mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2026-10-09 01:01:50 +00:00
Merge branch 'next_fpga' of https://github.com/gnss-sdr/gnss-sdr into
next # Conflicts: # README.md
This commit is contained in:
Carles Fernandez
@@ -21,6 +21,10 @@ if(ENABLE_CUDA)
|
||||
set(OPT_TRACKING_INCLUDE_DIRS ${OPT_TRACKING_INCLUDE_DIRS} ${CUDA_INCLUDE_DIRS})
|
||||
endif(ENABLE_CUDA)
|
||||
|
||||
if(ENABLE_FPGA)
|
||||
SET(OPT_TRACKING_ADAPTERS ${OPT_TRACKING_ADAPTERS} gps_l1_ca_dll_pll_c_aid_tracking_fpga.cc)
|
||||
endif(ENABLE_FPGA)
|
||||
|
||||
set(TRACKING_ADAPTER_SOURCES
|
||||
galileo_e1_dll_pll_veml_tracking.cc
|
||||
galileo_e1_tcp_connector_tracking.cc
|
||||
|
||||
@@ -0,0 +1,209 @@
|
||||
/*!
|
||||
* \file gps_l1_ca_dll_pll_c_aid_tracking_fpga.cc
|
||||
* \brief Implementation of an adapter of a DLL+PLL tracking loop block
|
||||
* for GPS L1 C/A to a TrackingInterface
|
||||
* \author Marc Majoral, 2017. mmajoral(at)cttc.cat
|
||||
* Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
|
||||
* Javier Arribas, 2011. jarribas(at)cttc.es
|
||||
*
|
||||
* Code DLL + carrier PLL according to the algorithms described in:
|
||||
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
|
||||
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
|
||||
* Approach, Birkhauser, 2007
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
|
||||
#include "gps_l1_ca_dll_pll_c_aid_tracking_fpga.h"
|
||||
#include <glog/logging.h>
|
||||
#include "GPS_L1_CA.h"
|
||||
#include "configuration_interface.h"
|
||||
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
GpsL1CaDllPllCAidTrackingFpga::GpsL1CaDllPllCAidTrackingFpga(
|
||||
ConfigurationInterface* configuration, std::string role,
|
||||
unsigned int in_streams, unsigned int out_streams) :
|
||||
role_(role), in_streams_(in_streams), out_streams_(out_streams)
|
||||
{
|
||||
DLOG(INFO) << "role " << role;
|
||||
//################# CONFIGURATION PARAMETERS ########################
|
||||
int fs_in;
|
||||
int vector_length;
|
||||
int f_if;
|
||||
bool dump;
|
||||
std::string dump_filename;
|
||||
std::string default_item_type = "cshort";
|
||||
float pll_bw_hz;
|
||||
float pll_bw_narrow_hz;
|
||||
float dll_bw_hz;
|
||||
float dll_bw_narrow_hz;
|
||||
float early_late_space_chips;
|
||||
item_type_ = configuration->property(role + ".item_type", default_item_type);
|
||||
fs_in = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
|
||||
f_if = configuration->property(role + ".if", 0);
|
||||
dump = configuration->property(role + ".dump", false);
|
||||
pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
|
||||
dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
|
||||
pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 20.0);
|
||||
dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 2.0);
|
||||
int extend_correlation_ms;
|
||||
extend_correlation_ms = configuration->property(role + ".extend_correlation_ms", 1);
|
||||
|
||||
early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
|
||||
std::string default_dump_filename = "./track_ch";
|
||||
dump_filename = configuration->property(role + ".dump_filename",
|
||||
default_dump_filename); //unused!
|
||||
vector_length = std::round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
|
||||
|
||||
//################# MAKE TRACKING GNURadio object ###################
|
||||
|
||||
if(item_type_.compare("cshort") == 0)
|
||||
{
|
||||
item_size_ = sizeof(lv_16sc_t);
|
||||
tracking_fpga_sc = gps_l1_ca_dll_pll_c_aid_make_tracking_fpga_sc(
|
||||
f_if,
|
||||
fs_in,
|
||||
vector_length,
|
||||
dump,
|
||||
dump_filename,
|
||||
pll_bw_hz,
|
||||
dll_bw_hz,
|
||||
pll_bw_narrow_hz,
|
||||
dll_bw_narrow_hz,
|
||||
extend_correlation_ms,
|
||||
early_late_space_chips);
|
||||
DLOG(INFO) << "tracking(" << tracking_fpga_sc->unique_id() << ")";
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
item_size_ = sizeof(lv_16sc_t);
|
||||
// LOG(WARNING) << item_type_ << " unknown tracking item type";
|
||||
LOG(WARNING) << item_type_ << " the tracking item type for the FPGA tracking test has to be cshort";
|
||||
}
|
||||
channel_ = 0;
|
||||
}
|
||||
|
||||
|
||||
GpsL1CaDllPllCAidTrackingFpga::~GpsL1CaDllPllCAidTrackingFpga()
|
||||
{
|
||||
LOG(INFO) << "gspl1cadllpllcaidtrackingfpga destructor called";
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaDllPllCAidTrackingFpga::start_tracking()
|
||||
{
|
||||
|
||||
if (item_type_.compare("cshort") == 0)
|
||||
{
|
||||
tracking_fpga_sc->start_tracking();
|
||||
}
|
||||
else
|
||||
{
|
||||
// LOG(WARNING) << item_type_ << " unknown tracking item type";
|
||||
LOG(WARNING) << item_type_ << " the tracking item type for the FPGA tracking test has to be cshort";
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* Set tracking channel unique ID
|
||||
*/
|
||||
void GpsL1CaDllPllCAidTrackingFpga::set_channel(unsigned int channel)
|
||||
{
|
||||
channel_ = channel;
|
||||
|
||||
if (item_type_.compare("cshort") == 0)
|
||||
{
|
||||
tracking_fpga_sc->set_channel(channel);
|
||||
}
|
||||
else
|
||||
{
|
||||
// LOG(WARNING) << item_type_ << " unknown tracking item type";
|
||||
LOG(WARNING) << item_type_ << " the tracking item type for the FPGA tracking test has to be cshort";
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaDllPllCAidTrackingFpga::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
|
||||
{
|
||||
if (item_type_.compare("cshort") == 0)
|
||||
{
|
||||
tracking_fpga_sc->set_gnss_synchro(p_gnss_synchro);
|
||||
}
|
||||
else
|
||||
{
|
||||
// LOG(WARNING) << item_type_ << " unknown tracking item type";
|
||||
LOG(WARNING) << item_type_ << " the tracking item type for the FPGA tracking test has to be cshort";
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaDllPllCAidTrackingFpga::connect(gr::top_block_sptr top_block)
|
||||
{
|
||||
if(top_block) { /* top_block is not null */};
|
||||
//nothing to connect, now the tracking uses gr_sync_decimator
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaDllPllCAidTrackingFpga::disconnect(gr::top_block_sptr top_block)
|
||||
{
|
||||
if(top_block) { /* top_block is not null */};
|
||||
//nothing to disconnect, now the tracking uses gr_sync_decimator
|
||||
}
|
||||
|
||||
|
||||
// CONVERT TO SOURCE
|
||||
gr::basic_block_sptr GpsL1CaDllPllCAidTrackingFpga::get_left_block()
|
||||
{
|
||||
if (item_type_.compare("cshort") == 0)
|
||||
{
|
||||
return tracking_fpga_sc;
|
||||
}
|
||||
else
|
||||
{
|
||||
//LOG(WARNING) << item_type_ << " unknown tracking item type";
|
||||
LOG(WARNING) << item_type_ << " the tracking item type for the FPGA tracking test has to be cshort";
|
||||
return nullptr;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
gr::basic_block_sptr GpsL1CaDllPllCAidTrackingFpga::get_right_block()
|
||||
{
|
||||
if (item_type_.compare("cshort") == 0)
|
||||
{
|
||||
return tracking_fpga_sc;
|
||||
}
|
||||
else
|
||||
{
|
||||
//LOG(WARNING) << item_type_ << " unknown tracking item type";
|
||||
LOG(WARNING) << item_type_ << " the tracking item type for the FPGA tracking test has to be cshort";
|
||||
return nullptr;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,108 @@
|
||||
/*!
|
||||
* \file gps_l1_ca_dll_pll_c_aid_tracking_fpga.h
|
||||
* \brief Interface of an adapter of a DLL+PLL tracking loop block
|
||||
* for GPS L1 C/A to a TrackingInterface
|
||||
* \author Marc Majoral, 2017. mmajoral(at)cttc.cat
|
||||
* Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
|
||||
* Javier Arribas, 2011. jarribas(at)cttc.es
|
||||
*
|
||||
* Code DLL + carrier PLL according to the algorithms described in:
|
||||
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
|
||||
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
|
||||
* Approach, Birkha user, 2007
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_FPGA__H_
|
||||
#define GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_FPGA__H_
|
||||
|
||||
#include <string>
|
||||
#include "tracking_interface.h"
|
||||
#include "gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.h"
|
||||
|
||||
|
||||
class ConfigurationInterface;
|
||||
|
||||
/*!
|
||||
* \brief This class implements a code DLL + carrier PLL tracking loop
|
||||
*/
|
||||
class GpsL1CaDllPllCAidTrackingFpga : public TrackingInterface
|
||||
{
|
||||
public:
|
||||
GpsL1CaDllPllCAidTrackingFpga(ConfigurationInterface* configuration,
|
||||
std::string role,
|
||||
unsigned int in_streams,
|
||||
unsigned int out_streams);
|
||||
|
||||
virtual ~GpsL1CaDllPllCAidTrackingFpga();
|
||||
|
||||
std::string role()
|
||||
{
|
||||
return role_;
|
||||
}
|
||||
|
||||
//! Returns "GPS_L1_CA_DLL_PLL_C_Aid_Tracking_Fpga"
|
||||
std::string implementation()
|
||||
{
|
||||
return "GPS_L1_CA_DLL_PLL_C_Aid_Tracking_Fpga";
|
||||
}
|
||||
size_t item_size()
|
||||
{
|
||||
return item_size_;
|
||||
}
|
||||
|
||||
void connect(gr::top_block_sptr top_block);
|
||||
void disconnect(gr::top_block_sptr top_block);
|
||||
// CONVERT TO SOURCE
|
||||
gr::basic_block_sptr get_left_block();
|
||||
gr::basic_block_sptr get_right_block();
|
||||
|
||||
|
||||
/*!
|
||||
* \brief Set tracking channel unique ID
|
||||
*/
|
||||
void set_channel(unsigned int channel);
|
||||
|
||||
/*!
|
||||
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
|
||||
* to efficiently exchange synchronization data between acquisition and tracking blocks
|
||||
*/
|
||||
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
|
||||
|
||||
|
||||
void start_tracking();
|
||||
|
||||
private:
|
||||
gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc_sptr tracking_fpga_sc;
|
||||
size_t item_size_;
|
||||
std::string item_type_;
|
||||
unsigned int channel_;
|
||||
std::string role_;
|
||||
unsigned int in_streams_;
|
||||
unsigned int out_streams_;
|
||||
};
|
||||
|
||||
#endif // GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_FPGA__H_
|
||||
@@ -22,6 +22,10 @@ if(ENABLE_CUDA)
|
||||
set(OPT_TRACKING_LIBRARIES ${OPT_TRACKING_LIBRARIES} ${CUDA_LIBRARIES})
|
||||
endif(ENABLE_CUDA)
|
||||
|
||||
if(ENABLE_FPGA)
|
||||
set(OPT_TRACKING_BLOCKS ${OPT_TRACKING_BLOCKS} gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.cc)
|
||||
endif(ENABLE_FPGA)
|
||||
|
||||
set(TRACKING_GR_BLOCKS_SOURCES
|
||||
galileo_e1_dll_pll_veml_tracking_cc.cc
|
||||
galileo_e1_tcp_connector_tracking_cc.cc
|
||||
@@ -30,7 +34,7 @@ set(TRACKING_GR_BLOCKS_SOURCES
|
||||
galileo_e5a_dll_pll_tracking_cc.cc
|
||||
gps_l2_m_dll_pll_tracking_cc.cc
|
||||
gps_l1_ca_dll_pll_c_aid_tracking_cc.cc
|
||||
gps_l1_ca_dll_pll_c_aid_tracking_sc.cc
|
||||
gps_l1_ca_dll_pll_c_aid_tracking_sc.cc
|
||||
${OPT_TRACKING_BLOCKS}
|
||||
)
|
||||
|
||||
|
||||
@@ -0,0 +1,668 @@
|
||||
/*!
|
||||
* \file gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.cc
|
||||
* \brief Implementation of a code DLL + carrier PLL tracking block
|
||||
* \author Marc Majoral, 2017. mmajoral(at)cttc.cat
|
||||
* Javier Arribas, 2015. jarribas(at)cttc.es
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.h"
|
||||
#include <cmath>
|
||||
#include <iostream>
|
||||
#include <memory>
|
||||
#include <sstream>
|
||||
#include <boost/bind.hpp>
|
||||
#include <boost/lexical_cast.hpp>
|
||||
#include <gnuradio/io_signature.h>
|
||||
#include <pmt/pmt.h>
|
||||
#include <volk_gnsssdr/volk_gnsssdr.h>
|
||||
#include <glog/logging.h>
|
||||
#include "gnss_synchro.h"
|
||||
#include "gps_sdr_signal_processing.h"
|
||||
#include "tracking_discriminators.h"
|
||||
#include "lock_detectors.h"
|
||||
#include "GPS_L1_CA.h"
|
||||
#include "control_message_factory.h"
|
||||
|
||||
|
||||
/*!
