From 5fbe97fa5fa83d2b7326dbf3a6c0b6ad83ac119d Mon Sep 17 00:00:00 2001 From: NawfalMotii79 Date: Mon, 9 Mar 2026 00:17:39 +0000 Subject: [PATCH] Add files via upload --- .../ADAR1000_Manager.cpp | 757 + .../9_1_1_C_Cpp_Libraries/ADAR1000_Manager.h | 222 + .../9_1_1_C_Cpp_Libraries/ADS7830.H | 86 + .../9_1_1_C_Cpp_Libraries/ADS7830.c | 211 + .../9_1_1_C_Cpp_Libraries/BMP180.cpp | 462 + .../9_1_1_C_Cpp_Libraries/BMP180.h | 156 + .../9_1_1_C_Cpp_Libraries/DA5578.c | 397 + .../9_1_1_C_Cpp_Libraries/DAC5578.H | 91 + .../9_1_1_C_Cpp_Libraries/GY_85_HAL.c | 121 + .../9_1_1_C_Cpp_Libraries/GY_85_HAL.h | 25 + .../9_1_1_C_Cpp_Libraries/RadarSettings.cpp | 113 + .../9_1_1_C_Cpp_Libraries/RadarSettings.h | 53 + .../9_1_1_C_Cpp_Libraries/TinyGPS++.cpp | 509 + .../9_1_1_C_Cpp_Libraries/TinyGPS++.h | 289 + .../9_1_1_C_Cpp_Libraries/TinyGPSPlus.h | 26 + .../9_1_1_C_Cpp_Libraries/USBHandler.cpp | 93 + .../9_1_1_C_Cpp_Libraries/USBHandler.h | 46 + .../9_1_1_C_Cpp_Libraries/ad9523.c | 731 + .../9_1_1_C_Cpp_Libraries/ad9523.h | 509 + .../9_1_1_C_Cpp_Libraries/adar1000.c | 693 + .../9_1_1_C_Cpp_Libraries/adar1000.h | 294 + .../9_1_1_C_Cpp_Libraries/adf4382.c | 2120 ++ .../9_1_1_C_Cpp_Libraries/adf4382.h | 809 + .../9_1_1_C_Cpp_Libraries/adf4382a_manager.c | 510 + .../9_1_1_C_Cpp_Libraries/adf4382a_manager.h | 85 + .../9_1_1_C_Cpp_Libraries/errno.h | 100 + .../9_1_1_C_Cpp_Libraries/gps_handler.cpp | 119 + .../9_1_1_C_Cpp_Libraries/gps_handler.h | 33 + .../platform_noos_stm32.H | 25 + .../platform_noos_stm32.c | 64 + .../9_1_1_C_Cpp_Libraries/stm32_delay.c | 17 + .../9_1_1_C_Cpp_Libraries/stm32_delay.h | 10 + .../9_1_1_C_Cpp_Libraries/stm32_dma.c | 287 + .../9_1_1_C_Cpp_Libraries/stm32_dma.h | 101 + .../9_1_1_C_Cpp_Libraries/stm32_gpio.c | 394 + .../9_1_1_C_Cpp_Libraries/stm32_gpio.h | 69 + .../9_1_1_C_Cpp_Libraries/stm32_gpio_irq.c | 463 + .../9_1_1_C_Cpp_Libraries/stm32_gpio_irq.h | 64 + .../9_1_1_C_Cpp_Libraries/stm32_hal.h | 9 + .../9_1_1_C_Cpp_Libraries/stm32_i2c.c | 227 + .../9_1_1_C_Cpp_Libraries/stm32_i2c.h | 64 + .../9_1_1_C_Cpp_Libraries/stm32_irq.c | 701 + .../9_1_1_C_Cpp_Libraries/stm32_irq.h | 44 + .../9_1_1_C_Cpp_Libraries/stm32_pwm.c | 1114 ++ .../9_1_1_C_Cpp_Libraries/stm32_pwm.h | 151 + .../9_1_1_C_Cpp_Libraries/stm32_spi.c | 53 + .../9_1_1_C_Cpp_Libraries/stm32_spi.h | 9 + .../9_1_1_C_Cpp_Libraries/stm32_timer.c | 352 + .../9_1_1_C_Cpp_Libraries/stm32_timer.h | 63 + .../9_1_1_C_Cpp_Libraries/stm32_uart.c | 302 + .../9_1_1_C_Cpp_Libraries/stm32_uart.h | 73 + .../stm32f7xx_hal_conf.h | 484 + .../9_1_1_C_Cpp_Libraries/stm32f7xx_hal_msp.c | 567 + .../9_1_1_C_Cpp_Libraries/stm32f7xx_it.c | 217 + .../9_1_1_C_Cpp_Libraries/stm32f7xx_it.h | 67 + .../9_1_1_C_Cpp_Libraries/syscalls.c | 176 + .../9_1_1_C_Cpp_Libraries/sysmem.c | 79 + .../9_1_1_C_Cpp_Libraries/system_stm32f7xx.c | 259 + .../9_1_2_C_Cpp_Algorithms/STM32_ALGO.docx | 0 .../9_1_3_C_Cpp_Code/main.cpp | 2411 +++ .../9_1_3_C_Cpp_Code/main.h | 175 + 9_Firmware/9_2_FPGA/ad9484_interface_400m.v | 98 + 9_Firmware/9_2_FPGA/cdc_modules.v | 237 + 9_Firmware/9_2_FPGA/chirp_lut_init.v | 244 + .../9_2_FPGA/chirp_memory_loader_param.v | 130 + .../9_2_FPGA/cic_decimator_4x_enhanced.v | 300 + 9_Firmware/9_2_FPGA/dac_interface_single.v | 26 + 9_Firmware/9_2_FPGA/ddc_400m.v | 425 + 9_Firmware/9_2_FPGA/ddc_input_interface.v | 55 + 9_Firmware/9_2_FPGA/doppler_processor.v | 305 + 9_Firmware/9_2_FPGA/edge_detector.v | 26 + 9_Firmware/9_2_FPGA/fft_1024_forward.v | 124 + 9_Firmware/9_2_FPGA/fft_1024_inverse.v | 97 + 9_Firmware/9_2_FPGA/fir_lowpass.v | 124 + .../9_2_FPGA/frequency_matched_filter.v | 137 + 9_Firmware/9_2_FPGA/latency_buffer_2159.v | 107 + 9_Firmware/9_2_FPGA/long_chirp_seg0_i.mem | 1024 + 9_Firmware/9_2_FPGA/long_chirp_seg0_q.mem | 1024 + 9_Firmware/9_2_FPGA/long_chirp_seg1_i.mem | 1024 + 9_Firmware/9_2_FPGA/long_chirp_seg1_q.mem | 1024 + 9_Firmware/9_2_FPGA/long_chirp_seg2_i.mem | 1024 + 9_Firmware/9_2_FPGA/long_chirp_seg2_q.mem | 1024 + 9_Firmware/9_2_FPGA/lvds_to_cmos_400m.v | 45 + .../9_2_FPGA/matched_filter_multi_segment.v | 410 + 9_Firmware/9_2_FPGA/nco_400m_enhanced.v | 117 + 9_Firmware/9_2_FPGA/plfm_chirp_controller.v | 801 + 9_Firmware/9_2_FPGA/radar_receiver_final.v | 353 + 9_Firmware/9_2_FPGA/radar_transmitter.v | 157 + 9_Firmware/9_2_FPGA/short_chirp_i.mem | 50 + 9_Firmware/9_2_FPGA/short_chirp_q.mem | 50 + 9_Firmware/9_3_GUI/GUI_V1.py | 41 + 9_Firmware/9_3_GUI/GUI_V2.py | 1059 + 9_Firmware/9_3_GUI/GUI_V3.py | 1146 ++ 9_Firmware/9_3_GUI/GUI_V4.py | 1427 ++ 9_Firmware/9_3_GUI/GUI_V4_2_CSV.py | 678 + 9_Firmware/9_3_GUI/GUI_V5.py | 1542 ++ 9_Firmware/9_3_GUI/GUI_V5_Demo.py | 1356 ++ 9_Firmware/9_3_GUI/GUI_versions.txt | 6 + 9_Firmware/9_3_GUI/test_radar_data.csv | 16385 ++++++++++++++++ 99 files changed, 52953 insertions(+) create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ADAR1000_Manager.cpp create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ADAR1000_Manager.h create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ADS7830.H create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ADS7830.c create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/BMP180.cpp create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/BMP180.h create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/DA5578.c create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/DAC5578.H create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/GY_85_HAL.c create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/GY_85_HAL.h create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/RadarSettings.cpp create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/RadarSettings.h create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/TinyGPS++.cpp create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/TinyGPS++.h create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/TinyGPSPlus.h create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/USBHandler.cpp create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/USBHandler.h create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ad9523.c create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ad9523.h create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/adar1000.c create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/adar1000.h create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/adf4382.c create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/adf4382.h create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/adf4382a_manager.c create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/adf4382a_manager.h create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/errno.h create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/gps_handler.cpp create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/gps_handler.h create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/platform_noos_stm32.H create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/platform_noos_stm32.c create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_delay.c create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_delay.h create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_dma.c create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_dma.h create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_gpio.c create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_gpio.h create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_gpio_irq.c create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_gpio_irq.h create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_hal.h create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_i2c.c create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_i2c.h create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_irq.c create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_irq.h create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_pwm.c create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_pwm.h create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_spi.c create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_spi.h create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_timer.c create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_timer.h create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_uart.c create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_uart.h create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32f7xx_hal_conf.h create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32f7xx_hal_msp.c create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32f7xx_it.c create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32f7xx_it.h create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/syscalls.c create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/sysmem.c create mode 100644 9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/system_stm32f7xx.c create mode 100644 9_Firmware/9_1_Microcontroller/9_1_2_C_Cpp_Algorithms/STM32_ALGO.docx create mode 100644 9_Firmware/9_1_Microcontroller/9_1_3_C_Cpp_Code/main.cpp create mode 100644 9_Firmware/9_1_Microcontroller/9_1_3_C_Cpp_Code/main.h create mode 100644 9_Firmware/9_2_FPGA/ad9484_interface_400m.v create mode 100644 9_Firmware/9_2_FPGA/cdc_modules.v create mode 100644 9_Firmware/9_2_FPGA/chirp_lut_init.v create mode 100644 9_Firmware/9_2_FPGA/chirp_memory_loader_param.v create mode 100644 9_Firmware/9_2_FPGA/cic_decimator_4x_enhanced.v create mode 100644 9_Firmware/9_2_FPGA/dac_interface_single.v create mode 100644 9_Firmware/9_2_FPGA/ddc_400m.v create mode 100644 9_Firmware/9_2_FPGA/ddc_input_interface.v create mode 100644 9_Firmware/9_2_FPGA/doppler_processor.v create mode 100644 9_Firmware/9_2_FPGA/edge_detector.v create mode 100644 9_Firmware/9_2_FPGA/fft_1024_forward.v create mode 100644 9_Firmware/9_2_FPGA/fft_1024_inverse.v create mode 100644 9_Firmware/9_2_FPGA/fir_lowpass.v create mode 100644 9_Firmware/9_2_FPGA/frequency_matched_filter.v create mode 100644 9_Firmware/9_2_FPGA/latency_buffer_2159.v create mode 100644 9_Firmware/9_2_FPGA/long_chirp_seg0_i.mem create mode 100644 9_Firmware/9_2_FPGA/long_chirp_seg0_q.mem create mode 100644 9_Firmware/9_2_FPGA/long_chirp_seg1_i.mem create mode 100644 9_Firmware/9_2_FPGA/long_chirp_seg1_q.mem create mode 100644 9_Firmware/9_2_FPGA/long_chirp_seg2_i.mem create mode 100644 9_Firmware/9_2_FPGA/long_chirp_seg2_q.mem create mode 100644 9_Firmware/9_2_FPGA/lvds_to_cmos_400m.v create mode 100644 9_Firmware/9_2_FPGA/matched_filter_multi_segment.v create mode 100644 9_Firmware/9_2_FPGA/nco_400m_enhanced.v create mode 100644 9_Firmware/9_2_FPGA/plfm_chirp_controller.v create mode 100644 9_Firmware/9_2_FPGA/radar_receiver_final.v create mode 100644 9_Firmware/9_2_FPGA/radar_transmitter.v create mode 100644 9_Firmware/9_2_FPGA/short_chirp_i.mem create mode 100644 9_Firmware/9_2_FPGA/short_chirp_q.mem create mode 100644 9_Firmware/9_3_GUI/GUI_V1.py create mode 100644 9_Firmware/9_3_GUI/GUI_V2.py create mode 100644 9_Firmware/9_3_GUI/GUI_V3.py create mode 100644 9_Firmware/9_3_GUI/GUI_V4.py create mode 100644 9_Firmware/9_3_GUI/GUI_V4_2_CSV.py create mode 100644 9_Firmware/9_3_GUI/GUI_V5.py create mode 100644 9_Firmware/9_3_GUI/GUI_V5_Demo.py create mode 100644 9_Firmware/9_3_GUI/GUI_versions.txt create mode 100644 9_Firmware/9_3_GUI/test_radar_data.csv diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ADAR1000_Manager.cpp b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ADAR1000_Manager.cpp new file mode 100644 index 0000000..cc969b7 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ADAR1000_Manager.cpp @@ -0,0 +1,757 @@ +// ADAR1000_Manager.cpp +#include "main.h" +#include "stm32f7xx_hal.h" +#include "ADAR1000_Manager.h" +#include +#include + +extern SPI_HandleTypeDef hspi1; +extern UART_HandleTypeDef huart3; + +// Chip Select GPIO definitions +static const struct { + GPIO_TypeDef* port; + uint16_t pin; +} CHIP_SELECTS[4] = { + {GPIOA, GPIO_PIN_0}, // ADAR1000 #1 + {GPIOA, GPIO_PIN_1}, // ADAR1000 #2 + {GPIOA, GPIO_PIN_2}, // ADAR1000 #3 + {GPIOA, GPIO_PIN_3} // ADAR1000 #4 +}; + +// Vector Modulator lookup tables +const uint8_t ADAR1000Manager::VM_I[128] = { + // ... (same as in your original file) +}; + +const uint8_t ADAR1000Manager::VM_Q[128] = { + // ... (same as in your original file) +}; + +const uint8_t ADAR1000Manager::VM_GAIN[128] = { + // ... (same as in your original file) +}; + +ADAR1000Manager::ADAR1000Manager() { + for (int i = 0; i < 4; ++i) { + devices_.push_back(std::make_unique(i)); + } +} + +ADAR1000Manager::~ADAR1000Manager() { + // Automatic cleanup by unique_ptr +} + +// System Management +bool ADAR1000Manager::powerUpSystem() { + const uint8_t msg[] = "Starting System Power-Up Sequence...\r\n"; + HAL_UART_Transmit(&huart3, msg, sizeof(msg) - 1, 1000); + + // Power-up sequence steps... + HAL_GPIO_WritePin(EN_P_3V3_VDD_SW_GPIO_Port, EN_P_3V3_VDD_SW_Pin, GPIO_PIN_SET); + HAL_Delay(2); + + HAL_GPIO_WritePin(EN_P_3V3_SW_GPIO_Port, EN_P_3V3_SW_Pin, GPIO_PIN_SET); + HAL_Delay(2); + + // Initialize devices + if (!initializeAllDevices()) { + const uint8_t err[] = "ERROR: ADAR1000 initialization failed!\r\n"; + HAL_UART_Transmit(&huart3, err, sizeof(err) - 1, 1000); + return false; + } + + // Start in RX mode + switchToRXMode(); + + const uint8_t success[] = "System Power-Up Sequence Completed Successfully.\r\n"; + HAL_UART_Transmit(&huart3, success, sizeof(success) - 1, 1000); + return true; +} + +bool ADAR1000Manager::powerDownSystem() { + switchToRXMode(); + HAL_Delay(10); + + disablePASupplies(); + disableLNASupplies(); + HAL_GPIO_WritePin(EN_P_3V3_SW_GPIO_Port, EN_P_3V3_SW_Pin, GPIO_PIN_RESET); + HAL_GPIO_WritePin(EN_P_3V3_VDD_SW_GPIO_Port, EN_P_3V3_VDD_SW_Pin, GPIO_PIN_RESET); + + return true; +} + +// Mode Switching +void ADAR1000Manager::switchToTXMode() { + setLNABias(false); + delayUs(10); + enablePASupplies(); + delayUs(100); + setPABias(true); + delayUs(50); + setADTR1107Control(true); + + for (uint8_t dev = 0; dev < devices_.size(); ++dev) { + adarWrite(dev, REG_RX_ENABLES, 0x00, BROADCAST_OFF); + adarWrite(dev, REG_TX_ENABLES, 0x0F, BROADCAST_OFF); + adarSetTxBias(dev, BROADCAST_OFF); + devices_[dev]->current_mode = BeamDirection::TX; + } + current_mode_ = BeamDirection::TX; +} + +void ADAR1000Manager::switchToRXMode() { + setPABias(false); + delayUs(50); + disablePASupplies(); + delayUs(10); + setADTR1107Control(false); + enableLNASupplies(); + delayUs(50); + setLNABias(true); + delayUs(50); + + for (uint8_t dev = 0; dev < devices_.size(); ++dev) { + adarWrite(dev, REG_TX_ENABLES, 0x00, BROADCAST_OFF); + adarWrite(dev, REG_RX_ENABLES, 0x0F, BROADCAST_OFF); + devices_[dev]->current_mode = BeamDirection::RX; + } + current_mode_ = BeamDirection::RX; +} + +void ADAR1000Manager::fastTXMode() { + setADTR1107Control(true); + for (uint8_t dev = 0; dev < devices_.size(); ++dev) { + adarWrite(dev, REG_RX_ENABLES, 0x00, BROADCAST_OFF); + adarWrite(dev, REG_TX_ENABLES, 0x0F, BROADCAST_OFF); + devices_[dev]->current_mode = BeamDirection::TX; + } + current_mode_ = BeamDirection::TX; +} + +void ADAR1000Manager::fastRXMode() { + setADTR1107Control(false); + for (uint8_t dev = 0; dev < devices_.size(); ++dev) { + adarWrite(dev, REG_TX_ENABLES, 0x00, BROADCAST_OFF); + adarWrite(dev, REG_RX_ENABLES, 0x0F, BROADCAST_OFF); + devices_[dev]->current_mode = BeamDirection::RX; + } + current_mode_ = BeamDirection::RX; +} + +void ADAR1000Manager::pulseTXMode() { + setADTR1107Control(true); + last_switch_time_us_ = HAL_GetTick() * 1000; +} + +void ADAR1000Manager::pulseRXMode() { + setADTR1107Control(false); + last_switch_time_us_ = HAL_GetTick() * 1000; +} + +// Beam Steering +bool ADAR1000Manager::setBeamAngle(float angle_degrees, BeamDirection direction) { + uint8_t phase_settings[4]; + calculatePhaseSettings(angle_degrees, phase_settings); + + if (direction == BeamDirection::TX) { + setAllDevicesTXMode(); + } else { + setAllDevicesRXMode(); + } + + for (uint8_t dev = 0; dev < devices_.size(); ++dev) { + for (uint8_t ch = 0; ch < 4; ++ch) { + if (direction == BeamDirection::TX) { + adarSetTxPhase(dev, ch + 1, phase_settings[ch], BROADCAST_OFF); + adarSetTxVgaGain(dev, ch + 1, 0x7F, BROADCAST_OFF); + } else { + adarSetRxPhase(dev, ch + 1, phase_settings[ch], BROADCAST_OFF); + adarSetRxVgaGain(dev, ch + 1, 30, BROADCAST_OFF); + } + } + } + return true; +} + +bool ADAR1000Manager::setCustomBeamPattern(const uint8_t phase_settings[4], const uint8_t gain_settings[4], BeamDirection direction) { + for (uint8_t dev = 0; dev < devices_.size(); ++dev) { + for (uint8_t ch = 0; ch < 4; ++ch) { + if (direction == BeamDirection::TX) { + adarSetTxPhase(dev, ch + 1, phase_settings[ch], BROADCAST_OFF); + adarSetTxVgaGain(dev, ch + 1, gain_settings[ch], BROADCAST_OFF); + } else { + adarSetRxPhase(dev, ch + 1, phase_settings[ch], BROADCAST_OFF); + adarSetRxVgaGain(dev, ch + 1, gain_settings[ch], BROADCAST_OFF); + } + } + } + return true; +} + +// Beam Sweeping +void ADAR1000Manager::startBeamSweeping() { + beam_sweeping_active_ = true; + current_beam_index_ = 0; + last_beam_update_time_ = HAL_GetTick(); +} + +void ADAR1000Manager::stopBeamSweeping() { + beam_sweeping_active_ = false; +} + +void ADAR1000Manager::updateBeamPosition() { + if (!beam_sweeping_active_) return; + + uint32_t current_time = HAL_GetTick(); + const std::vector& sequence = + (current_mode_ == BeamDirection::TX) ? tx_beam_sequence_ : rx_beam_sequence_; + + if (sequence.empty()) return; + + if (current_time - last_beam_update_time_ >= beam_dwell_time_ms_) { + const BeamConfig& beam = sequence[current_beam_index_]; + setCustomBeamPattern(beam.phase_settings, beam.gain_settings, current_mode_); + + current_beam_index_ = (current_beam_index_ + 1) % sequence.size(); + last_beam_update_time_ = current_time; + } +} + +void ADAR1000Manager::setBeamSequence(const std::vector& sequence, BeamDirection direction) { + if (direction == BeamDirection::TX) { + tx_beam_sequence_ = sequence; + } else { + rx_beam_sequence_ = sequence; + } +} + +void ADAR1000Manager::clearBeamSequence(BeamDirection direction) { + if (direction == BeamDirection::TX) { + tx_beam_sequence_.clear(); + } else { + rx_beam_sequence_.clear(); + } +} + +// Monitoring and Diagnostics +float ADAR1000Manager::readTemperature(uint8_t deviceIndex) { + if (deviceIndex >= devices_.size() || !devices_[deviceIndex]->initialized) { + return -273.15f; + } + + uint8_t temp_raw = adarAdcRead(deviceIndex, BROADCAST_OFF); + return (temp_raw * 0.5f) - 50.0f; +} + +bool ADAR1000Manager::verifyDeviceCommunication(uint8_t deviceIndex) { + if (deviceIndex >= devices_.size()) return false; + + uint8_t test_value = 0xA5; + adarWrite(deviceIndex, REG_SCRATCHPAD, test_value, BROADCAST_OFF); + HAL_Delay(1); + uint8_t readback = adarRead(deviceIndex, REG_SCRATCHPAD); + return (readback == test_value); +} + +uint8_t ADAR1000Manager::readRegister(uint8_t deviceIndex, uint32_t address) { + return adarRead(deviceIndex, address); +} + +void ADAR1000Manager::writeRegister(uint8_t deviceIndex, uint32_t address, uint8_t value) { + adarWrite(deviceIndex, address, value, BROADCAST_OFF); +} + +// Configuration +void ADAR1000Manager::setSwitchSettlingTime(uint32_t us) { + switch_settling_time_us_ = us; +} + +void ADAR1000Manager::setFastSwitchMode(bool enable) { + fast_switch_mode_ = enable; + if (enable) { + switch_settling_time_us_ = 10; + enablePASupplies(); + enableLNASupplies(); + setPABias(true); + setLNABias(true); + } else { + switch_settling_time_us_ = 50; + } +} + +void ADAR1000Manager::setBeamDwellTime(uint32_t ms) { + beam_dwell_time_ms_ = ms; +} + +// Private helper methods (implementation continues...) +// ... include all the private method implementations from your original file +// ============================================================================ +// PRIVATE HELPER METHODS - Add these to the end of ADAR1000_Manager.cpp +// ============================================================================ + +bool ADAR1000Manager::initializeAllDevices() { + + + // Initialize each ADAR1000 + for (uint8_t i = 0; i < devices_.size(); ++i) { + if (!initializeSingleDevice(i)) { + return false; + } + } + + setAllDevicesTXMode(); + return true; +} + +bool ADAR1000Manager::initializeSingleDevice(uint8_t deviceIndex) { + if (deviceIndex >= devices_.size()) return false; + + adarSoftReset(deviceIndex); + HAL_Delay(10); + + adarWriteConfigA(deviceIndex, INTERFACE_CONFIG_A_SDO_ACTIVE, BROADCAST_OFF); + adarSetRamBypass(deviceIndex, BROADCAST_OFF); + + // Initialize ADC + adarWrite(deviceIndex, REG_ADC_CONTROL, ADAR1000_ADC_2MHZ_CLK | ADAR1000_ADC_EN, BROADCAST_OFF); + + devices_[deviceIndex]->initialized = true; + return true; +} + +bool ADAR1000Manager::initializeADTR1107Sequence() { + + //Powering up ADTR1107 TX mode + const uint8_t msg[] = "Starting ADTR1107 Power Sequence...\r\n"; + HAL_UART_Transmit(&huart3, msg, sizeof(msg) - 1, 1000); + + // Step 1: Connect all GND pins to ground (assumed in hardware) + + // Step 2: Set VDD_SW to 3.3V + HAL_GPIO_WritePin(GPIOE, GPIO_PIN_15, GPIO_PIN_SET); // EN_P_3V3_VDD_SW + HAL_Delay(1); + + // Step 3: Set VSS_SW to -3.3V + HAL_GPIO_WritePin(GPIOE, GPIO_PIN_14, GPIO_PIN_SET); // EN_P_3V3_SW + HAL_Delay(1); + + // Step 4: Set CTRL_SW to RX mode initially via GPIO + setADTR1107Control(false); // RX mode + HAL_Delay(1); + + // Step 5: Set VGG_LNA to 0 + uint8_t lna_bias_voltage = 0x00; // Example value, adjust based on your LNA requirements + for (uint8_t dev = 0; dev < devices_.size(); ++dev) { + adarWrite(dev, REG_LNA_BIAS_ON, lna_bias_voltage, BROADCAST_OFF); + adarWrite(dev, REG_LNA_BIAS_OFF, 0x00, BROADCAST_OFF); + } + + // Step 6: Set VDD_LNA to 0V for TX mode + HAL_GPIO_WritePin(GPIOE, GPIO_PIN_13, GPIO_PIN_RESET); // EN_P_3V3_LNA + HAL_Delay(2); + + // Step 7: Set VGG_PA to safe negative voltage (PA off for TX mode) + /*A 0x00 value in the + on or off bias registers, correspond to a 0 V output. A 0xFF in the + on or off bias registers correspond to a −4.8 V output.*/ + uint8_t safe_pa_bias = 0x5D; // Safe negative voltage (-1.75V) to keep PA off + for (uint8_t dev = 0; dev < devices_.size(); ++dev) { + adarWrite(dev, REG_PA_CH1_BIAS_ON, safe_pa_bias, BROADCAST_OFF); + adarWrite(dev, REG_PA_CH2_BIAS_ON, safe_pa_bias, BROADCAST_OFF); + adarWrite(dev, REG_PA_CH3_BIAS_ON, safe_pa_bias, BROADCAST_OFF); + adarWrite(dev, REG_PA_CH4_BIAS_ON, safe_pa_bias, BROADCAST_OFF); + } + HAL_Delay(10); + + // Step 8: Set VDD_PA to 0V (PA powered up for TX mode) + HAL_GPIO_WritePin(GPIOG, GPIO_PIN_0, GPIO_PIN_SET); // EN_P_5V0_PA + HAL_GPIO_WritePin(GPIOG, GPIO_PIN_1, GPIO_PIN_SET); + HAL_GPIO_WritePin(GPIOG, GPIO_PIN_2, GPIO_PIN_SET); + HAL_Delay(50); + + // Step 9: Adjust VGG_PA voltage between −1.75 V and −0.25 V to achieve the desired IDQ_PA=220mA + //Set VGG_PA to safe negative voltage (PA off for TX mode) + /*A 0x00 value in the + on or off bias registers, correspond to a 0 V output. A 0xFF in the + on or off bias registers correspond to a −4.8 V output.*/ + uint8_t Idq_pa_bias = 0x0D; // Safe negative voltage (-0.2447V) to keep PA off + for (uint8_t dev = 0; dev < devices_.size(); ++dev) { + adarWrite(dev, REG_PA_CH1_BIAS_ON, Idq_pa_bias, BROADCAST_OFF); + adarWrite(dev, REG_PA_CH2_BIAS_ON, Idq_pa_bias, BROADCAST_OFF); + adarWrite(dev, REG_PA_CH3_BIAS_ON, Idq_pa_bias, BROADCAST_OFF); + adarWrite(dev, REG_PA_CH4_BIAS_ON, Idq_pa_bias, BROADCAST_OFF); + } + HAL_Delay(10); + + + const uint8_t success[] = "ADTR1107 power sequence completed.\r\n"; + HAL_UART_Transmit(&huart3, success, sizeof(success) - 1, 1000); + + return true; +} + +bool ADAR1000Manager::setAllDevicesTXMode() { + // Set ADTR1107 to TX mode first + setADTR1107Mode(BeamDirection::TX); + + // Then configure ADAR1000 for TX + for (uint8_t dev = 0; dev < devices_.size(); ++dev) { + // Disable RX first + adarWrite(dev, REG_RX_ENABLES, 0x00, BROADCAST_OFF); + + // Enable TX channels and set bias + adarWrite(dev, REG_TX_ENABLES, 0x0F, BROADCAST_OFF); // Enable all 4 channels + adarSetTxBias(dev, BROADCAST_OFF); + + devices_[dev]->current_mode = BeamDirection::TX; + } + current_mode_ = BeamDirection::TX; + return true; +} + +bool ADAR1000Manager::setAllDevicesRXMode() { + // Set ADTR1107 to RX mode first + setADTR1107Mode(BeamDirection::RX); + + // Then configure ADAR1000 for RX + for (uint8_t dev = 0; dev < devices_.size(); ++dev) { + // Disable TX first + adarWrite(dev, REG_TX_ENABLES, 0x00, BROADCAST_OFF); + + // Enable RX channels + adarWrite(dev, REG_RX_ENABLES, 0x0F, BROADCAST_OFF); // Enable all 4 channels + + devices_[dev]->current_mode = BeamDirection::RX; + } + current_mode_ = BeamDirection::RX; + return true; +} + +void ADAR1000Manager::setADTR1107Mode(BeamDirection direction) { + if (direction == BeamDirection::TX) { + setADTR1107Control(true); // TX mode + + // Step 1: Disable LNA power first + HAL_GPIO_WritePin(GPIOE, GPIO_PIN_13, GPIO_PIN_RESET); // Disable LNA power + HAL_Delay(5); + + // Step 2: Set LNA bias to safe off value + for (uint8_t dev = 0; dev < devices_.size(); ++dev) { + adarWrite(dev, REG_LNA_BIAS_ON, 0x00, BROADCAST_OFF); // Turn off LNA bias + } + HAL_Delay(5); + + // Step 3: Enable PA power + HAL_GPIO_WritePin(GPIOG, GPIO_PIN_0, GPIO_PIN_SET); // EN_P_5V0_PA + HAL_GPIO_WritePin(GPIOG, GPIO_PIN_1, GPIO_PIN_SET); + HAL_GPIO_WritePin(GPIOG, GPIO_PIN_2, GPIO_PIN_SET); + HAL_Delay(10); + + // Step 4: Set PA bias to operational value + uint8_t operational_pa_bias = 0x7F; // Maximum bias for full power + for (uint8_t dev = 0; dev < devices_.size(); ++dev) { + adarWrite(dev, REG_PA_CH1_BIAS_ON, operational_pa_bias, BROADCAST_OFF); + adarWrite(dev, REG_PA_CH2_BIAS_ON, operational_pa_bias, BROADCAST_OFF); + adarWrite(dev, REG_PA_CH3_BIAS_ON, operational_pa_bias, BROADCAST_OFF); + adarWrite(dev, REG_PA_CH4_BIAS_ON, operational_pa_bias, BROADCAST_OFF); + } + HAL_Delay(5); + + // Step 5: Set TR switch to TX mode + for (uint8_t dev = 0; dev < devices_.size(); ++dev) { + adarSetBit(dev, REG_SW_CONTROL, 2, BROADCAST_OFF); // TR_SOURCE = 1 (TX) + adarSetBit(dev, REG_MISC_ENABLES, 5, BROADCAST_OFF); // BIAS_EN + } + + } else { + // RECEIVE MODE: Enable LNA, Disable PA + setADTR1107Control(false); // RX mode + + // Step 1: Disable PA power first + HAL_GPIO_WritePin(GPIOG, GPIO_PIN_0, GPIO_PIN_RESET); // EN_P_5V0_PA + HAL_GPIO_WritePin(GPIOG, GPIO_PIN_1, GPIO_PIN_RESET); + HAL_GPIO_WritePin(GPIOG, GPIO_PIN_2, GPIO_PIN_RESET); + HAL_Delay(5); + + // Step 2: Set PA bias to safe negative voltage + uint8_t safe_pa_bias = 0x20; + for (uint8_t dev = 0; dev < devices_.size(); ++dev) { + adarWrite(dev, REG_PA_CH1_BIAS_ON, safe_pa_bias, BROADCAST_OFF); + adarWrite(dev, REG_PA_CH2_BIAS_ON, safe_pa_bias, BROADCAST_OFF); + adarWrite(dev, REG_PA_CH3_BIAS_ON, safe_pa_bias, BROADCAST_OFF); + adarWrite(dev, REG_PA_CH4_BIAS_ON, safe_pa_bias, BROADCAST_OFF); + } + HAL_Delay(5); + + // Step 3: Enable LNA power + HAL_GPIO_WritePin(GPIOE, GPIO_PIN_13, GPIO_PIN_SET); // EN_P_3V3_LNA + HAL_Delay(10); + + // Step 4: Set LNA bias to operational value + uint8_t operational_lna_bias = 0x30; // Adjust based on your LNA requirements + for (uint8_t dev = 0; dev < devices_.size(); ++dev) { + adarWrite(dev, REG_LNA_BIAS_ON, operational_lna_bias, BROADCAST_OFF); + } + HAL_Delay(5); + + // Step 5: Set TR switch to RX mode + for (uint8_t dev = 0; dev < devices_.size(); ++dev) { + adarResetBit(dev, REG_SW_CONTROL, 2, BROADCAST_OFF); // TR_SOURCE = 0 (RX) + adarSetBit(dev, REG_MISC_ENABLES, 4, BROADCAST_OFF); // LNA_BIAS_OUT_EN + } + } +} + +void ADAR1000Manager::setADTR1107Control(bool tx_mode) { + for (uint8_t dev = 0; dev < devices_.size(); ++dev) { + setTRSwitchPosition(dev, tx_mode); + } + delayUs(switch_settling_time_us_); +} + +void ADAR1000Manager::setTRSwitchPosition(uint8_t deviceIndex, bool tx_mode) { + if (tx_mode) { + // TX mode: Set TR_SOURCE = 1 + adarSetBit(deviceIndex, REG_SW_CONTROL, 2, BROADCAST_OFF); + } else { + // RX mode: Set TR_SOURCE = 0 + adarResetBit(deviceIndex, REG_SW_CONTROL, 2, BROADCAST_OFF); + } +} + +// Add the new public method +bool ADAR1000Manager::setCustomBeamPattern16(const uint8_t phase_pattern[16], BeamDirection direction) { + for (uint8_t dev = 0; dev < 4; ++dev) { + for (uint8_t ch = 0; ch < 4; ++ch) { + uint8_t phase = phase_pattern[dev * 4 + ch]; + if (direction == BeamDirection::TX) { + adarSetTxPhase(dev, ch + 1, phase, BROADCAST_OFF); + } else { + adarSetRxPhase(dev, ch + 1, phase, BROADCAST_OFF); + } + } + } + return true; +} + +void ADAR1000Manager::enablePASupplies() { + HAL_GPIO_WritePin(GPIOG, GPIO_PIN_0, GPIO_PIN_SET); // EN_P_5V0_PA + HAL_GPIO_WritePin(GPIOG, GPIO_PIN_1, GPIO_PIN_SET); + HAL_GPIO_WritePin(GPIOG, GPIO_PIN_2, GPIO_PIN_SET); +} + +void ADAR1000Manager::disablePASupplies() { + HAL_GPIO_WritePin(GPIOG, GPIO_PIN_0, GPIO_PIN_RESET); // EN_P_5V0_PA + HAL_GPIO_WritePin(GPIOG, GPIO_PIN_1, GPIO_PIN_RESET); + HAL_GPIO_WritePin(GPIOG, GPIO_PIN_2, GPIO_PIN_RESET); +} + +void ADAR1000Manager::enableLNASupplies() { + HAL_GPIO_WritePin(GPIOE, GPIO_PIN_13, GPIO_PIN_SET); // EN_P_3V3_LNA +} + +void ADAR1000Manager::disableLNASupplies() { + HAL_GPIO_WritePin(GPIOE, GPIO_PIN_13, GPIO_PIN_RESET); // EN_P_3V3_LNA +} + +void ADAR1000Manager::setPABias(bool enable) { + uint8_t pa_bias = enable ? 0x7F : 0x20; // Operational vs safe bias + + for (uint8_t dev = 0; dev < devices_.size(); ++dev) { + adarWrite(dev, REG_PA_CH1_BIAS_ON, pa_bias, BROADCAST_OFF); + adarWrite(dev, REG_PA_CH2_BIAS_ON, pa_bias, BROADCAST_OFF); + adarWrite(dev, REG_PA_CH3_BIAS_ON, pa_bias, BROADCAST_OFF); + adarWrite(dev, REG_PA_CH4_BIAS_ON, pa_bias, BROADCAST_OFF); + } +} + +void ADAR1000Manager::setLNABias(bool enable) { + uint8_t lna_bias = enable ? 0x30 : 0x00; // Operational vs off + + for (uint8_t dev = 0; dev < devices_.size(); ++dev) { + adarWrite(dev, REG_LNA_BIAS_ON, lna_bias, BROADCAST_OFF); + } +} + +void ADAR1000Manager::delayUs(uint32_t microseconds) { + // Simple implementation - for F7 @ 216MHz, each loop ~7 cycles ≈ 0.032us + volatile uint32_t cycles = microseconds * 10; // Adjust this multiplier for your clock + while (cycles--) { + __NOP(); + } +} + +void ADAR1000Manager::calculatePhaseSettings(float angle_degrees, uint8_t phase_settings[4]) { + const float freq = 10.5e9; + const float c = 3e8; + const float wavelength = c / freq; + const float element_spacing = wavelength / 2; + + float angle_rad = angle_degrees * M_PI / 180.0; + float phase_shift = (2 * M_PI * element_spacing * sin(angle_rad)) / wavelength; + + for (int i = 0; i < 4; ++i) { + float element_phase = i * phase_shift; + while (element_phase < 0) element_phase += 2 * M_PI; + while (element_phase >= 2 * M_PI) element_phase -= 2 * M_PI; + phase_settings[i] = static_cast((element_phase / (2 * M_PI)) * 128); + } +} + +bool ADAR1000Manager::performSystemCalibration() { + for (uint8_t i = 0; i < devices_.size(); ++i) { + if (!verifyDeviceCommunication(i)) { + return false; + } + } + return true; +} + +// ============================================================================ +// LOW-LEVEL SPI COMMUNICATION METHODS +// ============================================================================ + +uint32_t ADAR1000Manager::spiTransfer(uint8_t* txData, uint8_t* rxData, uint32_t size) { + HAL_StatusTypeDef status; + + if (rxData) { + status = HAL_SPI_TransmitReceive(&hspi1, txData, rxData, size, 1000); + } else { + status = HAL_SPI_Transmit(&hspi1, txData, size, 1000); + } + + return (status == HAL_OK) ? size : 0; +} + +void ADAR1000Manager::setChipSelect(uint8_t deviceIndex, bool state) { + if (deviceIndex >= devices_.size()) return; + HAL_GPIO_WritePin(CHIP_SELECTS[deviceIndex].port, + CHIP_SELECTS[deviceIndex].pin, + state ? GPIO_PIN_RESET : GPIO_PIN_SET); +} + +void ADAR1000Manager::adarWrite(uint8_t deviceIndex, uint32_t mem_addr, uint8_t data, uint8_t broadcast) { + uint8_t instruction[3]; + + if (broadcast) { + instruction[0] = 0x08; + } else { + instruction[0] = ((devices_[deviceIndex]->dev_addr & 0x03) << 5); + } + + instruction[0] |= (0x1F00 & mem_addr) >> 8; + instruction[1] = (0xFF & mem_addr); + instruction[2] = data; + + setChipSelect(deviceIndex, true); + spiTransfer(instruction, nullptr, sizeof(instruction)); + setChipSelect(deviceIndex, false); +} + +uint8_t ADAR1000Manager::adarRead(uint8_t deviceIndex, uint32_t mem_addr) { + uint8_t instruction[3] = {0}; + uint8_t rx_buffer[3] = {0}; + + // Set SDO active + adarWrite(deviceIndex, REG_INTERFACE_CONFIG_A, INTERFACE_CONFIG_A_SDO_ACTIVE, 0); + + instruction[0] = 0x80 | ((devices_[deviceIndex]->dev_addr & 0x03) << 5); + instruction[0] |= ((0xff00 & mem_addr) >> 8); + instruction[1] = (0xff & mem_addr); + instruction[2] = 0x00; + + setChipSelect(deviceIndex, true); + spiTransfer(instruction, rx_buffer, sizeof(instruction)); + setChipSelect(deviceIndex, false); + + // Set SDO Inactive + adarWrite(deviceIndex, REG_INTERFACE_CONFIG_A, 0, 0); + + return rx_buffer[2]; +} + +void ADAR1000Manager::adarSetBit(uint8_t deviceIndex, uint32_t mem_addr, uint8_t bit, uint8_t broadcast) { + uint8_t temp = adarRead(deviceIndex, mem_addr); + uint8_t data = temp | (1 << bit); + adarWrite(deviceIndex, mem_addr, data, broadcast); +} + +void ADAR1000Manager::adarResetBit(uint8_t deviceIndex, uint32_t mem_addr, uint8_t bit, uint8_t broadcast) { + uint8_t temp = adarRead(deviceIndex, mem_addr); + uint8_t data = temp & ~(1 << bit); + adarWrite(deviceIndex, mem_addr, data, broadcast); +} + +void ADAR1000Manager::adarSoftReset(uint8_t deviceIndex) { + uint8_t instruction[3]; + instruction[0] = ((devices_[deviceIndex]->dev_addr & 0x03) << 5); + instruction[1] = 0x00; + instruction[2] = 0x81; + + setChipSelect(deviceIndex, true); + spiTransfer(instruction, nullptr, sizeof(instruction)); + setChipSelect(deviceIndex, false); +} + +void ADAR1000Manager::adarWriteConfigA(uint8_t deviceIndex, uint8_t flags, uint8_t broadcast) { + adarWrite(deviceIndex, REG_INTERFACE_CONFIG_A, flags, broadcast); +} + +void ADAR1000Manager::adarSetRamBypass(uint8_t deviceIndex, uint8_t broadcast) { + uint8_t data = (MEM_CTRL_BIAS_RAM_BYPASS | MEM_CTRL_BEAM_RAM_BYPASS); + adarWrite(deviceIndex, REG_MEM_CTL, data, broadcast); +} + +void ADAR1000Manager::adarSetRxPhase(uint8_t deviceIndex, uint8_t channel, uint8_t phase, uint8_t broadcast) { + uint8_t i_val = VM_I[phase % 128]; + uint8_t q_val = VM_Q[phase % 128]; + + uint32_t mem_addr_i = REG_CH1_RX_PHS_I + (channel & 0x03) * 2; + uint32_t mem_addr_q = REG_CH1_RX_PHS_Q + (channel & 0x03) * 2; + + adarWrite(deviceIndex, mem_addr_i, i_val, broadcast); + adarWrite(deviceIndex, mem_addr_q, q_val, broadcast); + adarWrite(deviceIndex, REG_LOAD_WORKING, 0x1, broadcast); +} + +void ADAR1000Manager::adarSetTxPhase(uint8_t deviceIndex, uint8_t channel, uint8_t phase, uint8_t broadcast) { + uint8_t i_val = VM_I[phase % 128]; + uint8_t q_val = VM_Q[phase % 128]; + + uint32_t mem_addr_i = REG_CH1_TX_PHS_I + (channel & 0x03) * 2; + uint32_t mem_addr_q = REG_CH1_TX_PHS_Q + (channel & 0x03) * 2; + + adarWrite(deviceIndex, mem_addr_i, i_val, broadcast); + adarWrite(deviceIndex, mem_addr_q, q_val, broadcast); + adarWrite(deviceIndex, REG_LOAD_WORKING, 0x1, broadcast); +} + +void ADAR1000Manager::adarSetRxVgaGain(uint8_t deviceIndex, uint8_t channel, uint8_t gain, uint8_t broadcast) { + uint32_t mem_addr = REG_CH1_RX_GAIN + (channel & 0x03); + adarWrite(deviceIndex, mem_addr, gain, broadcast); + adarWrite(deviceIndex, REG_LOAD_WORKING, 0x1, broadcast); +} + +void ADAR1000Manager::adarSetTxVgaGain(uint8_t deviceIndex, uint8_t channel, uint8_t gain, uint8_t broadcast) { + uint32_t mem_addr = REG_CH1_TX_GAIN + (channel & 0x03); + adarWrite(deviceIndex, mem_addr, gain, broadcast); + adarWrite(deviceIndex, REG_LOAD_WORKING, LD_WRK_REGS_LDTX_OVERRIDE, broadcast); +} + +void ADAR1000Manager::adarSetTxBias(uint8_t deviceIndex, uint8_t broadcast) { + adarWrite(deviceIndex, REG_BIAS_CURRENT_TX, 0x2D, broadcast); + adarWrite(deviceIndex, REG_BIAS_CURRENT_TX_DRV, 0x06, broadcast); + adarWrite(deviceIndex, REG_LOAD_WORKING, 0x2, broadcast); +} + +uint8_t ADAR1000Manager::adarAdcRead(uint8_t deviceIndex, uint8_t broadcast) { + adarWrite(deviceIndex, REG_ADC_CONTROL, ADAR1000_ADC_ST_CONV, broadcast); + + // Wait for conversion + while (!(adarRead(deviceIndex, REG_ADC_CONTROL) & 0x01)) { + // Busy wait + } + + return adarRead(deviceIndex, REG_ADC_OUT); +} diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ADAR1000_Manager.h b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ADAR1000_Manager.h new file mode 100644 index 0000000..165c5c5 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ADAR1000_Manager.h @@ -0,0 +1,222 @@ +// ADAR1000_Manager.h +#ifndef ADAR1000_MANAGER_H +#define ADAR1000_MANAGER_H + +#include "stm32f7xx_hal.h" +#include "main.h" + +#include +#include + +class ADAR1000Manager { +public: + enum class BeamDirection { + TX = 0, + RX = 1 + }; + + struct BeamConfig { + float angle_degrees; + uint8_t phase_settings[4]; + uint8_t gain_settings[4]; + uint32_t dwell_time_ms; + + BeamConfig() : angle_degrees(0), dwell_time_ms(100) { + for(int i = 0; i < 4; i++) { + phase_settings[i] = 0; + gain_settings[i] = 0x7F; + } + } + + BeamConfig(float angle, uint32_t dwell = 100) : angle_degrees(angle), dwell_time_ms(dwell) { + for(int i = 0; i < 4; i++) { + phase_settings[i] = 0; + gain_settings[i] = 0x7F; + } + } + }; + + ADAR1000Manager(); + ~ADAR1000Manager(); + + // System Management + bool powerUpSystem(); + bool powerDownSystem(); + bool initializeAllDevices(); + bool performSystemCalibration(); + + // Mode Switching + void switchToTXMode(); + void switchToRXMode(); + void fastTXMode(); + void fastRXMode(); + void pulseTXMode(); + void pulseRXMode(); + + // Beam Steering + bool setBeamAngle(float angle_degrees, BeamDirection direction); + bool setCustomBeamPattern(const uint8_t phase_settings[16], const uint8_t gain_settings[4], BeamDirection direction); + bool setCustomBeamPattern16(const uint8_t phase_pattern[16], BeamDirection direction); + + // Beam Sweeping + void startBeamSweeping(); + void stopBeamSweeping(); + void updateBeamPosition(); + void setBeamSequence(const std::vector& sequence, BeamDirection direction); + void clearBeamSequence(BeamDirection direction); + + // Device Control + bool setAllDevicesTXMode(); + bool setAllDevicesRXMode(); + void setADTR1107Mode(BeamDirection direction); + void setADTR1107Control(bool tx_mode); + + // Monitoring and Diagnostics + float readTemperature(uint8_t deviceIndex); + bool verifyDeviceCommunication(uint8_t deviceIndex); + uint8_t readRegister(uint8_t deviceIndex, uint32_t address); + void writeRegister(uint8_t deviceIndex, uint32_t address, uint8_t value); + + // Configuration + void setSwitchSettlingTime(uint32_t us); + void setFastSwitchMode(bool enable); + void setBeamDwellTime(uint32_t ms); + + // Getters + bool isBeamSweepingActive() const { return beam_sweeping_active_; } + uint8_t getCurrentBeamIndex() const { return current_beam_index_; } + BeamDirection getCurrentMode() const { return current_mode_; } + uint32_t getLastSwitchTime() const { return last_switch_time_us_; } + + struct ADAR1000Device { + uint8_t dev_addr; + bool initialized; + BeamDirection current_mode; + float temperature; + + ADAR1000Device(uint8_t addr) + : dev_addr(addr), initialized(false), current_mode(BeamDirection::RX), temperature(25.0f) { + } + }; + + // Configuration + bool fast_switch_mode_ = false; + uint32_t switch_settling_time_us_ = 50; + uint32_t beam_dwell_time_ms_ = 100; + uint32_t last_switch_time_us_ = 0; + + // Device Management + std::vector> devices_; + BeamDirection current_mode_ = BeamDirection::RX; + + // Beam Sweeping + std::vector tx_beam_sequence_; + std::vector rx_beam_sequence_; + uint8_t current_beam_index_ = 0; + bool beam_sweeping_active_ = false; + uint32_t last_beam_update_time_ = 0; + + // Lookup tables + static const uint8_t VM_I[128]; + static const uint8_t VM_Q[128]; + static const uint8_t VM_GAIN[128]; + + // Private Methods + bool initializeSingleDevice(uint8_t deviceIndex); + bool initializeADTR1107Sequence(); + void calculatePhaseSettings(float angle_degrees, uint8_t phase_settings[4]); + void delayUs(uint32_t microseconds); + + // Power Management + void enablePASupplies(); + void disablePASupplies(); + void enableLNASupplies(); + void disableLNASupplies(); + void setPABias(bool enable); + void setLNABias(bool enable); + + // SPI Communication + void setChipSelect(uint8_t deviceIndex, bool state); + uint32_t spiTransfer(uint8_t* txData, uint8_t* rxData, uint32_t size); + void adarWrite(uint8_t deviceIndex, uint32_t mem_addr, uint8_t data, uint8_t broadcast); + uint8_t adarRead(uint8_t deviceIndex, uint32_t mem_addr); + void adarSetBit(uint8_t deviceIndex, uint32_t mem_addr, uint8_t bit, uint8_t broadcast); + void adarResetBit(uint8_t deviceIndex, uint32_t mem_addr, uint8_t bit, uint8_t broadcast); + void adarSoftReset(uint8_t deviceIndex); + void adarWriteConfigA(uint8_t deviceIndex, uint8_t flags, uint8_t broadcast); + void adarSetRamBypass(uint8_t deviceIndex, uint8_t broadcast); + + // Channel Configuration + void adarSetRxPhase(uint8_t deviceIndex, uint8_t channel, uint8_t phase, uint8_t broadcast); + void adarSetTxPhase(uint8_t deviceIndex, uint8_t channel, uint8_t phase, uint8_t broadcast); + void adarSetRxVgaGain(uint8_t deviceIndex, uint8_t channel, uint8_t gain, uint8_t broadcast); + void adarSetTxVgaGain(uint8_t deviceIndex, uint8_t channel, uint8_t gain, uint8_t broadcast); + void adarSetTxBias(uint8_t deviceIndex, uint8_t broadcast); + uint8_t adarAdcRead(uint8_t deviceIndex, uint8_t broadcast); + void setTRSwitchPosition(uint8_t deviceIndex, bool tx_mode); + +private: + +}; + +// Register Definitions +#define BROADCAST_OFF 0 +#define BROADCAST_ON 1 + +#define REG_INTERFACE_CONFIG_A 0x000 +#define REG_SCRATCHPAD 0x00A +#define REG_CH1_RX_GAIN 0x010 +#define REG_CH2_RX_GAIN 0x011 +#define REG_CH3_RX_GAIN 0x012 +#define REG_CH4_RX_GAIN 0x013 +#define REG_CH1_RX_PHS_I 0x014 +#define REG_CH1_RX_PHS_Q 0x015 +#define REG_CH2_RX_PHS_I 0x016 +#define REG_CH2_RX_PHS_Q 0x017 +#define REG_CH3_RX_PHS_I 0x018 +#define REG_CH3_RX_PHS_Q 0x019 +#define REG_CH4_RX_PHS_I 0x01A +#define REG_CH4_RX_PHS_Q 0x01B +#define REG_CH1_TX_GAIN 0x01C +#define REG_CH2_TX_GAIN 0x01D +#define REG_CH3_TX_GAIN 0x01E +#define REG_CH4_TX_GAIN 0x01F +#define REG_CH1_TX_PHS_I 0x020 +#define REG_CH1_TX_PHS_Q 0x021 +#define REG_CH2_TX_PHS_I 0x022 +#define REG_CH2_TX_PHS_Q 0x023 +#define REG_CH3_TX_PHS_I 0x024 +#define REG_CH3_TX_PHS_Q 0x025 +#define REG_CH4_TX_PHS_I 0x026 +#define REG_CH4_TX_PHS_Q 0x027 +#define REG_LOAD_WORKING 0x028 +#define REG_PA_CH1_BIAS_ON 0x029 +#define REG_PA_CH2_BIAS_ON 0x02A +#define REG_PA_CH3_BIAS_ON 0x02B +#define REG_PA_CH4_BIAS_ON 0x02C +#define REG_LNA_BIAS_ON 0x02D +#define REG_RX_ENABLES 0x02E +#define REG_TX_ENABLES 0x02F +#define REG_MISC_ENABLES 0x030 +#define REG_SW_CONTROL 0x031 +#define REG_ADC_CONTROL 0x032 +#define REG_ADC_OUT 0x033 +#define REG_BIAS_CURRENT_TX 0x036 +#define REG_BIAS_CURRENT_TX_DRV 0x037 +#define REG_MEM_CTL 0x038 +#define REG_PA_CH1_BIAS_OFF 0x046 +#define REG_PA_CH2_BIAS_OFF 0x047 +#define REG_PA_CH3_BIAS_OFF 0x048 +#define REG_PA_CH4_BIAS_OFF 0x049 +#define REG_LNA_BIAS_OFF 0x04A + +// Register Constants +#define INTERFACE_CONFIG_A_SDO_ACTIVE ((1 << 4) | (1 << 3)) +#define ADAR1000_ADC_2MHZ_CLK 0x00 +#define ADAR1000_ADC_EN 0x60 +#define ADAR1000_ADC_ST_CONV 0x70 +#define MEM_CTRL_BIAS_RAM_BYPASS (1 << 5) +#define MEM_CTRL_BEAM_RAM_BYPASS (1 << 6) +#define LD_WRK_REGS_LDTX_OVERRIDE (1 << 1) + +#endif // ADAR1000_MANAGER_H diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ADS7830.H b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ADS7830.H new file mode 100644 index 0000000..5183c21 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ADS7830.H @@ -0,0 +1,86 @@ +#ifndef __ADS7830_H +#define __ADS7830_H + +#ifdef __cplusplus +extern "C" { +#endif + +#include "stm32f7xx_hal.h" +#include +#include + +/* I2C Address Definitions */ +#define ADS7830_DEFAULT_ADDRESS (0x48) // 1001 000 (ADDR = GND) +#define ADS7830_VDD_ADDRESS (0x49) // 1001 001 (ADDR = VDD) +#define ADS7830_SDA_ADDRESS (0x4A) // 1001 010 (ADDR = SDA) +#define ADS7830_SCL_ADDRESS (0x4B) // 1001 011 (ADDR = SCL) + +/* Conversion Delay (in ms) */ +#define ADS7830_CONVERSIONDELAY (1) + +/* Command Byte Register Masks */ +#define ADS7830_REG_COMMAND_SD_MASK (0x80) // Single-Ended/Differential Inputs +#define ADS7830_REG_COMMAND_SD_DIFF (0x00) // Bit = 0, Differential Inputs +#define ADS7830_REG_COMMAND_SD_SINGLE (0x80) // Bit = 1, Single-Ended Inputs + +#define ADS7830_REG_COMMAND_CH_MASK (0x70) // Input multiplexer Configuration +#define ADS7830_REG_COMMAND_CH_DIFF_0_1 (0x00) // Differential P = CH0, N = CH1 +#define ADS7830_REG_COMMAND_CH_DIFF_2_3 (0x10) // Differential P = CH2, N = CH3 +#define ADS7830_REG_COMMAND_CH_DIFF_4_5 (0x20) // Differential P = CH4, N = CH5 +#define ADS7830_REG_COMMAND_CH_DIFF_6_7 (0x30) // Differential P = CH6, N = CH7 +#define ADS7830_REG_COMMAND_CH_DIFF_1_0 (0x40) // Differential P = CH1, N = CH0 +#define ADS7830_REG_COMMAND_CH_DIFF_3_2 (0x50) // Differential P = CH3, N = CH2 +#define ADS7830_REG_COMMAND_CH_DIFF_5_4 (0x60) // Differential P = CH5, N = CH4 +#define ADS7830_REG_COMMAND_CH_DIFF_7_6 (0x70) // Differential P = CH7, N = CH6 +#define ADS7830_REG_COMMAND_CH_SINGLE_0 (0x00) // Single-ended P = CH0, N = COM +#define ADS7830_REG_COMMAND_CH_SINGLE_1 (0x10) // Single-ended P = CH1, N = COM +#define ADS7830_REG_COMMAND_CH_SINGLE_2 (0x20) // Single-ended P = CH2, N = COM +#define ADS7830_REG_COMMAND_CH_SINGLE_3 (0x30) // Single-ended P = CH3, N = COM +#define ADS7830_REG_COMMAND_CH_SINGLE_4 (0x40) // Single-ended P = CH4, N = COM +#define ADS7830_REG_COMMAND_CH_SINGLE_5 (0x50) // Single-ended P = CH5, N = COM +#define ADS7830_REG_COMMAND_CH_SINGLE_6 (0x60) // Single-ended P = CH6, N = COM +#define ADS7830_REG_COMMAND_CH_SINGLE_7 (0x70) // Single-ended P = CH7, N = COM + +#define ADS7830_REG_COMMAND_PD_MASK (0x0C) // Power-Down Selection +#define ADS7830_REG_COMMAND_PD_PDADCONV (0x00) // Power Down Between A/D Converter Conversions +#define ADS7830_REG_COMMAND_PD_IROFF_ADON (0x04) // Internal Reference OFF and A/D Converter ON +#define ADS7830_REG_COMMAND_PD_IRON_ADOFF (0x08) // Internal Reference ON and A/D Converter OFF +#define ADS7830_REG_COMMAND_PD_IRON_ADON (0x0C) // Internal Reference ON and A/D Converter ON + +/* Mode Enumerations */ +typedef enum { + ADS7830_SDMODE_DIFF = ADS7830_REG_COMMAND_SD_DIFF, + ADS7830_SDMODE_SINGLE = ADS7830_REG_COMMAND_SD_SINGLE +} ADS7830_SDMode_t; + +typedef enum { + ADS7830_PDADCONV = ADS7830_REG_COMMAND_PD_PDADCONV, + ADS7830_PDIROFF_ADON = ADS7830_REG_COMMAND_PD_IROFF_ADON, + ADS7830_PDIRON_ADOFF = ADS7830_REG_COMMAND_PD_IRON_ADOFF, + ADS7830_PDIRON_ADON = ADS7830_REG_COMMAND_PD_IRON_ADON +} ADS7830_PDMode_t; + +/* ADC Handle Structure */ +typedef struct { + I2C_HandleTypeDef *hi2c; + uint8_t i2c_addr; + ADS7830_SDMode_t sdmode; + ADS7830_PDMode_t pdmode; + uint8_t conversion_delay; + uint8_t last_conversion_result; +} ADS7830_HandleTypeDef; + +/* Function Prototypes */ +bool ADS7830_Init(ADS7830_HandleTypeDef *hadc, I2C_HandleTypeDef *hi2c, uint8_t i2c_addr, + ADS7830_SDMode_t sdmode, ADS7830_PDMode_t pdmode); +bool ADS7830_SetSDMode(ADS7830_HandleTypeDef *hadc, ADS7830_SDMode_t sdmode); +bool ADS7830_SetPDMode(ADS7830_HandleTypeDef *hadc, ADS7830_PDMode_t pdmode); +uint8_t ADS7830_Measure_SingleEnded(ADS7830_HandleTypeDef *hadc, uint8_t channel); +int8_t ADS7830_Measure_Differential(ADS7830_HandleTypeDef *hadc, uint8_t channel); +uint8_t ADS7830_GetLastConversionResult(ADS7830_HandleTypeDef *hadc); + +#ifdef __cplusplus +} +#endif + +#endif /* __ADS7830_H */ \ No newline at end of file diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ADS7830.c b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ADS7830.c new file mode 100644 index 0000000..9b1891e --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ADS7830.c @@ -0,0 +1,211 @@ +#include "ADS7830.h" +#include + +/** + * @brief Initialize the ADS7830 ADC + * @param hadc: pointer to an ADS7830_HandleTypeDef structure + * @param hi2c: pointer to an I2C_HandleTypeDef structure + * @param i2c_addr: I2C address of the ADC + * @param sdmode: Single-ended or differential mode + * @param pdmode: Power-down mode + * @retval bool: true if successful, false otherwise + */ +bool ADS7830_Init(ADS7830_HandleTypeDef *hadc, I2C_HandleTypeDef *hi2c, uint8_t i2c_addr, + ADS7830_SDMode_t sdmode, ADS7830_PDMode_t pdmode) { + + if (hadc == NULL || hi2c == NULL) { + return false; + } + + hadc->hi2c = hi2c; + hadc->i2c_addr = i2c_addr << 1; // HAL requires 7-bit address shifted left + hadc->sdmode = sdmode; + hadc->pdmode = pdmode; + hadc->conversion_delay = ADS7830_CONVERSIONDELAY; + hadc->last_conversion_result = 0; + + /* Test communication by reading from a channel */ + return (ADS7830_Measure_SingleEnded(hadc, 0) != 0xFF); // 0xFF indicates communication error +} + +/** + * @brief Set Single-Ended/Differential mode + * @param hadc: pointer to an ADS7830_HandleTypeDef structure + * @param sdmode: Single-ended or differential mode + * @retval bool: true if successful, false otherwise + */ +bool ADS7830_SetSDMode(ADS7830_HandleTypeDef *hadc, ADS7830_SDMode_t sdmode) { + if (hadc == NULL) { + return false; + } + + hadc->sdmode = sdmode; + return true; +} + +/** + * @brief Set Power-Down mode + * @param hadc: pointer to an ADS7830_HandleTypeDef structure + * @param pdmode: Power-down mode + * @retval bool: true if successful, false otherwise + */ +bool ADS7830_SetPDMode(ADS7830_HandleTypeDef *hadc, ADS7830_PDMode_t pdmode) { + if (hadc == NULL) { + return false; + } + + hadc->pdmode = pdmode; + return true; +} + +/** + * @brief Measure single-ended voltage on specified channel + * @param hadc: pointer to an ADS7830_HandleTypeDef structure + * @param channel: ADC channel (0-7) + * @retval uint8_t: 8-bit conversion result (0-255), 0xFF on error + */ +uint8_t ADS7830_Measure_SingleEnded(ADS7830_HandleTypeDef *hadc, uint8_t channel) { + if (hadc == NULL || channel > 7) { + return 0xFF; + } + + uint8_t config = 0; + + // Set Single-Ended/Differential Inputs + config |= hadc->sdmode; + + // Set Power-Down Selection + config |= hadc->pdmode; + + // Set single-ended input channel + switch (channel) { + case (0): + config |= ADS7830_REG_COMMAND_CH_SINGLE_0; + break; + case (1): + config |= ADS7830_REG_COMMAND_CH_SINGLE_1; + break; + case (2): + config |= ADS7830_REG_COMMAND_CH_SINGLE_2; + break; + case (3): + config |= ADS7830_REG_COMMAND_CH_SINGLE_3; + break; + case (4): + config |= ADS7830_REG_COMMAND_CH_SINGLE_4; + break; + case (5): + config |= ADS7830_REG_COMMAND_CH_SINGLE_5; + break; + case (6): + config |= ADS7830_REG_COMMAND_CH_SINGLE_6; + break; + case (7): + config |= ADS7830_REG_COMMAND_CH_SINGLE_7; + break; + default: + return 0xFF; + } + + // Write config register to the ADC + HAL_StatusTypeDef status = HAL_I2C_Master_Transmit(hadc->hi2c, hadc->i2c_addr, &config, 1, HAL_MAX_DELAY); + if (status != HAL_OK) { + return 0xFF; + } + + // Wait for the conversion to complete + HAL_Delay(hadc->conversion_delay); + + // Read the conversion results + uint8_t result = 0; + status = HAL_I2C_Master_Receive(hadc->hi2c, hadc->i2c_addr, &result, 1, HAL_MAX_DELAY); + if (status != HAL_OK) { + return 0xFF; + } + + hadc->last_conversion_result = result; + return result; +} + +/** + * @brief Measure differential voltage between specified channel pairs + * @param hadc: pointer to an ADS7830_HandleTypeDef structure + * @param channel: Channel pair (01, 10, 23, 32, 45, 54, 67, 76) + * @retval int8_t: 8-bit signed conversion result (-128 to 127), 0x80 on error + */ +int8_t ADS7830_Measure_Differential(ADS7830_HandleTypeDef *hadc, uint8_t channel) { + if (hadc == NULL) { + return (int8_t)0x80; + } + + uint8_t config = 0; + + // Set Single-Ended/Differential Inputs + config |= hadc->sdmode; + + // Set Power-Down Selection + config |= hadc->pdmode; + + // Set Differential input channel + switch (channel) { + case (01): + config |= ADS7830_REG_COMMAND_CH_DIFF_0_1; // CH0 = P, CH1 = N + break; + case (10): + config |= ADS7830_REG_COMMAND_CH_DIFF_1_0; // CH1 = P, CH0 = N + break; + case (23): + config |= ADS7830_REG_COMMAND_CH_DIFF_2_3; // CH2 = P, CH3 = N + break; + case (32): + config |= ADS7830_REG_COMMAND_CH_DIFF_3_2; // CH3 = P, CH2 = N + break; + case (45): + config |= ADS7830_REG_COMMAND_CH_DIFF_4_5; // CH4 = P, CH5 = N + break; + case (54): + config |= ADS7830_REG_COMMAND_CH_DIFF_5_4; // CH5 = P, CH4 = N + break; + case (67): + config |= ADS7830_REG_COMMAND_CH_DIFF_6_7; // CH6 = P, CH7 = N + break; + case (76): + config |= ADS7830_REG_COMMAND_CH_DIFF_7_6; // CH7 = P, CH6 = N + break; + default: + return (int8_t)0x80; + } + + // Write config register to the ADC + HAL_StatusTypeDef status = HAL_I2C_Master_Transmit(hadc->hi2c, hadc->i2c_addr, &config, 1, HAL_MAX_DELAY); + if (status != HAL_OK) { + return (int8_t)0x80; + } + + // Wait for the conversion to complete + HAL_Delay(hadc->conversion_delay); + + // Read the conversion results + uint8_t raw_adc = 0; + status = HAL_I2C_Master_Receive(hadc->hi2c, hadc->i2c_addr, &raw_adc, 1, HAL_MAX_DELAY); + if (status != HAL_OK) { + return (int8_t)0x80; + } + + // Convert to signed 8-bit value + int8_t result = (int8_t)raw_adc; + hadc->last_conversion_result = raw_adc; + return result; +} + +/** + * @brief Get the last conversion result + * @param hadc: pointer to an ADS7830_HandleTypeDef structure + * @retval uint8_t: Last conversion result + */ +uint8_t ADS7830_GetLastConversionResult(ADS7830_HandleTypeDef *hadc) { + if (hadc == NULL) { + return 0; + } + return hadc->last_conversion_result; +} \ No newline at end of file diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/BMP180.cpp b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/BMP180.cpp new file mode 100644 index 0000000..7603ad0 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/BMP180.cpp @@ -0,0 +1,462 @@ +/***************************************************************************************************/ +/* + This is an Arduino basic library for Bosch BMP180 & BMP085 barometric pressure & + temperature sensor + + Power supply voltage: 1.8v - 3.6v + Range: 30,000Pa..110,000Pa at -40°C..+85°C + Typ. resolution: 1Pa / 0.1°C + Typ. accuracy: ±100Pa* / ±1.0°C* at 0°C..+65°C + Typ. relative accuracy: ±12Pa / xx°C + Duty cycle: 10% active & 90% inactive, to prevent self heating + + *sensor is sensitive to direct light, which can affect + the accuracy of the measurement + + written by : enjoyneering79 + sourse code: https://github.com/enjoyneering/ + + + This chip uses I2C bus to communicate, specials pins are required to interface + Board: SDA SCL Level + Uno, Mini, Pro, ATmega168, ATmega328..... A4 A5 5v + Mega2560................................. 20 21 5v + Due, SAM3X8E............................. 20 21 3.3v + Leonardo, Micro, ATmega32U4.............. 2 3 5v + Digistump, Trinket, ATtiny85............. 0/physical pin no.5 2/physical pin no.7 5v + Blue Pill, STM32F103xxxx boards.......... PB7 PB6 3.3v/5v + ESP8266 ESP-01........................... GPIO0/D5 GPIO2/D3 3.3v/5v + NodeMCU 1.0, WeMos D1 Mini............... GPIO4/D2 GPIO5/D1 3.3v/5v + ESP32.................................... GPIO21/D21 GPIO22/D22 3.3v + + NOTE: + - EOC pin is not used, shows the end of conversion + - XCLR pin is not used, reset pin + + Frameworks & Libraries: + ATtiny Core - https://github.com/SpenceKonde/ATTinyCore + ESP32 Core - https://github.com/espressif/arduino-esp32 + ESP8266 Core - https://github.com/esp8266/Arduino + STM32 Core - https://github.com/rogerclarkmelbourne/Arduino_STM32 + + GNU GPL license, all text above must be included in any redistribution, + see link for details - https://www.gnu.org/licenses/licenses.html +*/ +/***************************************************************************************************/ + +#include "BMP180.h" + + +/**************************************************************************/ +/* + Constructor + + NOTE: + - BMP180_ULTRALOWPOWER, pressure oversampled 1 time & consumption 3μA + - BMP180_STANDARD, pressure oversampled 2 times & consumption 5μA + - BMP180_HIGHRES, pressure oversampled 4 times & consumption 7μA + - BMP180_ULTRAHIGHRES, pressure oversampled 8 times & consumption 12μA +*/ +/**************************************************************************/ +BMP180::BMP180(BMP180_RESOLUTION res_mode) +{ + _resolution = res_mode; +} + + +/**************************************************************************/ +/* + getPressure() + + Calculates compensated pressure, in Pa + + NOTE: + - resolutin 1Pa with accuracy ±150Pa at range 30,000Pa..110,000Pa +*/ +/**************************************************************************/ +int32_t BMP180::getPressure(void) +{ + int32_t UT = 0; + int32_t UP = 0; + int32_t B3 = 0; + int32_t B5 = 0; + int32_t B6 = 0; + int32_t X1 = 0; + int32_t X2 = 0; + int32_t X3 = 0; + int32_t pressure = 0; + uint32_t B4 = 0; + uint32_t B7 = 0; + + UT = readRawTemperature(); //read uncompensated temperature, 16-bit + if (UT == BMP180_ERROR) return BMP180_ERROR; //error handler, collision on i2c bus + + UP = readRawPressure(); //read uncompensated pressure, 19-bit + if (UP == BMP180_ERROR) return BMP180_ERROR; //error handler, collision on i2c bus + + B5 = computeB5(UT); + + /* pressure calculation */ + B6 = B5 - 4000; + X1 = ((int32_t)_calCoeff.bmpB2 * ((B6 * B6) >> 12)) >> 11; + X2 = ((int32_t)_calCoeff.bmpAC2 * B6) >> 11; + X3 = X1 + X2; + B3 = ((((int32_t)_calCoeff.bmpAC1 * 4 + X3) << _resolution) + 2) / 4; + + X1 = ((int32_t)_calCoeff.bmpAC3 * B6) >> 13; + X2 = ((int32_t)_calCoeff.bmpB1 * ((B6 * B6) >> 12)) >> 16; + X3 = ((X1 + X2) + 2) >> 2; + B4 = ((uint32_t)_calCoeff.bmpAC4 * (X3 + 32768L)) >> 15; + B7 = (UP - B3) * (50000UL >> _resolution); + + if (B4 == 0) return BMP180_ERROR; //safety check, avoiding division by zero + + if (B7 < 0x80000000) pressure = (B7 * 2) / B4; + else pressure = (B7 / B4) * 2; + + X1 = pow((pressure >> 8), 2); + X1 = (X1 * 3038L) >> 16; + X2 = (-7357L * pressure) >> 16; + + return pressure = pressure + ((X1 + X2 + 3791L) >> 4); +} + +/**************************************************************************/ +/* + getTemperature() + + Calculates compensated temperature, in °C + + NOTE: + - resolution 0.1°C with accuracy ±1.0°C at range 0°C..+65°C +*/ +/**************************************************************************/ +float BMP180::getTemperature(void) +{ + int16_t rawTemperature = readRawTemperature(); + + if (rawTemperature == BMP180_ERROR) return BMP180_ERROR; //error handler, collision on i2c bus + return (float)((computeB5(rawTemperature) + 8) >> 4) / 10; +} + +/**************************************************************************/ +/* + getSeaLevelPressure() + + Converts current pressure to sea level pressure at specific true + altitude, in Pa + + NOTE: + - true altitude is the actual elevation above sea level, to find out + your current true altitude do search with google earth or gps + - see level pressure is commonly used in weather reports & forecasts + to compensate current true altitude + - for example, we know that a sunny day happens if the current sea + level pressure is 250Pa above the average sea level pressure of + 101325 Pa, so by converting the current pressure to sea level & + comparing it with an average sea level pressure we can instantly + predict the weather conditions +*/ +/**************************************************************************/ +int32_t BMP180::getSeaLevelPressure(int16_t trueAltitude) +{ + int32_t pressure = getPressure(); + + if (pressure == BMP180_ERROR) return BMP180_ERROR; + return (pressure / pow(1.0 - (float)trueAltitude / 44330, 5.255)); +} + +/**************************************************************************/ +/* + softReset() + + Soft reset + + NOTE: + - performs the same sequence as power on reset +*/ +/**************************************************************************/ +void BMP180::softReset(void) +{ + write8(BMP180_SOFT_RESET_REG, BMP180_SOFT_RESET_CTRL); +} + +/**************************************************************************/ +/* + readFirmwareVersion() + + Reads ML & AL Version + + NOTE: + - ML version is LSB, 4-bit..0-bit + - AL version is MSB, 7-bit..5-bit +*/ +/**************************************************************************/ +uint8_t BMP180::readFirmwareVersion(void) +{ + return read8(BMP180_GET_VERSION_REG); +} + +/**************************************************************************/ +/* + readDeviceID() + + Reads chip ID +*/ +/**************************************************************************/ +uint8_t BMP180::readDeviceID(void) +{ + if (read8(BMP180_GET_ID_REG) == BMP180_CHIP_ID) return 180; + return false; +} + +/**************************************************************************/ +/* + readCalibrationCoefficients() + + Reads factory calibration coefficients from E2PROM + + NOTE: + - every sensor module has individual calibration coefficients + - before first temperature & pressure calculation master have to read + calibration coefficients from 176-bit E2PROM +*/ +/**************************************************************************/ +bool BMP180::readCalibrationCoefficients() +{ + int32_t value = 0; + + for (uint8_t reg = BMP180_CAL_AC1_REG; reg <= BMP180_CAL_MD_REG; reg++) + { + value = read16(reg); + + if (value == BMP180_ERROR) return false; //error handler, collision on i2c bus + + switch (reg) + { + case BMP180_CAL_AC1_REG: //used for pressure computation + _calCoeff.bmpAC1 = value; + break; + + case BMP180_CAL_AC2_REG: //used for pressure computation + _calCoeff.bmpAC2 = value; + break; + + case BMP180_CAL_AC3_REG: //used for pressure computation + _calCoeff.bmpAC3 = value; + break; + + case BMP180_CAL_AC4_REG: //used for pressure computation + _calCoeff.bmpAC4 = value; + break; + + case BMP180_CAL_AC5_REG: //used for temperature computation + _calCoeff.bmpAC5 = value; + break; + + case BMP180_CAL_AC6_REG: //used for temperature computation + _calCoeff.bmpAC6 = value; + break; + + case BMP180_CAL_B1_REG: //used for pressure computation + _calCoeff.bmpB1 = value; + break; + + case BMP180_CAL_B2_REG: //used for pressure computation + _calCoeff.bmpB2 = value; + break; + + case BMP180_CAL_MB_REG: //??? + _calCoeff.bmpMB = value; + break; + + case BMP180_CAL_MC_REG: //used for temperature computation + _calCoeff.bmpMC = value; + break; + + case BMP180_CAL_MD_REG: //used for temperature computation + _calCoeff.bmpMD = value; + break; + } + } + + return true; +} + +/**************************************************************************/ +/* + readRawTemperature() + + Reads raw/uncompensated temperature value, 16-bit +*/ +/**************************************************************************/ +uint16_t BMP180::readRawTemperature(void) +{ + /* send temperature measurement command */ + if (write8(BMP180_START_MEASURMENT_REG, BMP180_GET_TEMPERATURE_CTRL) != true) return BMP180_ERROR; //error handler, collision on i2c bus + + /* set measurement delay */ + HAL_Delay(5); + + /* read result */ + return read16(BMP180_READ_ADC_MSB_REG); //reads msb + lsb +} + +/**************************************************************************/ +/* + readRawPressure() + + Reads raw/uncompensated pressure value, 19-bits +*/ +/**************************************************************************/ +uint32_t BMP180::readRawPressure(void) +{ + uint8_t regControl = 0; + uint32_t rawPressure = 0; + + /* convert resolution to register control */ + switch (_resolution) + { + case BMP180_ULTRALOWPOWER: //oss0 + regControl = BMP180_GET_PRESSURE_OSS0_CTRL; + break; + + case BMP180_STANDARD: //oss1 + regControl = BMP180_GET_PRESSURE_OSS1_CTRL; + break; + + case BMP180_HIGHRES: //oss2 + regControl = BMP180_GET_PRESSURE_OSS2_CTRL; + break; + + case BMP180_ULTRAHIGHRES: //oss3 + regControl = BMP180_GET_PRESSURE_OSS3_CTRL; + break; + } + + /* send pressure measurement command */ + if (write8(BMP180_START_MEASURMENT_REG, regControl) != true) return BMP180_ERROR; //error handler, collision on i2c bus + + /* set measurement delay */ + switch (_resolution) + { + case BMP180_ULTRALOWPOWER: + HAL_Delay(5); + break; + + case BMP180_STANDARD: + HAL_Delay(8); + break; + + case BMP180_HIGHRES: + HAL_Delay(14); + break; + + case BMP180_ULTRAHIGHRES: + HAL_Delay(26); + break; + } + + /* read result msb + lsb */ + rawPressure = read16(BMP180_READ_ADC_MSB_REG); //16-bits + if (rawPressure == BMP180_ERROR) return BMP180_ERROR; //error handler, collision on i2c bus + + /* read result xlsb */ + rawPressure <<= 8; + rawPressure |= read8(BMP180_READ_ADC_XLSB_REG); //19-bits + + rawPressure >>= (8 - _resolution); + + return rawPressure; +} + +/**************************************************************************/ +/* + computeB5() + + Computes B5 value + + NOTE: + - to compensate raw/uncompensated temperature + - also used for compensated pressure calculation +*/ +/**************************************************************************/ +int32_t BMP180::computeB5(int32_t UT) +{ + int32_t X1 = ((UT - (int32_t)_calCoeff.bmpAC6) * (int32_t)_calCoeff.bmpAC5) >> 15; + int32_t X2 = ((int32_t)_calCoeff.bmpMC << 11) / (X1 + (int32_t)_calCoeff.bmpMD); + + return X1 + X2; +} + +/**************************************************************************/ +/* + read8() + + Reads 8-bit value over I2C +*/ +/**************************************************************************/ +uint8_t BMP180::read8(uint8_t reg) +{ + uint8_t data = 0; + HAL_StatusTypeDef status; + + // Write register address + status = HAL_I2C_Master_Transmit(&hi2c3, BMP180_ADDRESS, ®, 1, I2C_TIMEOUT); + if (status != HAL_OK) return BMP180_ERROR; + + // Read data from register + status = HAL_I2C_Master_Receive(&hi2c3, BMP180_ADDRESS, &data, 1, I2C_TIMEOUT); + if (status != HAL_OK) return BMP180_ERROR; + + return data; +} + +/**************************************************************************/ +/* + read16() + + Reads 16-bits value over I2C +*/ +/**************************************************************************/ + +uint16_t BMP180::read16(uint8_t reg) +{ + uint8_t data[2] = {0, 0}; + uint16_t value = 0; + HAL_StatusTypeDef status; + + // Write register address + status = HAL_I2C_Master_Transmit(&hi2c3, BMP180_ADDRESS, ®, 1, I2C_TIMEOUT); + if (status != HAL_OK) return BMP180_ERROR; + + // Read 2 bytes from register + status = HAL_I2C_Master_Receive(&hi2c3, BMP180_ADDRESS, data, 2, I2C_TIMEOUT); + if (status != HAL_OK) return BMP180_ERROR; + + // Combine bytes (MSB first) + value = (data[0] << 8) | data[1]; + + return value; +} + + +/**************************************************************************/ +/* + write8() + + Writes 8-bits value over I2C +*/ +/**************************************************************************/ + +bool BMP180::write8(uint8_t reg, uint8_t control) +{ + uint8_t data[2] = {reg, control}; + HAL_StatusTypeDef status; + + // Write register address and data + status = HAL_I2C_Master_Transmit(&hi2c3, BMP180_ADDRESS, data, 2, I2C_TIMEOUT); + + return (status == HAL_OK); +} + diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/BMP180.h b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/BMP180.h new file mode 100644 index 0000000..88754bc --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/BMP180.h @@ -0,0 +1,156 @@ +/***************************************************************************************************/ +/* + This is an Arduino basic library for Bosch BMP180 & BMP085 barometric pressure & + temperature sensor + + Power supply voltage: 1.8v - 3.6v + Range: 30,000Pa..110,000Pa at -40°C..+85°C + Typ. resolution: 1Pa / 0.1°C + Typ. accuracy: ±100Pa* / ±1.0°C* at 0°C..+65°C + Typ. relative accuracy: ±12Pa / xx°C + Duty cycle: 10% active & 90% inactive, to prevent self heating + + *sensor is sensitive to direct light, which can affect + the accuracy of the measurement + + written by : enjoyneering79 + sourse code: https://github.com/enjoyneering/ + + + This chip uses I2C bus to communicate, specials pins are required to interface + Board: SDA SCL Level + Uno, Mini, Pro, ATmega168, ATmega328..... A4 A5 5v + Mega2560................................. 20 21 5v + Due, SAM3X8E............................. 20 21 3.3v + Leonardo, Micro, ATmega32U4.............. 2 3 5v + Digistump, Trinket, ATtiny85............. 