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Working on DSSS demodulator sim

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This commit is contained in:
jaseg 2020-03-05 19:15:28 +01:00
parent d9b26d16c0
commit 4b419bd1ad
14 changed files with 94312 additions and 62 deletions
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64
controller/fw/Makefile
View file

@ -6,7 +6,7 @@ LIBSODIUM_DIR ?= libsodium
TINYAES_DIR ?= tinyaes
MUSL_DIR ?= musl
C_SOURCES := src/main.c src/mspdebug_wrapper.c src/spi_flash.c src/freq_meas.c
C_SOURCES := src/main.c src/mspdebug_wrapper.c src/spi_flash.c src/freq_meas.c src/dsss_demod.c
C_SOURCES += $(MSPDEBUG_DIR)/drivers/jtaglib.c
CMSIS_SOURCES += $(CMSIS_DIR)/CMSIS/DSP/Source/TransformFunctions/arm_rfft_fast_init_f32.c
@ -41,13 +41,17 @@ OPENCM3_LIB := opencm3_stm32f4
PREFIX ?= arm-none-eabi-
GOLD_CODE_NBITS ?= 5
FMEAS_ADC_SAMPLING_RATE ?= 1000
FMEAS_ADC_MAX ?= 4096
FMEAS_FFT_LEN ?= 256
FMEAS_FFT_WINDOW ?= gaussian
FMEAS_FFT_WINDOW_SIGMA ?= 16.0
DSSS_GOLD_CODE_NBITS ?= 5
DSSS_DECIMATION ?= 10
DSSS_THESHOLD_FACTOR ?= 4.0f
DSSS_WAVELET_WIDTH ?= 7.3
DSSS_WAVELET_LUT_SIZE ?= 69
CC := $(PREFIX)gcc
CXX := $(PREFIX)g++
@ -78,6 +82,7 @@ MUSL_DIR_ABS := $(abspath $(MUSL_DIR))
COMMON_CFLAGS += -I$(OPENCM3_DIR_ABS)/include -Imspdebug/util -Imspdebug/drivers -Ilevmarq
COMMON_CFLAGS += -I$(CMSIS_DIR_ABS)/CMSIS/DSP/Include -I$(CMSIS_DIR_ABS)/CMSIS/Core/Include
CFLAGS += -I$(abspath musl_include_shims)
COMMON_CFLAGS += -I$(BUILDDIR) -Isrc
COMMON_CFLAGS += -Os -std=gnu11 -g -DSTM32F4
CFLAGS += -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16
@ -85,13 +90,18 @@ CFLAGS += -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16
# Note: libopencm3 requires some standard libc definitions from stdint.h and stdbool.h, so we don't pass -nostdinc here.
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=$(FMEAS_ADC_MAX)
COMMON_CFLAGS += -DDSSS_GOLD_CODE_NBITS=$(DSSS_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)
COMMON_CFLAGS += -DDSSS_DECIMATION=$(DSSS_DECIMATION)
COMMON_CFLAGS += -DDSSS_THESHOLD_FACTOR=$(DSSS_THESHOLD_FACTOR)
COMMON_CFLAGS += -DDSSS_WAVELET_WIDTH=$(DSSS_WAVELET_WIDTH)
COMMON_CFLAGS += -DDSSS_WAVELET_LUT_SIZE=$(DSSS_WAVELET_LUT_SIZE)
# for musl
CFLAGS += -Dhidden=
SIM_CFLAGS += -Isrc -lm -DSIMULATION
SIM_CFLAGS += -lm -DSIMULATION
INT_CFLAGS += -Wall -Wextra -Wpedantic -Wshadow -Wimplicit-function-declaration -Wundef
INT_CFLAGS += -Wredundant-decls -Wmissing-prototypes -Wstrict-prototypes
@ -112,7 +122,24 @@ LDFLAGS += -L$(OPENCM3_DIR_ABS)/lib -l$(OPENCM3_LIB) $(shell $(CC) -print-libg
all: $(BUILDDIR)/$(BINARY)
tests: $(BUILDDIR)/tools/freq_meas_test
src/dsss_demod.c: $(BUILDDIR)/generated/dsss_gold_code.h
$(BUILDDIR)/generated/dsss_gold_code.h: $(BUILDDIR)/generated/gold_code_$(DSSS_GOLD_CODE_NBITS).h
ln -srf $< $@
.PRECIOUS: $(BUILDDIR)/generated/gold_code_%.c
$(BUILDDIR)/generated/gold_code_%.c $(BUILDDIR)/generated/gold_code_%.h: | $(BUILDDIR)/generated
$(PYTHON3) tools/gold_code_header_gen.py -v dsss_gold_code_table -$(patsubst .%,%,$(suffix $@)) $* > $@
.PRECIOUS: $(BUILDDIR)/generated/fmeas_fft_window.c
$(BUILDDIR)/generated/fmeas_fft_window.c: | $(BUILDDIR)/generated
$(PYTHON3) tools/fft_window_header_gen.py -v fmeas_fft_window_table $(FMEAS_FFT_WINDOW) $(FMEAS_FFT_LEN) $(FMEAS_FFT_WINDOW_SIGMA) > $@
.PRECIOUS: $(BUILDDIR)/generated/dsss_cwt_wavelet.c
$(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) > $@
$(BUILDDIR)/generated: ; mkdir -p $@
OBJS := $(addprefix $(BUILDDIR)/,$(C_SOURCES:.c=.o) $(CXX_SOURCES:.cpp=.o))
@ -121,16 +148,23 @@ 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 += $(BUILDDIR)/generated/gold_code_$(DSSS_GOLD_CODE_NBITS).o
ALL_OBJS += $(BUILDDIR)/generated/fmeas_fft_window.o
ALL_OBJS += $(BUILDDIR)/generated/dsss_cwt_wavelet.o
$(BUILDDIR)/$(BINARY): $(ALL_OBJS)
$(LD) -T$(LDSCRIPT) $(COMMON_LDFLAGS) $(LDFLAGS) -o $@ -Wl,-Map=$(BUILDDIR)/src/$*.map $^
tools: $(BUILDDIR)/tools/freq_meas_test
$(BUILDDIR)/tools/freq_meas_test: tools/freq_meas_test.c src/freq_meas.c levmarq/levmarq.c $(BUILDDIR)/generated/fmeas_fft_window.c $(CMSIS_SOURCES)
mkdir -p $(@D)
$(HOST_CC) $(COMMON_CFLAGS) $(SIM_CFLAGS) -o $@ $^
tools: $(BUILDDIR)/tools/dsss_demod_test
$(BUILDDIR)/tools/dsss_demod_test: tools/dsss_demod_test.c 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/%.c
mkdir -p $(@D)
$(CC) $(COMMON_CFLAGS) $(CFLAGS) $(INT_CFLAGS) -o $@ -c $<
@ -158,14 +192,6 @@ $(BUILDDIR)/tinyaes/aes.o:
mkdir -p $(@D)
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)
$(PYTHON3) tools/gold_code_header_gen.py $* > $@
$(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)
@ -174,13 +200,13 @@ build/ldpc_decoder_test.so: src/ldpc_decoder.c
gcc -fPIC -shared -Wall -Wextra -Wpedantic -std=gnu11 -O0 -g -o $@ $^
clean:
-rm -r $(BUILDDIR)/src
-rm -r $(BUILDDIR)/generated
-rm $(BUILDDIR)/$(BINARY)
-rm $(BUILDDIR)/tools/freq_meas_test
rm -rf $(BUILDDIR)/src
rm -rf $(BUILDDIR)/generated
rm -f $(BUILDDIR)/$(BINARY)
rm -f $(BUILDDIR)/tools/freq_meas_test
mrproper: clean
-rm -r build
rm -rf build
-$(MAKE) -C $(OPENCM3_DIR) clean
.PHONY: clean mrproper

