mirror of https://github.com/gnss-sdr/gnss-sdr
280 lines
11 KiB
C++
280 lines
11 KiB
C++
/*!
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* \file gps_l5_dll_pll_tracking_fpga.cc
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* \brief Interface of an adapter of a DLL+PLL tracking loop block
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* for GPS L5 to a TrackingInterface for the FPGA
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* \author Marc Majoral, 2019. mmajoral(at)cttc.cat
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* Javier Arribas, 2019. 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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* 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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* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
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* This file is part of GNSS-SDR.
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*
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* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
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* SPDX-License-Identifier: GPL-3.0-or-later
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*
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* -----------------------------------------------------------------------------
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*/
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#include "gps_l5_dll_pll_tracking_fpga.h"
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#include "GPS_L5.h"
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#include "configuration_interface.h"
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#include "display.h"
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#include "dll_pll_conf_fpga.h"
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#include "gnss_sdr_flags.h"
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#include "gps_l5_signal_replica.h"
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#include "uio_fpga.h"
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#include <volk_gnsssdr/volk_gnsssdr_alloc.h>
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#include <algorithm>
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#include <array>
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#if USE_GLOG_AND_GFLAGS
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#include <glog/logging.h>
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#else
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#include <absl/log/log.h>
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#endif
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GpsL5DllPllTrackingFpga::GpsL5DllPllTrackingFpga(
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const ConfigurationInterface *configuration,
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const std::string &role,
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unsigned int in_streams,
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unsigned int out_streams)
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: role_(role),
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data_codes_ptr_(nullptr),
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channel_(0),
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in_streams_(in_streams),
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out_streams_(out_streams)
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{
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Dll_Pll_Conf_Fpga trk_params_fpga = Dll_Pll_Conf_Fpga();
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trk_params_fpga.SetFromConfiguration(configuration, role_);
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const auto vector_length = static_cast<int32_t>(std::round(static_cast<double>(trk_params_fpga.fs_in) / (static_cast<double>(GPS_L5I_CODE_RATE_CPS) / static_cast<double>(GPS_L5I_CODE_LENGTH_CHIPS))));
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trk_params_fpga.vector_length = vector_length;
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if (trk_params_fpga.extend_correlation_symbols < 1)
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{
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trk_params_fpga.extend_correlation_symbols = 1;
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std::cout << TEXT_RED << "WARNING: GPS L5. extend_correlation_symbols must be bigger than 0. Coherent integration has been set to 1 symbol (1 ms)" << TEXT_RESET << '\n';
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}
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else if (!trk_params_fpga.track_pilot and trk_params_fpga.extend_correlation_symbols > GPS_L5I_NH_CODE_LENGTH)
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{
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trk_params_fpga.extend_correlation_symbols = GPS_L5I_NH_CODE_LENGTH;
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std::cout << TEXT_RED << "WARNING: GPS L5. extend_correlation_symbols must be lower than 11 when tracking the data component. Coherent integration has been set to 10 symbols (10 ms)" << TEXT_RESET << '\n';
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}
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if ((trk_params_fpga.extend_correlation_symbols > 1) and (trk_params_fpga.pll_bw_narrow_hz > trk_params_fpga.pll_bw_hz or trk_params_fpga.dll_bw_narrow_hz > trk_params_fpga.dll_bw_hz))
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{
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std::cout << TEXT_RED << "WARNING: GPS L5. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << '\n';
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}
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track_pilot_ = trk_params_fpga.track_pilot;
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trk_params_fpga.system = 'G';
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const std::array<char, 3> sig{'L', '5', '\0'};
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std::copy_n(sig.data(), 3, trk_params_fpga.signal);
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// UIO device file
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device_name_ = configuration->property(role_ + ".devicename", default_device_name_GPS_L5_);
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// compute the number of tracking channels that have already been instantiated. The order in which
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// GNSS-SDR instantiates the tracking channels i L1, L2, L5, E1, E5a
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uint32_t num_prev_assigned_ch_1C = configuration->property("Channels_1C.count", 0);
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uint32_t num_prev_assigned_ch_2S = 0;
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if (configuration->property("Tracking_2S.devicename", std::string("")) != device_name_)
