Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into vtl_experimental

src/algorithms/tracking/adapters/CMakeLists.txt

@@ -111,6 +111,13 @@ target_include_directories(tracking_adapters
         ${CMAKE_SOURCE_DIR}/src/core/interfaces
 )
 
+if(ENABLE_FPGA)
+    target_link_libraries(tracking_adapters
+        PRIVATE
+            core_libs
+    )
+endif()
+
 if(ENABLE_CUDA)
     if(CMAKE_VERSION VERSION_GREATER 3.11)
         target_include_directories(tracking_adapters

src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking_fpga.cc

@@ -30,6 +30,7 @@
 #include "dll_pll_conf_fpga.h"
 #include "galileo_e1_signal_replica.h"
 #include "gnss_sdr_flags.h"
+#include "uio_fpga.h"
 #include <glog/logging.h>
 #include <volk_gnsssdr/volk_gnsssdr_alloc.h>
 #include <array>
@@ -63,15 +64,14 @@ GalileoE1DllPllVemlTrackingFpga::GalileoE1DllPllVemlTrackingFpga(
     const std::array<char, 3> sig_{'1', 'B', '\0'};
     std::memcpy(trk_params_fpga.signal, sig_.data(), 3);
 
-    // FPGA configuration parameters
-    // obtain the number of the first uio device corresponding to a HW accelerator in the FPGA
-    // that can be assigned to the tracking of the E1 signal
-    trk_params_fpga.dev_file_num = configuration->property(role + ".dev_file_num", 15);
+    // UIO device file
+    device_name = configuration->property(role + ".devicename", default_device_name);
+
     // compute the number of tracking channels that have already been instantiated. The order in which
     // GNSS-SDR instantiates the tracking channels i L1, L2, L5, E1, E5a
-    trk_params_fpga.num_prev_assigned_ch = configuration->property("Channels_1C.count", 0) +
-                                           configuration->property("Channels_2S.count", 0) +
-                                           configuration->property("Channels_L5.count", 0);
+    num_prev_assigned_ch = configuration->property("Channels_1C.count", 0) +
+                           configuration->property("Channels_2S.count", 0) +
+                           configuration->property("Channels_L5.count", 0);
 
     // ################# PRE-COMPUTE ALL THE CODES #################
     uint32_t code_samples_per_chip = 2;
@@ -184,7 +184,16 @@ void GalileoE1DllPllVemlTrackingFpga::start_tracking()
 void GalileoE1DllPllVemlTrackingFpga::set_channel(unsigned int channel)
 {
     channel_ = channel;
-    tracking_fpga_sc->set_channel(channel);
+
+    // UIO device file
+    std::string device_io_name;
+    // find the uio device file corresponding to the tracking multicorrelator
+    if (find_uio_dev_file_name(device_io_name, device_name, channel - num_prev_assigned_ch) < 0)
+        {
+            std::cout << "Cannot find the FPGA uio device file corresponding to device name " << device_name << std::endl;
+            throw std::exception();
+        }
+    tracking_fpga_sc->set_channel(channel, device_io_name);
 }
 
 

src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking_fpga.h

@@ -126,11 +126,16 @@ public:
     void stop_tracking() override;
 
 private:
+    const std::string default_device_name = "multicorrelator_resampler_5_1_AXI";  // UIO device name
+
     // the following flags are FPGA-specific and they are using arrange the values 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 int32_t LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY = 0x0C000000;      // flag that enables WE (Write Enable) of the local code FPGA
     static const int32_t LOCAL_CODE_FPGA_CORRELATOR_SELECT_COUNT = 0x20000000;  // flag that selects the writing of the pilot code in the FPGA (as opposed to the data code)
 
+    std::string device_name;
+    uint32_t num_prev_assigned_ch;
+
     dll_pll_veml_tracking_fpga_sptr tracking_fpga_sc;
     uint32_t channel_;
     std::string role_;

src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking_fpga.cc

@@ -25,6 +25,7 @@
 #include "dll_pll_conf_fpga.h"
 #include "galileo_e5_signal_replica.h"
 #include "gnss_sdr_flags.h"
+#include "uio_fpga.h"
 #include <glog/logging.h>
 #include <volk_gnsssdr/volk_gnsssdr_alloc.h>
 #include <array>
@@ -60,19 +61,18 @@ GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
 
     d_data_codes = nullptr;
 