0/physical pin no.5 2/physical pin no.7 5v + Blue Pill, STM32F103xxxx boards.......... PB7 PB6 3.3v/5v + ESP8266 ESP-01........................... GPIO0/D5 GPIO2/D3 3.3v/5v + NodeMCU 1.0, WeMos D1 Mini............... GPIO4/D2 GPIO5/D1 3.3v/5v + ESP32.................................... GPIO21/D21 GPIO22/D22 3.3v + + NOTE: + - EOC pin is not used, shows the end of conversion + - XCLR pin is not used, reset pin + + Frameworks & Libraries: + ATtiny Core - https://github.com/SpenceKonde/ATTinyCore + ESP32 Core - https://github.com/espressif/arduino-esp32 + ESP8266 Core - https://github.com/esp8266/Arduino + STM32 Core - https://github.com/rogerclarkmelbourne/Arduino_STM32 + + GNU GPL license, all text above must be included in any redistribution, + see link for details - https://www.gnu.org/licenses/licenses.html +*/ +/***************************************************************************************************/ + +#ifndef BMP180_h +#define BMP180_h + +#include "stm32f7xx_hal.h" +#include + +extern I2C_HandleTypeDef hi2c3; + +/* resolutions */ +typedef enum : uint8_t +{ + BMP180_ULTRALOWPOWER = 0x00, //low power mode, oss0 + BMP180_STANDARD = 0x01, //standard mode, oss1 + BMP180_HIGHRES = 0x02, //high resolution mode, oss2 + BMP180_ULTRAHIGHRES = 0x03 //ultra high resolution mode, oss3 +} +BMP180_RESOLUTION; + + +/* calibration registers */ +typedef enum : uint8_t +{ + BMP180_CAL_AC1_REG = 0xAA, //ac1 pressure computation + BMP180_CAL_AC2_REG = 0xAC, //ac2 pressure computation + BMP180_CAL_AC3_REG = 0xAE, //ac3 pressure computation + BMP180_CAL_AC4_REG = 0xB0, //ac4 pressure computation + BMP180_CAL_AC5_REG = 0xB2, //ac5 temperature computation + BMP180_CAL_AC6_REG = 0xB4, //ac6 temperature computation + BMP180_CAL_B1_REG = 0xB6, //b1 pressure computation + BMP180_CAL_B2_REG = 0xB8, //b2 pressure computation + BMP180_CAL_MB_REG = 0xBA, //mb + BMP180_CAL_MC_REG = 0xBC, //mc temperature computation + BMP180_CAL_MD_REG = 0xBE //md temperature computation +} +BMP180_CAL_REG; + +#define BMP180_GET_ID_REG 0xD0 //device id register +#define BMP180_GET_VERSION_REG 0xD1 //device version register + +#define BMP180_SOFT_RESET_REG 0xE0 //soft reset register +#define BMP180_SOFT_RESET_CTRL 0xB6 //soft reset control + +#define BMP180_START_MEASURMENT_REG 0xF4 //start measurment register +#define BMP180_READ_ADC_MSB_REG 0xF6 //read adc msb register +#define BMP180_READ_ADC_LSB_REG 0xF7 //read adc lsb register +#define BMP180_READ_ADC_XLSB_REG 0xF8 //read adc xlsb register + +/* BMP180_START_MEASURMENT_REG controls */ +#define BMP180_GET_TEMPERATURE_CTRL 0x2E //get temperature control +#define BMP180_GET_PRESSURE_OSS0_CTRL 0x34 //get pressure oversampling 1 time/oss0 control +#define BMP180_GET_PRESSURE_OSS1_CTRL 0x74 //get pressure oversampling 2 time/oss1 control +#define BMP180_GET_PRESSURE_OSS2_CTRL 0xB4 //get pressure oversampling 4 time/oss2 control +#define BMP180_GET_PRESSURE_OSS3_CTRL 0xF4 //get pressure oversampling 8 time/oss3 control + +/* misc */ +#define BMP180_CHIP_ID 0x55 //id number + +#define BMP180_ERROR 255 //returns 255, if communication error is occurred + +#define BMP180_ADDRESS (0x77 << 1) // HAL requires 7-bit address shifted left by 1 bit + +#define I2C_TIMEOUT 100 + +/* to store calibration coefficients */ +typedef struct +{ + int16_t bmpAC1 = 0; + int16_t bmpAC2 = 0; + int16_t bmpAC3 = 0; + uint16_t bmpAC4 = 0; + uint16_t bmpAC5 = 0; + uint16_t bmpAC6 = 0; + + int16_t bmpB1 = 0; + int16_t bmpB2 = 0; + + int16_t bmpMB = 0; + int16_t bmpMC = 0; + int16_t bmpMD = 0; +} +BMP180_CAL_COEFF; + + +class BMP180 +{ + public: + BMP180(BMP180_RESOLUTION = BMP180_ULTRAHIGHRES); //BMP180_ULTRAHIGHRES, by default + int32_t getPressure(void); //in Pa + float getTemperature(void); //in °C + int32_t getSeaLevelPressure(int16_t trueAltitude = 115); //in Pa, by default true altitude id 115 meters + void softReset(void); + uint8_t readFirmwareVersion(void); + uint8_t readDeviceID(void); + + + private: + BMP180_CAL_COEFF _calCoeff; + + uint8_t _resolution; + + bool readCalibrationCoefficients(void); + uint16_t readRawTemperature(void); + uint32_t readRawPressure(void); + int32_t computeB5(int32_t UT); + uint8_t read8(uint8_t reg); + uint16_t read16(uint8_t reg); + bool write8(uint8_t reg, uint8_t control); +}; + +#endif diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/DA5578.c b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/DA5578.c new file mode 100644 index 0000000..e6696bb --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/DA5578.c @@ -0,0 +1,397 @@ +#include "DAC5578.h" +#include + +/** + * @brief Initialize the DAC5578 + * @param hdac: pointer to a DAC5578_HandleTypeDef structure + * @param hi2c: pointer to an I2C_HandleTypeDef structure + * @param i2c_addr: I2C address of the DAC + * @param resolution: DAC resolution (only 8 is valid for DAC5578) + * @param ldac_port: GPIO port for LDAC pin + * @param ldac_pin: GPIO pin for LDAC pin + * @param clr_port: GPIO port for CLR pin + * @param clr_pin: GPIO pin for CLR pin + * @retval bool: true if successful, false otherwise + */ +bool DAC5578_Init(DAC5578_HandleTypeDef *hdac, I2C_HandleTypeDef *hi2c, uint8_t i2c_addr, + uint8_t resolution, GPIO_TypeDef *ldac_port, uint16_t ldac_pin, + GPIO_TypeDef *clr_port, uint16_t clr_pin) { + + if (hdac == NULL || hi2c == NULL) { + return false; + } + + /* DAC5578 is 8-bit only */ + hdac->resolution_bits = 8; + hdac->clear_code = DAC5578_CLR_CODE_ZERO; // Default clear to zero + + hdac->hi2c = hi2c; + hdac->i2c_addr = i2c_addr << 1; // HAL requires 7-bit address shifted left + hdac->ldac_port = ldac_port; + hdac->ldac_pin = ldac_pin; + hdac->clr_port = clr_port; + hdac->clr_pin = clr_pin; + + /* Set LDAC high (inactive) and CLR high (normal operation) */ + if (ldac_port != NULL) { + HAL_GPIO_WritePin(ldac_port, ldac_pin, GPIO_PIN_SET); + } + + if (clr_port != NULL) { + HAL_GPIO_WritePin(clr_port, clr_pin, GPIO_PIN_SET); + } + + /* Reset the DAC and enable internal reference by default */ + bool success = DAC5578_Reset(hdac); + if (success) { + success = DAC5578_SetInternalReference(hdac, true); + } + + /* Set the clear code in the device */ + if (success) { + success = DAC5578_SetClearCode(hdac, hdac->clear_code); + } + + return success; +} + +/** + * @brief Reset the DAC5578 + * @param hdac: pointer to a DAC5578_HandleTypeDef structure + * @retval bool: true if successful, false otherwise + */ +bool DAC5578_Reset(DAC5578_HandleTypeDef *hdac) { + uint8_t buffer[3]; + buffer[0] = DAC5578_CMD_RESET; + buffer[1] = 0x00; + buffer[2] = 0x00; + + HAL_StatusTypeDef status = HAL_I2C_Master_Transmit(hdac->hi2c, hdac->i2c_addr, buffer, 3, HAL_MAX_DELAY); + return (status == HAL_OK); +} + +/** + * @brief Write a value to a specific channel's input register + * @param hdac: pointer to a DAC5578_HandleTypeDef structure + * @param channel: DAC channel (0-7) + * @param value: 8-bit value to write + * @retval bool: true if successful, false otherwise + */ +bool DAC5578_WriteChannelValue(DAC5578_HandleTypeDef *hdac, uint8_t channel, uint16_t value) { + if (channel > 7) { + return false; + } + + /* DAC5578 is 8-bit, so mask value */ + value &= 0xFF; + + return DAC5578_CommandWrite(hdac, DAC5578_CMD_WRITE | (channel & 0x7), value); +} + +/** + * @brief Update a specific channel's DAC register from input register + * @param hdac: pointer to a DAC5578_HandleTypeDef structure + * @param channel: DAC channel (0-7) or DAC5578_CHANNEL_BROADCAST + * @retval bool: true if successful, false otherwise + */ +bool DAC5578_UpdateChannel(DAC5578_HandleTypeDef *hdac, uint8_t channel) { + if (channel > 7 && channel != DAC5578_CHANNEL_BROADCAST) { + return false; + } + + /* Update command with channel selection */ + uint8_t command = DAC5578_CMD_UPDATE | (channel & 0x7); + if (channel == DAC5578_CHANNEL_BROADCAST) { + command = DAC5578_CMD_UPDATE | 0x8; // Broadcast flag + } + + uint8_t buffer[3]; + buffer[0] = command; + buffer[1] = 0x00; + buffer[2] = 0x00; + + HAL_StatusTypeDef status = HAL_I2C_Master_Transmit(hdac->hi2c, hdac->i2c_addr, buffer, 3, HAL_MAX_DELAY); + return (status == HAL_OK); +} + +/** + * @brief Write and update a specific channel in one operation + * @param hdac: pointer to a DAC5578_HandleTypeDef structure + * @param channel: DAC channel (0-7) + * @param value: 8-bit value to write and update + * @retval bool: true if successful, false otherwise + */ +bool DAC5578_WriteAndUpdateChannelValue(DAC5578_HandleTypeDef *hdac, uint8_t channel, uint16_t value) { + if (channel > 7) { + return false; + } + + /* DAC5578 is 8-bit, so mask value */ + value &= 0xFF; + + return DAC5578_CommandWrite(hdac, DAC5578_CMD_WRITE_UPDATE | (channel & 0x7), value); +} + +/** + * @brief Write the same value to all channels' input registers + * @param hdac: pointer to a DAC5578_HandleTypeDef structure + * @param value: 8-bit value to write to all channels + * @retval bool: true if successful, false otherwise + */ +bool DAC5578_WriteAllChannels(DAC5578_HandleTypeDef *hdac, uint16_t value) { + /* DAC5578 is 8-bit, so mask value */ + value &= 0xFF; + + return DAC5578_CommandWrite(hdac, DAC5578_CMD_WRITE_ALL, value); +} + +/** + * @brief Read the input register value of a specific channel + * @param hdac: pointer to a DAC5578_HandleTypeDef structure + * @param channel: DAC channel (0-7) + * @param value: pointer to store the read value + * @retval bool: true if successful, false otherwise + */ +bool DAC5578_ReadInputChannelValue(DAC5578_HandleTypeDef *hdac, uint8_t channel, uint16_t *value) { + if (channel > 7) { + return false; + } + + /* Note: DAC5578 has limited read capability - this reads back the input register */ + return DAC5578_CommandRead(hdac, DAC5578_CMD_WRITE | (channel & 0x7), value); +} + +/** + * @brief Read the DAC register value (current output) of a specific channel + * @param hdac: pointer to a DAC5578_HandleTypeDef structure + * @param channel: DAC channel (0-7) + * @param value: pointer to store the read value + * @retval bool: true if successful, false otherwise + */ +bool DAC5578_ReadDACChannelValue(DAC5578_HandleTypeDef *hdac, uint8_t channel, uint16_t *value) { + if (channel > 7) { + return false; + } + + /* Note: DAC5578 has limited read capability - this reads back the DAC register */ + return DAC5578_CommandRead(hdac, DAC5578_CMD_UPDATE | (channel & 0x7), value); +} + +/** + * @brief Set power down mode for a specific channel + * @param hdac: pointer to a DAC5578_HandleTypeDef structure + * @param channel: DAC channel (0-7) + * @param mode: power down mode + * @retval bool: true if successful, false otherwise + */ +bool DAC5578_SetPowerDownMode(DAC5578_HandleTypeDef *hdac, uint8_t channel, DAC5578_PowerDownMode_t mode) { + if (channel > 7 || mode > 3) { + return false; + } + + uint8_t buffer[3]; + buffer[0] = DAC5578_CMD_POWERDOWN | (channel & 0x7); + buffer[1] = 0x00; + buffer[2] = mode & 0x03; + + HAL_StatusTypeDef status = HAL_I2C_Master_Transmit(hdac->hi2c, hdac->i2c_addr, buffer, 3, HAL_MAX_DELAY); + return (status == HAL_OK); +} + +/** + * @brief Set power down mode for all channels + * @param hdac: pointer to a DAC5578_HandleTypeDef structure + * @param mode: power down mode + * @retval bool: true if successful, false otherwise + */ +bool DAC5578_SetPowerDownAll(DAC5578_HandleTypeDef *hdac, DAC5578_PowerDownMode_t mode) { + if (mode > 3) { + return false; + } + + uint8_t buffer[3]; + buffer[0] = DAC5578_CMD_POWERDOWN_ALL; + buffer[1] = 0x00; + buffer[2] = mode & 0x03; + + HAL_StatusTypeDef status = HAL_I2C_Master_Transmit(hdac->hi2c, hdac->i2c_addr, buffer, 3, HAL_MAX_DELAY); + return (status == HAL_OK); +} + +/** + * @brief Enable or disable the internal reference + * @param hdac: pointer to a DAC5578_HandleTypeDef structure + * @param enable: true to enable, false to disable + * @retval bool: true if successful, false otherwise + */ +bool DAC5578_SetInternalReference(DAC5578_HandleTypeDef *hdac, bool enable) { + uint8_t command = enable ? DAC5578_CMD_INT_REF_ENABLE : DAC5578_CMD_INT_REF_DISABLE; + uint8_t buffer[3]; + buffer[0] = command; + buffer[1] = 0x00; + buffer[2] = 0x00; + + HAL_StatusTypeDef status = HAL_I2C_Master_Transmit(hdac->hi2c, hdac->i2c_addr, buffer, 3, HAL_MAX_DELAY); + return (status == HAL_OK); +} + +/** + * @brief Setup LDAC mask for hardware LDAC control + * @param hdac: pointer to a DAC5578_HandleTypeDef structure + * @param ldac_mask: 8-bit mask where each bit corresponds to a channel + * @retval bool: true if successful, false otherwise + */ +bool DAC5578_SetupLDAC(DAC5578_HandleTypeDef *hdac, uint8_t ldac_mask) { + uint8_t buffer[3]; + buffer[0] = DAC5578_CMD_LDAC_SETUP; + buffer[1] = 0x00; + buffer[2] = ldac_mask & 0xFF; // Each bit corresponds to a channel (0-7) + + HAL_StatusTypeDef status = HAL_I2C_Master_Transmit(hdac->hi2c, hdac->i2c_addr, buffer, 3, HAL_MAX_DELAY); + return (status == HAL_OK); +} + +/** + * @brief Trigger software LDAC update + * @param hdac: pointer to a DAC5578_HandleTypeDef structure + * @retval bool: true if successful, false otherwise + */ +bool DAC5578_SoftwareLDAC(DAC5578_HandleTypeDef *hdac) { + uint8_t buffer[3]; + buffer[0] = DAC5578_CMD_SOFTWARE_LDAC; + buffer[1] = 0x00; + buffer[2] = 0x00; + + HAL_StatusTypeDef status = HAL_I2C_Master_Transmit(hdac->hi2c, hdac->i2c_addr, buffer, 3, HAL_MAX_DELAY); + return (status == HAL_OK); +} + +/* CLR Pin Functions */ + +/** + * @brief Set the clear code that determines what happens when CLR pin is activated + * @param hdac: pointer to a DAC5578_HandleTypeDef structure + * @param clear_code: desired clear code behavior + * @retval bool: true if successful, false otherwise + */ +bool DAC5578_SetClearCode(DAC5578_HandleTypeDef *hdac, DAC5578_ClearCode_t clear_code) { + if (clear_code > DAC5578_CLR_CODE_NOP) { + return false; + } + + /* The clear code is set using the RESET command with specific data bits */ + uint8_t buffer[3]; + buffer[0] = DAC5578_CMD_RESET; + buffer[1] = 0x00; + buffer[2] = (clear_code & 0x03); // Clear code in bits 1:0 + + HAL_StatusTypeDef status = HAL_I2C_Master_Transmit(hdac->hi2c, hdac->i2c_addr, buffer, 3, HAL_MAX_DELAY); + + if (status == HAL_OK) { + hdac->clear_code = clear_code; + return true; + } + + return false; +} + +/** + * @brief Get the current clear code setting + * @param hdac: pointer to a DAC5578_HandleTypeDef structure + * @retval DAC5578_ClearCode_t: current clear code setting + */ +DAC5578_ClearCode_t DAC5578_GetClearCode(DAC5578_HandleTypeDef *hdac) { + return hdac->clear_code; +} + +/** + * @brief Activate the CLR pin (set low) to clear DAC outputs + * @param hdac: pointer to a DAC5578_HandleTypeDef structure + * @retval None + */ +void DAC5578_ActivateClearPin(DAC5578_HandleTypeDef *hdac) { + if (hdac->clr_port != NULL) { + HAL_GPIO_WritePin(hdac->clr_port, hdac->clr_pin, GPIO_PIN_RESET); + } +} + +/** + * @brief Deactivate the CLR pin (set high) for normal operation + * @param hdac: pointer to a DAC5578_HandleTypeDef structure + * @retval None + */ +void DAC5578_DeactivateClearPin(DAC5578_HandleTypeDef *hdac) { + if (hdac->clr_port != NULL) { + HAL_GPIO_WritePin(hdac->clr_port, hdac->clr_pin, GPIO_PIN_SET); + } +} + +/** + * @brief Pulse the CLR pin to clear all DAC outputs according to clear code + * @param hdac: pointer to a DAC5578_HandleTypeDef structure + * @retval None + */ +void DAC5578_ClearOutputs(DAC5578_HandleTypeDef *hdac) { + if (hdac->clr_port != NULL) { + /* Generate a pulse on CLR pin (active low) */ + HAL_GPIO_WritePin(hdac->clr_port, hdac->clr_pin, GPIO_PIN_RESET); + HAL_Delay(1); // Hold for at least 50ns (1ms is plenty) + HAL_GPIO_WritePin(hdac->clr_port, hdac->clr_pin, GPIO_PIN_SET); + } +} + +/** + * @brief Software clear - uses I2C command to clear outputs without CLR pin + * @param hdac: pointer to a DAC5578_HandleTypeDef structure + * @retval bool: true if successful, false otherwise + */ +bool DAC5578_SoftwareClear(DAC5578_HandleTypeDef *hdac) { + /* Use the reset command with the current clear code to perform software clear */ + return DAC5578_SetClearCode(hdac, hdac->clear_code); +} + +/* Private functions */ + +/** + * @brief Write a command and value to the DAC + * @param hdac: pointer to a DAC5578_HandleTypeDef structure + * @param command: command byte + * @param value: 8-bit value to write + * @retval bool: true if successful, false otherwise + */ +bool DAC5578_CommandWrite(DAC5578_HandleTypeDef *hdac, uint8_t command, uint16_t value) { + uint8_t buffer[3]; + buffer[0] = command; + buffer[1] = (value >> 8) & 0xFF; // MSB (should be 0 for 8-bit DAC) + buffer[2] = value & 0xFF; // LSB (actual 8-bit data) + + HAL_StatusTypeDef status = HAL_I2C_Master_Transmit(hdac->hi2c, hdac->i2c_addr, buffer, 3, HAL_MAX_DELAY); + return (status == HAL_OK); +} + +/** + * @brief Read a value from the DAC after sending a command + * @param hdac: pointer to a DAC5578_HandleTypeDef structure + * @param command: command byte + * @param value: pointer to store the read value + * @retval bool: true if successful, false otherwise + */ +bool DAC5578_CommandRead(DAC5578_HandleTypeDef *hdac, uint8_t command, uint16_t *value) { + uint8_t buffer[3]; + + /* First write the command to set up readback */ + HAL_StatusTypeDef status = HAL_I2C_Master_Transmit(hdac->hi2c, hdac->i2c_addr, &command, 1, HAL_MAX_DELAY); + if (status != HAL_OK) { + return false; + } + + /* Then read 3 bytes back */ + status = HAL_I2C_Master_Receive(hdac->hi2c, hdac->i2c_addr, buffer, 3, HAL_MAX_DELAY); + if (status != HAL_OK) { + return false; + } + + /* Extract the 8-bit value from the response */ + *value = buffer[2] & 0xFF; + return true; +} diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/DAC5578.H b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/DAC5578.H new file mode 100644 index 0000000..d4c7e99 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/DAC5578.H @@ -0,0 +1,91 @@ +#ifndef __DAC5578_H +#define __DAC5578_H + +#ifdef __cplusplus +extern "C" { +#endif + +#include "stm32f7xx_hal.h" +#include + + + +extern I2C_HandleTypeDef hi2c1; + +/* Command definitions - DAC5578 specific */ +#define DAC5578_CMD_WRITE (0x0 << 4) // Write to input register +#define DAC5578_CMD_UPDATE (0x1 << 4) // Update DAC register +#define DAC5578_CMD_WRITE_UPDATE (0x2 << 4) // Write and update +#define DAC5578_CMD_WRITE_ALL (0x3 << 4) // Write to all channels +#define DAC5578_CMD_POWERDOWN (0x4 << 4) // Power down +#define DAC5578_CMD_POWERDOWN_ALL (0x5 << 4) // Power down all channels +#define DAC5578_CMD_INT_REF_ENABLE (0x6 << 4) // Enable internal reference +#define DAC5578_CMD_INT_REF_DISABLE (0x7 << 4) // Disable internal reference +#define DAC5578_CMD_RESET (0x8 << 4) // Software reset +#define DAC5578_CMD_LDAC_SETUP (0x9 << 4) // LDAC setup register +#define DAC5578_CMD_SOFTWARE_LDAC (0xA << 4) // Software LDAC trigger + +/* Broadcast channel for simultaneous updates */ +#define DAC5578_CHANNEL_BROADCAST 0x8 + +/* Power down modes */ +typedef enum { + DAC5578_PWD_NORMAL = 0, // Normal operation + DAC5578_PWD_1K = 1, // 1kΩ to GND + DAC5578_PWD_100K = 2, // 100kΩ to GND + DAC5578_PWD_HIZ = 3 // High impedance +} DAC5578_PowerDownMode_t; + +/* Clear code options - determines what happens when CLR pin is activated */ +typedef enum { + DAC5578_CLR_CODE_ZERO = 0, // Clear to zero scale (0x00) + DAC5578_CLR_CODE_MID = 1, // Clear to midscale (0x80) + DAC5578_CLR_CODE_FULL = 2, // Clear to full scale (0xFF) + DAC5578_CLR_CODE_NOP = 3 // No operation (retain current value) +} DAC5578_ClearCode_t; + +/* DAC handle structure */ +typedef struct { + I2C_HandleTypeDef *hi2c; + uint8_t i2c_addr; + uint8_t resolution_bits; + GPIO_TypeDef *ldac_port; + uint16_t ldac_pin; + GPIO_TypeDef *clr_port; + uint16_t clr_pin; + DAC5578_ClearCode_t clear_code; // Current clear code setting +} DAC5578_HandleTypeDef; + +/* Function prototypes */ +bool DAC5578_Init(DAC5578_HandleTypeDef *hdac, I2C_HandleTypeDef *hi2c, uint8_t i2c_addr, + uint8_t resolution, GPIO_TypeDef *ldac_port, uint16_t ldac_pin, + GPIO_TypeDef *clr_port, uint16_t clr_pin); +bool DAC5578_Reset(DAC5578_HandleTypeDef *hdac); +bool DAC5578_WriteChannelValue(DAC5578_HandleTypeDef *hdac, uint8_t channel, uint16_t value); +bool DAC5578_UpdateChannel(DAC5578_HandleTypeDef *hdac, uint8_t channel); +bool DAC5578_WriteAndUpdateChannelValue(DAC5578_HandleTypeDef *hdac, uint8_t channel, uint16_t value); +bool DAC5578_WriteAllChannels(DAC5578_HandleTypeDef *hdac, uint16_t value); +bool DAC5578_ReadInputChannelValue(DAC5578_HandleTypeDef *hdac, uint8_t channel, uint16_t *value); +bool DAC5578_ReadDACChannelValue(DAC5578_HandleTypeDef *hdac, uint8_t channel, uint16_t *value); +bool DAC5578_SetPowerDownMode(DAC5578_HandleTypeDef *hdac, uint8_t channel, DAC5578_PowerDownMode_t mode); +bool DAC5578_SetPowerDownAll(DAC5578_HandleTypeDef *hdac, DAC5578_PowerDownMode_t mode); +bool DAC5578_SetInternalReference(DAC5578_HandleTypeDef *hdac, bool enable); +bool DAC5578_SetupLDAC(DAC5578_HandleTypeDef *hdac, uint8_t ldac_mask); +bool DAC5578_SoftwareLDAC(DAC5578_HandleTypeDef *hdac); + +/* CLR Pin Functions */ +bool DAC5578_SetClearCode(DAC5578_HandleTypeDef *hdac, DAC5578_ClearCode_t clear_code); +DAC5578_ClearCode_t DAC5578_GetClearCode(DAC5578_HandleTypeDef *hdac); +void DAC5578_ActivateClearPin(DAC5578_HandleTypeDef *hdac); +void DAC5578_DeactivateClearPin(DAC5578_HandleTypeDef *hdac); +void DAC5578_ClearOutputs(DAC5578_HandleTypeDef *hdac); // Pulse CLR pin to clear outputs + +/* Private functions */ +bool DAC5578_CommandWrite(DAC5578_HandleTypeDef *hdac, uint8_t command, uint16_t value); +bool DAC5578_CommandRead(DAC5578_HandleTypeDef *hdac, uint8_t command, uint16_t *value); + +#ifdef __cplusplus +} +#endif + +#endif /* __DAC5578_H */ diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/GY_85_HAL.c b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/GY_85_HAL.c new file mode 100644 index 0000000..2c735fd --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/GY_85_HAL.c @@ -0,0 +1,121 @@ +#include "GY_85_HAL.h" + +static int16_t g_offx = 0, g_offy = 0, g_offz = 0; + +// ---------------- Internal Functions ---------------- // +static void GY85_SetAccelerometer(void); +static void GY85_ReadAccelerometer(GY85_t *imu); +static void GY85_SetCompass(void); +static void GY85_ReadCompass(GY85_t *imu); +static void GY85_SetGyro(void); +static void GY85_GyroCalibrate(void); +static void GY85_ReadGyro(GY85_t *imu); + +// ---------------- Initialization ---------------- // +void GY85_Init(void) +{ + GY85_SetAccelerometer(); + GY85_SetCompass(); + GY85_SetGyro(); +} + +// ---------------- Update All Sensors ---------------- // +void GY85_Update(GY85_t *imu) +{ + GY85_ReadAccelerometer(imu); + GY85_ReadCompass(imu); + GY85_ReadGyro(imu); +} + +// ---------------- Accelerometer ---------------- // +static void GY85_SetAccelerometer(void) +{ + uint8_t data[2]; + data[0] = 0x31; data[1] = 0x01; + HAL_I2C_Master_Transmit(&hi2c3, ADXL345_ADDR, data, 2, HAL_MAX_DELAY); + + data[0] = 0x2D; data[1] = 0x08; + HAL_I2C_Master_Transmit(&hi2c3, ADXL345_ADDR, data, 2, HAL_MAX_DELAY); +} + +static void GY85_ReadAccelerometer(GY85_t *imu) +{ + uint8_t reg = 0x32; + uint8_t buf[6]; + HAL_I2C_Master_Transmit(&hi2c3, ADXL345_ADDR, ®, 1, HAL_MAX_DELAY); + HAL_I2C_Master_Receive(&hi2c3, ADXL345_ADDR, buf, 6, HAL_MAX_DELAY); + + imu->ax = (int16_t)((buf[1] << 8) | buf[0]); + imu->ay = (int16_t)((buf[3] << 8) | buf[2]); + imu->az = (int16_t)((buf[5] << 8) | buf[4]); +} + +// ---------------- Compass ---------------- // +static void GY85_SetCompass(void) +{ + uint8_t data[2] = {0x02, 0x00}; + HAL_I2C_Master_Transmit(&hi2c3, HMC5883_ADDR, data, 2, HAL_MAX_DELAY); +} + +static void GY85_ReadCompass(GY85_t *imu) +{ + uint8_t reg = 0x03; + uint8_t buf[6]; + HAL_I2C_Master_Transmit(&hi2c3, HMC5883_ADDR, ®, 1, HAL_MAX_DELAY); + HAL_I2C_Master_Receive(&hi2c3, HMC5883_ADDR, buf, 6, HAL_MAX_DELAY); + + imu->mx = (int16_t)((buf[0] << 8) | buf[1]); + imu->mz = (int16_t)((buf[2] << 8) | buf[3]); + imu->my = (int16_t)((buf[4] << 8) | buf[5]); +} + +// ---------------- Gyroscope ---------------- // +static void GY85_SetGyro(void) +{ + uint8_t data[2]; + data[0] = 0x3E; data[1] = 0x00; + HAL_I2C_Master_Transmit(&hi2c3, ITG3200_ADDR, data, 2, HAL_MAX_DELAY); + + data[0] = 0x15; data[1] = 0x07; + HAL_I2C_Master_Transmit(&hi2c3, ITG3200_ADDR, data, 2, HAL_MAX_DELAY); + + data[0] = 0x16; data[1] = 0x1E; + HAL_I2C_Master_Transmit(&hi2c3, ITG3200_ADDR, data, 2, HAL_MAX_DELAY); + + data[0] = 0x17; data[1] = 0x00; + HAL_I2C_Master_Transmit(&hi2c3, ITG3200_ADDR, data, 2, HAL_MAX_DELAY); + + HAL_Delay(10); + GY85_GyroCalibrate(); +} + +static void GY85_GyroCalibrate(void) +{ + int32_t tmpx = 0, tmpy = 0, tmpz = 0; + GY85_t imu; + + for(uint8_t i = 0; i < 10; i++) + { + HAL_Delay(10); + GY85_ReadGyro(&imu); + tmpx += imu.gx; + tmpy += imu.gy; + tmpz += imu.gz; + } + + g_offx = tmpx / 10; + g_offy = tmpy / 10; + g_offz = tmpz / 10; +} + +static void GY85_ReadGyro(GY85_t *imu) +{ + uint8_t reg = 0x1B; + uint8_t buf[8]; + HAL_I2C_Master_Transmit(&hi2c3, ITG3200_ADDR, ®, 1, HAL_MAX_DELAY); + HAL_I2C_Master_Receive(&hi2c3, ITG3200_ADDR, buf, 8, HAL_MAX_DELAY); + + imu->gx = ((int16_t)((buf[2] << 8) | buf[3])) - g_offx; + imu->gy = ((int16_t)((buf[4] << 8) | buf[5])) - g_offy; + imu->gz = ((int16_t)((buf[6] << 8) | buf[7])) - g_offz; +} diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/GY_85_HAL.h b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/GY_85_HAL.h new file mode 100644 index 0000000..9af4e50 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/GY_85_HAL.h @@ -0,0 +1,25 @@ +#ifndef __GY_85_HAL_H__ +#define __GY_85_HAL_H__ + +#include "stm32f7xx_hal.h" // change depending on MCU family +#include + +#define ADXL345_ADDR (0x53 << 1) +#define HMC5883_ADDR (0x1E << 1) +#define ITG3200_ADDR (0x68 << 1) + +extern I2C_HandleTypeDef hi2c3; + +// Struct to hold all sensor data +typedef struct { + int16_t ax, ay, az; // accelerometer + float gx, gy, gz; // gyroscope + int16_t mx, my, mz; // magnetometer +} GY85_t; + +// Public API +void GY85_Init(void); +void GY85_Update(GY85_t *imu); // reads all sensors and stores in struct + +#endif + diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/RadarSettings.cpp b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/RadarSettings.cpp new file mode 100644 index 0000000..df34c25 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/RadarSettings.cpp @@ -0,0 +1,113 @@ +#include "RadarSettings.h" +#include + +RadarSettings::RadarSettings() { + resetToDefaults(); +} + +void RadarSettings::resetToDefaults() { + system_frequency = 10.0e9; // 10 GHz + chirp_duration_1 = 30.0e-6; // 30 s + chirp_duration_2 = 0.5e-6; // 0.5 s + chirps_per_position = 32; + freq_min = 10.0e6; // 10 MHz + freq_max = 30.0e6; // 30 MHz + prf1 = 1000.0; // 1 kHz + prf2 = 2000.0; // 2 kHz + max_distance = 50000.0; // 50 km + map_size = 50000.0; // 50 km + + settings_valid = true; +} + +bool RadarSettings::parseFromUSB(const uint8_t* data, uint32_t length) { + // Minimum packet size: "SET" + 8 doubles + 1 uint32_t + "END" = 3 + 8*8 + 4 + 3 = 74 bytes + if (data == nullptr || length < 74) { + settings_valid = false; + return false; + } + + // Check for start marker "SET" + if (memcmp(data, "SET", 3) != 0) { + settings_valid = false; + return false; + } + + // Check for end marker "END" + if (memcmp(data + length - 3, "END", 3) != 0) { + settings_valid = false; + return false; + } + + uint32_t offset = 3; // Skip "SET" + + // Extract all parameters in order + system_frequency = extractDouble(data + offset); + offset += 8; + + chirp_duration_1 = extractDouble(data + offset); + offset += 8; + + chirp_duration_2 = extractDouble(data + offset); + offset += 8; + + chirps_per_position = extractUint32(data + offset); + offset += 4; + + freq_min = extractDouble(data + offset); + offset += 8; + + freq_max = extractDouble(data + offset); + offset += 8; + + prf1 = extractDouble(data + offset); + offset += 8; + + prf2 = extractDouble(data + offset); + offset += 8; + + max_distance = extractDouble(data + offset); + offset += 8; + + map_size = extractDouble(data + offset); + + // Validate the received settings + settings_valid = validateSettings(); + + return settings_valid; +} + +bool RadarSettings::validateSettings() { + // Check for reasonable value ranges + if (system_frequency < 1e9 || system_frequency > 100e9) return false; + if (chirp_duration_1 < 1e-6 || chirp_duration_1 > 1000e-6) return false; + if (chirp_duration_2 < 0.1e-6 || chirp_duration_2 > 10e-6) return false; + if (chirps_per_position < 1 || chirps_per_position > 256) return false; + if (freq_min < 1e6 || freq_min > 100e6) return false; + if (freq_max <= freq_min || freq_max > 100e6) return false; + if (prf1 < 100 || prf1 > 10000) return false; + if (prf2 < 100 || prf2 > 10000) return false; + if (max_distance < 100 || max_distance > 100000) return false; + if (map_size < 1000 || map_size > 200000) return false; + + return true; +} + +double RadarSettings::extractDouble(const uint8_t* data) { + uint64_t bits = 0; + for (int i = 0; i < 8; i++) { + bits = (bits << 8) | data[i]; + } + + double value; + memcpy(&value, &bits, sizeof(double)); + return value; +} + +uint32_t RadarSettings::extractUint32(const uint8_t* data) { + uint32_t value = 0; + for (int i = 0; i < 4; i++) { + value = (value << 8) | data[i]; + } + return value; +} \ No newline at end of file diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/RadarSettings.h b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/RadarSettings.h new file mode 100644 index 0000000..a2ae79d --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/RadarSettings.h @@ -0,0 +1,53 @@ +#ifndef RADARSETTINGS_H +#define RADARSETTINGS_H + +#include + +class RadarSettings { +public: + // Default constructor with initial values + RadarSettings(); + + // Parse settings from USB CDC data + bool parseFromUSB(const uint8_t* data, uint32_t length); + + // Getters for all settings + double getSystemFrequency() const { return system_frequency; } + double getChirpDuration1() const { return chirp_duration_1; } + double getChirpDuration2() const { return chirp_duration_2; } + uint32_t getChirpsPerPosition() const { return chirps_per_position; } + double getFreqMin() const { return freq_min; } + double getFreqMax() const { return freq_max; } + double getPRF1() const { return prf1; } + double getPRF2() const { return prf2; } + double getMaxDistance() const { return max_distance; } + double getMapSize() const { return map_size; } + + // Check if settings are valid + bool isValid() const { return settings_valid; } + + // Reset to default values + void resetToDefaults(); + +private: + // Radar system parameters + double system_frequency; // Hz + double chirp_duration_1; // seconds (long chirp) + double chirp_duration_2; // seconds (short chirp) + uint32_t chirps_per_position; + double freq_min; // Hz + double freq_max; // Hz + double prf1; // Hz + double prf2; // Hz + double max_distance; // meters + double map_size; // meters + + bool settings_valid; + + // Helper methods + bool validateSettings(); + double extractDouble(const uint8_t* data); + uint32_t extractUint32(const uint8_t* data); +}; + +#endif // RADARSETTINGS_H \ No newline at end of file diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/TinyGPS++.cpp b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/TinyGPS++.cpp new file mode 100644 index 0000000..3a930e3 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/TinyGPS++.cpp @@ -0,0 +1,509 @@ +/* +TinyGPS++ - a small GPS library for Arduino providing universal NMEA parsing +Based on work by and "distanceBetween" and "courseTo" courtesy of Maarten Lamers. +Suggestion to add satellites, courseTo(), and cardinal() by Matt Monson. +Location precision improvements suggested by Wayne Holder. +Copyright (C) 2008-2024 Mikal Hart +All rights reserved. + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include "TinyGPS++.h" + +#include +#include +#include +#include + +#define _RMCterm "RMC" +#define _GGAterm "GGA" + + +TinyGPSPlus::TinyGPSPlus() + : parity(0) + , isChecksumTerm(false) + , curSentenceType(GPS_SENTENCE_OTHER) + , curTermNumber(0) + , curTermOffset(0) + , sentenceHasFix(false) + , customElts(0) + , customCandidates(0) + , encodedCharCount(0) + , sentencesWithFixCount(0) + , failedChecksumCount(0) + , passedChecksumCount(0) +{ + term[0] = '\0'; +} + +// +// public methods +// + +bool TinyGPSPlus::encode(char c) +{ + ++encodedCharCount; + + switch(c) + { + case ',': // term terminators + parity ^= (uint8_t)c; + case '\r': + case '\n': + case '*': + { + bool isValidSentence = false; + if (curTermOffset < sizeof(term)) + { + term[curTermOffset] = 0; + isValidSentence = endOfTermHandler(); + } + ++curTermNumber; + curTermOffset = 0; + isChecksumTerm = c == '*'; + return isValidSentence; + } + break; + + case '$': // sentence begin + curTermNumber = curTermOffset = 0; + parity = 0; + curSentenceType = GPS_SENTENCE_OTHER; + isChecksumTerm = false; + sentenceHasFix = false; + return false; + + default: // ordinary characters + if (curTermOffset < sizeof(term) - 1) + term[curTermOffset++] = c; + if (!isChecksumTerm) + parity ^= c; + return false; + } + + return false; +} + +// +// internal utilities +// +int TinyGPSPlus::fromHex(char a) +{ + if (a >= 'A' && a <= 'F') + return a - 'A' + 10; + else if (a >= 'a' && a <= 'f') + return a - 'a' + 10; + else + return a - '0'; +} + +// static +// Parse a (potentially negative) number with up to 2 decimal digits -xxxx.yy +int32_t TinyGPSPlus::parseDecimal(const char *term) +{ + bool negative = *term == '-'; + if (negative) ++term; + int32_t ret = 100 * (int32_t)atol(term); + while (isdigit(*term)) ++term; + if (*term == '.' && isdigit(term[1])) + { + ret += 10 * (term[1] - '0'); + if (isdigit(term[2])) + ret += term[2] - '0'; + } + return negative ? -ret : ret; +} + +// static +// Parse degrees in that funny NMEA format DDMM.MMMM +void TinyGPSPlus::parseDegrees(const char *term, RawDegrees °) +{ + uint32_t leftOfDecimal = (uint32_t)atol(term); + uint16_t minutes = (uint16_t)(leftOfDecimal % 100); + uint32_t multiplier = 10000000UL; + uint32_t tenMillionthsOfMinutes = minutes * multiplier; + + deg.deg = (int16_t)(leftOfDecimal / 100); + + while (isdigit(*term)) + ++term; + + if (*term == '.') + while (isdigit(*++term)) + { + multiplier /= 10; + tenMillionthsOfMinutes += (*term - '0') * multiplier; + } + + deg.billionths = (5 * tenMillionthsOfMinutes + 1) / 3; + deg.negative = false; +} + +#define COMBINE(sentence_type, term_number) (((unsigned)(sentence_type) << 5) | term_number) + +// Processes a just-completed term +// Returns true if new sentence has just passed checksum test and is validated +bool TinyGPSPlus::endOfTermHandler() +{ + // If it's the checksum term, and the checksum checks out, commit + if (isChecksumTerm) + { + uint8_t checksum = 16 * fromHex(term[0]) + fromHex(term[1]); + if (checksum == parity) + { + passedChecksumCount++; + if (sentenceHasFix) + ++sentencesWithFixCount; + + switch(curSentenceType) + { + case GPS_SENTENCE_RMC: + date.commit(); + time.commit(); + if (sentenceHasFix) + { + location.commit(); + speed.commit(); + course.commit(); + } + break; + case GPS_SENTENCE_GGA: + time.commit(); + if (sentenceHasFix) + { + location.commit(); + altitude.commit(); + } + satellites.commit(); + hdop.commit(); + break; + } + + // Commit all custom listeners of this sentence type + for (TinyGPSCustom *p = customCandidates; p != NULL && strcmp(p->sentenceName, customCandidates->sentenceName) == 0; p = p->next) + p->commit(); + return true; + } + + else + { + ++failedChecksumCount; + } + + return false; + } + + // the first term determines the sentence type + if (curTermNumber == 0) + { + if (term[0] == 'G' && strchr("PNABL", term[1]) != NULL && !strcmp(term + 2, _RMCterm)) + curSentenceType = GPS_SENTENCE_RMC; + else if (term[0] == 'G' && strchr("PNABL", term[1]) != NULL && !strcmp(term + 2, _GGAterm)) + curSentenceType = GPS_SENTENCE_GGA; + else + curSentenceType = GPS_SENTENCE_OTHER; + + // Any custom candidates of this sentence type? + for (customCandidates = customElts; customCandidates != NULL && strcmp(customCandidates->sentenceName, term) < 0; customCandidates = customCandidates->next); + if (customCandidates != NULL && strcmp(customCandidates->sentenceName, term) > 0) + customCandidates = NULL; + + return false; + } + + if (curSentenceType != GPS_SENTENCE_OTHER && term[0]) + switch(COMBINE(curSentenceType, curTermNumber)) + { + case COMBINE(GPS_SENTENCE_RMC, 1): // Time in both sentences + case COMBINE(GPS_SENTENCE_GGA, 1): + time.setTime(term); + break; + case COMBINE(GPS_SENTENCE_RMC, 2): // RMC validity + sentenceHasFix = term[0] == 'A'; + break; + case COMBINE(GPS_SENTENCE_RMC, 3): // Latitude + case COMBINE(GPS_SENTENCE_GGA, 2): + location.setLatitude(term); + break; + case COMBINE(GPS_SENTENCE_RMC, 4): // N/S + case COMBINE(GPS_SENTENCE_GGA, 3): + location.rawNewLatData.negative = term[0] == 'S'; + break; + case COMBINE(GPS_SENTENCE_RMC, 5): // Longitude + case COMBINE(GPS_SENTENCE_GGA, 4): + location.setLongitude(term); + break; + case COMBINE(GPS_SENTENCE_RMC, 6): // E/W + case COMBINE(GPS_SENTENCE_GGA, 5): + location.rawNewLngData.negative = term[0] == 'W'; + break; + case COMBINE(GPS_SENTENCE_RMC, 7): // Speed (RMC) + speed.set(term); + break; + case COMBINE(GPS_SENTENCE_RMC, 8): // Course (RMC) + course.set(term); + break; + case COMBINE(GPS_SENTENCE_RMC, 9): // Date (RMC) + date.setDate(term); + break; + case COMBINE(GPS_SENTENCE_GGA, 6): // Fix data (GGA) + sentenceHasFix = term[0] > '0'; + location.newFixQuality = (TinyGPSLocation::Quality)term[0]; + break; + case COMBINE(GPS_SENTENCE_GGA, 7): // Satellites used (GGA) + satellites.set(term); + break; + case COMBINE(GPS_SENTENCE_GGA, 8): // HDOP + hdop.set(term); + break; + case COMBINE(GPS_SENTENCE_GGA, 9): // Altitude (GGA) + altitude.set(term); + break; + case COMBINE(GPS_SENTENCE_RMC, 12): + location.newFixMode = (TinyGPSLocation::Mode)term[0]; + break; + } + + // Set custom values as needed + for (TinyGPSCustom *p = customCandidates; p != NULL && strcmp(p->sentenceName, customCandidates->sentenceName) == 0 && p->termNumber <= curTermNumber; p = p->next) + if (p->termNumber == curTermNumber) + p->set(term); + + return false; +} + +/* static */ +double TinyGPSPlus::distanceBetween(double lat1, double long1, double lat2, double long2) +{ + // returns distance in meters between two positions, both specified + // as signed decimal-degrees latitude and longitude. Uses great-circle + // distance computation for hypothetical sphere of radius 6371009 meters. + // Because Earth is no exact sphere, rounding errors may be up to 0.5%. + // Courtesy of Maarten Lamers + double delta = (long1-long2)* (PI / 180); + double sdlong = sin(delta); + double cdlong = cos(delta); + lat1 = (lat1)* (PI / 180); + lat2 = (lat2)* (PI / 180); + double slat1 = sin(lat1); + double clat1 = cos(lat1); + double slat2 = sin(lat2); + double clat2 = cos(lat2); + delta = (clat1 * slat2) - (slat1 * clat2 * cdlong); + delta = delta*delta; + delta += (clat2 * sdlong)*(clat2 * sdlong); + delta = sqrt(delta); + double denom = (slat1 * slat2) + (clat1 * clat2 * cdlong); + delta = atan2(delta, denom); + return delta * _GPS_EARTH_MEAN_RADIUS; +} + +double TinyGPSPlus::courseTo(double lat1, double long1, double lat2, double long2) +{ + // returns course in degrees (North=0, West=270) from position 1 to position 2, + // both specified as signed decimal-degrees latitude and longitude. + // Because Earth is no exact sphere, calculated course may be off by a tiny fraction. + // Courtesy of Maarten Lamers + double dlon = (PI/180)*(long2-long1); + lat1 = (PI/180)*(lat1); + lat2 = (PI/180)*(lat2); + double a1 = sin(dlon) * cos(lat2); + double a2 = sin(lat1) * cos(lat2) * cos(dlon); + a2 = cos(lat1) * sin(lat2) - a2; + a2 = atan2(a1, a2); + if (a2 < 0.0) + { + a2 += TWO_PI; + } + return 180/PI*(a2); +} + +const char *TinyGPSPlus::cardinal(double course) +{ + static const char* directions[] = {"N", "NNE", "NE", "ENE", "E", "ESE", "SE", "SSE", "S", "SSW", "SW", "WSW", "W", "WNW", "NW", "NNW"}; + int direction = (int)((course + 11.25f) / 22.5f); + return directions[direction % 16]; +} + +void TinyGPSLocation::commit() +{ + rawLatData = rawNewLatData; + rawLngData = rawNewLngData; + fixQuality = newFixQuality; + fixMode = newFixMode; + lastCommitTime = HAL_GetTick(); + valid = updated = true; +} + +void TinyGPSLocation::setLatitude(const char *term) +{ + TinyGPSPlus::parseDegrees(term, rawNewLatData); +} + +void TinyGPSLocation::setLongitude(const char *term) +{ + TinyGPSPlus::parseDegrees(term, rawNewLngData); +} + +double TinyGPSLocation::lat() +{ + updated = false; + double ret = rawLatData.deg + rawLatData.billionths / 1000000000.0; + return rawLatData.negative ? -ret : ret; +} + +double TinyGPSLocation::lng() +{ + updated = false; + double ret = rawLngData.deg + rawLngData.billionths / 1000000000.0; + return rawLngData.negative ? -ret : ret; +} + +void TinyGPSDate::commit() +{ + date = newDate; + lastCommitTime = HAL_GetTick(); + valid = updated = true; +} + +void TinyGPSTime::commit() +{ + time = newTime; + lastCommitTime = HAL_GetTick(); + valid = updated = true; +} + +void TinyGPSTime::setTime(const char *term) +{ + newTime = (uint32_t)TinyGPSPlus::parseDecimal(term); +} + +void TinyGPSDate::setDate(const char *term) +{ + newDate = atol(term); +} + +uint16_t TinyGPSDate::year() +{ + updated = false; + uint16_t year = date % 100; + return year + 2000; +} + +uint8_t TinyGPSDate::month() +{ + updated = false; + return (date / 100) % 100; +} + +uint8_t TinyGPSDate::day() +{ + updated = false; + return date / 10000; +} + +uint8_t TinyGPSTime::hour() +{ + updated = false; + return time / 1000000; +} + +uint8_t TinyGPSTime::minute() +{ + updated = false; + return (time / 10000) % 100; +} + +uint8_t TinyGPSTime::second() +{ + updated = false; + return (time / 100) % 100; +} + +uint8_t TinyGPSTime::centisecond() +{ + updated = false; + return time % 100; +} + +void TinyGPSDecimal::commit() +{ + val = newval; + lastCommitTime = HAL_GetTick(); + valid = updated = true; +} + +void TinyGPSDecimal::set(const char *term) +{ + newval = TinyGPSPlus::parseDecimal(term); +} + +void TinyGPSInteger::commit() +{ + val = newval; + lastCommitTime = HAL_GetTick(); + valid = updated = true; +} + +void TinyGPSInteger::set(const char *term) +{ + newval = atol(term); +} + +TinyGPSCustom::TinyGPSCustom(TinyGPSPlus &gps, const char *_sentenceName, int _termNumber) +{ + begin(gps, _sentenceName, _termNumber); +} + +void TinyGPSCustom::begin(TinyGPSPlus &gps, const char *_sentenceName, int _termNumber) +{ + lastCommitTime = 0; + updated = valid = false; + sentenceName = _sentenceName; + termNumber = _termNumber; + memset(stagingBuffer, '\0', sizeof(stagingBuffer)); + memset(buffer, '\0', sizeof(buffer)); + + // Insert this item into the GPS tree + gps.insertCustom(this, _sentenceName, _termNumber); +} + +void TinyGPSCustom::commit() +{ + strcpy(this->buffer, this->stagingBuffer); + lastCommitTime = HAL_GetTick(); + valid = updated = true; +} + +void TinyGPSCustom::set(const char *term) +{ + strncpy(this->stagingBuffer, term, sizeof(this->stagingBuffer) - 1); +} + +void TinyGPSPlus::insertCustom(TinyGPSCustom *pElt, const char *sentenceName, int termNumber) +{ + TinyGPSCustom **ppelt; + + for (ppelt = &this->customElts; *ppelt != NULL; ppelt = &(*ppelt)->next) + { + int cmp = strcmp(sentenceName, (*ppelt)->sentenceName); + if (cmp < 0 || (cmp == 0 && termNumber < (*ppelt)->termNumber)) + break; + } + + pElt->next = *ppelt; + *ppelt = pElt; +} diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/TinyGPS++.h b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/TinyGPS++.h new file mode 100644 index 0000000..28fd30b --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/TinyGPS++.h @@ -0,0 +1,289 @@ +/* +TinyGPS++ - a small GPS library for Arduino providing universal NMEA parsing +Based on work by and "distanceBetween" and "courseTo" courtesy of Maarten Lamers. +Suggestion to add satellites, courseTo(), and cardinal() by Matt Monson. +Location precision improvements suggested by Wayne Holder. +Copyright (C) 2008-2024 Mikal Hart +All rights reserved. + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +*/ + + + +#ifndef __TinyGPSPlus_h +#define __TinyGPSPlus_h + +#include +#include +#include "stm32f7xx_hal.h" + + +#define _GPS_VERSION "1.1.0" // software version of this library +#define _GPS_MPH_PER_KNOT 1.15077945 +#define _GPS_MPS_PER_KNOT 0.51444444 +#define _GPS_KMPH_PER_KNOT 1.852 +#define _GPS_MILES_PER_METER 0.00062137112 +#define _GPS_KM_PER_METER 0.001 +#define _GPS_FEET_PER_METER 3.2808399 +#define _GPS_MAX_FIELD_SIZE 15 +#define _GPS_EARTH_MEAN_RADIUS 6371009 // old: 6372795 + +#define PI 3.14159265359 +#define TWO_PI 6.28318530718 + +struct RawDegrees +{ + uint16_t deg; + uint32_t billionths; + bool negative; +public: + RawDegrees() : deg(0), billionths(0), negative(false) + {} +}; + +struct TinyGPSLocation +{ + friend class TinyGPSPlus; +public: + enum Quality { Invalid = '0', GPS = '1', DGPS = '2', PPS = '3', RTK = '4', FloatRTK = '5', Estimated = '6', Manual = '7', Simulated = '8' }; + enum Mode { N = 'N', A = 'A', D = 'D', E = 'E'}; + + bool isValid() const { return valid; } + bool isUpdated() const { return updated; } + uint32_t age() const { return valid ? HAL_GetTick() - lastCommitTime : (uint32_t)ULONG_MAX; } + const RawDegrees &rawLat() { updated = false; return rawLatData; } + const RawDegrees &rawLng() { updated = false; return rawLngData; } + double lat(); + double lng(); + Quality FixQuality() { updated = false; return fixQuality; } + Mode FixMode() { updated = false; return fixMode; } + + TinyGPSLocation() : valid(false), updated(false), fixQuality(Invalid), fixMode(N) + {} + +private: + bool valid, updated; + RawDegrees rawLatData, rawLngData, rawNewLatData, rawNewLngData; + Quality fixQuality, newFixQuality; + Mode fixMode, newFixMode; + uint32_t lastCommitTime; + void commit(); + void setLatitude(const char *term); + void setLongitude(const char *term); +}; + +struct TinyGPSDate +{ + friend class TinyGPSPlus; +public: + bool isValid() const { return valid; } + bool isUpdated() const { return updated; } + uint32_t age() const { return valid ? HAL_GetTick() - lastCommitTime : (uint32_t)ULONG_MAX; } + + uint32_t value() { updated = false; return date; } + uint16_t year(); + uint8_t month(); + uint8_t day(); + + TinyGPSDate() : valid(false), updated(false), date(0) + {} + +private: + bool valid, updated; + uint32_t date, newDate; + uint32_t lastCommitTime; + void commit(); + void setDate(const char *term); +}; + +struct TinyGPSTime +{ + friend class TinyGPSPlus; +public: + bool isValid() const { return valid; } + bool isUpdated() const { return updated; } + uint32_t age() const { return valid ? HAL_GetTick() - lastCommitTime : (uint32_t)ULONG_MAX; } + + uint32_t value() { updated = false; return time; } + uint8_t hour(); + uint8_t minute(); + uint8_t second(); + uint8_t centisecond(); + + TinyGPSTime() : valid(false), updated(false), time(0) + {} + +private: + bool valid, updated; + uint32_t time, newTime; + uint32_t lastCommitTime; + void commit(); + void setTime(const char *term); +}; + +struct TinyGPSDecimal +{ + friend class TinyGPSPlus; +public: + bool isValid() const { return valid; } + bool isUpdated() const { return updated; } + uint32_t age() const { return valid ? HAL_GetTick() - lastCommitTime : (uint32_t)ULONG_MAX; } + int32_t value() { updated = false; return val; } + + TinyGPSDecimal() : valid(false), updated(false), val(0) + {} + +private: + bool valid, updated; + uint32_t lastCommitTime; + int32_t val, newval; + void commit(); + void set(const char *term); +}; + +struct TinyGPSInteger +{ + friend class TinyGPSPlus; +public: + bool isValid() const { return valid; } + bool isUpdated() const { return updated; } + uint32_t age() const { return valid ? HAL_GetTick() - lastCommitTime : (uint32_t)ULONG_MAX; } + uint32_t value() { updated = false; return val; } + + TinyGPSInteger() : valid(false), updated(false), val(0) + {} + +private: + bool valid, updated; + uint32_t lastCommitTime; + uint32_t val, newval; + void commit(); + void set(const char *term); +}; + +struct TinyGPSSpeed : TinyGPSDecimal +{ + double knots() { return value() / 100.0; } + double mph() { return _GPS_MPH_PER_KNOT * value() / 100.0; } + double mps() { return _GPS_MPS_PER_KNOT * value() / 100.0; } + double kmph() { return _GPS_KMPH_PER_KNOT * value() / 100.0; } +}; + +struct TinyGPSCourse : public TinyGPSDecimal +{ + double deg() { return value() / 100.0; } +}; + +struct TinyGPSAltitude : TinyGPSDecimal +{ + double meters() { return value() / 100.0; } + double miles() { return _GPS_MILES_PER_METER * value() / 100.0; } + double kilometers() { return _GPS_KM_PER_METER * value() / 100.0; } + double feet() { return _GPS_FEET_PER_METER * value() / 100.0; } +}; + +struct TinyGPSHDOP : TinyGPSDecimal +{ + double hdop() { return value() / 100.0; } +}; + +class TinyGPSPlus; +class TinyGPSCustom +{ +public: + TinyGPSCustom() {}; + TinyGPSCustom(TinyGPSPlus &gps, const char *sentenceName, int termNumber); + void begin(TinyGPSPlus &gps, const char *_sentenceName, int _termNumber); + + bool isUpdated() const { return updated; } + bool isValid() const { return valid; } + uint32_t age() const { return valid ? HAL_GetTick() - lastCommitTime : (uint32_t)ULONG_MAX; } + const char *value() { updated = false; return buffer; } + +private: + void commit(); + void set(const char *term); + + char stagingBuffer[_GPS_MAX_FIELD_SIZE + 1]; + char buffer[_GPS_MAX_FIELD_SIZE + 1]; + unsigned long lastCommitTime; + bool valid, updated; + const char *sentenceName; + int termNumber; + friend class TinyGPSPlus; + TinyGPSCustom *next; +}; + +class TinyGPSPlus +{ +public: + TinyGPSPlus(); + bool encode(char c); // process one character received from GPS + TinyGPSPlus &operator << (char c) {encode(c); return *this;} + + TinyGPSLocation location; + TinyGPSDate date; + TinyGPSTime time; + TinyGPSSpeed speed; + TinyGPSCourse course; + TinyGPSAltitude altitude; + TinyGPSInteger satellites; + TinyGPSHDOP hdop; + + static const char *libraryVersion() { return _GPS_VERSION; } + + static double distanceBetween(double lat1, double long1, double lat2, double long2); + static double courseTo(double lat1, double long1, double lat2, double long2); + static const char *cardinal(double course); + + static int32_t parseDecimal(const char *term); + static void parseDegrees(const char *term, RawDegrees °); + + uint32_t charsProcessed() const { return encodedCharCount; } + uint32_t sentencesWithFix() const { return sentencesWithFixCount; } + uint32_t failedChecksum() const { return failedChecksumCount; } + uint32_t passedChecksum() const { return passedChecksumCount; } + +private: + enum {GPS_SENTENCE_GGA, GPS_SENTENCE_RMC, GPS_SENTENCE_OTHER}; + + // parsing state variables + uint8_t parity; + bool isChecksumTerm; + char term[_GPS_MAX_FIELD_SIZE]; + uint8_t curSentenceType; + uint8_t curTermNumber; + uint8_t curTermOffset; + bool sentenceHasFix; + + // custom element support + friend class TinyGPSCustom; + TinyGPSCustom *customElts; + TinyGPSCustom *customCandidates; + void insertCustom(TinyGPSCustom *pElt, const char *sentenceName, int index); + + // statistics + uint32_t encodedCharCount; + uint32_t sentencesWithFixCount; + uint32_t failedChecksumCount; + uint32_t passedChecksumCount; + + // internal utilities + int fromHex(char a); + bool endOfTermHandler(); +}; + +#endif // def(__TinyGPSPlus_h) diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/TinyGPSPlus.h b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/TinyGPSPlus.h new file mode 100644 index 0000000..23d9fef --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/TinyGPSPlus.h @@ -0,0 +1,26 @@ +/* +TinyGPSPlus - a small GPS library for Arduino providing universal NMEA parsing +Based on work by and "distanceBetween" and "courseTo" courtesy of Maarten Lamers. +Suggestion to add satellites, courseTo(), and cardinal() by Matt Monson. +Location precision improvements suggested by Wayne Holder. +Copyright (C) 2008-2024 Mikal Hart +All rights reserved. + +This library is free software; you can redistribute it and/or +modify it under the terms of the GNU Lesser General Public +License as published by the Free Software Foundation; either +version 2.1 of the License, or (at your option) any later version. + +This library is distributed in the hope that it will be useful, +but WITHOUT ANY WARRANTY; without even the implied warranty of +MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +Lesser General Public License for more details. + +You should have received a copy of the GNU Lesser General Public +License along with this library; if not, write to the Free Software +Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef __TinyGPSPlus_h +#include "TinyGPS++.h" +#endif \ No newline at end of file diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/USBHandler.cpp b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/USBHandler.cpp new file mode 100644 index 0000000..2e56eb5 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/USBHandler.cpp @@ -0,0 +1,93 @@ +#include "USBHandler.h" +#include + +USBHandler::USBHandler() { + reset(); +} + +void USBHandler::reset() { + current_state = USBState::WAITING_FOR_START; + start_flag_received = false; + buffer_index = 0; + current_settings.resetToDefaults(); +} + +void USBHandler::processUSBData(const uint8_t* data, uint32_t length) { + if (data == nullptr || length == 0) { + return; + } + + switch (current_state) { + case USBState::WAITING_FOR_START: + processStartFlag(data, length); + break; + + case USBState::RECEIVING_SETTINGS: + processSettingsData(data, length); + break; + + case USBState::READY_FOR_DATA: + // Ready to receive radar data commands + // Add additional command processing here if needed + break; + } +} + +void USBHandler::processStartFlag(const uint8_t* data, uint32_t length) { + // Start flag: bytes [23, 46, 158, 237] + const uint8_t START_FLAG[] = {23, 46, 158, 237}; + + // Check if start flag is in the received data + for (uint32_t i = 0; i <= length - 4; i++) { + if (memcmp(data + i, START_FLAG, 4) == 0) { + start_flag_received = true; + current_state = USBState::RECEIVING_SETTINGS; + buffer_index = 0; // Reset buffer for settings data + + // You can send an acknowledgment back here if needed + // sendUSBAcknowledgment(); + + // If there's more data after the start flag, process it + if (length > i + 4) { + processSettingsData(data + i + 4, length - i - 4); + } + return; + } + } +} + +void USBHandler::processSettingsData(const uint8_t* data, uint32_t length) { + // Add data to buffer + uint32_t bytes_to_copy = (length < (MAX_BUFFER_SIZE - buffer_index)) ? + length : (MAX_BUFFER_SIZE - buffer_index); + + memcpy(usb_buffer + buffer_index, data, bytes_to_copy); + buffer_index += bytes_to_copy; + + // Check if we have a complete settings packet (contains "SET" and "END") + if (buffer_index >= 74) { // Minimum size for valid settings packet + // Look for "SET" at beginning and "END" somewhere in the packet + bool has_set = (memcmp(usb_buffer, "SET", 3) == 0); + bool has_end = false; + + for (uint32_t i = 3; i <= buffer_index - 3; i++) { + if (memcmp(usb_buffer + i, "END", 3) == 0) { + has_end = true; + + // Parse the complete packet up to "END" + if (has_set && current_settings.parseFromUSB(usb_buffer, i + 3)) { + current_state = USBState::READY_FOR_DATA; + + // You can send settings acknowledgment back here + // sendSettingsAcknowledgment(); + } + break; + } + } + + // If we didn't find a valid packet but buffer is full, reset + if (buffer_index >= MAX_BUFFER_SIZE && !has_end) { + buffer_index = 0; // Reset buffer to avoid overflow + } + } +} \ No newline at end of file diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/USBHandler.h b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/USBHandler.h new file mode 100644 index 0000000..725fef2 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/USBHandler.h @@ -0,0 +1,46 @@ +#ifndef USBHANDLER_H +#define USBHANDLER_H + +#include "RadarSettings.h" +#include + +class USBHandler { +public: + enum class USBState { + WAITING_FOR_START, + RECEIVING_SETTINGS, + READY_FOR_DATA + }; + + USBHandler(); + + // Process incoming USB data + void processUSBData(const uint8_t* data, uint32_t length); + + // Check if start flag was received + bool isStartFlagReceived() const { return start_flag_received; } + + // Get current settings + const RadarSettings& getSettings() const { return current_settings; } + + // Get current state + USBState getState() const { return current_state; } + + // Reset USB handler + void reset(); + +private: + RadarSettings current_settings; + USBState current_state; + bool start_flag_received; + + // Buffer for accumulating USB data + static constexpr uint32_t MAX_BUFFER_SIZE = 256; + uint8_t usb_buffer[MAX_BUFFER_SIZE]; + uint32_t buffer_index; + + void processStartFlag(const uint8_t* data, uint32_t length); + void processSettingsData(const uint8_t* data, uint32_t length); +}; + +#endif // USBHANDLER_H \ No newline at end of file diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ad9523.c b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ad9523.c new file mode 100644 index 0000000..a88e3dc --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ad9523.c @@ -0,0 +1,731 @@ +/***************************************************************************//** + * @file AD9523.c + * @brief Implementation of AD9523 Driver. + * @author ACozma(andrei.cozma@analog.com) + ******************************************************************************** + * Copyright 2012-2016(c) Analog Devices, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. Neither the name of Analog Devices, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from this + * software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY ANALOG DEVICES, INC. “AS IS” AND ANY EXPRESS OR + * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO + * EVENT SHALL ANALOG DEVICES, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + *******************************************************************************/ + +#include +#include +#include "ad9523.h" +#include "no_os_alloc.h" + +/* Helpers to avoid excess line breaks */ +#define AD_IFE(_pde, _a, _b) ((dev->pdata->_pde) ? _a : _b) +#define AD_IF(_pde, _a) AD_IFE(_pde, _a, 0) + +/***************************************************************************//** + * @brief Reads the value of the selected register. + * + * @param dev - The device structure. + * @param reg_addr - The address of the register to read. + * @param reg_data - Pointer to the read value. + + * @return Returns 0 in case of success or negative error code. + *******************************************************************************/ +int32_t ad9523_spi_read(struct ad9523_dev *dev, + uint32_t reg_addr, + uint32_t *reg_data) +{ + uint8_t buf[3]; + + int32_t ret = 0; + uint8_t index; + + *reg_data = 0; + for (index = 0; index < AD9523_TRANSF_LEN(reg_addr); index++) { + buf[0] = 0x80 | (reg_addr >> 8); + buf[1] = reg_addr & 0xFF; + buf[2] = 0x00; + ret |= no_os_spi_write_and_read(dev->spi_desc, + buf, + 3); + reg_addr--; + *reg_data <<= 8; + *reg_data |= buf[2]; + } + + return ret; +} + +/***************************************************************************//** + * @brief Writes a value to the selected register. + * + * @param dev - The device structure. + * @param reg_addr - The address of the register to write to. + * @param reg_data - The value to write to the register. + * + * @return Returns 0 in case of success or negative error code. + *******************************************************************************/ +int32_t ad9523_spi_write(struct ad9523_dev *dev, + uint32_t reg_addr, + uint32_t reg_data) +{ + uint8_t buf[3]; + + int32_t ret = 0; + uint8_t index; + + for (index = 0; index < AD9523_TRANSF_LEN(reg_addr); index++) { + buf[0] = reg_addr >> 8; + buf[1] = reg_addr & 0xFF; + buf[2] = (reg_data >> ((AD9523_TRANSF_LEN(reg_addr) - index - 1) * 8)) & 0xFF; + ret |= no_os_spi_write_and_read(dev->spi_desc, + buf, + 3); + reg_addr--; + } + + return ret; +} + +/***************************************************************************//** + * @brief Updates the AD9523 configuration + * + * @param dev - The device structure. + * + * @return Returns 0 in case of success or negative error code. + *******************************************************************************/ +int32_t ad9523_io_update(struct ad9523_dev *dev) +{ + return ad9523_spi_write(dev, + AD9523_IO_UPDATE, + AD9523_IO_UPDATE_EN); +} + +/***************************************************************************//** + * @brief Sets the clock provider for selected channel. + * + * @param dev - The device structure. + * @param ch - Selected channel. + * @param out - Selected clock provider. + * + * @return Returns 0 in case of success or negative error code. + *******************************************************************************/ +int32_t ad9523_vco_out_map(struct ad9523_dev *dev, + uint32_t ch, + uint32_t out) +{ + int32_t ret; + uint32_t mask; + uint32_t reg_data; + + switch (ch) { + case 0 ... 3: + ret = ad9523_spi_read(dev, + AD9523_PLL1_OUTPUT_CHANNEL_CTRL, + ®_data); + if (ret < 0) + break; + mask = AD9523_PLL1_OUTP_CH_CTRL_VCXO_SRC_SEL_CH0 << ch; + if (out) { + reg_data |= mask; + out = AD9523_VCXO; + } else { + reg_data &= ~mask; + } + ret = ad9523_spi_write(dev, + AD9523_PLL1_OUTPUT_CHANNEL_CTRL, + reg_data); + break; + case 4 ... 6: + ret = ad9523_spi_read(dev, + AD9523_PLL1_OUTPUT_CTRL, + ®_data); + if (ret < 0) + break; + mask = AD9523_PLL1_OUTP_CTRL_VCO_DIV_SEL_CH4_M2 << (ch - 4); + if (out) + reg_data |= mask; + else + reg_data &= ~mask; + ret = ad9523_spi_write(dev, + AD9523_PLL1_OUTPUT_CTRL, + reg_data); + break; + case 7 ... 9: + ret = ad9523_spi_read(dev, + AD9523_PLL1_OUTPUT_CHANNEL_CTRL, + ®_data); + if (ret < 0) + break; + mask = AD9523_PLL1_OUTP_CH_CTRL_VCO_DIV_SEL_CH7_M2 << (ch - 7); + if (out) + reg_data |= mask; + else + reg_data &= ~mask; + ret = ad9523_spi_write(dev, + AD9523_PLL1_OUTPUT_CHANNEL_CTRL, + reg_data); + break; + default: + return 0; + } + + dev->ad9523_st.vco_out_map[ch] = out; + + return ret; +} + +/***************************************************************************//** + * @brief Updates the AD9523 configuration. + * + * @return Returns 0 in case of success or negative error code. + *******************************************************************************/ + +// vco calibration on default setup may not work (as it is a buffered write) +// calibration requires all registers to be written (not in hold registers) first. + +int32_t ad9523_calibrate(struct ad9523_dev *dev) +{ + uint32_t reg_data; + uint32_t timeout; + + ad9523_spi_write(dev, + AD9523_PLL2_VCO_CTRL, + AD9523_PLL2_VCO_CALIBRATE); + ad9523_io_update(dev); + + timeout = 0; + while (timeout < 100) { + no_os_mdelay(1); + timeout = timeout + 1; + ad9523_spi_read(dev, + AD9523_READBACK_1, + ®_data); + if ((reg_data & 0x1) == 0x0) + break; + } + ad9523_spi_read(dev, + AD9523_READBACK_1, + ®_data); + if ((reg_data & 0x1) != 0x0) { + printf("AD9523: VCO calibration failed (%#06lx)!\n", reg_data); + return (-1); + } + + return (0); +} + +/***************************************************************************//** + * @brief Updates the AD9523 configuration. + * + * @param dev - The device structure. + * + * @return Returns 0 in case of success or negative error code. + *******************************************************************************/ + +// status +// calibration requires all registers to be written (not in hold registers) first. + +int32_t ad9523_status(struct ad9523_dev *dev) +{ + int32_t ret; + uint32_t reg_data; + uint32_t status; + uint32_t timeout; + + status = 0; + + // vcxo + pll2 must always be okay- (is it not?) + + status = status | AD9523_READBACK_0_STAT_VCXO; + status = status | AD9523_READBACK_0_STAT_PLL2_LD; + + if (dev->pdata->pll1_bypass_en == 0) { + status = status | AD9523_READBACK_0_STAT_PLL2_REF_CLK; + status = status | AD9523_READBACK_0_STAT_PLL2_FB_CLK; + status = status | AD9523_READBACK_0_STAT_REF_TEST; + status = status | AD9523_READBACK_0_STAT_REFB; + status = status | AD9523_READBACK_0_STAT_REFA; + status = status | AD9523_READBACK_0_STAT_PLL1_LD; + } + + timeout = 0; + while (timeout < 100) { + no_os_mdelay(1); + timeout = timeout + 1; + ad9523_spi_read(dev, + AD9523_READBACK_0, + ®_data); + if ((reg_data & status) == status) + break; + } + + ret = 0; + if ((reg_data & AD9523_READBACK_0_STAT_VCXO) != AD9523_READBACK_0_STAT_VCXO) { + printf("AD9523: VCXO status errors (%#06lx)!\n", reg_data); + ret = -1; + } + + if ((reg_data & AD9523_READBACK_0_STAT_PLL2_LD) != + AD9523_READBACK_0_STAT_PLL2_LD) { + printf("AD9523: PLL2 NOT locked (%#06lx)!\n", reg_data); + ret = -1; + } + + return (ret); +} + +/***************************************************************************//** + * @brief Updates the AD9523 configuration. + * + * @param dev - The device structure. + * + * @return Returns 0 in case of success or negative error code. + *******************************************************************************/ +int32_t ad9523_sync(struct ad9523_dev *dev) +{ + int32_t ret, tmp; + uint32_t reg_data; + + ret = ad9523_spi_read(dev, + AD9523_STATUS_SIGNALS, + ®_data); + if (ret < 0) + return ret; + + tmp = reg_data; + tmp |= AD9523_STATUS_SIGNALS_SYNC_MAN_CTRL; + + ret = ad9523_spi_write(dev, + AD9523_STATUS_SIGNALS, + tmp); + if (ret < 0) + return ret; + + ad9523_io_update(dev); + tmp &= ~AD9523_STATUS_SIGNALS_SYNC_MAN_CTRL; + + ret = ad9523_spi_write(dev, + AD9523_STATUS_SIGNALS, + tmp); + if (ret < 0) + return ret; + + return ad9523_io_update(dev); + +} + +/***************************************************************************//** + * @brief Initialize the AD9523 data structure with the default register values. + * + * @param init_param - The device initial parameters. + * + * @return Always return 0. + *******************************************************************************/ +int32_t ad9523_init(struct ad9523_init_param *init_param) +{ + + int32_t i = 0; + + init_param->pdata->vcxo_freq = 0; + init_param->pdata->spi3wire = 0; + + /* Differential/ Single-Ended Input Configuration */ + init_param->pdata->refa_diff_rcv_en = 0; + init_param->pdata->refb_diff_rcv_en = 0; + init_param->pdata->zd_in_diff_en = 0; + init_param->pdata->osc_in_diff_en = 0; + + /* + * Valid if differential input disabled + * if not true defaults to pos input + */ + init_param->pdata->refa_cmos_neg_inp_en = 0; + init_param->pdata->refb_cmos_neg_inp_en = 0; + init_param->pdata->zd_in_cmos_neg_inp_en = 0; + init_param->pdata->osc_in_cmos_neg_inp_en = 0; + + /* PLL1 Setting */ + init_param->pdata->refa_r_div = 1; + init_param->pdata->refb_r_div = 1; + init_param->pdata->pll1_feedback_div = 1; + init_param->pdata->pll1_charge_pump_current_nA = 0; + init_param->pdata->zero_delay_mode_internal_en = 0; + init_param->pdata->osc_in_feedback_en = 0; + init_param->pdata->pll1_bypass_en = 1; + init_param->pdata->pll1_loop_filter_rzero = 1; + + /* Reference */ + init_param->pdata->ref_mode = 0; + + /* PLL2 Setting */ + init_param->pdata->pll2_charge_pump_current_nA = 0; + init_param->pdata->pll2_ndiv_a_cnt = 0; + init_param->pdata->pll2_ndiv_b_cnt = 4; + init_param->pdata->pll2_freq_doubler_en = 0; + init_param->pdata->pll2_r2_div = 0; + init_param->pdata->pll2_vco_diff_m1 = 0; /* 3..5 */ + init_param->pdata->pll2_vco_diff_m2 = 0; /* 3..5 */ + + /* Loop Filter PLL2 */ + init_param->pdata->rpole2 = 0; + init_param->pdata->rzero = 0; + init_param->pdata->cpole1 = 0; + init_param->pdata->rzero_bypass_en = 0; + + /* Output Channel Configuration */ + for (i = 0; i < init_param->pdata->num_channels; i++) { + (&init_param->pdata->channels[i])->channel_num = 0; + (&init_param->pdata->channels[i])->divider_output_invert_en = 0; + (&init_param->pdata->channels[i])->sync_ignore_en = 0; + (&init_param->pdata->channels[i])->low_power_mode_en = 0; + (&init_param->pdata->channels[i])->use_alt_clock_src = 0; + (&init_param->pdata->channels[i])->output_dis = 0; + (&init_param->pdata->channels[i])->driver_mode = LVPECL_8mA; + (&init_param->pdata->channels[i])->divider_phase = 0; + (&init_param->pdata->channels[i])->channel_divider = 0; + } + return 0; +} + + +/***************************************************************************//** + * @brief Setup the AD9523 device. + * + * @param device - The device structure. + * @param init_param - The structure holding the device initial parameters. + * + * @return Returns 0 in case of success or negative error code. + *******************************************************************************/ +int32_t ad9523_setup(struct ad9523_dev **device, + const struct ad9523_init_param *init_param) + +{ + struct ad9523_channel_spec *chan; + uint32_t active_mask = 0; + int32_t ret, i; + uint32_t reg_data; + uint32_t version_id; + struct ad9523_dev *dev; + + dev = (struct ad9523_dev *)no_os_malloc(sizeof(*dev)); + if (!dev) + return -1; + + /* SPI */ + ret = no_os_spi_init(&dev->spi_desc, &init_param->spi_init); + if (ret < 0) + return ret; + + dev->pdata = init_param->pdata; + + ret = ad9523_spi_write(dev, + AD9523_SERIAL_PORT_CONFIG, + AD9523_SER_CONF_SOFT_RESET | + (dev->pdata->spi3wire ? 0 : + AD9523_SER_CONF_SDO_ACTIVE)); + if (ret < 0) + return ret; + no_os_mdelay(1); + + ret = ad9523_spi_write(dev, + AD9523_READBACK_CTRL, + AD9523_READBACK_CTRL_READ_BUFFERED); + if (ret < 0) + return ret; + + ret = ad9523_io_update(dev); + if (ret < 0) + return ret; + + ret = ad9523_spi_read(dev, + AD9523_EEPROM_CUSTOMER_VERSION_ID, + &version_id); + if (ret < 0) + return ret; + + ret = ad9523_spi_write(dev, + AD9523_EEPROM_CUSTOMER_VERSION_ID, + 0xAD95); + if (ret < 0) + return ret; + + ret = ad9523_spi_read(dev, + AD9523_EEPROM_CUSTOMER_VERSION_ID, + ®_data); + if (ret < 0) + return ret; + + if (reg_data != 0xAD95) { + printf("AD9523: SPI write-verify failed (%#06lX)!\n\r", + reg_data); + return -1; + } + + ret = ad9523_spi_write(dev, + AD9523_EEPROM_CUSTOMER_VERSION_ID, + version_id); + if (ret < 0) + return ret; + + /* + * PLL1 Setup + */ + ret = ad9523_spi_write(dev, + AD9523_PLL1_REF_A_DIVIDER, + dev->pdata->refa_r_div); + if (ret < 0) + return ret; + + ret = ad9523_spi_write(dev, + AD9523_PLL1_REF_B_DIVIDER, + dev->pdata->refb_r_div); + if (ret < 0) + return ret; + + ret = ad9523_spi_write(dev, + AD9523_PLL1_FEEDBACK_DIVIDER, + dev->pdata->pll1_feedback_div); + if (ret < 0) + return ret; + + ret = ad9523_spi_write(dev, + AD9523_PLL1_CHARGE_PUMP_CTRL, + AD_IFE(pll1_bypass_en, AD9523_PLL1_CHARGE_PUMP_TRISTATE, + AD9523_PLL1_CHARGE_PUMP_CURRENT_nA(dev->pdata-> + pll1_charge_pump_current_nA) | + AD9523_PLL1_CHARGE_PUMP_MODE_NORMAL | + AD9523_PLL1_BACKLASH_PW_MIN)); + if (ret < 0) + return ret; + + ret = ad9523_spi_write(dev, + AD9523_PLL1_INPUT_RECEIVERS_CTRL, + AD_IFE(pll1_bypass_en, AD9523_PLL1_REFA_REFB_PWR_CTRL_EN | + AD_IF(osc_in_diff_en, AD9523_PLL1_OSC_IN_DIFF_EN) | + AD_IF(osc_in_cmos_neg_inp_en, AD9523_PLL1_OSC_IN_CMOS_NEG_INP_EN), + AD_IF(refa_diff_rcv_en, AD9523_PLL1_REFA_RCV_EN) | + AD_IF(refb_diff_rcv_en, AD9523_PLL1_REFB_RCV_EN) | + AD_IF(osc_in_diff_en, AD9523_PLL1_OSC_IN_DIFF_EN) | + AD_IF(osc_in_cmos_neg_inp_en, + AD9523_PLL1_OSC_IN_CMOS_NEG_INP_EN) | + AD_IF(refa_diff_rcv_en, AD9523_PLL1_REFA_DIFF_RCV_EN) | + AD_IF(refb_diff_rcv_en, AD9523_PLL1_REFB_DIFF_RCV_EN))); + if (ret < 0) + return ret; + + ret = ad9523_spi_write(dev, + AD9523_PLL1_REF_CTRL, + AD_IFE(pll1_bypass_en, AD9523_PLL1_BYPASS_FEEDBACK_DIV_EN | + AD9523_PLL1_ZERO_DELAY_MODE_INT, + AD_IF(zd_in_diff_en, AD9523_PLL1_ZD_IN_DIFF_EN) | + AD_IF(zd_in_cmos_neg_inp_en, + AD9523_PLL1_ZD_IN_CMOS_NEG_INP_EN) | + AD_IF(zero_delay_mode_internal_en, + AD9523_PLL1_ZERO_DELAY_MODE_INT) | + AD_IF(osc_in_feedback_en, AD9523_PLL1_OSC_IN_PLL_FEEDBACK_EN) | + AD_IF(refa_cmos_neg_inp_en, AD9523_PLL1_REFA_CMOS_NEG_INP_EN) | + AD_IF(refb_cmos_neg_inp_en, AD9523_PLL1_REFB_CMOS_NEG_INP_EN))); + if (ret < 0) + return ret; + + ret = ad9523_spi_write(dev, + AD9523_PLL1_MISC_CTRL, + AD9523_PLL1_REFB_INDEP_DIV_CTRL_EN | + AD9523_PLL1_REF_MODE(dev->pdata->ref_mode)); + if (ret < 0) + return ret; + + ret = ad9523_spi_write(dev, + AD9523_PLL1_LOOP_FILTER_CTRL, + AD9523_PLL1_LOOP_FILTER_RZERO(dev->pdata-> + pll1_loop_filter_rzero)); + if (ret < 0) + return ret; + + /* + * PLL2 Setup + */ + + ret = ad9523_spi_write(dev, + AD9523_PLL2_CHARGE_PUMP, + AD9523_PLL2_CHARGE_PUMP_CURRENT_nA(dev->pdata-> + pll2_charge_pump_current_nA)); + if (ret < 0) + return ret; + + ret = ad9523_spi_write(dev, + AD9523_PLL2_FEEDBACK_DIVIDER_AB, + AD9523_PLL2_FB_NDIV_A_CNT(dev->pdata->pll2_ndiv_a_cnt) | + AD9523_PLL2_FB_NDIV_B_CNT(dev->pdata->pll2_ndiv_b_cnt)); + if (ret < 0) + return ret; + + ret = ad9523_spi_write(dev, + AD9523_PLL2_CTRL, + AD9523_PLL2_CHARGE_PUMP_MODE_NORMAL | + AD9523_PLL2_BACKLASH_CTRL_EN | + AD_IF(pll2_freq_doubler_en, + AD9523_PLL2_FREQ_DOUBLER_EN)); + if (ret < 0) + return ret; + + dev->ad9523_st.vco_freq = (dev->pdata->vcxo_freq * + (dev->pdata->pll2_freq_doubler_en ? 2 : 1) + / dev->pdata->pll2_r2_div) * AD9523_PLL2_FB_NDIV(dev->pdata-> + pll2_ndiv_a_cnt, + dev->pdata-> + pll2_ndiv_b_cnt); + + ret = ad9523_spi_write(dev, + AD9523_PLL2_VCO_CTRL, + AD9523_PLL2_VCO_CALIBRATE); + if (ret < 0) + return ret; + + ret = ad9523_spi_write(dev, + AD9523_PLL2_VCO_DIVIDER, + AD9523_PLL2_VCO_DIV_M1(dev->pdata-> + pll2_vco_diff_m1) | + AD9523_PLL2_VCO_DIV_M2(dev->pdata-> + pll2_vco_diff_m2) | + AD_IFE(pll2_vco_diff_m1, + 0, + AD9523_PLL2_VCO_DIV_M1_PWR_DOWN_EN) | + AD_IFE(pll2_vco_diff_m2, + 0, + AD9523_PLL2_VCO_DIV_M2_PWR_DOWN_EN)); + if (ret < 0) + return ret; + + if (dev->pdata->pll2_vco_diff_m1) + dev->ad9523_st.vco_out_freq[AD9523_VCO1] = + dev->ad9523_st.vco_freq / dev->pdata->pll2_vco_diff_m1; + + if (dev->pdata->pll2_vco_diff_m2) + dev->ad9523_st.vco_out_freq[AD9523_VCO2] = + dev->ad9523_st.vco_freq / dev->pdata->pll2_vco_diff_m2; + + dev->ad9523_st.vco_out_freq[AD9523_VCXO] = dev->pdata->vcxo_freq; + + ret = ad9523_spi_write(dev, + AD9523_PLL2_R2_DIVIDER, + AD9523_PLL2_R2_DIVIDER_VAL(dev->pdata->pll2_r2_div)); + if (ret < 0) + return ret; + + ret = ad9523_spi_write(dev, + AD9523_PLL2_LOOP_FILTER_CTRL, + AD9523_PLL2_LOOP_FILTER_CPOLE1(dev->pdata->cpole1) | + AD9523_PLL2_LOOP_FILTER_RZERO(dev->pdata->rzero) | + AD9523_PLL2_LOOP_FILTER_RPOLE2(dev->pdata->rpole2) | + AD_IF(rzero_bypass_en, + AD9523_PLL2_LOOP_FILTER_RZERO_BYPASS_EN)); + if (ret < 0) + return ret; + + for (i = 0; i < dev->pdata->num_channels; i++) { + chan = &dev->pdata->channels[i]; + if (chan->channel_num < AD9523_NUM_CHAN) { + active_mask |= (1 << chan->channel_num); + ret = ad9523_spi_write(dev, + AD9523_CHANNEL_CLOCK_DIST(chan->channel_num), + AD9523_CLK_DIST_DRIVER_MODE(chan->driver_mode) | + AD9523_CLK_DIST_DIV(chan->channel_divider) | + AD9523_CLK_DIST_DIV_PHASE(chan->divider_phase) | + (chan->sync_ignore_en ? + AD9523_CLK_DIST_IGNORE_SYNC_EN : 0) | + (chan->divider_output_invert_en ? + AD9523_CLK_DIST_INV_DIV_OUTPUT_EN : 0) | + (chan->low_power_mode_en ? + AD9523_CLK_DIST_LOW_PWR_MODE_EN : 0) | + (chan->output_dis ? + AD9523_CLK_DIST_PWR_DOWN_EN : 0)); + if (ret < 0) + return ret; + + ret = ad9523_vco_out_map(dev, + chan->channel_num, + chan->use_alt_clock_src); + if (ret < 0) + return ret; + } + } + + for (i = 0; i < AD9523_NUM_CHAN; i++) { + if (!