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

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This commit is contained in:
Marc Majoral 2019-03-18 19:37:19 +01:00
commit bef7e42fb9
345 changed files with 3502 additions and 2905 deletions
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1
.gitignore vendored
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@ -13,3 +13,4 @@ thirdparty/
cmake-build-debug/
/install
.DS_Store
.pydevproject

660
CMakeLists.txt
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File diff suppressed because it is too large Load Diff

2
README.md
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@ -542,7 +542,7 @@ In a terminal, type:
~~~~~~
$ sudo port selfupdate
$ sudo port upgrade outdated
$ sudo port install doxygen +latex
$ sudo port install doxygen +docs
$ sudo port install gnuradio
$ sudo port install armadillo
$ sudo port install gnutls

7
cmake/Modules/FindGNURADIO.cmake
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@ -43,6 +43,9 @@ macro(LIST_CONTAINS var value)
endforeach()
endmacro()
# Trick for feature_summary
set(GNURADIO_FOUND TRUE)
function(GR_MODULE EXTVAR PCNAME INCFILE LIBFILE)
list_contains(REQUIRED_MODULE ${EXTVAR} ${GR_REQUIRED_COMPONENTS})
if(NOT REQUIRED_MODULE)
@ -140,6 +143,7 @@ function(GR_MODULE EXTVAR PCNAME INCFILE LIBFILE)
# generate an error if the module is missing
if(NOT GNURADIO_${EXTVAR}_FOUND)
message(STATUS "Required GNU Radio Component: ${EXTVAR} missing!")
set(GNURADIO_FOUND FALSE) # Trick for feature_summary
endif()
mark_as_advanced(GNURADIO_${EXTVAR}_LIBRARIES GNURADIO_${EXTVAR}_INCLUDE_DIRS)
@ -200,3 +204,6 @@ if(NOT PC_GNURADIO_RUNTIME_VERSION)
set(PC_GNURADIO_RUNTIME_VERSION "3.8.0+")
endif()
endif()
# Trick for feature_summary
set(GNURADIO_FOUND TRUE)

51
cmake/Modules/FindGOOGLETEST.cmake Normal file
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@ -0,0 +1,51 @@
# Copyright (C) 2011-2019 (see AUTHORS file for a list of contributors)
#
# 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 <https://www.gnu.org/licenses/>.
# - Try to find Googletest source code
#
# The following environment variable is optionally searched for:
# GTEST_DIR: Base directory where Googletest source code is found.
#
# The following are set after configuration is done:
# GOOGLETEST_FOUND
# LIBGTEST_DEV_DIR
# GTEST_INCLUDE_DIRS
find_path(LIBGTEST_DEV_DIR
NAMES src/gtest-all.cc
PATHS
${GTEST_DIR}
${GTEST_DIR}/googletest
/usr/src/googletest/googletest
/usr/src/gtest
/usr/include/gtest
/opt/local/src/gtest-1.7.0
)
find_path(GTEST_INCLUDE_DIRS
NAMES gtest/gtest.h
PATHS
${GTEST_DIR}/googletest/include
/usr/include
/opt/local/src/gtest-1.7.0/include
)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(GOOGLETEST DEFAULT_MSG LIBGTEST_DEV_DIR GTEST_INCLUDE_DIRS)
mark_as_advanced(LIBGTEST_DEV_DIR GTEST_INCLUDE_DIRS)

1
cmake/Modules/SetupPython.cmake
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@ -82,7 +82,6 @@ if(CMAKE_VERSION VERSION_LESS 3.12)
gnsssdr_python_check_module("mako >= ${GNSSSDR_MAKO_MIN_VERSION}" mako "mako.__version__ >= '${GNSSSDR_MAKO_MIN_VERSION}'" MAKO_FOUND)
gnsssdr_python_check_module("six - python 2 and 3 compatibility library" six "True" SIX_FOUND)
endif()
find_package(PythonLibs ${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR} EXACT)
else()
find_package(Python3 COMPONENTS Interpreter)
if(Python3_FOUND)

37
docs/changelog
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@ -1,27 +1,56 @@
## [Unreleased](https://github.com/gnss-sdr/gnss-sdr/tree/next)
### Improvements in Availability
- Fixed bug that caused a random deadlock in the Observables block, preventing the computation of PVT fixes.
- Fixed bug in Galileo INAV message decoding when PLL is locked at 180 degrees, which prevented from correct navigation message decoding in some situations.
### Improvements in Efficiency
- Applied clang-tidy checks and fixes related to performance.
- Improved preamble detection implementation in the decoding of navigation messages (acceleration by x1.6 on average).
- Applied clang-tidy checks and fixes related to performance: performance-faster-string-find, performance-inefficient-algorithm, performance-move-const-arg, performance-type-promotion-in-math-fn, performance-unnecessary-copy-initialization, performance-unnecessary-value-param, readability-string-compare.
### Improvements in Interoperability:
- Added the BeiDou B1I receiver chain.
- Fix bug in GLONASS dual frequency receiver.
- Added a custom UDP/IP output for PVT data streaming.
- Improved Monitor block with UDP/IP output for internal receiver's data streaming.
### Improvements in Maintainability:
- Usage of clang-tidy integrated into CMake scripts. New option -DENABLE_CLANG_TIDY=ON executes clang-tidy along with compilation. Requires clang compiler.
- Applied clang-tidy checks and fixes related to readability.
- Applied clang-tidy checks and fixes related to readability: readability-container-size-empty, readability-identifier-naming, readability-inconsistent-declaration-parameter-name, readability-named-parameter, readability-non-const-parameter, readability-string-compare.
- Improved includes selection following suggestions by include-what-you-use (see https://include-what-you-use.org/), allowing faster compiles, fewer recompiles and making refactoring easier.
### Improvements in Portability:
- Added interfaces for FPGA off-loading.
- CMake scripts now follow a modern approach (targets and properties) but still work in 2.8.12
## Improvements in Reliability
### Improvements in Reliability
- Applied clang-tidy checks and fixes related to High Integrity C++: performance-move-const-arg, modernize-use-auto, modernize-use-equals-default, modernize-use-equals-delete, modernize-use-noexcept, modernize-use-nullptr, cert-dcl21-cpp, misc-new-delete-overloads, cert-dcl58-cpp, cert-err52-cpp, cert-err60-cpp.
### Improvements in Usability
- The receiver now admits FPGA off-loading, allowing for real time operation at high sampling rates and higher number of signals and channels.
- Fixed program termination (avoiding hangs and segfaults in some platforms/configurations).
- CMake now generates a summary of enabled/disabled features. This info is also stored in a file called features.log in the building directory.
- New parameter PVT.show_local_time_zone displays time in the local time zone. Subject to the proper system configuration of the machine running the software receiver.
- Improved information provided to the user in case of failure.
See the definitions of concepts and metrics at https://gnss-sdr.org/design-forces/
- Applied clang-tidy checks and fixes related to High Integrity C++.
## [0.0.10](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.10)

1
src/algorithms/PVT/adapters/CMakeLists.txt
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@ -32,6 +32,7 @@ add_library(pvt_adapters ${PVT_ADAPTER_SOURCES} ${PVT_ADAPTER_HEADERS})
target_link_libraries(pvt_adapters
PUBLIC
pvt_gr_blocks
algorithms_libs_rtklib
core_system_parameters
PRIVATE
gnss_sdr_flags

23
src/algorithms/PVT/adapters/rtklib_pvt.cc
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@ -30,10 +30,17 @@
#include "rtklib_pvt.h"
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include "pvt_conf.h"
#include <glog/logging.h>
#include "MATH_CONSTANTS.h" // for D2R
#include "configuration_interface.h" // for ConfigurationInterface
#include "galileo_almanac.h" // for Galileo_Almanac
#include "galileo_ephemeris.h" // for Galileo_Ephemeris
#include "gnss_sdr_flags.h" // for FLAGS_RINEX_version
#include "gps_almanac.h" // for Gps_Almanac
#include "gps_ephemeris.h" // for Gps_Ephemeris
#include "pvt_conf.h" // for Pvt_Conf
#include "rtklib_rtkpos.h" // for rtkfree, rtkinit
#include <glog/logging.h> // for LOG
#include <iostream> // for operator<<
#if OLD_BOOST
#include <boost/math/common_factor_rt.hpp>
namespace bc = boost::math;
@ -43,9 +50,6 @@ namespace bc = boost::integer;
#endif
using google::LogMessage;
Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
@ -710,8 +714,11 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
pvt_output_parameters.udp_addresses = configuration->property(role + ".monitor_client_addresses", std::string("127.0.0.1"));
pvt_output_parameters.udp_port = configuration->property(role + ".monitor_udp_port", 1234);
// Show time in local zone
pvt_output_parameters.show_local_time_zone = configuration->property(role + ".show_local_time_zone", false);
// make PVT object
pvt_ = rtklib_make_pvt_cc(in_streams_, pvt_output_parameters, rtk);
pvt_ = rtklib_make_pvt_gs(in_streams_, pvt_output_parameters, rtk);
DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
if (out_streams_ > 0)
{

25
src/algorithms/PVT/adapters/rtklib_pvt.h
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@ -32,18 +32,21 @@
#ifndef GNSS_SDR_RTKLIB_PVT_H_
#define GNSS_SDR_RTKLIB_PVT_H_
#include "galileo_almanac.h"
#include "galileo_ephemeris.h"
#include "gps_almanac.h"
#include "gps_ephemeris.h"
#include "pvt_interface.h"
#include "rtklib.h"
#include "rtklib_pvt_cc.h"
#include <map>
#include <string>
#include "pvt_interface.h" // for PvtInterface
#include "rtklib.h" // for rtk_t
#include "rtklib_pvt_gs.h" // for rtklib_pvt_gs_sptr
#include <gnuradio/gr_complex.h> // for gr_complex
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <cstddef> // for size_t
#include <ctime> // for time_t
#include <map> // for map
#include <string> // for string
class ConfigurationInterface;
class Galileo_Almanac;
class Galileo_Ephemeris;
class Gps_Almanac;
class Gps_Ephemeris;
/*!
* \brief This class implements a PvtInterface for the RTKLIB PVT block
@ -99,7 +102,7 @@ public:
time_t* UTC_time) override;
private:
rtklib_pvt_cc_sptr pvt_;
rtklib_pvt_gs_sptr pvt_;
rtk_t rtk{};
std::string role_;
unsigned int in_streams_;

19
src/algorithms/PVT/gnuradio_blocks/CMakeLists.txt
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@ -17,11 +17,11 @@
#
set(PVT_GR_BLOCKS_SOURCES
rtklib_pvt_cc.cc
rtklib_pvt_gs.cc
)
set(PVT_GR_BLOCKS_HEADERS
rtklib_pvt_cc.h
rtklib_pvt_gs.h
)
source_group(Headers FILES ${PVT_GR_BLOCKS_HEADERS})
@ -30,12 +30,13 @@ add_library(pvt_gr_blocks ${PVT_GR_BLOCKS_SOURCES} ${PVT_GR_BLOCKS_HEADERS})
target_link_libraries(pvt_gr_blocks
PUBLIC
pvt_libs
algorithms_libs_rtklib
core_system_parameters
Boost::date_time
Gnuradio::pmt
Gnuradio::runtime
PRIVATE
pvt_libs
algorithms_libs
Gflags::gflags
Glog::glog
@ -57,6 +58,18 @@ if(Boost_VERSION LESS 105800)
target_compile_definitions(pvt_gr_blocks PRIVATE -DOLD_BOOST=1)
endif()
# Check if we have std::put_time (Workaround for gcc < 5.0)
include(CheckCXXSourceCompiles)
check_cxx_source_compiles("
#include <iomanip>
int main()
{ std::put_time(nullptr, \"\"); }"
has_put_time
)
if(${has_put_time})
target_compile_definitions(pvt_gr_blocks PRIVATE -DHAS_PUT_TIME=1)
endif()
set_property(TARGET pvt_gr_blocks
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>

184
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc → src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@ -1,5 +1,5 @@
/*!
* \file rtklib_pvt_cc.cc
* \file rtklib_pvt_gs.cc
* \brief Interface of a Position Velocity and Time computation block
* \author Javier Arribas, 2017. jarribas(at)cttc.es
*
@ -28,24 +28,61 @@
* -------------------------------------------------------------------------
*/
#include "rtklib_pvt_cc.h"
#include "rtklib_pvt_gs.h"
#include "beidou_dnav_almanac.h"
#include "beidou_dnav_ephemeris.h"
#include "beidou_dnav_iono.h"
#include "beidou_dnav_utc_model.h"
#include "display.h"
#include "galileo_almanac.h"
#include "galileo_almanac_helper.h"
#include "galileo_ephemeris.h"
#include "galileo_iono.h"
#include "galileo_utc_model.h"
#include "geojson_printer.h"
#include "glonass_gnav_almanac.h"
#include "glonass_gnav_ephemeris.h"
#include "glonass_gnav_utc_model.h"
#include "gnss_sdr_create_directory.h"
#include "gps_almanac.h"
#include "gps_cnav_ephemeris.h"
#include "gps_cnav_iono.h"
#include "gps_cnav_utc_model.h"
#include "gps_ephemeris.h"
#include "gps_iono.h"
#include "gps_utc_model.h"
#include "gpx_printer.h"
#include "kml_printer.h"
#include "monitor_pvt.h"
#include "monitor_pvt_udp_sink.h"
#include "nmea_printer.h"
#include "pvt_conf.h"
#include <boost/archive/xml_iarchive.hpp>
#include <boost/archive/xml_oarchive.hpp>
#include <boost/exception/all.hpp>
#include "rinex_printer.h"
#include "rtcm_printer.h"
#include "rtklib_solver.h"
#include <boost/any.hpp> // for any_cast, any
#include <boost/archive/xml_iarchive.hpp> // for xml_iarchive
#include <boost/archive/xml_oarchive.hpp> // for xml_oarchive
#include <boost/bind/bind.hpp> // for bind_t, bind
#include <boost/exception/diagnostic_information.hpp>
#include <boost/exception/exception.hpp>
#include <boost/filesystem/path.hpp>
#include <boost/serialization/map.hpp>
#include <glog/logging.h>
#include <gnuradio/gr_complex.h>
#include <gnuradio/io_signature.h>
#include <algorithm>
#include <exception>
#include <fstream>
#include <iostream>
#include <stdexcept>
#include <boost/serialization/nvp.hpp> // for nvp, make_nvp
#include <boost/system/error_code.hpp> // for error_code
#include <glog/logging.h> // for LOG
#include <gnuradio/io_signature.h> // for io_signature
#include <pmt/pmt_sugar.h> // for mp
#include <algorithm> // for sort, unique
#include <exception> // for exception
#include <fstream> // for ofstream
#include <iomanip> // for put_time, setprecision
#include <iostream> // for operator<<
#include <locale> // for locale
#include <sstream> // for ostringstream
#include <stdexcept> // for length_error
#include <sys/ipc.h> // for IPC_CREAT
#include <sys/msg.h> // for msgctl
#if OLD_BOOST
#include <boost/math/common_factor_rt.hpp>
namespace bc = boost::math;
@ -54,22 +91,20 @@ namespace bc = boost::math;
namespace bc = boost::integer;
#endif
using google::LogMessage;
rtklib_pvt_cc_sptr rtklib_make_pvt_cc(uint32_t nchannels,
rtklib_pvt_gs_sptr rtklib_make_pvt_gs(uint32_t nchannels,
const Pvt_Conf& conf_,
const rtk_t& rtk)
{
return rtklib_pvt_cc_sptr(new rtklib_pvt_cc(nchannels,
return rtklib_pvt_gs_sptr(new rtklib_pvt_gs(nchannels,
conf_,
rtk));
}
rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
const Pvt_Conf& conf_,
const rtk_t& rtk) : gr::sync_block("rtklib_pvt_cc",
const rtk_t& rtk) : gr::sync_block("rtklib_pvt_gs",
gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(0, 0, 0))
{
@ -118,7 +153,7 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
// GPS Ephemeris data message port in
this->message_port_register_in(pmt::mp("telemetry"));
this->set_msg_handler(pmt::mp("telemetry"), boost::bind(&rtklib_pvt_cc::msg_handler_telemetry, this, _1));
