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moved the calculations related to the local code that is specific to the FPGA to the initialisation phase of the tracking modules to save clock cycles during real-time tracking.

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This commit is contained in:
Marc Majoral 2019-04-02 18:46:37 +02:00
parent db05be36d1
commit a6110eb334
5 changed files with 99 additions and 27 deletions
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25
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking_fpga.cc
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@ -83,7 +83,7 @@ GalileoE1DllPllVemlTrackingFpga::GalileoE1DllPllVemlTrackingFpga(
} }
trk_param_fpga.pll_bw_hz = pll_bw_hz; trk_param_fpga.pll_bw_hz = pll_bw_hz;
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 0.5); float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 0.5);
if (FLAGS_dll_bw_hz != 0.0) if (FLAGS_dll_bw_hz != 0.0)
{ {
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz); dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
} }
@ -228,19 +228,36 @@ GalileoE1DllPllVemlTrackingFpga::GalileoE1DllPllVemlTrackingFpga(
galileo_e1_code_gen_sinboc11_float(ca_codes_f, pilot_signal, PRN); galileo_e1_code_gen_sinboc11_float(ca_codes_f, pilot_signal, PRN);
galileo_e1_code_gen_sinboc11_float(data_codes_f, data_signal, PRN); galileo_e1_code_gen_sinboc11_float(data_codes_f, data_signal, PRN);
// The code is generated as a series of 1s and -1s. In order to store the values using only one bit, a -1 is stored as a 0 in the FPGA
for (uint32_t s = 0; s < 2 * GALILEO_E1_B_CODE_LENGTH_CHIPS; s++) for (uint32_t s = 0; s < 2 * GALILEO_E1_B_CODE_LENGTH_CHIPS; s++)
{ {
d_ca_codes[static_cast<int32_t>(GALILEO_E1_B_CODE_LENGTH_CHIPS) * 2 * (PRN - 1) + s] = static_cast<int32_t>(ca_codes_f[s]); int32_t tmp_value = static_cast<int32_t>(ca_codes_f[s]);
d_data_codes[static_cast<int32_t>(GALILEO_E1_B_CODE_LENGTH_CHIPS) * 2 * (PRN - 1) + s] = static_cast<int32_t>(data_codes_f[s]); if (tmp_value < 0)
{
tmp_value = 0;
}
d_ca_codes[static_cast<int32_t>(GALILEO_E1_B_CODE_LENGTH_CHIPS) * 2 * (PRN - 1) + s] = tmp_value;
tmp_value = static_cast<int32_t>(data_codes_f[s]);
if (tmp_value < 0)
{
tmp_value = 0;
}
d_data_codes[static_cast<int32_t>(GALILEO_E1_B_CODE_LENGTH_CHIPS) * 2 * (PRN - 1) + s] = tmp_value;
} }
} }
else else
{ {
galileo_e1_code_gen_sinboc11_float(ca_codes_f, data_signal, PRN); galileo_e1_code_gen_sinboc11_float(ca_codes_f, data_signal, PRN);
// The code is generated as a series of 1s and -1s. In order to store the values using only one bit, a -1 is stored as a 0 in the FPGA
for (uint32_t s = 0; s < 2 * GALILEO_E1_B_CODE_LENGTH_CHIPS; s++) for (uint32_t s = 0; s < 2 * GALILEO_E1_B_CODE_LENGTH_CHIPS; s++)
{ {
d_ca_codes[static_cast<int32_t>(GALILEO_E1_B_CODE_LENGTH_CHIPS) * 2 * (PRN - 1) + s] = static_cast<int32_t>(ca_codes_f[s]); uint32_t tmp_value = static_cast<int32_t>(ca_codes_f[s]);
if (tmp_value < 0)
{
tmp_value = 0;
}
d_ca_codes[static_cast<int32_t>(GALILEO_E1_B_CODE_LENGTH_CHIPS) * 2 * (PRN - 1) + s] = tmp_value;
} }
} }
} }

