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Code Issues Releases Wiki Activity

Updating GPS L1 FPGA tracking adapters

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This commit is contained in:
Javier Arribas 2018-03-02 17:40:13 +01:00
parent 288dd481e7
commit c2fc4b9854
16 changed files with 1304 additions and 1450 deletions
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2
src/algorithms/tracking/adapters/CMakeLists.txt
View File

@ -22,7 +22,7 @@ if(ENABLE_CUDA)
endif(ENABLE_CUDA)
if(ENABLE_FPGA)
SET(OPT_TRACKING_ADAPTERS ${OPT_TRACKING_ADAPTERS} gps_l1_ca_dll_pll_c_aid_tracking_fpga.cc)
SET(OPT_TRACKING_ADAPTERS ${OPT_TRACKING_ADAPTERS} gps_l1_ca_dll_pll_tracking_fpga.cc)
endif(ENABLE_FPGA)
set(TRACKING_ADAPTER_SOURCES

228
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking_fpga.cc
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@ -1,228 +0,0 @@
/*!
* \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"
#include "gnss_sdr_flags.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;
std::string device_name;
unsigned int device_base;
item_type_ = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
f_if = configuration->property(role + ".if", 0);
dump = configuration->property(role + ".dump", false);
pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
if(FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
if(FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
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);
std::string default_device_name = "/dev/uio";
device_name = configuration->property(role + ".devicename", default_device_name);
device_base = configuration->property(role + ".device_base", 1);
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, device_name,
device_base);
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;
}
}
void GpsL1CaDllPllCAidTrackingFpga::reset(void)
{
tracking_fpga_sc->reset();
}

155
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_fpga.cc Normal file
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@ -0,0 +1,155 @@
/*!
* \file gps_l1_ca_dll_pll_tracking.cc
* \brief Implementation of an adapter of a DLL+PLL tracking loop block
* for GPS L1 C/A to a TrackingInterface
* \author 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) 2010-2015 (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_tracking_fpga.h"
#include <glog/logging.h>
#include "GPS_L1_CA.h"
#include "configuration_interface.h"
using google::LogMessage;
GpsL1CaDllPllTrackingFpga::GpsL1CaDllPllTrackingFpga(
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 item_type;
//std::string default_item_type = "gr_complex";
std::string default_item_type = "cshort";
float pll_bw_hz;
float dll_bw_hz;
float early_late_space_chips;
item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
std::string device_name;
unsigned int device_base;
std::string default_device_name = "/dev/uio";
device_name = configuration->property(role + ".devicename", default_device_name);
device_base = configuration->property(role + ".device_base", 1);
fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
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);
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));
if (item_type.compare("cshort") == 0)
{
item_size_ = sizeof(lv_16sc_t);
tracking_fpga_sc = gps_l1_ca_dll_pll_make_tracking_fpga_sc(
f_if, fs_in, vector_length, dump, dump_filename, pll_bw_hz,
dll_bw_hz, early_late_space_chips, device_name,
device_base);
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;
DLOG(INFO) << "tracking(" << tracking_fpga_sc->unique_id() << ")";
}
GpsL1CaDllPllTrackingFpga::~GpsL1CaDllPllTrackingFpga()
{}
void GpsL1CaDllPllTrackingFpga::start_tracking()
{
tracking_fpga_sc->start_tracking();
}
/*
* Set tracking channel unique ID
*/
void GpsL1CaDllPllTrackingFpga::set_channel(unsigned int channel)
{
channel_ = channel;
tracking_fpga_sc->set_channel(channel);
}
void GpsL1CaDllPllTrackingFpga::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
tracking_fpga_sc->set_gnss_synchro(p_gnss_synchro);
}
void GpsL1CaDllPllTrackingFpga::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 GpsL1CaDllPllTrackingFpga::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
}
gr::basic_block_sptr GpsL1CaDllPllTrackingFpga::get_left_block()
{
return tracking_fpga_sc;
}
gr::basic_block_sptr GpsL1CaDllPllTrackingFpga::get_right_block()
{
return tracking_fpga_sc;
}
void GpsL1CaDllPllTrackingFpga::reset(void)
{
// tracking_fpga_sc->reset();
}

38
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking_fpga.h → src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_fpga.h
View File

@ -1,9 +1,8 @@
/*!
* \file gps_l1_ca_dll_pll_c_aid_tracking_fpga.h
* \file gps_l1_ca_dll_pll_tracking.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
* \author 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:
@ -13,7 +12,7 @@
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -36,36 +35,38 @@
* -------------------------------------------------------------------------
*/
#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_
#ifndef GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_FPGA_H_
#define GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_FPGA_H_
#include <string>
#include "tracking_interface.h"
#include "gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.h"
#include "gps_l1_ca_dll_pll_tracking_fpga_sc.h"
class ConfigurationInterface;
/*!
* \brief This class implements a code DLL + carrier PLL tracking loop
*/
class GpsL1CaDllPllCAidTrackingFpga : public TrackingInterface
class GpsL1CaDllPllTrackingFpga : public TrackingInterface
{
public:
GpsL1CaDllPllCAidTrackingFpga(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
GpsL1CaDllPllTrackingFpga(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams);
virtual ~GpsL1CaDllPllCAidTrackingFpga();
virtual ~GpsL1CaDllPllTrackingFpga();
inline std::string role() override
{
return role_;
}
//! Returns "GPS_L1_CA_DLL_PLL_C_Aid_Tracking_Fpga"
//! Returns "GPS_L1_CA_DLL_PLL_Tracking_Fpga"
inline std::string implementation() override
{
return "GPS_L1_CA_DLL_PLL_C_Aid_Tracking_Fpga";
return "GPS_L1_CA_DLL_PLL_Tracking_Fpga";
}
inline size_t item_size() override
@ -75,7 +76,6 @@ public:
void connect(gr::top_block_sptr top_block) override;
void disconnect(gr::top_block_sptr top_block) override;
// CONVERT TO SOURCE
gr::basic_block_sptr get_left_block() override;
gr::basic_block_sptr get_right_block() override;
@ -92,16 +92,16 @@ public:
void start_tracking() override;
void reset(void);
void reset(void);
private:
gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc_sptr tracking_fpga_sc;
//gps_l1_ca_dll_pll_tracking_cc_sptr tracking_;
gps_l1_ca_dll_pll_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_
#endif // GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_FPGA_H_

2
src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
View File

@ -23,7 +23,7 @@ if(ENABLE_CUDA)
endif(ENABLE_CUDA)
if(ENABLE_FPGA)
set(OPT_TRACKING_BLOCKS ${OPT_TRACKING_BLOCKS} gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.cc)
set(OPT_TRACKING_BLOCKS ${OPT_TRACKING_BLOCKS} gps_l1_ca_dll_pll_tracking_fpga_sc.cc)
endif(ENABLE_FPGA)
set(TRACKING_GR_BLOCKS_SOURCES

