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Improve memory management 

In class definitions, first write the public interface, then private
This commit is contained in:
Carles Fernandez 2019-07-01 21:54:52 +02:00
parent 54553a8cff
commit f1022385b0
14 changed files with 734 additions and 852 deletions
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166
src/algorithms/acquisition/gnuradio_blocks/galileo_e5a_noncoherent_iq_acquisition_caf_cc.h
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@ -52,8 +52,8 @@ class galileo_e5a_noncoherentIQ_acquisition_caf_cc;
using galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr = boost::shared_ptr<galileo_e5a_noncoherentIQ_acquisition_caf_cc>;
galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr
galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(unsigned int sampled_ms,
galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(
unsigned int sampled_ms,
unsigned int max_dwells,
unsigned int doppler_max, int64_t fs_in,
int samples_per_ms, int samples_per_code,
@ -72,88 +72,6 @@ galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(unsigned int sampled_ms,
*/
class galileo_e5a_noncoherentIQ_acquisition_caf_cc : public gr::block
{
private:
friend galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr
galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(
unsigned int sampled_ms,
unsigned int max_dwells,
unsigned int doppler_max, int64_t fs_in,
int samples_per_ms, int samples_per_code,
bool bit_transition_flag,
bool dump,
std::string dump_filename,
bool both_signal_components_,
int CAF_window_hz_,
int Zero_padding_);
galileo_e5a_noncoherentIQ_acquisition_caf_cc(
unsigned int sampled_ms,
unsigned int max_dwells,
unsigned int doppler_max, int64_t fs_in,
int samples_per_ms, int samples_per_code,
bool bit_transition_flag,
bool dump,
std::string dump_filename,
bool both_signal_components_,
int CAF_window_hz_,
int Zero_padding_);
void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift,
int doppler_offset);
float estimate_input_power(gr_complex* in);
std::weak_ptr<ChannelFsm> d_channel_fsm;
int64_t d_fs_in;
int d_samples_per_ms;
int d_sampled_ms;
int d_samples_per_code;
unsigned int d_doppler_resolution;
float d_threshold;
std::string d_satellite_str;
unsigned int d_doppler_max;
unsigned int d_doppler_step;
unsigned int d_max_dwells;
unsigned int d_well_count;
unsigned int d_fft_size;
uint64_t d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
unsigned int d_num_doppler_bins;
gr_complex* d_fft_code_I_A;
gr_complex* d_fft_code_I_B;
gr_complex* d_fft_code_Q_A;
gr_complex* d_fft_code_Q_B;
gr_complex* d_inbuffer;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
unsigned int d_code_phase;
float d_doppler_freq;
float d_mag;
float* d_magnitudeIA;
float* d_magnitudeIB;
float* d_magnitudeQA;
float* d_magnitudeQB;
float d_input_power;
float d_test_statistics;
bool d_bit_transition_flag;
std::ofstream d_dump_file;
bool d_active;
int d_state;
bool d_dump;
bool d_both_signal_components;
// bool d_CAF_filter;
int d_CAF_window_hz;
float* d_CAF_vector;
float* d_CAF_vector_I;
float* d_CAF_vector_Q;
// double* d_CAF_vector;
// double* d_CAF_vector_I;
// double* d_CAF_vector_Q;
unsigned int d_channel;
std::string d_dump_filename;
unsigned int d_buffer_count;
unsigned int d_gr_stream_buffer;
public:
/*!
* \brief Default destructor.
@ -257,5 +175,85 @@ public:
int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items);
private:
friend galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr
galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(
unsigned int sampled_ms,
unsigned int max_dwells,
unsigned int doppler_max, int64_t fs_in,
int samples_per_ms, int samples_per_code,
bool bit_transition_flag,
bool dump,
std::string dump_filename,
bool both_signal_components_,
int CAF_window_hz_,
int Zero_padding_);
galileo_e5a_noncoherentIQ_acquisition_caf_cc(
unsigned int sampled_ms,
unsigned int max_dwells,
unsigned int doppler_max, int64_t fs_in,
int samples_per_ms, int samples_per_code,
bool bit_transition_flag,
bool dump,
std::string dump_filename,
bool both_signal_components_,
int CAF_window_hz_,
int Zero_padding_);
void calculate_magnitudes(gr_complex* fft_begin, int doppler_shift,
int doppler_offset);
float estimate_input_power(gr_complex* in);
std::weak_ptr<ChannelFsm> d_channel_fsm;
int64_t d_fs_in;
int d_samples_per_ms;
int d_sampled_ms;
int d_samples_per_code;
unsigned int d_doppler_resolution;
float d_threshold;
std::string d_satellite_str;
unsigned int d_doppler_max;
unsigned int d_doppler_step;
unsigned int d_max_dwells;
unsigned int d_well_count;
unsigned int d_fft_size;
uint64_t d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
unsigned int d_num_doppler_bins;
gr_complex* d_fft_code_I_A;
gr_complex* d_fft_code_I_B;
gr_complex* d_fft_code_Q_A;
gr_complex* d_fft_code_Q_B;
gr_complex* d_inbuffer;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
unsigned int d_code_phase;
float d_doppler_freq;
float d_mag;
float* d_magnitudeIA;
float* d_magnitudeIB;
float* d_magnitudeQA;
float* d_magnitudeQB;
float d_input_power;
float d_test_statistics;
bool d_bit_transition_flag;
std::ofstream d_dump_file;
bool d_active;
int d_state;
bool d_dump;
bool d_both_signal_components;
int d_CAF_window_hz;
float* d_CAF_vector;
float* d_CAF_vector_I;
float* d_CAF_vector_Q;
unsigned int d_channel;
std::string d_dump_filename;
unsigned int d_buffer_count;
unsigned int d_gr_stream_buffer;
};
#endif /* GALILEO_E5A_NONCOHERENT_IQ_ACQUISITION_CAF_CC_H_ */

122
src/algorithms/acquisition/gnuradio_blocks/galileo_pcps_8ms_acquisition_cc.h
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@ -62,67 +62,6 @@ galileo_pcps_8ms_make_acquisition_cc(uint32_t sampled_ms,
*/
class galileo_pcps_8ms_acquisition_cc : public gr::block
{
private:
friend galileo_pcps_8ms_acquisition_cc_sptr
galileo_pcps_8ms_make_acquisition_cc(
uint32_t sampled_ms,
uint32_t max_dwells,
uint32_t doppler_max,
int64_t fs_in,
int32_t samples_per_ms,
int32_t samples_per_code,
bool dump,
std::string dump_filename);
galileo_pcps_8ms_acquisition_cc(
uint32_t sampled_ms,
uint32_t max_dwells,
uint32_t doppler_max,
int64_t fs_in,
int32_t samples_per_ms,
int32_t samples_per_code,
bool dump,
std::string dump_filename);
void calculate_magnitudes(
gr_complex* fft_begin,
int32_t doppler_shift,
int32_t doppler_offset);
int64_t d_fs_in;
int32_t d_samples_per_ms;
int32_t d_samples_per_code;
uint32_t d_doppler_resolution;
float d_threshold;
std::string d_satellite_str;
uint32_t d_doppler_max;
uint32_t d_doppler_step;
uint32_t d_sampled_ms;
uint32_t d_max_dwells;
uint32_t d_well_count;
uint32_t d_fft_size;
uint64_t d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
uint32_t d_num_doppler_bins;
gr_complex* d_fft_code_A;
gr_complex* d_fft_code_B;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
uint32_t d_code_phase;
float d_doppler_freq;
float d_mag;
float* d_magnitude;
float d_input_power;
float d_test_statistics;
std::ofstream d_dump_file;
bool d_active;
int32_t d_state;
bool d_dump;
uint32_t d_channel;
std::weak_ptr<ChannelFsm> d_channel_fsm;
std::string d_dump_filename;
public:
/*!
* \brief Default destructor.
@ -226,6 +165,67 @@ public:
int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items);
private:
friend galileo_pcps_8ms_acquisition_cc_sptr
galileo_pcps_8ms_make_acquisition_cc(
uint32_t sampled_ms,
uint32_t max_dwells,
uint32_t doppler_max,
int64_t fs_in,
int32_t samples_per_ms,
int32_t samples_per_code,
bool dump,
std::string dump_filename);
galileo_pcps_8ms_acquisition_cc(
uint32_t sampled_ms,
uint32_t max_dwells,
uint32_t doppler_max,
int64_t fs_in,
int32_t samples_per_ms,
int32_t samples_per_code,
bool dump,
std::string dump_filename);
void calculate_magnitudes(
gr_complex* fft_begin,
int32_t doppler_shift,
int32_t doppler_offset);
int64_t d_fs_in;
int32_t d_samples_per_ms;
int32_t d_samples_per_code;
uint32_t d_doppler_resolution;
float d_threshold;
std::string d_satellite_str;
uint32_t d_doppler_max;
uint32_t d_doppler_step;
uint32_t d_sampled_ms;
uint32_t d_max_dwells;
uint32_t d_well_count;
uint32_t d_fft_size;
uint64_t d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
uint32_t d_num_doppler_bins;
gr_complex* d_fft_code_A;
gr_complex* d_fft_code_B;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
uint32_t d_code_phase;
float d_doppler_freq;
float d_mag;
float* d_magnitude;
float d_input_power;
float d_test_statistics;
std::ofstream d_dump_file;
bool d_active;
int32_t d_state;
bool d_dump;
uint32_t d_channel;
std::weak_ptr<ChannelFsm> d_channel_fsm;
std::string d_dump_filename;
};
#endif /* GNSS_SDR_PCPS_8MS_ACQUISITION_CC_H_*/

