void gmskframesync_debug_enable(gmskframesync _q)
{
// create debugging objects if necessary
#if DEBUG_GMSKFRAMESYNC
if (!_q->debug_objects_created) {
_q->debug_x = windowcf_create(DEBUG_GMSKFRAMESYNC_BUFFER_LEN);
_q->debug_fi = windowf_create(DEBUG_GMSKFRAMESYNC_BUFFER_LEN);
_q->debug_mf = windowf_create(DEBUG_GMSKFRAMESYNC_BUFFER_LEN);
_q->debug_framesyms = windowf_create(DEBUG_GMSKFRAMESYNC_BUFFER_LEN);
}
// set debugging flags
_q->debug_enabled = 1;
_q->debug_objects_created = 1;
#else
fprintf(stderr,"gmskframesync_debug_enable(): compile-time debugging disabled\n");
#endif
}
// create gmskdem object
// _k : samples/symbol
// _m : filter delay (symbols)
// _BT : excess bandwidth factor
gmskdem gmskdem_create(unsigned int _k,
unsigned int _m,
float _BT)
{
if (_k < 2) {
fprintf(stderr,"error: gmskdem_create(), samples/symbol must be at least 2\n");
exit(1);
} else if (_m < 1) {
fprintf(stderr,"error: gmskdem_create(), symbol delay must be at least 1\n");
exit(1);
} else if (_BT <= 0.0f || _BT >= 1.0f) {
fprintf(stderr,"error: gmskdem_create(), bandwidth/time product must be in (0,1)\n");
exit(1);
}
// allocate memory for main object
gmskdem q = (gmskdem)malloc(sizeof(struct gmskdem_s));
// set properties
q->k = _k;
q->m = _m;
q->BT = _BT;
// allocate memory for filter taps
q->h_len = 2*(q->k)*(q->m)+1;
q->h = (float*) malloc(q->h_len * sizeof(float));
// compute filter coefficients
liquid_firdes_gmskrx(q->k, q->m, q->BT, 0.0f, q->h);
#if GMSKDEM_USE_EQUALIZER
// receiver matched filter/equalizer
q->eq = eqlms_rrrf_create_rnyquist(LIQUID_RNYQUIST_GMSKRX,
q->k,
q->m,
q->BT,
0.0f);
eqlms_rrrf_set_bw(q->eq, 0.01f);
q->k_inv = 1.0f / (float)(q->k);
#else
// create filter object
q->filter = firfilt_rrrf_create(q->h, q->h_len);
#endif
// reset modem state
gmskdem_reset(q);
#if DEBUG_GMSKDEM
q->debug_mfout = windowf_create(DEBUG_BUFFER_LEN);
#endif
// return modem object
return q;
}
int main (int argc, char ** argv) {
w=windowcf_create(SPECTRUM_FFT_LENGTH);
wchA = windowcf_create(TRACK_LENGTH);
wchB = windowcf_create(TRACK_LENGTH);
wchC = windowcf_create(TRACK_LENGTH);
wchA_filtered = windowcf_create(TRACK_LENGTH);
wchB_filtered = windowcf_create(TRACK_LENGTH);
wchC_filtered = windowcf_create(TRACK_LENGTH);
wmag_buffer = windowf_create(TRACK_LENGTH);
nco = nco_crcf_create(LIQUID_NCO);
std::cout << "hydromath daemon is beginning..." << std::endl;
std::cout << "NOTE: if this is symhydromath you must pass in a matfile" << std::endl;
std::cout << argv[1] << std::endl;
shm_init();
shm_getg(hydrophones_results_track, shm_results_track);
shm_getg(hydrophones_results_spectrum, shm_results_spectrum);
//shm_results_track.tracked_ping_count=0;
shm_results_track.tracked_ping_time=0;
if (argc > 1) {
udp_init(argv[1]);
}
else {
udp_init("");
}
//std::thread track_thread(direction_loop);
//
//std::thread spectrum_thread(spectrum_loop);
track_sample_idx = 0;
while (loop(&spt) == 0) {
shm_getg(hydrophones_settings, shm_settings);
for (int i = 0; i < 3*CHANNEL_DEPTH; i+=3) {