947
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.cc
View File

@ -1,947 +0,0 @@
/*!
* \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 "gnss_synchro.h"
#include "gps_sdr_signal_processing.h"
#include "tracking_discriminators.h"
#include "lock_detectors.h"
#include "GPS_L1_CA.h"
#include "gnss_sdr_flags.h"
#include "control_message_factory.h"
#include <boost/bind.hpp>
#include <boost/lexical_cast.hpp>
#include <gnuradio/io_signature.h>
#include <matio.h>
#include <pmt/pmt.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <glog/logging.h>
#include <cmath>
#include <iostream>
#include <memory>
#include <sstream>
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,
std::string device_name, unsigned int device_base)
{
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, device_name, device_base));
}
void gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::msg_handler_preamble_index(
pmt::pmt_t 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,
std::string device_name, unsigned int device_base) :
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;
// create multicorrelator class
multicorrelator_fpga_8sc = std::make_shared <fpga_multicorrelator_8sc>(d_n_correlator_taps, device_name, device_base);
//--- 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[FLAGS_cn0_samples];
d_carrier_lock_test = 1;
d_CN0_SNV_dB_Hz = 0;
d_carrier_lock_fail_counter = 0;
d_carrier_lock_threshold = FLAGS_carrier_lock_th;
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);
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;
// lock the channel
multicorrelator_fpga_8sc->lock_channel();
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()
{
if (d_dump_file.is_open())
{
try
{
d_dump_file.close();
}
catch(const std::exception & ex)
{
LOG(WARNING)<< "Exception in destructor " << ex.what();
}
}
if(d_dump)
{
if(d_channel == 0)
{
std::cout << "Writing .mat files ...";
}
gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::save_matfile();
if(d_channel == 0)
{
std::cout << " done." << std::endl;
}
}
try
{
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();
}
catch(const std::exception & ex)
{
LOG(WARNING) << "Exception in destructor " << ex.what();
}
}
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)
{
// samples offset
int samples_offset;
// Block input data and block output stream pointers
Gnss_Synchro **out = reinterpret_cast<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)
{
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_sample_counter = d_sample_counter + samples_offset;
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;
current_synchro_data.fs = d_fs_in;
*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_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 < FLAGS_cn0_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, FLAGS_cn0_samples, d_fs_in, GPS_L1_CA_CODE_LENGTH_CHIPS);
// Carrier lock indicator
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, FLAGS_cn0_samples);
// Loss of lock detection
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < FLAGS_cn0_min)
{
d_carrier_lock_fail_counter++;
}
else
{
if (d_carrier_lock_fail_counter > 0)
{
d_carrier_lock_fail_counter--;
}
}
if (d_carrier_lock_fail_counter > FLAGS_max_lock_fail)
{
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
multicorrelator_fpga_8sc->unlock_channel();
}
}
// ########### 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());
current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples;
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
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());
current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples;
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
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_sample_counter = d_sample_counter + d_correlation_length_samples;
}
current_synchro_data.fs = 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));
// PRN
unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
d_dump_file.write(reinterpret_cast<char*>(&prn_), sizeof(unsigned int));
}
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
if (d_enable_tracking)
{
return 1;
}else{
return 0;
}
}
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();
}
}
}
}
int gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::save_matfile()
{
// READ DUMP FILE
std::ifstream::pos_type size;
int number_of_double_vars = 11;
int number_of_float_vars = 5;
int epoch_size_bytes = sizeof(unsigned long int) + sizeof(double) * number_of_double_vars +
sizeof(float) * number_of_float_vars + sizeof(unsigned int);
std::ifstream dump_file;
dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
try
{
dump_file.open(d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
}
catch(const std::ifstream::failure &e)
{
std::cerr << "Problem opening dump file:" << e.what() << std::endl;
return 1;
}
// count number of epochs and rewind
long int num_epoch = 0;
if (dump_file.is_open())
{
size = dump_file.tellg();
num_epoch = static_cast<long int>(size) / static_cast<long int>(epoch_size_bytes);
dump_file.seekg(0, std::ios::beg);
}
else
{
return 1;
}
float * abs_E = new float [num_epoch];
float * abs_P = new float [num_epoch];
float * abs_L = new float [num_epoch];
float * Prompt_I = new float [num_epoch];
float * Prompt_Q = new float [num_epoch];
unsigned long int * PRN_start_sample_count = new unsigned long int [num_epoch];
double * acc_carrier_phase_rad = new double [num_epoch];
double * carrier_doppler_hz = new double [num_epoch];
double * code_freq_chips = new double [num_epoch];
double * carr_error_hz = new double [num_epoch];
double * carr_error_filt_hz = new double [num_epoch];
double * code_error_chips = new double [num_epoch];
double * code_error_filt_chips = new double [num_epoch];
double * CN0_SNV_dB_Hz = new double [num_epoch];
double * carrier_lock_test = new double [num_epoch];
double * aux1 = new double [num_epoch];
double * aux2 = new double [num_epoch];
unsigned int * PRN = new unsigned int [num_epoch];
try
{
if (dump_file.is_open())
{
for(long int i = 0; i < num_epoch; i++)
{
dump_file.read(reinterpret_cast<char *>(&abs_E[i]), sizeof(float));
dump_file.read(reinterpret_cast<char *>(&abs_P[i]), sizeof(float));
dump_file.read(reinterpret_cast<char *>(&abs_L[i]), sizeof(float));
dump_file.read(reinterpret_cast<char *>(&Prompt_I[i]), sizeof(float));
dump_file.read(reinterpret_cast<char *>(&Prompt_Q[i]), sizeof(float));
dump_file.read(reinterpret_cast<char *>(&PRN_start_sample_count[i]), sizeof(unsigned long int));
dump_file.read(reinterpret_cast<char *>(&acc_carrier_phase_rad[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&carrier_doppler_hz[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&code_freq_chips[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&carr_error_hz[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&carr_error_filt_hz[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&code_error_chips[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&code_error_filt_chips[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&CN0_SNV_dB_Hz[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&carrier_lock_test[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&aux1[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&aux2[i]), sizeof(double));
dump_file.read(reinterpret_cast<char *>(&PRN[i]), sizeof(unsigned int));
}
}
dump_file.close();
}
catch (const std::ifstream::failure &e)
{
std::cerr << "Problem reading dump file:" << e.what() << std::endl;
delete[] abs_E;
delete[] abs_P;
delete[] abs_L;
delete[] Prompt_I;
delete[] Prompt_Q;
delete[] PRN_start_sample_count;
delete[] acc_carrier_phase_rad;
delete[] carrier_doppler_hz;
delete[] code_freq_chips;
delete[] carr_error_hz;
delete[] carr_error_filt_hz;
delete[] code_error_chips;
delete[] code_error_filt_chips;
delete[] CN0_SNV_dB_Hz;
delete[] carrier_lock_test;
delete[] aux1;
delete[] aux2;
delete[] PRN;
return 1;
}
// WRITE MAT FILE
mat_t *matfp;
matvar_t *matvar;
std::string filename = d_dump_filename;
filename.erase(filename.length() - 4, 4);
filename.append(".mat");
matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73);
if(reinterpret_cast<long*>(matfp) != NULL)
{
size_t dims[2] = {1, static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_P, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_L, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_I, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_Q, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims, PRN_start_sample_count, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, acc_carrier_phase_rad, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_doppler_hz, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_freq_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_freq_chips, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carr_error_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_hz, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_filt_hz, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_error_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_chips, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_filt_chips, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, CN0_SNV_dB_Hz, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_lock_test, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("aux1", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux1, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux2, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims, PRN, 0);
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
Mat_VarFree(matvar);
}
Mat_Close(matfp);
delete[] abs_E;
delete[] abs_P;
delete[] abs_L;
delete[] Prompt_I;
delete[] Prompt_Q;
delete[] PRN_start_sample_count;
delete[] acc_carrier_phase_rad;
delete[] carrier_doppler_hz;
delete[] code_freq_chips;
delete[] carr_error_hz;
delete[] carr_error_filt_hz;
delete[] code_error_chips;
delete[] code_error_filt_chips;
delete[] CN0_SNV_dB_Hz;
delete[] carrier_lock_test;
delete[] aux1;
delete[] aux2;
delete[] PRN;
return 0;
}
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;
}
void gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::reset(void)
{
multicorrelator_fpga_8sc->unlock_channel();
}

