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updated the SW to run the new Acquisition HW accelerator, which compensates the scaling factors of the FFT and the IFFT, and computes the test statistics out of the peak value and the second peak value resulting from the correlation performed by the acquisition process. Updated the GPS L1 and Galileo E1 acquisition adapters.

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This commit is contained in:
Marc Majoral
2018-10-31 18:48:08 +01:00
parent 17ddab1c3e
commit b5409f0860
7 changed files with 262 additions and 98 deletions
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133
src/algorithms/acquisition/libs/fpga_acquisition.cc
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@@ -41,6 +41,9 @@
#include <fcntl.h> // libraries used by the GIPO
#include <sys/mman.h> // libraries used by the GIPO
#include <unistd.h> // for the usleep function only (debug)
#define PAGE_SIZE 0x10000 // default page size for the multicorrelator memory map
#define MAX_PHASE_STEP_RAD 0.999999999534339 // 1 - pow(2,-31);
@@ -72,7 +75,7 @@ bool fpga_acquisition::init()
{
//printf("acq lib init called\n");
// configure the acquisition with the main initialization values
fpga_acquisition::configure_acquisition();
//fpga_acquisition::configure_acquisition();
return true;
}
@@ -81,8 +84,11 @@ bool fpga_acquisition::set_local_code(uint32_t PRN)
{
//printf("acq lib set_local_code_called\n");
// select the code with the chosen PRN
fpga_acquisition::fpga_configure_acquisition_local_code(
&d_all_fft_codes[d_nsamples_total * (PRN - 1)]);
d_PRN = PRN;
// printf("#### ACQ: WRITING LOCAL CODE for PRN %d\n", (int) PRN);
//
// fpga_acquisition::fpga_configure_acquisition_local_code(
// &d_all_fft_codes[d_nsamples_total * (PRN - 1)]);
//fpga_acquisition::fpga_configure_acquisition_local_code(
// &d_all_fft_codes[0]);
@@ -91,12 +97,22 @@ bool fpga_acquisition::set_local_code(uint32_t PRN)
}
void fpga_acquisition::write_local_code()
{
//printf("#### ACQ: WRITING LOCAL CODE for PRN %d\n", (int) d_PRN);
fpga_acquisition::fpga_configure_acquisition_local_code(
&d_all_fft_codes[d_nsamples_total * (d_PRN - 1)]);
}
fpga_acquisition::fpga_acquisition(std::string device_name,
uint32_t nsamples,
uint32_t doppler_max,
uint32_t nsamples_total, int64_t fs_in,
uint32_t sampled_ms, uint32_t select_queue,
lv_16sc_t *all_fft_codes)
lv_16sc_t *all_fft_codes,
uint32_t excludelimit)
{
//printf("acq lib constructor called\n");
//printf("AAA- sampled_ms = %d\n ", sampled_ms);
@@ -109,6 +125,7 @@ fpga_acquisition::fpga_acquisition(std::string device_name,
//d_freq = freq;
d_fs_in = fs_in;
d_vector_length = vector_length;
d_excludelimit = excludelimit;
d_nsamples = nsamples; // number of samples not including padding
d_select_queue = select_queue;
d_nsamples_total = nsamples_total;
@@ -160,6 +177,7 @@ fpga_acquisition::fpga_acquisition(std::string device_name,
// flag used for testing purposes
d_single_doppler_flag = 0;
d_PRN = 0;
DLOG(INFO) << "Acquisition FPGA class created";
}
@@ -228,26 +246,46 @@ void fpga_acquisition::fpga_configure_acquisition_local_code(lv_16sc_t fft_local
void fpga_acquisition::run_acquisition(void)
{
//printf("acq lib run_acqisition called\n");
// enable interrupts
int32_t reenable = 1;
write(d_fd, reinterpret_cast<void *>(&reenable), sizeof(int32_t));
//int32_t reenable = 1;
//reenable = 1;
//write(d_fd, reinterpret_cast<void *>(&reenable), sizeof(int32_t));
// launch the acquisition process
//printf("acq lib launchin acquisition ...\n");
d_map_base[8] = LAUNCH_ACQUISITION; // writing a 1 to reg 8 launches the acquisition process
//printf("acq lib waiting for interrupt ...\n");
int32_t irq_count;
ssize_t nb;
uint32_t result_valid = 0;
usleep(50);
while(result_valid == 0)
{
read_result_valid(&result_valid); // polling
}
// wait for interrupt
nb = read(d_fd, &irq_count, sizeof(irq_count));
//nb = read(d_fd, &irq_count, sizeof(irq_count));
//usleep(500000); // debug
//printf("interrupt received\n");
if (nb != sizeof(irq_count))
{
printf("acquisition module Read failed to retrieve 4 bytes!\n");
printf("acquisition module Interrupt number %d\n", irq_count);
}
//if (nb != sizeof(irq_count))
// {
// printf("acquisition module Read failed to retrieve 4 bytes!\n");
// printf("acquisition module Interrupt number %d\n", irq_count);
// }
}
void fpga_acquisition::set_block_exp(uint32_t total_block_exp)
{
//printf("******* acq writing total exponent = %d\n", (int) total_block_exp);
d_map_base[11] = total_block_exp;
}
void fpga_acquisition::set_doppler_sweep(uint32_t num_sweeps)
{
@@ -292,7 +330,7 @@ void fpga_acquisition::set_doppler_sweep(uint32_t num_sweeps)