124
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc
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@ -134,10 +134,9 @@ pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acqu
acq_parameters.max_dwells = 1; // Activation of acq_parameters.bit_transition_flag invalidates the value of acq_parameters.max_dwells
}
d_tmp_buffer = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
d_fft_codes = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitude = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
d_input_signal = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_tmp_buffer = std::vector<float>(d_fft_size);
d_fft_codes = std::vector<std::complex<float>>(d_fft_size);
d_input_signal = std::vector<std::complex<float>>(d_fft_size);
// Direct FFT
d_fft_if = std::make_shared<gr::fft::fft_complex>(d_fft_size, true);
@ -146,18 +145,11 @@ pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acqu
d_ifft = std::make_shared<gr::fft::fft_complex>(d_fft_size, false);
d_gnss_synchro = nullptr;
d_grid_doppler_wipeoffs = nullptr;
d_grid_doppler_wipeoffs_step_two = nullptr;
d_magnitude_grid = nullptr;
d_worker_active = false;
d_data_buffer = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_consumed_samples * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_data_buffer = std::vector<std::complex<float>>(d_consumed_samples);
if (d_cshort)
{
d_data_buffer_sc = static_cast<lv_16sc_t*>(volk_gnsssdr_malloc(d_consumed_samples * sizeof(lv_16sc_t), volk_gnsssdr_get_alignment()));
}
else
{
d_data_buffer_sc = nullptr;
d_data_buffer_sc = std::vector<lv_16sc_t>(d_consumed_samples);
}
grid_ = arma::fmat();
narrow_grid_ = arma::fmat();
@ -213,36 +205,7 @@ pcps_acquisition::pcps_acquisition(const Acq_Conf& conf_) : gr::block("pcps_acqu
}
pcps_acquisition::~pcps_acquisition()
{
if (d_num_doppler_bins > 0)
{
for (uint32_t i = 0; i < d_num_doppler_bins; i++)
{
volk_gnsssdr_free(d_grid_doppler_wipeoffs[i]);
volk_gnsssdr_free(d_magnitude_grid[i]);
}
delete[] d_grid_doppler_wipeoffs;
delete[] d_magnitude_grid;
}
if (acq_parameters.make_2_steps)
{
for (uint32_t i = 0; i < d_num_doppler_bins_step2; i++)
{
volk_gnsssdr_free(d_grid_doppler_wipeoffs_step_two[i]);
}
delete[] d_grid_doppler_wipeoffs_step_two;
}
volk_gnsssdr_free(d_fft_codes);
volk_gnsssdr_free(d_magnitude);
volk_gnsssdr_free(d_tmp_buffer);
volk_gnsssdr_free(d_input_signal);
volk_gnsssdr_free(d_data_buffer);
if (d_cshort)
{
volk_gnsssdr_free(d_data_buffer_sc);
}
}
pcps_acquisition::~pcps_acquisition() = default;
void pcps_acquisition::set_resampler_latency(uint32_t latency_samples)
@ -286,7 +249,7 @@ void pcps_acquisition::set_local_code(std::complex<float>* code)
}
d_fft_if->execute(); // We need the FFT of local code
volk_32fc_conjugate_32fc(d_fft_codes, d_fft_if->get_outbuf(), d_fft_size);
volk_32fc_conjugate_32fc(d_fft_codes.data(), d_fft_if->get_outbuf(), d_fft_size);
}
@ -309,7 +272,7 @@ bool pcps_acquisition::is_fdma()
}
void pcps_acquisition::update_local_carrier(gr_complex* carrier_vector, int32_t correlator_length_samples, float freq)
void pcps_acquisition::update_local_carrier(gsl::span<gr_complex> carrier_vector, float freq)
{
float phase_step_rad;
if (acq_parameters.use_automatic_resampler)
@ -322,7 +285,7 @@ void pcps_acquisition::update_local_carrier(gr_complex* carrier_vector, int32_t
}
float _phase[1];
_phase[0] = 0.0;
volk_gnsssdr_s32f_sincos_32fc(carrier_vector, -phase_step_rad, _phase, correlator_length_samples);
volk_gnsssdr_s32f_sincos_32fc(carrier_vector.data(), -phase_step_rad, _phase, carrier_vector.length());
}
@ -342,27 +305,18 @@ void pcps_acquisition::init()
d_num_doppler_bins = static_cast<uint32_t>(std::ceil(static_cast<double>(static_cast<int32_t>(acq_parameters.doppler_max) - static_cast<int32_t>(-acq_parameters.doppler_max)) / static_cast<double>(d_doppler_step)));
// Create the carrier Doppler wipeoff signals
if (d_grid_doppler_wipeoffs == nullptr)
if (d_grid_doppler_wipeoffs.empty())
{
d_grid_doppler_wipeoffs = new gr_complex*[d_num_doppler_bins];
d_grid_doppler_wipeoffs = std::vector<std::vector<std::complex<float>>>(d_num_doppler_bins, std::vector<std::complex<float>>(d_fft_size));
}
if (acq_parameters.make_2_steps && (d_grid_doppler_wipeoffs_step_two == nullptr))
if (acq_parameters.make_2_steps && (d_grid_doppler_wipeoffs_step_two.empty()))
{
d_grid_doppler_wipeoffs_step_two = new gr_complex*[d_num_doppler_bins_step2];
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins_step2; doppler_index++)
{
d_grid_doppler_wipeoffs_step_two[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
}
d_grid_doppler_wipeoffs_step_two = std::vector<std::vector<std::complex<float>>>(d_num_doppler_bins_step2, std::vector<std::complex<float>>(d_fft_size));
}
if (d_magnitude_grid == nullptr)
if (d_magnitude_grid.empty())
{
d_magnitude_grid = new float*[d_num_doppler_bins];
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{
d_grid_doppler_wipeoffs[doppler_index] = static_cast<gr_complex*>(volk_gnsssdr_malloc(d_fft_size * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_magnitude_grid[doppler_index] = static_cast<float*>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
}
d_magnitude_grid = std::vector<std::vector<float>>(d_num_doppler_bins, std::vector<float>(d_fft_size));
}
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
@ -372,7 +326,7 @@ void pcps_acquisition::init()
d_magnitude_grid[doppler_index][k] = 0.0;
}
int32_t doppler = -static_cast<int32_t>(acq_parameters.doppler_max) + d_doppler_step * doppler_index;
update_local_carrier(d_grid_doppler_wipeoffs[doppler_index], d_fft_size, d_old_freq + doppler);
update_local_carrier(gsl::span<gr_complex>(d_grid_doppler_wipeoffs[doppler_index].data(), d_fft_size), d_old_freq + doppler);
}
d_worker_active = false;
@ -391,7 +345,7 @@ void pcps_acquisition::update_grid_doppler_wipeoffs()
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{
int32_t doppler = -static_cast<int32_t>(acq_parameters.doppler_max) + d_doppler_step * doppler_index;
update_local_carrier(d_grid_doppler_wipeoffs[doppler_index], d_fft_size, d_old_freq + doppler);
update_local_carrier(gsl::span<gr_complex>(d_grid_doppler_wipeoffs[doppler_index].data(), d_fft_size), d_old_freq + doppler);
}
}
@ -401,7 +355,7 @@ void pcps_acquisition::update_grid_doppler_wipeoffs_step2()
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins_step2; doppler_index++)
{
float doppler = (static_cast<float>(doppler_index) - static_cast<float>(floor(d_num_doppler_bins_step2 / 2.0))) * acq_parameters.doppler_step2;
update_local_carrier(d_grid_doppler_wipeoffs_step_two[doppler_index], d_fft_size, d_doppler_center_step_two + doppler);
update_local_carrier(gsl::span<gr_complex>(d_grid_doppler_wipeoffs_step_two[doppler_index].data(), d_fft_size), d_doppler_center_step_two + doppler);
}
}
@ -590,7 +544,7 @@ float pcps_acquisition::max_to_input_power_statistic(uint32_t& indext, int32_t&
// Find the correlation peak and the carrier frequency
for (uint32_t i = 0; i < num_doppler_bins; i++)
{
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_magnitude_grid[i], d_fft_size);
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_magnitude_grid[i].data(), d_fft_size);
if (d_magnitude_grid[i][tmp_intex_t] > grid_maximum)
{
grid_maximum = d_magnitude_grid[i][tmp_intex_t];
@ -627,7 +581,7 @@ float pcps_acquisition::first_vs_second_peak_statistic(uint32_t& indext, int32_t
// Find the correlation peak and the carrier frequency
for (uint32_t i = 0; i < num_doppler_bins; i++)
{
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_magnitude_grid[i], d_fft_size);
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_magnitude_grid[i].data(), d_fft_size);
if (d_magnitude_grid[i][tmp_intex_t] > firstPeak)
{
firstPeak = d_magnitude_grid[i][tmp_intex_t];
@ -661,7 +615,7 @@ float pcps_acquisition::first_vs_second_peak_statistic(uint32_t& indext, int32_t
}
int32_t idx = excludeRangeIndex1;
memcpy(d_tmp_buffer, d_magnitude_grid[index_doppler], d_fft_size);
memcpy(d_tmp_buffer.data(), d_magnitude_grid[index_doppler].data(), d_fft_size);
do
{
d_tmp_buffer[idx] = 0.0;
@ -674,7 +628,7 @@ float pcps_acquisition::first_vs_second_peak_statistic(uint32_t& indext, int32_t
while (idx != excludeRangeIndex2);
// Find the second highest correlation peak in the same freq. bin ---
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_tmp_buffer, d_fft_size);
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_tmp_buffer.data(), d_fft_size);
float secondPeak = d_tmp_buffer[tmp_intex_t];
// Compute the test statistics and compare to the threshold
@ -692,9 +646,9 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
int32_t effective_fft_size = (acq_parameters.bit_transition_flag ? d_fft_size / 2 : d_fft_size);
if (d_cshort)
{
volk_gnsssdr_16ic_convert_32fc(d_data_buffer, d_data_buffer_sc, d_consumed_samples);
volk_gnsssdr_16ic_convert_32fc(d_data_buffer.data(), d_data_buffer_sc.data(), d_consumed_samples);
}
memcpy(d_input_signal, d_data_buffer, d_consumed_samples * sizeof(gr_complex));
memcpy(d_input_signal.data(), d_data_buffer.data(), d_consumed_samples * sizeof(gr_complex));
if (d_fft_size > d_consumed_samples)
{
for (uint32_t i = d_consumed_samples; i < d_fft_size; i++)
@ -702,7 +656,7 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
d_input_signal[i] = gr_complex(0.0, 0.0);
}
}
const gr_complex* in = d_input_signal; // Get the input samples pointer
const gr_complex* in = d_input_signal.data(); // Get the input samples pointer
d_input_power = 0.0;
d_mag = 0.0;
@ -720,8 +674,8 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
if (d_use_CFAR_algorithm_flag or acq_parameters.bit_transition_flag)
{
// Compute the input signal power estimation
volk_32fc_magnitude_squared_32f(d_tmp_buffer, in, d_fft_size);
volk_32f_accumulator_s32f(&d_input_power, d_tmp_buffer, d_fft_size);
volk_32fc_magnitude_squared_32f(d_tmp_buffer.data(), in, d_fft_size);
volk_32f_accumulator_s32f(&d_input_power, d_tmp_buffer.data(), d_fft_size);
d_input_power /= static_cast<float>(d_fft_size);
}
@ -731,14 +685,14 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins; doppler_index++)
{
// Remove Doppler
volk_32fc_x2_multiply_32fc(d_fft_if->get_inbuf(), in, d_grid_doppler_wipeoffs[doppler_index], d_fft_size);
volk_32fc_x2_multiply_32fc(d_fft_if->get_inbuf(), in, d_grid_doppler_wipeoffs[doppler_index].data(), d_fft_size);
// Perform the FFT-based convolution (parallel time search)
// Compute the FFT of the carrier wiped--off incoming signal
d_fft_if->execute();
// Multiply carrier wiped--off, Fourier transformed incoming signal with the local FFT'd code reference
volk_32fc_x2_multiply_32fc(d_ifft->get_inbuf(), d_fft_if->get_outbuf(), d_fft_codes, d_fft_size);
volk_32fc_x2_multiply_32fc(d_ifft->get_inbuf(), d_fft_if->get_outbuf(), d_fft_codes.data(), d_fft_size);
// Compute the inverse FFT
d_ifft->execute();
@ -747,17 +701,17 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
size_t offset = (acq_parameters.bit_transition_flag ? effective_fft_size : 0);
if (d_num_noncoherent_integrations_counter == 1)
{
volk_32fc_magnitude_squared_32f(d_magnitude_grid[doppler_index], d_ifft->get_outbuf() + offset, effective_fft_size);
volk_32fc_magnitude_squared_32f(d_magnitude_grid[doppler_index].data(), d_ifft->get_outbuf() + offset, effective_fft_size);
}
else
{
volk_32fc_magnitude_squared_32f(d_tmp_buffer, d_ifft->get_outbuf() + offset, effective_fft_size);
volk_32f_x2_add_32f(d_magnitude_grid[doppler_index], d_magnitude_grid[doppler_index], d_tmp_buffer, effective_fft_size);
volk_32fc_magnitude_squared_32f(d_tmp_buffer.data(), d_ifft->get_outbuf() + offset, effective_fft_size);
volk_32f_x2_add_32f(d_magnitude_grid[doppler_index].data(), d_magnitude_grid[doppler_index].data(), d_tmp_buffer.data(), effective_fft_size);
}
// Record results to file if required
if (d_dump and d_channel == d_dump_channel)
{
memcpy(grid_.colptr(doppler_index), d_magnitude_grid[doppler_index], sizeof(float) * effective_fft_size);
memcpy(grid_.colptr(doppler_index), d_magnitude_grid[doppler_index].data(), sizeof(float) * effective_fft_size);
}
}
@ -789,7 +743,7 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
{
for (uint32_t doppler_index = 0; doppler_index < d_num_doppler_bins_step2; doppler_index++)
{
volk_32fc_x2_multiply_32fc(d_fft_if->get_inbuf(), in, d_grid_doppler_wipeoffs_step_two[doppler_index], d_fft_size);
volk_32fc_x2_multiply_32fc(d_fft_if->get_inbuf(), in, d_grid_doppler_wipeoffs_step_two[doppler_index].data(), d_fft_size);
// Perform the FFT-based convolution (parallel time search)
// Compute the FFT of the carrier wiped--off incoming signal
@ -797,7 +751,7 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
// Multiply carrier wiped--off, Fourier transformed incoming signal
// with the local FFT'd code reference using SIMD operations with VOLK library
volk_32fc_x2_multiply_32fc(d_ifft->get_inbuf(), d_fft_if->get_outbuf(), d_fft_codes, d_fft_size);
volk_32fc_x2_multiply_32fc(d_ifft->get_inbuf(), d_fft_if->get_outbuf(), d_fft_codes.data(), d_fft_size);
// compute the inverse FFT
d_ifft->execute();
@ -805,17 +759,17 @@ void pcps_acquisition::acquisition_core(uint64_t samp_count)
size_t offset = (acq_parameters.bit_transition_flag ? effective_fft_size : 0);
if (d_num_noncoherent_integrations_counter == 1)
{
volk_32fc_magnitude_squared_32f(d_magnitude_grid[doppler_index], d_ifft->get_outbuf() + offset, effective_fft_size);
volk_32fc_magnitude_squared_32f(d_magnitude_grid[doppler_index].data(), d_ifft->get_outbuf() + offset, effective_fft_size);
}
else
{
volk_32fc_magnitude_squared_32f(d_tmp_buffer, d_ifft->get_outbuf() + offset, effective_fft_size);
volk_32f_x2_add_32f(d_magnitude_grid[doppler_index], d_magnitude_grid[doppler_index], d_tmp_buffer, effective_fft_size);
volk_32fc_magnitude_squared_32f(d_tmp_buffer.data(), d_ifft->get_outbuf() + offset, effective_fft_size);
volk_32f_x2_add_32f(d_magnitude_grid[doppler_index].data(), d_magnitude_grid[doppler_index].data(), d_tmp_buffer.data(), effective_fft_size);
}
// Record results to file if required
if (d_dump and d_channel == d_dump_channel)
{
memcpy(narrow_grid_.colptr(doppler_index), d_magnitude_grid[doppler_index], sizeof(float) * effective_fft_size);
memcpy(narrow_grid_.colptr(doppler_index), d_magnitude_grid[doppler_index].data(), sizeof(float) * effective_fft_size);
}
}
// Compute the test statistic

