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-rw-r--r--controller/fw/Makefile10
m---------controller/fw/cmsis0
m---------controller/fw/libsodium0
-rw-r--r--controller/fw/src/dsss_demod.c61
-rw-r--r--controller/fw/tools/butter_filter_gen.py50
-rw-r--r--controller/fw/tools/gold_code_header_gen.py8
6 files changed, 94 insertions, 35 deletions
diff --git a/controller/fw/Makefile b/controller/fw/Makefile
index cc7d156..6c5d5ea 100644
--- a/controller/fw/Makefile
+++ b/controller/fw/Makefile
@@ -46,12 +46,16 @@ FMEAS_ADC_MAX ?= 4096
FMEAS_FFT_LEN ?= 256
FMEAS_FFT_WINDOW ?= gaussian
FMEAS_FFT_WINDOW_SIGMA ?= 16.0
+# TODO: validate
+FMEAS_SAMPLING_RATE ?= 10.0
DSSS_GOLD_CODE_NBITS ?= 5
DSSS_DECIMATION ?= 10
DSSS_THESHOLD_FACTOR ?= 4.0f
DSSS_WAVELET_WIDTH ?= 7.3
DSSS_WAVELET_LUT_SIZE ?= 69
+DSSS_FILTER_FC ?= 20e-3
+DSSS_FILTER_ORDER ?= 8
CC := $(PREFIX)gcc
CXX := $(PREFIX)g++
@@ -122,7 +126,7 @@ LDFLAGS += -L$(OPENCM3_DIR_ABS)/lib -l$(OPENCM3_LIB) $(shell $(CC) -print-libg
all: $(BUILDDIR)/$(BINARY)
-src/dsss_demod.c: $(BUILDDIR)/generated/dsss_gold_code.h
+src/dsss_demod.c: $(BUILDDIR)/generated/dsss_gold_code.h $(BUILDDIR)/generated/dsss_butter_filter.h
$(BUILDDIR)/generated/dsss_gold_code.h: $(BUILDDIR)/generated/gold_code_$(DSSS_GOLD_CODE_NBITS).h
ln -srf $< $@
@@ -139,6 +143,10 @@ $(BUILDDIR)/generated/fmeas_fft_window.c: | $(BUILDDIR)/generated
$(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) > $@
+.PRECIOUS: $(BUILDDIR)/generated/dsss_butter_filter.h
+$(BUILDDIR)/generated/dsss_butter_filter.h: | $(BUILDDIR)/generated
+ $(PYTHON3) tools/butter_filter_gen.py -m dsss_filter $(DSSS_FILTER_FC) $(FMEAS_SAMPLING_RATE) $(DSSS_FILTER_ORDER) > $@
+
$(BUILDDIR)/generated: ; mkdir -p $@
OBJS := $(addprefix $(BUILDDIR)/,$(C_SOURCES:.c=.o) $(CXX_SOURCES:.cpp=.o))
diff --git a/controller/fw/cmsis b/controller/fw/cmsis
-Subproject 6a86f4ca00d2b96b82879e1e5bd9e89c5750dd2
+Subproject 4a65d88011a1595b7c8b42fa0d70b7bdfc132ac
diff --git a/controller/fw/libsodium b/controller/fw/libsodium
-Subproject afae623190f025e7cf2fb0222bfe796b69a3694
+Subproject a0a8706c9dc9e43bc51d16334cd6c0f6ae084ce
diff --git a/controller/fw/src/dsss_demod.c b/controller/fw/src/dsss_demod.c
index ec54d41..7a2e0cc 100644
--- a/controller/fw/src/dsss_demod.c
+++ b/controller/fw/src/dsss_demod.c
@@ -11,17 +11,14 @@
#include "simulation.h"
#include "generated/dsss_gold_code.h"
+#include "generated/dsss_butter_filter.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}},
-};
+struct iir_biquad cwt_filter_bq[DSSS_FILTER_CLEN] = {DSSS_FILTER_COEFF};
-float gold_correlate_step(const size_t ncode, const float a[DSSS_CORRELATION_LENGTH], size_t offx);
+float gold_correlate_step(const size_t ncode, const float a[DSSS_CORRELATION_LENGTH], size_t offx, bool debug);
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);
@@ -34,7 +31,7 @@ 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 == 0;
+ bool debug = sim_pos % DSSS_CORRELATION_LENGTH == DSSS_CORRELATION_LENGTH-1;
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;
@@ -45,14 +42,14 @@ 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->correlation_wpos);
+ st->correlation[i][st->correlation_wpos] = gold_correlate_step(i, st->signal, st->signal_wpos, debug);
/* 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");
- */
+ if (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]);
@@ -60,10 +57,12 @@ 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: [");
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];
@@ -82,10 +81,10 @@ void dsss_demod_step(struct dsss_demod_state *st, float new_value) {
int max_ch = st->group.max_ch;
int max_idx = st->group.max_idx + 1;
bool found = false;
- if (debug) DEBUG_PRINTN(" rel: [");
