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gnss-sdr/src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisitio...

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/*!
* \file galileo_e5a_pcps_acquisition.cc
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* Galileo E5a data and pilot Signals
* \author Antonio Ramos, 2018. antonio.ramos(at)cttc.es
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (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/>.
*
* -------------------------------------------------------------------------
*/
#include "galileo_e5a_pcps_acquisition_fpga.h"
#include "configuration_interface.h"
#include "galileo_e5_signal_processing.h"
#include "Galileo_E5a.h"
#include "gnss_sdr_flags.h"
#include <boost/lexical_cast.hpp>
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <volk_gnsssdr/volk_gnsssdr_complex.h>
using google::LogMessage;
void GalileoE5aPcpsAcquisitionFpga::stop_acquisition()
{
}
GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
{
//printf("creating the E5A acquisition");
pcpsconf_fpga_t acq_parameters;
configuration_ = configuration;
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "../data/acquisition.dat";
DLOG(INFO) << "Role " << role;
//item_type_ = configuration_->property(role + ".item_type", default_item_type);
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 32000000);
long fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in;
//acq_parameters.freq = 0;
//dump_ = configuration_->property(role + ".dump", false);
//acq_parameters.dump = dump_;
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
acq_parameters.doppler_max = doppler_max_;
unsigned int sampled_ms = 1;
//max_dwells_ = configuration_->property(role + ".max_dwells", 1);
//acq_parameters.max_dwells = max_dwells_;
//dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
//acq_parameters.dump_filename = dump_filename_;
//bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
//acq_parameters.bit_transition_flag = bit_transition_flag_;
//use_CFAR_ = configuration_->property(role + ".use_CFAR_algorithm", false);
//acq_parameters.use_CFAR_algorithm_flag = use_CFAR_;
//blocking_ = configuration_->property(role + ".blocking", true);
//acq_parameters.blocking = blocking_;
//--- Find number of samples per spreading code (1ms)-------------------------
acq_pilot_ = configuration_->property(role + ".acquire_pilot", false);
acq_iq_ = configuration_->property(role + ".acquire_iq", false);
if (acq_iq_)
{
acq_pilot_ = false;
}
unsigned int code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / Galileo_E5a_CODE_CHIP_RATE_HZ * static_cast<double>(Galileo_E5a_CODE_LENGTH_CHIPS)));
acq_parameters.code_length = code_length;
// The FPGA can only use FFT lengths that are a power of two.
float nbits = ceilf(log2f((float)code_length));
unsigned int nsamples_total = pow(2, nbits);
unsigned int vector_length = nsamples_total;
unsigned int select_queue_Fpga = configuration_->property(role + ".select_queue_Fpga", 1);
//printf("select_queue_Fpga = %d\n", select_queue_Fpga);
acq_parameters.select_queue_Fpga = select_queue_Fpga;
std::string default_device_name = "/dev/uio0";
std::string device_name = configuration_->property(role + ".devicename", default_device_name);
acq_parameters.device_name = device_name;
acq_parameters.samples_per_ms = nsamples_total / sampled_ms;
acq_parameters.samples_per_code = nsamples_total;
//vector_length_ = code_length_ * sampled_ms_;
// compute all the GALILEO E5 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
// a channel is assigned)
gr::fft::fft_complex* fft_if = new gr::fft::fft_complex(nsamples_total, true); // Direct FFT
std::complex<float>* code = new std::complex<float>[nsamples_total]; // buffer for the local code
