From 905a85670cdc1ce093ebbb3ab83faa69dea7aa7c Mon Sep 17 00:00:00 2001 From: Marc Majoral Date: Mon, 25 Mar 2019 19:45:54 +0100 Subject: [PATCH] currently optimizing the FPGA-related code --- .../galileo_e5a_pcps_acquisition_fpga.cc | 3 + .../adapters/gps_l5i_pcps_acquisition_fpga.cc | 3 + .../gnuradio_blocks/pcps_acquisition_fpga.cc | 10 +-- .../acquisition/libs/fpga_acquisition.cc | 83 ++++++------------ .../acquisition/libs/fpga_acquisition.h | 1 - .../dll_pll_veml_tracking_fpga.cc | 1 + .../tracking/libs/fpga_multicorrelator.cc | 85 +++++++++---------- .../tracking/libs/fpga_multicorrelator.h | 10 ++- 8 files changed, 83 insertions(+), 113 deletions(-) diff --git a/src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc b/src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc index a158e65de..f7e550130 100644 --- a/src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc +++ b/src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc @@ -159,6 +159,9 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf { d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast(floor(fft_codes_padded[i].real() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max)), static_cast(floor(fft_codes_padded[i].imag() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max))); + + // d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast(256 * floor(fft_codes_padded[i].real() * (pow(2, 7 - 1) - 1) / max)), + // static_cast(256 * floor(fft_codes_padded[i].imag() * (pow(2, 7 - 1) - 1) / max))); } } diff --git a/src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc b/src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc index f1c53f085..89f59faf3 100644 --- a/src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc +++ b/src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc @@ -141,6 +141,9 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga( { d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast(floor(fft_codes_padded[i].real() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max)), static_cast(floor(fft_codes_padded[i].imag() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max))); + + // d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast(128 * floor(fft_codes_padded[i].real() * (pow(2, 7 - 1) - 1) / max)), + // static_cast(128 * floor(fft_codes_padded[i].imag() * (pow(2, 7 - 1) - 1) / max))); } } diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.cc index 60b33c292..2534e0001 100644 --- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.cc +++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.cc @@ -220,11 +220,11 @@ void pcps_acquisition_fpga::acquisition_core(uint32_t num_doppler_bins, uint32_t } // debug - //if (d_test_statistics > d_threshold) - // { - // printf("firstpeak = %f, secondpeak = %f, test_statistics = %f reported block exp = %d PRN = %d inext = %d, initial_sample = %ld doppler = %d\n", firstpeak, secondpeak, d_test_statistics, (int)total_block_exp, (int)d_gnss_synchro->PRN, (int)indext, (long int)initial_sample, (int)doppler); - // printf("doppler_min = %d doppler_step = %d num_doppler_bins = %d\n", (int)doppler_min, (int)doppler_step, (int)num_doppler_bins); - // } + if (d_test_statistics > d_threshold) + { + printf("firstpeak = %f, secondpeak = %f, test_statistics = %f reported block exp = %d PRN = %d inext = %d, initial_sample = %ld doppler = %d\n", firstpeak, secondpeak, d_test_statistics, (int)total_block_exp, (int)d_gnss_synchro->PRN, (int)indext, (long