mirror of https://github.com/gnss-sdr/gnss-sdr
Merge branch 'mmajoral-fpga' into fpga
This commit is contained in:
Carles Fernandez
commit
d55436f43c
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@ -34,16 +34,15 @@
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* -------------------------------------------------------------------------
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*/
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#include "gps_l1_ca_pcps_acquisition_fpga.h"
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#include "configuration_interface.h"
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#include "gnss_sdr_flags.h"
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#include "gps_l1_ca_pcps_acquisition_fpga.h"
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#include "gps_sdr_signal_processing.h"
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#include "GPS_L1_CA.h"
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#include "gps_sdr_signal_processing.h"
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#include <gnuradio/fft/fft.h>
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#include <glog/logging.h>
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#include <new>
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#define NUM_PRNs 32
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using google::LogMessage;
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@ -123,8 +122,7 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
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}
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}
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//acq_parameters
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// acq_parameters
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acq_parameters.all_fft_codes = d_all_fft_codes_;
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// temporary buffers that we can delete
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@ -132,7 +130,7 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
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delete fft_if;
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delete[] fft_codes_padded;
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acquisition_fpga_ = pcps_make_acquisition(acq_parameters);
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acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters);
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DLOG(INFO) << "acquisition(" << acquisition_fpga_->unique_id() << ")";
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channel_ = 0;
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@ -211,15 +209,20 @@ void GpsL1CaPcpsAcquisitionFpga::set_state(int state)
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acquisition_fpga_->set_state(state);
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}
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void GpsL1CaPcpsAcquisitionFpga::connect(gr::top_block_sptr top_block)
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{
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// nothing to connect
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if (top_block)
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{ // nothing to disconnect
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}
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}
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void GpsL1CaPcpsAcquisitionFpga::disconnect(gr::top_block_sptr top_block)
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{
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// nothing to disconnect
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if (top_block)
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{ // nothing to disconnect
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}
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}
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@ -38,22 +38,22 @@
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* -------------------------------------------------------------------------
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*/
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#include "pcps_acquisition_fpga.h"
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#include <glog/logging.h>
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#include <gnuradio/io_signature.h>
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#include "pcps_acquisition_fpga.h"
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using google::LogMessage;
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pcps_acquisition_fpga_sptr pcps_make_acquisition(pcpsconf_fpga_t conf_)
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pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_)
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{
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return pcps_acquisition_fpga_sptr(new pcps_acquisition_fpga(conf_));
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}
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pcps_acquisition_fpga::pcps_acquisition_fpga(pcpsconf_fpga_t conf_) : gr::block("pcps_acquisition_fpga",
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gr::io_signature::make(0, 0, 0),
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gr::io_signature::make(0, 0, 0))
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gr::io_signature::make(0, 0, 0),
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gr::io_signature::make(0, 0, 0))
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{
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this->message_port_register_out(pmt::mp("events"));
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@ -71,10 +71,8 @@ pcps_acquisition_fpga::pcps_acquisition_fpga(pcpsconf_fpga_t conf_) : gr::block(
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d_channel = 0;
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d_gnss_synchro = 0;
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acquisition_fpga = std::make_shared <fpga_acquisition>
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(acq_parameters.device_name, d_fft_size, acq_parameters.doppler_max, acq_parameters.samples_per_ms,
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acq_parameters.fs_in, acq_parameters.freq, acq_parameters.sampled_ms, acq_parameters.select_queue_Fpga, acq_parameters.all_fft_codes);
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acquisition_fpga = std::make_shared<fpga_acquisition>(acq_parameters.device_name, d_fft_size, acq_parameters.doppler_max, acq_parameters.samples_per_ms,
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acq_parameters.fs_in, acq_parameters.freq, acq_parameters.sampled_ms, acq_parameters.select_queue_Fpga, acq_parameters.all_fft_codes);
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}
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@ -196,9 +194,9 @@ void pcps_acquisition_fpga::set_active(bool active)
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int doppler = -static_cast<int>(acq_parameters.doppler_max) + d_doppler_step * doppler_index;
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acquisition_fpga->set_phase_step(doppler_index);
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acquisition_fpga->run_acquisition(); // runs acquisition and waits until it is finished
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acquisition_fpga->run_acquisition(); // runs acquisition and waits until it is finished
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acquisition_fpga->read_acquisition_results(&indext, &magt,
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&initial_sample, &d_input_power);
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&initial_sample, &d_input_power);
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d_sample_counter = initial_sample;
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if (d_mag < magt)
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@ -213,7 +211,7 @@ void pcps_acquisition_fpga::set_active(bool active)
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d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
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d_gnss_synchro->Acq_samplestamp_samples = d_sample_counter;
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d_test_statistics = (d_mag / d_input_power); //* correction_factor;
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d_test_statistics = (d_mag / d_input_power); //* correction_factor;
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}
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// In the case of the FPGA the option of dumping the results of the acquisition to a file is not available
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@ -81,7 +81,7 @@ class pcps_acquisition_fpga;
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typedef boost::shared_ptr<pcps_acquisition_fpga> pcps_acquisition_fpga_sptr;
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pcps_acquisition_fpga_sptr
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pcps_make_acquisition(pcpsconf_fpga_t conf_);
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pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_);
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/*!
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* \brief This class implements a Parallel Code Phase Search Acquisition that uses the FPGA.
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@ -94,7 +94,7 @@ class pcps_acquisition_fpga : public gr::block
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private:
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friend pcps_acquisition_fpga_sptr
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pcps_make_acquisition(pcpsconf_fpga_t conf_);
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pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_);
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pcps_acquisition_fpga(pcpsconf_fpga_t conf_);
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@ -1,8 +1,9 @@
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/*!
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* \file gps_l1_ca_dll_pll_tracking.cc
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* \brief Implementation of an adapter of a DLL+PLL tracking loop block
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* for GPS L1 C/A to a TrackingInterface
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* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
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* for GPS L1 C/A to a TrackingInterface that uses the FPGA
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* \author Marc Majoral, 2018, mmajoral(at)cttc.es
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* Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
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* Javier Arribas, 2011. jarribas(at)cttc.es
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*
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* Code DLL + carrier PLL according to the algorithms described in:
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@ -35,65 +36,109 @@
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* -------------------------------------------------------------------------
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*/
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#include "gps_l1_ca_dll_pll_tracking_fpga.h"
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#include "configuration_interface.h"
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#include "display.h"
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#include "gnss_sdr_flags.h"
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#include "GPS_L1_CA.h"
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#include "gps_sdr_signal_processing.h"
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#include <glog/logging.h>
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#define NUM_PRNs 32
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using google::LogMessage;
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GpsL1CaDllPllTrackingFpga::GpsL1CaDllPllTrackingFpga(
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ConfigurationInterface* configuration, std::string role,
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unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
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{
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dllpllconf_fpga_t trk_param_fpga;
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DLOG(INFO) << "role " << role;
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//################# CONFIGURATION PARAMETERS ########################
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int fs_in;
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int vector_length;
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int f_if;
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bool dump;
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std::string dump_filename;
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std::string item_type;
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//std::string default_item_type = "gr_complex";
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std::string default_item_type = "cshort";
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float pll_bw_hz;
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float dll_bw_hz;
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float early_late_space_chips;
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item_type = configuration->property(role + ".item_type", default_item_type);
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int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
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std::string device_name;
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unsigned int device_base;
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std::string default_device_name = "/dev/uio";
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device_name = configuration->property(role + ".devicename", default_device_name);
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device_base = configuration->property(role + ".device_base", 1);
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fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
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f_if = configuration->property(role + ".if", 0);
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dump = configuration->property(role + ".dump", false);
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pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
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dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
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early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
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int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
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trk_param_fpga.fs_in = fs_in;
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bool dump = configuration->property(role + ".dump", false);
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trk_param_fpga.dump = dump;
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float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
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if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
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trk_param_fpga.pll_bw_hz = pll_bw_hz;
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float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 20.0);
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trk_param_fpga.pll_bw_narrow_hz = pll_bw_narrow_hz;
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float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 2.0);
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trk_param_fpga.dll_bw_narrow_hz = dll_bw_narrow_hz;
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float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 2.0);
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if (FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
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trk_param_fpga.dll_bw_hz = dll_bw_hz;
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float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
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trk_param_fpga.early_late_space_chips = early_late_space_chips;
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float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.5);
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trk_param_fpga.early_late_space_narrow_chips = early_late_space_narrow_chips;
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std::string default_dump_filename = "./track_ch";
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dump_filename = configuration->property(role + ".dump_filename", default_dump_filename); //unused!
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vector_length = std::round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
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if (item_type.compare("cshort") == 0)
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std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
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trk_param_fpga.dump_filename = dump_filename;
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int vector_length = std::round(fs_in / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
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trk_param_fpga.vector_length = vector_length;
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int symbols_extended_correlator = configuration->property(role + ".extend_correlation_symbols", 1);
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if (symbols_extended_correlator < 1)
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{
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item_size_ = sizeof(lv_16sc_t);
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tracking_fpga_sc = gps_l1_ca_dll_pll_make_tracking_fpga_sc(
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f_if, fs_in, vector_length, dump, dump_filename, pll_bw_hz,
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dll_bw_hz, early_late_space_chips, device_name,
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device_base);
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DLOG(INFO) << "tracking(" << tracking_fpga_sc->unique_id()
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<< ")";
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symbols_extended_correlator = 1;
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std::cout << TEXT_RED << "WARNING: GPS L1 C/A. extend_correlation_symbols must be bigger than 1. Coherent integration has been set to 1 symbol (1 ms)" << TEXT_RESET << std::endl;
|
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}
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else
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else if (symbols_extended_correlator > 20)
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{
|
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item_size_ = sizeof(lv_16sc_t);
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// LOG(WARNING) << item_type_ << " unknown tracking item type";
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LOG(WARNING) << item_type
|
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<< " the tracking item type for the FPGA tracking test has to be cshort";
|
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symbols_extended_correlator = 20;
|
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std::cout << TEXT_RED << "WARNING: GPS L1 C/A. extend_correlation_symbols must be lower than 21. Coherent integration has been set to 20 symbols (20 ms)" << TEXT_RESET << std::endl;
|
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}
|
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trk_param_fpga.extend_correlation_symbols = symbols_extended_correlator;
|
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bool track_pilot = configuration->property(role + ".track_pilot", false);
|
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if (track_pilot)
|
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{
|
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std::cout << TEXT_RED << "WARNING: GPS L1 C/A does not have pilot signal. Data tracking has been enabled" << TEXT_RESET << std::endl;
|
||||
}
|
||||
if ((symbols_extended_correlator > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
|
||||
{
|
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std::cout << TEXT_RED << "WARNING: GPS L1 C/A. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
|
||||
}
|
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trk_param_fpga.very_early_late_space_chips = 0.0;
|
||||
trk_param_fpga.very_early_late_space_narrow_chips = 0.0;
|
||||
trk_param_fpga.track_pilot = false;
|
||||
trk_param_fpga.system = 'G';
|
||||
char sig_[3] = "1C";
|
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std::memcpy(trk_param_fpga.signal, sig_, 3);
|
||||
int cn0_samples = configuration->property(role + ".cn0_samples", 20);
|
||||
if (FLAGS_cn0_samples != 20) cn0_samples = FLAGS_cn0_samples;
|
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trk_param_fpga.cn0_samples = cn0_samples;
|
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int cn0_min = configuration->property(role + ".cn0_min", 25);
|
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if (FLAGS_cn0_min != 25) cn0_min = FLAGS_cn0_min;
|
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trk_param_fpga.cn0_min = cn0_min;
|
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int max_lock_fail = configuration->property(role + ".max_lock_fail", 50);
|
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if (FLAGS_max_lock_fail != 50) max_lock_fail = FLAGS_max_lock_fail;
|
||||
trk_param_fpga.max_lock_fail = max_lock_fail;
|
||||
double carrier_lock_th = configuration->property(role + ".carrier_lock_th", 0.85);
|
||||
if (FLAGS_carrier_lock_th != 0.85) carrier_lock_th = FLAGS_carrier_lock_th;
|
||||
trk_param_fpga.carrier_lock_th = carrier_lock_th;
|
||||
|
||||
// FPGA configuration parameters
|
||||
std::string default_device_name = "/dev/uio";
|
||||
std::string device_name = configuration->property(role + ".devicename", default_device_name);
|
||||
trk_param_fpga.device_name = device_name;
|
||||
unsigned int device_base = configuration->property(role + ".device_base", 1);
|
||||
trk_param_fpga.device_base = device_base;
|
||||
|
||||
//################# 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);
|
||||
}
|
||||
trk_param_fpga.ca_codes = d_ca_codes;
|
||||
trk_param_fpga.code_length = GPS_L1_CA_CODE_LENGTH_CHIPS;
|
||||
|
||||
//################# MAKE TRACKING GNURadio object ###################
|
||||
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_param_fpga);
|
||||
channel_ = 0;
|
||||
DLOG(INFO) << "tracking(" << tracking_fpga_sc->unique_id() << ")";
|
||||
}
|
||||
|
|
@ -101,6 +146,7 @@ GpsL1CaDllPllTrackingFpga::GpsL1CaDllPllTrackingFpga(
|
|||
|
||||
GpsL1CaDllPllTrackingFpga::~GpsL1CaDllPllTrackingFpga()
|
||||
{
|
||||
delete[] d_ca_codes;
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -131,7 +177,7 @@ 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
|
||||
//nothing to connect
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -140,7 +186,7 @@ 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
|
||||
//nothing to disconnect
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -154,9 +200,3 @@ gr::basic_block_sptr GpsL1CaDllPllTrackingFpga::get_right_block()
|
|||
{
|
||||
return tracking_fpga_sc;
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CaDllPllTrackingFpga::reset(void)
|
||||
{
|
||||
// tracking_fpga_sc->reset();
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,8 +1,9 @@
|
|||
/*!
