working on testing
This commit is contained in:
jaseg
parent
87344f4513
commit
33e99ed37f
3 changed files with 172 additions and 50 deletions
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@ -8,15 +8,28 @@ MUSL_DIR ?= musl
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C_SOURCES := src/main.c src/mspdebug_wrapper.c src/spi_flash.c src/freq_meas.c
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C_SOURCES += $(MSPDEBUG_DIR)/drivers/jtaglib.c
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C_SOURCES += $(CMSIS_DIR)/CMSIS/DSP/Source/TransformFunctions/arm_rfft_f32.c
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C_SOURCES += $(CMSIS_DIR)/CMSIS/DSP/Source/TransformFunctions/arm_bitreversal.c
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C_SOURCES += $(CMSIS_DIR)/CMSIS/DSP/Source/TransformFunctions/arm_cfft_radix4_f32.c
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C_SOURCES += $(MUSL_DIR)/src/math/tanhf.c $(MUSL_DIR)/src/math/atanhf.c
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C_SOURCES += $(MUSL_DIR)/src/math/expm1f.c $(MUSL_DIR)/src/math/log1pf.c
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C_SOURCES += $(MUSL_DIR)/src/math/expf.c $(MUSL_DIR)/src/math/exp2f_data.c
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C_SOURCES += $(MUSL_DIR)/src/math/__math_oflowf.c
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C_SOURCES += $(MUSL_DIR)/src/math/__math_uflowf.c
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C_SOURCES += $(MUSL_DIR)/src/math/__math_xflowf.c
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CMSIS_SOURCES += $(CMSIS_DIR)/CMSIS/DSP/Source/TransformFunctions/arm_rfft_fast_init_f32.c
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CMSIS_SOURCES += $(CMSIS_DIR)/CMSIS/DSP/Source/TransformFunctions/arm_rfft_fast_f32.c
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CMSIS_SOURCES += $(CMSIS_DIR)/CMSIS/DSP/Source/TransformFunctions/arm_cfft_init_f32.c
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CMSIS_SOURCES += $(CMSIS_DIR)/CMSIS/DSP/Source/TransformFunctions/arm_cfft_f32.c
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CMSIS_SOURCES += $(CMSIS_DIR)/CMSIS/DSP/Source/TransformFunctions/arm_cfft_radix8_f32.c
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CMSIS_SOURCES += $(CMSIS_DIR)/CMSIS/DSP/Source/CommonTables/arm_const_structs.c
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CMSIS_SOURCES += $(CMSIS_DIR)/CMSIS/DSP/Source/CommonTables/arm_common_tables.c
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CMSIS_SOURCES += $(CMSIS_DIR)/CMSIS/DSP/Source/TransformFunctions/arm_bitreversal.c
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CMSIS_SOURCES += $(CMSIS_DIR)/CMSIS/DSP/Source/TransformFunctions/arm_bitreversal2.c
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MUSL_SOURCES += $(MUSL_DIR)/src/math/tanhf.c $(MUSL_DIR)/src/math/atanhf.c
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MUSL_SOURCES += $(MUSL_DIR)/src/math/expm1f.c $(MUSL_DIR)/src/math/log1pf.c
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MUSL_SOURCES += $(MUSL_DIR)/src/math/expf.c $(MUSL_DIR)/src/math/exp2f_data.c
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MUSL_SOURCES += $(MUSL_DIR)/src/math/powf.c
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MUSL_SOURCES += $(MUSL_DIR)/src/math/__math_oflowf.c
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MUSL_SOURCES += $(MUSL_DIR)/src/math/__math_uflowf.c
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MUSL_SOURCES += $(MUSL_DIR)/src/math/__math_xflowf.c
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MUSL_SOURCES += $(MUSL_DIR)/src/math/__math_invalidf.c
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MUSL_SOURCES += $(MUSL_DIR)/src/math/powf_data.c
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C_SOURCES += $(CMSIS_SOURCES) $(MUSL_SOURCES)