this->set_msg_handler(pmt::mp("telemetry"), boost::bind(&rtklib_pvt_gs::msg_handler_telemetry, this, _1));
// initialize kml_printer
std::string kml_dump_filename;
@ -151,7 +186,6 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
// initialize geojson_printer
std::string geojson_dump_filename;
geojson_dump_filename = d_dump_filename;
d_geojson_output_enabled = conf_.geojson_output_enabled;
if (d_geojson_output_enabled)
{
@ -330,13 +364,50 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
throw std::exception();
}
// Display time in local time zone
d_show_local_time_zone = conf_.show_local_time_zone;
time_t when = std::time(nullptr);
auto const tm = *std::localtime(&when);
std::ostringstream os;
#ifdef HAS_PUT_TIME
os << std::put_time(&tm, "%z");
#endif
std::string utc_diff_str = os.str(); // in ISO 8601 format: "+HHMM" or "-HHMM"
if (utc_diff_str.empty())
{
utc_diff_str = "+0000";
}
int h = std::stoi(utc_diff_str.substr(0, 3), nullptr, 10);
int m = std::stoi(utc_diff_str[0] + utc_diff_str.substr(3), nullptr, 10);
d_utc_diff_time = boost::posix_time::hours(h) + boost::posix_time::minutes(m);
std::ostringstream os2;
#ifdef HAS_PUT_TIME
os2 << std::put_time(&tm, "%Z");
#endif
std::string time_zone_abrv = os2.str();
if (time_zone_abrv.empty())
{
if (utc_diff_str == "+0000")
{
d_local_time_str = " UTC";
}
else
{
d_local_time_str = " (UTC " + utc_diff_str.substr(0, 3) + ":" + utc_diff_str.substr(3, 2) + ")";
}
}
else
{
d_local_time_str = std::string(" ") + time_zone_abrv + " (UTC " + utc_diff_str.substr(0, 3) + ":" + utc_diff_str.substr(3, 2) + ")";
}
d_pvt_solver = std::make_shared<Rtklib_Solver>(static_cast<int32_t>(nchannels), dump_ls_pvt_filename, d_dump, d_dump_mat, rtk);
d_pvt_solver->set_averaging_depth(1);
start = std::chrono::system_clock::now();
}
rtklib_pvt_cc::~rtklib_pvt_cc()
rtklib_pvt_gs::~rtklib_pvt_gs()
{
msgctl(sysv_msqid, IPC_RMID, nullptr);
try
@ -883,7 +954,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
}
void rtklib_pvt_cc::msg_handler_telemetry(const pmt::pmt_t& msg)
void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
{
try
{
@ -1097,43 +1168,43 @@ void rtklib_pvt_cc::msg_handler_telemetry(const pmt::pmt_t& msg)
}
std::map<int, Gps_Ephemeris> rtklib_pvt_cc::get_gps_ephemeris_map() const
std::map<int, Gps_Ephemeris> rtklib_pvt_gs::get_gps_ephemeris_map() const
{
return d_pvt_solver->gps_ephemeris_map;
}
std::map<int, Gps_Almanac> rtklib_pvt_cc::get_gps_almanac_map() const
std::map<int, Gps_Almanac> rtklib_pvt_gs::get_gps_almanac_map() const
{
return d_pvt_solver->gps_almanac_map;
}
std::map<int, Galileo_Ephemeris> rtklib_pvt_cc::get_galileo_ephemeris_map() const
std::map<int, Galileo_Ephemeris> rtklib_pvt_gs::get_galileo_ephemeris_map() const
{
return d_pvt_solver->galileo_ephemeris_map;
}
std::map<int, Galileo_Almanac> rtklib_pvt_cc::get_galileo_almanac_map() const
std::map<int, Galileo_Almanac> rtklib_pvt_gs::get_galileo_almanac_map() const
{
return d_pvt_solver->galileo_almanac_map;
}
std::map<int, Beidou_Dnav_Ephemeris> rtklib_pvt_cc::get_beidou_dnav_ephemeris_map() const
std::map<int, Beidou_Dnav_Ephemeris> rtklib_pvt_gs::get_beidou_dnav_ephemeris_map() const
{
return d_pvt_solver->beidou_dnav_ephemeris_map;
}
std::map<int, Beidou_Dnav_Almanac> rtklib_pvt_cc::get_beidou_dnav_almanac_map() const
std::map<int, Beidou_Dnav_Almanac> rtklib_pvt_gs::get_beidou_dnav_almanac_map() const
{
return d_pvt_solver->beidou_dnav_almanac_map;
}
void rtklib_pvt_cc::clear_ephemeris()
void rtklib_pvt_gs::clear_ephemeris()
{
d_pvt_solver->gps_ephemeris_map.clear();
d_pvt_solver->gps_almanac_map.clear();
@ -1144,13 +1215,13 @@ void rtklib_pvt_cc::clear_ephemeris()
}
bool rtklib_pvt_cc::observables_pairCompare_min(const std::pair<int, Gnss_Synchro>& a, const std::pair<int, Gnss_Synchro>& b)
bool rtklib_pvt_gs::observables_pairCompare_min(const std::pair<int, Gnss_Synchro>& a, const std::pair<int, Gnss_Synchro>& b)
{
return (a.second.Pseudorange_m) < (b.second.Pseudorange_m);
}
bool rtklib_pvt_cc::send_sys_v_ttff_msg(ttff_msgbuf ttff)
bool rtklib_pvt_gs::send_sys_v_ttff_msg(ttff_msgbuf ttff)
{
// Fill Sys V message structures
int msgsend_size;
@ -1166,7 +1237,7 @@ bool rtklib_pvt_cc::send_sys_v_ttff_msg(ttff_msgbuf ttff)
}
bool rtklib_pvt_cc::save_gnss_synchro_map_xml(const std::string& file_name)
bool rtklib_pvt_gs::save_gnss_synchro_map_xml(const std::string& file_name)
{
if (gnss_observables_map.empty() == false)
{
@ -1191,7 +1262,7 @@ bool rtklib_pvt_cc::save_gnss_synchro_map_xml(const std::string& file_name)
}
bool rtklib_pvt_cc::load_gnss_synchro_map_xml(const std::string& file_name)
bool rtklib_pvt_gs::load_gnss_synchro_map_xml(const std::string& file_name)
{
// load from xml (boost serialize)
std::ifstream ifs;
@ -1212,7 +1283,7 @@ bool rtklib_pvt_cc::load_gnss_synchro_map_xml(const std::string& file_name)
}
std::vector<std::string> rtklib_pvt_cc::split_string(const std::string& s, char delim) const
std::vector<std::string> rtklib_pvt_gs::split_string(const std::string& s, char delim) const
{
std::vector<std::string> v;
std::stringstream ss(s);
@ -1227,7 +1298,7 @@ std::vector<std::string> rtklib_pvt_cc::split_string(const std::string& s, char
}
bool rtklib_pvt_cc::get_latest_PVT(double* longitude_deg,
bool rtklib_pvt_gs::get_latest_PVT(double* longitude_deg,
double* latitude_deg,
double* height_m,
double* ground_speed_kmh,
@ -1250,7 +1321,7 @@ bool rtklib_pvt_cc::get_latest_PVT(double* longitude_deg,
}
int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_items,
int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items __attribute__((unused)))
{
for (int32_t epoch = 0; epoch < noutput_items; epoch++)
@ -1433,8 +1504,16 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
if (first_fix == true)
{
std::cout << "First position fix at " << boost::posix_time::to_simple_string(d_pvt_solver->get_position_UTC_time())
<< " UTC is Lat = " << d_pvt_solver->get_latitude() << " [deg], Long = " << d_pvt_solver->get_longitude()
if (d_show_local_time_zone)
{
boost::posix_time::ptime time_first_solution = d_pvt_solver->get_position_UTC_time() + d_utc_diff_time;
std::cout << "First position fix at " << time_first_solution << d_local_time_str;
}
else
{
std::cout << "First position fix at " << d_pvt_solver->get_position_UTC_time() << " UTC";
}
std::cout << " is Lat = " << d_pvt_solver->get_latitude() << " [deg], Long = " << d_pvt_solver->get_longitude()
<< " [deg], Height= " << d_pvt_solver->get_height() << " [m]" << std::endl;
ttff_msgbuf ttff;
ttff.mtype = 1;
@ -3256,18 +3335,31 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
// DEBUG MESSAGE: Display position in console output
if (d_pvt_solver->is_valid_position() and flag_display_pvt)
{
boost::posix_time::ptime time_solution;
std::string UTC_solution_str;
if (d_show_local_time_zone)
{
time_solution = d_pvt_solver->get_position_UTC_time() + d_utc_diff_time;
UTC_solution_str = d_local_time_str;
}
else
{
time_solution = d_pvt_solver->get_position_UTC_time();
UTC_solution_str = " UTC";
}
std::streamsize ss = std::cout.precision(); // save current precision
std::cout.setf(std::ios::fixed, std::ios::floatfield);
auto facet = new boost::posix_time::time_facet("%Y-%b-%d %H:%M:%S.%f %z");
std::cout.imbue(std::locale(std::cout.getloc(), facet));
std::cout
<< TEXT_BOLD_GREEN
<< "Position at " << time_solution << UTC_solution_str
<< " using " << d_pvt_solver->get_num_valid_observations()
<< std::fixed << std::setprecision(9)
<< " observations is Lat = " << d_pvt_solver->get_latitude() << " [deg], Long = " << d_pvt_solver->get_longitude()
<< std::fixed << std::setprecision(3)
<< " [deg], Height = " << d_pvt_solver->get_height() << " [m]" << TEXT_RESET << std::endl;
std::cout << TEXT_BOLD_GREEN
<< "Position at " << d_pvt_solver->get_position_UTC_time()
<< " UTC using " << d_pvt_solver->get_num_valid_observations()
<< std::fixed << std::setprecision(9)
<< " observations is Lat = " << d_pvt_solver->get_latitude() << " [deg], Long = " << d_pvt_solver->get_longitude()
<< std::fixed << std::setprecision(3)
<< " [deg], Height = " << d_pvt_solver->get_height() << " [m]" << TEXT_RESET << std::endl;
std::cout << std::setprecision(ss);
DLOG(INFO) << "RX clock offset: " << d_pvt_solver->get_time_offset_s() << "[s]";

106
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h → src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
View File

@ -1,5 +1,5 @@
/*!
* \file rtklib_pvt_cc.h
* \file rtklib_pvt_gs.h
* \brief Interface of a Position Velocity and Time computation block
* \author Javier Arribas, 2017. jarribas(at)cttc.es
*
@ -28,56 +28,61 @@
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_RTKLIB_PVT_CC_H
#define GNSS_SDR_RTKLIB_PVT_CC_H
#ifndef GNSS_SDR_RTKLIB_PVT_GS_H
#define GNSS_SDR_RTKLIB_PVT_GS_H
#include "beidou_dnav_almanac.h"
#include "beidou_dnav_ephemeris.h"
#include "galileo_almanac.h"
#include "galileo_ephemeris.h"
#include "geojson_printer.h"
#include "gnss_synchro.h"
#include "gps_almanac.h"
#include "gps_ephemeris.h"
#include "gpx_printer.h"
#include "kml_printer.h"
#include "monitor_pvt_udp_sink.h"
#include "nmea_printer.h"
#include "pvt_conf.h"
#include "rinex_printer.h"
#include "rtcm_printer.h"
#include "rtklib_solver.h"
#include "rtklib.h"
#include <boost/date_time/gregorian/gregorian.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <gnuradio/sync_block.h>
#include <pmt/pmt.h>
#include <chrono>
#include <cstdint>
#include <map>
#include <memory>
#include <string>
#include <sys/ipc.h>
#include <sys/msg.h>
#include <sys/types.h>
#include <utility>
#include <vector>
#include <boost/shared_ptr.hpp> // for boost::shared_ptr
#include <gnuradio/sync_block.h> // for sync_block
#include <gnuradio/types.h> // for gr_vector_const_void_star
#include <pmt/pmt.h> // for pmt_t
#include <chrono> // for system_clock
#include <cstdint> // for int32_t
#include <ctime> // for time_t
#include <map> // for map
#include <memory> // for shared_ptr, unique_ptr
#include <string> // for string
#include <sys/types.h> // for key_t
#include <utility> // for pair
#include <vector> // for vector
class Beidou_Dnav_Almanac;
class Beidou_Dnav_Ephemeris;
class Galileo_Almanac;
class Galileo_Ephemeris;
class GeoJSON_Printer;
class Gps_Almanac;
class Gps_Ephemeris;
class Gpx_Printer;
class Kml_Printer;
class Monitor_Pvt_Udp_Sink;
class Nmea_Printer;
class Pvt_Conf;
class Rinex_Printer;
class Rtcm_Printer;
class Rtklib_Solver;
class rtklib_pvt_gs;
class rtklib_pvt_cc;
using rtklib_pvt_gs_sptr = boost::shared_ptr<rtklib_pvt_gs>;
using rtklib_pvt_cc_sptr = boost::shared_ptr<rtklib_pvt_cc>;
rtklib_pvt_cc_sptr rtklib_make_pvt_cc(uint32_t nchannels,
rtklib_pvt_gs_sptr rtklib_make_pvt_gs(uint32_t nchannels,
const Pvt_Conf& conf_,
const rtk_t& rtk);
/*!
* \brief This class implements a block that computes the PVT solution using the RTKLIB integrated library
*/
class rtklib_pvt_cc : public gr::sync_block
class rtklib_pvt_gs : public gr::sync_block
{
private:
friend rtklib_pvt_cc_sptr rtklib_make_pvt_cc(uint32_t nchannels,
friend rtklib_pvt_gs_sptr rtklib_make_pvt_gs(uint32_t nchannels,
const Pvt_Conf& conf_,
const rtk_t& rtk);
rtklib_pvt_gs(uint32_t nchannels,
const Pvt_Conf& conf_,
const rtk_t& rtk);
@ -135,7 +140,7 @@ private:
int sysv_msqid;
typedef struct
{
long mtype; //required by sys v message
long mtype; // NOLINT(google-runtime-int) required by SysV queue messaging
double ttff;
} ttff_msgbuf;
bool send_sys_v_ttff_msg(ttff_msgbuf ttff);
@ -157,32 +162,45 @@ private:
std::unique_ptr<Monitor_Pvt_Udp_Sink> udp_sink_ptr;
std::vector<std::string> split_string(const std::string& s, char delim) const;
public:
rtklib_pvt_cc(uint32_t nchannels,
const Pvt_Conf& conf_,
const rtk_t& rtk);
bool d_show_local_time_zone;
std::string d_local_time_str;
boost::posix_time::time_duration d_utc_diff_time;
~rtklib_pvt_cc(); //!< Default destructor
public:
~rtklib_pvt_gs(); //!< Default destructor
/*!
* \brief Get latest set of GPS ephemeris from PVT block
*
*/
std::map<int, Gps_Ephemeris> get_gps_ephemeris_map() const;
/*!
* \brief Get latest set of GPS almanac from PVT block
*/
std::map<int, Gps_Almanac> get_gps_almanac_map() const;
/*!
* \brief Get latest set of Galileo ephemeris from PVT block
*/
std::map<int, Galileo_Ephemeris> get_galileo_ephemeris_map() const;
/*!
* \brief Get latest set of Galileo almanac from PVT block
*/
std::map<int, Galileo_Almanac> get_galileo_almanac_map() const;
/*!
* \brief Get latest set of BeiDou DNAV ephemeris from PVT block
*/
std::map<int, Beidou_Dnav_Ephemeris> get_beidou_dnav_ephemeris_map() const;
/*!
* \brief Get latest set of BeiDou DNAV almanac from PVT block
*/
std::map<int, Beidou_Dnav_Almanac> get_beidou_dnav_almanac_map() const;
/*!
* \brief Clear all ephemeris information and the almanacs for GPS and Galileo
*
*/
void clear_ephemeris();

15
src/algorithms/PVT/libs/CMakeLists.txt
View File

@ -26,6 +26,7 @@ set(PVT_LIB_SOURCES
rinex_printer.cc
nmea_printer.cc
rtcm_printer.cc
rtcm.cc
geojson_printer.cc
rtklib_solver.cc
pvt_conf.cc
@ -41,6 +42,7 @@ set(PVT_LIB_HEADERS
rinex_printer.h
nmea_printer.h
rtcm_printer.h
rtcm.h
geojson_printer.h
rtklib_solver.h
pvt_conf.h
@ -59,10 +61,10 @@ target_link_libraries(pvt_libs
PUBLIC
Armadillo::armadillo
Boost::date_time
algorithms_libs
algorithms_libs_rtklib
core_system_parameters
PRIVATE
algorithms_libs
Boost::filesystem
Boost::system
Gflags::gflags
@ -72,13 +74,20 @@ target_link_libraries(pvt_libs
target_include_directories(pvt_libs
PUBLIC
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${CMAKE_SOURCE_DIR}/src/algorithms/libs/rtklib
${CMAKE_SOURCE_DIR}/src/core/receiver
)
target_compile_definitions(pvt_libs PRIVATE -DGNSS_SDR_VERSION="${VERSION}")
if(OS_IS_MACOSX)
if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang") # not AppleClang
target_compile_definitions(pvt_libs
PUBLIC
-DBOOST_ASIO_HAS_STD_STRING_VIEW
)
endif()
endif()
if(ENABLE_CLANG_TIDY)
if(CLANG_TIDY_EXE)
set_target_properties(pvt_libs

11
src/algorithms/PVT/libs/geojson_printer.cc
View File

@ -31,14 +31,19 @@
#include "geojson_printer.h"
#include "pvt_solution.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <boost/system/error_code.hpp> // for error_code
#include <glog/logging.h>
#include <exception>
#include <iomanip>
#include <sstream>
#include <cstdio> // for remove
#include <ctime> // for tm
#include <exception> // for exception
#include <iomanip> // for operator<<
#include <iostream> // for cout, cerr
#include <sstream> // for stringstream
GeoJSON_Printer::GeoJSON_Printer(const std::string& base_path)

3
src/algorithms/PVT/libs/geojson_printer.h
View File

@ -33,11 +33,12 @@
#ifndef GNSS_SDR_GEOJSON_PRINTER_H_
#define GNSS_SDR_GEOJSON_PRINTER_H_
#include "pvt_solution.h"
#include <fstream>
#include <memory>
#include <string>
class Pvt_Solution;
/*!
