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Added experimental SIMD-accelerated correlator for tracking, using GNURadio volk libraries.

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git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@134 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Javier Arribas 2012-01-20 16:37:16 +00:00
parent 305d9f14c1
commit b72802a51f
8 changed files with 290 additions and 19 deletions

6
conf/gnss-sdr.conf

@ -17,7 +17,7 @@ ControlThread.wait_for_flowgraph=false
SignalSource.implementation=File_Signal_Source
;#filename: path to file with the captured GNSS signal samples to be processed
SignalSource.filename=/Users/carlesfernandez/Documents/workspace/gnss-sdr/trunk/data/agilent_cap2.dat
SignalSource.filename=/media/DATALOGGER/signals/Agilent GPS Generator/cap2/agilent_cap2.dat
@ -51,7 +51,7 @@ SignalConditioner.dump=false
;######### CHANNELS CONFIGURATION CONFIG ############
;#count: Number of avalable satellite channels.
Channels.count=6
Channels.count=4
;######### ACQUISITION GLOBAL CONFIG ############
@ -160,7 +160,7 @@ Tracking.item_type=gr_complex
Tracking.if=0
;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
Tracking.dump=true
Tracking.dump=false
;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
Tracking.dump_filename=./tracking_ch_

3
jamroot.jam

@ -7,7 +7,7 @@ lib gnuradio-core ;
project : requirements
<define>OMNITHREAD_POSIX
<cxxflags>"-std=c++0x -fno-builtin-malloc -fno-builtin-calloc -fno-builtin-realloc -fno-builtin-free"
<linkflags>"-larmadillo -lboost_system -lboost_filesystem -lboost_thread -lboost_date_time -llapack -lblas -lprofiler -ltcmalloc"
<linkflags>"-larmadillo -lboost_system -lboost_filesystem -lboost_thread -lboost_date_time -llapack -lblas -lprofiler -ltcmalloc -lvolk"
<include>src/algorithms/acquisition/adapters
<include>src/algorithms/acquisition/gnuradio_blocks
<include>src/algorithms/channel/adapters
@ -41,6 +41,7 @@ project : requirements
<include>$GNURADIO_ROOT/gnuradio-core/src/lib/io
<include>$GNURADIO_ROOT/gnuradio-core/src/lib/general
<include>$GNURADIO_ROOT/gnuradio-core/src/lib/gengen
<include>$GNURADIO_ROOT/volk/lib
<threading>multi
<toolset>darwin:<include>/opt/local/include ;