|
||||
* \todo Include in definition header file
|
||||
*/
|
||||
#define CN0_ESTIMATION_SAMPLES 20
|
||||
#define MINIMUM_VALID_CN0 25
|
||||
#define MAXIMUM_LOCK_FAIL_COUNTER 50
|
||||
#define CARRIER_LOCK_THRESHOLD 0.85
|
||||
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc_sptr
|
||||
gps_l1_ca_dll_pll_c_aid_make_tracking_fpga_sc(
|
||||
long if_freq,
|
||||
long fs_in,
|
||||
unsigned int vector_length,
|
||||
bool dump,
|
||||
std::string dump_filename,
|
||||
float pll_bw_hz,
|
||||
float dll_bw_hz,
|
||||
float pll_bw_narrow_hz,
|
||||
float dll_bw_narrow_hz,
|
||||
int extend_correlation_ms,
|
||||
float early_late_space_chips)
|
||||
{
|
||||
return gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc_sptr(new gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc(if_freq,
|
||||
fs_in, vector_length, dump, dump_filename, pll_bw_hz, dll_bw_hz, pll_bw_narrow_hz, dll_bw_narrow_hz, extend_correlation_ms, early_late_space_chips));
|
||||
}
|
||||
|
||||
|
||||
void gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::msg_handler_preamble_index(pmt::pmt_t msg)
|
||||
{
|
||||
//pmt::print(msg);
|
||||
DLOG(INFO) << "Extended correlation enabled for Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN);
|
||||
if (d_enable_extended_integration == false) //avoid re-setting preamble indicator
|
||||
{
|
||||
d_preamble_timestamp_s = pmt::to_double(msg);
|
||||
d_enable_extended_integration = true;
|
||||
d_preamble_synchronized = false;
|
||||
}
|
||||
}
|
||||
|
||||
gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc(
|
||||
long if_freq,
|
||||
long fs_in,
|
||||
unsigned int vector_length,
|
||||
bool dump,
|
||||
std::string dump_filename,
|
||||
float pll_bw_hz,
|
||||
float dll_bw_hz,
|
||||
float pll_bw_narrow_hz,
|
||||
float dll_bw_narrow_hz,
|
||||
int extend_correlation_ms,
|
||||
float early_late_space_chips) :
|
||||
gr::block("gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc", gr::io_signature::make(0, 0, sizeof(lv_16sc_t)),
|
||||
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
|
||||
|
||||
{
|
||||
// Telemetry bit synchronization message port input
|
||||
this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
|
||||
this->set_msg_handler(pmt::mp("preamble_timestamp_s"),
|
||||
boost::bind(&gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::msg_handler_preamble_index, this, _1));
|
||||
this->message_port_register_out(pmt::mp("events"));
|
||||
// initialize internal vars
|
||||
d_dump = dump;
|
||||
d_if_freq = if_freq;
|
||||
d_fs_in = fs_in;
|
||||
d_vector_length = vector_length;
|
||||
d_dump_filename = dump_filename;
|
||||
d_correlation_length_samples = static_cast<int>(d_vector_length);
|
||||
|
||||
// Initialize tracking ==========================================
|
||||
d_pll_bw_hz = pll_bw_hz;
|
||||
d_dll_bw_hz = dll_bw_hz;
|
||||
d_pll_bw_narrow_hz = pll_bw_narrow_hz;
|
||||
d_dll_bw_narrow_hz = dll_bw_narrow_hz;
|
||||
d_code_loop_filter.set_DLL_BW(d_dll_bw_hz);
|
||||
d_carrier_loop_filter.set_params(10.0, d_pll_bw_hz, 2);
|
||||
d_extend_correlation_ms = extend_correlation_ms;
|
||||
|
||||
// --- DLL variables --------------------------------------------------------
|
||||
d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
|
||||
|
||||
// Initialization of local code replica
|
||||
// Get space for a vector with the C/A code replica sampled 1x/chip
|
||||
d_ca_code = static_cast<gr_complex*>(volk_gnsssdr_malloc(static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
|
||||
d_ca_code_16sc = static_cast<lv_16sc_t*>(volk_gnsssdr_malloc(static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(lv_16sc_t), volk_gnsssdr_get_alignment()));
|
||||
|
||||
// correlator outputs (scalar)
|
||||
d_n_correlator_taps = 3; // Early, Prompt, and Late
|
||||
|
||||
d_correlator_outs_16sc = static_cast<lv_16sc_t*>(volk_gnsssdr_malloc(d_n_correlator_taps*sizeof(lv_16sc_t), volk_gnsssdr_get_alignment()));
|
||||
for (int n = 0; n < d_n_correlator_taps; n++)
|
||||
{
|
||||
d_correlator_outs_16sc[n] = lv_cmake(0,0);
|
||||
}
|
||||
|
||||
d_local_code_shift_chips = static_cast<float*>(volk_gnsssdr_malloc(d_n_correlator_taps*sizeof(float), volk_gnsssdr_get_alignment()));
|
||||
// Set TAPs delay values [chips]
|
||||
d_local_code_shift_chips[0] = - d_early_late_spc_chips;
|
||||
d_local_code_shift_chips[1] = 0.0;
|
||||
d_local_code_shift_chips[2] = d_early_late_spc_chips;
|
||||
|
||||
multicorrelator_fpga_8sc.init(2 * d_correlation_length_samples, d_n_correlator_taps);
|
||||
|
||||
//--- Perform initializations ------------------------------
|
||||
// define initial code frequency basis of NCO
|
||||
d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ;
|
||||
// define residual code phase (in chips)
|
||||
d_rem_code_phase_samples = 0.0;
|
||||
// define residual carrier phase
|
||||
d_rem_carrier_phase_rad = 0.0;
|
||||
|
||||
// sample synchronization
|
||||
d_sample_counter = 0; //(from trk to tlm)
|
||||
d_acq_sample_stamp = 0;
|
||||
d_enable_tracking = false;
|
||||
d_pull_in = false;
|
||||
|
||||
// CN0 estimation and lock detector buffers
|
||||
d_cn0_estimation_counter = 0;
|
||||
d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES];
|
||||
d_carrier_lock_test = 1;
|
||||
d_CN0_SNV_dB_Hz = 0;
|
||||
d_carrier_lock_fail_counter = 0;
|
||||
d_carrier_lock_threshold = CARRIER_LOCK_THRESHOLD;
|
||||
|
||||
systemName["G"] = std::string("GPS");
|
||||
systemName["S"] = std::string("SBAS");
|
||||
|
||||
set_relative_rate(1.0 / static_cast<double>(d_vector_length));
|
||||
|
||||
d_acquisition_gnss_synchro = 0;
|
||||
d_channel = 0;
|
||||
d_acq_code_phase_samples = 0.0;
|
||||
d_acq_carrier_doppler_hz = 0.0;
|
||||
d_carrier_doppler_hz = 0.0;
|
||||
d_acc_carrier_phase_cycles = 0.0;
|
||||
d_code_phase_samples = 0.0;
|
||||
d_enable_extended_integration = false;
|
||||
d_preamble_synchronized = false;
|
||||
d_rem_code_phase_integer_samples = 0;
|
||||
d_code_error_chips_Ti = 0.0;
|
||||
d_pll_to_dll_assist_secs_Ti = 0.0;
|
||||
d_rem_code_phase_chips = 0.0;
|
||||
d_code_phase_step_chips = 0.0;
|
||||
d_carrier_phase_step_rad = 0.0;
|
||||
d_code_error_filt_chips_s = 0.0;
|
||||
d_code_error_filt_chips_Ti = 0.0;
|
||||
d_preamble_timestamp_s = 0.0;
|
||||
d_carr_phase_error_secs_Ti = 0.0;
|
||||
//set_min_output_buffer((long int)300);
|
||||
}
|
||||
|
||||
|
||||
void gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::start_tracking()
|
||||
{
|
||||
/*
|
||||
* correct the code phase according to the delay between acq and trk
|
||||
*/
|
||||
d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
|
||||
d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
|
||||
d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
|
||||
|
||||
long int acq_trk_diff_samples;
|
||||
double acq_trk_diff_seconds;
|
||||
acq_trk_diff_samples = static_cast<long int>(d_sample_counter) - static_cast<long int>(d_acq_sample_stamp);//-d_vector_length;
|
||||
DLOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples;
|
||||
acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / static_cast<double>(d_fs_in);
|
||||
// Doppler effect
|
||||
// Fd=(C/(C+Vr))*F
|
||||
double radial_velocity = (GPS_L1_FREQ_HZ + d_acq_carrier_doppler_hz) / GPS_L1_FREQ_HZ;
|
||||
// new chip and prn sequence periods based on acq Doppler
|
||||
double T_chip_mod_seconds;
|
||||
double T_prn_mod_seconds;
|
||||
double T_prn_mod_samples;
|
||||
d_code_freq_chips = radial_velocity * GPS_L1_CA_CODE_RATE_HZ;
|
||||
d_code_phase_step_chips = static_cast<double>(d_code_freq_chips) / static_cast<double>(d_fs_in);
|
||||
T_chip_mod_seconds = 1.0 / d_code_freq_chips;
|
||||
T_prn_mod_seconds = T_chip_mod_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
|
||||
T_prn_mod_samples = T_prn_mod_seconds * static_cast<double>(d_fs_in);
|
||||
|
||||
d_correlation_length_samples = round(T_prn_mod_samples);
|
||||
|
||||
double T_prn_true_seconds = GPS_L1_CA_CODE_LENGTH_CHIPS / GPS_L1_CA_CODE_RATE_HZ;
|
||||
double T_prn_true_samples = T_prn_true_seconds * static_cast<double>(d_fs_in);
|
||||
double T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds;
|
||||
double N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
|
||||
double corrected_acq_phase_samples, delay_correction_samples;
|
||||
corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast<double>(d_fs_in)), T_prn_true_samples);
|
||||
if (corrected_acq_phase_samples < 0)
|
||||
{
|
||||
corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples;
|
||||
}
|
||||
delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
|
||||
|
||||
d_acq_code_phase_samples = corrected_acq_phase_samples;
|
||||
|
||||
d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
|
||||
|
||||
d_carrier_phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
|
||||
|
||||
// DLL/PLL filter initialization
|
||||
d_carrier_loop_filter.initialize(d_acq_carrier_doppler_hz); // The carrier loop filter implements the Doppler accumulator
|
||||
d_code_loop_filter.initialize(); // initialize the code filter
|
||||
|
||||
// generate local reference ALWAYS starting at chip 1 (1 sample per chip)
|
||||
gps_l1_ca_code_gen_complex(d_ca_code, d_acquisition_gnss_synchro->PRN, 0);
|
||||
volk_gnsssdr_32fc_convert_16ic(d_ca_code_16sc, d_ca_code, static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS));
|
||||
|
||||
multicorrelator_fpga_8sc.set_local_code_and_taps(static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS), d_ca_code_16sc, d_local_code_shift_chips);
|
||||
for (int n = 0; n < d_n_correlator_taps; n++)
|
||||
{
|
||||
d_correlator_outs_16sc[n] = lv_16sc_t(0,0);
|
||||
}
|
||||
|
||||
d_carrier_lock_fail_counter = 0;
|
||||
d_rem_code_phase_samples = 0.0;
|
||||
d_rem_carrier_phase_rad = 0.0;
|
||||
d_rem_code_phase_chips = 0.0;
|
||||
d_acc_carrier_phase_cycles = 0.0;
|
||||
d_pll_to_dll_assist_secs_Ti = 0.0;
|
||||
d_code_phase_samples = d_acq_code_phase_samples;
|
||||
|
||||
std::string sys_ = &d_acquisition_gnss_synchro->System;
|
||||
sys = sys_.substr(0,1);
|
||||
|
||||
// DEBUG OUTPUT
|
||||
std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
|
||||
LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
|
||||
|
||||
// enable tracking
|
||||
d_pull_in = true;
|
||||
d_enable_tracking = true;
|
||||
d_enable_extended_integration = false;
|
||||
d_preamble_synchronized = false;
|
||||
|
||||
LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
|
||||
<< " Code Phase correction [samples]=" << delay_correction_samples
|
||||
<< " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
|
||||
}
|
||||
|
||||
|
||||
gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::~gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc()
|
||||
{
|
||||
d_dump_file.close();
|
||||
|
||||
volk_gnsssdr_free(d_local_code_shift_chips);
|
||||
volk_gnsssdr_free(d_ca_code);
|
||||
volk_gnsssdr_free(d_ca_code_16sc);
|
||||
volk_gnsssdr_free(d_correlator_outs_16sc);
|
||||
|
||||
delete[] d_Prompt_buffer;
|
||||
multicorrelator_fpga_8sc.free();
|
||||
}
|
||||
|
||||
|
||||
|
||||
int gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
|
||||
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
|
||||
{
|
||||
// Block input data and block output stream pointers
|
||||
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
|
||||
|
||||
Gnss_Synchro current_synchro_data = Gnss_Synchro();
|
||||
|
||||
// process vars
|
||||
double code_error_filt_secs_Ti = 0.0;
|
||||
double CURRENT_INTEGRATION_TIME_S = 0.0;
|
||||
double CORRECTED_INTEGRATION_TIME_S = 0.0;
|
||||
|
||||
if (d_enable_tracking == true)
|
||||
{
|
||||
// Fill the acquisition data
|
||||
current_synchro_data = *d_acquisition_gnss_synchro;
|
||||
// Receiver signal alignment
|
||||
if (d_pull_in == true)
|
||||
{
|
||||
int samples_offset;
|
||||
double acq_trk_shif_correction_samples;
|
||||
int acq_to_trk_delay_samples;
|
||||
acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
|
||||
acq_trk_shif_correction_samples = d_correlation_length_samples - fmod(static_cast<double>(acq_to_trk_delay_samples), static_cast<double>(d_correlation_length_samples));
|
||||
samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
|
||||
current_synchro_data.Tracking_timestamp_secs = (static_cast<double>(d_sample_counter) + static_cast<double>(d_rem_code_phase_samples)) / static_cast<double>(d_fs_in);
|
||||
d_sample_counter += samples_offset; // count for the processed samples
|
||||
d_pull_in = false;
|
||||
d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * samples_offset / GPS_TWO_PI;
|
||||
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_cycles * GPS_TWO_PI;
|
||||
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
|
||||
*out[0] = current_synchro_data;
|
||||
consume_each(samples_offset); // shift input to perform alignment with local replica
|
||||
multicorrelator_fpga_8sc.set_initial_sample(samples_offset);
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
// ################# CARRIER WIPEOFF AND CORRELATORS ##############################
|
||||
// perform carrier wipe-off and compute Early, Prompt and Late correlation
|
||||
//multicorrelator_fpga_8sc.set_input_output_vectors(d_correlator_outs_16sc, in);
|
||||
multicorrelator_fpga_8sc.set_output_vectors(d_correlator_outs_16sc);
|
||||
multicorrelator_fpga_8sc.Carrier_wipeoff_multicorrelator_resampler(d_rem_carrier_phase_rad,
|
||||
d_carrier_phase_step_rad,
|
||||
d_rem_code_phase_chips,
|
||||
d_code_phase_step_chips,
|
||||
d_correlation_length_samples);
|
||||
|
||||
// ####### coherent intergration extension
|
||||
// keep the last symbols
|
||||
d_E_history.push_back(d_correlator_outs_16sc[0]); // save early output
|
||||
d_P_history.push_back(d_correlator_outs_16sc[1]); // save prompt output
|
||||
d_L_history.push_back(d_correlator_outs_16sc[2]); // save late output
|
||||
|
||||
if (static_cast<int>(d_P_history.size()) > d_extend_correlation_ms)
|
||||
{
|
||||
d_E_history.pop_front();
|
||||
d_P_history.pop_front();
|
||||
d_L_history.pop_front();
|
||||
}
|
||||
|
||||
bool enable_dll_pll;
|
||||
if (d_enable_extended_integration == true)
|
||||
{
|
||||
long int symbol_diff = round(1000.0 * ((static_cast<double>(d_sample_counter) + d_rem_code_phase_samples) / static_cast<double>(d_fs_in) - d_preamble_timestamp_s));
|
||||
if (symbol_diff > 0 and symbol_diff % d_extend_correlation_ms == 0)
|
||||
{
|
||||
// compute coherent integration and enable tracking loop
|
||||
// perform coherent integration using correlator output history
|
||||
// std::cout<<"##### RESET COHERENT INTEGRATION ####"<<std::endl;
|
||||
d_correlator_outs_16sc[0] = lv_cmake(0,0);
|
||||
d_correlator_outs_16sc[1] = lv_cmake(0,0);
|
||||
d_correlator_outs_16sc[2] = lv_cmake(0,0);
|
||||
for (int n = 0; n < d_extend_correlation_ms; n++)
|
||||
{
|
||||
d_correlator_outs_16sc[0] += d_E_history.at(n);
|
||||
d_correlator_outs_16sc[1] += d_P_history.at(n);
|
||||
d_correlator_outs_16sc[2] += d_L_history.at(n);
|
||||
}
|
||||
|
||||
if (d_preamble_synchronized == false)
|
||||
{
|
||||
d_code_loop_filter.set_DLL_BW(d_dll_bw_narrow_hz);
|
||||
d_carrier_loop_filter.set_params(10.0, d_pll_bw_narrow_hz,2);
|
||||
d_preamble_synchronized = true;
|
||||
std::cout << "Enabled " << d_extend_correlation_ms << " [ms] extended correlator for CH "<< d_channel << " : Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
|
||||
<< " pll_bw = " << d_pll_bw_hz << " [Hz], pll_narrow_bw = " << d_pll_bw_narrow_hz << " [Hz]" << std::endl
|
||||
<< " dll_bw = " << d_dll_bw_hz << " [Hz], dll_narrow_bw = " << d_dll_bw_narrow_hz << " [Hz]" << std::endl;
|
||||
}
|
||||
// UPDATE INTEGRATION TIME
|
||||
CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_extend_correlation_ms) * GPS_L1_CA_CODE_PERIOD;
|
||||
enable_dll_pll = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
if(d_preamble_synchronized == true)
|
||||
{
|
||||
// continue extended coherent correlation
|
||||
// Compute the next buffer length based on the period of the PRN sequence and the code phase error estimation
|
||||
double T_chip_seconds = 1.0 / d_code_freq_chips;
|
||||
double T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
|
||||
double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
|
||||
int K_prn_samples = round(T_prn_samples);
|
||||
double K_T_prn_error_samples = K_prn_samples - T_prn_samples;
|
||||
|
||||
d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples;
|
||||
d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples
|
||||
d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples;
|
||||
d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples;
|
||||
// code phase step (Code resampler phase increment per sample) [chips/sample]
|
||||
d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
|
||||
// remnant code phase [chips]
|
||||
d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast<double>(d_fs_in));
|
||||
d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + d_carrier_phase_step_rad * static_cast<double>(d_correlation_length_samples), GPS_TWO_PI);
|
||||
|
||||
// UPDATE ACCUMULATED CARRIER PHASE
|
||||
CORRECTED_INTEGRATION_TIME_S = (static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in));
|
||||
d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GPS_TWO_PI;
|
||||
|
||||
// disable tracking loop and inform telemetry decoder
|
||||
enable_dll_pll = false;
|
||||
}
|
||||
else
|
||||
{
|
||||
// perform basic (1ms) correlation
|
||||
// UPDATE INTEGRATION TIME
|
||||
CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in);
|
||||
enable_dll_pll = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
// UPDATE INTEGRATION TIME
|
||||
CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in);
|
||||
enable_dll_pll = true;
|
||||
}
|
||||
|
||||
if (enable_dll_pll == true)
|
||||
{
|
||||
// ################## PLL ##########################################################
|
||||
// Update PLL discriminator [rads/Ti -> Secs/Ti]
