mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-06-25 06:23:18 +00:00
Code cleaning: remove tabulators, remove multiple blank lines
This commit is contained in:
parent
507bc86cc9
commit
ef5cb645a7
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@ -112,7 +112,7 @@ GpsL1CaDllPllCAidTrackingFpga::GpsL1CaDllPllCAidTrackingFpga(
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GpsL1CaDllPllCAidTrackingFpga::~GpsL1CaDllPllCAidTrackingFpga()
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GpsL1CaDllPllCAidTrackingFpga::~GpsL1CaDllPllCAidTrackingFpga()
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{
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{
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printf("gspl1cadllpllcaidtrackingfpga destructor called\n");
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LOG(INFO) << "gspl1cadllpllcaidtrackingfpga destructor called";
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}
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}
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@ -130,6 +130,7 @@ void GpsL1CaDllPllCAidTrackingFpga::start_tracking()
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}
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}
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}
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}
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/*
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/*
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* Set tracking channel unique ID
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* Set tracking channel unique ID
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*/
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*/
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@ -148,6 +149,7 @@ void GpsL1CaDllPllCAidTrackingFpga::set_channel(unsigned int channel)
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}
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}
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}
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}
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void GpsL1CaDllPllCAidTrackingFpga::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
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void GpsL1CaDllPllCAidTrackingFpga::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
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{
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{
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if (item_type_.compare("cshort") == 0)
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if (item_type_.compare("cshort") == 0)
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@ -161,39 +163,37 @@ void GpsL1CaDllPllCAidTrackingFpga::set_gnss_synchro(Gnss_Synchro* p_gnss_synchr
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}
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}
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}
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}
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void GpsL1CaDllPllCAidTrackingFpga::connect(gr::top_block_sptr top_block)
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void GpsL1CaDllPllCAidTrackingFpga::connect(gr::top_block_sptr top_block)
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{
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{
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if(top_block) { /* top_block is not null */};
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if(top_block) { /* top_block is not null */};
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//nothing to connect, now the tracking uses gr_sync_decimator
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//nothing to connect, now the tracking uses gr_sync_decimator
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}
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}
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void GpsL1CaDllPllCAidTrackingFpga::disconnect(gr::top_block_sptr top_block)
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void GpsL1CaDllPllCAidTrackingFpga::disconnect(gr::top_block_sptr top_block)
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{
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{
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if(top_block) { /* top_block is not null */};
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if(top_block) { /* top_block is not null */};
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//nothing to disconnect, now the tracking uses gr_sync_decimator
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//nothing to disconnect, now the tracking uses gr_sync_decimator
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}
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}
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// CONVERT TO SOURCE
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// CONVERT TO SOURCE
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gr::basic_block_sptr GpsL1CaDllPllCAidTrackingFpga::get_left_block()
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gr::basic_block_sptr GpsL1CaDllPllCAidTrackingFpga::get_left_block()
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{
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{
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if (item_type_.compare("cshort") == 0)
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if (item_type_.compare("cshort") == 0)
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{
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{
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return tracking_fpga_sc;
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return tracking_fpga_sc;
