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refactoring code

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This commit is contained in:
mmajoral
2017-05-18 17:10:28 +02:00
parent 6413a11450
commit cbe20c0920
15 changed files with 484 additions and 460 deletions
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23
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking_fpga.cc
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@@ -63,6 +63,9 @@ GpsL1CaDllPllCAidTrackingFpga::GpsL1CaDllPllCAidTrackingFpga(
float dll_bw_hz;
float dll_bw_narrow_hz;
float early_late_space_chips;
std::string device_name;
unsigned int device_base;
unsigned int device_range;
item_type_ = configuration->property(role + ".item_type", default_item_type);
fs_in = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
f_if = configuration->property(role + ".if", 0);
@@ -77,7 +80,11 @@ GpsL1CaDllPllCAidTrackingFpga::GpsL1CaDllPllCAidTrackingFpga(
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!
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);
device_range = configuration->property(role + ".device_range", 1);
vector_length = std::round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
//################# MAKE TRACKING GNURadio object ###################
@@ -96,7 +103,11 @@ GpsL1CaDllPllCAidTrackingFpga::GpsL1CaDllPllCAidTrackingFpga(
pll_bw_narrow_hz,
dll_bw_narrow_hz,
extend_correlation_ms,
early_late_space_chips);
early_late_space_chips,
device_name,
device_base,
device_range
);
DLOG(INFO) << "tracking(" << tracking_fpga_sc->unique_id() << ")";
}
else
@@ -207,3 +218,11 @@ gr::basic_block_sptr GpsL1CaDllPllCAidTrackingFpga::get_right_block()
return nullptr;
}
}
void GpsL1CaDllPllCAidTrackingFpga::reset(void)
{
tracking_fpga_sc->reset();
}

2
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking_fpga.h
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@@ -95,6 +95,8 @@ public:
void start_tracking();
void reset(void);
private:
gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc_sptr tracking_fpga_sc;
size_t item_size_;

