diff --git a/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking_fpga.cc b/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking_fpga.cc
index a7f6e321b..e21b6bc04 100644
--- a/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking_fpga.cc
+++ b/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking_fpga.cc
@@ -3,7 +3,7 @@
* \brief Implementation of an adapter of a DLL+PLL tracking loop block
* for GPS L1 C/A to a TrackingInterface
* \author Marc Majoral, 2017. mmajoral(at)cttc.cat
- * Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
+ * Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
* Javier Arribas, 2011. jarribas(at)cttc.es
*
* Code DLL + carrier PLL according to the algorithms described in:
@@ -48,7 +48,7 @@ using google::LogMessage;
GpsL1CaDllPllCAidTrackingFpga::GpsL1CaDllPllCAidTrackingFpga(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) :
- role_(role), in_streams_(in_streams), out_streams_(out_streams)
+ role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
DLOG(INFO) << "role " << role;
//################# CONFIGURATION PARAMETERS ########################
@@ -102,8 +102,8 @@ GpsL1CaDllPllCAidTrackingFpga::GpsL1CaDllPllCAidTrackingFpga(
else
{
- item_size_ = sizeof(lv_16sc_t);
-// LOG(WARNING) << item_type_ << " unknown tracking item type";
+ item_size_ = sizeof(lv_16sc_t);
+ // LOG(WARNING) << item_type_ << " unknown tracking item type";
LOG(WARNING) << item_type_ << " the tracking item type for the FPGA tracking test has to be cshort";
}
channel_ = 0;
@@ -112,7 +112,7 @@ GpsL1CaDllPllCAidTrackingFpga::GpsL1CaDllPllCAidTrackingFpga(
GpsL1CaDllPllCAidTrackingFpga::~GpsL1CaDllPllCAidTrackingFpga()
{
- printf("gspl1cadllpllcaidtrackingfpga destructor called\n");
+ LOG(INFO) << "gspl1cadllpllcaidtrackingfpga destructor called";
}
@@ -125,11 +125,12 @@ void GpsL1CaDllPllCAidTrackingFpga::start_tracking()
}
else
{
-// LOG(WARNING) << item_type_ << " unknown tracking item type";
+ // LOG(WARNING) << item_type_ << " unknown tracking item type";
LOG(WARNING) << item_type_ << " the tracking item type for the FPGA tracking test has to be cshort";
}
}
+
/*
* Set tracking channel unique ID
*/
@@ -143,11 +144,12 @@ void GpsL1CaDllPllCAidTrackingFpga::set_channel(unsigned int channel)
}
else
{
-// LOG(WARNING) << item_type_ << " unknown tracking item type";
- LOG(WARNING) << item_type_ << " the tracking item type for the FPGA tracking test has to be cshort";
+ // LOG(WARNING) << item_type_ << " unknown tracking item type";
+ LOG(WARNING) << item_type_ << " the tracking item type for the FPGA tracking test has to be cshort";
}
}
+
void GpsL1CaDllPllCAidTrackingFpga::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
if (item_type_.compare("cshort") == 0)
@@ -156,44 +158,42 @@ void GpsL1CaDllPllCAidTrackingFpga::set_gnss_synchro(Gnss_Synchro* p_gnss_synchr
}
else
{
-// LOG(WARNING) << item_type_ << " unknown tracking item type";
- LOG(WARNING) << item_type_ << " the tracking item type for the FPGA tracking test has to be cshort";
+ // LOG(WARNING) << item_type_ << " unknown tracking item type";
+ LOG(WARNING) << item_type_ << " the tracking item type for the FPGA tracking test has to be cshort";
}
}
+
void GpsL1CaDllPllCAidTrackingFpga::connect(gr::top_block_sptr top_block)
{
if(top_block) { /* top_block is not null */};
//nothing to connect, now the tracking uses gr_sync_decimator
}
+
void GpsL1CaDllPllCAidTrackingFpga::disconnect(gr::top_block_sptr top_block)
{
if(top_block) { /* top_block is not null */};
