diff options
Diffstat (limited to 'controller/fw/src')
-rw-r--r-- | controller/fw/src/adc.c | 12 | ||||
-rw-r--r-- | controller/fw/src/freq_meas.c | 27 | ||||
-rw-r--r-- | controller/fw/src/main.c | 75 | ||||
-rw-r--r-- | controller/fw/src/system_stm32f4xx.c | 5 |
4 files changed, 96 insertions, 23 deletions
diff --git a/controller/fw/src/adc.c b/controller/fw/src/adc.c index 07431be..74f0aa9 100644 --- a/controller/fw/src/adc.c +++ b/controller/fw/src/adc.c @@ -51,8 +51,9 @@ void adc_init() { ADC1->CR1 = (0<<ADC_CR1_RES_Pos) | (0<<ADC_CR1_DISCNUM_Pos) | ADC_CR1_DISCEN | (0<<ADC_CR1_AWDCH_Pos); ADC1->CR2 = (1<<ADC_CR2_EXTEN_Pos) | (0<<ADC_CR2_EXTSEL_Pos) | ADC_CR2_DMA | ADC_CR2_ADON | ADC_CR2_DDS; - ADC1->SQR3 = (adc_channel<<ADC_SQR3_SQ3_Pos); + ADC1->SQR3 = (adc_channel<<ADC_SQR3_SQ1_Pos); ADC1->SQR1 = (0<<ADC_SQR1_L_Pos); + ADC1->SMPR2 = (7<<ADC_SMPR2_SMP0_Pos); TIM1->CR2 = (2<<TIM_CR2_MMS_Pos); /* Enable update event on TRGO to provide a 1ms reference to rest of system */ TIM1->CCMR1 = (6<<TIM_CCMR1_OC1M_Pos) | (0<<TIM_CCMR1_CC1S_Pos); @@ -86,11 +87,17 @@ void DMA2_Stream0_IRQHandler(void) { uint8_t isr = (DMA2->LISR >> DMA_LISR_FEIF0_Pos) & 0x3f; GPIOA->ODR ^= 1<<7; + GPIOA->BSRR = 1<<10; if (isr & DMA_LISR_TCIF0) { /* Transfer complete */ /* Check we're done processing the old buffer */ - if (adc_fft_buf_ready_idx != -1) + if (adc_fft_buf_ready_idx != -1) { /* FIXME DEBUG */ + GPIOA->BSRR = 1<<10<<16; + /* clear all flags */ + adc_dma->LIFCR = isr<<DMA_LISR_FEIF0_Pos; + return; panic(); + } /* Kickoff FFT */ int ct = !!(adc_stream->CR & DMA_SxCR_CT); @@ -103,6 +110,7 @@ void DMA2_Stream0_IRQHandler(void) { if (isr & DMA_LISR_TEIF0) /* Transfer error */ panic(); + GPIOA->BSRR = 1<<10<<16; /* clear all flags */ adc_dma->LIFCR = isr<<DMA_LISR_FEIF0_Pos; } diff --git a/controller/fw/src/freq_meas.c b/controller/fw/src/freq_meas.c index 83a330c..020e12d 100644 --- a/controller/fw/src/freq_meas.c +++ b/controller/fw/src/freq_meas.c @@ -1,4 +1,8 @@ +#ifndef SIMULATION +#include <stm32f407xx.h> +#endif + #include <unistd.h> #include <math.h> @@ -57,7 +61,13 @@ int adc_buf_measure_freq(uint16_t adc_buf[FMEAS_FFT_LEN], float *out) { DEBUG_PRINTN("%010f, ", in_buf[i]); DEBUG_PRINTN("\n"); */ +#ifndef SIMULATION + GPIOA->BSRR = 1<<12; +#endif arm_rfft_fast_f32(&fft_inst, in_buf, out_buf, 0); +#ifndef SIMULATION + GPIOA->BSRR = 1<<12<<16; +#endif #define FMEAS_FFT_WINDOW_MIN_F_HZ 30.0f #define FMEAS_FFT_WINDOW_MAX_F_HZ 70.0f @@ -66,6 +76,7 @@ int adc_buf_measure_freq(uint16_t adc_buf[FMEAS_FFT_LEN], float *out) { const size_t last_bin = (int)(FMEAS_FFT_WINDOW_MAX_F_HZ / binsize_hz + 0.5f); const size_t nbins = last_bin - first_bin + 1; + /* DEBUG_PRINT("binsize_hz=%f first_bin=%zd last_bin=%zd nbins=%zd", binsize_hz, first_bin, last_bin, nbins); DEBUG_PRINTN(" [bins real] "); for (size_t i=0; i<FMEAS_FFT_LEN/2; i+=2) @@ -76,6 +87,7 @@ int adc_buf_measure_freq(uint16_t adc_buf[FMEAS_FFT_LEN], float *out) { DEBUG_PRINT("\n"); DEBUG_PRINT("Repacking FFT results"); + */ /* Copy real values of target data to front of output buffer */ for (size_t i=0; i<nbins; i++) { float real = out_buf[2 * (first_bin + i)]; @@ -83,7 +95,9 @@ int adc_buf_measure_freq(uint16_t adc_buf[FMEAS_FFT_LEN], float *out) { out_buf[i] = sqrtf(real*real + imag*imag); } + /* DEBUG_PRINT("Running Levenberg-Marquardt"); + */ LMstat lmstat; levmarq_init(&lmstat); @@ -99,16 +113,29 @@ int adc_buf_measure_freq(uint16_t adc_buf[FMEAS_FFT_LEN], float *out) { float par[3] = { a_max, i_max, 1.0f }; + /* DEBUG_PRINT(" par_pre={%010f, %010f, %010f}", par[0], par[1], par[2]); + */ +#ifndef SIMULATION + GPIOA->BSRR = 1<<12; +#endif if (levmarq(3, par, nbins, out_buf, NULL, func_gauss, func_gauss_grad, NULL, &lmstat) < 0) { +#ifndef SIMULATION + GPIOA->BSRR = 1<<12<<16; +#endif *out = NAN; return -1; } +#ifndef SIMULATION + GPIOA->BSRR = 1<<12<<16; +#endif + /* DEBUG_PRINT(" par_post={%010f, %010f, %010f}", par[0], par[1], par[2]); DEBUG_PRINT("done."); + */ *out = (par[1] + first_bin) * binsize_hz; return 0; } diff --git a/controller/fw/src/main.c b/controller/fw/src/main.c index c03bcbb..fa5d50b 100644 --- a/controller/fw/src/main.c +++ b/controller/fw/src/main.c @@ -3,6 +3,7 @@ #include <stdint.h> #include <assert.h> #include <string.h> +#include <math.h> #include <stm32f407xx.h> @@ -159,50 +160,52 @@ void spi_flash_test(void) { static unsigned int measurement_errors = 0; static struct dsss_demod_state demod_state; static uint32_t freq_sample_ts = 0; -static uint32_t debug_last_freq = 0; +static float debug_last_freq = 0; int main(void) { - /* DEBUG */ - /* MCO2 */ +#if DEBUG + /* PLL clock on MCO2 (pin C9) */ RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; GPIOC->MODER &= ~GPIO_MODER_MODER9_Msk; GPIOC->MODER |= (2<<GPIO_MODER_MODER9_Pos); GPIOC->AFR[1] &= ~GPIO_AFRH_AFSEL9_Msk; GPIOC->OSPEEDR |= (3<<GPIO_OSPEEDR_OSPEED9_Pos); /* SCK */ RCC->CFGR |= (6<<RCC_CFGR_MCO2PRE_Pos) | (3<<RCC_CFGR_MCO2_Pos); - /* END DEBUG */ +#endif + + if (((SCB->CPACR>>20) & 0xf) != 0xf) { + asm volatile ("bkpt"); + } clock_setup(); led_setup(); - /* spi_flash_setup(); adc_init(); - */ - /* DEBUG */ - /* TIM1 CC1 */ +#if DEBUG + /* TIM1 CC1 (ADC trigger) on pin A8 */ GPIOA->MODER &= ~GPIO_MODER_MODER8_Msk; GPIOA->MODER |= (2<<GPIO_MODER_MODER8_Pos); GPIOA->AFR[1] &= ~GPIO_AFRH_AFSEL8_Msk; GPIOA->AFR[1] |= 1<<GPIO_AFRH_AFSEL8_Pos; - /* END DEBUG */ - int cnt = 0; - while (23) { - if (cnt++ == 100000) { - cnt = 0; - GPIOA->ODR ^= 1<<6; - } + GPIOA->MODER |= (1<<GPIO_MODER_MODER9_Pos) | (1<<GPIO_MODER_MODER10_Pos) | (1<<GPIO_MODER_MODER11_Pos) | + (1<<GPIO_MODER_MODER12_Pos) | (1<<GPIO_MODER_MODER15_Pos); +#endif + while (23) { if (adc_fft_buf_ready_idx != -1) { + GPIOA->BSRR = 1<<9; + adc_fft_buf_ready_idx = !adc_fft_buf_ready_idx; /* DEBUG */ memcpy(adc_fft_buf[!adc_fft_buf_ready_idx], adc_fft_buf[adc_fft_buf_ready_idx] + FMEAS_FFT_LEN/2, sizeof(adc_fft_buf[0][0]) * FMEAS_FFT_LEN/2); + GPIOA->BSRR = 1<<9<<16; + GPIOA->BSRR = 1<<11; -#if 0 float out; if (adc_buf_measure_freq(adc_fft_buf[adc_fft_buf_ready_idx], &out)) { measurement_errors++; - debug_last_freq = -1; + debug_last_freq = NAN; } else { debug_last_freq = out; @@ -212,7 +215,7 @@ int main(void) dsss_demod_step(&demod_state, out, freq_sample_ts); */ } -#endif + GPIOA->BSRR = 1<<11<<16; freq_sample_ts++; /* TODO: also increase in case of freq measurement error? */ adc_fft_buf_ready_idx = -1; @@ -222,3 +225,39 @@ int main(void) return 0; } +void NMI_Handler(void) { + asm volatile ("bkpt"); +} + +void HardFault_Handler(void) { + asm volatile ("bkpt"); +} + +void MemManage_Handler(void) { + asm volatile ("bkpt"); +} + +void BusFault_Handler(void) { + asm volatile ("bkpt"); +} + +void UsageFault_Handler(void) { + asm volatile ("bkpt"); +} + +void SVC_Handler(void) { + asm volatile ("bkpt"); +} + +void DebugMon_Handler(void) { + asm volatile ("bkpt"); +} + +void PendSV_Handler(void) { + asm volatile ("bkpt"); +} + +void SysTick_Handler(void) { + asm volatile ("bkpt"); +} + diff --git a/controller/fw/src/system_stm32f4xx.c b/controller/fw/src/system_stm32f4xx.c index 9037604..5d005ed 100644 --- a/controller/fw/src/system_stm32f4xx.c +++ b/controller/fw/src/system_stm32f4xx.c @@ -165,10 +165,9 @@ const uint8_t APBPrescTable[8] = {0, 0, 0, 0, 1, 2, 3, 4}; */ void SystemInit(void) { - /* FPU settings ------------------------------------------------------------*/ - #if (__FPU_PRESENT == 1) && (__FPU_USED == 1) SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2)); /* set CP10 and CP11 Full Access */ - #endif + __DSB(); + __ISB(); #if defined (DATA_IN_ExtSRAM) || defined (DATA_IN_ExtSDRAM) SystemInit_ExtMemCtl(); |