
||||
n[1].resize(MAXSAT);
|
||||
|
||||
trace(3, "csmooth: nobs=%d,ns=%d\n", obs->n, ns);
|
||||
|
||||
for (i = 0; i < obs->n; i++)
|
||||
|
@ -37,6 +37,7 @@
|
||||
#include "rtklib_tides.h"
|
||||
#include <cmath>
|
||||
#include <cstring>
|
||||
#include <vector>
|
||||
|
||||
static int resamb_WLNL(rtk_t *rtk __attribute((unused)), const obsd_t *obs __attribute((unused)), const int *sat __attribute((unused)),
|
||||
const int *iu __attribute((unused)), const int *ir __attribute((unused)), int ns __attribute__((unused)), const nav_t *nav __attribute((unused)),
|
||||
@ -2029,7 +2030,7 @@ void restamb(rtk_t *rtk, const double *bias, int nb __attribute((unused)), doubl
|
||||
int n;
|
||||
int m;
|
||||
int f;
|
||||
int index[MAXSAT];
|
||||
std::vector<int> index(MAXSAT);
|
||||
int nv = 0;
|
||||
int nf = NF_RTK(&rtk->opt);
|
||||
|
||||
@ -2083,7 +2084,7 @@ void holdamb(rtk_t *rtk, const double *xa)
|
||||
int m;
|
||||
int f;
|
||||
int info;
|
||||
int index[MAXSAT];
|
||||
std::vector<int> index(MAXSAT);
|
||||
int nb = rtk->nx - rtk->na;
|
||||
int nv = 0;
|
||||
int nf = NF_RTK(&rtk->opt);
|
||||
@ -2371,13 +2372,13 @@ int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr,
|
||||
int ns;
|
||||
int ny;
|
||||
int nv;
|
||||
int sat[MAXSAT];
|
||||
int iu[MAXSAT];
|
||||
int ir[MAXSAT];
|
||||
std::vector<int> sat(MAXSAT);
|
||||
std::vector<int> iu(MAXSAT);
|
||||
std::vector<int> ir(MAXSAT);
|
||||
int niter;
|
||||
int info;
|
||||
int vflg[MAXOBS * NFREQ * 2 + 1];
|
||||
int svh[MAXOBS * 2];
|
||||
std::vector<int> vflg(MAXOBS * NFREQ * 2 + 1);
|
||||
std::vector<int> svh(MAXOBS * 2);
|
||||
int stat = rtk->opt.mode <= PMODE_DGPS ? SOLQ_DGPS : SOLQ_FLOAT;
|
||||
int nf = opt->ionoopt == IONOOPT_IFLC ? 1 : opt->nf;
|
||||
|
||||
@ -2401,10 +2402,10 @@ int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr,
|
||||
}
|
||||
}
|
||||
/* satellite positions/clocks */
|
||||
satposs(time, obs, n, nav, opt->sateph, rs, dts, var, svh);
|
||||
satposs(time, obs, n, nav, opt->sateph, rs, dts, var, svh.data());
|
||||
|
||||
/* undifferenced residuals for base station */
|
||||
if (!zdres(1, obs + nu, nr, rs + nu * 6, dts + nu * 2, svh + nu, nav, rtk->rb, opt, 1,
|
||||
if (!zdres(1, obs + nu, nr, rs + nu * 6, dts + nu * 2, &svh[nu], nav, rtk->rb, opt, 1,
|
||||
y + nu * nf * 2, e + nu * 3, azel + nu * 2))
|
||||
{
|
||||
errmsg(rtk, "initial base station position error\n");
|
||||
@ -2423,7 +2424,7 @@ int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr,
|
||||
dt = intpres(time, obs + nu, nr, nav, rtk, y + nu * nf * 2);
|
||||
}
|
||||
/* select common satellites between rover and base-station */
|
||||
if ((ns = selsat(obs, azel, nu, nr, opt, sat, iu, ir)) <= 0)
|
||||
if ((ns = selsat(obs, azel, nu, nr, opt, sat.data(), iu.data(), ir.data())) <= 0)
|
||||
{
|
||||
errmsg(rtk, "no common satellite\n");
|
||||
|
||||
@ -2436,7 +2437,7 @@ int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr,
|
||||
return 0;
|
||||
}
|
||||
/* temporal update of states */
|
||||
udstate(rtk, obs, sat, iu, ir, ns, nav);
|
||||
udstate(rtk, obs, sat.data(), iu.data(), ir.data(), ns, nav);
|
||||
|
||||
trace(4, "x(0)=");
|
||||
tracemat(4, rtk->x, 1, NR_RTK(opt), 13, 4);
|
||||
@ -2458,14 +2459,14 @@ int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr,
|
||||
for (i = 0; i < niter; i++)
|
||||
{
|
||||
/* undifferenced residuals for rover */
|
||||
if (!zdres(0, obs, nu, rs, dts, svh, nav, xp, opt, 0, y, e, azel))
|
||||
if (!zdres(0, obs, nu, rs, dts, svh.data(), nav, xp, opt, 0, y, e, azel))
|
||||
{
|
||||
errmsg(rtk, "rover initial position error\n");
|
||||
stat = SOLQ_NONE;
|
||||
break;
|
||||
}
|
||||
/* double-differenced residuals and partial derivatives */
|
||||
if ((nv = ddres(rtk, nav, dt, xp, Pp, sat, y, e, azel, iu, ir, ns, v, H, R, vflg)) < 1)
|
||||
if ((nv = ddres(rtk, nav, dt, xp, Pp, sat.data(), y, e, azel, iu.data(), ir.data(), ns, v, H, R, vflg.data())) < 1)
|
||||
{
|
||||
errmsg(rtk, "no double-differenced residual\n");
|
||||
stat = SOLQ_NONE;
|
||||
@ -2482,13 +2483,13 @@ int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr,
|
||||
trace(4, "x(%d)=", i + 1);
|
||||
tracemat(4, xp, 1, NR_RTK(opt), 13, 4);
|
||||
}
|
||||
if (stat != SOLQ_NONE && zdres(0, obs, nu, rs, dts, svh, nav, xp, opt, 0, y, e, azel))
|
||||
if (stat != SOLQ_NONE && zdres(0, obs, nu, rs, dts, svh.data(), nav, xp, opt, 0, y, e, azel))
|
||||
{
|
||||
/* post-fit residuals for float solution */
|
||||
nv = ddres(rtk, nav, dt, xp, Pp, sat, y, e, azel, iu, ir, ns, v, nullptr, R, vflg);
|
||||
nv = ddres(rtk, nav, dt, xp, Pp, sat.data(), y, e, azel, iu.data(), ir.data(), ns, v, nullptr, R, vflg.data());
|
||||
|
||||
/* validation of float solution */
|
||||
if (valpos(rtk, v, R, vflg, nv, 4.0))
|
||||
if (valpos(rtk, v, R, vflg.data(), nv, 4.0))
|
||||
{
|
||||
/* update state and covariance matrix */
|
||||
matcpy(rtk->x, xp, rtk->nx, 1);
|
||||
@ -2526,7 +2527,7 @@ int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr,
|
||||
/* resolve integer ambiguity by WL-NL */
|
||||
if (stat != SOLQ_NONE && rtk->opt.modear == ARMODE_WLNL)
|
||||
{
|
||||
if (resamb_WLNL(rtk, obs, sat, iu, ir, ns, nav, azel))
|
||||
if (resamb_WLNL(rtk, obs, sat.data(), iu.data(), ir.data(), ns, nav, azel))
|
||||
{
|
||||
stat = SOLQ_FIX;
|
||||
}
|
||||
@ -2534,7 +2535,7 @@ int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr,
|
||||
/* resolve integer ambiguity by TCAR */
|
||||
else if (stat != SOLQ_NONE && rtk->opt.modear == ARMODE_TCAR)
|
||||
{
|
||||
if (resamb_TCAR(rtk, obs, sat, iu, ir, ns, nav, azel))
|
||||
if (resamb_TCAR(rtk, obs, sat.data(), iu.data(), ir.data(), ns, nav, azel))
|
||||
{
|
||||
stat = SOLQ_FIX;
|
||||
}
|
||||
@ -2542,13 +2543,13 @@ int relpos(rtk_t *rtk, const obsd_t *obs, int nu, int nr,
|
||||
/* resolve integer ambiguity by LAMBDA */
|
||||
else if (stat != SOLQ_NONE && resamb_LAMBDA(rtk, bias, xa) > 1)
|
||||
{
|
||||
if (zdres(0, obs, nu, rs, dts, svh, nav, xa, opt, 0, y, e, azel))
|
||||
if (zdres(0, obs, nu, rs, dts, svh.data(), nav, xa, opt, 0, y, e, azel))
|
||||
{
|
||||
/* post-fit reisiduals for fixed solution */
|
||||
nv = ddres(rtk, nav, dt, xa, nullptr, sat, y, e, azel, iu, ir, ns, v, nullptr, R, vflg);
|
||||
nv = ddres(rtk, nav, dt, xa, nullptr, sat.data(), y, e, azel, iu.data(), ir.data(), ns, v, nullptr, R, vflg.data());
|
||||
|
||||
/* validation of fixed solution */
|
||||
if (valpos(rtk, v, R, vflg, nv, 4.0))
|
||||
if (valpos(rtk, v, R, vflg.data(), nv, 4.0))
|
||||
{
|
||||
/* hold integer ambiguity */
|
||||
if (++rtk->nfix >= rtk->opt.minfix &&
|
||||
|
@ -211,7 +211,7 @@ int decode_sbstype6(const sbsmsg_t *msg, sbssat_t *sbssat)
|
||||
}
|
||||
for (i = 0; i < sbssat->nsat && i < MAXSAT; i++)
|
||||
{
|
||||
if (sbssat->sat[i].fcorr.iodf != iodf[i / 39])
|
||||
if (sbssat->sat[i].fcorr.iodf != iodf[i / 46])
|
||||
{
|
||||
continue;
|
||||
}
|
||||
|
@ -37,6 +37,7 @@
|
||||
#include <cctype>
|
||||
#include <cmath>
|
||||
#include <cstring>
|
||||
#include <vector>
|
||||
|
||||
|
||||
/* constants and macros ------------------------------------------------------*/
|
||||
@ -1654,7 +1655,7 @@ int outnmea_gsa(unsigned char *buff, const sol_t *sol,
|
||||
int sat;
|
||||
int sys;
|
||||
int nsat;
|
||||
int prn[MAXSAT];
|
||||
std::vector<int> prn(MAXSAT);
|
||||
char *p = reinterpret_cast<char *>(buff);
|
||||
char *q;
|
||||
char *s;
|
||||
@ -1683,7 +1684,7 @@ int outnmea_gsa(unsigned char *buff, const sol_t *sol,
|
||||
{
|
||||
continue;
|
||||
}
|
||||
sys = satsys(sat, prn + nsat);
|
||||
sys = satsys(sat, &prn[nsat]);
|
||||
if (sys != SYS_GPS && sys != SYS_SBS)
|
||||
{
|
||||
continue;
|
||||
@ -1728,7 +1729,7 @@ int outnmea_gsa(unsigned char *buff, const sol_t *sol,
|
||||
{
|
||||
continue;
|
||||
}
|
||||
if (satsys(sat, prn + nsat) != SYS_GLO)
|
||||
if (satsys(sat, &prn[nsat]) != SYS_GLO)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
@ -1769,7 +1770,7 @@ int outnmea_gsa(unsigned char *buff, const sol_t *sol,
|
||||
{
|
||||
continue;
|
||||
}
|
||||
if (satsys(sat, prn + nsat) != SYS_GAL)
|
||||
if (satsys(sat, &prn[nsat]) != SYS_GAL)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
@ -1809,7 +1810,7 @@ int outnmea_gsa(unsigned char *buff, const sol_t *sol,
|
||||
{
|
||||
continue;
|
||||
}
|
||||
if (satsys(sat, prn + nsat) != SYS_BDS)
|
||||
if (satsys(sat, &prn[nsat]) != SYS_BDS)
|
||||
{
|
||||
continue;
|
||||
}
|
||||
@ -1861,7 +1862,7 @@ int outnmea_gsv(unsigned char *buff, const sol_t *sol,
|
||||
int prn;
|
||||
int sys;
|
||||
int nmsg;
|
||||
int sats[MAXSAT];
|
||||
std::vector<int> sats(MAXSAT);
|
||||
char *p = reinterpret_cast<char *>(buff);
|
||||
char *q;
|
||||
char *s;
|
||||
|
@ -491,8 +491,8 @@ endif()
|
||||
########################################################################
|
||||
|
||||
configure_file(
|
||||
${CMAKE_SOURCE_DIR}/cmake/Modules/VolkGnsssdrConfig.cmake.in
|
||||
${CMAKE_BINARY_DIR}/cmake/Modules/VolkGnsssdrConfig.cmake
|
||||
${PROJECT_SOURCE_DIR}/cmake/Modules/VolkGnsssdrConfig.cmake.in
|
||||
${PROJECT_BINARY_DIR}/cmake/Modules/VolkGnsssdrConfig.cmake
|
||||
@ONLY
|
||||
)
|
||||
|
||||
|
@ -82,6 +82,7 @@ macro(add_cpu_features_headers_and_sources HDRS_LIST_NAME SRCS_LIST_NAME)
|
||||
elseif(PROCESSOR_IS_X86)
|
||||
list(APPEND ${HDRS_LIST_NAME} ${PROJECT_SOURCE_DIR}/include/cpuinfo_x86.h)
|
||||
list(APPEND ${SRCS_LIST_NAME} ${PROJECT_SOURCE_DIR}/include/internal/cpuid_x86.h)
|
||||
list(APPEND ${SRCS_LIST_NAME} ${PROJECT_SOURCE_DIR}/include/internal/windows_utils.h)
|
||||
elseif(PROCESSOR_IS_POWER)
|
||||
list(APPEND ${HDRS_LIST_NAME} ${PROJECT_SOURCE_DIR}/include/cpuinfo_ppc.h)
|
||||
else()
|
||||
|
@ -209,25 +209,41 @@ Please check the [CMake build instructions](cmake/README.md).
|
||||
|
||||
- Run `list_cpu_features`
|
||||
|
||||
```sh
|
||||
cmake -S. -Bbuild -DBUILD_TESTING=OFF -DCMAKE_BUILD_TYPE=Release
|
||||
cmake --build build --config Release -j
|
||||
./build/list_cpu_features --json
|
||||
```
|
||||
```sh
|
||||
cmake -S. -Bbuild -DBUILD_TESTING=OFF -DCMAKE_BUILD_TYPE=Release
|
||||
cmake --build build --config Release -j
|
||||
./build/list_cpu_features --json
|
||||
```
|
||||
|
||||
_Note_: Use `--target ALL_BUILD` on the second line for `Visual Studio` and
|
||||
`XCode`.
|
||||
_Note_: Use `--target ALL_BUILD` on the second line for `Visual Studio` and
|
||||
`XCode`.