138
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h
View File

@ -61,18 +61,25 @@
#include <gnuradio/thread/thread.h> // for scoped_lock
#include <gnuradio/types.h> // for gr_vector_const_void_star
#include <volk/volk_complex.h> // for lv_16sc_t
#include <complex>
#include <cstdint>
#include <memory>
#include <string>
#include <utility>
#include <vector>
#if HAS_SPAN
#include <span>
namespace gsl = std;
#else
#include <gsl/gsl>
#endif
class Gnss_Synchro;
class pcps_acquisition;
using pcps_acquisition_sptr = boost::shared_ptr<pcps_acquisition>;
pcps_acquisition_sptr
pcps_make_acquisition(const Acq_Conf& conf_);
pcps_acquisition_sptr pcps_make_acquisition(const Acq_Conf& conf_);
/*!
* \brief This class implements a Parallel Code Phase Search Acquisition.
@ -82,75 +89,6 @@ pcps_make_acquisition(const Acq_Conf& conf_);
*/
class pcps_acquisition : public gr::block
{
private:
friend pcps_acquisition_sptr
pcps_make_acquisition(const Acq_Conf& conf_);
pcps_acquisition(const Acq_Conf& conf_);
void update_local_carrier(gr_complex* carrier_vector, int32_t correlator_length_samples, float freq);
void update_grid_doppler_wipeoffs();
void update_grid_doppler_wipeoffs_step2();
bool is_fdma();
void acquisition_core(uint64_t samp_count);
void send_negative_acquisition();
void send_positive_acquisition();
void dump_results(int32_t effective_fft_size);
float first_vs_second_peak_statistic(uint32_t& indext, int32_t& doppler, uint32_t num_doppler_bins, int32_t doppler_max, int32_t doppler_step);
float max_to_input_power_statistic(uint32_t& indext, int32_t& doppler, float input_power, uint32_t num_doppler_bins, int32_t doppler_max, int32_t doppler_step);
bool start();
Acq_Conf acq_parameters;
bool d_active;
bool d_worker_active;
bool d_cshort;
bool d_step_two;
bool d_use_CFAR_algorithm_flag;
int32_t d_positive_acq;
float d_threshold;
float d_mag;
float d_input_power;
float d_test_statistics;
float* d_magnitude;
float** d_magnitude_grid;
float* d_tmp_buffer;
gr_complex* d_input_signal;
uint32_t d_samplesPerChip;
int64_t d_old_freq;
int32_t d_state;
uint32_t d_channel;
std::weak_ptr<ChannelFsm> d_channel_fsm;
uint32_t d_doppler_step;
float d_doppler_center_step_two;
uint32_t d_num_noncoherent_integrations_counter;
uint32_t d_fft_size;
uint32_t d_consumed_samples;
uint32_t d_num_doppler_bins;
uint64_t d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
gr_complex** d_grid_doppler_wipeoffs_step_two;
gr_complex* d_fft_codes;
gr_complex* d_data_buffer;
lv_16sc_t* d_data_buffer_sc;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
arma::fmat grid_;
arma::fmat narrow_grid_;
uint32_t d_num_doppler_bins_step2;
int64_t d_dump_number;
uint32_t d_dump_channel;
uint32_t d_buffer_count;
bool d_dump;
std::string d_dump_filename;
public:
~pcps_acquisition();
@ -250,7 +188,6 @@ public:
d_doppler_step = doppler_step;
}
void set_resampler_latency(uint32_t latency_samples);
/*!
@ -259,6 +196,63 @@ public:
int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items);
private:
friend pcps_acquisition_sptr pcps_make_acquisition(const Acq_Conf& conf_);
pcps_acquisition(const Acq_Conf& conf_);
bool d_active;
bool d_worker_active;
bool d_cshort;
bool d_step_two;
bool d_use_CFAR_algorithm_flag;
bool d_dump;
int32_t d_state;
int32_t d_positive_acq;
uint32_t d_channel;
uint32_t d_samplesPerChip;
uint32_t d_doppler_step;
uint32_t d_num_noncoherent_integrations_counter;
uint32_t d_fft_size;
uint32_t d_consumed_samples;
uint32_t d_num_doppler_bins;
uint32_t d_num_doppler_bins_step2;
uint32_t d_dump_channel;
uint32_t d_buffer_count;
uint64_t d_sample_counter;
int64_t d_dump_number;
int64_t d_old_freq;
float d_threshold;
float d_mag;
float d_input_power;
float d_test_statistics;
float d_doppler_center_step_two;
std::string d_dump_filename;
std::vector<std::vector<float>> d_magnitude_grid;
std::vector<float> d_tmp_buffer;
std::vector<std::complex<float>> d_input_signal;
std::vector<std::vector<std::complex<float>>> d_grid_doppler_wipeoffs;
std::vector<std::vector<std::complex<float>>> d_grid_doppler_wipeoffs_step_two;
std::vector<std::complex<float>> d_fft_codes;
std::vector<std::complex<float>> d_data_buffer;
std::vector<lv_16sc_t> d_data_buffer_sc;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
std::weak_ptr<ChannelFsm> d_channel_fsm;
Acq_Conf acq_parameters;
Gnss_Synchro* d_gnss_synchro;
arma::fmat grid_;
arma::fmat narrow_grid_;
void update_local_carrier(gsl::span<gr_complex> carrier_vector, float freq);
void update_grid_doppler_wipeoffs();
void update_grid_doppler_wipeoffs_step2();
void acquisition_core(uint64_t samp_count);
void send_negative_acquisition();
void send_positive_acquisition();
void dump_results(int32_t effective_fft_size);
bool is_fdma();
bool start();
float first_vs_second_peak_statistic(uint32_t& indext, int32_t& doppler, uint32_t num_doppler_bins, int32_t doppler_max, int32_t doppler_step);
float max_to_input_power_statistic(uint32_t& indext, int32_t& doppler, float input_power, uint32_t num_doppler_bins, int32_t doppler_max, int32_t doppler_step);
};
#endif /* GNSS_SDR_PCPS_ACQUISITION_H_*/

44
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.cc
View File

@ -138,8 +138,6 @@ pcps_acquisition_fine_doppler_cc::pcps_acquisition_fine_doppler_cc(const Acq_Con
d_threshold = 0;
d_num_doppler_points = 0;
d_doppler_step = 0;
d_grid_data = nullptr;
d_grid_doppler_wipeoffs = nullptr;
d_gnss_synchro = nullptr;
d_code_phase = 0;
d_doppler_freq = 0;
@ -176,11 +174,7 @@ void pcps_acquisition_fine_doppler_cc::set_doppler_step(unsigned int doppler_ste
d_num_doppler_points = floor(std::abs(2 * d_config_doppler_max) / d_doppler_step);
d_grid_data = new float *[d_num_doppler_points];
for (int i = 0; i < d_num_doppler_points; i++)
{
d_grid_data[i] = static_cast<float *>(volk_gnsssdr_malloc(d_fft_size * sizeof(float), volk_gnsssdr_get_alignment()));
}
d_grid_data = std::vector<std::vector<float>>(d_num_doppler_points, std::vector<float>(d_fft_size));
if (d_dump)
{
@ -191,25 +185,12 @@ void pcps_acquisition_fine_doppler_cc::set_doppler_step(unsigned int doppler_ste
}
void pcps_acquisition_fine_doppler_cc::free_grid_memory()
{
for (int i = 0; i < d_num_doppler_points; i++)
{
volk_gnsssdr_free(d_grid_data[i]);
delete[] d_grid_doppler_wipeoffs[i];
}
delete d_grid_data;
delete d_grid_doppler_wipeoffs;
}
pcps_acquisition_fine_doppler_cc::~pcps_acquisition_fine_doppler_cc()
{
volk_gnsssdr_free(d_carrier);
volk_gnsssdr_free(d_fft_codes);
volk_gnsssdr_free(d_magnitude);
volk_gnsssdr_free(d_10_ms_buffer);
free_grid_memory();
}
@ -265,17 +246,16 @@ void pcps_acquisition_fine_doppler_cc::update_carrier_wipeoff()
// create the carrier Doppler wipeoff signals
int doppler_hz;
float phase_step_rad;
d_grid_doppler_wipeoffs = new gr_complex *[d_num_doppler_points];
d_grid_doppler_wipeoffs = std::vector<std::vector<std::complex<float>>>(d_num_doppler_points, std::vector<std::complex<float>>(d_fft_size));
for (int doppler_index = 0; doppler_index < d_num_doppler_points; doppler_index++)
{
doppler_hz = d_doppler_step * doppler_index - d_config_doppler_max;
// doppler search steps
// compute the carrier doppler wipe-off signal and store it
phase_step_rad = static_cast<float>(GPS_TWO_PI) * doppler_hz / static_cast<float>(d_fs_in);
d_grid_doppler_wipeoffs[doppler_index] = new gr_complex[d_fft_size];
float _phase[1];
_phase[0] = 0;
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], -phase_step_rad, _phase, d_fft_size);
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index].data(), -phase_step_rad, _phase, d_fft_size);
}
}
@ -293,7 +273,7 @@ double pcps_acquisition_fine_doppler_cc::compute_CAF()
//--- Find the correlation peak and the carrier frequency --------------
for (int i = 0; i < d_num_doppler_points; i++)
{
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_grid_data[i], d_fft_size);
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_grid_data[i].data(), d_fft_size);
if (d_grid_data[i][tmp_intex_t] > firstPeak)
{
firstPeak = d_grid_data[i][tmp_intex_t];
@ -304,7 +284,7 @@ double pcps_acquisition_fine_doppler_cc::compute_CAF()
// Record results to file if required
if (d_dump and d_channel == d_dump_channel)
{
memcpy(grid_.colptr(i), d_grid_data[i], sizeof(float) * d_fft_size);
memcpy(grid_.colptr(i), d_grid_data[i].data(), sizeof(float) * d_fft_size);
}
}
@ -336,7 +316,7 @@ double pcps_acquisition_fine_doppler_cc::compute_CAF()
while (idx != excludeRangeIndex2);
//--- Find the second highest correlation peak in the same freq. bin ---
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_grid_data[index_doppler], d_fft_size);
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_grid_data[index_doppler].data(), d_fft_size);
float secondPeak = d_grid_data[index_doppler][tmp_intex_t];
// 5- Compute the test statistics and compare to the threshold
@ -382,7 +362,7 @@ int pcps_acquisition_fine_doppler_cc::compute_and_accumulate_grid(gr_vector_cons
{
// doppler search steps
// Perform the carrier wipe-off
volk_32fc_x2_multiply_32fc(d_fft_if->get_inbuf(), in, d_grid_doppler_wipeoffs[doppler_index], d_fft_size);
volk_32fc_x2_multiply_32fc(d_fft_if->get_inbuf(), in, d_grid_doppler_wipeoffs[doppler_index].data(), d_fft_size);
// 3- Perform the FFT-based convolution (parallel time search)
// Compute the FFT of the carrier wiped--off incoming signal
@ -398,7 +378,7 @@ int pcps_acquisition_fine_doppler_cc::compute_and_accumulate_grid(gr_vector_cons
// save the grid matrix delay file
volk_32fc_magnitude_squared_32f(p_tmp_vector, d_ifft->get_outbuf(), d_fft_size);
//accumulate grid values
volk_32f_x2_add_32f(d_grid_data[doppler_index], d_grid_data[doppler_index], p_tmp_vector, d_fft_size);
volk_32f_x2_add_32f(d_grid_data[doppler_index].data(), d_grid_data[doppler_index].data(), p_tmp_vector, d_fft_size);
}
volk_gnsssdr_free(p_tmp_vector);
@ -422,7 +402,7 @@ int pcps_acquisition_fine_doppler_cc::estimate_Doppler()
int signal_samples = prn_replicas * d_fft_size;
//int fft_size_extended = nextPowerOf2(signal_samples * zero_padding_factor);
int fft_size_extended = signal_samples * zero_padding_factor;
auto *fft_operator = new gr::fft::fft_complex(fft_size_extended, true);
auto fft_operator = std::make_shared<gr::fft::fft_complex>(fft_size_extended, true);
//zero padding the entire vector
std::fill_n(fft_operator->get_inbuf(), fft_size_extended, gr_complex(0.0, 0.0));
@ -459,9 +439,7 @@ int pcps_acquisition_fine_doppler_cc::estimate_Doppler()
//case even
int counter = 0;
auto *fftFreqBins = new float[fft_size_extended];
std::fill_n(fftFreqBins, fft_size_extended, 0.0);
auto fftFreqBins = std::vector<float>(fft_size_extended);
for (int k = 0; k < (fft_size_extended / 2); k++)
{
@ -488,10 +466,8 @@ int pcps_acquisition_fine_doppler_cc::estimate_Doppler()
}
// free memory!!
delete fft_operator;
volk_gnsssdr_free(code_replica);
volk_gnsssdr_free(p_tmp_vector);
delete[] fftFreqBins;
return d_fft_size;
}

136
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fine_doppler_cc.h
View File

@ -61,13 +61,13 @@
#include <memory>
#include <string>
#include <utility>
#include <vector>
class pcps_acquisition_fine_doppler_cc;
using pcps_acquisition_fine_doppler_cc_sptr = boost::shared_ptr<pcps_acquisition_fine_doppler_cc>;
pcps_acquisition_fine_doppler_cc_sptr
pcps_make_acquisition_fine_doppler_cc(const Acq_Conf& conf_);
pcps_acquisition_fine_doppler_cc_sptr pcps_make_acquisition_fine_doppler_cc(const Acq_Conf& conf_);
/*!
* \brief This class implements a Parallel Code Phase Search Acquisition.
@ -75,63 +75,6 @@ pcps_make_acquisition_fine_doppler_cc(const Acq_Conf& conf_);
*/
class pcps_acquisition_fine_doppler_cc : public gr::block
{
private:
friend pcps_acquisition_fine_doppler_cc_sptr
pcps_make_acquisition_fine_doppler_cc(const Acq_Conf& conf_);
pcps_acquisition_fine_doppler_cc(const Acq_Conf& conf_);
int compute_and_accumulate_grid(gr_vector_const_void_star& input_items);
int estimate_Doppler();
float estimate_input_power(gr_vector_const_void_star& input_items);
double compute_CAF();
void reset_grid();
void update_carrier_wipeoff();
void free_grid_memory();
bool start();
Acq_Conf acq_parameters;
int64_t d_fs_in;
int d_samples_per_ms;
int d_max_dwells;
int d_gnuradio_forecast_samples;
float d_threshold;
std::string d_satellite_str;
int d_config_doppler_max;
int d_num_doppler_points;
int d_doppler_step;
unsigned int d_fft_size;
uint64_t d_sample_counter;
gr_complex* d_carrier;
gr_complex* d_fft_codes;
gr_complex* d_10_ms_buffer;
float* d_magnitude;
float** d_grid_data;
gr_complex** d_grid_doppler_wipeoffs;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
unsigned int d_code_phase;
float d_doppler_freq;
float d_test_statistics;
int d_positive_acq;
int d_state;
bool d_active;
int d_well_count;
int d_n_samples_in_buffer;
bool d_dump;
unsigned int d_channel;
std::weak_ptr<ChannelFsm> d_channel_fsm;
std::string d_dump_filename;
arma::fmat grid_;
int64_t d_dump_number;
unsigned int d_dump_channel;
public:
/*!
* \brief Default destructor.
@ -221,20 +164,11 @@ public:
void set_doppler_step(unsigned int doppler_step);
/*!
* \brief If set to 1, ensures that acquisition starts at the
* first available sample.
* \param state - int=1 forces start of acquisition
*/
void set_state(int state);
/*!
* \brief Parallel Code Phase Search Acquisition signal processing.
* \brief If set to 1, ensures that acquisition starts at the
* first available sample.
* \param state - int=1 forces start of acquisition
*/
int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items);
void forecast(int noutput_items, gr_vector_int& ninput_items_required);
void set_state(int state);
/*!
* \brief Obtains the next power of 2 greater or equal to the input parameter
@ -243,6 +177,64 @@ public:
unsigned int nextPowerOf2(unsigned int n);
void dump_results(int effective_fft_size);
void forecast(int noutput_items, gr_vector_int& ninput_items_required);
/*!
* \brief Parallel Code Phase Search Acquisition signal processing.
*/
int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items);
private:
friend pcps_acquisition_fine_doppler_cc_sptr
pcps_make_acquisition_fine_doppler_cc(const Acq_Conf& conf_);
pcps_acquisition_fine_doppler_cc(const Acq_Conf& conf_);
int compute_and_accumulate_grid(gr_vector_const_void_star& input_items);
int estimate_Doppler();
float estimate_input_power(gr_vector_const_void_star& input_items);
double compute_CAF();
void reset_grid();
void update_carrier_wipeoff();
bool start();
Acq_Conf acq_parameters;
int64_t d_fs_in;
int d_samples_per_ms;
int d_max_dwells;
int d_gnuradio_forecast_samples;
float d_threshold;
std::string d_satellite_str;
int d_config_doppler_max;
int d_num_doppler_points;
int d_doppler_step;
unsigned int d_fft_size;
uint64_t d_sample_counter;
gr_complex* d_carrier;
gr_complex* d_fft_codes;
gr_complex* d_10_ms_buffer;
float* d_magnitude;
std::vector<std::vector<float>> d_grid_data;
std::vector<std::vector<std::complex<float>>> d_grid_doppler_wipeoffs;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
unsigned int d_code_phase;
float d_doppler_freq;
float d_test_statistics;
int d_positive_acq;
int d_state;
bool d_active;
int d_well_count;
int d_n_samples_in_buffer;
bool d_dump;
unsigned int d_channel;
std::weak_ptr<ChannelFsm> d_channel_fsm;
std::string d_dump_filename;
arma::fmat grid_;
int64_t d_dump_number;
unsigned int d_dump_channel;
};
#endif /* pcps_acquisition_fine_doppler_cc*/

3
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.cc
View File

@ -34,7 +34,6 @@
#include "pcps_acquisition_fpga.h"
#include "gnss_synchro.h"
//#include <boost/chrono.hpp>
#include <glog/logging.h>
#include <cmath> // for ceil
#include <iostream> // for operator<<
@ -87,6 +86,7 @@ pcps_acquisition_fpga::pcps_acquisition_fpga(pcpsconf_fpga_t conf_)
pcps_acquisition_fpga::~pcps_acquisition_fpga() = default;
void pcps_acquisition_fpga::set_local_code()
{
acquisition_fpga->set_local_code(d_gnss_synchro->PRN);
@ -174,6 +174,7 @@ void pcps_acquisition_fpga::send_negative_acquisition()
}
}
void pcps_acquisition_fpga::acquisition_core(uint32_t num_doppler_bins, uint32_t doppler_step, int32_t doppler_min)
{
uint32_t indext = 0U;

81
src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition_fpga.h
View File

@ -62,7 +62,7 @@ typedef struct
int32_t code_length;
uint32_t select_queue_Fpga;
std::string device_name;
uint32_t* all_fft_codes; // pointer to memory that contains all the code ffts
uint32_t* all_fft_codes; // pointer to memory that contains all the code ffts
//float downsampling_factor;
uint32_t downsampling_factor;
uint32_t total_block_exp;
@ -78,8 +78,7 @@ class pcps_acquisition_fpga;
using pcps_acquisition_fpga_sptr = boost::shared_ptr<pcps_acquisition_fpga>;
pcps_acquisition_fpga_sptr
pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_);
pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_);
/*!
* \brief This class implements a Parallel Code Phase Search Acquisition that uses the FPGA.
@ -89,49 +88,6 @@ pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_);
*/
class pcps_acquisition_fpga
{
private:
friend pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_);
pcps_acquisition_fpga(pcpsconf_fpga_t conf_);
void send_negative_acquisition();
void send_positive_acquisition();
float first_vs_second_peak_statistic(uint32_t& indext, int32_t& doppler, uint32_t num_doppler_bins, int32_t doppler_max, int32_t doppler_step);
void acquisition_core(uint32_t num_doppler_bins, uint32_t doppler_step, int32_t doppler_max);
pcpsconf_fpga_t acq_parameters;
bool d_active;
float d_threshold;
float d_mag;
float d_input_power;
uint32_t d_doppler_index;
float d_test_statistics;
int32_t d_state;
uint32_t d_channel;
std::weak_ptr<ChannelFsm> d_channel_fsm;
uint32_t d_doppler_step;
uint32_t d_doppler_max;
uint32_t d_fft_size;
uint32_t d_num_doppler_bins;
uint64_t d_sample_counter;
Gnss_Synchro* d_gnss_synchro;
std::shared_ptr<Fpga_Acquisition> acquisition_fpga;
//float d_downsampling_factor;
uint32_t d_downsampling_factor;
uint32_t d_select_queue_Fpga;
uint32_t d_total_block_exp;
bool d_make_2_steps;
uint32_t d_num_doppler_bins_step2;
float d_doppler_step2;
float d_doppler_center_step_two;
uint32_t d_max_num_acqs;
public:
~pcps_acquisition_fpga();
@ -229,6 +185,39 @@ public:
* \brief This funciton triggers a HW reset of the FPGA PL.
*/
void reset_acquisition(void);
private:
friend pcps_acquisition_fpga_sptr pcps_make_acquisition_fpga(pcpsconf_fpga_t conf_);
pcps_acquisition_fpga(pcpsconf_fpga_t conf_);
bool d_active;
bool d_make_2_steps;
uint32_t d_doppler_index;
uint32_t d_channel;
uint32_t d_doppler_step;
uint32_t d_doppler_max;
uint32_t d_fft_size;
uint32_t d_num_doppler_bins;
uint32_t d_downsampling_factor;
uint32_t d_select_queue_Fpga;
uint32_t d_total_block_exp;
uint32_t d_num_doppler_bins_step2;
uint32_t d_max_num_acqs;
int32_t d_state;
uint64_t d_sample_counter;
float d_threshold;
float d_mag;
float d_input_power;
float d_test_statistics;
float d_doppler_step2;
float d_doppler_center_step_two;
pcpsconf_fpga_t acq_parameters;
Gnss_Synchro* d_gnss_synchro;
std::shared_ptr<Fpga_Acquisition> acquisition_fpga;
std::weak_ptr<ChannelFsm> d_channel_fsm;
void send_negative_acquisition();
void send_positive_acquisition();
void acquisition_core(uint32_t num_doppler_bins, uint32_t doppler_step, int32_t doppler_max);
float first_vs_second_peak_statistic(uint32_t& indext, int32_t& doppler, uint32_t num_doppler_bins, int32_t doppler_max, int32_t doppler_step);
};
#endif /* GNSS_SDR_PCPS_ACQUISITION_FPGA_H_*/