* \brief Prints PVT solutions in GeoJSON format file

12
src/algorithms/PVT/libs/gpx_printer.cc
View File

@ -31,15 +31,19 @@
#include "gpx_printer.h"
#include "rtklib_solver.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <boost/system/error_code.hpp> // for error_code
#include <glog/logging.h>
#include <exception>
#include <sstream>
using google::LogMessage;
#include <cstdio> // for remove
#include <ctime> // for tm
#include <exception> // for exception
#include <iomanip> // for operator<<
#include <iostream> // for cout, cerr
#include <sstream> // for stringstream
Gpx_Printer::Gpx_Printer(const std::string& base_path)

4
src/algorithms/PVT/libs/gpx_printer.h
View File

@ -33,12 +33,12 @@
#ifndef GNSS_SDR_GPX_PRINTER_H_
#define GNSS_SDR_GPX_PRINTER_H_
#include "pvt_solution.h"
#include "rtklib_solver.h"
#include <fstream>
#include <memory>
#include <string>
class Rtklib_Solver;
/*!
* \brief Prints PVT information to GPX format file

4
src/algorithms/PVT/libs/hybrid_ls_pvt.cc
View File

@ -1,5 +1,5 @@
/*!
* \file galileo_e1_ls_pvt.cc
* \file hybrid_ls_pvt.cc
* \brief Implementation of a Least Squares Position, Velocity, and Time
* (PVT) solver, based on K.Borre's Matlab receiver.
* \author Javier Arribas, 2011. jarribas(at)cttc.es
@ -38,8 +38,6 @@
#include <utility>
using google::LogMessage;
Hybrid_Ls_Pvt::Hybrid_Ls_Pvt(int nchannels, std::string dump_filename, bool flag_dump_to_file) : Ls_Pvt()
{
// init empty ephemeris for all the available GNSS channels

2
src/algorithms/PVT/libs/hybrid_ls_pvt.h
View File

@ -1,5 +1,5 @@
/*!
* \file galileo_e1_ls_pvt.h
* \file hybrid_ls_pvt.h
* \brief Interface of a Least Squares Position, Velocity, and Time (PVT)
* solver, based on K.Borre's Matlab receiver.
* \author Javier Arribas, 2011. jarribas(at)cttc.es

10
src/algorithms/PVT/libs/kml_printer.cc
View File

@ -31,15 +31,19 @@
*/
#include "kml_printer.h"
#include "rtklib_solver.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <boost/system/error_code.hpp> // for error_code
#include <glog/logging.h>
#include <exception>
#include <cstdio> // for remove
#include <ctime> // for tm
#include <exception> // for exception
#include <iostream> // for cout, cerr
#include <sstream>
using google::LogMessage;
#include <string>
Kml_Printer::Kml_Printer(const std::string& base_path)

9
src/algorithms/PVT/libs/kml_printer.h
View File

@ -33,13 +33,12 @@
#ifndef GNSS_SDR_KML_PRINTER_H_
#define GNSS_SDR_KML_PRINTER_H_
#include "pvt_solution.h"
#include "rtklib_solver.h"
#include <fstream>
#include <memory>
#include <string>
#include <fstream> // for ofstream
#include <memory> // for shared_ptr
class Rtklib_Solver;
/*!
* \brief Prints PVT information to OGC KML format file (can be viewed with Google Earth)
*

4
src/algorithms/PVT/libs/ls_pvt.cc
View File

@ -33,13 +33,9 @@
#include "GPS_L1_CA.h"
#include "geofunctions.h"
#include <glog/logging.h>
#include <exception>
#include <stdexcept>
using google::LogMessage;
Ls_Pvt::Ls_Pvt() : Pvt_Solution()
{
}

7
src/algorithms/PVT/libs/nmea_printer.cc
View File

@ -35,20 +35,19 @@
#include "nmea_printer.h"
#include "rtklib_solution.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include "rtklib_solver.h"
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <boost/system/error_code.hpp> // for error_code
#include <glog/logging.h>
#include <cstdint>
#include <exception>
#include <fcntl.h>
#include <iostream> // for cout, cerr
#include <termios.h>
using google::LogMessage;
Nmea_Printer::Nmea_Printer(const std::string& filename, bool flag_nmea_output_file, bool flag_nmea_tty_port, std::string nmea_dump_devname, const std::string& base_path)
{
nmea_base_path = base_path;

9
src/algorithms/PVT/libs/nmea_printer.h
View File

@ -36,11 +36,12 @@
#ifndef GNSS_SDR_NMEA_PRINTER_H_
#define GNSS_SDR_NMEA_PRINTER_H_
#include "rtklib_solver.h"
#include <fstream>
#include <memory>
#include <string>
#include <boost/date_time/posix_time/ptime.hpp> // for ptime
#include <fstream> // for ofstream
#include <memory> // for shared_ptr
#include <string> // for string
class Rtklib_Solver;
/*!
* \brief This class provides a implementation of a subset of the NMEA-0183 standard for interfacing

2
src/algorithms/PVT/libs/pvt_conf.cc
View File

@ -70,4 +70,6 @@ Pvt_Conf::Pvt_Conf()
monitor_enabled = false;
udp_port = 0;
show_local_time_zone = false;
}

3
src/algorithms/PVT/libs/pvt_conf.h
View File

@ -31,7 +31,6 @@
#ifndef GNSS_SDR_PVT_CONF_H_
#define GNSS_SDR_PVT_CONF_H_
#include <cstddef>
#include <cstdint>
#include <map>
#include <string>
@ -84,6 +83,8 @@ public:
std::string udp_addresses;
int udp_port;
bool show_local_time_zone;
Pvt_Conf();
};

5
src/algorithms/PVT/libs/pvt_solution.cc
View File

@ -33,10 +33,6 @@
#include "GPS_L1_CA.h"
#include "geofunctions.h"
#include <glog/logging.h>
#include <exception>
using google::LogMessage;
Pvt_Solution::Pvt_Solution()
@ -57,6 +53,7 @@ Pvt_Solution::Pvt_Solution()
d_rx_dt_s = 0.0;
}
arma::vec Pvt_Solution::rotateSatellite(double const traveltime, const arma::vec &X_sat)
{
/*

27
src/algorithms/PVT/libs/rinex_printer.cc
View File

@ -29,6 +29,27 @@
*/
#include "rinex_printer.h"
#include "Beidou_B1I.h"
#include "GLONASS_L1_L2_CA.h"
#include "GPS_L1_CA.h"
#include "Galileo_E1.h"
#include "beidou_dnav_ephemeris.h"
#include "beidou_dnav_iono.h"
#include "beidou_dnav_utc_model.h"
#include "galileo_ephemeris.h"
#include "galileo_iono.h"
#include "galileo_utc_model.h"
#include "glonass_gnav_almanac.h"
#include "glonass_gnav_ephemeris.h"
#include "glonass_gnav_utc_model.h"
#include "gnss_synchro.h"
#include "gps_cnav_ephemeris.h"
#include "gps_cnav_iono.h"
#include "gps_cnav_utc_model.h"
#include "gps_ephemeris.h"
#include "gps_iono.h"
#include "gps_navigation_message.h"
#include "gps_utc_model.h"
#include <boost/date_time/gregorian/gregorian.hpp>
#include <boost/date_time/local_time/local_time.hpp>
#include <boost/date_time/time_zone_base.hpp>
@ -38,8 +59,9 @@
#include <glog/logging.h>
#include <algorithm> // for min and max
#include <cmath> // for floor
#include <cstdlib> // for getenv()
#include <cstring> // for memcpy
#include <exception>
#include <iostream> // for cout
#include <iterator>
#include <ostream>
#include <set>
@ -48,9 +70,6 @@
#include <vector>
using google::LogMessage;
Rinex_Printer::Rinex_Printer(int32_t conf_version, const std::string& base_path)
{
std::string base_rinex_path = base_path;

60
src/algorithms/PVT/libs/rinex_printer.h
View File

@ -51,25 +51,33 @@
#ifndef GNSS_SDR_RINEX_PRINTER_H_
#define GNSS_SDR_RINEX_PRINTER_H_
#include "Beidou_B1I.h"
#include "GLONASS_L1_L2_CA.h"
#include "GPS_L1_CA.h"
#include "Galileo_E1.h"
#include "beidou_dnav_navigation_message.h"
#include "galileo_navigation_message.h"
#include "glonass_gnav_navigation_message.h"
#include "gnss_synchro.h"
#include "gps_cnav_navigation_message.h"
#include "gps_navigation_message.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <cstdint>
#include <fstream>
#include <cstdint> // for int32_t
#include <cstdlib> // for strtol, strtod
#include <fstream> // for fstream
#include <iomanip> // for setprecision
#include <map>
#include <map> // for map
#include <sstream> // for stringstream
#include <string>
#include <string> // for string
class Beidou_Dnav_Ephemeris;
class Beidou_Dnav_Iono;
class Beidou_Dnav_Utc_Model;
class Galileo_Ephemeris;
class Galileo_Iono;
class Galileo_Utc_Model;
class Glonass_Gnav_Almanac;
class Glonass_Gnav_Ephemeris;
class Glonass_Gnav_Utc_Model;
class Gnss_Synchro;
class Gps_CNAV_Ephemeris;
class Gps_CNAV_Iono;
class Gps_CNAV_Utc_Model;
class Gps_Ephemeris;
class Gps_Iono;
class Gps_Navigation_Message;
class Gps_Utc_Model;
class Sbas_Raw_Msg;
/*!
* \brief Class that handles the generation of Receiver
@ -88,13 +96,13 @@ public:
*/
~Rinex_Printer();
std::fstream obsFile; //<! Output file stream for RINEX observation file
std::fstream navFile; //<! Output file stream for RINEX navigation data file
std::fstream sbsFile; //<! Output file stream for RINEX SBAS raw data file
std::fstream navGalFile; //<! Output file stream for RINEX Galileo navigation data file
std::fstream navGloFile; //<! Output file stream for RINEX GLONASS navigation data file
std::fstream navBdsFile; //<! Output file stream for RINEX Galileo navigation data file
std::fstream navMixFile; //<! Output file stream for RINEX Mixed navigation data file
std::fstream obsFile; //!< Output file stream for RINEX observation file
std::fstream navFile; //!< Output file stream for RINEX navigation data file
std::fstream sbsFile; //!< Output file stream for RINEX SBAS raw data file
std::fstream navGalFile; //!< Output file stream for RINEX Galileo navigation data file
std::fstream navGloFile; //!< Output file stream for RINEX GLONASS navigation data file
std::fstream navBdsFile; //!< Output file stream for RINEX Galileo navigation data file
std::fstream navMixFile; //!< Output file stream for RINEX Mixed navigation data file
/*!
* \brief Generates the GPS L1 C/A Navigation Data header
@ -404,10 +412,10 @@ public:
void update_obs_header(std::fstream& out, const Beidou_Dnav_Utc_Model& utc_model);
std::map<std::string, std::string> satelliteSystem; //<! GPS, GLONASS, SBAS payload, Galileo or Beidou
std::map<std::string, std::string> observationType; //<! PSEUDORANGE, CARRIER_PHASE, DOPPLER, SIGNAL_STRENGTH
std::map<std::string, std::string> observationCode; //<! GNSS observation descriptors
std::string stringVersion; //<! RINEX version (2.10/2.11 or 3.01/3.02)
std::map<std::string, std::string> satelliteSystem; //!< GPS, GLONASS, SBAS payload, Galileo or Beidou
std::map<std::string, std::string> observationType; //!< PSEUDORANGE, CARRIER_PHASE, DOPPLER, SIGNAL_STRENGTH
std::map<std::string, std::string> observationCode; //!< GNSS observation descriptors
std::string stringVersion; //!< RINEX version (2.10/2.11 or 3.01/3.02)
std::string navfilename;
std::string obsfilename;

8
src/algorithms/libs/rtcm.cc → src/algorithms/PVT/libs/rtcm.cc
View File

@ -29,8 +29,11 @@
*/
#include "rtcm.h"
#include "GLONASS_L1_L2_CA.h"
#include "GPS_L1_CA.h"
#include "GPS_L2C.h"
#include "Galileo_E1.h"
#include "Galileo_E5a.h"
#include <boost/algorithm/string.hpp> // for to_upper_copy
#include <boost/crc.hpp>
#include <boost/date_time/gregorian/gregorian.hpp>
@ -39,10 +42,8 @@
#include <chrono> // std::chrono::seconds
#include <cmath> // for std::fmod
#include <cstdlib> // for strtol
#include <iostream> // for cout
#include <sstream> // for std::stringstream
#include <thread>
using google::LogMessage;
Rtcm::Rtcm(uint16_t port)
@ -3366,6 +3367,7 @@ std::map<std::string, int> Rtcm::gps_signal_map = [] {
gps_signal_map_["5I"] = 22;
gps_signal_map_["5Q"] = 23;
gps_signal_map_["5X"] = 24;
gps_signal_map_["L5"] = 24; // Workaround. TODO: check if it was I or Q
return gps_signal_map_;
}();

61
src/algorithms/libs/rtcm.h → src/algorithms/PVT/libs/rtcm.h
View File

@ -34,16 +34,19 @@
#include "concurrent_queue.h"
#include "galileo_fnav_message.h"
#include "glonass_gnav_navigation_message.h"
#include "gnss_synchro.h"
#include "gps_cnav_navigation_message.h"
#include "gps_navigation_message.h"
#include <galileo_ephemeris.h>
#include <gps_ephemeris.h>
#include <gps_cnav_ephemeris.h>
#include <glonass_gnav_ephemeris.h>
#include <glonass_gnav_utc_model.h>
#include <boost/asio.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <glog/logging.h>
#include <bitset>
#include <cstddef> // for size_t
#include <cstdint>
#include <cstring> // for memcpy
#include <deque>
#include <map>
#include <memory>
@ -55,7 +58,7 @@
/*!
* This class implements the generation and reading of some Message Types
* \brief This class implements the generation and reading of some Message Types
* defined in the RTCM 3.2 Standard, plus some utilities to handle messages.
*
* Generation of the following Message Types:
@ -86,7 +89,7 @@
class Rtcm
{
public:
Rtcm(uint16_t port = 2101); //<! Default constructor that sets TCP port of the RTCM message server and RTCM Station ID. 2101 is the standard RTCM port according to the Internet Assigned Numbers Authority (IANA). See https://www.iana.org/assignments/service-names-port-numbers/service-names-port-numbers.xml
Rtcm(uint16_t port = 2101); //!< Default constructor that sets TCP port of the RTCM message server and RTCM Station ID. 2101 is the standard RTCM port according to the Internet Assigned Numbers Authority (IANA). See https://www.iana.org/assignments/service-names-port-numbers/service-names-port-numbers.xml
~Rtcm();
/*!
@ -124,7 +127,7 @@ public:
*/
std::string print_MT1006(uint32_t ref_id, double ecef_x, double ecef_y, double ecef_z, bool gps, bool glonass, bool galileo, bool non_physical, bool single_oscillator, uint32_t quarter_cycle_indicator, double height);
std::string print_MT1005_test(); //<! For testing purposes
std::string print_MT1005_test(); //!< For testing purposes
/*!
* \brief Prints message type 1008 (Antenna Descriptor & Serial Number)
@ -141,6 +144,7 @@ public:
* \return string with message contents
*/
std::string print_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, uint16_t station_id);
/*!
* \brief Prints Extended L1-Only GLONASS RTK Observables
* \details This GLONASS message type is used when only L1 data is present and bandwidth is very tight, often 1012 is used in such cases.
@ -151,6 +155,7 @@ public:
* \return string with message contents
*/
std::string print_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, uint16_t station_id);
/*!
* \brief Prints L1&L2 GLONASS RTK Observables
* \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred
@ -161,6 +166,7 @@ public:
* \return string with message contents
*/
std::string print_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, uint16_t station_id);
/*!
* \brief Prints Extended L1&L2 GLONASS RTK Observables
* \details This GLONASS message type is the most common observational message type, with L1/L2/SNR content. This is one of the most common messages found.
@ -329,9 +335,10 @@ public:
bool divergence_free,
bool more_messages);
uint32_t lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro); //<! Returns the time period in which GPS L1 signals have been continually tracked.
uint32_t lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro); //<! Returns the time period in which GPS L2 signals have been continually tracked.
uint32_t lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro); //<! Returns the time period in which Galileo signals have been continually tracked.
uint32_t lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro); //!< Returns the time period in which GPS L1 signals have been continually tracked.
uint32_t lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro); //!< Returns the time period in which GPS L2 signals have been continually tracked.
uint32_t lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro); //!< Returns the time period in which Galileo signals have been continually tracked.
/*!
* \brief Locks time period in which GLONASS signals have been continually tracked.
* \note Code added as part of GSoC 2017 program
@ -342,34 +349,26 @@ public:
*/
uint32_t lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
std::string bin_to_hex(const std::string& s) const; //<! Returns a string of hexadecimal symbols from a string of binary symbols
std::string hex_to_bin(const std::string& s) const; //<! Returns a string of binary symbols from a string of hexadecimal symbols
std::string bin_to_hex(const std::string& s) const; //!< Returns a string of hexadecimal symbols from a string of binary symbols
std::string hex_to_bin(const std::string& s) const; //!< Returns a string of binary symbols from a string of hexadecimal symbols
std::string bin_to_binary_data(const std::string& s) const; //<! Returns a string of binary data from a string of binary symbols
std::string binary_data_to_bin(const std::string& s) const; //<! Returns a string of binary symbols from a string of binary data
std::string bin_to_binary_data(const std::string& s) const; //!< Returns a string of binary data from a string of binary symbols
std::string binary_data_to_bin(const std::string& s) const; //!< Returns a string of binary symbols from a string of binary data
uint32_t bin_to_uint(const std::string& s) const; //<! Returns an uint32_t from a string of binary symbols
uint32_t bin_to_uint(const std::string& s) const; //!< Returns an uint32_t from a string of binary symbols
int32_t bin_to_int(const std::string& s) const;
double bin_to_double(const std::string& s) const; //<! Returns double from a string of binary symbols
/*!