|
||||
d_carr_phase_error_secs_Ti = pll_cloop_two_quadrant_atan(std::complex<float>(d_correlator_outs_16sc[1].real(),d_correlator_outs_16sc[1].imag())) / GPS_TWO_PI; //prompt output
|
||||
|
||||
// Carrier discriminator filter
|
||||
// NOTICE: The carrier loop filter includes the Carrier Doppler accumulator, as described in Kaplan
|
||||
// Input [s/Ti] -> output [Hz]
|
||||
d_carrier_doppler_hz = d_carrier_loop_filter.get_carrier_error(0.0, d_carr_phase_error_secs_Ti, CURRENT_INTEGRATION_TIME_S);
|
||||
// PLL to DLL assistance [Secs/Ti]
|
||||
d_pll_to_dll_assist_secs_Ti = (d_carrier_doppler_hz * CURRENT_INTEGRATION_TIME_S) / GPS_L1_FREQ_HZ;
|
||||
// code Doppler frequency update
|
||||
d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GPS_L1_CA_CODE_RATE_HZ) / GPS_L1_FREQ_HZ);
|
||||
|
||||
// ################## DLL ##########################################################
|
||||
// DLL discriminator
|
||||
d_code_error_chips_Ti = dll_nc_e_minus_l_normalized(std::complex<float>(d_correlator_outs_16sc[0].real(),d_correlator_outs_16sc[0].imag()), std::complex<float>(d_correlator_outs_16sc[2].real(),d_correlator_outs_16sc[2].imag())); // [chips/Ti] //early and late
|
||||
// Code discriminator filter
|
||||
d_code_error_filt_chips_s = d_code_loop_filter.get_code_nco(d_code_error_chips_Ti); // input [chips/Ti] -> output [chips/second]
|
||||
d_code_error_filt_chips_Ti = d_code_error_filt_chips_s * CURRENT_INTEGRATION_TIME_S;
|
||||
code_error_filt_secs_Ti = d_code_error_filt_chips_Ti / d_code_freq_chips; // [s/Ti]
|
||||
|
||||
// ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
|
||||
// keep alignment parameters for the next input buffer
|
||||
// Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
|
||||
double T_chip_seconds = 1.0 / d_code_freq_chips;
|
||||
double T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
|
||||
double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
|
||||
double K_prn_samples = round(T_prn_samples);
|
||||
double K_T_prn_error_samples = K_prn_samples - T_prn_samples;
|
||||
|
||||
d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples + code_error_filt_secs_Ti * static_cast<double>(d_fs_in); //(code_error_filt_secs_Ti + d_pll_to_dll_assist_secs_Ti) * static_cast<double>(d_fs_in);
|
||||
d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples
|
||||
d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples;
|
||||
d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples;
|
||||
|
||||
//################### PLL COMMANDS #################################################
|
||||
//carrier phase step (NCO phase increment per sample) [rads/sample]
|
||||
d_carrier_phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
|
||||
d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GPS_TWO_PI;
|
||||
// UPDATE ACCUMULATED CARRIER PHASE
|
||||
CORRECTED_INTEGRATION_TIME_S = (static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in));
|
||||
//remnant carrier phase [rad]
|
||||
d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * CORRECTED_INTEGRATION_TIME_S, GPS_TWO_PI);
|
||||
|
||||
//################### DLL COMMANDS #################################################
|
||||
//code phase step (Code resampler phase increment per sample) [chips/sample]
|
||||
d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
|
||||
//remnant code phase [chips]
|
||||
d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast<double>(d_fs_in));
|
||||
|
||||
// ####### CN0 ESTIMATION AND LOCK DETECTORS #######################################
|
||||
if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
|
||||
{
|
||||
// fill buffer with prompt correlator output values
|
||||
d_Prompt_buffer[d_cn0_estimation_counter] = lv_cmake(static_cast<float>(d_correlator_outs_16sc[1].real()), static_cast<float>(d_correlator_outs_16sc[1].imag()) ); // prompt
|
||||
d_cn0_estimation_counter++;
|
||||
}
|
||||
else
|
||||
{
|
||||
d_cn0_estimation_counter = 0;
|
||||
// Code lock indicator
|
||||
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GPS_L1_CA_CODE_LENGTH_CHIPS);
|
||||
// Carrier lock indicator
|
||||
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
|
||||
// Loss of lock detection
|
||||
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
|
||||
{
|
||||
d_carrier_lock_fail_counter++;
|
||||
}
|
||||
else
|
||||
{
|
||||
if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
|
||||
}
|
||||
if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
|
||||
{
|
||||
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
|
||||
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
|
||||
this->message_port_pub(pmt::mp("events"), pmt::from_long(3));//3 -> loss of lock
|
||||
d_carrier_lock_fail_counter = 0;
|
||||
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
|
||||
}
|
||||
}
|
||||
// ########### Output the tracking data to navigation and PVT ##########
|
||||
current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs_16sc[1]).real());
|
||||
current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs_16sc[1]).imag());
|
||||
// Tracking_timestamp_secs is aligned with the CURRENT PRN start sample (Hybridization OK!)
|
||||
current_synchro_data.Tracking_timestamp_secs = (static_cast<double>(d_sample_counter) + d_correlation_length_samples + d_rem_code_phase_samples) / static_cast<double>(d_fs_in);
|
||||
current_synchro_data.Rem_code_phase_secs = d_rem_code_phase_samples / static_cast<double>(d_fs_in);
|
||||
current_synchro_data.Carrier_phase_rads = GPS_TWO_PI * d_acc_carrier_phase_cycles;
|
||||
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
|
||||
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
|
||||
current_synchro_data.Flag_valid_symbol_output = true;
|
||||
if (d_preamble_synchronized == true)
|
||||
{
|
||||
current_synchro_data.correlation_length_ms = d_extend_correlation_ms;
|
||||
}
|
||||
else
|
||||
{
|
||||
current_synchro_data.correlation_length_ms = 1;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs_16sc[1]).real());
|
||||
current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs_16sc[1]).imag());
|
||||
// Tracking_timestamp_secs is aligned with the CURRENT PRN start sample (Hybridization OK!)
|
||||
current_synchro_data.Tracking_timestamp_secs = (static_cast<double>(d_sample_counter) + d_correlation_length_samples + d_rem_code_phase_samples) / static_cast<double>(d_fs_in);
|
||||
current_synchro_data.Rem_code_phase_secs = d_rem_code_phase_samples / static_cast<double>(d_fs_in);
|
||||
current_synchro_data.Carrier_phase_rads = GPS_TWO_PI * d_acc_carrier_phase_cycles;
|
||||
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;// todo: project the carrier doppler
|
||||
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
for (int n = 0; n < d_n_correlator_taps; n++)
|
||||
{
|
||||
d_correlator_outs_16sc[n] = lv_cmake(0,0);
|
||||
}
|
||||
|
||||
current_synchro_data.System = {'G'};
|
||||
current_synchro_data.Tracking_timestamp_secs = (static_cast<double>(d_sample_counter) + d_correlation_length_samples + static_cast<double>(d_rem_code_phase_samples)) / static_cast<double>(d_fs_in);
|
||||
current_synchro_data.Rem_code_phase_secs = d_rem_code_phase_samples / static_cast<double>(d_fs_in);
|
||||
}
|
||||
*out[0] = current_synchro_data;
|
||||
if(d_dump)
|
||||
{
|
||||
// MULTIPLEXED FILE RECORDING - Record results to file
|
||||
float prompt_I;
|
||||
float prompt_Q;
|
||||
float tmp_E, tmp_P, tmp_L;
|
||||
double tmp_double;
|
||||
prompt_I = d_correlator_outs_16sc[1].real();
|
||||
prompt_Q = d_correlator_outs_16sc[1].imag();
|
||||
tmp_E = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[0].real(),d_correlator_outs_16sc[0].imag()));
|
||||
tmp_P = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[1].real(),d_correlator_outs_16sc[1].imag()));
|
||||
tmp_L = std::abs<float>(std::complex<float>(d_correlator_outs_16sc[2].real(),d_correlator_outs_16sc[2].imag()));
|
||||
try
|
||||
{
|
||||
// EPR
|
||||
d_dump_file.write(reinterpret_cast<char*>(&tmp_E), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char*>(&tmp_P), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char*>(&tmp_L), sizeof(float));
|
||||
// PROMPT I and Q (to analyze navigation symbols)
|
||||
d_dump_file.write(reinterpret_cast<char*>(&prompt_I), sizeof(float));
|
||||
d_dump_file.write(reinterpret_cast<char*>(&prompt_Q), sizeof(float));
|
||||
// PRN start sample stamp
|
||||
//tmp_float=(float)d_sample_counter;
|
||||
d_dump_file.write(reinterpret_cast<char*>(&d_sample_counter), sizeof(unsigned long int));
|
||||
// accumulated carrier phase
|
||||
d_dump_file.write(reinterpret_cast<char*>(&d_acc_carrier_phase_cycles), sizeof(double));
|
||||
|
||||
// carrier and code frequency
|
||||
d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char*>(&d_code_freq_chips), sizeof(double));
|
||||
|
||||
//PLL commands
|
||||
d_dump_file.write(reinterpret_cast<char*>(&d_carr_phase_error_secs_Ti), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(double));
|
||||
|
||||
//DLL commands
|
||||
d_dump_file.write(reinterpret_cast<char*>(&d_code_error_chips_Ti), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char*>(&d_code_error_filt_chips_Ti), sizeof(double));
|
||||
|
||||
// CN0 and carrier lock test
|
||||
d_dump_file.write(reinterpret_cast<char*>(&d_CN0_SNV_dB_Hz), sizeof(double));
|
||||
d_dump_file.write(reinterpret_cast<char*>(&d_carrier_lock_test), sizeof(double));
|
||||
|
||||
// AUX vars (for debug purposes)
|
||||
tmp_double = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
|
||||
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
|
||||
tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
|
||||
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
|
||||
}
|
||||
catch (const std::ifstream::failure* e)
|
||||
{
|
||||
LOG(WARNING) << "Exception writing trk dump file " << e->what();
|
||||
}
|
||||
}
|
||||
|
||||
consume_each(d_correlation_length_samples); // this is necessary in gr::block derivates
|
||||
d_sample_counter += d_correlation_length_samples; //count for the processed samples
|
||||
|
||||
return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
|
||||
}
|
||||
|
||||
|
||||
void gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::set_channel(unsigned int channel)
|
||||
{
|
||||
d_channel = channel;
|
||||
multicorrelator_fpga_8sc.set_channel(d_channel);
|
||||
|
||||
LOG(INFO) << "Tracking Channel set to " << d_channel;
|
||||
// ############# ENABLE DATA FILE LOG #################
|
||||
if (d_dump == true)
|
||||
{
|
||||
if (d_dump_file.is_open() == false)
|
||||
{
|
||||
try
|
||||
{
|
||||
d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
|
||||
d_dump_filename.append(".dat");
|
||||
d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
|
||||
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
|
||||
LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str();
|
||||
}
|
||||
catch (const std::ifstream::failure* e)
|
||||
{
|
||||
LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
|
||||
{
|
||||
d_acquisition_gnss_synchro = p_gnss_synchro;
|
||||
}
|
||||
@@ -0,0 +1,203 @@
|
||||
/*!
|
||||
* \file gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.h
|
||||
* \brief Interface of a code DLL + carrier PLL tracking block
|
||||
* \author Marc Majoral, 2017. mmajoral(at)cttc.cat
|
||||
* Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
|
||||
* Javier Arribas, 2011. jarribas(at)cttc.es
|
||||
*
|
||||
* Code DLL + carrier PLL according to the algorithms described in:
|
||||
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
|
||||
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency Approach,
|
||||
* Birkhauser, 2007
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_FPGA_SC_H
|
||||
#define GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_FPGA_SC_H
|
||||
|
||||
#include <fstream>
|
||||
#include <map>
|
||||
#include <string>
|
||||
#include <boost/thread/mutex.hpp>
|
||||
#include <boost/thread/thread.hpp>
|
||||
#include <gnuradio/block.h>
|
||||
#include <volk/volk.h>
|
||||
#include "gps_sdr_signal_processing.h"
|
||||
#include "gnss_synchro.h"
|
||||
#include "tracking_2nd_DLL_filter.h"
|
||||
#include "tracking_FLL_PLL_filter.h"
|
||||
#include "fpga_multicorrelator_8sc.h"
|
||||
|
||||
class gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc;
|
||||
|
||||
typedef boost::shared_ptr<gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc>
|
||||
gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc_sptr;
|
||||
|
||||
gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc_sptr
|
||||
gps_l1_ca_dll_pll_c_aid_make_tracking_fpga_sc(long if_freq,
|
||||
long fs_in, unsigned
|
||||
int vector_length,
|
||||
bool dump,
|
||||
std::string dump_filename,
|
||||
float pll_bw_hz,
|
||||
float dll_bw_hz,
|
||||
float pll_bw_narrow_hz,
|
||||
float dll_bw_narrow_hz,
|
||||
int extend_correlation_ms,
|
||||
float early_late_space_chips);
|
||||
|
||||
|
||||
|
||||
/*!
|
||||
* \brief This class implements a DLL + PLL tracking loop block
|
||||
*/
|
||||
class gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc: public gr::block
|
||||
{
|
||||
public:
|
||||
~gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc();
|
||||
|
||||
void set_channel(unsigned int channel);
|
||||
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
|
||||
void start_tracking();
|
||||
|
||||
int general_work (int noutput_items, gr_vector_int &ninput_items,
|
||||
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
|
||||
|
||||
private:
|
||||
friend gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc_sptr
|
||||
gps_l1_ca_dll_pll_c_aid_make_tracking_fpga_sc(long if_freq,
|
||||
long fs_in, unsigned
|
||||
int vector_length,
|
||||
bool dump,
|
||||
std::string dump_filename,
|
||||
float pll_bw_hz,
|
||||
float dll_bw_hz,
|
||||
float pll_bw_narrow_hz,
|
||||
float dll_bw_narrow_hz,
|
||||
int extend_correlation_ms,
|
||||
float early_late_space_chips);
|
||||
|
||||
gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc(long if_freq,
|
||||
long fs_in, unsigned
|
||||
int vector_length,
|
||||
bool dump,
|
||||
std::string dump_filename,
|
||||
float pll_bw_hz,
|
||||
float dll_bw_hz,
|
||||
float pll_bw_narrow_hz,
|
||||
float dll_bw_narrow_hz,
|
||||
int extend_correlation_ms,
|
||||
float early_late_space_chips);
|
||||
|
||||
// tracking configuration vars
|
||||
unsigned int d_vector_length;
|
||||
bool d_dump;
|
||||
|
||||
Gnss_Synchro* d_acquisition_gnss_synchro;
|
||||
unsigned int d_channel;
|
||||
|
||||
long d_if_freq;
|
||||
long d_fs_in;
|
||||
|
||||
double d_early_late_spc_chips;
|
||||
int d_n_correlator_taps;
|
||||
|
||||
gr_complex* d_ca_code;
|
||||
lv_16sc_t* d_ca_code_16sc;
|
||||
float* d_local_code_shift_chips;
|
||||
//gr_complex* d_correlator_outs;
|
||||
lv_16sc_t* d_correlator_outs_16sc;
|
||||
fpga_multicorrelator_8sc multicorrelator_fpga_8sc;
|
||||
|
||||
// remaining code phase and carrier phase between tracking loops
|
||||
double d_rem_code_phase_samples;
|
||||
double d_rem_code_phase_chips;
|
||||
double d_rem_carrier_phase_rad;
|
||||
int d_rem_code_phase_integer_samples;
|
||||
|
||||
// PLL and DLL filter library
|
||||
Tracking_2nd_DLL_filter d_code_loop_filter;
|
||||
Tracking_FLL_PLL_filter d_carrier_loop_filter;
|
||||
|
||||
// acquisition
|
||||
double d_acq_code_phase_samples;
|
||||
double d_acq_carrier_doppler_hz;
|
||||
|
||||
// tracking vars
|
||||
float d_dll_bw_hz;
|
||||
float d_pll_bw_hz;
|
||||
float d_dll_bw_narrow_hz;
|
||||
float d_pll_bw_narrow_hz;
|
||||
double d_code_freq_chips;
|
||||
double d_code_phase_step_chips;
|
||||
double d_carrier_doppler_hz;
|
||||
double d_carrier_phase_step_rad;
|
||||
double d_acc_carrier_phase_cycles;
|
||||
double d_code_phase_samples;
|
||||
double d_pll_to_dll_assist_secs_Ti;
|
||||
double d_carr_phase_error_secs_Ti;
|
||||
double d_code_error_chips_Ti;
|
||||
double d_preamble_timestamp_s;
|
||||
int d_extend_correlation_ms;
|
||||
bool d_enable_extended_integration;
|
||||
bool d_preamble_synchronized;
|
||||
double d_code_error_filt_chips_s;
|
||||
double d_code_error_filt_chips_Ti;
|
||||
void msg_handler_preamble_index(pmt::pmt_t msg);
|
||||
|
||||
// symbol history to detect bit transition
|
||||
std::deque<lv_16sc_t> d_E_history;
|
||||
std::deque<lv_16sc_t> d_P_history;
|
||||
std::deque<lv_16sc_t> d_L_history;
|
||||
|
||||
//Integration period in samples
|
||||
int d_correlation_length_samples;
|
||||
|
||||
//processing samples counters
|
||||
unsigned long int d_sample_counter;
|
||||
unsigned long int d_acq_sample_stamp;
|
||||
|
||||
// CN0 estimation and lock detector
|
||||
int d_cn0_estimation_counter;
|
||||
gr_complex* d_Prompt_buffer;
|
||||
double d_carrier_lock_test;
|
||||
double d_CN0_SNV_dB_Hz;
|
||||
double d_carrier_lock_threshold;
|
||||
int d_carrier_lock_fail_counter;
|
||||
|
||||
// control vars
|
||||
bool d_enable_tracking;
|
||||
bool d_pull_in;
|
||||
|
||||
// file dump
|
||||
std::string d_dump_filename;
|
||||
std::ofstream d_dump_file;
|
||||
|
||||
std::map<std::string, std::string> systemName;
|
||||
std::string sys;
|
||||
};
|
||||
|
||||
#endif //GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_FPGA_SC_H
|
||||
@@ -30,9 +30,10 @@ if(ENABLE_CUDA)
|
||||
endif(ENABLE_CUDA)
|
||||
|
||||
|
||||
|
||||
set(TRACKING_LIB_SOURCES
|
||||
cpu_multicorrelator.cc
|
||||
cpu_multicorrelator_16sc.cc
|
||||
cpu_multicorrelator_16sc.cc
|
||||
lock_detectors.cc
|
||||
tcp_communication.cc
|
||||
tcp_packet_data.cc
|
||||
@@ -43,6 +44,10 @@ set(TRACKING_LIB_SOURCES
|
||||
tracking_loop_filter.cc
|
||||
)
|
||||
|
||||
if(ENABLE_FPGA)
|
||||
SET(TRACKING_LIB_SOURCES ${TRACKING_LIB_SOURCES} fpga_multicorrelator_8sc.cc)
|
||||
endif(ENABLE_FPGA)
|
||||
|
||||
include_directories(
|
||||
$(CMAKE_CURRENT_SOURCE_DIR)
|
||||
${CMAKE_SOURCE_DIR}/src/core/system_parameters
|
||||
|
||||
@@ -0,0 +1,425 @@
|
||||
/*!
