mirror of https://github.com/gnss-sdr/gnss-sdr
Simulink tracking block updated: generation of the Simulink model from a script MATLAB and improvement of the tracking algorithm (both PLL and DLL). Added multi-threading support for MATLAB.
git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@208 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
David Pubill
parent
fb287c0de3
commit
aab40c963d
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@ -9,7 +9,7 @@ GNSS-SDR.internal_fs_hz=4000000
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ControlThread.wait_for_flowgraph=false
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;######### SIGNAL_SOURCE CONFIG ############
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;#implementation: Use only File_Signal_Source in this version
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;#implementation: Use File_Signal_Source or UHD_Signal_Source or GN3S_Signal_Source (experimental)
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SignalSource.implementation=File_Signal_Source
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;#filename: path to file with the captured GNSS signal samples to be processed
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@ -20,6 +20,7 @@ SignalSource.item_type=gr_complex
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;#sampling_frequency: Original Signal sampling frequency in [Hz]
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SignalSource.sampling_frequency=4000000
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;SignalSource.sampling_frequency=100000000
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;#freq: RF front-end center frequency in [Hz]
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SignalSource.freq=1575420000
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@ -32,10 +33,6 @@ SignalSource.subdevice=B:0
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;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
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SignalSource.samples=0
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;SignalSource.samples=80000000
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;SignalSource.samples=40000000
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;SignalSource.samples=20000000
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;#repeat: Repeat the processing file. Disable this option in this version
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SignalSource.repeat=false
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@ -43,10 +40,15 @@ SignalSource.repeat=false
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;#dump: Dump the Signal source data to a file. Disable this option in this version
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SignalSource.dump=false
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SignalSource.dump_filename=../data/signal_source.dat
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SignalSource.dump_filename=../data/SignalSource.dat
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;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
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; it helps to not overload the CPU, but the processing time will be longer.
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SignalSource.enable_throttle_control=false
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;######### SIGNAL_CONDITIONER CONFIG ############
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;## It holds blocks to change data type, filter and resample input data.
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;#implementation: Pass_Through disables this block
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@ -68,7 +70,7 @@ InputFilter.implementation=Pass_Through
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InputFilter.dump=false
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;#dump_filename: Log path and filename.
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InputFilter.dump=../data/input_filter.dat
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InputFilter.dump_filename=../data/input_filter.dat
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;#The following options are used in the filter design of Fir_Filter implementation.
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;#These options are based on parameters of gnuradio's function: gr_remez.
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@ -142,8 +144,8 @@ Resampler.sample_freq_out=4000000
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;######### CHANNELS GLOBAL CONFIG ############
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;#count: Number of available satellite channels.
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Channels.count=8
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Channels.in_acquisition=8
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Channels.count=7
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Channels.in_acquisition=7
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;######### CHANNEL 0 CONFIG ############
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;#system: GPS, GLONASS, GALILEO, SBAS or COMPASS
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@ -210,42 +212,55 @@ Channel0.system=GPS
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Channel0.signal=1C
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;#satellite: Satellite PRN ID for this channel. Disable this option to random search
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;Channel0.satellite=2
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;Channel0.satellite=15
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;Channel0.repeat_satellite=true
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;######### CHANNEL 1 CONFIG ############
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Channel1.system=GPS
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Channel1.signal=1C
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;Channel1.satellite=14
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;Channel1.satellite=18
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;Channel1.repeat_satellite=true
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;######### CHANNEL 2 CONFIG ############
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Channel2.system=GPS
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Channel2.signal=1C
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;Channel2.satellite=21
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;Channel2.satellite=16
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;Channel2.repeat_satellite=true
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;######### CHANNEL 3 CONFIG ############
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Channel3.system=GPS
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Channel3.signal=1C
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;Channel3.satellite=13
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;Channel3.satellite=23
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;Channel3.repeat_satellite=true
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;######### CHANNEL 4 CONFIG ############
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Channel4.system=GPS
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Channel4.signal=1C
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;Channel4.satellite=3
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;Channel4.repeat_satellite=true
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;######### CHANNEL 3 CONFIG ############
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Channel5.system=GPS
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Channel5.signal=1C
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;Channel5.satellite=21
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;Channel5.repeat_satellite=true
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;######### ACQUISITION GLOBAL CONFIG ############
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;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
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Acquisition.dump=false
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;#filename: Log path and filename
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Acquisition.dump_filename=./acq_dump.dat
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;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
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Acquisition.item_type=gr_complex
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;#if: Signal intermediate frequency in [Hz]
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Acquisition.if=0
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;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
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Acquisition.sampled_ms=1
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@ -254,74 +269,77 @@ Acquisition.sampled_ms=1
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;######### ACQUISITION CH 0 CONFIG ############
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;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition]
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Acquisition0.implementation=GPS_L1_CA_PCPS_Acquisition
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;#threshold: Acquisition threshold
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Acquisition0.threshold=70
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Acquisition0.threshold=100
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;#doppler_max: Maximum expected Doppler shift [Hz]
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Acquisition0.doppler_max=10000
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;#doppler_max: Doppler step in the grid search [Hz]
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Acquisition0.doppler_step=250
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;#repeat_satellite: Use only jointly with the satellite PRN ID option.
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;#repeat_satellite: Use only jointly with the satellte PRN ID option.
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;#Enable repeat_satellite to keep searching the same satellite during the runtime.
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;Acquisition0.repeat_satellite=true
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;######### ACQUISITION CH 1 CONFIG ############
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Acquisition1.implementation=GPS_L1_CA_PCPS_Acquisition
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Acquisition1.threshold=70
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Acquisition1.threshold=100
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Acquisition1.doppler_max=10000
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Acquisition1.doppler_step=250
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;Acquisition1.repeat_satellite=true
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;######### ACQUISITION CH 2 CONFIG ############
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Acquisition2.implementation=GPS_L1_CA_PCPS_Acquisition
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Acquisition2.threshold=70
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Acquisition2.threshold=100
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Acquisition2.doppler_max=10000
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Acquisition2.doppler_step=250
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;Acquisition2.repeat_satellite=true
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;######### ACQUISITION CH 3 CONFIG ############
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Acquisition3.implementation=GPS_L1_CA_PCPS_Acquisition
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Acquisition3.threshold=70
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Acquisition3.threshold=100
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Acquisition3.doppler_max=10000
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Acquisition3.doppler_step=250
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;Acquisition3.repeat_satellite=true
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;######### ACQUISITION CH 4 CONFIG ############
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Acquisition4.implementation=GPS_L1_CA_PCPS_Acquisition
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Acquisition4.threshold=70
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Acquisition4.threshold=100
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Acquisition4.doppler_max=10000
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Acquisition4.doppler_step=250
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;Acquisition4.repeat_satellite=true
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;######### ACQUISITION CH 5 CONFIG ############
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Acquisition5.implementation=GPS_L1_CA_PCPS_Acquisition
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Acquisition5.threshold=70
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Acquisition5.threshold=100
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Acquisition5.doppler_max=10000
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Acquisition5.doppler_step=250
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;Acquisition5.repeat_satellite=true
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;######### ACQUISITION CH 6 CONFIG ############
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Acquisition6.implementation=GPS_L1_CA_PCPS_Acquisition
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Acquisition6.threshold=70
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Acquisition6.threshold=100
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Acquisition6.doppler_max=10000
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Acquisition6.doppler_step=250
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;Acquisition6.repeat_satellite=true
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;######### ACQUISITION CH 7 CONFIG ############
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Acquisition7.implementation=GPS_L1_CA_PCPS_Acquisition
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Acquisition7.threshold=70
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Acquisition7.threshold=100
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Acquisition7.doppler_max=10000
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Acquisition7.doppler_step=250
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;Acquisition7.repeat_satellite=true
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;######### ACQUISITION CH 8 CONFIG ############
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Acquisition8.implementation=GPS_L1_CA_PCPS_Acquisition
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Acquisition8.threshold=100
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Acquisition8.doppler_max=10000
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Acquisition8.doppler_step=250
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;######### TRACKING GLOBAL CONFIG ############
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;#implementatiion: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking], [GPS_L1_CA_DLL_FLL_PLL_Tracking] or [GPS_L1_CA_TCP_CONNECTOR_Tracking]
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Tracking.implementation=GPS_L1_CA_TCP_CONNECTOR_Tracking
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Tracking.implementation= GPS_L1_CA_TCP_CONNECTOR_Tracking
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;Tracking.implementation=GPS_L1_CA_DLL_FLL_PLL_Tracking
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;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
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Tracking.item_type=gr_complex
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@ -341,7 +359,7 @@ Tracking.pll_bw_hz=50.0;
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Tracking.dll_bw_hz=2.0;
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;#fll_bw_hz: FLL loop filter bandwidth [Hz]
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Tracking.fll_bw_hz=20.0;
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Tracking.fll_bw_hz=10.0;
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;#order: PLL/DLL loop filter order [2] or [3]
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Tracking.order=2;
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@ -350,19 +368,17 @@ Tracking.order=2;
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Tracking.early_late_space_chips=0.5;
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;#port_ch0: local TCP port for channel 0
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Tracking.port_ch0=2060;
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Tracking.port_ch0=2070;
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;######### TELEMETRY DECODER CONFIG ############
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;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A.