* \brief Locks time period in which GLONASS signals have been continually tracked.
* \note Code added as part of GSoC 2017 program
* \param eph GLONASS GNAV Broadcast Ephemeris
* \param obs_time Time of observation at the moment of printing
* \param observables Set of observables as defined by the platform
* \return //<! Returns a int64_t from a string of binary symbols
*/
double bin_to_double(const std::string& s) const; //!< Returns double from a string of binary symbols
int32_t bin_to_sint(const std::string& s) const;
uint64_t hex_to_uint(const std::string& s) const; //<! Returns an uint64_t from a string of hexadecimal symbols
int64_t hex_to_int(const std::string& s) const; //<! Returns a int64_t from a string of hexadecimal symbols
uint64_t hex_to_uint(const std::string& s) const; //!< Returns an uint64_t from a string of hexadecimal symbols
int64_t hex_to_int(const std::string& s) const; //!< Returns a int64_t from a string of hexadecimal symbols
bool check_CRC(const std::string& message) const; //<! Checks that the CRC of a RTCM package is correct
bool check_CRC(const std::string& message) const; //!< Checks that the CRC of a RTCM package is correct
void run_server(); //<! Starts running the server
void stop_server(); //<! Stops the server
void run_server(); //!< Starts running the server
void stop_server(); //!< Stops the server
void send_message(const std::string& msg); //<! Sends a message through the server to all connected clients
bool is_server_running() const; //<! Returns true if the server is running, false otherwise
void send_message(const std::string& msg); //!< Sends a message through the server to all connected clients
bool is_server_running() const; //!< Returns true if the server is running, false otherwise
private:
//

22
src/algorithms/PVT/libs/rtcm_printer.cc
View File

@ -32,20 +32,26 @@
*/
#include "rtcm_printer.h"
#include "galileo_ephemeris.h"
#include "glonass_gnav_ephemeris.h"
#include "glonass_gnav_utc_model.h"
#include "gnss_synchro.h"
#include "gps_cnav_ephemeris.h"
#include "gps_ephemeris.h"
#include "rtcm.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/filesystem/operations.hpp> // for create_directories, exists
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <boost/system/error_code.hpp> // for error_codes
#include <glog/logging.h>
#include <cstdint>
#include <exception>
#include <fcntl.h> // for O_RDWR
#include <iomanip>
#include <cstdio> // for remove
#include <ctime> // for tm
#include <exception> // for exception
#include <fcntl.h> // for O_RDWR
#include <iostream> // for cout, cerr
#include <termios.h> // for tcgetattr
#include <utility>
using google::LogMessage;
#include <unistd.h> // for close, write
Rtcm_Printer::Rtcm_Printer(const std::string& filename, bool flag_rtcm_file_dump, bool flag_rtcm_server, bool flag_rtcm_tty_port, uint16_t rtcm_tcp_port, uint16_t rtcm_station_id, const std::string& rtcm_dump_devname, bool time_tag_name, const std::string& base_path)

28
src/algorithms/PVT/libs/rtcm_printer.h
View File

@ -34,10 +34,18 @@
#ifndef GNSS_SDR_RTCM_PRINTER_H_
#define GNSS_SDR_RTCM_PRINTER_H_
#include "rtcm.h"
#include <fstream> // std::ofstream
#include <map>
#include <memory> // std::shared_ptr
#include <cstdint> // for int32_t
#include <fstream> // for std::ofstream
#include <map> // for std::map
#include <memory> // std::shared_ptr
class Galileo_Ephemeris;
class Glonass_Gnav_Ephemeris;
class Glonass_Gnav_Utc_Model;
class Gnss_Synchro;
class Gps_CNAV_Ephemeris;
class Gps_Ephemeris;
class Rtcm;
/*!
* \brief This class provides a implementation of a subset of the RTCM Standard 10403.2 messages
@ -59,6 +67,7 @@ public:
bool Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*!
* \brief Prints L1-Only GLONASS RTK Observables
* \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred.
@ -69,6 +78,7 @@ public:
* \return true or false upon operation success
*/
bool Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*!
* \brief Prints Extended L1-Only GLONASS RTK Observables
* \details This GLONASS message type is used when only L1 data is present and bandwidth is very tight, often 1012 is used in such cases.
@ -79,6 +89,7 @@ public:
* \return true or false upon operation success
*/
bool Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*!
* \brief Prints L1&L2 GLONASS RTK Observables
* \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred
@ -90,6 +101,7 @@ public:
* \return true or false upon operation success
*/
bool Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*!
* \brief Prints Extended L1&L2 GLONASS RTK Observables
* \details This GLONASS message type is the most common observational message type, with L1/L2/SNR content. This is one of the most common messages found.
@ -102,8 +114,9 @@ public:
*/
bool Print_Rtcm_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1019(const Gps_Ephemeris& gps_eph); //<! GPS Ephemeris, should be broadcast in the event that the IODC does not match the IODE, and every 2 minutes.
bool Print_Rtcm_MT1045(const Galileo_Ephemeris& gal_eph); //<! Galileo Ephemeris, should be broadcast every 2 minutes
bool Print_Rtcm_MT1019(const Gps_Ephemeris& gps_eph); //!< GPS Ephemeris, should be broadcast in the event that the IODC does not match the IODE, and every 2 minutes.
bool Print_Rtcm_MT1045(const Galileo_Ephemeris& gal_eph); //!< Galileo Ephemeris, should be broadcast every 2 minutes
/*!
* \brief Prints GLONASS GNAV Ephemeris
* \details This GLONASS message should be broadcast every 2 minutes
@ -127,10 +140,11 @@ public:
bool divergence_free,
bool more_messages);
std::string print_MT1005_test(); //<! For testing purposes
std::string print_MT1005_test(); //!< For testing purposes
uint32_t lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
uint32_t lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
uint32_t lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
/*!
* \brief Locks time for logging given GLONASS GNAV Broadcast Ephemeris
* \note Code added as part of GSoC 2017 program

5
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -57,6 +57,7 @@
#include "GPS_L1_CA.h"
#include "Galileo_E1.h"
#include "rtklib_conversions.h"
#include "rtklib_rtkpos.h"
#include "rtklib_solution.h"
#include <glog/logging.h>
#include <matio.h>
@ -64,8 +65,6 @@
#include <utility>
using google::LogMessage;
Rtklib_Solver::Rtklib_Solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat, const rtk_t &rtk)
{
// init empty ephemeris for all the available GNSS channels
@ -481,11 +480,13 @@ double Rtklib_Solver::get_vdop() const
return dop_[3];
}
Monitor_Pvt Rtklib_Solver::get_monitor_pvt() const
{
return monitor_pvt;
}
bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_map, bool flag_averaging)
{
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;

29
src/algorithms/PVT/libs/rtklib_solver.h
View File

@ -55,16 +55,28 @@
#define GNSS_SDR_RTKLIB_SOLVER_H_
#include "beidou_dnav_navigation_message.h"
#include "beidou_dnav_almanac.h"
#include "beidou_dnav_ephemeris.h"
#include "beidou_dnav_iono.h"
#include "beidou_dnav_utc_model.h"
#include "galileo_almanac.h"
#include "galileo_navigation_message.h"
#include "glonass_gnav_navigation_message.h"
#include "galileo_ephemeris.h"
#include "galileo_iono.h"
#include "galileo_utc_model.h"
#include "glonass_gnav_almanac.h"
#include "glonass_gnav_ephemeris.h"
#include "glonass_gnav_utc_model.h"
#include "gnss_synchro.h"
#include "gps_cnav_navigation_message.h"
#include "gps_navigation_message.h"
#include "gps_almanac.h"
#include "gps_cnav_ephemeris.h"
#include "gps_cnav_iono.h"
#include "gps_cnav_utc_model.h"
#include "gps_ephemeris.h"
#include "gps_iono.h"
#include "gps_utc_model.h"
#include "monitor_pvt.h"
#include "pvt_solution.h"
#include "rtklib_rtkpos.h"
#include "rtklib.h"
#include <array>
#include <fstream>
#include <map>
@ -89,12 +101,13 @@ private:
Monitor_Pvt monitor_pvt;
public:
sol_t pvt_sol;
ssat_t pvt_ssat[MAXSAT];
Rtklib_Solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat, const rtk_t& rtk);
~Rtklib_Solver();
bool get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_map, bool flag_averaging);
sol_t pvt_sol;
ssat_t pvt_ssat[MAXSAT];
double get_hdop() const;
double get_vdop() const;
double get_pdop() const;

4
src/algorithms/acquisition/adapters/CMakeLists.txt
View File

@ -92,15 +92,17 @@ add_library(acquisition_adapters ${ACQ_ADAPTER_SOURCES} ${ACQ_ADAPTER_HEADERS})
target_link_libraries(acquisition_adapters
PUBLIC
Gnuradio::blocks
algorithms_libs
gnss_sdr_flags
acquisition_gr_blocks
core_system_parameters
Gnuradio::blocks
Volk::volk
PRIVATE
Boost::boost
Gflags::gflags
Glog::glog
Gnuradio::fft
Volkgnsssdr::volkgnsssdr
acquisition_libs
)

4
src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.cc
View File

@ -8,7 +8,7 @@
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -41,8 +41,6 @@
#include <glog/logging.h>
using google::LogMessage;
BeidouB1iPcpsAcquisition::BeidouB1iPcpsAcquisition(
ConfigurationInterface* configuration,
const std::string& role,

4
src/algorithms/acquisition/adapters/beidou_b1i_pcps_acquisition.h
View File

@ -1,5 +1,5 @@
/*!
* \file beidou_bi1_pcps_acquisition.h
* \file beidou_b1i_pcps_acquisition.h
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* Beidou B1I signals
* \authors <ul>
@ -8,7 +8,7 @@
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver

2
src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.cc
View File

@ -37,8 +37,6 @@
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
using google::LogMessage;
GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition(
ConfigurationInterface* configuration,

3
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.cc
View File

@ -39,9 +39,6 @@
#include <glog/logging.h>
using google::LogMessage;
GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
ConfigurationInterface* configuration,
const std::string& role,

37
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc
View File

@ -3,7 +3,6 @@
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* Galileo E1 Signals for the FPGA
* \author Marc Majoral, 2019. mmajoral(at)cttc.es
* \author Luis Esteve, 2012. luis(at)epsilon-formacion.com
*
* -------------------------------------------------------------------------
*
@ -35,12 +34,15 @@
#include "configuration_interface.h"
#include "galileo_e1_signal_processing.h"
#include "gnss_sdr_flags.h"
#include <boost/lexical_cast.hpp>
#include <boost/math/distributions/exponential.hpp>
#include "gnss_synchro.h"
#include <glog/logging.h>
using google::LogMessage;
#include <gnuradio/fft/fft.h> // for fft_complex
#include <gnuradio/gr_complex.h> // for gr_complex
#include <volk/volk.h> // for volk_32fc_conjugate_32fc
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
#include <cstring> // for memcpy
GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
@ -57,11 +59,8 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
std::string default_item_type = "cshort";
std::string default_dump_filename = "./data/acquisition.dat";
DLOG(INFO) << "role " << role;
// item_type_ = configuration_->property(role + ".item_type", default_item_type);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000);
int64_t fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
@ -78,12 +77,12 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
uint32_t sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 4);
acq_parameters.sampled_ms = sampled_ms;
acquire_pilot_ = configuration_->property(role + ".acquire_pilot", false); //will be true in future versions
acquire_pilot_ = configuration_->property(role + ".acquire_pilot", false); // could be true in future versions
//--- Find number of samples per spreading code (4 ms) -----------------
// Find number of samples per spreading code (4 ms)
auto code_length = static_cast<uint32_t>(std::round(static_cast<double>(fs_in) / (GALILEO_E1_CODE_CHIP_RATE_HZ / GALILEO_E1_B_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((float)code_length * 2));
uint32_t nsamples_total = pow(2, nbits);
@ -128,11 +127,10 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
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<float>(static_cast<float>(0, 0));
code[s] = std::complex<float>(0.0, 0.0);
}
memcpy(fft_if->get_inbuf(), code, sizeof(gr_complex) * nsamples_total); // copy to FFT buffer
@ -260,15 +258,22 @@ void GalileoE1PcpsAmbiguousAcquisitionFpga::set_state(int state)
acquisition_fpga_->set_state(state);
}
void GalileoE1PcpsAmbiguousAcquisitionFpga::connect(gr::top_block_sptr top_block)
{
// nothing to connect
if (top_block)
{ /* top_block is not null */
};
// Nothing to connect
}
void GalileoE1PcpsAmbiguousAcquisitionFpga::disconnect(gr::top_block_sptr top_block)
{
// nothing to disconnect
if (top_block)
{ /* top_block is not null */
};
// Nothing to disconnect
}

25
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.h
View File

@ -1,9 +1,8 @@
/*!
* \file galileo_e1_pcps_ambiguous_acquisition_fpga.h
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* Galileo E1 Signals
* Galileo E1 Signals for the FPGA
* \author Marc Majoral, 2019. mmajoral(at)cttc.es
* \author Luis Esteve, 2012. luis(at)epsilon-formacion.com
*
* -------------------------------------------------------------------------
*
@ -35,19 +34,20 @@
#include "acquisition_interface.h"
#include "complex_byte_to_float_x2.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <gnuradio/blocks/stream_to_vector.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstddef> // for size_t
#include <string>
class Gnss_Synchro;
class ConfigurationInterface;
/*!
* \brief This class adapts a PCPS acquisition block to an
* AcquisitionInterface for Galileo E1 Signals
* \brief This class adapts a PCPS acquisition block off-loaded on an FPGA
* to an AcquisitionInterface for Galileo E1 Signals
*/
class GalileoE1PcpsAmbiguousAcquisitionFpga : public AcquisitionInterface
{
@ -86,7 +86,7 @@ public:
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to efficiently exchange synchronization data between acquisition and
* tracking blocks
* tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
@ -136,8 +136,8 @@ public:
void set_state(int state) override;
/*!
* \brief Stop running acquisition
*/
* \brief Stop running acquisition
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
@ -148,15 +148,10 @@ private:
gr::blocks::stream_to_vector::sptr stream_to_vector_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
bool bit_transition_flag_;
bool use_CFAR_algorithm_flag_;
bool acquire_pilot_;
uint32_t channel_;
uint32_t doppler_max_;
uint32_t doppler_step_;
uint32_t max_dwells_;
bool dump_;
bool blocking_;
std::string dump_filename_;
Gnss_Synchro* gnss_synchro_;
std::string role_;

2
src/algorithms/acquisition/adapters/galileo_e1_pcps_cccwsr_ambiguous_acquisition.cc
View File

@ -37,8 +37,6 @@
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
using google::LogMessage;
GalileoE1PcpsCccwsrAmbiguousAcquisition::GalileoE1PcpsCccwsrAmbiguousAcquisition(
ConfigurationInterface* configuration,

2
src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.cc
View File

@ -37,8 +37,6 @@
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
using google::LogMessage;
GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcquisition(
ConfigurationInterface* configuration,

2
src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.cc
View File

@ -37,8 +37,6 @@
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
using google::LogMessage;
GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
ConfigurationInterface* configuration,

2
src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.cc
View File

@ -43,8 +43,6 @@
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
using google::LogMessage;
GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
ConfigurationInterface* configuration,

3
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.cc
View File

@ -39,9 +39,6 @@
#include <volk_gnsssdr/volk_gnsssdr_complex.h>
using google::LogMessage;
GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,

29
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc
View File

@ -3,7 +3,7 @@
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* Galileo E5a data and pilot Signals for the FPGA
* \author Marc Majoral, 2019. mmajoral(at)cttc.es
* \author Antonio Ramos, 2018. antonio.ramos(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
@ -34,12 +34,15 @@
#include "configuration_interface.h"
#include "galileo_e5_signal_processing.h"
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include "gnss_synchro.h"
#include <glog/logging.h>
#include <volk_gnsssdr/volk_gnsssdr_complex.h>
using google::LogMessage;
#include <gnuradio/fft/fft.h> // for fft_complex
#include <gnuradio/gr_complex.h> // for gr_complex
#include <volk/volk.h> // for volk_32fc_conjugate_32fc
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
#include <cstring> // for strcpy, memcpy
GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterface* configuration,
@ -119,7 +122,6 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
strcpy(signal_, "5I");
}
galileo_e5_a_code_gen_complex_sampled(code, signal_, PRN, fs_in, 0);
for (uint32_t s = code_length; s < 2 * code_length; s++)
@ -156,7 +158,6 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
}
}
acq_parameters.all_fft_codes = d_all_fft_codes_;
// reference for the FPGA FFT-IFFT attenuation factor
@ -251,20 +252,28 @@ void GalileoE5aPcpsAcquisitionFpga::reset()
acquisition_fpga_->set_active(true);
}
void GalileoE5aPcpsAcquisitionFpga::set_state(int state)
{
acquisition_fpga_->set_state(state);
}
void GalileoE5aPcpsAcquisitionFpga::connect(gr::top_block_sptr top_block)
{
// nothing to connect
if (top_block)
{ /* top_block is not null */
};
// Nothing to connect
}
void GalileoE5aPcpsAcquisitionFpga::disconnect(gr::top_block_sptr top_block)
{
// nothing to connect
if (top_block)
{ /* top_block is not null */
};
// Nothing to disconnect
}

43
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.h
View File

@ -3,7 +3,7 @@
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* Galileo E5a data and pilot Signals for the FPGA
* \author Marc Majoral, 2019. mmajoral(at)cttc.es
* \author Antonio Ramos, 2018. antonio.ramos(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
@ -29,19 +29,27 @@
* -------------------------------------------------------------------------
*/
#ifndef GALILEO_E5A_PCPS_ACQUISITION_FPGA_H_
#define GALILEO_E5A_PCPS_ACQUISITION_FPGA_H_
#ifndef GNSS_SDR_GALILEO_E5A_PCPS_ACQUISITION_FPGA_H_
#define GNSS_SDR_GALILEO_E5A_PCPS_ACQUISITION_FPGA_H_
#include "acquisition_interface.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstddef> // for size_t
#include <cstdint>
#include <string>
class Gnss_Synchro;
class ConfigurationInterface;
/*!