|
||||
* \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 Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
|
||||
* for GPS L1 C/A to a TrackingInterface that uses the FPGA
|
||||
* \author Marc Majoral, 2018. mmajoral(at)cttc.es
|
||||
* 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:
|
||||
|
|
@ -38,9 +39,8 @@
|
|||
#ifndef GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_FPGA_H_
|
||||
#define GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_FPGA_H_
|
||||
|
||||
|
||||
#include "tracking_interface.h"
|
||||
#include "gps_l1_ca_dll_pll_tracking_fpga_sc.h"
|
||||
#include "dll_pll_veml_tracking_fpga.h"
|
||||
#include <string>
|
||||
|
||||
class ConfigurationInterface;
|
||||
|
|
@ -92,16 +92,14 @@ public:
|
|||
|
||||
void start_tracking() override;
|
||||
|
||||
void reset(void);
|
||||
|
||||
private:
|
||||
//gps_l1_ca_dll_pll_tracking_cc_sptr tracking_;
|
||||
gps_l1_ca_dll_pll_tracking_fpga_sc_sptr tracking_fpga_sc;
|
||||
dll_pll_veml_tracking_fpga_sptr tracking_fpga_sc;
|
||||
size_t item_size_;
|
||||
unsigned int channel_;
|
||||
std::string role_;
|
||||
unsigned int in_streams_;
|
||||
unsigned int out_streams_;
|
||||
int* d_ca_codes;
|
||||
};
|
||||
|
||||
#endif // GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_FPGA_H_
|
||||
|
|
|
|||
|
|
@ -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_tracking_fpga_sc.cc)
|
||||
set(OPT_TRACKING_BLOCKS ${OPT_TRACKING_BLOCKS} dll_pll_veml_tracking_fpga.cc)
|
||||
endif(ENABLE_FPGA)
|
||||
|
||||
set(TRACKING_GR_BLOCKS_SOURCES
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,226 @@
|
|||
/*!
|
||||
* \file gps_l1_ca_dll_pll_tracking_fpga.h
|
||||
* \brief Interface of a code DLL + carrier PLL tracking block
|
||||
* \author Marc Majoral, 2018. marc.majoral(at)cttc.es
|
||||
* Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
|
||||
* Javier Arribas, 2011. jarribas(at)cttc.es
|
||||
* Cillian O'Driscoll, 2017. cillian.odriscoll(at)gmail.com
|
||||
*
|
||||
* Code DLL + carrier PLL according to the algorithms described in:
|
||||
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
|
||||
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency Approach,
|
||||
* Birkhauser, 2007
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GNSS_SDR_DLL_PLL_VEML_TRACKING_FPGA_H
|
||||
#define GNSS_SDR_DLL_PLL_VEML_TRACKING_FPGA_H
|
||||
|
||||
#include "fpga_multicorrelator.h"
|
||||
#include "gnss_synchro.h"
|
||||
#include "tracking_2nd_DLL_filter.h"
|
||||
#include "tracking_2nd_PLL_filter.h"
|
||||
#include <gnuradio/block.h>
|
||||
#include <fstream>
|
||||
#include <string>
|
||||
#include <map>
|
||||
|
||||
|
||||
typedef struct
|
||||
{
|
||||
/* DLL/PLL tracking configuration */
|
||||
double 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;
|
||||
float early_late_space_chips;
|
||||
float very_early_late_space_chips;
|
||||
float early_late_space_narrow_chips;
|
||||
float very_early_late_space_narrow_chips;
|
||||
int extend_correlation_symbols;
|
||||
int cn0_samples;
|
||||
int cn0_min;
|
||||
int max_lock_fail;
|
||||
double carrier_lock_th;
|
||||
bool track_pilot;
|
||||
char system;
|
||||
char signal[3];
|
||||
std::string device_name;
|
||||
unsigned int device_base;
|
||||
unsigned int code_length;
|
||||
int *ca_codes;
|
||||
} dllpllconf_fpga_t;
|
||||
|
||||
class dll_pll_veml_tracking_fpga;
|
||||
|
||||
typedef boost::shared_ptr<dll_pll_veml_tracking_fpga>
|
||||
dll_pll_veml_tracking_fpga_sptr;
|
||||
|
||||
dll_pll_veml_tracking_fpga_sptr dll_pll_veml_make_tracking_fpga(dllpllconf_fpga_t conf_);
|
||||
|
||||
|
||||
/*!
|
||||
* \brief This class implements a DLL + PLL tracking loop block
|
||||
*/
|
||||
class dll_pll_veml_tracking_fpga : public gr::block
|
||||
{
|
||||
public:
|
||||
~dll_pll_veml_tracking_fpga();
|
||||
|
||||
void set_channel(unsigned int channel);
|
||||
void set_gnss_synchro(Gnss_Synchro *p_gnss_synchro);
|
||||
void start_tracking();
|
||||
|
||||
int general_work(int noutput_items, gr_vector_int &ninput_items,
|
||||
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
|
||||
|
||||
void reset(void);
|
||||
|
||||
private:
|
||||
friend dll_pll_veml_tracking_fpga_sptr dll_pll_veml_make_tracking_fpga(dllpllconf_fpga_t conf_);
|
||||
|
||||
dll_pll_veml_tracking_fpga(dllpllconf_fpga_t conf_);
|
||||
|
||||
bool cn0_and_tracking_lock_status(double coh_integration_time_s);
|
||||
bool acquire_secondary();
|
||||
void run_dll_pll();
|
||||
void update_tracking_vars();
|
||||
void clear_tracking_vars();
|
||||
void save_correlation_results();
|
||||
void log_data(bool integrating);
|
||||
int save_matfile();
|
||||
|
||||
// tracking configuration vars
|
||||
dllpllconf_fpga_t trk_parameters;
|
||||
bool d_veml;
|
||||
bool d_cloop;
|
||||
unsigned int d_channel;
|
||||
Gnss_Synchro *d_acquisition_gnss_synchro;
|
||||
|
||||
//Signal parameters
|
||||
bool d_secondary;
|
||||
bool interchange_iq;
|
||||
double d_signal_carrier_freq;
|
||||
double d_code_period;
|
||||
double d_code_chip_rate;
|
||||
unsigned int d_secondary_code_length;
|
||||
unsigned int d_code_length_chips;
|
||||
unsigned int d_code_samples_per_chip; // All signals have 1 sample per chip code except Gal. E1 which has 2 (CBOC disabled) or 12 (CBOC enabled)
|
||||
int d_symbols_per_bit;
|
||||
std::string systemName;
|
||||
std::string signal_type;
|
||||
std::string *d_secondary_code_string;
|
||||
std::string signal_pretty_name;
|
||||
|
||||
//tracking state machine
|
||||
int d_state;
|
||||
bool d_synchonizing;
|
||||
//Integration period in samples
|
||||
int d_correlation_length_ms;
|
||||
int d_n_correlator_taps;
|
||||
float *d_local_code_shift_chips;
|
||||
float *d_prompt_data_shift;
|
||||
std::shared_ptr<fpga_multicorrelator_8sc> multicorrelator_fpga;
|
||||
|
||||
gr_complex *d_correlator_outs;
|
||||
gr_complex *d_Very_Early;
|
||||
gr_complex *d_Early;
|
||||
gr_complex *d_Prompt;
|
||||
gr_complex *d_Late;
|
||||
gr_complex *d_Very_Late;
|
||||
|
||||
bool d_enable_extended_integration;
|
||||
int d_extend_correlation_symbols_count;
|
||||
int d_current_symbol;
|
||||
|
||||
gr_complex d_VE_accu;
|
||||
gr_complex d_E_accu;
|
||||
gr_complex d_P_accu;
|
||||
gr_complex d_L_accu;
|
||||
gr_complex d_VL_accu;
|
||||
gr_complex d_last_prompt;
|
||||
|
||||
gr_complex *d_Prompt_Data;
|
||||
|
||||
double d_code_phase_step_chips;
|
||||
double d_carrier_phase_step_rad;
|
||||
// remaining code phase and carrier phase between tracking loops
|
||||
double d_rem_code_phase_samples;
|
||||
double d_rem_carr_phase_rad;
|
||||
|
||||
// PLL and DLL filter library
|
||||
Tracking_2nd_DLL_filter d_code_loop_filter;
|
||||
Tracking_2nd_PLL_filter d_carrier_loop_filter;
|
||||
|
||||
// acquisition
|
||||
double d_acq_code_phase_samples;
|
||||
double d_acq_carrier_doppler_hz;
|
||||
|
||||
// tracking vars
|
||||
double d_carr_error_hz;
|
||||
double d_carr_error_filt_hz;
|
||||
double d_code_error_chips;
|
||||
double d_code_error_filt_chips;
|
||||
double d_K_blk_samples;
|
||||
double d_code_freq_chips;
|
||||
double d_carrier_doppler_hz;
|
||||
double d_acc_carrier_phase_rad;
|
||||
double d_rem_code_phase_chips;
|
||||
double d_code_phase_samples;
|
||||
double T_chip_seconds;
|
||||
double T_prn_seconds;
|
||||
double T_prn_samples;
|
||||
double K_blk_samples;
|
||||
// PRN period in samples
|
||||
int d_current_prn_length_samples;
|
||||
// processing samples counters
|
||||
unsigned long int d_sample_counter;
|
||||
unsigned long int d_acq_sample_stamp;
|
||||
|
||||
// CN0 estimation and lock detector
|
||||
int d_cn0_estimation_counter;
|
||||
int d_carrier_lock_fail_counter;
|
||||
double d_carrier_lock_test;
|
||||
double d_CN0_SNV_dB_Hz;
|
||||
double d_carrier_lock_threshold;
|
||||
std::deque<gr_complex> d_Prompt_buffer_deque;
|
||||
gr_complex *d_Prompt_buffer;
|
||||
|
||||
// file dump
|
||||
std::ofstream d_dump_file;
|
||||
|
||||
// extra
|
||||
int d_correlation_length_samples;
|
||||
int d_next_prn_length_samples;
|
||||
unsigned long int d_sample_counter_next;
|
||||
unsigned int d_pull_in = 0;
|
||||
};
|
||||
|
||||
#endif //GNSS_SDR_DLL_PLL_VEML_TRACKING_FPGA_H
|
||||
|
|
@ -1,951 +0,0 @@
|
|||
/*!
|
||||
* \file gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.cc
|
||||
* \brief Implementation of a code DLL + carrier PLL tracking block
|
||||
* \author Marc Majoral, 2017. mmajoral(at)cttc.cat
|
||||
* Javier Arribas, 2015. jarribas(at)cttc.es
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2017 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.h"
|
||||
#include "gnss_synchro.h"
|
||||
#include "gps_sdr_signal_processing.h"
|
||||
#include "tracking_discriminators.h"
|
||||
#include "lock_detectors.h"
|
||||
#include "GPS_L1_CA.h"
|
||||
#include "gnss_sdr_flags.h"
|
||||
#include "control_message_factory.h"
|
||||
#include <boost/bind.hpp>
|
||||
#include <boost/lexical_cast.hpp>
|
||||
#include <gnuradio/io_signature.h>
|
||||
#include <matio.h>
|
||||
#include <pmt/pmt.h>
|
||||
#include <glog/logging.h>
|
||||
#include <cmath>
|
||||
#include <iostream>
|
||||
#include <memory>
|
||||
#include <sstream>
|
||||
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc_sptr gps_l1_ca_dll_pll_c_aid_make_tracking_fpga_sc(
|
||||
long if_freq, long fs_in, unsigned int vector_length, bool dump,
|
||||
std::string dump_filename, float pll_bw_hz, float dll_bw_hz,
|
||||
float pll_bw_narrow_hz, float dll_bw_narrow_hz,
|
||||
int extend_correlation_ms, float early_late_space_chips,
|
||||
std::string device_name, unsigned int device_base)
|
||||
{
|
||||
return gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc_sptr(
|
||||
new gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc(if_freq, fs_in,
|
||||
vector_length, dump, dump_filename, pll_bw_hz, dll_bw_hz,
|
||||
pll_bw_narrow_hz, dll_bw_narrow_hz, extend_correlation_ms,
|
||||
early_late_space_chips, device_name, device_base));
|
||||
}
|
||||
|
||||
|
||||
void gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::msg_handler_preamble_index(
|
||||
pmt::pmt_t msg)
|
||||
{
|
||||
DLOG(INFO) << "Extended correlation enabled for Tracking CH "
|
||||
<< d_channel << ": Satellite "
|
||||
<< Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN);
|
||||
if (d_enable_extended_integration == false) //avoid re-setting preamble indicator
|
||||
{
|
||||
d_preamble_timestamp_s = pmt::to_double(msg);
|
||||
d_enable_extended_integration = true;
|
||||
d_preamble_synchronized = false;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc(
|
||||
long if_freq, long fs_in, unsigned int vector_length, bool dump,
|
||||
std::string dump_filename, float pll_bw_hz, float dll_bw_hz,
|
||||
float pll_bw_narrow_hz, float dll_bw_narrow_hz,
|
||||
int extend_correlation_ms, float early_late_space_chips,
|
||||
std::string device_name, unsigned int device_base) : gr::block("gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc",
|
||||
gr::io_signature::make(0, 0, sizeof(lv_16sc_t)),
|
||||
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
|
||||
|
||||
{
|
||||
// Telemetry bit synchronization message port input
|
||||
this->message_port_register_in(pmt::mp("preamble_timestamp_s"));
|
||||
this->set_msg_handler(pmt::mp("preamble_timestamp_s"),
|
||||
boost::bind(
|
||||
&gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::msg_handler_preamble_index,
|
||||
this, _1));
|
||||
this->message_port_register_out(pmt::mp("events"));
|
||||
// initialize internal vars
|
||||
d_dump = dump;
|
||||
d_if_freq = if_freq;
|
||||
d_fs_in = fs_in;
|
||||
d_vector_length = vector_length;
|
||||
d_dump_filename = dump_filename;
|
||||
d_correlation_length_samples = static_cast<int>(d_vector_length);
|
||||
|
||||
// Initialize tracking ==========================================
|
||||
d_pll_bw_hz = pll_bw_hz;
|
||||
d_dll_bw_hz = dll_bw_hz;
|
||||
d_pll_bw_narrow_hz = pll_bw_narrow_hz;
|
||||
d_dll_bw_narrow_hz = dll_bw_narrow_hz;
|
||||
d_code_loop_filter.set_DLL_BW(d_dll_bw_hz);
|
||||
d_carrier_loop_filter.set_params(10.0, d_pll_bw_hz, 2);
|
||||
d_extend_correlation_ms = extend_correlation_ms;
|
||||
|
||||
// --- DLL variables --------------------------------------------------------
|
||||
d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
|
||||
|
||||
// Initialization of local code replica