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}
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}
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else
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else
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{
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{
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//LOG(WARNING) << item_type_ << " unknown tracking item type";
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//LOG(WARNING) << item_type_ << " unknown tracking item type";
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LOG(WARNING) << item_type_ << " the tracking item type for the FPGA tracking test has to be cshort";
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LOG(WARNING) << item_type_ << " the tracking item type for the FPGA tracking test has to be cshort";
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return nullptr;
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return nullptr;
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}
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}
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}
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}
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gr::basic_block_sptr GpsL1CaDllPllCAidTrackingFpga::get_right_block()
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gr::basic_block_sptr GpsL1CaDllPllCAidTrackingFpga::get_right_block()
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{
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{
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if (item_type_.compare("cshort") == 0)
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if (item_type_.compare("cshort") == 0)
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@ -52,7 +52,6 @@ class ConfigurationInterface;
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class GpsL1CaDllPllCAidTrackingFpga : public TrackingInterface
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class GpsL1CaDllPllCAidTrackingFpga : public TrackingInterface
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{
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{
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public:
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public:
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GpsL1CaDllPllCAidTrackingFpga(ConfigurationInterface* configuration,
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GpsL1CaDllPllCAidTrackingFpga(ConfigurationInterface* configuration,
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std::string role,
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std::string role,
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unsigned int in_streams,
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unsigned int in_streams,
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@ -309,8 +309,6 @@ gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::~gps_l1_ca_dll_pll_c_aid_tracking_fpga
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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)),
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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)),
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gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
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gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
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{
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{
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// Block input data and block output stream pointers
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// Block input data and block output stream pointers
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Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
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Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
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@ -321,8 +319,6 @@ int gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::general_work (int noutput_items __
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double CURRENT_INTEGRATION_TIME_S = 0.0;
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double CURRENT_INTEGRATION_TIME_S = 0.0;
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double CORRECTED_INTEGRATION_TIME_S = 0.0;
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double CORRECTED_INTEGRATION_TIME_S = 0.0;
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if (d_enable_tracking == true)
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if (d_enable_tracking == true)
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{
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{
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// Fill the acquisition data
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// Fill the acquisition data
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@ -655,11 +651,11 @@ void gps_l1_ca_dll_pll_c_aid_tracking_fpga_sc::set_channel(unsigned int channel)
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d_dump_filename.append(".dat");
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d_dump_filename.append(".dat");
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d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
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d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
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d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
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d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
