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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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47
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking_fpga.cc
View File

@@ -29,7 +29,7 @@
* 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/>.
*
* -------------------------------------------------------------------------
*/
@@ -41,19 +41,9 @@
#include "dll_pll_conf_fpga.h"
#include "galileo_e1_signal_processing.h"
#include "gnss_sdr_flags.h"
#include "gnss_synchro.h"
#include <glog/logging.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <array>
#include <cmath> // for round
#include <cstring> // for memcpy
#include <iostream> // for operator<<
// the following flags are FPGA-specific and they are using arrange the values 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 LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY 0x0C000000 // flag that enables WE (Write Enable) of the local code FPGA
#define LOCAL_CODE_FPGA_CORRELATOR_SELECT_COUNT 0x20000000 // flag that selects the writing of the pilot code in the FPGA (as opposed to the data code)
GalileoE1DllPllVemlTrackingFpga::GalileoE1DllPllVemlTrackingFpga(
ConfigurationInterface* configuration, const std::string& role,
@@ -82,7 +72,6 @@ GalileoE1DllPllVemlTrackingFpga::GalileoE1DllPllVemlTrackingFpga(
{
trk_param_fpga.smoother_length = configuration->property(role + ".smoother_length", 10);
}
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 5.0);
if (FLAGS_pll_bw_hz != 0.0)
{
@@ -174,31 +163,11 @@ GalileoE1DllPllVemlTrackingFpga::GalileoE1DllPllVemlTrackingFpga(
trk_param_fpga.system = 'E';
std::array<char, 3> sig_{'1', 'B', '\0'};
std::memcpy(trk_param_fpga.signal, sig_.data(), 3);
int32_t cn0_samples = configuration->property(role + ".cn0_samples", 20);
if (FLAGS_cn0_samples != 20)
{
cn0_samples = FLAGS_cn0_samples;
}
trk_param_fpga.cn0_samples = cn0_samples;
int32_t cn0_min = configuration->property(role + ".cn0_min", 25);
if (FLAGS_cn0_min != 25)
{
cn0_min = FLAGS_cn0_min;
}
trk_param_fpga.cn0_min = cn0_min;
int32_t max_lock_fail = configuration->property(role + ".max_lock_fail", 50);
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;
trk_param_fpga.cn0_samples = configuration->property(role + ".cn0_samples", trk_param_fpga.cn0_samples);
trk_param_fpga.cn0_min = configuration->property(role + ".cn0_min", trk_param_fpga.cn0_min);
trk_param_fpga.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param_fpga.max_code_lock_fail);
trk_param_fpga.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param_fpga.max_carrier_lock_fail);
trk_param_fpga.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param_fpga.carrier_lock_th);
// FPGA configuration parameters
std::string default_device_name = "/dev/uio";
@@ -206,7 +175,6 @@ GalileoE1DllPllVemlTrackingFpga::GalileoE1DllPllVemlTrackingFpga(
trk_param_fpga.device_name = device_name;
uint32_t device_base = configuration->property(role + ".device_base", 15);
trk_param_fpga.device_base = device_base;
trk_param_fpga.multicorr_type = 1; // 0 -> 3 correlators, 1 -> 5 correlators
//################# PRE-COMPUTE ALL THE CODES #################
uint32_t code_samples_per_chip = 2;
@@ -281,6 +249,9 @@ GalileoE1DllPllVemlTrackingFpga::GalileoE1DllPllVemlTrackingFpga(
trk_param_fpga.data_codes = d_data_codes;
trk_param_fpga.code_length_chips = GALILEO_E1_B_CODE_LENGTH_CHIPS;
trk_param_fpga.code_samples_per_chip = code_samples_per_chip; // 2 sample per chip
trk_param_fpga.extended_correlation_in_fpga = false;
trk_param_fpga.extend_fpga_integration_periods = 1; // (number of FPGA integrations that are combined in the SW)
trk_param_fpga.fpga_integration_period = 1; // (number of symbols that are effectively integrated in the FPGA)
//################# MAKE TRACKING GNURadio object ###################
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_param_fpga);
channel_ = 0;