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TelemetryDecoder.implementation=GPS_L1_CA_Telemetry_Decoder
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TelemetryDecoder.dump=false
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;######### OBSERVABLES CONFIG ############
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;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
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Observables.implementation=GPS_L1_CA_Observables
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;#output_rate_ms: Period between two psudoranges outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
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Observables.output_rate_ms=100
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;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
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Observables.dump=false
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@ -375,11 +391,18 @@ Observables.dump_filename=./observables.dat
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PVT.implementation=GPS_L1_CA_PVT
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;#averaging_depth: Number of PVT observations in the moving average algorithm
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;PVT.averaging_depth=100
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PVT.averaging_depth=2
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;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false]
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PVT.flag_averaging=true
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;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
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PVT.output_rate_ms=100;
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;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
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PVT.display_rate_ms=500;
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;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
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PVT.dump=false
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@ -61,8 +61,8 @@
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#define CN0_ESTIMATION_SAMPLES 10
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#define MINIMUM_VALID_CN0 25
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#define MAXIMUM_LOCK_FAIL_COUNTER 200
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#define NUM_TX_VARIABLES 7
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#define NUM_RX_VARIABLES 3
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#define NUM_TX_VARIABLES 9
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#define NUM_RX_VARIABLES 4
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using google::LogMessage;
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@ -190,6 +190,7 @@ Gps_L1_Ca_Tcp_Connector_Tracking_cc::Gps_L1_Ca_Tcp_Connector_Tracking_cc(
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systemName["S"] = std::string("SBAS");
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systemName["E"] = std::string("Galileo");
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systemName["C"] = std::string("Compass");
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}
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void Gps_L1_Ca_Tcp_Connector_Tracking_cc::start_tracking()
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@ -204,6 +205,15 @@ void Gps_L1_Ca_Tcp_Connector_Tracking_cc::start_tracking()
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unsigned long int acq_trk_diff_samples;
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float acq_trk_diff_seconds;
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// jarribas: this patch correct a situation where the tracking sample counter
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// is equal to 0 (remains in the initial state) at the first acquisition to tracking transition
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// of the receiver operation when is connecting to simulink server.
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// if (d_sample_counter<d_acq_sample_stamp)
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// {
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// acq_trk_diff_samples=0; //disable the correction
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// }else{
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// acq_trk_diff_samples = d_sample_counter - d_acq_sample_stamp;//-d_vector_length;
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// }
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acq_trk_diff_samples = d_sample_counter - d_acq_sample_stamp;//-d_vector_length;
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std::cout << "acq_trk_diff_samples=" << acq_trk_diff_samples << std::endl;
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acq_trk_diff_seconds = (float)acq_trk_diff_samples / (float)d_fs_in;
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@ -341,6 +351,7 @@ tcp_packet_data::tcp_packet_data() {
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proc_pack_code_error = 0;
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proc_pack_carr_error = 0;
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proc_pack_carrier_doppler_hz = 0;
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}
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tcp_packet_data::~tcp_packet_data() {
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@ -363,13 +374,6 @@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work (int noutput_items, gr_vec
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tcp_packet_data tcp_data;
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//! Listen for connections on a TCP port
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if (d_listen_connection == true)
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{
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d_port = d_port_ch0 + d_channel;
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d_listen_connection = d_tcp_com.listen_tcp_connection(d_port);
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}
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if (d_enable_tracking == true)
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{
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/*
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@ -448,25 +452,17 @@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work (int noutput_items, gr_vec
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d_control_id++;
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//! Send and receive a TCP packet
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boost::array<float, NUM_TX_VARIABLES> tx_variables_array = {{(*d_Early).imag(),(*d_Early).real(),(*d_Late).imag(),(*d_Late).real(),(*d_Prompt).imag(),(*d_Prompt).real(), d_control_id}};
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d_tcp_com.send_receive_tcp_packet(tx_variables_array, &tcp_data);
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boost::array<float, NUM_TX_VARIABLES> tx_variables_array = {{d_control_id,(*d_Early).imag(),(*d_Early).real(),(*d_Late).imag(),(*d_Late).real(),(*d_Prompt).imag(),(*d_Prompt).real(),d_acq_carrier_doppler_hz,1}};
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d_tcp_com.send_receive_tcp_packet(tx_variables_array, &tcp_data);
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//! Recover the data
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code_error = tcp_data.proc_pack_code_error;
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carr_error = tcp_data.proc_pack_carr_error;
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// Compute PLL error and update carrier NCO -
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//SIM carr_error = pll_cloop_two_quadrant_atan(*d_Prompt) / (float)GPS_TWO_PI;
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// Implement carrier loop filter and generate NCO command
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carr_nco = d_carrier_loop_filter.get_carrier_nco(carr_error);
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// Modify carrier freq based on NCO command
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d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_nco;
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// Compute DLL error and update code NCO
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//SIM code_error = dll_nc_e_minus_l_normalized(*d_Early, *d_Late);
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//! Recover the tracking data
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code_error = tcp_data.proc_pack_code_error;
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carr_error = tcp_data.proc_pack_carr_error;
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// Modify carrier freq based on NCO command
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d_carrier_doppler_hz = tcp_data.proc_pack_carrier_doppler_hz;
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// Modify code freq based on NCO command
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d_code_freq_hz = 1/(1/GPS_L1_CA_CODE_RATE_HZ - code_nco/GPS_L1_CA_CODE_LENGTH_CHIPS);
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code_nco=1/(1/GPS_L1_CA_CODE_RATE_HZ-code_error/GPS_L1_CA_CODE_LENGTH_CHIPS);
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d_code_freq_hz = code_nco;
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// Update the phasestep based on code freq (variable) and
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// sampling frequency (fixed)
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@ -480,7 +476,18 @@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work (int noutput_items, gr_vec
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T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
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T_prn_samples = T_prn_seconds * d_fs_in;
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d_rem_code_phase_samples = d_next_rem_code_phase_samples;
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K_blk_samples = T_prn_samples + d_rem_code_phase_samples;
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K_blk_samples = T_prn_samples + d_rem_code_phase_samples;//-code_error*(float)d_fs_in;
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// Update the current PRN delay (code phase in samples)
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float T_prn_true_seconds = GPS_L1_CA_CODE_LENGTH_CHIPS / GPS_L1_CA_CODE_RATE_HZ;
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float T_prn_true_samples = T_prn_true_seconds * (float)d_fs_in;
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d_code_phase_samples = d_code_phase_samples + T_prn_samples - T_prn_true_samples;
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if (d_code_phase_samples < 0)
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{
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d_code_phase_samples = T_prn_true_samples + d_code_phase_samples;
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}
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d_code_phase_samples = fmod(d_code_phase_samples, T_prn_true_samples);
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d_next_prn_length_samples = round(K_blk_samples); //round to a discrete samples
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d_next_rem_code_phase_samples = K_blk_samples - d_next_prn_length_samples; //rounding error
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@ -511,8 +518,6 @@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work (int noutput_items, gr_vec
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if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
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{
|
||||
std::cout << "Channel " << d_channel << " loss of lock!" << std::endl ;
|
||||
// tracking_message = 3; //loss of lock
|
||||
// d_channel_internal_queue->push(tracking_message);
|
||||
ControlMessageFactory* cmf = new ControlMessageFactory();
|
||||
if (d_queue != gr_msg_queue_sptr()) {
|
||||
d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
|
||||
|
|
@ -522,9 +527,18 @@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work (int noutput_items, gr_vec
|
|||
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
|
||||
|
||||
}
|
||||
//std::cout<<"d_carrier_lock_fail_counter"<<d_carrier_lock_fail_counter<<"\r\n";
|
||||
}
|
||||
|
||||
// ########### Output the tracking data to navigation and PVT ##########
|
||||
|
||||
current_synchro_data.Prompt_I = (double)(*d_Prompt).imag();
|
||||
current_synchro_data.Prompt_Q = (double)(*d_Prompt).real();
|
||||
current_synchro_data.Tracking_timestamp_secs = d_sample_counter_seconds;
|
||||
current_synchro_data.Carrier_phase_rads = (double)d_acc_carrier_phase_rad;
|
||||
current_synchro_data.Code_phase_secs = (double)d_code_phase_samples * (1/(float)d_fs_in);
|
||||
current_synchro_data.CN0_dB_hz = (double)d_CN0_SNV_dB_Hz;
|
||||
*out[0] = current_synchro_data;
|
||||
|
||||
// ########## DEBUG OUTPUT
|
||||
/*!
