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Code Issues Releases Wiki Activity

coding style + removed some unnecessary memory arrays in the FPGA E5A tracking adapter class.

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This commit is contained in:
Marc Majoral 2019-02-27 17:27:31 +01:00
parent 484b0f4b02
commit c32e0b427a
25 changed files with 1388 additions and 1535 deletions
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104
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc
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@ -28,7 +28,7 @@
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>. * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
#include "galileo_e1_pcps_ambiguous_acquisition_fpga.h" #include "galileo_e1_pcps_ambiguous_acquisition_fpga.h"
#include "Galileo_E1.h" #include "Galileo_E1.h"
@ -62,13 +62,13 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
// item_type_ = configuration_->property(role + ".item_type", default_item_type); // item_type_ = configuration_->property(role + ".item_type", default_item_type);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000); int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000);
int64_t fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); int64_t fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
float downsampling_factor = configuration_->property(role + ".downsampling_factor", 4.0); float downsampling_factor = configuration_->property(role + ".downsampling_factor", 4.0);
acq_parameters.downsampling_factor = downsampling_factor; acq_parameters.downsampling_factor = downsampling_factor;
fs_in = fs_in/downsampling_factor; fs_in = fs_in / downsampling_factor;
acq_parameters.fs_in = fs_in; acq_parameters.fs_in = fs_in;
@ -85,7 +85,7 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
acq_parameters.code_length = code_length; acq_parameters.code_length = code_length;
// The FPGA can only use FFT lengths that are a power of two. // The FPGA can only use FFT lengths that are a power of two.
float nbits = ceilf(log2f((float)code_length*2)); float nbits = ceilf(log2f((float)code_length * 2));
uint32_t nsamples_total = pow(2, nbits); uint32_t nsamples_total = pow(2, nbits);
uint32_t select_queue_Fpga = configuration_->property(role + ".select_queue_Fpga", 0); uint32_t select_queue_Fpga = configuration_->property(role + ".select_queue_Fpga", 0);
@ -107,58 +107,56 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
for (uint32_t PRN = 1; PRN <= GALILEO_E1_NUMBER_OF_CODES; PRN++) for (uint32_t PRN = 1; PRN <= GALILEO_E1_NUMBER_OF_CODES; PRN++)
{ {
bool cboc = false; // cboc is set to 0 when using the FPGA
bool cboc = false; // cboc is set to 0 when using the FPGA if (acquire_pilot_ == true)
{
//set local signal generator to Galileo E1 pilot component (1C)
char pilot_signal[3] = "1C";
galileo_e1_code_gen_complex_sampled(code, pilot_signal,
cboc, PRN, fs_in, 0, false);
}
else
{
char data_signal[3] = "1B";
galileo_e1_code_gen_complex_sampled(code, data_signal,
cboc, PRN, fs_in, 0, false);
}
if (acquire_pilot_ == true) for (uint32_t s = code_length; s < 2 * code_length; s++)
{ {
//set local signal generator to Galileo E1 pilot component (1C) code[s] = code[s - code_length];
char pilot_signal[3] = "1C"; }
galileo_e1_code_gen_complex_sampled(code, pilot_signal,
cboc, PRN, fs_in, 0, false);
}
else
{
char data_signal[3] = "1B";
galileo_e1_code_gen_complex_sampled(code, data_signal,
cboc, PRN, fs_in, 0, false);
}
for (uint32_t s = code_length; s < 2*code_length; s++)
{
code[s] = code[s - code_length];
}
// fill in zero padding // fill in zero padding
for (uint32_t s = 2*code_length; s < nsamples_total; s++) for (uint32_t s = 2 * code_length; s < nsamples_total; s++)
{ {
code[s] = std::complex<float>(static_cast<float>(0,0)); code[s] = std::complex<float>(static_cast<float>(0, 0));
} }
memcpy(fft_if->get_inbuf(), code, sizeof(gr_complex) * nsamples_total); // copy to FFT buffer memcpy(fft_if->get_inbuf(), code, sizeof(gr_complex) * nsamples_total); // copy to FFT buffer
fft_if->execute(); // Run the FFT of local code fft_if->execute(); // Run the FFT of local code
volk_32fc_conjugate_32fc(fft_codes_padded, fft_if->get_outbuf(), nsamples_total); // conjugate values volk_32fc_conjugate_32fc(fft_codes_padded, fft_if->get_outbuf(), nsamples_total); // conjugate values
// normalize the code
max = 0; // initialize maximum value
for (uint32_t i = 0; i < nsamples_total; i++) // search for maxima
{
if (std::abs(fft_codes_padded[i].real()) > max)
{
max = std::abs(fft_codes_padded[i].real());
}
if (std::abs(fft_codes_padded[i].imag()) > max)
{
max = std::abs(fft_codes_padded[i].imag());
}
}
for (uint32_t i = 0; i < nsamples_total; i++) // map the FFT to the dynamic range of the fixed point values an copy to buffer containing all FFTs
{
d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, 9) - 1) / max)),
static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, 9) - 1) / max)));
}
// normalize the code
max = 0; // initialize maximum value
for (uint32_t i = 0; i < nsamples_total; i++) // search for maxima
{
if (std::abs(fft_codes_padded[i].real()) > max)
{
max = std::abs(fft_codes_padded[i].real());
}
if (std::abs(fft_codes_padded[i].imag()) > max)
{
max = std::abs(fft_codes_padded[i].imag());
}
}
for (uint32_t i = 0; i < nsamples_total; i++) // map the FFT to the dynamic range of the fixed point values an copy to buffer containing all FFTs
{
d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, 9) - 1) / max)),
static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, 9) - 1) / max)));
}
} }
acq_parameters.all_fft_codes = d_all_fft_codes_; acq_parameters.all_fft_codes = d_all_fft_codes_;
@ -188,8 +186,8 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::~GalileoE1PcpsAmbiguousAcquisitionFpga()
void GalileoE1PcpsAmbiguousAcquisitionFpga::stop_acquisition() void GalileoE1PcpsAmbiguousAcquisitionFpga::stop_acquisition()
{ {
// this command causes the SW to reset the HW. // this command causes the SW to reset the HW.
acquisition_fpga_->reset_acquisition(); acquisition_fpga_->reset_acquisition();
} }

6
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.h
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@ -28,7 +28,7 @@
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>. * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
#ifndef GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_FPGA_H_ #ifndef GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_FPGA_H_
#define GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_FPGA_H_ #define GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_FPGA_H_
@ -135,10 +135,10 @@ public:
*/ */
void set_state(int state) override; void set_state(int state) override;
/*! /*!
* \brief Stop running acquisition * \brief Stop running acquisition
*/ */
void stop_acquisition() override; void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{}; void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};

25
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc
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@ -27,7 +27,7 @@
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>. * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
#include "galileo_e5a_pcps_acquisition_fpga.h" #include "galileo_e5a_pcps_acquisition_fpga.h"
#include "Galileo_E5a.h" #include "Galileo_E5a.h"
@ -55,12 +55,12 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
DLOG(INFO) << "Role " << role; DLOG(INFO) << "Role " << role;
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 32000000); int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 32000000);
int64_t fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); int64_t fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
float downsampling_factor = configuration_->property(role + ".downsampling_factor", 1.0); float downsampling_factor = configuration_->property(role + ".downsampling_factor", 1.0);
acq_parameters.downsampling_factor = downsampling_factor; acq_parameters.downsampling_factor = downsampling_factor;
fs_in = fs_in/downsampling_factor; fs_in = fs_in / downsampling_factor;
acq_parameters.fs_in = fs_in; acq_parameters.fs_in = fs_in;
@ -82,7 +82,7 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
acq_parameters.code_length = code_length; acq_parameters.code_length = code_length;
// The FPGA can only use FFT lengths that are a power of two. // The FPGA can only use FFT lengths that are a power of two.
float nbits = ceilf(log2f((float)code_length*2)); float nbits = ceilf(log2f((float)code_length * 2));
uint32_t nsamples_total = pow(2, nbits); uint32_t nsamples_total = pow(2, nbits);
uint32_t select_queue_Fpga = configuration_->property(role + ".select_queue_Fpga", 1); uint32_t select_queue_Fpga = configuration_->property(role + ".select_queue_Fpga", 1);
acq_parameters.select_queue_Fpga = select_queue_Fpga; acq_parameters.select_queue_Fpga = select_queue_Fpga;
@ -122,13 +122,13 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
galileo_e5_a_code_gen_complex_sampled(code, signal_, PRN, fs_in, 0); galileo_e5_a_code_gen_complex_sampled(code, signal_, PRN, fs_in, 0);
for (uint32_t s = code_length; s < 2*code_length; s++) for (uint32_t s = code_length; s < 2 * code_length; s++)
{ {
code[s] = code[s - code_length]; code[s] = code[s - code_length];
} }
// fill in zero padding // fill in zero padding
for (uint32_t s = 2*code_length; s < nsamples_total; s++) for (uint32_t s = 2 * code_length; s < nsamples_total; s++)
{ {
code[s] = std::complex<float>(0.0, 0.0); code[s] = std::complex<float>(0.0, 0.0);
} }
@ -137,7 +137,7 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
fft_if->execute(); // Run the FFT of local code fft_if->execute(); // Run the FFT of local code
volk_32fc_conjugate_32fc(fft_codes_padded, fft_if->get_outbuf(), nsamples_total); // conjugate values volk_32fc_conjugate_32fc(fft_codes_padded, fft_if->get_outbuf(), nsamples_total); // conjugate values
max = 0; // initialize maximum value max = 0; // initialize maximum value
for (uint32_t i = 0; i < nsamples_total; i++) // search for maxima for (uint32_t i = 0; i < nsamples_total; i++) // search for maxima
{ {
if (std::abs(fft_codes_padded[i].real()) > max) if (std::abs(fft_codes_padded[i].real()) > max)
@ -173,7 +173,6 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
delete[] code; delete[] code;
delete fft_if; delete fft_if;
delete[] fft_codes_padded; delete[] fft_codes_padded;
} }
@ -185,8 +184,8 @@ GalileoE5aPcpsAcquisitionFpga::~GalileoE5aPcpsAcquisitionFpga()
void GalileoE5aPcpsAcquisitionFpga::stop_acquisition() void GalileoE5aPcpsAcquisitionFpga::stop_acquisition()
{ {
// this command causes the SW to reset the HW. // this command causes the SW to reset the HW.
acquisition_fpga_->reset_acquisition(); acquisition_fpga_->reset_acquisition();
} }
@ -255,13 +254,13 @@ void GalileoE5aPcpsAcquisitionFpga::set_state(int state)
void GalileoE5aPcpsAcquisitionFpga::connect(gr::top_block_sptr top_block) void GalileoE5aPcpsAcquisitionFpga::connect(gr::top_block_sptr top_block)
{ {
// nothing to connect // nothing to connect
} }
void GalileoE5aPcpsAcquisitionFpga::disconnect(gr::top_block_sptr top_block) void GalileoE5aPcpsAcquisitionFpga::disconnect(gr::top_block_sptr top_block)
{ {
// nothing to connect // nothing to connect
} }

1
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.h
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@ -145,7 +145,6 @@ public:
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{}; void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private: private:
ConfigurationInterface* configuration_; ConfigurationInterface* configuration_;
pcps_acquisition_fpga_sptr acquisition_fpga_; pcps_acquisition_fpga_sptr acquisition_fpga_;

28
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc
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@ -32,7 +32,7 @@
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>. * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
#include "gps_l1_ca_pcps_acquisition_fpga.h" #include "gps_l1_ca_pcps_acquisition_fpga.h"
#include "GPS_L1_CA.h" #include "GPS_L1_CA.h"
@ -63,13 +63,13 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
DLOG(INFO) << "role " << role; DLOG(INFO) << "role " << role;
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000); int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
int64_t fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); int64_t fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
float downsampling_factor = configuration_->property(role + ".downsampling_factor", 4.0); float downsampling_factor = configuration_->property(role + ".downsampling_factor", 4.0);
acq_parameters.downsampling_factor = downsampling_factor; acq_parameters.downsampling_factor = downsampling_factor;
fs_in = fs_in/downsampling_factor; fs_in = fs_in / downsampling_factor;
acq_parameters.fs_in = fs_in; acq_parameters.fs_in = fs_in;
doppler_max_ = configuration_->property(role + ".doppler_max", 5000); doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
@ -80,7 +80,7 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
auto code_length = static_cast<uint32_t>(std::round(static_cast<double>(fs_in) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS))); auto code_length = static_cast<uint32_t>(std::round(static_cast<double>(fs_in) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
acq_parameters.code_length = code_length; acq_parameters.code_length = code_length;
// The FPGA can only use FFT lengths that are a power of two. // The FPGA can only use FFT lengths that are a power of two.
float nbits = ceilf(log2f((float)code_length*2)); float nbits = ceilf(log2f((float)code_length * 2));
uint32_t nsamples_total = pow(2, nbits); uint32_t nsamples_total = pow(2, nbits);
uint32_t select_queue_Fpga = configuration_->property(role + ".select_queue_Fpga", 0); uint32_t select_queue_Fpga = configuration_->property(role + ".select_queue_Fpga", 0);
acq_parameters.select_queue_Fpga = select_queue_Fpga; acq_parameters.select_queue_Fpga = select_queue_Fpga;
@ -102,23 +102,23 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
for (uint32_t PRN = 1; PRN <= NUM_PRNs; PRN++) for (uint32_t PRN = 1; PRN <= NUM_PRNs; PRN++)
{ {
gps_l1_ca_code_gen_complex_sampled(code, PRN, fs_in, 0); // generate PRN code gps_l1_ca_code_gen_complex_sampled(code, PRN, fs_in, 0); // generate PRN code
for (uint32_t s = code_length; s < 2*code_length; s++) for (uint32_t s = code_length; s < 2 * code_length; s++)
{ {
code[s] = code[s - code_length]; code[s] = code[s - code_length];
} }
// fill in zero padding // fill in zero padding
for (uint32_t s = 2*code_length; s < nsamples_total; s++) for (uint32_t s = 2 * code_length; s < nsamples_total; s++)
{ {
code[s] = std::complex<float>(0.0, 0.0); code[s] = std::complex<float>(0.0, 0.0);
} }
memcpy(fft_if->get_inbuf(), code, sizeof(gr_complex) * nsamples_total); // copy to FFT buffer memcpy(fft_if->get_inbuf(), code, sizeof(gr_complex) * nsamples_total); // copy to FFT buffer
fft_if->execute(); // Run the FFT of local code fft_if->execute(); // Run the FFT of local code
volk_32fc_conjugate_32fc(fft_codes_padded, fft_if->get_outbuf(), nsamples_total); // conjugate values volk_32fc_conjugate_32fc(fft_codes_padded, fft_if->get_outbuf(), nsamples_total); // conjugate values
max = 0; // initialize maximum value max = 0; // initialize maximum value
for (uint32_t i = 0; i < nsamples_total; i++) // search for maxima for (uint32_t i = 0; i < nsamples_total; i++) // search for maxima
{ {
if (std::abs(fft_codes_padded[i].real()) > max) if (std::abs(fft_codes_padded[i].real()) > max)
@ -135,7 +135,6 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, 9) - 1) / max)), d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, 9) - 1) / max)),
static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, 9) - 1) / max))); static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, 9) - 1) / max)));
} }
} }
//acq_parameters //acq_parameters
@ -155,7 +154,6 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
delete[] code; delete[] code;
delete fft_if; delete fft_if;
delete[] fft_codes_padded; delete[] fft_codes_padded;
} }
@ -167,8 +165,8 @@ GpsL1CaPcpsAcquisitionFpga::~GpsL1CaPcpsAcquisitionFpga()
void GpsL1CaPcpsAcquisitionFpga::stop_acquisition() void GpsL1CaPcpsAcquisitionFpga::stop_acquisition()
{ {
// this command causes the SW to reset the HW. // this command causes the SW to reset the HW.
acquisition_fpga_->reset_acquisition(); acquisition_fpga_->reset_acquisition();
} }
@ -227,7 +225,7 @@ void GpsL1CaPcpsAcquisitionFpga::set_local_code()
void GpsL1CaPcpsAcquisitionFpga::reset() void GpsL1CaPcpsAcquisitionFpga::reset()
{ {
// this function starts the acquisition process // this function starts the acquisition process
acquisition_fpga_->set_active(true); acquisition_fpga_->set_active(true);
} }

2
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h
View File

@ -32,7 +32,7 @@
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>. * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
#ifndef GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_FPGA_H_ #ifndef GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_FPGA_H_
#define GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_FPGA_H_ #define GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_FPGA_H_

