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/*!
* \file galileo_e1_pcps_ambiguous_acquisition.cc
* \brief Adapts a PCPS acquisition block to an AcquisitionInterface for
* Galileo E1 Signals
* \author Luis Esteve, 2012. luis(at)epsilon-formacion.com
*
* -------------------------------------------------------------------------
*
* 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_pcps_ambiguous_acquisition_fpga.h"
#include "Galileo_E1.h"
#include "configuration_interface.h"
#include "galileo_e1_signal_processing.h"
#include "gnss_sdr_flags.h"
#include <boost/lexical_cast.hpp>
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
using google::LogMessage;
GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
//printf("top acq constructor start\n");
pcpsconf_fpga_t acq_parameters;
configuration_ = configuration;
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./acquisition.mat";
DLOG(INFO) << "role " << role;
// item_type_ = configuration_->property(role + ".item_type", default_item_type);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000);
int64_t fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in;
//if_ = configuration_->property(role + ".if", 0);
//acq_parameters.freq = if_;
// dump_ = configuration_->property(role + ".dump", false);
// acq_parameters.dump = dump_;
// blocking_ = configuration_->property(role + ".blocking", true);
// acq_parameters.blocking = blocking_;
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 = 4;
//acq_parameters.sampled_ms = sampled_ms;
unsigned int sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 4);
acq_parameters.sampled_ms = sampled_ms;
// bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
// acq_parameters.bit_transition_flag = bit_transition_flag_;
// use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
// acq_parameters.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
acquire_pilot_ = configuration_->property(role + ".acquire_pilot", false); //will be true in future versions
// 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_;
//--- Find number of samples per spreading code (4 ms) -----------------
unsigned int code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)));
//acq_parameters.samples_per_code = code_length_;
//int samples_per_ms = static_cast<int>(std::round(static_cast<double>(fs_in_) * 0.001));
//acq_parameters.samples_per_ms = samples_per_ms;
//unsigned int vector_length = sampled_ms * samples_per_ms;
// if (bit_transition_flag_)
// {
// vector_length_ *= 2;
// }
//printf("fs_in = %d\n", fs_in);
//printf("Galileo_E1_B_CODE_LENGTH_CHIPS = %f\n", Galileo_E1_B_CODE_LENGTH_CHIPS);
//printf("Galileo_E1_CODE_CHIP_RATE_HZ = %f\n", Galileo_E1_CODE_CHIP_RATE_HZ);
//printf("acq adapter code_length = %d\n", code_length);
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;
//printf("acq adapter nsamples_total (= vector_length) = %d\n", vector_length);
unsigned int select_queue_Fpga = configuration_->property(role + ".select_queue_Fpga", 0);
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;
// compute all the GALILEO E1 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_E1_NUMBER_OF_CODES]; // memory containing all the possible fft codes for PRN 0 to 32
float max; // temporary maxima search
//int tmp_re, tmp_im;
for (unsigned int PRN = 1; PRN <= Galileo_E1_NUMBER_OF_CODES; PRN++)
{
//code_ = new gr_complex[vector_length_];
bool cboc = false; // cboc is set to 0 when using the FPGA
//std::complex<float>* code = new std::complex<float>[code_length_];
if (acquire_pilot_ == true)
{
//printf("yes acquiring pilot!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!1\n");
//set local signal generator to Galileo E1 pilot component (1C)
char pilot_signal[3] = "1C";
galileo_e1_code_gen_complex_sampled(code, pilot_signal,
cboc, PRN, fs_in, 0, false);
}
else
{
char data_signal[3] = "1B";
galileo_e1_code_gen_complex_sampled(code, data_signal,
cboc, PRN, fs_in, 0, false);
}
// for (unsigned int i = 0; i < sampled_ms / 4; i++)
// {
// //memcpy(&(code_[i * code_length_]), code, sizeof(gr_complex) * code_length_);
// memcpy(&(d_all_fft_codes_[i * code_length_]), code, sizeof(gr_complex) * code_length_);
// }
// // debug
// char filename[25];
// FILE *fid;