+ //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 (debug) DEBUG_PRINTN("%f, ", val);
if (fabs(val) > DSSS_THESHOLD_FACTOR)
found = true;
@@ -96,7 +95,7 @@ void dsss_demod_step(struct dsss_demod_state *st, float new_value) {
max_idx = st->group.len;
}
}
- if (debug) DEBUG_PRINTN("]\n");
+ //if (debug) DEBUG_PRINTN("]\n");
/* debug */
if (debug) DEBUG_PRINT(" found=%d len=%d idx=%d ch=%d max=%f",
@@ -162,19 +161,27 @@ float cwt_convolve_step(const float v[DSSS_WAVELET_LUT_SIZE], size_t offx) {
*
* [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 gold_correlate_step(const size_t ncode, const float a[DSSS_CORRELATION_LENGTH], size_t offx, bool debug) {
+
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 */
+ if (debug) DEBUG_PRINTN("Correlate n=%d: ", ncode);
+ for (size_t i=0; i<DSSS_GOLD_CODE_LENGTH; i++) {
+
+ if ((i&7) == 0) {
+ table_byte = dsss_gold_code_table[ncode][i>>3]; /* Fetch sequence table item */
+ if (debug) DEBUG_PRINTN("|");
}
- acc_outer += acc_inner;
+ int bv = table_byte & (0x80>>(i&7)); /* Extract bit */
+ bv = !!bv*2 - 1; /* Map 0, 1 -> -1, 1 */
+ if (debug) DEBUG_PRINTN("%s%d\033[0m", bv == 1 ? "\033[92m" : "\033[91m", (bv+1)/2);
+
+ float acc_inner = 0.0f;
+ for (size_t j=0; j<DSSS_DECIMATION; j++)
+ acc_inner += a[(offx + i*DSSS_DECIMATION + j) % DSSS_CORRELATION_LENGTH]; /* Multiply item */
+ //if (debug) DEBUG_PRINTN("%.2f ", acc_inner);
+ acc_outer += acc_inner * bv;
}
+ if (debug) DEBUG_PRINTN("\n");
return acc_outer / DSSS_CORRELATION_LENGTH;
}
diff --git a/controller/fw/tools/butter_filter_gen.py b/controller/fw/tools/butter_filter_gen.py
new file mode 100644
index 0000000..059dea0
--- /dev/null
+++ b/controller/fw/tools/butter_filter_gen.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+
+import sys
+import contextlib
+
+import scipy.signal as sig
+
+
+@contextlib.contextmanager
+def wrap(left='{', right='}', file=None, end=''):
+ print(left, file=file, end=end)
+ yield
+ print(right, file=file, end=end)
+
+@contextlib.contextmanager
+def print_include_guards(macro_name):
+ print(f'#ifndef {macro_name}')
+ print(f'#define {macro_name}')
+ yield
+ print(f'#endif /* {macro_name} */')
+
+macro_float = lambda f: f'{f}'.replace('.', 'F').replace('-', 'N').replace('+', 'P')
+
+
+if __name__ == '__main__':
+ import argparse
+ parser = argparse.ArgumentParser()
+ parser.add_argument('-m', '--macro-name', default='butter_filter', help='Prefix for output macro names')
+ parser.add_argument('fc', type=float, help='Corner frequency [Hz]')
+ parser.add_argument('fs', type=float, help='Sampling rate [Hz]')
+ parser.add_argument('n', type=int, nargs='?', default=6, help='Filter order')
+ args = parser.parse_args()
+
+ sos = sig.butter(args.n, args.fc, fs=args.fs, output='sos')
+
+ print('/* THIS IS A GENERATED FILE. DO NOT EDIT! */')
+ with print_include_guards(f'__BUTTER_FILTER_GENERATED_{args.n}_{macro_float(args.fc)}_{macro_float(args.fs)}__'):
+ 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:
+ with wrap():
+ print('.b=', end='')
+ with wrap():
+ print(', '.join(f'{v}' for v in sec[:3]), end='')
+ print(', .a=', end='')
+ with wrap():
+ print(', '.join(f'{v}' for v in sec[4:6]), end='')
+ print(', ', end='')
+ print()
diff --git a/controller/fw/tools/gold_code_header_gen.py b/controller/fw/tools/gold_code_header_gen.py
index 8247457..fa98fce 100644
--- a/controller/fw/tools/gold_code_header_gen.py
+++ b/controller/fw/tools/gold_code_header_gen.py
@@ -58,19 +58,13 @@ if __name__ == '__main__':
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}] = {{')
+ print(f'const uint8_t {args.variable}[{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;')
generated by cgit (git 2.34.1) at 2024-11-11 11:21:13 +0000