185
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.h
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@ -1,185 +0,0 @@
/*!
* \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 "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"
#include <boost/thread/mutex.hpp>
#include <boost/thread/thread.hpp>
#include <gnuradio/block.h>
#include <volk/volk.h>
#include <fstream>
#include <map>
#include <string>
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,
std::string device_name, unsigned int device_base);
/*!
* \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);
void reset(void);
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, std::string device_name,
unsigned int device_base);
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,
std::string device_name, unsigned int device_base);
// 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;
lv_16sc_t* d_correlator_outs_16sc;
//fpga_multicorrelator_8sc multicorrelator_fpga_8sc;
std::shared_ptr<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;
int save_matfile();
};
#endif //GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_FPGA_SC_H

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src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_fpga_sc.cc Normal file
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@ -0,0 +1,586 @@
/*!
* \file gps_l1_ca_dll_pll_tracking_cc.cc
* \brief Implementation of a code DLL + carrier PLL tracking block
* \author 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:
* [1] 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) 2010-2015 (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_tracking_fpga_sc.h"
#include <cmath>
#include <iostream>
#include <memory>
#include <sstream>
#include <boost/lexical_cast.hpp>
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include <volk_gnsssdr/volk_gnsssdr.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_tracking_fpga_sc_sptr
gps_l1_ca_dll_pll_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 early_late_space_chips,
std::string device_name,
unsigned int device_base)
{
return gps_l1_ca_dll_pll_tracking_fpga_sc_sptr(new Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc(if_freq,
fs_in, vector_length, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips, device_name, device_base));
}
Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc::Gps_L1_Ca_Dll_Pll_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 early_late_space_chips,
std::string device_name,
unsigned int device_base) :
gr::block("Gps_L1_Ca_Dll_Pll_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->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_current_prn_length_samples = static_cast<int>(d_vector_length);
d_correlation_length_samples = static_cast<int>(d_vector_length);
// Initialize tracking ==========================================
d_code_loop_filter.set_DLL_BW(dll_bw_hz);
d_carrier_loop_filter.set_PLL_BW(pll_bw_hz);
//--- 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<float*>(volk_gnsssdr_malloc(static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(float), 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()));
//d_ca_code_16sc = static_cast<int*>(volk_gnsssdr_malloc(static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(int), volk_gnsssdr_get_alignment()));
// correlator outputs (scalar)
d_n_correlator_taps = 3; // Early, Prompt, and Late
d_correlator_outs = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
for (int n = 0; n < d_n_correlator_taps; n++)
{
d_correlator_outs[n] = gr_complex(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;
// create multicorrelator class
multicorrelator_fpga_8sc = std::make_shared <fpga_multicorrelator_8sc>(d_n_correlator_taps, device_name, device_base);
//--- 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_carr_phase_rad = 0.0;
// sample synchronization
d_sample_counter = 0;
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");
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_rad = 0.0;
d_code_phase_samples = 0.0;
d_rem_code_phase_chips = 0.0;
d_code_phase_step_chips = 0.0;
d_carrier_phase_step_rad = 0.0;
set_relative_rate(1.0 / static_cast<double>(d_vector_length));
d_first_time = 1;
}
void Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc::start_tracking()
{
/*
* correct the code phase according to the delay between acq and trk
*/
//printf("TRK : start tracking for satellite %d\n", d_acquisition_gnss_synchro->PRN);
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<float>(acq_trk_diff_samples) / static_cast<float>(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/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_current_prn_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(); // initialize the carrier filter
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_float(d_ca_code, d_acquisition_gnss_synchro->PRN, 0);
//gps_l1_ca_code_gen_int(d_ca_code_16sc, d_acquisition_gnss_synchro->PRN, 0);
/* for (int n = 0; n < static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS); n++)
{
d_ca_code_16sc[n] = d_ca_code[n];
} */
//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, d_acquisition_gnss_synchro->PRN);
multicorrelator_fpga_8sc->set_local_code_and_taps(static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS), d_local_code_shift_chips, d_acquisition_gnss_synchro->PRN);
for (int n = 0; n < d_n_correlator_taps; n++)
{
d_correlator_outs[n] = gr_complex(0,0);
}
d_carrier_lock_fail_counter = 0;
d_rem_code_phase_samples = 0;
d_rem_carr_phase_rad = 0.0;
d_rem_code_phase_chips = 0.0;
d_acc_carrier_phase_rad = 0.0;
d_code_phase_samples = d_acq_code_phase_samples;
std::string sys_ = &d_acquisition_gnss_synchro->System;
sys = sys_.substr(0,1);
//std::cout << "Tracking of GPS L1 C/A signal started 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;
multicorrelator_fpga_8sc->lock_channel();
d_enable_tracking = true; //do it in the end to avoid starting running tracking before finishing this function
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;
d_first_time = 1;
}
Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc::~Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc()
{
if (d_dump_file.is_open())
{
try
{
d_dump_file.close();
}
catch(const std::exception & ex)
{
LOG(WARNING) << "Exception in destructor " << ex.what();
}
}
try
{
volk_gnsssdr_free(d_local_code_shift_chips);
volk_gnsssdr_free(d_correlator_outs);
//volk_gnsssdr_free(d_ca_code);
delete[] d_Prompt_buffer;
//multicorrelator_cpu.free();
//volk_gnsssdr_free(d_ca_code_16sc);
multicorrelator_fpga_8sc->free();
}
catch(const std::exception & ex)
{
LOG(WARNING) << "Exception in destructor " << ex.what();
}
}
int Gps_L1_Ca_Dll_Pll_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)
{
// debug
int secondary_sample_counter;
int counter_corr_0_in;
int counter_corr_0_out;
int sample_counter;
// samples offset
// int samples_offset;
unsigned absolute_samples_offset;
// int kk2;
// process vars
double carr_error_hz = 0.0;
double carr_error_filt_hz = 0.0;
double code_error_chips = 0.0;
double code_error_filt_chips = 0.0;
int next_prn_length_samples = d_current_prn_length_samples;
// int offset_prn_samples = 0;
// Block input data and block output stream pointers
Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