|
||||
// Get space for a vector with the C/A code replica sampled 1x/chip
|
||||
d_ca_code = static_cast<gr_complex *>(volk_gnsssdr_malloc(static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
|
||||
d_ca_code_16sc = static_cast<lv_16sc_t *>(volk_gnsssdr_malloc(static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS) * sizeof(lv_16sc_t), volk_gnsssdr_get_alignment()));
|
||||
|
||||
// correlator outputs (scalar)
|
||||
d_n_correlator_taps = 3; // Early, Prompt, and Late
|
||||
|
||||
d_correlator_outs_16sc = static_cast<lv_16sc_t *>(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(lv_16sc_t),
|
||||
volk_gnsssdr_get_alignment()));
|
||||
|
||||
for (int n = 0; n < d_n_correlator_taps; n++)
|
||||
{
|
||||
d_correlator_outs_16sc[n] = lv_cmake(0, 0);
|
||||
}
|
||||
|
||||
d_local_code_shift_chips = static_cast<float *>(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(float), volk_gnsssdr_get_alignment()));
|
||||
|
||||
// Set TAPs delay values [chips]
|
||||
d_local_code_shift_chips[0] = -d_early_late_spc_chips;
|
||||
d_local_code_shift_chips[1] = 0.0;
|
||||
d_local_code_shift_chips[2] = d_early_late_spc_chips;
|
||||
|
||||
// create multicorrelator class
|
||||
multicorrelator_fpga_8sc = std::make_shared<fpga_multicorrelator_8sc>(d_n_correlator_taps, device_name, device_base);
|
||||
|
||||
//--- Perform initializations ------------------------------
|
||||
// define initial code frequency basis of NCO
|
||||
d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ;
|
||||
// define residual code phase (in chips)
|
||||
d_rem_code_phase_samples = 0.0;
|
||||
// define residual carrier phase
|
||||
d_rem_carrier_phase_rad = 0.0;
|
||||
|
||||
// sample synchronization
|
||||
d_sample_counter = 0; //(from trk to tlm)
|
||||
d_acq_sample_stamp = 0;
|
||||
d_enable_tracking = false;
|
||||
d_pull_in = false;
|
||||
|
||||
// CN0 estimation and lock detector buffers
|
||||
d_cn0_estimation_counter = 0;
|
||||
d_Prompt_buffer = new gr_complex[FLAGS_cn0_samples];
|
||||
d_carrier_lock_test = 1;
|
||||
d_CN0_SNV_dB_Hz = 0;
|
||||
d_carrier_lock_fail_counter = 0;
|
||||
d_carrier_lock_threshold = FLAGS_carrier_lock_th;
|
||||
|
||||
systemName["G"] = std::string("GPS");
|
||||
systemName["S"] = std::string("SBAS");
|
||||
|
||||
set_relative_rate(1.0 / static_cast<double>(d_vector_length));
|
||||
|
||||
d_acquisition_gnss_synchro = 0;
|
||||
d_channel = 0;
|
||||
d_acq_code_phase_samples = 0.0;
|
||||
d_acq_carrier_doppler_hz = 0.0;
|
||||
d_carrier_doppler_hz = 0.0;
|
||||
d_acc_carrier_phase_cycles = 0.0;
|
||||
d_code_phase_samples = 0.0;
|
||||
d_enable_extended_integration = false;
|
||||
d_preamble_synchronized = false;
|
||||
d_rem_code_phase_integer_samples = 0;
|
||||
d_code_error_chips_Ti = 0.0;
|
||||
d_pll_to_dll_assist_secs_Ti = 0.0;
|
||||
d_rem_code_phase_chips = 0.0;
|
||||
d_code_phase_step_chips = 0.0;
|
||||
d_carrier_phase_step_rad = 0.0;
|
||||
d_code_error_filt_chips_s = 0.0;
|
||||
d_code_error_filt_chips_Ti = 0.0;
|
||||
d_preamble_timestamp_s = 0.0;
|
||||
d_carr_phase_error_secs_Ti = 0.0;
|
||||
//set_min_output_buffer((long int)300);
|
||||
}
|
||||
|
||||
|
||||
void gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::start_tracking()
|
||||
{
|
||||
/*
|
||||
* correct the code phase according to the delay between acq and trk
|
||||
*/
|
||||
d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
|
||||
d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
|
||||
d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
|
||||
|
||||
long int acq_trk_diff_samples;
|
||||
double acq_trk_diff_seconds;
|
||||
acq_trk_diff_samples = static_cast<long int>(d_sample_counter) - static_cast<long int>(d_acq_sample_stamp);
|
||||
DLOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples;
|
||||
acq_trk_diff_seconds = static_cast<double>(acq_trk_diff_samples) / static_cast<double>(d_fs_in);
|
||||
// Doppler effect
|
||||
// Fd=(C/(C+Vr))*F
|
||||
double radial_velocity = (GPS_L1_FREQ_HZ + d_acq_carrier_doppler_hz) / GPS_L1_FREQ_HZ;
|
||||
// new chip and prn sequence periods based on acq Doppler
|
||||
double T_chip_mod_seconds;
|
||||
double T_prn_mod_seconds;
|
||||
double T_prn_mod_samples;
|
||||
d_code_freq_chips = radial_velocity * GPS_L1_CA_CODE_RATE_HZ;
|
||||
d_code_phase_step_chips = static_cast<double>(d_code_freq_chips) / static_cast<double>(d_fs_in);
|
||||
T_chip_mod_seconds = 1.0 / d_code_freq_chips;
|
||||
T_prn_mod_seconds = T_chip_mod_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
|
||||
T_prn_mod_samples = T_prn_mod_seconds * static_cast<double>(d_fs_in);
|
||||
|
||||
d_correlation_length_samples = round(T_prn_mod_samples);
|
||||
|
||||
double T_prn_true_seconds = GPS_L1_CA_CODE_LENGTH_CHIPS / GPS_L1_CA_CODE_RATE_HZ;
|
||||
double T_prn_true_samples = T_prn_true_seconds * static_cast<double>(d_fs_in);
|
||||
double T_prn_diff_seconds = T_prn_true_seconds - T_prn_mod_seconds;
|
||||
double N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
|
||||
double corrected_acq_phase_samples, delay_correction_samples;
|
||||
corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast<double>(d_fs_in)), T_prn_true_samples);
|
||||
if (corrected_acq_phase_samples < 0)
|
||||
{
|
||||
corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples;
|
||||
}
|
||||
delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
|
||||
|
||||
d_acq_code_phase_samples = corrected_acq_phase_samples;
|
||||
|
||||
d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
|
||||
|
||||
d_carrier_phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
|
||||
|
||||
// DLL/PLL filter initialization
|
||||
d_carrier_loop_filter.initialize(d_acq_carrier_doppler_hz); // The carrier loop filter implements the Doppler accumulator
|
||||
d_code_loop_filter.initialize(); // initialize the code filter
|
||||
|
||||
// generate local reference ALWAYS starting at chip 1 (1 sample per chip)
|
||||
gps_l1_ca_code_gen_complex(d_ca_code, d_acquisition_gnss_synchro->PRN, 0);
|
||||
volk_gnsssdr_32fc_convert_16ic(d_ca_code_16sc, d_ca_code, static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS));
|
||||
|
||||
multicorrelator_fpga_8sc->set_local_code_and_taps(static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS), d_ca_code_16sc, d_local_code_shift_chips);
|
||||
for (int n = 0; n < d_n_correlator_taps; n++)
|
||||
{
|
||||
d_correlator_outs_16sc[n] = lv_16sc_t(0, 0);
|
||||
}
|
||||
|
||||
d_carrier_lock_fail_counter = 0;
|
||||
d_rem_code_phase_samples = 0.0;
|
||||
d_rem_carrier_phase_rad = 0.0;
|
||||
d_rem_code_phase_chips = 0.0;
|
||||
d_acc_carrier_phase_cycles = 0.0;
|
||||
d_pll_to_dll_assist_secs_Ti = 0.0;
|
||||
d_code_phase_samples = d_acq_code_phase_samples;
|
||||
|
||||
std::string sys_ = &d_acquisition_gnss_synchro->System;
|
||||
sys = sys_.substr(0, 1);
|
||||
|
||||
// DEBUG OUTPUT
|
||||
std::cout << "Tracking 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) << "Tracking of GPS L1 C/A signal for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
|
||||
|
||||
// enable tracking
|
||||
d_pull_in = true;
|
||||
d_enable_tracking = true;
|
||||
d_enable_extended_integration = false;
|
||||
d_preamble_synchronized = false;
|
||||
|
||||
// lock the channel
|
||||
multicorrelator_fpga_8sc->lock_channel();
|
||||
|
||||
LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
|
||||
<< " Code Phase correction [samples]=" << delay_correction_samples
|
||||
<< " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
|
||||
}
|
||||
|
||||
|
||||
gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::~gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc()
|
||||
{
|
||||
if (d_dump_file.is_open())
|
||||
{
|
||||
try
|
||||
{
|
||||
d_dump_file.close();
|
||||
}
|
||||
catch (const std::exception &ex)
|
||||
{
|
||||
LOG(WARNING) << "Exception in destructor " << ex.what();
|
||||
}
|
||||
}
|
||||
|
||||
if (d_dump)
|
||||
{
|
||||
if (d_channel == 0)
|
||||
{
|
||||
std::cout << "Writing .mat files ...";
|
||||
}
|
||||
gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::save_matfile();
|
||||
if (d_channel == 0)
|
||||
{
|
||||
std::cout << " done." << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
try
|
||||
{
|
||||
volk_gnsssdr_free(d_local_code_shift_chips);
|
||||
volk_gnsssdr_free(d_ca_code);
|
||||
volk_gnsssdr_free(d_ca_code_16sc);
|
||||
volk_gnsssdr_free(d_correlator_outs_16sc);
|
||||
delete[] d_Prompt_buffer;
|
||||
multicorrelator_fpga_8sc->free();
|
||||
}
|
||||
catch (const std::exception &ex)
|
||||
{
|
||||
LOG(WARNING) << "Exception in destructor " << ex.what();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
void gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::set_channel(unsigned int channel)
|
||||
{
|
||||
d_channel = channel;
|
||||
multicorrelator_fpga_8sc->set_channel(d_channel);
|
||||
LOG(INFO) << "Tracking Channel set to " << d_channel;
|
||||
// ############# ENABLE DATA FILE LOG #################
|
||||
if (d_dump == true)
|
||||
{
|
||||
if (d_dump_file.is_open() == false)
|
||||
{
|
||||
try
|
||||
{
|
||||
d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
|
||||
d_dump_filename.append(".dat");
|
||||
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
|
||||
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
|
||||
LOG(INFO) << "Tracking dump enabled on channel "
|
||||
<< d_channel << " Log file: "
|
||||
<< d_dump_filename.c_str();
|
||||
}
|
||||
catch (const std::ifstream::failure *e)
|
||||
{
|
||||
LOG(WARNING) << "channel " << d_channel
|
||||
<< " Exception opening trk dump file "
|
||||
<< e->what();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
int gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::save_matfile()
|
||||
{
|
||||
// READ DUMP FILE
|
||||
std::ifstream::pos_type size;
|
||||
int number_of_double_vars = 11;
|
||||
int number_of_float_vars = 5;
|
||||
int epoch_size_bytes = sizeof(unsigned long int) + sizeof(double) * number_of_double_vars +
|
||||
sizeof(float) * number_of_float_vars + sizeof(unsigned int);
|
||||
std::ifstream dump_file;
|
||||
dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
|
||||
try
|
||||
{
|
||||
dump_file.open(d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
|
||||
}
|
||||
catch (const std::ifstream::failure &e)
|
||||
{
|
||||
std::cerr << "Problem opening dump file:" << e.what() << std::endl;
|
||||
return 1;
|
||||
}
|
||||
// count number of epochs and rewind
|
||||
long int num_epoch = 0;
|
||||
if (dump_file.is_open())
|
||||
{
|
||||
size = dump_file.tellg();
|
||||
num_epoch = static_cast<long int>(size) / static_cast<long int>(epoch_size_bytes);
|
||||
dump_file.seekg(0, std::ios::beg);
|
||||
}
|
||||
else
|
||||
{
|
||||
return 1;
|
||||
}
|
||||
float *abs_E = new float[num_epoch];
|
||||
float *abs_P = new float[num_epoch];
|
||||
float *abs_L = new float[num_epoch];
|
||||
float *Prompt_I = new float[num_epoch];
|
||||
float *Prompt_Q = new float[num_epoch];
|
||||
unsigned long int *PRN_start_sample_count = new unsigned long int[num_epoch];
|
||||
double *acc_carrier_phase_rad = new double[num_epoch];
|
||||
double *carrier_doppler_hz = new double[num_epoch];
|
||||
double *code_freq_chips = new double[num_epoch];
|
||||
double *carr_error_hz = new double[num_epoch];
|
||||
double *carr_error_filt_hz = new double[num_epoch];
|
||||
double *code_error_chips = new double[num_epoch];
|
||||
double *code_error_filt_chips = new double[num_epoch];
|
||||
double *CN0_SNV_dB_Hz = new double[num_epoch];
|
||||
double *carrier_lock_test = new double[num_epoch];
|
||||
double *aux1 = new double[num_epoch];
|
||||
double *aux2 = new double[num_epoch];
|
||||
unsigned int *PRN = new unsigned int[num_epoch];
|
||||
|
||||
try
|
||||
{
|
||||
if (dump_file.is_open())
|
||||
{
|
||||
for (long int i = 0; i < num_epoch; i++)
|
||||
{
|
||||
dump_file.read(reinterpret_cast<char *>(&abs_E[i]), sizeof(float));
|
||||
dump_file.read(reinterpret_cast<char *>(&abs_P[i]), sizeof(float));
|
||||
dump_file.read(reinterpret_cast<char *>(&abs_L[i]), sizeof(float));
|
||||
dump_file.read(reinterpret_cast<char *>(&Prompt_I[i]), sizeof(float));
|
||||
dump_file.read(reinterpret_cast<char *>(&Prompt_Q[i]), sizeof(float));
|
||||
dump_file.read(reinterpret_cast<char *>(&PRN_start_sample_count[i]), sizeof(unsigned long int));
