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Carles Fernandez 2019-03-01 16:41:41 +01:00
commit ae386b5aa9
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15 changed files with 168 additions and 157 deletions
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5
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.h
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@ -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_;

18
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.h
View File

@ -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

4
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.cc
View File

@ -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();
}

12
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.h
View File

@ -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_;

13
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.h
View File

@ -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_;

12
src/algorithms/acquisition/libs/fpga_acquisition.cc
View File

@ -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()
{

210
src/algorithms/libs/gnss_sdr_fpga_sample_counter.cc
View File

@ -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;
}

2
src/algorithms/libs/gnss_sdr_fpga_sample_counter.h
View File

@ -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,

11
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking_fpga.cc
View File

@ -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();

3
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking_fpga.h
View File

@ -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_;

2
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking_fpga.cc
View File

@ -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_));

3
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_fpga.h
View File

@ -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_;

3
src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking_fpga.h
View File

@ -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_;

24
src/algorithms/tracking/libs/fpga_multicorrelator.cc
View File

@ -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);
}
}

3
src/algorithms/tracking/libs/fpga_multicorrelator.h
View File

@ -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;