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CXX_SOURCES += src/ldpc_wrapper.cpp
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@ -53,18 +66,23 @@ LIBSODIUM_DIR_ABS := $(abspath $(LIBSODIUM_DIR))
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TINYAES_DIR_ABS := $(abspath $(TINYAES_DIR))
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MUSL_DIR_ABS := $(abspath $(MUSL_DIR))
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CFLAGS += -I$(OPENCM3_DIR_ABS)/include -Imspdebug/util -Imspdebug/drivers
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CFLAGS += -I$(CMSIS_DIR_ABS)/CMSIS/DSP/Include -I$(CMSIS_DIR_ABS)/CMSIS/Core/Include -Dhidden=
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CFLAGS += -I$(abspath musl_include_shims) -Ilevmarq -D
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COMMON_CFLAGS += -I$(OPENCM3_DIR_ABS)/include -Imspdebug/util -Imspdebug/drivers
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COMMON_CFLAGS += -I$(CMSIS_DIR_ABS)/CMSIS/DSP/Include -I$(CMSIS_DIR_ABS)/CMSIS/Core/Include
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COMMON_CFLAGS += -I$(abspath musl_include_shims) -Ilevmarq
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CFLAGS += -Os -std=gnu11 -g -DSTM32F4
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COMMON_CFLAGS += -Os -std=gnu11 -g -DSTM32F4
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CFLAGS += -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16
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SIM_CFLAGS += -mthumb -mcpu=cortex-m4 -mfloat-abi=soft
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# Note: libopencm3 requires some standard libc definitions from stdint.h and stdbool.h, so we don't pass -nostdinc here.
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CFLAGS += -nostdlib -ffreestanding
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CFLAGS += -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16
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CFLAGS += -fno-common -ffunction-sections -fdata-sections
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CFLAGS += -DGOLD_CODE_NBITS=$(GOLD_CODE_NBITS) -DFMEAS_FFT_LEN=$(FMEAS_FFT_LEN) -DFMEAS_ADC_MAX=$(FMEAS_ADC_MAX)
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CFLAGS += -DFMEAS_ADC_SAMPLING_RATE=$(FMEAS_ADC_SAMPLING_RATE) -DFMEAS_FFT_WINDOW=$(FMEAS_FFT_WINDOW)
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CFLAGS += -DFMEAS_FFT_WINDOW_SIGMA=$(FMEAS_FFT_WINDOW_SIGMA)
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COMMON_CFLAGS += -nostdlib -ffreestanding
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CFLAGS += -fno-common -ffunction-sections -fdata-sections
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COMMON_CFLAGS += -DGOLD_CODE_NBITS=$(GOLD_CODE_NBITS) -DFMEAS_FFT_LEN=$(FMEAS_FFT_LEN) -DFMEAS_ADC_MAX=$(FMEAS_ADC_MAX)
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COMMON_CFLAGS += -DFMEAS_ADC_SAMPLING_RATE=$(FMEAS_ADC_SAMPLING_RATE)
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COMMON_CFLAGS += -DFMEAS_FFT_WINDOW_SIGMA=$(FMEAS_FFT_WINDOW_SIGMA)
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# for musl
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CFLAGS += -Dhidden=
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SIM_CFLAGS += -Isrc
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INT_CFLAGS += -Wall -Wextra -Wpedantic -Wshadow -Wimplicit-function-declaration -Wundef
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INT_CFLAGS += -Wredundant-decls -Wmissing-prototypes -Wstrict-prototypes
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@ -76,29 +94,36 @@ CXXFLAGS += -fno-common -ffunction-sections -fdata-sections
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CXXFLAGS += -Wall -Wextra -Wshadow -Wundef -Wredundant-decls
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CXXFLAGS += -I.