28
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking_fpga.cc
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@ -212,19 +212,41 @@ GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
for (uint32_t PRN = 1; PRN <= GALILEO_E5A_NUMBER_OF_CODES; PRN++) for (uint32_t PRN = 1; PRN <= GALILEO_E5A_NUMBER_OF_CODES; PRN++)
{ {
galileo_e5_a_code_gen_complex_primary(aux_code, PRN, const_cast<char *>(sig_)); galileo_e5_a_code_gen_complex_primary(aux_code, PRN, const_cast<char *>(sig_));
if (trk_param_fpga.track_pilot) if (trk_param_fpga.track_pilot)
{ {
// The code is generated as a series of 1s and -1s. In order to store the values using only one bit, a -1 is stored as a 0 in the FPGA
for (uint32_t s = 0; s < code_length_chips; s++) for (uint32_t s = 0; s < code_length_chips; s++)
{ {
d_ca_codes[static_cast<int32_t>(code_length_chips) * (PRN - 1) + s] = static_cast<int32_t>(aux_code[s].imag()); int32_t tmp_value = static_cast<int32_t>(aux_code[s].imag());
d_data_codes[static_cast<int32_t>(code_length_chips) * (PRN - 1) + s] = static_cast<int32_t>(aux_code[s].real()); if (tmp_value < 0)
{
tmp_value = 0;
}
d_ca_codes[static_cast<int32_t>(code_length_chips) * (PRN - 1) + s] = tmp_value;
tmp_value = static_cast<int32_t>(aux_code[s].real());
if (tmp_value < 0)
{
tmp_value = 0;
}
d_data_codes[static_cast<int32_t>(code_length_chips) * (PRN - 1) + s] = tmp_value;
//d_ca_codes[static_cast<int32_t>(code_length_chips) * (PRN - 1) + s] = static_cast<int32_t>(aux_code[s].imag());
//d_data_codes[static_cast<int32_t>(code_length_chips) * (PRN - 1) + s] = static_cast<int32_t>(aux_code[s].real());
} }
} }
else else
{ {
// The code is generated as a series of 1s and -1s. In order to store the values using only one bit, a -1 is stored as a 0 in the FPGA
for (uint32_t s = 0; s < code_length_chips; s++) for (uint32_t s = 0; s < code_length_chips; s++)
{ {
d_ca_codes[static_cast<int32_t>(code_length_chips) * (PRN - 1) + s] = static_cast<int32_t>(aux_code[s].real()); int32_t tmp_value = static_cast<int32_t>(aux_code[s].real());
if (tmp_value < 0)
{
tmp_value = 0;
}
d_ca_codes[static_cast<int32_t>(code_length_chips) * (PRN - 1) + s] = tmp_value;
//d_ca_codes[static_cast<int32_t>(code_length_chips) * (PRN - 1) + s] = static_cast<int32_t>(aux_code[s].real());
} }
} }
} }

9
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_fpga.cc
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@ -210,6 +210,15 @@ GpsL1CaDllPllTrackingFpga::GpsL1CaDllPllTrackingFpga(
for (uint32_t PRN = 1; PRN <= NUM_PRNs; PRN++) for (uint32_t PRN = 1; PRN <= NUM_PRNs; PRN++)
{ {
gps_l1_ca_code_gen_int(&d_ca_codes[(int32_t(GPS_L1_CA_CODE_LENGTH_CHIPS)) * (PRN - 1)], PRN, 0); gps_l1_ca_code_gen_int(&d_ca_codes[(int32_t(GPS_L1_CA_CODE_LENGTH_CHIPS)) * (PRN - 1)], PRN, 0);
// The code is generated as a series of 1s and -1s. In order to store the values using only one bit, a -1 is stored as a 0 in the FPGA
for (uint32_t k = 0; k < GPS_L1_CA_CODE_LENGTH_CHIPS; k++)
{
if (d_ca_codes[(int32_t(GPS_L1_CA_CODE_LENGTH_CHIPS)) * (PRN - 1) + k] < 0)
{
d_ca_codes[(int32_t(GPS_L1_CA_CODE_LENGTH_CHIPS)) * (PRN - 1) + k] = 0;
}
}
} }
trk_param_fpga.ca_codes = d_ca_codes; trk_param_fpga.ca_codes = d_ca_codes;
trk_param_fpga.code_length_chips = GPS_L1_CA_CODE_LENGTH_CHIPS; trk_param_fpga.code_length_chips = GPS_L1_CA_CODE_LENGTH_CHIPS;

