mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-11-10 12:00:04 +00:00
Added GPU tracking block for GPS L1 CA. Not activable yet...
This commit is contained in:
Javier Arribas
parent
4fc61af172
commit
f722f5f8f7
@ -16,6 +16,11 @@
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# along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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# along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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#
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#
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if(ENABLE_CUDA)
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FIND_PACKAGE(CUDA REQUIRED)
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endif(ENABLE_CUDA)
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set(TRACKING_GR_BLOCKS_SOURCES
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set(TRACKING_GR_BLOCKS_SOURCES
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galileo_e1_dll_pll_veml_tracking_cc.cc
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galileo_e1_dll_pll_veml_tracking_cc.cc
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galileo_volk_e1_dll_pll_veml_tracking_cc.cc
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galileo_volk_e1_dll_pll_veml_tracking_cc.cc
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@ -26,6 +31,7 @@ set(TRACKING_GR_BLOCKS_SOURCES
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gps_l1_ca_tcp_connector_tracking_cc.cc
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gps_l1_ca_tcp_connector_tracking_cc.cc
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galileo_e5a_dll_pll_tracking_cc.cc
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galileo_e5a_dll_pll_tracking_cc.cc
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gps_l2_m_dll_pll_tracking_cc.cc
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gps_l2_m_dll_pll_tracking_cc.cc
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gps_l1_ca_dll_pll_tracking_gpu_cc.cc
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)
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)
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include_directories(
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include_directories(
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@ -40,6 +46,8 @@ include_directories(
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${Boost_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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${GNURADIO_RUNTIME_INCLUDE_DIRS}
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${GNURADIO_RUNTIME_INCLUDE_DIRS}
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${VOLK_GNSSSDR_INCLUDE_DIRS}
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${VOLK_GNSSSDR_INCLUDE_DIRS}
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${CUDA_INCLUDE_DIRS}
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${CMAKE_SOURCE_DIR}/src/algorithms/tracking/libs/cudahelpers
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)
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)
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if(ENABLE_GENERIC_ARCH)
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if(ENABLE_GENERIC_ARCH)
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@ -0,0 +1,670 @@
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/*!
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* \file gps_l1_ca_dll_pll_tracking_gpu_cc.cc
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* \brief Implementation of a code DLL + carrier PLL tracking block, GPU ACCELERATED
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* \author Javier Arribas, 2015. jarribas(at)cttc.es
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*
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* Code DLL + carrier PLL according to the algorithms described in:
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* [1] K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
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* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
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* Approach, Birkhauser, 2007
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include "gps_l1_ca_dll_pll_tracking_gpu_cc.h"
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#include <cmath>
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#include <iostream>
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#include <memory>
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#include <sstream>
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#include <boost/lexical_cast.hpp>
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#include <gnuradio/io_signature.h>
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#include <glog/logging.h>
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#include "gnss_synchro.h"
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#include "gps_sdr_signal_processing.h"
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#include "tracking_discriminators.h"
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#include "lock_detectors.h"
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#include "GPS_L1_CA.h"
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#include "control_message_factory.h"
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#include <volk/volk.h> //volk_alignement
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#include <cuda.h>
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// CUDA runtime
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#include <cuda_runtime.h>
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// includes
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#include <cuda_profiler_api.h>
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#include <helper_functions.h> // helper for shared functions common to CUDA Samples
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#include <helper_cuda.h> // helper functions for CUDA error checking and initialization
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/*!
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* \todo Include in definition header file
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*/
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#define CN0_ESTIMATION_SAMPLES 20
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#define MINIMUM_VALID_CN0 25
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#define MAXIMUM_LOCK_FAIL_COUNTER 50
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#define CARRIER_LOCK_THRESHOLD 0.85
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using google::LogMessage;
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gps_l1_ca_dll_pll_tracking_gpu_cc_sptr
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gps_l1_ca_dll_pll_make_tracking_gpu_cc(
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long if_freq,
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long fs_in,
