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Code Issues Releases Wiki Activity

solved some bugs in GPS L5

Browse Source 
removed check for sign in multicorrelator results: this is not necessary anymore
did some other minor maintenances
This commit is contained in:
Marc Majoral 2018-08-07 18:56:54 +02:00
parent daedfc3e01
commit b1a7031e52
15 changed files with 158 additions and 107 deletions
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9
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc
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@ -59,8 +59,8 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000);
long fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in;
if_ = configuration_->property(role + ".if", 0);
acq_parameters.freq = if_;
//if_ = configuration_->property(role + ".if", 0);
//acq_parameters.freq = if_;
// dump_ = configuration_->property(role + ".dump", false);
// acq_parameters.dump = dump_;
@ -69,8 +69,11 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
acq_parameters.doppler_max = doppler_max_;
unsigned int sampled_ms = 4;
//unsigned int sampled_ms = 4;
//acq_parameters.sampled_ms = sampled_ms;
unsigned int sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 4);
acq_parameters.sampled_ms = sampled_ms;
// bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
// acq_parameters.bit_transition_flag = bit_transition_flag_;
// use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions

2
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.h
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@ -157,7 +157,7 @@ private:
//unsigned int sampled_ms_;
unsigned int max_dwells_;
//long fs_in_;
long if_;
//long if_;
bool dump_;
bool blocking_;
std::string dump_filename_;

10
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc
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@ -47,6 +47,7 @@ using google::LogMessage;
GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
//printf("creating the E5A acquisition");
pcpsconf_fpga_t acq_parameters;
configuration_ = configuration;
std::string default_item_type = "gr_complex";
@ -59,7 +60,7 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 32000000);
long fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in;
acq_parameters.freq = 0;
//acq_parameters.freq = 0;
//dump_ = configuration_->property(role + ".dump", false);
@ -94,6 +95,7 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
unsigned int nsamples_total = pow(2, nbits);
unsigned int vector_length = nsamples_total;
unsigned int select_queue_Fpga = configuration_->property(role + ".select_queue_Fpga", 1);
//printf("select_queue_Fpga = %d\n", select_queue_Fpga);
acq_parameters.select_queue_Fpga = select_queue_Fpga;
std::string default_device_name = "/dev/uio0";
std::string device_name = configuration_->property(role + ".devicename", default_device_name);
@ -111,6 +113,8 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
d_all_fft_codes_ = new lv_16sc_t[nsamples_total * Galileo_E5a_NUMBER_OF_CODES]; // memory containing all the possible fft codes for PRN 0 to 32
float max; // temporary maxima search
//printf("creating the E5A acquisition CONT");
//printf("nsamples_total = %d\n", nsamples_total);
for (unsigned int PRN = 1; PRN <= Galileo_E5a_NUMBER_OF_CODES; PRN++)
{
@ -130,7 +134,8 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
strcpy(signal_, "5I");
}
galileo_e5_a_code_gen_complex_sampled(code, signal_, gnss_synchro_->PRN, fs_in_, 0);
galileo_e5_a_code_gen_complex_sampled(code, signal_, PRN, fs_in, 0);
// fill in zero padding
for (int s = code_length; s < nsamples_total; s++)
@ -205,6 +210,7 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
//threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = 0;
//printf("creating the E5A acquisition end");
}

4
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc
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@ -63,8 +63,8 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
//fs_in = fs_in/2.0; // downampling filter
//printf("####### DEBUG Acq: fs_in = %d\n", fs_in);
acq_parameters.fs_in = fs_in;
long ifreq = configuration_->property(role + ".if", 0);
acq_parameters.freq = ifreq;
//long ifreq = configuration_->property(role + ".if", 0);
//acq_parameters.freq = ifreq;
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
acq_parameters.doppler_max = doppler_max_;

4
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.cc
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@ -61,8 +61,8 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in_;
if_ = configuration_->property(role + ".if", 0);
acq_parameters.freq = if_;
//if_ = configuration_->property(role + ".if", 0);
//acq_parameters.freq = if_;
//dump_ = configuration_->property(role + ".dump", false);
//acq_parameters.dump = dump_;
//blocking_ = configuration_->property(role + ".blocking", true);

