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Code Issues Releases Wiki Activity

Merge remote-tracking branch 'cf/refactor' into next

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This commit is contained in:
Carles Fernandez 2020-02-20 15:24:42 +01:00
commit a7511326b3
18 changed files with 484 additions and 1420 deletions
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2
docs/changelog
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@ -41,7 +41,7 @@ SPDX-License-Identifier: GPL-3.0-or-later
### Improvements in Maintainability:
- Rewriting of acquisition adapters avoiding a lot of code duplication.
- Rewriting of acquisition and tracking adapters, thus avoiding a lot of code duplication.
- New CMake option ENABLE_ARMA_NO_DEBUG defines the macro ARMA_NO_DEBUG, which disables all run-time checks, such as bounds checking, in the Armadillo library. This will result in faster code. This option is disabled by default during development, but automatically set to ON if the option ENABLE_PACKAGING is set to ON.
- Apply more clang-tidy checks related to readability: readability-avoid-const-params-in-decls, readability-braces-around-statements, readability-isolate-declaration, readability-redundant-control-flow, readability-uppercase-literal-suffix. Fixed raised warnings.
- Fixed cpplint.py build/include_what_you_use, whitespace/tab, whitespace/blank_line errors.

117
src/algorithms/tracking/adapters/beidou_b1i_dll_pll_tracking.cc
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@ -37,127 +37,46 @@ BeidouB1iDllPllTracking::BeidouB1iDllPllTracking(
ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
Dll_Pll_Conf trk_param = Dll_Pll_Conf();
Dll_Pll_Conf trk_params = Dll_Pll_Conf();
DLOG(INFO) << "role " << role;
// ################# CONFIGURATION PARAMETERS ########################
std::string default_item_type = "gr_complex";
std::string item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param.fs_in = fs_in;
bool dump = configuration->property(role + ".dump", false);
trk_param.dump = dump;
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
if (FLAGS_pll_bw_hz != 0.0)
{
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
}
trk_param.pll_bw_hz = pll_bw_hz;
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 20.0);
trk_param.pll_bw_narrow_hz = pll_bw_narrow_hz;
float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 2.0);
trk_param.dll_bw_narrow_hz = dll_bw_narrow_hz;
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
if (FLAGS_dll_bw_hz != 0.0)
{
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
}
trk_param.dll_bw_hz = dll_bw_hz;
trk_params.SetFromConfiguration(configuration, role);
int dll_filter_order = configuration->property(role + ".dll_filter_order", 2);
if (dll_filter_order < 1)
int vector_length = std::round(trk_params.fs_in / (BEIDOU_B1I_CODE_RATE_CPS / BEIDOU_B1I_CODE_LENGTH_CHIPS));
trk_params.vector_length = vector_length;
if (trk_params.extend_correlation_symbols < 1)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
dll_filter_order = 1;
}
if (dll_filter_order > 3)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
dll_filter_order = 3;
}
trk_param.dll_filter_order = dll_filter_order;
int pll_filter_order = configuration->property(role + ".pll_filter_order", 3);
if (pll_filter_order < 2)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
pll_filter_order = 2;
}
if (pll_filter_order > 3)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
pll_filter_order = 3;
}
trk_param.pll_filter_order = pll_filter_order;
if (pll_filter_order == 2)
{
trk_param.fll_filter_order = 1;
}
if (pll_filter_order == 3)
{
trk_param.fll_filter_order = 2;
}
bool enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", false);
trk_param.enable_fll_pull_in = enable_fll_pull_in;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param.fll_bw_hz = fll_bw_hz;
trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
trk_param.early_late_space_chips = early_late_space_chips;
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);
trk_param.early_late_space_narrow_chips = early_late_space_narrow_chips;
std::string default_dump_filename = "./track_ch";
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
trk_param.dump_filename = dump_filename;
int vector_length = std::round(fs_in / (BEIDOU_B1I_CODE_RATE_CPS / BEIDOU_B1I_CODE_LENGTH_CHIPS));
trk_param.vector_length = vector_length;
int symbols_extended_correlator = configuration->property(role + ".extend_correlation_symbols", 1);
if (symbols_extended_correlator < 1)
{
symbols_extended_correlator = 1;
trk_params.extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: BEIDOU B1I. extend_correlation_symbols must be bigger than 1. Coherent integration has been set to 1 symbol (1 ms)" << TEXT_RESET << std::endl;
}
else if (symbols_extended_correlator > 20)
else if (trk_params.extend_correlation_symbols > 20)
{
symbols_extended_correlator = 20;
trk_params.extend_correlation_symbols = 20;
std::cout << TEXT_RED << "WARNING: BEIDOU B1I. extend_correlation_symbols must be lower than 21. Coherent integration has been set to 20 symbols (20 ms)" << TEXT_RESET << std::endl;
}
trk_param.extend_correlation_symbols = symbols_extended_correlator;
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (track_pilot)
trk_params.track_pilot = configuration->property(role + ".track_pilot", false);
if (trk_params.track_pilot)
{
std::cout << TEXT_RED << "WARNING: BEIDOU B1I does not have pilot signal. Data tracking has been enabled" << TEXT_RESET << std::endl;
trk_params.track_pilot = false;
}
if ((symbols_extended_correlator > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
if ((trk_params.extend_correlation_symbols > 1) and (trk_params.pll_bw_narrow_hz > trk_params.pll_bw_hz or trk_params.dll_bw_narrow_hz > trk_params.dll_bw_hz))
{
std::cout << TEXT_RED << "WARNING: BEIDOU B1I. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
}
trk_param.very_early_late_space_chips = 0.0;
trk_param.very_early_late_space_narrow_chips = 0.0;
trk_param.track_pilot = false;
trk_param.system = 'C';
trk_params.system = 'C';
std::array<char, 3> sig_{'B', '1', '\0'};
std::memcpy(trk_param.signal, sig_.data(), 3);
std::memcpy(trk_params.signal, sig_.data(), 3);
trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);
trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
// ################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")
// ################# Make a GNU Radio Tracking block object ################
if (trk_params.item_type == "gr_complex")
{
item_size_ = sizeof(gr_complex);
tracking_ = dll_pll_veml_make_tracking(trk_param);
tracking_ = dll_pll_veml_make_tracking(trk_params);
}
else
{
item_size_ = sizeof(gr_complex);
LOG(WARNING) << item_type << " unknown tracking item type.";
LOG(WARNING) << trk_params.item_type << " unknown tracking item type.";
}
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";

123
src/algorithms/tracking/adapters/beidou_b3i_dll_pll_tracking.cc
View File

@ -38,130 +38,37 @@ BeidouB3iDllPllTracking::BeidouB3iDllPllTracking(
ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
Dll_Pll_Conf trk_param = Dll_Pll_Conf();
Dll_Pll_Conf trk_params = Dll_Pll_Conf();
DLOG(INFO) << "role " << role;
// ################# CONFIGURATION PARAMETERS ########################
std::string default_item_type = "gr_complex";
std::string item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param.fs_in = fs_in;
bool dump = configuration->property(role + ".dump", false);
trk_param.dump = dump;
std::string default_dump_filename = "./track_ch";
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
trk_param.dump_filename = dump_filename;
bool dump_mat = configuration->property(role + ".dump_mat", true);
trk_param.dump_mat = dump_mat;
trk_param.high_dyn = configuration->property(role + ".high_dyn", false);
if (configuration->property(role + ".smoother_length", 10) < 1)
{
trk_param.smoother_length = 1;
std::cout << TEXT_RED << "WARNING: BEIDOU B3I. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
}
else
{
trk_param.smoother_length = configuration->property(role + ".smoother_length", 10);
}
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
if (FLAGS_pll_bw_hz != 0.0)
{
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
}
trk_param.pll_bw_hz = pll_bw_hz;
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
if (FLAGS_dll_bw_hz != 0.0)
{
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
}
trk_param.dll_bw_hz = dll_bw_hz;
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 2.0);
trk_param.pll_bw_narrow_hz = pll_bw_narrow_hz;
float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 0.25);
trk_param.dll_bw_narrow_hz = dll_bw_narrow_hz;
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
trk_param.early_late_space_chips = early_late_space_chips;
trk_params.SetFromConfiguration(configuration, role);
int dll_filter_order = configuration->property(role + ".dll_filter_order", 2);
if (dll_filter_order < 1)
int vector_length = std::round(static_cast<double>(trk_params.fs_in) / (BEIDOU_B3I_CODE_RATE_CPS / BEIDOU_B3I_CODE_LENGTH_CHIPS));
trk_params.vector_length = vector_length;
trk_params.track_pilot = configuration->property(role + ".track_pilot", false);
if (trk_params.extend_correlation_symbols < 1)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
dll_filter_order = 1;
}
if (dll_filter_order > 3)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
dll_filter_order = 3;
}
trk_param.dll_filter_order = dll_filter_order;
int pll_filter_order = configuration->property(role + ".pll_filter_order", 3);
if (pll_filter_order < 2)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
pll_filter_order = 2;
}
if (pll_filter_order > 3)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
pll_filter_order = 3;
}
trk_param.pll_filter_order = pll_filter_order;
if (pll_filter_order == 2)
{
trk_param.fll_filter_order = 1;
}
if (pll_filter_order == 3)
{
trk_param.fll_filter_order = 2;
}
bool enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", false);
trk_param.enable_fll_pull_in = enable_fll_pull_in;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param.fll_bw_hz = fll_bw_hz;
trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
int vector_length = std::round(static_cast<double>(fs_in) / (BEIDOU_B3I_CODE_RATE_CPS / BEIDOU_B3I_CODE_LENGTH_CHIPS));
trk_param.vector_length = vector_length;
int symbols_extended_correlator = configuration->property(role + ".extend_correlation_symbols", 1);
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);
trk_param.early_late_space_narrow_chips = early_late_space_narrow_chips;
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (symbols_extended_correlator < 1)
{
symbols_extended_correlator = 1;
trk_params.extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: BEIDOU B3I. extend_correlation_symbols must be bigger than 1. Coherent integration has been set to 1 symbol (1 ms)" << TEXT_RESET << std::endl;
}
else if (symbols_extended_correlator > 20)
else if (trk_params.extend_correlation_symbols > 20)
{
symbols_extended_correlator = 20;
trk_params.extend_correlation_symbols = 20;
std::cout << TEXT_RED << "WARNING: BEIDOU B3I. extend_correlation_symbols must be lower than 21. Coherent integration has been set to 20 symbols (20 ms)" << TEXT_RESET << std::endl;
}
trk_param.extend_correlation_symbols = symbols_extended_correlator;
trk_param.track_pilot = track_pilot;
trk_param.very_early_late_space_chips = 0.0;
trk_param.very_early_late_space_narrow_chips = 0.0;
trk_param.system = 'C';
trk_params.system = 'C';
std::array<char, 3> sig_{'B', '3', '\0'};
std::memcpy(trk_param.signal, sig_.data(), 3);
trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);
trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
std::memcpy(trk_params.signal, sig_.data(), 3);
// ################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")
// ################# Make a GNU Radio Tracking block object ################
if (trk_params.item_type == "gr_complex")
{
item_size_ = sizeof(gr_complex);
tracking_ = dll_pll_veml_make_tracking(trk_param);
tracking_ = dll_pll_veml_make_tracking(trk_params);
}
else
{
item_size_ = sizeof(gr_complex);
LOG(WARNING) << item_type << " unknown tracking item type.";
LOG(WARNING) << trk_params.item_type << " unknown tracking item type.";
}
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";