180
controller/fw/src/dsss_demod.c Normal file
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@ -0,0 +1,180 @@
#include <unistd.h>
#include <stdbool.h>
#include <math.h>
#include <arm_math.h>
#include "freq_meas.h"
#include "sr_global.h"
#include "dsss_demod.h"
#include "simulation.h"
#include "generated/dsss_gold_code.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}},
};
float gold_correlate_step(const size_t ncode, const float a[DSSS_CORRELATION_LENGTH], size_t offx);
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);
#ifdef SIMULATION
void dsss_demod_step(struct dsss_demod_state *st, float new_value, size_t sim_pos) {
#else /* SIMULATION */
void dsss_demod_step(struct dsss_demod_state *st, float new_value) {
#endif /* SIMULATION */
//#define DEBUG_PRINT(...) ((void)0)
//#define DEBUG_PRINTN(...) ((void)0)
bool debug = sim_pos % DSSS_CORRELATION_LENGTH == 0;
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;
st->signal[st->signal_wpos] = new_value;
st->signal_wpos = (st->signal_wpos + 1) % ARRAY_LENGTH(st->signal);
if (debug) DEBUG_PRINT(" signal: %f", 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);
/* 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]);
float cwt[DSSS_GOLD_CODE_COUNT];
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];
for (size_t i=0; i<DSSS_GOLD_CODE_COUNT; i++)
avg[i] = run_iir(fabs(cwt[i]), ARRAY_LENGTH(cwt_filter_bq), cwt_filter_bq, st->cwt_filter[i].st);
/* debug */
/*
DEBUG_PRINTN(" avg: [");
for (size_t i=0; i<DSSS_GOLD_CODE_COUNT; i++)
DEBUG_PRINTN("%f, ", avg[i]);
DEBUG_PRINTN("]\n");
*/
/* end */
float max_val = st->group.max;
int max_ch = st->group.max_ch;
int max_idx = st->group.max_idx + 1;
bool found = false;
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 (fabs(val) > DSSS_THESHOLD_FACTOR)
found = true;
if (fabs(val) > fabs(max_val)) {
max_val = val;
max_ch = i;
max_idx = st->group.len;
}
}
if (debug) DEBUG_PRINTN("]\n");
/* debug */
if (debug) DEBUG_PRINT(" found=%d len=%d idx=%d ch=%d max=%f",
found, st->group.len, st->group.max_idx, st->group.max_ch, st->group.max);
/* end */
if (found) {
/* Continue ongoing group */
st->group.len++;
st->group.max = max_val;
st->group.max_ch = max_ch;
st->group.max_idx = max_idx;
return;
}
if (st->group.len == 0)
/* We're between groups */
return;
/* A group ended. Process result. */
DEBUG_PRINT("GROUP FOUND: %8d len=%3d max=%f ch=%d offx=%d",
sim_pos, st->group.len, st->group.max, st->group.max_ch, st->group.max_idx);
/* reset grouping state */
st->group.len = 0;
st->group.max_idx = 0;
st->group.max_ch = 0;
st->group.max = 0.0f;
}
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++)
intermediate = run_biquad(intermediate, &q[i], &st[i]);
return intermediate;
}
float run_biquad(float x, const struct iir_biquad *const q, struct iir_biquad_state *const restrict st) {
/* direct form 2, see https://en.wikipedia.org/wiki/Digital_biquad_filter */
float intermediate = x + st->reg[0] * -q->a[0] + st->reg[1] * -q->a[1];
float out = intermediate * q->b[0] + st->reg[0] * q->b[1] + st->reg[1] * q->b[2];
st->reg[1] = st->reg[0];
st->reg[0] = intermediate;
return out;
}
float cwt_convolve_step(const float v[DSSS_WAVELET_LUT_SIZE], size_t offx) {
float sum = 0.0f;
for (ssize_t j=0; j<DSSS_WAVELET_LUT_SIZE; j++) {
/* Our wavelet is symmetric so convolution and correlation are identical. Use correlation here for ease of
* implementation */
sum += v[(offx + j) % DSSS_WAVELET_LUT_SIZE] * dsss_cwt_wavelet_table[j];
//DEBUG_PRINT(" j=%d v=%f w=%f", j, v[(offx + j) % DSSS_WAVELET_LUT_SIZE], dsss_cwt_wavelet_table[j]);
}
return sum / DSSS_WAVELET_LUT_SIZE;
}
/* Compute last element of correlation for input [a] and hard-coded gold sequences.
*
* This is intened to be used once for each new incoming sample in [a]. It expects [a] to be of length
* [dsss_correlation_length] and produces the one sample where both the reference sequence and the input fully overlap.
* This is equivalent to "valid" mode in numpy's terminology[0].
*
* [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 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 */
}
acc_outer += acc_inner;
}
return acc_outer / DSSS_CORRELATION_LENGTH;
}