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unsigned int vector_length,
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boost::shared_ptr<gr::msg_queue> queue,
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bool dump,
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std::string dump_filename,
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float pll_bw_hz,
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float dll_bw_hz,
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float early_late_space_chips)
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{
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return gps_l1_ca_dll_pll_tracking_gpu_cc_sptr(new Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc(if_freq,
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fs_in, vector_length, queue, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips));
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}
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void Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::forecast (int noutput_items,
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gr_vector_int &ninput_items_required)
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{
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ninput_items_required[0] = static_cast<int>(d_vector_length) * 2; //set the required available samples in each call
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}
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Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc(
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long if_freq,
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long fs_in,
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unsigned int vector_length,
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boost::shared_ptr<gr::msg_queue> queue,
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bool dump,
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std::string dump_filename,
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float pll_bw_hz,
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float dll_bw_hz,
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float early_late_space_chips) :
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gr::block("Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
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gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
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{
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// initialize internal vars
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d_queue = queue;
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d_dump = dump;
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d_if_freq = if_freq;
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d_fs_in = fs_in;
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d_vector_length = vector_length;
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d_dump_filename = dump_filename;
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// Initialize tracking ==========================================
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d_code_loop_filter.set_DLL_BW(dll_bw_hz);
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d_carrier_loop_filter.set_PLL_BW(pll_bw_hz);
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//--- DLL variables --------------------------------------------------------
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d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
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// Initialization of local code replica
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// Get space for a vector with the C/A code replica sampled 1x/chip
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d_ca_code = static_cast<gr_complex*>(volk_malloc((GPS_L1_CA_CODE_LENGTH_CHIPS + 2) * sizeof(gr_complex), volk_get_alignment()));
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multicorrelator_gpu = new cuda_multicorrelator();
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// Get space for the resampled early / prompt / late local replicas
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int N_CORRELATORS=3;
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checkCudaErrors(cudaHostAlloc((void**)&d_local_code_shift_samples, N_CORRELATORS * sizeof(int), cudaHostAllocMapped ));
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//allocate host memory
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//pinned memory mode - use special function to get OS-pinned memory
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checkCudaErrors(cudaHostAlloc((void**)&in_gpu, 2 * d_vector_length * sizeof(gr_complex), cudaHostAllocMapped ));
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//old local codes vector
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//checkCudaErrors(cudaHostAlloc((void**)&d_local_codes_gpu, (V_LEN * sizeof(gr_complex))*N_CORRELATORS, cudaHostAllocWriteCombined ));
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//new integrated shifts
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checkCudaErrors(cudaHostAlloc((void**)&d_local_codes_gpu, (2 * d_vector_length * sizeof(gr_complex)), cudaHostAllocWriteCombined ));
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// correlator outputs (scalar)
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checkCudaErrors(cudaHostAlloc((void**)&d_corr_outs_gpu ,sizeof(gr_complex)*N_CORRELATORS, cudaHostAllocWriteCombined ));
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//map to EPL pointers
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d_Early = &d_corr_outs_gpu[0];
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d_Prompt = &d_corr_outs_gpu[1];
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d_Late = &d_corr_outs_gpu[2];
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//--- Perform initializations ------------------------------
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// define initial code frequency basis of NCO
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d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ;
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// define residual code phase (in chips)
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d_rem_code_phase_samples = 0.0;
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// define residual carrier phase
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d_rem_carr_phase_rad = 0.0;
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// sample synchronization
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d_sample_counter = 0;
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//d_sample_counter_seconds = 0;
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d_acq_sample_stamp = 0;
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d_enable_tracking = false;
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d_pull_in = false;
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d_last_seg = 0;