int)initial_sample, (int)doppler); + printf("doppler_min = %d doppler_step = %d num_doppler_bins = %d\n", (int)doppler_min, (int)doppler_step, (int)num_doppler_bins); + } d_gnss_synchro->Acq_doppler_hz = static_cast(doppler); d_sample_counter = initial_sample; diff --git a/src/algorithms/acquisition/libs/fpga_acquisition.cc b/src/algorithms/acquisition/libs/fpga_acquisition.cc index 50885f056..f1323aeff 100644 --- a/src/algorithms/acquisition/libs/fpga_acquisition.cc +++ b/src/algorithms/acquisition/libs/fpga_acquisition.cc @@ -53,6 +53,7 @@ #define MEM_LOCAL_CODE_WR_ENABLE 0x0C000000 // command to enable the ENA and WR pins of the internal memory of the multicorrelator #define POW_2_2 4 // 2^2 (used for the conversion of floating point numbers to integers) #define POW_2_29 536870912 // 2^29 (used for the conversion of floating point numbers to integers) +#define POW_2_31 2147483648 // 2^31 (used for the conversion of floating point numbers to integers) //#define SELECT_LSBits 0x000003FF // Select the 10 LSbits out of a 20-bit word //#define SELECT_MSBbits 0x000FFC00 // Select the 10 MSbits out of a 20-bit word //#define SELECT_ALL_CODE_BITS 0x000FFFFF // Select a 20 bit word @@ -103,12 +104,8 @@ Fpga_Acquisition::Fpga_Acquisition(std::string device_name, d_fd = 0; // driver descriptor d_map_base = nullptr; // driver memory map d_all_fft_codes = all_fft_codes; - Fpga_Acquisition::reset_acquisition(); - Fpga_Acquisition::open_device(); Fpga_Acquisition::fpga_acquisition_test_register(); - Fpga_Acquisition::close_device(); - d_PRN = 0; DLOG(INFO) << "Acquisition FPGA class created"; //printf("d_excludelimit = %d\n", d_excludelimit); @@ -134,8 +131,21 @@ bool Fpga_Acquisition::set_local_code(uint32_t PRN) void Fpga_Acquisition::write_local_code() { - Fpga_Acquisition::fpga_configure_acquisition_local_code( - &d_all_fft_codes[d_nsamples_total * (d_PRN - 1)]); + uint32_t local_code; + int32_t k, tmp, tmp2; + int32_t fft_data; + + d_map_base[9] = LOCAL_CODE_CLEAR_MEM; + // write local code + for (k = 0; k < d_vector_length; k++) + { + tmp = d_all_fft_codes[d_nsamples_total * (d_PRN - 1) + k].real(); + tmp2 = d_all_fft_codes[d_nsamples_total * (d_PRN - 1) + k].imag(); + + local_code = (tmp & SELECT_LSBits) | ((tmp2 * SHL_CODE_BITS) & SELECT_MSBbits); // put together the real part and the imaginary part + fft_data = local_code & SELECT_ALL_CODE_BITS; + d_map_base[6] = fft_data; + } } @@ -170,6 +180,8 @@ void Fpga_Acquisition::fpga_acquisition_test_register() uint32_t writeval = TEST_REG_SANITY_CHECK; uint32_t readval; + Fpga_Acquisition::open_device(); + // write value to test register d_map_base[15] = writeval; // read value from test register @@ -183,42 +195,8 @@ void Fpga_Acquisition::fpga_acquisition_test_register() { LOG(INFO) << "Acquisition test register sanity check success!"; } -} - -void Fpga_Acquisition::fpga_configure_acquisition_local_code(lv_16sc_t fft_local_code[]) -{ - // uint32_t local_code; - // uint32_t k, tmp, tmp2; - // uint32_t fft_data; - // - // d_map_base[9] = LOCAL_CODE_CLEAR_MEM; - // // write local code - // for (k = 0; k < d_vector_length; k++) - // { - // tmp = fft_local_code[k].real(); - // tmp2 = fft_local_code[k].imag(); - // - // local_code = (tmp & SELECT_LSBits) | ((tmp2 * SHL_CODE_BITS) & SELECT_MSBbits); // put together the real part and the imaginary part - // fft_data = local_code & SELECT_ALL_CODE_BITS; - // d_map_base[6] = fft_data; - // } - - uint32_t local_code; - int32_t k, tmp, tmp2; - int32_t