Gnss_Synchro current_synchro_data = Gnss_Synchro();
if (d_enable_tracking == true)
{
// Fill the acquisition data
current_synchro_data = *d_acquisition_gnss_synchro;
// Receiver signal alignment
if (d_pull_in == true)
{
d_pull_in = false;
unsigned counter_value = multicorrelator_fpga_8sc->read_sample_counter();
unsigned num_frames = ceil((counter_value - current_synchro_data.Acq_samplestamp_samples - current_synchro_data.Acq_delay_samples)/d_correlation_length_samples);
absolute_samples_offset = current_synchro_data.Acq_delay_samples + current_synchro_data.Acq_samplestamp_samples + num_frames*d_correlation_length_samples;
multicorrelator_fpga_8sc->set_initial_sample(absolute_samples_offset);
d_sample_counter = absolute_samples_offset;
current_synchro_data.Tracking_sample_counter = absolute_samples_offset;
}
else
{
// continue as from the previous point
d_sample_counter = d_sample_counter_next;
}
d_sample_counter_next = d_sample_counter + d_current_prn_length_samples;
// ################# CARRIER WIPEOFF AND CORRELATORS ##############################
// perform carrier wipe-off and compute Early, Prompt and Late correlation
multicorrelator_fpga_8sc->set_output_vectors(d_correlator_outs);
multicorrelator_fpga_8sc->Carrier_wipeoff_multicorrelator_resampler(
d_rem_carr_phase_rad, d_carrier_phase_step_rad,
d_rem_code_phase_chips, d_code_phase_step_chips,
d_current_prn_length_samples);
d_previous_sample_counter = d_debug_sample_counter;
d_previous_counter_corr_0_in = d_counter_corr_0_in;
d_previous_counter_corr_0_out = d_counter_corr_0_out;
multicorrelator_fpga_8sc->read_sample_counters(&sample_counter, &secondary_sample_counter, &counter_corr_0_in, &counter_corr_0_out);
d_debug_sample_counter = sample_counter;
d_counter_corr_0_in = counter_corr_0_in;
d_counter_corr_0_out = counter_corr_0_out;
d_counter_corr_0_in_inc = counter_corr_0_in - d_previous_counter_corr_0_in;
d_counter_corr_0_out_inc = counter_corr_0_out - d_previous_counter_corr_0_out;
d_sample_counter_inc = d_debug_sample_counter - d_previous_sample_counter;
// ################## PLL ##########################################################
// PLL discriminator
// Update PLL discriminator [rads/Ti -> Secs/Ti]
carr_error_hz = pll_cloop_two_quadrant_atan(d_correlator_outs[1]) / GPS_TWO_PI; // prompt output
// Carrier discriminator filter
carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz);
// New carrier Doppler frequency estimation
d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz;
// New code Doppler frequency estimation
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
code_error_chips = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]); // [chips/Ti] //early and late
// Code discriminator filter
code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); // [chips/second]
double T_chip_seconds = 1.0 / static_cast<double>(d_code_freq_chips);
double T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
double code_error_filt_secs = (T_prn_seconds * code_error_filt_chips*T_chip_seconds); //[seconds]
// ################## 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_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
double K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * static_cast<double>(d_fs_in);
next_prn_length_samples = round(K_blk_samples);
// offset_prn_samples = next_prn_length_samples - d_current_prn_length_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);
// remnant carrier phase to prevent overflow in the code NCO
d_rem_carr_phase_rad = d_rem_carr_phase_rad + d_carrier_phase_step_rad * d_current_prn_length_samples;
d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GPS_TWO_PI);
// carrier phase accumulator
d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * d_current_prn_length_samples;
//################### 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_samples = K_blk_samples - next_prn_length_samples; // rounding error < 1 sample
d_rem_code_phase_chips = d_code_freq_chips * (d_rem_code_phase_samples / 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] = d_correlator_outs[1]; //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;
d_debug_loss_of_track = 1;
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
multicorrelator_fpga_8sc->unlock_channel();
}
}
// ########### Output the tracking data to navigation and PVT ##########
current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs[1]).real());
current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs[1]).imag());
current_synchro_data.Tracking_sample_counter = d_sample_counter + d_current_prn_length_samples;
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
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;
current_synchro_data.correlation_length_ms = 1;
}
else
{
for (int n = 0; n < d_n_correlator_taps; n++)
{
d_correlator_outs[n] = gr_complex(0,0);
}
current_synchro_data.Tracking_sample_counter =d_sample_counter + d_current_prn_length_samples;
current_synchro_data.System = {'G'};
current_synchro_data.correlation_length_ms = 1;
}
//assign the GNURadio block output data
current_synchro_data.fs = d_fs_in;
*out[0] = current_synchro_data;
if (d_enable_tracking == true) // in the FPGA case dump data only when tracking is enabled, otherwise the dumped data is useless
{
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;
unsigned long int tmp_long;
prompt_I = d_correlator_outs[1].real();
prompt_Q = d_correlator_outs[1].imag();
tmp_E = std::abs<float>(d_correlator_outs[0]);
tmp_P = std::abs<float>(d_correlator_outs[1]);
tmp_L = std::abs<float>(d_correlator_outs[2]);
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_long = d_sample_counter + d_current_prn_length_samples;
d_dump_file.write(reinterpret_cast<char*>(&tmp_long), sizeof(unsigned long int));
// accumulated carrier phase
d_dump_file.write(reinterpret_cast<char*>(&d_acc_carrier_phase_rad), 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*>(&carr_error_hz), sizeof(double));
d_dump_file.write(reinterpret_cast<char*>(&carr_error_filt_hz), sizeof(double));
// DLL commands
d_dump_file.write(reinterpret_cast<char*>(&code_error_chips), sizeof(double));
d_dump_file.write(reinterpret_cast<char*>(&code_error_filt_chips), 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_rem_code_phase_samples;
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
tmp_double = static_cast<double>(d_sample_counter);
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
// PRN
unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
d_dump_file.write(reinterpret_cast<char*>(&prn_), sizeof(unsigned int));
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "Exception writing trk dump file " << e.what();
}
}
}
d_current_prn_length_samples = next_prn_length_samples;
d_sample_counter += d_current_prn_length_samples; // count for the processed samples
if (d_enable_tracking == true)
{
return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
//return 0; // debug
}
else
{
return 0;
}
}
void Gps_L1_Ca_Dll_Pll_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_Tracking_fpga_sc::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
d_acquisition_gnss_synchro = p_gnss_synchro;
}
void Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc::reset(void)
{
multicorrelator_fpga_8sc->unlock_channel();
}