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d_current_prn_length_samples = static_cast<int>(d_vector_length);
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// CN0 estimation and lock detector buffers
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d_cn0_estimation_counter = 0;
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d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES];
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d_carrier_lock_test = 1;
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d_CN0_SNV_dB_Hz = 0;
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d_carrier_lock_fail_counter = 0;
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d_carrier_lock_threshold = CARRIER_LOCK_THRESHOLD;
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systemName["G"] = std::string("GPS");
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systemName["S"] = std::string("SBAS");
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set_relative_rate(1.0/((double)d_vector_length*2));
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d_channel_internal_queue = 0;
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d_acquisition_gnss_synchro = 0;
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d_channel = 0;
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d_acq_code_phase_samples = 0.0;
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d_acq_carrier_doppler_hz = 0.0;
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d_carrier_doppler_hz = 0.0;
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d_acc_carrier_phase_rad = 0.0;
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d_code_phase_samples = 0.0;
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d_acc_code_phase_secs = 0.0;
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//set_min_output_buffer((long int)300);
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}
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void Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::start_tracking()
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{
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/*
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* correct the code phase according to the delay between acq and trk
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*/
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d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
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d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
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d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
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long int acq_trk_diff_samples;
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float acq_trk_diff_seconds;
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acq_trk_diff_samples = static_cast<long int>(d_sample_counter) - static_cast<long int>(d_acq_sample_stamp);//-d_vector_length;
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DLOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples;
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acq_trk_diff_seconds = static_cast<float>(acq_trk_diff_samples) / static_cast<float>(d_fs_in);
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//doppler effect
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// Fd=(C/(C+Vr))*F
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float radial_velocity = (GPS_L1_FREQ_HZ + d_acq_carrier_doppler_hz) / GPS_L1_FREQ_HZ;
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// new chip and prn sequence periods based on acq Doppler
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float T_chip_mod_seconds;
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float T_prn_mod_seconds;
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float T_prn_mod_samples;
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d_code_freq_chips = radial_velocity * GPS_L1_CA_CODE_RATE_HZ;
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T_chip_mod_seconds = 1/d_code_freq_chips;
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T_prn_mod_seconds = T_chip_mod_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
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T_prn_mod_samples = T_prn_mod_seconds * static_cast<float>(d_fs_in);
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d_current_prn_length_samples = round(T_prn_mod_samples);
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float T_prn_true_seconds = GPS_L1_CA_CODE_LENGTH_CHIPS / GPS_L1_CA_CODE_RATE_HZ;
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float T_prn_true_samples = T_prn_true_seconds * static_cast<float>(d_fs_in);
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float T_prn_diff_seconds= T_prn_true_seconds - T_prn_mod_seconds;
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float N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
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float corrected_acq_phase_samples, delay_correction_samples;
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corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast<float>(d_fs_in)), T_prn_true_samples);
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if (corrected_acq_phase_samples < 0)
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{
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corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples;
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}
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delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
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d_acq_code_phase_samples = corrected_acq_phase_samples;
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d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
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// DLL/PLL filter initialization
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d_carrier_loop_filter.initialize(); // initialize the carrier filter
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d_code_loop_filter.initialize(); // initialize the code filter
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// generate local reference ALWAYS starting at chip 1 (1 sample per chip)
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gps_l1_ca_code_gen_complex(&d_ca_code[1], d_acquisition_gnss_synchro->PRN, 0);
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d_ca_code[0] = d_ca_code[static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS)];
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d_ca_code[static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS) + 1] = d_ca_code[1];
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d_carrier_lock_fail_counter = 0;
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d_rem_code_phase_samples = 0;
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d_rem_carr_phase_rad = 0;
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d_acc_carrier_phase_rad = 0;
