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author | jaseg <git-bigdata-wsl-arch@jaseg.de> | 2020-03-02 19:42:36 +0100 |
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committer | jaseg <git-bigdata-wsl-arch@jaseg.de> | 2020-03-02 19:42:36 +0100 |
commit | ca01d52a8658ed01301f14a4d294097d4db533cf (patch) | |
tree | 28b32499b6a849beda66c6ebc70239fbd9f21530 /controller/fw | |
parent | 5effadcbaf66f476c8fffefa2c349676f41c3f52 (diff) | |
download | master-thesis-ca01d52a8658ed01301f14a4d294097d4db533cf.tar.gz master-thesis-ca01d52a8658ed01301f14a4d294097d4db533cf.tar.bz2 master-thesis-ca01d52a8658ed01301f14a4d294097d4db533cf.zip |
Finishing up freq meas
Diffstat (limited to 'controller/fw')
-rw-r--r-- | controller/fw/Makefile | 46 | ||||
m--------- | controller/fw/levmarq | 0 | ||||
-rw-r--r-- | controller/fw/src/freq_meas.c | 94 | ||||
-rw-r--r-- | controller/fw/src/freq_meas.h | 7 | ||||
-rw-r--r-- | controller/fw/src/gold_code.h | 4 | ||||
-rw-r--r-- | controller/fw/src/ldpc_decoder.c (renamed from controller/fw/ldpc_decoder.c) | 0 | ||||
-rw-r--r-- | controller/fw/src/ldpc_decoder_test.py (renamed from controller/fw/ldpc_decoder_test.py) | 0 | ||||
-rw-r--r-- | controller/fw/src/test_decoder.py (renamed from controller/fw/test_decoder.py) | 0 | ||||
-rw-r--r-- | controller/fw/src/test_pyldpc_utils.py (renamed from controller/fw/test_pyldpc_utils.py) | 0 | ||||
-rw-r--r-- | controller/fw/tools/fft_window_header_gen.py | 59 | ||||
-rw-r--r-- | controller/fw/tools/gold_code_header_gen.py | 45 |
11 files changed, 250 insertions, 5 deletions
diff --git a/controller/fw/Makefile b/controller/fw/Makefile index 291f840..c01b01c 100644 --- a/controller/fw/Makefile +++ b/controller/fw/Makefile @@ -6,13 +6,17 @@ LIBSODIUM_DIR ?= libsodium TINYAES_DIR ?= tinyaes MUSL_DIR ?= musl -C_SOURCES := src/main.c src/mspdebug_wrapper.c src/spi_flash.c +C_SOURCES := src/main.c src/mspdebug_wrapper.c src/spi_flash.c src/freq_meas.c C_SOURCES += $(MSPDEBUG_DIR)/drivers/jtaglib.c C_SOURCES += $(CMSIS_DIR)/CMSIS/DSP/Source/TransformFunctions/arm_rfft_f32.c C_SOURCES += $(CMSIS_DIR)/CMSIS/DSP/Source/TransformFunctions/arm_bitreversal.c C_SOURCES += $(CMSIS_DIR)/CMSIS/DSP/Source/TransformFunctions/arm_cfft_radix4_f32.c C_SOURCES += $(MUSL_DIR)/src/math/tanhf.c $(MUSL_DIR)/src/math/atanhf.c C_SOURCES += $(MUSL_DIR)/src/math/expm1f.c $(MUSL_DIR)/src/math/log1pf.c +C_SOURCES += $(MUSL_DIR)/src/math/expf.c $(MUSL_DIR)/src/math/exp2f_data.c +C_SOURCES += $(MUSL_DIR)/src/math/__math_oflowf.c +C_SOURCES += $(MUSL_DIR)/src/math/__math_uflowf.c +C_SOURCES += $(MUSL_DIR)/src/math/__math_xflowf.c CXX_SOURCES += src/ldpc_wrapper.cpp @@ -24,6 +28,14 @@ OPENCM3_LIB := opencm3_stm32f4 PREFIX ?= arm-none-eabi- +GOLD_CODE_NBITS ?= 5 +FMEAS_ADC_SAMPLING_RATE ?= 1000 +FMEAS_ADC_MAX ?= 4096 +FMEAS_FFT_LEN ?= 256 +FMEAS_FFT_WINDOW ?= gaussian +FMEAS_FFT_WINDOW_SIGMA ?= 8.0 + + CC := $(PREFIX)gcc CXX := $(PREFIX)g++ LD := $(PREFIX)gcc @@ -32,6 +44,7 @@ AS := $(PREFIX)as OBJCOPY := $(PREFIX)objcopy OBJDUMP := $(PREFIX)objdump GDB := $(PREFIX)gdb +PYTHON3 ?