(active_mask & (1 << i))) { + ad9523_spi_write(dev, + AD9523_CHANNEL_CLOCK_DIST(i), + AD9523_CLK_DIST_DRIVER_MODE(TRISTATE) | + AD9523_CLK_DIST_PWR_DOWN_EN); + } + } + + ret = ad9523_spi_write(dev, + AD9523_POWER_DOWN_CTRL, + 0); + if (ret < 0) + return ret; + + ret = ad9523_spi_write(dev, + AD9523_STATUS_SIGNALS, + AD9523_STATUS_MONITOR_01_PLL12_LOCKED); + if (ret < 0) + return ret; + + ret = ad9523_io_update(dev); + if (ret < 0) + return ret; + + ret = ad9523_sync(dev); + if (ret < 0) + return ret; + + ad9523_spi_write(dev, + AD9523_READBACK_CTRL, + 0x0); + ad9523_io_update(dev); + ad9523_calibrate(dev); + ad9523_sync(dev); + + *device = dev; + + return (ad9523_status(dev)); +} + +/***************************************************************************//** + * @brief Free the resources allocated by ad9523_setup(). + * + * @param dev - The device structure. + * + * @return 0 in case of success, negative error code otherwise. +*******************************************************************************/ +int32_t ad9523_remove(struct ad9523_dev *dev) +{ + int32_t ret; + + ret = no_os_spi_remove(dev->spi_desc); + + no_os_free(dev); + + return ret; +} diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ad9523.h b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ad9523.h new file mode 100644 index 0000000..7dfee96 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/ad9523.h @@ -0,0 +1,509 @@ +/***************************************************************************//** + * @file AD9523.h + * @brief Header file of AD9523 Driver. + * @author DBogdan (dragos.bogdan@analog.com) + ******************************************************************************** + * Copyright 2012-2016(c) Analog Devices, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. Neither the name of Analog Devices, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from this + * software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY ANALOG DEVICES, INC. “AS IS” AND ANY EXPRESS OR + * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO + * EVENT SHALL ANALOG DEVICES, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + *******************************************************************************/ +#ifndef _AD9523_H_ +#define _AD9523_H_ + +#include +#include "no_os_delay.h" +#include "no_os_spi.h" + +/* Registers */ + +#define AD9523_READ (1 << 15) +#define AD9523_WRITE (0 << 15) +#define AD9523_CNT(x) (((x) - 1) << 13) +#define AD9523_ADDR(x) ((x) & 0xFFF) + +#define AD9523_R1B (1 << 16) +#define AD9523_R2B (2 << 16) +#define AD9523_R3B (3 << 16) +#define AD9523_TRANSF_LEN(x) ((x) >> 16) + +#define AD9523_SERIAL_PORT_CONFIG (AD9523_R1B | 0x0) +#define AD9523_VERSION_REGISTER (AD9523_R1B | 0x2) +#define AD9523_PART_REGISTER (AD9523_R1B | 0x3) +#define AD9523_READBACK_CTRL (AD9523_R1B | 0x4) + +#define AD9523_EEPROM_CUSTOMER_VERSION_ID (AD9523_R2B | 0x6) + +#define AD9523_PLL1_REF_A_DIVIDER (AD9523_R2B | 0x11) +#define AD9523_PLL1_REF_B_DIVIDER (AD9523_R2B | 0x13) +#define AD9523_PLL1_REF_TEST_DIVIDER (AD9523_R1B | 0x14) +#define AD9523_PLL1_FEEDBACK_DIVIDER (AD9523_R2B | 0x17) +#define AD9523_PLL1_CHARGE_PUMP_CTRL (AD9523_R2B | 0x19) +#define AD9523_PLL1_INPUT_RECEIVERS_CTRL (AD9523_R1B | 0x1A) +#define AD9523_PLL1_REF_CTRL (AD9523_R1B | 0x1B) +#define AD9523_PLL1_MISC_CTRL (AD9523_R1B | 0x1C) +#define AD9523_PLL1_LOOP_FILTER_CTRL (AD9523_R1B | 0x1D) + +#define AD9523_PLL2_CHARGE_PUMP (AD9523_R1B | 0xF0) +#define AD9523_PLL2_FEEDBACK_DIVIDER_AB (AD9523_R1B | 0xF1) +#define AD9523_PLL2_CTRL (AD9523_R1B | 0xF2) +#define AD9523_PLL2_VCO_CTRL (AD9523_R1B | 0xF3) +#define AD9523_PLL2_VCO_DIVIDER (AD9523_R1B | 0xF4) +#define AD9523_PLL2_LOOP_FILTER_CTRL (AD9523_R2B | 0xF6) +#define AD9523_PLL2_R2_DIVIDER (AD9523_R1B | 0xF7) + +#define AD9523_CHANNEL_CLOCK_DIST(ch) (AD9523_R3B | (0x192 + 3 * ch)) + +#define AD9523_PLL1_OUTPUT_CTRL (AD9523_R1B | 0x1BA) +#define AD9523_PLL1_OUTPUT_CHANNEL_CTRL (AD9523_R1B | 0x1BB) + +#define AD9523_READBACK_0 (AD9523_R1B | 0x22C) +#define AD9523_READBACK_1 (AD9523_R1B | 0x22D) + +#define AD9523_STATUS_SIGNALS (AD9523_R3B | 0x232) +#define AD9523_POWER_DOWN_CTRL (AD9523_R1B | 0x233) +#define AD9523_IO_UPDATE (AD9523_R1B | 0x234) + +#define AD9523_EEPROM_DATA_XFER_STATUS (AD9523_R1B | 0xB00) +#define AD9523_EEPROM_ERROR_READBACK (AD9523_R1B | 0xB01) +#define AD9523_EEPROM_CTRL1 (AD9523_R1B | 0xB02) +#define AD9523_EEPROM_CTRL2 (AD9523_R1B | 0xB03) + +/* AD9523_SERIAL_PORT_CONFIG */ + +#define AD9523_SER_CONF_SDO_ACTIVE ((1 << 7) | (1 << 0)) +#define AD9523_SER_CONF_SOFT_RESET ((1 << 5) | (1 << 2)) + +/* AD9523_READBACK_CTRL */ +#define AD9523_READBACK_CTRL_READ_BUFFERED (1 << 0) + +/* AD9523_PLL1_CHARGE_PUMP_CTRL */ +#define AD9523_PLL1_CHARGE_PUMP_CURRENT_nA(x) (((x) / 500) & 0x7F) +#define AD9523_PLL1_CHARGE_PUMP_TRISTATE (1 << 7) +#define AD9523_PLL1_CHARGE_PUMP_MODE_NORMAL (3 << 8) +#define AD9523_PLL1_CHARGE_PUMP_MODE_PUMP_DOWN (2 << 8) +#define AD9523_PLL1_CHARGE_PUMP_MODE_PUMP_UP (1 << 8) +#define AD9523_PLL1_CHARGE_PUMP_MODE_TRISTATE (0 << 8) +#define AD9523_PLL1_BACKLASH_PW_MIN (0 << 10) +#define AD9523_PLL1_BACKLASH_PW_LOW (1 << 10) +#define AD9523_PLL1_BACKLASH_PW_HIGH (2 << 10) +#define AD9523_PLL1_BACKLASH_PW_MAX (3 << 10) + +/* AD9523_PLL1_INPUT_RECEIVERS_CTRL */ +#define AD9523_PLL1_REF_TEST_RCV_EN (1 << 7) +#define AD9523_PLL1_REFB_DIFF_RCV_EN (1 << 6) +#define AD9523_PLL1_REFA_DIFF_RCV_EN (1 << 5) +#define AD9523_PLL1_REFB_RCV_EN (1 << 4) +#define AD9523_PLL1_REFA_RCV_EN (1 << 3) +#define AD9523_PLL1_REFA_REFB_PWR_CTRL_EN (1 << 2) +#define AD9523_PLL1_OSC_IN_CMOS_NEG_INP_EN (1 << 1) +#define AD9523_PLL1_OSC_IN_DIFF_EN (1 << 0) + +/* AD9523_PLL1_REF_CTRL */ +#define AD9523_PLL1_BYPASS_REF_TEST_DIV_EN (1 << 7) +#define AD9523_PLL1_BYPASS_FEEDBACK_DIV_EN (1 << 6) +#define AD9523_PLL1_ZERO_DELAY_MODE_INT (1 << 5) +#define AD9523_PLL1_ZERO_DELAY_MODE_EXT (0 << 5) +#define AD9523_PLL1_OSC_IN_PLL_FEEDBACK_EN (1 << 4) +#define AD9523_PLL1_ZD_IN_CMOS_NEG_INP_EN (1 << 3) +#define AD9523_PLL1_ZD_IN_DIFF_EN (1 << 2) +#define AD9523_PLL1_REFB_CMOS_NEG_INP_EN (1 << 1) +#define AD9523_PLL1_REFA_CMOS_NEG_INP_EN (1 << 0) + +/* AD9523_PLL1_MISC_CTRL */ +#define AD9523_PLL1_REFB_INDEP_DIV_CTRL_EN (1 << 7) +#define AD9523_PLL1_OSC_CTRL_FAIL_VCC_BY2_EN (1 << 6) +#define AD9523_PLL1_REF_MODE(x) ((x) << 2) +#define AD9523_PLL1_BYPASS_REFB_DIV (1 << 1) +#define AD9523_PLL1_BYPASS_REFA_DIV (1 << 0) + +/* AD9523_PLL1_LOOP_FILTER_CTRL */ +#define AD9523_PLL1_LOOP_FILTER_RZERO(x) ((x) & 0xF) + +/* AD9523_PLL2_CHARGE_PUMP */ +#define AD9523_PLL2_CHARGE_PUMP_CURRENT_nA(x) ((x) / 3500) + +/* AD9523_PLL2_FEEDBACK_DIVIDER_AB */ +#define AD9523_PLL2_FB_NDIV_A_CNT(x) (((x) & 0x3) << 6) +#define AD9523_PLL2_FB_NDIV_B_CNT(x) (((x) & 0x3F) << 0) +#define AD9523_PLL2_FB_NDIV(a, b) (4 * (b) + (a)) + +/* AD9523_PLL2_CTRL */ +#define AD9523_PLL2_CHARGE_PUMP_MODE_NORMAL (3 << 0) +#define AD9523_PLL2_CHARGE_PUMP_MODE_PUMP_DOWN (2 << 0) +#define AD9523_PLL2_CHARGE_PUMP_MODE_PUMP_UP (1 << 0) +#define AD9523_PLL2_CHARGE_PUMP_MODE_TRISTATE (0 << 0) +#define AD9523_PLL2_BACKLASH_PW_MIN (0 << 2) +#define AD9523_PLL2_BACKLASH_PW_LOW (1 << 2) +#define AD9523_PLL2_BACKLASH_PW_HIGH (2 << 2) +#define AD9523_PLL2_BACKLASH_PW_MAX (3 << 1) +#define AD9523_PLL2_BACKLASH_CTRL_EN (1 << 4) +#define AD9523_PLL2_FREQ_DOUBLER_EN (1 << 5) +#define AD9523_PLL2_LOCK_DETECT_PWR_DOWN_EN (1 << 7) + +/* AD9523_PLL2_VCO_CTRL */ +#define AD9523_PLL2_VCO_CALIBRATE (1 << 1) +#define AD9523_PLL2_FORCE_VCO_MIDSCALE (1 << 2) +#define AD9523_PLL2_FORCE_REFERENCE_VALID (1 << 3) +#define AD9523_PLL2_FORCE_RELEASE_SYNC (1 << 4) + +/* AD9523_PLL2_VCO_DIVIDER */ +#define AD9523_PLL2_VCO_DIV_M1(x) ((((x) - 3) & 0x3) << 0) +#define AD9523_PLL2_VCO_DIV_M2(x) ((((x) - 3) & 0x3) << 4) +#define AD9523_PLL2_VCO_DIV_M1_PWR_DOWN_EN (1 << 2) +#define AD9523_PLL2_VCO_DIV_M2_PWR_DOWN_EN (1 << 6) + +/* AD9523_PLL2_LOOP_FILTER_CTRL */ +#define AD9523_PLL2_LOOP_FILTER_CPOLE1(x) (((x) & 0x7) << 0) +#define AD9523_PLL2_LOOP_FILTER_RZERO(x) (((x) & 0x7) << 3) +#define AD9523_PLL2_LOOP_FILTER_RPOLE2(x) (((x) & 0x7) << 6) +#define AD9523_PLL2_LOOP_FILTER_RZERO_BYPASS_EN (1 << 8) + +/* AD9523_PLL2_R2_DIVIDER */ +#define AD9523_PLL2_R2_DIVIDER_VAL(x) (((x) & 0x1F) << 0) + +/* AD9523_CHANNEL_CLOCK_DIST */ +#define AD9523_CLK_DIST_DIV_PHASE(x) (((x) & 0x3F) << 18) +#define AD9523_CLK_DIST_DIV_PHASE_REV(x) ((ret >> 18) & 0x3F) +#define AD9523_CLK_DIST_DIV(x) ((((x) - 1) & 0x3FF) << 8) +#define AD9523_CLK_DIST_DIV_REV(x) (((ret >> 8) & 0x3FF) + 1) +#define AD9523_CLK_DIST_INV_DIV_OUTPUT_EN (1 << 7) +#define AD9523_CLK_DIST_IGNORE_SYNC_EN (1 << 6) +#define AD9523_CLK_DIST_PWR_DOWN_EN (1 << 5) +#define AD9523_CLK_DIST_LOW_PWR_MODE_EN (1 << 4) +#define AD9523_CLK_DIST_DRIVER_MODE(x) (((x) & 0xF) << 0) + +/* AD9523_PLL1_OUTPUT_CTRL */ +#define AD9523_PLL1_OUTP_CTRL_VCO_DIV_SEL_CH6_M2 (1 << 7) +#define AD9523_PLL1_OUTP_CTRL_VCO_DIV_SEL_CH5_M2 (1 << 6) +#define AD9523_PLL1_OUTP_CTRL_VCO_DIV_SEL_CH4_M2 (1 << 5) +#define AD9523_PLL1_OUTP_CTRL_CMOS_DRV_WEAK (1 << 4) +#define AD9523_PLL1_OUTP_CTRL_OUTPUT_DIV_1 (0 << 0) +#define AD9523_PLL1_OUTP_CTRL_OUTPUT_DIV_2 (1 << 0) +#define AD9523_PLL1_OUTP_CTRL_OUTPUT_DIV_4 (2 << 0) +#define AD9523_PLL1_OUTP_CTRL_OUTPUT_DIV_8 (4 << 0) +#define AD9523_PLL1_OUTP_CTRL_OUTPUT_DIV_16 (8 << 0) + +/* AD9523_PLL1_OUTPUT_CHANNEL_CTRL */ +#define AD9523_PLL1_OUTP_CH_CTRL_OUTPUT_PWR_DOWN_EN (1 << 7) +#define AD9523_PLL1_OUTP_CH_CTRL_VCO_DIV_SEL_CH9_M2 (1 << 6) +#define AD9523_PLL1_OUTP_CH_CTRL_VCO_DIV_SEL_CH8_M2 (1 << 5) +#define AD9523_PLL1_OUTP_CH_CTRL_VCO_DIV_SEL_CH7_M2 (1 << 4) +#define AD9523_PLL1_OUTP_CH_CTRL_VCXO_SRC_SEL_CH3 (1 << 3) +#define AD9523_PLL1_OUTP_CH_CTRL_VCXO_SRC_SEL_CH2 (1 << 2) +#define AD9523_PLL1_OUTP_CH_CTRL_VCXO_SRC_SEL_CH1 (1 << 1) +#define AD9523_PLL1_OUTP_CH_CTRL_VCXO_SRC_SEL_CH0 (1 << 0) + +/* AD9523_READBACK_0 */ +#define AD9523_READBACK_0_STAT_PLL2_REF_CLK (1 << 7) +#define AD9523_READBACK_0_STAT_PLL2_FB_CLK (1 << 6) +#define AD9523_READBACK_0_STAT_VCXO (1 << 5) +#define AD9523_READBACK_0_STAT_REF_TEST (1 << 4) +#define AD9523_READBACK_0_STAT_REFB (1 << 3) +#define AD9523_READBACK_0_STAT_REFA (1 << 2) +#define AD9523_READBACK_0_STAT_PLL2_LD (1 << 1) +#define AD9523_READBACK_0_STAT_PLL1_LD (1 << 0) + +/* AD9523_READBACK_1 */ +#define AD9523_READBACK_1_HOLDOVER_ACTIVE (1 << 3) +#define AD9523_READBACK_1_AUTOMODE_SEL_REFB (1 << 2) +#define AD9523_READBACK_1_VCO_CALIB_IN_PROGRESS (1 << 0) + +/* AD9523_STATUS_SIGNALS */ +#define AD9523_STATUS_SIGNALS_SYNC_MAN_CTRL (1 << 16) +#define AD9523_STATUS_MONITOR_01_PLL12_LOCKED (0x302) +/* AD9523_POWER_DOWN_CTRL */ +#define AD9523_POWER_DOWN_CTRL_PLL1_PWR_DOWN (1 << 2) +#define AD9523_POWER_DOWN_CTRL_PLL2_PWR_DOWN (1 << 1) +#define AD9523_POWER_DOWN_CTRL_DIST_PWR_DOWN (1 << 0) + +/* AD9523_IO_UPDATE */ +#define AD9523_IO_UPDATE_EN (1 << 0) + +/* AD9523_EEPROM_DATA_XFER_STATUS */ +#define AD9523_EEPROM_DATA_XFER_IN_PROGRESS (1 << 0) + +/* AD9523_EEPROM_ERROR_READBACK */ +#define AD9523_EEPROM_ERROR_READBACK_FAIL (1 << 0) + +/* AD9523_EEPROM_CTRL1 */ +#define AD9523_EEPROM_CTRL1_SOFT_EEPROM (1 << 1) +#define AD9523_EEPROM_CTRL1_EEPROM_WRITE_PROT_DIS (1 << 0) + +/* AD9523_EEPROM_CTRL2 */ +#define AD9523_EEPROM_CTRL2_REG2EEPROM (1 << 0) + +#define AD9523_NUM_CHAN 14 +#define AD9523_NUM_CHAN_ALT_CLK_SRC 10 + +enum outp_drv_mode { + TRISTATE, + LVPECL_8mA, + LVDS_4mA, + LVDS_7mA, + HSTL0_16mA, + HSTL1_8mA, + CMOS_CONF1, + CMOS_CONF2, + CMOS_CONF3, + CMOS_CONF4, + CMOS_CONF5, + CMOS_CONF6, + CMOS_CONF7, + CMOS_CONF8, + CMOS_CONF9 +}; + +enum ref_sel_mode { + NONEREVERTIVE_STAY_ON_REFB, + REVERT_TO_REFA, + SELECT_REFA, + SELECT_REFB, + EXT_REF_SEL +}; + +/** + * @struct ad9523_channel_spec + * @brief Output channel configuration + */ +struct ad9523_channel_spec { + /** Output channel number. */ + uint8_t channel_num; + /** Invert the polarity of the output clock. */ + uint8_t divider_output_invert_en; + /** Ignore chip-level SYNC signal. */ + uint8_t sync_ignore_en; + /** Reduce power used in the differential output modes. */ + uint8_t low_power_mode_en; + /** Channel divider uses alternative clk source: CH0..CH3 VCXO, CH4..CH9 VCO2 */ + uint8_t use_alt_clock_src; + /** Disables, powers down the entire channel. */ + uint8_t output_dis; + /** Output driver mode (logic level family). */ + uint8_t driver_mode; + /** Divider initial phase after a SYNC. Range 0..63 + * LSB = 1/2 of a period of the divider input clock. + */ + uint8_t divider_phase; + /** 10-bit channel divider. */ + uint16_t channel_divider; + /** Optional descriptive channel name. */ + int8_t extended_name[16]; +}; + +enum pll1_rzero_resistor { + RZERO_883_OHM, + RZERO_677_OHM, + RZERO_341_OHM, + RZERO_135_OHM, + RZERO_10_OHM, + RZERO_USE_EXT_RES = 8, +}; + +enum rpole2_resistor { + RPOLE2_900_OHM, + RPOLE2_450_OHM, + RPOLE2_300_OHM, + RPOLE2_225_OHM, +}; + +enum rzero_resistor { + RZERO_3250_OHM, + RZERO_2750_OHM, + RZERO_2250_OHM, + RZERO_2100_OHM, + RZERO_3000_OHM, + RZERO_2500_OHM, + RZERO_2000_OHM, + RZERO_1850_OHM, +}; + +enum cpole1_capacitor { + CPOLE1_0_PF, + CPOLE1_8_PF, + CPOLE1_16_PF, + CPOLE1_24_PF, + _CPOLE1_24_PF, /* place holder */ + CPOLE1_32_PF, + CPOLE1_40_PF, + CPOLE1_48_PF, +}; + +/** + * @struct ad9523_platform_data + * @brief platform specific information + */ +struct ad9523_platform_data { + /** External VCXO frequency in Hz */ + uint32_t vcxo_freq; + /** Enable SPI-3wire mode */ + uint8_t spi3wire; + + /** REFA differential/single-ended input selection. */ + uint8_t refa_diff_rcv_en; + /** REFB differential/single-ended input selection. */ + uint8_t refb_diff_rcv_en; + /** Zero Delay differential/single-ended input selection. */ + uint8_t zd_in_diff_en; + /** OSC differential/ single-ended input selection. */ + uint8_t osc_in_diff_en; + + /* + * Valid if differential input disabled + * if not true defaults to pos input + */ + /** REFA single-ended neg./pos. input enable. */ + uint8_t refa_cmos_neg_inp_en; + /* REFB single-ended neg./pos. input enable. */ + uint8_t refb_cmos_neg_inp_en; + /** Zero Delay single-ended neg./pos. input enable. */ + uint8_t zd_in_cmos_neg_inp_en; + /** OSC single-ended neg./pos. input enable. */ + uint8_t osc_in_cmos_neg_inp_en; + + /* PLL1 Setting */ + /** PLL1 10-bit: REFA R divider. */ + uint16_t refa_r_div; + /** PLL1 10-bit: REFB R divider. */ + uint16_t refb_r_div; + /** PLL1 10-bit Feedback N divider. */ + uint16_t pll1_feedback_div; + /** Magnitude of PLL1 charge pump current (nA). */ + uint16_t pll1_charge_pump_current_nA; + /** Internal, external Zero Delay mode selection. */ + uint8_t zero_delay_mode_internal_en; + /** PLL1 feedback path, local feedback from the + * OSC_IN receiver or zero delay mode + */ + uint8_t osc_in_feedback_en; + + /** Bypass PLL1 - Single loop mode */ + uint8_t pll1_bypass_en; + /** PLL1 Loop Filter Zero Resistor selection. */ + uint8_t pll1_loop_filter_rzero; + + /** Reference mode selection. */ + uint8_t ref_mode; + + /* PLL2 Setting */ + /** Magnitude of PLL2 charge pump current (nA). */ + uint32_t pll2_charge_pump_current_nA; + /** PLL2 Feedback N-divider, A Counter, range 0..4. */ + uint8_t pll2_ndiv_a_cnt; + /** PLL2 Feedback N-divider, B Counter, range 0..63. */ + uint8_t pll2_ndiv_b_cnt; + /** PLL2 frequency doubler enable. */ + uint8_t pll2_freq_doubler_en; + /** PLL2 R2 divider, range 0..31. */ + uint8_t pll2_r2_div; + /** VCO1 divider, range 3..5. */ + uint8_t pll2_vco_diff_m1; + /** VCO2 divider, range 3..5. */ + uint8_t pll2_vco_diff_m2; + + /* Loop Filter PLL2 */ + /** PLL2 loop filter Rpole resistor value. */ + uint8_t rpole2; + /** PLL2 loop filter Rzero resistor value. */ + uint8_t rzero; + /** PLL2 loop filter Cpole capacitor value. */ + uint8_t cpole1; + /** PLL2 loop filter Rzero bypass enable. */ + uint8_t rzero_bypass_en; + + /* Output Channel Configuration */ + /** Array size of struct ad9523_channel_spec. */ + int32_t num_channels; + /** Pointer to channel array. */ + struct ad9523_channel_spec *channels; + + /** Optional alternative iio device name. */ + int8_t name[16]; +}; + +struct ad9523_state { + struct ad9523_platform_data *pdata; + uint32_t vcxo_freq; + uint32_t vco_freq; + uint32_t vco_out_freq[3]; + uint8_t vco_out_map[14]; +}; + +enum ad9523_out_frequencies { + AD9523_VCO1, + AD9523_VCO2, + AD9523_VCXO, + AD9523_NUM_CLK_SRC, +}; + +struct ad9523_dev { + /* SPI */ + struct no_os_spi_desc *spi_desc; + /* Device Settings */ + struct ad9523_state ad9523_st; + struct ad9523_platform_data *pdata; +}; + +struct ad9523_init_param { + /* SPI */ + struct no_os_spi_init_param spi_init; + /* Device Settings */ + struct ad9523_platform_data *pdata; +}; + +/* Reads the value of the selected register. */ +int32_t ad9523_spi_read(struct ad9523_dev *dev, + uint32_t reg_addr, + uint32_t *reg_data); + +/* Writes a value to the selected register. */ +int32_t ad9523_spi_write(struct ad9523_dev *dev, + uint32_t reg_addr, + uint32_t reg_data); + +/* Updates the AD9523 configuration */ +int32_t ad9523_io_update(struct ad9523_dev *dev); + +/* Sets the clock provider for selected channel. */ +int32_t ad9523_vco_out_map(struct ad9523_dev *dev, + uint32_t ch, + uint32_t out); + +/* Updates the AD9523 configuration. */ +int32_t ad9523_sync(struct ad9523_dev *dev); + +/* Initialize the AD9523 data structure*/ +int32_t ad9523_init(struct ad9523_init_param *init_param); + +/* Configure the AD9523. */ +int32_t ad9523_setup(struct ad9523_dev **device, + const struct ad9523_init_param *init_param); + +/* Free the resources allocated by ad9523_setup(). */ +int32_t ad9523_remove(struct ad9523_dev *dev); + +int32_t ad9523_status(struct ad9523_dev *dev); +#endif // __AD9523_H__ diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/adar1000.c b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/adar1000.c new file mode 100644 index 0000000..eeac0a4 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/adar1000.c @@ -0,0 +1,693 @@ +/** + * MIT License + * + * Copyright (c) 2020 Jimmy Pentz + * + * Reach me at: github.com/jgpentz, jpentz1(at)gmail.com + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sells + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + */ +/* ADAR1000 4-Channel, X Band and Ku Band Beamformer */ +// ---------------------------------------------------------------------------- +// Includes +// ---------------------------------------------------------------------------- +#include "main.h" +#include "stm32f7xx_hal.h" +#include "stm32f7xx_hal_spi.h" +#include "stm32f7xx_hal_gpio.h" +#include "adar1000.h" + + +// ---------------------------------------------------------------------------- +// Preprocessor Definitions and Constants +// ---------------------------------------------------------------------------- +// VM_GAIN is 15 dB of gain in 128 steps. ~0.12 dB per step. +// A 15 dB attenuator can be applied on top of these values. +const uint8_t VM_GAIN[128] = { + 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09, 0x0A, 0x0B, 0x0C, 0x0D, 0x0E, 0x0F, + 0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17, 0x18, 0x19, 0x1a, 0x1b, 0x1c, 0x1d, 0x1e, 0x1f, + 0x20, 0x21, 0x22, 0x23, 0x24, 0x25, 0x26, 0x27, 0x28, 0x29, 0x2a, 0x2b, 0x2c, 0x2d, 0x2e, 0x2f, + 0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37, 0x38, 0x39, 0x3a, 0x3b, 0x3c, 0x3d, 0x3e, 0x3f, + 0x40, 0x41, 0x42, 0x43, 0x44, 0x45, 0x46, 0x47, 0x48, 0x49, 0x4a, 0x4b, 0x4c, 0x4d, 0x4e, 0x4f, + 0x50, 0x51, 0x52, 0x53, 0x54, 0x55, 0x56, 0x57, 0x58, 0x59, 0x5a, 0x5b, 0x5c, 0x5d, 0x5e, 0x5f, + 0x60, 0x61, 0x62, 0x63, 0x64, 0x65, 0x66, 0x67, 0x68, 0x69, 0x6a, 0x6b, 0x6c, 0x6d, 0x6e, 0x6f, + 0x70, 0x71, 0x72, 0x73, 0x74, 0x75, 0x76, 0x77, 0x78, 0x79, 0x7a, 0x7b, 0x7c, 0x7d, 0x7e, 0x7f, +}; + +// VM_I and VM_Q are the settings for the vector modulator. 128 steps in 360 degrees. ~2.813 degrees per step. +const uint8_t VM_I[128] = { + 0x3F, 0x3F, 0x3F, 0x3F, 0x3F, 0x3E, 0x3E, 0x3D, 0x3D, 0x3C, 0x3C, 0x3B, 0x3A, 0x39, 0x38, 0x37, + 0x36, 0x35, 0x34, 0x33, 0x32, 0x30, 0x2F, 0x2E, 0x2C, 0x2B, 0x2A, 0x28, 0x27, 0x25, 0x24, 0x22, + 0x21, 0x01, 0x03, 0x04, 0x06, 0x07, 0x08, 0x0A, 0x0B, 0x0D, 0x0E, 0x0F, 0x11, 0x12, 0x13, 0x14, + 0x16, 0x17, 0x18, 0x19, 0x19, 0x1A, 0x1B, 0x1C, 0x1C, 0x1D, 0x1E, 0x1E, 0x1E, 0x1F, 0x1F, 0x1F, + 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1E, 0x1E, 0x1D, 0x1D, 0x1C, 0x1C, 0x1B, 0x1A, 0x19, 0x18, 0x17, + 0x16, 0x15, 0x14, 0x13, 0x12, 0x10, 0x0F, 0x0E, 0x0C, 0x0B, 0x0A, 0x08, 0x07, 0x05, 0x04, 0x02, + 0x01, 0x21, 0x23, 0x24, 0x26, 0x27, 0x28, 0x2A, 0x2B, 0x2D, 0x2E, 0x2F, 0x31, 0x32, 0x33, 0x34, + 0x36, 0x37, 0x38, 0x39, 0x39, 0x3A, 0x3B, 0x3C, 0x3C, 0x3D, 0x3E, 0x3E, 0x3E, 0x3F, 0x3F, 0x3F, +}; + +const uint8_t VM_Q[128] = { + 0x20, 0x21, 0x23, 0x24, 0x26, 0x27, 0x28, 0x2A, 0x2B, 0x2D, 0x2E, 0x2F, 0x30, 0x31, 0x33, 0x34, + 0x35, 0x36, 0x37, 0x38, 0x38, 0x39, 0x3A, 0x3A, 0x3B, 0x3C, 0x3C, 0x3C, 0x3D, 0x3D, 0x3D, 0x3D, + 0x3D, 0x3D, 0x3D, 0x3D, 0x3D, 0x3C, 0x3C, 0x3C, 0x3B, 0x3A, 0x3A, 0x39, 0x38, 0x38, 0x37, 0x36, + 0x35, 0x34, 0x33, 0x31, 0x30, 0x2F, 0x2E, 0x2D, 0x2B, 0x2A, 0x28, 0x27, 0x26, 0x24, 0x23, 0x21, + 0x20, 0x01, 0x03, 0x04, 0x06, 0x07, 0x08, 0x0A, 0x0B, 0x0D, 0x0E, 0x0F, 0x10, 0x11, 0x13, 0x14, + 0x15, 0x16, 0x17, 0x18, 0x18, 0x19, 0x1A, 0x1A, 0x1B, 0x1C, 0x1C, 0x1C, 0x1D, 0x1D, 0x1D, 0x1D, + 0x1D, 0x1D, 0x1D, 0x1D, 0x1D, 0x1C, 0x1C, 0x1C, 0x1B, 0x1A, 0x1A, 0x19, 0x18, 0x18, 0x17, 0x16, + 0x15, 0x14, 0x13, 0x11, 0x10, 0x0F, 0x0E, 0x0D, 0x0B, 0x0A, 0x08, 0x07, 0x06, 0x04, 0x03, 0x01, +}; + + +// ---------------------------------------------------------------------------- +// Function Definitions +// ---------------------------------------------------------------------------- +/** + * @brief Initialize the ADC on the ADAR by setting the ADC with a 2 MHz clk, + * and then enable it. + * + * @param p_adar[in] Adar pointer Which specifies the device and what function + * to use for SPI transfer. + * @param broadcast Send the message as a broadcast to all ADARs in the SPI chain + * if this set to BROADCAST_ON. + * + * @warning This is setup to only read temperature sensor data, not the power detectors. + */ +void Adar_AdcInit(const AdarDevice * p_adar, uint8_t broadcast) +{ + uint8_t data; + + data = ADAR1000_ADC_2MHZ_CLK | ADAR1000_ADC_EN; + + Adar_Write(p_adar, REG_ADC_CONTROL, data, broadcast); +} + + +/** + * @brief Read a byte of data from the ADAR. + * + * @param p_adar[in] Adar pointer Which specifies the device and what function + * to use for SPI transfer. + * @param broadcast Send the message as a broadcast to all ADARs in the SPI chain + * if this set to BROADCAST_ON. + * + * @return Returns a byte of data that has been converted from the temperature sensor. + * + * @warning This is setup to only read temperature sensor data, not the power detectors. + */ +uint8_t Adar_AdcRead(const AdarDevice * p_adar, uint8_t broadcast) +{ + uint8_t data; + + // Start the ADC conversion + Adar_Write(p_adar, REG_ADC_CONTROL, ADAR1000_ADC_ST_CONV, broadcast); + + // This is blocking for now... wait until data is converted, then read it + while (!(Adar_Read(p_adar, REG_ADC_CONTROL) & 0x01)) + { + } + + data = Adar_Read(p_adar, REG_ADC_OUT); + + return(data); +} + + +/** + * @brief Requests the device info from a specific ADAR and stores it in the + * provided AdarDeviceInfo struct. + * + * @param p_adar[in] Adar pointer Which specifies the device and what function + * to use for SPI transfer. + * @param info[out] Struct that contains the device info fields. + * + * @return Returns ADAR_ERROR_NOERROR if information was successfully received and stored in the struct. + */ +uint8_t Adar_GetDeviceInfo(const AdarDevice * p_adar, AdarDeviceInfo * info) +{ + *((uint8_t *)info) = Adar_Read(p_adar, 0x002); + info->chip_type = Adar_Read(p_adar, 0x003); + info->product_id = ((uint16_t)Adar_Read(p_adar, 0x004)) << 8; + info->product_id |= ((uint16_t)Adar_Read(p_adar, 0x005)) & 0x00ff; + info->scratchpad = Adar_Read(p_adar, 0x00A); + info->spi_rev = Adar_Read(p_adar, 0x00B); + info->vendor_id = ((uint16_t)Adar_Read(p_adar, 0x00C)) << 8; + info->vendor_id |= ((uint16_t)Adar_Read(p_adar, 0x00D)) & 0x00ff; + info->rev_id = Adar_Read(p_adar, 0x045); + + return(ADAR_ERROR_NOERROR); +} + + +/** + * @brief Read the data that is stored in a single ADAR register. + * + * @param p_adar[in] Adar pointer Which specifies the device and what function + * to use for SPI transfer. + * @param mem_addr Memory address of the register you wish to read from. + * + * @return Returns the byte of data that is stored in the desired register. + * + * @warning This function will clear ADDR_ASCN bits. + * @warning The ADAR does not allow for block reads. + */ +uint8_t Adar_Read(const AdarDevice * p_adar, uint32_t mem_addr) +{ + uint8_t instruction[3]; + + // Set SDO active + Adar_Write(p_adar, REG_INTERFACE_CONFIG_A, INTERFACE_CONFIG_A_SDO_ACTIVE, 0); + + instruction[0] = 0x80 | ((p_adar->dev_addr & 0x03) << 5); + instruction[0] |= ((0xff00 & mem_addr) >> 8); + instruction[1] = (0xff & mem_addr); + instruction[2] = 0x00; + + p_adar->Transfer(instruction, p_adar->p_rx_buffer, ADAR1000_RD_SIZE); + + // Set SDO Inactive + Adar_Write(p_adar, REG_INTERFACE_CONFIG_A, 0, 0); + + return(p_adar->p_rx_buffer[2]); +} + + +/** + * @brief Block memory write to an ADAR device. + * + * @pre ADDR_ASCN bits in register zero must be set! + * + * @param p_adar[in] Adar pointer Which specifies the device and what function + * to use for SPI transfer. + * @param mem_addr Memory address of the register you wish to read from. + * @param p_data Pointer to block of data to transfer (must have two unused bytes preceding the data for instruction). + * @param size Size of data in bytes, including the two additional leading bytes. + * + * @warning First two bytes of data will be corrupted if you do not provide two unused leading bytes! + */ +void Adar_ReadBlock(const AdarDevice * p_adar, uint16_t mem_addr, uint8_t * p_data, uint32_t size) +{ + // Set SDO active + Adar_Write(p_adar, REG_INTERFACE_CONFIG_A, INTERFACE_CONFIG_A_SDO_ACTIVE | INTERFACE_CONFIG_A_ADDR_ASCN, 0); + + // Prepare command + p_data[0] = 0x80 | ((p_adar->dev_addr & 0x03) << 5); + p_data[0] |= ((mem_addr) >> 8) & 0x1F; + p_data[1] = (0xFF & mem_addr); + + // Start the transfer + p_adar->Transfer(p_data, p_data, size); + + Adar_Write(p_adar, REG_INTERFACE_CONFIG_A, 0, 0); + // Return nothing since we assume this is non-blocking and won't wait around +} + + +/** + * @brief Sets the Rx/Tx bias currents for the LNA, VM, and VGA to be in either + * low power setting or nominal setting. + * + * @param p_adar[in] Adar pointer Which specifies the device and what function + * to use for SPI transfer. + * @param p_bias[in] An AdarBiasCurrents struct filled with bias settings + * as seen in the datasheet Table 6. SPI Settings for + * Different Power Modules + * @param broadcast Send the message as a broadcast to all ADARs in the SPI chain + * if this set to BROADCAST_ON. + * + * @return Returns ADAR_ERR_NOERROR if the bias currents were set + */ +uint8_t Adar_SetBiasCurrents(const AdarDevice * p_adar, AdarBiasCurrents * p_bias, uint8_t broadcast) +{ + uint8_t bias = 0; + + // RX LNA/VGA/VM bias + bias = (p_bias->rx_lna & 0x0f); + Adar_Write(p_adar, REG_BIAS_CURRENT_RX_LNA, bias, broadcast); // RX LNA bias + bias = (p_bias->rx_vga & 0x07 << 3) | (p_bias->rx_vm & 0x07); + Adar_Write(p_adar, REG_BIAS_CURRENT_RX, bias, broadcast); // RX VM/VGA bias + + // TX VGA/VM/DRV bias + bias = (p_bias->tx_vga & 0x07 << 3) | (p_bias->tx_vm & 0x07); + Adar_Write(p_adar, REG_BIAS_CURRENT_TX, bias, broadcast); // TX VM/VGA bias + bias = (p_bias->tx_drv & 0x07); + Adar_Write(p_adar, REG_BIAS_CURRENT_TX_DRV, bias, broadcast); // TX DRV bias + + return(ADAR_ERROR_NOERROR); +} + + +/** + * @brief Set the bias ON and bias OFF voltages for the four PA's and one LNA. + * + * @pre This will set all 5 bias ON values and all 5 bias OFF values at once. + * To enable these bias values, please see the data sheet and ensure that the BIAS_CTRL, + * LNA_BIAS_OUT_EN, TR_SOURCE, TX_EN, RX_EN, TR (input to chip), and PA_ON (input to chip) + * bits have all been properly set. + * + * @param p_adar[in] Adar pointer Which specifies the device and what function + * to use for SPI transfer. + * @param bias_on_voltage Array that contains the bias ON voltages. + * @param bias_off_voltage Array that contains the bias OFF voltages. + * + * @return Returns ADAR_ERR_NOERROR if the bias currents were set + */ +uint8_t Adar_SetBiasVoltages(const AdarDevice * p_adar, uint8_t bias_on_voltage[5], uint8_t bias_off_voltage[5]) +{ + Adar_SetBit(p_adar, 0x30, 6, BROADCAST_OFF); + Adar_SetBit(p_adar, 0x31, 2, BROADCAST_OFF); + Adar_SetBit(p_adar, 0x38, 5, BROADCAST_OFF); + Adar_Write(p_adar, REG_PA_CH1_BIAS_ON,bias_on_voltage[0], BROADCAST_OFF); + Adar_Write(p_adar, REG_PA_CH2_BIAS_ON,bias_on_voltage[1], BROADCAST_OFF); + Adar_Write(p_adar, REG_PA_CH3_BIAS_ON,bias_on_voltage[2], BROADCAST_OFF); + Adar_Write(p_adar, REG_PA_CH4_BIAS_ON,bias_on_voltage[3], BROADCAST_OFF); + + Adar_Write(p_adar, REG_PA_CH1_BIAS_OFF,bias_off_voltage[0], BROADCAST_OFF); + Adar_Write(p_adar, REG_PA_CH2_BIAS_OFF,bias_off_voltage[1], BROADCAST_OFF); + Adar_Write(p_adar, REG_PA_CH3_BIAS_OFF,bias_off_voltage[2], BROADCAST_OFF); + Adar_Write(p_adar, REG_PA_CH4_BIAS_OFF,bias_off_voltage[3], BROADCAST_OFF); + + Adar_SetBit(p_adar, 0x30, 4, BROADCAST_OFF); + Adar_SetBit(p_adar, 0x30, 6, BROADCAST_OFF); + Adar_SetBit(p_adar, 0x31, 2, BROADCAST_OFF); + Adar_SetBit(p_adar, 0x38, 5, BROADCAST_OFF); + Adar_Write(p_adar, REG_LNA_BIAS_ON,bias_on_voltage[4], BROADCAST_OFF); + Adar_Write(p_adar, REG_LNA_BIAS_OFF,bias_off_voltage[4], BROADCAST_OFF); + + Adar_ResetBit(p_adar, 0x30, 7, BROADCAST_OFF); + Adar_SetBit(p_adar, 0x31, 2, BROADCAST_OFF); + Adar_SetBit(p_adar, 0x31, 4, BROADCAST_OFF); + Adar_SetBit(p_adar, 0x31, 7, BROADCAST_OFF); + + return(ADAR_ERROR_NOERROR); +} + + +/** + * @brief Setup the ADAR to use settings that are transferred over SPI. + * + * @param p_adar[in] Adar pointer Which specifies the device and what function + * to use for SPI transfer. + * @param broadcast Send the message as a broadcast to all ADARs in the SPI chain + * if this set to BROADCAST_ON. + * + * @return Returns ADAR_ERR_NOERROR if the bias currents were set + */ +uint8_t Adar_SetRamBypass(const AdarDevice * p_adar, uint8_t broadcast) +{ + uint8_t data; + + data = (MEM_CTRL_BIAS_RAM_BYPASS | MEM_CTRL_BEAM_RAM_BYPASS); + + Adar_Write(p_adar, REG_MEM_CTL, data, broadcast); + + return(ADAR_ERROR_NOERROR); +} + + +/** + * @brief Set the VGA gain value of a Receive channel in dB. + * + * @param p_adar[in] Adar pointer Which specifies the device and what function + * to use for SPI transfer. + * @param channel Channel in which to set the gain (1-4). + * @param vga_gain_db Gain to be applied to the channel, ranging from 0 - 30 dB. + * (Intended operation >16 dB). + * @param broadcast Send the message as a broadcast to all ADARs in the SPI chain + * if this set to BROADCAST_ON. + * + * @return Returns ADAR_ERROR_NOERROR if the gain was successfully set. + * ADAR_ERROR_FAILED if an invalid channel was selected. + * + * @warning 0 dB or 15 dB step attenuator may also be turned on, which is why intended operation is >16 dB. + */ +uint8_t Adar_SetRxVgaGain(const AdarDevice * p_adar, uint8_t channel, uint8_t vga_gain_db, uint8_t broadcast) +{ + uint8_t vga_gain_bits = (uint8_t)(255*vga_gain_db/16); + uint32_t mem_addr = 0; + + if((channel == 0) || (channel > 4)) + { + return(ADAR_ERROR_FAILED); + } + + mem_addr = REG_CH1_RX_GAIN + (channel & 0x03); + + // Set gain + Adar_Write(p_adar, mem_addr, vga_gain_bits, broadcast); + + // Load the new setting + Adar_Write(p_adar, REG_LOAD_WORKING, 0x1, broadcast); + + return(ADAR_ERROR_NOERROR); +} + + +/** + * @brief Set the phase of a given receive channel using the I/Q vector modulator. + * + * @pre According to the given @param phase, this sets the polarity (bit 5) and gain (bits 4-0) + * of the @param channel, and then loads them into the working register. + * A vector modulator I/Q look-up table has been provided at the beginning of this library. + * + * @param p_adar[in] Adar pointer Which specifies the device and what function + * to use for SPI transfer. + * @param channel Channel in which to set the gain (1-4). + * @param phase Byte that is used to set the polarity (bit 5) and gain (bits 4-0). + * @param broadcast Send the message as a broadcast to all ADARs in the SPI chain + * if this set to BROADCAST_ON. + * + * @return Returns ADAR_ERROR_NOERROR if the phase was successfully set. + * ADAR_ERROR_FAILED if an invalid channel was selected. + * + * @note To obtain your phase: + * phase = degrees * 128; + * phase /= 360; + */ +uint8_t Adar_SetRxPhase(const AdarDevice * p_adar, uint8_t channel, uint8_t phase, uint8_t broadcast) +{ + uint8_t i_val = 0; + uint8_t q_val = 0; + uint32_t mem_addr_i, mem_addr_q; + + if((channel == 0) || (channel > 4)) + { + return(ADAR_ERROR_FAILED); + } + + //phase = phase % 128; + i_val = VM_I[phase]; + q_val = VM_Q[phase]; + + mem_addr_i = REG_CH1_RX_PHS_I + (channel & 0x03) * 2; + mem_addr_q = REG_CH1_RX_PHS_Q + (channel & 0x03) * 2; + + Adar_Write(p_adar, mem_addr_i, i_val, broadcast); + Adar_Write(p_adar, mem_addr_q, q_val, broadcast); + Adar_Write(p_adar, REG_LOAD_WORKING, 0x1, broadcast); + + return(ADAR_ERROR_NOERROR); +} + + +/** + * @brief Set the VGA gain value of a Tx channel in dB. + * + * @param p_adar[in] Adar pointer Which specifies the device and what function + * to use for SPI transfer. + * @param broadcast Send the message as a broadcast to all ADARs in the SPI chain + * if this set to BROADCAST_ON. + * + * @return Returns ADAR_ERROR_NOERROR if the bias was successfully set. + * ADAR_ERROR_FAILED if an invalid channel was selected. + * + * @warning 0 dB or 15 dB step attenuator may also be turned on, which is why intended operation is >16 dB. + */ +uint8_t Adar_SetTxBias(const AdarDevice * p_adar, uint8_t broadcast) +{ + uint8_t vga_bias_bits; + uint8_t drv_bias_bits; + uint32_t mem_vga_bias; + uint32_t mem_drv_bias; + + mem_vga_bias = REG_BIAS_CURRENT_TX; + mem_drv_bias = REG_BIAS_CURRENT_TX_DRV; + + // Set bias to nom + vga_bias_bits = 0x2D; + drv_bias_bits = 0x06; + + // Set bias + Adar_Write(p_adar, mem_vga_bias, vga_bias_bits, broadcast); + // Set bias + Adar_Write(p_adar, mem_drv_bias, drv_bias_bits, broadcast); + + // Load the new setting + Adar_Write(p_adar, REG_LOAD_WORKING, 0x2, broadcast); + + return(ADAR_ERROR_NOERROR); +} + + +/** + * @brief Set the VGA gain value of a Tx channel. + * + * @param p_adar[in] Adar pointer Which specifies the device and what function + * to use for SPI transfer. + * @param channel Tx channel in which to set the gain, ranging from 1 - 4. + * @param gain Gain to be applied to the channel, ranging from 0 - 127, + * plus the MSb 15dB attenuator (Intended operation >16 dB). + * @param broadcast Send the message as a broadcast to all ADARs in the SPI chain + * if this set to BROADCAST_ON. + * + * @return Returns ADAR_ERROR_NOERROR if the gain was successfully set. + * ADAR_ERROR_FAILED if an invalid channel was selected. + * + * @warning 0 dB or 15 dB step attenuator may also be turned on, which is why intended operation is >16 dB. + */ +uint8_t Adar_SetTxVgaGain(const AdarDevice * p_adar, uint8_t channel, uint8_t gain, uint8_t broadcast) +{ + uint32_t mem_addr; + + if((channel == 0) || (channel > 4)) + { + return(ADAR_ERROR_FAILED); + } + + mem_addr = REG_CH1_TX_GAIN + (channel & 0x03); + + // Set gain + Adar_Write(p_adar, mem_addr, gain, broadcast); + + // Load the new setting + Adar_Write(p_adar, REG_LOAD_WORKING, LD_WRK_REGS_LDTX_OVERRIDE, broadcast); + + return(ADAR_ERROR_NOERROR); +} + + +/** + * @brief Set the phase of a given transmit channel using the I/Q vector modulator. + * + * @pre According to the given @param phase, this sets the polarity (bit 5) and gain (bits 4-0) + * of the @param channel, and then loads them into the working register. + * A vector modulator I/Q look-up table has been provided at the beginning of this library. + * + * @param p_adar[in] Adar pointer Which specifies the device and what function + * to use for SPI transfer. + * @param channel Channel in which to set the gain (1-4). + * @param phase Byte that is used to set the polarity (bit 5) and gain (bits 4-0). + * @param broadcast Send the message as a broadcast to all ADARs in the SPI chain + * if this set to BROADCAST_ON. + * + * @return Returns ADAR_ERROR_NOERROR if the phase was successfully set. + * ADAR_ERROR_FAILED if an invalid channel was selected. + * + * @note To obtain your phase: + * phase = degrees * 128; + * phase /= 360; + */ +uint8_t Adar_SetTxPhase(const AdarDevice * p_adar, uint8_t channel, uint8_t phase, uint8_t broadcast) +{ + uint8_t i_val = 0; + uint8_t q_val = 0; + uint32_t mem_addr_i, mem_addr_q; + + if((channel == 0) || (channel > 4)) + { + return(ADAR_ERROR_FAILED); + } + + //phase = phase % 128; + i_val = VM_I[phase]; + q_val = VM_Q[phase]; + + mem_addr_i = REG_CH1_TX_PHS_I + (channel & 0x03) * 2; + mem_addr_q = REG_CH1_TX_PHS_Q + (channel & 0x03) * 2; + + Adar_Write(p_adar, mem_addr_i, i_val, broadcast); + Adar_Write(p_adar, mem_addr_q, q_val, broadcast); + Adar_Write(p_adar, REG_LOAD_WORKING, 0x1, broadcast); + + return(ADAR_ERROR_NOERROR); +} + + +/** + * @brief Reset the whole ADAR device. + * + * @param p_adar[in] ADAR pointer Which specifies the device and what function + * to use for SPI transfer. + */ +void Adar_SoftReset(const AdarDevice * p_adar) +{ + uint8_t instruction[3]; + + instruction[0] = ((p_adar->dev_addr & 0x03) << 5); + instruction[1] = 0x00; + instruction[2] = 0x81; + + p_adar->Transfer(instruction, NULL, sizeof(instruction)); +} + + +/** + * @brief Reset ALL ADAR devices in the SPI chain. + * + * @param p_adar[in] Adar pointer Which specifies the device and what function + * to use for SPI transfer. + */ +void Adar_SoftResetAll(const AdarDevice * p_adar) +{ + uint8_t instruction[3]; + + instruction[0] = 0x08; + instruction[1] = 0x00; + instruction[2] = 0x81; + + p_adar->Transfer(instruction, NULL, sizeof(instruction)); +} + + +/** + * @brief Write a byte of @param data to the register located at @param mem_addr. + * + * @param p_adar[in] Adar pointer Which specifies the device and what function + * to use for SPI transfer. + * @param mem_addr Memory address of the register you wish to read from. + * @param data Byte of data to be stored in the register. + * @param broadcast Send the message as a broadcast to all ADARs in the SPI chain + if this set to BROADCAST_ON. + * + * @warning If writing the same data to multiple registers, use ADAR_WriteBlock. + */ +void Adar_Write(const AdarDevice * p_adar, uint32_t mem_addr, uint8_t data, uint8_t broadcast) +{ + uint8_t instruction[3]; + + if (broadcast) + { + instruction[0] = 0x08; + } + else + { + instruction[0] = ((p_adar->dev_addr & 0x03) << 5); + } + + instruction[0] |= (0x1F00 & mem_addr) >> 8; + instruction[1] = (0xFF & mem_addr); + instruction[2] = data; + + p_adar->Transfer(instruction, NULL, sizeof(instruction)); +} + + +/** + * @brief Block memory write to an ADAR device. + * + * @pre ADDR_ASCN BITS IN REGISTER ZERO MUST BE SET! + * + * @param p_adar[in] Adar pointer Which specifies the device and what function + * to use for SPI transfer. + * @param mem_addr Memory address of the register you wish to read from. + * @param p_data[in] Pointer to block of data to transfer (must have two unused bytes + preceding the data for instruction). + * @param size Size of data in bytes, including the two additional leading bytes. + * + * @warning First two bytes of data will be corrupted if you do not provide two unused leading bytes! + */ +void Adar_WriteBlock(const AdarDevice * p_adar, uint16_t mem_addr, uint8_t * p_data, uint32_t size) +{ + // Prepare command + p_data[0] = ((p_adar->dev_addr & 0x03) << 5); + p_data[0] |= ((mem_addr) >> 8) & 0x1F; + p_data[1] = (0xFF & mem_addr); + + // Start the transfer + p_adar->Transfer(p_data, NULL, size); + + // Return nothing since we assume this is non-blocking and won't wait around +} + + +/** + * @brief Set contents of the INTERFACE_CONFIG_A register. + * + * @param p_adar[in] Adar pointer Which specifies the device and what function + * to use for SPI transfer. + * @param flags #INTERFACE_CONFIG_A_SOFTRESET, #INTERFACE_CONFIG_A_LSB_FIRST, + * #INTERFACE_CONFIG_A_ADDR_ASCN, #INTERFACE_CONFIG_A_SDO_ACTIVE + * @param broadcast Send the message as a broadcast to all ADARs in the SPI chain + * if this set to BROADCAST_ON. + */ +void Adar_WriteConfigA(const AdarDevice * p_adar, uint8_t flags, uint8_t broadcast) +{ + Adar_Write(p_adar, 0x00, flags, broadcast); +} + + +/** + * @brief Write a byte of @param data to the register located at @param mem_addr and + * then read from the device and verify that the register was correctly set. + * + * @param p_adar[in] Adar pointer Which specifies the device and what function + * to use for SPI transfer. + * @param mem_addr Memory address of the register you wish to read from. + * @param data Byte of data to be stored in the register. + * + * @return Returns the number of attempts that it took to successfully write to a register, + * starting from zero. + * @warning This function currently only supports writes to a single regiter in a single ADAR. + */ +uint8_t Adar_WriteVerify(const AdarDevice * p_adar, uint32_t mem_addr, uint8_t data) +{ + uint8_t rx_data; + + for (uint8_t ii = 0; ii < 3; ii++) + { + Adar_Write(p_adar, mem_addr, data, 0); + + // Can't read back from an ADAR with HW address 0 + if (!((p_adar->dev_addr) % 4)) + { + return(ADAR_ERROR_INVALIDADDR); + } + rx_data = Adar_Read(p_adar, mem_addr); + if (rx_data == data) + { + return(ii); + } + } + + return(ADAR_ERROR_FAILED); +} + +void Adar_SetBit(const AdarDevice * p_adar, uint32_t mem_addr, uint8_t bit, uint8_t broadcast) + { + uint8_t temp = Adar_Read(p_adar, mem_addr); + uint8_t data = temp|(1< +#include +#include + +#ifdef __cplusplus +extern "C" { // Prevent C++ name mangling +#endif + + + + +// ---------------------------------------------------------------------------- +// Datatypes +// ---------------------------------------------------------------------------- +extern SPI_HandleTypeDef hspi1; +extern const uint8_t VM_GAIN[128]; +extern const uint8_t VM_I[128]; +extern const uint8_t VM_Q[128]; + +/// A function pointer prototype for a SPI transfer, the 3 parameters would be +/// p_txData, p_rxData, and size (number of bytes to transfer), respectively. +typedef uint32_t (*Adar_SpiTransfer)( uint8_t *, uint8_t *, uint32_t); + +typedef struct + { + uint8_t dev_addr; ///< 2-bit device hardware address, 0x00, 0x01, 0x10, 0x11 + Adar_SpiTransfer Transfer; ///< Function pointer to the function used for SPI transfers + uint8_t * p_rx_buffer; ///< Data buffer to store received bytes into + }const AdarDevice; + + +/// Use this to store bias current values into, as seen in the datasheet +/// Table 6. SPI Settings for Different Power Modules +typedef struct +{ + uint8_t rx_lna; ///< nominal: 8, low power: 5 + uint8_t rx_vm; ///< nominal: 5, low power: 2 + uint8_t rx_vga; ///< nominal: 10, low power: 3 + uint8_t tx_vm; ///< nominal: 5, low power: 2 + uint8_t tx_vga; ///< nominal: 5, low power: 5 + uint8_t tx_drv; ///< nominal: 6, low power: 3 +} AdarBiasCurrents; + +/// Useful for queries regarding the device info +typedef struct +{ + uint8_t norm_operating_mode : 2; + uint8_t cust_operating_mode : 2; + uint8_t dev_status : 4; + uint8_t chip_type; + uint16_t product_id; + uint8_t scratchpad; + uint8_t spi_rev; + uint16_t vendor_id; + uint8_t rev_id; +} AdarDeviceInfo; + +/// Return types for functions in this library +typedef enum { + ADAR_ERROR_NOERROR = 0, + ADAR_ERROR_FAILED = 1, + ADAR_ERROR_INVALIDADDR = 2, +} AdarErrorCodes; + + +// ---------------------------------------------------------------------------- +// Function Prototypes +// ---------------------------------------------------------------------------- +void Adar_AdcInit(const AdarDevice * p_adar, uint8_t broadcast_bit); + +uint8_t Adar_AdcRead(const AdarDevice * p_adar, uint8_t broadcast_bit); + +uint8_t Adar_GetDeviceInfo(const AdarDevice * p_adar, AdarDeviceInfo * info); + +uint8_t Adar_Read(const AdarDevice * p_adar, uint32_t mem_addr); + +void Adar_ReadBlock(const AdarDevice * p_adar, uint16_t mem_addr, uint8_t * p_data, uint32_t size); + +uint8_t Adar_SetBiasCurrents(const AdarDevice * p_adar, AdarBiasCurrents * p_bias, uint8_t broadcast_bit); + +uint8_t Adar_SetBiasVoltages(const AdarDevice * p_adar, uint8_t bias_on_voltage[5], uint8_t bias_off_voltage[5]); + +uint8_t Adar_SetRamBypass(const AdarDevice * p_adar, uint8_t broadcast_bit); + +uint8_t Adar_SetRxVgaGain(const AdarDevice * p_adar, uint8_t channel, uint8_t vga_gain_db, uint8_t broadcast_bit); + +uint8_t Adar_SetRxPhase(const AdarDevice * p_adar, uint8_t channel, uint8_t phase, uint8_t broadcast_bit); + +uint8_t Adar_SetTxBias(const AdarDevice * p_adar, uint8_t broadcast_bit); + +uint8_t Adar_SetTxVgaGain(const AdarDevice * p_adar, uint8_t channel, uint8_t vga_gain_db, uint8_t broadcast_bit); + +uint8_t Adar_SetTxPhase(const AdarDevice * p_adar, uint8_t channel, uint8_t phase, uint8_t broadcast_bit); + +void Adar_SoftReset(const AdarDevice * p_adar); + +void Adar_SoftResetAll(const AdarDevice * p_adar); + +void Adar_Write(const AdarDevice * p_adar, uint32_t mem_addr, uint8_t data, uint8_t broadcast_bit); + +void Adar_WriteBlock(const AdarDevice * p_adar, uint16_t mem_addr, uint8_t * p_data, uint32_t size); + +void Adar_WriteConfigA(const AdarDevice * p_adar, uint8_t flags, uint8_t broadcast); + +uint8_t Adar_WriteVerify(const AdarDevice * p_adar, uint32_t mem_addr, uint8_t data); + +void Adar_SetBit(const AdarDevice * p_adar, uint32_t mem_addr, uint8_t bit, uint8_t broadcast); + +void Adar_ResetBit(const AdarDevice * p_adar, uint32_t mem_addr, uint8_t bit, uint8_t broadcast); + + +// ---------------------------------------------------------------------------- +// Preprocessor Definitions and Constants +// ---------------------------------------------------------------------------- +// Using BROADCAST_ON will send a command to all ADARs that share a bus +#define BROADCAST_OFF 0 +#define BROADCAST_ON 1 + +// The minimum size of a read from the ADARs consists of 3 bytes +#define ADAR1000_RD_SIZE 3 + +// Address at which the TX RAM starts +#define ADAR_TX_RAM_START_ADDR 0x1800 + +// ADC Defines +#define ADAR1000_ADC_2MHZ_CLK 0x00 +#define ADAR1000_ADC_EN 0x60 +#define ADAR1000_ADC_ST_CONV 0x70 + +/* REGISTER DEFINITIONS */ +#define REG_INTERFACE_CONFIG_A 0x000 +#define REG_INTERFACE_CONFIG_B 0x001 +#define REG_DEV_CONFIG 0x002 +#define REG_SCRATCHPAD 0x00A +#define REG_TRANSFER 0x00F +#define REG_CH1_RX_GAIN 0x010 +#define REG_CH2_RX_GAIN 0x011 +#define REG_CH3_RX_GAIN 0x012 +#define REG_CH4_RX_GAIN 0x013 +#define REG_CH1_RX_PHS_I 0x014 +#define REG_CH1_RX_PHS_Q 0x015 +#define REG_CH2_RX_PHS_I 0x016 +#define REG_CH2_RX_PHS_Q 0x017 +#define REG_CH3_RX_PHS_I 0x018 +#define REG_CH3_RX_PHS_Q 0x019 +#define REG_CH4_RX_PHS_I 0x01A +#define REG_CH4_RX_PHS_Q 0x01B +#define REG_CH1_TX_GAIN 0x01C +#define REG_CH2_TX_GAIN 0x01D +#define REG_CH3_TX_GAIN 0x01E +#define REG_CH4_TX_GAIN 0x01F +#define REG_CH1_TX_PHS_I 0x020 +#define REG_CH1_TX_PHS_Q 0x021 +#define REG_CH2_TX_PHS_I 0x022 +#define REG_CH2_TX_PHS_Q 0x023 +#define REG_CH3_TX_PHS_I 0x024 +#define REG_CH3_TX_PHS_Q 0x025 +#define REG_CH4_TX_PHS_I 0x026 +#define REG_CH4_TX_PHS_Q 0x027 +#define REG_LOAD_WORKING 0x028 +#define REG_PA_CH1_BIAS_ON 0x029 +#define REG_PA_CH2_BIAS_ON 0x02A +#define REG_PA_CH3_BIAS_ON 0x02B +#define REG_PA_CH4_BIAS_ON 0x02C +#define REG_LNA_BIAS_ON 0x02D +#define REG_RX_ENABLES 0x02E +#define REG_TX_ENABLES 0x02F +#define REG_MISC_ENABLES 0x030 +#define REG_SW_CONTROL 0x031 +#define REG_ADC_CONTROL 0x032 +#define REG_ADC_CONTROL_TEMP_EN 0xf0 +#define REG_ADC_OUT 0x033 +#define REG_BIAS_CURRENT_RX_LNA 0x034 +#define REG_BIAS_CURRENT_RX 0x035 +#define REG_BIAS_CURRENT_TX 0x036 +#define REG_BIAS_CURRENT_TX_DRV 0x037 +#define REG_MEM_CTL 0x038 +#define REG_RX_CHX_MEM 0x039 +#define REG_TX_CHX_MEM 0x03A +#define REG_RX_CH1_MEM 0x03D +#define REG_RX_CH2_MEM 0x03E +#define REG_RX_CH3_MEM 0x03F +#define REG_RX_CH4_MEM 0x040 +#define REG_TX_CH1_MEM 0x041 +#define REG_TX_CH2_MEM 0x042 +#define REG_TX_CH3_MEM 0x043 +#define REG_TX_CH4_MEM 0x044 +#define REG_PA_CH1_BIAS_OFF 0x046 +#define REG_PA_CH2_BIAS_OFF 0x047 +#define REG_PA_CH3_BIAS_OFF 0x048 +#define REG_PA_CH4_BIAS_OFF 0x049 +#define REG_LNA_BIAS_OFF 0x04A +#define REG_TX_BEAM_STEP_START 0x04D +#define REG_TX_BEAM_STEP_STOP 0x04E +#define REG_RX_BEAM_STEP_START 0x04F +#define REG_RX_BEAM_STEP_STOP 0x050 + +// REGISTER CONSTANTS +#define INTERFACE_CONFIG_A_SOFTRESET ((1 << 7) | (1 << 0)) +#define INTERFACE_CONFIG_A_LSB_FIRST ((1 << 6) | (1 << 1)) +#define INTERFACE_CONFIG_A_ADDR_ASCN ((1 << 5) | (1 << 2)) +#define INTERFACE_CONFIG_A_SDO_ACTIVE ((1 << 4) | (1 << 3)) + +#define LD_WRK_REGS_LDRX_OVERRIDE (1 << 0) +#define LD_WRK_REGS_LDTX_OVERRIDE (1 << 1) + +#define RX_ENABLES_TX_VGA_EN (1 << 0) +#define RX_ENABLES_TX_VM_EN (1 << 1) +#define RX_ENABLES_TX_DRV_EN (1 << 2) +#define RX_ENABLES_CH3_TX_EN (1 << 3) +#define RX_ENABLES_CH2_TX_EN (1 << 4) +#define RX_ENABLES_CH1_TX_EN (1 << 5) +#define RX_ENABLES_CH0_TX_EN (1 << 6) + +#define TX_ENABLES_TX_VGA_EN (1 << 0) +#define TX_ENABLES_TX_VM_EN (1 << 1) +#define TX_ENABLES_TX_DRV_EN (1 << 2) +#define TX_ENABLES_CH3_TX_EN (1 << 3) +#define TX_ENABLES_CH2_TX_EN (1 << 4) +#define TX_ENABLES_CH1_TX_EN (1 << 5) +#define TX_ENABLES_CH0_TX_EN (1 << 6) + +#define MISC_ENABLES_CH4_DET_EN (1 << 0) +#define MISC_ENABLES_CH3_DET_EN (1 << 1) +#define MISC_ENABLES_CH2_DET_EN (1 << 2) +#define MISC_ENABLES_CH1_DET_EN (1 << 3) +#define MISC_ENABLES_LNA_BIAS_OUT_EN (1 << 4) +#define MISC_ENABLES_BIAS_EN (1 << 5) +#define MISC_ENABLES_BIAS_CTRL (1 << 6) +#define MISC_ENABLES_SW_DRV_TR_MODE_SEL (1 << 7) + +#define SW_CTRL_POL (1 << 0) +#define SW_CTRL_TR_SPI (1 << 1) +#define SW_CTRL_TR_SOURCE (1 << 2) +#define SW_CTRL_SW_DRV_EN_POL (1 << 3) +#define SW_CTRL_SW_DRV_EN_TR (1 << 4) +#define SW_CTRL_RX_EN (1 << 5) +#define SW_CTRL_TX_EN (1 << 6) +#define SW_CTRL_SW_DRV_TR_STATE (1 << 7) + +#define MEM_CTRL_RX_CHX_RAM_BYPASS (1 << 0) +#define MEM_CTRL_TX_CHX_RAM_BYPASS (1 << 1) +#define MEM_CTRL_RX_BEAM_STEP_EN (1 << 2) +#define MEM_CTRL_TX_BEAM_STEP_EN (1 << 3) +#define MEM_CTRL_BIAS_RAM_BYPASS (1 << 5) +#define MEM_CTRL_BEAM_RAM_BYPASS (1 << 6) +#define MEM_CTRL_SCAN_MODE_EN (1 << 7) + +#ifdef __cplusplus +} // End extern "C" +#endif + +#endif /* LIB_ADAR1000_H_ */ + diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/adf4382.c b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/adf4382.c new file mode 100644 index 0000000..668ae78 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/adf4382.c @@ -0,0 +1,2120 @@ +/***************************************************************************//** + * @file adf4382.c + * @brief Implementation of adf4382 Driver. + * @author Ciprian Hegbeli (ciprian.hegbeli@analog.com) + * @author Jude Osemene (jude.osemene@analog.com) +******************************************************************************** + * Copyright 2024(c) Analog Devices, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. Neither the name of Analog Devices, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from this + * software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY ANALOG DEVICES, INC. “AS IS” AND ANY EXPRESS OR + * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO + * EVENT SHALL ANALOG DEVICES, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ + +#include "adf4382.h" +#include "no_os_alloc.h" +#include "no_os_delay.h" +#include "no_os_error.h" +#include "no_os_print_log.h" +#include "no_os_util.h" + +/* Charge pump current values expressed in uA */ +static const int adf4382_ci_ua[] = { + 700, + 900, + 1100, + 1300, + 1400, + 1800, + 2200, + 2500, + 2900, + 3600, + 4300, + 5000, + 5800, + 7200, + 8600, + 11100 +}; + +/** + * @brief Writes data to ADF4382 over SPI. + * @param dev - The device structure. + * @param reg_addr - The register address. + * @param data - Data value to write. + * @return - 0 in case of success or negative error code otherwise. + */ +int adf4382_spi_write(struct adf4382_dev *dev, uint16_t reg_addr, uint8_t data) +{ + uint8_t buff[ADF4382_BUFF_SIZE_BYTES]; + uint16_t cmd; + + if (!dev) + return -EINVAL; + + cmd = ADF4382_SPI_WRITE_CMD | reg_addr; + if (dev->spi_desc->bit_order) { + buff[0] = no_os_bit_swap_constant_8(cmd & 0xFF); + buff[1] = no_os_bit_swap_constant_8(cmd >> 8); + buff[2] = no_os_bit_swap_constant_8(data); + } else { + buff[0] = cmd >> 8; + buff[1] = cmd & 0xFF; + buff[2] = data; + } + + return no_os_spi_write_and_read(dev->spi_desc, buff, + ADF4382_BUFF_SIZE_BYTES); +} + +/** + * @brief Reads data from ADF4382 over SPI. + * @param dev - The device structure. + * @param reg_addr - The register address. + * @param data - Data read from the device. + * @return - 0 in case of success or negative error code otherwise. + */ +int adf4382_spi_read(struct adf4382_dev *dev, uint16_t reg_addr, uint8_t *data) +{ + int ret; + uint8_t buff[ADF4382_BUFF_SIZE_BYTES]; + uint16_t cmd; + + if (!dev) + return -EINVAL; + + cmd = ADF4382_SPI_READ_CMD | reg_addr; + if (dev->spi_desc->bit_order) { + buff[0] = no_os_bit_swap_constant_8(cmd & 0xFF); + buff[1] = no_os_bit_swap_constant_8(cmd >> 8); + buff[2] = no_os_bit_swap_constant_8(ADF4382_SPI_DUMMY_DATA); + } else { + buff[0] = cmd >> 8; + buff[1] = cmd & 0xFF; + buff[2] = ADF4382_SPI_DUMMY_DATA; + } + + ret = no_os_spi_write_and_read(dev->spi_desc, buff, + ADF4382_BUFF_SIZE_BYTES); + if (ret) + return ret; + + *data = buff[2]; + + return 0; +} + +/** + * @brief Updates the values of the ADF4382 register. + * @param dev - The device structure. + * @param reg_addr - The register address. + * @param mask - Bits to be updated. + * @param data - Update value for the mask. + * @return - 0 in case of success or negative error code otherwise. + */ +int adf4382_spi_update_bits(struct adf4382_dev *dev, uint16_t reg_addr, + uint8_t mask, uint8_t data) +{ + uint8_t tmp, orig; + int ret; + + ret = adf4382_spi_read(dev, reg_addr, &orig); + if (ret) + return ret; + + tmp = orig & ~mask; + tmp |= data & mask; + + if (tmp != orig) + return adf4382_spi_write(dev, reg_addr, tmp); + + return 0; +} + +/** + * @brief Will output on the terminal the values of all the ADF4382 registers. + * @param dev - The device structure. + * @return - 0 in case of success or negative error code. + */ +int adf4382_reg_dump(struct adf4382_dev *dev) +{ + uint8_t val; + uint16_t i; + int ret; + + for (i = 0; i < 0x68; i++) { + ret = adf4382_spi_read(dev, i, &val); + if (ret) + return ret; + + pr_info("0x%X 0x%X\n", i, val); + } + + for (i = 0x100; i < 0x112; i++) { + ret = adf4382_spi_read(dev, i, &val); + if (ret) + return ret; + + pr_info("0x%X 0x%X\n", i, val); + } + + for (i = 0x200; i < 0x274; i++) { + ret = adf4382_spi_read(dev, i, &val); + if (ret) + return ret; + + pr_info("0x%X 0x%X\n", i, val); + } + + return ret; +} + +/** + * @brief Set the desired reference frequency and reset everything over to maximum + * supported value of 5GHz to the max. value and everything under the minimum + * supported value of 10MHz to the min. value. This should also update the + * frequency and the VCO calibration values. + * @param dev - The device structure. + * @param val - The desired reference frequency in Hz. + * @return - 0 in case of success or negative error code. + */ +int adf4382_set_ref_clk(struct adf4382_dev *dev, uint64_t val) +{ + int ret; + + if (!dev) + return -EINVAL; + + dev->ref_freq_hz = val; + + if (val > ADF4382_REF_CLK_MAX) + dev->ref_freq_hz = ADF4382_REF_CLK_MAX; + + if (val < ADF4382_REF_CLK_MIN) + dev->ref_freq_hz = ADF4382_REF_CLK_MIN; + + ret = adf4382_set_freq(dev); + if (ret) + return ret; + return adf4382_set_vco_cal_timeout(dev); +} + +/** + * @brief Gets the user proposed reference frequency + * @param dev - The device structure. + * @param val - The set value of the reference frequency in Hz. + * @return - Reference frequency in KHz. + */ +int adf4382_get_ref_clk(struct adf4382_dev *dev, uint64_t *val) +{ + if (!dev) + return -EINVAL; + + *val = dev->ref_freq_hz; + + return 0; +} + +/** + * @brief Set the reference doubler to enable or disable based on the passed + * parameter. If the parameter is different then 0 it will set the doubler to + * enable. This should also update the frequency and the VCO calibration values. + * @param dev - The device structure. + * @param en - The enable or disable value of the reference doubler. + * @return - 0 in case of success or negative error code. + */ +int adf4382_set_en_ref_doubler(struct adf4382_dev *dev, bool en) +{ + int ret; + + if (!dev) + return -EINVAL; + + dev->ref_doubler_en = en; + + ret = adf4382_set_freq(dev); + if (ret) + return ret; + return adf4382_set_vco_cal_timeout(dev); +} + +/** + * @brief Gets the value the doubler if it is enabled or disable and stores it + * it the dev structure. + * @param dev - The device structure. + * @param en - The read value of the reference doubler. + * @return - 0 in case of success or negative error code. + */ +int adf4382_get_en_ref_doubler(struct adf4382_dev *dev, bool *en) +{ + uint8_t tmp; + int ret; + + ret = adf4382_spi_read(dev, 0x20, &tmp); + if (ret) + return ret; + + dev->ref_doubler_en = no_os_field_get(tmp, ADF4382_EN_RDBLR_MSK); + *en = dev->ref_doubler_en; + + return 0; +} + +/** + * @brief Set the reference divider value and reset everything over to maximum + * supported value of 63 to the max. value + * @param dev - The device structure. + * @param div - The reference divider value. + * @return - 0 in case of success or negative error code. + */ +int adf4382_set_ref_div(struct adf4382_dev *dev, int32_t div) +{ + int ret; + + if (!dev) + return -EINVAL; + + dev->ref_div = div; + + if (div > ADF4382_REF_DIV_MAX) + dev->ref_div = ADF4382_REF_DIV_MAX; + + ret = adf4382_set_freq(dev); + if (ret) + return ret; + return adf4382_set_vco_cal_timeout(dev); +} + +/** + * @brief Gets the value the reference divider. + * @param dev - The device structure. + * @param div - The read reference divider value. + * @return - Result of the reading procedure, error code otherwise. + */ +int adf4382_get_ref_div(struct adf4382_dev *dev, int32_t *div) +{ + uint8_t tmp; + int ret; + + ret = adf4382_spi_read(dev, 0x20, &tmp); + if (ret) + return ret; + + dev->ref_div = no_os_field_get(ADF4382_R_DIV_MSK, tmp); + *div = dev->ref_div; + + return 0; +} + +/** + * @brief Set the charge pump value which will be written to the register. The + * value will be between 0 and 15 on 8 bits. For more information please + * consult the Datasheet. + * @param dev - The device structure. + * @param reg_val - The desired charge pump register value. + * @return - 0 in case of success or negative error code. + */ +int adf4382_set_cp_i(struct adf4382_dev *dev, int32_t reg_val) +{ + if (!dev) + return -EINVAL; + + dev->cp_i = (uint8_t)reg_val; + + if (reg_val > ADF4382_CPI_VAL_MAX) + dev->cp_i = ADF4382_CPI_VAL_MAX; + + return adf4382_set_freq(dev); +} + +/** + * @brief Gets the charge pump value from the register. The value will be + * between 0 and 15 on 8 bits. For more information please consult the + * Datasheet. + * @param dev - The device structure. + * @param reg_val - The read charge pump register value. + * @return - 0 in case of success or negative error code. + */ +int adf4382_get_cp_i(struct adf4382_dev *dev, int32_t *reg_val) +{ + uint8_t tmp; + int ret; + + ret = adf4382_spi_read(dev, 0x1F, &tmp); + if (ret) + return ret; + + dev->cp_i = no_os_field_get(ADF4382_CP_I_MSK, tmp); + *reg_val = dev->cp_i; + + return 0; +} + +/** + * @brief Set the bleed word, which represents the value of the bleed current + * written to the register space. + * @param dev - The device structure. + * @param word - The bleed current register value. + * @return - 0 in case of success or negative error code. + */ +int adf4382_set_bleed_word(struct adf4382_dev *dev, int32_t word) +{ + if (!dev) + return -EINVAL; + + dev->bleed_word = (uint16_t)word; + + if (word > ADF4382_BLEED_WORD_MAX) + dev->bleed_word = ADF4382_BLEED_WORD_MAX; + + return adf4382_set_freq(dev); +} + +/** + * @brief Gets the value of the set bleed word. + * @param dev - The device structure. + * @param word - The read bleed current register value. + * @return - Result of the reading procedure, error code otherwise. + */ +int adf4382_get_bleed_word(struct adf4382_dev *dev, int32_t *word) +{ + uint8_t upper; + uint8_t lower; + int ret; + + ret = adf4382_spi_read(dev, 0x1E, &upper); + if (ret) + return ret; + + upper &= (ADF4382_COARSE_BLEED_MSK | ADF4382_FINE_BLEED_MSB_MSK); + + ret = adf4382_spi_read(dev, 0x1D, &lower); + if (ret) + return ret; + + dev->bleed_word = (upper << 8) | lower; + *word = dev->bleed_word; + + return 0; +} + +/** + * @brief Set the output power register value of a channel and reset everything + * over to maximum supported value of 15 to the max. value. + * @param dev - The device structure. + * @param ch - The channel to set the power off. + * @param pwr - The output power register value. + * @return - Result of the writing procedure, error code otherwise. + */ +int adf4382_set_out_power(struct adf4382_dev *dev, uint8_t ch, int32_t pwr) +{ + uint8_t tmp; + + if (pwr > ADF4382_OUT_PWR_MAX) + pwr = ADF4382_OUT_PWR_MAX; + + if (!ch) { + tmp = no_os_field_prep(ADF4382_CLK1_OPWR_MSK, pwr); + return adf4382_spi_update_bits(dev, 0x29, ADF4382_CLK1_OPWR_MSK, + tmp); + } + + tmp = no_os_field_prep(ADF4382_CLK2_OPWR_MSK, pwr); + return adf4382_spi_update_bits(dev, 0x29, ADF4382_CLK2_OPWR_MSK, tmp); +} + +/** + * @brief Gets the output power register value. + * @param dev - The device structure. + * @param ch - The channel to get the power off. + * @param pwr - The output power register value. + * @return - Result of the reading procedure, error code otherwise. + */ +int adf4382_get_out_power(struct adf4382_dev *dev, uint8_t ch, int32_t *pwr) +{ + + uint8_t tmp; + int ret; + + ret = adf4382_spi_read(dev, 0x29, &tmp); + if (ret) + return ret; + + if (!ch) + *pwr = no_os_field_get(ADF4382_CLK1_OPWR_MSK, tmp); + else + *pwr = no_os_field_get(ADF4382_CLK2_OPWR_MSK, tmp); + + return 0; +} + +/** + * @brief Set the output channel to enable or disable based on the passed + * parameter. If the parameter is different then 0 it will set the doubler to + * enable. + * @param dev - The device structure. + * @param ch - The channel to set state. + * @param en - The enable or disable value of the output channel. + * @return - Result of the writing procedure, error code otherwise. + */ +int adf4382_set_en_chan(struct adf4382_dev *dev, uint8_t ch, bool en) +{ + uint8_t enable; + + if (!ch) { + enable = no_os_field_prep(ADF4382_PD_CLKOUT1_MSK, !en); + return adf4382_spi_update_bits(dev, 0x2B, + ADF4382_PD_CLKOUT1_MSK, + enable); + } + + enable = no_os_field_prep(ADF4382_PD_CLKOUT2_MSK, !en); + return adf4382_spi_update_bits(dev, 0x2B, ADF4382_PD_CLKOUT2_MSK, + enable); +} + +/** + * @brief Gets the value the output channel if it is enabled or disable. + * @param dev - The device structure. + * @param ch - The channel to get state. + * @param en - The status of the output channel. + * @return - 0 in case of success or negative error code. + */ +int adf4382_get_en_chan(struct adf4382_dev *dev, uint8_t ch, bool *en) +{ + uint8_t tmp; + bool enable; + int ret; + + ret = adf4382_spi_read(dev, 0x2B, &tmp); + if (ret) + return ret; + + if (!ch) + enable = no_os_field_get(tmp, ADF4382_PD_CLKOUT1_MSK); + else + enable = no_os_field_get(tmp, ADF4382_PD_CLKOUT2_MSK); + + *en = !enable; + + return 0; +} + +/** + * @brief Set the desired output frequency and reset everything over to maximum + * supported value of 22GHz (21GHz for ADF4382A) to the max. value and + * everything under the minimum supported value of 687.5MHz (2.875GHz for + * ADF4382A) to the min. value. + * @param dev - The device structure. + * @param val - The desired output frequency in Hz. + * @return - 0 in case of success or negative error code. + */ +int adf4382_set_rfout(struct adf4382_dev *dev, uint64_t val) +{ + if (!dev) + return -EINVAL; + + dev->freq = val; + + if (val > dev->freq_max) + dev->freq = dev->freq_max; + + if (val < dev->freq_min) + dev->freq = dev->freq_min; + + return adf4382_set_freq(dev); +} + +/** + * @brief Computes the PFD frequency and returns the value in Hz. + * @param dev - The device structure. + * @return - PFD value in Hz. + */ +static uint64_t adf4382_pfd_compute(struct adf4382_dev *dev) +{ + uint64_t pfd_freq; + + pfd_freq = NO_OS_DIV_ROUND_CLOSEST(dev->ref_freq_hz, dev->ref_div); + if (dev->ref_doubler_en) + pfd_freq *= 2; + + return pfd_freq; +} + +/** + * @brief Gets the user proposed output frequency + * @param dev - The device structure. + * @param val - The set value of the output frequency in Hz. + * @return - 0 in case of success or negative error code. + */ +int adf4382_get_rfout(struct adf4382_dev *dev, uint64_t *val) +{ + uint32_t frac1 = 0; + uint32_t frac2 = 0; + uint32_t mod2 = 0; + uint64_t freq; + uint64_t pfd; + uint8_t tmp; + uint16_t n; + int ret; + + pfd = adf4382_pfd_compute(dev); + + ret = adf4382_spi_read(dev, 0x11, &tmp); + if (ret) + return ret; + n = tmp & ADF4382_N_INT_MSB_MSK; + n = n << 8; + + ret = adf4382_spi_read(dev, 0x10, &tmp); + if (ret) + return ret; + n |= tmp; + + ret = adf4382_spi_read(dev, 0x15, &tmp); + if (ret) + return ret; + frac1 = tmp & ADF4382_FRAC1WORD_MSB; + frac1 = frac1 << 8; + + ret = adf4382_spi_read(dev, 0x14, &tmp); + if (ret) + return ret; + frac1 |= tmp; + frac1 = frac1 << 8; + + ret = adf4382_spi_read(dev, 0x13, &tmp); + if (ret) + return ret; + frac1 |= tmp; + frac1 = frac1 << 8; + + ret = adf4382_spi_read(dev, 0x12, &tmp); + if (ret) + return ret; + frac1 |= tmp; + + ret = adf4382_spi_read(dev, 0x19, &tmp); + if (ret) + return ret; + frac2 = tmp; + frac2 = frac2 << 8; + + ret = adf4382_spi_read(dev, 0x18, &tmp); + if (ret) + return ret; + frac2 |= tmp; + frac2 = frac2 << 8; + + ret = adf4382_spi_read(dev, 0x17, &tmp); + if (ret) + return ret; + frac2 |= tmp; + + ret = adf4382_spi_read(dev, 0x1c, &tmp); + if (ret) + return ret; + mod2 = tmp; + mod2 = mod2 << 8; + + ret = adf4382_spi_read(dev, 0x1b, &tmp); + if (ret) + return ret; + mod2 |= tmp; + mod2 = mod2 << 8; + + ret = adf4382_spi_read(dev, 0x1a, &tmp); + if (ret) + return ret; + mod2 |= tmp; + + freq = frac2 * pfd; + freq = no_os_div_u64(freq, mod2); + freq = freq + (frac1 * pfd); + freq = no_os_div_u64(freq, ADF4382_MOD1WORD); + freq = freq + (n * pfd); + + *val = freq; + return 0; +} + +/** + * @brief Computes the second fractional part of the feedback divider if needed. + * @param dev - The device structure. + * @param res - Residue from the first fractional part. + * @param pfd_freq - Phase/frequency detector frequency. + * @param frac2_word - Second fractional part of the feedback divider, which + * will be returned. + * @param mod2_word - Modulo for the second fractional part of the feedback + * divider, which will be returned. + * @return - 0 in case of success, negative error code otherwise. + */ +static int adf4382_frac2_compute(struct adf4382_dev *dev, uint64_t res, + uint64_t pfd_freq, uint32_t *frac2_word, + uint32_t *mod2_word) +{ + uint32_t channel_spacing; + uint8_t en_phase_resync; + uint32_t chsp_freq; + uint32_t mod2_tmp; + uint32_t mod2_max; + uint32_t mod2_wd; + uint32_t gcd; + uint8_t tmp; + int ret; + + channel_spacing = 1; + mod2_wd = 1; + + ret = adf4382_spi_read(dev, 0x1E, &tmp); + if (ret) + return ret; + + en_phase_resync = no_os_field_get(tmp, ADF4382_EN_PHASE_RESYNC_MSK); + + if (en_phase_resync) + mod2_max = ADF4382_PHASE_RESYNC_MOD2WORD_MAX; + else + mod2_max = ADF4382_MOD2WORD_MAX; + + do { + + chsp_freq = channel_spacing * ADF4382_MOD1WORD; + gcd = no_os_greatest_common_divisor(chsp_freq, pfd_freq); + mod2_tmp = NO_OS_DIV_ROUND_UP(pfd_freq, gcd); + + if (mod2_tmp > mod2_max) { + channel_spacing *= 5; + } else { + mod2_wd = mod2_tmp; + break; + } + + } while (channel_spacing < ADF4382_CHANNEL_SPACING_MAX); + + if (!en_phase_resync) { + mod2_wd *= NO_OS_DIV_U64(mod2_max, mod2_wd); + } + + *frac2_word = NO_OS_DIV_ROUND_CLOSEST_ULL(res * mod2_wd, pfd_freq); + *mod2_word = mod2_wd; + + return 0; +} + +/** + * @brief Computes the feedback divider values for the PLL. + * @param dev - The device structure. + * @param freq - The output frequency. + * @param pfd_freq - Phase/frequency detector frequency. + * @param n_int - Integer part of the feedback divider, which will be + * returned. + * @param frac1_word - First fractional part of the feedback divider, which will + * be returned. + * @param frac2_word - Second fractional part of the feedback divider, which + * will be returned. + * @param mod2_word - Modulo for the second fractional part of the feedback + * divider, which will be returned. + * @return - 0 in case of success, negative error code otherwise. + */ +static int adf4382_pll_fract_n_compute(struct adf4382_dev *dev, uint64_t freq, + uint64_t pfd_freq, uint16_t *n_int, + uint32_t *frac1_word, uint32_t *frac2_word, + uint32_t *mod2_word) +{ + uint64_t rem; + uint64_t res; + + *n_int = no_os_div64_u64_rem(freq, pfd_freq, &rem); + + res = rem * ADF4382_MOD1WORD; + *frac1_word = (uint32_t)no_os_div64_u64_rem(res, pfd_freq, &rem); + + *frac2_word = 0; + *mod2_word = 0; + + if (rem > 0) + return adf4382_frac2_compute(dev, rem, pfd_freq, frac2_word, + mod2_word); + + return 0; +} + +/** + * @brief Fast calibration function. Computes Minimum VCO frequency (fmin), + * uses the minimum NDIV value to generate fastcal Lookup table (LUT), and + * finally enables LUT Calibration. + * @param dev - The device structure. + * @param en_fast_cal - Enables the fast calibration routine. + * @return - N_INT value corresponding to minimum VCO frequency for + * fast calibration LUT generation. + */ +int adf4382_set_en_fast_calibration(struct adf4382_dev *dev, bool en_fast_cal) +{ + uint64_t operating_pfd_freq; + uint64_t pfd_freq_lut = 0; + uint8_t ref_div_lut = 0; + uint8_t timeout = 0; + uint8_t lut_scale; + uint16_t lut_int; + uint8_t fsm_busy; + uint16_t n_int; + uint8_t tmp; + uint8_t val; + int ret; + + if (!dev) + return -EINVAL; + + if (!en_fast_cal) + return 0; + + // Stabilize PFD Frequency for Fast Calibration LUT Generation + operating_pfd_freq = adf4382_pfd_compute(dev); + + if (operating_pfd_freq > 125 * MHZ) { + ref_div_lut = dev->ref_div; + pfd_freq_lut = operating_pfd_freq; + // Increase reference divider until PFD frequency is below 125MHz + do { + dev->ref_div += 1; + if (dev->ref_div > ADF4382_REF_DIV_MAX) + break; + pfd_freq_lut = adf4382_pfd_compute(dev); + } while (pfd_freq_lut > 125 * MHZ); + ret = adf4382_set_ref_div(dev, dev->ref_div); + if (ret) + return ret; + } else { + pfd_freq_lut = operating_pfd_freq; + } + + // Set cal_gen values for fast calibration + ret = adf4382_spi_update_bits(dev, 0x44, ADF4382_VPTAT_CALGEN_MSK, + no_os_field_prep + (ADF4382_VPTAT_CALGEN_MSK, + ADF4382_FASTCAL_VPTAT_CALGEN)); + if (ret) + return ret; + + ret = adf4382_spi_update_bits(dev, 0x45, ADF4382_VCTAT_CALGEN_MSK, + no_os_field_prep + (ADF4382_VCTAT_CALGEN_MSK, + ADF4382_FASTCAL_VCTAT_CALGEN)); + if (ret) + return ret; + + // Enable LUT Generation + dev->en_lut_gen = en_fast_cal; + ret = adf4382_spi_update_bits(dev, 0x36, ADF4382_EN_LUT_GEN_MSK, + no_os_field_prep(ADF4382_EN_LUT_GEN_MSK, + dev->en_lut_gen)); + if (ret) + return ret; + + // Compute and set the minimum N_INT values + n_int = NO_OS_DIV_ROUND_UP(dev->vco_min, pfd_freq_lut); + val = n_int & ADF4382_N_INT_LSB_MSK; + ret = adf4382_spi_write(dev, 0x10, val); + if (ret) + return ret; + + // Monitor FSM busy status + ret = adf4382_spi_read(dev, 0x58, &val); + if (ret) + return ret; + fsm_busy = no_os_field_get(val, ADF4382_FSM_BUSY_MSK); + + while (fsm_busy == 1) { + if (timeout++ > ADF4382_FSM_BUSY_LOOP_CNT) + break; + no_os_mdelay(10); + ret = adf4382_spi_read(dev, 0x58, &val); + if (ret) + return ret; + fsm_busy = no_os_field_get(val, ADF4382_FSM_BUSY_MSK); + } + if (timeout > ADF4382_FSM_BUSY_LOOP_CNT) + return -ETIMEDOUT; + + // Compute the LUT scale based on PFD frequency + lut_scale = NO_OS_DIV_ROUND_CLOSEST(operating_pfd_freq, pfd_freq_lut); + lut_scale *= 8; + val = lut_scale & ADF4382_LUT_SCALE_MSK; + ret = adf4382_spi_write(dev, 0x4F, val); + if (ret) + return ret; + + dev->en_lut_gen = !en_fast_cal; + ret = adf4382_spi_update_bits(dev, 0x36, ADF4382_EN_LUT_GEN_MSK, + no_os_field_prep + (ADF4382_EN_LUT_GEN_MSK, + dev->en_lut_gen)); + if (ret) + return ret; + + // Lock to the maximum frequency + dev->freq = dev->freq_max; + ret = adf4382_set_freq(dev); + if (ret) + return ret; + + + // Read LUT int value directly from registers and write it to the LUT + ret = adf4382_spi_read(dev, 0x11, &tmp); + if (ret) + return ret; + lut_int = no_os_field_get(tmp, ADF4382_N_INT_MSB_MSK); + lut_int = lut_int << 8; + + ret = adf4382_spi_read(dev, 0x10, &tmp); + if (ret) + return ret; + lut_int |= tmp; + + val = (lut_int >> 6) & ADF4382_M_LUT_N_MSB_MSK; + ret = adf4382_spi_write(dev, 0x203, val); + if (ret) + return ret; + + val = lut_int & ADF4382_M_LUT_N_LSB_MSK; + ret = adf4382_spi_update_bits(dev, 0x202, ADF4382_M_LUT_N_LSB_MSK, + no_os_field_prep + (ADF4382_M_LUT_N_LSB_MSK, val)); + if (ret) + return ret; + + ret = adf4382_spi_read(dev, 0x5F, &tmp); + if (ret) + return ret; + + val = no_os_field_get(tmp, ADF4382_VCO_CORE_MSK); + ret = adf4382_spi_update_bits(dev, 0x202, ADF4382_M_LUT_CORE_MSK, + no_os_field_prep + (ADF4382_M_LUT_CORE_MSK, val)); + if (ret) + return ret; + + ret = adf4382_spi_read(dev, 0x5E, &tmp); + if (ret) + return ret; + + val = no_os_field_get(tmp, ADF4382_VCO_BAND_LSB_MSK); + ret = adf4382_spi_write(dev, 0x201, val); + if (ret) + return ret; + + ret = adf4382_spi_read(dev, 0x5F, &tmp); + if (ret) + return ret; + + val = no_os_field_get(tmp, ADF4382_M_LUT_BAND_MSB_MSK); + ret = adf4382_spi_update_bits(dev, 0x202, ADF4382_M_LUT_BAND_MSB_MSK, + no_os_field_prep + (ADF4382_M_LUT_BAND_MSB_MSK, val)); + if (ret) + return ret; + + val = no_os_field_prep(ADF4382_LUT_WR_ADDR_MSK, 31) | + no_os_field_prep(ADF4382_O_VCO_LUT_MSK, 1); + ret = adf4382_spi_write(dev, 0x200, val); + if (ret) + return ret; + + // Revert the R_DIV value to original value if changed. + if (ref_div_lut != 0) { + dev->ref_div = ref_div_lut; + ret = adf4382_set_ref_div(dev, dev->ref_div); + if (ret) + return ret; + } + dev->en_lut_cal = en_fast_cal; + adf4382_spi_update_bits(dev, 0x36, ADF4382_EN_LUT_CAL_MSK, + dev->en_lut_cal); + if (ret) + return ret; + + ret = adf4382_spi_update_bits(dev, 0x15, ADF4382_INT_MODE_MSK, + no_os_field_prep(ADF4382_INT_MODE_MSK, 0)); + if (ret) + return ret; + + ret = adf4382_spi_update_bits(dev, 0x2A, ADF4382_PD_CALGEN_MSK, + no_os_field_prep(ADF4382_PD_CALGEN_MSK, 1)); + if (ret) + return ret; + + return adf4382_spi_update_bits(dev, 0x38, ADF4382_CAL_VTUNE_TO_LSB_MSK, + no_os_field_prep( + ADF4382_CAL_VTUNE_TO_LSB_MSK, 0)); +} + +/** + * @brief Gets Fast calibration LUT Calibration status. + * @param dev - The device structure. + * @param en - The set value of LUT Calibration. + * @return - 0 in case of success, negative error code