|
||||
* \file fpga_multicorrelator_8sc.cc
|
||||
* \brief High optimized FPGA vector correlator class
|
||||
* \authors <ul>
|
||||
* <li> Marc Majoral, 2017. mmajoral(at)cttc.cat
|
||||
* <li> Javier Arribas, 2015. jarribas(at)cttc.es
|
||||
* </ul>
|
||||
*
|
||||
* Class that controls and executes a high optimized vector correlator
|
||||
* class in the FPGA
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "fpga_multicorrelator_8sc.h"
|
||||
#include <cmath>
|
||||
|
||||
// FPGA stuff
|
||||
#include <new>
|
||||
|
||||
// libraries used by DMA test code and GIPO test code
|
||||
#include <stdio.h>
|
||||
#include <fcntl.h>
|
||||
#include <unistd.h>
|
||||
#include <errno.h>
|
||||
|
||||
// libraries used by DMA test code
|
||||
#include <sys/stat.h>
|
||||
#include <stdint.h>
|
||||
#include <unistd.h>
|
||||
#include <assert.h>
|
||||
|
||||
// libraries used by GPIO test code
|
||||
#include <stdlib.h>
|
||||
#include <signal.h>
|
||||
#include <sys/mman.h>
|
||||
|
||||
// logging
|
||||
#include <glog/logging.h>
|
||||
|
||||
#define PAGE_SIZE 0x10000
|
||||
#define MAX_LENGTH_DEVICEIO_NAME 50
|
||||
#define CODE_RESAMPLER_NUM_BITS_PRECISION 20
|
||||
#define CODE_PHASE_STEP_CHIPS_NUM_NBITS CODE_RESAMPLER_NUM_BITS_PRECISION
|
||||
#define pwrtwo(x) (1 << (x))
|
||||
#define MAX_CODE_RESAMPLER_COUNTER pwrtwo(CODE_PHASE_STEP_CHIPS_NUM_NBITS) // 2^CODE_PHASE_STEP_CHIPS_NUM_NBITS
|
||||
#define PHASE_CARR_NBITS 32
|
||||
#define PHASE_CARR_NBITS_INT 1
|
||||
#define PHASE_CARR_NBITS_FRAC PHASE_CARR_NBITS - PHASE_CARR_NBITS_INT
|
||||
|
||||
|
||||
|
||||
bool fpga_multicorrelator_8sc::init(
|
||||
int max_signal_length_samples,
|
||||
int n_correlators)
|
||||
{
|
||||
size_t size = max_signal_length_samples * sizeof(lv_16sc_t);
|
||||
d_n_correlators = n_correlators;
|
||||
|
||||
// instantiate variable length vectors
|
||||
d_initial_index = static_cast<unsigned*>(volk_gnsssdr_malloc(n_correlators * sizeof(unsigned), volk_gnsssdr_get_alignment()));
|
||||
d_initial_interp_counter = static_cast<unsigned*>(volk_gnsssdr_malloc(n_correlators * sizeof(unsigned), volk_gnsssdr_get_alignment()));
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
void fpga_multicorrelator_8sc::set_initial_sample(int samples_offset)
|
||||
{
|
||||
d_initial_sample_counter = samples_offset;
|
||||
}
|
||||
|
||||
|
||||
bool fpga_multicorrelator_8sc::set_local_code_and_taps(
|
||||
int code_length_chips,
|
||||
const lv_16sc_t* local_code_in,
|
||||
float *shifts_chips)
|
||||
{
|
||||
d_local_code_in = local_code_in;
|
||||
d_shifts_chips = shifts_chips;
|
||||
d_code_length_chips = code_length_chips;
|
||||
|
||||
fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code();
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
bool fpga_multicorrelator_8sc::set_output_vectors(lv_16sc_t* corr_out)
|
||||
{
|
||||
// Save CPU pointers
|
||||
d_corr_out = corr_out;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
void fpga_multicorrelator_8sc::update_local_code(int correlator_length_samples, float rem_code_phase_chips, float code_phase_step_chips)
|
||||
{
|
||||
d_rem_code_phase_chips = rem_code_phase_chips;
|
||||
|
||||
fpga_multicorrelator_8sc::fpga_compute_code_shift_parameters();
|
||||
fpga_multicorrelator_8sc::fpga_configure_code_parameters_in_fpga();
|
||||
}
|
||||
|
||||
|
||||
bool fpga_multicorrelator_8sc::Carrier_wipeoff_multicorrelator_resampler(
|
||||
float rem_carrier_phase_in_rad,
|
||||
float phase_step_rad,
|
||||
float rem_code_phase_chips,
|
||||
float code_phase_step_chips,
|
||||
int signal_length_samples)
|
||||
{
|
||||
update_local_code(signal_length_samples, rem_code_phase_chips, code_phase_step_chips);
|
||||
|
||||
d_rem_carrier_phase_in_rad = rem_carrier_phase_in_rad;
|
||||
d_code_phase_step_chips = code_phase_step_chips;
|
||||
d_phase_step_rad = phase_step_rad;
|
||||
d_correlator_length_samples = signal_length_samples;
|
||||
|
||||
fpga_multicorrelator_8sc::fpga_compute_signal_parameters_in_fpga();
|
||||
fpga_multicorrelator_8sc::fpga_configure_signal_parameters_in_fpga();
|
||||
fpga_multicorrelator_8sc::fpga_launch_multicorrelator_fpga();
|
||||
|
||||
int irq_count;
|
||||
ssize_t nb;
|
||||
// wait for interrupt
|
||||
nb=read(d_fd, &irq_count, sizeof(irq_count));
|
||||
if (nb != sizeof(irq_count))
|
||||
{
|
||||
printf("Tracking_module Read failed to retrive 4 bytes!\n");
|
||||
printf("Tracking_module Interrupt number %d\n", irq_count);
|
||||
}
|
||||
|
||||
fpga_multicorrelator_8sc::read_tracking_gps_results();
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
fpga_multicorrelator_8sc::fpga_multicorrelator_8sc()
|
||||
{
|
||||
d_local_code_in = nullptr;
|
||||
d_shifts_chips = nullptr;
|
||||
d_corr_out = nullptr;
|
||||
d_code_length_chips = 0;
|
||||
d_n_correlators = 0;
|
||||
}
|
||||
|
||||
|
||||
fpga_multicorrelator_8sc::~fpga_multicorrelator_8sc()
|
||||
{
|
||||
close(d_fd);
|
||||
}
|
||||
|
||||
|
||||
bool fpga_multicorrelator_8sc::free()
|
||||
{
|
||||
// unlock the hardware
|
||||
fpga_multicorrelator_8sc::unlock_channel(); // unlock the channel
|
||||
|
||||
// free the FPGA dynamically created variables
|
||||
if (d_initial_index != nullptr)
|
||||
{
|
||||
volk_gnsssdr_free(d_initial_index);
|
||||
d_initial_index = nullptr;
|
||||
}
|
||||
|
||||
if (d_initial_interp_counter != nullptr)
|
||||
{
|
||||
volk_gnsssdr_free(d_initial_interp_counter);
|
||||
d_initial_interp_counter = nullptr;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
void fpga_multicorrelator_8sc::set_channel(unsigned int channel)
|
||||
{
|
||||
d_channel = channel;
|
||||
|
||||
snprintf(d_device_io_name, MAX_LENGTH_DEVICEIO_NAME, "/dev/uio%d",d_channel);
|
||||
printf("Opening Device Name : %s\n", d_device_io_name);
|
||||
|
||||
if ((d_fd = open(d_device_io_name, O_RDWR | O_SYNC )) == -1)
|
||||
{
|
||||
LOG(WARNING) << "Cannot open deviceio" << d_device_io_name;
|
||||
}
|
||||
d_map_base = (volatile unsigned *)mmap(NULL, PAGE_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, d_fd,0);
|
||||
|
||||
if (d_map_base == (void *) -1)
|
||||
{
|
||||
LOG(WARNING) << "Cannot map the FPGA tracking module " << d_channel << "into user memory";
|
||||
}
|
||||
|
||||
// sanity check : check test register
|
||||
unsigned writeval = 0x55AA;
|
||||
unsigned readval;
|
||||
readval = fpga_multicorrelator_8sc::fpga_acquisition_test_register(writeval);
|
||||
if (writeval != readval)
|
||||
{
|
||||
LOG(WARNING) << "Test register sanity check failed";
|
||||
}
|
||||
else
|
||||
{
|
||||
LOG(INFO) << "Test register sanity check success !";
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
unsigned fpga_multicorrelator_8sc::fpga_acquisition_test_register(unsigned writeval)
|
||||
{
|
||||
unsigned readval;
|
||||
// write value to test register
|
||||
d_map_base[15] = writeval;
|
||||
// read value from test register
|
||||
readval = d_map_base[15];
|
||||
// return read value
|
||||
return readval;
|
||||
}
|
||||
|
||||
|
||||
void fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code(void)
|
||||
{
|
||||
int k,s;
|
||||
unsigned temp;
|
||||
unsigned *ena_write_signals;
|
||||
ena_write_signals = new unsigned[d_n_correlators];
|
||||
ena_write_signals[0] = 0x00000000;
|
||||
ena_write_signals[1] = 0x20000000;
|
||||
for (s = 2; s < d_n_correlators; s++)
|
||||
{
|
||||
ena_write_signals[s]= ena_write_signals[s-1]*2; //0x40000000;
|
||||
}
|
||||
|
||||
for (s = 0; s < d_n_correlators; s++)
|
||||
{
|
||||
// clear memory address counter
|
||||
d_map_base[11] = 0x10000000;
|
||||
// write correlator 0
|
||||
for (k = 0; k < d_code_length_chips; k++)
|
||||
{
|
||||
if (lv_creal(d_local_code_in[k]) == 1)
|
||||
{
|
||||
temp = 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
temp = 0;
|
||||
}
|
||||
d_map_base[11] = 0x0C000000 | (temp & 0xFFFF) | ena_write_signals[s];
|
||||
}
|
||||
}
|
||||
|
||||
delete [] ena_write_signals;
|
||||
}
|
||||
|
||||
|
||||
void fpga_multicorrelator_8sc::fpga_compute_code_shift_parameters(void)
|
||||
{
|
||||
float tempvalues[3];
|
||||
float tempvalues2[3];
|
||||
float tempvalues3[3];
|
||||
int i;
|
||||
|
||||
for (i = 0; i < d_n_correlators; i++)
|
||||
{
|
||||
// initial index calculation
|
||||
tempvalues[i] = floor(d_shifts_chips[i] + d_rem_code_phase_chips);
|
||||
if (tempvalues[i] < 0)
|
||||
{
|
||||
tempvalues2[i] = tempvalues[i] + d_code_length_chips; // % operator does not work as in Matlab with negative numbers
|
||||
}
|
||||
else
|
||||
{
|
||||
tempvalues2[i] = tempvalues[i];
|
||||
}
|
||||
d_initial_index[i] = (unsigned) ((int) tempvalues2[i]) % d_code_length_chips;
|
||||
|
||||
// initial interpolator counter calculation
|
||||
tempvalues3[i] = fmod(d_shifts_chips[i]+ d_rem_code_phase_chips,1.0);
|
||||
if (tempvalues3[i] < 0)
|
||||
{
|
||||
tempvalues3[i] = tempvalues3[i] + 1.0; // fmod operator does not work as in Matlab with negative numbers
|
||||
}
|
||||
d_initial_interp_counter[i] = (unsigned) floor(MAX_CODE_RESAMPLER_COUNTER * tempvalues3[i]);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void fpga_multicorrelator_8sc::fpga_configure_code_parameters_in_fpga(void)
|
||||
{
|
||||
int i;
|
||||
for (i = 0; i < d_n_correlators; i++)
|
||||
{
|
||||
d_map_base[1+i] = d_initial_index[i];
|
||||
d_map_base[1 + d_n_correlators + i] = d_initial_interp_counter[i];
|
||||
}
|
||||
d_map_base[8] = d_code_length_chips - 1; // number of samples - 1
|
||||
}
|
||||
|
||||
|
||||
void fpga_multicorrelator_8sc::fpga_compute_signal_parameters_in_fpga(void)
|
||||
{
|
||||
float d_rem_carrier_phase_in_rad_temp;
|
||||
float d_phase_step_rad_int_temp;
|
||||
|
||||
d_code_phase_step_chips_num = (unsigned) roundf(MAX_CODE_RESAMPLER_COUNTER * d_code_phase_step_chips);
|
||||
|
||||
if (d_rem_carrier_phase_in_rad > M_PI)
|
||||
{
|
||||
d_rem_carrier_phase_in_rad_temp = -2*M_PI + d_rem_carrier_phase_in_rad;
|
||||
}
|
||||
else if (d_rem_carrier_phase_in_rad < - M_PI)
|
||||
{
|
||||
d_rem_carrier_phase_in_rad_temp = 2*M_PI + d_rem_carrier_phase_in_rad;
|
||||
}
|
||||
else
|
||||
{
|
||||
d_rem_carrier_phase_in_rad_temp = d_rem_carrier_phase_in_rad;
|
||||
}
|
||||
|
||||
d_rem_carr_phase_rad_int = (int) roundf((fabs(d_rem_carrier_phase_in_rad_temp)/M_PI)*pow(2, PHASE_CARR_NBITS_FRAC));
|
||||
|
||||
if (d_rem_carrier_phase_in_rad_temp < 0)
|
||||
{
|
||||
d_rem_carr_phase_rad_int = -d_rem_carr_phase_rad_int;
|
||||
}
|
||||
d_phase_step_rad_int = (int) roundf((fabs(d_phase_step_rad)/M_PI)*pow(2, PHASE_CARR_NBITS_FRAC)); // the FPGA accepts a range for the phase step between -pi and +pi
|
||||
|
||||
if (d_phase_step_rad < 0)
|
||||
{
|
||||
d_phase_step_rad_int = -d_phase_step_rad_int;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void fpga_multicorrelator_8sc::fpga_configure_signal_parameters_in_fpga(void)
|
||||
{
|
||||
d_map_base[0] = d_code_phase_step_chips_num;
|
||||
d_map_base[7] = d_correlator_length_samples - 1;
|
||||
d_map_base[9] = d_rem_carr_phase_rad_int;
|
||||
d_map_base[10] = d_phase_step_rad_int;
|
||||
d_map_base[12] = 0; // lock the channel
|
||||
d_map_base[13] = d_initial_sample_counter;
|
||||
}
|
||||
|
||||
|
||||
void fpga_multicorrelator_8sc::fpga_launch_multicorrelator_fpga(void)
|
||||
{
|
||||
// enable interrupts
|
||||
int reenable = 1;
|
||||
write(d_fd, (void *)&reenable, sizeof(int));
|
||||
|
||||
d_map_base[14] = 0; // writing anything to reg 14 launches the tracking
|
||||
}
|
||||
|
||||
|
||||
void fpga_multicorrelator_8sc::read_tracking_gps_results(void)
|
||||
{
|
||||
int *readval_real;
|
||||
int *readval_imag;
|
||||
int k;
|
||||
readval_real = new int[d_n_correlators];
|
||||
readval_imag = new int[d_n_correlators];
|
||||
|
||||
for (k =0 ; k < d_n_correlators; k++)
|
||||
{
|
||||
readval_real[k] = d_map_base[1 + k];
|
||||
if (readval_real[k] >= 1048576) // 0x100000 (21 bits two's complement)
|
||||
{
|
||||
readval_real[k] = -2097152 + readval_real[k];
|
||||
}
|
||||
readval_real[k] = readval_real[k] * 2; // the results are shifted two bits to the left due to the complex multiplier in the FPGA
|
||||
|
||||
}
|
||||
for (k = 0; k < d_n_correlators; k++)
|
||||
{
|
||||
readval_imag[k] = d_map_base[1 + d_n_correlators + k];
|
||||
if (readval_imag[k] >= 1048576) // 0x100000 (21 bits two's complement)
|
||||
{
|
||||
readval_imag[k] = -2097152 + readval_imag[k];
|
||||
}
|
||||
readval_imag[k] = readval_imag[k] * 2; // the results are shifted two bits to the left due to the complex multiplier in the FPGA
|
||||
}
|
||||
|
||||
for (k = 0; k < d_n_correlators; k++)
|
||||
{
|
||||
d_corr_out[k] = lv_cmake(readval_real[k], readval_imag[k]);
|
||||
}
|
||||
|
||||
delete[] readval_real;
|
||||
delete[] readval_imag;
|
||||
}
|
||||
|
||||
|
||||
void fpga_multicorrelator_8sc::unlock_channel(void)
|
||||
{
|
||||
// unlock the channel to let the next samples go through
|
||||
d_map_base[12] = 1; // unlock the channel
|
||||
}
|
||||
@@ -0,0 +1,105 @@
|
||||
/*!