2
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.h
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@ -153,7 +153,7 @@ private:
unsigned int doppler_step_;
unsigned int max_dwells_;
long fs_in_;
long if_;
//long if_;
bool dump_;
bool blocking_;
std::string dump_filename_;

32
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc
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@ -47,6 +47,7 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
//printf("L5 ACQ CLASS CREATED\n");
pcpsconf_fpga_t acq_parameters;
configuration_ = configuration;
std::string default_item_type = "gr_complex";
@ -59,8 +60,8 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
long fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in;
if_ = configuration_->property(role + ".if", 0);
acq_parameters.freq = if_;
//if_ = configuration_->property(role + ".if", 0);
//acq_parameters.freq = if_;
//dump_ = configuration_->property(role + ".dump", false);
//acq_parameters.dump = dump_;
//blocking_ = configuration_->property(role + ".blocking", true);
@ -68,7 +69,12 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
acq_parameters.doppler_max = doppler_max_;
acq_parameters.sampled_ms = 1;
//acq_parameters.sampled_ms = 1;
unsigned int sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 1);
acq_parameters.sampled_ms = sampled_ms;
//printf("L5 ACQ CLASS MID 0\n");
//bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
//acq_parameters.bit_transition_flag = bit_transition_flag_;
//use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
@ -78,32 +84,38 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
//dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
//acq_parameters.dump_filename = dump_filename_;
//--- Find number of samples per spreading code -------------------------
unsigned int code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in_) / (GPS_L5i_CODE_RATE_HZ / static_cast<double>(GPS_L5i_CODE_LENGTH_CHIPS))));
unsigned int code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / (GPS_L5i_CODE_RATE_HZ / static_cast<double>(GPS_L5i_CODE_LENGTH_CHIPS))));
acq_parameters.code_length = code_length;
// The FPGA can only use FFT lengths that are a power of two.
float nbits = ceilf(log2f((float)code_length));
unsigned int nsamples_total = pow(2, nbits);
unsigned int vector_length = nsamples_total;
unsigned int select_queue_Fpga = configuration_->property(role + ".select_queue_Fpga", 0);
unsigned int select_queue_Fpga = configuration_->property(role + ".select_queue_Fpga", 1);
acq_parameters.select_queue_Fpga = select_queue_Fpga;
std::string default_device_name = "/dev/uio0";
std::string device_name = configuration_->property(role + ".devicename", default_device_name);
acq_parameters.device_name = device_name;
acq_parameters.samples_per_ms = nsamples_total;
acq_parameters.samples_per_code = nsamples_total;
//printf("L5 ACQ CLASS MID 01\n");
// compute all the GPS L5 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
// a channel is assigned)
gr::fft::fft_complex* fft_if = new gr::fft::fft_complex(vector_length, true); // Direct FFT
std::complex<float>* code = new gr_complex[vector_length_];
//printf("L5 ACQ CLASS MID 02\n");
std::complex<float>* code = new gr_complex[vector_length];
//printf("L5 ACQ CLASS MID 03\n");
gr_complex* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
//printf("L5 ACQ CLASS MID 04\n");
d_all_fft_codes_ = new lv_16sc_t[nsamples_total * NUM_PRNs]; // memory containing all the possible fft codes for PRN 0 to 32
//printf("L5 ACQ CLASS MID 1 vector_length = %d\n", vector_length);
float max; // temporary maxima search
for (unsigned int PRN = 1; PRN <= NUM_PRNs; PRN++)
{
//printf("L5 ACQ CLASS processing PRN = %d\n", PRN);
gps_l5i_code_gen_complex_sampled(code, PRN, fs_in);
//printf("L5 ACQ CLASS processing PRN = %d (cont) \n", PRN);
// fill in zero padding
for (int s = code_length; s < nsamples_total; s++)
{
@ -141,6 +153,9 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
}
//printf("L5 ACQ CLASS MID 2\n");
//acq_parameters
acq_parameters.all_fft_codes = d_all_fft_codes_;
@ -191,6 +206,7 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
// threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = 0;
//printf("L5 ACQ CLASS FINISHED\n");
}

2
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.h
View File

@ -153,7 +153,7 @@ private:
unsigned int doppler_step_;
unsigned int max_dwells_;
long fs_in_;
long if_;
//long if_;
bool dump_;
bool blocking_;
std::string dump_filename_;

