Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next

src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.h

@@ -147,15 +147,10 @@ private:
     gr::blocks::stream_to_vector::sptr stream_to_vector_;
     gr::blocks::float_to_complex::sptr float_to_complex_;
     complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
-    bool bit_transition_flag_;
-    bool use_CFAR_algorithm_flag_;
     bool acquire_pilot_;
     uint32_t channel_;
     uint32_t doppler_max_;
     uint32_t doppler_step_;
-    uint32_t max_dwells_;
-    bool dump_;
-    bool blocking_;
     std::string dump_filename_;
     Gnss_Synchro* gnss_synchro_;
     std::string role_;

src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.h

@@ -67,7 +67,7 @@ public:
 
     inline size_t item_size() override
     {
-        return item_size_;
+        return sizeof(int);
     }
 
     void connect(gr::top_block_sptr top_block) override;
@@ -150,35 +150,19 @@ private:
     pcps_acquisition_fpga_sptr acquisition_fpga_;
     gr::blocks::stream_to_vector::sptr stream_to_vector_;
 
-    size_t item_size_;
-
     std::string item_type_;
     std::string dump_filename_;
     std::string role_;
 
-    bool bit_transition_flag_;
-    bool dump_;
     bool acq_pilot_;
-    bool use_CFAR_;
-    bool blocking_;
     bool acq_iq_;
 
-    uint32_t vector_length_;
-    uint32_t code_length_;
     uint32_t channel_;
     uint32_t doppler_max_;
     uint32_t doppler_step_;
-    uint32_t sampled_ms_;
-    uint32_t max_dwells_;
     unsigned int in_streams_;
     unsigned int out_streams_;
 
-    int64_t fs_in_;
-
-    float threshold_;
-
-    gr_complex* code_;
-
     Gnss_Synchro* gnss_synchro_;
 
     lv_16sc_t* d_all_fft_codes_;  // memory that contains all the code ffts

src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.cc

@@ -146,7 +146,6 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
 
 GpsL2MPcpsAcquisitionFpga::~GpsL2MPcpsAcquisitionFpga()
 {
-    //delete[] code_;
     delete[] d_all_fft_codes_;
 }
 
@@ -212,9 +211,6 @@ void GpsL2MPcpsAcquisitionFpga::init()
 
 void GpsL2MPcpsAcquisitionFpga::set_local_code()
 {
-    //gps_l2c_m_code_gen_complex_sampled(code_, gnss_synchro_->PRN, fs_in_);
-
-    //acquisition_fpga_->set_local_code(code_);
     acquisition_fpga_->set_local_code();
 }
 

src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.h

@@ -75,7 +75,7 @@ public:
 
     inline size_t item_size() override
     {
-        return item_size_;
+        return sizeof(int);
     }
 
     void connect(gr::top_block_sptr top_block) override;
@@ -149,23 +149,13 @@ private:
     gr::blocks::stream_to_vector::sptr stream_to_vector_;
     gr::blocks::float_to_complex::sptr float_to_complex_;
     complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
-    size_t item_size_;
     std::string item_type_;
-    unsigned int vector_length_;
-    unsigned int code_length_;
-    bool bit_transition_flag_;
-    bool use_CFAR_algorithm_flag_;
     unsigned int channel_;
     float threshold_;
     unsigned int doppler_max_;
     unsigned int doppler_step_;
-    unsigned int max_dwells_;
     int64_t fs_in_;
-    //long if_;
-    bool dump_;
-    bool blocking_;
     std::string dump_filename_;
-    std::complex<float>* code_;
     Gnss_Synchro* gnss_synchro_;
     std::string role_;
     unsigned int in_streams_;

src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.h

@@ -76,7 +76,7 @@ public:
 
     inline size_t item_size() override
     {
-        return item_size_;
+        return sizeof(int);
     }
 
     void connect(gr::top_block_sptr top_block) override;
@@ -149,22 +149,11 @@ private:
     gr::blocks::stream_to_vector::sptr stream_to_vector_;
     gr::blocks::float_to_complex::sptr float_to_complex_;
     complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
-    size_t item_size_;
     std::string item_type_;
-    uint32_t vector_length_;
-    uint32_t code_length_;
-    bool bit_transition_flag_;
-    bool use_CFAR_algorithm_flag_;
     uint32_t channel_;
-    float threshold_;
     uint32_t doppler_max_;
     uint32_t doppler_step_;
-    uint32_t max_dwells_;
-    int64_t fs_in_;
-    bool dump_;
-    bool blocking_;
     std::string dump_filename_;
-    std::complex<float>* code_;
     Gnss_Synchro* gnss_synchro_;
     std::string role_;
     unsigned int in_streams_;

src/algorithms/acquisition/libs/fpga_acquisition.cc

@@ -62,6 +62,18 @@
 #define SELECT_ALL_CODE_BITS 0x000FFFFF       // Select a 20 bit word
 #define SHL_CODE_BITS 1024                    // shift left by 10 bits
 
