volk_gnsssdr: improve install path detection

Re-enable usage of own cpu_features if volk >= 3.1 and not found
Add toolchain file for riscv64 RVV and CI tests

.github/workflows/volk_gnsssdr_archs.yml

@@ -76,3 +76,42 @@ jobs:
             ./apps/volk_gnsssdr-config-info --malloc
             ./apps/volk_gnsssdr-config-info --cc
             ctest -V
+
+
+  RISCV64-RVV-tests:
+    runs-on: ubuntu-24.04
+    name: RISCV64 RVV tests
+    steps:
+    - uses: actions/checkout@v4
+    - name: Install packages
+      run: |
+        sudo apt-get update -q -y
+        sudo apt-get install -y python3-mako cmake qemu-user-static g++-14-riscv64-linux-gnu clang-18
+    - name: Test RVV with gcc-14 VLEN=128
+      run: |
+        mkdir -p gcc14_VLEN_128; cd gcc14_VLEN_128
+        CXX=riscv64-linux-gnu-g++-14 CC=riscv64-linux-gnu-gcc-14 VLEN=128 cmake -DCMAKE_TOOLCHAIN_FILE=../src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Toolchains/rv64gcv-linux-gnu.cmake ../src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/
+        make -j$(nproc)
+        ARGS=-V make test
+        cd ..; rm -rf gcc14_VLEN_128
+    - name: Test RVV with gcc-14 VLEN=256
+      run: |
+        mkdir -p gcc14_VLEN_256; cd gcc14_VLEN_256
+        CXX=riscv64-linux-gnu-g++-14 CC=riscv64-linux-gnu-gcc-14 VLEN=256 cmake -DCMAKE_TOOLCHAIN_FILE=../src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Toolchains/rv64gcv-linux-gnu.cmake  -DCMAKE_BUILD_TYPE=Release ../src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/
+        make -j$(nproc)
+        ARGS=-V make test
+        cd ..; rm -rf gcc14_VLEN_256
+    - name: Test RVV with clang-18 VLEN=512
+      run: |
+        mkdir -p clang18_VLEN_512; cd clang18_VLEN_512
+        CXX=clang++-18 CC=clang-18 CFLAGS=--target=riscv64-linux-gnu VLEN=512 cmake -DCMAKE_TOOLCHAIN_FILE=../src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Toolchains/rv64gcv-linux-gnu.cmake ../src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/
+        make -j$(nproc)
+        ARGS=-V make test
+        cd ..; rm -rf clang18_VLEN_512
+    - name: Test RVV with clang-18 VLEN=1024
+      run: |
+        mkdir -p clang18_VLEN_1024; cd clang18_VLEN_1024
+        CXX=clang++-18 CC=clang-18 CFLAGS=--target=riscv64-linux-gnu VLEN=1024 cmake -DCMAKE_TOOLCHAIN_FILE=../src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Toolchains/rv64gcv-linux-gnu.cmake -DCMAKE_BUILD_TYPE=Release ../src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/
+        make -j$(nproc)
+        ARGS=-V make test
+        cd ..; rm -rf clang18_VLEN_1024

CMakeLists.txt

@@ -28,7 +28,6 @@ list(APPEND CMAKE_MODULE_PATH ${GNSSSDR_SOURCE_DIR}/cmake/Modules)
 # Enable them at the command line by doing 'cmake -DENABLE_XXX=ON ..'
 ################################################################################
 include(FeatureSummary)
-include(GnsssdrLibPaths)
 
 # Support of optional RF front-ends
 option(ENABLE_UHD "Enable the use of UHD (driver for all USRP devices)" ON)
@@ -611,6 +610,13 @@ set_package_properties(Threads PROPERTIES
 
 
 