79
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc
View File

@ -59,13 +59,13 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
LOG(INFO) << "role " << role; LOG(INFO) << "role " << role;
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000); int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
int64_t fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated); int64_t fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
float downsampling_factor = configuration_->property(role + ".downsampling_factor", 1.0); float downsampling_factor = configuration_->property(role + ".downsampling_factor", 1.0);
acq_parameters.downsampling_factor = downsampling_factor; acq_parameters.downsampling_factor = downsampling_factor;
fs_in = fs_in/downsampling_factor; fs_in = fs_in / downsampling_factor;
acq_parameters.fs_in = fs_in; acq_parameters.fs_in = fs_in;
@ -79,14 +79,14 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
auto code_length = static_cast<uint32_t>(std::round(static_cast<double>(fs_in) / (GPS_L5I_CODE_RATE_HZ / static_cast<double>(GPS_L5I_CODE_LENGTH_CHIPS)))); auto code_length = static_cast<uint32_t>(std::round(static_cast<double>(fs_in) / (GPS_L5I_CODE_RATE_HZ / static_cast<double>(GPS_L5I_CODE_LENGTH_CHIPS))));
acq_parameters.code_length = code_length; acq_parameters.code_length = code_length;
// The FPGA can only use FFT lengths that are a power of two. // The FPGA can only use FFT lengths that are a power of two.
float nbits = ceilf(log2f((float)code_length*2)); float nbits = ceilf(log2f((float)code_length * 2));
uint32_t nsamples_total = pow(2, nbits); uint32_t nsamples_total = pow(2, nbits);
uint32_t select_queue_Fpga = configuration_->property(role + ".select_queue_Fpga", 1); uint32_t select_queue_Fpga = configuration_->property(role + ".select_queue_Fpga", 1);
acq_parameters.select_queue_Fpga = select_queue_Fpga; acq_parameters.select_queue_Fpga = select_queue_Fpga;
std::string default_device_name = "/dev/uio0"; std::string default_device_name = "/dev/uio0";
std::string device_name = configuration_->property(role + ".devicename", default_device_name); std::string device_name = configuration_->property(role + ".devicename", default_device_name);
acq_parameters.device_name = device_name; acq_parameters.device_name = device_name;
acq_parameters.samples_per_ms = nsamples_total/sampled_ms; acq_parameters.samples_per_ms = nsamples_total / sampled_ms;
acq_parameters.samples_per_code = nsamples_total; acq_parameters.samples_per_code = nsamples_total;
acq_parameters.excludelimit = static_cast<uint32_t>(ceil((1.0 / GPS_L5I_CODE_RATE_HZ) * static_cast<float>(acq_parameters.fs_in))); acq_parameters.excludelimit = static_cast<uint32_t>(ceil((1.0 / GPS_L5I_CODE_RATE_HZ) * static_cast<float>(acq_parameters.fs_in)));
@ -100,41 +100,41 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
float max; // temporary maxima search float max; // temporary maxima search
for (uint32_t PRN = 1; PRN <= NUM_PRNs; PRN++) for (uint32_t PRN = 1; PRN <= NUM_PRNs; PRN++)
{ {
gps_l5i_code_gen_complex_sampled(code, PRN, fs_in); gps_l5i_code_gen_complex_sampled(code, PRN, fs_in);
for (uint32_t s = code_length; s < 2*code_length; s++) for (uint32_t s = code_length; s < 2 * code_length; s++)
{ {
code[s] = code[s - code_length]; code[s] = code[s - code_length];
} }
for (uint32_t s = 2*code_length; s < nsamples_total; s++) for (uint32_t s = 2 * code_length; s < nsamples_total; s++)
{ {
// fill in zero padding // fill in zero padding
code[s] = std::complex<float>(static_cast<float>(0,0)); code[s] = std::complex<float>(static_cast<float>(0, 0));
} }
memcpy(fft_if->get_inbuf(), code, sizeof(gr_complex) * nsamples_total); // copy to FFT buffer memcpy(fft_if->get_inbuf(), code, sizeof(gr_complex) * nsamples_total); // copy to FFT buffer
fft_if->execute(); // Run the FFT of local code fft_if->execute(); // Run the FFT of local code
volk_32fc_conjugate_32fc(fft_codes_padded, fft_if->get_outbuf(), nsamples_total); // conjugate values volk_32fc_conjugate_32fc(fft_codes_padded, fft_if->get_outbuf(), nsamples_total); // conjugate values
max = 0; // initialize maximum value max = 0; // initialize maximum value
for (uint32_t i = 0; i < nsamples_total; i++) // search for maxima for (uint32_t i = 0; i < nsamples_total; i++) // search for maxima
{ {
if (std::abs(fft_codes_padded[i].real()) > max) if (std::abs(fft_codes_padded[i].real()) > max)
{ {
max = std::abs(fft_codes_padded[i].real()); max = std::abs(fft_codes_padded[i].real());
} }
if (std::abs(fft_codes_padded[i].imag()) > max) if (std::abs(fft_codes_padded[i].imag()) > max)
{ {
max = std::abs(fft_codes_padded[i].imag()); max = std::abs(fft_codes_padded[i].imag());
} }
} }
for (uint32_t i = 0; i < nsamples_total; i++) // map the FFT to the dynamic range of the fixed point values an copy to buffer containing all FFTs for (uint32_t i = 0; i < nsamples_total; i++) // map the FFT to the dynamic range of the fixed point values an copy to buffer containing all FFTs
{ {
d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, 9) - 1) / max)), d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, 9) - 1) / max)),
static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, 9) - 1) / max))); static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, 9) - 1) / max)));
} }
} }
//acq_parameters //acq_parameters
acq_parameters.all_fft_codes = d_all_fft_codes_; acq_parameters.all_fft_codes = d_all_fft_codes_;
@ -153,7 +153,6 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
delete[] code; delete[] code;
delete fft_if; delete fft_if;
delete[] fft_codes_padded; delete[] fft_codes_padded;
} }
@ -166,8 +165,8 @@ GpsL5iPcpsAcquisitionFpga::~GpsL5iPcpsAcquisitionFpga()
void GpsL5iPcpsAcquisitionFpga::stop_acquisition() void GpsL5iPcpsAcquisitionFpga::stop_acquisition()
{ {
// this command causes the SW to reset the HW. // this command causes the SW to reset the HW.
acquisition_fpga_->reset_acquisition(); acquisition_fpga_->reset_acquisition();
} }

80
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.cc
View File

@ -32,7 +32,7 @@
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>. * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
#include "pcps_acquisition_fpga.h" #include "pcps_acquisition_fpga.h"
@ -77,7 +77,6 @@ pcps_acquisition_fpga::pcps_acquisition_fpga(pcpsconf_fpga_t conf_) : gr::block(
acquisition_fpga = std::make_shared<fpga_acquisition>(acq_parameters.device_name, acq_parameters.code_length, acq_parameters.doppler_max, d_fft_size, acquisition_fpga = std::make_shared<fpga_acquisition>(acq_parameters.device_name, acq_parameters.code_length, acq_parameters.doppler_max, d_fft_size,
acq_parameters.fs_in, acq_parameters.sampled_ms, acq_parameters.select_queue_Fpga, acq_parameters.all_fft_codes, acq_parameters.excludelimit); acq_parameters.fs_in, acq_parameters.sampled_ms, acq_parameters.select_queue_Fpga, acq_parameters.all_fft_codes, acq_parameters.excludelimit);
} }
@ -105,9 +104,9 @@ void pcps_acquisition_fpga::init()
d_mag = 0.0; d_mag = 0.0;
d_input_power = 0.0; d_input_power = 0.0;
d_num_doppler_bins = static_cast<uint32_t>(std::ceil(static_cast<double>(static_cast<int32_t>(acq_parameters.doppler_max) - static_cast<int32_t>(-acq_parameters.doppler_max)) / static_cast<double>(d_doppler_step))) + 1; d_num_doppler_bins = static_cast<uint32_t>(std::ceil(static_cast<double>(static_cast<int32_t>(acq_parameters.doppler_max) - static_cast<int32_t>(-acq_parameters.doppler_max)) / static_cast<double>(d_doppler_step))) + 1;
acquisition_fpga->init(); acquisition_fpga->init();
} }
@ -171,7 +170,6 @@ void pcps_acquisition_fpga::send_negative_acquisition()
void pcps_acquisition_fpga::set_active(bool active) void pcps_acquisition_fpga::set_active(bool active)
{ {
d_active = active; d_active = active;
// initialize acquisition algorithm // initialize acquisition algorithm
@ -203,47 +201,44 @@ void pcps_acquisition_fpga::set_active(bool active)
acquisition_fpga->read_acquisition_results(&indext, &firstpeak, &secondpeak, &initial_sample, &d_input_power, &d_doppler_index, &total_block_exp); acquisition_fpga->read_acquisition_results(&indext, &firstpeak, &secondpeak, &initial_sample, &d_input_power, &d_doppler_index, &total_block_exp);
if (total_block_exp > d_total_block_exp) if (total_block_exp > d_total_block_exp)
{ {
// if the attenuation factor of the FPGA FFT-IFFT is smaller than the reference attenuation factor then we need to update the reference attenuation factor // if the attenuation factor of the FPGA FFT-IFFT is smaller than the reference attenuation factor then we need to update the reference attenuation factor
std::cout << "changing blk exp..... d_total_block_exp = " << d_total_block_exp << " total_block_exp = " << total_block_exp << " chan = " << d_channel << std::endl; std::cout << "changing blk exp..... d_total_block_exp = " << d_total_block_exp << " total_block_exp = " << total_block_exp << " chan = " << d_channel << std::endl;
d_total_block_exp = total_block_exp; d_total_block_exp = total_block_exp;
}
} doppler = -static_cast<int32_t>(acq_parameters.doppler_max) + d_doppler_step * (d_doppler_index - 1);
doppler = -static_cast<int32_t>(acq_parameters.doppler_max) + d_doppler_step * (d_doppler_index - 1); if (secondpeak > 0)
{
if (secondpeak > 0) d_test_statistics = firstpeak / secondpeak;
{ }
d_test_statistics = firstpeak/secondpeak; else
} {
else d_test_statistics = 0.0;
{ }
d_test_statistics = 0.0;
}
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler); d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
d_sample_counter = initial_sample; d_sample_counter = initial_sample;
if (d_select_queue_Fpga == 0) if (d_select_queue_Fpga == 0)
{ {
if (d_downsampling_factor > 1) if (d_downsampling_factor > 1)
{ {
d_gnss_synchro->Acq_delay_samples = static_cast<double>(d_downsampling_factor * (indext));
d_gnss_synchro->Acq_delay_samples = static_cast<double>(d_downsampling_factor*(indext)); d_gnss_synchro->Acq_samplestamp_samples = d_downsampling_factor * d_sample_counter - 44; //33; //41; //+ 81*0.5; // delay due to the downsampling filter in the acquisition
d_gnss_synchro->Acq_samplestamp_samples = d_downsampling_factor*d_sample_counter - 44; //33; //41; //+ 81*0.5; // delay due to the downsampling filter in the acquisition }
else
} {
else d_gnss_synchro->Acq_delay_samples = static_cast<double>(indext);
{ d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter; // delay due to the downsampling filter in the acquisition
d_gnss_synchro->Acq_delay_samples = static_cast<double>(indext); }
d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter; // delay due to the downsampling filter in the acquisition
} }
}
else else
{ {
d_gnss_synchro->Acq_delay_samples = static_cast<double>(indext); d_gnss_synchro->Acq_delay_samples = static_cast<double>(indext);
d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter; // delay due to the downsampling filter in the acquisition d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter; // delay due to the downsampling filter in the acquisition
} }
if (d_test_statistics > d_threshold) if (d_test_statistics > d_threshold)
{ {
@ -270,14 +265,11 @@ int pcps_acquisition_fpga::general_work(int noutput_items __attribute__((unused)
void pcps_acquisition_fpga::reset_acquisition(void) void pcps_acquisition_fpga::reset_acquisition(void)
{ {
// this function triggers a HW reset of the FPGA PL. // this function triggers a HW reset of the FPGA PL.
acquisition_fpga->reset_acquisition(); acquisition_fpga->reset_acquisition();
} }
void pcps_acquisition_fpga::read_fpga_total_scale_factor(uint32_t *total_scale_factor, uint32_t *fw_scale_factor) void pcps_acquisition_fpga::read_fpga_total_scale_factor(uint32_t* total_scale_factor, uint32_t* fw_scale_factor)
{ {
acquisition_fpga->read_fpga_total_scale_factor(total_scale_factor, fw_scale_factor); acquisition_fpga->read_fpga_total_scale_factor(total_scale_factor, fw_scale_factor);
} }

4
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.h
View File

@ -39,7 +39,7 @@
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>. * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
#ifndef GNSS_SDR_PCPS_ACQUISITION_FPGA_H_ #ifndef GNSS_SDR_PCPS_ACQUISITION_FPGA_H_
#define GNSS_SDR_PCPS_ACQUISITION_FPGA_H_ #define GNSS_SDR_PCPS_ACQUISITION_FPGA_H_
@ -216,7 +216,7 @@ public:
/*! /*!
* \brief This funciton is only used for the unit tests * \brief This funciton is only used for the unit tests
*/ */
void read_fpga_total_scale_factor(uint32_t *total_scale_factor, uint32_t *fw_scale_factor); void read_fpga_total_scale_factor(uint32_t* total_scale_factor, uint32_t* fw_scale_factor);
}; };
#endif /* GNSS_SDR_PCPS_ACQUISITION_FPGA_H_*/ #endif /* GNSS_SDR_PCPS_ACQUISITION_FPGA_H_*/