windowcf_push(w, std::complex<float>(spt.data[i+1],0)); //This uses channel B
windowcf_push(wchA, std::complex<float>(spt.data[i],0));
windowcf_push(wchB, std::complex<float>(spt.data[i+1],0));
windowcf_push(wchC, std::complex<float>(spt.data[i+2],0));
}
current_sample_count+=CHANNEL_DEPTH;
do_spectrum();
do_track();
}
printf("loop done %li =ci\n",current_sample_count/CHANNEL_DEPTH);
return 0;
}
// create ampmodem object
// _m : modulation index
// _fc : carrier frequency
// _type : AM type (e.g. LIQUID_AMPMODEM_DSB)
// _suppressed_carrier : carrier suppression flag
ampmodem ampmodem_create(float _m,
float _fc,
liquid_ampmodem_type _type,
int _suppressed_carrier)
{
ampmodem q = (ampmodem) malloc(sizeof(struct ampmodem_s));
q->type = _type;
q->m = _m;
q->fc = _fc;
q->suppressed_carrier = (_suppressed_carrier == 0) ? 0 : 1;
// create nco, pll objects
q->oscillator = nco_crcf_create(LIQUID_NCO);
nco_crcf_set_frequency(q->oscillator, 2*M_PI*q->fc);
nco_crcf_pll_set_bandwidth(q->oscillator,0.05f);
// suppressed carrier
q->ssb_alpha = 0.01f;
q->ssb_q_hat = 0.0f;
// single side-band
q->hilbert = firhilbf_create(9, 60.0f);
// double side-band
ampmodem_reset(q);
// debugging
#if DEBUG_AMPMODEM
q->debug_x = windowcf_create(DEBUG_AMPMODEM_BUFFER_LEN);
q->debug_phase_error = windowf_create(DEBUG_AMPMODEM_BUFFER_LEN);
q->debug_freq_error = windowf_create(DEBUG_AMPMODEM_BUFFER_LEN);
#endif
return q;
}
// enable debugging
void ofdmframesync_debug_enable(ofdmframesync _q)
{
// create debugging objects if necessary
#if DEBUG_OFDMFRAMESYNC
if (_q->debug_objects_created)
return;
_q->debug_x = windowcf_create(DEBUG_OFDMFRAMESYNC_BUFFER_LEN);
_q->debug_rssi = windowf_create(DEBUG_OFDMFRAMESYNC_BUFFER_LEN);
_q->debug_framesyms = windowcf_create(DEBUG_OFDMFRAMESYNC_BUFFER_LEN);
_q->G_hat = (float complex*) malloc((_q->M)*sizeof(float complex));
_q->px = (float*) malloc((_q->M_pilot)*sizeof(float));
_q->py = (float*) malloc((_q->M_pilot)*sizeof(float));
_q->debug_pilot_0 = windowf_create(DEBUG_OFDMFRAMESYNC_BUFFER_LEN);
_q->debug_pilot_1 = windowf_create(DEBUG_OFDMFRAMESYNC_BUFFER_LEN);
_q->debug_enabled = 1;
_q->debug_objects_created = 1;
#else
fprintf(stderr,"ofdmframesync_debug_enable(): compile-time debugging disabled\n");
#endif
}
void wlanframesync_debug_enable(wlanframesync _q)
{
// create debugging objects if necessary
#if DEBUG_WLANFRAMESYNC
// agc, rssi
if (_q->agc_rx == NULL)
_q->agc_rx = agc_crcf_create();
agc_crcf_set_bandwidth(_q->agc_rx, 1e-2f);
agc_crcf_set_gain_limits(_q->agc_rx, 1.0f, 1e7f);
if (_q->debug_x == NULL)
_q->debug_x = windowcf_create(DEBUG_WLANFRAMESYNC_BUFFER_LEN);
if (_q->debug_rssi == NULL)
_q->debug_rssi = windowf_create(DEBUG_WLANFRAMESYNC_BUFFER_LEN);
if (_q->debug_framesyms == NULL)
_q->debug_framesyms = windowcf_create(DEBUG_WLANFRAMESYNC_BUFFER_LEN);
_q->debug_enabled = 1;
#else
fprintf(stderr,"wlanframesync_debug_enable(): compile-time debugging disabled\n");
#endif
}
// create synchronizer object from external coefficients
// _k : samples per symbol
// _M : number of filters in the bank