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LDFLAGS += --static -nostartfiles
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LDFLAGS += -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -g
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LDFLAGS += -Wl,--cre
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#LDFLAGS += -Wl,--gc-sections
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LDFLAGS += -Wl,--start-group -lc -lgcc -lnosys -Wl,--end-group
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LDFLAGS += -L$(OPENCM3_DIR_ABS)/lib -l$(OPENCM3_LIB) $(shell $(CC) -print-libgcc-file-name)
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COMMON_LDFLAGS += -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -g
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COMMON_LDFLAGS += --static -nostartfiles
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LDFLAGS += -Wl,--cre
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#LDFLAGS += -Wl,--gc-sections
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LDFLAGS += -Wl,--start-group -lc -lgcc -lnosys -Wl,--end-group
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LDFLAGS += -L$(OPENCM3_DIR_ABS)/lib -l$(OPENCM3_LIB) $(shell $(CC) -print-libgcc-file-name)
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all: $(BUILDDIR)/$(BINARY)
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tests: tools/freq_meas_test.elf
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OBJS := $(addprefix $(BUILDDIR)/,$(C_SOURCES:.c=.o) $(CXX_SOURCES:.cpp=.o))
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$(BUILDDIR)/$(BINARY): $(OBJS) \
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$(OPENCM3_DIR)/lib/lib$(OPENCM3_LIB).a \
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$(BUILDDIR)/libsodium/src/libsodium/.libs/libsodium.a \
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$(BUILDDIR)/tinyaes/aes.o \
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$(BUILDDIR)/levmarq/levmarq.o \
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$(BUILDDIR)/generated/gold_code_$(GOLD_CODE_NBITS).o \
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$(BUILDDIR)/generated/fmeas_fft_window.o
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$(LD) -T$(LDSCRIPT) $(LDFLAGS) -o $@ -Wl,-Map=$(BUILDDIR)/src/$*.map $^
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ALL_OBJS := $(OBJS)
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ALL_OBJS += $(OPENCM3_DIR)/lib/lib$(OPENCM3_LIB).a
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ALL_OBJS += $(BUILDDIR)/libsodium/src/libsodium/.libs/libsodium.a
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ALL_OBJS += $(BUILDDIR)/tinyaes/aes.o
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ALL_OBJS += $(BUILDDIR)/levmarq/levmarq.o
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ALL_OBJS += $(BUILDDIR)/generated/gold_code_$(GOLD_CODE_NBITS).o
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ALL_OBJS += $(BUILDDIR)/generated/fmeas_fft_window.o
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$(BUILDDIR)/$(BINARY): $(ALL_OBJS)
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$(LD) -T$(LDSCRIPT) $(COMMON_LDFLAGS) $(LDFLAGS) -o $@ -Wl,-Map=$(BUILDDIR)/src/$*.map $^
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tools/freq_meas_test.elf: tools/freq_meas_test.c src/freq_meas.c $(CMSIS_SOURCES) $(BUILDDIR)/musl/lib/libc.a
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$(CC) $(COMMON_CFLAGS) $(SIM_CFLAGS) -lm -lgcc -lnosys -o $@ $^
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$(BUILDDIR)/src/%.o: src/%.c
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mkdir -p $(@D)
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$(CC) $(CFLAGS) $(INT_CFLAGS) -o $@ -c $<
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$(CC) $(COMMON_CFLAGS) $(CFLAGS) $(INT_CFLAGS) -o $@ -c $<
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$(BUILDDIR)/src/%.o: src/%.cpp
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mkdir -p $(@D)
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@ -106,22 +131,22 @@ $(BUILDDIR)/src/%.o: src/%.cpp
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$(BUILDDIR)/generated/%.o: $(BUILDDIR)/generated/%.c
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mkdir -p $(@D)
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$(CC) $(CFLAGS) $(INT_CFLAGS) -o $@ -c $<
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$(CC) $(COMMON_CFLAGS) $(CFLAGS) $(INT_CFLAGS) -o $@ -c $<
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$(BUILDDIR)/%.o: %.c
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mkdir -p $(@D)
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$(CC) $(CFLAGS) $(EXT_CFLAGS) -o $@ -c $<
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$(CC) $(COMMON_CFLAGS) $(CFLAGS) $(EXT_CFLAGS) -o $@ -c $<
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$(OPENCM3_DIR)/lib/lib$(OPENCM3_LIB).a:
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$(MAKE) -C $(OPENCM3_DIR) -j $(shell nproc)
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$(BUILDDIR)/libsodium/src/libsodium/.libs/libsodium.a:
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mkdir -p $(BUILDDIR)/libsodium
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cd $(BUILDDIR)/libsodium && CFLAGS="$(CFLAGS) -DDEV_MODE=1" $(LIBSODIUM_DIR_ABS)/configure --host=arm-none-eabi && $(MAKE) -j $(shell nproc)
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cd $(BUILDDIR)/libsodium && CFLAGS="$(COMMON_CFLAGS) $(CFLAGS) -DDEV_MODE=1" $(LIBSODIUM_DIR_ABS)/configure --host=arm-none-eabi && $(MAKE) -j $(shell nproc)
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$(BUILDDIR)/tinyaes/aes.o:
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mkdir -p $(@D)
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make -C $(@D) -f $(TINYAES_DIR_ABS)/Makefile VPATH=$(TINYAES_DIR_ABS) CFLAGS="$(CFLAGS) -c" CC=$(CC) LD=$(LD) AR=$(AR) aes.o
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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
