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FPGA unit tests need to reset the HW at the beginning of each iteration

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This commit is contained in:
Marc Majoral 2019-02-04 15:01:50 +01:00
parent ec80df40dc
commit a379a896d4
2 changed files with 529 additions and 563 deletions
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801
src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test_fpga.cc
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@ -555,7 +555,7 @@ bool HybridObservablesTestFpga::acquire_signal()
//config->set_property("Acquisition.select_queue_Fpga", "0");
//config->set_property("Acquisition.devicename", "/dev/uio0");
config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_external_signal_acquisition_dwells));
//config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_external_signal_acquisition_dwells));
//if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
//{
@ -610,32 +610,6 @@ bool HybridObservablesTestFpga::acquire_signal()
acquisition_GpsE1_Fpga->connect(top_block);
}
// else if (implementation.compare("GPS_L2_M_DLL_PLL_Tracking") == 0)
// {
// tmp_gnss_synchro.System = 'G';
// std::string signal = "2S";
// signal.copy(tmp_gnss_synchro.Signal, 2, 0);
// tmp_gnss_synchro.PRN = SV_ID;
// System_and_Signal = "GPS L2CM";
// config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_external_signal_acquisition_dwells));
// acquisition = std::make_shared<GpsL2MPcpsAcquisition>(config.get(), "Acquisition", 1, 0);
// }
// else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_b") == 0)
// {
// tmp_gnss_synchro.System = 'E';
// std::string signal = "5X";
// signal.copy(tmp_gnss_synchro.Signal, 2, 0);
// tmp_gnss_synchro.PRN = SV_ID;
// System_and_Signal = "Galileo E5a";
// config->set_property("Acquisition_5X.coherent_integration_time_ms", "1");
// config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_external_signal_acquisition_dwells));
// config->set_property("Acquisition.CAF_window_hz", "0"); // **Only for E5a** Resolves doppler ambiguity averaging the specified BW in the winner code delay. If set to 0 CAF filter is desactivated. Recommended value 3000 Hz
// config->set_property("Acquisition.Zero_padding", "0"); //**Only for E5a** Avoids power loss and doppler ambiguity in bit transitions by correlating one code with twice the input data length, ensuring that at least one full code is present without transitions. If set to 1 it is ON, if set to 0 it is OFF.
// config->set_property("Acquisition.bit_transition_flag", "false");
// acquisition = std::make_shared<GalileoE5aNoncoherentIQAcquisitionCaf>(config.get(), "Acquisition", 1, 0);
//
//
// }
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{
@ -679,20 +653,8 @@ bool HybridObservablesTestFpga::acquire_signal()
throw(std::exception());
}
//printf("BBBBBBBBBBBBBBBBBBBBBBBBBB\n");
//gr::blocks::file_source::sptr file_source;
std::string file = FLAGS_signal_file;
const char* file_name = file.c_str();
//file_source = gr::blocks::file_source::make(sizeof(int8_t), file_name, false);
//file_source->seek(2 * FLAGS_skip_samples, 0); //skip head. ibyte, two bytes per complex sample
//gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make();
//gr::blocks::head::sptr head_samples = gr::blocks::head::make(sizeof(gr_complex), baseband_sampling_freq * FLAGS_duration);
//top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0);
//top_block->connect(gr_interleaved_char_to_complex, 0, acquisition->get_left_block(), 0);
//top_block->connect(head_samples, 0, acquisition->get_left_block(), 0);
struct DMA_handler_args_obs_test args;
@ -712,7 +674,6 @@ bool HybridObservablesTestFpga::acquire_signal()
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
//printf("BBBBBBBBBBBBBBBBBBBBBBBBBB2222222222\n");
top_block->msg_connect(acquisition_GpsL1Ca_Fpga->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
}
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
@ -787,6 +748,7 @@ bool HybridObservablesTestFpga::acquire_signal()
int acq_doppler_max = config->property("Acquisition.doppler_max", FLAGS_external_signal_acquisition_doppler_max_hz);
int acq_doppler_step = config->property("Acquisition.doppler_step", FLAGS_external_signal_acquisition_doppler_step_hz);
/*
if (doppler_loop_control_in_sw_obs_test == 1)
{
@ -1136,6 +1098,7 @@ bool HybridObservablesTestFpga::acquire_signal()
}
else // DOPPLER CONTROL IN HW
{
*/
for (unsigned int PRN = 1; PRN < MAX_PRN_IDX; PRN++)
//for (unsigned int PRN = 0; PRN < 17; PRN++)
@ -1308,10 +1271,19 @@ bool HybridObservablesTestFpga::acquire_signal()
send_samples_start_obs_test = 0;
pthread_mutex_unlock(&mutex);
while (msg_rx->rx_message == 0)
{
usleep(100000);
}
// while (msg_rx->rx_message == 0)
// {
// usleep(100000);
// }
// the DMA sends the exact number of samples needed for the acquisition.
// however because of the LPF in the GPS L1/Gal E1 acquisition, this calculation is approximate
// and some extra samples might be sent. Wait at least once to give time the HW to consume any extra
// sample the DMA might have sent.
do {
usleep(100000);
} while (msg_rx->rx_message == 0);
if (msg_rx->rx_message == 1)
{
std::cout << " " << PRN << " ";
@ -1404,7 +1376,7 @@ bool HybridObservablesTestFpga::acquire_signal()
std::cout.flush();
}
/* } */
}
// }
@ -2278,32 +2250,63 @@ TEST_F(HybridObservablesTestFpga, ValidationOfResults)
{
code_length = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
//nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
printf("sssssss code_length = %d \n", code_length);
//printf("sssssss code_length = %d \n", code_length);
}
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
code_length = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)));
//nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)));
printf("sssssss code_length = %d \n", code_length);
//printf("sssssss code_length = %d \n", code_length);
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{
code_length = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / Galileo_E5a_CODE_CHIP_RATE_HZ * static_cast<double>(Galileo_E5a_CODE_LENGTH_CHIPS)));
//nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
printf("sssssss code_length = %d \n", code_length);
//printf("sssssss code_length = %d \n", code_length);
}
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
{
code_length = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L5i_CODE_RATE_HZ / static_cast<double>(GPS_L5i_CODE_LENGTH_CHIPS))));
//nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
printf("sssssss code_length = %d \n", code_length);
//printf("sssssss code_length = %d \n", code_length);
}
float nbits = ceilf(log2f((float)code_length*2));
unsigned int fft_size = pow(2, nbits);
//printf("000000000000 nbits = %f\n", nbits);
//printf("000000000000 fft_size = %d\n", fft_size);
// The HW has been reset after the acquisition phase when the acquisition class was destroyed.
// No more samples remained in the DMA. Therefore any intermediate state in the LPF of the
// GPS L1 / Galileo E1 filter has been cleared.
// During this test all the samples coming from the DMA are consumed so in principle there would be
// no need to reset the HW. However we need to clear the sample counter in each test. Therefore we have
// to reset the HW at the beginning of each test.
// instantiate the acquisition modules in order to use them to reset the HW.