//nothing to disconnect, now the tracking uses gr_sync_decimator
}
+
// CONVERT TO SOURCE
gr::basic_block_sptr GpsL1CaDllPllCAidTrackingFpga::get_left_block()
{
-
if (item_type_.compare("cshort") == 0)
{
-
-
-
return tracking_fpga_sc;
}
else
{
-
-
//LOG(WARNING) << item_type_ << " unknown tracking item type";
- LOG(WARNING) << item_type_ << " the tracking item type for the FPGA tracking test has to be cshort";
+ LOG(WARNING) << item_type_ << " the tracking item type for the FPGA tracking test has to be cshort";
return nullptr;
}
}
+
gr::basic_block_sptr GpsL1CaDllPllCAidTrackingFpga::get_right_block()
{
if (item_type_.compare("cshort") == 0)
@@ -203,7 +203,7 @@ gr::basic_block_sptr GpsL1CaDllPllCAidTrackingFpga::get_right_block()
else
{
//LOG(WARNING) << item_type_ << " unknown tracking item type";
- LOG(WARNING) << item_type_ << " the tracking item type for the FPGA tracking test has to be cshort";
+ LOG(WARNING) << item_type_ << " the tracking item type for the FPGA tracking test has to be cshort";
return nullptr;
}
}
diff --git a/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking_fpga.h b/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking_fpga.h
index 811d1c643..8533220ff 100644
--- a/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking_fpga.h
+++ b/src/algorithms/tracking/adapters/gps_l1_ca_dll_pll_c_aid_tracking_fpga.h
@@ -52,8 +52,7 @@ class ConfigurationInterface;
class GpsL1CaDllPllCAidTrackingFpga : public TrackingInterface
{
public:
-
- GpsL1CaDllPllCAidTrackingFpga(ConfigurationInterface* configuration,
+ GpsL1CaDllPllCAidTrackingFpga(ConfigurationInterface* configuration,
std::string role,
unsigned int in_streams,
unsigned int out_streams);
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.cc
index 65c938134..dba9d1a5e 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.cc
@@ -309,8 +309,6 @@ gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::~gps_l1_ca_dll_pll_c_aid_tracking_fpga
int gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
{
-
-
// Block input data and block output stream pointers
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
@@ -321,8 +319,6 @@ int gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::general_work (int noutput_items __
double CURRENT_INTEGRATION_TIME_S = 0.0;
double CORRECTED_INTEGRATION_TIME_S = 0.0;
-
-
if (d_enable_tracking == true)
{
// Fill the acquisition data
@@ -655,11 +651,11 @@ void gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::set_channel(unsigned int channel)
d_dump_filename.append(".dat");
d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
- LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl;
+ LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str();
}
catch (const std::ifstream::failure* e)
{
- LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what() << std::endl;
+ LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what();
}
}
}
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.h b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.h
index eef39670e..f4f85404b 100644
--- a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.h
@@ -2,7 +2,7 @@
* \file gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc.h
* \brief Interface of a code DLL + carrier PLL tracking block
* \author Marc Majoral, 2017. mmajoral(at)cttc.cat
- * Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
+ * Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
* Javier Arribas, 2011. jarribas(at)cttc.es
*
