Add end-to-end simulation
This commit is contained in:
jaseg
parent
0e8a0d6f78
commit
fed186a49f
12 changed files with 286 additions and 53 deletions
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@ -60,6 +60,7 @@ 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/sqrtf.c
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MUSL_SOURCES += $(MUSL_DIR)/src/math/fabsf.c
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MUSL_SOURCES += $(MUSL_DIR)/src/stdlib/abs.c
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MUSL_SOURCES += $(MUSL_DIR)/src/string/memset.c
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@ -84,6 +85,8 @@ LDSCRIPT := stm32f407.ld
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PREFIX ?= arm-none-eabi-
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DEBUG ?= 1
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CC := $(PREFIX)gcc
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CXX := $(PREFIX)g++
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LD := $(PREFIX)gcc
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@ -121,7 +124,7 @@ CFLAGS += -I$(abspath musl_include_shims)
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COMMON_CFLAGS += -I$(BUILDDIR) -Isrc -Itinyaes
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CFLAGS += -I$(CUBE_DIR)/Drivers/CMSIS/Device/ST/STM32F4xx/Include
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COMMON_CFLAGS += -O0 -std=gnu11 -g -DSTM32F407xx -DSTM32F4
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COMMON_CFLAGS += -O0 -std=gnu11 -g -DSTM32F407xx -DSTM32F4 -DDEBUG=$(DEBUG)
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CFLAGS += $(ARCH_FLAGS) $(SYSTEM_FLAGS)
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#SIM_CFLAGS += -mthumb -mcpu=cortex-m4 -mfloat-abi=soft
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CFLAGS += -fno-common -ffunction-sections -fdata-sections
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@ -248,6 +251,11 @@ $(BUILDDIR)/tools/crypto_test: tools/crypto_test.c src/crypto.c tinyaes/aes.c $(
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mkdir -p $(@D)
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$(HOST_CC) $(COMMON_CFLAGS) $(SIM_CFLAGS) -lsodium -o $@ $^
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tools: $(BUILDDIR)/tools/e2e_test
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$(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
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mkdir -p $(@D)
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$(HOST_CC) $(COMMON_CFLAGS) $(SIM_CFLAGS) -o $@ $^
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$(BUILDDIR)/src/%.o: src/%.s
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mkdir -p $(@D)
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$(CC) $(COMMON_CFLAGS) $(CFLAGS) $(INT_CFLAGS) -o $@ -c $<
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@ -17,8 +17,6 @@
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#include <stdio.h>
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#include <math.h>
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#include <arm_math.h>
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#include "levmarq.h"
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#include "simulation.h"
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@ -29,21 +27,13 @@
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/* set parameters required by levmarq() to default values */
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void levmarq_init(LMstat *lmstat)
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{
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lmstat->max_it = 500;
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lmstat->max_it = 100;
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lmstat->init_lambda = 0.0001f;
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lmstat->up_factor = 10.0f;
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lmstat->down_factor = 10.0f;
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lmstat->target_derr = 1e-12f;
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}
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#ifndef SIMULATION
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float sqrtf(float arg) {
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float out=NAN;
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arm_sqrt_f32(arg, &out);
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return out;
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}
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#endif
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/* perform least-squares minimization using the Levenberg-Marquardt
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algorithm. The arguments are as follows:
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@ -51,8 +51,9 @@ void adc_init() {
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ADC1->CR1 = (0<<ADC_CR1_RES_Pos) | (0<<ADC_CR1_DISCNUM_Pos) | ADC_CR1_DISCEN | (0<<ADC_CR1_AWDCH_Pos);
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ADC1->CR2 = (1<<ADC_CR2_EXTEN_Pos) | (0<<ADC_CR2_EXTSEL_Pos) | ADC_CR2_DMA | ADC_CR2_ADON | ADC_CR2_DDS;
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ADC1->SQR3 = (adc_channel<<ADC_SQR3_SQ3_Pos);
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ADC1->SQR3 = (adc_channel<<ADC_SQR3_SQ1_Pos);
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ADC1->SQR1 = (0<<ADC_SQR1_L_Pos);
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ADC1->SMPR2 = (7<<ADC_SMPR2_SMP0_Pos);
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TIM1->CR2 = (2<<TIM_CR2_MMS_Pos); /* Enable update event on TRGO to provide a 1ms reference to rest of system */
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TIM1->CCMR1 = (6<<TIM_CCMR1_OC1M_Pos) | (0<<TIM_CCMR1_CC1S_Pos);
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@ -86,11 +87,17 @@ void DMA2_Stream0_IRQHandler(void) {
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uint8_t isr = (DMA2->LISR >> DMA_LISR_FEIF0_Pos) & 0x3f;
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GPIOA->ODR ^= 1<<7;
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GPIOA->BSRR = 1<<10;
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if (isr & DMA_LISR_TCIF0) { /* Transfer complete */
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/* Check we're done processing the old buffer */
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if (adc_fft_buf_ready_idx != -1)
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if (adc_fft_buf_ready_idx != -1) { /* FIXME DEBUG */
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GPIOA->BSRR = 1<<10<<16;
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/* clear all flags */
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adc_dma->LIFCR = isr<<DMA_LISR_FEIF0_Pos;
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return;
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panic();
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}
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/* Kickoff FFT */
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int ct = !!(adc_stream->CR & DMA_SxCR_CT);