+################################################################################
+# Set GNSSSDR_LIB_PATHS
+################################################################################
+include(GnsssdrLibPaths)
+
+
+
 ################################################################################
 # Googletest - https://github.com/google/googletest
 ################################################################################
@@ -1298,9 +1304,6 @@ if(NOT VOLKGNSSSDR_FOUND)
     CMAKE_SYSTEM_PROCESSOR MATCHES "^loongarch")
         set(SUPPORTED_CPU_FEATURES_ARCH TRUE)
     endif()
-    if(${CMAKE_INSTALL_LIBDIR} MATCHES lib64)
-        set(VOLK_GNSSSDR_LIB_SUFFIX 64)
-    endif()
     if(CMAKE_VERSION VERSION_LESS 3.2)
         ExternalProject_Add(volk_gnsssdr_module
             PREFIX ${GNSSSDR_BINARY_DIR}/volk_gnsssdr_module
@@ -1318,7 +1321,7 @@ if(NOT VOLKGNSSSDR_FOUND)
     else()
         if(SUPPORTED_CPU_FEATURES_ARCH)
             set(VOLK_GNSSSDR_BUILD_BYPRODUCTS
-                ${GNSSSDR_BINARY_DIR}/volk_gnsssdr_module/install/lib${VOLK_GNSSSDR_LIB_SUFFIX}/${CMAKE_FIND_LIBRARY_PREFIXES}volk_gnsssdr${CMAKE_STATIC_LIBRARY_SUFFIX}
+                ${GNSSSDR_BINARY_DIR}/volk_gnsssdr_module/install/${CMAKE_INSTALL_LIBDIR}/${CMAKE_FIND_LIBRARY_PREFIXES}volk_gnsssdr${CMAKE_STATIC_LIBRARY_SUFFIX}
                 ${GNSSSDR_BINARY_DIR}/volk_gnsssdr_module/install/bin/volk_gnsssdr_profile
             )
             if(ENABLE_CPUFEATURES)
@@ -1341,7 +1344,7 @@ if(NOT VOLKGNSSSDR_FOUND)
                 set_package_properties(CPUFEATURES PROPERTIES
                     DESCRIPTION "A cross platform C99 library to get CPU features at runtime"
                 )
-                if((DEFINED VOLK_VERSION AND VOLK_VERSION VERSION_GREATER "2.3") OR (CMAKE_VERSION VERSION_LESS "3.13")) # avoid clash with volk's cpufeatures.
+                if((DEFINED VOLK_VERSION AND VOLK_VERSION VERSION_GREATER "2.3" AND VOLK_VERSION VERSION_LESS "3.1") OR (CMAKE_VERSION VERSION_LESS "3.13")) # avoid clash with volk's cpufeatures.
                     set(ENABLE_CPUFEATURES OFF)
                 else()
                     set_package_properties(CPUFEATURES PROPERTIES
@@ -1386,7 +1389,7 @@ if(NOT VOLKGNSSSDR_FOUND)
                 UPDATE_COMMAND ""
                 PATCH_COMMAND ""
                 BUILD_COMMAND ${VOLK_GNSSSDR_BUILD_COMMAND}
-                BUILD_BYPRODUCTS ${GNSSSDR_BINARY_DIR}/volk_gnsssdr_module/install/lib${VOLK_GNSSSDR_LIB_SUFFIX}/${CMAKE_FIND_LIBRARY_PREFIXES}volk_gnsssdr${CMAKE_STATIC_LIBRARY_SUFFIX}
+                BUILD_BYPRODUCTS ${GNSSSDR_BINARY_DIR}/volk_gnsssdr_module/install/${CMAKE_INSTALL_LIBDIR}/${CMAKE_FIND_LIBRARY_PREFIXES}volk_gnsssdr${CMAKE_STATIC_LIBRARY_SUFFIX}
                     ${GNSSSDR_BINARY_DIR}/volk_gnsssdr_module/install/bin/volk_gnsssdr_profile
                     ${GNSSSDR_BINARY_DIR}/volk_gnsssdr_module/install/bin/volk_gnsssdr-config-info
                 INSTALL_DIR ${GNSSSDR_BINARY_DIR}/volk_gnsssdr_module/install
@@ -1400,7 +1403,7 @@ if(NOT VOLKGNSSSDR_FOUND)
     endif()
 
     add_library(volk_gnsssdr UNKNOWN IMPORTED)
-    set_property(TARGET volk_gnsssdr PROPERTY IMPORTED_LOCATION ${GNSSSDR_BINARY_DIR}/volk_gnsssdr_module/install/lib${VOLK_GNSSSDR_LIB_SUFFIX}/libvolk_gnsssdr${CMAKE_STATIC_LIBRARY_SUFFIX})
+    set_property(TARGET volk_gnsssdr PROPERTY IMPORTED_LOCATION ${GNSSSDR_BINARY_DIR}/volk_gnsssdr_module/install/${CMAKE_INSTALL_LIBDIR}/libvolk_gnsssdr${CMAKE_STATIC_LIBRARY_SUFFIX})
     set(VOLK_GNSSSDR_INCLUDE_DIRS "${GNSSSDR_BINARY_DIR}/volk_gnsssdr_module/build/include/;${GNSSSDR_SOURCE_DIR}/src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/include;${ORC_INCLUDE_DIRS}")
     set(VOLK_GNSSSDR_LIBRARIES volk_gnsssdr ${ORC_LIBRARIES_STATIC})
     if(CPUFEATURES_FOUND)
@@ -1413,7 +1416,7 @@ if(NOT VOLKGNSSSDR_FOUND)
         add_dependencies(Volkgnsssdr::volkgnsssdr volk_gnsssdr_module)
         set_target_properties(Volkgnsssdr::volkgnsssdr PROPERTIES
             IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
-            IMPORTED_LOCATION "${GNSSSDR_BINARY_DIR}/volk_gnsssdr_module/install/lib${VOLK_GNSSSDR_LIB_SUFFIX}/libvolk_gnsssdr${CMAKE_STATIC_LIBRARY_SUFFIX}"
+            IMPORTED_LOCATION "${GNSSSDR_BINARY_DIR}/volk_gnsssdr_module/install/${CMAKE_INSTALL_LIBDIR}/libvolk_gnsssdr${CMAKE_STATIC_LIBRARY_SUFFIX}"
             INCLUDE_DIRECTORIES "${VOLK_GNSSSDR_INCLUDE_DIRS}"
             INTERFACE_INCLUDE_DIRECTORIES "${VOLK_GNSSSDR_INCLUDE_DIRS}"
             INTERFACE_LINK_LIBRARIES "${VOLK_GNSSSDR_LIBRARIES}"

cmake/Toolchains/rv64gcv-linux-gnu.cmake

@@ -0,0 +1,32 @@
+# GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
+# This file is part of GNSS-SDR.
+#
+# Copyright (C) 2011-2025  (see AUTHORS file for a list of contributors)
+# SPDX-License-Identifier: BSD-3-Clause
+
+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_PROCESSOR riscv64)
+
+set(CMAKE_C_COMPILER $ENV{CC})
+set(CMAKE_ASM_COMPILER ${CMAKE_C_COMPILER})
+set(CMAKE_CXX_COMPILER $ENV{CXX})
+
+set(CMAKE_C_FLAGS "$ENV{CFLAGS} -march=rv64gcv" CACHE STRING "" FORCE)
+set(CMAKE_CXX_FLAGS ${CMAKE_C_FLAGS} CACHE STRING "" FORCE)
+set(CMAKE_ASM_FLAGS "${CMAKE_C_FLAGS} -g" CACHE STRING "" FORCE)
+
+set(CMAKE_OBJCOPY
+    ${RISCV64_TOOLCHAIN_DIR}/${TOOLCHAIN_PREFIX}objcopy
+    CACHE INTERNAL "objcopy tool")
+set(CMAKE_SIZE_UTIL
+    ${RISCV64_TOOLCHAIN_DIR}/${TOOLCHAIN_PREFIX}size
+    CACHE INTERNAL "size tool")
+
+set(CMAKE_FIND_ROOT_PATH ${BINUTILS_PATH})
+
+set(QEMU_VLEN $ENV{VLEN})
+if(NOT QEMU_VLEN)
+    set(QEMU_VLEN "128")
+endif()
+
+set(CMAKE_CROSSCOMPILING_EMULATOR "qemu-riscv64-static -L /usr/riscv64-linux-gnu/ -cpu rv64,zba=true,zbb=true,v=on,vlen=${QEMU_VLEN},rvv_ta_all_1s=on,rvv_ma_all_1s=on")

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/CMakeLists.txt

@@ -394,23 +394,12 @@ endif()
 ########################################################################
 # Detect /lib versus /lib64
 ########################################################################
-if(${CMAKE_INSTALL_LIBDIR} MATCHES lib64)
+include(GNUInstallDirs)
-    set(LIB_SUFFIX 64)
-endif()
 
 
 ########################################################################
 # Setup the package config file
 ########################################################################
-# set variables found in the pc.in file
-if(NOT LIB_SUFFIX)
-    set(LIB_SUFFIX "")
-endif()
-set(prefix ${CMAKE_INSTALL_PREFIX})
-set(exec_prefix "\${prefix}")
-set(libdir "\${exec_prefix}/lib${LIB_SUFFIX}")
-set(includedir "\${prefix}/include")
-
 configure_file(
     ${PROJECT_SOURCE_DIR}/tmpl/volk_gnsssdr.pc.in
     ${PROJECT_BINARY_DIR}/volk_gnsssdr.pc
@@ -419,7 +408,7 @@ configure_file(
 
 install(
     FILES ${PROJECT_BINARY_DIR}/volk_gnsssdr.pc
-    DESTINATION lib${LIB_SUFFIX}/pkgconfig
+    DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig
     COMPONENT "volk_gnsssdr_devel"
 )
 
@@ -427,7 +416,7 @@ install(
 # Install all headers in the include directories
 ########################################################################
 set(VOLK_RUNTIME_DIR bin)
-set(VOLK_LIBRARY_DIR lib${LIB_SUFFIX})
+set(VOLK_LIBRARY_DIR ${CMAKE_INSTALL_LIBDIR})
 set(VOLK_INCLUDE_DIR include)
 
 install(
@@ -524,7 +513,7 @@ configure_file(
 ########################################################################
 
 if(NOT CMAKE_MODULES_DIR)
-    set(CMAKE_MODULES_DIR lib${LIB_SUFFIX}/cmake)
+    set(CMAKE_MODULES_DIR ${CMAKE_INSTALL_LIBDIR}/cmake)
 endif()
 
 install(

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/Toolchains/rv64gcv-linux-gnu.cmake

@@ -0,0 +1,32 @@
+# GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
+# This file is part of GNSS-SDR.
+#
+# Copyright (C) 2011-2025  (see AUTHORS file for a list of contributors)
+# SPDX-License-Identifier: BSD-3-Clause
+
+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_PROCESSOR riscv64)
+
+set(CMAKE_C_COMPILER $ENV{CC})
+set(CMAKE_ASM_COMPILER ${CMAKE_C_COMPILER})
+set(CMAKE_CXX_COMPILER $ENV{CXX})
+
+set(CMAKE_C_FLAGS "$ENV{CFLAGS} -march=rv64gcv" CACHE STRING "" FORCE)
+set(CMAKE_CXX_FLAGS ${CMAKE_C_FLAGS} CACHE STRING "" FORCE)
+set(CMAKE_ASM_FLAGS "${CMAKE_C_FLAGS} -g" CACHE STRING "" FORCE)
+
+set(CMAKE_OBJCOPY
+    ${RISCV64_TOOLCHAIN_DIR}/${TOOLCHAIN_PREFIX}objcopy
+    CACHE INTERNAL "objcopy tool")
+set(CMAKE_SIZE_UTIL
+    ${RISCV64_TOOLCHAIN_DIR}/${TOOLCHAIN_PREFIX}size
+    CACHE INTERNAL "size tool")
+
+set(CMAKE_FIND_ROOT_PATH ${BINUTILS_PATH})
+
+set(QEMU_VLEN $ENV{VLEN})
+if(NOT QEMU_VLEN)
+    set(QEMU_VLEN "128")
+endif()
+
+set(CMAKE_CROSSCOMPILING_EMULATOR "qemu-riscv64-static -L /usr/riscv64-linux-gnu/ -cpu rv64,zba=true,zbb=true,v=on,vlen=${QEMU_VLEN},rvv_ta_all_1s=on,rvv_ma_all_1s=on")

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/kernels/volk_gnsssdr/volk_gnsssdr_32f_index_max_32u.h

@@ -534,4 +534,48 @@ static inline void volk_gnsssdr_32f_index_max_32u_neon(uint32_t* target, const f
 
 #endif /* LV_HAVE_NEON */
 
+#ifdef LV_HAVE_RVV
+#include <riscv_vector.h>
+
+static inline void volk_gnsssdr_32f_index_max_32u_rvv(uint32_t* target, const float* src0, uint32_t num_points)
+{
+    if (num_points == 0)
+        {
+            return;
+        }
+    float max_val = src0[0];
+    uint32_t max_idx = 0;
+    size_t vl;
+
+    // Process in chunks
+    for (size_t i = 0; i < num_points; i += vl)
+        {
+            // Set vector length for this iteration
+            vl = __riscv_vsetvl_e32m1(num_points - i);
+
+            // Load vector of values
+            vfloat32m1_t v_vals = __riscv_vle32_v_f32m1(&src0[i], vl);
+
+            // Process each element in the vector
+            for (size_t j = 0; j < vl; j++)
+                {
+                    float val = __riscv_vfmv_f_s_f32m1_f32(v_vals);
+                    if (val > max_val)
+                        {
+                            max_val = val;
+                            max_idx = i + j;
+                        }
+                    // Shift to next element by reloading
+                    if (j + 1 < vl)
+                        {
+                            v_vals = __riscv_vle32_v_f32m1(&src0[i + j + 1], vl - j - 1);
+                        }
+                }
+        }
+
+    target[0] = max_idx;
+}
+
+#endif /* LV_HAVE_RVV */
+
 #endif /* INCLUDED_volk_gnsssdr_32f_index_max_32u_H */

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/lib/CMakeLists.txt

@@ -655,8 +655,8 @@ if(NOT (ENABLE_STATIC_LIBS AND (CMAKE_GENERATOR STREQUAL Xcode)))
     # Install locations
     install(TARGETS volk_gnsssdr
         EXPORT VOLK_GNSSSDR-export
-        LIBRARY DESTINATION lib${LIB_SUFFIX} COMPONENT "volk_gnsssdr_runtime" # .so file
+        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR} COMPONENT "volk_gnsssdr_runtime" # .so file
-        ARCHIVE DESTINATION lib${LIB_SUFFIX} COMPONENT "volk_gnsssdr_devel"   # .lib file
+        ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR} COMPONENT "volk_gnsssdr_devel"   # .lib file
         RUNTIME DESTINATION bin              COMPONENT "volk_gnsssdr_runtime" # .dll file
     )
 endif()
@@ -703,7 +703,7 @@ if(ENABLE_STATIC_LIBS)
 
     install(TARGETS volk_gnsssdr_static
         EXPORT VOLK_GNSSSDR-export
-        ARCHIVE DESTINATION lib${LIB_SUFFIX} COMPONENT "volk_gnsssdr_devel"
+        ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR} COMPONENT "volk_gnsssdr_devel"
     )
 endif()
 

src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/tmpl/volk_gnsssdr.pc.in

@@ -1,9 +1,9 @@
 # SPDX-FileCopyrightText: 2014 Carles Fernandez-Prades <carles.fernandez@cttc.es>
 # SPDX-License-Identifier: GPL-3.0-or-later
-prefix=@prefix@
+prefix=@CMAKE_INSTALL_PREFIX@
-exec_prefix=@exec_prefix@
+exec_prefix=@CMAKE_INSTALL_PREFIX@
-libdir=@libdir@
+libdir=@CMAKE_INSTALL_FULL_LIBDIR@
-includedir=@includedir@
+includedir=@CMAKE_INSTALL_FULL_INCLUDEDIR@
 LV_CXXFLAGS=@LV_CXXFLAGS@