// sprintf(filename,"gal_prn%d.txt", PRN);
// fid = fopen(filename, "w");
// for (unsigned int kk=0;kk< nsamples_total; kk++)
// {
// fprintf(fid, "%f\n", code[kk].real());
// fprintf(fid, "%f\n", code[kk].imag());
// }
// fclose(fid);
// // 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
// // debug
// char filename[25];
// FILE *fid;
// sprintf(filename,"fft_gal_prn%d.txt", PRN);
// fid = fopen(filename, "w");
// for (unsigned int kk=0;kk< nsamples_total; kk++)
// {
// fprintf(fid, "%f\n", fft_codes_padded[kk].real());
// fprintf(fid, "%f\n", fft_codes_padded[kk].imag());
// }
// fclose(fid);
// normalize the code
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(4096*fft_codes_padded[i].real() * (pow(2, 3) - 1) / max)),
// static_cast<int>(floor(4096*fft_codes_padded[i].imag() * (pow(2, 3) - 1) / max)));
// d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int>(floor(1024*fft_codes_padded[i].real() * (pow(2, 5) - 1) / max)),
// static_cast<int>(floor(1024*fft_codes_padded[i].imag() * (pow(2, 5) - 1) / max)));
// d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int>(floor(256*fft_codes_padded[i].real() * (pow(2, 7) - 1) / max)),
// static_cast<int>(floor(256*fft_codes_padded[i].imag() * (pow(2, 7) - 1) / max)));
// d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int>(floor(16*fft_codes_padded[i].real() * (pow(2, 11) - 1) / max)),
// static_cast<int>(floor(16*fft_codes_padded[i].imag() * (pow(2, 11) - 1) / max)));
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)));
// tmp_re = static_cast<int>(floor(fft_codes_padded[i].real() * (pow(2, 7) - 1) / max));
// tmp_im = static_cast<int>(floor(fft_codes_padded[i].imag() * (pow(2, 7) - 1) / max));
// if (tmp_re > 127)
// {
// tmp_re = 127;
// }
// if (tmp_re < -128)
// {
// tmp_re = -128;
// }
// if (tmp_im > 127)
// {
// tmp_im = 127;
// }
// if (tmp_im < -128)
// {
// tmp_im = -128;
// }
// d_all_fft_codes_[i + nsamples_total * (PRN - 1)] = lv_16sc_t(static_cast<int>(tmp_re), static_cast<int>(tmp_im));
//
}
// // debug
// char filename2[25];
// FILE *fid2;
// sprintf(filename2,"fft_gal_prn%d_norm.txt", PRN);
// fid2 = fopen(filename2, "w");
// for (unsigned int kk=0;kk< nsamples_total; kk++)
// {
// fprintf(fid2, "%d\n", d_all_fft_codes_[kk + nsamples_total * (PRN - 1)].real());
// fprintf(fid2, "%d\n", d_all_fft_codes_[kk + nsamples_total * (PRN - 1)].imag());
// }
// fclose(fid2);
}
// for (unsigned int PRN = 1; PRN <= Galileo_E1_NUMBER_OF_CODES; PRN++)
// {
// // debug
// char filename2[25];
// FILE *fid2;
// sprintf(filename2,"fft_gal_prn%d_norm_last.txt", PRN);
// fid2 = fopen(filename2, "w");
// for (unsigned int kk=0;kk< nsamples_total; kk++)
// {
// fprintf(fid2, "%d\n", d_all_fft_codes_[kk + nsamples_total * (PRN - 1)].real());
// fprintf(fid2, "%d\n", d_all_fft_codes_[kk + nsamples_total * (PRN - 1)].imag());
// }
// fclose(fid2);
// }
//acq_parameters
acq_parameters.all_fft_codes = d_all_fft_codes_;
// temporary buffers that we can delete
delete[] code;
delete fft_if;
delete[] fft_codes_padded;
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_);
// DLOG(INFO) << "stream_to_vector(" << stream_to_vector_->unique_id() << ")";
// if (item_type_.compare("cbyte") == 0)
// {
// cbyte_to_float_x2_ = make_complex_byte_to_float_x2();
// float_to_complex_ = gr::blocks::float_to_complex::make();
// }
channel_ = 0;
//threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = nullptr;
//printf("top acq constructor end\n");
}
GalileoE1PcpsAmbiguousAcquisitionFpga::~GalileoE1PcpsAmbiguousAcquisitionFpga()
{
//printf("top acq destructor start\n");
//delete[] code_;
delete[] d_all_fft_codes_;
//printf("top acq destructor end\n");
}
void GalileoE1PcpsAmbiguousAcquisitionFpga::stop_acquisition()
{
}
void GalileoE1PcpsAmbiguousAcquisitionFpga::set_channel(unsigned int channel)
{
//printf("top acq set channel start\n");
channel_ = channel;
acquisition_fpga_->set_channel(channel_);
//printf("top acq set channel end\n");
}
void GalileoE1PcpsAmbiguousAcquisitionFpga::set_threshold(float threshold)
{
//printf("top acq set threshold start\n");
// the .pfa parameter and the threshold calculation is only used for the CFAR algorithm.
// We don't use the CFAR algorithm in the FPGA. Therefore the threshold is set as such.