// (note that the constructor of the acquisition modules resets the HW too)
std::shared_ptr<GpsL1CaPcpsAcquisitionFpga> acquisition_GpsL1Ca_Fpga;
std::shared_ptr<GalileoE1PcpsAmbiguousAcquisitionFpga> acquisition_GpsE1_Fpga;
std::shared_ptr<GalileoE5aPcpsAcquisitionFpga> acquisition_GpsE5a_Fpga;
std::shared_ptr<GpsL5iPcpsAcquisitionFpga> acquisition_GpsL5_Fpga;
// reset the HW to clear the sample counters: the acquisition constructor generates a reset
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsL1Ca_Fpga = std::make_shared<GpsL1CaPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
}
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
acquisition_GpsE1_Fpga = std::make_shared<GalileoE1PcpsAmbiguousAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsE5a_Fpga = std::make_shared<GalileoE5aPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
}
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsL5_Fpga = std::make_shared<GpsL5iPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
}
std::vector<std::shared_ptr<TrackingInterface>> tracking_ch_vec;
std::vector<std::shared_ptr<TelemetryDecoderInterface>> tlm_ch_vec;
@ -2349,139 +2352,141 @@ TEST_F(HybridObservablesTestFpga, ValidationOfResults)
}) << "Failure setting gnss_synchro.";
}
top_block = gr::make_top_block("Telemetry_Decoder test");
boost::shared_ptr<HybridObservablesTest_msg_rx_Fpga> dummy_msg_rx_trk = HybridObservablesTest_msg_rx_Fpga_make();
boost::shared_ptr<HybridObservablesTest_tlm_msg_rx_Fpga> dummy_tlm_msg_rx = HybridObservablesTest_tlm_msg_rx_Fpga_make();
//Observables
std::shared_ptr<ObservablesInterface> observables(new HybridObservables(config.get(), "Observables", tracking_ch_vec.size() + 1, tracking_ch_vec.size()));
top_block = gr::make_top_block("Telemetry_Decoder test");
boost::shared_ptr<HybridObservablesTest_msg_rx_Fpga> dummy_msg_rx_trk = HybridObservablesTest_msg_rx_Fpga_make();
boost::shared_ptr<HybridObservablesTest_tlm_msg_rx_Fpga> dummy_tlm_msg_rx = HybridObservablesTest_tlm_msg_rx_Fpga_make();
//Observables
std::shared_ptr<ObservablesInterface> observables(new HybridObservables(config.get(), "Observables", tracking_ch_vec.size() + 1, tracking_ch_vec.size()));
for (unsigned int n = 0; n < tracking_ch_vec.size(); n++)
{
ASSERT_NO_THROW({
tracking_ch_vec.at(n)->connect(top_block);
}) << "Failure connecting tracking to the top_block.";
}
for (unsigned int n = 0; n < tracking_ch_vec.size(); n++)
{
ASSERT_NO_THROW({
tracking_ch_vec.at(n)->connect(top_block);
}) << "Failure connecting tracking to the top_block.";
}
std::string file;
const char* file_name;
std::string file;
const char* file_name;
ASSERT_NO_THROW({
//std::string file;
if (!FLAGS_enable_external_signal_file)
{
file = "./" + filename_raw_data;
}
else
{
file = FLAGS_signal_file;
}
//const char* file_name = file.c_str();
file_name = file.c_str();
//gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(int8_t), file_name, false);
//gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make();
int observable_interval_ms = 20;
//gnss_sdr_sample_counter_sptr samp_counter = gnss_sdr_make_sample_counter(static_cast<double>(baseband_sampling_freq), observable_interval_ms, sizeof(gr_complex));
//top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0);
//top_block->connect(gr_interleaved_char_to_complex, 0, samp_counter, 0);
ASSERT_NO_THROW({
//std::string file;
if (!FLAGS_enable_external_signal_file)
{
file = "./" + filename_raw_data;
}
else
{
file = FLAGS_signal_file;
}
//const char* file_name = file.c_str();
file_name = file.c_str();
//gr::blocks::file_source::sptr file_source = gr::blocks::file_source::make(sizeof(int8_t), file_name, false);
//gr::blocks::interleaved_char_to_complex::sptr gr_interleaved_char_to_complex = gr::blocks::interleaved_char_to_complex::make();
int observable_interval_ms = 20;
//gnss_sdr_sample_counter_sptr samp_counter = gnss_sdr_make_sample_counter(static_cast<double>(baseband_sampling_freq), observable_interval_ms, sizeof(gr_complex));
//top_block->connect(file_source, 0, gr_interleaved_char_to_complex, 0);
//top_block->connect(gr_interleaved_char_to_complex, 0, samp_counter, 0);
double fs = static_cast<double>(config->property("GNSS-SDR.internal_fs_sps", 0));
double fs = static_cast<double>(config->property("GNSS-SDR.internal_fs_sps", 0));
gnss_sdr_fpga_sample_counter_sptr ch_out_fpga_sample_counter;
ch_out_fpga_sample_counter = gnss_sdr_make_fpga_sample_counter(fs, observable_interval_ms);
gnss_sdr_fpga_sample_counter_sptr ch_out_fpga_sample_counter;
ch_out_fpga_sample_counter = gnss_sdr_make_fpga_sample_counter(fs, observable_interval_ms);
for (unsigned int n = 0; n < tracking_ch_vec.size(); n++)
{
//top_block->connect(gr_interleaved_char_to_complex, 0, tracking_ch_vec.at(n)->get_left_block(), 0);
top_block->connect(tracking_ch_vec.at(n)->get_right_block(), 0, tlm_ch_vec.at(n)->get_left_block(), 0);
top_block->connect(tlm_ch_vec.at(n)->get_right_block(), 0, observables->get_left_block(), n);
top_block->msg_connect(tracking_ch_vec.at(n)->get_right_block(), pmt::mp("events"), dummy_msg_rx_trk, pmt::mp("events"));
top_block->connect(observables->get_right_block(), n, null_sink_vec.at(n), 0);
}
//connect sample counter and timmer to the last channel in observables block (extra channel)
//top_block->connect(samp_counter, 0, observables->get_left_block(), tracking_ch_vec.size());
top_block->connect(ch_out_fpga_sample_counter, 0, observables->get_left_block(), tracking_ch_vec.size()); //extra port for the sample counter pulse
for (unsigned int n = 0; n < tracking_ch_vec.size(); n++)
{
//top_block->connect(gr_interleaved_char_to_complex, 0, tracking_ch_vec.at(n)->get_left_block(), 0);
top_block->connect(tracking_ch_vec.at(n)->get_right_block(), 0, tlm_ch_vec.at(n)->get_left_block(), 0);
top_block->connect(tlm_ch_vec.at(n)->get_right_block(), 0, observables->get_left_block(), n);
top_block->msg_connect(tracking_ch_vec.at(n)->get_right_block(), pmt::mp("events"), dummy_msg_rx_trk, pmt::mp("events"));
top_block->connect(observables->get_right_block(), n, null_sink_vec.at(n), 0);
}
//connect sample counter and timmer to the last channel in observables block (extra channel)
//top_block->connect(samp_counter, 0, observables->get_left_block(), tracking_ch_vec.size());
top_block->connect(ch_out_fpga_sample_counter, 0, observables->get_left_block(), tracking_ch_vec.size()); //extra port for the sample counter pulse
//file_source->seek(2 * FLAGS_skip_samples, 0); //skip head. ibyte, two bytes per complex sample
}) << "Failure connecting the blocks.";
// create acquisition class such that a global Reset is produced for all the HW and the sample counters are reset to 0
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
//printf("111111111111\n");
std::shared_ptr<GpsL1CaPcpsAcquisitionFpga> acquisition_Fpga;
acquisition_Fpga = std::make_shared<GpsL1CaPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
args.freq_band = 0;
}
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
std::shared_ptr<GalileoE1PcpsAmbiguousAcquisitionFpga> acquisition_Fpga;
acquisition_Fpga = std::make_shared<GalileoE1PcpsAmbiguousAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
args.freq_band = 0;
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{
std::shared_ptr<GalileoE5aPcpsAcquisitionFpga> acquisition_Fpga;
acquisition_Fpga = std::make_shared<GalileoE5aPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
args.freq_band = 1;
}
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
{
std::shared_ptr<GpsL5iPcpsAcquisitionFpga> acquisition_Fpga;
acquisition_Fpga = std::make_shared<GpsL5iPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
args.freq_band = 1;
}
else
{
std::cout << "The test can not run with the selected tracking implementation\n ";
throw(std::exception());
}
args.file = file;
args.nsamples_tx = TEST_OBS_NSAMPLES_TRACKING; // number of samples to transfer
//file_source->seek(2 * FLAGS_skip_samples, 0); //skip head. ibyte, two bytes per complex sample
}) << "Failure connecting the blocks.";
//if (test_observables_skip_samples_already_used == 1 && test_observables_doppler_control_in_sw == 1)
//{
// args.skip_used_samples = (gnss_synchro.PRN - 1)*fft_size;
//}
//else
//{
args.skip_used_samples = 0;
//}
// create acquisition class such that a global Reset is produced for all the HW and the sample counters are reset to 0
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
//printf("111111111111\n");
//std::shared_ptr<GpsL1CaPcpsAcquisitionFpga> acquisition_Fpga;
//acquisition_Fpga = std::make_shared<GpsL1CaPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
args.freq_band = 0;