|
||||
* \todo The stop timer has to be moved to the signal source!
|
||||
|
|
@ -538,8 +552,6 @@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work (int noutput_items, gr_vec
|
|||
std::cout << "Current input signal time = " << d_last_seg << " [s]" << std::endl;
|
||||
std::cout << "Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
|
||||
<< ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
|
||||
//std::cout<<"TRK CH "<<d_channel<<" Carrier_lock_test="<<d_carrier_lock_test<< std::endl;
|
||||
//if (d_last_seg==5) d_carrier_lock_fail_counter=500; //DEBUG: force unlock!
|
||||
}
|
||||
}
|
||||
else
|
||||
|
|
@ -549,22 +561,8 @@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work (int noutput_items, gr_vec
|
|||
d_last_seg = floor(d_sample_counter / d_fs_in);
|
||||
std::cout << "Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
|
||||
<< ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
|
||||
//std::cout<<"TRK CH "<<d_channel<<" Carrier_lock_test="<<d_carrier_lock_test<< std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
// ########### Output the tracking data to navigation and PVT ##########
|
||||
|
||||
current_synchro_data.Prompt_I = (double)(*d_Prompt).imag();
|
||||
current_synchro_data.Prompt_Q = (double)(*d_Prompt).real();
|
||||
// Tracking_timestamp_secs is aligned with the PRN start sample
|
||||
current_synchro_data.Tracking_timestamp_secs=((double)d_sample_counter+(double)d_next_prn_length_samples+(double)d_next_rem_code_phase_samples)/(double)d_fs_in;
|
||||
// This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, Code_phase_secs=0
|
||||
current_synchro_data.Code_phase_secs=0;
|
||||
current_synchro_data.Tracking_timestamp_secs = d_sample_counter_seconds;
|
||||
current_synchro_data.Carrier_phase_rads = (double)d_acc_carrier_phase_rad;
|
||||
current_synchro_data.CN0_dB_hz = (double)d_CN0_SNV_dB_Hz;
|
||||
*out[0] = current_synchro_data;
|
||||
}
|
||||
else
|
||||
{
|
||||
|
|
@ -572,13 +570,12 @@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work (int noutput_items, gr_vec
|
|||
*d_Prompt = gr_complex(0,0);
|
||||
*d_Late = gr_complex(0,0);
|
||||
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0]; //block output streams pointer
|
||||
//std::cout<<output_items.size()<<std::endl;
|
||||
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
|
||||
Gnss_Synchro current_synchro_data;
|
||||
*out[0] = current_synchro_data;
|
||||
|
||||
//! When tracking is disabled an array of 1's is sent to maintain the TCP connection
|
||||
boost::array<float, NUM_TX_VARIABLES> tx_variables_array = {{1,1,1,1,1,1,1}};
|
||||
boost::array<float, NUM_TX_VARIABLES> tx_variables_array = {{1,1,1,1,1,1,1,1,0}};
|
||||
d_tcp_com.send_receive_tcp_packet(tx_variables_array, &tcp_data);
|
||||
}
|
||||
|
||||
|
|
@ -589,7 +586,6 @@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work (int noutput_items, gr_vec
|
|||
float prompt_Q;
|
||||
float tmp_E, tmp_P, tmp_L;
|
||||
float tmp_float;
|
||||
double tmp_double;
|
||||
prompt_I = (*d_Prompt).imag();
|
||||
prompt_Q = (*d_Prompt).real();
|
||||
tmp_E = std::abs<float>(*d_Early);
|
||||
|
|
@ -627,10 +623,9 @@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work (int noutput_items, gr_vec
|
|||
d_dump_file.write((char*)&d_carrier_lock_test, sizeof(float));
|
||||
|
||||
// AUX vars (for debug purposes)
|
||||
tmp_float = d_rem_code_phase_samples;
|
||||
tmp_float=0;
|
||||
d_dump_file.write((char*)&tmp_float, sizeof(float));
|
||||
tmp_double=(double)(d_sample_counter+d_current_prn_length_samples);
|
||||
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
||||
d_dump_file.write((char*)&d_sample_counter_seconds, sizeof(double));
|
||||
}
|
||||
catch (std::ifstream::failure e)
|
||||
{
|
||||
|
|
@ -639,7 +634,7 @@ int Gps_L1_Ca_Tcp_Connector_Tracking_cc::general_work (int noutput_items, gr_vec
|
|||
}
|
||||
|
||||
consume_each(d_current_prn_length_samples); // this is necesary in gr_block derivates
|
||||
//d_sample_counter_seconds = d_sample_counter_seconds + ( ((double)d_current_prn_length_samples) / (double)d_fs_in );
|
||||
d_sample_counter_seconds = d_sample_counter_seconds + ( ((double)d_current_prn_length_samples) / (double)d_fs_in );
|
||||
d_sample_counter += d_current_prn_length_samples; //count for the processed samples
|
||||
return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
|
||||
}
|
||||
|
|
@ -669,6 +664,13 @@ void Gps_L1_Ca_Tcp_Connector_Tracking_cc::set_channel(unsigned int channel)
|
|||
}
|
||||
}
|
||||
}
|
||||
|
||||
//! Listen for connections on a TCP port
|
||||
if (d_listen_connection == true)
|
||||
{
|
||||
d_port = d_port_ch0 + d_channel;
|
||||
d_listen_connection = d_tcp_com.listen_tcp_connection(d_port,d_port_ch0);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -35,8 +35,8 @@
|
|||
#include <string>
|
||||
|
||||
|
||||
#define NUM_TX_VARIABLES 7
|
||||
#define NUM_RX_VARIABLES 3
|
||||
#define NUM_TX_VARIABLES 9
|
||||
#define NUM_RX_VARIABLES 4
|
||||
|
||||
|
||||
tcp_communication::tcp_communication() : tcp_socket_(io_service_)
|
||||
|
|
@ -49,7 +49,7 @@ tcp_communication::~tcp_communication()
|
|||
|
||||
|
||||
|
||||
int tcp_communication::listen_tcp_connection(size_t d_port_)
|
||||
int tcp_communication::listen_tcp_connection(size_t d_port_, size_t d_port_ch0_)
|
||||
{
|
||||
try
|
||||
{
|
||||
|
|
@ -57,11 +57,14 @@ int tcp_communication::listen_tcp_connection(size_t d_port_)
|
|||
boost::asio::ip::tcp::endpoint endpoint(boost::asio::ip::tcp::v4(), d_port_);
|
||||
boost::asio::ip::tcp::acceptor acceptor(io_service_, endpoint);
|
||||
|
||||
if (d_port_ == d_port_ch0_)
|
||||
{
|
||||
std::cout << "Server ready. Listening for TCP connections..." << std::endl;
|
||||
}
|
||||
|
||||
// Reuse the IP address for each connection
|
||||
acceptor.set_option(boost::asio::ip::tcp::acceptor::reuse_address(true));
|
||||
|
||||
std::cout << "Server ready on port " << d_port_ << std::endl;
|
||||
|
||||
// Listen for a connection and accept it
|
||||
acceptor.listen(12);
|
||||
acceptor.accept(tcp_socket_);
|
||||
|
|
@ -81,9 +84,9 @@ int tcp_communication::listen_tcp_connection(size_t d_port_)
|
|||
|
||||
void tcp_communication::send_receive_tcp_packet(boost::array<float, NUM_TX_VARIABLES> buf, tcp_packet_data *tcp_data_)
|
||||
{
|
||||
int controlc = 0;
|
||||
boost::array<float, NUM_RX_VARIABLES> readbuf;
|
||||
float d_control_id_ = buf.data()[6];
|
||||
int controlc = 0;
|
||||
boost::array<float, NUM_RX_VARIABLES> readbuf;
|
||||
float d_control_id_ = buf.data()[0];
|
||||
|
||||
try
|
||||
{
|
||||
|
|
@ -92,16 +95,17 @@ void tcp_communication::send_receive_tcp_packet(boost::array<float, NUM_TX_VARIA
|
|||
|
||||
// Read the received TCP packet
|
||||
tcp_socket_.read_some(boost::asio::buffer(readbuf));
|
||||
|
||||
//! Control. The GNSS-SDR program ends if an error in a TCP packet is detected.
|
||||
if (d_control_id_ != readbuf.data()[0])
|
||||
{
|
||||
throw "Packet error!";
|
||||
}
|
||||
|
||||
// Recover the variables received
|
||||
tcp_data_->proc_pack_code_error = readbuf.data()[0];
|
||||
tcp_data_->proc_pack_carr_error = readbuf.data()[1];
|
||||
|
||||
// Control. The GNSS-SDR program ends if an error in a TCP packet is detected.