|
||||
dump_file.read(reinterpret_cast<char *>(&acc_carrier_phase_rad[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&carrier_doppler_hz[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&code_freq_chips[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&carr_error_hz[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&carr_error_filt_hz[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&code_error_chips[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&code_error_filt_chips[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&CN0_SNV_dB_Hz[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&carrier_lock_test[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&aux1[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&aux2[i]), sizeof(double));
|
||||
dump_file.read(reinterpret_cast<char *>(&PRN[i]), sizeof(unsigned int));
|
||||
}
|
||||
}
|
||||
dump_file.close();
|
||||
}
|
||||
catch (const std::ifstream::failure &e)
|
||||
{
|
||||
std::cerr << "Problem reading dump file:" << e.what() << std::endl;
|
||||
delete[] abs_E;
|
||||
delete[] abs_P;
|
||||
delete[] abs_L;
|
||||
delete[] Prompt_I;
|
||||
delete[] Prompt_Q;
|
||||
delete[] PRN_start_sample_count;
|
||||
delete[] acc_carrier_phase_rad;
|
||||
delete[] carrier_doppler_hz;
|
||||
delete[] code_freq_chips;
|
||||
delete[] carr_error_hz;
|
||||
delete[] carr_error_filt_hz;
|
||||
delete[] code_error_chips;
|
||||
delete[] code_error_filt_chips;
|
||||
delete[] CN0_SNV_dB_Hz;
|
||||
delete[] carrier_lock_test;
|
||||
delete[] aux1;
|
||||
delete[] aux2;
|
||||
delete[] PRN;
|
||||
return 1;
|
||||
}
|
||||
|
||||
// WRITE MAT FILE
|
||||
mat_t *matfp;
|
||||
matvar_t *matvar;
|
||||
std::string filename = d_dump_filename;
|
||||
filename.erase(filename.length() - 4, 4);
|
||||
filename.append(".mat");
|
||||
matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73);
|
||||
if (reinterpret_cast<long *>(matfp) != NULL)
|
||||
{
|
||||
size_t dims[2] = {1, static_cast<size_t>(num_epoch)};
|
||||
matvar = Mat_VarCreate("abs_E", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_E, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("abs_P", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_P, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("abs_L", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, abs_L, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("Prompt_I", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_I, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("Prompt_Q", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, Prompt_Q, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("PRN_start_sample_count", MAT_C_UINT64, MAT_T_UINT64, 2, dims, PRN_start_sample_count, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("acc_carrier_phase_rad", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, acc_carrier_phase_rad, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("carrier_doppler_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_doppler_hz, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("code_freq_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_freq_chips, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("carr_error_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_hz, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("carr_error_filt_hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carr_error_filt_hz, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("code_error_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_chips, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("code_error_filt_chips", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, code_error_filt_chips, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("CN0_SNV_dB_Hz", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, CN0_SNV_dB_Hz, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("carrier_lock_test", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, carrier_lock_test, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("aux1", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux1, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("aux2", MAT_C_DOUBLE, MAT_T_DOUBLE, 2, dims, aux2, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("PRN", MAT_C_UINT32, MAT_T_UINT32, 2, dims, PRN, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
}
|
||||
Mat_Close(matfp);
|
||||
delete[] abs_E;
|
||||
delete[] abs_P;
|
||||
delete[] abs_L;
|
||||
delete[] Prompt_I;
|
||||
delete[] Prompt_Q;
|
||||
delete[] PRN_start_sample_count;
|
||||
delete[] acc_carrier_phase_rad;
|
||||
delete[] carrier_doppler_hz;
|
||||
delete[] code_freq_chips;
|
||||
delete[] carr_error_hz;
|
||||
delete[] carr_error_filt_hz;
|
||||
delete[] code_error_chips;
|
||||
delete[] code_error_filt_chips;
|
||||
delete[] CN0_SNV_dB_Hz;
|
||||
delete[] carrier_lock_test;
|
||||
delete[] aux1;
|
||||
delete[] aux2;
|
||||
delete[] PRN;
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
void gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::set_gnss_synchro(
|
||||
Gnss_Synchro *p_gnss_synchro)
|
||||
{
|
||||
d_acquisition_gnss_synchro = p_gnss_synchro;
|
||||
}
|
||||
|
||||
|
||||
void gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::reset(void)
|
||||
{
|
||||
multicorrelator_fpga_8sc->unlock_channel();
|
||||
}
|
||||
|
||||
|
||||
int gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::general_work(
|
||||
int noutput_items __attribute__((unused)),
|
||||
gr_vector_int &ninput_items __attribute__((unused)),
|
||||
gr_vector_const_void_star &input_items,
|
||||
gr_vector_void_star &output_items)
|
||||
{
|
||||
// samples offset
|
||||
int samples_offset;
|
||||
|
||||
// Block input data and block output stream pointers
|
||||
Gnss_Synchro **out = reinterpret_cast<Gnss_Synchro **>(&output_items[0]);
|
||||
|
||||
Gnss_Synchro current_synchro_data = Gnss_Synchro();
|
||||
|
||||
// process vars
|
||||
double code_error_filt_secs_Ti = 0.0;
|
||||
double CURRENT_INTEGRATION_TIME_S = 0.0;
|
||||
double CORRECTED_INTEGRATION_TIME_S = 0.0;
|
||||
|
||||
if (d_enable_tracking == true)
|
||||
{
|
||||
// Fill the acquisition data
|
||||
current_synchro_data = *d_acquisition_gnss_synchro;
|
||||
// Receiver signal alignment
|
||||
if (d_pull_in == true)
|
||||
{
|
||||
double acq_trk_shif_correction_samples;
|
||||
int acq_to_trk_delay_samples;
|
||||
acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
|
||||
acq_trk_shif_correction_samples = d_correlation_length_samples - fmod(static_cast<double>(acq_to_trk_delay_samples), static_cast<double>(d_correlation_length_samples));
|
||||
samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
|
||||
current_synchro_data.Tracking_sample_counter = d_sample_counter + samples_offset;
|
||||
d_sample_counter += samples_offset; // count for the processed samples
|
||||
d_pull_in = false;
|
||||
d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * samples_offset / GPS_TWO_PI;
|
||||
current_synchro_data.Carrier_phase_rads = d_acc_carrier_phase_cycles * GPS_TWO_PI;
|
||||
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
|
||||
current_synchro_data.fs = d_fs_in;
|
||||
*out[0] = current_synchro_data;
|
||||
//consume_each(samples_offset); // shift input to perform alignment with local replica
|
||||
multicorrelator_fpga_8sc->set_initial_sample(samples_offset);
|
||||
|
||||
return 1;
|
||||
}
|
||||
|
||||
// ################# CARRIER WIPEOFF AND CORRELATORS ##############################
|
||||
// perform carrier wipe-off and compute Early, Prompt and Late correlation
|
||||
multicorrelator_fpga_8sc->set_output_vectors(d_correlator_outs_16sc);
|
||||
|
||||
multicorrelator_fpga_8sc->Carrier_wipeoff_multicorrelator_resampler(
|
||||
d_rem_carrier_phase_rad, d_carrier_phase_step_rad,
|
||||
d_rem_code_phase_chips, d_code_phase_step_chips,
|
||||
d_correlation_length_samples);
|
||||
|
||||
// ####### coherent integration extension
|
||||
// keep the last symbols
|
||||
d_E_history.push_back(d_correlator_outs_16sc[0]); // save early output
|
||||
d_P_history.push_back(d_correlator_outs_16sc[1]); // save prompt output
|
||||
d_L_history.push_back(d_correlator_outs_16sc[2]); // save late output
|
||||
|
||||
if (static_cast<int>(d_P_history.size()) > d_extend_correlation_ms)
|
||||
{
|
||||
d_E_history.pop_front();
|
||||
d_P_history.pop_front();
|
||||
d_L_history.pop_front();
|
||||
}
|
||||
|
||||
bool enable_dll_pll;
|
||||
if (d_enable_extended_integration == true)
|
||||
{
|
||||
long int symbol_diff = round(1000.0 * ((static_cast<double>(d_sample_counter) + d_rem_code_phase_samples) / static_cast<double>(d_fs_in) - d_preamble_timestamp_s));
|
||||
if (symbol_diff > 0 and symbol_diff % d_extend_correlation_ms == 0)
|
||||
{
|
||||
// compute coherent integration and enable tracking loop
|
||||
// perform coherent integration using correlator output history
|
||||
// std::cout<<"##### RESET COHERENT INTEGRATION ####"<<std::endl;
|
||||
d_correlator_outs_16sc[0] = lv_cmake(0, 0);
|
||||
d_correlator_outs_16sc[1] = lv_cmake(0, 0);
|
||||
d_correlator_outs_16sc[2] = lv_cmake(0, 0);
|
||||
for (int n = 0; n < d_extend_correlation_ms; n++)
|
||||
{
|
||||
d_correlator_outs_16sc[0] += d_E_history.at(n);
|
||||
d_correlator_outs_16sc[1] += d_P_history.at(n);
|
||||
d_correlator_outs_16sc[2] += d_L_history.at(n);
|
||||
}
|
||||
|
||||
if (d_preamble_synchronized == false)
|
||||
{
|
||||
d_code_loop_filter.set_DLL_BW(d_dll_bw_narrow_hz);
|
||||
d_carrier_loop_filter.set_params(10.0, d_pll_bw_narrow_hz, 2);
|
||||
d_preamble_synchronized = true;
|
||||
std::cout << "Enabled "
|
||||
<< d_extend_correlation_ms
|
||||
<< " [ms] extended correlator for CH "
|
||||
<< d_channel << " : Satellite "
|
||||
<< Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
|
||||
<< " pll_bw = " << d_pll_bw_hz
|
||||
<< " [Hz], pll_narrow_bw = "
|
||||
<< d_pll_bw_narrow_hz << " [Hz]"
|
||||
<< std::endl
|
||||
<< " dll_bw = "
|
||||
<< d_dll_bw_hz
|
||||
<< " [Hz], dll_narrow_bw = "
|
||||
<< d_dll_bw_narrow_hz << " [Hz]"
|
||||
<< std::endl;
|
||||
}
|
||||
// UPDATE INTEGRATION TIME
|
||||
CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_extend_correlation_ms) * GPS_L1_CA_CODE_PERIOD;
|
||||
enable_dll_pll = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
if (d_preamble_synchronized == true)
|
||||
{
|
||||
// continue extended coherent correlation
|
||||
// Compute the next buffer length based on the period of the PRN sequence and the code phase error estimation
|
||||
double T_chip_seconds = 1.0 / d_code_freq_chips;
|
||||
double T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
|
||||
double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
|
||||
int K_prn_samples = round(T_prn_samples);
|
||||
double K_T_prn_error_samples = K_prn_samples - T_prn_samples;
|
||||
|
||||
d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples;
|
||||
d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples
|
||||
d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples;
|
||||
d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples;
|
||||
// code phase step (Code resampler phase increment per sample) [chips/sample]
|
||||
d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
|
||||
// remnant code phase [chips]
|
||||
d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast<double>(d_fs_in));
|
||||
d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + d_carrier_phase_step_rad * static_cast<double>(d_correlation_length_samples), GPS_TWO_PI);
|
||||
|
||||
// UPDATE ACCUMULATED CARRIER PHASE
|
||||
CORRECTED_INTEGRATION_TIME_S = (static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in));
|
||||
d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GPS_TWO_PI;
|
||||
|
||||
// disable tracking loop and inform telemetry decoder
|
||||
enable_dll_pll = false;
|
||||
}
|
||||
else
|
||||
{
|
||||
// perform basic (1ms) correlation
|
||||
// UPDATE INTEGRATION TIME
|
||||
CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in);
|
||||
enable_dll_pll = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
// UPDATE INTEGRATION TIME
|
||||
CURRENT_INTEGRATION_TIME_S = static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in);
|
||||
enable_dll_pll = true;
|
||||
}
|
||||
|
||||
if (enable_dll_pll == true)
|
||||
{
|