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d_acc_code_phase_secs = 0;
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d_code_phase_samples = d_acq_code_phase_samples;
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std::string sys_ = &d_acquisition_gnss_synchro->System;
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sys = sys_.substr(0,1);
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// DEBUG OUTPUT
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std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
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LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
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// enable tracking
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d_pull_in = true;
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d_enable_tracking = true;
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LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
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<< " Code Phase correction [samples]=" << delay_correction_samples
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<< " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
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}
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void Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::update_local_code()
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{
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double tcode_chips;
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double rem_code_phase_chips;
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int associated_chip_index;
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int code_length_chips = static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS);
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double code_phase_step_chips;
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int epl_loop_length_samples;
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||||||
|
// unified loop for E, P, L code vectors
|
||||||
|
code_phase_step_chips = static_cast<double>(d_code_freq_chips) / static_cast<double>(d_fs_in);
|
||||||
|
rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / d_fs_in);
|
||||||
|
tcode_chips = -rem_code_phase_chips;
|
||||||
|
|
||||||
|
// Alternative EPL code generation (40% of speed improvement!)
|
||||||
|
d_local_code_shift_samples[0]=0;
|
||||||
|
d_local_code_shift_samples[1]=round(d_early_late_spc_chips / code_phase_step_chips);
|
||||||
|
d_local_code_shift_samples[2]=round((2*d_early_late_spc_chips) / code_phase_step_chips);
|
||||||
|
|
||||||
|
epl_loop_length_samples = d_current_prn_length_samples + d_local_code_shift_samples[2]; //maximum length
|
||||||
|
|
||||||
|
for (int i = 0; i < epl_loop_length_samples; i++)
|
||||||
|
{
|
||||||
|
associated_chip_index = 1 + round(fmod(tcode_chips - d_early_late_spc_chips, code_length_chips));
|
||||||
|
d_local_codes_gpu[i] = d_ca_code[associated_chip_index];
|
||||||
|
tcode_chips = tcode_chips + code_phase_step_chips;
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::~Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc()
|
||||||
|
{
|
||||||
|
d_dump_file.close();
|
||||||
|
|
||||||
|
cudaFreeHost(in_gpu);
|
||||||
|
cudaFreeHost(d_carr_sign_gpu);
|
||||||
|
cudaFreeHost(d_corr_outs_gpu);
|
||||||
|
cudaFreeHost(d_local_codes_gpu);
|
||||||
|
|
||||||
|
multicorrelator_gpu->free_cuda();
|
||||||
|
delete(multicorrelator_gpu);
|
||||||
|
|
||||||
|
volk_free(d_Early);
|
||||||
|
volk_free(d_Prompt);
|
||||||
|
volk_free(d_Late);
|
||||||
|
volk_free(d_ca_code);
|
||||||
|
|
||||||
|
delete[] d_Prompt_buffer;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
int Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
|
||||||
|
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
|
||||||
|
{
|
||||||
|
// process vars
|
||||||
|
float carr_error_hz;
|
||||||
|
float carr_error_filt_hz;
|
||||||
|
float code_error_chips;
|
||||||
|
float code_error_filt_chips;
|
||||||
|
|
||||||
|
// Block input data and block output stream pointers
|
||||||
|
const gr_complex* in = (gr_complex*) input_items[0];
|
||||||
|
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
|
||||||
|
|
||||||
|
// GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
|
||||||
|
Gnss_Synchro current_synchro_data = Gnss_Synchro();
|
||||||
|
|
||||||
|
|
||||||
|
if (d_enable_tracking == true)
|
||||||
|
{
|
||||||
|
// Receiver signal alignment
|
||||||
|
if (d_pull_in == true)
|
||||||
|
{
|
||||||
|
int samples_offset;
|
||||||
|
float acq_trk_shif_correction_samples;
|
||||||
|
int acq_to_trk_delay_samples;
|
||||||
|
acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
|
||||||
|
acq_trk_shif_correction_samples = d_current_prn_length_samples - fmod(static_cast<float>(acq_to_trk_delay_samples), static_cast<float>(d_current_prn_length_samples));
|
||||||
|
samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
|
||||||
|
// /todo: Check if the sample counter sent to the next block as a time reference should be incremented AFTER sended or BEFORE
|
||||||
|
//d_sample_counter_seconds = d_sample_counter_seconds + (((double)samples_offset) / static_cast<double>(d_fs_in));
|
||||||
|
d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples
|
||||||
|
d_pull_in = false;
|
||||||
|
//std::cout<<" samples_offset="<<samples_offset<<"\r\n";
|
||||||
|
// Fill the acquisition data
|
||||||
|
current_synchro_data = *d_acquisition_gnss_synchro;
|
||||||
|
*out[0] = current_synchro_data;
|
||||||
|
consume_each(samples_offset); //shift input to perform alignment with local replica
|
||||||
|
return 1;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Fill the acquisition data
|
||||||
|
current_synchro_data = *d_acquisition_gnss_synchro;
|
||||||
|
|
||||||
|
// Generate local code and carrier replicas (using \hat{f}_d(k-1))
|
||||||
|
update_local_code();
|
||||||
|
|
||||||
|
// UPDATE NCO COMMAND
|
||||||
|
float phase_step_rad = static_cast<float>(GPS_TWO_PI) * d_carrier_doppler_hz / static_cast<float>(d_fs_in);
|
||||||
|
|
||||||
|
// perform carrier wipe-off and compute Early, Prompt and Late correlation
|
||||||
|
multicorrelator_gpu->Carrier_wipeoff_multicorrelator_cuda(
|
||||||
|
d_corr_outs_gpu,
|
||||||
|
in,//in_gpu,
|
||||||
|
d_local_codes_gpu,
|
||||||
|
d_rem_carr_phase_rad,
|
||||||
|
phase_step_rad,
|
||||||
|
d_local_code_shift_samples,
|
||||||
|
d_current_prn_length_samples,
|
||||||
|
3);
|
||||||
|
|
||||||
|
// check for samples consistency (this should be done before in the receiver / here only if the source is a file)
|
||||||
|
if (std::isnan((*d_Prompt).real()) == true or std::isnan((*d_Prompt).imag()) == true ) // or std::isinf(in[i].real())==true or std::isinf(in[i].imag())==true)
|
||||||
|
{
|
||||||
|
const int samples_available = ninput_items[0];
|
||||||
|
d_sample_counter = d_sample_counter + samples_available;
|
||||||
|
LOG(WARNING) << "Detected NaN samples at sample number " << d_sample_counter;
|
||||||
|
consume_each(samples_available);
|
||||||
|
|
||||||
|
