diff options
Diffstat (limited to 'controller/fw')
| -rw-r--r-- | controller/fw/Makefile | 64 | ||||
| -rw-r--r-- | controller/fw/src/dsss_demod.c | 180 | ||||
| -rw-r--r-- | controller/fw/src/dsss_demod.h | 44 | ||||
| -rw-r--r-- | controller/fw/src/sr_global.h | 1 | ||||
| -rw-r--r-- | controller/fw/tools/cwt_wavelet_header_gen.py | 29 | ||||
| -rw-r--r-- | controller/fw/tools/dsss_demod_test.c | 84 | ||||
| -rw-r--r-- | controller/fw/tools/dsss_demod_test_runner.py | 39 | ||||
| -rw-r--r-- | controller/fw/tools/freq_meas_test.c | 2 | ||||
| -rw-r--r-- | controller/fw/tools/gold_code_header_gen.py | 59 |
9 files changed, 468 insertions, 34 deletions
diff --git a/controller/fw/Makefile b/controller/fw/Makefile index 8dfcb1d..cc7d156 100644 --- a/controller/fw/Makefile +++ b/controller/fw/Makefile @@ -6,7 +6,7 @@ LIBSODIUM_DIR ?= libsodium TINYAES_DIR ?= tinyaes MUSL_DIR ?= musl -C_SOURCES := src/main.c src/mspdebug_wrapper.c src/spi_flash.c src/freq_meas.c +C_SOURCES := src/main.c src/mspdebug_wrapper.c src/spi_flash.c src/freq_meas.c src/dsss_demod.c C_SOURCES += $(MSPDEBUG_DIR)/drivers/jtaglib.c CMSIS_SOURCES += $(CMSIS_DIR)/CMSIS/DSP/Source/TransformFunctions/arm_rfft_fast_init_f32.c @@ -41,13 +41,17 @@ 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 ?= 16.0 +DSSS_GOLD_CODE_NBITS ?= 5 +DSSS_DECIMATION ?= 10 +DSSS_THESHOLD_FACTOR ?= 4.0f +DSSS_WAVELET_WIDTH ?= 7.3 +DSSS_WAVELET_LUT_SIZE ?= 69 CC := $(PREFIX)gcc CXX := $(PREFIX)g++ @@ -78,6 +82,7 @@ MUSL_DIR_ABS := $(abspath $(MUSL_DIR)) COMMON_CFLAGS += -I$(OPENCM3_DIR_ABS)/include -Imspdebug/util -Imspdebug/drivers -Ilevmarq COMMON_CFLAGS += -I$(CMSIS_DIR_ABS)/CMSIS/DSP/Include -I$(CMSIS_DIR_ABS)/CMSIS/Core/Include CFLAGS += -I$(abspath musl_include_shims) +COMMON_CFLAGS += -I$(BUILDDIR) -Isrc COMMON_CFLAGS += -Os -std=gnu11 -g -DSTM32F4 CFLAGS += -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 @@ -85,13 +90,18 @@ CFLAGS += -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 # Note: libopencm3 requires some standard libc definitions from stdint.h and stdbool.h, so we don't pass -nostdinc here. CFLAGS += -nostdlib -ffreestanding CFLAGS += -fno-common -ffunction-sections -fdata-sections -COMMON_CFLAGS += -DGOLD_CODE_NBITS=$(GOLD_CODE_NBITS) -DFMEAS_FFT_LEN=$(FMEAS_FFT_LEN) -DFMEAS_ADC_MAX=$(FMEAS_ADC_MAX) +COMMON_CFLAGS += -DDSSS_GOLD_CODE_NBITS=$(DSSS_GOLD_CODE_NBITS) -DFMEAS_FFT_LEN=$(FMEAS_FFT_LEN) -DFMEAS_ADC_MAX=$(FMEAS_ADC_MAX) COMMON_CFLAGS += -DFMEAS_ADC_SAMPLING_RATE=$(FMEAS_ADC_SAMPLING_RATE) COMMON_CFLAGS += -DFMEAS_FFT_WINDOW_SIGMA=$(FMEAS_FFT_WINDOW_SIGMA) +COMMON_CFLAGS += -DDSSS_DECIMATION=$(DSSS_DECIMATION) +COMMON_CFLAGS += -DDSSS_THESHOLD_FACTOR=$(DSSS_THESHOLD_FACTOR) +COMMON_CFLAGS += -DDSSS_WAVELET_WIDTH=$(DSSS_WAVELET_WIDTH) +COMMON_CFLAGS += -DDSSS_WAVELET_LUT_SIZE=$(DSSS_WAVELET_LUT_SIZE) + # for musl CFLAGS += -Dhidden= -SIM_CFLAGS += -Isrc -lm -DSIMULATION +SIM_CFLAGS += -lm -DSIMULATION INT_CFLAGS += -Wall -Wextra -Wpedantic -Wshadow -Wimplicit-function-declaration -Wundef INT_CFLAGS += -Wredundant-decls -Wmissing-prototypes -Wstrict-prototypes @@ -112,7 +122,24 @@ LDFLAGS += -L$(OPENCM3_DIR_ABS)/lib -l$(OPENCM3_LIB) $(shell $(CC) -print-libg all: $(BUILDDIR)/$(BINARY) -tests: $(BUILDDIR)/tools/freq_meas_test +src/dsss_demod.c: $(BUILDDIR)/generated/dsss_gold_code.h + +$(BUILDDIR)/generated/dsss_gold_code.h: $(BUILDDIR)/generated/gold_code_$(DSSS_GOLD_CODE_NBITS).h + ln -srf $< $@ + +.PRECIOUS: $(BUILDDIR)/generated/gold_code_%.c +$(BUILDDIR)/generated/gold_code_%.c $(BUILDDIR)/generated/gold_code_%.h: | $(BUILDDIR)/generated + $(PYTHON3) tools/gold_code_header_gen.py -v dsss_gold_code_table -$(patsubst .%,%,$(suffix $@)) $* > $@ + +.PRECIOUS: $(BUILDDIR)/generated/fmeas_fft_window.c +$(BUILDDIR)/generated/fmeas_fft_window.c: | $(BUILDDIR)/generated + $(PYTHON3) tools/fft_window_header_gen.py -v fmeas_fft_window_table $(FMEAS_FFT_WINDOW) $(FMEAS_FFT_LEN) $(FMEAS_FFT_WINDOW_SIGMA) > $@ + +.PRECIOUS: $(BUILDDIR)/generated/dsss_cwt_wavelet.c +$(BUILDDIR)/generated/dsss_cwt_wavelet.c: | $(BUILDDIR)/generated + $(PYTHON3) tools/cwt_wavelet_header_gen.py -v dsss_cwt_wavelet_table $(DSSS_WAVELET_LUT_SIZE) $(DSSS_WAVELET_WIDTH) > $@ + +$(BUILDDIR)/generated: ; mkdir -p $@ OBJS := $(addprefix $(BUILDDIR)/,$(C_SOURCES:.c=.o) $(CXX_SOURCES:.cpp=.o)) @@ -121,16 +148,23 @@ ALL_OBJS += $(OPENCM3_DIR)/lib/lib$(OPENCM3_LIB).a ALL_OBJS += $(BUILDDIR)/libsodium/src/libsodium/.libs/libsodium.a ALL_OBJS += $(BUILDDIR)/tinyaes/aes.o ALL_OBJS += $(BUILDDIR)/levmarq/levmarq.o -ALL_OBJS += $(BUILDDIR)/generated/gold_code_$(GOLD_CODE_NBITS).o +ALL_OBJS += $(BUILDDIR)/generated/gold_code_$(DSSS_GOLD_CODE_NBITS).o ALL_OBJS += $(BUILDDIR)/generated/fmeas_fft_window.o +ALL_OBJS += $(BUILDDIR)/generated/dsss_cwt_wavelet.o $(BUILDDIR)/$(BINARY): $(ALL_OBJS) $(LD) -T$(LDSCRIPT) $(COMMON_LDFLAGS) $(LDFLAGS) -o $@ -Wl,-Map=$(BUILDDIR)/src/$*.map $^ +tools: $(BUILDDIR)/tools/freq_meas_test $(BUILDDIR)/tools/freq_meas_test: tools/freq_meas_test.c src/freq_meas.c levmarq/levmarq.c $(BUILDDIR)/generated/fmeas_fft_window.c $(CMSIS_SOURCES) mkdir -p $(@D) $(HOST_CC) $(COMMON_CFLAGS) $(SIM_CFLAGS) -o $@ $^ +tools: $(BUILDDIR)/tools/dsss_demod_test +$(BUILDDIR)/tools/dsss_demod_test: tools/dsss_demod_test.c src/dsss_demod.c $(BUILDDIR)/generated/dsss_cwt_wavelet.c $(BUILDDIR)/generated/gold_code_$(DSSS_GOLD_CODE_NBITS).c + mkdir -p $(@D) + $(HOST_CC) $(COMMON_CFLAGS) $(SIM_CFLAGS) -o $@ $^ + $(BUILDDIR)/src/%.o: src/%.c mkdir -p $(@D) $(CC) $(COMMON_CFLAGS) $(CFLAGS) $(INT_CFLAGS) -o $@ -c $< @@ -158,14 +192,6 @@ $(BUILDDIR)/tinyaes/aes.o: mkdir -p $(@D) make -C $(@D) -f $(TINYAES_DIR_ABS)/Makefile VPATH=$(TINYAES_DIR_ABS) CFLAGS="$(COMMON_CFLAGS) $(CFLAGS) -c" CC=$(CC) LD=$(LD) AR=$(AR) aes.o -$(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) > $@ - $(BUILDDIR)/musl/lib/libc.a: mkdir -p $(BUILDDIR)/musl cd $(BUILDDIR)/musl && CFLAGS="$(SIM_CFLAGS) $(COMMON_CFLAGS)" CC=$(CC) LD=$(LD) AR=$(AR) $(MUSL_DIR_ABS)/configure && $(MAKE) TARGET=arm-linux-musleabihf GCC_CONFIG="-mcpu=cortex-m4 -mfloat-abi=soft" -j $(shell nproc) @@ -174,13 +200,13 @@ 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) - -rm $(BUILDDIR)/tools/freq_meas_test + rm -rf $(BUILDDIR)/src + rm -rf $(BUILDDIR)/generated + rm -f $(BUILDDIR)/$(BINARY) + rm -f $(BUILDDIR)/tools/freq_meas_test mrproper: clean - -rm -r build + rm -rf build -$(MAKE) -C $(OPENCM3_DIR) clean .PHONY: clean mrproper diff --git a/controller/fw/src/dsss_demod.c b/controller/fw/src/dsss_demod.c new file mode 100644 index 0000000..ec54d41 --- /dev/null +++ b/controller/fw/src/dsss_demod.c @@ -0,0 +1,180 @@ + +#include <unistd.h> +#include <stdbool.h> +#include <math.h> + +#include <arm_math.h> + +#include "freq_meas.h" +#include "sr_global.h" +#include "dsss_demod.h" +#include "simulation.h" + +#include "generated/dsss_gold_code.h" + +/* Generated CWT wavelet LUT */ +extern const float * const dsss_cwt_wavelet_table; + +struct iir_biquad cwt_filter_bq[3] = { + {.a = {-1.993939440f, 0.993949280f}, .b = {0.2459934300683e-5, 0.4919868601367e-5, 0.2459934300683e-5}}, + {.a = {-1.995557124f, 0.995566972f}, .b = {0.2461930046414e-5, 0.4923860092828e-5, 0.2461930046414e-5}}, + {.a = {-1.998365254f, 0.998375115f}, .b = {0.2465394452097e-5, 0.4930788904195e-5, 0.2465394452097e-5}}, +}; + +float gold_correlate_step(const size_t ncode, const float a[DSSS_CORRELATION_LENGTH], size_t offx); +float cwt_convolve_step(const float v[DSSS_WAVELET_LUT_SIZE], size_t offx); +float run_iir(const float x, const int order, const struct iir_biquad q[order], struct iir_biquad_state st[order]); +float run_biquad(float x, const struct iir_biquad *const q, struct iir_biquad_state *const restrict st); + +#ifdef SIMULATION +void dsss_demod_step(struct dsss_demod_state *st, float new_value, size_t sim_pos) { +#else /* SIMULATION */ +void dsss_demod_step(struct dsss_demod_state *st, float new_value) { +#endif /* SIMULATION */ + +//#define DEBUG_PRINT(...) ((void)0) +//#define DEBUG_PRINTN(...) ((void)0) + bool debug = sim_pos % DSSS_CORRELATION_LENGTH == 0; + 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; + + st->signal[st->signal_wpos] = new_value; + st->signal_wpos = (st->signal_wpos + 1) % ARRAY_LENGTH(st->signal); + if (debug) DEBUG_PRINT(" signal: %f", 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->correlation_wpos); + /* debug */ + /* + 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("]\n"); + */ + /* end */ + st->correlation_wpos = (st->correlation_wpos + 1) % ARRAY_LENGTH(st->correlation[0]); + + float cwt[DSSS_GOLD_CODE_COUNT]; + 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: ["); + for (size_t i=0; i<DSSS_GOLD_CODE_COUNT; i++) + if (debug) DEBUG_PRINTN("%f, ", 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: ["); + for (size_t i=0; i<DSSS_GOLD_CODE_COUNT; i++) + DEBUG_PRINTN("%f, ", avg[i]); + DEBUG_PRINTN("]\n"); + */ + /* end */ + + float max_val = st->group.max; + int max_ch = st->group.max_ch; + int max_idx = st->group.max_idx + 1; + bool found = false; + if (debug) DEBUG_PRINTN(" rel: ["); + for (size_t i=0; i<DSSS_GOLD_CODE_COUNT; i++) { + float val = cwt[i] / avg[i]; + if (debug) DEBUG_PRINTN("%f, ", val); + + if (fabs(val) > DSSS_THESHOLD_FACTOR) + found = true; + + if (fabs(val) > fabs(max_val)) { + max_val = val; + max_ch = i; + max_idx = st->group.len; + } + } + if (debug) DEBUG_PRINTN("]\n"); + + /* debug */ + if (debug) DEBUG_PRINT(" found=%d len=%d idx=%d ch=%d max=%f", + found, st->group.len, st->group.max_idx, st->group.max_ch, st->group.max); + /* end */ + + if (found) { + /* Continue ongoing group */ + st->group.len++; + st->group.max = max_val; + st->group.max_ch = max_ch; + st->group.max_idx = max_idx; + return; + } + + if (st->group.len == 0) + /* We're between groups */ + return; + + /* A group ended. Process result. */ + DEBUG_PRINT("GROUP FOUND: %8d len=%3d max=%f ch=%d offx=%d", + sim_pos, st->group.len, st->group.max, st->group.max_ch, st->group.max_idx); + + /* reset grouping state */ + st->group.len = 0; + st->group.max_idx = 0; + st->group.max_ch = 0; + st->group.max = 0.0f; +} + +float run_iir(const float x, const int order, const struct iir_biquad q[order], struct iir_biquad_state st[order]) { + float intermediate = x; + for (int i=0; i<(order+1)/2; i++) + intermediate = run_biquad(intermediate, &q[i], &st[i]); + return intermediate; +} + +float run_biquad(float x, const struct iir_biquad *const q, struct iir_biquad_state *const restrict st) { + /* direct form 2, see https://en.wikipedia.org/wiki/Digital_biquad_filter */ + float intermediate = x + st->reg[0] * -q->a[0] + st->reg[1] * -q->a[1]; + float out = intermediate * q->b[0] + st->reg[0] * q->b[1] + st->reg[1] * q->b[2]; + st->reg[1] = st->reg[0]; + st->reg[0] = intermediate; + return out; +} + +float cwt_convolve_step(const float v[DSSS_WAVELET_LUT_SIZE], size_t offx) { + float sum = 0.0f; + for (ssize_t j=0; j<DSSS_WAVELET_LUT_SIZE; j++) { + /* Our wavelet is symmetric so convolution and correlation are identical. Use correlation here for ease of + * implementation */ + 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; +} + +/* Compute last element of correlation for input [a] and hard-coded gold sequences. + * + * This is intened to be used once for each new incoming sample in [a]. It expects [a] to be of length + * [dsss_correlation_length] and produces the one sample where both the reference sequence and the input fully overlap. + * This is equivalent to "valid" mode in numpy's terminology[0]. + * + * [0] https://docs.scipy.org/doc/numpy/reference/generated/numpy.correlate.html + */ +float gold_correlate_step(const size_t ncode, const float a[DSSS_CORRELATION_LENGTH], size_t offx) { + float acc_outer = 0.0f; + uint8_t table_byte = 0; + for (size_t i=0, pos=0; i<DSSS_GOLD_CODE_LENGTH; i++, pos += DSSS_DECIMATION) { + float acc_inner = 0.0f; + for (size_t j=0; j<DSSS_DECIMATION; j++) { + if ((pos&7) == 0) + table_byte = dsss_gold_code_table[ncode][pos>>3]; /* Fetch sequence table item */ + int bv = table_byte & (1<<(pos&7)); /* Extract bit */ + bv = !!bv*2 - 1; /* Map 0, 1 -> -1, 1 */ + acc_inner += a[(offx + i + j) % DSSS_CORRELATION_LENGTH] * bv; /* Multiply item */ + } + acc_outer += acc_inner; + } + return acc_outer / DSSS_CORRELATION_LENGTH; +} diff --git a/controller/fw/src/dsss_demod.h b/controller/fw/src/dsss_demod.h new file mode 100644 index 0000000..8ab5cac --- /dev/null +++ b/controller/fw/src/dsss_demod.h @@ -0,0 +1,44 @@ +#ifndef __DSSS_DEMOD_H__ +#define __DSSS_DEMOD_H__ + +#define DSSS_GOLD_CODE_LENGTH ((1<<DSSS_GOLD_CODE_NBITS) - 1) +#define DSSS_GOLD_CODE_COUNT ((1<<DSSS_GOLD_CODE_NBITS) + 1) +#define DSSS_CORRELATION_LENGTH (DSSS_GOLD_CODE_LENGTH * DSSS_DECIMATION) + +struct iir_biquad { + float a[2]; + float b[3]; +}; + +struct iir_biquad_state { + float reg[2]; +}; + +struct cwt_iir_filter_state { + struct iir_biquad_state st[3]; +}; + +struct dsss_demod_state { + float signal[DSSS_CORRELATION_LENGTH]; + size_t signal_wpos; + + float correlation[DSSS_GOLD_CODE_COUNT][DSSS_WAVELET_LUT_SIZE]; + size_t correlation_wpos; + + struct cwt_iir_filter_state cwt_filter[DSSS_GOLD_CODE_COUNT]; + + struct { + int len; /* length of group in samples */ + float max; /* signed value of largest peak in group on any channel */ + int max_idx; /* position of above peak counted from start of group */ + int max_ch; /* channel (gold sequence index) of above peak */ + } group; +}; + +#ifdef SIMULATION +void dsss_demod_step(struct dsss_demod_state *st, float new_value, size_t sim_pos); +#else /* SIMULATION */ +void dsss_demod_step(struct dsss_demod_state *st, float new_value); +#endif /* SIMULATION */ + +#endif /* __DSSS_DEMOD_H__ */ diff --git a/controller/fw/src/sr_global.h b/controller/fw/src/sr_global.h index 8aa219d..abbad93 100644 --- a/controller/fw/src/sr_global.h +++ b/controller/fw/src/sr_global.h @@ -2,6 +2,7 @@ #define __SR_GLOBAL_H__ #define UNUSED(x) ((void) x) +#define ARRAY_LENGTH(x) (sizeof(x) / sizeof(x[0])) static inline uint16_t htole(uint16_t val) { return val; } diff --git a/controller/fw/tools/cwt_wavelet_header_gen.py b/controller/fw/tools/cwt_wavelet_header_gen.py new file mode 100644 index 0000000..e9713a7 --- /dev/null +++ b/controller/fw/tools/cwt_wavelet_header_gen.py @@ -0,0 +1,29 @@ +#!/usr/bin/env python3 + +import textwrap + +import scipy.signal as sig +import numpy as np + +if __name__ == '__main__': + import argparse + parser = argparse.ArgumentParser() + parser.add_argument('n', type=int, help='Window size') + parser.add_argument('w', type=float, help='Wavelet width') + parser.add_argument('-v', '--variable', default='cwt_ricker_table', help='Name for alias variable pointing to generated wavelet LUT') + args = parser.parse_args() + + print(f'/* CWT Ricker wavelet LUT for {args.n} sample window of width {args.w}. */') + varname = f'cwt_ricker_{args.n}_window_{str(args.w).replace(".", "F")}' + print(f'const float {varname}[{args.n}] = {{') + + win = sig.ricker(args.n, args.w) + par = ' '.join(f'{f:>015.8g}f,' 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/dsss_demod_test.c b/controller/fw/tools/dsss_demod_test.c new file mode 100644 index 0000000..51742b1 --- /dev/null +++ b/controller/fw/tools/dsss_demod_test.c @@ -0,0 +1,84 @@ + +#include <stdint.h> +#include <math.h> +#include <unistd.h> +#include <stdio.h> +#include <string.h> +#include <errno.h> +#include <stdlib.h> +#include <sys/stat.h> +#include <sys/types.h> +#include <sys/fcntl.h> + +#include "dsss_demod.h" + +void print_usage() { + fprintf(stderr, "Usage: dsss_demod_test [test_data.bin]\n"); +} + +int main(int argc, char **argv) { + if (argc != 2) { + fprintf(stderr, "Error: Invalid arguments.