Merge pull request #648 from gsmcmullin/v3_track

Tracking on Piksi v3

src/board/nap/nap_common.h

@@ -22,25 +22,6 @@
 /** \addtogroup nap
  * \{ */
 
-/* NAP Register Addresses. */
-#define NAP_REG_IRQ                 0x00
-#define NAP_REG_ERROR               0x01
-#define NAP_REG_PPS_WIDTH           0xF4
-#define NAP_REG_PPS_COMPARE         0xF5
-#define NAP_REG_EXT_EVENT_TIME      0xF6
-#define NAP_REG_TIMING_COMPARE      0xF8
-#define NAP_REG_TIMING_COUNT        0xF9
-#define NAP_REG_TIMING_COUNT_LATCH  0xFA
-#define NAP_REG_HASH_STATUS         0xFB
-#define NAP_REG_DNA                 0xFD
-#define NAP_REG_RDWR                0xFE
-#define NAP_REG_DECEASED_COW        0xFF
-/* Status of NAP authentication hash comparison. */
-/* TODO: change NAP_HASH_MATCH to non 0x00/0xFF value so it is more reliable */
-#define NAP_HASH_MATCH              0
-#define NAP_HASH_MISMATCH           1
-#define NAP_HASH_NOTREADY           2
-
 /** A complex IQ correlation. */
 typedef struct {
   s32 I;  /**< In-phase correlation. */
@@ -63,27 +44,6 @@ extern binary_semaphore_t timing_strobe_sem;
 
 void nap_setup(void);
 
-u8 nap_conf_done(void);
-u8 nap_hash_rd_done(void);
-
-void nap_conf_b_set(void);
-void nap_conf_b_clear(void);
-
-void nap_xfer_blocking(u8 reg_id, u16 n_bytes, u8 data_in[],
-                       const u8 data_out[]);
-
-/** Convenience function to read 4 bytes from a register (writing zeros) and
- * convert to host byte order (i.e. little-endian).
- * \param reg_id   NAP register ID.
- * \return u32 register value
- */
-inline u32 nap_read_u32(u8 reg_id)
-{
-  u32 val = 0;
-  nap_xfer_blocking(reg_id, 4, (u8 *)&val, (u8 *)&val);
-  return __builtin_bswap32(val);
-}
-
 u32 nap_error_rd_blocking(void);
 
 u8 nap_hash_status(void);
@@ -103,5 +63,7 @@ u32 nap_rw_ext_event(u8 *event_pin, ext_event_trigger_t *event_trig,
 void nap_pps(u64 rising_edge_count_8x);
 void nap_pps_width(u32 falling_edge_count);
 
+#include "nap/nap_hw.h"
+
 #endif  /* SWIFTNAV_NAP_COMMON_H */
 

src/board/nap/track_channel.h

@@ -17,67 +17,27 @@
 #include <libswiftnav/common.h>
 #include <libswiftnav/signal.h>
 
-#include "../../main.h"
 #include "nap_common.h"
 
 /** \addtogroup track_channel
  * \{ */
 
-/* SPI register IDs */
-#define NAP_REG_TRACK_BASE           0x0A
-#define NAP_TRACK_N_REGS             5
-#define NAP_REG_TRACK_INIT_OFFSET    0x00
-#define NAP_REG_TRACK_UPDATE_OFFSET  0x01
-#define NAP_REG_TRACK_CORR_OFFSET    0x02
-#define NAP_REG_TRACK_PHASE_OFFSET   0x03
-#define NAP_REG_TRACK_CODE_OFFSET    0x04
-
-/** Max number of tracking channels NAP configuration will be built with. */
-#define NAP_MAX_N_TRACK_CHANNELS     12
-
 extern u8 nap_track_n_channels;
 
-/* NAP track channel parameters.
- * TODO : get rid of some of these INIT reg specific defines by just writing
- * whole phase through init register? Tracking channel init registers don't
- * get written very often so it shouldn't increase SPI link budget much.
- */
-#define NAP_TRACK_INIT_CODE_PHASE_WIDTH           14
-#define NAP_TRACK_CARRIER_FREQ_WIDTH              24
-#define NAP_TRACK_CODE_PHASE_WIDTH                29
-#define NAP_TRACK_CODE_PHASE_FRACTIONAL_WIDTH     32
-
-#define NAP_TRACK_INIT_CODE_PHASE_UNITS_PER_CHIP  \
-  (1 << (NAP_TRACK_INIT_CODE_PHASE_WIDTH - 10))
-
-#define NAP_TRACK_CARRIER_FREQ_UNITS_PER_HZ       \
-  ((1 << NAP_TRACK_CARRIER_FREQ_WIDTH) / (double)SAMPLE_FREQ)
-
-#define NAP_TRACK_NOMINAL_CODE_PHASE_RATE         \
-  (1 << (NAP_TRACK_CODE_PHASE_WIDTH - 1))
-
-#define NAP_TRACK_CODE_PHASE_RATE_UNITS_PER_HZ    \
-  (NAP_TRACK_NOMINAL_CODE_PHASE_RATE / 1.023e6)
+/** \} */
 
-#define NAP_TRACK_CODE_PHASE_UNITS_PER_CHIP       \
-  ((u64)1 << NAP_TRACK_CODE_PHASE_FRACTIONAL_WIDTH)
+void nap_track_init(u8 channel, gnss_signal_t sid, u32 ref_timing_count,
+                    float carrier_freq, float code_phase);
 