}
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
//std::shared_ptr<GalileoE1PcpsAmbiguousAcquisitionFpga> acquisition_Fpga;
//acquisition_Fpga = std::make_shared<GalileoE1PcpsAmbiguousAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
args.freq_band = 0;
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{
//std::shared_ptr<GalileoE5aPcpsAcquisitionFpga> acquisition_Fpga;
//acquisition_Fpga = std::make_shared<GalileoE5aPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
args.freq_band = 1;
}
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
{
//std::shared_ptr<GpsL5iPcpsAcquisitionFpga> acquisition_Fpga;
//acquisition_Fpga = std::make_shared<GpsL5iPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
args.freq_band = 1;
}
else
{
std::cout << "The test can not run with the selected tracking implementation\n ";
throw(std::exception());
}
//printf("2222222222222 CREATE PROCES\n");
printf("%s\n", file.c_str());
if (pthread_create(&thread_DMA, NULL, handler_DMA_obs_test, (void *)&args) < 0)
args.file = file;
//args.nsamples_tx = TEST_OBS_NSAMPLES_TRACKING; // number of samples to transfer
args.nsamples_tx = baseband_sampling_freq*FLAGS_duration;;
//if (test_observables_skip_samples_already_used == 1 && test_observables_doppler_control_in_sw == 1)
//{
// args.skip_used_samples = (gnss_synchro.PRN - 1)*fft_size;
//}
//else
//{
args.skip_used_samples = 0;
//}
//printf("2222222222222 CREATE PROCES\n");
//printf("%s\n", file.c_str());
if (pthread_create(&thread_DMA, NULL, handler_DMA_obs_test, (void *)&args) < 0)
{
printf("ERROR cannot create DMA Process\n");
}
for (unsigned int n = 0; n < tracking_ch_vec.size(); n++)
{
tracking_ch_vec.at(n)->start_tracking();
}
for (unsigned int n = 0; n < tracking_ch_vec.size(); n++)
{
tracking_ch_vec.at(n)->start_tracking();
}
//printf("222222222222222222 bis\n");
pthread_mutex_lock(&mutex_obs_test);
send_samples_start_obs_test = 1;
pthread_mutex_unlock(&mutex_obs_test);
//printf("222222222222222222 bis\n");
pthread_mutex_lock(&mutex_obs_test);
send_samples_start_obs_test = 1;
pthread_mutex_unlock(&mutex_obs_test);
top_block->start();
//printf("33333333333333333333 top block started\n");
top_block->start();
//printf("33333333333333333333 top block started\n");
EXPECT_NO_THROW({
start = std::chrono::system_clock::now();
//top_block->run(); // Start threads and wait
end = std::chrono::system_clock::now();
elapsed_seconds = end - start;
}) << "Failure running the top_block.";
EXPECT_NO_THROW({
start = std::chrono::system_clock::now();
//top_block->run(); // Start threads and wait
end = std::chrono::system_clock::now();
elapsed_seconds = end - start;
}) << "Failure running the top_block.";
// wait for the child DMA process to finish
@ -2497,19 +2502,19 @@ TEST_F(HybridObservablesTestFpga, ValidationOfResults)
//printf("55555555555 TOP BLOCK STOPPED\n");
// send more samples to unblock the tracking process in case it was waiting for samples
args.file = file;
//if (test_observables_skip_samples_already_used == 1 && test_observables_doppler_control_in_sw == 1)
//{
// skip the samples that have already been used
args.skip_used_samples = 0; //args.nsamples_tx;
//}
//else
//{
// args.skip_used_samples = 0;
//}
args.nsamples_tx = TEST_OBS_NSAMPLES_FINAL;
//printf("666666666 CREATE PROCESS TO SEND EXTRA SAMPLES\n");
if (pthread_create(&thread_DMA, NULL, handler_DMA_obs_test, (void *)&args) < 0)
args.file = file;
//if (test_observables_skip_samples_already_used == 1 && test_observables_doppler_control_in_sw == 1)
//{
// skip the samples that have already been used
args.skip_used_samples = 0; //args.nsamples_tx;
//}
//else
//{
// args.skip_used_samples = 0;
//}
args.nsamples_tx = TEST_OBS_NSAMPLES_FINAL;
//printf("666666666 CREATE PROCESS TO SEND EXTRA SAMPLES\n");
if (pthread_create(&thread_DMA, NULL, handler_DMA_obs_test, (void *)&args) < 0)
{
printf("ERROR cannot create DMA Process\n");
}
@ -2517,250 +2522,270 @@ TEST_F(HybridObservablesTestFpga, ValidationOfResults)
//printf("777777777 PROCESS FINISHED \n");
// reset the HW AGAIN
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsL1Ca_Fpga->reset_acquisition();
}
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
acquisition_GpsE1_Fpga->reset_acquisition();
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsE5a_Fpga->reset_acquisition();
}
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsL5_Fpga->reset_acquisition();
}
// pthread_mutex_lock(&mutex_obs_test);
// send_samples_start_obs_test = 0;
// pthread_mutex_unlock(&mutex_obs_test);
/*
// pthread_mutex_lock(&mutex_obs_test);
// send_samples_start_obs_test = 0;
// pthread_mutex_unlock(&mutex_obs_test);
//check results
// Matrices for storing columnwise true GPS time, Range, Doppler and Carrier phase
std::vector<arma::mat> true_obs_vec;
//check results
// Matrices for storing columnwise true GPS time, Range, Doppler and Carrier phase
std::vector<arma::mat> true_obs_vec;
if (!FLAGS_enable_external_signal_file)
{
//load the true values
true_observables_reader true_observables;
ASSERT_NO_THROW({
if (true_observables.open_obs_file(std::string("./obs_out.bin")) == false)
{
throw std::exception();
}
}) << "Failure opening true observables file";
if (!FLAGS_enable_external_signal_file)
{
//load the true values
true_observables_reader true_observables;
ASSERT_NO_THROW({
if (true_observables.open_obs_file(std::string("./obs_out.bin")) == false)
{
throw std::exception();
}
}) << "Failure opening true observables file";
unsigned int nepoch = static_cast<unsigned int>(true_observables.num_epochs());
unsigned int nepoch = static_cast<unsigned int>(true_observables.num_epochs());
std::cout << "True observation epochs = " << nepoch << std::endl;
std::cout << "True observation epochs = " << nepoch << std::endl;
true_observables.restart();
int64_t epoch_counter = 0;
for (unsigned int n = 0; n < tracking_ch_vec.size(); n++)
{
true_obs_vec.push_back(arma::zeros<arma::mat>(nepoch, 4));
}
true_observables.restart();
int64_t epoch_counter = 0;
for (unsigned int n = 0; n < tracking_ch_vec.size(); n++)
{
true_obs_vec.push_back(arma::zeros<arma::mat>(nepoch, 4));
}
ASSERT_NO_THROW({
while (true_observables.read_binary_obs())
{
for (unsigned int n = 0; n < true_obs_vec.size(); n++)
{
if (round(true_observables.prn[n]) != gnss_synchro_vec.at(n).PRN)
{
std::cout << "True observables SV PRN does not match measured ones: "
<< round(true_observables.prn[n]) << " vs. " << gnss_synchro_vec.at(n).PRN << std::endl;
throw std::exception();
}
true_obs_vec.at(n)(epoch_counter, 0) = true_observables.gps_time_sec[n];
true_obs_vec.at(n)(epoch_counter, 1) = true_observables.dist_m[n];
true_obs_vec.at(n)(epoch_counter, 2) = true_observables.doppler_l1_hz[n];
true_obs_vec.at(n)(epoch_counter, 3) = true_observables.acc_carrier_phase_l1_cycles[n];
}
epoch_counter++;
}
});
}
else
{
ASSERT_EQ(ReadRinexObs(&true_obs_vec, gnss_synchro_master), true)
<< "Failure reading RINEX file";
}
ASSERT_NO_THROW({
while (true_observables.read_binary_obs())
{
for (unsigned int n = 0; n < true_obs_vec.size(); n++)
{
if (round(true_observables.prn[n]) != gnss_synchro_vec.at(n).PRN)
{
std::cout << "True observables SV PRN does not match measured ones: "
<< round(true_observables.prn[n]) << " vs. " << gnss_synchro_vec.at(n).PRN << std::endl;
throw std::exception();
}
true_obs_vec.at(n)(epoch_counter, 0) = true_observables.gps_time_sec[n];
true_obs_vec.at(n)(epoch_counter, 1) = true_observables.dist_m[n];
true_obs_vec.at(n)(epoch_counter, 2) = true_observables.doppler_l1_hz[n];
true_obs_vec.at(n)(epoch_counter, 3) = true_observables.acc_carrier_phase_l1_cycles[n];
}
epoch_counter++;
}
});
}
else
{
ASSERT_EQ(ReadRinexObs(&true_obs_vec, gnss_synchro_master), true)
<< "Failure reading RINEX file";
}
//read measured values
observables_dump_reader estimated_observables(tracking_ch_vec.size());
ASSERT_NO_THROW({
if (estimated_observables.open_obs_file(std::string("./observables.dat")) == false)
{
throw std::exception();
}
}) << "Failure opening dump observables file";
//read measured values
observables_dump_reader estimated_observables(tracking_ch_vec.size());
ASSERT_NO_THROW({
if (estimated_observables.open_obs_file(std::string("./observables.dat")) == false)
{
throw std::exception();
}
}) << "Failure opening dump observables file";
unsigned int nepoch = static_cast<unsigned int>(estimated_observables.num_epochs());
std::cout << "Measured observations epochs = " << nepoch << std::endl;
unsigned int nepoch = static_cast<unsigned int>(estimated_observables.num_epochs());
std::cout << "Measured observations epochs = " << nepoch << std::endl;
