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gnss-sdr/src/algorithms/tracking/gnuradio_blocks/dll_pll_veml_tracking_fpga.h

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/*!
* \file dll_pll_veml_tracking_fpga.h
* \brief Implementation of a code DLL + carrier PLL tracking block using an FPGA.
* \author Marc Majoral, 2019. marc.majoral(at)cttc.es
* \author Javier Arribas, 2019. jarribas(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2019 (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 <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_DLL_PLL_VEML_TRACKING_FPGA_H
#define GNSS_SDR_DLL_PLL_VEML_TRACKING_FPGA_H
#include "dll_pll_conf_fpga.h"
#include "exponential_smoother.h"
#include "tracking_FLL_PLL_filter.h" // for PLL/FLL filter
#include "tracking_loop_filter.h" // for DLL filter
#include <boost/circular_buffer.hpp>
#include <boost/shared_ptr.hpp> // for boost::shared_ptr
#include <gnuradio/block.h> // for block
#include <gnuradio/gr_complex.h> // for gr_complex
#include <gnuradio/types.h> // for gr_vector_int, gr_vector...
#include <pmt/pmt.h> // for pmt_t
#include <cstdint> // for int32_t
#include <fstream> // for string, ofstream
#include <memory>
#include <string>
#include <utility> // for pair
#include <vector>
class Fpga_Multicorrelator_8sc;
class Gnss_Synchro;
class dll_pll_veml_tracking_fpga;
using dll_pll_veml_tracking_fpga_sptr = boost::shared_ptr<dll_pll_veml_tracking_fpga>;
dll_pll_veml_tracking_fpga_sptr dll_pll_veml_make_tracking_fpga(const Dll_Pll_Conf_Fpga &conf_);
/*!
* \brief This class implements a code DLL + carrier PLL tracking block.
*/
class dll_pll_veml_tracking_fpga : public gr::block
{
public:
/*!
* \brief Destructor
*/
~dll_pll_veml_tracking_fpga();
/*!
* \brief Set the channel number and configure some multicorrelator parameters
*/
void set_channel(uint32_t channel);
/*!
* \brief This function is used with two purposes:
* 1 -> To set the gnss_synchro
* 2 -> A set_gnss_synchro command with a valid PRN is received when the system is going to run
* acquisition with that PRN. We can use this command to pre-initialize tracking parameters and
* variables before the actual acquisition process takes place. In this way we minimize the
* latency between acquisition and tracking once the acquisition has been made.
*/
void set_gnss_synchro(Gnss_Synchro *p_gnss_synchro);
/*!
* \brief This function starts the tracking process
*/
void start_tracking();
/*!
* \brief This function sets a flag that makes general_work to stop in order to finish the tracking process.
*/
void stop_tracking();
/*!
* \brief General Work
*/
int general_work(int noutput_items, gr_vector_int &ninput_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
/*!
* \brief This function disables the HW multicorrelator in the FPGA in order to stop the tracking process
*/
void reset();
private:
friend dll_pll_veml_tracking_fpga_sptr dll_pll_veml_make_tracking_fpga(const Dll_Pll_Conf_Fpga &conf_);
void msg_handler_telemetry_to_trk(const pmt::pmt_t &msg);
dll_pll_veml_tracking_fpga(const Dll_Pll_Conf_Fpga &conf_);
bool cn0_and_tracking_lock_status(double coh_integration_time_s);
bool acquire_secondary();
void do_correlation_step();
void run_dll_pll();
void update_tracking_vars();
void clear_tracking_vars();
void save_correlation_results();
void log_data();
int32_t save_matfile();
// tracking configuration vars
Dll_Pll_Conf_Fpga trk_parameters;
bool d_veml;
bool d_cloop;
uint32_t d_channel;
Gnss_Synchro *d_acquisition_gnss_synchro;
// Signal parameters
bool d_secondary;
double d_signal_carrier_freq;
