From 9e38cc4ef592c0c96c57c93a0b695769987d0744 Mon Sep 17 00:00:00 2001 From: piyush0411 Date: Sat, 6 Jun 2020 14:25:46 +0530 Subject: [PATCH 01/12] Added PCPS based Acquisition Files --- .../adapters/galileo_e5b_pcps_acquisition.cc | 247 ++++++++++++++++++ .../adapters/galileo_e5b_pcps_acquisition.h | 204 +++++++++++++++ 2 files changed, 451 insertions(+) create mode 100644 src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition.cc create mode 100644 src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition.h diff --git a/src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition.cc b/src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition.cc new file mode 100644 index 000000000..95a70fe7e --- /dev/null +++ b/src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition.cc @@ -0,0 +1,247 @@ +/*! + * \file galileo_e5b_pcps_acquisition.cc + * \brief Adapts a PCPS acquisition block to an AcquisitionInterface for + * Galileo E5b data and pilot Signals + * \author Piyush Gupta, 2020. piyush04111999@gmail.com + * \note Code added as part of GSoC 2020 program. + * + * ------------------------------------------------------------------------- + * + * Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) + * + * GNSS-SDR is a software defined Global Navigation + * Satellite Systems receiver + * + * This file is part of GNSS-SDR. + * + * SPDX-License-Identifier: GPL-3.0-or-later + * + * ------------------------------------------------------------------------- + */ + +#include "galileo_e5b_pcps_acquisition.h" +#include "Galileo_E5b.h" +#include "acq_conf.h" +#include "configuration_interface.h" +#include "galileo_e5_signal_processing.h" +#include "gnss_sdr_flags.h" +#include +#include +#include + +#if HAS_STD_SPAN +#include +namespace own = std; +#else +#include +namespace own = gsl; +#endif + +GalileoE5bPcpsAcquisition::GalileoE5bPcpsAcquisition(ConfigurationInterface* configuration, + const std::string& role, + unsigned int in_streams, + unsigned int out_streams) : role_(role), + in_streams_(in_streams), + out_streams_(out_streams) +{ + configuration_ = configuration; + acq_parameters_.ms_per_code = 1; + acq_parameters_.SetFromConfiguration(configuration_, role, GALILEO_E5B_CODE_CHIP_RATE_CPS, GALILEO_E5B_OPT_ACQ_FS_SPS); + + DLOG(INFO) << "Role " << role; + + if (FLAGS_doppler_max != 0) + { + acq_parameters_.doppler_max = FLAGS_doppler_max; + } + doppler_max_ = acq_parameters_.doppler_max; + doppler_step_ = acq_parameters_.doppler_step; + item_type_ = acq_parameters_.item_type; + item_size_ = acq_parameters_.it_size; + fs_in_ = acq_parameters_.fs_in; + + acq_pilot_ = configuration_->property(role + ".acquire_pilot", false); + acq_iq_ = configuration_->property(role + ".acquire_iq", false); + if (acq_iq_) + { + acq_pilot_ = false; + } + + code_length_ = static_cast(std::floor(static_cast(acq_parameters_.resampled_fs) / (GALILEO_E5B_CODE_CHIP_RATE_CPS / GALILEO_E5B_CODE_LENGTH_CHIPS))); + vector_length_ = std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2 : 1); + code_ = std::vector>(vector_length_); + + sampled_ms_ = acq_parameters_.sampled_ms; + + acquisition_ = pcps_make_acquisition(acq_parameters_); + DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")"; + + + channel_ = 0; + threshold_ = 0.0; + doppler_center_ = 0; + gnss_synchro_ = nullptr; + + if (in_streams_ > 1) + { + LOG(ERROR) << "This implementation only supports one input stream"; + } + if (out_streams_ > 0) + { + LOG(ERROR) << "This implementation does not provide an output stream"; + } +} + + +void GalileoE5bPcpsAcquisition::stop_acquisition() +{ +} + + +void GalileoE5bPcpsAcquisition::set_threshold(float threshold) +{ + threshold_ = threshold; + acquisition_->set_threshold(threshold_); +} + + +void GalileoE5bPcpsAcquisition::set_doppler_max(unsigned int doppler_max) +{ + doppler_max_ = doppler_max; + acquisition_->set_doppler_max(doppler_max_); +} + + +void GalileoE5bPcpsAcquisition::set_doppler_step(unsigned int doppler_step) +{ + doppler_step_ = doppler_step; + acquisition_->set_doppler_step(doppler_step_); +} + + +void GalileoE5bPcpsAcquisition::set_doppler_center(int doppler_center) +{ + doppler_center_ = doppler_center; + acquisition_->set_doppler_center(doppler_center_); +} + + +void GalileoE5bPcpsAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro) +{ + gnss_synchro_ = gnss_synchro; + acquisition_->set_gnss_synchro(gnss_synchro_); +} + + +signed int GalileoE5bPcpsAcquisition::mag() +{ + return acquisition_->mag(); +} + + +void GalileoE5bPcpsAcquisition::init() +{ + acquisition_->init(); +} + + +void GalileoE5bPcpsAcquisition::set_local_code() +{ + std::vector> code(code_length_); + std::array signal_{}; + signal_[0] = '7'; + signal_[2] = '\0'; + + if (acq_iq_) + { + signal_[1] = 'X'; + } + else if (acq_pilot_) + { + signal_[1] = 'Q'; + } + else + { + signal_[1] = 'I'; + } + + if (acq_parameters_.use_automatic_resampler) + { + galileo_e5_b_code_gen_complex_sampled(code, gnss_synchro_->PRN, signal_, acq_parameters_.resampled_fs, 0); + } + else + { + galileo_e5_b_code_gen_complex_sampled(code, gnss_synchro_->PRN, signal_, fs_in_, 0); + } + own::span code_span(code_.data(), vector_length_); + for (unsigned int i = 0; i < sampled_ms_; i++) + { + std::copy_n(code.data(), code_length_, code_span.subspan(i * code_length_, code_length_).data()); + } + + acquisition_->set_local_code(code_.data()); +} + + +void GalileoE5bPcpsAcquisition::reset() +{ + acquisition_->set_active(true); +} + + +void GalileoE5bPcpsAcquisition::set_state(int state) +{ + acquisition_->set_state(state); +} + + +void GalileoE5bPcpsAcquisition::connect(gr::top_block_sptr top_block __attribute__((unused))) +{ + if (item_type_ == "gr_complex") + { + // nothing to connect + } + else if (item_type_ == "cshort") + { + // nothing to connect + } + else + { + LOG(WARNING) << item_type_ << " unknown acquisition item type"; + } +} + + +void GalileoE5bPcpsAcquisition::disconnect(gr::top_block_sptr top_block __attribute__((unused))) +{ + if (item_type_ == "gr_complex") + { + // nothing to disconnect + } + else if (item_type_ == "cshort") + { + // nothing to disconnect + } + else + { + LOG(WARNING) << item_type_ << " unknown acquisition item type"; + } +} + + +gr::basic_block_sptr GalileoE5bPcpsAcquisition::get_left_block() +{ + return acquisition_; +} + + +gr::basic_block_sptr GalileoE5bPcpsAcquisition::get_right_block() +{ + return acquisition_; +} + + +void GalileoE5bPcpsAcquisition::set_resampler_latency(uint32_t latency_samples) +{ + acquisition_->set_resampler_latency(latency_samples); +} diff --git a/src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition.h b/src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition.h new file mode 100644 index 000000000..c8a92cbdc --- /dev/null +++ b/src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition.h @@ -0,0 +1,204 @@ +/*! + * \file galileo_e5b_pcps_acquisition.h + * \brief Adapts a PCPS acquisition block to an AcquisitionInterface for + * Galileo E5b data and pilot Signals + * \author Piyush Gupta, 2020. piyush04111999@gmail.com + * \note Code added as part of GSoC 2020 program. + + * ------------------------------------------------------------------------- + * + * Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) + * + * GNSS-SDR is a software defined Global Navigation + * Satellite Systems receiver + * + * This file is part of GNSS-SDR. + * + * SPDX-License-Identifier: GPL-3.0-or-later + * + * ------------------------------------------------------------------------- + */ + +#ifndef GNSS_SDR_GALILEO_E5B_PCPS_ACQUISITION_H +#define GNSS_SDR_GALILEO_E5B_PCPS_ACQUISITION_H + + +#include "channel_fsm.h" +#include "gnss_synchro.h" +#include "pcps_acquisition.h" +#include +#include +#include + +class ConfigurationInterface; + +class GalileoE5bPcpsAcquisition : public AcquisitionInterface +{ +public: + /*! + * \brief Constructor + */ + GalileoE5bPcpsAcquisition(ConfigurationInterface* configuration, + const std::string& role, + unsigned int in_streams, + unsigned int out_streams); + + /*! + * \brief Destructor + */ + ~GalileoE5bPcpsAcquisition() = default; + + /*! + * \brief Role + */ + inline std::string role() override + { + return role_; + } + + /*! + * \brief Returns "GALILEO_E5b_PCPS_Acquisition" + */ + + inline std::string implementation() override + { + return "Galileo_E5b_PCPS_Acquisition"; + } + + /*! + * \brief Returns size of lv_16sc_t + */ + inline size_t item_size() override + { + return sizeof(int16_t); + } + + /*! + * \brief Connect + */ + void connect(gr::top_block_sptr top_block) override; + + /*! + * \brief Disconnect + */ + void disconnect(gr::top_block_sptr top_block) override; + + /*! + * \brief Get left block + */ + gr::basic_block_sptr get_left_block() override; + + /*! + * \brief Get right block + */ + gr::basic_block_sptr get_right_block() override; + + /*! + * \brief Set acquisition/tracking common Gnss_Synchro object pointer + * to efficiently exchange synchronization data between acquisition and + * tracking blocks + */ + void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override; + + /*! + * \brief Set acquisition channel unique ID + */ + inline void set_channel(unsigned int channel) override + { + channel_ = channel; + acquisition_->set_channel(channel_); + } + + /*! + * \brief Set channel fsm associated to this acquisition instance + */ + inline void set_channel_fsm(std::weak_ptr channel_fsm) override + { + channel_fsm_ = channel_fsm; + acquisition_->set_channel_fsm(channel_fsm); + } + + /*! + * \brief Set statistics threshold of PCPS algorithm + */ + void set_threshold(float threshold) override; + + /*! + * \brief Set maximum Doppler off grid search + */ + void set_doppler_max(unsigned int doppler_max) override; + + /*! + * \brief Set Doppler steps for the grid search + */ + void set_doppler_step(unsigned int