gr_complex* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_all_fft_codes_ = new lv_16sc_t[nsamples_total * Galileo_E5a_NUMBER_OF_CODES]; // memory containing all the possible fft codes for PRN 0 to 32
float max; // temporary maxima search
//printf("creating the E5A acquisition CONT");
//printf("nsamples_total = %d\n", nsamples_total);
for (unsigned int PRN = 1; PRN <= Galileo_E5a_NUMBER_OF_CODES; PRN++)
{
// gr_complex* code = new gr_complex[code_length_];
char signal_[3];
if (acq_iq_)
{
strcpy(signal_, "5X");
}
else if (acq_pilot_)
{
strcpy(signal_, "5Q");
}
else
{
strcpy(signal_, "5I");
}
galileo_e5_a_code_gen_complex_sampled(code, signal_, PRN, fs_in, 0);
// fill in zero padding
for (int s = code_length; s < nsamples_total; s++)
{
code[s] = std::complex<float>(static_cast<float>(0, 0));
//code[s] = 0;
}
memcpy(fft_if->get_inbuf(), code, sizeof(gr_complex) * nsamples_total); // copy to FFT buffer
fft_if->execute(); // Run the FFT of local code
volk_32fc_conjugate_32fc(fft_codes_padded, fft_if->get_outbuf(), nsamples_total); // conjugate values
max = 0; // initialize maximum value
for (unsigned int i = 0; i < nsamples_total; i++) // search for maxima
{
if (std::abs(fft_codes_padded[i].real()) > max)
{
max = std::abs(fft_codes_padded[i].real());
}
if (std::abs(fft_codes_padded[i].imag()) > max)
{
max = std::abs(fft_codes_padded[i].imag());
}
}
for (unsigned int i = 0; i < nsamples_total; i++) // map the FFT to the dynamic range of the fixed point values an copy to buffer containing all FFTs
{
d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int>(floor(fft_codes_padded[i].real() * (pow(2, 15) - 1) / max)),
static_cast<int>(floor(fft_codes_padded[i].imag() * (pow(2, 15) - 1) / max)));
}
}
acq_parameters.all_fft_codes = d_all_fft_codes_;
// temporary buffers that we can delete
delete[] code;
delete fft_if;
delete[] fft_codes_padded;
//code_ = new gr_complex[vector_length_];
// if (item_type_.compare("gr_complex") == 0)
// {
// item_size_ = sizeof(gr_complex);
// }
// else if (item_type_.compare("cshort") == 0)
// {
// item_size_ = sizeof(lv_16sc_t);
// }
// else
// {
// item_size_ = sizeof(gr_complex);
// LOG(WARNING) << item_type_ << " unknown acquisition item type";
// }
//acq_parameters.it_size = item_size_;
//acq_parameters.samples_per_code = code_length_;
//acq_parameters.samples_per_ms = code_length_;
//acq_parameters.sampled_ms = sampled_ms_;
//acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
//acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
//acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
//acquisition_ = pcps_make_acquisition(acq_parameters);
//acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters);
//DLOG(INFO) << "acquisition(" << acquisition_fpga_->unique_id() << ")";
acquisition_fpga_ = pcps_make_acquisition_fpga(acq_parameters);
DLOG(INFO) << "acquisition(" << acquisition_fpga_->unique_id() << ")";
//stream_to_vector_ = gr::blocks::stream_to_vector::make(item_size_, vector_length_);
channel_ = 0;
//threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = 0;
//printf("creating the E5A acquisition end");
}
GalileoE5aPcpsAcquisitionFpga::~GalileoE5aPcpsAcquisitionFpga()
{
//delete[] code_;
delete[] d_all_fft_codes_;
}
void GalileoE5aPcpsAcquisitionFpga::set_channel(unsigned int channel)
{
channel_ = channel;
//acquisition_->set_channel(channel_);
acquisition_fpga_->set_channel(channel_);
}
void GalileoE5aPcpsAcquisitionFpga::set_threshold(float threshold)
{
// float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
//
// if (pfa == 0.0)
// {
// pfa = configuration_->property(role_ + ".pfa", 0.0);
// }
//
// if (pfa == 0.0)
// {
// threshold_ = threshold;