fft_data; - - d_map_base[9] = LOCAL_CODE_CLEAR_MEM; - // write local code - for (k = 0; k < d_vector_length; k++) - { - tmp = fft_local_code[k].real(); - tmp2 = fft_local_code[k].imag(); - - local_code = (tmp & SELECT_LSBits) | ((tmp2 * SHL_CODE_BITS) & SELECT_MSBbits); // put together the real part and the imaginary part - fft_data = local_code & SELECT_ALL_CODE_BITS; - d_map_base[6] = fft_data; - } + Fpga_Acquisition::close_device(); } @@ -264,35 +242,22 @@ void Fpga_Acquisition::set_doppler_sweep(uint32_t num_sweeps, uint32_t doppler_s float phase_step_rad_real; float phase_step_rad_int_temp; int32_t phase_step_rad_int; - auto doppler = static_cast(doppler_min); - float phase_step_rad = GPS_TWO_PI * (doppler) / static_cast(d_fs_in); + // The doppler step can never be outside the range -pi to +pi, otherwise there would be aliasing // The FPGA expects phase_step_rad between -1 (-pi) to +1 (+pi) // The FPGA also expects the phase to be negative since it produces cos(x) -j*sin(x) - phase_step_rad_real = phase_step_rad / (GPS_TWO_PI / 2); - - // // avoid saturation of the fixed point representation in the fpga - // // (only the positive value can saturate due to the 2's complement representation) - // if (phase_step_rad_real >= 1.0) - // { - // phase_step_rad_real = MAX_PHASE_STEP_RAD; - // } + phase_step_rad_real = 2.0 * (doppler_min) / static_cast(d_fs_in); phase_step_rad_int_temp = phase_step_rad_real * POW_2_2; // * 2^2 phase_step_rad_int = static_cast(phase_step_rad_int_temp * (POW_2_29)); // * 2^29 (in total it makes x2^31 in two steps to avoid the warnings d_map_base[3] = phase_step_rad_int; // repeat the calculation with the doppler step - //doppler = static_cast(d_doppler_step); - doppler = static_cast(doppler_step); - phase_step_rad = GPS_TWO_PI * (doppler) / static_cast(d_fs_in); - phase_step_rad_real = phase_step_rad / (GPS_TWO_PI / 2); - // if (phase_step_rad_real >= 1.0) - // { - // phase_step_rad_real = MAX_PHASE_STEP_RAD; - // } + phase_step_rad_real = 2.0 * (doppler_step) / static_cast(d_fs_in); phase_step_rad_int_temp = phase_step_rad_real * POW_2_2; // * 2^2 phase_step_rad_int = static_cast(phase_step_rad_int_temp * (POW_2_29)); // * 2^29 (in total it makes x2^31 in two steps to avoid the warnings d_map_base[4] = phase_step_rad_int; + + // write number of doppler sweeps d_map_base[5] = num_sweeps; } diff --git a/src/algorithms/acquisition/libs/fpga_acquisition.h b/src/algorithms/acquisition/libs/fpga_acquisition.h index 1fbd3f03f..4a731ce83 100644 --- a/src/algorithms/acquisition/libs/fpga_acquisition.h +++ b/src/algorithms/acquisition/libs/fpga_acquisition.h @@ -122,7 +122,6 @@ private: uint32_t d_PRN; // PRN // FPGA private functions void fpga_acquisition_test_register(void); - void fpga_configure_acquisition_local_code(lv_16sc_t fft_local_code[]); void read_result_valid(uint32_t *result_valid); }; diff --git a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc index 64760847b..4af42d09f 100644 --- a/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc +++ b/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc @@ -422,6 +422,7 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga & uint32_t multicorr_type = trk_parameters.multicorr_type; multicorrelator_fpga = std::make_shared(d_n_correlator_taps, device_name, device_base, ca_codes, data_codes, d_code_length_chips, trk_parameters.track_pilot, multicorr_type, d_code_samples_per_chip); multicorrelator_fpga->set_output_vectors(d_correlator_outs, d_Prompt_Data); + //multicorrelator_fpga->fpga_compute_signal_parameters_in_fpga(); d_sample_counter_next = 0ULL; } diff --git a/src/algorithms/tracking/libs/fpga_multicorrelator.cc b/src/algorithms/tracking/libs/fpga_multicorrelator.cc index b832a828c..3762240ca 100644 --- a/src/algorithms/tracking/libs/fpga_multicorrelator.cc +++ b/src/algorithms/tracking/libs/fpga_multicorrelator.cc @@ -51,9 +51,9 @@ #define CODE_PHASE_STEP_CHIPS_NUM_NBITS CODE_RESAMPLER_NUM_BITS_PRECISION #define pwrtwo(x) (1 << (x)) #define MAX_CODE_RESAMPLER_COUNTER pwrtwo(CODE_PHASE_STEP_CHIPS_NUM_NBITS) // 2^CODE_PHASE_STEP_CHIPS_NUM_NBITS -#define PHASE_CARR_NBITS 32 -#define PHASE_CARR_NBITS_INT 1 -#define PHASE_CARR_NBITS_FRAC PHASE_CARR_NBITS - PHASE_CARR_NBITS_INT +#define PHASE_CARR_MAX 2147483648 // 2^(31) The phase is represented as a 32-bit vector in 1.31 format +#define PHASE_CARR_MAX_div_PI 683565275.5764316 // 2^(31)/pi +#define TWO_PI 6.283185307179586 #define LOCAL_CODE_FPGA_CORRELATOR_SELECT_COUNT 0x20000000 #define LOCAL_CODE_FPGA_CLEAR_ADDRESS_COUNTER 0x10000000 #define LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY 0x0C000000 @@ -118,6 +118,7 @@ Fpga_Multicorrelator_8sc::Fpga_Multicorrelator_8sc(int32_t n_correlators, d_data_codes = data_codes; d_multicorr_type = multicorr_type; d_code_samples_per_chip = code_samples_per_chip; + d_code_length_samples = d_code_length_chips * d_code_samples_per_chip; DLOG(INFO) << "TRACKING FPGA CLASS CREATED"; } @@ -171,9 +172,9 @@ void Fpga_Multicorrelator_8sc::set_output_vectors(gr_complex *corr_out, gr_compl } -void Fpga_Multicorrelator_8sc::update_local_code(float rem_code_phase_chips) +void Fpga_Multicorrelator_8sc::update_local_code() { - d_rem_code_phase_chips = rem_code_phase_chips; + //d_rem_code_phase_chips = rem_code_phase_chips; Fpga_Multicorrelator_8sc::fpga_compute_code_shift_parameters(); Fpga_Multicorrelator_8sc::fpga_configure_code_parameters_in_fpga(); } @@ -188,11 +189,12 @@ void Fpga_Multicorrelator_8sc::Carrier_wipeoff_multicorrelator_resampler( float code_phase_rate_step_chips __attribute__((unused)), int32_t signal_length_samples) { - update_local_code(rem_code_phase_chips); + d_rem_code_phase_chips = rem_code_phase_chips; d_rem_carrier_phase_in_rad = rem_carrier_phase_in_rad; d_code_phase_step_chips = code_phase_step_chips; d_phase_step_rad = phase_step_rad; d_correlator_length_samples = signal_length_samples; + Fpga_Multicorrelator_8sc::update_local_code(); Fpga_Multicorrelator_8sc::fpga_compute_signal_parameters_in_fpga(); Fpga_Multicorrelator_8sc::fpga_configure_signal_parameters_in_fpga(); Fpga_Multicorrelator_8sc::fpga_launch_multicorrelator_fpga(); @@ -302,9 +304,9 @@ void Fpga_Multicorrelator_8sc::fpga_configure_tracking_gps_local_code(int32_t PR uint32_t select_pilot_corelator = LOCAL_CODE_FPGA_CORRELATOR_SELECT_COUNT; d_map_base[PROG_MEMS_ADDR] = LOCAL_CODE_FPGA_CLEAR_ADDRESS_COUNTER; - for (k = 0; k < d_code_length_chips * d_code_samples_per_chip; k++) + for (k = 0; k < d_code_length_samples; k++) { - if (d_ca_codes[((int32_t(d_code_length_chips)) * d_code_samples_per_chip * (PRN - 1)) + k] == 1) + if (d_ca_codes[(d_code_length_samples * (PRN - 1)) + k] == 1) { code_chip = 1; } @@ -319,9 +321,9 @@ void Fpga_Multicorrelator_8sc::fpga_configure_tracking_gps_local_code(int32_t PR if (d_track_pilot) { d_map_base[PROG_MEMS_ADDR] = LOCAL_CODE_FPGA_CLEAR_ADDRESS_COUNTER; - for (k = 0; k < d_code_length_chips * d_code_samples_per_chip; k++) + for (k = 0; k < d_code_length_samples; k++) { - if (d_data_codes[((int32_t(d_code_length_chips)) * d_code_samples_per_chip * (PRN - 1)) + k] == 1) + if (d_data_codes[(d_code_length_samples * (PRN - 1)) + k] == 1) { code_chip = 1; } @@ -332,46 +334,53 @@ void Fpga_Multicorrelator_8sc::fpga_configure_tracking_gps_local_code(int32_t PR d_map_base[PROG_MEMS_ADDR] = LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY | code_chip | select_pilot_corelator; } } + + d_map_base[CODE_LENGTH_MINUS_1_REG_ADDR] = (d_code_length_samples)-1; // number of samples - 1 } void Fpga_Multicorrelator_8sc::fpga_compute_code_shift_parameters(void) { - float temp_calculation; + float frac_part; // decimal part + int32_t dec_part; // fractional part + int32_t i; for (i = 0; i < d_n_correlators; i++) { - temp_calculation = floor(d_shifts_chips[i] - d_rem_code_phase_chips); + dec_part = floor(d_shifts_chips[i] - d_rem_code_phase_chips); - if (temp_calculation < 0) + if (dec_part < 0) { - temp_calculation = temp_calculation + (d_code_length_chips * d_code_samples_per_chip); // % operator does not work as in Matlab with negative numbers + dec_part = dec_part + d_code_length_samples; // % operator does not work as in Matlab with negative numbers } - d_initial_index[i] = static_cast((static_cast(temp_calculation)) % (d_code_length_chips * d_code_samples_per_chip)); - temp_calculation = fmod(d_shifts_chips[i] - d_rem_code_phase_chips, 1.0); - if (temp_calculation < 0) + d_initial_index[i] = dec_part; + + + frac_part = fmod(d_shifts_chips[i] - d_rem_code_phase_chips, 1.0); + if (frac_part < 0) { - temp_calculation = temp_calculation + 1.0; // fmod operator does not work as in Matlab with negative numbers + frac_part = frac_part + 1.0; // fmod operator does not work as in Matlab with negative numbers } - d_initial_interp_counter[i] = static_cast(floor(MAX_CODE_RESAMPLER_COUNTER * temp_calculation)); + d_initial_interp_counter[i] = static_cast(floor(MAX_CODE_RESAMPLER_COUNTER * frac_part)); } if (d_track_pilot) { - temp_calculation = floor(d_prompt_data_shift[0] - d_rem_code_phase_chips); + dec_part = floor(d_prompt_data_shift[0] - d_rem_code_phase_chips); - if (temp_calculation < 0) + if (dec_part < 0) { - temp_calculation = temp_calculation + (d_code_length_chips * d_code_samples_per_chip); // % operator does not work as in Matlab with negative numbers + dec_part = dec_part + d_code_length_samples; // % operator does not work as in Matlab with negative numbers } - d_initial_index[d_n_correlators] = static_cast((static_cast(temp_calculation)) % (d_code_length_chips * d_code_samples_per_chip)); - temp_calculation = fmod(d_prompt_data_shift[0] - d_rem_code_phase_chips, 1.0); - if (temp_calculation < 0) + d_initial_index[d_n_correlators] = dec_part; + + frac_part = fmod(d_prompt_data_shift[0] - d_rem_code_phase_chips, 1.0); + if (frac_part < 0) { - temp_calculation = temp_calculation + 1.0; // fmod operator does not work as in Matlab with negative numbers + frac_part = frac_part + 1.0; // fmod operator does not work as in Matlab with negative numbers } - d_initial_interp_counter[d_n_correlators] = static_cast(floor(MAX_CODE_RESAMPLER_COUNTER * temp_calculation)); + d_initial_interp_counter[d_n_correlators] = static_cast(floor(MAX_CODE_RESAMPLER_COUNTER * frac_part)); } } @@ -390,7 +399,7 @@ void Fpga_Multicorrelator_8sc::fpga_configure_code_parameters_in_fpga(void) d_map_base[INITIAL_INTERP_COUNTER_REG_BASE_ADDR + d_n_correlators] = d_initial_interp_counter[d_n_correlators]; } - d_map_base[CODE_LENGTH_MINUS_1_REG_ADDR] = (d_code_length_chips * d_code_samples_per_chip) - 1; // number of samples - 1 + //d_map_base[CODE_LENGTH_MINUS_1_REG_ADDR] = (d_code_length_samples)-1; // number of samples - 1 } @@ -399,34 +408,22 @@ void Fpga_Multicorrelator_8sc::fpga_compute_signal_parameters_in_fpga(void) float d_rem_carrier_phase_in_rad_temp; d_code_phase_step_chips_num = static_cast(roundf(MAX_CODE_RESAMPLER_COUNTER * d_code_phase_step_chips)); - if (d_code_phase_step_chips > 1.0) - { - std::cout << "Warning : d_code_phase_step_chips = " << d_code_phase_step_chips << " cannot be bigger than one" << std::endl; - } if (d_rem_carrier_phase_in_rad > M_PI) { - d_rem_carrier_phase_in_rad_temp = -2 * M_PI + d_rem_carrier_phase_in_rad; + d_rem_carrier_phase_in_rad_temp = -TWO_PI + d_rem_carrier_phase_in_rad; } else if (d_rem_carrier_phase_in_rad < -M_PI) { - d_rem_carrier_phase_in_rad_temp = 2 * M_PI + d_rem_carrier_phase_in_rad; + d_rem_carrier_phase_in_rad_temp = TWO_PI + d_rem_carrier_phase_in_rad; } else { d_rem_carrier_phase_in_rad_temp = d_rem_carrier_phase_in_rad; } - d_rem_carr_phase_rad_int = static_cast(roundf((fabs(d_rem_carrier_phase_in_rad_temp) / M_PI) * pow(2, PHASE_CARR_NBITS_FRAC))); - if (d_rem_carrier_phase_in_rad_temp < 0) - { - d_rem_carr_phase_rad_int = -d_rem_carr_phase_rad_int; - } - d_phase_step_rad_int = static_cast(roundf((fabs(d_phase_step_rad) / M_PI) * pow(2, PHASE_CARR_NBITS_FRAC))); // the FPGA accepts a range for the phase step between -pi and +pi - if (d_phase_step_rad < 0) - { - d_phase_step_rad_int = -d_phase_step_rad_int; - } + d_rem_carr_phase_rad_int = static_cast(roundf((d_rem_carrier_phase_in_rad_temp)*PHASE_CARR_MAX_div_PI)); + d_phase_step_rad_int = static_cast(roundf((d_phase_step_rad)*PHASE_CARR_MAX_div_PI)); // the FPGA accepts a range for the phase step between -pi and +pi } diff --git a/src/algorithms/tracking/libs/fpga_multicorrelator.h b/src/algorithms/tracking/libs/fpga_multicorrelator.h index df060c362..a931bbd61 100644 --- a/src/algorithms/tracking/libs/fpga_multicorrelator.h +++ b/src/algorithms/tracking/libs/fpga_multicorrelator.h @@ -75,9 +75,10 @@ public: uint32_t device_base, int32_t *ca_codes, int32_t *data_codes, uint32_t code_length_chips, bool track_pilot, uint32_t multicorr_type, uint32_t code_samples_per_chip); ~Fpga_Multicorrelator_8sc(); void set_output_vectors(gr_complex *corr_out, gr_complex *Prompt_Data); + //void fpga_compute_signal_parameters_in_fpga(void); void set_local_code_and_taps( float *shifts_chips, float *prompt_data_shift, int32_t PRN); - void update_local_code(float rem_code_phase_chips); + void update_local_code(); void Carrier_wipeoff_multicorrelator_resampler( float rem_carrier_phase_in_rad, float phase_step_rad, float carrier_phase_rate_step_rad, @@ -96,15 +97,16 @@ private: gr_complex *d_Prompt_Data; float *d_shifts_chips; float *d_prompt_data_shift; - int32_t d_code_length_chips; - int32_t d_n_correlators; // number of correlators + uint32_t d_code_length_chips; + uint32_t d_code_length_samples; + uint32_t d_n_correlators; // number of correlators // data related to the hardware module and the driver int32_t d_device_descriptor; // driver descriptor volatile uint32_t *d_map_base; // driver memory map // configuration data received from the interface - uint32_t d_channel; // channel number + uint32_t d_channel; // channel number uint32_t d_correlator_length_samples; float d_rem_code_phase_chips; float d_code_phase_step_chips;