|
||||
if (d_control_id_ != readbuf.data()[2])
|
||||
{
|
||||
throw "Packet error!";
|
||||
}
|
||||
// Recover the variables received
|
||||
tcp_data_->proc_pack_code_error = readbuf.data()[1];
|
||||
tcp_data_->proc_pack_carr_error = readbuf.data()[2];
|
||||
tcp_data_->proc_pack_carrier_doppler_hz = readbuf.data()[3];
|
||||
}
|
||||
|
||||
catch(std::exception& e)
|
||||
|
|
|
|||
|
|
@ -44,9 +44,9 @@ public:
|
|||
tcp_communication();
|
||||
~tcp_communication();
|
||||
|
||||
int listen_tcp_connection(size_t d_port_);
|
||||
void send_receive_tcp_packet(boost::array<float,7> buf, tcp_packet_data *tcp_data_);
|
||||
void close_tcp_connection(size_t d_port_);
|
||||
int listen_tcp_connection(size_t d_port_, size_t d_port_ch0_);
|
||||
void send_receive_tcp_packet(boost::array<float, 9> buf, tcp_packet_data *tcp_data_);
|
||||
void close_tcp_connection(size_t d_port_);
|
||||
|
||||
private:
|
||||
boost::asio::io_service io_service_;
|
||||
|
|
|
|||
|
|
@ -39,6 +39,7 @@ public:
|
|||
~tcp_packet_data();
|
||||
float proc_pack_code_error;
|
||||
float proc_pack_carr_error;
|
||||
float proc_pack_carrier_doppler_hz;
|
||||
};
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -47,7 +47,7 @@
|
|||
using google::LogMessage;
|
||||
|
||||
DEFINE_string(config_file, "../conf/gnss-sdr.conf",
|
||||
"Path to the file containing the configuration parameters");
|
||||
"Path to the file containing the configuration parameters");
|
||||
|
||||
ControlThread::ControlThread()
|
||||
{
|
||||
|
|
|
|||
|
|
@ -0,0 +1,159 @@
|
|||
/*!
|
||||
* \file README.txt
|
||||
* \brief How to add a block to the Simulink Library repository of Matlab,
|
||||
* how to use the "gnss_sdr_tcp_connector_parallel_tracking_start.m" script
|
||||
* and how to replace the tracking block of the library. Parallel Computing
|
||||
* version.
|
||||
*
|
||||
* \author David Pubill, 2012. dpubill(at)cttc.es
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
|
||||
IMPORTANT: Please, to use this tracking check the configuration file called
|
||||
'gnss-sdr_tcp_connector_tracking.conf'. There are two major changes:
|
||||
1.- Choose the [GPS_L1_CA_TCP_CONNECTOR_Tracking] tracking algorithm.
|
||||
2.- Choose a tcp port for channel 0 (e.g. Tracking.port_ch0=2070;)
|
||||
|
||||
|
||||
A) HOW TO add a block to the Simulink Library repository of your Matlab installation
|
||||
---------------------------------------------------------------------------------
|
||||
(These steps should be followed only the first time)
|
||||
|
||||
1.- Copy the content of this folder to a folder accessible from Simulink.
|
||||
|
||||
2.- In the Matlab Command Window type:
|
||||
>> simulink;
|
||||
to open the Simulink Library Browser.
|
||||
|
||||
3.- Right-click on the Simulink/User-Defined Functions of the Simulink
|
||||
Library menu, and click on "Open User-Defined Functions library"
|
||||
(Window_1).
|
||||
|
||||
4.- Open the library model 'gnss_sdr_tcp_connector_tracking_lib.mdl'
|
||||
(Window_2)
|
||||
|
||||
5.- If this is not the first time there should be an existing 'gnss-sdr'
|
||||
block in the 'User-Defined Functions' window that should be deleted
|
||||
before drag and drop the new 'gnss_sdr' block (which includes 3 blocks:
|
||||
- 'gnss_sdr_tcp_connector_tracking_rx' block
|
||||
- 'gnss_sdr_tcp_connector_tracking' block
|
||||
- 'gnss_sdr_tcp_connector_tracking_tx' block)
|
||||
from Window_2 to Window_1. A new message should appear: "This library
|
||||
is locked. The action performed requires it to be unlocked". Then,
|
||||
click on the "Unlock" button (the block will be copied) and close
|
||||
Window_2.
|
||||
|
||||
6.- Right-click on the 'gnss-sdr' block and click on "Link Options -->
|
||||
Disable link", repeat the action but now clicking on "Link Options -->
|
||||
Break link". This action disables and breaks the link with the
|
||||
original library model.
|
||||
|
||||
7.- On Window_1 save the "simulink/User-Defined Functions" library.
|
||||
To do that go to "File > Save". Then, close Window_1.
|
||||
|
||||
8.- From "Simulink Library Browser" window, press F5 to refresh and generate
|
||||
the new Simulink Library repository (it may take a few seconds). This
|
||||
completes the installation of the custom Simulink block.
|
||||
|
||||
|
||||
B) HOW TO use the "gnss_sdr_tcp_connector_parallel_tracking_start.m" script:
|
||||
----------------------------------------------------------------
|
||||
|
||||
----------------------- ------------------ -----------------------
|
||||
| | | | | |
|
||||
| gnss_sdr_tcp_ | | gnss_sdr_tcp_ | | gnss_sdr_tcp_ |
|
||||
| connector_tracking_ | --> | connector_ | --> | connector_tracking_ |
|
||||
| rx | | tracking | | tx |
|
||||
| | | | | |
|
||||
----------------------- ------------------ -----------------------
|
||||
|
||||
The 'gnss_sdr_tcp_connector_parallel_tracking_start.m' is the script that
|
||||
builds and configures a Simulink model for interacting with the GNSS-SDR
|
||||
platform through a TCP communication. Some 'User parameters' can be
|
||||
modified but, by default, these are the values assigned:
|
||||
|
||||
%User parameters
|
||||
host = '84.88.61.86'; %Remote IP address (GNSS-SDR computer IP)
|
||||
port = 2070; %Remote port (GNSS-SDR computer port for Ch0)
|
||||
num_vars_rx = 9; %Number of variables expected from GNSS-SDR
|
||||
num_vars_tx = 4; %Number of variable to be transmitted to GNSS-SDR
|
||||
timeout = '40'; %Timeout in seconds
|
||||
|
||||
'host', 'port' and 'timeout' parameters configure both
|
||||
'gnss_sdr_tcp_connector_tracking_rx' and 'gnss_sdr_tcp_connector_tracking_tx'
|
||||
blocks. The 'port' parameter sets the base port number for the first
|
||||
channel (ch0). Each of the subsequent channels increases their port by one
|
||||
unit (e.g. ch0_port=2070, ch1_port=2071,...).
|
||||
|
||||
Also the name of the tracking block can be modified. It must match with
|
||||
the Simulink model name:
|
||||
|
||||
%Name of the tracking block, it must match the Simulink model name
|
||||
tracking_block_name = 'gnss_sdr_tcp_connector_tracking';
|
||||
|
||||
To configure the MATLAB to work in parallel mode (the 'Parallel Computing'
|
||||
Toolbox must be installed in the MATLAB) type in the Matlab Command Window
|
||||
the following:
|
||||
|
||||
>> matlabpool(C)
|
||||
|
||||
where C is the number of cores of the computer to be used.
|
||||
|
||||
Then it should appear a message like this one:
|
||||
|
||||
"Destroying 1 pre-existing parallel job(s) created by matlabpool that were
|
||||
in the finished or failed state.
|
||||
|
||||
Starting matlabpool using the 'local' configuration ... connected to 4
|
||||
labs."
|
||||
|
||||
Once the MATLAB is configured to work in parallel mode, type the following
|
||||
to run the script:
|
||||
|
||||
>> gnss_sdr_tcp_connector_parallel_tracking_start(N,C);
|
||||
|
||||
where N must match the number of channels configured in the GNSS-SDR
|
||||
platform and C is the same as before.
|
||||
|
||||
Note: to stop working with the parallel mode type in the Command Window
|
||||
the following:
|
||||
|
||||
>> matlabpool close
|
||||
|
||||
|
||||
C) HOW TO replace the tracking block of the library
|
||||
------------------------------------------------
|
||||
|
||||
1.- Open the library model 'gnss_sdr_tcp_connector_tracking_lib.mdl'
|
||||
2.- Unlock the library. Click on "Edit > Unlock Library".
|
||||
3.- Open the "gnss-sdr" block and change the "gnss_sdr_tcp_connector_tracking"
|
||||
block by another one. If the name is different it must be updated in
|
||||
the "gnss_sdr_tcp_connector_parallel_tracking_start.m" code (see
|
||||
section B)
|
||||
4.- Save the new library.
