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The termination process is now done correctly when using the FPGA.

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This commit is contained in:
Marc Majoral 2019-02-13 17:48:14 +01:00
parent a379a896d4
commit fd3eb2a80e
10 changed files with 302 additions and 113 deletions
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2
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc
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@ -345,6 +345,8 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::~GalileoE1PcpsAmbiguousAcquisitionFpga()
void GalileoE1PcpsAmbiguousAcquisitionFpga::stop_acquisition()
{
// this command causes the SW to reset the HW.
acquisition_fpga_->reset_acquisition();
}

2
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc
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@ -254,6 +254,8 @@ GalileoE5aPcpsAcquisitionFpga::~GalileoE5aPcpsAcquisitionFpga()
void GalileoE5aPcpsAcquisitionFpga::stop_acquisition()
{
// this command causes the SW to reset the HW.
acquisition_fpga_->reset_acquisition();
}

2
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc
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@ -212,6 +212,8 @@ GpsL1CaPcpsAcquisitionFpga::~GpsL1CaPcpsAcquisitionFpga()
void GpsL1CaPcpsAcquisitionFpga::stop_acquisition()
{
// this command causes the SW to reset the HW.
acquisition_fpga_->reset_acquisition();
}

2
src/algorithms/acquisition/adapters/gps_l5i_pcps_acquisition_fpga.cc
View File

@ -249,6 +249,8 @@ GpsL5iPcpsAcquisitionFpga::~GpsL5iPcpsAcquisitionFpga()
void GpsL5iPcpsAcquisitionFpga::stop_acquisition()
{
// this command causes the SW to reset the HW.
acquisition_fpga_->reset_acquisition();
}

37
src/core/receiver/control_thread.cc
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@ -258,12 +258,15 @@ int ControlThread::run()
cmd_interface_.set_pvt(flowgraph_->get_pvt());
cmd_interface_thread_ = boost::thread(&ControlThread::telecommand_listener, this);
bool enable_FPGA = configuration_->property("Channel.enable_FPGA", false);
if (enable_FPGA == true)
{
flowgraph_->start_acquisition_helper();
}
#ifdef ENABLE_FPGA
// bool enable_FPGA = configuration_->property("Channel.enable_FPGA", false);
// if (enable_FPGA == true)
// {
// Create a task for the acquisition such that id doesn't block the flow of the control thread
fpga_helper_thread_=boost::thread(&GNSSFlowgraph::start_acquisition_helper,
flowgraph_);
// }
#endif
// Main loop to read and process the control messages
while (flowgraph_->running() && !stop_)
{
@ -276,18 +279,40 @@ int ControlThread::run()
stop_ = true;
flowgraph_->disconnect();
#ifdef ENABLE_FPGA
// trigger a HW reset
// The HW reset causes any HW accelerator module that is waiting for more samples to complete its calculations
// to trigger an interrupt and finish its signal processing tasks immediately. In this way all SW threads that
// are waiting for interrupts in the HW can exit in a normal way.
flowgraph_->perform_hw_reset();
#endif
// Join keyboard thread
#ifdef OLD_BOOST
keyboard_thread_.timed_join(boost::posix_time::seconds(1));
sysv_queue_thread_.timed_join(boost::posix_time::seconds(1));
cmd_interface_thread_.timed_join(boost::posix_time::seconds(1));
#ifdef ENABLE_FPGA
// if (enable_FPGA == true)
// {
fpga_helper_thread_.timed_join(boost::posix_time::seconds(1));
// }
#endif
#endif
#ifndef OLD_BOOST
keyboard_thread_.try_join_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000));
sysv_queue_thread_.try_join_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000));
cmd_interface_thread_.try_join_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000));
#ifdef ENABLE_FPGA
// if (enable_FPGA == true)
// {
fpga_helper_thread_.try_join_until(boost::chrono::steady_clock::now() + boost::chrono::milliseconds(1000));
// }
#endif
#endif
LOG(INFO) << "Flowgraph stopped";
if (restart_)

1
src/core/receiver/control_thread.h
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@ -171,6 +171,7 @@ private:
boost::thread keyboard_thread_;
boost::thread sysv_queue_thread_;
boost::thread gps_acq_assist_data_collector_thread_;
boost::thread fpga_helper_thread_;
void keyboard_listener();
void sysv_queue_listener();

