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gnss-sdr/src/tests/unit-tests/signal-processing-blocks/tracking/tracking_pull-in_test_fpga.cc

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/*!
* \file tracking_pull-in_test_fpga.cc
* \brief This class implements a tracking Pull-In test for FPGA HW accelerator
* implementations based on some input parameters.
* \author Marc Majoral, 2018. majoralmarc(at)cttc.es
* Javier Arribas, 2018. jarribas(at)cttc.es
*
*
* -------------------------------------------------------------------------
* Copyright (C) 2012-2018 (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/>.
*
* -------------------------------------------------------------------------
*/
#include "GPS_L1_CA.h"
#include "Galileo_E1.h"
#include "Galileo_E5a.h"
#include "GPS_L5.h"
#include "gnss_block_factory.h"
#include "tracking_interface.h"
#include "gps_l1_ca_pcps_acquisition_fpga.h"
#include "galileo_e1_pcps_ambiguous_acquisition_fpga.h"
#include "galileo_e5a_pcps_acquisition_fpga.h"
#include "gps_l5i_pcps_acquisition_fpga.h"
//=======
//#include "galileo_e5a_noncoherent_iq_acquisition_caf.h"
//#include "galileo_e5a_pcps_acquisition.h"
//#include "gnss_block_factory.h"
//#include "gnuplot_i.h"
//#include "gps_l1_ca_pcps_acquisition.h"
//#include "gps_l1_ca_pcps_acquisition_fine_doppler.h"
//#include "gps_l2_m_pcps_acquisition.h"
//#include "gps_l5i_pcps_acquisition.h"
//>>>>>>> b6f0c92fd61c2d20888265dac7e4cca64e7a42cb
#include "in_memory_configuration.h"
#include "signal_generator_flags.h"
#include "test_flags.h"
#include "tracking_dump_reader.h"
#include "tracking_interface.h"
#include "tracking_tests_flags.h"
#include "tracking_true_obs_reader.h"
#include <armadillo>
#include <boost/filesystem.hpp>
#include <gnuradio/blocks/file_source.h>
#include <gnuradio/blocks/head.h>
#include <gnuradio/blocks/interleaved_char_to_complex.h>
#include <gnuradio/blocks/null_sink.h>
#include <gnuradio/blocks/skiphead.h>
#include <gnuradio/top_block.h>
#include <gtest/gtest.h>
#include <chrono>
#include <unistd.h>
#include <vector>
// threads
#include <pthread.h> // for pthread stuff
#include <fcntl.h> // for open, O_RDWR, O_SYNC
#include <iostream> // for cout, endl
#include <sys/mman.h> // for mmap
#define MAX_INPUT_COMPLEX_SAMPLES_TOTAL 8192 // maximum DMA sample block size in complex samples
#define COMPLEX_SAMPLE_SIZE 2 // sample size in bytes
#define NUM_QUEUES 2 // number of queues (1 for GPS L1/Galileo E1, and 1 for GPS L5/Galileo E5)
#define NSAMPLES_TRACKING 1000000000 // number of samples during which we test the tracking module
#define NSAMPLES_FINAL 60000 // number of samples sent after running tracking to unblock the SW if it is waiting for an interrupt of the tracking module
#define NSAMPLES_ACQ_DOPPLER_SWEEP 50000000 // number of samples sent to the acquisition module when running acquisition when the HW controls the doppler loop
#define DOWNAMPLING_FILTER_INIT_SAMPLES 100 // some samples to initialize the state of the downsampling filter
#define DOWNSAMPLING_FILTER_DELAY 48
#define DOWNSAMPLING_FILTER_OFFSET_SAMPLES 0
// HW related options
bool show_results_table = 0; // 1 => show matrix of (doppler, (max value, power sum)) results, 0=> do not show it
bool skip_samples_already_used = 0; // if skip_samples_already_used = 1 => for each PRN loop skip the samples used in the previous PRN loops
// (exactly in the same way as the SW)
bool doppler_loop_control_in_sw = 0;
// ######## GNURADIO ACQUISITION BLOCK MESSAGE RECEVER #########
class Acquisition_msg_rx_Fpga;
typedef boost::shared_ptr<Acquisition_msg_rx_Fpga> Acquisition_msg_rx_Fpga_sptr;
Acquisition_msg_rx_Fpga_sptr Acquisition_msg_rx_Fpga_make();
class Acquisition_msg_rx_Fpga : public gr::block
{
private:
friend Acquisition_msg_rx_Fpga_sptr Acquisition_msg_rx_Fpga_make();
void msg_handler_events(pmt::pmt_t msg);
Acquisition_msg_rx_Fpga();
public:
int rx_message;
gr::top_block_sptr top_block;
~Acquisition_msg_rx_Fpga(); //!< Default destructor
};
Acquisition_msg_rx_Fpga_sptr Acquisition_msg_rx_Fpga_make()
{
return Acquisition_msg_rx_Fpga_sptr(new Acquisition_msg_rx_Fpga());
}
void Acquisition_msg_rx_Fpga::msg_handler_events(pmt::pmt_t msg)
{
try
{
int64_t message = pmt::to_long(msg);
rx_message = message;
top_block->stop(); //stop the flowgraph
}
catch (boost::bad_any_cast& e)
{
LOG(WARNING) << "msg_handler_acquisition Bad cast!\n";
rx_message = 0;
}
}
Acquisition_msg_rx_Fpga::Acquisition_msg_rx_Fpga() : gr::block("Acquisition_msg_rx_Fpga", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
{
this->message_port_register_in(pmt::mp("events"));
this->set_msg_handler(pmt::mp("events"), boost::bind(&Acquisition_msg_rx_Fpga::msg_handler_events, this, _1));
rx_message = 0;
}
Acquisition_msg_rx_Fpga::~Acquisition_msg_rx_Fpga() {}
// ######## GNURADIO TRACKING BLOCK MESSAGE RECEVER #########
class TrackingPullInTestFpga_msg_rx;
typedef boost::shared_ptr<TrackingPullInTestFpga_msg_rx> TrackingPullInTestFpga_msg_rx_sptr;
TrackingPullInTestFpga_msg_rx_sptr TrackingPullInTestFpga_msg_rx_make();
class TrackingPullInTestFpga_msg_rx : public gr::block
{
private:
friend TrackingPullInTestFpga_msg_rx_sptr TrackingPullInTestFpga_msg_rx_make();
void msg_handler_events(pmt::pmt_t msg);
TrackingPullInTestFpga_msg_rx();
public:
int rx_message;
~TrackingPullInTestFpga_msg_rx(); //!< Default destructor
};
TrackingPullInTestFpga_msg_rx_sptr TrackingPullInTestFpga_msg_rx_make()
{
return TrackingPullInTestFpga_msg_rx_sptr(new TrackingPullInTestFpga_msg_rx());
}
void TrackingPullInTestFpga_msg_rx::msg_handler_events(pmt::pmt_t msg)
{
try
{
int64_t message = pmt::to_long(msg);
rx_message = message; //3 -> loss of lock
}
catch (boost::bad_any_cast& e)
{
LOG(WARNING) << "msg_handler_tracking Bad cast!";
rx_message = 0;
}
}
TrackingPullInTestFpga_msg_rx::TrackingPullInTestFpga_msg_rx() : gr::block("TrackingPullInTestFpga_msg_rx", gr::io_signature::make(0, 0, 0), gr::io_signature::make(0, 0, 0))
{
this->message_port_register_in(pmt::mp("events"));
this->set_msg_handler(pmt::mp("events"), boost::bind(&TrackingPullInTestFpga_msg_rx::msg_handler_events, this, _1));
rx_message = 0;
}
TrackingPullInTestFpga_msg_rx::~TrackingPullInTestFpga_msg_rx()
{
}
// ###########################################################
class TrackingPullInTestFpga : public ::testing::Test
{
public:
std::string generator_binary;
std::string p1;
std::string p2;
std::string p3;
std::string p4;
std::string p5;
std::string p6;
std::string implementation = FLAGS_trk_test_implementation;
const int baseband_sampling_freq = FLAGS_fs_gen_sps;
std::string filename_rinex_obs = FLAGS_filename_rinex_obs;
std::string filename_raw_data = FLAGS_signal_file;
std::map<int, double> doppler_measurements_map;
std::map<int, double> code_delay_measurements_map;
std::map<int, uint64_t> acq_samplestamp_map;
int configure_generator(double CN0_dBHz, int file_idx);
int generate_signal();
std::vector<double> check_results_doppler(arma::vec& true_time_s,
arma::vec& true_value,
arma::vec& meas_time_s,
arma::vec& meas_value,
double& mean_error,
double& std_dev_error);
std::vector<double> check_results_acc_carrier_phase(arma::vec& true_time_s,
arma::vec& true_value,
arma::vec& meas_time_s,
arma::vec& meas_value,
double& mean_error,
double& std_dev_error);
std::vector<double> check_results_codephase(arma::vec& true_time_s,
arma::vec& true_value,
arma::vec& meas_time_s,
arma::vec& meas_value,
double& mean_error,
double& std_dev_error);
TrackingPullInTestFpga()
{
factory = std::make_shared<GNSSBlockFactory>();
config = std::make_shared<InMemoryConfiguration>();
item_size = sizeof(gr_complex);
gnss_synchro = Gnss_Synchro();
}
~TrackingPullInTestFpga()
{
}
void configure_receiver(double PLL_wide_bw_hz,
double DLL_wide_bw_hz,
double PLL_narrow_bw_hz,
double DLL_narrow_bw_hz,
int extend_correlation_symbols);
bool acquire_signal(int SV_ID);
gr::top_block_sptr top_block;
std::shared_ptr<GNSSBlockFactory> factory;
std::shared_ptr<InMemoryConfiguration> config;
Gnss_Synchro gnss_synchro;
size_t item_size;
};
int TrackingPullInTestFpga::configure_generator(double CN0_dBHz, int file_idx)
{
// Configure signal generator
generator_binary = FLAGS_generator_binary;
p1 = std::string("-rinex_nav_file=") + FLAGS_rinex_nav_file;
if (FLAGS_dynamic_position.empty())
{
p2 = std::string("-static_position=") + FLAGS_static_position + std::string(",") + std::to_string(FLAGS_duration * 10);
}
else
{
p2 = std::string("-obs_pos_file=") + std::string(FLAGS_dynamic_position);
}
p3 = std::string("-rinex_obs_file=") + FLAGS_filename_rinex_obs; // RINEX 2.10 observation file output
p4 = std::string("-sig_out_file=") + FLAGS_signal_file + std::to_string(file_idx); // Baseband signal output file. Will be stored in int8_t IQ multiplexed samples
p5 = std::string("-sampling_freq=") + std::to_string(baseband_sampling_freq); //Baseband sampling frequency [MSps]