* Code DLL + carrier PLL according to the algorithms described in:
diff --git a/src/algorithms/tracking/libs/fpga_multicorrelator_8sc.cc b/src/algorithms/tracking/libs/fpga_multicorrelator_8sc.cc
index 61073585d..a18eb3647 100644
--- a/src/algorithms/tracking/libs/fpga_multicorrelator_8sc.cc
+++ b/src/algorithms/tracking/libs/fpga_multicorrelator_8sc.cc
@@ -2,9 +2,9 @@
* \file fpga_multicorrelator_8sc.cc
* \brief High optimized FPGA vector correlator class
* \authors
- * - Marc Majoral, 2017. mmajoral(at)cttc.cat
- *
- Javier Arribas, 2015. jarribas(at)cttc.es
- *
+ * Marc Majoral, 2017. mmajoral(at)cttc.cat
+ * Javier Arribas, 2015. jarribas(at)cttc.es
+ *
*
* Class that controls and executes a high optimized vector correlator
* class in the FPGA
@@ -77,7 +77,6 @@ bool fpga_multicorrelator_8sc::init(
int n_correlators)
{
size_t size = max_signal_length_samples * sizeof(lv_16sc_t);
-
d_n_correlators = n_correlators;
// instantiate variable length vectors
@@ -87,12 +86,13 @@ bool fpga_multicorrelator_8sc::init(
return true;
}
+
void fpga_multicorrelator_8sc::set_initial_sample(int samples_offset)
{
- d_initial_sample_counter = samples_offset;
-
+ d_initial_sample_counter = samples_offset;
}
+
bool fpga_multicorrelator_8sc::set_local_code_and_taps(
int code_length_chips,
const lv_16sc_t* local_code_in,
@@ -102,12 +102,9 @@ bool fpga_multicorrelator_8sc::set_local_code_and_taps(
d_shifts_chips = shifts_chips;
d_code_length_chips = code_length_chips;
-
-
fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code();
return true;
-
}
@@ -122,15 +119,10 @@ bool fpga_multicorrelator_8sc::set_output_vectors(lv_16sc_t* corr_out)
void fpga_multicorrelator_8sc::update_local_code(int correlator_length_samples, float rem_code_phase_chips, float code_phase_step_chips)
{
-
- d_rem_code_phase_chips = rem_code_phase_chips;
+ d_rem_code_phase_chips = rem_code_phase_chips;
fpga_multicorrelator_8sc::fpga_compute_code_shift_parameters();
fpga_multicorrelator_8sc::fpga_configure_code_parameters_in_fpga();
-
-
-
-
}
@@ -141,9 +133,8 @@ bool fpga_multicorrelator_8sc::Carrier_wipeoff_multicorrelator_resampler(
float code_phase_step_chips,
int signal_length_samples)
{
-
update_local_code(signal_length_samples, rem_code_phase_chips, code_phase_step_chips);
-
+
d_rem_carrier_phase_in_rad = rem_carrier_phase_in_rad;
d_code_phase_step_chips = code_phase_step_chips;
d_phase_step_rad = phase_step_rad;
@@ -151,18 +142,17 @@ bool fpga_multicorrelator_8sc::Carrier_wipeoff_multicorrelator_resampler(
fpga_multicorrelator_8sc::fpga_compute_signal_parameters_in_fpga();
fpga_multicorrelator_8sc::fpga_configure_signal_parameters_in_fpga();
- fpga_multicorrelator_8sc::fpga_launch_multicorrelator_fpga();
+ fpga_multicorrelator_8sc::fpga_launch_multicorrelator_fpga();
int irq_count;
ssize_t nb;
// wait for interrupt
nb=read(d_fd, &irq_count, sizeof(irq_count));
- if (nb != sizeof(irq_count))
- {
- printf("Tracking_module Read failed to retrive 4 bytes!\n");
- printf("Tracking_module Interrupt number %d\n", irq_count);
- }
-
+ if (nb != sizeof(irq_count))
+ {
+ printf("Tracking_module Read failed to retrive 4 bytes!\n");
+ printf("Tracking_module Interrupt number %d\n", irq_count);
+ }
fpga_multicorrelator_8sc::read_tracking_gps_results();
@@ -182,265 +172,254 @@ fpga_multicorrelator_8sc::fpga_multicorrelator_8sc()
fpga_multicorrelator_8sc::~fpga_multicorrelator_8sc()
{
-
close(d_fd);
-
}
bool fpga_multicorrelator_8sc::free()
{
-
// unlock the hardware