|
||||
* \file fpga_multicorrelator_8sc.h
|
||||
* \brief High optimized FPGA vector correlator class for lv_16sc_t (short int complex)
|
||||
* \authors <ul>
|
||||
* <li> Marc Majoral, 2017. mmajoral(at)cttc.cat
|
||||
* <li> Javier Arribas, 2016. jarribas(at)cttc.es
|
||||
* </ul>
|
||||
*
|
||||
* Class that controls and executes a high optimized vector correlator
|
||||
* class in the FPGA
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GNSS_SDR_FPGA_MULTICORRELATOR_8SC_H_
|
||||
#define GNSS_SDR_FPGA_MULTICORRELATOR_8SC_H_
|
||||
|
||||
#include <volk_gnsssdr/volk_gnsssdr.h>
|
||||
|
||||
|
||||
#define MAX_LENGTH_DEVICEIO_NAME 50
|
||||
|
||||
/*!
|
||||
* \brief Class that implements carrier wipe-off and correlators.
|
||||
*/
|
||||
class fpga_multicorrelator_8sc
|
||||
{
|
||||
public:
|
||||
fpga_multicorrelator_8sc();
|
||||
~fpga_multicorrelator_8sc();
|
||||
bool init(int max_signal_length_samples, int n_correlators);
|
||||
bool set_local_code_and_taps(int code_length_chips, const lv_16sc_t* local_code_in, float *shifts_chips);
|
||||
bool set_output_vectors(lv_16sc_t* corr_out);
|
||||
void update_local_code(int correlator_length_samples, float rem_code_phase_chips, float code_phase_step_chips);
|
||||
bool Carrier_wipeoff_multicorrelator_resampler(float rem_carrier_phase_in_rad, float phase_step_rad, float rem_code_phase_chips, float code_phase_step_chips, int signal_length_samples);
|
||||
bool free();
|
||||
|
||||
void set_channel(unsigned int channel);
|
||||
void set_initial_sample(int samples_offset);
|
||||
|
||||
private:
|
||||
const lv_16sc_t *d_local_code_in;
|
||||
lv_16sc_t *d_corr_out;
|
||||
float *d_shifts_chips;
|
||||
int d_code_length_chips;
|
||||
int d_n_correlators;
|
||||
|
||||
// data related to the hardware module and the driver
|
||||
char d_device_io_name[MAX_LENGTH_DEVICEIO_NAME]; // driver io name
|
||||
int d_fd; // driver descriptor
|
||||
volatile unsigned *d_map_base; // driver memory map
|
||||
|
||||
// configuration data received from the interface
|
||||
unsigned int d_channel; // channel number
|
||||
unsigned d_ncorrelators; // number of correlators
|
||||
unsigned d_correlator_length_samples;
|
||||
float d_rem_code_phase_chips;
|
||||
float d_code_phase_step_chips;
|
||||
float d_rem_carrier_phase_in_rad;
|
||||
float d_phase_step_rad;
|
||||
|
||||
// configuration data computed in the format that the FPGA expects
|
||||
unsigned *d_initial_index;
|
||||
unsigned *d_initial_interp_counter;
|
||||
unsigned d_code_phase_step_chips_num;
|
||||
int d_rem_carr_phase_rad_int;
|
||||
int d_phase_step_rad_int;
|
||||
unsigned d_initial_sample_counter;
|
||||
|
||||
// FPGA private functions
|
||||
unsigned fpga_acquisition_test_register(unsigned writeval);
|
||||
void fpga_configure_tracking_gps_local_code(void);
|
||||
void fpga_compute_code_shift_parameters(void);
|
||||
void fpga_configure_code_parameters_in_fpga(void);
|
||||
void fpga_compute_signal_parameters_in_fpga(void);
|
||||
void fpga_configure_signal_parameters_in_fpga(void);
|
||||
void fpga_launch_multicorrelator_fpga(void);
|
||||
void read_tracking_gps_results(void);
|
||||
void unlock_channel(void);
|
||||
};
|
||||
|
||||
|
||||
#endif /* GNSS_SDR_FPGA_MULTICORRELATOR_H_ */
|
||||
+184
-104
@@ -40,16 +40,14 @@ endif(GTEST_INCLUDE_DIRS)
|
||||
|
||||
set(GTEST_COMPILER -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} -DCMAKE_C_COMPILER=${CMAKE_C_COMPILER})
|
||||
set(TOOLCHAIN_ARG "")
|
||||
if(EXISTS $ENV{OECORE_TARGET_SYSROOT})
|
||||
set(GTEST_COMPILER "")
|
||||
set(TOOLCHAIN_ARG "-DCMAKE_TOOLCHAIN_FILE=${CMAKE_CURRENT_SOURCE_DIR}/../../cmake/Toolchains/oe-sdk_cross.cmake")
|
||||
endif(EXISTS $ENV{OECORE_TARGET_SYSROOT})
|
||||
|
||||
if(NOT ${GTEST_DIR_LOCAL})
|
||||
# if GTEST_DIR is not defined, we download and build it
|
||||
set(gtest_RELEASE 1.8.0)
|
||||
|
||||
if(EXISTS $ENV{OECORE_TARGET_SYSROOT})
|
||||
set(GTEST_COMPILER "")
|
||||
set(TOOLCHAIN_ARG -DCMAKE_TOOLCHAIN_FILE=${CMAKE_CURRENT_SOURCE_DIR}/../../cmake/Toolchains/oe-sdk_cross.cmake)
|
||||
endif(EXISTS $ENV{OECORE_TARGET_SYSROOT})
|
||||
|
||||
ExternalProject_Add(
|
||||
gtest-${gtest_RELEASE}
|
||||
GIT_REPOSITORY https://github.com/google/googletest
|
||||
@@ -132,60 +130,88 @@ if(OPENCL_FOUND)
|
||||
add_definitions(-DOPENCL_BLOCKS_TEST=1)
|
||||
endif(OPENCL_FOUND)
|
||||
|
||||
if (ENABLE_CUDA)
|
||||
add_definitions(-DCUDA_BLOCKS_TEST=1)
|
||||
if(ENABLE_CUDA)
|
||||
add_definitions(-DCUDA_BLOCKS_TEST=1)
|
||||
endif(ENABLE_CUDA)
|
||||
|
||||
if(ENABLE_FPGA)
|
||||
add_definitions(-DFPGA_BLOCKS_TEST=1)
|
||||
endif(ENABLE_FPGA)
|
||||
|
||||
################################################################################
|
||||
# Optional generator
|
||||
################################################################################
|
||||
if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA)
|
||||
if(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
|
||||
if(ENABLE_FPGA)
|
||||
set(CROSS_INSTALL_DIR "-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}")
|
||||
if(EXISTS $ENV{OECORE_TARGET_SYSROOT})
|
||||
set(CROSS_INSTALL_DIR "${CROSS_INSTALL_DIR} -DBOOST_ROOT=$ENV{OECORE_TARGET_SYSROOT}/usr")
|
||||
endif(EXISTS $ENV{OECORE_TARGET_SYSROOT})
|
||||
else(ENABLE_FPGA)
|
||||
set(CROSS_INSTALL_DIR "")
|
||||
endif(ENABLE_FPGA)
|
||||
ExternalProject_Add(
|
||||
gnss-sim
|
||||
GIT_REPOSITORY https://bitbucket.org/jarribas/gnss-simulator
|
||||
GIT_TAG master
|
||||
SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/gnss-sim
|
||||
BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/../../gnss-sim
|
||||
CMAKE_ARGS ${GTEST_COMPILER} ${TOOLCHAIN_ARG}
|
||||
CMAKE_ARGS ${GTEST_COMPILER} ${TOOLCHAIN_ARG} ${CROSS_INSTALL_DIR}
|
||||
UPDATE_COMMAND ""
|
||||
PATCH_COMMAND ""
|
||||
INSTALL_COMMAND ""
|
||||
)
|
||||
set(SW_GENERATOR_BIN ${CMAKE_CURRENT_BINARY_DIR}/../../gnss-sim/gnss_sim)
|
||||
add_definitions(-DSW_GENERATOR_BIN="${SW_GENERATOR_BIN}")
|
||||
add_definitions(-DDEFAULT_RINEX_NAV="${CMAKE_CURRENT_BINARY_DIR}/../../../thirdparty/gnss-sim/brdc3540.14n")
|
||||
add_definitions(-DDEFAULT_POSITION_FILE="${CMAKE_CURRENT_BINARY_DIR}/../../../thirdparty/gnss-sim/circle.csv")
|
||||
if(ENABLE_INSTALL_TESTS)
|
||||
install(PROGRAMS ${CMAKE_CURRENT_BINARY_DIR}/../../gnss-sim/gnss_sim DESTINATION bin)
|
||||
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/../../../thirdparty/gnss-sim/brdc3540.14n DESTINATION share/gnss-sim)
|
||||
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/../../../thirdparty/gnss-sim/circle.csv DESTINATION share/gnss-sim)
|
||||
set(SW_GENERATOR_BIN ${CMAKE_INSTALL_PREFIX}/bin/gnss_sim)
|
||||
add_definitions(-DSW_GENERATOR_BIN="${SW_GENERATOR_BIN}")
|
||||
add_definitions(-DDEFAULT_RINEX_NAV="${CMAKE_INSTALL_PREFIX}/share/gnss-sim/brdc3540.14n")
|
||||
add_definitions(-DDEFAULT_POSITION_FILE="${CMAKE_INSTALL_PREFIX}/share/gnss-sim/circle.csv")
|
||||
else(ENABLE_INSTALL_TESTS)
|
||||
set(SW_GENERATOR_BIN ${CMAKE_CURRENT_BINARY_DIR}/../../gnss-sim/gnss_sim)
|
||||
add_definitions(-DSW_GENERATOR_BIN="${SW_GENERATOR_BIN}")
|
||||
add_definitions(-DDEFAULT_RINEX_NAV="${CMAKE_CURRENT_BINARY_DIR}/../../../thirdparty/gnss-sim/brdc3540.14n")
|
||||
add_definitions(-DDEFAULT_POSITION_FILE="${CMAKE_CURRENT_BINARY_DIR}/../../../thirdparty/gnss-sim/circle.csv")
|
||||
endif(ENABLE_INSTALL_TESTS)
|
||||
|
||||
################################################################################
|
||||
# Local installation of GPSTk http://www.gpstk.org/
|
||||
################################################################################
|
||||
find_package(GPSTK)
|
||||
if(NOT GPSTK_FOUND OR ENABLE_OWN_GPSTK)
|
||||
set(gpstk_RELEASE "2.9")
|
||||
ExternalProject_Add(
|
||||
gpstk-${gpstk_RELEASE}
|
||||
GIT_REPOSITORY https://github.com/SGL-UT/GPSTk
|
||||
GIT_TAG v${gpstk_RELEASE}
|
||||
SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/gpstk-${gpstk_RELEASE}
|
||||
BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/../../gpstk-${gpstk_RELEASE}
|
||||
CMAKE_ARGS ${GTEST_COMPILER} ${TOOLCHAIN_ARG} -DCMAKE_INSTALL_PREFIX=${CMAKE_SOURCE_DIR}/thirdparty/gpstk-${gpstk_RELEASE}/install -DBUILD_EXT=OFF -DBUILD_PYTHON=OFF
|
||||
UPDATE_COMMAND ""
|
||||
PATCH_COMMAND ""
|
||||
)
|
||||
set(GPSTK_INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/gpstk-${gpstk_RELEASE}/install/include CACHE PATH "Local GPSTK headers")
|
||||
add_library(gpstk UNKNOWN IMPORTED)
|
||||
set_property(TARGET gpstk PROPERTY IMPORTED_LOCATION ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/gpstk-${gpstk_RELEASE}/install/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gpstk${CMAKE_SHARED_LIBRARY_SUFFIX})
|
||||
add_dependencies(gpstk gpstk-${gpstk_RELEASE})
|
||||
set(GPSTK_BINDIR ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/gpstk-${gpstk_RELEASE}/install/bin/ )
|
||||
add_definitions(-DGPSTK_BINDIR="${GPSTK_BINDIR}")
|
||||
set(gpstk_libs gpstk)
|
||||
if(NOT ENABLE_FPGA)
|
||||
set(gpstk_RELEASE "2.9")
|
||||
ExternalProject_Add(
|
||||
gpstk-${gpstk_RELEASE}
|
||||
GIT_REPOSITORY https://github.com/SGL-UT/GPSTk
|
||||
GIT_TAG v${gpstk_RELEASE}
|
||||
SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/gpstk-${gpstk_RELEASE}
|
||||
BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/../../gpstk-${gpstk_RELEASE}
|
||||
CMAKE_ARGS ${GTEST_COMPILER} ${TOOLCHAIN_ARG} -DCMAKE_INSTALL_PREFIX=${CMAKE_SOURCE_DIR}/thirdparty/gpstk-${gpstk_RELEASE}/install -DBUILD_EXT=OFF -DBUILD_PYTHON=OFF
|
||||
UPDATE_COMMAND ""
|
||||
PATCH_COMMAND ""
|
||||
)
|
||||
set(GPSTK_INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/gpstk-${gpstk_RELEASE}/install/include CACHE PATH "Local GPSTK headers")
|
||||
add_library(gpstk UNKNOWN IMPORTED)
|
||||
set_property(TARGET gpstk PROPERTY IMPORTED_LOCATION ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/gpstk-${gpstk_RELEASE}/install/lib/${CMAKE_FIND_LIBRARY_PREFIXES}gpstk${CMAKE_SHARED_LIBRARY_SUFFIX})
|
||||
add_dependencies(gpstk gpstk-${gpstk_RELEASE})
|
||||
set(GPSTK_BINDIR ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/gpstk-${gpstk_RELEASE}/install/bin/ )
|
||||
add_definitions(-DGPSTK_BINDIR="${GPSTK_BINDIR}")
|
||||
set(gpstk_libs gpstk)
|
||||
set(OWN_GPSTK True)
|
||||
else(NOT ENABLE_FPGA)
|
||||
message(STATUS "GPSTk has not been found, try to install it on target.")
