mirror of https://github.com/gnss-sdr/gnss-sdr
304 lines
12 KiB
C++
304 lines
12 KiB
C++
/*!
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* \file gnss_sdr_fpga_sample_counter.cc
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* \brief Simple block to report the current receiver time based on the output of the tracking or telemetry blocks
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* \author Javier Arribas 2018. jarribas(at)cttc.es
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*
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include "gnss_sdr_fpga_sample_counter.h"
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#include "gnss_synchro.h"
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#include <glog/logging.h>
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#include <gnuradio/io_signature.h>
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#include <cmath>
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#include <fcntl.h> // libraries used by the GIPO
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#include <inttypes.h>
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#include <iostream>
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#include <string>
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#include <sys/mman.h> // libraries used by the GIPO
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#define PAGE_SIZE 0x10000 // default page size for the multicorrelator memory map
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#define TEST_REG_SANITY_CHECK 0x55AA // value to check the presence of the test register (to detect the hw)
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gnss_sdr_fpga_sample_counter::gnss_sdr_fpga_sample_counter(
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double _fs,
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int32_t _interval_ms) : gr::block("fpga_fpga_sample_counter",
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gr::io_signature::make(0, 0, 0),
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gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
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{
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message_port_register_out(pmt::mp("fpga_sample_counter"));
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set_max_noutput_items(1);
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interval_ms = _interval_ms;
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fs = _fs;
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//printf("CREATOR fs = %f\n", fs);
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//printf("CREATOR interval_ms = %" PRIu32 "\n", interval_ms);
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samples_per_output = std::round(fs * static_cast<double>(interval_ms) / 1e3);
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//printf("CREATOR samples_per_output = %" PRIu32 "\n", samples_per_output);
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//todo: Load here the hardware counter register with this amount of samples. It should produce an
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//interrupt every samples_per_output count.
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//The hardware timer must keep always interrupting the PS. It must not wait for the interrupt to
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//be served.
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open_device();
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sample_counter = 0ULL;
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current_T_rx_ms = 0;
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current_s = 0;
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current_m = 0;
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current_h = 0;
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current_days = 0;
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report_interval_ms = 1000; // default reporting 1 second
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flag_enable_send_msg = false; // enable it for reporting time with asynchronous message
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flag_m = false;
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flag_h = false;
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flag_days = false;
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}
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gnss_sdr_fpga_sample_counter_sptr gnss_sdr_make_fpga_sample_counter(double _fs, int32_t _interval_ms)
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{
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gnss_sdr_fpga_sample_counter_sptr fpga_sample_counter_(new gnss_sdr_fpga_sample_counter(_fs, _interval_ms));
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return fpga_sample_counter_;
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}
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// Called by gnuradio to enable drivers, etc for i/o devices.
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bool gnss_sdr_fpga_sample_counter::start()
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{
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//todo: place here the RE-INITIALIZATION routines. This function will be called by GNURadio at every start of the flowgraph.
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// configure the number of samples per output in the FPGA and enable the interrupts
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configure_samples_per_output(samples_per_output);
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// return true if everything is ok.
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return true;
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}
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// Called by GNURadio to disable drivers, etc for i/o devices.
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bool gnss_sdr_fpga_sample_counter::stop()
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{
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//todo: place here the routines to stop the associated hardware (if needed).This function will be called by GNURadio at every stop of the flowgraph.
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// return true if everything is ok.
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close_device();
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return true;
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}
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int gnss_sdr_fpga_sample_counter::general_work(int noutput_items __attribute__((unused)),
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__attribute__((unused)) gr_vector_int &ninput_items,
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__attribute__((unused)) gr_vector_const_void_star &input_items,
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gr_vector_void_star &output_items)
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{
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//todo: Call here a function that waits for an interrupt. Do not open a thread,
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//it must be a simple call to a BLOCKING function.
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// The function will return the actual absolute sample count of the internal counter of the timmer.
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// store the sample count in class member sample_counter
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// Possible problem: what happen if the PS is overloaded and gnuradio does not call this function
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// with the sufficient rate to catch all the interrupts in the counter. To be evaluated later.
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uint32_t counter = wait_for_interrupt_and_read_counter();
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uint64_t samples_passed = 2 * static_cast<uint64_t>(samples_per_output) - static_cast<uint64_t>(counter); // ellapsed samples
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//printf("============================================ interrupter : samples_passed = %" PRIu64 "\n", samples_passed);
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// Note: at this moment the sample counter is implemented as a sample counter that decreases to zero and then it is automatically
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// reloaded again and keeps counter. It is done in this way to minimize the logic in the FPGA and maximize the FPGA clock performance
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// (it takes less resources and latency in the FPGA to compare a number against a fixed value like zero than to compare it to a programmable
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// variable number).
