mirror of https://github.com/gnss-sdr/gnss-sdr
270 lines
12 KiB
C++
270 lines
12 KiB
C++
/*!
|
|
* \file galileo_e1_dll_pll_veml_tracking.cc
|
|
* \brief Adapts a DLL+PLL VEML (Very Early Minus Late) tracking loop block
|
|
* to a TrackingInterface for Galileo E1 signals
|
|
* \author Luis Esteve, 2012. luis(at)epsilon-formacion.com
|
|
*
|
|
* 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/>.
|
|
*
|
|
* -------------------------------------------------------------------------
|
|
*/
|
|
|
|
#include "galileo_e1_dll_pll_veml_tracking_fpga.h"
|
|
#include "configuration_interface.h"
|
|
#include "Galileo_E1.h"
|
|
#include "galileo_e1_signal_processing.h"
|
|
#include "gnss_sdr_flags.h"
|
|
#include "display.h"
|
|
#include <glog/logging.h>
|
|
|
|
//#define NUM_PRNs_GALILEO_E1 50
|
|
|
|
using google::LogMessage;
|
|
|
|
void GalileoE1DllPllVemlTrackingFpga::stop_tracking()
|
|
{
|
|
}
|
|
|
|
GalileoE1DllPllVemlTrackingFpga::GalileoE1DllPllVemlTrackingFpga(
|
|
ConfigurationInterface* configuration, std::string role,
|
|
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
|
|
{
|
|
//dllpllconf_t trk_param;
|
|
Dll_Pll_Conf_Fpga trk_param_fpga = Dll_Pll_Conf_Fpga();
|
|
DLOG(INFO) << "role " << role;
|
|
//################# CONFIGURATION PARAMETERS ########################
|
|
std::string default_item_type = "gr_complex";
|
|
std::string item_type = configuration->property(role + ".item_type", default_item_type);
|
|
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
|
|
int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
|
|
trk_param_fpga.fs_in = fs_in;
|
|
bool dump = configuration->property(role + ".dump", false);
|
|
trk_param_fpga.dump = dump;
|
|
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 5.0);
|
|
if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
|
|
trk_param_fpga.pll_bw_hz = pll_bw_hz;
|
|
float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 0.5);
|
|
if (FLAGS_dll_bw_hz != 0.0) dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
|
|
trk_param_fpga.dll_bw_hz = dll_bw_hz;
|
|
float pll_bw_narrow_hz = configuration->property(role + ".pll_bw_narrow_hz", 2.0);
|
|
trk_param_fpga.pll_bw_narrow_hz = pll_bw_narrow_hz;
|
|
float dll_bw_narrow_hz = configuration->property(role + ".dll_bw_narrow_hz", 0.25);
|
|
trk_param_fpga.dll_bw_narrow_hz = dll_bw_narrow_hz;
|
|
int extend_correlation_symbols = configuration->property(role + ".extend_correlation_symbols", 1);
|
|
float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.15);
|
|
trk_param_fpga.early_late_space_chips = early_late_space_chips;
|
|
float very_early_late_space_chips = configuration->property(role + ".very_early_late_space_chips", 0.6);
|
|
trk_param_fpga.very_early_late_space_chips = very_early_late_space_chips;
|
|
float early_late_space_narrow_chips = configuration->property(role + ".early_late_space_narrow_chips", 0.15);
|
|
trk_param_fpga.early_late_space_narrow_chips = early_late_space_narrow_chips;
|
|
float very_early_late_space_narrow_chips = configuration->property(role + ".very_early_late_space_narrow_chips", 0.6);
|
|
trk_param_fpga.very_early_late_space_narrow_chips = very_early_late_space_narrow_chips;
|
|
bool track_pilot = configuration->property(role + ".track_pilot", false);
|
|
if (extend_correlation_symbols < 1)
|
|
{
|
|
extend_correlation_symbols = 1;
|
|
std::cout << TEXT_RED << "WARNING: Galileo E1. extend_correlation_symbols must be bigger than 0. Coherent integration has been set to 1 symbol (4 ms)" << TEXT_RESET << std::endl;
|
|
}
|
|
else if (!track_pilot and extend_correlation_symbols > 1)
|
|
{
|
|