||||
// ################## PLL ##########################################################
|
||||
// Update PLL discriminator [rads/Ti -> Secs/Ti]
|
||||
d_carr_phase_error_secs_Ti = pll_cloop_two_quadrant_atan(std::complex<float>(d_correlator_outs_16sc[1].real(), d_correlator_outs_16sc[1].imag())) / GPS_TWO_PI; //prompt output
|
||||
|
||||
// Carrier discriminator filter
|
||||
// NOTICE: The carrier loop filter includes the Carrier Doppler accumulator, as described in Kaplan
|
||||
// Input [s/Ti] -> output [Hz]
|
||||
d_carrier_doppler_hz = d_carrier_loop_filter.get_carrier_error(0.0, d_carr_phase_error_secs_Ti, CURRENT_INTEGRATION_TIME_S);
|
||||
// PLL to DLL assistance [Secs/Ti]
|
||||
d_pll_to_dll_assist_secs_Ti = (d_carrier_doppler_hz * CURRENT_INTEGRATION_TIME_S) / GPS_L1_FREQ_HZ;
|
||||
// code Doppler frequency update
|
||||
d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GPS_L1_CA_CODE_RATE_HZ) / GPS_L1_FREQ_HZ);
|
||||
|
||||
// ################## DLL ##########################################################
|
||||
// DLL discriminator
|
||||
d_code_error_chips_Ti = dll_nc_e_minus_l_normalized(
|
||||
std::complex<float>(
|
||||
d_correlator_outs_16sc[0].real(),
|
||||
d_correlator_outs_16sc[0].imag()),
|
||||
std::complex<float>(
|
||||
d_correlator_outs_16sc[2].real(),
|
||||
d_correlator_outs_16sc[2].imag())); // [chips/Ti] //early and late
|
||||
// Code discriminator filter
|
||||
d_code_error_filt_chips_s = d_code_loop_filter.get_code_nco(d_code_error_chips_Ti); // input [chips/Ti] -> output [chips/second]
|
||||
d_code_error_filt_chips_Ti = d_code_error_filt_chips_s * CURRENT_INTEGRATION_TIME_S;
|
||||
code_error_filt_secs_Ti = d_code_error_filt_chips_Ti / d_code_freq_chips; // [s/Ti]
|
||||
|
||||
// ################## CARRIER AND CODE NCO BUFFER ALIGNMENT #######################
|
||||
// keep alignment parameters for the next input buffer
|
||||
// Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
|
||||
double T_chip_seconds = 1.0 / d_code_freq_chips;
|
||||
double T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
|
||||
double T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
|
||||
double K_prn_samples = round(T_prn_samples);
|
||||
double K_T_prn_error_samples = K_prn_samples - T_prn_samples;
|
||||
|
||||
d_rem_code_phase_samples = d_rem_code_phase_samples - K_T_prn_error_samples + code_error_filt_secs_Ti * static_cast<double>(d_fs_in); //(code_error_filt_secs_Ti + d_pll_to_dll_assist_secs_Ti) * static_cast<double>(d_fs_in);
|
||||
d_rem_code_phase_integer_samples = round(d_rem_code_phase_samples); // round to a discrete number of samples
|
||||
d_correlation_length_samples = K_prn_samples + d_rem_code_phase_integer_samples;
|
||||
d_rem_code_phase_samples = d_rem_code_phase_samples - d_rem_code_phase_integer_samples;
|
||||
|
||||
//################### PLL COMMANDS #################################################
|
||||
//carrier phase step (NCO phase increment per sample) [rads/sample]
|
||||
d_carrier_phase_step_rad = GPS_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
|
||||
d_acc_carrier_phase_cycles -= d_carrier_phase_step_rad * d_correlation_length_samples / GPS_TWO_PI;
|
||||
// UPDATE ACCUMULATED CARRIER PHASE
|
||||
CORRECTED_INTEGRATION_TIME_S = (static_cast<double>(d_correlation_length_samples) / static_cast<double>(d_fs_in));
|
||||
//remnant carrier phase [rad]
|
||||
d_rem_carrier_phase_rad = fmod(d_rem_carrier_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * CORRECTED_INTEGRATION_TIME_S, GPS_TWO_PI);
|
||||
|
||||
//################### DLL COMMANDS #################################################
|
||||
//code phase step (Code resampler phase increment per sample) [chips/sample]
|
||||
d_code_phase_step_chips = d_code_freq_chips / static_cast<double>(d_fs_in);
|
||||
//remnant code phase [chips]
|
||||
d_rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / static_cast<double>(d_fs_in));
|
||||
|
||||
// ####### CN0 ESTIMATION AND LOCK DETECTORS #######################################
|
||||
if (d_cn0_estimation_counter < FLAGS_cn0_samples)
|
||||
{
|
||||
// fill buffer with prompt correlator output values
|
||||
d_Prompt_buffer[d_cn0_estimation_counter] = lv_cmake(static_cast<float>(d_correlator_outs_16sc[1].real()),
|
||||
static_cast<float>(d_correlator_outs_16sc[1].imag())); // prompt
|
||||
d_cn0_estimation_counter++;
|
||||
}
|
||||
else
|
||||
{
|
||||
d_cn0_estimation_counter = 0;
|
||||
// Code lock indicator
|
||||
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, FLAGS_cn0_samples, 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_16sc[1]).real());
|
||||
current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs_16sc[1]).imag());
|
||||
current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples;
|
||||
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
|
||||
current_synchro_data.Carrier_phase_rads = GPS_TWO_PI * d_acc_carrier_phase_cycles;
|
||||
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz;
|
||||
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
|
||||
current_synchro_data.Flag_valid_symbol_output = true;
|
||||
if (d_preamble_synchronized == true)
|
||||
{
|
||||
current_synchro_data.correlation_length_ms = d_extend_correlation_ms;
|
||||
}
|
||||
else
|
||||
{
|
||||
current_synchro_data.correlation_length_ms = 1;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
current_synchro_data.Prompt_I = static_cast<double>((d_correlator_outs_16sc[1]).real());
|
||||
current_synchro_data.Prompt_Q = static_cast<double>((d_correlator_outs_16sc[1]).imag());
|
||||
current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples;
|
||||
current_synchro_data.Code_phase_samples = d_rem_code_phase_samples;
|
||||
current_synchro_data.Carrier_phase_rads = GPS_TWO_PI * d_acc_carrier_phase_cycles;
|
||||
current_synchro_data.Carrier_Doppler_hz = d_carrier_doppler_hz; // todo: project the carrier doppler
|
||||
current_synchro_data.CN0_dB_hz = d_CN0_SNV_dB_Hz;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
for (int n = 0; n < d_n_correlator_taps; n++)
|
||||
{
|
||||
d_correlator_outs_16sc[n] = lv_cmake(0, 0);
|
||||
}
|
||||
|
||||
current_synchro_data.System = {'G'};
|
||||
current_synchro_data.Tracking_sample_counter = d_sample_counter + d_correlation_length_samples;
|
||||
}
|
||||
|
||||
current_synchro_data.fs = d_fs_in;
|
||||
*out[0] = current_synchro_data;
|
||||
|
||||
if (d_dump)
|
||||
{
|
||||
// MULTIPLEXED FILE RECORDING - Record results to file
|
||||
float prompt_I;
|
||||
float prompt_Q;
|
||||
float tmp_E, tmp_P, tmp_L;
|
||||
float tmp_VE = 0.0;
|
||||
float tmp_VL = 0.0;
|
||||
float tmp_float;
|
||||
prompt_I = d_correlator_outs_16sc[1].real();
|
||||
prompt_Q = d_correlator_outs_16sc[1].imag();
|
||||
tmp_E = std::abs<float>(gr_complex(d_correlator_outs_16sc[0].real(), d_correlator_outs_16sc[0].imag()));
|
||||
tmp_P = std::abs<float>(gr_complex(d_correlator_outs_16sc[1].real(), d_correlator_outs_16sc[1].imag()));
|
||||
tmp_L = std::abs<float>(gr_complex(d_correlator_outs_16sc[2].real(), d_correlator_outs_16sc[2].imag()));
|
||||
try
|
||||
{
|
||||
// Dump correlators output
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_VE), sizeof(float));
|
||||
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));
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_VL), 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
|
||||
d_dump_file.write(reinterpret_cast<char *>(&d_sample_counter), sizeof(unsigned long int));
|
||||
// accumulated carrier phase
|
||||
tmp_float = d_acc_carrier_phase_cycles * GPS_TWO_PI;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// carrier and code frequency
|
||||
tmp_float = d_carrier_doppler_hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_code_freq_chips;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// PLL commands
|
||||
tmp_float = 1.0 / (d_carr_phase_error_secs_Ti * CURRENT_INTEGRATION_TIME_S);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = 1.0 / (d_code_error_filt_chips_Ti * CURRENT_INTEGRATION_TIME_S);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// DLL commands
|
||||
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_code_error_filt_chips_Ti;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// CN0 and carrier lock test
|
||||
tmp_float = d_CN0_SNV_dB_Hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_carrier_lock_test;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// AUX vars (for debug purposes)
|
||||
tmp_float = d_code_error_chips_Ti * CURRENT_INTEGRATION_TIME_S;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
double tmp_double = static_cast<double>(d_sample_counter + d_correlation_length_samples);
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_double), sizeof(double));
|
||||
// PRN
|
||||
unsigned int prn_ = d_acquisition_gnss_synchro->PRN;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&prn_), sizeof(unsigned int));
|
||||
}
|
||||
catch (const std::ifstream::failure *e)
|
||||
{
|
||||
LOG(WARNING) << "Exception writing trk dump file " << e->what();
|
||||
}
|
||||
}
|
||||
|
||||
//consume_each(d_correlation_length_samples); // this is necessary in gr::block derivates
|
||||
d_sample_counter += d_correlation_length_samples; //count for the processed samples
|
||||
|
||||
if (d_enable_tracking)
|
||||
{
|
||||
return 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,540 +0,0 @@
|
|||
/*!
|
||||
* \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();
|
||||
}
|
||||
|
|
@ -1,188 +0,0 @@
|
|||
/*!
|
||||
* \file gps_l1_ca_dll_pll_tracking_cc.h
|
||||
* \brief Interface of a code DLL + carrier PLL tracking block
|
||||
* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
|
||||
* Javier Arribas, 2011. jarribas(at)cttc.es
|
||||
* Cillian O'Driscoll, 2017. cillian.odriscoll(at)gmail.com
|
||||
*
|
||||
* Code DLL + carrier PLL according to the algorithms described in:
|
||||
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
|
||||
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency Approach,
|
||||
* Birkhauser, 2007
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_FPGA_SC_H
|
||||
#define GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_FPGA_SC_H
|
||||
|
||||
|
||||
#include "gps_sdr_signal_processing.h"
|
||||
#include "gnss_synchro.h"
|
||||
#include "tracking_2nd_DLL_filter.h"
|
||||
#include "tracking_2nd_PLL_filter.h"
|
||||
#include "fpga_multicorrelator_8sc.h"
|
||||
#include <boost/thread/mutex.hpp>
|
||||
#include <boost/thread/thread.hpp>
|
||||
#include <gnuradio/block.h>
|
||||
#include <volk_gnsssdr/volk_gnsssdr.h>
|
||||
#include <fstream>
|
||||
#include <map>
|
||||
#include <string>
|
||||
|
||||
|
||||
class Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc;
|
||||
|
||||
typedef boost::shared_ptr<Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc>
|
||||
gps_l1_ca_dll_pll_tracking_fpga_sc_sptr;
|
||||
|
||||
gps_l1_ca_dll_pll_tracking_fpga_sc_sptr
|
||||
gps_l1_ca_dll_pll_make_tracking_fpga_sc(long if_freq,
|
||||
long fs_in, unsigned int vector_length,
|
||||
bool dump,
|
||||
std::string dump_filename,
|
||||
float pll_bw_hz,
|
||||
float dll_bw_hz,
|
||||
float early_late_space_chips,
|
||||
std::string device_name,
|
||||
unsigned int device_base);
|
||||
|
||||
|
||||
/*!
|
||||
* \brief This class implements a DLL + PLL tracking loop block
|
||||
*/
|
||||
class Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc : public gr::block
|
||||
{
|
||||
public:
|
||||
~Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc();
|
||||
|
||||
void set_channel(unsigned int channel);
|
||||
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
|
||||
void start_tracking();
|
||||
|
||||
int general_work(int noutput_items, gr_vector_int& ninput_items,
|
||||
gr_vector_const_void_star& input_items, gr_vector_void_star& output_items);
|
||||
|
||||
void reset(void);
|
||||
|
||||
private:
|
||||
friend gps_l1_ca_dll_pll_tracking_fpga_sc_sptr
|
||||
gps_l1_ca_dll_pll_make_tracking_fpga_sc(long if_freq,
|
||||
long fs_in, unsigned int vector_length,
|
||||
bool dump,
|
||||
std::string dump_filename,
|
||||
float pll_bw_hz,
|
||||
float dll_bw_hz,
|
||||
float early_late_space_chips,
|
||||
std::string device_name,
|
||||
unsigned int device_base);
|
||||
|
||||
Gps_L1_Ca_Dll_Pll_Tracking_fpga_sc(long if_freq,