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sample_counter = sample_counter + samples_passed; //samples_per_output;
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Gnss_Synchro *out = reinterpret_cast<Gnss_Synchro *>(output_items[0]);
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out[0] = Gnss_Synchro();
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out[0].Flag_valid_symbol_output = false;
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out[0].Flag_valid_word = false;
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out[0].Channel_ID = -1;
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out[0].fs = fs;
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if ((current_T_rx_ms % report_interval_ms) == 0)
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{
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//printf("time to print sample_counter = %" PRIu64 "\n", sample_counter);
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//printf("time to print current Tx ms : %" PRIu64 "\n", current_T_rx_ms);
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//printf("time to print report_interval_ms : %" PRIu32 "\n", report_interval_ms);
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//printf("time to print %f\n", (current_T_rx_ms % report_interval_ms));
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current_s++;
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if ((current_s % 60) == 0)
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{
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current_s = 0;
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current_m++;
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flag_m = true;
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if ((current_m % 60) == 0)
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{
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current_m = 0;
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current_h++;
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flag_h = true;
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if ((current_h % 24) == 0)
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{
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current_h = 0;
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current_days++;
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flag_days = true;
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}
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}
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}
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if (flag_days)
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{
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std::string day;
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if (current_days == 1)
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{
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day = " day ";
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}
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else
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{
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day = " days ";
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}
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std::cout << "Current receiver time: " << current_days << day << current_h << " h " << current_m << " min " << current_s << " s" << std::endl;
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}
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else
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{
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if (flag_h)
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{
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std::cout << "Current receiver time: " << current_h << " h " << current_m << " min " << current_s << " s" << std::endl;
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}
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else
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{
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if (flag_m)
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{
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std::cout << "Current receiver time: " << current_m << " min " << current_s << " s" << std::endl;
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}
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else
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{
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std::cout << "Current receiver time: " << current_s << " s" << std::endl;
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}
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}
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}
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if (flag_enable_send_msg)
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{
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message_port_pub(pmt::mp("receiver_time"), pmt::from_double(static_cast<double>(current_T_rx_ms) / 1000.0));
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}
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}
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out[0].Tracking_sample_counter = sample_counter;
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//current_T_rx_ms = (sample_counter * 1000) / samples_per_output;
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current_T_rx_ms = interval_ms * (sample_counter) / samples_per_output;
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return 1;
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}
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uint32_t gnss_sdr_fpga_sample_counter::test_register(uint32_t writeval)
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{
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uint32_t readval;
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// write value to test register
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map_base[3] = writeval;
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// read value from test register
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readval = map_base[3];
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// return read value
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return readval;
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}
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void gnss_sdr_fpga_sample_counter::configure_samples_per_output(uint32_t interval)
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{
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// note : the counter is a 48-bit value in the HW.
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//printf("============================================ total counter - interrupted interval : %" PRIu32 "\n", interval);
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//uint64_t temp_interval;
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//temp_interval = (interval & static_cast<uint32_t>(0xFFFFFFFF));
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//printf("LSW counter - interrupted interval : %" PRIu32 "\n", static_cast<uint32_t>(temp_interval));
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//map_base[0] = static_cast<uint32_t>(temp_interval);
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map_base[0] = interval - 1;
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//temp_interval = (interval >> 32) & static_cast<uint32_t>(0xFFFFFFFF);
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//printf("MSbits counter - interrupted interval : %" PRIu32 "\n", static_cast<uint32_t>(temp_interval));
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//map_base[1] = static_cast<uint32_t>(temp_interval); // writing the most significant bits also enables the interrupts
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}
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void gnss_sdr_fpga_sample_counter::open_device()
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{
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// open communication with HW accelerator
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if ((fd = open(device_name.c_str(), O_RDWR | O_SYNC)) == -1)
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{
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LOG(WARNING) << "Cannot open deviceio" << device_name;
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std::cout << "Counter-Intr: cannot open deviceio" << device_name << std::endl;
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}
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map_base = reinterpret_cast<volatile uint32_t *>(mmap(NULL, PAGE_SIZE,
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PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0));
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if (map_base == reinterpret_cast<void *>(-1))
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{
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LOG(WARNING) << "Cannot map the FPGA acquisition module into user memory";
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std::cout << "Counter-Intr: cannot map deviceio" << device_name << std::endl;
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}
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// sanity check : check test register
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uint32_t writeval = TEST_REG_SANITY_CHECK;
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uint32_t readval;
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readval = gnss_sdr_fpga_sample_counter::test_register(writeval);
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if (writeval != readval)
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{
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LOG(WARNING) << "Acquisition test register sanity check failed";
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}
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else
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{
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LOG(INFO) << "Acquisition test register sanity check success!";
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//std::cout << "Acquisition test register sanity check success!" << std::endl;
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}
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}
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void gnss_sdr_fpga_sample_counter::close_device()
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{
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//printf("=========================================== NOW closing device ...\n");
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map_base[2] = 0; // disable the generation of the interrupt in the device
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uint32_t *aux = const_cast<uint32_t *>(map_base);
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if (munmap(static_cast<void *>(aux), PAGE_SIZE) == -1)
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{
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printf("Failed to unmap memory uio\n");
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}
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close(fd);
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}
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uint32_t gnss_sdr_fpga_sample_counter::wait_for_interrupt_and_read_counter()
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{
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int32_t irq_count;
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ssize_t nb;
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int32_t counter;
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// enable interrupts
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int32_t reenable = 1;
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write(fd, reinterpret_cast<void *>(&reenable), sizeof(int32_t));
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// wait for interrupt
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//printf("============================================ interrupter : going to wait for interupt\n");
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nb = read(fd, &irq_count, sizeof(irq_count));
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//printf("============================================ interrupter : interrupt received\n");
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//printf("interrupt received\n");
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if (nb != sizeof(irq_count))
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{
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printf("acquisition module Read failed to retrieve 4 bytes!\n");
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printf("acquisition module Interrupt number %d\n", irq_count);
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}
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// acknowledge the interrupt
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map_base[1] = 0; // writing anything to reg 1 acknowledges the interrupt
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// add number of passed samples or read the current counter value for more accuracy
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counter = samples_per_output; //map_base[0];
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return counter;
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}
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