p6 = std::string("-CN0_dBHz=") + std::to_string(CN0_dBHz); // Signal generator CN0
return 0;
}
int TrackingPullInTestFpga::generate_signal()
{
int child_status;
char* const parmList[] = {&generator_binary[0], &generator_binary[0], &p1[0], &p2[0], &p3[0], &p4[0], &p5[0], &p6[0], NULL};
int pid;
if ((pid = fork()) == -1)
perror("fork err");
else if (pid == 0)
{
execv(&generator_binary[0], parmList);
std::cout << "Return not expected. Must be an execv err." << std::endl;
std::terminate();
}
waitpid(pid, &child_status, 0);
std::cout << "Signal and Observables RINEX and RAW files created." << std::endl;
return 0;
}
void TrackingPullInTestFpga::configure_receiver(
double PLL_wide_bw_hz,
double DLL_wide_bw_hz,
double PLL_narrow_bw_hz,
double DLL_narrow_bw_hz,
int extend_correlation_symbols)
{
config = std::make_shared<InMemoryConfiguration>();
config->set_property("Tracking.dump", "true");
config->set_property("Tracking.dump_filename", "./tracking_ch_");
config->set_property("Tracking.implementation", implementation);
//config->set_property("Tracking.item_type", "gr_complex");
config->set_property("Tracking.item_type", "cshort");
config->set_property("Tracking.pll_bw_hz", std::to_string(PLL_wide_bw_hz));
config->set_property("Tracking.dll_bw_hz", std::to_string(DLL_wide_bw_hz));
//config->set_property("Tracking.extend_correlation_symbols", std::to_string(extend_correlation_symbols));
//config->set_property("Tracking.pll_bw_narrow_hz", std::to_string(PLL_narrow_bw_hz));
//config->set_property("Tracking.dll_bw_narrow_hz", std::to_string(DLL_narrow_bw_hz));
gnss_synchro.PRN = FLAGS_test_satellite_PRN;
gnss_synchro.Channel_ID = 0;
config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(baseband_sampling_freq));
std::string System_and_Signal;
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
gnss_synchro.System = 'G';
std::string signal = "1C";
System_and_Signal = "GPS L1 CA";
signal.copy(gnss_synchro.Signal, 2, 0);
config->set_property("Tracking.early_late_space_chips", "0.5");
//config->set_property("Tracking.early_late_space_narrow_chips", "0.5");
// added by me
config->set_property("Tracking.if", "0");
config->set_property("Tracking.order", "3");
}
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
gnss_synchro.System = 'E';
std::string signal = "1B";
System_and_Signal = "Galileo E1B";
signal.copy(gnss_synchro.Signal, 2, 0);
config->set_property("Tracking.early_late_space_chips", "0.15");
config->set_property("Tracking.very_early_late_space_chips", "0.6");
//config->set_property("Tracking.early_late_space_narrow_chips", "0.15");
//config->set_property("Tracking.very_early_late_space_narrow_chips", "0.6");
config->set_property("Tracking.track_pilot", "true");
// added by me
config->set_property("Tracking.if", "0");
config->set_property("Tracking.devicename", "/dev/uio");
config->set_property("Tracking.device_base", "15");
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0) // or implementation.compare("Galileo_E5a_DLL_PLL_Tracking_b") == 0)
{
gnss_synchro.System = 'E';
std::string signal = "5X";
System_and_Signal = "Galileo E5a";
signal.copy(gnss_synchro.Signal, 2, 0);
//if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_b") == 0)
// {
// config->supersede_property("Tracking.implementation", std::string("Galileo_E5a_DLL_PLL_Tracking"));
// }
config->set_property("Tracking.early_late_space_chips", "0.5");
config->set_property("Tracking.track_pilot", "false");
config->set_property("Tracking.order", "2");
}
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
{
gnss_synchro.System = 'G';
std::string signal = "L5";
System_and_Signal = "GPS L5I";
signal.copy(gnss_synchro.Signal, 2, 0);
config->set_property("Tracking.early_late_space_chips", "0.5");
config->set_property("Tracking.track_pilot", "false");
config->set_property("Tracking.order", "2");
}
else
{
std::cout << "The test can not run with the selected tracking implementation\n ";
throw(std::exception());
}
std::cout << "*****************************************\n";
std::cout << "*** Tracking configuration parameters ***\n";
std::cout << "*****************************************\n";
std::cout << "Signal: " << System_and_Signal << "\n";
std::cout << "implementation: " << config->property("Tracking.implementation", std::string("undefined")) << " \n";
std::cout << "pll_bw_hz: " << config->property("Tracking.pll_bw_hz", 0.0) << " Hz\n";
std::cout << "dll_bw_hz: " << config->property("Tracking.dll_bw_hz", 0.0) << " Hz\n";
std::cout << "pll_bw_narrow_hz: " << config->property("Tracking.pll_bw_narrow_hz", 0.0) << " Hz\n";
std::cout << "dll_bw_narrow_hz: " << config->property("Tracking.dll_bw_narrow_hz", 0.0) << " Hz\n";
std::cout << "extend_correlation_symbols: " << config->property("Tracking.extend_correlation_symbols", 0) << " Symbols\n";
std::cout << "*****************************************\n";
std::cout << "*****************************************\n";
}
const size_t PAGE_SIZE = 0x10000;
const unsigned int TEST_REGISTER_TRACK_WRITEVAL = 0x55AA;
void setup_fpga_switch(void)
{
int switch_device_descriptor; // driver descriptor
volatile unsigned *switch_map_base; // driver memory map
if ((switch_device_descriptor = open("/dev/uio1", O_RDWR | O_SYNC)) == -1)
{
LOG(WARNING) << "Cannot open deviceio" << "/dev/uio1";
}
switch_map_base = reinterpret_cast<volatile unsigned *>(mmap(nullptr, PAGE_SIZE,
PROT_READ | PROT_WRITE, MAP_SHARED, switch_device_descriptor, 0));
if (switch_map_base == reinterpret_cast<void *>(-1))
{
LOG(WARNING) << "Cannot map the FPGA switch module into tracking memory";
std::cout << "Could not map switch memory." << std::endl;
}
// sanity check : check test register
unsigned writeval = TEST_REGISTER_TRACK_WRITEVAL;
unsigned readval;
// write value to test register
switch_map_base[3] = writeval;
// read value from test register
readval = switch_map_base[3];
if (writeval != readval)
{
LOG(WARNING) << "Test register sanity check failed";
}
else
{
LOG(INFO) << "Test register sanity check success !";
}
switch_map_base[0] = 0; //0 -> DMA to queue 0, 1 -> DMA to queue 1, 2 -> A/Ds to queues
}
static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
volatile unsigned int send_samples_start = 0;
int8_t input_samples[MAX_INPUT_COMPLEX_SAMPLES_TOTAL*COMPLEX_SAMPLE_SIZE]; // re - im
int8_t input_samples_dma[MAX_INPUT_COMPLEX_SAMPLES_TOTAL*COMPLEX_SAMPLE_SIZE*NUM_QUEUES];
struct DMA_handler_args {
std::string file;
unsigned int nsamples_tx;
unsigned int skip_used_samples;
unsigned int freq_band; // 0 for GPS L1/ Galileo E1, 1 for GPS L5/Galileo E5
};
void *handler_DMA(void *arguments)
{
// DMA process that configures the DMA to send the samples to the acquisition engine
int tx_fd; // DMA descriptor
FILE *rx_signal_file_id; // Input file descriptor
bool file_completed = false; // flag to indicate if the file is completed
unsigned int nsamples_block; // number of samples to send in the next DMA block of samples
unsigned int nread_elements; // number of elements effectively read from the input file
unsigned int nsamples = 0; // number of complex samples effectively transferred
unsigned int index0, dma_index = 0; // counters used for putting the samples in the order expected by the DMA
unsigned int num_bytes_to_transfer; // DMA transfer block size in bytes
unsigned int nsamples_transmitted;
struct DMA_handler_args *args = (struct DMA_handler_args *) arguments;
unsigned int nsamples_tx = args->nsamples_tx;
std::string file = args->file; // input filename
unsigned int skip_used_samples = args->skip_used_samples;
// open DMA device
tx_fd = open("/dev/loop_tx", O_WRONLY);
if ( tx_fd < 0 )
{
std::cout << "DMA can't open loop device" << std::endl;
exit(1);
}
else
// open input file
rx_signal_file_id = fopen(file.c_str(), "rb");
if (rx_signal_file_id < 0)
{
std::cout << "DMA can't open input file" << std::endl;
exit(1);
}
while(send_samples_start == 0); // wait until main thread tells the DMA to start
// skip initial samples
int skip_samples = (int) FLAGS_skip_samples;
fseek( rx_signal_file_id, (skip_samples + skip_used_samples)*2, SEEK_SET );
usleep(50000); // wait some time to give time to the main thread to start the acquisition module
unsigned int kk;
while (file_completed == false)
{
if (nsamples_tx - nsamples > MAX_INPUT_COMPLEX_SAMPLES_TOTAL)
{
nsamples_block = MAX_INPUT_COMPLEX_SAMPLES_TOTAL;
}
else
{
nsamples_block = nsamples_tx - nsamples; // remaining samples to be sent
file_completed = true;
}
nread_elements = fread(input_samples, sizeof(int8_t), nsamples_block*COMPLEX_SAMPLE_SIZE, rx_signal_file_id);
if (nread_elements != nsamples_block * COMPLEX_SAMPLE_SIZE)
{
std::cout << "file completed" << std::endl;
file_completed = true;
}
nsamples+=(nread_elements/COMPLEX_SAMPLE_SIZE);
if (nread_elements > 0)
{
// for the 32-BIT DMA
dma_index = 0;