136
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking.cc
View File

@ -36,146 +36,40 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
Dll_Pll_Conf trk_param = Dll_Pll_Conf();
Dll_Pll_Conf trk_params = Dll_Pll_Conf();
DLOG(INFO) << "role " << role;
// ################# CONFIGURATION PARAMETERS ########################
std::string default_item_type = "gr_complex";
std::string item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param.fs_in = fs_in;
bool dump = configuration->property(role + ".dump", false);
trk_param.dump = dump;
std::string default_dump_filename = "./track_ch";
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
trk_param.dump_filename = dump_filename;
bool dump_mat = configuration->property(role + ".dump_mat", true);
trk_param.dump_mat = dump_mat;
trk_param.high_dyn = configuration->property(role + ".high_dyn", false);
if (configuration->property(role + ".smoother_length", 10) < 1)
{
trk_param.smoother_length = 1;
std::cout << TEXT_RED << "WARNING: Gal. E1. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
}
else
{
trk_param.smoother_length = configuration->property(role + ".smoother_length", 10);
}
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 5.0);
if (FLAGS_pll_bw_hz != 0.0)
{
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
}
trk_param.pll_bw_hz = pll_bw_hz;
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 0.5);
if (FLAGS_dll_bw_hz != 0.0)
{
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
}
trk_param.dll_bw_hz = dll_bw_hz;
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 2.0);
trk_param.pll_bw_narrow_hz = pll_bw_narrow_hz;
float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 0.25);
trk_param.dll_bw_narrow_hz = dll_bw_narrow_hz;
trk_params.SetFromConfiguration(configuration, role);
int dll_filter_order = configuration->property(role + ".dll_filter_order", 2);
if (dll_filter_order < 1)
if (trk_params.extend_correlation_symbols < 1)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
dll_filter_order = 1;
}
if (dll_filter_order > 3)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
dll_filter_order = 3;
}
trk_param.dll_filter_order = dll_filter_order;
int pll_filter_order = configuration->property(role + ".pll_filter_order", 3);
if (pll_filter_order < 2)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
pll_filter_order = 2;
}
if (pll_filter_order > 3)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
pll_filter_order = 3;
}
trk_param.pll_filter_order = pll_filter_order;
if (pll_filter_order == 2)
{
trk_param.fll_filter_order = 1;
}
if (pll_filter_order == 3)
{
trk_param.fll_filter_order = 2;
}
bool enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", false);
trk_param.enable_fll_pull_in = enable_fll_pull_in;
bool enable_fll_steady_state = configuration->property(role + ".enable_fll_steady_state", false);
trk_param.enable_fll_steady_state = enable_fll_steady_state;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param.fll_bw_hz = fll_bw_hz;
trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
int extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.15);
trk_param.early_late_space_chips = early_late_space_chips;
float very_early_late_space_chips = configuration->property(role + ".very_early_late_space_chips", 0.5);
trk_param.very_early_late_space_chips = very_early_late_space_chips;
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.15);
trk_param.early_late_space_narrow_chips = early_late_space_narrow_chips;
float very_early_late_space_narrow_chips = configuration->property(role + ".very_early_late_space_narrow_chips", 0.5);
trk_param.very_early_late_space_narrow_chips = very_early_late_space_narrow_chips;
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (extend_correlation_symbols < 1)
{
extend_correlation_symbols = 1;
trk_params.extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: Galileo E1. extend_correlation_symbols must be bigger than 0. Coherent integration has been set to 1 symbol (4 ms)" << TEXT_RESET << std::endl;
}
else if (!track_pilot and extend_correlation_symbols > 1)
else if (!trk_params.track_pilot and trk_params.extend_correlation_symbols > 1)
{
extend_correlation_symbols = 1;
trk_params.extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: Galileo E1. Extended coherent integration is not allowed when tracking the data component. Coherent integration has been set to 4 ms (1 symbol)" << TEXT_RESET << std::endl;
}
if ((extend_correlation_symbols > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
if ((trk_params.extend_correlation_symbols > 1) and (trk_params.pll_bw_narrow_hz > trk_params.pll_bw_hz or trk_params.dll_bw_narrow_hz > trk_params.dll_bw_hz))
{
std::cout << TEXT_RED << "WARNING: Galileo E1. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
}
trk_param.track_pilot = track_pilot;
trk_param.extend_correlation_symbols = extend_correlation_symbols;
int vector_length = std::round(fs_in / (GALILEO_E1_CODE_CHIP_RATE_CPS / GALILEO_E1_B_CODE_LENGTH_CHIPS));
trk_param.vector_length = vector_length;
trk_param.system = 'E';
int vector_length = std::round(trk_params.fs_in / (GALILEO_E1_CODE_CHIP_RATE_CPS / GALILEO_E1_B_CODE_LENGTH_CHIPS));
trk_params.vector_length = vector_length;
trk_params.system = 'E';
std::array<char, 3> sig_{'1', 'B', '\0'};
std::memcpy(trk_param.signal, sig_.data(), 3);
trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);
trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
std::memcpy(trk_params.signal, sig_.data(), 3);
// tracking lock tests smoother parameters
trk_param.cn0_smoother_samples = configuration->property(role + ".cn0_smoother_samples", trk_param.cn0_smoother_samples);
trk_param.cn0_smoother_alpha = configuration->property(role + ".cn0_smoother_alpha", trk_param.cn0_smoother_alpha);
trk_param.carrier_lock_test_smoother_samples = configuration->property(role + ".carrier_lock_test_smoother_samples", trk_param.carrier_lock_test_smoother_samples);
trk_param.carrier_lock_test_smoother_alpha = configuration->property(role + ".carrier_lock_test_smoother_alpha", trk_param.carrier_lock_test_smoother_alpha);
// ################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")
// ################# Make a GNU Radio Tracking block object ################
if (trk_params.item_type == "gr_complex")
{
item_size_ = sizeof(gr_complex);
tracking_ = dll_pll_veml_make_tracking(trk_param);
tracking_ = dll_pll_veml_make_tracking(trk_params);
}
else
{
item_size_ = sizeof(gr_complex);
LOG(WARNING) << item_type << " unknown tracking item type.";
LOG(WARNING) << trk_params.item_type << " unknown tracking item type.";
}
channel_ = 0;

158
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking_fpga.cc
View File

@ -38,148 +38,42 @@ GalileoE1DllPllVemlTrackingFpga::GalileoE1DllPllVemlTrackingFpga(
ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
Dll_Pll_Conf_Fpga trk_param_fpga = Dll_Pll_Conf_Fpga();
Dll_Pll_Conf_Fpga trk_params_fpga = Dll_Pll_Conf_Fpga();
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
int32_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 12500000);
int32_t fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param_fpga.fs_in = fs_in;
bool dump = configuration->property(role + ".dump", false);
trk_param_fpga.dump = dump;
std::string default_dump_filename = "./track_ch";
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
trk_param_fpga.dump_filename = dump_filename;
bool dump_mat = configuration->property(role + ".dump_mat", true);
trk_param_fpga.dump_mat = dump_mat;
trk_param_fpga.high_dyn = configuration->property(role + ".high_dyn", false);
if (configuration->property(role + ".smoother_length", 10) < 1)
{
trk_param_fpga.smoother_length = 1;
std::cout << TEXT_RED << "WARNING: Gal. E1. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
}
else
{
trk_param_fpga.smoother_length = configuration->property(role + ".smoother_length", 10);
}
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 5.0);
if (FLAGS_pll_bw_hz != 0.0)
{
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
}
trk_param_fpga.pll_bw_hz = pll_bw_hz;
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 0.5);
if (FLAGS_dll_bw_hz != 0.0)
{
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
}
trk_param_fpga.dll_bw_hz = dll_bw_hz;
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 2.0);
trk_param_fpga.pll_bw_narrow_hz = pll_bw_narrow_hz;
float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 0.25);
trk_param_fpga.dll_bw_narrow_hz = dll_bw_narrow_hz;
trk_params_fpga.SetFromConfiguration(configuration, role);
int dll_filter_order = configuration->property(role + ".dll_filter_order", 2);
if (dll_filter_order < 1)
if (trk_params_fpga.extend_correlation_symbols < 1)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
dll_filter_order = 1;
}
if (dll_filter_order > 3)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
dll_filter_order = 3;
}
trk_param_fpga.dll_filter_order = dll_filter_order;
int pll_filter_order = configuration->property(role + ".pll_filter_order", 3);
if (pll_filter_order < 2)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
pll_filter_order = 2;
}
if (pll_filter_order > 3)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
pll_filter_order = 3;
}
trk_param_fpga.pll_filter_order = pll_filter_order;
if (pll_filter_order == 2)
{
trk_param_fpga.fll_filter_order = 1;
}
if (pll_filter_order == 3)
{
trk_param_fpga.fll_filter_order = 2;
}
bool enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", false);
trk_param_fpga.enable_fll_pull_in = enable_fll_pull_in;
bool enable_fll_steady_state = configuration->property(role + ".enable_fll_steady_state", false);
trk_param_fpga.enable_fll_steady_state = enable_fll_steady_state;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param_fpga.fll_bw_hz = fll_bw_hz;
float pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param_fpga.pull_in_time_s);
trk_param_fpga.pull_in_time_s = pull_in_time_s;
int32_t extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.15);
trk_param_fpga.early_late_space_chips = early_late_space_chips;
float very_early_late_space_chips = configuration->property(role + ".very_early_late_space_chips", 0.5);
trk_param_fpga.very_early_late_space_chips = very_early_late_space_chips;
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.15);
trk_param_fpga.early_late_space_narrow_chips = early_late_space_narrow_chips;
float very_early_late_space_narrow_chips = configuration->property(role + ".very_early_late_space_narrow_chips", 0.5);
trk_param_fpga.very_early_late_space_narrow_chips = very_early_late_space_narrow_chips;
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (extend_correlation_symbols < 1)
{
extend_correlation_symbols = 1;
trk_params_fpga.extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: Galileo E1. extend_correlation_symbols must be bigger than 0. Coherent integration has been set to 1 symbol (4 ms)" << TEXT_RESET << std::endl;
}
else if (!track_pilot and extend_correlation_symbols > 1)
else if (!trk_params_fpga.track_pilot and trk_params_fpga.extend_correlation_symbols > 1)
{
extend_correlation_symbols = 1;
trk_params_fpga.extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: Galileo E1. Extended coherent integration is not allowed when tracking the data component. Coherent integration has been set to 4 ms (1 symbol)" << TEXT_RESET << std::endl;
}
if ((extend_correlation_symbols > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
if ((trk_params_fpga.extend_correlation_symbols > 1) and (trk_params_fpga.pll_bw_narrow_hz > trk_params_fpga.pll_bw_hz or trk_params_fpga.dll_bw_narrow_hz > trk_params_fpga.dll_bw_hz))
{
std::cout << TEXT_RED << "WARNING: Galileo E1. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
}
trk_param_fpga.track_pilot = track_pilot;
d_track_pilot = track_pilot;
trk_param_fpga.extend_correlation_symbols = extend_correlation_symbols;
int32_t vector_length = std::round(fs_in / (GALILEO_E1_CODE_CHIP_RATE_CPS / GALILEO_E1_B_CODE_LENGTH_CHIPS));
trk_param_fpga.vector_length = vector_length;
trk_param_fpga.system = 'E';
d_track_pilot = trk_params_fpga.track_pilot;
int32_t vector_length = std::round(trk_params_fpga.fs_in / (GALILEO_E1_CODE_CHIP_RATE_CPS / GALILEO_E1_B_CODE_LENGTH_CHIPS));
trk_params_fpga.vector_length = vector_length;
trk_params_fpga.system = 'E';
std::array<char, 3> sig_{'1', 'B', '\0'};
std::memcpy(trk_param_fpga.signal, sig_.data(), 3);
trk_param_fpga.cn0_samples = configuration->property(role + ".cn0_samples", trk_param_fpga.cn0_samples);
trk_param_fpga.cn0_min = configuration->property(role + ".cn0_min", trk_param_fpga.cn0_min);
trk_param_fpga.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param_fpga.max_code_lock_fail);
trk_param_fpga.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param_fpga.max_carrier_lock_fail);
trk_param_fpga.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param_fpga.carrier_lock_th);
// tracking lock tests smoother parameters
trk_param_fpga.cn0_smoother_samples = configuration->property(role + ".cn0_smoother_samples", trk_param_fpga.cn0_smoother_samples);
trk_param_fpga.cn0_smoother_alpha = configuration->property(role + ".cn0_smoother_alpha", trk_param_fpga.cn0_smoother_alpha);
trk_param_fpga.carrier_lock_test_smoother_samples = configuration->property(role + ".carrier_lock_test_smoother_samples", trk_param_fpga.carrier_lock_test_smoother_samples);
trk_param_fpga.carrier_lock_test_smoother_alpha = configuration->property(role + ".carrier_lock_test_smoother_alpha", trk_param_fpga.carrier_lock_test_smoother_alpha);
std::memcpy(trk_params_fpga.signal, sig_.data(), 3);
// FPGA configuration parameters
std::string default_device_name = "/dev/uio";
std::string device_name = configuration->property(role + ".devicename", default_device_name);
trk_param_fpga.device_name = device_name;
// obtain the number of the first uio device corresponding to a HW accelerator in the FPGA
// that can be assigned to the tracking of the E1 signal
trk_param_fpga.dev_file_num = configuration->property(role + ".dev_file_num", 15);
trk_params_fpga.dev_file_num = configuration->property(role + ".dev_file_num", 15);
// compute the number of tracking channels that have already been instantiated. The order in which
// GNSS-SDR instantiates the tracking channels i L1, L2, L5, E1, E5a
trk_param_fpga.num_prev_assigned_ch = configuration->property("Channels_1C.count", 0) +
trk_params_fpga.num_prev_assigned_ch = configuration->property("Channels_1C.count", 0) +
configuration->property("Channels_2S.count", 0) +
configuration->property("Channels_L5.count", 0);
//################# PRE-COMPUTE ALL THE CODES #################
// ################# PRE-COMPUTE ALL THE CODES #################
uint32_t code_samples_per_chip = 2;
d_ca_codes = static_cast<int32_t*>(volk_gnsssdr_malloc(static_cast<int32_t>(GALILEO_E1_B_CODE_LENGTH_CHIPS) * code_samples_per_chip * GALILEO_E1_NUMBER_OF_CODES * sizeof(int32_t), volk_gnsssdr_get_alignment()));
volk_gnsssdr::vector<float> ca_codes_f(static_cast<uint32_t>(GALILEO_E1_B_CODE_LENGTH_CHIPS) * code_samples_per_chip);
@ -189,10 +83,6 @@ GalileoE1DllPllVemlTrackingFpga::GalileoE1DllPllVemlTrackingFpga(
if (d_track_pilot)
{
d_data_codes = static_cast<int32_t*>(volk_gnsssdr_malloc((static_cast<uint32_t>(GALILEO_E1_B_CODE_LENGTH_CHIPS)) * code_samples_per_chip * GALILEO_E1_NUMBER_OF_CODES * sizeof(int32_t), volk_gnsssdr_get_alignment()));
}
if (d_track_pilot)
{
data_codes_f.resize(static_cast<uint32_t>(GALILEO_E1_B_CODE_LENGTH_CHIPS) * code_samples_per_chip, 0.0);
}
@ -242,16 +132,16 @@ GalileoE1DllPllVemlTrackingFpga::GalileoE1DllPllVemlTrackingFpga(
}
}
trk_param_fpga.ca_codes = d_ca_codes;
trk_param_fpga.data_codes = d_data_codes;
trk_param_fpga.code_length_chips = GALILEO_E1_B_CODE_LENGTH_CHIPS;
trk_param_fpga.code_samples_per_chip = code_samples_per_chip; // 2 sample per chip
trk_param_fpga.extended_correlation_in_fpga = false;
trk_param_fpga.extend_fpga_integration_periods = 1; // (number of FPGA integrations that are combined in the SW)
trk_param_fpga.fpga_integration_period = 1; // (number of symbols that are effectively integrated in the FPGA)
trk_params_fpga.ca_codes = d_ca_codes;
trk_params_fpga.data_codes = d_data_codes;
trk_params_fpga.code_length_chips = GALILEO_E1_B_CODE_LENGTH_CHIPS;
trk_params_fpga.code_samples_per_chip = code_samples_per_chip; // 2 sample per chip
trk_params_fpga.extended_correlation_in_fpga = false;
trk_params_fpga.extend_fpga_integration_periods = 1; // (number of FPGA integrations that are combined in the SW)
trk_params_fpga.fpga_integration_period = 1; // (number of symbols that are effectively integrated in the FPGA)
//################# MAKE TRACKING GNURadio object ###################
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_param_fpga);
// ################# MAKE TRACKING GNU Radio object ###################
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_params_fpga);
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_fpga_sc->unique_id() << ")";