200
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_fpga_sc.h Normal file
View File

@ -0,0 +1,200 @@
/*!
* \file gps_l1_ca_dll_pll_tracking_cc.h
* \brief Interface of a code DLL + carrier PLL tracking block
* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
* Javier Arribas, 2011. jarribas(at)cttc.es
* Cillian O'Driscoll, 2017. cillian.odriscoll(at)gmail.com
*
* 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) 2010-2015 (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_TRACKING_FPGA_SC_H
#define GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_FPGA_SC_H
#include <fstream>
#include <map>
#include <string>
#include <gnuradio/block.h>
#include "gnss_synchro.h"
#include "tracking_2nd_DLL_filter.h"
#include "tracking_2nd_PLL_filter.h"
#include "fpga_multicorrelator_8sc.h"
class Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc;
typedef boost::shared_ptr<Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc>
gps_l1_ca_dll_pll_tracking_fpga_sc_sptr;
gps_l1_ca_dll_pll_tracking_fpga_sc_sptr
gps_l1_ca_dll_pll_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 early_late_space_chips,
std::string device_name,
unsigned int device_base);
/*!
* \brief This class implements a DLL + PLL tracking loop block
*/
class Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc: public gr::block
{
public:
~Gps_L1_Ca_Dll_Pll_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);
void reset(void);
private:
friend gps_l1_ca_dll_pll_tracking_fpga_sc_sptr
gps_l1_ca_dll_pll_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 early_late_space_chips,
std::string device_name,
unsigned int device_base);
Gps_L1_Ca_Dll_Pll_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 early_late_space_chips,
std::string device_name,
unsigned int device_base);
// 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;
// remaining code phase and carrier phase between tracking loops
double d_rem_code_phase_samples;
double d_rem_code_phase_chips;
double d_rem_carr_phase_rad;
// PLL and DLL filter library
Tracking_2nd_DLL_filter d_code_loop_filter;
Tracking_2nd_PLL_filter d_carrier_loop_filter;
// acquisition
double d_acq_code_phase_samples;
double d_acq_carrier_doppler_hz;
// correlator
int d_n_correlator_taps;
//float* d_ca_code;
//int* d_ca_code_16sc;
float* d_local_code_shift_chips;
gr_complex* d_correlator_outs;
std::shared_ptr<fpga_multicorrelator_8sc> multicorrelator_fpga_8sc;
// tracking vars
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_rad;
double d_code_phase_samples;
//PRN period in samples
int d_current_prn_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;
// extra
int d_correlation_length_samples;
unsigned long int d_sample_counter_next;
double d_rem_carrier_phase_rad;
double d_K_blk_samples_previous;
int d_offset_sample_previous;
int d_first_time;
int d_kk = 0;
int d_numsamples_debug = 990;
int d_previous_sample_counter = 0;
int d_debug_sample_counter = 0;
int d_previous_counter_corr_0_in = 0;
int d_previous_counter_corr_0_out = 0;
int d_counter_corr_0_in_inc = 0;
int d_counter_corr_0_out_inc = 0;
int d_counter_corr_0_in = 0;
int d_counter_corr_0_out = 0;
int d_sample_counter_inc = 0;
int d_debug_loss_of_track = 0;
};
#endif //GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_FPGA_SC_H

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

@ -47,6 +47,7 @@ set(TRACKING_LIB_SOURCES
if(ENABLE_FPGA)
SET(TRACKING_LIB_SOURCES ${TRACKING_LIB_SOURCES} fpga_multicorrelator_8sc.cc)
SET(TRACKING_LIB_SOURCES ${TRACKING_LIB_SOURCES} fpga_multicorrelator_real_codes_8sc.cc)
endif(ENABLE_FPGA)
include_directories(
@ -54,6 +55,7 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${VOLK_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}