|
||||
5.- Go to section A and follow the instructions.
|
||||
|
||||
|
|
@ -0,0 +1,201 @@
|
|||
% /*!
|
||||
% * \file gnss_sdr_tcp_connector_tracking_start.m
|
||||
% * \brief This MATLAB function builds and configures a Simulink model
|
||||
% * for interacting with the GNSS-SDR platform through a TCP
|
||||
% * communication. Parallel Computing version.
|
||||
% * \author David Pubill, 2012. dpubill(at)cttc.es
|
||||
% *
|
||||
% * ----------------------------------------------------------------------
|
||||
% *
|
||||
% * Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
|
||||
% *
|
||||
% * GNSS-SDR is a software defined Global Navigation
|
||||
% * Satellite Systems receiver
|
||||
% *
|
||||
% * This file is part of GNSS-SDR.
|
||||
% *
|
||||
% * GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
% * it under the terms of the GNU General Public License as published by
|
||||
% * the Free Software Foundation, either version 3 of the License, or
|
||||
% * at your option) any later version.
|
||||
% *
|
||||
% * GNSS-SDR is distributed in the hope that it will be useful,
|
||||
% * but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
% * GNU General Public License for more details.
|
||||
% *
|
||||
% * You should have received a copy of the GNU General Public License
|
||||
% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
% *
|
||||
% * ----------------------------------------------------------------------
|
||||
% */
|
||||
|
||||
function gnss_sdr_tcp_connector_parallel_tracking_start(num_channels, num_cores)
|
||||
|
||||
%The parallel for (parfor) loop allows to build and run a Simulink
|
||||
%model in parallel mode, programming different threads
|
||||
parfor i = 0:num_cores-1;
|
||||
|
||||
%Open and close the Simulink Library
|
||||
simulink('open');
|
||||
simulink('close');
|
||||
|
||||
%User parameters
|
||||
host = '84.88.61.86'; %Remote IP address (GNSS-SDR computer IP)
|
||||
port = 2070; %Remote port (GNSS-SDR computer port for Ch0)
|
||||
num_vars_rx = 9; %Number of variables expected from GNSS-SDR
|
||||
num_vars_tx = 4; %Number of variable to be transmitted to GNSS-SDR
|
||||
timeout = '40'; %Timeout [s]
|
||||
|
||||
%Name of the tracking block, it must match the Simulink model name
|
||||
tracking_block_name = 'gnss_sdr_tcp_connector_tracking';
|
||||
|
||||
% Layout coordinates for the gnss_sdr_tcp_connector_tracking blocks
|
||||
X0 = 20;
|
||||
X1 = 170;
|
||||
Y0 = 20;
|
||||
Y1 = 140;
|
||||
X_offset = 200;
|
||||
Y_offset = 160;
|
||||
|
||||
%Calculate the size of the data received from GNSS-SDR
|
||||
%(float = 4 bytes each variable)
|
||||
datasize_RX = num_vars_rx*4;
|
||||
|
||||
%Create a Simulink model
|
||||
model_name = ['gnss_sdr_tcp_connector_parallel_tracking_aux_', num2str(i)];
|
||||
new_system(model_name);
|
||||
open_system(model_name);
|
||||
|
||||
%Set parameters to avoid warnings in the Command Window
|
||||
set_param(model_name,...
|
||||
'InheritedTsInSrcMsg', 'none');
|
||||
warning('off', 'Simulink:Commands:SetParamLinkChangeWarn');
|
||||
|
||||
%Assign values to the variables used by Simulink in the base workspace
|
||||
assignin('base', 'Ti', 1e-3);
|
||||
assignin('base', 'f0', 1.57542e9);
|
||||
assignin('base', 'SFunSlope', 3.5);
|
||||
assignin('base', 'Tc', 4e-3/4092);
|
||||
assignin('base', 'T', 1e-3);
|
||||
assignin('base', 'B_PLL', 50);
|
||||
assignin('base', 'B_DLL', 2);
|
||||
|
||||
%Calculate some variables to control the number of blocks that
|
||||
%should content each Simulink model in function of the number of
|
||||
%cores specified
|
||||
min_num_blocks_per_model = floor(num_channels/num_cores);
|
||||
id = rem(num_channels,num_cores);
|
||||
|
||||
if(i<id)
|
||||
aux=1;
|
||||
else
|
||||
aux=0;
|
||||
end
|
||||
|
||||
%Build the Simulink model for the core 'i'
|
||||
for m = 0:min_num_blocks_per_model+aux-1
|
||||
|
||||
index = m + min_num_blocks_per_model*i + min(id,i);
|
||||
|
||||
%Add and prepare an empty block to become the TCP connector block
|
||||
tcp_connector_block=[model_name, '/gnss_sdr_tcp_connector_tracking_', num2str(index)];
|
||||
|
||||
add_block('simulink/Ports & Subsystems/Subsystem', tcp_connector_block);
|
||||
delete_line(tcp_connector_block, 'In1/1', 'Out1/1')
|
||||
|
||||
tcp_connector_tracking_i_In1 = [model_name,'/gnss_sdr_tcp_connector_tracking_',num2str(index),'/In1'];
|
||||
tcp_connector_tracking_i_Out1 = [model_name,'/gnss_sdr_tcp_connector_tracking_',num2str(index),'/Out1'];
|
||||
|
||||
delete_block(tcp_connector_tracking_i_In1);
|
||||
delete_block(tcp_connector_tracking_i_Out1);
|
||||
|
||||
%Add to the TCP connector block the receiver, the tracking and the
|
||||
%transmitter blocks
|
||||
tcp_connector_tracking_rx_block = [model_name,'/gnss_sdr_tcp_connector_tracking_',num2str(index),'/gnss_sdr_tcp_connector_tracking_rx'];
|
||||
tcp_connector_tracking_block = [model_name,'/gnss_sdr_tcp_connector_tracking_',num2str(index),'/', tracking_block_name];
|
||||
tcp_connector_tracking_tx_block = [model_name,'/gnss_sdr_tcp_connector_tracking_',num2str(index),'/gnss_sdr_tcp_connector_tracking_tx'];
|
||||
|
||||
add_block('simulink/User-Defined Functions/gnss_sdr/gnss_sdr_tcp_connector_tracking_rx',tcp_connector_tracking_rx_block);
|
||||
|
||||
path_to_tracking_block = ['simulink/User-Defined Functions/gnss_sdr/', tracking_block_name];
|
||||
add_block(path_to_tracking_block, tcp_connector_tracking_block);
|
||||
|
||||
add_block('simulink/User-Defined Functions/gnss_sdr/gnss_sdr_tcp_connector_tracking_tx',tcp_connector_tracking_tx_block);
|
||||
|
||||
%Connect the receiver block to the tracking block
|
||||
for j=1:num_vars_rx;
|
||||
rx_out_ports =['gnss_sdr_tcp_connector_tracking_rx/', num2str(j)];
|
||||
tracking_in_ports =[tracking_block_name, '/', num2str(j)];
|
||||
|
||||
add_line(tcp_connector_block, rx_out_ports, tracking_in_ports)
|
||||
end
|
||||
|
||||
%Connect the tracking block to the transmitter block
|
||||
for k=1:num_vars_tx;
|
||||
tracking_out_ports =[tracking_block_name, '/', num2str(k)];
|
||||
tx_in_ports =['gnss_sdr_tcp_connector_tracking_tx/',num2str(k)];
|
||||
|
||||
add_line(tcp_connector_block, tracking_out_ports, tx_in_ports)
|
||||
end
|
||||
|
||||
%Add, place and connect two scopes in the TCP connector block
|
||||
name_scope_1 = [tcp_connector_block,'/Scope'];
|
||||
add_block('simulink/Sinks/Scope', name_scope_1, 'Position', [500 300 550 350]);
|
||||
set_param(name_scope_1, 'NumInputPorts', '4', 'LimitDataPoints', 'off');
|
||||
add_line(tcp_connector_block, 'gnss_sdr_tcp_connector_tracking_rx/9', 'Scope/1', 'autorouting','on')
|
||||
|
||||
tracking_scope_port2 = [tracking_block_name,'/2'];
|
||||
add_line(tcp_connector_block, tracking_scope_port2, 'Scope/2', 'autorouting','on')
|
||||
tracking_scope_port3 = [tracking_block_name,'/3'];
|
||||
add_line(tcp_connector_block, tracking_scope_port3, 'Scope/3', 'autorouting','on')
|
||||
tracking_scope_port4 = [tracking_block_name,'/4'];
|
||||
add_line(tcp_connector_block, tracking_scope_port4, 'Scope/4', 'autorouting','on')
|
||||
|
||||
name_scope_2 = [tcp_connector_block,'/EPL'];
|
||||
add_block('simulink/Sinks/Scope', name_scope_2, 'Position', [500 400 550 450]);
|
||||
set_param(name_scope_2, 'LimitDataPoints', 'off');
|
||||
tracking_scope2_port5 = [tracking_block_name,'/5'];
|
||||
add_line(tcp_connector_block, tracking_scope2_port5, 'EPL/1', 'autorouting','on')
|
||||
|
||||
num_port = port+index;
|
||||
|
||||
%Set the TCP receiver parameters
|
||||
tcp_receiver = [model_name,'/gnss_sdr_tcp_connector_tracking_',num2str(index),'/gnss_sdr_tcp_connector_tracking_rx/RX'];
|
||||
set_param(tcp_receiver, 'Port', num2str(num_port), 'Host', host, 'DataSize', num2str(datasize_RX), 'Timeout', timeout);
|
||||
|
||||
%Set the TCP transmitter parameters
|
||||
tcp_transmitter = [model_name, '/gnss_sdr_tcp_connector_tracking_',num2str(index),'/gnss_sdr_tcp_connector_tracking_tx/TX'];
|
||||
set_param(tcp_transmitter, 'Port', num2str(num_port), 'Host', host,'Timeout', timeout);
|
||||
|
||||
%New layout coordinates for each block
|
||||
X2 = X0 + floor(m/4)*X_offset;
|
||||
X3 = X1 + floor(m/4)*X_offset;
|
||||
Y2 = Y0 + (m-4*floor(m/4))*Y_offset;
|
||||
Y3 = Y1 + (m-4*floor(m/4))*Y_offset;
|
||||
|
||||
%Place the block in the layout
|
||||
set_param(tcp_connector_block, 'Position', [X2 Y2 X3 Y3]);
|
||||
end
|
||||
|
||||
%Set parameters to configure the model Solver
|
||||
set_param(model_name,...