5
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.cc
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@ -88,7 +88,7 @@ pcps_acquisition_fpga::pcps_acquisition_fpga(pcpsconf_fpga_t conf_) : gr::block(
// this one is the one it should be but it doesn't work
acquisition_fpga = std::make_shared <fpga_acquisition>
(acq_parameters.device_name, acq_parameters.code_length, acq_parameters.doppler_max, d_fft_size,
acq_parameters.fs_in, acq_parameters.freq, acq_parameters.sampled_ms, acq_parameters.select_queue_Fpga, acq_parameters.all_fft_codes);
acq_parameters.fs_in, acq_parameters.sampled_ms, acq_parameters.select_queue_Fpga, acq_parameters.all_fft_codes);
// acquisition_fpga = std::make_shared <fpga_acquisition>
// (acq_parameters.device_name, acq_parameters.samples_per_code, acq_parameters.doppler_max, acq_parameters.samples_per_code,
@ -269,11 +269,12 @@ void pcps_acquisition_fpga::set_active(bool active)
//acquisition_fpga->block_samples();
// run loop in hw
//printf("LAUNCH ACQ\n");
acquisition_fpga->set_doppler_sweep(d_num_doppler_bins);
acquisition_fpga->run_acquisition();
acquisition_fpga->read_acquisition_results(&indext, &magt,
&initial_sample, &d_input_power, &d_doppler_index);
//printf("READ ACQ RESULTS\n");
// debug
//acquisition_fpga->unblock_samples();

2
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.h
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@ -66,7 +66,7 @@ typedef struct
/* pcps acquisition configuration */
unsigned int sampled_ms;
unsigned int doppler_max;
long freq;
//long freq;
long fs_in;
int samples_per_ms;
int samples_per_code;

14
src/algorithms/acquisition/libs/fpga_acquisition.cc
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@ -92,7 +92,7 @@ bool fpga_acquisition::set_local_code(unsigned int PRN)
fpga_acquisition::fpga_acquisition(std::string device_name,
unsigned int nsamples,
unsigned int doppler_max,
unsigned int nsamples_total, long fs_in, long freq,
unsigned int nsamples_total, long fs_in,
unsigned int sampled_ms, unsigned select_queue,
lv_16sc_t *all_fft_codes)
{
@ -103,7 +103,7 @@ fpga_acquisition::fpga_acquisition(std::string device_name,
//printf("AAA- vector_length = %d\n ", vector_length);
// initial values
d_device_name = device_name;
d_freq = freq;
//d_freq = freq;
d_fs_in = fs_in;
d_vector_length = vector_length;
d_nsamples = nsamples; // number of samples not including padding
@ -237,7 +237,8 @@ void fpga_acquisition::set_doppler_sweep(unsigned int num_sweeps)
int32_t phase_step_rad_int;
//int doppler = static_cast<int>(-d_doppler_max) + d_doppler_step * doppler_index;
int doppler = static_cast<int>(-d_doppler_max);
float phase_step_rad = GPS_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in);
//float phase_step_rad = GPS_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in);
float phase_step_rad = GPS_TWO_PI * (doppler) / static_cast<float>(d_fs_in);
// The doppler step can never be outside the range -pi to +pi, otherwise there would be aliasing
// The FPGA expects phase_step_rad between -1 (-pi) to +1 (+pi)
// The FPGA also expects the phase to be negative since it produces cos(x) -j*sin(x)
@ -282,7 +283,8 @@ void fpga_acquisition::set_doppler_sweep_debug(unsigned int num_sweeps, unsigned
int32_t phase_step_rad_int;
int doppler = static_cast<int>(-d_doppler_max) + d_doppler_step * doppler_index;
//int doppler = static_cast<int>(-d_doppler_max);
float phase_step_rad = GPS_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in);
//float phase_step_rad = GPS_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in);
float phase_step_rad = GPS_TWO_PI * (doppler) / static_cast<float>(d_fs_in);
// The doppler step can never be outside the range -pi to +pi, otherwise there would be aliasing
// The FPGA expects phase_step_rad between -1 (-pi) to +1 (+pi)
// The FPGA also expects the phase to be negative since it produces cos(x) -j*sin(x)
@ -325,6 +327,7 @@ void fpga_acquisition::set_doppler_sweep_debug(unsigned int num_sweeps, unsigned
void fpga_acquisition::configure_acquisition()
{
//printf("AAA d_select_queue = %d\n", d_select_queue);
d_map_base[0] = d_select_queue;
//printf("AAA writing d_vector_length = %d to d map base 1\n ", d_vector_length);
d_map_base[1] = d_vector_length;
@ -343,7 +346,8 @@ void fpga_acquisition::set_phase_step(unsigned int doppler_index)
float phase_step_rad_int_temp;
int32_t phase_step_rad_int;
int doppler = static_cast<int>(-d_doppler_max) + d_doppler_step * doppler_index;
float phase_step_rad = GPS_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in);
//float phase_step_rad = GPS_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in);
float phase_step_rad = GPS_TWO_PI * (doppler) / static_cast<float>(d_fs_in);
// The doppler step can never be outside the range -pi to +pi, otherwise there would be aliasing
// The FPGA expects phase_step_rad between -1 (-pi) to +1 (+pi)
// The FPGA also expects the phase to be negative since it produces cos(x) -j*sin(x)