36
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.cc
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@@ -71,10 +71,14 @@ gps_l1_ca_dll_pll_c_aid_make_tracking_fpga_sc(
float pll_bw_narrow_hz,
float dll_bw_narrow_hz,
int extend_correlation_ms,
float early_late_space_chips)
float early_late_space_chips,
std::string device_name,
unsigned int device_base,
unsigned int device_range)
{
return gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc_sptr(new gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc(if_freq,
fs_in, vector_length, dump, dump_filename, pll_bw_hz, dll_bw_hz, pll_bw_narrow_hz, dll_bw_narrow_hz, extend_correlation_ms, early_late_space_chips));
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, device_range));
}
@@ -101,7 +105,10 @@ gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::gps_l1_ca_dll_pll_c_aid_tracking_fpga_
float pll_bw_narrow_hz,
float dll_bw_narrow_hz,
int extend_correlation_ms,
float early_late_space_chips) :
float early_late_space_chips,
std::string device_name,
unsigned int device_base,
unsigned int device_range) :
gr::block("gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc", gr::io_signature::make(0, 0, sizeof(lv_16sc_t)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
@@ -151,7 +158,9 @@ gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::gps_l1_ca_dll_pll_c_aid_tracking_fpga_
d_local_code_shift_chips[1] = 0.0;
d_local_code_shift_chips[2] = d_early_late_spc_chips;
//multicorrelator_fpga_8sc= std::make_shared<fpga_multicorrelator_8sc>();
multicorrelator_fpga_8sc.init(d_n_correlator_taps);
//multicorrelator_fpga_8sc->init(d_n_correlator_taps);
//--- Perform initializations ------------------------------
// define initial code frequency basis of NCO
@@ -259,6 +268,7 @@ void gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::start_tracking()
volk_gnsssdr_32fc_convert_16ic(d_ca_code_16sc, d_ca_code, static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS));
multicorrelator_fpga_8sc.set_local_code_and_taps(static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS), d_ca_code_16sc, d_local_code_shift_chips);
//multicorrelator_fpga_8sc->set_local_code_and_taps(static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS), d_ca_code_16sc, d_local_code_shift_chips);
for (int n = 0; n < d_n_correlator_taps; n++)
{
d_correlator_outs_16sc[n] = lv_16sc_t(0,0);
@@ -285,6 +295,10 @@ void gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::start_tracking()
d_enable_extended_integration = false;
d_preamble_synchronized = false;
// lock the channel
multicorrelator_fpga_8sc.lock_channel();
LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
<< " Code Phase correction [samples]=" << delay_correction_samples
<< " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
@@ -302,6 +316,7 @@ gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::~gps_l1_ca_dll_pll_c_aid_tracking_fpga
delete[] d_Prompt_buffer;
multicorrelator_fpga_8sc.free();
//multicorrelator_fpga_8sc->free();
}
@@ -341,6 +356,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::general_work (int noutput_items __
*out[0] = current_synchro_data;
consume_each(samples_offset); // shift input to perform alignment with local replica
multicorrelator_fpga_8sc.set_initial_sample(samples_offset);
//multicorrelator_fpga_8sc->set_initial_sample(samples_offset);
return 1;
}
@@ -349,11 +365,17 @@ int gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::general_work (int noutput_items __
// perform carrier wipe-off and compute Early, Prompt and Late correlation
//multicorrelator_fpga_8sc.set_input_output_vectors(d_correlator_outs_16sc, in);
multicorrelator_fpga_8sc.set_output_vectors(d_correlator_outs_16sc);
//multicorrelator_fpga_8sc->set_output_vectors(d_correlator_outs_16sc);
multicorrelator_fpga_8sc.Carrier_wipeoff_multicorrelator_resampler(d_rem_carrier_phase_rad,
d_carrier_phase_step_rad,
d_rem_code_phase_chips,
d_code_phase_step_chips,
d_correlation_length_samples);
// multicorrelator_fpga_8sc->Carrier_wipeoff_multicorrelator_resampler(d_rem_carrier_phase_rad,
// d_carrier_phase_step_rad,
// d_rem_code_phase_chips,
// d_code_phase_step_chips,
// d_correlation_length_samples);
// ####### coherent intergration extension
// keep the last symbols
@@ -527,6 +549,7 @@ int gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::general_work (int noutput_items __
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 ##########
@@ -638,7 +661,7 @@ void gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::set_channel(unsigned int channel)
{
d_channel = channel;
multicorrelator_fpga_8sc.set_channel(d_channel);
//multicorrelator_fpga_8sc->set_channel(d_channel);
LOG(INFO) << "Tracking Channel set to " << d_channel;
// ############# ENABLE DATA FILE LOG #################
if (d_dump == true)
@@ -666,3 +689,8 @@ void gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::set_gnss_synchro(Gnss_Synchro* p_
{
d_acquisition_gnss_synchro = p_gnss_synchro;
}
void gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::reset(void)
{
multicorrelator_fpga_8sc.unlock_channel();
}

18
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.h
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@@ -67,7 +67,10 @@ gps_l1_ca_dll_pll_c_aid_make_tracking_fpga_sc(long if_freq,
float pll_bw_narrow_hz,
float dll_bw_narrow_hz,
int extend_correlation_ms,
float early_late_space_chips);
float early_late_space_chips,
std::string device_name,
unsigned int device_base,
unsigned int device_range);
@@ -86,6 +89,8 @@ public:
int general_work (int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
void reset(void);
private:
friend gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc_sptr
gps_l1_ca_dll_pll_c_aid_make_tracking_fpga_sc(long if_freq,
@@ -98,7 +103,10 @@ private:
float pll_bw_narrow_hz,
float dll_bw_narrow_hz,
int extend_correlation_ms,
float early_late_space_chips);
float early_late_space_chips,
std::string device_name,
unsigned int device_base,
unsigned int device_range);
gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc(long if_freq,
long fs_in, unsigned
@@ -110,7 +118,10 @@ private:
float pll_bw_narrow_hz,
float dll_bw_narrow_hz,
int extend_correlation_ms,
float early_late_space_chips);
float early_late_space_chips,
std::string device_name,
unsigned int device_base,
unsigned int device_range);
// tracking configuration vars
unsigned int d_vector_length;
@@ -131,6 +142,7 @@ private:
//gr_complex* d_correlator_outs;
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;