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@ -103,6 +110,7 @@ void DMA2_Stream0_IRQHandler(void) {
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if (isr & DMA_LISR_TEIF0) /* Transfer error */
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panic();
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GPIOA->BSRR = 1<<10<<16;
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/* clear all flags */
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adc_dma->LIFCR = isr<<DMA_LISR_FEIF0_Pos;
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}
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@ -1,4 +1,8 @@
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#ifndef SIMULATION
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#include <stm32f407xx.h>
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#endif
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#include <unistd.h>
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#include <math.h>
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@ -57,7 +61,13 @@ int adc_buf_measure_freq(uint16_t adc_buf[FMEAS_FFT_LEN], float *out) {
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DEBUG_PRINTN("%010f, ", in_buf[i]);
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DEBUG_PRINTN("\n");
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*/
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#ifndef SIMULATION
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GPIOA->BSRR = 1<<12;
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#endif
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arm_rfft_fast_f32(&fft_inst, in_buf, out_buf, 0);
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#ifndef SIMULATION
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GPIOA->BSRR = 1<<12<<16;
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#endif
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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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@ -66,6 +76,7 @@ int adc_buf_measure_freq(uint16_t adc_buf[FMEAS_FFT_LEN], float *out) {
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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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/*
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DEBUG_PRINT("binsize_hz=%f first_bin=%zd last_bin=%zd nbins=%zd", binsize_hz, first_bin, last_bin, nbins);
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DEBUG_PRINTN(" [bins real] ");
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for (size_t i=0; i<FMEAS_FFT_LEN/2; i+=2)
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@ -76,6 +87,7 @@ int adc_buf_measure_freq(uint16_t adc_buf[FMEAS_FFT_LEN], float *out) {
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DEBUG_PRINT("\n");
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DEBUG_PRINT("Repacking FFT results");
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*/
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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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float real = out_buf[2 * (first_bin + i)];
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@ -83,7 +95,9 @@ int adc_buf_measure_freq(uint16_t adc_buf[FMEAS_FFT_LEN], float *out) {
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out_buf[i] = sqrtf(real*real + imag*imag);
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}
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/*
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DEBUG_PRINT("Running Levenberg-Marquardt");
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*/
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LMstat lmstat;
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levmarq_init(&lmstat);
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@ -99,16 +113,29 @@ int adc_buf_measure_freq(uint16_t adc_buf[FMEAS_FFT_LEN], float *out) {
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float par[3] = {
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a_max, i_max, 1.0f
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};
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/*
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DEBUG_PRINT(" par_pre={%010f, %010f, %010f}", par[0], par[1], par[2]);
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*/
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#ifndef SIMULATION
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GPIOA->BSRR = 1<<12;
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#endif
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if (levmarq(3, par, nbins, out_buf, NULL, func_gauss, func_gauss_grad, NULL, &lmstat) < 0) {
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#ifndef SIMULATION
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GPIOA->BSRR = 1<<12<<16;
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#endif
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*out = NAN;
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return -1;
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}
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#ifndef SIMULATION
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GPIOA->BSRR = 1<<12<<16;
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#endif
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/*
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DEBUG_PRINT(" par_post={%010f, %010f, %010f}", par[0], par[1], par[2]);
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DEBUG_PRINT("done.");
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*/
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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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@ -3,6 +3,7 @@
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#include <stdint.h>
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#include <assert.h>
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#include <string.h>
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#include <math.h>
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#include <stm32f407xx.h>
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@ -159,50 +160,52 @@ void spi_flash_test(void) {
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static unsigned int measurement_errors = 0;
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static struct dsss_demod_state demod_state;
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static uint32_t freq_sample_ts = 0;
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static uint32_t debug_last_freq = 0;
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static float debug_last_freq = 0;
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int main(void)
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{
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/* DEBUG */
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/* MCO2 */
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#if DEBUG
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/* PLL clock on MCO2 (pin C9) */
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RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