120
src/algorithms/acquisition/libs/fpga_acquisition.cc
View File

@ -31,7 +31,7 @@
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>. * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
* *
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
#include "fpga_acquisition.h" #include "fpga_acquisition.h"
#include "GPS_L1_CA.h" #include "GPS_L1_CA.h"
@ -43,7 +43,6 @@
#include <utility> #include <utility>
// FPGA register parameters // FPGA register parameters
#define PAGE_SIZE 0x10000 // default page size for the multicorrelator memory map #define PAGE_SIZE 0x10000 // default page size for the multicorrelator memory map
#define MAX_PHASE_STEP_RAD 0.999999999534339 // 1 - pow(2,-31); #define MAX_PHASE_STEP_RAD 0.999999999534339 // 1 - pow(2,-31);
@ -58,10 +57,10 @@
#define SELECT_MSB 0XFF00 // value to select the most significant byte #define SELECT_MSB 0XFF00 // value to select the most significant byte
#define SELECT_16_BITS 0xFFFF // value to select 16 bits #define SELECT_16_BITS 0xFFFF // value to select 16 bits
#define SHL_8_BITS 256 // value used to shift a value 8 bits to the left #define SHL_8_BITS 256 // value used to shift a value 8 bits to the left
#define SELECT_LSBits 0x000003FF // Select the 10 LSbits out of a 20-bit word #define SELECT_LSBits 0x000003FF // Select the 10 LSbits out of a 20-bit word
#define SELECT_MSBbits 0x000FFC00 // Select the 10 MSbits out of a 20-bit word #define SELECT_MSBbits 0x000FFC00 // Select the 10 MSbits out of a 20-bit word
#define SELECT_ALL_CODE_BITS 0x000FFFFF // Select a 20 bit word #define SELECT_ALL_CODE_BITS 0x000FFFFF // Select a 20 bit word
#define SHL_CODE_BITS 1024 // shift left by 10 bits #define SHL_CODE_BITS 1024 // shift left by 10 bits
bool fpga_acquisition::init() bool fpga_acquisition::init()
@ -73,7 +72,7 @@ bool fpga_acquisition::init()
bool fpga_acquisition::set_local_code(uint32_t PRN) bool fpga_acquisition::set_local_code(uint32_t PRN)
{ {
// select the code with the chosen PRN // select the code with the chosen PRN
d_PRN = PRN; d_PRN = PRN;
return true; return true;
} }
@ -82,7 +81,6 @@ void fpga_acquisition::write_local_code()
{ {
fpga_acquisition::fpga_configure_acquisition_local_code( fpga_acquisition::fpga_configure_acquisition_local_code(
&d_all_fft_codes[d_nsamples_total * (d_PRN - 1)]); &d_all_fft_codes[d_nsamples_total * (d_PRN - 1)]);
} }
fpga_acquisition::fpga_acquisition(std::string device_name, fpga_acquisition::fpga_acquisition(std::string device_name,
@ -91,7 +89,7 @@ fpga_acquisition::fpga_acquisition(std::string device_name,
uint32_t nsamples_total, int64_t fs_in, uint32_t nsamples_total, int64_t fs_in,
uint32_t sampled_ms, uint32_t select_queue, uint32_t sampled_ms, uint32_t select_queue,
lv_16sc_t *all_fft_codes, lv_16sc_t *all_fft_codes,
uint32_t excludelimit) uint32_t excludelimit)
{ {
uint32_t vector_length = nsamples_total; uint32_t vector_length = nsamples_total;
@ -116,7 +114,6 @@ fpga_acquisition::fpga_acquisition(std::string device_name,
d_PRN = 0; d_PRN = 0;
DLOG(INFO) << "Acquisition FPGA class created"; DLOG(INFO) << "Acquisition FPGA class created";
} }
void fpga_acquisition::open_device() void fpga_acquisition::open_device()
@ -135,12 +132,10 @@ void fpga_acquisition::open_device()
LOG(WARNING) << "Cannot map the FPGA acquisition module into user memory"; LOG(WARNING) << "Cannot map the FPGA acquisition module into user memory";
std::cout << "Acq: cannot map deviceio" << d_device_name << std::endl; std::cout << "Acq: cannot map deviceio" << d_device_name << std::endl;
} }
} }
fpga_acquisition::~fpga_acquisition() fpga_acquisition::~fpga_acquisition()
{ {
} }
@ -152,7 +147,6 @@ bool fpga_acquisition::free()
void fpga_acquisition::fpga_acquisition_test_register() void fpga_acquisition::fpga_acquisition_test_register()
{ {
// sanity check : check test register // sanity check : check test register
uint32_t writeval = TEST_REG_SANITY_CHECK; uint32_t writeval = TEST_REG_SANITY_CHECK;
uint32_t readval; uint32_t readval;
@ -190,14 +184,12 @@ void fpga_acquisition::fpga_configure_acquisition_local_code(lv_16sc_t fft_local
local_code = (tmp & SELECT_LSBits) | ((tmp2 * SHL_CODE_BITS) & SELECT_MSBbits); // put together the real part and the imaginary part local_code = (tmp & SELECT_LSBits) | ((tmp2 * SHL_CODE_BITS) & SELECT_MSBbits); // put together the real part and the imaginary part
fft_data = local_code & SELECT_ALL_CODE_BITS; fft_data = local_code & SELECT_ALL_CODE_BITS;
d_map_base[6] = fft_data; d_map_base[6] = fft_data;
} }
} }
void fpga_acquisition::run_acquisition(void) void fpga_acquisition::run_acquisition(void)
{ {
// enable interrupts // enable interrupts
int32_t reenable = 1; int32_t reenable = 1;
int32_t disable_int = 0; int32_t disable_int = 0;
@ -212,67 +204,63 @@ void fpga_acquisition::run_acquisition(void)
nb = read(d_fd, &irq_count, sizeof(irq_count)); nb = read(d_fd, &irq_count, sizeof(irq_count));
if (nb != sizeof(irq_count)) if (nb != sizeof(irq_count))
{ {
std::cout << "acquisition module Read failed to retrieve 4 bytes!" << std::endl; std::cout << "acquisition module Read failed to retrieve 4 bytes!" << std::endl;
std::cout << "acquisition module Interrupt number " << irq_count << std::endl; std::cout << "acquisition module Interrupt number " << irq_count << std::endl;
} }
write(d_fd, reinterpret_cast<void *>(&disable_int), sizeof(int32_t)); write(d_fd, reinterpret_cast<void *>(&disable_int), sizeof(int32_t));
} }
void fpga_acquisition::set_block_exp(uint32_t total_block_exp) void fpga_acquisition::set_block_exp(uint32_t total_block_exp)
{ {
d_map_base[11] = total_block_exp; d_map_base[11] = total_block_exp;
} }
void fpga_acquisition::set_doppler_sweep(uint32_t num_sweeps) void fpga_acquisition::set_doppler_sweep(uint32_t num_sweeps)
{ {
float phase_step_rad_real;
float phase_step_rad_int_temp;
int32_t phase_step_rad_int;
int32_t doppler = static_cast<int32_t>(-d_doppler_max);
float phase_step_rad = GPS_TWO_PI * (doppler) / static_cast<float>(d_fs_in);
// The doppler step can never be outside the range -pi to +pi, otherwise there would be aliasing
// The FPGA expects phase_step_rad between -1 (-pi) to +1 (+pi)
// The FPGA also expects the phase to be negative since it produces cos(x) -j*sin(x)
phase_step_rad_real = phase_step_rad / (GPS_TWO_PI / 2);
float phase_step_rad_real; // avoid saturation of the fixed point representation in the fpga
float phase_step_rad_int_temp; // (only the positive value can saturate due to the 2's complement representation)
int32_t phase_step_rad_int; if (phase_step_rad_real >= 1.0)
int32_t doppler = static_cast<int32_t>(-d_doppler_max); {
float phase_step_rad = GPS_TWO_PI * (doppler) / static_cast<float>(d_fs_in); phase_step_rad_real = MAX_PHASE_STEP_RAD;
// The doppler step can never be outside the range -pi to +pi, otherwise there would be aliasing }
// The FPGA expects phase_step_rad between -1 (-pi) to +1 (+pi) phase_step_rad_int_temp = phase_step_rad_real * POW_2_2; // * 2^2
// The FPGA also expects the phase to be negative since it produces cos(x) -j*sin(x) phase_step_rad_int = static_cast<int32_t>(phase_step_rad_int_temp * (POW_2_29)); // * 2^29 (in total it makes x2^31 in two steps to avoid the warnings
phase_step_rad_real = phase_step_rad / (GPS_TWO_PI / 2); d_map_base[3] = phase_step_rad_int;
// avoid saturation of the fixed point representation in the fpga
// (only the positive value can saturate due to the 2's complement representation)
if (phase_step_rad_real >= 1.0)
{
phase_step_rad_real = MAX_PHASE_STEP_RAD;
}
phase_step_rad_int_temp = phase_step_rad_real * POW_2_2; // * 2^2
phase_step_rad_int = static_cast<int32_t>(phase_step_rad_int_temp * (POW_2_29)); // * 2^29 (in total it makes x2^31 in two steps to avoid the warnings
d_map_base[3] = phase_step_rad_int;
// repeat the calculation with the doppler step
doppler = static_cast<int32_t>(d_doppler_step);
phase_step_rad = GPS_TWO_PI * (doppler) / static_cast<float>(d_fs_in);
phase_step_rad_real = phase_step_rad / (GPS_TWO_PI / 2);
if (phase_step_rad_real >= 1.0)
{
phase_step_rad_real = MAX_PHASE_STEP_RAD;
}
phase_step_rad_int_temp = phase_step_rad_real * POW_2_2; // * 2^2
phase_step_rad_int = static_cast<int32_t>(phase_step_rad_int_temp * (POW_2_29)); // * 2^29 (in total it makes x2^31 in two steps to avoid the warnings
d_map_base[4] = phase_step_rad_int;
d_map_base[5] = num_sweeps;
// repeat the calculation with the doppler step
doppler = static_cast<int32_t>(d_doppler_step);
phase_step_rad = GPS_TWO_PI * (doppler) / static_cast<float>(d_fs_in);
phase_step_rad_real = phase_step_rad / (GPS_TWO_PI / 2);
if (phase_step_rad_real >= 1.0)
{
phase_step_rad_real = MAX_PHASE_STEP_RAD;
}
phase_step_rad_int_temp = phase_step_rad_real * POW_2_2; // * 2^2
phase_step_rad_int = static_cast<int32_t>(phase_step_rad_int_temp * (POW_2_29)); // * 2^29 (in total it makes x2^31 in two steps to avoid the warnings
d_map_base[4] = phase_step_rad_int;
d_map_base[5] = num_sweeps;
} }
void fpga_acquisition::configure_acquisition() void fpga_acquisition::configure_acquisition()
{ {
fpga_acquisition::open_device(); fpga_acquisition::open_device();
d_map_base[0] = d_select_queue; d_map_base[0] = d_select_queue;
d_map_base[1] = d_vector_length; d_map_base[1] = d_vector_length;
d_map_base[2] = d_nsamples; d_map_base[2] = d_nsamples;
d_map_base[7] = static_cast<int32_t>(log2(static_cast<float>(d_vector_length))); // log2 FFTlength d_map_base[7] = static_cast<int32_t>(log2(static_cast<float>(d_vector_length))); // log2 FFTlength
d_map_base[12] = d_excludelimit; d_map_base[12] = d_excludelimit;
} }
@ -303,7 +291,6 @@ void fpga_acquisition::set_phase_step(uint32_t doppler_index)
void fpga_acquisition::read_acquisition_results(uint32_t *max_index, void fpga_acquisition::read_acquisition_results(uint32_t *max_index,
float *firstpeak, float *secondpeak, uint64_t *initial_sample, float *power_sum, uint32_t *doppler_index, uint32_t *total_blk_exp) float *firstpeak, float *secondpeak, uint64_t *initial_sample, float *power_sum, uint32_t *doppler_index, uint32_t *total_blk_exp)
{ {
uint64_t initial_sample_tmp = 0; uint64_t initial_sample_tmp = 0;
uint32_t readval = 0; uint32_t readval = 0;
uint64_t readval_long = 0; uint64_t readval_long = 0;
@ -313,7 +300,7 @@ void fpga_acquisition::read_acquisition_results(uint32_t *max_index,
initial_sample_tmp = readval; initial_sample_tmp = readval;
readval_long = d_map_base[2]; readval_long = d_map_base[2];
readval_long_shifted = readval_long << 32; // 2^32 readval_long_shifted = readval_long << 32; // 2^32
initial_sample_tmp = initial_sample_tmp + readval_long_shifted; // 2^32 initial_sample_tmp = initial_sample_tmp + readval_long_shifted; // 2^32
*initial_sample = initial_sample_tmp; *initial_sample = initial_sample_tmp;
@ -335,10 +322,9 @@ void fpga_acquisition::read_acquisition_results(uint32_t *max_index,
readval = d_map_base[7]; // read doppler index -- this read releases the interrupt line readval = d_map_base[7]; // read doppler index -- this read releases the interrupt line
*doppler_index = readval; *doppler_index = readval;
readval = d_map_base[15]; // read dummy readval = d_map_base[15]; // read dummy
fpga_acquisition::close_device(); fpga_acquisition::close_device();
} }
@ -367,7 +353,7 @@ void fpga_acquisition::close_device()
void fpga_acquisition::reset_acquisition(void) void fpga_acquisition::reset_acquisition(void)
{ {
fpga_acquisition::open_device(); fpga_acquisition::open_device();
d_map_base[8] = RESET_ACQUISITION; // writing a 2 to d_map_base[8] resets the multicorrelator d_map_base[8] = RESET_ACQUISITION; // writing a 2 to d_map_base[8] resets the multicorrelator
fpga_acquisition::close_device(); fpga_acquisition::close_device();
} }
@ -376,19 +362,17 @@ void fpga_acquisition::reset_acquisition(void)
// this function is only used for the unit tests // this function is only used for the unit tests
void fpga_acquisition::read_fpga_total_scale_factor(uint32_t *total_scale_factor, uint32_t *fw_scale_factor) void fpga_acquisition::read_fpga_total_scale_factor(uint32_t *total_scale_factor, uint32_t *fw_scale_factor)
{ {
uint32_t readval = 0;
readval = d_map_base[8];
*total_scale_factor = readval;
uint32_t readval = 0; //readval = d_map_base[8];
readval = d_map_base[8]; *fw_scale_factor = 0;
*total_scale_factor = readval;
//readval = d_map_base[8];
*fw_scale_factor = 0;
} }
void fpga_acquisition::read_result_valid(uint32_t *result_valid) void fpga_acquisition::read_result_valid(uint32_t *result_valid)
{ {
uint32_t readval = 0; uint32_t readval = 0;
readval = d_map_base[0]; readval = d_map_base[0];
*result_valid = readval; *result_valid = readval;
} }

17
src/algorithms/acquisition/libs/fpga_acquisition.h
View File

@ -54,7 +54,7 @@ public:
uint32_t sampled_ms, uint32_t sampled_ms,
uint32_t select_queue, uint32_t select_queue,
lv_16sc_t *all_fft_codes, lv_16sc_t *all_fft_codes,
uint32_t excludelimit); uint32_t excludelimit);
~fpga_acquisition(); ~fpga_acquisition();
bool init(); bool init();
@ -113,18 +113,17 @@ private:
lv_16sc_t *d_all_fft_codes; // memory that contains all the code ffts lv_16sc_t *d_all_fft_codes; // memory that contains all the code ffts
uint32_t d_vector_length; // number of samples incluing padding and number of ms uint32_t d_vector_length; // number of samples incluing padding and number of ms
uint32_t d_excludelimit; uint32_t d_excludelimit;
uint32_t d_nsamples_total; // number of samples including padding uint32_t d_nsamples_total; // number of samples including padding
uint32_t d_nsamples; // number of samples not including padding uint32_t d_nsamples; // number of samples not including padding
uint32_t d_select_queue; // queue selection uint32_t d_select_queue; // queue selection
std::string d_device_name; // HW device name std::string d_device_name; // HW device name
uint32_t d_doppler_max; // max doppler uint32_t d_doppler_max; // max doppler
uint32_t d_doppler_step; // doppler step uint32_t d_doppler_step; // doppler step
uint32_t d_PRN; // PRN uint32_t d_PRN; // PRN
// FPGA private functions // FPGA private functions
void fpga_acquisition_test_register(void); void fpga_acquisition_test_register(void);
void fpga_configure_acquisition_local_code(lv_16sc_t fft_local_code[]); void fpga_configure_acquisition_local_code(lv_16sc_t fft_local_code[]);
void read_result_valid(uint32_t *result_valid); void read_result_valid(uint32_t *result_valid);
}; };
#endif /* GNSS_SDR_FPGA_ACQUISITION_H_ */ #endif /* GNSS_SDR_FPGA_ACQUISITION_H_ */

6
src/algorithms/libs/gnss_sdr_fpga_sample_counter.cc
View File

@ -251,7 +251,7 @@ void gnss_sdr_fpga_sample_counter::close_device()
auto *aux = const_cast<uint32_t *>(map_base); auto *aux = const_cast<uint32_t *>(map_base);
if (munmap(static_cast<void *>(aux), PAGE_SIZE) == -1) if (munmap(static_cast<void *>(aux), PAGE_SIZE) == -1)
{ {
std::cout << "Failed to unmap memory uio" << std::endl; std::cout << "Failed to unmap memory uio" << std::endl;
} }
close(fd); close(fd);
} }
@ -270,8 +270,8 @@ uint32_t gnss_sdr_fpga_sample_counter::wait_for_interrupt_and_read_counter()
nb = read(fd, &irq_count, sizeof(irq_count)); nb = read(fd, &irq_count, sizeof(irq_count));
if (nb != sizeof(irq_count)) if (nb != sizeof(irq_count))
{ {
std::cout << "fpga sample counter module read failed to retrieve 4 bytes!" << std::endl; std::cout << "fpga sample counter module read failed to retrieve 4 bytes!" << std::endl;
std::cout << "fpga sample counter module interrupt number " << irq_count << std::endl; std::cout << "fpga sample counter module interrupt number " << irq_count << std::endl;
} }
// it is a rising edge interrupt, the interrupt does not need to be acknowledged // it is a rising edge interrupt, the interrupt does not need to be acknowledged

6
src/algorithms/libs/gnss_sdr_fpga_sample_counter.h
View File

@ -66,9 +66,9 @@ private:
uint32_t current_days; // Receiver time in days since the beginning of the run uint32_t current_days; // Receiver time in days since the beginning of the run
int32_t report_interval_ms; int32_t report_interval_ms;
bool flag_enable_send_msg; bool flag_enable_send_msg;
int32_t fd; // driver descriptor int32_t fd; // driver descriptor
volatile uint32_t *map_base; // driver memory map volatile uint32_t *map_base; // driver memory map
std::string device_name = "/dev/uio2"; // HW device name std::string device_name = "/dev/uio2"; // HW device name
public: public:
friend gnss_sdr_fpga_sample_counter_sptr gnss_sdr_make_fpga_sample_counter(double _fs, int32_t _interval_ms); friend gnss_sdr_fpga_sample_counter_sptr gnss_sdr_make_fpga_sample_counter(double _fs, int32_t _interval_ms);

31
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking_fpga.cc
View File

@ -55,7 +55,6 @@ GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
ConfigurationInterface *configuration, const std::string &role, ConfigurationInterface *configuration, const std::string &role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams) unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{ {
Dll_Pll_Conf_Fpga trk_param_fpga = Dll_Pll_Conf_Fpga(); Dll_Pll_Conf_Fpga trk_param_fpga = Dll_Pll_Conf_Fpga();
DLOG(INFO) << "role " << role; DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ######################## //################# CONFIGURATION PARAMETERS ########################
@ -138,15 +137,6 @@ GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
auto *aux_code = static_cast<gr_complex *>(volk_gnsssdr_malloc(sizeof(gr_complex) * code_length_chips * code_samples_per_chip, volk_gnsssdr_get_alignment())); auto *aux_code = static_cast<gr_complex *>(volk_gnsssdr_malloc(sizeof(gr_complex) * code_length_chips * code_samples_per_chip, volk_gnsssdr_get_alignment()));
float *tracking_code;
float *data_code;
if (trk_param_fpga.track_pilot)
{
data_code = static_cast<float *>(volk_gnsssdr_malloc(code_samples_per_chip * code_length_chips * sizeof(float), volk_gnsssdr_get_alignment()));
}
tracking_code = static_cast<float *>(volk_gnsssdr_malloc(code_samples_per_chip * code_length_chips * sizeof(float), volk_gnsssdr_get_alignment()));
d_ca_codes = static_cast<int32_t *>(volk_gnsssdr_malloc(static_cast<int32_t>(code_length_chips) * code_samples_per_chip * GALILEO_E5A_NUMBER_OF_CODES * sizeof(int32_t), volk_gnsssdr_get_alignment())); d_ca_codes = static_cast<int32_t *>(volk_gnsssdr_malloc(static_cast<int32_t>(code_length_chips) * code_samples_per_chip * GALILEO_E5A_NUMBER_OF_CODES * sizeof(int32_t), volk_gnsssdr_get_alignment()));
if (trk_param_fpga.track_pilot) if (trk_param_fpga.track_pilot)
@ -160,37 +150,22 @@ GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
galileo_e5_a_code_gen_complex_primary(aux_code, PRN, const_cast<char *>(sig_)); galileo_e5_a_code_gen_complex_primary(aux_code, PRN, const_cast<char *>(sig_));
if (trk_param_fpga.track_pilot) if (trk_param_fpga.track_pilot)
{ {
for (uint32_t i = 0; i < code_length_chips; i++)
{
tracking_code[i] = aux_code[i].imag();
data_code[i] = aux_code[i].real();
}
for (uint32_t s = 0; s < code_length_chips; s++) for (uint32_t s = 0; s < code_length_chips; s++)
{ {
d_ca_codes[static_cast<int32_t>(code_length_chips) * (PRN - 1) + s] = static_cast<int32_t>(tracking_code[s]); d_ca_codes[static_cast<int32_t>(code_length_chips) * (PRN - 1) + s] = static_cast<int32_t>(aux_code[s].imag());
d_data_codes[static_cast<int32_t>(code_length_chips) * (PRN - 1) + s] = static_cast<int32_t>(data_code[s]); d_data_codes[static_cast<int32_t>(code_length_chips) * (PRN - 1) + s] = static_cast<int32_t>(aux_code[s].real());
} }
} }
else else
{ {
for (uint32_t i = 0; i < code_length_chips; i++)
{
tracking_code[i] = aux_code[i].real();
}
for (uint32_t s = 0; s < code_length_chips; s++) for (uint32_t s = 0; s < code_length_chips; s++)
{ {
d_ca_codes[static_cast<int32_t>(code_length_chips) * (PRN - 1) + s] = static_cast<int32_t>(tracking_code[s]); d_ca_codes[static_cast<int32_t>(code_length_chips) * (PRN - 1) + s] = static_cast<int32_t>(aux_code[s].real());
} }
} }
} }
volk_gnsssdr_free(aux_code); volk_gnsssdr_free(aux_code);
volk_gnsssdr_free(tracking_code);
if (trk_param_fpga.track_pilot)
{
volk_gnsssdr_free(data_code);
}
trk_param_fpga.ca_codes = d_ca_codes; trk_param_fpga.ca_codes = d_ca_codes;
trk_param_fpga.data_codes = d_data_codes; trk_param_fpga.data_codes = d_data_codes;
trk_param_fpga.code_length_chips = code_length_chips; trk_param_fpga.code_length_chips = code_length_chips;