132
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking.cc
View File

@ -35,142 +35,40 @@ GalileoE5aDllPllTracking::GalileoE5aDllPllTracking(
ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
Dll_Pll_Conf trk_param = Dll_Pll_Conf();
Dll_Pll_Conf trk_params = Dll_Pll_Conf();
DLOG(INFO) << "role " << role;
// ################# CONFIGURATION PARAMETERS ########################
std::string default_item_type = "gr_complex";
std::string item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 12000000);
int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param.fs_in = fs_in;
bool dump = configuration->property(role + ".dump", false);
trk_param.dump = dump;
std::string default_dump_filename = "./track_ch";
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
trk_param.dump_filename = dump_filename;
bool dump_mat = configuration->property(role + ".dump_mat", true);
trk_param.dump_mat = dump_mat;
trk_param.high_dyn = configuration->property(role + ".high_dyn", false);
if (configuration->property(role + ".smoother_length", 10) < 1)
{
trk_param.smoother_length = 1;
std::cout << TEXT_RED << "WARNING: Gal. E5a. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
}
else
{
trk_param.smoother_length = configuration->property(role + ".smoother_length", 10);
}
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 20.0);
if (FLAGS_pll_bw_hz != 0.0)
{
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
}
trk_param.pll_bw_hz = pll_bw_hz;
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 20.0);
if (FLAGS_dll_bw_hz != 0.0)
{
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
}
trk_param.dll_bw_hz = dll_bw_hz;
trk_params.SetFromConfiguration(configuration, role);
int dll_filter_order = configuration->property(role + ".dll_filter_order", 2);
if (dll_filter_order < 1)
int vector_length = std::round(trk_params.fs_in / (GALILEO_E5A_CODE_CHIP_RATE_CPS / GALILEO_E5A_CODE_LENGTH_CHIPS));
trk_params.vector_length = vector_length;
if (trk_params.extend_correlation_symbols < 1)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
dll_filter_order = 1;
}
if (dll_filter_order > 3)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
dll_filter_order = 3;
}
trk_param.dll_filter_order = dll_filter_order;
int pll_filter_order = configuration->property(role + ".pll_filter_order", 3);
if (pll_filter_order < 2)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
pll_filter_order = 2;
}
if (pll_filter_order > 3)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
pll_filter_order = 3;
}
trk_param.pll_filter_order = pll_filter_order;
if (pll_filter_order == 2)
{
trk_param.fll_filter_order = 1;
}
if (pll_filter_order == 3)
{
trk_param.fll_filter_order = 2;
}
bool enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", false);
trk_param.enable_fll_pull_in = enable_fll_pull_in;
bool enable_fll_steady_state = configuration->property(role + ".enable_fll_steady_state", false);
trk_param.enable_fll_steady_state = enable_fll_steady_state;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param.fll_bw_hz = fll_bw_hz;
trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 5.0);
trk_param.pll_bw_narrow_hz = pll_bw_narrow_hz;
float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 2.0);
trk_param.dll_bw_narrow_hz = dll_bw_narrow_hz;
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
trk_param.early_late_space_chips = early_late_space_chips;
int vector_length = std::round(fs_in / (GALILEO_E5A_CODE_CHIP_RATE_CPS / GALILEO_E5A_CODE_LENGTH_CHIPS));
trk_param.vector_length = vector_length;
int extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);
trk_param.early_late_space_narrow_chips = early_late_space_narrow_chips;
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (extend_correlation_symbols < 1)
{
extend_correlation_symbols = 1;
trk_params.extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: Galileo E5a. extend_correlation_symbols must be bigger than 0. Coherent integration has been set to 1 symbol (1 ms)" << TEXT_RESET << std::endl;
}
else if (!track_pilot and extend_correlation_symbols > GALILEO_E5A_I_SECONDARY_CODE_LENGTH)
else if (!trk_params.track_pilot and trk_params.extend_correlation_symbols > GALILEO_E5A_I_SECONDARY_CODE_LENGTH)
{
extend_correlation_symbols = GALILEO_E5A_I_SECONDARY_CODE_LENGTH;
trk_params.extend_correlation_symbols = GALILEO_E5A_I_SECONDARY_CODE_LENGTH;
std::cout << TEXT_RED << "WARNING: Galileo E5a. extend_correlation_symbols must be lower than 21 when tracking the data component. Coherent integration has been set to 20 symbols (20 ms)" << TEXT_RESET << std::endl;
}
if ((extend_correlation_symbols > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
if ((trk_params.extend_correlation_symbols > 1) and (trk_params.pll_bw_narrow_hz > trk_params.pll_bw_hz or trk_params.dll_bw_narrow_hz > trk_params.dll_bw_hz))
{
std::cout << TEXT_RED << "WARNING: Galileo E5a. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
}
trk_param.extend_correlation_symbols = extend_correlation_symbols;
trk_param.track_pilot = track_pilot;
trk_param.very_early_late_space_chips = 0.0;
trk_param.very_early_late_space_narrow_chips = 0.0;
trk_param.system = 'E';
trk_params.system = 'E';
std::array<char, 3> sig_{'5', 'X', '\0'};
std::memcpy(trk_param.signal, sig_.data(), 3);
trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);
trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
std::memcpy(trk_params.signal, sig_.data(), 3);
// tracking lock tests smoother parameters
trk_param.cn0_smoother_samples = configuration->property(role + ".cn0_smoother_samples", trk_param.cn0_smoother_samples);
trk_param.cn0_smoother_alpha = configuration->property(role + ".cn0_smoother_alpha", trk_param.cn0_smoother_alpha);
trk_param.carrier_lock_test_smoother_samples = configuration->property(role + ".carrier_lock_test_smoother_samples", trk_param.carrier_lock_test_smoother_samples);
trk_param.carrier_lock_test_smoother_alpha = configuration->property(role + ".carrier_lock_test_smoother_alpha", trk_param.carrier_lock_test_smoother_alpha);
// ################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")
// ################# Make a GNU Radio Tracking block object ################
if (trk_params.item_type == "gr_complex")
{
item_size_ = sizeof(gr_complex);
tracking_ = dll_pll_veml_make_tracking(trk_param);
tracking_ = dll_pll_veml_make_tracking(trk_params);
}
else
{
item_size_ = sizeof(gr_complex);
LOG(WARNING) << item_type << " unknown tracking item type.";
LOG(WARNING) << trk_params.item_type << " unknown tracking item type.";
}
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";

170
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking_fpga.cc
View File

@ -33,148 +33,44 @@ GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
ConfigurationInterface *configuration, const std::string &role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
Dll_Pll_Conf_Fpga trk_param_fpga = Dll_Pll_Conf_Fpga();
Dll_Pll_Conf_Fpga trk_params_fpga = Dll_Pll_Conf_Fpga();
DLOG(INFO) << "role " << role;
// ################# CONFIGURATION PARAMETERS ########################
int32_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 12500000);
int32_t fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param_fpga.fs_in = fs_in;
bool dump = configuration->property(role + ".dump", false);
trk_param_fpga.dump = dump;
std::string default_dump_filename = "./track_ch";
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
trk_param_fpga.dump_filename = dump_filename;
bool dump_mat = configuration->property(role + ".dump_mat", true);
trk_param_fpga.dump_mat = dump_mat;
trk_param_fpga.high_dyn = configuration->property(role + ".high_dyn", false);
if (configuration->property(role + ".smoother_length", 10) < 1)
{
trk_param_fpga.smoother_length = 1;
std::cout << TEXT_RED << "WARNING: Gal. E5a. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
}
else
{
trk_param_fpga.smoother_length = configuration->property(role + ".smoother_length", 10);
}
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 20.0);
if (FLAGS_pll_bw_hz != 0.0)
{
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
}
trk_param_fpga.pll_bw_hz = pll_bw_hz;
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 20.0);
if (FLAGS_dll_bw_hz != 0.0)
{
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
}
trk_param_fpga.dll_bw_hz = dll_bw_hz;
trk_params_fpga.SetFromConfiguration(configuration, role);
int dll_filter_order = configuration->property(role + ".dll_filter_order", 2);
if (dll_filter_order < 1)
int32_t vector_length = std::round(trk_params_fpga.fs_in / (GALILEO_E5A_CODE_CHIP_RATE_CPS / GALILEO_E5A_CODE_LENGTH_CHIPS));
trk_params_fpga.vector_length = vector_length;
d_track_pilot = trk_params_fpga.track_pilot;
if (trk_params_fpga.extend_correlation_symbols < 1)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
dll_filter_order = 1;
}
if (dll_filter_order > 3)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
dll_filter_order = 3;
}
trk_param_fpga.dll_filter_order = dll_filter_order;
int pll_filter_order = configuration->property(role + ".pll_filter_order", 3);
if (pll_filter_order < 2)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
pll_filter_order = 2;
}
if (pll_filter_order > 3)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
pll_filter_order = 3;
}
trk_param_fpga.pll_filter_order = pll_filter_order;
if (pll_filter_order == 2)
{
trk_param_fpga.fll_filter_order = 1;
}
if (pll_filter_order == 3)
{
trk_param_fpga.fll_filter_order = 2;
}
bool enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", false);
trk_param_fpga.enable_fll_pull_in = enable_fll_pull_in;
bool enable_fll_steady_state = configuration->property(role + ".enable_fll_steady_state", false);
trk_param_fpga.enable_fll_steady_state = enable_fll_steady_state;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param_fpga.fll_bw_hz = fll_bw_hz;
float pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param_fpga.pull_in_time_s);
trk_param_fpga.pull_in_time_s = pull_in_time_s;
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 5.0);
trk_param_fpga.pll_bw_narrow_hz = pll_bw_narrow_hz;
float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 2.0);
trk_param_fpga.dll_bw_narrow_hz = dll_bw_narrow_hz;
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
trk_param_fpga.early_late_space_chips = early_late_space_chips;
int32_t vector_length = std::round(fs_in / (GALILEO_E5A_CODE_CHIP_RATE_CPS / GALILEO_E5A_CODE_LENGTH_CHIPS));
trk_param_fpga.vector_length = vector_length;
int32_t extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);
trk_param_fpga.early_late_space_narrow_chips = early_late_space_narrow_chips;
bool track_pilot = configuration->property(role + ".track_pilot", false);
d_track_pilot = track_pilot;
if (extend_correlation_symbols < 1)
{
extend_correlation_symbols = 1;
trk_params_fpga.extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: Galileo E5a. extend_correlation_symbols must be bigger than 0. Coherent integration has been set to 1 symbol (1 ms)" << TEXT_RESET << std::endl;
}
else if (!track_pilot and extend_correlation_symbols > GALILEO_E5A_I_SECONDARY_CODE_LENGTH)
else if (!trk_params_fpga.track_pilot and trk_params_fpga.extend_correlation_symbols > GALILEO_E5A_I_SECONDARY_CODE_LENGTH)
{
extend_correlation_symbols = GALILEO_E5A_I_SECONDARY_CODE_LENGTH;
trk_params_fpga.extend_correlation_symbols = GALILEO_E5A_I_SECONDARY_CODE_LENGTH;
std::cout << TEXT_RED << "WARNING: Galileo E5a. extend_correlation_symbols must be lower than 21 when tracking the data component. Coherent integration has been set to 20 symbols (20 ms)" << TEXT_RESET << std::endl;
}
if ((extend_correlation_symbols > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
if ((trk_params_fpga.extend_correlation_symbols > 1) and (trk_params_fpga.pll_bw_narrow_hz > trk_params_fpga.pll_bw_hz or trk_params_fpga.dll_bw_narrow_hz > trk_params_fpga.dll_bw_hz))
{
std::cout << TEXT_RED << "WARNING: Galileo E5a. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
}
trk_param_fpga.extend_correlation_symbols = extend_correlation_symbols;
trk_param_fpga.track_pilot = track_pilot;
trk_param_fpga.very_early_late_space_chips = 0.0;
trk_param_fpga.very_early_late_space_narrow_chips = 0.0;
trk_param_fpga.system = 'E';
trk_params_fpga.system = 'E';
std::array<char, 3> sig_{'5', 'X', '\0'};
std::memcpy(trk_param_fpga.signal, sig_.data(), 3);
trk_param_fpga.cn0_samples = configuration->property(role + ".cn0_samples", trk_param_fpga.cn0_samples);
trk_param_fpga.cn0_min = configuration->property(role + ".cn0_min", trk_param_fpga.cn0_min);
trk_param_fpga.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param_fpga.max_code_lock_fail);
trk_param_fpga.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param_fpga.max_carrier_lock_fail);
trk_param_fpga.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param_fpga.carrier_lock_th);
// tracking lock tests smoother parameters
trk_param_fpga.cn0_smoother_samples = configuration->property(role + ".cn0_smoother_samples", trk_param_fpga.cn0_smoother_samples);
trk_param_fpga.cn0_smoother_alpha = configuration->property(role + ".cn0_smoother_alpha", trk_param_fpga.cn0_smoother_alpha);
trk_param_fpga.carrier_lock_test_smoother_samples = configuration->property(role + ".carrier_lock_test_smoother_samples", trk_param_fpga.carrier_lock_test_smoother_samples);
trk_param_fpga.carrier_lock_test_smoother_alpha = configuration->property(role + ".carrier_lock_test_smoother_alpha", trk_param_fpga.carrier_lock_test_smoother_alpha);
std::memcpy(trk_params_fpga.signal, sig_.data(), 3);
d_data_codes = nullptr;
// FPGA configuration parameters
std::string default_device_name = "/dev/uio";
std::string device_name = configuration->property(role + ".devicename", default_device_name);
trk_param_fpga.device_name = device_name;
// obtain the number of the first uio device corresponding to a HW accelerator in the FPGA
// that can be assigned to the tracking of the E5a signal
trk_param_fpga.dev_file_num = configuration->property(role + ".dev_file_num", 27);
trk_params_fpga.dev_file_num = configuration->property(role + ".dev_file_num", 27);
// compute the number of tracking channels that have already been instantiated. The order in which
// GNSS-SDR instantiates the tracking channels i L1, L2, L5, E1, E5a
// However E5a can use the same tracking HW accelerators as L5 (but not simultaneously).
// Therefore for the proper assignment of the FPGA tracking device file numbers to the E5a tracking channels,
// the number of channels that have already been assigned to L5 must not be substracted to this channel number,
// so they are not counted here.
trk_param_fpga.num_prev_assigned_ch = configuration->property("Channels_1C.count", 0) +
trk_params_fpga.num_prev_assigned_ch = configuration->property("Channels_1C.count", 0) +
configuration->property("Channels_2S.count", 0) +
configuration->property("Channels_1B.count", 0);
@ -186,7 +82,7 @@ GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
d_ca_codes = static_cast<int32_t *>(volk_gnsssdr_malloc(static_cast<int32_t>(code_length_chips) * code_samples_per_chip * GALILEO_E5A_NUMBER_OF_CODES * sizeof(int32_t), volk_gnsssdr_get_alignment()));
if (trk_param_fpga.track_pilot)
if (trk_params_fpga.track_pilot)
{
d_data_codes = static_cast<int32_t *>(volk_gnsssdr_malloc((static_cast<uint32_t>(code_length_chips)) * code_samples_per_chip * GALILEO_E5A_NUMBER_OF_CODES * sizeof(int32_t), volk_gnsssdr_get_alignment()));
}
@ -196,7 +92,7 @@ GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
std::array<char, 3> sig_a = {'5', 'X', '\0'};
galileo_e5_a_code_gen_complex_primary(aux_code, PRN, sig_a);
if (trk_param_fpga.track_pilot)
if (trk_params_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++)
@ -234,40 +130,40 @@ GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
}
}
trk_param_fpga.ca_codes = d_ca_codes;
trk_param_fpga.data_codes = d_data_codes;
trk_param_fpga.code_length_chips = code_length_chips;
trk_param_fpga.code_samples_per_chip = code_samples_per_chip; // 2 sample per chip
trk_params_fpga.ca_codes = d_ca_codes;
trk_params_fpga.data_codes = d_data_codes;
trk_params_fpga.code_length_chips = code_length_chips;
trk_params_fpga.code_samples_per_chip = code_samples_per_chip; // 2 sample per chip
trk_param_fpga.extended_correlation_in_fpga = false; // by default
trk_param_fpga.extend_fpga_integration_periods = 1; // (number of FPGA integrations that are combined in the SW)
trk_param_fpga.fpga_integration_period = 1; // (number of symbols that are effectively integrated in the FPGA)
trk_params_fpga.extended_correlation_in_fpga = false; // by default
trk_params_fpga.extend_fpga_integration_periods = 1; // (number of FPGA integrations that are combined in the SW)
trk_params_fpga.fpga_integration_period = 1; // (number of symbols that are effectively integrated in the FPGA)
if (d_track_pilot)
{
if (extend_correlation_symbols > 1)
if (trk_params_fpga.extend_correlation_symbols > 1)
{
if (extend_correlation_symbols <= GALILEO_E5A_I_SECONDARY_CODE_LENGTH)
if (trk_params_fpga.extend_correlation_symbols <= GALILEO_E5A_I_SECONDARY_CODE_LENGTH)
{
if ((GALILEO_E5A_I_SECONDARY_CODE_LENGTH % extend_correlation_symbols) == 0)
if ((GALILEO_E5A_I_SECONDARY_CODE_LENGTH % trk_params_fpga.extend_correlation_symbols) == 0)
{
trk_param_fpga.extended_correlation_in_fpga = true;
trk_param_fpga.fpga_integration_period = extend_correlation_symbols;
trk_params_fpga.extended_correlation_in_fpga = true;
trk_params_fpga.fpga_integration_period = trk_params_fpga.extend_correlation_symbols;
}
}
else
{
if (extend_correlation_symbols % GALILEO_E5A_I_SECONDARY_CODE_LENGTH == 0)
if (trk_params_fpga.extend_correlation_symbols % GALILEO_E5A_I_SECONDARY_CODE_LENGTH == 0)
{
trk_param_fpga.extended_correlation_in_fpga = true;
trk_param_fpga.extend_fpga_integration_periods = extend_correlation_symbols / GALILEO_E5A_I_SECONDARY_CODE_LENGTH;
trk_param_fpga.fpga_integration_period = GALILEO_E5A_I_SECONDARY_CODE_LENGTH;
trk_params_fpga.extended_correlation_in_fpga = true;
trk_params_fpga.extend_fpga_integration_periods = trk_params_fpga.extend_correlation_symbols / GALILEO_E5A_I_SECONDARY_CODE_LENGTH;
trk_params_fpga.fpga_integration_period = GALILEO_E5A_I_SECONDARY_CODE_LENGTH;
}
}
}
}
// ################# MAKE TRACKING GNURadio object ###################
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_param_fpga);
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_params_fpga);
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_fpga_sc->unique_id() << ")";