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LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl;
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LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str();
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}
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}
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catch (const std::ifstream::failure* e)
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catch (const std::ifstream::failure* e)
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{
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{
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LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what() << std::endl;
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LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e->what();
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}
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}
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}
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}
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}
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}
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@ -77,7 +77,6 @@ bool fpga_multicorrelator_8sc::init(
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int n_correlators)
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int n_correlators)
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{
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{
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size_t size = max_signal_length_samples * sizeof(lv_16sc_t);
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size_t size = max_signal_length_samples * sizeof(lv_16sc_t);
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d_n_correlators = n_correlators;
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d_n_correlators = n_correlators;
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// instantiate variable length vectors
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// instantiate variable length vectors
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@ -87,12 +86,13 @@ bool fpga_multicorrelator_8sc::init(
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return true;
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return true;
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}
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}
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void fpga_multicorrelator_8sc::set_initial_sample(int samples_offset)
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void fpga_multicorrelator_8sc::set_initial_sample(int samples_offset)
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{
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{
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d_initial_sample_counter = samples_offset;
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d_initial_sample_counter = samples_offset;
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}
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}
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bool fpga_multicorrelator_8sc::set_local_code_and_taps(
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bool fpga_multicorrelator_8sc::set_local_code_and_taps(
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int code_length_chips,
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int code_length_chips,
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const lv_16sc_t* local_code_in,
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const lv_16sc_t* local_code_in,
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@ -102,12 +102,9 @@ bool fpga_multicorrelator_8sc::set_local_code_and_taps(
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d_shifts_chips = shifts_chips;
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d_shifts_chips = shifts_chips;
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d_code_length_chips = code_length_chips;
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d_code_length_chips = code_length_chips;
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fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code();
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fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code();
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return true;
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return true;
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}
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}
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@ -122,15 +119,10 @@ bool fpga_multicorrelator_8sc::set_output_vectors(lv_16sc_t* corr_out)
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void fpga_multicorrelator_8sc::update_local_code(int correlator_length_samples, float rem_code_phase_chips, float code_phase_step_chips)
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void fpga_multicorrelator_8sc::update_local_code(int correlator_length_samples, float rem_code_phase_chips, float code_phase_step_chips)
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{
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{
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d_rem_code_phase_chips = rem_code_phase_chips;
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d_rem_code_phase_chips = rem_code_phase_chips;
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fpga_multicorrelator_8sc::fpga_compute_code_shift_parameters();
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fpga_multicorrelator_8sc::fpga_compute_code_shift_parameters();
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fpga_multicorrelator_8sc::fpga_configure_code_parameters_in_fpga();
