mirror of https://github.com/gnss-sdr/gnss-sdr
411 lines
16 KiB
C++
411 lines
16 KiB
C++
/*!
|
|
* \file gps_l5i pcps_acquisition.cc
|
|
* \brief Adapts a PCPS acquisition block to an Acquisition Interface for
|
|
* GPS L5i signals
|
|
* \authors <ul>
|
|
* <li> Javier Arribas, 2017. jarribas(at)cttc.es
|
|
* </ul>
|
|
*
|
|
* -------------------------------------------------------------------------
|
|
*
|
|
* Copyright (C) 2010-2017 (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 "gps_l5i_pcps_acquisition_fpga.h"
|
|
#include "GPS_L5.h"
|
|
#include "configuration_interface.h"
|
|
#include "gnss_sdr_flags.h"
|
|
#include "gps_l5_signal.h"
|
|
#include <boost/math/distributions/exponential.hpp>
|
|
#include <glog/logging.h>
|
|
|
|
#define NUM_PRNs 32
|
|
|
|
using google::LogMessage;
|
|
|
|
|
|
GpsL5iPcpsAcquisitionFpga::GpsL5iPcpsAcquisitionFpga(
|
|
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("L5 ACQ CLASS CREATED\n");
|
|
pcpsconf_fpga_t acq_parameters;
|
|
configuration_ = configuration;
|
|
std::string default_item_type = "gr_complex";
|
|
std::string default_dump_filename = "./acquisition.mat";
|
|
|
|
LOG(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", 2048000);
|
|
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_;
|
|
//acq_parameters.sampled_ms = 1;
|
|
unsigned int sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 1);
|
|
acq_parameters.sampled_ms = sampled_ms;
|
|
|
|
//printf("L5 ACQ CLASS MID 0\n");
|
|
|
|
//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_;
|
|
//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 -------------------------
|
|
unsigned int code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / (GPS_L5i_CODE_RATE_HZ / static_cast<double>(GPS_L5i_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);
|
|
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;
|
|
acq_parameters.samples_per_code = nsamples_total;
|
|
//printf("L5 ACQ CLASS MID 01\n");
|
|
// compute all the GPS L5 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(vector_length, true); // Direct FFT
|
|
//printf("L5 ACQ CLASS MID 02\n");
|
|
std::complex<float>* code = new gr_complex[vector_length];
|
|
//printf("L5 ACQ CLASS MID 03\n");
|
|
gr_complex* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
|
|
//printf("L5 ACQ CLASS MID 04\n");
|
|
d_all_fft_codes_ = new lv_16sc_t[nsamples_total * NUM_PRNs]; // memory containing all the possible fft codes for PRN 0 to 32
|
|
|
|
//printf("L5 ACQ CLASS MID 1 vector_length = %d\n", vector_length);
|
|
|
|
float max; // temporary maxima search
|
|
for (unsigned int PRN = 1; PRN <= NUM_PRNs; PRN++)
|
|
{
|
|
//printf("L5 ACQ CLASS processing PRN = %d\n", PRN);
|
|
gps_l5i_code_gen_complex_sampled(code, PRN, fs_in);
|
|
//printf("L5 ACQ CLASS processing PRN = %d (cont) \n", PRN);
|
|
// 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(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>(16*floor(fft_codes_padded[i].real() * (pow(2, 11) - 1) / max)),
|
|
// static_cast<int>(16*floor(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)));
|
|
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)));
|
|
}
|
|
}
|
|
|
|
|
|
//printf("L5 ACQ CLASS MID 2\n");
|
|
|
|
//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;
|
|
// vector_length_ = code_length_;
|
|
//
|
|
// if (bit_transition_flag_)
|
|
// {
|
|
// vector_length_ *= 2;
|
|
// }
|
|
//
|
|