doppler_step) override; + + /*! + * \brief Set Doppler center for the grid search + */ + void set_doppler_center(int doppler_center) override; + + /*! + * \brief Initializes acquisition algorithm. + */ + void init() override; + + /*! + * \brief Sets local Galileo E5b code for PCPS acquisition algorithm. + */ + void set_local_code() override; + + /*! + * \brief Returns the maximum peak of grid search + */ + signed int mag() override; + + /*! + * \brief Restart acquisition algorithm + */ + void reset() override; + + /*! + * \brief If set to 1, ensures that acquisition starts at the + * first available sample. + * \param state - int=1 forces start of acquisition + */ + void set_state(int state) override; + + /*! + * \brief Stop running acquisition + */ + void stop_acquisition() override; + + /*! + * \brief Sets the resampler latency to account it in the acquisition code delay estimation + */ + void set_resampler_latency(uint32_t latency_samples) override; + +private: + ConfigurationInterface* configuration_; + pcps_acquisition_sptr acquisition_; + Acq_Conf acq_parameters_; + size_t item_size_; + std::string item_type_; + std::string dump_filename_; + std::string role_; + bool acq_pilot_; + bool acq_iq_; + unsigned int vector_length_; + unsigned int code_length_; + unsigned int channel_; + std::weak_ptr channel_fsm_; + unsigned int doppler_max_; + unsigned int doppler_step_; + int doppler_center_; + unsigned int sampled_ms_; + unsigned int in_streams_; + unsigned int out_streams_; + int64_t fs_in_; + float threshold_; + std::vector> code_; + Gnss_Synchro* gnss_synchro_; +}; + +#endif // GNSS_SDR_GALILEO_E5B_PCPS_ACQUISITION_H From 4cccd97bb53b53317559957edaa0fe8364b8659b Mon Sep 17 00:00:00 2001 From: piyush0411 Date: Tue, 9 Jun 2020 01:02:52 +0530 Subject: [PATCH 02/12] PCPS based Acquisition Files for FPGA --- .../galileo_e5b_pcps_acquisition_fpga.cc | 290 ++++++++++++++++++ .../galileo_e5b_pcps_acquisition_fpga.h | 213 +++++++++++++ 2 files changed, 503 insertions(+) create mode 100644 src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition_fpga.cc create mode 100644 src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition_fpga.h diff --git a/src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition_fpga.cc b/src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition_fpga.cc new file mode 100644 index 000000000..6e1f18017 --- /dev/null +++ b/src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition_fpga.cc @@ -0,0 +1,290 @@ +/*! + * \file galileo_e5b_pcps_acquisition_fpga.cc + * \brief Adapts a PCPS acquisition block to an AcquisitionInterface for + * Galileo E5b data and pilot Signals for the FPGA + * \author Piyush Gupta, 2020. piyush04111999@gmail.com + * \note Code added as part of GSoC 2020 Program. + * + * ------------------------------------------------------------------------- + * + * Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) + * + * GNSS-SDR is a software defined Global Navigation + * Satellite Systems receiver + * + * This file is part of GNSS-SDR. + * + * SPDX-License-Identifier: GPL-3.0-or-later + * + * ------------------------------------------------------------------------- + */ + +#include "galileo_e5b_pcps_acquisition_fpga.h" +#include "Galileo_E5b.h" +#include "configuration_interface.h" +#include "galileo_e5_signal_processing.h" +#include "gnss_sdr_flags.h" +#include +#include // for fft_complex +#include // for gr_complex +#include // for volk_32fc_conjugate_32fc +#include +#include // for copy_n +#include // for abs, pow, floor +#include // for complex + +GalileoE5bPcpsAcquisitionFpga::GalileoE5bPcpsAcquisitionFpga(ConfigurationInterface* configuration, + const std::string& role, + unsigned int in_streams, + unsigned int out_streams) : role_(role), + in_streams_(in_streams), + out_streams_(out_streams) +{ + pcpsconf_fpga_t acq_parameters; + configuration_ = configuration; + std::string default_dump_filename = "../data/acquisition.dat"; + + DLOG(INFO) << "Role " << role; + + int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 32000000); + int64_t fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); + + acq_parameters.repeat_satellite = configuration_->property(role + ".repeat_satellite", false); + DLOG(INFO) << role << " satellite repeat = " << acq_parameters.repeat_satellite; + + uint32_t downsampling_factor = configuration_->property(role + ".downsampling_factor", 1); + acq_parameters.downsampling_factor = downsampling_factor; + fs_in = fs_in / downsampling_factor; + + acq_parameters.fs_in = fs_in; + + 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_pilot_ = configuration_->property(role + ".acquire_pilot", false); + acq_iq_ = configuration_->property(role + ".acquire_iq", false); + if (acq_iq_) + { + acq_pilot_ = false; + } + + auto code_length = static_cast(std::round(static_cast(fs_in) / GALILEO_E5B_CODE_CHIP_RATE_CPS * static_cast(GALILEO_E5B_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(static_cast(code_length) * 2.0)); + uint32_t nsamples_total = pow(2, nbits); + uint32_t 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_code = nsamples_total; + + acq_parameters.excludelimit = static_cast(1 + ceil((1.0 / GALILEO_E5B_CODE_CHIP_RATE_CPS) * static_cast(fs_in))); + + // compute all the GALILEO E5b PRN Codes (this is done only once in the class constructor in order to avoid re-computing the PRN codes every time + // a channel is assigned) + auto fft_if = std::unique_ptr(new gr::fft::fft_complex(nsamples_total, true)); // Direct FFT + volk_gnsssdr::vector> code(nsamples_total); // Buffer for local code + volk_gnsssdr::vector> fft_codes_padded(nsamples_total); + d_all_fft_codes_ = std::vector(nsamples_total * GALILEO_E5B_NUMBER_OF_CODES); // memory containing all the possible fft codes for PRN 0 to 32 + + float max; // temporary maxima search + int32_t tmp; + int32_t tmp2; + int32_t local_code; + int32_t fft_data; + + for (uint32_t PRN = 1; PRN <= GALILEO_E5B_NUMBER_OF_CODES; PRN++) + { + std::array signal_; + signal_[0] = '7'; + signal_[2] = '\0'; + + if (acq_iq_) + { + signal_[1] = 'X'; + } + else if (acq_pilot_) + { + signal_[1] = 'Q'; + } + else + { + signal_[1] = 'I'; + } + + galileo_e5_b_code_gen_complex_sampled(code, PRN, signal_, fs_in, 0); + + for (uint32_t s = code_length; s < 2 * code_length; s++) + { + code[s] = code[s - code_length]; + } + + // fill in zero padding + for (uint32_t s = 2 * code_length; s < nsamples_total; s++) + { + code[s] = std::complex(0.0, 0.0); + } + + std::copy_n(code.data(), nsamples_total, fft_if->get_inbuf()); // copy to FFT buffer + fft_if->execute(); // Run the FFT of local code + volk_32fc_conjugate_32fc(fft_codes_padded.data(), fft_if->get_outbuf(), nsamples_total); // conjugate values + + max = 0; // initialize maximum value + for (uint32_t i = 0; i < nsamples_total; i++) // search for maxima + { + if (std::abs(fft_codes_padded[i].real()) > max) + { + max = std::abs(fft_codes_padded[i].real()); + } + if (std::abs(fft_codes_padded[i].imag()) > max) + { + max = std::abs(fft_codes_padded[i].imag()); + } + } + // map the FFT to the dynamic range of the fixed point values an copy to buffer containing all FFTs + // and package codes in a format that is ready to be written to the FPGA + for (uint32_t i = 0; i < nsamples_total; i++) + { + tmp = static_cast(floor(fft_codes_padded[i].real() * (pow(2, quant_bits_local_code - 1) - 1) / max)); + tmp2 = static_cast(floor(fft_codes_padded[i].imag() * (pow(2, quant_bits_local_code - 1) - 1) / max)); + local_code = (tmp & select_lsbits) | ((tmp2 * shl_code_bits) & select_msbits); // put together the real part and the imaginary part + fft_data = local_code & select_all_code_bits; + d_all_fft_codes_[i + (nsamples_total * (PRN - 1))] = fft_data; + } + } + + acq_parameters.all_fft_codes = d_all_fft_codes_.data(); + + // reference for the FPGA FFT-IFFT attenuation factor + acq_parameters.total_block_exp = configuration_->property(role + ".total_block_exp", 13); + + acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4); + acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0); + acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false); + acq_parameters.max_num_acqs = configuration_->property(role + ".max_num_acqs", 2); + acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters); + + channel_ = 0; + doppler_step_ = 0; + gnss_synchro_ = nullptr; + + if (in_streams_ > 1) + { + LOG(ERROR) << "This implementation only supports one input stream"; + } + if (out_streams_ > 0) + { + LOG(ERROR) << "This implementation does not provide an output stream"; + } +} + + +void GalileoE5bPcpsAcquisitionFpga::stop_acquisition() +{ + // this command causes the SW to reset the HW. + acquisition_fpga_->reset_acquisition(); +} + + +void GalileoE5bPcpsAcquisitionFpga::set_threshold(float threshold) +{ + DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold; + acquisition_fpga_->set_threshold(threshold); +} + + +void GalileoE5bPcpsAcquisitionFpga::set_doppler_max(unsigned int doppler_max) +{ + doppler_max_ = doppler_max; + acquisition_fpga_->set_doppler_max(doppler_max_); +} + + +void GalileoE5bPcpsAcquisitionFpga::set_doppler_step(unsigned int doppler_step) +{ + doppler_step_ = doppler_step; + acquisition_fpga_->set_doppler_step(doppler_step_); +} + + +void GalileoE5bPcpsAcquisitionFpga::set_doppler_center(int doppler_center) +{ + doppler_center_ = doppler_center; + acquisition_fpga_->set_doppler_center(doppler_center_); +} + + +void GalileoE5bPcpsAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro) +{ + gnss_synchro_ = gnss_synchro; + acquisition_fpga_->set_gnss_synchro(gnss_synchro_); +} + + +signed int GalileoE5bPcpsAcquisitionFpga::mag() +{ + return acquisition_fpga_->mag(); +} + + +void GalileoE5bPcpsAcquisitionFpga::init() +{ + acquisition_fpga_->init(); +} + + +void GalileoE5bPcpsAcquisitionFpga::set_local_code() +{ + acquisition_fpga_->set_local_code(); +} + + +void GalileoE5bPcpsAcquisitionFpga::reset() +{ + acquisition_fpga_->set_active(true); +} + + +void GalileoE5bPcpsAcquisitionFpga::set_state(int state) +{ + acquisition_fpga_->set_state(state); +} + + +void GalileoE5bPcpsAcquisitionFpga::connect(gr::top_block_sptr top_block) +{ + if (top_block) + { + /* top_block is not null */ + }; + // Nothing to connect +} + + +void GalileoE5bPcpsAcquisitionFpga::disconnect(gr::top_block_sptr top_block) +{ + if (top_block) + { + /* top_block is not null */ + }; + // Nothing to disconnect +} + + +gr::basic_block_sptr GalileoE5bPcpsAcquisitionFpga::get_left_block() +{ + return nullptr; +} + + +gr::basic_block_sptr GalileoE5bPcpsAcquisitionFpga::get_right_block() +{ + return nullptr; +} diff --git a/src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition_fpga.h b/src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition_fpga.h new file mode 100644 index 000000000..2c7cd7aad --- /dev/null +++ b/src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition_fpga.h @@ -0,0 +1,213 @@ +/*! + * \file galileo_e5b_pcps_acquisition_fpga.h + * \brief Adapts a PCPS acquisition block to an AcquisitionInterface for + * Galileo E5b data and pilot Signals for the FPGA + * \author Piyush Gupta, 2020. piyush04111999@gmail.com + * \note Code added as part of GSoC 2020 Program. + * + * ------------------------------------------------------------------------- + * + * Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) + * + * GNSS-SDR is a software defined Global Navigation + * Satellite Systems receiver + * + * This file is part of GNSS-SDR. + * + * SPDX-License-Identifier: GPL-3.0-or-later + * + * ------------------------------------------------------------------------- + */ + +#ifndef GNSS_SDR_GALILEO_E5B_PCPS_ACQUISITION_FPGA_H +#define GNSS_SDR_GALILEO_E5B_PCPS_ACQUISITION_FPGA_H + + +#include "channel_fsm.h" +#include "gnss_synchro.h" +#include "pcps_acquisition_fpga.h" +#include +#include +#include + +class ConfigurationInterface; + +/*! + * \brief This class adapts a PCPS acquisition block off-loaded on an FPGA + * to an AcquisitionInterface for Galileo E5b signals + */ +class GalileoE5bPcpsAcquisitionFpga : public AcquisitionInterface +{ +public: + /*! + * \brief Constructor + */ + GalileoE5bPcpsAcquisitionFpga(ConfigurationInterface* configuration, + const std::string& role, + unsigned int in_streams, + unsigned int out_streams); + + /*! + * \brief Destructor + */ + ~GalileoE5bPcpsAcquisitionFpga() = default; + + /*! + * \brief Role + */ + inline std::string role() override + { + return role_; + } + + /*! + * \brief Returns "Galileo_E5b_Pcps_Acquisition_Fpga" + */ + inline std::string implementation() override + { + return "Galileo_E5b_PCPS_Acquisition_FPGA"; + } + + /*! + * \brief Returns size of lv_16sc_t + */ + inline size_t item_size() override + { + return sizeof(int16_t); + } + + /*! + * \brief Connect + */ + void connect(gr::top_block_sptr top_block) override; + + /*! + * \brief Disconnect + */ + void disconnect(gr::top_block_sptr top_block) override; + + /*! + * \brief Get left block + */ + gr::basic_block_sptr get_left_block() override; + + /*! + * \brief Get right block + */ + gr::basic_block_sptr get_right_block() override; + + /*! + * \brief Set acquisition/tracking common Gnss_Synchro object pointer + * to efficiently exchange synchronization data between acquisition and + * tracking blocks + */ + void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override; + + /*! + * \brief Set acquisition channel unique ID + */ + inline void set_channel(unsigned int channel) override + { + channel_ = channel; + acquisition_fpga_->set_channel(channel_); + } + + /*! + * \brief Set channel fsm associated to this acquisition instance + */ + inline void set_channel_fsm(std::weak_ptr channel_fsm) override + { + channel_fsm_ = channel_fsm; + acquisition_fpga_->set_channel_fsm(channel_fsm); + } + + /*! + * \brief Set statistics threshold of PCPS algorithm + */ + void set_threshold(float threshold) override; + + /*! + * \brief Set maximum Doppler off grid search + */ + void set_doppler_max(unsigned int doppler_max) override; + + /*! + * \brief Set Doppler steps for the grid search + */ + void set_doppler_step(unsigned int doppler_step) override; + + /*! + * \brief Set Doppler center for the grid search + */ + void set_doppler_center(int doppler_center) override; + + /*! + * \brief Initializes acquisition algorithm. + */ + void init() override; + + /*! + * \brief Sets local Galileo E5b code for PCPS acquisition algorithm. + */ + void set_local_code() override; + + /*! + * \brief Returns the maximum peak of grid search + */ + signed int mag() override; + + /*! + * \brief Restart acquisition algorithm + */ + void reset() override; + + /*! + * \brief If set to 1, ensures that acquisition starts at the + * first available sample. + * \param state - int=1 forces start of acquisition + */ + void set_state(int state) override; + + /*! + * \brief This function is only used in the unit tests + */ + void set_single_doppler_flag(unsigned int single_doppler_flag); + + /*! + * \brief Stop running acquisition + */ + void stop_acquisition() override; + + /*! + * \brief Set resampler latency + */ + void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{}; + +private: + // the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA + // expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking. + static const uint32_t quant_bits_local_code = 16; + static const uint32_t select_lsbits = 0x0000FFFF; // Select the 10 LSbits out of a 20-bit word + static const uint32_t select_msbits = 0xFFFF0000; // Select the 10 MSbits out of a 20-bit word + static const uint32_t select_all_code_bits = 0xFFFFFFFF; // Select a 20 bit word + static const uint32_t shl_code_bits = 65536; // shift left by 10 bits + + ConfigurationInterface* configuration_; + pcps_acquisition_fpga_sptr acquisition_fpga_; + std::string item_type_; + std::string dump_filename_; + std::string role_; + bool acq_pilot_; + bool acq_iq_; + uint32_t channel_; + std::weak_ptr channel_fsm_; + uint32_t doppler_max_; + uint32_t doppler_step_; + int32_t doppler_center_; + unsigned int in_streams_; + unsigned int out_streams_; + Gnss_Synchro* gnss_synchro_; + std::vector d_all_fft_codes_; // memory that contains all the code ffts +}; + +#endif // GNSS_SDR_GALILEO_E5B_PCPS_ACQUISITION_FPGA_H From 1bfc8214878d7f3fd558f547172befc63aec7b7f Mon Sep 17 00:00:00 2001 From: piyush0411 Date: Fri, 12 Jun 2020 17:30:45 +0530 Subject: [PATCH 03/12] Updated CMakeLists.txt file --- src/algorithms/acquisition/adapters/CMakeLists.txt | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/algorithms/acquisition/adapters/CMakeLists.txt b/src/algorithms/acquisition/adapters/CMakeLists.txt index 355be8398..946090bc4 100644 --- a/src/algorithms/acquisition/adapters/CMakeLists.txt +++ b/src/algorithms/acquisition/adapters/CMakeLists.txt @@ -23,6 +23,7 @@ set(ACQ_ADAPTER_SOURCES galileo_e1_pcps_8ms_ambiguous_acquisition.cc galileo_e5a_noncoherent_iq_acquisition_caf.cc galileo_e5a_pcps_acquisition.cc + galileo_e5b_pcps_acquisition.cc glonass_l1_ca_pcps_acquisition.cc glonass_l2_ca_pcps_acquisition.cc beidou_b1i_pcps_acquisition.cc @@ -44,6 +45,7 @@ set(ACQ_ADAPTER_HEADERS galileo_e1_pcps_8ms_ambiguous_acquisition.h galileo_e5a_noncoherent_iq_acquisition_caf.h galileo_e5a_pcps_acquisition.h + galileo_e5b_pcps_acquisition.h glonass_l1_ca_pcps_acquisition.h glonass_l2_ca_pcps_acquisition.h beidou_b1i_pcps_acquisition.h @@ -56,6 +58,7 @@ if(ENABLE_FPGA) gps_l2_m_pcps_acquisition_fpga.cc galileo_e1_pcps_ambiguous_acquisition_fpga.cc galileo_e5a_pcps_acquisition_fpga.cc + galileo_e5b_pcps_acquisition_fpga.cc gps_l5i_pcps_acquisition_fpga.cc ) set(ACQ_ADAPTER_HEADERS ${ACQ_ADAPTER_HEADERS} @@ -63,6 +66,7 @@ if(ENABLE_FPGA) gps_l2_m_pcps_acquisition_fpga.h galileo_e1_pcps_ambiguous_acquisition_fpga.h galileo_e5a_pcps_acquisition_fpga.h + galileo_e5b_pcps_acquisition_fpga.h gps_l5i_pcps_acquisition_fpga.h ) endif() From 2706c5bc5cefaafbe36d29137cc60b7580a73df9 Mon Sep 17 00:00:00 2001 From: piyush0411 Date: Fri, 12 Jun 2020 17:37:36 +0530 Subject: [PATCH 04/12] Updated GNSS Block Factory --- src/core/receiver/gnss_block_factory.cc | 132 +++++++++++++++++++++++- src/core/receiver/gnss_block_factory.h | 6 +- 2 files changed, 136 insertions(+), 2 deletions(-) diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc index d645720bb..e3cd14d62 100644 --- a/src/core/receiver/gnss_block_factory.cc +++ b/src/core/receiver/gnss_block_factory.cc @@ -11,7 +11,7 @@ * * ------------------------------------------------------------------------- * - * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors) + * Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) * * GNSS-SDR is a software defined Global Navigation * Satellite Systems receiver @@ -53,6 +53,7 @@ #include "galileo_e5a_noncoherent_iq_acquisition_caf.h" #include "galileo_e5a_pcps_acquisition.h" #include "galileo_e5a_telemetry_decoder.h" +#include "galileo_e5b_pcps_acquisition.h" #include "glonass_l1_ca_dll_pll_c_aid_tracking.h" #include "glonass_l1_ca_dll_pll_tracking.h" #include "glonass_l1_ca_pcps_acquisition.h" @@ -115,6 +116,7 @@ #include "galileo_e1_pcps_ambiguous_acquisition_fpga.h" #include "galileo_e5a_dll_pll_tracking_fpga.h" #include "galileo_e5a_pcps_acquisition_fpga.h" +#include "galileo_e5b_pcps_acquisition_fpga.h" #include "gps_l1_ca_dll_pll_tracking_fpga.h" #include "gps_l1_ca_pcps_acquisition_fpga.h" #include "gps_l2_m_dll_pll_tracking_fpga.h" @@ -260,6 +262,7 @@ std::unique_ptr GNSSBlockFactory::GetObservables(const std:: LOG(INFO) << "Getting Observables with implementation " << implementation; unsigned int Galileo_channels = configuration->property("Channels_1B.count", 0); Galileo_channels += configuration->property("Channels_5X.count", 0); + Galileo_channels += configuration->property("Channels_7X.count", 0); unsigned int GPS_channels = configuration->property("Channels_1C.count", 0); GPS_channels += configuration->property("Channels_2S.count", 0); GPS_channels += configuration->property("Channels_L5.count", 0); @@ -288,6 +291,7 @@ std::unique_ptr GNSSBlockFactory::GetPVT(const std::shared_p LOG(INFO) << "Getting PVT with implementation " << implementation; unsigned int Galileo_channels = configuration->property("Channels_1B.count", 0); Galileo_channels += configuration->property("Channels_5X.count", 0); + Galileo_channels += configuration->property("Channels_7X.count", 0); unsigned int GPS_channels = configuration->property("Channels_1C.count", 0); GPS_channels += configuration->property("Channels_2S.count", 0); GPS_channels += configuration->property("Channels_L5.count", 0); @@ -566,6 +570,73 @@ std::unique_ptr GNSSBlockFactory::GetChannel_5X( } +// ********* GALILEO E5b CHANNEL ***************** +std::unique_ptr GNSSBlockFactory::GetChannel_7X( + const std::shared_ptr& configuration, + const std::string& acq, const std::string& trk, const std::string& tlm, int channel, + const std::shared_ptr>& queue) +{ + std::stringstream stream; + stream << channel; + std::string id = stream.str(); + LOG(INFO) << "Instantiating Channel " << id << " with Acquisition Implementation: " + << acq << ", Tracking Implementation: " << trk << ", Telemetry Decoder implementation: " << tlm; + std::string aux = configuration->property("Acquisition_7X" + std::to_string(channel) + ".implementation", std::string("W")); + std::string appendix1; + if (aux != "W") + { + appendix1 = std::to_string(channel); + } + else + { + appendix1 = ""; + } + aux = configuration->property("Tracking_7X" + std::to_string(channel) + ".implementation", std::string("W")); + std::string appendix2; + if (aux != "W") + { + appendix2 = std::to_string(channel); + } + else + { + appendix2 = ""; + } + aux = configuration->property("TelemetryDecoder_7X" + std::to_string(channel) + ".implementation", std::string("W")); + std::string appendix3; + if (aux != "W") + { + appendix3 = std::to_string(channel); + } + else + { + appendix3 = ""; + } + // Automatically detect input data type + std::shared_ptr config; + config = std::make_shared(); + std::string default_item_type = "gr_complex"; + std::string acq_item_type = configuration->property("Acquisition_7X" + appendix1 + ".item_type", default_item_type); + std::string trk_item_type = configuration->property("Tracking_7X" + appendix2 + ".item_type", default_item_type); + if (acq_item_type != trk_item_type) + { + LOG(ERROR) << "Acquisition and Tracking blocks must have the same input data type!"; + } + config->set_property("Channel.item_type", acq_item_type); + + std::unique_ptr acq_ = GetAcqBlock(configuration, "Acquisition_7X" + appendix1, acq, 1, 0); + std::unique_ptr trk_ = GetTrkBlock(configuration, "Tracking_7X" + appendix2, trk, 1, 1); + std::unique_ptr tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_7X" + appendix3, tlm, 1, 1); + + std::unique_ptr channel_(new Channel(configuration.get(), channel, + std::move(acq_), + std::move(trk_), + std::move(tlm_), + "Channel", "7X", queue)); + + return channel_; +} + + // ********* GLONASS L1 C/A CHANNEL ***************** std::unique_ptr GNSSBlockFactory::GetChannel_1G( const std::shared_ptr& configuration, @@ -919,6 +990,7 @@ std::unique_ptr>> GNSSBlockFacto unsigned int Channels_2G_count = configuration->property("Channels_2G.count", 0); unsigned int Channels_2S_count = configuration->property("Channels_2S.count", 0); unsigned int Channels_5X_count = configuration->property("Channels_5X.count", 0); + unsigned int Channels_7X_count = configuration->property("Channels_7X.count", 0); unsigned int Channels_L5_count = configuration->property("Channels_L5.count", 0); unsigned int Channels_B1_count = configuration->property("Channels_B1.count", 0); unsigned int Channels_B3_count = configuration->property("Channels_B3.count", 0); @@ -929,6 +1001,7 @@ std::unique_ptr>> GNSSBlockFacto Channels_2S_count + Channels_2G_count + Channels_5X_count + + Channels_7X_count + Channels_L5_count + Channels_B1_count + Channels_B3_count; @@ -1082,6 +1155,35 @@ std::unique_ptr>> GNSSBlockFacto channel_absolute_id++; } + // **************** GALILEO E5b I (I/NAV OS) CHANNELS ********************** + LOG(INFO) << "Getting " << Channels_7X_count << " GALILEO E5b I (I/NAV OS) channels"; + tracking_implementation = configuration->property("Tracking_7X.implementation", default_implementation); + telemetry_decoder_implementation = configuration->property("TelemetryDecoder_7X.implementation", default_implementation); + acquisition_implementation = configuration->property("Acquisition_7X.implementation", default_implementation); + for (unsigned int i = 0; i < Channels_7X_count; i++) + { + // (i.e. Acquisition_1C0.implementation=xxxx) + std::string acquisition_implementation_specific = configuration->property( + "Acquisition_7X" + std::to_string(channel_absolute_id) + ".implementation", + acquisition_implementation); + // (i.e. Tracking_1C0.implementation=xxxx) + std::string tracking_implementation_specific = configuration->property( + "Tracking_7X" + std::to_string(channel_absolute_id) + ".implementation", + tracking_implementation); + std::string telemetry_decoder_implementation_specific = configuration->property( + "TelemetryDecoder_7X" + std::to_string(channel_absolute_id) + ".implementation", + telemetry_decoder_implementation); + + // Push back the channel to the vector of channels + channels->at(channel_absolute_id) = GetChannel_7X(configuration, + acquisition_implementation_specific, + tracking_implementation_specific, + telemetry_decoder_implementation_specific, + channel_absolute_id, + queue); + channel_absolute_id++; + } + // **************** GLONASS L1 C/A CHANNELS ********************** LOG(INFO) << "Getting " << Channels_1G_count << " GLONASS L1 C/A channels"; acquisition_implementation = configuration->property("Acquisition_1G.implementation", default_implementation); @@ -1664,6 +1766,20 @@ std::unique_ptr GNSSBlockFactory::GetBlock( out_streams)); block = std::move(block_); } +#endif + else if (implementation == "Galileo_E5b_PCPS_Acquisition") + { + std::unique_ptr block_(new GalileoE5bPcpsAcquisition(configuration.get(), role, in_streams, + out_streams)); + block = std::move(block_); + } +#if ENABLE_FPGA + else if (implementation == "Galileo_E5b_PCPS_Acquisition_FPGA") + { + std::unique_ptr block_(new GalileoE5bPcpsAcquisitionFpga(configuration.get(), role, in_streams, + out_streams)); + block = std::move(block_); + } #endif else if (implementation == "Galileo_E1_PCPS_QuickSync_Ambiguous_Acquisition") { @@ -2078,6 +2194,20 @@ std::unique_ptr GNSSBlockFactory::GetAcqBlock( out_streams)); block = std::move(block_); } +#endif + else if (implementation == "Galileo_E5b_PCPS_Acquisition") + { + std::unique_ptr block_(new GalileoE5bPcpsAcquisition(configuration.get(), role, in_streams, + out_streams)); + block = std::move(block_); + } +#if ENABLE_FPGA + else if (implementation == "Galileo_E5b_PCPS_Acquisition_FPGA") + { + std::unique_ptr block_(new GalileoE5bPcpsAcquisitionFpga(configuration.get(), role, in_streams, + out_streams)); + block = std::move(block_); + } #endif else if (implementation == "GLONASS_L1_CA_PCPS_Acquisition") { diff --git a/src/core/receiver/gnss_block_factory.h b/src/core/receiver/gnss_block_factory.h index a669b8641..1fc908415 100644 --- a/src/core/receiver/gnss_block_factory.h +++ b/src/core/receiver/gnss_block_factory.h @@ -11,7 +11,7 @@ * * ------------------------------------------------------------------------- * - * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors) + * Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) * * GNSS-SDR is a software defined Global Navigation * Satellite Systems receiver @@ -85,6 +85,10 @@ private: const std::string& acq, const std::string& trk, const std::string& tlm, int channel, const std::shared_ptr>& queue); + std::unique_ptr GetChannel_7X(const std::shared_ptr& configuration, + const std::string& acq, const std::string& trk, const std::string& tlm, int channel, + const std::shared_ptr>& queue); + std::unique_ptr GetChannel_L5(const std::shared_ptr& configuration, const std::string& acq, const std::string& trk, const std::string& tlm, int channel, const std::shared_ptr>& queue); From da3794dc679e72d18bf524f4c3bcb64bf03b5349 Mon Sep 17 00:00:00 2001 From: piyush0411 Date: Sun, 14 Jun 2020 21:15:53 +0530 Subject: [PATCH 05/12] Modified Galileo_E5b.h file --- src/core/system_parameters/Galileo_E5b.h | 239 +---------------------- 1 file changed, 1 insertion(+), 238 deletions(-) diff --git a/src/core/system_parameters/Galileo_E5b.h b/src/core/system_parameters/Galileo_E5b.h index a81e7e748..018394e87 100644 --- a/src/core/system_parameters/Galileo_E5b.h +++ b/src/core/system_parameters/Galileo_E5b.h @@ -21,6 +21,7 @@ #ifndef GNSS_SDR_GALILEO_E5B_H #define GNSS_SDR_GALILEO_E5B_H +#include "Galileo_E1.h" #include "MATH_CONSTANTS.h" #include "gnss_frequencies.h" #include @@ -29,15 +30,6 @@ #include -// Physical constants -const double GALILEO_PI = 3.1415926535898; //!< Pi as defined in GALILEO ICD -const double GALILEO_TWO_PI = 6.283185307179600; //!< 2*Pi as defined in GALILEO ICD -const double GALILEO_GM = 3.986004418e14; //!< Geocentric gravitational constant[m^3/s^2] -const double GALILEO_OMEGA_EARTH_DOT = 7.2921151467e-5; //!< Mean angular velocity of the Earth [rad/s] -const double GALILEO_C_M_S = 299792458.0; //!< The speed of light, [m/s] -const double GALILEO_C_M_MS = 299792.4580; //!< The speed of light, [m/ms] -const double GALILEO_F = -4.442807309e-10; //!< Constant, [s/(m)^(1/2)] - // Carrier and code frequencies const double GALILEO_E5B_FREQ_HZ = FREQ7; //!< Galileo E5b carrier frequency [Hz] const double GALILEO_E5B_CODE_CHIP_RATE_CPS = 1.023e7; //!