44
controller/fw/src/dsss_demod.h Normal file
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@ -0,0 +1,44 @@
#ifndef __DSSS_DEMOD_H__
#define __DSSS_DEMOD_H__
#define DSSS_GOLD_CODE_LENGTH ((1<<DSSS_GOLD_CODE_NBITS) - 1)
#define DSSS_GOLD_CODE_COUNT ((1<<DSSS_GOLD_CODE_NBITS) + 1)
#define DSSS_CORRELATION_LENGTH (DSSS_GOLD_CODE_LENGTH * DSSS_DECIMATION)
struct iir_biquad {
float a[2];
float b[3];
};
struct iir_biquad_state {
float reg[2];
};
struct cwt_iir_filter_state {
struct iir_biquad_state st[3];
};
struct dsss_demod_state {
float signal[DSSS_CORRELATION_LENGTH];
size_t signal_wpos;
float correlation[DSSS_GOLD_CODE_COUNT][DSSS_WAVELET_LUT_SIZE];
size_t correlation_wpos;
struct cwt_iir_filter_state cwt_filter[DSSS_GOLD_CODE_COUNT];
struct {
int len; /* length of group in samples */
float max; /* signed value of largest peak in group on any channel */
int max_idx; /* position of above peak counted from start of group */
int max_ch; /* channel (gold sequence index) of above peak */
} group;
};
#ifdef SIMULATION
void dsss_demod_step(struct dsss_demod_state *st, float new_value, size_t sim_pos);
#else /* SIMULATION */
void dsss_demod_step(struct dsss_demod_state *st, float new_value);
#endif /* SIMULATION */
#endif /* __DSSS_DEMOD_H__ */