137
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking.cc
View File

@ -37,146 +37,47 @@ GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
Dll_Pll_Conf trk_param = Dll_Pll_Conf();
Dll_Pll_Conf trk_params = Dll_Pll_Conf();
DLOG(INFO) << "role " << role;
// ################# CONFIGURATION PARAMETERS ########################
std::string default_item_type = "gr_complex";
std::string item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param.fs_in = fs_in;
trk_param.high_dyn = configuration->property(role + ".high_dyn", false);
if (configuration->property(role + ".smoother_length", 10) < 1)
{
trk_param.smoother_length = 1;
std::cout << TEXT_RED << "WARNING: GPS L1 C/A. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
}
else
{
trk_param.smoother_length = configuration->property(role + ".smoother_length", 10);
}
bool dump = configuration->property(role + ".dump", false);
trk_param.dump = dump;
std::string default_dump_filename = "./track_ch";
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
trk_param.dump_filename = dump_filename;
bool dump_mat = configuration->property(role + ".dump_mat", true);
trk_param.dump_mat = dump_mat;
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
if (FLAGS_pll_bw_hz != 0.0)
{
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
}
trk_param.pll_bw_hz = pll_bw_hz;
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 20.0);
trk_param.pll_bw_narrow_hz = pll_bw_narrow_hz;
float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 2.0);
trk_param.dll_bw_narrow_hz = dll_bw_narrow_hz;
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
if (FLAGS_dll_bw_hz != 0.0)
{
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
}
trk_param.dll_bw_hz = dll_bw_hz;
trk_params.SetFromConfiguration(configuration, role);
int dll_filter_order = configuration->property(role + ".dll_filter_order", 2);
if (dll_filter_order < 1)
int vector_length = std::round(trk_params.fs_in / (GPS_L1_CA_CODE_RATE_CPS / GPS_L1_CA_CODE_LENGTH_CHIPS));
trk_params.vector_length = vector_length;
if (trk_params.extend_correlation_symbols < 1)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
dll_filter_order = 1;
}
if (dll_filter_order > 3)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
dll_filter_order = 3;
}
trk_param.dll_filter_order = dll_filter_order;
int pll_filter_order = configuration->property(role + ".pll_filter_order", 3);
if (pll_filter_order < 2)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
pll_filter_order = 2;
}
if (pll_filter_order > 3)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
pll_filter_order = 3;
}
trk_param.pll_filter_order = pll_filter_order;
if (pll_filter_order == 2)
{
trk_param.fll_filter_order = 1;
}
if (pll_filter_order == 3)
{
trk_param.fll_filter_order = 2;
}
bool enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", false);
trk_param.enable_fll_pull_in = enable_fll_pull_in;
bool enable_fll_steady_state = configuration->property(role + ".enable_fll_steady_state", false);
trk_param.enable_fll_steady_state = enable_fll_steady_state;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param.fll_bw_hz = fll_bw_hz;
trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
trk_param.early_late_space_chips = early_late_space_chips;
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);
trk_param.early_late_space_narrow_chips = early_late_space_narrow_chips;
int vector_length = std::round(fs_in / (GPS_L1_CA_CODE_RATE_CPS / GPS_L1_CA_CODE_LENGTH_CHIPS));
trk_param.vector_length = vector_length;
int symbols_extended_correlator = configuration->property(role + ".extend_correlation_symbols", 1);
if (symbols_extended_correlator < 1)
{
symbols_extended_correlator = 1;
trk_params.extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: GPS L1 C/A. extend_correlation_symbols must be bigger than 1. Coherent integration has been set to 1 symbol (1 ms)" << TEXT_RESET << std::endl;
}
else if (symbols_extended_correlator > 20)
else if (trk_params.extend_correlation_symbols > 20)
{
symbols_extended_correlator = 20;
trk_params.extend_correlation_symbols = 20;
std::cout << TEXT_RED << "WARNING: GPS L1 C/A. extend_correlation_symbols must be lower than 21. Coherent integration has been set to 20 symbols (20 ms)" << TEXT_RESET << std::endl;
}
trk_param.extend_correlation_symbols = symbols_extended_correlator;
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (track_pilot)
trk_params.track_pilot = configuration->property(role + ".track_pilot", false);
if (trk_params.track_pilot)
{
trk_params.track_pilot = false;
std::cout << TEXT_RED << "WARNING: GPS L1 C/A does not have pilot signal. Data tracking has been enabled" << TEXT_RESET << std::endl;
}
if ((symbols_extended_correlator > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
if ((trk_params.extend_correlation_symbols > 1) and (trk_params.pll_bw_narrow_hz > trk_params.pll_bw_hz or trk_params.dll_bw_narrow_hz > trk_params.dll_bw_hz))
{
std::cout << TEXT_RED << "WARNING: GPS L1 C/A. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
}
trk_param.very_early_late_space_chips = 0.0;
trk_param.very_early_late_space_narrow_chips = 0.0;
trk_param.track_pilot = false;
trk_param.system = 'G';
trk_params.system = 'G';
std::array<char, 3> sig_{'1', 'C', '\0'};
std::memcpy(trk_param.signal, sig_.data(), 3);
trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);
trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
std::memcpy(trk_params.signal, sig_.data(), 3);
// tracking lock tests smoother parameters
trk_param.cn0_smoother_samples = configuration->property(role + ".cn0_smoother_samples", trk_param.cn0_smoother_samples);
trk_param.cn0_smoother_alpha = configuration->property(role + ".cn0_smoother_alpha", trk_param.cn0_smoother_alpha);
trk_param.carrier_lock_test_smoother_samples = configuration->property(role + ".carrier_lock_test_smoother_samples", trk_param.carrier_lock_test_smoother_samples);
trk_param.carrier_lock_test_smoother_alpha = configuration->property(role + ".carrier_lock_test_smoother_alpha", trk_param.carrier_lock_test_smoother_alpha);
// ################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")
// ################# Make a GNU Radio Tracking block object ################
if (trk_params.item_type == "gr_complex")
{
item_size_ = sizeof(gr_complex);
tracking_ = dll_pll_veml_make_tracking(trk_param);
tracking_ = dll_pll_veml_make_tracking(trk_params);
}
else
{
item_size_ = sizeof(gr_complex);
LOG(WARNING) << item_type << " unknown tracking item type.";
LOG(WARNING) << trk_params.item_type << " unknown tracking item type.";
}
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";