\n"); + print_usage(); + return 1; + } + + int fd = open(argv[1], O_RDONLY); + struct stat st; + if (fstat(fd, &st)) { + fprintf(stderr, "Error querying test data file size: %s\n", strerror(errno)); + return 2; + } + + if (st.st_size < 0 || st.st_size > 1000000) { + fprintf(stderr, "Error reading test data: too much test data (size=%zd)\n", st.st_size); + return 2; + } + + if (st.st_size % sizeof(float) != 0) { + fprintf(stderr, "Error reading test data: file size is not divisible by %zd (size=%zd)\n", sizeof(float), st.st_size); + return 2; + } + + char *buf = malloc(st.st_size); + if (!buf) { + fprintf(stderr, "Error allocating memory"); + return 2; + } + + fprintf(stderr, "Reading %zd samples test data...", st.st_size/sizeof(float)); + size_t nread = 0; + while (nread < st.st_size) { + ssize_t rc = read(fd, buf, st.st_size - nread); + + if (rc == -EINTR || rc == -EAGAIN) + continue; + + if (rc < 0) { + fprintf(stderr, "\nError reading test data: %s\n", strerror(errno)); + return 2; + } + + if (rc == 0) { + fprintf(stderr, "\nError reading test data: Unexpected end of file\n"); + return 2; + } + + nread += rc; + } + fprintf(stderr, " done.\n"); + + const size_t n_samples = st.st_size / sizeof(float); + float *buf_f = (float *)buf; + + fprintf(stderr, "Starting simulation.\n"); + + struct dsss_demod_state demod; + memset(&demod, 0, sizeof(demod)); + for (size_t i=0; i<n_samples; i++) { + //fprintf(stderr, "Iteration %zd/%zd\n", i, n_samples); + dsss_demod_step(&demod, buf_f[i], i); + } + + return 0; +} diff --git a/controller/fw/tools/dsss_demod_test_runner.py b/controller/fw/tools/dsss_demod_test_runner.py new file mode 100644 index 0000000..4e93d7b --- /dev/null +++ b/controller/fw/tools/dsss_demod_test_runner.py @@ -0,0 +1,39 @@ +#!/usr/bin/env python3 + +import os +from os import path +import subprocess +import json + +import numpy as np +np.set_printoptions(linewidth=240) + + +if __name__ == '__main__': + import argparse + parser = argparse.ArgumentParser() + parser.add_argument(metavar='test_data_directory', dest='dir', help='Directory with test data .bin files') + default_binary = path.abspath(path.join(path.dirname(__file__), '../build/tools/dsss_demod_test')) + parser.add_argument(metavar='test_binary', dest='binary', nargs='?', default=default_binary) + parser.add_argument('-d', '--dump', help='Write raw measurements to JSON file') + args = parser.parse_args() + + bin_files = [ path.join(args.dir, d) for d in os.listdir(args.dir) if d.lower().endswith('.bin') ] + + savedata = {} + for p in bin_files: + output = subprocess.check_output([args.binary, p], stderr=subprocess.DEVNULL) + measurements = np.array([ float(value) for _offset, value in [ line.split() for line in output.splitlines() ] ]) + savedata[p] = list(measurements) + + # Cut off first and last sample for mean and RMS calculations as these show boundary effects. + measurements = measurements[1:-1] + mean = np.mean(measurements) + rms = np.sqrt(np.mean(np.square(measurements - mean))) + + print(f'{path.basename(p):<60}: mean={mean:<8.4f}Hz rms={rms*1000:.3f}mHz') + + if args.dump: + with open(args.dump, 'w') as f: + json.dump(savedata, f) + diff --git a/controller/fw/tools/freq_meas_test.c b/controller/fw/tools/freq_meas_test.c index df3e39d..e80290e 100644 --- a/controller/fw/tools/freq_meas_test.c +++ b/controller/fw/tools/freq_meas_test.c @@ -70,7 +70,7 @@ int main(int argc, char **argv) { } fprintf(stderr, " done.\n"); - size_t n_samples = st.st_size / sizeof(float); + const size_t n_samples = st.st_size / sizeof(float); float *buf_f = (float *)buf; int16_t *sim_adc_buf = calloc(sizeof(int16_t), n_samples); diff --git a/controller/fw/tools/gold_code_header_gen.py b/controller/fw/tools/gold_code_header_gen.py index e2bc210..8247457 100644 --- a/controller/fw/tools/gold_code_header_gen.py +++ b/controller/fw/tools/gold_code_header_gen.py @@ -1,6 +1,9 @@ #!/usr/bin/env python3 +import sys +import math import textwrap +import contextlib import numpy as np import scipy.signal as sig @@ -24,22 +27,50 @@ def gold(n): (seq0, _st0), (seq1, _st1) = sig.max_len_seq(n, taps=t0), sig.max_len_seq(n, taps=t1) return gen_gold(seq0, seq1) +@contextlib.contextmanager +def print_include_guards(macro_name): + print(f'#ifndef {macro_name}') + print(f'#define {macro_name}') + yield + print(f'#endif /* {macro_name} */') + if __name__ == '__main__': import argparse - parser = argparse.ArgumentParser() + parser = argparse.ArgumentParser(add_help=False) 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.') + parser.add_argument('-v', '--variable', default='gold_code_table', help='Name for weak alias of generated table') + parser.add_argument('-h', '--header', action='store_true', help='Generate header file') + parser.add_argument('-c', '--source', action='store_true', help='Generate table source file') 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;') + if not args.header != args.source: + print('Exactly one of --header and --source must be given.', file=sys.stderr) + sys.exit(1) + + nbytes = math.ceil((2**args.n-1)/8) + + if args.source: + print('/* THIS IS A GENERATED FILE. DO NOT EDIT! */') + print('#include <unistd.h>') + print('#include <stdint.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 {nbytes} bytes in big-endian byte order.') + print(f' */') + print(f'const uint8_t gold_code_{args.n}bit[{2**args.n+1}][{nbytes}] = {{') + 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 {args.variable} __attribute__((weak)) = (uint8_t *const)gold_code_{args.n}bit;') + print(f'const size_t {args.variable}_nbits __attribute__((weak)) = {args.n};') + else: + print('/* THIS IS A GENERATED FILE. DO NOT EDIT! */') + with print_include_guards(f'__GOLD_CODE_GENERATED_HEADER_{args.n}__'): + print(f'extern const uint8_t gold_code_{args.n}bit[{2**args.n+1}][{nbytes}];') + + with print_include_guards(f'__GOLD_CODE_GENERATED_HEADER_GLOBAL_SYM_{args.variable.upper()}__'): + print(f'extern const uint8_t {args.variable}[{2**args.n+1}][{nbytes}];') + print(f'extern const size_t {args.variable}_nbits;') |