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{
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num_prev_assigned_ch_2S = configuration->property("Channels_2S.count", 0);
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}
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num_prev_assigned_ch_ = num_prev_assigned_ch_1C + num_prev_assigned_ch_2S;
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// ################# PRE-COMPUTE ALL THE CODES #################
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uint32_t code_samples_per_chip = 1;
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auto code_length_chips = static_cast<uint32_t>(GPS_L5I_CODE_LENGTH_CHIPS);
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volk_gnsssdr::vector<float> data_code;
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volk_gnsssdr::vector<float> tracking_code(code_length_chips, 0.0);
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if (track_pilot_)
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{
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data_code.resize(code_length_chips, 0.0);
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}
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prn_codes_ptr_ = static_cast<int32_t *>(volk_gnsssdr_malloc(static_cast<int32_t>(code_length_chips * NUM_PRNs) * sizeof(int32_t), volk_gnsssdr_get_alignment()));
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if (track_pilot_)
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{
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data_codes_ptr_ = static_cast<int32_t *>(volk_gnsssdr_malloc((static_cast<uint32_t>(code_length_chips)) * NUM_PRNs * sizeof(int32_t), volk_gnsssdr_get_alignment()));
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}
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for (uint32_t PRN = 1; PRN <= NUM_PRNs; PRN++)
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{
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if (track_pilot_)
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{
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gps_l5q_code_gen_float(tracking_code, PRN);
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gps_l5i_code_gen_float(data_code, PRN);
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// The code is generated as a series of 1s and -1s. In order to store the values using only one bit, a -1 is stored as a 0 in the FPGA
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for (uint32_t s = 0; s < code_length_chips; s++)
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{
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auto tmp_value = static_cast<int32_t>(tracking_code[s]);
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if (tmp_value < 0)
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{
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tmp_value = 0;
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}
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tmp_value = tmp_value | LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY;
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prn_codes_ptr_[static_cast<int32_t>(code_length_chips) * (PRN - 1) + s] = tmp_value;
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tmp_value = static_cast<int32_t>(data_code[s]);
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if (tmp_value < 0)
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{
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tmp_value = 0;
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}
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tmp_value = tmp_value | LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY | LOCAL_CODE_FPGA_CORRELATOR_SELECT_COUNT;
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data_codes_ptr_[static_cast<int32_t>(code_length_chips) * (PRN - 1) + s] = tmp_value;
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}
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}
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else
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{
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gps_l5i_code_gen_float(tracking_code, PRN);
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// The code is generated as a series of 1s and -1s. In order to store the values using only one bit, a -1 is stored as a 0 in the FPGA
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for (uint32_t s = 0; s < code_length_chips; s++)
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{
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auto tmp_value = static_cast<int32_t>(tracking_code[s]);
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if (tmp_value < 0)
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{
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tmp_value = 0;
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}
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tmp_value = tmp_value | LOCAL_CODE_FPGA_ENABLE_WRITE_MEMORY;
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prn_codes_ptr_[static_cast<int32_t>(code_length_chips) * (PRN - 1) + s] = tmp_value;
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}
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}
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}
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trk_params_fpga.ca_codes = prn_codes_ptr_;
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trk_params_fpga.data_codes = data_codes_ptr_;
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trk_params_fpga.code_length_chips = code_length_chips;
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trk_params_fpga.code_samples_per_chip = code_samples_per_chip; // 2 sample per chip
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trk_params_fpga.extended_correlation_in_fpga = false; // by default
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trk_params_fpga.extend_fpga_integration_periods = 1; // (number of FPGA integrations that are combined in the SW)
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trk_params_fpga.fpga_integration_period = 1; // (number of symbols that are effectively integrated in the FPGA)
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if (track_pilot_)
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{
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if (trk_params_fpga.extend_correlation_symbols > 1)
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{
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if (trk_params_fpga.extend_correlation_symbols <= GPS_L5I_NH_CODE_LENGTH)
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{
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if ((GPS_L5I_NH_CODE_LENGTH % trk_params_fpga.extend_correlation_symbols) == 0)
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{
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trk_params_fpga.extended_correlation_in_fpga = true;