54
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking_fpga.h
View File

@@ -29,7 +29,7 @@
* 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/>.
*
* -------------------------------------------------------------------------
*/
@@ -39,12 +39,9 @@
#include "dll_pll_veml_tracking_fpga.h"
#include "tracking_interface.h"
#include <gnuradio/runtime_types.h> // for basic_block_sptr, basic_block_sptr
#include <cstddef> // for size_t
#include <cstdint> // for uint32_t
#include <string> // for string
#include <string>
class Gnss_Synchro;
class ConfigurationInterface;
/*!
@@ -54,32 +51,61 @@ class ConfigurationInterface;
class GalileoE1DllPllVemlTrackingFpga : public TrackingInterface
{
public:
/*!
* \brief Constructor
*/
GalileoE1DllPllVemlTrackingFpga(ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
/*!
* \brief Destructor
*/
virtual ~GalileoE1DllPllVemlTrackingFpga();
/*!
* \brief Role
*/
inline std::string role() override
{
return role_;
}
//! Returns "Galileo_E1_DLL_PLL_VEML_Tracking_Fpga"
/*!
* \brief Returns "Galileo_E1_DLL_PLL_VEML_Tracking_Fpga"
*/
inline std::string implementation() override
{
return "Galileo_E1_DLL_PLL_VEML_Tracking_Fpga";
}
inline size_t item_size() override
/*!
* \brief Returns size of lv_16sc_t
*/
size_t item_size() override
{
return sizeof(int);
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;
/*!
@@ -94,14 +120,22 @@ public:
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
/*!
* \brief Start the tracking process in the FPGA
*/
void start_tracking() override;
/*!
* \brief Stop running tracking
* \brief Stop the tracking process in the FPGA
*/
void stop_tracking() override;
private:
// the following flags are FPGA-specific and they are using arrange the values 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 int32_t LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY = 0x0C000000; // flag that enables WE (Write Enable) of the local code FPGA
static const int32_t LOCAL_CODE_FPGA_CORRELATOR_SELECT_COUNT = 0x20000000; // flag that selects the writing of the pilot code in the FPGA (as opposed to the data code)
dll_pll_veml_tracking_fpga_sptr tracking_fpga_sc;
uint32_t channel_;
std::string role_;

