mirror of https://github.com/gnss-sdr/gnss-sdr
221 lines
9.1 KiB
C++
221 lines
9.1 KiB
C++
/*!
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* \file gps_l2_m_dll_pll_tracking_fpga.cc
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* \brief Implementation of an adapter of a DLL+PLL tracking loop block
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* for GPS L2C to a TrackingInterface for the FPGA
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* \author Javier Arribas, 2019. jarribas(at)cttc.es
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*
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* Code DLL + carrier PLL according to the algorithms described in:
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* K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
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* A Software-Defined GPS and Galileo Receiver. A Single-Frequency
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* Approach, Birkhauser, 2007
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2019 (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 "gps_l2_m_dll_pll_tracking_fpga.h"
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#include "GPS_L2C.h"
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#include "configuration_interface.h"
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#include "display.h"
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#include "dll_pll_conf_fpga.h"
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#include "gnss_sdr_flags.h"
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#include "gnss_synchro.h"
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#include "gps_l2c_signal.h"
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#include <glog/logging.h>
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#include <volk_gnsssdr/volk_gnsssdr_alloc.h>
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#include <array>
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#include <cmath> // for round
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#include <cstring> // for memcpy
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#include <iostream>
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GpsL2MDllPllTrackingFpga::GpsL2MDllPllTrackingFpga(
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ConfigurationInterface* configuration, const std::string& role,
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unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
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{
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Dll_Pll_Conf_Fpga trk_param_fpga = Dll_Pll_Conf_Fpga();
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DLOG(INFO) << "role " << role;
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// ################# CONFIGURATION PARAMETERS ########################
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int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
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int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
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trk_param_fpga.fs_in = fs_in;
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bool dump = configuration->property(role + ".dump", false);
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trk_param_fpga.dump = dump;
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std::string default_dump_filename = "./track_ch";
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std::string dump_filename = configuration->property(role + ".dump_filename", default_dump_filename);
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trk_param_fpga.dump_filename = dump_filename;
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bool dump_mat = configuration->property(role + ".dump_mat", true);
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trk_param_fpga.dump_mat = dump_mat;
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float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 2.0);
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if (FLAGS_pll_bw_hz != 0.0)
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{
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pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
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}
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trk_param_fpga.pll_bw_hz = pll_bw_hz;
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float dll_bw_hz = configuration->property(role + ".dll_bw_hz", 0.75);
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if (FLAGS_dll_bw_hz != 0.0)
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{
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dll_bw_hz = static_cast<float>(FLAGS_dll_bw_hz);
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}
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trk_param_fpga.dll_bw_hz = dll_bw_hz;
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float early_late_space_chips = configuration->property(role + ".early_late_space_chips", 0.5);
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trk_param_fpga.early_late_space_chips = early_late_space_chips;
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trk_param_fpga.early_late_space_narrow_chips = 0.0;
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int vector_length = std::round(static_cast<double>(fs_in) / (static_cast<double>(GPS_L2_M_CODE_RATE_CPS) / static_cast<double>(GPS_L2_M_CODE_LENGTH_CHIPS)));
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trk_param_fpga.vector_length = vector_length;
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int symbols_extended_correlator = configuration->property(role + ".extend_correlation_symbols", 1);
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if (symbols_extended_correlator != 1)
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{
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std::cout << TEXT_RED << "WARNING: Extended coherent integration is not allowed in GPS L2. Coherent integration has been set to 20 ms (1 symbol)" << TEXT_RESET << std::endl;
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}
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trk_param_fpga.extend_correlation_symbols = 1;
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bool track_pilot = configuration->property(role + ".track_pilot", false);
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if (track_pilot)
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{
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std::cout << TEXT_RED << "WARNING: GPS L2 does not have pilot signal. Data tracking has been enabled" << TEXT_RESET << std::endl;
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}
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trk_param_fpga.track_pilot = false;
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trk_param_fpga.very_early_late_space_chips = 0.0;
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trk_param_fpga.very_early_late_space_narrow_chips = 0.0;
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trk_param_fpga.pll_bw_narrow_hz = 0.0;
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trk_param_fpga.dll_bw_narrow_hz = 0.0;
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trk_param_fpga.system = 'G';
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std::array<char, 3> sig_{'2', 'S', '\0'};
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std::memcpy(trk_param_fpga.signal, sig_.data(), 3);
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trk_param_fpga.cn0_samples = configuration->property(role + ".cn0_samples", trk_param_fpga.cn0_samples);
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trk_param_fpga.cn0_min = configuration->property(role + ".cn0_min", trk_param_fpga.cn0_min);
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trk_param_fpga.max_code_lock_fail = configuration->property(role + ".max_lock_fail", trk_param_fpga.max_code_lock_fail);
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trk_param_fpga.max_carrier_lock_fail = configuration->property(role + ".max_carrier_lock_fail", trk_param_fpga.max_carrier_lock_fail);