//printf("AAA phase_step_rad_real for doppler step after checking = %f\n", phase_step_rad_real);
phase_step_rad_int_temp = phase_step_rad_real * POW_2_2; // * 2^2
phase_step_rad_int = static_cast<int32_t>(phase_step_rad_int_temp * (POW_2_29)); // * 2^29 (in total it makes x2^31 in two steps to avoid the warnings
//printf("AAA writing phase_step_rad_int for doppler step = %d to d map base 4\n", phase_step_rad_int);
//printf("AAA writing phase_step_incr for doppler step = %d to d map base 4\n", phase_step_rad_int);
d_map_base[4] = phase_step_rad_int;
//printf("AAA writing num sweeps to d map base 5 = %d\n", num_sweeps);
d_map_base[5] = num_sweeps;
@@ -406,6 +444,9 @@ void fpga_acquisition::configure_acquisition()
d_map_base[2] = d_nsamples;
//printf("AAA writing LOG2 d_vector_length = %d to d map base 7\n ", (int)log2((float)d_vector_length));
d_map_base[7] = static_cast<int32_t>(log2(static_cast<float>(d_vector_length))); // log2 FFTlength
//printf("AAA writing excludelimit = %d to d map base 12\n", (int) d_excludelimit);
d_map_base[12] = d_excludelimit;
//printf("acquisition debug vector length = %d\n", d_vector_length);
//printf("acquisition debug vector length = %d\n", (int)log2((float)d_vector_length));
}
@@ -435,39 +476,65 @@ void fpga_acquisition::set_phase_step(uint32_t doppler_index)
//printf("AAA+ phase_step_rad_real after checking = %f\n", phase_step_rad_real);
phase_step_rad_int_temp = phase_step_rad_real * POW_2_2; // * 2^2
phase_step_rad_int = static_cast<int32_t>(phase_step_rad_int_temp * (POW_2_29)); // * 2^29 (in total it makes x2^31 in two steps to avoid the warnings
//printf("writing phase_step_rad_int = %d to d_map_base 3\n", phase_step_rad_int);
//printf("writing phase_step_rad_int = %d to d_map_base 3 THE SECOND FUNCTION\n", phase_step_rad_int);
d_map_base[3] = phase_step_rad_int;
}
void fpga_acquisition::read_acquisition_results(uint32_t *max_index,
float *max_magnitude, uint64_t *initial_sample, float *power_sum, uint32_t *doppler_index)
float *firstpeak, float *secondpeak, uint64_t *initial_sample, float *power_sum, uint32_t *doppler_index, uint32_t *total_blk_exp)
{
//printf("acq lib read_acquisition_results_called\n");
uint64_t initial_sample_tmp = 0;
uint32_t readval = 0;
uint64_t readval_long = 0;
uint64_t readval_long_shifted = 0;
readval = d_map_base[1];
initial_sample_tmp = readval;
readval_long = d_map_base[2];
readval_long_shifted = readval_long << 32; // 2^32
initial_sample_tmp = initial_sample_tmp + readval_long_shifted; // 2^32
//printf("----------------------------------------------------------------> acq initial sample TOTAL = %llu\n", initial_sample_tmp);
*initial_sample = initial_sample_tmp;
readval = d_map_base[6];
*max_magnitude = static_cast<float>(readval);
//printf("acq lib read max_magnitude dmap 2 = %d = %f\n", readval, *max_magnitude);
readval = d_map_base[4];
*power_sum = static_cast<float>(readval);
//printf("acq lib read power sum dmap 4 = %d = %f\n", readval, *power_sum);
readval = d_map_base[5]; // read doppler index
*doppler_index = readval;
//printf("read doppler_index dmap 5 = %d\n", readval);
//printf("-------> acq initial sample TOTAL = %llu\n", *initial_sample);
readval = d_map_base[3];
*firstpeak = static_cast<float>(readval);
//printf("-------> read first peak = %f\n", *firstpeak);
readval = d_map_base[4];
*secondpeak = static_cast<float>(readval);
//printf("-------> read second peak = %f\n", *secondpeak);
readval = d_map_base[5];
*max_index = readval;
//printf("read max index dmap 3 = %d\n", readval);
//printf("-------> read max index = %d\n", (int) *max_index);
//printf("acq lib read max_magnitude dmap 2 = %d = %f\n", readval, *max_magnitude);
//readval = d_map_base[4];
*power_sum = 0;
//printf("acq lib read power sum dmap 4 = %d = %f\n", readval, *power_sum);
readval = d_map_base[8];
*total_blk_exp = readval;
//printf("---------> read total block exponent = %d\n", (int) *total_blk_exp);
readval = d_map_base[7]; // read doppler index -- this read releases the interrupt line
*doppler_index = readval;
//printf("---------> read doppler_index = %d\n", (int) *doppler_index );
readval = d_map_base[15]; // read dummy
}
@@ -513,8 +580,16 @@ void fpga_acquisition::set_single_doppler_flag(unsigned int single_doppler_flag)
void fpga_acquisition::read_fpga_total_scale_factor(uint32_t *total_scale_factor, uint32_t *fw_scale_factor)
{
uint32_t readval = 0;
readval = d_map_base[7];
*total_scale_factor = readval;
readval = d_map_base[8];
*fw_scale_factor = readval;
*total_scale_factor = readval;
//readval = d_map_base[8];
*fw_scale_factor = 0;
}
void fpga_acquisition::read_result_valid(uint32_t *result_valid)
{
uint32_t readval = 0;
readval = d_map_base[0];
*result_valid = readval;
}