extend_correlation_symbols = 1;
|
|
std::cout << TEXT_RED << "WARNING: Galileo E1. Extended coherent integration is not allowed when tracking the data component. Coherent integration has been set to 4 ms (1 symbol)" << TEXT_RESET << std::endl;
|
|
}
|
|
if ((extend_correlation_symbols > 1) and (pll_bw_narrow_hz > pll_bw_hz or dll_bw_narrow_hz > dll_bw_hz))
|
|
{
|
|
std::cout << TEXT_RED << "WARNING: Galileo E1. PLL or DLL narrow tracking bandwidth is higher than wide tracking one" << TEXT_RESET << std::endl;
|
|
}
|
|
trk_param_fpga.track_pilot = track_pilot;
|
|
d_track_pilot = track_pilot;
|
|
trk_param_fpga.extend_correlation_symbols = extend_correlation_symbols;
|
|
std::string default_dump_filename = "./track_ch";
|
|
std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
|
|
trk_param_fpga.dump_filename = dump_filename;
|
|
int vector_length = std::round(fs_in / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS));
|
|
trk_param_fpga.vector_length = vector_length;
|
|
trk_param_fpga.system = 'E';
|
|
char sig_[3] = "1B";
|
|
std::memcpy(trk_param_fpga.signal, sig_, 3);
|
|
int cn0_samples = configuration->property(role + ".cn0_samples", 20);
|
|
if (FLAGS_cn0_samples != 20) cn0_samples = FLAGS_cn0_samples;
|
|
trk_param_fpga.cn0_samples = cn0_samples;
|
|
int cn0_min = configuration->property(role + ".cn0_min", 25);
|
|
if (FLAGS_cn0_min != 25) cn0_min = FLAGS_cn0_min;
|
|
trk_param_fpga.cn0_min = cn0_min;
|
|
int max_lock_fail = configuration->property(role + ".max_lock_fail", 50);
|
|
if (FLAGS_max_lock_fail != 50) max_lock_fail = FLAGS_max_lock_fail;
|
|
trk_param_fpga.max_lock_fail = max_lock_fail;
|
|
double carrier_lock_th = configuration->property(role + ".carrier_lock_th", 0.85);
|
|
if (FLAGS_carrier_lock_th != 0.85) carrier_lock_th = FLAGS_carrier_lock_th;
|
|
trk_param_fpga.carrier_lock_th = carrier_lock_th;
|
|
|
|
// FPGA configuration parameters
|
|
std::string default_device_name = "/dev/uio";
|
|
std::string device_name = configuration->property(role + ".devicename", default_device_name);
|
|
trk_param_fpga.device_name = device_name;
|
|
unsigned int device_base = configuration->property(role + ".device_base", 1);
|
|
trk_param_fpga.device_base = device_base;
|
|
//unsigned int multicorr_type = configuration->property(role + ".multicorr_type", 1);
|
|
trk_param_fpga.multicorr_type = 1; // 0 -> 3 correlators, 1 -> 5 correlators
|
|
|
|
//################# PRE-COMPUTE ALL THE CODES #################
|
|
unsigned int code_samples_per_chip = 2;
|
|
d_ca_codes = static_cast<int*>(volk_gnsssdr_malloc(static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS) * code_samples_per_chip * Galileo_E1_NUMBER_OF_CODES * sizeof(int), volk_gnsssdr_get_alignment()));
|
|
float* ca_codes_f;
|
|
float* data_codes_f;
|
|
|
|
if (trk_param_fpga.track_pilot)
|
|
{
|
|
d_data_codes = static_cast<int*>(volk_gnsssdr_malloc((static_cast<unsigned int>(Galileo_E1_B_CODE_LENGTH_CHIPS)) * code_samples_per_chip * Galileo_E1_NUMBER_OF_CODES * sizeof(int), volk_gnsssdr_get_alignment()));
|
|
}
|
|
ca_codes_f = static_cast<float*>(volk_gnsssdr_malloc(static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS) * code_samples_per_chip * sizeof(float), volk_gnsssdr_get_alignment()));
|
|
|
|
if (trk_param_fpga.track_pilot)
|
|
{
|
|
data_codes_f = static_cast<float*>(volk_gnsssdr_malloc((static_cast<unsigned int>(Galileo_E1_B_CODE_LENGTH_CHIPS)) * code_samples_per_chip * sizeof(float), volk_gnsssdr_get_alignment()));
|
|
}
|
|
|
|
//printf("pppppppp trk_param_fpga.track_pilot = %d\n", trk_param_fpga.track_pilot);
|
|
|
|
//int kk;
|
|
|
|