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trk_param_fpga.carrier_lock_th = configuration->property(role + ".carrier_lock_th", trk_param_fpga.carrier_lock_th);
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trk_param_fpga.cn0_smoother_samples = configuration->property(role + ".cn0_smoother_samples", trk_param_fpga.cn0_smoother_samples);
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trk_param_fpga.cn0_smoother_alpha = configuration->property(role + ".cn0_smoother_alpha", trk_param_fpga.cn0_smoother_alpha);
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trk_param_fpga.carrier_lock_test_smoother_samples = configuration->property(role + ".carrier_lock_test_smoother_samples", trk_param_fpga.carrier_lock_test_smoother_samples);
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trk_param_fpga.carrier_lock_test_smoother_alpha = configuration->property(role + ".carrier_lock_test_smoother_alpha", trk_param_fpga.carrier_lock_test_smoother_alpha);
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// FPGA configuration parameters
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std::string default_device_name = "/dev/uio";
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std::string device_name = configuration->property(role + ".devicename", default_device_name);
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trk_param_fpga.device_name = device_name;
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// obtain the number of the first uio device file that is assigned to the FPGA L2 tracking multicorrelator HW accelerators
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trk_param_fpga.dev_file_num = configuration->property(role + ".dev_file_num", 27);
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// compute the number of tracking channels that have already been instantiated. The order in which
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// GNSS-SDR instantiates the tracking channels i L1, L2, L5, E1, E5a
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trk_param_fpga.num_prev_assigned_ch = configuration->property("Channels_1C.count", 0);
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volk_gnsssdr::vector<float> ca_codes_f(static_cast<unsigned int>(GPS_L2_M_CODE_LENGTH_CHIPS), 0.0);
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// ################# PRE-COMPUTE ALL THE CODES #################
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d_ca_codes = static_cast<int*>(volk_gnsssdr_malloc(static_cast<int>(GPS_L2_M_CODE_LENGTH_CHIPS * NUM_PRNs) * sizeof(int), volk_gnsssdr_get_alignment()));
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for (uint32_t PRN = 1; PRN <= NUM_PRNs; PRN++)
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{
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gps_l2c_m_code_gen_float(ca_codes_f, PRN);
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for (unsigned int s = 0; s < 2 * static_cast<unsigned int>(GPS_L2_M_CODE_LENGTH_CHIPS); s++)
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{
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d_ca_codes[static_cast<int>(GPS_L2_M_CODE_LENGTH_CHIPS) * (PRN - 1) + s] = static_cast<int>(ca_codes_f[s]);
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}
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}
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trk_param_fpga.ca_codes = d_ca_codes;
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trk_param_fpga.code_length_chips = GPS_L2_M_CODE_LENGTH_CHIPS;
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trk_param_fpga.code_samples_per_chip = 1; // 1 sample per chip
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// ################# MAKE TRACKING GNU Radio object ###################
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tracking_fpga_sc = dll_pll_veml_make_tracking_fpga(trk_param_fpga);
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channel_ = 0;
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DLOG(INFO) << "tracking(" << tracking_fpga_sc->unique_id() << ")";
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if (in_streams_ > 1)
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{
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LOG(ERROR) << "This implementation only supports one input stream";
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}
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if (out_streams_ > 1)
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{
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LOG(ERROR) << "This implementation only supports one output stream";
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}
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}
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GpsL2MDllPllTrackingFpga::~GpsL2MDllPllTrackingFpga()
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{
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volk_gnsssdr_free(d_ca_codes);
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}
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void GpsL2MDllPllTrackingFpga::start_tracking()
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{
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tracking_fpga_sc->start_tracking();
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}
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void GpsL2MDllPllTrackingFpga::stop_tracking()
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{
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tracking_fpga_sc->stop_tracking();
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}
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/*
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* Set tracking channel unique ID
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*/
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void GpsL2MDllPllTrackingFpga::set_channel(unsigned int channel)
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{
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channel_ = channel;
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tracking_fpga_sc->set_channel(channel);
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}
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void GpsL2MDllPllTrackingFpga::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
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{
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tracking_fpga_sc->set_gnss_synchro(p_gnss_synchro);
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}
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void GpsL2MDllPllTrackingFpga::connect(gr::top_block_sptr top_block)
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{
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if (top_block)
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{ /* top_block is not null */
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};
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// nothing to connect
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}
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void GpsL2MDllPllTrackingFpga::disconnect(gr::top_block_sptr top_block)
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{
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if (top_block)
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{ /* top_block is not null */
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};
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// nothing to disconnect
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}
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gr::basic_block_sptr GpsL2MDllPllTrackingFpga::get_left_block()
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{
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return tracking_fpga_sc;
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}
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gr::basic_block_sptr GpsL2MDllPllTrackingFpga::get_right_block()
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{
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return tracking_fpga_sc;
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}
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