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fpga_multicorrelator_8sc::fpga_configure_code_parameters_in_fpga();
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}
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}
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@ -141,7 +133,6 @@ bool fpga_multicorrelator_8sc::Carrier_wipeoff_multicorrelator_resampler(
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float code_phase_step_chips,
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float code_phase_step_chips,
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int signal_length_samples)
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int signal_length_samples)
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{
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{
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update_local_code(signal_length_samples, rem_code_phase_chips, code_phase_step_chips);
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update_local_code(signal_length_samples, rem_code_phase_chips, code_phase_step_chips);
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d_rem_carrier_phase_in_rad = rem_carrier_phase_in_rad;
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d_rem_carrier_phase_in_rad = rem_carrier_phase_in_rad;
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@ -163,7 +154,6 @@ bool fpga_multicorrelator_8sc::Carrier_wipeoff_multicorrelator_resampler(
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printf("Tracking_module Interrupt number %d\n", irq_count);
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printf("Tracking_module Interrupt number %d\n", irq_count);
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}
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}
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fpga_multicorrelator_8sc::read_tracking_gps_results();
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fpga_multicorrelator_8sc::read_tracking_gps_results();
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return true;
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return true;
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@ -182,23 +172,18 @@ fpga_multicorrelator_8sc::fpga_multicorrelator_8sc()
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fpga_multicorrelator_8sc::~fpga_multicorrelator_8sc()
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fpga_multicorrelator_8sc::~fpga_multicorrelator_8sc()
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{
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{
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close(d_fd);
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close(d_fd);
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}
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}
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bool fpga_multicorrelator_8sc::free()
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bool fpga_multicorrelator_8sc::free()
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{
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{
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// unlock the hardware
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// unlock the hardware
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fpga_multicorrelator_8sc::unlock_channel(); // unlock the channel
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fpga_multicorrelator_8sc::unlock_channel(); // unlock the channel
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// free the FPGA dynamically created variables
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// free the FPGA dynamically created variables
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if (d_initial_index != nullptr)
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if (d_initial_index != nullptr)
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{
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{
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volk_gnsssdr_free(d_initial_index);
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volk_gnsssdr_free(d_initial_index);
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d_initial_index = nullptr;
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d_initial_index = nullptr;
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}
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}
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@ -213,11 +198,8 @@ bool fpga_multicorrelator_8sc::free()
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}
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}
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void fpga_multicorrelator_8sc::set_channel(unsigned int channel)
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void fpga_multicorrelator_8sc::set_channel(unsigned int channel)
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{
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{
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d_channel = channel;
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d_channel = channel;
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snprintf(d_device_io_name, MAX_LENGTH_DEVICEIO_NAME, "/dev/uio%d",d_channel);
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snprintf(d_device_io_name, MAX_LENGTH_DEVICEIO_NAME, "/dev/uio%d",d_channel);
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@ -244,11 +226,12 @@ void fpga_multicorrelator_8sc::set_channel(unsigned int channel)
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}
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}
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else
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else