|
||||
message(STATUS "Some extra tests requiring GPSTk will not be built.")
|
||||
endif(NOT ENABLE_FPGA)
|
||||
else(NOT GPSTK_FOUND OR ENABLE_OWN_GPSTK)
|
||||
set(gpstk_libs ${GPSTK_LIBRARIES})
|
||||
set(GPSTK_INCLUDE_DIRS ${GPSTK_INCLUDE_DIR})
|
||||
set(GPSTK_BINDIR ${GPSTK_LIBRARY}/../bin/ )
|
||||
add_definitions(-DGPSTK_BINDIR="${GPSTK_BINDIR}")
|
||||
endif(NOT GPSTK_FOUND OR ENABLE_OWN_GPSTK)
|
||||
endif(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA)
|
||||
endif(ENABLE_UNIT_TESTING_EXTRA OR ENABLE_SYSTEM_TESTING_EXTRA OR ENABLE_FPGA)
|
||||
|
||||
|
||||
if(ENABLE_UNIT_TESTING_EXTRA)
|
||||
@@ -194,14 +220,24 @@ if(ENABLE_UNIT_TESTING_EXTRA)
|
||||
message(STATUS "Downloading some data files for testing...")
|
||||
file(DOWNLOAD https://sourceforge.net/projects/gnss-sdr/files/data/gps_l2c_m_prn7_5msps.dat ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/signal_samples/gps_l2c_m_prn7_5msps.dat
|
||||
SHOW_PROGRESS
|
||||
EXPECTED_HASH MD5=a6fcbefe155137945d3c33c5ef7bd0f9 )
|
||||
EXPECTED_HASH MD5=a6fcbefe155137945d3c33c5ef7bd0f9 )
|
||||
endif(NOT EXISTS ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples/gps_l2c_m_prn7_5msps.dat)
|
||||
if(ENABLE_INSTALL_TESTS)
|
||||
install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/../../thirdparty/signal_samples/gps_l2c_m_prn7_5msps.dat DESTINATION share/gnss-sdr/signal_samples)
|
||||
endif(ENABLE_INSTALL_TESTS)
|
||||
endif(ENABLE_UNIT_TESTING_EXTRA)
|
||||
file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GSoC_CTTC_capture_2012_07_26_4Msps_4ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
|
||||
file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Galileo_E1_ID_1_Fs_4Msps_8ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
|
||||
file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
|
||||
|
||||
add_definitions(-DTEST_PATH="${CMAKE_SOURCE_DIR}/thirdparty/")
|
||||
if(ENABLE_INSTALL_TESTS)
|
||||
install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GSoC_CTTC_capture_2012_07_26_4Msps_4ms.dat DESTINATION share/gnss-sdr/signal_samples)
|
||||
install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Galileo_E1_ID_1_Fs_4Msps_8ms.dat DESTINATION share/gnss-sdr/signal_samples)
|
||||
install(FILES ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat DESTINATION share/gnss-sdr/signal_samples)
|
||||
add_definitions(-DTEST_PATH="${CMAKE_INSTALL_PREFIX}/share/gnss-sdr/")
|
||||
else(ENABLE_INSTALL_TESTS)
|
||||
file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GSoC_CTTC_capture_2012_07_26_4Msps_4ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
|
||||
file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/Galileo_E1_ID_1_Fs_4Msps_8ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
|
||||
file(COPY ${CMAKE_SOURCE_DIR}/src/tests/signal_samples/GPS_L1_CA_ID_1_Fs_4Msps_2ms.dat DESTINATION ${CMAKE_SOURCE_DIR}/thirdparty/signal_samples)
|
||||
add_definitions(-DTEST_PATH="${CMAKE_SOURCE_DIR}/thirdparty/")
|
||||
endif(ENABLE_INSTALL_TESTS)
|
||||
|
||||
include_directories(
|
||||
${GTEST_INCLUDE_DIRECTORIES}
|
||||
@@ -254,13 +290,9 @@ include_directories(
|
||||
if(ENABLE_UNIT_TESTING)
|
||||
if( ${ARMADILLO_VERSION_STRING} STRGREATER "5.300") # make sure interp1 is present
|
||||
add_definitions(-DMODERN_ARMADILLO)
|
||||
endif( ${ARMADILLO_VERSION_STRING} STRGREATER "5.300")
|
||||
endif( ${ARMADILLO_VERSION_STRING} STRGREATER "5.300")
|
||||
add_executable(run_tests ${CMAKE_CURRENT_SOURCE_DIR}/test_main.cc)
|
||||
|
||||
add_custom_command(TARGET run_tests POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} -E copy $<TARGET_FILE:run_tests>
|
||||
${CMAKE_SOURCE_DIR}/install/$<TARGET_FILE_NAME:run_tests>)
|
||||
|
||||
target_link_libraries(run_tests ${CLANG_FLAGS}
|
||||
${Boost_LIBRARIES}
|
||||
${GFlags_LIBS}
|
||||
@@ -286,8 +318,117 @@ if(ENABLE_UNIT_TESTING)
|
||||
if(NOT ${GTEST_DIR_LOCAL})
|
||||
add_dependencies(run_tests gtest-${gtest_RELEASE})
|
||||
endif(NOT ${GTEST_DIR_LOCAL})
|
||||
|
||||
if(ENABLE_INSTALL_TESTS)
|
||||
if(EXISTS ${CMAKE_SOURCE_DIR}/install/run_tests)
|
||||
file(REMOVE ${CMAKE_SOURCE_DIR}/install/run_tests)
|
||||
endif(EXISTS ${CMAKE_SOURCE_DIR}/install/run_tests)
|
||||
install(TARGETS run_tests RUNTIME DESTINATION bin COMPONENT "run_tests")
|
||||
else(ENABLE_INSTALL_TESTS)
|
||||
add_custom_command(TARGET run_tests POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} -E copy $<TARGET_FILE:run_tests>
|
||||
${CMAKE_SOURCE_DIR}/install/$<TARGET_FILE_NAME:run_tests>)
|
||||
endif(ENABLE_INSTALL_TESTS)
|
||||
endif(ENABLE_UNIT_TESTING)
|
||||
|
||||
if(ENABLE_FPGA)
|
||||
add_executable(gps_l1_ca_dll_pll_tracking_test_fpga
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/single_test_main.cc
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test_fpga.cc )
|
||||
target_link_libraries(gps_l1_ca_dll_pll_tracking_test_fpga
|
||||
${Boost_LIBRARIES}
|
||||
${GFlags_LIBS}
|
||||
${GLOG_LIBRARIES}
|
||||
${GTEST_LIBRARIES}
|
||||
${GNURADIO_RUNTIME_LIBRARIES}
|
||||
${GNURADIO_BLOCKS_LIBRARIES}
|
||||
${ARMADILLO_LIBRARIES}
|
||||
${VOLK_LIBRARIES}
|
||||
channel_fsm
|
||||
gnss_sp_libs
|
||||
gnss_rx
|
||||
gnss_system_parameters
|
||||
signal_processing_testing_lib
|
||||
)
|
||||
install(TARGETS gps_l1_ca_dll_pll_tracking_test_fpga
|
||||
RUNTIME DESTINATION bin
|
||||
COMPONENT "fpga-test" )
|
||||
endif(ENABLE_FPGA)
|
||||
|
||||
|
||||
|
||||
################################################################################
|
||||
# System testing
|
||||
################################################################################
|
||||
if(ENABLE_SYSTEM_TESTING)
|
||||
set(HOST_SYSTEM "Unknown")
|
||||
if(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
|
||||
set(HOST_SYSTEM "GNU/Linux ${LINUX_DISTRIBUTION} ${LINUX_VER} ${ARCH_}")
|
||||
endif(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
|
||||
if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
|
||||
set(HOST_SYSTEM "MacOS")
|
||||
endif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
|
||||
add_definitions(-DHOST_SYSTEM="${HOST_SYSTEM}")
|
||||
add_executable(ttff
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/system-tests/ttff_gps_l1.cc )
|
||||
if(NOT ${GTEST_DIR_LOCAL})
|
||||
add_dependencies(ttff gtest-${gtest_RELEASE})
|
||||
else(NOT ${GTEST_DIR_LOCAL})
|
||||
add_dependencies(ttff gtest)
|
||||
endif(NOT ${GTEST_DIR_LOCAL})
|
||||
target_link_libraries(ttff
|
||||
${Boost_LIBRARIES}
|
||||
${GFlags_LIBS}
|
||||
${GLOG_LIBRARIES}
|
||||
${GTEST_LIBRARIES}
|
||||
${GNURADIO_RUNTIME_LIBRARIES}
|
||||
${GNURADIO_BLOCKS_LIBRARIES}
|
||||
${GNURADIO_FILTER_LIBRARIES}
|
||||
${GNURADIO_ANALOG_LIBRARIES}
|
||||
${VOLK_GNSSSDR_LIBRARIES}
|
||||
gnss_sp_libs
|
||||
gnss_rx
|
||||
gnss_system_parameters
|
||||
)
|
||||
if(ENABLE_INSTALL_TESTS)
|
||||
if(EXISTS ${CMAKE_SOURCE_DIR}/install/ttff)
|
||||
file(REMOVE ${CMAKE_SOURCE_DIR}/install/ttff)
|
||||
endif(EXISTS ${CMAKE_SOURCE_DIR}/install/ttff)
|
||||
install(TARGETS ttff RUNTIME DESTINATION bin COMPONENT "ttff")
|
||||
else(ENABLE_INSTALL_TESTS)
|
||||
add_custom_command(TARGET ttff POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} -E copy $<TARGET_FILE:ttff>
|
||||
${CMAKE_SOURCE_DIR}/install/$<TARGET_FILE_NAME:ttff> )
|
||||
endif(ENABLE_INSTALL_TESTS)
|
||||
|
||||
if(ENABLE_SYSTEM_TESTING_EXTRA)
|
||||
if(GPSTK_FOUND OR OWN_GPSTK)
|
||||
add_executable(obs_gps_l1_system_test ${CMAKE_CURRENT_SOURCE_DIR}/system-tests/obs_gps_l1_system_test.cc)
|
||||
if(NOT ${GTEST_DIR_LOCAL})
|
||||
add_dependencies(obs_gps_l1_system_test gtest-${gtest_RELEASE} )
|
||||
else(NOT ${GTEST_DIR_LOCAL})
|
||||
add_dependencies(obs_gps_l1_system_test gtest)
|
||||
endif(NOT ${GTEST_DIR_LOCAL})
|
||||
include_directories(${GPSTK_INCLUDE_DIRS})
|
||||
target_link_libraries(obs_gps_l1_system_test ${GFlags_LIBS}
|
||||
${GLOG_LIBRARIES}
|
||||
${GTEST_LIBRARIES}
|
||||
gnss_sp_libs
|
||||
gnss_rx
|
||||
${gpstk_libs})
|
||||
if(ENABLE_INSTALL_TESTS)
|
||||
if(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
|
||||
file(REMOVE ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
|
||||
endif(EXISTS ${CMAKE_SOURCE_DIR}/install/obs_gps_l1_system_test)
|
||||
install(TARGETS obs_gps_l1_system_test RUNTIME DESTINATION bin COMPONENT "obs_gps_l1_system_test")
|
||||
else(ENABLE_INSTALL_TESTS)
|
||||
add_custom_command(TARGET obs_gps_l1_system_test POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} -E copy $<TARGET_FILE:obs_gps_l1_system_test>
|
||||
${CMAKE_SOURCE_DIR}/install/$<TARGET_FILE_NAME:obs_gps_l1_system_test> )
|
||||
endif(ENABLE_INSTALL_TESTS)
|
||||
endif(GPSTK_FOUND OR OWN_GPSTK)
|
||||
endif(ENABLE_SYSTEM_TESTING_EXTRA)
|
||||
endif(ENABLE_SYSTEM_TESTING)
|
||||
|
||||
|
||||
#########################################################
|
||||
@@ -466,64 +607,3 @@ endif(NOT ${GTEST_DIR_LOCAL})
|
||||
|
||||
add_dependencies(check control_thread_test flowgraph_test gnss_block_test
|
||||
gnuradio_block_test trk_test)
|
||||
|
||||
|
||||
|
||||
################################################################################
|
||||
# System testing
|
||||
################################################################################
|
||||
if(ENABLE_SYSTEM_TESTING)
|
||||
set(HOST_SYSTEM "Unknown")
|
||||
if(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
|
||||
set(HOST_SYSTEM "GNU/Linux ${LINUX_DISTRIBUTION} ${LINUX_VER} ${ARCH_}")
|
||||
endif(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
|
||||
if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
|
||||
set(HOST_SYSTEM "MacOS")
|
||||
endif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
|
||||
add_definitions(-DHOST_SYSTEM="${HOST_SYSTEM}")
|
||||
add_executable(ttff
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/system-tests/ttff_gps_l1.cc )
|
||||
if(NOT ${GTEST_DIR_LOCAL})
|
||||
add_dependencies(ttff gtest-${gtest_RELEASE})
|
||||
else(NOT ${GTEST_DIR_LOCAL})
|
||||
add_dependencies(ttff gtest)
|
||||
endif(NOT ${GTEST_DIR_LOCAL})
|
||||
target_link_libraries(ttff
|
||||
${Boost_LIBRARIES}
|
||||
${GFlags_LIBS}
|
||||
${GLOG_LIBRARIES}
|
||||
${GTEST_LIBRARIES}
|
||||
${GNURADIO_RUNTIME_LIBRARIES}
|
||||
${GNURADIO_BLOCKS_LIBRARIES}
|
||||
${GNURADIO_FILTER_LIBRARIES}
|
||||
${GNURADIO_ANALOG_LIBRARIES}
|
||||
${VOLK_GNSSSDR_LIBRARIES}
|
||||
gnss_sp_libs
|
||||
gnss_rx
|
||||
gnss_system_parameters
|
||||
)
|
||||
add_custom_command(TARGET ttff POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} -E copy $<TARGET_FILE:ttff>
|
||||
${CMAKE_SOURCE_DIR}/install/$<TARGET_FILE_NAME:ttff>
|
||||
)
|
||||
|
||||
if(ENABLE_SYSTEM_TESTING_EXTRA)
|
||||
add_executable(obs_gps_l1_system_test ${CMAKE_CURRENT_SOURCE_DIR}/system-tests/obs_gps_l1_system_test.cc)
|
||||
if(NOT ${GTEST_DIR_LOCAL})
|
||||
add_dependencies(obs_gps_l1_system_test gtest-${gtest_RELEASE} )
|
||||
else(NOT ${GTEST_DIR_LOCAL})
|
||||
add_dependencies(obs_gps_l1_system_test gtest)
|
||||
endif(NOT ${GTEST_DIR_LOCAL})
|
||||
include_directories(${GPSTK_INCLUDE_DIRS})
|
||||
target_link_libraries(obs_gps_l1_system_test ${GFlags_LIBS}
|
||||
${GLOG_LIBRARIES}
|
||||
${GTEST_LIBRARIES}
|
||||
gnss_sp_libs
|
||||
gnss_rx
|
||||
${gpstk_libs})
|
||||
add_custom_command(TARGET obs_gps_l1_system_test POST_BUILD
|
||||
COMMAND ${CMAKE_COMMAND} -E copy $<TARGET_FILE:obs_gps_l1_system_test>
|
||||
${CMAKE_SOURCE_DIR}/install/$<TARGET_FILE_NAME:obs_gps_l1_system_test>
|
||||
)
|
||||
endif(ENABLE_SYSTEM_TESTING_EXTRA)
|
||||
endif(ENABLE_SYSTEM_TESTING)
|
||||
|
||||
@@ -57,11 +57,24 @@ concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
|
||||
|
||||
concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
DECLARE_string(log_dir);
|
||||
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
google::ParseCommandLineFlags(&argc, &argv, true);
|
||||
testing::InitGoogleTest(&argc, argv);
|
||||
google::InitGoogleLogging(argv[0]);
|
||||
return RUN_ALL_TESTS();
|
||||
int res = 0;
|
||||
try
|
||||
{
|
||||
res = RUN_ALL_TESTS();
|
||||
}
|
||||
catch(...)