64
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_fll_pll_tracking_cc.cc

@ -51,6 +51,8 @@
#include <glog/log_severity.h>
#include <glog/logging.h>
/*!
* \todo Include in definition header file
*/
@ -106,12 +108,18 @@ Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc(Gnss_Satell
// Get space for a vector with the C/A code replica sampled 1x/chip
d_ca_code = new gr_complex[(int)GPS_L1_CA_CODE_LENGTH_CHIPS+2];
// Get space for the resampled early / prompt / late local replicas
d_early_code = new gr_complex[d_vector_length*2];
d_prompt_code = new gr_complex[d_vector_length*2];
d_late_code = new gr_complex[d_vector_length*2];
//d_early_code = new gr_complex[d_vector_length*2];
//d_prompt_code = new gr_complex[d_vector_length*2];
//d_late_code = new gr_complex[d_vector_length*2];
// space for carrier wipeoff LO vector
d_carr_sign = new gr_complex[d_vector_length*2];
//d_carr_sign = new gr_complex[d_vector_length*2];
posix_memalign((void**)&d_early_code, 16, d_vector_length*sizeof(gr_complex)*2);
posix_memalign((void**)&d_late_code, 16, d_vector_length*sizeof(gr_complex)*2);
posix_memalign((void**)&d_prompt_code, 16, d_vector_length*sizeof(gr_complex)*2);
posix_memalign((void**)&d_carr_sign,16, d_vector_length*sizeof(gr_complex)*2);
// sample synchronization
d_sample_counter = 0;
@ -251,7 +259,7 @@ void Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::update_local_carrier()
phase += phase_step;
}
d_rem_carr_phase = fmod(phase, TWO_PI);
d_acc_carrier_phase_rad = d_acc_carrier_phase_rad + d_rem_carr_phase;
d_acc_carrier_phase_rad = d_acc_carrier_phase_rad + phase;
}
@ -262,10 +270,16 @@ Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::~Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc()
{
d_dump_file.close();
delete[] d_ca_code;
delete[] d_early_code;
delete[] d_prompt_code;
delete[] d_late_code;
delete[] d_carr_sign;
//delete[] d_early_code;
//delete[] d_prompt_code;
//delete[] d_late_code;
//delete[] d_carr_sign;
free(d_prompt_code);
free(d_late_code);
free(d_early_code);
free(d_carr_sign);
delete[] d_Prompt_buffer;
}
@ -345,12 +359,34 @@ int Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::general_work (int noutput_items, gr_vecto
update_local_code();
update_local_carrier();
gr_complex bb_signal_sample(0,0);
gr_complex* E_out;
gr_complex* P_out;
gr_complex* L_out;
posix_memalign((void**)&E_out, 16, 8);
posix_memalign((void**)&P_out, 16, 8);
posix_memalign((void**)&L_out, 16, 8);
// perform Early, Prompt and Late correlation
/*!
* \todo Use SIMD-enabled correlators
*/
d_correlator.Carrier_wipeoff_and_EPL_volk(d_current_prn_length_samples,
in,
d_carr_sign,
d_early_code,
d_prompt_code,
d_late_code,
E_out,
P_out,
L_out);
d_Early=E_out[0];
d_Prompt=P_out[0];
d_Late=L_out[0];
free(E_out);
free(P_out);
free(L_out);
/*
gr_complex bb_signal_sample(0,0);
for(int i=0; i<d_current_prn_length_samples; i++)
{
//Perform the carrier wipe-off
@ -360,7 +396,7 @@ int Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc::general_work (int noutput_items, gr_vecto
d_Prompt += bb_signal_sample * d_prompt_code[i];
d_Late += bb_signal_sample * d_late_code[i];
}
*/
/*
* DLL, FLL, and PLL discriminators
*/

4
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_fll_pll_tracking_cc.h

@ -51,6 +51,7 @@
//#include "GPS_L1_CA.h"
#include "correlator.h"
class Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc;
typedef boost::shared_ptr<Gps_L1_Ca_Dll_Fll_Pll_Tracking_cc>
@ -182,6 +183,9 @@ private:
float d_acq_code_phase_samples;
float d_acq_carrier_doppler_hz;
// correlator
correlator d_correlator;
// FLL + PLL filter
float d_FLL_discriminator_hz; // This is a class variable because FLL needs to have memory
Tracking_FLL_PLL_filter d_carrier_loop_filter;