for (index0 = 0;index0 < (nread_elements);index0+=COMPLEX_SAMPLE_SIZE)
{
if (args->freq_band == 0)
{
// channel 1 (queue 1) -> E5/L5
input_samples_dma[dma_index] = 0;
input_samples_dma[dma_index+1] = 0;
// channel 0 (queue 0) -> E1/L1
input_samples_dma[dma_index+2] = input_samples[index0];
input_samples_dma[dma_index+3] = input_samples[index0+1];
}
else
{
// channel 1 (queue 1) -> E5/L5
input_samples_dma[dma_index] = input_samples[index0];
input_samples_dma[dma_index+1] = input_samples[index0+1];
// channel 0 (queue 0) -> E1/L1
input_samples_dma[dma_index+2] = 0;
input_samples_dma[dma_index+3] = 0;
}
dma_index += 4;
}
nsamples_transmitted = write(tx_fd, &input_samples_dma[0], nread_elements*NUM_QUEUES);
if (nsamples_transmitted != nread_elements*NUM_QUEUES)
{
std::cout << "Error : DMA could not send all the requested samples" << std::endl;
}
}
}
close(tx_fd);
fclose(rx_signal_file_id);
return NULL;
}
bool TrackingPullInTestFpga::acquire_signal(int SV_ID)
{
pthread_t thread_DMA;
int baseband_sampling_freq_acquisition;
// step 0 determine the sampling frequency
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
baseband_sampling_freq_acquisition = baseband_sampling_freq/4; // downsampling filter in L1/E1
}
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
baseband_sampling_freq_acquisition = baseband_sampling_freq/4; // downsampling filter in L1/E1
}
else
{
baseband_sampling_freq_acquisition = baseband_sampling_freq;
}
// 1. Setup GNU Radio flowgraph (file_source -> Acquisition_10m)
gr::top_block_sptr top_block;
top_block = gr::make_top_block("Acquisition test");
// Satellite signal definition
Gnss_Synchro tmp_gnss_synchro;
tmp_gnss_synchro.Channel_ID = 0;
config = std::make_shared<InMemoryConfiguration>();
config->set_property("GNSS-SDR.internal_fs_sps", std::to_string(baseband_sampling_freq));
//config->set_property("Acquisition.blocking_on_standby", "true");
//config->set_property("Acquisition.blocking", "true");
//config->set_property("Acquisition.dump", "false");
//config->set_property("Acquisition.dump_filename", "./data/acquisition.dat");
//config->set_property("Acquisition.use_CFAR_algorithm", "false");
//config->set_property("Acquisition.item_type", "cshort");
//config->set_property("Acquisition.if", "0");
//config->set_property("Acquisition.sampled_ms", "4");
//config->set_property("Acquisition.select_queue_Fpga", "0");
//config->set_property("Acquisition.devicename", "/dev/uio0");
//config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_external_signal_acquisition_dwells));
//if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
//{
// config->set_property("Acquisition.acquire_pilot", "false");
//}
std::shared_ptr<GpsL1CaPcpsAcquisitionFpga> acquisition_GpsL1Ca_Fpga;
std::shared_ptr<GalileoE1PcpsAmbiguousAcquisitionFpga> acquisition_GpsE1_Fpga;
std::shared_ptr<GalileoE5aPcpsAcquisitionFpga> acquisition_GpsE5a_Fpga;
std::shared_ptr<GpsL5iPcpsAcquisitionFpga> acquisition_GpsL5_Fpga;
std::string System_and_Signal;
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
//config->set_property("Acquisition.sampled_ms", "1");
//config->set_property("Acquisition.select_queue_Fpga", "0");
tmp_gnss_synchro.System = 'G';
std::string signal = "1C";
const char* str = signal.c_str(); // get a C style null terminated string
std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3); // copy string into synchro char array: 2 char + null
tmp_gnss_synchro.PRN = SV_ID;
System_and_Signal = "GPS L1 CA";
acquisition_GpsL1Ca_Fpga = std::make_shared<GpsL1CaPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
acquisition_GpsL1Ca_Fpga->set_channel(0);
acquisition_GpsL1Ca_Fpga->set_threshold(config->property("Acquisition.threshold", FLAGS_external_signal_acquisition_threshold));
acquisition_GpsL1Ca_Fpga->connect(top_block);
}
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
//config->set_property("Acquisition.sampled_ms", "4");
//config->set_property("Acquisition.select_queue_Fpga", "0");
tmp_gnss_synchro.System = 'E';
std::string signal = "1B";
const char* str = signal.c_str(); // get a C style null terminated string
std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3); // copy string into synchro char array: 2 char + null
tmp_gnss_synchro.PRN = SV_ID;
System_and_Signal = "Galileo E1B";
//config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_external_signal_acquisition_dwells));
//acquisition = std::make_shared<GalileoE1PcpsAmbiguousAcquisition>(config.get(), "Acquisition", 1, 0);
//std::shared_ptr<GalileoE1PcpsAmbiguousAcquisitionFpga> acquisition_Fpga;
acquisition_GpsE1_Fpga = std::make_shared<GalileoE1PcpsAmbiguousAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
acquisition_GpsE1_Fpga->set_channel(0);
acquisition_GpsE1_Fpga->set_threshold(config->property("Acquisition.threshold", FLAGS_external_signal_acquisition_threshold));
acquisition_GpsE1_Fpga->connect(top_block);
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{
//config->set_property("Acquisition.sampled_ms", "1");
//config->set_property("Acquisition.select_queue_Fpga", "1");
tmp_gnss_synchro.System = 'E';
std::string signal = "5X";
const char* str = signal.c_str(); // get a C style null terminated string
std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3); // copy string into synchro char array: 2 char + null
tmp_gnss_synchro.PRN = SV_ID;
System_and_Signal = "Galileo E5a";
//config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_external_signal_acquisition_dwells));
//acquisition = std::make_shared<GalileoE5aPcpsAcquisition>(config.get(), "Acquisition", 1, 0);
//std::shared_ptr<GalileoE5aPcpsAcquisitionFpga> acquisition_Fpga;
acquisition_GpsE5a_Fpga = std::make_shared<GalileoE5aPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
acquisition_GpsE5a_Fpga->set_channel(0);
acquisition_GpsE5a_Fpga->set_threshold(config->property("Acquisition.threshold", FLAGS_external_signal_acquisition_threshold));
acquisition_GpsE5a_Fpga->connect(top_block);
}
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
{
//config->set_property("Acquisition.sampled_ms", "1");
//config->set_property("Acquisition.select_queue_Fpga", "1");
tmp_gnss_synchro.System = 'G';
std::string signal = "L5";
const char* str = signal.c_str(); // get a C style null terminated string
std::memcpy(static_cast<void*>(tmp_gnss_synchro.Signal), str, 3); // copy string into synchro char array: 2 char + null
tmp_gnss_synchro.PRN = SV_ID;
System_and_Signal = "GPS L5I";
//config->set_property("Acquisition.max_dwells", std::to_string(FLAGS_external_signal_acquisition_dwells));
//acquisition = std::make_shared<GpsL5iPcpsAcquisition>(config.get(), "Acquisition", 1, 0);
//std::shared_ptr<GpsL5iPcpsAcquisitionFpga> acquisition_Fpga;
acquisition_GpsL5_Fpga = std::make_shared<GpsL5iPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
acquisition_GpsL5_Fpga->set_channel(0);
acquisition_GpsL5_Fpga->set_threshold(config->property("Acquisition.threshold", FLAGS_external_signal_acquisition_threshold));
acquisition_GpsL5_Fpga->connect(top_block);
}
else
{
std::cout << "The test can not run with the selected tracking implementation \n ";
throw(std::exception());
}
std::string file = FLAGS_signal_file;
struct DMA_handler_args args;
const char* file_name = file.c_str();
boost::shared_ptr<Acquisition_msg_rx_Fpga> msg_rx;
try
{
msg_rx = Acquisition_msg_rx_Fpga_make();
}
catch (const std::exception& e)
{
std::cout << "Failure connecting the message port system: " << e.what() << std::endl;
exit(0);
}
msg_rx->top_block = top_block;
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
top_block->msg_connect(acquisition_GpsL1Ca_Fpga->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
}
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
top_block->msg_connect(acquisition_GpsE1_Fpga->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{
top_block->msg_connect(acquisition_GpsE5a_Fpga->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
}
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
{
top_block->msg_connect(acquisition_GpsL5_Fpga->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
}
// 5. Run the flowgraph
// Get visible GPS satellites (positive acquisitions with Doppler measurements)
// record startup time
std::chrono::time_point<std::chrono::system_clock> start, end;
std::chrono::duration<double> elapsed_seconds;
start = std::chrono::system_clock::now();
bool start_msg = true;
doppler_measurements_map.clear();
code_delay_measurements_map.clear();
acq_samplestamp_map.clear();
unsigned int MAX_PRN_IDX = 0;
switch (tmp_gnss_synchro.System)
{
case 'G':
MAX_PRN_IDX = 33;
break;
case 'E':
MAX_PRN_IDX = 37;
break;
default:
MAX_PRN_IDX = 33;
}
// debug
//MAX_PRN_IDX = 10;
setup_fpga_switch();
unsigned int code_length;
unsigned int nsamples_to_transfer;
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
code_length = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq_acquisition) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
}
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
code_length = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq_acquisition) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)));
nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)));
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{
code_length = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / Galileo_E5a_CODE_CHIP_RATE_HZ * static_cast<double>(Galileo_E5a_CODE_LENGTH_CHIPS)));
nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
}
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
{
code_length = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L5i_CODE_RATE_HZ / static_cast<double>(GPS_L5i_CODE_LENGTH_CHIPS))));
nsamples_to_transfer = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
}
float nbits = ceilf(log2f((float)code_length*2));
unsigned int fft_size = pow(2, nbits);
unsigned int nsamples_total = fft_size;
int acq_doppler_max = config->property("Acquisition.doppler_max", FLAGS_external_signal_acquisition_doppler_max_hz);
int acq_doppler_step = config->property("Acquisition.doppler_step", FLAGS_external_signal_acquisition_doppler_step_hz);
/*
if (doppler_loop_control_in_sw == 1)
{
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsL1Ca_Fpga->set_single_doppler_flag(1);
}
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
acquisition_GpsE1_Fpga->set_single_doppler_flag(1);
//printf("eeeeeee just set doppler flag\n");
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsE5a_Fpga->set_single_doppler_flag(1);
}
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsL5_Fpga->set_single_doppler_flag(1);
}
int num_doppler_steps = (2*acq_doppler_max)/acq_doppler_step + 1;
float result_table[MAX_PRN_IDX][num_doppler_steps][3];
//uint32_t index_debug[MAX_PRN_IDX];
//uint32_t samplestamp_debug[MAX_PRN_IDX];
for (unsigned int PRN = 1; PRN < MAX_PRN_IDX; PRN++)
//for (unsigned int PRN = 0; PRN < 17; PRN++)
{
uint32_t max_index = 0;
float max_magnitude = 0.0;
float second_magnitude = 0.0;
uint64_t initial_sample = 0;
//float power_sum = 0;
uint32_t doppler_index = 0;
uint32_t max_index_iteration;
uint32_t total_fft_scaling_factor;
uint32_t fw_fft_scaling_factor;
float max_magnitude_iteration;
float second_magnitude_iteration;
uint64_t initial_sample_iteration;
//float power_sum_iteration;
uint32_t doppler_index_iteration;
int doppler_shift_selected;
int doppler_num = 0;
for (int doppler_shift = -acq_doppler_max;doppler_shift <= acq_doppler_max;doppler_shift = doppler_shift + acq_doppler_step)
{
//printf("doppler_shift = %d\n", doppler_shift);
tmp_gnss_synchro.PRN = PRN;
pthread_mutex_lock(&mutex);
send_samples_start = 0;
pthread_mutex_unlock(&mutex);
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsL1Ca_Fpga->reset_acquisition(); // reset the whole system including the sample counters
acquisition_GpsL1Ca_Fpga->set_doppler_max(doppler_shift);
acquisition_GpsL1Ca_Fpga->set_doppler_step(0);
acquisition_GpsL1Ca_Fpga->set_gnss_synchro(&tmp_gnss_synchro);
acquisition_GpsL1Ca_Fpga->init();
acquisition_GpsL1Ca_Fpga->set_local_code();
args.freq_band = 0;
}
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
//printf("starting configuring acquisition\n");
acquisition_GpsE1_Fpga->reset_acquisition(); // reset the whole system including the sample counters
acquisition_GpsE1_Fpga->set_doppler_max(doppler_shift);
acquisition_GpsE1_Fpga->set_doppler_step(0);
acquisition_GpsE1_Fpga->set_gnss_synchro(&tmp_gnss_synchro);
acquisition_GpsE1_Fpga->init();
acquisition_GpsE1_Fpga->set_local_code();
args.freq_band = 0;
//printf("ffffffffffff ending configuring acquisition\n");
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsE5a_Fpga->reset_acquisition(); // reset the whole system including the sample counters
acquisition_GpsE5a_Fpga->set_doppler_max(doppler_shift);
acquisition_GpsE5a_Fpga->set_doppler_step(0);
acquisition_GpsE5a_Fpga->set_gnss_synchro(&tmp_gnss_synchro);
acquisition_GpsE5a_Fpga->init();
acquisition_GpsE5a_Fpga->set_local_code();
args.freq_band = 1;
}
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsL5_Fpga->reset_acquisition(); // reset the whole system including the sample counters
acquisition_GpsL5_Fpga->set_doppler_max(doppler_shift);
acquisition_GpsL5_Fpga->set_doppler_step(0);
acquisition_GpsL5_Fpga->set_gnss_synchro(&tmp_gnss_synchro);
acquisition_GpsL5_Fpga->init();
acquisition_GpsL5_Fpga->set_local_code();
args.freq_band = 1;
}
args.file = file;
if ((implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0) or (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0))
{
//printf("gggggggg \n");
//----------------------------------------------------------------------------------
// send the previous samples to set the downsampling filter in a good condition
send_samples_start = 0;
if (skip_samples_already_used == 1)
{
args.skip_used_samples = (PRN -1)*fft_size - DOWNAMPLING_FILTER_INIT_SAMPLES; // set the counter 2000 samples before
}
else
{
args.skip_used_samples = - DOWNAMPLING_FILTER_INIT_SAMPLES; // set the counter 2000 samples before
}
args.nsamples_tx = DOWNAMPLING_FILTER_INIT_SAMPLES + DOWNSAMPLING_FILTER_DELAY + DOWNSAMPLING_FILTER_OFFSET_SAMPLES; //50000; // max size of the FFT
//printf("sending pre init %d\n", args.nsamples_tx);
if (pthread_create(&thread_DMA, NULL, handler_DMA, (void *)&args) < 0)
{
printf("ERROR cannot create DMA Process\n");
}
pthread_mutex_lock(&mutex);
send_samples_start = 1;
pthread_mutex_unlock(&mutex);
pthread_join(thread_DMA, NULL);
send_samples_start = 0;
//printf("finished sending samples init filter status\n");
//-----------------------------------------------------------------------------------
// debug
args.nsamples_tx = nsamples_to_transfer; //fft_size; //50000; // max size of the FFT
if (skip_samples_already_used == 1)
{
args.skip_used_samples = (PRN -1)*fft_size + DOWNSAMPLING_FILTER_DELAY + DOWNSAMPLING_FILTER_OFFSET_SAMPLES;
}
else
{
args.skip_used_samples = DOWNSAMPLING_FILTER_DELAY + DOWNSAMPLING_FILTER_OFFSET_SAMPLES;
}
}
else
{
// debug
args.nsamples_tx = nsamples_to_transfer; //fft_size; //50000; // max size of the FFT
if (skip_samples_already_used == 1)
{
args.skip_used_samples = (PRN -1)*fft_size;
}
else
{
args.skip_used_samples = 0;
}
}
// create DMA child process
//printf("||||||||1 args freq_band = %d\n", args.freq_band);
//printf("sending samples main DMA %d\n", args.nsamples_tx);
if (pthread_create(&thread_DMA, NULL, handler_DMA, (void *)&args) < 0)
{
printf("ERROR cannot create DMA Process\n");
}
msg_rx->rx_message = 0;
top_block->start();
pthread_mutex_lock(&mutex);
send_samples_start = 1;
pthread_mutex_unlock(&mutex);
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsL1Ca_Fpga->reset(); // set active
}
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
//printf("hhhhhhhhhhhh\n");
acquisition_GpsE1_Fpga->reset(); // set active
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsE5a_Fpga->reset(); // set active
}
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsL5_Fpga->reset(); // set active
}
// pthread_mutex_lock(&mutex); // it doesn't work if it is done here
// send_samples_start = 1;
// pthread_mutex_unlock(&mutex);
if (start_msg == true)
{
std::cout << "Reading external signal file: " << FLAGS_signal_file << std::endl;
std::cout << "Searching for " << System_and_Signal << " Satellites..." << std::endl;
std::cout << "[";
start_msg = false;
}
// wait for the child DMA process to finish
pthread_join(thread_DMA, NULL);
pthread_mutex_lock(&mutex);
send_samples_start = 0;
pthread_mutex_unlock(&mutex);
while (msg_rx->rx_message == 0)
{
usleep(100000);
}
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsL1Ca_Fpga->read_acquisition_results(&max_index_iteration, &max_magnitude_iteration, &second_magnitude_iteration, &initial_sample_iteration, &doppler_index_iteration, &total_fft_scaling_factor);
//acquisition_GpsL1Ca_Fpga->read_fpga_total_scale_factor(&total_fft_scaling_factor, &fw_fft_scaling_factor);
}
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
//printf("iiiiiiiiiiiiii\n");
acquisition_GpsE1_Fpga->read_acquisition_results(&max_index_iteration, &max_magnitude_iteration, &second_magnitude_iteration, &initial_sample_iteration, &doppler_index_iteration, &total_fft_scaling_factor);
//acquisition_GpsE1_Fpga->read_fpga_total_scale_factor(&total_fft_scaling_factor, &fw_fft_scaling_factor);
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsE5a_Fpga->read_acquisition_results(&max_index_iteration, &max_magnitude_iteration, &second_magnitude_iteration, &initial_sample_iteration, &doppler_index_iteration, &total_fft_scaling_factor);
//acquisition_GpsE5a_Fpga->read_fpga_total_scale_factor(&total_fft_scaling_factor, &fw_fft_scaling_factor);
}
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsL5_Fpga->read_acquisition_results(&max_index_iteration, &max_magnitude_iteration, &second_magnitude_iteration, &initial_sample_iteration, &doppler_index_iteration, &total_fft_scaling_factor);
//acquisition_GpsL5_Fpga->read_fpga_total_scale_factor(&total_fft_scaling_factor, &fw_fft_scaling_factor);
}
result_table[PRN][doppler_num][0] = max_magnitude_iteration;
result_table[PRN][doppler_num][1] = second_magnitude_iteration;
result_table[PRN][doppler_num][2] = total_fft_scaling_factor;
doppler_num = doppler_num + 1;
//printf("max_magnitude_iteration = %f\n", max_magnitude_iteration);
//printf("second_magnitude_iteration = %f\n", second_magnitude_iteration);
if ((implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0) or (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0))
{
//printf("jjjjjjjjjjjjjjj\n");
if (max_magnitude_iteration > max_magnitude)
{
int interpolation_factor = 4;
//index_debug[PRN - 1] = max_index_iteration;
max_index = max_index_iteration; // - interpolation_factor*(DOWNSAMPLING_FILTER_DELAY - 1);
max_magnitude = max_magnitude_iteration;
second_magnitude = second_magnitude_iteration;
//samplestamp_debug[PRN - 1] = initial_sample_iteration;
initial_sample = 0; //initial_sample_iteration;
doppler_index = doppler_index_iteration;
doppler_shift_selected = doppler_shift;
}
}
else
{
if (max_magnitude_iteration > max_magnitude)
{
max_index = max_index_iteration;
max_magnitude = max_magnitude_iteration;
second_magnitude = second_magnitude_iteration;
initial_sample = initial_sample_iteration;
doppler_index = doppler_index_iteration;
doppler_shift_selected = doppler_shift;
}
}
top_block->stop();
}
//power_sum = (power_sum - max_magnitude) / (fft_size - 1);
//float test_statistics = (max_magnitude / power_sum);
float test_statistics = max_magnitude/second_magnitude;
float threshold = config->property("Acquisition.threshold", FLAGS_external_signal_acquisition_threshold);
if (test_statistics > threshold)
{
//printf("XXXXXXXXXXXXXXXXXXXXXXXXXXX max index = %d = %d \n", max_index, max_index % nsamples_total);
std::cout << " " << PRN << " ";
doppler_measurements_map.insert(std::pair<int, double>(PRN, static_cast<double>(doppler_shift_selected)));
code_delay_measurements_map.insert(std::pair<int, double>(PRN, static_cast<double>(max_index % nsamples_total)));
code_delay_measurements_map.insert(std::pair<int, double>(PRN, static_cast<double>(max_index)));
acq_samplestamp_map.insert(std::pair<int, double>(PRN, initial_sample)); // should be 0 (first sample upon which acq starts is always 0 in this case)
}
else
{
std::cout << " . ";
}
std::cout.flush();
}
uint32_t max_index = 0;
uint32_t total_fft_scaling_factor;
//uint32_t fw_fft_scaling_factor;
float max_magnitude = 0.0;
uint64_t initial_sample = 0;
float second_magnitude = 0;
float peak_to_power = 0;
float test_statistics;
uint32_t doppler_index = 0;
if (show_results_table == 1)
{
for (unsigned int PRN = 1; PRN < MAX_PRN_IDX; PRN++)
{
std::cout << std::endl << "############################################ Results for satellite " << PRN << std::endl;
int doppler_num = 0;
for (int doppler_shift = -acq_doppler_max;doppler_shift <= acq_doppler_max;doppler_shift = doppler_shift + acq_doppler_step)
{
max_magnitude = result_table[PRN][doppler_num][0];
second_magnitude = result_table[PRN][doppler_num][1];
total_fft_scaling_factor = result_table[PRN][doppler_num][2];
//fw_fft_scaling_factor = result_table[PRN][doppler_num][3];
doppler_num = doppler_num + 1;
std::cout << "==================== Doppler shift " << doppler_shift << std::endl;
std::cout << "Max magnitude = " << max_magnitude << std::endl;
std::cout << "Second magnitude = " << second_magnitude << std::endl;
std::cout << "FFT total scaling factor = " << total_fft_scaling_factor << std::endl;
//peak_to_power = max_magnitude/power_sum;
//power_sum = (power_sum - max_magnitude) / (fft_size - 1);
test_statistics = (max_magnitude / second_magnitude);
std::cout << " test_statistics = " << test_statistics << std::endl;
}
int dummy_val;
std::cout << "Enter a value to continue";
std::cin >> dummy_val;
}
}
}
else // DOPPLER CONTROL IN HW
{
*/
for (unsigned int PRN = 1; PRN < MAX_PRN_IDX; PRN++)
//for (unsigned int PRN = 0; PRN < 17; PRN++)
{
uint32_t max_index = 0;
float max_magnitude = 0.0;
float second_magnitude = 0.0;
uint64_t initial_sample = 0;
//float power_sum = 0;
uint32_t doppler_index = 0;
uint32_t max_index_iteration;
uint32_t total_fft_scaling_factor;
uint32_t fw_fft_scaling_factor;
float max_magnitude_iteration;
float second_magnitude_iteration;
uint64_t initial_sample_iteration;
//float power_sum_iteration;
uint32_t doppler_index_iteration;
int doppler_shift_selected;
int doppler_num = 0;
tmp_gnss_synchro.PRN = PRN;
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsL1Ca_Fpga->reset_acquisition(); // reset the whole system including the sample counters
acquisition_GpsL1Ca_Fpga->set_doppler_max(acq_doppler_max);
acquisition_GpsL1Ca_Fpga->set_doppler_step(acq_doppler_step);
acquisition_GpsL1Ca_Fpga->set_gnss_synchro(&tmp_gnss_synchro);
acquisition_GpsL1Ca_Fpga->init();
acquisition_GpsL1Ca_Fpga->set_local_code();
args.freq_band = 0;
}
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
acquisition_GpsE1_Fpga->reset_acquisition(); // reset the whole system including the sample counters
acquisition_GpsE1_Fpga->set_doppler_max(acq_doppler_max);
acquisition_GpsE1_Fpga->set_doppler_step(acq_doppler_step);
acquisition_GpsE1_Fpga->set_gnss_synchro(&tmp_gnss_synchro);
acquisition_GpsE1_Fpga->init();
acquisition_GpsE1_Fpga->set_local_code();
args.freq_band = 0;
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsE5a_Fpga->reset_acquisition(); // reset the whole system including the sample counters
acquisition_GpsE5a_Fpga->set_doppler_max(acq_doppler_max);
acquisition_GpsE5a_Fpga->set_doppler_step(acq_doppler_step);
acquisition_GpsE5a_Fpga->set_gnss_synchro(&tmp_gnss_synchro);
acquisition_GpsE5a_Fpga->init();
acquisition_GpsE5a_Fpga->set_local_code();
args.freq_band = 1;
}
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsL5_Fpga->reset_acquisition(); // reset the whole system including the sample counters
acquisition_GpsL5_Fpga->set_doppler_max(acq_doppler_max);
acquisition_GpsL5_Fpga->set_doppler_step(acq_doppler_step);
acquisition_GpsL5_Fpga->set_gnss_synchro(&tmp_gnss_synchro);
acquisition_GpsL5_Fpga->init();
acquisition_GpsL5_Fpga->set_local_code();
args.freq_band = 1;
}
args.file = file;
if ((implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0) or (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0))
{
//----------------------------------------------------------------------------------
// send the previous samples to set the downsampling filter in a good condition
send_samples_start = 0;
args.skip_used_samples = - DOWNAMPLING_FILTER_INIT_SAMPLES; // set the counter 2000 samples before
args.nsamples_tx = DOWNAMPLING_FILTER_INIT_SAMPLES + DOWNSAMPLING_FILTER_DELAY + DOWNSAMPLING_FILTER_OFFSET_SAMPLES; //50000; // max size of the FFT
if (pthread_create(&thread_DMA, NULL, handler_DMA, (void *)&args) < 0)
{
std::cout << "ERROR cannot create DMA Process" << std::endl;
}
pthread_mutex_lock(&mutex);
send_samples_start = 1;
pthread_mutex_unlock(&mutex);
pthread_join(thread_DMA, NULL);
send_samples_start = 0;
//-----------------------------------------------------------------------------------
// debug
args.nsamples_tx = nsamples_to_transfer; //fft_size; //50000; // max size of the FFT
args.skip_used_samples = DOWNSAMPLING_FILTER_DELAY + DOWNSAMPLING_FILTER_OFFSET_SAMPLES;
}
else
{
// debug
args.nsamples_tx = nsamples_to_transfer; //fft_size; //50000; // max size of the FFT
args.skip_used_samples = 0;
}
if (pthread_create(&thread_DMA, NULL, handler_DMA, (void *)&args) < 0)
{
std::cout << "ERROR cannot create DMA Process" << std::endl;
}
msg_rx->rx_message = 0;
top_block->start();
pthread_mutex_lock(&mutex);
send_samples_start = 1;
pthread_mutex_unlock(&mutex);
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsL1Ca_Fpga->reset(); // set active
}
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
acquisition_GpsE1_Fpga->reset(); // set active
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsE5a_Fpga->reset(); // set active
}
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsL5_Fpga->reset(); // set active
}
if (start_msg == true)
{
std::cout << "Reading external signal file: " << FLAGS_signal_file << std::endl;
std::cout << "Searching for " << System_and_Signal << " Satellites..." << std::endl;
std::cout << "[";
start_msg = false;
}
// wait for the child DMA process to finish
pthread_join(thread_DMA, NULL);
pthread_mutex_lock(&mutex);
send_samples_start = 0;
pthread_mutex_unlock(&mutex);
// while (msg_rx->rx_message == 0)
// {
// usleep(100000);
// }
// the DMA sends the exact number of samples needed for the acquisition.