|
||||
|
||||
- run tests
|
||||
|
||||
```sh
|
||||
cmake -S. -Bbuild -DBUILD_TESTING=ON -DCMAKE_BUILD_TYPE=Debug
|
||||
cmake --build build --config Debug -j
|
||||
cmake --build build --config Debug --target test
|
||||
```
|
||||
```sh
|
||||
cmake -S. -Bbuild -DBUILD_TESTING=ON -DCMAKE_BUILD_TYPE=Debug
|
||||
cmake --build build --config Debug -j
|
||||
cmake --build build --config Debug --target test
|
||||
```
|
||||
|
||||
_Note_: Use `--target RUN_TESTS` on the last line for `Visual Studio` and
|
||||
`--target RUN_TEST` for `XCode`.
|
||||
_Note_: Use `--target RUN_TESTS` on the last line for `Visual Studio` and
|
||||
`--target RUN_TEST` for `XCode`.
|
||||
|
||||
- install `cpu_features`
|
||||
|
||||
```sh
|
||||
cmake --build build --config Release --target install -v
|
||||
```
|
||||
|
||||
_Note_: Use `--target INSTALL` for `Visual Studio`.
|
||||
|
||||
_Note_: When using `Makefile` or `XCode` generator, you can use
|
||||
[`DESTDIR`](https://www.gnu.org/software/make/manual/html_node/DESTDIR.html)
|
||||
to install on a local repository.<br> e.g.
|
||||
|
||||
```sh
|
||||
cmake --build build --config Release --target install -v -- DESTDIR=install
|
||||
```
|
||||
|
||||
<a name="bindings"></a>
|
||||
|
||||
|
@ -52,6 +52,22 @@
|
||||
#define CPU_FEATURES_ARCH_PPC
|
||||
#endif
|
||||
|
||||
#if defined(__riscv)
|
||||
#define CPU_FEATURES_ARCH_RISCV
|
||||
#endif
|
||||
|
||||
#if defined(__riscv) && defined(__riscv_xlen) && __riscv_xlen == 32
|
||||
#define CPU_FEATURES_ARCH_RISCV32
|
||||
#endif
|
||||
|
||||
#if defined(__riscv) && defined(__riscv_xlen) && __riscv_xlen == 64
|
||||
#define CPU_FEATURES_ARCH_RISCV64
|
||||
#endif
|
||||
|
||||
#if defined(__riscv) && defined(__riscv_xlen) && __riscv_xlen == 128
|
||||
#define CPU_FEATURES_ARCH_RISCV128
|
||||
#endif
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
// Os
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
@ -215,8 +231,121 @@
|
||||
#else
|
||||
#define CPU_FEATURES_COMPILED_MIPS_MSA 0
|
||||
#endif // defined(__mips_msa)
|
||||
#if defined(__mips3d)
|
||||
#define CPU_FEATURES_COMPILED_MIPS_MIPS3D 1
|
||||
#else
|
||||
#define CPU_FEATURES_COMPILED_MIPS_MIPS3D 0
|
||||
#endif
|
||||
#endif // defined(CPU_FEATURES_ARCH_MIPS)
|
||||
|
||||
#if defined(CPU_FEATURES_ARCH_RISCV)
|
||||
#if defined(__riscv_e)
|
||||
#define CPU_FEATURES_COMPILED_RISCV_E 1
|
||||
#else
|
||||
#define CPU_FEATURES_COMPILED_RISCV_E 0
|
||||
#endif
|
||||
#if defined(__riscv_i)
|
||||
#define CPU_FEATURES_COMPILED_RISCV_I 1
|
||||
#else
|
||||
#define CPU_FEATURES_COMPILED_RISCV_I 0
|
||||
#endif
|
||||
#if defined(__riscv_m)
|
||||
#define CPU_FEATURES_COMPILED_RISCV_M 1
|
||||
#else
|
||||
#define CPU_FEATURES_COMPILED_RISCV_M 0
|
||||
#endif
|
||||
#if defined(__riscv_a)
|
||||
#define CPU_FEATURES_COMPILED_RISCV_A 1
|
||||
#else
|
||||
#define CPU_FEATURES_COMPILED_RISCV_A 0
|
||||
#endif
|
||||
#if defined(__riscv_f)
|
||||
#define CPU_FEATURES_COMPILED_RISCV_F 1
|
||||
#else
|
||||
#define CPU_FEATURES_COMPILED_RISCV_F 0
|
||||
#endif
|
||||
#if defined(__riscv_d)
|
||||
#define CPU_FEATURES_COMPILED_RISCV_D 1
|
||||
#else
|
||||
#define CPU_FEATURES_COMPILED_RISCV_D 0
|
||||
#endif
|
||||
#if defined(__riscv_q)
|
||||
#define CPU_FEATURES_COMPILED_RISCV_Q 1
|
||||
#else
|
||||
#define CPU_FEATURES_COMPILED_RISCV_Q 0
|
||||
#endif
|
||||
#if defined(__riscv_c)
|
||||
#define CPU_FEATURES_COMPILED_RISCV_C 1
|
||||
#else
|
||||
#define CPU_FEATURES_COMPILED_RISCV_C 0
|
||||
#endif
|
||||
#if defined(__riscv_v)
|
||||
#define CPU_FEATURES_COMPILED_RISCV_V 1
|
||||
#else
|
||||
#define CPU_FEATURES_COMPILED_RISCV_V 0
|
||||
#endif
|
||||
#if defined(__riscv_zba)
|
||||
#define CPU_FEATURES_COMPILED_RISCV_ZBA 1
|
||||
#else
|
||||
#define CPU_FEATURES_COMPILED_RISCV_ZBA 0
|
||||
#endif
|
||||
#if defined(__riscv_zbb)
|
||||
#define CPU_FEATURES_COMPILED_RISCV_ZBB 1
|
||||
#else
|
||||
#define CPU_FEATURES_COMPILED_RISCV_ZBB 0
|
||||
#endif
|
||||
#if defined(__riscv_zbc)
|
||||
#define CPU_FEATURES_COMPILED_RISCV_ZBC 1
|
||||
#else
|
||||
#define CPU_FEATURES_COMPILED_RISCV_ZBC 0
|
||||
#endif
|
||||
#if defined(__riscv_zbs)
|
||||
#define CPU_FEATURES_COMPILED_RISCV_ZBS 1
|
||||
#else
|
||||
#define CPU_FEATURES_COMPILED_RISCV_ZBS 0
|
||||
#endif
|
||||
#if defined(__riscv_zfh)
|
||||
#define CPU_FEATURES_COMPILED_RISCV_ZFH 1
|
||||
#else
|
||||
#define CPU_FEATURES_COMPILED_RISCV_ZFH 0
|
||||
#endif
|
||||
#if defined(__riscv_zfhmin)
|
||||
#define CPU_FEATURES_COMPILED_RISCV_ZFHMIN 1
|
||||
#else
|
||||
#define CPU_FEATURES_COMPILED_RISCV_ZFHMIN 0
|
||||
#endif
|
||||
#if defined(__riscv_zknd)
|
||||
#define CPU_FEATURES_COMPILED_RISCV_ZKND 1
|
||||
#else
|
||||
#define CPU_FEATURES_COMPILED_RISCV_ZKND 0
|
||||
#endif
|
||||
#if defined(__riscv_zkne)
|
||||
#define CPU_FEATURES_COMPILED_RISCV_ZKNE 1
|
||||
#else
|
||||
#define CPU_FEATURES_COMPILED_RISCV_ZKNE 0
|
||||
#endif
|
||||
#if defined(__riscv_zknh)
|
||||
#define CPU_FEATURES_COMPILED_RISCV_ZKNH 1
|
||||
#else
|
||||
#define CPU_FEATURES_COMPILED_RISCV_ZKNH 0
|
||||
#endif
|
||||
#if defined(__riscv_zksed)
|
||||
#define CPU_FEATURES_COMPILED_RISCV_ZKSED 1
|
||||
#else
|
||||
#define CPU_FEATURES_COMPILED_RISCV_ZKSED 0
|
||||
#endif
|
||||
#if defined(__riscv_zksh)
|
||||
#define CPU_FEATURES_COMPILED_RISCV_ZKSH 1
|
||||
#else
|
||||
#define CPU_FEATURES_COMPILED_RISCV_ZKSH 0
|
||||
#endif
|
||||
#if defined(__riscv_zkr)
|
||||
#define CPU_FEATURES_COMPILED_RISCV_ZKR 1
|
||||
#else
|
||||
#define CPU_FEATURES_COMPILED_RISCV_ZKR 0
|
||||
#endif
|
||||
#endif // defined(CPU_FEATURES_ARCH_RISCV)
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
// Utils
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
@ -233,6 +362,8 @@
|
||||
// Communicates to the compiler that the function is now deprecated
|
||||
#if defined(CPU_FEATURES_COMPILER_CLANG) || defined(CPU_FEATURES_COMPILER_GCC)
|
||||
#define CPU_FEATURES_DEPRECATED(message) __attribute__((deprecated(message)))
|
||||
#elif defined(CPU_FEATURES_COMPILER_MSC)
|
||||
#define CPU_FEATURES_DEPRECATED(message) __declspec(deprecated(message))
|
||||
#else
|
||||
#define CPU_FEATURES_DEPRECATED(message)
|
||||
#endif
|
||||
|
@ -62,6 +62,9 @@ typedef struct
|
||||
int rng : 1; // True random number generator support.
|
||||
int bti : 1; // Branch target identification.
|
||||
int mte : 1; // Memory tagging extension.
|
||||
int ecv : 1; // Enhanced counter virtualization.
|
||||
int afp : 1; // Alternate floating-point behaviour.
|
||||
int rpres : 1; // 12-bit reciprocal (square root) estimate precision.
|
||||
|
||||
// Make sure to update Aarch64FeaturesEnum below if you add a field here.
|
||||
} Aarch64Features;
|
||||
@ -133,6 +136,9 @@ typedef enum
|
||||
AARCH64_RNG,
|
||||
AARCH64_BTI,
|
||||
AARCH64_MTE,
|
||||
AARCH64_ECV,
|
||||
AARCH64_AFP,
|
||||
AARCH64_RPRES,
|
||||
AARCH64_LAST_,
|
||||
} Aarch64FeaturesEnum;
|
||||
|
||||
|
@ -16,6 +16,15 @@ typedef struct
|
||||
int eva : 1; // Enhanced Virtual Addressing
|
||||
// https://www.mips.com/products/architectures/mips64/
|
||||
int r6 : 1; // True if is release 6 of the processor.
|
||||
int mips16 : 1; // Compressed instructions
|
||||
int mdmx : 1; // MIPS Digital Media Extension
|
||||
int mips3d : 1; // 3D graphics acceleration
|
||||
// MIPS(r) Architecture for Programmers, Volume IV-c
|
||||
int smart : 1; // Smart-card cryptography
|
||||
// MIPS(r) Architecture for Programmers, Volume IV-d
|
||||
int dsp : 1; // Digital Signal Processing
|
||||
// MIPS(r) Architecture for Programmers, Volume IV-e
|
||||
// https://www.mips.com/products/architectures/ase/dsp/
|
||||
|
||||
// Make sure to update MipsFeaturesEnum below if you add a field here.
|
||||
} MipsFeatures;
|
||||
@ -35,6 +44,11 @@ typedef enum
|
||||
MIPS_MSA,
|
||||
MIPS_EVA,
|
||||
MIPS_R6,
|
||||
MIPS_MIPS16,
|
||||
MIPS_MDMX,
|
||||
MIPS_MIPS3D,
|
||||
MIPS_SMART,
|
||||
MIPS_DSP,
|
||||
MIPS_LAST_,
|
||||
} MipsFeaturesEnum;
|
||||
|
||||
|
@ -65,7 +65,7 @@ typedef struct
|
||||
int avx512bitalg : 1;
|
||||
int avx512vpopcntdq : 1;
|
||||
int avx512_4vnniw : 1;
|
||||
int avx512_4vbmi2 : 1;
|
||||
int avx512_4vbmi2 : 1; // Note: this is an alias to avx512_4fmaps.
|
||||
int avx512_second_fma : 1;
|
||||
int avx512_4fmaps : 1;
|
||||
int avx512_bf16 : 1;
|
||||
@ -132,6 +132,7 @@ typedef enum
|
||||
INTEL_KBL, // KABY LAKE
|
||||
INTEL_CFL, // COFFEE LAKE
|
||||
INTEL_WHL, // WHISKEY LAKE
|
||||
INTEL_CML, // COMET LAKE
|
||||
INTEL_CNL, // CANNON LAKE
|
||||
INTEL_ICL, // ICE LAKE
|
||||
INTEL_TGL, // TIGER LAKE
|
||||
@ -158,6 +159,7 @@ typedef enum
|
||||
AMD_ZEN_PLUS, // K17 ZEN+
|
||||
AMD_ZEN2, // K17 ZEN 2
|
||||
AMD_ZEN3, // K19 ZEN 3
|
||||
AMD_ZEN4, // K19 ZEN 4
|
||||
X86_MICROARCHITECTURE_LAST_,
|
||||
} X86Microarchitecture;
|
||||
|
||||
@ -218,7 +220,7 @@ typedef enum
|
||||
X86_AVX512BITALG,
|
||||
X86_AVX512VPOPCNTDQ,
|
||||
X86_AVX512_4VNNIW,
|
||||
X86_AVX512_4VBMI2,
|
||||
X86_AVX512_4VBMI2, // Note: this is an alias to X86_AVX512_4FMAPS.