// _h : matched filter coefficients
// _h_len : length of matched filter
SYMSYNC() SYMSYNC(_create)(unsigned int _k,
unsigned int _M,
TC * _h,
unsigned int _h_len)
{
// validate input
if (_k < 2) {
fprintf(stderr,"error: symsync_%s_create(), input sample rate must be at least 2\n", EXTENSION_FULL);
exit(1);
} else if (_h_len == 0) {
fprintf(stderr,"error: symsync_%s_create(), filter length must be greater than zero\n", EXTENSION_FULL);
exit(1);
} else if (_M == 0) {
fprintf(stderr,"error: symsync_%s_create(), number of filter banks must be greater than zero\n", EXTENSION_FULL);
exit(1);
}
SYMSYNC() q = (SYMSYNC()) malloc(sizeof(struct SYMSYNC(_s)));
q->k = _k;
q->M = _M;
q->tau = 0.0f;
q->bf = 0.0f;
q->b = 0;
// set output rate (nominally 1, full decimation)
SYMSYNC(_set_output_rate)(q, 1);
// TODO: validate length
q->h_len = (_h_len-1)/q->M;
// compute derivative filter
TC dh[_h_len];
float hdh_max = 0.0f;
unsigned int i;
for (i=0; i<_h_len; i++) {
if (i==0) {
dh[i] = _h[i+1] - _h[_h_len-1];
} else if (i==_h_len-1) {
dh[i] = _h[0] - _h[i-1];
} else {
dh[i] = _h[i+1] - _h[i-1];
}
// find maximum of h*dh
if ( fabsf(_h[i]*dh[i]) > hdh_max || i==0 )
hdh_max = fabsf(_h[i]*dh[i]);
}
// apply scaling factor for normalized response
// TODO: scale to 1.0 for consistency
for (i=0; i<_h_len; i++)
dh[i] *= 0.06f / hdh_max;
q->mf = FIRPFB(_create)(q->M, _h, _h_len);
q->dmf = FIRPFB(_create)(q->M, dh, _h_len);
// reset state and initialize loop filter
q->A[0] = 1.0f; q->B[0] = 0.0f;
q->A[1] = 0.0f; q->B[1] = 0.0f;
q->A[2] = 0.0f; q->B[2] = 0.0f;
q->pll = iirfiltsos_rrrf_create(q->B, q->A);
SYMSYNC(_reset)(q);
SYMSYNC(_set_lf_bw)(q, 0.01f);
// set output rate nominally at 1 sample/symbol (full decimation)
SYMSYNC(_set_output_rate)(q, 1);
// unlock loop control
SYMSYNC(_unlock)(q);
#if DEBUG_SYMSYNC
q->debug_del = windowf_create(DEBUG_BUFFER_LEN);
q->debug_tau = windowf_create(DEBUG_BUFFER_LEN);
q->debug_bsoft = windowf_create(DEBUG_BUFFER_LEN);
q->debug_b = windowf_create(DEBUG_BUFFER_LEN);
q->debug_q_hat = windowf_create(DEBUG_BUFFER_LEN);
#endif
// return main object
return q;
}
ofdmoqamframe64sync ofdmoqamframe64sync_create(unsigned int _m,
float _beta,
ofdmoqamframe64sync_callback _callback,
void * _userdata)
{
ofdmoqamframe64sync q = (ofdmoqamframe64sync) malloc(sizeof(struct ofdmoqamframe64sync_s));
q->num_subcarriers = 64;
// validate input
if (_m < 1) {
fprintf(stderr,"error: ofdmoqamframe64sync_create(), filter delay must be > 0\n");
exit(1);
} else if (_beta < 0.0f) {
fprintf(stderr,"error: ofdmoqamframe64sync_create(), filter excess bandwidth must be > 0\n");
exit(1);
}
q->m = _m;
q->beta = _beta;
// synchronizer parameters
q->rxx_thresh = 0.60f; // auto-correlation threshold
q->rxy_thresh = 0.60f; // cross-correlation threshold
q->zeta = 64.0f/sqrtf(52.0f); // scaling factor
// create analysis filter banks
q->ca0 = firpfbch_create(q->num_subcarriers, q->m, q->beta, 0.0f /*dt*/,FIRPFBCH_ROOTNYQUIST,0/*gradient*/);
q->ca1 = firpfbch_create(q->num_subcarriers, q->m, q->beta, 0.0f /*dt*/,FIRPFBCH_ROOTNYQUIST,0/*gradient*/);