otherwise. + */ +int adf4382_get_en_lut_calibration(struct adf4382_dev *dev, bool *en) +{ + uint8_t tmp; + int ret; + + ret = adf4382_spi_read(dev, 0x36, &tmp); + if (ret) + return ret; + + *en = no_os_field_get(tmp, ADF4382_EN_LUT_CAL_MSK); + return 0; +} + +/** + * @brief Sets Fast calibration LUT Calibration. Refer to en_fastcal function to + * first generate fastcal Lookup Table (LUT). + * @param dev - The device structure. + * @param en_lut_cal - Enable/Disable LUT Calibration. + * @return - 0 in case of success, negative error code otherwise. + */ +int adf4382_set_en_lut_calibration(struct adf4382_dev *dev, bool en_lut_cal) +{ + int ret; + uint8_t vptat_calgen, vctat_calgen, pd_calgen; + uint32_t cal_vtune_to; + + dev->en_lut_cal = en_lut_cal; + + if (dev->en_lut_cal == 0) { + vptat_calgen = ADF4382_VPTAT_CALGEN; + vctat_calgen = ADF4382_VCTAT_CALGEN; + pd_calgen = 0; + cal_vtune_to = dev->cal_vtune_to; + } else { + vptat_calgen = ADF4382_FASTCAL_VPTAT_CALGEN; + vctat_calgen = ADF4382_FASTCAL_VCTAT_CALGEN; + pd_calgen = 1; + cal_vtune_to = 0; + } + + ret = adf4382_spi_update_bits(dev, 0x44, ADF4382_VPTAT_CALGEN_MSK, + no_os_field_prep(ADF4382_VPTAT_CALGEN_MSK, + vptat_calgen)); + if (ret) + return ret; + + ret = adf4382_spi_update_bits(dev, 0x45, ADF4382_VCTAT_CALGEN_MSK, + no_os_field_prep(ADF4382_VCTAT_CALGEN_MSK, + vctat_calgen)); + if (ret) + return ret; + + ret = adf4382_spi_update_bits(dev, 0x2A, ADF4382_PD_CALGEN_MSK, + no_os_field_prep(ADF4382_PD_CALGEN_MSK, + pd_calgen)); + if (ret) + return ret; + + ret = adf4382_spi_update_bits(dev, 0x38, ADF4382_CAL_VTUNE_TO_LSB_MSK, + no_os_field_prep(ADF4382_CAL_VTUNE_TO_LSB_MSK, + cal_vtune_to)); + if (ret) + return ret; + + ret = adf4382_spi_update_bits(dev, 0x39, ADF4382_CAL_VTUNE_TO_MSB_MSK, + no_os_field_prep(ADF4382_CAL_VTUNE_TO_MSB_MSK, + cal_vtune_to >> 8)); + if (ret) + return ret; + + ret = adf4382_spi_update_bits(dev, 0x36, ADF4382_EN_LUT_CAL_MSK, + no_os_field_prep(ADF4382_EN_LUT_CAL_MSK, + dev->en_lut_cal)); + if (ret) + return ret; + + return adf4382_spi_update_bits(dev, 0x15, ADF4382_INT_MODE_MSK, + no_os_field_prep(ADF4382_INT_MODE_MSK, 0)); +} + +/** + * @brief Gets the user proposed output frequency from the device tree without + * reading from the device. This is to enable and accurate reading of device + * lock-time. + * @param dev - The device structure. + * @param val - Holds the software value of RFOUT Frequency set. + * @return - Output frequency in KHz. + */ +int adf4382_get_change_rfout(struct adf4382_dev *dev, uint64_t *val) +{ + *val = dev->freq; + return 0; +} + +/** + * @brief Set the desired output frequency and reset everything over to maximum + * supported value of 22GHz (21GHz for ADF4382A) to the max without starting + * autocalibration. value and everything under the minimum supported value of + * 687.5MHz (2.875GHz for ADF4382A) to the min. value. + * @param dev - The device structure. + * @param val - The desired output frequency in Hz. + * @return - 0 in case of success or negative error code. + */ +int adf4382_set_change_rfout(struct adf4382_dev *dev, uint64_t val) +{ + if (!dev) + return -EINVAL; + + dev->freq = val; + + if (val > dev->freq_max) + dev->freq = dev->freq_max; + + if (val < dev->freq_min) + dev->freq = dev->freq_min; + + return adf4382_set_change_freq(dev); +} + +/** + * @brief Computes the optimized bleed word value for the PLL in fractional mode. + * @param dev - The device structure. + * @param pfd_freq - Phase detector frequency. + * @return - 0 in case of success or negative error code. + */ +static int adf4382_bleed_word_compute(struct adf4382_dev *dev, + uint64_t pfd_freq) +{ + uint32_t coars_bleed; + uint16_t bleed_delay = 0; + uint32_t fine_bleed; + uint16_t bleed_word_tmp; + uint64_t bleed_i; + uint64_t rem; + + if (!dev) + return -EINVAL; + + /* Computes the bleed delay based on rfout frequency in SDM MODE 0. + See Product DataSheet for more details. */ + if (dev->freq < 1800000000UL) + bleed_delay = 3600; + else if (dev->freq < 4000000000) + bleed_delay = 1000; + else if (dev->freq < 10000000000UL) + bleed_delay = 625; + else if (dev->freq >= 10000000000UL) + bleed_delay = 300; + + bleed_i = bleed_delay * pfd_freq * adf4382_ci_ua[dev->cp_i]; + bleed_i = NO_OS_DIV_ROUND_CLOSEST(bleed_i, PS_TO_S); + coars_bleed = no_os_div64_u64_rem(bleed_i, ADF4382_COARSE_BLEED_CONST, + &rem); + fine_bleed = rem * ADF4382_FINE_BLEED_CONST_1; + fine_bleed = NO_OS_DIV_ROUND_UP(fine_bleed, ADF4382_FINE_BLEED_CONST_2); + bleed_word_tmp = coars_bleed << 9 | fine_bleed; + bleed_word_tmp = no_os_clamp(bleed_word_tmp, 1, 8191); + dev->bleed_word = bleed_word_tmp; + return 0; +} + +/** + * @brief Set the output frequency. This will set the required registers to + * device but skip NDIV value, to be written separately. This Function will not + * start autocalibration until REG0010 is written. + * @param dev - The device structure. + * @return - 0 in case of success, negative error code otherwise. + */ +int adf4382_set_change_freq(struct adf4382_dev *dev) +{ + uint32_t frac2_word; + uint32_t frac1_word; + uint32_t mod2_word; + uint8_t clkout_div; + uint64_t pfd_freq; + uint8_t ldwin_pw = 0; + uint8_t en_bleed; + uint16_t n_int; + uint64_t tmp; + uint64_t vco = 0; + uint8_t val; + int ret; + + for (clkout_div = 0; clkout_div <= dev->clkout_div_reg_val_max; clkout_div++) { + tmp = (1 << clkout_div) * dev->freq; + if (tmp < dev->vco_min || tmp > dev->vco_max) + continue; + + vco = tmp; + break; + } + + if (!vco) { + pr_err("VCO is 0\n"); + return -EINVAL; + } + + //Calculates the PFD freq. the output will be in Hz + pfd_freq = adf4382_pfd_compute(dev); + + ret = adf4382_pll_fract_n_compute(dev, dev->freq, pfd_freq, &n_int, + &frac1_word, &frac2_word, &mod2_word); + if (ret) + return ret; + + if (frac1_word || frac2_word) { + en_bleed = 1; + if (pfd_freq <= 40 * MHZ) { + ldwin_pw = 7; + } else if (pfd_freq <= 50 * MHZ) { + ldwin_pw = 6; + } else if (pfd_freq <= 100 * MHZ) { + ldwin_pw = 5; + } else if (pfd_freq <= 200 * MHZ) { + ldwin_pw = 4; + } else if (pfd_freq <= 250 * MHZ) { + if (dev->freq >= 5000U * MHZ && + dev->freq < 6400U * MHZ) { + ldwin_pw = 3; + } else { + ldwin_pw = 2; + } + } + ret = adf4382_bleed_word_compute(dev, pfd_freq); + if (ret) + return ret; + } else { + en_bleed = 0; + + tmp = NO_OS_DIV_ROUND_UP(pfd_freq, MICROAMPER_PER_AMPER); + tmp *= adf4382_ci_ua[dev->cp_i]; + tmp = NO_OS_DIV_ROUND_UP(dev->bleed_word, tmp); + if (tmp <= 85) + ldwin_pw = 0; + else + ldwin_pw = 1; + } + + if (frac2_word) { + ret = adf4382_spi_update_bits(dev, 0x28, ADF4382_VAR_MOD_EN_MSK, + 0xff); + if (ret) + return ret; + } else { + ret = adf4382_spi_update_bits(dev, 0x28, ADF4382_VAR_MOD_EN_MSK, + 0x0); + if (ret) + return ret; + } + + val = dev->bleed_word & ADF4382_FINE_BLEED_LSB_MSK; + ret = adf4382_spi_write(dev, 0x1D, val); + if (ret) + return ret; + val = (dev->bleed_word >> 8) & ADF4382_BLEED_MSB_MSK; + ret = adf4382_spi_update_bits(dev, 0x1E, ADF4382_BLEED_MSB_MSK, + no_os_field_prep(ADF4382_BLEED_MSB_MSK, + val)); + if (ret) + return ret; + + ret = adf4382_spi_update_bits(dev, 0x1F, ADF4382_EN_BLEED_MSK, + no_os_field_prep(ADF4382_EN_BLEED_MSK, + en_bleed)); + if (ret) + return ret; + + val = mod2_word & ADF4382_MOD2WORD_LSB_MSK; + ret = adf4382_spi_write(dev, 0x1A, val); + if (ret) + return ret; + val = (mod2_word >> 8) & ADF4382_MOD2WORD_MID_MSK; + ret = adf4382_spi_write(dev, 0x1B, val); + if (ret) + return ret; + val = (mod2_word >> 16) & ADF4382_MOD2WORD_MSB_MSK; + ret = adf4382_spi_write(dev, 0x1C, val); + if (ret) + return ret; + + val = frac2_word & ADF4382_FRAC2WORD_LSB_MSK; + ret = adf4382_spi_write(dev, 0x17, val); + if (ret) + return ret; + val = (frac2_word >> 8) & ADF4382_FRAC2WORD_MID_MSK; + ret = adf4382_spi_write(dev, 0x18, val); + if (ret) + return ret; + val = (frac2_word >> 16) & ADF4382_FRAC2WORD_MSB_MSK; + ret = adf4382_spi_write(dev, 0x19, val); + if (ret) + return ret; + + val = frac1_word & ADF4382_FRAC1WORD_LSB_MSK; + ret = adf4382_spi_write(dev, 0x12, val); + if (ret) + return ret; + val = (frac1_word >> 8) & ADF4382_FRAC1WORD_MID_MSK; + ret = adf4382_spi_write(dev, 0x13, val); + if (ret) + return ret; + val = (frac1_word >> 16) & ADF4382_FRAC1WORD_MSB_MSK; + ret = adf4382_spi_write(dev, 0x14, val); + if (ret) + return ret; + + val = (frac1_word >> 24) & ADF4382_FRAC1WORD_MSB; + ret = adf4382_spi_update_bits(dev, 0x15, ADF4382_FRAC1WORD_MSB, val); + if (ret) + return ret; + + ret = adf4382_spi_update_bits(dev, 0x2C, ADF4382_LDWIN_PW_MSK, + no_os_field_prep(ADF4382_LDWIN_PW_MSK, + ldwin_pw)); + if (ret) + return ret; + + ret = adf4382_spi_update_bits(dev, 0x11, ADF4382_CLKOUT_DIV_MSK, + no_os_field_prep(ADF4382_CLKOUT_DIV_MSK, + clkout_div)); + if (ret) + return ret; + + val = (n_int >> 8) & ADF4382_N_INT_MSB_MSK; + ret = adf4382_spi_update_bits(dev, 0x11, ADF4382_N_INT_MSB_MSK, val); + if (ret) + return ret; + // Need to store N_INT to trigger an auto-calibration in another function + dev->n_int = n_int; + + return 0; +} + +/** + * @brief Get the status of start calibration. Will always return zero to allow + * users set it multiple times to trigger autocalibration. + * @param dev - The device structure. + * @param start_cal - Overwrites start calibration attribute to 0. + * @return - 0 in case of success, negative error code otherwise. + */ +int adf4382_get_start_calibration(struct adf4382_dev *dev, bool *start_cal) +{ + *start_cal = 0; + return 0; +} + +/** + * @brief Set REG0010 value in device structure to the device to start autocal. + * @param dev - The device structure. + * @return - 0 in case of success, negative error code otherwise. + */ +int adf4382_set_start_calibration(struct adf4382_dev *dev) +{ + uint8_t n_value; + n_value = dev->n_int & ADF4382_N_INT_LSB_MSK; + return adf4382_spi_write(dev, 0x10, n_value); +} + +/** + * @brief Set the output frequency. + * @param dev - The device structure. + * @return - 0 in case of success, negative error code otherwise. + */ +int adf4382_set_freq(struct adf4382_dev *dev) +{ + uint32_t frac2_word; + uint32_t frac1_word; + uint32_t mod2_word; + uint8_t clkout_div; + uint8_t dclk_div1; + uint64_t pfd_freq; + uint8_t ldwin_pw = 0; + uint8_t int_mode; + uint8_t en_bleed; + uint8_t locked; + uint16_t n_int; + uint8_t div1; + uint64_t tmp; + uint64_t vco = 0; + uint8_t val; + int ret; + + val = no_os_field_prep(ADF4382_EN_RDBLR_MSK, dev->ref_doubler_en) | + no_os_field_prep(ADF4382_R_DIV_MSK, dev->ref_div); + ret = adf4382_spi_update_bits(dev, 0x20, + ADF4382_EN_RDBLR_MSK | ADF4382_R_DIV_MSK, + val); + if (ret) + return ret; + + for (clkout_div = 0; clkout_div <= dev->clkout_div_reg_val_max; clkout_div++) { + tmp = (1 << clkout_div) * dev->freq; + if (tmp < dev->vco_min || tmp > dev->vco_max) + continue; + + vco = tmp; + break; + } + + if (!vco) { + pr_err("VCO is 0\n"); + return -EINVAL; + } + + //Calculates the PFD freq. the output will be in Hz + pfd_freq = adf4382_pfd_compute(dev); + + ret = adf4382_spi_update_bits(dev, 0x1F, ADF4382_CP_I_MSK, + no_os_field_prep(ADF4382_CP_I_MSK, + dev->cp_i)); + if (ret) + return ret; + + ret = adf4382_pll_fract_n_compute(dev, dev->freq, pfd_freq, &n_int, + &frac1_word, &frac2_word, &mod2_word); + if (ret) + return ret; + + if (frac1_word || frac2_word) { + int_mode = 0; + en_bleed = 1; + + /*The lock detector pulse window is determined based on the + PFD frequency as described in the datasheet*/ + if (pfd_freq <= 40 * MHZ) { + ldwin_pw = 7; + } else if (pfd_freq <= 50 * MHZ) { + ldwin_pw = 6; + } else if (pfd_freq <= 100 * MHZ) { + ldwin_pw = 5; + } else if (pfd_freq <= 200 * MHZ) { + ldwin_pw = 4; + } else if (pfd_freq <= 250 * MHZ) { + if (dev->freq >= 5000U * MHZ && + dev->freq < 6400U * MHZ) { + ldwin_pw = 3; + } else { + ldwin_pw = 2; + } + } + + ret = adf4382_bleed_word_compute(dev, pfd_freq); + if (ret) + return ret; + + } else { + int_mode = 1; + en_bleed = 0; + + tmp = NO_OS_DIV_ROUND_UP(pfd_freq, MICROAMPER_PER_AMPER); + tmp *= adf4382_ci_ua[dev->cp_i]; + tmp = NO_OS_DIV_ROUND_UP(dev->bleed_word, tmp); + if (tmp <= 85) + ldwin_pw = 0; + else + ldwin_pw = 1; + } + + if (frac2_word) { + ret = adf4382_spi_update_bits(dev, 0x28, ADF4382_VAR_MOD_EN_MSK, + 0xff); + if (ret) + return ret; + } else { + ret = adf4382_spi_update_bits(dev, 0x28, ADF4382_VAR_MOD_EN_MSK, + 0x0); + if (ret) + return ret; + } + + ret = adf4382_spi_update_bits(dev, 0x15, ADF4382_INT_MODE_MSK, + no_os_field_prep(ADF4382_INT_MODE_MSK, + int_mode)); + if (ret) + return ret; + + val = dev->bleed_word & ADF4382_FINE_BLEED_LSB_MSK; + ret = adf4382_spi_write(dev, 0x1D, val); + if (ret) + return ret; + val = (dev->bleed_word >> 8) & ADF4382_BLEED_MSB_MSK; + ret = adf4382_spi_update_bits(dev, 0x1E, ADF4382_BLEED_MSB_MSK, + no_os_field_prep(ADF4382_BLEED_MSB_MSK, + val)); + if (ret) + return ret; + + ret = adf4382_spi_update_bits(dev, 0x1F, ADF4382_EN_BLEED_MSK, + no_os_field_prep(ADF4382_EN_BLEED_MSK, + en_bleed)); + if (ret) + return ret; + + val = mod2_word & ADF4382_MOD2WORD_LSB_MSK; + ret = adf4382_spi_write(dev, 0x1A, val); + if (ret) + return ret; + val = (mod2_word >> 8) & ADF4382_MOD2WORD_MID_MSK; + ret = adf4382_spi_write(dev, 0x1B, val); + if (ret) + return ret; + val = (mod2_word >> 16) & ADF4382_MOD2WORD_MSB_MSK; + ret = adf4382_spi_write(dev, 0x1C, val); + if (ret) + return ret; + + val = frac2_word & ADF4382_FRAC2WORD_LSB_MSK; + ret = adf4382_spi_write(dev, 0x17, val); + if (ret) + return ret; + val = (frac2_word >> 8) & ADF4382_FRAC2WORD_MID_MSK; + ret = adf4382_spi_write(dev, 0x18, val); + if (ret) + return ret; + val = (frac2_word >> 16) & ADF4382_FRAC2WORD_MSB_MSK; + ret = adf4382_spi_write(dev, 0x19, val); + if (ret) + return ret; + + val = frac1_word & ADF4382_FRAC1WORD_LSB_MSK; + ret = adf4382_spi_write(dev, 0x12, val); + if (ret) + return ret; + val = (frac1_word >> 8) & ADF4382_FRAC1WORD_MID_MSK; + ret = adf4382_spi_write(dev, 0x13, val); + if (ret) + return ret; + val = (frac1_word >> 16) & ADF4382_FRAC1WORD_MSB_MSK; + ret = adf4382_spi_write(dev, 0x14, val); + if (ret) + return ret; + + val = (frac1_word >> 24) & ADF4382_FRAC1WORD_MSB; + ret = adf4382_spi_update_bits(dev, 0x15, ADF4382_FRAC1WORD_MSB, val); + if (ret) + return ret; + + dclk_div1 = 2; + div1 = 8; + if (pfd_freq <= ADF4382_DCLK_DIV1_0_MAX) { + dclk_div1 = 0; + div1 = 1; + } else if (pfd_freq <= ADF4382_DCLK_DIV1_1_MAX) { + dclk_div1 = 1; + div1 = 2; + } + + ret = adf4382_spi_update_bits(dev, 0x24, ADF4382_DCLK_DIV1_MSK, + no_os_field_prep(ADF4382_DCLK_DIV1_MSK, + dclk_div1)); + if (ret) + return ret; + + ret = adf4382_spi_update_bits(dev, 0x31, ADF4382_DCLK_MODE_MSK, 0xff); + if (ret) + return ret; + + ret = adf4382_spi_update_bits(dev, 0x31, ADF4382_CAL_CT_SEL_MSK, 0xff); + if (ret) + return ret; + + ret = adf4382_spi_update_bits(dev, 0x31, ADF4382_EN_ADC_CLK_MSK, 0xff); + if (ret) + return ret; + + //VCO automatic level calibration time + ret = adf4382_spi_write(dev, 0x3A, ADF4382_VCO_CAL_ALC); + if (ret) + return ret; + + tmp = NO_OS_DIV_ROUND_UP(no_os_div_u64(pfd_freq, div1 * 400000) - 2, 4); + tmp = no_os_clamp(tmp, 0U, 255U); + ret = adf4382_spi_write(dev, 0x3E, tmp); + if (ret) + return ret; + + // Set LD COUNT + ret = adf4382_spi_update_bits(dev, 0x2C, ADF4382_LD_COUNT_OPWR_MSK, + dev->ld_count); + if (ret) + return ret; + + ret = adf4382_spi_update_bits(dev, 0x2C, ADF4382_LDWIN_PW_MSK, + no_os_field_prep(ADF4382_LDWIN_PW_MSK, + ldwin_pw)); + if (ret) + return ret; + + ret = adf4382_spi_update_bits(dev, 0x11, ADF4382_CLKOUT_DIV_MSK, + no_os_field_prep(ADF4382_CLKOUT_DIV_MSK, + clkout_div)); + if (ret) + return ret; + + val = (n_int >> 8) & ADF4382_N_INT_MSB_MSK; + ret = adf4382_spi_update_bits(dev, 0x11, ADF4382_N_INT_MSB_MSK, val); + if (ret) + return ret; + + // Need to set N_INT last to trigger an auto-calibration + val = n_int & ADF4382_N_INT_LSB_MSK; + ret = adf4382_spi_write(dev, 0x10, val); + if (ret) + return ret; + + no_os_udelay(ADF4382_LKD_DELAY_US); + ret = adf4382_spi_read(dev, 0x58, &val); + if (ret) + return ret; + + locked = no_os_field_get(val, ADF4382_LOCKED_MSK); + if (!locked) + return -EIO; + + return 0; +} + +/** + * @brief Set the phase adjustment in pico-seconds. The phase adjust will + * enable the Bleed current option as well as delay mode to 0. + * @param dev - The device structure. + * @param phase_ps - The phase adjustment in pico-seconds. + * @return - 0 in case of success, negative error code otherwise. + */ +int adf4382_set_phase_adjust(struct adf4382_dev *dev, uint32_t phase_ps) +{ + uint64_t phase_reg_value; + uint32_t rfout_deg_ns; + uint32_t phase_deg_ns; + uint64_t rfout_deg_s; + uint64_t phase_bleed; + uint16_t phase_deg; + uint64_t phase_ci; + uint64_t pfd_freq; + int ret; + + ret = adf4382_spi_update_bits(dev, 0x1E, ADF4382_EN_PHASE_RESYNC_MSK, 0xff); + if (ret) + return ret; + + ret = adf4382_spi_update_bits(dev, 0x1F, ADF4382_EN_BLEED_MSK, 0xff); + if (ret) + return ret; + + ret = adf4382_spi_update_bits(dev, 0x32, ADF4382_DEL_MODE_MSK, 0x0); + if (ret) + return ret; + + dev->phase_adj = phase_ps; + + //Determine the output freq. in degrees/s + rfout_deg_s = 360 * dev->freq; + //Convert it to degrees/ns + rfout_deg_ns = no_os_div_u64(rfout_deg_s, S_TO_NS); + //Determine the phase adjustment in degrees relative the output freq. + phase_deg_ns = rfout_deg_ns * phase_ps; + //Convert it to degrees/ps + phase_deg = no_os_div_u64(phase_deg_ns, NS_TO_PS); + + if (phase_deg > 360) { + pr_err("Phase Adjustment cannot exceed 360deg per Clock Period\n"); + return EINVAL; + } + + //Phase adjustment can only be done if bleed is active, and a bleed + //constant needs to be added + phase_bleed = phase_deg * ADF4382_PHASE_BLEED_CNST; + //The charge pump current will also need to be taken in to account + phase_ci = phase_bleed * adf4382_ci_ua[dev->cp_i]; + phase_ci = no_os_div_u64(phase_ci, MICROAMPER_PER_AMPER); + + //Computation of the register value for the phase adjust + pfd_freq = adf4382_pfd_compute(dev); + phase_reg_value = no_os_div_u64((phase_ci * pfd_freq), (360 * dev->freq)); + + if (phase_reg_value > 255) + phase_reg_value -= 255; + + ret = adf4382_spi_write(dev, 0x33, phase_reg_value); + if (ret) + return ret; + + return adf4382_spi_update_bits(dev, 0x34, ADF4382_PHASE_ADJ_MSK, 0xff); +} + +/** + * @brief Set the phase polarity. If pol = 0 then it will add the phase value + * otherwise it will subtract the phase value. + * @param dev - The device structure. + * @param polarity - The polarity to be set. + * @return - Result of the writing procedure, error code otherwise. + */ +int adf4382_set_phase_pol(struct adf4382_dev *dev, bool polarity) +{ + uint8_t pol; + + pol = no_os_field_prep(ADF4382_PHASE_ADJ_POL_MSK, polarity); + return adf4382_spi_update_bits(dev, 0x32, ADF4382_PHASE_ADJ_POL_MSK, pol); +} + +/** + uint8_t pol; + * @brief Gets the polarity of the phase adjust. + * @param dev - The device structure. + * @param polarity - The read polarity of the phase. + * @return - Result of the tesint procedure, negative error code + * otherwise. + */ +int adf4382_get_phase_pol(struct adf4382_dev *dev, bool *polarity) +{ + uint8_t tmp; + int ret; + + ret = adf4382_spi_read(dev, 0x32, &tmp); + if (ret) + return ret; + + *polarity = no_os_field_get(tmp, ADF4382_PHASE_ADJ_POL_MSK); + return 0; +} + +/** + * @brief Set the EZSYNC features' initial state. Awaits the SW_SYNC toggle. + * @param dev - The device structure. + * @param sync - The enable or disable sync. + * @return - Result of the writing procedure, error code otherwise. + */ +int adf4382_set_ezsync_setup(struct adf4382_dev *dev, bool sync) +{ + int ret; + + if (!dev) + return -EINVAL; + + if (sync == 1) { + ret = adf4382_spi_update_bits(dev, 0x2A, ADF4382_PD_SYNC_MSK, 0); + if (ret) + return ret; + + ret = adf4382_spi_update_bits(dev, 0x53, + ADF4382_SYNC_SEL_MSK, 0xff); + if (ret) + return ret; + + ret = adf4382_spi_update_bits(dev, 0x1E, + ADF4382_TIMED_SYNC_MSK, 0); + if (ret) + return ret; + + ret = adf4382_spi_update_bits(dev, 0x1E, + (ADF4382_EN_REF_RST_MSK | + ADF4382_EN_PHASE_RESYNC_MSK), 0xff); + if (ret) + return ret; + + } else { + ret = adf4382_spi_update_bits(dev, 0x2A, ADF4382_PD_SYNC_MSK, + 0xff); + if (ret) + return ret; + } + return 0; +} + +/** + * @brief Set Timed SYNC features' initial state. Uses SYNC pin. + * @param dev - The device structure. + * @param sync - The enable or disable sync. + * @return - Result of the writing procedure, error code otherwise. + */ +int adf4382_set_timed_sync_setup(struct adf4382_dev *dev, bool sync) +{ + uint64_t pfd_freq; + uint8_t delay; + uint8_t val; + int ret; + + if (!dev) + return -EINVAL; + + if (sync == 1) { + // Timed Sync + ret = adf4382_spi_update_bits(dev, 0x2A, ADF4382_PD_SYNC_MSK, 0); + if (ret) + return ret; + + ret = adf4382_spi_update_bits(dev, 0x53, + ADF4382_SYNC_SEL_MSK, 0); + if (ret) + return ret; + + ret = adf4382_spi_update_bits(dev, 0x1E, (ADF4382_EN_REF_RST_MSK + | ADF4382_TIMED_SYNC_MSK + | ADF4382_EN_PHASE_RESYNC_MSK), + 0xff); + if (ret) + return ret; + + pfd_freq = adf4382_pfd_compute(dev); + if (pfd_freq >= 225 * MHZ) { + delay = 3; + } else if (pfd_freq >= 200 * MHZ) { + delay = 4; + } else if (pfd_freq >= 148 * MHZ) { + delay = 1; + } else if (pfd_freq >= 130 * MHZ) { + delay = 3; + } else if (pfd_freq >= 85 * MHZ) { + delay = 4; + } else if (pfd_freq < 85 * MHZ) { + delay = 0; + } + ret = adf4382_spi_update_bits(dev, 0x31, ADF4382_SYNC_DEL_MSK, + no_os_field_prep + (ADF4382_SYNC_DEL_MSK, delay)); + if (ret) + return ret; + + val = no_os_field_prep(ADF4382_DRCLK_DEL_MSK, delay) | + no_os_field_prep(ADF4382_DNCLK_DEL_MSK, delay); + ret = adf4382_spi_update_bits(dev, 0x34, + ADF4382_DRCLK_DEL_MSK + | ADF4382_DNCLK_DEL_MSK, val); + + if (ret) + return ret; + } else { + ret = adf4382_spi_update_bits(dev, 0x2A, ADF4382_PD_SYNC_MSK, + 0xff); + if (ret) + return ret; + } + return 0; +} + + +/** + * @brief Gets the value of the SYNC powerdown bit. + * @param dev - The device structure. + * @param en - The read status of the sync enable. + * @return - 0 in case of success or negative error code. + */ +int adf4382_get_phase_sync_setup(struct adf4382_dev *dev, bool *en) +{ + uint8_t tmp; + int ret; + + ret = adf4382_spi_read(dev, 0x2A, &tmp); + if (ret) + return ret; + + *en = no_os_field_get(tmp, ADF4382_PD_SYNC_MSK); + return 0; +} + +/** + * @brief Set Software SYNC Request. Setting SW_SYNC resets the RF block. + * Clearing SW_SYNC makes ready for a new reference clock. + * @param dev - The device structure. + * @param sw_sync - Set send SW_SYNC request + * @return - 0 in case of success or negative error code. + */ +int adf4382_set_sw_sync(struct adf4382_dev *dev, bool sw_sync) +{ + uint8_t tmp; + + if (!dev) + return -EINVAL; + + tmp = no_os_field_prep(ADF4382_SW_SYNC_MSK, sw_sync); + return adf4382_spi_update_bits(dev, 0x1F, ADF4382_SW_SYNC_MSK, tmp); +} + +/** + * @brief Gets the value of the SW_SYNC bit. + * @param dev - The device structure. + * @param sw_sync - The read value of the SW_SYNC. + * @return - 0 in case of success or negative error code. + */ +int adf4382_get_sw_sync(struct adf4382_dev *dev, bool *sw_sync) +{ + uint8_t tmp; + int ret; + + if (!dev) + return -EINVAL; + + ret = adf4382_spi_read(dev, 0x1F, &tmp); + if (ret) + return ret; + *sw_sync = no_os_field_get(tmp, ADF4382_SW_SYNC_MSK); + + return 0; +} + +/** + * @brief Computes and sets the VCO Calibration Timeout values. + * @param dev - The device structure. + * @return - 0 in case of success or negative error code. + */ +int adf4382_set_vco_cal_timeout(struct adf4382_dev *dev) +{ + uint32_t cal_count_to, cal_vtune_to, cal_vco_to; + uint32_t cal_count_to_time = 235; // Default value in 23.5us steps + uint8_t dclk_div1, dclk_div, val; + uint64_t pfd_freq; + int ret; + + if (!dev) + return -EINVAL; + + pfd_freq = adf4382_pfd_compute(dev); + + // Read DCLK_DIV1 once + ret = adf4382_spi_read(dev, 0x24, &val); + if (ret) + return ret; + dclk_div1 = no_os_field_get(val, ADF4382_DCLK_DIV1_MSK); + dclk_div = 1 << dclk_div1; + + // VCO Calibration Count Timeout + cal_count_to = NO_OS_DIV_ROUND_CLOSEST_ULL((cal_count_to_time * pfd_freq), + (10 * MHZ * dclk_div * 16)); + ret = adf4382_spi_write(dev, 0x37, + (cal_count_to & ADF4382_CAL_COUNT_TO_MSK)); + if (ret) + return ret; + + cal_vtune_to = NO_OS_DIV_ROUND_CLOSEST_ULL + (dev->max_lpf_cap_value_uf * 80000ULL * pfd_freq, + 420000000000ULL * dclk_div); + dev->cal_vtune_to = cal_vtune_to & ADF4382_CAL_VTUNE_TO_LSB_MSK; + ret = adf4382_spi_write(dev, 0x38, dev->cal_vtune_to); + if (ret) + return ret; + ret = adf4382_spi_update_bits(dev, 0x39, ADF4382_CAL_VTUNE_TO_MSB_MSK, + no_os_field_prep(ADF4382_CAL_VTUNE_TO_MSB_MSK, + dev->cal_vtune_to >> 8)); + if (ret) + return ret; + + // VCO Calibration VCO Timeout + cal_vco_to = NO_OS_DIV_ROUND_CLOSEST_ULL(pfd_freq, MHZ * dclk_div); + ret = adf4382_spi_write(dev, 0x3A, cal_vco_to); + if (ret) + return ret; + return adf4382_spi_update_bits(dev, 0x3B, ADF4382_CAL_VCO_TO_MSB_MSK, + no_os_field_prep(ADF4382_CAL_VCO_TO_MSB_MSK, + cal_vco_to >> 8)); +} + +/** + * @brief ADF4382 SPI Scratchpad check. + * @param dev - The device structure. + * @return - 0 in case of success or negative error code. + */ +static int adf4382_check_scratchpad(struct adf4382_dev *dev) +{ + uint8_t scratchpad; + int ret; + + ret = adf4382_spi_write(dev, 0x00A, ADF4382_SPI_SCRATCHPAD_TEST); + if (ret) + return ret; + + ret = adf4382_spi_read(dev, 0x00A, &scratchpad); + if (ret) + return ret; + + if (scratchpad != ADF4382_SPI_SCRATCHPAD_TEST) + return -EINVAL; + + return 0; +} + +/** + * @brief Update core bias table for ADF4383. + * @param dev - The device structure. + * @return - 0 in case of success or negative error code. + */ +static int adf4383_update_core_bias_table(struct adf4382_dev *dev) +{ + int ret; + + ret = adf4382_spi_write(dev, 0x109, 0x3); + if (ret) + return ret; + ret = adf4382_spi_write(dev, 0x10A, 0x7); + if (ret) + return ret; + ret = adf4382_spi_write(dev, 0x10F, 0x7); + if (ret) + return ret; + ret = adf4382_spi_write(dev, 0x110, 0x7); + if (ret) + return ret; + ret = adf4382_spi_write(dev, 0x111, 0x7); + if (ret) + return ret; + + return 0; +} + +/** + * @brief Initializes the ADF4382. + * @param dev - The device structure. + * @param init_param - The structure containing the device initial parameters. + * @return - 0 in case of success or negative error code. + */ +int adf4382_init(struct adf4382_dev **dev, + struct adf4382_init_param *init_param) +{ + struct adf4382_dev *device; + bool en = true; + uint8_t i; + int ret; + + device = (struct adf4382_dev *)no_os_calloc(1, sizeof(*device)); + if (!device) + return -ENOMEM; + + ret = no_os_spi_init(&device->spi_desc, init_param->spi_init); + if (ret) + goto error_dev; + + device->spi_3wire_en = init_param->spi_3wire_en; + device->cmos_3v3 = init_param->cmos_3v3; + device->ref_freq_hz = init_param->ref_freq_hz; + device->freq = init_param->freq; + device->ref_doubler_en = init_param->ref_doubler_en; + device->ref_div = init_param->ref_div; + device->cp_i = init_param->cp_i; + device->bleed_word = init_param->bleed_word; + device->ld_count = init_param->ld_count; + device->phase_adj = 0; + device->max_lpf_cap_value_uf = init_param->max_lpf_cap_value_uf; + + switch (init_param->id) { + case ID_ADF4382: + device->freq_max = ADF4382_RFOUT_MAX; + device->freq_min = ADF4382_RFOUT_MIN; + device->vco_max = ADF4382_VCO_FREQ_MAX; + device->vco_min = ADF4382_VCO_FREQ_MIN; + device->clkout_div_reg_val_max = ADF4382_CLKOUT_DIV_REG_VAL_MAX; + break; + case ID_ADF4382A: + device->freq_max = ADF4382A_RFOUT_MAX; + device->freq_min = ADF4382A_RFOUT_MIN; + device->vco_max = ADF4382A_VCO_FREQ_MAX; + device->vco_min = ADF4382A_VCO_FREQ_MIN; + device->clkout_div_reg_val_max = ADF4382A_CLKOUT_DIV_REG_VAL_MAX; + break; + case ID_ADF4383: + device->freq_max = ADF4383_RFOUT_MAX; + device->freq_min = ADF4383_RFOUT_MIN; + device->vco_max = ADF4383_VCO_FREQ_MAX; + device->vco_min = ADF4383_VCO_FREQ_MIN; + device->clkout_div_reg_val_max = ADF4382_CLKOUT_DIV_REG_VAL_MAX; + break; + default: + goto error_spi; + } + + ret = adf4382_spi_write(device, 0x00, ADF4382_RESET_CMD); + if (ret) + goto error_spi; + + no_os_udelay(ADF4382_POR_DELAY_US); + + if (device->spi_3wire_en) + en = false; + + /* SPI set to 4 wire */ + ret = adf4382_spi_write(device, 0x00, ADF4382_SPI_3W_CFG(en)); + if (ret) + goto error_spi; + + ret = adf4382_spi_write(device, 0x3D, + no_os_field_prep(ADF4382_CMOS_OV_MSK, + device->cmos_3v3)); + if (ret) + goto error_spi; + + ret = adf4382_check_scratchpad(device); + if (ret) + goto error_spi; + + for (i = 0; i < NO_OS_ARRAY_SIZE(adf4382_reg_defaults); i++) { + ret = adf4382_spi_write(device, + adf4382_reg_defaults[i].reg, + adf4382_reg_defaults[i].val); + if (ret) + goto error_spi; + } + + if (ID_ADF4383 == init_param->id) { + ret = adf4383_update_core_bias_table(device); + if (ret) + goto error_spi; + } + + ret = adf4382_set_freq(device); + if (ret) + goto error_spi; + + ret = adf4382_set_vco_cal_timeout(device); + if (ret) + goto error_spi; + + ret = adf4382_set_out_power(device, 0, 9); + if (ret) + goto error_spi; + ret = adf4382_set_out_power(device, 1, 9); + if (ret) + goto error_spi; + *dev = device; + + return ret; +error_spi: + no_os_spi_remove(device->spi_desc); +error_dev: + no_os_free(device); + return ret; +} + +/** + * @brief Free resources allocated for ADF4382 + * @param dev - The device structure. + * @return - 0 in case of success or negative error code. + */ +int adf4382_remove(struct adf4382_dev *dev) +{ + int ret; + + ret = no_os_spi_remove(dev->spi_desc); + if (ret) + no_os_free(dev); + + return 0; +} + diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/adf4382.h b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/adf4382.h new file mode 100644 index 0000000..1bcbddf --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/adf4382.h @@ -0,0 +1,809 @@ +/***************************************************************************//** + * @file adf4382.h + * @brief Implementation of adf4382 Driver. + * @author Ciprian Hegbeli (ciprian.hegbeli@analog.com) + * @author Jude Osemene (jude.osemene@analog.com) +******************************************************************************** + * Copyright 2024(c) Analog Devices, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. Neither the name of Analog Devices, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from this + * software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY ANALOG DEVICES, INC. “AS IS” AND ANY EXPRESS OR + * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO + * EVENT SHALL ANALOG DEVICES, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ +#ifndef _ADF4382_H_ +#define _ADF4382_H_ + +#include +#include +#include "no_os_units.h" +#include "no_os_util.h" +#include "no_os_spi.h" + +/* ADF4382 REG0000 Map */ +#define ADF4382_SOFT_RESET_R_MSK NO_OS_BIT(7) +#define ADF4382_LSB_FIRST_R_MSK NO_OS_BIT(6) +#define ADF4382_ADDRESS_ASC_R_MSK NO_OS_BIT(5) +#define ADF4382_SDO_ACTIVE_R_MSK NO_OS_BIT(4) +#define ADF4382_SDO_ACTIVE_MSK NO_OS_BIT(3) +#define ADF4382_ADDRESS_ASC_MSK NO_OS_BIT(2) +#define ADF4382_LSB_FIRST_MSK NO_OS_BIT(1) +#define ADF4382_SOFT_RESET_MSK NO_OS_BIT(0) +#define ADF4382_RESET_CMD 0x81 + +/* ADF4382 REG0000 NO_OS_BIT Definition */ +#define ADF4382_SDO_ACTIVE_SPI_3W 0x0 +#define ADF4382_SDO_ACTIVE_SPI_4W 0x1 + +#define ADF4382_ADDR_ASC_AUTO_DECR 0x0 +#define ADF4382_ADDR_ASC_AUTO_INCR 0x1 + +#define ADF4382_LSB_FIRST_MSB 0x0 +#define ADF4382_LSB_FIRST_LSB 0x1 + +#define ADF4382_SOFT_RESET_N_OP 0x0 +#define ADF4382_SOFT_RESET_EN 0x1 + +/* ADF4382 REG0001 Map */ +#define ADF4382_SINGLE_INSTR_MSK NO_OS_BIT(7) +#define ADF4382_MASTER_RB_CTRL_MSK NO_OS_BIT(5) + +/* ADF4382 REG0001 NO_OS_BIT Definition */ +#define ADF4382_SPI_STREAM_EN 0x0 +#define ADF4382_SPI_STREAM_DIS 0x1 + +#define ADF4382_RB_SLAVE_REG 0x0 +#define ADF4382_RB_MASTER_REG 0x1 + +/* ADF4382 REG0003 NO_OS_BIT Definition */ +#define ADF4382_CHIP_TYPE 0x06 + +/* ADF4382 REG0004 NO_OS_BIT Definition */ +#define ADF4382_PRODUCT_ID_LSB 0x0005 + +/* ADF4382 REG0005 NO_OS_BIT Definition */ +#define ADF4382_PRODUCT_ID_MSB 0x0005 + +/* ADF4382 REG000A Map */ +#define ADF4382_SCRATCHPAD_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG000C NO_OS_BIT Definition */ +#define ADF4382_VENDOR_ID_LSB 0x56 + +/* ADF4382 REG000D NO_OS_BIT Definition */ +#define ADF4382_VENDOR_ID_MSB 0x04 + +/* ADF4382 REG000F NO_OS_BIT Definition */ +#define ADF4382_M_S_TRANSF_NO_OS_BIT_MSK NO_OS_BIT(0) + +/* ADF4382 REG0010 Map*/ +#define ADF4382_N_INT_LSB_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG0011 Map*/ +#define ADF4382_CLKOUT_DIV_MSK NO_OS_GENMASK(7, 5) +#define ADF4382_INV_CLK_OUT_MSK NO_OS_BIT(4) +#define ADF4382_N_INT_MSB_MSK NO_OS_GENMASK(3, 0) + +/* ADF4382 REG0012 Map */ +#define ADF4382_FRAC1WORD_LSB_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG0013 Map */ +#define ADF4382_FRAC1WORD_MID_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG0014 Map */ +#define ADF4382_FRAC1WORD_MSB_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG0015 Map */ +#define ADF4382_M_VCO_BAND_LSB_MSK NO_OS_BIT(7) +#define ADF4382_M_VCO_CORE_MSK NO_OS_BIT(6) +#define ADF4382_BIAS_DEC_MODE_MSK NO_OS_GENMASK(5, 3) +#define ADF4382_INT_MODE_MSK NO_OS_BIT(2) +#define ADF4382_PFD_POL_MSK NO_OS_BIT(1) +#define ADF4382_FRAC1WORD_MSB NO_OS_BIT(0) + +/* ADF4382 REG0016 Map */ +#define ADF4382_M_VCO_BAND_MSB_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG0017 Map */ +#define ADF4382_FRAC2WORD_LSB_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG0018 Map */ +#define ADF4382_FRAC2WORD_MID_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG0019 Map */ +#define ADF4382_FRAC2WORD_MSB_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG001A Map */ +#define ADF4382_MOD2WORD_LSB_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG001B Map */ +#define ADF4382_MOD2WORD_MID_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG001C Map */ +#define ADF4382_MOD2WORD_MSB_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG001D Map */ +#define ADF4382_FINE_BLEED_LSB_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG001E Map */ +#define ADF4382_EN_PHASE_RESYNC_MSK NO_OS_BIT(7) +#define ADF4382_EN_REF_RST_MSK NO_OS_BIT(6) +#define ADF4382_TIMED_SYNC_MSK NO_OS_BIT(5) +#define ADF4382_COARSE_BLEED_MSK NO_OS_GENMASK(4, 1) +#define ADF4382_FINE_BLEED_MSB_MSK NO_OS_BIT(0) + +/* ADF4382 REG001F Map */ +#define ADF4382_SW_SYNC_MSK NO_OS_BIT(7) +#define ADF4382_SPARE_1F_MSK NO_OS_BIT(6) +#define ADF4382_BLEED_POL_MSK NO_OS_BIT(5) +#define ADF4382_EN_BLEED_MSK NO_OS_BIT(4) +#define ADF4382_CP_I_MSK NO_OS_GENMASK(3, 0) + +/* ADF4382 REG0020 Map */ +#define ADF4382_EN_AUTOCAL_MSK NO_OS_BIT(7) +#define ADF4382_EN_RDBLR_MSK NO_OS_BIT(6) +#define ADF4382_R_DIV_MSK NO_OS_GENMASK(5, 0) + +/* ADF4382 REG0021 Map */ +#define ADF4382_PHASE_WORD_LSB_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG0022 Map */ +#define ADF4382_PHASE_WORD_MID_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG0023 Map */ +#define ADF4382_PHASE_WORD_MSB_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG0024 Map */ +#define ADF4382_SPARE_24_MSK NO_OS_GENMASK(7, 5) +#define ADF4382_DCLK_DIV_SEL_MSK NO_OS_BIT(4) +#define ADF4382_DNCLK_DIV1_MSK NO_OS_GENMASK(3, 2) +#define ADF4382_DCLK_DIV1_MSK NO_OS_GENMASK(1, 0) + +/* ADF4382 REG0025 Map */ +#define ADF4382_RESYNC_WAIT_LSB_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG0026 Map */ +#define ADF4382_RESYNC_WAIT_MSB_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG0027 Map */ +#define ADF4382_CAL_BLEED_FINE_MIN_MSK NO_OS_GENMASK(7, 4) +#define ADF4382_BLEED_ADJ_SCALE_MSK NO_OS_GENMASK(3, 0) + +/* ADF4382 REG0028 Map */ +#define ADF4382_PH_RESYNC_RB_SEL_MSK NO_OS_BIT(7) +#define ADF4382_LSB_P1_MSK NO_OS_BIT(6) +#define ADF4382_VAR_MOD_EN_MSK NO_OS_BIT(5) +#define ADF4382_DITHER1_SCALE_MSK NO_OS_GENMASK(4, 2) +#define ADF4382_EN_DITHER2_MSK NO_OS_BIT(1) +#define ADF4382_EN_DITHER1_MSK NO_OS_BIT(0) + +/* ADF4382 REG0029 Map */ +#define ADF4382_CLK2_OPWR_MSK NO_OS_GENMASK(7, 4) +#define ADF4382_CLK1_OPWR_MSK NO_OS_GENMASK(3, 0) + +/* ADF4382 REG002A Map */ +#define ADF4382_FN_DBL_MSK NO_OS_BIT(7) +#define ADF4382_PD_NDIV_TL_MSK NO_OS_BIT(6) +#define ADF4382_CLKOUT_BST_MSK NO_OS_BIT(5) +#define ADF4382_PD_SYNC_MSK NO_OS_BIT(4) +#define ADF4382_PD_CLK_MSK NO_OS_BIT(3) +#define ADF4382_PD_RDET_MSK NO_OS_BIT(2) +#define ADF4382_PD_ADC_MSK NO_OS_BIT(1) +#define ADF4382_PD_CALGEN_MSK NO_OS_BIT(0) + +/* ADF4382 REG002B Map */ +#define ADF4382_PD_ALL_MSK NO_OS_BIT(7) +#define ADF4382_PD_RDIV_TL_MSK NO_OS_BIT(6) +#define ADF4382_PD_NDIV_MSK NO_OS_BIT(5) +#define ADF4382_PD_VCO_MSK NO_OS_BIT(4) +#define ADF4382_PD_LD_MSK NO_OS_BIT(3) +#define ADF4382_PD_PFDCP_MSK NO_OS_BIT(2) +#define ADF4382_PD_CLKOUT1_MSK NO_OS_BIT(1) +#define ADF4382_PD_CLKOUT2_MSK NO_OS_BIT(0) + +/* ADF4382 REG002C Map */ +#define ADF4382_LDWIN_PW_MSK NO_OS_GENMASK(7, 5) +#define ADF4382_LD_COUNT_OPWR_MSK NO_OS_GENMASK(4, 0) + +/* ADF4382 REG002D Map */ +#define ADF4382_EN_DNCLK_MSK NO_OS_BIT(7) +#define ADF4382_EN_DRCLK_MSK NO_OS_BIT(6) +#define ADF4382_EN_LOL_MSK NO_OS_BIT(5) +#define ADF4382_EN_LDWIN_MSK NO_OS_BIT(4) +#define ADF4382_PDET_POL_MSK NO_OS_BIT(3) +#define ADF4382_RST_LD_MSK NO_OS_BIT(2) +#define ADF4382_LD_O_CTRL_MSK NO_OS_GENMASK(1, 0) + +/* ADF4382 REG002E Map */ +#define ADF4382_MUXOUT_MSK NO_OS_GENMASK(7, 4) +#define ADF4382_ABPW_WD_MSK NO_OS_BIT(3) +#define ADF4382_EN_CPTEST_MSK NO_OS_BIT(2) +#define ADF4382_CP_DOWN_MSK NO_OS_BIT(1) +#define ADF4382_CP_UP_MSK NO_OS_BIT(0) + +/* ADF4382 REG002F Map*/ +#define ADF4382_BST_REF_MSK NO_OS_BIT(7) +#define ADF4382_FILT_REF_MSK NO_OS_BIT(6) +#define ADF4382_RDBLR_DC_MSK NO_OS_GENMASK(5, 0) + +/* ADF4382 REG0030 Map */ +#define ADF4382_MUTE_NCLK_MSK NO_OS_BIT(7) +#define ADF4382_MUTE_RCLK_MSK NO_OS_BIT(6) +#define ADF4382_REF_SEL_MSK NO_OS_BIT(5) +#define ADF4382_INV_RDBLR_MSK NO_OS_BIT(4) +#define ADF4382_RDBLR_DEL_SEL_MSK NO_OS_GENMASK(3, 0) + +/* ADF4382 REG0031 Map */ +#define ADF4382_SYNC_DEL_MSK NO_OS_GENMASK(7, 5) +#define ADF4382_RST_SYS_MSK NO_OS_BIT(4) +#define ADF4382_EN_ADC_CLK_MSK NO_OS_BIT(3) +#define ADF4382_EN_VCAL_MSK NO_OS_BIT(2) +#define ADF4382_CAL_CT_SEL_MSK NO_OS_BIT(1) +#define ADF4382_DCLK_MODE_MSK NO_OS_BIT(0) + +/* ADF4382 REG0032 Map */ +#define ADF4382_SPARE_32_MSK NO_OS_BIT(7) +#define ADF4382_BLEED_ADJ_CAL_MSK NO_OS_BIT(6) +#define ADF4382_DEL_MODE_MSK NO_OS_BIT(5) +#define ADF4382_EN_AUTO_ALIGN_MSK NO_OS_BIT(4) +#define ADF4382_PHASE_ADJ_POL_MSK NO_OS_BIT(3) +#define ADF4382_EFM3_MODE_MSK NO_OS_GENMASK(2, 0) + +/* ADF4382 REG0033 Map */ +#define ADF4382_PHASE_ADJUST_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG0034 Map */ +#define ADF4382_PHASE_ADJ_MSK NO_OS_BIT(7) +#define ADF4382_DRCLK_DEL_MSK NO_OS_GENMASK(6, 4) +#define ADF4382_DNCLK_DEL_MSK NO_OS_GENMASK(3, 1) +#define ADF4382_RST_CNTR_MSK NO_OS_BIT(0) + +/* ADF4382 REG0035 Map */ +#define ADF4382_SPARE_35_MSK NO_OS_GENMASK(7, 6) +#define ADF4382_M_VCO_BIAS_MSK NO_OS_GENMASK(5, 0) + +/* ADF4382 REG0036 Map */ +#define ADF4382_CLKODIV_DB_MSK NO_OS_BIT(7) +#define ADF4382_DCLK_DIV_DB_MSK NO_OS_BIT(6) +#define ADF4382_SPARE_36_MSK NO_OS_GENMASK(5, 2) +#define ADF4382_EN_LUT_GEN_MSK NO_OS_BIT(1) +#define ADF4382_EN_LUT_CAL_MSK NO_OS_BIT(0) + +/* ADF4382 REG0037 Map */ +#define ADF4382_CAL_COUNT_TO_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG0038 Map */ +#define ADF4382_CAL_VTUNE_TO_LSB_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG0039 Map */ +#define ADF4382_O_VCO_DB_MSK NO_OS_BIT(7) +#define ADF4382_CAL_VTUNE_TO_MSB_MSK NO_OS_GENMASK(6, 0) + +/* ADF4382 REG003A Map */ +#define ADF4382_CAL_VCO_TO_LSB_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG003B Map */ +#define ADF4382_DEL_CTRL_DB_MSK NO_OS_BIT(7) +#define ADF4382_CAL_VCO_TO_MSB_MSK NO_OS_GENMASK(6, 0) + +/* ADF4382 REG003C Map */ +#define ADF4382_CNTR_DIV_WORD_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG003D Map */ +#define ADF4382_SPARE_3D_MSK NO_OS_BIT(7) +#define ADF4382_SYNC_SP_DB_MSK NO_OS_BIT(6) +#define ADF4382_CMOS_OV_MSK NO_OS_BIT(5) +#define ADF4382_READ_MODE_MSK NO_OS_BIT(4) +#define ADF4382_CNTR_DIV_WORD_MSB_MSK NO_OS_GENMASK(3, 0) + +/* ADF4382 REG003E Map */ +#define ADF4382_ADC_CLK_DIV_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG003F Map */ +#define ADF4382_EN_ADC_CNV_MSK NO_OS_BIT(7) +#define ADF4382_EN_ADC_VTEST_MSK NO_OS_BIT(6) +#define ADF4382_ADC_VTEST_SEL_MSK NO_OS_BIT(5) +#define ADF4382_ADC_MUX_SEL_MSK NO_OS_BIT(4) +#define ADF4382_ADC_F_CONV_MSK NO_OS_BIT(3) +#define ADF4382_ADC_C_CONV_MSK NO_OS_BIT(2) +#define ADF4382_EN_ADC_MSK NO_OS_BIT(1) +#define ADF4382_SPARE_3F_MSK NO_OS_BIT(0) + +/* ADF4382 REG0040 Map */ +#define ADF4382_EXT_DIV_DEC_SEL_MSK NO_OS_BIT(7) +#define ADF4382_ADC_CLK_TEST_SEL_MSK NO_OS_BIT(6) +#define ADF4382_MUTE_CLKOUT2_MSK NO_OS_GENMASK(5, 3) +#define ADF4382_MUTE_CLKOUT1_MSK NO_OS_GENMASK(2, 0) + +/* ADF4382 REG0041 Map */ +#define ADF4382_EXT_DIV_MSK NO_OS_GENMASK(7, 5) +#define ADF4382_EN_VCO_CAP_TEST_MSK NO_OS_BIT(4) +#define ADF4382_EN_CALGEN_CAP_TEST_MSK NO_OS_BIT(3) +#define ADF4382_EN_CP_CAP_TEST_MSK NO_OS_BIT(2) +#define ADF4382_CAP_TEST_STATE_MSK NO_OS_BIT(1) +#define ADF4382_TRANS_LOOP_SEL_MSK NO_OS_BIT(0) + +/* ADF4382 REG0042 Map */ +#define ADF4382_NDIV_PWRUP_TIMEOUT_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG0043 Map */ +#define ADF4382_CAL_BLEED_FINE_MAX_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG0044 Map */ +#define ADF4382_VCAL_ZERO_MSK NO_OS_BIT(7) +#define ADF4382_VPTAT_CALGEN_MSK NO_OS_GENMASK(6, 0) + +/* ADF4382 REG0045 Map */ +#define ADF4382_SPARE_45_MSK NO_OS_BIT(7) +#define ADF4382_VCTAT_CALGEN_MSK NO_OS_GENMASK(6, 0) + +/* ADF4382 REG0046 Map */ +#define ADF4382_NVMDIN_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG0047 Map */ +#define ADF4382_SPARE_47_MSK NO_OS_BIT(7) +#define ADF4382_NVMADDR_MSK NO_OS_GENMASK(6, 3) +#define ADF4382_NVMNO_OS_BIT_SEL NO_OS_GENMASK(2, 0) + +/* ADF4382 REG0048 Map */ +#define ADF4382_TRIM_LATCH_MSK NO_OS_BIT(7) +#define ADF4382_NVMTEST_MSK NO_OS_BIT(6) +#define ADF4382_NVMPROG_MSK NO_OS_BIT(5) +#define ADF4382_NVMRD_MSK NO_OS_BIT(4) +#define ADF4382_NVMSTART_MSK NO_OS_BIT(3) +#define ADF4382_NVMON_MSK NO_OS_BIT(2) +#define ADF4382_MARGIN_MSK NO_OS_GENMASK(1, 0) + +/* ADF4382 REG0049 Map */ +#define ADF4382_NVMDOUT_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG004A Map */ +#define ADF4382_SCAN_MODE_CODE_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG004B Map */ +#define ADF4382_TEMP_OFFSET_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG004C Map */ +#define ADF4382_SPARE_4C_MSK NO_OS_GENMASK(7, 6) +#define ADF4382_TEMP_SLOPE_MSK NO_OS_GENMASK(5, 0) + +/* ADF4382 REG004D Map */ +#define ADF4382_VCO_FSM_TEST_MUX_MSK NO_OS_GENMASK(7, 5) +#define ADF4382_SPARE_4D_MSK NO_OS_GENMASK(4, 3) +#define ADF4382_O_VCO_BIAS_MSK NO_OS_BIT(2) +#define ADF4382_O_VCO_BAND_MSK NO_OS_BIT(1) +#define ADF4382_O_VCO_CORE_MSK NO_OS_BIT(0) + +/* ADF4382 REG004E Map */ +#define ADF4382_SPARE_4E_MSK NO_OS_GENMASK(7, 5) +#define ADF4382_EN_TWO_PASS_CAL_MSK NO_OS_BIT(4) +#define ADF4382_TWO_PASS_BAND_START_MSK NO_OS_GENMASK(3, 0) + +/* ADF4382 REG004F Map */ +#define ADF4382_LUT_SCALE_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG0050 Map */ +#define ADF4382_SPARE0_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG0051 Map */ +#define ADF4382_SPARE1_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG0052 Map */ +#define ADF4382_SYNC_REF_SPARE_MSK NO_OS_GENMASK(7, 4) +#define ADF4382_SYNC_MON_DEL_MSK NO_OS_GENMASK(3, 0) + +/* ADF4382 REG0053 Map */ +#define ADF4382_SPARE_53_MSK NO_OS_BIT(7) +#define ADF4382_PD_SYNC_MON_MSK NO_OS_BIT(6) +#define ADF4382_SYNC_SEL_MSK NO_OS_BIT(5) +#define ADF4382_RST_SYNC_MON_MSK NO_OS_BIT(4) +#define ADF4382_SYNC_SH_DEL_MSK NO_OS_GENMASK(3, 0) + +/* ADF4382 REG0054 Map */ +#define ADF4382_ADC_ST_CNV_MSK NO_OS_BIT(0) + +/* ADF4382 REG0058 Map */ +#define ADF4382_FSM_BUSY_MSK NO_OS_BIT(1) +#define ADF4382_LOCKED_MSK NO_OS_BIT(0) + +/* ADF4382 REG005E Map */ +#define ADF4382_VCO_BAND_LSB_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG005F Map */ +#define ADF4382_VCO_CORE_MSK NO_OS_BIT(1) +#define ADF4382_VCO_BAND_MSB_MSK NO_OS_BIT(0) + +/* ADF4382 REG0200 Map */ +#define ADF4382_LUT_WR_ADDR_MSK NO_OS_GENMASK(5, 1) +#define ADF4382_O_VCO_LUT_MSK NO_OS_BIT(0) + +/* ADF4382 REG0201 Map */ +#define ADF4382_M_LUT_BAND_LSB_MSK NO_OS_GENMASK(7, 0) + +/* ADF4382 REG0202 Map */ +#define ADF4382_M_LUT_N_LSB_MSK NO_OS_GENMASK(7, 2) +#define ADF4382_M_LUT_CORE_MSK NO_OS_BIT(1) +#define ADF4382_M_LUT_BAND_MSB_MSK NO_OS_BIT(0) + +/* ADF4382 REG0203 Map */ +#define ADF4382_M_LUT_N_MSB_MSK NO_OS_GENMASK(5, 0) + +#define ADF4382_SPI_3W_CFG(x) (no_os_field_prep(ADF4382_SDO_ACTIVE_MSK, x) | \ + no_os_field_prep(ADF4382_SDO_ACTIVE_R_MSK, x)) + +#define ADF4382_BLEED_MSB_MSK (ADF4382_COARSE_BLEED_MSK | \ + ADF4382_FINE_BLEED_MSB_MSK) + +#define ADF4382_SPI_SCRATCHPAD_TEST 0x5A + +/* Specifications */ +#define ADF4382_SPI_WRITE_CMD 0x0 +#define ADF4382_SPI_READ_CMD 0x8000 +#define ADF4382_SPI_DUMMY_DATA 0x00 +#define ADF4382_BUFF_SIZE_BYTES 3 +#define ADF4382_VCO_FREQ_MIN 11000000000U // 11GHz +#define ADF4382_VCO_FREQ_MAX 22000000000U // 22GHz +#define ADF4383_VCO_FREQ_MIN 10000000000U // 10GHz +#define ADF4383_VCO_FREQ_MAX 20000000000U // 20GHz +#define ADF4382A_VCO_FREQ_MIN 11500000000U // 11.5GHz +#define ADF4382A_VCO_FREQ_MAX 21000000000U // 21GHz +#define ADF4382_MOD1WORD 0x2000000U // 2^25 +#define ADF4382_MOD2WORD_MAX 0xFFFFFFU // 2^24 - 1 +#define ADF4382_PHASE_RESYNC_MOD2WORD_MAX 0x1FFFFU // 2^17 - 1 +#define ADF4382_CHANNEL_SPACING_MAX 78125U +#define ADF4382_PFD_FREQ_MAX 625000000U // 625MHz +#define ADF4382_PFD_FREQ_FRAC_MAX 250000000U // 250MHz +#define ADF4382_PFD_FREQ_MIN 5400000U // 5.4MHz +#define ADF4382_DCLK_DIV1_0_MAX 160000000U // 160MHz +#define ADF4382_DCLK_DIV1_1_MAX 320000000U // 320MHz +#define ADF4382_CLKOUT_DIV_REG_VAL_MAX 4 +#define ADF4382A_CLKOUT_DIV_REG_VAL_MAX 2 + +#define ADF4383_RFOUT_MAX 20000000000U +#define ADF4383_RFOUT_MIN 625000000U +#define ADF4382_RFOUT_MAX 22000000000U +#define ADF4382_RFOUT_MIN 687500000U +#define ADF4382A_RFOUT_MAX 21000000000U +#define ADF4382A_RFOUT_MIN 2875000000U +#define ADF4382_REF_CLK_MAX 5000000000U +#define ADF4382_REF_CLK_MIN 10000000 +#define ADF4382_REF_DIV_MAX 63 +#define ADF4382_OUT_PWR_MAX 15 +#define ADF4382_CPI_VAL_MAX 15 +#define ADF4382_BLEED_WORD_MAX 8191 + +#define ADF4382_VPTAT_CALGEN 46 +#define ADF4382_VCTAT_CALGEN 82 +#define ADF4382_FASTCAL_VPTAT_CALGEN 7 +#define ADF4382_FASTCAL_VCTAT_CALGEN 21 +#define ADF4382_PHASE_BLEED_CNST 2044000 +#define ADF4382_VCO_CAL_CNT 183 +#define ADF4382_VCO_CAL_VTUNE 640 +#define ADF4382_VCO_CAL_ALC 123 +#define ADF4382_POR_DELAY_US 200 +#define ADF4382_LKD_DELAY_US 1000 +#define ADF4382_COARSE_BLEED_CONST 180U // 180 microseconds +#define ADF4382_FINE_BLEED_CONST_1 512U // 512 microseconds +#define ADF4382_FINE_BLEED_CONST_2 250U // 250 microseconds +#define ADF4382_CAL_VTUNE_TO 124U +#define ADF4382_FSM_BUSY_LOOP_CNT 100U + +#define MHZ MEGA +#define S_TO_NS NANO +#define PS_TO_S PICO +#define NS_TO_PS KHZ_PER_MHZ + +/** + * @brief Supported device ids. +*/ +enum adf4382_dev_id { + ID_ADF4382, + ID_ADF4382A, + ID_ADF4383, +}; + +/** + * @struct adf4382_init_param + * @brief ADF4382 Initialization Parameters structure. + */ +struct adf4382_init_param { + /** SPI Initialization parameters */ + struct no_os_spi_init_param *spi_init; + bool spi_3wire_en; + bool cmos_3v3; + uint64_t ref_freq_hz; + uint64_t freq; + bool ref_doubler_en; + uint8_t ref_div; + uint8_t cp_i; + uint16_t bleed_word; + uint8_t ld_count; + uint8_t en_lut_gen; + uint8_t en_lut_cal; + uint8_t max_lpf_cap_value_uf; + enum adf4382_dev_id id; +}; + +/** + * @struct adf4382_dev + * @brief ADF4382 Device Descriptor. + */ +struct adf4382_dev { + /** SPI Descriptor */ + struct no_os_spi_desc *spi_desc; + bool spi_3wire_en; + bool cmos_3v3; + uint64_t ref_freq_hz; + uint64_t freq; + bool ref_doubler_en; + uint8_t ref_div; + uint8_t cp_i; + uint16_t bleed_word; + uint8_t ld_count; + uint32_t phase_adj; + uint8_t en_lut_gen; + uint8_t en_lut_cal; + uint64_t vco_max; + uint64_t vco_min; + uint64_t freq_max; + uint64_t freq_min; + uint8_t clkout_div_reg_val_max; + uint8_t max_lpf_cap_value_uf; + uint32_t cal_vtune_to; + // N_INT variable to trigger auto calibration + uint16_t n_int; +}; + +/** + * @struct reg_sequence + * @brief ADF4382 register format structure for default values + */ +struct reg_sequence { + uint16_t reg; + uint8_t val; +}; + +/** + * @struct adf4382_reg_defaults + * @brief ADF4382 register initialization + */ +static const struct reg_sequence adf4382_reg_defaults[] = { + { 0x000, 0x18 }, + { 0x00a, 0xA5 }, + { 0x200, 0x00 }, + { 0x201, 0x00 }, + { 0x202, 0x00 }, + { 0x203, 0x00 }, + { 0x203, 0x00 }, + { 0x203, 0x00 }, + { 0x100, 0x25 }, + { 0x101, 0x3F }, + { 0x102, 0x3F }, + { 0x103, 0x3F }, + { 0x104, 0x3F }, + { 0x105, 0x3F }, + { 0x106, 0x3F }, + { 0x107, 0x3F }, + { 0x108, 0x3F }, + { 0x109, 0x25 }, + { 0x10A, 0x25 }, + { 0x10B, 0x3F }, + { 0x10C, 0x3F }, + { 0x10D, 0x3F }, + { 0x10E, 0x3F }, + { 0x10F, 0x3F }, + { 0x110, 0x3F }, + { 0x111, 0x3F }, + { 0x054, 0x00 }, + { 0x053, 0x45 }, + { 0x052, 0x00 }, + { 0x051, 0x00 }, + { 0x050, 0x00 }, + { 0x04f, 0x08 }, + { 0x04e, 0x06 }, + { 0x04d, 0x00 }, + { 0x04c, 0x2B }, + { 0x04b, 0x5D }, + { 0x04a, 0x00 }, + { 0x048, 0x00 }, + { 0x047, 0x00 }, + { 0x046, 0x00 }, + { 0x045, 0x52 }, + { 0x044, 0x2E }, + { 0x043, 0xB8 }, + { 0x042, 0x01 }, + { 0x041, 0x00 }, + { 0x040, 0x00 }, + { 0x03f, 0x82 }, + { 0x03e, 0x4E }, + { 0x03d, 0x00 }, + { 0x03c, 0x00 }, + { 0x03b, 0x00 }, + { 0x03a, 0xFA }, + { 0x039, 0x00 }, + { 0x038, 0x7C }, + { 0x037, 0xCA }, + { 0x036, 0xC0 }, + { 0x035, 0x00 }, + { 0x034, 0x36 }, + { 0x033, 0x00 }, + { 0x032, 0x40 }, + { 0x031, 0x63 }, + { 0x030, 0x0F }, + { 0x02f, 0x3F }, + { 0x02e, 0x00 }, + { 0x02d, 0xF1 }, + { 0x02c, 0x0E }, + { 0x02b, 0x01 }, + { 0x02a, 0x30 }, + { 0x029, 0x09 }, + { 0x028, 0x00 }, + { 0x027, 0xF0 }, + { 0x026, 0x00 }, + { 0x025, 0x01 }, + { 0x024, 0x01 }, + { 0x023, 0x00 }, + { 0x022, 0x00 }, + { 0x021, 0x00 }, + { 0x020, 0xC1 }, + { 0x01f, 0x0F }, + { 0x01e, 0x20 }, + { 0x01d, 0x00 }, + { 0x01c, 0x00 }, + { 0x01b, 0x00 }, + { 0x01a, 0x00 }, + { 0x019, 0x00 }, + { 0x018, 0x00 }, + { 0x017, 0x00 }, + { 0x016, 0x00 }, + { 0x015, 0x06 }, + { 0x014, 0x00 }, + { 0x013, 0x00 }, + { 0x012, 0x00 }, + { 0x011, 0x00 }, + { 0x010, 0x50 }, +}; + +/** ADF4382 SPI write */ +int adf4382_spi_write(struct adf4382_dev *dev, uint16_t reg_addr, uint8_t data); + +/** ADF4382 SPI Read */ +int adf4382_spi_read(struct adf4382_dev *dev, uint16_t reg_addr, uint8_t *data); + +/** ADF4382 updates a bit in the register space over SPI */ +int adf4382_spi_update_bits(struct adf4382_dev *dev, uint16_t reg_addr, + uint8_t mask, uint8_t data); + +/** ADF4382 Register dump */ +int adf4382_reg_dump(struct adf4382_dev *dev); + +/** ADF4382 Set reference frequency attribute */ +int adf4382_set_ref_clk(struct adf4382_dev *dev, uint64_t val); + +/** ADF4382 Get reference frequency attribute */ +int adf4382_get_ref_clk(struct adf4382_dev *dev, uint64_t *val); + +/** ADF4382 Set reference doubler attribute */ +int adf4382_set_en_ref_doubler(struct adf4382_dev *dev, bool en); + +/** ADF4382 Get reference doubler attribute */ +int adf4382_get_en_ref_doubler(struct adf4382_dev *dev, bool *en); + +/** ADF4382 Set reference divider attribute */ +int adf4382_set_ref_div(struct adf4382_dev *dev, int32_t div); + +/** ADF4382 Get reference divider attribute */ +int adf4382_get_ref_div(struct adf4382_dev *dev, int32_t *div); + +/** ADF4382 Set charge pump current attribute */ +int adf4382_set_cp_i(struct adf4382_dev *dev, int32_t reg_val); + +/** ADF4382 Get charge pump current attribute */ +int adf4382_get_cp_i(struct adf4382_dev *dev, int32_t *reg_val); + +/** ADF4382 Set bleed current attribute */ +int adf4382_set_bleed_word(struct adf4382_dev *dev, int32_t word); + +/** ADF4382 Get bleed current attribute */ +int adf4382_get_bleed_word(struct adf4382_dev *dev, int32_t *word); + +/** ADF4382 Set output frequency attribute */ +int adf4382_set_rfout(struct adf4382_dev *dev, uint64_t val); + +/** ADF4382 Get output frequency attribute */ +int adf4382_get_rfout(struct adf4382_dev *dev, uint64_t *val); + +/** ADF4382 Set output power attributes */ +int adf4382_set_out_power(struct adf4382_dev *dev, uint8_t ch, int32_t pwr); + +/** ADF4382 Get output power attributes */ +int adf4382_get_out_power(struct adf4382_dev *dev, uint8_t ch, int32_t *pwr); + +/** ADF4382 Set channel enable attributes */ +int adf4382_set_en_chan(struct adf4382_dev *dev, uint8_t ch, bool en); + +/** ADF4382 Get channel enable attributes */ +int adf4382_get_en_chan(struct adf4382_dev *dev, uint8_t ch, bool *en); + +/** ADF4382 Sets frequency */ +int adf4382_set_freq(struct adf4382_dev *dev); + +/** ADF4382 Set fast calibration attributes */ +int adf4382_set_en_fast_calibration(struct adf4382_dev *dev, bool en_fast_cal); + +/** ADF4382 Set fast calibration LUT calibration attributes */ +int adf4382_set_en_lut_calibration(struct adf4382_dev *dev, bool en_lut_cal); + +/** ADF4382 Get Fast Calibration LUT Calibration attributes */ +int adf4382_get_en_lut_calibration(struct adf4382_dev *dev, bool *en); + +/** ADF4382 Set Output Frequency without writing the Ndiv Register */ +int adf4382_set_change_freq(struct adf4382_dev *dev); + +/** ADF4382 Get Change Output Frequency attribute value */ +int adf4382_get_change_rfout(struct adf4382_dev *dev, uint64_t *val); + +/** ADF4382 Set Change Output Frequency attribute value */ +int adf4382_set_change_rfout(struct adf4382_dev *dev, uint64_t val); + +/** ADF4382 Set the NDIV register attribute value */ +int adf4382_set_start_calibration(struct adf4382_dev *dev); + +/** ADF4382 Get the NDIV register attribute value as 0 */ +int adf4382_get_start_calibration(struct adf4382_dev *dev, bool *start_cal); + +/** ADF4382 Sets Phase adjustment */ +int adf4382_set_phase_adjust(struct adf4382_dev *dev, uint32_t phase_ps); + +/** ADF4382 Sets Phase adjustment polarity*/ +int adf4382_set_phase_pol(struct adf4382_dev *dev, bool polarity); + +/** ADF4382 Gets Phase adjustment polarity*/ +int adf4382_get_phase_pol(struct adf4382_dev *dev, bool *polarity); + +/** ADF4382 Set EZSYNC feature attributes */ +int adf4382_set_ezsync_setup(struct adf4382_dev *dev, bool sync); + +/** ADF4382 Set Timed SYNC feature attributes */ +int adf4382_set_timed_sync_setup(struct adf4382_dev *dev, bool sync); + +/** ADF4382 Get EZSYNC and Timed SYNC feature attributes */ +int adf4382_get_phase_sync_setup(struct adf4382_dev *dev, bool *en); + +/** ADF4382 Set sw_sync attribute */ +int adf4382_set_sw_sync(struct adf4382_dev *dev, bool sw_sync); + +/** ADF4382 Get sw_sync attribute */ +int adf4382_get_sw_sync(struct adf4382_dev *dev, bool *sw_sync); + +/** ADF4382 Set VCO calibration settings attributes */ +int adf4382_set_vco_cal_timeout(struct adf4382_dev *dev); + +/** ADF4382 Initialization */ +int adf4382_init(struct adf4382_dev **device, + struct adf4382_init_param *init_param); + +/** ADF4382 Remove */ +int adf4382_remove(struct adf4382_dev *dev); + +#endif diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/adf4382a_manager.c b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/adf4382a_manager.c new file mode 100644 index 0000000..319475b --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/adf4382a_manager.c @@ -0,0 +1,510 @@ +#include "adf4382a_manager.h" +#include "no_os_delay.h" +#include +#include + +// External SPI handle +extern SPI_HandleTypeDef hspi4; + +// Static function prototypes +static void set_chip_enable(uint8_t ce_pin, bool state); +static void set_deladj_pin(uint8_t device, bool state); +static void set_delstr_pin(uint8_t device, bool state); +static uint16_t phase_ps_to_duty_cycle(uint16_t phase_ps); + +int ADF4382A_Manager_Init(ADF4382A_Manager *manager, SyncMethod method) +{ + struct adf4382_init_param tx_param, rx_param; + int ret; + + if (!manager) { + return ADF4382A_MANAGER_ERROR_INVALID; + } + + // Initialize manager structure + manager->tx_dev = NULL; + manager->rx_dev = NULL; + manager->initialized = false; + manager->sync_method = method; + manager->tx_phase_shift_ps = 0; + manager->rx_phase_shift_ps = 0; + + // Initialize SPI parameters in manager + memset(&manager->spi_tx_param, 0, sizeof(manager->spi_tx_param)); + memset(&manager->spi_rx_param, 0, sizeof(manager->spi_rx_param)); + + // Setup TX SPI parameters for SPI4 + manager->spi_tx_param.device_id = ADF4382A_SPI_DEVICE_ID; + manager->spi_tx_param.max_speed_hz = ADF4382A_SPI_SPEED_HZ; + manager->spi_tx_param.mode = NO_OS_SPI_MODE_0; + manager->spi_tx_param.chip_select = TX_CS_Pin; + manager->spi_tx_param.bit_order = NO_OS_SPI_BIT_ORDER_MSB_FIRST; + manager->spi_tx_param.platform_ops = NULL; + manager->spi_tx_param.extra = &hspi4; + + // Setup RX SPI parameters for SPI4 + manager->spi_rx_param.device_id = ADF4382A_SPI_DEVICE_ID; + manager->spi_rx_param.max_speed_hz = ADF4382A_SPI_SPEED_HZ; + manager->spi_rx_param.mode = NO_OS_SPI_MODE_0; + manager->spi_rx_param.chip_select = RX_CS_Pin; + manager->spi_rx_param.bit_order = NO_OS_SPI_BIT_ORDER_MSB_FIRST; + manager->spi_rx_param.platform_ops = NULL; + manager->spi_rx_param.extra = &hspi4; + + // Configure TX parameters (10.5 GHz) + memset(&tx_param, 0, sizeof(tx_param)); + tx_param.spi_3wire_en = 0; + tx_param.cmos_3v3 = 1; + tx_param.ref_freq_hz = REF_FREQ_HZ; + tx_param.ref_div = 1; + tx_param.ref_doubler_en = false; + tx_param.freq = TX_FREQ_HZ; + tx_param.id = ID_ADF4382A; + tx_param.cp_i = 3; + tx_param.bleed_word = 1000; + tx_param.ld_count = 0x07; + tx_param.spi_init = &manager->spi_tx_param; + + // Configure RX parameters (10.38 GHz) + memset(&rx_param, 0, sizeof(rx_param)); + rx_param.spi_3wire_en = 0; + rx_param.cmos_3v3 = 1; + rx_param.ref_freq_hz = REF_FREQ_HZ; + rx_param.ref_div = 1; + rx_param.ref_doubler_en = false; + rx_param.freq = RX_FREQ_HZ; + rx_param.id = ID_ADF4382A; + rx_param.cp_i = 4; + rx_param.bleed_word = 1200; + rx_param.ld_count = 0x07; + rx_param.spi_init = &manager->spi_rx_param; + + // Enable chips + set_chip_enable(TX_CE_Pin, true); + set_chip_enable(RX_CE_Pin, true); + no_os_udelay(1000); + + // Initialize DELADJ and DELSTR pins + set_deladj_pin(0, false); // TX device + set_deladj_pin(1, false); // RX device + set_delstr_pin(0, false); // TX device + set_delstr_pin(1, false); // RX device + + // Initialize TX device first + printf("Initializing TX ADF4382A (10.5 GHz) on SPI4...\n"); + ret = adf4382_init(&manager->tx_dev, &tx_param); + if (ret) { + printf("TX ADF4382A initialization failed: %d\n", ret); + set_chip_enable(TX_CE_Pin, false); + set_chip_enable(RX_CE_Pin, false); + return ADF4382A_MANAGER_ERROR_SPI; + } + + // Small delay between initializations + no_os_udelay(5000); + + // Initialize RX device + printf("Initializing RX ADF4382A (10.38 GHz) on SPI4...\n"); + ret = adf4382_init(&manager->rx_dev, &rx_param); + if (ret) { + printf("RX ADF4382A initialization failed: %d\n", ret); + adf4382_remove(manager->tx_dev); + set_chip_enable(TX_CE_Pin, false); + set_chip_enable(RX_CE_Pin, false); + return ADF4382A_MANAGER_ERROR_SPI; + } + + // Set output power + adf4382_set_out_power(manager->tx_dev, 0, 12); + adf4382_set_out_power(manager->tx_dev, 1, 12); + adf4382_set_out_power(manager->rx_dev, 0, 12); + adf4382_set_out_power(manager->rx_dev, 1, 12); + + // Enable outputs + adf4382_set_en_chan(manager->tx_dev, 0, true); + adf4382_set_en_chan(manager->tx_dev, 1, false); + adf4382_set_en_chan(manager->rx_dev, 0, true); + adf4382_set_en_chan(manager->rx_dev, 1, false); + + // Setup synchronization based on selected method + if (method == SYNC_METHOD_TIMED) { + ret = ADF4382A_SetupTimedSync(manager); + if (ret) { + printf("Timed sync setup failed: %d\n", ret); + } + } else { + ret = ADF4382A_SetupEZSync(manager); + if (ret) { + printf("EZSync setup failed: %d\n", ret); + } + } + + manager->initialized = true; + printf("ADF4382A Manager initialized with %s synchronization on SPI4\n", + (method == SYNC_METHOD_TIMED) ? "TIMED" : "EZSYNC"); + + return ADF4382A_MANAGER_OK; +} + +int ADF4382A_SetupTimedSync(ADF4382A_Manager *manager) +{ + int ret; + + if (!manager || !manager->initialized) { + return ADF4382A_MANAGER_ERROR_NOT_INIT; + } + + printf("Setting up Timed Synchronization (60 MHz SYNCP/SYNCN)...\n"); + + // Setup TX for timed sync + ret = adf4382_set_timed_sync_setup(manager->tx_dev, true); + if (ret) { + printf("TX timed sync setup failed: %d\n", ret); + return ret; + } + + // Setup RX for timed sync + ret = adf4382_set_timed_sync_setup(manager->rx_dev, true); + if (ret) { + printf("RX timed sync setup failed: %d\n", ret); + return ret; + } + + manager->sync_method = SYNC_METHOD_TIMED; + printf("Timed synchronization configured for 60 MHz SYNCP/SYNCN\n"); + + return ADF4382A_MANAGER_OK; +} + +int ADF4382A_SetupEZSync(ADF4382A_Manager *manager) +{ + int ret; + + if (!manager || !manager->initialized) { + return ADF4382A_MANAGER_ERROR_NOT_INIT; + } + + printf("Setting up EZSync (SPI-based synchronization)...\n"); + + // Setup TX for EZSync + ret = adf4382_set_ezsync_setup(manager->tx_dev, true); + if (ret) { + printf("TX EZSync setup failed: %d\n", ret); + return ret; + } + + // Setup RX for EZSync + ret = adf4382_set_ezsync_setup(manager->rx_dev, true); + if (ret) { + printf("RX EZSync setup failed: %d\n", ret); + return ret; + } + + manager->sync_method = SYNC_METHOD_EZSYNC; + printf("EZSync configured\n"); + + return ADF4382A_MANAGER_OK; +} + +int ADF4382A_TriggerTimedSync(ADF4382A_Manager *manager) +{ + if (!manager || !manager->initialized || manager->sync_method != SYNC_METHOD_TIMED) { + return ADF4382A_MANAGER_ERROR_NOT_INIT; + } + + printf("Timed sync ready - SYNC pin will trigger synchronization\n"); + printf("Ensure 60 MHz phase-aligned clocks are present on SYNCP/SYNCN pins\n"); + + return ADF4382A_MANAGER_OK; +} + +int ADF4382A_TriggerEZSync(ADF4382A_Manager *manager) +{ + int ret; + + if (!manager || !manager->initialized || manager->sync_method != SYNC_METHOD_EZSYNC) { + return ADF4382A_MANAGER_ERROR_NOT_INIT; + } + + // Trigger software sync on both devices + ret = adf4382_set_sw_sync(manager->tx_dev, true); + if (ret) { + printf("TX software sync failed: %d\n", ret); + return ADF4382A_MANAGER_ERROR_SPI; + } + + ret = adf4382_set_sw_sync(manager->rx_dev, true); + if (ret) { + printf("RX software sync failed: %d\n", ret); + return ADF4382A_MANAGER_ERROR_SPI; + } + + // Small delay for sync to take effect + no_os_udelay(10); + + // Clear software sync + ret = adf4382_set_sw_sync(manager->tx_dev, false); + if (ret) { + printf("TX sync clear failed: %d\n", ret); + return ADF4382A_MANAGER_ERROR_SPI; + } + + ret = adf4382_set_sw_sync(manager->rx_dev, false); + if (ret) { + printf("RX sync clear failed: %d\n", ret); + return ADF4382A_MANAGER_ERROR_SPI; + } + + printf("EZSync triggered via SPI\n"); + return ADF4382A_MANAGER_OK; +} + +int ADF4382A_Manager_Deinit(ADF4382A_Manager *manager) +{ + if (!manager || !manager->initialized) { + return ADF4382A_MANAGER_ERROR_NOT_INIT; + } + + // Disable outputs first + if (manager->tx_dev) { + adf4382_set_en_chan(manager->tx_dev, 0, false); + adf4382_set_en_chan(manager->tx_dev, 1, false); + } + + if (manager->rx_dev) { + adf4382_set_en_chan(manager->rx_dev, 0, false); + adf4382_set_en_chan(manager->rx_dev, 1, false); + } + + // Remove devices + if (manager->tx_dev) { + adf4382_remove(manager->tx_dev); + manager->tx_dev = NULL; + } + + if (manager->rx_dev) { + adf4382_remove(manager->rx_dev); + manager->rx_dev = NULL; + } + + // Disable chips and phase control pins + set_chip_enable(TX_CE_Pin, false); + set_chip_enable(RX_CE_Pin, false); + set_deladj_pin(0, false); + set_deladj_pin(1, false); + set_delstr_pin(0, false); + set_delstr_pin(1, false); + + manager->initialized = false; + + printf("ADF4382A Manager deinitialized\n"); + return ADF4382A_MANAGER_OK; +} + +int ADF4382A_CheckLockStatus(ADF4382A_Manager *manager, bool *tx_locked, bool *rx_locked) +{ + uint8_t tx_status, rx_status; + int ret; + + if (!manager || !manager->initialized || !tx_locked || !rx_locked) { + return ADF4382A_MANAGER_ERROR_NOT_INIT; + } + + // Read lock status from registers + ret = adf4382_spi_read(manager->tx_dev, 0x58, &tx_status); + if (ret) { + printf("TX lock status read failed: %d\n", ret); + return ADF4382A_MANAGER_ERROR_SPI; + } + + ret = adf4382_spi_read(manager->rx_dev, 0x58, &rx_status); + if (ret) { + printf("RX lock status read failed: %d\n", ret); + return ADF4382A_MANAGER_ERROR_SPI; + } + + *tx_locked = (tx_status & ADF4382_LOCKED_MSK) != 0; + *rx_locked = (rx_status & ADF4382_LOCKED_MSK) != 0; + + // Also check GPIO lock detect pins as backup + bool tx_gpio_locked = HAL_GPIO_ReadPin(TX_LKDET_GPIO_Port, TX_LKDET_Pin) == GPIO_PIN_SET; + bool rx_gpio_locked = HAL_GPIO_ReadPin(RX_LKDET_GPIO_Port, RX_LKDET_Pin) == GPIO_PIN_SET; + + // Use both register and GPIO status + *tx_locked = *tx_locked && tx_gpio_locked; + *rx_locked = *rx_locked && rx_gpio_locked; + + return ADF4382A_MANAGER_OK; +} + +int ADF4382A_SetOutputPower(ADF4382A_Manager *manager, uint8_t tx_power, uint8_t rx_power) +{ + int ret; + + if (!manager || !manager->initialized) { + return ADF4382A_MANAGER_ERROR_NOT_INIT; + } + + // Clamp power values (0-15) + tx_power = (tx_power > 15) ? 15 : tx_power; + rx_power = (rx_power > 15) ? 