- fpga_multicorrelator_8sc::unlock_channel(); // unlock the channel
+ fpga_multicorrelator_8sc::unlock_channel(); // unlock the channel
// free the FPGA dynamically created variables
if (d_initial_index != nullptr)
- {
-
-
+ {
volk_gnsssdr_free(d_initial_index);
d_initial_index = nullptr;
- }
+ }
if (d_initial_interp_counter != nullptr)
- {
+ {
volk_gnsssdr_free(d_initial_interp_counter);
d_initial_interp_counter = nullptr;
- }
+ }
return true;
}
-
-
void fpga_multicorrelator_8sc::set_channel(unsigned int channel)
{
-
d_channel = channel;
snprintf(d_device_io_name, MAX_LENGTH_DEVICEIO_NAME, "/dev/uio%d",d_channel);
printf("Opening Device Name : %s\n", d_device_io_name);
-
+
if ((d_fd = open(d_device_io_name, O_RDWR | O_SYNC )) == -1)
- {
- LOG(WARNING) << "Cannot open deviceio" << d_device_io_name;
- }
+ {
+ LOG(WARNING) << "Cannot open deviceio" << d_device_io_name;
+ }
d_map_base = (volatile unsigned *)mmap(NULL, PAGE_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, d_fd,0);
if (d_map_base == (void *) -1)
- {
- LOG(WARNING) << "Cannot map the FPGA tracking module " << d_channel << "into user memory";
- }
+ {
+ LOG(WARNING) << "Cannot map the FPGA tracking module " << d_channel << "into user memory";
+ }
// sanity check : check test register
unsigned writeval = 0x55AA;
unsigned readval;
readval = fpga_multicorrelator_8sc::fpga_acquisition_test_register(writeval);
if (writeval != readval)
- {
- LOG(WARNING) << "Test register sanity check failed";
- }
+ {
+ LOG(WARNING) << "Test register sanity check failed";
+ }
else
- {
- printf("Test register sanity check success !\n");
- }
-
+ {
+ LOG(INFO) << "Test register sanity check success !";
+ }
+
}
+
unsigned fpga_multicorrelator_8sc::fpga_acquisition_test_register(unsigned writeval)
{
- unsigned readval;
- // write value to test register
- d_map_base[15] = writeval;
- // read value from test register
- readval = d_map_base[15];
- // return read value
- return readval;
-
-
+ unsigned readval;
+ // write value to test register
+ d_map_base[15] = writeval;
+ // read value from test register
+ readval = d_map_base[15];
+ // return read value
+ return readval;
}
+
void fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code(void)
{
- int k,s;
- unsigned temp;
- unsigned *ena_write_signals;
- ena_write_signals = new unsigned[d_n_correlators];
- ena_write_signals[0]= 0x00000000;
- ena_write_signals[1]= 0x20000000;
- for (s=2;s M_PI)
- {
- d_rem_carrier_phase_in_rad_temp = -2*M_PI + d_rem_carrier_phase_in_rad;
- }
- else if (d_rem_carrier_phase_in_rad < - M_PI)
- {
- d_rem_carrier_phase_in_rad_temp = 2*M_PI + d_rem_carrier_phase_in_rad;
- }
- else
- {
- d_rem_carrier_phase_in_rad_temp = d_rem_carrier_phase_in_rad;
- }
+ if (d_rem_carrier_phase_in_rad > M_PI)
+ {
+ d_rem_carrier_phase_in_rad_temp = -2*M_PI + d_rem_carrier_phase_in_rad;
+ }
+ else if (d_rem_carrier_phase_in_rad < - M_PI)
+ {
+ d_rem_carrier_phase_in_rad_temp = 2*M_PI + d_rem_carrier_phase_in_rad;
+ }
+ else
+ {
+ d_rem_carrier_phase_in_rad_temp = d_rem_carrier_phase_in_rad;
+ }
- d_rem_carr_phase_rad_int = (int) roundf((fabs(d_rem_carrier_phase_in_rad_temp)/M_PI)*pow(2, PHASE_CARR_NBITS_FRAC));
+ d_rem_carr_phase_rad_int = (int) roundf((fabs(d_rem_carrier_phase_in_rad_temp)/M_PI)*pow(2, PHASE_CARR_NBITS_FRAC));
- if (d_rem_carrier_phase_in_rad_temp < 0)
- {
- d_rem_carr_phase_rad_int = -d_rem_carr_phase_rad_int;
- }
- d_phase_step_rad_int = (int) roundf((fabs(d_phase_step_rad)/M_PI)*pow(2, PHASE_CARR_NBITS_FRAC)); // the FPGA accepts a range for the phase step between -pi and +pi