* \brief This class adapts a PCPS acquisition block off-loaded on an FPGA
* to an AcquisitionInterface for Galileo E5a signals
*/
class GalileoE5aPcpsAcquisitionFpga : public AcquisitionInterface
{
public:
@ -67,7 +75,7 @@ public:
inline size_t item_size() override
{
return item_size_;
return sizeof(lv_16sc_t);
}
void connect(gr::top_block_sptr top_block) override;
@ -78,7 +86,7 @@ public:
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to efficiently exchange synchronization data between acquisition and
* tracking blocks
* tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
@ -146,42 +154,25 @@ public:
private:
ConfigurationInterface* configuration_;
pcps_acquisition_fpga_sptr acquisition_fpga_;
gr::blocks::stream_to_vector::sptr stream_to_vector_;
size_t item_size_;
std::string item_type_;
std::string dump_filename_;
std::string role_;
bool bit_transition_flag_;
bool dump_;
bool acq_pilot_;
bool use_CFAR_;
bool blocking_;
bool acq_iq_;
uint32_t vector_length_;
uint32_t code_length_;
uint32_t channel_;
uint32_t doppler_max_;
uint32_t doppler_step_;
uint32_t sampled_ms_;
uint32_t max_dwells_;
unsigned int in_streams_;
unsigned int out_streams_;
int64_t fs_in_;
float threshold_;
gr_complex* code_;
Gnss_Synchro* gnss_synchro_;
lv_16sc_t* d_all_fft_codes_; // memory that contains all the code ffts
};
#endif /* GALILEO_E5A_PCPS_ACQUISITION_FPGA_H_ */
#endif /* GNSS_SDR_GALILEO_E5A_PCPS_ACQUISITION_FPGA_H_ */

3
src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
View File

@ -41,9 +41,6 @@
#include <glog/logging.h>
using google::LogMessage;
GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
ConfigurationInterface* configuration,
const std::string& role,

3
src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.cc
View File

@ -40,9 +40,6 @@
#include <glog/logging.h>
using google::LogMessage;
GlonassL2CaPcpsAcquisition::GlonassL2CaPcpsAcquisition(
ConfigurationInterface* configuration,
const std::string& role,

3
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc
View File

@ -43,9 +43,6 @@
#include <glog/logging.h>
using google::LogMessage;
GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
ConfigurationInterface* configuration,
const std::string& role,

2
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.cc
View File

@ -40,8 +40,6 @@
#include "gps_sdr_signal_processing.h"
#include <glog/logging.h>
using google::LogMessage;
GpsL1CaPcpsAcquisitionFineDoppler::GpsL1CaPcpsAcquisitionFineDoppler(
ConfigurationInterface* configuration,

24
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc
View File

@ -4,9 +4,7 @@
* for GPS L1 C/A signals for the FPGA
* \authors <ul>
* <li> Marc Majoral, 2019. mmajoral(at)cttc.es
* <li> Javier Arribas, 2011. jarribas(at)cttc.es
* <li> Luis Esteve, 2012. luis(at)epsilon-formacion.com
* <li> Marc Molina, 2013. marc.molina.pena(at)gmail.com
* <li> Javier Arribas, 2019. jarribas(at)cttc.es
* </ul>
*
* -------------------------------------------------------------------------
@ -38,16 +36,20 @@
#include "GPS_L1_CA.h"
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include "gnss_synchro.h"
#include "gps_sdr_signal_processing.h"
#include <glog/logging.h>
#include <gnuradio/fft/fft.h>
#include <new>
#include <gnuradio/gr_complex.h> // for gr_complex
#include <volk/volk.h> // for volk_32fc_conjugate_32fc
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
#include <cstring> // for memcpy
#define NUM_PRNs 32
using google::LogMessage;
GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
ConfigurationInterface* configuration,
@ -242,13 +244,19 @@ void GpsL1CaPcpsAcquisitionFpga::set_state(int state)
void GpsL1CaPcpsAcquisitionFpga::connect(gr::top_block_sptr top_block)
{
// nothing to connect
if (top_block)
{ /* top_block is not null */
};
// Nothing to connect
}
void GpsL1CaPcpsAcquisitionFpga::disconnect(gr::top_block_sptr top_block)
{
// nothing to disconnect
if (top_block)
{ /* top_block is not null */
};
// Nothing to disconnect
}

18
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h
View File

@ -4,9 +4,7 @@
* for GPS L1 C/A signals for the FPGA
* \authors <ul>
* <li> Marc Majoral, 2019. mmajoral(at)cttc.es
* <li> Javier Arribas, 2011. jarribas(at)cttc.es
* <li> Luis Esteve, 2012. luis(at)epsilon-formacion.com
* <li> Marc Molina, 2013. marc.molina.pena(at)gmail.com
* <li> Javier Arribas, 2019. jarribas(at)cttc.es
* </ul>
*
* -------------------------------------------------------------------------
@ -38,16 +36,18 @@
#define GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_FPGA_H_
#include "acquisition_interface.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h"
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <string>
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstddef> // for size_t
#include <string> // for string
class Gnss_Synchro;
class ConfigurationInterface;
/*!
* \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
* for GPS L1 C/A signals
* \brief This class adapts a PCPS acquisition block off-loaded on an FPGA
* to an AcquisitionInterface for GPS L1 C/A signals
*/
class GpsL1CaPcpsAcquisitionFpga : public AcquisitionInterface
{
@ -86,7 +86,7 @@ public:
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to efficiently exchange synchronization data between acquisition and
* tracking blocks
* tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;

3
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.cc
View File

@ -40,9 +40,6 @@
#include <glog/logging.h>
using google::LogMessage;
GpsL1CaPcpsAssistedAcquisition::GpsL1CaPcpsAssistedAcquisition(
ConfigurationInterface* configuration,
const std::string& role,

3
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_opencl_acquisition.cc
View File

@ -38,9 +38,6 @@
#include <glog/logging.h>
using google::LogMessage;
GpsL1CaPcpsOpenClAcquisition::GpsL1CaPcpsOpenClAcquisition(
ConfigurationInterface* configuration,
const std::string& role,

3
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.cc
View File

@ -39,9 +39,6 @@
#include <glog/logging.h>
using google::LogMessage;
GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
ConfigurationInterface* configuration,
const std::string& role,

3
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_tong_acquisition.cc
View File

@ -38,9 +38,6 @@
#include <glog/logging.h>
using google::LogMessage;
GpsL1CaPcpsTongAcquisition::GpsL1CaPcpsTongAcquisition(
ConfigurationInterface* configuration,
const std::string& role,

5
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.cc
View File

@ -41,9 +41,6 @@
#include <glog/logging.h>
using google::LogMessage;
GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
ConfigurationInterface* configuration,
const std::string& role,
@ -375,6 +372,8 @@ gr::basic_block_sptr GpsL2MPcpsAcquisition::get_right_block()
{
return acquisition_;
}
void GpsL2MPcpsAcquisition::set_resampler_latency(uint32_t latency_samples)
{
acquisition_->set_resampler_latency(latency_samples);

202
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.cc
View File

@ -1,14 +1,14 @@
/*!
* \file gps_l2_m_pcps_acquisition.cc
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* GPS L2 M signals
* \file gps_l2_m_pcps_acquisition_fpga.cc
* \brief Adapts an FPGA-offloaded PCPS acquisition block
* to an AcquisitionInterface for GPS L2 M signals
* \authors <ul>
* <li> Javier Arribas, 2015. jarribas(at)cttc.es
* <li> Javier Arribas, 2019. jarribas(at)cttc.es
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -35,14 +35,19 @@
#include "GPS_L2C.h"
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include "gnss_synchro.h"
#include "gps_l2c_signal.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <gnuradio/fft/fft.h> // for fft_complex
#include <gnuradio/gr_complex.h> // for gr_complex
#include <volk/volk.h> // for volk_32fc_conjugate_32fc
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
#include <cstring> // for memcpy
#define NUM_PRNs 32
using google::LogMessage;
GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
ConfigurationInterface* configuration,
@ -52,7 +57,6 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
in_streams_(in_streams),
out_streams_(out_streams)
{
//pcpsconf_t acq_parameters;
pcpsconf_fpga_t acq_parameters;
configuration_ = configuration;
std::string default_item_type = "gr_complex";
@ -61,33 +65,17 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
LOG(INFO) << "role " << role;
item_type_ = configuration_->property(role + ".item_type", default_item_type);
//float pfa = configuration_->property(role + ".pfa", 0.0);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in_;
//if_ = configuration_->property(role + ".if", 0);
//acq_parameters.freq = if_;
//dump_ = configuration_->property(role + ".dump", false);
//acq_parameters.dump = dump_;
//blocking_ = configuration_->property(role + ".blocking", true);
//acq_parameters.blocking = blocking_;
doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
acq_parameters.doppler_max = doppler_max_;
//bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
//acq_parameters.bit_transition_flag = bit_transition_flag_;
//use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
//acq_parameters.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
//max_dwells_ = configuration_->property(role + ".max_dwells", 1);
//acq_parameters.max_dwells = max_dwells_;
//dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
//acq_parameters.dump_filename = dump_filename_;
//--- Find number of samples per spreading code -------------------------
//code_length_ = std::round(static_cast<double>(fs_in_) / (GPS_L2_M_CODE_RATE_HZ / static_cast<double>(GPS_L2_M_CODE_LENGTH_CHIPS)));
acq_parameters.sampled_ms = 20;
unsigned code_length = std::round(static_cast<double>(fs_in_) / (GPS_L2_M_CODE_RATE_HZ / static_cast<double>(GPS_L2_M_CODE_LENGTH_CHIPS)));
unsigned int code_length = std::round(static_cast<double>(fs_in_) / (GPS_L2_M_CODE_RATE_HZ / static_cast<double>(GPS_L2_M_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((float)code_length));
@ -99,10 +87,13 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
std::string device_name = configuration_->property(role + ".devicename", default_device_name);
acq_parameters.device_name = device_name;
acq_parameters.samples_per_ms = nsamples_total / acq_parameters.sampled_ms;
//acq_parameters.samples_per_ms = static_cast<int>(std::round(static_cast<double>(fs_in_) * 0.001));
acq_parameters.samples_per_code = nsamples_total;
// compute all the GPS L1 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
acq_parameters.downsampling_factor = configuration_->property(role + ".downsampling_factor", 1.0);
acq_parameters.total_block_exp = configuration_->property(role + ".total_block_exp", 14);
acq_parameters.excludelimit = static_cast<uint32_t>(std::round(static_cast<double>(fs_in_) / GPS_L2_M_CODE_RATE_HZ));
// compute all the GPS L2C PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
// a channel is assigned)
auto* fft_if = new gr::fft::fft_complex(vector_length, true); // Direct FFT
// allocate memory to compute all the PRNs and compute all the possible codes
@ -114,10 +105,9 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
{
gps_l2c_m_code_gen_complex_sampled(code, PRN, fs_in_);
// fill in zero padding
for (int s = code_length; s < nsamples_total; s++)
for (unsigned int s = code_length; s < nsamples_total; s++)
{
code[s] = std::complex<float>(0.0, 0.0);
//code[s] = 0;
}
memcpy(fft_if->get_inbuf(), code, sizeof(gr_complex) * nsamples_total); // copy to FFT buffer
fft_if->execute(); // Run the FFT of local code
@ -141,7 +131,6 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
}
}
//acq_parameters
acq_parameters.all_fft_codes = d_all_fft_codes_;
// temporary buffers that we can delete
@ -156,53 +145,14 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
doppler_step_ = 0;
gnss_synchro_ = nullptr;
// vector_length_ = code_length_;
//
// if (bit_transition_flag_)
// {
// vector_length_ *= 2;
// }
// code_ = new gr_complex[vector_length_];
//
// if (item_type_.compare("cshort") == 0)
// {
// item_size_ = sizeof(lv_16sc_t);
// }
// else
// {
// item_size_ = sizeof(gr_complex);
// }
//acq_parameters.samples_per_ms = static_cast<int>(std::round(static_cast<double>(fs_in_) * 0.001));
//acq_parameters.samples_per_code = code_length_;
//acq_parameters.it_size = item_size_;
//acq_parameters.sampled_ms = 20;
//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", true);
//acquisition_ = pcps_make_acquisition(acq_parameters);
DLOG(INFO) << "acquisition(" << acquisition_fpga_->unique_id() << ")";
// stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
// DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")";
//
// if (item_type_.compare("cbyte") == 0)
// {
// cbyte_to_float_x2_ = make_complex_byte_to_float_x2();
// float_to_complex_ = gr::blocks::float_to_complex::make();
// }
// channel_ = 0;
threshold_ = 0.0;
// doppler_step_ = 0;
// gnss_synchro_ = 0;
}
GpsL2MPcpsAcquisitionFpga::~GpsL2MPcpsAcquisitionFpga()
{
//delete[] code_;
delete[] d_all_fft_codes_;
}
@ -221,23 +171,8 @@ void GpsL2MPcpsAcquisitionFpga::set_channel(unsigned int channel)
void GpsL2MPcpsAcquisitionFpga::set_threshold(float threshold)
{
// float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
//
// if (pfa == 0.0)
// {
// pfa = configuration_->property(role_ + ".pfa", 0.0);
// }
// if (pfa == 0.0)
// {
// threshold_ = threshold;
// }
// else
// {
// threshold_ = calculate_threshold(pfa);
// }
threshold_ = threshold;
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
acquisition_fpga_->set_threshold(threshold_);
}
@ -283,9 +218,6 @@ void GpsL2MPcpsAcquisitionFpga::init()
void GpsL2MPcpsAcquisitionFpga::set_local_code()
{
//gps_l2c_m_code_gen_complex_sampled(code_, gnss_synchro_->PRN, fs_in_);
//acquisition_fpga_->set_local_code(code_);
acquisition_fpga_->set_local_code();
}
@ -295,105 +227,33 @@ void GpsL2MPcpsAcquisitionFpga::reset()
acquisition_fpga_->set_active(true);
}
void GpsL2MPcpsAcquisitionFpga::set_state(int state)
{
acquisition_fpga_->set_state(state);
}
//float GpsL2MPcpsAcquisitionFpga::calculate_threshold(float pfa)
//{
// //Calculate the threshold
// unsigned int frequency_bins = 0;
// for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_)
// {
// frequency_bins++;
// }
// DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
// unsigned int ncells = vector_length_ * frequency_bins;
// double exponent = 1.0 / static_cast<double>(ncells);
// double val = pow(1.0 - pfa, exponent);
// double lambda = double(vector_length_);
// boost::math::exponential_distribution<double> mydist(lambda);
// float threshold = static_cast<float>(quantile(mydist, val));
//
// return threshold;
//}
void GpsL2MPcpsAcquisitionFpga::connect(gr::top_block_sptr top_block)
{
// if (item_type_.compare("gr_complex") == 0)
// {
// top_block->connect(stream_to_vector_, 0, acquisition_, 0);
// }
// else if (item_type_.compare("cshort") == 0)
// {
// top_block->connect(stream_to_vector_, 0, acquisition_, 0);
// }
// else if (item_type_.compare("cbyte") == 0)
// {
// top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
// top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
// top_block->connect(float_to_complex_, 0, stream_to_vector_, 0);
// top_block->connect(stream_to_vector_, 0, acquisition_, 0);
// }
// else
// {
// LOG(WARNING) << item_type_ << " unknown acquisition item type";
// }
// nothing to connect
if (top_block)
{ /* top_block is not null */
};
// Nothing to connect
}
void GpsL2MPcpsAcquisitionFpga::disconnect(gr::top_block_sptr top_block)
{
// if (item_type_.compare("gr_complex") == 0)
// {
// top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
// }
// else if (item_type_.compare("cshort") == 0)
// {
// top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
// }
// else if (item_type_.compare("cbyte") == 0)
// {
// // Since a byte-based acq implementation is not available,
// // we just convert cshorts to gr_complex
// top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
// top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
// top_block->disconnect(float_to_complex_, 0, stream_to_vector_, 0);
// top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
// }
// else
// {
// LOG(WARNING) << item_type_ << " unknown acquisition item type";
// }
// nothing to disconnect
if (top_block)
{ /* top_block is not null */
};
// Nothing to diconnect
}
gr::basic_block_sptr GpsL2MPcpsAcquisitionFpga::get_left_block()
{
// if (item_type_.compare("gr_complex") == 0)
// {
// return stream_to_vector_;
// }
// else if (item_type_.compare("cshort") == 0)
// {
// return stream_to_vector_;
// }
// else if (item_type_.compare("cbyte") == 0)
// {
// return cbyte_to_float_x2_;
// }
// else
// {
// LOG(WARNING) << item_type_ << " unknown acquisition item type";
// return nullptr;
// }
return nullptr;
}

42
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.h
View File

@ -1,14 +1,14 @@
/*!