// Matrices for storing columnwise measured RX_time, TOW, Doppler, Carrier phase and Pseudorange
std::vector<arma::mat> measured_obs_vec;
std::vector<int64_t> epoch_counters_vec;
for (unsigned int n = 0; n < tracking_ch_vec.size(); n++)
{
measured_obs_vec.push_back(arma::zeros<arma::mat>(nepoch, 5));
epoch_counters_vec.push_back(0);
}
// Matrices for storing columnwise measured RX_time, TOW, Doppler, Carrier phase and Pseudorange
std::vector<arma::mat> measured_obs_vec;
std::vector<int64_t> epoch_counters_vec;
for (unsigned int n = 0; n < tracking_ch_vec.size(); n++)
{
measured_obs_vec.push_back(arma::zeros<arma::mat>(nepoch, 5));
epoch_counters_vec.push_back(0);
}
estimated_observables.restart();
//printf("Observables : ............................\n");
while (estimated_observables.read_binary_obs())
{
for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
{
if (static_cast<bool>(estimated_observables.valid[n]))
{
//printf("estimated_observables.RX_time[%d] = %d\n", n, estimated_observables.RX_time[n]);
//printf("estimated_observables.TOW_at_current_symbol_s[%d] = %d\n", n, estimated_observables.TOW_at_current_symbol_s[n]);
//printf("estimated_observables.Carrier_Doppler_hz[%d] = %d\n", n, estimated_observables.Carrier_Doppler_hz[n]);
//printf("estimated_observables.Acc_carrier_phase_hz[%d] = %d\n", n, estimated_observables.Acc_carrier_phase_hz[n]);
//printf("estimated_observables.Pseudorange_m[%d] = %d\n", n, estimated_observables.Pseudorange_m[n]);
measured_obs_vec.at(n)(epoch_counters_vec.at(n), 0) = estimated_observables.RX_time[n];
measured_obs_vec.at(n)(epoch_counters_vec.at(n), 1) = estimated_observables.TOW_at_current_symbol_s[n];
measured_obs_vec.at(n)(epoch_counters_vec.at(n), 2) = estimated_observables.Carrier_Doppler_hz[n];
measured_obs_vec.at(n)(epoch_counters_vec.at(n), 3) = estimated_observables.Acc_carrier_phase_hz[n];
measured_obs_vec.at(n)(epoch_counters_vec.at(n), 4) = estimated_observables.Pseudorange_m[n];
epoch_counters_vec.at(n)++;
}
}
}
estimated_observables.restart();
//printf("Observables : ............................\n");
while (estimated_observables.read_binary_obs())
{
for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
{
if (static_cast<bool>(estimated_observables.valid[n]))
{
//printf("estimated_observables.RX_time[%d] = %d\n", n, estimated_observables.RX_time[n]);
//printf("estimated_observables.TOW_at_current_symbol_s[%d] = %d\n", n, estimated_observables.TOW_at_current_symbol_s[n]);
//printf("estimated_observables.Carrier_Doppler_hz[%d] = %d\n", n, estimated_observables.Carrier_Doppler_hz[n]);
//printf("estimated_observables.Acc_carrier_phase_hz[%d] = %d\n", n, estimated_observables.Acc_carrier_phase_hz[n]);
//printf("estimated_observables.Pseudorange_m[%d] = %d\n", n, estimated_observables.Pseudorange_m[n]);
measured_obs_vec.at(n)(epoch_counters_vec.at(n), 0) = estimated_observables.RX_time[n];
measured_obs_vec.at(n)(epoch_counters_vec.at(n), 1) = estimated_observables.TOW_at_current_symbol_s[n];
measured_obs_vec.at(n)(epoch_counters_vec.at(n), 2) = estimated_observables.Carrier_Doppler_hz[n];
measured_obs_vec.at(n)(epoch_counters_vec.at(n), 3) = estimated_observables.Acc_carrier_phase_hz[n];
measured_obs_vec.at(n)(epoch_counters_vec.at(n), 4) = estimated_observables.Pseudorange_m[n];
epoch_counters_vec.at(n)++;
}
}
}
//Cut measurement tail zeros
arma::uvec index;
for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
{
index = arma::find(measured_obs_vec.at(n).col(0) > 0.0, 1, "last");
if ((index.size() > 0) and index(0) < (nepoch - 1))
{
measured_obs_vec.at(n).shed_rows(index(0) + 1, nepoch - 1);
}
}
//Cut measurement tail zeros
arma::uvec index;
for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
{
index = arma::find(measured_obs_vec.at(n).col(0) > 0.0, 1, "last");
if ((index.size() > 0) and index(0) < (nepoch - 1))
{
measured_obs_vec.at(n).shed_rows(index(0) + 1, nepoch - 1);
}
}
//Cut measurement initial transitory of the measurements
//Cut measurement initial transitory of the measurements
double initial_transitory_s = FLAGS_skip_obs_transitory_s;
double initial_transitory_s = FLAGS_skip_obs_transitory_s;
for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
{
index = arma::find(measured_obs_vec.at(n).col(0) >= (measured_obs_vec.at(n)(0, 0) + initial_transitory_s), 1, "first");
if ((index.size() > 0) and (index(0) > 0))
{
measured_obs_vec.at(n).shed_rows(0, index(0));
}
for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
{
index = arma::find(measured_obs_vec.at(n).col(0) >= (measured_obs_vec.at(n)(0, 0) + initial_transitory_s), 1, "first");
if ((index.size() > 0) and (index(0) > 0))
{
measured_obs_vec.at(n).shed_rows(0, index(0));
}
index = arma::find(measured_obs_vec.at(n).col(0) >= true_obs_vec.at(n)(0, 0), 1, "first");
if ((index.size() > 0) and (index(0) > 0))
{
measured_obs_vec.at(n).shed_rows(0, index(0));
}
}
index = arma::find(measured_obs_vec.at(n).col(0) >= true_obs_vec.at(n)(0, 0), 1, "first");
if ((index.size() > 0) and (index(0) > 0))
{
measured_obs_vec.at(n).shed_rows(0, index(0));
}
}
//Correct the clock error using true values (it is not possible for a receiver to correct
//the receiver clock offset error at the observables level because it is required the
//decoding of the ephemeris data and solve the PVT equations)
//Correct the clock error using true values (it is not possible for a receiver to correct
//the receiver clock offset error at the observables level because it is required the
//decoding of the ephemeris data and solve the PVT equations)
//Find the reference satellite (the nearest) and compute the receiver time offset at observable level
double min_pr = std::numeric_limits<double>::max();
unsigned int min_pr_ch_id = 0;
for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
{
if (epoch_counters_vec.at(n) > 10) //discard non-valid channels
{
{
if (measured_obs_vec.at(n)(0, 4) < min_pr)
{
min_pr = measured_obs_vec.at(n)(0, 4);
min_pr_ch_id = n;
}
}
}
else
{
std::cout << "PRN " << gnss_synchro_vec.at(n).PRN << " has NO observations!\n";
}
}
//Find the reference satellite (the nearest) and compute the receiver time offset at observable level
double min_pr = std::numeric_limits<double>::max();
unsigned int min_pr_ch_id = 0;
for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
{
if (epoch_counters_vec.at(n) > 10) //discard non-valid channels
{
{
if (measured_obs_vec.at(n)(0, 4) < min_pr)
{
min_pr = measured_obs_vec.at(n)(0, 4);
min_pr_ch_id = n;
}
}
}
else
{
std::cout << "PRN " << gnss_synchro_vec.at(n).PRN << " has NO observations!\n";
}
}
arma::vec receiver_time_offset_ref_channel_s;
receiver_time_offset_ref_channel_s = true_obs_vec.at(min_pr_ch_id).col(1) / GPS_C_m_s - GPS_STARTOFFSET_ms / 1000.0;
std::cout << "Ref channel initial Receiver time offset " << receiver_time_offset_ref_channel_s(0) * 1e3 << " [ms]" << std::endl;
arma::vec receiver_time_offset_ref_channel_s;
receiver_time_offset_ref_channel_s = true_obs_vec.at(min_pr_ch_id).col(1) / GPS_C_m_s - GPS_STARTOFFSET_ms / 1000.0;
std::cout << "Ref channel initial Receiver time offset " << receiver_time_offset_ref_channel_s(0) * 1e3 << " [ms]" << std::endl;
for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
{
//debug save to .mat
std::vector<double> tmp_vector_x(true_obs_vec.at(n).col(0).colptr(0),
true_obs_vec.at(n).col(0).colptr(0) + true_obs_vec.at(n).col(0).n_rows);
std::vector<double> tmp_vector_y(true_obs_vec.at(n).col(1).colptr(0),
true_obs_vec.at(n).col(1).colptr(0) + true_obs_vec.at(n).col(1).n_rows);
save_mat_xy(tmp_vector_x, tmp_vector_y, std::string("true_pr_ch_" + std::to_string(n)));
for (unsigned int n = 0; n < measured_obs_vec.size(); n++)
{
//debug save to .mat
std::vector<double> tmp_vector_x(true_obs_vec.at(n).col(0).colptr(0),
true_obs_vec.at(n).col(0).colptr(0) + true_obs_vec.at(n).col(0).n_rows);
std::vector<double> tmp_vector_y(true_obs_vec.at(n).col(1).colptr(0),
true_obs_vec.at(n).col(1).colptr(0) + true_obs_vec.at(n).col(1).n_rows);
save_mat_xy(tmp_vector_x, tmp_vector_y, std::string("true_pr_ch_" + std::to_string(n)));
std::vector<double> tmp_vector_x2(measured_obs_vec.at(n).col(0).colptr(0),
measured_obs_vec.at(n).col(0).colptr(0) + measured_obs_vec.at(n).col(0).n_rows);
std::vector<double> tmp_vector_y2(measured_obs_vec.at(n).col(4).colptr(0),
measured_obs_vec.at(n).col(4).colptr(0) + measured_obs_vec.at(n).col(4).n_rows);
save_mat_xy(tmp_vector_x2, tmp_vector_y2, std::string("measured_pr_ch_" + std::to_string(n)));
std::vector<double> tmp_vector_x2(measured_obs_vec.at(n).col(0).colptr(0),
measured_obs_vec.at(n).col(0).colptr(0) + measured_obs_vec.at(n).col(0).n_rows);