|
||||
{
|
||||
LOG(WARNING) << "Unexpected catch";
|
||||
}
|
||||
google::ShutDownCommandLineFlags();
|
||||
return res;
|
||||
}
|
||||
|
||||
@@ -119,6 +119,10 @@ DECLARE_string(log_dir);
|
||||
#include "unit-tests/signal-processing-blocks/tracking/gpu_multicorrelator_test.cc"
|
||||
#endif
|
||||
|
||||
#if FPGA_BLOCKS_TEST
|
||||
#include "unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test_fpga.cc"
|
||||
#endif
|
||||
|
||||
#include "unit-tests/signal-processing-blocks/pvt/rtcm_test.cc"
|
||||
#include "unit-tests/signal-processing-blocks/pvt/rtcm_printer_test.cc"
|
||||
#include "unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc"
|
||||
@@ -132,6 +136,8 @@ DECLARE_string(log_dir);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
// For GPS NAVIGATION (L1)
|
||||
concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
|
||||
concurrent_map<Gps_Acq_Assist> global_gps_acq_assist_map;
|
||||
|
||||
@@ -54,7 +54,7 @@ bool tracking_dump_reader::read_binary_obs()
|
||||
d_dump_file.read((char *) &aux2, sizeof(double));
|
||||
|
||||
}
|
||||
catch (const std::ifstream::failure &e)
|
||||
catch (const std::exception &e)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
@@ -40,7 +40,7 @@ bool tracking_true_obs_reader::read_binary_obs()
|
||||
d_dump_file.read((char *) &prn_delay_chips, sizeof(double));
|
||||
d_dump_file.read((char *) &tow, sizeof(double));
|
||||
}
|
||||
catch (const std::ifstream::failure &e)
|
||||
catch (const std::exception &e)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
+16
-4
@@ -50,7 +50,8 @@
|
||||
#include "tracking_interface.h"
|
||||
#include "in_memory_configuration.h"
|
||||
#include "gnss_synchro.h"
|
||||
#include "gps_l1_ca_dll_pll_tracking.h"
|
||||
//#include "gps_l1_ca_dll_pll_tracking.h"
|
||||
#include "gps_l1_ca_dll_pll_c_aid_tracking.h"
|
||||
#include "tracking_true_obs_reader.h"
|
||||
#include "tracking_dump_reader.h"
|
||||
#include "signal_generator_flags.h"
|
||||
@@ -353,8 +354,8 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
|
||||
}) << "Failure opening true observables file" << std::endl;
|
||||
|
||||
top_block = gr::make_top_block("Tracking test");
|
||||
std::shared_ptr<TrackingInterface> tracking = std::make_shared<GpsL1CaDllPllTracking>(config.get(), "Tracking_1C", 1, 1);
|
||||
//std::shared_ptr<TrackingInterface> tracking = std::make_shared<GpsL1CaDllPllCAidTracking>(config.get(), "Tracking_1C", 1, 1);
|
||||
//std::shared_ptr<TrackingInterface> tracking = std::make_shared<GpsL1CaDllPllTracking>(config.get(), "Tracking_1C", 1, 1);
|
||||
std::shared_ptr<TrackingInterface> tracking = std::make_shared<GpsL1CaDllPllCAidTracking>(config.get(), "Tracking_1C", 1, 1);
|
||||
|
||||
boost::shared_ptr<GpsL1CADllPllTrackingTest_msg_rx> msg_rx = GpsL1CADllPllTrackingTest_msg_rx_make();
|
||||
|
||||
@@ -400,6 +401,7 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
|
||||
|
||||
tracking->start_tracking();
|
||||
|
||||
|
||||
EXPECT_NO_THROW( {
|
||||
gettimeofday(&tv, NULL);
|
||||
begin = tv.tv_sec * 1000000 + tv.tv_usec;
|
||||
@@ -413,28 +415,37 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
|
||||
long int nepoch = true_obs_data.num_epochs();
|
||||
std::cout << "True observation epochs=" << nepoch << std::endl;
|
||||
|
||||
|
||||
|
||||
arma::vec true_timestamp_s = arma::zeros(nepoch, 1);
|
||||
arma::vec true_acc_carrier_phase_cycles = arma::zeros(nepoch, 1);
|
||||
arma::vec true_Doppler_Hz = arma::zeros(nepoch, 1);
|
||||
arma::vec true_prn_delay_chips = arma::zeros(nepoch, 1);
|
||||
arma::vec true_tow_s = arma::zeros(nepoch, 1);
|
||||
|
||||
|
||||
long int epoch_counter = 0;
|
||||
while(true_obs_data.read_binary_obs())
|
||||
{
|
||||
|
||||
|
||||
true_timestamp_s(epoch_counter) = true_obs_data.signal_timestamp_s;
|
||||
true_acc_carrier_phase_cycles(epoch_counter) = true_obs_data.acc_carrier_phase_cycles;
|
||||
true_Doppler_Hz(epoch_counter) = true_obs_data.doppler_l1_hz;
|
||||
true_prn_delay_chips(epoch_counter) = true_obs_data.prn_delay_chips;
|
||||
true_tow_s(epoch_counter) = true_obs_data.tow;
|
||||
epoch_counter++;
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
//load the measured values
|
||||
tracking_dump_reader trk_dump;
|
||||
ASSERT_NO_THROW({
|
||||
if (trk_dump.open_obs_file(std::string("./tracking_ch_0.dat")) == false)
|
||||
{
|
||||
|
||||
throw std::exception();
|
||||
};
|
||||
}) << "Failure opening tracking dump file" << std::endl;
|
||||
@@ -442,11 +453,12 @@ TEST_F(GpsL1CADllPllTrackingTest, ValidationOfResults)
|
||||
nepoch = trk_dump.num_epochs();
|
||||
std::cout << "Measured observation epochs=" << nepoch << std::endl;
|
||||
|
||||
|
||||
arma::vec trk_timestamp_s = arma::zeros(nepoch, 1);
|
||||
arma::vec trk_acc_carrier_phase_cycles = arma::zeros(nepoch, 1);
|
||||
arma::vec trk_Doppler_Hz = arma::zeros(nepoch, 1);
|
||||
arma::vec trk_prn_delay_chips = arma::zeros(nepoch, 1);
|
||||
|
||||
|
||||
epoch_counter = 0;
|
||||
while(trk_dump.read_binary_obs())
|
||||
{
|
||||
|
||||
+585
@@ -0,0 +1,585 @@
|
||||
/*!
|
||||
* \file gps_l1_ca_dll_pll_tracking_test.cc
|
||||
* \brief This class implements a tracking test for Galileo_E5a_DLL_PLL_Tracking
|
||||
* implementation based on some input parameters.
|
||||
* \author Marc Majoral, 2017. mmajoral(at)cttc.cat
|
||||
* \author Javier Arribas, 2017. jarribas(at)cttc.es
|
||||
*
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2012-2017 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
|
||||
#include <ctime>
|
||||
#include <iostream>
|
||||
#include <unistd.h>
|
||||
#include <armadillo>
|
||||
#include <boost/thread.hpp>// to test the FPGA we have to create a simultaneous task to send the samples using the DMA and stop the test
|
||||
#include <boost/chrono.hpp> // temporary for debugging
|
||||
#include <stdio.h>// FPGA read input file
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
#include <gnuradio/analog/sig_source_c.h>
|
||||
#include <gnuradio/blocks/interleaved_char_to_complex.h>
|
||||
#include <gnuradio/blocks/null_sink.h>
|
||||
#include <gnuradio/blocks/skiphead.h>
|
||||
#include <gflags/gflags.h>
|
||||
#include <glog/logging.h>
|
||||
#include <gtest/gtest.h>
|
||||
#include <sys/wait.h>
|
||||
#include "GPS_L1_CA.h"
|
||||
#include "gnss_block_factory.h"
|
||||
#include "gnss_block_interface.h"
|
||||
#include "tracking_interface.h"
|
||||
#include "in_memory_configuration.h"
|
||||
#include "gnss_synchro.h"
|
||||
#include "gps_l1_ca_dll_pll_c_aid_tracking_fpga.h"
|
||||
#include "tracking_true_obs_reader.h"
|
||||
#include "tracking_dump_reader.h"
|
||||
#include "signal_generator_flags.h"
|
||||
#include "interleaved_byte_to_complex_short.h"
|
||||
|
||||
|
||||
#define MAX_NUM_TEST_CASES 20
|
||||
#define MAX_INPUT_SAMPLES_PER_TEST_CASE (8184)
|
||||
#define MAX_INPUT_SAMPLES_TOTAL MAX_INPUT_SAMPLES_PER_TEST_CASE*MAX_NUM_TEST_CASES
|
||||
#define DMA_TRANSFER_SIZE 2046
|
||||
#define MIN_SAMPLES_REMAINING 20000 // number of remaining samples in the DMA that causes the CPU to stop the flowgraph (it has to be a bit alrger than 2x max packet size)
|
||||
|
||||
|
||||
void wait(int seconds)
|
||||
{
|
||||
boost::this_thread::sleep_for(boost::chrono::seconds{seconds});
|
||||
}
|
||||
|
||||
void send_tracking_gps_input_samples(FILE *ptr_myfile, int num_remaining_samples, gr::top_block_sptr top_block)
|
||||
{
|
||||
int sample_pointer;
|
||||
int num_samples_transferred = 0;
|
||||
static int flowgraph_stopped = 0;
|
||||
|
||||
char *buffer;
|
||||
|
||||
// DMA descriptor
|
||||
int tx_fd;
|
||||
tx_fd = open("/dev/loop_tx", O_WRONLY);
|
||||
if ( tx_fd < 0 )
|
||||
{
|
||||
printf("can't open loop device\n");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
buffer = (char *)malloc(DMA_TRANSFER_SIZE);
|
||||
if (!buffer)
|
||||
{
|
||||
fprintf(stderr, "Memory error!");
|
||||
}
|
||||
|
||||
while(num_remaining_samples > 0)
|
||||
{
|
||||
if (num_remaining_samples < MIN_SAMPLES_REMAINING)
|
||||
{
|
||||
if (flowgraph_stopped == 0)
|
||||
{
|
||||
// stop top module
|
||||
top_block->stop();
|
||||
flowgraph_stopped = 1;
|
||||
}
|
||||
}
|
||||
if (num_remaining_samples > DMA_TRANSFER_SIZE)
|
||||
{
|
||||
|
||||
fread(buffer, DMA_TRANSFER_SIZE, 1, ptr_myfile);
|
||||
|
||||
assert( DMA_TRANSFER_SIZE == write(tx_fd, &buffer[0], DMA_TRANSFER_SIZE) );
|
||||
num_remaining_samples = num_remaining_samples - DMA_TRANSFER_SIZE;
|
||||
num_samples_transferred = num_samples_transferred + DMA_TRANSFER_SIZE;
|
||||
}
|
||||
else
|
||||
{
|
||||
fread(buffer, num_remaining_samples, 1, ptr_myfile);
|
||||
|
||||
assert( num_remaining_samples == write(tx_fd, &buffer[0], num_remaining_samples) );
|
||||
num_samples_transferred = num_samples_transferred + num_remaining_samples;
|
||||
num_remaining_samples = 0;
|
||||
}
|
||||
}
|
||||
|
||||
free(buffer);
|
||||
close(tx_fd);
|
||||
}
|
||||
|
||||
|
||||
// thread that sends the samples to the FPGA
|
||||
void thread(gr::top_block_sptr top_block, const char * file_name)
|
||||
{
|
||||
// file descriptor
|
||||
FILE *ptr_myfile;
|
||||
int fileLen;
|
||||
|
||||
ptr_myfile = fopen(file_name,"rb");
|
||||
if (!ptr_myfile)
|
||||
{
|
||||
printf("Unable to open file!");
|
||||
}
|
||||
|
||||
fseek(ptr_myfile, 0, SEEK_END);
|
||||
fileLen = ftell(ptr_myfile);
|
||||
fseek(ptr_myfile, 0, SEEK_SET);
|
||||
|
||||
wait(20); // wait for some time to give time to the other thread to program the device
|
||||
|
||||
//send_tracking_gps_input_samples(tx_fd, ptr_myfile, fileLen);
|
||||
send_tracking_gps_input_samples(ptr_myfile, fileLen, top_block);
|
||||
|
||||
fclose(ptr_myfile);
|
||||
}
|
||||
|
||||
|
||||
// ######## GNURADIO BLOCK MESSAGE RECEVER #########
|
||||
class GpsL1CADllPllTrackingTestFpga_msg_rx;
|
||||
|
||||
|
||||
typedef boost::shared_ptr<GpsL1CADllPllTrackingTestFpga_msg_rx> GpsL1CADllPllTrackingTestFpga_msg_rx_sptr;
|
||||
|
||||
|
||||
GpsL1CADllPllTrackingTestFpga_msg_rx_sptr GpsL1CADllPllTrackingTestFpga_msg_rx_make();
|
||||
|
||||
|
||||
class GpsL1CADllPllTrackingTestFpga_msg_rx : public gr::block
|
||||
{
|
||||
private:
|
||||
friend GpsL1CADllPllTrackingTestFpga_msg_rx_sptr GpsL1CADllPllTrackingTestFpga_msg_rx_make();
|
||||
void msg_handler_events(pmt::pmt_t msg);
|
||||
GpsL1CADllPllTrackingTestFpga_msg_rx();
|
||||
|
||||
public:
|
||||
int rx_message;
|
||||
~GpsL1CADllPllTrackingTestFpga_msg_rx(); //!< Default destructor
|
||||
};
|
||||
|
||||
|
||||
GpsL1CADllPllTrackingTestFpga_msg_rx_sptr GpsL1CADllPllTrackingTestFpga_msg_rx_make()
|
||||
{
|
||||
return GpsL1CADllPllTrackingTestFpga_msg_rx_sptr(new GpsL1CADllPllTrackingTestFpga_msg_rx());
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CADllPllTrackingTestFpga_msg_rx::msg_handler_events(pmt::pmt_t msg)
|
||||
{
|
||||
try
|
||||
{
|
||||
long int message = pmt::to_long(msg);
|
||||
rx_message = message;
|
||||
}
|
||||
catch(boost::bad_any_cast& e)
|
||||
{
|
||||
LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
|
||||
rx_message = 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
GpsL1CADllPllTrackingTestFpga_msg_rx::GpsL1CADllPllTrackingTestFpga_msg_rx() :
|
||||
gr::block("GpsL1CADllPllTrackingTestFpga_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
|
||||
{
|
||||
this->message_port_register_in(pmt::mp("events"));
|
||||
this->set_msg_handler(pmt::mp("events"), boost::bind(&GpsL1CADllPllTrackingTestFpga_msg_rx::msg_handler_events, this, _1));
|
||||
rx_message = 0;
|
||||
}
|
||||
|
||||
|
||||
GpsL1CADllPllTrackingTestFpga_msg_rx::~GpsL1CADllPllTrackingTestFpga_msg_rx()
|
||||
{}
|
||||
|
||||
// ###########################################################
|
||||
|
||||
|
||||
class GpsL1CADllPllTrackingTestFpga: public ::testing::Test
|
||||
{
|
||||
public:
|
||||
std::string generator_binary;
|
||||
std::string p1;
|
||||
std::string p2;
|
||||
std::string p3;
|
||||
std::string p4;
|
||||
std::string p5;
|
||||
|
||||
const int baseband_sampling_freq = FLAGS_fs_gen_hz;
|
||||
|
||||
std::string filename_rinex_obs = FLAGS_filename_rinex_obs;
|
||||
std::string filename_raw_data = FLAGS_filename_raw_data;
|
||||
|
||||
int configure_generator();
|
||||
int generate_signal();
|
||||
void check_results_doppler(arma::vec true_time_s,
|
||||
arma::vec true_value,
|
||||
arma::vec meas_time_s,
|
||||
arma::vec meas_value);
|
||||
void check_results_acc_carrier_phase(arma::vec true_time_s,
|
||||
arma::vec true_value,
|
||||
arma::vec meas_time_s,
|
||||
arma::vec meas_value);
|
||||
void check_results_codephase(arma::vec true_time_s,
|
||||
arma::vec true_value,
|
||||
arma::vec meas_time_s,
|
||||
arma::vec meas_value);
|
||||
|
||||
GpsL1CADllPllTrackingTestFpga()
|
||||
{
|
||||
factory = std::make_shared<GNSSBlockFactory>();
|
||||
config = std::make_shared<InMemoryConfiguration>();
|
||||
item_size = sizeof(gr_complex);
|
||||
gnss_synchro = Gnss_Synchro();
|
||||
}
|
||||
|
||||
~GpsL1CADllPllTrackingTestFpga()
|
||||
{}
|
||||
|
||||
void configure_receiver();
|
||||
|
||||
gr::top_block_sptr top_block;
|
||||
std::shared_ptr<GNSSBlockFactory> factory;
|
||||
std::shared_ptr<InMemoryConfiguration> config;
|
||||
Gnss_Synchro gnss_synchro;