37
src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.cc
View File

@ -97,8 +97,6 @@ pcps_assisted_acquisition_cc::pcps_assisted_acquisition_cc(
d_doppler_min = 0;
d_num_doppler_points = 0;
d_doppler_step = 0;
d_grid_data = nullptr;
d_grid_doppler_wipeoffs = nullptr;
d_gnss_synchro = nullptr;
d_code_phase = 0;
d_doppler_freq = 0;
@ -114,17 +112,6 @@ void pcps_assisted_acquisition_cc::set_doppler_step(uint32_t doppler_step)
}
void pcps_assisted_acquisition_cc::free_grid_memory()
{
for (int32_t i = 0; i < d_num_doppler_points; i++)
{
delete[] d_grid_data[i];
delete[] d_grid_doppler_wipeoffs[i];
}
delete d_grid_data;
}
pcps_assisted_acquisition_cc::~pcps_assisted_acquisition_cc()
{
volk_gnsssdr_free(d_carrier);
@ -234,26 +221,21 @@ void pcps_assisted_acquisition_cc::redefine_grid()
// Create the search grid array
d_num_doppler_points = floor(std::abs(d_doppler_max - d_doppler_min) / d_doppler_step);
d_grid_data = new float *[d_num_doppler_points];
for (int32_t i = 0; i < d_num_doppler_points; i++)
{
d_grid_data[i] = new float[d_fft_size];
}
d_grid_data = std::vector<std::vector<float>>(d_num_doppler_points, std::vector<float>(d_fft_size));
// create the carrier Doppler wipeoff signals
int32_t doppler_hz;
float phase_step_rad;
d_grid_doppler_wipeoffs = new gr_complex *[d_num_doppler_points];
d_grid_doppler_wipeoffs = std::vector<std::vector<std::complex<float>>>(d_num_doppler_points, std::vector<std::complex<float>>(d_fft_size));
for (int32_t doppler_index = 0; doppler_index < d_num_doppler_points; doppler_index++)
{
doppler_hz = d_doppler_min + d_doppler_step * doppler_index;
// doppler search steps
// compute the carrier doppler wipe-off signal and store it
phase_step_rad = static_cast<float>(GPS_TWO_PI) * doppler_hz / static_cast<float>(d_fs_in);
d_grid_doppler_wipeoffs[doppler_index] = new gr_complex[d_fft_size];
float _phase[1];
_phase[0] = 0;
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index], -phase_step_rad, _phase, d_fft_size);
volk_gnsssdr_s32f_sincos_32fc(d_grid_doppler_wipeoffs[doppler_index].data(), -phase_step_rad, _phase, d_fft_size);
}
}
@ -268,7 +250,7 @@ double pcps_assisted_acquisition_cc::search_maximum()
for (int32_t i = 0; i < d_num_doppler_points; i++)
{
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_grid_data[i], d_fft_size);
volk_gnsssdr_32f_index_max_32u(&tmp_intex_t, d_grid_data[i].data(), d_fft_size);
if (d_grid_data[i][tmp_intex_t] > magt)
{
magt = d_grid_data[i][index_time];
@ -300,7 +282,7 @@ double pcps_assisted_acquisition_cc::search_maximum()
<< "_" << d_gnss_synchro->Signal << "_sat_"
<< d_gnss_synchro->PRN << "_doppler_" << d_gnss_synchro->Acq_doppler_hz << ".dat";
d_dump_file.open(filename.str().c_str(), std::ios::out | std::ios::binary);
d_dump_file.write(reinterpret_cast<char *>(d_grid_data[index_doppler]), n); //write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.write(reinterpret_cast<char *>(d_grid_data[index_doppler].data()), n); //write directly |abs(x)|^2 in this Doppler bin?
d_dump_file.close();
}
@ -343,7 +325,7 @@ int32_t pcps_assisted_acquisition_cc::compute_and_accumulate_grid(gr_vector_cons
{
// doppler search steps
// Perform the carrier wipe-off
volk_32fc_x2_multiply_32fc(d_fft_if->get_inbuf(), in, d_grid_doppler_wipeoffs[doppler_index], d_fft_size);
volk_32fc_x2_multiply_32fc(d_fft_if->get_inbuf(), in, d_grid_doppler_wipeoffs[doppler_index].data(), d_fft_size);
// 3- Perform the FFT-based convolution (parallel time search)
// Compute the FFT of the carrier wiped--off incoming signal
d_fft_if->execute();
@ -357,8 +339,8 @@ int32_t pcps_assisted_acquisition_cc::compute_and_accumulate_grid(gr_vector_cons
// save the grid matrix delay file
volk_32fc_magnitude_squared_32f(p_tmp_vector, d_ifft->get_outbuf(), d_fft_size);
const float *old_vector = d_grid_data[doppler_index];
volk_32f_x2_add_32f(d_grid_data[doppler_index], old_vector, p_tmp_vector, d_fft_size);
const float *old_vector = d_grid_data[doppler_index].data();
volk_32f_x2_add_32f(d_grid_data[doppler_index].data(), old_vector, p_tmp_vector, d_fft_size);
}
volk_gnsssdr_free(p_tmp_vector);
return d_fft_size;
@ -439,7 +421,6 @@ int pcps_assisted_acquisition_cc::general_work(int noutput_items,
consume_each(ninput_items[0]);
break;
case 4: // RedefineGrid
free_grid_memory();
redefine_grid();
reset_grid();
d_sample_counter += static_cast<uint64_t>(ninput_items[0]); // sample counter
@ -458,7 +439,6 @@ int pcps_assisted_acquisition_cc::general_work(int noutput_items,
d_active = false;
// Send message to channel port //0=STOP_CHANNEL 1=ACQ_SUCCESS 2=ACQ_FAIL
this->message_port_pub(pmt::mp("events"), pmt::from_long(1));
free_grid_memory();
// consume samples to not block the GNU Radio flowgraph
d_sample_counter += static_cast<uint64_t>(ninput_items[0]); // sample counter
consume_each(ninput_items[0]);
@ -476,7 +456,6 @@ int pcps_assisted_acquisition_cc::general_work(int noutput_items,
d_active = false;
// Send message to channel port //0=STOP_CHANNEL 1=ACQ_SUCCESS 2=ACQ_FAIL
this->message_port_pub(pmt::mp("events"), pmt::from_long(2));
free_grid_memory();
// consume samples to not block the GNU Radio flowgraph
d_sample_counter += static_cast<uint64_t>(ninput_items[0]); // sample counter
consume_each(ninput_items[0]);

129
src/algorithms/acquisition/gnuradio_blocks/pcps_assisted_acquisition_cc.h
View File

@ -57,13 +57,13 @@
#include <memory>
#include <string>
#include <utility>
#include <vector>
class pcps_assisted_acquisition_cc;
using pcps_assisted_acquisition_cc_sptr = boost::shared_ptr<pcps_assisted_acquisition_cc>;
pcps_assisted_acquisition_cc_sptr
pcps_make_assisted_acquisition_cc(
pcps_assisted_acquisition_cc_sptr pcps_make_assisted_acquisition_cc(
int32_t max_dwells,
uint32_t sampled_ms,
int32_t doppler_max,
@ -80,69 +80,6 @@ pcps_make_assisted_acquisition_cc(
*/
class pcps_assisted_acquisition_cc : public gr::block
{
private:
friend pcps_assisted_acquisition_cc_sptr
pcps_make_assisted_acquisition_cc(int32_t max_dwells, uint32_t sampled_ms,
int32_t doppler_max, int32_t doppler_min, int64_t fs_in,
int32_t samples_per_ms, bool dump,
std::string dump_filename);
pcps_assisted_acquisition_cc(int32_t max_dwells, uint32_t sampled_ms,
int32_t doppler_max, int32_t doppler_min, int64_t fs_in,
int32_t samples_per_ms, bool dump,
std::string dump_filename);
void calculate_magnitudes(gr_complex* fft_begin, int32_t doppler_shift,
int32_t doppler_offset);
int32_t compute_and_accumulate_grid(gr_vector_const_void_star& input_items);
float estimate_input_power(gr_vector_const_void_star& input_items);
double search_maximum();
void get_assistance();
void reset_grid();
void redefine_grid();
void free_grid_memory();
int64_t d_fs_in;
int32_t d_samples_per_ms;
int32_t d_max_dwells;
uint32_t d_doppler_resolution;
int32_t d_gnuradio_forecast_samples;
float d_threshold;
std::string d_satellite_str;
int32_t d_doppler_max;
int32_t d_doppler_min;
int32_t d_config_doppler_max;
int32_t d_config_doppler_min;
int32_t d_num_doppler_points;
int32_t d_doppler_step;
uint32_t d_sampled_ms;
uint32_t d_fft_size;
uint64_t d_sample_counter;
gr_complex* d_carrier;
gr_complex* d_fft_codes;
float** d_grid_data;
gr_complex** d_grid_doppler_wipeoffs;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
uint32_t d_code_phase;
float d_doppler_freq;
float d_input_power;
float d_test_statistics;
std::ofstream d_dump_file;
int32_t d_state;
bool d_active;
bool d_disable_assist;
int32_t d_well_count;
bool d_dump;
uint32_t d_channel;
std::weak_ptr<ChannelFsm> d_channel_fsm;
std::string d_dump_filename;
public:
/*!
* \brief Default destructor.
@ -238,6 +175,68 @@ public:
gr_vector_void_star& output_items);
void forecast(int noutput_items, gr_vector_int& ninput_items_required);
private:
friend pcps_assisted_acquisition_cc_sptr
pcps_make_assisted_acquisition_cc(int32_t max_dwells, uint32_t sampled_ms,
int32_t doppler_max, int32_t doppler_min, int64_t fs_in,
int32_t samples_per_ms, bool dump,
std::string dump_filename);
pcps_assisted_acquisition_cc(int32_t max_dwells, uint32_t sampled_ms,
int32_t doppler_max, int32_t doppler_min, int64_t fs_in,
int32_t samples_per_ms, bool dump,
std::string dump_filename);
void calculate_magnitudes(gr_complex* fft_begin, int32_t doppler_shift,
int32_t doppler_offset);
int32_t compute_and_accumulate_grid(gr_vector_const_void_star& input_items);
float estimate_input_power(gr_vector_const_void_star& input_items);
double search_maximum();
void get_assistance();
void reset_grid();
void redefine_grid();
int64_t d_fs_in;
int32_t d_samples_per_ms;
int32_t d_max_dwells;
uint32_t d_doppler_resolution;
int32_t d_gnuradio_forecast_samples;
float d_threshold;
std::string d_satellite_str;
int32_t d_doppler_max;
int32_t d_doppler_min;
int32_t d_config_doppler_max;
int32_t d_config_doppler_min;
int32_t d_num_doppler_points;
int32_t d_doppler_step;
uint32_t d_sampled_ms;
uint32_t d_fft_size;
uint64_t d_sample_counter;
gr_complex* d_carrier;
gr_complex* d_fft_codes;
std::vector<std::vector<float>> d_grid_data;
std::vector<std::vector<std::complex<float>>> d_grid_doppler_wipeoffs;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
uint32_t d_code_phase;
float d_doppler_freq;
float d_input_power;
float d_test_statistics;
std::ofstream d_dump_file;
int32_t d_state;
bool d_active;
bool d_disable_assist;
int32_t d_well_count;
bool d_dump;
uint32_t d_channel;
std::weak_ptr<ChannelFsm> d_channel_fsm;
std::string d_dump_filename;
};
#endif /* GNSS_SDR_PCPS_assisted_acquisition_cc_H_*/

109
src/algorithms/acquisition/gnuradio_blocks/pcps_cccwsr_acquisition_cc.h
View File

