[hamradio-commits] [gnss-sdr] 232/251: Added GPU tracking block for GPS L1 CA. Not activable yet...
Carles Fernandez
carles_fernandez-guest at moszumanska.debian.org
Wed Sep 2 00:22:56 UTC 2015
This is an automated email from the git hooks/post-receive script.
carles_fernandez-guest pushed a commit to branch master
in repository gnss-sdr.
commit f722f5f8f779cdfa02519a7dd83b89b3aef375ac
Author: Javier Arribas <javiarribas at gmail.com>
Date: Thu Jul 23 18:07:52 2015 +0200
Added GPU tracking block for GPS L1 CA. Not activable yet...
---
.../tracking/gnuradio_blocks/CMakeLists.txt | 8 +
.../gps_l1_ca_dll_pll_tracking_gpu_cc.cc | 670 +++++++++++++++++++++
.../gps_l1_ca_dll_pll_tracking_gpu_cc.h | 191 ++++++
src/algorithms/tracking/libs/CMakeLists.txt | 1 +
4 files changed, 870 insertions(+)
diff --git a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
index 268e1f9..d300a9e 100644
--- a/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
+++ b/src/algorithms/tracking/gnuradio_blocks/CMakeLists.txt
@@ -16,6 +16,11 @@
# along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
#
+
+if(ENABLE_CUDA)
+ FIND_PACKAGE(CUDA REQUIRED)
+endif(ENABLE_CUDA)
+
set(TRACKING_GR_BLOCKS_SOURCES
galileo_e1_dll_pll_veml_tracking_cc.cc
galileo_volk_e1_dll_pll_veml_tracking_cc.cc
@@ -26,6 +31,7 @@ set(TRACKING_GR_BLOCKS_SOURCES
gps_l1_ca_tcp_connector_tracking_cc.cc
galileo_e5a_dll_pll_tracking_cc.cc
gps_l2_m_dll_pll_tracking_cc.cc
+ gps_l1_ca_dll_pll_tracking_gpu_cc.cc
)
include_directories(
@@ -40,6 +46,8 @@ include_directories(
${Boost_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}
${VOLK_GNSSSDR_INCLUDE_DIRS}
+ ${CUDA_INCLUDE_DIRS}
+ ${CMAKE_SOURCE_DIR}/src/algorithms/tracking/libs/cudahelpers
)
if(ENABLE_GENERIC_ARCH)
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.cc b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.cc
new file mode 100644
index 0000000..b443aeb
--- /dev/null
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.cc
@@ -0,0 +1,670 @@
+/*!
+ * \file gps_l1_ca_dll_pll_tracking_gpu_cc.cc
+ * \brief Implementation of a code DLL + carrier PLL tracking block, GPU ACCELERATED
+ * \author Javier Arribas, 2015. jarribas(at)cttc.es
+ *
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * [1] K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency
+ * Approach, Birkhauser, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ * Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#include "gps_l1_ca_dll_pll_tracking_gpu_cc.h"
+#include <cmath>
+#include <iostream>
+#include <memory>
+#include <sstream>
+#include <boost/lexical_cast.hpp>
+#include <gnuradio/io_signature.h>
+#include <glog/logging.h>
+#include "gnss_synchro.h"
+#include "gps_sdr_signal_processing.h"
+#include "tracking_discriminators.h"
+#include "lock_detectors.h"
+#include "GPS_L1_CA.h"
+#include "control_message_factory.h"
+#include <volk/volk.h> //volk_alignement
+
+#include <cuda.h>
+// CUDA runtime
+#include <cuda_runtime.h>
+// includes
+#include <cuda_profiler_api.h>
+#include <helper_functions.h> // helper for shared functions common to CUDA Samples
+#include <helper_cuda.h> // helper functions for CUDA error checking and initialization
+
+
+
+/*!
+ * \todo Include in definition header file
+ */
+#define CN0_ESTIMATION_SAMPLES 20
+#define MINIMUM_VALID_CN0 25
+#define MAXIMUM_LOCK_FAIL_COUNTER 50
+#define CARRIER_LOCK_THRESHOLD 0.85
+
+
+using google::LogMessage;
+
+gps_l1_ca_dll_pll_tracking_gpu_cc_sptr
+gps_l1_ca_dll_pll_make_tracking_gpu_cc(
+ long if_freq,
+ long fs_in,
+ unsigned int vector_length,
+ boost::shared_ptr<gr::msg_queue> queue,
+ bool dump,
+ std::string dump_filename,
+ float pll_bw_hz,
+ float dll_bw_hz,
+ float early_late_space_chips)
+{
+ return gps_l1_ca_dll_pll_tracking_gpu_cc_sptr(new Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc(if_freq,
+ fs_in, vector_length, queue, dump, dump_filename, pll_bw_hz, dll_bw_hz, early_late_space_chips));
+}
+
+
+
+void Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::forecast (int noutput_items,
+ gr_vector_int &ninput_items_required)
+{
+ ninput_items_required[0] = static_cast<int>(d_vector_length) * 2; //set the required available samples in each call
+}
+
+
+
+Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc(
+ long if_freq,
+ long fs_in,
+ unsigned int vector_length,
+ boost::shared_ptr<gr::msg_queue> queue,
+ bool dump,
+ std::string dump_filename,
+ float pll_bw_hz,
+ float dll_bw_hz,
+ float early_late_space_chips) :
+ gr::block("Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc", gr::io_signature::make(1, 1, sizeof(gr_complex)),
+ gr::io_signature::make(1, 1, sizeof(Gnss_Synchro)))
+{
+ // initialize internal vars
+ d_queue = queue;
+ d_dump = dump;
+ d_if_freq = if_freq;
+ d_fs_in = fs_in;
+ d_vector_length = vector_length;
+ d_dump_filename = dump_filename;
+
+ // Initialize tracking ==========================================
+ d_code_loop_filter.set_DLL_BW(dll_bw_hz);
+ d_carrier_loop_filter.set_PLL_BW(pll_bw_hz);
+
+ //--- DLL variables --------------------------------------------------------
+ d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
+
+ // Initialization of local code replica
+ // Get space for a vector with the C/A code replica sampled 1x/chip
+ d_ca_code = static_cast<gr_complex*>(volk_malloc((GPS_L1_CA_CODE_LENGTH_CHIPS + 2) * sizeof(gr_complex), volk_get_alignment()));
+
+
+ multicorrelator_gpu = new cuda_multicorrelator();
+ // Get space for the resampled early / prompt / late local replicas
+ int N_CORRELATORS=3;
+ checkCudaErrors(cudaHostAlloc((void**)&d_local_code_shift_samples, N_CORRELATORS * sizeof(int), cudaHostAllocMapped ));
+
+
+ //allocate host memory
+ //pinned memory mode - use special function to get OS-pinned memory
+ checkCudaErrors(cudaHostAlloc((void**)&in_gpu, 2 * d_vector_length * sizeof(gr_complex), cudaHostAllocMapped ));
+
+ //old local codes vector
+ //checkCudaErrors(cudaHostAlloc((void**)&d_local_codes_gpu, (V_LEN * sizeof(gr_complex))*N_CORRELATORS, cudaHostAllocWriteCombined ));
+
+ //new integrated shifts
+ checkCudaErrors(cudaHostAlloc((void**)&d_local_codes_gpu, (2 * d_vector_length * sizeof(gr_complex)), cudaHostAllocWriteCombined ));
+
+ // correlator outputs (scalar)
+ checkCudaErrors(cudaHostAlloc((void**)&d_corr_outs_gpu ,sizeof(gr_complex)*N_CORRELATORS, cudaHostAllocWriteCombined ));
+ //map to EPL pointers
+ d_Early = &d_corr_outs_gpu[0];
+ d_Prompt = &d_corr_outs_gpu[1];
+ d_Late = &d_corr_outs_gpu[2];
+
+ //--- Perform initializations ------------------------------
+ // define initial code frequency basis of NCO
+ d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ;
+ // define residual code phase (in chips)
+ d_rem_code_phase_samples = 0.0;
+ // define residual carrier phase
+ d_rem_carr_phase_rad = 0.0;
+
+ // sample synchronization
+ d_sample_counter = 0;
+ //d_sample_counter_seconds = 0;
+ d_acq_sample_stamp = 0;
+
+ d_enable_tracking = false;
+ d_pull_in = false;
+ d_last_seg = 0;
+
+ d_current_prn_length_samples = static_cast<int>(d_vector_length);
+
+ // CN0 estimation and lock detector buffers
+ d_cn0_estimation_counter = 0;
+ d_Prompt_buffer = new gr_complex[CN0_ESTIMATION_SAMPLES];
+ d_carrier_lock_test = 1;
+ d_CN0_SNV_dB_Hz = 0;
+ d_carrier_lock_fail_counter = 0;
+ d_carrier_lock_threshold = CARRIER_LOCK_THRESHOLD;
+
+ systemName["G"] = std::string("GPS");
+ systemName["S"] = std::string("SBAS");
+
+
+ set_relative_rate(1.0/((double)d_vector_length*2));
+
+ d_channel_internal_queue = 0;
+ d_acquisition_gnss_synchro = 0;
+ d_channel = 0;
+ d_acq_code_phase_samples = 0.0;
+ d_acq_carrier_doppler_hz = 0.0;