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{
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{
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printf("Test register sanity check success !\n");
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LOG(INFO) << "Test register sanity check success !";
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}
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}
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}
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}
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unsigned fpga_multicorrelator_8sc::fpga_acquisition_test_register(unsigned writeval)
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unsigned fpga_multicorrelator_8sc::fpga_acquisition_test_register(unsigned writeval)
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{
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{
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unsigned readval;
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unsigned readval;
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@ -258,10 +241,9 @@ unsigned fpga_multicorrelator_8sc::fpga_acquisition_test_register(unsigned write
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readval = d_map_base[15];
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readval = d_map_base[15];
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// return read value
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// return read value
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return readval;
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return readval;
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}
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}
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void fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code(void)
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void fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code(void)
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{
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{
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int k,s;
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int k,s;
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@ -291,13 +273,13 @@ void fpga_multicorrelator_8sc::fpga_configure_tracking_gps_local_code(void)
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temp = 0;
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temp = 0;
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}
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}
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d_map_base[11] = 0x0C000000 | (temp & 0xFFFF) | ena_write_signals[s];
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d_map_base[11] = 0x0C000000 | (temp & 0xFFFF) | ena_write_signals[s];
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}
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}
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}
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}
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delete [] ena_write_signals;
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delete [] ena_write_signals;
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}
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}
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void fpga_multicorrelator_8sc::fpga_compute_code_shift_parameters(void)
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void fpga_multicorrelator_8sc::fpga_compute_code_shift_parameters(void)
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{
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{
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float tempvalues[3];
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float tempvalues[3];
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@ -326,10 +308,9 @@ void fpga_multicorrelator_8sc::fpga_compute_code_shift_parameters(void)
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tempvalues3[i] = tempvalues3[i] + 1.0; // fmod operator does not work as in Matlab with negative numbers
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tempvalues3[i] = tempvalues3[i] + 1.0; // fmod operator does not work as in Matlab with negative numbers
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}
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}
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d_initial_interp_counter[i] = (unsigned) floor(MAX_CODE_RESAMPLER_COUNTER * tempvalues3[i]);
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d_initial_interp_counter[i] = (unsigned) floor(MAX_CODE_RESAMPLER_COUNTER * tempvalues3[i]);
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}
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}
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}
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}
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void fpga_multicorrelator_8sc::fpga_configure_code_parameters_in_fpga(void)
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void fpga_multicorrelator_8sc::fpga_configure_code_parameters_in_fpga(void)
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{
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{
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@ -375,8 +356,9 @@ void fpga_multicorrelator_8sc::fpga_compute_signal_parameters_in_fpga(void)
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{
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{
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d_phase_step_rad_int = -d_phase_step_rad_int;
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d_phase_step_rad_int = -d_phase_step_rad_int;