+#ifndef TEMP_FAILURE_RETRY
+#define TEMP_FAILURE_RETRY(exp)              \
+    ({                                       \
+        decltype(exp) _rc;                   \
+        do                                   \
+            {                                \
+                _rc = (exp);                 \
+            }                                \
+        while (_rc == -1 && errno == EINTR); \
+        _rc;                                 \
+    })
+#endif
 
 bool Fpga_Acquisition::init()
 {

src/algorithms/libs/gnss_sdr_fpga_sample_counter.cc

@@ -40,8 +40,23 @@
 #include <string>
 #include <sys/mman.h>  // libraries used by the GIPO
 
+using google::LogMessage;
+
 #define PAGE_SIZE 0x10000             // default page size for the multicorrelator memory map
 #define TEST_REG_SANITY_CHECK 0x55AA  // value to check the presence of the test register (to detect the hw)
+#ifndef TEMP_FAILURE_RETRY
+#define TEMP_FAILURE_RETRY(exp)              \
+    ({                                       \
+        decltype(exp) _rc;                   \
+        do                                   \
+            {                                \
+                _rc = (exp);                 \
+            }                                \
+        while (_rc == -1 && errno == EINTR); \
+        _rc;                                 \
+    })
+#endif
+
 
 gnss_sdr_fpga_sample_counter::gnss_sdr_fpga_sample_counter(
     double _fs,
@@ -59,7 +74,7 @@ gnss_sdr_fpga_sample_counter::gnss_sdr_fpga_sample_counter(
     //The hardware timer must keep always interrupting the PS. It must not wait for the interrupt to
     //be served.
     open_device();
-
+    is_open = true;
     sample_counter = 0ULL;
     current_T_rx_ms = 0;
     current_s = 0;
@@ -81,6 +96,15 @@ gnss_sdr_fpga_sample_counter_sptr gnss_sdr_make_fpga_sample_counter(double _fs,
 }
 
 
+gnss_sdr_fpga_sample_counter::~gnss_sdr_fpga_sample_counter()
+{
+    if (is_open)
+        {
+            close_device();
+        }
+}
+
+
 // Called by gnuradio to enable drivers, etc for i/o devices.
 bool gnss_sdr_fpga_sample_counter::start()
 {
@@ -100,102 +124,11 @@ bool gnss_sdr_fpga_sample_counter::stop()
     //todo: place here the routines to stop the associated hardware (if needed).This function will be called by GNURadio at every stop of the flowgraph.
     // return true if everything is ok.
     close_device();
-
+    is_open = false;
     return true;
 }
 