160
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_fpga.cc
View File

@ -38,145 +38,43 @@ GpsL1CaDllPllTrackingFpga::GpsL1CaDllPllTrackingFpga(
ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
Dll_Pll_Conf_Fpga trk_param_fpga = Dll_Pll_Conf_Fpga();
Dll_Pll_Conf_Fpga trk_params_fpga = Dll_Pll_Conf_Fpga();
DLOG(INFO) << "role " << role;
// ################# CONFIGURATION PARAMETERS ########################
int32_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 12500000);
int32_t fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param_fpga.fs_in = fs_in;
trk_param_fpga.high_dyn = configuration->property(role + ".high_dyn", false);
if (configuration->property(role + ".smoother_length", 10) < 1)
{
trk_param_fpga.smoother_length = 1;
std::cout << TEXT_RED << "WARNING: GPS L1 C/A. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
}
else
{
trk_param_fpga.smoother_length = configuration->property(role + ".smoother_length", 10);
}
bool dump = configuration->property(role + ".dump", false);
trk_param_fpga.dump = dump;
std::string default_dump_filename = "./track_ch";
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
trk_param_fpga.dump_filename = dump_filename;
bool dump_mat = configuration->property(role + ".dump_mat", true);
trk_param_fpga.dump_mat = dump_mat;
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
if (FLAGS_pll_bw_hz != 0.0)
{
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
}
trk_param_fpga.pll_bw_hz = pll_bw_hz;
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 20.0);
trk_param_fpga.pll_bw_narrow_hz = pll_bw_narrow_hz;
float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 2.0);
trk_param_fpga.dll_bw_narrow_hz = dll_bw_narrow_hz;
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
if (FLAGS_dll_bw_hz != 0.0)
{
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
}
trk_param_fpga.dll_bw_hz = dll_bw_hz;
trk_params_fpga.SetFromConfiguration(configuration, role);
int dll_filter_order = configuration->property(role + ".dll_filter_order", 2);
if (dll_filter_order < 1)
int32_t vector_length = std::round(trk_params_fpga.fs_in / (GPS_L1_CA_CODE_RATE_CPS / GPS_L1_CA_CODE_LENGTH_CHIPS));
trk_params_fpga.vector_length = vector_length;
if (trk_params_fpga.extend_correlation_symbols < 1)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
dll_filter_order = 1;
}
if (dll_filter_order > 3)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
dll_filter_order = 3;
}
trk_param_fpga.dll_filter_order = dll_filter_order;
int pll_filter_order = configuration->property(role + ".pll_filter_order", 3);
if (pll_filter_order < 2)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
pll_filter_order = 2;
}
if (pll_filter_order > 3)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
pll_filter_order = 3;
}
trk_param_fpga.pll_filter_order = pll_filter_order;
if (pll_filter_order == 2)
{
trk_param_fpga.fll_filter_order = 1;
}
if (pll_filter_order == 3)
{
trk_param_fpga.fll_filter_order = 2;
}
bool enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", false);
trk_param_fpga.enable_fll_pull_in = enable_fll_pull_in;
bool enable_fll_steady_state = configuration->property(role + ".enable_fll_steady_state", false);
trk_param_fpga.enable_fll_steady_state = enable_fll_steady_state;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param_fpga.fll_bw_hz = fll_bw_hz;
float pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param_fpga.pull_in_time_s);
trk_param_fpga.pull_in_time_s = pull_in_time_s;
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
trk_param_fpga.early_late_space_chips = early_late_space_chips;
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);
trk_param_fpga.early_late_space_narrow_chips = early_late_space_narrow_chips;
int32_t vector_length = std::round(fs_in / (GPS_L1_CA_CODE_RATE_CPS / GPS_L1_CA_CODE_LENGTH_CHIPS));
trk_param_fpga.vector_length = vector_length;
int32_t symbols_extended_correlator = configuration->property(role + ".extend_correlation_symbols", 1);
if (symbols_extended_correlator < 1)
{
symbols_extended_correlator = 1;
trk_params_fpga.extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: GPS L1 C/A. extend_correlation_symbols must be bigger than 1. Coherent integration has been set to 1 symbol (1 ms)" << TEXT_RESET << std::endl;
}
else if (symbols_extended_correlator > GPS_CA_BIT_DURATION_MS)
else if (trk_params_fpga.extend_correlation_symbols > GPS_CA_BIT_DURATION_MS)
{
symbols_extended_correlator = GPS_CA_BIT_DURATION_MS;
trk_params_fpga.extend_correlation_symbols = GPS_CA_BIT_DURATION_MS;
std::cout << TEXT_RED << "WARNING: GPS L1 C/A. extend_correlation_symbols must be lower than 21. Coherent integration has been set to 20 symbols (20 ms)" << TEXT_RESET << std::endl;
}
trk_param_fpga.extend_correlation_symbols = symbols_extended_correlator;
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (track_pilot)
trk_params_fpga.track_pilot = configuration->property(role + ".track_pilot", false);
if (trk_params_fpga.track_pilot)
{
trk_params_fpga.track_pilot = false;
std::cout << TEXT_RED << "WARNING: GPS L1 C/A does not have pilot signal. Data tracking has been enabled" << TEXT_RESET << std::endl;
}
if ((symbols_extended_correlator > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
if ((trk_params_fpga.extend_correlation_symbols > 1) and (trk_params_fpga.pll_bw_narrow_hz > trk_params_fpga.pll_bw_hz or trk_params_fpga.dll_bw_narrow_hz > trk_params_fpga.dll_bw_hz))
{
std::cout << TEXT_RED << "WARNING: GPS L1 C/A. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
}
trk_param_fpga.very_early_late_space_chips = 0.0;
trk_param_fpga.very_early_late_space_narrow_chips = 0.0;
trk_param_fpga.track_pilot = false;
trk_param_fpga.system = 'G';
trk_params_fpga.system = 'G';
std::array<char, 3> sig_{'1', 'C', '\0'};
std::memcpy(trk_param_fpga.signal, sig_.data(), 3);
trk_param_fpga.cn0_samples = configuration->property(role + ".cn0_samples", trk_param_fpga.cn0_samples);
trk_param_fpga.cn0_min = configuration->property(role + ".cn0_min", trk_param_fpga.cn0_min);
trk_param_fpga.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param_fpga.max_code_lock_fail);
trk_param_fpga.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param_fpga.max_carrier_lock_fail);
trk_param_fpga.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param_fpga.carrier_lock_th);
// tracking lock tests smoother parameters
trk_param_fpga.cn0_smoother_samples = configuration->property(role + ".cn0_smoother_samples", trk_param_fpga.cn0_smoother_samples);
trk_param_fpga.cn0_smoother_alpha = configuration->property(role + ".cn0_smoother_alpha", trk_param_fpga.cn0_smoother_alpha);
trk_param_fpga.carrier_lock_test_smoother_samples = configuration->property(role + ".carrier_lock_test_smoother_samples", trk_param_fpga.carrier_lock_test_smoother_samples);
trk_param_fpga.carrier_lock_test_smoother_alpha = configuration->property(role + ".carrier_lock_test_smoother_alpha", trk_param_fpga.carrier_lock_test_smoother_alpha);
std::memcpy(trk_params_fpga.signal, sig_.data(), 3);
// FPGA configuration parameters
std::string default_device_name = "/dev/uio";
std::string device_name = configuration->property(role + ".devicename", default_device_name);
trk_param_fpga.device_name = device_name;
// obtain the number of the first uio device corresponding to a HW accelerator in the FPGA
// that can be assigned to the tracking of the L1 signal
trk_param_fpga.dev_file_num = configuration->property(role + ".dev_file_num", 3);
trk_params_fpga.dev_file_num = configuration->property(role + ".dev_file_num", 3);
// compute the number of tracking channels that have already been instantiated. The order in which
// GNSS-SDR instantiates the tracking channels i L1, l2, L5, E1, E5a
trk_param_fpga.num_prev_assigned_ch = 0;
trk_params_fpga.num_prev_assigned_ch = 0;
// ################# PRE-COMPUTE ALL THE CODES #################
d_ca_codes = static_cast<int32_t*>(volk_gnsssdr_malloc(static_cast<int32_t>(GPS_L1_CA_CODE_LENGTH_CHIPS * NUM_PRNs) * sizeof(int32_t), volk_gnsssdr_get_alignment()));
@ -196,27 +94,27 @@ GpsL1CaDllPllTrackingFpga::GpsL1CaDllPllTrackingFpga(
d_ca_codes[(int32_t(GPS_L1_CA_CODE_LENGTH_CHIPS)) * (PRN - 1) + k] = tmp_value;
}
}
trk_param_fpga.ca_codes = d_ca_codes;
trk_param_fpga.code_length_chips = GPS_L1_CA_CODE_LENGTH_CHIPS;
trk_param_fpga.code_samples_per_chip = 1; // 1 sample per chip
trk_params_fpga.ca_codes = d_ca_codes;
trk_params_fpga.code_length_chips = GPS_L1_CA_CODE_LENGTH_CHIPS;
trk_params_fpga.code_samples_per_chip = 1; // 1 sample per chip
trk_param_fpga.extended_correlation_in_fpga = false; // by default
trk_param_fpga.extend_fpga_integration_periods = 1; // (number of FPGA integrations that are combined in the SW)
trk_param_fpga.fpga_integration_period = 1; // (number of symbols that are effectively integrated in the FPGA)
if (symbols_extended_correlator > 1)
trk_params_fpga.extended_correlation_in_fpga = false; // by default
trk_params_fpga.extend_fpga_integration_periods = 1; // (number of FPGA integrations that are combined in the SW)
trk_params_fpga.fpga_integration_period = 1; // (number of symbols that are effectively integrated in the FPGA)
if (trk_params_fpga.extend_correlation_symbols > 1)
{
if (symbols_extended_correlator <= GPS_CA_BIT_DURATION_MS)
if (trk_params_fpga.extend_correlation_symbols <= GPS_CA_BIT_DURATION_MS)
{
if ((GPS_CA_BIT_DURATION_MS % symbols_extended_correlator) == 0)
if ((GPS_CA_BIT_DURATION_MS % trk_params_fpga.extend_correlation_symbols) == 0)
{
trk_param_fpga.extended_correlation_in_fpga = true;
trk_param_fpga.fpga_integration_period = symbols_extended_correlator;
trk_params_fpga.extended_correlation_in_fpga = true;
trk_params_fpga.fpga_integration_period = trk_params_fpga.extend_correlation_symbols;
}
}
}
// ################# MAKE TRACKING GNURadio object ###################
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_param_fpga);
// ################# MAKE TRACKING GNU Radio object ###################
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_params_fpga);
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_fpga_sc->unique_id() << ")";

116
src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking.cc
View File

@ -36,123 +36,37 @@ GpsL2MDllPllTracking::GpsL2MDllPllTracking(
ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
Dll_Pll_Conf trk_param = Dll_Pll_Conf();
Dll_Pll_Conf trk_params = Dll_Pll_Conf();
DLOG(INFO) << "role " << role;
// ################# CONFIGURATION PARAMETERS ########################
std::string default_item_type = "gr_complex";
std::string item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param.fs_in = fs_in;
bool dump = configuration->property(role + ".dump", false);
trk_param.dump = dump;
std::string default_dump_filename = "./track_ch";
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
trk_param.dump_filename = dump_filename;
bool dump_mat = configuration->property(role + ".dump_mat", true);
trk_param.dump_mat = dump_mat;
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 2.0);
if (FLAGS_pll_bw_hz != 0.0)
{
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
}
trk_param.pll_bw_hz = pll_bw_hz;
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 0.75);
if (FLAGS_dll_bw_hz != 0.0)
{
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
}
trk_param.dll_bw_hz = dll_bw_hz;
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
trk_param.early_late_space_chips = early_late_space_chips;
trk_param.early_late_space_narrow_chips = 0.0;
trk_params.SetFromConfiguration(configuration, role);
int dll_filter_order = configuration->property(role + ".dll_filter_order", 2);
if (dll_filter_order < 1)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
dll_filter_order = 1;
}
if (dll_filter_order > 3)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
dll_filter_order = 3;
}
trk_param.dll_filter_order = dll_filter_order;
int pll_filter_order = configuration->property(role + ".pll_filter_order", 3);
if (pll_filter_order < 2)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
pll_filter_order = 2;
}
if (pll_filter_order > 3)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
pll_filter_order = 3;
}
trk_param.pll_filter_order = pll_filter_order;
if (pll_filter_order == 2)
{
trk_param.fll_filter_order = 1;
}
if (pll_filter_order == 3)
{
trk_param.fll_filter_order = 2;
}
bool enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", false);
trk_param.enable_fll_pull_in = enable_fll_pull_in;
bool enable_fll_steady_state = configuration->property(role + ".enable_fll_steady_state", false);
trk_param.enable_fll_steady_state = enable_fll_steady_state;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param.fll_bw_hz = fll_bw_hz;
trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
int vector_length = std::round(static_cast<double>(fs_in) / (static_cast<double>(GPS_L2_M_CODE_RATE_CPS) / static_cast<double>(GPS_L2_M_CODE_LENGTH_CHIPS)));
trk_param.vector_length = vector_length;
int symbols_extended_correlator = configuration->property(role + ".extend_correlation_symbols", 1);
if (symbols_extended_correlator != 1)
int vector_length = std::round(static_cast<double>(trk_params.fs_in) / (static_cast<double>(GPS_L2_M_CODE_RATE_CPS) / static_cast<double>(GPS_L2_M_CODE_LENGTH_CHIPS)));
trk_params.vector_length = vector_length;
if (trk_params.extend_correlation_symbols != 1)
{
trk_params.extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: Extended coherent integration is not allowed in GPS L2. Coherent integration has been set to 20 ms (1 symbol)" << TEXT_RESET << std::endl;
}
trk_param.extend_correlation_symbols = 1;
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (track_pilot)
trk_params.track_pilot = configuration->property(role + ".track_pilot", false);
if (trk_params.track_pilot)
{
trk_params.track_pilot = false;
std::cout << TEXT_RED << "WARNING: GPS L2 does not have pilot signal. Data tracking has been enabled" << TEXT_RESET << std::endl;
}
trk_param.track_pilot = false;
trk_param.very_early_late_space_chips = 0.0;
trk_param.very_early_late_space_narrow_chips = 0.0;
trk_param.pll_bw_narrow_hz = 0.0;
trk_param.dll_bw_narrow_hz = 0.0;
trk_param.system = 'G';
trk_params.system = 'G';
std::array<char, 3> sig_{'2', 'S', '\0'};
std::memcpy(trk_param.signal, sig_.data(), 3);
trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);
trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
std::memcpy(trk_params.signal, sig_.data(), 3);
// tracking lock tests smoother parameters
trk_param.cn0_smoother_samples = configuration->property(role + ".cn0_smoother_samples", trk_param.cn0_smoother_samples);
trk_param.cn0_smoother_alpha = configuration->property(role + ".cn0_smoother_alpha", trk_param.cn0_smoother_alpha);
trk_param.carrier_lock_test_smoother_samples = configuration->property(role + ".carrier_lock_test_smoother_samples", trk_param.carrier_lock_test_smoother_samples);
trk_param.carrier_lock_test_smoother_alpha = configuration->property(role + ".carrier_lock_test_smoother_alpha", trk_param.carrier_lock_test_smoother_alpha);
// ################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")
// ################# Make a GNU Radio Tracking block object ################
if (trk_params.item_type == "gr_complex")
{
item_size_ = sizeof(gr_complex);
tracking_ = dll_pll_veml_make_tracking(trk_param);
tracking_ = dll_pll_veml_make_tracking(trk_params);
}
else
{
item_size_ = sizeof(gr_complex);
LOG(WARNING) << item_type << " unknown tracking item type.";
LOG(WARNING) << trk_params.item_type << " unknown tracking item type.";
}
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";