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trk_params_fpga.fpga_integration_period = trk_params_fpga.extend_correlation_symbols;
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}
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}
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else
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{
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if (trk_params_fpga.extend_correlation_symbols % GPS_L5I_NH_CODE_LENGTH == 0)
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{
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trk_params_fpga.extended_correlation_in_fpga = true;
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trk_params_fpga.extend_fpga_integration_periods = trk_params_fpga.extend_correlation_symbols / GPS_L5I_NH_CODE_LENGTH;
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trk_params_fpga.fpga_integration_period = GPS_L5I_NH_CODE_LENGTH;
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}
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}
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}
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}
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// ################# MAKE TRACKING GNU Radio object ###################
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DLOG(INFO) << "role " << role_;
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tracking_fpga_sc_sptr_ = dll_pll_veml_make_tracking_fpga(trk_params_fpga);
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DLOG(INFO) << "tracking(" << tracking_fpga_sc_sptr_->unique_id() << ")";
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if (in_streams_ > 1)
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{
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LOG(ERROR) << "This implementation only supports one input stream";
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}
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if (out_streams_ > 1)
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{
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LOG(ERROR) << "This implementation only supports one output stream";
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}
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}
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GpsL5DllPllTrackingFpga::~GpsL5DllPllTrackingFpga()
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{
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volk_gnsssdr_free(prn_codes_ptr_);
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if (track_pilot_)
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{
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volk_gnsssdr_free(data_codes_ptr_);
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}
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}
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void GpsL5DllPllTrackingFpga::start_tracking()
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{
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tracking_fpga_sc_sptr_->start_tracking();
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}
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void GpsL5DllPllTrackingFpga::stop_tracking()
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{
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tracking_fpga_sc_sptr_->stop_tracking();
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}
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/*
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* Set tracking channel unique ID
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*/
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void GpsL5DllPllTrackingFpga::set_channel(unsigned int channel)
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{
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channel_ = channel;
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// UIO device file
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std::string device_io_name;
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// find the uio device file corresponding to the tracking multicorrelator
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if (find_uio_dev_file_name(device_io_name, device_name_, channel_ - num_prev_assigned_ch_) < 0)
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{
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std::cout << "Cannot find the FPGA uio device file corresponding to device name " << device_name_ << std::endl;
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throw std::exception();
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}
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tracking_fpga_sc_sptr_->set_channel(channel_, device_io_name);
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}
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void GpsL5DllPllTrackingFpga::set_gnss_synchro(Gnss_Synchro *p_gnss_synchro)
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{
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tracking_fpga_sc_sptr_->set_gnss_synchro(p_gnss_synchro);
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}
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void GpsL5DllPllTrackingFpga::connect(gr::top_block_sptr top_block)
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{
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if (top_block)
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{ /* top_block is not null */
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};
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// nothing to connect, now the tracking uses gr_sync_decimator
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}
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void GpsL5DllPllTrackingFpga::disconnect(gr::top_block_sptr top_block)
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{
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if (top_block)
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{ /* top_block is not null */
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};
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// nothing to disconnect, now the tracking uses gr_sync_decimator
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}
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gr::basic_block_sptr GpsL5DllPllTrackingFpga::get_left_block()
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{
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return tracking_fpga_sc_sptr_;
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}
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gr::basic_block_sptr GpsL5DllPllTrackingFpga::get_right_block()
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{
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return tracking_fpga_sc_sptr_;
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}
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