72
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking_fpga.cc
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/>.
*
* -------------------------------------------------------------------------
*/
@@ -36,21 +36,9 @@
#include "dll_pll_conf_fpga.h"
#include "galileo_e5_signal_processing.h"
#include "gnss_sdr_flags.h"
#include "gnss_synchro.h"
#include <glog/logging.h>
#include <gnuradio/gr_complex.h> // for gr_complex
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <array>
#include <cmath> // for round
#include <complex>
#include <cstring> // for memcpy
#include <iostream>
// the following flags are FPGA-specific and they are using arrange the values 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 LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY 0x0C000000 // flag that enables WE (Write Enable) of the local code FPGA
#define LOCAL_CODE_FPGA_CORRELATOR_SELECT_COUNT 0x20000000 // flag that selects the writing of the pilot code in the FPGA (as opposed to the data code)
GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
ConfigurationInterface *configuration, const std::string &role,
@@ -168,30 +156,11 @@ GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
trk_param_fpga.system = 'E';
std::array<char, 3> sig_{'5', 'X', '\0'};
std::memcpy(trk_param_fpga.signal, sig_.data(), 3);
int32_t cn0_samples = configuration->property(role + ".cn0_samples", 20);
if (FLAGS_cn0_samples != 20)
{
cn0_samples = FLAGS_cn0_samples;
}
trk_param_fpga.cn0_samples = cn0_samples;
int32_t cn0_min = configuration->property(role + ".cn0_min", 25);
if (FLAGS_cn0_min != 25)
{
cn0_min = FLAGS_cn0_min;
}
trk_param_fpga.cn0_min = cn0_min;
int32_t max_lock_fail = configuration->property(role + ".max_lock_fail", 50);
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;
trk_param_fpga.cn0_samples = configuration->property(role + ".cn0_samples", trk_param_fpga.cn0_samples);
trk_param_fpga.cn0_min = configuration->property(role + ".cn0_min", trk_param_fpga.cn0_min);
trk_param_fpga.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param_fpga.max_code_lock_fail);
trk_param_fpga.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param_fpga.max_carrier_lock_fail);
trk_param_fpga.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param_fpga.carrier_lock_th);
d_data_codes = nullptr;
@@ -201,7 +170,6 @@ GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
trk_param_fpga.device_name = device_name;
uint32_t device_base = configuration->property(role + ".device_base", 27);
trk_param_fpga.device_base = device_base;
trk_param_fpga.multicorr_type = 1; // 0 -> 3 correlators, 1 -> up to 5+1 correlators
//################# PRE-COMPUTE ALL THE CODES #################
uint32_t code_samples_per_chip = 1;
@@ -264,6 +232,34 @@ GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
trk_param_fpga.data_codes = d_data_codes;
trk_param_fpga.code_length_chips = code_length_chips;
trk_param_fpga.code_samples_per_chip = code_samples_per_chip; // 2 sample per chip
trk_param_fpga.extended_correlation_in_fpga = false; // by default
trk_param_fpga.extend_fpga_integration_periods = 1; // (number of FPGA integrations that are combined in the SW)
trk_param_fpga.fpga_integration_period = 1; // (number of symbols that are effectively integrated in the FPGA)
if (d_track_pilot)
{
if (extend_correlation_symbols > 1)
{
if (extend_correlation_symbols <= GALILEO_E5A_I_SECONDARY_CODE_LENGTH)
{
if ((GALILEO_E5A_I_SECONDARY_CODE_LENGTH % extend_correlation_symbols) == 0)
{
trk_param_fpga.extended_correlation_in_fpga = true;
trk_param_fpga.fpga_integration_period = extend_correlation_symbols;
}
}
else
{
if (extend_correlation_symbols % GALILEO_E5A_I_SECONDARY_CODE_LENGTH == 0)
{
trk_param_fpga.extended_correlation_in_fpga = true;
trk_param_fpga.extend_fpga_integration_periods = extend_correlation_symbols / GALILEO_E5A_I_SECONDARY_CODE_LENGTH;
trk_param_fpga.fpga_integration_period = GALILEO_E5A_I_SECONDARY_CODE_LENGTH;
}
}
}
}
//################# MAKE TRACKING GNURadio object ###################
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_param_fpga);
channel_ = 0;

55
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking_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/>.
*
* -------------------------------------------------------------------------
*/
@@ -34,12 +34,8 @@
#include "dll_pll_veml_tracking_fpga.h"
#include "tracking_interface.h"
#include <gnuradio/runtime_types.h> // for basic_block_sptr
#include <cstdint> // For uint32_t
#include <stddef.h> // for size_t
#include <string>
class Gnss_Synchro;
class ConfigurationInterface;
/*!
@@ -48,32 +44,61 @@ class ConfigurationInterface;
class GalileoE5aDllPllTrackingFpga : public TrackingInterface
{
public:
/*!
* \brief Constructor
*/
GalileoE5aDllPllTrackingFpga(ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
/*!
* \brief Destructor
*/
virtual ~GalileoE5aDllPllTrackingFpga();
/*!
* \brief Role
*/
inline std::string role() override
{
return role_;
}
//! Returns "Galileo_E5a_DLL_PLL_Tracking_Fpga"
/*!
* \brief Returns "Galileo_E5a_DLL_PLL_Tracking_Fpga"
*/
inline std::string implementation() override
{
return "Galileo_E5a_DLL_PLL_Tracking_Fpga";
}
inline size_t item_size() override
/*!
* \brief Returns size of lv_16sc_t
*/
size_t item_size() override
{
return sizeof(int);
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;
/*!
@@ -87,13 +112,23 @@ public:
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
void start_tracking() override;
/*!
* \brief Stop running tracking
* \brief Start the tracking process in the FPGA
*/
void start_tracking() override;
/*!
* \brief Stop the tracking process in the FPGA
*/
void stop_tracking() override;
private:
// the following flags are FPGA-specific and they are using arrange the values 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 int32_t LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY = 0x0C000000; // flag that enables WE (Write Enable) of the local code FPGA
static const int32_t LOCAL_CODE_FPGA_CORRELATOR_SELECT_COUNT = 0x20000000; // flag that selects the writing of the pilot code in the FPGA (as opposed to the data code)
dll_pll_veml_tracking_fpga_sptr tracking_fpga_sc;
uint32_t channel_;
std::string role_;