79
src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking_fpga.cc
View File

@ -43,74 +43,35 @@ GpsL2MDllPllTrackingFpga::GpsL2MDllPllTrackingFpga(
ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
Dll_Pll_Conf_Fpga trk_param_fpga = Dll_Pll_Conf_Fpga();
Dll_Pll_Conf_Fpga trk_params_fpga = Dll_Pll_Conf_Fpga();
DLOG(INFO) << "role " << role;
// ################# CONFIGURATION PARAMETERS ########################
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param_fpga.fs_in = fs_in;
bool dump = configuration->property(role + ".dump", false);
trk_param_fpga.dump = dump;
std::string default_dump_filename = "./track_ch";
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
trk_param_fpga.dump_filename = dump_filename;
bool dump_mat = configuration->property(role + ".dump_mat", true);
trk_param_fpga.dump_mat = dump_mat;
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 2.0);
if (FLAGS_pll_bw_hz != 0.0)
{
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
}
trk_param_fpga.pll_bw_hz = pll_bw_hz;
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 0.75);
if (FLAGS_dll_bw_hz != 0.0)
{
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
}
trk_param_fpga.dll_bw_hz = dll_bw_hz;
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
trk_param_fpga.early_late_space_chips = early_late_space_chips;
trk_param_fpga.early_late_space_narrow_chips = 0.0;
int vector_length = std::round(static_cast<double>(fs_in) / (static_cast<double>(GPS_L2_M_CODE_RATE_CPS) / static_cast<double>(GPS_L2_M_CODE_LENGTH_CHIPS)));
trk_param_fpga.vector_length = vector_length;
int symbols_extended_correlator = configuration->property(role + ".extend_correlation_symbols", 1);
if (symbols_extended_correlator != 1)
trk_params_fpga.SetFromConfiguration(configuration, role);
int vector_length = std::round(static_cast<double>(trk_params_fpga.fs_in) / (static_cast<double>(GPS_L2_M_CODE_RATE_CPS) / static_cast<double>(GPS_L2_M_CODE_LENGTH_CHIPS)));
trk_params_fpga.vector_length = vector_length;
trk_params_fpga.extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
if (trk_params_fpga.extend_correlation_symbols != 1)
{
trk_params_fpga.extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: Extended coherent integration is not allowed in GPS L2. Coherent integration has been set to 20 ms (1 symbol)" << TEXT_RESET << std::endl;
}
trk_param_fpga.extend_correlation_symbols = 1;
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (track_pilot)
trk_params_fpga.track_pilot = configuration->property(role + ".track_pilot", false);
if (trk_params_fpga.track_pilot)
{
trk_params_fpga.track_pilot = false;
std::cout << TEXT_RED << "WARNING: GPS L2 does not have pilot signal. Data tracking has been enabled" << TEXT_RESET << std::endl;
}
trk_param_fpga.track_pilot = false;
trk_param_fpga.very_early_late_space_chips = 0.0;
trk_param_fpga.very_early_late_space_narrow_chips = 0.0;
trk_param_fpga.pll_bw_narrow_hz = 0.0;
trk_param_fpga.dll_bw_narrow_hz = 0.0;
trk_param_fpga.system = 'G';
trk_params_fpga.system = 'G';
std::array<char, 3> sig_{'2', 'S', '\0'};
std::memcpy(trk_param_fpga.signal, sig_.data(), 3);
trk_param_fpga.cn0_samples = configuration->property(role + ".cn0_samples", trk_param_fpga.cn0_samples);
trk_param_fpga.cn0_min = configuration->property(role + ".cn0_min", trk_param_fpga.cn0_min);
trk_param_fpga.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param_fpga.max_code_lock_fail);
trk_param_fpga.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param_fpga.max_carrier_lock_fail);
trk_param_fpga.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param_fpga.carrier_lock_th);
trk_param_fpga.cn0_smoother_samples = configuration->property(role + ".cn0_smoother_samples", trk_param_fpga.cn0_smoother_samples);
trk_param_fpga.cn0_smoother_alpha = configuration->property(role + ".cn0_smoother_alpha", trk_param_fpga.cn0_smoother_alpha);
trk_param_fpga.carrier_lock_test_smoother_samples = configuration->property(role + ".carrier_lock_test_smoother_samples", trk_param_fpga.carrier_lock_test_smoother_samples);
trk_param_fpga.carrier_lock_test_smoother_alpha = configuration->property(role + ".carrier_lock_test_smoother_alpha", trk_param_fpga.carrier_lock_test_smoother_alpha);
std::memcpy(trk_params_fpga.signal, sig_.data(), 3);
// FPGA configuration parameters
std::string default_device_name = "/dev/uio";
std::string device_name = configuration->property(role + ".devicename", default_device_name);
trk_param_fpga.device_name = device_name;
// obtain the number of the first uio device file that is assigned to the FPGA L2 tracking multicorrelator HW accelerators
trk_param_fpga.dev_file_num = configuration->property(role + ".dev_file_num", 27);
trk_params_fpga.dev_file_num = configuration->property(role + ".dev_file_num", 27);
// compute the number of tracking channels that have already been instantiated. The order in which
// GNSS-SDR instantiates the tracking channels i L1, L2, L5, E1, E5a
trk_param_fpga.num_prev_assigned_ch = configuration->property("Channels_1C.count", 0);
trk_params_fpga.num_prev_assigned_ch = configuration->property("Channels_1C.count", 0);
volk_gnsssdr::vector<float> ca_codes_f(static_cast<unsigned int>(GPS_L2_M_CODE_LENGTH_CHIPS), 0.0);
// ################# PRE-COMPUTE ALL THE CODES #################
@ -124,12 +85,12 @@ GpsL2MDllPllTrackingFpga::GpsL2MDllPllTrackingFpga(
}
}
trk_param_fpga.ca_codes = d_ca_codes;
trk_param_fpga.code_length_chips = GPS_L2_M_CODE_LENGTH_CHIPS;
trk_param_fpga.code_samples_per_chip = 1; // 1 sample per chip
trk_params_fpga.ca_codes = d_ca_codes;
trk_params_fpga.code_length_chips = GPS_L2_M_CODE_LENGTH_CHIPS;
trk_params_fpga.code_samples_per_chip = 1; // 1 sample per chip
// ################# MAKE TRACKING GNU Radio object ###################
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_param_fpga);
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_params_fpga);
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_fpga_sc->unique_id() << ")";

133
src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking.cc
View File

@ -36,143 +36,40 @@ GpsL5DllPllTracking::GpsL5DllPllTracking(
ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
Dll_Pll_Conf trk_param = Dll_Pll_Conf();
Dll_Pll_Conf trk_params = Dll_Pll_Conf();
DLOG(INFO) << "role " << role;
// ################# CONFIGURATION PARAMETERS ########################
std::string default_item_type = "gr_complex";
std::string item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param.fs_in = fs_in;
bool dump = configuration->property(role + ".dump", false);
trk_param.dump = dump;
std::string default_dump_filename = "./track_ch";
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
trk_param.dump_filename = dump_filename;
bool dump_mat = configuration->property(role + ".dump_mat", true);
trk_param.dump_mat = dump_mat;
trk_param.high_dyn = configuration->property(role + ".high_dyn", false);
if (configuration->property(role + ".smoother_length", 10) < 1)
{
trk_param.smoother_length = 1;
std::cout << TEXT_RED << "WARNING: GPS L5. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
}
else
{
trk_param.smoother_length = configuration->property(role + ".smoother_length", 10);
}
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
if (FLAGS_pll_bw_hz != 0.0)
{
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
}
trk_param.pll_bw_hz = pll_bw_hz;
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
if (FLAGS_dll_bw_hz != 0.0)
{
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
}
trk_param.dll_bw_hz = dll_bw_hz;
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 2.0);
trk_param.pll_bw_narrow_hz = pll_bw_narrow_hz;
float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 0.25);
trk_param.dll_bw_narrow_hz = dll_bw_narrow_hz;
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
trk_param.early_late_space_chips = early_late_space_chips;
trk_params.SetFromConfiguration(configuration, role);
int dll_filter_order = configuration->property(role + ".dll_filter_order", 2);
if (dll_filter_order < 1)
int vector_length = std::round(static_cast<double>(trk_params.fs_in) / (static_cast<double>(GPS_L5I_CODE_RATE_CPS) / static_cast<double>(GPS_L5I_CODE_LENGTH_CHIPS)));
trk_params.vector_length = vector_length;
if (trk_params.extend_correlation_symbols < 1)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
dll_filter_order = 1;
}
if (dll_filter_order > 3)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
dll_filter_order = 3;
}
trk_param.dll_filter_order = dll_filter_order;
int pll_filter_order = configuration->property(role + ".pll_filter_order", 3);
if (pll_filter_order < 2)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
pll_filter_order = 2;
}
if (pll_filter_order > 3)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
pll_filter_order = 3;
}
trk_param.pll_filter_order = pll_filter_order;
if (pll_filter_order == 2)
{
trk_param.fll_filter_order = 1;
}
if (pll_filter_order == 3)
{
trk_param.fll_filter_order = 2;
}
bool enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", false);
trk_param.enable_fll_pull_in = enable_fll_pull_in;
bool enable_fll_steady_state = configuration->property(role + ".enable_fll_steady_state", false);
trk_param.enable_fll_steady_state = enable_fll_steady_state;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param.fll_bw_hz = fll_bw_hz;
trk_param.pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param.pull_in_time_s);
int vector_length = std::round(static_cast<double>(fs_in) / (static_cast<double>(GPS_L5I_CODE_RATE_CPS) / static_cast<double>(GPS_L5I_CODE_LENGTH_CHIPS)));
trk_param.vector_length = vector_length;
int extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);
trk_param.early_late_space_narrow_chips = early_late_space_narrow_chips;
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (extend_correlation_symbols < 1)
{
extend_correlation_symbols = 1;
trk_params.extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: GPS L5. extend_correlation_symbols must be bigger than 0. Coherent integration has been set to 1 symbol (1 ms)" << TEXT_RESET << std::endl;
}
else if (!track_pilot and extend_correlation_symbols > GPS_L5I_NH_CODE_LENGTH)
else if (!trk_params.track_pilot and trk_params.extend_correlation_symbols > GPS_L5I_NH_CODE_LENGTH)
{
extend_correlation_symbols = GPS_L5I_NH_CODE_LENGTH;
trk_params.extend_correlation_symbols = GPS_L5I_NH_CODE_LENGTH;
std::cout << TEXT_RED << "WARNING: GPS L5. extend_correlation_symbols must be lower than 11 when tracking the data component. Coherent integration has been set to 10 symbols (10 ms)" << TEXT_RESET << std::endl;
}
if ((extend_correlation_symbols > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
if ((trk_params.extend_correlation_symbols > 1) and (trk_params.pll_bw_narrow_hz > trk_params.pll_bw_hz or trk_params.dll_bw_narrow_hz > trk_params.dll_bw_hz))
{
std::cout << TEXT_RED << "WARNING: GPS L5. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
}
trk_param.extend_correlation_symbols = extend_correlation_symbols;
trk_param.track_pilot = track_pilot;
trk_param.very_early_late_space_chips = 0.0;
trk_param.very_early_late_space_narrow_chips = 0.0;
trk_param.system = 'G';
trk_params.system = 'G';
std::array<char, 3> sig_{'L', '5', '\0'};
std::memcpy(trk_param.signal, sig_.data(), 3);
std::memcpy(trk_params.signal, sig_.data(), 3);
trk_param.cn0_samples = configuration->property(role + ".cn0_samples", trk_param.cn0_samples);
trk_param.cn0_min = configuration->property(role + ".cn0_min", trk_param.cn0_min);
trk_param.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param.max_code_lock_fail);
trk_param.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param.max_carrier_lock_fail);
trk_param.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param.carrier_lock_th);
// tracking lock tests smoother parameters
trk_param.cn0_smoother_samples = configuration->property(role + ".cn0_smoother_samples", trk_param.cn0_smoother_samples);
trk_param.cn0_smoother_alpha = configuration->property(role + ".cn0_smoother_alpha", trk_param.cn0_smoother_alpha);
trk_param.carrier_lock_test_smoother_samples = configuration->property(role + ".carrier_lock_test_smoother_samples", trk_param.carrier_lock_test_smoother_samples);
trk_param.carrier_lock_test_smoother_alpha = configuration->property(role + ".carrier_lock_test_smoother_alpha", trk_param.carrier_lock_test_smoother_alpha);
// ################# MAKE TRACKING GNURadio object ###################
if (item_type == "gr_complex")
// ################# Make a GNU Radio Tracking block object ################
if (trk_params.item_type == "gr_complex")
{
item_size_ = sizeof(gr_complex);
tracking_ = dll_pll_veml_make_tracking(trk_param);
tracking_ = dll_pll_veml_make_tracking(trk_params);
}
else
{
item_size_ = sizeof(gr_complex);
LOG(WARNING) << item_type << " unknown tracking item type.";
LOG(WARNING) << trk_params.item_type << " unknown tracking item type.";
}
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";

174
src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking_fpga.cc
View File