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$(BUILDDIR)/generated/gold_code_%.c:
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mkdir -p $(@D)
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@ -131,6 +156,9 @@ $(BUILDDIR)/generated/fmeas_fft_window.c:
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mkdir -p $(@D)
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$(PYTHON3) tools/fft_window_header_gen.py -v fmeas_fft_window_table $(FMEAS_FFT_WINDOW) $(FMEAS_FFT_LEN) $(FMEAS_FFT_WINDOW_SIGMA) > $@
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$(BUILDDIR)/musl/lib/libc.a:
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mkdir -p $(BUILDDIR)/musl
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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)
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build/ldpc_decoder_test.so: src/ldpc_decoder.c
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gcc -fPIC -shared -Wall -Wextra -Wpedantic -std=gnu11 -O0 -g -o $@ $^
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@ -26,7 +26,7 @@ extern arm_status arm_rfft_4096_fast_init_f32(arm_rfft_fast_instance_f32 * S);
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#define CONCAT(A, B, C) A ## B ## C
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#define arm_rfft_init_name(nbits) CONCAT(arm_rfft_, nbits, _fast_init_f32)
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float func_gauss_grad(float *out, float *params, int x, void *userdata);
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void func_gauss_grad(float *out, float *params, int x, void *userdata);
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float func_gauss(float *params, int x, void *userdata);
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int adc_buf_measure_freq(uint16_t adc_buf[FMEAS_FFT_LEN], float *out) {
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@ -42,12 +42,12 @@ int adc_buf_measure_freq(uint16_t adc_buf[FMEAS_FFT_LEN], float *out) {
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arm_rfft_fast_f32(&fft_inst, in_buf, out_buf, 0);
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#define FMEAS_FFT_WINDOW_MIN_F 30.0f
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#define FMEAS_FFT_WINDOW_MAX_F 70.0f
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const float binsize = (float)FMEAS_ADC_SAMPLING_RATE / FMEAS_FFT_LEN;
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const int first_bin = (int)(FMEAS_FFT_WINDOW_MIN_F / binsize);
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const int last_bin = (int)(FMEAS_FFT_WINDOW_MAX_F / binsize + 0.5f);
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const int nbins = last_bin - first_bin + 1;
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#define FMEAS_FFT_WINDOW_MIN_F_HZ 30.0f
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#define FMEAS_FFT_WINDOW_MAX_F_HZ 70.0f
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const float binsize_hz = (float)FMEAS_ADC_SAMPLING_RATE / FMEAS_FFT_LEN;
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const size_t first_bin = (int)(FMEAS_FFT_WINDOW_MIN_F_HZ / binsize_hz);
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const size_t last_bin = (int)(FMEAS_FFT_WINDOW_MAX_F_HZ / binsize_hz + 0.5f);
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const size_t nbins = last_bin - first_bin + 1;
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/* Copy real values of target data to front of output buffer */
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for (size_t i=0; i<nbins; i++)
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@ -69,10 +69,10 @@ int adc_buf_measure_freq(uint16_t adc_buf[FMEAS_FFT_LEN], float *out) {
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a_max, i_max, 1.0f
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};
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if (levmarq(3, ¶ms, nbins, out_buf, NULL, func_gauss, func_gauss_grad, NULL, &lmstat))
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if (levmarq(3, par, nbins, out_buf, NULL, func_gauss, func_gauss_grad, NULL, &lmstat))
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return -1;
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*out = (params[1] + first_bin) * binsize;
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*out = (par[1] + first_bin) * binsize_hz;
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return 0;
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}
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@ -82,13 +82,13 @@ float func_gauss(float *params, int x, void *userdata) {
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float a = params[0];
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float mu = params[1];
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float sigma = params[2];
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return a*expf(-arm_power_f32((x-mu), 2.0f/(2.0f*(sigma*sigma))));
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return a*expf(-powf((x-mu), 2.0f/(2.0f*(sigma*sigma))));
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}
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float func_gauss_grad(float *out, float *params, int x, void *userdata) {
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void func_gauss_grad(float *out, float *params, int x, void *userdata) {
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UNUSED(userdata);
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float a = params[0];
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float mu = params[1];
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float sigma = params[2];
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return -(x-mu) / ( sigma*sigma*sigma * 2.5066282746310002f) * a*expf(-arm_power_f32((x-mu), 2.0f/(2.0f*(sigma*sigma))));
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*out = -(x-mu) / ( sigma*sigma*sigma * 2.5066282746310002f) * a*expf(-powf((x-mu), 2.0f/(2.0f*(sigma*sigma))));
