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Carles Fernandez 2018-04-30 21:04:37 +02:00
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38 changed files with 2740 additions and 1572 deletions
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1
CMakeLists.txt
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@ -51,6 +51,7 @@ option(ENABLE_ARRAY "Enable the use of CTTC's antenna array front-end as signal
option(ENABLE_GN3S "Enable the use of the GN3S dongle as signal source (experimental)" OFF)
option(ENABLE_PLUTOSDR "Enable the use of ADALM-PLUTO Evaluation Boards (Analog Devices Inc.), requires gr-iio" OFF)
option(ENABLE_FMCOMMS2 "Enable the use of FMCOMMS4-EBZ + ZedBoard hardware, requires gr-iio" OFF)
option(ENABLE_AD9361 "Enable the use of AD9361 directo to FPGA hardware, requires gr-iio" OFF)
# Performance analysis tools
option(ENABLE_GPERFTOOLS "Enable linking to Gperftools libraries (tcmalloc and profiler)" OFF)

226
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc
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@ -1,14 +1,17 @@
/*!
* \file gps_l1_ca_pcps_acquisition_fpga.cc
* \brief Adapts a PCPS acquisition block to an FPGA Acquisition Interface for
* GPS L1 C/A signals. This file is based on the file gps_l1_ca_pcps_acquisition.cc
* \brief Adapts a PCPS acquisition block to an FPGA AcquisitionInterface
* for GPS L1 C/A signals
* \authors <ul>
* <li> Marc Majoral, 2017. mmajoral(at)cttc.cat
* <li> Marc Majoral, 2018. mmajoral(at)cttc.es
* <li> Javier Arribas, 2011. jarribas(at)cttc.es
* <li> Luis Esteve, 2012. luis(at)epsilon-formacion.com
* <li> Marc Molina, 2013. marc.molina.pena(at)gmail.com
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -31,13 +34,17 @@
* -------------------------------------------------------------------------
*/
#include "gps_l1_ca_pcps_acquisition_fpga.h"
#include <stdexcept>
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include "GPS_L1_CA.h"
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include "gps_l1_ca_pcps_acquisition_fpga.h"
#include "gps_sdr_signal_processing.h"
#include "GPS_L1_CA.h"
#include <gnuradio/fft/fft.h>
#include <glog/logging.h>
#include <new>
#define NUM_PRNs 32
using google::LogMessage;
@ -45,87 +52,90 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
unsigned int code_length;
bool bit_transition_flag;
bool use_CFAR_algorithm_flag;
unsigned int sampled_ms;
long fs_in;
long ifreq;
bool dump;
std::string dump_filename;
unsigned int nsamples_total;
unsigned int select_queue_Fpga;
std::string device_name;
pcpsconf_fpga_t acq_parameters;
configuration_ = configuration;
std::string default_item_type = "cshort";
std::string default_dump_filename = "./data/acquisition.dat";
std::string default_item_type = "gr_complex";
DLOG(INFO) << "role " << role;
item_type_ = configuration_->property(role + ".item_type", default_item_type);
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
ifreq = configuration_->property(role + ".if", 0);
dump = configuration_->property(role + ".dump", false);
long fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in;
long ifreq = configuration_->property(role + ".if", 0);
acq_parameters.freq = ifreq;
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 1);
// note : the FPGA is implemented according to bit transition flag = 0. Setting bit transition flag to 1 has no effect.
bit_transition_flag = configuration_->property(role + ".bit_transition_flag", false);
// note : the FPGA is implemented according to use_CFAR_algorithm = 0. Setting use_CFAR_algorithm to 1 has no effect.
use_CFAR_algorithm_flag = configuration_->property(role + ".use_CFAR_algorithm", false);
// note : the FPGA does not use the max_dwells variable.
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
dump_filename = configuration_->property(role + ".dump_filename", default_dump_filename);
//--- Find number of samples per spreading code -------------------------
code_length = round(
fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
// code length has the same value as d_fft_size
float nbits;
nbits = ceilf(log2f(code_length));
nsamples_total = pow(2, nbits);
//vector_length_ = code_length_ * sampled_ms_;
vector_length_ = nsamples_total * sampled_ms;
// if( bit_transition_flag_ )
// {
// vector_length_ *= 2;
// }
select_queue_Fpga = configuration_->property(role + ".select_queue_Fpga", 0);
acq_parameters.doppler_max = doppler_max_;
unsigned int sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 1);
acq_parameters.sampled_ms = sampled_ms;
unsigned int code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
// The FPGA can only use FFT lengths that are a power of two.
float nbits = ceilf(log2f((float)code_length));
unsigned int nsamples_total = pow(2, nbits);
unsigned int vector_length = nsamples_total * sampled_ms;
unsigned int select_queue_Fpga = configuration_->property(role + ".select_queue_Fpga", 0);
acq_parameters.select_queue_Fpga = select_queue_Fpga;
std::string default_device_name = "/dev/uio0";
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.samples_per_ms = nsamples_total;
acq_parameters.samples_per_code = nsamples_total;
if (item_type_.compare("cshort") == 0)
// compute all the GPS L1 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
// a channel is assigned)
gr::fft::fft_complex* fft_if = new gr::fft::fft_complex(vector_length, true); // Direct FFT
// allocate memory to compute all the PRNs and compute all the possible codes
std::complex<float>* code = new std::complex<float>[nsamples_total]; // buffer for the local code
gr_complex* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_all_fft_codes_ = new lv_16sc_t[nsamples_total * NUM_PRNs]; // memory containing all the possible fft codes for PRN 0 to 32
float max; // temporary maxima search
for (unsigned int PRN = 1; PRN <= NUM_PRNs; PRN++)
{
item_size_ = sizeof(lv_16sc_t);
gps_acquisition_fpga_sc_ = gps_pcps_make_acquisition_fpga_sc(
sampled_ms, max_dwells_, doppler_max_, ifreq, fs_in,
code_length, code_length, vector_length_, nsamples_total,
bit_transition_flag, use_CFAR_algorithm_flag,
select_queue_Fpga, device_name, dump, dump_filename);
DLOG(INFO) << "acquisition("
<< gps_acquisition_fpga_sc_->unique_id() << ")";
}
else
{
LOG(WARNING) << "item_type configured to " << item_type_ << "but FPGA implementation only accepts cshort";
throw std::invalid_argument("Wrong input_type configuration. Should be cshort");
gps_l1_ca_code_gen_complex_sampled(code, PRN, fs_in, 0); // generate PRN code
// fill in zero padding
for (int s = code_length; s < nsamples_total; s++)
{
code[s] = 0;
}
int offset = 0;
memcpy(fft_if->get_inbuf() + offset, code, sizeof(gr_complex) * nsamples_total); // copy to FFT buffer
fft_if->execute(); // Run the FFT of local code
volk_32fc_conjugate_32fc(fft_codes_padded, fft_if->get_outbuf(), nsamples_total); // conjugate values
max = 0; // initialize maximum value
for (unsigned int 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 (unsigned int 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<int>(floor(fft_codes_padded[i].real() * (pow(2, 7) - 1) / max)),
static_cast<int>(floor(fft_codes_padded[i].imag() * (pow(2, 7) - 1) / max)));
}
}
//acq_parameters
acq_parameters.all_fft_codes = d_all_fft_codes_;
// temporary buffers that we can delete
delete[] code;
delete fft_if;
delete[] fft_codes_padded;
acquisition_fpga_ = pcps_make_acquisition(acq_parameters);
DLOG(INFO) << "acquisition(" << acquisition_fpga_->unique_id() << ")";
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = 0;
}
@ -133,125 +143,93 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
GpsL1CaPcpsAcquisitionFpga::~GpsL1CaPcpsAcquisitionFpga()
{
delete[] d_all_fft_codes_;
}
void GpsL1CaPcpsAcquisitionFpga::set_channel(unsigned int channel)
{
channel_ = channel;
gps_acquisition_fpga_sc_->set_channel(channel_);
acquisition_fpga_->set_channel(channel_);
}
void GpsL1CaPcpsAcquisitionFpga::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + ".pfa", 0.0);
if (pfa == 0.0)
{
threshold_ = threshold;
}
else
{
threshold_ = calculate_threshold(pfa);
}
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
gps_acquisition_fpga_sc_->set_threshold(threshold_);
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold;
acquisition_fpga_->set_threshold(threshold);
}
void GpsL1CaPcpsAcquisitionFpga::set_doppler_max(unsigned int doppler_max)
{
doppler_max_ = doppler_max;
gps_acquisition_fpga_sc_->set_doppler_max(doppler_max_);
acquisition_fpga_->set_doppler_max(doppler_max_);
}
void GpsL1CaPcpsAcquisitionFpga::set_doppler_step(unsigned int doppler_step)
{
doppler_step_ = doppler_step;
gps_acquisition_fpga_sc_->set_doppler_step(doppler_step_);
acquisition_fpga_->set_doppler_step(doppler_step_);
}
void GpsL1CaPcpsAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{
gnss_synchro_ = gnss_synchro;
gps_acquisition_fpga_sc_->set_gnss_synchro(gnss_synchro_);
acquisition_fpga_->set_gnss_synchro(gnss_synchro_);
}
signed int GpsL1CaPcpsAcquisitionFpga::mag()
{
return gps_acquisition_fpga_sc_->mag();
return acquisition_fpga_->mag();
}
void GpsL1CaPcpsAcquisitionFpga::init()
{
gps_acquisition_fpga_sc_->init();
set_local_code();
acquisition_fpga_->init();
}
void GpsL1CaPcpsAcquisitionFpga::set_local_code()
{
gps_acquisition_fpga_sc_->set_local_code();
acquisition_fpga_->set_local_code();
}
void GpsL1CaPcpsAcquisitionFpga::reset()
{
gps_acquisition_fpga_sc_->set_active(true);
acquisition_fpga_->set_active(true);
}
void GpsL1CaPcpsAcquisitionFpga::set_state(int state)
{
gps_acquisition_fpga_sc_->set_state(state);
}
float GpsL1CaPcpsAcquisitionFpga::calculate_threshold(float pfa)
{
//Calculate the threshold
unsigned int frequency_bins = 0;
for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_);
doppler += doppler_step_)
{
frequency_bins++;
}
DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist, val));
return threshold;
acquisition_fpga_->set_state(state);
}
void GpsL1CaPcpsAcquisitionFpga::connect(gr::top_block_sptr top_block)
{
//nothing to connect
// nothing to connect
}
void GpsL1CaPcpsAcquisitionFpga::disconnect(gr::top_block_sptr top_block)
{
//nothing to disconnect
// nothing to disconnect
}
gr::basic_block_sptr GpsL1CaPcpsAcquisitionFpga::get_left_block()
{
return gps_acquisition_fpga_sc_;
return acquisition_fpga_;
}
gr::basic_block_sptr GpsL1CaPcpsAcquisitionFpga::get_right_block()
{
return gps_acquisition_fpga_sc_;
return acquisition_fpga_;
}

37
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h
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@ -1,14 +1,17 @@
/*!
* \file gps_l1_ca_pcps_acquisition_fpga.h
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* GPS L1 C/A signals. This file is based on the file gps_l1_ca_pcps_acquisition.h
* \brief Adapts a PCPS acquisition block that uses the FPGA to
* an AcquisitionInterface for GPS L1 C/A signals
* \authors <ul>
* <li> Marc Majoral, 2017. mmajoral(at)cttc.cat
* <li> Marc Majoral, 2018. mmajoral(at)cttc.es
* <li> Javier Arribas, 2011. jarribas(at)cttc.es
* <li> Luis Esteve, 2012. luis(at)epsilon-formacion.com
* <li> Marc Molina, 2013. marc.molina.pena(at)gmail.com
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -34,14 +37,11 @@
#ifndef GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_FPGA_H_
#define GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_FPGA_H_
#include <string>
#include <gnuradio/blocks/stream_to_vector.h>
#include <gnuradio/blocks/float_to_complex.h>
#include "gnss_synchro.h"
#include "acquisition_interface.h"
#include "gps_pcps_acquisition_fpga_sc.h"
#include "complex_byte_to_float_x2.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h"
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <string>
class ConfigurationInterface;
@ -68,12 +68,13 @@ public:
*/
inline std::string implementation() override
{
return "GPS_L1_CA_PCPS_Acquisition_Fpga";
return "GPS_L1_CA_PCPS_Acquisition";
}
inline size_t item_size() override
{
return item_size_;
size_t item_size = sizeof(lv_16sc_t);
return item_size;
}
void connect(gr::top_block_sptr top_block) override;
@ -135,21 +136,15 @@ public:
private:
ConfigurationInterface* configuration_;
gps_pcps_acquisition_fpga_sc_sptr gps_acquisition_fpga_sc_;
size_t item_size_;
std::string item_type_;
unsigned int vector_length_;
pcps_acquisition_fpga_sptr acquisition_fpga_;
unsigned int channel_;
float threshold_;
unsigned int doppler_max_;
unsigned int doppler_step_;
unsigned int max_dwells_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
float calculate_threshold(float pfa);
lv_16sc_t* d_all_fft_codes_; // memory that contains all the code ffts
};
#endif /* GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_H_ */
#endif /* GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_FPGA_H_ */

2
src/algorithms/acquisition/gnuradio_blocks/CMakeLists.txt
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@ -29,7 +29,7 @@ set(ACQ_GR_BLOCKS_SOURCES
)
if(ENABLE_FPGA)
set(ACQ_GR_BLOCKS_SOURCES ${ACQ_GR_BLOCKS_SOURCES} gps_pcps_acquisition_fpga_sc.cc)
set(ACQ_GR_BLOCKS_SOURCES ${ACQ_GR_BLOCKS_SOURCES} pcps_acquisition_fpga.cc)
endif(ENABLE_FPGA)
if(OPENCL_FOUND)

315
src/algorithms/acquisition/gnuradio_blocks/gps_pcps_acquisition_fpga_sc.cc
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@ -1,315 +0,0 @@
/*!
* \file gps_pcps_acquisition_fpga_sc.cc
* \brief This class implements a Parallel Code Phase Search Acquisition in the FPGA.
* This file is based on the file gps_pcps_acquisition_sc.cc
* \authors <ul>
* <li> Marc Majoral, 2017. mmajoral(at)cttc.cat
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gps_pcps_acquisition_fpga_sc.h"
#include <sstream>
#include <boost/filesystem.hpp>
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include <volk/volk.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include "control_message_factory.h"
#include "GPS_L1_CA.h" //GPS_TWO_PI
using google::LogMessage;
void wait3(int seconds)
{
boost::this_thread::sleep_for(boost::chrono::seconds{seconds});
}
gps_pcps_acquisition_fpga_sc_sptr gps_pcps_make_acquisition_fpga_sc(
unsigned int sampled_ms, unsigned int max_dwells,
unsigned int doppler_max, long freq, long fs_in, int samples_per_ms,
int samples_per_code, int vector_length, unsigned int nsamples_total,
bool bit_transition_flag, bool use_CFAR_algorithm_flag,
unsigned int select_queue_Fpga, std::string device_name, bool dump,
std::string dump_filename)
{
return gps_pcps_acquisition_fpga_sc_sptr(
new gps_pcps_acquisition_fpga_sc(sampled_ms, max_dwells,
doppler_max, freq, fs_in, samples_per_ms, samples_per_code,
vector_length, nsamples_total, bit_transition_flag,
use_CFAR_algorithm_flag, select_queue_Fpga, device_name,
dump, dump_filename));
}
gps_pcps_acquisition_fpga_sc::gps_pcps_acquisition_fpga_sc(
unsigned int sampled_ms, unsigned int max_dwells,
unsigned int doppler_max, long freq, long fs_in, int samples_per_ms,
int samples_per_code, int vector_length, unsigned int nsamples_total,
bool bit_transition_flag, bool use_CFAR_algorithm_flag,
unsigned int select_queue_Fpga, std::string device_name, bool dump,
std::string dump_filename) : gr::block("pcps_acquisition_fpga_sc",
gr::io_signature::make(0, 0, sizeof(lv_16sc_t)),
gr::io_signature::make(0, 0, 0))
{
this->message_port_register_out(pmt::mp("events"));
d_sample_counter = 0; // SAMPLE COUNTER
d_active = false;
d_state = 0;
d_samples_per_code = samples_per_code;
d_max_dwells = max_dwells; // Note : d_max_dwells is not used in the FPGA implementation
d_well_count = 0;
d_doppler_max = doppler_max;
d_fft_size = sampled_ms * samples_per_ms;
d_mag = 0;
d_num_doppler_bins = 0;
d_bit_transition_flag = bit_transition_flag; // Note : bit transition flag is ignored and assumed 0 in the FPGA implementation
d_use_CFAR_algorithm_flag = use_CFAR_algorithm_flag; // Note : user CFAR algorithm flag is ignored and assumed 0 in the FPGA implementation
d_threshold = 0.0;
d_doppler_step = 250;
d_channel = 0;
// For dumping samples into a file
d_dump = dump;
d_dump_filename = dump_filename;
d_gnss_synchro = 0;
// instantiate HW accelerator class
acquisition_fpga_8sc = std::make_shared<gps_fpga_acquisition_8sc>(device_name, vector_length, d_fft_size, nsamples_total, fs_in, freq, sampled_ms, select_queue_Fpga);
}
gps_pcps_acquisition_fpga_sc::~gps_pcps_acquisition_fpga_sc()
{
if (d_dump)
{
d_dump_file.close();
}
acquisition_fpga_8sc->free();
}
void gps_pcps_acquisition_fpga_sc::set_local_code()
{
acquisition_fpga_8sc->set_local_code(d_gnss_synchro->PRN);
}
void gps_pcps_acquisition_fpga_sc::init()
{
d_gnss_synchro->Flag_valid_acquisition = false;
d_gnss_synchro->Flag_valid_symbol_output = false;
d_gnss_synchro->Flag_valid_pseudorange = false;
d_gnss_synchro->Flag_valid_word = false;
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_mag = 0.0;
d_num_doppler_bins = ceil(
static_cast<double>(static_cast<int>(d_doppler_max) - static_cast<int>(-d_doppler_max)) / static_cast<double>(d_doppler_step));
acquisition_fpga_8sc->open_device();
acquisition_fpga_8sc->init();
}
void gps_pcps_acquisition_fpga_sc::set_state(int state)
{
d_state = state;
if (d_state == 1)
{
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_well_count = 0;
d_mag = 0.0;
}
else if (d_state == 0)
{
}
else
{
LOG(ERROR) << "State can only be set to 0 or 1";
}
}
void gps_pcps_acquisition_fpga_sc::set_active(bool active)
{
float temp_peak_to_noise_level = 0.0;
float peak_to_noise_level = 0.0;
float input_power;
float test_statistics = 0.0;
acquisition_fpga_8sc->block_samples(); // block the samples to run the acquisition this is only necessary for the tests
d_active = active;
int acquisition_message = -1; //0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
d_state = 1;
// initialize acquisition algorithm
int doppler;
uint32_t indext = 0;
float magt = 0.0;
//int effective_fft_size = ( d_bit_transition_flag ? d_fft_size/2 : d_fft_size );
int effective_fft_size = d_fft_size;
//float fft_normalization_factor = static_cast<float>(d_fft_size) * static_cast<float>(d_fft_size);
d_mag = 0.0;
unsigned int initial_sample;
d_well_count++;
DLOG(INFO) << "Channel: " << d_channel
<< " , doing acquisition of satellite: " << d_gnss_synchro->System
<< " " << d_gnss_synchro->PRN << " ,sample stamp: "
<< d_sample_counter << ", threshold: "
<< ", threshold: "
<< d_threshold << ", doppler_max: " << d_doppler_max
<< ", doppler_step: " << d_doppler_step;
// Doppler frequency search loop
for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins;
doppler_index++)
{
doppler = -static_cast<int>(d_doppler_max) + d_doppler_step * doppler_index;
acquisition_fpga_8sc->set_phase_step(doppler_index);
acquisition_fpga_8sc->run_acquisition(); // runs acquisition and waits until it is finished
acquisition_fpga_8sc->read_acquisition_results(&indext, &magt,
&initial_sample, &input_power);
d_sample_counter = initial_sample;
temp_peak_to_noise_level = static_cast<float>(magt) / static_cast<float>(input_power);
if (peak_to_noise_level < temp_peak_to_noise_level)
{
peak_to_noise_level = temp_peak_to_noise_level;
d_mag = magt;
input_power = (input_power - d_mag) / (effective_fft_size - 1);
d_gnss_synchro->Acq_delay_samples =
static_cast<double>(indext % d_samples_per_code);
d_gnss_synchro->Acq_doppler_hz =
static_cast<double>(doppler);
d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter;
test_statistics = d_mag / input_power;
}
// Record results to file if required
if (d_dump)
{
std::stringstream filename;
//std::streamsize n = 2 * sizeof(float) * (d_fft_size); // complex file write
filename.str("");
boost::filesystem::path p = d_dump_filename;
filename << p.parent_path().string()
<< boost::filesystem::path::preferred_separator
<< p.stem().string() << "_"
<< d_gnss_synchro->System << "_"
<< d_gnss_synchro->Signal << "_sat_"
<< d_gnss_synchro->PRN << "_doppler_" << doppler
<< p.extension().string();
DLOG(INFO) << "Writing ACQ out to " << filename.str();
d_dump_file.open(filename.str().c_str(),
std::ios::out | std::ios::binary);
d_dump_file.close();
}
}
if (test_statistics > d_threshold)
{
d_state = 2; // Positive acquisition
// 6.1- Declare positive acquisition using a message port
DLOG(INFO) << "positive acquisition";
DLOG(INFO) << "satellite " << d_gnss_synchro->System << " "
<< d_gnss_synchro->PRN;
DLOG(INFO) << "sample_stamp " << d_sample_counter;
DLOG(INFO) << "test statistics value " << test_statistics;
DLOG(INFO) << "test statistics threshold " << d_threshold;
DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples;
DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz;
DLOG(INFO) << "magnitude " << d_mag;
DLOG(INFO) << "input signal power " << input_power;
d_active = false;
d_state = 0;
acquisition_message = 1;
this->message_port_pub(pmt::mp("events"),
pmt::from_long(acquisition_message));
}
else
{
d_state = 3; // Negative acquisition
// 6.2- Declare negative acquisition using a message port
DLOG(INFO) << "negative acquisition";
DLOG(INFO) << "satellite " << d_gnss_synchro->System << " "
<< d_gnss_synchro->PRN;
DLOG(INFO) << "sample_stamp " << d_sample_counter;
DLOG(INFO) << "test statistics value " << test_statistics;
DLOG(INFO) << "test statistics threshold " << d_threshold;
DLOG(INFO) << "code phase " << d_gnss_synchro->Acq_delay_samples;
DLOG(INFO) << "doppler " << d_gnss_synchro->Acq_doppler_hz;
DLOG(INFO) << "magnitude " << d_mag;
DLOG(INFO) << "input signal power " << input_power;
d_active = false;
d_state = 0;
acquisition_message = 2;
this->message_port_pub(pmt::mp("events"),
pmt::from_long(acquisition_message));
}
acquisition_fpga_8sc->unblock_samples();
acquisition_fpga_8sc->close_device();
DLOG(INFO) << "Done. Consumed 1 item.";
}
int gps_pcps_acquisition_fpga_sc::general_work(int noutput_items,
gr_vector_int &ninput_items, gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items __attribute__((unused)))
{
// general work not used with the acquisition
return noutput_items;
}