4
src/algorithms/acquisition/libs/fpga_acquisition.h
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@ -48,7 +48,7 @@ public:
fpga_acquisition(std::string device_name,
unsigned int nsamples,
unsigned int doppler_max,
unsigned int nsamples_total, long fs_in, long freq,
unsigned int nsamples_total, long fs_in,
unsigned int sampled_ms, unsigned select_queue,
lv_16sc_t *all_fft_codes);
~fpga_acquisition();
@ -84,7 +84,7 @@ public:
}
private:
long d_freq;
//long d_freq;
long d_fs_in;
gr::fft::fft_complex *d_fft_if; // function used to run the fft of the local codes
// data related to the hardware module and the driver

10
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking_fpga.cc
View File

@ -50,6 +50,9 @@ GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
//printf("creating the E5A tracking");
Dll_Pll_Conf_Fpga trk_param_fpga = Dll_Pll_Conf_Fpga();
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
@ -123,7 +126,7 @@ GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
unsigned int device_base = configuration->property(role + ".device_base", 1);
trk_param_fpga.device_base = device_base;
//unsigned int multicorr_type = configuration->property(role + ".multicorr_type", 1);
trk_param_fpga.multicorr_type = 1; // 0 -> 3 correlators, 1 -> 5 correlators
trk_param_fpga.multicorr_type = 1; // 0 -> 3 correlators, 1 -> up to 5+1 correlators
//################# PRE-COMPUTE ALL THE CODES #################
unsigned int code_samples_per_chip = 1;
@ -201,6 +204,7 @@ GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
trk_param_fpga.code_length_chips = code_length_chips;
trk_param_fpga.code_samples_per_chip = code_samples_per_chip; // 2 sample per chip
//################# MAKE TRACKING GNURadio object ###################
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_param_fpga);
// if (item_type.compare("gr_complex") == 0)
// {
// item_size_ = sizeof(gr_complex);
@ -212,8 +216,11 @@ GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
// LOG(WARNING) << item_type << " unknown tracking item type.";
// }
channel_ = 0;
//DLOG(INFO) << "tracking(" << tracking_->unique_id() << ")";
DLOG(INFO) << "tracking(" << tracking_fpga_sc->unique_id() << ")";
}
@ -240,6 +247,7 @@ void GalileoE5aDllPllTrackingFpga::start_tracking()
*/
void GalileoE5aDllPllTrackingFpga::set_channel(unsigned int channel)
{
//printf("blabla channel = %d\n", channel);
channel_ = channel;
//tracking_->set_channel(channel);
tracking_fpga_sc->set_channel(channel);

22
src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking_fpga.cc
View File