64
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_fpga.cc
View File

@@ -29,7 +29,7 @@
* 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/>.
*
* -------------------------------------------------------------------------
*/
@@ -40,20 +40,10 @@
#include "display.h"
#include "dll_pll_conf_fpga.h"
#include "gnss_sdr_flags.h"
#include "gnss_synchro.h"
#include "gps_sdr_signal_processing.h"
#include <glog/logging.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <array>
#include <cmath> // for round
#include <cstring> // for memcpy
#include <iostream>
#define NUM_PRNs 32 // total number of PRNs
// the following flag is FPGA-specific and they are using arrange the values 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 LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY 0x0C000000 // flag that enables WE (Write Enable) of the local code FPGA
GpsL1CaDllPllTrackingFpga::GpsL1CaDllPllTrackingFpga(
ConfigurationInterface* configuration, const std::string& role,
@@ -61,7 +51,6 @@ GpsL1CaDllPllTrackingFpga::GpsL1CaDllPllTrackingFpga(
{
Dll_Pll_Conf_Fpga trk_param_fpga = Dll_Pll_Conf_Fpga();
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
int32_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
int32_t fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
@@ -76,7 +65,6 @@ GpsL1CaDllPllTrackingFpga::GpsL1CaDllPllTrackingFpga(
{
trk_param_fpga.smoother_length = configuration->property(role + ".smoother_length", 10);
}
bool dump = configuration->property(role + ".dump", false);
trk_param_fpga.dump = dump;
std::string default_dump_filename = "./track_ch";
@@ -155,9 +143,9 @@ GpsL1CaDllPllTrackingFpga::GpsL1CaDllPllTrackingFpga(
symbols_extended_correlator = 1;
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;
}
else if (symbols_extended_correlator > 20)
else if (symbols_extended_correlator > GPS_CA_BIT_DURATION_MS)
{
symbols_extended_correlator = 20;
symbols_extended_correlator = GPS_CA_BIT_DURATION_MS;
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;
}
trk_param_fpga.extend_correlation_symbols = symbols_extended_correlator;
@@ -176,30 +164,11 @@ GpsL1CaDllPllTrackingFpga::GpsL1CaDllPllTrackingFpga(
trk_param_fpga.system = 'G';
std::array<char, 3> sig_{'1', 'C', '\0'};
std::memcpy(trk_param_fpga.signal, sig_.data(), 3);
int32_t cn0_samples = configuration->property(role + ".cn0_samples", 20);
if (FLAGS_cn0_samples != 20)
{
cn0_samples = FLAGS_cn0_samples;
}
trk_param_fpga.cn0_samples = cn0_samples;
int32_t cn0_min = configuration->property(role + ".cn0_min", 30);
if (FLAGS_cn0_min != 25)
{
cn0_min = FLAGS_cn0_min;
}
trk_param_fpga.cn0_min = cn0_min;
int32_t max_lock_fail = configuration->property(role + ".max_lock_fail", 50);
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", 0.80);
if (FLAGS_carrier_lock_th != 0.85)
{
carrier_lock_th = FLAGS_carrier_lock_th;
}
trk_param_fpga.carrier_lock_th = carrier_lock_th;
trk_param_fpga.cn0_samples = configuration->property(role + ".cn0_samples", trk_param_fpga.cn0_samples);
trk_param_fpga.cn0_min = configuration->property(role + ".cn0_min", trk_param_fpga.cn0_min);
trk_param_fpga.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param_fpga.max_code_lock_fail);
trk_param_fpga.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param_fpga.max_carrier_lock_fail);
trk_param_fpga.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param_fpga.carrier_lock_th);
// FPGA configuration parameters
std::string default_device_name = "/dev/uio";
@@ -207,7 +176,6 @@ GpsL1CaDllPllTrackingFpga::GpsL1CaDllPllTrackingFpga(
trk_param_fpga.device_name = device_name;
uint32_t device_base = configuration->property(role + ".device_base", 3);
trk_param_fpga.device_base = device_base;
trk_param_fpga.multicorr_type = 0; //multicorr_type : 0 -> 3 correlators, 1 -> 5 correlators
//################# PRE-COMPUTE ALL THE CODES #################
d_ca_codes = static_cast<int32_t*>(volk_gnsssdr_malloc(static_cast<int32_t>(GPS_L1_CA_CODE_LENGTH_CHIPS * NUM_PRNs) * sizeof(int32_t), volk_gnsssdr_get_alignment()));
@@ -231,6 +199,22 @@ GpsL1CaDllPllTrackingFpga::GpsL1CaDllPllTrackingFpga(
trk_param_fpga.code_length_chips = GPS_L1_CA_CODE_LENGTH_CHIPS;
trk_param_fpga.code_samples_per_chip = 1; // 1 sample per chip
trk_param_fpga.extended_correlation_in_fpga = false; // by default
trk_param_fpga.extend_fpga_integration_periods = 1; // (number of FPGA integrations that are combined in the SW)
trk_param_fpga.fpga_integration_period = 1; // (number of symbols that are effectively integrated in the FPGA)
if (symbols_extended_correlator > 1)
{
if (symbols_extended_correlator <= GPS_CA_BIT_DURATION_MS)
{
if ((GPS_CA_BIT_DURATION_MS % symbols_extended_correlator) == 0)
{
trk_param_fpga.extended_correlation_in_fpga = true;
trk_param_fpga.fpga_integration_period = symbols_extended_correlator;
}
}
}
//################# MAKE TRACKING GNURadio object ###################
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_param_fpga);
channel_ = 0;