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@ -1,218 +0,0 @@
/*!
* \file gps_pcps_acquisition_fpga_sc.h
* \brief This class implements a Parallel Code Phase Search Acquisition in the FPGA.
* This file is based on the file gps_pcps_acquisition_sc.h
*
* Acquisition strategy (Kay Borre book + CFAR threshold).
* <ol>
* <li> Compute the input signal power estimation
* <li> Doppler serial search loop
* <li> Perform the FFT-based circular convolution (parallel time search)
* <li> Record the maximum peak and the associated synchronization parameters
* <li> Compute the test statistics and compare to the threshold
* <li> Declare positive or negative acquisition using a message port
* </ol>
*
* Kay Borre book: K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
* "A Software-Defined GPS and Galileo Receiver. A Single-Frequency
* Approach", Birkhauser, 2007. pp 81-84
*
* \authors <ul>
* <li> Marc Majoral, 2017. mmajoral(at)cttc.cat
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_PCPS_ACQUISITION_FPGA_SC_H_
#define GNSS_SDR_PCPS_ACQUISITION_FPGA_SC_H_
#include <fstream>
#include <string>
#include <gnuradio/block.h>
#include <gnuradio/gr_complex.h>
#include <gnuradio/fft/fft.h>
#include "gnss_synchro.h"
#include "gps_fpga_acquisition_8sc.h"
class gps_pcps_acquisition_fpga_sc;
typedef boost::shared_ptr<gps_pcps_acquisition_fpga_sc> gps_pcps_acquisition_fpga_sc_sptr;
gps_pcps_acquisition_fpga_sc_sptr
gps_pcps_make_acquisition_fpga_sc(unsigned int sampled_ms,
unsigned int max_dwells, unsigned int doppler_max, long freq,
long fs_in, int samples_per_ms, int samples_per_code,
int vector_length_, unsigned int nsamples_total_,
bool bit_transition_flag, bool use_CFAR_algorithm_flag,
unsigned int select_queue_Fpga, std::string device_name, bool dump,
std::string dump_filename);
/*!
* \brief This class implements a Parallel Code Phase Search Acquisition.
*
* Check \ref Navitec2012 "An Open Source Galileo E1 Software Receiver",
* Algorithm 1, for a pseudocode description of this implementation.
*/
class gps_pcps_acquisition_fpga_sc : public gr::block
{
private:
friend gps_pcps_acquisition_fpga_sc_sptr
gps_pcps_make_acquisition_fpga_sc(unsigned int sampled_ms,
unsigned int max_dwells, unsigned int doppler_max, long freq,
long fs_in, int samples_per_ms, int samples_per_code,
int vector_length, unsigned int nsamples_total,
bool bit_transition_flag, bool use_CFAR_algorithm_flag,
unsigned int select_queue_Fpga, std::string device_name, bool dump,
std::string dump_filename);
gps_pcps_acquisition_fpga_sc(unsigned int sampled_ms,
unsigned int max_dwells, unsigned int doppler_max, long freq,
long fs_in, int samples_per_ms, int samples_per_code,
int vector_length, unsigned int nsamples_total,
bool bit_transition_flag, bool use_CFAR_algorithm_flag,
unsigned int select_queue_Fpga, std::string device_name, bool dump,
std::string dump_filename);
int d_samples_per_code;
float d_threshold;
unsigned int d_doppler_max;
unsigned int d_doppler_step;
unsigned int d_max_dwells;
unsigned int d_well_count;
unsigned int d_fft_size;
unsigned long int d_sample_counter;
unsigned int d_num_doppler_bins;
Gnss_Synchro *d_gnss_synchro;
float d_mag;
bool d_bit_transition_flag;
bool d_use_CFAR_algorithm_flag;
std::ofstream d_dump_file;
bool d_active;
int d_state;
bool d_dump;
unsigned int d_channel;
std::string d_dump_filename;
std::shared_ptr<gps_fpga_acquisition_8sc> acquisition_fpga_8sc;
public:
/*!
* \brief Default destructor.
*/
~gps_pcps_acquisition_fpga_sc();
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to exchange synchronization data between acquisition and tracking blocks.
* \param p_gnss_synchro Satellite information shared by the processing blocks.
*/
inline void set_gnss_synchro(Gnss_Synchro *p_gnss_synchro)
{
d_gnss_synchro = p_gnss_synchro;
}
/*!
* \brief Returns the maximum peak of grid search.
*/
inline unsigned int mag() const
{
return d_mag;
}
/*!
* \brief Initializes acquisition algorithm.
*/
void init();
/*!
* \brief Sets local code for PCPS acquisition algorithm.
* \param code - Pointer to the PRN code.
*/
void set_local_code();
/*!
* \brief Starts acquisition algorithm, turning from standby mode to
* active mode
* \param active - bool that activates/deactivates the block.
*/
void set_active(bool active);
/*!
* \brief If set to 1, ensures that acquisition starts at the
* first available sample.
* \param state - int=1 forces start of acquisition
*/
void set_state(int state);
/*!
* \brief Set acquisition channel unique ID
* \param channel - receiver channel.
*/
inline void set_channel(unsigned int channel)
{
d_channel = channel;
}
/*!
* \brief Set statistics threshold of PCPS algorithm.
* \param threshold - Threshold for signal detection (check \ref Navitec2012,
* Algorithm 1, for a definition of this threshold).
*/
inline void set_threshold(float threshold)
{
d_threshold = threshold;
}
/*!
* \brief Set maximum Doppler grid search
* \param doppler_max - Maximum Doppler shift considered in the grid search [Hz].
*/
inline void set_doppler_max(unsigned int doppler_max)
{
d_doppler_max = doppler_max;
acquisition_fpga_8sc->set_doppler_max(doppler_max);
}
/*!
* \brief Set Doppler steps for the grid search
* \param doppler_step - Frequency bin of the search grid [Hz].
*/
inline void set_doppler_step(unsigned int doppler_step)
{
d_doppler_step = doppler_step;
acquisition_fpga_8sc->set_doppler_step(doppler_step);
}
/*!
* \brief Parallel Code Phase Search Acquisition signal processing.
*/
int general_work(int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items);
};
#endif /* GNSS_SDR_PCPS_ACQUISITION_SC_H_*/

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/*!
* \file pcps_acquisition_fpga.cc
* \brief This class implements a Parallel Code Phase Search Acquisition in the FPGA
*
* Note: The CFAR algorithm is not implemented in the FPGA.
* Note 2: The bit transition flag is not implemented in the FPGA
*
* \authors <ul>
* <li> Marc Majoral, 2017. mmajoral(at)cttc.cat
* <li> Javier Arribas, 2011. jarribas(at)cttc.es
* <li> Luis Esteve, 2012. luis(at)epsilon-formacion.com
* <li> Marc Molina, 2013. marc.molina.pena@gmail.com
* <li> Cillian O'Driscoll, 2017. cillian(at)ieee.org
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include <glog/logging.h>
#include <gnuradio/io_signature.h>
#include "pcps_acquisition_fpga.h"
using google::LogMessage;
pcps_acquisition_fpga_sptr pcps_make_acquisition(pcpsconf_fpga_t conf_)
{
return pcps_acquisition_fpga_sptr(new pcps_acquisition_fpga(conf_));
}
pcps_acquisition_fpga::pcps_acquisition_fpga(pcpsconf_fpga_t conf_) : gr::block("pcps_acquisition_fpga",
gr::io_signature::make(0, 0, 0),
gr::io_signature::make(0, 0, 0))
{
this->message_port_register_out(pmt::mp("events"));
acq_parameters = conf_;
d_sample_counter = 0; // SAMPLE COUNTER
d_active = false;
d_state = 0;
d_fft_size = acq_parameters.sampled_ms * acq_parameters.samples_per_ms;
d_mag = 0;
d_input_power = 0.0;
d_num_doppler_bins = 0;
d_threshold = 0.0;
d_doppler_step = 0;
d_test_statistics = 0.0;
d_channel = 0;
d_gnss_synchro = 0;
acquisition_fpga = std::make_shared <fpga_acquisition>
(acq_parameters.device_name, d_fft_size, acq_parameters.doppler_max, acq_parameters.samples_per_ms,
acq_parameters.fs_in, acq_parameters.freq, acq_parameters.sampled_ms, acq_parameters.select_queue_Fpga, acq_parameters.all_fft_codes);
}
pcps_acquisition_fpga::~pcps_acquisition_fpga()
{
acquisition_fpga->free();
}
void pcps_acquisition_fpga::set_local_code()
{
acquisition_fpga->set_local_code(d_gnss_synchro->PRN);
}
void pcps_acquisition_fpga::init()
{
d_gnss_synchro->Flag_valid_acquisition = false;
d_gnss_synchro->Flag_valid_symbol_output = false;
d_gnss_synchro->Flag_valid_pseudorange = false;
d_gnss_synchro->Flag_valid_word = false;
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
d_mag = 0.0;
d_input_power = 0.0;
d_num_doppler_bins = static_cast<unsigned int>(std::ceil(static_cast<double>(static_cast<int>(acq_parameters.doppler_max) - static_cast<int>(-acq_parameters.doppler_max)) / static_cast<double>(d_doppler_step)));
acquisition_fpga->init();
}
void pcps_acquisition_fpga::set_state(int state)
{
d_state = state;
if (d_state == 1)
{
d_gnss_synchro->Acq_delay_samples = 0.0;
d_gnss_synchro->Acq_doppler_hz = 0.0;
d_gnss_synchro->Acq_samplestamp_samples = 0;
//d_well_count = 0;
d_mag = 0.0;
d_input_power = 0.0;
d_test_statistics = 0.0;
d_active = true;
}
else if (d_state == 0)
{
}
else
{
LOG(ERROR) << "State can only be set to 0 or 1";
}
}
void pcps_acquisition_fpga::send_positive_acquisition()
{
// 6.1- Declare positive acquisition using a message port
//0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
DLOG(INFO) << "positive acquisition"
<< ", satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< ", sample_stamp " << d_sample_counter
<< ", test statistics value " << d_test_statistics
<< ", test statistics threshold " << d_threshold
<< ", code phase " << d_gnss_synchro->Acq_delay_samples
<< ", doppler " << d_gnss_synchro->Acq_doppler_hz
<< ", magnitude " << d_mag
<< ", input signal power " << d_input_power;
this->message_port_pub(pmt::mp("events"), pmt::from_long(1));
}
void pcps_acquisition_fpga::send_negative_acquisition()
{
// 6.2- Declare negative acquisition using a message port
//0=STOP_CHANNEL 1=ACQ_SUCCEES 2=ACQ_FAIL
DLOG(INFO) << "negative acquisition"
<< ", satellite " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< ", sample_stamp " << d_sample_counter
<< ", test statistics value " << d_test_statistics
<< ", test statistics threshold " << d_threshold
<< ", code phase " << d_gnss_synchro->Acq_delay_samples
<< ", doppler " << d_gnss_synchro->Acq_doppler_hz
<< ", magnitude " << d_mag
<< ", input signal power " << d_input_power;
this->message_port_pub(pmt::mp("events"), pmt::from_long(2));
}
void pcps_acquisition_fpga::set_active(bool active)
{
d_active = active;
// initialize acquisition algorithm
uint32_t indext = 0;
float magt = 0.0;
float fft_normalization_factor = static_cast<float>(d_fft_size) * static_cast<float>(d_fft_size);
d_input_power = 0.0;
d_mag = 0.0;
DLOG(INFO) << "Channel: " << d_channel
<< " , doing acquisition of satellite: " << d_gnss_synchro->System << " " << d_gnss_synchro->PRN
<< " ,sample stamp: " << d_sample_counter << ", threshold: "
<< d_threshold << ", doppler_max: " << acq_parameters.doppler_max
<< ", doppler_step: " << d_doppler_step
// no CFAR algorithm in the FPGA
<< ", use_CFAR_algorithm_flag: false";
unsigned int initial_sample;
float input_power_all = 0.0;
float input_power_computed = 0.0;
for (unsigned int doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{
// doppler search steps
int doppler = -static_cast<int>(acq_parameters.doppler_max) + d_doppler_step * doppler_index;
acquisition_fpga->set_phase_step(doppler_index);
acquisition_fpga->run_acquisition(); // runs acquisition and waits until it is finished
acquisition_fpga->read_acquisition_results(&indext, &magt,
&initial_sample, &d_input_power);
d_sample_counter = initial_sample;
if (d_mag < magt)
{
d_mag = magt;
input_power_all = d_input_power / (d_fft_size - 1);
input_power_computed = (d_input_power - d_mag) / (d_fft_size - 1);
d_input_power = (d_input_power - d_mag) / (d_fft_size - 1);
d_gnss_synchro->Acq_delay_samples = static_cast<double>(indext % acq_parameters.samples_per_code);
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter;
d_test_statistics = (d_mag / d_input_power); //* correction_factor;
}
// In the case of the FPGA the option of dumping the results of the acquisition to a file is not available
// because the IFFT vector is not available
}
if (d_test_statistics > d_threshold)
{
d_active = false;
send_positive_acquisition();
d_state = 0; // Positive acquisition
}
else
{
d_state = 0;
d_active = false;
send_negative_acquisition();
}
}
int pcps_acquisition_fpga::general_work(int noutput_items __attribute__((unused)),
gr_vector_int& ninput_items, gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items __attribute__((unused)))
{
// the general work is not used with the acquisition that uses the FPGA
return noutput_items;
}

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/*!
* \file pcps_acquisition_fpga.h
* \brief This class implements a Parallel Code Phase Search Acquisition in the FPGA.
*
* Note: The CFAR algorithm is not implemented in the FPGA.
* Note 2: The bit transition flag is not implemented in the FPGA
*
* Acquisition strategy (Kay Borre book + CFAR threshold).
* <ol>
* <li> Compute the input signal power estimation
* <li> Doppler serial search loop
* <li> Perform the FFT-based circular convolution (parallel time search)
* <li> Record the maximum peak and the associated synchronization parameters
* <li> Compute the test statistics and compare to the threshold
* <li> Declare positive or negative acquisition using a message queue
* </ol>
*
* Kay Borre book: K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
* "A Software-Defined GPS and Galileo Receiver. A Single-Frequency
* Approach", Birkhauser, 2007. pp 81-84
*
* \authors <ul>
* <li> Marc Majoral, 2017. mmajoral(at)cttc.cat
* <li> Javier Arribas, 2011. jarribas(at)cttc.es
* <li> Luis Esteve, 2012. luis(at)epsilon-formacion.com
* <li> Marc Molina, 2013. marc.molina.pena@gmail.com
* <li> Cillian O'Driscoll, 2017. cillian(at)ieee.org
* <li> Antonio Ramos, 2017. antonio.ramos@cttc.es
* </ul>
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_PCPS_ACQUISITION_FPGA_H_
#define GNSS_SDR_PCPS_ACQUISITION_FPGA_H_
#include "fpga_acquisition.h"
#include "gnss_synchro.h"
#include <gnuradio/block.h>
typedef struct
{
/* pcps acquisition configuration */
unsigned int sampled_ms;
unsigned int doppler_max;
long freq;
long fs_in;
int samples_per_ms;
int samples_per_code;
unsigned int select_queue_Fpga;
std::string device_name;
lv_16sc_t* all_fft_codes; // memory that contains all the code ffts
} pcpsconf_fpga_t;
class pcps_acquisition_fpga;
typedef boost::shared_ptr<pcps_acquisition_fpga> pcps_acquisition_fpga_sptr;
pcps_acquisition_fpga_sptr
pcps_make_acquisition(pcpsconf_fpga_t conf_);
/*!
* \brief This class implements a Parallel Code Phase Search Acquisition that uses the FPGA.
*
* Check \ref Navitec2012 "An Open Source Galileo E1 Software Receiver",
* Algorithm 1, for a pseudocode description of this implementation.
*/
class pcps_acquisition_fpga : public gr::block
{
private:
friend pcps_acquisition_fpga_sptr
pcps_make_acquisition(pcpsconf_fpga_t conf_);
pcps_acquisition_fpga(pcpsconf_fpga_t conf_);
void send_negative_acquisition();
void send_positive_acquisition();
pcpsconf_fpga_t acq_parameters;
bool d_active;
float d_threshold;
float d_mag;
float d_input_power;
float d_test_statistics;
int d_state;
unsigned int d_channel;
unsigned int d_doppler_step;
unsigned int d_fft_size;
unsigned int d_num_doppler_bins;
unsigned long int d_sample_counter;
Gnss_Synchro* d_gnss_synchro;
std::shared_ptr<fpga_acquisition> acquisition_fpga;
public:
~pcps_acquisition_fpga();
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to exchange synchronization data between acquisition and tracking blocks.
* \param p_gnss_synchro Satellite information shared by the processing blocks.
*/
inline void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
d_gnss_synchro = p_gnss_synchro;
}
/*!
* \brief Returns the maximum peak of grid search.
*/
inline unsigned int mag() const
{
return d_mag;
}
/*!
* \brief Initializes acquisition algorithm.
*/
void init();
/*!
* \brief Sets local code for PCPS acquisition algorithm.
* \param code - Pointer to the PRN code.
*/
void set_local_code();
/*!
* \brief If set to 1, ensures that acquisition starts at the
* first available sample.
* \param state - int=1 forces start of acquisition
*/
void set_state(int state);
/*!
* \brief Starts acquisition algorithm, turning from standby mode to
* active mode
* \param active - bool that activates/deactivates the block.
*/
void set_active(bool active);
/*!
* \brief Set acquisition channel unique ID
* \param channel - receiver channel.
*/
inline void set_channel(unsigned int channel)
{
d_channel = channel;
}
/*!
* \brief Set statistics threshold of PCPS algorithm.
* \param threshold - Threshold for signal detection (check \ref Navitec2012,
* Algorithm 1, for a definition of this threshold).
*/
inline void set_threshold(float threshold)
{
d_threshold = threshold;
}
/*!
* \brief Set maximum Doppler grid search
* \param doppler_max - Maximum Doppler shift considered in the grid search [Hz].
*/
inline void set_doppler_max(unsigned int doppler_max)
{
acq_parameters.doppler_max = doppler_max;
acquisition_fpga->set_doppler_max(doppler_max);
}
/*!
* \brief Set Doppler steps for the grid search
* \param doppler_step - Frequency bin of the search grid [Hz].
*/
inline void set_doppler_step(unsigned int doppler_step)
{
d_doppler_step = doppler_step;
acquisition_fpga->set_doppler_step(doppler_step);
}
/*!
* \brief Parallel Code Phase Search Acquisition signal processing.
*/
int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items);
};
#endif /* GNSS_SDR_PCPS_ACQUISITION_FPGA_H_*/