1
controller/fw/src/sr_global.h
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@ -2,6 +2,7 @@
#define __SR_GLOBAL_H__
#define UNUSED(x) ((void) x)
#define ARRAY_LENGTH(x) (sizeof(x) / sizeof(x[0]))
static inline uint16_t htole(uint16_t val) { return val; }

29
controller/fw/tools/cwt_wavelet_header_gen.py Normal file
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@ -0,0 +1,29 @@
#!/usr/bin/env python3
import textwrap
import scipy.signal as sig
import numpy as np
if __name__ == '__main__':
import argparse
parser = argparse.ArgumentParser()
parser.add_argument('n', type=int, help='Window size')
parser.add_argument('w', type=float, help='Wavelet width')
parser.add_argument('-v', '--variable', default='cwt_ricker_table', help='Name for alias variable pointing to generated wavelet LUT')
args = parser.parse_args()
print(f'/* CWT Ricker wavelet LUT for {args.n} sample window of width {args.w}. */')
varname = f'cwt_ricker_{args.n}_window_{str(args.w).replace(".", "F")}'
print(f'const float {varname}[{args.n}] = {{')
win = sig.ricker(args.n, args.w)
par = ' '.join(f'{f:>015.8g}f,' for f in win)
print(textwrap.fill(par,
initial_indent=' '*4, subsequent_indent=' '*4,
width=120,
replace_whitespace=False, drop_whitespace=False))
print('};')
print()
print(f'const float * const {args.variable} __attribute__((weak)) = {varname};')

84
controller/fw/tools/dsss_demod_test.c Normal file
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@ -0,0 +1,84 @@
#include <stdint.h>
#include <math.h>
#include <unistd.h>
#include <stdio.h>
#include <string.h>
#include <errno.h>
#include <stdlib.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <sys/fcntl.h>
#include "dsss_demod.h"
void print_usage() {
fprintf(stderr, "Usage: dsss_demod_test [test_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 > 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;
}
fprintf(stderr, "Reading %zd samples test data...", st.st_size/sizeof(float));
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, "\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.\n");
const size_t n_samples = st.st_size / sizeof(float);
float *buf_f = (float *)buf;
fprintf(stderr, "Starting simulation.\n");
struct dsss_demod_state demod;
memset(&demod, 0, sizeof(demod));
for (size_t i=0; i<n_samples; i++) {
//fprintf(stderr, "Iteration %zd/%zd\n", i, n_samples);
dsss_demod_step(&demod, buf_f[i], i);
}
return 0;
}