2
src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking_fpga.cc
View File

@ -153,7 +153,7 @@ GpsL5DllPllTrackingFpga::GpsL5DllPllTrackingFpga(
for (uint32_t PRN = 1; PRN <= NUM_PRNs; PRN++) for (uint32_t PRN = 1; PRN <= NUM_PRNs; PRN++)
{ {
if (track_pilot) if (trk_param_fpga.track_pilot)
{ {
gps_l5q_code_gen_float(tracking_code, PRN); gps_l5q_code_gen_float(tracking_code, PRN);
gps_l5i_code_gen_float(data_code, PRN); gps_l5i_code_gen_float(data_code, PRN);

117
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc
View File

@ -36,21 +36,21 @@
*/ */
#include "dll_pll_veml_tracking_fpga.h" #include "dll_pll_veml_tracking_fpga.h"
#include "tracking_discriminators.h"
#include "lock_detectors.h"
#include "control_message_factory.h"
#include "MATH_CONSTANTS.h"
#include "Galileo_E1.h"
#include "galileo_e1_signal_processing.h"
#include "Galileo_E5a.h"
#include "galileo_e5_signal_processing.h"
#include "GPS_L1_CA.h" #include "GPS_L1_CA.h"
#include "gps_sdr_signal_processing.h"
#include "GPS_L2C.h" #include "GPS_L2C.h"
#include "gps_l2c_signal.h"
#include "GPS_L5.h" #include "GPS_L5.h"
#include "gps_l5_signal.h" #include "Galileo_E1.h"
#include "Galileo_E5a.h"
#include "MATH_CONSTANTS.h"
#include "control_message_factory.h"
#include "galileo_e1_signal_processing.h"
#include "galileo_e5_signal_processing.h"
#include "gnss_sdr_create_directory.h" #include "gnss_sdr_create_directory.h"
#include "gps_l2c_signal.h"
#include "gps_l5_signal.h"
#include "gps_sdr_signal_processing.h"
#include "lock_detectors.h"
#include "tracking_discriminators.h"
#include <boost/filesystem/path.hpp> #include <boost/filesystem/path.hpp>
#include <glog/logging.h> #include <glog/logging.h>
#include <gnuradio/io_signature.h> #include <gnuradio/io_signature.h>
@ -60,8 +60,8 @@
#include <cmath> #include <cmath>
#include <exception> #include <exception>
#include <iostream> #include <iostream>
#include <sstream>
#include <numeric> #include <numeric>
#include <sstream>
using google::LogMessage; using google::LogMessage;
@ -72,7 +72,7 @@ dll_pll_veml_tracking_fpga_sptr dll_pll_veml_make_tracking_fpga(const Dll_Pll_Co
dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &conf_) : gr::block("dll_pll_veml_tracking_fpga", gr::io_signature::make(0, 0, sizeof(lv_16sc_t)), dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &conf_) : gr::block("dll_pll_veml_tracking_fpga", gr::io_signature::make(0, 0, sizeof(lv_16sc_t)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))) gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{ {
trk_parameters = conf_; trk_parameters = conf_;
// Telemetry bit synchronization message port input // Telemetry bit synchronization message port input
@ -326,7 +326,7 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
trk_parameters.extend_correlation_symbols = 1; trk_parameters.extend_correlation_symbols = 1;
} }
// --- Initializations --- // --- Initializations ---
// Initial code frequency basis of NCO // Initial code frequency basis of NCO
d_code_freq_chips = d_code_chip_rate; d_code_freq_chips = d_code_chip_rate;
// Residual code phase (in chips) // Residual code phase (in chips)
@ -423,14 +423,11 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &
uint32_t multicorr_type = trk_parameters.multicorr_type; uint32_t multicorr_type = trk_parameters.multicorr_type;
multicorrelator_fpga = std::make_shared<fpga_multicorrelator_8sc>(d_n_correlator_taps, device_name, device_base, ca_codes, data_codes, d_code_length_chips, trk_parameters.track_pilot, multicorr_type, d_code_samples_per_chip); multicorrelator_fpga = std::make_shared<fpga_multicorrelator_8sc>(d_n_correlator_taps, device_name, device_base, ca_codes, data_codes, d_code_length_chips, trk_parameters.track_pilot, multicorr_type, d_code_samples_per_chip);
multicorrelator_fpga->set_output_vectors(d_correlator_outs, d_Prompt_Data); multicorrelator_fpga->set_output_vectors(d_correlator_outs, d_Prompt_Data);
} }
void dll_pll_veml_tracking_fpga::start_tracking() void dll_pll_veml_tracking_fpga::start_tracking()
{ {
// correct the code phase according to the delay between acq and trk // 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_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz; d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
@ -508,7 +505,6 @@ void dll_pll_veml_tracking_fpga::start_tracking()
d_cloop = true; d_cloop = true;
d_Prompt_buffer_deque.clear(); d_Prompt_buffer_deque.clear();
d_last_prompt = gr_complex(0.0, 0.0); d_last_prompt = gr_complex(0.0, 0.0);
} }
@ -553,13 +549,11 @@ dll_pll_veml_tracking_fpga::~dll_pll_veml_tracking_fpga()
{ {
LOG(WARNING) << "Exception in destructor " << ex.what(); LOG(WARNING) << "Exception in destructor " << ex.what();
} }
} }
bool dll_pll_veml_tracking_fpga::acquire_secondary() bool dll_pll_veml_tracking_fpga::acquire_secondary()
{ {
// ******* preamble correlation ******** // ******* preamble correlation ********
int32_t corr_value = 0; int32_t corr_value = 0;
for (uint32_t i = 0; i < d_secondary_code_length; i++) for (uint32_t i = 0; i < d_secondary_code_length; i++)
@ -596,13 +590,11 @@ bool dll_pll_veml_tracking_fpga::acquire_secondary()
{ {
return false; return false;
} }
} }
bool dll_pll_veml_tracking_fpga::cn0_and_tracking_lock_status(double coh_integration_time_s) bool dll_pll_veml_tracking_fpga::cn0_and_tracking_lock_status(double coh_integration_time_s)
{ {
// ####### CN0 ESTIMATION AND LOCK DETECTORS ###### // ####### CN0 ESTIMATION AND LOCK DETECTORS ######
if (d_cn0_estimation_counter < trk_parameters.cn0_samples) if (d_cn0_estimation_counter < trk_parameters.cn0_samples)
@ -642,7 +634,6 @@ bool dll_pll_veml_tracking_fpga::cn0_and_tracking_lock_status(double coh_integra
return true; return true;
} }
} }
} }
@ -654,25 +645,20 @@ bool dll_pll_veml_tracking_fpga::cn0_and_tracking_lock_status(double coh_integra
//void dll_pll_veml_tracking_fpga::do_correlation_step(const gr_complex *input_samples) //void dll_pll_veml_tracking_fpga::do_correlation_step(const gr_complex *input_samples)
void dll_pll_veml_tracking_fpga::do_correlation_step(void) void dll_pll_veml_tracking_fpga::do_correlation_step(void)
{ {
// // ################# CARRIER WIPEOFF AND CORRELATORS ##############################
// // ################# CARRIER WIPEOFF AND CORRELATORS ############################## multicorrelator_fpga->Carrier_wipeoff_multicorrelator_resampler(
multicorrelator_fpga->Carrier_wipeoff_multicorrelator_resampler(
d_rem_carr_phase_rad, d_rem_carr_phase_rad,
d_carrier_phase_step_rad, d_carrier_phase_rate_step_rad, d_carrier_phase_step_rad, d_carrier_phase_rate_step_rad,
static_cast<float>(d_rem_code_phase_chips) * static_cast<float>(d_code_samples_per_chip), static_cast<float>(d_rem_code_phase_chips) * static_cast<float>(d_code_samples_per_chip),
static_cast<float>(d_code_phase_step_chips) * static_cast<float>(d_code_samples_per_chip), static_cast<float>(d_code_phase_step_chips) * static_cast<float>(d_code_samples_per_chip),
static_cast<float>(d_code_phase_rate_step_chips) * static_cast<float>(d_code_samples_per_chip), static_cast<float>(d_code_phase_rate_step_chips) * static_cast<float>(d_code_samples_per_chip),
d_current_prn_length_samples); d_current_prn_length_samples);
} }
void dll_pll_veml_tracking_fpga::run_dll_pll() void dll_pll_veml_tracking_fpga::run_dll_pll()
{ {
// ################## PLL ########################################################## // ################## PLL ##########################################################
// PLL discriminator // PLL discriminator
if (d_cloop) if (d_cloop)
@ -707,13 +693,11 @@ void dll_pll_veml_tracking_fpga::run_dll_pll()
// New code Doppler frequency estimation // New code Doppler frequency estimation
d_code_freq_chips = (1.0 + (d_carrier_doppler_hz / d_signal_carrier_freq)) * d_code_chip_rate - d_code_error_filt_chips; d_code_freq_chips = (1.0 + (d_carrier_doppler_hz / d_signal_carrier_freq)) * d_code_chip_rate - d_code_error_filt_chips;
} }
void dll_pll_veml_tracking_fpga::clear_tracking_vars() void dll_pll_veml_tracking_fpga::clear_tracking_vars()
{ {
std::fill_n(d_correlator_outs, d_n_correlator_taps, gr_complex(0.0, 0.0)); std::fill_n(d_correlator_outs, d_n_correlator_taps, gr_complex(0.0, 0.0));
if (trk_parameters.track_pilot) d_Prompt_Data[0] = gr_complex(0.0, 0.0); if (trk_parameters.track_pilot) d_Prompt_Data[0] = gr_complex(0.0, 0.0);
d_carr_error_hz = 0.0; d_carr_error_hz = 0.0;
@ -727,13 +711,11 @@ void dll_pll_veml_tracking_fpga::clear_tracking_vars()
d_code_phase_rate_step_chips = 0.0; d_code_phase_rate_step_chips = 0.0;
d_carr_ph_history.clear(); d_carr_ph_history.clear();
d_code_ph_history.clear(); d_code_ph_history.clear();
} }
void dll_pll_veml_tracking_fpga::update_tracking_vars() void dll_pll_veml_tracking_fpga::update_tracking_vars()
{ {
T_chip_seconds = 1.0 / d_code_freq_chips; T_chip_seconds = 1.0 / d_code_freq_chips;
T_prn_seconds = T_chip_seconds * static_cast<double>(d_code_length_chips); T_prn_seconds = T_chip_seconds * static_cast<double>(d_code_length_chips);
@ -800,13 +782,11 @@ void dll_pll_veml_tracking_fpga::update_tracking_vars()
// remnant code phase [chips] // remnant code phase [chips]
d_rem_code_phase_samples = K_blk_samples - static_cast<double>(d_current_prn_length_samples); // rounding error < 1 sample d_rem_code_phase_samples = K_blk_samples - static_cast<double>(d_current_prn_length_samples); // rounding error < 1 sample
d_rem_code_phase_chips = d_code_freq_chips * d_rem_code_phase_samples / trk_parameters.fs_in; d_rem_code_phase_chips = d_code_freq_chips * d_rem_code_phase_samples / trk_parameters.fs_in;
} }
void dll_pll_veml_tracking_fpga::save_correlation_results() void dll_pll_veml_tracking_fpga::save_correlation_results()
{ {
if (d_secondary) if (d_secondary)
{ {
if (d_secondary_code_string->at(d_current_symbol) == '0') if (d_secondary_code_string->at(d_current_symbol) == '0')
@ -853,13 +833,11 @@ void dll_pll_veml_tracking_fpga::save_correlation_results()
d_cloop = false; d_cloop = false;
else else
d_cloop = true; d_cloop = true;
} }
void dll_pll_veml_tracking_fpga::log_data(bool integrating) void dll_pll_veml_tracking_fpga::log_data(bool integrating)
{ {
if (d_dump) if (d_dump)
{ {
// Dump results to file // Dump results to file
@ -980,13 +958,11 @@ void dll_pll_veml_tracking_fpga::log_data(bool integrating)
LOG(WARNING) << "Exception writing trk dump file " << e.what(); LOG(WARNING) << "Exception writing trk dump file " << e.what();
} }
} }
} }
int32_t dll_pll_veml_tracking_fpga::save_matfile() int32_t dll_pll_veml_tracking_fpga::save_matfile()
{ {
// READ DUMP FILE // READ DUMP FILE
std::ifstream::pos_type size; std::ifstream::pos_type size;
int32_t number_of_double_vars = 1; int32_t number_of_double_vars = 1;
@ -1228,13 +1204,11 @@ int32_t dll_pll_veml_tracking_fpga::save_matfile()
delete[] aux2; delete[] aux2;
delete[] PRN; delete[] PRN;
return 0; return 0;
} }
void dll_pll_veml_tracking_fpga::set_channel(uint32_t channel) void dll_pll_veml_tracking_fpga::set_channel(uint32_t channel)
{ {
d_channel = channel; d_channel = channel;
multicorrelator_fpga->set_channel(d_channel); multicorrelator_fpga->set_channel(d_channel);
LOG(INFO) << "Tracking Channel set to " << d_channel; LOG(INFO) << "Tracking Channel set to " << d_channel;
@ -1261,7 +1235,6 @@ void dll_pll_veml_tracking_fpga::set_channel(uint32_t channel)
} }
} }
} }
} }
@ -1279,8 +1252,6 @@ void dll_pll_veml_tracking_fpga::stop_tracking()
int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items, int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items) gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{ {
Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]); Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
Gnss_Synchro current_synchro_data = Gnss_Synchro(); Gnss_Synchro current_synchro_data = Gnss_Synchro();
@ -1296,33 +1267,33 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
} }
case 1: // Pull-in case 1: // Pull-in
{ {
int64_t acq_trk_diff_samples; int64_t acq_trk_diff_samples;
double acq_trk_diff_seconds; double acq_trk_diff_seconds;
double delta_trk_to_acq_prn_start_samples; double delta_trk_to_acq_prn_start_samples;
multicorrelator_fpga->lock_channel(); multicorrelator_fpga->lock_channel();
uint64_t counter_value = multicorrelator_fpga->read_sample_counter(); uint64_t counter_value = multicorrelator_fpga->read_sample_counter();
uint64_t absolute_samples_offset; uint64_t absolute_samples_offset;
if (counter_value > (d_acq_sample_stamp + d_acq_code_phase_samples)) if (counter_value > (d_acq_sample_stamp + d_acq_code_phase_samples))
{ {
// Signal alignment (skip samples until the incoming signal is aligned with local replica) // Signal alignment (skip samples until the incoming signal is aligned with local replica)
acq_trk_diff_samples = static_cast<int64_t>(counter_value) - static_cast<int64_t>(d_acq_sample_stamp); acq_trk_diff_samples = static_cast<int64_t>(counter_value) - static_cast<int64_t>(d_acq_sample_stamp);
acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / trk_parameters.fs_in; acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / trk_parameters.fs_in;
delta_trk_to_acq_prn_start_samples = static_cast<double>(acq_trk_diff_samples) - d_acq_code_phase_samples; delta_trk_to_acq_prn_start_samples = static_cast<double>(acq_trk_diff_samples) - d_acq_code_phase_samples;
uint32_t num_frames = ceil((delta_trk_to_acq_prn_start_samples) / d_correlation_length_samples); uint32_t num_frames = ceil((delta_trk_to_acq_prn_start_samples) / d_correlation_length_samples);
absolute_samples_offset = static_cast<uint64_t>(d_acq_code_phase_samples + d_acq_sample_stamp + num_frames * d_correlation_length_samples); absolute_samples_offset = static_cast<uint64_t>(d_acq_code_phase_samples + d_acq_sample_stamp + num_frames * d_correlation_length_samples);
} }
else else
{ {
// test mode // test mode
acq_trk_diff_samples = - static_cast<int64_t>(counter_value) + static_cast<int64_t>(d_acq_sample_stamp); acq_trk_diff_samples = -static_cast<int64_t>(counter_value) + static_cast<int64_t>(d_acq_sample_stamp);
acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / trk_parameters.fs_in; acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / trk_parameters.fs_in;
delta_trk_to_acq_prn_start_samples = static_cast<double>(acq_trk_diff_samples) + d_acq_code_phase_samples; delta_trk_to_acq_prn_start_samples = static_cast<double>(acq_trk_diff_samples) + d_acq_code_phase_samples;
absolute_samples_offset = static_cast<uint64_t>(delta_trk_to_acq_prn_start_samples); absolute_samples_offset = static_cast<uint64_t>(delta_trk_to_acq_prn_start_samples);
} }
multicorrelator_fpga->set_initial_sample(absolute_samples_offset); multicorrelator_fpga->set_initial_sample(absolute_samples_offset);
d_absolute_samples_offset = absolute_samples_offset; d_absolute_samples_offset = absolute_samples_offset;
d_sample_counter = absolute_samples_offset; d_sample_counter = absolute_samples_offset;
@ -1357,13 +1328,12 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
// don't leave the HW module blocking the signal path before the first sample arrives // don't leave the HW module blocking the signal path before the first sample arrives
// start the first tracking process // start the first tracking process
run_state_2(current_synchro_data); run_state_2(current_synchro_data);
break; break;
} }
case 2: // Wide tracking and symbol synchronization case 2: // Wide tracking and symbol synchronization
{ {
run_state_2(current_synchro_data); run_state_2(current_synchro_data);
break; break;
} }
case 3: // coherent integration (correlation time extension) case 3: // coherent integration (correlation time extension)
@ -1497,9 +1467,9 @@ int dll_pll_veml_tracking_fpga::general_work(int noutput_items __attribute__((un
if (current_synchro_data.Flag_valid_symbol_output) if (current_synchro_data.Flag_valid_symbol_output)
{ {
current_synchro_data.fs = static_cast<int64_t>(trk_parameters.fs_in); current_synchro_data.fs = static_cast<int64_t>(trk_parameters.fs_in);
// two choices for the reporting of the sample counter: // two choices for the reporting of the sample counter:
// either the sample counter position that should be (d_sample_counter_next) // either the sample counter position that should be (d_sample_counter_next)
//or the sample counter corresponding to the number of samples that the FPGA actually consumed. //or the sample counter corresponding to the number of samples that the FPGA actually consumed.
current_synchro_data.Tracking_sample_counter = d_sample_counter_next; current_synchro_data.Tracking_sample_counter = d_sample_counter_next;
*out[0] = current_synchro_data; *out[0] = current_synchro_data;
return 1; return 1;
@ -1678,7 +1648,6 @@ void dll_pll_veml_tracking_fpga::run_state_2(Gnss_Synchro &current_synchro_data)
} }
} }
} }
} }