|
||||
size_t item_size;
|
||||
};
|
||||
|
||||
|
||||
int GpsL1CADllPllTrackingTestFpga::configure_generator()
|
||||
{
|
||||
// Configure signal generator
|
||||
generator_binary = FLAGS_generator_binary;
|
||||
|
||||
p1 = std::string("-rinex_nav_file=") + FLAGS_rinex_nav_file;
|
||||
if(FLAGS_dynamic_position.empty())
|
||||
{
|
||||
p2 = std::string("-static_position=") + FLAGS_static_position + std::string(",") + std::to_string(FLAGS_duration * 10);
|
||||
}
|
||||
else
|
||||
{
|
||||
p2 = std::string("-obs_pos_file=") + std::string(FLAGS_dynamic_position);
|
||||
}
|
||||
p3 = std::string("-rinex_obs_file=") + FLAGS_filename_rinex_obs; // RINEX 2.10 observation file output
|
||||
p4 = std::string("-sig_out_file=") + FLAGS_filename_raw_data; // Baseband signal output file. Will be stored in int8_t IQ multiplexed samples
|
||||
p5 = std::string("-sampling_freq=") + std::to_string(baseband_sampling_freq); //Baseband sampling frequency [MSps]
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
int GpsL1CADllPllTrackingTestFpga::generate_signal()
|
||||
{
|
||||
int child_status;
|
||||
|
||||
char *const parmList[] = { &generator_binary[0], &generator_binary[0], &p1[0], &p2[0], &p3[0], &p4[0], &p5[0], NULL };
|
||||
|
||||
int pid;
|
||||
if ((pid = fork()) == -1)
|
||||
perror("fork err");
|
||||
else if (pid == 0)
|
||||
{
|
||||
execv(&generator_binary[0], parmList);
|
||||
std::cout << "Return not expected. Must be an execv err." << std::endl;
|
||||
std::terminate();
|
||||
}
|
||||
|
||||
waitpid(pid, &child_status, 0);
|
||||
|
||||
std::cout << "Signal and Observables RINEX and RAW files created." << std::endl;
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CADllPllTrackingTestFpga::configure_receiver()
|
||||
{
|
||||
gnss_synchro.Channel_ID = 0;
|
||||
gnss_synchro.System = 'G';
|
||||
std::string signal = "1C";
|
||||
signal.copy(gnss_synchro.Signal, 2, 0);
|
||||
gnss_synchro.PRN = FLAGS_test_satellite_PRN;
|
||||
|
||||
config->set_property("GNSS-SDR.internal_fs_hz", std::to_string(baseband_sampling_freq));
|
||||
// Set Tracking
|
||||
config->set_property("Tracking_1C.implementation", "GPS_L1_CA_DLL_PLL_C_Aid_Tracking_Fpga");
|
||||
config->set_property("Tracking_1C.item_type", "cshort");
|
||||
config->set_property("Tracking_1C.if", "0");
|
||||
config->set_property("Tracking_1C.dump", "true");
|
||||
config->set_property("Tracking_1C.dump_filename", "./tracking_ch_");
|
||||
config->set_property("Tracking_1C.pll_bw_hz", "30.0");
|
||||
config->set_property("Tracking_1C.dll_bw_hz", "2.0");
|
||||
config->set_property("Tracking_1C.early_late_space_chips", "0.5");
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CADllPllTrackingTestFpga::check_results_doppler(arma::vec true_time_s,
|
||||
arma::vec true_value,
|
||||
arma::vec meas_time_s,
|
||||
arma::vec meas_value)
|
||||
{
|
||||
//1. True value interpolation to match the measurement times
|
||||
arma::vec true_value_interp;
|
||||
arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
|
||||
|
||||
//2. RMSE
|
||||
arma::vec err;
|
||||
|
||||
err = meas_value - true_value_interp;
|
||||
arma::vec err2 = arma::square(err);
|
||||
double rmse = sqrt(arma::mean(err2));
|
||||
|
||||
//3. Mean err and variance
|
||||
double error_mean = arma::mean(err);
|
||||
double error_var = arma::var(err);
|
||||
|
||||
// 5. Peaks
|
||||
double max_error = arma::max(err);
|
||||
double min_error = arma::min(err);
|
||||
|
||||
//5. report
|
||||
std::cout << std::setprecision(10) << "TRK Doppler RMSE=" << rmse
|
||||
<< ", mean=" << error_mean
|
||||
<< ", stdev="<< sqrt(error_var) << " (max,min)=" << max_error << "," << min_error << " [Hz]" << std::endl;
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CADllPllTrackingTestFpga::check_results_acc_carrier_phase(arma::vec true_time_s,
|
||||
arma::vec true_value,
|
||||
arma::vec meas_time_s,
|
||||
arma::vec meas_value)
|
||||
{
|
||||
//1. True value interpolation to match the measurement times
|
||||
arma::vec true_value_interp;
|
||||
arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
|
||||
|
||||
//2. RMSE
|
||||
arma::vec err;
|
||||
|
||||
err = meas_value - true_value_interp;
|
||||
arma::vec err2 = arma::square(err);
|
||||
double rmse = sqrt(arma::mean(err2));
|
||||
|
||||
//3. Mean err and variance
|
||||
double error_mean = arma::mean(err);
|
||||
double error_var = arma::var(err);
|
||||
|
||||
// 4. Peaks
|
||||
double max_error = arma::max(err);
|
||||
double min_error = arma::min(err);
|
||||
|
||||
//5. report
|
||||
std::cout << std::setprecision(10) << "TRK acc carrier phase RMSE=" << rmse
|
||||
<< ", mean=" << error_mean
|
||||
<< ", stdev=" << sqrt(error_var) << " (max,min)=" << max_error << "," << min_error << " [Hz]" << std::endl;
|
||||
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CADllPllTrackingTestFpga::check_results_codephase(arma::vec true_time_s,
|
||||
arma::vec true_value,
|
||||
arma::vec meas_time_s,
|
||||
arma::vec meas_value)
|
||||
{
|
||||
//1. True value interpolation to match the measurement times
|
||||
arma::vec true_value_interp;
|
||||
arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
|
||||
|
||||
//2. RMSE
|
||||
arma::vec err;
|
||||
err = meas_value - true_value_interp;
|
||||
arma::vec err2 = arma::square(err);
|
||||
double rmse = sqrt(arma::mean(err2));
|
||||
|
||||
//3. Mean err and variance
|
||||
double error_mean = arma::mean(err);
|
||||
double error_var = arma::var(err);
|
||||
|
||||
// 4. Peaks
|
||||
double max_error = arma::max(err);
|
||||
double min_error = arma::min(err);
|
||||
|
||||
//5. report
|
||||
std::cout << std::setprecision(10) << "TRK code phase RMSE=" << rmse
|
||||
<< ", mean=" << error_mean
|
||||
<< ", stdev=" << sqrt(error_var) << " (max,min)=" << max_error << "," << min_error << " [Chips]" << std::endl;
|
||||
}
|
||||
|
||||
|
||||
TEST_F(GpsL1CADllPllTrackingTestFpga, ValidationOfResultsFpga)
|
||||
{
|
||||
configure_generator();
|
||||
|
||||
// DO not generate signal raw signal samples and observations RINEX file by default
|
||||
//generate_signal();
|
||||
|
||||
struct timeval tv;
|
||||
long long int begin = 0;
|
||||
long long int end = 0;
|
||||
|
||||
configure_receiver();
|
||||
|
||||
//open true observables log file written by the simulator
|
||||
tracking_true_obs_reader true_obs_data;
|
||||
int test_satellite_PRN = FLAGS_test_satellite_PRN;
|
||||
std::cout << "Testing satellite PRN=" << test_satellite_PRN << std::endl;
|
||||
std::string true_obs_file = std::string("./gps_l1_ca_obs_prn");
|
||||
true_obs_file.append(std::to_string(test_satellite_PRN));
|
||||
true_obs_file.append(".dat");
|
||||
ASSERT_NO_THROW({
|
||||
if (true_obs_data.open_obs_file(true_obs_file) == false)
|
||||
{
|
||||
throw std::exception();
|
||||
};
|
||||
}) << "Failure opening true observables file" << std::endl;
|
||||
|
||||
top_block = gr::make_top_block("Tracking test");
|
||||
std::shared_ptr<TrackingInterface> tracking = std::make_shared<GpsL1CaDllPllCAidTrackingFpga>(config.get(), "Tracking_1C", 1, 1);
|
||||
|
||||
boost::shared_ptr<GpsL1CADllPllTrackingTestFpga_msg_rx> msg_rx = GpsL1CADllPllTrackingTestFpga_msg_rx_make();
|
||||
|
||||
// load acquisition data based on the first epoch of the true observations
|
||||
ASSERT_NO_THROW({
|
||||
if (true_obs_data.read_binary_obs() == false)
|
||||
{
|
||||
throw std::exception();
|
||||
};
|
||||
}) << "Failure reading true observables file" << std::endl;
|
||||
|
||||
//restart the epoch counter
|
||||
true_obs_data.restart();
|
||||
|
||||
std::cout << "Initial Doppler [Hz]=" << true_obs_data.doppler_l1_hz << " Initial code delay [Chips]=" << true_obs_data.prn_delay_chips << std::endl;
|
||||
gnss_synchro.Acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS - true_obs_data.prn_delay_chips / GPS_L1_CA_CODE_LENGTH_CHIPS) * baseband_sampling_freq * GPS_L1_CA_CODE_PERIOD;
|
||||
gnss_synchro.Acq_doppler_hz = true_obs_data.doppler_l1_hz;
|
||||
gnss_synchro.Acq_samplestamp_samples = 0;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
tracking->set_channel(gnss_synchro.Channel_ID);
|
||||
}) << "Failure setting channel." << std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
tracking->set_gnss_synchro(&gnss_synchro);
|
||||
}) << "Failure setting gnss_synchro." << std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
tracking->connect(top_block);
|
||||
}) << "Failure connecting tracking to the top_block." << std::endl;
|
||||
|
||||
ASSERT_NO_THROW( {
|
||||
gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
|
||||
top_block->connect(tracking->get_right_block(), 0, sink, 0);
|
||||
top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
|
||||
}) << "Failure connecting the blocks of tracking test." << std::endl;
|
||||
|
||||
tracking->start_tracking();
|
||||
|
||||
// assemble again the file name in a null terminated string (not available by default in the main program flow)
|
||||
std::string file = "./" + filename_raw_data;
|
||||
const char * file_name = file.c_str();
|
||||
|
||||
// start thread that sends the DMA samples to the FPGA
|
||||
boost::thread t{thread, top_block, file_name};
|
||||
|
||||
EXPECT_NO_THROW( {
|
||||
gettimeofday(&tv, NULL);
|
||||
begin = tv.tv_sec * 1000000 + tv.tv_usec;
|
||||
top_block->run(); // Start threads and wait
|
||||
tracking.reset();
|
||||
gettimeofday(&tv, NULL);
|
||||
end = tv.tv_sec * 1000000 + tv.tv_usec;
|
||||
}) << "Failure running the top_block." << std::endl;
|
||||
|
||||
// wait until child thread terminates
|
||||
t.join();
|
||||
|
||||
//check results
|
||||
//load the true values
|
||||
long int nepoch = true_obs_data.num_epochs();
|
||||
std::cout << "True observation epochs=" << nepoch << std::endl;
|
||||
|
||||
arma::vec true_timestamp_s = arma::zeros(nepoch, 1);
|
||||
arma::vec true_acc_carrier_phase_cycles = arma::zeros(nepoch, 1);
|
||||
arma::vec true_Doppler_Hz = arma::zeros(nepoch, 1);
|
||||
arma::vec true_prn_delay_chips = arma::zeros(nepoch, 1);
|
||||
arma::vec true_tow_s = arma::zeros(nepoch, 1);
|
||||
|
||||
long int epoch_counter = 0;
|
||||
while(true_obs_data.read_binary_obs())
|
||||
{
|
||||
true_timestamp_s(epoch_counter) = true_obs_data.signal_timestamp_s;
|
||||
true_acc_carrier_phase_cycles(epoch_counter) = true_obs_data.acc_carrier_phase_cycles;
|
||||
true_Doppler_Hz(epoch_counter) = true_obs_data.doppler_l1_hz;
|
||||
true_prn_delay_chips(epoch_counter) = true_obs_data.prn_delay_chips;
|
||||
true_tow_s(epoch_counter) = true_obs_data.tow;
|
||||
epoch_counter++;
|
||||
}
|
||||
|
||||
//load the measured values
|
||||
tracking_dump_reader trk_dump;
|
||||
ASSERT_NO_THROW({
|
||||
if (trk_dump.open_obs_file(std::string("./tracking_ch_0.dat")) == false)
|
||||
{
|
||||
throw std::exception();
|
||||
};
|
||||
}) << "Failure opening tracking dump file" << std::endl;
|
||||
|
||||
nepoch = trk_dump.num_epochs();
|
||||
std::cout << "Measured observation epochs=" << nepoch << std::endl;
|
||||
|
||||
arma::vec trk_timestamp_s = arma::zeros(nepoch, 1);
|
||||
arma::vec trk_acc_carrier_phase_cycles = arma::zeros(nepoch, 1);
|
||||
arma::vec trk_Doppler_Hz = arma::zeros(nepoch, 1);
|
||||
arma::vec trk_prn_delay_chips = arma::zeros(nepoch, 1);
|
||||
|
||||
epoch_counter = 0;
|
||||
while(trk_dump.read_binary_obs())
|
||||
{
|
||||
trk_timestamp_s(epoch_counter) = static_cast<double>(trk_dump.PRN_start_sample_count) / static_cast<double>(baseband_sampling_freq);
|
||||
trk_acc_carrier_phase_cycles(epoch_counter) = trk_dump.acc_carrier_phase_rad / GPS_TWO_PI;
|
||||
trk_Doppler_Hz(epoch_counter) = trk_dump.carrier_doppler_hz;
|
||||
|
||||
double delay_chips = GPS_L1_CA_CODE_LENGTH_CHIPS
|
||||
- GPS_L1_CA_CODE_LENGTH_CHIPS
|
||||
* (fmod((static_cast<double>(trk_dump.PRN_start_sample_count) + trk_dump.aux1) / static_cast<double>(baseband_sampling_freq), 1.0e-3) /1.0e-3);
|
||||
|
||||
trk_prn_delay_chips(epoch_counter) = delay_chips;
|
||||
epoch_counter++;
|
||||
}
|
||||
|
||||
//Align initial measurements and cut the tracking pull-in transitory
|
||||
double pull_in_offset_s = 1.0;
|
||||
arma::uvec initial_meas_point = arma::find(trk_timestamp_s >= (true_timestamp_s(0) + pull_in_offset_s), 1, "first");
|
||||
|
||||
trk_timestamp_s = trk_timestamp_s.subvec(initial_meas_point(0), trk_timestamp_s.size() - 1);
|
||||
trk_acc_carrier_phase_cycles = trk_acc_carrier_phase_cycles.subvec(initial_meas_point(0), trk_acc_carrier_phase_cycles.size() - 1);
|
||||
trk_Doppler_Hz = trk_Doppler_Hz.subvec(initial_meas_point(0), trk_Doppler_Hz.size() - 1);
|
||||
trk_prn_delay_chips = trk_prn_delay_chips.subvec(initial_meas_point(0), trk_prn_delay_chips.size() - 1);
|
||||
|
||||
check_results_doppler(true_timestamp_s, true_Doppler_Hz, trk_timestamp_s, trk_Doppler_Hz);
|
||||
check_results_codephase(true_timestamp_s, true_prn_delay_chips, trk_timestamp_s, trk_prn_delay_chips);
|
||||
check_results_acc_carrier_phase(true_timestamp_s, true_acc_carrier_phase_cycles, trk_timestamp_s, trk_acc_carrier_phase_cycles);
|
||||
|
||||
std::cout << "Signal tracking completed in " << (end - begin) << " microseconds" << std::endl;
|
||||
}
|
||||
Reference in New Issue
Block a user