 
-int gnss_sdr_fpga_sample_counter::general_work(int noutput_items __attribute__((unused)),
-    __attribute__((unused)) gr_vector_int &ninput_items,
-    __attribute__((unused)) gr_vector_const_void_star &input_items,
-    gr_vector_void_star &output_items)
-{
-    //todo: Call here a function that waits for an interrupt. Do not open a thread,
-    //it must be a simple call to a BLOCKING function.
-    // The function will return the actual absolute sample count of the internal counter of the timmer.
-    // store the sample count in class member sample_counter
-    // Possible problem: what happen if the PS is overloaded and gnuradio does not call this function
-    // with the sufficient rate to catch all the interrupts in the counter. To be evaluated later.
-
-    uint32_t counter = wait_for_interrupt_and_read_counter();
-    uint64_t samples_passed = 2 * static_cast<uint64_t>(samples_per_output) - static_cast<uint64_t>(counter);  // ellapsed samples
-    // Note: at this moment the sample counter is implemented as a sample counter that decreases to zero and then it is automatically
-    // reloaded again and keeps counter. It is done in this way to minimize the logic in the FPGA and maximize the FPGA clock performance
-    // (it takes less resources and latency in the FPGA to compare a number against a fixed value like zero than to compare it to a programmable
-    // variable number).
-
-    sample_counter = sample_counter + samples_passed;  //samples_per_output;
-    auto *out = reinterpret_cast<Gnss_Synchro *>(output_items[0]);
-    out[0] = Gnss_Synchro();
-    out[0].Flag_valid_symbol_output = false;
-    out[0].Flag_valid_word = false;
-    out[0].Channel_ID = -1;
-    out[0].fs = fs;
-    if ((current_T_rx_ms % report_interval_ms) == 0)
-        {
-            current_s++;
-            if ((current_s % 60) == 0)
-                {
-                    current_s = 0;
-                    current_m++;
-                    flag_m = true;
-                    if ((current_m % 60) == 0)
-                        {
-                            current_m = 0;
-                            current_h++;
-                            flag_h = true;
-                            if ((current_h % 24) == 0)
-                                {
-                                    current_h = 0;
-                                    current_days++;
-                                    flag_days = true;
-                                }
-                        }
-                }
-
-            if (flag_days)
-                {
-                    std::string day;
-                    if (current_days == 1)
-                        {
-                            day = " day ";
-                        }
-                    else
-                        {
-                            day = " days ";
-                        }
-                    std::cout << "Current receiver time: " << current_days << day << current_h << " h " << current_m << " min " << current_s << " s" << std::endl;
-                }
-            else
-                {
-                    if (flag_h)
-                        {
-                            std::cout << "Current receiver time: " << current_h << " h " << current_m << " min " << current_s << " s" << std::endl;
-                        }
-                    else
-                        {
-                            if (flag_m)
-                                {
-                                    std::cout << "Current receiver time: " << current_m << " min " << current_s << " s" << std::endl;
-                                }
-                            else
-                                {
-                                    std::cout << "Current receiver time: " << current_s << " s" << std::endl;
-                                }
-                        }
-                }
-            if (flag_enable_send_msg)
-                {
-                    message_port_pub(pmt::mp("receiver_time"), pmt::from_double(static_cast<double>(current_T_rx_ms) / 1000.0));
-                }
-        }
-    out[0].Tracking_sample_counter = sample_counter;
-    //current_T_rx_ms = (sample_counter * 1000) / samples_per_output;
-    current_T_rx_ms = interval_ms * (sample_counter) / samples_per_output;
-    return 1;
-}
-
-
 uint32_t gnss_sdr_fpga_sample_counter::test_register(uint32_t writeval)
 {
     uint32_t readval;
@@ -290,3 +223,94 @@ uint32_t gnss_sdr_fpga_sample_counter::wait_for_interrupt_and_read_counter()
     counter = samples_per_output;  //map_base[0];
     return counter;
 }
+
+
+int gnss_sdr_fpga_sample_counter::general_work(int noutput_items __attribute__((unused)),
+    __attribute__((unused)) gr_vector_int &ninput_items,
+    __attribute__((unused)) gr_vector_const_void_star &input_items,
+    gr_vector_void_star &output_items)
+{
+    //todo: Call here a function that waits for an interrupt. Do not open a thread,
+    //it must be a simple call to a BLOCKING function.
+    // The function will return the actual absolute sample count of the internal counter of the timmer.
+    // store the sample count in class member sample_counter
+    // Possible problem: what happen if the PS is overloaded and gnuradio does not call this function
+    // with the sufficient rate to catch all the interrupts in the counter. To be evaluated later.
+
+    uint32_t counter = wait_for_interrupt_and_read_counter();
+    uint64_t samples_passed = 2 * static_cast<uint64_t>(samples_per_output) - static_cast<uint64_t>(counter);  // ellapsed samples
+    // Note: at this moment the sample counter is implemented as a sample counter that decreases to zero and then it is automatically
+    // reloaded again and keeps counter. It is done in this way to minimize the logic in the FPGA and maximize the FPGA clock performance
+    // (it takes less resources and latency in the FPGA to compare a number against a fixed value like zero than to compare it to a programmable
+    // variable number).
+
+    sample_counter = sample_counter + samples_passed;  //samples_per_output;
+    auto *out = reinterpret_cast<Gnss_Synchro *>(output_items[0]);
+    out[0] = Gnss_Synchro();
+    out[0].Flag_valid_symbol_output = false;
+    out[0].Flag_valid_word = false;
+    out[0].Channel_ID = -1;
+    out[0].fs = fs;
+    if ((current_T_rx_ms % report_interval_ms) == 0)
+        {
+            current_s++;
+            if ((current_s % 60) == 0)
+                {
+                    current_s = 0;
+                    current_m++;
+                    flag_m = true;
+                    if ((current_m % 60) == 0)
+                        {
+                            current_m = 0;
+                            current_h++;
+                            flag_h = true;
+                            if ((current_h % 24) == 0)
+                                {
+                                    current_h = 0;
+                                    current_days++;
+                                    flag_days = true;
+                                }
+                        }
+                }
+
+            if (flag_days)
+                {
+                    std::string day;
+                    if (current_days == 1)
+                        {
+                            day = " day ";
+                        }
+                    else
+                        {
+                            day = " days ";
+                        }
+                    std::cout << "Current receiver time: " << current_days << day << current_h << " h " << current_m << " min " << current_s << " s" << std::endl;
+                }
+            else
+                {
+                    if (flag_h)
+                        {
+                            std::cout << "Current receiver time: " << current_h << " h " << current_m << " min " << current_s << " s" << std::endl;
+                        }
+                    else
+                        {
+                            if (flag_m)
+                                {
+                                    std::cout << "Current receiver time: " << current_m << " min " << current_s << " s" << std::endl;
+                                }
+                            else
+                                {
+                                    std::cout << "Current receiver time: " << current_s << " s" << std::endl;
+                                }
+                        }
+                }
+            if (flag_enable_send_msg)
+                {
+                    message_port_pub(pmt::mp("receiver_time"), pmt::from_double(static_cast<double>(current_T_rx_ms) / 1000.0));
+                }
+        }
+    out[0].Tracking_sample_counter = sample_counter;
+    //current_T_rx_ms = (sample_counter * 1000) / samples_per_output;
+    current_T_rx_ms = interval_ms * (sample_counter) / samples_per_output;
+    return 1;
+}