126
src/algorithms/tracking/libs/fpga_multicorrelator_8sc.cc
View File

@ -35,6 +35,7 @@
*/
#include "fpga_multicorrelator_8sc.h"
#include <cmath>
// FPGA stuff
@ -63,6 +64,12 @@
// string manipulation
#include <string>
// constants
#include "GPS_L1_CA.h"
#include "gps_sdr_signal_processing.h"
#define NUM_PRNs 32
#define PAGE_SIZE 0x10000
#define MAX_LENGTH_DEVICEIO_NAME 50
#define CODE_RESAMPLER_NUM_BITS_PRECISION 20
@ -77,38 +84,39 @@
#define LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY 0x0C000000
#define TEST_REGISTER_TRACK_WRITEVAL 0x55AA
int fpga_multicorrelator_8sc::read_sample_counter()
{
return d_map_base[7];
}
void fpga_multicorrelator_8sc::set_initial_sample(int samples_offset)
{
d_initial_sample_counter = samples_offset;
d_map_base[13] = d_initial_sample_counter;
}
//bool fpga_multicorrelator_8sc::set_local_code_and_taps(int code_length_chips,
// const int* local_code_in, float *shifts_chips, int PRN)
bool fpga_multicorrelator_8sc::set_local_code_and_taps(int code_length_chips,
const lv_16sc_t* local_code_in, float *shifts_chips)
float *shifts_chips, int PRN)
{
d_local_code_in = local_code_in;
//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();
fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code(PRN);
return true;
}
bool fpga_multicorrelator_8sc::set_output_vectors(lv_16sc_t* corr_out)
bool fpga_multicorrelator_8sc::set_output_vectors(gr_complex* corr_out)
{
// Save CPU pointers
d_corr_out = corr_out;
return true;
}
void fpga_multicorrelator_8sc::update_local_code(float rem_code_phase_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();
}
@ -120,32 +128,31 @@ bool fpga_multicorrelator_8sc::Carrier_wipeoff_multicorrelator_resampler(
int signal_length_samples)
{
update_local_code(rem_code_phase_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();
// if (first_time == 1)
// {
fpga_multicorrelator_8sc::fpga_compute_signal_parameters_in_fpga();
fpga_multicorrelator_8sc::fpga_configure_signal_parameters_in_fpga();
// first_time = 0;
// }
fpga_multicorrelator_8sc::fpga_launch_multicorrelator_fpga();
int irq_count;
ssize_t nb;
// wait for interrupt
nb = read(d_device_descriptor, &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(int n_correlators,
std::string device_name, unsigned int device_base)
{
@ -161,7 +168,7 @@ fpga_multicorrelator_8sc::fpga_multicorrelator_8sc(int n_correlators,
d_initial_interp_counter = static_cast<unsigned*>(volk_gnsssdr_malloc(
n_correlators * sizeof(unsigned), volk_gnsssdr_get_alignment()));
d_local_code_in = nullptr;
//d_local_code_in = nullptr;
d_shifts_chips = nullptr;
d_corr_out = nullptr;
d_code_length_chips = 0;
@ -172,22 +179,32 @@ fpga_multicorrelator_8sc::fpga_multicorrelator_8sc(int n_correlators,
d_rem_carr_phase_rad_int = 0;
d_phase_step_rad_int = 0;
d_initial_sample_counter = 0;
d_channel = 0;
d_correlator_length_samples = 0;
// pre-compute all the codes
d_ca_codes = static_cast<int*>(volk_gnsssdr_malloc(static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS*NUM_PRNs) * sizeof(int), volk_gnsssdr_get_alignment()));
for (unsigned int PRN = 1; PRN <= NUM_PRNs; PRN++)
{
//gps_l1_ca_code_gen_int(&d_ca_codes[GPS_L1_CA_CODE_LENGTH_CHIPS*(PRN -1)], PRN, 0);
gps_l1_ca_code_gen_int(&d_ca_codes[(int(GPS_L1_CA_CODE_LENGTH_CHIPS)) * (PRN - 1)], PRN, 0);
}
DLOG(INFO) << "TRACKING FPGA CLASS CREATED";
}
fpga_multicorrelator_8sc::~fpga_multicorrelator_8sc()
{
close(d_device_descriptor);
delete[] d_ca_codes;
close_device();
}
bool fpga_multicorrelator_8sc::free()
{
// unlock the hardware
fpga_multicorrelator_8sc::unlock_channel(); // unlock the channel
// unlock the channel
fpga_multicorrelator_8sc::unlock_channel();
// free the FPGA dynamically created variables
if (d_initial_index != nullptr)
@ -209,23 +226,19 @@ bool fpga_multicorrelator_8sc::free()
void fpga_multicorrelator_8sc::set_channel(unsigned int channel)
{
char device_io_name[MAX_LENGTH_DEVICEIO_NAME]; // driver io name
d_channel = channel;
// open the device corresponding to the assigned channel
std::string mergedname;
std::stringstream devicebasetemp;
int numdevice = d_device_base + d_channel;
devicebasetemp << numdevice;
mergedname = d_device_name + devicebasetemp.str();
strcpy(device_io_name, mergedname.c_str());
printf("Opening Device Name : %s\n", device_io_name);
if ((d_device_descriptor = open(device_io_name, O_RDWR | O_SYNC)) == -1)
{
LOG(WARNING) << "Cannot open deviceio" << device_io_name;
}
d_map_base = reinterpret_cast<volatile unsigned *>(mmap(NULL, PAGE_SIZE,
PROT_READ | PROT_WRITE, MAP_SHARED, d_device_descriptor, 0));
@ -263,12 +276,11 @@ unsigned fpga_multicorrelator_8sc::fpga_acquisition_test_register(
}
void fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code(void)
void fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code(int PRN)
{
int k, s;
unsigned code_chip;
unsigned select_fpga_correlator;
select_fpga_correlator = 0;
for (s = 0; s < d_n_correlators; s++)
@ -276,7 +288,8 @@ void fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code(void)
d_map_base[11] = LOCAL_CODE_FPGA_CLEAR_ADDRESS_COUNTER;
for (k = 0; k < d_code_length_chips; k++)
{
if (lv_creal(d_local_code_in[k]) == 1)
//if (d_local_code_in[k] == 1)
if (d_ca_codes[((int(GPS_L1_CA_CODE_LENGTH_CHIPS)) * (PRN - 1)) + k] == 1)
{
code_chip = 1;
}
@ -301,18 +314,16 @@ void fpga_multicorrelator_8sc::fpga_compute_code_shift_parameters(void)
for (i = 0; i < d_n_correlators; i++)
{
// initial index calculation
temp_calculation = floor(
d_shifts_chips[i] + d_rem_code_phase_chips);
d_shifts_chips[i] - d_rem_code_phase_chips);
if (temp_calculation < 0)
{
temp_calculation = temp_calculation + d_code_length_chips; // % operator does not work as in Matlab with negative numbers
}
d_initial_index[i] = static_cast<unsigned>( (static_cast<int>(temp_calculation)) % d_code_length_chips);
// initial interpolator counter calculation
temp_calculation = fmod(d_shifts_chips[i] + d_rem_code_phase_chips,
1.0);
temp_calculation = fmod(d_shifts_chips[i] - d_rem_code_phase_chips,
1.0);
if (temp_calculation < 0)
{
temp_calculation = temp_calculation + 1.0; // fmod operator does not work as in Matlab with negative numbers
@ -339,7 +350,6 @@ void fpga_multicorrelator_8sc::fpga_compute_signal_parameters_in_fpga(void)
float d_rem_carrier_phase_in_rad_temp;
d_code_phase_step_chips_num = static_cast<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
@ -354,11 +364,9 @@ void fpga_multicorrelator_8sc::fpga_compute_signal_parameters_in_fpga(void)
{
d_rem_carrier_phase_in_rad_temp = d_rem_carrier_phase_in_rad;
}
d_rem_carr_phase_rad_int = static_cast<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;
@ -379,7 +387,6 @@ void fpga_multicorrelator_8sc::fpga_configure_signal_parameters_in_fpga(void)
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[13] = d_initial_sample_counter;
}
@ -389,7 +396,8 @@ void fpga_multicorrelator_8sc::fpga_launch_multicorrelator_fpga(void)
int reenable = 1;
write(d_device_descriptor, reinterpret_cast<void*>(&reenable), sizeof(int));
d_map_base[14] = 0; // writing anything to reg 14 launches the tracking
// writing 1 to reg 14 launches the tracking
d_map_base[14] = 1;
}
@ -414,8 +422,7 @@ void fpga_multicorrelator_8sc::read_tracking_gps_results(void)
readval_imag = -2097152 + readval_imag;
}
readval_imag = readval_imag * 2; // the results are shifted two bits to the left due to the complex multiplier in the FPGA
d_corr_out[k] = lv_cmake(readval_real, readval_imag);
d_corr_out[k] = gr_complex(readval_real,readval_imag);
}
}
@ -426,6 +433,20 @@ void fpga_multicorrelator_8sc::unlock_channel(void)
d_map_base[12] = 1; // unlock the channel
}
void fpga_multicorrelator_8sc::close_device()
{
unsigned * aux = const_cast<unsigned*>(d_map_base);
if (munmap(static_cast<void*>(aux), PAGE_SIZE) == -1)
{
printf("Failed to unmap memory uio\n");
}
/* else
{
printf("memory uio unmapped\n");
} */
close(d_device_descriptor);
}
void fpga_multicorrelator_8sc::lock_channel(void)
{
@ -433,3 +454,16 @@ void fpga_multicorrelator_8sc::lock_channel(void)
d_map_base[12] = 0; // lock the channel
}
void fpga_multicorrelator_8sc::read_sample_counters(int *sample_counter, int *secondary_sample_counter, int *counter_corr_0_in, int *counter_corr_0_out)
{
*sample_counter = d_map_base[11];
*secondary_sample_counter = d_map_base[8];
*counter_corr_0_in = d_map_base[10];
*counter_corr_0_out = d_map_base[9];
}
void fpga_multicorrelator_8sc::reset_multicorrelator(void)
{
d_map_base[14] = 2; // writing a 2 to d_map_base[14] resets the multicorrelator
}