q->X0 = (float complex*) malloc((q->num_subcarriers)*sizeof(float complex));
q->X1 = (float complex*) malloc((q->num_subcarriers)*sizeof(float complex));
q->Y0 = (float complex*) malloc((q->num_subcarriers)*sizeof(float complex));
q->Y1 = (float complex*) malloc((q->num_subcarriers)*sizeof(float complex));
// allocate memory for PLCP arrays
q->S0 = (float complex*) malloc((q->num_subcarriers)*sizeof(float complex));
q->S1 = (float complex*) malloc((q->num_subcarriers)*sizeof(float complex));
q->S2 = (float complex*) malloc((q->num_subcarriers)*sizeof(float complex));
ofdmoqamframe64_init_S0(q->S0);
ofdmoqamframe64_init_S1(q->S1);
ofdmoqamframe64_init_S2(q->S2);
unsigned int i;
for (i=0; i<q->num_subcarriers; i++) {
q->S0[i] *= q->zeta;
q->S1[i] *= q->zeta;
q->S2[i] *= q->zeta;
}
q->S1a = (float complex*) malloc((q->num_subcarriers)*sizeof(float complex));
q->S1b = (float complex*) malloc((q->num_subcarriers)*sizeof(float complex));
// set pilot sequence
q->ms_pilot = msequence_create_default(8);
q->x_phase[0] = -21.0f;
q->x_phase[1] = -7.0f;
q->x_phase[2] = 7.0f;
q->x_phase[3] = 21.0f;
// create NCO for pilots
q->nco_pilot = nco_crcf_create(LIQUID_VCO);
q->pll_pilot = pll_create();
pll_set_bandwidth(q->pll_pilot,0.01f);
pll_set_damping_factor(q->pll_pilot,4.0f);
// create agc | signal detection object
q->sigdet = agc_crcf_create();
agc_crcf_set_bandwidth(q->sigdet,0.1f);
// create NCO for CFO compensation
q->nco_rx = nco_crcf_create(LIQUID_VCO);
// create auto-correlator objects
q->autocorr_length = OFDMOQAMFRAME64SYNC_AUTOCORR_LEN;
q->autocorr_delay = q->num_subcarriers / 4;
q->autocorr = autocorr_cccf_create(q->autocorr_length, q->autocorr_delay);
// create cross-correlator object
q->hxy = (float complex*) malloc((q->num_subcarriers)*sizeof(float complex));
ofdmoqam cs = ofdmoqam_create(q->num_subcarriers,q->m,q->beta,
0.0f, // dt
OFDMOQAM_SYNTHESIZER,
0); // gradient
for (i=0; i<2*(q->m); i++)
ofdmoqam_execute(cs,q->S1,q->hxy);
// time reverse, complex conjugate (same as fftshift for
// this particular sequence)
memmove(q->X0, q->hxy, 64*sizeof(float complex));
for (i=0; i<64; i++)
q->hxy[i] = conjf(q->X0[64-i-1]);
// fftshift
//fft_shift(q->hxy,64);
q->crosscorr = firfilt_cccf_create(q->hxy, q->num_subcarriers);
ofdmoqam_destroy(cs);
// input buffer
q->input_buffer = windowcf_create((q->num_subcarriers));
// gain
q->g = 1.0f;
q->G0 = (float complex*) malloc((q->num_subcarriers)*sizeof(float complex));
q->G1 = (float complex*) malloc((q->num_subcarriers)*sizeof(float complex));
q->G = (float complex*) malloc((q->num_subcarriers)*sizeof(float complex));
q->data = (float complex*) malloc((q->num_subcarriers)*sizeof(float complex));
// reset object
ofdmoqamframe64sync_reset(q);
#if DEBUG_OFDMOQAMFRAME64SYNC
q->debug_x = windowcf_create(DEBUG_OFDMOQAMFRAME64SYNC_BUFFER_LEN);
q->debug_rxx= windowcf_create(DEBUG_OFDMOQAMFRAME64SYNC_BUFFER_LEN);
q->debug_rxy= windowcf_create(DEBUG_OFDMOQAMFRAME64SYNC_BUFFER_LEN);
q->debug_framesyms= windowcf_create(DEBUG_OFDMOQAMFRAME64SYNC_BUFFER_LEN);
