From 33e99ed37ff6b30e633dd536d84837f582109bb4 Mon Sep 17 00:00:00 2001 From: jaseg Date: Tue, 3 Mar 2020 12:51:48 +0100 Subject: working on testing --- controller/fw/Makefile | 104 ++++++++++++++++++++++------------- controller/fw/src/freq_meas.c | 24 ++++---- controller/fw/tools/freq_meas_test.c | 94 +++++++++++++++++++++++++++++++ 3 files changed, 172 insertions(+), 50 deletions(-) create mode 100644 controller/fw/tools/freq_meas_test.c (limited to 'controller/fw') diff --git a/controller/fw/Makefile b/controller/fw/Makefile index c01b01c..ba22571 100644 --- a/controller/fw/Makefile +++ b/controller/fw/Makefile @@ -8,15 +8,28 @@ MUSL_DIR ?= musl 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 + +CMSIS_SOURCES += $(CMSIS_DIR)/CMSIS/DSP/Source/TransformFunctions/arm_rfft_fast_init_f32.c +CMSIS_SOURCES += $(CMSIS_DIR)/CMSIS/DSP/Source/TransformFunctions/arm_rfft_fast_f32.c +CMSIS_SOURCES += $(CMSIS_DIR)/CMSIS/DSP/Source/TransformFunctions/arm_cfft_init_f32.c +CMSIS_SOURCES += $(CMSIS_DIR)/CMSIS/DSP/Source/TransformFunctions/arm_cfft_f32.c +CMSIS_SOURCES += $(CMSIS_DIR)/CMSIS/DSP/Source/TransformFunctions/arm_cfft_radix8_f32.c +CMSIS_SOURCES += $(CMSIS_DIR)/CMSIS/DSP/Source/CommonTables/arm_const_structs.c +CMSIS_SOURCES += $(CMSIS_DIR)/CMSIS/DSP/Source/CommonTables/arm_common_tables.c +CMSIS_SOURCES += $(CMSIS_DIR)/CMSIS/DSP/Source/TransformFunctions/arm_bitreversal.c +CMSIS_SOURCES += $(CMSIS_DIR)/CMSIS/DSP/Source/TransformFunctions/arm_bitreversal2.c + +MUSL_SOURCES += $(MUSL_DIR)/src/math/tanhf.c $(MUSL_DIR)/src/math/atanhf.c +MUSL_SOURCES += $(MUSL_DIR)/src/math/expm1f.c $(MUSL_DIR)/src/math/log1pf.c +MUSL_SOURCES += $(MUSL_DIR)/src/math/expf.c $(MUSL_DIR)/src/math/exp2f_data.c +MUSL_SOURCES += $(MUSL_DIR)/src/math/powf.c +MUSL_SOURCES += $(MUSL_DIR)/src/math/__math_oflowf.c +MUSL_SOURCES += $(MUSL_DIR)/src/math/__math_uflowf.c +MUSL_SOURCES += $(MUSL_DIR)/src/math/__math_xflowf.c +MUSL_SOURCES += $(MUSL_DIR)/src/math/__math_invalidf.c +MUSL_SOURCES += $(MUSL_DIR)/src/math/powf_data.c + +C_SOURCES += $(CMSIS_SOURCES) $(MUSL_SOURCES) CXX_SOURCES += src/ldpc_wrapper.cpp @@ -53,18 +66,23 @@ LIBSODIUM_DIR_ABS := $(abspath $(LIBSODIUM_DIR)) 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 -Dhidden= -CFLAGS += -I$(abspath musl_include_shims) -Ilevmarq -D +COMMON_CFLAGS += -I$(OPENCM3_DIR_ABS)/include -Imspdebug/util -Imspdebug/drivers +COMMON_CFLAGS += -I$(CMSIS_DIR_ABS)/CMSIS/DSP/Include -I$(CMSIS_DIR_ABS)/CMSIS/Core/Include +COMMON_CFLAGS += -I$(abspath musl_include_shims) -Ilevmarq -CFLAGS += -Os -std=gnu11 -g -DSTM32F4 +COMMON_CFLAGS += -Os -std=gnu11 -g -DSTM32F4 +CFLAGS += -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 +SIM_CFLAGS += -mthumb -mcpu=cortex-m4 -mfloat-abi=soft # Note: libopencm3 requires some standard libc definitions from stdint.h and stdbool.h, so we don't pass -nostdinc here. -CFLAGS += -nostdlib -ffreestanding -CFLAGS += -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -CFLAGS += -fno-common -ffunction-sections -fdata-sections -CFLAGS += -DGOLD_CODE_NBITS=$(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=$(FMEAS_FFT_WINDOW_SIGMA) +COMMON_CFLAGS += -nostdlib -ffreestanding +CFLAGS += -fno-common -ffunction-sections -fdata-sections +COMMON_CFLAGS += -DGOLD_CODE_NBITS=$(GOLD_CODE_NBITS) -DFMEAS_FFT_LEN=$(FMEAS_FFT_LEN) -DFMEAS_ADC_MAX=$(FMEAS_ADC_MAX) +COMMON_CFLAGS += -DFMEAS_ADC_SAMPLING_RATE=$(FMEAS_ADC_SAMPLING_RATE) +COMMON_CFLAGS += -DFMEAS_FFT_WINDOW_SIGMA=$(FMEAS_FFT_WINDOW_SIGMA) +# for musl +CFLAGS += -Dhidden= + +SIM_CFLAGS += -Isrc INT_CFLAGS += -Wall -Wextra -Wpedantic -Wshadow -Wimplicit-function-declaration -Wundef INT_CFLAGS += -Wredundant-decls -Wmissing-prototypes -Wstrict-prototypes @@ -76,29 +94,36 @@ CXXFLAGS += -fno-common -ffunction-sections -fdata-sections CXXFLAGS += -Wall -Wextra -Wshadow -Wundef -Wredundant-decls CXXFLAGS += -I. -LDFLAGS += --static -nostartfiles -LDFLAGS += -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -g -LDFLAGS += -Wl,--cre -#LDFLAGS += -Wl,--gc-sections -LDFLAGS += -Wl,--start-group -lc -lgcc -lnosys -Wl,--end-group -LDFLAGS += -L$(OPENCM3_DIR_ABS)/lib -l$(OPENCM3_LIB) $(shell $(CC) -print-libgcc-file-name) +COMMON_LDFLAGS += -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -g +COMMON_LDFLAGS += --static -nostartfiles +LDFLAGS += -Wl,--cre +#LDFLAGS += -Wl,--gc-sections +LDFLAGS += -Wl,--start-group -lc -lgcc -lnosys -Wl,--end-group +LDFLAGS += -L$(OPENCM3_DIR_ABS)/lib -l$(OPENCM3_LIB) $(shell $(CC) -print-libgcc-file-name) all: $(BUILDDIR)/$(BINARY) +tests: tools/freq_meas_test.elf + 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)/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 $^ +ALL_OBJS := $(OBJS) +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 += $(BUILDDIR)/generated/fmeas_fft_window.o + +$(BUILDDIR)/$(BINARY): $(ALL_OBJS) + $(LD) -T$(LDSCRIPT) $(COMMON_LDFLAGS) $(LDFLAGS) -o $@ -Wl,-Map=$(BUILDDIR)/src/$*.map $^ + +tools/freq_meas_test.elf: tools/freq_meas_test.c src/freq_meas.c $(CMSIS_SOURCES) $(BUILDDIR)/musl/lib/libc.a + $(CC) $(COMMON_CFLAGS) $(SIM_CFLAGS) -lm -lgcc -lnosys -o $@ $^ $(BUILDDIR)/src/%.o: src/%.c mkdir -p $(@D) - $(CC) $(CFLAGS) $(INT_CFLAGS) -o $@ -c $< + $(CC) $(COMMON_CFLAGS) $(CFLAGS) $(INT_CFLAGS) -o $@ -c $< $(BUILDDIR)/src/%.o: src/%.cpp mkdir -p $(@D) @@ -106,22 +131,22 @@ $(BUILDDIR)/src/%.o: src/%.cpp $(BUILDDIR)/generated/%.o: $(BUILDDIR)/generated/%.c mkdir -p $(@D) - $(CC) $(CFLAGS) $(INT_CFLAGS) -o $@ -c $< + $(CC) $(COMMON_CFLAGS) $(CFLAGS) $(INT_CFLAGS) -o $@ -c $< $(BUILDDIR)/%.o: %.c mkdir -p $(@D) - $(CC) $(CFLAGS) $(EXT_CFLAGS) -o $@ -c $< + $(CC) $(COMMON_CFLAGS) $(CFLAGS) $(EXT_CFLAGS) -o $@ -c $< $(OPENCM3_DIR)/lib/lib$(OPENCM3_LIB).a: $(MAKE) -C $(OPENCM3_DIR) -j $(shell nproc) $(BUILDDIR)/libsodium/src/libsodium/.libs/libsodium.a: mkdir -p $(BUILDDIR)/libsodium - cd $(BUILDDIR)/libsodium && CFLAGS="$(CFLAGS) -DDEV_MODE=1" $(LIBSODIUM_DIR_ABS)/configure --host=arm-none-eabi && $(MAKE) -j $(shell nproc) + cd $(BUILDDIR)/libsodium && CFLAGS="$(COMMON_CFLAGS) $(CFLAGS) -DDEV_MODE=1" $(LIBSODIUM_DIR_ABS)/configure --host=arm-none-eabi && $(MAKE) -j $(shell nproc) $(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 + 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) @@ -131,6 +156,9 @@ $(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) build/ldpc_decoder_test.so: src/ldpc_decoder.c gcc -fPIC -shared -Wall -Wextra -Wpedantic -std=gnu11 -O0 -g -o $@ $^ diff --git a/controller/fw/src/freq_meas.c b/controller/fw/src/freq_meas.c index e6b3976..627af34 100644 --- a/controller/fw/src/freq_meas.c +++ b/controller/fw/src/freq_meas.c @@ -26,7 +26,7 @@ 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); +void 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) { @@ -42,12 +42,12 @@ int adc_buf_measure_freq(uint16_t adc_buf[FMEAS_FFT_LEN], float *out) { 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; +#define FMEAS_FFT_WINDOW_MIN_F_HZ 30.0f +#define FMEAS_FFT_WINDOW_MAX_F_HZ 70.0f + const float binsize_hz = (float)FMEAS_ADC_SAMPLING_RATE / FMEAS_FFT_LEN; + const size_t first_bin = (int)(FMEAS_FFT_WINDOW_MIN_F_HZ / binsize_hz); + 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; /* Copy real values of target data to front of output buffer */ for (size_t i=0; i +#include +#include +#include +#include +#include +#include +#include + +#include "freq_meas.h" + +void print_usage(void); + +void print_usage() { + fprintf(stderr, "Usage: freq_meas_test [test_data.bin]"); +} + +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; + } + + 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, "Error reading test data: %s\n", strerror(errno)); + return 2; + } + + if (rc == 0) { + fprintf(stderr, "Error reading test data: Unexpected end of file\n"); + return 2; + } + + nread += rc; + } + + size_t n_samples = st.st_size / sizeof(float); + float *buf_f = (float *)buf; + + uint16_t *sim_adc_buf = calloc(sizeof(uint16_t), n_samples); + if (!sim_adc_buf) { + fprintf(stderr, "Error allocating memory\n"); + return 2; + } + + for (size_t i=0; i