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

@ -18,7 +18,7 @@
set(ACQUISITION_LIB_SOURCES
gps_fpga_acquisition_8sc.cc
fpga_acquisition.cc
)
include_directories(

265
src/algorithms/acquisition/libs/fpga_acquisition.cc Normal file
View File

@ -0,0 +1,265 @@
/*!
* \file fpga_acquisition.cc
* \brief High optimized FPGA vector correlator class
* \authors <ul>
* <li> Marc Majoral, 2018. mmajoral(at)cttc.cat
* </ul>
*
* Class that controls and executes a high optimized acquisition HW
* accelerator in the FPGA
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "fpga_acquisition.h"
#include "GPS_L1_CA.h"
#include "gps_sdr_signal_processing.h"
#include <glog/logging.h>
#include <fcntl.h> // libraries used by the GIPO
#include <sys/mman.h> // libraries used by the GIPO
#define PAGE_SIZE 0x10000 // default page size for the multicorrelator memory map
#define MAX_PHASE_STEP_RAD 0.999999999534339 // 1 - pow(2,-31);
#define RESET_ACQUISITION 2 // command to reset the multicorrelator
#define LAUNCH_ACQUISITION 1 // command to launch the multicorrelator
#define TEST_REG_SANITY_CHECK 0x55AA // value to check the presence of the test register (to detect the hw)
#define LOCAL_CODE_CLEAR_MEM 0x10000000 // command to clear the internal memory of the multicorrelator
#define MEM_LOCAL_CODE_WR_ENABLE 0x0C000000 // command to enable the ENA and WR pins of the internal memory of the multicorrelator
#define POW_2_2 4 // 2^2 (used for the conversion of floating point numbers to integers)
#define POW_2_29 536870912 // 2^29 (used for the conversion of floating point numbers to integers)
#define SELECT_LSB 0x00FF // value to select the least significant byte
#define SELECT_MSB 0XFF00 // value to select the most significant byte
#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
bool fpga_acquisition::init()
{
// configure the acquisition with the main initialization values
fpga_acquisition::configure_acquisition();
return true;
}
bool fpga_acquisition::set_local_code(unsigned int PRN)
{
// select the code with the chosen PRN
fpga_acquisition::fpga_configure_acquisition_local_code(
&d_all_fft_codes[d_nsamples_total * (PRN - 1)]);
return true;
}
fpga_acquisition::fpga_acquisition(std::string device_name,
unsigned int nsamples,
unsigned int doppler_max,
unsigned int nsamples_total, long fs_in, long freq,
unsigned int sampled_ms, unsigned select_queue,
lv_16sc_t *all_fft_codes)
{
unsigned int vector_length = nsamples_total * sampled_ms;
// initial values
d_device_name = device_name;
d_freq = freq;
d_fs_in = fs_in;
d_vector_length = vector_length;
d_nsamples = nsamples; // number of samples not including padding
d_select_queue = select_queue;
d_nsamples_total = nsamples_total;
d_doppler_max = doppler_max;
d_doppler_step = 0;
d_fd = 0; // driver descriptor
d_map_base = nullptr; // driver memory map
d_all_fft_codes = all_fft_codes;
// open communication with HW accelerator
if ((d_fd = open(d_device_name.c_str(), O_RDWR | O_SYNC)) == -1)
{
LOG(WARNING) << "Cannot open deviceio" << d_device_name;
}
d_map_base = reinterpret_cast<volatile unsigned *>(mmap(NULL, PAGE_SIZE,
PROT_READ | PROT_WRITE, MAP_SHARED, d_fd, 0));
if (d_map_base == reinterpret_cast<void *>(-1))
{
LOG(WARNING) << "Cannot map the FPGA acquisition module into user memory";
}
// sanity check : check test register
unsigned writeval = TEST_REG_SANITY_CHECK;
unsigned readval;
readval = fpga_acquisition::fpga_acquisition_test_register(writeval);
if (writeval != readval)
{
LOG(WARNING) << "Acquisition test register sanity check failed";
}
else
{
LOG(INFO) << "Acquisition test register sanity check success!";
}
fpga_acquisition::reset_acquisition();
DLOG(INFO) << "Acquisition FPGA class created";
}
fpga_acquisition::~fpga_acquisition()
{
close_device();
}
bool fpga_acquisition::free()
{
return true;
}
unsigned fpga_acquisition::fpga_acquisition_test_register(unsigned writeval)
{
unsigned readval;
// write value to test register
d_map_base[15] = writeval;
// read value from test register
readval = d_map_base[15];
// return read value
return readval;
}
void fpga_acquisition::fpga_configure_acquisition_local_code(lv_16sc_t fft_local_code[])
{
unsigned short local_code;
unsigned int k, tmp, tmp2;
unsigned int fft_data;
// clear memory address counter
d_map_base[4] = LOCAL_CODE_CLEAR_MEM;
// write local code
for (k = 0; k < d_vector_length; k++)
{
tmp = fft_local_code[k].real();
tmp2 = fft_local_code[k].imag();
local_code = (tmp & SELECT_LSB) | ((tmp2 * SHL_8_BITS) & SELECT_MSB); // put together the real part and the imaginary part
fft_data = MEM_LOCAL_CODE_WR_ENABLE | (local_code & SELECT_16_BITS);
d_map_base[4] = fft_data;
}
}
void fpga_acquisition::run_acquisition(void)
{
// enable interrupts
int reenable = 1;
write(d_fd, reinterpret_cast<void *>(&reenable), sizeof(int));
// launch the acquisition process
d_map_base[6] = LAUNCH_ACQUISITION; // writing anything to reg 6 launches the acquisition process
int irq_count;
ssize_t nb;
// wait for interrupt
nb = read(d_fd, &irq_count, sizeof(irq_count));
if (nb != sizeof(irq_count))
{
printf("acquisition module Read failed to retrieve 4 bytes!\n");
printf("acquisition module Interrupt number %d\n", irq_count);
}
}
void fpga_acquisition::configure_acquisition()
{
d_map_base[0] = d_select_queue;
d_map_base[1] = d_vector_length;
d_map_base[2] = d_nsamples;
d_map_base[5] = (int)log2((float)d_vector_length); // log2 FFTlength
}
void fpga_acquisition::set_phase_step(unsigned int doppler_index)
{
float phase_step_rad_real;
float phase_step_rad_int_temp;
int32_t phase_step_rad_int;
int doppler = static_cast<int>(-d_doppler_max) + d_doppler_step * doppler_index;
float phase_step_rad = GPS_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in);
// The doppler step can never be outside the range -pi to +pi, otherwise there would be aliasing
// The FPGA expects phase_step_rad between -1 (-pi) to +1 (+pi)
// The FPGA also expects the phase to be negative since it produces cos(x) -j*sin(x)
// while the gnss-sdr software (volk_gnsssdr_s32f_sincos_32fc) generates cos(x) + j*sin(x)
phase_step_rad_real = phase_step_rad / (GPS_TWO_PI / 2);
// avoid saturation of the fixed point representation in the fpga
// (only the positive value can saturate due to the 2's complement representation)
if (phase_step_rad_real >= 1.0)
{
phase_step_rad_real = MAX_PHASE_STEP_RAD;
}
phase_step_rad_int_temp = phase_step_rad_real * POW_2_2; // * 2^2
phase_step_rad_int = (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;
}
void fpga_acquisition::read_acquisition_results(uint32_t *max_index,
float *max_magnitude, unsigned *initial_sample, float *power_sum)
{
unsigned readval = 0;
readval = d_map_base[1];
*initial_sample = readval;
readval = d_map_base[2];
*max_magnitude = static_cast<float>(readval);
readval = d_map_base[4];
*power_sum = static_cast<float>(readval);
readval = d_map_base[3];
*max_index = readval;
}
void fpga_acquisition::block_samples()
{
d_map_base[14] = 1; // block the samples
}
void fpga_acquisition::unblock_samples()
{
d_map_base[14] = 0; // unblock the samples
}
void fpga_acquisition::close_device()
{
unsigned *aux = const_cast<unsigned *>(d_map_base);
if (munmap(static_cast<void *>(aux), PAGE_SIZE) == -1)
{
printf("Failed to unmap memory uio\n");
}
close(d_fd);
}
void fpga_acquisition::reset_acquisition(void)
{
d_map_base[6] = RESET_ACQUISITION; // writing a 2 to d_map_base[6] resets the multicorrelator
}

43
src/algorithms/acquisition/libs/gps_fpga_acquisition_8sc.h → src/algorithms/acquisition/libs/fpga_acquisition.h
View File

@ -1,12 +1,12 @@
/*!
* \file fpga_acquisition_8sc.h
* \brief High optimized FPGA vector correlator class for lv_16sc_t (short int complex).
* \file fpga_acquisition.h
* \brief High optimized FPGA vector correlator class
* \authors <ul>
* <li> Marc Majoral, 2017. mmajoral(at)cttc.cat
* <li> Marc Majoral, 2018. mmajoral(at)cttc.cat
* </ul>
*
* Class that controls and executes a high optimized vector correlator
* class in the FPGA
* Class that controls and executes a high optimized acquisition HW
* accelerator in the FPGA
*
* -------------------------------------------------------------------------
*
@ -33,28 +33,28 @@
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_FPGA_ACQUISITION_8SC_H_
#define GNSS_SDR_FPGA_ACQUISITION_8SC_H_
#ifndef GNSS_SDR_FPGA_ACQUISITION_H_
#define GNSS_SDR_FPGA_ACQUISITION_H_
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <gnuradio/block.h>
#include <gnuradio/fft/fft.h>
#include <volk/volk.h>
/*!
* \brief Class that implements carrier wipe-off and correlators.
*/
class gps_fpga_acquisition_8sc
class fpga_acquisition
{
public:
gps_fpga_acquisition_8sc(std::string device_name,
unsigned int vector_length, unsigned int nsamples,
fpga_acquisition(std::string device_name,
unsigned int nsamples,
unsigned int doppler_max,
unsigned int nsamples_total, long fs_in, long freq,
unsigned int sampled_ms, unsigned select_queue);
~gps_fpga_acquisition_8sc();
unsigned int sampled_ms, unsigned select_queue,
lv_16sc_t *all_fft_codes);
~fpga_acquisition();
bool init();
bool set_local_code(
unsigned int PRN); //int code_length_chips, const lv_16sc_t* local_code_in, float *shifts_chips);
unsigned int PRN);
bool free();
void run_acquisition(void);
void set_phase_step(unsigned int doppler_index);
@ -62,8 +62,6 @@ public:
unsigned *initial_sample, float *power_sum);
void block_samples();
void unblock_samples();
void open_device();
void close_device();
/*!
* \brief Set maximum Doppler grid search
@ -87,22 +85,23 @@ private:
long d_freq;
long d_fs_in;
gr::fft::fft_complex *d_fft_if; // function used to run the fft of the local codes
// data related to the hardware module and the driver
int d_fd; // driver descriptor
volatile unsigned *d_map_base; // driver memory map
lv_16sc_t *d_all_fft_codes; // memory that contains all the code ffts
unsigned int d_vector_length; // number of samples including padding and number of ms
unsigned int d_vector_length; // number of samples incluing padding and number of ms
unsigned int d_nsamples_total; // number of samples including padding
unsigned int d_nsamples; // number of samples not including padding
unsigned int d_select_queue; // queue selection
std::string d_device_name; // HW device name
unsigned int d_doppler_max; // max doppler
unsigned int d_doppler_step; // doppler step
// FPGA private functions
unsigned fpga_acquisition_test_register(unsigned writeval);
void fpga_configure_acquisition_local_code(lv_16sc_t fft_local_code[]);
void configure_acquisition();
void reset_acquisition(void);
void close_device();
};
#endif /* GNSS_SDR_FPGA_MULTICORRELATOR_H_ */
#endif /* GNSS_SDR_FPGA_ACQUISITION_H_ */

332
src/algorithms/acquisition/libs/gps_fpga_acquisition_8sc.cc
View File

@ -1,332 +0,0 @@
/*!
* \file gps_fpga_acquisition_8sc.cc
* \brief High optimized FPGA vector correlator class
* \authors <ul>
* <li> Marc Majoral, 2017. mmajoral(at)cttc.cat
* </ul>
*
* Class that controls and executes a high optimized vector correlator
* class in the FPGA
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gps_fpga_acquisition_8sc.h"
#include "gps_sdr_signal_processing.h"
#include "GPS_L1_CA.h"
#include <cmath>
#include <volk/volk.h>
// allocate memory dynamically
#include <new>
// libraries used by DMA test code and GIPO test code
#include <cstdio>
#include <fcntl.h>
#include <unistd.h>
#include <cerrno>
// libraries used by DMA test code
#include <sys/stat.h>
#include <cstdint>
#include <cassert>
// libraries used by GPIO test code
#include <cstdlib>
#include <csignal>
#include <sys/mman.h>
// logging
#include <glog/logging.h>
#define PAGE_SIZE 0x10000
#define MAX_PHASE_STEP_RAD 0.999999999534339 // 1 - pow(2,-31);
#define NUM_PRNs 32
#define TEST_REGISTER_ACQ_WRITEVAL 0x55AA
bool gps_fpga_acquisition_8sc::init()
{
// configure the acquisition with the main initialization values
gps_fpga_acquisition_8sc::configure_acquisition();
return true;
}
bool gps_fpga_acquisition_8sc::set_local_code(unsigned int PRN)
{
// select the code with the chosen PRN
gps_fpga_acquisition_8sc::fpga_configure_acquisition_local_code(
&d_all_fft_codes[d_vector_length * PRN]);
return true;
}
gps_fpga_acquisition_8sc::gps_fpga_acquisition_8sc(std::string device_name,
unsigned int vector_length, unsigned int nsamples,
unsigned int nsamples_total, long fs_in, long freq,
unsigned int sampled_ms, unsigned select_queue)
{
// initial values
d_device_name = device_name;
d_freq = freq;
d_fs_in = fs_in;
d_vector_length = vector_length;
d_nsamples = nsamples; // number of samples not including padding
d_select_queue = select_queue;
d_doppler_max = 0;
d_doppler_step = 0;
d_fd = 0; // driver descriptor
d_map_base = nullptr; // driver memory map
// compute all the possible code ffts
// Direct FFT
d_fft_if = new gr::fft::fft_complex(vector_length, true);
// allocate memory to compute all the PRNs
// and compute all the possible codes
std::complex<float>* code = new std::complex<float>[nsamples_total]; // buffer for the local code
std::complex<float>* code_total = new gr_complex[vector_length]; // buffer for the local code repeat every number of ms
gr_complex* d_fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(vector_length * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_all_fft_codes = new lv_16sc_t[vector_length * NUM_PRNs]; // memory containing all the possible fft codes for PRN 0 to 32
float max; // temporary maxima search
for (unsigned int PRN = 0; PRN < NUM_PRNs; PRN++)
{
gps_l1_ca_code_gen_complex_sampled(code, PRN, fs_in, 0); // generate PRN code
for (unsigned int i = 0; i < sampled_ms; i++)
{
memcpy(&(code_total[i * nsamples_total]), code, sizeof(gr_complex) * nsamples_total); // repeat for each ms
}
int offset = 0;
memcpy(d_fft_if->get_inbuf() + offset, code_total, sizeof(gr_complex) * vector_length); // copy to FFT buffer
d_fft_if->execute(); // Run the FFT of local code
volk_32fc_conjugate_32fc(d_fft_codes_padded, d_fft_if->get_outbuf(), vector_length); // conjugate values
max = 0; // initialize maximum value
for (unsigned int i = 0; i < vector_length; i++) // search for maxima
{
if (std::abs(d_fft_codes_padded[i].real()) > max)
{
max = std::abs(d_fft_codes_padded[i].real());
}
if (std::abs(d_fft_codes_padded[i].imag()) > max)
{
max = std::abs(d_fft_codes_padded[i].imag());
}
}
for (unsigned int i = 0; i < vector_length; 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 + vector_length * PRN] = lv_16sc_t(static_cast<int>(d_fft_codes_padded[i].real() * (pow(2, 7) - 1) / max),
static_cast<int>(d_fft_codes_padded[i].imag() * (pow(2, 7) - 1) / max));
}
}
// temporary buffers that we can delete
delete[] code;
delete[] code_total;
delete d_fft_if;
delete[] d_fft_codes_padded;
}
gps_fpga_acquisition_8sc::~gps_fpga_acquisition_8sc()
{
delete[] d_all_fft_codes;
}
bool gps_fpga_acquisition_8sc::free()
{
return true;
}
unsigned gps_fpga_acquisition_8sc::fpga_acquisition_test_register(unsigned writeval)
{
unsigned readval;
// write value to test register
d_map_base[15] = writeval;
// read value from test register
readval = d_map_base[15];
// return read value
return readval;
}
void gps_fpga_acquisition_8sc::fpga_configure_acquisition_local_code(lv_16sc_t fft_local_code[])
{
short int local_code;
unsigned int k, tmp, tmp2;
// clear memory address counter
d_map_base[4] = 0x10000000;
for (k = 0; k < d_vector_length; k++)
{
tmp = fft_local_code[k].real();
tmp2 = fft_local_code[k].imag();
local_code = (tmp & 0xFF) | ((tmp2 * 256) & 0xFF00); // put together the real part and the imaginary part
d_map_base[4] = 0x0C000000 | (local_code & 0xFFFF);
}
}
void gps_fpga_acquisition_8sc::run_acquisition(void)
{
// enable interrupts
int reenable = 1;
write(d_fd, reinterpret_cast<void*>(&reenable), sizeof(int));
d_map_base[5] = 0; // writing anything to reg 4 launches the acquisition process
int irq_count;
ssize_t nb;
// wait for interrupt
nb = read(d_fd, &irq_count, sizeof(irq_count));
if (nb != sizeof(irq_count))
{
printf("Tracking_module Read failed to retrieve 4 bytes!\n");
printf("Tracking_module Interrupt number %d\n", irq_count);
}
}
void gps_fpga_acquisition_8sc::configure_acquisition()
{
d_map_base[0] = d_select_queue;
d_map_base[1] = d_vector_length;
d_map_base[2] = d_nsamples;
}
void gps_fpga_acquisition_8sc::set_phase_step(unsigned int doppler_index)
{
float phase_step_rad_real;
float phase_step_rad_int_temp;
int32_t phase_step_rad_int;
int doppler = static_cast<int>(-d_doppler_max) + d_doppler_step * doppler_index;
float phase_step_rad = GPS_TWO_PI * (d_freq + doppler) / static_cast<float>(d_fs_in);
// The doppler step can never be outside the range -pi to +pi, otherwise there would be aliasing
// The FPGA expects phase_step_rad between -1 (-pi) to +1 (+pi)
// The FPGA also expects the phase to be negative since it produces cos(x) -j*sin(x)
// while the gnss-sdr software (volk_gnsssdr_s32f_sincos_32fc) generates cos(x) + j*sin(x)
phase_step_rad_real = phase_step_rad / (GPS_TWO_PI / 2);
// avoid saturation of the fixed point representation in the fpga
// (only the positive value can saturate due to the 2's complement representation)
if (phase_step_rad_real == 1.0)
{
phase_step_rad_real = MAX_PHASE_STEP_RAD;
}
phase_step_rad_int_temp = phase_step_rad_real * 4; // * 2^2
phase_step_rad_int = static_cast<int32_t>(phase_step_rad_int_temp * (536870912)); // * 2^29 (in total it makes x2^31 in two steps to avoid the warnings
d_map_base[3] = phase_step_rad_int;
}
void gps_fpga_acquisition_8sc::read_acquisition_results(uint32_t* max_index,
float* max_magnitude, unsigned* initial_sample, float* power_sum)
{
unsigned readval = 0;
readval = d_map_base[0];
readval = d_map_base[1];
*initial_sample = readval;
readval = d_map_base[2];
*max_magnitude = static_cast<float>(readval);
readval = d_map_base[4];
*power_sum = static_cast<float>(readval);
readval = d_map_base[3];
*max_index = readval;
}
void gps_fpga_acquisition_8sc::block_samples()
{
d_map_base[14] = 1; // block the samples
}
void gps_fpga_acquisition_8sc::unblock_samples()
{
d_map_base[14] = 0; // unblock the samples
}
void gps_fpga_acquisition_8sc::open_device()
{
if ((d_fd = open(d_device_name.c_str(), O_RDWR | O_SYNC)) == -1)
{
LOG(WARNING) << "Cannot open deviceio" << d_device_name;
}
d_map_base = reinterpret_cast<volatile unsigned*>(mmap(NULL, PAGE_SIZE,
PROT_READ | PROT_WRITE, MAP_SHARED, d_fd, 0));
if (d_map_base == reinterpret_cast<void*>(-1))
{
LOG(WARNING) << "Cannot map the FPGA acquisition module into user memory";
}
// sanity check : check test register
// we only nee to do this when the class is created
// but the device is not opened yet when the class is create
// because we need to open and close the device every time we run an acquisition
// since the same device may be used by more than one class (gps acquisition, galileo
// acquisition, etc ..)
unsigned writeval = TEST_REGISTER_ACQ_WRITEVAL;
unsigned readval;
readval = gps_fpga_acquisition_8sc::fpga_acquisition_test_register(writeval);
if (writeval != readval)
{
LOG(WARNING) << "Acquisition test register sanity check failed";
}
else
{
LOG(INFO) << "Acquisition test register sanity check success !";
}
}
void gps_fpga_acquisition_8sc::close_device()
{
unsigned* aux = const_cast<unsigned*>(d_map_base);
if (munmap(static_cast<void*>(aux), PAGE_SIZE) == -1)
{
printf("Failed to unmap memory uio\n");
}
close(d_fd);
}