15 : rx_power; + + // Set TX power for both channels + ret = adf4382_set_out_power(manager->tx_dev, 0, tx_power); + if (ret) return ret; + ret = adf4382_set_out_power(manager->tx_dev, 1, tx_power); + if (ret) return ret; + + // Set RX power for both channels + ret = adf4382_set_out_power(manager->rx_dev, 0, rx_power); + if (ret) return ret; + ret = adf4382_set_out_power(manager->rx_dev, 1, rx_power); + + printf("Output power set: TX=%d, RX=%d\n", tx_power, rx_power); + return ADF4382A_MANAGER_OK; +} + +int ADF4382A_EnableOutputs(ADF4382A_Manager *manager, bool tx_enable, bool rx_enable) +{ + int ret; + + if (!manager || !manager->initialized) { + return ADF4382A_MANAGER_ERROR_NOT_INIT; + } + + // Enable/disable TX outputs + ret = adf4382_set_en_chan(manager->tx_dev, 0, tx_enable); + if (ret) return ret; + ret = adf4382_set_en_chan(manager->tx_dev, 1, tx_enable); + if (ret) return ret; + + // Enable/disable RX outputs + ret = adf4382_set_en_chan(manager->rx_dev, 0, rx_enable); + if (ret) return ret; + ret = adf4382_set_en_chan(manager->rx_dev, 1, rx_enable); + + printf("Outputs: TX=%s, RX=%s\n", + tx_enable ? "ENABLED" : "DISABLED", + rx_enable ? "ENABLED" : "DISABLED"); + return ADF4382A_MANAGER_OK; +} + +// New phase delay functions + +int ADF4382A_SetPhaseShift(ADF4382A_Manager *manager, uint16_t tx_phase_ps, uint16_t rx_phase_ps) +{ + if (!manager || !manager->initialized) { + return ADF4382A_MANAGER_ERROR_NOT_INIT; + } + + // Clamp phase shift values + tx_phase_ps = (tx_phase_ps > PHASE_SHIFT_MAX_PS) ? PHASE_SHIFT_MAX_PS : tx_phase_ps; + rx_phase_ps = (rx_phase_ps > PHASE_SHIFT_MAX_PS) ? PHASE_SHIFT_MAX_PS : rx_phase_ps; + + // Convert phase shift to duty cycle and apply + if (tx_phase_ps != manager->tx_phase_shift_ps) { + uint16_t duty_cycle = phase_ps_to_duty_cycle(tx_phase_ps); + ADF4382A_SetFinePhaseShift(manager, 0, duty_cycle); // 0 = TX device + manager->tx_phase_shift_ps = tx_phase_ps; + } + + if (rx_phase_ps != manager->rx_phase_shift_ps) { + uint16_t duty_cycle = phase_ps_to_duty_cycle(rx_phase_ps); + ADF4382A_SetFinePhaseShift(manager, 1, duty_cycle); // 1 = RX device + manager->rx_phase_shift_ps = rx_phase_ps; + } + + printf("Phase shift set: TX=%d ps, RX=%d ps\n", tx_phase_ps, rx_phase_ps); + return ADF4382A_MANAGER_OK; +} + +int ADF4382A_GetPhaseShift(ADF4382A_Manager *manager, uint16_t *tx_phase_ps, uint16_t *rx_phase_ps) +{ + if (!manager || !manager->initialized || !tx_phase_ps || !rx_phase_ps) { + return ADF4382A_MANAGER_ERROR_NOT_INIT; + } + + *tx_phase_ps = manager->tx_phase_shift_ps; + *rx_phase_ps = manager->rx_phase_shift_ps; + + return ADF4382A_MANAGER_OK; +} + +int ADF4382A_SetFinePhaseShift(ADF4382A_Manager *manager, uint8_t device, uint16_t duty_cycle) +{ + if (!manager || !manager->initialized) { + return ADF4382A_MANAGER_ERROR_NOT_INIT; + } + + // Clamp duty cycle + duty_cycle = (duty_cycle > DELADJ_MAX_DUTY_CYCLE) ? DELADJ_MAX_DUTY_CYCLE : duty_cycle; + + // For simplicity, we'll use a basic implementation + // In a real system, you would generate a PWM signal on DELADJ pin + // Here we just set the pin state based on a simplified approach + + if (duty_cycle == 0) { + set_deladj_pin(device, false); + } else if (duty_cycle >= DELADJ_MAX_DUTY_CYCLE) { + set_deladj_pin(device, true); + } else { + // For intermediate values, you would need PWM generation + // This is a simplified implementation + set_deladj_pin(device, true); + } + + printf("Device %d DELADJ duty cycle set to %d/%d\n", + device, duty_cycle, DELADJ_MAX_DUTY_CYCLE); + + return ADF4382A_MANAGER_OK; +} + +int ADF4382A_StrobePhaseShift(ADF4382A_Manager *manager, uint8_t device) +{ + if (!manager || !manager->initialized) { + return ADF4382A_MANAGER_ERROR_NOT_INIT; + } + + // Generate a pulse on DELSTR pin to latch the current DELADJ value + set_delstr_pin(device, true); + no_os_udelay(DELADJ_PULSE_WIDTH_US); + set_delstr_pin(device, false); + + printf("Device %d phase shift strobed\n", device); + + return ADF4382A_MANAGER_OK; +} + +// Static helper functions + +static void set_chip_enable(uint8_t ce_pin, bool state) +{ + GPIO_TypeDef* port = (ce_pin == TX_CE_Pin) ? TX_CE_GPIO_Port : RX_CE_GPIO_Port; + HAL_GPIO_WritePin(port, ce_pin, state ? GPIO_PIN_SET : GPIO_PIN_RESET); +} + +static void set_deladj_pin(uint8_t device, bool state) +{ + if (device == 0) { // TX device + HAL_GPIO_WritePin(TX_DELADJ_GPIO_Port, TX_DELADJ_Pin, state ? GPIO_PIN_SET : GPIO_PIN_RESET); + } else { // RX device + HAL_GPIO_WritePin(RX_DELADJ_GPIO_Port, RX_DELADJ_Pin, state ? GPIO_PIN_SET : GPIO_PIN_RESET); + } +} + +static void set_delstr_pin(uint8_t device, bool state) +{ + if (device == 0) { // TX device + HAL_GPIO_WritePin(TX_DELSTR_GPIO_Port, TX_DELSTR_Pin, state ? GPIO_PIN_SET : GPIO_PIN_RESET); + } else { // RX device + HAL_GPIO_WritePin(RX_DELSTR_GPIO_Port, RX_DELSTR_Pin, state ? GPIO_PIN_SET : GPIO_PIN_RESET); + } +} + +static uint16_t phase_ps_to_duty_cycle(uint16_t phase_ps) +{ + // Convert phase shift in picoseconds to DELADJ duty cycle + // This is a linear mapping - adjust based on your specific requirements + uint32_t duty = (uint32_t)phase_ps * DELADJ_MAX_DUTY_CYCLE / PHASE_SHIFT_MAX_PS; + return (uint16_t)duty; +} diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/adf4382a_manager.h b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/adf4382a_manager.h new file mode 100644 index 0000000..9cc4c13 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/adf4382a_manager.h @@ -0,0 +1,85 @@ +#ifndef ADF4382A_MANAGER_H +#define ADF4382A_MANAGER_H + +#include "main.h" +#include "adf4382.h" +#include "no_os_spi.h" + +// GPIO Definitions +#define TX_CE_Pin GPIO_PIN_0 +#define TX_CE_GPIO_Port GPIOG +#define TX_CS_Pin GPIO_PIN_1 +#define TX_CS_GPIO_Port GPIOG +#define TX_DELADJ_Pin GPIO_PIN_2 +#define TX_DELADJ_GPIO_Port GPIOG +#define TX_DELSTR_Pin GPIO_PIN_3 +#define TX_DELSTR_GPIO_Port GPIOG +#define TX_LKDET_Pin GPIO_PIN_4 +#define TX_LKDET_GPIO_Port GPIOG + +#define RX_CE_Pin GPIO_PIN_5 +#define RX_CE_GPIO_Port GPIOG +#define RX_CS_Pin GPIO_PIN_6 +#define RX_CS_GPIO_Port GPIOG +#define RX_DELADJ_Pin GPIO_PIN_7 +#define RX_DELADJ_GPIO_Port GPIOG +#define RX_DELSTR_Pin GPIO_PIN_8 +#define RX_DELSTR_GPIO_Port GPIOG +#define RX_LKDET_Pin GPIO_PIN_9 +#define RX_LKDET_GPIO_Port GPIOG + +// Frequency definitions +#define REF_FREQ_HZ 300000000ULL // 300 MHz +#define TX_FREQ_HZ 10500000000ULL // 10.5 GHz +#define RX_FREQ_HZ 10380000000ULL // 10.38 GHz +#define SYNC_CLOCK_FREQ 60000000ULL // 60 MHz sync clock + +// SPI Configuration +#define ADF4382A_SPI_DEVICE_ID 4 // Using SPI4 +#define ADF4382A_SPI_SPEED_HZ 10000000 // 10 MHz + +// Phase delay configuration +#define DELADJ_MAX_DUTY_CYCLE 1000 // Maximum duty cycle for DELADJ PWM (1000 = 100%) +#define DELADJ_PULSE_WIDTH_US 10 // Width of DELSTR pulse in microseconds +#define PHASE_SHIFT_MAX_PS 10000 // Maximum phase shift in picoseconds + +// Error code definitions +#define ADF4382A_MANAGER_OK 0 +#define ADF4382A_MANAGER_ERROR_INVALID -1 +#define ADF4382A_MANAGER_ERROR_NOT_INIT -2 +#define ADF4382A_MANAGER_ERROR_SPI -3 + +typedef enum { + SYNC_METHOD_EZSYNC = 0, // Software synchronization via SPI + SYNC_METHOD_TIMED = 1 // Hardware synchronization via SYNCP/SYNCN +} SyncMethod; + +typedef struct { + struct adf4382_dev *tx_dev; + struct adf4382_dev *rx_dev; + struct no_os_spi_init_param spi_tx_param; + struct no_os_spi_init_param spi_rx_param; + bool initialized; + SyncMethod sync_method; + uint16_t tx_phase_shift_ps; // Current TX phase shift in picoseconds + uint16_t rx_phase_shift_ps; // Current RX phase shift in picoseconds +} ADF4382A_Manager; + +// Public functions +int ADF4382A_Manager_Init(ADF4382A_Manager *manager, SyncMethod method); +int ADF4382A_Manager_Deinit(ADF4382A_Manager *manager); +int ADF4382A_SetupTimedSync(ADF4382A_Manager *manager); +int ADF4382A_SetupEZSync(ADF4382A_Manager *manager); +int ADF4382A_TriggerTimedSync(ADF4382A_Manager *manager); +int ADF4382A_TriggerEZSync(ADF4382A_Manager *manager); +int ADF4382A_CheckLockStatus(ADF4382A_Manager *manager, bool *tx_locked, bool *rx_locked); +int ADF4382A_SetOutputPower(ADF4382A_Manager *manager, uint8_t tx_power, uint8_t rx_power); +int ADF4382A_EnableOutputs(ADF4382A_Manager *manager, bool tx_enable, bool rx_enable); + +// New phase delay functions +int ADF4382A_SetPhaseShift(ADF4382A_Manager *manager, uint16_t tx_phase_ps, uint16_t rx_phase_ps); +int ADF4382A_GetPhaseShift(ADF4382A_Manager *manager, uint16_t *tx_phase_ps, uint16_t *rx_phase_ps); +int ADF4382A_SetFinePhaseShift(ADF4382A_Manager *manager, uint8_t device, uint16_t duty_cycle); +int ADF4382A_StrobePhaseShift(ADF4382A_Manager *manager, uint8_t device); + +#endif // ADF4382A_MANAGER_H diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/errno.h b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/errno.h new file mode 100644 index 0000000..d28d672 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/errno.h @@ -0,0 +1,100 @@ +/***************************************************************************//** + * @file errno.h + * @brief Error macro definition for ARM Compiler +******************************************************************************** + * Copyright (c) 2021-2022 Analog Devices, Inc. + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. Neither the name of Analog Devices, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from this + * software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY ANALOG DEVICES, INC. “AS IS” AND ANY EXPRESS OR + * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO + * EVENT SHALL ANALOG DEVICES, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ + +#ifndef MBED_ERRNO_H_ +#define MBED_ERRNO_H_ + +// Platform drivers needs to be C-compatible to work with other drivers +#ifdef __cplusplus +extern "C" +{ +#endif // _cplusplus + +#if defined(__ARMCC_VERSION) +#if !defined(__ELASTERROR) +#define __ELASTERROR 2000 +#endif +#if !defined(ENOTSUP) +#define ENOTSUP 9926 +#endif +#if !defined(EBADMSG) +#define EBADMSG 9905 +#endif +#if !defined(ETIME) +#define ETIME 9935 +#endif +#if !defined(EACCES) +#define EACCES 9973 +#endif +#if !defined(ETIMEDOUT) +#define ETIMEDOUT 9938 +#endif +#if !defined(ENODEV) +#define ENODEV 9967 +#endif +#if !defined(EFAULT) +#define EFAULT 9948 +#endif +#if !defined(EIO) +#define EIO 9961 +#endif +#if !defined(ENOENT) +#define ENOENT 9968 +#endif +#if !defined(EBUSY) +#define EBUSY 9952 +#endif +#if !defined(EAGAIN) +#define EAGAIN 9976 +#endif +#if !defined(EINVAL) +#define EINVAL 9943 +#endif +#if !defined(ENOMEM) +#define ENOMEM 9971 +#endif +#if !defined(ENOSYS) +#define ENOSYS 88 +#endif +#if !defined(ENOTCONN) +#define ENOTCONN 128 +#endif + +// End of defined(__ARMCC_VERSION) +#endif + +#include_next + +#ifdef __cplusplus +} +#endif // _cplusplus + +#endif // MBED_ERRNO_H_ diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/gps_handler.cpp b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/gps_handler.cpp new file mode 100644 index 0000000..2b15cc2 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/gps_handler.cpp @@ -0,0 +1,119 @@ +// gps_handler.cpp +#include "gps_handler.h" +#include + +// UART handle for communication with GUI +static UART_HandleTypeDef* gui_huart = NULL; + +// GPS data buffer +static GPS_Data_t current_gps = {0}; + +void GPS_Init(UART_HandleTypeDef* huart) +{ + gui_huart = huart; + memset(¤t_gps, 0, sizeof(GPS_Data_t)); +} + +uint8_t GPS_IsDataValid(GPS_Data_t* gps_data) +{ + // Check if GPS data is within valid ranges + if (gps_data->latitude < -90.0 || gps_data->latitude > 90.0) + return 0; + if (gps_data->longitude < -180.0 || gps_data->longitude > 180.0) + return 0; + if (gps_data->altitude < -1000.0 || gps_data->altitude > 10000.0) // -1km to 10km + return 0; + + return 1; +} + +void GPS_ProcessData(GPS_Data_t* gps_data) +{ + // Validate GPS data + if (!GPS_IsDataValid(gps_data)) { + return; + } + + // Update current GPS data + memcpy(¤t_gps, gps_data, sizeof(GPS_Data_t)); + current_gps.timestamp = HAL_GetTick(); + + // Send to GUI + GPS_SendToGUI(¤t_gps); +} + +void GPS_SendToGUI(GPS_Data_t* gps_data) +{ + if (gui_huart == NULL) return; + + // Create packet: "GPS:lat,lon,alt\r\n" + char buffer[64]; + + // Convert double and float to string with high precision + int len = snprintf(buffer, sizeof(buffer), "GPS:%.8f,%.8f,%.2f\r\n", + gps_data->latitude, + gps_data->longitude, + gps_data->altitude); + + if (len > 0 && len < (int)sizeof(buffer)) { + // Send via UART3 to GUI + HAL_UART_Transmit(gui_huart, (uint8_t*)buffer, len, 1000); + } +} + +// Alternative binary protocol version (more efficient) +void GPS_SendBinaryToGUI(GPS_Data_t* gps_data) +{ + if (gui_huart == NULL) return; + + // Binary packet structure: + // [Header 4 bytes][Latitude 8 bytes][Longitude 8 bytes][Altitude 4 bytes][Pitch 4 bytes][CRC 2 bytes] + + uint8_t packet[30]; // 4 + 8 + 8 + 4 + 4 + 2 = 30 bytes + uint16_t crc = 0; + + // Header: "GPSB" + packet[0] = 'G'; + packet[1] = 'P'; + packet[2] = 'S'; + packet[3] = 'B'; + + // Convert double latitude to bytes (big-endian) + uint64_t lat_bits; + memcpy(&lat_bits, &gps_data->latitude, sizeof(double)); + for(int i = 0; i < 8; i++) { + packet[4 + i] = (lat_bits >> (56 - i*8)) & 0xFF; + } + + // Convert double longitude to bytes (big-endian) + uint64_t lon_bits; + memcpy(&lon_bits, &gps_data->longitude, sizeof(double)); + for(int i = 0; i < 8; i++) { + packet[12 + i] = (lon_bits >> (56 - i*8)) & 0xFF; + } + + // Convert float altitude to bytes (big-endian) + uint32_t alt_bits; + memcpy(&alt_bits, &gps_data->altitude, sizeof(float)); + for(int i = 0; i < 4; i++) { + packet[20 + i] = (alt_bits >> (24 - i*8)) & 0xFF; + } + + // Convert float altitude to bytes (big-endian) + uint32_t pitch_bits; + memcpy(&pitch_bits, &gps_data->pitch, sizeof(float)); + for(int i = 0; i < 4; i++) { + packet[24 + i] = (pitch_bits >> (24 - i*8)) & 0xFF; + } + + // Calculate simple checksum (you can use CRC16 instead) + for(int i = 0; i < 28; i++) { + crc += packet[i]; + } + + packet[28] = (crc >> 8) & 0xFF; + packet[29] = crc & 0xFF; + + // Send binary packet + CDC_Transmit_FS(packet, sizeof(packet)); +} diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/gps_handler.h b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/gps_handler.h new file mode 100644 index 0000000..0425698 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/gps_handler.h @@ -0,0 +1,33 @@ +// gps_handler.h +#ifndef GPS_HANDLER_H +#define GPS_HANDLER_H + +#include "main.h" +#include "usb_device.h" +#include "usbd_cdc_if.h" +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif + +typedef struct { + double latitude; + double longitude; + float altitude; + float pitch; + uint32_t timestamp; +} GPS_Data_t; + +void GPS_Init(UART_HandleTypeDef* huart); +void GPS_ProcessData(GPS_Data_t* gps_data); +void GPS_SendToGUI(GPS_Data_t* gps_data); +void GPS_SendBinaryToGUI(GPS_Data_t* gps_data); +uint8_t GPS_IsDataValid(GPS_Data_t* gps_data); + +#ifdef __cplusplus +} +#endif + +#endif /* GPS_HANDLER_H */ diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/platform_noos_stm32.H b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/platform_noos_stm32.H new file mode 100644 index 0000000..14d1e21 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/platform_noos_stm32.H @@ -0,0 +1,25 @@ +/* platform_noos_stm32.h */ +#ifndef PLATFORM_NOOS_STM32_H +#define PLATFORM_NOOS_STM32_H + +#include "stm32f7xx_hal.h" +#include +#include +#include + +/* Export the HAL SPI handle that will be used by no-OS SPI wrapper */ +extern SPI_HandleTypeDef hspi4; + +/* Simple wrapper prototypes for no-OS */ +int32_t platform_spi_init(void **desc, uint32_t max_speed_hz, uint8_t mode); +int32_t platform_spi_write_and_read(void *desc, uint8_t *data, uint16_t len); +int32_t platform_spi_remove(void *desc); + +int32_t platform_gpio_init(void *gpio_desc, uint8_t port_pin, bool is_output); +int32_t platform_gpio_direction_output(void *gpio_desc, uint8_t port_pin, uint8_t value); +int32_t platform_gpio_set_value(void *gpio_desc, uint8_t port_pin, uint8_t value); +int32_t platform_gpio_remove(void *gpio_desc); + +void platform_delay_ms(uint32_t ms); + +#endif diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/platform_noos_stm32.c b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/platform_noos_stm32.c new file mode 100644 index 0000000..869aa4d --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/platform_noos_stm32.c @@ -0,0 +1,64 @@ +/* platform_noos_stm32.c */ +#include "platform_noos_stm32.h" + +/* Use existing CubeMX handles */ +extern SPI_HandleTypeDef hspi4; + +/* SPI descriptor we pass to no-OS (just a pointer to HAL handle) */ +int32_t platform_spi_init(void **desc, uint32_t max_speed_hz, uint8_t mode) +{ + /* For STM32 HAL we already configured hspi4 in CubeMX, + so just return that pointer as the descriptor. */ + if (!desc) return -1; + *desc = (void*)&hspi4; + return 0; +} + +/* SPI write/read - single transaction (no-OS expects raw transfer) */ +int32_t platform_spi_write_and_read(void *desc, uint8_t *data, uint16_t len) +{ + SPI_HandleTypeDef *hdl = (SPI_HandleTypeDef*)desc; + if (!hdl) return -1; + /* ADI no-OS SPI wrappers often do full-duplex transfers */ + if (HAL_SPI_Transmit(hdl, data, len, HAL_MAX_DELAY) != HAL_OK) + return -1; + return 0; +} + +int32_t platform_spi_remove(void *desc) +{ + (void)desc; + return 0; +} + +/* Minimal GPIO wrapper: we will just use HAL GPIO directly */ +/* For simplicity we store nothing in gpio_desc, port_pin encodes both port and pin: + You'll map an enum (0..n) -> HAL GPIO Port/Pin in your code. */ + +int32_t platform_gpio_init(void *gpio_desc, uint8_t port_pin, bool is_output) +{ + (void)gpio_desc; (void)port_pin; (void)is_output; + /* Assume CubeMX already configured the GPIO pins: nothing to do */ + return 0; +} + +int32_t platform_gpio_direction_output(void *gpio_desc, uint8_t port_pin, uint8_t value) +{ + (void)gpio_desc; + /* Implement mapping here from port_pin index to actual port/pin */ + /* Example stub: user must implement mapping function: hal_set_gpio_by_index(port_pin, value) */ + extern void hal_set_gpio_by_index(uint8_t idx, uint8_t value); + hal_set_gpio_by_index(port_pin, value); + return 0; +} + +int32_t platform_gpio_set_value(void *gpio_desc, uint8_t port_pin, uint8_t value) +{ + extern void hal_set_gpio_by_index(uint8_t idx, uint8_t value); + hal_set_gpio_by_index(port_pin, value); + return 0; +} + +int32_t platform_gpio_remove(void *gpio_desc) { (void)gpio_desc; return 0; } + +void platform_delay_ms(uint32_t ms) { HAL_Delay(ms); } diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_delay.c b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_delay.c new file mode 100644 index 0000000..b6a5862 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_delay.c @@ -0,0 +1,17 @@ +#include "stm32f7xx_hal.h" +#include "no_os_delay.h" + +/* microsecond delay using DWT cycle counter */ +void no_os_udelay(uint32_t usec) +{ + uint32_t start = DWT->CYCCNT; + uint32_t cycles = (HAL_RCC_GetHCLKFreq() / 1000000U) * usec; + while ((DWT->CYCCNT - start) < cycles); +} + +/* millisecond delay wrapper */ +void no_os_mdelay(uint32_t msec) +{ + HAL_Delay(msec); +} + diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_delay.h b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_delay.h new file mode 100644 index 0000000..c23b310 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_delay.h @@ -0,0 +1,10 @@ +#ifndef _STM32_DELAY_H_ +#define _STM32_DELAY_H_ + +#include "stm32f7xx_hal.h" + +/* prototypes for compatibility */ +void no_os_udelay(uint32_t usec); +void no_os_mdelay(uint32_t msec); + +#endif /* _STM32_DELAY_H_ */ diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_dma.c b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_dma.c new file mode 100644 index 0000000..6bf69ca --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_dma.c @@ -0,0 +1,287 @@ +/***************************************************************************//** + * @file stm32/stm32_dma.c + * @brief Implementation of stm32 DMA functionality. + * @author Janani Sunil (janani.sunil@analog.com) +******************************************************************************** + * Copyright 2024(c) Analog Devices, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. Neither the name of Analog Devices, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from this + * software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY ANALOG DEVICES, INC. “AS IS” AND ANY EXPRESS OR + * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO + * EVENT SHALL ANALOG DEVICES, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ + +#include "stm32_dma.h" +#include "no_os_error.h" +#include "no_os_alloc.h" +#include "stm32_irq.h" + +/** +* @brief There is only one DMA controller +*/ +static struct no_os_dma_desc *dma_descriptor; + +/** + * @brief Configure a DMA channel for a transfer. + * @param channel - The DMA channel descriptor. + * @param xfer - Descriptor for the transfer. + * @return 0 in case of success, negative error codes otherwise + */ +int stm32_dma_config_xfer(struct no_os_dma_ch *channel, + struct no_os_dma_xfer_desc *xfer) +{ + struct stm32_dma_channel* sdma_ch; + int ret; + + if (!channel || !xfer || !channel->extra) + return -EINVAL; + + sdma_ch = channel->extra; + + /* Note: Channel number is assigned via the Instance for MCU + * families other than STM32F2, STM32F4 and STM32F7 */ +#if defined (STM32F2) || defined (STM32F4) || defined (STM32F7) + sdma_ch->hdma->Init.Channel = sdma_ch->ch_num; +#else + sdma_ch->hdma->Instance = sdma_ch->ch_num; +#endif + sdma_ch->hdma->Init.MemInc = sdma_ch->mem_increment ? DMA_MINC_ENABLE : + DMA_MINC_DISABLE; + sdma_ch->hdma->Init.PeriphInc = sdma_ch->per_increment ? DMA_PINC_ENABLE : + DMA_PINC_DISABLE; + + switch (sdma_ch->mem_data_alignment) { + case DATA_ALIGN_BYTE: + sdma_ch->hdma->Init.MemDataAlignment = DMA_MDATAALIGN_BYTE; + break; + case DATA_ALIGN_HALF_WORD: + sdma_ch->hdma->Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD; + break; + case DATA_ALIGN_WORD: + sdma_ch->hdma->Init.MemDataAlignment = DMA_MDATAALIGN_WORD; + break; + default: + return -EINVAL; + } + + switch (sdma_ch->per_data_alignment) { + case DATA_ALIGN_BYTE: + sdma_ch->hdma->Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE; + break; + case DATA_ALIGN_HALF_WORD: + sdma_ch->hdma->Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD; + break; + case DATA_ALIGN_WORD: + sdma_ch->hdma->Init.PeriphDataAlignment = DMA_PDATAALIGN_WORD; + break; + default: + return -EINVAL; + } + + switch (sdma_ch->dma_mode) { + case DMA_NORMAL_MODE: + sdma_ch->hdma->Init.Mode = DMA_NORMAL; + break; + case DMA_CIRCULAR_MODE: + sdma_ch->hdma->Init.Mode = DMA_CIRCULAR; + break; + default: + return -EINVAL; + } + + switch (xfer->xfer_type) { + case MEM_TO_MEM: + sdma_ch->hdma->Init.Direction = DMA_MEMORY_TO_MEMORY; + break; + case MEM_TO_DEV: + sdma_ch->hdma->Init.Direction = DMA_MEMORY_TO_PERIPH; + break; + case DEV_TO_MEM: + sdma_ch->hdma->Init.Direction = DMA_PERIPH_TO_MEMORY; + break; + default: + return -EINVAL; + } + + sdma_ch->src = xfer->src; + sdma_ch->dst = xfer->dst; + sdma_ch->length = xfer->length; + + ret = HAL_DMA_Init(sdma_ch->hdma); + if (ret != HAL_OK) + return -EINVAL; + + return 0; +} + +/** + * @brief Initialize a DMA controller. + * @param desc - Descriptor to be initialized. + * @param param - Initialization parameter for the decriptor. + * @return 0 in case of success + * -ENOMEM if there is not enough free memory + */ +int stm32_dma_init(struct no_os_dma_desc** desc, + const struct no_os_dma_init_param* param) +{ + struct no_os_dma_desc* descriptor; + int ret; + uint8_t i; + struct no_os_irq_init_param irq_param = { + .irq_ctrl_id = 0, + .platform_ops = &stm32_irq_ops, + .extra = NULL + }; + + if (!desc) + return -EINVAL; + + if (dma_descriptor) { + /* + * There is only one DMA controller and it's already + * initialized. + */ + *desc = dma_descriptor; + return 0; + } + + descriptor = no_os_calloc(1, sizeof(*descriptor)); + if (!descriptor) + return -ENOMEM; + + descriptor->channels = no_os_calloc(param->num_ch, + sizeof(*descriptor->channels)); + if (!descriptor->channels) { + ret = -ENOMEM; + goto free_descriptor; + } + + descriptor->id = param->id; + descriptor->num_ch = param->num_ch; + descriptor->sg_handler = param->sg_handler; + + for (i = 0; i < param->num_ch; i++) { + descriptor->channels[i].free = true; + } + + no_os_irq_ctrl_init(&descriptor->irq_ctrl, &irq_param); + + *desc = descriptor; + + return 0; + +free_descriptor: + no_os_free(descriptor); + descriptor = NULL; + + return ret; +} + +/** + * @brief Start a DMA transfer for a specific channel . + * @param desc - Descriptor for the DMA controller. + * @param chan - The DMA Channel + * @return 0 in case of success, negative error codes otherwise + */ +int stm32_dma_xfer_start(struct no_os_dma_desc *desc, + struct no_os_dma_ch *chan) +{ + int ret; + struct stm32_dma_channel* sdma_chan; + + if (!desc || !chan || !chan->extra) + return -EINVAL; + + sdma_chan = chan->extra; + + if (chan->irq_num) { + ret = HAL_DMA_Start_IT(sdma_chan->hdma, (uint32_t)sdma_chan->src, + (uint32_t)sdma_chan->dst, sdma_chan->length); + } else { + ret = HAL_DMA_Start(sdma_chan->hdma, (uint32_t)sdma_chan->src, + (uint32_t)sdma_chan->dst, sdma_chan->length); + } + + if (ret != HAL_OK) + return -EINVAL; + + return 0; +} + +/** + * @brief Disable a DMA channel. + * @param desc - Descriptor for the DMA controller. + * @param chan - The DMA Channel + * @return 0 in case of success, negative error codes otherwise + */ +int stm32_dma_xfer_abort(struct no_os_dma_desc* desc, + struct no_os_dma_ch* chan) +{ + int ret; + struct stm32_dma_channel* sdma_chan; + + if (!desc || !chan || !chan->extra) + return -EINVAL; + + sdma_chan = chan->extra; + + if (chan->irq_num) + ret = HAL_DMA_Abort_IT(sdma_chan->hdma); + else + ret = HAL_DMA_Abort(sdma_chan->hdma); + + if (ret != HAL_OK) + return -EINVAL; + + return 0; +} + +/** + * @brief Free the resources allocated for a DMA descriptor. + * @param desc - Descriptor to be freed. + * @return 0 in case of success, negative error code otherwise + */ +int stm32_dma_remove(struct no_os_dma_desc* desc) +{ + no_os_irq_ctrl_remove(desc->irq_ctrl); + + no_os_free(desc->channels); + + no_os_free(desc); + + dma_descriptor = NULL; + + return 0; +} + +/** + * @brief stm32 platform specific DMA platform ops structure + */ +const struct no_os_dma_platform_ops stm32_dma_ops = { + .dma_init = stm32_dma_init, + .dma_config_xfer = stm32_dma_config_xfer, + .dma_xfer_start = stm32_dma_xfer_start, + .dma_xfer_abort = stm32_dma_xfer_abort, + .dma_remove = stm32_dma_remove +}; + diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_dma.h b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_dma.h new file mode 100644 index 0000000..7ba742e --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_dma.h @@ -0,0 +1,101 @@ +/***************************************************************************//** + * @file stm32_dma.h + * @brief Platform independent function definitions and data types + * for the DMA API. + * @author Janani Sunil (janani.sunil@analog.com) +******************************************************************************** + * Copyright 2024(c) Analog Devices, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. Neither the name of Analog Devices, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from this + * software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY ANALOG DEVICES, INC. “AS IS” AND ANY EXPRESS OR + * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO + * EVENT SHALL ANALOG DEVICES, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ + +#ifndef STM32_DMA_H_ +#define STM32_DMA_H_ + +#include "no_os_dma.h" +#include "stm32_hal.h" + +/** + * @enum stm32_dma_data_alignment + * @brief DMA Data alignment + */ +enum stm32_dma_data_alignment { + DATA_ALIGN_BYTE = 0, + DATA_ALIGN_HALF_WORD = 1, + DATA_ALIGN_WORD = 2 +}; + +/** + * @enum stm32_dma_mode + * @brief DMA Data Modes + */ +enum stm32_dma_mode { + DMA_NORMAL_MODE = 0, + DMA_CIRCULAR_MODE = 1 +}; + +/** + * @struct stm32_dma_channel + * @brief STM32 DMA Channels + */ +struct stm32_dma_channel { + /* DMA Handle */ + DMA_HandleTypeDef *hdma; + /* Channel Number */ + uint32_t ch_num; + /* Memory Increment */ + bool mem_increment; + /* Peripheral Increment */ + bool per_increment; + /* Memory Data Alignment */ + enum stm32_dma_data_alignment mem_data_alignment; + /* Peripheral Data Alignment */ + enum stm32_dma_data_alignment per_data_alignment; + /* DMA Mode */ + enum stm32_dma_mode dma_mode; + /* Source Address for the data */ + uint8_t* src; + /* Destination Address for the data */ + uint8_t* dst; + /* Transfer length in Bytes */ + uint32_t length; +}; + +struct stm32_dma_init_param { + /* DMA Channel descriptor */ + struct stm32_dma_channel *chn; +}; + +struct stm32_dma_desc { + /* DMA Channel Descriptor */ + struct stm32_dma_channel* chn; +}; + +extern const struct no_os_dma_platform_ops stm32_dma_ops; +extern const struct no_os_dma_platform_ops stm32_gpdma_ops; + +#endif + diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_gpio.c b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_gpio.c new file mode 100644 index 0000000..c0f71f2 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_gpio.c @@ -0,0 +1,394 @@ +/***************************************************************************//** + * @file stm32/stm32_gpio.c + * @brief Implementation of stm32 gpio functionality. + * @author Darius Berghe (darius.berghe@analog.com) +******************************************************************************** + * Copyright 2020(c) Analog Devices, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. Neither the name of Analog Devices, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from this + * software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY ANALOG DEVICES, INC. “AS IS” AND ANY EXPRESS OR + * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO + * EVENT SHALL ANALOG DEVICES, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ +#include +#include +#include "no_os_util.h" +#include "no_os_gpio.h" +#include "no_os_alloc.h" +#include "stm32_gpio.h" + +/** + * @brief Prepare the GPIO decriptor. + * @param desc - The GPIO descriptor. + * @param param - The structure that contains the GPIO parameters. + * @return 0 in case of success, -1 otherwise. + */ +static int32_t _gpio_init(struct no_os_gpio_desc *desc, + const struct no_os_gpio_init_param *param) +{ + int32_t ret = 0; + struct stm32_gpio_desc *extra = desc->extra; + struct stm32_gpio_init_param *pextra = param->extra; + uint32_t mode = GPIO_MODE_INPUT; + uint32_t speed = GPIO_SPEED_FREQ_LOW; + + if (!param) + return -EINVAL; + + /* enable gpio port in RCC */ + if (param->port == 0) { + __HAL_RCC_GPIOA_CLK_ENABLE(); + extra->port = GPIOA; + } +#ifdef GPIOB + else if (param->port == 1) { + __HAL_RCC_GPIOB_CLK_ENABLE(); + extra->port = GPIOB; + } +#endif +#ifdef GPIOC + else if (param->port == 2) { + __HAL_RCC_GPIOC_CLK_ENABLE(); + extra->port = GPIOC; + } +#endif +#ifdef GPIOD + else if (param->port == 3) { + __HAL_RCC_GPIOD_CLK_ENABLE(); + extra->port = GPIOD; + } +#endif +#ifdef GPIOE + else if (param->port == 4) { + __HAL_RCC_GPIOE_CLK_ENABLE(); + extra->port = GPIOE; + } +#endif +#ifdef GPIOF + else if (param->port == 5) { + __HAL_RCC_GPIOF_CLK_ENABLE(); + extra->port = GPIOF; + } +#endif +#ifdef GPIOG + else if (param->port == 6) { + __HAL_RCC_GPIOG_CLK_ENABLE(); + extra->port = GPIOG; + } +#endif +#ifdef GPIOH + else if (param->port == 7) { + __HAL_RCC_GPIOH_CLK_ENABLE(); + extra->port = GPIOH; + } +#endif +#ifdef GPIOI + else if (param->port == 8) { + __HAL_RCC_GPIOI_CLK_ENABLE(); + extra->port = GPIOI; + } +#endif +#ifdef GPIOJ + else if (param->port == 9) { + __HAL_RCC_GPIOJ_CLK_ENABLE(); + extra->port = GPIOJ; + } +#endif +#ifdef GPIOK + else if (param->port == 10) { + __HAL_RCC_GPIOK_CLK_ENABLE(); + extra->port = GPIOK; + } +#endif + else + return -EINVAL; + + if (param->extra) { + mode = pextra->mode; + speed = pextra->speed; + } + + if (!IS_GPIO_MODE(mode)) + return -EINVAL; + + switch (mode) { + case GPIO_MODE_INPUT: + case GPIO_MODE_OUTPUT_PP: + case GPIO_MODE_OUTPUT_OD: + break; + case GPIO_MODE_AF_PP: + extra->gpio_config.Alternate = pextra->alternate; + break; + default: + return -EINVAL; + } + + /* copy the settings to gpio descriptor */ + desc->port = param->port; + desc->number = param->number; + desc->pull = param->pull; + + switch (param->pull) { + case NO_OS_PULL_NONE: + extra->gpio_config.Pull = GPIO_NOPULL; + break; + case NO_OS_PULL_UP: + case NO_OS_PULL_UP_WEAK: + extra->gpio_config.Pull = GPIO_PULLUP; + break; + case NO_OS_PULL_DOWN: + case NO_OS_PULL_DOWN_WEAK: + extra->gpio_config.Pull = GPIO_PULLDOWN; + break; + default: + return -EINVAL; + } + + /* configure gpio with user configuration */ + extra->gpio_config.Pin = NO_OS_BIT(param->number); + extra->gpio_config.Mode = mode; + extra->gpio_config.Speed = speed; + + HAL_GPIO_Init(extra->port, &extra->gpio_config); + + return ret; +} + +/** + * @brief Obtain the GPIO decriptor. + * @param desc - The GPIO descriptor. + * @param param - GPIO initialization parameters + * @return 0 in case of success, -1 otherwise. + */ +int32_t stm32_gpio_get(struct no_os_gpio_desc **desc, + const struct no_os_gpio_init_param *param) +{ + struct no_os_gpio_desc *descriptor; + struct stm32_gpio_desc *extra; + int32_t ret; + + if (!desc || !param) + return -EINVAL; + + descriptor = (struct no_os_gpio_desc *)no_os_malloc(sizeof(*descriptor)); + if (!descriptor) { + ret = -ENOMEM; + goto error; + } + extra = (struct stm32_gpio_desc*)no_os_malloc(sizeof(*extra)); + if (!extra) { + ret = -ENOMEM; + goto error; + } + + descriptor->extra = extra; + ret = _gpio_init(descriptor, param); + if (ret < 0) + goto error; + + *desc = descriptor; + + return 0; +error: + no_os_free(extra); + no_os_free(descriptor); + + return ret; +} + +/** + * @brief Get the value of an optional GPIO. + * @param desc - The GPIO descriptor. + * @param param - GPIO Initialization parameters. + * @return 0 in case of success, -1 otherwise. + */ +int32_t stm32_gpio_get_optional(struct no_os_gpio_desc **desc, + const struct no_os_gpio_init_param *param) +{ + if (param == NULL) { + *desc = NULL; + return 0; + } + + return stm32_gpio_get(desc, param); +} + +/** + * @brief Free the resources allocated by no_os_gpio_get(). + * @param desc - The GPIO descriptor. + * @return 0 in case of success, -1 otherwise. + */ +int32_t stm32_gpio_remove(struct no_os_gpio_desc *desc) +{ + if (desc != NULL) + no_os_free(desc->extra); + + no_os_free(desc); + + return 0; +} + +/** + * @brief Enable the input direction of the specified GPIO. + * @param desc - The GPIO descriptor. + * @return 0 in case of success, -1 otherwise. + */ +int32_t stm32_gpio_direction_input(struct no_os_gpio_desc *desc) +{ + struct stm32_gpio_desc *extra; + + if (!desc) + return -EINVAL; + + if (!desc->extra) + return -EFAULT; + + extra = desc->extra; + + /* configure gpio with user configuration */ + extra->gpio_config.Mode = GPIO_MODE_INPUT; + HAL_GPIO_Init(extra->port, &extra->gpio_config); + + return 0; +} + +/** + * @brief Enable the output direction of the specified GPIO. + * @param desc - The GPIO descriptor. + * @param value - The value. + * Example: NO_OS_GPIO_HIGH + * NO_OS_GPIO_LOW + * @return 0 in case of success, -1 otherwise. + */ +int32_t stm32_gpio_direction_output(struct no_os_gpio_desc *desc, + uint8_t value) +{ + struct stm32_gpio_desc *extra; + + if (!desc) + return -EINVAL; + + if (!desc->extra) + return -EFAULT; + + extra = desc->extra; + + /* configure gpio output level */ + HAL_GPIO_WritePin(extra->port, NO_OS_BIT(desc->number), (GPIO_PinState)value); + + /* configure gpio with user configuration */ + if (extra->gpio_config.Mode == GPIO_MODE_INPUT) + extra->gpio_config.Mode = GPIO_MODE_OUTPUT_PP; + HAL_GPIO_Init(extra->port, &extra->gpio_config); + + return 0; +} + +/** + * @brief Get the direction of the specified GPIO. + * @param desc - The GPIO descriptor. + * @param direction - The direction. + * Example: NO_OS_GPIO_OUT + * NO_OS_GPIO_IN + * @return 0 in case of success, -1 otherwise. + */ +int32_t stm32_gpio_get_direction(struct no_os_gpio_desc *desc, + uint8_t *direction) +{ + if (!desc || !direction) + return -EINVAL; + + struct stm32_gpio_desc *extra = desc->extra; + if (!extra->gpio_config.Mode) + *direction = NO_OS_GPIO_IN; + else + *direction = NO_OS_GPIO_OUT; + return 0; +} + +/** + * @brief Set the value of the specified GPIO. + * @param desc - The GPIO descriptor. + * @param value - The value. + * Example: NO_OS_GPIO_HIGH + * NO_OS_GPIO_LOW + * @return 0 in case of success, -1 otherwise. + */ +int32_t stm32_gpio_set_value(struct no_os_gpio_desc *desc, + uint8_t value) +{ + struct stm32_gpio_desc *extra; + + if (!desc) + return -EINVAL; + + if (!desc->extra) + return -EFAULT; + + extra = desc->extra; + + /* configure gpio output level */ + HAL_GPIO_WritePin(extra->port, NO_OS_BIT(desc->number), (GPIO_PinState)value); + + return 0; +} + +/** + * @brief Get the value of the specified GPIO. + * @param desc - The GPIO descriptor. + * @param value - The value. + * Example: NO_OS_GPIO_HIGH + * NO_OS_GPIO_LOW + * @return 0 in case of success, -1 otherwise. + */ +int32_t stm32_gpio_get_value(struct no_os_gpio_desc *desc, + uint8_t *value) +{ + struct stm32_gpio_desc *extra; + + if (!desc || !value) + return -EINVAL; + + if (!desc->extra) + return -EFAULT; + + extra = desc->extra; + + *value = (uint8_t)HAL_GPIO_ReadPin(extra->port, NO_OS_BIT(desc->number)); + + return 0; +} + +/** + * @brief stm32 platform specific GPIO platform ops structure + */ +const struct no_os_gpio_platform_ops stm32_gpio_ops = { + .gpio_ops_get = &stm32_gpio_get, + .gpio_ops_get_optional = &stm32_gpio_get_optional, + .gpio_ops_remove = &stm32_gpio_remove, + .gpio_ops_direction_input = &stm32_gpio_direction_input, + .gpio_ops_direction_output = &stm32_gpio_direction_output, + .gpio_ops_get_direction = &stm32_gpio_get_direction, + .gpio_ops_set_value = &stm32_gpio_set_value, + .gpio_ops_get_value = &stm32_gpio_get_value, +}; diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_gpio.h b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_gpio.h new file mode 100644 index 0000000..539ed62 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_gpio.h @@ -0,0 +1,69 @@ +/***************************************************************************//** + * @file stm32/stm32_gpio.h + * @brief Header file for stm32 gpio specifics. + * @author Darius Berghe (darius.berghe@analog.com) +******************************************************************************** + * Copyright 2020(c) Analog Devices, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. Neither the name of Analog Devices, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from this + * software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY ANALOG DEVICES, INC. “AS IS” AND ANY EXPRESS OR + * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO + * EVENT SHALL ANALOG DEVICES, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ +#ifndef STM32_GPIO_H_ +#define STM32_GPIO_H_ + +#include +#include +#include "stm32_hal.h" + +/** + * @struct stm32_gpio_init_param + * @brief Structure holding the initialization parameters for stm32 platform + */ +struct stm32_gpio_init_param { + /** Output mode */ + uint32_t mode; + /** Speed grade */ + uint32_t speed; + /** Alternate functionality */ + uint32_t alternate; +}; + +/** + * @struct stm32_gpio_desc + * @brief stm32 platform specific gpio descriptor + */ +struct stm32_gpio_desc { + /** Port */ + GPIO_TypeDef *port; + /** GPIO configuration */ + GPIO_InitTypeDef gpio_config; +}; + +/** + * @brief stm32 platform specific gpio platform ops structure + */ +extern const struct no_os_gpio_platform_ops stm32_gpio_ops; + +#endif diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_gpio_irq.c b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_gpio_irq.c new file mode 100644 index 0000000..c0cb6fc --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_gpio_irq.c @@ -0,0 +1,463 @@ +/***************************************************************************//** + * @file stm32/stm32_gpio_irq.c + * @brief Source file for GPIO IRQ driver. + * @author Ramona Bolboaca (ramona.bolboaca@analog.com) +******************************************************************************** + * Copyright 2022(c) Analog Devices, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. Neither the name of Analog Devices, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from this + * software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY ANALOG DEVICES, INC. “AS IS” AND ANY EXPRESS OR + * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO + * EVENT SHALL ANALOG DEVICES, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ + +#include +#include +#include +#include "no_os_list.h" +#include "no_os_irq.h" +#include "no_os_util.h" +#include "no_os_alloc.h" +#include "stm32_gpio_irq.h" + +#define STM32_IRQ_CTRL_NB 16 + +/** + * @brief Struct used to store a (peripheral, callback) pair + */ +struct irq_action { + uint32_t irq_id; + void (*callback)(void *context); + void *ctx; +}; + +static struct no_os_list_desc *actions; + +static int32_t irq_action_cmp(void *data1, void *data2) +{ + return ((struct irq_action *)data1)->irq_id - + ((struct irq_action *)data2)->irq_id; +} + +static bool initialized[STM32_IRQ_CTRL_NB] = {false}; + +/** + * @brief Generic Interrupt handler callback + * @param pin pin number on which the interrupt occurred (GPIO_PIN_pin) + */ +static inline void stm32_handle_generic_callback(uint16_t pin) +{ + int ret; + struct irq_action *action; + struct irq_action key; + + key.irq_id = no_os_find_first_set_bit(pin); + + ret = no_os_list_read_find(actions, (void **)&action, &key); + if (ret) + return; + + if (action->callback) + action->callback(action->ctx); +} + +/** + * @brief EXTI GPIO Interrupt handler callback + * @param pin pin number on which the interrupt occurred (GPIO_PIN_pin) + */ +void HAL_GPIO_EXTI_Callback(uint16_t pin) +{ + stm32_handle_generic_callback(pin); +} + +/** + * @brief EXTI GPIO Interrupt handler callback for rising edge detection + * @param pin pin number on which the interrupt occurred (GPIO_PIN_pin) + */ +void HAL_GPIO_EXTI_Rising_Callback(uint16_t pin) +{ + stm32_handle_generic_callback(pin); +} + +/** + * @brief EXTI GPIO Interrupt handler callback for falling edge detection + * @param pin pin number on which the interrupt occurred (GPIO_PIN_pin) + */ +void HAL_GPIO_EXTI_Falling_Callback(uint16_t pin) +{ + stm32_handle_generic_callback(pin); +} + +/** + * @brief Initialize the GPIO interrupt controller + * @param desc - Pointer where the configured instance is stored + * @param param - Configuration information for the instance + * @return 0 in case of success, errno error codes otherwise. + */ +static int stm32_gpio_irq_ctrl_init(struct no_os_irq_ctrl_desc **desc, + const struct no_os_irq_init_param *param) +{ + static struct no_os_irq_ctrl_desc *gpio_irq_desc_arr[STM32_IRQ_CTRL_NB]; + + int ret; + struct no_os_irq_ctrl_desc *gpio_irq_desc; + struct stm32_gpio_irq_desc *sdesc; + struct stm32_gpio_irq_init_param *gpio_irq_ip; + + if (!param || !param->extra) + return -EINVAL; + + gpio_irq_ip = param->extra; + + /* Check port number */ + if (!IS_EXTI_GPIO_PORT(gpio_irq_ip->port_nb)) + return -EINVAL; + + /* Check pin number */ + if (!IS_EXTI_GPIO_PIN(param->irq_ctrl_id)) + return -EINVAL; + + if (!initialized[param->irq_ctrl_id]) { + + gpio_irq_desc = no_os_calloc(1, sizeof(*gpio_irq_desc)); + if (!gpio_irq_desc) + return -ENOMEM; + + sdesc = (struct stm32_gpio_irq_desc*)no_os_calloc(1, sizeof(*sdesc)); + if (!sdesc) { + ret = -ENOMEM; + goto error; + } + /* Add port number */ + sdesc->port_nb = gpio_irq_ip->port_nb; + + gpio_irq_desc->extra = sdesc; + gpio_irq_desc->irq_ctrl_id = param->irq_ctrl_id; + + ret = no_os_list_init(&actions, NO_OS_LIST_PRIORITY_LIST, irq_action_cmp); + if (ret) + goto error; + + gpio_irq_desc_arr[param->irq_ctrl_id] = gpio_irq_desc; + initialized[param->irq_ctrl_id] = true; + } + + *desc = gpio_irq_desc_arr[param->irq_ctrl_id]; + + return 0; +error: + no_os_list_remove(actions); + no_os_free(gpio_irq_desc); + no_os_free(sdesc); + + return ret; +} + +/** + * @brief Free the resources allocated by irq_ctrl_init() + * @param desc - GPIO interrupt controller descriptor. + * @return 0 in case of success, errno error codes otherwise. + */ +static int stm32_gpio_irq_ctrl_remove(struct no_os_irq_ctrl_desc *desc) +{ + struct no_os_callback_desc *discard; + + if (!desc) + return -EINVAL; + + while (0 == no_os_list_get_first(actions, (void **)&discard)) + no_os_free(discard); + + no_os_list_remove(actions); + + initialized[desc->irq_ctrl_id] = false; + + no_os_free(desc->extra); + no_os_free(desc); + + return 0; +} + +/** + * @brief Set the trigger condition. + * @param desc - GPIO interrupt controller descriptor. + * @param irq_id - Not used, pin id is already present in desc. + * @param level - the trigger condition. + * @return 0 in case of success, errno error codes otherwise + */ +static int stm32_gpio_irq_trigger_level_set(struct no_os_irq_ctrl_desc + *desc, + uint32_t irq_id, + enum no_os_irq_trig_level level) +{ + int ret; + EXTI_ConfigTypeDef config; + struct stm32_gpio_irq_desc *sdesc; + + if (!desc || !desc->extra || !IS_EXTI_GPIO_PIN(desc->irq_ctrl_id)) + return -EINVAL; + + sdesc = desc->extra; + + ret = HAL_EXTI_GetConfigLine(&sdesc->hexti, &config); + if (ret != HAL_OK) + return -EFAULT; + + switch (level) { + case NO_OS_IRQ_EDGE_FALLING: + config.Trigger = EXTI_TRIGGER_FALLING; + break; + case NO_OS_IRQ_EDGE_RISING: + config.Trigger = EXTI_TRIGGER_RISING; + break; + case NO_OS_IRQ_EDGE_BOTH: + config.Trigger = EXTI_TRIGGER_RISING_FALLING; + break; + default: + return -EINVAL; + } + + config.GPIOSel = sdesc->port_nb; + ret = HAL_EXTI_SetConfigLine(&sdesc->hexti, &config); + if (ret != HAL_OK) + return -EFAULT; + + return 0; +} + +/** + * @brief Register a callback function to be triggered when an + * interrupt occurs. + * @param desc - GPIO interrupt controller descriptor. + * @param irq_id - Not used, pin id is already present in desc. + * @param cb - Descriptor of the callback. + * @return 0 if successful, negative error code otherwise. + */ +static int stm32_gpio_irq_register_callback(struct no_os_irq_ctrl_desc + *desc, + uint32_t irq_id, + struct no_os_callback_desc *cb) +{ + int ret; + struct irq_action *action; + struct irq_action action_key = {.irq_id = desc->irq_ctrl_id}; + struct stm32_gpio_irq_desc *sdesc; + + if (!desc || !desc->extra || !cb || !IS_EXTI_GPIO_PIN(desc->irq_ctrl_id)) + return -EINVAL; + + sdesc = desc->extra; + + ret = no_os_list_read_find(actions, (void **)&action, &action_key); + /* + * If no action was found, insert a new one, otherwise update it + */ + if (ret) { + action = no_os_calloc(1, sizeof(*action)); + if (!action) + return -ENOMEM; + + action->irq_id = desc->irq_ctrl_id; + action->ctx = cb->ctx; + action->callback = cb->callback; + + ret = no_os_list_add_last(actions, action); + if (ret) + goto free_action; + } else { + action->irq_id = desc->irq_ctrl_id; + action->ctx = cb->ctx; + action->callback = cb->callback; + } + + EXTI_ConfigTypeDef config; + config.Mode = EXTI_MODE_INTERRUPT; + config.GPIOSel = sdesc->port_nb; + config.Line = EXTI_GPIO | desc->irq_ctrl_id; + ret = HAL_EXTI_SetConfigLine(&sdesc->hexti, &config); + if (ret) { + ret = -EFAULT; + goto free_action; + } + + return 0; + +free_action: + no_os_free(action); + return ret; +} + +/** + * @brief Unregister a callback. + * @param desc - GPIO interrupt controller descriptor. + * @param irq_id - Not used, pin id is already present in desc. + * @param cb - Descriptor of the callback. + * @return 0 if successful, negative error code otherwise. + */ +static int stm32_gpio_irq_unregister_callback(struct no_os_irq_ctrl_desc + *desc, + uint32_t irq_id, struct no_os_callback_desc *cb) +{ + int ret; + struct irq_action *discard_action = NULL; + struct irq_action action_key = {.irq_id = desc->irq_ctrl_id}; + + if (!desc || !cb || !IS_EXTI_GPIO_PIN(desc->irq_ctrl_id)) + return -EINVAL; + + ret = no_os_list_read_find(actions, (void **)&discard_action, &action_key); + if (ret) + return -ENODEV; + + no_os_free(discard_action); + return 0; +} + +/** + * @brief Unused + * @param desc - GPIO interrupt controller descriptor. + * @return -ENOSYS + */ +static int stm32_gpio_irq_global_enable(struct no_os_irq_ctrl_desc *desc) +{ + return -ENOSYS; +} + +/** + * @brief Unused + * @param desc - GPIO interrupt controller descriptor. + * @return -ENOSYS + */ +static int stm32_gpio_irq_global_disable(struct no_os_irq_ctrl_desc *desc) +{ + return -ENOSYS; +} + +/** + * @brief Enable a specific gpio interrupt. + * @param desc - GPIO interrupt controller descriptor. + * @param irq_id - Not used, pin id is already present in desc. + * @return 0 in case of success, -EINVAL otherwise. + */ +static int stm32_gpio_irq_enable(struct no_os_irq_ctrl_desc *desc, + uint32_t irq_id) +{ + IRQn_Type nvic_irq_id; + int ret; + + if (!desc || !desc->extra || !IS_EXTI_GPIO_PIN(desc->irq_ctrl_id)) + return -EINVAL; + + ret = stm32_get_exti_irq_id_from_pin(desc->irq_ctrl_id, &nvic_irq_id); + if (ret) + return ret; + + HAL_NVIC_EnableIRQ(nvic_irq_id); + + return 0; +} + +/** + * @brief Disable a specific gpio interrupt. + * @param desc - GPIO interrupt controller descriptor. + * @param irq_id - Not used, pin id is already present in desc. + * @return 0 in case of success, -EINVAL otherwise. + */ +static int stm32_gpio_irq_disable(struct no_os_irq_ctrl_desc *desc, + uint32_t irq_id) +{ + IRQn_Type nvic_irq_id; + int ret; + + if (!desc || !desc->extra || !IS_EXTI_GPIO_PIN(desc->irq_ctrl_id)) + return -EINVAL; + + ret = stm32_get_exti_irq_id_from_pin(desc->irq_ctrl_id, &nvic_irq_id); + if (ret) + return ret; + + HAL_NVIC_DisableIRQ(nvic_irq_id); + + return 0; +} + +/* + * @brief Set the interrupt priority for the current GPIO pin. + * @param desc - GPIO interrupt controller descriptor. + * @param irq_id - Not used, pin id is already present in desc. + * @param priority_level - The interrupt priority level. + * @return 0 + */ +static int stm32_gpio_irq_set_priority(struct no_os_irq_ctrl_desc *desc, + uint32_t irq_id, + uint32_t priority_level) +{ + IRQn_Type nvic_irq_id; + int ret; + + if (!desc || !desc->extra || !IS_EXTI_GPIO_PIN(desc->irq_ctrl_id)) + return -EINVAL; + + ret = stm32_get_exti_irq_id_from_pin(desc->irq_ctrl_id, &nvic_irq_id); + if (ret) + return ret; + + NVIC_SetPriority(nvic_irq_id, priority_level); + + return 0; +} + +/* + * @brief Clear the pending interrupt for the current GPIO pin. + * @param desc - GPIO interrupt controller descriptor. + * @param irq_id - Not used, pin id is already present in desc. + * @return 0 + */ +static int stm32_irq_clear_pending(struct no_os_irq_ctrl_desc* desc, + uint32_t irq_id) +{ + if (!desc || !desc->extra || !IS_EXTI_GPIO_PIN(desc->irq_ctrl_id)) + return -EINVAL; + + if (__HAL_GPIO_EXTI_GET_IT(1 << (desc->irq_ctrl_id))) + __HAL_GPIO_EXTI_CLEAR_IT(1 << (desc->irq_ctrl_id)); + + return 0; +} + +/** + * @brief stm32 specific IRQ platform ops structure + */ +const struct no_os_irq_platform_ops stm32_gpio_irq_ops = { + .init = &stm32_gpio_irq_ctrl_init, + .trigger_level_set = &stm32_gpio_irq_trigger_level_set, + .register_callback = &stm32_gpio_irq_register_callback, + .unregister_callback = &stm32_gpio_irq_unregister_callback, + .global_enable = &stm32_gpio_irq_global_enable, + .global_disable = &stm32_gpio_irq_global_disable, + .enable = &stm32_gpio_irq_enable, + .disable = &stm32_gpio_irq_disable, + .set_priority = &stm32_gpio_irq_set_priority, + .remove = &stm32_gpio_irq_ctrl_remove, + .clear_pending = &stm32_irq_clear_pending +}; diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_gpio_irq.h b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_gpio_irq.h new file mode 100644 index 0000000..7c51317 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_gpio_irq.h @@ -0,0 +1,64 @@ +/***************************************************************************//** + * @file stm32/stm32_gpio_irq.h + * @brief Header file for stm32 gpio irq specifics. + * @author Ramona Bolboaca (ramona.bolboaca@analog.com) +******************************************************************************** + * Copyright 2022(c) Analog Devices, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. Neither the name of Analog Devices, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from this + * software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY ANALOG DEVICES, INC. “AS IS” AND ANY EXPRESS OR + * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO + * EVENT SHALL ANALOG DEVICES, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ +#ifndef STM32_GPIO_IRQ_H +#define STM32_GPIO_IRQ_H + +#include "no_os_irq.h" +#include "stm32_hal.h" + +/** + * @struct stm32_gpio_irq_init_param + * @brief Structure holding the initialization parameters for stm32 platform + * specific GPIO IRQ parameters. + */ +struct stm32_gpio_irq_init_param { + uint8_t port_nb; +}; + +/** + * @struct stm32_gpio_irq_desc + * @brief stm32 platform specific GPIO IRQ descriptor + */ +struct stm32_gpio_irq_desc { + /** EXTI line instance */ + EXTI_HandleTypeDef hexti; + /** Port number */ + uint8_t port_nb; +}; + +/** + * @brief stm32 platform specific irq platform ops structure + */ +extern const struct no_os_irq_platform_ops stm32_gpio_irq_ops; + +#endif diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_hal.h b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_hal.h new file mode 100644 index 0000000..d115d4c --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_hal.h @@ -0,0 +1,9 @@ +#ifndef _STM32_HAL_H +#define _STM32_HAL_H + +#include "main.h" + +int stm32_init(void); +int stm32_get_exti_irq_id_from_pin(uint8_t pin_nb, IRQn_Type *irq_id); + +#endif diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_i2c.c b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_i2c.c new file mode 100644 index 0000000..c35071f --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_i2c.c @@ -0,0 +1,227 @@ +/***************************************************************************//** + * @file stm32/stm32_i2c.c + * @brief Implementation of stm32 i2c driver. + * @author Darius Berghe (darius.berghe@analog.com) +******************************************************************************** + * Copyright 2021(c) Analog Devices, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. Neither the name of Analog Devices, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from this + * software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY ANALOG DEVICES, INC. “AS IS” AND ANY EXPRESS OR + * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO + * EVENT SHALL ANALOG DEVICES, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ +#include +#include +#include "no_os_util.h" +#include "no_os_alloc.h" +#include "no_os_i2c.h" +#include "stm32_i2c.h" + +/** + * @brief Initialize the I2C communication peripheral. + * @param desc - The I2C descriptor. + * @param param - The structure that contains the I2C parameters. + * @return 0 in case of success, -1 otherwise. + */ +int32_t stm32_i2c_init(struct no_os_i2c_desc **desc, + const struct no_os_i2c_init_param *param) +{ + int32_t ret; + struct no_os_i2c_desc *descriptor; + struct stm32_i2c_desc *xdesc; + struct stm32_i2c_init_param *i2cinit; + I2C_TypeDef *base = NULL; + + if (!desc || !param) + return -EINVAL; + + descriptor = (struct no_os_i2c_desc *)no_os_calloc(1, + sizeof(struct no_os_i2c_desc)); + if (!descriptor) + return -ENOMEM; + + xdesc = (struct stm32_i2c_desc *)no_os_calloc(1, sizeof(struct stm32_i2c_desc)); + if (!xdesc) { + ret = -ENOMEM; + goto error_1; + } + + i2cinit = param->extra; + descriptor->extra = xdesc; + + switch (param->device_id) { +#if defined(I2C1) + case 1: + base = I2C1; + break; +#endif +#if defined(I2C2) + case 2: + base = I2C2; + break; +#endif +#if defined(I2C3) + case 3: + base = I2C3; + break; +#endif + default: + ret = -EINVAL; + goto error_2; + }; + + xdesc->hi2c.Instance = base; +#if defined (STM32F4) || defined (STM32F1) || defined (STM32F2) || defined (STM32L1) + xdesc->hi2c.Init.ClockSpeed = param->max_speed_hz; + xdesc->hi2c.Init.DutyCycle = I2C_DUTYCYCLE_2; +#else + xdesc->hi2c.Init.Timing = i2cinit->i2c_timing; +#endif + xdesc->hi2c.Init.OwnAddress1 = 0; + xdesc->hi2c.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT; + xdesc->hi2c.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE; + xdesc->hi2c.Init.OwnAddress2 = 0; + xdesc->hi2c.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE; + xdesc->hi2c.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE; + + ret = HAL_I2C_Init(&xdesc->hi2c); + if (ret != HAL_OK) { + ret = -EIO; + goto error_2; + } + + /* copy settings to device descriptor */ + descriptor->device_id = param->device_id; + descriptor->max_speed_hz = param->max_speed_hz; + descriptor->slave_address = param->slave_address; + *desc = descriptor; + + return 0; +error_2: + no_os_free(xdesc); +error_1: + no_os_free(descriptor); + return ret; +} + +/** + * @brief Free the resources allocated by no_os_i2c_init(). + * @param desc - The I2C descriptor. + * @return 0 in case of success, -1 otherwise. + */ +int32_t stm32_i2c_remove(struct no_os_i2c_desc *desc) +{ + struct stm32_i2c_desc *sdesc; + + if (!desc || !desc->extra) + return -EINVAL; + + sdesc = desc->extra; + HAL_I2C_DeInit(&sdesc->hi2c); + no_os_free(desc->extra); + no_os_free(desc); + return 0; +} + +/** + * @brief I2C write transaction as master. + * @param desc - The I2C descriptor. + * @param data - The buffer with the data to transmit. + * @param bytes_number - Number of bytes in the buffer. + * @param stop_bit - Specifis whether to end the transaction with a stop bit. + * @return 0 in case of success, -1 otherwise. + */ +int32_t stm32_i2c_write(struct no_os_i2c_desc *desc, + uint8_t *data, + uint8_t bytes_number, + uint8_t stop_bit) +{ + int ret; + struct stm32_i2c_desc *xdesc; + + if (!desc || !desc->extra || !data) + return -EINVAL; + + xdesc = desc->extra; + + if (!stop_bit) { + ret = HAL_I2C_Master_Seq_Transmit_IT(&xdesc->hi2c, desc->slave_address << 1, + data, + bytes_number, I2C_FIRST_FRAME); + } else { + ret = HAL_I2C_Master_Transmit(&xdesc->hi2c, desc->slave_address << 1, data, + bytes_number, HAL_MAX_DELAY); + } + + if (ret != HAL_OK) + return -EIO; + + return 0; +} + +/** + * @brief I2C read transaction as master. + * @param desc - The I2C descriptor. + * @param data - The buffer where received data is to be stored. + * @param bytes_number - Number of bytes to receive. + * @param stop_bit - Specifis whether to end the transaction with a stop bit. + * @return 0 in case of success, -1 otherwise. + */ + +int32_t stm32_i2c_read(struct no_os_i2c_desc *desc, + uint8_t *data, + uint8_t bytes_number, + uint8_t stop_bit) +{ + int ret; + struct stm32_i2c_desc *xdesc; + + if (!desc || !desc->extra || !data) + return -EINVAL; + + xdesc = desc->extra; + + if (!stop_bit) { + ret = HAL_I2C_Master_Seq_Receive_IT(&xdesc->hi2c, desc->slave_address << 1, + data, + bytes_number, I2C_LAST_FRAME); + } else { + ret = HAL_I2C_Master_Receive(&xdesc->hi2c, desc->slave_address << 1, data, + bytes_number, HAL_MAX_DELAY); + } + + if (ret != HAL_OK) + return -EIO; + + return 0; +} + +/** + * @brief stm32 platform specific I2C platform ops structure + */ +const struct no_os_i2c_platform_ops stm32_i2c_ops = { + .i2c_ops_init = &stm32_i2c_init, + .i2c_ops_write = &stm32_i2c_write, + .i2c_ops_read = &stm32_i2c_read, + .i2c_ops_remove = &stm32_i2c_remove +}; diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_i2c.h b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_i2c.h new file mode 100644 index 0000000..6941d9f --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_i2c.h @@ -0,0 +1,64 @@ +/***************************************************************************//** + * @file stm32/stm32_i2c.h + * @brief Header file for the stm32 i2c driver. + * @author Darius Berghe (darius.berghe@analog.com) +******************************************************************************** + * Copyright 2021(c) Analog Devices, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. Neither the name of Analog Devices, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from this + * software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY ANALOG DEVICES, INC. “AS IS” AND ANY EXPRESS OR + * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO + * EVENT SHALL ANALOG DEVICES, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ +#ifndef STM32_I2C_H_ +#define STM32_I2C_H_ + +#include +#include "no_os_i2c.h" +#include "stm32_hal.h" + +/** + * @struct stm32_i2c_desc + * @brief stm32 platform specific I2C descriptor + */ +struct stm32_i2c_desc { + /** I2C instance */ + I2C_HandleTypeDef hi2c; +}; + +/** + * @struct stm32_i2c_init_param + * @brief Structure holding the initialization parameters for stm32 platform + * specific I2C parameters. + */ +struct stm32_i2c_init_param { + /** I2C Timing */ + uint32_t i2c_timing; +}; + +/** + * @brief stm32 specific I2C platform ops structure + */ +extern const struct no_os_i2c_platform_ops stm32_i2c_ops; + +#endif // STM32_I2C_H_ diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_irq.c b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_irq.c new file mode 100644 index 0000000..334e1cd --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_irq.c @@ -0,0 +1,701 @@ +/***************************************************************************//** + * @file stm32/stm32_irq.c + * @brief Implementation of external irq driver. + * @author Darius Berghe (darius.berghe@analog.com) +******************************************************************************** + * Copyright 2022(c) Analog Devices, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. Neither the name of Analog Devices, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from this + * software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY ANALOG DEVICES, INC. “AS IS” AND ANY EXPRESS OR + * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO + * EVENT SHALL ANALOG DEVICES, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ + +#include +#include +#include +#include "main.h" +#include "no_os_list.h" +#include "no_os_irq.h" +#include "no_os_util.h" +#include "no_os_alloc.h" +#include "stm32_irq.h" +#include "stm32_hal.h" +#include "stm32f7xx_hal.h" +#include "stm32f7xx_hal_uart.h" +#include "stm32f7xx_hal_conf.h" +#include "stm32f7xx_hal_def.h" +#include "stm32f7xx_hal_tim.h" + +struct irq_action { + void *handle; + void (*callback)(void *context); + void *ctx; +}; + +struct event_list { + enum no_os_irq_event event; + uint32_t hal_event; + struct no_os_list_desc *actions; +}; + +static bool initialized = false; + +typedef enum +{ + HAL_UART_TX_HALFCOMPLETE_CB_ID = 0x00U, /*!< UART Tx Half Complete Callback ID */ + HAL_UART_TX_COMPLETE_CB_ID = 0x01U, /*!< UART Tx Complete Callback ID */ + HAL_UART_RX_HALFCOMPLETE_CB_ID = 0x02U, /*!< UART Rx Half Complete Callback ID */ + HAL_UART_RX_COMPLETE_CB_ID = 0x03U, /*!< UART Rx Complete Callback ID */ + HAL_UART_ERROR_CB_ID = 0x04U, /*!< UART Error Callback ID */ + HAL_UART_ABORT_COMPLETE_CB_ID = 0x05U, /*!< UART Abort Complete Callback ID */ + HAL_UART_ABORT_TRANSMIT_COMPLETE_CB_ID = 0x06U, /*!< UART Abort Transmit Complete Callback ID */ + HAL_UART_ABORT_RECEIVE_COMPLETE_CB_ID = 0x07U, /*!< UART Abort Receive Complete Callback ID */ + HAL_UART_WAKEUP_CB_ID = 0x08U, /*!< UART Wakeup Callback ID */ + + HAL_UART_MSPINIT_CB_ID = 0x0BU, /*!< UART MspInit callback ID */ + HAL_UART_MSPDEINIT_CB_ID = 0x0CU /*!< UART MspDeInit callback ID */ + +} HAL_UART_CallbackIDTypeDef; + +typedef enum +{ + HAL_TIM_BASE_MSPINIT_CB_ID = 0x00U /*!< TIM Base MspInit Callback ID */ + , HAL_TIM_BASE_MSPDEINIT_CB_ID = 0x01U /*!< TIM Base MspDeInit Callback ID */ + , HAL_TIM_IC_MSPINIT_CB_ID = 0x02U /*!< TIM IC MspInit Callback ID */ + , HAL_TIM_IC_MSPDEINIT_CB_ID = 0x03U /*!< TIM IC MspDeInit Callback ID */ + , HAL_TIM_OC_MSPINIT_CB_ID = 0x04U /*!< TIM OC MspInit Callback ID */ + , HAL_TIM_OC_MSPDEINIT_CB_ID = 0x05U /*!< TIM OC MspDeInit Callback ID */ + , HAL_TIM_PWM_MSPINIT_CB_ID = 0x06U /*!< TIM PWM MspInit Callback ID */ + , HAL_TIM_PWM_MSPDEINIT_CB_ID = 0x07U /*!< TIM PWM MspDeInit Callback ID */ + , HAL_TIM_ONE_PULSE_MSPINIT_CB_ID = 0x08U /*!< TIM One Pulse MspInit Callback ID */ + , HAL_TIM_ONE_PULSE_MSPDEINIT_CB_ID = 0x09U /*!< TIM One Pulse MspDeInit Callback ID */ + , HAL_TIM_ENCODER_MSPINIT_CB_ID = 0x0AU /*!< TIM Encoder MspInit Callback ID */ + , HAL_TIM_ENCODER_MSPDEINIT_CB_ID = 0x0BU /*!< TIM Encoder MspDeInit Callback ID */ + , HAL_TIM_HALL_SENSOR_MSPINIT_CB_ID = 0x0CU /*!< TIM Hall Sensor MspDeInit Callback ID */ + , HAL_TIM_HALL_SENSOR_MSPDEINIT_CB_ID = 0x0DU /*!< TIM Hall Sensor MspDeInit Callback ID */ + , HAL_TIM_PERIOD_ELAPSED_CB_ID = 0x0EU /*!< TIM Period Elapsed Callback ID */ + , HAL_TIM_PERIOD_ELAPSED_HALF_CB_ID = 0x0FU /*!< TIM Period Elapsed half complete Callback ID */ + , HAL_TIM_TRIGGER_CB_ID = 0x10U /*!< TIM Trigger Callback ID */ + , HAL_TIM_TRIGGER_HALF_CB_ID = 0x11U /*!< TIM Trigger half complete Callback ID */ + , HAL_TIM_IC_CAPTURE_CB_ID = 0x12U /*!< TIM Input Capture Callback ID */ + , HAL_TIM_IC_CAPTURE_HALF_CB_ID = 0x13U /*!< TIM Input Capture half complete Callback ID */ + , HAL_TIM_OC_DELAY_ELAPSED_CB_ID = 0x14U /*!< TIM Output Compare Delay Elapsed Callback ID */ + , HAL_TIM_PWM_PULSE_FINISHED_CB_ID = 0x15U /*!< TIM PWM Pulse Finished Callback ID */ + , HAL_TIM_PWM_PULSE_FINISHED_HALF_CB_ID = 0x16U /*!< TIM PWM Pulse Finished half complete Callback ID */ + , HAL_TIM_ERROR_CB_ID = 0x17U /*!< TIM Error Callback ID */ + , HAL_TIM_COMMUTATION_CB_ID = 0x18U /*!< TIM Commutation Callback ID */ + , HAL_TIM_COMMUTATION_HALF_CB_ID = 0x19U /*!< TIM Commutation half complete Callback ID */ + , HAL_TIM_BREAK_CB_ID = 0x1AU /*!< TIM Break Callback ID */ + , HAL_TIM_BREAK2_CB_ID = 0x1BU /*!< TIM Break2 Callback ID */ +} HAL_TIM_CallbackIDTypeDef; + +static struct event_list _events[] = { + [NO_OS_EVT_GPIO] = {.event = NO_OS_EVT_GPIO, .hal_event = HAL_EXTI_COMMON_CB_ID}, + [NO_OS_EVT_UART_TX_COMPLETE] = {.event = NO_OS_EVT_UART_TX_COMPLETE, .hal_event = HAL_UART_TX_COMPLETE_CB_ID}, + [NO_OS_EVT_UART_RX_COMPLETE] = {.event = NO_OS_EVT_UART_RX_COMPLETE, .hal_event = HAL_UART_RX_COMPLETE_CB_ID}, + [NO_OS_EVT_UART_ERROR] = {.event = NO_OS_EVT_UART_ERROR, .hal_event = HAL_UART_ERROR_CB_ID}, +#ifdef HAL_TIM_MODULE_ENABLED + [NO_OS_EVT_TIM_ELAPSED] = {.event = NO_OS_EVT_TIM_ELAPSED, .hal_event = HAL_TIM_PERIOD_ELAPSED_CB_ID}, + [NO_OS_EVT_TIM_PWM_PULSE_FINISHED] = {.event = NO_OS_EVT_TIM_PWM_PULSE_FINISHED, .hal_event = HAL_TIM_PWM_PULSE_FINISHED_CB_ID}, +#endif +#ifdef HAL_LPTIM_MODULE_ENABLED + [NO_OS_EVT_LPTIM_PWM_PULSE_FINISHED] = {.event = NO_OS_EVT_LPTIM_PWM_PULSE_FINISHED, .hal_event = HAL_LPTIM_COMPARE_MATCH_CB_ID}, +#endif +#ifdef HAL_DMA_MODULE_ENABLED + [NO_OS_EVT_DMA_RX_COMPLETE] = {.event = NO_OS_EVT_DMA_RX_COMPLETE, .hal_event = HAL_DMA_XFER_CPLT_CB_ID}, + [NO_OS_EVT_DMA_RX_HALF_COMPLETE] = {.event = NO_OS_EVT_DMA_RX_HALF_COMPLETE, .hal_event = HAL_DMA_XFER_HALFCPLT_CB_ID}, + [NO_OS_EVT_DMA_TX_COMPLETE] = {.event = NO_OS_EVT_DMA_TX_COMPLETE, .hal_event = HAL_DMA_XFER_CPLT_CB_ID}, +#endif +}; + +static int32_t irq_action_cmp(void *data1, void *data2) +{ + return (int32_t)((struct irq_action *)data1)->handle - + (int32_t)((struct irq_action *)data2)->handle; +} + +#ifdef HAL_TIM_MODULE_ENABLED +void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) +{ + struct event_list *ee = &_events[NO_OS_EVT_TIM_ELAPSED]; + struct irq_action *a; + struct irq_action key = {.handle = htim}; + int ret; + + /* Find & call callback */ + ret = no_os_list_read_find(ee->actions, (void **)&a, &key); + if (ret < 0) + return; + + if (a->callback) + a->callback(a->ctx); +} + +void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim) +{ + struct event_list *ee = &_events[NO_OS_EVT_TIM_PWM_PULSE_FINISHED]; + struct irq_action *a; + struct irq_action key = {.handle = htim}; + int ret; + + /* Find & call callback */ + ret = no_os_list_read_find(ee->actions, (void **)&a, &key); + if (ret < 0) + return; + + if (a->callback) + a->callback(a->ctx); +} +#endif + +#ifdef HAL_LPTIM_MODULE_ENABLED +void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim) +{ + struct event_list *ee = &_events[NO_OS_EVT_LPTIM_PWM_PULSE_FINISHED]; + struct irq_action *a; + struct irq_action key = {.handle = hlptim}; + int ret; + + /* Find & call callback */ + ret = no_os_list_read_find(ee->actions, (void **)&a, &key); + if (ret < 0) + return; + + if (a->callback) + a->callback(a->ctx); +} +#endif + +static inline void _common_uart_callback(UART_HandleTypeDef *huart, + uint32_t no_os_event) +{ + struct event_list *ue = &_events[no_os_event]; + struct irq_action *a; + struct irq_action key = {.handle = huart}; + int ret; + ret = no_os_list_read_find(ue->actions, (void **)&a, &key); + if (ret < 0) + return; + + if (a->callback) + a->callback(a->ctx); +} + +#if defined (HAL_SAI_MODULE_ENABLED) +static inline void _common_sai_dma_callback(SAI_HandleTypeDef *hsai, + uint32_t no_os_event) +{ + struct event_list *ue = &_events[no_os_event]; + struct irq_action *a; + struct irq_action key = {.handle = hsai}; + int ret; + ret = no_os_list_read_find(ue->actions, (void **)&a, &key); + if (ret < 0) + return; + + if (a->callback) + a->callback(a->ctx); +} +#endif + +#if defined (HAL_DMA_MODULE_ENABLED) +static inline void _common_dma_callback(DMA_HandleTypeDef *hdma, + uint32_t no_os_event) +{ + struct event_list *ue = &_events[no_os_event]; + struct irq_action *a; + struct irq_action key = {.handle = hdma}; + int ret; + ret = no_os_list_read_find(ue->actions, (void **)&a, &key); + if (ret < 0) + return; + + if (a->callback) + a->callback(a->ctx); +} +#endif + +// equivalent of HAL_UART_TxCpltCallback +void _TxCpltCallback(UART_HandleTypeDef *huart) +{ + _common_uart_callback(huart, NO_OS_EVT_UART_TX_COMPLETE); +} + +// equivalent of HAL_UART_RxCpltCallback +void _RxCpltCallback(UART_HandleTypeDef *huart) +{ + _common_uart_callback(huart, NO_OS_EVT_UART_RX_COMPLETE); +} + +#if defined (HAL_SAI_MODULE_ENABLED) +void _SAIRxCpltCallback(SAI_HandleTypeDef *hsai) +{ + _common_sai_dma_callback(hsai, NO_OS_EVT_DMA_RX_COMPLETE); +} + +void _SAI_RxHalfCpltCallback(SAI_HandleTypeDef *hsai) +{ + _common_sai_dma_callback(hsai, NO_OS_EVT_DMA_RX_HALF_COMPLETE); +} +#endif + +#if defined (HAL_DMA_MODULE_ENABLED) +void _DMA_RX_CpltCallback(DMA_HandleTypeDef* hdma) +{ + _common_dma_callback(hdma, NO_OS_EVT_DMA_RX_COMPLETE); +} + +void _DMA_TX_CpltCallback(DMA_HandleTypeDef* hdma) +{ + _common_dma_callback(hdma, NO_OS_EVT_DMA_TX_COMPLETE); +} + +void _DMA_HalfCpltCallback(DMA_HandleTypeDef *hdma) +{ + _common_dma_callback(hdma, NO_OS_EVT_DMA_RX_HALF_COMPLETE); +} +#endif + +// equivalent of HAL_UART_ErrorCallback +void _ErrorCallback(UART_HandleTypeDef *huart) +{ + _common_uart_callback(huart, NO_OS_EVT_UART_ERROR); +} + +/** + * @brief Initialized the controller for the STM32 external interrupts + * @param desc - Pointer where the configured instance is stored + * @param param - Configuration information for the instance + * @return 0 in case of success, errno error codes otherwise. + */ +int stm32_irq_ctrl_init(struct no_os_irq_ctrl_desc **desc, + const struct no_os_irq_init_param *param) +{ + static struct no_os_irq_ctrl_desc *descriptor; + if (!param) + return -EINVAL; + + if (!initialized) { + descriptor = no_os_calloc(1, sizeof(*descriptor)); + if (!descriptor) + return -ENOMEM; + } + + // unused, there is only 1 interrupt controller and that is NVIC + descriptor->irq_ctrl_id = param->irq_ctrl_id; + descriptor->extra = param->extra; + + *desc = descriptor; + + return 0; +} + +/** + * @brief Free the resources allocated by irq_ctrl_init() + * @param desc - Interrupt controller descriptor. + * @return 0 in case of success, errno error codes otherwise. + */ +int stm32_irq_ctrl_remove(struct no_os_irq_ctrl_desc *desc) +{ + initialized = false; + + if (desc) + no_os_free(desc); + + return 0; +} + +/** + * @brief Unused. + * @param desc -irq descriptor. + * @param irq_id - The interrupt vector entry id of the peripheral. + * @param level - the trigger condition. + * @return -ENOSYS + */ +int stm32_trigger_level_set(struct no_os_irq_ctrl_desc *desc, + uint32_t irq_id, + enum no_os_irq_trig_level level) +{ + return -ENOSYS; +} + +/** + * @brief Register a callback. + * @param desc - The IRQ controller descriptor. + * @param irq_id - Interrupt identifier. + * @param cb - Descriptor of the callback. + * @return 0 if successfull, negative error code otherwise. + */ +typedef void (*pUART_CallbackTypeDef)(UART_HandleTypeDef *huart); /*!< pointer to an UART callback function */ +typedef void (*pTIM_CallbackTypeDef)(TIM_HandleTypeDef *htim); /*!