src/algorithms/libs/gnss_sdr_fpga_sample_counter.h

@@ -72,9 +72,11 @@ private:
     int32_t fd;                             // driver descriptor
     volatile uint32_t *map_base;            // driver memory map
     std::string device_name = "/dev/uio2";  // HW device name
+    bool is_open;
 
 public:
     friend gnss_sdr_fpga_sample_counter_sptr gnss_sdr_make_fpga_sample_counter(double _fs, int32_t _interval_ms);
+    ~gnss_sdr_fpga_sample_counter();
     int general_work(int noutput_items,
         gr_vector_int &ninput_items,
         gr_vector_const_void_star &input_items,

src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking_fpga.cc

@@ -3,7 +3,6 @@
  * \brief  Adapts a DLL+PLL VEML (Very Early Minus Late) tracking loop block
  *   to a TrackingInterface for Galileo E1 signals for the FPGA
  * \author Marc Majoral, 2019. mmajoral(at)cttc.cat
- * \author Luis Esteve, 2012. luis(at)epsilon-formacion.com
  *
  * Code DLL + carrier PLL according to the algorithms described in:
  * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
@@ -45,10 +44,6 @@
 
 using google::LogMessage;
 
-void GalileoE1DllPllVemlTrackingFpga::stop_tracking()
-{
-}
-
 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)
@@ -136,6 +131,7 @@ GalileoE1DllPllVemlTrackingFpga::GalileoE1DllPllVemlTrackingFpga(
     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()));
     float* ca_codes_f;
     float* data_codes_f = nullptr;
+    d_data_codes = nullptr;
 
     if (d_track_pilot)
         {
@@ -200,6 +196,11 @@ GalileoE1DllPllVemlTrackingFpga::~GalileoE1DllPllVemlTrackingFpga()
 }
 
 
+void GalileoE1DllPllVemlTrackingFpga::stop_tracking()
+{
+}
+
+
 void GalileoE1DllPllVemlTrackingFpga::start_tracking()
 {
     tracking_fpga_sc->start_tracking();

src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking_fpga.h

@@ -71,7 +71,7 @@ public:
 
     inline size_t item_size() override
     {
-        return item_size_;
+        return sizeof(int);
     }
 
     void connect(gr::top_block_sptr top_block) override;
@@ -101,7 +101,6 @@ public:
 
 private:
     dll_pll_veml_tracking_fpga_sptr tracking_fpga_sc;
-    size_t item_size_;
     uint32_t channel_;
     std::string role_;
     uint32_t in_streams_;

src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking_fpga.cc

@@ -114,6 +114,7 @@ GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
     double carrier_lock_th = configuration->property(role + ".carrier_lock_th", 0.85);
     if (FLAGS_carrier_lock_th != 0.85) carrier_lock_th = FLAGS_carrier_lock_th;
     trk_param_fpga.carrier_lock_th = carrier_lock_th;
+    d_data_codes = nullptr;
 