* \file gps_l2_m_pcps_acquisition.h
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* GPS L2 M signals
* \file gps_l2_m_pcps_acquisition_fpga.h
* \brief Adapts an FPGA-offloaded PCPS acquisition block
* to an AcquisitionInterface for GPS L2 M signals
* \authors <ul>
* <li> Javier Arribas, 2015. jarribas(at)cttc.es
* <li> Javier Arribas, 2019. jarribas(at)cttc.es
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -36,19 +36,20 @@
#include "acquisition_interface.h"
#include "complex_byte_to_float_x2.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <gnuradio/blocks/stream_to_vector.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <string>
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstddef> // for size_t
#include <string> // for string
class Gnss_Synchro;
class ConfigurationInterface;
/*!
* \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
* for GPS L2 M signals
* \brief This class adapts a PCPS acquisition block off-loaded on an FPGA
* to an AcquisitionInterface for GPS L2 M signals
*/
class GpsL2MPcpsAcquisitionFpga : public AcquisitionInterface
{
@ -66,16 +67,16 @@ public:
}
/*!
* \brief Returns "GPS_L2_M_PCPS_Acquisition"
* \brief Returns "GPS_L2_M_PCPS_Acquisition_Fpga"
*/
inline std::string implementation() override
{
return "GPS_L2_M_PCPS_Acquisition";
return "GPS_L2_M_PCPS_Acquisition_Fpga";
}
inline size_t item_size() override
{
return item_size_;
return sizeof(lv_16sc_t);
}
void connect(gr::top_block_sptr top_block) override;
@ -86,7 +87,7 @@ public:
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to efficiently exchange synchronization data between acquisition and
* tracking blocks
* tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
@ -144,28 +145,17 @@ public:
private:
ConfigurationInterface* configuration_;
//pcps_acquisition_sptr acquisition_;
pcps_acquisition_fpga_sptr acquisition_fpga_;
gr::blocks::stream_to_vector::sptr stream_to_vector_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
size_t item_size_;
std::string item_type_;
unsigned int vector_length_;
unsigned int code_length_;
bool bit_transition_flag_;
bool use_CFAR_algorithm_flag_;
unsigned int channel_;
float threshold_;
unsigned int doppler_max_;
unsigned int doppler_step_;
unsigned int max_dwells_;
int64_t fs_in_;
//long if_;
bool dump_;
bool blocking_;
std::string dump_filename_;
std::complex<float>* code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;

3
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition.cc
View File

@ -41,9 +41,6 @@
#include <glog/logging.h>
using google::LogMessage;
GpsL5iPcpsAcquisition::GpsL5iPcpsAcquisition(
ConfigurationInterface* configuration,
const std::string& role,

38
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc
View File

@ -1,10 +1,10 @@
/*!
* \file gps_l5i pcps_acquisition_fpga.cc
* \file gps_l5i_pcps_acquisition_fpga.cc
* \brief Adapts a PCPS acquisition block to an Acquisition Interface for
* GPS L5i signals for the FPGA
* \authors <ul>
* <li> Marc Majoral, 2017. mmajoral(at)cttc.es
* <li> Javier Arribas, 2017. jarribas(at)cttc.es
* <li> Marc Majoral, 2019. mmajoral(at)cttc.es
* <li> Javier Arribas, 2019. jarribas(at)cttc.es
* </ul>
*
* -------------------------------------------------------------------------
@ -36,14 +36,19 @@
#include "GPS_L5.h"
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include "gnss_synchro.h"
#include "gps_l5_signal.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <gnuradio/fft/fft.h> // for fft_complex
#include <gnuradio/gr_complex.h> // for gr_complex
#include <volk/volk.h> // for volk_32fc_conjugate_32fc
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
#include <cstring> // for memcpy
#define NUM_PRNs 32
using google::LogMessage;
GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
ConfigurationInterface* configuration,
@ -67,7 +72,6 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
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;
@ -93,8 +97,8 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
// compute all the GPS L5 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
// a channel is assigned)
gr::fft::fft_complex* fft_if = new gr::fft::fft_complex(nsamples_total, true); // Direct FFT
std::complex<float>* code = new gr_complex[nsamples_total];
auto* fft_if = new gr::fft::fft_complex(nsamples_total, true); // Direct FFT
auto* code = new gr_complex[nsamples_total];
auto* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_all_fft_codes_ = new lv_16sc_t[nsamples_total * NUM_PRNs]; // memory containing all the possible fft codes for PRN 0 to 32
@ -111,7 +115,7 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
for (uint32_t s = 2 * code_length; s < nsamples_total; s++)
{
// fill in zero padding
code[s] = std::complex<float>(static_cast<float>(0, 0));
code[s] = std::complex<float>(0.0, 0.0);
}
memcpy(fft_if->get_inbuf(), code, sizeof(gr_complex) * nsamples_total); // copy to FFT buffer
fft_if->execute(); // Run the FFT of local code
@ -136,7 +140,6 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
}
}
//acq_parameters
acq_parameters.all_fft_codes = d_all_fft_codes_;
// reference for the FPGA FFT-IFFT attenuation factor
@ -194,6 +197,7 @@ void GpsL5iPcpsAcquisitionFpga::set_doppler_max(unsigned int doppler_max)
acquisition_fpga_->set_doppler_max(doppler_max_);
}
// Be aware that Doppler step should be set to 2/(3T) Hz, where T is the coherent integration time (GPS L2 period is 0.02s)
// Doppler bin minimum size= 33 Hz
void GpsL5iPcpsAcquisitionFpga::set_doppler_step(unsigned int doppler_step)
@ -232,20 +236,28 @@ void GpsL5iPcpsAcquisitionFpga::reset()
acquisition_fpga_->set_active(true);
}
void GpsL5iPcpsAcquisitionFpga::set_state(int state)
{
acquisition_fpga_->set_state(state);
}
void GpsL5iPcpsAcquisitionFpga::connect(gr::top_block_sptr top_block)
{
// nothing to connect
if (top_block)
{ /* top_block is not null */
};
// Nothing to connect
}
void GpsL5iPcpsAcquisitionFpga::disconnect(gr::top_block_sptr top_block)
{
// nothing to disconnect
if (top_block)
{ /* top_block is not null */
};
// Nothing to disconnect
}

38
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.h
View File

@ -1,10 +1,10 @@
/*!
* \file GPS_L5i_PCPS_Acquisition_fpga.h
* \file gps_l5i_pcps_acquisition_fpga.h
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* GPS L5i signals for the FPGA
* \authors <ul>
* <li> Marc Majoral, 2019. mmajoral(at)cttc.es
* <li> Javier Arribas, 2017. jarribas(at)cttc.es
* <li> Javier Arribas, 2019. jarribas(at)cttc.es
* </ul>
*
* -------------------------------------------------------------------------
@ -32,24 +32,25 @@
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GPS_L5i_PCPS_ACQUISITION_FPGA_H_
#define GNSS_SDR_GPS_L5i_PCPS_ACQUISITION_FPGA_H_
#ifndef GNSS_SDR_GPS_L5I_PCPS_ACQUISITION_FPGA_H_
#define GNSS_SDR_GPS_L5I_PCPS_ACQUISITION_FPGA_H_
#include "acquisition_interface.h"
#include "complex_byte_to_float_x2.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <gnuradio/blocks/stream_to_vector.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstddef> // for size_t
#include <string>
class Gnss_Synchro;
class ConfigurationInterface;
/*!
* \brief This class adapts a PCPS acquisition block to an AcquisitionInterface
* for GPS L5i signals
* \brief This class adapts a PCPS acquisition block off-loaded on an FPGA
* to an AcquisitionInterface for GPS L5i signals
*/
class GpsL5iPcpsAcquisitionFpga : public AcquisitionInterface
{
@ -76,7 +77,7 @@ public:
inline size_t item_size() override
{
return item_size_;
return sizeof(lv_16sc_t);
}
void connect(gr::top_block_sptr top_block) override;
@ -87,7 +88,7 @@ public:
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to efficiently exchange synchronization data between acquisition and
* tracking blocks
* tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
@ -117,7 +118,7 @@ public:
void init() override;
/*!
* \brief Sets local code for GPS L2/M PCPS acquisition algorithm.
* \brief Sets local code for GPS L5 PCPS acquisition algorithm.
*/
void set_local_code() override;
@ -149,22 +150,11 @@ private:
gr::blocks::stream_to_vector::sptr stream_to_vector_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
size_t item_size_;
std::string item_type_;
uint32_t vector_length_;
uint32_t code_length_;
bool bit_transition_flag_;
bool use_CFAR_algorithm_flag_;
uint32_t channel_;
float threshold_;
uint32_t doppler_max_;
uint32_t doppler_step_;
uint32_t max_dwells_;
int64_t fs_in_;
bool dump_;
bool blocking_;
std::string dump_filename_;
std::complex<float>* code_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;
@ -175,4 +165,4 @@ private:
float calculate_threshold(float pfa);
};
#endif /* GNSS_SDR_GPS_L5i_PCPS_ACQUISITION_FPGA_H_ */
#endif /* GNSS_SDR_GPS_L5I_PCPS_ACQUISITION_FPGA_H_ */

1
src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.cc
View File

@ -44,7 +44,6 @@
#include <sstream>
#include <utility>
using google::LogMessage;
galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(
unsigned int sampled_ms,

1
src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.cc
View File

@ -38,7 +38,6 @@
#include <sstream>
#include <utility>
using google::LogMessage;
galileo_pcps_8ms_acquisition_cc_sptr galileo_pcps_8ms_make_acquisition_cc(
uint32_t sampled_ms,

20
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc
View File

@ -36,17 +36,24 @@
#include "pcps_acquisition.h"
#include "GLONASS_L1_L2_CA.h" // for GLONASS_TWO_PI
#include "GPS_L1_CA.h" // for GPS_TWO_PI
#include "gnss_frequencies.h"
#include "gnss_sdr_create_directory.h"
#include "gnss_synchro.h"
#include <boost/filesystem/path.hpp>
#include <glog/logging.h>
#include <gnuradio/io_signature.h>
#include <matio.h>
#include <pmt/pmt.h> // for from_long
#include <pmt/pmt_sugar.h> // for mp
#include <volk/volk.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <cstring>
#include <algorithm> // for fill_n, min
#include <cmath> // for floor, fmod, rint, ceil
#include <cstring> // for memcpy
#include <iostream>
#include <map>
using google::LogMessage;
pcps_acquisition_sptr pcps_make_acquisition(const Acq_Conf& conf_)
{
return pcps_acquisition_sptr(new pcps_acquisition(conf_));
@ -187,6 +194,7 @@ pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acqu
}
}
pcps_acquisition::~pcps_acquisition()
{
if (d_num_doppler_bins > 0)
@ -227,6 +235,7 @@ void pcps_acquisition::set_resampler_latency(uint32_t latency_samples)
acq_parameters.resampler_latency_samples = latency_samples;
}
void pcps_acquisition::set_local_code(std::complex<float>* code)
{
// reset the intermediate frequency
@ -912,6 +921,7 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
}
}
// Called by gnuradio to enable drivers, etc for i/o devices.
bool pcps_acquisition::start()
{
@ -919,8 +929,10 @@ bool pcps_acquisition::start()
return true;
}
int pcps_acquisition::general_work(int noutput_items __attribute__((unused)),
gr_vector_int& ninput_items, gr_vector_const_void_star& input_items,
gr_vector_int& ninput_items,
gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items __attribute__((unused)))
{
/*

9
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h
View File

@ -53,14 +53,17 @@
#define GNSS_SDR_PCPS_ACQUISITION_H_
#include "acq_conf.h"
#include "gnss_synchro.h"
#include <armadillo>
#include <gnuradio/block.h>
#include <gnuradio/fft/fft.h>
#include <volk/volk.h>
#include <gnuradio/gr_complex.h> // for gr_complex
#include <gnuradio/thread/thread.h> // for scoped_lock
#include <gnuradio/types.h> // for gr_vector_const_void_star
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstdint>
#include <string>
class Gnss_Synchro;
class pcps_acquisition;
using pcps_acquisition_sptr = boost::shared_ptr<pcps_acquisition>;

4
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.cc
View File

@ -1,5 +1,5 @@
/*!
* \file pcps_acquisition_fine_doppler_acquisition_cc.cc
* \file pcps_acquisition_fine_doppler_cc.cc
* \brief This class implements a Parallel Code Phase Search Acquisition with multi-dwells and fine Doppler estimation
* \authors <ul>
* <li> Javier Arribas, 2013. jarribas(at)cttc.es
@ -44,8 +44,6 @@
#include <sstream>
using google::LogMessage;
pcps_acquisition_fine_doppler_cc_sptr pcps_make_acquisition_fine_doppler_cc(const Acq_Conf &conf_)
{
return pcps_acquisition_fine_doppler_cc_sptr(

2
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.h
View File

@ -1,5 +1,5 @@
/*!
* \file pcps_acquisition_fine_doppler_acquisition_cc.h
* \file pcps_acquisition_fine_doppler_cc.h
* \brief This class implements a Parallel Code Phase Search Acquisition with multi-dwells and fine Doppler estimation
* for GPS L1 C/A signal
*

58
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.cc
View File

@ -3,10 +3,7 @@
* \brief This class implements a Parallel Code Phase Search Acquisition for the FPGA
* \authors <ul>
* <li> Marc Majoral, 2019. mmajoral(at)cttc.es
* <li> Javier Arribas, 2011. jarribas(at)cttc.es
* <li> Luis Esteve, 2012. luis(at)epsilon-formacion.com
* <li> Marc Molina, 2013. marc.molina.pena@gmail.com
* <li> Cillian O'Driscoll, 2017. cillian(at)ieee.org
* <li> Javier Arribas, 2019. jarribas(at)cttc.es
* </ul>
*
* -------------------------------------------------------------------------
@ -36,13 +33,18 @@
#include "pcps_acquisition_fpga.h"
#include "gnss_synchro.h"
#include <glog/logging.h>
#include <gnuradio/io_signature.h>
#include <utility>
#include <pmt/pmt.h> // for from_long
#include <pmt/pmt_sugar.h> // for mp
#include <cmath> // for ceil
#include <iostream> // for operator<<
#include <utility> // for move
#define AQ_DOWNSAMPLING_DELAY 40 // delay due to the downsampling filter in the acquisition
using google::LogMessage;
pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_)
{
@ -66,6 +68,7 @@ pcps_acquisition_fpga::pcps_acquisition_fpga(pcpsconf_fpga_t conf_) : gr::block(
d_num_doppler_bins = 0U;
d_threshold = 0.0;
d_doppler_step = 0U;
d_doppler_index = 0U;
d_test_statistics = 0.0;
d_channel = 0U;
d_gnss_synchro = nullptr;
@ -82,7 +85,8 @@ pcps_acquisition_fpga::pcps_acquisition_fpga(pcpsconf_fpga_t conf_) : gr::block(
d_doppler_max = acq_parameters.doppler_max;
acquisition_fpga = std::make_shared<fpga_acquisition>(acq_parameters.device_name, acq_parameters.code_length, acq_parameters.doppler_max, d_fft_size,
acquisition_fpga = std::make_shared<Fpga_Acquisition>(acq_parameters.device_name, acq_parameters.code_length, acq_parameters.doppler_max, d_fft_size,
acq_parameters.fs_in, acq_parameters.sampled_ms, acq_parameters.select_queue_Fpga, acq_parameters.all_fft_codes, acq_parameters.excludelimit);
}
@ -143,7 +147,7 @@ void pcps_acquisition_fpga::set_state(int32_t state)
void pcps_acquisition_fpga::send_positive_acquisition()
{
// Declare positive acquisition using a message port
//0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
// 0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
DLOG(INFO) << "positive acquisition"
<< ", satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< ", sample_stamp " << d_sample_counter
@ -183,32 +187,33 @@ void pcps_acquisition_fpga::acquisition_core(uint32_t num_doppler_bins, uint32_t
uint64_t initial_sample;
int32_t doppler;
acquisition_fpga->configure_acquisition();
acquisition_fpga->set_doppler_sweep(num_doppler_bins, doppler_step, doppler_min);
acquisition_fpga->write_local_code();
acquisition_fpga->set_block_exp(d_total_block_exp);
acquisition_fpga->run_acquisition();
acquisition_fpga->read_acquisition_results(&indext, &firstpeak, &secondpeak, &initial_sample, &d_input_power, &d_doppler_index, &total_block_exp);
doppler = static_cast<int32_t>(doppler_min) + doppler_step * (d_doppler_index - 1);
if (total_block_exp > d_total_block_exp)
{
// if the attenuation factor of the FPGA FFT-IFFT is smaller than the reference attenuation factor then we need to update the reference attenuation factor
std::cout << "changing blk exp..... d_total_block_exp = " << d_total_block_exp << " total_block_exp = " << total_block_exp << " chan = " << d_channel << std::endl;
d_total_block_exp = total_block_exp;
}
//doppler = -static_cast<int32_t>(d_doppler_max) + d_doppler_step * (d_doppler_index - 1);
doppler = static_cast<int32_t>(doppler_min) + doppler_step * (d_doppler_index - 1);
if (secondpeak > 0)
{
d_test_statistics = firstpeak / secondpeak;
d_test_statistics = 0;
}
else
{
d_test_statistics = 0.0;
if (secondpeak > 0)
{
d_test_statistics = firstpeak / secondpeak;
}
else
{
d_test_statistics = 0.0;
}
}
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
d_sample_counter = initial_sample;
@ -249,6 +254,13 @@ void pcps_acquisition_fpga::set_active(bool active)
<< ", use_CFAR_algorithm_flag: false";
//acquisition_fpga->configure_acquisition();
//acquisition_fpga->write_local_code();
acquisition_fpga->configure_acquisition();
acquisition_fpga->write_local_code();
acquisition_fpga->set_block_exp(d_total_block_exp);
acquisition_core(d_num_doppler_bins, d_doppler_step, -d_doppler_max);
if (!d_make_2_steps)
@ -271,6 +283,7 @@ void pcps_acquisition_fpga::set_active(bool active)
if (d_test_statistics > d_threshold)
{
d_doppler_center_step_two = static_cast<float>(d_gnss_synchro->Acq_doppler_hz);
acquisition_fpga->open_device();
acquisition_core(d_num_doppler_bins_step2, d_doppler_step2, d_doppler_center_step_two - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0)) * d_doppler_step2);
if (d_test_statistics > d_threshold)
@ -319,19 +332,22 @@ void pcps_acquisition_fpga::set_active(bool active)
int pcps_acquisition_fpga::general_work(int noutput_items __attribute__((unused)),
gr_vector_int& ninput_items, gr_vector_const_void_star& input_items,
gr_vector_int& ninput_items __attribute__((unused)),
gr_vector_const_void_star& input_items __attribute__((unused)),
gr_vector_void_star& output_items __attribute__((unused)))
{
// the general work is not used with the acquisition that uses the FPGA
return noutput_items;
}
void pcps_acquisition_fpga::reset_acquisition(void)
{
// this function triggers a HW reset of the FPGA PL.