< pointer to the TIM callback function */ +int stm32_irq_register_callback(struct no_os_irq_ctrl_desc *desc, + uint32_t irq_id, + struct no_os_callback_desc *cb) +{ + int ret; + pUART_CallbackTypeDef pUartCallback; +#ifdef HAL_SAI_MODULE_ENABLED + pSAI_CallbackTypeDef pSaiDmaCallback; +#endif +#ifdef HAL_TIM_MODULE_ENABLED + pTIM_CallbackTypeDef pTimCallback; +#endif +#ifdef HAL_LPTIM_MODULE_ENABLED + pLPTIM_CallbackTypeDef pLPTimCallback; +#endif + struct irq_action action_key = {.handle = cb->handle}; +#ifdef HAL_DMA_MODULE_ENABLED + DMA_HandleTypeDef pDmaCallback; +#endif + struct irq_action *li; + uint32_t hal_event = _events[cb->event].hal_event; + + switch (cb->peripheral) { + case NO_OS_UART_IRQ: + switch (hal_event) { + case HAL_UART_TX_COMPLETE_CB_ID: + pUartCallback = _TxCpltCallback; + break; + case HAL_UART_RX_COMPLETE_CB_ID: + pUartCallback = _RxCpltCallback; + break; + case HAL_UART_ERROR_CB_ID: + pUartCallback = _ErrorCallback; + break; + default: + return -EINVAL; + }; + + ret = HAL_UART_RegisterCallback(cb->handle, hal_event, pUartCallback); + if (ret != HAL_OK) + return -EFAULT; + + break; +#ifdef HAL_LPTIM_MODULE_ENABLED + case NO_OS_LPTIM_IRQ: + switch (hal_event) { + case HAL_LPTIM_COMPARE_MATCH_CB_ID: + pLPTimCallback = HAL_LPTIM_CompareMatchCallback; + break; + default: + return -EINVAL; + }; + + ret = HAL_LPTIM_RegisterCallback(cb->handle, hal_event, pLPTimCallback); + if (ret != HAL_OK) + return -EFAULT; + break; +#endif +#ifdef HAL_TIM_MODULE_ENABLED + case NO_OS_TIM_IRQ: + switch (hal_event) { + case HAL_TIM_PWM_PULSE_FINISHED_CB_ID: + pTimCallback = HAL_TIM_PWM_PulseFinishedCallback; + break; + case HAL_TIM_PERIOD_ELAPSED_CB_ID: + pTimCallback = HAL_TIM_PeriodElapsedCallback; + break; + default: + return -EINVAL; + }; + + ret = HAL_TIM_RegisterCallback(cb->handle, hal_event, pTimCallback); + if (ret != HAL_OK) + return -EFAULT; + break; +#endif +#if defined(HAL_DMA_MODULE_ENABLED) && defined(HAL_SAI_MODULE_ENABLED) + case NO_OS_TDM_DMA_IRQ: + switch (hal_event) { + case HAL_DMA_XFER_CPLT_CB_ID: + pSaiDmaCallback = _SAIRxCpltCallback; + ret = HAL_SAI_RegisterCallback(cb->handle, hal_event, pSaiDmaCallback); + if (ret != HAL_OK) + return -EFAULT; + + break; + case HAL_DMA_XFER_HALFCPLT_CB_ID: + pSaiDmaCallback = _SAI_RxHalfCpltCallback; + ret = HAL_SAI_RegisterCallback(cb->handle, hal_event, pSaiDmaCallback); + if (ret != HAL_OK) + return -EFAULT; + break; + } + break; +#endif +#if defined (HAL_TIM_MODULE_ENABLED) && defined(HAL_DMA_MODULE_ENABLED) + case NO_OS_TIM_DMA_IRQ: + switch (hal_event) { + case HAL_DMA_XFER_CPLT_CB_ID: + pDmaCallback.XferCpltCallback = _DMA_RX_CpltCallback; + ret = HAL_DMA_RegisterCallback(cb->handle, hal_event, + pDmaCallback.XferCpltCallback); + if (ret != HAL_OK) + return -EFAULT; + break; + case HAL_DMA_XFER_HALFCPLT_CB_ID: + pDmaCallback.XferHalfCpltCallback = _DMA_HalfCpltCallback; + ret = HAL_DMA_RegisterCallback(cb->handle, hal_event, + pDmaCallback.XferHalfCpltCallback); + if (ret != HAL_OK) + return -EFAULT; + break; + default: + return -EINVAL; + }; + break; +#endif +#if defined (HAL_DMA_MODULE_ENABLED) + case NO_OS_DMA_IRQ: + switch (hal_event) { + case HAL_DMA_XFER_CPLT_CB_ID: + if (cb->event == NO_OS_EVT_DMA_RX_COMPLETE) + pDmaCallback.XferCpltCallback = _DMA_RX_CpltCallback; + + else + pDmaCallback.XferCpltCallback = _DMA_TX_CpltCallback; + + ret = HAL_DMA_RegisterCallback((DMA_HandleTypeDef *)cb->handle, hal_event, + pDmaCallback.XferCpltCallback); + if (ret != HAL_OK) + return -EFAULT; + + break; + + default: + return -EINVAL; + }; + + break; +#endif + + default: + return -EINVAL; + } + + if (_events[cb->event].actions == NULL) { + ret = no_os_list_init(&_events[cb->event].actions, NO_OS_LIST_PRIORITY_LIST, + irq_action_cmp); + if (ret < 0) + return ret; + } + /* + * If an action with the same handle as the function parameter does not exists, insert a new one, + * otherwise update + */ + ret = no_os_list_read_find(_events[cb->event].actions, + (void**)&li, + &action_key); + if (ret) { + li = no_os_calloc(1, sizeof(struct irq_action)); + if (!li) + return -ENOMEM; + + li->handle = cb->handle; + li->callback = cb->callback; + li->ctx = cb->ctx; + ret = no_os_list_add_last(_events[cb->event].actions, li); + if (ret < 0) { + no_os_free(li); + return ret; + } + } else { + li->handle = cb->handle; + li->callback = cb->callback; + li->ctx = cb->ctx; + } + + return 0; +} + +/** + * @brief Unregister a callback. + * @param desc - Interrupt controller descriptor. + * @param irq_id - Id of the interrupt + * @param cb - Descriptor of the callback. + * @return 0 if successfull, negative error code otherwise. + */ +int stm32_irq_unregister_callback(struct no_os_irq_ctrl_desc *desc, + uint32_t irq_id, struct no_os_callback_desc *cb) +{ + int ret; + void *discard = NULL; + struct irq_action key; + uint32_t hal_event = _events[cb->event].hal_event; + + switch (cb->peripheral) { + case NO_OS_UART_IRQ: + key.handle = cb->handle; + ret = no_os_list_get_find(_events[cb->event].actions, &discard, &key); + if (ret < 0) + break; + ret = HAL_UART_UnRegisterCallback(cb->handle, hal_event); + if (ret != HAL_OK) + ret = -EFAULT; + break; +#ifdef HAL_TIM_MODULE_ENABLED + case NO_OS_TIM_IRQ: + key.handle = cb->handle; + ret = no_os_list_get_find(_events[cb->event].actions, &discard, &key); + if (ret < 0) + break; + ret = HAL_TIM_UnRegisterCallback(cb->handle, hal_event); + if (ret != HAL_OK) + ret = -EFAULT; + break; +#endif +#if defined(HAL_DMA_MODULE_ENABLED) && defined(HAL_SAI_MODULE_ENABLED) + case NO_OS_TDM_DMA_IRQ: + key.handle = cb->handle; + ret = no_os_list_get_find(_events[cb->event].actions, &discard, &key); + if (ret < 0) + break; + ret = HAL_SAI_UnRegisterCallback(cb->handle, hal_event); + if (ret != HAL_OK) + ret = -EFAULT; + break; +#endif +#if defined (HAL_TIM_MODULE_ENABLED) && defined(HAL_DMA_MODULE_ENABLED) + case NO_OS_TIM_DMA_IRQ: + case NO_OS_DMA_IRQ: + key.handle = cb->handle; + ret = no_os_list_get_find(_events[cb->event].actions, &discard, &key); + if (ret < 0) + break; + ret = HAL_DMA_UnRegisterCallback(cb->handle, hal_event); + if (ret != HAL_OK) + ret = -EFAULT; + break; +#endif + default: + ret = -EINVAL; + break; + } + + if (discard) + no_os_free(discard); + + return ret; +} + +/** + * @brief Enable all interrupts + * @param desc - Interrupt controller descriptor. + * @return 0 + */ +int stm32_irq_global_enable(struct no_os_irq_ctrl_desc *desc) +{ + __enable_irq(); + + return 0; +} + +/** + * @brief Disable all interrupts + * @param desc - Interrupt controller descriptor. + * @return 0 + */ +int stm32_irq_global_disable(struct no_os_irq_ctrl_desc *desc) +{ + __disable_irq(); + + return 0; +} + +/** + * @brief Enable a specific interrupt + * @param desc - Interrupt controller descriptor. + * @param irq_id - Interrupt identifier + * @return 0 in case of success, errno error codes otherwise. + */ +int stm32_irq_enable(struct no_os_irq_ctrl_desc *desc, uint32_t irq_id) +{ + NVIC_EnableIRQ(irq_id); + + return 0; +} + +/** + * @brief Disable a specific interrupt + * @param desc - Interrupt controller descriptor. + * @param irq_id - Interrupt identifier + * @return 0 in case of success, -EINVAL otherwise. + */ +int stm32_irq_disable(struct no_os_irq_ctrl_desc *desc, uint32_t irq_id) +{ + NVIC_DisableIRQ(irq_id); + + return 0; +} + +/** + * @brief Set a priority level for an interrupt + * @param desc - Interrupt controller descriptor. + * @param irq_id - The interrupt vector entry id of the peripheral. + * @param priority_level - The interrupt priority level + * @return 0 + */ +static int stm32_irq_set_priority(struct no_os_irq_ctrl_desc *desc, + uint32_t irq_id, + uint32_t priority_level) +{ + HAL_NVIC_SetPriority(irq_id, priority_level, 0); + + return 0; +} + +/** + * @brief Get a priority level for an interrupt + * @param desc - Interrupt controller descriptor. + * @param irq_id - The interrupt vector entry id of the peripheral. + * @param priority_level - The interrupt priority level + * @return 0 + */ +static int stm32_irq_get_priority(struct no_os_irq_ctrl_desc *desc, + uint32_t irq_id, + uint32_t *priority_level) +{ + uint32_t priority_group, sub_priority; + priority_group = HAL_NVIC_GetPriorityGrouping(); + HAL_NVIC_GetPriority(irq_id, priority_group, priority_level, &sub_priority); + + return 0; +} + +/** + * @brief stm32 specific IRQ platform ops structure + */ +const struct no_os_irq_platform_ops stm32_irq_ops = { + .init = &stm32_irq_ctrl_init, + .trigger_level_set = &stm32_trigger_level_set, + .register_callback = &stm32_irq_register_callback, + .unregister_callback = &stm32_irq_unregister_callback, + .global_enable = &stm32_irq_global_enable, + .global_disable = &stm32_irq_global_disable, + .enable = &stm32_irq_enable, + .disable = &stm32_irq_disable, + .set_priority = &stm32_irq_set_priority, + .get_priority = &stm32_irq_get_priority, + .remove = &stm32_irq_ctrl_remove +}; diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_irq.h b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_irq.h new file mode 100644 index 0000000..5f7045e --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_irq.h @@ -0,0 +1,44 @@ +/***************************************************************************//** + * @file stm32/stm32_irq.h + * @brief Header file for stm32 irq specifics. + * @author Darius Berghe (darius.berghe@analog.com) +******************************************************************************** + * Copyright 2022(c) Analog Devices, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. Neither the name of Analog Devices, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from this + * software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY ANALOG DEVICES, INC. “AS IS” AND ANY EXPRESS OR + * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO + * EVENT SHALL ANALOG DEVICES, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ +#ifndef STM32_IRQ_H +#define STM32_IRQ_H + +#include "no_os_irq.h" +#include "stm32_hal.h" + +/** + * @brief stm32 platform specific irq platform ops structure + */ +extern const struct no_os_irq_platform_ops stm32_irq_ops; + +#endif diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_pwm.c b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_pwm.c new file mode 100644 index 0000000..29fd49c --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_pwm.c @@ -0,0 +1,1114 @@ +/***************************************************************************//** + * @file stm32/stm32_pwm.c + * @brief Implementation of stm32 pwm driver. +******************************************************************************** + * Copyright 2023-25(c) Analog Devices, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. Neither the name of Analog Devices, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from this + * software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY ANALOG DEVICES, INC. “AS IS” AND ANY EXPRESS OR + * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO + * EVENT SHALL ANALOG DEVICES, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ +#include +#include +#include "no_os_util.h" +#include "no_os_gpio.h" +#include "no_os_pwm.h" +#include "stm32_gpio.h" +#include "stm32_pwm.h" +#include "stm32_irq.h" + +/* For 16-bit pwm timer */ +#define PWM_DEFAULT_PERIOD 0xffff +#define NO_OS_CHN_TO_STM32_CHN(x) (0x4*(x-1)) +#define FREQUENCY_HZ_TO_TIME_NS_FACTOR 1000000000.0 + +/** + * @brief Calculate the period in ticks. + * @param get_timer_clock - timer source clock function. + * @param clock_divider - timer clock divider. + * @param prescaler - timer prescaler. + * @param period_ns - timer period. + * @return return period value in ticks. + */ +static uint32_t _compute_period_ticks(uint32_t (*get_timer_clock)(void), + uint32_t clock_divider, + uint32_t prescaler, + uint32_t period_ns) +{ + float pwm_frequency; + uint32_t timer_frequency_hz; + uint32_t period; + + if (get_timer_clock) { + timer_frequency_hz = get_timer_clock(); + timer_frequency_hz *= clock_divider; + timer_frequency_hz /= (prescaler + 1); + + /* Formula for timer period count calculation: + * timer frequency = timer clock / (prescaler + 1) + * pwm frequency = 1 / pwm period (sec) + * timer period count = (timer frequency / pwm frequency) - 1 + * Example: + * Timer clock = 216Mhz, pwm period = 1000ns, prescaler = 1 + * timer frequency = 216 / (0+1) = 216Mhz + * pwm frequency = 1 / 1000ns = 1Mhz + * timer period count = (216 / 1) - 1 = 215 + **/ + /* Timer period is determined based on the timer peripheral frequency */ + pwm_frequency = (1.0 / period_ns); + period = (uint32_t)(timer_frequency_hz / (pwm_frequency * + FREQUENCY_HZ_TO_TIME_NS_FACTOR)) - 1; + } else { + period = PWM_DEFAULT_PERIOD - 1; + } + + return period; +} + +#ifdef HAL_TIM_MODULE_ENABLED +/** + * @brief Initialize the PWM Timer. + * @param desc - STM32 PWM descriptor. + * @param param - The structure containing PWM init parameters. + * @return 0 in case of success, negative error code otherwise. + * @note PWM Timer period is dependent upon the timer clock and prescaler value. + * CounterMode is UP for timer frequency generation in below function. + */ +static int32_t stm32_init_timer(struct stm32_pwm_desc *desc, + const struct no_os_pwm_init_param *param) +{ + int32_t ret; + uint32_t period; + TIM_TypeDef *base = NULL; + struct stm32_pwm_init_param *sparam = param->extra; + TIM_ClockConfigTypeDef sClockSourceConfig = {0}; + TIM_MasterConfigTypeDef sMasterConfig = {0}; + TIM_SlaveConfigTypeDef sSlaveConfig = {0}; + TIM_HandleTypeDef *htimer; + + /* Compute period ticks */ + period = _compute_period_ticks(sparam->get_timer_clock, sparam->clock_divider, + sparam->prescaler, param->period_ns); + + htimer = (TIM_HandleTypeDef *)sparam->htimer; + + switch (param->id) { +#if defined(TIM1) + case 1: + base = TIM1; + break; +#endif +#if defined(TIM2) + case 2: + base = TIM2; + break; +#endif +#if defined(TIM3) + case 3: + base = TIM3; + break; +#endif + break; +#if defined(TIM4) + case 4: + base = TIM4; + break; +#endif +#if defined(TIM5) + case 5: + base = TIM5; + break; +#endif +#if defined(TIM6) + case 6: + base = TIM6; + break; +#endif +#if defined(TIM7) + case 7: + base = TIM7; + break; +#endif +#if defined(TIM8) + case 8: + base = TIM8; + break; +#endif +#if defined(TIM9) + case 9: + base = TIM9; + break; +#endif +#if defined(TIM10) + case 10: + base = TIM10; + break; +#endif +#if defined(TIM11) + case 11: + base = TIM11; + break; +#endif +#if defined(TIM12) + case 12: + base = TIM12; + break; +#endif + default: + ret = -EINVAL; + goto error; + }; + + htimer->Instance = base; + htimer->Init.Prescaler = sparam->prescaler; + htimer->Init.CounterMode = TIM_COUNTERMODE_UP; + htimer->Init.Period = period; + htimer->Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; + htimer->Init.AutoReloadPreload = sparam->timer_autoreload ? + TIM_AUTORELOAD_PRELOAD_ENABLE : TIM_MASTERSLAVEMODE_DISABLE; + htimer->Init.RepetitionCounter = sparam->repetitions; + htimer->State = HAL_TIM_STATE_RESET; + if (HAL_TIM_Base_Init(htimer) != HAL_OK) + return -EIO; + + if (!sparam->trigger_enable) { + sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; + if (HAL_TIM_ConfigClockSource(htimer, &sClockSourceConfig) != HAL_OK) + return -EIO; + } + if (HAL_TIM_PWM_Init(htimer) != HAL_OK) + return -EIO; + if (sparam->onepulse_enable) + if (HAL_TIM_OnePulse_Init(htimer, TIM_OPMODE_SINGLE) != HAL_OK) + return -EIO; + if (sparam->trigger_enable) { + switch (sparam->trigger_source) { + case PWM_TS_ITR0: + sSlaveConfig.InputTrigger = TIM_TS_ITR0; + break; + case PWM_TS_ITR1: + sSlaveConfig.InputTrigger = TIM_TS_ITR1; + break; + case PWM_TS_ITR2: + sSlaveConfig.InputTrigger = TIM_TS_ITR2; + break; + case PWM_TS_ITR3: + sSlaveConfig.InputTrigger = TIM_TS_ITR3; + break; + default: + return -EINVAL; + } + sSlaveConfig.SlaveMode = TIM_SLAVEMODE_TRIGGER; + + if (HAL_TIM_SlaveConfigSynchro(htimer, &sSlaveConfig) != HAL_OK) + return -EIO; + } + + switch (sparam->trigger_output) { + case PWM_TRGO_RESET: + sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; + break; + case PWM_TRGO_ENABLE: + sMasterConfig.MasterOutputTrigger = TIM_TRGO_ENABLE; + break; + case PWM_TRGO_UPDATE: + sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE; + break; + case PWM_TRGO_OC1: + sMasterConfig.MasterOutputTrigger = TIM_TRGO_OC1; + break; + case PWM_TRGO_OC1REF: + sMasterConfig.MasterOutputTrigger = TIM_TRGO_OC1REF; + break; + case PWM_TRGO_OC2REF: + sMasterConfig.MasterOutputTrigger = TIM_TRGO_OC2REF; + break; + case PWM_TRGO_OC3REF: + sMasterConfig.MasterOutputTrigger = TIM_TRGO_OC3REF; + break; + case PWM_TRGO_OC4REF: + sMasterConfig.MasterOutputTrigger = TIM_TRGO_OC4REF; + break; + default: + sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; + } + sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; + if (HAL_TIMEx_MasterConfigSynchronization(htimer, + &sMasterConfig) != HAL_OK) + return -EIO; + + /* Store the timer specific configuration for later use.*/ + desc->htimer = htimer; + desc->pwm_timer = STM32_PWM_TIMER_TIM; + desc->prescaler = sparam->prescaler; + desc->get_timer_clock = sparam->get_timer_clock; + desc->clock_divider = sparam->clock_divider; + desc->timer_autoreload = sparam->timer_autoreload; + + if (param->pwm_callback) { + struct no_os_irq_init_param nvic_tim_cplt = { + .platform_ops = &stm32_irq_ops + }; + + ret = no_os_irq_ctrl_init(&desc->nvic_tim, &nvic_tim_cplt); + if (ret < 0) + goto error; + + sparam->timer_callback.callback = param->pwm_callback; + sparam->timer_callback.ctx = desc; + sparam->timer_callback.event = NO_OS_EVT_TIM_PWM_PULSE_FINISHED; + sparam->timer_callback.peripheral = NO_OS_TIM_IRQ; + sparam->timer_callback.handle = &desc->htimer; + + ret = no_os_irq_register_callback(desc->nvic_tim, param->irq_id, + &sparam->timer_callback); + if (ret < 0) + goto error_register; + + ret = no_os_irq_enable(desc->nvic_tim, param->irq_id); + if (ret < 0) + goto error_enable; + } + + return 0; +error_enable: + no_os_irq_unregister_callback(desc->nvic_tim, param->irq_id, + &sparam->timer_callback); +error_register: + no_os_irq_ctrl_remove(desc->nvic_tim); +error: + return ret; +} +#endif + +#ifdef HAL_LPTIM_MODULE_ENABLED +/** + * @brief Initialize the PWM LPTimer. + * @param desc - STM32 PWM descriptor. + * @param param - The structure containing PWM init parameters. + * @return 0 in case of success, negative error code otherwise. + * @note PWM Timer period is dependent upon the timer clock and prescaler value. + * CounterMode is UP for timer frequency generation in below function. + */ +static int32_t stm32_init_lptimer(struct stm32_pwm_desc *desc, + const struct no_os_pwm_init_param *param) +{ + int32_t ret; + uint32_t period; + LPTIM_TypeDef *base = NULL; + struct stm32_pwm_init_param *sparam = param->extra; + LPTIM_HandleTypeDef *hlptimer; + + /* Compute period ticks */ + period = _compute_period_ticks(sparam->get_timer_clock, sparam->clock_divider, + sparam->prescaler, param->period_ns); + hlptimer = (LPTIM_HandleTypeDef *) sparam->htimer; + + switch (param->id) { +#if defined(LPTIM1) + case 1: + base = LPTIM1; + break; +#endif +#if defined(LPTIM2) + case 2: + base = LPTIM2; + break; +#endif +#if defined(LPTIM3) + case 3: + base = LPTIM3; + break; +#endif + break; +#if defined(LPTIM4) + case 4: + base = LPTIM4; + break; +#endif +#if defined(LPTIM5) + case 5: + base = LPTIM5; + break; +#endif +#if defined(LPTIM6) + case 6: + base = LPTIM6; + break; +#endif +#if defined(LPTIM7) + case 7: + base = LPTIM7; + break; +#endif + default: + ret = -EINVAL; + goto error; + }; + + hlptimer->Instance = base; + hlptimer->Init.Period = period; + hlptimer->Init.UpdateMode = LPTIM_UPDATE_IMMEDIATE; + hlptimer->Init.CounterSource = LPTIM_COUNTERSOURCE_INTERNAL; + hlptimer->Init.Input1Source = LPTIM_INPUT1SOURCE_GPIO; + hlptimer->Init.Input2Source = LPTIM_INPUT2SOURCE_GPIO; + hlptimer->Init.RepetitionCounter = sparam->repetitions; + + hlptimer->Init.Clock.Source = LPTIM_CLOCKSOURCE_APBCLOCK_LPOSC; + hlptimer->Init.Clock.Prescaler = sparam->prescaler; + hlptimer->State = HAL_LPTIM_STATE_RESET; + + if (sparam->trigger_enable) { + hlptimer->Init.Trigger.Source = LPTIM_TRIGSOURCE_SOFTWARE; + hlptimer->Init.Trigger.ActiveEdge = LPTIM_ACTIVEEDGE_RISING; + hlptimer->Init.Trigger.SampleTime = LPTIM_TRIGSAMPLETIME_DIRECTTRANSITION; + } + + if (sparam->trigger_enable) { + switch (sparam->trigger_source) { + case PWM_TS_ITR0: + hlptimer->Init.Trigger.Source = LPTIM_TRIGSOURCE_0; + break; + case PWM_TS_ITR1: + hlptimer->Init.Trigger.Source = LPTIM_TRIGSOURCE_1; + break; + case PWM_TS_ITR2: + hlptimer->Init.Trigger.Source = LPTIM_TRIGSOURCE_2; + break; + case PWM_TS_ITR3: + hlptimer->Init.Trigger.Source = LPTIM_TRIGSOURCE_3; + break; + default: + return -EINVAL; + } + } + if (HAL_LPTIM_Init(hlptimer) != HAL_OK) + return -EIO; + + /* Store the timer specific configuration for later use.*/ + desc->htimer = hlptimer; + desc->pwm_timer = STM32_PWM_TIMER_LPTIM; + desc->prescaler = sparam->prescaler; + desc->get_timer_clock = sparam->get_timer_clock; + desc->clock_divider = sparam->clock_divider; + desc->timer_autoreload = sparam->timer_autoreload; + + if (param->pwm_callback) { + struct no_os_irq_init_param nvic_tim_cplt = { + .platform_ops = &stm32_irq_ops + }; + + ret = no_os_irq_ctrl_init(&desc->nvic_tim, &nvic_tim_cplt); + if (ret < 0) + goto error; + + sparam->timer_callback.callback = param->pwm_callback; + sparam->timer_callback.ctx = desc; + sparam->timer_callback.event = NO_OS_EVT_LPTIM_PWM_PULSE_FINISHED; + sparam->timer_callback.peripheral = NO_OS_LPTIM_IRQ; + sparam->timer_callback.handle = hlptimer; + + ret = no_os_irq_register_callback(desc->nvic_tim, param->irq_id, + &sparam->timer_callback); + if (ret < 0) + goto error_register; + + ret = no_os_irq_enable(desc->nvic_tim, param->irq_id); + if (ret < 0) + goto error_enable; + } + + return 0; +error_enable: + no_os_irq_unregister_callback(desc->nvic_tim, param->irq_id, + &sparam->timer_callback); +error_register: + no_os_irq_ctrl_remove(desc->nvic_tim); +error: + return ret; +} +#endif + +/** + * @brief Initialize the PWM. + * @param desc - STM32 PWM descriptor. + * @param param - The structure containing PWM init parameters. + * @return 0 in case of success, negative error code otherwise. + */ +static int32_t stm32_init_pwm(struct stm32_pwm_desc *desc, + const struct no_os_pwm_init_param *param) +{ + uint32_t pwm_pulse_width; + float duty_cycle_percentage; + uint32_t chn; + struct stm32_pwm_init_param *sparam = param->extra; + uint32_t period; +#ifdef HAL_LPTIM_MODULE_ENABLED + LPTIM_OC_ConfigTypeDef sLpTimerConfigOC = {0}; + LPTIM_HandleTypeDef *hlptimer; +#endif +#ifdef HAL_TIM_MODULE_ENABLED + TIM_OC_InitTypeDef sTimerConfigOC = {0}; + TIM_HandleTypeDef *htimer; +#endif + + switch (sparam->pwm_timer) { +#ifdef HAL_TIM_MODULE_ENABLED + case STM32_PWM_TIMER_TIM: + htimer = (TIM_HandleTypeDef *) sparam->htimer; + period = htimer->Init.Period; + switch (sparam->mode) { + case TIM_OC_TOGGLE: + sTimerConfigOC.OCMode = TIM_OCMODE_TOGGLE; + break; + case TIM_OC_PWM1: + sTimerConfigOC.OCMode = TIM_OCMODE_PWM1; + break; + case TIM_OC_PWM2: + sTimerConfigOC.OCMode = TIM_OCMODE_PWM2; + break; + default: + return -EINVAL; + } + + switch (sparam->timer_chn) { +#if defined(TIM_CHANNEL_1) + case 1: + chn = TIM_CHANNEL_1; + break; +#endif +#if defined(TIM_CHANNEL_2) + case 2: + chn = TIM_CHANNEL_2; + break; +#endif +#if defined(TIM_CHANNEL_3) + case 3: + chn = TIM_CHANNEL_3; + break; +#endif +#if defined(TIM_CHANNEL_4) + case 4: + chn = TIM_CHANNEL_4; + break; +#endif +#if defined(TIM_CHANNEL_5) + case 5: + chn = TIM_CHANNEL_5; + break; +#endif +#if defined(TIM_CHANNEL_6) + case 6: + chn = TIM_CHANNEL_6; + break; +#endif + default: + return -EINVAL; + }; + + /* Calculate the percentage duty cycle */ + duty_cycle_percentage = ((float)param->duty_cycle_ns / param->period_ns) * 100; + pwm_pulse_width = (uint32_t)((period + 1) * duty_cycle_percentage) / (100); + + sTimerConfigOC.Pulse = pwm_pulse_width; + switch (param->polarity) { + case NO_OS_PWM_POLARITY_HIGH: + sTimerConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; + break; + case NO_OS_PWM_POLARITY_LOW: + sTimerConfigOC.OCPolarity = TIM_OCPOLARITY_LOW; + break; + default: + return -EINVAL; + }; + + sTimerConfigOC.OCFastMode = TIM_OCFAST_DISABLE; + sTimerConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; + sTimerConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET; + if (HAL_TIM_PWM_ConfigChannel(htimer, &sTimerConfigOC, chn) != HAL_OK) + return -EIO; + break; +#endif +#ifdef HAL_LPTIM_MODULE_ENABLED + case STM32_PWM_TIMER_LPTIM: + hlptimer = (LPTIM_HandleTypeDef *) sparam->htimer; + period = hlptimer->Init.Period; + sparam->complementary_channel = false; + sparam->dma_enable = false; + + switch (sparam->timer_chn) { +#if defined(LPTIM_CHANNEL_1) + case 1: + chn = LPTIM_CHANNEL_1; + break; +#endif +#if defined(LPTIM_CHANNEL_2) + case 2: + chn = LPTIM_CHANNEL_2; + break; +#endif + default: + return -EINVAL; + }; + + /* Calculate the percentage duty cycle */ + duty_cycle_percentage = ((float)param->duty_cycle_ns / param->period_ns) * 100; + pwm_pulse_width = (uint32_t)((period + 1) * duty_cycle_percentage) / (100); + + sLpTimerConfigOC.Pulse = pwm_pulse_width; + switch (param->polarity) { + case NO_OS_PWM_POLARITY_HIGH: + sLpTimerConfigOC.OCPolarity = LPTIM_OCPOLARITY_HIGH; + break; + case NO_OS_PWM_POLARITY_LOW: + sLpTimerConfigOC.OCPolarity = LPTIM_OCPOLARITY_LOW; + break; + default: + return -EINVAL; + }; + + if (HAL_LPTIM_OC_ConfigChannel(hlptimer, &sLpTimerConfigOC, chn) != HAL_OK) + return -EIO; + + break; +#endif + default: + return -EINVAL; + } + + desc->mode = sparam->mode; + desc->timer_chn = sparam->timer_chn; + desc->complementary_channel = sparam->complementary_channel; + desc->dma_enable = sparam->dma_enable; + desc->repetitions = sparam->repetitions; + + return 0; +} + +/** + * @brief Initialize the PWM. + * @param desc - PWM descriptor. + * @param param - The structure containing PWM init parameters. + * @return 0 in case of success, negative error code otherwise. + */ +int32_t stm32_pwm_init(struct no_os_pwm_desc **desc, + const struct no_os_pwm_init_param *param) +{ + struct no_os_pwm_desc *descriptor; + struct stm32_pwm_desc *extra; + struct stm32_pwm_init_param *sparam; + int32_t ret; + + if (!desc || !param) + return -EINVAL; + + descriptor = (struct no_os_pwm_desc *)calloc(1, sizeof(*descriptor)); + if (!descriptor) + return -ENOMEM; + + extra = (struct stm32_pwm_desc *)calloc(1, sizeof(*extra)); + if (!extra) { + ret = -ENOMEM; + goto error_desc; + } + + sparam = (struct stm32_pwm_init_param *)param->extra; + + /* Initialize the PWM timer */ + switch (sparam->pwm_timer) { +#ifdef HAL_TIM_MODULE_ENABLED + case STM32_PWM_TIMER_TIM: + ret = stm32_init_timer(extra, param); + if (ret) + goto error_extra; + break; +#endif +#ifdef HAL_LPTIM_MODULE_ENABLED + case STM32_PWM_TIMER_LPTIM: + ret = stm32_init_lptimer(extra, param); + if (ret) + goto error_extra; + break; +#endif + default: + return -EINVAL; + } + + /* Initialize the PWM */ + ret = stm32_init_pwm(extra, param); + if (ret) + goto error_extra; + + /* Initialize the GPIO if timer output is required*/ + if (param->pwm_gpio) { + ret = no_os_gpio_get(&descriptor->pwm_gpio, param->pwm_gpio); + if (ret) + goto error_extra; + } + + descriptor->id = param->id; + descriptor->extra = extra; + descriptor->duty_cycle_ns = param->duty_cycle_ns; + descriptor->period_ns = param->period_ns; + descriptor->phase_ns = param->phase_ns; + descriptor->polarity = param->polarity; + descriptor->irq_id = param->irq_id; + *desc = descriptor; + + return 0; +error_extra: + free(extra); +error_desc: + free(descriptor); + + return ret; +} + +/** + * @brief Free the resources allocated by stm32_pwm_init() + * @param desc - PWM descriptor + * @return 0 in case of success, negative error code otherwise. + */ +int32_t stm32_pwm_remove(struct no_os_pwm_desc *desc) +{ + int32_t ret; + struct stm32_pwm_desc *extra; +#ifdef HAL_TIM_MODULE_ENABLED + TIM_HandleTypeDef *htimer; +#endif +#ifdef HAL_LPTIM_MODULE_ENABLED + LPTIM_HandleTypeDef *hlptimer; +#endif + + if (!desc || !desc->extra) + return -EINVAL; + + extra = desc->extra; + switch (extra->pwm_timer) { +#ifdef HAL_TIM_MODULE_ENABLED + case STM32_PWM_TIMER_TIM: + htimer = (TIM_HandleTypeDef *) extra->htimer; + + if (HAL_TIM_Base_DeInit(htimer) != HAL_OK) + return -EIO; + + if (HAL_TIM_PWM_DeInit(htimer) != HAL_OK) + return -EIO; + break; +#endif +#ifdef HAL_LPTIM_MODULE_ENABLED + case STM32_PWM_TIMER_LPTIM: + hlptimer = (LPTIM_HandleTypeDef *) extra->htimer; + + if (HAL_LPTIM_DeInit(hlptimer) != HAL_OK) + return -EIO; + break; +#endif + default: + return -EINVAL; + } + + ret = no_os_gpio_remove(extra->gpio); + if (ret) + return ret; + + if (desc->irq_id) { + ret = no_os_irq_unregister_callback(extra->nvic_tim, desc->irq_id, + &extra->timer_callback); + if (ret) + return ret; + + ret = no_os_irq_disable(extra->nvic_tim, desc->irq_id); + if (ret) + return ret; + + ret = no_os_irq_ctrl_remove(extra->nvic_tim); + if (ret) + return ret; + } + + free(desc->extra); + free(desc); + + return 0; +} + +/** + * @brief Enable the PWM + * @param desc - PWM descriptor + * @return 0 in case of success, negative error code otherwise. + */ +int32_t stm32_pwm_enable(struct no_os_pwm_desc *desc) +{ + int32_t ret; + uint32_t chn_num; + struct stm32_pwm_desc *sparam; + +#ifdef HAL_TIM_MODULE_ENABLED + TIM_HandleTypeDef *htimer; + const uint32_t timer_map[] = { + [1] = TIM_DMA_CC1, + [2] = TIM_DMA_CC2, + [3] = TIM_DMA_CC3, + [4] = TIM_DMA_CC4, + }; + +#endif +#ifdef HAL_LPTIM_MODULE_ENABLED + LPTIM_HandleTypeDef *hlptimer; + const uint32_t lptimer_map[] = { + [1] = LPTIM_DMA_CC1, + [2] = LPTIM_DMA_CC2, + }; +#endif + + if (!desc) + return -EINVAL; + + sparam = desc->extra; + chn_num = NO_OS_CHN_TO_STM32_CHN(sparam->timer_chn); + + switch (sparam->pwm_timer) { +#ifdef HAL_TIM_MODULE_ENABLED + case STM32_PWM_TIMER_TIM: + htimer = (TIM_HandleTypeDef *) sparam->htimer; + /* set counter to 0 to start from known state */ + __HAL_TIM_SET_COUNTER(htimer, 0); + + if (sparam->dma_enable) { + /*sw trigger to reload repetition counter from repetition register */ + htimer->Instance->RCR = sparam->repetitions; + htimer->Instance->EGR |= (1 << 0); + __HAL_TIM_ENABLE_DMA(htimer, timer_map[sparam->timer_chn]); + } + + if (desc->irq_id) { + if (sparam->complementary_channel) { + ret = HAL_TIMEx_PWMN_Start_IT(htimer, chn_num); + } else { + ret = HAL_TIM_PWM_Start_IT(htimer, chn_num); + } + } else { + if (sparam->complementary_channel) + ret = HAL_TIMEx_PWMN_Start(htimer, chn_num); + else + ret = HAL_TIM_PWM_Start(htimer, chn_num); + } + if (ret != HAL_OK) { + return -EIO; + } + + break; +#endif +#ifdef HAL_LPTIM_MODULE_ENABLED + case STM32_PWM_TIMER_LPTIM: + hlptimer = (LPTIM_HandleTypeDef *) sparam->htimer; + + /* set counter to 0 to start from known state */ + __HAL_LPTIM_RESET_COUNTER(hlptimer); + + if (sparam->dma_enable) { + /*sw trigger to reload repetition counter from repetition register */ + hlptimer->Instance->RCR = sparam->repetitions; + hlptimer->Instance->CR |= (1 << 3); + __HAL_LPTIM_ENABLE_DMA(hlptimer, lptimer_map[sparam->timer_chn]); + } + + if (desc->irq_id) { + if (sparam->onepulse_enable) + ret = HAL_LPTIM_OnePulse_Start_IT(hlptimer, chn_num); + else + ret = HAL_LPTIM_PWM_Start_IT(hlptimer, chn_num); + } else { + if (sparam->onepulse_enable) + ret = HAL_LPTIM_OnePulse_Start(hlptimer, chn_num); + else + ret = HAL_LPTIM_PWM_Start(hlptimer, chn_num); + } + if (ret != HAL_OK) { + return -EIO; + } + + break; +#endif + default: + return -EINVAL; + } + + return 0; +} + +/** + * @brief Disable the PWM + * @param desc - PWM descriptor + * @return 0 in case of success, negative error otherwise. + */ +int32_t stm32_pwm_disable(struct no_os_pwm_desc *desc) +{ + int32_t ret; + uint32_t chn_num; + struct stm32_pwm_desc *sparam; + +#ifdef HAL_TIM_MODULE_ENABLED + TIM_HandleTypeDef *htimer; + const uint32_t timer_map[] = { + [1] = TIM_DMA_CC1, + [2] = TIM_DMA_CC2, + [3] = TIM_DMA_CC3, + [4] = TIM_DMA_CC4, + }; + +#endif +#ifdef HAL_LPTIM_MODULE_ENABLED + LPTIM_HandleTypeDef *hlptimer; + const uint32_t lptimer_map[] = { + [1] = LPTIM_DMA_CC1, + [2] = LPTIM_DMA_CC2, + }; +#endif + + if (!desc) + return -EINVAL; + + sparam = desc->extra; + chn_num = NO_OS_CHN_TO_STM32_CHN(sparam->timer_chn); + + switch (sparam->pwm_timer) { +#ifdef HAL_TIM_MODULE_ENABLED + case STM32_PWM_TIMER_TIM: + htimer = (TIM_HandleTypeDef *) sparam->htimer; + + if (sparam->dma_enable) + __HAL_TIM_DISABLE_DMA(htimer, timer_map[sparam->timer_chn]); + + if (sparam->complementary_channel) + ret = HAL_TIMEx_PWMN_Stop(htimer, chn_num); + else + ret = HAL_TIM_PWM_Stop(htimer, chn_num); + + if (ret != HAL_OK) { + return -EIO; + } + + break; +#endif +#ifdef HAL_LPTIM_MODULE_ENABLED + case STM32_PWM_TIMER_LPTIM: + hlptimer = (LPTIM_HandleTypeDef *) sparam->htimer; + + if (sparam->dma_enable) + __HAL_LPTIM_DISABLE_DMA(hlptimer, lptimer_map[sparam->timer_chn]); + + if (desc->irq_id) { + if (sparam->onepulse_enable) + ret = HAL_LPTIM_OnePulse_Stop_IT(hlptimer, chn_num); + else + ret = HAL_LPTIM_PWM_Stop_IT(hlptimer, chn_num); + } else { + if (sparam->onepulse_enable) + ret = HAL_LPTIM_OnePulse_Stop(hlptimer, chn_num); + else + ret = HAL_LPTIM_PWM_Stop(hlptimer, chn_num); + } + + if (ret != HAL_OK) { + return -EIO; + } + break; +#endif + default: + return -EINVAL; + } + + return 0; +} + +/** + * @brief Set the PWM period. + * @param desc - Pointer where the configured instance is stored. + * @param period_ns - PWM period. + * @return 0 in case of success, negative error code otherwise. + */ +int32_t stm32_pwm_set_period(struct no_os_pwm_desc *desc, + uint32_t period_ns) +{ + struct stm32_pwm_desc *sdesc; + uint32_t period; + +#ifdef HAL_TIM_MODULE_ENABLED + TIM_HandleTypeDef *htimer; +#endif +#ifdef HAL_LPTIM_MODULE_ENABLED + LPTIM_HandleTypeDef *hlptimer; +#endif + + if (!desc || !desc->extra) + return -EINVAL; + + sdesc = desc->extra; + /* Compute period ticks */ + period = _compute_period_ticks(sdesc->get_timer_clock, sdesc->clock_divider, + sdesc->prescaler, period_ns); + + switch (sdesc->pwm_timer) { +#ifdef HAL_TIM_MODULE_ENABLED + case STM32_PWM_TIMER_TIM: + htimer = (TIM_HandleTypeDef *) sdesc->htimer; + + htimer->Init.AutoReloadPreload = sdesc->timer_autoreload ? + TIM_AUTORELOAD_PRELOAD_ENABLE : TIM_MASTERSLAVEMODE_DISABLE; + htimer->Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; + htimer->Init.CounterMode = TIM_COUNTERMODE_UP; + htimer->Init.Prescaler = sdesc->prescaler; + htimer->Init.Period = period; + htimer->Init.RepetitionCounter = sdesc->repetitions; + + TIM_Base_SetConfig(htimer->Instance, &htimer->Init); + break; +#endif +#ifdef HAL_LPTIM_MODULE_ENABLED + case STM32_PWM_TIMER_LPTIM: + hlptimer = (LPTIM_HandleTypeDef *) sdesc->htimer; + hlptimer->Init.Period = period; + + /* Change the LPTIM state */ + hlptimer->State = HAL_LPTIM_STATE_READY; + if (HAL_LPTIM_Init(hlptimer) != HAL_OK) + return -EIO; + break; +#endif + default: + return -EINVAL; + } + + desc->period_ns = period_ns; + + return 0; +} + +/** + * @brief Get the PWM period. + * @param desc - Pointer where the configured instance is stored. + * @param period_ns - PWM period. + * @return 0 in case of success, negative error code otherwise. + */ +int32_t stm32_pwm_get_period(struct no_os_pwm_desc *desc, + uint32_t *period_ns) +{ + uint32_t timer_hz; + uint32_t period; + + if (!desc || !desc->extra || !period_ns) + return -EINVAL; + + struct stm32_pwm_desc *sparam = desc->extra; + + timer_hz = sparam->get_timer_clock() * sparam->clock_divider; + timer_hz /= (sparam->prescaler + 1); + + switch (sparam->pwm_timer) { +#ifdef HAL_TIM_MODULE_ENABLED + case STM32_PWM_TIMER_TIM: + period = ((TIM_HandleTypeDef *)sparam->htimer)->Init.Period; + *period_ns = (uint32_t)((period + 1) * + (FREQUENCY_HZ_TO_TIME_NS_FACTOR / timer_hz)); + break; +#endif +#ifdef HAL_LPTIM_MODULE_ENABLED + case STM32_PWM_TIMER_LPTIM: + period = ((LPTIM_HandleTypeDef *)sparam->htimer)->Init.Period; + *period_ns = (uint32_t)((period + 1) * + (FREQUENCY_HZ_TO_TIME_NS_FACTOR / timer_hz)); + break; +#endif + default: + return -EINVAL; + } + + return 0; +} + +/** + * @brief Set the PWM duty cycle. + * @param desc - Pointer where the configured instance is stored. + * @param duty_cycle_ns - PWM duty cycle. + * @return 0 in case of success, negative error code otherwise. + */ +int32_t stm32_pwm_set_duty_cycle(struct no_os_pwm_desc *desc, + uint32_t duty_cycle_ns) +{ + int32_t ret; + struct no_os_pwm_init_param param = {0}; + struct stm32_pwm_init_param sparam = {0}; + + if (!desc || !desc->extra) + return -EINVAL; + + param.duty_cycle_ns = duty_cycle_ns; + param.period_ns = desc->period_ns; + param.phase_ns = desc->phase_ns; + sparam.htimer = ((struct stm32_pwm_desc *)desc->extra)->htimer; + sparam.pwm_timer = ((struct stm32_pwm_desc *)desc->extra)->pwm_timer; + sparam.mode = ((struct stm32_pwm_desc *)desc->extra)->mode; + sparam.timer_chn = ((struct stm32_pwm_desc *)desc->extra)->timer_chn; + sparam.complementary_channel = ((struct stm32_pwm_desc*) + desc->extra)->complementary_channel; + param.extra = &sparam; + + ret = stm32_init_pwm(desc->extra, ¶m); + if (ret != HAL_OK) + return -EIO; + + desc->duty_cycle_ns = param.duty_cycle_ns; + + return 0; +} + +/** + * @brief Get the PWM duty cycle. + * @param desc - Pointer where the configured instance is stored. + * @param duty_cycle_ns - PWM duty cycle. + * @return 0 in case of success, negative error code otherwise. + */ +int32_t stm32_pwm_get_duty_cycle(struct no_os_pwm_desc *desc, + uint32_t *duty_cycle_ns) +{ + *duty_cycle_ns = desc->duty_cycle_ns; + + return 0; +} + +/** +* @brief STM32 platform specific PWM platform ops structure +*/ +const struct no_os_pwm_platform_ops stm32_pwm_ops = { + .pwm_ops_init = &stm32_pwm_init, + .pwm_ops_enable = &stm32_pwm_enable, + .pwm_ops_disable = &stm32_pwm_disable, + .pwm_ops_set_period = &stm32_pwm_set_period, + .pwm_ops_get_period = &stm32_pwm_get_period, + .pwm_ops_set_duty_cycle = &stm32_pwm_set_duty_cycle, + .pwm_ops_get_duty_cycle = &stm32_pwm_get_duty_cycle, + .pwm_ops_remove = &stm32_pwm_remove +}; diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_pwm.h b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_pwm.h new file mode 100644 index 0000000..b80092c --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_pwm.h @@ -0,0 +1,151 @@ +/***************************************************************************//** + * @file stm32/stm32_pwm.h + * @brief Header file for stm32 pwm specifics. +******************************************************************************** + * Copyright 2023(c) Analog Devices, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. Neither the name of Analog Devices, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from this + * software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY ANALOG DEVICES, INC. “AS IS” AND ANY EXPRESS OR + * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO + * EVENT SHALL ANALOG DEVICES, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ +#ifndef STM32_PWM_H_ +#define STM32_PWM_H_ + +#include +#include +#include "no_os_gpio.h" +#include "no_os_irq.h" +#include "stm32_gpio.h" +#include "stm32_hal.h" + +enum stm32_pwm_timer { + STM32_PWM_TIMER_TIM = 0, + STM32_PWM_TIMER_LPTIM = 1, +}; + +enum TimOCMode { + TIM_OC_TOGGLE = 0, + TIM_OC_PWM1 = 1, + TIM_OC_PWM2 = 2, +}; + +enum stm32_pwm_trigger { + PWM_TS_ITR0, + PWM_TS_ITR1, + PWM_TS_ITR2, + PWM_TS_ITR3, +}; + +enum stm32_pwm_trigger_out { + PWM_TRGO_RESET, + PWM_TRGO_ENABLE, + PWM_TRGO_UPDATE, + PWM_TRGO_OC1, + PWM_TRGO_OC1REF, + PWM_TRGO_OC2REF, + PWM_TRGO_OC3REF, + PWM_TRGO_OC4REF, +}; +/** + * @struct stm32_pwm_init_param + * @brief Structure holding the STM32 PWM parameters. + */ +struct stm32_pwm_init_param { + /** PWM Timer Handle */ + void *htimer; + /** Type of timer used for PWM */ + enum stm32_pwm_timer pwm_timer; + /** Timer prescaler (0 to 0xFFFF) */ + uint32_t prescaler; + /** Timer autoreload enable */ + bool timer_autoreload; + /** Timer output compare Mode */ + enum TimOCMode mode; + /** PWM timer channel */ + uint32_t timer_chn; + /** Complementary channel */ + bool complementary_channel; + /** Get timer source clock function */ + uint32_t (*get_timer_clock)(void); + /** Get timer source clock divider */ + uint32_t clock_divider; + /** Enable trigger source */ + bool trigger_enable; + /** Trigger source selection */ + enum stm32_pwm_trigger trigger_source; + /** Trigger out selection */ + enum stm32_pwm_trigger_out trigger_output; + /* Enable one pulse */ + bool onepulse_enable; + /* Number of pulse repetitions */ + uint32_t repetitions; + /* Enable dma */ + bool dma_enable; + /** Timer callback */ + struct no_os_callback_desc timer_callback; +}; + +/** + * @struct stm32_pwm_desc + * @brief Structure holding the STM32 PWM descriptor. + */ +struct stm32_pwm_desc { + /** PWM Timer Handle */ + void *htimer; + /** Type of timer used for PWM */ + enum stm32_pwm_timer pwm_timer; + /** Timer GPIO instance */ + struct no_os_gpio_desc *gpio; + /** Timer prescaler */ + uint32_t prescaler; + /** Timer autoreload enable */ + bool timer_autoreload; + /** Timer output compare Mode */ + enum TimOCMode mode; + /** PWM timer channel */ + uint32_t timer_chn; + /** Complementary channel */ + bool complementary_channel; + /** Get timer source clock function */ + uint32_t (*get_timer_clock)(void); + /** Get timer source clock divider */ + uint32_t clock_divider; + /** Interrupt controller descriptor */ + struct no_os_irq_ctrl_desc *nvic_tim; + /** Timer callback */ + struct no_os_callback_desc timer_callback; + /* Number of pulse repetitions */ + uint32_t repetitions; + /* Enable dma */ + bool dma_enable; + /* Enable one pulse */ + bool onepulse_enable; +}; + +/** + * @brief STM32 specific PWM platform ops structure + */ +extern const struct no_os_pwm_platform_ops stm32_pwm_ops; + +#endif // STM32_PWM_H_ diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_spi.c b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_spi.c new file mode 100644 index 0000000..57c0acf --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_spi.c @@ -0,0 +1,53 @@ +#include "stm32_spi.h" +#include "no_os_error.h" +#include + +int32_t stm32_spi_init(struct no_os_spi_desc **desc, + const struct no_os_spi_init_param *param) +{ + if (!desc || !param) + return -EINVAL; + + *desc = calloc(1, sizeof(**desc)); + if (!*desc) + return -ENOMEM; + + /* store platform handle (HAL SPI_HandleTypeDef*) in extra */ + (*desc)->extra = param->extra; + (*desc)->max_speed_hz = param->max_speed_hz; + (*desc)->mode = param->mode; + + return 0; +} + +int32_t stm32_spi_write_and_read(struct no_os_spi_desc *desc, + uint8_t *data, + uint32_t bytes_number) +{ + if (!desc || !data || bytes_number == 0) + return -EINVAL; + + SPI_HandleTypeDef *hspi = (SPI_HandleTypeDef *)desc->extra; + if (!hspi) + return -EINVAL; + + if (HAL_SPI_TransmitReceive(hspi, data, data, bytes_number, 200) != HAL_OK) + return -EIO; + + return 0; +} + +int32_t stm32_spi_remove(struct no_os_spi_desc *desc) +{ + if (!desc) + return -EINVAL; + free(desc); + return 0; +} + +/* platform ops struct */ +const struct no_os_spi_platform_ops stm32_spi_ops = { + .init = &stm32_spi_init, + .write_and_read = &stm32_spi_write_and_read, + .remove = &stm32_spi_remove, +}; diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_spi.h b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_spi.h new file mode 100644 index 0000000..7a85977 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_spi.h @@ -0,0 +1,9 @@ +#ifndef _STM32_SPI_H_ +#define _STM32_SPI_H_ + +#include "no_os_spi.h" +#include "stm32f7xx_hal.h" + +extern const struct no_os_spi_platform_ops stm32_spi_ops; + +#endif /* _STM32_SPI_H_ */ diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_timer.c b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_timer.c new file mode 100644 index 0000000..c6c497f --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_timer.c @@ -0,0 +1,352 @@ +/***************************************************************************//** + * @file stm32/stm32_timer.c + * @brief Implementation of stm32 timer driver. + * @author RBolboac (ramona.bolboaca@analog.com) +******************************************************************************** + * Copyright 2022(c) Analog Devices, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. Neither the name of Analog Devices, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from this + * software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY ANALOG DEVICES, INC. “AS IS” AND ANY EXPRESS OR + * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO + * EVENT SHALL ANALOG DEVICES, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ +#include +#include +#include "no_os_util.h" +#include "no_os_timer.h" +#include "no_os_alloc.h" +#include "stm32_timer.h" + + +static int get_timer_base(uint32_t device_id, TIM_TypeDef **base, + uint32_t *clk_freq) +{ + uint32_t apb2_freq = HAL_RCC_GetPCLK2Freq(); + *clk_freq = HAL_RCC_GetPCLK1Freq(); + + switch (device_id) { +#if defined(TIM1) + case 1: + *base = TIM1; + *clk_freq = apb2_freq; + break; +#endif +#if defined(TIM2) + case 2: + *base = TIM2; + break; +#endif +#if defined(TIM3) + case 3: + *base = TIM3; + break; +#endif + break; +#if defined(TIM4) + case 4: + *base = TIM4; + break; +#endif +#if defined(TIM5) + case 5: + *base = TIM5; + break; +#endif +#if defined(TIM6) + case 6: + *base = TIM6; + break; +#endif +#if defined(TIM7) + case 7: + *base = TIM7; + break; +#endif +#if defined(TIM8) + case 8: + *base = TIM8; + *clk_freq = apb2_freq; + break; +#endif +#if defined(TIM9) + case 9: + *base = TIM9; + break; +#endif +#if defined(TIM10) + case 10: + *base = TIM10; + break; +#endif +#if defined(TIM11) + case 11: + *base = TIM11; + break; +#endif +#if defined(TIM12) + case 12: + *base = TIM12; + break; +#endif +#if defined(TIM13) + case 13: + *base = TIM13; + break; +#endif +#if defined(TIM14) + case 14: + *base = TIM14; + break; +#endif + default: + return -EINVAL; + }; + + return 0; +} + +/** + * @brief Initialize the timer peripheral. + * @param desc - The timer descriptor. + * @param param - The structure that contains the timer parameters. + * @return ret - Result of the init procedure. + */ +int32_t stm32_timer_init(struct no_os_timer_desc **desc, + const struct no_os_timer_init_param *param) +{ + int32_t ret; + struct no_os_timer_desc *no_os_desc; + struct stm32_timer_desc *stm_desc; + uint32_t src_freq; + TIM_TypeDef *base = NULL; + + if (!desc || !param) + return -EINVAL; + + no_os_desc = (struct no_os_timer_desc *)no_os_calloc(1, sizeof(*no_os_desc)); + if (!no_os_desc) + return -ENOMEM; + + stm_desc = param->extra; + + ret = get_timer_base(param->id, &base, &src_freq); + if (ret) + goto error; + /* Make sure the same id is used as the selected instance */ + if (base != stm_desc->htimer->Instance) { + ret = -EINVAL; + goto error; + } + + /* Make sure the selected frequency is in range */ + if (src_freq < param->freq_hz) { + ret = -EINVAL; + goto error; + } + + /* Overwrite generated values with given values */ + stm_desc->htimer->Init.Prescaler = src_freq / param->freq_hz; + stm_desc->htimer->Init.Period = param->ticks_count; + + ret = HAL_TIM_Base_Init(stm_desc->htimer); + if (ret != HAL_OK) { + ret = -EIO; + goto error; + } + + /* Copy settings to device descriptor */ + no_os_desc->extra = stm_desc->htimer; + no_os_desc->id = param->id; + no_os_desc->freq_hz = param->freq_hz; + no_os_desc->ticks_count = param->ticks_count; + *desc = no_os_desc; + + return 0; + +error: + no_os_free(no_os_desc); + return ret; +} + +/** + * @brief Free the resources allocated by no_os_timer_init(). + * @param desc - The timer descriptor. + * + * @return ret - Result of the remove procedure. + */ +int32_t stm32_timer_remove(struct no_os_timer_desc *desc) +{ + if (!desc) + return -EINVAL; + + if (!HAL_TIM_Base_DeInit(desc->extra)) { + no_os_free(desc); + return 0; + } + + return -1; +} + +/** + * @brief Start a timer. + * @param desc - Pointer to the device handler. + * + * @return ret - Result of the start procedure. + */ +int32_t stm32_timer_start(struct no_os_timer_desc *desc) +{ + if (!desc) + return -EINVAL; + + if (!HAL_TIM_Base_Start_IT((TIM_HandleTypeDef*)desc->extra)) + return 0; + + return -1; +} + +/** + * @brief Stop a timer from counting. + * @param desc - Pointer to the device handler. + * + * @return ret - Result of the stop procedure. + */ +int32_t stm32_timer_stop(struct no_os_timer_desc *desc) +{ + if (!desc) + return -EINVAL; + + if (!HAL_TIM_Base_Stop_IT((TIM_HandleTypeDef*)desc->extra)) + return 0; + + return -1; +} + +/** + * @brief Get the value of the counter register for the timer. + * @param [in] desc - Pointer to the device handler. + * @param [out] counter - Pointer to the counter value. + * @return 0 in case of success, error code otherwise. + */ +int32_t stm32_timer_counter_get(struct no_os_timer_desc *desc, + uint32_t *counter) +{ + if (!desc && !counter) + return -EINVAL; + + *counter = __HAL_TIM_GetCounter((TIM_HandleTypeDef*)desc->extra); + return 0; +} + +/** + * @brief Set the timer counter register value. + * @param [in] desc - Pointer to the device handler. + * @param [in] new_val - The new value of the counter register. + * @return 0 in case of success, error code otherwise. + */ +int32_t stm32_timer_counter_set(struct no_os_timer_desc *desc, uint32_t new_val) +{ + if (!desc || (new_val > desc->ticks_count)) + return -EINVAL; + + __HAL_TIM_SetCounter((TIM_HandleTypeDef*)desc->extra, new_val); + return 0; +} + +/** + * @brief Get the timer clock frequency. + * @param [in] desc - Pointer to the device handler. + * @param [out] freq_hz - The value in Hz of the timer clock. + * @return 0 in case of success, error code otherwise. + */ +int32_t stm32_timer_count_clk_get(struct no_os_timer_desc *desc, + uint32_t *freq_hz) +{ + if (!desc || !freq_hz) + return -EINVAL; + + *freq_hz = desc->freq_hz; + return 0; +} + +/** + * @brief Set the timer clock frequency. + * @param [in] desc - Pointer to the device handler. + * @param [in] freq_hz - The value in Hz of the new timer clock. + * @return 0 in case of success, error code otherwise. + */ +int32_t stm32_timer_count_clk_set(struct no_os_timer_desc *desc, + uint32_t freq_hz) +{ + int ret; + uint32_t src_freq; + TIM_TypeDef *base = NULL; + TIM_HandleTypeDef* tim_desc; + + if (!desc) + return -EINVAL; + + ret = get_timer_base(desc->id, &base, &src_freq); + if (ret) + return -EINVAL; + + if (src_freq < freq_hz) + return -EINVAL; + + tim_desc = desc->extra; + + __HAL_TIM_SET_PRESCALER(tim_desc, src_freq / freq_hz); + tim_desc->Init.Prescaler = src_freq / freq_hz; + + desc->freq_hz = freq_hz; + + return 0; +} + +/** + * @brief Get the elapsed time in nsec for the timer. + * @param [in] desc - Pointer to the device handler. + * @param [in] elapsed_time - The elapsed time in nsec. + * @return 0 in case of success, error code otherwise. + */ +int32_t stm32_timer_get_elapsed_time_nsec(struct no_os_timer_desc *desc, + uint64_t *elapsed_time) +{ + /* Function not implemented because it is not needed at the moment */ + return -ENOSYS; +} + +/** + * @brief stm32 platform specific timer platform ops structure + */ +const struct no_os_timer_platform_ops stm32_timer_ops = { + .init = &stm32_timer_init, + .start = &stm32_timer_start, + .stop = &stm32_timer_stop, + .counter_get = &stm32_timer_counter_get, + .counter_set = &stm32_timer_counter_set, + .count_clk_get = &stm32_timer_count_clk_get, + .count_clk_set = &stm32_timer_count_clk_set, + .get_elapsed_time_nsec = &stm32_timer_get_elapsed_time_nsec, + .remove = &stm32_timer_remove +}; + diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_timer.h b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_timer.h new file mode 100644 index 0000000..f3ae547 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_timer.h @@ -0,0 +1,63 @@ +/***************************************************************************//** + * @file stm32/stm32_timer.h + * @brief Header file for the stm32 timer driver. + * @author RBolboac (ramona.bolboaca@analog.com) +******************************************************************************** + * Copyright 2022(c) Analog Devices, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. Neither the name of Analog Devices, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from this + * software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY ANALOG DEVICES, INC. “AS IS” AND ANY EXPRESS OR + * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO + * EVENT SHALL ANALOG DEVICES, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ +#ifndef STM32_TIMER_H_ +#define STM32_TIMER_H_ + +#include +#include "no_os_timer.h" +#include "stm32_hal.h" + +/** + * @struct stm32_timer_init_param + * @brief Structure holding the initialization parameters for stm32 platform + * specific timer parameters. + */ +struct stm32_timer_init_param { + TIM_HandleTypeDef *htimer; +}; + +/** + * @struct stm32_timer_desc + * @brief stm32 platform specific timer descriptor + */ +struct stm32_timer_desc { + /** timer instance */ + TIM_HandleTypeDef *htimer; +}; + +/** + * @brief stm32 specific timer platform ops structure + */ +extern const struct no_os_timer_platform_ops stm32_timer_ops; + +#endif // STM32_TIMER_H_ diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_uart.c b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_uart.c new file mode 100644 index 0000000..4eb9d12 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_uart.c @@ -0,0 +1,302 @@ +/***************************************************************************//** + * @file stm32/stm32_uart.c + * @brief Source file of UART driver for STM32 + * @author Darius Berghe (darius.berghe@analog.com) +******************************************************************************** + * Copyright 2020(c) Analog Devices, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. Neither the name of Analog Devices, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from this + * software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY ANALOG DEVICES, INC. “AS IS” AND ANY EXPRESS OR + * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO + * EVENT SHALL ANALOG DEVICES, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ +#include +#include +#include "no_os_uart.h" +#include "no_os_irq.h" +#include "no_os_lf256fifo.h" +#include "no_os_alloc.h" +#include "stm32_irq.h" +#include "stm32_uart.h" +#include "stm32_hal.h" + +static uint8_t c; + +void uart_rx_callback(void *context) +{ + struct no_os_uart_desc *d = context; + lf256fifo_write(d->rx_fifo, c); + HAL_UART_Receive_IT(((struct stm32_uart_desc *)d->extra)->huart, &c, 1); +} + +/** + * @brief Initialize the UART communication peripheral. + * @param desc - The UART descriptor. + * @param param - The structure that contains the UART parameters. + * @return 0 in case of success, error code otherwise. + */ +static int32_t stm32_uart_init(struct no_os_uart_desc **desc, + struct no_os_uart_init_param *param) +{ + struct stm32_uart_init_param *suip; + struct stm32_uart_desc *sud; + struct no_os_uart_desc *descriptor; + int ret; + + if (!desc || !param) + return -EINVAL; + + descriptor = (struct no_os_uart_desc *) no_os_calloc(1, sizeof(*descriptor)); + if (!descriptor) + return -ENOMEM; + + sud = (struct stm32_uart_desc *) no_os_calloc(1, + sizeof(struct stm32_uart_desc)); + if (!sud) { + ret = -ENOMEM; + goto error; + } + + descriptor->irq_id = param->irq_id; + descriptor->extra = sud; + suip = param->extra; + + sud->huart = suip->huart; + sud->huart->Init.BaudRate = param->baud_rate; + switch (param->size) { + case NO_OS_UART_CS_8: + sud->huart->Init.WordLength = UART_WORDLENGTH_8B; + break; + case NO_OS_UART_CS_9: + sud->huart->Init.WordLength = UART_WORDLENGTH_9B; + break; + default: + ret = -EINVAL; + goto error; + }; + switch (param->parity) { + case NO_OS_UART_PAR_NO: + sud->huart->Init.Parity = UART_PARITY_NONE; + break; + case NO_OS_UART_PAR_ODD: + sud->huart->Init.Parity = UART_PARITY_ODD; + break; + case NO_OS_UART_PAR_EVEN: + sud->huart->Init.Parity = UART_PARITY_EVEN; + break; + default: + ret = -EINVAL; + goto error; + }; + sud->huart->Init.StopBits = param->stop == NO_OS_UART_STOP_1_BIT ? + UART_STOPBITS_1 : + UART_STOPBITS_2; + sud->huart->Init.Mode = suip->huart->Init.Mode; + sud->huart->Init.HwFlowCtl = suip->huart->Init.HwFlowCtl; + sud->huart->Init.OverSampling = suip->huart->Init.OverSampling; + ret = HAL_UART_Init(sud->huart); + if (ret != HAL_OK) { + ret = -EIO; + goto error; + } + + sud->timeout = suip->timeout ? suip->timeout : HAL_MAX_DELAY; + + // nonblocking uart_read + if (param->asynchronous_rx) { + ret = lf256fifo_init(&descriptor->rx_fifo); + if (ret < 0) + goto error; + + struct no_os_irq_init_param nvic_ip = { + .platform_ops = &stm32_irq_ops, + .extra = sud->huart, + }; + ret = no_os_irq_ctrl_init(&sud->nvic, &nvic_ip); + if (ret < 0) + goto error; + + sud->rx_callback.callback = uart_rx_callback; + sud->rx_callback.ctx = descriptor; + sud->rx_callback.event = NO_OS_EVT_UART_RX_COMPLETE; + sud->rx_callback.peripheral = NO_OS_UART_IRQ; + sud->rx_callback.handle = sud->huart; + + ret = no_os_irq_register_callback(sud->nvic, descriptor->irq_id, + &sud->rx_callback); + if (ret < 0) + goto error_nvic; + + ret = no_os_irq_enable(sud->nvic, descriptor->irq_id); + if (ret < 0) + goto error_register; + + HAL_UART_Receive_IT(sud->huart, (uint8_t *)&c, 1); + if (ret != HAL_OK) { + ret = -EIO; + goto error_enable; + } + } + + descriptor->device_id = param->device_id; + descriptor->baud_rate = param->baud_rate; + + *desc = descriptor; + + return 0; +error_enable: + no_os_irq_disable(sud->nvic, descriptor->irq_id); +error_register: + no_os_irq_unregister_callback(sud->nvic, descriptor->irq_id, &sud->rx_callback); +error_nvic: + no_os_irq_ctrl_remove(sud->nvic); +error: + no_os_free(descriptor); + no_os_free(sud); + + return ret; +} + +/** + * @brief Free the resources allocated by stm32_uart_init(). + * @param desc - The UART descriptor. + * @return 0 in case of success, -1 otherwise. + */ +static int32_t stm32_uart_remove(struct no_os_uart_desc *desc) +{ + struct stm32_uart_desc *sud; + + if (!desc) + return -EINVAL; + + sud = desc->extra; + HAL_UART_DeInit(sud->huart); + if (desc->rx_fifo) { + no_os_irq_disable(sud->nvic, desc->irq_id); + lf256fifo_remove(desc->rx_fifo); + desc->rx_fifo = NULL; + no_os_irq_unregister_callback(sud->nvic, desc->irq_id, &sud->rx_callback); + no_os_irq_ctrl_remove(sud->nvic); + } + no_os_free(desc->extra); + no_os_free(desc); + + return 0; +}; + +/** + * @brief Write data to UART device. + * @param desc - Instance of UART. + * @param data - Pointer to buffer containing data. + * @param bytes_number - Number of bytes to read. + * @return 0 in case of success, -1 otherwise. + */ +static int32_t stm32_uart_write(struct no_os_uart_desc *desc, + const uint8_t *data, + uint32_t bytes_number) +{ + struct stm32_uart_desc *sud; + int32_t ret; + + if (!desc || !desc->extra || !data) + return -EINVAL; + + if (!bytes_number) + return 0; + + sud = desc->extra; + ret = HAL_UART_Transmit(sud->huart, (uint8_t *)data, bytes_number, + sud->timeout); + + switch (ret) { + case HAL_OK: + break; + case HAL_BUSY: + return -EBUSY; + case HAL_TIMEOUT: + return -ETIMEDOUT; + default: + return -EIO; + }; + + return bytes_number; +} + +/** + * @brief Read data from UART device. + * @param desc - Instance of UART. + * @param data - Pointer to buffer containing data. + * @param bytes_number - Number of bytes to read. + * @return positive number of received bytes in case of success, negative error code otherwise. + */ +static int32_t stm32_uart_read(struct no_os_uart_desc *desc, uint8_t *data, + uint32_t bytes_number) +{ + struct stm32_uart_desc *sud; + uint32_t i = 0; + int32_t ret; + + if (!desc || !desc->extra || !data) + return -EINVAL; + + if (!bytes_number) + return 0; + + sud = desc->extra; + + if (desc->rx_fifo) { + while (i < bytes_number) { + ret = lf256fifo_read(desc->rx_fifo, &data[i]); + if (ret < 0) + return i ? i : -EAGAIN; + i++; + } + return i; + } else { + ret = HAL_UART_Receive(sud->huart, (uint8_t *)data, bytes_number, + sud->timeout); + + switch (ret) { + case HAL_OK: + break; + case HAL_BUSY: + return -EBUSY; + case HAL_TIMEOUT: + return -ETIMEDOUT; + default: + return -EIO; + }; + } + + return bytes_number; +} + +/** + * @brief STM32 platform specific UART platform ops structure + */ +const struct no_os_uart_platform_ops stm32_uart_ops = { + .init = &stm32_uart_init, + .read = &stm32_uart_read, + .write = &stm32_uart_write, + .remove = &stm32_uart_remove +}; diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_uart.h b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_uart.h new file mode 100644 index 0000000..721d7f0 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32_uart.h @@ -0,0 +1,73 @@ +/***************************************************************************//** + * @file stm32/stm32_uart.h + * @brief Header file of UART driver for STM32 + * @author Darius Berghe (darius.berghe@analog.com) +******************************************************************************** + * Copyright 2020(c) Analog Devices, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * 3. Neither the name of Analog Devices, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from this + * software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY ANALOG DEVICES, INC. “AS IS” AND ANY EXPRESS OR + * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO + * EVENT SHALL ANALOG DEVICES, INC. BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, + * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, + * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ +#ifndef _STM32_UART_H_ +#define _STM32_UART_H_ + +#include +#include +#include "no_os_uart.h" +#include "no_os_irq.h" +#include "stm32_hal.h" + +/** + * @struct stm32_uart_init_param + * @brief Specific initialization parameters for stm32 UART. + */ +struct stm32_uart_init_param { + /** UART instance */ + UART_HandleTypeDef *huart; + /** UART transaction timeout (HAL_IncTick() units) */ + uint32_t timeout; +}; + +/** + * @struct stm32_uart_desc + * @brief stm32 platform specific UART descriptor + */ +struct stm32_uart_desc { + /** UART instance */ + UART_HandleTypeDef *huart; + /** UART transaction timeout (HAL_IncTick() units) */ + uint32_t timeout; + /** Interrupt controller descriptor */ + struct no_os_irq_ctrl_desc *nvic; + /** RX complete callback */ + struct no_os_callback_desc rx_callback; +}; + +/** + * @brief STM32 specific UART platform ops structure + */ +extern const struct no_os_uart_platform_ops stm32_uart_ops; + +#endif diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32f7xx_hal_conf.h b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32f7xx_hal_conf.h new file mode 100644 index 0000000..073942b --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32f7xx_hal_conf.h @@ -0,0 +1,484 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file stm32f7xx_hal_conf_template.h + * @author MCD Application Team + * @brief HAL configuration template file. + * This file should be copied to the application folder and renamed + * to stm32f7xx_hal_conf.h. + ****************************************************************************** + * @attention + * + * Copyright (c) 2017 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ +/* USER CODE END Header */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F7xx_HAL_CONF_H +#define __STM32F7xx_HAL_CONF_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Exported types ------------------------------------------------------------*/ +/* Exported constants --------------------------------------------------------*/ + +/* ########################## Module Selection ############################## */ +/** + * @brief This is the list of modules to be used in the HAL driver + */ +#define HAL_MODULE_ENABLED + + /* #define HAL_CRYP_MODULE_ENABLED */ +/* #define HAL_ADC_MODULE_ENABLED */ +/* #define HAL_CAN_MODULE_ENABLED */ +/* #define HAL_CEC_MODULE_ENABLED */ +/* #define HAL_CRC_MODULE_ENABLED */ +/* #define HAL_DAC_MODULE_ENABLED */ +/* #define HAL_DCMI_MODULE_ENABLED */ +/* #define HAL_DMA2D_MODULE_ENABLED */ +/* #define HAL_ETH_MODULE_ENABLED */ +/* #define HAL_ETH_LEGACY_MODULE_ENABLED */ +/* #define HAL_NAND_MODULE_ENABLED */ +/* #define HAL_NOR_MODULE_ENABLED */ +/* #define HAL_SRAM_MODULE_ENABLED */ +/* #define HAL_SDRAM_MODULE_ENABLED */ +/* #define HAL_HASH_MODULE_ENABLED */ +/* #define HAL_I2S_MODULE_ENABLED */ +/* #define HAL_IWDG_MODULE_ENABLED */ +/* #define HAL_LPTIM_MODULE_ENABLED */ +/* #define HAL_LTDC_MODULE_ENABLED */ +/* #define HAL_QSPI_MODULE_ENABLED */ +/* #define HAL_RNG_MODULE_ENABLED */ +/* #define HAL_RTC_MODULE_ENABLED */ +/* #define HAL_SAI_MODULE_ENABLED */ +/* #define HAL_SD_MODULE_ENABLED */ +/* #define HAL_MMC_MODULE_ENABLED */ +/* #define HAL_SPDIFRX_MODULE_ENABLED */ +#define HAL_SPI_MODULE_ENABLED +#define HAL_TIM_MODULE_ENABLED +#define HAL_UART_MODULE_ENABLED +/* #define HAL_USART_MODULE_ENABLED */ +/* #define HAL_IRDA_MODULE_ENABLED */ +/* #define HAL_SMARTCARD_MODULE_ENABLED */ +/* #define HAL_WWDG_MODULE_ENABLED */ +#define HAL_PCD_MODULE_ENABLED +/* #define HAL_HCD_MODULE_ENABLED */ +/* #define HAL_DFSDM_MODULE_ENABLED */ +/* #define HAL_DSI_MODULE_ENABLED */ +/* #define HAL_JPEG_MODULE_ENABLED */ +/* #define HAL_MDIOS_MODULE_ENABLED */ +/* #define HAL_SMBUS_MODULE_ENABLED */ +/* #define HAL_EXTI_MODULE_ENABLED */ +#define HAL_GPIO_MODULE_ENABLED +#define HAL_EXTI_MODULE_ENABLED +#define HAL_DMA_MODULE_ENABLED +#define HAL_RCC_MODULE_ENABLED +#define HAL_FLASH_MODULE_ENABLED +#define HAL_PWR_MODULE_ENABLED +#define HAL_I2C_MODULE_ENABLED +#define HAL_CORTEX_MODULE_ENABLED + +/* ########################## HSE/HSI Values adaptation ##################### */ +/** + * @brief Adjust the value of External High Speed oscillator (HSE) used in your application. + * This value is used by the RCC HAL module to compute the system frequency + * (when HSE is used as system clock source, directly or through the PLL). + */ +#if !defined (HSE_VALUE) + #define HSE_VALUE ((uint32_t)25000000U) /*!< Value of the External oscillator in Hz */ +#endif /* HSE_VALUE */ + +#if !defined (HSE_STARTUP_TIMEOUT) + #define HSE_STARTUP_TIMEOUT ((uint32_t)100U) /*!< Time out for HSE start up, in ms */ +#endif /* HSE_STARTUP_TIMEOUT */ + +/** + * @brief Internal High Speed oscillator (HSI) value. + * This value is used by the RCC HAL module to compute the system frequency + * (when HSI is used as system clock source, directly or through the PLL). + */ +#if !defined (HSI_VALUE) + #define HSI_VALUE ((uint32_t)16000000U) /*!< Value of the Internal oscillator in Hz*/ +#endif /* HSI_VALUE */ + +/** + * @brief Internal Low Speed oscillator (LSI) value. + */ +#if !defined (LSI_VALUE) + #define LSI_VALUE ((uint32_t)32000U) /*!< LSI Typical Value in Hz*/ +#endif /* LSI_VALUE */ /*!< Value of the Internal Low Speed oscillator in Hz + The real value may vary depending on the variations + in voltage and temperature. */ +/** + * @brief External Low Speed oscillator (LSE) value. + */ +#if !defined (LSE_VALUE) + #define LSE_VALUE ((uint32_t)32768U) /*!< Value of the External Low Speed oscillator in Hz */ +#endif /* LSE_VALUE */ + +#if !defined (LSE_STARTUP_TIMEOUT) + #define LSE_STARTUP_TIMEOUT ((uint32_t)5000U) /*!< Time out for LSE start up, in ms */ +#endif /* LSE_STARTUP_TIMEOUT */ + +/** + * @brief External clock source for I2S peripheral + * This value is used by the I2S HAL module to compute the I2S clock source + * frequency, this source is inserted directly through I2S_CKIN pad. + */ +#if !defined (EXTERNAL_CLOCK_VALUE) + #define EXTERNAL_CLOCK_VALUE ((uint32_t)12288000U) /*!< Value of the Internal oscillator in Hz*/ +#endif /* EXTERNAL_CLOCK_VALUE */ + +/* Tip: To avoid modifying this file each time you need to use different HSE, + === you can define the HSE value in your toolchain compiler preprocessor. */ + +/* ########################### System Configuration ######################### */ +/** + * @brief This is the HAL system configuration section + */ +#define VDD_VALUE 3300U /*!< Value of VDD in mv */ +#define TICK_INT_PRIORITY ((uint32_t)15U) /*!< tick interrupt priority */ +#define USE_RTOS 0U +#define PREFETCH_ENABLE 0U +#define ART_ACCELERATOR_ENABLE 0U /* To enable instruction cache and prefetch */ + +#define USE_HAL_ADC_REGISTER_CALLBACKS 0U /* ADC register callback disabled */ +#define USE_HAL_CAN_REGISTER_CALLBACKS 0U /* CAN register callback disabled */ +#define USE_HAL_CEC_REGISTER_CALLBACKS 0U /* CEC register callback disabled */ +#define USE_HAL_CRYP_REGISTER_CALLBACKS 0U /* CRYP register callback disabled */ +#define USE_HAL_DAC_REGISTER_CALLBACKS 0U /* DAC register callback disabled */ +#define USE_HAL_DCMI_REGISTER_CALLBACKS 0U /* DCMI register callback disabled */ +#define USE_HAL_DFSDM_REGISTER_CALLBACKS 0U /* DFSDM register callback disabled */ +#define USE_HAL_DMA2D_REGISTER_CALLBACKS 0U /* DMA2D register callback disabled */ +#define USE_HAL_DSI_REGISTER_CALLBACKS 0U /* DSI register callback disabled */ +#define USE_HAL_ETH_REGISTER_CALLBACKS 0U /* ETH register callback disabled */ +#define USE_HAL_HASH_REGISTER_CALLBACKS 0U /* HASH register callback disabled */ +#define USE_HAL_HCD_REGISTER_CALLBACKS 0U /* HCD register callback disabled */ +#define USE_HAL_I2C_REGISTER_CALLBACKS 0U /* I2C register callback disabled */ +#define USE_HAL_I2S_REGISTER_CALLBACKS 0U /* I2S register callback disabled */ +#define USE_HAL_IRDA_REGISTER_CALLBACKS 0U /* IRDA register callback disabled */ +#define USE_HAL_JPEG_REGISTER_CALLBACKS 0U /* JPEG register callback disabled */ +#define USE_HAL_LPTIM_REGISTER_CALLBACKS 0U /* LPTIM register callback disabled */ +#define USE_HAL_LTDC_REGISTER_CALLBACKS 0U /* LTDC register callback disabled */ +#define USE_HAL_MDIOS_REGISTER_CALLBACKS 0U /* MDIOS register callback disabled */ +#define USE_HAL_MMC_REGISTER_CALLBACKS 0U /* MMC register callback disabled */ +#define USE_HAL_NAND_REGISTER_CALLBACKS 0U /* NAND register callback disabled */ +#define USE_HAL_NOR_REGISTER_CALLBACKS 0U /* NOR register callback disabled */ +#define USE_HAL_PCD_REGISTER_CALLBACKS 0U /* PCD register callback disabled */ +#define USE_HAL_QSPI_REGISTER_CALLBACKS 0U /* QSPI register callback disabled */ +#define USE_HAL_RNG_REGISTER_CALLBACKS 0U /* RNG register callback disabled */ +#define USE_HAL_RTC_REGISTER_CALLBACKS 0U /* RTC register callback disabled */ +#define USE_HAL_SAI_REGISTER_CALLBACKS 0U /* SAI register callback disabled */ +#define USE_HAL_SD_REGISTER_CALLBACKS 0U /* SD register callback disabled */ +#define USE_HAL_SMARTCARD_REGISTER_CALLBACKS 0U /* SMARTCARD register callback disabled */ +#define USE_HAL_SDRAM_REGISTER_CALLBACKS 0U /* SDRAM register callback disabled */ +#define USE_HAL_SRAM_REGISTER_CALLBACKS 0U /* SRAM register callback disabled */ +#define USE_HAL_SPDIFRX_REGISTER_CALLBACKS 0U /* SPDIFRX register callback disabled */ +#define USE_HAL_SMBUS_REGISTER_CALLBACKS 0U /* SMBUS register callback disabled */ +#define USE_HAL_SPI_REGISTER_CALLBACKS 0U /* SPI register callback disabled */ +#define USE_HAL_TIM_REGISTER_CALLBACKS 0U /* TIM register callback disabled */ +#define USE_HAL_UART_REGISTER_CALLBACKS 0U /* UART register callback disabled */ +#define USE_HAL_USART_REGISTER_CALLBACKS 0U /* USART register callback disabled */ +#define USE_HAL_WWDG_REGISTER_CALLBACKS 0U /* WWDG register callback disabled */ + +/* ########################## Assert Selection ############################## */ +/** + * @brief Uncomment the line below to expanse the "assert_param" macro in the + * HAL drivers code + */ +/* #define USE_FULL_ASSERT 1U */ + +/* ################## Ethernet peripheral configuration ##################### */ + +/* Section 1 : Ethernet peripheral configuration */ + +/* MAC ADDRESS: MAC_ADDR0:MAC_ADDR1:MAC_ADDR2:MAC_ADDR3:MAC_ADDR4:MAC_ADDR5 */ +#define MAC_ADDR0 2U +#define MAC_ADDR1 0U +#define MAC_ADDR2 0U +#define MAC_ADDR3 0U +#define MAC_ADDR4 0U +#define MAC_ADDR5 0U + +/* Definition of the Ethernet driver buffers size and count */ +#define ETH_RX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for receive */ +#define ETH_TX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for transmit */ +#define ETH_RXBUFNB ((uint32_t)4U) /* 4 Rx buffers of size ETH_RX_BUF_SIZE */ +#define ETH_TXBUFNB ((uint32_t)4U) /* 4 Tx buffers of size ETH_TX_BUF_SIZE */ + +/* Section 2: PHY configuration section */ + +/* DP83848_PHY_ADDRESS Address*/ +#define DP83848_PHY_ADDRESS +/* PHY Reset delay these values are based on a 1 ms Systick interrupt*/ +#define PHY_RESET_DELAY ((uint32_t)0x000000FFU) +/* PHY Configuration delay */ +#define PHY_CONFIG_DELAY ((uint32_t)0x00000FFFU) + +#define PHY_READ_TO ((uint32_t)0x0000FFFFU) +#define PHY_WRITE_TO ((uint32_t)0x0000FFFFU) + +/* Section 3: Common PHY Registers */ + +#define PHY_BCR ((uint16_t)0x0000U) /*!< Transceiver Basic Control Register */ +#define PHY_BSR ((uint16_t)0x0001U) /*!< Transceiver Basic Status Register */ + +#define PHY_RESET ((uint16_t)0x8000U) /*!< PHY Reset */ +#define PHY_LOOPBACK ((uint16_t)0x4000U) /*!< Select loop-back mode */ +#define PHY_FULLDUPLEX_100M ((uint16_t)0x2100U) /*!< Set the full-duplex mode at 100 Mb/s */ +#define PHY_HALFDUPLEX_100M ((uint16_t)0x2000U) /*!< Set the half-duplex mode at 100 Mb/s */ +#define PHY_FULLDUPLEX_10M ((uint16_t)0x0100U) /*!< Set the full-duplex mode at 10 Mb/s */ +#define PHY_HALFDUPLEX_10M ((uint16_t)0x0000U) /*!< Set the half-duplex mode at 10 Mb/s */ +#define PHY_AUTONEGOTIATION ((uint16_t)0x1000U) /*!< Enable auto-negotiation function */ +#define PHY_RESTART_AUTONEGOTIATION ((uint16_t)0x0200U) /*!< Restart auto-negotiation function */ +#define PHY_POWERDOWN ((uint16_t)0x0800U) /*!< Select the power down mode */ +#define PHY_ISOLATE ((uint16_t)0x0400U) /*!< Isolate PHY from MII */ + +#define PHY_AUTONEGO_COMPLETE ((uint16_t)0x0020U) /*!< Auto-Negotiation process completed */ +#define PHY_LINKED_STATUS ((uint16_t)0x0004U) /*!< Valid link established */ +#define PHY_JABBER_DETECTION ((uint16_t)0x0002U) /*!< Jabber condition detected */ + +/* Section 4: Extended PHY Registers */ +#define PHY_SR ((uint16_t)) /*!< PHY status register Offset */ + +#define PHY_SPEED_STATUS ((uint16_t)) /*!< PHY Speed mask */ +#define PHY_DUPLEX_STATUS ((uint16_t)) /*!