170
src/algorithms/tracking/libs/correlator.cc Normal file

@ -0,0 +1,170 @@
/*!
* \file correlator.h
* \brief Highly optimized vector correlator class
* \author Javier Arribas, 2011. jarribas(at)cttc.es
*
* Class that implements a high optimized vector correlator class.
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2011 (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.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
/*!
* \brief High optimized vector correlator class
*
*/
#include <iostream>
#include <gnuradio/gr_block.h>
#include "correlator.h"
unsigned long correlator::next_power_2(unsigned long v)
{
v--;
v |= v >> 1;
v |= v >> 2;
v |= v >> 4;
v |= v >> 8;
v |= v >> 16;
v++;
return v;
}
void correlator::Carrier_wipeoff_and_EPL_generic(int signal_length_samples,const gr_complex* input, gr_complex* carrier,gr_complex* E_code, gr_complex* P_code, gr_complex* L_code,gr_complex* E_out, gr_complex* P_out, gr_complex* L_out)
{
gr_complex bb_signal_sample(0,0);
//std::cout<<"length="<<signal_length_samples<<std::endl;
*E_out=0;
*P_out=0;
*L_out=0;
// perform Early, Prompt and Late correlation
for(int i=0; i<signal_length_samples; i++)
{
//Perform the carrier wipe-off
bb_signal_sample = input[i] * carrier[i];
// Now get early, late, and prompt values for each
*E_out += bb_signal_sample*E_code[i];
*P_out += bb_signal_sample*P_code[i];
*L_out += bb_signal_sample*L_code[i];
}
}
void correlator::Carrier_wipeoff_and_EPL_volk(int signal_length_samples,const gr_complex* input, gr_complex* carrier,gr_complex* E_code, gr_complex* P_code, gr_complex* L_code,gr_complex* E_out, gr_complex* P_out, gr_complex* L_out)
{
gr_complex* bb_signal;
gr_complex* input_aligned;
//gr_complex* carrier_aligned;
// signal_length_samples=next_power_2(signal_length_samples);
//std::cout<<"length="<<signal_length_samples<<std::endl;
//long int new_length=next_power_2(signal_length_samples);
posix_memalign((void**)&bb_signal, 16, signal_length_samples*sizeof(gr_complex));
posix_memalign((void**)&input_aligned, 16, signal_length_samples*sizeof(gr_complex));
//posix_memalign((void**)&carrier_aligned, 16, new_length*sizeof(gr_complex));
memcpy(input_aligned,input,signal_length_samples*sizeof(gr_complex));
//memcpy(carrier_aligned,carrier,signal_length_samples*sizeof(gr_complex));
volk_32fc_x2_multiply_32fc_a_manual(bb_signal, input_aligned, carrier, signal_length_samples, volk_32fc_x2_multiply_32fc_a_best_arch.c_str());
volk_32fc_x2_dot_prod_32fc_a_manual(E_out, bb_signal, E_code, signal_length_samples*sizeof(gr_complex), volk_32fc_x2_dot_prod_32fc_a_best_arch.c_str());
volk_32fc_x2_dot_prod_32fc_a_manual(P_out, bb_signal, P_code, signal_length_samples*sizeof(gr_complex), volk_32fc_x2_dot_prod_32fc_a_best_arch.c_str());
volk_32fc_x2_dot_prod_32fc_a_manual(L_out, bb_signal, L_code, signal_length_samples*sizeof(gr_complex), volk_32fc_x2_dot_prod_32fc_a_best_arch.c_str());
free(bb_signal);
free(input_aligned);
//free(carrier_aligned);
}
void correlator::cpu_arch_test_volk_32fc_x2_dot_prod_32fc_a()
{
//
struct volk_func_desc desc=volk_32fc_x2_dot_prod_32fc_a_get_func_desc();
std::vector<std::string> arch_list;
for(int i = 0; i < desc.n_archs; i++) {
//if(!(archs[i+1] & volk_get_lvarch())) continue; //this arch isn't available on this pc
arch_list.push_back(std::string(desc.indices[i]));
}
//first let's get a list of available architectures for the test
if(arch_list.size() < 2) {
std::cout << "no architectures to test" << std::endl;
this->volk_32fc_x2_dot_prod_32fc_a_best_arch="generic";
}else{
std::cout << "Detected architectures in this machine for volk_32fc_x2_dot_prod_32fc_a:" << std::endl;
for (unsigned int i=0;i<arch_list.size();i++)
{
std::cout<<"Arch "<<i<<":"<<arch_list.at(i)<< std::endl;
}
// TODO: Make a test to find the best architecture
this->volk_32fc_x2_dot_prod_32fc_a_best_arch=arch_list.at(arch_list.size()-1);
}
}
void correlator::cpu_arch_test_volk_32fc_x2_multiply_32fc_a()
{
//
struct volk_func_desc desc=volk_32fc_x2_multiply_32fc_a_get_func_desc();
std::vector<std::string> arch_list;
for(int i = 0; i < desc.n_archs; i++) {
//if(!(archs[i+1] & volk_get_lvarch())) continue; //this arch isn't available on this pc
arch_list.push_back(std::string(desc.indices[i]));
}
this->volk_32fc_x2_multiply_32fc_a_best_arch="generic";
//first let's get a list of available architectures for the test
if(arch_list.size() < 2) {
std::cout << "no architectures to test" << std::endl;
}else{
std::cout << "Detected architectures in this machine for volk_32fc_x2_multiply_32fc_a:" << std::endl;
for (unsigned int i=0;i<arch_list.size();i++)
{
std::cout<<"Arch "<<i<<":"<<arch_list.at(i)<< std::endl;
if (arch_list.at(i).compare("sse3")==1)
{
// TODO: Make a test to find the best architecture
this->volk_32fc_x2_multiply_32fc_a_best_arch="sse3";
}
}
}
}
correlator::correlator ()
{
cpu_arch_test_volk_32fc_x2_dot_prod_32fc_a();
cpu_arch_test_volk_32fc_x2_multiply_32fc_a();
}
correlator::~correlator ()
{}