|
||||
long fs_in, unsigned int vector_length,
|
||||
bool dump,
|
||||
std::string dump_filename,
|
||||
float pll_bw_hz,
|
||||
float dll_bw_hz,
|
||||
float early_late_space_chips,
|
||||
std::string device_name,
|
||||
unsigned int device_base);
|
||||
|
||||
// tracking configuration vars
|
||||
unsigned int d_vector_length;
|
||||
bool d_dump;
|
||||
|
||||
Gnss_Synchro* d_acquisition_gnss_synchro;
|
||||
unsigned int d_channel;
|
||||
|
||||
long d_if_freq;
|
||||
long d_fs_in;
|
||||
|
||||
double d_early_late_spc_chips;
|
||||
|
||||
// remaining code phase and carrier phase between tracking loops
|
||||
double d_rem_code_phase_samples;
|
||||
double d_rem_code_phase_chips;
|
||||
double d_rem_carr_phase_rad;
|
||||
|
||||
// PLL and DLL filter library
|
||||
Tracking_2nd_DLL_filter d_code_loop_filter;
|
||||
Tracking_2nd_PLL_filter d_carrier_loop_filter;
|
||||
|
||||
// acquisition
|
||||
double d_acq_code_phase_samples;
|
||||
double d_acq_carrier_doppler_hz;
|
||||
// correlator
|
||||
int d_n_correlator_taps;
|
||||
//float* d_ca_code;
|
||||
//int* d_ca_code_16sc;
|
||||
|
||||
float* d_local_code_shift_chips;
|
||||
gr_complex* d_correlator_outs;
|
||||
std::shared_ptr<fpga_multicorrelator_8sc> multicorrelator_fpga_8sc;
|
||||
|
||||
// tracking vars
|
||||
double d_code_freq_chips;
|
||||
double d_code_phase_step_chips;
|
||||
double d_carrier_doppler_hz;
|
||||
double d_carrier_phase_step_rad;
|
||||
double d_acc_carrier_phase_rad;
|
||||
double d_code_phase_samples;
|
||||
|
||||
//PRN period in samples
|
||||
int d_current_prn_length_samples;
|
||||
|
||||
//processing samples counters
|
||||
unsigned long int d_sample_counter;
|
||||
unsigned long int d_acq_sample_stamp;
|
||||
|
||||
// CN0 estimation and lock detector
|
||||
int d_cn0_estimation_counter;
|
||||
gr_complex* d_Prompt_buffer;
|
||||
double d_carrier_lock_test;
|
||||
double d_CN0_SNV_dB_Hz;
|
||||
double d_carrier_lock_threshold;
|
||||
int d_carrier_lock_fail_counter;
|
||||
|
||||
// control vars
|
||||
bool d_enable_tracking;
|
||||
bool d_pull_in;
|
||||
|
||||
// file dump
|
||||
std::string d_dump_filename;
|
||||
std::ofstream d_dump_file;
|
||||
|
||||
std::map<std::string, std::string> systemName;
|
||||
std::string sys;
|
||||
|
||||
// extra
|
||||
int d_correlation_length_samples;
|
||||
unsigned long int d_sample_counter_next;
|
||||
double d_rem_carrier_phase_rad;
|
||||
|
||||
double d_K_blk_samples_previous;
|
||||
int d_offset_sample_previous;
|
||||
};
|
||||
|
||||
#endif //GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_FPGA_SC_H
|
||||
|
|
@ -46,7 +46,7 @@ set(TRACKING_LIB_SOURCES
|
|||
)
|
||||
|
||||
if(ENABLE_FPGA)
|
||||
SET(TRACKING_LIB_SOURCES ${TRACKING_LIB_SOURCES} fpga_multicorrelator_8sc.cc)
|
||||
SET(TRACKING_LIB_SOURCES ${TRACKING_LIB_SOURCES} fpga_multicorrelator.cc)
|
||||
endif(ENABLE_FPGA)
|
||||
|
||||
include_directories(
|
||||
|
|
|
|||
|
|
@ -34,8 +34,10 @@
|
|||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "fpga_multicorrelator_8sc.h"
|
||||
#include "fpga_multicorrelator.h"
|
||||
|
||||
#include <cmath>
|
||||
|
||||
// FPGA stuff
|
||||
#include <new>
|
||||
|
||||
|
|
@ -65,7 +67,7 @@
|
|||
// constants
|
||||
#include "GPS_L1_CA.h"
|
||||
|
||||
#include "gps_sdr_signal_processing.h"
|
||||
//#include "gps_sdr_signal_processing.h"
|
||||
|
||||
#define NUM_PRNs 32
|
||||
#define PAGE_SIZE 0x10000
|
||||
|
|
@ -73,7 +75,7 @@
|
|||
#define CODE_RESAMPLER_NUM_BITS_PRECISION 20
|
||||
#define CODE_PHASE_STEP_CHIPS_NUM_NBITS CODE_RESAMPLER_NUM_BITS_PRECISION
|
||||
#define pwrtwo(x) (1 << (x))
|
||||
#define MAX_CODE_RESAMPLER_COUNTER pwrtwo(CODE_PHASE_STEP_CHIPS_NUM_NBITS) // 2^CODE_PHASE_STEP_CHIPS_NUM_NBITS
|
||||
#define MAX_CODE_RESAMPLER_COUNTER pwrtwo(CODE_PHASE_STEP_CHIPS_NUM_NBITS) // 2^CODE_PHASE_STEP_CHIPS_NUM_NBITS
|
||||
#define PHASE_CARR_NBITS 32
|
||||
#define PHASE_CARR_NBITS_INT 1
|
||||
#define PHASE_CARR_NBITS_FRAC PHASE_CARR_NBITS - PHASE_CARR_NBITS_INT
|
||||
|
|
@ -84,7 +86,7 @@
|
|||
|
||||
int fpga_multicorrelator_8sc::read_sample_counter()
|
||||
{
|
||||
return d_map_base[7];
|
||||
return d_map_base[7];
|
||||
}
|
||||
|
||||
void fpga_multicorrelator_8sc::set_initial_sample(int samples_offset)
|
||||
|
|
@ -92,16 +94,17 @@ void fpga_multicorrelator_8sc::set_initial_sample(int samples_offset)
|
|||
d_initial_sample_counter = samples_offset;
|
||||
d_map_base[13] = d_initial_sample_counter;
|
||||
}
|
||||
|
||||
|
||||
void fpga_multicorrelator_8sc::set_local_code_and_taps(int code_length_chips,
|
||||
float *shifts_chips, int PRN)
|
||||
float *shifts_chips, int PRN)
|
||||
{
|
||||
|
||||
d_shifts_chips = shifts_chips;
|
||||
d_code_length_chips = code_length_chips;
|
||||
fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code(PRN);
|
||||
}
|
||||
|
||||
void fpga_multicorrelator_8sc::set_output_vectors(gr_complex *corr_out)
|
||||
void fpga_multicorrelator_8sc::set_output_vectors(gr_complex* corr_out)
|
||||
{
|
||||
d_corr_out = corr_out;
|
||||
}
|
||||
|
|
@ -113,18 +116,21 @@ void fpga_multicorrelator_8sc::update_local_code(float rem_code_phase_chips)
|
|||
fpga_multicorrelator_8sc::fpga_configure_code_parameters_in_fpga();
|
||||
}
|
||||
|
||||
|
||||
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)
|
||||
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_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;
|
||||
|
|
@ -137,9 +143,8 @@ void fpga_multicorrelator_8sc::Carrier_wipeoff_multicorrelator_resampler(
|
|||
fpga_multicorrelator_8sc::read_tracking_gps_results();
|
||||
}
|
||||
|
||||
|
||||
fpga_multicorrelator_8sc::fpga_multicorrelator_8sc(int n_correlators,
|
||||
std::string device_name, unsigned int device_base)
|
||||
std::string device_name, unsigned int device_base, int *ca_codes, unsigned int code_length)
|
||||
{
|
||||
d_n_correlators = n_correlators;
|
||||
d_device_name = device_name;
|
||||
|
|
@ -148,10 +153,10 @@ 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(
|
||||
n_correlators * sizeof(unsigned), volk_gnsssdr_get_alignment()));
|
||||
d_initial_interp_counter = static_cast<unsigned *>(volk_gnsssdr_malloc(
|
||||
n_correlators * sizeof(unsigned), volk_gnsssdr_get_alignment()));
|
||||
d_initial_index = static_cast<unsigned*>(volk_gnsssdr_malloc(
|
||||
n_correlators * sizeof(unsigned), volk_gnsssdr_get_alignment()));
|
||||
d_initial_interp_counter = static_cast<unsigned*>(volk_gnsssdr_malloc(
|
||||
n_correlators * sizeof(unsigned), volk_gnsssdr_get_alignment()));
|
||||
|
||||
//d_local_code_in = nullptr;
|
||||
d_shifts_chips = nullptr;
|
||||
|
|
@ -165,21 +170,24 @@ fpga_multicorrelator_8sc::fpga_multicorrelator_8sc(int n_correlators,
|
|||
d_phase_step_rad_int = 0;
|
||||
d_initial_sample_counter = 0;
|
||||
d_channel = 0;
|
||||
d_correlator_length_samples = 0;
|
||||
|
||||
d_correlator_length_samples = 0,
|
||||
d_code_length = code_length;
|
||||
|
||||
// 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);
|
||||
}
|
||||
// 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);
|
||||
// }
|
||||
d_ca_codes = ca_codes;
|
||||
DLOG(INFO) << "TRACKING FPGA CLASS CREATED";
|
||||
|
||||
}
|
||||
|
||||
|
||||
fpga_multicorrelator_8sc::~fpga_multicorrelator_8sc()
|
||||
{
|
||||
delete[] d_ca_codes;
|
||||
delete[] d_ca_codes;
|
||||
close_device();
|
||||
}
|
||||
|
||||
|
|
@ -187,7 +195,7 @@ fpga_multicorrelator_8sc::~fpga_multicorrelator_8sc()
|
|||
bool fpga_multicorrelator_8sc::free()
|
||||
{
|
||||
// unlock the channel
|
||||
fpga_multicorrelator_8sc::unlock_channel();
|
||||
fpga_multicorrelator_8sc::unlock_channel();
|
||||
|
||||
// free the FPGA dynamically created variables
|
||||
if (d_initial_index != nullptr)
|
||||
|
|
@ -208,7 +216,7 @@ 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
|
||||
char device_io_name[MAX_LENGTH_DEVICEIO_NAME]; // driver io name
|
||||
d_channel = channel;
|
||||
|
||||
// open the device corresponding to the assigned channel
|
||||
|
|
@ -223,12 +231,12 @@ void fpga_multicorrelator_8sc::set_channel(unsigned int channel)
|
|||
LOG(WARNING) << "Cannot open deviceio" << device_io_name;
|
||||
}
|
||||
d_map_base = reinterpret_cast<volatile unsigned *>(mmap(NULL, PAGE_SIZE,
|
||||
PROT_READ | PROT_WRITE, MAP_SHARED, d_device_descriptor, 0));
|
||||
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";
|
||||
<< d_channel << "into user memory";
|
||||
}
|
||||
|
||||
// sanity check : check test register
|
||||
|
|
@ -247,7 +255,7 @@ void fpga_multicorrelator_8sc::set_channel(unsigned int channel)
|
|||
|
||||
|
||||
unsigned fpga_multicorrelator_8sc::fpga_acquisition_test_register(
|
||||
unsigned writeval)
|
||||
unsigned writeval)
|
||||
{
|
||||
unsigned readval;
|
||||
// write value to test register
|
||||
|
|
@ -272,7 +280,7 @@ void fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code(int PRN)
|
|||
for (k = 0; k < d_code_length_chips; k++)
|
||||
{
|
||||
//if (d_local_code_in[k] == 1)
|
||||
if (d_ca_codes[((int(GPS_L1_CA_CODE_LENGTH_CHIPS)) * (PRN - 1)) + k] == 1)
|
||||
if (d_ca_codes[((int(d_code_length)) * (PRN - 1)) + k] == 1)
|
||||
{
|
||||
code_chip = 1;
|
||||
}
|
||||
|
|
@ -281,9 +289,11 @@ void fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code(int PRN)
|
|||
code_chip = 0;
|
||||
}
|
||||
// copy the local code to the FPGA memory one by one
|
||||
d_map_base[11] = LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY | code_chip | select_fpga_correlator;
|
||||
d_map_base[11] = LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY
|
||||
| code_chip | select_fpga_correlator;
|
||||
}
|
||||
select_fpga_correlator = select_fpga_correlator + LOCAL_CODE_FPGA_CORRELATOR_SELECT_COUNT;
|
||||
select_fpga_correlator = select_fpga_correlator
|
||||
+ LOCAL_CODE_FPGA_CORRELATOR_SELECT_COUNT;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -296,20 +306,20 @@ void fpga_multicorrelator_8sc::fpga_compute_code_shift_parameters(void)
|
|||
for (i = 0; i < d_n_correlators; i++)
|
||||
{
|
||||
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
|
||||
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);
|
||||
d_initial_index[i] = static_cast<unsigned>( (static_cast<int>(temp_calculation)) % d_code_length_chips);
|
||||
temp_calculation = fmod(d_shifts_chips[i] - d_rem_code_phase_chips,
|
||||
1.0);
|
||||
1.0);
|
||||
if (temp_calculation < 0)
|
||||
{
|
||||
temp_calculation = temp_calculation + 1.0; // fmod operator does not work as in Matlab with negative numbers
|
||||
temp_calculation = temp_calculation + 1.0; // fmod operator does not work as in Matlab with negative numbers
|
||||
}
|
||||
d_initial_interp_counter[i] = static_cast<unsigned>(floor(MAX_CODE_RESAMPLER_COUNTER * temp_calculation));
|
||||
d_initial_interp_counter[i] = static_cast<unsigned>( floor( MAX_CODE_RESAMPLER_COUNTER * temp_calculation));
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -322,7 +332,7 @@ void fpga_multicorrelator_8sc::fpga_configure_code_parameters_in_fpga(void)
|
|||
d_map_base[1 + i] = d_initial_index[i];
|
||||
d_map_base[1 + d_n_correlators + i] = d_initial_interp_counter[i];
|
||||
}
|
||||
d_map_base[8] = d_code_length_chips - 1; // number of samples - 1
|
||||
d_map_base[8] = d_code_length_chips - 1; // number of samples - 1
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -330,27 +340,30 @@ 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));
|
||||
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;
|
||||
d_rem_carrier_phase_in_rad_temp = -2 * M_PI
|
||||
+ d_rem_carrier_phase_in_rad;
|
||||
}
|
||||
else if (d_rem_carrier_phase_in_rad < -M_PI)
|
||||
{
|
||||
d_rem_carrier_phase_in_rad_temp = 2 * M_PI + d_rem_carrier_phase_in_rad;
|
||||
d_rem_carrier_phase_in_rad_temp = 2 * M_PI
|
||||
+ d_rem_carrier_phase_in_rad;
|
||||
}
|
||||
else
|
||||
{
|
||||
d_rem_carrier_phase_in_rad_temp = d_rem_carrier_phase_in_rad;
|
||||
}
|
||||
d_rem_carr_phase_rad_int = static_cast<int>(roundf(
|
||||
(fabs(d_rem_carrier_phase_in_rad_temp) / M_PI) * pow(2, PHASE_CARR_NBITS_FRAC)));
|
||||
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;
|
||||
}
|
||||
d_phase_step_rad_int = static_cast<int>(roundf(
|
||||
(fabs(d_phase_step_rad) / M_PI) * pow(2, PHASE_CARR_NBITS_FRAC))); // the FPGA accepts a range for the phase step between -pi and +pi
|
||||