121
src/algorithms/libs/CMakeLists.txt
View File

@ -18,56 +18,81 @@
add_subdirectory(rtklib)
set(GNSS_SPLIBS_SOURCES
gps_l2c_signal.cc
gps_l5_signal.cc
galileo_e1_signal_processing.cc
gnss_sdr_valve.cc
gnss_sdr_sample_counter.cc
gnss_signal_processing.cc
gps_sdr_signal_processing.cc
glonass_l1_signal_processing.cc
glonass_l2_signal_processing.cc
pass_through.cc
galileo_e5_signal_processing.cc
complex_byte_to_float_x2.cc
byte_x2_to_complex_byte.cc
cshort_to_float_x2.cc
short_x2_to_cshort.cc
complex_float_to_complex_byte.cc
conjugate_cc.cc
conjugate_sc.cc
conjugate_ic.cc
)
if(ENABLE_FPGA)
set(GNSS_SPLIBS_SOURCES
gps_l2c_signal.cc
gps_l5_signal.cc
galileo_e1_signal_processing.cc
gnss_sdr_valve.cc
gnss_sdr_sample_counter.cc
gnss_sdr_time_counter.cc
gnss_signal_processing.cc
gps_sdr_signal_processing.cc
glonass_l1_signal_processing.cc
glonass_l2_signal_processing.cc
pass_through.cc
galileo_e5_signal_processing.cc
complex_byte_to_float_x2.cc
byte_x2_to_complex_byte.cc
cshort_to_float_x2.cc
short_x2_to_cshort.cc
complex_float_to_complex_byte.cc
conjugate_cc.cc
conjugate_sc.cc
conjugate_ic.cc
)
else(ENABLE_FPGA)
set(GNSS_SPLIBS_SOURCES
gps_l2c_signal.cc
gps_l5_signal.cc
galileo_e1_signal_processing.cc
gnss_sdr_valve.cc
gnss_sdr_sample_counter.cc
gnss_signal_processing.cc
gps_sdr_signal_processing.cc
glonass_l1_signal_processing.cc
glonass_l2_signal_processing.cc
pass_through.cc
galileo_e5_signal_processing.cc
complex_byte_to_float_x2.cc
byte_x2_to_complex_byte.cc
cshort_to_float_x2.cc
short_x2_to_cshort.cc
complex_float_to_complex_byte.cc
conjugate_cc.cc
conjugate_sc.cc
conjugate_ic.cc
)
endif(ENABLE_FPGA)
if(OPENCL_FOUND)
set(GNSS_SPLIBS_SOURCES ${GNSS_SPLIBS_SOURCES}
opencl/fft_execute.cc # Needs OpenCL
opencl/fft_setup.cc # Needs OpenCL
opencl/fft_kernelstring.cc # Needs OpenCL
)
opencl/fft_execute.cc # Needs OpenCL
opencl/fft_setup.cc # Needs OpenCL
opencl/fft_kernelstring.cc # Needs OpenCL
)
endif(OPENCL_FOUND)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/core/interfaces
${Boost_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
${GNURADIO_BLOCKS_INCLUDE_DIRS}
${VOLK_INCLUDE_DIRS}
${VOLK_GNSSSDR_INCLUDE_DIRS}
${CMAKE_CURRENT_SOURCE_DIR}
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/core/interfaces
${Boost_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
${GNURADIO_BLOCKS_INCLUDE_DIRS}
${VOLK_INCLUDE_DIRS}
${VOLK_GNSSSDR_INCLUDE_DIRS}
)
if(OPENCL_FOUND)
include_directories( ${OPENCL_INCLUDE_DIRS} )
if(OS_IS_MACOSX)
set(OPT_LIBRARIES ${OPT_LIBRARIES} "-framework OpenCL")
set(OPT_LIBRARIES ${OPT_LIBRARIES} "-framework OpenCL")
else(OS_IS_MACOSX)
set(OPT_LIBRARIES ${OPT_LIBRARIES} ${OPENCL_LIBRARIES})
set(OPT_LIBRARIES ${OPT_LIBRARIES} ${OPENCL_LIBRARIES})
endif(OS_IS_MACOSX)
endif(OPENCL_FOUND)
@ -80,14 +105,14 @@ add_library(gnss_sp_libs ${GNSS_SPLIBS_SOURCES} ${GNSS_SPLIBS_HEADERS})
source_group(Headers FILES ${GNSS_SPLIBS_HEADERS})
target_link_libraries(gnss_sp_libs ${GNURADIO_RUNTIME_LIBRARIES}
${VOLK_LIBRARIES} ${ORC_LIBRARIES}
${VOLK_GNSSSDR_LIBRARIES} ${ORC_LIBRARIES}
${GFlags_LIBS}
${GNURADIO_BLOCKS_LIBRARIES}
${GNURADIO_FFT_LIBRARIES}
${GNURADIO_FILTER_LIBRARIES}
${OPT_LIBRARIES}
gnss_rx
${VOLK_LIBRARIES} ${ORC_LIBRARIES}
${VOLK_GNSSSDR_LIBRARIES} ${ORC_LIBRARIES}
${GFlags_LIBS}
${GNURADIO_BLOCKS_LIBRARIES}
${GNURADIO_FFT_LIBRARIES}
${GNURADIO_FILTER_LIBRARIES}
${OPT_LIBRARIES}
gnss_rx
)
if(NOT VOLK_GNSSSDR_FOUND)
@ -95,9 +120,9 @@ if(NOT VOLK_GNSSSDR_FOUND)
endif(NOT VOLK_GNSSSDR_FOUND)
if(${GFLAGS_GREATER_20})
add_definitions(-DGFLAGS_GREATER_2_0=1)
add_definitions(-DGFLAGS_GREATER_2_0=1)
endif(${GFLAGS_GREATER_20})
add_library(gnss_sdr_flags gnss_sdr_flags.cc gnss_sdr_flags.h)
source_group(Headers FILES gnss_sdr_flags.h)
target_link_libraries(gnss_sdr_flags ${GFlags_LIBS})
target_link_libraries(gnss_sdr_flags ${GFlags_LIBS})

126
src/algorithms/libs/gnss_sdr_time_counter.cc Normal file
View File

@ -0,0 +1,126 @@
/*!
* \file gnss_sdr_time_counter.cc
* \brief Simple block to report the current receiver time based on the output of the tracking or telemetry blocks
* \author Antonio Ramos 2018. antonio.ramos(at)gmail.com
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gnss_sdr_time_counter.h"
#include "gnss_synchro.h"
#include <gnuradio/io_signature.h>
#include <cmath>
#include <iostream>
#include <string>
gnss_sdr_time_counter::gnss_sdr_time_counter() : gr::block("time_counter",
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
set_max_noutput_items(1);
current_T_rx_ms = 0;
current_s = 0;
current_m = 0;
current_h = 0;
current_days = 0;
report_interval_ms = 1000; // default reporting 1 second
flag_m = false;
flag_h = false;
flag_days = false;
}
gnss_sdr_time_counter_sptr gnss_sdr_make_time_counter()
{
gnss_sdr_time_counter_sptr counter_(new gnss_sdr_time_counter());
return counter_;
}
int gnss_sdr_time_counter::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items __attribute__((unused)), gr_vector_void_star &output_items)
{
Gnss_Synchro *out = reinterpret_cast<Gnss_Synchro *>(output_items[0]);
const Gnss_Synchro *in = reinterpret_cast<const Gnss_Synchro *>(input_items[0]);
out[0] = in[0];
if ((current_T_rx_ms % report_interval_ms) == 0)
{
current_s++;
if ((current_s % 60) == 0)
{
current_s = 0;
current_m++;
flag_m = true;
if ((current_m % 60) == 0)
{
current_m = 0;
current_h++;
flag_h = true;
if ((current_h % 24) == 0)
{
current_h = 0;
current_days++;
flag_days = true;
}
}
}
if (flag_days)
{
std::string day;
if (current_days == 1)
{
day = " day ";
}
else
{
day = " days ";
}
std::cout << "Current receiver time: " << current_days << day << current_h << " h " << current_m << " min " << current_s << " s" << std::endl;
}
else
{
if (flag_h)
{
std::cout << "Current receiver time: " << current_h << " h " << current_m << " min " << current_s << " s" << std::endl;
}
else
{
if (flag_m)
{
std::cout << "Current receiver time: " << current_m << " min " << current_s << " s" << std::endl;
}
else
{
std::cout << "Current receiver time: " << current_s << " s" << std::endl;
}
}
}
}
current_T_rx_ms++;
consume_each(1);
return 1;
}

64
src/algorithms/libs/gnss_sdr_time_counter.h Normal file
View File

@ -0,0 +1,64 @@
/*!
* \file gnss_sdr_time_counter.h
* \brief Simple block to report the current receiver time based on the output of the tracking or telemetry blocks
* \author Antonio Ramos 2018. antonio.ramosdet(at)gmail.com
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_TIME_COUNTER_H_
#define GNSS_SDR_TIME_COUNTER_H_
#include <gnuradio/block.h>
#include <boost/shared_ptr.hpp>
class gnss_sdr_time_counter;
typedef boost::shared_ptr<gnss_sdr_time_counter> gnss_sdr_time_counter_sptr;
gnss_sdr_time_counter_sptr gnss_sdr_make_time_counter();
class gnss_sdr_time_counter : public gr::block
{
private:
gnss_sdr_time_counter();
long long int current_T_rx_ms; // Receiver time in ms since the beginning of the run
unsigned int current_s; // Receiver time in seconds, modulo 60
bool flag_m; // True if the receiver has been running for at least 1 minute
unsigned int current_m; // Receiver time in minutes, modulo 60
bool flag_h; // True if the receiver has been running for at least 1 hour
unsigned int current_h; // Receiver time in hours, modulo 24
bool flag_days; // True if the receiver has been running for at least 1 day
unsigned int current_days; // Receiver time in days since the beginning of the run
int report_interval_ms;
public:
friend gnss_sdr_time_counter_sptr gnss_sdr_make_time_counter();
int general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items __attribute__((unused)), gr_vector_void_star &output_items);
};
#endif /*GNSS_SDR_SAMPLE_COUNTER_H_*/

2
src/algorithms/observables/gnuradio_blocks/hybrid_observables_cc.cc
View File

@ -64,7 +64,7 @@ hybrid_observables_cc::hybrid_observables_cc(unsigned int nchannels_in,
T_rx_s = 0.0;
T_rx_step_s = 0.001; // 1 ms
max_delta = 1.5; // 1.5 s
d_latency = 0.3; // 300 ms
d_latency = 0.5; // 300 ms
valid_channels.resize(d_nchannels, false);
d_num_valid_channels = 0;
d_gnss_synchro_history = new Gnss_circular_deque<Gnss_Synchro>(static_cast<unsigned int>(max_delta * 1000.0), d_nchannels);

24
src/algorithms/signal_source/adapters/CMakeLists.txt
View File

@ -35,6 +35,20 @@ if(ENABLE_PLUTOSDR OR ENABLE_FMCOMMS2)
set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${IIO_INCLUDE_DIRS})
endif(ENABLE_PLUTOSDR OR ENABLE_FMCOMMS2)
if(ENABLE_AD9361)
find_package(libiio REQUIRED)
if(NOT LIBIIO_FOUND)
message(STATUS "gnuradio-iio not found, its installation is required.")
message(STATUS "Please build and install the following projects:")
message(STATUS " * libiio from https://github.com/analogdevicesinc/libiio")
message(STATUS " * libad9361-iio from https://github.com/analogdevicesinc/libad9361-iio")
message(STATUS " * gnuradio-iio from https://github.com/analogdevicesinc/gr-iio")
message(FATAL_ERROR "gnuradio-iio required for building gnss-sdr with this option enabled")
endif(NOT LIBIIO_FOUND)
set(OPT_LIBRARIES ${OPT_LIBRARIES} ${LIBIIO_LIBRARIES})
set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${LIBIIO_INCLUDE_DIRS})
endif(ENABLE_AD9361)
if(ENABLE_PLUTOSDR)
##############################################
@ -55,6 +69,16 @@ if(ENABLE_FMCOMMS2)
endif(IIO_FOUND)
endif(ENABLE_FMCOMMS2)
if(ENABLE_AD9361)
###############################################
# AD9361 DIRECT TO FPGA Hardware
###############################################
if(LIBIIO_FOUND)
set(OPT_DRIVER_SOURCES ${OPT_DRIVER_SOURCES} ad9361_fpga_signal_source.cc)
endif(LIBIIO_FOUND)
endif(ENABLE_AD9361)
if(ENABLE_GN3S)
##############################################

160
src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.cc Normal file
View File

@ -0,0 +1,160 @@
/*!
* \file ad9361_fpga_signal_source.cc
* \brief signal source for Analog Devices front-end AD9361 connected directly to FPGA accelerators.
* This source implements only the AD9361 control. It is NOT compatible with conventional SDR acquisition and tracking blocks.
* Please use the fmcomms2 source if conventional SDR acquisition and tracking is selected in the configuration file.
* \author Javier Arribas, jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "ad9361_fpga_signal_source.h"
#include "configuration_interface.h"
#include "ad9361_manager.h"
#include "GPS_L1_CA.h"
#include "GPS_L2C.h"
#include <signal.h>
#include <stdio.h>
#include <glog/logging.h>
#include <iostream>
#ifdef __APPLE__
#include <iio/iio.h>
#else
#include <iio.h>
#endif
Ad9361FpgaSignalSource::Ad9361FpgaSignalSource(ConfigurationInterface* configuration,
std::string role, unsigned int in_stream, unsigned int out_stream,
boost::shared_ptr<gr::msg_queue> queue) :
role_(role), in_stream_(in_stream), out_stream_(out_stream),
queue_(queue)
{
std::string default_item_type = "gr_complex";
std::string default_dump_file = "./data/signal_source.dat";
freq_ = configuration->property(role + ".freq", GPS_L1_FREQ_HZ);
sample_rate_ = configuration->property(role + ".sampling_frequency", 2600000);
bandwidth_ = configuration->property(role + ".bandwidth", 2000000);
rx1_en_ = configuration->property(role + ".rx1_enable", true);
rx2_en_ = configuration->property(role + ".rx2_enable", false);
buffer_size_ = configuration->property(role + ".buffer_size", 0xA0000);
quadrature_ = configuration->property(role + ".quadrature", true);
rf_dc_ = configuration->property(role + ".rf_dc", true);
bb_dc_ = configuration->property(role + ".bb_dc", true);
gain_mode_rx1_ = configuration->property(role + ".gain_mode_rx1", std::string("manual"));
gain_mode_rx2_ = configuration->property(role + ".gain_mode_rx2", std::string("manual"));
rf_gain_rx1_ = configuration->property(role + ".gain_rx1", 64.0);
rf_gain_rx2_ = configuration->property(role + ".gain_rx2", 64.0);
rf_port_select_ = configuration->property(role + ".rf_port_select", std::string("A_BALANCED"));
filter_file_ = configuration->property(role + ".filter_file", std::string(""));
filter_auto_ = configuration->property(role + ".filter_auto", true);
item_type_ = configuration->property(role + ".item_type", default_item_type);
samples_ = configuration->property(role + ".samples", 0);
dump_ = configuration->property(role + ".dump", false);
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_file);
enable_dds_lo_=configuration->property(role + ".enable_dds_lo", false);
freq_rf_tx_hz_=configuration->property(role + ".freq_rf_tx_hz", GPS_L1_FREQ_HZ-GPS_L2_FREQ_HZ-1000);
freq_dds_tx_hz_=configuration->property(role + ".freq_dds_tx_hz", 1000);
scale_dds_dbfs_=configuration->property(role + ".scale_dds_dbfs", -3.0);
phase_dds_deg_=configuration->property(role + ".phase_dds_deg", 0.0);
tx_attenuation_db_=configuration->property(role + ".tx_attenuation_db", 0.0);
item_size_ = sizeof(gr_complex);
std::cout << "device address: " << uri_ << std::endl;
std::cout << "LO frequency : " << freq_ << " Hz" << std::endl;
std::cout << "sample rate: " << sample_rate_ << " Hz" << std::endl;
config_ad9361_rx_local(bandwidth_,
sample_rate_,
freq_,
rf_port_select_,
gain_mode_rx1_,
gain_mode_rx2_,
rf_gain_rx1_,
rf_gain_rx2_);
//LOCAL OSCILLATOR DDS GENERATOR FOR DUAL FREQUENCY OPERATION
if (enable_dds_lo_==true)
{
config_ad9361_lo_local(bandwidth_,
sample_rate_,
freq_rf_tx_hz_,
tx_attenuation_db_,
freq_dds_tx_hz_,
scale_dds_dbfs_);
}
// turn switch to A/D position
std::string default_device_name = "/dev/uio13";
std::string device_name = configuration->property(role + ".devicename", default_device_name);
int switch_position = configuration->property(role + ".switch_position", 0);
switch_fpga = std::make_shared <fpga_switch>(device_name);
switch_fpga->set_switch_position(switch_position);
}
Ad9361FpgaSignalSource::~Ad9361FpgaSignalSource()
{
/* cleanup and exit */
//std::cout<<"* AD9361 Disabling streaming channels\n";
//if (rx0_i) { iio_channel_disable(rx0_i); }
//if (rx0_q) { iio_channel_disable(rx0_q); }
if (enable_dds_lo_)
{
ad9361_disable_lo_local();
}
// std::cout<<"* AD9361 Destroying context\n";
//if (ctx) { iio_context_destroy(ctx); }
}
void Ad9361FpgaSignalSource::connect(gr::top_block_sptr top_block)
{
DLOG(INFO) << "AD9361 FPGA source nothing to connect";
}
void Ad9361FpgaSignalSource::disconnect(gr::top_block_sptr top_block)
{
DLOG(INFO) << "AD9361 FPGA source nothing to disconnect";
}
gr::basic_block_sptr Ad9361FpgaSignalSource::get_left_block()
{
LOG(WARNING) << "Trying to get signal source left block.";
return gr::basic_block_sptr();
}
gr::basic_block_sptr Ad9361FpgaSignalSource::get_right_block()
{
LOG(WARNING) << "Trying to get AD9361 FPGA signal source right block.";
return gr::basic_block_sptr();
}