29
src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking_fpga.cc
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@ -233,18 +233,41 @@ GpsL5DllPllTrackingFpga::GpsL5DllPllTrackingFpga(
gps_l5q_code_gen_float(tracking_code, PRN); gps_l5q_code_gen_float(tracking_code, PRN);
gps_l5i_code_gen_float(data_code, PRN); gps_l5i_code_gen_float(data_code, PRN);
// The code is generated as a series of 1s and -1s. In order to store the values using only one bit, a -1 is stored as a 0 in the FPGA
for (uint32_t s = 0; s < code_length_chips; s++) for (uint32_t s = 0; s < code_length_chips; s++)
{ {
d_ca_codes[static_cast<int32_t>(code_length_chips) * (PRN - 1) + s] = static_cast<int32_t>(tracking_code[s]); int32_t tmp_value = static_cast<int32_t>(tracking_code[s]);
d_data_codes[static_cast<int32_t>(code_length_chips) * (PRN - 1) + s] = static_cast<int32_t>(data_code[s]); if (tmp_value < 0)
{
tmp_value = 0;
}
d_ca_codes[static_cast<int32_t>(code_length_chips) * (PRN - 1) + s] = tmp_value;
tmp_value = static_cast<int32_t>(data_code[s]);
if (tmp_value < 0)
{
tmp_value = 0;
}
d_data_codes[static_cast<int32_t>(code_length_chips) * (PRN - 1) + s] = tmp_value;
//d_ca_codes[static_cast<int32_t>(code_length_chips) * (PRN - 1) + s] = static_cast<int32_t>(tracking_code[s]);
//d_data_codes[static_cast<int32_t>(code_length_chips) * (PRN - 1) + s] = static_cast<int32_t>(data_code[s]);
} }
} }
else else
{ {
gps_l5i_code_gen_float(tracking_code, PRN); gps_l5i_code_gen_float(tracking_code, PRN);
// The code is generated as a series of 1s and -1s. In order to store the values using only one bit, a -1 is stored as a 0 in the FPGA
for (uint32_t s = 0; s < code_length_chips; s++) for (uint32_t s = 0; s < code_length_chips; s++)
{ {
d_ca_codes[static_cast<int32_t>(code_length_chips) * (PRN - 1) + s] = static_cast<int32_t>(tracking_code[s]); int32_t tmp_value = static_cast<int32_t>(tracking_code[s]);
if (tmp_value < 0)
{
tmp_value = 0;
}
d_ca_codes[static_cast<int32_t>(code_length_chips) * (PRN - 1) + s] = tmp_value;
//d_ca_codes[static_cast<int32_t>(code_length_chips) * (PRN - 1) + s] = static_cast<int32_t>(tracking_code[s]);
} }
} }
} }

35
src/algorithms/tracking/libs/fpga_multicorrelator.cc
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@ -306,15 +306,15 @@ void Fpga_Multicorrelator_8sc::fpga_configure_tracking_gps_local_code(int32_t PR
d_map_base[PROG_MEMS_ADDR] = LOCAL_CODE_FPGA_CLEAR_ADDRESS_COUNTER; d_map_base[PROG_MEMS_ADDR] = LOCAL_CODE_FPGA_CLEAR_ADDRESS_COUNTER;
for (k = 0; k < d_code_length_samples; k++) for (k = 0; k < d_code_length_samples; k++)
{ {
if (d_ca_codes[(d_code_length_samples * (PRN - 1)) + k] == 1) // if (d_ca_codes[(d_code_length_samples * (PRN - 1)) + k] == 1)
{ // {
code_chip = 1; // code_chip = 1;
} // }
else // else
{ // {
code_chip = 0; // code_chip = 0;
} // }
code_chip = d_ca_codes[(d_code_length_samples * (PRN - 1)) + k];
// copy the local code to the FPGA memory one by one // copy the local code to the FPGA memory one by one
d_map_base[PROG_MEMS_ADDR] = LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY | code_chip; // | select_fpga_correlator; d_map_base[PROG_MEMS_ADDR] = LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY | code_chip; // | select_fpga_correlator;
} }
@ -323,14 +323,15 @@ void Fpga_Multicorrelator_8sc::fpga_configure_tracking_gps_local_code(int32_t PR
d_map_base[PROG_MEMS_ADDR] = LOCAL_CODE_FPGA_CLEAR_ADDRESS_COUNTER; d_map_base[PROG_MEMS_ADDR] = LOCAL_CODE_FPGA_CLEAR_ADDRESS_COUNTER;
for (k = 0; k < d_code_length_samples; k++) for (k = 0; k < d_code_length_samples; k++)
{ {
if (d_data_codes[(d_code_length_samples * (PRN - 1)) + k] == 1) // if (d_data_codes[(d_code_length_samples * (PRN - 1)) + k] == 1)
{ // {
code_chip = 1; // code_chip = 1;
} // }
else // else
{ // {
code_chip = 0; // code_chip = 0;
} // }
code_chip = d_data_codes[(d_code_length_samples * (PRN - 1)) + k];
d_map_base[PROG_MEMS_ADDR] = LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY | code_chip | select_pilot_corelator; d_map_base[PROG_MEMS_ADDR] = LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY | code_chip | select_pilot_corelator;
} }
} }