-
- if (d_phase_step_rad < 0)
- {
- d_phase_step_rad_int = -d_phase_step_rad_int;
- }
+ if (d_rem_carrier_phase_in_rad_temp < 0)
+ {
+ d_rem_carr_phase_rad_int = -d_rem_carr_phase_rad_int;
+ }
+ d_phase_step_rad_int = (int) roundf((fabs(d_phase_step_rad)/M_PI)*pow(2, PHASE_CARR_NBITS_FRAC)); // the FPGA accepts a range for the phase step between -pi and +pi
+ if (d_phase_step_rad < 0)
+ {
+ d_phase_step_rad_int = -d_phase_step_rad_int;
+ }
}
+
+
void fpga_multicorrelator_8sc::fpga_configure_signal_parameters_in_fpga(void)
{
- d_map_base[0] = d_code_phase_step_chips_num;
- d_map_base[7] = d_correlator_length_samples - 1;
- d_map_base[9] = d_rem_carr_phase_rad_int;
- d_map_base[10] = d_phase_step_rad_int;
- d_map_base[12] = 0; // lock the channel
- d_map_base[13] = d_initial_sample_counter;
+ d_map_base[0] = d_code_phase_step_chips_num;
+ d_map_base[7] = d_correlator_length_samples - 1;
+ d_map_base[9] = d_rem_carr_phase_rad_int;
+ d_map_base[10] = d_phase_step_rad_int;
+ d_map_base[12] = 0; // lock the channel
+ d_map_base[13] = d_initial_sample_counter;
}
+
void fpga_multicorrelator_8sc::fpga_launch_multicorrelator_fpga(void)
{
- // enable interrupts
- int reenable = 1;
- write(d_fd, (void *)&reenable, sizeof(int));
+ // enable interrupts
+ int reenable = 1;
+ write(d_fd, (void *)&reenable, sizeof(int));
- d_map_base[14] = 0; // writing anything to reg 14 launches the tracking
+ d_map_base[14] = 0; // writing anything to reg 14 launches the tracking
}
-
void fpga_multicorrelator_8sc::read_tracking_gps_results(void)
{
- int *readval_real;
- int *readval_imag;
- int k;
- readval_real= new int[d_n_correlators];
- readval_imag= new int[d_n_correlators];
+ int *readval_real;
+ int *readval_imag;
+ int k;
+ readval_real = new int[d_n_correlators];
+ readval_imag = new int[d_n_correlators];
- for (k=0;k= 1048576) // 0x100000 (21 bits two's complement)
- {
- readval_real[k] = -2097152 + readval_real[k];
- }
- readval_real[k] = readval_real[k]*2; // the results are shifted two bits to the left due to the complex multiplier in the FPGA
+ for (k =0 ; k < d_n_correlators; k++)
+ {
+ readval_real[k] = d_map_base[1 + k];
+ if (readval_real[k] >= 1048576) // 0x100000 (21 bits two's complement)
+ {
+ readval_real[k] = -2097152 + readval_real[k];
+ }
+ readval_real[k] = readval_real[k] * 2; // the results are shifted two bits to the left due to the complex multiplier in the FPGA
- }
- for (k=0;k= 1048576) // 0x100000 (21 bits two's complement)
- {
- readval_imag[k] = -2097152 + readval_imag[k];
- }
- readval_imag[k] = readval_imag[k]*2; // the results are shifted two bits to the left due to the complex multiplier in the FPGA
- }
+ }
+ for (k = 0; k < d_n_correlators; k++)
+ {
+ readval_imag[k] = d_map_base[1 + d_n_correlators + k];
+ if (readval_imag[k] >= 1048576) // 0x100000 (21 bits two's complement)
+ {
+ readval_imag[k] = -2097152 + readval_imag[k];
+ }
+ readval_imag[k] = readval_imag[k] * 2; // the results are shifted two bits to the left due to the complex multiplier in the FPGA
+ }
- for (k=0;k global_gps_acq_assist_queue;
diff --git a/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test_fpga.cc b/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test_fpga.cc
index a51d3d81b..f2ac99755 100644
--- a/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test_fpga.cc
+++ b/src/tests/unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test_fpga.cc
@@ -36,9 +36,9 @@
#include
#include
#include