32
src/algorithms/tracking/libs/fpga_multicorrelator_8sc.cc
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@@ -176,6 +176,7 @@ fpga_multicorrelator_8sc::~fpga_multicorrelator_8sc()
bool fpga_multicorrelator_8sc::free()
{
// unlock the hardware
fpga_multicorrelator_8sc::unlock_channel(); // unlock the channel
// free the FPGA dynamically created variables
@@ -199,7 +200,7 @@ void fpga_multicorrelator_8sc::set_channel(unsigned int channel)
{
d_channel = channel;
snprintf(d_device_io_name, MAX_LENGTH_DEVICEIO_NAME, "/dev/uio%d",d_channel);
snprintf(d_device_io_name, MAX_LENGTH_DEVICEIO_NAME, "/dev/uio%d",d_channel + 1);
printf("Opening Device Name : %s\n", d_device_io_name);
if ((d_fd = open(d_device_io_name, O_RDWR | O_SYNC )) == -1)
@@ -245,13 +246,13 @@ void fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code(void)
{
int k,s;
unsigned temp;
unsigned *ena_write_signals;
ena_write_signals = new unsigned[d_n_correlators];
ena_write_signals[0] = 0x00000000;
ena_write_signals[1] = 0x20000000;
//unsigned *ena_write_signals;
d_ena_write_signals = new unsigned[d_n_correlators];
d_ena_write_signals[0] = 0x00000000;
d_ena_write_signals[1] = 0x20000000;
for (s = 2; s < d_n_correlators; s++)
{
ena_write_signals[s]= ena_write_signals[s-1]*2; //0x40000000;
d_ena_write_signals[s]= d_ena_write_signals[s-1]*2; //0x40000000;
}
for (s = 0; s < d_n_correlators; s++)
@@ -269,11 +270,11 @@ void fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code(void)
{
temp = 0;
}
d_map_base[11] = 0x0C000000 | (temp & 0xFFFF) | ena_write_signals[s];
d_map_base[11] = 0x0C000000 | (temp & 0xFFFF) | d_ena_write_signals[s];
}
}
delete [] ena_write_signals;
// delete [] ena_write_signals;
}
@@ -361,7 +362,8 @@ 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[12] = 0; // lock the channel
//printf("locking the channel\n");
//d_map_base[12] = 0; // lock the channel
d_map_base[13] = d_initial_sample_counter;
}
@@ -383,6 +385,9 @@ void fpga_multicorrelator_8sc::read_tracking_gps_results(void)
int k;
readval_real = new int[d_n_correlators];
readval_imag = new int[d_n_correlators];
//static int numtimes = 0;
//printf("read results numtimes = %d\n", numtimes);
//numtimes = numtimes + 1;
for (k =0 ; k < d_n_correlators; k++)
{
@@ -416,6 +421,15 @@ void fpga_multicorrelator_8sc::read_tracking_gps_results(void)
void fpga_multicorrelator_8sc::unlock_channel(void)
{
//printf("unlock the channel\n");
// unlock the channel to let the next samples go through
d_map_base[12] = 1; // unlock the channel
}
void fpga_multicorrelator_8sc::lock_channel(void)
{
//printf("locking the channel\n");
d_map_base[12] = 0; // lock the channel
}

10
src/algorithms/tracking/libs/fpga_multicorrelator_8sc.h
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@@ -59,6 +59,10 @@ public:
void set_channel(unsigned int channel);
void set_initial_sample(int samples_offset);
void lock_channel(void);
void unlock_channel(void);
private:
const lv_16sc_t *d_local_code_in;
@@ -88,7 +92,7 @@ private:
int d_rem_carr_phase_rad_int;
int d_phase_step_rad_int;
unsigned d_initial_sample_counter;
unsigned *d_ena_write_signals;
// FPGA private functions
unsigned fpga_acquisition_test_register(unsigned writeval);
void fpga_configure_tracking_gps_local_code(void);
@@ -98,7 +102,9 @@ private:
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 unlock_channel(void);
};