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adapted the FPGA tracking class according to the latest changes in the next branch

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This commit is contained in:
Marc Majoral 2018-08-02 17:32:59 +02:00
parent 7e246dea29
commit daedfc3e01
12 changed files with 423 additions and 101 deletions
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8
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc
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@ -208,12 +208,12 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
// static_cast<int>(floor(4096*fft_codes_padded[i].imag() * (pow(2, 3) - 1) / max)));
// d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int>(floor(1024*fft_codes_padded[i].real() * (pow(2, 5) - 1) / max)),
// static_cast<int>(floor(1024*fft_codes_padded[i].imag() * (pow(2, 5) - 1) / max)));
d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int>(floor(256*fft_codes_padded[i].real() * (pow(2, 7) - 1) / max)),
static_cast<int>(floor(256*fft_codes_padded[i].imag() * (pow(2, 7) - 1) / max)));
// d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int>(floor(256*fft_codes_padded[i].real() * (pow(2, 7) - 1) / max)),
// static_cast<int>(floor(256*fft_codes_padded[i].imag() * (pow(2, 7) - 1) / max)));
// d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int>(floor(16*fft_codes_padded[i].real() * (pow(2, 11) - 1) / max)),
// static_cast<int>(floor(16*fft_codes_padded[i].imag() * (pow(2, 11) - 1) / max)));
// d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int>(floor(fft_codes_padded[i].real() * (pow(2, 15) - 1) / max)),
// static_cast<int>(floor(fft_codes_padded[i].imag() * (pow(2, 15) - 1) / max)));
d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int>(floor(fft_codes_padded[i].real() * (pow(2, 15) - 1) / max)),
static_cast<int>(floor(fft_codes_padded[i].imag() * (pow(2, 15) - 1) / max)));
// tmp_re = static_cast<int>(floor(fft_codes_padded[i].real() * (pow(2, 7) - 1) / max));
// tmp_im = static_cast<int>(floor(fft_codes_padded[i].imag() * (pow(2, 7) - 1) / max));

2
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.cc
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@ -327,7 +327,7 @@ void pcps_acquisition_fpga::set_active(bool active)
printf("##### d_test_statistics = %f\n", d_test_statistics);
printf("##### debug_d_max_absolute =%f\n",debug_d_max_absolute);
printf("##### debug_d_input_power_absolute =%f\n",debug_d_input_power_absolute);
printf("##### debug_indext = %d\n",debug_indext);
printf("##### initial_sample = %d\n",initial_sample);
printf("##### debug_doppler_index = %d\n",debug_doppler_index);
send_positive_acquisition();
d_state = 0; // Positive acquisition

2
src/algorithms/tracking/adapters/galileo_e1_dll_pll_veml_tracking_fpga.cc
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@ -51,7 +51,7 @@ GalileoE1DllPllVemlTrackingFpga::GalileoE1DllPllVemlTrackingFpga(
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
//dllpllconf_t trk_param;
dllpllconf_fpga_t trk_param_fpga;
Dll_Pll_Conf_Fpga trk_param_fpga = Dll_Pll_Conf_Fpga();
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
std::string default_item_type = "gr_complex";

2
src/algorithms/tracking/adapters/galileo_e5a_dll_pll_tracking_fpga.cc
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@ -50,7 +50,7 @@ GalileoE5aDllPllTrackingFpga::GalileoE5aDllPllTrackingFpga(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
dllpllconf_fpga_t trk_param_fpga;
Dll_Pll_Conf_Fpga trk_param_fpga = Dll_Pll_Conf_Fpga();
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
std::string default_item_type = "gr_complex";

2
src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_tracking_fpga.cc
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@ -53,7 +53,7 @@ GpsL1CaDllPllTrackingFpga::GpsL1CaDllPllTrackingFpga(
unsigned int in_streams, unsigned int out_streams) :
role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
dllpllconf_fpga_t trk_param_fpga;
Dll_Pll_Conf_Fpga trk_param_fpga = Dll_Pll_Conf_Fpga();
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################

2
src/algorithms/tracking/adapters/gps_l2_m_dll_pll_tracking_fpga.cc
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@ -52,7 +52,7 @@ GpsL2MDllPllTrackingFpga::GpsL2MDllPllTrackingFpga(
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
//dllpllconf_t trk_param;
dllpllconf_fpga_t trk_param_fpga;
Dll_Pll_Conf_Fpga trk_param_fpga = Dll_Pll_Conf_Fpga();
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
//std::string default_item_type = "gr_complex";

2
src/algorithms/tracking/adapters/gps_l5_dll_pll_tracking_fpga.cc
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@ -52,7 +52,7 @@ GpsL5DllPllTrackingFpga::GpsL5DllPllTrackingFpga(
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
//dllpllconf_t trk_param;
dllpllconf_fpga_t trk_param_fpga;
Dll_Pll_Conf_Fpga trk_param_fpga = Dll_Pll_Conf_Fpga();
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
//std::string default_item_type = "gr_complex";

234
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.cc
View File

@ -3,6 +3,7 @@
* \brief Implementation of a code DLL + carrier PLL tracking block using an FPGA
* \author Marc Majoral, 2018. marc.majoral(at)cttc.es
* Antonio Ramos, 2018 antonio.ramosdet(at)gmail.com
* Javier Arribas, 2018. 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,
@ -29,7 +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/>.
*
* -------------------------------------------------------------------------
*/
@ -60,13 +61,13 @@
using google::LogMessage;
dll_pll_veml_tracking_fpga_sptr dll_pll_veml_make_tracking_fpga(dllpllconf_fpga_t conf_)
dll_pll_veml_tracking_fpga_sptr dll_pll_veml_make_tracking_fpga(const Dll_Pll_Conf_Fpga &conf_)
{
return dll_pll_veml_tracking_fpga_sptr(new dll_pll_veml_tracking_fpga(conf_));
}
dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(dllpllconf_fpga_t conf_) :
dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &conf_) :
gr::block("dll_pll_veml_tracking_fpga", gr::io_signature::make(0, 0, sizeof(lv_16sc_t)),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
{
@ -75,6 +76,9 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(dllpllconf_fpga_t conf_)
this->message_port_register_out(pmt::mp("events"));
this->set_relative_rate(1.0 / static_cast<double>(trk_parameters.vector_length));
// Telemetry bit synchronization message port input (mainly for GPS L1 CA)
this->message_port_register_in(pmt::mp("preamble_samplestamp"));
// initialize internal vars
d_veml = false;
d_cloop = true;
@ -114,6 +118,32 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(dllpllconf_fpga_t conf_)
d_secondary = false;
trk_parameters.track_pilot = false;
interchange_iq = false;
// set the preamble
unsigned short int preambles_bits[GPS_CA_PREAMBLE_LENGTH_BITS] = GPS_PREAMBLE;
// preamble bits to sampled symbols
d_gps_l1ca_preambles_symbols = static_cast<int *>(volk_gnsssdr_malloc(GPS_CA_PREAMBLE_LENGTH_SYMBOLS * sizeof(int), volk_gnsssdr_get_alignment()));
int n = 0;
for (int i = 0; i < GPS_CA_PREAMBLE_LENGTH_BITS; i++)
{
for (unsigned int j = 0; j < GPS_CA_TELEMETRY_SYMBOLS_PER_BIT; j++)
{
if (preambles_bits[i] == 1)
{
d_gps_l1ca_preambles_symbols[n] = 1;
}
else
{
d_gps_l1ca_preambles_symbols[n] = -1;
}
n++;
}
}
d_symbol_history.resize(GPS_CA_PREAMBLE_LENGTH_SYMBOLS); // Change fixed buffer size
d_symbol_history.clear(); // Clear all the elements in the buffer
}
else if (signal_type.compare("2S") == 0)
{
@ -138,21 +168,21 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(dllpllconf_fpga_t conf_)
d_correlation_length_ms = 1;
//d_code_samples_per_chip = 1;
//d_code_length_chips = static_cast<unsigned int>(GPS_L5i_CODE_LENGTH_CHIPS);
// GPS L5 does not have pilot secondary code
d_secondary = true;
interchange_iq = false;
// interchange_iq = false;
if (trk_parameters.track_pilot)
{
d_secondary_code_length = static_cast<unsigned int>(GPS_L5q_NH_CODE_LENGTH);
d_secondary_code_string = const_cast<std::string *>(&GPS_L5q_NH_CODE_STR);
signal_pretty_name = signal_pretty_name + "Q";
//interchange_iq = true;
interchange_iq = true;
}
else
{
d_secondary_code_length = static_cast<unsigned int>(GPS_L5i_NH_CODE_LENGTH);
d_secondary_code_string = const_cast<std::string *>(&GPS_L5i_NH_CODE_STR);
signal_pretty_name = signal_pretty_name + "I";
interchange_iq = false;
}
}
else
@ -206,18 +236,19 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(dllpllconf_fpga_t conf_)
//d_code_samples_per_chip = 1;
//d_code_length_chips = static_cast<unsigned int>(Galileo_E5a_CODE_LENGTH_CHIPS);
d_secondary = true;
interchange_iq = false;
//interchange_iq = false;
if (trk_parameters.track_pilot)
{
d_secondary_code_length = static_cast<unsigned int>(Galileo_E5a_Q_SECONDARY_CODE_LENGTH);
signal_pretty_name = signal_pretty_name + "Q";
// interchange_iq = true;
interchange_iq = true;
}
else
{
d_secondary_code_length = static_cast<unsigned int>(Galileo_E5a_I_SECONDARY_CODE_LENGTH);
d_secondary_code_string = const_cast<std::string *>(&Galileo_E5a_I_SECONDARY_CODE);
signal_pretty_name = signal_pretty_name + "I";
interchange_iq = false;
}
}
else
@ -272,7 +303,7 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(dllpllconf_fpga_t conf_)
d_correlator_outs = static_cast<gr_complex *>(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_local_code_shift_chips = static_cast<float *>(volk_gnsssdr_malloc(d_n_correlator_taps * sizeof(float), volk_gnsssdr_get_alignment()));
std::fill_n(d_correlator_outs, d_n_correlator_taps, gr_complex(0.0, 0.0));
//std::fill_n(d_correlator_outs, d_n_correlator_taps, gr_complex(0.0, 0.0));
d_code_samples_per_chip = trk_parameters.code_samples_per_chip; // number of samples per chip
@ -327,12 +358,12 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(dllpllconf_fpga_t conf_)
if (trk_parameters.track_pilot)
{
// Extra correlator for the data component
d_Prompt_Data = static_cast<gr_complex *>(volk_gnsssdr_malloc(sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_Prompt_Data[0] = gr_complex(0.0, 0.0);
//d_Prompt_Data = static_cast<gr_complex *>(volk_gnsssdr_malloc(sizeof(gr_complex), volk_gnsssdr_get_alignment()));
//d_Prompt_Data[0] = gr_complex(0.0, 0.0);
}
else
{
d_Prompt_Data = nullptr;
//d_Prompt_Data = nullptr;
}
//--- Initializations ---//
@ -346,6 +377,7 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(dllpllconf_fpga_t conf_)
// sample synchronization
d_sample_counter = 0;
d_acq_sample_stamp = 0;
d_absolute_samples_offset = 0;
d_current_prn_length_samples = static_cast<int>(trk_parameters.vector_length);
d_next_prn_length_samples = d_current_prn_length_samples;
@ -358,8 +390,9 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(dllpllconf_fpga_t conf_)
d_CN0_SNV_dB_Hz = 0.0;
d_carrier_lock_fail_counter = 0;
d_carrier_lock_threshold = trk_parameters.carrier_lock_th;
d_Prompt_Data = static_cast<gr_complex *>(volk_gnsssdr_malloc(sizeof(gr_complex), volk_gnsssdr_get_alignment()));
clear_tracking_vars();
//clear_tracking_vars();
d_acquisition_gnss_synchro = nullptr;
d_channel = 0;
@ -376,6 +409,7 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(dllpllconf_fpga_t conf_)
d_code_phase_samples = 0.0;
d_last_prompt = gr_complex(0.0, 0.0);
d_state = 0; // initial state: standby
clear_tracking_vars();
//printf("hhhhhhhhhhh d_n_correlator_taps = %d\n", d_n_correlator_taps);
@ -395,9 +429,7 @@ dll_pll_veml_tracking_fpga::dll_pll_veml_tracking_fpga(dllpllconf_fpga_t conf_)
void dll_pll_veml_tracking_fpga::start_tracking()
{
/*
* correct the code phase according to the delay between acq and trk
*/
// 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;
@ -405,7 +437,7 @@ void dll_pll_veml_tracking_fpga::start_tracking()
double acq_trk_diff_seconds = 0; // when using the FPGA we don't use the global sample counter
// Doppler effect Fd = (C / (C + Vr)) * F
double radial_velocity = (d_signal_carrier_freq + d_acq_carrier_doppler_hz) / d_signal_carrier_freq;
// new chip and prn sequence periods based on acq Doppler
// new chip and PRN sequence periods based on acq Doppler
d_code_freq_chips = radial_velocity * d_code_chip_rate;
d_code_phase_step_chips = d_code_freq_chips / trk_parameters.fs_in;
@ -413,7 +445,8 @@ void dll_pll_veml_tracking_fpga::start_tracking()
double T_prn_mod_seconds = T_chip_mod_seconds * static_cast<double>(d_code_length_chips);
double T_prn_mod_samples = T_prn_mod_seconds * trk_parameters.fs_in;
d_current_prn_length_samples = std::round(T_prn_mod_samples);
//d_current_prn_length_samples = std::round(T_prn_mod_samples);
d_current_prn_length_samples = std::floor(T_prn_mod_samples);
d_next_prn_length_samples = d_current_prn_length_samples;
double T_prn_true_seconds = static_cast<double>(d_code_length_chips) / d_code_chip_rate;
double T_prn_true_samples = T_prn_true_seconds * trk_parameters.fs_in;
@ -538,6 +571,11 @@ void dll_pll_veml_tracking_fpga::start_tracking()
dll_pll_veml_tracking_fpga::~dll_pll_veml_tracking_fpga()
{
if (signal_type.compare("1C") == 0)
{
volk_gnsssdr_free(d_gps_l1ca_preambles_symbols);
}
if (d_dump_file.is_open())
{
try
@ -565,10 +603,11 @@ dll_pll_veml_tracking_fpga::~dll_pll_veml_tracking_fpga()
{
volk_gnsssdr_free(d_local_code_shift_chips);
volk_gnsssdr_free(d_correlator_outs);
if (trk_parameters.track_pilot)
{
volk_gnsssdr_free(d_Prompt_Data);
}
volk_gnsssdr_free(d_Prompt_Data);
// if (trk_parameters.track_pilot)
// {
// volk_gnsssdr_free(d_Prompt_Data);
// }
delete[] d_Prompt_buffer;
multicorrelator_fpga->free();
}
@ -609,7 +648,9 @@ bool dll_pll_veml_tracking_fpga::acquire_secondary()
}
}
if (abs(corr_value) == d_secondary_code_length)
// if (abs(corr_value) == d_secondary_code_length)
if (abs(corr_value) == static_cast<int>(d_secondary_code_length))
{
return true;
}
@ -705,7 +746,8 @@ void dll_pll_veml_tracking_fpga::run_dll_pll()
void dll_pll_veml_tracking_fpga::clear_tracking_vars()
{
std::fill_n(d_correlator_outs, d_n_correlator_taps, gr_complex(0.0, 0.0));
if (trk_parameters.track_pilot) *d_Prompt_Data = gr_complex(0.0, 0.0);
//if (trk_parameters.track_pilot) *d_Prompt_Data = gr_complex(0.0, 0.0);
if (trk_parameters.track_pilot) d_Prompt_Data[0] = gr_complex(0.0, 0.0);
d_carr_error_hz = 0.0;
d_carr_error_filt_hz = 0.0;
d_code_error_chips = 0.0;
@ -727,7 +769,9 @@ void dll_pll_veml_tracking_fpga::update_tracking_vars()
// Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
T_prn_samples = T_prn_seconds * trk_parameters.fs_in;
K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * trk_parameters.fs_in;
d_next_prn_length_samples = round(K_blk_samples);
//d_next_prn_length_samples = round(K_blk_samples);
d_next_prn_length_samples = static_cast<int>(std::floor(K_blk_samples)); // round to a discrete number of samples
//################### PLL COMMANDS #################################################
// carrier phase step (NCO phase increment per sample) [rads/sample]
d_carrier_phase_step_rad = PI_2 * d_carrier_doppler_hz / trk_parameters.fs_in;
@ -812,6 +856,7 @@ void dll_pll_veml_tracking_fpga::log_data(bool integrating)
float tmp_VE, tmp_E, tmp_P, tmp_L, tmp_VL;
float tmp_float;
double tmp_double;
unsigned long int tmp_long_int;
if (trk_parameters.track_pilot)
{
if (interchange_iq)
@ -878,7 +923,9 @@ void dll_pll_veml_tracking_fpga::log_data(bool integrating)
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));
//d_dump_file.write(reinterpret_cast<char *>(&d_sample_counter), sizeof(unsigned long int));
tmp_long_int = d_sample_counter + d_current_prn_length_samples;
d_dump_file.write(reinterpret_cast<char *>(&tmp_long_int), sizeof(unsigned long int));
// accumulated carrier phase
tmp_float = d_acc_carrier_phase_rad;
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
@ -1194,7 +1241,7 @@ int dll_pll_veml_tracking_fpga::general_work (int noutput_items __attribute__((u
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.Tracking_sample_counter = 0; // in order to reduce computational workload do not read the sample counter until we start tracking d_sample_counter + d_current_prn_length_samples;
current_synchro_data.System = {'G'};
current_synchro_data.correlation_length_ms = 1;