-    // FPGA configuration parameters
-    // obtain the number of the first uio device corresponding to a HW accelerator in the FPGA
-    // that can be assigned to the tracking of the E5a signal
-    trk_params_fpga.dev_file_num = configuration->property(role + ".dev_file_num", 27);
+    // UIO device file
+    device_name = configuration->property(role + ".devicename", default_device_name);
+
     // compute the number of tracking channels that have already been instantiated. The order in which
     // GNSS-SDR instantiates the tracking channels i L1, L2, L5, E1, E5a
     // However E5a can use the same tracking HW accelerators as L5 (but not simultaneously).
     // Therefore for the proper assignment of the FPGA tracking device file numbers to the E5a tracking channels,
     // the number of channels that have already been assigned to L5 must not be substracted to this channel number,
     // so they are not counted here.
-    trk_params_fpga.num_prev_assigned_ch = configuration->property("Channels_1C.count", 0) +
-                                           configuration->property("Channels_2S.count", 0) +
-                                           configuration->property("Channels_1B.count", 0);
+    num_prev_assigned_ch = configuration->property("Channels_1C.count", 0) +
+                           configuration->property("Channels_2S.count", 0) +
+                           configuration->property("Channels_1B.count", 0);
 
     // ################# PRE-COMPUTE ALL THE CODES #################
     uint32_t code_samples_per_chip = 1;
@@ -207,7 +207,16 @@ void GalileoE5aDllPllTrackingFpga::stop_tracking()
 void GalileoE5aDllPllTrackingFpga::set_channel(unsigned int channel)
 {
     channel_ = channel;
-    tracking_fpga_sc->set_channel(channel);
+
+    // UIO device file
+    std::string device_io_name;
+    // find the uio device file corresponding to the tracking multicorrelator
+    if (find_uio_dev_file_name(device_io_name, device_name, channel - num_prev_assigned_ch) < 0)
+        {
+            std::cout << "Cannot find the FPGA uio device file corresponding to device name " << device_name << std::endl;
+            throw std::exception();
+        }
+    tracking_fpga_sc->set_channel(channel, device_io_name);
 }
 
 

src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking_fpga.h

@@ -119,11 +119,15 @@ public:
     void stop_tracking() override;
 
 private:
+    const std::string default_device_name = "multicorrelator_resampler_3_1_AXI";  // UIO device name
+
     // the following flags are FPGA-specific and they are using arrange the values 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 int32_t LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY = 0x0C000000;      // flag that enables WE (Write Enable) of the local code FPGA
     static const int32_t LOCAL_CODE_FPGA_CORRELATOR_SELECT_COUNT = 0x20000000;  // flag that selects the writing of the pilot code in the FPGA (as opposed to the data code)
 
+    std::string device_name;
+    uint32_t num_prev_assigned_ch;
 
     dll_pll_veml_tracking_fpga_sptr tracking_fpga_sc;
     uint32_t channel_;

src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_fpga.cc

@@ -30,6 +30,7 @@
 #include "dll_pll_conf_fpga.h"
 #include "gnss_sdr_flags.h"
 #include "gps_sdr_signal_replica.h"
+#include "uio_fpga.h"
 #include <glog/logging.h>
 #include <volk_gnsssdr/volk_gnsssdr.h>
 #include <array>
@@ -68,13 +69,12 @@ GpsL1CaDllPllTrackingFpga::GpsL1CaDllPllTrackingFpga(
     const std::array<char, 3> sig_{'1', 'C', '\0'};
     std::memcpy(trk_params_fpga.signal, sig_.data(), 3);
 
-    // FPGA configuration parameters
-    // obtain the number of the first uio device corresponding to a HW accelerator in the FPGA
-    // that can be assigned to the tracking of the L1 signal
-    trk_params_fpga.dev_file_num = configuration->property(role + ".dev_file_num", 3);
+    // UIO device file
+    device_name = configuration->property(role + ".devicename", default_device_name);
+
     // compute the number of tracking channels that have already been instantiated. The order in which
     // GNSS-SDR instantiates the tracking channels i L1, l2, L5, E1, E5a
-    trk_params_fpga.num_prev_assigned_ch = 0;
+    num_prev_assigned_ch = 0;
 
     // ################# PRE-COMPUTE ALL THE CODES #################
     d_ca_codes = static_cast<int32_t*>(volk_gnsssdr_malloc(static_cast<int32_t>(GPS_L1_CA_CODE_LENGTH_CHIPS * NUM_PRNs) * sizeof(int32_t), volk_gnsssdr_get_alignment()));
@@ -153,7 +153,17 @@ void GpsL1CaDllPllTrackingFpga::stop_tracking()
 void GpsL1CaDllPllTrackingFpga::set_channel(unsigned int channel)
 {
     channel_ = channel;
-    tracking_fpga_sc->set_channel(channel);
+
+    // UIO device file
+    std::string device_io_name;
+    // find the uio device file corresponding to the tracking multicorrelator
+    if (find_uio_dev_file_name(device_io_name, device_name, channel - num_prev_assigned_ch) < 0)
+        {
+            std::cout << "Cannot find the FPGA uio device file corresponding to device name " << device_name << std::endl;
+            throw std::exception();
+        }
+
+    tracking_fpga_sc->set_channel(channel, device_io_name);
 }
 
 

src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_fpga.h

@@ -124,12 +124,16 @@ public:
     void stop_tracking() override;
 
 private:
+    const std::string default_device_name = "multicorrelator_resampler_S00_AXI";  // UIO device name
+
     static const uint32_t NUM_PRNs = 32;  // total number of PRNs
     static const int32_t GPS_CA_BIT_DURATION_MS = 20;
     // the following flag is FPGA-specific and they are using arrange the values 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 int32_t LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY = 0x0C000000;  // flag that enables WE (Write Enable) of the local code FPGA
 
+    std::string device_name;
+    uint32_t num_prev_assigned_ch;
 
     dll_pll_veml_tracking_fpga_sptr tracking_fpga_sc;
     uint32_t channel_;

src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking_fpga.cc

@@ -32,6 +32,7 @@
 #include "gnss_sdr_flags.h"
 #include "gnss_synchro.h"
 #include "gps_l2c_signal_replica.h"
+#include "uio_fpga.h"
 #include <glog/logging.h>
 #include <volk_gnsssdr/volk_gnsssdr_alloc.h>
 #include <array>
@@ -66,12 +67,12 @@ GpsL2MDllPllTrackingFpga::GpsL2MDllPllTrackingFpga(
     const std::array<char, 3> sig_{'2', 'S', '\0'};
     std::memcpy(trk_params_fpga.signal, sig_.data(), 3);
 
-    // FPGA configuration parameters
-    // obtain the number of the first uio device file that is assigned to the FPGA L2 tracking multicorrelator HW accelerators
-    trk_params_fpga.dev_file_num = configuration->property(role + ".dev_file_num", 27);
+    // UIO device file
+    device_name = configuration->property(role + ".devicename", default_device_name);
+
     // compute the number of tracking channels that have already been instantiated. The order in which
     // GNSS-SDR instantiates the tracking channels i L1, L2, L5, E1, E5a
-    trk_params_fpga.num_prev_assigned_ch = configuration->property("Channels_1C.count", 0);
+    num_prev_assigned_ch = configuration->property("Channels_1C.count", 0);
 
     volk_gnsssdr::vector<float> ca_codes_f(static_cast<unsigned int>(GPS_L2_M_CODE_LENGTH_CHIPS), 0.0);
     // ################# PRE-COMPUTE ALL THE CODES #################
@@ -130,7 +131,17 @@ void GpsL2MDllPllTrackingFpga::stop_tracking()
 void GpsL2MDllPllTrackingFpga::set_channel(unsigned int channel)
 {
     channel_ = channel;
-    tracking_fpga_sc->set_channel(channel);
+
+    // UIO device file
+    std::string device_io_name;
+    // find the uio device file corresponding to the tracking multicorrelator
+    if (find_uio_dev_file_name(device_io_name, device_name, channel - num_prev_assigned_ch) < 0)
+        {
+            std::cout << "Cannot find the FPGA uio device file corresponding to device name " << device_name << std::endl;
+            throw std::exception();
+        }
+
+    tracking_fpga_sc->set_channel(channel, device_io_name);
 }
 