q->debug_pilotphase= windowf_create(DEBUG_OFDMOQAMFRAME64SYNC_BUFFER_LEN);
q->debug_pilotphase_hat= windowf_create(DEBUG_OFDMOQAMFRAME64SYNC_BUFFER_LEN);
q->debug_rssi= windowf_create(DEBUG_OFDMOQAMFRAME64SYNC_BUFFER_LEN);
#endif
q->callback = _callback;
q->userdata = _userdata;
return q;
}
//
// AUTOTEST: windowf
//
void autotest_windowf()
{
float v[] = {9, 8, 7, 6, 5, 4, 3, 2, 1, 0};
float *r; // reader pointer
float x; // temporary value holder
unsigned int i;
float test0[10] = {0,0,0,0,0,0,0,0,0,0};
float test1[10] = {0,0,0,0,0,0,1,1,1,1};
float test2[10] = {0,0,1,1,1,1,9,8,7,6};
float test3[10] = {1,1,9,8,7,6,3,3,3,3};
float test4[10] = {7,6,3,3,3,3,5,5,5,5};
float test5[6] = {3,3,5,5,5,5};
float test6[6] = {5,5,5,5,6,7};
float test7[10] = {0,0,0,0,5,5,5,5,6,7};
float test8[10] = {0,0,0,0,0,0,0,0,0,0};
// create window
// 0 0 0 0 0 0 0 0 0 0
windowf w = windowf_create(10);
windowf_read(w, &r);
CONTEND_SAME_DATA(r,test0,10*sizeof(float));
// push 4 elements
// 0 0 0 0 0 0 1 1 1 1
windowf_push(w, 1);
windowf_push(w, 1);
windowf_push(w, 1);
windowf_push(w, 1);
windowf_read(w, &r);
CONTEND_SAME_DATA(r,test1,10*sizeof(float));
// push 4 more elements
// 0 0 1 1 1 1 9 8 7 6
windowf_write(w, v, 4);
windowf_read(w, &r);
CONTEND_SAME_DATA(r,test2,10*sizeof(float));
// push 4 more elements
// 1 1 9 8 7 6 3 3 3 3
windowf_push(w, 3);
windowf_push(w, 3);
windowf_push(w, 3);
windowf_push(w, 3);
windowf_read(w, &r);
CONTEND_SAME_DATA(r,test3,10*sizeof(float));
// test indexing operation
windowf_index(w, 0, &x); CONTEND_EQUALITY(x, 1);
windowf_index(w, 1, &x); CONTEND_EQUALITY(x, 1);
windowf_index(w, 2, &x); CONTEND_EQUALITY(x, 9);
windowf_index(w, 3, &x); CONTEND_EQUALITY(x, 8);
windowf_index(w, 4, &x); CONTEND_EQUALITY(x, 7);
windowf_index(w, 5, &x); CONTEND_EQUALITY(x, 6);
windowf_index(w, 6, &x); CONTEND_EQUALITY(x, 3);
windowf_index(w, 7, &x); CONTEND_EQUALITY(x, 3);
windowf_index(w, 8, &x); CONTEND_EQUALITY(x, 3);
windowf_index(w, 9, &x); CONTEND_EQUALITY(x, 3);
// push 4 more elements
// 7 6 3 3 3 3 5 5 5 5
windowf_push(w, 5);
windowf_push(w, 5);
windowf_push(w, 5);
windowf_push(w, 5);
windowf_read(w, &r);
CONTEND_SAME_DATA(r,test4,10*sizeof(float));
if (liquid_autotest_verbose)
windowf_debug_print(w);
// recreate window (truncate to last 6 elements)
// 3 3 5 5 5 5
w = windowf_recreate(w,6);
windowf_read(w, &r);
CONTEND_SAME_DATA(r,test5,6*sizeof(float));
// push 2 more elements
// 5 5 5 5 6 7
windowf_push(w, 6);
windowf_push(w, 7);
windowf_read(w, &r);
CONTEND_SAME_DATA(r,test6,6*sizeof(float));
// recreate window (extend to 10 elements)
// 0 0 0 0 5 5 5 5 6 7
w = windowf_recreate(w,10);
windowf_read(w,&r);
CONTEND_SAME_DATA(r,test7,10*sizeof(float));
// reset
// 0 0 0 0 0 0 0 0 0 0
windowf_reset(w);
windowf_read(w, &r);
CONTEND_SAME_DATA(r,test8,10*sizeof(float));
if (liquid_autotest_verbose) {
// manual print
printf("manual output:\n");
for (i=0; i<10; i++)
printf("%6u : %f\n", i, r[i]);
windowf_debug_print(w);
}
windowf_destroy(w);
printf("done.\n");
}