1
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.h
View File

@ -44,7 +44,6 @@
#include <map> #include <map>
#include <queue> #include <queue>
#include <utility> #include <utility>
#include <boost/circular_buffer.hpp>
//#include <string> //#include <string>
class dll_pll_veml_tracking_fpga; class dll_pll_veml_tracking_fpga;

4
src/algorithms/tracking/libs/dll_pll_conf_fpga.cc
View File

@ -37,8 +37,8 @@
Dll_Pll_Conf_Fpga::Dll_Pll_Conf_Fpga() Dll_Pll_Conf_Fpga::Dll_Pll_Conf_Fpga()
{ {
/* DLL/PLL tracking configuration */ /* DLL/PLL tracking configuration */
high_dyn = false; high_dyn = false;
smoother_length = 10; smoother_length = 10;
fs_in = 0.0; fs_in = 0.0;
vector_length = 0U; vector_length = 0U;
dump = false; dump = false;

69
src/algorithms/tracking/libs/fpga_multicorrelator.cc
View File

@ -35,40 +35,36 @@
*/ */
#include "fpga_multicorrelator.h" #include "fpga_multicorrelator.h"
#include <cmath> #include <glog/logging.h>
#include <new>
#include <cerrno>
#include <cstdio>
#include <fcntl.h>
#include <unistd.h>
#include <cassert> #include <cassert>
#include <cerrno>
#include <cmath>
#include <csignal>
#include <cstdint> #include <cstdint>
#include <cstdio>
#include <cstdlib>
#include <fcntl.h>
#include <new>
#include <string>
#include <sys/mman.h>
#include <sys/stat.h> #include <sys/stat.h>
#include <unistd.h> #include <unistd.h>
#include <csignal>
#include <cstdlib>
#include <sys/mman.h>
#include <glog/logging.h>
#include <string>
#include <utility> #include <utility>
// FPGA register access constants // FPGA register access constants
#define PAGE_SIZE 0x10000 #define PAGE_SIZE 0x10000
#define MAX_LENGTH_DEVICEIO_NAME 50 #define MAX_LENGTH_DEVICEIO_NAME 50
#define CODE_RESAMPLER_NUM_BITS_PRECISION 20 #define CODE_RESAMPLER_NUM_BITS_PRECISION 20
#define CODE_PHASE_STEP_CHIPS_NUM_NBITS CODE_RESAMPLER_NUM_BITS_PRECISION #define CODE_PHASE_STEP_CHIPS_NUM_NBITS CODE_RESAMPLER_NUM_BITS_PRECISION
#define pwrtwo(x) (1 << (x)) #define pwrtwo(x) (1 << (x))
#define MAX_CODE_RESAMPLER_COUNTER pwrtwo(CODE_PHASE_STEP_CHIPS_NUM_NBITS) // 2^CODE_PHASE_STEP_CHIPS_NUM_NBITS #define MAX_CODE_RESAMPLER_COUNTER pwrtwo(CODE_PHASE_STEP_CHIPS_NUM_NBITS) // 2^CODE_PHASE_STEP_CHIPS_NUM_NBITS
#define PHASE_CARR_NBITS 32 #define PHASE_CARR_NBITS 32
#define PHASE_CARR_NBITS_INT 1 #define PHASE_CARR_NBITS_INT 1
#define PHASE_CARR_NBITS_FRAC PHASE_CARR_NBITS - PHASE_CARR_NBITS_INT #define PHASE_CARR_NBITS_FRAC PHASE_CARR_NBITS - PHASE_CARR_NBITS_INT
#define LOCAL_CODE_FPGA_CORRELATOR_SELECT_COUNT 0x20000000 #define LOCAL_CODE_FPGA_CORRELATOR_SELECT_COUNT 0x20000000
#define LOCAL_CODE_FPGA_CLEAR_ADDRESS_COUNTER 0x10000000 #define LOCAL_CODE_FPGA_CLEAR_ADDRESS_COUNTER 0x10000000
#define LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY 0x0C000000 #define LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY 0x0C000000
#define TEST_REGISTER_TRACK_WRITEVAL 0x55AA #define TEST_REGISTER_TRACK_WRITEVAL 0x55AA
uint64_t fpga_multicorrelator_8sc::read_sample_counter() uint64_t fpga_multicorrelator_8sc::read_sample_counter()
@ -111,9 +107,9 @@ void fpga_multicorrelator_8sc::update_local_code(float rem_code_phase_chips)
void fpga_multicorrelator_8sc::Carrier_wipeoff_multicorrelator_resampler( void fpga_multicorrelator_8sc::Carrier_wipeoff_multicorrelator_resampler(
float rem_carrier_phase_in_rad, float phase_step_rad, float rem_carrier_phase_in_rad, float phase_step_rad,
float carrier_phase_rate_step_rad, float carrier_phase_rate_step_rad,
float rem_code_phase_chips, float code_phase_step_chips, float rem_code_phase_chips, float code_phase_step_chips,
float code_phase_rate_step_chips, float code_phase_rate_step_chips,
int32_t signal_length_samples) int32_t signal_length_samples)
{ {
update_local_code(rem_code_phase_chips); update_local_code(rem_code_phase_chips);
@ -130,7 +126,7 @@ void fpga_multicorrelator_8sc::Carrier_wipeoff_multicorrelator_resampler(
if (nb != sizeof(irq_count)) if (nb != sizeof(irq_count))
{ {
std::cout << "Tracking_module Read failed to retrieve 4 bytes!" << std::endl; std::cout << "Tracking_module Read failed to retrieve 4 bytes!" << std::endl;
std::cout << "Tracking_module Interrupt number " << irq_count << std::endl; std::cout << "Tracking_module Interrupt number " << irq_count << std::endl;
} }
fpga_multicorrelator_8sc::read_tracking_gps_results(); fpga_multicorrelator_8sc::read_tracking_gps_results();
} }
@ -294,7 +290,6 @@ void fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code(int32_t PR
} }
if (d_track_pilot) if (d_track_pilot)
{ {
d_map_base[PROG_MEMS_ADDR] = LOCAL_CODE_FPGA_CLEAR_ADDRESS_COUNTER; d_map_base[PROG_MEMS_ADDR] = LOCAL_CODE_FPGA_CLEAR_ADDRESS_COUNTER;
for (k = 0; k < d_code_length_chips * d_code_samples_per_chip; k++) for (k = 0; k < d_code_length_chips * d_code_samples_per_chip; k++)
{ {
@ -410,7 +405,6 @@ void fpga_multicorrelator_8sc::fpga_compute_signal_parameters_in_fpga(void)
{ {
d_phase_step_rad_int = -d_phase_step_rad_int; d_phase_step_rad_int = -d_phase_step_rad_int;
} }
} }
@ -451,9 +445,9 @@ void fpga_multicorrelator_8sc::read_tracking_gps_results(void)
} }
if (d_track_pilot) if (d_track_pilot)
{ {
readval_real = d_map_base[RESULT_REG_REAL_BASE_ADDR + d_n_correlators]; readval_real = d_map_base[RESULT_REG_REAL_BASE_ADDR + d_n_correlators];
readval_imag = d_map_base[RESULT_REG_IMAG_BASE_ADDR + d_n_correlators]; readval_imag = d_map_base[RESULT_REG_IMAG_BASE_ADDR + d_n_correlators];
d_Prompt_Data[0] = gr_complex(readval_real, readval_imag); d_Prompt_Data[0] = gr_complex(readval_real, readval_imag);
} }
} }
@ -461,8 +455,8 @@ void fpga_multicorrelator_8sc::read_tracking_gps_results(void)
void fpga_multicorrelator_8sc::unlock_channel(void) void fpga_multicorrelator_8sc::unlock_channel(void)
{ {
// unlock the channel to let the next samples go through // unlock the channel to let the next samples go through
d_map_base[DROP_SAMPLES_REG_ADDR] = 1; // unlock the channel d_map_base[DROP_SAMPLES_REG_ADDR] = 1; // unlock the channel
d_map_base[STOP_TRACKING_REG_ADDR] = 1; // set the tracking module back to idle d_map_base[STOP_TRACKING_REG_ADDR] = 1; // set the tracking module back to idle
} }
void fpga_multicorrelator_8sc::close_device() void fpga_multicorrelator_8sc::close_device()
@ -481,4 +475,3 @@ void fpga_multicorrelator_8sc::lock_channel(void)
// lock the channel for processing // lock the channel for processing
d_map_base[DROP_SAMPLES_REG_ADDR] = 0; // lock the channel d_map_base[DROP_SAMPLES_REG_ADDR] = 0; // lock the channel
} }

52
src/algorithms/tracking/libs/fpga_multicorrelator.h
View File

@ -44,27 +44,26 @@
// FPGA register addresses // FPGA register addresses
// write addresses // write addresses
#define CODE_PHASE_STEP_CHIPS_NUM_REG_ADDR 0 #define CODE_PHASE_STEP_CHIPS_NUM_REG_ADDR 0
#define INITIAL_INDEX_REG_BASE_ADDR 1 #define INITIAL_INDEX_REG_BASE_ADDR 1
#define INITIAL_INTERP_COUNTER_REG_BASE_ADDR 7 #define INITIAL_INTERP_COUNTER_REG_BASE_ADDR 7
#define NSAMPLES_MINUS_1_REG_ADDR 13 #define NSAMPLES_MINUS_1_REG_ADDR 13
#define CODE_LENGTH_MINUS_1_REG_ADDR 14 #define CODE_LENGTH_MINUS_1_REG_ADDR 14
#define REM_CARR_PHASE_RAD_REG_ADDR 15 #define REM_CARR_PHASE_RAD_REG_ADDR 15
#define PHASE_STEP_RAD_REG_ADDR 16 #define PHASE_STEP_RAD_REG_ADDR 16
#define PROG_MEMS_ADDR 17 #define PROG_MEMS_ADDR 17
#define DROP_SAMPLES_REG_ADDR 18 #define DROP_SAMPLES_REG_ADDR 18
#define INITIAL_COUNTER_VALUE_REG_ADDR_LSW 19 #define INITIAL_COUNTER_VALUE_REG_ADDR_LSW 19
#define INITIAL_COUNTER_VALUE_REG_ADDR_MSW 20 #define INITIAL_COUNTER_VALUE_REG_ADDR_MSW 20
#define STOP_TRACKING_REG_ADDR 23 #define STOP_TRACKING_REG_ADDR 23
#define START_FLAG_ADDR 30 #define START_FLAG_ADDR 30
// read-write addresses // read-write addresses
#define TEST_REG_ADDR 31 #define TEST_REG_ADDR 31
// read addresses // read addresses
#define RESULT_REG_REAL_BASE_ADDR 1 #define RESULT_REG_REAL_BASE_ADDR 1
#define RESULT_REG_IMAG_BASE_ADDR 7 #define RESULT_REG_IMAG_BASE_ADDR 7
#define SAMPLE_COUNTER_REG_ADDR_LSW 13 #define SAMPLE_COUNTER_REG_ADDR_LSW 13
#define SAMPLE_COUNTER_REG_ADDR_MSW 14 #define SAMPLE_COUNTER_REG_ADDR_MSW 14
/*! /*!
@ -74,18 +73,18 @@ class fpga_multicorrelator_8sc
{ {
public: public:
fpga_multicorrelator_8sc(int32_t n_correlators, std::string device_name, fpga_multicorrelator_8sc(int32_t n_correlators, std::string device_name,
uint32_t device_base, int32_t *ca_codes, int32_t *data_codes, uint32_t code_length_chips, bool track_pilot, uint32_t multicorr_type, uint32_t code_samples_per_chip); uint32_t device_base, int32_t *ca_codes, int32_t *data_codes, uint32_t code_length_chips, bool track_pilot, uint32_t multicorr_type, uint32_t code_samples_per_chip);
~fpga_multicorrelator_8sc(); ~fpga_multicorrelator_8sc();
void set_output_vectors(gr_complex *corr_out, gr_complex *Prompt_Data); void set_output_vectors(gr_complex *corr_out, gr_complex *Prompt_Data);
void set_local_code_and_taps( void set_local_code_and_taps(
float *shifts_chips, float *prompt_data_shift, int32_t PRN); float *shifts_chips, float *prompt_data_shift, int32_t PRN);
void update_local_code(float rem_code_phase_chips); void update_local_code(float rem_code_phase_chips);
void Carrier_wipeoff_multicorrelator_resampler( void Carrier_wipeoff_multicorrelator_resampler(
float rem_carrier_phase_in_rad, float phase_step_rad, float rem_carrier_phase_in_rad, float phase_step_rad,
float carrier_phase_rate_step_rad, float carrier_phase_rate_step_rad,
float rem_code_phase_chips, float code_phase_step_chips, float rem_code_phase_chips, float code_phase_step_chips,
float code_phase_rate_step_chips, float code_phase_rate_step_chips,
int32_t signal_length_samples); int32_t signal_length_samples);
bool free(); bool free();
void set_channel(uint32_t channel); void set_channel(uint32_t channel);
void set_initial_sample(uint64_t samples_offset); void set_initial_sample(uint64_t samples_offset);
@ -144,7 +143,6 @@ private:
void fpga_launch_multicorrelator_fpga(void); void fpga_launch_multicorrelator_fpga(void);
void read_tracking_gps_results(void); void read_tracking_gps_results(void);
void close_device(void); void close_device(void);
}; };
#endif /* GNSS_SDR_FPGA_MULTICORRELATOR_H_ */ #endif /* GNSS_SDR_FPGA_MULTICORRELATOR_H_ */

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

@ -274,9 +274,9 @@ int ControlThread::run()
cmd_interface_thread_ = std::thread(&ControlThread::telecommand_listener, this); cmd_interface_thread_ = std::thread(&ControlThread::telecommand_listener, this);
#ifdef ENABLE_FPGA #ifdef ENABLE_FPGA
// Create a task for the acquisition such that id doesn't block the flow of the control thread // Create a task for the acquisition such that id doesn't block the flow of the control thread
fpga_helper_thread_=boost::thread(&GNSSFlowgraph::start_acquisition_helper, fpga_helper_thread_ = boost::thread(&GNSSFlowgraph::start_acquisition_helper,
flowgraph_); flowgraph_);
#endif #endif
// Main loop to read and process the control messages // Main loop to read and process the control messages
while (flowgraph_->running() && !stop_) while (flowgraph_->running() && !stop_)
@ -299,7 +299,7 @@ int ControlThread::run()
// The HW reset causes any HW accelerator module that is waiting for more samples to complete its calculations // The HW reset causes any HW accelerator module that is waiting for more samples to complete its calculations
// to trigger an interrupt and finish its signal processing tasks immediately. In this way all SW threads that // to trigger an interrupt and finish its signal processing tasks immediately. In this way all SW threads that
// are waiting for interrupts in the HW can exit in a normal way. // are waiting for interrupts in the HW can exit in a normal way.
flowgraph_->perform_hw_reset(); flowgraph_->perform_hw_reset();
#endif #endif
pthread_t id = keyboard_thread_.native_handle(); pthread_t id = keyboard_thread_.native_handle();
@ -308,7 +308,7 @@ int ControlThread::run()
#ifdef ENABLE_FPGA #ifdef ENABLE_FPGA
fpga_helper_thread_.try_join_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000)); fpga_helper_thread_.try_join_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000));
#endif #endif

