summaryrefslogtreecommitdiff
diff options
context:
space:
mode:
Diffstat
-rw-r--r--controller/fw/Makefile6
m---------controller/fw/cmsis0
m---------controller/fw/libsodium0
-rw-r--r--controller/fw/src/dsss_demod.c25
-rw-r--r--controller/fw/tools/butter_filter_gen.py20
5 files changed, 33 insertions, 18 deletions
diff --git a/controller/fw/Makefile b/controller/fw/Makefile
index 6c5d5ea..2c75bbf 100644
--- a/controller/fw/Makefile
+++ b/controller/fw/Makefile
@@ -51,11 +51,11 @@ FMEAS_SAMPLING_RATE ?= 10.0
DSSS_GOLD_CODE_NBITS ?= 5
DSSS_DECIMATION ?= 10
-DSSS_THESHOLD_FACTOR ?= 4.0f
+DSSS_THESHOLD_FACTOR ?= 5.0f
DSSS_WAVELET_WIDTH ?= 7.3
DSSS_WAVELET_LUT_SIZE ?= 69
-DSSS_FILTER_FC ?= 20e-3
-DSSS_FILTER_ORDER ?= 8
+DSSS_FILTER_FC ?= 10e-3
+DSSS_FILTER_ORDER ?= 10
CC := $(PREFIX)gcc
CXX := $(PREFIX)g++
diff --git a/controller/fw/cmsis b/controller/fw/cmsis
-Subproject 4a65d88011a1595b7c8b42fa0d70b7bdfc132ac
+Subproject 6a86f4ca00d2b96b82879e1e5bd9e89c5750dd2
diff --git a/controller/fw/libsodium b/controller/fw/libsodium
-Subproject a0a8706c9dc9e43bc51d16334cd6c0f6ae084ce
+Subproject afae623190f025e7cf2fb0222bfe796b69a3694
diff --git a/controller/fw/src/dsss_demod.c b/controller/fw/src/dsss_demod.c
index 7a2e0cc..7feb41b 100644
--- a/controller/fw/src/dsss_demod.c
+++ b/controller/fw/src/dsss_demod.c
@@ -32,6 +32,7 @@ void dsss_demod_step(struct dsss_demod_state *st, float new_value) {
//#define DEBUG_PRINT(...) ((void)0)
//#define DEBUG_PRINTN(...) ((void)0)
bool debug = sim_pos % DSSS_CORRELATION_LENGTH == DSSS_CORRELATION_LENGTH-1;
+ //bool debug = sim_pos > 1000;
if (debug) DEBUG_PRINT("Iteration %zd", sim_pos);
//const float peak_group_threshold = 0.05 * DSSS_CORRELATION_LENGTH;
//const float hole_patching_threshold = 0.01 * DSSS_CORRELATION_LENGTH;
@@ -42,12 +43,16 @@ void dsss_demod_step(struct dsss_demod_state *st, float new_value) {
/* use new, incremented wpos for gold_correlate_step as first element of old data in ring buffer */
for (size_t i=0; i<DSSS_GOLD_CODE_COUNT; i++)
- st->correlation[i][st->correlation_wpos] = gold_correlate_step(i, st->signal, st->signal_wpos, debug);
+ st->correlation[i][st->correlation_wpos] = gold_correlate_step(i, st->signal, st->signal_wpos, false);
/* debug */
if (debug) {
+ DEBUG_PRINTN(" [");
+ for (size_t i=0; i<DSSS_GOLD_CODE_COUNT; i++)
+ DEBUG_PRINTN("%8d ", i);
+ DEBUG_PRINTN("]\n");
DEBUG_PRINTN(" correlation: [");
for (size_t i=0; i<DSSS_GOLD_CODE_COUNT; i++)
- DEBUG_PRINTN("%f, ", st->correlation[i][st->correlation_wpos]);
+ DEBUG_PRINTN("%8.5f, ", st->correlation[i][st->correlation_wpos]);
DEBUG_PRINTN("]\n");
}
/* end */
@@ -57,24 +62,20 @@ void dsss_demod_step(struct dsss_demod_state *st, float new_value) {
for (size_t i=0; i<DSSS_GOLD_CODE_COUNT; i++)