235
src/core/receiver/gnss_flowgraph.cc
View File

@ -123,10 +123,11 @@ void GNSSFlowgraph::connect()
return;
}
#ifndef ENABLE_FPGA
for (int i = 0; i < sources_count_; i++)
{
if (configuration_->property(sig_source_.at(i)->role() + ".enable_FPGA", false) == false)
{
// if (configuration_->property(sig_source_.at(i)->role() + ".enable_FPGA", false) == false)
// {
try
{
sig_source_.at(i)->connect(top_block_);
@ -138,14 +139,15 @@ void GNSSFlowgraph::connect()
top_block_->disconnect_all();
return;
}
// }
}
}
// Signal Source > Signal conditioner >
for (unsigned int i = 0; i < sig_conditioner_.size(); i++)
{
if (configuration_->property(sig_conditioner_.at(i)->role() + ".enable_FPGA", false) == false)
{
// if (configuration_->property(sig_conditioner_.at(i)->role() + ".enable_FPGA", false) == false)
// {
try
{
sig_conditioner_.at(i)->connect(top_block_);
@ -157,9 +159,9 @@ void GNSSFlowgraph::connect()
top_block_->disconnect_all();
return;
}
// }
}
}
#endif
for (unsigned int i = 0; i < channels_count_; i++)
{
try
@ -205,12 +207,15 @@ void GNSSFlowgraph::connect()
int RF_Channels = 0;
int signal_conditioner_ID = 0;
#ifndef ENABLE_FPGA
for (int i = 0; i < sources_count_; i++)
{
//FPGA Accelerators do not need signal sources or conditioners
//as the samples are feed directly to the FPGA fabric, so, if enabled, do not connect any source
if (configuration_->property(sig_source_.at(i)->role() + ".enable_FPGA", false) == false)
{
// //FPGA Accelerators do not need signal sources or conditioners
// //as the samples are feed directly to the FPGA fabric, so, if enabled, do not connect any source
// if (configuration_->property(sig_source_.at(i)->role() + ".enable_FPGA", false) == false)
// {
try
{
//TODO: Remove this array implementation and create generic multistream connector
@ -270,41 +275,43 @@ void GNSSFlowgraph::connect()
top_block_->disconnect_all();
return;
}
}
// }
}
DLOG(INFO) << "Signal source connected to signal conditioner";
bool FPGA_enabled = configuration_->property(sig_source_.at(0)->role() + ".enable_FPGA", false);
// bool FPGA_enabled = configuration_->property(sig_source_.at(0)->role() + ".enable_FPGA", false);
#endif
#if ENABLE_FPGA
if (FPGA_enabled == false)
{
//connect the signal source to sample counter
//connect the sample counter to Observables
try
{
double fs = static_cast<double>(configuration_->property("GNSS-SDR.internal_fs_sps", 0));
if (fs == 0.0)
{
LOG(WARNING) << "Set GNSS-SDR.internal_fs_sps in configuration file";
std::cout << "Set GNSS-SDR.internal_fs_sps in configuration file" << std::endl;
throw(std::invalid_argument("Set GNSS-SDR.internal_fs_sps in configuration"));
}
int observable_interval_ms = static_cast<double>(configuration_->property("GNSS-SDR.observable_interval_ms", 20));
ch_out_sample_counter = gnss_sdr_make_sample_counter(fs, observable_interval_ms, sig_conditioner_.at(0)->get_right_block()->output_signature()->sizeof_stream_item(0));
//ch_out_sample_counter = gnss_sdr_make_sample_counter(fs, sig_conditioner_.at(0)->get_right_block()->output_signature()->sizeof_stream_item(0));
top_block_->connect(sig_conditioner_.at(0)->get_right_block(), 0, ch_out_sample_counter, 0);
top_block_->connect(ch_out_sample_counter, 0, observables_->get_left_block(), channels_count_); //extra port for the sample counter pulse
}
catch (const std::exception& e)
{
LOG(WARNING) << "Can't connect sample counter";
LOG(ERROR) << e.what();
top_block_->disconnect_all();
return;
}
}
else
{
// if (FPGA_enabled == false)
// {
// //connect the signal source to sample counter
// //connect the sample counter to Observables
// try
// {
// double fs = static_cast<double>(configuration_->property("GNSS-SDR.internal_fs_sps", 0));
// if (fs == 0.0)
// {
// LOG(WARNING) << "Set GNSS-SDR.internal_fs_sps in configuration file";
// std::cout << "Set GNSS-SDR.internal_fs_sps in configuration file" << std::endl;
// throw(std::invalid_argument("Set GNSS-SDR.internal_fs_sps in configuration"));
// }
// int observable_interval_ms = static_cast<double>(configuration_->property("GNSS-SDR.observable_interval_ms", 20));
// ch_out_sample_counter = gnss_sdr_make_sample_counter(fs, observable_interval_ms, sig_conditioner_.at(0)->get_right_block()->output_signature()->sizeof_stream_item(0));
// //ch_out_sample_counter = gnss_sdr_make_sample_counter(fs, sig_conditioner_.at(0)->get_right_block()->output_signature()->sizeof_stream_item(0));
// top_block_->connect(sig_conditioner_.at(0)->get_right_block(), 0, ch_out_sample_counter, 0);