53
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_fpga.h
View File

@@ -29,7 +29,7 @@
* 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/>.
*
* -------------------------------------------------------------------------
*/
@@ -39,12 +39,8 @@
#include "dll_pll_veml_tracking_fpga.h"
#include "tracking_interface.h"
#include <gnuradio/runtime_types.h>
#include <cstddef>
#include <string>
class Gnss_Synchro;
class ConfigurationInterface;
/*!
@@ -53,32 +49,61 @@ class ConfigurationInterface;
class GpsL1CaDllPllTrackingFpga : public TrackingInterface
{
public:
/*!
* \brief Constructor
*/
GpsL1CaDllPllTrackingFpga(ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
/*!
* \brief Destructor
*/
virtual ~GpsL1CaDllPllTrackingFpga();
/*!
* \brief Role
*/
inline std::string role() override
{
return role_;
}
//! Returns "GPS_L1_CA_DLL_PLL_Tracking_Fpga"
/*!
* \brief Returns "GPS_L1_CA_DLL_PLL_Tracking_Fpga"
*/
inline std::string implementation() override
{
return "GPS_L1_CA_DLL_PLL_Tracking_Fpga";
}
inline size_t item_size() override
/*!
* \brief Returns size of lv_16sc_t
*/
size_t item_size() override
{
return sizeof(int);
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;
/*!
@@ -92,14 +117,24 @@ public:
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
/*!
* \brief Start the tracking process in the FPGA
*/
void start_tracking() override;
/*!
* \brief Stop running tracking
* \brief Stop the tracking process in the FPGA
*/
void stop_tracking() override;
private:
static const uint32_t NUM_PRNs = 32; // total number of PRNs
static const int32_t GPS_CA_BIT_DURATION_MS = 20;
// the following flag is FPGA-specific and they are using arrange the values 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 int32_t LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY = 0x0C000000; // flag that enables WE (Write Enable) of the local code FPGA
dll_pll_veml_tracking_fpga_sptr tracking_fpga_sc;
uint32_t channel_;
std::string role_;