d_phase_step_rad_int = static_cast<int>( roundf(
|
||||
(fabs(d_phase_step_rad) / M_PI) * pow(2, PHASE_CARR_NBITS_FRAC))); // the FPGA accepts a range for the phase step between -pi and +pi
|
||||
|
||||
if (d_phase_step_rad < 0)
|
||||
{
|
||||
|
|
@ -372,10 +385,10 @@ 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));
|
||||
|
||||
// writing 1 to reg 14 launches the tracking
|
||||
d_map_base[14] = 1;
|
||||
// writing 1 to reg 14 launches the tracking
|
||||
d_map_base[14] = 1;
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -388,17 +401,17 @@ void fpga_multicorrelator_8sc::read_tracking_gps_results(void)
|
|||
for (k = 0; k < d_n_correlators; k++)
|
||||
{
|
||||
readval_real = d_map_base[1 + k];
|
||||
if (readval_real >= 1048576) // 0x100000 (21 bits two's complement)
|
||||
if (readval_real >= 1048576) // 0x100000 (21 bits two's complement)
|
||||
{
|
||||
readval_real = -2097152 + readval_real;
|
||||
}
|
||||
|
||||
readval_imag = d_map_base[1 + d_n_correlators + k];
|
||||
if (readval_imag >= 1048576) // 0x100000 (21 bits two's complement)
|
||||
if (readval_imag >= 1048576) // 0x100000 (21 bits two's complement)
|
||||
{
|
||||
readval_imag = -2097152 + readval_imag;
|
||||
}
|
||||
d_corr_out[k] = gr_complex(readval_real, readval_imag);
|
||||
d_corr_out[k] = gr_complex(readval_real,readval_imag);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -406,42 +419,40 @@ void fpga_multicorrelator_8sc::read_tracking_gps_results(void)
|
|||
void fpga_multicorrelator_8sc::unlock_channel(void)
|
||||
{
|
||||
// unlock the channel to let the next samples go through
|
||||
d_map_base[12] = 1; // unlock the channel
|
||||
d_map_base[12] = 1; // unlock the channel
|
||||
}
|
||||
|
||||
|
||||
void fpga_multicorrelator_8sc::close_device()
|
||||
{
|
||||
unsigned *aux = const_cast<unsigned *>(d_map_base);
|
||||
if (munmap(static_cast<void *>(aux), PAGE_SIZE) == -1)
|
||||
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
|
||||
/* 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
|
||||
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];
|
||||
*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
|
||||
d_map_base[14] = 2; // writing a 2 to d_map_base[14] resets the multicorrelator
|
||||
}
|
||||
|
|
@ -49,46 +49,46 @@ class fpga_multicorrelator_8sc
|
|||
{
|
||||
public:
|
||||
fpga_multicorrelator_8sc(int n_correlators, std::string device_name,
|
||||
unsigned int device_base);
|
||||
unsigned int device_base, int *ca_codes, unsigned int code_length);
|
||||
~fpga_multicorrelator_8sc();
|
||||
//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_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);
|
||||
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(
|
||||
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();
|
||||
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
|
||||
|
||||
void read_sample_counters(int *sample_counter, int *secondary_sample_counter, int *counter_corr_0_in, int *counter_corr_0_out); // debug
|
||||
|
||||
|
||||
private:
|
||||
//const int *d_local_code_in;
|
||||
gr_complex *d_corr_out;
|
||||
gr_complex * d_corr_out;
|
||||
float *d_shifts_chips;
|
||||
int d_code_length_chips;
|
||||
int d_n_correlators;
|
||||
|
||||
// data related to the hardware module and the driver
|
||||
int d_device_descriptor; // driver descriptor
|
||||
volatile unsigned *d_map_base; // driver memory map
|
||||
int d_device_descriptor; // driver descriptor
|
||||
volatile unsigned *d_map_base; // driver memory map
|
||||
|
||||
// configuration data received from the interface
|
||||
unsigned int d_channel; // channel number
|
||||
unsigned d_ncorrelators; // number of correlators
|
||||
unsigned int d_channel; // channel number
|
||||
unsigned d_ncorrelators; // number of correlators
|
||||
unsigned d_correlator_length_samples;
|
||||
float d_rem_code_phase_chips;
|
||||
float d_code_phase_step_chips;
|
||||
|
|
@ -107,7 +107,10 @@ private:
|
|||
std::string d_device_name;
|
||||
unsigned int d_device_base;
|
||||
|
||||
int *d_ca_codes;
|
||||
|
||||
int* d_ca_codes;
|
||||
|
||||
unsigned int d_code_length; // nominal number of chips
|
||||
|
||||
// private functions
|
||||
unsigned fpga_acquisition_test_register(unsigned writeval);
|
||||
|
|
@ -118,8 +121,11 @@ private:
|
|||
void fpga_configure_signal_parameters_in_fpga(void);
|
||||
void fpga_launch_multicorrelator_fpga(void);
|
||||
void read_tracking_gps_results(void);
|
||||
void reset_multicorrelator(void);
|
||||
void close_device(void);
|
||||
void reset_multicorrelator(void);
|
||||
void close_device(void);
|
||||
|
||||
// debug
|
||||
//unsigned int first_time = 1;
|
||||
};
|
||||
|
||||
#endif /* GNSS_SDR_FPGA_MULTICORRELATOR_H_ */
|
||||
|
|
@ -36,8 +36,8 @@
|
|||
#include <iostream>
|
||||
#include <unistd.h>
|
||||
#include <armadillo>
|
||||
#include <boost/thread.hpp> // to test the FPGA we have to create a simultaneous task to send the samples using the DMA and stop the test
|
||||
#include <stdio.h> // FPGA read input file
|
||||
#include <boost/thread.hpp>// to test the FPGA we have to create a simultaneous task to send the samples using the DMA and stop the test
|
||||
#include <stdio.h>// FPGA read input file
|
||||
#include <gnuradio/top_block.h>
|
||||
#include <gnuradio/blocks/file_source.h>
|
||||
#include <gnuradio/analog/sig_source_waveform.h>
|
||||
|
|
@ -61,17 +61,17 @@
|
|||
#include "signal_generator_flags.h"
|
||||
#include "interleaved_byte_to_complex_short.h"
|
||||
|
||||
#define DMA_TRACK_TRANSFER_SIZE 2046 // DMA transfer size for tracking
|
||||
#define MIN_SAMPLES_REMAINING 20000 // number of remaining samples in the DMA that causes the CPU to stop the flowgraph (it has to be a bit alrger than 2x max packet size)
|
||||
#define FIVE_SECONDS 5000000 // five seconds in microseconds
|
||||
#define DMA_TRACK_TRANSFER_SIZE 2046 // DMA transfer size for tracking
|
||||
#define MIN_SAMPLES_REMAINING 20000 // number of remaining samples in the DMA that causes the CPU to stop the flowgraph (it has to be a bit alrger than 2x max packet size)
|
||||
#define FIVE_SECONDS 5000000 // five seconds in microseconds
|
||||
|
||||
void send_tracking_gps_input_samples(FILE *rx_signal_file,
|
||||
int num_remaining_samples, gr::top_block_sptr top_block)
|
||||
int num_remaining_samples, gr::top_block_sptr top_block)
|
||||
{
|
||||
int num_samples_transferred = 0; // number of samples that have been transferred to the DMA so far
|
||||
static int flowgraph_stopped = 0; // flag to indicate if the flowgraph is stopped already
|
||||
char *buffer_DMA; // temporary buffer to store the samples to be sent to the DMA
|
||||
int dma_descr; // DMA descriptor
|
||||
int num_samples_transferred = 0; // number of samples that have been transferred to the DMA so far
|
||||
static int flowgraph_stopped = 0; // flag to indicate if the flowgraph is stopped already
|
||||
char *buffer_DMA; // temporary buffer to store the samples to be sent to the DMA
|
||||
int dma_descr; // DMA descriptor
|
||||
dma_descr = open("/dev/loop_tx", O_WRONLY);
|
||||
if (dma_descr < 0)
|
||||
{
|
||||
|
|
@ -79,7 +79,7 @@ void send_tracking_gps_input_samples(FILE *rx_signal_file,
|
|||
exit(1);
|
||||
}
|
||||
|
||||
buffer_DMA = (char *)malloc(DMA_TRACK_TRANSFER_SIZE);
|
||||
buffer_DMA = (char *) malloc(DMA_TRACK_TRANSFER_SIZE);
|
||||
if (!buffer_DMA)
|
||||
{
|
||||
fprintf(stderr, "Memory error!");
|
||||
|
|
@ -98,7 +98,8 @@ void send_tracking_gps_input_samples(FILE *rx_signal_file,
|
|||
}
|
||||
if (num_remaining_samples > DMA_TRACK_TRANSFER_SIZE)
|
||||
{
|
||||
fread(buffer_DMA, DMA_TRACK_TRANSFER_SIZE, 1, rx_signal_file);
|
||||
|
||||
fread(buffer_DMA, DMA_TRACK_TRANSFER_SIZE, 1,rx_signal_file);
|
||||
|
||||
assert(DMA_TRACK_TRANSFER_SIZE == write(dma_descr, &buffer_DMA[0], DMA_TRACK_TRANSFER_SIZE));
|
||||
num_remaining_samples = num_remaining_samples - DMA_TRACK_TRANSFER_SIZE;
|
||||
|
|
@ -120,11 +121,11 @@ void send_tracking_gps_input_samples(FILE *rx_signal_file,
|
|||
|
||||
|
||||
// thread that sends the samples to the FPGA
|
||||
void thread(gr::top_block_sptr top_block, const char *file_name)
|
||||
void thread(gr::top_block_sptr top_block, const char * file_name)
|
||||
{
|
||||
// file descriptor
|
||||
FILE *rx_signal_file; // file descriptor
|
||||
int file_length; // length of the file containing the received samples
|
||||
FILE *rx_signal_file; // file descriptor
|
||||
int file_length; // length of the file containing the received samples
|
||||
|
||||
rx_signal_file = fopen(file_name, "rb");
|
||||
if (!rx_signal_file)
|
||||
|
|
@ -136,7 +137,7 @@ void thread(gr::top_block_sptr top_block, const char *file_name)
|
|||
file_length = ftell(rx_signal_file);
|
||||
fseek(rx_signal_file, 0, SEEK_SET);
|
||||
|
||||
usleep(FIVE_SECONDS); // wait for some time to give time to the other thread to program the device
|
||||
usleep(FIVE_SECONDS); // wait for some time to give time to the other thread to program the device
|
||||
|
||||
//send_tracking_gps_input_samples(dma_descr, rx_signal_file, file_length);
|
||||
send_tracking_gps_input_samples(rx_signal_file, file_length, top_block);
|
||||
|
|
@ -162,14 +163,14 @@ private:
|
|||
|
||||
public:
|
||||
int rx_message;
|
||||
~GpsL1CADllPllTrackingTestFpga_msg_rx(); //!< Default destructor
|
||||
~GpsL1CADllPllTrackingTestFpga_msg_rx(); //!< Default destructor
|
||||
};
|
||||
|
||||
|
||||
GpsL1CADllPllTrackingTestFpga_msg_rx_sptr GpsL1CADllPllTrackingTestFpga_msg_rx_make()
|
||||
{
|
||||
return GpsL1CADllPllTrackingTestFpga_msg_rx_sptr(
|
||||
new GpsL1CADllPllTrackingTestFpga_msg_rx());
|
||||
new GpsL1CADllPllTrackingTestFpga_msg_rx());
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -180,7 +181,7 @@ void GpsL1CADllPllTrackingTestFpga_msg_rx::msg_handler_events(pmt::pmt_t msg)
|
|||
long int message = pmt::to_long(msg);
|
||||
rx_message = message;
|
||||
}
|
||||
catch (boost::bad_any_cast &e)
|
||||
catch (boost::bad_any_cast& e)
|
||||
{
|
||||
LOG(WARNING) << "msg_handler_telemetry Bad any cast!";
|
||||
rx_message = 0;
|
||||
|
|
@ -188,22 +189,22 @@ void GpsL1CADllPllTrackingTestFpga_msg_rx::msg_handler_events(pmt::pmt_t msg)
|
|||
}
|
||||
|
||||
|
||||
GpsL1CADllPllTrackingTestFpga_msg_rx::GpsL1CADllPllTrackingTestFpga_msg_rx() : gr::block("GpsL1CADllPllTrackingTestFpga_msg_rx",
|
||||
gr::io_signature::make(0, 0, 0),
|
||||
gr::io_signature::make(0, 0, 0))
|
||||
GpsL1CADllPllTrackingTestFpga_msg_rx::GpsL1CADllPllTrackingTestFpga_msg_rx() :
|
||||
gr::block("GpsL1CADllPllTrackingTestFpga_msg_rx",
|
||||
gr::io_signature::make(0, 0, 0),
|
||||
gr::io_signature::make(0, 0, 0))
|
||||
{
|
||||
this->message_port_register_in(pmt::mp("events"));
|
||||
this->set_msg_handler(pmt::mp("events"),
|
||||
boost::bind(
|
||||
&GpsL1CADllPllTrackingTestFpga_msg_rx::msg_handler_events,
|
||||
this, _1));
|
||||
boost::bind(
|
||||
&GpsL1CADllPllTrackingTestFpga_msg_rx::msg_handler_events,
|
||||
this, _1));
|
||||
rx_message = 0;
|
||||
}
|
||||
|
||||
|
||||
GpsL1CADllPllTrackingTestFpga_msg_rx::~GpsL1CADllPllTrackingTestFpga_msg_rx()
|
||||
{
|
||||
}
|
||||
{}
|
||||
|
||||
|
||||
// ###########################################################
|
||||
|
|
@ -225,12 +226,12 @@ public:
|
|||
|
||||
int configure_generator();
|
||||
int generate_signal();
|
||||
void check_results_doppler(arma::vec &true_time_s, arma::vec &true_value,
|
||||
arma::vec &meas_time_s, arma::vec &meas_value);
|
||||
void check_results_acc_carrier_phase(arma::vec &true_time_s,
|
||||
arma::vec &true_value, arma::vec &meas_time_s, arma::vec &meas_value);
|
||||
void check_results_codephase(arma::vec &true_time_s, arma::vec &true_value,
|
||||
arma::vec &meas_time_s, arma::vec &meas_value);
|
||||
void check_results_doppler(arma::vec & true_time_s, arma::vec & true_value,
|
||||
arma::vec & meas_time_s, arma::vec & meas_value);
|
||||
void check_results_acc_carrier_phase(arma::vec & true_time_s,
|
||||
arma::vec & true_value, arma::vec & meas_time_s, arma::vec & meas_value);
|
||||
void check_results_codephase(arma::vec & true_time_s, arma::vec & true_value,
|
||||
arma::vec & meas_time_s, arma::vec & meas_value);
|
||||
|
||||
GpsL1CADllPllTrackingTestFpga()
|
||||
{
|
||||
|
|
@ -262,15 +263,16 @@ int GpsL1CADllPllTrackingTestFpga::configure_generator()
