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gnss-sdr/src/core/libs/gnss_sdr_fpga_sample_counte...

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/*!
* \file gnss_sdr_fpga_sample_counter.cc
* \brief Simple block to report the current receiver time based on the output
* of the tracking or telemetry blocks
* \author Marc Majoral 2019. mmajoral(at)cttc.es
* \author Javier Arribas 2018. jarribas(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#include "gnss_sdr_fpga_sample_counter.h"
#include "gnss_synchro.h"
#include "uio_fpga.h"
#include <gnuradio/io_signature.h>
#include <pmt/pmt.h> // for from_double
#include <pmt/pmt_sugar.h> // for mp
#include <cmath> // for round
#include <fcntl.h> // for O_RDWR, libraries used by the GIPO
#include <iostream> // for operator<<
#include <sys/mman.h> // libraries used by the GIPO
#include <unistd.h> // for write, close, read, ssize_t
#if USE_GLOG_AND_GFLAGS
#include <glog/logging.h>
#else
#include <absl/log/log.h>
#endif
#ifndef TEMP_FAILURE_RETRY
#define TEMP_FAILURE_RETRY(exp) \
({ \
decltype(exp) _rc; \
do \
{ \
_rc = (exp); \
} \
while (_rc == -1 && errno == EINTR); \
_rc; \
})
#endif
gnss_sdr_fpga_sample_counter::gnss_sdr_fpga_sample_counter(
double _fs,
int32_t _interval_ms)
: gr::block("fpga_fpga_sample_counter",
gr::io_signature::make(0, 0, 0),
gr::io_signature::make(1, 1, sizeof(Gnss_Synchro))),
fs(_fs),
sample_counter(0ULL),
last_sample_counter(0ULL),
current_T_rx_ms(0),
interval_ms(_interval_ms),
current_s(0),
current_m(0),
current_h(0),
current_days(0),
report_interval_ms(1000), // default reporting 1 second
flag_enable_send_msg(false), // enable it for reporting time with asynchronous message
flag_m(false),
flag_h(false),
flag_days(false),
is_open(true)
{
message_port_register_out(pmt::mp("fpga_sample_counter"));
set_max_noutput_items(1);
samples_per_output = std::round(fs * static_cast<double>(interval_ms) / 1e3);
samples_per_report = std::round(fs * static_cast<double>(report_interval_ms) / 1e3);
open_device();
}
gnss_sdr_fpga_sample_counter_sptr gnss_sdr_make_fpga_sample_counter(double _fs, int32_t _interval_ms)
{
gnss_sdr_fpga_sample_counter_sptr fpga_sample_counter_(new gnss_sdr_fpga_sample_counter(_fs, _interval_ms));
return fpga_sample_counter_;
}
gnss_sdr_fpga_sample_counter::~gnss_sdr_fpga_sample_counter()
{
if (is_open)
{
close_device();
}
}
// Called by GNU Radio to enable drivers, etc for i/o devices.
bool gnss_sdr_fpga_sample_counter::start()
{
// configure the number of samples per output in the FPGA and enable the interrupts
configure_samples_per_output(samples_per_output);
// return true if everything is ok.
return true;
}
// Called by GNU Radio to disable drivers, etc for i/o devices.
bool gnss_sdr_fpga_sample_counter::stop()
{
close_device();
is_open = false;
return true;
}
uint32_t gnss_sdr_fpga_sample_counter::test_register(uint32_t writeval)
{
uint32_t readval;
// write value to test register
map_base[3] = writeval;
// read value from test register
readval = map_base[3];
// return read value
return readval;
}
void gnss_sdr_fpga_sample_counter::configure_samples_per_output(uint32_t interval)
{
// note : the counter is a 48-bit value in the HW.