|
||||
X86_AVX512_SECOND_FMA,
|
||||
X86_AVX512_4FMAPS,
|
||||
X86_AVX512_BF16,
|
||||
|
@ -68,6 +68,9 @@ CPU_FEATURES_START_CPP_NAMESPACE
|
||||
#define AARCH64_HWCAP2_RNG (1UL << 16)
|
||||
#define AARCH64_HWCAP2_BTI (1UL << 17)
|
||||
#define AARCH64_HWCAP2_MTE (1UL << 18)
|
||||
#define AARCH64_HWCAP2_ECV (1UL << 19)
|
||||
#define AARCH64_HWCAP2_AFP (1UL << 20)
|
||||
#define AARCH64_HWCAP2_RPRES (1UL << 21)
|
||||
|
||||
// http://elixir.free-electrons.com/linux/latest/source/arch/arm/include/uapi/asm/hwcap.h
|
||||
#define ARM_HWCAP_SWP (1UL << 0)
|
||||
@ -102,6 +105,13 @@ CPU_FEATURES_START_CPP_NAMESPACE
|
||||
#define MIPS_HWCAP_R6 (1UL << 0)
|
||||
#define MIPS_HWCAP_MSA (1UL << 1)
|
||||
#define MIPS_HWCAP_CRC32 (1UL << 2)
|
||||
#define MIPS_HWCAP_MIPS16 (1UL << 3)
|
||||
#define MIPS_HWCAP_MDMX (1UL << 4)
|
||||
#define MIPS_HWCAP_MIPS3D (1UL << 5)
|
||||
#define MIPS_HWCAP_SMARTMIPS (1UL << 6)
|
||||
#define MIPS_HWCAP_DSP (1UL << 7)
|
||||
#define MIPS_HWCAP_DSP2 (1UL << 8)
|
||||
#define MIPS_HWCAP_DSP3 (1UL << 9)
|
||||
|
||||
// http://elixir.free-electrons.com/linux/latest/source/arch/powerpc/include/uapi/asm/cputable.h
|
||||
#ifndef _UAPI__ASM_POWERPC_CPUTABLE_H
|
||||
@ -154,6 +164,17 @@ CPU_FEATURES_START_CPP_NAMESPACE
|
||||
#define PPC_FEATURE2_HTM_NO_SUSPEND 0x00080000
|
||||
#endif
|
||||
|
||||
// https://elixir.bootlin.com/linux/latest/source/arch/riscv/include/uapi/asm/hwcap.h
|
||||
#define RISCV_HWCAP_A (1UL << ('A' - 'A'))
|
||||
#define RISCV_HWCAP_C (1UL << ('C' - 'A'))
|
||||
#define RISCV_HWCAP_D (1UL << ('D' - 'A'))
|
||||
#define RISCV_HWCAP_E (1UL << ('E' - 'A'))
|
||||
#define RISCV_HWCAP_F (1UL << ('F' - 'A'))
|
||||
#define RISCV_HWCAP_I (1UL << ('I' - 'A'))
|
||||
#define RISCV_HWCAP_M (1UL << ('M' - 'A'))
|
||||
#define RISCV_HWCAP_V (1UL << ('V' - 'A'))
|
||||
#define RISCV_HWCAP_Q (1UL << ('Q' - 'A'))
|
||||
|
||||
typedef struct
|
||||
{
|
||||
unsigned long hwcaps;
|
||||
|
@ -0,0 +1,21 @@
|
||||
// SPDX-FileCopyrightText: 2022 Google LLC
|
||||
// SPDX-License-Identifier: Apache-2.0
|
||||
#ifndef CPU_FEATURES_INCLUDE_INTERNAL_WINDOWS_UTILS_H_
|
||||
#define CPU_FEATURES_INCLUDE_INTERNAL_WINDOWS_UTILS_H_
|
||||
|
||||
#include <windows.h> // IsProcessorFeaturePresent
|
||||
|
||||
// modern WinSDK winnt.h contains newer features detection definitions
|
||||
#if !defined(PF_SSSE3_INSTRUCTIONS_AVAILABLE)
|
||||
#define PF_SSSE3_INSTRUCTIONS_AVAILABLE 36
|
||||
#endif
|
||||
|
||||
#if !defined(PF_SSE4_1_INSTRUCTIONS_AVAILABLE)
|
||||
#define PF_SSE4_1_INSTRUCTIONS_AVAILABLE 37
|
||||
#endif
|
||||
|
||||
#if !defined(PF_SSE4_2_INSTRUCTIONS_AVAILABLE)
|
||||
#define PF_SSE4_2_INSTRUCTIONS_AVAILABLE 38
|
||||
#endif
|
||||
|
||||
#endif // CPU_FEATURES_INCLUDE_INTERNAL_WINDOWS_UTILS_H_
|
@ -63,7 +63,10 @@
|
||||
LINE(AARCH64_DGH, dgh, "dgh", 0, AARCH64_HWCAP2_DGH) \
|
||||
LINE(AARCH64_RNG, rng, "rng", 0, AARCH64_HWCAP2_RNG) \
|
||||
LINE(AARCH64_BTI, bti, "bti", 0, AARCH64_HWCAP2_BTI) \
|
||||
LINE(AARCH64_MTE, mte, "mte", 0, AARCH64_HWCAP2_MTE)
|
||||
LINE(AARCH64_MTE, mte, "mte", 0, AARCH64_HWCAP2_MTE) \
|
||||
LINE(AARCH64_ECV, ecv, "ecv", 0, AARCH64_HWCAP2_ECV) \
|
||||
LINE(AARCH64_AFP, afp, "afp", 0, AARCH64_HWCAP2_AFP) \
|
||||
LINE(AARCH64_RPRES, rpres, "rpres", 0, AARCH64_HWCAP2_RPRES)
|
||||
#define INTROSPECTION_PREFIX Aarch64
|
||||
#define INTROSPECTION_ENUM_PREFIX AARCH64
|
||||
#include "define_introspection_and_hwcaps.inl"
|
||||
|
@ -14,7 +14,12 @@
|
||||
#define INTROSPECTION_TABLE \
|
||||
LINE(MIPS_MSA, msa, "msa", MIPS_HWCAP_MSA, 0) \
|
||||
LINE(MIPS_EVA, eva, "eva", 0, 0) \
|
||||
LINE(MIPS_R6, r6, "r6", MIPS_HWCAP_R6, 0)
|
||||
LINE(MIPS_R6, r6, "r6", MIPS_HWCAP_R6, 0) \
|
||||
LINE(MIPS_MIPS16, mips16, "mips16", MIPS_HWCAP_MIPS16, 0) \
|
||||
LINE(MIPS_MDMX, mdmx, "mdmx", MIPS_HWCAP_MDMX, 0) \
|
||||
LINE(MIPS_MIPS3D, mips3d, "mips3d", MIPS_HWCAP_MIPS3D, 0) \
|
||||
LINE(MIPS_SMART, smart, "smartmips", MIPS_HWCAP_SMARTMIPS, 0) \
|
||||
LINE(MIPS_DSP, dsp, "dsp", MIPS_HWCAP_DSP, 0)
|
||||
#define INTROSPECTION_PREFIX Mips
|
||||
#define INTROSPECTION_ENUM_PREFIX MIPS
|
||||
#include "define_introspection_and_hwcaps.inl"
|
||||
|
@ -561,6 +561,8 @@ X86Microarchitecture GetX86Microarchitecture(const X86Info* info)
|
||||
return INTEL_CFL; // https://en.wikipedia.org/wiki/Coffee_Lake
|
||||
case 11:
|
||||
return INTEL_WHL; // https://en.wikipedia.org/wiki/Whiskey_Lake_(microarchitecture)
|
||||
case 12:
|
||||
return INTEL_CML; // https://en.wikichip.org/wiki/intel/microarchitectures/comet_lake
|
||||
default:
|
||||
return X86_UNKNOWN;
|
||||
}
|
||||
@ -579,6 +581,9 @@ X86Microarchitecture GetX86Microarchitecture(const X86Info* info)
|
||||
case CPUID(0x06, 0x9A):
|
||||
// https://en.wikichip.org/wiki/intel/microarchitectures/alder_lake
|
||||
return INTEL_ADL;
|
||||
case CPUID(0x06, 0xA5):
|
||||
// https://en.wikichip.org/wiki/intel/microarchitectures/comet_lake
|
||||
return INTEL_CML;
|
||||
case CPUID(0x06, 0xA7):
|
||||
// https://en.wikichip.org/wiki/intel/microarchitectures/rocket_lake
|
||||
return INTEL_RCL;
|
||||
@ -744,13 +749,19 @@ X86Microarchitecture GetX86Microarchitecture(const X86Info* info)
|
||||
case CPUID(0x17, 0x98):
|
||||
// https://en.wikichip.org/wiki/amd/microarchitectures/zen_2
|
||||
return AMD_ZEN2;
|
||||
case CPUID(0x19, 0x00):
|
||||
case CPUID(0x19, 0x01):
|
||||
case CPUID(0x19, 0x08):
|
||||
case CPUID(0x19, 0x21):
|
||||
case CPUID(0x19, 0x30):
|
||||
case CPUID(0x19, 0x40):
|
||||
case CPUID(0x19, 0x44):
|
||||
case CPUID(0x19, 0x50):
|
||||
// https://en.wikichip.org/wiki/amd/microarchitectures/zen_3
|
||||
return AMD_ZEN3;
|
||||
case CPUID(0x19, 0x10):
|
||||
// https://en.wikichip.org/wiki/amd/microarchitectures/zen_4
|
||||
return AMD_ZEN4;
|
||||
default:
|
||||
return X86_UNKNOWN;
|
||||
}
|
||||
@ -760,6 +771,7 @@ X86Microarchitecture GetX86Microarchitecture(const X86Info* info)
|
||||
switch (CPUID(info->family, info->model))
|
||||
{
|
||||
case CPUID(0x18, 0x00):
|
||||
case CPUID(0x18, 0x01):
|
||||
return AMD_ZEN;
|
||||
}
|
||||
}
|
||||
@ -1823,6 +1835,7 @@ CacheInfo GetX86CacheInfo(void)
|
||||
LINE(INTEL_KBL) \
|
||||
LINE(INTEL_CFL) \
|
||||
LINE(INTEL_WHL) \
|
||||
LINE(INTEL_CML) \
|
||||
LINE(INTEL_CNL) \
|
||||
LINE(INTEL_ICL) \
|
||||
LINE(INTEL_TGL) \
|
||||
@ -1848,7 +1861,8 @@ CacheInfo GetX86CacheInfo(void)
|
||||
LINE(AMD_ZEN) \
|
||||
LINE(AMD_ZEN_PLUS) \
|
||||
LINE(AMD_ZEN2) \
|
||||
LINE(AMD_ZEN3)
|
||||
LINE(AMD_ZEN3) \
|
||||
LINE(AMD_ZEN4)
|
||||
|
||||
const char* GetX86MicroarchitectureName(X86Microarchitecture value)
|
||||
{
|
||||
|
@ -14,7 +14,7 @@ static void OverrideOsPreserves(OsPreserves* os_preserves)
|
||||
// No override
|
||||
}
|
||||
|
||||
#include <windows.h> // IsProcessorFeaturePresent
|
||||
#include "internal/windows_utils.h"
|
||||
|
||||
#if defined(CPU_FEATURES_MOCK_CPUID_X86)
|
||||
extern bool GetWindowsIsProcessorFeaturePresent(DWORD);
|
||||
@ -35,16 +35,15 @@ static void DetectFeaturesFromOs(X86Info* info, X86Features* features)
|
||||
GetWindowsIsProcessorFeaturePresent(PF_XMMI64_INSTRUCTIONS_AVAILABLE);
|
||||
features->sse3 =
|
||||
GetWindowsIsProcessorFeaturePresent(PF_SSE3_INSTRUCTIONS_AVAILABLE);
|
||||
features->ssse3 =
|
||||
GetWindowsIsProcessorFeaturePresent(PF_SSSE3_INSTRUCTIONS_AVAILABLE);
|
||||
features->sse4_1 =
|
||||
GetWindowsIsProcessorFeaturePresent(PF_SSE4_1_INSTRUCTIONS_AVAILABLE);
|
||||
features->sse4_2 =
|
||||
GetWindowsIsProcessorFeaturePresent(PF_SSE4_2_INSTRUCTIONS_AVAILABLE);
|
||||
|
||||
// https://github.com/google/cpu_features/issues/200
|
||||
#if (_WIN32_WINNT >= 0x0601) // Win7+
|
||||
if (GetX86Microarchitecture(info) == INTEL_WSM)
|
||||
{
|
||||
features->ssse3 = true;
|
||||
features->sse4_1 = true;
|
||||
features->sse4_2 = true;
|
||||
}
|
||||
#endif
|
||||
// do not bother checking PF_AVX*
|
||||
// cause AVX enabled processor will have XCR0 be exposed and this function will be skipped at all
|
||||
}
|
||||
|
||||
#endif // CPU_FEATURES_OS_WINDOWS
|
||||
|
@ -43,7 +43,7 @@ char gGlobalBuffer[64 * 1024];
|
||||
BumpAllocator gBumpAllocator = {.ptr = gGlobalBuffer,
|
||||
.size = sizeof(gGlobalBuffer)};
|
||||
|
||||
static void internal_error()
|
||||
static void internal_error(void)
|
||||
{
|
||||
fputs("internal error\n", stderr);
|
||||
exit(EXIT_FAILURE);
|
||||
@ -51,12 +51,12 @@ static void internal_error()
|
||||
|
||||
#define ALIGN 8
|
||||
|
||||
static void assertAligned()
|
||||
static void assertAligned(void)
|
||||
{
|
||||
if ((uintptr_t)(gBumpAllocator.ptr) % ALIGN) internal_error();
|
||||
}
|
||||
|
||||
static void BA_Align()
|
||||
static void BA_Align(void)
|
||||
{
|
||||
while (gBumpAllocator.size && (uintptr_t)(gBumpAllocator.ptr) % ALIGN)
|
||||
{
|
||||
@ -128,10 +128,10 @@ static Node* CreateConstantString(const char* value)
|
||||
}
|
||||
|
||||
// Adds a map node.
|
||||
static Node* CreateMap() { return BA_CreateNode(NT_MAP); }
|
||||
static Node* CreateMap(void) { return BA_CreateNode(NT_MAP); }
|
||||
|
||||
// Adds an array node.
|
||||
static Node* CreateArray() { return BA_CreateNode(NT_ARRAY); }
|
||||
static Node* CreateArray(void) { return BA_CreateNode(NT_ARRAY); }
|
||||
|
||||
// Adds a formatted string node.
|
||||
static Node* CreatePrintfString(const char* format, ...)