|
|||
p1 = std::string("-rinex_nav_file=") + FLAGS_rinex_nav_file;
|
||||
if (FLAGS_dynamic_position.empty())
|
||||
{
|
||||
p2 = std::string("-static_position=") + FLAGS_static_position + std::string(",") + std::to_string(FLAGS_duration * 10);
|
||||
p2 = std::string("-static_position=") + FLAGS_static_position
|
||||
+ std::string(",") + std::to_string(FLAGS_duration * 10);
|
||||
}
|
||||
else
|
||||
{
|
||||
p2 = std::string("-obs_pos_file=") + std::string(FLAGS_dynamic_position);
|
||||
}
|
||||
p3 = std::string("-rinex_obs_file=") + FLAGS_filename_rinex_obs; // RINEX 2.10 observation file output
|
||||
p4 = std::string("-sig_out_file=") + FLAGS_filename_raw_data; // Baseband signal output file. Will be stored in int8_t IQ multiplexed samples
|
||||
p5 = std::string("-sampling_freq=") + std::to_string(baseband_sampling_freq); //Baseband sampling frequency [MSps]
|
||||
p3 = std::string("-rinex_obs_file=") + FLAGS_filename_rinex_obs; // RINEX 2.10 observation file output
|
||||
p4 = std::string("-sig_out_file=") + FLAGS_filename_raw_data; // Baseband signal output file. Will be stored in int8_t IQ multiplexed samples
|
||||
p5 = std::string("-sampling_freq=") + std::to_string(baseband_sampling_freq); //Baseband sampling frequency [MSps]
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
|
@ -279,8 +281,8 @@ int GpsL1CADllPllTrackingTestFpga::generate_signal()
|
|||
{
|
||||
int child_status;
|
||||
|
||||
char *const parmList[] = {&generator_binary[0], &generator_binary[0], &p1[0], &p2[0], &p3[0],
|
||||
&p4[0], &p5[0], NULL};
|
||||
char * const parmList[] = { &generator_binary[0], &generator_binary[0], &p1[0], &p2[0], &p3[0],
|
||||
&p4[0], &p5[0], NULL };
|
||||
|
||||
int pid;
|
||||
if ((pid = fork()) == -1)
|
||||
|
|
@ -308,12 +310,12 @@ void GpsL1CADllPllTrackingTestFpga::configure_receiver()
|
|||
gnss_synchro.PRN = FLAGS_test_satellite_PRN;
|
||||
|
||||
config->set_property("GNSS-SDR.internal_fs_sps",
|
||||
std::to_string(baseband_sampling_freq));
|
||||
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_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");
|
||||
|
|
@ -326,8 +328,8 @@ void GpsL1CADllPllTrackingTestFpga::configure_receiver()
|
|||
}
|
||||
|
||||
|
||||
void GpsL1CADllPllTrackingTestFpga::check_results_doppler(arma::vec &true_time_s,
|
||||
arma::vec &true_value, arma::vec &meas_time_s, arma::vec &meas_value)
|
||||
void GpsL1CADllPllTrackingTestFpga::check_results_doppler(arma::vec & true_time_s,
|
||||
arma::vec & true_value, arma::vec & meas_time_s, arma::vec & meas_value)
|
||||
{
|
||||
//1. True value interpolation to match the measurement times
|
||||
arma::vec true_value_interp;
|
||||
|
|
@ -360,13 +362,13 @@ void GpsL1CADllPllTrackingTestFpga::check_results_doppler(arma::vec &true_time_s
|
|||
<< ", mean=" << error_mean << ", stdev=" << sqrt(error_var)
|
||||
<< " (max,min)=" << max_error << "," << min_error << " [Hz]"
|
||||
<< std::endl;
|
||||
std::cout.precision(ss);
|
||||
std::cout.precision (ss);
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CADllPllTrackingTestFpga::check_results_acc_carrier_phase(
|
||||
arma::vec &true_time_s, arma::vec &true_value, arma::vec &meas_time_s,
|
||||
arma::vec &meas_value)
|
||||
arma::vec & true_time_s, arma::vec & true_value, arma::vec & meas_time_s,
|
||||
arma::vec & meas_value)
|
||||
{
|
||||
//1. True value interpolation to match the measurement times
|
||||
arma::vec true_value_interp;
|
||||
|
|
@ -399,13 +401,13 @@ void GpsL1CADllPllTrackingTestFpga::check_results_acc_carrier_phase(
|
|||
<< ", mean=" << error_mean << ", stdev=" << sqrt(error_var)
|
||||
<< " (max,min)=" << max_error << "," << min_error << " [Hz]"
|
||||
<< std::endl;
|
||||
std::cout.precision(ss);
|
||||
std::cout.precision (ss);
|
||||
}
|
||||
|
||||
|
||||
void GpsL1CADllPllTrackingTestFpga::check_results_codephase(
|
||||
arma::vec &true_time_s, arma::vec &true_value, arma::vec &meas_time_s,
|
||||
arma::vec &meas_value)
|
||||
arma::vec & true_time_s, arma::vec & true_value, arma::vec & meas_time_s,
|
||||
arma::vec & meas_value)
|
||||
{
|
||||
//1. True value interpolation to match the measurement times
|
||||
arma::vec true_value_interp;
|
||||
|
|
@ -437,7 +439,7 @@ void GpsL1CADllPllTrackingTestFpga::check_results_codephase(
|
|||
<< ", mean=" << error_mean << ", stdev=" << sqrt(error_var)
|
||||
<< " (max,min)=" << max_error << "," << min_error << " [Chips]"
|
||||
<< std::endl;
|
||||
std::cout.precision(ss);
|
||||
std::cout.precision (ss);
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -461,29 +463,27 @@ TEST_F(GpsL1CADllPllTrackingTestFpga, ValidationOfResultsFpga)
|
|||
true_obs_file.append(std::to_string(test_satellite_PRN));
|
||||
true_obs_file.append(".dat");
|
||||
ASSERT_NO_THROW(
|
||||
{
|
||||
if (true_obs_data.open_obs_file(true_obs_file) == false)
|
||||
{
|
||||
throw std::exception();
|
||||
};
|
||||
})
|
||||
<< "Failure opening true observables file";
|
||||
if (true_obs_data.open_obs_file(true_obs_file) == false)
|
||||
{
|
||||
throw std::exception();
|
||||
};
|
||||
}) << "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<GpsL1CaDllPllTrackingFpga> tracking = std::make_shared<GpsL1CaDllPllTrackingFpga>(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();
|
||||
|
||||
// load acquisition data based on the first epoch of the true observations
|
||||
ASSERT_NO_THROW(
|
||||
{
|
||||
if (true_obs_data.read_binary_obs() == false)
|
||||
{
|
||||
throw std::exception();
|
||||
};
|
||||
})
|
||||
<< "Failure reading true observables file";
|
||||
if (true_obs_data.read_binary_obs() == false)
|
||||
{
|
||||
throw std::exception();
|
||||
};
|
||||
}) << "Failure reading true observables file";
|
||||
|
||||
//restart the epoch counter
|
||||
true_obs_data.restart();
|
||||
|
|
@ -492,54 +492,52 @@ TEST_F(GpsL1CADllPllTrackingTestFpga, ValidationOfResultsFpga)
|
|||
<< " Initial code delay [Chips]=" << true_obs_data.prn_delay_chips
|
||||
<< std::endl;
|
||||
|
||||
gnss_synchro.Acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS - true_obs_data.prn_delay_chips / GPS_L1_CA_CODE_LENGTH_CHIPS) * baseband_sampling_freq * GPS_L1_CA_CODE_PERIOD;
|
||||
gnss_synchro.Acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS
|
||||
- true_obs_data.prn_delay_chips / GPS_L1_CA_CODE_LENGTH_CHIPS)
|
||||
* baseband_sampling_freq * GPS_L1_CA_CODE_PERIOD;
|
||||
gnss_synchro.Acq_doppler_hz = true_obs_data.doppler_l1_hz;
|
||||
gnss_synchro.Acq_samplestamp_samples = 0;
|
||||
|
||||
ASSERT_NO_THROW(
|
||||
{
|
||||
tracking->set_channel(gnss_synchro.Channel_ID);
|
||||
})
|
||||
<< "Failure setting channel.";
|
||||
{
|
||||
tracking->set_channel(gnss_synchro.Channel_ID);
|
||||
}) << "Failure setting channel.";
|
||||
|
||||
ASSERT_NO_THROW(
|
||||
{
|
||||
tracking->set_gnss_synchro(&gnss_synchro);
|
||||
})
|
||||
<< "Failure setting gnss_synchro.";
|
||||
{
|
||||
tracking->set_gnss_synchro(&gnss_synchro);
|
||||
}) << "Failure setting gnss_synchro.";
|
||||
|
||||
ASSERT_NO_THROW(
|
||||
{
|
||||
tracking->connect(top_block);
|
||||
})
|
||||
<< "Failure connecting tracking to the top_block.";
|
||||
{
|
||||
tracking->connect(top_block);
|
||||
}) << "Failure connecting tracking to the top_block.";
|
||||
|
||||
ASSERT_NO_THROW(
|
||||
{
|
||||
gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
|
||||
top_block->connect(tracking->get_right_block(), 0, sink, 0);
|
||||
top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
|
||||
})
|
||||
<< "Failure connecting the blocks of tracking test.";
|
||||
{
|
||||
gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
|
||||
top_block->connect(tracking->get_right_block(), 0, sink, 0);
|
||||
top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
|
||||
}) << "Failure connecting the blocks of tracking test.";
|
||||
|
||||
tracking->start_tracking();
|
||||
|
||||
// assemble again the file name in a null terminated string (not available by default in the main program flow)
|
||||
std::string file = "./" + filename_raw_data;
|
||||
const char *file_name = file.c_str();
|
||||
const char * file_name = file.c_str();
|
||||
|
||||
// start thread that sends the DMA samples to the FPGA
|
||||
boost::thread t{thread, top_block, file_name};
|
||||
boost::thread t
|
||||
{ thread, top_block, file_name };
|
||||
|
||||
EXPECT_NO_THROW(
|
||||
{
|
||||
start = std::chrono::system_clock::now();
|
||||
top_block->run(); // Start threads and wait
|
||||
tracking->reset(); // unlock the channel
|
||||
end = std::chrono::system_clock::now();
|
||||
elapsed_seconds = end - start;
|
||||
})
|
||||
<< "Failure running the top_block.";
|
||||
{
|
||||
start = std::chrono::system_clock::now();
|
||||
top_block->run(); // Start threads and wait
|
||||
//tracking->reset();// unlock the channel
|
||||
end = std::chrono::system_clock::now();
|
||||
elapsed_seconds = end - start;
|
||||
}) << "Failure running the top_block.";
|
||||
|
||||
// wait until child thread terminates
|
||||
t.join();
|
||||
|
|
@ -569,13 +567,12 @@ TEST_F(GpsL1CADllPllTrackingTestFpga, ValidationOfResultsFpga)
|
|||
//load the measured values
|
||||
tracking_dump_reader trk_dump;
|
||||
ASSERT_NO_THROW(
|
||||
{
|
||||
if (trk_dump.open_obs_file(std::string("./tracking_ch_0.dat")) == false)
|
||||
{
|
||||
throw std::exception();
|
||||
};
|
||||
})
|
||||
<< "Failure opening tracking dump file";
|
||||
if (trk_dump.open_obs_file(std::string("./tracking_ch_0.dat")) == false)
|
||||
{
|
||||
throw std::exception();
|
||||
};
|
||||
}) << "Failure opening tracking dump file";
|
||||
|
||||
nepoch = trk_dump.num_epochs();
|
||||
std::cout << "Measured observation epochs=" << nepoch << std::endl;
|
||||
|
|
@ -588,11 +585,14 @@ TEST_F(GpsL1CADllPllTrackingTestFpga, ValidationOfResultsFpga)
|
|||
epoch_counter = 0;
|
||||
while (trk_dump.read_binary_obs())
|
||||
{
|
||||
trk_timestamp_s(epoch_counter) = static_cast<double>(trk_dump.PRN_start_sample_count) / static_cast<double>(baseband_sampling_freq);
|
||||
trk_timestamp_s(epoch_counter) = static_cast<double>(trk_dump.PRN_start_sample_count)
|
||||
/ static_cast<double>(baseband_sampling_freq);
|
||||
trk_acc_carrier_phase_cycles(epoch_counter) = trk_dump.acc_carrier_phase_rad / GPS_TWO_PI;
|
||||
trk_Doppler_Hz(epoch_counter) = trk_dump.carrier_doppler_hz;
|
||||
|
||||
double delay_chips = GPS_L1_CA_CODE_LENGTH_CHIPS - GPS_L1_CA_CODE_LENGTH_CHIPS * (fmod((static_cast<double>(trk_dump.PRN_start_sample_count) + trk_dump.aux1) / static_cast<double>(baseband_sampling_freq), 1.0e-3) / 1.0e-3);
|
||||
double delay_chips = GPS_L1_CA_CODE_LENGTH_CHIPS - GPS_L1_CA_CODE_LENGTH_CHIPS
|
||||
* (fmod( (static_cast<double>(trk_dump.PRN_start_sample_count) + trk_dump.aux1)
|
||||
/ static_cast<double>(baseband_sampling_freq), 1.0e-3) / 1.0e-3);
|
||||
|
||||
trk_prn_delay_chips(epoch_counter) = delay_chips;
|
||||
epoch_counter++;
|
||||
|
|
@ -600,7 +600,7 @@ TEST_F(GpsL1CADllPllTrackingTestFpga, ValidationOfResultsFpga)
|
|||
|
||||
//Align initial measurements and cut the tracking pull-in transitory
|
||||
double pull_in_offset_s = 1.0;
|
||||
arma::uvec initial_meas_point = arma::find(trk_timestamp_s >= (true_timestamp_s(0) + pull_in_offset_s), 1, "first");
|
||||
arma::uvec initial_meas_point = arma::find( trk_timestamp_s >= (true_timestamp_s(0) + pull_in_offset_s), 1, "first");
|
||||
|
||||
trk_timestamp_s = trk_timestamp_s.subvec(initial_meas_point(0), trk_timestamp_s.size() - 1);
|
||||
trk_acc_carrier_phase_cycles = trk_acc_carrier_phase_cycles.subvec(initial_meas_point(0), trk_acc_carrier_phase_cycles.size() - 1);
|
||||
|
|
@ -610,8 +610,8 @@ TEST_F(GpsL1CADllPllTrackingTestFpga, ValidationOfResultsFpga)
|
|||
check_results_doppler(true_timestamp_s, true_Doppler_Hz, trk_timestamp_s, trk_Doppler_Hz);
|
||||
check_results_codephase(true_timestamp_s, true_prn_delay_chips, trk_timestamp_s, trk_prn_delay_chips);
|
||||
check_results_acc_carrier_phase(true_timestamp_s,
|
||||
true_acc_carrier_phase_cycles, trk_timestamp_s,
|
||||
trk_acc_carrier_phase_cycles);
|
||||
true_acc_carrier_phase_cycles, trk_timestamp_s,
|
||||
trk_acc_carrier_phase_cycles);
|
||||
|
||||
std::cout << "Signal tracking completed in " << elapsed_seconds.count() * 1e6 << " microseconds" << std::endl;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue