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

src/algorithms/libs/gnss_sdr_fpga_sample_counter.cc

@@ -35,6 +35,14 @@
 #include <cmath>
 #include <iostream>
 #include <string>
+#include <glog/logging.h>
+#include <fcntl.h>     // libraries used by the GIPO
+#include <sys/mman.h>  // libraries used by the GIPO
+
+#include <inttypes.h>
+
+#define PAGE_SIZE 0x10000                     // default page size for the multicorrelator memory map
+#define TEST_REG_SANITY_CHECK 0x55AA          // value to check the presence of the test register (to detect the hw)
 
 gnss_sdr_fpga_sample_counter::gnss_sdr_fpga_sample_counter(double _fs, int32_t _interval_ms) : gr::block("fpga_fpga_sample_counter",
                                                                                                    gr::io_signature::make(0, 0, 0),
@@ -44,11 +52,15 @@ gnss_sdr_fpga_sample_counter::gnss_sdr_fpga_sample_counter(double _fs, int32_t _
     set_max_noutput_items(1);
     interval_ms = _interval_ms;
     fs = _fs;
+    //printf("CREATOR fs =  %f\n", fs);
+    //printf("CREATOR interval_ms = %" PRIu32 "\n", interval_ms);
     samples_per_output = std::round(fs * static_cast<double>(interval_ms) / 1e3);
+    //printf("CREATOR samples_per_output =  %" PRIu32 "\n", samples_per_output);
     //todo: Load here the hardware counter register with this amount of samples. It should produce an
     //interrupt every samples_per_output count.
     //The hardware timer must keep always interrupting the PS. It must not wait for the interrupt to
     //be served.
+    open_device();
 
     sample_counter = 0ULL;
     current_T_rx_ms = 0;
@@ -75,7 +87,11 @@ gnss_sdr_fpga_sample_counter_sptr gnss_sdr_make_fpga_sample_counter(double _fs,
 bool gnss_sdr_fpga_sample_counter::start()
 {
     //todo: place here the RE-INITIALIZATION routines. This function will be called by GNURadio at every start of the flowgraph.
-    // return true if everything is ok.
+
+	// configure the number of samples per output in the FPGA and enable the interrupts
+    configure_samples_per_output(samples_per_output);
+
+	// return true if everything is ok.
     return true;
 }
 
@@ -85,6 +101,8 @@ bool gnss_sdr_fpga_sample_counter::stop()
 {
     //todo: place here the routines to stop the associated hardware (if needed).This function will be called by GNURadio at every stop of the flowgraph.
     // return true if everything is ok.
+	close_device();
+
     return true;
 }
 
@@ -101,6 +119,15 @@ int gnss_sdr_fpga_sample_counter::general_work(int noutput_items __attribute__((
     // Possible problem: what happen if the PS is overloaded and gnuradio does not call this function
     // with the sufficient rate to catch all the interrupts in the counter. To be evaluated later.
 