@ -51,6 +51,7 @@ GpsL5DllPllTrackingFpga::GpsL5DllPllTrackingFpga(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
//printf("L5 TRK CLASS CREATED\n");
//dllpllconf_t trk_param;
Dll_Pll_Conf_Fpga trk_param_fpga = Dll_Pll_Conf_Fpga();
DLOG(INFO) << "role " << role;
@ -130,6 +131,7 @@ GpsL5DllPllTrackingFpga::GpsL5DllPllTrackingFpga(
//################# PRE-COMPUTE ALL THE CODES #################
unsigned int code_samples_per_chip = 1;
unsigned int code_length_chips = static_cast<unsigned int>(GPS_L5i_CODE_LENGTH_CHIPS);
//printf("TRK code_length_chips = %d\n", code_length_chips);
float *tracking_code;
float *data_code;
@ -148,27 +150,30 @@ GpsL5DllPllTrackingFpga::GpsL5DllPllTrackingFpga(
d_data_codes = static_cast<int *>(volk_gnsssdr_malloc((static_cast<unsigned int>(code_length_chips)) * NUM_PRNs * sizeof(int), volk_gnsssdr_get_alignment()));
}
//printf("start \n");
for (unsigned int PRN = 1; PRN <= NUM_PRNs; PRN++)
{
if (track_pilot)
{
gps_l5q_code_gen_float(tracking_code, PRN);
gps_l5i_code_gen_float(data_code, PRN);
for (unsigned int s = 0; s < 2*code_length_chips; s++)
{
d_ca_codes[static_cast<int>(code_length_chips)* (PRN - 1) + s] = static_cast<int>(tracking_code[s]);
d_data_codes[static_cast<int>(code_length_chips)* (PRN - 1) + s] = static_cast<int>(data_code[s]);
//printf("%f %d | ", data_codes_f[s], d_data_codes[static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS)* 2 * (PRN - 1) + s]);
for (unsigned int s = 0; s < code_length_chips; s++)
{
d_ca_codes[static_cast<int>(code_length_chips)* (PRN - 1) + s] = static_cast<int>(tracking_code[s]);
d_data_codes[static_cast<int>(code_length_chips)* (PRN - 1) + s] = static_cast<int>(data_code[s]);
//printf("%f %d | ", data_codes_f[s], d_data_codes[static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS)* 2 * (PRN - 1) + s]);
}
}
}
else
{
gps_l5i_code_gen_float(tracking_code, PRN);
gps_l5i_code_gen_float(tracking_code, PRN);
for (unsigned int s = 0; s < code_length_chips; s++)
{
d_ca_codes[static_cast<int>(code_length_chips) * (PRN - 1) + s] = static_cast<int>(data_code[s]);
@ -176,6 +181,7 @@ GpsL5DllPllTrackingFpga::GpsL5DllPllTrackingFpga(
}
}
}
//printf("end \n");
delete[] tracking_code;
@ -198,7 +204,9 @@ GpsL5DllPllTrackingFpga::GpsL5DllPllTrackingFpga(
// item_size_ = sizeof(gr_complex);
// LOG(WARNING) << item_type << " unknown tracking item type.";
// }
//printf("call \n");
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_param_fpga);
//printf("end2 \n");
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_fpga_sc->unique_id() << ")";
}