map_base[0] = interval - 1;
}
void gnss_sdr_fpga_sample_counter::open_device()
{
// UIO device file
std::string device_io_name;
// find the uio device file corresponding to the sample counter module
if (find_uio_dev_file_name(device_io_name, device_name, 0) < 0)
{
std::cout << "Cannot find the FPGA uio device file corresponding to device name " << device_name << std::endl;
throw std::exception();
}
// open communication with HW accelerator
if ((fd = open(device_io_name.c_str(), O_RDWR | O_SYNC)) == -1)
{
LOG(WARNING) << "Cannot open deviceio" << device_io_name;
std::cout << "Counter-Intr: cannot open deviceio" << device_io_name << '\n';
}
map_base = reinterpret_cast<volatile uint32_t *>(mmap(nullptr, FPGA_PAGE_SIZE,
PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0));
if (map_base == reinterpret_cast<void *>(-1))
{
LOG(WARNING) << "Cannot map the FPGA acquisition module into user memory";
std::cout << "Counter-Intr: cannot map deviceio" << device_io_name << '\n';
}
// sanity check : check test register
uint32_t writeval = test_reg_sanity_check;
uint32_t readval;
readval = gnss_sdr_fpga_sample_counter::test_register(writeval);
if (writeval != readval)
{
LOG(WARNING) << "Acquisition test register sanity check failed";
}
else
{
LOG(INFO) << "Acquisition test register sanity check success!";
// std::cout << "Acquisition test register sanity check success!\n";
}
}
void gnss_sdr_fpga_sample_counter::close_device()
{
map_base[2] = 0; // disable the generation of the interrupt in the device
auto *aux = const_cast<uint32_t *>(map_base);
if (munmap(static_cast<void *>(aux), FPGA_PAGE_SIZE) == -1)
{
std::cout << "Failed to unmap memory uio\n";
}
close(fd);
}
int gnss_sdr_fpga_sample_counter::general_work(int noutput_items __attribute__((unused)),
__attribute__((unused)) gr_vector_int &ninput_items,
__attribute__((unused)) gr_vector_const_void_star &input_items,
gr_vector_void_star &output_items)
{
wait_for_interrupt();
uint64_t sample_counter_tmp;
uint64_t sample_counter_msw_tmp;
sample_counter_tmp = map_base[0];
sample_counter_msw_tmp = map_base[1];
sample_counter_msw_tmp = sample_counter_msw_tmp << 32;
sample_counter_tmp = sample_counter_tmp + sample_counter_msw_tmp; // 2^32
sample_counter = sample_counter_tmp;
auto *out = reinterpret_cast<Gnss_Synchro *>(output_items[0]);
out[0] = Gnss_Synchro();
out[0].Flag_valid_symbol_output = false;
out[0].Flag_valid_word = false;
out[0].Channel_ID = -1;
out[0].fs = fs;
if ((sample_counter - last_sample_counter) >= samples_per_report)
{
last_sample_counter = sample_counter;
current_s++;
if ((current_s % 60) == 0)
{
current_s = 0;
current_m++;
flag_m = true;
if ((current_m % 60) == 0)
{
current_m = 0;
current_h++;
flag_h = true;
if ((current_h % 24) == 0)
{
current_h = 0;
current_days++;
flag_days = true;
}
}
}
if (flag_days)
{
std::string day;
if (current_days == 1)
{
day = " day ";
}
else
{
day = " days ";
}
std::cout << "Current receiver time: " << current_days << day << current_h << " h " << current_m << " min " << current_s << " s\n";
}
else
{
if (flag_h)
{
std::cout << "Current receiver time: " << current_h << " h " << current_m << " min " << current_s << " s\n";
}
else
{
if (flag_m)
{
std::cout << "Current receiver time: " << current_m << " min " << current_s << " s\n";
}
else
{
std::cout << "Current receiver time: " << current_s << " s\n";
}
}
}
if (flag_enable_send_msg)
{
message_port_pub(pmt::mp("receiver_time"), pmt::from_double(static_cast<double>(current_T_rx_ms) / 1000.0));
}
}
out[0].Tracking_sample_counter = sample_counter;
current_T_rx_ms = interval_ms * (sample_counter) / samples_per_output;
return 1;
}
void gnss_sdr_fpga_sample_counter::wait_for_interrupt() const
{
int32_t irq_count;
ssize_t nb;
// enable interrupts
int32_t reenable = 1;
const ssize_t nbytes = TEMP_FAILURE_RETRY(write(fd, reinterpret_cast<void *>(&reenable), sizeof(int32_t)));
if (nbytes != sizeof(int32_t))
{
std::cerr << "Error re-enabling FPGA sample counter interrupt.\n";
}
// wait for interrupt
nb = read(fd, &irq_count, sizeof(irq_count));
if (nb != sizeof(irq_count))
{
std::cout << "fpga sample counter module read failed to retrieve 4 bytes!\n";
std::cout << "fpga sample counter module interrupt number " << irq_count << '\n';
}
}
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