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}
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}
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}
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}
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void fpga_multicorrelator_8sc::fpga_configure_signal_parameters_in_fpga(void)
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void fpga_multicorrelator_8sc::fpga_configure_signal_parameters_in_fpga(void)
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{
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{
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d_map_base[0] = d_code_phase_step_chips_num;
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d_map_base[0] = d_code_phase_step_chips_num;
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@ -387,6 +369,7 @@ void fpga_multicorrelator_8sc::fpga_configure_signal_parameters_in_fpga(void)
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d_map_base[13] = d_initial_sample_counter;
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d_map_base[13] = d_initial_sample_counter;
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}
|
}
|
||||||
|
|
||||||
|
|
||||||
void fpga_multicorrelator_8sc::fpga_launch_multicorrelator_fpga(void)
|
void fpga_multicorrelator_8sc::fpga_launch_multicorrelator_fpga(void)
|
||||||
{
|
{
|
||||||
// enable interrupts
|
// enable interrupts
|
||||||
|
@ -397,7 +380,6 @@ void fpga_multicorrelator_8sc::fpga_launch_multicorrelator_fpga(void)
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
void fpga_multicorrelator_8sc::read_tracking_gps_results(void)
|
void fpga_multicorrelator_8sc::read_tracking_gps_results(void)
|
||||||
{
|
{
|
||||||
int *readval_real;
|
int *readval_real;
|
||||||
|
@ -433,14 +415,11 @@ void fpga_multicorrelator_8sc::read_tracking_gps_results(void)
|
||||||
|
|
||||||
delete[] readval_real;
|
delete[] readval_real;
|
||||||
delete[] readval_imag;
|
delete[] readval_imag;
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
void fpga_multicorrelator_8sc::unlock_channel(void)
|
void fpga_multicorrelator_8sc::unlock_channel(void)
|
||||||
{
|
{
|
||||||
// unlock the channel to let the next samples go through
|
// unlock the channel to let the next samples go through
|
||||||
d_map_base[12] = 1; // unlock the channel
|
d_map_base[12] = 1; // unlock the channel
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
|
@ -61,14 +61,12 @@ public:
|
||||||
void set_initial_sample(int samples_offset);
|
void set_initial_sample(int samples_offset);
|
||||||
|
|
||||||
private:
|
private:
|
||||||
|
|
||||||
const lv_16sc_t *d_local_code_in;
|
const lv_16sc_t *d_local_code_in;
|
||||||
lv_16sc_t *d_corr_out;
|
lv_16sc_t *d_corr_out;
|
||||||
float *d_shifts_chips;
|
float *d_shifts_chips;
|
||||||
int d_code_length_chips;
|
int d_code_length_chips;
|
||||||
int d_n_correlators;
|
int d_n_correlators;
|
||||||
|
|
||||||
|
|
||||||
// data related to the hardware module and the driver
|
// data related to the hardware module and the driver
|
||||||
char d_device_io_name[MAX_LENGTH_DEVICEIO_NAME]; // driver io name
|
char d_device_io_name[MAX_LENGTH_DEVICEIO_NAME]; // driver io name
|
||||||
int d_fd; // driver descriptor
|
int d_fd; // driver descriptor
|
||||||
|
|
|
@ -119,6 +119,10 @@ DECLARE_string(log_dir);
|
||||||
#include "unit-tests/signal-processing-blocks/tracking/gpu_multicorrelator_test.cc"
|
#include "unit-tests/signal-processing-blocks/tracking/gpu_multicorrelator_test.cc"
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
#if FPGA_BLOCKS_TEST
|
||||||
|
#include "unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test_fpga.cc"
|
||||||
|
#endif
|
||||||
|
|
||||||
#include "unit-tests/signal-processing-blocks/pvt/rtcm_test.cc"
|
#include "unit-tests/signal-processing-blocks/pvt/rtcm_test.cc"
|
||||||
#include "unit-tests/signal-processing-blocks/pvt/rtcm_printer_test.cc"
|
#include "unit-tests/signal-processing-blocks/pvt/rtcm_printer_test.cc"
|
||||||
#include "unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc"
|
#include "unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc"
|
||||||
|
@ -132,9 +136,7 @@ DECLARE_string(log_dir);
|
||||||
#endif
|
#endif
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
#if FPGA_BLOCKS_TEST
|
|
||||||
#include "unit-tests/signal-processing-blocks/tracking/gps_l1_ca_dll_pll_tracking_test_fpga.cc"
|
|
||||||
#endif
|
|
||||||
|
|
||||||
// For GPS NAVIGATION (L1)
|
// For GPS NAVIGATION (L1)
|
||||||
concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
|
concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;
|
||||||
|
|
|
@ -68,6 +68,8 @@
|
||||||
#define MAX_INPUT_SAMPLES_TOTAL MAX_INPUT_SAMPLES_PER_TEST_CASE*MAX_NUM_TEST_CASES
|
#define MAX_INPUT_SAMPLES_TOTAL MAX_INPUT_SAMPLES_PER_TEST_CASE*MAX_NUM_TEST_CASES
|
||||||
#define DMA_TRANSFER_SIZE 2046
|
#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)
|
#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)
|
void wait(int seconds)
|
||||||
{
|
{
|
||||||
boost::this_thread::sleep_for(boost::chrono::seconds{seconds});
|
boost::this_thread::sleep_for(boost::chrono::seconds{seconds});
|
||||||
|
@ -96,7 +98,6 @@ void send_tracking_gps_input_samples(FILE *ptr_myfile, int num_remaining_samples
|
||||||
fprintf(stderr, "Memory error!");
|
fprintf(stderr, "Memory error!");
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
while(num_remaining_samples > 0)
|
while(num_remaining_samples > 0)
|
||||||
{
|
{
|
||||||
if (num_remaining_samples < MIN_SAMPLES_REMAINING)
|
if (num_remaining_samples < MIN_SAMPLES_REMAINING)
|
||||||
|
@ -125,23 +126,16 @@ void send_tracking_gps_input_samples(FILE *ptr_myfile, int num_remaining_samples
|
||||||
num_samples_transferred = num_samples_transferred + num_remaining_samples;
|