|
||||
@ -385,16 +385,15 @@ static void AddCacheInfo(Node* root, const CacheInfo* cache_info)
|
||||
AddMapEntry(root, "cache_info", array);
|
||||
}
|
||||
|
||||
static Node* CreateTree()
|
||||
static Node* CreateTree(void)
|
||||
{
|
||||
Node* root = CreateMap();
|
||||
#if defined(CPU_FEATURES_ARCH_X86)
|
||||
char brand_string[49];
|
||||
const X86Info info = GetX86Info();
|
||||
const CacheInfo cache_info = GetX86CacheInfo();
|
||||
FillX86BrandString(brand_string);
|
||||
AddMapEntry(root, "arch", CreateString("x86"));
|
||||
AddMapEntry(root, "brand", CreateString(brand_string));
|
||||
AddMapEntry(root, "brand", CreateString(info.brand_string));
|
||||
AddMapEntry(root, "family", CreateInt(info.family));
|
||||
AddMapEntry(root, "model", CreateInt(info.model));
|
||||
AddMapEntry(root, "stepping", CreateInt(info.stepping));
|
||||
|
@ -135,6 +135,20 @@ void DisableHardwareCapabilities()
|
||||
SetHardwareCapabilities(0, 0);
|
||||
}
|
||||
|
||||
TEST(CpuinfoAarch64Test, Aarch64FeaturesEnum)
|
||||
{
|
||||
const char *last_name = GetAarch64FeaturesEnumName(AARCH64_LAST_);
|
||||
EXPECT_STREQ(last_name, "unknown_feature");
|
||||
for (int i = static_cast<int>(AARCH64_FP); i != static_cast<int>(AARCH64_LAST_); ++i)
|
||||
{
|
||||
const auto feature = static_cast<Aarch64FeaturesEnum>(i);
|
||||
const char *name = GetAarch64FeaturesEnumName(feature);
|
||||
ASSERT_FALSE(name == nullptr);
|
||||
EXPECT_STRNE(name, "");
|
||||
EXPECT_STRNE(name, last_name);
|
||||
}
|
||||
}
|
||||
|
||||
TEST(CpuinfoAarch64Test, FromHardwareCap)
|
||||
{
|
||||
ResetHwcaps();
|
||||
@ -208,7 +222,7 @@ TEST(CpuinfoAarch64Test, FromHardwareCap2)
|
||||
TEST(CpuinfoAarch64Test, ARMCortexA53)
|
||||
{
|
||||
ResetHwcaps();
|
||||
auto& fs = GetEmptyFilesystem();
|
||||
auto &fs = GetEmptyFilesystem();
|
||||
fs.CreateFile("/proc/cpuinfo",
|
||||
R"(Processor : AArch64 Processor rev 3 (aarch64)
|
||||
processor : 0
|
||||
@ -283,6 +297,9 @@ CPU revision : 3)");
|
||||
EXPECT_FALSE(info.features.rng);
|
||||
EXPECT_FALSE(info.features.bti);
|
||||
EXPECT_FALSE(info.features.mte);
|
||||
EXPECT_FALSE(info.features.ecv);
|
||||
EXPECT_FALSE(info.features.afp);
|
||||
EXPECT_FALSE(info.features.rpres);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
@ -10,6 +10,21 @@ namespace cpu_features
|
||||
{
|
||||
namespace
|
||||
{
|
||||
|
||||
TEST(CpuinfoArmTest, ArmFeaturesEnum)
|
||||
{
|
||||
const char* last_name = GetArmFeaturesEnumName(ARM_LAST_);
|
||||
EXPECT_STREQ(last_name, "unknown_feature");
|
||||
for (int i = static_cast<int>(ARM_SWP); i != static_cast<int>(ARM_LAST_); ++i)
|
||||
{
|
||||
const auto feature = static_cast<ArmFeaturesEnum>(i);
|
||||
const char* name = GetArmFeaturesEnumName(feature);
|
||||
ASSERT_FALSE(name == nullptr);
|
||||
EXPECT_STRNE(name, "");
|
||||
EXPECT_STRNE(name, last_name);
|
||||
}
|
||||
}
|
||||
|
||||
TEST(CpuinfoArmTest, FromHardwareCap)
|
||||
{
|
||||
ResetHwcaps();
|
||||
|
@ -12,6 +12,20 @@ namespace cpu_features
|
||||
{
|
||||
namespace
|
||||
{
|
||||
TEST(CpuinfoMipsTest, MipsFeaturesEnum)
|
||||
{
|
||||
const char* last_name = GetMipsFeaturesEnumName(MIPS_LAST_);
|
||||
EXPECT_STREQ(last_name, "unknown_feature");
|
||||
for (int i = static_cast<int>(MIPS_MSA); i != static_cast<int>(MIPS_LAST_); ++i)
|
||||
{
|
||||
const auto feature = static_cast<MipsFeaturesEnum>(i);
|
||||
const char* name = GetMipsFeaturesEnumName(feature);
|
||||
ASSERT_FALSE(name == nullptr);
|
||||
EXPECT_STRNE(name, "");
|
||||
EXPECT_STRNE(name, last_name);
|
||||
}
|
||||
}
|
||||
|
||||
TEST(CpuinfoMipsTest, FromHardwareCapBoth)
|
||||
{
|
||||
ResetHwcaps();
|
||||
@ -60,6 +74,12 @@ VPE : 0
|
||||
const auto info = GetMipsInfo();
|
||||
EXPECT_FALSE(info.features.msa);
|
||||
EXPECT_TRUE(info.features.eva);
|
||||
EXPECT_FALSE(info.features.r6);
|
||||
EXPECT_TRUE(info.features.mips16);
|
||||
EXPECT_FALSE(info.features.mdmx);
|
||||
EXPECT_FALSE(info.features.mips3d);
|
||||
EXPECT_FALSE(info.features.smart);
|
||||
EXPECT_TRUE(info.features.dsp);
|
||||
}
|
||||
|
||||
TEST(CpuinfoMipsTest, AR7161)
|
||||
@ -87,6 +107,7 @@ VCEI exceptions : not available
|
||||
const auto info = GetMipsInfo();
|
||||
EXPECT_FALSE(info.features.msa);
|
||||
EXPECT_FALSE(info.features.eva);
|
||||
EXPECT_TRUE(info.features.mips16);
|
||||
}
|
||||
|
||||
TEST(CpuinfoMipsTest, Goldfish)
|
||||
@ -115,5 +136,37 @@ VCEI exceptions : not available
|
||||
EXPECT_FALSE(info.features.eva);
|
||||
}
|
||||
|
||||
TEST(CpuinfoMipsTest, BCM1250)
|
||||
{
|
||||
ResetHwcaps();
|
||||
auto& fs = GetEmptyFilesystem();
|
||||
fs.CreateFile("/proc/cpuinfo", R"(system type : SiByte BCM91250A (SWARM)
|
||||
processor : 0
|
||||
cpu model : SiByte SB1 V0.2 FPU V0.2
|
||||
BogoMIPS : 532.48
|
||||
wait instruction : no
|
||||
microsecond timers : yes
|
||||
tlb_entries : 64
|
||||
extra interrupt vector : yes
|
||||
hardware watchpoint : yes, count: 1, address/irw mask: [0x0ff8]
|
||||
isa : mips1 mips2 mips3 mips4 mips5 mips32r1 mips32r2 mips64r1 mips64r2
|
||||
ASEs implemented : mdmx mips3d
|
||||
shadow register sets : 1
|
||||
kscratch registers : 0
|
||||
package : 0
|
||||
core : 0
|
||||
VCED exceptions : not available
|
||||
VCEI exceptions : not available
|
||||
)");
|
||||
const auto info = GetMipsInfo();
|
||||
EXPECT_FALSE(info.features.msa);
|
||||
EXPECT_FALSE(info.features.eva);
|
||||
EXPECT_FALSE(info.features.mips16);
|
||||
EXPECT_TRUE(info.features.mdmx);
|
||||
EXPECT_TRUE(info.features.mips3d);
|
||||
EXPECT_FALSE(info.features.smart);
|
||||
EXPECT_FALSE(info.features.dsp);
|
||||
}
|
||||
|
||||
} // namespace
|
||||
} // namespace cpu_features
|
||||
|
@ -11,6 +11,20 @@ namespace cpu_features
|
||||
{
|
||||
namespace
|
||||
{
|
||||
TEST(CpustringsPPCTest, PPCFeaturesEnum)
|
||||
{
|
||||
const char* last_name = GetPPCFeaturesEnumName(PPC_LAST_);
|
||||
EXPECT_STREQ(last_name, "unknown_feature");
|
||||
for (int i = static_cast<int>(PPC_32); i != static_cast<int>(PPC_LAST_); ++i)
|
||||
{
|
||||
const auto feature = static_cast<PPCFeaturesEnum>(i);
|
||||
const char* name = GetPPCFeaturesEnumName(feature);
|
||||
ASSERT_FALSE(name == nullptr);
|
||||
EXPECT_STRNE(name, "");
|
||||
EXPECT_STRNE(name, last_name);
|
||||
}
|
||||
}
|
||||
|
||||
TEST(CpustringsPPCTest, FromHardwareCap)
|
||||
{
|
||||
ResetHwcaps();
|
||||
|
@ -77,9 +77,9 @@ private:
|
||||
uint32_t xcr0_eax_;
|
||||
};
|
||||
|
||||
static FakeCpu* g_fake_cpu_instance = nullptr;
|
||||
static FakeCpu *g_fake_cpu_instance = nullptr;
|
||||
|
||||
static FakeCpu& cpu()
|
||||
static FakeCpu &cpu()
|
||||
{
|
||||
assert(g_fake_cpu_instance != nullptr);
|
||||
return *g_fake_cpu_instance;
|
||||
@ -93,7 +93,7 @@ extern "C" Leaf GetCpuidLeaf(uint32_t leaf_id, int ecx)
|
||||
extern "C" uint32_t GetXCR0Eax(void) { return cpu().GetXCR0Eax(); }
|
||||
|
||||
#if defined(CPU_FEATURES_OS_MACOS)
|
||||
extern "C" bool GetDarwinSysCtlByName(const char* name)
|
||||
extern "C" bool GetDarwinSysCtlByName(const char *name)
|
||||
{
|
||||
return cpu().GetDarwinSysCtlByName(name);
|
||||
}
|
||||
@ -124,6 +124,34 @@ protected:
|
||||
}
|
||||
};
|
||||
|
||||
TEST_F(CpuidX86Test, X86MicroarchitectureEnum)
|
||||
{
|
||||
const char *last_name = GetX86MicroarchitectureName(X86_MICROARCHITECTURE_LAST_);
|
||||
EXPECT_STREQ(last_name, "unknown microarchitecture");
|
||||
for (int i = static_cast<int>(X86_UNKNOWN); i != static_cast<int>(X86_MICROARCHITECTURE_LAST_); ++i)
|
||||
{
|
||||
const auto micro = static_cast<X86Microarchitecture>(i);
|
||||
const char *name = GetX86MicroarchitectureName(micro);
|
||||
ASSERT_FALSE(name == nullptr);
|
||||
EXPECT_STRNE(name, "");
|
||||
EXPECT_STRNE(name, last_name);
|
||||
}
|
||||
}
|
||||
|
||||
TEST_F(CpuidX86Test, X86FeaturesEnum)
|
||||
{
|
||||
const char *last_name = GetX86FeaturesEnumName(X86_LAST_);
|
||||
EXPECT_STREQ(last_name, "unknown_feature");
|
||||
for (int i = static_cast<int>(X86_FPU); i != static_cast<int>(X86_LAST_); ++i)
|
||||
{
|
||||
const auto feature = static_cast<X86FeaturesEnum>(i);
|
||||
const char *name = GetX86FeaturesEnumName(feature);
|
||||
ASSERT_FALSE(name == nullptr);
|
||||
EXPECT_STRNE(name, "");
|
||||
EXPECT_STRNE(name, last_name);
|
||||
}
|
||||
}
|
||||
|
||||
TEST_F(CpuidX86Test, SandyBridge)
|
||||
{
|
||||
cpu().SetOsBackupsExtendedRegisters(true);
|
||||
@ -216,9 +244,8 @@ TEST_F(CpuidX86Test, Branding)
|
||||
{{0x80000003, 0}, Leaf{0x37692029, 0x3035362D, 0x43205530, 0x40205550}},
|
||||
{{0x80000004, 0}, Leaf{0x352E3220, 0x7A484730, 0x00000000, 0x00000000}},
|
||||
});
|
||||
char brand_string[49];
|
||||
FillX86BrandString(brand_string);
|
||||
EXPECT_STREQ(brand_string, "Intel(R) Core(TM) i7-6500U CPU @ 2.50GHz");
|
||||
const auto info = GetX86Info();
|
||||
EXPECT_STREQ(info.brand_string, "Intel(R) Core(TM) i7-6500U CPU @ 2.50GHz");
|
||||
}
|
||||
|
||||
TEST_F(CpuidX86Test, KabyLakeCache)
|
||||
@ -436,10 +463,6 @@ TEST_F(CpuidX86Test, AMD_K15_EXCAVATOR_STONEY_RIDGE)
|
||||
"AMD A9-9410 RADEON R5, 5 COMPUTE CORES 2C+3G ");
|
||||
EXPECT_EQ(GetX86Microarchitecture(&info),
|
||||
X86Microarchitecture::AMD_EXCAVATOR);
|
||||
|
||||
char brand_string[49];
|
||||
FillX86BrandString(brand_string);
|
||||
EXPECT_STREQ(brand_string, "AMD A9-9410 RADEON R5, 5 COMPUTE CORES 2C+3G ");
|
||||
}
|
||||
|
||||
// http://users.atw.hu/instlatx64/AuthenticAMD/AuthenticAMD0600F20_K15_AbuDhabi_CPUID0.txt
|
||||
@ -465,9 +488,7 @@ TEST_F(CpuidX86Test, AMD_K15_PILEDRIVER_ABU_DHABI)
|
||||
EXPECT_EQ(GetX86Microarchitecture(&info),
|
||||
X86Microarchitecture::AMD_PILEDRIVER);
|
||||
|
||||
char brand_string[49];
|
||||
FillX86BrandString(brand_string);
|
||||
EXPECT_STREQ(brand_string, "AMD Opteron(tm) Processor 6376 ");
|
||||
EXPECT_STREQ(info.brand_string, "AMD Opteron(tm) Processor 6376 ");
|
||||
}
|
||||
|
||||
// http://users.atw.hu/instlatx64/AuthenticAMD/AuthenticAMD0600F20_K15_AbuDhabi_CPUID0.txt
|
||||
@ -541,10 +562,6 @@ TEST_F(CpuidX86Test, AMD_K15_BULLDOZER_INTERLAGOS)
|
||||
"AMD Opteron(TM) Processor 6238 ");
|
||||
EXPECT_EQ(GetX86Microarchitecture(&info),
|
||||
X86Microarchitecture::AMD_BULLDOZER);
|
||||
|
||||
char brand_string[49];
|
||||
FillX86BrandString(brand_string);