// }
//
// else
// {
// threshold_ = calculate_threshold(pfa);
// }
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold;
//acquisition_->set_threshold(threshold_);
acquisition_fpga_->set_threshold(threshold);
}
void GalileoE5aPcpsAcquisitionFpga::set_doppler_max(unsigned int doppler_max)
{
doppler_max_ = doppler_max;
//acquisition_->set_doppler_max(doppler_max_);
acquisition_fpga_->set_doppler_max(doppler_max_);
}
void GalileoE5aPcpsAcquisitionFpga::set_doppler_step(unsigned int doppler_step)
{
doppler_step_ = doppler_step;
//acquisition_->set_doppler_step(doppler_step_);
acquisition_fpga_->set_doppler_step(doppler_step_);
}
void GalileoE5aPcpsAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{
gnss_synchro_ = gnss_synchro;
//acquisition_->set_gnss_synchro(gnss_synchro_);
acquisition_fpga_->set_gnss_synchro(gnss_synchro_);
}
signed int GalileoE5aPcpsAcquisitionFpga::mag()
{
//return acquisition_->mag();
return acquisition_fpga_->mag();
}
void GalileoE5aPcpsAcquisitionFpga::init()
{
//acquisition_->init();
acquisition_fpga_->init();
}
void GalileoE5aPcpsAcquisitionFpga::set_local_code()
{
// gr_complex* code = new gr_complex[code_length_];
// char signal_[3];
//
// if (acq_iq_)
// {
// strcpy(signal_, "5X");
// }
// else if (acq_pilot_)
// {
// strcpy(signal_, "5Q");
// }
// else
// {
// strcpy(signal_, "5I");
// }
//
// galileo_e5_a_code_gen_complex_sampled(code, signal_, gnss_synchro_->PRN, fs_in_, 0);
//
// for (unsigned int i = 0; i < sampled_ms_; i++)
// {
// memcpy(code_ + (i * code_length_), code, sizeof(gr_complex) * code_length_);
// }
//acquisition_->set_local_code(code_);
acquisition_fpga_->set_local_code();
// delete[] code;
}
void GalileoE5aPcpsAcquisitionFpga::reset()
{
//acquisition_->set_active(true);
acquisition_fpga_->set_active(true);
}
//float GalileoE5aPcpsAcquisitionFpga::calculate_threshold(float pfa)
//{
// unsigned int frequency_bins = 0;
// for (int doppler = static_cast<int>(-doppler_max_); doppler <= static_cast<int>(doppler_max_); doppler += doppler_step_)
// {
// frequency_bins++;
// }
// DLOG(INFO) << "Channel " << channel_ << " Pfa = " << pfa;
// unsigned int ncells = vector_length_ * frequency_bins;
// double exponent = 1 / static_cast<double>(ncells);
// double val = pow(1.0 - pfa, exponent);
// double lambda = double(vector_length_);
// boost::math::exponential_distribution<double> mydist(lambda);
// float threshold = static_cast<float>(quantile(mydist, val));
//
// return threshold;
//}
void GalileoE5aPcpsAcquisitionFpga::set_state(int state)
{
//acquisition_->set_state(state);
acquisition_fpga_->set_state(state);
}
void GalileoE5aPcpsAcquisitionFpga::connect(gr::top_block_sptr top_block)
{
// if (item_type_.compare("gr_complex") == 0)
// {
// top_block->connect(stream_to_vector_, 0, acquisition_, 0);
// }
// else if (item_type_.compare("cshort") == 0)
// {
// top_block->connect(stream_to_vector_, 0, acquisition_, 0);
// }
// else
// {
// LOG(WARNING) << item_type_ << " unknown acquisition item type";
// }
}
void GalileoE5aPcpsAcquisitionFpga::disconnect(gr::top_block_sptr top_block)
{
// if (item_type_.compare("gr_complex") == 0)
// {
// top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
// }
// else if (item_type_.compare("cshort") == 0)
// {
// top_block->disconnect(stream_to_vector_, 0, acquisition_, 0);
// }
// else
// {
// LOG(WARNING) << item_type_ << " unknown acquisition item type";
// }
}
gr::basic_block_sptr GalileoE5aPcpsAcquisitionFpga::get_left_block()
{
//return stream_to_vector_;
return nullptr;
}
gr::basic_block_sptr GalileoE5aPcpsAcquisitionFpga::get_right_block()
{
//return acquisition_;
return acquisition_fpga_;
}
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