break;
@ -1214,6 +1261,7 @@ int dll_pll_veml_tracking_fpga::general_work (int noutput_items __attribute__((u
unsigned absolute_samples_offset = current_synchro_data.Acq_delay_samples + current_synchro_data.Acq_samplestamp_samples + num_frames*d_correlation_length_samples;
//printf("333333 absolute_samples_offset = %d\n", absolute_samples_offset);
multicorrelator_fpga->set_initial_sample(absolute_samples_offset);
d_absolute_samples_offset = absolute_samples_offset;
d_sample_counter = absolute_samples_offset;
current_synchro_data.Tracking_sample_counter = absolute_samples_offset;
d_sample_counter_next = d_sample_counter;
@ -1276,40 +1324,116 @@ int dll_pll_veml_tracking_fpga::general_work (int noutput_items __attribute__((u
}
else if (d_symbols_per_bit > 1) //Signal does not have secondary code. Search a bit transition by sign change
{
if (d_synchonizing)
{
if (d_Prompt->real() * d_last_prompt.real() > 0.0)
{
d_current_symbol++;
}
else if (d_current_symbol > d_symbols_per_bit)
{
d_synchonizing = false;
d_current_symbol = 1;
}
else
{
d_current_symbol = 1;
d_last_prompt = *d_Prompt;
}
}
else if (d_last_prompt.real() != 0.0)
{
d_current_symbol++;
if (d_current_symbol == d_symbols_per_bit) next_state = true;
}
else
{
d_last_prompt = *d_Prompt;
d_synchonizing = true;
d_current_symbol = 1;
}
// if (d_synchonizing)
// {
// if (d_Prompt->real() * d_last_prompt.real() > 0.0)
// {
// d_current_symbol++;
// }
// else if (d_current_symbol > d_symbols_per_bit)
// {
// d_synchonizing = false;
// d_current_symbol = 1;
// }
// else
// {
// d_current_symbol = 1;
// d_last_prompt = *d_Prompt;
// }
// }
// else if (d_last_prompt.real() != 0.0)
// {
// d_current_symbol++;
// if (d_current_symbol == d_symbols_per_bit) next_state = true;
// }
// else
// {
// d_last_prompt = *d_Prompt;
// d_synchonizing = true;
// d_current_symbol = 1;
// }
// }
//===========================================================================================================
//float current_tracking_time_s = static_cast<float>(d_sample_counter - d_acq_sample_stamp) / trk_parameters.fs_in;
float current_tracking_time_s = static_cast<float>(d_sample_counter - d_absolute_samples_offset) / trk_parameters.fs_in;
if (current_tracking_time_s > 10)
{
d_symbol_history.push_back(d_Prompt->real());
//******* preamble correlation ********
int corr_value = 0;
if ((d_symbol_history.size() == GPS_CA_PREAMBLE_LENGTH_SYMBOLS)) // and (d_make_correlation or !d_flag_frame_sync))
{
for (unsigned int i = 0; i < GPS_CA_PREAMBLE_LENGTH_SYMBOLS; i++)
{
if (d_symbol_history.at(i) < 0) // symbols clipping
{
corr_value -= d_gps_l1ca_preambles_symbols[i];
}
else
{
corr_value += d_gps_l1ca_preambles_symbols[i];
}
}
}
if (corr_value == GPS_CA_PREAMBLE_LENGTH_SYMBOLS)
{
//std::cout << "Preamble detected at tracking!" << std::endl;
next_state = true;
}
else
{
next_state = false;
}
}
else
{
next_state = false;
}
}
else
{
next_state = true;
}
// ########### Output the tracking results to Telemetry block ##########
if (interchange_iq)
{
if (trk_parameters.track_pilot)
{
// Note that data and pilot components are in quadrature. I and Q are interchanged
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt_Data).imag());
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt_Data).real());
}
else
{
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).imag());
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).real());
}
}
else
{
if (trk_parameters.track_pilot)
{
// Note that data and pilot components are in quadrature. I and Q are interchanged
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt_Data).real());
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt_Data).imag());
}
else
{
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).real());
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).imag());
}
}
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 = d_correlation_length_ms;
if (next_state)
{ // reset extended correlator
d_VE_accu = gr_complex(0.0, 0.0);