-#include // to test the FPGA we have to create a simultaneous task to send the samples using the DMA and stop the test
+#include // to test the FPGA we have to create a simultaneous task to send the samples using the DMA and stop the test
#include // temporary for debugging
-#include // FPGA read input file
+#include // FPGA read input file
#include
#include
#include
@@ -68,111 +68,107 @@
#define MAX_INPUT_SAMPLES_TOTAL MAX_INPUT_SAMPLES_PER_TEST_CASE*MAX_NUM_TEST_CASES
#define DMA_TRANSFER_SIZE 2046
#define MIN_SAMPLES_REMAINING 20000 // number of remaining samples in the DMA that causes the CPU to stop the flowgraph (it has to be a bit alrger than 2x max packet size)
+
+
void wait(int seconds)
{
- boost::this_thread::sleep_for(boost::chrono::seconds{seconds});
+ boost::this_thread::sleep_for(boost::chrono::seconds{seconds});
}
void send_tracking_gps_input_samples(FILE *ptr_myfile, int num_remaining_samples, gr::top_block_sptr top_block)
{
- int sample_pointer;
- int num_samples_transferred = 0;
- static int flowgraph_stopped = 0;
+ int sample_pointer;
+ int num_samples_transferred = 0;
+ static int flowgraph_stopped = 0;
- char *buffer;
+ char *buffer;
- // DMA descriptor
- int tx_fd;
- tx_fd = open("/dev/loop_tx", O_WRONLY);
- if ( tx_fd < 0 )
- {
- printf("can't open loop device\n");
- exit(1);
- }
+ // DMA descriptor
+ int tx_fd;
+ tx_fd = open("/dev/loop_tx", O_WRONLY);
+ if ( tx_fd < 0 )
+ {
+ printf("can't open loop device\n");
+ exit(1);
+ }
- buffer=(char *)malloc(DMA_TRANSFER_SIZE);
- if (!buffer)
- {
- fprintf(stderr, "Memory error!");
- }
+ buffer = (char *)malloc(DMA_TRANSFER_SIZE);
+ if (!buffer)
+ {
+ fprintf(stderr, "Memory error!");
+ }
+ while(num_remaining_samples > 0)
+ {
+ if (num_remaining_samples < MIN_SAMPLES_REMAINING)
+ {
+ if (flowgraph_stopped == 0)
+ {
+ // stop top module
+ top_block->stop();
+ flowgraph_stopped = 1;
+ }
+ }
+ if (num_remaining_samples > DMA_TRANSFER_SIZE)
+ {
- while(num_remaining_samples >0)
- {
- if (num_remaining_samples < MIN_SAMPLES_REMAINING)
- {
- if (flowgraph_stopped == 0)
- {
- // stop top module
- top_block->stop();
- flowgraph_stopped = 1;
- }
- }
- if (num_remaining_samples > DMA_TRANSFER_SIZE)
- {
+ fread(buffer, DMA_TRANSFER_SIZE, 1, ptr_myfile);
- fread(buffer, DMA_TRANSFER_SIZE, 1, ptr_myfile);
+ assert( DMA_TRANSFER_SIZE == write(tx_fd, &buffer[0], DMA_TRANSFER_SIZE) );
+ num_remaining_samples = num_remaining_samples - DMA_TRANSFER_SIZE;
+ num_samples_transferred = num_samples_transferred + DMA_TRANSFER_SIZE;
+ }
+ else
+ {
+ fread(buffer, num_remaining_samples, 1, ptr_myfile);
- assert( DMA_TRANSFER_SIZE == write(tx_fd, &buffer[0], DMA_TRANSFER_SIZE) );
- num_remaining_samples = num_remaining_samples - DMA_TRANSFER_SIZE;
- num_samples_transferred = num_samples_transferred + DMA_TRANSFER_SIZE;
- }
- else
- {
- fread(buffer, num_remaining_samples, 1, ptr_myfile);
-
- assert( num_remaining_samples == write(tx_fd, &buffer[0], num_remaining_samples) );
- num_samples_transferred = num_samples_transferred + num_remaining_samples;
- num_remaining_samples = 0;
- }
-
- }
-
-
-
-
- free(buffer);
- close(tx_fd);
-
+ assert( num_remaining_samples == write(tx_fd, &buffer[0], num_remaining_samples) );
+ num_samples_transferred = num_samples_transferred + num_remaining_samples;
+ num_remaining_samples = 0;
+ }
+ }
+ free(buffer);
+ close(tx_fd);
}
+
// thread that sends the samples to the FPGA
void thread(gr::top_block_sptr top_block, const char * file_name)
{
-
+ // file descriptor