120
src/algorithms/signal_source/adapters/ad9361_fpga_signal_source.h Normal file
View File

@ -0,0 +1,120 @@
/*!
* \file ad9361_fpga_signal_source.h
* \brief signal source for Analog Devices front-end AD9361 connected directly to FPGA accelerators.
* This source implements only the AD9361 control. It is NOT compatible with conventional SDR acquisition and tracking blocks.
* Please use the fmcomms2 source if conventional SDR acquisition and tracking is selected in the configuration file.
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_AD9361_FPGA_SIGNAL_SOURCE_H_
#define GNSS_SDR_AD9361_FPGA_SIGNAL_SOURCE_H_
#include "gnss_block_interface.h"
#include "fpga_switch.h"
#include <boost/shared_ptr.hpp>
#include <gnuradio/msg_queue.h>
#include <string>
class ConfigurationInterface;
class Ad9361FpgaSignalSource: public GNSSBlockInterface
{
public:
Ad9361FpgaSignalSource(ConfigurationInterface* configuration,
std::string role, unsigned int in_stream,
unsigned int out_stream, boost::shared_ptr<gr::msg_queue> queue);
virtual ~Ad9361FpgaSignalSource();
inline std::string role() override
{
return role_;
}
/*!
* \brief Returns "Ad9361_Fpga_Signal_Source"
*/
inline std::string implementation() override
{
return "Ad9361_Fpga_Signal_Source";
}
inline size_t item_size() override
{
return item_size_;
}
void connect(gr::top_block_sptr top_block) override;
void disconnect(gr::top_block_sptr top_block) override;
gr::basic_block_sptr get_left_block() override;
gr::basic_block_sptr get_right_block() override;
private:
std::string role_;
// Front-end settings
std::string uri_;//device direction
unsigned long freq_; //frequency of local oscilator
unsigned long sample_rate_;
unsigned long bandwidth_;
unsigned long buffer_size_; //reception buffer
bool rx1_en_;
bool rx2_en_;
bool quadrature_;
bool rf_dc_;
bool bb_dc_;
std::string gain_mode_rx1_;
std::string gain_mode_rx2_;
double rf_gain_rx1_;
double rf_gain_rx2_;
std::string rf_port_select_;
std::string filter_file_;
bool filter_auto_;
//DDS configuration for LO generation for external mixer
bool enable_dds_lo_;
unsigned long freq_rf_tx_hz_;
unsigned long freq_dds_tx_hz_;
double scale_dds_dbfs_;
double phase_dds_deg_;
double tx_attenuation_db_;
unsigned int in_stream_;
unsigned int out_stream_;
std::string item_type_;
size_t item_size_;
long samples_;
bool dump_;
std::string dump_filename_;
boost::shared_ptr<gr::msg_queue> queue_;
std::shared_ptr<fpga_switch> switch_fpga;
};
#endif /*GNSS_SDR_AD9361_FPGA_SIGNAL_SOURCE_H_*/

40
src/algorithms/signal_source/libs/CMakeLists.txt
View File

@ -28,7 +28,10 @@ if(ENABLE_PLUTOSDR OR ENABLE_FMCOMMS2)
endif(NOT IIO_FOUND)
set(OPT_LIBRARIES ${OPT_LIBRARIES} ${IIO_LIBRARIES})
set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${IIO_INCLUDE_DIRS})
endif(ENABLE_PLUTOSDR OR ENABLE_FMCOMMS2)
if(ENABLE_FMCOMMS2 OR ENABLE_AD9361)
find_package(libiio REQUIRED)
if(NOT LIBIIO_FOUND)
message(STATUS "gnuradio-iio not found, its installation is required.")
@ -40,37 +43,38 @@ if(ENABLE_PLUTOSDR OR ENABLE_FMCOMMS2)
endif(NOT LIBIIO_FOUND)
set(OPT_LIBRARIES ${OPT_LIBRARIES} ${LIBIIO_LIBRARIES})
set(OPT_DRIVER_INCLUDE_DIRS ${OPT_DRIVER_INCLUDE_DIRS} ${LIBIIO_INCLUDE_DIRS})
endif(ENABLE_PLUTOSDR OR ENABLE_FMCOMMS2)
if(ENABLE_FMCOMMS2)
###############################################
###############################################
# FMCOMMS2 based SDR Hardware
###############################################
if(IIO_FOUND)
set(OPT_SIGNAL_SOURCE_LIB_SOURCES ad9361_manager.cc)
endif(IIO_FOUND)
endif(ENABLE_FMCOMMS2)
endif(ENABLE_FMCOMMS2 OR ENABLE_AD9361)
if(ENABLE_AD9361)
set(OPT_SIGNAL_SOURCE_LIB_SOURCES ad9361_manager.cc)
endif(ENABLE_AD9361)
if(ENABLE_FPGA)
SET(OPT_SIGNAL_SOURCE_LIB_SOURCES ${OPT_SIGNAL_SOURCE_LIB_SOURCES} fpga_switch.cc)
endif(ENABLE_FPGA)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${Boost_INCLUDE_DIRS}
${OPT_DRIVER_INCLUDE_DIRS}
)
set (SIGNAL_SOURCE_LIB_SOURCES
rtl_tcp_commands.cc
rtl_tcp_dongle_info.cc
${OPT_SIGNAL_SOURCE_LIB_SOURCES})
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${Boost_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${OPT_DRIVER_INCLUDE_DIRS}
)
file(GLOB SIGNAL_SOURCE_LIB_HEADERS "*.h")
list(SORT SIGNAL_SOURCE_LIB_HEADERS)
list(SORT SIGNAL_SOURCE_LIB_SOURCES)
add_library(signal_source_lib ${SIGNAL_SOURCE_LIB_SOURCES} ${SIGNAL_SOURCE_LIB_HEADERS})
source_group(Headers FILES ${SIGNAL_SOURCE_LIB_HEADERS})
add_dependencies(signal_source_lib glog-${glog_RELEASE})
target_link_libraries(signal_source_lib ${OPT_LIBRARIES})
target_link_libraries(signal_source_lib ${OPT_LIBRARIES})

137
src/algorithms/signal_source/libs/fpga_switch.cc Normal file
View File

@ -0,0 +1,137 @@
/*!
* \file fpga_switch.cc
* \brief Switch that connects the HW accelerator queues to the analog front end or the DMA.
* \authors <ul>
* <li> Marc Majoral, 2017. mmajoral(at)cttc.cat
* <li> Javier Arribas, 2015. jarribas(at)cttc.es
* </ul>
*
* Class that controls a switch in the FPGA
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "fpga_switch.h"
#include <cmath>
// FPGA stuff
#include <new>
// libraries used by DMA test code and GIPO test code
#include <stdio.h>
#include <fcntl.h>
#include <unistd.h>
#include <errno.h>
// libraries used by DMA test code
#include <sys/stat.h>
#include <stdint.h>
#include <unistd.h>
#include <assert.h>
// libraries used by GPIO test code
#include <stdlib.h>
#include <signal.h>
#include <sys/mman.h>
// logging
#include <glog/logging.h>
// string manipulation
#include <string>
// constants
#define PAGE_SIZE 0x10000
#define TEST_REGISTER_TRACK_WRITEVAL 0x55AA
fpga_switch::fpga_switch(std::string device_name)
{
if ((d_device_descriptor = open(device_name.c_str(), O_RDWR | O_SYNC)) == -1)
{
LOG(WARNING) << "Cannot open deviceio" << device_name;
printf("switch memory successfully mapped\n");
}
d_map_base = reinterpret_cast<volatile unsigned *>(mmap(NULL, PAGE_SIZE,
PROT_READ | PROT_WRITE, MAP_SHARED, d_device_descriptor, 0));
if (d_map_base == reinterpret_cast<void *>(-1))
{
LOG(WARNING) << "Cannot map the FPGA switch module into tracking memory";
printf("could not map switch memory\n");
}
// sanity check : check test register
unsigned writeval = TEST_REGISTER_TRACK_WRITEVAL;
unsigned readval;
readval = fpga_switch::fpga_switch_test_register(writeval);
if (writeval != readval)
{
LOG(WARNING) << "Test register sanity check failed";
}
else
{
LOG(INFO) << "Test register sanity check success !";
}
DLOG(INFO) << "Switch FPGA class created";
}
fpga_switch::~fpga_switch()
{
close_device();
}
void fpga_switch::set_switch_position(int switch_position)
{
d_map_base[0] = switch_position;
}
unsigned fpga_switch::fpga_switch_test_register(
unsigned writeval)
{
unsigned readval;
// write value to test register
d_map_base[3] = writeval;
// read value from test register
readval = d_map_base[3];
// return read value
return readval;
}
void fpga_switch::close_device()
{
unsigned *aux = const_cast<unsigned *>(d_map_base);
if (munmap(static_cast<void *>(aux), PAGE_SIZE) == -1)
{
printf("Failed to unmap memory uio\n");
}
close(d_device_descriptor);
}

60
src/algorithms/signal_source/libs/fpga_switch.h Normal file
View File

@ -0,0 +1,60 @@
/*!
* \file fpga_switch.h
* \brief Switch that connects the HW accelerator queues to the analog front end or the DMA.
* \authors <ul>
* <li> Marc Majoral, 2017. mmajoral(at)cttc.cat
* <li> Javier Arribas, 2016. jarribas(at)cttc.es
* </ul>
*
* Class that controls a switch in the FPGA
*
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_FPGA_SWITCH_H_
#define GNSS_SDR_FPGA_SWITCH_H_
#include <gnuradio/block.h>
#define MAX_LENGTH_DEVICEIO_NAME 50
class fpga_switch
{
public:
fpga_switch(std::string device_name);
~fpga_switch();
void set_switch_position(int switch_position);
private:
int d_device_descriptor; // driver descriptor
volatile unsigned *d_map_base; // driver memory map
// private functions
unsigned fpga_switch_test_register(unsigned writeval);
void close_device(void);
};
#endif /* GNSS_SDR_FPGA_SWITCH_H_ */

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

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

225
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking_fpga.cc
View File

@ -1,225 +0,0 @@
/*!
* \file gps_l1_ca_dll_pll_c_aid_tracking_fpga.cc
* \brief Implementation of an adapter of a DLL+PLL tracking loop block
* for GPS L1 C/A to a TrackingInterface
* \author Marc Majoral, 2017. mmajoral(at)cttc.cat
* Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
* Javier Arribas, 2011. jarribas(at)cttc.es
*
* Code DLL + carrier PLL according to the algorithms described in:
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
* Approach, Birkhauser, 2007
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gps_l1_ca_dll_pll_c_aid_tracking_fpga.h"
#include <glog/logging.h>
#include "GPS_L1_CA.h"
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
using google::LogMessage;
GpsL1CaDllPllCAidTrackingFpga::GpsL1CaDllPllCAidTrackingFpga(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
int fs_in;
int vector_length;
int f_if;
bool dump;
std::string dump_filename;
std::string default_item_type = "cshort";
float pll_bw_hz;
float pll_bw_narrow_hz;
float dll_bw_hz;
float dll_bw_narrow_hz;
float early_late_space_chips;
std::string device_name;
unsigned int device_base;
item_type_ = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
f_if = configuration->property(role + ".if", 0);
dump = configuration->property(role + ".dump", false);
pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
if (FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 20.0);
dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 2.0);
int extend_correlation_ms;
extend_correlation_ms = configuration->property(role + ".extend_correlation_ms", 1);
early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
std::string default_dump_filename = "./track_ch";
dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
std::string default_device_name = "/dev/uio";
device_name = configuration->property(role + ".devicename", default_device_name);
device_base = configuration->property(role + ".device_base", 1);
vector_length = std::round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
//################# MAKE TRACKING GNURadio object ###################
if (item_type_.compare("cshort") == 0)
{
item_size_ = sizeof(lv_16sc_t);
tracking_fpga_sc = gps_l1_ca_dll_pll_c_aid_make_tracking_fpga_sc(
f_if, fs_in, vector_length, dump, dump_filename, pll_bw_hz,
dll_bw_hz, pll_bw_narrow_hz, dll_bw_narrow_hz,
extend_correlation_ms, early_late_space_chips, device_name,
device_base);
DLOG(INFO) << "tracking(" << tracking_fpga_sc->unique_id() << ")";
}
else
{
item_size_ = sizeof(lv_16sc_t);
// LOG(WARNING) << item_type_ << " unknown tracking item type";
LOG(WARNING) << item_type_
<< " the tracking item type for the FPGA tracking test has to be cshort";
}
channel_ = 0;
}
GpsL1CaDllPllCAidTrackingFpga::~GpsL1CaDllPllCAidTrackingFpga()
{
LOG(INFO) << "gspl1cadllpllcaidtrackingfpga destructor called";
}
void GpsL1CaDllPllCAidTrackingFpga::start_tracking()
{
if (item_type_.compare("cshort") == 0)
{
tracking_fpga_sc->start_tracking();
}
else
{
// LOG(WARNING) << item_type_ << " unknown tracking item type";
LOG(WARNING) << item_type_
<< " the tracking item type for the FPGA tracking test has to be cshort";
}
}
/*
* Set tracking channel unique ID
*/
void GpsL1CaDllPllCAidTrackingFpga::set_channel(unsigned int channel)
{
channel_ = channel;
if (item_type_.compare("cshort") == 0)
{
tracking_fpga_sc->set_channel(channel);
}
else
{
// LOG(WARNING) << item_type_ << " unknown tracking item type";
LOG(WARNING) << item_type_
<< " the tracking item type for the FPGA tracking test has to be cshort";
}
}
void GpsL1CaDllPllCAidTrackingFpga::set_gnss_synchro(
Gnss_Synchro* p_gnss_synchro)
{
if (item_type_.compare("cshort") == 0)
{
tracking_fpga_sc->set_gnss_synchro(p_gnss_synchro);
}
else
{
// LOG(WARNING) << item_type_ << " unknown tracking item type";
LOG(WARNING) << item_type_
<< " the tracking item type for the FPGA tracking test has to be cshort";
}
}
void GpsL1CaDllPllCAidTrackingFpga::connect(gr::top_block_sptr top_block)
{
if (top_block)
{ /* top_block is not null */
};
//nothing to connect, now the tracking uses gr_sync_decimator
}
void GpsL1CaDllPllCAidTrackingFpga::disconnect(gr::top_block_sptr top_block)
{
if (top_block)
{ /* top_block is not null */
};
//nothing to disconnect, now the tracking uses gr_sync_decimator
}
// CONVERT TO SOURCE
gr::basic_block_sptr GpsL1CaDllPllCAidTrackingFpga::get_left_block()
{
if (item_type_.compare("cshort") == 0)
{
return tracking_fpga_sc;
}
else
{
//LOG(WARNING) << item_type_ << " unknown tracking item type";
LOG(WARNING) << item_type_
<< " the tracking item type for the FPGA tracking test has to be cshort";
return nullptr;
}
}
gr::basic_block_sptr GpsL1CaDllPllCAidTrackingFpga::get_right_block()
{
if (item_type_.compare("cshort") == 0)
{
return tracking_fpga_sc;
}
else
{
//LOG(WARNING) << item_type_ << " unknown tracking item type";
LOG(WARNING) << item_type_
<< " the tracking item type for the FPGA tracking test has to be cshort";
return nullptr;
}
}
void GpsL1CaDllPllCAidTrackingFpga::reset(void)
{
tracking_fpga_sc->reset();
}

162
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_fpga.cc Normal file
View File

@ -0,0 +1,162 @@
/*!
* \file gps_l1_ca_dll_pll_tracking.cc
* \brief Implementation of an adapter of a DLL+PLL tracking loop block
* for GPS L1 C/A to a TrackingInterface
* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
* Javier Arribas, 2011. jarribas(at)cttc.es
*
* Code DLL + carrier PLL according to the algorithms described in:
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
* Approach, Birkhauser, 2007
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gps_l1_ca_dll_pll_tracking_fpga.h"
#include "configuration_interface.h"
#include "GPS_L1_CA.h"
#include <glog/logging.h>
using google::LogMessage;
GpsL1CaDllPllTrackingFpga::GpsL1CaDllPllTrackingFpga(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
int fs_in;
int vector_length;
int f_if;
bool dump;
std::string dump_filename;
std::string item_type;
//std::string default_item_type = "gr_complex";
std::string default_item_type = "cshort";
float pll_bw_hz;
float dll_bw_hz;
float early_late_space_chips;
item_type = configuration->property(role + ".item_type", default_item_type);
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
std::string device_name;
unsigned int device_base;
std::string default_device_name = "/dev/uio";
device_name = configuration->property(role + ".devicename", default_device_name);
device_base = configuration->property(role + ".device_base", 1);
fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
f_if = configuration->property(role + ".if", 0);
dump = configuration->property(role + ".dump", false);
pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
std::string default_dump_filename = "./track_ch";
dump_filename = configuration->property(role + ".dump_filename", default_dump_filename); //unused!
vector_length = std::round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
if (item_type.compare("cshort") == 0)
{
item_size_ = sizeof(lv_16sc_t);
tracking_fpga_sc = gps_l1_ca_dll_pll_make_tracking_fpga_sc(
f_if, fs_in, vector_length, dump, dump_filename, pll_bw_hz,
dll_bw_hz, early_late_space_chips, device_name,
device_base);
DLOG(INFO) << "tracking(" << tracking_fpga_sc->unique_id()
<< ")";
}
else
{
item_size_ = sizeof(lv_16sc_t);
// LOG(WARNING) << item_type_ << " unknown tracking item type";
LOG(WARNING) << item_type
<< " the tracking item type for the FPGA tracking test has to be cshort";
}
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_fpga_sc->unique_id() << ")";
}
GpsL1CaDllPllTrackingFpga::~GpsL1CaDllPllTrackingFpga()
{
}
void GpsL1CaDllPllTrackingFpga::start_tracking()
{
tracking_fpga_sc->start_tracking();
}
/*
* Set tracking channel unique ID
*/
void GpsL1CaDllPllTrackingFpga::set_channel(unsigned int channel)
{
channel_ = channel;
tracking_fpga_sc->set_channel(channel);
}
void GpsL1CaDllPllTrackingFpga::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
tracking_fpga_sc->set_gnss_synchro(p_gnss_synchro);
}
void GpsL1CaDllPllTrackingFpga::connect(gr::top_block_sptr top_block)
{
if (top_block)
{ /* top_block is not null */
};
//nothing to connect, now the tracking uses gr_sync_decimator
}
void GpsL1CaDllPllTrackingFpga::disconnect(gr::top_block_sptr top_block)
{
if (top_block)
{ /* top_block is not null */
};
//nothing to disconnect, now the tracking uses gr_sync_decimator
}
gr::basic_block_sptr GpsL1CaDllPllTrackingFpga::get_left_block()
{
return tracking_fpga_sc;
}
gr::basic_block_sptr GpsL1CaDllPllTrackingFpga::get_right_block()
{
return tracking_fpga_sc;
}
void GpsL1CaDllPllTrackingFpga::reset(void)
{
// tracking_fpga_sc->reset();
}