41
src/algorithms/tracking/libs/fpga_multicorrelator_8sc.h
View File

@ -37,6 +37,7 @@
#ifndef GNSS_SDR_FPGA_MULTICORRELATOR_8SC_H_
#define GNSS_SDR_FPGA_MULTICORRELATOR_8SC_H_
#include <gnuradio/block.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#define MAX_LENGTH_DEVICEIO_NAME 50
@ -49,22 +50,30 @@ class fpga_multicorrelator_8sc
public:
fpga_multicorrelator_8sc(int n_correlators, std::string device_name,
unsigned int device_base);
~fpga_multicorrelator_8sc();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);
~fpga_multicorrelator_8sc();
bool set_output_vectors(gr_complex* corr_out);
// bool set_local_code_and_taps(
// int code_length_chips, const int* local_code_in,
// float *shifts_chips, int PRN);
bool set_local_code_and_taps(
int code_length_chips,
float *shifts_chips, int PRN);
bool set_output_vectors(lv_16sc_t* corr_out);
void update_local_code(float rem_code_phase_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);
int read_sample_counter();
void lock_channel(void);
void unlock_channel(void);
void read_sample_counters(int *sample_counter, int *secondary_sample_counter, int *counter_corr_0_in, int *counter_corr_0_out); // debug
private:
const lv_16sc_t *d_local_code_in;
lv_16sc_t *d_corr_out;
//const int *d_local_code_in;
gr_complex * d_corr_out;
float *d_shifts_chips;
int d_code_length_chips;
int d_n_correlators;
@ -94,21 +103,23 @@ private:
std::string d_device_name;
unsigned int d_device_base;
// results
//int *d_readval_real;
//int *d_readval_imag;
// FPGA private functions
int* d_ca_codes;
// private functions
unsigned fpga_acquisition_test_register(unsigned writeval);
void fpga_configure_tracking_gps_local_code(void);
void fpga_configure_tracking_gps_local_code(int PRN);
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);
void reset_multicorrelator(void);
void close_device(void);
// debug
//unsigned int first_time = 1;
};
#endif /* GNSS_SDR_FPGA_MULTICORRELATOR_H_ */

148
src/algorithms/tracking/libs/fpga_multicorrelator_real_codes_8sc.cc Normal file
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@ -0,0 +1,148 @@
/*!
* \file fpga_multicorrelator_real_codes_8sc.cc
* \brief High optimized CPU vector multiTAP correlator class with real-valued local codes
* \authors <ul>
* <li> Javier Arribas, 2015. jarribas(at)cttc.es
* <li> Cillian O'Driscoll, 2017. cillian.odriscoll(at)gmail.com
* </ul>
*
* Class that implements a high optimized vector multiTAP correlator class for CPUs
*
* -------------------------------------------------------------------------
*
* 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 "cpu_multicorrelator_real_codes.h"
#include "fpga_multicorrelator_real_codes_8sc.h"
#include <cmath>
#include <iostream>
#include <volk_gnsssdr/volk_gnsssdr.h>
fpga_multicorrelator_real_codes_8sc::fpga_multicorrelator_real_codes_8sc()
{
d_sig_in = nullptr;
d_local_code_in = nullptr;
d_shifts_chips = nullptr;
d_corr_out = nullptr;
d_local_codes_resampled = nullptr;
d_code_length_chips = 0;
d_n_correlators = 0;
}
fpga_multicorrelator_real_codes_8sc::~fpga_multicorrelator_real_codes_8sc()
{
if(d_local_codes_resampled != nullptr)
{
fpga_multicorrelator_real_codes_8sc::free();
}
}
bool fpga_multicorrelator_real_codes_8sc::init(
int max_signal_length_samples,
int n_correlators)
{
// ALLOCATE MEMORY FOR INTERNAL vectors
size_t size = max_signal_length_samples * sizeof(float);
d_local_codes_resampled = static_cast<float**>(volk_gnsssdr_malloc(n_correlators * sizeof(float*), volk_gnsssdr_get_alignment()));
for (int n = 0; n < n_correlators; n++)
{
d_local_codes_resampled[n] = static_cast<float*>(volk_gnsssdr_malloc(size, volk_gnsssdr_get_alignment()));
}
d_n_correlators = n_correlators;
return true;
}
bool fpga_multicorrelator_real_codes_8sc::set_local_code_and_taps(
int code_length_chips,
const float* 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;
return true;
}
bool fpga_multicorrelator_real_codes_8sc::set_input_output_vectors(std::complex<float>* corr_out, const std::complex<float>* sig_in)
{
// Save CPU pointers
d_sig_in = sig_in;
d_corr_out = corr_out;
return true;
}
void fpga_multicorrelator_real_codes_8sc::update_local_code(int correlator_length_samples, float rem_code_phase_chips, float code_phase_step_chips)
{
volk_gnsssdr_32f_xn_resampler_32f_xn(d_local_codes_resampled,
d_local_code_in,
rem_code_phase_chips,
code_phase_step_chips,
d_shifts_chips,
d_code_length_chips,
d_n_correlators,
correlator_length_samples);
}
bool fpga_multicorrelator_real_codes_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);
// Regenerate phase at each call in order to avoid numerical issues
lv_32fc_t phase_offset_as_complex[1];
phase_offset_as_complex[0] = lv_cmake(std::cos(rem_carrier_phase_in_rad), -std::sin(rem_carrier_phase_in_rad));
// call VOLK_GNSSSDR kernel
volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn(d_corr_out, d_sig_in, std::exp(lv_32fc_t(0, - phase_step_rad)), phase_offset_as_complex, (const float**)d_local_codes_resampled, d_n_correlators, signal_length_samples);
return true;
}
bool fpga_multicorrelator_real_codes_8sc::free()
{
// Free memory
if (d_local_codes_resampled != nullptr)
{
for (int n = 0; n < d_n_correlators; n++)
{
volk_gnsssdr_free(d_local_codes_resampled[n]);
}
volk_gnsssdr_free(d_local_codes_resampled);
d_local_codes_resampled = nullptr;
}
return true;
}