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GPIOC->MODER &= ~GPIO_MODER_MODER9_Msk;
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GPIOC->MODER |= (2<<GPIO_MODER_MODER9_Pos);
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GPIOC->AFR[1] &= ~GPIO_AFRH_AFSEL9_Msk;
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GPIOC->OSPEEDR |= (3<<GPIO_OSPEEDR_OSPEED9_Pos); /* SCK */
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RCC->CFGR |= (6<<RCC_CFGR_MCO2PRE_Pos) | (3<<RCC_CFGR_MCO2_Pos);
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/* END DEBUG */
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#endif
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if (((SCB->CPACR>>20) & 0xf) != 0xf) {
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asm volatile ("bkpt");
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}
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clock_setup();
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led_setup();
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/*
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spi_flash_setup();
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adc_init();
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*/
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/* DEBUG */
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/* TIM1 CC1 */
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#if DEBUG
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/* TIM1 CC1 (ADC trigger) on pin A8 */
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GPIOA->MODER &= ~GPIO_MODER_MODER8_Msk;
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GPIOA->MODER |= (2<<GPIO_MODER_MODER8_Pos);
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GPIOA->AFR[1] &= ~GPIO_AFRH_AFSEL8_Msk;
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GPIOA->AFR[1] |= 1<<GPIO_AFRH_AFSEL8_Pos;
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/* END DEBUG */
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int cnt = 0;
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GPIOA->MODER |= (1<<GPIO_MODER_MODER9_Pos) | (1<<GPIO_MODER_MODER10_Pos) | (1<<GPIO_MODER_MODER11_Pos) |
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(1<<GPIO_MODER_MODER12_Pos) | (1<<GPIO_MODER_MODER15_Pos);
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#endif
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while (23) {
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if (cnt++ == 100000) {
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cnt = 0;
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GPIOA->ODR ^= 1<<6;
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}
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if (adc_fft_buf_ready_idx != -1) {
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GPIOA->BSRR = 1<<9;
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adc_fft_buf_ready_idx = !adc_fft_buf_ready_idx; /* DEBUG */
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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);
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GPIOA->BSRR = 1<<9<<16;
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GPIOA->BSRR = 1<<11;
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#if 0
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float out;
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if (adc_buf_measure_freq(adc_fft_buf[adc_fft_buf_ready_idx], &out)) {
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measurement_errors++;
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debug_last_freq = -1;
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debug_last_freq = NAN;
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} else {
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debug_last_freq = out;
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@ -212,7 +215,7 @@ int main(void)
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dsss_demod_step(&demod_state, out, freq_sample_ts);
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*/
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}
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#endif
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GPIOA->BSRR = 1<<11<<16;
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freq_sample_ts++; /* TODO: also increase in case of freq measurement error? */
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adc_fft_buf_ready_idx = -1;
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@ -222,3 +225,39 @@ int main(void)
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return 0;
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}
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void NMI_Handler(void) {
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asm volatile ("bkpt");
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}
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void HardFault_Handler(void) {
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asm volatile ("bkpt");
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}
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void MemManage_Handler(void) {
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asm volatile ("bkpt");
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}
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void BusFault_Handler(void) {
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asm volatile ("bkpt");
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}
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void UsageFault_Handler(void) {
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asm volatile ("bkpt");
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}
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void SVC_Handler(void) {
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asm volatile ("bkpt");
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}
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void DebugMon_Handler(void) {
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asm volatile ("bkpt");
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}
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void PendSV_Handler(void) {
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asm volatile ("bkpt");
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}
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void SysTick_Handler(void) {
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asm volatile ("bkpt");
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}
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@ -165,10 +165,9 @@ const uint8_t APBPrescTable[8] = {0, 0, 0, 0, 1, 2, 3, 4};
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*/
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void SystemInit(void)
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{
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/* FPU settings ------------------------------------------------------------*/
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#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