39
controller/fw/tools/dsss_demod_test_runner.py Normal file
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@ -0,0 +1,39 @@
#!/usr/bin/env python3
import os
from os import path
import subprocess
import json
import numpy as np
np.set_printoptions(linewidth=240)
if __name__ == '__main__':
import argparse
parser = argparse.ArgumentParser()
parser.add_argument(metavar='test_data_directory', dest='dir', help='Directory with test data .bin files')
default_binary = path.abspath(path.join(path.dirname(__file__), '../build/tools/dsss_demod_test'))
parser.add_argument(metavar='test_binary', dest='binary', nargs='?', default=default_binary)
parser.add_argument('-d', '--dump', help='Write raw measurements to JSON file')
args = parser.parse_args()
bin_files = [ path.join(args.dir, d) for d in os.listdir(args.dir) if d.lower().endswith('.bin') ]
savedata = {}
for p in bin_files:
output = subprocess.check_output([args.binary, p], stderr=subprocess.DEVNULL)
measurements = np.array([ float(value) for _offset, value in [ line.split() for line in output.splitlines() ] ])
savedata[p] = list(measurements)
# Cut off first and last sample for mean and RMS calculations as these show boundary effects.
measurements = measurements[1:-1]
mean = np.mean(measurements)
rms = np.sqrt(np.mean(np.square(measurements - mean)))
print(f'{path.basename(p):<60}: mean={mean:<8.4f}Hz rms={rms*1000:.3f}mHz')
if args.dump:
with open(args.dump, 'w') as f:
json.dump(savedata, f)

2
controller/fw/tools/freq_meas_test.c
View file

@ -70,7 +70,7 @@ int main(int argc, char **argv) {
}
fprintf(stderr, " done.\n");
size_t n_samples = st.st_size / sizeof(float);
const size_t n_samples = st.st_size / sizeof(float);
float *buf_f = (float *)buf;
int16_t *sim_adc_buf = calloc(sizeof(int16_t), n_samples);

59
controller/fw/tools/gold_code_header_gen.py
View file

@ -1,6 +1,9 @@
#!/usr/bin/env python3
import sys
import math
import textwrap
import contextlib
import numpy as np
import scipy.signal as sig
@ -24,22 +27,50 @@ def gold(n):
(seq0, _st0), (seq1, _st1) = sig.max_len_seq(n, taps=t0), sig.max_len_seq(n, taps=t1)
return gen_gold(seq0, seq1)
@contextlib.contextmanager
def print_include_guards(macro_name):
print(f'#ifndef {macro_name}')
print(f'#define {macro_name}')
yield
print(f'#endif /* {macro_name} */')
if __name__ == '__main__':
import argparse
parser = argparse.ArgumentParser()
parser = argparse.ArgumentParser(add_help=False)
parser.add_argument('n', type=int, choices=preferred_pairs, help='bit width of shift register. Generate 2**n + 1 sequences of length 2**n - 1.')
parser.add_argument('-v', '--variable', default='gold_code_table', help='Name for weak alias of generated table')
parser.add_argument('-h', '--header', action='store_true', help='Generate header file')
parser.add_argument('-c', '--source', action='store_true', help='Generate table source file')
args = parser.parse_args()
print('#include <unistd.h>')
print()
print(f'/* {args.n} bit gold sequences: {2**args.n+1} sequences of length {2**args.n-1} bit.')
print(f' *')
print(f' * Each code is packed left-aligned into {2**args.n // 8} bytes in big-endian byte order.')
print(f' */')
print(f'const uint8_t gold_code_{args.n}bit[] = {{')
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 gold_code_table __attribute__((weak)) = gold_code_{args.n}bit;')
if not args.header != args.source:
print('Exactly one of --header and --source must be given.', file=sys.stderr)
sys.exit(1)
nbytes = math.ceil((2**args.n-1)/8)
if args.source:
print('/* THIS IS A GENERATED FILE. DO NOT EDIT! */')
print('#include <unistd.h>')
print('#include <stdint.h>')
print()
print(f'/* {args.n} bit gold sequences: {2**args.n+1} sequences of length {2**args.n-1} bit.')
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}] = {{')
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;')