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Merge branch 'fpga_extended_coherent_integration' of https://github.com/mmajoral/gnss-sdr into mmajoral-fpga_extended_coherent_integration

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This commit is contained in:
Carles Fernandez
2019-07-26 13:12:46 +02:00
parent 36bf884ae0 694c5d9dcb
commit d626ca1f88
34 changed files with 1751 additions and 1014 deletions
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22
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc
View File

@@ -44,14 +44,6 @@
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
// the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
#define QUANT_BITS_LOCAL_CODE 16
#define SELECT_LSBits 0x0000FFFF // Select the 10 LSbits out of a 20-bit word
#define SELECT_MSBbits 0xFFFF0000 // Select the 10 MSbits out of a 20-bit word
#define SELECT_ALL_CODE_BITS 0xFFFFFFFF // Select a 20 bit word
#define SHL_CODE_BITS 65536 // shift left by 10 bits
GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
ConfigurationInterface* configuration,
const std::string& role,
@@ -166,10 +158,10 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
// and package codes in a format that is ready to be written to the FPGA
for (uint32_t i = 0; i < nsamples_total; i++)
{
tmp = static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max));
tmp2 = static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max));
local_code = (tmp & SELECT_LSBits) | ((tmp2 * SHL_CODE_BITS) & SELECT_MSBbits); // put together the real part and the imaginary part
fft_data = local_code & SELECT_ALL_CODE_BITS;
tmp = static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, quant_bits_local_code - 1) - 1) / max));
tmp2 = static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, quant_bits_local_code - 1) - 1) / max));
local_code = (tmp & select_lsbits) | ((tmp2 * shl_code_bits) & select_msbits); // put together the real part and the imaginary part
fft_data = local_code & select_all_code_bits;
d_all_fft_codes_[i + (nsamples_total * (PRN - 1))] = fft_data;
}
}
@@ -221,6 +213,12 @@ void GalileoE1PcpsAmbiguousAcquisitionFpga::set_doppler_step(unsigned int dopple
acquisition_fpga_->set_doppler_step(doppler_step_);
}
void GalileoE1PcpsAmbiguousAcquisitionFpga::set_doppler_center(int doppler_center)
{
doppler_center_ = doppler_center;
acquisition_fpga_->set_doppler_center(doppler_center_);
}
void GalileoE1PcpsAmbiguousAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{

58
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.h
View File

@@ -24,7 +24,7 @@
* 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/>.
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
@@ -32,16 +32,15 @@
#ifndef GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_FPGA_H_
#define GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_FPGA_H_
#include "acq_conf.h"
#include "channel_fsm.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h"
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstddef> // for size_t
#include <memory>
#include <string>
#include <vector>
class Gnss_Synchro;
class ConfigurationInterface;
/*!
@@ -51,13 +50,22 @@ class ConfigurationInterface;
class GalileoE1PcpsAmbiguousAcquisitionFpga : public AcquisitionInterface
{
public:
/*!
* \brief Constructor
*/
GalileoE1PcpsAmbiguousAcquisitionFpga(ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
/*!
* \brief Destructor
*/
~GalileoE1PcpsAmbiguousAcquisitionFpga() = default;
/*!
* \brief Role
*/
inline std::string role() override
{
return role_;
@@ -71,21 +79,38 @@ public:
return "Galileo_E1_PCPS_Ambiguous_Acquisition_Fpga";
}
/*!
* \brief Returns size of lv_16sc_t
*/
size_t item_size() override
{
size_t item_size = sizeof(lv_16sc_t);
return item_size;
return sizeof(int16_t);
}
/*!
* \brief Connect
*/
void connect(gr::top_block_sptr top_block) override;
/*!
* \brief Disconnect
*/
void disconnect(gr::top_block_sptr top_block) override;
/*!
* \brief Get left block
*/
gr::basic_block_sptr get_left_block() override;
/*!
* \brief Get right block
*/
gr::basic_block_sptr get_right_block() override;
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to efficiently exchange synchronization data between acquisition and
* tracking blocks
* tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
@@ -122,6 +147,11 @@ public:
*/
void set_doppler_step(unsigned int doppler_step) override;
/*!
* \brief Set Doppler center for the grid search
*/
void set_doppler_center(int doppler_center) override;
/*!
* \brief Initializes acquisition algorithm.
*/
@@ -152,9 +182,20 @@ public:
*/
void stop_acquisition() override;
/*!
* \brief Set resampler latency
*/
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
// the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
static const uint32_t quant_bits_local_code = 16;
static const uint32_t select_lsbits = 0x0000FFFF; // Select the 10 LSbits out of a 20-bit word
static const uint32_t select_msbits = 0xFFFF0000; // Select the 10 MSbits out of a 20-bit word
static const uint32_t select_all_code_bits = 0xFFFFFFFF; // Select a 20 bit word
static const uint32_t shl_code_bits = 65536; // shift left by 10 bits
ConfigurationInterface* configuration_;
pcps_acquisition_fpga_sptr acquisition_fpga_;
bool acquire_pilot_;
@@ -162,6 +203,7 @@ private:
std::weak_ptr<ChannelFsm> channel_fsm_;
uint32_t doppler_max_;
uint32_t doppler_step_;
int32_t doppler_center_;
std::string dump_filename_;
Gnss_Synchro* gnss_synchro_;
std::string role_;

22
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc
View File

@@ -44,14 +44,6 @@
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
// the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
#define QUANT_BITS_LOCAL_CODE 16
#define SELECT_LSBits 0x0000FFFF // Select the 10 LSbits out of a 20-bit word
#define SELECT_MSBbits 0xFFFF0000 // Select the 10 MSbits out of a 20-bit word
#define SELECT_ALL_CODE_BITS 0xFFFFFFFF // Select a 20 bit word
#define SHL_CODE_BITS 65536 // shift left by 10 bits
GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
@@ -169,10 +161,10 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
// and package codes in a format that is ready to be written to the FPGA
for (uint32_t i = 0; i < nsamples_total; i++)
{
tmp = static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max));
tmp2 = static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max));
local_code = (tmp & SELECT_LSBits) | ((tmp2 * SHL_CODE_BITS) & SELECT_MSBbits); // put together the real part and the imaginary part
fft_data = local_code & SELECT_ALL_CODE_BITS;
tmp = static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, quant_bits_local_code - 1) - 1) / max));
tmp2 = static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, quant_bits_local_code - 1) - 1) / max));
local_code = (tmp & select_lsbits) | ((tmp2 * shl_code_bits) & select_msbits); // put together the real part and the imaginary part
fft_data = local_code & select_all_code_bits;
d_all_fft_codes_[i + (nsamples_total * (PRN - 1))] = fft_data;
}
}
@@ -224,6 +216,12 @@ void GalileoE5aPcpsAcquisitionFpga::set_doppler_step(unsigned int doppler_step)
acquisition_fpga_->set_doppler_step(doppler_step_);
}
void GalileoE5aPcpsAcquisitionFpga::set_doppler_center(int doppler_center)
{
doppler_center_ = doppler_center;
acquisition_fpga_->set_doppler_center(doppler_center_);
}
void GalileoE5aPcpsAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{