31
src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking_fpga.cc
View File

@@ -50,9 +50,6 @@
#include <cstring> // for memcpy
#include <iostream>
#define NUM_PRNs 32
GpsL2MDllPllTrackingFpga::GpsL2MDllPllTrackingFpga(
ConfigurationInterface* configuration, const std::string& role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
@@ -100,18 +97,18 @@ GpsL2MDllPllTrackingFpga::GpsL2MDllPllTrackingFpga(
trk_param_fpga.system = 'G';
std::array<char, 3> sig_{'2', 'S', '\0'};
std::memcpy(trk_param_fpga.signal, sig_.data(), 3);
int cn0_samples = configuration->property(role + ".cn0_samples", 20);
if (FLAGS_cn0_samples != 20) cn0_samples = FLAGS_cn0_samples;
trk_param_fpga.cn0_samples = cn0_samples;
int cn0_min = configuration->property(role + ".cn0_min", 25);
if (FLAGS_cn0_min != 25) cn0_min = FLAGS_cn0_min;
trk_param_fpga.cn0_min = cn0_min;
int max_lock_fail = configuration->property(role + ".max_lock_fail", 50);
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;
trk_param_fpga.cn0_samples = configuration->property(role + ".cn0_samples", trk_param_fpga.cn0_samples);
trk_param_fpga.cn0_min = configuration->property(role + ".cn0_min", trk_param_fpga.cn0_min);
trk_param_fpga.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param_fpga.max_code_lock_fail);
trk_param_fpga.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param_fpga.max_carrier_lock_fail);
trk_param_fpga.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param_fpga.carrier_lock_th);
// int32_t max_lock_fail = configuration->property(role + ".max_lock_fail", 50);
// if (FLAGS_max_lock_fail != 50)
// {
// max_lock_fail = FLAGS_max_lock_fail;
// }
// trk_param_fpga.max_lock_fail = max_lock_fail;
// FPGA configuration parameters
std::string default_device_name = "/dev/uio";
@@ -119,14 +116,12 @@ GpsL2MDllPllTrackingFpga::GpsL2MDllPllTrackingFpga(
trk_param_fpga.device_name = device_name;
unsigned int device_base = configuration->property(role + ".device_base", 1);
trk_param_fpga.device_base = device_base;
//unsigned int multicorr_type = configuration->property(role + ".multicorr_type", 0);
trk_param_fpga.multicorr_type = 0; //multicorr_type : 0 -> 3 correlators, 1 -> 5 correlators
auto* ca_codes_f = static_cast<float*>(volk_gnsssdr_malloc(static_cast<unsigned int>(GPS_L2_M_CODE_LENGTH_CHIPS) * sizeof(float), volk_gnsssdr_get_alignment()));
//################# PRE-COMPUTE ALL THE CODES #################
d_ca_codes = static_cast<int*>(volk_gnsssdr_malloc(static_cast<int>(GPS_L2_M_CODE_LENGTH_CHIPS * NUM_PRNs) * sizeof(int), volk_gnsssdr_get_alignment()));
for (unsigned int PRN = 1; PRN <= NUM_PRNs; PRN++)
for (uint32_t PRN = 1; PRN <= NUM_PRNs; PRN++)
{
gps_l2c_m_code_gen_float(gsl::span<float>(ca_codes_f, static_cast<unsigned int>(GPS_L2_M_CODE_LENGTH_CHIPS)), PRN);
for (unsigned int s = 0; s < 2 * static_cast<unsigned int>(GPS_L2_M_CODE_LENGTH_CHIPS); s++)