< PHY Duplex mask */ + +/* ################## SPI peripheral configuration ########################## */ + +/* CRC FEATURE: Use to activate CRC feature inside HAL SPI Driver +* Activated: CRC code is present inside driver +* Deactivated: CRC code cleaned from driver +*/ + +#define USE_SPI_CRC 0U + +/* Includes ------------------------------------------------------------------*/ +/** + * @brief Include module's header file + */ + +#ifdef HAL_RCC_MODULE_ENABLED + #include "stm32f7xx_hal_rcc.h" +#endif /* HAL_RCC_MODULE_ENABLED */ + +#ifdef HAL_EXTI_MODULE_ENABLED + #include "stm32f7xx_hal_exti.h" +#endif /* HAL_EXTI_MODULE_ENABLED */ + +#ifdef HAL_GPIO_MODULE_ENABLED + #include "stm32f7xx_hal_gpio.h" +#endif /* HAL_GPIO_MODULE_ENABLED */ + +#ifdef HAL_DMA_MODULE_ENABLED + #include "stm32f7xx_hal_dma.h" +#endif /* HAL_DMA_MODULE_ENABLED */ + +#ifdef HAL_CORTEX_MODULE_ENABLED + #include "stm32f7xx_hal_cortex.h" +#endif /* HAL_CORTEX_MODULE_ENABLED */ + +#ifdef HAL_ADC_MODULE_ENABLED + #include "stm32f7xx_hal_adc.h" +#endif /* HAL_ADC_MODULE_ENABLED */ + +#ifdef HAL_CAN_MODULE_ENABLED + #include "stm32f7xx_hal_can.h" +#endif /* HAL_CAN_MODULE_ENABLED */ + +#ifdef HAL_CEC_MODULE_ENABLED + #include "stm32f7xx_hal_cec.h" +#endif /* HAL_CEC_MODULE_ENABLED */ + +#ifdef HAL_CRC_MODULE_ENABLED + #include "stm32f7xx_hal_crc.h" +#endif /* HAL_CRC_MODULE_ENABLED */ + +#ifdef HAL_CRYP_MODULE_ENABLED + #include "stm32f7xx_hal_cryp.h" +#endif /* HAL_CRYP_MODULE_ENABLED */ + +#ifdef HAL_DMA2D_MODULE_ENABLED + #include "stm32f7xx_hal_dma2d.h" +#endif /* HAL_DMA2D_MODULE_ENABLED */ + +#ifdef HAL_DAC_MODULE_ENABLED + #include "stm32f7xx_hal_dac.h" +#endif /* HAL_DAC_MODULE_ENABLED */ + +#ifdef HAL_DCMI_MODULE_ENABLED + #include "stm32f7xx_hal_dcmi.h" +#endif /* HAL_DCMI_MODULE_ENABLED */ + +#ifdef HAL_ETH_MODULE_ENABLED + #include "stm32f7xx_hal_eth.h" +#endif /* HAL_ETH_MODULE_ENABLED */ + +#ifdef HAL_ETH_LEGACY_MODULE_ENABLED + #include "stm32f7xx_hal_eth_legacy.h" +#endif /* HAL_ETH_LEGACY_MODULE_ENABLED */ + +#ifdef HAL_FLASH_MODULE_ENABLED + #include "stm32f7xx_hal_flash.h" +#endif /* HAL_FLASH_MODULE_ENABLED */ + +#ifdef HAL_SRAM_MODULE_ENABLED + #include "stm32f7xx_hal_sram.h" +#endif /* HAL_SRAM_MODULE_ENABLED */ + +#ifdef HAL_NOR_MODULE_ENABLED + #include "stm32f7xx_hal_nor.h" +#endif /* HAL_NOR_MODULE_ENABLED */ + +#ifdef HAL_NAND_MODULE_ENABLED + #include "stm32f7xx_hal_nand.h" +#endif /* HAL_NAND_MODULE_ENABLED */ + +#ifdef HAL_SDRAM_MODULE_ENABLED + #include "stm32f7xx_hal_sdram.h" +#endif /* HAL_SDRAM_MODULE_ENABLED */ + +#ifdef HAL_HASH_MODULE_ENABLED + #include "stm32f7xx_hal_hash.h" +#endif /* HAL_HASH_MODULE_ENABLED */ + +#ifdef HAL_I2C_MODULE_ENABLED + #include "stm32f7xx_hal_i2c.h" +#endif /* HAL_I2C_MODULE_ENABLED */ + +#ifdef HAL_I2S_MODULE_ENABLED + #include "stm32f7xx_hal_i2s.h" +#endif /* HAL_I2S_MODULE_ENABLED */ + +#ifdef HAL_IWDG_MODULE_ENABLED + #include "stm32f7xx_hal_iwdg.h" +#endif /* HAL_IWDG_MODULE_ENABLED */ + +#ifdef HAL_LPTIM_MODULE_ENABLED + #include "stm32f7xx_hal_lptim.h" +#endif /* HAL_LPTIM_MODULE_ENABLED */ + +#ifdef HAL_LTDC_MODULE_ENABLED + #include "stm32f7xx_hal_ltdc.h" +#endif /* HAL_LTDC_MODULE_ENABLED */ + +#ifdef HAL_PWR_MODULE_ENABLED + #include "stm32f7xx_hal_pwr.h" +#endif /* HAL_PWR_MODULE_ENABLED */ + +#ifdef HAL_QSPI_MODULE_ENABLED + #include "stm32f7xx_hal_qspi.h" +#endif /* HAL_QSPI_MODULE_ENABLED */ + +#ifdef HAL_RNG_MODULE_ENABLED + #include "stm32f7xx_hal_rng.h" +#endif /* HAL_RNG_MODULE_ENABLED */ + +#ifdef HAL_RTC_MODULE_ENABLED + #include "stm32f7xx_hal_rtc.h" +#endif /* HAL_RTC_MODULE_ENABLED */ + +#ifdef HAL_SAI_MODULE_ENABLED + #include "stm32f7xx_hal_sai.h" +#endif /* HAL_SAI_MODULE_ENABLED */ + +#ifdef HAL_SD_MODULE_ENABLED + #include "stm32f7xx_hal_sd.h" +#endif /* HAL_SD_MODULE_ENABLED */ + +#ifdef HAL_MMC_MODULE_ENABLED + #include "stm32f7xx_hal_mmc.h" +#endif /* HAL_MMC_MODULE_ENABLED */ + +#ifdef HAL_SPDIFRX_MODULE_ENABLED + #include "stm32f7xx_hal_spdifrx.h" +#endif /* HAL_SPDIFRX_MODULE_ENABLED */ + +#ifdef HAL_SPI_MODULE_ENABLED + #include "stm32f7xx_hal_spi.h" +#endif /* HAL_SPI_MODULE_ENABLED */ + +#ifdef HAL_TIM_MODULE_ENABLED + #include "stm32f7xx_hal_tim.h" +#endif /* HAL_TIM_MODULE_ENABLED */ + +#ifdef HAL_UART_MODULE_ENABLED + #include "stm32f7xx_hal_uart.h" +#endif /* HAL_UART_MODULE_ENABLED */ + +#ifdef HAL_USART_MODULE_ENABLED + #include "stm32f7xx_hal_usart.h" +#endif /* HAL_USART_MODULE_ENABLED */ + +#ifdef HAL_IRDA_MODULE_ENABLED + #include "stm32f7xx_hal_irda.h" +#endif /* HAL_IRDA_MODULE_ENABLED */ + +#ifdef HAL_SMARTCARD_MODULE_ENABLED + #include "stm32f7xx_hal_smartcard.h" +#endif /* HAL_SMARTCARD_MODULE_ENABLED */ + +#ifdef HAL_WWDG_MODULE_ENABLED + #include "stm32f7xx_hal_wwdg.h" +#endif /* HAL_WWDG_MODULE_ENABLED */ + +#ifdef HAL_PCD_MODULE_ENABLED + #include "stm32f7xx_hal_pcd.h" +#endif /* HAL_PCD_MODULE_ENABLED */ + +#ifdef HAL_HCD_MODULE_ENABLED + #include "stm32f7xx_hal_hcd.h" +#endif /* HAL_HCD_MODULE_ENABLED */ + +#ifdef HAL_DFSDM_MODULE_ENABLED + #include "stm32f7xx_hal_dfsdm.h" +#endif /* HAL_DFSDM_MODULE_ENABLED */ + +#ifdef HAL_DSI_MODULE_ENABLED + #include "stm32f7xx_hal_dsi.h" +#endif /* HAL_DSI_MODULE_ENABLED */ + +#ifdef HAL_JPEG_MODULE_ENABLED + #include "stm32f7xx_hal_jpeg.h" +#endif /* HAL_JPEG_MODULE_ENABLED */ + +#ifdef HAL_MDIOS_MODULE_ENABLED + #include "stm32f7xx_hal_mdios.h" +#endif /* HAL_MDIOS_MODULE_ENABLED */ + +#ifdef HAL_SMBUS_MODULE_ENABLED + #include "stm32f7xx_hal_smbus.h" +#endif /* HAL_SMBUS_MODULE_ENABLED */ + +/* Exported macro ------------------------------------------------------------*/ +#ifdef USE_FULL_ASSERT +/** + * @brief The assert_param macro is used for function's parameters check. + * @param expr: If expr is false, it calls assert_failed function + * which reports the name of the source file and the source + * line number of the call that failed. + * If expr is true, it returns no value. + * @retval None + */ + #define assert_param(expr) ((expr) ? (void)0U : assert_failed((uint8_t *)__FILE__, __LINE__)) +/* Exported functions ------------------------------------------------------- */ + void assert_failed(uint8_t* file, uint32_t line); +#else + #define assert_param(expr) ((void)0U) +#endif /* USE_FULL_ASSERT */ + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F7xx_HAL_CONF_H */ + diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32f7xx_hal_msp.c b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32f7xx_hal_msp.c new file mode 100644 index 0000000..046b83a --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32f7xx_hal_msp.c @@ -0,0 +1,567 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file stm32f7xx_hal_msp.c + * @brief This file provides code for the MSP Initialization + * and de-Initialization codes. + ****************************************************************************** + * @attention + * + * Copyright (c) 2025 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ +/* USER CODE END Header */ + +/* Includes ------------------------------------------------------------------*/ +#include "main.h" +/* USER CODE BEGIN Includes */ + +/* USER CODE END Includes */ + +/* Private typedef -----------------------------------------------------------*/ +/* USER CODE BEGIN TD */ + +/* USER CODE END TD */ + +/* Private define ------------------------------------------------------------*/ +/* USER CODE BEGIN Define */ + +/* USER CODE END Define */ + +/* Private macro -------------------------------------------------------------*/ +/* USER CODE BEGIN Macro */ + +/* USER CODE END Macro */ + +/* Private variables ---------------------------------------------------------*/ +/* USER CODE BEGIN PV */ + +/* USER CODE END PV */ + +/* Private function prototypes -----------------------------------------------*/ +/* USER CODE BEGIN PFP */ + +/* USER CODE END PFP */ + +/* External functions --------------------------------------------------------*/ +/* USER CODE BEGIN ExternalFunctions */ + +/* USER CODE END ExternalFunctions */ + +/* USER CODE BEGIN 0 */ + +/* USER CODE END 0 */ +/** + * Initializes the Global MSP. + */ +void HAL_MspInit(void) +{ + + /* USER CODE BEGIN MspInit 0 */ + + /* USER CODE END MspInit 0 */ + + __HAL_RCC_PWR_CLK_ENABLE(); + __HAL_RCC_SYSCFG_CLK_ENABLE(); + + /* System interrupt init*/ + + /* USER CODE BEGIN MspInit 1 */ + + /* USER CODE END MspInit 1 */ +} + +/** + * @brief I2C MSP Initialization + * This function configures the hardware resources used in this example + * @param hi2c: I2C handle pointer + * @retval None + */ +void HAL_I2C_MspInit(I2C_HandleTypeDef* hi2c) +{ + GPIO_InitTypeDef GPIO_InitStruct = {0}; + RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0}; + if(hi2c->Instance==I2C1) + { + /* USER CODE BEGIN I2C1_MspInit 0 */ + + /* USER CODE END I2C1_MspInit 0 */ + + /** Initializes the peripherals clock + */ + PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_I2C1; + PeriphClkInitStruct.I2c1ClockSelection = RCC_I2C1CLKSOURCE_PCLK1; + if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK) + { + Error_Handler(); + } + + __HAL_RCC_GPIOB_CLK_ENABLE(); + /**I2C1 GPIO Configuration + PB6 ------> I2C1_SCL + PB7 ------> I2C1_SDA + */ + GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7; + GPIO_InitStruct.Mode = GPIO_MODE_AF_OD; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF4_I2C1; + HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); + + /* Peripheral clock enable */ + __HAL_RCC_I2C1_CLK_ENABLE(); + /* USER CODE BEGIN I2C1_MspInit 1 */ + + /* USER CODE END I2C1_MspInit 1 */ + } + else if(hi2c->Instance==I2C2) + { + /* USER CODE BEGIN I2C2_MspInit 0 */ + + /* USER CODE END I2C2_MspInit 0 */ + + /** Initializes the peripherals clock + */ + PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_I2C2; + PeriphClkInitStruct.I2c2ClockSelection = RCC_I2C2CLKSOURCE_PCLK1; + if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK) + { + Error_Handler(); + } + + __HAL_RCC_GPIOF_CLK_ENABLE(); + /**I2C2 GPIO Configuration + PF0 ------> I2C2_SDA + PF1 ------> I2C2_SCL + */ + GPIO_InitStruct.Pin = GPIO_PIN_0|GPIO_PIN_1; + GPIO_InitStruct.Mode = GPIO_MODE_AF_OD; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF4_I2C2; + HAL_GPIO_Init(GPIOF, &GPIO_InitStruct); + + /* Peripheral clock enable */ + __HAL_RCC_I2C2_CLK_ENABLE(); + /* USER CODE BEGIN I2C2_MspInit 1 */ + + /* USER CODE END I2C2_MspInit 1 */ + } + else if(hi2c->Instance==I2C3) + { + /* USER CODE BEGIN I2C3_MspInit 0 */ + + /* USER CODE END I2C3_MspInit 0 */ + + /** Initializes the peripherals clock + */ + PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_I2C3; + PeriphClkInitStruct.I2c3ClockSelection = RCC_I2C3CLKSOURCE_PCLK1; + if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK) + { + Error_Handler(); + } + + __HAL_RCC_GPIOC_CLK_ENABLE(); + __HAL_RCC_GPIOA_CLK_ENABLE(); + /**I2C3 GPIO Configuration + PC9 ------> I2C3_SDA + PA8 ------> I2C3_SCL + */ + GPIO_InitStruct.Pin = GPIO_PIN_9; + GPIO_InitStruct.Mode = GPIO_MODE_AF_OD; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF4_I2C3; + HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); + + GPIO_InitStruct.Pin = GPIO_PIN_8; + GPIO_InitStruct.Mode = GPIO_MODE_AF_OD; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF4_I2C3; + HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); + + /* Peripheral clock enable */ + __HAL_RCC_I2C3_CLK_ENABLE(); + /* USER CODE BEGIN I2C3_MspInit 1 */ + + /* USER CODE END I2C3_MspInit 1 */ + } + +} + +/** + * @brief I2C MSP De-Initialization + * This function freeze the hardware resources used in this example + * @param hi2c: I2C handle pointer + * @retval None + */ +void HAL_I2C_MspDeInit(I2C_HandleTypeDef* hi2c) +{ + if(hi2c->Instance==I2C1) + { + /* USER CODE BEGIN I2C1_MspDeInit 0 */ + + /* USER CODE END I2C1_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_I2C1_CLK_DISABLE(); + + /**I2C1 GPIO Configuration + PB6 ------> I2C1_SCL + PB7 ------> I2C1_SDA + */ + HAL_GPIO_DeInit(GPIOB, GPIO_PIN_6); + + HAL_GPIO_DeInit(GPIOB, GPIO_PIN_7); + + /* USER CODE BEGIN I2C1_MspDeInit 1 */ + + /* USER CODE END I2C1_MspDeInit 1 */ + } + else if(hi2c->Instance==I2C2) + { + /* USER CODE BEGIN I2C2_MspDeInit 0 */ + + /* USER CODE END I2C2_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_I2C2_CLK_DISABLE(); + + /**I2C2 GPIO Configuration + PF0 ------> I2C2_SDA + PF1 ------> I2C2_SCL + */ + HAL_GPIO_DeInit(GPIOF, GPIO_PIN_0); + + HAL_GPIO_DeInit(GPIOF, GPIO_PIN_1); + + /* USER CODE BEGIN I2C2_MspDeInit 1 */ + + /* USER CODE END I2C2_MspDeInit 1 */ + } + else if(hi2c->Instance==I2C3) + { + /* USER CODE BEGIN I2C3_MspDeInit 0 */ + + /* USER CODE END I2C3_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_I2C3_CLK_DISABLE(); + + /**I2C3 GPIO Configuration + PC9 ------> I2C3_SDA + PA8 ------> I2C3_SCL + */ + HAL_GPIO_DeInit(GPIOC, GPIO_PIN_9); + + HAL_GPIO_DeInit(GPIOA, GPIO_PIN_8); + + /* USER CODE BEGIN I2C3_MspDeInit 1 */ + + /* USER CODE END I2C3_MspDeInit 1 */ + } + +} + +/** + * @brief SPI MSP Initialization + * This function configures the hardware resources used in this example + * @param hspi: SPI handle pointer + * @retval None + */ +void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi) +{ + GPIO_InitTypeDef GPIO_InitStruct = {0}; + if(hspi->Instance==SPI1) + { + /* USER CODE BEGIN SPI1_MspInit 0 */ + + /* USER CODE END SPI1_MspInit 0 */ + /* Peripheral clock enable */ + __HAL_RCC_SPI1_CLK_ENABLE(); + + __HAL_RCC_GPIOA_CLK_ENABLE(); + /**SPI1 GPIO Configuration + PA5 ------> SPI1_SCK + PA6 ------> SPI1_MISO + PA7 ------> SPI1_MOSI + */ + GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF5_SPI1; + HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); + + /* USER CODE BEGIN SPI1_MspInit 1 */ + + /* USER CODE END SPI1_MspInit 1 */ + } + else if(hspi->Instance==SPI4) + { + /* USER CODE BEGIN SPI4_MspInit 0 */ + + /* USER CODE END SPI4_MspInit 0 */ + /* Peripheral clock enable */ + __HAL_RCC_SPI4_CLK_ENABLE(); + + __HAL_RCC_GPIOE_CLK_ENABLE(); + /**SPI4 GPIO Configuration + PE2 ------> SPI4_SCK + PE5 ------> SPI4_MISO + PE6 ------> SPI4_MOSI + */ + GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_5|GPIO_PIN_6; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF5_SPI4; + HAL_GPIO_Init(GPIOE, &GPIO_InitStruct); + + /* USER CODE BEGIN SPI4_MspInit 1 */ + + /* USER CODE END SPI4_MspInit 1 */ + } + +} + +/** + * @brief SPI MSP De-Initialization + * This function freeze the hardware resources used in this example + * @param hspi: SPI handle pointer + * @retval None + */ +void HAL_SPI_MspDeInit(SPI_HandleTypeDef* hspi) +{ + if(hspi->Instance==SPI1) + { + /* USER CODE BEGIN SPI1_MspDeInit 0 */ + + /* USER CODE END SPI1_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_SPI1_CLK_DISABLE(); + + /**SPI1 GPIO Configuration + PA5 ------> SPI1_SCK + PA6 ------> SPI1_MISO + PA7 ------> SPI1_MOSI + */ + HAL_GPIO_DeInit(GPIOA, GPIO_PIN_5|GPIO_PIN_6|GPIO_PIN_7); + + /* USER CODE BEGIN SPI1_MspDeInit 1 */ + + /* USER CODE END SPI1_MspDeInit 1 */ + } + else if(hspi->Instance==SPI4) + { + /* USER CODE BEGIN SPI4_MspDeInit 0 */ + + /* USER CODE END SPI4_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_SPI4_CLK_DISABLE(); + + /**SPI4 GPIO Configuration + PE2 ------> SPI4_SCK + PE5 ------> SPI4_MISO + PE6 ------> SPI4_MOSI + */ + HAL_GPIO_DeInit(GPIOE, GPIO_PIN_2|GPIO_PIN_5|GPIO_PIN_6); + + /* USER CODE BEGIN SPI4_MspDeInit 1 */ + + /* USER CODE END SPI4_MspDeInit 1 */ + } + +} + +/** + * @brief TIM_Base MSP Initialization + * This function configures the hardware resources used in this example + * @param htim_base: TIM_Base handle pointer + * @retval None + */ +void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base) +{ + if(htim_base->Instance==TIM1) + { + /* USER CODE BEGIN TIM1_MspInit 0 */ + + /* USER CODE END TIM1_MspInit 0 */ + /* Peripheral clock enable */ + __HAL_RCC_TIM1_CLK_ENABLE(); + /* USER CODE BEGIN TIM1_MspInit 1 */ + + /* USER CODE END TIM1_MspInit 1 */ + + } + +} + +/** + * @brief TIM_Base MSP De-Initialization + * This function freeze the hardware resources used in this example + * @param htim_base: TIM_Base handle pointer + * @retval None + */ +void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* htim_base) +{ + if(htim_base->Instance==TIM1) + { + /* USER CODE BEGIN TIM1_MspDeInit 0 */ + + /* USER CODE END TIM1_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_TIM1_CLK_DISABLE(); + /* USER CODE BEGIN TIM1_MspDeInit 1 */ + + /* USER CODE END TIM1_MspDeInit 1 */ + } + +} + +/** + * @brief UART MSP Initialization + * This function configures the hardware resources used in this example + * @param huart: UART handle pointer + * @retval None + */ +void HAL_UART_MspInit(UART_HandleTypeDef* huart) +{ + GPIO_InitTypeDef GPIO_InitStruct = {0}; + RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0}; + if(huart->Instance==UART5) + { + /* USER CODE BEGIN UART5_MspInit 0 */ + + /* USER CODE END UART5_MspInit 0 */ + + /** Initializes the peripherals clock + */ + PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_UART5; + PeriphClkInitStruct.Uart5ClockSelection = RCC_UART5CLKSOURCE_PCLK1; + if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK) + { + Error_Handler(); + } + + /* Peripheral clock enable */ + __HAL_RCC_UART5_CLK_ENABLE(); + + __HAL_RCC_GPIOC_CLK_ENABLE(); + __HAL_RCC_GPIOD_CLK_ENABLE(); + /**UART5 GPIO Configuration + PC12 ------> UART5_TX + PD2 ------> UART5_RX + */ + GPIO_InitStruct.Pin = GPIO_PIN_12; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF8_UART5; + HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); + + GPIO_InitStruct.Pin = GPIO_PIN_2; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF8_UART5; + HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); + + /* USER CODE BEGIN UART5_MspInit 1 */ + + /* USER CODE END UART5_MspInit 1 */ + } + else if(huart->Instance==USART3) + { + /* USER CODE BEGIN USART3_MspInit 0 */ + + /* USER CODE END USART3_MspInit 0 */ + + /** Initializes the peripherals clock + */ + PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_USART3; + PeriphClkInitStruct.Usart3ClockSelection = RCC_USART3CLKSOURCE_PCLK1; + if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK) + { + Error_Handler(); + } + + /* Peripheral clock enable */ + __HAL_RCC_USART3_CLK_ENABLE(); + + __HAL_RCC_GPIOB_CLK_ENABLE(); + /**USART3 GPIO Configuration + PB10 ------> USART3_TX + PB11 ------> USART3_RX + */ + GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_11; + GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; + GPIO_InitStruct.Alternate = GPIO_AF7_USART3; + HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); + + /* USER CODE BEGIN USART3_MspInit 1 */ + + /* USER CODE END USART3_MspInit 1 */ + } + +} + +/** + * @brief UART MSP De-Initialization + * This function freeze the hardware resources used in this example + * @param huart: UART handle pointer + * @retval None + */ +void HAL_UART_MspDeInit(UART_HandleTypeDef* huart) +{ + if(huart->Instance==UART5) + { + /* USER CODE BEGIN UART5_MspDeInit 0 */ + + /* USER CODE END UART5_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_UART5_CLK_DISABLE(); + + /**UART5 GPIO Configuration + PC12 ------> UART5_TX + PD2 ------> UART5_RX + */ + HAL_GPIO_DeInit(GPIOC, GPIO_PIN_12); + + HAL_GPIO_DeInit(GPIOD, GPIO_PIN_2); + + /* USER CODE BEGIN UART5_MspDeInit 1 */ + + /* USER CODE END UART5_MspDeInit 1 */ + } + else if(huart->Instance==USART3) + { + /* USER CODE BEGIN USART3_MspDeInit 0 */ + + /* USER CODE END USART3_MspDeInit 0 */ + /* Peripheral clock disable */ + __HAL_RCC_USART3_CLK_DISABLE(); + + /**USART3 GPIO Configuration + PB10 ------> USART3_TX + PB11 ------> USART3_RX + */ + HAL_GPIO_DeInit(GPIOB, GPIO_PIN_10|GPIO_PIN_11); + + /* USER CODE BEGIN USART3_MspDeInit 1 */ + + /* USER CODE END USART3_MspDeInit 1 */ + } + +} + +/* USER CODE BEGIN 1 */ + +/* USER CODE END 1 */ diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32f7xx_it.c b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32f7xx_it.c new file mode 100644 index 0000000..4e8cbd6 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32f7xx_it.c @@ -0,0 +1,217 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file stm32f7xx_it.c + * @brief Interrupt Service Routines. + ****************************************************************************** + * @attention + * + * Copyright (c) 2025 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ +/* USER CODE END Header */ + +/* Includes ------------------------------------------------------------------*/ +#include "main.h" +#include "stm32f7xx_it.h" +/* Private includes ----------------------------------------------------------*/ +/* USER CODE BEGIN Includes */ +/* USER CODE END Includes */ + +/* Private typedef -----------------------------------------------------------*/ +/* USER CODE BEGIN TD */ + +/* USER CODE END TD */ + +/* Private define ------------------------------------------------------------*/ +/* USER CODE BEGIN PD */ + +/* USER CODE END PD */ + +/* Private macro -------------------------------------------------------------*/ +/* USER CODE BEGIN PM */ + +/* USER CODE END PM */ + +/* Private variables ---------------------------------------------------------*/ +/* USER CODE BEGIN PV */ + +/* USER CODE END PV */ + +/* Private function prototypes -----------------------------------------------*/ +/* USER CODE BEGIN PFP */ + +/* USER CODE END PFP */ + +/* Private user code ---------------------------------------------------------*/ +/* USER CODE BEGIN 0 */ + +/* USER CODE END 0 */ + +/* External variables --------------------------------------------------------*/ +extern PCD_HandleTypeDef hpcd_USB_OTG_FS; +/* USER CODE BEGIN EV */ + +/* USER CODE END EV */ + +/******************************************************************************/ +/* Cortex-M7 Processor Interruption and Exception Handlers */ +/******************************************************************************/ +/** + * @brief This function handles Non maskable interrupt. + */ +void NMI_Handler(void) +{ + /* USER CODE BEGIN NonMaskableInt_IRQn 0 */ + + /* USER CODE END NonMaskableInt_IRQn 0 */ + /* USER CODE BEGIN NonMaskableInt_IRQn 1 */ + while (1) + { + } + /* USER CODE END NonMaskableInt_IRQn 1 */ +} + +/** + * @brief This function handles Hard fault interrupt. + */ +void HardFault_Handler(void) +{ + /* USER CODE BEGIN HardFault_IRQn 0 */ + + /* USER CODE END HardFault_IRQn 0 */ + while (1) + { + /* USER CODE BEGIN W1_HardFault_IRQn 0 */ + /* USER CODE END W1_HardFault_IRQn 0 */ + } +} + +/** + * @brief This function handles Memory management fault. + */ +void MemManage_Handler(void) +{ + /* USER CODE BEGIN MemoryManagement_IRQn 0 */ + + /* USER CODE END MemoryManagement_IRQn 0 */ + while (1) + { + /* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */ + /* USER CODE END W1_MemoryManagement_IRQn 0 */ + } +} + +/** + * @brief This function handles Pre-fetch fault, memory access fault. + */ +void BusFault_Handler(void) +{ + /* USER CODE BEGIN BusFault_IRQn 0 */ + + /* USER CODE END BusFault_IRQn 0 */ + while (1) + { + /* USER CODE BEGIN W1_BusFault_IRQn 0 */ + /* USER CODE END W1_BusFault_IRQn 0 */ + } +} + +/** + * @brief This function handles Undefined instruction or illegal state. + */ +void UsageFault_Handler(void) +{ + /* USER CODE BEGIN UsageFault_IRQn 0 */ + + /* USER CODE END UsageFault_IRQn 0 */ + while (1) + { + /* USER CODE BEGIN W1_UsageFault_IRQn 0 */ + /* USER CODE END W1_UsageFault_IRQn 0 */ + } +} + +/** + * @brief This function handles System service call via SWI instruction. + */ +void SVC_Handler(void) +{ + /* USER CODE BEGIN SVCall_IRQn 0 */ + + /* USER CODE END SVCall_IRQn 0 */ + /* USER CODE BEGIN SVCall_IRQn 1 */ + + /* USER CODE END SVCall_IRQn 1 */ +} + +/** + * @brief This function handles Debug monitor. + */ +void DebugMon_Handler(void) +{ + /* USER CODE BEGIN DebugMonitor_IRQn 0 */ + + /* USER CODE END DebugMonitor_IRQn 0 */ + /* USER CODE BEGIN DebugMonitor_IRQn 1 */ + + /* USER CODE END DebugMonitor_IRQn 1 */ +} + +/** + * @brief This function handles Pendable request for system service. + */ +void PendSV_Handler(void) +{ + /* USER CODE BEGIN PendSV_IRQn 0 */ + + /* USER CODE END PendSV_IRQn 0 */ + /* USER CODE BEGIN PendSV_IRQn 1 */ + + /* USER CODE END PendSV_IRQn 1 */ +} + +/** + * @brief This function handles System tick timer. + */ +void SysTick_Handler(void) +{ + /* USER CODE BEGIN SysTick_IRQn 0 */ + + /* USER CODE END SysTick_IRQn 0 */ + HAL_IncTick(); + /* USER CODE BEGIN SysTick_IRQn 1 */ + + /* USER CODE END SysTick_IRQn 1 */ +} + +/******************************************************************************/ +/* STM32F7xx Peripheral Interrupt Handlers */ +/* Add here the Interrupt Handlers for the used peripherals. */ +/* For the available peripheral interrupt handler names, */ +/* please refer to the startup file (startup_stm32f7xx.s). */ +/******************************************************************************/ + +/** + * @brief This function handles USB On The Go FS global interrupt. + */ +void OTG_FS_IRQHandler(void) +{ + /* USER CODE BEGIN OTG_FS_IRQn 0 */ + + /* USER CODE END OTG_FS_IRQn 0 */ + HAL_PCD_IRQHandler(&hpcd_USB_OTG_FS); + /* USER CODE BEGIN OTG_FS_IRQn 1 */ + + /* USER CODE END OTG_FS_IRQn 1 */ +} + +/* USER CODE BEGIN 1 */ + +/* USER CODE END 1 */ diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32f7xx_it.h b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32f7xx_it.h new file mode 100644 index 0000000..964f2a5 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/stm32f7xx_it.h @@ -0,0 +1,67 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file stm32f7xx_it.h + * @brief This file contains the headers of the interrupt handlers. + ****************************************************************************** + * @attention + * + * Copyright (c) 2025 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ +/* USER CODE END Header */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F7xx_IT_H +#define __STM32F7xx_IT_H + +#ifdef __cplusplus +extern "C" { +#endif + +/* Private includes ----------------------------------------------------------*/ +/* USER CODE BEGIN Includes */ + +/* USER CODE END Includes */ + +/* Exported types ------------------------------------------------------------*/ +/* USER CODE BEGIN ET */ + +/* USER CODE END ET */ + +/* Exported constants --------------------------------------------------------*/ +/* USER CODE BEGIN EC */ + +/* USER CODE END EC */ + +/* Exported macro ------------------------------------------------------------*/ +/* USER CODE BEGIN EM */ + +/* USER CODE END EM */ + +/* Exported functions prototypes ---------------------------------------------*/ +void NMI_Handler(void); +void HardFault_Handler(void); +void MemManage_Handler(void); +void BusFault_Handler(void); +void UsageFault_Handler(void); +void SVC_Handler(void); +void DebugMon_Handler(void); +void PendSV_Handler(void); +void SysTick_Handler(void); +void OTG_FS_IRQHandler(void); +/* USER CODE BEGIN EFP */ + +/* USER CODE END EFP */ + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F7xx_IT_H */ diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/syscalls.c b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/syscalls.c new file mode 100644 index 0000000..8884b5a --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/syscalls.c @@ -0,0 +1,176 @@ +/** + ****************************************************************************** + * @file syscalls.c + * @author Auto-generated by STM32CubeIDE + * @brief STM32CubeIDE Minimal System calls file + * + * For more information about which c-functions + * need which of these lowlevel functions + * please consult the Newlib libc-manual + ****************************************************************************** + * @attention + * + * Copyright (c) 2020-2025 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + +/* Includes */ +#include +#include +#include +#include +#include +#include +#include +#include + + +/* Variables */ +extern int __io_putchar(int ch) __attribute__((weak)); +extern int __io_getchar(void) __attribute__((weak)); + + +char *__env[1] = { 0 }; +char **environ = __env; + + +/* Functions */ +void initialise_monitor_handles() +{ +} + +int _getpid(void) +{ + return 1; +} + +int _kill(int pid, int sig) +{ + (void)pid; + (void)sig; + errno = EINVAL; + return -1; +} + +void _exit (int status) +{ + _kill(status, -1); + while (1) {} /* Make sure we hang here */ +} + +__attribute__((weak)) int _read(int file, char *ptr, int len) +{ + (void)file; + int DataIdx; + + for (DataIdx = 0; DataIdx < len; DataIdx++) + { + *ptr++ = __io_getchar(); + } + + return len; +} + +__attribute__((weak)) int _write(int file, char *ptr, int len) +{ + (void)file; + int DataIdx; + + for (DataIdx = 0; DataIdx < len; DataIdx++) + { + __io_putchar(*ptr++); + } + return len; +} + +int _close(int file) +{ + (void)file; + return -1; +} + + +int _fstat(int file, struct stat *st) +{ + (void)file; + st->st_mode = S_IFCHR; + return 0; +} + +int _isatty(int file) +{ + (void)file; + return 1; +} + +int _lseek(int file, int ptr, int dir) +{ + (void)file; + (void)ptr; + (void)dir; + return 0; +} + +int _open(char *path, int flags, ...) +{ + (void)path; + (void)flags; + /* Pretend like we always fail */ + return -1; +} + +int _wait(int *status) +{ + (void)status; + errno = ECHILD; + return -1; +} + +int _unlink(char *name) +{ + (void)name; + errno = ENOENT; + return -1; +} + +int _times(struct tms *buf) +{ + (void)buf; + return -1; +} + +int _stat(char *file, struct stat *st) +{ + (void)file; + st->st_mode = S_IFCHR; + return 0; +} + +int _link(char *old, char *new) +{ + (void)old; + (void)new; + errno = EMLINK; + return -1; +} + +int _fork(void) +{ + errno = EAGAIN; + return -1; +} + +int _execve(char *name, char **argv, char **env) +{ + (void)name; + (void)argv; + (void)env; + errno = ENOMEM; + return -1; +} diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/sysmem.c b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/sysmem.c new file mode 100644 index 0000000..5d9f7e6 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/sysmem.c @@ -0,0 +1,79 @@ +/** + ****************************************************************************** + * @file sysmem.c + * @author Generated by STM32CubeIDE + * @brief STM32CubeIDE System Memory calls file + * + * For more information about which C functions + * need which of these lowlevel functions + * please consult the newlib libc manual + ****************************************************************************** + * @attention + * + * Copyright (c) 2025 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + +/* Includes */ +#include +#include + +/** + * Pointer to the current high watermark of the heap usage + */ +static uint8_t *__sbrk_heap_end = NULL; + +/** + * @brief _sbrk() allocates memory to the newlib heap and is used by malloc + * and others from the C library + * + * @verbatim + * ############################################################################ + * # .data # .bss # newlib heap # MSP stack # + * # # # # Reserved by _Min_Stack_Size # + * ############################################################################ + * ^-- RAM start ^-- _end _estack, RAM end --^ + * @endverbatim + * + * This implementation starts allocating at the '_end' linker symbol + * The '_Min_Stack_Size' linker symbol reserves a memory for the MSP stack + * The implementation considers '_estack' linker symbol to be RAM end + * NOTE: If the MSP stack, at any point during execution, grows larger than the + * reserved size, please increase the '_Min_Stack_Size'. + * + * @param incr Memory size + * @return Pointer to allocated memory + */ +void *_sbrk(ptrdiff_t incr) +{ + extern uint8_t _end; /* Symbol defined in the linker script */ + extern uint8_t _estack; /* Symbol defined in the linker script */ + extern uint32_t _Min_Stack_Size; /* Symbol defined in the linker script */ + const uint32_t stack_limit = (uint32_t)&_estack - (uint32_t)&_Min_Stack_Size; + const uint8_t *max_heap = (uint8_t *)stack_limit; + uint8_t *prev_heap_end; + + /* Initialize heap end at first call */ + if (NULL == __sbrk_heap_end) + { + __sbrk_heap_end = &_end; + } + + /* Protect heap from growing into the reserved MSP stack */ + if (__sbrk_heap_end + incr > max_heap) + { + errno = ENOMEM; + return (void *)-1; + } + + prev_heap_end = __sbrk_heap_end; + __sbrk_heap_end += incr; + + return (void *)prev_heap_end; +} diff --git a/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/system_stm32f7xx.c b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/system_stm32f7xx.c new file mode 100644 index 0000000..1387051 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_1_C_Cpp_Libraries/system_stm32f7xx.c @@ -0,0 +1,259 @@ +/** + ****************************************************************************** + * @file system_stm32f7xx.c + * @author MCD Application Team + * @brief CMSIS Cortex-M7 Device Peripheral Access Layer System Source File. + * + * This file provides two functions and one global variable to be called from + * user application: + * - SystemInit(): This function is called at startup just after reset and + * before branch to main program. This call is made inside + * the "startup_stm32f7xx.s" file. + * + * - SystemCoreClock variable: Contains the core clock (HCLK), it can be used + * by the user application to setup the SysTick + * timer or configure other parameters. + * + * - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must + * be called whenever the core clock is changed + * during program execution. + * + * + ****************************************************************************** + * @attention + * + * Copyright (c) 2016 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + +/** @addtogroup CMSIS + * @{ + */ + +/** @addtogroup stm32f7xx_system + * @{ + */ + +/** @addtogroup STM32F7xx_System_Private_Includes + * @{ + */ + +#include "stm32f7xx.h" + +#if !defined (HSE_VALUE) + #define HSE_VALUE ((uint32_t)25000000) /*!< Default value of the External oscillator in Hz */ +#endif /* HSE_VALUE */ + +#if !defined (HSI_VALUE) + #define HSI_VALUE ((uint32_t)16000000) /*!< Value of the Internal oscillator in Hz*/ +#endif /* HSI_VALUE */ + +/** + * @} + */ + +/** @addtogroup STM32F7xx_System_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @addtogroup STM32F7xx_System_Private_Defines + * @{ + */ + +/************************* Miscellaneous Configuration ************************/ + +/* Note: Following vector table addresses must be defined in line with linker + configuration. */ +/*!< Uncomment the following line if you need to relocate the vector table + anywhere in Flash or Sram, else the vector table is kept at the automatic + remap of boot address selected */ +/* #define USER_VECT_TAB_ADDRESS */ + +#if defined(USER_VECT_TAB_ADDRESS) +/*!< Uncomment the following line if you need to relocate your vector Table + in Sram else user remap will be done in Flash. */ +/* #define VECT_TAB_SRAM */ +#if defined(VECT_TAB_SRAM) +#define VECT_TAB_BASE_ADDRESS RAMDTCM_BASE /*!< Vector Table base address field. + This value must be a multiple of 0x200. */ +#else +#define VECT_TAB_BASE_ADDRESS FLASH_BASE /*!< Vector Table base address field. + This value must be a multiple of 0x200. */ +#endif /* VECT_TAB_SRAM */ +#if !defined(VECT_TAB_OFFSET) +#define VECT_TAB_OFFSET 0x00000000U /*!< Vector Table offset field. + This value must be a multiple of 0x200. */ +#endif /* VECT_TAB_OFFSET */ +#endif /* USER_VECT_TAB_ADDRESS */ +/******************************************************************************/ + +/** + * @} + */ + +/** @addtogroup STM32F7xx_System_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @addtogroup STM32F7xx_System_Private_Variables + * @{ + */ + + /* This variable is updated in three ways: + 1) by calling CMSIS function SystemCoreClockUpdate() + 2) by calling HAL API function HAL_RCC_GetHCLKFreq() + 3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency + Note: If you use this function to configure the system clock; then there + is no need to call the 2 first functions listed above, since SystemCoreClock + variable is updated automatically. + */ + uint32_t SystemCoreClock = 16000000; + const uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9}; + const uint8_t APBPrescTable[8] = {0, 0, 0, 0, 1, 2, 3, 4}; + +/** + * @} + */ + +/** @addtogroup STM32F7xx_System_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @addtogroup STM32F7xx_System_Private_Functions + * @{ + */ + +/** + * @brief Setup the microcontroller system + * Initialize the Embedded Flash Interface, the PLL and update the + * SystemFrequency variable. + * @param None + * @retval None + */ +void SystemInit(void) +{ + /* FPU settings ------------------------------------------------------------*/ +#if (__FPU_PRESENT == 1) && (__FPU_USED == 1) + SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2)); /* set CP10 and CP11 Full Access */ +#endif + + /* Configure the Vector Table location -------------------------------------*/ +#if defined(USER_VECT_TAB_ADDRESS) + SCB->VTOR = VECT_TAB_BASE_ADDRESS | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM */ +#endif /* USER_VECT_TAB_ADDRESS */ +} + +/** + * @brief Update SystemCoreClock variable according to Clock Register Values. + * The SystemCoreClock variable contains the core clock (HCLK), it can + * be used by the user application to setup the SysTick timer or configure + * other parameters. + * + * @note Each time the core clock (HCLK) changes, this function must be called + * to update SystemCoreClock variable value. Otherwise, any configuration + * based on this variable will be incorrect. + * + * @note - The system frequency computed by this function is not the real + * frequency in the chip. It is calculated based on the predefined + * constant and the selected clock source: + * + * - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*) + * + * - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**) + * + * - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**) + * or HSI_VALUE(*) multiplied/divided by the PLL factors. + * + * (*) HSI_VALUE is a constant defined in stm32f7xx_hal_conf.h file (default value + * 16 MHz) but the real value may vary depending on the variations + * in voltage and temperature. + * + * (**) HSE_VALUE is a constant defined in stm32f7xx_hal_conf.h file (default value + * 25 MHz), user has to ensure that HSE_VALUE is same as the real + * frequency of the crystal used. Otherwise, this function may + * have wrong result. + * + * - The result of this function could be not correct when using fractional + * value for HSE crystal. + * + * @param None + * @retval None + */ +void SystemCoreClockUpdate(void) +{ + uint32_t tmp, pllvco, pllp, pllsource, pllm; + + /* Get SYSCLK source -------------------------------------------------------*/ + tmp = RCC->CFGR & RCC_CFGR_SWS; + + switch (tmp) + { + case 0x00: /* HSI used as system clock source */ + SystemCoreClock = HSI_VALUE; + break; + case 0x04: /* HSE used as system clock source */ + SystemCoreClock = HSE_VALUE; + break; + case 0x08: /* PLL used as system clock source */ + + /* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N + SYSCLK = PLL_VCO / PLL_P + */ + pllsource = (RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) >> 22; + pllm = RCC->PLLCFGR & RCC_PLLCFGR_PLLM; + + if (pllsource != 0) + { + /* HSE used as PLL clock source */ + pllvco = (HSE_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6); + } + else + { + /* HSI used as PLL clock source */ + pllvco = (HSI_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6); + } + + pllp = (((RCC->PLLCFGR & RCC_PLLCFGR_PLLP) >>16) + 1 ) *2; + SystemCoreClock = pllvco/pllp; + break; + default: + SystemCoreClock = HSI_VALUE; + break; + } + /* Compute HCLK frequency --------------------------------------------------*/ + /* Get HCLK prescaler */ + tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)]; + /* HCLK frequency */ + SystemCoreClock >>= tmp; +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ +/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/9_Firmware/9_1_Microcontroller/9_1_2_C_Cpp_Algorithms/STM32_ALGO.docx b/9_Firmware/9_1_Microcontroller/9_1_2_C_Cpp_Algorithms/STM32_ALGO.docx new file mode 100644 index 0000000..e69de29 diff --git a/9_Firmware/9_1_Microcontroller/9_1_3_C_Cpp_Code/main.cpp b/9_Firmware/9_1_Microcontroller/9_1_3_C_Cpp_Code/main.cpp new file mode 100644 index 0000000..0daa07d --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_3_C_Cpp_Code/main.cpp @@ -0,0 +1,2411 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file : main.c + * @brief : Main program body + ****************************************************************************** + * @attention + * + * Copyright (c) 2025 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ +/* USER CODE END Header */ +/* Includes ------------------------------------------------------------------*/ +#include "main.h" +#include "usb_device.h" +#include "USBHandler.h" +#include "usbd_cdc_if.h" +#include "adar1000.h" +#include "ADAR1000_Manager.h" +extern "C" { +#include "ad9523.h" +} +#include "no_os_delay.h" +#include "no_os_alloc.h" +#include "no_os_print_log.h" +#include "no_os_error.h" +#include "no_os_units.h" +#include "no_os_dma.h" +#include "no_os_spi.h" +#include "no_os_uart.h" +#include "no_os_util.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include "stm32_spi.h" +#include "stm32_delay.h" +#include "TinyGPSPlus.h" +extern "C" { +#include "GY_85_HAL.h" +} +#include "BMP180.h" +extern "C" { +#include "platform_noos_stm32.h" +} +extern "C" { + +#include "adf4382a_manager.h" +#include "adf4382.h" +#include "no_os_delay.h" +#include "no_os_error.h" +} +#include +#include "DAC5578.h" +#include "ADS7830.h" +#include "gps_handler.h" + +#include "stm32f7xx_hal.h" + + + + +/* Private includes ----------------------------------------------------------*/ +/* USER CODE BEGIN Includes */ + +/* USER CODE END Includes */ + +/* Private typedef -----------------------------------------------------------*/ +/* USER CODE BEGIN PTD */ + + +/* USER CODE END PTD */ + +/* Private define ------------------------------------------------------------*/ +/* USER CODE BEGIN PD */ + + +/* -------- GPIO index mapping for no-OS interface -------- */ +#define GPIO_IDX_TX_CS 0 +#define GPIO_IDX_RX_CS 1 +#define GPIO_IDX_TX_DELSTR 2 +#define GPIO_IDX_TX_DELADJ 3 +#define GPIO_IDX_RX_DELSTR 4 +#define GPIO_IDX_RX_DELADJ 5 +#define GPIO_IDX_TX_CE 6 +#define GPIO_IDX_RX_CE 7 +#define GPIO_IDX_SW_SYNC 8 + +/* USER CODE END PD */ + +/* Private macro -------------------------------------------------------------*/ +/* USER CODE BEGIN PM */ + +/* USER CODE END PM */ + +/* Private variables ---------------------------------------------------------*/ + +I2C_HandleTypeDef hi2c1; +I2C_HandleTypeDef hi2c2; +I2C_HandleTypeDef hi2c3; + +SPI_HandleTypeDef hspi1; +SPI_HandleTypeDef hspi4; + +TIM_HandleTypeDef htim1; + +UART_HandleTypeDef huart5; +UART_HandleTypeDef huart3; + +/* USER CODE BEGIN PV */ +// The TinyGPSPlus object +TinyGPSPlus gps; + +// Global data structures +GPS_Data_t current_gps_data = {0}; + +// Global USB handler +USBHandler usbHandler; +extern USBD_HandleTypeDef hUsbDeviceFS; + +// Buffer for USB reception +uint8_t usb_rx_buffer[64]; + +//IMU variable +GY85_t imu; + +float Pitch_Sensor, Yaw_Sensor, Roll_Sensor; + +float abias[3] = {-0.108, -0.038, -0.006}, gbias[3] = {-10, 6, -12}, mbias[3]={0.0,0.0,0.0}; +float M11=1.0, M12=-0.0, M13=0.0, + M21=0.0, M22=1.0, M23=0.0, + M31=0.0, M32=-0.0, M33=1.0; +float ax, ay, az, gx, gy, gz, mx, my, mz,mxc,myc,mzc; // variables to hold latest sensor data values +float q[4] = {1.0f, 0.0f, 0.0f, 0.0f}; // vector to hold quaternion +float temperature; +float Mag_Declination = -0.61; //0° + +float RxAcc,RyAcc,RzAcc; +float Rate_Ayz_1,Rate_Axz_1,Rate_Axy_1; +float Axz_1,Ayz_1,Axy_1, Axz_0,Ayz_0,Axy_0; +float RxEst_0,RyEst_0,RzEst_0, RxEst_1,RyEst_1,RzEst_1,Azr_Est; +float RxGyro,RyGyro,RzGyro, R_Est; + +unsigned long now_timeperiod; +unsigned long lasttime_timeperiod = 0; +int Time_Period = 0; + +//Barometer BMP180 + +/*resolution: +BMP180_ULTRALOWPOWER - pressure oversampled 1 time & power consumption 3μA +BMP180_STANDARD - pressure oversampled 2 times & power consumption 5μA +BMP180_HIGHRES - pressure oversampled 4 times & power consumption 7μA +BMP180_ULTRAHIGHRES - pressure oversampled 8 times & power consumption 12μA, library default +*/ +BMP180 myBMP(BMP180_ULTRAHIGHRES); +float RADAR_Altitude; + +//GPS +double RADAR_Longitude = 0; +double RADAR_Latitude = 0; + +extern uint8_t GUI_start_flag_received; + + +//RADAR +// Radar parameters +const int m_max = 32; // Number of chirps per beam position +const int n_max = 31; // Number of beam positions +const float T1 = 30.0f; // Chirp duration in microseconds +const float PRI1 = 167.0f; // Pulse repetition interval in microseconds +const float T2 = 0.5f; // Short chirp duration in microseconds +const float PRI2 = 175.0f; // Short PRI in microseconds +const float Guard = 175.4f; // Guard time in microseconds + +uint8_t m = 1; // m = N° of chirp/ position = 16 (made of T1 and PRF1)+ Guard = 175µs +16 (made of T2 and PRF2) +uint8_t n = 1; // n =[1-31] N° of elevations/azimuth +uint8_t y = 1;// y = N° of azimuths/revolution = 50 controlled by a microcontroller connected to a stepper motor +uint8_t y_max = 50;// y = N° of azimuths/revolution +uint64_t IF_freq = 120000000ULL;//120MHz + +#define PowerAmplifier 1 + +//Stepper Motor +float Stepper_steps = 200.0f;//step per revolution + +// DAC5578 handles (RF Power Amplifier DAC controlling Vg) +DAC5578_HandleTypeDef hdac1, hdac2; +/* Phase accumulators */ +float phase_dac1[8] = {0}; +float phase_dac2[8] = {0}; +const uint32_t sampleRate = 370; // Sample rate in Hz +const uint32_t period = 2700; // Period in microseconds +uint8_t DAC_val = 126; + +// ADC handles (RF Power Amplifier ADC measuring Idq) +ADS7830_HandleTypeDef hadc1, hadc2; +uint8_t adc1_readings[8] = {0}; +uint8_t adc2_readings[8] = {0}; +float Idq_reading[16]={0.0f}; + + +// Global manager instance ADF4382A +ADF4382A_Manager lo_manager; +extern SPI_HandleTypeDef hspi4; + +//ADAR1000 + +ADAR1000Manager adarManager; +static uint8_t matrix1[15][16]; +static uint8_t matrix2[15][16]; +static uint8_t vector_0[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; + +/* Radar parameters +const int m_max = 32; // Number of chirps per beam position +const int n_max = 31; // Number of beam positions +const float T1 = 30.0f; // Chirp duration in microseconds +const float PRI1 = 167.0f; // Pulse repetition interval in microseconds +const float T2 = 0.5f; // Short chirp duration in microseconds +const float T2 = 175.0f; // Short PRI in microseconds +const float Guard = 175.40f; // Guard time in microseconds*/ + +//Temperature Sensors +ADS7830_HandleTypeDef hadc3; +float Temperature_1 = 0.0f, Temperature_2 = 0.0f, Temperature_3 = 0.0f, Temperature_4 = 0.0f; +float Temperature_5 = 0.0f, Temperature_6 = 0.0f, Temperature_7 = 0.0f, Temperature_8 = 0.0f; + +// Phase differences for 31 beam positions +const float phase_differences[31] = { + 160.0f, 80.0f, 53.333f, 40.0f, 32.0f, 26.667f, 22.857f, 20.0f, 17.778f, 16.0f, + 14.545f, 13.333f, 12.308f, 11.429f, 10.667f, 0.0f, + -10.667f, -11.429f, -12.308f, -13.333f, -14.545f, -16.0f, -17.778f, -20.0f, + -22.857f, -26.667f, -32.0f, -40.0f, -53.333f, -80.0f, -160.0f +}; + +// Convenience HAL wrappers for AD9523 control pins (GPIOF as you said) +static inline void AD9523_PD(bool v) { HAL_GPIO_WritePin(GPIOF, AD9523_PD_Pin, v ? GPIO_PIN_SET : GPIO_PIN_RESET); } +static inline void AD9523_REF_SEL(bool v) { HAL_GPIO_WritePin(GPIOF, AD9523_REF_SEL_Pin, v ? GPIO_PIN_SET : GPIO_PIN_RESET); } +static inline void AD9523_SYNC_PULSE(void) { HAL_GPIO_WritePin(GPIOF, AD9523_SYNC_Pin, GPIO_PIN_SET); HAL_Delay(1); HAL_GPIO_WritePin(GPIOF, AD9523_SYNC_Pin, GPIO_PIN_RESET); } +static inline void AD9523_RESET_ASSERT() { HAL_GPIO_WritePin(GPIOF, AD9523_RESET_Pin, GPIO_PIN_RESET); } // check polarity +static inline void AD9523_RESET_RELEASE() { HAL_GPIO_WritePin(GPIOF, AD9523_RESET_Pin, GPIO_PIN_SET); } +static inline void AD9523_CS(bool v) { HAL_GPIO_WritePin(GPIOF, AD9523_CS_Pin, v ? GPIO_PIN_SET : GPIO_PIN_RESET); } +static inline void AD9523_EEPROM_SEL(bool v){ HAL_GPIO_WritePin(GPIOF, AD9523_EEPROM_SEL_Pin, v ? GPIO_PIN_SET : GPIO_PIN_RESET); } + +/* USER CODE END PV */ + +/* Private function prototypes -----------------------------------------------*/ +void SystemClock_Config(void); +void PeriphCommonClock_Config(void); +static void MPU_Config(void); +static void MX_GPIO_Init(void); +static void MX_TIM1_Init(void); +static void MX_I2C1_Init(void); +static void MX_I2C2_Init(void); +static void MX_I2C3_Init(void); +static void MX_SPI1_Init(void); +static void MX_SPI4_Init(void); +static void MX_UART5_Init(void); +static void MX_USART3_UART_Init(void); +/* USER CODE BEGIN PFP */ + +// Function prototypes +void systemPowerUpSequence(); +void systemPowerDownSequence(); +void initializeBeamMatrices(); +void runRadarPulseSequence(); +void executeChirpSequence(int num_chirps, uint32_t T1, uint32_t PRI1, uint32_t T2, uint32_t PRI2); +void printSystemStatus(); + +////////////////////////////////////////////// +////////////////////micros()////////////////// +////////////////////////////////////////////// +unsigned long micros(void){ +unsigned long Micros = __HAL_TIM_GET_COUNTER(&htim1); +return Micros; //Clock TIM1 -> AHB/APB1 is set to 72MHz/presc+1 presc = 71 +} + +////////////////////////////////////////////// +//////////////////Delay_us()////////////////// +////////////////////////////////////////////// + +void delay_us(volatile uint32_t us){ +__HAL_TIM_SET_COUNTER(&htim1,0); // set the counter value a +while (__HAL_TIM_GET_COUNTER(&htim1) < us); // //Clock TIMx -> AHB/APB1 is set to 72MHz/presc+1 presc = 71 +} + +////////////////////////////////////////////// +//////////////////delay_ns()////////////////// +////////////////////////////////////////////// +void delay_ns(uint32_t nanoseconds) +{ + // Get the starting cycle count + uint32_t start_cycles = DWT->CYCCNT; + + // Convert nanoseconds to the number of CPU clock cycles + // Use `SystemCoreClock` to get the current CPU frequency. + // Use 64-bit math to prevent overflow for large nanosecond values. + uint32_t cycles = (uint32_t)(((uint64_t)nanoseconds * SystemCoreClock) / 1000000000); + + // Busy-wait until the required number of cycles has passed + while ((DWT->CYCCNT - start_cycles) < cycles); +} + +////////////////////////////////////////////// +//////////////////////RADAR/////////////////// +////////////////////////////////////////////// +uint8_t degreesTo7BitPhase(float degrees) { + // Normalize to 0-360 range + while(degrees < 0) degrees += 360.0f; + while(degrees >= 360.0f) degrees -= 360.0f; + + // Convert to 7-bit (0-127) + uint8_t phase_7bit = (uint8_t)((degrees / 360.0f) * 128.0f); + + return phase_7bit % 128; +} + +extern "C" { + + // USB CDC receive callback (called by STM32 HAL) + void CDC_Receive_FS(uint8_t* Buf, uint32_t *Len) { + // Process received USB data + usbHandler.processUSBData(Buf, *Len); + + // Prepare for next reception + USBD_CDC_SetRxBuffer(&hUsbDeviceFS, &usb_rx_buffer[0]); + USBD_CDC_ReceivePacket(&hUsbDeviceFS); + } +} + +void systemPowerUpSequence() { + uint8_t msg[] = "Starting Power Up Sequence...\r\n"; + HAL_UART_Transmit(&huart3, msg, sizeof(msg)-1, 1000); + + // Step 1: Initialize ADTR1107 power sequence + if (!adarManager.initializeADTR1107Sequence()) { + uint8_t err[] = "ERROR: ADTR1107 power sequence failed!\r\n"; + HAL_UART_Transmit(&huart3, err, sizeof(err)-1, 1000); + Error_Handler(); + } + + // Step 2: Initialize all ADAR1000 devices + if (!adarManager.initializeAllDevices()) { + uint8_t err[] = "ERROR: ADAR1000 initialization failed!\r\n"; + HAL_UART_Transmit(&huart3, err, sizeof(err)-1, 1000); + Error_Handler(); + } + + // Step 3: Perform system calibration + if (!adarManager.performSystemCalibration()) { + uint8_t warn[] = "WARNING: System calibration issues\r\n"; + HAL_UART_Transmit(&huart3, warn, sizeof(warn)-1, 1000); + } + + // Step 4: Set to safe TX mode + adarManager.setAllDevicesTXMode(); + + uint8_t success[] = "Power Up Sequence Completed Successfully\r\n"; + HAL_UART_Transmit(&huart3, success, sizeof(success)-1, 1000); +} + +void systemPowerDownSequence() { + uint8_t msg[] = "Starting Power Down Sequence...\r\n"; + HAL_UART_Transmit(&huart3, msg, sizeof(msg)-1, 1000); + + // Step 1: Set all devices to RX mode (safest state) + adarManager.setAllDevicesRXMode(); + HAL_Delay(10); + + // Step 2: Disable PA power supplies + HAL_GPIO_WritePin(EN_P_5V0_PA1_GPIO_Port, EN_P_5V0_PA1_Pin | EN_P_5V0_PA2_Pin | EN_P_5V0_PA3_Pin, GPIO_PIN_RESET); + HAL_Delay(10); + + // Step 3: Set PA biases to safe values + for (uint8_t dev = 0; dev < 4; dev++) { + adarManager.adarWrite(dev, REG_PA_CH1_BIAS_ON, 0x20, BROADCAST_OFF); + adarManager.adarWrite(dev, REG_PA_CH2_BIAS_ON, 0x20, BROADCAST_OFF); + adarManager.adarWrite(dev, REG_PA_CH3_BIAS_ON, 0x20, BROADCAST_OFF); + adarManager.adarWrite(dev, REG_PA_CH4_BIAS_ON, 0x20, BROADCAST_OFF); + } + HAL_Delay(10); + + // Step 4: Disable LNA power supply + HAL_GPIO_WritePin(EN_P_3V3_ADTR_GPIO_Port, EN_P_3V3_ADTR_Pin, GPIO_PIN_RESET); + HAL_Delay(10); + + // Step 5: Set LNA bias to safe value + for (uint8_t dev = 0; dev < 4; dev++) { + adarManager.adarWrite(dev, REG_LNA_BIAS_ON, 0x00, BROADCAST_OFF); + } + HAL_Delay(10); + + // Step 6: Disable switch power supplies + HAL_GPIO_WritePin(EN_P_3V3_VDD_SW_GPIO_Port, EN_P_3V3_VDD_SW_Pin, GPIO_PIN_RESET); + HAL_GPIO_WritePin(EN_P_3V3_SW_GPIO_Port, EN_P_3V3_SW_Pin, GPIO_PIN_RESET); + HAL_Delay(10); + + uint8_t success[] = "Power Down Sequence Completed\r\n"; + HAL_UART_Transmit(&huart3, success, sizeof(success)-1, 1000); +} + +void initializeBeamMatrices() { + uint8_t msg[] = "Initializing Beam Matrices...\r\n"; + HAL_UART_Transmit(&huart3, msg, sizeof(msg)-1, 1000); + + // Matrix1: Positions 1-15 (positive phase differences) + for(int beam_pos = 0; beam_pos < 15; beam_pos++) { + float phase_diff_degrees = phase_differences[beam_pos]; + + for(int element = 0; element < 16; element++) { + float cumulative_phase_degrees = element * phase_diff_degrees; + matrix1[beam_pos][element] = degreesTo7BitPhase(cumulative_phase_degrees); + } + } + + // Matrix2: Positions 17-31 (negative phase differences) + for(int beam_pos = 0; beam_pos < 15; beam_pos++) { + float phase_diff_degrees = phase_differences[beam_pos + 16]; + + for(int element = 0; element < 16; element++) { + float cumulative_phase_degrees = element * phase_diff_degrees; + matrix2[beam_pos][element] = degreesTo7BitPhase(cumulative_phase_degrees); + } + } + + // Vector_0: Position 16 (zero phase - broadside) + for(int element = 0; element < 16; element++) { + vector_0[element] = 0; // 0 in 7-bit = 0° phase + } + + uint8_t done[] = "Beam Matrices Initialized\r\n"; + HAL_UART_Transmit(&huart3, done, sizeof(done)-1, 1000); +} + +void executeChirpSequence(int num_chirps, float T1, float PRI1, float T2, float PRI2) { + // First chirp sequence (microsecond timing) + for(int i = 0; i < num_chirps; i++) { + HAL_GPIO_TogglePin(GPIOD, GPIO_PIN_8); // New chirp signal to FPGA + adarManager.pulseTXMode(); + delay_us((uint32_t)T1); + adarManager.pulseRXMode(); + delay_us((uint32_t)(PRI1 - T1)); + } + + delay_us((uint32_t)Guard); + + // Second chirp sequence (nanosecond timing) + for(int i = 0; i < num_chirps; i++) { + HAL_GPIO_TogglePin(GPIOD, GPIO_PIN_8); // New chirp signal to FPGA + adarManager.pulseTXMode(); + delay_ns((uint32_t)(T2 * 1000)); + adarManager.pulseRXMode(); + delay_ns((uint32_t)((PRI2 - T2) * 1000)); + + } +} + +void runRadarPulseSequence() { + static int sequence_count = 0; + char msg[50]; + + snprintf(msg, sizeof(msg), "Starting RADAR Sequence #%d\r\n", ++sequence_count); + HAL_UART_Transmit(&huart3, (uint8_t*)msg, strlen(msg), 1000); + + // Configure for fast switching + adarManager.setFastSwitchMode(true); + + int m = 1; // Chirp counter + int n = 1; // Beam Elevation position counter + int y = 1; // Beam Azimuth counter + + // Main beam steering sequence + for(int beam_pos = 0; beam_pos < 15; beam_pos++) { + HAL_GPIO_TogglePin(GPIOD, GPIO_PIN_9);// Notify FPGA of elevation change + // Pattern 1: matrix1 (positive steering angles) + adarManager.setCustomBeamPattern16(matrix1[beam_pos], ADAR1000Manager::BeamDirection::TX); + adarManager.setCustomBeamPattern16(matrix1[beam_pos], ADAR1000Manager::BeamDirection::RX); + + executeChirpSequence(m_max/2, T1, PRI1, T2, PRI2); + m += m_max/2; + + // Pattern 2: vector_0 (broadside) + adarManager.setCustomBeamPattern16(vector_0, ADAR1000Manager::BeamDirection::TX); + adarManager.setCustomBeamPattern16(vector_0, ADAR1000Manager::BeamDirection::RX); + + executeChirpSequence(m_max/2, T1, PRI1, T2, PRI2); + m += m_max/2; + + // Pattern 3: matrix2 (negative steering angles) + adarManager.setCustomBeamPattern16(matrix2[beam_pos], ADAR1000Manager::BeamDirection::TX); + adarManager.setCustomBeamPattern16(matrix2[beam_pos], ADAR1000Manager::BeamDirection::RX); + + executeChirpSequence(m_max/2, T1, PRI1, T2, PRI2); + m += m_max/2; + + // Reset chirp counter if needed + if(m > m_max) m = 1; + + n++; + if(n > n_max) n = 1; + + } + + HAL_GPIO_TogglePin(GPIOD,GPIO_PIN_10);//Tell FPGA that there is a new azimuth + + y++; if(y>y_max)y=1; + //Rotate stepper to next y position + for(int k= 0;k<(int)(Stepper_steps/y_max);k++){ + HAL_GPIO_WritePin(STEPPER_CLK_P_GPIO_Port, STEPPER_CLK_P_Pin, GPIO_PIN_SET); + delay_us(500); + HAL_GPIO_WritePin(STEPPER_CLK_P_GPIO_Port, STEPPER_CLK_P_Pin, GPIO_PIN_RESET); + delay_us(500); + } + + + + snprintf(msg, sizeof(msg), "RADAR Sequence #%d Completed\r\n", sequence_count); + HAL_UART_Transmit(&huart3, (uint8_t*)msg, strlen(msg), 1000); +} + + + + +void printSystemStatus() { + char status_msg[100]; + + // Print device status + for(int i = 0; i < 4; i++) { + if(adarManager.verifyDeviceCommunication(i)) { + float temp = adarManager.readTemperature(i); + snprintf(status_msg, sizeof(status_msg), + "ADAR1000 #%d: OK, Temperature: %.1fC\r\n", i+1, temp); + HAL_UART_Transmit(&huart3, (uint8_t*)status_msg, strlen(status_msg), 1000); + } else { + snprintf(status_msg, sizeof(status_msg), + "ADAR1000 #%d: COMMUNICATION ERROR\r\n", i+1); + HAL_UART_Transmit(&huart3, (uint8_t*)status_msg, strlen(status_msg), 1000); + } + } + + // Print matrix info + snprintf(status_msg, sizeof(status_msg), + "Beam Matrices: 31 positions, %d chirps/position\r\n", m_max); + HAL_UART_Transmit(&huart3, (uint8_t*)status_msg, strlen(status_msg), 1000); +} + +/***************************************************************/ +/**********************SYSTEM ERROR HANDLER*********************/ +/***************************************************************/ + +typedef enum { + ERROR_NONE = 0, + ERROR_AD9523_CLOCK, + ERROR_ADF4382_TX_UNLOCK, + ERROR_ADF4382_RX_UNLOCK, + ERROR_ADAR1000_COMM, + ERROR_ADAR1000_TEMP, + ERROR_IMU_COMM, + ERROR_BMP180_COMM, + ERROR_GPS_COMM, + ERROR_RF_PA_OVERCURRENT, + ERROR_RF_PA_BIAS, + ERROR_STEPPER_MOTOR, + ERROR_FPGA_COMM, + ERROR_POWER_SUPPLY, + ERROR_TEMPERATURE_HIGH, + ERROR_MEMORY_ALLOC, + ERROR_WATCHDOG_TIMEOUT +} SystemError_t; + +static SystemError_t last_error = ERROR_NONE; +static uint32_t error_count = 0; +static bool system_emergency_state = false; + +// Error handler function +SystemError_t checkSystemHealth(void) { + SystemError_t current_error = ERROR_NONE; + + // 1. Check AD9523 Clock Generator + static uint32_t last_clock_check = 0; + if (HAL_GetTick() - last_clock_check > 5000) { + if (HAL_GPIO_ReadPin(AD9523_STATUS0_GPIO_Port, AD9523_STATUS0_Pin) == GPIO_PIN_RESET || + HAL_GPIO_ReadPin(AD9523_STATUS1_GPIO_Port, AD9523_STATUS1_Pin) == GPIO_PIN_RESET) { + current_error = ERROR_AD9523_CLOCK; + } + last_clock_check = HAL_GetTick(); + } + + // 2. Check ADF4382 Lock Status + bool tx_locked, rx_locked; + if (ADF4382A_CheckLockStatus(&lo_manager, &tx_locked, &rx_locked) == ADF4382A_MANAGER_OK) { + if (!tx_locked) current_error = ERROR_ADF4382_TX_UNLOCK; + if (!rx_locked) current_error = ERROR_ADF4382_RX_UNLOCK; + } + + // 3. Check ADAR1000 Communication and Temperature + for (int i = 0; i < 4; i++) { + if (!adarManager.verifyDeviceCommunication(i)) { + current_error = ERROR_ADAR1000_COMM; + break; + } + + float temp = adarManager.readTemperature(i); + if (temp > 85.0f) { + current_error = ERROR_ADAR1000_TEMP; + break; + } + } + + // 4. Check IMU Communication + static uint32_t last_imu_check = 0; + if (HAL_GetTick() - last_imu_check > 10000) { + GY85_Update(&imu); + if (isnan(imu.ax) || isnan(imu.ay) || isnan(imu.az)) { + current_error = ERROR_IMU_COMM; + } + last_imu_check = HAL_GetTick(); + } + + // 5. Check BMP180 Communication + static uint32_t last_bmp_check = 0; + if (HAL_GetTick() - last_bmp_check > 15000) { + double pressure = myBMP.getPressure(); + if (pressure < 30000.0 || pressure > 110000.0 || isnan(pressure)) { + current_error = ERROR_BMP180_COMM; + } + last_bmp_check = HAL_GetTick(); + } + + // 6. Check GPS Communication + static uint32_t last_gps_fix = 0; + if (gps.location.isUpdated()) { + last_gps_fix = HAL_GetTick(); + } + if (HAL_GetTick() - last_gps_fix > 30000) { + current_error = ERROR_GPS_COMM; + } + + // 7. Check RF Power Amplifier Current + if (PowerAmplifier) { + for (int i = 0; i < 16; i++) { + if (Idq_reading[i] > 2.5f) { + current_error = ERROR_RF_PA_OVERCURRENT; + break; + } + if (Idq_reading[i] < 0.1f) { + current_error = ERROR_RF_PA_BIAS; + break; + } + } + } + + // 8. Check System Temperature + if (temperature > 75.0f) { + current_error = ERROR_TEMPERATURE_HIGH; + } + + // 9. Simple watchdog check + static uint32_t last_health_check = 0; + if (HAL_GetTick() - last_health_check > 60000) { + current_error = ERROR_WATCHDOG_TIMEOUT; + } + last_health_check = HAL_GetTick(); + + return current_error; +} + +// Error recovery function +void attemptErrorRecovery(SystemError_t error) { + char recovery_msg[80]; + snprintf(recovery_msg, sizeof(recovery_msg), + "Attempting recovery from error: %d\r\n", error); + HAL_UART_Transmit(&huart3, (uint8_t*)recovery_msg, strlen(recovery_msg), 1000); + + switch (error) { + case ERROR_ADF4382_TX_UNLOCK: + case ERROR_ADF4382_RX_UNLOCK: + // Re-initialize LO + ADF4382A_Manager_Init(&lo_manager, SYNC_METHOD_TIMED); + HAL_Delay(100); + break; + + case ERROR_ADAR1000_COMM: + // Reset ADAR1000 communication + adarManager.initializeAllDevices(); + HAL_Delay(50); + break; + + case ERROR_IMU_COMM: + // Re-initialize IMU + GY85_Init(); + HAL_Delay(100); + break; + + case ERROR_GPS_COMM: + // GPS will auto-recover when signal returns + break; + + default: + // For other errors, just log and continue + break; + } + + snprintf(recovery_msg, sizeof(recovery_msg), + "Recovery attempt completed.\r\n"); + HAL_UART_Transmit(&huart3, (uint8_t*)recovery_msg, strlen(recovery_msg), 1000); +} + +//////////////////////////////////////////////////////////////////////////////// +//:::::RF POWER AMPLIFIER DAC5578 Emergency stop function using CLR pin///////// +//////////////////////////////////////////////////////////////////////////////// +void Emergency_Stop(void) { + /* Immediately clear all DAC outputs to zero using hardware CLR */ + DAC5578_ActivateClearPin(&hdac1); + DAC5578_ActivateClearPin(&hdac2); + + /* Keep outputs cleared until reset */ + while (1) { + HAL_Delay(100); + } +} + +// Error response function +void handleSystemError(SystemError_t error) { + if (error == ERROR_NONE) return; + + error_count++; + last_error = error; + + char error_msg[100]; + const char* error_strings[] = { + "No error", + "AD9523 Clock failure", + "ADF4382 TX LO unlocked", + "ADF4382 RX LO unlocked", + "ADAR1000 communication error", + "ADAR1000 temperature high", + "IMU communication error", + "BMP180 communication error", + "GPS communication lost", + "RF PA overcurrent detected", + "RF PA bias fault", + "Stepper motor fault", + "FPGA communication error", + "Power supply fault", + "System temperature high", + "Memory allocation failed", + "Watchdog timeout" + }; + + snprintf(error_msg, sizeof(error_msg), + "ERROR #%d: %s (Count: %lu)\r\n", + error, error_strings[error], error_count); + HAL_UART_Transmit(&huart3, (uint8_t*)error_msg, strlen(error_msg), 1000); + + // Blink LED pattern based on error code + for (int i = 0; i < (error % 5) + 1; i++) { + HAL_GPIO_TogglePin(LED_3_GPIO_Port, LED_3_Pin); + HAL_Delay(200); + } + + // Critical errors trigger emergency shutdown + if (error >= ERROR_RF_PA_OVERCURRENT && error <= ERROR_POWER_SUPPLY) { + snprintf(error_msg, sizeof(error_msg), + "CRITICAL ERROR! Initiating emergency shutdown.\r\n"); + HAL_UART_Transmit(&huart3, (uint8_t*)error_msg, strlen(error_msg), 1000); + + Emergency_Stop(); + system_emergency_state = true; + } + + // For non-critical errors, attempt recovery + if (!system_emergency_state) { + attemptErrorRecovery(error); + } +} + + +// System health monitoring function +bool checkSystemHealthStatus(void) { + SystemError_t error = checkSystemHealth(); + + if (error != ERROR_NONE) { + handleSystemError(error); + + // If we're in emergency state or too many errors, shutdown + if (system_emergency_state || error_count > 10) { + return false; + } + } + + return true; +} + +// Get system status for GUI +// Get system status for GUI with 8 temperature variables +void getSystemStatusForGUI(char* status_buffer, size_t buffer_size) { + char temp_buffer[200]; + char final_status[500] = "System Status: "; + + // Basic status + if (system_emergency_state) { + strcat(final_status, "EMERGENCY_STOP|"); + } else { + strcat(final_status, "NORMAL|"); + } + + // Error information + snprintf(temp_buffer, sizeof(temp_buffer), "LastError:%d|ErrorCount:%lu|", + last_error, error_count); + strcat(final_status, temp_buffer); + + // Sensor status + snprintf(temp_buffer, sizeof(temp_buffer), "IMU:%.1f,%.1f,%.1f|GPS:%.6f,%.6f|ALT:%.1f|", + Pitch_Sensor, Roll_Sensor, Yaw_Sensor, + RADAR_Latitude, RADAR_Longitude, RADAR_Altitude); + strcat(final_status, temp_buffer); + + // LO Status + bool tx_locked, rx_locked; + ADF4382A_CheckLockStatus(&lo_manager, &tx_locked, &rx_locked); + snprintf(temp_buffer, sizeof(temp_buffer), "LO_TX:%s|LO_RX:%s|", + tx_locked ? "LOCKED" : "UNLOCKED", + rx_locked ? "LOCKED" : "UNLOCKED"); + strcat(final_status, temp_buffer); + + // Temperature readings (8 variables) + // You'll need to populate these temperature values from your sensors + // For now, I'll show how to format them - replace with actual temperature readings + Temperature_1 = ADS7830_Measure_SingleEnded(&hadc3, 0); + Temperature_2 = ADS7830_Measure_SingleEnded(&hadc3, 1); + Temperature_3 = ADS7830_Measure_SingleEnded(&hadc3, 2); + Temperature_4 = ADS7830_Measure_SingleEnded(&hadc3, 3); + Temperature_5 = ADS7830_Measure_SingleEnded(&hadc3, 4); + Temperature_6 = ADS7830_Measure_SingleEnded(&hadc3, 5); + Temperature_7 = ADS7830_Measure_SingleEnded(&hadc3, 6); + Temperature_8 = ADS7830_Measure_SingleEnded(&hadc3, 7); + + // Format all 8 temperature variables + snprintf(temp_buffer, sizeof(temp_buffer), + "T1:%.1f|T2:%.1f|T3:%.1f|T4:%.1f|T5:%.1f|T6:%.1f|T7:%.1f|T8:%.1f|", + Temperature_1, Temperature_2, Temperature_3, Temperature_4, + Temperature_5, Temperature_6, Temperature_7, Temperature_8); + strcat(final_status, temp_buffer); + + // RF Power Amplifier status (if enabled) + if (PowerAmplifier) { + float avg_current = 0.0f; + for (int i = 0; i < 16; i++) { + avg_current += Idq_reading[i]; + } + avg_current /= 16.0f; + + snprintf(temp_buffer, sizeof(temp_buffer), "PA_AvgCurrent:%.2f|PA_Enabled:%d|", + avg_current, PowerAmplifier); + strcat(final_status, temp_buffer); + } + + // Radar operation status + snprintf(temp_buffer, sizeof(temp_buffer), "BeamPos:%d|Azimuth:%d|ChirpCount:%d|", + n, y, m); + strcat(final_status, temp_buffer); + + // Copy to output buffer + strncpy(status_buffer, final_status, buffer_size - 1); + status_buffer[buffer_size - 1] = '\0'; +} + +/* ---------- UART printing helpers ---------- */ +/* +static void uart_print(const char *msg) +{ + HAL_UART_Transmit(&huart3, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY); +} + +static void uart_println(const char *msg) +{ + HAL_UART_Transmit(&huart3, (uint8_t*)msg, strlen(msg), HAL_MAX_DELAY); + const char crlf[] = "\r\n"; + HAL_UART_Transmit(&huart3, (uint8_t*)crlf, 2, HAL_MAX_DELAY); +} +*/ + +/* ---------- Helper delay wrappers ---------- */ +static inline void delay_ms(uint32_t ms) { HAL_Delay(ms); } + + + +// This custom version of delay() ensures that the gps object +// is being "fed". +static void smartDelay(unsigned long ms) +{ + uint32_t start = HAL_GetTick(); + uint8_t ch; + + do { + // While there is new data available in UART (non-blocking) + if (HAL_UART_Receive(&huart5, &ch, 1, 0) == HAL_OK) { + gps.encode(ch); // Pass received byte to TinyGPS++ equivalent parser + } + } while (HAL_GetTick() - start < ms); +} + +// Small helper to enable DWT cycle counter for microdelay +static void DWT_Init(void) +{ + // Enable DWT CYCCNT + CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk; + DWT->CYCCNT = 0; + DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk; +} + +// Configure and program AD9523 via no-os driver +static int configure_ad9523(void) +{ + int32_t ret; + struct ad9523_dev *dev = NULL; + + static struct ad9523_platform_data pdata; + memset(&pdata, 0, sizeof(pdata)); + + // VCXO + refs + pdata.vcxo_freq = 100000000; // 100 MHz VCXO on OSC_IN + pdata.refa_diff_rcv_en = 0; // REFA 10 MHz single-ended + pdata.refb_diff_rcv_en = 0; // REFB 100 MHz single-ended + pdata.osc_in_diff_en = 0; + + // PLL1: keep bypass disabled so VCXO can be used as reference cleanup if desired + pdata.pll1_bypass_en = 0; + pdata.refa_r_div = 1; + pdata.refb_r_div = 1; + + // PLL2: 100 MHz PFD (R2=1), N = 36 to get VCO = 3.6 GHz + pdata.pll2_ndiv_a_cnt = 0; + pdata.pll2_ndiv_b_cnt = 9; // 4*9 + 0 = 36 + pdata.pll2_r2_div = 0; // R2=1 + pdata.pll2_charge_pump_current_nA = 3500; // example + + // Loop filters: reasonable starting values from examples + pdata.rpole2 = RPOLE2_900_OHM; + pdata.rzero = RZERO_2000_OHM; + pdata.cpole1 = CPOLE1_24_PF; + pdata.rzero_bypass_en = 0; + + // Channels array (must allocate AD9523_NUM_CHAN entries) + static struct ad9523_channel_spec channels[AD9523_NUM_CHAN]; + pdata.channels = channels; + pdata.num_channels = AD9523_NUM_CHAN; + + // Initialize channels to disabled defaults + for (int i=0; i tx_sequence; + std::vector rx_sequence; + + // Create beam configurations for each pattern + // Matrix1 sequences (14 steps) + for(int i = 0; i < 14; i++) { + ADAR1000Manager::BeamConfig tx_config; + ADAR1000Manager::BeamConfig rx_config; + + // Calculate angles or use your matrix directly + // For now, we'll use a placeholder angle and set phases manually later + tx_config.angle_degrees = 0; // This would be calculated from your matrix + rx_config.angle_degrees = 0; + + // Copy phase settings from matrix1 + for(int ch = 0; ch < 16; ch++) { + if(ch < 4) { + tx_config.phase_settings[ch] = matrix1[i][ch]; + rx_config.phase_settings[ch] = matrix1[i][ch]; + } + } + + tx_sequence.push_back(tx_config); + rx_sequence.push_back(rx_config); + } + + // You would similarly add the zero phase and matrix2 sequences + + // Note: The beam sequence feature in the manager currently uses calculated phases + // You might need to modify the manager to support pre-calculated phase arrays +} +void setCustomBeamPattern(ADAR1000Manager& manager, uint8_t phase_pattern[16]) { + // Set TX phases for all 4 ADAR1000 devices + for(int dev = 0; dev < 4; dev++) { + for(int ch = 0; ch < 4; ch++) { + uint8_t phase = phase_pattern[dev * 4 + ch]; + manager.adarSetTxPhase(dev, ch + 1, phase, BROADCAST_OFF); + } + } + + // Set RX phases for all 4 ADAR1000 devices + for(int dev = 0; dev < 4; dev++) { + for(int ch = 0; ch < 4; ch++) { + uint8_t phase = phase_pattern[dev * 4 + ch]; + manager.adarSetRxPhase(dev, ch + 1, phase, BROADCAST_OFF); + } + } +} + +void initializeBeamMatricesWithSteeringAngles() { + const float wavelength = 0.02857f; // 10.5 GHz wavelength in meters + const float element_spacing = wavelength / 2.0f; + + // Calculate steering angles from phase differences + float steering_angles[31]; + for(int i = 0; i < 31; i++) { + float phase_diff_rad = phase_differences[i] * M_PI / 180.0f; + steering_angles[i] = asin((phase_diff_rad * wavelength) / (2 * M_PI * element_spacing)) * 180.0f / M_PI; + } + + // Matrix1: Positive angles (positions 1-15) + for(int beam_pos = 0; beam_pos < 15; beam_pos++) { + float angle = steering_angles[beam_pos]; + + for(int element = 0; element < 16; element++) { + // Calculate phase shift for linear array + float phase_shift_rad = (2 * M_PI * element_spacing * element * sin(angle * M_PI / 180.0f)) / wavelength; + float phase_degrees = phase_shift_rad * 180.0f / M_PI; + + // Wrap to 0-360 degrees + while(phase_degrees < 0) phase_degrees += 360; + while(phase_degrees >= 360) phase_degrees -= 360; + + matrix1[beam_pos][element] = (uint8_t)((phase_degrees / 360.0f) * 128); + } + } + + // Matrix2: Negative angles (positions 17-31) + for(int beam_pos = 0; beam_pos < 15; beam_pos++) { + float angle = steering_angles[beam_pos + 16]; + + for(int element = 0; element < 16; element++) { + float phase_shift_rad = (2 * M_PI * element_spacing * element * sin(angle * M_PI / 180.0f)) / wavelength; + float phase_degrees = phase_shift_rad * 180.0f / M_PI; + + while(phase_degrees < 0) phase_degrees += 360; + while(phase_degrees >= 360) phase_degrees -= 360; + + matrix2[beam_pos][element] = (uint8_t)((phase_degrees / 360.0f) * 128); + } + } +} + + + +/* USER CODE END PFP */ + +/* Private user code ---------------------------------------------------------*/ +/* USER CODE BEGIN 0 */ + +/* USER CODE END 0 */ + +/** + * @brief The application entry point. + * @retval int + */ +int main(void) +{ + + /* USER CODE BEGIN 1 */ + + /* USER CODE END 1 */ + + /* MPU Configuration--------------------------------------------------------*/ + MPU_Config(); + + /* MCU Configuration--------------------------------------------------------*/ + + /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ + HAL_Init(); + + /* USER CODE BEGIN Init */ + + /* USER CODE END Init */ + + /* Configure the system clock */ + SystemClock_Config(); + + /* Configure the peripherals common clocks */ + PeriphCommonClock_Config(); + + /* USER CODE BEGIN SysInit */ + + + /* USER CODE END SysInit */ + + /* Initialize all configured peripherals */ + MX_GPIO_Init(); + MX_TIM1_Init(); + MX_I2C1_Init(); + MX_I2C2_Init(); + MX_I2C3_Init(); + MX_SPI1_Init(); + MX_SPI4_Init(); + MX_UART5_Init(); + MX_USART3_UART_Init(); + MX_USB_DEVICE_Init(); + /* USER CODE BEGIN 2 */ + + HAL_TIM_Base_Start(&htim1); + + /* --- Enable DWT cycle counter for accurate microsecond delays --- */ + DWT_Init(); + //Wait for OCXO 3mn + HAL_Delay(180000); + HAL_GPIO_WritePin(AD9523_RESET_GPIO_Port,AD9523_RESET_Pin,GPIO_PIN_RESET); + + //Power sequencing AD9523 + HAL_GPIO_WritePin(EN_P_1V8_CLOCK_GPIO_Port,EN_P_1V8_CLOCK_Pin,GPIO_PIN_SET); + HAL_Delay(100); + HAL_GPIO_WritePin(EN_P_3V3_CLOCK_GPIO_Port,EN_P_3V3_CLOCK_Pin,GPIO_PIN_SET); + HAL_Delay(100); + HAL_GPIO_WritePin(AD9523_RESET_GPIO_Port,AD9523_RESET_Pin,GPIO_PIN_SET); + HAL_Delay(100); + + //Set planned Clocks on AD9523 + /* + o Channel 0 = 300MHz LVDS (ADF4382 TX) + o Channel 1 = 300MHz LVDS (ADF4382 RX) (Phase aligned with Channel 0) + o Channel 4 = 400MHz LVDS (ADC) + o Channel 5 = 400MHz LVDS (FPGA_ADC)(Phase aligned with Channel 4) + o Channel 6 = 100MHz LVCMOS (FPGA system clock) + o Channel 7 = 20MHz LVCMOS (FPGA test) + o Channel 8 = 60MHz LVDS (ADF4382 TX sync) + o Channel 9 = 60MHz LVDS (ADF4382 RX sync)(Phase aligned with Channel 8) + o Channel 10 = 120MHz LVCMOS + o Channel 11 = 120MHz LVCMOS (Phase aligned with Channel 10) + */ + + + // Ensure stm32_spi.c and stm32_delay.c are compiled and linked + + if (configure_ad9523() != 0) { + // configuration error - handle as needed + while (1) { HAL_Delay(1000); } + } + + //Power sequencing FPGA + HAL_GPIO_WritePin(EN_P_1V0_FPGA_GPIO_Port,EN_P_1V0_FPGA_Pin,GPIO_PIN_SET); + HAL_Delay(100); + HAL_GPIO_WritePin(EN_P_1V8_FPGA_GPIO_Port,EN_P_1V8_FPGA_Pin,GPIO_PIN_SET); + HAL_Delay(100); + HAL_GPIO_WritePin(EN_P_3V3_FPGA_GPIO_Port,EN_P_3V3_FPGA_Pin,GPIO_PIN_SET); + HAL_Delay(100); + + +// Initialize module IMU + GY85_Init(); + for(int i=0; i<10;i++){ + GY85_Update(&imu); + + ax = imu.ax; + ay = imu.ay; + az = imu.az; + gx = -imu.gx; + gy = -imu.gy; + gz = imu.gz; + mx = imu.mx; + my = imu.my; + mz = imu.mz; + + ax *= 6.10351e-5; //2.0 / 32768.0; + ay *= 6.10351e-5; + az *= 6.10351e-5; + + ax -= abias[0]; // Convert to g's, remove accelerometer biases + ay -= abias[1]; + az -= abias[2]; + + gx *= 0.0152588f; //500.0 / 32768.0; + gy *= 0.0152588f; + gz *= 0.0152588f; + + gx -= gbias[0]; // Convert to degrees per seconds, remove gyro biases + gy -= gbias[1]; + gz -= gbias[2]; + + mx *= 6.10351e-5; //2.0 / 32768.0; + my *= 6.10351e-5; + mz *= 6.10351e-5; + + mxc = M11*(mx-mbias[0]) + M12*(my-mbias[1]) +M13*(mz-mbias[2]); + myc = M21*(mx-mbias[0]) + M22*(my-mbias[1]) +M23*(mz-mbias[2]); + mzc = M31*(mx-mbias[0]) + M32*(my-mbias[1]) +M33*(mz-mbias[2]); + + mx = mxc; + my = myc; + mz = mzc; + + float norm = sqrt((mx*mx) + (my*my) + (mz*mz)); + mx /=norm; + my /=norm; + mz /=norm; + + /***************************************************************/ + /*********************IMU Complementary Filter******************/ + /***************************************************************/ + RxAcc = ax; + RyAcc = ay; + RzAcc = az; + + Rate_Ayz_1 = gx; + Rate_Axz_1 = gy; + Rate_Axy_1 = gz; + + Rate_Ayz_1 = Rate_Ayz_1*0.01745;//Convertion from °/s to Radians/s + Rate_Axz_1 = Rate_Axz_1*0.01745; + Rate_Axy_1 = Rate_Axy_1*0.01745; + + /*Combining Accelerometer & Gyroscope Data*/ + Axz_0 = atan2(RxEst_0,RzEst_0); + Ayz_0 = atan2(RyEst_0,RzEst_0); + Axy_0 = atan2(RxEst_0,RyEst_0); + + now_timeperiod = micros(); + + Time_Period = now_timeperiod - lasttime_timeperiod; + + Axz_1= Axz_0 + Rate_Axz_1*Time_Period*0.000001; + Ayz_1= Ayz_0 + Rate_Ayz_1*Time_Period*0.000001; + Axy_1= Axy_0 + Rate_Axy_1*Time_Period*0.000001; + + lasttime_timeperiod = now_timeperiod; + + RxGyro = sin(Axz_1)/(sqrt(1.0 + cos(Axz_1)*cos(Axz_1) * tan(Ayz_1)*tan(Ayz_1))); + RyGyro = sin(Ayz_1)/(sqrt(1.0 + cos(Ayz_1)*cos(Ayz_1) * tan(Axz_1)*tan(Axz_1))); + if(RzEst_0 >= 0){ + RzGyro = 1.0*sqrt(1 - RxGyro*RxGyro - RyGyro*RyGyro); + } + else { + RzGyro = -1*sqrt(1 - RxGyro*RxGyro - RyGyro*RyGyro); + } + + RxEst_1 = RxAcc*0.5 + RxGyro*0.5 ;// Weight of Gyro. over Acc. + RyEst_1 = RyAcc*0.5 + RyGyro*0.5 ; + RzEst_1 = RzAcc*0.5 + RzGyro*0.5 ; + + R_Est = sqrt(RxEst_1*RxEst_1+RyEst_1*RyEst_1+RzEst_1*RzEst_1); + + Pitch_Sensor = atan2(RxEst_1,sqrt(RyEst_1*RyEst_1)+(RzEst_1*RzEst_1))*180/PI; + Roll_Sensor = atan2(RyEst_1,sqrt(RxEst_1*RxEst_1)+(RzEst_1*RzEst_1))*180/PI; + + float magRawX = mx*cos(Pitch_Sensor*PI/180.0f) - mz*sin(Pitch_Sensor*PI/180.0f); + float magRawY = mx*sin(Roll_Sensor*PI/180.0f)*sin(Pitch_Sensor*PI/180.0f) + my*cos(Roll_Sensor*PI/180.0f)- mz*sin(Roll_Sensor*PI/180.0f)*cos(Pitch_Sensor*PI/180.0f); + Yaw_Sensor = (180*atan2(magRawY,magRawX)/PI) - Mag_Declination; + + if(Yaw_Sensor<0)Yaw_Sensor+=360; + RxEst_0 = RxEst_1; + RyEst_0 = RyEst_1; + RzEst_0 = RzEst_1; + + HAL_Delay(300); + + } + + /////////////////////////////////////////////////////////////////////////////////// + ///////////////////////////////////BAROMETER BMP180//////////////////////////////// + /////////////////////////////////////////////////////////////////////////////////// + for(int i = 0; i<5 ; i++){ + float BMP_Perssure = myBMP.getPressure(); + RADAR_Altitude = 44330*(1-(pow((BMP_Perssure/101325),(1/5.255)))); + HAL_Delay(100); + } + + /////////////////////////////////////////////////////////////////////////////////// + ///////////////////////////////////////ADF4382///////////////////////////////////// + /////////////////////////////////////////////////////////////////////////////////// + printf("Starting ADF4382A Radar LO System...