num_samples_transferred = num_samples_transferred + num_remaining_samples;
|
||||||
num_remaining_samples = 0;
|
num_remaining_samples = 0;
|
||||||
}
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
free(buffer);
|
free(buffer);
|
||||||
close(tx_fd);
|
close(tx_fd);
|
||||||
|
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
// thread that sends the samples to the FPGA
|
// thread that sends the samples to the FPGA
|
||||||
void thread(gr::top_block_sptr top_block, const char * file_name)
|
void thread(gr::top_block_sptr top_block, const char * file_name)
|
||||||
{
|
{
|
||||||
|
|
||||||
|
|
||||||
// file descriptor
|
// file descriptor
|
||||||
FILE *ptr_myfile;
|
FILE *ptr_myfile;
|
||||||
int fileLen;
|
int fileLen;
|
||||||
|
@ -162,17 +156,19 @@ void thread(gr::top_block_sptr top_block, const char * file_name)
|
||||||
send_tracking_gps_input_samples(ptr_myfile, fileLen, top_block);
|
send_tracking_gps_input_samples(ptr_myfile, fileLen, top_block);
|
||||||
|
|
||||||
fclose(ptr_myfile);
|
fclose(ptr_myfile);
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
// ######## GNURADIO BLOCK MESSAGE RECEVER #########
|
// ######## GNURADIO BLOCK MESSAGE RECEVER #########
|
||||||
class GpsL1CADllPllTrackingTestFpga_msg_rx;
|
class GpsL1CADllPllTrackingTestFpga_msg_rx;
|
||||||
|
|
||||||
|
|
||||||
typedef boost::shared_ptr<GpsL1CADllPllTrackingTestFpga_msg_rx> GpsL1CADllPllTrackingTestFpga_msg_rx_sptr;
|
typedef boost::shared_ptr<GpsL1CADllPllTrackingTestFpga_msg_rx> GpsL1CADllPllTrackingTestFpga_msg_rx_sptr;
|
||||||
|
|
||||||
|
|
||||||
GpsL1CADllPllTrackingTestFpga_msg_rx_sptr GpsL1CADllPllTrackingTestFpga_msg_rx_make();
|
GpsL1CADllPllTrackingTestFpga_msg_rx_sptr GpsL1CADllPllTrackingTestFpga_msg_rx_make();
|
||||||
|
|
||||||
|
|
||||||
class GpsL1CADllPllTrackingTestFpga_msg_rx : public gr::block
|
class GpsL1CADllPllTrackingTestFpga_msg_rx : public gr::block
|
||||||
{
|
{
|
||||||
private:
|
private:
|
||||||
|
@ -185,11 +181,13 @@ public:
|
||||||
~GpsL1CADllPllTrackingTestFpga_msg_rx(); //!< Default destructor
|
~GpsL1CADllPllTrackingTestFpga_msg_rx(); //!< Default destructor
|
||||||
};
|
};
|
||||||
|
|
||||||
|
|
||||||
GpsL1CADllPllTrackingTestFpga_msg_rx_sptr GpsL1CADllPllTrackingTestFpga_msg_rx_make()
|
GpsL1CADllPllTrackingTestFpga_msg_rx_sptr GpsL1CADllPllTrackingTestFpga_msg_rx_make()
|
||||||
{
|
{
|
||||||
return GpsL1CADllPllTrackingTestFpga_msg_rx_sptr(new GpsL1CADllPllTrackingTestFpga_msg_rx());
|
return GpsL1CADllPllTrackingTestFpga_msg_rx_sptr(new GpsL1CADllPllTrackingTestFpga_msg_rx());
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
void GpsL1CADllPllTrackingTestFpga_msg_rx::msg_handler_events(pmt::pmt_t msg)
|
void GpsL1CADllPllTrackingTestFpga_msg_rx::msg_handler_events(pmt::pmt_t msg)
|
||||||
{
|
{
|
||||||
try
|
try
|
||||||
|
@ -204,6 +202,7 @@ void GpsL1CADllPllTrackingTestFpga_msg_rx::msg_handler_events(pmt::pmt_t msg)
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
GpsL1CADllPllTrackingTestFpga_msg_rx::GpsL1CADllPllTrackingTestFpga_msg_rx() :
|
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))
|
||||||
{
|
{
|
||||||
|
@ -212,16 +211,15 @@ GpsL1CADllPllTrackingTestFpga_msg_rx::GpsL1CADllPllTrackingTestFpga_msg_rx() :
|
||||||
rx_message = 0;
|
rx_message = 0;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
GpsL1CADllPllTrackingTestFpga_msg_rx::~GpsL1CADllPllTrackingTestFpga_msg_rx()
|
GpsL1CADllPllTrackingTestFpga_msg_rx::~GpsL1CADllPllTrackingTestFpga_msg_rx()
|
||||||
{}
|
{}
|
||||||
|
|
||||||
|
|
||||||
// ###########################################################
|
// ###########################################################
|
||||||
|
|
||||||
|
|
||||||
class GpsL1CADllPllTrackingTestFpga: public ::testing::Test
|
class GpsL1CADllPllTrackingTestFpga: public ::testing::Test
|
||||||
{
|
{
|
||||||
|
|
||||||
public:
|
public:
|
||||||
std::string generator_binary;
|
std::string generator_binary;
|
||||||
std::string p1;
|
std::string p1;
|
||||||
|
@ -335,13 +333,13 @@ void GpsL1CADllPllTrackingTestFpga::configure_receiver()
|
||||||
config->set_property("Tracking_1C.early_late_space_chips", "0.5");
|
config->set_property("Tracking_1C.early_late_space_chips", "0.5");
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
void GpsL1CADllPllTrackingTestFpga::check_results_doppler(arma::vec true_time_s,
|
void GpsL1CADllPllTrackingTestFpga::check_results_doppler(arma::vec true_time_s,
|
||||||
arma::vec true_value,
|
arma::vec true_value,
|
||||||
arma::vec meas_time_s,
|
arma::vec meas_time_s,
|
||||||
arma::vec meas_value)
|
arma::vec meas_value)
|
||||||
{
|
{
|
||||||
//1. True value interpolation to match the measurement times
|
//1. True value interpolation to match the measurement times
|
||||||
|
|
||||||
arma::vec true_value_interp;
|
arma::vec true_value_interp;
|
||||||
arma::interp1(true_time_s, true_value, meas_time_s, 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);
|
double min_error = arma::min(err);
|
||||||
|
|
||||||
//5. report
|
//5. report
|
||||||
|
|
||||||
std::cout << std::setprecision(10) << "TRK Doppler RMSE=" << rmse
|
std::cout << std::setprecision(10) << "TRK Doppler RMSE=" << rmse
|
||||||
<< ", mean=" << error_mean
|
<< ", mean=" << error_mean
|
||||||
<< ", stdev="<< sqrt(error_var) << " (max,min)=" << max_error << "," << min_error << " [Hz]" << std::endl;
|
<< ", 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,
|
void GpsL1CADllPllTrackingTestFpga::check_results_acc_carrier_phase(arma::vec true_time_s,
|
||||||
arma::vec true_value,
|
arma::vec true_value,
|
||||||
arma::vec meas_time_s,
|
arma::vec meas_time_s,
|
||||||
arma::vec meas_value)
|
arma::vec meas_value)
|
||||||
{
|
{
|
||||||
//1. True value interpolation to match the measurement times
|