= python3 OPENCM3_DIR_ABS := $(abspath $(OPENCM3_DIR)) CMSIS_DIR_ABS := $(abspath $(CMSIS_DIR)) @@ -41,14 +54,17 @@ TINYAES_DIR_ABS := $(abspath $(TINYAES_DIR)) MUSL_DIR_ABS := $(abspath $(MUSL_DIR)) CFLAGS += -I$(OPENCM3_DIR_ABS)/include -Imspdebug/util -Imspdebug/drivers -CFLAGS += -I$(CMSIS_DIR_ABS)/CMSIS/DSP/Include -I$(CMSIS_DIR_ABS)/CMSIS/Core/Include -CFLAGS += -I$(abspath musl_include_shims) +CFLAGS += -I$(CMSIS_DIR_ABS)/CMSIS/DSP/Include -I$(CMSIS_DIR_ABS)/CMSIS/Core/Include -Dhidden= +CFLAGS += -I$(abspath musl_include_shims) -Ilevmarq -D CFLAGS += -Os -std=gnu11 -g -DSTM32F4 # Note: libopencm3 requires some standard libc definitions from stdint.h and stdbool.h, so we don't pass -nostdinc here. CFLAGS += -nostdlib -ffreestanding CFLAGS += -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 CFLAGS += -fno-common -ffunction-sections -fdata-sections +CFLAGS += -DGOLD_CODE_NBITS=$(GOLD_CODE_NBITS) -DFMEAS_FFT_LEN=$(FMEAS_FFT_LEN) -DFMEAS_ADC_MAX=$(FMEAS_ADC_MAX) +CFLAGS += -DFMEAS_ADC_SAMPLING_RATE=$(FMEAS_ADC_SAMPLING_RATE) -DFMEAS_FFT_WINDOW=$(FMEAS_FFT_WINDOW) +CFLAGS += -DFMEAS_FFT_WINDOW_SIGMA=$(FMEAS_FFT_WINDOW_SIGMA) INT_CFLAGS += -Wall -Wextra -Wpedantic -Wshadow -Wimplicit-function-declaration -Wundef INT_CFLAGS += -Wredundant-decls -Wmissing-prototypes -Wstrict-prototypes @@ -71,7 +87,13 @@ all: $(BUILDDIR)/$(BINARY) OBJS := $(addprefix $(BUILDDIR)/,$(C_SOURCES:.c=.o) $(CXX_SOURCES:.cpp=.o)) -$(BUILDDIR)/$(BINARY): $(OBJS) $(OPENCM3_DIR)/lib/lib$(OPENCM3_LIB).a $(BUILDDIR)/libsodium/src/libsodium/.libs/libsodium.a $(BUILDDIR)/tinyaes/aes.o +$(BUILDDIR)/$(BINARY): $(OBJS) \ + $(OPENCM3_DIR)/lib/lib$(OPENCM3_LIB).a \ + $(BUILDDIR)/libsodium/src/libsodium/.libs/libsodium.a \ + $(BUILDDIR)/tinyaes/aes.o \ + $(BUILDDIR)/levmarq/levmarq.o \ + $(BUILDDIR)/generated/gold_code_$(GOLD_CODE_NBITS).o \ + $(BUILDDIR)/generated/fmeas_fft_window.o $(LD) -T$(LDSCRIPT) $(LDFLAGS) -o $@ -Wl,-Map=$(BUILDDIR)/src/$*.map $^ $(BUILDDIR)/src/%.o: src/%.c @@ -82,6 +104,10 @@ $(BUILDDIR)/src/%.o: src/%.cpp mkdir -p $(@D) $(CXX) $(CXXFLAGS) -o $@ -c $< +$(BUILDDIR)/generated/%.o: $(BUILDDIR)/generated/%.c + mkdir -p $(@D) + $(CC) $(CFLAGS) $(INT_CFLAGS) -o $@ -c $< + $(BUILDDIR)/%.o: %.c mkdir -p $(@D) $(CC) $(CFLAGS) $(EXT_CFLAGS) -o $@ -c $< @@ -97,11 +123,21 @@ $(BUILDDIR)/tinyaes/aes.o: mkdir -p $(@D) make -C $(@D) -f $(TINYAES_DIR_ABS)/Makefile VPATH=$(TINYAES_DIR_ABS) CFLAGS="$(CFLAGS) -c" CC=$(CC) LD=$(LD) AR=$(AR) aes.o -ldpc_decoder_test.so: ldpc_decoder.c +$(BUILDDIR)/generated/gold_code_%.c: + mkdir -p $(@D) + $(PYTHON3) tools/gold_code_header_gen.py $* > $@ + +$(BUILDDIR)/generated/fmeas_fft_window.c: + mkdir -p $(@D) + $(PYTHON3) tools/fft_window_header_gen.py -v fmeas_fft_window_table $(FMEAS_FFT_WINDOW) $(FMEAS_FFT_LEN) $(FMEAS_FFT_WINDOW_SIGMA) > $@ + + +build/ldpc_decoder_test.so: src/ldpc_decoder.c gcc -fPIC -shared -Wall -Wextra -Wpedantic -std=gnu11 -O0 -g -o $@ $^ clean: -rm -r $(BUILDDIR)/src + -rm -r $(BUILDDIR)/generated -rm $(BUILDDIR)/$(BINARY) mrproper: clean diff --git a/controller/fw/levmarq b/controller/fw/levmarq new file mode 160000 +Subproject d7734ce5a436b891d00dd3445dd0b57b1dfbe77 diff --git a/controller/fw/src/freq_meas.c b/controller/fw/src/freq_meas.c new file mode 100644 index 0000000..e6b3976 --- /dev/null +++ b/controller/fw/src/freq_meas.c @@ -0,0 +1,94 @@ + +#include <unistd.h> +#include <math.h> + +#include <arm_math.h> +#include <levmarq.h> + +#include "freq_meas.h" +#include "sr_global.h" + + +/* FTT window lookup table defined in generated/fmeas_fft_window.c */ +extern const float * const fmeas_fft_window_table; + +/* jury-rig some definitions for these functions since the ARM headers only export an over-generalized variable bin size + * variant. */ +extern arm_status arm_rfft_32_fast_init_f32(arm_rfft_fast_instance_f32 * S); +extern arm_status arm_rfft_64_fast_init_f32(arm_rfft_fast_instance_f32 * S); +extern arm_status arm_rfft_128_fast_init_f32(arm_rfft_fast_instance_f32 * S); +extern arm_status arm_rfft_256_fast_init_f32(arm_rfft_fast_instance_f32 * S); +extern arm_status arm_rfft_512_fast_init_f32(arm_rfft_fast_instance_f32 * S); +extern arm_status arm_rfft_1024_fast_init_f32(arm_rfft_fast_instance_f32 * S); +extern arm_status arm_rfft_2048_fast_init_f32(arm_rfft_fast_instance_f32 * S); +extern arm_status arm_rfft_4096_fast_init_f32(arm_rfft_fast_instance_f32 * S); + +#define CONCAT(A, B, C) A ## B ## C +#define arm_rfft_init_name(nbits) CONCAT(arm_rfft_, nbits, _fast_init_f32) + +float func_gauss_grad(float *out, float *params, int x, void *userdata); +float func_gauss(float *params, int x, void *userdata); + +int adc_buf_measure_freq(uint16_t adc_buf[FMEAS_FFT_LEN], float *out) { + int rc; + float in_buf[FMEAS_FFT_LEN]; + float out_buf[FMEAS_FFT_LEN]; + for (size_t i=0; i<FMEAS_FFT_LEN; i++) + in_buf[i] = (float)adc_buf[i] / (float)FMEAS_ADC_MAX * fmeas_fft_window_table[i]; + + arm_rfft_fast_instance_f32 fft_inst; + if ((rc = arm_rfft_init_name(FMEAS_FFT_LEN)(&fft_inst)) != ARM_MATH_SUCCESS) + return rc; + + arm_rfft_fast_f32(&fft_inst, in_buf, out_buf, 0); + +#define FMEAS_FFT_WINDOW_MIN_F 30.0f +#define FMEAS_FFT_WINDOW_MAX_F 70.0f + const float binsize = (float)FMEAS_ADC_SAMPLING_RATE / FMEAS_FFT_LEN; + const int first_bin = (int)(FMEAS_FFT_WINDOW_MIN_F / binsize); + const int last_bin = (int)(FMEAS_FFT_WINDOW_MAX_F / binsize + 0.5f); + const int nbins = last_bin - first_bin + 1; + + /* Copy real values of target data to front of output buffer */ + for (size_t i=0; i<nbins; i++) + out_buf[i] = out_buf[2 * (first_bin + i)]; + + LMstat lmstat; + levmarq_init(&lmstat); + + float a_max = 0.0f; + int i_max = 0; + for (size_t i=0; i<nbins; i++) { + if (out_buf[i] > a_max) { + a_max = out_buf[i]; + i_max = i; + } + } + + float par[3] = { + a_max, i_max, 1.0f + }; + + if (levmarq(3, ¶ms, nbins, out_buf, NULL, func_gauss, func_gauss_grad, NULL, &lmstat)) + return -1; + + *out = (params[1] + first_bin) * binsize; + + return 0; +} + +float func_gauss(float *params, int x, void *userdata) { + UNUSED(userdata); + float a = params[0]; + float mu = params[1]; + float sigma = params[2]; + return a*expf(-arm_power_f32((x-mu), 2.0f/(2.0f*(sigma*sigma)))); +} + +float func_gauss_grad(float *out, float *params, int x, void *userdata) { + UNUSED(userdata); + float a = params[0]; + float mu = params[1]; + float sigma = params[2]; + return -(x-mu) / ( sigma*sigma*sigma * 2.5066282746310002f) * a*expf(-arm_power_f32((x-mu), 2.0f/(2.0f*(sigma*sigma)))); +} diff --git a/controller/fw/src/freq_meas.h b/controller/fw/src/freq_meas.h new file mode 100644 index 0000000..1c083f8 --- /dev/null +++ b/controller/fw/src/freq_meas.h @@ -0,0 +1,7 @@ + +#ifndef __FREQ_MEAS_H__ +#define __FREQ_MEAS_H__ + +int adc_buf_measure_freq(uint16_t adc_buf[FMEAS_FFT_LEN], float *out); + +#endif /* __FREQ_MEAS_H__ */ diff --git a/controller/fw/src/gold_code.h b/controller/fw/src/gold_code.h new file mode 100644 index 0000000..739b477 --- /dev/null +++ b/controller/fw/src/gold_code.h @@ -0,0 +1,4 @@ + +/* header file for generated gold code tables */ + +extern const uint8_t * const gold_code_table; diff --git a/controller/fw/ldpc_decoder.c b/controller/fw/src/ldpc_decoder.c index fe59d77..fe59d77 100644 --- a/controller/fw/ldpc_decoder.c +++ b/controller/fw/src/ldpc_decoder.c diff --git a/controller/fw/ldpc_decoder_test.py b/controller/fw/src/ldpc_decoder_test.py index 3b91bba..3b91bba 100644 --- a/controller/fw/ldpc_decoder_test.py +++ b/controller/fw/src/ldpc_decoder_test.py diff --git a/controller/fw/test_decoder.py b/controller/fw/src/test_decoder.py index 8be5b02..8be5b02 100644 --- a/controller/fw/test_decoder.py +++ b/controller/fw/src/test_decoder.py diff --git a/controller/fw/test_pyldpc_utils.py b/controller/fw/src/test_pyldpc_utils.py index 6b14532..6b14532 100644 --- a/controller/fw/test_pyldpc_utils.py +++ b/controller/fw/src/test_pyldpc_utils.py diff --git a/controller/fw/tools/fft_window_header_gen.py b/controller/fw/tools/fft_window_header_gen.py new file mode 100644 index 0000000..7df2ee3 --- /dev/null +++ b/controller/fw/tools/fft_window_header_gen.py @@ -0,0 +1,59 @@ +#!/usr/bin/env python3 + +import textwrap + +import scipy.signal as sig +import numpy as np + +WINDOW_TYPES = [ + 'boxcar', + 'triang', + 'blackman', + 'hamming', + 'hann', + 'bartlett', + 'flattop', + 'parzen', + 'bohman', + 'blackmanharris', + 'nuttall', + 'barthann', + 'kaiser', + 'gaussian', + 'general_gaussian', + 'slepian', + 'dpss', + 'chebwin', + 'exponential', + 'tukey', + ] + +if __name__ == '__main__': + import argparse + parser = argparse.ArgumentParser() + parser.add_argument('window', choices=WINDOW_TYPES, help='Type of window function to use') + parser.add_argument('n', type=int, help='Width of window in samples') + parser.add_argument('window_args', nargs='*', type=float, + help='''Window argument(s) if required. See