Adding code phase propagation testbench. Pass PRN number to test thro…

…ugh the makefiles so it can be specified when building tests.

Makefile

@@ -8,6 +8,12 @@ Q := @
 MAKEFLAGS += --no-print-directory
 endif
 
+ifndef PRN
+	MAKEFLAGS += $(warning PRN not defined, using default PRN (22) for tests, specify the PRN with 'make PRN=22')PRN=22
+else
+	MAKEFLAGS += PRN=$(PRN)
+endif
+
 .PHONY: all tests firmware docs
 
 all: firmware tests

tests/code_phase_propagation/Makefile

@@ -0,0 +1,24 @@
+BINARY = code_phase_propagation_test
+
+OBJS = code_phase_propagation_test.o \
+       ../../src/debug.o \
+       ../../src/swift_nap_io.o \
+       ../../src/acq.o \
+       ../../src/track.o \
+       ../../src/nav_msg.o \
+       ../../src/hw/max2769.o \
+       ../../src/hw/m25_flash.o \
+       ../../src/hw/leds.o \
+       ../../src/hw/spi.o \
+       ../../src/hw/usart.o \
+
+CFLAGS += -I../../src/
+
+ifdef PRN
+	CFLAGS += -DPRN=$(PRN)
+endif
+
+SWIFTNAV_ROOT ?= ../..
+
+include ../../stm32/Makefile.include
+

tests/code_phase_propagation/code_phase_propagation_test.c

@@ -0,0 +1,129 @@
+/*
+ * Copyright (C) 2011 Fergus Noble <[email protected]>
+ *
+ * This program 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.
+ *
+ * This program 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 this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdio.h>
+#include <math.h>
+#include <libopencm3/stm32/f2/rcc.h>
+#include <libopencm3/stm32/f2/flash.h>
+#include <libopencm3/stm32/f2/gpio.h>
+
+#include "main.h"
+#include "debug.h"
+#include "swift_nap_io.h"
+#include "track.h"
+#include "acq.h"
+#include "hw/leds.h"
+
+const clock_scale_t hse_16_368MHz_in_65_472MHz_out_3v3 =
+{ /* 65.472 MHz */
+  .pllm = 16,
+  .plln = 256,
+  .pllp = 4,
+  .pllq = 6,
+  .hpre = RCC_CFGR_HPRE_DIV_NONE,
+  .ppre1 = RCC_CFGR_PPRE_DIV_4,
+  .ppre2 = RCC_CFGR_PPRE_DIV_4,
+  .flash_config = FLASH_ICE | FLASH_DCE | FLASH_LATENCY_2WS,
+  .apb1_frequency = 16368000,
+  .apb2_frequency = 16368000,
+};
+
+int main(void)
+{
+  for (u32 i = 0; i < 600000; i++)
+    __asm__("nop");
+
+	led_setup();
+
+  rcc_clock_setup_hse_3v3(&hse_16_368MHz_in_65_472MHz_out_3v3);
+
+  debug_setup();
+
+  #ifndef PRN
+    #error Please define the PRN to be used, e.g. make PRN=22
+  #endif
+
+  printf("\n\nFirmware info - git: " GIT_VERSION ", built: " __DATE__ " " __TIME__ "\n");
+  printf("--- CODE PHASE PROPAGATION TEST ---\n");
+
+  swift_nap_setup();
+  swift_nap_reset();
+
+  while(1) {
+    printf("\nPRN: %u\n", PRN);
+
+    /* Initial coarse acq. */
+    float coarse_acq_code_phase;
+    float coarse_acq_carrier_freq;
+    float coarse_snr;
+    acq_set_load_enable_blocking();
+    u32 coarse_acq_cnt = timing_count() + 1000;
+    timing_strobe(coarse_acq_cnt);
+    wait_for_exti();
+    acq_clear_load_enable_blocking();
+
+    do_acq(PRN-1, 0, 1023, -7000, 7000, 300, &coarse_acq_code_phase, &coarse_acq_carrier_freq, &coarse_snr);
+    printf("Coarse:\n  Code phase: %7.2f, Carrier freq % 7.1f, SNR %5.2f\n", coarse_acq_code_phase, coarse_acq_carrier_freq, coarse_snr);
+
+    if (coarse_snr < 8.0) {
+      printf("  Didn't acquire satellite :(\n");
+      led_on(LED_RED);
+      continue;
+    }
+
+    /* Fine acq. */
+    float fine_acq_code_phase;
+    float fine_acq_carrier_freq;
+    float fine_snr;
+    acq_set_load_enable_blocking();
+    u32 fine_acq_cnt = timing_count() + 2000;
+    timing_strobe(fine_acq_cnt);
+    wait_for_exti();
+    acq_clear_load_enable_blocking();
+
+    float fine_cp = propagate_code_phase(coarse_acq_code_phase, coarse_acq_carrier_freq, fine_acq_cnt - coarse_acq_cnt);
+
+    do_acq(PRN-1, fine_cp-20, fine_cp+20, coarse_acq_carrier_freq-300, coarse_acq_carrier_freq+300, 100, &fine_acq_code_phase, &fine_acq_carrier_freq, &fine_snr);
+
+    float dt = (float)(fine_acq_cnt - coarse_acq_cnt) * 1000.0 / SAMPLE_FREQ; 
+    printf("Fine:\n  Propagated for %.1f ms, propagated code phase %.4f\n", dt, fine_cp);
+    printf("  Code phase: %7.4f, Carrier freq % 7.1f, SNR %5.2f\n", fine_acq_code_phase, fine_acq_carrier_freq, fine_snr);
+    printf("  Code phase error: %f\n", fabsf(fine_acq_code_phase - fine_cp));
+
+    /* Second fine acq. */
+    float fine2_acq_code_phase;
+    float fine2_acq_carrier_freq;
+    float fine2_snr;
+    acq_set_load_enable_blocking();
+    u32 fine2_acq_cnt = timing_count() + 2000;
+    timing_strobe(fine2_acq_cnt);
+    wait_for_exti();
+    acq_clear_load_enable_blocking();
+
+    float fine2_cp = propagate_code_phase(fine_acq_code_phase, fine_acq_carrier_freq, fine2_acq_cnt - fine_acq_cnt);
+
+    do_acq(PRN-1, fine2_cp-20, fine2_cp+20, fine_acq_carrier_freq-300, fine_acq_carrier_freq+300, 100, &fine2_acq_code_phase, &fine2_acq_carrier_freq, &fine2_snr);
+
+    dt = (float)(fine2_acq_cnt - fine_acq_cnt) * 1000.0 / SAMPLE_FREQ; 
+    printf("Second fine:\n  Propagated for %.1f ms, propagated code phase %.4f\n", dt, fine2_cp);
+    printf("  Code phase: %7.4f, Carrier freq % 7.1f, SNR %5.2f\n", fine2_acq_code_phase, fine2_acq_carrier_freq, fine2_snr);
+    printf("  Code phase error: %f\n", fabsf(fine2_acq_code_phase - fine2_cp));
+  }
+
+	return 0;
+}
+