// make an output to not stop the rest of the processing blocks
|
||||||
|
current_synchro_data.Prompt_I = 0.0;
|
||||||
|
current_synchro_data.Prompt_Q = 0.0;
|
||||||
|
current_synchro_data.Tracking_timestamp_secs = static_cast<double>(d_sample_counter) / static_cast<double>(d_fs_in);
|
||||||
|
current_synchro_data.Carrier_phase_rads = 0.0;
|
||||||
|
current_synchro_data.Code_phase_secs = 0.0;
|
||||||
|
current_synchro_data.CN0_dB_hz = 0.0;
|
||||||
|
current_synchro_data.Flag_valid_tracking = false;
|
||||||
|
current_synchro_data.Flag_valid_pseudorange = false;
|
||||||
|
|
||||||
|
*out[0] = current_synchro_data;
|
||||||
|
return 1;
|
||||||
|
}
|
||||||
|
|
||||||
|
// ################## PLL ##########################################################
|
||||||
|
// PLL discriminator
|
||||||
|
carr_error_hz = pll_cloop_two_quadrant_atan(*d_Prompt) / static_cast<float>(GPS_TWO_PI);
|
||||||
|
// Carrier discriminator filter
|
||||||
|
carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz);
|
||||||
|
// New carrier Doppler frequency estimation
|
||||||
|
d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz;
|
||||||
|
// New code Doppler frequency estimation
|
||||||
|
d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GPS_L1_CA_CODE_RATE_HZ) / GPS_L1_FREQ_HZ);
|
||||||
|
//carrier phase accumulator for (K) doppler estimation
|
||||||
|
d_acc_carrier_phase_rad = d_acc_carrier_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * GPS_L1_CA_CODE_PERIOD;
|
||||||
|
//remanent carrier phase to prevent overflow in the code NCO
|
||||||
|
d_rem_carr_phase_rad = d_rem_carr_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * GPS_L1_CA_CODE_PERIOD;
|
||||||
|
d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GPS_TWO_PI);
|
||||||
|
|
||||||
|
// ################## DLL ##########################################################
|
||||||
|
// DLL discriminator
|
||||||
|
code_error_chips = dll_nc_e_minus_l_normalized(*d_Early, *d_Late); //[chips/Ti]
|
||||||
|
// Code discriminator filter
|
||||||
|
code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); //[chips/second]
|
||||||
|
//Code phase accumulator
|
||||||
|
float code_error_filt_secs;
|
||||||
|
code_error_filt_secs = (GPS_L1_CA_CODE_PERIOD * code_error_filt_chips) / GPS_L1_CA_CODE_RATE_HZ; //[seconds]
|
||||||
|
d_acc_code_phase_secs = d_acc_code_phase_secs + code_error_filt_secs;
|
||||||
|
|
||||||
|
// ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
|
||||||
|
// keep alignment parameters for the next input buffer
|
||||||
|
double T_chip_seconds;
|
||||||
|
double T_prn_seconds;
|
||||||
|
double T_prn_samples;
|
||||||
|
double K_blk_samples;
|
||||||
|
// Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
|
||||||
|
T_chip_seconds = 1 / static_cast<double>(d_code_freq_chips);
|
||||||
|
T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
|
||||||
|
T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
|
||||||
|
K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * static_cast<double>(d_fs_in);
|
||||||
|
d_current_prn_length_samples = round(K_blk_samples); //round to a discrete samples
|
||||||
|
//d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
|
||||||
|
|
||||||
|
// ####### CN0 ESTIMATION AND LOCK DETECTORS ######
|
||||||
|
if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
|
||||||
|
{
|
||||||
|
// fill buffer with prompt correlator output values
|
||||||
|
d_Prompt_buffer[d_cn0_estimation_counter] = *d_Prompt;
|
||||||
|
d_cn0_estimation_counter++;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
d_cn0_estimation_counter = 0;
|
||||||
|
// Code lock indicator
|
||||||
|
d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GPS_L1_CA_CODE_LENGTH_CHIPS);
|
||||||
|
// Carrier lock indicator
|
||||||
|
d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
|
||||||
|
// Loss of lock detection
|
||||||
|
if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
|
||||||
|
{
|
||||||
|
d_carrier_lock_fail_counter++;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
|
||||||
|
}
|
||||||
|
if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
|
||||||
|
{
|
||||||
|
std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
|
||||||
|
LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
|
||||||
|
std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
|
||||||
|
if (d_queue != gr::msg_queue::sptr())
|
||||||
|
{
|
||||||
|
d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
|
||||||
|
}
|
||||||
|
d_carrier_lock_fail_counter = 0;
|
||||||
|
d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
|
||||||
|
}
|
||||||
|
}
|
||||||
|
// ########### Output the tracking data to navigation and PVT ##########
|
||||||
|
current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).real());
|
||||||
|
current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).imag());
|
||||||
|
|
||||||
|
// Tracking_timestamp_secs is aligned with the NEXT PRN start sample (Hybridization problem!)
|
||||||
|
//compute remnant code phase samples BEFORE the Tracking timestamp
|
||||||
|
//d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
|
||||||
|
//current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter + (double)d_current_prn_length_samples + (double)d_rem_code_phase_samples)/static_cast<double>(d_fs_in);
|
||||||
|
|
||||||
|
// Tracking_timestamp_secs is aligned with the CURRENT PRN start sample (Hybridization OK!, but some glitches??)
|
||||||
|
current_synchro_data.Tracking_timestamp_secs = (static_cast<double>(d_sample_counter) + static_cast<double>(d_rem_code_phase_samples)) / static_cast<double>(d_fs_in);
|
||||||
|
//compute remnant code phase samples AFTER the Tracking timestamp
|
||||||
|
d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
|
||||||
|
|
||||||
|
//current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter)/static_cast<double>(d_fs_in);
|
||||||
|
// This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0
|
||||||
|
current_synchro_data.Code_phase_secs = 0;
|
||||||
|
current_synchro_data.Carrier_phase_rads = static_cast<double>(d_acc_carrier_phase_rad);
|
||||||
|
current_synchro_data.Carrier_Doppler_hz = static_cast<double>(d_carrier_doppler_hz);
|
||||||
|
current_synchro_data.CN0_dB_hz = static_cast<double>(d_CN0_SNV_dB_Hz);
|
||||||
|
current_synchro_data.Flag_valid_pseudorange = false;
|
||||||
|
*out[0] = current_synchro_data;
|
||||||
|
|
||||||
|
// ########## DEBUG OUTPUT
|
||||||
|
/*!
|
||||||
|
* \todo The stop timer has to be moved to the signal source!
|
||||||
|
*/
|
||||||
|
// debug: Second counter in channel 0
|
||||||
|
if (d_channel == 0)
|
||||||
|
{
|
||||||
|
if (floor(d_sample_counter / d_fs_in) != d_last_seg)
|
||||||
|
{
|
||||||
|
d_last_seg = floor(d_sample_counter / d_fs_in);
|
||||||
|
std::cout << "Current input signal time = " << d_last_seg << " [s]" << std::endl;
|
||||||
|
DLOG(INFO) << "GPS L1 C/A Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
|
||||||
|
<< ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
|
||||||
|
//if (d_last_seg==5) d_carrier_lock_fail_counter=500; //DEBUG: force unlock!