< Galileo E5b code rate [chips/s] @@ -56,235 +48,6 @@ const int32_t GALILEO_E5B_HISTORY_DEEP = 100; // optimum parameters const uint32_t GALILEO_E5B_OPT_ACQ_FS_SPS = 10000000; //!< Sampling frequency that maximizes the acquisition SNR while using a non-multiple of chip rate -// Galileo I/NAV message structure - -const std::string GALILEO_INAV_PREAMBLE = {"0101100000"}; -const int32_t GALILEO_INAV_PREAMBLE_LENGTH_BITS = 10; -const double GALILEO_INAV_PAGE_PART_WITH_PREABLE_SECONDS = 2.04; //!< Page Duration + (Galileo I/NAV Preamble bits)*(Galileo E5b-I tiered Code Period(seconds)) -const int32_t GALILEO_INAV_PREAMBLE_PERIOD_SYMBOLS = 250; -const int32_t GALILEO_INAV_PAGE_PART_SYMBOLS = 250; //!< Each Galileo INAV pages are composed of two parts (even and odd) each of 250 symbols, including preamble. See Galileo ICD 4.3.2 -const int32_t GALILEO_INAV_PAGE_SYMBOLS = 500; //!< The complete Galileo INAV page length -const int32_t GALILEO_INAV_PAGE_PART_SECONDS = 1; // a page part last 1 sec -const int32_t GALILEO_INAV_PAGE_PART_MS = 1000; // a page part last 1 sec -const int32_t GALILEO_INAV_PAGE_SECONDS = 2; // a full page last 2 sec -const int32_t GALILEO_INAV_INTERLEAVER_ROWS = 8; -const int32_t GALILEO_INAV_INTERLEAVER_COLS = 30; -const int32_t GALILEO_TELEMETRY_RATE_BITS_SECOND = 250; // bps -const int32_t GALILEO_PAGE_TYPE_BITS = 6; -const int32_t GALILEO_DATA_JK_BITS = 128; -const int32_t GALILEO_DATA_FRAME_BITS = 196; -const int32_t GALILEO_DATA_FRAME_BYTES = 25; - -const std::vector> TYPE({{1, 6}}); -const std::vector> PAGE_TYPE_BIT({{1, 6}}); - -/* Page 0 */ -const std::vector> TIME_0_BIT({{7, 2}}); -const std::vector> WN_0_BIT({{97, 12}}); -const std::vector> TOW_0_BIT({{109, 20}}); - - -/* Page 1 - Word type 1: Ephemeris (1/4) */ -const std::vector> IOD_NAV_1_BIT({{7, 10}}); -const std::vector> T0_E_1_BIT({{17, 14}}); -const int32_t T0E_1_LSB = 60; -const std::vector> M0_1_BIT({{31, 32}}); -const double M0_1_LSB = PI_TWO_N31; -const std::vector> E_1_BIT({{63, 32}}); -const double E_1_LSB = TWO_N33; -const std::vector> A_1_BIT({{95, 32}}); -const double A_1_LSB_GAL = TWO_N19; -// last two bits are reserved - - -/* Page 2 - Word type 2: Ephemeris (2/4) */ -const std::vector> IOD_NAV_2_BIT({{7, 10}}); -const std::vector> OMEGA_0_2_BIT({{17, 32}}); -const double OMEGA_0_2_LSB = PI_TWO_N31; -const std::vector> I_0_2_BIT({{49, 32}}); -const double I_0_2_LSB = PI_TWO_N31; -const std::vector> OMEGA_2_BIT({{81, 32}}); -const double OMEGA_2_LSB = PI_TWO_N31; -const std::vector> I_DOT_2_BIT({{113, 14}}); -const double I_DOT_2_LSB = PI_TWO_N43; -// last two bits are reserved - - -/* Word type 3: Ephemeris (3/4) and SISA */ -const std::vector> IOD_NAV_3_BIT({{7, 10}}); -const std::vector> OMEGA_DOT_3_BIT({{17, 24}}); -const double OMEGA_DOT_3_LSB = PI_TWO_N43; -const std::vector> DELTA_N_3_BIT({{41, 16}}); -const double DELTA_N_3_LSB = PI_TWO_N43; -const std::vector> C_UC_3_BIT({{57, 16}}); -const double C_UC_3_LSB = TWO_N29; -const std::vector> C_US_3_BIT({{73, 16}}); -const double C_US_3_LSB = TWO_N29; -const std::vector> C_RC_3_BIT({{89, 16}}); -const double C_RC_3_LSB = TWO_N5; -const std::vector> C_RS_3_BIT({{105, 16}}); -const double C_RS_3_LSB = TWO_N5; -const std::vector> SISA_3_BIT({{121, 8}}); - - -/* Word type 4: Ephemeris (4/4) and Clock correction parameters */ -const std::vector> IOD_NAV_4_BIT({{7, 10}}); -const std::vector> SV_ID_PRN_4_BIT({{17, 6}}); -const std::vector> C_IC_4_BIT({{23, 16}}); -const double C_IC_4_LSB = TWO_N29; -const std::vector> C_IS_4_BIT({{39, 16}}); -const double C_IS_4_LSB = TWO_N29; -const std::vector> T0C_4_BIT({{55, 14}}); // -const int32_t T0C_4_LSB = 60; -const std::vector> AF0_4_BIT({{69, 31}}); // -const double AF0_4_LSB = TWO_N34; -const std::vector> AF1_4_BIT({{100, 21}}); // -const double AF1_4_LSB = TWO_N46; -const std::vector> AF2_4_BIT({{121, 6}}); -const double AF2_4_LSB = TWO_N59; -const std::vector> SPARE_4_BIT({{127, 2}}); -// last two bits are reserved - - -/* Word type 5: Ionospheric correction, BGD, signal health and data validity status and GST */ -/* Ionospheric correction */ -/* Az */ -const std::vector> AI0_5_BIT({{7, 11}}); // -const double AI0_5_LSB = TWO_N2; -const std::vector> AI1_5_BIT({{18, 11}}); // -const double AI1_5_LSB = TWO_N8; -const std::vector> AI2_5_BIT({{29, 14}}); // -const double AI2_5_LSB = TWO_N15; - - -/* Ionospheric disturbance flag */ -const std::vector> REGION1_5_BIT({{43, 1}}); // -const std::vector> REGION2_5_BIT({{44, 1}}); // -const std::vector> REGION3_5_BIT({{45, 1}}); // -const std::vector> REGION4_5_BIT({{46, 1}}); // -const std::vector> REGION5_5_BIT({{47, 1}}); // -const std::vector> BGD_E1_E5A_5_BIT({{48, 10}}); // -const double BGD_E1_E5A_5_LSB = TWO_N32; -const std::vector> BGD_E1_E5B_5_BIT({{58, 10}}); // -const double BGD_E1_E5B_5_LSB = TWO_N32; -const std::vector> E5B_HS_5_BIT({{68, 2}}); // -const std::vector> E1_B_HS_5_BIT({{70, 2}}); // -const std::vector> E5B_DVS_5_BIT({{72, 1}}); // -const std::vector> E1_B_DVS_5_BIT({{73, 1}}); // - - -/* GST */ -const std::vector> WN_5_BIT({{74, 12}}); -const std::vector> TOW_5_BIT({{86, 20}}); -const std::vector> SPARE_5_BIT({{106, 23}}); - - -/* Page 6 */ -const std::vector> A0_6_BIT({{7, 32}}); -const double A0_6_LSB = TWO_N30; -const std::vector> A1_6_BIT({{39, 24}}); -const double A1_6_LSB = TWO_N50; -const std::vector> DELTA_T_LS_6_BIT({{63, 8}}); -const std::vector> T0T_6_BIT({{71, 8}}); -const int32_t T0T_6_LSB = 3600; -const std::vector> W_NOT_6_BIT({{79, 8}}); -const std::vector> WN_LSF_6_BIT({{87, 8}}); -const std::vector> DN_6_BIT({{95, 3}}); -const std::vector> DELTA_T_LSF_6_BIT({{98, 8}}); -const std::vector> TOW_6_BIT({{106, 20}}); - - -/* Page 7 */ -const std::vector> IOD_A_7_BIT({{7, 4}}); -const std::vector> WN_A_7_BIT({{11, 2}}); -const std::vector> T0A_7_BIT({{13, 10}}); -const int32_t T0A_7_LSB = 600; -const std::vector> SVI_D1_7_BIT({{23, 6}}); -const std::vector> DELTA_A_7_BIT({{29, 13}}); -const double DELTA_A_7_LSB = TWO_N9; -const std::vector> E_7_BIT({{42, 11}}); -const double E_7_LSB = TWO_N16; -const std::vector> OMEGA_7_BIT({{53, 16}}); -const double OMEGA_7_LSB = TWO_N15; -const std::vector> DELTA_I_7_BIT({{69, 11}}); -const double DELTA_I_7_LSB = TWO_N14; -const std::vector> OMEGA0_7_BIT({{80, 16}}); -const double OMEGA0_7_LSB = TWO_N15; -const std::vector> OMEGA_DOT_7_BIT({{96, 11}}); -const double OMEGA_DOT_7_LSB = TWO_N33; -const std::vector> M0_7_BIT({{107, 16}}); -const double M0_7_LSB = TWO_N15; - - -/* Page 8 */ -const std::vector> IOD_A_8_BIT({{7, 4}}); -const std::vector> AF0_8_BIT({{11, 16}}); -const double AF0_8_LSB = TWO_N19; -const std::vector> AF1_8_BIT({{27, 13}}); -const double AF1_8_LSB = TWO_N38; -const std::vector> E5B_HS_8_BIT({{40, 2}}); -const std::vector> E1_B_HS_8_BIT({{42, 2}}); -const std::vector> SVI_D2_8_BIT({{44, 6}}); -const std::vector> DELTA_A_8_BIT({{50, 13}}); -const double DELTA_A_8_LSB = TWO_N9; -const std::vector> E_8_BIT({{63, 11}}); -const double E_8_LSB = TWO_N16; -const std::vector> OMEGA_8_BIT({{74, 16}}); -const double OMEGA_8_LSB = TWO_N15; -const std::vector> DELTA_I_8_BIT({{90, 11}}); -const double DELTA_I_8_LSB = TWO_N14; -const std::vector> OMEGA0_8_BIT({{101, 16}}); -const double OMEGA0_8_LSB = TWO_N15; -const std::vector> OMEGA_DOT_8_BIT({{117, 11}}); -const double OMEGA_DOT_8_LSB = TWO_N33; - - -/* Page 9 */ -const std::vector> IOD_A_9_BIT({{7, 4}}); -const std::vector> WN_A_9_BIT({{11, 2}}); -const std::vector> T0A_9_BIT({{13, 10}}); -const int32_t T0A_9_LSB = 600; -const std::vector> M0_9_BIT({{23, 16}}); -const double M0_9_LSB = TWO_N15; -const std::vector> AF0_9_BIT({{39, 16}}); -const double AF0_9_LSB = TWO_N19; -const std::vector> AF1_9_BIT({{55, 13}}); -const double AF1_9_LSB = TWO_N38; -const std::vector> E5B_HS_9_BIT({{68, 2}}); -const std::vector> E1_B_HS_9_BIT({{70, 2}}); -const std::vector> SVI_D3_9_BIT({{72, 6}}); -const std::vector> DELTA_A_9_BIT({{78, 13}}); -const double DELTA_A_9_LSB = TWO_N9; -const std::vector> E_9_BIT({{91, 11}}); -const double E_9_LSB = TWO_N16; -const std::vector> OMEGA_9_BIT({{102, 16}}); -const double OMEGA_9_LSB = TWO_N15; -const std::vector> DELTA_I_9_BIT({{118, 11}}); -const double DELTA_I_9_LSB = TWO_N14; - - -/* Page 10 */ -const std::vector> IOD_A_10_BIT({{7, 4}}); -const std::vector> OMEGA0_10_BIT({{11, 16}}); -const double OMEGA0_10_LSB = TWO_N15; -const std::vector> OMEGA_DOT_10_BIT({{27, 11}}); -const double OMEGA_DOT_10_LSB = TWO_N33; -const std::vector> M0_10_BIT({{38, 16}}); -const double M0_10_LSB = TWO_N15; -const std::vector> AF0_10_BIT({{54, 16}}); -const double AF0_10_LSB = TWO_N19; -const std::vector> AF1_10_BIT({{70, 13}}); -const double AF1_10_LSB = TWO_N38; -const std::vector> E5B_HS_10_BIT({{83, 2}}); -const std::vector> E1_B_HS_10_BIT({{85, 2}}); -const std::vector> A_0_G_10_BIT({{87, 16}}); -const double A_0G_10_LSB = TWO_N35; -const std::vector> A_1_G_10_BIT({{103, 12}}); -const double A_1G_10_LSB = TWO_N51; -const std::vector> T_0_G_10_BIT({{115, 8}}); -const int32_t T_0_G_10_LSB = 3600; -const std::vector> WN_0_G_10_BIT({{123, 6}}); - // Galileo E5b-I primary codes const std::string GALILEO_E5B_I_PRIMARY_CODE[GALILEO_E5B_NUMBER_OF_CODES] = { From 1935e469507aff9c1c2726ebb9147de4c7d7baa2 Mon Sep 17 00:00:00 2001 From: piyush0411 Date: Sun, 14 Jun 2020 21:18:36 +0530 Subject: [PATCH 06/12] Updated GNSS Flowgraph --- src/core/receiver/gnss_flowgraph.cc | 94 ++++++++++++++++++++++++++++- src/core/receiver/gnss_flowgraph.h | 4 +- 2 files changed, 96 insertions(+), 2 deletions(-) diff --git a/src/core/receiver/gnss_flowgraph.cc b/src/core/receiver/gnss_flowgraph.cc index f471ebf8a..a02684514 100644 --- a/src/core/receiver/gnss_flowgraph.cc +++ b/src/core/receiver/gnss_flowgraph.cc @@ -9,7 +9,7 @@ * * ------------------------------------------------------------------------- * - * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors) + * Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) * * GNSS-SDR is a software defined Global Navigation * Satellite Systems receiver @@ -27,6 +27,7 @@ #include "GPS_L5.h" #include "Galileo_E1.h" #include "Galileo_E5a.h" +#include "Galileo_E5b.h" #include "channel.h" #include "channel_fsm.h" #include "channel_interface.h" @@ -405,6 +406,9 @@ void GNSSFlowgraph::connect() case evGAL_5X: acq_fs = GALILEO_E5A_OPT_ACQ_FS_SPS; break; + case evGAL_7X: + acq_fs = GALILEO_E5B_OPT_ACQ_FS_SPS; + break; case evGLO_1G: acq_fs = fs; break; @@ -630,6 +634,12 @@ void GNSSFlowgraph::connect() available_GAL_5X_signals_.remove(signal_value); break; + case evGAL_7X: + gnss_system = "Galileo"; + signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal); + available_GAL_7X_signals_.remove(signal_value); + break; + case evGLO_1G: gnss_system = "Glonass"; signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal); @@ -1081,6 +1091,11 @@ void GNSSFlowgraph::push_back_signal(const Gnss_Signal& gs) available_GAL_5X_signals_.push_back(gs); break; + case evGAL_7X: + available_GAL_7X_signals_.remove(gs); + available_GAL_7X_signals_.push_back(gs); + break; + case evGLO_1G: available_GLO_1G_signals_.remove(gs); available_GLO_1G_signals_.push_back(gs); @@ -1132,6 +1147,10 @@ void GNSSFlowgraph::remove_signal(const Gnss_Signal& gs) available_GAL_5X_signals_.remove(gs); break; + case evGAL_7X: + available_GAL_7X_signals_.remove(gs); + break; + case evGLO_1G: available_GLO_1G_signals_.remove(gs); break; @@ -1166,6 +1185,9 @@ double GNSSFlowgraph::project_doppler(const std::string& searched_signal, double case evGAL_5X: return (primary_freq_doppler_hz / FREQ1) * FREQ5; break; + case evGAL_7X: + return (primary_freq_doppler_hz / FREQ1) * FREQ7; + break; case evGPS_2S: return (primary_freq_doppler_hz / FREQ1) * FREQ2; break; @@ -1425,6 +1447,14 @@ void GNSSFlowgraph::priorize_satellites(const std::vector available_GAL_7X_signals_.size()) + { + available_GAL_7X_signals_.push_front(gs); + } } } } @@ -1569,6 +1599,7 @@ void GNSSFlowgraph::init() mapStringValues_["L5"] = evGPS_L5; mapStringValues_["1B"] = evGAL_1B; mapStringValues_["5X"] = evGAL_5X; + mapStringValues_["7X"] = evGAL_7X; mapStringValues_["1G"] = evGLO_1G; mapStringValues_["2G"] = evGLO_2G; mapStringValues_["B1"] = evBDS_B1; @@ -1800,6 +1831,19 @@ void GNSSFlowgraph::set_signals_list() } } + if (configuration_->property("Channels_7X.count", 0) > 0) + { + // Loop to create the list of Galileo E5b signals + for (available_gnss_prn_iter = available_galileo_prn.cbegin(); + available_gnss_prn_iter != available_galileo_prn.cend(); + available_gnss_prn_iter++) + { + available_GAL_7X_signals_.emplace_back( + Gnss_Satellite(std::string("Galileo"), *available_gnss_prn_iter), + std::string("7X")); + } + } + if (configuration_->property("Channels_1G.count", 0) > 0) { // Loop to create the list of GLONASS L1 C/A signals @@ -1901,6 +1945,10 @@ bool GNSSFlowgraph::is_multiband() const { multiband = true; } + if (configuration_->property("Channels_7X.count", 0) > 0) + { + multiband = true; + } } if (configuration_->property("Channels_1G.count", 0) > 0) { @@ -2094,6 +2142,50 @@ Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal } break; + case evGAL_7X: + if (configuration_->property("Channels_1B.count", 0) > 0) + { + // 1. Get the current channel status map + std::map> current_channels_status = channels_status_->get_current_status_map(); + // 2. search the currently tracked Galileo E1 satellites and assist the Galileo E5 acquisition if the satellite is not tracked on E5 + for (auto& current_status : current_channels_status) + { + if (std::string(current_status.second->Signal) == "1B") + { + std::list::iterator it2; + it2 = std::find_if(std::begin(available_GAL_7X_signals_), std::end(available_GAL_7X_signals_), + [&](Gnss_Signal const& sig) { return sig.get_satellite().get_PRN() == current_status.second->PRN; }); + + if (it2 != available_GAL_7X_signals_.end()) + { + estimated_doppler = current_status.second->Carrier_Doppler_hz; + RX_time = current_status.second->RX_time; + // std::cout << " Channel: " << it->first << " => Doppler: " << estimated_doppler << "[Hz] \n"; + // 3. return the Gal 7X satellite and remove it from list + result = *it2; + if (pop) + { + available_GAL_7X_signals_.erase(it2); + } + found_signal = true; + assistance_available = true; + break; + } + } + } + } + // fallback: pick the front satellite because there is no tracked satellites in E1 to assist E5 + if (found_signal == false) + { + result = available_GAL_7X_signals_.front(); + available_GAL_7X_signals_.pop_front(); + if (!pop) + { + available_GAL_7X_signals_.push_back(result); + } + } + break; + case evGLO_1G: result = available_GLO_1G_signals_.front(); available_GLO_1G_signals_.pop_front(); diff --git a/src/core/receiver/gnss_flowgraph.h b/src/core/receiver/gnss_flowgraph.h index 89e64d8b1..faaedc3b4 100644 --- a/src/core/receiver/gnss_flowgraph.h +++ b/src/core/receiver/gnss_flowgraph.h @@ -11,7 +11,7 @@ * * ------------------------------------------------------------------------- * - * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors) + * Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) * * GNSS-SDR is a software defined Global Navigation * Satellite Systems receiver @@ -205,6 +205,7 @@ private: std::list available_SBAS_1C_signals_; std::list available_GAL_1B_signals_; std::list available_GAL_5X_signals_; + std::list available_GAL_7X_signals_; std::list available_GLO_1G_signals_; std::list available_GLO_2G_signals_; std::list available_BDS_B1_signals_; @@ -217,6 +218,7 @@ private: evSBAS_1C, evGAL_1B, evGAL_5X, + evGAL_7X, evGLO_1G, evGLO_2G, evBDS_B1, From ff7affb6668c09781765d1f4b1b71178998bf41a Mon Sep 17 00:00:00 2001 From: piyush0411 Date: Mon, 15 Jun 2020 18:26:07 +0530 Subject: [PATCH 07/12] Fixed some errors and typos --- .../acquisition/adapters/galileo_e5b_pcps_acquisition.h | 2 +- src/core/system_parameters/Galileo_E5b.h | 2 ++ 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition.h b/src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition.h index c8a92cbdc..1cb80ef4c 100644 --- a/src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition.h +++ b/src/algorithms/acquisition/adapters/galileo_e5b_pcps_acquisition.h @@ -4,7 +4,7 @@ * Galileo E5b data and pilot Signals * \author Piyush Gupta, 2020. piyush04111999@gmail.com * \note Code added as part of GSoC 2020 program. - + * * ------------------------------------------------------------------------- * * Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) diff --git a/src/core/system_parameters/Galileo_E5b.h b/src/core/system_parameters/Galileo_E5b.h index 018394e87..b48bf4552 100644 --- a/src/core/system_parameters/Galileo_E5b.h +++ b/src/core/system_parameters/Galileo_E5b.h @@ -40,6 +40,8 @@ const int32_t GALILEO_E5B_I_SECONDARY_CODE_LENGTH = 4; //!< Galileo E5b-I sec const int32_t GALILEO_E5B_Q_SECONDARY_CODE_LENGTH = 100; //!< Galileo E5b-Q secondary code length [chips] const int32_t GALILEO_E5B_SYMBOL_RATE_BPS = 250; //!< Galileo E5b symbol rate [bits/second] const int32_t GALILEO_E5B_NUMBER_OF_CODES = 50; +const double GALILEO_E5B_CODE_PERIOD_S = 0.001; //!< Galileo E1 primary code period [s] +const int32_t GALILEO_E5B_CODE_PERIOD_MS = 1; //!< Galileo E1 primary code period [ms] // OBSERVABLE HISTORY DEEP FOR INTERPOLATION From e1af7818ce9e818f669112e4bc191520b1d32496 Mon Sep 17 00:00:00 2001 From: piyush0411 Date: Mon, 15 Jun 2020 18:27:27 +0530 Subject: [PATCH 08/12] Updated Signal Generator File --- .../gnuradio_blocks/signal_generator_c.cc | 57 ++++++++++++++++++- .../gnuradio_blocks/signal_generator_c.h | 2 +- 2 files changed, 57 insertions(+), 2 deletions(-) diff --git a/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc b/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc index c6bb5ff6a..367d23a04 100644 --- a/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc +++ b/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc @@ -5,7 +5,7 @@ * * ------------------------------------------------------------------------- * - * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors) + * Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) * * GNSS-SDR is a software defined Global Navigation * Satellite Systems receiver @@ -22,6 +22,7 @@ #include "GPS_L1_CA.h" #include "Galileo_E1.h" #include "Galileo_E5a.h" +#include "Galileo_E5b.h" #include "galileo_e1_signal_processing.h" #include "galileo_e5_signal_processing.h" #include "glonass_l1_signal_processing.h" @@ -124,6 +125,14 @@ void signal_generator_c::init() data_bit_duration_ms_.push_back(1e3 / GALILEO_E5A_SYMBOL_RATE_BPS); } + else if (signal_[sat].at(0) == '7') + { + int codelen = static_cast(GALILEO_E5B_CODE_LENGTH_CHIPS); + samples_per_code_.push_back(round(static_cast(fs_in_) / (GALILEO_E5B_CODE_CHIP_RATE_CPS / codelen))); + num_of_codes_per_vector_.push_back(1); + + data_bit_duration_ms_.push_back(1e3 / GALILEO_E5B_SYMBOL_RATE_BPS); + } else { samples_per_code_.push_back(round(static_cast(fs_in_) / (GALILEO_E1_CODE_CHIP_RATE_CPS / GALILEO_E1_B_CODE_LENGTH_CHIPS))); @@ -206,6 +215,21 @@ void signal_generator_c::generate_codes() } } } + else if (signal_[sat].at(0) == '7') + { + std::array signal = {{'7', 'X', '\0'}}; + + galileo_e5_b_code_gen_complex_sampled(sampled_code_data_[sat], PRN_[sat], signal, fs_in_, + static_cast(GALILEO_E5B_CODE_LENGTH_CHIPS) - delay_chips_[sat]); + // noise + if (noise_flag_) + { + for (unsigned int i = 0; i < vector_length_; i++) + { + sampled_code_data_[sat][i] *= sqrt(pow(10, CN0_dB_[sat] / 10) / BW_BB_ / 2); + } + } + } else { // Generate one code-period of E1B signal @@ -370,6 +394,37 @@ int signal_generator_c::general_work(int noutput_items __attribute__((unused)), ms_counter_[sat] = ms_counter_[sat] + static_cast(round(1e3 * GALILEO_E5A_CODE_PERIOD_S)); + for (k = delay_samples; k < samples_per_code_[sat]; k++) + { + out[out_idx] += (gr_complex(sampled_code_data_[sat][out_idx].real() * data_modulation_[sat], + sampled_code_data_[sat][out_idx].imag() * pilot_modulation_[sat])) * + complex_phase_[out_idx]; + out_idx++; + } + } + if (signal_[sat].at(0) == '7') + { + // EACH WORK outputs 1 modulated primary code + int codelen = static_cast(GALILEO_E5B_CODE_LENGTH_CHIPS); + unsigned int delay_samples = (delay_chips_[sat] % codelen) * samples_per_code_[sat] / codelen; + for (k = 0; k < delay_samples; k++) + { + out[out_idx] += (gr_complex(sampled_code_data_[sat][out_idx].real() * data_modulation_[sat], + sampled_code_data_[sat][out_idx].imag() * pilot_modulation_[sat])) * + complex_phase_[out_idx]; + out_idx++; + } + + if (ms_counter_[sat] % data_bit_duration_ms_[sat] == 0 && data_flag_) + { + // New random data bit + current_data_bit_int_[sat] = (uniform_dist(e1) % 2) == 0 ? 