std::vector<double> tmp_vector_y2(measured_obs_vec.at(n).col(4).colptr(0),
measured_obs_vec.at(n).col(4).colptr(0) + measured_obs_vec.at(n).col(4).n_rows);
save_mat_xy(tmp_vector_x2, tmp_vector_y2, std::string("measured_pr_ch_" + std::to_string(n)));
std::vector<double> tmp_vector_x3(true_obs_vec.at(n).col(0).colptr(0),
true_obs_vec.at(n).col(0).colptr(0) + true_obs_vec.at(n).col(0).n_rows);
std::vector<double> tmp_vector_y3(true_obs_vec.at(n).col(2).colptr(0),
true_obs_vec.at(n).col(2).colptr(0) + true_obs_vec.at(n).col(2).n_rows);
save_mat_xy(tmp_vector_x3, tmp_vector_y3, std::string("true_doppler_ch_" + std::to_string(n)));
std::vector<double> tmp_vector_x3(true_obs_vec.at(n).col(0).colptr(0),
true_obs_vec.at(n).col(0).colptr(0) + true_obs_vec.at(n).col(0).n_rows);
std::vector<double> tmp_vector_y3(true_obs_vec.at(n).col(2).colptr(0),
true_obs_vec.at(n).col(2).colptr(0) + true_obs_vec.at(n).col(2).n_rows);
save_mat_xy(tmp_vector_x3, tmp_vector_y3, std::string("true_doppler_ch_" + std::to_string(n)));
std::vector<double> tmp_vector_x4(measured_obs_vec.at(n).col(0).colptr(0),
measured_obs_vec.at(n).col(0).colptr(0) + measured_obs_vec.at(n).col(0).n_rows);
std::vector<double> tmp_vector_y4(measured_obs_vec.at(n).col(2).colptr(0),
measured_obs_vec.at(n).col(2).colptr(0) + measured_obs_vec.at(n).col(2).n_rows);
save_mat_xy(tmp_vector_x4, tmp_vector_y4, std::string("measured_doppler_ch_" + std::to_string(n)));
std::vector<double> tmp_vector_x4(measured_obs_vec.at(n).col(0).colptr(0),
measured_obs_vec.at(n).col(0).colptr(0) + measured_obs_vec.at(n).col(0).n_rows);
std::vector<double> tmp_vector_y4(measured_obs_vec.at(n).col(2).colptr(0),
measured_obs_vec.at(n).col(2).colptr(0) + measured_obs_vec.at(n).col(2).n_rows);
save_mat_xy(tmp_vector_x4, tmp_vector_y4, std::string("measured_doppler_ch_" + std::to_string(n)));
if (epoch_counters_vec.at(n) > 10) //discard non-valid channels
{
arma::vec true_TOW_ref_ch_s = true_obs_vec.at(min_pr_ch_id).col(0) - receiver_time_offset_ref_channel_s(0);
arma::vec true_TOW_ch_s = true_obs_vec.at(n).col(0) - receiver_time_offset_ref_channel_s(0);
//Compare measured observables
if (min_pr_ch_id != n)
{
check_results_code_pseudorange(true_obs_vec.at(n),
true_obs_vec.at(min_pr_ch_id),
true_TOW_ch_s,
true_TOW_ref_ch_s,
measured_obs_vec.at(n),
measured_obs_vec.at(min_pr_ch_id),
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
check_results_carrier_phase_double_diff(true_obs_vec.at(n),
true_obs_vec.at(min_pr_ch_id),
true_TOW_ch_s,
true_TOW_ref_ch_s,
measured_obs_vec.at(n),
measured_obs_vec.at(min_pr_ch_id),
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
if (epoch_counters_vec.at(n) > 10) //discard non-valid channels
{
arma::vec true_TOW_ref_ch_s = true_obs_vec.at(min_pr_ch_id).col(0) - receiver_time_offset_ref_channel_s(0);
arma::vec true_TOW_ch_s = true_obs_vec.at(n).col(0) - receiver_time_offset_ref_channel_s(0);
//Compare measured observables
if (min_pr_ch_id != n)
{
check_results_code_pseudorange(true_obs_vec.at(n),
true_obs_vec.at(min_pr_ch_id),
true_TOW_ch_s,
true_TOW_ref_ch_s,
measured_obs_vec.at(n),
measured_obs_vec.at(min_pr_ch_id),
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
check_results_carrier_phase_double_diff(true_obs_vec.at(n),
true_obs_vec.at(min_pr_ch_id),
true_TOW_ch_s,
true_TOW_ref_ch_s,
measured_obs_vec.at(n),
measured_obs_vec.at(min_pr_ch_id),
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
check_results_carrier_doppler_double_diff(true_obs_vec.at(n),
true_obs_vec.at(min_pr_ch_id),
true_TOW_ch_s,
true_TOW_ref_ch_s,
measured_obs_vec.at(n),
measured_obs_vec.at(min_pr_ch_id),
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
}
else
{
std::cout << "[CH " << std::to_string(n) << "] PRN " << std::to_string(gnss_synchro_vec.at(n).PRN) << " is the reference satellite" << std::endl;
}
if (FLAGS_compute_single_diffs)
{
check_results_carrier_phase(true_obs_vec.at(n),
true_TOW_ch_s,
measured_obs_vec.at(n),
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
check_results_carrier_doppler(true_obs_vec.at(n),
true_TOW_ch_s,
measured_obs_vec.at(n),
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
}
}
else
{
std::cout << "PRN " << gnss_synchro_vec.at(n).PRN << " has NO observations!\n";
}
}
check_results_carrier_doppler_double_diff(true_obs_vec.at(n),
true_obs_vec.at(min_pr_ch_id),
true_TOW_ch_s,
true_TOW_ref_ch_s,
measured_obs_vec.at(n),
measured_obs_vec.at(min_pr_ch_id),
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
}
else
{
std::cout << "[CH " << std::to_string(n) << "] PRN " << std::to_string(gnss_synchro_vec.at(n).PRN) << " is the reference satellite" << std::endl;
}
if (FLAGS_compute_single_diffs)
{
check_results_carrier_phase(true_obs_vec.at(n),
true_TOW_ch_s,
measured_obs_vec.at(n),
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
check_results_carrier_doppler(true_obs_vec.at(n),
true_TOW_ch_s,
measured_obs_vec.at(n),
"[CH " + std::to_string(n) + "] PRN " + std::to_string(gnss_synchro_vec.at(n).PRN) + " ");
}
}
else
{
std::cout << "PRN " << gnss_synchro_vec.at(n).PRN << " has NO observations!\n";
}
}
*/
std::cout << "Test completed in " << elapsed_seconds.count() << " [s]" << std::endl;
std::cout << "Test completed in " << elapsed_seconds.count() << " [s]" << std::endl;
}

291
src/tests/unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test_fpga.cc
View File

@ -7,7 +7,6 @@
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2012-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
@ -80,8 +79,8 @@
#define MAX_INPUT_COMPLEX_SAMPLES_TOTAL 8192 // maximum DMA sample block size in complex samples
#define COMPLEX_SAMPLE_SIZE 2 // sample size in bytes
#define NUM_QUEUES 2 // number of queues (1 for GPS L1/Galileo E1, and 1 for GPS L5/Galileo E5)
#define NSAMPLES_TRACKING 850000000 // number of samples during which we test the tracking module
#define NSAMPLES_FINAL 50000 // number of samples sent after running tracking to unblock the SW if it is waiting for an interrupt of the tracking module
#define NSAMPLES_TRACKING 1000000000 // number of samples during which we test the tracking module
#define NSAMPLES_FINAL 60000 // number of samples sent after running tracking to unblock the SW if it is waiting for an interrupt of the tracking module
#define NSAMPLES_ACQ_DOPPLER_SWEEP 50000000 // number of samples sent to the acquisition module when running acquisition when the HW controls the doppler loop
#define DOWNAMPLING_FILTER_INIT_SAMPLES 100 // some samples to initialize the state of the downsampling filter
#define DOWNSAMPLING_FILTER_DELAY 48
@ -478,7 +477,6 @@ void *handler_DMA(void *arguments)
struct DMA_handler_args *args = (struct DMA_handler_args *) arguments;
unsigned int nsamples_tx = args->nsamples_tx;
//printf("in handler DMA to send %d\n", nsamples_tx);
std::string file = args->file; // input filename
unsigned int skip_used_samples = args->skip_used_samples;
@ -486,7 +484,7 @@ void *handler_DMA(void *arguments)
tx_fd = open("/dev/loop_tx", O_WRONLY);
if ( tx_fd < 0 )
{
printf("DMA can't open loop device\n");
std::cout << "DMA can't open loop device" << std::endl;
exit(1);
}
else
@ -495,33 +493,21 @@ void *handler_DMA(void *arguments)
rx_signal_file_id = fopen(file.c_str(), "rb");
if (rx_signal_file_id < 0)
{
printf("DMA can't open input file\n");
std::cout << "DMA can't open input file" << std::endl;
exit(1);
}
//printf("in handler DMA waiting for send samples start\n");
while(send_samples_start == 0); // wait until acquisition starts
//printf("in handler DMA going to send samples\n");
while(send_samples_start == 0); // wait until main thread tells the DMA to start
// skip initial samples
int skip_samples = (int) FLAGS_skip_samples;
fseek( rx_signal_file_id, (skip_samples + skip_used_samples)*2, SEEK_SET );
//printf("sending %d samples starting at position %d\n", nsamples_tx,skip_samples + skip_used_samples);
//printf("\n dma skip_samples = %d\n", skip_samples);
//printf("\n dma skip used samples = %d\n", skip_used_samples);
//printf("dma skip_samples = %d\n", skip_samples);
//printf("dma skip used samples = %d\n", skip_used_samples);
//printf("dma file_completed = %d\n", file_completed);
//printf("dma nsamples = %d\n", nsamples);
//printf("dma nsamples_tx = %d\n", nsamples_tx);
usleep(50000); // wait some time to give time to the main thread to start the acquisition module
unsigned int kk;
//printf("enter kk");
//scanf("%d", &kk);
while (file_completed == false)
{
//printf("samples sent = %d\n", nsamples);
if (nsamples_tx - nsamples > MAX_INPUT_COMPLEX_SAMPLES_TOTAL)
{
nsamples_block = MAX_INPUT_COMPLEX_SAMPLES_TOTAL;