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
if (floor(d_sample_counter / d_fs_in) != d_last_seg)
|
||||||
|
{
|
||||||
|
d_last_seg = floor(d_sample_counter / d_fs_in);
|
||||||
|
DLOG(INFO) << "Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
|
||||||
|
<< ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]";
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
// ########## DEBUG OUTPUT (TIME ONLY for channel 0 when tracking is disabled)
|
||||||
|
/*!
|
||||||
|
* \todo The stop timer has to be moved to the signal source!
|
||||||
|
*/
|
||||||
|
// stream to collect cout calls to improve thread safety
|
||||||
|
std::stringstream tmp_str_stream;
|
||||||
|
if (floor(d_sample_counter / d_fs_in) != d_last_seg)
|
||||||
|
{
|
||||||
|
d_last_seg = floor(d_sample_counter / d_fs_in);
|
||||||
|
|
||||||
|
if (d_channel == 0)
|
||||||
|
{
|
||||||
|
// debug: Second counter in channel 0
|
||||||
|
tmp_str_stream << "Current input signal time = " << d_last_seg << " [s]" << std::endl << std::flush;
|
||||||
|
std::cout << tmp_str_stream.rdbuf() << std::flush;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
*d_Early = gr_complex(0,0);
|
||||||
|
*d_Prompt = gr_complex(0,0);
|
||||||
|
*d_Late = gr_complex(0,0);
|
||||||
|
|
||||||
|
current_synchro_data.System = {'G'};
|
||||||
|
current_synchro_data.Flag_valid_pseudorange = false;
|
||||||
|
*out[0] = current_synchro_data;
|
||||||
|
}
|
||||||
|
|
||||||
|
if(d_dump)
|
||||||
|
{
|
||||||
|
// MULTIPLEXED FILE RECORDING - Record results to file
|
||||||
|
float prompt_I;
|
||||||
|
float prompt_Q;
|
||||||
|
float tmp_E, tmp_P, tmp_L;
|
||||||
|
float tmp_float;
|
||||||
|
double tmp_double;
|
||||||
|
prompt_I = (*d_Prompt).real();
|
||||||
|
prompt_Q = (*d_Prompt).imag();
|
||||||
|
tmp_E = std::abs<float>(*d_Early);
|
||||||
|
tmp_P = std::abs<float>(*d_Prompt);
|
||||||
|
tmp_L = std::abs<float>(*d_Late);
|
||||||
|
try
|
||||||
|
{
|
||||||
|
// EPR
|
||||||
|
d_dump_file.write(reinterpret_cast<char*>(&tmp_E), sizeof(float));
|
||||||
|
d_dump_file.write(reinterpret_cast<char*>(&tmp_P), sizeof(float));
|
||||||
|
d_dump_file.write(reinterpret_cast<char*>(&tmp_L), sizeof(float));
|
||||||
|
// PROMPT I and Q (to analyze navigation symbols)
|
||||||
|
d_dump_file.write(reinterpret_cast<char*>(&prompt_I), sizeof(float));
|
||||||
|
d_dump_file.write(reinterpret_cast<char*>(&prompt_Q), sizeof(float));
|
||||||
|
// PRN start sample stamp
|
||||||
|
//tmp_float=(float)d_sample_counter;
|
||||||
|
d_dump_file.write(reinterpret_cast<char*>(&d_sample_counter), sizeof(unsigned long int));
|
||||||
|
// accumulated carrier phase
|
||||||
|
d_dump_file.write(reinterpret_cast<char*>(&d_acc_carrier_phase_rad), sizeof(float));
|
||||||
|
|
||||||
|
// carrier and code frequency
|
||||||
|
d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(float));
|
||||||
|
d_dump_file.write(reinterpret_cast<char*>(&d_code_freq_chips), sizeof(float));
|
||||||
|
|
||||||
|
//PLL commands
|
||||||
|
d_dump_file.write(reinterpret_cast<char*>(&carr_error_hz), sizeof(float));
|
||||||
|
d_dump_file.write(reinterpret_cast<char*>(&carr_error_filt_hz), sizeof(float));
|
||||||
|
|
||||||
|
//DLL commands
|
||||||
|
d_dump_file.write(reinterpret_cast<char*>(&code_error_chips), sizeof(float));
|
||||||
|
d_dump_file.write(reinterpret_cast<char*>(&code_error_filt_chips), sizeof(float));
|
||||||
|
|
||||||
|
// CN0 and carrier lock test
|
||||||
|
d_dump_file.write(reinterpret_cast<char*>(&d_CN0_SNV_dB_Hz), sizeof(float));
|
||||||
|
d_dump_file.write(reinterpret_cast<char*>(&d_carrier_lock_test), sizeof(float));
|
||||||
|
|
||||||
|
// AUX vars (for debug purposes)
|
||||||
|
tmp_float = d_rem_code_phase_samples;
|
||||||
|
d_dump_file.write(reinterpret_cast<char*>(&tmp_float), sizeof(float));
|
||||||
|
tmp_double = static_cast<double>(d_sample_counter + d_current_prn_length_samples);
|
||||||
|
d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
|
||||||
|
}
|
||||||
|
catch (std::ifstream::failure e)
|
||||||
|
{
|
||||||
|
LOG(WARNING) << "Exception writing trk dump file " << e.what();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
consume_each(d_current_prn_length_samples); // this is necessary in gr::block derivates
|
||||||
|
d_sample_counter += d_current_prn_length_samples; //count for the processed samples
|
||||||
|
//LOG(INFO)<<"GPS tracking output end on CH="<<this->d_channel << " SAMPLE STAMP="<<d_sample_counter<<std::endl;
|
||||||
|
return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
void Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::set_channel(unsigned int channel)
|
||||||
|
{
|
||||||
|
d_channel = channel;
|
||||||
|
LOG(INFO) << "Tracking Channel set to " << d_channel;
|
||||||
|
// ############# ENABLE DATA FILE LOG #################
|
||||||
|
if (d_dump == true)
|
||||||
|
{
|
||||||
|
if (d_dump_file.is_open() == false)
|
||||||
|
{
|
||||||
|
try
|
||||||
|
{
|
||||||
|
d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
|
||||||
|
d_dump_filename.append(".dat");
|
||||||
|
d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
|
||||||
|
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
|
||||||
|
LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl;
|
||||||
|
}
|
||||||
|
catch (std::ifstream::failure e)
|
||||||
|
{
|
||||||
|
LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what() << std::endl;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
void Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::set_channel_queue(concurrent_queue<int> *channel_internal_queue)
|
||||||
|
{
|
||||||
|
d_channel_internal_queue = channel_internal_queue;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
void Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
|
||||||
|
{
|
||||||
|
d_acquisition_gnss_synchro = p_gnss_synchro;
|
||||||
|
}
|
||||||
@ -0,0 +1,191 @@
|
|||||||
|
/*!