55
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.h
View File

@@ -24,7 +24,7 @@
* 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/>.
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
@@ -34,16 +34,12 @@
#include "channel_fsm.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h"
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstddef> // for size_t
#include <cstdint>
#include <memory>
#include <string>
#include <vector>
class Gnss_Synchro;
class ConfigurationInterface;
@@ -54,13 +50,22 @@ class ConfigurationInterface;
class GalileoE5aPcpsAcquisitionFpga : public AcquisitionInterface
{
public:
/*!
* \brief Constructor
*/
GalileoE5aPcpsAcquisitionFpga(ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
/*!
* \brief Destructor
*/
~GalileoE5aPcpsAcquisitionFpga() = default;
/*!
* \brief Role
*/
inline std::string role() override
{
return role_;
@@ -74,20 +79,38 @@ public:
return "Galileo_E5a_Pcps_Acquisition_Fpga";
}
/*!
* \brief Returns size of lv_16sc_t
*/
inline size_t item_size() override
{
return sizeof(lv_16sc_t);
return sizeof(int16_t);
}
/*!
* \brief Connect
*/
void connect(gr::top_block_sptr top_block) override;
/*!
* \brief Disconnect
*/
void disconnect(gr::top_block_sptr top_block) override;
/*!
* \brief Get left block
*/
gr::basic_block_sptr get_left_block() override;
/*!
* \brief Get right block
*/
gr::basic_block_sptr get_right_block() override;
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to efficiently exchange synchronization data between acquisition and
* tracking blocks
* tracking blocks
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
@@ -124,6 +147,11 @@ public:
*/
void set_doppler_step(unsigned int doppler_step) override;
/*!
* \brief Set Doppler center for the grid search
*/
void set_doppler_center(int doppler_center) override;
/*!
* \brief Initializes acquisition algorithm.
*/
@@ -162,11 +190,19 @@ public:
void stop_acquisition() override;
/*!
* \brief Sets the resampler latency to account it in the acquisition code delay estimation
* \brief Set resampler latency
*/
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
// the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
static const uint32_t quant_bits_local_code = 16;
static const uint32_t select_lsbits = 0x0000FFFF; // Select the 10 LSbits out of a 20-bit word
static const uint32_t select_msbits = 0xFFFF0000; // Select the 10 MSbits out of a 20-bit word
static const uint32_t select_all_code_bits = 0xFFFFFFFF; // Select a 20 bit word
static const uint32_t shl_code_bits = 65536; // shift left by 10 bits
ConfigurationInterface* configuration_;
pcps_acquisition_fpga_sptr acquisition_fpga_;
std::string item_type_;
@@ -178,6 +214,7 @@ private:
std::weak_ptr<ChannelFsm> channel_fsm_;
uint32_t doppler_max_;
uint32_t doppler_step_;
int32_t doppler_center_;
unsigned int in_streams_;
unsigned int out_streams_;
Gnss_Synchro* gnss_synchro_;

24
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc
View File

@@ -47,16 +47,6 @@
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
#define NUM_PRNs 32
// the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
#define QUANT_BITS_LOCAL_CODE 16
#define SELECT_LSBits 0x0000FFFF // Select the 10 LSbits out of a 20-bit word
#define SELECT_MSBbits 0xFFFF0000 // Select the 10 MSbits out of a 20-bit word
#define SELECT_ALL_CODE_BITS 0xFFFFFFFF // Select a 20 bit word
#define SHL_CODE_BITS 65536 // shift left by 10 bits
GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
ConfigurationInterface* configuration,
const std::string& role,
@@ -146,10 +136,10 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
// and package codes in a format that is ready to be written to the FPGA
for (uint32_t i = 0; i < nsamples_total; i++)
{
tmp = static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max));
tmp2 = static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max));
local_code = (tmp & SELECT_LSBits) | ((tmp2 * SHL_CODE_BITS) & SELECT_MSBbits); // put together the real part and the imaginary part
fft_data = local_code & SELECT_ALL_CODE_BITS;
tmp = static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, quant_bits_local_code - 1) - 1) / max));
tmp2 = static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, quant_bits_local_code - 1) - 1) / max));
local_code = (tmp & select_lsbits) | ((tmp2 * shl_code_bits) & select_msbits); // put together the real part and the imaginary part
fft_data = local_code & select_all_code_bits;
d_all_fft_codes_[i + (nsamples_total * (PRN - 1))] = fft_data;
}
}
@@ -202,6 +192,12 @@ void GpsL1CaPcpsAcquisitionFpga::set_doppler_step(unsigned int doppler_step)
acquisition_fpga_->set_doppler_step(doppler_step_);
}
void GpsL1CaPcpsAcquisitionFpga::set_doppler_center(int doppler_center)
{
doppler_center_ = doppler_center;
acquisition_fpga_->set_doppler_center(doppler_center_);
}
void GpsL1CaPcpsAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{

55
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h
View File

@@ -38,14 +38,11 @@
#include "channel_fsm.h"
#include "pcps_acquisition_fpga.h"
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstddef> // for size_t
#include <memory>
#include <string>
#include <vector>
class Gnss_Synchro;
class ConfigurationInterface;
/*!
@@ -55,13 +52,22 @@ class ConfigurationInterface;
class GpsL1CaPcpsAcquisitionFpga : public AcquisitionInterface
{
public:
/*!
* \brief Constructor
*/
GpsL1CaPcpsAcquisitionFpga(ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
/*!
* \brief Destructor
*/
~GpsL1CaPcpsAcquisitionFpga() = default;
/*!
* \brief Role
*/
inline std::string role() override
{
return role_;
@@ -75,15 +81,32 @@ public:
return "GPS_L1_CA_PCPS_Acquisition_Fpga";
}
/*!
* \brief Returns size of lv_16sc_t
*/
inline size_t item_size() override
{
size_t item_size = sizeof(lv_16sc_t);
return item_size;
return sizeof(int16_t);
}
/*!
* \brief Connect
*/
void connect(gr::top_block_sptr top_block) override;
/*!
* \brief Disconnect
*/
void disconnect(gr::top_block_sptr top_block) override;
/*!
* \brief Get left block
*/
gr::basic_block_sptr get_left_block() override;
/*!
* \brief Get right block
*/
gr::basic_block_sptr get_right_block() override;
/*!
@@ -126,6 +149,11 @@ public:
*/
void set_doppler_step(unsigned int doppler_step) override;
/*!
* \brief Set Doppler center for the grid search
*/
void set_doppler_center(int doppler_center) override;
/*!
* \brief Initializes acquisition algorithm.
*/
@@ -156,15 +184,30 @@ public:
*/
void stop_acquisition() override;
/*!
* \brief Set Resampler Latency
*/
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
static const uint32_t NUM_PRNs = 32;
// the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
static const uint32_t quant_bits_local_code = 16;
static const uint32_t select_lsbits = 0x0000FFFF; // Select the 10 LSbits out of a 20-bit word
static const uint32_t select_msbits = 0xFFFF0000; // Select the 10 MSbits out of a 20-bit word
static const uint32_t select_all_code_bits = 0xFFFFFFFF; // Select a 20 bit word
static const uint32_t shl_code_bits = 65536; // shift left by 10 bits
ConfigurationInterface* configuration_;
pcps_acquisition_fpga_sptr acquisition_fpga_;
uint32_t channel_;
std::weak_ptr<ChannelFsm> channel_fsm_;
uint32_t doppler_max_;
uint32_t doppler_step_;
int32_t doppler_center_;
Gnss_Synchro* gnss_synchro_;
std::string role_;
unsigned int in_streams_;

8
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.cc
View File

@@ -46,13 +46,6 @@
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
#define NUM_PRNs 32
#define QUANT_BITS_LOCAL_CODE 16
#define SELECT_LSBits 0x0000FFFF // Select the 10 LSbits out of a 20-bit word
#define SELECT_MSBbits 0xFFFF0000 // Select the 10 MSbits out of a 20-bit word
#define SELECT_ALL_CODE_BITS 0xFFFFFFFF // Select a 20 bit word
#define SHL_CODE_BITS 65536 // shift left by 10 bits
GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
ConfigurationInterface* configuration,
const std::string& role,
@@ -87,7 +80,6 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
// The FPGA can only use FFT lengths that are a power of two.
float nbits = ceilf(log2f((float)code_length));
unsigned int nsamples_total = pow(2, nbits);
unsigned int vector_length = nsamples_total;
unsigned int select_queue_Fpga = configuration_->property(role + ".select_queue_Fpga", 0);
acq_parameters.select_queue_Fpga = select_queue_Fpga;
std::string default_device_name = "/dev/uio0";

7
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.h
View File

@@ -156,6 +156,13 @@ public:
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
static const uint32_t NUM_PRNs = 32;
static const uint32_t QUANT_BITS_LOCAL_CODE = 16;
static const uint32_t SELECT_LSBits = 0x0000FFFF; // Select the 10 LSbits out of a 20-bit word
static const uint32_t SELECT_MSBbits = 0xFFFF0000; // Select the 10 MSbits out of a 20-bit word
static const uint32_t SELECT_ALL_CODE_BITS = 0xFFFFFFFF; // Select a 20 bit word
static const uint32_t SHL_CODE_BITS = 65536; // shift left by 10 bits
ConfigurationInterface* configuration_;
pcps_acquisition_fpga_sptr acquisition_fpga_;
std::string item_type_;

25
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc
View File

@@ -47,17 +47,6 @@
#include <cmath> // for abs, pow, floor
#include <complex> // for complex
#define NUM_PRNs 32
// the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
#define QUANT_BITS_LOCAL_CODE 16
#define SELECT_LSBits 0x0000FFFF // Select the 10 LSbits out of a 20-bit word
#define SELECT_MSBbits 0xFFFF0000 // Select the 10 MSbits out of a 20-bit word
#define SELECT_ALL_CODE_BITS 0xFFFFFFFF // Select a 20 bit word
#define SHL_CODE_BITS 65536 // shift left by 10 bits
GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
ConfigurationInterface* configuration,
const std::string& role,
@@ -150,10 +139,10 @@ GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
// and package codes in a format that is ready to be written to the FPGA
for (uint32_t i = 0; i < nsamples_total; i++)
{
tmp = static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max));
tmp2 = static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, QUANT_BITS_LOCAL_CODE - 1) - 1) / max));
local_code = (tmp & SELECT_LSBits) | ((tmp2 * SHL_CODE_BITS) & SELECT_MSBbits); // put together the real part and the imaginary part
fft_data = local_code & SELECT_ALL_CODE_BITS;
tmp = static_cast<int32_t>(floor(fft_codes_padded[i].real() * (pow(2, quant_bits_local_code - 1) - 1) / max));
tmp2 = static_cast<int32_t>(floor(fft_codes_padded[i].imag() * (pow(2, quant_bits_local_code - 1) - 1) / max));
local_code = (tmp & select_lsbits) | ((tmp2 * shl_code_bits) & select_msbits); // put together the real part and the imaginary part
fft_data = local_code & select_all_code_bits;
d_all_fft_codes_[i + (nsamples_total * (PRN - 1))] = fft_data;
}
}
@@ -207,6 +196,12 @@ void GpsL5iPcpsAcquisitionFpga::set_doppler_step(unsigned int doppler_step)
acquisition_fpga_->set_doppler_step(doppler_step_);
}
void GpsL5iPcpsAcquisitionFpga::set_doppler_center(int doppler_center)
{
doppler_center_ = doppler_center;
acquisition_fpga_->set_doppler_center(doppler_center_);
}
void GpsL5iPcpsAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{

54
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.h
View File

@@ -27,7 +27,7 @@
* 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/>.
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
@@ -37,14 +37,10 @@
#include "channel_fsm.h"
#include "pcps_acquisition_fpga.h"
#include <gnuradio/runtime_types.h> // for basic_block_sptr, top_block_sptr
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstddef> // for size_t
#include <memory>
#include <string>
#include <vector>
class Gnss_Synchro;
class ConfigurationInterface;
/*!
@@ -54,13 +50,22 @@ class ConfigurationInterface;
class GpsL5iPcpsAcquisitionFpga : public AcquisitionInterface
{
public:
/*!
* \brief Constructor
*/
GpsL5iPcpsAcquisitionFpga(ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
/*!
* \brief Destructor
*/
~GpsL5iPcpsAcquisitionFpga() = default;
/*!
* \brief Role
*/
inline std::string role() override
{
return role_;
@@ -74,14 +79,32 @@ public:
return "GPS_L5i_PCPS_Acquisition_Fpga";
}
/*!
* \brief Returns size of lv_16sc_t
*/
inline size_t item_size() override
{
return sizeof(lv_16sc_t);
return sizeof(int16_t);
}
/*!
* \brief Connect
*/
void connect(gr::top_block_sptr top_block) override;
/*!
* \brief Disconnect
*/
void disconnect(gr::top_block_sptr top_block) override;
/*!
* \brief Get left block
*/
gr::basic_block_sptr get_left_block() override;
/*!
* \brief Get right block
*/
gr::basic_block_sptr get_right_block() override;
/*!
@@ -124,6 +147,11 @@ public:
*/
void set_doppler_step(unsigned int doppler_step) override;
/*!
* \brief Set Doppler center for the grid search
*/
void set_doppler_center(int doppler_center) override;
/*!
* \brief Initializes acquisition algorithm.
*/
@@ -154,9 +182,22 @@ public:
*/
void stop_acquisition() override;
/*!
* \brief Set resampler latency
*/
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
static const uint32_t NUM_PRNs = 32;
// the following flags are FPGA-specific and they are using arrange the values of the fft of the local code in the way the FPGA
// expects. This arrangement is done in the initialisation to avoid consuming unnecessary clock cycles during tracking.
static const uint32_t quant_bits_local_code = 16;
static const uint32_t select_lsbits = 0x0000FFFF; // Select the 10 LSbits out of a 20-bit word
static const uint32_t select_msbits = 0xFFFF0000; // Select the 10 MSbits out of a 20-bit word
static const uint32_t select_all_code_bits = 0xFFFFFFFF; // Select a 20 bit word
static const uint32_t shl_code_bits = 65536; // shift left by 10 bits
ConfigurationInterface* configuration_;
pcps_acquisition_fpga_sptr acquisition_fpga_;
std::string item_type_;
@@ -164,6 +205,7 @@ private:
std::weak_ptr<ChannelFsm> channel_fsm_;
uint32_t doppler_max_;
uint32_t doppler_step_;
int32_t doppler_center_;
std::string dump_filename_;
Gnss_Synchro* gnss_synchro_;
std::string role_;

18
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.cc
View File

@@ -40,8 +40,6 @@
#include <utility> // for move
#define AQ_DOWNSAMPLING_DELAY 40 // delay due to the downsampling filter in the acquisition
pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_)
{
return pcps_acquisition_fpga_sptr(new pcps_acquisition_fpga(std::move(conf_)));
@@ -60,6 +58,7 @@ pcps_acquisition_fpga::pcps_acquisition_fpga(pcpsconf_fpga_t conf_)
d_num_doppler_bins = 0U;
d_threshold = 0.0;
d_doppler_step = 0U;
d_doppler_center = 0U;
d_doppler_index = 0U;
d_test_statistics = 0.0;
d_channel = 0U;
@@ -141,7 +140,9 @@ void pcps_acquisition_fpga::send_positive_acquisition()
<< ", code phase " << d_gnss_synchro->Acq_delay_samples
<< ", doppler " << d_gnss_synchro->Acq_doppler_hz
<< ", magnitude " << d_mag
<< ", input signal power " << d_input_power;
<< ", input signal power " << d_input_power
<< ", Assist doppler_center " << d_doppler_center;
//the channel FSM is set, so, notify it directly the positive acquisition to minimize delays
d_channel_fsm.lock()->Event_valid_acquisition();
@@ -211,13 +212,6 @@ void pcps_acquisition_fpga::acquisition_core(uint32_t num_doppler_bins, uint32_t
}
}
// debug
// if (d_test_statistics > d_threshold)
// {
// printf("firstpeak = %f, secondpeak = %f, test_statistics = %f reported block exp = %d PRN = %d inext = %d, initial_sample = %ld doppler = %d\n", firstpeak, secondpeak, d_test_statistics, (int)total_block_exp, (int)d_gnss_synchro->PRN, (int)indext, (long int)initial_sample, (int)doppler);
// printf("doppler_min = %d doppler_step = %d num_doppler_bins = %d\n", (int)doppler_min, (int)doppler_step, (int)num_doppler_bins);
// }
d_gnss_synchro->Acq_doppler_hz = static_cast<double>(doppler);
d_sample_counter = initial_sample;
@@ -263,7 +257,7 @@ void pcps_acquisition_fpga::set_active(bool active)
acquisition_fpga->write_local_code();
acquisition_fpga->set_block_exp(d_total_block_exp);
acquisition_core(d_num_doppler_bins, d_doppler_step, -d_doppler_max);
acquisition_core(d_num_doppler_bins, d_doppler_step, -d_doppler_max + d_doppler_center);
if (!d_make_2_steps)
{
acquisition_fpga->close_device();
@@ -290,7 +284,7 @@ void pcps_acquisition_fpga::set_active(bool active)
while (num_second_acq < d_max_num_acqs)
{
acquisition_core(d_num_doppler_bins_step2, d_doppler_step2, d_doppler_center_step_two - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0)) * d_doppler_step2);
acquisition_core(d_num_doppler_bins_step2, d_doppler_step2, d_doppler_center_step_two - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0)) * d_doppler_step2 + d_doppler_center);
if (d_test_statistics > d_threshold)
{
d_active = false;