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}
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94
controller/fw/tools/freq_meas_test.c
Normal file
94
controller/fw/tools/freq_meas_test.c
Normal file
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@ -0,0 +1,94 @@
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#include <unistd.h>
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#include <stdio.h>
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#include <string.h>
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#include <errno.h>
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#include <stdlib.h>
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#include <sys/stat.h>
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#include <sys/types.h>
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#include <sys/fcntl.h>
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#include "freq_meas.h"
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void print_usage(void);
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void print_usage() {
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fprintf(stderr, "Usage: freq_meas_test [test_data.bin]");
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}
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int main(int argc, char **argv) {
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if (argc != 2) {
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fprintf(stderr, "Error: Invalid arguments.\n");
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print_usage();
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return 1;
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}
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int fd = open(argv[1], O_RDONLY);
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struct stat st;
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if (fstat(fd, &st)) {
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fprintf(stderr, "Error querying test data file size: %s\n", strerror(errno));
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return 2;
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}
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if (st.st_size < 0 || st.st_size > 1000000) {
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fprintf(stderr, "Error reading test data: too much test data (size=%zd)\n", st.st_size);
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return 2;
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}
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if (st.st_size % sizeof(float) != 0) {
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fprintf(stderr, "Error reading test data: file size is not divisible by %zd (size=%zd)\n", sizeof(float), st.st_size);
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return 2;
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}
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char *buf = malloc(st.st_size);
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if (!buf) {
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fprintf(stderr, "Error allocating memory");
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return 2;
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}
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size_t nread = 0;
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while (nread < st.st_size) {
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ssize_t rc = read(fd, buf, st.st_size - nread);
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if (rc == -EINTR || rc == -EAGAIN)
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continue;
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if (rc < 0) {
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fprintf(stderr, "Error reading test data: %s\n", strerror(errno));
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return 2;
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}
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if (rc == 0) {
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fprintf(stderr, "Error reading test data: Unexpected end of file\n");
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return 2;
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}
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nread += rc;
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}
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size_t n_samples = st.st_size / sizeof(float);
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float *buf_f = (float *)buf;
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uint16_t *sim_adc_buf = calloc(sizeof(uint16_t), n_samples);
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if (!sim_adc_buf) {
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fprintf(stderr, "Error allocating memory\n");
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return 2;
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}
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for (size_t i=0; i<n_samples; i++)
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sim_adc_buf[i] = 2048 + buf_f[i] * 2047;
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for (size_t i=0; i<n_samples; i+=FMEAS_FFT_LEN) {
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float out;
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int rc = adc_buf_measure_freq(sim_adc_buf + i, &out);
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if (rc) {
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fprintf(stderr, "Simulation error in iteration %zd at position %zd: %d\n", i/FMEAS_FFT_LEN, i, rc);
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return 3;
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}
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printf("%09zd %015f\n", i, out);
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}
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return 0;
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}
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