|
||||
'SolverType', 'Fixed-step', 'Solver', 'FixedStepDiscrete',...
|
||||
'FixedStep', 'auto', 'StopTime', 'inf');
|
||||
|
||||
%Save the model with a definitive name
|
||||
model_name_ready = ['gnss_sdr_tcp_connector_parallel_tracking_ready_', num2str(i)];
|
||||
save_system(model_name, model_name_ready);
|
||||
|
||||
%Pause the thread 'i*5' seconds in function of the number of core.
|
||||
%This allows the system to establish the TCP connections in the
|
||||
%correct order
|
||||
if (aux == 0)
|
||||
pause(i*5);
|
||||
end
|
||||
|
||||
%Run the Simulink model
|
||||
set_param(model_name_ready,'simulationcommand','start');
|
||||
|
||||
end
|
||||
end
|
||||
File diff suppressed because it is too large
Load Diff
|
|
@ -1,7 +1,8 @@
|
|||
/*!
|
||||
* \file README.txt
|
||||
* \brief How to add a block to the Simulink Library repository of Matlab
|
||||
* and how to use the "gnss_sdr_tcp_connector_tracking_start.m" script.
|
||||
* \brief How to add a block to the Simulink Library repository of Matlab,
|
||||
* how to use the "gnss_sdr_tcp_connector_tracking_start.m" script and how
|
||||
* to replace the tracking block of the library.
|
||||
*
|
||||
* \author David Pubill, 2012. dpubill(at)cttc.es
|
||||
*
|
||||
|
|
@ -35,7 +36,7 @@ IMPORTANT: Please, to use this tracking check the configuration file called
|
|||
'gnss-sdr_tcp_connector_tracking.conf'. There are two major changes:
|
||||
1.- Choose the [GPS_L1_CA_TCP_CONNECTOR_Tracking] tracking algorithm.
|
||||
2.- Choose a tcp port for channel 0 (e.g. Tracking.port_ch0=2060;)
|
||||
|
||||
|
||||
|
||||
A) HOW TO add a block to the Simulink Library repository of your Matlab installation
|
||||
---------------------------------------------------------------------------------
|
||||
|
|
@ -51,19 +52,31 @@ A) HOW TO add a block to the Simulink Library repository of your Matlab installa
|
|||
Library menu, and click on "Open User-Defined Functions library"
|
||||
(Window_1)
|
||||
|
||||
4.- Open the library model 'gnss_sdr_tcp_connector_tracking_lib.mdl'(Window_2)
|
||||
4.- Open the library model 'gnss_sdr_tcp_connector_tracking_lib.mdl'
|
||||
(Window_2)
|
||||
|
||||
5.- Drag and drop the gnss_sdr_tcp_connector_tracking block from Window_2
|
||||
to Window_1. A new message should appear: "This library is locked. The
|
||||
action performed requires it to be unlocked". Then, click on the "Unlock"
|
||||
button (the block will be copied) and close Window_2.
|
||||
5.- If this is not the first time there should be an existing 'gnss-sdr'
|
||||
block in the 'User-Defined Functions' window that should be deleted
|
||||
before drag and drop the new 'gnss_sdr' block (which includes 3 blocks:
|
||||
- 'gnss_sdr_tcp_connector_tracking_rx' block
|
||||
- 'gnss_sdr_tcp_connector_tracking' block
|
||||
- 'gnss_sdr_tcp_connector_tracking_tx' block)
|
||||
from Window_2 to Window_1. A new message should appear: "This library
|
||||
is locked. The action performed requires it to be unlocked". Then,
|
||||
click on the "Unlock" button (the block will be copied) and close
|
||||
Window_2.
|
||||
|
||||
6.- On Window_1 save the "simulink/User-Defined Functions" library.
|
||||
6.- Right-click on the 'gnss-sdr' block and click on "Link Options -->
|
||||
Disable link", repeat the action but now clicking on "Link Options -->
|
||||
Break link". This action disables and breaks the link with the
|
||||
original library model.
|
||||
|
||||
7.- On Window_1 save the "simulink/User-Defined Functions" library.
|
||||
To do that go to "File > Save". Then, close Window_1.
|
||||
|
||||
7.- From "Simulink Library Browser" window, press F5 to refresh and generate
|
||||
the new Simulink Library repository. This may take a few seconds, and
|
||||
this finish the installation of the custom Simulink block.
|
||||
8.- From "Simulink Library Browser" window, press F5 to refresh and generate
|
||||
the new Simulink Library repository (it may take a few seconds). This
|
||||
completes the installation of the custom Simulink block.
|
||||
|
||||
|
||||
B) HOW TO use the "gnss_sdr_tcp_connector_tracking_start.m" script:
|
||||
|
|
@ -71,9 +84,9 @@ B) HOW TO use the "gnss_sdr_tcp_connector_tracking_start.m" script:
|
|||
|
||||
----------------------- ------------------ -----------------------
|
||||
| | | | | |
|
||||
| gnss_sdr_tcp_ | | | | gnss_sdr_tcp_ |
|
||||
| connector_tracking_ | --> | Core | --> | connector_tracking_ |
|
||||
| receive | | | | send |
|
||||
| gnss_sdr_tcp_ | | gnss_sdr_tcp_ | | gnss_sdr_tcp_ |
|
||||
| connector_tracking_ | --> | connector_ | --> | connector_tracking_ |
|
||||
| rx | | tracking | | tx |
|
||||
| | | | | |
|
||||
----------------------- ------------------ -----------------------
|
||||
|
||||
|
|
@ -81,22 +94,25 @@ The 'gnss_sdr_tcp_connector_tracking_start.m' is the script that builds and
|
|||
configures a simulink model for interacting with the GNSS-SDR platform
|
||||
through a TCP communication. 'User parameters' can be modified but, by
|
||||
default, these are the values assigned:
|
||||
|
||||
|
||||
%User parameters
|
||||
host = '84.88.61.86'; //Remote IP address (GNSS-SDR computer IP)
|
||||
port = 2060; //Remote port (GNSS-SDR computer port for Ch0)
|
||||
datasize_RX = '28'; //Data size
|
||||
timeout = '10'; //Timeout in seconds
|
||||
host = '84.88.61.86'; %Remote IP address (GNSS-SDR computer IP)
|
||||
port = 2070; %Remote port (GNSS-SDR computer port for Ch0)
|
||||
num_vars_rx = 9; %Number of variables expected from GNSS-SDR
|
||||
num_vars_tx = 4; %Number of variable to be transmitted to GNSS-SDR
|
||||
timeout = '40'; %Timeout in seconds
|
||||
|
||||
'host', 'port' and 'timeout' parameters configure both 'gnss_sdr_tcp_connector_tracking_receive'
|
||||
and 'gnss_sdr_tcp_connector_tracking_send' blocks. The 'port' parameter
|
||||
sets the base port number for the first channel (ch0). Each of the
|
||||
subsequent channels increases their port by one unit (e.g. ch0_port=2060,
|
||||
ch1_port=2061,...)