acquisition_fpga->reset_acquisition();
}
void pcps_acquisition_fpga::read_fpga_total_scale_factor(uint32_t* total_scale_factor, uint32_t* fw_scale_factor)
{
acquisition_fpga->read_fpga_total_scale_factor(total_scale_factor, fw_scale_factor);

99
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.h
View File

@ -9,11 +9,7 @@
*
* \authors <ul>
* <li> Marc Majoral, 2019. mmajoral(at)cttc.es
* <li> Javier Arribas, 2011. jarribas(at)cttc.es
* <li> Luis Esteve, 2012. luis(at)epsilon-formacion.com
* <li> Marc Molina, 2013. marc.molina.pena@gmail.com
* <li> Cillian O'Driscoll, 2017. cillian(at)ieee.org
* <li> Antonio Ramos, 2017. antonio.ramos@cttc.es
* <li> Javier Arribas, 2019. jarribas(at)cttc.es
* </ul>
*
* -------------------------------------------------------------------------
@ -46,8 +42,15 @@
#include "fpga_acquisition.h"
#include "gnss_synchro.h"
#include <gnuradio/block.h>
#include <boost/shared_ptr.hpp>
#include <gnuradio/block.h> // for block
#include <gnuradio/types.h> // for gr_vector_const_void_star
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstdint> // for uint32_t
#include <memory> // for shared_ptr
#include <string> // for string
class Gnss_Synchro;
typedef struct
{
@ -71,7 +74,7 @@ typedef struct
class pcps_acquisition_fpga;
typedef boost::shared_ptr<pcps_acquisition_fpga> pcps_acquisition_fpga_sptr;
using pcps_acquisition_fpga_sptr = boost::shared_ptr<pcps_acquisition_fpga>;
pcps_acquisition_fpga_sptr
pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_);
@ -85,9 +88,7 @@ pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_);
class pcps_acquisition_fpga : public gr::block
{
private:
friend pcps_acquisition_fpga_sptr
pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_);
friend pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_);
pcps_acquisition_fpga(pcpsconf_fpga_t conf_);
@ -114,7 +115,7 @@ private:
uint32_t d_num_doppler_bins;
uint64_t d_sample_counter;
Gnss_Synchro* d_gnss_synchro;
std::shared_ptr<fpga_acquisition> acquisition_fpga;
std::shared_ptr<Fpga_Acquisition> acquisition_fpga;
float d_downsampling_factor;
uint32_t d_select_queue_Fpga;
@ -130,10 +131,10 @@ public:
~pcps_acquisition_fpga();
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to exchange synchronization data between acquisition and tracking blocks.
* \param p_gnss_synchro Satellite information shared by the processing blocks.
*/
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to exchange synchronization data between acquisition and tracking blocks.
* \param p_gnss_synchro Satellite information shared by the processing blocks.
*/
inline void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
d_gnss_synchro = p_gnss_synchro;
@ -148,53 +149,53 @@ public:
}
/*!
* \brief Initializes acquisition algorithm.
*/
* \brief Initializes acquisition algorithm.
*/
void init();
/*!
* \brief Sets local code for PCPS acquisition algorithm.
* \param code - Pointer to the PRN code.
*/
* \brief Sets local code for PCPS acquisition algorithm.
* \param code - Pointer to the PRN code.
*/
void set_local_code();
/*!
* \brief If set to 1, ensures that acquisition starts at the
* first available sample.
* \param state - int=1 forces start of acquisition
*/
* \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(int32_t state);
/*!
* \brief Starts acquisition algorithm, turning from standby mode to
* active mode
* \param active - bool that activates/deactivates the block.
*/
* \brief Starts acquisition algorithm, turning from standby mode to
* active mode
* \param active - bool that activates/deactivates the block.
*/
void set_active(bool active);
/*!
* \brief Set acquisition channel unique ID
* \param channel - receiver channel.
*/
* \brief Set acquisition channel unique ID
* \param channel - receiver channel.
*/
inline void set_channel(uint32_t channel)
{
d_channel = channel;
}
/*!
* \brief Set statistics threshold of PCPS algorithm.
* \param threshold - Threshold for signal detection (check \ref Navitec2012,
* Algorithm 1, for a definition of this threshold).
*/
* \brief Set statistics threshold of PCPS algorithm.
* \param threshold - Threshold for signal detection (check \ref Navitec2012,
* Algorithm 1, for a definition of this threshold).
*/
inline void set_threshold(float threshold)
{
d_threshold = threshold;
}
/*!
* \brief Set maximum Doppler grid search
* \param doppler_max - Maximum Doppler shift considered in the grid search [Hz].
*/
* \brief Set maximum Doppler grid search
* \param doppler_max - Maximum Doppler shift considered in the grid search [Hz].
*/
inline void set_doppler_max(uint32_t doppler_max)
{
d_doppler_max = doppler_max;
@ -202,22 +203,15 @@ public:
}
/*!
* \brief Set Doppler steps for the grid search
* \param doppler_step - Frequency bin of the search grid [Hz].
*/
* \brief Set Doppler steps for the grid search
* \param doppler_step - Frequency bin of the search grid [Hz].
*/
inline void set_doppler_step(uint32_t doppler_step)
{
d_doppler_step = doppler_step;
acquisition_fpga->set_doppler_step(doppler_step);
}
/*!
* \brief Parallel Code Phase Search Acquisition signal processing.
*/
int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items);
/*!
* \brief This funciton triggers a HW reset of the FPGA PL.
*/
@ -227,6 +221,13 @@ public:
* \brief This funciton is only used for the unit tests
*/
void read_fpga_total_scale_factor(uint32_t* total_scale_factor, uint32_t* fw_scale_factor);
/*!
* \brief Parallel Code Phase Search Acquisition signal processing.
*/
int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items);
};
#endif /* GNSS_SDR_PCPS_ACQUISITION_FPGA_H_*/

1
src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.cc
View File

@ -44,7 +44,6 @@
extern Concurrent_Map<Gps_Acq_Assist> global_gps_acq_assist_map;
using google::LogMessage;
pcps_assisted_acquisition_cc_sptr pcps_make_assisted_acquisition_cc(
int32_t max_dwells, uint32_t sampled_ms, int32_t doppler_max, int32_t doppler_min,

1
src/algorithms/acquisition/gnuradio_blocks/pcps_cccwsr_acquisition_cc.cc
View File

@ -44,7 +44,6 @@
#include <sstream>
#include <utility>
using google::LogMessage;
pcps_cccwsr_acquisition_cc_sptr pcps_cccwsr_make_acquisition_cc(
uint32_t sampled_ms,

2
src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.cc
View File

@ -64,8 +64,6 @@
#include <utility>
using google::LogMessage;
pcps_opencl_acquisition_cc_sptr pcps_make_opencl_acquisition_cc(
uint32_t sampled_ms, uint32_t max_dwells,
uint32_t doppler_max, int64_t fs_in,

2
src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.cc
View File

@ -40,8 +40,6 @@
#include <utility>
using google::LogMessage;
pcps_quicksync_acquisition_cc_sptr pcps_quicksync_make_acquisition_cc(
uint32_t folding_factor,
uint32_t sampled_ms,

1
src/algorithms/acquisition/gnuradio_blocks/pcps_tong_acquisition_cc.cc
View File

@ -58,7 +58,6 @@
#include <sstream>
#include <utility>
using google::LogMessage;
pcps_tong_acquisition_cc_sptr pcps_tong_make_acquisition_cc(
uint32_t sampled_ms,

1
src/algorithms/acquisition/libs/CMakeLists.txt
View File

@ -37,7 +37,6 @@ add_library(acquisition_libs
target_link_libraries(acquisition_libs
PUBLIC
Volk::volk
Gnuradio::fft
PRIVATE
Gflags::gflags
Glog::glog

2
src/algorithms/acquisition/libs/acq_conf.h
View File

@ -1,5 +1,5 @@
/*!
* \file acq_conf.cc
* \file acq_conf.h
* \brief Class that contains all the configuration parameters for generic
* acquisition block based on the PCPS algoritm.
* \author Carles Fernandez, 2018. cfernandez(at)cttc.es

184
src/algorithms/acquisition/libs/fpga_acquisition.cc
View File

@ -1,16 +1,16 @@
/*!
* \file fpga_acquisition.cc
* \brief High optimized FPGA vector correlator class
* \brief Highly optimized FPGA vector correlator class
* \authors <ul>
* <li> Marc Majoral, 2019. mmajoral(at)cttc.cat
* </ul>
*
* Class that controls and executes a high optimized acquisition HW
* Class that controls and executes a highly optimized acquisition HW
* accelerator in the FPGA
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -34,13 +34,14 @@
*/
#include "fpga_acquisition.h"
#include "GPS_L1_CA.h"
#include "gps_sdr_signal_processing.h"
#include <glog/logging.h>
#include <fcntl.h> // libraries used by the GIPO
#include <iostream>
#include <sys/mman.h> // libraries used by the GIPO
#include <utility>
#include "GPS_L1_CA.h" // for GPS_TWO_PI
#include <glog/logging.h> // for LOG
#include <cmath> // for log2
#include <fcntl.h> // libraries used by the GIPO
#include <iostream> // for operator<<
#include <sys/mman.h> // libraries used by the GIPO
#include <unistd.h> // for write, close, read, ssize_t
#include <utility> // for move
// FPGA register parameters
@ -62,32 +63,27 @@
#define SELECT_ALL_CODE_BITS 0x000FFFFF // Select a 20 bit word
#define SHL_CODE_BITS 1024 // shift left by 10 bits
bool fpga_acquisition::init()
{
return true;
}
#ifndef TEMP_FAILURE_RETRY
#define TEMP_FAILURE_RETRY(exp) \
({ \
decltype(exp) _rc; \
do \
{ \
_rc = (exp); \
} \
while (_rc == -1 && errno == EINTR); \
_rc; \
})
#endif
bool fpga_acquisition::set_local_code(uint32_t PRN)
{
// select the code with the chosen PRN
d_PRN = PRN;
return true;
}
void fpga_acquisition::write_local_code()
{
fpga_acquisition::fpga_configure_acquisition_local_code(
&d_all_fft_codes[d_nsamples_total * (d_PRN - 1)]);
}
fpga_acquisition::fpga_acquisition(std::string device_name,
Fpga_Acquisition::Fpga_Acquisition(std::string device_name,
uint32_t nsamples,
uint32_t doppler_max,
uint32_t nsamples_total, int64_t fs_in,
uint32_t sampled_ms, uint32_t select_queue,
uint32_t nsamples_total,
int64_t fs_in,
uint32_t sampled_ms __attribute__((unused)),
uint32_t select_queue,
lv_16sc_t *all_fft_codes,
uint32_t excludelimit)
{
@ -107,17 +103,42 @@ fpga_acquisition::fpga_acquisition(std::string device_name,
d_map_base = nullptr; // driver memory map
d_all_fft_codes = all_fft_codes;
fpga_acquisition::reset_acquisition();
fpga_acquisition::open_device();
fpga_acquisition::fpga_acquisition_test_register();
fpga_acquisition::close_device();
Fpga_Acquisition::reset_acquisition();
Fpga_Acquisition::open_device();
Fpga_Acquisition::fpga_acquisition_test_register();
Fpga_Acquisition::close_device();
d_PRN = 0;
DLOG(INFO) << "Acquisition FPGA class created";
//printf("d_excludelimit = %d\n", d_excludelimit);
}
void fpga_acquisition::open_device()
Fpga_Acquisition::~Fpga_Acquisition() = default;
bool Fpga_Acquisition::init()
{
return true;
}
bool Fpga_Acquisition::set_local_code(uint32_t PRN)
{
// select the code with the chosen PRN
d_PRN = PRN;
return true;
}
void Fpga_Acquisition::write_local_code()
{
Fpga_Acquisition::fpga_configure_acquisition_local_code(
&d_all_fft_codes[d_nsamples_total * (d_PRN - 1)]);
}
void Fpga_Acquisition::open_device()
{
// open communication with HW accelerator
if ((d_fd = open(d_device_name.c_str(), O_RDWR | O_SYNC)) == -1)
@ -125,7 +146,7 @@ void fpga_acquisition::open_device()
LOG(WARNING) << "Cannot open deviceio" << d_device_name;
std::cout << "Acq: cannot open deviceio" << d_device_name << std::endl;
}
d_map_base = reinterpret_cast<volatile uint32_t *>(mmap(NULL, PAGE_SIZE,
d_map_base = reinterpret_cast<volatile uint32_t *>(mmap(nullptr, PAGE_SIZE,
PROT_READ | PROT_WRITE, MAP_SHARED, d_fd, 0));
if (d_map_base == reinterpret_cast<void *>(-1))
@ -135,18 +156,14 @@ void fpga_acquisition::open_device()
}
}
fpga_acquisition::~fpga_acquisition()
{
}
bool fpga_acquisition::free()
bool Fpga_Acquisition::free()
{
return true;
}
void fpga_acquisition::fpga_acquisition_test_register()
void Fpga_Acquisition::fpga_acquisition_test_register()
{
// sanity check : check test register
uint32_t writeval = TEST_REG_SANITY_CHECK;
@ -157,7 +174,6 @@ void fpga_acquisition::fpga_acquisition_test_register()
// read value from test register
readval = d_map_base[15];
if (writeval != readval)
{
LOG(WARNING) << "Acquisition test register sanity check failed";
@ -169,7 +185,7 @@ void fpga_acquisition::fpga_acquisition_test_register()
}
void fpga_acquisition::fpga_configure_acquisition_local_code(lv_16sc_t fft_local_code[])
void Fpga_Acquisition::fpga_configure_acquisition_local_code(lv_16sc_t fft_local_code[])
{
uint32_t local_code;
uint32_t k, tmp, tmp2;
@ -189,12 +205,16 @@ void fpga_acquisition::fpga_configure_acquisition_local_code(lv_16sc_t fft_local
}
void fpga_acquisition::run_acquisition(void)
void Fpga_Acquisition::run_acquisition(void)
{
// enable interrupts
int32_t reenable = 1;
int32_t disable_int = 0;
write(d_fd, reinterpret_cast<void *>(&reenable), sizeof(int32_t));
ssize_t nbytes = TEMP_FAILURE_RETRY(write(d_fd, reinterpret_cast<void *>(&reenable), sizeof(int32_t)));
if (nbytes != sizeof(int32_t))
{
std::cerr << "Error enabling run in the FPGA." << std::endl;
}
// launch the acquisition process
d_map_base[8] = LAUNCH_ACQUISITION; // writing a 1 to reg 8 launches the acquisition process
@ -209,21 +229,25 @@ void fpga_acquisition::run_acquisition(void)
std::cout << "acquisition module Interrupt number " << irq_count << std::endl;
}
write(d_fd, reinterpret_cast<void *>(&disable_int), sizeof(int32_t));
nbytes = TEMP_FAILURE_RETRY(write(d_fd, reinterpret_cast<void *>(&disable_int), sizeof(int32_t)));
if (nbytes != sizeof(int32_t))
{
std::cerr << "Error disabling interruptions in the FPGA." << std::endl;
}
}
void fpga_acquisition::set_block_exp(uint32_t total_block_exp)
void Fpga_Acquisition::set_block_exp(uint32_t total_block_exp)
{
d_map_base[11] = total_block_exp;
}
void fpga_acquisition::set_doppler_sweep(uint32_t num_sweeps, uint32_t doppler_step, int32_t doppler_min)
void Fpga_Acquisition::set_doppler_sweep(uint32_t num_sweeps, uint32_t doppler_step, int32_t doppler_min)
{
float phase_step_rad_real;
float phase_step_rad_int_temp;
int32_t phase_step_rad_int;
//int32_t doppler = static_cast<int32_t>(-d_doppler_max);
int32_t doppler = static_cast<int32_t>(doppler_min);
auto doppler = static_cast<int32_t>(doppler_min);
float phase_step_rad = GPS_TWO_PI * (doppler) / static_cast<float>(d_fs_in);
// The doppler step can never be outside the range -pi to +pi, otherwise there would be aliasing