58
src/algorithms/tracking/libs/correlator.h Normal file

@ -0,0 +1,58 @@
/*!
* \file correlator.h
* \brief High optimized vector correlator class
* \author Javier Arribas, 2011. jarribas(at)cttc.es
*
* Class that implements a high optimized vector correlator class.
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2011 (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.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef CORRELATOR_H_
#define CORRELATOR_H_
/*!
* \brief High optimized vector correlator class
*
*/
#include <volk/volk.h>
#include <gnuradio/gr_block.h>
class correlator
{
private:
std::string volk_32fc_x2_multiply_32fc_a_best_arch;
std::string volk_32fc_x2_dot_prod_32fc_a_best_arch;
unsigned long next_power_2(unsigned long v);
void cpu_arch_test_volk_32fc_x2_dot_prod_32fc_a();
void cpu_arch_test_volk_32fc_x2_multiply_32fc_a();
public:
void Carrier_wipeoff_and_EPL_generic(int signal_length_samples,const gr_complex* input, gr_complex* carrier,gr_complex* E_code, gr_complex* P_code, gr_complex* L_code,gr_complex* E_out, gr_complex* P_out, gr_complex* L_out);
void Carrier_wipeoff_and_EPL_volk(int signal_length_samples,const gr_complex* input, gr_complex* carrier,gr_complex* E_code, gr_complex* P_code, gr_complex* L_code,gr_complex* E_out, gr_complex* P_out, gr_complex* L_out);
correlator();
~correlator();
};
#endif

3
src/algorithms/tracking/libs/jamfile.jam

@ -4,4 +4,5 @@ obj tracking_discriminators : tracking_discriminators.cc ;
obj CN_estimators : CN_estimators.cc ;
obj tracking_FLL_PLL_filter : tracking_FLL_PLL_filter.cc ;
obj tracking_2nd_PLL_filter : tracking_2nd_PLL_filter.cc ;
obj tracking_2nd_DLL_filter : tracking_2nd_DLL_filter.cc ;
obj tracking_2nd_DLL_filter : tracking_2nd_DLL_filter.cc ;
obj correlator : correlator.cc ;

1
src/main/jamfile.jam

@ -41,6 +41,7 @@ exe gnss-sdr : main.cc
../algorithms/tracking/libs//tracking_FLL_PLL_filter
../algorithms/tracking/libs//tracking_2nd_PLL_filter
../algorithms/tracking/libs//tracking_2nd_DLL_filter
../algorithms/tracking/libs//correlator
../core/libs//INIReader
../core/libs//ini
../core/libs//string_converter