|
||||
'host', 'port' and 'timeout' parameters configure both
|
||||
'gnss_sdr_tcp_connector_tracking_rx' and 'gnss_sdr_tcp_connector_tracking_tx'
|
||||
blocks. The 'port' parameter sets the base port number for the first
|
||||
channel (ch0). Each of the subsequent channels increases their port by one
|
||||
unit (e.g. ch0_port=2070, ch1_port=2071,...).
|
||||
|
||||
'datasize_RX' is the size (in bytes) of the received TCP packet data field.
|
||||
For example, if the number of float (4 bytes) variables to be received from
|
||||
the the GNSS-SDR computer is 7, this parameter must be set to 7*4=28.
|
||||
Also the name of the tracking block can be modified. It must match with
|
||||
the Simulink model name:
|
||||
|
||||
%Name of the tracking block, it must match the Simulink model name
|
||||
tracking_block_name = 'gnss_sdr_tcp_connector_tracking';
|
||||
|
||||
To run the script just type in the Matlab Command window the following:
|
||||
|
||||
|
|
@ -106,8 +122,15 @@ where N must match the number of channels configured in the GNSS-SDR
|
|||
platform.
|
||||
|
||||
|
||||
C) HOW TO replace the tracking block of the library
|
||||
------------------------------------------------
|
||||
|
||||
|
||||
|
||||
|
||||
1.- Open the library model 'gnss_sdr_tcp_connector_tracking_lib.mdl'
|
||||
2.- Unlock the library. Click on "Edit > Unlock Library".
|
||||
3.- Open the "gnss-sdr" block and change the "gnss_sdr_tcp_connector_tracking"
|
||||
block by another one. If the name is different it must be updated in
|
||||
the "gnss_sdr_tcp_connector_parallel_tracking_start.m" code (see
|
||||
section B)
|
||||
4.- Save the new library.
|
||||
5.- Go to section A and follow the instructions.
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,170 @@
|
|||
% /*!
|
||||
% * \file gnss_sdr_tcp_connector_tracking_start.m
|
||||
% * \brief This MATLAB function builds and configures a simulink model
|
||||
% * for interacting with the GNSS-SDR platform through a TCP communication.
|
||||
% * \author David Pubill, 2012. dpubill(at)cttc.es
|
||||
% *
|
||||
% * ----------------------------------------------------------------------
|
||||
% *
|
||||
% * Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
|
||||
% *
|
||||
% * GNSS-SDR is a software defined Global Navigation
|
||||
% * Satellite Systems receiver
|
||||
% *
|
||||
% * This file is part of GNSS-SDR.
|
||||
% *
|
||||
% * GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
% * it under the terms of the GNU General Public License as published by
|
||||
% * the Free Software Foundation, either version 3 of the License, or
|
||||
% * at your option) any later version.
|
||||
% *
|
||||
% * GNSS-SDR is distributed in the hope that it will be useful,
|
||||
% * but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
% * GNU General Public License for more details.
|
||||
% *
|
||||
% * You should have received a copy of the GNU General Public License
|
||||
% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
% *
|
||||
% * ----------------------------------------------------------------------
|
||||
% */
|
||||
|
||||
function gnss_sdr_tcp_connector_tracking_start(num_channels)
|
||||
|
||||
%User parameters
|
||||
host = '84.88.61.86'; %Remote IP address (GNSS-SDR computer IP)
|
||||
port = 2070; %Remote port (GNSS-SDR computer port for Ch0)
|
||||
num_vars_rx = 9; %Number of variables expected from GNSS-SDR
|
||||
num_vars_tx = 4; %Number of variable to be transmitted to GNSS-SDR
|
||||
timeout = '40'; %Timeout [s]
|
||||
|
||||
%name of the tracking block, it must match the name of the Simulink
|
||||
%model
|
||||
tracking_block_name = 'gnss_sdr_tcp_connector_tracking';
|
||||
|
||||
% Layout coordinates for the first gnss_sdr_tcp_connector_tracking
|
||||
% block and offset definitions
|
||||
X0 = 20;
|
||||
X1 = 170;
|
||||
Y0 = 20;
|
||||
Y1 = 140;
|
||||
X_offset = 200;
|
||||
Y_offset = 160;
|
||||
|
||||
%Calculate the size of the data received from GNSS-SDR
|
||||
%(float = 4 bytes each variable)
|
||||
datasize_RX = num_vars_rx*4;
|
||||
|
||||
%Create a Simulink model
|
||||
simulink('open');
|
||||
new_system('gnss_sdr_tcp_connector_tracking_aux');
|
||||
open_system('gnss_sdr_tcp_connector_tracking_aux');
|
||||
|
||||
%Set parameters to avoid warnings in the Command Window
|
||||
set_param('gnss_sdr_tcp_connector_tracking_aux',...
|
||||
'InheritedTsInSrcMsg', 'none');
|
||||
warning('off', 'Simulink:Commands:SetParamLinkChangeWarn');
|
||||
|
||||
%Assign values to the variables used by Simulink in the base workspace
|
||||
assignin('base', 'Ti', 1e-3);
|
||||
assignin('base', 'f0', 1.57542e9);
|
||||
assignin('base', 'SFunSlope', 3.5);
|
||||
assignin('base', 'Tc', 4e-3/4092);
|
||||
assignin('base', 'T', 1e-3);
|
||||
assignin('base', 'B_PLL', 50);
|
||||
assignin('base', 'B_DLL', 2);
|
||||
|
||||
%Block generation from the Simulink Library
|
||||
for i = 0:num_channels-1;
|
||||
|
||||
%Add and prepare an empty block to become the TCP connector block
|
||||
tcp_connector_block=['gnss_sdr_tcp_connector_tracking_aux/gnss_sdr_tcp_connector_tracking_', num2str(i)];
|
||||
|
||||
add_block('simulink/Ports & Subsystems/Subsystem', tcp_connector_block);
|
||||
delete_line(tcp_connector_block,'In1/1', 'Out1/1')
|
||||
|
||||
tcp_connector_tracking_i_In1 = ['gnss_sdr_tcp_connector_tracking_aux/gnss_sdr_tcp_connector_tracking_',num2str(i),'/In1'];
|
||||
tcp_connector_tracking_i_Out1 = ['gnss_sdr_tcp_connector_tracking_aux/gnss_sdr_tcp_connector_tracking_',num2str(i),'/Out1'];
|
||||
|
||||
delete_block(tcp_connector_tracking_i_In1);
|
||||
delete_block(tcp_connector_tracking_i_Out1);
|
||||
|
||||
%Add to the TCP connector block the receiver, the tracking and the
|
||||
%transmitter blocks
|
||||
tcp_connector_tracking_rx_block = ['gnss_sdr_tcp_connector_tracking_aux/gnss_sdr_tcp_connector_tracking_',num2str(i),'/gnss_sdr_tcp_connector_tracking_rx'];
|
||||
tcp_connector_tracking_block = ['gnss_sdr_tcp_connector_tracking_aux/gnss_sdr_tcp_connector_tracking_',num2str(i),'/',tracking_block_name];
|
||||
tcp_connector_tracking_tx_block = ['gnss_sdr_tcp_connector_tracking_aux/gnss_sdr_tcp_connector_tracking_',num2str(i),'/gnss_sdr_tcp_connector_tracking_tx'];
|
||||
|
||||
add_block('simulink/User-Defined Functions/gnss_sdr/gnss_sdr_tcp_connector_tracking_rx',tcp_connector_tracking_rx_block);
|
||||
|
||||
path_to_tracking_block = ['simulink/User-Defined Functions/gnss_sdr/', tracking_block_name];
|
||||
add_block(path_to_tracking_block, tcp_connector_tracking_block);
|
||||
|
||||
add_block('simulink/User-Defined Functions/gnss_sdr/gnss_sdr_tcp_connector_tracking_tx',tcp_connector_tracking_tx_block);
|
||||
|
||||
%Connect the receiver block to the tracking block
|
||||
for j=1:num_vars_rx;
|
||||
rx_out_ports =['gnss_sdr_tcp_connector_tracking_rx/',num2str(j)];
|
||||
tracking_in_ports =[tracking_block_name,'/',num2str(j)];
|
||||
|
||||
add_line(tcp_connector_block, rx_out_ports, tracking_in_ports)
|
||||
end
|
||||
|
||||
%Connect the tracking block to the transmitter block
|
||||
for k=1:num_vars_tx;