// code_ = new gr_complex[vector_length_];
|
|
//
|
|
// if (item_type_.compare("cshort") == 0)
|
|
// {
|
|
// item_size_ = sizeof(lv_16sc_t);
|
|
// }
|
|
// else
|
|
// {
|
|
// item_size_ = sizeof(gr_complex);
|
|
// }
|
|
// acq_parameters.samples_per_code = code_length_;
|
|
// acq_parameters.samples_per_ms = code_length_;
|
|
// acq_parameters.it_size = item_size_;
|
|
//acq_parameters.sampled_ms = 1;
|
|
// 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_fpga_ = pcps_make_acquisition(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_);
|
|
// 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("L5 ACQ CLASS FINISHED\n");
|
|
}
|
|
|
|
|
|
GpsL5iPcpsAcquisitionFpga::~GpsL5iPcpsAcquisitionFpga()
|
|
{
|
|
//delete[] code_;
|
|
delete[] d_all_fft_codes_;
|
|
}
|
|
|
|
|
|
void GpsL5iPcpsAcquisitionFpga::stop_acquisition()
|
|
{
|
|
}
|
|
|
|
|
|
void GpsL5iPcpsAcquisitionFpga::set_channel(unsigned int channel)
|
|
{
|
|
channel_ = channel;
|
|
acquisition_fpga_->set_channel(channel_);
|
|
}
|
|
|
|
|
|
void GpsL5iPcpsAcquisitionFpga::set_threshold(float threshold)
|
|
{
|
|
// float pfa = configuration_->property(role_ + std::to_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_;
|
|
|
|
// 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.
|
|
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold;
|
|
acquisition_fpga_->set_threshold(threshold);
|
|
}
|
|
|
|
|
|
void GpsL5iPcpsAcquisitionFpga::set_doppler_max(unsigned int doppler_max)
|
|
{
|
|
doppler_max_ = doppler_max;
|
|
acquisition_fpga_->set_doppler_max(doppler_max_);
|
|
}
|
|
|
|
|
|
// Be aware that Doppler step should be set to 2/(3T) Hz, where T is the coherent integration time (GPS L2 period is 0.02s)
|
|
// Doppler bin minimum size= 33 Hz
|
|
void GpsL5iPcpsAcquisitionFpga::set_doppler_step(unsigned int doppler_step)
|
|
{
|
|
doppler_step_ = doppler_step;
|
|
acquisition_fpga_->set_doppler_step(doppler_step_);
|
|
}
|
|
|
|
|
|
void GpsL5iPcpsAcquisitionFpga::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
|
|
{
|
|
gnss_synchro_ = gnss_synchro;
|
|
acquisition_fpga_->set_gnss_synchro(gnss_synchro_);
|
|
}
|
|
|
|
|
|
signed int GpsL5iPcpsAcquisitionFpga::mag()
|
|
{
|
|
return acquisition_fpga_->mag();
|
|
}
|
|
|
|
|
|
void GpsL5iPcpsAcquisitionFpga::init()
|
|
{
|
|
acquisition_fpga_->init();
|
|
}
|
|
|
|
void GpsL5iPcpsAcquisitionFpga::set_local_code()
|
|
{
|
|
acquisition_fpga_->set_local_code();
|
|
}
|
|
|
|
|
|
void GpsL5iPcpsAcquisitionFpga::reset()
|
|
{
|
|
acquisition_fpga_->set_active(true);
|
|
}
|
|
|
|
void GpsL5iPcpsAcquisitionFpga::set_state(int state)
|
|
{
|
|
acquisition_fpga_->set_state(state);
|
|
}
|
|
|
|
|
|
//float GpsL5iPcpsAcquisitionFpga::calculate_threshold(float pfa)
|
|
//{
|
|
// //Calculate the threshold
|
|
// 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 = 1.0 / 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 GpsL5iPcpsAcquisitionFpga::connect(gr::top_block_sptr top_block)
|
|
{
|
|
// 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 GpsL5iPcpsAcquisitionFpga::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
|
|
}
|
|
|
|
|
|
gr::basic_block_sptr GpsL5iPcpsAcquisitionFpga::get_left_block()
|
|
{
|
|
// 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;
|
|
// }
|
|
return nullptr;
|
|
}
|
|
|
|
|
|
gr::basic_block_sptr GpsL5iPcpsAcquisitionFpga::get_right_block()
|
|
{
|
|
return acquisition_fpga_;
|
|
}
|