36
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking_fpga.h → src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_fpga.h
View File

@ -1,9 +1,8 @@
/*!
* \file gps_l1_ca_dll_pll_c_aid_tracking_fpga.h
* \file gps_l1_ca_dll_pll_tracking.h
* \brief Interface of an adapter of a DLL+PLL tracking loop block
* for GPS L1 C/A to a TrackingInterface
* \author Marc Majoral, 2017. mmajoral(at)cttc.cat
* Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
* Javier Arribas, 2011. jarribas(at)cttc.es
*
* Code DLL + carrier PLL according to the algorithms described in:
@ -13,7 +12,7 @@
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -36,36 +35,38 @@
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_FPGA__H_
#define GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_FPGA__H_
#ifndef GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_FPGA_H_
#define GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_FPGA_H_
#include <string>
#include "tracking_interface.h"
#include "gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.h"
#include "gps_l1_ca_dll_pll_tracking_fpga_sc.h"
#include <string>
class ConfigurationInterface;
/*!
* \brief This class implements a code DLL + carrier PLL tracking loop
*/
class GpsL1CaDllPllCAidTrackingFpga : public TrackingInterface
class GpsL1CaDllPllTrackingFpga : public TrackingInterface
{
public:
GpsL1CaDllPllCAidTrackingFpga(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
GpsL1CaDllPllTrackingFpga(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams);
virtual ~GpsL1CaDllPllCAidTrackingFpga();
virtual ~GpsL1CaDllPllTrackingFpga();
inline std::string role() override
{
return role_;
}
//! Returns "GPS_L1_CA_DLL_PLL_C_Aid_Tracking_Fpga"
//! Returns "GPS_L1_CA_DLL_PLL_Tracking_Fpga"
inline std::string implementation() override
{
return "GPS_L1_CA_DLL_PLL_C_Aid_Tracking_Fpga";
return "GPS_L1_CA_DLL_PLL_Tracking_Fpga";
}
inline size_t item_size() override
@ -75,7 +76,6 @@ public:
void connect(gr::top_block_sptr top_block) override;
void disconnect(gr::top_block_sptr top_block) override;
// CONVERT TO SOURCE
gr::basic_block_sptr get_left_block() override;
gr::basic_block_sptr get_right_block() override;
@ -95,13 +95,13 @@ public:
void reset(void);
private:
gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc_sptr tracking_fpga_sc;
//gps_l1_ca_dll_pll_tracking_cc_sptr tracking_;
gps_l1_ca_dll_pll_tracking_fpga_sc_sptr tracking_fpga_sc;
size_t item_size_;
std::string item_type_;
unsigned int channel_;
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
};
#endif // GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_FPGA__H_
#endif // GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_FPGA_H_

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

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

540
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_fpga_sc.cc Normal file
View File

@ -0,0 +1,540 @@
/*!
* \file gps_l1_ca_dll_pll_tracking_cc.cc
* \brief Implementation of a code DLL + carrier PLL tracking block
* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
* Javier Arribas, 2011. jarribas(at)cttc.es
*
* Code DLL + carrier PLL according to the algorithms described in:
* [1] K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
* Approach, Birkhauser, 2007
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "gps_l1_ca_dll_pll_tracking_fpga_sc.h"
#include "control_message_factory.h"
#include "gnss_sdr_flags.h"
#include "GPS_L1_CA.h"
#include "gps_sdr_signal_processing.h"
#include "lock_detectors.h"
#include "tracking_discriminators.h"
#include <boost/lexical_cast.hpp>
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
#include <cmath>
#include <iostream>
#include <memory>
#include <sstream>
using google::LogMessage;
gps_l1_ca_dll_pll_tracking_fpga_sc_sptr
gps_l1_ca_dll_pll_make_tracking_fpga_sc(
long if_freq,
long fs_in,
unsigned int vector_length,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float early_late_space_chips,
std::string device_name,
unsigned int device_base)
{
return gps_l1_ca_dll_pll_tracking_fpga_sc_sptr(new Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc(if_freq,
fs_in, vector_length, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips, device_name, device_base));
}
Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc::Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc(
long if_freq,
long fs_in,
unsigned int vector_length,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float early_late_space_chips,
std::string device_name,
unsigned int device_base) : gr::block("Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc", gr::io_signature::make(0, 0, sizeof(lv_16sc_t)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
// Telemetry bit synchronization message port input
this->message_port_register_out(pmt::mp("events"));
// initialize internal vars
d_dump = dump;
d_if_freq = if_freq;
d_fs_in = fs_in;
d_vector_length = vector_length;
d_dump_filename = dump_filename;
d_current_prn_length_samples = static_cast<int>(d_vector_length);
d_correlation_length_samples = static_cast<int>(d_vector_length);
// Initialize tracking ==========================================
d_code_loop_filter.set_DLL_BW(dll_bw_hz);
d_carrier_loop_filter.set_PLL_BW(pll_bw_hz);
//--- DLL variables --------------------------------------------------------
d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
// Initialization of local code replica
// Get space for a vector with the C/A code replica sampled 1x/chip
//d_ca_code = static_cast<float*>(volk_gnsssdr_malloc(static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(float), volk_gnsssdr_get_alignment()));
//d_ca_code_16sc = static_cast<lv_16sc_t*>(volk_gnsssdr_malloc(static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(lv_16sc_t), volk_gnsssdr_get_alignment()));
//d_ca_code_16sc = static_cast<int*>(volk_gnsssdr_malloc(static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(int), volk_gnsssdr_get_alignment()));
// correlator outputs (scalar)
d_n_correlator_taps = 3; // Early, Prompt, and Late
d_correlator_outs = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
for (int n = 0; n < d_n_correlator_taps; n++)
{
d_correlator_outs[n] = gr_complex(0, 0);
}
d_local_code_shift_chips = static_cast<float *>(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(float), volk_gnsssdr_get_alignment()));
// Set TAPs delay values [chips]
d_local_code_shift_chips[0] = -d_early_late_spc_chips;
d_local_code_shift_chips[1] = 0.0;
d_local_code_shift_chips[2] = d_early_late_spc_chips;
// create multicorrelator class
multicorrelator_fpga_8sc = std::make_shared<fpga_multicorrelator_8sc>(d_n_correlator_taps, device_name, device_base);
//--- Perform initializations ------------------------------
// define initial code frequency basis of NCO
d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ;
// define residual code phase (in chips)
d_rem_code_phase_samples = 0.0;
// define residual carrier phase
d_rem_carr_phase_rad = 0.0;
// sample synchronization
d_sample_counter = 0;
d_acq_sample_stamp = 0;
d_enable_tracking = false;
d_pull_in = false;
// CN0 estimation and lock detector buffers
d_cn0_estimation_counter = 0;
d_Prompt_buffer = new gr_complex[FLAGS_cn0_samples];
d_carrier_lock_test = 1;
d_CN0_SNV_dB_Hz = 0;
d_carrier_lock_fail_counter = 0;
d_carrier_lock_threshold = FLAGS_carrier_lock_th;
systemName["G"] = std::string("GPS");
systemName["S"] = std::string("SBAS");
d_acquisition_gnss_synchro = 0;
d_channel = 0;
d_acq_code_phase_samples = 0.0;
d_acq_carrier_doppler_hz = 0.0;
d_carrier_doppler_hz = 0.0;
d_acc_carrier_phase_rad = 0.0;
d_code_phase_samples = 0.0;
d_rem_code_phase_chips = 0.0;
d_code_phase_step_chips = 0.0;
d_carrier_phase_step_rad = 0.0;
set_relative_rate(1.0 / static_cast<double>(d_vector_length));
multicorrelator_fpga_8sc->set_output_vectors(d_correlator_outs);
}
void Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc::start_tracking()
{
/*
* correct the code phase according to the delay between acq and trk
*/
//printf("TRK : start tracking for satellite %d\n", d_acquisition_gnss_synchro->PRN);
d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
long int acq_trk_diff_samples;
double acq_trk_diff_seconds;
acq_trk_diff_samples = static_cast<long int>(d_sample_counter) - static_cast<long int>(d_acq_sample_stamp); //-d_vector_length;
DLOG(INFO) << "Number of samples between Acquisition and Tracking = " << acq_trk_diff_samples;
acq_trk_diff_seconds = static_cast<float>(acq_trk_diff_samples) / static_cast<float>(d_fs_in);
// Doppler effect
// Fd=(C/(C+Vr))*F
double radial_velocity = (GPS_L1_FREQ_HZ + d_acq_carrier_doppler_hz) / GPS_L1_FREQ_HZ;
// new chip and prn sequence periods based on acq Doppler
double T_chip_mod_seconds;
double T_prn_mod_seconds;
double T_prn_mod_samples;
d_code_freq_chips = radial_velocity * GPS_L1_CA_CODE_RATE_HZ;
d_code_phase_step_chips = static_cast<double>(d_code_freq_chips) / static_cast<double>(d_fs_in);
T_chip_mod_seconds = 1 / d_code_freq_chips;
T_prn_mod_seconds = T_chip_mod_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
T_prn_mod_samples = T_prn_mod_seconds * static_cast<double>(d_fs_in);
d_current_prn_length_samples = round(T_prn_mod_samples);
double T_prn_true_seconds = GPS_L1_CA_CODE_LENGTH_CHIPS / GPS_L1_CA_CODE_RATE_HZ;
double T_prn_true_samples = T_prn_true_seconds * static_cast<double>(d_fs_in);
double T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds;
double N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
double corrected_acq_phase_samples, delay_correction_samples;
corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast<double>(d_fs_in)), T_prn_true_samples);
if (corrected_acq_phase_samples < 0)
{
corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples;
}
delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
d_acq_code_phase_samples = corrected_acq_phase_samples;
d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
d_carrier_phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
// DLL/PLL filter initialization
d_carrier_loop_filter.initialize(); // initialize the carrier filter
d_code_loop_filter.initialize(); // initialize the code filter
// generate local reference ALWAYS starting at chip 1 (1 sample per chip)
//gps_l1_ca_code_gen_float(d_ca_code, d_acquisition_gnss_synchro->PRN, 0);
//gps_l1_ca_code_gen_int(d_ca_code_16sc, d_acquisition_gnss_synchro->PRN, 0);
/* for (int n = 0; n < static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS); n++)
{
d_ca_code_16sc[n] = d_ca_code[n];
} */
//multicorrelator_fpga_8sc->set_local_code_and_taps(static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS), d_ca_code_16sc, d_local_code_shift_chips, d_acquisition_gnss_synchro->PRN);
multicorrelator_fpga_8sc->set_local_code_and_taps(static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS), d_local_code_shift_chips, d_acquisition_gnss_synchro->PRN);
for (int n = 0; n < d_n_correlator_taps; n++)
{
d_correlator_outs[n] = gr_complex(0, 0);
}
d_carrier_lock_fail_counter = 0;
d_rem_code_phase_samples = 0;
d_rem_carr_phase_rad = 0.0;
d_rem_code_phase_chips = 0.0;
d_acc_carrier_phase_rad = 0.0;
d_code_phase_samples = d_acq_code_phase_samples;
std::string sys_ = &d_acquisition_gnss_synchro->System;
sys = sys_.substr(0, 1);
std::cout << "Tracking of GPS L1 C/A signal started on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
// enable tracking
d_pull_in = true;
d_enable_tracking = true; //do it in the end to avoid starting running tracking before finishing this function
LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
<< " Code Phase correction [samples]=" << delay_correction_samples
<< " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
}
Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc::~Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc()
{
if (d_dump_file.is_open())
{
try
{
d_dump_file.close();
}
catch (const std::exception &ex)
{
LOG(WARNING) << "Exception in destructor " << ex.what();
}
}
try
{
volk_gnsssdr_free(d_local_code_shift_chips);
volk_gnsssdr_free(d_correlator_outs);
delete[] d_Prompt_buffer;
multicorrelator_fpga_8sc->free();
}
catch (const std::exception &ex)
{
LOG(WARNING) << "Exception in destructor " << ex.what();
}
}
int Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc::general_work(int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
unsigned absolute_samples_offset;
// process vars
double carr_error_hz = 0.0;
double carr_error_filt_hz = 0.0;
double code_error_chips = 0.0;
double code_error_filt_chips = 0.0;
int next_prn_length_samples = d_current_prn_length_samples;
// Block input data and block output stream pointers
Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
Gnss_Synchro current_synchro_data = Gnss_Synchro();
if (d_enable_tracking == true)
{
// Fill the acquisition data
current_synchro_data = *d_acquisition_gnss_synchro;
// Receiver signal alignment
if (d_pull_in == true)
{
d_pull_in = false;
multicorrelator_fpga_8sc->lock_channel();
unsigned counter_value = multicorrelator_fpga_8sc->read_sample_counter();
unsigned num_frames = ceil((counter_value - current_synchro_data.Acq_samplestamp_samples - current_synchro_data.Acq_delay_samples) / d_correlation_length_samples);
absolute_samples_offset = current_synchro_data.Acq_delay_samples + current_synchro_data.Acq_samplestamp_samples + num_frames * d_correlation_length_samples;
multicorrelator_fpga_8sc->set_initial_sample(absolute_samples_offset);
d_sample_counter = absolute_samples_offset;
current_synchro_data.Tracking_sample_counter = absolute_samples_offset;
}
else
{
// continue as from the previous point
d_sample_counter = d_sample_counter_next;
}
d_sample_counter_next = d_sample_counter + d_current_prn_length_samples;
// ################# CARRIER WIPEOFF AND CORRELATORS ##############################
// perform carrier wipe-off and compute Early, Prompt and Late correlation
multicorrelator_fpga_8sc->Carrier_wipeoff_multicorrelator_resampler(
d_rem_carr_phase_rad, d_carrier_phase_step_rad,
d_rem_code_phase_chips, d_code_phase_step_chips,
d_current_prn_length_samples);
// ################## PLL ##########################################################
// PLL discriminator
// Update PLL discriminator [rads/Ti -> Secs/Ti]
carr_error_hz = pll_cloop_two_quadrant_atan(d_correlator_outs[1]) / GPS_TWO_PI; // prompt output
// Carrier discriminator filter
carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz);
// New carrier Doppler frequency estimation
d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz;
// New code Doppler frequency estimation
d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GPS_L1_CA_CODE_RATE_HZ) / GPS_L1_FREQ_HZ);
// ################## DLL ##########################################################
// DLL discriminator
code_error_chips = dll_nc_e_minus_l_normalized(d_correlator_outs[0], d_correlator_outs[2]); // [chips/Ti] //early and late
// Code discriminator filter
code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); // [chips/second]
double T_chip_seconds = 1.0 / static_cast<double>(d_code_freq_chips);
double T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
double code_error_filt_secs = (T_prn_seconds * code_error_filt_chips * T_chip_seconds); //[seconds]
// ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
// keep alignment parameters for the next input buffer
// Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
double K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * static_cast<double>(d_fs_in);
next_prn_length_samples = round(K_blk_samples);
//################### PLL COMMANDS #################################################
// carrier phase step (NCO phase increment per sample) [rads/sample]
d_carrier_phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
// remnant carrier phase to prevent overflow in the code NCO
d_rem_carr_phase_rad = d_rem_carr_phase_rad + d_carrier_phase_step_rad * d_current_prn_length_samples;
d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GPS_TWO_PI);
// carrier phase accumulator
d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * d_current_prn_length_samples;
//################### DLL COMMANDS #################################################
// code phase step (Code resampler phase increment per sample) [chips/sample]
d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
// remnant code phase [chips]
d_rem_code_phase_samples = K_blk_samples - next_prn_length_samples; // rounding error < 1 sample
d_rem_code_phase_chips = d_code_freq_chips * (d_rem_code_phase_samples / static_cast<double>(d_fs_in));
// ####### CN0 ESTIMATION AND LOCK DETECTORS ######
if (d_cn0_estimation_counter < FLAGS_cn0_samples)
{
// fill buffer with prompt correlator output values
d_Prompt_buffer[d_cn0_estimation_counter] = d_correlator_outs[1]; //prompt
d_cn0_estimation_counter++;
}
else
{
d_cn0_estimation_counter = 0;
// Code lock indicator
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, FLAGS_cn0_samples, GPS_L1_CA_CODE_PERIOD);
// Carrier lock indicator
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, FLAGS_cn0_samples);
// Loss of lock detection
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < FLAGS_cn0_min)
{
d_carrier_lock_fail_counter++;
}
else
{
if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
}
if (d_carrier_lock_fail_counter > FLAGS_max_lock_fail)
{
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
this->message_port_pub(pmt::mp("events"), pmt::from_long(3)); // 3 -> loss of lock
d_carrier_lock_fail_counter = 0;
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
multicorrelator_fpga_8sc->unlock_channel();
}
}
// ########### Output the tracking data to navigation and PVT ##########
current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs[1]).real());
current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs[1]).imag());
current_synchro_data.Tracking_sample_counter = d_sample_counter + d_current_prn_length_samples;
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_rad;
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
current_synchro_data.Flag_valid_symbol_output = true;
current_synchro_data.correlation_length_ms = 1;
}
else
{
for (int n = 0; n < d_n_correlator_taps; n++)
{
d_correlator_outs[n] = gr_complex(0, 0);
}
current_synchro_data.Tracking_sample_counter = d_sample_counter + d_current_prn_length_samples;
current_synchro_data.System = {'G'};
current_synchro_data.correlation_length_ms = 1;
}
//assign the GNURadio block output data
current_synchro_data.fs = d_fs_in;
*out[0] = current_synchro_data;
if (d_enable_tracking == true) // in the FPGA case dump data only when tracking is enabled, otherwise the dumped data is useless
{
if (d_dump)
{
// MULTIPLEXED FILE RECORDING - Record results to file
float prompt_I;
float prompt_Q;
float tmp_E, tmp_P, tmp_L;
double tmp_double;
unsigned long int tmp_long;
prompt_I = d_correlator_outs[1].real();
prompt_Q = d_correlator_outs[1].imag();
tmp_E = std::abs<float>(d_correlator_outs[0]);
tmp_P = std::abs<float>(d_correlator_outs[1]);
tmp_L = std::abs<float>(d_correlator_outs[2]);
try
{
// EPR
d_dump_file.write(reinterpret_cast<char *>(&tmp_E), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_P), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&tmp_L), sizeof(float));
// PROMPT I and Q (to analyze navigation symbols)
d_dump_file.write(reinterpret_cast<char *>(&prompt_I), sizeof(float));
d_dump_file.write(reinterpret_cast<char *>(&prompt_Q), sizeof(float));
// PRN start sample stamp
tmp_long = d_sample_counter + d_current_prn_length_samples;
d_dump_file.write(reinterpret_cast<char *>(&tmp_long), sizeof(unsigned long int));
// accumulated carrier phase
d_dump_file.write(reinterpret_cast<char *>(&d_acc_carrier_phase_rad), sizeof(double));
// carrier and code frequency
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_doppler_hz), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_code_freq_chips), sizeof(double));
// PLL commands
d_dump_file.write(reinterpret_cast<char *>(&carr_error_hz), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&carr_error_filt_hz), sizeof(double));
// DLL commands
d_dump_file.write(reinterpret_cast<char *>(&code_error_chips), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&code_error_filt_chips), sizeof(double));
// CN0 and carrier lock test
d_dump_file.write(reinterpret_cast<char *>(&d_CN0_SNV_dB_Hz), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_carrier_lock_test), sizeof(double));
// AUX vars (for debug purposes)
tmp_double = d_rem_code_phase_samples;
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
tmp_double = static_cast<double>(d_sample_counter);
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
// PRN
unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(unsigned int));
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "Exception writing trk dump file " << e.what();
}
}
}
d_current_prn_length_samples = next_prn_length_samples;
d_sample_counter += d_current_prn_length_samples; // count for the processed samples
if (d_enable_tracking == true)
{
return 1;
}
else
{
return 0;
}
}
void Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc::set_channel(unsigned int channel)
{
d_channel = channel;
multicorrelator_fpga_8sc->set_channel(d_channel);
LOG(INFO) << "Tracking Channel set to " << d_channel;
// ############# ENABLE DATA FILE LOG #################
if (d_dump == true)
{
if (d_dump_file.is_open() == false)
{
try
{
d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
d_dump_filename.append(".dat");
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str();
}
catch (const std::ifstream::failure &e)
{
LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what();
}
}
}
}
void Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro)
{
d_acquisition_gnss_synchro = p_gnss_synchro;
}
void Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc::reset(void)
{
multicorrelator_fpga_8sc->unlock_channel();
}