12
src/core/receiver/control_thread.h
View File

@ -168,16 +168,16 @@ private:
bool delete_configuration_; bool delete_configuration_;
unsigned int processed_control_messages_; unsigned int processed_control_messages_;
unsigned int applied_actions_; unsigned int applied_actions_;
//<<<<<<< HEAD //<<<<<<< HEAD
// boost::thread keyboard_thread_; // boost::thread keyboard_thread_;
// boost::thread sysv_queue_thread_; // boost::thread sysv_queue_thread_;
// boost::thread gps_acq_assist_data_collector_thread_; // boost::thread gps_acq_assist_data_collector_thread_;
boost::thread fpga_helper_thread_; boost::thread fpga_helper_thread_;
//======= //=======
std::thread keyboard_thread_; std::thread keyboard_thread_;
std::thread sysv_queue_thread_; std::thread sysv_queue_thread_;
std::thread gps_acq_assist_data_collector_thread_; std::thread gps_acq_assist_data_collector_thread_;
//>>>>>>> 4fe976ba016fa9c1c64ece88b26a9a93d93a84f4 //>>>>>>> 4fe976ba016fa9c1c64ece88b26a9a93d93a84f4
void keyboard_listener(); void keyboard_listener();
void sysv_queue_listener(); void sysv_queue_listener();

339
src/core/receiver/gnss_flowgraph.cc
View File

@ -212,65 +212,65 @@ void GNSSFlowgraph::connect()
for (int i = 0; i < sources_count_; i++) for (int i = 0; i < sources_count_; i++)
{ {
try try
{ {
//TODO: Remove this array implementation and create generic multistream connector //TODO: Remove this array implementation and create generic multistream connector
//(if a signal source has more than 1 stream, then connect it to the multistream signal conditioner) //(if a signal source has more than 1 stream, then connect it to the multistream signal conditioner)
if (sig_source_.at(i)->implementation() == "Raw_Array_Signal_Source") if (sig_source_.at(i)->implementation() == "Raw_Array_Signal_Source")
{ {
//Multichannel Array //Multichannel Array
std::cout << "ARRAY MODE" << std::endl; std::cout << "ARRAY MODE" << std::endl;
for (int j = 0; j < GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS; j++) for (int j = 0; j < GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS; j++)
{ {
std::cout << "connecting ch " << j << std::endl; std::cout << "connecting ch " << j << std::endl;
top_block_->connect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(i)->get_left_block(), j); top_block_->connect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(i)->get_left_block(), j);
} }
} }
else else
{ {
//TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface. //TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
//Include GetRFChannels in the interface to avoid read config parameters here //Include GetRFChannels in the interface to avoid read config parameters here
//read the number of RF channels for each front-end //read the number of RF channels for each front-end
RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1); RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1);
for (int j = 0; j < RF_Channels; j++) for (int j = 0; j < RF_Channels; j++)
{ {
//Connect the multichannel signal source to multiple signal conditioners //Connect the multichannel signal source to multiple signal conditioners
// GNURADIO max_streams=-1 means infinite ports! // GNURADIO max_streams=-1 means infinite ports!
LOG(INFO) << "sig_source_.at(i)->get_right_block()->output_signature()->max_streams()=" << sig_source_.at(i)->get_right_block()->output_signature()->max_streams(); LOG(INFO) << "sig_source_.at(i)->get_right_block()->output_signature()->max_streams()=" << sig_source_.at(i)->get_right_block()->output_signature()->max_streams();
LOG(INFO) << "sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()=" << sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()->max_streams(); LOG(INFO) << "sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()=" << sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()->max_streams();
if (sig_source_.at(i)->get_right_block()->output_signature()->max_streams() > 1) if (sig_source_.at(i)->get_right_block()->output_signature()->max_streams() > 1)
{ {
LOG(INFO) << "connecting sig_source_ " << i << " stream " << j << " to conditioner " << j; LOG(INFO) << "connecting sig_source_ " << i << " stream " << j << " to conditioner " << j;
top_block_->connect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0); top_block_->connect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
} }
else else
{ {
if (j == 0) if (j == 0)
{ {
// RF_channel 0 backward compatibility with single channel sources // RF_channel 0 backward compatibility with single channel sources
LOG(INFO) << "connecting sig_source_ " << i << " stream " << 0 << " to conditioner " << j; LOG(INFO) << "connecting sig_source_ " << i << " stream " << 0 << " to conditioner " << j;
top_block_->connect(sig_source_.at(i)->get_right_block(), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0); top_block_->connect(sig_source_.at(i)->get_right_block(), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
} }
else else
{ {
// Multiple channel sources using multiple output blocks of single channel (requires RF_channel selector in call) // Multiple channel sources using multiple output blocks of single channel (requires RF_channel selector in call)
LOG(INFO) << "connecting sig_source_ " << i << " stream " << j << " to conditioner " << j; LOG(INFO) << "connecting sig_source_ " << i << " stream " << j << " to conditioner " << j;
top_block_->connect(sig_source_.at(i)->get_right_block(j), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0); top_block_->connect(sig_source_.at(i)->get_right_block(j), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
} }
} }
signal_conditioner_ID++; signal_conditioner_ID++;
} }
} }
} }
catch (const std::exception& e) catch (const std::exception& e)
{ {
LOG(WARNING) << "Can't connect signal source " << i << " to signal conditioner " << i; LOG(WARNING) << "Can't connect signal source " << i << " to signal conditioner " << i;
LOG(ERROR) << e.what(); LOG(ERROR) << e.what();
top_block_->disconnect_all(); top_block_->disconnect_all();
return; return;
} }
} }
DLOG(INFO) << "Signal source connected to signal conditioner"; DLOG(INFO) << "Signal source connected to signal conditioner";
@ -306,7 +306,6 @@ void GNSSFlowgraph::connect()
} }
else else
{ {
//create a hardware-defined gnss_synchro pulse for the observables block //create a hardware-defined gnss_synchro pulse for the observables block
try try
{ {
@ -362,7 +361,6 @@ void GNSSFlowgraph::connect()
uint32_t fs = configuration_->property("GNSS-SDR.internal_fs_sps", 0); uint32_t fs = configuration_->property("GNSS-SDR.internal_fs_sps", 0);
for (unsigned int i = 0; i < channels_count_; i++) for (unsigned int i = 0; i < channels_count_; i++)
{ {
#ifndef ENABLE_FPGA #ifndef ENABLE_FPGA
if (configuration_->property(sig_source_.at(0)->role() + ".enable_FPGA", false) == false) if (configuration_->property(sig_source_.at(0)->role() + ".enable_FPGA", false) == false)
{ {
@ -670,7 +668,7 @@ void GNSSFlowgraph::connect()
LOG(INFO) << "Channel " << i << " assigned to " << channels_.at(i)->get_signal(); LOG(INFO) << "Channel " << i << " assigned to " << channels_.at(i)->get_signal();
if (channels_state_[i] == 1) if (channels_state_[i] == 1)
{ {
channels_.at(i)->start_acquisition(); channels_.at(i)->start_acquisition();
LOG(INFO) << "Channel " << i << " connected to observables and ready for acquisition"; LOG(INFO) << "Channel " << i << " connected to observables and ready for acquisition";
} }
else else
@ -703,114 +701,114 @@ void GNSSFlowgraph::disconnect()
#ifdef ENABLE_FPGA #ifdef ENABLE_FPGA
if (configuration_->property(sig_source_.at(0)->role() + ".enable_FPGA", false) == false) if (configuration_->property(sig_source_.at(0)->role() + ".enable_FPGA", false) == false)
{ {
for (int i = 0; i < sources_count_; i++) for (int i = 0; i < sources_count_; i++)
{ {
try try
{ {
// TODO: Remove this array implementation and create generic multistream connector // TODO: Remove this array implementation and create generic multistream connector
// (if a signal source has more than 1 stream, then connect it to the multistream signal conditioner) // (if a signal source has more than 1 stream, then connect it to the multistream signal conditioner)
if (sig_source_.at(i)->implementation() == "Raw_Array_Signal_Source") if (sig_source_.at(i)->implementation() == "Raw_Array_Signal_Source")
{ {
//Multichannel Array //Multichannel Array
for (int j = 0; j < GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS; j++) for (int j = 0; j < GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS; j++)
{ {
top_block_->disconnect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(i)->get_left_block(), j); top_block_->disconnect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(i)->get_left_block(), j);
} }
} }
else else
{ {
// TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface. // TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
// Include GetRFChannels in the interface to avoid read config parameters here // Include GetRFChannels in the interface to avoid read config parameters here
// read the number of RF channels for each front-end // read the number of RF channels for each front-end
RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1); RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1);
for (int j = 0; j < RF_Channels; j++) for (int j = 0; j < RF_Channels; j++)
{ {
if (sig_source_.at(i)->get_right_block()->output_signature()->max_streams() > 1) if (sig_source_.at(i)->get_right_block()->output_signature()->max_streams() > 1)
{ {
top_block_->disconnect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0); top_block_->disconnect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
} }
else else
{ {
if (j == 0) if (j == 0)
{ {
// RF_channel 0 backward compatibility with single channel sources // RF_channel 0 backward compatibility with single channel sources
top_block_->disconnect(sig_source_.at(i)->get_right_block(), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0); top_block_->disconnect(sig_source_.at(i)->get_right_block(), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
} }
else else
{ {
// Multiple channel sources using multiple output blocks of single channel (requires RF_channel selector in call) // Multiple channel sources using multiple output blocks of single channel (requires RF_channel selector in call)
top_block_->disconnect(sig_source_.at(i)->get_right_block(j), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0); top_block_->disconnect(sig_source_.at(i)->get_right_block(j), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
} }
} }
signal_conditioner_ID++; signal_conditioner_ID++;
} }
} }
} }
catch (const std::exception& e) catch (const std::exception& e)
{ {
LOG(INFO) << "Can't disconnect signal source " << i << " to signal conditioner " << i << ": " << e.what(); LOG(INFO) << "Can't disconnect signal source " << i << " to signal conditioner " << i << ": " << e.what();
top_block_->disconnect_all(); top_block_->disconnect_all();
return; return;
} }
} }
} }
#else #else
for (int i = 0; i < sources_count_; i++) for (int i = 0; i < sources_count_; i++)
{ {
try try
{ {
// TODO: Remove this array implementation and create generic multistream connector // TODO: Remove this array implementation and create generic multistream connector
// (if a signal source has more than 1 stream, then connect it to the multistream signal conditioner) // (if a signal source has more than 1 stream, then connect it to the multistream signal conditioner)
if (sig_source_.at(i)->implementation() == "Raw_Array_Signal_Source") if (sig_source_.at(i)->implementation() == "Raw_Array_Signal_Source")
{ {
//Multichannel Array //Multichannel Array
for (int j = 0; j < GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS; j++) for (int j = 0; j < GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS; j++)
{ {
top_block_->disconnect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(i)->get_left_block(), j); top_block_->disconnect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(i)->get_left_block(), j);
} }
} }
else else
{ {
// TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface. // TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
// Include GetRFChannels in the interface to avoid read config parameters here // Include GetRFChannels in the interface to avoid read config parameters here
// read the number of RF channels for each front-end // read the number of RF channels for each front-end
RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1); RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1);
for (int j = 0; j < RF_Channels; j++) for (int j = 0; j < RF_Channels; j++)
{ {
if (sig_source_.at(i)->get_right_block()->output_signature()->max_streams() > 1) if (sig_source_.at(i)->get_right_block()->output_signature()->max_streams() > 1)
{ {
top_block_->disconnect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0); top_block_->disconnect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
} }
else else
{ {
if (j == 0) if (j == 0)
{ {
// RF_channel 0 backward compatibility with single channel sources // RF_channel 0 backward compatibility with single channel sources
top_block_->disconnect(sig_source_.at(i)->get_right_block(), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0); top_block_->disconnect(sig_source_.at(i)->get_right_block(), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
} }
else else
{ {
// Multiple channel sources using multiple output blocks of single channel (requires RF_channel selector in call) // Multiple channel sources using multiple output blocks of single channel (requires RF_channel selector in call)
top_block_->disconnect(sig_source_.at(i)->get_right_block(j), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0); top_block_->disconnect(sig_source_.at(i)->get_right_block(j), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
} }
} }
signal_conditioner_ID++; signal_conditioner_ID++;
} }
} }
} }
catch (const std::exception& e) catch (const std::exception& e)
{ {
LOG(INFO) << "Can't disconnect signal source " << i << " to signal conditioner " << i << ": " << e.what(); LOG(INFO) << "Can't disconnect signal source " << i << " to signal conditioner " << i << ": " << e.what();
top_block_->disconnect_all(); top_block_->disconnect_all();
return; return;
} }
} }
#endif #endif
#ifdef ENABLE_FPGA #ifdef ENABLE_FPGA
@ -1133,7 +1131,7 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
channels_[ch_index]->start_acquisition(); channels_[ch_index]->start_acquisition();
#else #else
// create a task for the FPGA such that it doesn't stop the flow // create a task for the FPGA such that it doesn't stop the flow
std::thread tmp_thread(&ChannelInterface::start_acquisition,channels_[ch_index]); std::thread tmp_thread(&ChannelInterface::start_acquisition, channels_[ch_index]);
tmp_thread.detach(); tmp_thread.detach();
#endif #endif
} }
@ -1210,7 +1208,7 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
channels_[i]->start_acquisition(); channels_[i]->start_acquisition();
#else #else
// create a task for the FPGA such that it doesn't stop the flow // create a task for the FPGA such that it doesn't stop the flow
std::thread tmp_thread(&ChannelInterface::start_acquisition,channels_[i]); std::thread tmp_thread(&ChannelInterface::start_acquisition, channels_[i]);
tmp_thread.detach(); tmp_thread.detach();
#endif #endif
} }
@ -1231,7 +1229,7 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
channels_[who]->start_acquisition(); channels_[who]->start_acquisition();
#else #else
// create a task for the FPGA such that it doesn't stop the flow // create a task for the FPGA such that it doesn't stop the flow
std::thread tmp_thread(&ChannelInterface::start_acquisition,channels_[who]); std::thread tmp_thread(&ChannelInterface::start_acquisition, channels_[who]);
tmp_thread.detach(); tmp_thread.detach();
#endif #endif
} }
@ -1366,7 +1364,7 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
channels_[ch_index]->start_acquisition(); channels_[ch_index]->start_acquisition();
#else #else
// create a task for the FPGA such that it doesn't stop the flow // create a task for the FPGA such that it doesn't stop the flow
std::thread tmp_thread(&ChannelInterface::start_acquisition,channels_[ch_index]); std::thread tmp_thread(&ChannelInterface::start_acquisition, channels_[ch_index]);
tmp_thread.detach(); tmp_thread.detach();
#endif #endif
} }
@ -1400,7 +1398,7 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
channels_[ch_index]->start_acquisition(); channels_[ch_index]->start_acquisition();
#else #else
// create a task for the FPGA such that it doesn't stop the flow // create a task for the FPGA such that it doesn't stop the flow
std::thread tmp_thread(&ChannelInterface::start_acquisition,channels_[ch_index]); std::thread tmp_thread(&ChannelInterface::start_acquisition, channels_[ch_index]);
tmp_thread.detach(); tmp_thread.detach();
#endif #endif
} }
@ -1435,7 +1433,7 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
channels_[ch_index]->start_acquisition(); channels_[ch_index]->start_acquisition();
#else #else
// create a task for the FPGA such that it doesn't stop the flow // create a task for the FPGA such that it doesn't stop the flow
std::thread tmp_thread(&ChannelInterface::start_acquisition,channels_[ch_index]); std::thread tmp_thread(&ChannelInterface::start_acquisition, channels_[ch_index]);
tmp_thread.detach(); tmp_thread.detach();
#endif #endif
} }
@ -1531,15 +1529,12 @@ void GNSSFlowgraph::start_acquisition_helper()
} }
void GNSSFlowgraph::perform_hw_reset() void GNSSFlowgraph::perform_hw_reset()
{ {
// a stop acquisition command causes the SW to reset the HW
// a stop acquisition command causes the SW to reset the HW
std::shared_ptr<Channel> channel_ptr; std::shared_ptr<Channel> channel_ptr;
channel_ptr = std::dynamic_pointer_cast<Channel>(channels_.at(0)); channel_ptr = std::dynamic_pointer_cast<Channel>(channels_.at(0));
channel_ptr->acquisition()->stop_acquisition(); channel_ptr->acquisition()->stop_acquisition();
} }
#endif #endif

1117
src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test_fpga.cc
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691
src/tests/unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test_fpga.cc
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@ -32,13 +32,12 @@
#include "GPS_L1_CA.h" #include "GPS_L1_CA.h"
#include "acquisition_msg_rx.h" #include "acquisition_msg_rx.h"
#include "galileo_e1_pcps_ambiguous_acquisition_fpga.h"
#include "galileo_e5a_noncoherent_iq_acquisition_caf.h" #include "galileo_e5a_noncoherent_iq_acquisition_caf.h"
#include "galileo_e5a_pcps_acquisition.h" #include "galileo_e5a_pcps_acquisition.h"
#include "gnss_block_factory.h"
#include "tracking_interface.h"
#include "gps_l1_ca_pcps_acquisition_fpga.h"
#include "galileo_e1_pcps_ambiguous_acquisition_fpga.h"
#include "galileo_e5a_pcps_acquisition_fpga.h" #include "galileo_e5a_pcps_acquisition_fpga.h"
#include "gnss_block_factory.h"
#include "gps_l1_ca_pcps_acquisition_fpga.h"
#include "gps_l5i_pcps_acquisition_fpga.h" #include "gps_l5i_pcps_acquisition_fpga.h"
#include "in_memory_configuration.h" #include "in_memory_configuration.h"
#include "signal_generator_flags.h" #include "signal_generator_flags.h"
@ -61,21 +60,21 @@
#include <vector> #include <vector>
// threads // threads
#include <pthread.h> // for pthread stuff #include <fcntl.h> // for open, O_RDWR, O_SYNC
#include <fcntl.h> // for open, O_RDWR, O_SYNC #include <iostream> // for cout, endl
#include <iostream> // for cout, endl #include <pthread.h> // for pthread stuff
#include <sys/mman.h> // for mmap #include <sys/mman.h> // for mmap
#define MAX_INPUT_COMPLEX_SAMPLES_TOTAL 8192 // maximum DMA sample block size in complex samples #define MAX_INPUT_COMPLEX_SAMPLES_TOTAL 8192 // maximum DMA sample block size in complex samples
#define COMPLEX_SAMPLE_SIZE 2 // sample size in bytes #define COMPLEX_SAMPLE_SIZE 2 // sample size in bytes
#define NUM_QUEUES 2 // number of queues (1 for GPS L1/Galileo E1, and 1 for GPS L5/Galileo E5) #define NUM_QUEUES 2 // number of queues (1 for GPS L1/Galileo E1, and 1 for GPS L5/Galileo E5)
#define DOWNAMPLING_FILTER_INIT_SAMPLES 100 // some samples to initialize the state of the downsampling filter #define DOWNAMPLING_FILTER_INIT_SAMPLES 100 // some samples to initialize the state of the downsampling filter
#define DOWNSAMPLING_FILTER_DELAY 48 // delay of the downsampling filter in samples #define DOWNSAMPLING_FILTER_DELAY 48 // delay of the downsampling filter in samples
// HW related options // HW related options
bool skip_samples_already_used = 0; // if skip_samples_already_used = 1 => for each PRN loop skip the samples used in the previous PRN loops bool skip_samples_already_used = 0; // if skip_samples_already_used = 1 => for each PRN loop skip the samples used in the previous PRN loops
// (exactly in the same way as the SW) // (exactly in the same way as the SW)
class Acquisition_msg_rx_Fpga; class Acquisition_msg_rx_Fpga;
@ -316,8 +315,6 @@ void TrackingPullInTestFpga::configure_receiver(
config->set_property("Tracking.early_late_space_chips", "0.5"); config->set_property("Tracking.early_late_space_chips", "0.5");
config->set_property("Tracking.if", "0"); config->set_property("Tracking.if", "0");
config->set_property("Tracking.order", "3"); config->set_property("Tracking.order", "3");
} }
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0) else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{ {
@ -335,7 +332,7 @@ void TrackingPullInTestFpga::configure_receiver(
config->set_property("Tracking.device_base", "15"); config->set_property("Tracking.device_base", "15");
} }
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0) // or implementation.compare("Galileo_E5a_DLL_PLL_Tracking_b") == 0) else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0) // or implementation.compare("Galileo_E5a_DLL_PLL_Tracking_b") == 0)
{ {
gnss_synchro.System = 'E'; gnss_synchro.System = 'E';
std::string signal = "5X"; std::string signal = "5X";
@ -381,16 +378,17 @@ const unsigned int TEST_REGISTER_TRACK_WRITEVAL = 0x55AA;
void setup_fpga_switch(void) void setup_fpga_switch(void)
{ {
int switch_device_descriptor; // driver descriptor int switch_device_descriptor; // driver descriptor
volatile unsigned *switch_map_base; // driver memory map volatile unsigned* switch_map_base; // driver memory map
if ((switch_device_descriptor = open("/dev/uio1", O_RDWR | O_SYNC)) == -1) if ((switch_device_descriptor = open("/dev/uio1", O_RDWR | O_SYNC)) == -1)
{ {
LOG(WARNING) << "Cannot open deviceio" << "/dev/uio1"; LOG(WARNING) << "Cannot open deviceio"
<< "/dev/uio1";
} }
switch_map_base = reinterpret_cast<volatile unsigned *>(mmap(nullptr, PAGE_SIZE, switch_map_base = reinterpret_cast<volatile unsigned*>(mmap(nullptr, PAGE_SIZE,
PROT_READ | PROT_WRITE, MAP_SHARED, switch_device_descriptor, 0)); PROT_READ | PROT_WRITE, MAP_SHARED, switch_device_descriptor, 0));
if (switch_map_base == reinterpret_cast<void *>(-1)) if (switch_map_base == reinterpret_cast<void*>(-1))
{ {
LOG(WARNING) << "Cannot map the FPGA switch module into tracking memory"; LOG(WARNING) << "Cannot map the FPGA switch module into tracking memory";
std::cout << "Could not map switch memory." << std::endl; std::cout << "Could not map switch memory." << std::endl;
@ -413,7 +411,7 @@ void setup_fpga_switch(void)
LOG(INFO) << "Test register sanity check success !"; LOG(INFO) << "Test register sanity check success !";
} }
switch_map_base[0] = 0; //0 -> DMA to queue 0, 1 -> DMA to queue 1, 2 -> A/Ds to queues switch_map_base[0] = 0; //0 -> DMA to queue 0, 1 -> DMA to queue 1, 2 -> A/Ds to queues
} }
@ -421,133 +419,130 @@ static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
volatile unsigned int send_samples_start = 0; volatile unsigned int send_samples_start = 0;
int8_t input_samples[MAX_INPUT_COMPLEX_SAMPLES_TOTAL*COMPLEX_SAMPLE_SIZE]; // re - im int8_t input_samples[MAX_INPUT_COMPLEX_SAMPLES_TOTAL * COMPLEX_SAMPLE_SIZE]; // re - im
int8_t input_samples_dma[MAX_INPUT_COMPLEX_SAMPLES_TOTAL*COMPLEX_SAMPLE_SIZE*NUM_QUEUES]; int8_t input_samples_dma[MAX_INPUT_COMPLEX_SAMPLES_TOTAL * COMPLEX_SAMPLE_SIZE * NUM_QUEUES];
struct DMA_handler_args { struct DMA_handler_args
{
std::string file; std::string file;
unsigned int nsamples_tx; unsigned int nsamples_tx;
unsigned int skip_used_samples; unsigned int skip_used_samples;
unsigned int freq_band; // 0 for GPS L1/ Galileo E1, 1 for GPS L5/Galileo E5 unsigned int freq_band; // 0 for GPS L1/ Galileo E1, 1 for GPS L5/Galileo E5
}; };
void *handler_DMA(void *arguments) void* handler_DMA(void* arguments)
{ {
// DMA process that configures the DMA to send the samples to the acquisition engine
int tx_fd; // DMA descriptor
FILE* rx_signal_file_id; // Input file descriptor
bool file_completed = false; // flag to indicate if the file is completed
unsigned int nsamples_block; // number of samples to send in the next DMA block of samples
unsigned int nread_elements; // number of elements effectively read from the input file
unsigned int nsamples = 0; // number of complex samples effectively transferred
unsigned int index0, dma_index = 0; // counters used for putting the samples in the order expected by the DMA
// DMA process that configures the DMA to send the samples to the acquisition engine unsigned int nsamples_transmitted;
int tx_fd; // DMA descriptor
FILE *rx_signal_file_id; // Input file descriptor
bool file_completed = false; // flag to indicate if the file is completed
unsigned int nsamples_block; // number of samples to send in the next DMA block of samples
unsigned int nread_elements; // number of elements effectively read from the input file
unsigned int nsamples = 0; // number of complex samples effectively transferred
unsigned int index0, dma_index = 0; // counters used for putting the samples in the order expected by the DMA
unsigned int nsamples_transmitted; struct DMA_handler_args* args = (struct DMA_handler_args*)arguments;
struct DMA_handler_args *args = (struct DMA_handler_args *) arguments; unsigned int nsamples_tx = args->nsamples_tx;
std::string file = args->file; // input filename
unsigned int skip_used_samples = args->skip_used_samples;
unsigned int nsamples_tx = args->nsamples_tx; // open DMA device
std::string file = args->file; // input filename tx_fd = open("/dev/loop_tx", O_WRONLY);
unsigned int skip_used_samples = args->skip_used_samples; if (tx_fd < 0)
{
std::cout << "DMA can't open loop device" << std::endl;
exit(1);
}
else
// open DMA device // open input file
tx_fd = open("/dev/loop_tx", O_WRONLY); rx_signal_file_id = fopen(file.c_str(), "rb");
if ( tx_fd < 0 ) if (rx_signal_file_id == NULL)
{ {
std::cout << "DMA can't open loop device" << std::endl; std::cout << "DMA can't open input file" << std::endl;
exit(1); exit(1);
} }
else while (send_samples_start == 0)
; // wait until main thread tells the DMA to start
// open input file // skip initial samples
rx_signal_file_id = fopen(file.c_str(), "rb"); int skip_samples = (int)FLAGS_skip_samples;
if (rx_signal_file_id == NULL)
{
std::cout << "DMA can't open input file" << std::endl;
exit(1);
}
while(send_samples_start == 0); // wait until main thread tells the DMA to start
// skip initial samples fseek(rx_signal_file_id, (skip_samples + skip_used_samples) * 2, SEEK_SET);
int skip_samples = (int) FLAGS_skip_samples;
fseek( rx_signal_file_id, (skip_samples + skip_used_samples)*2, SEEK_SET ); usleep(50000); // wait some time to give time to the main thread to start the acquisition module
usleep(50000); // wait some time to give time to the main thread to start the acquisition module while (file_completed == false)
{
if (nsamples_tx - nsamples > MAX_INPUT_COMPLEX_SAMPLES_TOTAL)
{
nsamples_block = MAX_INPUT_COMPLEX_SAMPLES_TOTAL;
}
else
{
nsamples_block = nsamples_tx - nsamples; // remaining samples to be sent
file_completed = true;
}
while (file_completed == false) nread_elements = fread(input_samples, sizeof(int8_t), nsamples_block * COMPLEX_SAMPLE_SIZE, rx_signal_file_id);
{
if (nsamples_tx - nsamples > MAX_INPUT_COMPLEX_SAMPLES_TOTAL)
{
nsamples_block = MAX_INPUT_COMPLEX_SAMPLES_TOTAL;
}
else
{
nsamples_block = nsamples_tx - nsamples; // remaining samples to be sent
file_completed = true;
}
nread_elements = fread(input_samples, sizeof(int8_t), nsamples_block*COMPLEX_SAMPLE_SIZE, rx_signal_file_id); if (nread_elements != nsamples_block * COMPLEX_SAMPLE_SIZE)
{
std::cout << "file completed" << std::endl;
file_completed = true;
}
if (nread_elements != nsamples_block * COMPLEX_SAMPLE_SIZE) nsamples += (nread_elements / COMPLEX_SAMPLE_SIZE);
{
std::cout << "file completed" << std::endl;
file_completed = true;
}
nsamples+=(nread_elements/COMPLEX_SAMPLE_SIZE); if (nread_elements > 0)
{
if (nread_elements > 0) // for the 32-BIT DMA
{ dma_index = 0;
// for the 32-BIT DMA for (index0 = 0; index0 < (nread_elements); index0 += COMPLEX_SAMPLE_SIZE)
dma_index = 0; {
for (index0 = 0;index0 < (nread_elements);index0+=COMPLEX_SAMPLE_SIZE) if (args->freq_band == 0)
{ {
if (args->freq_band == 0) // channel 1 (queue 1) -> E5/L5
{ input_samples_dma[dma_index] = 0;
// channel 1 (queue 1) -> E5/L5 input_samples_dma[dma_index + 1] = 0;
input_samples_dma[dma_index] = 0; // channel 0 (queue 0) -> E1/L1
input_samples_dma[dma_index+1] = 0; input_samples_dma[dma_index + 2] = input_samples[index0];
// channel 0 (queue 0) -> E1/L1 input_samples_dma[dma_index + 3] = input_samples[index0 + 1];
input_samples_dma[dma_index+2] = input_samples[index0]; }
input_samples_dma[dma_index+3] = input_samples[index0+1]; else
} {
else // channel 1 (queue 1) -> E5/L5
{ input_samples_dma[dma_index] = input_samples[index0];
// channel 1 (queue 1) -> E5/L5 input_samples_dma[dma_index + 1] = input_samples[index0 + 1];
input_samples_dma[dma_index] = input_samples[index0]; // channel 0 (queue 0) -> E1/L1
input_samples_dma[dma_index+1] = input_samples[index0+1]; input_samples_dma[dma_index + 2] = 0;
// channel 0 (queue 0) -> E1/L1 input_samples_dma[dma_index + 3] = 0;
input_samples_dma[dma_index+2] = 0; }
input_samples_dma[dma_index+3] = 0; dma_index += 4;
} }
dma_index += 4; nsamples_transmitted = write(tx_fd, &input_samples_dma[0], nread_elements * NUM_QUEUES);
} if (nsamples_transmitted != nread_elements * NUM_QUEUES)
nsamples_transmitted = write(tx_fd, &input_samples_dma[0], nread_elements*NUM_QUEUES); {
if (nsamples_transmitted != nread_elements*NUM_QUEUES) std::cout << "Error : DMA could not send all the requested samples" << std::endl;
{ }
std::cout << "Error : DMA could not send all the requested samples" << std::endl; }
} }
}
}
close(tx_fd); close(tx_fd);
fclose(rx_signal_file_id); fclose(rx_signal_file_id);
return NULL; return NULL;
} }
bool TrackingPullInTestFpga::acquire_signal(int SV_ID) bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
{ {
pthread_t thread_DMA; pthread_t thread_DMA;
// 1. Setup GNU Radio flowgraph (file_source -> Acquisition_10m) // 1. Setup GNU Radio flowgraph (file_source -> Acquisition_10m)
gr::top_block_sptr top_block; gr::top_block_sptr top_block;
top_block = gr::make_top_block("Acquisition test"); top_block = gr::make_top_block("Acquisition test");
@ -566,8 +561,7 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0) if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{ {
tmp_gnss_synchro.System = 'G';
tmp_gnss_synchro.System = 'G';
std::string signal = "1C"; std::string signal = "1C";
const char* str = signal.c_str(); // get a C style null terminated string const char* str = signal.c_str(); // get a C style null terminated string
std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3); // copy string into synchro char array: 2 char + null std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3); // copy string into synchro char array: 2 char + null
@ -576,14 +570,12 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
args.freq_band = 0; args.freq_band = 0;
acquisition = std::make_shared<GpsL1CaPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0); acquisition = std::make_shared<GpsL1CaPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
} }
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0) else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{ {
tmp_gnss_synchro.System = 'E'; tmp_gnss_synchro.System = 'E';
std::string signal = "1B"; std::string signal = "1B";
const char* str = signal.c_str(); // get a C style null terminated string const char* str = signal.c_str(); // get a C style null terminated string
@ -594,7 +586,6 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
args.freq_band = 0; args.freq_band = 0;
acquisition = std::make_shared<GalileoE1PcpsAmbiguousAcquisitionFpga>(config.get(), "Acquisition", 0, 0); acquisition = std::make_shared<GalileoE1PcpsAmbiguousAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
} }
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0) else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{ {
@ -608,8 +599,6 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
args.freq_band = 1; args.freq_band = 1;
acquisition = std::make_shared<GalileoE5aPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0); acquisition = std::make_shared<GalileoE5aPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
} }
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0) else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
{ {
@ -622,7 +611,6 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
args.freq_band = 1; args.freq_band = 1;
acquisition = std::make_shared<GpsL5iPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0); acquisition = std::make_shared<GpsL5iPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
} }
else else
{ {
@ -651,7 +639,7 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
msg_rx->top_block = top_block; msg_rx->top_block = top_block;
top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events")); top_block->msg_connect(acquisition->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
// 5. Run the flowgraph // 5. Run the flowgraph
@ -683,134 +671,130 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
setup_fpga_switch(); setup_fpga_switch();
unsigned int nsamples_to_transfer; unsigned int nsamples_to_transfer;
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0) if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{ {
nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS))); nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
} }
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0) else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{ {
nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GALILEO_E1_CODE_CHIP_RATE_HZ / GALILEO_E1_B_CODE_LENGTH_CHIPS))); nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GALILEO_E1_CODE_CHIP_RATE_HZ / GALILEO_E1_B_CODE_LENGTH_CHIPS)));
} }
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0) else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{ {
nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS))); nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
} }
else // (if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)) else // (if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0))
{ {
nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS))); nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
} }
int acq_doppler_max = config->property("Acquisition.doppler_max", FLAGS_external_signal_acquisition_doppler_max_hz); int acq_doppler_max = config->property("Acquisition.doppler_max", FLAGS_external_signal_acquisition_doppler_max_hz);
int acq_doppler_step = config->property("Acquisition.doppler_step", FLAGS_external_signal_acquisition_doppler_step_hz); int acq_doppler_step = config->property("Acquisition.doppler_step", FLAGS_external_signal_acquisition_doppler_step_hz);
for (unsigned int PRN = 1; PRN < MAX_PRN_IDX; PRN++) for (unsigned int PRN = 1; PRN < MAX_PRN_IDX; PRN++)
{ {
tmp_gnss_synchro.PRN = PRN;
tmp_gnss_synchro.PRN = PRN; acquisition->stop_acquisition(); // reset the whole system including the sample counters
acquisition->set_doppler_max(acq_doppler_max);
acquisition->set_doppler_step(acq_doppler_step);
acquisition->set_gnss_synchro(&tmp_gnss_synchro);
acquisition->init();
acquisition->set_local_code();
acquisition->stop_acquisition(); // reset the whole system including the sample counters args.file = file;
acquisition->set_doppler_max(acq_doppler_max);
acquisition->set_doppler_step(acq_doppler_step);