1
src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking_fpga.h
View File

@@ -99,6 +99,7 @@ public:
void stop_tracking() override;
private:
static const uint32_t NUM_PRNs = 32;
dll_pll_veml_tracking_fpga_sptr tracking_fpga_sc;
unsigned int channel_;
std::string role_;

72
src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking_fpga.cc
View File

@@ -30,7 +30,7 @@
* 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/>.
*
* -------------------------------------------------------------------------
*/
@@ -42,22 +42,10 @@
#include "display.h"
#include "dll_pll_conf_fpga.h"
#include "gnss_sdr_flags.h"
#include "gnss_synchro.h"
#include "gps_l5_signal.h"
#include <glog/logging.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <array>
#include <cmath> // for round
#include <cstring> // for memcpy
#include <iostream>
#define NUM_PRNs 32 // number of PRNS
// the following flags are FPGA-specific and they are using arrange the values 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 LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY 0x0C000000 // flag that enables WE (Write Enable) of the local code FPGA
#define LOCAL_CODE_FPGA_CORRELATOR_SELECT_COUNT 0x20000000 // flag that selects the writing of the pilot code in the FPGA (as opposed to the data code)
GpsL5DllPllTrackingFpga::GpsL5DllPllTrackingFpga(
ConfigurationInterface *configuration, const std::string &role,
@@ -175,30 +163,11 @@ GpsL5DllPllTrackingFpga::GpsL5DllPllTrackingFpga(
trk_param_fpga.system = 'G';
std::array<char, 3> sig_{'L', '5', '\0'};
std::memcpy(trk_param_fpga.signal, sig_.data(), 3);
int32_t cn0_samples = configuration->property(role + ".cn0_samples", 20);
if (FLAGS_cn0_samples != 20)
{
cn0_samples = FLAGS_cn0_samples;
}
trk_param_fpga.cn0_samples = cn0_samples;
int32_t cn0_min = configuration->property(role + ".cn0_min", 25);
if (FLAGS_cn0_min != 25)
{
cn0_min = FLAGS_cn0_min;
}
trk_param_fpga.cn0_min = cn0_min;
int32_t max_lock_fail = configuration->property(role + ".max_lock_fail", 50);
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", 0.75);
if (FLAGS_carrier_lock_th != 0.85)
{
carrier_lock_th = FLAGS_carrier_lock_th;
}
trk_param_fpga.carrier_lock_th = carrier_lock_th;
trk_param_fpga.cn0_samples = configuration->property(role + ".cn0_samples", trk_param_fpga.cn0_samples);
trk_param_fpga.cn0_min = configuration->property(role + ".cn0_min", trk_param_fpga.cn0_min);
trk_param_fpga.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param_fpga.max_code_lock_fail);
trk_param_fpga.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param_fpga.max_carrier_lock_fail);
trk_param_fpga.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param_fpga.carrier_lock_th);
// FPGA configuration parameters
std::string default_device_name = "/dev/uio";
@@ -206,7 +175,6 @@ GpsL5DllPllTrackingFpga::GpsL5DllPllTrackingFpga(
trk_param_fpga.device_name = device_name;
uint32_t device_base = configuration->property(role + ".device_base", 27);
trk_param_fpga.device_base = device_base;
trk_param_fpga.multicorr_type = 0; //multicorr_type : 0 -> 3 correlators, 1 -> 5 correlators
//################# PRE-COMPUTE ALL THE CODES #################
uint32_t code_samples_per_chip = 1;
auto code_length_chips = static_cast<uint32_t>(GPS_L5I_CODE_LENGTH_CHIPS);
@@ -287,6 +255,34 @@ GpsL5DllPllTrackingFpga::GpsL5DllPllTrackingFpga(
trk_param_fpga.data_codes = d_data_codes;
trk_param_fpga.code_length_chips = code_length_chips;
trk_param_fpga.code_samples_per_chip = code_samples_per_chip; // 2 sample per chip
trk_param_fpga.extended_correlation_in_fpga = false; // by default
trk_param_fpga.extend_fpga_integration_periods = 1; // (number of FPGA integrations that are combined in the SW)
trk_param_fpga.fpga_integration_period = 1; // (number of symbols that are effectively integrated in the FPGA)
if (d_track_pilot)
{
if (extend_correlation_symbols > 1)
{
if (extend_correlation_symbols <= GPS_L5I_NH_CODE_LENGTH)
{
if ((GPS_L5I_NH_CODE_LENGTH % extend_correlation_symbols) == 0)
{
trk_param_fpga.extended_correlation_in_fpga = true;
trk_param_fpga.fpga_integration_period = extend_correlation_symbols;
}
}
else
{
if (extend_correlation_symbols % GPS_L5I_NH_CODE_LENGTH == 0)
{
trk_param_fpga.extended_correlation_in_fpga = true;
trk_param_fpga.extend_fpga_integration_periods = extend_correlation_symbols / GPS_L5I_NH_CODE_LENGTH;
trk_param_fpga.fpga_integration_period = GPS_L5I_NH_CODE_LENGTH;
}
}
}
}
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_param_fpga);
channel_ = 0;
DLOG(INFO) << "tracking(" << tracking_fpga_sc->unique_id() << ")";

53
src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking_fpga.h
View File

@@ -30,7 +30,7 @@
* 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/>.
*
* -------------------------------------------------------------------------
*/
@@ -40,12 +40,8 @@
#include "dll_pll_veml_tracking_fpga.h"
#include "tracking_interface.h"
#include <gnuradio/runtime_types.h>
#include <cstddef>
#include <cstdint>
#include <string>
class Gnss_Synchro;
class ConfigurationInterface;
/*!
@@ -54,32 +50,61 @@ class ConfigurationInterface;
class GpsL5DllPllTrackingFpga : public TrackingInterface
{
public:
/*!
* \brief Constructor
*/
GpsL5DllPllTrackingFpga(ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
/*!
* \brief Destructor
*/
virtual ~GpsL5DllPllTrackingFpga();
/*!
* \brief Role
*/
inline std::string role() override
{
return role_;
}
//! Returns "GPS_L5_DLL_PLL_Tracking_Fpga"
/*!
* \brief Returns "GPS_L5_DLL_PLL_Tracking_Fpga"
*/
inline std::string implementation() override
{
return "GPS_L5_DLL_PLL_Tracking_Fpga";
}
inline size_t item_size() override
/*!
* \brief Returns size of lv_16sc_t
*/
size_t item_size() override
{
return sizeof(int);
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;
/*!
@@ -93,14 +118,24 @@ public:
*/
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro) override;
/*!
* \brief Start the tracking process in the FPGA
*/
void start_tracking() override;
/*!
* \brief Stop running tracking
* \brief Stop the tracking process in the FPGA
*/
void stop_tracking() override;
private:
static const uint32_t NUM_PRNs = 32; // total number of PRNs
// the following flags are FPGA-specific and they are using arrange the values 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 int32_t LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY = 0x0C000000; // flag that enables WE (Write Enable) of the local code FPGA
static const int32_t LOCAL_CODE_FPGA_CORRELATOR_SELECT_COUNT = 0x20000000; // flag that selects the writing of the pilot code in the FPGA (as opposed to the data code)
dll_pll_veml_tracking_fpga_sptr tracking_fpga_sc;
uint32_t channel_;
std::string role_;