-/** \} */
+void nap_track_update(u8 channel, double carrier_freq,
+                      double code_phase_rate, u8 rollover_count,
+                      u8 corr_spacing);
+void nap_track_read_results(u8 channel,
+                            u32* count_snapshot, corr_t corrs[],
+                            double *code_phase_early,
+                            double *carrier_phase);
 
-void nap_track_init_pack(u8 pack[], u8 prn, s32 carrier_phase, u16 code_phase);
-void nap_track_init_wr_blocking(u8 channel, u8 prn, s32 carrier_phase,
-                                u16 code_phase);
-void nap_track_update_pack(u8 pack[], s32 carrier_freq, u32 code_phase_rate,
-                           u8 rollover_count, u8 corr_spacing);
-void nap_track_update_wr_blocking(u8 channel, s32 carrier_freq,
-                                  u32 code_phase_rate, u8 rollover_count,
-                                  u8 corr_spacing);
-void nap_track_corr_unpack(u8 packed[], u32* sample_count, corr_t corrs[]);
-void nap_track_corr_rd_blocking(u8 channel, u32* sample_count, corr_t corrs[]);
-void nap_track_phase_unpack(u8 packed[], s32* carrier_phase, u64* code_phase);
-void nap_track_phase_rd_blocking(u8 channel, s32* carrier_phase,
-                                 u64* code_phase);
-void nap_track_code_wr_blocking(u8 channel, gnss_signal_t sid);
+void nap_track_disable(u8 channel);
 
 #endif  /* SWIFTNAV_TRACK_CHANNEL_H */
 

src/board/v2/Makefile.inc

@@ -38,6 +38,7 @@ BOARDSRC := \
         $(BOARDDIR)/nap/nap_acq.o \
         $(BOARDDIR)/nap/acq_channel.o \
         $(BOARDDIR)/nap/track_channel.o \
+        $(BOARDDIR)/nap/track_regs.o \
         $(BOARDDIR)/m25_flash.o \
         $(BOARDDIR)/max2769.o \
         $(BOARDDIR)/usart_support.o \

src/board/v2/board.h

@@ -40,6 +40,8 @@
 #define STM32_HSECLK                16368000
 #endif
 
+#define SAMPLE_FREQ                 16368000
+
 /*
  * Board voltages.
  * Required for performance limits calculation.

src/board/v2/nap/nap_hw.h

@@ -0,0 +1,74 @@
+/*
+ * Copyright (C) 2011-2014 Swift Navigation Inc.
+ * Contact: Fergus Noble <[email protected]>
+ *          Colin Beighley <[email protected]>
+ *
+ * This source is subject to the license found in the file 'LICENSE' which must
+ * be be distributed together with this source. All other rights reserved.
+ *
+ * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
+ * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
+ */
+
+#ifndef SWIFTNAV_NAP_HW_V2_H
+#define SWIFTNAV_NAP_HW_V2_H
+
+#include <libswiftnav/signal.h>
+
+/** \addtogroup nap
+ * \{ */
+
+/* NAP Register Addresses. */
+#define NAP_REG_IRQ                 0x00
+#define NAP_REG_ERROR               0x01
+#define NAP_REG_PPS_WIDTH           0xF4
+#define NAP_REG_PPS_COMPARE         0xF5
+#define NAP_REG_EXT_EVENT_TIME      0xF6
+#define NAP_REG_TIMING_COMPARE      0xF8
+#define NAP_REG_TIMING_COUNT        0xF9
+#define NAP_REG_TIMING_COUNT_LATCH  0xFA
+#define NAP_REG_HASH_STATUS         0xFB
+#define NAP_REG_DNA                 0xFD
+#define NAP_REG_RDWR                0xFE
+#define NAP_REG_DECEASED_COW        0xFF
+/* Status of NAP authentication hash comparison. */
+/* TODO: change NAP_HASH_MATCH to non 0x00/0xFF value so it is more reliable */
+#define NAP_HASH_MATCH              0
+#define NAP_HASH_MISMATCH           1
+#define NAP_HASH_NOTREADY           2
+
+/** Max number of tracking channels NAP configuration will be built with. */
+#define NAP_MAX_N_TRACK_CHANNELS     12
+
+u8 nap_conf_done(void);
+u8 nap_hash_rd_done(void);
+
+void nap_conf_b_set(void);
+void nap_conf_b_clear(void);
+
+void nap_xfer_blocking(u8 reg_id, u16 n_bytes, u8 data_in[],
+                       const u8 data_out[]);
+
+/** Convenience function to read 4 bytes from a register (writing zeros) and
+ * convert to host byte order (i.e. little-endian).
+ * \param reg_id   NAP register ID.
+ * \return u32 register value
+ */
+inline u32 nap_read_u32(u8 reg_id)
+{
+  u32 val = 0;
+  nap_xfer_blocking(reg_id, 4, (u8 *)&val, (u8 *)&val);
+  return __builtin_bswap32(val);
+}
+
+void nap_track_code_wr_blocking(u8 channel, gnss_signal_t sid);
+void nap_track_init_wr_blocking(u8 channel, u8 prn, s32 carrier_phase,
+                                u16 code_phase);
+void nap_track_update_wr_blocking(u8 channel, s32 carrier_freq,
+                                  u32 code_phase_rate, u8 rollover_count,
+                                  u8 corr_spacing);
+void nap_track_corr_rd_blocking(u8 channel, u32* sample_count, corr_t corrs[]);
+
+#endif
+