@ -536,7 +522,7 @@ void *handler_DMA(void *arguments)
if (nread_elements != nsamples_block * COMPLEX_SAMPLE_SIZE)
{
printf("could not read the desired number of samples from the input file\n");
std::cout << "file completed" << std::endl;
file_completed = true;
}
@ -568,9 +554,7 @@ void *handler_DMA(void *arguments)
}
dma_index += 4;
}
//printf("writing samples to send\n");
nsamples_transmitted = write(tx_fd, &input_samples_dma[0], nread_elements*NUM_QUEUES);
//printf("exited writing samples to send\n");
if (nsamples_transmitted != nread_elements*NUM_QUEUES)
{
std::cout << "Error : DMA could not send all the requested samples" << std::endl;
@ -581,7 +565,6 @@ void *handler_DMA(void *arguments)
close(tx_fd);
fclose(rx_signal_file_id);
//printf("DMA finished\n");
return NULL;
}
@ -599,12 +582,10 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
baseband_sampling_freq_acquisition = baseband_sampling_freq/4; // downsampling filter in L1/E1
//printf(" aaaaaa baseband_sampling_freq_acquisition = %d\n", baseband_sampling_freq_acquisition);
}
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
baseband_sampling_freq_acquisition = baseband_sampling_freq/4; // downsampling filter in L1/E1
//printf(" aaaaaa baseband_sampling_freq_acquisition = %d\n", baseband_sampling_freq_acquisition);
}
else
{
@ -620,22 +601,24 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
tmp_gnss_synchro.Channel_ID = 0;
config = std::make_shared<InMemoryConfiguration>();
config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(baseband_sampling_freq));
config->set_property("Acquisition.blocking_on_standby", "true");
config->set_property("Acquisition.blocking", "true");
config->set_property("Acquisition.dump", "false");
config->set_property("Acquisition.dump_filename", "./data/acquisition.dat");
config->set_property("Acquisition.use_CFAR_algorithm", "false");
//config->set_property("Acquisition.blocking_on_standby", "true");
//config->set_property("Acquisition.blocking", "true");
//config->set_property("Acquisition.dump", "false");
//config->set_property("Acquisition.dump_filename", "./data/acquisition.dat");
//config->set_property("Acquisition.use_CFAR_algorithm", "false");
config->set_property("Acquisition.item_type", "cshort");
config->set_property("Acquisition.if", "0");
//config->set_property("Acquisition.item_type", "cshort");
//config->set_property("Acquisition.if", "0");
//config->set_property("Acquisition.sampled_ms", "4");
//config->set_property("Acquisition.select_queue_Fpga", "0");
config->set_property("Acquisition.devicename", "/dev/uio0");
//config->set_property("Acquisition.devicename", "/dev/uio0");
if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
config->set_property("Acquisition.acquire_pilot", "false");
}
//config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_external_signal_acquisition_dwells));
//if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
//{
// config->set_property("Acquisition.acquire_pilot", "false");
//}
std::shared_ptr<GpsL1CaPcpsAcquisitionFpga> acquisition_GpsL1Ca_Fpga;
std::shared_ptr<GalileoE1PcpsAmbiguousAcquisitionFpga> acquisition_GpsE1_Fpga;
std::shared_ptr<GalileoE5aPcpsAcquisitionFpga> acquisition_GpsE5a_Fpga;
@ -646,10 +629,10 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
config->set_property("Acquisition.sampled_ms", "1");
config->set_property("Acquisition.select_queue_Fpga", "0");
//config->set_property("Acquisition.sampled_ms", "1");
//config->set_property("Acquisition.select_queue_Fpga", "0");
tmp_gnss_synchro.System = 'G';
tmp_gnss_synchro.System = 'G';
std::string signal = "1C";
const char* str = signal.c_str(); // get a C style null terminated string
std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3); // copy string into synchro char array: 2 char + null
@ -666,8 +649,8 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
config->set_property("Acquisition.sampled_ms", "4");
config->set_property("Acquisition.select_queue_Fpga", "0");
//config->set_property("Acquisition.sampled_ms", "4");
//config->set_property("Acquisition.select_queue_Fpga", "0");
tmp_gnss_synchro.System = 'E';
std::string signal = "1B";
@ -683,12 +666,11 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
acquisition_GpsE1_Fpga->set_channel(0);
acquisition_GpsE1_Fpga->set_threshold(config->property("Acquisition.threshold", FLAGS_external_signal_acquisition_threshold));
acquisition_GpsE1_Fpga->connect(top_block);
//printf(" bbbbbbbb baseband_sampling_freq_acquisition = %d\n", baseband_sampling_freq_acquisition);
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{
config->set_property("Acquisition.sampled_ms", "1");
config->set_property("Acquisition.select_queue_Fpga", "1");
//config->set_property("Acquisition.sampled_ms", "1");
//config->set_property("Acquisition.select_queue_Fpga", "1");
tmp_gnss_synchro.System = 'E';
std::string signal = "5X";
const char* str = signal.c_str(); // get a C style null terminated string
@ -706,9 +688,8 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
}
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
{
config->set_property("Acquisition.sampled_ms", "1");
config->set_property("Acquisition.select_queue_Fpga", "1");
printf("CORRECT L5 A!!!\n");
//config->set_property("Acquisition.sampled_ms", "1");
//config->set_property("Acquisition.select_queue_Fpga", "1");
tmp_gnss_synchro.System = 'G';
std::string signal = "L5";
const char* str = signal.c_str(); // get a C style null terminated string
@ -756,7 +737,6 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
top_block->msg_connect(acquisition_GpsE1_Fpga->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
//printf(" cccccc baseband_sampling_freq_acquisition = %d\n", baseband_sampling_freq_acquisition);
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{
@ -764,7 +744,6 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
}
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
{
printf("CORRECT L5 B!!!\n");
top_block->msg_connect(acquisition_GpsL5_Fpga->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
}
@ -811,7 +790,6 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
{
code_length = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq_acquisition) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)));
nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)));
//printf("dddddd code_length = %d nsamples_to_transfer = %d\n", code_length, nsamples_to_transfer);
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{
@ -820,7 +798,6 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
}
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
{
printf("CORRECT L5 C !!!!");
code_length = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L5i_CODE_RATE_HZ / static_cast<double>(GPS_L5i_CODE_LENGTH_CHIPS))));
nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
}
@ -832,12 +809,10 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
int acq_doppler_max = config->property("Acquisition.doppler_max", FLAGS_external_signal_acquisition_doppler_max_hz);
int acq_doppler_step = config->property("Acquisition.doppler_step", FLAGS_external_signal_acquisition_doppler_step_hz);
printf("acq_doppler_max = %d\n", acq_doppler_max);
printf("acq_doppler_step = %d\n", acq_doppler_step);
/*
if (doppler_loop_control_in_sw == 1)
{
@ -1192,7 +1167,7 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
}
else // DOPPLER CONTROL IN HW
{
*/
for (unsigned int PRN = 1; PRN < MAX_PRN_IDX; PRN++)
//for (unsigned int PRN = 0; PRN < 17; PRN++)
{
@ -1230,7 +1205,6 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
}
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
//printf("starting configuring acquisition\n");
acquisition_GpsE1_Fpga->reset_acquisition(); // reset the whole system including the sample counters
acquisition_GpsE1_Fpga->set_doppler_max(acq_doppler_max);
acquisition_GpsE1_Fpga->set_doppler_step(acq_doppler_step);
@ -1239,7 +1213,6 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
acquisition_GpsE1_Fpga->init();
acquisition_GpsE1_Fpga->set_local_code();
args.freq_band = 0;
//printf("ffffffffffff ending configuring acquisition\n");
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{
@ -1269,7 +1242,6 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
if ((implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0) or (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0))
{
//printf("gggggggg \n");
//----------------------------------------------------------------------------------
// send the previous samples to set the downsampling filter in a good condition
send_samples_start = 0;
@ -1278,18 +1250,15 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