80
src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.h
View File

@ -39,6 +39,7 @@
#ifndef GNSS_SDR_DLL_PLL_VEML_TRACKING_FPGA_H
#define GNSS_SDR_DLL_PLL_VEML_TRACKING_FPGA_H
#include "dll_pll_conf_fpga.h"
#include "gnss_synchro.h"
#include "tracking_2nd_DLL_filter.h"
#include "tracking_2nd_PLL_filter.h"
@ -47,46 +48,49 @@
#include <fstream>
#include <string>
#include <map>
#include <queue>
#include <boost/circular_buffer.hpp>
#include "fpga_multicorrelator.h"
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 multicorr_type;
unsigned int code_length_chips;
unsigned int code_samples_per_chip;
int* ca_codes;
int* data_codes;
} dllpllconf_fpga_t;
//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 multicorr_type;
// unsigned int code_length_chips;
// unsigned int code_samples_per_chip;
// int* ca_codes;
// int* data_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_);
//dll_pll_veml_tracking_fpga_sptr dll_pll_veml_make_tracking_fpga(const dllpllconf_fpga_t &conf_);
dll_pll_veml_tracking_fpga_sptr dll_pll_veml_make_tracking_fpga(const Dll_Pll_Conf_Fpga &conf_);
/*!
@ -107,9 +111,10 @@ public:
void reset(void);
private:
friend dll_pll_veml_tracking_fpga_sptr dll_pll_veml_make_tracking_fpga(dllpllconf_fpga_t conf_);
friend dll_pll_veml_tracking_fpga_sptr dll_pll_veml_make_tracking_fpga(const Dll_Pll_Conf_Fpga &conf_);
dll_pll_veml_tracking_fpga(dllpllconf_fpga_t conf_);
dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &conf_);
void msg_handler_preamble_index(pmt::pmt_t msg);
bool cn0_and_tracking_lock_status(double coh_integration_time_s);
bool acquire_secondary();
@ -121,7 +126,8 @@ private:
int save_matfile();
// tracking configuration vars
dllpllconf_fpga_t trk_parameters;
Dll_Pll_Conf_Fpga trk_parameters;
//dllpllconf_fpga_t trk_parameters;
bool d_veml;
bool d_cloop;
unsigned int d_channel;
@ -142,6 +148,9 @@ private:
std::string *d_secondary_code_string;
std::string signal_pretty_name;
int *d_gps_l1ca_preambles_symbols;
boost::circular_buffer<float> d_symbol_history;
//tracking state machine
int d_state;
bool d_synchonizing;
@ -206,6 +215,7 @@ private:
// processing samples counters
unsigned long int d_sample_counter;
unsigned long int d_acq_sample_stamp;
unsigned long int d_absolute_samples_offset;
// CN0 estimation and lock detector
int d_cn0_estimation_counter;