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SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2)); /* set CP10 and CP11 Full Access */
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#endif
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__DSB();
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__ISB();
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#if defined (DATA_IN_ExtSRAM) || defined (DATA_IN_ExtSDRAM)
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SystemInit_ExtMemCtl();
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@ -70,7 +70,7 @@ int main(int argc, char **argv) {
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fprintf(stderr, "Reading %zd samples test data...", st.st_size/sizeof(float));
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ssize_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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ssize_t rc = read(fd, buf + nread, st.st_size - nread);
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if (rc == -EINTR || rc == -EAGAIN)
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continue;
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111
controller/fw/tools/e2e_test.c
Normal file
111
controller/fw/tools/e2e_test.c
Normal file
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@ -0,0 +1,111 @@
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#include <stdint.h>
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#include <math.h>
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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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#include "dsss_demod.h"
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typedef uint16_t adc_data_t;
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void handle_dsss_received(uint8_t data[static TRANSMISSION_SYMBOLS]) {
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printf("data sequence received: [ ");
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for (size_t i=0; i<TRANSMISSION_SYMBOLS; i++) {
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printf("%+3d", ((data[i]&1) ? 1 : -1) * (data[i]>>1));
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if (i+1 < TRANSMISSION_SYMBOLS)
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printf(", ");
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}
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printf(" ]\n");
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}
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void print_usage(void);
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void print_usage() {
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fprintf(stderr, "Usage: e2e_test [emulated_adc_data.bin]\n");
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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 > 100000000) {
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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(adc_data_t) != 0) {
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fprintf(stderr, "Error reading test data: file size is not divisible by %zd (size=%zd)\n", sizeof(adc_data_t), 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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const size_t n_samples = st.st_size / sizeof(adc_data_t);
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fprintf(stderr, "Reading %zd samples test data...", n_samples);
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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<iterations; i++) {
|
||||
|
||||
/*
|
||||
fprintf(stderr, "Iteration %zd/%zd\n", i, iterations);
|
||||
*/
|
||||
float res = NAN;
|
||||
int rc = adc_buf_measure_freq(buf_d + i*(FMEAS_FFT_LEN/2), &res);
|
||||
if (rc)
|
||||
printf("ERROR: Simulation error in iteration %zd at position %zd: %d\n", i, i*(FMEAS_FFT_LEN/2), rc);
|
||||
|
||||
dsss_demod_step(&demod, res, i);
|
||||
/*
|
||||
printf("%09zd %12f\n", i, res);
|
||||
*/
|
||||
}
|
||||
|
||||
free(buf);
|
||||
return 0;
|
||||
}
|
||||
|
|
@ -49,9 +49,9 @@ int main(int argc, char **argv) {
|
|||
}
|
||||
|
||||
fprintf(stderr, "Reading %zd samples test data...", st.st_size/sizeof(float));
|
||||
size_t nread = 0;
|
||||
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;
|
||||
|
|
@ -100,5 +100,7 @@ int main(int argc, char **argv) {
|
|||
printf("%09zd %12f\n", i, res);
|
||||
}
|
||||
|
||||
free(buf);
|
||||
free(sim_adc_buf);
|
||||
return 0;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -123,17 +123,17 @@ if __name__ == '__main__':
|
|||
auth_parser.add_argument('height', type=int, help='Authentication string height, counting from 0 (root key)')
|
||||
auth_parser.set_defaults(func=auth_cmd)
|
||||
auth_parser.add_argument('-a', '--all', action='store_const', const='all', help='Vendor name for vendor domain')
|
||||
auth_parser.add_argument('-v', '--vendor', type=str, nargs='?', const=test_vendor, help='Vendor name for vendor domain')
|
||||
auth_parser.add_argument('-s', '--series', type=str, nargs='?', const=test_series, help='Series identifier for series domain')
|
||||
auth_parser.add_argument('-r', '--region', type=str, nargs='?', const=test_region, help='Region name for region domain')
|
||||
auth_parser.add_argument('-c', '--country', type=str, nargs='?', const=test_country, help='Country name for country domain')
|
||||
auth_parser.add_argument('-v', '--vendor', type=str, nargs='?', const=TEST_VENDOR, help='Vendor name for vendor domain')
|
||||
auth_parser.add_argument('-s', '--series', type=str, nargs='?', const=TEST_SERIES, help='Series identifier for series domain')
|
||||
auth_parser.add_argument('-r', '--region', type=str, nargs='?', const=TEST_REGION, help='Region name for region domain')
|
||||
auth_parser.add_argument('-c', '--country', type=str, nargs='?', const=TEST_COUNTRY, help='Country name for country domain')
|
||||
|
||||
prekey_parser = subparsers.add_parser('prekey', help='Generate prekey data .C source code file')
|
||||
prekey_parser.add_argument('-m', '--max-height', type=int, default=8, help='Height of generated prekey')
|
||||
prekey_parser.add_argument('-v', '--vendor', type=str, default=test_vendor, help='Vendor name for vendor domain')
|
||||
prekey_parser.add_argument('-s', '--series', type=str, default=test_series, help='Series identifier for series domain')
|
||||
prekey_parser.add_argument('-r', '--region', type=str, default=test_region, help='Region name for region domain')
|
||||
prekey_parser.add_argument('-c', '--country', type=str, default=test_country, help='Country name for country domain')
|
||||
prekey_parser.add_argument('-v', '--vendor', type=str, default=TEST_VENDOR, help='Vendor name for vendor domain')
|
||||
prekey_parser.add_argument('-s', '--series', type=str, default=TEST_SERIES, help='Series identifier for series domain')
|
||||
prekey_parser.add_argument('-r', '--region', type=str, default=TEST_REGION, help='Region name for region domain')
|
||||
prekey_parser.add_argument('-c', '--country', type=str, default=TEST_COUNTRY, help='Country name for country domain')
|
||||
prekey_parser.set_defaults(func=prekey_cmd, all='all')
|
||||
|
||||
args = parser.parse_args()
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue