[hamradio-commits] [gnss-sdr] 63/236: Migration of Galileo E1 DLL PLL VEML tracking to use the optimized cpu_multicorrelator class
Carles Fernandez
carles_fernandez-guest at moszumanska.debian.org
Tue Apr 26 16:02:18 UTC 2016
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carles_fernandez-guest pushed a commit to branch next
in repository gnss-sdr.
commit 1bafa1e44740a1b2a934e3a108bde6c7989dbba1
Author: Javier Arribas <javiarribas at gmail.com>
Date: Fri Feb 26 11:14:45 2016 +0100
Migration of Galileo E1 DLL PLL VEML tracking to use the optimized
cpu_multicorrelator class
---
.../galileo_e1_dll_pll_veml_tracking_cc.cc | 151 +++++++--------------
.../galileo_e1_dll_pll_veml_tracking_cc.h | 18 +--
2 files changed, 56 insertions(+), 113 deletions(-)
diff --git a/src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.cc b/src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.cc
index c2edc6c..b66a788 100755
--- a/src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.cc
+++ b/src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.cc
@@ -128,21 +128,33 @@ galileo_e1_dll_pll_veml_tracking_cc::galileo_e1_dll_pll_veml_tracking_cc(
// Initialization of local code replica
// Get space for a vector with the sinboc(1,1) replica sampled 2x/chip
- d_ca_code = static_cast<gr_complex*>(volk_malloc((2 * Galileo_E1_B_CODE_LENGTH_CHIPS + 4) * sizeof(gr_complex), volk_get_alignment()));
-
- d_very_early_code = static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
- d_early_code = static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
- d_prompt_code = static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
- d_late_code = static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
- d_very_late_code = static_cast<gr_complex*>(volk_malloc(2 * d_vector_length * sizeof(gr_complex), volk_get_alignment()));
- d_carr_sign = static_cast<gr_complex*>(volk_malloc(2*d_vector_length * sizeof(gr_complex), volk_get_alignment()));
+ d_ca_code = static_cast<gr_complex*>(volk_malloc((2*Galileo_E1_B_CODE_LENGTH_CHIPS) * sizeof(gr_complex), volk_get_alignment()));
// correlator outputs (scalar)
- d_Very_Early = static_cast<gr_complex*>(volk_malloc(sizeof(gr_complex), volk_get_alignment()));
- d_Early = static_cast<gr_complex*>(volk_malloc(sizeof(gr_complex), volk_get_alignment()));
- d_Prompt = static_cast<gr_complex*>(volk_malloc(sizeof(gr_complex), volk_get_alignment()));
- d_Late = static_cast<gr_complex*>(volk_malloc(sizeof(gr_complex), volk_get_alignment()));
- d_Very_Late = static_cast<gr_complex*>(volk_malloc(sizeof(gr_complex), volk_get_alignment()));
+ d_n_correlator_taps = 5; // Very-Early, Early, Prompt, Late, Very-Late
+ d_correlator_outs = static_cast<gr_complex*>(volk_malloc(d_n_correlator_taps*sizeof(gr_complex), volk_get_alignment()));
+ for (int n = 0; n < d_n_correlator_taps; n++)
+ {
+ d_correlator_outs[n] = gr_complex(0,0);
+ }
+ // map memory pointers of correlator outputs
+ d_Very_Early=&d_correlator_outs[0];
+ d_Early=&d_correlator_outs[1];
+ d_Prompt=&d_correlator_outs[2];
+ d_Late=&d_correlator_outs[3];
+ d_Very_Late=&d_correlator_outs[4];
+
+ d_local_code_shift_chips = static_cast<float*>(volk_malloc(d_n_correlator_taps*sizeof(float), volk_get_alignment()));
+ // Set TAPs delay values [chips]
+ d_local_code_shift_chips[0] = - d_very_early_late_spc_chips*2.0;
+ d_local_code_shift_chips[1] = - d_very_early_late_spc_chips;
+ d_local_code_shift_chips[2] = 0.0;
+ d_local_code_shift_chips[3] = d_very_early_late_spc_chips;
+ d_local_code_shift_chips[4] = d_very_early_late_spc_chips*2.0;
+
+ d_correlation_length_samples=d_vector_length;
+
+ multicorrelator_cpu.init(2 * d_correlation_length_samples, d_n_correlator_taps);
//--- Initializations ------------------------------
// Initial code frequency basis of NCO
@@ -198,18 +210,19 @@ void galileo_e1_dll_pll_veml_tracking_cc::start_tracking()
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 2 (2 samples per chip)
- galileo_e1_code_gen_complex_sampled(&d_ca_code[2],
+ // generate local reference ALWAYS starting at chip 1 (2 samples per chip)
+ galileo_e1_code_gen_complex_sampled(d_ca_code,
d_acquisition_gnss_synchro->Signal,
false,
d_acquisition_gnss_synchro->PRN,
2 * Galileo_E1_CODE_CHIP_RATE_HZ,
0);
- // Fill head and tail
- d_ca_code[0] = d_ca_code[static_cast<int>(2 * Galileo_E1_B_CODE_LENGTH_CHIPS)];
- d_ca_code[1] = d_ca_code[static_cast<int>(2 * Galileo_E1_B_CODE_LENGTH_CHIPS + 1)];
- d_ca_code[static_cast<int>(2 * Galileo_E1_B_CODE_LENGTH_CHIPS + 2)] = d_ca_code[2];
- d_ca_code[static_cast<int>(2 * Galileo_E1_B_CODE_LENGTH_CHIPS + 3)] = d_ca_code[3];
+
+ multicorrelator_cpu.set_local_code_and_taps(static_cast<int>(2*Galileo_E1_B_CODE_LENGTH_CHIPS), d_ca_code, d_local_code_shift_chips);
+ for (int n = 0; n < d_n_correlator_taps; n++)
+ {
+ d_correlator_outs[n] = gr_complex(0,0);
+ }
d_carrier_lock_fail_counter = 0;
d_rem_code_phase_samples = 0.0;
@@ -235,77 +248,16 @@ void galileo_e1_dll_pll_veml_tracking_cc::start_tracking()
<< " PULL-IN Code Phase [samples]=" << d_acq_code_phase_samples;
}
-
-void galileo_e1_dll_pll_veml_tracking_cc::update_local_code()
-{
- double tcode_half_chips;
- double rem_code_phase_half_chips;
- int associated_chip_index;
- int code_length_half_chips = static_cast<int>(Galileo_E1_B_CODE_LENGTH_CHIPS) * 2;
- double code_phase_step_chips;
- double code_phase_step_half_chips;
- int early_late_spc_samples;
- int very_early_late_spc_samples;
- int epl_loop_length_samples;
-
- // unified loop for VE, E, P, L, VL code vectors
- code_phase_step_chips = d_code_freq_chips / (static_cast<double>(d_fs_in));
- code_phase_step_half_chips = (2.0 * d_code_freq_chips) / (static_cast<double>(d_fs_in));
-
- rem_code_phase_half_chips = d_rem_code_phase_samples * (2*d_code_freq_chips / d_fs_in);
- tcode_half_chips = - rem_code_phase_half_chips;
-
- early_late_spc_samples = std::round(d_early_late_spc_chips / code_phase_step_chips);
- very_early_late_spc_samples = std::round(d_very_early_late_spc_chips / code_phase_step_chips);
-
- epl_loop_length_samples = d_current_prn_length_samples + very_early_late_spc_samples * 2;
-
- for (int i = 0; i < epl_loop_length_samples; i++)
- {
- associated_chip_index = 2 + std::round(std::fmod(tcode_half_chips - 2 * d_very_early_late_spc_chips, code_length_half_chips));
- d_very_early_code[i] = d_ca_code[associated_chip_index];
- tcode_half_chips = tcode_half_chips + code_phase_step_half_chips;
- }
- memcpy(d_early_code, &d_very_early_code[very_early_late_spc_samples - early_late_spc_samples], d_current_prn_length_samples * sizeof(gr_complex));
- memcpy(d_prompt_code, &d_very_early_code[very_early_late_spc_samples], d_current_prn_length_samples * sizeof(gr_complex));
- memcpy(d_late_code, &d_very_early_code[very_early_late_spc_samples + early_late_spc_samples], d_current_prn_length_samples * sizeof(gr_complex));
- memcpy(d_very_late_code, &d_very_early_code[2 * very_early_late_spc_samples], d_current_prn_length_samples * sizeof(gr_complex));
-}
-
-
-void galileo_e1_dll_pll_veml_tracking_cc::update_local_carrier()
-{
- float sin_f, cos_f;
- float phase_step_rad = static_cast<float>(2 * GALILEO_PI) * d_carrier_doppler_hz / static_cast<float>(d_fs_in);
- int phase_step_rad_i = gr::fxpt::float_to_fixed(phase_step_rad);
- int phase_rad_i = gr::fxpt::float_to_fixed(d_rem_carr_phase_rad);
-
- for(int i = 0; i < d_current_prn_length_samples; i++)
- {
- gr::fxpt::sincos(phase_rad_i, &sin_f, &cos_f);
- d_carr_sign[i] = std::complex<float>(cos_f, -sin_f);
- phase_rad_i += phase_step_rad_i;
- }
-}
-
galileo_e1_dll_pll_veml_tracking_cc::~galileo_e1_dll_pll_veml_tracking_cc()
{
d_dump_file.close();
- volk_free(d_very_early_code);
- volk_free(d_early_code);
- volk_free(d_prompt_code);
- volk_free(d_late_code);
- volk_free(d_very_late_code);
- volk_free(d_carr_sign);
- volk_free(d_Very_Early);
- volk_free(d_Early);
- volk_free(d_Prompt);
- volk_free(d_Late);
- volk_free(d_Very_Late);
+ volk_free(d_local_code_shift_chips);
+ volk_free(d_correlator_outs);
volk_free(d_ca_code);
delete[] d_Prompt_buffer;
+ multicorrelator_cpu.free();
}
@@ -346,24 +298,19 @@ int galileo_e1_dll_pll_veml_tracking_cc::general_work (int noutput_items, gr_vec
const gr_complex* in = (gr_complex*) input_items[0];
Gnss_Synchro **out = (Gnss_Synchro **) &output_items[0];
- // Generate local code and carrier replicas (using \hat{f}_d(k-1))
- update_local_code();
- update_local_carrier();
-
- // perform carrier wipe-off and compute Very Early, Early, Prompt, Late and Very Late correlation
- d_correlator.Carrier_wipeoff_and_VEPL_volk(d_current_prn_length_samples,
- in,
- d_carr_sign,
- d_very_early_code,
- d_early_code,
- d_prompt_code,
- d_late_code,
- d_very_late_code,
- d_Very_Early,
- d_Early,
- d_Prompt,
- d_Late,
- d_Very_Late);
+ // ################# CARRIER WIPEOFF AND CORRELATORS ##############################
+ // perform carrier wipe-off and compute Early, Prompt and Late correlation
+ multicorrelator_cpu.set_input_output_vectors(d_correlator_outs,in);
+
+ double carr_phase_step_rad = GALILEO_TWO_PI * d_carrier_doppler_hz / static_cast<double>(d_fs_in);
+ double code_phase_step_half_chips = (2.0 * d_code_freq_chips) / (static_cast<double>(d_fs_in));
+ double rem_code_phase_half_chips = d_rem_code_phase_samples * (2.0*d_code_freq_chips / d_fs_in);
+ multicorrelator_cpu.Carrier_wipeoff_multicorrelator_resampler(
+ d_rem_carr_phase_rad,
+ carr_phase_step_rad,
+ rem_code_phase_half_chips,
+ code_phase_step_half_chips,
+ d_correlation_length_samples);
// ################## PLL ##########################################################
// PLL discriminator
diff --git a/src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.h b/src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.h
index 2b26428..5d073ca 100755
--- a/src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.h
+++ b/src/algorithms/tracking/gnuradio_blocks/galileo_e1_dll_pll_veml_tracking_cc.h
@@ -41,7 +41,7 @@
#include "gnss_synchro.h"
#include "tracking_2nd_DLL_filter.h"
#include "tracking_2nd_PLL_filter.h"
-#include "correlator.h"
+#include "cpu_multicorrelator.h"
class galileo_e1_dll_pll_veml_tracking_cc;
@@ -123,17 +123,16 @@ private:
long d_if_freq;
long d_fs_in;
+ //Integration period in samples
+ int d_correlation_length_samples;
+ int d_n_correlator_taps;
double d_early_late_spc_chips;
double d_very_early_late_spc_chips;
gr_complex* d_ca_code;
-
- gr_complex* d_very_early_code;
- gr_complex* d_early_code;
- gr_complex* d_prompt_code;
- gr_complex* d_late_code;
- gr_complex* d_very_late_code;
- gr_complex* d_carr_sign;
+ float* d_local_code_shift_chips;
+ gr_complex* d_correlator_outs;
+ cpu_multicorrelator multicorrelator_cpu;
gr_complex *d_Very_Early;
gr_complex *d_Early;
@@ -153,9 +152,6 @@ private:
double d_acq_code_phase_samples;
double d_acq_carrier_doppler_hz;
- // correlator
- Correlator d_correlator;
-
// tracking vars
double d_code_freq_chips;
double d_carrier_doppler_hz;
--
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