+ d_carrier_doppler_hz = 0.0;
+ d_acc_carrier_phase_rad = 0.0;
+ d_code_phase_samples = 0.0;
+ d_acc_code_phase_secs = 0.0;
+ //set_min_output_buffer((long int)300);
+}
+
+
+void Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::start_tracking()
+{
+ /*
+ * correct the code phase according to the delay between acq and trk
+ */
+ d_acq_code_phase_samples = d_acquisition_gnss_synchro->Acq_delay_samples;
+ d_acq_carrier_doppler_hz = d_acquisition_gnss_synchro->Acq_doppler_hz;
+ d_acq_sample_stamp = d_acquisition_gnss_synchro->Acq_samplestamp_samples;
+
+ long int acq_trk_diff_samples;
+ float acq_trk_diff_seconds;
+ acq_trk_diff_samples = static_cast<long int>(d_sample_counter) - static_cast<long int>(d_acq_sample_stamp);//-d_vector_length;
+ DLOG(INFO) << "Number of samples between Acquisition and Tracking =" << acq_trk_diff_samples;
+ acq_trk_diff_seconds = static_cast<float>(acq_trk_diff_samples) / static_cast<float>(d_fs_in);
+ //doppler effect
+ // Fd=(C/(C+Vr))*F
+ float radial_velocity = (GPS_L1_FREQ_HZ + d_acq_carrier_doppler_hz) / GPS_L1_FREQ_HZ;
+ // new chip and prn sequence periods based on acq Doppler
+ float T_chip_mod_seconds;
+ float T_prn_mod_seconds;
+ float T_prn_mod_samples;
+ d_code_freq_chips = radial_velocity * GPS_L1_CA_CODE_RATE_HZ;
+ T_chip_mod_seconds = 1/d_code_freq_chips;
+ T_prn_mod_seconds = T_chip_mod_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
+ T_prn_mod_samples = T_prn_mod_seconds * static_cast<float>(d_fs_in);
+
+ d_current_prn_length_samples = round(T_prn_mod_samples);
+
+ float T_prn_true_seconds = GPS_L1_CA_CODE_LENGTH_CHIPS / GPS_L1_CA_CODE_RATE_HZ;
+ float T_prn_true_samples = T_prn_true_seconds * static_cast<float>(d_fs_in);
+ float T_prn_diff_seconds= T_prn_true_seconds - T_prn_mod_seconds;
+ float N_prn_diff = acq_trk_diff_seconds / T_prn_true_seconds;
+ float corrected_acq_phase_samples, delay_correction_samples;
+ corrected_acq_phase_samples = fmod((d_acq_code_phase_samples + T_prn_diff_seconds * N_prn_diff * static_cast<float>(d_fs_in)), T_prn_true_samples);
+ if (corrected_acq_phase_samples < 0)
+ {
+ corrected_acq_phase_samples = T_prn_mod_samples + corrected_acq_phase_samples;
+ }
+ delay_correction_samples = d_acq_code_phase_samples - corrected_acq_phase_samples;
+
+ d_acq_code_phase_samples = corrected_acq_phase_samples;
+
+ d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
+
+ // DLL/PLL filter initialization
+ d_carrier_loop_filter.initialize(); // initialize the carrier filter
+ d_code_loop_filter.initialize(); // initialize the code filter
+
+ // generate local reference ALWAYS starting at chip 1 (1 sample per chip)
+ gps_l1_ca_code_gen_complex(&d_ca_code[1], d_acquisition_gnss_synchro->PRN, 0);
+ d_ca_code[0] = d_ca_code[static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS)];
+ d_ca_code[static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS) + 1] = d_ca_code[1];
+
+ d_carrier_lock_fail_counter = 0;
+ d_rem_code_phase_samples = 0;
+ d_rem_carr_phase_rad = 0;
+ d_acc_carrier_phase_rad = 0;
+ d_acc_code_phase_secs = 0;
+
+ d_code_phase_samples = d_acq_code_phase_samples;
+
+ std::string sys_ = &d_acquisition_gnss_synchro->System;
+ sys = sys_.substr(0,1);
+
+ // DEBUG OUTPUT
+ std::cout << "Tracking start on channel " << d_channel << " for satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << std::endl;
+ LOG(INFO) << "Starting tracking of satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN) << " on channel " << d_channel;
+
+
+ // enable tracking
+ d_pull_in = true;
+ d_enable_tracking = true;
+
+ LOG(INFO) << "PULL-IN Doppler [Hz]=" << d_carrier_doppler_hz
+ << " Code Phase correction [samples]=" << delay_correction_samples
+ << " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
+}
+
+
+
+
+
+void Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::update_local_code()
+{
+ double tcode_chips;
+ double rem_code_phase_chips;
+ int associated_chip_index;
+ int code_length_chips = static_cast<int>(GPS_L1_CA_CODE_LENGTH_CHIPS);
+ double code_phase_step_chips;
+ int epl_loop_length_samples;
+
+ // unified loop for E, P, L code vectors
+ code_phase_step_chips = static_cast<double>(d_code_freq_chips) / static_cast<double>(d_fs_in);
+ rem_code_phase_chips = d_rem_code_phase_samples * (d_code_freq_chips / d_fs_in);
+ tcode_chips = -rem_code_phase_chips;
+
+ // Alternative EPL code generation (40% of speed improvement!)
+ d_local_code_shift_samples[0]=0;
+ d_local_code_shift_samples[1]=round(d_early_late_spc_chips / code_phase_step_chips);
+ d_local_code_shift_samples[2]=round((2*d_early_late_spc_chips) / code_phase_step_chips);
+
+ epl_loop_length_samples = d_current_prn_length_samples + d_local_code_shift_samples[2]; //maximum length
+
+ for (int i = 0; i < epl_loop_length_samples; i++)
+ {
+ associated_chip_index = 1 + round(fmod(tcode_chips - d_early_late_spc_chips, code_length_chips));
+ d_local_codes_gpu[i] = d_ca_code[associated_chip_index];
+ tcode_chips = tcode_chips + code_phase_step_chips;
+ }
+
+}
+
+
+Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::~Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc()
+{
+ d_dump_file.close();
+
+ cudaFreeHost(in_gpu);
+ cudaFreeHost(d_carr_sign_gpu);
+ cudaFreeHost(d_corr_outs_gpu);
+ cudaFreeHost(d_local_codes_gpu);
+
+ multicorrelator_gpu->free_cuda();
+ delete(multicorrelator_gpu);
+
+ volk_free(d_Early);
+ volk_free(d_Prompt);
+ volk_free(d_Late);
+ volk_free(d_ca_code);
+
+ delete[] d_Prompt_buffer;
+}
+
+
+
+int Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
+ gr_vector_const_void_star &input_items, gr_vector_void_star &output_items)
+{
+ // process vars
+ float carr_error_hz;
+ float carr_error_filt_hz;
+ float code_error_chips;
+ float code_error_filt_chips;
+
+ // Block input data and block output stream pointers
+ const gr_complex* in = (gr_complex*) input_items[0];
+ Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
+
+ // GNSS_SYNCHRO OBJECT to interchange data between tracking->telemetry_decoder
+ Gnss_Synchro current_synchro_data = Gnss_Synchro();
+
+
+ if (d_enable_tracking == true)
+ {
+ // Receiver signal alignment
+ if (d_pull_in == true)
+ {
+ int samples_offset;
+ float acq_trk_shif_correction_samples;
+ int acq_to_trk_delay_samples;
+ acq_to_trk_delay_samples = d_sample_counter - d_acq_sample_stamp;
+ acq_trk_shif_correction_samples = d_current_prn_length_samples - fmod(static_cast<float>(acq_to_trk_delay_samples), static_cast<float>(d_current_prn_length_samples));
+ samples_offset = round(d_acq_code_phase_samples + acq_trk_shif_correction_samples);
+ // /todo: Check if the sample counter sent to the next block as a time reference should be incremented AFTER sended or BEFORE
+ //d_sample_counter_seconds = d_sample_counter_seconds + (((double)samples_offset) / static_cast<double>(d_fs_in));
+ d_sample_counter = d_sample_counter + samples_offset; //count for the processed samples
+ d_pull_in = false;
+ //std::cout<<" samples_offset="<<samples_offset<<"\r\n";
+ // Fill the acquisition data
+ current_synchro_data = *d_acquisition_gnss_synchro;
+ *out[0] = current_synchro_data;
+ consume_each(samples_offset); //shift input to perform alignment with local replica
+ return 1;
+ }
+
+ // Fill the acquisition data
+ current_synchro_data = *d_acquisition_gnss_synchro;
+
+ // Generate local code and carrier replicas (using \hat{f}_d(k-1))
+ update_local_code();
+
+ // UPDATE NCO COMMAND
+ float phase_step_rad = static_cast<float>(GPS_TWO_PI) * d_carrier_doppler_hz / static_cast<float>(d_fs_in);
+
+ // perform carrier wipe-off and compute Early, Prompt and Late correlation
+ multicorrelator_gpu->Carrier_wipeoff_multicorrelator_cuda(
+ d_corr_outs_gpu,
+ in,//in_gpu,
+ d_local_codes_gpu,
+ d_rem_carr_phase_rad,
+ phase_step_rad,
+ d_local_code_shift_samples,
+ d_current_prn_length_samples,
+ 3);
+
+ // check for samples consistency (this should be done before in the receiver / here only if the source is a file)
+ if (std::isnan((*d_Prompt).real()) == true or std::isnan((*d_Prompt).imag()) == true ) // or std::isinf(in[i].real())==true or std::isinf(in[i].imag())==true)
+ {
+ const int samples_available = ninput_items[0];
+ d_sample_counter = d_sample_counter + samples_available;
+ LOG(WARNING) << "Detected NaN samples at sample number " << d_sample_counter;
+ consume_each(samples_available);
+
+ // make an output to not stop the rest of the processing blocks
+ current_synchro_data.Prompt_I = 0.0;
+ current_synchro_data.Prompt_Q = 0.0;
+ current_synchro_data.Tracking_timestamp_secs = static_cast<double>(d_sample_counter) / static_cast<double>(d_fs_in);
+ current_synchro_data.Carrier_phase_rads = 0.0;
+ current_synchro_data.Code_phase_secs = 0.0;
+ current_synchro_data.CN0_dB_hz = 0.0;
+ current_synchro_data.Flag_valid_tracking = false;
+ current_synchro_data.Flag_valid_pseudorange = false;
+
+ *out[0] = current_synchro_data;
+ return 1;
+ }
+
+ // ################## PLL ##########################################################
+ // PLL discriminator
+ carr_error_hz = pll_cloop_two_quadrant_atan(*d_Prompt) / static_cast<float>(GPS_TWO_PI);
+ // Carrier discriminator filter
+ carr_error_filt_hz = d_carrier_loop_filter.get_carrier_nco(carr_error_hz);
+ // New carrier Doppler frequency estimation
+ d_carrier_doppler_hz = d_acq_carrier_doppler_hz + carr_error_filt_hz;
+ // New code Doppler frequency estimation
+ d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ + ((d_carrier_doppler_hz * GPS_L1_CA_CODE_RATE_HZ) / GPS_L1_FREQ_HZ);
+ //carrier phase accumulator for (K) doppler estimation
+ d_acc_carrier_phase_rad = d_acc_carrier_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * GPS_L1_CA_CODE_PERIOD;
+ //remanent carrier phase to prevent overflow in the code NCO
+ d_rem_carr_phase_rad = d_rem_carr_phase_rad + GPS_TWO_PI * d_carrier_doppler_hz * GPS_L1_CA_CODE_PERIOD;
+ d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, GPS_TWO_PI);
+
+ // ################## DLL ##########################################################
+ // DLL discriminator
+ code_error_chips = dll_nc_e_minus_l_normalized(*d_Early, *d_Late); //[chips/Ti]
+ // Code discriminator filter
+ code_error_filt_chips = d_code_loop_filter.get_code_nco(code_error_chips); //[chips/second]
+ //Code phase accumulator
+ float code_error_filt_secs;
+ code_error_filt_secs = (GPS_L1_CA_CODE_PERIOD * code_error_filt_chips) / GPS_L1_CA_CODE_RATE_HZ; //[seconds]
+ d_acc_code_phase_secs = d_acc_code_phase_secs + code_error_filt_secs;
+
+ // ################## CARRIER AND CODE NCO BUFFER ALIGNEMENT #######################
+ // keep alignment parameters for the next input buffer
+ double T_chip_seconds;
+ double T_prn_seconds;
+ double T_prn_samples;
+ double K_blk_samples;
+ // Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation
+ T_chip_seconds = 1 / static_cast<double>(d_code_freq_chips);
+ T_prn_seconds = T_chip_seconds * GPS_L1_CA_CODE_LENGTH_CHIPS;
+ T_prn_samples = T_prn_seconds * static_cast<double>(d_fs_in);
+ K_blk_samples = T_prn_samples + d_rem_code_phase_samples + code_error_filt_secs * static_cast<double>(d_fs_in);
+ d_current_prn_length_samples = round(K_blk_samples); //round to a discrete samples
+ //d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
+
+ // ####### CN0 ESTIMATION AND LOCK DETECTORS ######
+ if (d_cn0_estimation_counter < CN0_ESTIMATION_SAMPLES)
+ {
+ // fill buffer with prompt correlator output values
+ d_Prompt_buffer[d_cn0_estimation_counter] = *d_Prompt;
+ d_cn0_estimation_counter++;
+ }
+ else
+ {
+ d_cn0_estimation_counter = 0;
+ // Code lock indicator
+ d_CN0_SNV_dB_Hz = cn0_svn_estimator(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES, d_fs_in, GPS_L1_CA_CODE_LENGTH_CHIPS);
+ // Carrier lock indicator
+ d_carrier_lock_test = carrier_lock_detector(d_Prompt_buffer, CN0_ESTIMATION_SAMPLES);
+ // Loss of lock detection
+ if (d_carrier_lock_test < d_carrier_lock_threshold or d_CN0_SNV_dB_Hz < MINIMUM_VALID_CN0)
+ {
+ d_carrier_lock_fail_counter++;
+ }
+ else
+ {
+ if (d_carrier_lock_fail_counter > 0) d_carrier_lock_fail_counter--;
+ }
+ if (d_carrier_lock_fail_counter > MAXIMUM_LOCK_FAIL_COUNTER)
+ {
+ std::cout << "Loss of lock in channel " << d_channel << "!" << std::endl;
+ LOG(INFO) << "Loss of lock in channel " << d_channel << "!";
+ std::unique_ptr<ControlMessageFactory> cmf(new ControlMessageFactory());
+ if (d_queue != gr::msg_queue::sptr())
+ {
+ d_queue->handle(cmf->GetQueueMessage(d_channel, 2));
+ }
+ d_carrier_lock_fail_counter = 0;
+ d_enable_tracking = false; // TODO: check if disabling tracking is consistent with the channel state machine
+ }
+ }
+ // ########### Output the tracking data to navigation and PVT ##########
+ current_synchro_data.Prompt_I = static_cast<double>((*d_Prompt).real());
+ current_synchro_data.Prompt_Q = static_cast<double>((*d_Prompt).imag());
+
+ // Tracking_timestamp_secs is aligned with the NEXT PRN start sample (Hybridization problem!)
+ //compute remnant code phase samples BEFORE the Tracking timestamp
+ //d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
+ //current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter + (double)d_current_prn_length_samples + (double)d_rem_code_phase_samples)/static_cast<double>(d_fs_in);
+
+ // Tracking_timestamp_secs is aligned with the CURRENT PRN start sample (Hybridization OK!, but some glitches??)
+ current_synchro_data.Tracking_timestamp_secs = (static_cast<double>(d_sample_counter) + static_cast<double>(d_rem_code_phase_samples)) / static_cast<double>(d_fs_in);
+ //compute remnant code phase samples AFTER the Tracking timestamp
+ d_rem_code_phase_samples = K_blk_samples - d_current_prn_length_samples; //rounding error < 1 sample
+
+ //current_synchro_data.Tracking_timestamp_secs = ((double)d_sample_counter)/static_cast<double>(d_fs_in);
+ // This tracking block aligns the Tracking_timestamp_secs with the start sample of the PRN, thus, Code_phase_secs=0
+ current_synchro_data.Code_phase_secs = 0;
+ current_synchro_data.Carrier_phase_rads = static_cast<double>(d_acc_carrier_phase_rad);
+ current_synchro_data.Carrier_Doppler_hz = static_cast<double>(d_carrier_doppler_hz);
+ current_synchro_data.CN0_dB_hz = static_cast<double>(d_CN0_SNV_dB_Hz);
+ current_synchro_data.Flag_valid_pseudorange = false;
+ *out[0] = current_synchro_data;
+
+ // ########## DEBUG OUTPUT
+ /*!
+ * \todo The stop timer has to be moved to the signal source!
+ */
+ // debug: Second counter in channel 0
+ if (d_channel == 0)
+ {
+ if (floor(d_sample_counter / d_fs_in) != d_last_seg)
+ {
+ d_last_seg = floor(d_sample_counter / d_fs_in);
+ std::cout << "Current input signal time = " << d_last_seg << " [s]" << std::endl;
+ DLOG(INFO) << "GPS L1 C/A Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
+ << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
+ //if (d_last_seg==5) d_carrier_lock_fail_counter=500; //DEBUG: force unlock!
+ }
+ }
+ else
+ {
+ if (floor(d_sample_counter / d_fs_in) != d_last_seg)
+ {
+ d_last_seg = floor(d_sample_counter / d_fs_in);
+ DLOG(INFO) << "Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
+ << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]";
+ }
+ }
+ }
+ else
+ {
+ // ########## DEBUG OUTPUT (TIME ONLY for channel 0 when tracking is disabled)
+ /*!
+ * \todo The stop timer has to be moved to the signal source!
+ */
+ // stream to collect cout calls to improve thread safety
+ std::stringstream tmp_str_stream;
+ if (floor(d_sample_counter / d_fs_in) != d_last_seg)
+ {
+ d_last_seg = floor(d_sample_counter / d_fs_in);
+
+ if (d_channel == 0)
+ {
+ // debug: Second counter in channel 0
+ tmp_str_stream << "Current input signal time = " << d_last_seg << " [s]" << std::endl << std::flush;
+ std::cout << tmp_str_stream.rdbuf() << std::flush;
+ }
+ }
+ *d_Early = gr_complex(0,0);
+ *d_Prompt = gr_complex(0,0);
+ *d_Late = gr_complex(0,0);
+
+ current_synchro_data.System = {'G'};
+ current_synchro_data.Flag_valid_pseudorange = false;
+ *out[0] = current_synchro_data;
+ }
+
+ if(d_dump)
+ {
+ // MULTIPLEXED FILE RECORDING - Record results to file
+ float prompt_I;
+ float prompt_Q;
+ float tmp_E, tmp_P, tmp_L;
+ float tmp_float;
+ double tmp_double;
+ prompt_I = (*d_Prompt).real();
+ prompt_Q = (*d_Prompt).imag();
+ tmp_E = std::abs<float>(*d_Early);
+ tmp_P = std::abs<float>(*d_Prompt);
+ tmp_L = std::abs<float>(*d_Late);
+ try
+ {
+ // EPR
+ d_dump_file.write(reinterpret_cast<char*>(&tmp_E), sizeof(float));
+ d_dump_file.write(reinterpret_cast<char*>(&tmp_P), sizeof(float));
+ d_dump_file.write(reinterpret_cast<char*>(&tmp_L), sizeof(float));
+ // PROMPT I and Q (to analyze navigation symbols)
+ d_dump_file.write(reinterpret_cast<char*>(&prompt_I), sizeof(float));
+ d_dump_file.write(reinterpret_cast<char*>(&prompt_Q), sizeof(float));
+ // PRN start sample stamp
+ //tmp_float=(float)d_sample_counter;
+ d_dump_file.write(reinterpret_cast<char*>(&d_sample_counter), sizeof(unsigned long int));
+ // accumulated carrier phase
+ d_dump_file.write(reinterpret_cast<char*>(&d_acc_carrier_phase_rad), sizeof(float));
+
+ // carrier and code frequency
+ d_dump_file.write(reinterpret_cast<char*>(&d_carrier_doppler_hz), sizeof(float));
+ d_dump_file.write(reinterpret_cast<char*>(&d_code_freq_chips), sizeof(float));
+
+ //PLL commands
+ d_dump_file.write(reinterpret_cast<char*>(&carr_error_hz), sizeof(float));
+ d_dump_file.write(reinterpret_cast<char*>(&carr_error_filt_hz), sizeof(float));
+
+ //DLL commands
+ d_dump_file.write(reinterpret_cast<char*>(&code_error_chips), sizeof(float));
+ d_dump_file.write(reinterpret_cast<char*>(&code_error_filt_chips), sizeof(float));
+
+ // CN0 and carrier lock test
+ d_dump_file.write(reinterpret_cast<char*>(&d_CN0_SNV_dB_Hz), sizeof(float));
+ d_dump_file.write(reinterpret_cast<char*>(&d_carrier_lock_test), sizeof(float));
+
+ // AUX vars (for debug purposes)
+ tmp_float = d_rem_code_phase_samples;
+ d_dump_file.write(reinterpret_cast<char*>(&tmp_float), sizeof(float));
+ tmp_double = static_cast<double>(d_sample_counter + d_current_prn_length_samples);
+ d_dump_file.write(reinterpret_cast<char*>(&tmp_double), sizeof(double));
+ }
+ catch (std::ifstream::failure e)
+ {
+ LOG(WARNING) << "Exception writing trk dump file " << e.what();
+ }
+ }
+
+ consume_each(d_current_prn_length_samples); // this is necessary in gr::block derivates
+ d_sample_counter += d_current_prn_length_samples; //count for the processed samples
+ //LOG(INFO)<<"GPS tracking output end on CH="<<this->d_channel << " SAMPLE STAMP="<<d_sample_counter<<std::endl;
+ return 1; //output tracking result ALWAYS even in the case of d_enable_tracking==false
+}
+
+
+
+void Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::set_channel(unsigned int channel)
+{
+ d_channel = channel;
+ LOG(INFO) << "Tracking Channel set to " << d_channel;
+ // ############# ENABLE DATA FILE LOG #################
+ if (d_dump == true)
+ {
+ if (d_dump_file.is_open() == false)
+ {
+ try
+ {
+ d_dump_filename.append(boost::lexical_cast<std::string>(d_channel));
+ d_dump_filename.append(".dat");
+ d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
+ d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
+ LOG(INFO) << "Tracking dump enabled on channel " << d_channel << " Log file: " << d_dump_filename.c_str() << std::endl;
+ }
+ catch (std::ifstream::failure e)
+ {
+ LOG(WARNING) << "channel " << d_channel << " Exception opening trk dump file " << e.what() << std::endl;
+ }
+ }
+ }
+}
+
+
+
+void Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::set_channel_queue(concurrent_queue<int> *channel_internal_queue)
+{
+ d_channel_internal_queue = channel_internal_queue;
+}
+
+
+void Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc::set_gnss_synchro(Gnss_Synchro* p_gnss_synchro)
+{
+ d_acquisition_gnss_synchro = p_gnss_synchro;
+}
diff --git a/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.h b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.h
new file mode 100644
index 0000000..cf166fc
--- /dev/null
+++ b/src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_dll_pll_tracking_gpu_cc.h
@@ -0,0 +1,191 @@
+/*!
+ * \file gps_l1_ca_dll_pll_tracking_gpu_cc.h
+ * \brief Implementation of a code DLL + carrier PLL tracking block, GPU ACCELERATED
+ * \author Javier Arribas, 2015. jarribas(at)cttc.es
+ *
+ * Code DLL + carrier PLL according to the algorithms described in:
+ * K.Borre, D.M.Akos, N.Bertelsen, P.Rinder, and S.H.Jensen,
+ * A Software-Defined GPS and Galileo Receiver. A Single-Frequency Approach,
+ * Birkhauser, 2007
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ * Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+#ifndef GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_GPU_CC_H
+#define GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_GPU_CC_H
+
+#include <fstream>
+#include <queue>
+#include <map>
+#include <string>
+#include <boost/thread/mutex.hpp>
+#include <boost/thread/thread.hpp>
+#include <gnuradio/block.h>
+#include <gnuradio/msg_queue.h>
+#include "concurrent_queue.h"
+#include "gps_sdr_signal_processing.h"
+#include "gnss_synchro.h"
+#include "tracking_2nd_DLL_filter.h"
+#include "tracking_2nd_PLL_filter.h"
+#include "cuda_multicorrelator.h"
+
+class Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc;
+
+typedef boost::shared_ptr<Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc>
+ gps_l1_ca_dll_pll_tracking_gpu_cc_sptr;
+
+gps_l1_ca_dll_pll_tracking_gpu_cc_sptr
+gps_l1_ca_dll_pll_make_tracking_gpu_cc(long if_freq,
+ long fs_in, unsigned
+ int vector_length,
+ boost::shared_ptr<gr::msg_queue> queue,
+ bool dump,
+ std::string dump_filename,
+ float pll_bw_hz,
+ float dll_bw_hz,
+ float early_late_space_chips);
+
+
+
+/*!
+ * \brief This class implements a DLL + PLL tracking loop block
+ */
+class Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc: public gr::block
+{
+public:
+ ~Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc();
+
+ void set_channel(unsigned int channel);
+ void set_gnss_synchro(Gnss_Synchro* p_gnss_synchro);
+ void start_tracking();
+ void set_channel_queue(concurrent_queue<int> *channel_internal_queue);
+
+ int general_work (int noutput_items, gr_vector_int &ninput_items,
+ gr_vector_const_void_star &input_items, gr_vector_void_star &output_items);
+
+ void forecast (int noutput_items, gr_vector_int &ninput_items_required);
+
+private:
+ friend gps_l1_ca_dll_pll_tracking_gpu_cc_sptr
+ gps_l1_ca_dll_pll_make_tracking_gpu_cc(long if_freq,
+ long fs_in, unsigned
+ int vector_length,
+ boost::shared_ptr<gr::msg_queue> queue,
+ bool dump,
+ std::string dump_filename,
+ float pll_bw_hz,
+ float dll_bw_hz,
+ float early_late_space_chips);
+
+ Gps_L1_Ca_Dll_Pll_Tracking_GPU_cc(long if_freq,
+ long fs_in, unsigned
+ int vector_length,
+ boost::shared_ptr<gr::msg_queue> queue,
+ bool dump,
+ std::string dump_filename,
+ float pll_bw_hz,
+ float dll_bw_hz,
+ float early_late_space_chips);
+ void update_local_code();
+ void update_local_carrier();
+
+ // tracking configuration vars
+ boost::shared_ptr<gr::msg_queue> d_queue;
+ concurrent_queue<int> *d_channel_internal_queue;
+ unsigned int d_vector_length;
+ bool d_dump;
+
+ Gnss_Synchro* d_acquisition_gnss_synchro;
+ unsigned int d_channel;
+ int d_last_seg;
+ long d_if_freq;
+ long d_fs_in;
+
+ double d_early_late_spc_chips;
+
+
+ //GPU HOST PINNED MEMORY IN/OUT VECTORS
+ gr_complex* in_gpu;
+ gr_complex* d_carr_sign_gpu;
+ gr_complex* d_local_codes_gpu;
+ int* d_local_code_shift_samples;
+ gr_complex* d_corr_outs_gpu;
+ cuda_multicorrelator *multicorrelator_gpu;
+
+
+ gr_complex* d_ca_code;
+
+ gr_complex *d_Early;
+ gr_complex *d_Prompt;
+ gr_complex *d_Late;
+
+
+ // remaining code phase and carrier phase between tracking loops
+ double d_rem_code_phase_samples;
+ float d_rem_carr_phase_rad;
+
+ // PLL and DLL filter library
+ Tracking_2nd_DLL_filter d_code_loop_filter;
+ Tracking_2nd_PLL_filter d_carrier_loop_filter;
+
+ // acquisition
+ float d_acq_code_phase_samples;
+ float d_acq_carrier_doppler_hz;
+
+ // tracking vars
+ double d_code_freq_chips;
+ float d_carrier_doppler_hz;
+ float d_acc_carrier_phase_rad;
+ float d_code_phase_samples;
+ float d_acc_code_phase_secs;
+
+ //PRN period in samples
+ int d_current_prn_length_samples;
+
+ //processing samples counters
+ unsigned long int d_sample_counter;
+ unsigned long int d_acq_sample_stamp;
+
+ // CN0 estimation and lock detector
+ int d_cn0_estimation_counter;
+ gr_complex* d_Prompt_buffer;
+ float d_carrier_lock_test;
+ float d_CN0_SNV_dB_Hz;
+ float d_carrier_lock_threshold;
+ int d_carrier_lock_fail_counter;
+
+ // control vars
+ bool d_enable_tracking;
+ bool d_pull_in;
+
+ // file dump
+ std::string d_dump_filename;
+ std::ofstream d_dump_file;
+
+ std::map<std::string, std::string> systemName;
+ std::string sys;
+};
+
+#endif //GNSS_SDR_GPS_L1_CA_DLL_PLL_TRACKING_GPU_CC_H
diff --git a/src/algorithms/tracking/libs/CMakeLists.txt b/src/algorithms/tracking/libs/CMakeLists.txt
index aa5fb00..bb1a36c 100644
--- a/src/algorithms/tracking/libs/CMakeLists.txt
+++ b/src/algorithms/tracking/libs/CMakeLists.txt
@@ -56,6 +56,7 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/core/interfaces
${CMAKE_SOURCE_DIR}/src/core/receiver
${VOLK_INCLUDE_DIRS}
+ ${CUDA_INCLUDE_DIRS}
)
if(ENABLE_GENERIC_ARCH)
--
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