128
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.h → src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_fpga_sc.h
View File

@ -1,9 +1,9 @@
/*!
* \file gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.h
* \file gps_l1_ca_dll_pll_tracking_cc.h
* \brief Interface of a code DLL + carrier PLL tracking block
* \author Marc Majoral, 2017. mmajoral(at)cttc.cat
* Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
* Javier Arribas, 2011. jarribas(at)cttc.es
* Cillian O'Driscoll, 2017. cillian.odriscoll(at)gmail.com
*
* Code DLL + carrier PLL according to the algorithms described in:
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
@ -12,7 +12,7 @@
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
@ -35,13 +35,14 @@
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_FPGA_SC_H
#define GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_FPGA_SC_H
#ifndef GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_FPGA_SC_H
#define GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_FPGA_SC_H
#include "gps_sdr_signal_processing.h"
#include "gnss_synchro.h"
#include "tracking_2nd_DLL_filter.h"
#include "tracking_FLL_PLL_filter.h"
#include "tracking_2nd_PLL_filter.h"
#include "fpga_multicorrelator_8sc.h"
#include <boost/thread/mutex.hpp>
#include <boost/thread/thread.hpp>
@ -51,47 +52,62 @@
#include <map>
#include <string>
class gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc;
typedef boost::shared_ptr<gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc> gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc_sptr;
class Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc;
typedef boost::shared_ptr<Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc>
gps_l1_ca_dll_pll_tracking_fpga_sc_sptr;
gps_l1_ca_dll_pll_tracking_fpga_sc_sptr
gps_l1_ca_dll_pll_make_tracking_fpga_sc(long if_freq,
long fs_in, unsigned int vector_length,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float early_late_space_chips,
std::string device_name,
unsigned int device_base);
gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc_sptr
gps_l1_ca_dll_pll_c_aid_make_tracking_fpga_sc(long if_freq, long fs_in, unsigned int vector_length, bool dump, std::string dump_filename, float pll_bw_hz,
float dll_bw_hz, float pll_bw_narrow_hz, float dll_bw_narrow_hz,
int extend_correlation_ms, float early_late_space_chips,
std::string device_name, unsigned int device_base);
/*!
* \brief This class implements a DLL + PLL tracking loop block
*/
class gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc : public gr::block
class Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc : public gr::block
{
public:
~gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc();
~Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc();
void set_channel(unsigned int channel);
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
void start_tracking();
int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items);
gr_vector_const_void_star& input_items, gr_vector_void_star& output_items);
void reset(void);
private:
friend gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc_sptr
gps_l1_ca_dll_pll_c_aid_make_tracking_fpga_sc(long if_freq, long fs_in,
unsigned int vector_length, bool dump, std::string dump_filename,
float pll_bw_hz, float dll_bw_hz, float pll_bw_narrow_hz,
float dll_bw_narrow_hz, int extend_correlation_ms,
float early_late_space_chips, std::string device_name,
friend gps_l1_ca_dll_pll_tracking_fpga_sc_sptr
gps_l1_ca_dll_pll_make_tracking_fpga_sc(long if_freq,
long fs_in, unsigned int vector_length,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float early_late_space_chips,
std::string device_name,
unsigned int device_base);
gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc(long if_freq, long fs_in, unsigned int vector_length, bool dump, std::string dump_filename, float pll_bw_hz,
float dll_bw_hz, float pll_bw_narrow_hz, float dll_bw_narrow_hz,
int extend_correlation_ms, float early_late_space_chips,
std::string device_name, unsigned int device_base);
Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc(long if_freq,
long fs_in, unsigned int vector_length,
bool dump,
std::string dump_filename,
float pll_bw_hz,
float dll_bw_hz,
float early_late_space_chips,
std::string device_name,
unsigned int device_base);
// tracking configuration vars
unsigned int d_vector_length;
@ -104,58 +120,38 @@ private:
long d_fs_in;
double d_early_late_spc_chips;
int d_n_correlator_taps;
gr_complex* d_ca_code;
lv_16sc_t* d_ca_code_16sc;
float* d_local_code_shift_chips;
lv_16sc_t* d_correlator_outs_16sc;
//fpga_multicorrelator_8sc multicorrelator_fpga_8sc;
std::shared_ptr<fpga_multicorrelator_8sc> multicorrelator_fpga_8sc;
// remaining code phase and carrier phase between tracking loops
double d_rem_code_phase_samples;
double d_rem_code_phase_chips;
double d_rem_carrier_phase_rad;
int d_rem_code_phase_integer_samples;
double d_rem_carr_phase_rad;
// PLL and DLL filter library
Tracking_2nd_DLL_filter d_code_loop_filter;
Tracking_FLL_PLL_filter d_carrier_loop_filter;
Tracking_2nd_PLL_filter d_carrier_loop_filter;
// acquisition
double d_acq_code_phase_samples;
double d_acq_carrier_doppler_hz;
// correlator
int d_n_correlator_taps;
//float* d_ca_code;
//int* d_ca_code_16sc;
float* d_local_code_shift_chips;
gr_complex* d_correlator_outs;
std::shared_ptr<fpga_multicorrelator_8sc> multicorrelator_fpga_8sc;
// tracking vars
float d_dll_bw_hz;
float d_pll_bw_hz;
float d_dll_bw_narrow_hz;
float d_pll_bw_narrow_hz;
double d_code_freq_chips;
double d_code_phase_step_chips;
double d_carrier_doppler_hz;
double d_carrier_phase_step_rad;
double d_acc_carrier_phase_cycles;
double d_acc_carrier_phase_rad;
double d_code_phase_samples;
double d_pll_to_dll_assist_secs_Ti;
double d_carr_phase_error_secs_Ti;
double d_code_error_chips_Ti;
double d_preamble_timestamp_s;
int d_extend_correlation_ms;
bool d_enable_extended_integration;
bool d_preamble_synchronized;
double d_code_error_filt_chips_s;
double d_code_error_filt_chips_Ti;
void msg_handler_preamble_index(pmt::pmt_t msg);
// symbol history to detect bit transition
std::deque<lv_16sc_t> d_E_history;
std::deque<lv_16sc_t> d_P_history;
std::deque<lv_16sc_t> d_L_history;
//Integration period in samples
int d_correlation_length_samples;
//PRN period in samples
int d_current_prn_length_samples;
//processing samples counters
unsigned long int d_sample_counter;
@ -180,7 +176,13 @@ private:
std::map<std::string, std::string> systemName;
std::string sys;
int save_matfile();
// extra
int d_correlation_length_samples;
unsigned long int d_sample_counter_next;
double d_rem_carrier_phase_rad;
double d_K_blk_samples_previous;
int d_offset_sample_previous;
};
#endif //GNSS_SDR_GPS_L1_CA_DLL_PLL_C_AID_TRACKING_FPGA_SC_H
#endif //GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_FPGA_SC_H

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

@ -54,6 +54,7 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/core/system_parameters
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/libs
${VOLK_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}

130
src/algorithms/tracking/libs/fpga_multicorrelator_8sc.cc
View File

@ -36,7 +36,6 @@
#include "fpga_multicorrelator_8sc.h"
#include <cmath>
// FPGA stuff
#include <new>
@ -63,6 +62,12 @@
// string manipulation
#include <string>
// constants
#include "GPS_L1_CA.h"
#include "gps_sdr_signal_processing.h"
#define NUM_PRNs 32
#define PAGE_SIZE 0x10000
#define MAX_LENGTH_DEVICEIO_NAME 50
#define CODE_RESAMPLER_NUM_BITS_PRECISION 20
@ -77,72 +82,59 @@
#define LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY 0x0C000000
#define TEST_REGISTER_TRACK_WRITEVAL 0x55AA
int fpga_multicorrelator_8sc::read_sample_counter()
{
return d_map_base[7];
}
void fpga_multicorrelator_8sc::set_initial_sample(int samples_offset)
{
d_initial_sample_counter = samples_offset;
d_map_base[13] = d_initial_sample_counter;
}
bool fpga_multicorrelator_8sc::set_local_code_and_taps(int code_length_chips,
const lv_16sc_t* local_code_in, float* shifts_chips)
void fpga_multicorrelator_8sc::set_local_code_and_taps(int code_length_chips,
float *shifts_chips, int PRN)
{
d_local_code_in = local_code_in;
d_shifts_chips = shifts_chips;
d_code_length_chips = code_length_chips;
fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code();
return true;
fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code(PRN);
}
bool fpga_multicorrelator_8sc::set_output_vectors(lv_16sc_t* corr_out)
void fpga_multicorrelator_8sc::set_output_vectors(gr_complex *corr_out)
{
// Save CPU pointers
d_corr_out = corr_out;
return true;
}
void fpga_multicorrelator_8sc::update_local_code(float rem_code_phase_chips)
{
d_rem_code_phase_chips = rem_code_phase_chips;
fpga_multicorrelator_8sc::fpga_compute_code_shift_parameters();
fpga_multicorrelator_8sc::fpga_configure_code_parameters_in_fpga();
}
bool 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_code_phase_chips, float code_phase_step_chips,
int signal_length_samples)
{
update_local_code(rem_code_phase_chips);
d_rem_carrier_phase_in_rad = rem_carrier_phase_in_rad;
d_code_phase_step_chips = code_phase_step_chips;
d_phase_step_rad = phase_step_rad;
d_correlator_length_samples = signal_length_samples;
fpga_multicorrelator_8sc::fpga_compute_signal_parameters_in_fpga();
fpga_multicorrelator_8sc::fpga_configure_signal_parameters_in_fpga();
fpga_multicorrelator_8sc::fpga_launch_multicorrelator_fpga();
int irq_count;
ssize_t nb;
// wait for interrupt
nb = read(d_device_descriptor, &irq_count, sizeof(irq_count));
if (nb != sizeof(irq_count))
{
printf("Tracking_module Read failed to retrieve 4 bytes!\n");
printf("Tracking_module Interrupt number %d\n", irq_count);
}
fpga_multicorrelator_8sc::read_tracking_gps_results();
return true;
}
@ -156,12 +148,12 @@ fpga_multicorrelator_8sc::fpga_multicorrelator_8sc(int n_correlators,
d_map_base = nullptr;
// instantiate variable length vectors
d_initial_index = static_cast<unsigned*>(volk_gnsssdr_malloc(
d_initial_index = static_cast<unsigned *>(volk_gnsssdr_malloc(
n_correlators * sizeof(unsigned), volk_gnsssdr_get_alignment()));
d_initial_interp_counter = static_cast<unsigned*>(volk_gnsssdr_malloc(
d_initial_interp_counter = static_cast<unsigned *>(volk_gnsssdr_malloc(
n_correlators * sizeof(unsigned), volk_gnsssdr_get_alignment()));
d_local_code_in = nullptr;
//d_local_code_in = nullptr;
d_shifts_chips = nullptr;
d_corr_out = nullptr;
d_code_length_chips = 0;
@ -172,22 +164,30 @@ fpga_multicorrelator_8sc::fpga_multicorrelator_8sc(int n_correlators,
d_rem_carr_phase_rad_int = 0;
d_phase_step_rad_int = 0;
d_initial_sample_counter = 0;
d_channel = 0;
d_correlator_length_samples = 0;
// pre-compute all the codes
d_ca_codes = static_cast<int *>(volk_gnsssdr_malloc(static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS * NUM_PRNs) * sizeof(int), volk_gnsssdr_get_alignment()));
for (unsigned int PRN = 1; PRN <= NUM_PRNs; PRN++)
{
gps_l1_ca_code_gen_int(&d_ca_codes[(int(GPS_L1_CA_CODE_LENGTH_CHIPS)) * (PRN - 1)], PRN, 0);
}
DLOG(INFO) << "TRACKING FPGA CLASS CREATED";
}
fpga_multicorrelator_8sc::~fpga_multicorrelator_8sc()
{
close(d_device_descriptor);
delete[] d_ca_codes;
close_device();
}
bool fpga_multicorrelator_8sc::free()
{
// unlock the hardware
fpga_multicorrelator_8sc::unlock_channel(); // unlock the channel
// unlock the channel
fpga_multicorrelator_8sc::unlock_channel();
// free the FPGA dynamically created variables
if (d_initial_index != nullptr)
@ -209,27 +209,23 @@ bool fpga_multicorrelator_8sc::free()
void fpga_multicorrelator_8sc::set_channel(unsigned int channel)
{
char device_io_name[MAX_LENGTH_DEVICEIO_NAME]; // driver io name
d_channel = channel;
// open the device corresponding to the assigned channel
std::string mergedname;
std::stringstream devicebasetemp;
int numdevice = d_device_base + d_channel;
devicebasetemp << numdevice;
mergedname = d_device_name + devicebasetemp.str();
strcpy(device_io_name, mergedname.c_str());
printf("Opening Device Name : %s\n", device_io_name);
if ((d_device_descriptor = open(device_io_name, O_RDWR | O_SYNC)) == -1)
{
LOG(WARNING) << "Cannot open deviceio" << device_io_name;
}
d_map_base = reinterpret_cast<volatile unsigned*>(mmap(NULL, PAGE_SIZE,
d_map_base = reinterpret_cast<volatile unsigned *>(mmap(NULL, PAGE_SIZE,
PROT_READ | PROT_WRITE, MAP_SHARED, d_device_descriptor, 0));
if (d_map_base == reinterpret_cast<void*>(-1))
if (d_map_base == reinterpret_cast<void *>(-1))
{
LOG(WARNING) << "Cannot map the FPGA tracking module "
<< d_channel << "into user memory";
@ -263,12 +259,11 @@ unsigned fpga_multicorrelator_8sc::fpga_acquisition_test_register(
}
void fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code(void)
void fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code(int PRN)
{
int k, s;
unsigned code_chip;
unsigned select_fpga_correlator;
select_fpga_correlator = 0;
for (s = 0; s < d_n_correlators; s++)
@ -276,7 +271,8 @@ void fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code(void)
d_map_base[11] = LOCAL_CODE_FPGA_CLEAR_ADDRESS_COUNTER;
for (k = 0; k < d_code_length_chips; k++)
{
if (lv_creal(d_local_code_in[k]) == 1)
//if (d_local_code_in[k] == 1)
if (d_ca_codes[((int(GPS_L1_CA_CODE_LENGTH_CHIPS)) * (PRN - 1)) + k] == 1)
{
code_chip = 1;
}
@ -299,17 +295,15 @@ void fpga_multicorrelator_8sc::fpga_compute_code_shift_parameters(void)
for (i = 0; i < d_n_correlators; i++)
{
// initial index calculation
temp_calculation = floor(
d_shifts_chips[i] + d_rem_code_phase_chips);
d_shifts_chips[i] - d_rem_code_phase_chips);
if (temp_calculation < 0)
{
temp_calculation = temp_calculation + d_code_length_chips; // % operator does not work as in Matlab with negative numbers
}
d_initial_index[i] = static_cast<unsigned>((static_cast<int>(temp_calculation)) % d_code_length_chips);
// initial interpolator counter calculation
temp_calculation = fmod(d_shifts_chips[i] + d_rem_code_phase_chips,
temp_calculation = fmod(d_shifts_chips[i] - d_rem_code_phase_chips,
1.0);
if (temp_calculation < 0)
{
@ -337,7 +331,6 @@ void fpga_multicorrelator_8sc::fpga_compute_signal_parameters_in_fpga(void)
float d_rem_carrier_phase_in_rad_temp;
d_code_phase_step_chips_num = static_cast<unsigned>(roundf(MAX_CODE_RESAMPLER_COUNTER * d_code_phase_step_chips));
if (d_rem_carrier_phase_in_rad > M_PI)
{
d_rem_carrier_phase_in_rad_temp = -2 * M_PI + d_rem_carrier_phase_in_rad;
@ -350,10 +343,8 @@ void fpga_multicorrelator_8sc::fpga_compute_signal_parameters_in_fpga(void)
{
d_rem_carrier_phase_in_rad_temp = d_rem_carrier_phase_in_rad;
}
d_rem_carr_phase_rad_int = static_cast<int>(roundf(
(fabs(d_rem_carrier_phase_in_rad_temp) / M_PI) * pow(2, PHASE_CARR_NBITS_FRAC)));
if (d_rem_carrier_phase_in_rad_temp < 0)
{
d_rem_carr_phase_rad_int = -d_rem_carr_phase_rad_int;
@ -374,7 +365,6 @@ void fpga_multicorrelator_8sc::fpga_configure_signal_parameters_in_fpga(void)
d_map_base[7] = d_correlator_length_samples - 1;
d_map_base[9] = d_rem_carr_phase_rad_int;
d_map_base[10] = d_phase_step_rad_int;
d_map_base[13] = d_initial_sample_counter;
}
@ -382,9 +372,10 @@ void fpga_multicorrelator_8sc::fpga_launch_multicorrelator_fpga(void)
{
// enable interrupts
int reenable = 1;
write(d_device_descriptor, reinterpret_cast<void*>(&reenable), sizeof(int));
write(d_device_descriptor, reinterpret_cast<void *>(&reenable), sizeof(int));
d_map_base[14] = 0; // writing anything to reg 14 launches the tracking
// writing 1 to reg 14 launches the tracking
d_map_base[14] = 1;
}
@ -401,16 +392,13 @@ void fpga_multicorrelator_8sc::read_tracking_gps_results(void)
{
readval_real = -2097152 + readval_real;
}
readval_real = readval_real * 2; // the results are shifted two bits to the left due to the complex multiplier in the FPGA
readval_imag = d_map_base[1 + d_n_correlators + k];
if (readval_imag >= 1048576) // 0x100000 (21 bits two's complement)
{
readval_imag = -2097152 + readval_imag;
}
readval_imag = readval_imag * 2; // the results are shifted two bits to the left due to the complex multiplier in the FPGA
d_corr_out[k] = lv_cmake(readval_real, readval_imag);
d_corr_out[k] = gr_complex(readval_real, readval_imag);
}
}
@ -422,8 +410,38 @@ void fpga_multicorrelator_8sc::unlock_channel(void)
}
void fpga_multicorrelator_8sc::close_device()
{
unsigned *aux = const_cast<unsigned *>(d_map_base);
if (munmap(static_cast<void *>(aux), PAGE_SIZE) == -1)
{
printf("Failed to unmap memory uio\n");
}
/* else
{
printf("memory uio unmapped\n");
} */
close(d_device_descriptor);
}
void fpga_multicorrelator_8sc::lock_channel(void)
{
// lock the channel for processing
d_map_base[12] = 0; // lock the channel
}
void fpga_multicorrelator_8sc::read_sample_counters(int *sample_counter, int *secondary_sample_counter, int *counter_corr_0_in, int *counter_corr_0_out)
{
*sample_counter = d_map_base[11];
*secondary_sample_counter = d_map_base[8];
*counter_corr_0_in = d_map_base[10];
*counter_corr_0_out = d_map_base[9];
}
void fpga_multicorrelator_8sc::reset_multicorrelator(void)
{
d_map_base[14] = 2; // writing a 2 to d_map_base[14] resets the multicorrelator
}