// top_block_->connect(ch_out_sample_counter, 0, observables_->get_left_block(), channels_count_); //extra port for the sample counter pulse
// }
// catch (const std::exception& e)
// {
// LOG(WARNING) << "Can't connect sample counter";
// LOG(ERROR) << e.what();
// top_block_->disconnect_all();
// return;
// }
// }
// else
// {
//create a hardware-defined gnss_synchro pulse for the observables block
try
{
@ -326,7 +333,7 @@ void GNSSFlowgraph::connect()
top_block_->disconnect_all();
return;
}
}
// }
#else
// connect the signal source to sample counter
// connect the sample counter to Observables
@ -353,14 +360,19 @@ void GNSSFlowgraph::connect()
return;
}
#endif
//bool FPGA_enabled = configuration_->property(sig_source_.at(0)->role() + ".enable_FPGA", false);
// Signal conditioner (selected_signal_source) >> channels (i) (dependent of their associated SignalSource_ID)
int selected_signal_conditioner_ID = 0;
bool use_acq_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
uint32_t fs = configuration_->property("GNSS-SDR.internal_fs_sps", 0);
for (unsigned int i = 0; i < channels_count_; i++)
{
if (FPGA_enabled == false)
{
#ifndef ENABLE_FPGA
// if (FPGA_enabled == false)
// {
try
{
selected_signal_conditioner_ID = configuration_->property("Channel" + std::to_string(i) + ".RF_channel_ID", 0);
@ -497,7 +509,8 @@ void GNSSFlowgraph::connect()
}
DLOG(INFO) << "signal conditioner " << selected_signal_conditioner_ID << " connected to channel " << i;
}
// }
#endif
// Signal Source > Signal conditioner >> Channels >> Observables
try
{
@ -656,16 +669,18 @@ void GNSSFlowgraph::connect()
}
}
#ifndef ENABLE_FPGA
// Activate acquisition in enabled channels
for (unsigned int i = 0; i < channels_count_; i++)
{
LOG(INFO) << "Channel " << i << " assigned to " << channels_.at(i)->get_signal();
if (channels_state_[i] == 1)
{
if (FPGA_enabled == false)
{
// if (FPGA_enabled == false)
// {
channels_.at(i)->start_acquisition();
}
// }
LOG(INFO) << "Channel " << i << " connected to observables and ready for acquisition";
}
else
@ -673,6 +688,7 @@ void GNSSFlowgraph::connect()
LOG(INFO) << "Channel " << i << " connected to observables in standby mode";
}
}
#endif
connected_ = true;
LOG(INFO) << "Flowgraph connected";
@ -694,6 +710,67 @@ void GNSSFlowgraph::disconnect()
int RF_Channels = 0;
int signal_conditioner_ID = 0;
#ifdef ENABLE_FPGA
bool FPGA_enabled = configuration_->property(sig_source_.at(0)->role() + ".enable_FPGA", false);
if (FPGA_enabled == false)
{
for (int i = 0; i < sources_count_; i++)
{
try
{
// TODO: Remove this array implementation and create generic multistream connector
// (if a signal source has more than 1 stream, then connect it to the multistream signal conditioner)
if (sig_source_.at(i)->implementation() == "Raw_Array_Signal_Source")
{
//Multichannel Array
for (int j = 0; j < GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS; j++)
{
top_block_->disconnect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(i)->get_left_block(), j);
}
}
else
{
// TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
// Include GetRFChannels in the interface to avoid read config parameters here
// read the number of RF channels for each front-end
RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1);
for (int j = 0; j < RF_Channels; j++)
{
if (sig_source_.at(i)->get_right_block()->output_signature()->max_streams() > 1)
{
top_block_->disconnect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
}
else
{
if (j == 0)
{
// RF_channel 0 backward compatibility with single channel sources
top_block_->disconnect(sig_source_.at(i)->get_right_block(), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
}
else
{
// Multiple channel sources using multiple output blocks of single channel (requires RF_channel selector in call)
top_block_->disconnect(sig_source_.at(i)->get_right_block(j), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
}
}
signal_conditioner_ID++;
}
}
}
catch (const std::exception& e)
{
LOG(INFO) << "Can't disconnect signal source " << i << " to signal conditioner " << i << ": " << e.what();
top_block_->disconnect_all();
return;
}
}
}
#else
for (int i = 0; i < sources_count_; i++)
{
try
@ -745,9 +822,11 @@ void GNSSFlowgraph::disconnect()
return;
}
}
#endif
#if ENABLE_FPGA
bool FPGA_enabled = configuration_->property(sig_source_.at(0)->role() + ".enable_FPGA", false);
//printf("disconnect process point 1\n");
#ifdef ENABLE_FPGA
//bool FPGA_enabled = configuration_->property(sig_source_.at(0)->role() + ".enable_FPGA", false);
if (FPGA_enabled == false)
{
