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Improve detector

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This commit is contained in:
jaseg 2020-03-18 12:59:22 +01:00
parent 4c7c927f3c
commit 13bd8d0f2d
5 changed files with 363 additions and 82 deletions
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2
controller/fw/Makefile
View file

@ -25,7 +25,7 @@ FMEAS_SAMPLING_RATE ?= $(shell echo $(FMEAS_ADC_SAMPLING_RATE) / \($(FMEAS_FFT_
DSSS_GOLD_CODE_NBITS ?= 5
DSSS_DECIMATION ?= 10
# TODO maybe auto adjust this based on detection rate?
DSSS_THESHOLD_FACTOR ?= 6.0f
DSSS_THESHOLD_FACTOR ?= 5.0f
DSSS_WAVELET_WIDTH ?= 7.3
DSSS_WAVELET_LUT_SIZE ?= 69
DSSS_FILTER_FC ?= 3e-3

51
controller/fw/src/dsss_demod.c
View file

@ -23,10 +23,8 @@ struct iir_biquad cwt_filter_bq[DSSS_FILTER_CLEN] = {DSSS_FILTER_COEFF};
void debug_print_vector(const char *name, size_t len, const float *data, size_t stride, bool index, bool debug);
static float gold_correlate_step(const size_t ncode, const float a[DSSS_CORRELATION_LENGTH], size_t offx, bool debug);
static float cwt_convolve_step(const float v[DSSS_WAVELET_LUT_SIZE], size_t offx);
#if 0
static float run_iir(const float x, const int order, const struct iir_biquad q[order], struct iir_biquad_state st[order]);
static float run_biquad(float x, const struct iir_biquad *const q, struct iir_biquad_state *const restrict st);
#endif
static void matcher_init(struct matcher_state states[static DSSS_MATCHER_CACHE_SIZE]);
static void matcher_tick(struct matcher_state states[static DSSS_MATCHER_CACHE_SIZE],
uint64_t ts, int peak_ch, float peak_ampl);
@ -41,7 +39,7 @@ void debug_print_vector(const char *name, size_t len, const float *data, size_t
if (index) {
DEBUG_PRINTN(" %16s [", "");
for (size_t i=0; i<len; i++)
DEBUG_PRINTN("%8zd ", i);
DEBUG_PRINTN("%8zu ", i);
DEBUG_PRINTN("]\n");
}
@ -62,6 +60,8 @@ void dsss_demod_init(struct dsss_demod_state *st) {
void dsss_demod_step(struct dsss_demod_state *st, float new_value, uint64_t ts) {
//const float hole_patching_threshold = 0.01 * DSSS_CORRELATION_LENGTH;
bool log = false;
bool log_groups = true;
st->signal[st->signal_wpos] = new_value;
st->signal_wpos = (st->signal_wpos + 1) % ARRAY_LENGTH(st->signal);
@ -80,6 +80,7 @@ void dsss_demod_step(struct dsss_demod_state *st, float new_value, uint64_t ts)
for (size_t i=0; i<DSSS_GOLD_CODE_COUNT; i++)
avg += fabsf(cwt[i]);
avg /= (float)DSSS_GOLD_CODE_COUNT;
if (log) DEBUG_PRINTN("%6zu: %f ", ts, avg);
/* FIXME fix this filter */
//avg = run_iir(avg, ARRAY_LENGTH(cwt_filter_bq), cwt_filter_bq, st->cwt_filter.st);
@ -89,18 +90,21 @@ void dsss_demod_step(struct dsss_demod_state *st, float new_value, uint64_t ts)
bool found = false;
for (size_t i=0; i<DSSS_GOLD_CODE_COUNT; i++) {
float val = cwt[i] / avg;
if (log) DEBUG_PRINTN("%f ", cwt[i]);
if (log) DEBUG_PRINTN("%f ", val);
if (fabsf(val) > fabsf(max_val)) {
max_val = val;
max_ch = i;
max_ts = ts;
if (fabsf(val) > DSSS_THESHOLD_FACTOR)
found = true;
}
}
/* FIXME: skipped sample handling here */
if (fabsf(val) > DSSS_THESHOLD_FACTOR)
found = true;
}
if (log) DEBUG_PRINTN("%f %d ", max_val, found);
if (log) DEBUG_PRINTN("\n");
matcher_tick(st->matcher_cache, ts, max_ch, max_val);
if (found) {
@ -116,6 +120,7 @@ void dsss_demod_step(struct dsss_demod_state *st, float new_value, uint64_t ts)
/* We're between groups */
return;
if (log_groups) DEBUG_PRINTN("GROUP: %zu %d %f\n", st->group.max_ts, st->group.max_ch, st->group.max);
/* A group ended. Process result. */
group_received(st);
@ -152,7 +157,9 @@ void matcher_tick(struct matcher_state states[static DSSS_MATCHER_CACHE_SIZE], u
const float score_depreciation = 0.1f; /* 0.0 -> no depreciation, 1.0 -> complete disregard */
const int current_phase = ts % DSSS_CORRELATION_LENGTH;
const int max_skips = TRANSMISSION_SYMBOLS/4*3;
bool debug = true;
bool header_printed = false;
for (size_t i=0; i<DSSS_MATCHER_CACHE_SIZE; i++) {
if (states[i].last_phase == -1)
continue; /* Inactive entry */
@ -161,6 +168,11 @@ void matcher_tick(struct matcher_state states[static DSSS_MATCHER_CACHE_SIZE], u
/* Skip sampling */
float score = fabsf(peak_ampl) * (1.0f - skip_sampling_depreciation);
if (score > states[i].candidate_score) {
if (debug && !header_printed) {
header_printed = true;
DEBUG_PRINTN("windows %zu\n", ts);
}
if (debug) DEBUG_PRINTN(" skip %d old=%f new=%f\n", i, states[i].candidate_score, score);