38
src/algorithms/tracking/libs/fpga_multicorrelator_8sc.h
View File

@ -37,6 +37,7 @@
#ifndef GNSS_SDR_FPGA_MULTICORRELATOR_8SC_H_
#define GNSS_SDR_FPGA_MULTICORRELATOR_8SC_H_
#include <gnuradio/block.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#define MAX_LENGTH_DEVICEIO_NAME 50
@ -50,25 +51,33 @@ public:
fpga_multicorrelator_8sc(int n_correlators, std::string device_name,
unsigned int device_base);
~fpga_multicorrelator_8sc();
bool set_local_code_and_taps(
int code_length_chips, const lv_16sc_t *local_code_in,
float *shifts_chips);
bool set_output_vectors(lv_16sc_t *corr_out);
//bool set_output_vectors(gr_complex* corr_out);
void set_output_vectors(gr_complex *corr_out);
// bool set_local_code_and_taps(
// int code_length_chips, const int* local_code_in,
// float *shifts_chips, int PRN);
//bool set_local_code_and_taps(
void set_local_code_and_taps(
int code_length_chips,
float *shifts_chips, int PRN);
//bool set_output_vectors(lv_16sc_t* corr_out);
void update_local_code(float rem_code_phase_chips);
bool Carrier_wipeoff_multicorrelator_resampler(
//bool Carrier_wipeoff_multicorrelator_resampler(
void Carrier_wipeoff_multicorrelator_resampler(
float rem_carrier_phase_in_rad, float phase_step_rad,
float rem_code_phase_chips, float code_phase_step_chips,
int signal_length_samples);
bool free();
void set_channel(unsigned int channel);
void set_initial_sample(int samples_offset);
int read_sample_counter();
void lock_channel(void);
void unlock_channel(void);
void read_sample_counters(int *sample_counter, int *secondary_sample_counter, int *counter_corr_0_in, int *counter_corr_0_out); // debug
private:
const lv_16sc_t *d_local_code_in;
lv_16sc_t *d_corr_out;
//const int *d_local_code_in;
gr_complex *d_corr_out;
float *d_shifts_chips;
int d_code_length_chips;
int d_n_correlators;
@ -98,20 +107,19 @@ private:
std::string d_device_name;
unsigned int d_device_base;
// results
//int *d_readval_real;
//int *d_readval_imag;
// FPGA private functions
int *d_ca_codes;
// private functions
unsigned fpga_acquisition_test_register(unsigned writeval);
void fpga_configure_tracking_gps_local_code(void);
void fpga_configure_tracking_gps_local_code(int PRN);
void fpga_compute_code_shift_parameters(void);
void fpga_configure_code_parameters_in_fpga(void);
void fpga_compute_signal_parameters_in_fpga(void);
void fpga_configure_signal_parameters_in_fpga(void);
void fpga_launch_multicorrelator_fpga(void);
void read_tracking_gps_results(void);
//void unlock_channel(void);
void reset_multicorrelator(void);
void close_device(void);
};
#endif /* GNSS_SDR_FPGA_MULTICORRELATOR_H_ */

5
src/core/receiver/CMakeLists.txt
View File

@ -90,6 +90,11 @@ if(ENABLE_FMCOMMS2)
set(OPT_RECEIVER_INCLUDE_DIRS ${OPT_RECEIVER_INCLUDE_DIRS} ${IIO_INCLUDE_DIRS})
endif(ENABLE_FMCOMMS2)
if(ENABLE_AD9361)
add_definitions(-DAD9361_DRIVER=1)
set(OPT_RECEIVER_INCLUDE_DIRS ${OPT_RECEIVER_INCLUDE_DIRS} ${IIO_INCLUDE_DIRS})
endif(ENABLE_AD9361)
if(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.15" )
add_definitions( -DGR_GREATER_38=1 )
endif(${PC_GNURADIO_RUNTIME_VERSION} VERSION_GREATER "3.7.15" )

7
src/core/receiver/control_thread.cc
View File

@ -138,6 +138,13 @@ void ControlThread::run()
keyboard_thread_ = boost::thread(&ControlThread::keyboard_listener, this);
sysv_queue_thread_ = boost::thread(&ControlThread::sysv_queue_listener, this);
bool enable_FPGA = configuration_->property("Channel.enable_FPGA", false);
if (enable_FPGA == true)
{
flowgraph_->start_acquisition_helper();
}
// Main loop to read and process the control messages
while (flowgraph_->running() && !stop_)
{

24
src/core/receiver/gnss_block_factory.cc
View File

@ -104,8 +104,8 @@
#include "rtklib_pvt.h"
#if ENABLE_FPGA
#include "gps_l1_ca_dll_pll_c_aid_tracking_fpga.h"
#include "gps_l1_ca_pcps_acquisition_fpga.h"
#include "gps_l1_ca_dll_pll_tracking_fpga.h"
#endif
#if OPENCL_BLOCKS
@ -136,6 +136,10 @@
#include "fmcomms2_signal_source.h"
#endif
#if AD9361_DRIVER
#include "ad9361_fpga_signal_source.h"
#endif
#if FLEXIBAND_DRIVER
#include "flexiband_signal_source.h"
#endif
@ -273,7 +277,6 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetPVT(std::shared_ptr<Con
GPS_channels += configuration->property("Channels_2S.count", 0);
GPS_channels += configuration->property("Channels_L5.count", 0);
unsigned int Glonass_channels = configuration->property("Channels_1G.count", 0);
Glonass_channels += configuration->property("Channels_2G.count", 0);
return GetBlock(configuration, "PVT", implementation, Galileo_channels + GPS_channels + Glonass_channels, 0);
}
@ -1186,6 +1189,15 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
}
#endif
#if AD9361_DRIVER
else if (implementation.compare("Ad9361_Fpga_Signal_Source") == 0)
{
std::unique_ptr<GNSSBlockInterface> block_(new Ad9361FpgaSignalSource(configuration.get(), role, in_streams,
out_streams, queue));
block = std::move(block_);
}
#endif
#if FLEXIBAND_DRIVER
else if (implementation.compare("Flexiband_Signal_Source") == 0)
{
@ -1416,9 +1428,9 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
block = std::move(block_);
}
#if ENABLE_FPGA
else if (implementation.compare("GPS_L1_CA_DLL_PLL_C_Aid_Tracking_Fpga") == 0)
else if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
std::unique_ptr<TrackingInterface> block_(new GpsL1CaDllPllCAidTrackingFpga(configuration.get(), role, in_streams,
std::unique_ptr<TrackingInterface> block_(new GpsL1CaDllPllTrackingFpga(configuration.get(), role, in_streams,
out_streams));
block = std::move(block_);
}
@ -1727,9 +1739,9 @@ std::unique_ptr<TrackingInterface> GNSSBlockFactory::GetTrkBlock(
block = std::move(block_);
}
#if ENABLE_FPGA
else if (implementation.compare("GPS_L1_CA_DLL_PLL_C_Aid_Tracking_Fpga") == 0)
else if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
std::unique_ptr<TrackingInterface> block_(new GpsL1CaDllPllCAidTrackingFpga(configuration.get(), role, in_streams,
std::unique_ptr<TrackingInterface> block_(new GpsL1CaDllPllTrackingFpga(configuration.get(), role, in_streams,
out_streams));
block = std::move(block_);
}

237
src/core/receiver/gnss_flowgraph.cc
View File

@ -31,6 +31,7 @@
*/
#include "gnss_flowgraph.h"
#include "gnss_synchro.h"
#include "configuration_interface.h"
#include "gnss_block_interface.h"
#include "channel_interface.h"
@ -111,32 +112,38 @@ void GNSSFlowgraph::connect()
for (int i = 0; i < sources_count_; i++)
{
try
if (configuration_->property(sig_source_.at(i)->role() + ".enable_FPGA", false) == false)
{
sig_source_.at(i)->connect(top_block_);
}
catch (const std::exception& e)
{
LOG(INFO) << "Can't connect signal source block " << i << " internally";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
try
{
sig_source_.at(i)->connect(top_block_);
}
catch (const std::exception& e)
{
LOG(INFO) << "Can't connect signal source block " << i << " internally";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
}
}
// Signal Source > Signal conditioner >
for (unsigned int i = 0; i < sig_conditioner_.size(); i++)
{
try
if (configuration_->property(sig_conditioner_.at(i)->role() + ".enable_FPGA", false) == false)
{
sig_conditioner_.at(i)->connect(top_block_);
}
catch (const std::exception& e)
{
LOG(INFO) << "Can't connect signal conditioner block " << i << " internally";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
try
{
sig_conditioner_.at(i)->connect(top_block_);
}
catch (const std::exception& e)
{
LOG(INFO) << "Can't connect signal conditioner block " << i << " internally";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
}
}
@ -187,68 +194,124 @@ void GNSSFlowgraph::connect()
for (int i = 0; i < sources_count_; i++)
{
try
//FPGA Accelerators do not need signal sources or conditioners
//as the samples are feed directly to the FPGA fabric, so, if enabled, do not connect any source
if (configuration_->property(sig_source_.at(i)->role() + ".enable_FPGA", false) == false)
{
// 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 (sig_source_.at(i)->implementation().compare("Raw_Array_Signal_Source") == 0)
try
{
//Multichannel Array
std::cout << "ARRAY MODE" << std::endl;
for (int j = 0; j < GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS; j++)
//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 (sig_source_.at(i)->implementation().compare("Raw_Array_Signal_Source") == 0)
{
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);
}
}
else
{
// TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
// Include GetRFChannels in the interface to avoid read config parameters here
// read the number of RF channels for each front-end
RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1);
for (int j = 0; j < RF_Channels; j++)
{
// Connect the multichannel signal source to multiple signal conditioners
// 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_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)
//Multichannel Array
std::cout << "ARRAY MODE" << std::endl;
for (int j = 0; j < GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS; 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);
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);
}
else
}
else
{
//TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
//Include GetRFChannels in the interface to avoid read config parameters here
//read the number of RF channels for each front-end
RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1);
for (int j = 0; j < RF_Channels; j++)
{
if (j == 0)
//Connect the multichannel signal source to multiple signal conditioners
// 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_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)
{
// RF_channel 0 backward compatibility with single channel sources
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);
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);
}
else
{
// 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;
top_block_->connect(sig_source_.at(i)->get_right_block(j), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
if (j == 0)
{
// RF_channel 0 backward compatibility with single channel sources
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);
}
else
{
// 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;
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)
{
LOG(WARNING) << "Can't connect signal source " << i << " to signal conditioner " << i;
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
}
}
DLOG(INFO) << "Signal source connected to signal conditioner";
bool FPGA_enabled = configuration_->property(sig_source_.at(0)->role() + ".enable_FPGA", false);
#if ENABLE_FPGA
if (FPGA_enabled == false)
{
//connect the signal source to sample counter
//connect the sample counter to Observables
try
{
double fs = static_cast<double>(configuration_->property("GNSS-SDR.internal_fs_sps", 0));
if (fs == 0.0)
{
LOG(WARNING) << "Set GNSS-SDR.internal_fs_sps in configuration file";
std::cout << "Set GNSS-SDR.internal_fs_sps in configuration file" << std::endl;
throw(std::invalid_argument("Set GNSS-SDR.internal_fs_sps in configuration"));
}
ch_out_sample_counter = gnss_sdr_make_sample_counter(fs, sig_conditioner_.at(0)->get_right_block()->output_signature()->sizeof_stream_item(0));
top_block_->connect(sig_conditioner_.at(0)->get_right_block(), 0, ch_out_sample_counter, 0);
top_block_->connect(ch_out_sample_counter, 0, observables_->get_left_block(), channels_count_); //extra port for the sample counter pulse
}
catch (const std::exception& e)
{
LOG(WARNING) << "Can't connect signal source " << i << " to signal conditioner " << i;
LOG(WARNING) << "Can't connect sample counter";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
}
else
{
//create a software-defined 1kHz gnss_synchro pulse for the observables block
try
{
//null source
null_source_ = gr::blocks::null_source::make(sizeof(Gnss_Synchro));
//throttle 1kHz
throttle_ = gr::blocks::throttle::make(sizeof(Gnss_Synchro), 1000); // 1000 samples per second (1kHz)
time_counter_ = gnss_sdr_make_time_counter();
top_block_->connect(null_source_, 0, throttle_, 0);
top_block_->connect(throttle_, 0, time_counter_, 0);
top_block_->connect(time_counter_, 0, observables_->get_left_block(), channels_count_);
}
catch (const std::exception& e)
{
LOG(WARNING) << "Can't connect sample counter";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
}
DLOG(INFO) << "Signal source connected to signal conditioner";
#else
// connect the signal source to sample counter
// connect the sample counter to Observables
try
@ -271,27 +334,29 @@ void GNSSFlowgraph::connect()
top_block_->disconnect_all();
return;
}
#endif
// Signal conditioner (selected_signal_source) >> channels (i) (dependent of their associated SignalSource_ID)
int selected_signal_conditioner_ID;
for (unsigned int i = 0; i < channels_count_; i++)
{
selected_signal_conditioner_ID = configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".RF_channel_ID", 0);
try
if (FPGA_enabled == false)
{
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
channels_.at(i)->get_left_block(), 0);
}
catch (const std::exception& e)
{
LOG(WARNING) << "Can't connect signal conditioner " << selected_signal_conditioner_ID << " to channel " << i;
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
DLOG(INFO) << "signal conditioner " << selected_signal_conditioner_ID << " connected to channel " << i;
selected_signal_conditioner_ID = configuration_->property("Channel" + boost::lexical_cast<std::string>(i) + ".RF_channel_ID", 0);
try
{
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
channels_.at(i)->get_left_block(), 0);
}
catch (const std::exception& e)
{
LOG(WARNING) << "Can't connect signal conditioner " << selected_signal_conditioner_ID << " to channel " << i;
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
DLOG(INFO) << "signal conditioner " << selected_signal_conditioner_ID << " connected to channel " << i;
}
// Signal Source > Signal conditioner >> Channels >> Observables
try
{
@ -367,7 +432,10 @@ void GNSSFlowgraph::connect()
LOG(INFO) << "Channel " << i << " assigned to " << channels_.at(i)->get_signal();
if (channels_state_[i] == 1)
{
channels_.at(i)->start_acquisition();
if (FPGA_enabled == false)
{
channels_.at(i)->start_acquisition();
}
LOG(INFO) << "Channel " << i << " connected to observables and ready for acquisition";
}
else
@ -674,6 +742,18 @@ void GNSSFlowgraph::set_configuration(std::shared_ptr<ConfigurationInterface> co
}
void GNSSFlowgraph::start_acquisition_helper()
{
for (unsigned int i = 0; i < channels_count_; i++)
{
if (channels_state_[i] == 1)
{
channels_.at(i)->start_acquisition();
}
}
}
void GNSSFlowgraph::init()
{
/*
@ -748,7 +828,7 @@ void GNSSFlowgraph::init()
std::cout << "Please update your configuration file." << std::endl;
}
std::shared_ptr<std::vector<std::unique_ptr<GNSSBlockInterface>>> channels = block_factory_->GetChannels(configuration_, queue_);
std::shared_ptr<std::vector<std::unique_ptr<GNSSBlockInterface> > > channels = block_factory_->GetChannels(configuration_, queue_);
channels_count_ = channels->size();
for (unsigned int i = 0; i < channels_count_; i++)
@ -772,15 +852,6 @@ void GNSSFlowgraph::set_signals_list()
// Set a sequential list of GNSS satellites
std::set<unsigned int>::const_iterator available_gnss_prn_iter;
// Read GNSS systems and signals
unsigned int total_channels = configuration_->property("Channels_1C.count", 0) +
configuration_->property("Channels_1B.count", 0) +
configuration_->property("Channels_1G.count", 0) +
configuration_->property("Channels_2S.count", 0) +
configuration_->property("Channels_2G.count", 0) +
configuration_->property("Channels_5X.count", 0) +
configuration_->property("Channels_L5.count", 0);
// Create the lists of GNSS satellites
std::set<unsigned int> available_gps_prn = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28,

12
src/core/receiver/gnss_flowgraph.h
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@ -41,6 +41,8 @@
#include "gnss_sdr_sample_counter.h"
#include <gnuradio/top_block.h>
#include <gnuradio/msg_queue.h>
#include <gnuradio/blocks/null_source.h>
#include <gnuradio/blocks/throttle.h>
#include <list>
#include <memory>
#include <mutex>
@ -48,6 +50,9 @@
#include <string>
#include <vector>
#if ENABLE_FPGA
#include "gnss_sdr_time_counter.h"
#endif
class GNSSBlockInterface;
class ChannelInterface;
@ -89,6 +94,8 @@ public:
void wait();
void start_acquisition_helper();
/*!
* \brief Applies an action to the flow graph
*
@ -146,6 +153,11 @@ private:
std::vector<std::shared_ptr<ChannelInterface>> channels_;
gnss_sdr_sample_counter_sptr ch_out_sample_counter;
#if ENABLE_FPGA
gnss_sdr_time_counter_sptr time_counter_;
#endif
gr::blocks::null_source::sptr null_source_;
gr::blocks::throttle::sptr throttle_;
gr::top_block_sptr top_block_;
gr::msg_queue::sptr queue_;
std::list<Gnss_Signal> available_GNSS_signals_;

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

@ -33,6 +33,7 @@
#include <chrono>
#include <fcntl.h>
#include <iostream>
#include <unistd.h>
#include <armadillo>
#include <boost/thread.hpp> // to test the FPGA we have to create a simultaneous task to send the samples using the DMA and stop the test
@ -53,7 +54,8 @@
#include "tracking_interface.h"
#include "in_memory_configuration.h"
#include "gnss_synchro.h"
#include "gps_l1_ca_dll_pll_c_aid_tracking_fpga.h"
//#include "gps_l1_ca_dll_pll_c_aid_tracking_fpga.h"
#include "gps_l1_ca_dll_pll_tracking_fpga.h"
#include "tracking_true_obs_reader.h"
#include "tracking_dump_reader.h"
#include "signal_generator_flags.h"
@ -308,8 +310,10 @@ void GpsL1CADllPllTrackingTestFpga::configure_receiver()
config->set_property("GNSS-SDR.internal_fs_sps",
std::to_string(baseband_sampling_freq));
// Set Tracking
//config->set_property("Tracking_1C.implementation",
// "GPS_L1_CA_DLL_PLL_C_Aid_Tracking_Fpga");
config->set_property("Tracking_1C.implementation",
"GPS_L1_CA_DLL_PLL_C_Aid_Tracking_Fpga");
"GPS_L1_CA_DLL_PLL_Tracking_Fpga");
config->set_property("Tracking_1C.item_type", "cshort");
config->set_property("Tracking_1C.if", "0");
config->set_property("Tracking_1C.dump", "true");
@ -466,7 +470,8 @@ TEST_F(GpsL1CADllPllTrackingTestFpga, ValidationOfResultsFpga)
<< "Failure opening true observables file";
top_block = gr::make_top_block("Tracking test");
std::shared_ptr<GpsL1CaDllPllCAidTrackingFpga> tracking = std::make_shared<GpsL1CaDllPllCAidTrackingFpga>(config.get(), "Tracking_1C", 1, 1);
//std::shared_ptr<GpsL1CaDllPllCAidTrackingFpga> tracking = std::make_shared<GpsL1CaDllPllCAidTrackingFpga> (config.get(), "Tracking_1C", 1, 1);
std::shared_ptr<GpsL1CaDllPllTrackingFpga> tracking = std::make_shared<GpsL1CaDllPllTrackingFpga>(config.get(), "Tracking_1C", 1, 1);
boost::shared_ptr<GpsL1CADllPllTrackingTestFpga_msg_rx> msg_rx = GpsL1CADllPllTrackingTestFpga_msg_rx_make();