143
src/algorithms/tracking/libs/fpga_multicorrelator.cc
View File

@ -155,6 +155,8 @@ fpga_multicorrelator_8sc::fpga_multicorrelator_8sc(int n_correlators,
std::string device_name, unsigned int device_base, int *ca_codes, int *data_codes, unsigned int code_length_chips, bool track_pilot,
unsigned int multicorr_type, unsigned int code_samples_per_chip)
{
//printf("tracking fpga class created\n");
d_n_correlators = n_correlators;
d_device_name = device_name;
d_device_base = device_base;
@ -203,21 +205,21 @@ fpga_multicorrelator_8sc::fpga_multicorrelator_8sc(int n_correlators,
// write-only registers
d_CODE_PHASE_STEP_CHIPS_NUM_REG_ADDR = 0;
d_INITIAL_INDEX_REG_BASE_ADDR = 1;
if (d_multicorr_type == 0)
{
// multicorrelator with 3 correlators (16 registers only)
d_INITIAL_INTERP_COUNTER_REG_BASE_ADDR = 4;
d_NSAMPLES_MINUS_1_REG_ADDR = 7;
d_CODE_LENGTH_MINUS_1_REG_ADDR = 8;
d_REM_CARR_PHASE_RAD_REG_ADDR = 9;
d_PHASE_STEP_RAD_REG_ADDR = 10;
d_PROG_MEMS_ADDR = 11;
d_DROP_SAMPLES_REG_ADDR = 12;
d_INITIAL_COUNTER_VALUE_REG_ADDR = 13;
d_START_FLAG_ADDR = 14;
}
else
{
// if (d_multicorr_type == 0)
// {
// // multicorrelator with 3 correlators (16 registers only)
// d_INITIAL_INTERP_COUNTER_REG_BASE_ADDR = 4;
// d_NSAMPLES_MINUS_1_REG_ADDR = 7;
// d_CODE_LENGTH_MINUS_1_REG_ADDR = 8;
// d_REM_CARR_PHASE_RAD_REG_ADDR = 9;
// d_PHASE_STEP_RAD_REG_ADDR = 10;
// d_PROG_MEMS_ADDR = 11;
// d_DROP_SAMPLES_REG_ADDR = 12;
// d_INITIAL_COUNTER_VALUE_REG_ADDR = 13;
// d_START_FLAG_ADDR = 14;
// }
// else
// {
// other types of multicorrelators (32 registers)
d_INITIAL_INTERP_COUNTER_REG_BASE_ADDR = 7;
d_NSAMPLES_MINUS_1_REG_ADDR = 13;
@ -228,19 +230,21 @@ fpga_multicorrelator_8sc::fpga_multicorrelator_8sc(int n_correlators,
d_DROP_SAMPLES_REG_ADDR = 18;
d_INITIAL_COUNTER_VALUE_REG_ADDR = 19;
d_START_FLAG_ADDR = 30;
}
// }
//printf("d_n_correlators = %d\n", d_n_correlators);
//printf("d_multicorr_type = %d\n", d_multicorr_type);
// read-write registers
if (d_multicorr_type == 0)
{
// multicorrelator with 3 correlators (16 registers only)
d_TEST_REG_ADDR = 15;
}
else
{
// if (d_multicorr_type == 0)
// {
// // multicorrelator with 3 correlators (16 registers only)
// d_TEST_REG_ADDR = 15;
// }
// else
// {
// other types of multicorrelators (32 registers)
d_TEST_REG_ADDR = 31;
}
// }
// result 2's complement saturation value
if (d_multicorr_type == 0)
@ -256,24 +260,24 @@ fpga_multicorrelator_8sc::fpga_multicorrelator_8sc(int n_correlators,
// read only registers
d_RESULT_REG_REAL_BASE_ADDR = 1;
if (d_multicorr_type == 0)
{
// multicorrelator with 3 correlators (16 registers only)
d_RESULT_REG_IMAG_BASE_ADDR = 4;
d_RESULT_REG_DATA_REAL_BASE_ADDR = 0; // no pilot tracking
d_RESULT_REG_DATA_IMAG_BASE_ADDR = 0;
d_SAMPLE_COUNTER_REG_ADDR = 7;
}
else
{
// if (d_multicorr_type == 0)
// {
// // multicorrelator with 3 correlators (16 registers only)
// d_RESULT_REG_IMAG_BASE_ADDR = 4;
// d_RESULT_REG_DATA_REAL_BASE_ADDR = 0; // no pilot tracking
// d_RESULT_REG_DATA_IMAG_BASE_ADDR = 0;
// d_SAMPLE_COUNTER_REG_ADDR = 7;
//
// }
// else
// {
// other types of multicorrelators (32 registers)
d_RESULT_REG_IMAG_BASE_ADDR = 7;
d_RESULT_REG_DATA_REAL_BASE_ADDR = 6; // no pilot tracking
d_RESULT_REG_DATA_IMAG_BASE_ADDR = 12;
d_SAMPLE_COUNTER_REG_ADDR = 13;
}
// }
//printf("d_SAMPLE_COUNTER_REG_ADDR = %d\n", d_SAMPLE_COUNTER_REG_ADDR);
//printf("mmmmmmmmmmmmm d_n_correlators = %d\n", d_n_correlators);
@ -313,6 +317,7 @@ bool fpga_multicorrelator_8sc::free()
void fpga_multicorrelator_8sc::set_channel(unsigned int channel)
{
//printf("www trk set channel\n");
char device_io_name[MAX_LENGTH_DEVICEIO_NAME]; // driver io name
d_channel = channel;
@ -354,7 +359,7 @@ void fpga_multicorrelator_8sc::set_channel(unsigned int channel)
// }
// else
// {