+ FILE *ptr_myfile;
+ int fileLen;
- // file descriptor
- FILE *ptr_myfile;
- int fileLen;
+ ptr_myfile = fopen(file_name,"rb");
+ if (!ptr_myfile)
+ {
+ printf("Unable to open file!");
+ }
- ptr_myfile=fopen(file_name,"rb");
- if (!ptr_myfile)
- {
- printf("Unable to open file!");
- }
+ fseek(ptr_myfile, 0, SEEK_END);
+ fileLen = ftell(ptr_myfile);
+ fseek(ptr_myfile, 0, SEEK_SET);
- fseek(ptr_myfile, 0, SEEK_END);
- fileLen=ftell(ptr_myfile);
- fseek(ptr_myfile, 0, SEEK_SET);
+ wait(20); // wait for some time to give time to the other thread to program the device
- wait(20); // wait for some time to give time to the other thread to program the device
-
- //send_tracking_gps_input_samples(tx_fd, ptr_myfile, fileLen);
- send_tracking_gps_input_samples(ptr_myfile, fileLen, top_block);
-
- fclose(ptr_myfile);
+ //send_tracking_gps_input_samples(tx_fd, ptr_myfile, fileLen);
+ send_tracking_gps_input_samples(ptr_myfile, fileLen, top_block);
+ fclose(ptr_myfile);
}
// ######## GNURADIO BLOCK MESSAGE RECEVER #########
class GpsL1CADllPllTrackingTestFpga_msg_rx;
+
typedef boost::shared_ptr GpsL1CADllPllTrackingTestFpga_msg_rx_sptr;
+
GpsL1CADllPllTrackingTestFpga_msg_rx_sptr GpsL1CADllPllTrackingTestFpga_msg_rx_make();
+
class GpsL1CADllPllTrackingTestFpga_msg_rx : public gr::block
{
private:
@@ -185,11 +181,13 @@ public:
~GpsL1CADllPllTrackingTestFpga_msg_rx(); //!< Default destructor
};
+
GpsL1CADllPllTrackingTestFpga_msg_rx_sptr GpsL1CADllPllTrackingTestFpga_msg_rx_make()
{
return GpsL1CADllPllTrackingTestFpga_msg_rx_sptr(new GpsL1CADllPllTrackingTestFpga_msg_rx());
}
+
void GpsL1CADllPllTrackingTestFpga_msg_rx::msg_handler_events(pmt::pmt_t msg)
{
try
@@ -204,24 +202,24 @@ void GpsL1CADllPllTrackingTestFpga_msg_rx::msg_handler_events(pmt::pmt_t msg)
}
}
+
GpsL1CADllPllTrackingTestFpga_msg_rx::GpsL1CADllPllTrackingTestFpga_msg_rx() :
- gr::block("GpsL1CADllPllTrackingTestFpga_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
+ gr::block("GpsL1CADllPllTrackingTestFpga_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
{
this->message_port_register_in(pmt::mp("events"));
this->set_msg_handler(pmt::mp("events"), boost::bind(&GpsL1CADllPllTrackingTestFpga_msg_rx::msg_handler_events, this, _1));
rx_message = 0;
}
+
GpsL1CADllPllTrackingTestFpga_msg_rx::~GpsL1CADllPllTrackingTestFpga_msg_rx()
{}
-
// ###########################################################
class GpsL1CADllPllTrackingTestFpga: public ::testing::Test
{
-
public:
std::string generator_binary;
std::string p1;
@@ -335,13 +333,13 @@ void GpsL1CADllPllTrackingTestFpga::configure_receiver()
config->set_property("Tracking_1C.early_late_space_chips", "0.5");
}
+
void GpsL1CADllPllTrackingTestFpga::check_results_doppler(arma::vec true_time_s,
arma::vec true_value,
arma::vec meas_time_s,
arma::vec meas_value)
{
//1. True value interpolation to match the measurement times
-
arma::vec true_value_interp;
arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
@@ -361,20 +359,18 @@ void GpsL1CADllPllTrackingTestFpga::check_results_doppler(arma::vec true_time_s,
double min_error = arma::min(err);
//5. report
-
std::cout << std::setprecision(10) << "TRK Doppler RMSE=" << rmse
<< ", mean=" << error_mean
<< ", stdev="<< sqrt(error_var) << " (max,min)=" << max_error << "," << min_error << " [Hz]" << std::endl;
-
}
+
void GpsL1CADllPllTrackingTestFpga::check_results_acc_carrier_phase(arma::vec true_time_s,
arma::vec true_value,
arma::vec meas_time_s,
arma::vec meas_value)
{
