From fed186a49fc8f27a8a31fd40f8c8b26d32a4b932 Mon Sep 17 00:00:00 2001 From: jaseg Date: Sun, 15 Mar 2020 14:47:25 +0100 Subject: Add end-to-end simulation --- controller/fw/Makefile | 10 ++- controller/fw/levmarq/levmarq.c | 12 +--- controller/fw/src/adc.c | 12 +++- controller/fw/src/freq_meas.c | 27 +++++++++ controller/fw/src/main.c | 75 +++++++++++++++++------ controller/fw/src/system_stm32f4xx.c | 5 +- controller/fw/tools/dsss_demod_test.c | 2 +- controller/fw/tools/e2e_test.c | 111 ++++++++++++++++++++++++++++++++++ controller/fw/tools/freq_meas_test.c | 6 +- controller/fw/tools/presig_gen.py | 16 ++--- 10 files changed, 230 insertions(+), 46 deletions(-) create mode 100644 controller/fw/tools/e2e_test.c (limited to 'controller') diff --git a/controller/fw/Makefile b/controller/fw/Makefile index 89960d2..0fea8ae 100644 --- a/controller/fw/Makefile +++ b/controller/fw/Makefile @@ -60,6 +60,7 @@ 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/sqrtf.c MUSL_SOURCES += $(MUSL_DIR)/src/math/fabsf.c MUSL_SOURCES += $(MUSL_DIR)/src/stdlib/abs.c MUSL_SOURCES += $(MUSL_DIR)/src/string/memset.c @@ -84,6 +85,8 @@ LDSCRIPT := stm32f407.ld PREFIX ?= arm-none-eabi- +DEBUG ?= 1 + CC := $(PREFIX)gcc CXX := $(PREFIX)g++ LD := $(PREFIX)gcc @@ -121,7 +124,7 @@ CFLAGS += -I$(abspath musl_include_shims) COMMON_CFLAGS += -I$(BUILDDIR) -Isrc -Itinyaes CFLAGS += -I$(CUBE_DIR)/Drivers/CMSIS/Device/ST/STM32F4xx/Include -COMMON_CFLAGS += -O0 -std=gnu11 -g -DSTM32F407xx -DSTM32F4 +COMMON_CFLAGS += -O0 -std=gnu11 -g -DSTM32F407xx -DSTM32F4 -DDEBUG=$(DEBUG) CFLAGS += $(ARCH_FLAGS) $(SYSTEM_FLAGS) #SIM_CFLAGS += -mthumb -mcpu=cortex-m4 -mfloat-abi=soft CFLAGS += -fno-common -ffunction-sections -fdata-sections @@ -248,6 +251,11 @@ $(BUILDDIR)/tools/crypto_test: tools/crypto_test.c src/crypto.c tinyaes/aes.c $( mkdir -p $(@D) $(HOST_CC) $(COMMON_CFLAGS) $(SIM_CFLAGS) -lsodium -o $@ $^ +tools: $(BUILDDIR)/tools/e2e_test +$(BUILDDIR)/tools/e2e_test: tools/e2e_test.c src/freq_meas.c levmarq/levmarq.c $(BUILDDIR)/generated/fmeas_fft_window.c $(CMSIS_SOURCES) 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/%.s mkdir -p $(@D) $(CC) $(COMMON_CFLAGS) $(CFLAGS) $(INT_CFLAGS) -o $@ -c $< diff --git a/controller/fw/levmarq/levmarq.c b/controller/fw/levmarq/levmarq.c index 4636c79..4a764db 100644 --- a/controller/fw/levmarq/levmarq.c +++ b/controller/fw/levmarq/levmarq.c @@ -17,8 +17,6 @@ #include #include -#include - #include "levmarq.h" #include "simulation.h" @@ -29,21 +27,13 @@ /* set parameters required by levmarq() to default values */ void levmarq_init(LMstat *lmstat) { - lmstat->max_it = 500; + lmstat->max_it = 100; lmstat->init_lambda = 0.0001f; lmstat->up_factor = 10.0f; lmstat->down_factor = 10.0f; lmstat->target_derr = 1e-12f; } -#ifndef SIMULATION -float sqrtf(float arg) { - float out=NAN; - arm_sqrt_f32(arg, &out); - return out; -} -#endif - /* perform least-squares minimization using the Levenberg-Marquardt algorithm. The arguments are as follows: 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<CR2 = (1<SQR3 = (adc_channel<SQR3 = (adc_channel<SQR1 = (0<SMPR2 = (7<CR2 = (2<CCMR1 = (6<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<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< +#endif + #include #include @@ -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; iBSRR = 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 #include #include +#include #include @@ -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<AFR[1] &= ~GPIO_AFRH_AFSEL9_Msk; GPIOC->OSPEEDR |= (3<CFGR |= (6<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<AFR[1] &= ~GPIO_AFRH_AFSEL8_Msk; GPIOA->AFR[1] |= 1<ODR ^= 1<<6; - } + GPIOA->MODER |= (1<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(); diff --git a/controller/fw/tools/dsss_demod_test.c b/controller/fw/tools/dsss_demod_test.c index 64fd889..7a4ca71 100644 --- a/controller/fw/tools/dsss_demod_test.c +++ b/controller/fw/tools/dsss_demod_test.c @@ -70,7 +70,7 @@ int main(int argc, char **argv) { fprintf(stderr, "Reading %zd samples test data...", st.st_size/sizeof(float)); ssize_t nread = 0; while (nread < st.st_size) { - ssize_t rc = read(fd, buf, st.st_size - nread); + ssize_t rc = read(fd, buf + nread, st.st_size - nread); if (rc == -EINTR || rc == -EAGAIN) continue; diff --git a/controller/fw/tools/e2e_test.c b/controller/fw/tools/e2e_test.c new file mode 100644 index 0000000..935f70d --- /dev/null +++ b/controller/fw/tools/e2e_test.c @@ -0,0 +1,111 @@ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "freq_meas.h" +#include "dsss_demod.h" + +typedef uint16_t adc_data_t; + +void handle_dsss_received(uint8_t data[static TRANSMISSION_SYMBOLS]) { + printf("data sequence received: [ "); + for (size_t i=0; i>1)); + if (i+1 < TRANSMISSION_SYMBOLS) + printf(", "); + } + printf(" ]\n"); +} + +void print_usage(void); +void print_usage() { + fprintf(stderr, "Usage: e2e_test [emulated_adc_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 > 100000000) { + fprintf(stderr, "Error reading test data: too much test data (size=%zd)\n", st.st_size); + return 2; + } + + if (st.st_size % sizeof(adc_data_t) != 0) { + fprintf(stderr, "Error reading test data: file size is not divisible by %zd (size=%zd)\n", sizeof(adc_data_t), st.st_size); + return 2; + } + + char *buf = malloc(st.st_size); + if (!buf) { + fprintf(stderr, "Error allocating memory"); + return 2; + } + + const size_t n_samples = st.st_size / sizeof(adc_data_t); + fprintf(stderr, "Reading %zd samples test data...", n_samples); + ssize_t nread = 0; + while (nread < st.st_size) { + ssize_t rc = read(fd, buf + nread, 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. Read %zd bytes.\n", nread); + + adc_data_t *buf_d = (adc_data_t *)buf; + + struct dsss_demod_state demod; + dsss_demod_init(&demod); + + fprintf(stderr, "Starting simulation.\n"); + size_t iterations = (n_samples-FMEAS_FFT_LEN)/(FMEAS_FFT_LEN/2); + for (size_t i=0; i