cwt[i] = cwt_convolve_step(st->correlation[i], st->correlation_wpos);
/* debug */
- /*
- if (debug) DEBUG_PRINTN(" cwt: [");
+ if (debug) DEBUG_PRINTN(" cwt: [");
for (size_t i=0; i<DSSS_GOLD_CODE_COUNT; i++)
- if (debug) DEBUG_PRINTN("%f, ", cwt[i]);
+ if (debug) DEBUG_PRINTN("%8.5f, ", cwt[i]);
if (debug) DEBUG_PRINTN("]\n");
- */
/* end */
float avg[DSSS_GOLD_CODE_COUNT];
for (size_t i=0; i<DSSS_GOLD_CODE_COUNT; i++)
avg[i] = run_iir(fabs(cwt[i]), ARRAY_LENGTH(cwt_filter_bq), cwt_filter_bq, st->cwt_filter[i].st);
/* debug */
- /*
- DEBUG_PRINTN(" avg: [");
+ if (debug) DEBUG_PRINTN(" avg: [");
for (size_t i=0; i<DSSS_GOLD_CODE_COUNT; i++)
- DEBUG_PRINTN("%f, ", avg[i]);
- DEBUG_PRINTN("]\n");
- */
+ if (debug) DEBUG_PRINTN("%8.5f, ", avg[i]);
+ if (debug) DEBUG_PRINTN("]\n");
/* end */
float max_val = st->group.max;
@@ -150,7 +151,7 @@ float cwt_convolve_step(const float v[DSSS_WAVELET_LUT_SIZE], size_t offx) {
sum += v[(offx + j) % DSSS_WAVELET_LUT_SIZE] * dsss_cwt_wavelet_table[j];
//DEBUG_PRINT(" j=%d v=%f w=%f", j, v[(offx + j) % DSSS_WAVELET_LUT_SIZE], dsss_cwt_wavelet_table[j]);
}
- return sum / DSSS_WAVELET_LUT_SIZE;
+ return sum;
}
/* Compute last element of correlation for input [a] and hard-coded gold sequences.
diff --git a/controller/fw/tools/butter_filter_gen.py b/controller/fw/tools/butter_filter_gen.py
index 059dea0..c77a6ec 100644
--- a/controller/fw/tools/butter_filter_gen.py
+++ b/controller/fw/tools/butter_filter_gen.py
@@ -1,9 +1,11 @@
#!/usr/bin/env python3
+import math
import sys
import contextlib
import scipy.signal as sig
+import numpy as np
@contextlib.contextmanager
@@ -38,13 +40,25 @@ if __name__ == '__main__':
print(f'#define {args.macro_name.upper()}_ORDER {args.n}')
print(f'#define {args.macro_name.upper()}_CLEN {(args.n+1)//2}')
print(f'#define {args.macro_name.upper()}_COEFF ', end='')
- for sec in sos:
+
+ # scipy.signal.butter by default returns extremely small bs for the first biquad and large ones for subsequent
+ # sections. Balance magnitudes to reduce possible rounding errors.
+ first_biquad_bs = sos[0][:3]
+ approx_mag = round(math.log10(np.mean(first_biquad_bs)))
+ mags = [approx_mag // len(sos)] * len(sos)
+ mags[0] += approx_mag - sum(mags)
+ sos[0][:3] /= 10**approx_mag
+
+ for mag, sec in zip(mags, sos):
+ bs, ases = sec[:3], sec[4:6]
+ bs *= 10**mag
+
with wrap():
print('.b=', end='')
with wrap():
- print(', '.join(f'{v}' for v in sec[:3]), end='')
+ print(', '.join(f'{v}' for v in bs), end='')
print(', .a=', end='')
with wrap():
- print(', '.join(f'{v}' for v in sec[4:6]), end='')
+ print(', '.join(f'{v}' for v in ases), end='')
print(', ', end='')
print()
generated by cgit (git 2.34.1) at 2024-11-11 12:12:24 +0000