|
||||||
|
* \file gps_l1_ca_dll_pll_tracking_gpu_cc.h
|
||||||
|
* \brief Implementation of a code DLL + carrier PLL tracking block, GPU ACCELERATED
|
||||||
|
* \author Javier Arribas, 2015. jarribas(at)cttc.es
|
||||||
|
*
|
||||||
|
* Code DLL + carrier PLL according to the algorithms described in:
|
||||||
|
* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
|
||||||
|
* A Software-Defined GPS and Galileo Receiver. A Single-Frequency Approach,
|
||||||
|
* Birkhauser, 2007
|
||||||
|
*
|
||||||
|
* -------------------------------------------------------------------------
|
||||||
|
*
|
||||||
|
* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
|
||||||
|
*
|
||||||
|
* GNSS-SDR is a software defined Global Navigation
|
||||||
|
* Satellite Systems receiver
|
||||||
|
*
|
||||||
|
* This file is part of GNSS-SDR.
|
||||||
|
*
|
||||||
|
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||||
|
* it under the terms of the GNU General Public License as published by
|
||||||
|
* the Free Software Foundation, either version 3 of the License, or
|
||||||
|
* (at your option) any later version.
|
||||||
|
*
|
||||||
|
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||||
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
* GNU General Public License for more details.
|
||||||
|
*
|
||||||
|
* You should have received a copy of the GNU General Public License
|
||||||
|
* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*
|
||||||
|
* -------------------------------------------------------------------------
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_GPU_CC_H
|
||||||
|
#define GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_GPU_CC_H
|
||||||
|
|
||||||
|
#include <fstream>
|
||||||
|
#include <queue>
|
||||||
|
#include <map>
|
||||||
|
#include <string>
|
||||||
|
#include <boost/thread/mutex.hpp>
|
||||||
|
#include <boost/thread/thread.hpp>
|
||||||
|
#include <gnuradio/block.h>
|
||||||
|
#include <gnuradio/msg_queue.h>
|
||||||
|
#include "concurrent_queue.h"
|
||||||
|
#include "gps_sdr_signal_processing.h"
|
||||||
|
#include "gnss_synchro.h"
|
||||||
|
#include "tracking_2nd_DLL_filter.h"
|
||||||
|
#include "tracking_2nd_PLL_filter.h"
|
||||||
|
#include "cuda_multicorrelator.h"
|
||||||
|
|
||||||
|
class Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc;
|
||||||
|
|
||||||
|
typedef boost::shared_ptr<Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc>
|
||||||
|
gps_l1_ca_dll_pll_tracking_gpu_cc_sptr;
|
||||||
|
|
||||||
|
gps_l1_ca_dll_pll_tracking_gpu_cc_sptr
|
||||||
|
gps_l1_ca_dll_pll_make_tracking_gpu_cc(long if_freq,
|
||||||
|
long fs_in, unsigned
|
||||||
|
int vector_length,
|
||||||
|
boost::shared_ptr<gr::msg_queue> queue,
|
||||||
|
bool dump,
|
||||||
|
std::string dump_filename,
|
||||||
|
float pll_bw_hz,
|
||||||
|
float dll_bw_hz,
|
||||||
|
float early_late_space_chips);
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
/*!