args.nsamples_tx = DOWNAMPLING_FILTER_INIT_SAMPLES + DOWNSAMPLING_FILTER_DELAY + DOWNSAMPLING_FILTER_OFFSET_SAMPLES; //50000; // max size of the FFT
//printf("sending pre init %d\n", args.nsamples_tx);
if (pthread_create(&thread_DMA, NULL, handler_DMA, (void *)&args) < 0)
{
printf("ERROR cannot create DMA Process\n");
std::cout << "ERROR cannot create DMA Process" << std::endl;
}
pthread_mutex_lock(&mutex);
send_samples_start = 1;
pthread_mutex_unlock(&mutex);
pthread_join(thread_DMA, NULL);
send_samples_start = 0;
//printf("finished sending samples init filter status\n");
//-----------------------------------------------------------------------------------
// debug
@ -1309,12 +1278,10 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
// create DMA child process
//printf("||||||||1 args freq_band = %d\n", args.freq_band);
//printf("sending samples main DMA %d\n", args.nsamples_tx);
if (pthread_create(&thread_DMA, NULL, handler_DMA, (void *)&args) < 0)
{
printf("ERROR cannot create DMA Process\n");
std::cout << "ERROR cannot create DMA Process" << std::endl;
}
msg_rx->rx_message = 0;
@ -1330,7 +1297,6 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
}
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
//printf("hhhhhhhhhhhh\n");
acquisition_GpsE1_Fpga->reset(); // set active
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
@ -1342,9 +1308,6 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
acquisition_GpsL5_Fpga->reset(); // set active
}
// pthread_mutex_lock(&mutex); // it doesn't work if it is done here
// send_samples_start = 1;
// pthread_mutex_unlock(&mutex);
if (start_msg == true)
{
@ -1354,7 +1317,6 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
start_msg = false;
}
//printf("wait for DMA to finish\n");
// wait for the child DMA process to finish
pthread_join(thread_DMA, NULL);
@ -1362,10 +1324,19 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
send_samples_start = 0;
pthread_mutex_unlock(&mutex);
while (msg_rx->rx_message == 0)
{
usleep(100000);
}
// while (msg_rx->rx_message == 0)
// {
// usleep(100000);
// }
// the DMA sends the exact number of samples needed for the acquisition.
// however because of the LPF in the GPS L1/Gal E1 acquisition, this calculation is approximate
// and some extra samples might be sent. Wait at least once to give time the HW to consume any extra
// sample the DMA might have sent.
do {
usleep(100000);
} while (msg_rx->rx_message == 0);
if (msg_rx->rx_message == 1)
{
std::cout << " " << PRN << " ";
@ -1379,81 +1350,16 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
std::cout << " . ";
}
// while (msg_rx->rx_message == 0)
// {
// usleep(100000);
// }
// if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
// {
// acquisition_GpsL1Ca_Fpga->read_acquisition_results(&max_index_iteration, &max_magnitude_iteration, &second_magnitude_iteration, &initial_sample_iteration, &doppler_index_iteration, &total_fft_scaling_factor);
// //acquisition_GpsL1Ca_Fpga->read_fpga_total_scale_factor(&total_fft_scaling_factor, &fw_fft_scaling_factor);
// }
// else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
// {
// //printf("iiiiiiiiiiiiii\n");
// acquisition_GpsE1_Fpga->read_acquisition_results(&max_index_iteration, &max_magnitude_iteration, &second_magnitude_iteration, &initial_sample_iteration, &doppler_index_iteration, &total_fft_scaling_factor);
// //acquisition_GpsE1_Fpga->read_fpga_total_scale_factor(&total_fft_scaling_factor, &fw_fft_scaling_factor);
// }
// else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
// {
// acquisition_GpsE5a_Fpga->read_acquisition_results(&max_index_iteration, &max_magnitude_iteration, &second_magnitude_iteration, &initial_sample_iteration, &doppler_index_iteration, &total_fft_scaling_factor);
// //acquisition_GpsE5a_Fpga->read_fpga_total_scale_factor(&total_fft_scaling_factor, &fw_fft_scaling_factor);
// }
// else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
// {
// acquisition_GpsL5_Fpga->read_acquisition_results(&max_index_iteration, &max_magnitude_iteration, &second_magnitude_iteration, &initial_sample_iteration, &doppler_index_iteration, &total_fft_scaling_factor);
// //acquisition_GpsL5_Fpga->read_fpga_total_scale_factor(&total_fft_scaling_factor, &fw_fft_scaling_factor);
// }
//
// if ((implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0) or (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0))
// {
// int interpolation_factor = 4;
// //index_debug[PRN - 1] = max_index_iteration;
// max_index = max_index_iteration; // - interpolation_factor*(DOWNSAMPLING_FILTER_DELAY - 1);
// max_magnitude = max_magnitude_iteration;
// second_magnitude = second_magnitude_iteration;
// //samplestamp_debug[PRN - 1] = initial_sample_iteration;
// initial_sample = 0; //initial_sample_iteration;
// doppler_index = doppler_index_iteration;
// doppler_shift_selected = -acq_doppler_max + acq_doppler_step * (doppler_index_iteration - 1);
// }
// else
// {
// max_index = max_index_iteration;
// max_magnitude = max_magnitude_iteration;
// second_magnitude = second_magnitude_iteration;
// initial_sample = initial_sample_iteration;
// doppler_index = doppler_index_iteration;
// doppler_shift_selected = -acq_doppler_max + acq_doppler_step * (doppler_index_iteration - 1);
// }
top_block->stop();
// float test_statistics = max_magnitude/second_magnitude;
// float threshold = config->property("Acquisition.threshold", FLAGS_external_signal_acquisition_threshold);
// if (test_statistics > threshold)
// {
// //printf("XXXXXXXXXXXXXXXXXXXXXXXXXXX max index = %d = %d \n", max_index, max_index % nsamples_total);
// std::cout << " " << PRN << " ";
// doppler_measurements_map.insert(std::pair<int, double>(PRN, static_cast<double>(doppler_shift_selected)));
// code_delay_measurements_map.insert(std::pair<int, double>(PRN, static_cast<double>(max_index % nsamples_total)));
// code_delay_measurements_map.insert(std::pair<int, double>(PRN, static_cast<double>(max_index)));
// acq_samplestamp_map.insert(std::pair<int, double>(PRN, initial_sample)); // should be 0 (first sample upon which acq starts is always 0 in this case)
// }
// else
// {
// std::cout << " . ";
// }
std::cout.flush();
}
/* } */
}
// }
std::cout << "]" << std::endl;
std::cout << "-------------------------------------------\n";
@ -1463,11 +1369,6 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
}
// for (unsigned k=0;k<MAX_PRN_IDX;k++)
// {
// printf("index_debug %d = %d\n", k+1, (int) index_debug[k]);
// printf("samplestamp_debug %d = %d\n", k+1, (int) samplestamp_debug[k]);
// }
// report the elapsed time
end = std::chrono::system_clock::now();
@ -1485,10 +1386,9 @@ TEST_F(TrackingPullInTestFpga, ValidationOfResults)
// pointer to the DMA thread that sends the samples to the acquisition engine
pthread_t thread_DMA;
//printf("AAAA000\n");
struct DMA_handler_args args;
/*
int interpolation_factor;
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
@ -1498,7 +1398,7 @@ TEST_F(TrackingPullInTestFpga, ValidationOfResults)
{
interpolation_factor = 4; // downsampling filter in L1/E1
}
*/
@ -1523,7 +1423,6 @@ TEST_F(TrackingPullInTestFpga, ValidationOfResults)
acq_delay_error_chips_values.push_back(tmp_vector);
}
//printf("BBB\n");
//***********************************************************
//***** STEP 2: Generate the input signal (if required) *****
@ -1548,9 +1447,7 @@ TEST_F(TrackingPullInTestFpga, ValidationOfResults)
}
}
//printf("CCC\n");
// DEBUG
// use generator or use an external capture file
if (FLAGS_enable_external_signal_file)
@ -1575,14 +1472,12 @@ TEST_F(TrackingPullInTestFpga, ValidationOfResults)
}
}
//printf("#################################### CONFIGURE \n");
configure_receiver(FLAGS_PLL_bw_hz_start,
FLAGS_DLL_bw_hz_start,
FLAGS_PLL_narrow_bw_hz,
FLAGS_DLL_narrow_bw_hz,
FLAGS_extend_correlation_symbols);
//printf("DDD\n");
//******************************************************************************************
//***** Obtain the initial signal sinchronization parameters (emulating an acquisition) ****
@ -1592,7 +1487,6 @@ TEST_F(TrackingPullInTestFpga, ValidationOfResults)
double true_acq_delay_samples = 0.0;
uint64_t acq_samplestamp_samples = 0;
//printf("#################################### NEXT\n");
tracking_true_obs_reader true_obs_data;
if (!FLAGS_enable_external_signal_file)
{
@ -1648,8 +1542,36 @@ TEST_F(TrackingPullInTestFpga, ValidationOfResults)
float nbits = ceilf(log2f((float)code_length));
unsigned int fft_size = pow(2, nbits);
// The HW has been reset after the acquisition phase when the acquisition class was destroyed.