20
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.h
View File

@@ -44,10 +44,10 @@
#include "channel_fsm.h"
#include "fpga_acquisition.h"
#include <boost/shared_ptr.hpp>
#include <volk/volk_complex.h> // for lv_16sc_t
#include <cstdint> // for uint32_t
#include <memory> // for shared_ptr
#include <string> // for string
#include <glog/logging.h>
class Gnss_Synchro;
@@ -89,6 +89,9 @@ pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_);
class pcps_acquisition_fpga
{
public:
/*!
* \brief Destructor
*/
~pcps_acquisition_fpga() = default;
/*!
@@ -116,7 +119,6 @@ public:
/*!
* \brief Sets local code for PCPS acquisition algorithm.
* \param code - Pointer to the PRN code.
*/
void set_local_code();
@@ -181,6 +183,19 @@ public:
acquisition_fpga->set_doppler_step(doppler_step);
}
/*!
* \brief Set Doppler center frequency for the grid search. It will refresh the Doppler grid.
* \param doppler_center - Frequency center of the search grid [Hz].
*/
inline void set_doppler_center(int32_t doppler_center)
{
if (doppler_center != d_doppler_center)
{
DLOG(INFO) << " Doppler assistance for Channel: " << d_channel << " => Doppler: " << doppler_center << "[Hz]";
d_doppler_center = doppler_center;
}
}
/*!
* \brief This function triggers a HW reset of the FPGA PL.
*/
@@ -194,6 +209,7 @@ private:
uint32_t d_doppler_index;
uint32_t d_channel;
uint32_t d_doppler_step;
int32_t d_doppler_center;
uint32_t d_doppler_max;
uint32_t d_fft_size;
uint32_t d_num_doppler_bins;

37
src/algorithms/acquisition/libs/fpga_acquisition.cc
View File

@@ -44,22 +44,6 @@
#include <utility> // for move
// FPGA register parameters
#define PAGE_SIZE 0x10000 // default page size for the multicorrelator memory map
#define RESET_ACQUISITION 2 // command to reset the multicorrelator
#define LAUNCH_ACQUISITION 1 // command to launch the multicorrelator
#define TEST_REG_SANITY_CHECK 0x55AA // value to check the presence of the test register (to detect the hw)
#define LOCAL_CODE_CLEAR_MEM 0x10000000 // command to clear the internal memory of the multicorrelator
#define MEM_LOCAL_CODE_WR_ENABLE 0x0C000000 // command to enable the ENA and WR pins of the internal memory of the multicorrelator
#define POW_2_2 4 // 2^2 (used for the conversion of floating point numbers to integers)
#define POW_2_31 2147483648 // 2^31 (used for the conversion of floating point numbers to integers)
#define SELECT_LSBits 0x0000FFFF // Select the 10 LSbits out of a 20-bit word
#define SELECT_MSBbits 0xFFFF0000 // Select the 10 MSbits out of a 20-bit word
#define SELECT_ALL_CODE_BITS 0xFFFFFFFF // Select a 20 bit word
#define SHL_CODE_BITS 65536 // shift left by 10 bits
#ifndef TEMP_FAILURE_RETRY
#define TEMP_FAILURE_RETRY(exp) \
({ \
@@ -191,12 +175,6 @@ void Fpga_Acquisition::run_acquisition(void)
std::cout << "acquisition module Read failed to retrieve 4 bytes!" << std::endl;
std::cout << "acquisition module Interrupt number " << irq_count << std::endl;
}
// nbytes = TEMP_FAILURE_RETRY(write(d_fd, reinterpret_cast<void *>(&disable_int), sizeof(int32_t)));
// if (nbytes != sizeof(int32_t))
// {
// std::cerr << "Error disabling interruptions in the FPGA." << std::endl;
// }
}
@@ -229,7 +207,7 @@ void Fpga_Acquisition::set_doppler_sweep(uint32_t num_sweeps, uint32_t doppler_s
void Fpga_Acquisition::configure_acquisition()
{
//Fpga_Acquisition::open_device();
//Fpga_Acquisition::();
d_map_base[0] = d_select_queue;
d_map_base[1] = d_vector_length;
d_map_base[2] = d_nsamples;
@@ -274,18 +252,6 @@ void Fpga_Acquisition::read_acquisition_results(uint32_t *max_index,
}
void Fpga_Acquisition::block_samples()
{
d_map_base[14] = 1; // block the samples
}
void Fpga_Acquisition::unblock_samples()
{
d_map_base[14] = 0; // unblock the samples
}
void Fpga_Acquisition::close_device()
{
auto *aux = const_cast<uint32_t *>(d_map_base);
@@ -299,6 +265,7 @@ void Fpga_Acquisition::close_device()
void Fpga_Acquisition::reset_acquisition(void)
{
//printf("============ resetting the hw now from the acquisition ===============");
d_map_base[8] = RESET_ACQUISITION; // writing a 2 to d_map_base[8] resets the acquisition. This causes a reset of all
// the FPGA HW modules including the multicorrelators
}