+	uint32_t counter = wait_for_interrupt_and_read_counter();
+	uint64_t samples_passed = 2*static_cast<uint64_t>(samples_per_output) - static_cast<uint64_t>(counter); // ellapsed samples
+	//printf("============================================ interrupter : samples_passed = %" PRIu64 "\n", samples_passed);
+	// Note: at this moment the sample counter is implemented as a sample counter that decreases to zero and then it is automatically
+	// reloaded again and keeps counter. It is done in this way to minimize the logic in the FPGA and maximize the FPGA clock performance
+	// (it takes less resources and latency in the FPGA to compare a number against a fixed value like zero than to compare it to a programmable
+	// variable number).
+
+	sample_counter = sample_counter + samples_passed; //samples_per_output;
     Gnss_Synchro *out = reinterpret_cast<Gnss_Synchro *>(output_items[0]);
     out[0] = Gnss_Synchro();
     out[0].Flag_valid_symbol_output = false;
@@ -109,7 +136,11 @@ int gnss_sdr_fpga_sample_counter::general_work(int noutput_items __attribute__((
     out[0].fs = fs;
     if ((current_T_rx_ms % report_interval_ms) == 0)
         {
-            current_s++;
+    		//printf("time to print sample_counter = %" PRIu64 "\n", sample_counter);
+			//printf("time to print current Tx ms : %" PRIu64 "\n", current_T_rx_ms);
+			//printf("time to print report_interval_ms : %" PRIu32 "\n", report_interval_ms);
+			//printf("time to print %f\n", (current_T_rx_ms % report_interval_ms));
+			current_s++;
             if ((current_s % 60) == 0)
                 {
                     current_s = 0;
@@ -166,6 +197,109 @@ int gnss_sdr_fpga_sample_counter::general_work(int noutput_items __attribute__((
                 }
         }
     out[0].Tracking_sample_counter = sample_counter;
-    current_T_rx_ms = (sample_counter * 1000) / samples_per_output;
+    //current_T_rx_ms = (sample_counter * 1000) / samples_per_output;
+    current_T_rx_ms = interval_ms*(sample_counter) / samples_per_output;
     return 1;
 }
+
+uint32_t gnss_sdr_fpga_sample_counter::test_register(uint32_t writeval)
+{
+    uint32_t readval;
+    // write value to test register
+    map_base[3] = writeval;
+    // read value from test register
+    readval = map_base[3];
+    // return read value
+    return readval;
+}
+
+void gnss_sdr_fpga_sample_counter::configure_samples_per_output(uint32_t interval)
+{
+	// note : the counter is a 48-bit value in the HW.
+	//printf("============================================ total counter - interrupted interval : %" PRIu32 "\n", interval);
+	//uint64_t temp_interval;
+	//temp_interval = (interval & static_cast<uint32_t>(0xFFFFFFFF));
+	//printf("LSW counter - interrupted interval : %" PRIu32 "\n", static_cast<uint32_t>(temp_interval));
+	//map_base[0] = static_cast<uint32_t>(temp_interval);
+	map_base[0] = interval - 1;
+	//temp_interval = (interval >> 32) & static_cast<uint32_t>(0xFFFFFFFF);
+	//printf("MSbits counter - interrupted interval : %" PRIu32 "\n", static_cast<uint32_t>(temp_interval));
+	//map_base[1] = static_cast<uint32_t>(temp_interval); // writing the most significant bits also enables the interrupts
+}
+
+void gnss_sdr_fpga_sample_counter::open_device()
+{
+    // open communication with HW accelerator
+    if ((fd = open(device_name.c_str(), O_RDWR | O_SYNC)) == -1)
+        {
+            LOG(WARNING) << "Cannot open deviceio" << device_name;
+            std::cout << "Counter-Intr: cannot open deviceio" << device_name << std::endl;
+        }
+    map_base = reinterpret_cast<volatile uint32_t *>(mmap(NULL, PAGE_SIZE,
+        PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0));
+
+    if (map_base == reinterpret_cast<void *>(-1))
+        {
+            LOG(WARNING) << "Cannot map the FPGA acquisition module into user memory";
+            std::cout << "Counter-Intr: cannot map deviceio" << device_name << std::endl;
+        }
+
+    // sanity check : check test register
+    uint32_t writeval = TEST_REG_SANITY_CHECK;
+    uint32_t readval;
+    readval = gnss_sdr_fpga_sample_counter::test_register(writeval);
+    if (writeval != readval)
+        {
+            LOG(WARNING) << "Acquisition test register sanity check failed";
+        }
+    else
+        {
+            LOG(INFO) << "Acquisition test register sanity check success!";
+            //std::cout << "Acquisition test register sanity check success!" << std::endl;
+        }
+}
+
+void gnss_sdr_fpga_sample_counter::close_device()
+{
+	//printf("=========================================== NOW closing device ...\n");
+	map_base[2] = 0; // disable the generation of the interrupt in the device
+
+    uint32_t *aux = const_cast<uint32_t *>(map_base);
+    if (munmap(static_cast<void *>(aux), PAGE_SIZE) == -1)
+        {
+            printf("Failed to unmap memory uio\n");
+        }
+    close(fd);
+}
+
+uint32_t gnss_sdr_fpga_sample_counter::wait_for_interrupt_and_read_counter()
+{
+    int32_t irq_count;
+    ssize_t nb;
+    int32_t counter;
+
+    // enable interrupts
+    int32_t reenable = 1;
+    write(fd, reinterpret_cast<void *>(&reenable), sizeof(int32_t));
+
+    // wait for interrupt
+    //printf("============================================ interrupter : going to wait for interupt\n");
+    nb = read(fd, &irq_count, sizeof(irq_count));
+    //printf("============================================ interrupter : interrupt received\n");
+    //printf("interrupt received\n");
+    if (nb != sizeof(irq_count))
+        {
+            printf("acquisition module Read failed to retrieve 4 bytes!\n");
+            printf("acquisition module Interrupt number %d\n", irq_count);
+        }
+
+    // acknowledge the interrupt
+    map_base[1] = 0; // writing anything to reg 1 acknowledges the interrupt
+
+    // add number of passed samples or read the current counter value for more accuracy
+    counter = samples_per_output; //map_base[0];
+    return counter;
+
+}
+
+

src/algorithms/libs/gnss_sdr_fpga_sample_counter.h

@@ -45,13 +45,18 @@ class gnss_sdr_fpga_sample_counter : public gr::block
 {
 private:
     gnss_sdr_fpga_sample_counter(double _fs, int32_t _interval_ms);
+    uint32_t test_register(uint32_t writeval);
+    void configure_samples_per_output(uint32_t interval);
+    void close_device(void);
+    void open_device(void);
     bool start();
     bool stop();
+    uint32_t wait_for_interrupt_and_read_counter(void);
     uint32_t samples_per_output;
     double fs;
     uint64_t sample_counter;
-    int32_t interval_ms;
+    uint32_t interval_ms;
-    int64_t current_T_rx_ms;  // Receiver time in ms since the beginning of the run
+    uint64_t current_T_rx_ms;  // Receiver time in ms since the beginning of the run
     uint32_t current_s;       // Receiver time in seconds, modulo 60
     bool flag_m;              // True if the receiver has been running for at least 1 minute
     uint32_t current_m;       // Receiver time in minutes, modulo 60
@@ -61,6 +66,9 @@ private:
     uint32_t current_days;    // Receiver time in days since the beginning of the run
     int32_t report_interval_ms;
     bool flag_enable_send_msg;
+    int32_t fd;                   			// driver descriptor
+    volatile uint32_t *map_base;  // driver memory map
+    std::string device_name = "/dev/uio26";	// HW device name
 
 public:
     friend gnss_sdr_fpga_sample_counter_sptr gnss_sdr_make_fpga_sample_counter(double _fs, int32_t _interval_ms);