1 : -1; + } + data_modulation_[sat] = current_data_bit_int_[sat] * (GALILEO_E5B_I_SECONDARY_CODE.at((ms_counter_[sat] + delay_sec_[sat]) % 20) == '0' ? 1 : -1); + pilot_modulation_[sat] = (GALILEO_E5B_Q_SECONDARY_CODE[PRN_[sat] - 1].at((ms_counter_[sat] + delay_sec_[sat]) % 100) == '0' ? 1 : -1); + + ms_counter_[sat] = ms_counter_[sat] + static_cast(round(1e3 * GALILEO_E5B_CODE_PERIOD_S)); + for (k = delay_samples; k < samples_per_code_[sat]; k++) { out[out_idx] += (gr_complex(sampled_code_data_[sat][out_idx].real() * data_modulation_[sat], diff --git a/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.h b/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.h index ca2307640..91f3ac9e1 100644 --- a/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.h +++ b/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.h @@ -5,7 +5,7 @@ * * ------------------------------------------------------------------------- * - * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors) + * Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) * * GNSS-SDR is a software defined Global Navigation * Satellite Systems receiver From c36ce574507bb8a981f62d1caba8ff0bc4c18644 Mon Sep 17 00:00:00 2001 From: piyush0411 Date: Mon, 15 Jun 2020 20:05:53 +0530 Subject: [PATCH 09/12] Fixed some errors in Signal Generator File --- .../signal_generator/gnuradio_blocks/signal_generator_c.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc b/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc index 367d23a04..6ebb9773f 100644 --- a/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc +++ b/src/algorithms/signal_generator/gnuradio_blocks/signal_generator_c.cc @@ -402,7 +402,7 @@ int signal_generator_c::general_work(int noutput_items __attribute__((unused)), out_idx++; } } - if (signal_[sat].at(0) == '7') + else if (signal_[sat].at(0) == '7') { // EACH WORK outputs 1 modulated primary code int codelen = static_cast(GALILEO_E5B_CODE_LENGTH_CHIPS); From 7cd6b5c260d6f637c01d2b75c4a46c91cf56c46d Mon Sep 17 00:00:00 2001 From: piyush0411 Date: Thu, 18 Jun 2020 02:10:19 +0530 Subject: [PATCH 10/12] Modified Adapter for Signal Generator --- .../signal_generator/adapters/signal_generator.cc | 7 ++++++- .../signal_generator/adapters/signal_generator.h | 2 +- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/src/algorithms/signal_generator/adapters/signal_generator.cc b/src/algorithms/signal_generator/adapters/signal_generator.cc index 4b0f0285c..0e0d1938f 100644 --- a/src/algorithms/signal_generator/adapters/signal_generator.cc +++ b/src/algorithms/signal_generator/adapters/signal_generator.cc @@ -6,7 +6,7 @@ * * ------------------------------------------------------------------------- * - * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors) + * Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) * * GNSS-SDR is a software defined Global Navigation * Satellite Systems receiver @@ -25,6 +25,7 @@ #include "GPS_L1_CA.h" #include "Galileo_E1.h" #include "Galileo_E5a.h" +#include "Galileo_E5b.h" #include "configuration_interface.h" #include #include @@ -79,6 +80,10 @@ SignalGenerator::SignalGenerator(ConfigurationInterface* configuration, { vector_length = round(static_cast(fs_in) / (GALILEO_E5A_CODE_CHIP_RATE_CPS / GALILEO_E5A_CODE_LENGTH_CHIPS)); } + else if (signal1[0].at(0) == '7') + { + vector_length = round(static_cast(fs_in) / (GALILEO_E5B_CODE_CHIP_RATE_CPS / GALILEO_E5B_CODE_LENGTH_CHIPS)); + } else { vector_length = round(static_cast(fs_in) / (GALILEO_E1_CODE_CHIP_RATE_CPS / GALILEO_E1_B_CODE_LENGTH_CHIPS)) * GALILEO_E1_C_SECONDARY_CODE_LENGTH; diff --git a/src/algorithms/signal_generator/adapters/signal_generator.h b/src/algorithms/signal_generator/adapters/signal_generator.h index 26c0e456f..37f7afcde 100644 --- a/src/algorithms/signal_generator/adapters/signal_generator.h +++ b/src/algorithms/signal_generator/adapters/signal_generator.h @@ -6,7 +6,7 @@ * * ------------------------------------------------------------------------- * - * Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors) + * Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) * * GNSS-SDR is a software defined Global Navigation * Satellite Systems receiver From c05129574c71f20e7bd4d1758616f52ca5841c49 Mon Sep 17 00:00:00 2001 From: piyush0411 Date: Sun, 21 Jun 2020 01:55:44 +0530 Subject: [PATCH 11/12] Fixed an error --- src/core/receiver/gnss_block_factory.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/core/receiver/gnss_block_factory.cc b/src/core/receiver/gnss_block_factory.cc index ffda7818d..6b94d8858 100644 --- a/src/core/receiver/gnss_block_factory.cc +++ b/src/core/receiver/gnss_block_factory.cc @@ -610,7 +610,7 @@ std::unique_ptr GNSSBlockFactory::GetChannel_7X( { LOG(ERROR) << "Acquisition and Tracking blocks must have the same input data type!"; } - + std::unique_ptr acq_ = GetAcqBlock(configuration, "Acquisition_7X" + appendix1, acq, 1, 0); std::unique_ptr trk_ = GetTrkBlock(configuration, "Tracking_7X" + appendix2, trk, 1, 1); std::unique_ptr tlm_ = GetTlmBlock(configuration, "TelemetryDecoder_7X" + appendix3, tlm, 1, 1); @@ -619,7 +619,7 @@ std::unique_ptr GNSSBlockFactory::GetChannel_7X( std::move(acq_), std::move(trk_), std::move(tlm_), - "Channel", "7X", queue)); + "Channel", "7X", queue); return channel_; } From 8904eab57626381a3e74c8c6e2f0efce11104d14 Mon Sep 17 00:00:00 2001 From: piyush0411 Date: Tue, 23 Jun 2020 14:24:51 +0530 Subject: [PATCH 12/12] Added unit-test --- src/core/receiver/gnss_block_factory.h | 2 +- src/tests/test_main.cc | 1 + .../galileo_e5b_pcps_acquisition_test.cc | 316 ++++++++++++++++++ 3 files changed, 318 insertions(+), 1 deletion(-) create mode 100644 src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e5b_pcps_acquisition_test.cc diff --git a/src/core/receiver/gnss_block_factory.h b/src/core/receiver/gnss_block_factory.h index b8233f8f0..91ae7e909 100644 --- a/src/core/receiver/gnss_block_factory.h +++ b/src/core/receiver/gnss_block_factory.h @@ -85,7 +85,7 @@ private: std::unique_ptr GetChannel_5X(ConfigurationInterface* configuration, const std::string& acq, const std::string& trk, const std::string& tlm, int channel, Concurrent_Queue* queue); - + std::unique_ptr GetChannel_7X(ConfigurationInterface* configuration, const std::string& acq, const std::string& trk, const std::string& tlm, int channel, Concurrent_Queue* queue); diff --git a/src/tests/test_main.cc b/src/tests/test_main.cc index 00639b3db..a0fabd15f 100644 --- a/src/tests/test_main.cc +++ b/src/tests/test_main.cc @@ -65,6 +65,7 @@ DECLARE_string(log_dir); #include "unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_quicksync_ambiguous_acquisition_gsoc2014_test.cc" #include "unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_tong_ambiguous_acquisition_gsoc2013_test.cc" #include "unit-tests/signal-processing-blocks/acquisition/galileo_e5a_pcps_acquisition_gsoc2014_gensource_test.cc" +#include "unit-tests/signal-processing-blocks/acquisition/galileo_e5b_pcps_acquisition_test.cc" #include "unit-tests/signal-processing-blocks/acquisition/glonass_l1_ca_pcps_acquisition_gsoc2017_test.cc" #include "unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_gsoc2013_test.cc" #include "unit-tests/signal-processing-blocks/acquisition/gps_l1_ca_pcps_acquisition_test.cc" diff --git a/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e5b_pcps_acquisition_test.cc b/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e5b_pcps_acquisition_test.cc new file mode 100644 index 000000000..1d6f28e25 --- /dev/null +++ b/src/tests/unit-tests/signal-processing-blocks/acquisition/galileo_e5b_pcps_acquisition_test.cc @@ -0,0 +1,316 @@ +/*! + * \file Galileo_E5b_pcps_acquisition_test.cc + * \brief This class implements an acquisition test for + * GalileoE5bPcpsAcquisition class based on some input parameters. + * \author Piyush Gupta, 2020. piyush04111999@gmail.com + * \note Code added as GSoC 2020 Program. + * + * ------------------------------------------------------------------------- + * + * Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors) + * + * GNSS-SDR is a software defined Global Navigation + * Satellite Systems receiver + * + * This file is part of GNSS-SDR. + * + * SPDX-License-Identifier: GPL-3.0-or-later + * + * ------------------------------------------------------------------------- + */ + + +#include "concurrent_queue.h" +#include "fir_filter.h" +#include "galileo_e5b_pcps_acquisition.h" +#include "gnss_block_factory.h" +#include "gnss_block_interface.h" +#include "gnss_sdr_valve.h" +#include "gnss_synchro.h" +#include "in_memory_configuration.h" +#include "pass_through.h" +#include "signal_generator.h" +#include "signal_generator_c.