73
src/algorithms/tracking/libs/fpga_multicorrelator_real_codes_8sc.h Normal file
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@ -0,0 +1,73 @@
/*!
* \file fpga_multicorrelator_real_codes_8sc.h
* \brief High optimized CPU vector multiTAP correlator class using real-valued local codes
* \authors <ul>
* <li> Javier Arribas, 2015. jarribas(at)cttc.es
* <li> Cillian O'Driscoll, 2017, cillian.odriscoll(at)gmail.com
* </ul>
*
* Class that implements a high optimized vector multiTAP correlator class for CPUs
*
* -------------------------------------------------------------------------
*
* 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_CPU_MULTICORRELATOR_REAL_CODES_H_
//#define GNSS_SDR_CPU_MULTICORRELATOR_REAL_CODES_H_
#ifndef GNSS_SDR_FPGA_MULTICORRELATOR_REAL_CODES_8SC_H_
#define GNSS_SDR_FPGA_MULTICORRELATOR_REAL_CODES_8SC_H_
#include <complex>
/*!
* \brief Class that implements carrier wipe-off and correlators.
*/
class fpga_multicorrelator_real_codes_8sc
{
public:
fpga_multicorrelator_real_codes_8sc();
~fpga_multicorrelator_real_codes_8sc();
bool init(int max_signal_length_samples, int n_correlators);
bool set_local_code_and_taps(int code_length_chips, const float* local_code_in, float *shifts_chips);
bool set_input_output_vectors(std::complex<float>* corr_out, const std::complex<float>* sig_in);
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();
private:
// Allocate the device input vectors
const std::complex<float> *d_sig_in;
float **d_local_codes_resampled;
const float *d_local_code_in;
std::complex<float> *d_corr_out;
float *d_shifts_chips;
int d_code_length_chips;
int d_n_correlators;
};
#endif /* GNSS_SDR_FPGA_MULTICORRELATOR_REAL_CODES_8SC_H_ */

10
src/core/receiver/gnss_block_factory.cc
View File

@ -100,8 +100,8 @@
#include "rtklib_pvt.h"
#if ENABLE_FPGA
#include "gps_l1_ca_dll_pll_c_aid_tracking_fpga.h"
#include "gps_l1_ca_pcps_acquisition_fpga.h"
#include "gps_l1_ca_dll_pll_tracking_fpga.h"
#endif
#if OPENCL_BLOCKS
@ -1318,9 +1318,9 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
block = std::move(block_);
}
#if ENABLE_FPGA
else if (implementation.compare("GPS_L1_CA_DLL_PLL_C_Aid_Tracking_Fpga") == 0)
else if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
std::unique_ptr<TrackingInterface> block_(new GpsL1CaDllPllCAidTrackingFpga(configuration.get(), role, in_streams,
std::unique_ptr<TrackingInterface> block_(new GpsL1CaDllPllTrackingFpga(configuration.get(), role, in_streams,
out_streams));
block = std::move(block_);
}
@ -1607,9 +1607,9 @@ std::unique_ptr<TrackingInterface> GNSSBlockFactory::GetTrkBlock(
block = std::move(block_);
}
#if ENABLE_FPGA
else if (implementation.compare("GPS_L1_CA_DLL_PLL_C_Aid_Tracking_Fpga") == 0)
else if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
std::unique_ptr<TrackingInterface> block_(new GpsL1CaDllPllCAidTrackingFpga(configuration.get(), role, in_streams,
std::unique_ptr<TrackingInterface> block_(new GpsL1CaDllPllTrackingFpga(configuration.get(), role, in_streams,
out_streams));
block = std::move(block_);
}

11
src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test_fpga.cc
View File

@ -33,6 +33,7 @@
#include <chrono>
#include <fcntl.h>
#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
@ -53,7 +54,8 @@
#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 "gps_l1_ca_dll_pll_c_aid_tracking_fpga.h"
#include "gps_l1_ca_dll_pll_tracking_fpga.h"
#include "tracking_true_obs_reader.h"
#include "tracking_dump_reader.h"
#include "signal_generator_flags.h"
@ -310,8 +312,10 @@ void GpsL1CADllPllTrackingTestFpga::configure_receiver()
config->set_property("GNSS-SDR.internal_fs_sps",
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.implementation",
"GPS_L1_CA_DLL_PLL_C_Aid_Tracking_Fpga");
"GPS_L1_CA_DLL_PLL_Tracking_Fpga");
config->set_property("Tracking_1C.item_type", "cshort");
config->set_property("Tracking_1C.if", "0");
config->set_property("Tracking_1C.dump", "true");
@ -467,7 +471,8 @@ TEST_F(GpsL1CADllPllTrackingTestFpga, ValidationOfResultsFpga)
}) << "Failure opening true observables file";
top_block = gr::make_top_block("Tracking test");
std::shared_ptr<GpsL1CaDllPllCAidTrackingFpga> tracking = std::make_shared<GpsL1CaDllPllCAidTrackingFpga> (config.get(), "Tracking_1C", 1, 1);
//std::shared_ptr<GpsL1CaDllPllCAidTrackingFpga> tracking = std::make_shared<GpsL1CaDllPllCAidTrackingFpga> (config.get(), "Tracking_1C", 1, 1);
std::shared_ptr<GpsL1CaDllPllTrackingFpga> tracking = std::make_shared<GpsL1CaDllPllTrackingFpga> (config.get(), "Tracking_1C", 1, 1);
boost::shared_ptr<GpsL1CADllPllTrackingTestFpga_msg_rx> msg_rx = GpsL1CADllPllTrackingTestFpga_msg_rx_make();