// printf("mapping registers succes\n"); // this is for debug -- remove !
// printf("trk mapping registers succes\n"); // this is for debug -- remove !
// }
// sanity check : check test register
@ -364,7 +369,7 @@ void fpga_multicorrelator_8sc::set_channel(unsigned int channel)
if (writeval != readval)
{
LOG(WARNING) << "Test register sanity check failed";
// printf("tracking test register sanity check failed\n");
printf("tracking test register sanity check failed\n");
//printf("lslslls test sanity check reg failure\n");
}
@ -458,7 +463,7 @@ void fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code(int PRN)
| code_chip | select_pilot_corelator;
}
}
printf("\n");
//printf("\n");
}
@ -628,39 +633,39 @@ void fpga_multicorrelator_8sc::read_tracking_gps_results(void)
int readval_imag;
int k;
//printf("www reading trk results\n");
for (k = 0; k < d_n_correlators; k++)
{
readval_real = d_map_base[d_RESULT_REG_REAL_BASE_ADDR + k];
//printf("read real before checking d map base %d = %d\n", d_RESULT_REG_BASE_ADDR + k, readval_real);
// if (readval_real > debug_max_readval_real[k])
//// if (readval_real > debug_max_readval_real[k])
//// {
//// debug_max_readval_real[k] = readval_real;
//// }
// if (readval_real >= d_result_SAT_value) // 0x100000 (21 bits two's complement)
// {
// debug_max_readval_real[k] = readval_real;
// }
if (readval_real >= d_result_SAT_value) // 0x100000 (21 bits two's complement)
{
readval_real = -2*d_result_SAT_value + readval_real;
}
// if (readval_real > debug_max_readval_real_after_check[k])
// {
// debug_max_readval_real_after_check[k] = readval_real;
// readval_real = -2*d_result_SAT_value + readval_real;
// }
//// if (readval_real > debug_max_readval_real_after_check[k])
//// {
//// debug_max_readval_real_after_check[k] = readval_real;
//// }
//printf("read real d map base %d = %d\n", d_RESULT_REG_BASE_ADDR + k, readval_real);
readval_imag = d_map_base[d_RESULT_REG_IMAG_BASE_ADDR + k];
//printf("read imag before checking d map base %d = %d\n", d_RESULT_REG_BASE_ADDR + k, readval_imag);
// if (readval_imag > debug_max_readval_imag[k])
//// if (readval_imag > debug_max_readval_imag[k])
//// {
//// debug_max_readval_imag[k] = readval_imag;
//// }
//
// if (readval_imag >= d_result_SAT_value) // 0x100000 (21 bits two's complement)
// {
// debug_max_readval_imag[k] = readval_imag;
// }
if (readval_imag >= d_result_SAT_value) // 0x100000 (21 bits two's complement)
{
readval_imag = -2*d_result_SAT_value + readval_imag;
}
// if (readval_imag > debug_max_readval_imag_after_check[k])
// {
// debug_max_readval_imag_after_check[k] = readval_real;
// readval_imag = -2*d_result_SAT_value + readval_imag;
// }
//// if (readval_imag > debug_max_readval_imag_after_check[k])
//// {
//// debug_max_readval_imag_after_check[k] = readval_real;
//// }
//printf("read imag d map base %d = %d\n", d_RESULT_REG_BASE_ADDR + k, readval_imag);
d_corr_out[k] = gr_complex(readval_real,readval_imag);
@ -687,16 +692,16 @@ void fpga_multicorrelator_8sc::read_tracking_gps_results(void)
{
//printf("reading pilot !!!\n");
readval_real = d_map_base[d_RESULT_REG_DATA_REAL_BASE_ADDR];
if (readval_real >= d_result_SAT_value) // 0x100000 (21 bits two's complement)
{
readval_real = -2*d_result_SAT_value + readval_real;
}
// if (readval_real >= d_result_SAT_value) // 0x100000 (21 bits two's complement)
// {
// readval_real = -2*d_result_SAT_value + readval_real;
// }
readval_imag = d_map_base[d_RESULT_REG_DATA_IMAG_BASE_ADDR];
if (readval_imag >= d_result_SAT_value) // 0x100000 (21 bits two's complement)
{
readval_imag = -2*d_result_SAT_value + readval_imag;
}
// if (readval_imag >= d_result_SAT_value) // 0x100000 (21 bits two's complement)
// {
// readval_imag = -2*d_result_SAT_value + readval_imag;
// }
d_Prompt_Data[0] = gr_complex(readval_real,readval_imag);
}