// The FPGA expects phase_step_rad between -1 (-pi) to +1 (+pi)
@ -255,9 +279,10 @@ void fpga_acquisition::set_doppler_sweep(uint32_t num_sweeps, uint32_t doppler_s
d_map_base[5] = num_sweeps;
}
void fpga_acquisition::configure_acquisition()
void Fpga_Acquisition::configure_acquisition()
{
fpga_acquisition::open_device();
Fpga_Acquisition::open_device();
d_map_base[0] = d_select_queue;
d_map_base[1] = d_vector_length;
@ -267,7 +292,34 @@ void fpga_acquisition::configure_acquisition()
}
void fpga_acquisition::read_acquisition_results(uint32_t *max_index,
//<<<<<<< HEAD
//void fpga_acquisition::read_acquisition_results(uint32_t *max_index,
//=======
//void Fpga_Acquisition::set_phase_step(uint32_t doppler_index)
//{
// float phase_step_rad_real;
// float phase_step_rad_int_temp;
// int32_t phase_step_rad_int;
// int32_t doppler = -static_cast<int32_t>(d_doppler_max) + d_doppler_step * doppler_index;
// float phase_step_rad = GPS_TWO_PI * (doppler) / static_cast<float>(d_fs_in);
// // The doppler step can never be outside the range -pi to +pi, otherwise there would be aliasing
// // The FPGA expects phase_step_rad between -1 (-pi) to +1 (+pi)
// // The FPGA also expects the phase to be negative since it produces cos(x) -j*sin(x)
// // while the gnss-sdr software (volk_gnsssdr_s32f_sincos_32fc) generates cos(x) + j*sin(x)
// phase_step_rad_real = phase_step_rad / (GPS_TWO_PI / 2);
// // avoid saturation of the fixed point representation in the fpga
// // (only the positive value can saturate due to the 2's complement representation)
// if (phase_step_rad_real >= 1.0)
// {
// phase_step_rad_real = MAX_PHASE_STEP_RAD;
// }
// phase_step_rad_int_temp = phase_step_rad_real * POW_2_2; // * 2^2
// phase_step_rad_int = static_cast<int32_t>(phase_step_rad_int_temp * (POW_2_29)); // * 2^29 (in total it makes x2^31 in two steps to avoid the warnings
// d_map_base[3] = phase_step_rad_int;
//}
//>>>>>>> b409f1c15efdd3c80fde680f4b5b966a1c18467b
void Fpga_Acquisition::read_acquisition_results(uint32_t *max_index,
float *firstpeak, float *secondpeak, uint64_t *initial_sample, float *power_sum, uint32_t *doppler_index, uint32_t *total_blk_exp)
{
uint64_t initial_sample_tmp = 0;
@ -303,25 +355,25 @@ void fpga_acquisition::read_acquisition_results(uint32_t *max_index,
readval = d_map_base[15]; // read dummy
fpga_acquisition::close_device();
Fpga_Acquisition::close_device();
}
void fpga_acquisition::block_samples()
void Fpga_Acquisition::block_samples()
{
d_map_base[14] = 1; // block the samples
}
void fpga_acquisition::unblock_samples()
void Fpga_Acquisition::unblock_samples()
{
d_map_base[14] = 0; // unblock the samples
}
void fpga_acquisition::close_device()
void Fpga_Acquisition::close_device()
{
uint32_t *aux = const_cast<uint32_t *>(d_map_base);
auto *aux = const_cast<uint32_t *>(d_map_base);
if (munmap(static_cast<void *>(aux), PAGE_SIZE) == -1)
{
std::cout << "Failed to unmap memory uio" << std::endl;
@ -330,16 +382,16 @@ void fpga_acquisition::close_device()
}
void fpga_acquisition::reset_acquisition(void)
void Fpga_Acquisition::reset_acquisition(void)
{
fpga_acquisition::open_device();
Fpga_Acquisition::open_device();
d_map_base[8] = RESET_ACQUISITION; // writing a 2 to d_map_base[8] resets the multicorrelator
fpga_acquisition::close_device();
Fpga_Acquisition::close_device();
}
// this function is only used for the unit tests
void fpga_acquisition::read_fpga_total_scale_factor(uint32_t *total_scale_factor, uint32_t *fw_scale_factor)
void Fpga_Acquisition::read_fpga_total_scale_factor(uint32_t *total_scale_factor, uint32_t *fw_scale_factor)
{
uint32_t readval = 0;
readval = d_map_base[8];
@ -349,7 +401,7 @@ void fpga_acquisition::read_fpga_total_scale_factor(uint32_t *total_scale_factor
*fw_scale_factor = 0;
}
void fpga_acquisition::read_result_valid(uint32_t *result_valid)
void Fpga_Acquisition::read_result_valid(uint32_t *result_valid)
{
uint32_t readval = 0;
readval = d_map_base[0];

14
src/algorithms/acquisition/libs/fpga_acquisition.h
View File

@ -1,11 +1,11 @@
/*!
* \file fpga_acquisition.h
* \brief High optimized FPGA vector correlator class
* \brief Highly optimized FPGA vector correlator class
* \authors <ul>
* <li> Marc Majoral, 2019. mmajoral(at)cttc.cat
* </ul>
*
* Class that controls and executes a high optimized acquisition HW
* Class that controls and executes a highly optimized acquisition HW
* accelerator in the FPGA
*
* -------------------------------------------------------------------------
@ -36,17 +36,17 @@
#ifndef GNSS_SDR_FPGA_ACQUISITION_H_
#define GNSS_SDR_FPGA_ACQUISITION_H_
#include <gnuradio/fft/fft.h>
#include <volk/volk.h>
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstdint>
#include <string>
/*!
* \brief Class that implements carrier wipe-off and correlators.
*/
class fpga_acquisition
class Fpga_Acquisition
{
public:
fpga_acquisition(std::string device_name,
Fpga_Acquisition(std::string device_name,
uint32_t nsamples,
uint32_t doppler_max,
uint32_t nsamples_total,
@ -56,7 +56,7 @@ public:
lv_16sc_t *all_fft_codes,
uint32_t excludelimit);
~fpga_acquisition();
~Fpga_Acquisition();
bool init();
bool set_local_code(uint32_t PRN);
bool free();

1
src/algorithms/channel/adapters/CMakeLists.txt
View File

@ -30,6 +30,7 @@ target_link_libraries(channel_adapters
PUBLIC
Gnuradio::runtime
channel_libs
core_system_parameters
PRIVATE
Gflags::gflags
Glog::glog

15
src/algorithms/channel/adapters/channel.cc
View File

@ -30,12 +30,16 @@
*/
#include "channel.h"
#include "acquisition_interface.h"
#include "channel_fsm.h"
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include "telemetry_decoder_interface.h"
#include "tracking_interface.h"
#include <glog/logging.h>
#include <cstdint>
#include <cstring> // for memcpy
#include <utility>
using google::LogMessage;
// Constructor
Channel::Channel(ConfigurationInterface* configuration, uint32_t channel, std::shared_ptr<AcquisitionInterface> acq,
@ -158,16 +162,19 @@ gr::basic_block_sptr Channel::get_left_block()
return nullptr;
}
gr::basic_block_sptr Channel::get_left_block_trk()
{
return trk_->get_left_block();
}
gr::basic_block_sptr Channel::get_left_block_acq()
{
return acq_->get_left_block();
}
gr::basic_block_sptr Channel::get_right_block()
{
return nav_->get_right_block();
@ -198,10 +205,10 @@ void Channel::stop_channel()
LOG(WARNING) << "Invalid channel event";
return;
}
DLOG(INFO)
<< "Channel stop_channel()";
DLOG(INFO) << "Channel stop_channel()";
}
void Channel::start_acquisition()
{
std::lock_guard<std::mutex> lk(mx);

5
src/algorithms/channel/adapters/channel.h
View File

@ -35,12 +35,14 @@
#ifndef GNSS_SDR_CHANNEL_H_
#define GNSS_SDR_CHANNEL_H_
#include "channel_fsm.h"
#include "channel_interface.h"
#include "channel_msg_receiver_cc.h"
#include "gnss_signal.h"
#include "gnss_synchro.h"
#include <gnuradio/block.h>
#include <gnuradio/msg_queue.h>
#include <cstddef>
#include <cstdint>
#include <memory>
#include <mutex>
#include <string>
@ -49,6 +51,7 @@ class ConfigurationInterface;
class AcquisitionInterface;
class TrackingInterface;
class TelemetryDecoderInterface;
class ChannelFsm;
/*!
* \brief This class represents a GNSS channel. It wraps an AcquisitionInterface,

2
src/algorithms/channel/libs/CMakeLists.txt
View File

@ -36,8 +36,10 @@ add_library(channel_libs ${CHANNEL_FSM_SOURCES} ${CHANNEL_FSM_HEADERS})
target_link_libraries(channel_libs
PUBLIC
Gnuradio::runtime
Gnuradio::pmt
core_system_parameters
PRIVATE
Boost::boost
Gflags::gflags
Glog::glog
core_receiver

10
src/algorithms/channel/libs/channel_fsm.cc
View File

@ -32,8 +32,7 @@
#include "channel_fsm.h"
#include "control_message_factory.h"
#include <glog/logging.h>
using google::LogMessage;
#include <utility>
ChannelFsm::ChannelFsm()
{
@ -58,13 +57,13 @@ bool ChannelFsm::Event_stop_channel()
DLOG(INFO) << "CH = " << channel_ << ". Ev stop channel";
switch (d_state)
{
case 0: //already in stanby
case 0: // already in stanby
break;
case 1: //acquisition
case 1: // acquisition
d_state = 0;
stop_acquisition();
break;
case 2: //tracking
case 2: // tracking
d_state = 0;
stop_tracking();
break;
@ -74,6 +73,7 @@ bool ChannelFsm::Event_stop_channel()
return true;
}
bool ChannelFsm::Event_start_acquisition()
{
std::lock_guard<std::mutex> lk(mx);

5
src/algorithms/channel/libs/channel_fsm.h
View File

@ -33,7 +33,6 @@
#define GNSS_SDR_CHANNEL_FSM_H
#include "acquisition_interface.h"
#include "telemetry_decoder_interface.h"
#include "tracking_interface.h"
#include <gnuradio/msg_queue.h>
#include <cstdint>
@ -55,7 +54,7 @@ public:
void set_queue(gr::msg_queue::sptr queue);
void set_channel(uint32_t channel);
//FSM EVENTS
// FSM EVENTS
bool Event_start_acquisition();
bool Event_valid_acquisition();
bool Event_stop_channel();
@ -79,4 +78,4 @@ private:
std::mutex mx;
};
#endif /*GNSS_SDR_CHANNEL_FSM_H*/
#endif // GNSS_SDR_CHANNEL_FSM_H

31
src/algorithms/channel/libs/channel_msg_receiver_cc.cc
View File

@ -30,12 +30,13 @@
#include "channel_msg_receiver_cc.h"
#include <boost/any.hpp>
#include <boost/bind.hpp>
#include <glog/logging.h>
#include <gnuradio/gr_complex.h>
#include <gnuradio/io_signature.h>
#include <cstdint>
using google::LogMessage;
#include <utility>
channel_msg_receiver_cc_sptr channel_msg_receiver_make_cc(std::shared_ptr<ChannelFsm> channel_fsm, bool repeat)
@ -44,6 +45,19 @@ channel_msg_receiver_cc_sptr channel_msg_receiver_make_cc(std::shared_ptr<Channe
}
channel_msg_receiver_cc::channel_msg_receiver_cc(std::shared_ptr<ChannelFsm> channel_fsm, bool repeat) : gr::block("channel_msg_receiver_cc", 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"), boost::bind(&channel_msg_receiver_cc::msg_handler_events, this, _1));
d_channel_fsm = std::move(channel_fsm);
d_repeat = repeat;
}
channel_msg_receiver_cc::~channel_msg_receiver_cc() = default;
void channel_msg_receiver_cc::msg_handler_events(pmt::pmt_t msg)
{
bool result = false;
@ -82,16 +96,3 @@ void channel_msg_receiver_cc::msg_handler_events(pmt::pmt_t msg)
LOG(WARNING) << "msg_handler_telemetry invalid event";
}
}
channel_msg_receiver_cc::channel_msg_receiver_cc(std::shared_ptr<ChannelFsm> channel_fsm, bool repeat) : gr::block("channel_msg_receiver_cc", 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"), boost::bind(&channel_msg_receiver_cc::msg_handler_events, this, _1));
d_channel_fsm = std::move(channel_fsm);
d_repeat = repeat;
}
channel_msg_receiver_cc::~channel_msg_receiver_cc() = default;

2
src/algorithms/channel/libs/channel_msg_receiver_cc.h
View File

@ -33,6 +33,8 @@
#include "channel_fsm.h"
#include <gnuradio/block.h>
#include <pmt/pmt.h>
#include <memory>
class channel_msg_receiver_cc;

3
src/algorithms/conditioner/adapters/array_signal_conditioner.cc
View File

@ -30,12 +30,11 @@
*/
#include "array_signal_conditioner.h"
#include "configuration_interface.h"
#include <glog/logging.h>
#include <utility>
using google::LogMessage;
// Constructor
ArraySignalConditioner::ArraySignalConditioner(ConfigurationInterface *configuration,
std::shared_ptr<GNSSBlockInterface> data_type_adapt,

8
src/algorithms/conditioner/adapters/array_signal_conditioner.h
View File

@ -34,14 +34,14 @@
#include "gnss_block_interface.h"
#include <gnuradio/msg_queue.h>
#include <gnuradio/block.h>
#include <cstddef>
#include <memory>
#include <string>
class ConfigurationInterface;
class AcquisitionInterface;
class TrackingInterface;
class TelemetryDecoderInterface;
/*!
* \brief This class wraps blocks to change data_type_adapter, input_filter and resampler

3
src/algorithms/conditioner/adapters/signal_conditioner.cc
View File

@ -30,12 +30,11 @@
*/
#include "signal_conditioner.h"
#include "configuration_interface.h"
#include <glog/logging.h>
#include <utility>
using google::LogMessage;
// Constructor
SignalConditioner::SignalConditioner(ConfigurationInterface *configuration,
std::shared_ptr<GNSSBlockInterface> data_type_adapt,

6
src/algorithms/conditioner/adapters/signal_conditioner.h
View File

@ -33,12 +33,12 @@
#define GNSS_SDR_SIGNAL_CONDITIONER_H_
#include "gnss_block_interface.h"
#include <gnuradio/block.h>
#include <cstddef>
#include <memory>
#include <string>
class ConfigurationInterface;
class AcquisitionInterface;
class TrackingInterface;
class TelemetryDecoderInterface;
/*!
* \brief This class wraps blocks to change data_type_adapter, input_filter and resampler

2
src/algorithms/data_type_adapter/adapters/byte_to_short.cc
View File

@ -35,8 +35,6 @@
#include <utility>
using google::LogMessage;
ByteToShort::ByteToShort(ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : config_(configuration), role_(std::move(role)), in_streams_(in_streams), out_streams_(out_streams)
{

1
src/algorithms/data_type_adapter/adapters/ibyte_to_cbyte.cc
View File

@ -34,7 +34,6 @@
#include <glog/logging.h>
#include <volk/volk.h>
using google::LogMessage;
IbyteToCbyte::IbyteToCbyte(ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams) : config_(configuration), role_(role), in_streams_(in_streams), out_streams_(out_streams)

1
src/algorithms/data_type_adapter/adapters/ibyte_to_complex.cc
View File

@ -32,7 +32,6 @@
#include "configuration_interface.h"
#include <glog/logging.h>
using google::LogMessage;
IbyteToComplex::IbyteToComplex(ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams) : config_(configuration), role_(role), in_streams_(in_streams), out_streams_(out_streams)

2
src/algorithms/data_type_adapter/adapters/ibyte_to_cshort.cc
View File

@ -35,8 +35,6 @@
#include <volk/volk.h>
using google::LogMessage;
IbyteToCshort::IbyteToCshort(ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams) : config_(configuration), role_(role), in_streams_(in_streams), out_streams_(out_streams)
{

1
src/algorithms/data_type_adapter/adapters/ishort_to_complex.cc
View File

@ -32,7 +32,6 @@
#include "configuration_interface.h"
#include <glog/logging.h>
using google::LogMessage;
IshortToComplex::IshortToComplex(ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams) : config_(configuration), role_(role), in_streams_(in_streams), out_streams_(out_streams)

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