|
||||
EXPECT_STREQ(brand_string, "AMD Opteron(TM) Processor 6238 ");
|
||||
}
|
||||
|
||||
// http://users.atw.hu/instlatx64/AuthenticAMD0630F81_K15_Godavari_CPUID.txt
|
||||
@ -571,10 +588,6 @@ TEST_F(CpuidX86Test, AMD_K15_STREAMROLLER_GODAVARI)
|
||||
"AMD A8-7670K Radeon R7, 10 Compute Cores 4C+6G ");
|
||||
EXPECT_EQ(GetX86Microarchitecture(&info),
|
||||
X86Microarchitecture::AMD_STREAMROLLER);
|
||||
|
||||
char brand_string[49];
|
||||
FillX86BrandString(brand_string);
|
||||
EXPECT_STREQ(brand_string, "AMD A8-7670K Radeon R7, 10 Compute Cores 4C+6G ");
|
||||
}
|
||||
|
||||
// http://users.atw.hu/instlatx64/AuthenticAMD/AuthenticAMD0700F01_K16_Kabini_CPUID.txt
|
||||
@ -598,10 +611,6 @@ TEST_F(CpuidX86Test, AMD_K16_JAGUAR_KABINI)
|
||||
EXPECT_STREQ(info.brand_string,
|
||||
"AMD A4-5000 APU with Radeon(TM) HD Graphics ");
|
||||
EXPECT_EQ(GetX86Microarchitecture(&info), X86Microarchitecture::AMD_JAGUAR);
|
||||
|
||||
char brand_string[49];
|
||||
FillX86BrandString(brand_string);
|
||||
EXPECT_STREQ(brand_string, "AMD A4-5000 APU with Radeon(TM) HD Graphics ");
|
||||
}
|
||||
|
||||
// http://users.atw.hu/instlatx64/AuthenticAMD/AuthenticAMD0730F01_K16_Beema_CPUID2.txt
|
||||
@ -625,10 +634,6 @@ TEST_F(CpuidX86Test, AMD_K16_PUMA_BEEMA)
|
||||
EXPECT_STREQ(info.brand_string,
|
||||
"AMD A6-6310 APU with AMD Radeon R4 Graphics ");
|
||||
EXPECT_EQ(GetX86Microarchitecture(&info), X86Microarchitecture::AMD_PUMA);
|
||||
|
||||
char brand_string[49];
|
||||
FillX86BrandString(brand_string);
|
||||
EXPECT_STREQ(brand_string, "AMD A6-6310 APU with AMD Radeon R4 Graphics ");
|
||||
}
|
||||
|
||||
// http://users.atw.hu/instlatx64/AuthenticAMD/AuthenticAMD0820F01_K17_Dali_CPUID.txt
|
||||
@ -652,10 +657,6 @@ TEST_F(CpuidX86Test, AMD_K17_ZEN_DALI)
|
||||
EXPECT_STREQ(info.brand_string,
|
||||
"AMD 3020e with Radeon Graphics ");
|
||||
EXPECT_EQ(GetX86Microarchitecture(&info), X86Microarchitecture::AMD_ZEN);
|
||||
|
||||
char brand_string[49];
|
||||
FillX86BrandString(brand_string);
|
||||
EXPECT_STREQ(brand_string, "AMD 3020e with Radeon Graphics ");
|
||||
}
|
||||
|
||||
// http://users.atw.hu/instlatx64/AuthenticAMD/AuthenticAMD0800F82_K17_ZenP_CPUID.txt
|
||||
@ -679,10 +680,6 @@ TEST_F(CpuidX86Test, AMD_K17_ZEN_PLUS_PINNACLE_RIDGE)
|
||||
EXPECT_STREQ(info.brand_string,
|
||||
"AMD Ryzen 7 2700X Eight-Core Processor ");
|
||||
EXPECT_EQ(GetX86Microarchitecture(&info), X86Microarchitecture::AMD_ZEN_PLUS);
|
||||
|
||||
char brand_string[49];
|
||||
FillX86BrandString(brand_string);
|
||||
EXPECT_STREQ(brand_string, "AMD Ryzen 7 2700X Eight-Core Processor ");
|
||||
}
|
||||
|
||||
// http://users.atw.hu/instlatx64/AuthenticAMD/AuthenticAMD0840F70_K17_CPUID.txt
|
||||
@ -705,10 +702,6 @@ TEST_F(CpuidX86Test, AMD_K17_ZEN2_XBOX_SERIES_X)
|
||||
EXPECT_EQ(info.model, 0x47);
|
||||
EXPECT_STREQ(info.brand_string, "AMD 4700S 8-Core Processor Desktop Kit");
|
||||
EXPECT_EQ(GetX86Microarchitecture(&info), X86Microarchitecture::AMD_ZEN2);
|
||||
|
||||
char brand_string[49];
|
||||
FillX86BrandString(brand_string);
|
||||
EXPECT_STREQ(brand_string, "AMD 4700S 8-Core Processor Desktop Kit");
|
||||
}
|
||||
|
||||
// http://users.atw.hu/instlatx64/HygonGenuine/HygonGenuine0900F02_Hygon_CPUID3.txt
|
||||
@ -732,10 +725,6 @@ TEST_F(CpuidX86Test, AMD_K18_ZEN_DHYANA)
|
||||
EXPECT_STREQ(info.brand_string,
|
||||
"Hygon C86 3185 8-core Processor ");
|
||||
EXPECT_EQ(GetX86Microarchitecture(&info), X86Microarchitecture::AMD_ZEN);
|
||||
|
||||
char brand_string[49];
|
||||
FillX86BrandString(brand_string);
|
||||
EXPECT_STREQ(brand_string, "Hygon C86 3185 8-core Processor ");
|
||||
}
|
||||
|
||||
// http://users.atw.hu/instlatx64/HygonGenuine/HygonGenuine0900F02_Hygon_CPUID.txt
|
||||
@ -808,10 +797,50 @@ TEST_F(CpuidX86Test, AMD_K19_ZEN3_VERMEER)
|
||||
EXPECT_STREQ(info.brand_string,
|
||||
"AMD Ryzen 9 5900X 12-Core Processor ");
|
||||
EXPECT_EQ(GetX86Microarchitecture(&info), X86Microarchitecture::AMD_ZEN3);
|
||||
}
|
||||
|
||||
char brand_string[49];
|
||||
FillX86BrandString(brand_string);
|
||||
EXPECT_STREQ(brand_string, "AMD Ryzen 9 5900X 12-Core Processor ");
|
||||
// http://users.atw.hu/instlatx64/AuthenticAMD/AuthenticAMD0A40F41_K19_Rembrandt_03_CPUID.txt
|
||||
TEST_F(CpuidX86Test, AMD_K19_ZEN3)
|
||||
{
|
||||
cpu().SetLeaves({
|
||||
{{0x00000000, 0}, Leaf{0x00000010, 0x68747541, 0x444D4163, 0x69746E65}},
|
||||
{{0x00000001, 0}, Leaf{0x00A40F41, 0x00100800, 0x7EF8320B, 0x178BFBFF}},
|
||||
{{0x80000000, 0}, Leaf{0x80000023, 0x68747541, 0x444D4163, 0x69746E65}},
|
||||
{{0x80000001, 0}, Leaf{0x00A40F41, 0x50000000, 0x75C237FF, 0x2FD3FBFF}},
|
||||
{{0x80000002, 0}, Leaf{0x20444D41, 0x657A7952, 0x2039206E, 0x30303936}},
|
||||
{{0x80000003, 0}, Leaf{0x77205848, 0x20687469, 0x65646152, 0x47206E6F}},
|
||||
{{0x80000004, 0}, Leaf{0x68706172, 0x20736369, 0x20202020, 0x00202020}},
|
||||
});
|
||||
const auto info = GetX86Info();
|
||||
|
||||
EXPECT_STREQ(info.vendor, "AuthenticAMD");
|
||||
EXPECT_EQ(info.family, 0x19);
|
||||
EXPECT_EQ(info.model, 0x44);
|
||||
EXPECT_STREQ(info.brand_string,
|
||||
"AMD Ryzen 9 6900HX with Radeon Graphics ");
|
||||
EXPECT_EQ(GetX86Microarchitecture(&info), X86Microarchitecture::AMD_ZEN3);
|
||||
}
|
||||
|
||||
// http://users.atw.hu/instlatx64/HygonGenuine/HygonGenuine0900F11_Hygon_01_CPUID.txt
|
||||
TEST_F(CpuidX86Test, AMD_K18_ZEN_DHYANA_OCTAL_CORE_C86_3250)
|
||||
{
|
||||
cpu().SetLeaves({
|
||||
{{0x00000000, 0}, Leaf{0x0000000D, 0x6F677948, 0x656E6975, 0x6E65476E}},
|
||||
{{0x00000001, 0}, Leaf{0x00900F11, 0x00100800, 0x76D8320B, 0x178BFBFF}},
|
||||
{{0x80000000, 0}, Leaf{0x8000001F, 0x6F677948, 0x656E6975, 0x6E65476E}},
|
||||
{{0x80000001, 0}, Leaf{0x00900F11, 0x60000000, 0x35C233FF, 0x2FD3FBFF}},
|
||||
{{0x80000002, 0}, Leaf{0x6F677948, 0x3843206E, 0x32332036, 0x20203035}},
|
||||
{{0x80000003, 0}, Leaf{0x6F632D38, 0x50206572, 0x65636F72, 0x726F7373}},
|
||||
{{0x80000004, 0}, Leaf{0x20202020, 0x20202020, 0x20202020, 0x00202020}},
|
||||
});
|
||||
const auto info = GetX86Info();
|
||||
|
||||
EXPECT_EQ(info.model, 0x01);
|
||||
EXPECT_EQ(info.family, 0x18);
|
||||
EXPECT_STREQ(info.vendor, "HygonGenuine");
|
||||
EXPECT_STREQ(info.brand_string,
|
||||
"Hygon C86 3250 8-core Processor ");
|
||||
EXPECT_EQ(GetX86Microarchitecture(&info), X86Microarchitecture::AMD_ZEN);
|
||||
}
|
||||
|
||||
// https://github.com/InstLatx64/InstLatx64/blob/master/GenuineIntel/GenuineIntel00106A1_Nehalem_CPUID.txt
|
||||
@ -823,6 +852,9 @@ TEST_F(CpuidX86Test, Nehalem)
|
||||
cpu().SetWindowsIsProcessorFeaturePresent(PF_XMMI_INSTRUCTIONS_AVAILABLE);
|
||||
cpu().SetWindowsIsProcessorFeaturePresent(PF_XMMI64_INSTRUCTIONS_AVAILABLE);
|
||||
cpu().SetWindowsIsProcessorFeaturePresent(PF_SSE3_INSTRUCTIONS_AVAILABLE);
|
||||
cpu().SetWindowsIsProcessorFeaturePresent(PF_SSSE3_INSTRUCTIONS_AVAILABLE);
|
||||
cpu().SetWindowsIsProcessorFeaturePresent(PF_SSE4_1_INSTRUCTIONS_AVAILABLE);
|
||||
cpu().SetWindowsIsProcessorFeaturePresent(PF_SSE4_2_INSTRUCTIONS_AVAILABLE);
|
||||
#elif defined(CPU_FEATURES_OS_MACOS)
|
||||
cpu().SetDarwinSysCtlByName("hw.optional.sse");
|
||||
cpu().SetDarwinSysCtlByName("hw.optional.sse2");
|
||||
@ -831,7 +863,7 @@ TEST_F(CpuidX86Test, Nehalem)
|
||||
cpu().SetDarwinSysCtlByName("hw.optional.sse4_1");
|
||||
cpu().SetDarwinSysCtlByName("hw.optional.sse4_2");
|
||||
#elif defined(CPU_FEATURES_OS_FREEBSD)
|
||||
auto& fs = GetEmptyFilesystem();
|
||||
auto &fs = GetEmptyFilesystem();
|
||||
fs.CreateFile("/var/run/dmesg.boot", R"(
|
||||
---<<BOOT>>---
|
||||
Copyright (c) 1992-2020 The FreeBSD Project.
|
||||
@ -841,7 +873,7 @@ FreeBSD is a registered trademark of The FreeBSD Foundation.
|
||||
real memory = 2147418112 (2047 MB)
|
||||
)");
|
||||
#elif defined(CPU_FEATURES_OS_LINUX) || defined(CPU_FEATURES_OS_ANDROID)
|
||||
auto& fs = GetEmptyFilesystem();
|
||||
auto &fs = GetEmptyFilesystem();
|
||||
fs.CreateFile("/proc/cpuinfo", R"(processor :
|
||||
flags : fpu mmx sse sse2 pni ssse3 sse4_1 sse4_2
|
||||
)");
|
||||
@ -883,20 +915,12 @@ flags : fpu mmx sse sse2 pni ssse3 sse4_1 sse4_2
|
||||
"Genuine Intel(R) CPU @ 0000 @ 1.87GHz");
|
||||
EXPECT_EQ(GetX86Microarchitecture(&info), X86Microarchitecture::INTEL_NHM);
|
||||
|
||||
char brand_string[49];
|
||||
FillX86BrandString(brand_string);
|
||||
EXPECT_STREQ(brand_string, "Genuine Intel(R) CPU @ 0000 @ 1.87GHz");
|
||||
|
||||
EXPECT_TRUE(info.features.sse);
|
||||
EXPECT_TRUE(info.features.sse2);
|
||||
EXPECT_TRUE(info.features.sse3);
|
||||
#if !defined(CPU_FEATURES_OS_WINDOWS)
|
||||
// Currently disabled on Windows as IsProcessorFeaturePresent do not support
|
||||
// feature detection > sse3.
|
||||
EXPECT_TRUE(info.features.ssse3);
|
||||
EXPECT_TRUE(info.features.sse4_1);
|
||||
EXPECT_TRUE(info.features.sse4_2);
|
||||
#endif // !defined(CPU_FEATURES_OS_WINDOWS)
|
||||
}
|
||||
|
||||
// https://github.com/InstLatx64/InstLatx64/blob/master/GenuineIntel/GenuineIntel0030673_Silvermont3_CPUID.txt
|
||||
@ -908,6 +932,9 @@ TEST_F(CpuidX86Test, Atom)
|
||||
cpu().SetWindowsIsProcessorFeaturePresent(PF_XMMI_INSTRUCTIONS_AVAILABLE);
|
||||
cpu().SetWindowsIsProcessorFeaturePresent(PF_XMMI64_INSTRUCTIONS_AVAILABLE);
|
||||
cpu().SetWindowsIsProcessorFeaturePresent(PF_SSE3_INSTRUCTIONS_AVAILABLE);
|
||||
cpu().SetWindowsIsProcessorFeaturePresent(PF_SSSE3_INSTRUCTIONS_AVAILABLE);
|
||||
cpu().SetWindowsIsProcessorFeaturePresent(PF_SSE4_1_INSTRUCTIONS_AVAILABLE);
|
||||
cpu().SetWindowsIsProcessorFeaturePresent(PF_SSE4_2_INSTRUCTIONS_AVAILABLE);
|
||||
#elif defined(CPU_FEATURES_OS_MACOS)
|
||||
cpu().SetDarwinSysCtlByName("hw.optional.sse");
|
||||
cpu().SetDarwinSysCtlByName("hw.optional.sse2");
|
||||
@ -916,7 +943,7 @@ TEST_F(CpuidX86Test, Atom)
|
||||
cpu().SetDarwinSysCtlByName("hw.optional.sse4_1");
|
||||
cpu().SetDarwinSysCtlByName("hw.optional.sse4_2");
|
||||
#elif defined(CPU_FEATURES_OS_FREEBSD)
|
||||
auto& fs = GetEmptyFilesystem();
|
||||
auto &fs = GetEmptyFilesystem();
|
||||
fs.CreateFile("/var/run/dmesg.boot", R"(
|
||||
---<<BOOT>>---
|
||||
Copyright (c) 1992-2020 The FreeBSD Project.
|
||||
@ -926,7 +953,7 @@ FreeBSD is a registered trademark of The FreeBSD Foundation.