//1. True value interpolation to match the measurement times
|
||||||
|
|
||||||
arma::vec true_value_interp;
|
arma::vec true_value_interp;
|
||||||
arma::interp1(true_time_s, true_value, meas_time_s, 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);
|
double min_error = arma::min(err);
|
||||||
|
|
||||||
//5. report
|
//5. report
|
||||||
|
|
||||||
std::cout << std::setprecision(10) << "TRK acc carrier phase RMSE=" << rmse
|
std::cout << std::setprecision(10) << "TRK acc carrier phase RMSE=" << rmse
|
||||||
<< ", mean=" << error_mean
|
<< ", mean=" << error_mean
|
||||||
<< ", stdev=" << sqrt(error_var) << " (max,min)=" << max_error << "," << min_error << " [Hz]" << std::endl;
|
<< ", stdev=" << sqrt(error_var) << " (max,min)=" << max_error << "," << min_error << " [Hz]" << std::endl;
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
void GpsL1CADllPllTrackingTestFpga::check_results_codephase(arma::vec true_time_s,
|
void GpsL1CADllPllTrackingTestFpga::check_results_codephase(arma::vec true_time_s,
|
||||||
arma::vec true_value,
|
arma::vec true_value,
|
||||||
arma::vec meas_time_s,
|
arma::vec meas_time_s,
|
||||||
arma::vec meas_value)
|
arma::vec meas_value)
|
||||||
{
|
{
|
||||||
//1. True value interpolation to match the measurement times
|
//1. True value interpolation to match the measurement times
|
||||||
|
|
||||||
arma::vec true_value_interp;
|
arma::vec true_value_interp;
|
||||||
arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
|
arma::interp1(true_time_s, true_value, meas_time_s, true_value_interp);
|
||||||
|
|
||||||
//2. RMSE
|
//2. RMSE
|
||||||
arma::vec err;
|
arma::vec err;
|
||||||
|
|
||||||
err = meas_value - true_value_interp;
|
err = meas_value - true_value_interp;
|
||||||
arma::vec err2 = arma::square(err);
|
arma::vec err2 = arma::square(err);
|
||||||
double rmse = sqrt(arma::mean(err2));
|
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);
|
double min_error = arma::min(err);
|
||||||
|
|
||||||
//5. report
|
//5. report
|
||||||
|
|
||||||
std::cout << std::setprecision(10) << "TRK code phase RMSE=" << rmse
|
std::cout << std::setprecision(10) << "TRK code phase RMSE=" << rmse
|
||||||
<< ", mean=" << error_mean
|
<< ", mean=" << error_mean
|
||||||
<< ", stdev=" << sqrt(error_var) << " (max,min)=" << max_error << "," << min_error << " [Chips]" << std::endl;
|
<< ", stdev=" << sqrt(error_var) << " (max,min)=" << max_error << "," << min_error << " [Chips]" << std::endl;
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
TEST_F(GpsL1CADllPllTrackingTestFpga, ValidationOfResultsFpga)
|
TEST_F(GpsL1CADllPllTrackingTestFpga, ValidationOfResultsFpga)
|
||||||
{
|
{
|
||||||
|
|
||||||
configure_generator();
|
configure_generator();
|
||||||
|
|
||||||
// DO not generate signal raw signal samples and observations RINEX file by default
|
// DO not generate signal raw signal samples and observations RINEX file by default
|
||||||
|
@ -478,39 +470,31 @@ TEST_F(GpsL1CADllPllTrackingTestFpga, ValidationOfResultsFpga)
|
||||||
//restart the epoch counter
|
//restart the epoch counter
|
||||||
true_obs_data.restart();
|
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;
|
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_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_doppler_hz = true_obs_data.doppler_l1_hz;
|
||||||
gnss_synchro.Acq_samplestamp_samples = 0;
|
gnss_synchro.Acq_samplestamp_samples = 0;
|
||||||
|
|
||||||
|
|
||||||
ASSERT_NO_THROW( {
|
ASSERT_NO_THROW( {
|
||||||
tracking->set_channel(gnss_synchro.Channel_ID);
|
tracking->set_channel(gnss_synchro.Channel_ID);
|
||||||
}) << "Failure setting channel." << std::endl;
|
}) << "Failure setting channel." << std::endl;
|
||||||
|
|
||||||
|
|
||||||
ASSERT_NO_THROW( {
|
ASSERT_NO_THROW( {
|
||||||
tracking->set_gnss_synchro(&gnss_synchro);
|
tracking->set_gnss_synchro(&gnss_synchro);
|
||||||
}) << "Failure setting gnss_synchro." << std::endl;
|
}) << "Failure setting gnss_synchro." << std::endl;
|
||||||
|
|
||||||
|
|
||||||
ASSERT_NO_THROW( {
|
ASSERT_NO_THROW( {
|
||||||
tracking->connect(top_block);
|
tracking->connect(top_block);
|
||||||
}) << "Failure connecting tracking to the top_block." << std::endl;
|
}) << "Failure connecting tracking to the top_block." << std::endl;
|
||||||
|
|
||||||
|
|
||||||
ASSERT_NO_THROW( {
|
ASSERT_NO_THROW( {
|
||||||
gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
|
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->connect(tracking->get_right_block(), 0, sink, 0);
|
||||||
top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
|
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;
|
}) << "Failure connecting the blocks of tracking test." << std::endl;
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
tracking->start_tracking();
|
tracking->start_tracking();
|
||||||
|
|
||||||
|
|
||||||
// assemble again the file name in a null terminated string (not available by default in the main program flow)
|
// 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;
|
std::string file = "./" + filename_raw_data;
|
||||||
const char * file_name = file.c_str();
|
const char * file_name = file.c_str();
|
||||||
|
@ -530,9 +514,6 @@ TEST_F(GpsL1CADllPllTrackingTestFpga, ValidationOfResultsFpga)
|
||||||
// wait until child thread terminates
|
// wait until child thread terminates
|
||||||
t.join();
|
t.join();
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
//check results
|
//check results
|
||||||
//load the true values
|
//load the true values
|
||||||
long int nepoch = true_obs_data.num_epochs();
|
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;
|
std::cout << "Signal tracking completed in " << (end - begin) << " microseconds" << std::endl;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
Loading…
Reference in New Issue
Block a user