// disconnect the signal source to sample counter
@ -809,6 +888,7 @@ void GNSSFlowgraph::disconnect()
top_block_->disconnect_all();
return;
}
#ifndef ENABLE_FPGA
try
{
top_block_->disconnect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
@ -820,7 +900,7 @@ void GNSSFlowgraph::disconnect()
top_block_->disconnect_all();
return;
}
#endif
// Signal Source > Signal conditioner >> Channels >> Observables
try
{
@ -1057,7 +1137,14 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
}
acq_channels_count_++;
DLOG(INFO) << "Channel " << ch_index << " Starting acquisition " << channels_[ch_index]->get_signal().get_satellite() << ", Signal " << channels_[ch_index]->get_signal().get_signal_str();
#ifndef ENABLE_FPGA
channels_[ch_index]->start_acquisition();
#else
// create a task for the FPGA such that it doesn't stop the flow
std::thread tmp_thread(&ChannelInterface::start_acquisition,channels_[ch_index]);
tmp_thread.detach();
#endif
}
DLOG(INFO) << "Channel " << ch_index << " in state " << channels_state_[ch_index];
}
@ -1128,7 +1215,13 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
}
acq_channels_count_++;
DLOG(INFO) << "Channel " << i << " Starting acquisition " << channels_[i]->get_signal().get_satellite() << ", Signal " << channels_[i]->get_signal().get_signal_str();
#ifndef ENABLE_FPGA
channels_[i]->start_acquisition();
#else
// create a task for the FPGA such that it doesn't stop the flow
std::thread tmp_thread(&ChannelInterface::start_acquisition,channels_[i]);
tmp_thread.detach();
#endif
}
DLOG(INFO) << "Channel " << i << " in state " << channels_state_[i];
}
@ -1143,7 +1236,13 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
channels_state_[who] = 1;
acq_channels_count_++;
LOG(INFO) << "Channel " << who << " Starting acquisition " << channels_[who]->get_signal().get_satellite() << ", Signal " << channels_[who]->get_signal().get_signal_str();
#ifndef ENABLE_FPGA
channels_[who]->start_acquisition();
#else
// create a task for the FPGA such that it doesn't stop the flow
std::thread tmp_thread(&ChannelInterface::start_acquisition,channels_[who]);
tmp_thread.detach();
#endif
}
else
{
@ -1272,7 +1371,13 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
}
acq_channels_count_++;
DLOG(INFO) << "Channel " << ch_index << " Starting acquisition " << channels_[ch_index]->get_signal().get_satellite() << ", Signal " << channels_[ch_index]->get_signal().get_signal_str();
#ifndef ENABLE_FPGA
channels_[ch_index]->start_acquisition();
#else
// create a task for the FPGA such that it doesn't stop the flow
std::thread tmp_thread(&ChannelInterface::start_acquisition,channels_[ch_index]);
tmp_thread.detach();
#endif
}
DLOG(INFO) << "Channel " << ch_index << " in state " << channels_state_[ch_index];
}
@ -1300,7 +1405,13 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
}
acq_channels_count_++;
DLOG(INFO) << "Channel " << ch_index << " Starting acquisition " << channels_[ch_index]->get_signal().get_satellite() << ", Signal " << channels_[ch_index]->get_signal().get_signal_str();
#ifndef ENABLE_FPGA
channels_[ch_index]->start_acquisition();
#else
// create a task for the FPGA such that it doesn't stop the flow
std::thread tmp_thread(&ChannelInterface::start_acquisition,channels_[ch_index]);
tmp_thread.detach();
#endif
}
DLOG(INFO) << "Channel " << ch_index << " in state " << channels_state_[ch_index];
}
@ -1329,7 +1440,13 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
}
acq_channels_count_++;
DLOG(INFO) << "Channel " << ch_index << " Starting acquisition " << channels_[ch_index]->get_signal().get_satellite() << ", Signal " << channels_[ch_index]->get_signal().get_signal_str();
#ifndef ENABLE_FPGA
channels_[ch_index]->start_acquisition();
#else
// create a task for the FPGA such that it doesn't stop the flow
std::thread tmp_thread(&ChannelInterface::start_acquisition,channels_[ch_index]);
tmp_thread.detach();
#endif
}
DLOG(INFO) << "Channel " << ch_index << " in state " << channels_state_[ch_index];
}
@ -1409,6 +1526,7 @@ void GNSSFlowgraph::set_configuration(std::shared_ptr<ConfigurationInterface> co
configuration_ = configuration;
}
#ifdef ENABLE_FPGA
void GNSSFlowgraph::start_acquisition_helper()
{
@ -1422,6 +1540,19 @@ void GNSSFlowgraph::start_acquisition_helper()
}
void GNSSFlowgraph::perform_hw_reset()
{
// a stop acquisition command causes the SW to reset the HW
std::shared_ptr<Channel> channel_ptr;
channel_ptr = std::dynamic_pointer_cast<Channel>(channels_.at(0));
channel_ptr->acquisition()->stop_acquisition();
}
#endif
void GNSSFlowgraph::init()
{
/*