acquisition->set_gnss_synchro(&tmp_gnss_synchro);
acquisition->init();
acquisition->set_local_code();
args.file = file;
if ((implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0) or (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)) if ((implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0) or (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0))
{ {
// send the previous samples to set the downsampling filter in a good condition // send the previous samples to set the downsampling filter in a good condition
send_samples_start = 0; send_samples_start = 0;
args.skip_used_samples = - DOWNAMPLING_FILTER_INIT_SAMPLES; args.skip_used_samples = -DOWNAMPLING_FILTER_INIT_SAMPLES;
args.nsamples_tx = DOWNAMPLING_FILTER_INIT_SAMPLES + DOWNSAMPLING_FILTER_DELAY; args.nsamples_tx = DOWNAMPLING_FILTER_INIT_SAMPLES + DOWNSAMPLING_FILTER_DELAY;
if (pthread_create(&thread_DMA, NULL, handler_DMA, (void *)&args) < 0) if (pthread_create(&thread_DMA, NULL, handler_DMA, (void*)&args) < 0)
{ {
std::cout << "ERROR cannot create DMA Process" << std::endl; std::cout << "ERROR cannot create DMA Process" << std::endl;
} }
pthread_mutex_lock(&mutex); pthread_mutex_lock(&mutex);
send_samples_start = 1; send_samples_start = 1;
pthread_mutex_unlock(&mutex); pthread_mutex_unlock(&mutex);
pthread_join(thread_DMA, NULL); pthread_join(thread_DMA, NULL);
send_samples_start = 0; send_samples_start = 0;
args.nsamples_tx = nsamples_to_transfer; args.nsamples_tx = nsamples_to_transfer;
args.skip_used_samples = DOWNSAMPLING_FILTER_DELAY; args.skip_used_samples = DOWNSAMPLING_FILTER_DELAY;
}
else
{
args.nsamples_tx = nsamples_to_transfer;
} args.skip_used_samples = 0;
else }
{
args.nsamples_tx = nsamples_to_transfer;
args.skip_used_samples = 0;
}
if (pthread_create(&thread_DMA, NULL, handler_DMA, (void*)&args) < 0)
{
std::cout << "ERROR cannot create DMA Process" << std::endl;
}
msg_rx->rx_message = 0;
top_block->start();
pthread_mutex_lock(&mutex);
send_samples_start = 1;
pthread_mutex_unlock(&mutex);
acquisition->reset(); // set active
if (pthread_create(&thread_DMA, NULL, handler_DMA, (void *)&args) < 0) if (start_msg == true)
{ {
std::cout << "ERROR cannot create DMA Process" << std::endl; std::cout << "Reading external signal file: " << FLAGS_signal_file << std::endl;
} std::cout << "Searching for " << System_and_Signal << " Satellites..." << std::endl;
std::cout << "[";
start_msg = false;
}
msg_rx->rx_message = 0; // wait for the child DMA process to finish
top_block->start(); pthread_join(thread_DMA, NULL);
pthread_mutex_lock(&mutex); pthread_mutex_lock(&mutex);
send_samples_start = 1; send_samples_start = 0;
pthread_mutex_unlock(&mutex); pthread_mutex_unlock(&mutex);
// the DMA sends the exact number of samples needed for the acquisition.
// however because of the LPF in the GPS L1/Gal E1 acquisition, this calculation is approximate
// and some extra samples might be sent. Wait at least once to give time the HW to consume any extra
// sample the DMA might have sent.
do
{
usleep(100000);
}
while (msg_rx->rx_message == 0);
if (msg_rx->rx_message == 1)
{
std::cout << " " << PRN << " ";
doppler_measurements_map.insert(std::pair<int, double>(PRN, tmp_gnss_synchro.Acq_doppler_hz));
code_delay_measurements_map.insert(std::pair<int, double>(PRN, tmp_gnss_synchro.Acq_delay_samples));
tmp_gnss_synchro.Acq_samplestamp_samples = 0; // do not take into account the filter internal state initialisation
acq_samplestamp_map.insert(std::pair<int, double>(PRN, tmp_gnss_synchro.Acq_samplestamp_samples));
}
else
{
std::cout << " . ";
}
acquisition->reset(); // set active top_block->stop();
if (start_msg == true) std::cout.flush();
{ }
std::cout << "Reading external signal file: " << FLAGS_signal_file << std::endl;
std::cout << "Searching for " << System_and_Signal << " Satellites..." << std::endl;
std::cout << "[";
start_msg = false;
}
// wait for the child DMA process to finish
pthread_join(thread_DMA, NULL);
pthread_mutex_lock(&mutex);
send_samples_start = 0;
pthread_mutex_unlock(&mutex);
// the DMA sends the exact number of samples needed for the acquisition.
// however because of the LPF in the GPS L1/Gal E1 acquisition, this calculation is approximate
// and some extra samples might be sent. Wait at least once to give time the HW to consume any extra
// sample the DMA might have sent.
do {
usleep(100000);
} while (msg_rx->rx_message == 0);
if (msg_rx->rx_message == 1)
{
std::cout << " " << PRN << " ";
doppler_measurements_map.insert(std::pair<int, double>(PRN, tmp_gnss_synchro.Acq_doppler_hz));
code_delay_measurements_map.insert(std::pair<int, double>(PRN, tmp_gnss_synchro.Acq_delay_samples));
tmp_gnss_synchro.Acq_samplestamp_samples = 0; // do not take into account the filter internal state initialisation
acq_samplestamp_map.insert(std::pair<int, double>(PRN, tmp_gnss_synchro.Acq_samplestamp_samples));
}
else
{
std::cout << " . ";
}
top_block->stop();
std::cout.flush();
}
std::cout << "]" << std::endl; std::cout << "]" << std::endl;
std::cout << "-------------------------------------------\n"; std::cout << "-------------------------------------------\n";
@ -821,7 +805,6 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
} }
// report the elapsed time // report the elapsed time
end = std::chrono::system_clock::now(); end = std::chrono::system_clock::now();
elapsed_seconds = end - start; elapsed_seconds = end - start;
@ -833,13 +816,11 @@ bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
TEST_F(TrackingPullInTestFpga, ValidationOfResults) TEST_F(TrackingPullInTestFpga, ValidationOfResults)
{ {
// pointer to the DMA thread that sends the samples to the acquisition engine
pthread_t thread_DMA;
// pointer to the DMA thread that sends the samples to the acquisition engine struct DMA_handler_args args;
pthread_t thread_DMA;
struct DMA_handler_args args;
//************************************************* //*************************************************
@ -886,7 +867,6 @@ TEST_F(TrackingPullInTestFpga, ValidationOfResults)
} }
// use generator or use an external capture file // use generator or use an external capture file
if (FLAGS_enable_external_signal_file) if (FLAGS_enable_external_signal_file)
{ {
@ -953,71 +933,69 @@ TEST_F(TrackingPullInTestFpga, ValidationOfResults)
std::cout << "Estimated Initial Doppler " << true_acq_doppler_hz std::cout << "Estimated Initial Doppler " << true_acq_doppler_hz
<< " [Hz], estimated Initial code delay " << true_acq_delay_samples << " [Samples]" << " [Hz], estimated Initial code delay " << true_acq_delay_samples << " [Samples]"
<< " Acquisition SampleStamp is " << acq_samplestamp_samples << std::endl; << " Acquisition SampleStamp is " << acq_samplestamp_samples << std::endl;
} }
std::vector<std::vector<double>> pull_in_results_v_v; std::vector<std::vector<double>> pull_in_results_v_v;
unsigned int code_length; unsigned int code_length;
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0) if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{ {
code_length = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS))); code_length = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
} }
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0) else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{ {
code_length = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GALILEO_E1_CODE_CHIP_RATE_HZ / GALILEO_E1_B_CODE_LENGTH_CHIPS))); code_length = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GALILEO_E1_CODE_CHIP_RATE_HZ / GALILEO_E1_B_CODE_LENGTH_CHIPS)));
} }
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0) else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{ {
code_length = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / GALILEO_E5A_CODE_CHIP_RATE_HZ * static_cast<double>(GALILEO_E5A_CODE_LENGTH_CHIPS))); code_length = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / GALILEO_E5A_CODE_CHIP_RATE_HZ * static_cast<double>(GALILEO_E5A_CODE_LENGTH_CHIPS)));
}
else // (if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0))
{
code_length = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L5I_CODE_RATE_HZ / static_cast<double>(GPS_L5I_CODE_LENGTH_CHIPS))));
}
} float nbits = ceilf(log2f((float)code_length));
else // (if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)) unsigned int fft_size = pow(2, nbits);
{
code_length = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L5I_CODE_RATE_HZ / static_cast<double>(GPS_L5I_CODE_LENGTH_CHIPS))));
}
float nbits = ceilf(log2f((float)code_length)); // The HW has been reset after the acquisition phase when the acquisition class was destroyed.
unsigned int fft_size = pow(2, nbits); // No more samples remained in the DMA. Therefore any intermediate state in the LPF of the
// GPS L1 / Galileo E1 filter has been cleared.
// During this test all the samples coming from the DMA are consumed so in principle there would be
// no need to reset the HW. However we need to clear the sample counter in each test. Therefore we have
// to reset the HW at the beginning of each test.
// The HW has been reset after the acquisition phase when the acquisition class was destroyed. // instantiate the acquisition modules in order to use them to reset the HW.
// No more samples remained in the DMA. Therefore any intermediate state in the LPF of the // (note that the constructor of the acquisition modules resets the HW too)
// GPS L1 / Galileo E1 filter has been cleared.
// During this test all the samples coming from the DMA are consumed so in principle there would be
// no need to reset the HW. However we need to clear the sample counter in each test. Therefore we have
// to reset the HW at the beginning of each test.
// instantiate the acquisition modules in order to use them to reset the HW. std::shared_ptr<AcquisitionInterface> acquisition;
// (note that the constructor of the acquisition modules resets the HW too)
std::shared_ptr<AcquisitionInterface> acquisition;
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0) if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{ {
acquisition = std::make_shared<GpsL1CaPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0); acquisition = std::make_shared<GpsL1CaPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
args.freq_band = 0; args.freq_band = 0;
} }
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0) else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{ {
acquisition = std::make_shared<GalileoE1PcpsAmbiguousAcquisitionFpga>(config.get(), "Acquisition", 0, 0); acquisition = std::make_shared<GalileoE1PcpsAmbiguousAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
args.freq_band = 0; args.freq_band = 0;
} }
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0) else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{ {
acquisition = std::make_shared<GalileoE5aPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0); acquisition = std::make_shared<GalileoE5aPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
args.freq_band = 1; args.freq_band = 1;
} }
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0) else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
{ {
acquisition = std::make_shared<GpsL5iPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0); acquisition = std::make_shared<GpsL5iPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
args.freq_band = 1; args.freq_band = 1;
} }
else else
{ {
std::cout << "The test can not run with the selected tracking implementation\n "; std::cout << "The test can not run with the selected tracking implementation\n ";
throw(std::exception()); throw(std::exception());
} }
for (unsigned int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++) for (unsigned int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
{ {
@ -1026,11 +1004,10 @@ TEST_F(TrackingPullInTestFpga, ValidationOfResults)
{ {
for (unsigned int current_acq_code_error_idx = 0; current_acq_code_error_idx < acq_delay_error_chips_values.at(current_acq_doppler_error_idx).size(); current_acq_code_error_idx++) for (unsigned int current_acq_code_error_idx = 0; current_acq_code_error_idx < acq_delay_error_chips_values.at(current_acq_doppler_error_idx).size(); current_acq_code_error_idx++)
{ {
// reset the HW to clear the sample counters
acquisition->stop_acquisition();
// reset the HW to clear the sample counters gnss_synchro.Acq_samplestamp_samples = acq_samplestamp_samples;
acquisition->stop_acquisition();
gnss_synchro.Acq_samplestamp_samples = acq_samplestamp_samples;
//simulate a Doppler error in acquisition //simulate a Doppler error in acquisition
gnss_synchro.Acq_doppler_hz = true_acq_doppler_hz + acq_doppler_error_hz_values.at(current_acq_doppler_error_idx); gnss_synchro.Acq_doppler_hz = true_acq_doppler_hz + acq_doppler_error_hz_values.at(current_acq_doppler_error_idx);
//simulate Code Delay error in acquisition //simulate Code Delay error in acquisition
@ -1065,13 +1042,13 @@ TEST_F(TrackingPullInTestFpga, ValidationOfResults)
args.file = file; args.file = file;
if (skip_samples_already_used == 1) if (skip_samples_already_used == 1)
{ {
args.skip_used_samples = (gnss_synchro.PRN - 1)*fft_size; args.skip_used_samples = (gnss_synchro.PRN - 1) * fft_size;
} }
else else
{ {
args.skip_used_samples = 0; args.skip_used_samples = 0;
} }
@ -1080,13 +1057,13 @@ TEST_F(TrackingPullInTestFpga, ValidationOfResults)
//******************************************************************** //********************************************************************
args.nsamples_tx = baseband_sampling_freq*FLAGS_duration; args.nsamples_tx = baseband_sampling_freq * FLAGS_duration;
if (pthread_create(&thread_DMA, NULL, handler_DMA, (void *)&args) < 0) if (pthread_create(&thread_DMA, NULL, handler_DMA, (void*)&args) < 0)
{ {
std::cout << "ERROR cannot create DMA Process" << std::endl; std::cout << "ERROR cannot create DMA Process" << std::endl;
} }
std::cout << "--- START TRACKING WITH PULL-IN ERROR: " << acq_doppler_error_hz_values.at(current_acq_doppler_error_idx) << " [Hz] and " << acq_delay_error_chips_values.at(current_acq_doppler_error_idx).at(current_acq_code_error_idx) << " [Chips] ---" << std::endl; std::cout << "--- START TRACKING WITH PULL-IN ERROR: " << acq_doppler_error_hz_values.at(current_acq_doppler_error_idx) << " [Hz] and " << acq_delay_error_chips_values.at(current_acq_doppler_error_idx).at(current_acq_code_error_idx) << " [Chips] ---" << std::endl;
@ -1098,17 +1075,17 @@ TEST_F(TrackingPullInTestFpga, ValidationOfResults)
top_block->start(); top_block->start();
// wait for the child DMA process to finish // wait for the child DMA process to finish
pthread_join(thread_DMA, NULL); pthread_join(thread_DMA, NULL);
top_block->stop(); top_block->stop();
// reset the HW to launch the pending interrupts // reset the HW to launch the pending interrupts
acquisition->stop_acquisition(); acquisition->stop_acquisition();
pthread_mutex_lock(&mutex); pthread_mutex_lock(&mutex);
send_samples_start = 0; send_samples_start = 0;
pthread_mutex_unlock(&mutex); pthread_mutex_unlock(&mutex);
pull_in_results_v.push_back(msg_rx->rx_message != 3); //save last asynchronous tracking message in order to detect a loss of lock pull_in_results_v.push_back(msg_rx->rx_message != 3); //save last asynchronous tracking message in order to detect a loss of lock
@ -1280,9 +1257,9 @@ TEST_F(TrackingPullInTestFpga, ValidationOfResults)
} //end acquisition Delay errors loop } //end acquisition Delay errors loop
usleep(100000); // give time to the HW to consume all the remaining samples usleep(100000); // give time to the HW to consume all the remaining samples
} //end acquisition Doppler errors loop } //end acquisition Doppler errors loop
pull_in_results_v_v.push_back(pull_in_results_v); pull_in_results_v_v.push_back(pull_in_results_v);
@ -1308,44 +1285,40 @@ TEST_F(TrackingPullInTestFpga, ValidationOfResults)
if (FLAGS_show_plots) if (FLAGS_show_plots)
{ {
Gnuplot g4("points palette pointsize 2 pointtype 7"); Gnuplot g4("points palette pointsize 2 pointtype 7");
g4.showonscreen(); // window output g4.showonscreen(); // window output
g4.cmd("set palette defined ( 0 \"black\", 1 \"green\" )"); g4.cmd("set palette defined ( 0 \"black\", 1 \"green\" )");
g4.cmd("set key off"); g4.cmd("set key off");
g4.cmd("set view map"); g4.cmd("set view map");
std::string title; std::string title;
if (!FLAGS_enable_external_signal_file) if (!FLAGS_enable_external_signal_file)
{ {
title = std::string("Tracking Pull-in result grid at CN0:" + std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))) + " [dB-Hz], PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " [Hz]."); title = std::string("Tracking Pull-in result grid at CN0:" + std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))) + " [dB-Hz], PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " [Hz].");
} }
else else
{ {
title = std::string("Tracking Pull-in result grid, PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " [Hz], GPS L1 C/A (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")"); title = std::string("Tracking Pull-in result grid, PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " [Hz], GPS L1 C/A (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
} }
g4.set_title(title);
g4.set_grid();
g4.set_xlabel("Acquisition Doppler error [Hz]");
g4.set_ylabel("Acquisition Code Delay error [Chips]");
g4.cmd("set cbrange[0:1]");
g4.plot_xyz(doppler_error_mesh,
code_delay_error_mesh,
pull_in_result_mesh);
g4.set_legend();
if (!FLAGS_enable_external_signal_file)
{
g4.savetops("trk_pull_in_grid_" + std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))));
g4.savetopdf("trk_pull_in_grid_" + std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))), 12);
}
else
{
g4.savetops("trk_pull_in_grid_external_file");
g4.savetopdf("trk_pull_in_grid_external_file", 12);
}
g4.set_title(title);
g4.set_grid();
g4.set_xlabel("Acquisition Doppler error [Hz]");
g4.set_ylabel("Acquisition Code Delay error [Chips]");
g4.cmd("set cbrange[0:1]");
g4.plot_xyz(doppler_error_mesh,
code_delay_error_mesh,
pull_in_result_mesh);
g4.set_legend();
if (!FLAGS_enable_external_signal_file)
{
g4.savetops("trk_pull_in_grid_" + std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))));
g4.savetopdf("trk_pull_in_grid_" + std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))), 12);
}
else
{
g4.savetops("trk_pull_in_grid_external_file");
g4.savetopdf("trk_pull_in_grid_external_file", 12);
}
} }
} }
} }