// however because of the LPF in the GPS L1/Gal E1 acquisition, this calculation is approximate
// and some extra samples might be sent. Wait at least once to give time the HW to consume any extra
// sample the DMA might have sent.
do {
usleep(100000);
} while (msg_rx->rx_message == 0);
if (msg_rx->rx_message == 1)
{
std::cout << " " << PRN << " ";
doppler_measurements_map.insert(std::pair<int, double>(PRN, tmp_gnss_synchro.Acq_doppler_hz));
code_delay_measurements_map.insert(std::pair<int, double>(PRN, tmp_gnss_synchro.Acq_delay_samples));
tmp_gnss_synchro.Acq_samplestamp_samples = 0; // do not take into account the filter internal state initialisation
acq_samplestamp_map.insert(std::pair<int, double>(PRN, tmp_gnss_synchro.Acq_samplestamp_samples));
}
else
{
std::cout << " . ";
}
top_block->stop();
std::cout.flush();
/* } */
}
std::cout << "]" << std::endl;
std::cout << "-------------------------------------------\n";
for (auto& x : doppler_measurements_map)
{
std::cout << "DETECTED SATELLITE " << System_and_Signal << " PRN: " << x.first << " with Doppler: " << x.second << " [Hz], code phase: " << code_delay_measurements_map.at(x.first) << " [samples] at signal SampleStamp " << acq_samplestamp_map.at(x.first) << "\n";
}
// report the elapsed time
end = std::chrono::system_clock::now();
elapsed_seconds = end - start;
std::cout << "Total signal acquisition run time "
<< elapsed_seconds.count()
<< " [seconds]" << std::endl;
return true;
}
TEST_F(TrackingPullInTestFpga, ValidationOfResults)
{
// pointer to the DMA thread that sends the samples to the acquisition engine
pthread_t thread_DMA;
struct DMA_handler_args args;
/*
int interpolation_factor;
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
interpolation_factor = 4; // downsampling filter in L1/E1
}
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
interpolation_factor = 4; // downsampling filter in L1/E1
}
*/
//*************************************************
//***** STEP 1: Prepare the parameters sweep ******
//*************************************************
std::vector<double>
acq_doppler_error_hz_values;
std::vector<std::vector<double>> acq_delay_error_chips_values; //vector of vector
for (double doppler_hz = FLAGS_acq_Doppler_error_hz_start; doppler_hz >= FLAGS_acq_Doppler_error_hz_stop; doppler_hz = doppler_hz + FLAGS_acq_Doppler_error_hz_step)
{
acq_doppler_error_hz_values.push_back(doppler_hz);
std::vector<double> tmp_vector;
//Code Delay Sweep
for (double code_delay_chips = FLAGS_acq_Delay_error_chips_start; code_delay_chips >= FLAGS_acq_Delay_error_chips_stop; code_delay_chips = code_delay_chips + FLAGS_acq_Delay_error_chips_step)
{
tmp_vector.push_back(code_delay_chips);
}
acq_delay_error_chips_values.push_back(tmp_vector);
}
//***********************************************************
//***** STEP 2: Generate the input signal (if required) *****
//***********************************************************
std::vector<double> generator_CN0_values;
if (FLAGS_enable_external_signal_file)
{
generator_CN0_values.push_back(999); // an external input signal capture is selected, no CN0 information available
}
else
{
if (FLAGS_CN0_dBHz_start == FLAGS_CN0_dBHz_stop)
{
generator_CN0_values.push_back(FLAGS_CN0_dBHz_start);
}
else
{
for (double cn0 = FLAGS_CN0_dBHz_start; cn0 > FLAGS_CN0_dBHz_stop; cn0 = cn0 - FLAGS_CN0_dB_step)
{
generator_CN0_values.push_back(cn0);
}
}
}
// use generator or use an external capture file
if (FLAGS_enable_external_signal_file)
{
//create and configure an acquisition block and perform an acquisition to obtain the synchronization parameters
ASSERT_EQ(acquire_signal(FLAGS_test_satellite_PRN), true);
bool found_satellite = doppler_measurements_map.find(FLAGS_test_satellite_PRN) != doppler_measurements_map.end();
EXPECT_TRUE(found_satellite) << "Error: satellite SV: " << FLAGS_test_satellite_PRN << " is not acquired";
if (!found_satellite) return;
}
else
{
for (unsigned int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
{
// Configure the signal generator
configure_generator(generator_CN0_values.at(current_cn0_idx), current_cn0_idx);
// Generate signal raw signal samples and observations RINEX file
if (FLAGS_disable_generator == false)
{
generate_signal();
}
}
}
configure_receiver(FLAGS_PLL_bw_hz_start,
FLAGS_DLL_bw_hz_start,
FLAGS_PLL_narrow_bw_hz,
FLAGS_DLL_narrow_bw_hz,
FLAGS_extend_correlation_symbols);
//******************************************************************************************
//***** Obtain the initial signal sinchronization parameters (emulating an acquisition) ****
//******************************************************************************************
int test_satellite_PRN = 0;
double true_acq_doppler_hz = 0.0;
double true_acq_delay_samples = 0.0;
uint64_t acq_samplestamp_samples = 0;
tracking_true_obs_reader true_obs_data;
if (!FLAGS_enable_external_signal_file)
{
test_satellite_PRN = FLAGS_test_satellite_PRN;
std::string true_obs_file = std::string("./gps_l1_ca_obs_prn");
true_obs_file.append(std::to_string(test_satellite_PRN));
true_obs_file.append(".dat");
true_obs_data.close_obs_file();
ASSERT_EQ(true_obs_data.open_obs_file(true_obs_file), true) << "Failure opening true observables file";
// load acquisition data based on the first epoch of the true observations
ASSERT_EQ(true_obs_data.read_binary_obs(), true)
<< "Failure reading true tracking dump file." << std::endl
<< "Maybe sat PRN #" + std::to_string(FLAGS_test_satellite_PRN) +
" is not available?";
std::cout << "Testing satellite PRN=" << test_satellite_PRN << std::endl;
std::cout << "True Initial Doppler " << true_obs_data.doppler_l1_hz << " [Hz], true Initial code delay [Chips]=" << true_obs_data.prn_delay_chips << "[Chips]" << std::endl;
true_acq_doppler_hz = true_obs_data.doppler_l1_hz;
true_acq_delay_samples = (GPS_L1_CA_CODE_LENGTH_CHIPS - true_obs_data.prn_delay_chips / GPS_L1_CA_CODE_LENGTH_CHIPS) * static_cast<double>(baseband_sampling_freq) * GPS_L1_CA_CODE_PERIOD;
acq_samplestamp_samples = 0;
}
else
{
true_acq_doppler_hz = doppler_measurements_map.find(FLAGS_test_satellite_PRN)->second;
true_acq_delay_samples = code_delay_measurements_map.find(FLAGS_test_satellite_PRN)->second;
acq_samplestamp_samples = acq_samplestamp_map.find(FLAGS_test_satellite_PRN)->second;
std::cout << "Estimated Initial Doppler " << true_acq_doppler_hz
<< " [Hz], estimated Initial code delay " << true_acq_delay_samples << " [Samples]"
<< " Acquisition SampleStamp is " << acq_samplestamp_samples << std::endl;
}
std::vector<std::vector<double>> pull_in_results_v_v;
unsigned int code_length;
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
code_length = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
}
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
code_length = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)));
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{
code_length = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / Galileo_E5a_CODE_CHIP_RATE_HZ * static_cast<double>(Galileo_E5a_CODE_LENGTH_CHIPS)));
}
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
{
code_length = static_cast<unsigned int>(std::round(static_cast<double>(baseband_sampling_freq) / (GPS_L5i_CODE_RATE_HZ / static_cast<double>(GPS_L5i_CODE_LENGTH_CHIPS))));
}
float nbits = ceilf(log2f((float)code_length));
unsigned int fft_size = pow(2, nbits);
// The HW has been reset after the acquisition phase when the acquisition class was destroyed.
// No more samples remained in the DMA. Therefore any intermediate state in the LPF of the
// GPS L1 / Galileo E1 filter has been cleared.
// During this test all the samples coming from the DMA are consumed so in principle there would be
// no need to reset the HW. However we need to clear the sample counter in each test. Therefore we have
// to reset the HW at the beginning of each test.
// instantiate the acquisition modules in order to use them to reset the HW.
// (note that the constructor of the acquisition modules resets the HW too)
std::shared_ptr<GpsL1CaPcpsAcquisitionFpga> acquisition_GpsL1Ca_Fpga;
std::shared_ptr<GalileoE1PcpsAmbiguousAcquisitionFpga> acquisition_GpsE1_Fpga;
std::shared_ptr<GalileoE5aPcpsAcquisitionFpga> acquisition_GpsE5a_Fpga;
std::shared_ptr<GpsL5iPcpsAcquisitionFpga> acquisition_GpsL5_Fpga;
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsL1Ca_Fpga = std::make_shared<GpsL1CaPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
}
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
acquisition_GpsE1_Fpga = std::make_shared<GalileoE1PcpsAmbiguousAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsE5a_Fpga = std::make_shared<GalileoE5aPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
}
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsL5_Fpga = std::make_shared<GpsL5iPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
}
for (unsigned int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
{
std::vector<double> pull_in_results_v;
for (unsigned int current_acq_doppler_error_idx = 0; current_acq_doppler_error_idx < acq_doppler_error_hz_values.size(); current_acq_doppler_error_idx++)
{
for (unsigned int current_acq_code_error_idx = 0; current_acq_code_error_idx < acq_delay_error_chips_values.at(current_acq_doppler_error_idx).size(); current_acq_code_error_idx++)
{
// reset the HW to clear the sample counters
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsL1Ca_Fpga->reset_acquisition();
}
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
acquisition_GpsE1_Fpga->reset_acquisition();
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsE5a_Fpga->reset_acquisition();
}
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsL5_Fpga->reset_acquisition();
}
gnss_synchro.Acq_samplestamp_samples = acq_samplestamp_samples;
//simulate a Doppler error in acquisition
gnss_synchro.Acq_doppler_hz = true_acq_doppler_hz + acq_doppler_error_hz_values.at(current_acq_doppler_error_idx);
//simulate Code Delay error in acquisition
gnss_synchro.Acq_delay_samples = true_acq_delay_samples + (acq_delay_error_chips_values.at(current_acq_doppler_error_idx).at(current_acq_code_error_idx) / GPS_L1_CA_CODE_RATE_HZ) * static_cast<double>(baseband_sampling_freq);
//create flowgraph
top_block = gr::make_top_block("Tracking test");
std::shared_ptr<GNSSBlockInterface> trk_ = factory->GetBlock(config, "Tracking", config->property("Tracking.implementation", std::string("undefined")), 1, 1);
std::shared_ptr<TrackingInterface> tracking = std::dynamic_pointer_cast<TrackingInterface>(trk_);
boost::shared_ptr<TrackingPullInTestFpga_msg_rx> msg_rx = TrackingPullInTestFpga_msg_rx_make();
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
std::shared_ptr<GpsL1CaPcpsAcquisitionFpga> acquisition_Fpga;
acquisition_Fpga = std::make_shared<GpsL1CaPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
args.freq_band = 0;
}
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
std::shared_ptr<GalileoE1PcpsAmbiguousAcquisitionFpga> acquisition_Fpga;
acquisition_Fpga = std::make_shared<GalileoE1PcpsAmbiguousAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
args.freq_band = 0;
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{
std::shared_ptr<GalileoE5aPcpsAcquisitionFpga> acquisition_Fpga;
acquisition_Fpga = std::make_shared<GalileoE5aPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
args.freq_band = 1;
}
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
{
std::shared_ptr<GpsL5iPcpsAcquisitionFpga> acquisition_Fpga;
acquisition_Fpga = std::make_shared<GpsL5iPcpsAcquisitionFpga>(config.get(), "Acquisition", 0, 0);
args.freq_band = 1;
}
else
{
std::cout << "The test can not run with the selected tracking implementation\n ";
throw(std::exception());
}
ASSERT_NO_THROW({
tracking->set_channel(gnss_synchro.Channel_ID);
}) << "Failure setting channel.";
ASSERT_NO_THROW({
tracking->set_gnss_synchro(&gnss_synchro);
}) << "Failure setting gnss_synchro.";
ASSERT_NO_THROW({
tracking->connect(top_block);
}) << "Failure connecting tracking to the top_block.";
ASSERT_NO_THROW({
gr::blocks::null_sink::sptr sink = gr::blocks::null_sink::make(sizeof(Gnss_Synchro));
top_block->connect(tracking->get_right_block(), 0, sink, 0);
top_block->msg_connect(tracking->get_right_block(), pmt::mp("events"), msg_rx, pmt::mp("events"));
}) << "Failure connecting the blocks of tracking test.";
std::string file = FLAGS_signal_file;
args.file = file;
if (skip_samples_already_used == 1)
{
args.skip_used_samples = (gnss_synchro.PRN - 1)*fft_size;
}
else
{
args.skip_used_samples = 0;
}
//********************************************************************
//***** STEP 5: Perform the signal tracking and read the results *****
//********************************************************************
//args.nsamples_tx = NSAMPLES_TRACKING; // number of samples to transfer
args.nsamples_tx = baseband_sampling_freq*FLAGS_duration;
//if (pthread_create(&thread_DMA, NULL, handler_DMA_tracking, (void *)&args) < 0)
if (pthread_create(&thread_DMA, NULL, handler_DMA, (void *)&args) < 0)
{
std::cout << "ERROR cannot create DMA Process" << std::endl;
}
std::cout << "--- START TRACKING WITH PULL-IN ERROR: " << acq_doppler_error_hz_values.at(current_acq_doppler_error_idx) << " [Hz] and " << acq_delay_error_chips_values.at(current_acq_doppler_error_idx).at(current_acq_code_error_idx) << " [Chips] ---" << std::endl;
tracking->start_tracking();
pthread_mutex_lock(&mutex);
send_samples_start = 1;
pthread_mutex_unlock(&mutex);
top_block->start();
// wait for the child DMA process to finish
pthread_join(thread_DMA, NULL);
top_block->stop();
/*
// send more samples to unblock the tracking process in case it was waiting for samples
// In this case the DMA may finish sending the current file while the signal is being
// tracked by the HW accelerators. Some tracking HW accelerators may be left in a state
// where they are waiting for more samples. In this case we can not bring them back to their
// default state using a HW reset because the SW would be waiting forever to receive the
// HW interrupt from those accelerators. The correct way to bring the system back to the default state
// is to send some extra samples that will ensure that all the aforementioned accelerators
// trigger an interrupt to the SW. After this last interrupt all the HW accelerators go back to their
// default state.
args.file = file;
if (skip_samples_already_used == 1)
{
// skip the samples that have already been used
args.skip_used_samples = (gnss_synchro.PRN - 1)*fft_size + args.nsamples_tx;
}
else
{
args.skip_used_samples = 0;
}
args.nsamples_tx = NSAMPLES_FINAL;
if (pthread_create(&thread_DMA, NULL, handler_DMA, (void *)&args) < 0)
{
std::cout << "ERROR cannot create DMA Process" << std::endl;
}
pthread_join(thread_DMA, NULL);
*/
// reset the HW to launch the pending interrupts
if (implementation.compare("GPS_L1_CA_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsL1Ca_Fpga->reset_acquisition();
}
else if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking_Fpga") == 0)
{
acquisition_GpsE1_Fpga->reset_acquisition();
}
else if (implementation.compare("Galileo_E5a_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsE5a_Fpga->reset_acquisition();
}
else if (implementation.compare("GPS_L5_DLL_PLL_Tracking_Fpga") == 0)
{
acquisition_GpsL5_Fpga->reset_acquisition();
}
pthread_mutex_lock(&mutex);
send_samples_start = 0;
pthread_mutex_unlock(&mutex);
pull_in_results_v.push_back(msg_rx->rx_message != 3); //save last asynchronous tracking message in order to detect a loss of lock
//********************************
//***** STEP 7: Plot results *****
//********************************
if (FLAGS_plot_detail_level >= 2 and FLAGS_show_plots)
{
//load the measured values
tracking_dump_reader trk_dump;
ASSERT_EQ(trk_dump.open_obs_file(std::string("./tracking_ch_0.dat")), true)
<< "Failure opening tracking dump file";
int64_t n_measured_epochs = trk_dump.num_epochs();
//todo: use vectors instead
arma::vec trk_timestamp_s = arma::zeros(n_measured_epochs, 1);
arma::vec trk_acc_carrier_phase_cycles = arma::zeros(n_measured_epochs, 1);
arma::vec trk_Doppler_Hz = arma::zeros(n_measured_epochs, 1);
arma::vec trk_prn_delay_chips = arma::zeros(n_measured_epochs, 1);
std::vector<double> timestamp_s;
std::vector<double> prompt;
std::vector<double> early;
std::vector<double> late;
std::vector<double> v_early;
std::vector<double> v_late;
std::vector<double> promptI;
std::vector<double> promptQ;
std::vector<double> CN0_dBHz;
std::vector<double> Doppler;
int64_t epoch_counter = 0;
while (trk_dump.read_binary_obs())
{
trk_timestamp_s(epoch_counter) = static_cast<double>(trk_dump.PRN_start_sample_count) / static_cast<double>(baseband_sampling_freq);
trk_acc_carrier_phase_cycles(epoch_counter) = trk_dump.acc_carrier_phase_rad / GPS_TWO_PI;
trk_Doppler_Hz(epoch_counter) = trk_dump.carrier_doppler_hz;
double delay_chips = GPS_L1_CA_CODE_LENGTH_CHIPS - GPS_L1_CA_CODE_LENGTH_CHIPS * (fmod((static_cast<double>(trk_dump.PRN_start_sample_count) + trk_dump.aux1) / static_cast<double>(baseband_sampling_freq), 1.0e-3) / 1.0e-3);
trk_prn_delay_chips(epoch_counter) = delay_chips;
timestamp_s.push_back(trk_timestamp_s(epoch_counter));
prompt.push_back(trk_dump.abs_P);
early.push_back(trk_dump.abs_E);
late.push_back(trk_dump.abs_L);
v_early.push_back(trk_dump.abs_VE);
v_late.push_back(trk_dump.abs_VL);
promptI.push_back(trk_dump.prompt_I);
promptQ.push_back(trk_dump.prompt_Q);
CN0_dBHz.push_back(trk_dump.CN0_SNV_dB_Hz);
Doppler.push_back(trk_dump.carrier_doppler_hz);
epoch_counter++;
}
const std::string gnuplot_executable(FLAGS_gnuplot_executable);
if (gnuplot_executable.empty())
{
std::cout << "WARNING: Although the flag show_plots has been set to TRUE," << std::endl;
std::cout << "gnuplot has not been found in your system." << std::endl;
std::cout << "Test results will not be plotted." << std::endl;
}
else
{
try
{
boost::filesystem::path p(gnuplot_executable);
boost::filesystem::path dir = p.parent_path();
std::string gnuplot_path = dir.native();
Gnuplot::set_GNUPlotPath(gnuplot_path);
unsigned int decimate = static_cast<unsigned int>(FLAGS_plot_decimate);
if (FLAGS_plot_detail_level >= 2 and FLAGS_show_plots)
{
Gnuplot g1("linespoints");
g1.showonscreen(); // window output
if (!FLAGS_enable_external_signal_file)
{
g1.set_title(std::to_string(generator_CN0_values.at(current_cn0_idx)) + " dB-Hz, " + "PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " [Hz], GPS L1 C/A (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
}
else
{
g1.set_title("D_e=" + std::to_string(acq_doppler_error_hz_values.at(current_acq_doppler_error_idx)) + " [Hz] " + "T_e= " + std::to_string(acq_delay_error_chips_values.at(current_acq_doppler_error_idx).at(current_acq_code_error_idx)) + " [Chips], PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " [Hz], (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
}
g1.set_grid();
g1.set_xlabel("Time [s]");
g1.set_ylabel("Correlators' output");
//g1.cmd("set key box opaque");
g1.plot_xy(trk_timestamp_s, prompt, "Prompt", decimate);
g1.plot_xy(trk_timestamp_s, early, "Early", decimate);
g1.plot_xy(trk_timestamp_s, late, "Late", decimate);
if (implementation.compare("Galileo_E1_DLL_PLL_VEML_Tracking") == 0)
{
g1.plot_xy(trk_timestamp_s, v_early, "Very Early", decimate);
g1.plot_xy(trk_timestamp_s, v_late, "Very Late", decimate);
}
g1.set_legend();
g1.savetops("Correlators_outputs");
Gnuplot g2("points");
g2.showonscreen(); // window output
if (!FLAGS_enable_external_signal_file)
{
g2.set_title(std::to_string(generator_CN0_values.at(current_cn0_idx)) + " dB-Hz Constellation " + "PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " [Hz], (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
}
else
{
g2.set_title("D_e=" + std::to_string(acq_doppler_error_hz_values.at(current_acq_doppler_error_idx)) + " [Hz] " + "T_e= " + std::to_string(acq_delay_error_chips_values.at(current_acq_doppler_error_idx).at(current_acq_code_error_idx)) + " [Chips], PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " [Hz], (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
}
g2.set_grid();
g2.set_xlabel("Inphase");
g2.set_ylabel("Quadrature");
//g2.cmd("set size ratio -1");
g2.plot_xy(promptI, promptQ);
g2.savetops("Constellation");
Gnuplot g3("linespoints");
if (!FLAGS_enable_external_signal_file)
{
g3.set_title(std::to_string(generator_CN0_values.at(current_cn0_idx)) + " dB-Hz, GPS L1 C/A tracking CN0 output (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
}
else
{
g3.set_title("D_e=" + std::to_string(acq_doppler_error_hz_values.at(current_acq_doppler_error_idx)) + " [Hz] " + "T_e= " + std::to_string(acq_delay_error_chips_values.at(current_acq_doppler_error_idx).at(current_acq_code_error_idx)) + " [Chips] PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " [Hz], (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
}
g3.set_grid();
g3.set_xlabel("Time [s]");
g3.set_ylabel("Reported CN0 [dB-Hz]");
g3.cmd("set key box opaque");
g3.plot_xy(trk_timestamp_s, CN0_dBHz,
std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))) + "[dB-Hz]", decimate);
g3.set_legend();
g3.savetops("CN0_output");
g3.showonscreen(); // window output
Gnuplot g4("linespoints");
if (!FLAGS_enable_external_signal_file)
{
g4.set_title(std::to_string(generator_CN0_values.at(current_cn0_idx)) + " dB-Hz, GPS L1 C/A tracking CN0 output (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
}
else
{
g4.set_title("D_e=" + std::to_string(acq_doppler_error_hz_values.at(current_acq_doppler_error_idx)) + " [Hz] " + "T_e= " + std::to_string(acq_delay_error_chips_values.at(current_acq_doppler_error_idx).at(current_acq_code_error_idx)) + " [Chips] PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " [Hz], (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
}
g4.set_grid();
g4.set_xlabel("Time [s]");
g4.set_ylabel("Estimated Doppler [Hz]");
g4.cmd("set key box opaque");
g4.plot_xy(trk_timestamp_s, Doppler,
std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))) + "[dB-Hz]", decimate);
g4.set_legend();
g4.savetops("Doppler");
g4.showonscreen(); // window output
}
}
catch (const GnuplotException& ge)
{
std::cout << ge.what() << std::endl;
}
}
} //end plot
} //end acquisition Delay errors loop
usleep(100000); // give time to the HW to consume all the remaining samples
} //end acquisition Doppler errors loop
pull_in_results_v_v.push_back(pull_in_results_v);
} //end CN0 LOOP
//build the mesh grid
std::vector<double> doppler_error_mesh;
std::vector<double> code_delay_error_mesh;
for (unsigned int current_acq_doppler_error_idx = 0; current_acq_doppler_error_idx < acq_doppler_error_hz_values.size(); current_acq_doppler_error_idx++)
{
for (unsigned int current_acq_code_error_idx = 0; current_acq_code_error_idx < acq_delay_error_chips_values.at(current_acq_doppler_error_idx).size(); current_acq_code_error_idx++)
{
doppler_error_mesh.push_back(acq_doppler_error_hz_values.at(current_acq_doppler_error_idx));
code_delay_error_mesh.push_back(acq_delay_error_chips_values.at(current_acq_doppler_error_idx).at(current_acq_code_error_idx));
}
}
for (unsigned int current_cn0_idx = 0; current_cn0_idx < generator_CN0_values.size(); current_cn0_idx++)
{
std::vector<double> pull_in_result_mesh;
pull_in_result_mesh = pull_in_results_v_v.at(current_cn0_idx);
//plot grid
if (FLAGS_show_plots)
{
Gnuplot g4("points palette pointsize 2 pointtype 7");
g4.showonscreen(); // window output
g4.cmd("set palette defined ( 0 \"black\", 1 \"green\" )");
g4.cmd("set key off");
g4.cmd("set view map");
std::string title;
if (!FLAGS_enable_external_signal_file)
{
title = std::string("Tracking Pull-in result grid at CN0:" + std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))) + " [dB-Hz], PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " [Hz].");
}
else
{
title = std::string("Tracking Pull-in result grid, PLL/DLL BW: " + std::to_string(FLAGS_PLL_bw_hz_start) + "," + std::to_string(FLAGS_DLL_bw_hz_start) + " [Hz], GPS L1 C/A (PRN #" + std::to_string(FLAGS_test_satellite_PRN) + ")");
}
g4.set_title(title);
g4.set_grid();
g4.set_xlabel("Acquisition Doppler error [Hz]");
g4.set_ylabel("Acquisition Code Delay error [Chips]");
g4.cmd("set cbrange[0:1]");
g4.plot_xyz(doppler_error_mesh,
code_delay_error_mesh,
pull_in_result_mesh);
g4.set_legend();
if (!FLAGS_enable_external_signal_file)
{
g4.savetops("trk_pull_in_grid_" + std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))));
g4.savetopdf("trk_pull_in_grid_" + std::to_string(static_cast<int>(round(generator_CN0_values.at(current_cn0_idx)))), 12);
}
else
{
g4.savetops("trk_pull_in_grid_external_file");
g4.savetopdf("trk_pull_in_grid_external_file", 12);
}
}
}
}
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