4
src/core/receiver/gnss_flowgraph.h
View File

@ -95,9 +95,11 @@ public:
void disconnect();
void wait();
#ifdef ENABLE_FPGA
void start_acquisition_helper();
void perform_hw_reset();
#endif
/*!
* \brief Applies an action to the flow graph
*

8
src/tests/unit-tests/signal-processing-blocks/observables/hybrid_observables_test_fpga.cc
View File

@ -2501,6 +2501,8 @@ TEST_F(HybridObservablesTestFpga, ValidationOfResults)
//printf("55555555555 TOP BLOCK STOPPED\n");
/*
// send more samples to unblock the tracking process in case it was waiting for samples
args.file = file;
//if (test_observables_skip_samples_already_used == 1 && test_observables_doppler_control_in_sw == 1)
@ -2520,7 +2522,7 @@ TEST_F(HybridObservablesTestFpga, ValidationOfResults)
}
pthread_join(thread_DMA, NULL);
//printf("777777777 PROCESS FINISHED \n");
*/
// reset the HW AGAIN
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
@ -2541,7 +2543,7 @@ TEST_F(HybridObservablesTestFpga, ValidationOfResults)
}
/*
// pthread_mutex_lock(&mutex_obs_test);
// send_samples_start_obs_test = 0;
@ -2785,7 +2787,7 @@ TEST_F(HybridObservablesTestFpga, ValidationOfResults)
std::cout << "PRN " << gnss_synchro_vec.at(n).PRN << " has NO observations!\n";
}
}
*/
std::cout << "Test completed in " << elapsed_seconds.count() << " [s]" << std::endl;
}

22
src/tests/unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test_fpga.cc
View File

@ -1704,7 +1704,7 @@ TEST_F(TrackingPullInTestFpga, ValidationOfResults)
pthread_join(thread_DMA, NULL);
top_block->stop();
/*
// send more samples to unblock the tracking process in case it was waiting for samples
// In this case the DMA may finish sending the current file while the signal is being
// tracked by the HW accelerators. Some tracking HW accelerators may be left in a state
@ -1731,6 +1731,26 @@ TEST_F(TrackingPullInTestFpga, ValidationOfResults)
std::cout << "ERROR cannot create DMA Process" << std::endl;
}
pthread_join(thread_DMA, NULL);
*/
// reset the HW to launch the pending interrupts
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsL1Ca_Fpga->reset_acquisition();
}
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
acquisition_GpsE1_Fpga->reset_acquisition();
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsE5a_Fpga->reset_acquisition();
}
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsL5_Fpga->reset_acquisition();
}
pthread_mutex_lock(&mutex);