@ -52,8 +52,7 @@ class pcps_cccwsr_acquisition_cc;
using pcps_cccwsr_acquisition_cc_sptr = boost::shared_ptr<pcps_cccwsr_acquisition_cc>;
pcps_cccwsr_acquisition_cc_sptr
pcps_cccwsr_make_acquisition_cc(
pcps_cccwsr_acquisition_cc_sptr pcps_cccwsr_make_acquisition_cc(
uint32_t sampled_ms,
uint32_t max_dwells,
uint32_t doppler_max,
@ -69,59 +68,6 @@ pcps_cccwsr_make_acquisition_cc(
*/
class pcps_cccwsr_acquisition_cc : public gr::block
{
private:
friend pcps_cccwsr_acquisition_cc_sptr
pcps_cccwsr_make_acquisition_cc(uint32_t sampled_ms, uint32_t max_dwells,
uint32_t doppler_max, int64_t fs_in,
int32_t samples_per_ms, int32_t samples_per_code,
bool dump, std::string dump_filename);
pcps_cccwsr_acquisition_cc(uint32_t sampled_ms, uint32_t max_dwells,
uint32_t doppler_max, int64_t fs_in,
int32_t samples_per_ms, int32_t samples_per_code,
bool dump, std::string dump_filename);
void calculate_magnitudes(gr_complex* fft_begin, int32_t doppler_shift,
int32_t doppler_offset);
int64_t d_fs_in;
int32_t d_samples_per_ms;
int32_t d_samples_per_code;
uint32_t d_doppler_resolution;
float d_threshold;
std::string d_satellite_str;
uint32_t d_doppler_max;
uint32_t d_doppler_step;
uint32_t d_sampled_ms;
uint32_t d_max_dwells;
uint32_t d_well_count;
uint32_t d_fft_size;
uint64_t d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
uint32_t d_num_doppler_bins;
gr_complex* d_fft_code_data;
gr_complex* d_fft_code_pilot;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
uint32_t d_code_phase;
float d_doppler_freq;
float d_mag;
float* d_magnitude;
gr_complex* d_data_correlation;
gr_complex* d_pilot_correlation;
gr_complex* d_correlation_plus;
gr_complex* d_correlation_minus;
float d_input_power;
float d_test_statistics;
std::ofstream d_dump_file;
bool d_active;
int32_t d_state;
bool d_dump;
uint32_t d_channel;
std::weak_ptr<ChannelFsm> d_channel_fsm;
std::string d_dump_filename;
public:
/*!
* \brief Default destructor.
@ -226,6 +172,59 @@ public:
int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items);
private:
friend pcps_cccwsr_acquisition_cc_sptr
pcps_cccwsr_make_acquisition_cc(uint32_t sampled_ms, uint32_t max_dwells,
uint32_t doppler_max, int64_t fs_in,
int32_t samples_per_ms, int32_t samples_per_code,
bool dump, std::string dump_filename);
pcps_cccwsr_acquisition_cc(uint32_t sampled_ms, uint32_t max_dwells,
uint32_t doppler_max, int64_t fs_in,
int32_t samples_per_ms, int32_t samples_per_code,
bool dump, std::string dump_filename);
void calculate_magnitudes(gr_complex* fft_begin, int32_t doppler_shift,
int32_t doppler_offset);
int64_t d_fs_in;
int32_t d_samples_per_ms;
int32_t d_samples_per_code;
uint32_t d_doppler_resolution;
float d_threshold;
std::string d_satellite_str;
uint32_t d_doppler_max;
uint32_t d_doppler_step;
uint32_t d_sampled_ms;
uint32_t d_max_dwells;
uint32_t d_well_count;
uint32_t d_fft_size;
uint64_t d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
uint32_t d_num_doppler_bins;
gr_complex* d_fft_code_data;
gr_complex* d_fft_code_pilot;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
uint32_t d_code_phase;
float d_doppler_freq;
float d_mag;
float* d_magnitude;
gr_complex* d_data_correlation;
gr_complex* d_pilot_correlation;
gr_complex* d_correlation_plus;
gr_complex* d_correlation_minus;
float d_input_power;
float d_test_statistics;
std::ofstream d_dump_file;
bool d_active;
int32_t d_state;
bool d_dump;
uint32_t d_channel;
std::weak_ptr<ChannelFsm> d_channel_fsm;
std::string d_dump_filename;
};
#endif /* GNSS_SDR_PCPS_CCCWSR_ACQUISITION_CC_H_*/

252
src/algorithms/acquisition/gnuradio_blocks/pcps_opencl_acquisition_cc.h
View File

@ -54,11 +54,11 @@
#define CL_SILENCE_DEPRECATION
#include "channel_fsm.h"
#include "gnss_synchro.h"
#include "opencl/cl.hpp"
#include "opencl/fft_internal.h"
#include <gnuradio/block.h>
#include <gnuradio/fft/fft.h>
#include <gnuradio/gr_complex.h>
#include "opencl/cl.hpp"
#include <cstdint>
#include <fstream>
#include <string>
@ -68,10 +68,13 @@ class pcps_opencl_acquisition_cc;
typedef boost::shared_ptr<pcps_opencl_acquisition_cc> pcps_opencl_acquisition_cc_sptr;
pcps_opencl_acquisition_cc_sptr
pcps_make_opencl_acquisition_cc(uint32_t sampled_ms, uint32_t max_dwells,
uint32_t doppler_max, int64_t fs_in,
int samples_per_ms, int samples_per_code,
pcps_opencl_acquisition_cc_sptr pcps_make_opencl_acquisition_cc(
uint32_t sampled_ms,
uint32_t max_dwells,
uint32_t doppler_max,
int64_t fs_in,
int samples_per_ms,
int samples_per_code,
bool bit_transition_flag,
bool dump,
std::string dump_filename);
@ -84,6 +87,124 @@ pcps_make_opencl_acquisition_cc(uint32_t sampled_ms, uint32_t max_dwells,
*/
class pcps_opencl_acquisition_cc : public gr::block
{
public:
/*!
* \brief Default destructor.
*/
~pcps_opencl_acquisition_cc();
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to exchange synchronization data between acquisition and tracking blocks.
* \param p_gnss_synchro Satellite information shared by the processing blocks.
*/
inline void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
d_gnss_synchro = p_gnss_synchro;
}
/*!
* \brief Returns the maximum peak of grid search.
*/
inline uint32_t mag() const
{
return d_mag;
}
/*!
* \brief Initializes acquisition algorithm.
*/
void init();
/*!
* \brief Sets local code for PCPS acquisition algorithm.
* \param code - Pointer to the PRN code.
*/
void set_local_code(std::complex<float>* code);
/*!
* \brief Starts acquisition algorithm, turning from standby mode to
* active mode
* \param active - bool that activates/deactivates the block.
*/
inline void set_active(bool active)
{
d_active = active;
}
/*!
* \brief If set to 1, ensures that acquisition starts at the
* first available sample.
* \param state - int=1 forces start of acquisition
*/
void set_state(int state);
/*!
* \brief Set acquisition channel unique ID
* \param channel - receiver channel.
*/
inline void set_channel(uint32_t channel)
{
d_channel = channel;
}
/*!
* \brief Set channel fsm associated to this acquisition instance
*/
inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
{
d_channel_fsm = channel_fsm;
}
/*!
* \brief Set statistics threshold of PCPS algorithm.
* \param threshold - Threshold for signal detection (check \ref Navitec2012,
* Algorithm 1, for a definition of this threshold).
*/
inline void set_threshold(float threshold)
{
d_threshold = threshold;
}
/*!
* \brief Set maximum Doppler grid search
* \param doppler_max - Maximum Doppler shift considered in the grid search [Hz].
*/
inline void set_doppler_max(uint32_t doppler_max)
{
d_doppler_max = doppler_max;
}
/*!
* \brief Set Doppler steps for the grid search
* \param doppler_step - Frequency bin of the search grid [Hz].
*/
inline void set_doppler_step(uint32_t doppler_step)
{
d_doppler_step = doppler_step;
}
inline bool opencl_ready() const
{
bool ready = false;
if (d_opencl == 0)
{
ready = true;
}
return ready;
}
void acquisition_core_volk();
void acquisition_core_opencl();
/*!
* \brief Parallel Code Phase Search Acquisition signal processing.
*/
int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items);
private:
friend pcps_opencl_acquisition_cc_sptr
pcps_make_opencl_acquisition_cc(uint32_t sampled_ms, uint32_t max_dwells,
@ -144,6 +265,8 @@ private:
gr_complex** d_in_buffer;
std::vector<uint64_t> d_sample_counter_buffer;
uint32_t d_in_dwell_count;
std::weak_ptr<ChannelFsm> d_channel_fsm;
int d_opencl;
cl::Platform d_cl_platform;
cl::Device d_cl_device;
@ -158,125 +281,6 @@ private:
cl::CommandQueue* d_cl_queue;
clFFT_Plan d_cl_fft_plan;
cl_int d_cl_fft_batch_size;
std::weak_ptr<ChannelFsm> d_channel_fsm;
int d_opencl;
public:
/*!
* \brief Default destructor.
*/
~pcps_opencl_acquisition_cc();
/*!
* \brief Set acquisition/tracking common Gnss_Synchro object pointer
* to exchange synchronization data between acquisition and tracking blocks.
* \param p_gnss_synchro Satellite information shared by the processing blocks.
*/
inline void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
{
d_gnss_synchro = p_gnss_synchro;
}
/*!
* \brief Returns the maximum peak of grid search.
*/
inline uint32_t mag() const
{
return d_mag;
}
/*!
* \brief Initializes acquisition algorithm.
*/
void init();
/*!
* \brief Sets local code for PCPS acquisition algorithm.
* \param code - Pointer to the PRN code.
*/
void set_local_code(std::complex<float>* code);
/*!
* \brief Starts acquisition algorithm, turning from standby mode to
* active mode
* \param active - bool that activates/deactivates the block.
*/
inline void set_active(bool active)
{
d_active = active;
}
/*!
* \brief If set to 1, ensures that acquisition starts at the
* first available sample.
* \param state - int=1 forces start of acquisition
*/
void set_state(int state);
/*!
* \brief Set acquisition channel unique ID
* \param channel - receiver channel.
*/
inline void set_channel(uint32_t channel)
{
d_channel = channel;
}
/*!
* \brief Set channel fsm associated to this acquisition instance
*/
inline void set_channel_fsm(std::weak_ptr<ChannelFsm> channel_fsm)
{
d_channel_fsm = channel_fsm;
}
/*!
* \brief Set statistics threshold of PCPS algorithm.
* \param threshold - Threshold for signal detection (check \ref Navitec2012,
* Algorithm 1, for a definition of this threshold).
*/
inline void set_threshold(float threshold)
{
d_threshold = threshold;
}
/*!
* \brief Set maximum Doppler grid search
* \param doppler_max - Maximum Doppler shift considered in the grid search [Hz].
*/
inline void set_doppler_max(uint32_t doppler_max)
{
d_doppler_max = doppler_max;
}
/*!
* \brief Set Doppler steps for the grid search
* \param doppler_step - Frequency bin of the search grid [Hz].
*/
inline void set_doppler_step(uint32_t doppler_step)
{
d_doppler_step = doppler_step;
}
inline bool opencl_ready() const
{
bool ready = false;
if (d_opencl == 0)
{
ready = true;
}
return ready;
}
/*!
* \brief Parallel Code Phase Search Acquisition signal processing.
*/
int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items);
void acquisition_core_volk();
void acquisition_core_opencl();
};
#endif