@ -40,144 +40,40 @@ GpsL5DllPllTrackingFpga::GpsL5DllPllTrackingFpga(
ConfigurationInterface *configuration, const std::string &role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
Dll_Pll_Conf_Fpga trk_param_fpga = Dll_Pll_Conf_Fpga();
Dll_Pll_Conf_Fpga trk_params_fpga = Dll_Pll_Conf_Fpga();
DLOG(INFO) << "role " << role;
// ################# CONFIGURATION PARAMETERS ########################
int32_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 12500000);
int32_t fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
trk_param_fpga.fs_in = fs_in;
bool dump = configuration->property(role + ".dump", false);
trk_param_fpga.dump = dump;
std::string default_dump_filename = "./track_ch";
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
trk_param_fpga.dump_filename = dump_filename;
bool dump_mat = configuration->property(role + ".dump_mat", true);
trk_param_fpga.dump_mat = dump_mat;
trk_param_fpga.high_dyn = configuration->property(role + ".high_dyn", false);
if (configuration->property(role + ".smoother_length", 10) < 1)
{
trk_param_fpga.smoother_length = 1;
std::cout << TEXT_RED << "WARNING: GPS L5. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
}
else
{
trk_param_fpga.smoother_length = configuration->property(role + ".smoother_length", 10);
}
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
if (FLAGS_pll_bw_hz != 0.0)
{
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
}
trk_param_fpga.pll_bw_hz = pll_bw_hz;
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
if (FLAGS_dll_bw_hz != 0.0)
{
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
}
trk_param_fpga.dll_bw_hz = dll_bw_hz;
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 2.0);
trk_param_fpga.pll_bw_narrow_hz = pll_bw_narrow_hz;
float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 0.25);
trk_param_fpga.dll_bw_narrow_hz = dll_bw_narrow_hz;
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
trk_param_fpga.early_late_space_chips = early_late_space_chips;
trk_params_fpga.SetFromConfiguration(configuration, role);
int dll_filter_order = configuration->property(role + ".dll_filter_order", 2);
if (dll_filter_order < 1)
int32_t vector_length = std::round(static_cast<double>(trk_params_fpga.fs_in) / (static_cast<double>(GPS_L5I_CODE_RATE_CPS) / static_cast<double>(GPS_L5I_CODE_LENGTH_CHIPS)));
trk_params_fpga.vector_length = vector_length;
if (trk_params_fpga.extend_correlation_symbols < 1)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
dll_filter_order = 1;
}
if (dll_filter_order > 3)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
dll_filter_order = 3;
}
trk_param_fpga.dll_filter_order = dll_filter_order;
int pll_filter_order = configuration->property(role + ".pll_filter_order", 3);
if (pll_filter_order < 2)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
pll_filter_order = 2;
}
if (pll_filter_order > 3)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
pll_filter_order = 3;
}
trk_param_fpga.pll_filter_order = pll_filter_order;
if (pll_filter_order == 2)
{
trk_param_fpga.fll_filter_order = 1;
}
if (pll_filter_order == 3)
{
trk_param_fpga.fll_filter_order = 2;
}
bool enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", false);
trk_param_fpga.enable_fll_pull_in = enable_fll_pull_in;
bool enable_fll_steady_state = configuration->property(role + ".enable_fll_steady_state", false);
trk_param_fpga.enable_fll_steady_state = enable_fll_steady_state;
float fll_bw_hz = configuration->property(role + ".fll_bw_hz", 35.0);
trk_param_fpga.fll_bw_hz = fll_bw_hz;
float pull_in_time_s = configuration->property(role + ".pull_in_time_s", trk_param_fpga.pull_in_time_s);
trk_param_fpga.pull_in_time_s = pull_in_time_s;
int32_t vector_length = std::round(static_cast<double>(fs_in) / (static_cast<double>(GPS_L5I_CODE_RATE_CPS) / static_cast<double>(GPS_L5I_CODE_LENGTH_CHIPS)));
trk_param_fpga.vector_length = vector_length;
int32_t extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);
trk_param_fpga.early_late_space_narrow_chips = early_late_space_narrow_chips;
bool track_pilot = configuration->property(role + ".track_pilot", false);
if (extend_correlation_symbols < 1)
{
extend_correlation_symbols = 1;
trk_params_fpga.extend_correlation_symbols = 1;
std::cout << TEXT_RED << "WARNING: GPS L5. extend_correlation_symbols must be bigger than 0. Coherent integration has been set to 1 symbol (1 ms)" << TEXT_RESET << std::endl;
}
else if (!track_pilot and extend_correlation_symbols > GPS_L5I_NH_CODE_LENGTH)
else if (!trk_params_fpga.track_pilot and trk_params_fpga.extend_correlation_symbols > GPS_L5I_NH_CODE_LENGTH)
{
extend_correlation_symbols = GPS_L5I_NH_CODE_LENGTH;
trk_params_fpga.extend_correlation_symbols = GPS_L5I_NH_CODE_LENGTH;
std::cout << TEXT_RED << "WARNING: GPS L5. extend_correlation_symbols must be lower than 11 when tracking the data component. Coherent integration has been set to 10 symbols (10 ms)" << TEXT_RESET << std::endl;
}
if ((extend_correlation_symbols > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
if ((trk_params_fpga.extend_correlation_symbols > 1) and (trk_params_fpga.pll_bw_narrow_hz > trk_params_fpga.pll_bw_hz or trk_params_fpga.dll_bw_narrow_hz > trk_params_fpga.dll_bw_hz))
{
std::cout << TEXT_RED << "WARNING: GPS L5. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
}
trk_param_fpga.extend_correlation_symbols = extend_correlation_symbols;
trk_param_fpga.track_pilot = track_pilot;
d_track_pilot = track_pilot;
trk_param_fpga.very_early_late_space_chips = 0.0;
trk_param_fpga.very_early_late_space_narrow_chips = 0.0;
trk_param_fpga.system = 'G';
d_track_pilot = trk_params_fpga.track_pilot;
trk_params_fpga.system = 'G';
std::array<char, 3> sig_{'L', '5', '\0'};
std::memcpy(trk_param_fpga.signal, sig_.data(), 3);
trk_param_fpga.cn0_samples = configuration->property(role + ".cn0_samples", trk_param_fpga.cn0_samples);
trk_param_fpga.cn0_min = configuration->property(role + ".cn0_min", trk_param_fpga.cn0_min);
trk_param_fpga.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param_fpga.max_code_lock_fail);
trk_param_fpga.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param_fpga.max_carrier_lock_fail);
trk_param_fpga.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param_fpga.carrier_lock_th);
std::memcpy(trk_params_fpga.signal, sig_.data(), 3);
// FPGA configuration parameters
std::string default_device_name = "/dev/uio";
std::string device_name = configuration->property(role + ".devicename", default_device_name);
trk_param_fpga.device_name = device_name;
// obtain the number of the first uio device corresponding to a HW accelerator in the FPGA
// that can be assigned to the tracking of the L5 signal
trk_param_fpga.dev_file_num = configuration->property(role + ".dev_file_num", 27);
trk_params_fpga.dev_file_num = configuration->property(role + ".dev_file_num", 27);
// compute the number of tracking channels that have already been instantiated. The order in which
// GNSS-SDR instantiates the tracking channels i L1, L2, L5, E1, E5a
trk_param_fpga.num_prev_assigned_ch = configuration->property("Channels_1C.count", 0) +
trk_params_fpga.num_prev_assigned_ch = configuration->property("Channels_1C.count", 0) +
configuration->property("Channels_2S.count", 0);
// tracking lock tests smoother parameters
trk_param_fpga.cn0_smoother_samples = configuration->property(role + ".cn0_smoother_samples", trk_param_fpga.cn0_smoother_samples);
trk_param_fpga.cn0_smoother_alpha = configuration->property(role + ".cn0_smoother_alpha", trk_param_fpga.cn0_smoother_alpha);
trk_param_fpga.carrier_lock_test_smoother_samples = configuration->property(role + ".carrier_lock_test_smoother_samples", trk_param_fpga.carrier_lock_test_smoother_samples);
trk_param_fpga.carrier_lock_test_smoother_alpha = configuration->property(role + ".carrier_lock_test_smoother_alpha", trk_param_fpga.carrier_lock_test_smoother_alpha);
// ################# PRE-COMPUTE ALL THE CODES #################
uint32_t code_samples_per_chip = 1;
auto code_length_chips = static_cast<uint32_t>(GPS_L5I_CODE_LENGTH_CHIPS);
@ -185,7 +81,7 @@ GpsL5DllPllTrackingFpga::GpsL5DllPllTrackingFpga(
volk_gnsssdr::vector<float> data_code;
volk_gnsssdr::vector<float> tracking_code(code_length_chips, 0.0);
if (track_pilot)
if (d_track_pilot)
{
data_code.resize(code_length_chips, 0.0);
}
@ -193,14 +89,14 @@ GpsL5DllPllTrackingFpga::GpsL5DllPllTrackingFpga(
d_ca_codes = static_cast<int32_t *>(volk_gnsssdr_malloc(static_cast<int32_t>(code_length_chips * NUM_PRNs) * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_data_codes = nullptr;
if (track_pilot)
if (d_track_pilot)
{
d_data_codes = static_cast<int32_t *>(volk_gnsssdr_malloc((static_cast<uint32_t>(code_length_chips)) * NUM_PRNs * sizeof(int32_t), volk_gnsssdr_get_alignment()));
}
for (uint32_t PRN = 1; PRN <= NUM_PRNs; PRN++)
{
if (track_pilot)
if (d_track_pilot)
{
gps_l5q_code_gen_float(tracking_code, PRN);
gps_l5i_code_gen_float(data_code, PRN);
@ -243,40 +139,40 @@ GpsL5DllPllTrackingFpga::GpsL5DllPllTrackingFpga(
}
}
trk_param_fpga.ca_codes = d_ca_codes;
trk_param_fpga.data_codes = d_data_codes;
trk_param_fpga.code_length_chips = code_length_chips;
trk_param_fpga.code_samples_per_chip = code_samples_per_chip; // 2 sample per chip
trk_params_fpga.ca_codes = d_ca_codes;
trk_params_fpga.data_codes = d_data_codes;
trk_params_fpga.code_length_chips = code_length_chips;
trk_params_fpga.code_samples_per_chip = code_samples_per_chip; // 2 sample per chip
trk_param_fpga.extended_correlation_in_fpga = false; // by default
trk_param_fpga.extend_fpga_integration_periods = 1; // (number of FPGA integrations that are combined in the SW)
trk_param_fpga.fpga_integration_period = 1; // (number of symbols that are effectively integrated in the FPGA)
trk_params_fpga.extended_correlation_in_fpga = false; // by default
trk_params_fpga.extend_fpga_integration_periods = 1; // (number of FPGA integrations that are combined in the SW)
trk_params_fpga.fpga_integration_period = 1; // (number of symbols that are effectively integrated in the FPGA)
if (d_track_pilot)
{
if (extend_correlation_symbols > 1)
if (trk_params_fpga.extend_correlation_symbols > 1)
{
if (extend_correlation_symbols <= GPS_L5I_NH_CODE_LENGTH)
if (trk_params_fpga.extend_correlation_symbols <= GPS_L5I_NH_CODE_LENGTH)
{
if ((GPS_L5I_NH_CODE_LENGTH % extend_correlation_symbols) == 0)
if ((GPS_L5I_NH_CODE_LENGTH % trk_params_fpga.extend_correlation_symbols) == 0)
{
trk_param_fpga.extended_correlation_in_fpga = true;
trk_param_fpga.fpga_integration_period = extend_correlation_symbols;
trk_params_fpga.extended_correlation_in_fpga = true;
trk_params_fpga.fpga_integration_period = trk_params_fpga.extend_correlation_symbols;
}
}
else
{
if (extend_correlation_symbols % GPS_L5I_NH_CODE_LENGTH == 0)
if (trk_params_fpga.extend_correlation_symbols % GPS_L5I_NH_CODE_LENGTH == 0)
{
trk_param_fpga.extended_correlation_in_fpga = true;
trk_param_fpga.extend_fpga_integration_periods = extend_correlation_symbols / GPS_L5I_NH_CODE_LENGTH;
trk_param_fpga.fpga_integration_period = GPS_L5I_NH_CODE_LENGTH;
trk_params_fpga.extended_correlation_in_fpga = true;
trk_params_fpga.extend_fpga_integration_periods = trk_params_fpga.extend_correlation_symbols / GPS_L5I_NH_CODE_LENGTH;
trk_params_fpga.fpga_integration_period = GPS_L5I_NH_CODE_LENGTH;
}
}
}
}
// ################# MAKE TRACKING GNURadio object ###################
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_param_fpga);
// ################# MAKE TRACKING GNU Radio object ###################
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_params_fpga);
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_fpga_sc->unique_id() << ")";

5
src/algorithms/tracking/libs/CMakeLists.txt
View File

@ -132,6 +132,11 @@ if(ENABLE_ARMA_NO_DEBUG)
)
endif()
target_include_directories(tracking_libs
PUBLIC
${CMAKE_SOURCE_DIR}/src/core/interfaces
)
if(ENABLE_CLANG_TIDY)
if(CLANG_TIDY_EXE)
set_target_properties(tracking_libs