|
||||
real memory = 2147418112 (2047 MB)
|
||||
)");
|
||||
#elif defined(CPU_FEATURES_OS_LINUX) || defined(CPU_FEATURES_OS_ANDROID)
|
||||
auto& fs = GetEmptyFilesystem();
|
||||
auto &fs = GetEmptyFilesystem();
|
||||
fs.CreateFile("/proc/cpuinfo", R"(
|
||||
flags : fpu mmx sse sse2 pni ssse3 sse4_1 sse4_2
|
||||
)");
|
||||
@ -968,20 +995,12 @@ flags : fpu mmx sse sse2 pni ssse3 sse4_1 sse4_2
|
||||
EXPECT_EQ(GetX86Microarchitecture(&info),
|
||||
X86Microarchitecture::INTEL_ATOM_SMT);
|
||||
|
||||
char brand_string[49];
|
||||
FillX86BrandString(brand_string);
|
||||
EXPECT_STREQ(brand_string, " Intel(R) Celeron(R) CPU J1900 @ 1.99GHz");
|
||||
|
||||
EXPECT_TRUE(info.features.sse);
|
||||
EXPECT_TRUE(info.features.sse2);
|
||||
EXPECT_TRUE(info.features.sse3);
|
||||
#if !defined(CPU_FEATURES_OS_WINDOWS)
|
||||
// Currently disabled on Windows as IsProcessorFeaturePresent do not support
|
||||
// feature detection > sse3.
|
||||
EXPECT_TRUE(info.features.ssse3);
|
||||
EXPECT_TRUE(info.features.sse4_1);
|
||||
EXPECT_TRUE(info.features.sse4_2);
|
||||
#endif // !defined(CPU_FEATURES_OS_WINDOWS)
|
||||
}
|
||||
|
||||
// https://www.felixcloutier.com/x86/cpuid#example-3-1--example-of-cache-and-tlb-interpretation
|
||||
@ -1047,7 +1066,7 @@ TEST_F(CpuidX86Test, P3)
|
||||
#elif defined(CPU_FEATURES_OS_MACOS)
|
||||
cpu().SetDarwinSysCtlByName("hw.optional.sse");
|
||||
#elif defined(CPU_FEATURES_OS_FREEBSD)
|
||||
auto& fs = GetEmptyFilesystem();
|
||||
auto &fs = GetEmptyFilesystem();
|
||||
fs.CreateFile("/var/run/dmesg.boot", R"(
|
||||
---<<BOOT>>---
|
||||
Copyright (c) 1992-2020 The FreeBSD Project.
|
||||
@ -1056,7 +1075,7 @@ FreeBSD is a registered trademark of The FreeBSD Foundation.
|
||||
real memory = 2147418112 (2047 MB)
|
||||
)");
|
||||
#elif defined(CPU_FEATURES_OS_LINUX) || defined(CPU_FEATURES_OS_ANDROID)
|
||||
auto& fs = GetEmptyFilesystem();
|
||||
auto &fs = GetEmptyFilesystem();
|
||||
fs.CreateFile("/proc/cpuinfo", R"(
|
||||
flags : fpu mmx sse
|
||||
)");
|
||||
@ -1076,21 +1095,13 @@ flags : fpu mmx sse
|
||||
EXPECT_STREQ(info.brand_string, "");
|
||||
EXPECT_EQ(GetX86Microarchitecture(&info), X86Microarchitecture::X86_UNKNOWN);
|
||||
|
||||
char brand_string[49];
|
||||
FillX86BrandString(brand_string);
|
||||
EXPECT_STREQ(brand_string, "");
|
||||
|
||||
EXPECT_TRUE(info.features.mmx);
|
||||
EXPECT_TRUE(info.features.sse);
|
||||
EXPECT_FALSE(info.features.sse2);
|
||||
EXPECT_FALSE(info.features.sse3);
|
||||
#if !defined(CPU_FEATURES_OS_WINDOWS)
|
||||
// Currently disabled on Windows as IsProcessorFeaturePresent do not support
|
||||
// feature detection > sse3.
|
||||
EXPECT_FALSE(info.features.ssse3);
|
||||
EXPECT_FALSE(info.features.sse4_1);
|
||||
EXPECT_FALSE(info.features.sse4_2);
|
||||
#endif // !defined(CPU_FEATURES_OS_WINDOWS)
|
||||
}
|
||||
|
||||
// https://github.com/InstLatx64/InstLatx64/blob/master/GenuineIntel/GenuineIntel0000480_486_CPUID.txt
|
||||
@ -1155,11 +1166,53 @@ TEST_F(CpuidX86Test, INTEL_KNIGHTS_LANDING)
|
||||
X86Microarchitecture::INTEL_KNIGHTS_L);
|
||||
}
|
||||
|
||||
// http://users.atw.hu/instlatx64/GenuineIntel/GenuineIntel00806EC_CometLake_CPUID2.txt
|
||||
TEST_F(CpuidX86Test, INTEL_CML_U)
|
||||
{
|
||||
cpu().SetLeaves({
|
||||
{{0x00000000, 0}, Leaf{0x00000016, 0x756E6547, 0x6C65746E, 0x49656E69}},
|
||||
{{0x00000001, 0}, Leaf{0x000806EC, 0x00100800, 0x7FFAFBBF, 0xBFEBFBFF}},
|
||||
});
|
||||
const auto info = GetX86Info();
|
||||
|
||||
EXPECT_STREQ(info.vendor, "GenuineIntel");
|
||||
EXPECT_EQ(info.family, 0x06);
|
||||
EXPECT_EQ(info.model, 0x8E);
|
||||
EXPECT_EQ(info.stepping, 0x0C);
|
||||
EXPECT_EQ(GetX86Microarchitecture(&info),
|
||||
X86Microarchitecture::INTEL_CML);
|
||||
}
|
||||
|
||||
// http://users.atw.hu/instlatx64/GenuineIntel/GenuineIntel00A0652_CometLake_CPUID1.txt
|
||||
TEST_F(CpuidX86Test, INTEL_CML_H)
|
||||
{
|
||||
cpu().SetLeaves({
|
||||
{{0x00000000, 0}, Leaf{0x00000016, 0x756E6547, 0x6C65746E, 0x49656E69}},
|
||||
{{0x00000001, 0}, Leaf{0x000A0652, 0x00100800, 0x7FFAFBBF, 0xBFEBFBFF}},
|
||||
});
|
||||
const auto info = GetX86Info();
|
||||
|
||||
EXPECT_STREQ(info.vendor, "GenuineIntel");
|
||||
EXPECT_EQ(info.family, 0x06);
|
||||
EXPECT_EQ(info.model, 0xA5);
|
||||
EXPECT_EQ(GetX86Microarchitecture(&info),
|
||||
X86Microarchitecture::INTEL_CML);
|
||||
}
|
||||
|
||||
// https://github.com/google/cpu_features/issues/200
|
||||
// http://users.atw.hu/instlatx64/GenuineIntel/GenuineIntel00206F2_Eagleton_CPUID.txt
|
||||
#if defined(CPU_FEATURES_OS_WINDOWS)
|
||||
TEST_F(CpuidX86Test, WIN_INTEL_WESTMERE_EX)
|
||||
{
|
||||
// Pre AVX cpus don't have xsave
|
||||
cpu().SetOsBackupsExtendedRegisters(false);
|
||||
cpu().SetWindowsIsProcessorFeaturePresent(PF_XMMI_INSTRUCTIONS_AVAILABLE);
|
||||
cpu().SetWindowsIsProcessorFeaturePresent(PF_XMMI64_INSTRUCTIONS_AVAILABLE);
|
||||
cpu().SetWindowsIsProcessorFeaturePresent(PF_SSE3_INSTRUCTIONS_AVAILABLE);
|
||||
cpu().SetWindowsIsProcessorFeaturePresent(PF_SSSE3_INSTRUCTIONS_AVAILABLE);
|
||||
cpu().SetWindowsIsProcessorFeaturePresent(PF_SSE4_1_INSTRUCTIONS_AVAILABLE);
|
||||
cpu().SetWindowsIsProcessorFeaturePresent(PF_SSE4_2_INSTRUCTIONS_AVAILABLE);
|
||||
|
||||
cpu().SetLeaves({
|
||||
{{0x00000000, 0}, Leaf{0x0000000B, 0x756E6547, 0x6C65746E, 0x49656E69}},
|
||||
{{0x00000001, 0}, Leaf{0x000206F2, 0x00400800, 0x02BEE3FF, 0xBFEBFBFF}},
|
||||
@ -1170,15 +1223,12 @@ TEST_F(CpuidX86Test, WIN_INTEL_WESTMERE_EX)
|
||||
EXPECT_EQ(info.model, 0x2F);
|
||||
EXPECT_EQ(GetX86Microarchitecture(&info), X86Microarchitecture::INTEL_WSM);
|
||||
|
||||
#if (_WIN32_WINNT < 0x0601) // before Win7
|
||||
EXPECT_FALSE(info.features.ssse3);
|
||||
EXPECT_FALSE(info.features.sse4_1);
|
||||
EXPECT_FALSE(info.features.sse4_2);
|
||||
#else
|
||||
EXPECT_TRUE(info.features.sse);
|
||||
EXPECT_TRUE(info.features.sse2);
|
||||
EXPECT_TRUE(info.features.sse3);
|
||||
EXPECT_TRUE(info.features.ssse3);
|
||||
EXPECT_TRUE(info.features.sse4_1);
|
||||
EXPECT_TRUE(info.features.sse4_2);
|
||||
#endif
|
||||
}
|
||||
#endif // CPU_FEATURES_OS_WINDOWS
|
||||
|
||||
|
@ -20,7 +20,7 @@ endif()
|
||||
|
||||
target_include_directories(obs_adapters
|
||||
PUBLIC
|
||||
${CMAKE_SOURCE_DIR}/src/core/interfaces
|
||||
${GNSSSDR_SOURCE_DIR}/src/core/interfaces
|
||||
)
|
||||
|
||||
target_link_libraries(obs_adapters
|
||||
|
@ -20,7 +20,7 @@ endif()
|
||||
|
||||
target_include_directories(obs_gr_blocks
|
||||
PUBLIC
|
||||
${CMAKE_SOURCE_DIR}/src/algorithms/libs
|
||||
${GNSSSDR_SOURCE_DIR}/src/algorithms/libs
|
||||
)
|
||||
|
||||
target_link_libraries(obs_gr_blocks
|
||||
@ -47,7 +47,7 @@ endif()
|
||||
|
||||
target_include_directories(obs_gr_blocks
|
||||
PUBLIC
|
||||
${CMAKE_SOURCE_DIR}/src/core/interfaces
|
||||
${GNSSSDR_SOURCE_DIR}/src/core/interfaces
|
||||
)
|
||||
|
||||
if(GNURADIO_USES_STD_POINTERS)
|
||||
|
@ -45,7 +45,7 @@ target_link_libraries(resampler_adapters
|
||||
|
||||
target_include_directories(resampler_adapters
|
||||
PUBLIC
|
||||
${CMAKE_SOURCE_DIR}/src/core/interfaces
|
||||
${GNSSSDR_SOURCE_DIR}/src/core/interfaces
|
||||
)
|
||||
|
||||
if(GNURADIO_IS_38_OR_GREATER)
|
||||
|
@ -60,7 +60,7 @@ endif()
|
||||
|
||||
target_include_directories(resampler_gr_blocks
|
||||
PUBLIC
|
||||
${CMAKE_SOURCE_DIR}/src/core/interfaces
|
||||
${GNSSSDR_SOURCE_DIR}/src/core/interfaces
|
||||
)
|
||||
|
||||
if(ENABLE_CLANG_TIDY)
|
||||
|
@ -34,8 +34,8 @@ target_link_libraries(signal_generator_adapters
|
||||
|
||||
target_include_directories(signal_generator_adapters
|
||||
PUBLIC
|
||||
${CMAKE_SOURCE_DIR}/src/core/interfaces
|
||||
${CMAKE_SOURCE_DIR}/src/core/receiver
|
||||
${GNSSSDR_SOURCE_DIR}/src/core/interfaces
|
||||
${GNSSSDR_SOURCE_DIR}/src/core/receiver
|
||||
)
|
||||
|
||||
if(GNURADIO_USES_STD_POINTERS)
|
||||
|
@ -38,7 +38,7 @@ endif()
|
||||
|
||||
target_include_directories(signal_generator_gr_blocks
|
||||
PUBLIC
|
||||
${CMAKE_SOURCE_DIR}/src/core/interfaces
|
||||
${GNSSSDR_SOURCE_DIR}/src/core/interfaces
|
||||
)
|
||||
|
||||
# Workaround for CentOS 7
|
||||
|
@ -28,6 +28,7 @@
|
||||
#include "gps_sdr_signal_replica.h"
|
||||
#include <gnuradio/io_signature.h>
|
||||
#include <volk_gnsssdr/volk_gnsssdr.h>
|
||||
#include <algorithm>
|
||||
#include <array>
|
||||
#include <cmath>
|
||||
#include <fstream>
|
||||
@ -187,8 +188,8 @@ void signal_generator_c::generate_codes()
|
||||
// Concatenate "num_of_codes_per_vector_" codes
|
||||
for (unsigned int i = 0; i < num_of_codes_per_vector_[sat]; i++)
|
||||
{
|
||||
memcpy(&(sampled_code_data_[sat][i * samples_per_code_[sat]]),
|
||||
code.data(), sizeof(gr_complex) * samples_per_code_[sat]);
|
||||
std::copy_n(code.data(), samples_per_code_[sat],
|
||||
&(sampled_code_data_[sat][i * samples_per_code_[sat]]));
|
||||
}
|
||||
}
|
||||
else if (system_[sat] == "R")
|
||||
@ -209,8 +210,8 @@ void signal_generator_c::generate_codes()
|
||||
// Concatenate "num_of_codes_per_vector_" codes
|
||||
for (unsigned int i = 0; i < num_of_codes_per_vector_[sat]; i++)
|
||||
{
|
||||
memcpy(&(sampled_code_data_[sat][i * samples_per_code_[sat]]),
|
||||
code.data(), sizeof(gr_complex) * samples_per_code_[sat]);
|
||||
std::copy_n(code.data(), samples_per_code_[sat],
|
||||
&(sampled_code_data_[sat][i * samples_per_code_[sat]]));
|
||||
}
|
||||
}
|
||||
else if (system_[sat] == "E")
|
||||
@ -261,8 +262,8 @@ void signal_generator_c::generate_codes()
|
||||
// Concatenate "num_of_codes_per_vector_" codes
|
||||
for (unsigned int i = 0; i < num_of_codes_per_vector_[sat]; i++)
|
||||
{
|
||||
memcpy(&(sampled_code_data_[sat][i * samples_per_code_[sat]]),
|
||||
code.data(), sizeof(gr_complex) * samples_per_code_[sat]);
|
||||
std::copy_n(code.data(), samples_per_code_[sat],
|
||||
&(sampled_code_data_[sat][i * samples_per_code_[sat]]));
|
||||
}
|
||||
// Generate E6C signal (100 code-periods, with secondary code)
|
||||
galileo_e6_c_code_gen_complex_sampled(sampled_code_pilot_[sat], PRN_[sat], fs_in_,
|
||||
@ -297,8 +298,8 @@ void signal_generator_c::generate_codes()
|
||||
// Concatenate "num_of_codes_per_vector_" codes
|
||||
for (unsigned int i = 0; i < num_of_codes_per_vector_[sat]; i++)
|
||||
{