134
src/algorithms/acquisition/gnuradio_blocks/pcps_quicksync_acquisition_cc.h
View File

@ -67,8 +67,7 @@ class pcps_quicksync_acquisition_cc;
using pcps_quicksync_acquisition_cc_sptr = boost::shared_ptr<pcps_quicksync_acquisition_cc>;
pcps_quicksync_acquisition_cc_sptr
pcps_quicksync_make_acquisition_cc(
pcps_quicksync_acquisition_cc_sptr pcps_quicksync_make_acquisition_cc(
uint32_t folding_factor,
uint32_t sampled_ms,
uint32_t max_dwells,
@ -89,71 +88,6 @@ pcps_quicksync_make_acquisition_cc(
*/
class pcps_quicksync_acquisition_cc : public gr::block
{
private:
friend pcps_quicksync_acquisition_cc_sptr
pcps_quicksync_make_acquisition_cc(uint32_t folding_factor,
uint32_t sampled_ms, uint32_t max_dwells,
uint32_t doppler_max, int64_t fs_in,
int32_t samples_per_ms, int32_t samples_per_code,
bool bit_transition_flag,
bool dump,
std::string dump_filename);
pcps_quicksync_acquisition_cc(uint32_t folding_factor,
uint32_t sampled_ms, uint32_t max_dwells,
uint32_t doppler_max, int64_t fs_in,
int32_t samples_per_ms, int32_t samples_per_code,
bool bit_transition_flag,
bool dump,
std::string dump_filename);
void calculate_magnitudes(gr_complex* fft_begin, int32_t doppler_shift,
int32_t doppler_offset);
gr_complex* d_code;
uint32_t d_folding_factor; // also referred in the paper as 'p'
float* d_corr_acumulator;
uint32_t* d_possible_delay;
float* d_corr_output_f;
float* d_magnitude_folded;
gr_complex* d_signal_folded;
gr_complex* d_code_folded;
float d_noise_floor_power;
int64_t d_fs_in;
int32_t d_samples_per_ms;
int32_t d_samples_per_code;
uint32_t d_doppler_resolution;
float d_threshold;
std::string d_satellite_str;
uint32_t d_doppler_max;
uint32_t d_doppler_step;
uint32_t d_sampled_ms;
uint32_t d_max_dwells;
uint32_t d_well_count;
uint32_t d_fft_size;
uint64_t d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
uint32_t d_num_doppler_bins;
gr_complex* d_fft_codes;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
uint32_t d_code_phase;
float d_doppler_freq;
float d_mag;
float* d_magnitude;
float d_input_power;
float d_test_statistics;
bool d_bit_transition_flag;
std::ofstream d_dump_file;
bool d_active;
int32_t d_state;
bool d_dump;
uint32_t d_channel;
std::weak_ptr<ChannelFsm> d_channel_fsm;
std::string d_dump_filename;
public:
/*!
* \brief Default destructor.
@ -257,6 +191,70 @@ public:
int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items);
private:
friend pcps_quicksync_acquisition_cc_sptr
pcps_quicksync_make_acquisition_cc(uint32_t folding_factor,
uint32_t sampled_ms, uint32_t max_dwells,
uint32_t doppler_max, int64_t fs_in,
int32_t samples_per_ms, int32_t samples_per_code,
bool bit_transition_flag,
bool dump,
std::string dump_filename);
pcps_quicksync_acquisition_cc(uint32_t folding_factor,
uint32_t sampled_ms, uint32_t max_dwells,
uint32_t doppler_max, int64_t fs_in,
int32_t samples_per_ms, int32_t samples_per_code,
bool bit_transition_flag,
bool dump,
std::string dump_filename);
void calculate_magnitudes(gr_complex* fft_begin, int32_t doppler_shift,
int32_t doppler_offset);
gr_complex* d_code;
uint32_t d_folding_factor; // also referred in the paper as 'p'
float* d_corr_acumulator;
uint32_t* d_possible_delay;
float* d_corr_output_f;
float* d_magnitude_folded;
gr_complex* d_signal_folded;
gr_complex* d_code_folded;
float d_noise_floor_power;
int64_t d_fs_in;
int32_t d_samples_per_ms;
int32_t d_samples_per_code;
uint32_t d_doppler_resolution;
float d_threshold;
std::string d_satellite_str;
uint32_t d_doppler_max;
uint32_t d_doppler_step;
uint32_t d_sampled_ms;
uint32_t d_max_dwells;
uint32_t d_well_count;
uint32_t d_fft_size;
uint64_t d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
uint32_t d_num_doppler_bins;
gr_complex* d_fft_codes;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
uint32_t d_code_phase;
float d_doppler_freq;
float d_mag;
float* d_magnitude;
float d_input_power;
float d_test_statistics;
bool d_bit_transition_flag;
std::ofstream d_dump_file;
bool d_active;
int32_t d_state;
bool d_dump;
uint32_t d_channel;
std::weak_ptr<ChannelFsm> d_channel_fsm;
std::string d_dump_filename;
};
#endif /* GNSS_SDR_PCPS_ACQUISITION_CC_H_*/
#endif /* GNSS_SDR_PCPS_QUICKSYNC_ACQUISITION_CC_H_ */

111
src/algorithms/acquisition/gnuradio_blocks/pcps_tong_acquisition_cc.h
View File

@ -65,8 +65,7 @@ class pcps_tong_acquisition_cc;
using pcps_tong_acquisition_cc_sptr = boost::shared_ptr<pcps_tong_acquisition_cc>;
pcps_tong_acquisition_cc_sptr
pcps_tong_make_acquisition_cc(
pcps_tong_acquisition_cc_sptr pcps_tong_make_acquisition_cc(
uint32_t sampled_ms,
uint32_t doppler_max,
int64_t fs_in,
@ -84,60 +83,6 @@ pcps_tong_make_acquisition_cc(
*/
class pcps_tong_acquisition_cc : public gr::block
{
private:
friend pcps_tong_acquisition_cc_sptr
pcps_tong_make_acquisition_cc(uint32_t sampled_ms, uint32_t doppler_max,
int64_t fs_in, int32_t samples_per_ms,
int32_t samples_per_code, uint32_t tong_init_val,
uint32_t tong_max_val, uint32_t tong_max_dwells,
bool dump, std::string dump_filename);
pcps_tong_acquisition_cc(uint32_t sampled_ms, uint32_t doppler_max,
int64_t fs_in, int32_t samples_per_ms,
int32_t samples_per_code, uint32_t tong_init_val,
uint32_t tong_max_val, uint32_t tong_max_dwells,
bool dump, std::string dump_filename);
void calculate_magnitudes(gr_complex* fft_begin, int32_t doppler_shift,
int32_t doppler_offset);
int64_t d_fs_in;
int32_t d_samples_per_ms;
int32_t d_samples_per_code;
uint32_t d_doppler_resolution;
float d_threshold;
std::string d_satellite_str;
uint32_t d_doppler_max;
uint32_t d_doppler_step;
uint32_t d_sampled_ms;
uint32_t d_dwell_count;
uint32_t d_tong_count;
uint32_t d_tong_init_val;
uint32_t d_tong_max_val;
uint32_t d_tong_max_dwells;
uint32_t d_fft_size;
uint64_t d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
uint32_t d_num_doppler_bins;
gr_complex* d_fft_codes;
float** d_grid_data;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
uint32_t d_code_phase;
float d_doppler_freq;
float d_mag;
float* d_magnitude;
float d_input_power;
float d_test_statistics;
std::ofstream d_dump_file;
bool d_active;
int32_t d_state;
bool d_dump;
uint32_t d_channel;
std::weak_ptr<ChannelFsm> d_channel_fsm;
std::string d_dump_filename;
public:
/*!
* \brief Default destructor.
@ -241,6 +186,60 @@ public:
int general_work(int noutput_items, gr_vector_int& ninput_items,
gr_vector_const_void_star& input_items,
gr_vector_void_star& output_items);
private:
friend pcps_tong_acquisition_cc_sptr
pcps_tong_make_acquisition_cc(uint32_t sampled_ms, uint32_t doppler_max,
int64_t fs_in, int32_t samples_per_ms,
int32_t samples_per_code, uint32_t tong_init_val,
uint32_t tong_max_val, uint32_t tong_max_dwells,
bool dump, std::string dump_filename);
pcps_tong_acquisition_cc(uint32_t sampled_ms, uint32_t doppler_max,
int64_t fs_in, int32_t samples_per_ms,
int32_t samples_per_code, uint32_t tong_init_val,
uint32_t tong_max_val, uint32_t tong_max_dwells,
bool dump, std::string dump_filename);
void calculate_magnitudes(gr_complex* fft_begin, int32_t doppler_shift,
int32_t doppler_offset);
int64_t d_fs_in;
int32_t d_samples_per_ms;
int32_t d_samples_per_code;
uint32_t d_doppler_resolution;
float d_threshold;
std::string d_satellite_str;
uint32_t d_doppler_max;
uint32_t d_doppler_step;
uint32_t d_sampled_ms;
uint32_t d_dwell_count;
uint32_t d_tong_count;
uint32_t d_tong_init_val;
uint32_t d_tong_max_val;
uint32_t d_tong_max_dwells;
uint32_t d_fft_size;
uint64_t d_sample_counter;
gr_complex** d_grid_doppler_wipeoffs;
uint32_t d_num_doppler_bins;
gr_complex* d_fft_codes;
float** d_grid_data;
std::shared_ptr<gr::fft::fft_complex> d_fft_if;
std::shared_ptr<gr::fft::fft_complex> d_ifft;
Gnss_Synchro* d_gnss_synchro;
uint32_t d_code_phase;
float d_doppler_freq;
float d_mag;
float* d_magnitude;
float d_input_power;
float d_test_statistics;
std::ofstream d_dump_file;
bool d_active;
int32_t d_state;
bool d_dump;
uint32_t d_channel;
std::weak_ptr<ChannelFsm> d_channel_fsm;
std::string d_dump_filename;
};
#endif /* GNSS_SDR_PCPS_TONG_ACQUISITION_CC_H_ */