/* We win, update candidate */
assert(i < DSSS_MATCHER_CACHE_SIZE);
states[i].candidate_score = score;
@ -175,7 +187,15 @@ void matcher_tick(struct matcher_state states[static DSSS_MATCHER_CACHE_SIZE], u
* process a group a couple ticks after its peak. We have to make sure the window is still open at this point.
* This means we have to match against group_phase_tolerance should a little bit loosely.
*/
if (abs(states[i].last_phase - current_phase) == group_phase_tolerance + DSSS_DECIMATION) {
int phase_delta = current_phase - states[i].last_phase;
if (phase_delta < 0)
phase_delta += DSSS_CORRELATION_LENGTH;
if (phase_delta == group_phase_tolerance + DSSS_DECIMATION) {
if (debug && !header_printed) {
header_printed = true;
DEBUG_PRINTN("windows %zu\n", ts);
}
if (debug) DEBUG_PRINTN(" %d ", i);
/* Process window results */
assert(i < DSSS_MATCHER_CACHE_SIZE);
assert(0 <= states[i].data_pos && states[i].data_pos < TRANSMISSION_SYMBOLS);
@ -183,17 +203,21 @@ void matcher_tick(struct matcher_state states[static DSSS_MATCHER_CACHE_SIZE], u
states[i].data_pos = states[i].data_pos + 1;
states[i].last_score = score_depreciation * states[i].last_score +
(1.0f - score_depreciation) * states[i].candidate_score;
if (debug) DEBUG_PRINTN("commit pos=%d val=%d score=%f ", states[i].data_pos, states[i].candidate_data, states[i].last_score);
states[i].candidate_score = 0.0f;
states[i].last_skips += states[i].candidate_skips;
if (states[i].last_skips > max_skips) {
if (debug) DEBUG_PRINTN("expire ");
states[i].last_phase = -1; /* invalidate entry */
} else if (states[i].data_pos == TRANSMISSION_SYMBOLS) {
if (debug) DEBUG_PRINTN("match ");
/* Frame received completely */
handle_dsss_received(states[i].data);
states[i].last_phase = -1; /* invalidate entry */
}
if (debug) DEBUG_PRINTN("\n");
}
}
}
@ -211,6 +235,7 @@ static float score_group(const struct group *g, int phase_delta) {
}
void group_received(struct dsss_demod_state *st) {
bool debug = true;
const int group_phase = st->group.max_ts % DSSS_CORRELATION_LENGTH;
/* This is the score of a decoding starting at this group (with no context) */
float base_score = score_group(&st->group, 0);
@ -234,6 +259,7 @@ void group_received(struct dsss_demod_state *st) {
float group_score = score_group(&st->group, phase_delta);
if (st->matcher_cache[i].candidate_score < group_score) {
assert(i < DSSS_MATCHER_CACHE_SIZE);
if (debug) DEBUG_PRINTN(" appending %zu %d score=%f pd=%d\n", i, decode_peak(st->group.max_ch, st->group.max), group_score, phase_delta);
/* Append to entry */
st->matcher_cache[i].candidate_score = group_score;
st->matcher_cache[i].candidate_phase = group_phase;
@ -243,7 +269,8 @@ void group_received(struct dsss_demod_state *st) {
}
/* Search for weakest entry */
float score = st->matcher_cache[i].last_score;
/* TODO figure out this fitness function */
float score = st->matcher_cache[i].last_score * (1.5f + 1.0f/st->matcher_cache[i].data_pos);
if (score < min_score) {
min_idx = i;
min_score = score;
@ -252,6 +279,7 @@ void group_received(struct dsss_demod_state *st) {
/* If we found empty entries, replace one by a new decoding starting at this group */
if (empty_idx >= 0) {
if (debug) DEBUG_PRINTN(" empty %zd %d\n", empty_idx, decode_peak(st->group.max_ch, st->group.max));
assert(0 <= empty_idx && empty_idx < DSSS_MATCHER_CACHE_SIZE);
st->matcher_cache[empty_idx].last_phase = group_phase;
st->matcher_cache[empty_idx].candidate_score = base_score;
@ -264,6 +292,7 @@ void group_received(struct dsss_demod_state *st) {
/* If the weakest decoding in cache is weaker than a new decoding starting here, replace it */
} else if (min_score < base_score && min_idx >= 0) {
if (debug) DEBUG_PRINTN(" min %zd %d\n", min_idx, decode_peak(st->group.max_ch, st->group.max));
assert(0 <= min_idx && min_idx < DSSS_MATCHER_CACHE_SIZE);
st->matcher_cache[min_idx].last_phase = group_phase;
st->matcher_cache[min_idx].candidate_score = base_score;
@ -276,7 +305,6 @@ void group_received(struct dsss_demod_state *st) {
}
}
#if 0
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++)
@ -292,7 +320,6 @@ float run_biquad(float x, const struct iir_biquad *const q, struct iir_biquad_st
st->reg[0] = intermediate;
return out;
}
#endif
float cwt_convolve_step(const float v[DSSS_WAVELET_LUT_SIZE], size_t offx) {
float sum = 0.0f;