//1. True value interpolation to match the measurement times
-
arma::vec true_value_interp;
arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
@@ -394,26 +390,24 @@ void GpsL1CADllPllTrackingTestFpga::check_results_acc_carrier_phase(arma::vec tr
double min_error = arma::min(err);
//5. report
-
std::cout << std::setprecision(10) << "TRK acc carrier phase RMSE=" << rmse
<< ", mean=" << error_mean
<< ", stdev=" << sqrt(error_var) << " (max,min)=" << max_error << "," << min_error << " [Hz]" << std::endl;
}
+
void GpsL1CADllPllTrackingTestFpga::check_results_codephase(arma::vec true_time_s,
arma::vec true_value,
arma::vec meas_time_s,
arma::vec meas_value)
{
//1. True value interpolation to match the measurement times
-
arma::vec true_value_interp;
arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
//2. RMSE
arma::vec err;
-
err = meas_value - true_value_interp;
arma::vec err2 = arma::square(err);
double rmse = sqrt(arma::mean(err2));
@@ -427,16 +421,14 @@ void GpsL1CADllPllTrackingTestFpga::check_results_codephase(arma::vec true_time_
double min_error = arma::min(err);
//5. report
-
std::cout << std::setprecision(10) << "TRK code phase RMSE=" << rmse
<< ", mean=" << error_mean
<< ", stdev=" << sqrt(error_var) << " (max,min)=" << max_error << "," << min_error << " [Chips]" << std::endl;
-
}
+
TEST_F(GpsL1CADllPllTrackingTestFpga, ValidationOfResultsFpga)
{
-
configure_generator();
// DO not generate signal raw signal samples and observations RINEX file by default
@@ -478,46 +470,38 @@ TEST_F(GpsL1CADllPllTrackingTestFpga, ValidationOfResultsFpga)
//restart the epoch counter
true_obs_data.restart();
-
std::cout << "Initial Doppler [Hz]=" << true_obs_data.doppler_l1_hz << " Initial code delay [Chips]=" << true_obs_data.prn_delay_chips << std::endl;
gnss_synchro.Acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS - true_obs_data.prn_delay_chips / GPS_L1_CA_CODE_LENGTH_CHIPS) * baseband_sampling_freq * GPS_L1_CA_CODE_PERIOD;
gnss_synchro.Acq_doppler_hz = true_obs_data.doppler_l1_hz;
gnss_synchro.Acq_samplestamp_samples = 0;
-
ASSERT_NO_THROW( {
tracking->set_channel(gnss_synchro.Channel_ID);
}) << "Failure setting channel." << std::endl;
-
ASSERT_NO_THROW( {
tracking->set_gnss_synchro(&gnss_synchro);
}) << "Failure setting gnss_synchro." << std::endl;
-
ASSERT_NO_THROW( {
tracking->connect(top_block);
}) << "Failure connecting tracking to the top_block." << std::endl;
-
ASSERT_NO_THROW( {
gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
top_block->connect(tracking->get_right_block(), 0, sink, 0);
top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
}) << "Failure connecting the blocks of tracking test." << std::endl;
-
-
tracking->start_tracking();
-
// assemble again the file name in a null terminated string (not available by default in the main program flow)
std::string file = "./" + filename_raw_data;
const char * file_name = file.c_str();
// start thread that sends the DMA samples to the FPGA
boost::thread t{thread, top_block, file_name};
-
+
EXPECT_NO_THROW( {
gettimeofday(&tv, NULL);
begin = tv.tv_sec * 1000000 + tv.tv_usec;
@@ -530,9 +514,6 @@ TEST_F(GpsL1CADllPllTrackingTestFpga, ValidationOfResultsFpga)
// wait until child thread terminates
t.join();
-
-
-
//check results
//load the true values
long int nepoch = true_obs_data.num_epochs();
@@ -602,4 +583,3 @@ TEST_F(GpsL1CADllPllTrackingTestFpga, ValidationOfResultsFpga)
std::cout << "Signal tracking completed in " << (end - begin) << " microseconds" << std::endl;
}
-