// 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_fpga_->set_threshold(threshold);
// acquisition_fpga_->set_threshold(threshold_);
//printf("top acq set threshold end\n");
}
void GalileoE1PcpsAmbiguousAcquisitionFpga::set_doppler_max(unsigned int doppler_max)
{
//printf("top acq set doppler max start\n");
doppler_max_ = doppler_max;
acquisition_fpga_->set_doppler_max(doppler_max_);
//printf("top acq set doppler max end\n");
}
void GalileoE1PcpsAmbiguousAcquisitionFpga::set_doppler_step(unsigned int doppler_step)
{
//printf("top acq set doppler step start\n");
doppler_step_ = doppler_step;
acquisition_fpga_->set_doppler_step(doppler_step_);
//printf("top acq set doppler step end\n");
}
void GalileoE1PcpsAmbiguousAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{
//printf("top acq set gnss synchro start\n");
gnss_synchro_ = gnss_synchro;
acquisition_fpga_->set_gnss_synchro(gnss_synchro_);
//printf("top acq set gnss synchro end\n");
}
signed int GalileoE1PcpsAmbiguousAcquisitionFpga::mag()
{
// printf("top acq mag start\n");
return acquisition_fpga_->mag();
//printf("top acq mag end\n");
}
void GalileoE1PcpsAmbiguousAcquisitionFpga::init()
{
// printf("top acq init start\n");
acquisition_fpga_->init();
// printf("top acq init end\n");
//set_local_code();
}
void GalileoE1PcpsAmbiguousAcquisitionFpga::set_local_code()
{
// printf("top acq set local code start\n");
// bool cboc = configuration_->property(
// "Acquisition" + boost::lexical_cast<std::string>(channel_) + ".cboc", false);
//
// std::complex<float>* code = new std::complex<float>[code_length_];
//
// if (acquire_pilot_ == true)
// {
// //set local signal generator to Galileo E1 pilot component (1C)
// char pilot_signal[3] = "1C";
// galileo_e1_code_gen_complex_sampled(code, pilot_signal,
// cboc, gnss_synchro_->PRN, fs_in_, 0, false);
// }
// else
// {
// galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
// cboc, gnss_synchro_->PRN, fs_in_, 0, false);
// }
//
//
// for (unsigned int i = 0; i < sampled_ms_ / 4; i++)
// {
// memcpy(&(code_[i * code_length_]), code, sizeof(gr_complex) * code_length_);
// }
//acquisition_fpga_->set_local_code(code_);
acquisition_fpga_->set_local_code();
// delete[] code;
// printf("top acq set local code end\n");
}
void GalileoE1PcpsAmbiguousAcquisitionFpga::reset()
{
// printf("top acq reset start\n");
acquisition_fpga_->set_active(true);
// printf("top acq reset end\n");
}
void GalileoE1PcpsAmbiguousAcquisitionFpga::set_state(int state)
{
// printf("top acq set state start\n");
acquisition_fpga_->set_state(state);
// printf("top acq set state end\n");
}
//float GalileoE1PcpsAmbiguousAcquisitionFpga::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 GalileoE1PcpsAmbiguousAcquisitionFpga::connect(gr::top_block_sptr top_block)
{
// printf("top acq connect\n");
// if (item_type_.compare("gr_complex") == 0)
// {
// top_block->connect(stream_to_vector_, 0, acquisition_fpga_, 0);
// }
// else if (item_type_.compare("cshort") == 0)
// {
// top_block->connect(stream_to_vector_, 0, acquisition_fpga_, 0);
// }
// else if (item_type_.compare("cbyte") == 0)
// {
// top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
// top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
// top_block->connect(float_to_complex_, 0, stream_to_vector_, 0);
// top_block->connect(stream_to_vector_, 0, acquisition_fpga_, 0);
// }
// else
// {
// LOG(WARNING) << item_type_ << " unknown acquisition item type";
// }
// nothing to connect
}
void GalileoE1PcpsAmbiguousAcquisitionFpga::disconnect(gr::top_block_sptr top_block)
{
// if (item_type_.compare("gr_complex") == 0)
// {
// top_block->disconnect(stream_to_vector_, 0, acquisition_fpga_, 0);
// }
// else if (item_type_.compare("cshort") == 0)
// {
// top_block->disconnect(stream_to_vector_, 0, acquisition_fpga_, 0);
// }
// else if (item_type_.compare("cbyte") == 0)
// {
// // Since a byte-based acq implementation is not available,
// // we just convert cshorts to gr_complex
// top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
// top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
// top_block->disconnect(float_to_complex_, 0, stream_to_vector_, 0);
// top_block->disconnect(stream_to_vector_, 0, acquisition_fpga_, 0);
// }
// else
// {
// LOG(WARNING) << item_type_ << " unknown acquisition item type";
// }
// nothing to disconnect
// printf("top acq disconnect\n");
}
gr::basic_block_sptr GalileoE1PcpsAmbiguousAcquisitionFpga::get_left_block()
{
// printf("top acq get left block start\n");
// if (item_type_.compare("gr_complex") == 0)
// {
// return stream_to_vector_;
// }
// else if (item_type_.compare("cshort") == 0)
// {
// return stream_to_vector_;
// }
// else if (item_type_.compare("cbyte") == 0)
// {
// return cbyte_to_float_x2_;
// }
// else
// {
// LOG(WARNING) << item_type_ << " unknown acquisition item type";
return nullptr;
// }
// printf("top acq get left block end\n");
}
gr::basic_block_sptr GalileoE1PcpsAmbiguousAcquisitionFpga::get_right_block()
{
// printf("top acq get right block start\n");
return acquisition_fpga_;
// printf("top acq get right block end\n");
}
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