|
||||||
|
* \brief This class implements a DLL + PLL tracking loop block
|
||||||
|
*/
|
||||||
|
class Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc: public gr::block
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
~Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc();
|
||||||
|
|
||||||
|
void set_channel(unsigned int channel);
|
||||||
|
void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
|
||||||
|
void start_tracking();
|
||||||
|
void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
|
||||||
|
|
||||||
|
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);
|
||||||
|
|
||||||
|
private:
|
||||||
|
friend gps_l1_ca_dll_pll_tracking_gpu_cc_sptr
|
||||||
|
gps_l1_ca_dll_pll_make_tracking_gpu_cc(long if_freq,
|
||||||
|
long fs_in, unsigned
|
||||||
|
int vector_length,
|
||||||
|
boost::shared_ptr<gr::msg_queue> queue,
|
||||||
|
bool dump,
|
||||||
|
std::string dump_filename,
|
||||||
|
float pll_bw_hz,
|
||||||
|
float dll_bw_hz,
|
||||||
|
float early_late_space_chips);
|
||||||
|
|
||||||
|
Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc(long if_freq,
|
||||||
|
long fs_in, unsigned
|
||||||
|
int vector_length,
|
||||||
|
boost::shared_ptr<gr::msg_queue> queue,
|
||||||
|
bool dump,
|
||||||
|
std::string dump_filename,
|
||||||
|
float pll_bw_hz,
|
||||||
|
float dll_bw_hz,
|
||||||
|
float early_late_space_chips);
|
||||||
|
void update_local_code();
|
||||||
|
void update_local_carrier();
|
||||||
|
|
||||||
|
// tracking configuration vars
|
||||||
|
boost::shared_ptr<gr::msg_queue> d_queue;
|
||||||
|
concurrent_queue<int> *d_channel_internal_queue;
|
||||||
|
unsigned int d_vector_length;
|
||||||
|
bool d_dump;
|
||||||
|
|
||||||
|
Gnss_Synchro* d_acquisition_gnss_synchro;
|
||||||
|
unsigned int d_channel;
|
||||||
|
int d_last_seg;
|
||||||
|
long d_if_freq;
|
||||||
|
long d_fs_in;
|
||||||
|
|
||||||
|
double d_early_late_spc_chips;
|
||||||
|
|
||||||
|
|
||||||
|
//GPU HOST PINNED MEMORY IN/OUT VECTORS
|
||||||
|
gr_complex* in_gpu;
|
||||||
|
gr_complex* d_carr_sign_gpu;
|
||||||
|
gr_complex* d_local_codes_gpu;
|
||||||
|
int* d_local_code_shift_samples;
|
||||||
|
gr_complex* d_corr_outs_gpu;
|
||||||
|
cuda_multicorrelator *multicorrelator_gpu;
|
||||||
|
|
||||||
|
|
||||||
|
gr_complex* d_ca_code;
|
||||||
|
|
||||||
|
gr_complex *d_Early;
|
||||||
|
gr_complex *d_Prompt;
|
||||||
|
gr_complex *d_Late;
|
||||||
|
|
||||||
|
|
||||||
|
// remaining code phase and carrier phase between tracking loops
|
||||||
|
double d_rem_code_phase_samples;
|
||||||
|
float d_rem_carr_phase_rad;
|
||||||
|
|
||||||
|
// PLL and DLL filter library
|
||||||
|
Tracking_2nd_DLL_filter d_code_loop_filter;
|
||||||
|
Tracking_2nd_PLL_filter d_carrier_loop_filter;
|
||||||
|
|
||||||
|
// acquisition
|
||||||
|
float d_acq_code_phase_samples;
|
||||||
|
float d_acq_carrier_doppler_hz;
|
||||||
|
|
||||||
|
// tracking vars
|
||||||
|
double d_code_freq_chips;
|
||||||
|
float d_carrier_doppler_hz;
|
||||||
|
float d_acc_carrier_phase_rad;
|
||||||
|
float d_code_phase_samples;
|
||||||
|
float d_acc_code_phase_secs;
|
||||||
|
|
||||||
|
//PRN period in samples
|
||||||
|
int d_current_prn_length_samples;
|
||||||
|
|
||||||
|
//processing samples counters
|
||||||
|
unsigned long int d_sample_counter;
|
||||||
|
unsigned long int d_acq_sample_stamp;
|
||||||
|
|
||||||
|
// CN0 estimation and lock detector
|
||||||
|
int d_cn0_estimation_counter;
|
||||||
|
gr_complex* d_Prompt_buffer;
|
||||||
|
float d_carrier_lock_test;
|
||||||
|
float d_CN0_SNV_dB_Hz;
|
||||||
|
float d_carrier_lock_threshold;
|
||||||
|
int d_carrier_lock_fail_counter;
|
||||||
|
|
||||||
|
// control vars
|
||||||
|
bool d_enable_tracking;
|
||||||
|
bool d_pull_in;
|
||||||
|
|
||||||
|
// file dump
|
||||||
|
std::string d_dump_filename;
|
||||||
|
std::ofstream d_dump_file;
|
||||||
|
|
||||||
|
std::map<std::string, std::string> systemName;
|
||||||
|
std::string sys;
|
||||||
|
};
|
||||||
|
|
||||||
|
#endif //GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_GPU_CC_H
|
||||||
@ -56,6 +56,7 @@ include_directories(
|
|||||||
${CMAKE_SOURCE_DIR}/src/core/interfaces
|
${CMAKE_SOURCE_DIR}/src/core/interfaces
|
||||||
${CMAKE_SOURCE_DIR}/src/core/receiver
|
${CMAKE_SOURCE_DIR}/src/core/receiver
|
||||||
${VOLK_INCLUDE_DIRS}
|
${VOLK_INCLUDE_DIRS}
|
||||||
|
${CUDA_INCLUDE_DIRS}
|
||||||
)
|
)
|
||||||
|
|
||||||
if(ENABLE_GENERIC_ARCH)
|
if(ENABLE_GENERIC_ARCH)
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user