for (unsigned int PRN = 1; PRN <= Galileo_E1_NUMBER_OF_CODES; PRN++)
|
|
{
|
|
char data_signal[3] = "1B";
|
|
if (trk_param_fpga.track_pilot)
|
|
{
|
|
//printf("yes tracking pilot !!!!!!!!!!!!!!!\n");
|
|
char pilot_signal[3] = "1C";
|
|
galileo_e1_code_gen_sinboc11_float(ca_codes_f, pilot_signal, PRN);
|
|
galileo_e1_code_gen_sinboc11_float(data_codes_f, data_signal, PRN);
|
|
|
|
for (unsigned int s = 0; s < 2 * Galileo_E1_B_CODE_LENGTH_CHIPS; s++)
|
|
{
|
|
d_ca_codes[static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS) * 2 * (PRN - 1) + s] = static_cast<int>(ca_codes_f[s]);
|
|
d_data_codes[static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS) * 2 * (PRN - 1) + s] = static_cast<int>(data_codes_f[s]);
|
|
//printf("%f %d | ", data_codes_f[s], d_data_codes[static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS)* 2 * (PRN - 1) + s]);
|
|
}
|
|
//printf("\n next \n");
|
|
//scanf ("%d",&kk);
|
|
}
|
|
else
|
|
{
|
|
//printf("no tracking pilot\n");
|
|
galileo_e1_code_gen_sinboc11_float(ca_codes_f, data_signal, PRN);
|
|
|
|
for (unsigned int s = 0; s < 2 * Galileo_E1_B_CODE_LENGTH_CHIPS; s++)
|
|
{
|
|
d_ca_codes[static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS) * 2 * (PRN - 1) + s] = static_cast<int>(ca_codes_f[s]);
|
|
//printf("%f %d | ", ca_codes_f[s], d_ca_codes[static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS)* 2 * (PRN - 1) + s]);
|
|
}
|
|
//printf("\n next \n");
|
|
//scanf ("%d",&kk);
|
|
}
|
|
}
|
|
|
|
delete[] ca_codes_f;
|
|
if (trk_param_fpga.track_pilot)
|
|
{
|
|
delete[] data_codes_f;
|
|
}
|
|
trk_param_fpga.ca_codes = d_ca_codes;
|
|
trk_param_fpga.data_codes = d_data_codes;
|
|
trk_param_fpga.code_length_chips = Galileo_E1_B_CODE_LENGTH_CHIPS;
|
|
trk_param_fpga.code_samples_per_chip = code_samples_per_chip; // 2 sample per chip
|
|
//################# MAKE TRACKING GNURadio object ###################
|
|
tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_param_fpga);
|
|
channel_ = 0;
|
|
DLOG(INFO) << "tracking(" << tracking_fpga_sc->unique_id() << ")";
|
|
}
|
|
|
|
|
|
GalileoE1DllPllVemlTrackingFpga::~GalileoE1DllPllVemlTrackingFpga()
|
|
{
|
|
delete[] d_ca_codes;
|
|
if (d_track_pilot)
|
|
{
|
|
delete[] d_data_codes;
|
|
}
|
|
}
|
|
|
|
void GalileoE1DllPllVemlTrackingFpga::start_tracking()
|
|
{
|
|
//tracking_->start_tracking();
|
|
tracking_fpga_sc->start_tracking();
|
|
}
|
|
|
|
|
|
/*
|
|
* Set tracking channel unique ID
|
|
*/
|
|
void GalileoE1DllPllVemlTrackingFpga::set_channel(unsigned int channel)
|
|
{
|
|
channel_ = channel;
|
|
//tracking_->set_channel(channel);
|
|
tracking_fpga_sc->set_channel(channel);
|
|
}
|
|
|
|
|
|
void GalileoE1DllPllVemlTrackingFpga::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
|
|
{
|
|
//tracking_->set_gnss_synchro(p_gnss_synchro);
|
|
tracking_fpga_sc->set_gnss_synchro(p_gnss_synchro);
|
|
}
|
|
|
|
|
|
void GalileoE1DllPllVemlTrackingFpga::connect(gr::top_block_sptr top_block)
|
|
{
|
|
if (top_block)
|
|
{ /* top_block is not null */
|
|
};
|
|
//nothing to connect, now the tracking uses gr_sync_decimator
|
|
}
|
|
|
|
|
|
void GalileoE1DllPllVemlTrackingFpga::disconnect(gr::top_block_sptr top_block)
|
|
{
|
|
if (top_block)
|
|
{ /* top_block is not null */
|
|
};
|
|
//nothing to disconnect, now the tracking uses gr_sync_decimator
|
|
}
|
|
|
|
|
|
gr::basic_block_sptr GalileoE1DllPllVemlTrackingFpga::get_left_block()
|
|
{
|
|
//return tracking_;
|
|
return tracking_fpga_sc;
|
|
}
|
|
|
|
|
|
gr::basic_block_sptr GalileoE1DllPllVemlTrackingFpga::get_right_block()
|
|
{
|
|
//return tracking_;
|
|
return tracking_fpga_sc;
|
|
}
|