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

@ -47,7 +47,7 @@ set(TRACKING_LIB_SOURCES
)
if(ENABLE_FPGA)
SET(TRACKING_LIB_SOURCES ${TRACKING_LIB_SOURCES} fpga_multicorrelator.cc)
SET(TRACKING_LIB_SOURCES ${TRACKING_LIB_SOURCES} fpga_multicorrelator.cc dll_pll_conf_fpga.cc)
endif(ENABLE_FPGA)
include_directories(

91
src/algorithms/tracking/libs/dll_pll_conf_fpga.cc Normal file
View File

@ -0,0 +1,91 @@
/*!
* \file dll_pll_conf.cc
* \brief Class that contains all the configuration parameters for generic
* tracking block based on a DLL and a PLL.
* \author Javier Arribas, 2018. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "dll_pll_conf_fpga.h"
#include <cstring>
Dll_Pll_Conf_Fpga::Dll_Pll_Conf_Fpga()
{
// /* DLL/PLL tracking configuration */
// fs_in = 0.0;
// vector_length = 0;
// dump = false;
// dump_filename = "./dll_pll_dump.dat";
// pll_bw_hz = 40.0;
// dll_bw_hz = 2.0;
// pll_bw_narrow_hz = 5.0;
// dll_bw_narrow_hz = 0.75;
// early_late_space_chips = 0.5;
// very_early_late_space_chips = 0.5;
// early_late_space_narrow_chips = 0.1;
// very_early_late_space_narrow_chips = 0.1;
// extend_correlation_symbols = 5;
// cn0_samples = 20;
// carrier_lock_det_mav_samples = 20;
// cn0_min = 25;
// max_lock_fail = 50;
// carrier_lock_th = 0.85;
// track_pilot = false;
// system = 'G';
// char sig_[3] = "1C";
// std::memcpy(signal, sig_, 3);
/* DLL/PLL tracking configuration */
fs_in = 0.0;
vector_length = 0;
dump = false;
dump_filename = "./dll_pll_dump.dat";
pll_bw_hz = 40.0;
dll_bw_hz = 2.0;
pll_bw_narrow_hz = 5.0;
dll_bw_narrow_hz = 0.75;
early_late_space_chips = 0.5;
very_early_late_space_chips = 0.5;
early_late_space_narrow_chips = 0.1;
very_early_late_space_narrow_chips = 0.1;
extend_correlation_symbols = 5;
cn0_samples = 20;
cn0_min = 25;
max_lock_fail = 50;
carrier_lock_th = 0.85;
track_pilot = false;
system = 'G';
char sig_[3] = "1C";
std::memcpy(signal, sig_, 3);
device_name = "/dev/uio";
device_base = 1;
multicorr_type = 0;
code_length_chips = 0;
code_samples_per_chip = 0;
//int* ca_codes;
//int* data_codes;
}

97
src/algorithms/tracking/libs/dll_pll_conf_fpga.h Normal file
View File

@ -0,0 +1,97 @@
/*!
* \file dll_pll_conf.h
* \brief Class that contains all the configuration parameters for generic tracking block based on a DLL and a PLL.
* \author Javier Arribas, 2018. jarribas(at)cttc.es
*
* Class that contains all the configuration parameters for generic tracking block based on a DLL and a PLL.
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_DLL_PLL_CONF_FPGA_H_
#define GNSS_SDR_DLL_PLL_CONF_FPGA_H_
#include <string>
class Dll_Pll_Conf_Fpga
{
private:
public:
// /* 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 carrier_lock_det_mav_samples;
// int cn0_min;
// int max_lock_fail;
// double carrier_lock_th;
// bool track_pilot;
// char system;
// char signal[3];
/* 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 multicorr_type;
unsigned int code_length_chips;
unsigned int code_samples_per_chip;
int* ca_codes;
int* data_codes;
Dll_Pll_Conf_Fpga();
};
#endif