|
||||
memcpy(&(sampled_code_data_[sat][i * samples_per_code_[sat]]),
|
||||
code.data(), sizeof(gr_complex) * samples_per_code_[sat]);
|
||||
std::copy_n(code.data(), samples_per_code_[sat],
|
||||
&(sampled_code_data_[sat][i * samples_per_code_[sat]]));
|
||||
}
|
||||
|
||||
// Generate E1C signal (25 code-periods, with secondary code)
|
||||
|
@ -148,7 +148,7 @@ endif()
|
||||
|
||||
target_include_directories(signal_source_adapters
|
||||
PUBLIC
|
||||
${CMAKE_SOURCE_DIR}/src/core/interfaces
|
||||
${GNSSSDR_SOURCE_DIR}/src/core/interfaces
|
||||
)
|
||||
|
||||
if(ENABLE_FPGA OR ENABLE_AD9361)
|
||||
|
@ -42,6 +42,7 @@ OsmosdrSignalSource::OsmosdrSignalSource(const ConfigurationInterface* configura
|
||||
gain_(configuration->property(role + ".gain", 40.0)),
|
||||
if_gain_(configuration->property(role + ".if_gain", 40.0)),
|
||||
rf_gain_(configuration->property(role + ".rf_gain", 40.0)),
|
||||
if_bw_(configuration->property(role + ".if_bw", 0.0)),
|
||||
samples_(configuration->property(role + ".samples", static_cast<int64_t>(0))),
|
||||
in_stream_(in_stream),
|
||||
out_stream_(out_stream),
|
||||
@ -118,6 +119,12 @@ OsmosdrSignalSource::OsmosdrSignalSource(const ConfigurationInterface* configura
|
||||
}
|
||||
}
|
||||
|
||||
// 5. set bandwidth
|
||||
if (if_bw_ > 0.0)
|
||||
{
|
||||
osmosdr_source_->set_bandwidth(if_bw_, 0);
|
||||
}
|
||||
|
||||
// Get actual bandwidth
|
||||
std::cout << "Actual Bandwidth: " << osmosdr_source_->get_bandwidth(0) << " [Hz]...\n";
|
||||
}
|
||||
|
@ -79,6 +79,7 @@ private:
|
||||
double gain_;
|
||||
double if_gain_;
|
||||
double rf_gain_;
|
||||
double if_bw_;
|
||||
|
||||
size_t item_size_;
|
||||
int64_t samples_;
|
||||
|
@ -76,7 +76,7 @@ target_link_libraries(signal_source_gr_blocks
|
||||
|
||||
target_include_directories(signal_source_gr_blocks
|
||||
PUBLIC
|
||||
${CMAKE_SOURCE_DIR}/src/core/receiver
|
||||
${GNSSSDR_SOURCE_DIR}/src/core/receiver
|
||||
)
|
||||
|
||||
if(GNURADIO_USES_STD_POINTERS)
|
||||
|
@ -69,9 +69,9 @@ target_link_libraries(signal_source_libs
|
||||
|
||||
target_include_directories(signal_source_libs
|
||||
PUBLIC
|
||||
${CMAKE_SOURCE_DIR}/src/core/receiver
|
||||
${CMAKE_SOURCE_DIR}/src/core/interfaces
|
||||
${CMAKE_SOURCE_DIR}/src/algorithms/libs
|
||||
${GNSSSDR_SOURCE_DIR}/src/core/receiver
|
||||
${GNSSSDR_SOURCE_DIR}/src/core/interfaces
|
||||
${GNSSSDR_SOURCE_DIR}/src/algorithms/libs
|
||||
)
|
||||
|
||||
if(GNURADIO_USES_STD_POINTERS)
|
||||
|
@ -66,7 +66,7 @@ target_link_libraries(telemetry_decoder_adapters
|
||||
|
||||
target_include_directories(telemetry_decoder_adapters
|
||||
PUBLIC
|
||||
${CMAKE_SOURCE_DIR}/src/core/interfaces
|
||||
${GNSSSDR_SOURCE_DIR}/src/core/interfaces
|
||||
)
|
||||
|
||||
if(ENABLE_CLANG_TIDY)
|
||||
|
@ -79,12 +79,12 @@ endif()
|
||||
|
||||
target_include_directories(telemetry_decoder_gr_blocks
|
||||
PUBLIC
|
||||
${CMAKE_SOURCE_DIR}/src/core/interfaces
|
||||
${GNSSSDR_SOURCE_DIR}/src/core/interfaces
|
||||
)
|
||||
|
||||
target_include_directories(telemetry_decoder_gr_blocks
|
||||
PRIVATE
|
||||
${CMAKE_SOURCE_DIR}/src/algorithms/libs # for gnss_sdr_make_unique.h
|
||||
${GNSSSDR_SOURCE_DIR}/src/algorithms/libs # for gnss_sdr_make_unique.h
|
||||
)
|
||||
|
||||
if(has_rotl)
|
||||
|
@ -264,7 +264,7 @@ void beidou_b1i_telemetry_decoder_gs::decode_subframe(float *frame_symbols)
|
||||
d_nav_msg_packet.nav_message = data_bits;
|
||||
}
|
||||
|
||||
if (d_satellite.get_PRN() > 0 && d_satellite.get_PRN() < 6)
|
||||
if ((d_satellite.get_PRN() > 0 && d_satellite.get_PRN() < 6) || d_satellite.get_PRN() > 58)
|
||||
{
|
||||
d_nav.d2_subframe_decoder(data_bits);
|
||||
}
|
||||
@ -339,7 +339,7 @@ void beidou_b1i_telemetry_decoder_gs::set_satellite(const Gnss_Satellite &satell
|
||||
d_nav.set_signal_type(1); // BDS: data source (0:unknown,1:B1I,2:B1Q,3:B2I,4:B2Q,5:B3I,6:B3Q)
|
||||
|
||||
// Update tel dec parameters for D2 NAV Messages
|
||||
if (sat_prn > 0 && sat_prn < 6)
|
||||
if ((sat_prn > 0 && sat_prn < 6) || sat_prn > 58)
|
||||
{
|
||||
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
|
||||
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
|
||||
|
@ -356,7 +356,7 @@ void beidou_b3i_telemetry_decoder_gs::set_satellite(
|
||||
d_nav.set_signal_type(5); // BDS: data source (0:unknown,1:B1I,2:B1Q,3:B2I,4:B2Q,5:B3I,6:B3Q)
|
||||
|
||||
// Update tel dec parameters for D2 NAV Messages
|
||||
if (sat_prn > 0 && sat_prn < 6)
|
||||
if ((sat_prn > 0 && sat_prn < 6) || sat_prn > 58)
|
||||
{
|
||||
d_symbols_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
|
||||
d_samples_per_preamble = BEIDOU_DNAV_PREAMBLE_LENGTH_SYMBOLS;
|
||||
|
@ -54,7 +54,7 @@ target_link_libraries(telemetry_decoder_libs
|
||||
|
||||
target_include_directories(telemetry_decoder_libs
|
||||
PUBLIC
|
||||
${CMAKE_SOURCE_DIR}/src/core/interfaces
|
||||
${GNSSSDR_SOURCE_DIR}/src/core/interfaces
|
||||
)
|
||||
|
||||
if(ENABLE_CLANG_TIDY)
|
||||
|
@ -105,7 +105,7 @@ target_link_libraries(tracking_adapters
|
||||
|
||||
target_include_directories(tracking_adapters
|
||||
PUBLIC
|
||||
${CMAKE_SOURCE_DIR}/src/core/interfaces
|
||||
${GNSSSDR_SOURCE_DIR}/src/core/interfaces
|
||||
)
|
||||
|
||||
if(ENABLE_FPGA)
|
||||
|
@ -96,7 +96,7 @@ endif()
|
||||
|
||||
target_include_directories(tracking_gr_blocks
|
||||
PUBLIC
|
||||
${CMAKE_SOURCE_DIR}/src/core/interfaces
|
||||
${GNSSSDR_SOURCE_DIR}/src/core/interfaces
|
||||
)
|
||||
|
||||
if(ENABLE_CUDA)
|
||||
|
@ -109,6 +109,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_)
|
||||
d_state(0), // initial state: standby
|
||||
d_current_prn_length_samples(static_cast<int32_t>(d_trk_parameters.vector_length)),
|
||||
d_extend_correlation_symbols_count(0),
|
||||
d_extend_correlation_symbols(d_trk_parameters.extend_correlation_symbols),
|
||||
d_cn0_estimation_counter(0),
|
||||
d_carrier_lock_fail_counter(0),
|
||||
d_code_lock_fail_counter(0),
|
||||
@ -652,6 +653,7 @@ void dll_pll_veml_tracking::start_tracking()
|
||||
Signal_[0] = d_acquisition_gnss_synchro->Signal[0];
|
||||
Signal_[1] = d_acquisition_gnss_synchro->Signal[1];
|
||||
Signal_[2] = d_acquisition_gnss_synchro->Signal[2];
|
||||
d_extend_correlation_symbols = d_trk_parameters.extend_correlation_symbols;
|
||||
|
||||
if (d_systemName == "GPS" and d_signal_type == "1C")
|
||||
{
|
||||
@ -757,7 +759,7 @@ void dll_pll_veml_tracking::start_tracking()
|
||||
{
|
||||
beidou_b1i_code_gen_float(d_tracking_code, d_acquisition_gnss_synchro->PRN, 0);
|
||||
// GEO Satellites use different secondary code
|
||||
if (d_acquisition_gnss_synchro->PRN > 0 and d_acquisition_gnss_synchro->PRN < 6)
|
||||
if ((d_acquisition_gnss_synchro->PRN > 0 and d_acquisition_gnss_synchro->PRN < 6) or (d_acquisition_gnss_synchro->PRN > 58))
|
||||
{
|
||||
d_symbols_per_bit = BEIDOU_B1I_GEO_TELEMETRY_SYMBOLS_PER_BIT; // todo: enable after fixing beidou symbol synchronization
|
||||
d_correlation_length_ms = 1;
|
||||
@ -769,6 +771,10 @@ void dll_pll_veml_tracking::start_tracking()
|
||||
d_secondary_code_string = BEIDOU_B1I_GEO_PREAMBLE_SYMBOLS_STR;
|
||||
d_data_secondary_code_length = 0;
|
||||
d_Prompt_circular_buffer.set_capacity(d_secondary_code_length);
|
||||
if (d_extend_correlation_symbols > BEIDOU_B1I_GEO_TELEMETRY_SYMBOLS_PER_BIT)
|
||||
{
|
||||
d_extend_correlation_symbols = BEIDOU_B1I_GEO_TELEMETRY_SYMBOLS_PER_BIT;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
@ -790,7 +796,7 @@ void dll_pll_veml_tracking::start_tracking()
|
||||
{
|
||||
beidou_b3i_code_gen_float(d_tracking_code, d_acquisition_gnss_synchro->PRN, 0);
|
||||
// Update secondary code settings for geo satellites
|
||||
if (d_acquisition_gnss_synchro->PRN > 0 and d_acquisition_gnss_synchro->PRN < 6)
|
||||
if ((d_acquisition_gnss_synchro->PRN > 0 and d_acquisition_gnss_synchro->PRN < 6) or (d_acquisition_gnss_synchro->PRN > 58))
|
||||
{
|
||||
d_symbols_per_bit = BEIDOU_B3I_GEO_TELEMETRY_SYMBOLS_PER_BIT; // todo: enable after fixing beidou symbol synchronization
|
||||
d_correlation_length_ms = 1;
|
||||
@ -802,6 +808,10 @@ void dll_pll_veml_tracking::start_tracking()
|
||||
d_secondary_code_string = BEIDOU_B3I_GEO_PREAMBLE_SYMBOLS_STR;
|
||||
d_data_secondary_code_length = 0;
|
||||
d_Prompt_circular_buffer.set_capacity(d_secondary_code_length);
|
||||
if (d_extend_correlation_symbols > BEIDOU_B3I_GEO_TELEMETRY_SYMBOLS_PER_BIT)
|
||||
{
|
||||
d_extend_correlation_symbols = BEIDOU_B3I_GEO_TELEMETRY_SYMBOLS_PER_BIT;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
@ -1876,12 +1886,12 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
|
||||
{
|
||||
// UPDATE INTEGRATION TIME
|
||||
d_extend_correlation_symbols_count = 0;
|
||||
d_current_correlation_time_s = static_cast<float>(d_trk_parameters.extend_correlation_symbols) * static_cast<float>(d_code_period);
|
||||
d_current_correlation_time_s = static_cast<float>(d_extend_correlation_symbols) * static_cast<float>(d_code_period);
|
||||
d_state = 3; // next state is the extended correlator integrator
|
||||
LOG(INFO) << "Enabled " << d_trk_parameters.extend_correlation_symbols * static_cast<int32_t>(d_code_period * 1000.0) << " ms extended correlator in channel "
|
||||
LOG(INFO) << "Enabled " << d_extend_correlation_symbols * static_cast<int32_t>(d_code_period * 1000.0) << " ms extended correlator in channel "
|
||||
<< d_channel
|
||||
<< " for satellite " << Gnss_Satellite(d_systemName, d_acquisition_gnss_synchro->PRN);
|
||||
std::cout << "Enabled " << d_trk_parameters.extend_correlation_symbols * static_cast<int32_t>(d_code_period * 1000.0) << " ms extended correlator in channel "
|
||||
std::cout << "Enabled " << d_extend_correlation_symbols * static_cast<int32_t>(d_code_period * 1000.0) << " ms extended correlator in channel "
|
||||
<< d_channel
|
||||
<< " for satellite " << Gnss_Satellite(d_systemName, d_acquisition_gnss_synchro->PRN) << '\n';
|
||||
// Set narrow taps delay values [chips]
|
||||
@ -1947,7 +1957,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
|
||||
d_P_data_accu = gr_complex(0.0, 0.0);
|
||||
}
|
||||
d_extend_correlation_symbols_count++;
|
||||
if (d_extend_correlation_symbols_count == (d_trk_parameters.extend_correlation_symbols - 1))