|
||||
tracking_out_ports =[tracking_block_name,'/',num2str(k)];
|
||||
tx_in_ports =['gnss_sdr_tcp_connector_tracking_tx/',num2str(k)];
|
||||
|
||||
add_line(tcp_connector_block, tracking_out_ports, tx_in_ports)
|
||||
end
|
||||
|
||||
%Add, place and connect two scopes in the TCP connector block
|
||||
name_scope_1 = [tcp_connector_block,'/Scope'];
|
||||
add_block('simulink/Sinks/Scope', name_scope_1, 'Position', [500 300 550 350]);
|
||||
set_param(name_scope_1, 'NumInputPorts', '4', 'LimitDataPoints', 'off');
|
||||
add_line(tcp_connector_block, 'gnss_sdr_tcp_connector_tracking_rx/9', 'Scope/1', 'autorouting','on')
|
||||
|
||||
tracking_scope_port2 = [tracking_block_name,'/2'];
|
||||
add_line(tcp_connector_block, tracking_scope_port2, 'Scope/2', 'autorouting','on')
|
||||
tracking_scope_port3 = [tracking_block_name,'/3'];
|
||||
add_line(tcp_connector_block, tracking_scope_port3, 'Scope/3', 'autorouting','on')
|
||||
tracking_scope_port4 = [tracking_block_name,'/4'];
|
||||
add_line(tcp_connector_block, tracking_scope_port4, 'Scope/4', 'autorouting','on')
|
||||
|
||||
name_scope_2 = [tcp_connector_block,'/EPL'];
|
||||
add_block('simulink/Sinks/Scope', name_scope_2, 'Position', [500 400 550 450]);
|
||||
set_param(name_scope_2, 'LimitDataPoints', 'off');
|
||||
tracking_scope2_port5 = [tracking_block_name,'/5'];
|
||||
add_line(tcp_connector_block, tracking_scope2_port5, 'EPL/1', 'autorouting','on')
|
||||
|
||||
%Set the TCP receiver parameters
|
||||
tcp_receiver = ['gnss_sdr_tcp_connector_tracking_aux/gnss_sdr_tcp_connector_tracking_',num2str(i),'/gnss_sdr_tcp_connector_tracking_rx/RX'];
|
||||
set_param(tcp_receiver, 'Port', num2str(port+i), 'Host', host, 'DataSize', num2str(datasize_RX), 'Timeout', timeout);
|
||||
|
||||
%Set the TCP transmitter parameters
|
||||
tcp_transmitter = ['gnss_sdr_tcp_connector_tracking_aux/gnss_sdr_tcp_connector_tracking_',num2str(i),'/gnss_sdr_tcp_connector_tracking_tx/TX'];
|
||||
set_param(tcp_transmitter, 'Port', num2str(port+i), 'Host', host,'Timeout', timeout);
|
||||
|
||||
%New layout coordinates for each block
|
||||
X2 = X0 + floor(i/4)*X_offset;
|
||||
X3 = X1 + floor(i/4)*X_offset;
|
||||
Y2 = Y0 + (i-4*floor(i/4))*Y_offset;
|
||||
Y3 = Y1 + (i-4*floor(i/4))*Y_offset;
|
||||
|
||||
%Place the block in the layout
|
||||
set_param(tcp_connector_block, 'Position', [X2 Y2 X3 Y3]);
|
||||
end
|
||||
|
||||
%Set parameters to configure the model Solver
|
||||
set_param('gnss_sdr_tcp_connector_tracking_aux',...
|
||||
'SolverType', 'Fixed-step', 'Solver', 'FixedStepDiscrete',...
|
||||
'FixedStep', 'auto', 'StopTime', 'inf');
|
||||
|
||||
%Save the model with a definitive name
|
||||
save_system('gnss_sdr_tcp_connector_tracking_aux', 'gnss_sdr_tcp_connector_tracking_ready');
|
||||
simulink('close');
|
||||
|
||||
%Run the Simulink model
|
||||
set_param('gnss_sdr_tcp_connector_tracking_ready','simulationcommand','start');
|
||||
|
||||
end
|
||||
|
|
@ -1,100 +0,0 @@
|
|||
% /*!
|
||||
% * \file gnss_sdr_tcp_connector_tracking_start.m
|
||||
% * \brief This MATLAB function builds and configures a simulink model
|
||||
% * for interacting with the GNSS-SDR platform through a TCP communication.
|
||||
% * \author David Pubill, 2012. dpubill(at)cttc.es
|
||||
% *
|
||||
% * ----------------------------------------------------------------------
|
||||
% *
|
||||
% * Copyright (C) 2010-2012 (see AUTHORS file for a list of contributors)
|
||||
% *
|
||||
% * GNSS-SDR is a software defined Global Navigation
|
||||
% * Satellite Systems receiver
|
||||
% *
|
||||
% * This file is part of GNSS-SDR.
|
||||
% *
|
||||
% * GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
% * it under the terms of the GNU General Public License as published by
|
||||
% * the Free Software Foundation, either version 3 of the License, or
|
||||
% * at your option) any later version.
|
||||
% *
|
||||
% * GNSS-SDR is distributed in the hope that it will be useful,
|
||||
% * but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
% * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
% * GNU General Public License for more details.
|
||||
% *
|
||||
% * You should have received a copy of the GNU General Public License
|
||||
% * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
% *
|
||||
% * ----------------------------------------------------------------------
|
||||
% */
|
||||
|
||||
function gnss_sdr_tcp_connector_tracking_start(num_channels)
|
||||
|
||||
%User parameters
|
||||
host = '84.88.61.86'; %Remote IP address (GNSS-SDR computer IP)
|
||||
port = 2060; %Remote port (GNSS-SDR computer port for Ch0)
|
||||
datasize_RX = '28'; %Data size
|
||||
timeout = '10'; %Timeout in seconds
|
||||
|
||||
% Layout coordinates for the first gnss_sdr_tcp_connector_tracking
|
||||
% block and offset definitions
|
||||
X0 = 20;
|
||||
X1 = 170;
|
||||
Y0 = 20;
|
||||
Y1 = 140;
|
||||
X_offset = 200;
|
||||
Y_offset = 160;
|
||||
|
||||
%Create a Simulink model
|
||||
simulink('open');
|
||||
new_system('gnss_sdr_tcp_connector_tracking_aux');
|
||||
open_system('gnss_sdr_tcp_connector_tracking_aux');
|
||||
|
||||
%Set parameters to configure the model Solver
|
||||
set_param('gnss_sdr_tcp_connector_tracking_aux',...
|
||||
'SolverType', 'Fixed-step', 'Solver', 'FixedStepDiscrete',...
|
||||
'FixedStep', '100', 'StopTime', 'inf');
|
||||
|
||||
%Set parameters to avoid warnings in the Command Window
|
||||
set_param('gnss_sdr_tcp_connector_tracking_aux',...
|
||||
'InheritedTsInSrcMsg', 'none');
|
||||
warning('off', 'Simulink:Commands:SetParamLinkChangeWarn');
|
||||
|
||||
%Block generation from the Simulink Library
|
||||
for i=0:num_channels-1;
|
||||
|
||||
name_new_block=['gnss_sdr_tcp_connector_tracking_aux/gnss_sdr_tcp_connector_tracking_',...
|
||||
num2str(i)];
|
||||
|
||||
add_block('simulink/User-Defined Functions/gnss_sdr_tcp_connector_tracking',...
|
||||
name_new_block);
|
||||
|
||||
name_RX = ['gnss_sdr_tcp_connector_tracking_aux/gnss_sdr_tcp_connector_tracking_',...
|
||||
num2str(i),'/gnss_sdr_tcp_connector_tracking_receive'];
|
||||
|
||||
set_param(name_RX, 'Port', num2str(port+i), 'Host', host,...
|
||||
'DataSize', datasize_RX, 'Timeout', timeout);
|
||||
|
||||
name_TX = ['gnss_sdr_tcp_connector_tracking_aux/gnss_sdr_tcp_connector_tracking_',...
|
||||
num2str(i),'/gnss_sdr_tcp_connector_tracking_send'];
|
||||
|
||||
set_param(name_TX, 'Port', num2str(port+i), 'Host', host,...
|
||||
'Timeout', timeout);
|
||||
|
||||
%New layout coordinates for each block
|
||||
X2 = X0 + floor(i/4)*X_offset;
|
||||
X3 = X1 + floor(i/4)*X_offset;
|
||||
Y2 = Y0 + (i-4*floor(i/4))*Y_offset;
|
||||
Y3 = Y1 + (i-4*floor(i/4))*Y_offset;
|
||||
|
||||
set_param(name_new_block, 'Position', [X2 Y2 X3 Y3]);
|
||||
end
|
||||
|
||||
save_system('gnss_sdr_tcp_connector_tracking_aux', 'gnss_sdr_tcp_connector_tracking_ready');
|
||||
simulink('close');
|
||||
|
||||
%Start Simulink simulation
|
||||
set_param('gnss_sdr_tcp_connector_tracking_ready','simulationcommand','start');
|
||||
|
||||
end
|
||||
Loading…
Reference in New Issue