 

src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking_fpga.h

@@ -95,6 +95,11 @@ public:
     void stop_tracking() override;
 
 private:
+    const std::string default_device_name = "multicorrelator_resampler_S00_AXI";  // UIO device name
+
+    std::string device_name;
+    uint32_t num_prev_assigned_ch;
+
     static const uint32_t NUM_PRNs = 32;
     dll_pll_veml_tracking_fpga_sptr tracking_fpga_sc;
     unsigned int channel_;

src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking_fpga.cc

@@ -32,6 +32,7 @@
 #include "dll_pll_conf_fpga.h"
 #include "gnss_sdr_flags.h"
 #include "gps_l5_signal_replica.h"
+#include "uio_fpga.h"
 #include <glog/logging.h>
 #include <volk_gnsssdr/volk_gnsssdr_alloc.h>
 #include <array>
@@ -65,14 +66,13 @@ GpsL5DllPllTrackingFpga::GpsL5DllPllTrackingFpga(
     const std::array<char, 3> sig_{'L', '5', '\0'};
     std::memcpy(trk_params_fpga.signal, sig_.data(), 3);
 
-    // FPGA configuration parameters
-    // obtain the number of the first uio device corresponding to a HW accelerator in the FPGA
-    // that can be assigned to the tracking of the L5 signal
-    trk_params_fpga.dev_file_num = configuration->property(role + ".dev_file_num", 27);
+    // UIO device file
+    device_name = configuration->property(role + ".devicename", default_device_name);
+
     // compute the number of tracking channels that have already been instantiated. The order in which
     // GNSS-SDR instantiates the tracking channels i L1, L2, L5, E1, E5a
-    trk_params_fpga.num_prev_assigned_ch = configuration->property("Channels_1C.count", 0) +
-                                           configuration->property("Channels_2S.count", 0);
+    num_prev_assigned_ch = configuration->property("Channels_1C.count", 0) +
+                           configuration->property("Channels_2S.count", 0);
 
     // ################# PRE-COMPUTE ALL THE CODES #################
     uint32_t code_samples_per_chip = 1;
@@ -215,7 +215,17 @@ void GpsL5DllPllTrackingFpga::stop_tracking()
 void GpsL5DllPllTrackingFpga::set_channel(unsigned int channel)
 {
     channel_ = channel;
-    tracking_fpga_sc->set_channel(channel);
+
+    // UIO device file
+    std::string device_io_name;
+    // find the uio device file corresponding to the tracking multicorrelator
+    if (find_uio_dev_file_name(device_io_name, device_name, channel - num_prev_assigned_ch) < 0)
+        {
+            std::cout << "Cannot find the FPGA uio device file corresponding to device name " << device_name << std::endl;
+            throw std::exception();
+        }
+
+    tracking_fpga_sc->set_channel(channel, device_io_name);
 }
 
 

src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking_fpga.h

@@ -125,6 +125,8 @@ public:
     void stop_tracking() override;
 
 private:
+    const std::string default_device_name = "multicorrelator_resampler_3_1_AXI";  // UIO device name
+
     static const uint32_t NUM_PRNs = 32;  // total number of PRNs
 
     // the following flags are FPGA-specific and they are using arrange the values of the local code in the way the FPGA
@@ -132,6 +134,9 @@ private:
     static const int32_t LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY = 0x0C000000;      // flag that enables WE (Write Enable) of the local code FPGA
     static const int32_t LOCAL_CODE_FPGA_CORRELATOR_SELECT_COUNT = 0x20000000;  // flag that selects the writing of the pilot code in the FPGA (as opposed to the data code)
 
+    std::string device_name;
+    uint32_t num_prev_assigned_ch;
+
     dll_pll_veml_tracking_fpga_sptr tracking_fpga_sc;
     uint32_t channel_;
     std::string role_;