|
||||
if (d_extend_correlation_symbols_count == (d_extend_correlation_symbols - 1))
|
||||
{
|
||||
d_extend_correlation_symbols_count = 0;
|
||||
d_state = 4;
|
||||
@ -1961,7 +1971,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
|
||||
save_correlation_results();
|
||||
|
||||
// check lock status
|
||||
if (!cn0_and_tracking_lock_status(d_code_period * static_cast<double>(d_trk_parameters.extend_correlation_symbols)))
|
||||
if (!cn0_and_tracking_lock_status(d_code_period * static_cast<double>(d_extend_correlation_symbols)))
|
||||
{
|
||||
clear_tracking_vars();
|
||||
d_state = 0; // loss-of-lock detected
|
||||
|
@ -180,6 +180,7 @@ private:
|
||||
int32_t d_n_correlator_taps;
|
||||
int32_t d_current_prn_length_samples;
|
||||
int32_t d_extend_correlation_symbols_count;
|
||||
int32_t d_extend_correlation_symbols;
|
||||
int32_t d_current_symbol;
|
||||
int32_t d_current_data_symbol;
|
||||
int32_t d_cn0_estimation_counter;
|
||||
|
@ -732,7 +732,7 @@ void kf_vtl_tracking::start_tracking()
|
||||
{
|
||||
beidou_b1i_code_gen_float(d_tracking_code, d_acquisition_gnss_synchro->PRN, 0);
|
||||
// GEO Satellites use different secondary code
|
||||
if (d_acquisition_gnss_synchro->PRN > 0 and d_acquisition_gnss_synchro->PRN < 6)
|
||||
if ((d_acquisition_gnss_synchro->PRN > 0 and d_acquisition_gnss_synchro->PRN < 6) or d_acquisition_gnss_synchro->PRN > 58)
|
||||
{
|
||||
d_symbols_per_bit = BEIDOU_B1I_GEO_TELEMETRY_SYMBOLS_PER_BIT; // todo: enable after fixing beidou symbol synchronization
|
||||
d_correlation_length_ms = 1;
|
||||
@ -765,7 +765,7 @@ void kf_vtl_tracking::start_tracking()
|
||||
{
|
||||
beidou_b3i_code_gen_float(d_tracking_code, d_acquisition_gnss_synchro->PRN, 0);
|
||||
// Update secondary code settings for geo satellites
|
||||
if (d_acquisition_gnss_synchro->PRN > 0 and d_acquisition_gnss_synchro->PRN < 6)
|
||||
if ((d_acquisition_gnss_synchro->PRN > 0 and d_acquisition_gnss_synchro->PRN < 6) or d_acquisition_gnss_synchro->PRN > 58)
|
||||
{
|
||||
d_symbols_per_bit = BEIDOU_B3I_GEO_TELEMETRY_SYMBOLS_PER_BIT; // todo: enable after fixing beidou symbol synchronization
|
||||
d_correlation_length_ms = 1;
|
||||
@ -844,18 +844,17 @@ void kf_vtl_tracking::init_kf(double acq_code_phase_chips, double acq_doppler_hz
|
||||
const double Ti = d_correlation_length_ms * 0.001;
|
||||
// state vector: code_phase_chips, carrier_phase_rads, carrier_freq_hz,carrier_freq_rate_hz, code_freq_chips_s
|
||||
d_F = arma::mat(5, 5);
|
||||
d_F << 1 << 0 << 0 << 0 << Ti << arma::endr
|
||||
<< 0 << 1 << 2.0 * GNSS_PI * Ti << GNSS_PI * (Ti * Ti) << 0 << arma::endr
|
||||
<< 0 << 0 << 1 << Ti << 0 << arma::endr
|
||||
<< 0 << 0 << 0 << 1 << 0 << arma::endr
|
||||
<< 0 << 0 << 0 << 0 << 1 << arma::endr;
|
||||
d_F = {{1, 0, 0, 0, Ti},
|
||||
{0, 1, 2.0 * GNSS_PI * Ti, GNSS_PI * (Ti * Ti), 0},
|
||||
{0, 0, 1, Ti, 0},
|
||||
{0, 0, 0, 1, 0},
|
||||
{0, 0, 0, 0, 1}};
|
||||
|
||||
const double B = d_code_chip_rate / d_signal_carrier_freq; // carrier to code rate factor
|
||||
|
||||
d_H = arma::mat(2, 5);
|
||||
d_H << 1 << 0 << -B * Ti / 2.0 << B * (Ti * Ti) / 6.0 << 0 << arma::endr
|
||||
<< 0 << 1 << -GNSS_PI * Ti << GNSS_PI * (Ti * Ti) / 3.0 << 0 << arma::endr;
|
||||
|
||||
d_H = {{1, 0, -B * Ti / 2.0, B * (Ti * Ti) / 6.0, 0},
|
||||
{0, 1, -GNSS_PI * Ti, GNSS_PI * (Ti * Ti) / 3.0, 0}};
|
||||
// Phase noise variance
|
||||
// const double CN0_lin = pow(10.0, d_trk_parameters.expected_cn0_dbhz / 10.0); // CN0 in Hz
|
||||
// const double N_periods = 1; // Only 1 interval
|
||||
@ -866,32 +865,26 @@ void kf_vtl_tracking::init_kf(double acq_code_phase_chips, double acq_doppler_hz
|
||||
d_R = arma::mat(2, 2);
|
||||
// d_R << Sigma2_Tau << 0 << arma::endr
|
||||
// << 0 << Sigma2_Phase << arma::endr;
|
||||
|
||||
d_R << pow(d_trk_parameters.code_disc_sd_chips, 2.0) << 0 << arma::endr
|
||||
<< 0 << pow(d_trk_parameters.carrier_disc_sd_rads, 2.0) << arma::endr;
|
||||
|
||||
d_R = {{pow(d_trk_parameters.code_disc_sd_chips, 2.0), 0},
|
||||
{0, pow(d_trk_parameters.carrier_disc_sd_rads, 2.0)}};
|
||||
// system covariance matrix (static)
|
||||
d_Q = arma::mat(5, 5);
|
||||
d_Q << pow(d_trk_parameters.code_phase_sd_chips, 2.0) << 0 << 0 << 0 << 0 << arma::endr
|
||||
<< 0 << pow(d_trk_parameters.carrier_phase_sd_rad, 2.0) << 0 << 0 << 0 << arma::endr
|
||||
<< 0 << 0 << pow(d_trk_parameters.carrier_freq_sd_hz, 2.0) << 0 << 0 << arma::endr
|
||||
<< 0 << 0 << 0 << pow(d_trk_parameters.carrier_freq_rate_sd_hz_s, 2.0) << 0 << arma::endr
|
||||
<< 0 << 0 << 0 << 0 << pow(d_trk_parameters.code_rate_sd_chips_s, 2.0) << arma::endr;
|
||||
|
||||
d_Q = {{pow(d_trk_parameters.code_phase_sd_chips, 2.0), 0, 0, 0, 0},
|
||||
{0, pow(d_trk_parameters.carrier_phase_sd_rad, 2.0), 0, 0, 0},
|
||||
{0, 0, pow(d_trk_parameters.carrier_freq_sd_hz, 2.0), 0, 0},
|
||||
{0, 0, 0, pow(d_trk_parameters.carrier_freq_rate_sd_hz_s, 2.0), 0},
|
||||
{0, 0, 0, 0, pow(d_trk_parameters.code_rate_sd_chips_s, 2.0)}};
|
||||
// initial Kalman covariance matrix
|
||||
d_P_old_old = arma::mat(5, 5);
|
||||
|
||||
d_P_old_old << pow(d_trk_parameters.init_code_phase_sd_chips, 2.0) << 0 << 0 << 0 << 0 << arma::endr
|
||||
<< 0 << pow(d_trk_parameters.init_carrier_phase_sd_rad, 2.0) << 0 << 0 << 0 << arma::endr
|
||||
<< 0 << 0 << pow(d_trk_parameters.init_carrier_freq_sd_hz, 2.0) << 0 << 0 << arma::endr
|
||||
<< 0 << 0 << 0 << pow(d_trk_parameters.init_carrier_freq_rate_sd_hz_s, 2.0) << 0 << arma::endr
|
||||
<< 0 << 0 << 0 << 0 << pow(d_trk_parameters.init_code_rate_sd_chips_s, 2.0) << arma::endr;
|
||||
|
||||
d_P_old_old = {{pow(d_trk_parameters.init_code_phase_sd_chips, 2.0), 0, 0, 0, 0},
|
||||
{0, pow(d_trk_parameters.init_carrier_phase_sd_rad, 2.0), 0, 0, 0},
|
||||
{0, 0, pow(d_trk_parameters.init_carrier_freq_rate_sd_hz_s, 2.0), 0, 0},
|
||||
{0, 0, 0, pow(d_trk_parameters.init_carrier_freq_rate_sd_hz_s, 2.0), 0},
|
||||
{0, 0, 0, 0, pow(d_trk_parameters.init_code_rate_sd_chips_s, 2.0)}};
|
||||
// init state vector
|
||||
d_x_old_old = arma::vec(5);
|
||||
// states: code_phase_chips, carrier_phase_rads, carrier_freq_hz, carrier_freq_rate_hz_s, code_freq_rate_chips_s
|
||||
d_x_old_old << acq_code_phase_chips << 0 << acq_doppler_hz << 0 << 0 << arma::endr;
|
||||
|
||||
d_x_old_old = {acq_code_phase_chips, 0, acq_doppler_hz, 0, 0};
|
||||
// std::cout << "F: " << d_F << "\n";
|
||||
// std::cout << "H: " << d_H << "\n";
|
||||
// std::cout << "R: " << d_R << "\n";
|
||||
@ -907,27 +900,26 @@ void kf_vtl_tracking::update_kf_narrow_integration_time()
|
||||
const double Ti = d_current_correlation_time_s;
|
||||
|
||||
// state vector: code_phase_chips, carrier_phase_rads, carrier_freq_hz,carrier_freq_rate_hz, code_freq_chips_s
|
||||
d_F << 1 << 0 << 0 << 0 << Ti << arma::endr
|
||||
<< 0 << 1 << 2.0 * GNSS_PI * Ti << GNSS_PI * (Ti * Ti) << 0 << arma::endr
|
||||
<< 0 << 0 << 1 << Ti << 0 << arma::endr
|
||||
<< 0 << 0 << 0 << 1 << 0 << arma::endr
|
||||
<< 0 << 0 << 0 << 0 << 1 << arma::endr;
|
||||
|
||||
d_F = {{1, 0, 0, 0, Ti},
|
||||
{0, 1, 2.0 * GNSS_PI * Ti, GNSS_PI * (Ti * Ti), 0},
|
||||
{0, 0, 1, Ti, 0},
|
||||
{0, 0, 0, 1, 0},
|
||||
{0, 0, 0, 0, 1}};
|
||||
const double B = d_code_chip_rate / d_signal_carrier_freq; // carrier to code rate factor
|
||||
|
||||
d_H << 1 << 0 << -B * Ti / 2.0 << B * (Ti * Ti) / 6.0 << 0 << arma::endr
|
||||
<< 0 << 1 << -GNSS_PI * Ti << GNSS_PI * (Ti * Ti) / 3.0 << 0 << arma::endr;
|
||||
d_H = {{1, 0, -B * Ti / 2.0, B * (Ti * Ti) / 6.0, 0},
|
||||
{0, 1, -GNSS_PI * Ti, GNSS_PI * (Ti * Ti) / 3.0, 0}};
|
||||
|
||||
// measurement covariance matrix (static)
|
||||
d_R << pow(d_trk_parameters.code_disc_sd_chips, 2.0) << 0 << arma::endr
|
||||
<< 0 << pow(d_trk_parameters.carrier_disc_sd_rads, 2.0) << arma::endr;
|
||||
d_R = {{pow(d_trk_parameters.code_disc_sd_chips, 2.0), 0},
|
||||
{0, pow(d_trk_parameters.carrier_disc_sd_rads, 2.0)}};
|
||||
|
||||
// system covariance matrix (static)
|
||||
d_Q << pow(d_trk_parameters.narrow_code_phase_sd_chips, 2.0) << 0 << 0 << 0 << 0 << arma::endr
|
||||
<< 0 << pow(d_trk_parameters.narrow_carrier_phase_sd_rad, 2.0) << 0 << 0 << 0 << arma::endr
|
||||
<< 0 << 0 << pow(d_trk_parameters.narrow_carrier_freq_sd_hz, 2.0) << 0 << 0 << arma::endr
|
||||
<< 0 << 0 << 0 << pow(d_trk_parameters.narrow_carrier_freq_rate_sd_hz_s, 2.0) << 0 << arma::endr
|
||||
<< 0 << 0 << 0 << 0 << pow(d_trk_parameters.narrow_code_rate_sd_chips_s, 2.0) << arma::endr;
|
||||
d_Q = {{pow(d_trk_parameters.narrow_code_phase_sd_chips, 2.0), 0, 0, 0, 0},
|
||||
{0, pow(d_trk_parameters.narrow_carrier_phase_sd_rad, 2.0), 0, 0, 0},
|
||||
{0, 0, pow(d_trk_parameters.narrow_carrier_freq_sd_hz, 2.0), 0, 0},
|
||||
{0, 0, 0, pow(d_trk_parameters.narrow_carrier_freq_rate_sd_hz_s, 2.0), 0},
|
||||
{0, 0, 0, 0, pow(d_trk_parameters.narrow_code_rate_sd_chips_s, 2.0)}};
|
||||
}
|
||||
|
||||
|
||||
@ -938,8 +930,8 @@ void kf_vtl_tracking::update_kf_cn0(double current_cn0_dbhz)
|
||||
const double B = d_code_chip_rate / d_signal_carrier_freq; // carrier to code rate factor
|
||||
|
||||
d_H = arma::mat(2, 5);
|
||||
d_H << 1 << 0 << -B * Ti / 2.0 << B * (Ti * Ti) / 6.0 << 0 << arma::endr
|
||||
<< 0 << 1 << -GNSS_PI * Ti << GNSS_PI * (Ti * Ti) / 3.0 << 0 << arma::endr;
|
||||
d_H = {{1, 0, -B * Ti / 2.0, B * (Ti * Ti) / 6.0, 0},
|
||||
{0, 1, -GNSS_PI * Ti, GNSS_PI * (Ti * Ti) / 3.0, 0}};
|
||||
|
||||
// Phase noise variance
|
||||
const double CN0_lin = pow(10.0, current_cn0_dbhz / 10.0); // CN0 in Hz
|
||||
@ -949,8 +941,8 @@ void kf_vtl_tracking::update_kf_cn0(double current_cn0_dbhz)
|
||||
|
||||
// measurement covariance matrix (static)
|
||||
d_R = arma::mat(2, 2);
|
||||
d_R << Sigma2_Tau << 0 << arma::endr
|
||||
<< 0 << Sigma2_Phase << arma::endr;
|
||||
d_R = {{Sigma2_Tau, 0},
|
||||
{0, Sigma2_Phase}};
|
||||
}
|
||||
|
||||
|
||||
|
@ -144,7 +144,7 @@ endif()
|
||||
|
||||
target_include_directories(tracking_libs
|
||||
PUBLIC
|
||||
${CMAKE_SOURCE_DIR}/src/core/interfaces
|
||||
${GNSSSDR_SOURCE_DIR}/src/core/interfaces
|
||||
)
|
||||
|
||||
if(ENABLE_CLANG_TIDY)
|
||||
|
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Reference in New Issue
Block a user