54
src/algorithms/acquisition/libs/fpga_acquisition.h
View File

@@ -45,6 +45,9 @@
class Fpga_Acquisition
{
public:
/*!
* \brief Constructor
*/
Fpga_Acquisition(
std::string device_name,
uint32_t nsamples,
@@ -56,14 +59,29 @@ public:
uint32_t *all_fft_codes,
uint32_t excludelimit);
/*!
* \brief Destructor
*/
~Fpga_Acquisition() = default;
/*!
* \brief Select the code with the chosen PRN
*/
bool set_local_code(uint32_t PRN);
/*!
* \brief Configure the doppler sweep parameters in the FPGA
*/
void set_doppler_sweep(uint32_t num_sweeps, uint32_t doppler_step, int32_t doppler_min);
/*!
* \brief Run the acquisition process in the FPGA
*/
void run_acquisition(void);
/*!
* \brief Read the results of the acquisition process
*/
void read_acquisition_results(
uint32_t *max_index,
float *firstpeak,
@@ -73,10 +91,6 @@ public:
uint32_t *doppler_index,
uint32_t *total_blk_exp);
void block_samples();
void unblock_samples();
/*!
* \brief Set maximum Doppler grid search
* \param doppler_max - Maximum Doppler shift considered in the grid search [Hz].
@@ -101,21 +115,51 @@ public:
void reset_acquisition(void);
/*!
* \brief read the scaling factor that has been used by the FFT-IFFT
* \brief Read the scaling factor that has been used by the FFT-IFFT
*/
void read_fpga_total_scale_factor(uint32_t *total_scale_factor, uint32_t *fw_scale_factor);
/*!
* \brief Set the block exponent of the FFT in the FPGA.
*/
void set_block_exp(uint32_t total_block_exp);
/*!
* \brief Write the PRN code in the FPGA
*/
void write_local_code(void);
/*!
* \brief Write the acquisition parameters into the FPGA
*/
void configure_acquisition(void);
/*!
* \brief Open the device driver
*/
void open_device();
/*!
* \brief Close the device driver
*/
void close_device();
private:
// FPGA register parameters
static const uint32_t PAGE_SIZE = 0x10000; // default page size for the multicorrelator memory map
static const uint32_t RESET_ACQUISITION = 2; // command to reset the multicorrelator
static const uint32_t LAUNCH_ACQUISITION = 1; // command to launch the multicorrelator
static const uint32_t TEST_REG_SANITY_CHECK = 0x55AA; // value to check the presence of the test register (to detect the hw)
static const uint32_t LOCAL_CODE_CLEAR_MEM = 0x10000000; // command to clear the internal memory of the multicorrelator
static const uint32_t MEM_LOCAL_CODE_WR_ENABLE = 0x0C000000; // command to enable the ENA and WR pins of the internal memory of the multicorrelator
static const uint32_t POW_2_2 = 4; // 2^2 (used for the conversion of floating point numbers to integers)
static const uint32_t POW_2_31 = 2147483648; // 2^31 (used for the conversion of floating point numbers to integers)
static const uint32_t SELECT_LSBits = 0x0000FFFF; // Select the 10 LSbits out of a 20-bit word
static const uint32_t SELECT_MSBbits = 0xFFFF0000; // Select the 10 MSbits out of a 20-bit word
static const uint32_t SELECT_ALL_CODE_BITS = 0xFFFFFFFF; // Select a 20 bit word
static const uint32_t SHL_CODE_BITS = 65536; // shift left by 10 bits
int64_t d_fs_in;
// data related to the hardware module and the driver
int32_t d_fd; // driver descriptor