17
controller/fw/src/main.c
View file

@ -216,23 +216,14 @@ int main(void)
con_printf("Booted.\r\n");
while (23) {
if (adc_fft_buf_ready_idx != -1) {
for (int i=0; i<168*1000*2; i++)
asm volatile ("nop");
GPIOA->BSRR = 1<<11;
//adc_fft_buf_ready_idx = !adc_fft_buf_ready_idx; /* DEBUG */
//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);
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<<11<<16;
for (int i=0; i<168*1000*2; i++)
asm volatile ("nop");
/* BEGIN DEBUG */
con_printf_blocking("\r\n%06d: ", freq_sample_ts);
int old_idx = adc_fft_buf_ready_idx;
for (int i=0; i<FMEAS_FFT_LEN/2; i++)
con_printf_blocking("%03x ", adc_fft_buf[old_idx][FMEAS_FFT_LEN/2 + i]);
adc_fft_buf_ready_idx = -1;
freq_sample_ts++; /* TODO: also increase in case of freq measurement error? */
GPIOA->BSRR = 1<<11<<16;
continue;
/* END DEBUG */
GPIOA->BSRR = 1<<11;
float out;

5
controller/fw/src/sr_global.h
View file

@ -2,9 +2,12 @@
#define __SR_GLOBAL_H__
#include <stdint.h>
#include <sys/types.h>
#ifndef SIMULATION
#include <stm32f407xx.h>
#include <stm32f4_isr.h>
#include <sys/types.h>
#endif
#define UNUSED(x) ((void) x)
#define ARRAY_LENGTH(x) (sizeof(x) / sizeof(x[0]))