     // FPGA configuration parameters
     std::string default_device_name = "/dev/uio";
@@ -136,7 +137,6 @@ GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
             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()));
         }
 
-
     for (uint32_t PRN = 1; PRN <= GALILEO_E5A_NUMBER_OF_CODES; PRN++)
         {
             galileo_e5_a_code_gen_complex_primary(aux_code, PRN, const_cast<char *>(sig_));

src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_fpga.h

@@ -70,7 +70,7 @@ public:
 
     inline size_t item_size() override
     {
-        return item_size_;
+        return sizeof(int)
     }
 
     void connect(gr::top_block_sptr top_block) override;
@@ -98,7 +98,6 @@ public:
 
 private:
     dll_pll_veml_tracking_fpga_sptr tracking_fpga_sc;
-    size_t item_size_;
     uint32_t channel_;
     std::string role_;
     uint32_t in_streams_;

src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking_fpga.h

@@ -70,7 +70,7 @@ public:
 
     inline size_t item_size() override
     {
-        return item_size_;
+        return sizeof(int);
     }
 
     void connect(gr::top_block_sptr top_block) override;
@@ -97,7 +97,6 @@ public:
 
 private:
     dll_pll_veml_tracking_fpga_sptr tracking_fpga_sc;
-    size_t item_size_;
     uint32_t channel_;
     std::string role_;
     uint32_t in_streams_;

src/algorithms/tracking/libs/fpga_multicorrelator.cc

@@ -66,6 +66,18 @@
 #define LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY 0x0C000000
 #define TEST_REGISTER_TRACK_WRITEVAL 0x55AA
 
+#ifndef TEMP_FAILURE_RETRY
+#define TEMP_FAILURE_RETRY(exp)              \
+    ({                                       \
+        decltype(exp) _rc;                   \
+        do                                   \
+            {                                \
+                _rc = (exp);                 \
+            }                                \
+        while (_rc == -1 && errno == EINTR); \
+        _rc;                                 \
+    })
+#endif
 
 Fpga_Multicorrelator_8sc::Fpga_Multicorrelator_8sc(int32_t n_correlators,
     std::string device_name, uint32_t device_base, int32_t *ca_codes, int32_t *data_codes, uint32_t code_length_chips, bool track_pilot,
@@ -95,6 +107,7 @@ Fpga_Multicorrelator_8sc::Fpga_Multicorrelator_8sc(int32_t n_correlators,
         }
     d_shifts_chips = nullptr;
     d_prompt_data_shift = nullptr;
+    d_Prompt_Data = nullptr;
     d_corr_out = nullptr;
     d_code_length_chips = 0;
     d_rem_code_phase_chips = 0;
@@ -105,7 +118,8 @@ Fpga_Multicorrelator_8sc::Fpga_Multicorrelator_8sc(int32_t n_correlators,
     d_phase_step_rad_int = 0;
     d_initial_sample_counter = 0;
     d_channel = 0;
-    d_correlator_length_samples = 0,
+    d_correlator_length_samples = 0;
+    d_code_phase_step_chips_num = 0;
     d_code_length_chips = code_length_chips;
     d_ca_codes = ca_codes;
     d_data_codes = data_codes;
@@ -119,6 +133,14 @@ Fpga_Multicorrelator_8sc::Fpga_Multicorrelator_8sc(int32_t n_correlators,
 Fpga_Multicorrelator_8sc::~Fpga_Multicorrelator_8sc()
 {
     close_device();
+    if (d_initial_index != nullptr)
+        {
+            volk_gnsssdr_free(d_initial_index);
+        }
+    if (d_initial_interp_counter != nullptr)
+        {
+            volk_gnsssdr_free(d_initial_interp_counter);
+        }
 }
 
 

src/algorithms/tracking/libs/fpga_multicorrelator.h

@@ -98,7 +98,7 @@ private:
     float *d_shifts_chips;
     float *d_prompt_data_shift;
     int32_t d_code_length_chips;
-    int32_t d_n_correlators;
+    int32_t d_n_correlators; // number of correlators
 
     // data related to the hardware module and the driver
     int32_t d_device_descriptor;    // driver descriptor
@@ -106,7 +106,6 @@ private:
 
     // configuration data received from the interface
     uint32_t d_channel;       // channel number
-    uint32_t d_ncorrelators;  // number of correlators
     uint32_t d_correlator_length_samples;
     float d_rem_code_phase_chips;
     float d_code_phase_step_chips;