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#if HAS_GENERIC_LAMBDA +#else +#include +#endif +#ifdef GR_GREATER_38 +#include +#else +#include +#endif + + +// ######## GNURADIO BLOCK MESSAGE RECEVER ######### +class GalileoE5bPcpsAcquisitionTest_msg_rx; + +#if GNURADIO_USES_STD_POINTERS +using GalileoE5bPcpsAcquisitionTest_msg_rx_sptr = std::shared_ptr; +#else +using GalileoE5bPcpsAcquisitionTest_msg_rx_sptr = boost::shared_ptr; +#endif + +GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make(); + +class GalileoE5bPcpsAcquisitionTest_msg_rx : public gr::block +{ +private: + friend GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make(); + void msg_handler_events(pmt::pmt_t msg); + GalileoE5bPcpsAcquisitionTest_msg_rx(); + +public: + int rx_message; + ~GalileoE5bPcpsAcquisitionTest_msg_rx(); //!< Default destructor +}; + + +GalileoE5bPcpsAcquisitionTest_msg_rx_sptr GalileoE5bPcpsAcquisitionTest_msg_rx_make() +{ + return GalileoE5bPcpsAcquisitionTest_msg_rx_sptr(new GalileoE5bPcpsAcquisitionTest_msg_rx()); +} + + +void GalileoE5bPcpsAcquisitionTest_msg_rx::msg_handler_events(pmt::pmt_t msg) +{ + try + { + int64_t message = pmt::to_long(std::move(msg)); + rx_message = message; + } + catch (boost::bad_any_cast& e) + { + std::cout << "msg_handler_telemetry Bad any cast!" << std::endl; + rx_message = 0; + } +} + + +GalileoE5bPcpsAcquisitionTest_msg_rx::GalileoE5bPcpsAcquisitionTest_msg_rx() : gr::block("GalileoE5bPcpsAcquisitionTest_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0)) +{ + this->message_port_register_in(pmt::mp("events")); + this->set_msg_handler(pmt::mp("events"), +#if HAS_GENERIC_LAMBDA + [this](pmt::pmt_t&& PH1) { msg_handler_events(PH1); }); +#else +#if BOOST_173_OR_GREATER + boost::bind(&GalileoE5bPcpsAcquisitionTest_msg_rx::msg_handler_events, this, boost::placeholders::_1)); +#else + boost::bind(&GalileoE5bPcpsAcquisitionTest_msg_rx::msg_handler_events, this, _1)); +#endif +#endif + rx_message = 0; +} + + +GalileoE5bPcpsAcquisitionTest_msg_rx::~GalileoE5bPcpsAcquisitionTest_msg_rx() = default; + + +// ########################################################### + +class GalileoE5bPcpsAcquisitionTest : public ::testing::Test +{ +protected: + GalileoE5bPcpsAcquisitionTest() + { + factory = std::make_shared(); + config = std::make_shared(); + item_size = sizeof(gr_complex); + gnss_synchro = Gnss_Synchro(); + } + + ~GalileoE5bPcpsAcquisitionTest() = default; + + void init(); + + gr::top_block_sptr top_block; + std::shared_ptr factory; + std::shared_ptr config; + Gnss_Synchro gnss_synchro; + size_t item_size; +}; + + +void GalileoE5bPcpsAcquisitionTest::init() +{ + gnss_synchro.Channel_ID = 0; + gnss_synchro.System = 'E'; + std::string signal = "7X"; + signal.copy(gnss_synchro.Signal, 2, 0); + gnss_synchro.PRN = 1; + config->set_property("SignalSource.item_type", "gr_complex"); + config->set_property("SignalSource.num_satellites", "1"); + config->set_property("SignalSource.system_0", "E"); + config->set_property("SignalSource.signal_0", "7X"); + config->set_property("SignalSource.PRN_0", "11"); + config->set_property("SignalSource.CN0_dB_0", "50"); + config->set_property("SignalSource.doppler_Hz_0", std::to_string(1000)); + config->set_property("SignalSource.delay_chips_0", std::to_string(50)); + config->set_property("SignalSource.delay_sec_0", std::to_string(94)); + config->set_property("SignalSource.noise_flag", "false"); + config->set_property("SignalSource.data_flag", "false"); + config->set_property("SignalSource.BW_BB", "0.97"); + config->set_property("SignalSource.dump", "false"); + config->set_property("SignalSource.dump_filename", "../data/signal_source.dat"); + config->set_property("GNSS-SDR.internal_fs_sps", "4000000"); + config->set_property("InputFilter.implementation", "Fir_Filter"); + config->set_property("InputFilter.input_item_type", "gr_complex"); + config->set_property("InputFilter.output_item_type", "gr_complex"); + config->set_property("InputFilter.taps_item_type", "float"); + config->set_property("InputFilter.number_of_taps", "11"); + config->set_property("InputFilter.number_of_bands", "2"); + config->set_property("InputFilter.band1_begin", "0.0"); + config->set_property("InputFilter.band1_end", "0.97"); + config->set_property("InputFilter.band2_begin", "0.98"); + config->set_property("InputFilter.band2_end", "1.0"); + config->set_property("InputFilter.ampl1_begin", "1.0"); + config->set_property("InputFilter.ampl1_end", "1.0"); + config->set_property("InputFilter.ampl2_begin", "0.0"); + config->set_property("InputFilter.ampl2_end", "0.0"); + config->set_property("InputFilter.band1_error", "1.0"); + config->set_property("InputFilter.band2_error", "1.0"); + config->set_property("InputFilter.filter_type", "bandpass"); + config->set_property("InputFilter.grid_density", "16"); + config->set_property("Acquisition_7X.item_type", "gr_complex"); + config->set_property("Acquisition_7X.coherent_integration_time_ms", "1"); + config->set_property("Acquisition_7X.dump", "true"); + config->set_property("Acquisition_7X.dump_filename", "./acquisition"); + config->set_property("Acquisition_7X.implementation", "Galileo_E5b_PCPS_Acquisition"); + config->set_property("Acquisition_7X.threshold", "0.001"); + config->set_property("Acquisition_7X.doppler_max", "10000"); + config->set_property("Acquisition_7X.doppler_step", "250"); + config->set_property("Acquisition_7X.repeat_satellite", "false"); +} + + +TEST_F(GalileoE5bPcpsAcquisitionTest, Instantiate) +{ + init(); +#if GNURADIO_USES_STD_POINTERS + std::shared_ptr acquisition = std::make_shared(config.get(), "Acquisition_7X", 1, 0); +#else + boost::shared_ptr acquisition = boost::make_shared(config.get(), "Acquisition_7X", 1, 0); +#endif +} + + +TEST_F(GalileoE5bPcpsAcquisitionTest, ConnectAndRun) +{ + int fs_in = 4000000; + int nsamples = 4000; + std::chrono::time_point begin, end; + std::chrono::duration elapsed_seconds(0); + std::shared_ptr> queue = std::make_shared>(); + + top_block = gr::make_top_block("Acquisition test"); + init(); +#if GNURADIO_USES_STD_POINTERS + std::shared_ptr acquisition = std::make_shared(config.get(), "Acquisition_7X", 1, 0); +#else + boost::shared_ptr acquisition = boost::make_shared(config.get(), "Acquisition_7X", 1, 0); +#endif + + auto msg_rx = GalileoE5bPcpsAcquisitionTest_msg_rx_make(); + + ASSERT_NO_THROW({ + acquisition->connect(top_block); + auto source = gr::analog::sig_source_c::make(fs_in, gr::analog::GR_SIN_WAVE, 1000, 1, gr_complex(0)); + auto valve = gnss_sdr_make_valve(sizeof(gr_complex), nsamples, queue.get()); + top_block->connect(source, 0, valve, 0); + top_block->connect(valve, 0, acquisition->get_left_block(), 0); + top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events")); + }) << "Failure connecting the blocks of acquisition test."; + + EXPECT_NO_THROW({ + begin = std::chrono::system_clock::now(); + top_block->run(); // Start threads and wait + end = std::chrono::system_clock::now(); + elapsed_seconds = end - begin; + }) << "Failure running the top_block."; + + std::cout << "Processed " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl; +} + + +TEST_F(GalileoE5bPcpsAcquisitionTest, ValidationOfResults) +{ + std::chrono::time_point begin, end; + std::chrono::duration elapsed_seconds(0); + top_block = gr::make_top_block("Acquisition test"); + + double expected_delay_samples = 2920; + double expected_doppler_hz = -632; + init(); + std::shared_ptr acquisition = std::make_shared(config.get(), "Acquisition_7X", 1, 0); + std::shared_ptr input_filter = std::make_shared(config.get(), "InputFilter", 1, 1); + auto msg_rx = GalileoE5bPcpsAcquisitionTest_msg_rx_make(); + std::shared_ptr> queue = std::make_shared>(); + + ASSERT_NO_THROW({ + acquisition->set_channel(1); + }) << "Failure setting channel."; + + ASSERT_NO_THROW({ + acquisition->set_gnss_synchro(&gnss_synchro); + }) << "Failure setting gnss_synchro."; + + ASSERT_NO_THROW({ + acquisition->set_threshold(0.001); + }) << "Failure setting threshold."; + + ASSERT_NO_THROW({ + acquisition->set_doppler_max(5000); + }) << "Failure setting doppler_max."; + + ASSERT_NO_THROW({ + acquisition->set_doppler_step(100); + }) << "Failure setting doppler_step."; + + ASSERT_NO_THROW({ + acquisition->connect(top_block); + }) << "Failure connecting acquisition to the top_block."; + + acquisition->set_local_code(); + acquisition->set_state(1); // Ensure that acquisition starts at the first sample + acquisition->init(); + + ASSERT_NO_THROW({ + std::shared_ptr signal_generator = std::make_shared(config.get(), "SignalSource", 0, 1, queue.get()); + std::shared_ptr filter = std::make_shared(config.get(), "InputFilter", 1, 1); + std::shared_ptr signal_source = std::make_shared(signal_generator, filter, "SignalSource", queue.get()); + filter->connect(top_block); + signal_source->connect(top_block); + top_block->connect(signal_source->get_right_block(), 0, acquisition->get_left_block(), 0); + top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events")); + }) << "Failure connecting the blocks of acquisition test."; + + EXPECT_NO_THROW({ + begin = std::chrono::system_clock::now(); + top_block->run(); // Start threads and wait + end = std::chrono::system_clock::now(); + elapsed_seconds = end - begin; + }) << "Failure running the top_block."; + + uint64_t nsamples = gnss_synchro.Acq_samplestamp_samples; + std::cout << "Acquired " << nsamples << " samples in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl; + + ASSERT_EQ(1, msg_rx->rx_message) << "Acquisition failure. Expected message: 1=ACQ SUCCESS."; + + double delay_error_samples = std::abs(expected_delay_samples - gnss_synchro.Acq_delay_samples); + float delay_error_chips = static_cast(delay_error_samples) * 10230.0 / 4000.0; + double doppler_error_hz = std::abs(expected_doppler_hz - gnss_synchro.Acq_doppler_hz); + + EXPECT_LE(doppler_error_hz, 666) << "Doppler error exceeds the expected value: 666 Hz = 2/(3*integration period)"; + EXPECT_LT(delay_error_chips, 0.5) << "Delay error exceeds the expected value: 0.5 chips"; +} \ No newline at end of file