double d_code_period;
double d_code_chip_rate;
uint32_t d_secondary_code_length;
uint32_t d_data_secondary_code_length;
uint32_t d_code_length_chips;
uint32_t d_code_samples_per_chip; // All signals have 1 sample per chip code except Gal. E1 which has 2 (CBOC disabled) or 12 (CBOC enabled)
int32_t d_symbols_per_bit;
std::string systemName;
std::string signal_type;
std::string *d_secondary_code_string;
std::string *d_data_secondary_code_string;
std::string signal_pretty_name;
// dll filter buffer
boost::circular_buffer<float> d_dll_filt_history;
// tracking state machine
int32_t d_state;
// Integration period in samples
int32_t d_correlation_length_ms;
int32_t d_n_correlator_taps;
float *d_local_code_shift_chips;
float *d_prompt_data_shift;
std::shared_ptr<Fpga_Multicorrelator_8sc> multicorrelator_fpga;
gr_complex *d_correlator_outs;
gr_complex *d_Very_Early;
gr_complex *d_Early;
gr_complex *d_Prompt;
gr_complex *d_Late;
gr_complex *d_Very_Late;
bool d_enable_extended_integration;
int32_t d_extend_correlation_symbols_count;
int32_t d_current_symbol;
int32_t d_current_data_symbol;
gr_complex d_VE_accu;
gr_complex d_E_accu;
gr_complex d_P_accu;
gr_complex d_P_accu_old;
gr_complex d_L_accu;
gr_complex d_VL_accu;
gr_complex d_P_data_accu;
gr_complex *d_Prompt_Data;
double d_code_phase_step_chips;
double d_code_phase_rate_step_chips;
boost::circular_buffer<std::pair<double, double>> d_code_ph_history;
double d_carrier_phase_step_rad;
double d_carrier_phase_rate_step_rad;
boost::circular_buffer<std::pair<double, double>> d_carr_ph_history;
// remaining code phase and carrier phase between tracking loops
double d_rem_code_phase_samples;
double d_rem_code_phase_samples_prev;
float d_rem_carr_phase_rad;
Tracking_loop_filter d_code_loop_filter;
Tracking_FLL_PLL_filter d_carrier_loop_filter;
// acquisition
double d_acq_code_phase_samples;
double d_acq_carrier_doppler_hz;
// tracking vars
bool d_pull_in_transitory;
bool d_corrected_doppler;
double d_current_correlation_time_s;
double d_carr_phase_error_hz;
double d_carr_freq_error_hz;
double d_carr_error_filt_hz;
double d_code_error_chips;
double d_code_error_filt_chips;
double d_code_freq_chips;
double d_carrier_doppler_hz;
double d_acc_carrier_phase_rad;
double d_rem_code_phase_chips;
double T_chip_seconds;
double T_prn_seconds;
double T_prn_samples;
double K_blk_samples;
// integration period in samples
int32_t d_current_integration_length_samples;
// processing samples counters
uint64_t d_sample_counter;
uint64_t d_acq_sample_stamp;
// CN0 estimation and lock detector
int32_t d_cn0_estimation_counter;
int32_t d_carrier_lock_fail_counter;
int32_t d_code_lock_fail_counter;
double d_carrier_lock_test;
double d_CN0_SNV_dB_Hz;
double d_carrier_lock_threshold;
boost::circular_buffer<gr_complex> d_Prompt_circular_buffer;
std::vector<gr_complex> d_Prompt_buffer;
Exponential_Smoother d_cn0_smoother;
Exponential_Smoother d_carrier_lock_test_smoother;
// file dump
std::ofstream d_dump_file;
std::string d_dump_filename;
bool d_dump;
bool d_dump_mat;
bool d_extended_correlation_in_fpga;
bool d_current_extended_correlation_in_fpga;
int32_t d_next_integration_length_samples;
uint64_t d_sample_counter_next;
bool d_sc_demodulate_enabled;
int32_t d_extend_fpga_integration_periods;
uint32_t d_fpga_integration_period;
uint32_t d_current_fpga_integration_period;
bool d_worker_is_done;
boost::condition_variable m_condition;
boost::mutex d_mutex;
bool d_stop_tracking;
};
#endif //GNSS_SDR_DLL_PLL_VEML_TRACKING_FPGA_H
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