107
src/algorithms/tracking/libs/dll_pll_conf.cc
View File

@ -18,16 +18,18 @@
* -------------------------------------------------------------------------
*/
#include "dll_pll_conf.h"
#include "gnss_sdr_flags.h"
#include "item_type_helpers.h"
#include <glog/logging.h>
Dll_Pll_Conf::Dll_Pll_Conf()
{
/* DLL/PLL tracking configuration */
high_dyn = false;
smoother_length = 10;
fs_in = 0.0;
fs_in = 2000000.0;
vector_length = 0U;
dump = false;
dump_mat = true;
@ -46,14 +48,14 @@ Dll_Pll_Conf::Dll_Pll_Conf()
dll_bw_hz = 2.0;
pll_bw_narrow_hz = 5.0;
dll_bw_narrow_hz = 0.75;
early_late_space_chips = 0.5;
early_late_space_chips = 0.25;
very_early_late_space_chips = 0.5;
early_late_space_narrow_chips = 0.1;
very_early_late_space_narrow_chips = 0.1;
very_early_late_space_narrow_chips = 0.5;
slope = 1.0;
spc = 0.5;
y_intercept = 1.0;
extend_correlation_symbols = 5;
extend_correlation_symbols = 1;
cn0_samples = FLAGS_cn0_samples;
cn0_smoother_samples = 200;
cn0_smoother_alpha = 0.002;
@ -63,10 +65,103 @@ Dll_Pll_Conf::Dll_Pll_Conf()
max_carrier_lock_fail = FLAGS_max_carrier_lock_fail;
max_code_lock_fail = FLAGS_max_lock_fail;
carrier_lock_th = FLAGS_carrier_lock_th;
track_pilot = true;
enable_doppler_correction = false;
track_pilot = false;
system = 'G';
signal[0] = '1';
signal[1] = 'C';
signal[2] = '\0';
item_type = "gr_complex";
}
void Dll_Pll_Conf::SetFromConfiguration(ConfigurationInterface *configuration,
const std::string &role)
{
item_type = configuration->property(role + ".item_type", item_type);
if (!item_type_valid(item_type))
{
LOG(WARNING) << "Unknown item type: " + item_type << ". Set to gr_complex";
item_type = "gr_complex";
}
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", fs_in);
fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
high_dyn = configuration->property(role + ".high_dyn", high_dyn);
dump = configuration->property(role + ".dump", dump);
dump_filename = configuration->property(role + ".dump_filename", dump_filename);
dump_mat = configuration->property(role + ".dump_mat", dump_mat);
pll_bw_hz = configuration->property(role + ".pll_bw_hz", pll_bw_hz);
if (FLAGS_pll_bw_hz != 0.0)
{
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
}
pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", pll_bw_narrow_hz);
dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", dll_bw_narrow_hz);
dll_bw_hz = configuration->property(role + ".dll_bw_hz", dll_bw_hz);
if (FLAGS_dll_bw_hz != 0.0)
{
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
}
dll_filter_order = configuration->property(role + ".dll_filter_order", dll_filter_order);
pll_filter_order = configuration->property(role + ".pll_filter_order", pll_filter_order);
if (dll_filter_order < 1)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
dll_filter_order = 1;
}
if (dll_filter_order > 3)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
dll_filter_order = 3;
}
if (pll_filter_order < 2)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
pll_filter_order = 2;
}
if (pll_filter_order > 3)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
pll_filter_order = 3;
}
if (pll_filter_order == 2)
{
fll_filter_order = 1;
}
if (pll_filter_order == 3)
{
fll_filter_order = 2;
}
enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", enable_fll_pull_in);
enable_fll_steady_state = configuration->property(role + ".enable_fll_steady_state", enable_fll_steady_state);
fll_bw_hz = configuration->property(role + ".fll_bw_hz", fll_bw_hz);
pull_in_time_s = configuration->property(role + ".pull_in_time_s", pull_in_time_s);
bit_synchronization_time_limit_s = pull_in_time_s + 60;
early_late_space_chips = configuration->property(role + ".early_late_space_chips", early_late_space_chips);
early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", early_late_space_narrow_chips);
very_early_late_space_chips = configuration->property(role + ".very_early_late_space_chips", very_early_late_space_chips);
very_early_late_space_narrow_chips = configuration->property(role + ".very_early_late_space_narrow_chips", very_early_late_space_narrow_chips);
extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", extend_correlation_symbols);
track_pilot = configuration->property(role + ".track_pilot", track_pilot);
cn0_samples = configuration->property(role + ".cn0_samples", cn0_samples);
cn0_min = configuration->property(role + ".cn0_min", cn0_min);
max_code_lock_fail = configuration->property(role + ".max_lock_fail", max_code_lock_fail);
max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", max_carrier_lock_fail);
carrier_lock_th = configuration->property(role + ".carrier_lock_th", carrier_lock_th);
// tracking lock tests smoother parameters
cn0_smoother_samples = configuration->property(role + ".cn0_smoother_samples", cn0_smoother_samples);
cn0_smoother_alpha = configuration->property(role + ".cn0_smoother_alpha", cn0_smoother_alpha);
smoother_length = configuration->property(role + ".smoother_length", smoother_length);
if (smoother_length < 1)
{
smoother_length = 1;
LOG(WARNING) << "smoother_length must be bigger than 0. It has been set to 1";
}
carrier_lock_test_smoother_samples = configuration->property(role + ".carrier_lock_test_smoother_samples", carrier_lock_test_smoother_samples);
carrier_lock_test_smoother_alpha = configuration->property(role + ".carrier_lock_test_smoother_alpha", carrier_lock_test_smoother_alpha);
}

17
src/algorithms/tracking/libs/dll_pll_conf.h
View File

@ -22,20 +22,24 @@
#ifndef GNSS_SDR_DLL_PLL_CONF_H
#define GNSS_SDR_DLL_PLL_CONF_H
#include "configuration_interface.h"
#include <cstdint>
#include <string>
class Dll_Pll_Conf
{
public:
Dll_Pll_Conf();
void SetFromConfiguration(ConfigurationInterface *configuration, const std::string &role);
/* DLL/PLL tracking configuration */
int fll_filter_order;
int32_t fll_filter_order;
bool enable_fll_pull_in;
bool enable_fll_steady_state;
unsigned int pull_in_time_s;
unsigned int bit_synchronization_time_limit_s;
int pll_filter_order;
int dll_filter_order;
uint32_t pull_in_time_s;
uint32_t bit_synchronization_time_limit_s;
int32_t pll_filter_order;
int32_t dll_filter_order;
double fs_in;
uint32_t vector_length;
bool dump;
@ -57,6 +61,7 @@ public:
float y_intercept;
int32_t extend_correlation_symbols;
bool high_dyn;
std::string item_type;
int32_t cn0_samples;
int32_t cn0_smoother_samples;
float cn0_smoother_alpha;
@ -71,8 +76,6 @@ public:
bool enable_doppler_correction;
char system;
char signal[3]{};
Dll_Pll_Conf();
};
#endif

111
src/algorithms/tracking/libs/dll_pll_conf_fpga.cc
View File

@ -22,14 +22,15 @@
#include "dll_pll_conf_fpga.h"
#include "gnss_sdr_flags.h"
#include <cstring>
#include <glog/logging.h>
Dll_Pll_Conf_Fpga::Dll_Pll_Conf_Fpga()
{
/* DLL/PLL tracking configuration */
high_dyn = false;
smoother_length = 10;
fs_in = 0.0;
fs_in = 12500000.0;
vector_length = 0U;
dump = false;
dump_mat = true;
@ -44,18 +45,18 @@ Dll_Pll_Conf_Fpga::Dll_Pll_Conf_Fpga()
fll_bw_hz = 35.0;
pll_pull_in_bw_hz = 50.0;
dll_pull_in_bw_hz = 3.0;
pll_bw_hz = 35.0;
dll_bw_hz = 2.0;
pll_bw_narrow_hz = 5.0;
dll_bw_narrow_hz = 0.75;
early_late_space_chips = 0.5;
pll_bw_hz = 5.0;
dll_bw_hz = 0.5;
pll_bw_narrow_hz = 2.0;
dll_bw_narrow_hz = 0.25;
early_late_space_chips = 0.25;
very_early_late_space_chips = 0.5;
early_late_space_narrow_chips = 0.1;
very_early_late_space_narrow_chips = 0.1;
early_late_space_narrow_chips = 0.15;
very_early_late_space_narrow_chips = 0.5;
slope = 1.0;
spc = 0.5;
y_intercept = 1.0;
extend_correlation_symbols = 5;
extend_correlation_symbols = 1;
cn0_samples = FLAGS_cn0_samples;
cn0_smoother_samples = 200;
cn0_smoother_alpha = 0.002;
@ -67,7 +68,7 @@ Dll_Pll_Conf_Fpga::Dll_Pll_Conf_Fpga()
carrier_lock_th = FLAGS_carrier_lock_th;
// max_lock_fail = 50;
enable_doppler_correction = false;
track_pilot = false;
track_pilot = true;
system = 'G';
signal[0] = '1';
signal[1] = 'C';
@ -83,3 +84,91 @@ Dll_Pll_Conf_Fpga::Dll_Pll_Conf_Fpga()
extend_fpga_integration_periods = 1;
fpga_integration_period = 0;
}
void Dll_Pll_Conf_Fpga::SetFromConfiguration(ConfigurationInterface *configuration,
const std::string &role)
{
int32_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", fs_in);
fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
high_dyn = configuration->property(role + ".high_dyn", high_dyn);
smoother_length = configuration->property(role + ".smoother_length", smoother_length);
if (smoother_length < 1)
{
smoother_length = 1;
LOG(WARNING) << "smoother_length must be bigger than 0. It has been set to 1";
}
dump = configuration->property(role + ".dump", dump);
dump_mat = configuration->property(role + ".dump_mat", dump_mat);
dump_filename = configuration->property(role + ".dump_filename", dump_filename);
enable_fll_pull_in = configuration->property(role + ".enable_fll_pull_in", enable_fll_pull_in);
enable_fll_steady_state = configuration->property(role + ".enable_fll_steady_state", enable_fll_steady_state);
pull_in_time_s = configuration->property(role + ".pull_in_time_s", pull_in_time_s);
track_pilot = configuration->property(role + ".track_pilot", track_pilot);
bit_synchronization_time_limit_s = pull_in_time_s + 60;
dll_filter_order = configuration->property(role + ".dll_filter_order", dll_filter_order);
pll_filter_order = configuration->property(role + ".pll_filter_order", pll_filter_order);
if (dll_filter_order < 1)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 1.";
dll_filter_order = 1;
}
if (dll_filter_order > 3)
{
LOG(WARNING) << "dll_filter_order parameter must be 1, 2 or 3. Set to 3.";
dll_filter_order = 3;
}
if (pll_filter_order < 2)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 2.";
pll_filter_order = 2;
}
if (pll_filter_order > 3)
{
LOG(WARNING) << "pll_filter_order parameter must be 2 or 3. Set to 3.";
pll_filter_order = 3;
}
if (pll_filter_order == 2)
{
fll_filter_order = 1;
}
if (pll_filter_order == 3)
{
fll_filter_order = 2;
}
fll_bw_hz = configuration->property(role + ".fll_bw_hz", fll_bw_hz);
pll_pull_in_bw_hz = 50.0;
dll_pull_in_bw_hz = 3.0;
pll_bw_hz = configuration->property(role + ".pll_bw_hz", pll_bw_hz);
if (FLAGS_pll_bw_hz != 0.0)
{
pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
}
dll_bw_hz = configuration->property(role + ".dll_bw_hz", dll_bw_hz);
if (FLAGS_dll_bw_hz != 0.0)
{
dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
}
pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", pll_bw_narrow_hz);
dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", dll_bw_narrow_hz);
early_late_space_chips = configuration->property(role + ".early_late_space_chips", early_late_space_chips);
very_early_late_space_chips = configuration->property(role + ".very_early_late_space_chips", very_early_late_space_chips);
early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", early_late_space_narrow_chips);
very_early_late_space_narrow_chips = configuration->property(role + ".very_early_late_space_narrow_chips", very_early_late_space_narrow_chips);
extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", extend_correlation_symbols);
cn0_samples = configuration->property(role + ".cn0_samples", cn0_samples);
// tracking lock tests smoother parameters
cn0_smoother_samples = configuration->property(role + ".cn0_smoother_samples", cn0_smoother_samples);
cn0_smoother_alpha = configuration->property(role + ".cn0_smoother_alpha", cn0_smoother_alpha);
carrier_lock_test_smoother_alpha = configuration->property(role + ".carrier_lock_test_smoother_alpha", carrier_lock_test_smoother_alpha);
carrier_lock_test_smoother_samples = configuration->property(role + ".carrier_lock_test_smoother_samples", carrier_lock_test_smoother_samples);
cn0_min = configuration->property(role + ".cn0_min", cn0_min);
max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", max_carrier_lock_fail);
max_code_lock_fail = configuration->property(role + ".max_lock_fail", max_code_lock_fail);
carrier_lock_th = configuration->property(role + ".carrier_lock_th", carrier_lock_th);
// max_lock_fail = 50;
device_name = configuration->property(role + ".devicename", device_name);
}

17
src/algorithms/tracking/libs/dll_pll_conf_fpga.h
View File

@ -24,21 +24,24 @@
#ifndef GNSS_SDR_DLL_PLL_CONF_FPGA_H
#define GNSS_SDR_DLL_PLL_CONF_FPGA_H
#include "configuration_interface.h"
#include <cstdint>
#include <string>
class Dll_Pll_Conf_Fpga
{
public:
/* DLL/PLL tracking configuration */
Dll_Pll_Conf_Fpga();
void SetFromConfiguration(ConfigurationInterface* configuration, const std::string& role);
int fll_filter_order;
/* DLL/PLL tracking configuration */
int32_t fll_filter_order;
bool enable_fll_pull_in;
bool enable_fll_steady_state;
unsigned int pull_in_time_s; // signed integer, when pull in time is not yet reached it has to be compared against a negative number
unsigned int bit_synchronization_time_limit_s;
int pll_filter_order;
int dll_filter_order;
uint32_t pull_in_time_s; // signed integer, when pull in time is not yet reached it has to be compared against a negative number
uint32_t bit_synchronization_time_limit_s;
int32_t pll_filter_order;
int32_t dll_filter_order;
double fs_in;
uint32_t vector_length;
@ -88,8 +91,6 @@ public:
bool extended_correlation_in_fpga;
uint32_t extend_fpga_integration_periods;
uint32_t fpga_integration_period;
Dll_Pll_Conf_Fpga();
};
#endif