// No more samples remained in the DMA. Therefore any intermediate state in the LPF of the
// GPS L1 / Galileo E1 filter has been cleared.
// During this test all the samples coming from the DMA are consumed so in principle there would be
// no need to reset the HW. However we need to clear the sample counter in each test. Therefore we have
// to reset the HW at the beginning of each test.
// instantiate the acquisition modules in order to use them to reset the HW.
// (note that the constructor of the acquisition modules resets the HW too)
std::shared_ptr<GpsL1CaPcpsAcquisitionFpga> acquisition_GpsL1Ca_Fpga;
std::shared_ptr<GalileoE1PcpsAmbiguousAcquisitionFpga> acquisition_GpsE1_Fpga;
std::shared_ptr<GalileoE5aPcpsAcquisitionFpga> acquisition_GpsE5a_Fpga;
std::shared_ptr<GpsL5iPcpsAcquisitionFpga> acquisition_GpsL5_Fpga;
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsL1Ca_Fpga = std::make_shared<GpsL1CaPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
}
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
acquisition_GpsE1_Fpga = std::make_shared<GalileoE1PcpsAmbiguousAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsE5a_Fpga = std::make_shared<GalileoE5aPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
}
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsL5_Fpga = std::make_shared<GpsL5iPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
}
//printf("####################################\n");
for (unsigned int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
{
std::vector<double> pull_in_results_v;
@ -1658,32 +1580,37 @@ TEST_F(TrackingPullInTestFpga, ValidationOfResults)
for (unsigned int current_acq_code_error_idx = 0; current_acq_code_error_idx < acq_delay_error_chips_values.at(current_acq_doppler_error_idx).size(); current_acq_code_error_idx++)
{
// reset the HW to clear the sample counters
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsL1Ca_Fpga->reset_acquisition();
}
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
acquisition_GpsE1_Fpga->reset_acquisition();
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsE5a_Fpga->reset_acquisition();
}
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsL5_Fpga->reset_acquisition();
}
printf("acq_samplestamp_samples = %d\n", (int)acq_samplestamp_samples);
printf("true_acq_delay_samples = %d\n", (int)true_acq_delay_samples);
gnss_synchro.Acq_samplestamp_samples = acq_samplestamp_samples;
//simulate a Doppler error in acquisition
gnss_synchro.Acq_doppler_hz = true_acq_doppler_hz + acq_doppler_error_hz_values.at(current_acq_doppler_error_idx);
//simulate Code Delay error in acquisition
gnss_synchro.Acq_delay_samples = true_acq_delay_samples + (acq_delay_error_chips_values.at(current_acq_doppler_error_idx).at(current_acq_code_error_idx) / GPS_L1_CA_CODE_RATE_HZ) * static_cast<double>(baseband_sampling_freq);
// debug
//printf("forcing data\n");
//gnss_synchro.Acq_samplestamp_samples = 37500;
//gnss_synchro.Acq_delay_samples = 2933;
//printf("acq_samplestamp_samples = %d\n", (int)gnss_synchro.Acq_samplestamp_samples);
//printf("true_acq_delay_samples = %d\n", (int)gnss_synchro.Acq_delay_samples);
//create flowgraph
top_block = gr::make_top_block("Tracking test");
std::shared_ptr<GNSSBlockInterface> trk_ = factory->GetBlock(config, "Tracking", config->property("Tracking.implementation", std::string("undefined")), 1, 1);
std::shared_ptr<TrackingInterface> tracking = std::dynamic_pointer_cast<TrackingInterface>(trk_);
boost::shared_ptr<TrackingPullInTestFpga_msg_rx> msg_rx = TrackingPullInTestFpga_msg_rx_make();
//printf("loop part b2\n");
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
@ -1753,13 +1680,14 @@ TEST_F(TrackingPullInTestFpga, ValidationOfResults)
//********************************************************************
args.nsamples_tx = NSAMPLES_TRACKING; // number of samples to transfer
//args.nsamples_tx = NSAMPLES_TRACKING; // number of samples to transfer
args.nsamples_tx = baseband_sampling_freq*FLAGS_duration;
//if (pthread_create(&thread_DMA, NULL, handler_DMA_tracking, (void *)&args) < 0)
if (pthread_create(&thread_DMA, NULL, handler_DMA, (void *)&args) < 0)
{
printf("ERROR cannot create DMA Process\n");
std::cout << "ERROR cannot create DMA Process" << std::endl;
}
std::cout << "--- START TRACKING WITH PULL-IN ERROR: " << acq_doppler_error_hz_values.at(current_acq_doppler_error_idx) << " [Hz] and " << acq_delay_error_chips_values.at(current_acq_doppler_error_idx).at(current_acq_code_error_idx) << " [Chips] ---" << std::endl;
@ -1777,8 +1705,15 @@ TEST_F(TrackingPullInTestFpga, ValidationOfResults)
top_block->stop();
printf("going to send more samples\n");
// send more samples to unblock the tracking process in case it was waiting for samples
// In this case the DMA may finish sending the current file while the signal is being
// tracked by the HW accelerators. Some tracking HW accelerators may be left in a state
// where they are waiting for more samples. In this case we can not bring them back to their
// default state using a HW reset because the SW would be waiting forever to receive the
// HW interrupt from those accelerators. The correct way to bring the system back to the default state
// is to send some extra samples that will ensure that all the aforementioned accelerators
// trigger an interrupt to the SW. After this last interrupt all the HW accelerators go back to their
// default state.
args.file = file;
if (skip_samples_already_used == 1)
{
@ -1790,16 +1725,19 @@ TEST_F(TrackingPullInTestFpga, ValidationOfResults)
args.skip_used_samples = 0;
}
args.nsamples_tx = NSAMPLES_FINAL;
//printf("||||||||1 args freq_band = %d\n", args.freq_band);
if (pthread_create(&thread_DMA, NULL, handler_DMA, (void *)&args) < 0)
{
printf("ERROR cannot create DMA Process\n");
std::cout << "ERROR cannot create DMA Process" << std::endl;
}
pthread_join(thread_DMA, NULL);
pthread_mutex_lock(&mutex);
send_samples_start = 0;
pthread_mutex_unlock(&mutex);
pull_in_results_v.push_back(msg_rx->rx_message != 3); //save last asynchronous tracking message in order to detect a loss of lock
//********************************
@ -1968,6 +1906,9 @@ TEST_F(TrackingPullInTestFpga, ValidationOfResults)
} //end plot
} //end acquisition Delay errors loop
usleep(100000); // give time to the HW to consume all the remaining samples
} //end acquisition Doppler errors loop
pull_in_results_v_v.push_back(pull_in_results_v);