https://docs.scipy.org/doc/scipy/reference/generated/scipy.signal.get_window.html#scipy.signal.get_window for details.''') + parser.add_argument('-v', '--variable', default='fft_window_table', help='Name for alias variable pointing to generated window') + args = parser.parse_args() + + print(f'/* FTT window table for {args.n} sample {args.window} window.') + if args.window_args: + print(f' * Window arguments were: ({" ,".join(str(arg) for arg in args.window_args)})') + print(f' */') + winargs = ''.join(f'_{arg:.4g}'.replace('.', 'F') for arg in args.window_args) + varname = f'fft_{args.n}_window_{args.window}{winargs}' + print(f'const float {varname}[{args.n}] = {{') + + win = sig.get_window(args.window if not args.window_args else (args.window, *args.window_args), + Nx=args.n, fftbins=True) + par = ' '.join(f'{f:>013.8g},' for f in win) + print(textwrap.fill(par, + initial_indent=' '*4, subsequent_indent=' '*4, + width=120, + replace_whitespace=False, drop_whitespace=False)) + print('};') + print() + print(f'const float * const {args.variable} __attribute__((weak)) = {varname};') + diff --git a/controller/fw/tools/gold_code_header_gen.py b/controller/fw/tools/gold_code_header_gen.py new file mode 100644 index 0000000..e2bc210 --- /dev/null +++ b/controller/fw/tools/gold_code_header_gen.py @@ -0,0 +1,45 @@ +#!/usr/bin/env python3 + +import textwrap + +import numpy as np +import scipy.signal as sig + +# From https://github.com/mubeta06/python/blob/master/signal_processing/sp/gold.py +preferred_pairs = {5:[[2],[1,2,3]], 6:[[5],[1,4,5]], 7:[[4],[4,5,6]], + 8:[[1,2,3,6,7],[1,2,7]], 9:[[5],[3,5,6]], + 10:[[2,5,9],[3,4,6,8,9]], 11:[[9],[3,6,9]]} + +def gen_gold(seq1, seq2): + gold = [seq1, seq2] + for shift in range(len(seq1)): + gold.append(seq1 ^ np.roll(seq2, -shift)) + return gold + +def gold(n): + n = int(n) + if not n in preferred_pairs: + raise KeyError('preferred pairs for %s bits unknown' % str(n)) + t0, t1 = preferred_pairs[n] + (seq0, _st0), (seq1, _st1) = sig.max_len_seq(n, taps=t0), sig.max_len_seq(n, taps=t1) + return gen_gold(seq0, seq1) + +if __name__ == '__main__': + import argparse + parser = argparse.ArgumentParser() + parser.add_argument('n', type=int, choices=preferred_pairs, help='bit width of shift register. Generate 2**n + 1 sequences of length 2**n - 1.') + args = parser.parse_args() + + print('#include <unistd.h>') + print() + print(f'/* {args.n} bit gold sequences: {2**args.n+1} sequences of length {2**args.n-1} bit.') + print(f' *') + print(f' * Each code is packed left-aligned into {2**args.n // 8} bytes in big-endian byte order.') + print(f' */') + print(f'const uint8_t gold_code_{args.n}bit[] = {{') + for i, code in enumerate(gold(args.n)): + par = ' '.join(f'0x{d:02x},' for d in np.packbits(code)) + f' /* {i: 3d} "{"".join(str(x) for x in code)}" */' + print(textwrap.fill(par, initial_indent=' '*4, subsequent_indent=' '*4, width=120)) + print('};') + print() + print(f'const uint8_t * const gold_code_table __attribute__((weak)) = gold_code_{args.n}bit;') |