\n"); + printf("Using SPI4 with TIMED SYNCHRONIZATION (60 MHz clocks)\n"); + + // Initialize LO manager with TIMED synchronization + int ret = ADF4382A_Manager_Init(&lo_manager, SYNC_METHOD_TIMED); + // Set phase shift (e.g., 500 ps for TX, 500 ps for RX) + ADF4382A_SetPhaseShift(&lo_manager, 500, 500); + + // Strobe to apply phase shifts + ADF4382A_StrobePhaseShift(&lo_manager, 0); // TX device + ADF4382A_StrobePhaseShift(&lo_manager, 1); // RX device + if (ret != ADF4382A_MANAGER_OK) { + printf("LO Manager initialization failed: %d\n", ret); + Error_Handler(); + } + + // Check initial lock status + bool tx_locked, rx_locked; + ret = ADF4382A_CheckLockStatus(&lo_manager, &tx_locked, &rx_locked); + if (ret == ADF4382A_MANAGER_OK) { + printf("Initial Lock Status - TX: %s, RX: %s\n", + tx_locked ? "LOCKED" : "UNLOCKED", + rx_locked ? "LOCKED" : "UNLOCKED"); + } + // Wait for both LOs to lock + uint32_t lock_timeout = 0; + while (!(tx_locked && rx_locked) && lock_timeout < 100) { + HAL_Delay(100); + ADF4382A_CheckLockStatus(&lo_manager, &tx_locked, &rx_locked); + lock_timeout++; + + if (lock_timeout % 10 == 0) { + printf("Waiting for LO lock... TX: %s, RX: %s\n", + tx_locked ? "LOCKED" : "UNLOCKED", + rx_locked ? "LOCKED" : "UNLOCKED"); + } + } + + if (tx_locked && rx_locked) { + printf("Both LOs locked successfully!\n"); + printf("Synchronization ready - 60 MHz clocks on SYNCP/SYNCN pins\n"); + // - 60 MHz phase-aligned clocks on SYNCP/SYNCN pins + // - SYNC pin connected for triggering + + // When ready to synchronize: + ADF4382A_TriggerTimedSync(&lo_manager); + // At this point, the SYNC pin can be toggled to trigger synchronization + } else { + printf("LO lock timeout! TX: %s, RX: %s\n", + tx_locked ? "LOCKED" : "UNLOCKED", + rx_locked ? "LOCKED" : "UNLOCKED"); + } + // check if there is a lock + if(HAL_GPIO_ReadPin (ADF4382_TX_LKDET_GPIO_Port, ADF4382_TX_LKDET_Pin)) + { + // Set The LED_1 ON! + HAL_GPIO_WritePin(LED_1_GPIO_Port, LED_1_Pin, GPIO_PIN_SET); + } + else + { + // Else .. Turn LED_1 OFF! + HAL_GPIO_WritePin(LED_1_GPIO_Port, LED_1_Pin, GPIO_PIN_RESET); + } + + if(HAL_GPIO_ReadPin (ADF4382_RX_LKDET_GPIO_Port, ADF4382_RX_LKDET_Pin)) + { + // Set The LED_2 ON! + HAL_GPIO_WritePin(LED_2_GPIO_Port, LED_2_Pin, GPIO_PIN_SET); + } + else + { + // Else .. Turn LED_2 OFF! + HAL_GPIO_WritePin(LED_2_GPIO_Port, LED_2_Pin, GPIO_PIN_RESET); + } + + + ////////////////////////////////////////////////////////////////////////////////////// + /////////////////////////////////////ADAR1000///////////////////////////////////////// + ////////////////////////////////////////////////////////////////////////////////////// + + //Power sequencing ADAR1000 + + //Tell FPGA to turn off TX RF signal by disabling Mixers + HAL_GPIO_WritePin(GPIOD, GPIO_PIN_11, GPIO_PIN_RESET); + + HAL_GPIO_WritePin(EN_P_3V3_ADAR12_GPIO_Port,EN_P_3V3_ADAR12_Pin,GPIO_PIN_SET); + HAL_GPIO_WritePin(EN_P_3V3_ADAR34_GPIO_Port,EN_P_3V3_ADAR34_Pin,GPIO_PIN_SET); + HAL_Delay(500); + HAL_GPIO_WritePin(EN_P_5V0_ADAR_GPIO_Port,EN_P_5V0_ADAR_Pin,GPIO_PIN_SET); + HAL_Delay(500); + + // System startup message + uint8_t startup_msg[] = "Starting Phased Array RADAR System...\r\n"; + HAL_UART_Transmit(&huart3, startup_msg, sizeof(startup_msg)-1, 1000); + + // Power up sequence + systemPowerUpSequence(); + + // Initialize beam matrices + initializeBeamMatrices(); + + // Print system status + printSystemStatus(); + + ////////////////////////////////////////////////////////////////////////////////////// + //////////////////////////////////////////GPS///////////////////////////////////////// + ////////////////////////////////////////////////////////////////////////////////////// + for(int i=0; i<10;i++){ + smartDelay(1000); + RADAR_Longitude = gps.location.lng(); + RADAR_Latitude = gps.location.lat(); + } + + //move Stepper to position 1 = 0° + HAL_GPIO_WritePin(STEPPER_CW_P_GPIO_Port, STEPPER_CW_P_Pin, GPIO_PIN_RESET);//Set stepper motor spinning direction to CCW + //Point Stepper to North + for(int i= 0;i<(int)(Yaw_Sensor*Stepper_steps/360);i++){ + HAL_GPIO_WritePin(STEPPER_CLK_P_GPIO_Port, STEPPER_CLK_P_Pin, GPIO_PIN_SET); + delay_us(500); + HAL_GPIO_WritePin(STEPPER_CLK_P_GPIO_Port, STEPPER_CLK_P_Pin, GPIO_PIN_RESET); + delay_us(500); + } + + /***************************************************************/ + /**********wait for GUI start flag and Send Lat/Long/alt********/ + /***************************************************************/ + + GPS_Data_t gps_data; + // Binary packet structure: + // [Header 4 bytes][Latitude 8 bytes][Longitude 8 bytes][Altitude 4 bytes][CRC 2 bytes] + gps_data = {RADAR_Latitude, RADAR_Longitude, RADAR_Altitude, Pitch_Sensor, HAL_GetTick()}; + GPS_SendBinaryToGUI(&gps_data); + + // Check if start flag was received and settings are ready + do{ + if (usbHandler.isStartFlagReceived() && + usbHandler.getState() == USBHandler::USBState::READY_FOR_DATA) { + + const RadarSettings& settings = usbHandler.getSettings(); + + // Use the settings to configure your radar system + /* + settings.getSystemFrequency(); + settings.getChirpDuration1(); + settings.getChirpDuration2(); + settings.getChirpsPerPosition(); + settings.getFreqMin(); + settings.getFreqMax(); + settings.getPRF1(); + settings.getPRF2(); + settings.getMaxDistance(); + */ + + + } + }while(!usbHandler.isStartFlagReceived()); + + /***************************************************************/ + /************RF Power Amplifier Powering up sequence************/ + /***************************************************************/ + if(PowerAmplifier){ + /* Initialize DACs */ + /* DAC1: Address 0b1001000 = 0x48 */ + if (!DAC5578_Init(&hdac1, &hi2c1, 0x48, 8, + DAC_1_VG_LDAC_GPIO_Port, DAC_1_VG_LDAC_Pin, + DAC_1_VG_CLR_GPIO_Port, DAC_1_VG_CLR_Pin)) { + Error_Handler(); + } + + /* DAC2: Address 0b1001001 = 0x49 */ + if (!DAC5578_Init(&hdac2, &hi2c1, 0x49, 8, + DAC_2_VG_LDAC_GPIO_Port, DAC_2_VG_LDAC_Pin, + DAC_2_VG_CLR_GPIO_Port, DAC_2_VG_CLR_Pin)) { + Error_Handler(); + } + /* Configure clear code behavior */ + DAC5578_SetClearCode(&hdac1, DAC5578_CLR_CODE_ZERO); // Clear to 0V on CLR pulse + DAC5578_SetClearCode(&hdac2, DAC5578_CLR_CODE_ZERO); // Clear to 0V on CLR pulse + + /* Configure LDAC so all channels update simultaneously on hardware LDAC */ + DAC5578_SetupLDAC(&hdac1, 0xFF); // All channels respond to LDAC + DAC5578_SetupLDAC(&hdac2, 0xFF); // All channels respond to LDAC + + //set Vg [1-8] to -3.98V -> input opamp = 1.63058V->126(8bits) + for(int channel = 0; channel < 8; channel++){ + DAC5578_WriteAndUpdateChannelValue(&hdac1, channel, DAC_val); + } + + //set Vg [9-16] to -3.98V -> input opamp = 1.63058V->126(8bits) + for(int channel = 0; channel < 8; channel++){ + DAC5578_WriteAndUpdateChannelValue(&hdac2, channel, DAC_val); + } + + /* Optional: Use hardware LDAC for simultaneous update of all channels */ + HAL_GPIO_WritePin(DAC_1_VG_LDAC_GPIO_Port, DAC_1_VG_LDAC_Pin, GPIO_PIN_RESET); + HAL_GPIO_WritePin(DAC_2_VG_LDAC_GPIO_Port, DAC_2_VG_LDAC_Pin, GPIO_PIN_RESET); + HAL_Delay(1); + HAL_GPIO_WritePin(DAC_1_VG_LDAC_GPIO_Port, DAC_1_VG_LDAC_Pin, GPIO_PIN_SET); + HAL_GPIO_WritePin(DAC_2_VG_LDAC_GPIO_Port, DAC_2_VG_LDAC_Pin, GPIO_PIN_SET); + + //Enable RF Power Amplifier VDD = 22V + HAL_GPIO_WritePin(EN_DIS_RFPA_VDD_GPIO_Port, EN_DIS_RFPA_VDD_Pin, GPIO_PIN_SET); + + /* Initialize ADCs with correct addresses */ + /* ADC1: Address 0x48, Single-Ended mode, Internal Ref ON + ADC ON */ + if (!ADS7830_Init(&hadc1, &hi2c2, 0x48, + ADS7830_SDMODE_SINGLE, ADS7830_PDIRON_ADON)) { + Error_Handler(); + } + + /* ADC2: Address 0x4A, Single-Ended mode, Internal Ref ON + ADC ON */ + if (!ADS7830_Init(&hadc2, &hi2c2, 0x4A, + ADS7830_SDMODE_SINGLE, ADS7830_PDIRON_ADON)) { + Error_Handler(); + } + + /* Read all 8 channels from ADC1 and calculate Idq */ + for (uint8_t channel = 0; channel < 8; channel++) { + adc1_readings[channel] = ADS7830_Measure_SingleEnded(&hadc1, channel); + Idq_reading[channel]= (3.3/255)*adc1_readings[channel]/(50*0.005);//Idq=Vadc/(GxRshunt)//G_INA241A3=50;Rshunt=5mOhms + } + + /* Read all 8 channels from ADC2 and calculate Idq*/ + for (uint8_t channel = 0; channel < 8; channel++) { + adc2_readings[channel] = ADS7830_Measure_SingleEnded(&hadc2, channel); + Idq_reading[channel+8]= (3.3/255)*adc2_readings[channel]/(50*0.005);//Idq=Vadc/(GxRshunt)//G_INA241A3=50;Rshunt=5mOhms + } + + for (uint8_t channel = 0; channel < 8; channel++){ + uint8_t safety_counter = 0; + DAC_val = 126; // Reset for each channel + + do { + if (safety_counter++ > 50) { // Prevent infinite loop + break; + } + DAC_val = DAC_val - 4; + DAC5578_WriteAndUpdateChannelValue(&hdac1, channel, DAC_val); + adc1_readings[channel] = ADS7830_Measure_SingleEnded(&hadc1, channel); + Idq_reading[channel] = (3.3/255) * adc1_readings[channel] / (50 * 0.005); + } while (DAC_val > 38 && abs(Idq_reading[channel] - 1.680) < 0.2); // Fixed logic + } + + for (uint8_t channel = 0; channel < 8; channel++){ + uint8_t safety_counter = 0; + DAC_val = 126; // Reset for each channel + + do { + if (safety_counter++ > 50) { // Prevent infinite loop + break; + } + DAC_val = DAC_val - 4; + DAC5578_WriteAndUpdateChannelValue(&hdac2, channel, DAC_val); + adc1_readings[channel] = ADS7830_Measure_SingleEnded(&hadc2, channel); + Idq_reading[channel+8] = (3.3/255) * adc2_readings[channel] / (50 * 0.005); + } while (DAC_val > 38 && abs(Idq_reading[channel+8] - 1.680) < 0.2); // Fixed logic + } + } + + //RESET FPGA + HAL_GPIO_WritePin(GPIOD, GPIO_PIN_12, GPIO_PIN_RESET); + HAL_Delay(10); + HAL_GPIO_WritePin(GPIOD, GPIO_PIN_12, GPIO_PIN_SET); + + + + //Tell FPGA to apply TX RF by enabling Mixers + HAL_GPIO_WritePin(GPIOD, GPIO_PIN_11, GPIO_PIN_SET); + + /* T°C sensor TMP37 ADC3: Address 0x49, Single-Ended mode, Internal Ref ON + ADC ON */ + if (!ADS7830_Init(&hadc3, &hi2c2, 0x49, + ADS7830_SDMODE_SINGLE, ADS7830_PDIRON_ADON)) { + Error_Handler(); + } + + /***************************************************************/ + /************************ERRORS HANDLERS************************/ + /***************************************************************/ + + // Initialize error handler system + error_count = 0; + last_error = ERROR_NONE; + system_emergency_state = false; + + /***************************************************************/ + /*********************SEND TO GUI STATUS************************/ + /***************************************************************/ + + // Send initial status to GUI + char initial_status[500]; + getSystemStatusForGUI(initial_status, sizeof(initial_status)); + // Send via USB to GUI + CDC_Transmit_FS((uint8_t*)initial_status, strlen(initial_status)); + + + + + + + // main loop + + /* USER CODE END 2 */ + + /* Infinite loop */ + /* USER CODE BEGIN WHILE */ + while (1) + { + ////////////////////////////////////////////////////////////////////////////////////// + //////////////////////// Check system health at the start of each loop//////////////// + ////////////////////////////////////////////////////////////////////////////////////// + + if (!checkSystemHealthStatus()) { + // System is in bad state, enter safe mode + //Tell FPGA to turn off TX RF signal by disabling Mixers + HAL_GPIO_WritePin(GPIOD, GPIO_PIN_11, GPIO_PIN_RESET); + systemPowerDownSequence(); + + char emergency_msg[] = "SYSTEM IN SAFE MODE - Manual intervention required\r\n"; + HAL_UART_Transmit(&huart3, (uint8_t*)emergency_msg, strlen(emergency_msg), 1000); + + // Blink all LEDs to indicate safe mode + while (system_emergency_state) { + HAL_GPIO_TogglePin(LED_1_GPIO_Port, LED_1_Pin); + HAL_GPIO_TogglePin(LED_2_GPIO_Port, LED_2_Pin); + HAL_GPIO_TogglePin(LED_3_GPIO_Port, LED_3_Pin); + HAL_GPIO_TogglePin(LED_4_GPIO_Port, LED_4_Pin); + } + } + ////////////////////////////////////////////////////////////////////////////////////// + ////////////////////////// Monitor ADF4382A lock status periodically////////////////// + ////////////////////////////////////////////////////////////////////////////////////// + + // Monitor lock status periodically + static uint32_t last_check = 0; + if (HAL_GetTick() - last_check > 5000) { + ADF4382A_CheckLockStatus(&lo_manager, &tx_locked, &rx_locked); + + if (!tx_locked || !rx_locked) { + printf("LO Lock Lost! TX: %s, RX: %s\n", + tx_locked ? "LOCKED" : "UNLOCKED", + rx_locked ? "LOCKED" : "UNLOCKED"); + } + + last_check = HAL_GetTick(); + } + ////////////////////////////////////////////////////////////////////////////////////// + ////////////////////////// Monitor Temperature Sensors periodically////////////////// + ////////////////////////////////////////////////////////////////////////////////////// + /* Read all 8 channels from ADC2 and calculate Idq*/ + // Monitor T°C periodically + static uint32_t last_check1 = 0; + if (HAL_GetTick() - last_check1 > 5000) { + //TMP37 3.3V-->165°C & ADS7830 3.3V-->255 => Temperature_n °C = ADC_val_n * 165/255 + Temperature_1 = ADS7830_Measure_SingleEnded(&hadc3, 0)*0.64705f; + Temperature_2 = ADS7830_Measure_SingleEnded(&hadc3, 1)*0.64705f; + Temperature_3 = ADS7830_Measure_SingleEnded(&hadc3, 2)*0.64705f; + Temperature_4 = ADS7830_Measure_SingleEnded(&hadc3, 3)*0.64705f; + Temperature_5 = ADS7830_Measure_SingleEnded(&hadc3, 4)*0.64705f; + Temperature_6 = ADS7830_Measure_SingleEnded(&hadc3, 5)*0.64705f; + Temperature_7 = ADS7830_Measure_SingleEnded(&hadc3, 6)*0.64705f; + Temperature_8 = ADS7830_Measure_SingleEnded(&hadc3, 7)*0.64705f; + + //(20 mV/°C on TMP37) QPA2962 RF amplifier Operating Temp. Range, TBASE min−40 normal+25 max+85 °C + int Max_Temp = 25; + if((Temperature_1>Max_Temp)||(Temperature_2>Max_Temp)||(Temperature_3>Max_Temp)||(Temperature_4>Max_Temp) + ||(Temperature_5>Max_Temp)||(Temperature_6>Max_Temp)||(Temperature_7>Max_Temp)||(Temperature_8>Max_Temp)) + { + HAL_GPIO_WritePin(EN_DIS_COOLING_GPIO_Port, EN_DIS_COOLING_Pin, GPIO_PIN_SET); + } + else{ + HAL_GPIO_WritePin(EN_DIS_COOLING_GPIO_Port, EN_DIS_COOLING_Pin, GPIO_PIN_RESET); + } + + + last_check = HAL_GetTick(); + } + ////////////////////////////////////////////////////////////////////////////////////// + /////////////////////////////////////ADAR1000///////////////////////////////////////// + ////////////////////////////////////////////////////////////////////////////////////// + //phase_step = 0 => phase = 0° + //phase_step = 127 => phase = 360° + //steering angle (rad)= arcsin(phase_dif/Pi) + + runRadarPulseSequence(); + + // Optional: Add system monitoring here + // Check temperatures, power levels, etc. + + + /* USER CODE END WHILE */ + + + + + /* USER CODE BEGIN 3 */ + } + /* USER CODE END 3 */ +} + +/** + * @brief System Clock Configuration + * @retval None + */ +void SystemClock_Config(void) +{ + RCC_OscInitTypeDef RCC_OscInitStruct = {0}; + RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; + + /** Configure LSE Drive Capability + */ + HAL_PWR_EnableBkUpAccess(); + + /** Configure the main internal regulator output voltage + */ + __HAL_RCC_PWR_CLK_ENABLE(); + __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE3); + + /** Initializes the RCC Oscillators according to the specified parameters + * in the RCC_OscInitTypeDef structure. + */ + RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; + RCC_OscInitStruct.HSEState = RCC_HSE_ON; + RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; + RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; + RCC_OscInitStruct.PLL.PLLM = 25; + RCC_OscInitStruct.PLL.PLLN = 144; + RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; + RCC_OscInitStruct.PLL.PLLQ = 3; + if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) + { + Error_Handler(); + } + + /** Initializes the CPU, AHB and APB buses clocks + */ + RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK + |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; + RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; + RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; + RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2; + RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; + + if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) + { + Error_Handler(); + } +} + +/** + * @brief Peripherals Common Clock Configuration + * @retval None + */ +void PeriphCommonClock_Config(void) +{ + RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0}; + + /** Initializes the peripherals clock + */ + PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_TIM; + PeriphClkInitStruct.TIMPresSelection = RCC_TIMPRES_ACTIVATED; + + if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK) + { + Error_Handler(); + } +} + +/** + * @brief I2C1 Initialization Function + * @param None + * @retval None + */ +static void MX_I2C1_Init(void) +{ + + /* USER CODE BEGIN I2C1_Init 0 */ + + /* USER CODE END I2C1_Init 0 */ + + /* USER CODE BEGIN I2C1_Init 1 */ + + /* USER CODE END I2C1_Init 1 */ + hi2c1.Instance = I2C1; + hi2c1.Init.Timing = 0x00808CD2; + hi2c1.Init.OwnAddress1 = 0; + hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT; + hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE; + hi2c1.Init.OwnAddress2 = 0; + hi2c1.Init.OwnAddress2Masks = I2C_OA2_NOMASK; + hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE; + hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE; + if (HAL_I2C_Init(&hi2c1) != HAL_OK) + { + Error_Handler(); + } + + /** Configure Analogue filter + */ + if (HAL_I2CEx_ConfigAnalogFilter(&hi2c1, I2C_ANALOGFILTER_ENABLE) != HAL_OK) + { + Error_Handler(); + } + + /** Configure Digital filter + */ + if (HAL_I2CEx_ConfigDigitalFilter(&hi2c1, 0) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN I2C1_Init 2 */ + + /* USER CODE END I2C1_Init 2 */ + +} + +/** + * @brief I2C2 Initialization Function + * @param None + * @retval None + */ +static void MX_I2C2_Init(void) +{ + + /* USER CODE BEGIN I2C2_Init 0 */ + + /* USER CODE END I2C2_Init 0 */ + + /* USER CODE BEGIN I2C2_Init 1 */ + + /* USER CODE END I2C2_Init 1 */ + hi2c2.Instance = I2C2; + hi2c2.Init.Timing = 0x00808CD2; + hi2c2.Init.OwnAddress1 = 0; + hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT; + hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE; + hi2c2.Init.OwnAddress2 = 0; + hi2c2.Init.OwnAddress2Masks = I2C_OA2_NOMASK; + hi2c2.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE; + hi2c2.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE; + if (HAL_I2C_Init(&hi2c2) != HAL_OK) + { + Error_Handler(); + } + + /** Configure Analogue filter + */ + if (HAL_I2CEx_ConfigAnalogFilter(&hi2c2, I2C_ANALOGFILTER_ENABLE) != HAL_OK) + { + Error_Handler(); + } + + /** Configure Digital filter + */ + if (HAL_I2CEx_ConfigDigitalFilter(&hi2c2, 0) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN I2C2_Init 2 */ + + /* USER CODE END I2C2_Init 2 */ + +} + +/** + * @brief I2C3 Initialization Function + * @param None + * @retval None + */ +static void MX_I2C3_Init(void) +{ + + /* USER CODE BEGIN I2C3_Init 0 */ + + /* USER CODE END I2C3_Init 0 */ + + /* USER CODE BEGIN I2C3_Init 1 */ + + /* USER CODE END I2C3_Init 1 */ + hi2c3.Instance = I2C3; + hi2c3.Init.Timing = 0x00808CD2; + hi2c3.Init.OwnAddress1 = 0; + hi2c3.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT; + hi2c3.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE; + hi2c3.Init.OwnAddress2 = 0; + hi2c3.Init.OwnAddress2Masks = I2C_OA2_NOMASK; + hi2c3.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE; + hi2c3.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE; + if (HAL_I2C_Init(&hi2c3) != HAL_OK) + { + Error_Handler(); + } + + /** Configure Analogue filter + */ + if (HAL_I2CEx_ConfigAnalogFilter(&hi2c3, I2C_ANALOGFILTER_ENABLE) != HAL_OK) + { + Error_Handler(); + } + + /** Configure Digital filter + */ + if (HAL_I2CEx_ConfigDigitalFilter(&hi2c3, 0) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN I2C3_Init 2 */ + + /* USER CODE END I2C3_Init 2 */ + +} + +/** + * @brief SPI1 Initialization Function + * @param None + * @retval None + */ +static void MX_SPI1_Init(void) +{ + + /* USER CODE BEGIN SPI1_Init 0 */ + + /* USER CODE END SPI1_Init 0 */ + + /* USER CODE BEGIN SPI1_Init 1 */ + + /* USER CODE END SPI1_Init 1 */ + /* SPI1 parameter configuration*/ + hspi1.Instance = SPI1; + hspi1.Init.Mode = SPI_MODE_MASTER; + hspi1.Init.Direction = SPI_DIRECTION_2LINES; + hspi1.Init.DataSize = SPI_DATASIZE_8BIT; + hspi1.Init.CLKPolarity = SPI_POLARITY_LOW; + hspi1.Init.CLKPhase = SPI_PHASE_1EDGE; + hspi1.Init.NSS = SPI_NSS_SOFT; + hspi1.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2; + hspi1.Init.FirstBit = SPI_FIRSTBIT_MSB; + hspi1.Init.TIMode = SPI_TIMODE_DISABLE; + hspi1.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; + hspi1.Init.CRCPolynomial = 7; + hspi1.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE; + hspi1.Init.NSSPMode = SPI_NSS_PULSE_ENABLE; + if (HAL_SPI_Init(&hspi1) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN SPI1_Init 2 */ + + /* USER CODE END SPI1_Init 2 */ + +} + +/** + * @brief SPI4 Initialization Function + * @param None + * @retval None + */ +static void MX_SPI4_Init(void) +{ + + /* USER CODE BEGIN SPI4_Init 0 */ + + /* USER CODE END SPI4_Init 0 */ + + /* USER CODE BEGIN SPI4_Init 1 */ + + /* USER CODE END SPI4_Init 1 */ + /* SPI4 parameter configuration*/ + hspi4.Instance = SPI4; + hspi4.Init.Mode = SPI_MODE_MASTER; + hspi4.Init.Direction = SPI_DIRECTION_2LINES; + hspi4.Init.DataSize = SPI_DATASIZE_8BIT; + hspi4.Init.CLKPolarity = SPI_POLARITY_LOW; + hspi4.Init.CLKPhase = SPI_PHASE_1EDGE; + hspi4.Init.NSS = SPI_NSS_SOFT; + hspi4.Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2; + hspi4.Init.FirstBit = SPI_FIRSTBIT_MSB; + hspi4.Init.TIMode = SPI_TIMODE_DISABLE; + hspi4.Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; + hspi4.Init.CRCPolynomial = 7; + hspi4.Init.CRCLength = SPI_CRC_LENGTH_DATASIZE; + hspi4.Init.NSSPMode = SPI_NSS_PULSE_ENABLE; + if (HAL_SPI_Init(&hspi4) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN SPI4_Init 2 */ + + /* USER CODE END SPI4_Init 2 */ + +} + +/** + * @brief TIM1 Initialization Function + * @param None + * @retval None + */ +static void MX_TIM1_Init(void) +{ + + /* USER CODE BEGIN TIM1_Init 0 */ + + /* USER CODE END TIM1_Init 0 */ + + TIM_ClockConfigTypeDef sClockSourceConfig = {0}; + TIM_MasterConfigTypeDef sMasterConfig = {0}; + + /* USER CODE BEGIN TIM1_Init 1 */ + + /* USER CODE END TIM1_Init 1 */ + htim1.Instance = TIM1; + htim1.Init.Prescaler = 71; + htim1.Init.CounterMode = TIM_COUNTERMODE_UP; + htim1.Init.Period = 0xffff-1; + htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; + htim1.Init.RepetitionCounter = 0; + htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; + if (HAL_TIM_Base_Init(&htim1) != HAL_OK) + { + Error_Handler(); + } + sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL; + if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK) + { + Error_Handler(); + } + sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET; + sMasterConfig.MasterOutputTrigger2 = TIM_TRGO2_RESET; + sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; + if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN TIM1_Init 2 */ + + /* USER CODE END TIM1_Init 2 */ + +} + +/** + * @brief UART5 Initialization Function + * @param None + * @retval None + */ +static void MX_UART5_Init(void) +{ + + /* USER CODE BEGIN UART5_Init 0 */ + + /* USER CODE END UART5_Init 0 */ + + /* USER CODE BEGIN UART5_Init 1 */ + + /* USER CODE END UART5_Init 1 */ + huart5.Instance = UART5; + huart5.Init.BaudRate = 9600; + huart5.Init.WordLength = UART_WORDLENGTH_8B; + huart5.Init.StopBits = UART_STOPBITS_1; + huart5.Init.Parity = UART_PARITY_NONE; + huart5.Init.Mode = UART_MODE_TX_RX; + huart5.Init.HwFlowCtl = UART_HWCONTROL_NONE; + huart5.Init.OverSampling = UART_OVERSAMPLING_16; + huart5.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE; + huart5.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT; + if (HAL_UART_Init(&huart5) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN UART5_Init 2 */ + + /* USER CODE END UART5_Init 2 */ + +} + +/** + * @brief USART3 Initialization Function + * @param None + * @retval None + */ +static void MX_USART3_UART_Init(void) +{ + + /* USER CODE BEGIN USART3_Init 0 */ + + /* USER CODE END USART3_Init 0 */ + + /* USER CODE BEGIN USART3_Init 1 */ + + /* USER CODE END USART3_Init 1 */ + huart3.Instance = USART3; + huart3.Init.BaudRate = 115200; + huart3.Init.WordLength = UART_WORDLENGTH_8B; + huart3.Init.StopBits = UART_STOPBITS_1; + huart3.Init.Parity = UART_PARITY_NONE; + huart3.Init.Mode = UART_MODE_TX_RX; + huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE; + huart3.Init.OverSampling = UART_OVERSAMPLING_16; + huart3.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE; + huart3.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT; + if (HAL_UART_Init(&huart3) != HAL_OK) + { + Error_Handler(); + } + /* USER CODE BEGIN USART3_Init 2 */ + + /* USER CODE END USART3_Init 2 */ + +} + +/** + * @brief GPIO Initialization Function + * @param None + * @retval None + */ +static void MX_GPIO_Init(void) +{ + GPIO_InitTypeDef GPIO_InitStruct = {0}; + /* USER CODE BEGIN MX_GPIO_Init_1 */ + + /* USER CODE END MX_GPIO_Init_1 */ + + /* GPIO Ports Clock Enable */ + __HAL_RCC_GPIOE_CLK_ENABLE(); + __HAL_RCC_GPIOC_CLK_ENABLE(); + __HAL_RCC_GPIOF_CLK_ENABLE(); + __HAL_RCC_GPIOH_CLK_ENABLE(); + __HAL_RCC_GPIOA_CLK_ENABLE(); + __HAL_RCC_GPIOG_CLK_ENABLE(); + __HAL_RCC_GPIOB_CLK_ENABLE(); + __HAL_RCC_GPIOD_CLK_ENABLE(); + + /*Configure GPIO pin Output Level */ + HAL_GPIO_WritePin(GPIOF, AD9523_PD_Pin|AD9523_REF_SEL_Pin|AD9523_SYNC_Pin|AD9523_RESET_Pin + |AD9523_CS_Pin|AD9523_EEPROM_SEL_Pin|LED_1_Pin|LED_2_Pin + |LED_3_Pin|LED_4_Pin, GPIO_PIN_RESET); + + /*Configure GPIO pin Output Level */ + HAL_GPIO_WritePin(GPIOA, ADAR_1_CS_3V3_Pin|ADAR_2_CS_3V3_Pin|ADAR_3_CS_3V3_Pin|ADAR_4_CS_3V3_Pin, GPIO_PIN_RESET); + + /*Configure GPIO pin Output Level */ + HAL_GPIO_WritePin(GPIOG, EN_P_5V0_PA1_Pin|EN_P_5V0_PA2_Pin|EN_P_5V0_PA3_Pin|EN_P_5V5_PA_Pin + |EN_P_1V8_CLOCK_Pin|EN_P_3V3_CLOCK_Pin|ADF4382_RX_DELADJ_Pin|ADF4382_RX_DELSTR_Pin + |ADF4382_RX_CE_Pin|ADF4382_RX_CS_Pin|ADF4382_TX_DELSTR_Pin|ADF4382_TX_DELADJ_Pin + |ADF4382_TX_CS_Pin|ADF4382_TX_CE_Pin, GPIO_PIN_RESET); + + /*Configure GPIO pin Output Level */ + HAL_GPIO_WritePin(GPIOE, EN_P_1V0_FPGA_Pin|EN_P_1V8_FPGA_Pin|EN_P_3V3_FPGA_Pin|EN_P_5V0_ADAR_Pin + |EN_P_3V3_ADAR12_Pin|EN_P_3V3_ADAR34_Pin|EN_P_3V3_ADTR_Pin|EN_P_3V3_SW_Pin + |EN_P_3V3_VDD_SW_Pin, GPIO_PIN_RESET); + + /*Configure GPIO pin Output Level */ + HAL_GPIO_WritePin(GPIOD, GPIO_PIN_8|GPIO_PIN_9|GPIO_PIN_10|GPIO_PIN_11 + |STEPPER_CW_P_Pin|STEPPER_CLK_P_Pin|EN_DIS_RFPA_VDD_Pin|EN_DIS_COOLING_Pin, GPIO_PIN_RESET); + + /*Configure GPIO pin Output Level */ + HAL_GPIO_WritePin(GPIOB, DAC_1_VG_CLR_Pin|DAC_1_VG_LDAC_Pin|DAC_2_VG_CLR_Pin|DAC_2_VG_LDAC_Pin, GPIO_PIN_RESET); + + /*Configure GPIO pins : AD9523_PD_Pin AD9523_REF_SEL_Pin AD9523_SYNC_Pin AD9523_RESET_Pin + AD9523_CS_Pin AD9523_EEPROM_SEL_Pin LED_1_Pin LED_2_Pin + LED_3_Pin LED_4_Pin */ + GPIO_InitStruct.Pin = AD9523_PD_Pin|AD9523_REF_SEL_Pin|AD9523_SYNC_Pin|AD9523_RESET_Pin + |AD9523_CS_Pin|AD9523_EEPROM_SEL_Pin|LED_1_Pin|LED_2_Pin + |LED_3_Pin|LED_4_Pin; + GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + HAL_GPIO_Init(GPIOF, &GPIO_InitStruct); + + /*Configure GPIO pins : AD9523_STATUS0_Pin AD9523_STATUS1_Pin */ + GPIO_InitStruct.Pin = AD9523_STATUS0_Pin|AD9523_STATUS1_Pin; + GPIO_InitStruct.Mode = GPIO_MODE_INPUT; + GPIO_InitStruct.Pull = GPIO_NOPULL; + HAL_GPIO_Init(GPIOF, &GPIO_InitStruct); + + /*Configure GPIO pins : ADAR_1_CS_3V3_Pin ADAR_2_CS_3V3_Pin ADAR_3_CS_3V3_Pin ADAR_4_CS_3V3_Pin */ + GPIO_InitStruct.Pin = ADAR_1_CS_3V3_Pin|ADAR_2_CS_3V3_Pin|ADAR_3_CS_3V3_Pin|ADAR_4_CS_3V3_Pin; + GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + HAL_GPIO_Init(GPIOA, &GPIO_InitStruct); + + /*Configure GPIO pins : EN_P_5V0_PA1_Pin EN_P_5V0_PA2_Pin EN_P_5V0_PA3_Pin EN_P_5V5_PA_Pin + EN_P_1V8_CLOCK_Pin EN_P_3V3_CLOCK_Pin ADF4382_RX_DELADJ_Pin ADF4382_RX_DELSTR_Pin + ADF4382_RX_CE_Pin ADF4382_RX_CS_Pin ADF4382_TX_DELSTR_Pin ADF4382_TX_DELADJ_Pin + ADF4382_TX_CS_Pin ADF4382_TX_CE_Pin */ + GPIO_InitStruct.Pin = EN_P_5V0_PA1_Pin|EN_P_5V0_PA2_Pin|EN_P_5V0_PA3_Pin|EN_P_5V5_PA_Pin + |EN_P_1V8_CLOCK_Pin|EN_P_3V3_CLOCK_Pin|ADF4382_RX_DELADJ_Pin|ADF4382_RX_DELSTR_Pin + |ADF4382_RX_CE_Pin|ADF4382_RX_CS_Pin|ADF4382_TX_DELSTR_Pin|ADF4382_TX_DELADJ_Pin + |ADF4382_TX_CS_Pin|ADF4382_TX_CE_Pin; + GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + HAL_GPIO_Init(GPIOG, &GPIO_InitStruct); + + /*Configure GPIO pins : EN_P_1V0_FPGA_Pin EN_P_1V8_FPGA_Pin EN_P_3V3_FPGA_Pin EN_P_5V0_ADAR_Pin + EN_P_3V3_ADAR12_Pin EN_P_3V3_ADAR34_Pin EN_P_3V3_ADTR_Pin EN_P_3V3_SW_Pin + EN_P_3V3_ADAR12EN_P_3V3_VDD_SW_Pin */ + GPIO_InitStruct.Pin = EN_P_1V0_FPGA_Pin|EN_P_1V8_FPGA_Pin|EN_P_3V3_FPGA_Pin|EN_P_5V0_ADAR_Pin + |EN_P_3V3_ADAR12_Pin|EN_P_3V3_ADAR34_Pin|EN_P_3V3_ADTR_Pin|EN_P_3V3_SW_Pin + |EN_P_3V3_VDD_SW_Pin; + GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + HAL_GPIO_Init(GPIOE, &GPIO_InitStruct); + + /*Configure GPIO pins : PD8 PD9 PD10 PD11 + STEPPER_CW_P_Pin STEPPER_CLK_P_Pin EN_DIS_RFPA_VDD_Pin EN_DIS_COOLING_Pin */ + GPIO_InitStruct.Pin = GPIO_PIN_8|GPIO_PIN_9|GPIO_PIN_10|GPIO_PIN_11|GPIO_PIN_12 + |STEPPER_CW_P_Pin|STEPPER_CLK_P_Pin|EN_DIS_RFPA_VDD_Pin|EN_DIS_COOLING_Pin; + GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); + + /*Configure GPIO pins : PD12 PD13 PD14 PD15 */ + GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_14|GPIO_PIN_15; + GPIO_InitStruct.Mode = GPIO_MODE_INPUT; + GPIO_InitStruct.Pull = GPIO_NOPULL; + HAL_GPIO_Init(GPIOD, &GPIO_InitStruct); + + /*Configure GPIO pins : ADF4382_RX_LKDET_Pin ADF4382_TX_LKDET_Pin */ + GPIO_InitStruct.Pin = ADF4382_RX_LKDET_Pin|ADF4382_TX_LKDET_Pin; + GPIO_InitStruct.Mode = GPIO_MODE_INPUT; + GPIO_InitStruct.Pull = GPIO_NOPULL; + HAL_GPIO_Init(GPIOG, &GPIO_InitStruct); + + /*Configure GPIO pins : MAG_DRDY_Pin ACC_INT_Pin GYR_INT_Pin */ + GPIO_InitStruct.Pin = MAG_DRDY_Pin|ACC_INT_Pin|GYR_INT_Pin; + GPIO_InitStruct.Mode = GPIO_MODE_INPUT; + GPIO_InitStruct.Pull = GPIO_NOPULL; + HAL_GPIO_Init(GPIOC, &GPIO_InitStruct); + + /*Configure GPIO pins : DAC_1_VG_CLR_Pin DAC_1_VG_LDAC_Pin DAC_2_VG_CLR_Pin DAC_2_VG_LDAC_Pin */ + GPIO_InitStruct.Pin = DAC_1_VG_CLR_Pin|DAC_1_VG_LDAC_Pin|DAC_2_VG_CLR_Pin|DAC_2_VG_LDAC_Pin; + GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; + GPIO_InitStruct.Pull = GPIO_NOPULL; + GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; + HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); + + /* USER CODE BEGIN MX_GPIO_Init_2 */ + + /* USER CODE END MX_GPIO_Init_2 */ +} + +/* USER CODE BEGIN 4 */ +/* ============================================================ + * DEVICE INITIALIZATION + * ============================================================ */ + + + +/* USER CODE END 4 */ + + /* MPU Configuration */ + +void MPU_Config(void) +{ + MPU_Region_InitTypeDef MPU_InitStruct = {0}; + + /* Disables the MPU */ + HAL_MPU_Disable(); + + /** Initializes and configures the Region and the memory to be protected + */ + MPU_InitStruct.Enable = MPU_REGION_ENABLE; + MPU_InitStruct.Number = MPU_REGION_NUMBER0; + MPU_InitStruct.BaseAddress = 0x0; + MPU_InitStruct.Size = MPU_REGION_SIZE_4GB; + MPU_InitStruct.SubRegionDisable = 0x87; + MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL0; + MPU_InitStruct.AccessPermission = MPU_REGION_NO_ACCESS; + MPU_InitStruct.DisableExec = MPU_INSTRUCTION_ACCESS_DISABLE; + MPU_InitStruct.IsShareable = MPU_ACCESS_SHAREABLE; + MPU_InitStruct.IsCacheable = MPU_ACCESS_NOT_CACHEABLE; + MPU_InitStruct.IsBufferable = MPU_ACCESS_NOT_BUFFERABLE; + + HAL_MPU_ConfigRegion(&MPU_InitStruct); + /* Enables the MPU */ + HAL_MPU_Enable(MPU_PRIVILEGED_DEFAULT); + +} + +/** + * @brief This function is executed in case of error occurrence. + * @retval None + */ +void Error_Handler(void) +{ + /* USER CODE BEGIN Error_Handler_Debug */ + /* User can add his own implementation to report the HAL error return state */ + __disable_irq(); + while (1) + { + } + /* USER CODE END Error_Handler_Debug */ +} + +#ifdef USE_FULL_ASSERT +/** + * @brief Reports the name of the source file and the source line number + * where the assert_param error has occurred. + * @param file: pointer to the source file name + * @param line: assert_param error line source number + * @retval None + */ +void assert_failed(uint8_t *file, uint32_t line) +{ + /* USER CODE BEGIN 6 */ + /* User can add his own implementation to report the file name and line number, + ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ + /* USER CODE END 6 */ +} +#endif /* USE_FULL_ASSERT */ diff --git a/9_Firmware/9_1_Microcontroller/9_1_3_C_Cpp_Code/main.h b/9_Firmware/9_1_Microcontroller/9_1_3_C_Cpp_Code/main.h new file mode 100644 index 0000000..e4dbaf5 --- /dev/null +++ b/9_Firmware/9_1_Microcontroller/9_1_3_C_Cpp_Code/main.h @@ -0,0 +1,175 @@ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * @file : main.h + * @brief : Header for main.c file. + * This file contains the common defines of the application. + ****************************************************************************** + * @attention + * + * Copyright (c) 2025 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ +/* USER CODE END Header */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __MAIN_H +#define __MAIN_H + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f7xx_hal.h" + +/* Private includes ----------------------------------------------------------*/ +/* USER CODE BEGIN Includes */ + +/* USER CODE END Includes */ + +/* Exported types ------------------------------------------------------------*/ +/* USER CODE BEGIN ET */ +extern uint8_t GUI_start_flag_received; +extern uint8_t USB_Buffer[64]; + +/* USER CODE END ET */ + +/* Exported constants --------------------------------------------------------*/ +/* USER CODE BEGIN EC */ + +/* USER CODE END EC */ + +/* Exported macro ------------------------------------------------------------*/ +/* USER CODE BEGIN EM */ + +/* USER CODE END EM */ + +/* Exported functions prototypes ---------------------------------------------*/ +void Error_Handler(void); + +/* USER CODE BEGIN EFP */ + +/* USER CODE END EFP */ + +/* Private defines -----------------------------------------------------------*/ +#define AD9523_PD_Pin GPIO_PIN_3 +#define AD9523_PD_GPIO_Port GPIOF +#define AD9523_REF_SEL_Pin GPIO_PIN_4 +#define AD9523_REF_SEL_GPIO_Port GPIOF +#define AD9523_SYNC_Pin GPIO_PIN_5 +#define AD9523_SYNC_GPIO_Port GPIOF +#define AD9523_RESET_Pin GPIO_PIN_6 +#define AD9523_RESET_GPIO_Port GPIOF +#define AD9523_CS_Pin GPIO_PIN_7 +#define AD9523_CS_GPIO_Port GPIOF +#define AD9523_STATUS0_Pin GPIO_PIN_8 +#define AD9523_STATUS0_GPIO_Port GPIOF +#define AD9523_STATUS1_Pin GPIO_PIN_9 +#define AD9523_STATUS1_GPIO_Port GPIOF +#define AD9523_EEPROM_SEL_Pin GPIO_PIN_10 +#define AD9523_EEPROM_SEL_GPIO_Port GPIOF +#define ADAR_1_CS_3V3_Pin GPIO_PIN_0 +#define ADAR_1_CS_3V3_GPIO_Port GPIOA +#define ADAR_2_CS_3V3_Pin GPIO_PIN_1 +#define ADAR_2_CS_3V3_GPIO_Port GPIOA +#define ADAR_3_CS_3V3_Pin GPIO_PIN_2 +#define ADAR_3_CS_3V3_GPIO_Port GPIOA +#define ADAR_4_CS_3V3_Pin GPIO_PIN_3 +#define ADAR_4_CS_3V3_GPIO_Port GPIOA +#define LED_1_Pin GPIO_PIN_12 +#define LED_1_GPIO_Port GPIOF +#define LED_2_Pin GPIO_PIN_13 +#define LED_2_GPIO_Port GPIOF +#define LED_3_Pin GPIO_PIN_14 +#define LED_3_GPIO_Port GPIOF +#define LED_4_Pin GPIO_PIN_15 +#define LED_4_GPIO_Port GPIOF +#define EN_P_5V0_PA1_Pin GPIO_PIN_0 +#define EN_P_5V0_PA1_GPIO_Port GPIOG +#define EN_P_5V0_PA2_Pin GPIO_PIN_1 +#define EN_P_5V0_PA2_GPIO_Port GPIOG +#define EN_P_1V0_FPGA_Pin GPIO_PIN_7 +#define EN_P_1V0_FPGA_GPIO_Port GPIOE +#define EN_P_1V8_FPGA_Pin GPIO_PIN_8 +#define EN_P_1V8_FPGA_GPIO_Port GPIOE +#define EN_P_3V3_FPGA_Pin GPIO_PIN_9 +#define EN_P_3V3_FPGA_GPIO_Port GPIOE +#define EN_P_5V0_ADAR_Pin GPIO_PIN_10 +#define EN_P_5V0_ADAR_GPIO_Port GPIOE +#define EN_P_3V3_ADAR12_Pin GPIO_PIN_11 +#define EN_P_3V3_ADAR12_GPIO_Port GPIOE +#define EN_P_3V3_ADAR34_Pin GPIO_PIN_12 +#define EN_P_3V3_ADAR34_GPIO_Port GPIOE +#define EN_P_3V3_ADTR_Pin GPIO_PIN_13 +#define EN_P_3V3_ADTR_GPIO_Port GPIOE +#define EN_P_3V3_SW_Pin GPIO_PIN_14 +#define EN_P_3V3_SW_GPIO_Port GPIOE +#define EN_P_3V3_VDD_SW_Pin GPIO_PIN_15 +#define EN_P_3V3_VDD_SW_GPIO_Port GPIOE +#define EN_P_5V0_PA3_Pin GPIO_PIN_2 +#define EN_P_5V0_PA3_GPIO_Port GPIOG +#define EN_P_5V5_PA_Pin GPIO_PIN_3 +#define EN_P_5V5_PA_GPIO_Port GPIOG +#define EN_P_1V8_CLOCK_Pin GPIO_PIN_4 +#define EN_P_1V8_CLOCK_GPIO_Port GPIOG +#define EN_P_3V3_CLOCK_Pin GPIO_PIN_5 +#define EN_P_3V3_CLOCK_GPIO_Port GPIOG +#define ADF4382_RX_LKDET_Pin GPIO_PIN_6 +#define ADF4382_RX_LKDET_GPIO_Port GPIOG +#define ADF4382_RX_DELADJ_Pin GPIO_PIN_7 +#define ADF4382_RX_DELADJ_GPIO_Port GPIOG +#define ADF4382_RX_DELSTR_Pin GPIO_PIN_8 +#define ADF4382_RX_DELSTR_GPIO_Port GPIOG +#define MAG_DRDY_Pin GPIO_PIN_6 +#define MAG_DRDY_GPIO_Port GPIOC +#define ACC_INT_Pin GPIO_PIN_7 +#define ACC_INT_GPIO_Port GPIOC +#define GYR_INT_Pin GPIO_PIN_8 +#define GYR_INT_GPIO_Port GPIOC +#define STEPPER_CW_P_Pin GPIO_PIN_4 +#define STEPPER_CW_P_GPIO_Port GPIOD +#define STEPPER_CLK_P_Pin GPIO_PIN_5 +#define STEPPER_CLK_P_GPIO_Port GPIOD +#define EN_DIS_RFPA_VDD_Pin GPIO_PIN_6 +#define EN_DIS_RFPA_VDD_GPIO_Port GPIOD +#define EN_DIS_COOLING_Pin GPIO_PIN_7 +#define EN_DIS_COOLING_GPIO_Port GPIOD +#define ADF4382_RX_CE_Pin GPIO_PIN_9 +#define ADF4382_RX_CE_GPIO_Port GPIOG +#define ADF4382_RX_CS_Pin GPIO_PIN_10 +#define ADF4382_RX_CS_GPIO_Port GPIOG +#define ADF4382_TX_LKDET_Pin GPIO_PIN_11 +#define ADF4382_TX_LKDET_GPIO_Port GPIOG +#define ADF4382_TX_DELSTR_Pin GPIO_PIN_12 +#define ADF4382_TX_DELSTR_GPIO_Port GPIOG +#define ADF4382_TX_DELADJ_Pin GPIO_PIN_13 +#define ADF4382_TX_DELADJ_GPIO_Port GPIOG +#define ADF4382_TX_CS_Pin GPIO_PIN_14 +#define ADF4382_TX_CS_GPIO_Port GPIOG +#define ADF4382_TX_CE_Pin GPIO_PIN_15 +#define ADF4382_TX_CE_GPIO_Port GPIOG +#define DAC_1_VG_CLR_Pin GPIO_PIN_4 +#define DAC_1_VG_CLR_GPIO_Port GPIOB +#define DAC_1_VG_LDAC_Pin GPIO_PIN_5 +#define DAC_1_VG_LDAC_GPIO_Port GPIOB +#define DAC_2_VG_CLR_Pin GPIO_PIN_8 +#define DAC_2_VG_CLR_GPIO_Port GPIOB +#define DAC_2_VG_LDAC_Pin GPIO_PIN_9 +#define DAC_2_VG_LDAC_GPIO_Port GPIOB + +/* USER CODE BEGIN Private defines */ + +/* USER CODE END Private defines */ + +#ifdef __cplusplus +} +#endif + +#endif /* __MAIN_H */ diff --git a/9_Firmware/9_2_FPGA/ad9484_interface_400m.v b/9_Firmware/9_2_FPGA/ad9484_interface_400m.v new file mode 100644 index 0000000..6e6782d --- /dev/null +++ b/9_Firmware/9_2_FPGA/ad9484_interface_400m.v @@ -0,0 +1,98 @@ +module ad9484_interface_400m ( + // ADC Physical Interface (LVDS) + input wire [7:0] adc_d_p, // ADC Data P + input wire [7:0] adc_d_n, // ADC Data N + input wire adc_dco_p, // Data Clock Output P (400MHz) + input wire adc_dco_n, // Data Clock Output N (400MHz) + + // System Interface + input wire sys_clk, // 100MHz system clock (for control only) + input wire reset_n, + + // Output at 400MHz domain + output wire [7:0] adc_data_400m, // ADC data at 400MHz + output wire adc_data_valid_400m // Valid at 400MHz +); + +// LVDS to single-ended conversion +wire [7:0] adc_data; +wire adc_dco; + +// IBUFDS for each data bit +genvar i; +generate + for (i = 0; i < 8; i = i + 1) begin : data_buffers + IBUFDS #( + .DIFF_TERM("TRUE"), + .IOSTANDARD("LVDS_25") + ) ibufds_data ( + .O(adc_data[i]), + .I(adc_d_p[i]), + .IB(adc_d_n[i]) + ); + end +endgenerate + +// IBUFDS for DCO +IBUFDS #( + .DIFF_TERM("TRUE"), + .IOSTANDARD("LVDS_25") +) ibufds_dco ( + .O(adc_dco), + .I(adc_dco_p), + .IB(adc_dco_n) +); + +// IDDR for capturing DDR data +wire [7:0] adc_data_rise; // Data on rising edge +wire [7:0] adc_data_fall; // Data on falling edge + +genvar j; +generate + for (j = 0; j < 8; j = j + 1) begin : iddr_gen + IDDR #( + .DDR_CLK_EDGE("SAME_EDGE_PIPELINED"), + .INIT_Q1(1'b0), + .INIT_Q2(1'b0), + .SRTYPE("SYNC") + ) iddr_inst ( + .Q1(adc_data_rise[j]), // Rising edge data + .Q2(adc_data_fall[j]), // Falling edge data + .C(adc_dco), // 400MHz DCO + .CE(1'b1), + .D(adc_data[j]), + .R(1'b0), + .S(1'b0) + ); + end +endgenerate + +// Combine rising and falling edge data to get 400MSPS stream +reg [7:0] adc_data_400m_reg; +reg adc_data_valid_400m_reg; +reg dco_phase; + +always @(posedge adc_dco or negedge reset_n) begin + if (!reset_n) begin + adc_data_400m_reg <= 8'b0; + adc_data_valid_400m_reg <= 1'b0; + dco_phase <= 1'b0; + end else begin + dco_phase <= ~dco_phase; + + if (dco_phase) begin + // Output falling edge data (completes the 400MSPS stream) + adc_data_400m_reg <= adc_data_fall; + end else begin + // Output rising edge data + adc_data_400m_reg <= adc_data_rise; + end + + adc_data_valid_400m_reg <= 1'b1; // Always valid when ADC is running + end +end + +assign adc_data_400m = adc_data_400m_reg; +assign adc_data_valid_400m = adc_data_valid_400m_reg; + +endmodule \ No newline at end of file diff --git a/9_Firmware/9_2_FPGA/cdc_modules.v b/9_Firmware/9_2_FPGA/cdc_modules.v new file mode 100644 index 0000000..a070cf1 --- /dev/null +++ b/9_Firmware/9_2_FPGA/cdc_modules.v @@ -0,0 +1,237 @@ +`timescale 1ns / 1ps + +// ============================================================================ +// CDC FOR MULTI-BIT DATA (ADVANCED) +// ============================================================================ +module cdc_adc_to_processing #( + parameter WIDTH = 8, + parameter STAGES = 3 +)( + input wire src_clk, + input wire dst_clk, + input wire reset_n, + input wire [WIDTH-1:0] src_data, + input wire src_valid, + output wire [WIDTH-1:0] dst_data, + output wire dst_valid +); + + // Gray encoding for safe CDC + function [WIDTH-1:0] binary_to_gray; + input [WIDTH-1:0] binary; + binary_to_gray = binary ^ (binary >> 1); + endfunction + + function [WIDTH-1:0] gray_to_binary; + input [WIDTH-1:0] gray; + reg [WIDTH-1:0] binary; + integer i; + begin + binary[WIDTH-1] = gray[WIDTH-1]; + for (i = WIDTH-2; i >= 0; i = i - 1) begin + binary[i] = binary[i+1] ^ gray[i]; + end + gray_to_binary = binary; + end + endfunction + + // Source domain registers + reg [WIDTH-1:0] src_data_reg; + reg [1:0] src_toggle = 2'b00; + reg src_toggle_sync = 0; + + // Destination domain registers + reg [WIDTH-1:0] dst_data_gray [0:STAGES-1]; + reg [1:0] dst_toggle_sync [0:STAGES-1]; + reg [WIDTH-1:0] dst_data_reg; + reg dst_valid_reg = 0; + reg [1:0] prev_dst_toggle = 2'b00; + + always @(posedge src_clk or negedge reset_n) begin + if (!reset_n) begin + src_data_reg <= 0; + src_toggle <= 2'b00; + end else if (src_valid) begin + src_data_reg <= src_data; + src_toggle <= src_toggle + 1; + end + end + + // CDC synchronization chain for data + genvar i; + generate + for (i = 0; i < STAGES; i = i + 1) begin : data_sync_chain + always @(posedge dst_clk or negedge reset_n) begin + if (!reset_n) begin + if (i == 0) begin + dst_data_gray[i] <= 0; + end else begin + dst_data_gray[i] <= dst_data_gray[i-1]; + end + end else begin + if (i == 0) begin + // Convert to gray code at domain crossing + dst_data_gray[i] <= binary_to_gray(src_data_reg); + end else begin + dst_data_gray[i] <= dst_data_gray[i-1]; + end + end + end + end + + for (i = 0; i < STAGES; i = i + 1) begin : toggle_sync_chain + always @(posedge dst_clk or negedge reset_n) begin + if (!reset_n) begin + if (i == 0) begin + dst_toggle_sync[i] <= 2'b00; + end else begin + dst_toggle_sync[i] <= dst_toggle_sync[i-1]; + end + end else begin + if (i == 0) begin + dst_toggle_sync[i] <= src_toggle; + end else begin + dst_toggle_sync[i] <= dst_toggle_sync[i-1]; + end + end + end + end + endgenerate + + // Detect new data + always @(posedge dst_clk or negedge reset_n) begin + if (!reset_n) begin + dst_data_reg <= 0; + dst_valid_reg <= 0; + prev_dst_toggle <= 2'b00; + end else begin + // Convert from gray code + dst_data_reg <= gray_to_binary(dst_data_gray[STAGES-1]); + + // Check if toggle changed (new data) + if (dst_toggle_sync[STAGES-1] != prev_dst_toggle) begin + dst_valid_reg <= 1'b1; + prev_dst_toggle <= dst_toggle_sync[STAGES-1]; + end else begin + dst_valid_reg <= 1'b0; + end + end + end + + assign dst_data = dst_data_reg; + assign dst_valid = dst_valid_reg; + +endmodule + +// ============================================================================ +// CDC FOR SINGLE BIT SIGNALS +// ============================================================================ +module cdc_single_bit #( + parameter STAGES = 3 +)( + input wire src_clk, + input wire dst_clk, + input wire reset_n, + input wire src_signal, + output wire dst_signal +); + + reg [STAGES-1:0] sync_chain; + + always @(posedge dst_clk or negedge reset_n) begin + if (!reset_n) begin + sync_chain <= 0; + end else begin + sync_chain <= {sync_chain[STAGES-2:0], src_signal}; + end + end + + assign dst_signal = sync_chain[STAGES-1]; + +endmodule + +// ============================================================================ +// CDC FOR MULTI-BIT WITH HANDSHAKE +// ============================================================================ +module cdc_handshake #( + parameter WIDTH = 32 +)( + input wire src_clk, + input wire dst_clk, + input wire reset_n, + input wire [WIDTH-1:0] src_data, + input wire src_valid, + output wire src_ready, + output wire [WIDTH-1:0] dst_data, + output wire dst_valid, + input wire dst_ready +); + + // Source domain + reg [WIDTH-1:0] src_data_reg; + reg src_busy = 0; + reg src_ack_sync = 0; + reg [1:0] src_ack_sync_chain = 2'b00; + + // Destination domain + reg [WIDTH-1:0] dst_data_reg; + reg dst_valid_reg = 0; + reg dst_req_sync = 0; + reg [1:0] dst_req_sync_chain = 2'b00; + reg dst_ack = 0; + + // Source clock domain + always @(posedge src_clk or negedge reset_n) begin + if (!reset_n) begin + src_data_reg <= 0; + src_busy <= 0; + src_ack_sync <= 0; + src_ack_sync_chain <= 2'b00; + end else begin + // Sync acknowledge from destination + src_ack_sync_chain <= {src_ack_sync_chain[0], dst_ack}; + src_ack_sync <= src_ack_sync_chain[1]; + + if (!src_busy && src_valid) begin + src_data_reg <= src_data; + src_busy <= 1'b1; + end else if (src_busy && src_ack_sync) begin + src_busy <= 1'b0; + end + end + end + + // Destination clock domain + always @(posedge dst_clk or negedge reset_n) begin + if (!reset_n) begin + dst_data_reg <= 0; + dst_valid_reg <= 0; + dst_req_sync <= 0; + dst_req_sync_chain <= 2'b00; + dst_ack <= 0; + end else begin + // Sync request from source + dst_req_sync_chain <= {dst_req_sync_chain[0], src_busy}; + dst_req_sync <= dst_req_sync_chain[1]; + + // Capture data when request arrives + if (dst_req_sync && !dst_valid_reg) begin + dst_data_reg <= src_data_reg; + dst_valid_reg <= 1'b1; + dst_ack <= 1'b1; + end else if (dst_valid_reg && dst_ready) begin + dst_valid_reg <= 1'b0; + end + + // Clear acknowledge after source sees it + if (dst_ack && !dst_req_sync) begin + dst_ack <= 1'b0; + end + end + end + + assign src_ready = !src_busy; + assign dst_data = dst_data_reg; + assign dst_valid = dst_valid_reg; + +endmodule \ No newline at end of file diff --git a/9_Firmware/9_2_FPGA/chirp_lut_init.v b/9_Firmware/9_2_FPGA/chirp_lut_init.v new file mode 100644 index 0000000..444d075 --- /dev/null +++ b/9_Firmware/9_2_FPGA/chirp_lut_init.v @@ -0,0 +1,244 @@ +// Auto-generated LUT initialization for PLFM chirp controller +// Long chirp: 30us from 30MHz to 10MHz +// Short chirp: 0.5us from 30MHz to 10MHz + +// Long PLFM chirp LUT (30us, 30MHz to 10MHz) +initial begin + long_chirp_lut[ 0] = 8'd255; long_chirp_lut[ 1] = 8'd128; long_chirp_lut[ 2] = 8'd 1; long_chirp_lut[ 3] = 8'd127; long_chirp_lut[ 4] = 8'd254; long_chirp_lut[ 5] = 8'd128; long_chirp_lut[ 6] = 8'd 1; long_chirp_lut[ 7] = 8'd127; long_chirp_lut[ 8] = 8'd254; long_chirp_lut[ 9] = 8'd129; long_chirp_lut[ 10] = 8'd 1; long_chirp_lut[ 11] = 8'd125; long_chirp_lut[ 12] = 8'd254; long_chirp_lut[ 13] = 8'd131; long_chirp_lut[ 14] = 8'd 1; long_chirp_lut[ 15] = 8'd123; + long_chirp_lut[ 16] = 8'd254; long_chirp_lut[ 17] = 8'd133; long_chirp_lut[ 18] = 8'd 1; long_chirp_lut[ 19] = 8'd121; long_chirp_lut[ 20] = 8'd254; long_chirp_lut[ 21] = 8'd136; long_chirp_lut[ 22] = 8'd 1; long_chirp_lut[ 23] = 8'd118; long_chirp_lut[ 24] = 8'd254; long_chirp_lut[ 25] = 8'd139; long_chirp_lut[ 26] = 8'd 1; long_chirp_lut[ 27] = 8'd114; long_chirp_lut[ 28] = 8'd254; long_chirp_lut[ 29] = 8'd143; long_chirp_lut[ 30] = 8'd 2; long_chirp_lut[ 31] = 8'd110; + long_chirp_lut[ 32] = 8'd253; long_chirp_lut[ 33] = 8'd148; long_chirp_lut[ 34] = 8'd 2; long_chirp_lut[ 35] = 8'd105; long_chirp_lut[ 36] = 8'd252; long_chirp_lut[ 37] = 8'd153; long_chirp_lut[ 38] = 8'd 3; long_chirp_lut[ 39] = 8'd100; long_chirp_lut[ 40] = 8'd251; long_chirp_lut[ 41] = 8'd158; long_chirp_lut[ 42] = 8'd 5; long_chirp_lut[ 43] = 8'd 94; long_chirp_lut[ 44] = 8'd249; long_chirp_lut[ 45] = 8'd164; long_chirp_lut[ 46] = 8'd 6; long_chirp_lut[ 47] = 8'd 87; + long_chirp_lut[ 48] = 8'd247; long_chirp_lut[ 49] = 8'd171; long_chirp_lut[ 50] = 8'd 9; long_chirp_lut[ 51] = 8'd 81; long_chirp_lut[ 52] = 8'd245; long_chirp_lut[ 53] = 8'd178; long_chirp_lut[ 54] = 8'd 12; long_chirp_lut[ 55] = 8'd 73; long_chirp_lut[ 56] = 8'd242; long_chirp_lut[ 57] = 8'd185; long_chirp_lut[ 58] = 8'd 15; long_chirp_lut[ 59] = 8'd 66; long_chirp_lut[ 60] = 8'd237; long_chirp_lut[ 61] = 8'd193; long_chirp_lut[ 62] = 8'd 20; long_chirp_lut[ 63] = 8'd 58; + long_chirp_lut[ 64] = 8'd233; long_chirp_lut[ 65] = 8'd201; long_chirp_lut[ 66] = 8'd 25; long_chirp_lut[ 67] = 8'd 50; long_chirp_lut[ 68] = 8'd227; long_chirp_lut[ 69] = 8'd209; long_chirp_lut[ 70] = 8'd 31; long_chirp_lut[ 71] = 8'd 43; long_chirp_lut[ 72] = 8'd220; long_chirp_lut[ 73] = 8'd216; long_chirp_lut[ 74] = 8'd 39; long_chirp_lut[ 75] = 8'd 35; long_chirp_lut[ 76] = 8'd212; long_chirp_lut[ 77] = 8'd224; long_chirp_lut[ 78] = 8'd 47; long_chirp_lut[ 79] = 8'd 27; + long_chirp_lut[ 80] = 8'd203; long_chirp_lut[ 81] = 8'd231; long_chirp_lut[ 82] = 8'd 57; long_chirp_lut[ 83] = 8'd 20; long_chirp_lut[ 84] = 8'd193; long_chirp_lut[ 85] = 8'd238; long_chirp_lut[ 86] = 8'd 67; long_chirp_lut[ 87] = 8'd 14; long_chirp_lut[ 88] = 8'd182; long_chirp_lut[ 89] = 8'd244; long_chirp_lut[ 90] = 8'd 79; long_chirp_lut[ 91] = 8'd 9; long_chirp_lut[ 92] = 8'd170; long_chirp_lut[ 93] = 8'd248; long_chirp_lut[ 94] = 8'd 92; long_chirp_lut[ 95] = 8'd 5; + long_chirp_lut[ 96] = 8'd157; long_chirp_lut[ 97] = 8'd252; long_chirp_lut[ 98] = 8'd106; long_chirp_lut[ 99] = 8'd 2; long_chirp_lut[100] = 8'd142; long_chirp_lut[101] = 8'd254; long_chirp_lut[102] = 8'd120; long_chirp_lut[103] = 8'd 1; long_chirp_lut[104] = 8'd127; long_chirp_lut[105] = 8'd254; long_chirp_lut[106] = 8'd136; long_chirp_lut[107] = 8'd 1; long_chirp_lut[108] = 8'd112; long_chirp_lut[109] = 8'd253; long_chirp_lut[110] = 8'd151; long_chirp_lut[111] = 8'd 4; + long_chirp_lut[112] = 8'd 96; long_chirp_lut[113] = 8'd249; long_chirp_lut[114] = 8'd167; long_chirp_lut[115] = 8'd 8; long_chirp_lut[116] = 8'd 80; long_chirp_lut[117] = 8'd243; long_chirp_lut[118] = 8'd183; long_chirp_lut[119] = 8'd 15; long_chirp_lut[120] = 8'd 64; long_chirp_lut[121] = 8'd235; long_chirp_lut[122] = 8'd199; long_chirp_lut[123] = 8'd 25; long_chirp_lut[124] = 8'd 49; long_chirp_lut[125] = 8'd224; long_chirp_lut[126] = 8'd213; long_chirp_lut[127] = 8'd 37; + long_chirp_lut[128] = 8'd 35; long_chirp_lut[129] = 8'd211; long_chirp_lut[130] = 8'd226; long_chirp_lut[131] = 8'd 51; long_chirp_lut[132] = 8'd 23; long_chirp_lut[133] = 8'd196; long_chirp_lut[134] = 8'd237; long_chirp_lut[135] = 8'd 68; long_chirp_lut[136] = 8'd 13; long_chirp_lut[137] = 8'd178; long_chirp_lut[138] = 8'd246; long_chirp_lut[139] = 8'd 86; long_chirp_lut[140] = 8'd 6; long_chirp_lut[141] = 8'd159; long_chirp_lut[142] = 8'd252; long_chirp_lut[143] = 8'd106; + long_chirp_lut[144] = 8'd 2; long_chirp_lut[145] = 8'd138; long_chirp_lut[146] = 8'd254; long_chirp_lut[147] = 8'd128; long_chirp_lut[148] = 8'd 1; long_chirp_lut[149] = 8'd116; long_chirp_lut[150] = 8'd253; long_chirp_lut[151] = 8'd150; long_chirp_lut[152] = 8'd 4; long_chirp_lut[153] = 8'd 94; long_chirp_lut[154] = 8'd249; long_chirp_lut[155] = 8'd171; long_chirp_lut[156] = 8'd 10; long_chirp_lut[157] = 8'd 73; long_chirp_lut[158] = 8'd240; long_chirp_lut[159] = 8'd192; + long_chirp_lut[160] = 8'd 21; long_chirp_lut[161] = 8'd 53; long_chirp_lut[162] = 8'd227; long_chirp_lut[163] = 8'd212; long_chirp_lut[164] = 8'd 36; long_chirp_lut[165] = 8'd 35; long_chirp_lut[166] = 8'd210; long_chirp_lut[167] = 8'd228; long_chirp_lut[168] = 8'd 55; long_chirp_lut[169] = 8'd 20; long_chirp_lut[170] = 8'd189; long_chirp_lut[171] = 8'd241; long_chirp_lut[172] = 8'd 77; long_chirp_lut[173] = 8'd 9; long_chirp_lut[174] = 8'd166; long_chirp_lut[175] = 8'd250; + long_chirp_lut[176] = 8'd101; long_chirp_lut[177] = 8'd 2; long_chirp_lut[178] = 8'd141; long_chirp_lut[179] = 8'd254; long_chirp_lut[180] = 8'd127; long_chirp_lut[181] = 8'd 1; long_chirp_lut[182] = 8'd114; long_chirp_lut[183] = 8'd253; long_chirp_lut[184] = 8'd154; long_chirp_lut[185] = 8'd 5; long_chirp_lut[186] = 8'd 88; long_chirp_lut[187] = 8'd246; long_chirp_lut[188] = 8'd180; long_chirp_lut[189] = 8'd 15; long_chirp_lut[190] = 8'd 62; long_chirp_lut[191] = 8'd233; + long_chirp_lut[192] = 8'd204; long_chirp_lut[193] = 8'd 31; long_chirp_lut[194] = 8'd 40; long_chirp_lut[195] = 8'd214; long_chirp_lut[196] = 8'd225; long_chirp_lut[197] = 8'd 52; long_chirp_lut[198] = 8'd 21; long_chirp_lut[199] = 8'd191; long_chirp_lut[200] = 8'd241; long_chirp_lut[201] = 8'd 77; long_chirp_lut[202] = 8'd 8; long_chirp_lut[203] = 8'd164; long_chirp_lut[204] = 8'd251; long_chirp_lut[205] = 8'd106; long_chirp_lut[206] = 8'd 1; long_chirp_lut[207] = 8'd134; + long_chirp_lut[208] = 8'd254; long_chirp_lut[209] = 8'd136; long_chirp_lut[210] = 8'd 2; long_chirp_lut[211] = 8'd103; long_chirp_lut[212] = 8'd250; long_chirp_lut[213] = 8'd167; long_chirp_lut[214] = 8'd 9; long_chirp_lut[215] = 8'd 73; long_chirp_lut[216] = 8'd239; long_chirp_lut[217] = 8'd196; long_chirp_lut[218] = 8'd 25; long_chirp_lut[219] = 8'd 46; long_chirp_lut[220] = 8'd220; long_chirp_lut[221] = 8'd220; long_chirp_lut[222] = 8'd 47; long_chirp_lut[223] = 8'd 24; + long_chirp_lut[224] = 8'd195; long_chirp_lut[225] = 8'd240; long_chirp_lut[226] = 8'd 75; long_chirp_lut[227] = 8'd 9; long_chirp_lut[228] = 8'd164; long_chirp_lut[229] = 8'd251; long_chirp_lut[230] = 8'd107; long_chirp_lut[231] = 8'd 1; long_chirp_lut[232] = 8'd131; long_chirp_lut[233] = 8'd254; long_chirp_lut[234] = 8'd141; long_chirp_lut[235] = 8'd 3; long_chirp_lut[236] = 8'd 96; long_chirp_lut[237] = 8'd248; long_chirp_lut[238] = 8'd175; long_chirp_lut[239] = 8'd 13; + long_chirp_lut[240] = 8'd 64; long_chirp_lut[241] = 8'd233; long_chirp_lut[242] = 8'd206; long_chirp_lut[243] = 8'd 33; long_chirp_lut[244] = 8'd 36; long_chirp_lut[245] = 8'd209; long_chirp_lut[246] = 8'd231; long_chirp_lut[247] = 8'd 61; long_chirp_lut[248] = 8'd 15; long_chirp_lut[249] = 8'd178; long_chirp_lut[250] = 8'd247; long_chirp_lut[251] = 8'd 95; long_chirp_lut[252] = 8'd 3; long_chirp_lut[253] = 8'd142; long_chirp_lut[254] = 8'd254; long_chirp_lut[255] = 8'd132; + long_chirp_lut[256] = 8'd 1; long_chirp_lut[257] = 8'd105; long_chirp_lut[258] = 8'd250; long_chirp_lut[259] = 8'd169; long_chirp_lut[260] = 8'd 11; long_chirp_lut[261] = 8'd 69; long_chirp_lut[262] = 8'd235; long_chirp_lut[263] = 8'd203; long_chirp_lut[264] = 8'd 31; long_chirp_lut[265] = 8'd 37; long_chirp_lut[266] = 8'd210; long_chirp_lut[267] = 8'd230; long_chirp_lut[268] = 8'd 61; long_chirp_lut[269] = 8'd 14; long_chirp_lut[270] = 8'd176; long_chirp_lut[271] = 8'd248; + long_chirp_lut[272] = 8'd 98; long_chirp_lut[273] = 8'd 2; long_chirp_lut[274] = 8'd137; long_chirp_lut[275] = 8'd254; long_chirp_lut[276] = 8'd138; long_chirp_lut[277] = 8'd 2; long_chirp_lut[278] = 8'd 97; long_chirp_lut[279] = 8'd248; long_chirp_lut[280] = 8'd178; long_chirp_lut[281] = 8'd 15; long_chirp_lut[282] = 8'd 59; long_chirp_lut[283] = 8'd228; long_chirp_lut[284] = 8'd213; long_chirp_lut[285] = 8'd 41; long_chirp_lut[286] = 8'd 28; long_chirp_lut[287] = 8'd198; + long_chirp_lut[288] = 8'd239; long_chirp_lut[289] = 8'd 76; long_chirp_lut[290] = 8'd 8; long_chirp_lut[291] = 8'd159; long_chirp_lut[292] = 8'd253; long_chirp_lut[293] = 8'd117; long_chirp_lut[294] = 8'd 1; long_chirp_lut[295] = 8'd116; long_chirp_lut[296] = 8'd253; long_chirp_lut[297] = 8'd161; long_chirp_lut[298] = 8'd 8; long_chirp_lut[299] = 8'd 74; long_chirp_lut[300] = 8'd237; long_chirp_lut[301] = 8'd200; long_chirp_lut[302] = 8'd 30; long_chirp_lut[303] = 8'd 38; + long_chirp_lut[304] = 8'd209; long_chirp_lut[305] = 8'd232; long_chirp_lut[306] = 8'd 65; long_chirp_lut[307] = 8'd 12; long_chirp_lut[308] = 8'd170; long_chirp_lut[309] = 8'd251; long_chirp_lut[310] = 8'd107; long_chirp_lut[311] = 8'd 1; long_chirp_lut[312] = 8'd125; long_chirp_lut[313] = 8'd254; long_chirp_lut[314] = 8'd153; long_chirp_lut[315] = 8'd 6; long_chirp_lut[316] = 8'd 80; long_chirp_lut[317] = 8'd240; long_chirp_lut[318] = 8'd196; long_chirp_lut[319] = 8'd 27; + long_chirp_lut[320] = 8'd 40; long_chirp_lut[321] = 8'd211; long_chirp_lut[322] = 8'd230; long_chirp_lut[323] = 8'd 63; long_chirp_lut[324] = 8'd 13; long_chirp_lut[325] = 8'd171; long_chirp_lut[326] = 8'd251; long_chirp_lut[327] = 8'd108; long_chirp_lut[328] = 8'd 1; long_chirp_lut[329] = 8'd123; long_chirp_lut[330] = 8'd253; long_chirp_lut[331] = 8'd156; long_chirp_lut[332] = 8'd 7; long_chirp_lut[333] = 8'd 76; long_chirp_lut[334] = 8'd238; long_chirp_lut[335] = 8'd201; + long_chirp_lut[336] = 8'd 31; long_chirp_lut[337] = 8'd 36; long_chirp_lut[338] = 8'd206; long_chirp_lut[339] = 8'd235; long_chirp_lut[340] = 8'd 71; long_chirp_lut[341] = 8'd 9; long_chirp_lut[342] = 8'd161; long_chirp_lut[343] = 8'd253; long_chirp_lut[344] = 8'd119; long_chirp_lut[345] = 8'd 1; long_chirp_lut[346] = 8'd111; long_chirp_lut[347] = 8'd251; long_chirp_lut[348] = 8'd169; long_chirp_lut[349] = 8'd 12; long_chirp_lut[350] = 8'd 62; long_chirp_lut[351] = 8'd229; + long_chirp_lut[352] = 8'd213; long_chirp_lut[353] = 8'd 43; long_chirp_lut[354] = 8'd 24; long_chirp_lut[355] = 8'd191; long_chirp_lut[356] = 8'd244; long_chirp_lut[357] = 8'd 88; long_chirp_lut[358] = 8'd 3; long_chirp_lut[359] = 8'd141; long_chirp_lut[360] = 8'd255; long_chirp_lut[361] = 8'd141; long_chirp_lut[362] = 8'd 3; long_chirp_lut[363] = 8'd 88; long_chirp_lut[364] = 8'd243; long_chirp_lut[365] = 8'd191; long_chirp_lut[366] = 8'd 25; long_chirp_lut[367] = 8'd 42; + long_chirp_lut[368] = 8'd212; long_chirp_lut[369] = 8'd231; long_chirp_lut[370] = 8'd 66; long_chirp_lut[371] = 8'd 11; long_chirp_lut[372] = 8'd164; long_chirp_lut[373] = 8'd252; long_chirp_lut[374] = 8'd118; long_chirp_lut[375] = 8'd 1; long_chirp_lut[376] = 8'd110; long_chirp_lut[377] = 8'd251; long_chirp_lut[378] = 8'd172; long_chirp_lut[379] = 8'd 14; long_chirp_lut[380] = 8'd 58; long_chirp_lut[381] = 8'd225; long_chirp_lut[382] = 8'd219; long_chirp_lut[383] = 8'd 50; + long_chirp_lut[384] = 8'd 19; long_chirp_lut[385] = 8'd181; long_chirp_lut[386] = 8'd248; long_chirp_lut[387] = 8'd101; long_chirp_lut[388] = 8'd 1; long_chirp_lut[389] = 8'd125; long_chirp_lut[390] = 8'd253; long_chirp_lut[391] = 8'd158; long_chirp_lut[392] = 8'd 9; long_chirp_lut[393] = 8'd 70; long_chirp_lut[394] = 8'd233; long_chirp_lut[395] = 8'd209; long_chirp_lut[396] = 8'd 41; long_chirp_lut[397] = 8'd 26; long_chirp_lut[398] = 8'd191; long_chirp_lut[399] = 8'd244; + long_chirp_lut[400] = 8'd 91; long_chirp_lut[401] = 8'd 2; long_chirp_lut[402] = 8'd135; long_chirp_lut[403] = 8'd254; long_chirp_lut[404] = 8'd150; long_chirp_lut[405] = 8'd 6; long_chirp_lut[406] = 8'd 77; long_chirp_lut[407] = 8'd237; long_chirp_lut[408] = 8'd204; long_chirp_lut[409] = 8'd 36; long_chirp_lut[410] = 8'd 29; long_chirp_lut[411] = 8'd195; long_chirp_lut[412] = 8'd242; long_chirp_lut[413] = 8'd 87; long_chirp_lut[414] = 8'd 3; long_chirp_lut[415] = 8'd138; + long_chirp_lut[416] = 8'd254; long_chirp_lut[417] = 8'd148; long_chirp_lut[418] = 8'd 5; long_chirp_lut[419] = 8'd 78; long_chirp_lut[420] = 8'd237; long_chirp_lut[421] = 8'd204; long_chirp_lut[422] = 8'd 36; long_chirp_lut[423] = 8'd 29; long_chirp_lut[424] = 8'd195; long_chirp_lut[425] = 8'd243; long_chirp_lut[426] = 8'd 89; long_chirp_lut[427] = 8'd 3; long_chirp_lut[428] = 8'd135; long_chirp_lut[429] = 8'd254; long_chirp_lut[430] = 8'd151; long_chirp_lut[431] = 8'd 7; + long_chirp_lut[432] = 8'd 73; long_chirp_lut[433] = 8'd235; long_chirp_lut[434] = 8'd209; long_chirp_lut[435] = 8'd 41; long_chirp_lut[436] = 8'd 25; long_chirp_lut[437] = 8'd188; long_chirp_lut[438] = 8'd246; long_chirp_lut[439] = 8'd 97; long_chirp_lut[440] = 8'd 1; long_chirp_lut[441] = 8'd126; long_chirp_lut[442] = 8'd253; long_chirp_lut[443] = 8'd161; long_chirp_lut[444] = 8'd 10; long_chirp_lut[445] = 8'd 64; long_chirp_lut[446] = 8'd228; long_chirp_lut[447] = 8'd217; + long_chirp_lut[448] = 8'd 50; long_chirp_lut[449] = 8'd 18; long_chirp_lut[450] = 8'd176; long_chirp_lut[451] = 8'd250; long_chirp_lut[452] = 8'd111; long_chirp_lut[453] = 8'd 1; long_chirp_lut[454] = 8'd111; long_chirp_lut[455] = 8'd250; long_chirp_lut[456] = 8'd177; long_chirp_lut[457] = 8'd 18; long_chirp_lut[458] = 8'd 49; long_chirp_lut[459] = 8'd216; long_chirp_lut[460] = 8'd229; long_chirp_lut[461] = 8'd 66; long_chirp_lut[462] = 8'd 9; long_chirp_lut[463] = 8'd157; + long_chirp_lut[464] = 8'd254; long_chirp_lut[465] = 8'd132; long_chirp_lut[466] = 8'd 2; long_chirp_lut[467] = 8'd 90; long_chirp_lut[468] = 8'd242; long_chirp_lut[469] = 8'd197; long_chirp_lut[470] = 8'd 31; long_chirp_lut[471] = 8'd 32; long_chirp_lut[472] = 8'd198; long_chirp_lut[473] = 8'd242; long_chirp_lut[474] = 8'd 89; long_chirp_lut[475] = 8'd 2; long_chirp_lut[476] = 8'd132; long_chirp_lut[477] = 8'd254; long_chirp_lut[478] = 8'd158; long_chirp_lut[479] = 8'd 10; + long_chirp_lut[480] = 8'd 64; long_chirp_lut[481] = 8'd228; long_chirp_lut[482] = 8'd219; long_chirp_lut[483] = 8'd 53; long_chirp_lut[484] = 8'd 15; long_chirp_lut[485] = 8'd171; long_chirp_lut[486] = 8'd252; long_chirp_lut[487] = 8'd120; long_chirp_lut[488] = 8'd 1; long_chirp_lut[489] = 8'd100; long_chirp_lut[490] = 8'd246; long_chirp_lut[491] = 8'd189; long_chirp_lut[492] = 8'd 26; long_chirp_lut[493] = 8'd 37; long_chirp_lut[494] = 8'd203; long_chirp_lut[495] = 8'd240; + long_chirp_lut[496] = 8'd 84; long_chirp_lut[497] = 8'd 3; long_chirp_lut[498] = 8'd135; long_chirp_lut[499] = 8'd254; long_chirp_lut[500] = 8'd157; long_chirp_lut[501] = 8'd 9; long_chirp_lut[502] = 8'd 64; long_chirp_lut[503] = 8'd227; long_chirp_lut[504] = 8'd220; long_chirp_lut[505] = 8'd 55; long_chirp_lut[506] = 8'd 14; long_chirp_lut[507] = 8'd167; long_chirp_lut[508] = 8'd253; long_chirp_lut[509] = 8'd125; long_chirp_lut[510] = 8'd 2; long_chirp_lut[511] = 8'd 92; + long_chirp_lut[512] = 8'd243; long_chirp_lut[513] = 8'd197; long_chirp_lut[514] = 8'd 33; long_chirp_lut[515] = 8'd 30; long_chirp_lut[516] = 8'd193; long_chirp_lut[517] = 8'd245; long_chirp_lut[518] = 8'd 97; long_chirp_lut[519] = 8'd 1; long_chirp_lut[520] = 8'd120; long_chirp_lut[521] = 8'd252; long_chirp_lut[522] = 8'd172; long_chirp_lut[523] = 8'd 17; long_chirp_lut[524] = 8'd 49; long_chirp_lut[525] = 8'd214; long_chirp_lut[526] = 8'd232; long_chirp_lut[527] = 8'd 73; + long_chirp_lut[528] = 8'd 6; long_chirp_lut[529] = 8'd145; long_chirp_lut[530] = 8'd254; long_chirp_lut[531] = 8'd149; long_chirp_lut[532] = 8'd 7; long_chirp_lut[533] = 8'd 69; long_chirp_lut[534] = 8'd230; long_chirp_lut[535] = 8'd218; long_chirp_lut[536] = 8'd 53; long_chirp_lut[537] = 8'd 14; long_chirp_lut[538] = 8'd167; long_chirp_lut[539] = 8'd253; long_chirp_lut[540] = 8'd127; long_chirp_lut[541] = 8'd 2; long_chirp_lut[542] = 8'd 88; long_chirp_lut[543] = 8'd241; + long_chirp_lut[544] = 8'd202; long_chirp_lut[545] = 8'd 38; long_chirp_lut[546] = 8'd 24; long_chirp_lut[547] = 8'd184; long_chirp_lut[548] = 8'd249; long_chirp_lut[549] = 8'd109; long_chirp_lut[550] = 8'd 1; long_chirp_lut[551] = 8'd105; long_chirp_lut[552] = 8'd247; long_chirp_lut[553] = 8'd188; long_chirp_lut[554] = 8'd 27; long_chirp_lut[555] = 8'd 35; long_chirp_lut[556] = 8'd198; long_chirp_lut[557] = 8'd243; long_chirp_lut[558] = 8'd 94; long_chirp_lut[559] = 8'd 1; + long_chirp_lut[560] = 8'd120; long_chirp_lut[561] = 8'd251; long_chirp_lut[562] = 8'd175; long_chirp_lut[563] = 8'd 19; long_chirp_lut[564] = 8'd 45; long_chirp_lut[565] = 8'd209; long_chirp_lut[566] = 8'd237; long_chirp_lut[567] = 8'd 82; long_chirp_lut[568] = 8'd 3; long_chirp_lut[569] = 8'd132; long_chirp_lut[570] = 8'd253; long_chirp_lut[571] = 8'd165; long_chirp_lut[572] = 8'd 14; long_chirp_lut[573] = 8'd 53; long_chirp_lut[574] = 8'd216; long_chirp_lut[575] = 8'd232; + long_chirp_lut[576] = 8'd 73; long_chirp_lut[577] = 8'd 5; long_chirp_lut[578] = 8'd141; long_chirp_lut[579] = 8'd254; long_chirp_lut[580] = 8'd157; long_chirp_lut[581] = 8'd 11; long_chirp_lut[582] = 8'd 59; long_chirp_lut[583] = 8'd221; long_chirp_lut[584] = 8'd228; long_chirp_lut[585] = 8'd 68; long_chirp_lut[586] = 8'd 7; long_chirp_lut[587] = 8'd146; long_chirp_lut[588] = 8'd254; long_chirp_lut[589] = 8'd152; long_chirp_lut[590] = 8'd 9; long_chirp_lut[591] = 8'd 63; + long_chirp_lut[592] = 8'd224; long_chirp_lut[593] = 8'd225; long_chirp_lut[594] = 8'd 65; long_chirp_lut[595] = 8'd 8; long_chirp_lut[596] = 8'd149; long_chirp_lut[597] = 8'd254; long_chirp_lut[598] = 8'd150; long_chirp_lut[599] = 8'd 8; long_chirp_lut[600] = 8'd 64; long_chirp_lut[601] = 8'd225; long_chirp_lut[602] = 8'd225; long_chirp_lut[603] = 8'd 64; long_chirp_lut[604] = 8'd 8; long_chirp_lut[605] = 8'd149; long_chirp_lut[606] = 8'd254; long_chirp_lut[607] = 8'd150; + long_chirp_lut[608] = 8'd 9; long_chirp_lut[609] = 8'd 63; long_chirp_lut[610] = 8'd224; long_chirp_lut[611] = 8'd226; long_chirp_lut[612] = 8'd 66; long_chirp_lut[613] = 8'd 7; long_chirp_lut[614] = 8'd146; long_chirp_lut[615] = 8'd254; long_chirp_lut[616] = 8'd154; long_chirp_lut[617] = 8'd 10; long_chirp_lut[618] = 8'd 59; long_chirp_lut[619] = 8'd220; long_chirp_lut[620] = 8'd229; long_chirp_lut[621] = 8'd 71; long_chirp_lut[622] = 8'd 5; long_chirp_lut[623] = 8'd140; + long_chirp_lut[624] = 8'd254; long_chirp_lut[625] = 8'd161; long_chirp_lut[626] = 8'd 13; long_chirp_lut[627] = 8'd 53; long_chirp_lut[628] = 8'd215; long_chirp_lut[629] = 8'd234; long_chirp_lut[630] = 8'd 79; long_chirp_lut[631] = 8'd 3; long_chirp_lut[632] = 8'd131; long_chirp_lut[633] = 8'd253; long_chirp_lut[634] = 8'd170; long_chirp_lut[635] = 8'd 18; long_chirp_lut[636] = 8'd 45; long_chirp_lut[637] = 8'd207; long_chirp_lut[638] = 8'd240; long_chirp_lut[639] = 8'd 90; + long_chirp_lut[640] = 8'd 1; long_chirp_lut[641] = 8'd119; long_chirp_lut[642] = 8'd250; long_chirp_lut[643] = 8'd182; long_chirp_lut[644] = 8'd 25; long_chirp_lut[645] = 8'd 35; long_chirp_lut[646] = 8'd195; long_chirp_lut[647] = 8'd246; long_chirp_lut[648] = 8'd104; long_chirp_lut[649] = 8'd 1; long_chirp_lut[650] = 8'd104; long_chirp_lut[651] = 8'd246; long_chirp_lut[652] = 8'd196; long_chirp_lut[653] = 8'd 35; long_chirp_lut[654] = 8'd 24; long_chirp_lut[655] = 8'd181; + long_chirp_lut[656] = 8'd251; long_chirp_lut[657] = 8'd121; long_chirp_lut[658] = 8'd 2; long_chirp_lut[659] = 8'd 86; long_chirp_lut[660] = 8'd237; long_chirp_lut[661] = 8'd211; long_chirp_lut[662] = 8'd 49; long_chirp_lut[663] = 8'd 14; long_chirp_lut[664] = 8'd162; long_chirp_lut[665] = 8'd254; long_chirp_lut[666] = 8'd141; long_chirp_lut[667] = 8'd 6; long_chirp_lut[668] = 8'd 67; long_chirp_lut[669] = 8'd225; long_chirp_lut[670] = 8'd226; long_chirp_lut[671] = 8'd 68; + long_chirp_lut[672] = 8'd 6; long_chirp_lut[673] = 8'd140; long_chirp_lut[674] = 8'd254; long_chirp_lut[675] = 8'd164; long_chirp_lut[676] = 8'd 16; long_chirp_lut[677] = 8'd 47; long_chirp_lut[678] = 8'd208; long_chirp_lut[679] = 8'd240; long_chirp_lut[680] = 8'd 91; long_chirp_lut[681] = 8'd 1; long_chirp_lut[682] = 8'd114; long_chirp_lut[683] = 8'd249; long_chirp_lut[684] = 8'd189; long_chirp_lut[685] = 8'd 31; long_chirp_lut[686] = 8'd 28; long_chirp_lut[687] = 8'd185; + long_chirp_lut[688] = 8'd250; long_chirp_lut[689] = 8'd119; long_chirp_lut[690] = 8'd 2; long_chirp_lut[691] = 8'd 86; long_chirp_lut[692] = 8'd237; long_chirp_lut[693] = 8'd213; long_chirp_lut[694] = 8'd 52; long_chirp_lut[695] = 8'd 12; long_chirp_lut[696] = 8'd157; long_chirp_lut[697] = 8'd254; long_chirp_lut[698] = 8'd150; long_chirp_lut[699] = 8'd 9; long_chirp_lut[700] = 8'd 58; long_chirp_lut[701] = 8'd217; long_chirp_lut[702] = 8'd234; long_chirp_lut[703] = 8'd 81; + long_chirp_lut[704] = 8'd 2; long_chirp_lut[705] = 8'd123; long_chirp_lut[706] = 8'd251; long_chirp_lut[707] = 8'd182; long_chirp_lut[708] = 8'd 26; long_chirp_lut[709] = 8'd 32; long_chirp_lut[710] = 8'd189; long_chirp_lut[711] = 8'd249; long_chirp_lut[712] = 8'd115; long_chirp_lut[713] = 8'd 1; long_chirp_lut[714] = 8'd 88; long_chirp_lut[715] = 8'd237; long_chirp_lut[716] = 8'd213; long_chirp_lut[717] = 8'd 53; long_chirp_lut[718] = 8'd 11; long_chirp_lut[719] = 8'd154; + long_chirp_lut[720] = 8'd255; long_chirp_lut[721] = 8'd154; long_chirp_lut[722] = 8'd 12; long_chirp_lut[723] = 8'd 53; long_chirp_lut[724] = 8'd212; long_chirp_lut[725] = 8'd238; long_chirp_lut[726] = 8'd 89; long_chirp_lut[727] = 8'd 1; long_chirp_lut[728] = 8'd113; long_chirp_lut[729] = 8'd248; long_chirp_lut[730] = 8'd193; long_chirp_lut[731] = 8'd 35; long_chirp_lut[732] = 8'd 23; long_chirp_lut[733] = 8'd176; long_chirp_lut[734] = 8'd252; long_chirp_lut[735] = 8'd132; + long_chirp_lut[736] = 8'd 4; long_chirp_lut[737] = 8'd 71; long_chirp_lut[738] = 8'd227; long_chirp_lut[739] = 8'd226; long_chirp_lut[740] = 8'd 71; long_chirp_lut[741] = 8'd 4; long_chirp_lut[742] = 8'd132; long_chirp_lut[743] = 8'd252; long_chirp_lut[744] = 8'd177; long_chirp_lut[745] = 8'd 24; long_chirp_lut[746] = 8'd 34; long_chirp_lut[747] = 8'd191; long_chirp_lut[748] = 8'd249; long_chirp_lut[749] = 8'd116; long_chirp_lut[750] = 8'd 2; long_chirp_lut[751] = 8'd 84; + long_chirp_lut[752] = 8'd235; long_chirp_lut[753] = 8'd217; long_chirp_lut[754] = 8'd 60; long_chirp_lut[755] = 8'd 8; long_chirp_lut[756] = 8'd143; long_chirp_lut[757] = 8'd254; long_chirp_lut[758] = 8'd167; long_chirp_lut[759] = 8'd 18; long_chirp_lut[760] = 8'd 40; long_chirp_lut[761] = 8'd199; long_chirp_lut[762] = 8'd246; long_chirp_lut[763] = 8'd109; long_chirp_lut[764] = 8'd 1; long_chirp_lut[765] = 8'd 91; long_chirp_lut[766] = 8'd238; long_chirp_lut[767] = 8'd213; + long_chirp_lut[768] = 8'd 55; long_chirp_lut[769] = 8'd 10; long_chirp_lut[770] = 8'd148; long_chirp_lut[771] = 8'd254; long_chirp_lut[772] = 8'd164; long_chirp_lut[773] = 8'd 17; long_chirp_lut[774] = 8'd 42; long_chirp_lut[775] = 8'd200; long_chirp_lut[776] = 8'd245; long_chirp_lut[777] = 8'd108; long_chirp_lut[778] = 8'd 1; long_chirp_lut[779] = 8'd 90; long_chirp_lut[780] = 8'd237; long_chirp_lut[781] = 8'd214; long_chirp_lut[782] = 8'd 57; long_chirp_lut[783] = 8'd 9; + long_chirp_lut[784] = 8'd145; long_chirp_lut[785] = 8'd254; long_chirp_lut[786] = 8'd167; long_chirp_lut[787] = 8'd 19; long_chirp_lut[788] = 8'd 38; long_chirp_lut[789] = 8'd195; long_chirp_lut[790] = 8'd247; long_chirp_lut[791] = 8'd114; long_chirp_lut[792] = 8'd 2; long_chirp_lut[793] = 8'd 83; long_chirp_lut[794] = 8'd233; long_chirp_lut[795] = 8'd220; long_chirp_lut[796] = 8'd 64; long_chirp_lut[797] = 8'd 6; long_chirp_lut[798] = 8'd135; long_chirp_lut[799] = 8'd253; + long_chirp_lut[800] = 8'd178; long_chirp_lut[801] = 8'd 26; long_chirp_lut[802] = 8'd 30; long_chirp_lut[803] = 8'd184; long_chirp_lut[804] = 8'd251; long_chirp_lut[805] = 8'd128; long_chirp_lut[806] = 8'd 4; long_chirp_lut[807] = 8'd 70; long_chirp_lut[808] = 8'd224; long_chirp_lut[809] = 8'd230; long_chirp_lut[810] = 8'd 79; long_chirp_lut[811] = 8'd 2; long_chirp_lut[812] = 8'd117; long_chirp_lut[813] = 8'd248; long_chirp_lut[814] = 8'd194; long_chirp_lut[815] = 8'd 38; + long_chirp_lut[816] = 8'd 19; long_chirp_lut[817] = 8'd166; long_chirp_lut[818] = 8'd254; long_chirp_lut[819] = 8'd149; long_chirp_lut[820] = 8'd 11; long_chirp_lut[821] = 8'd 51; long_chirp_lut[822] = 8'd208; long_chirp_lut[823] = 8'd242; long_chirp_lut[824] = 8'd101; long_chirp_lut[825] = 8'd 1; long_chirp_lut[826] = 8'd 93; long_chirp_lut[827] = 8'd238; long_chirp_lut[828] = 8'd214; long_chirp_lut[829] = 8'd 58; long_chirp_lut[830] = 8'd 8; long_chirp_lut[831] = 8'd139; + long_chirp_lut[832] = 8'd253; long_chirp_lut[833] = 8'd176; long_chirp_lut[834] = 8'd 25; long_chirp_lut[835] = 8'd 30; long_chirp_lut[836] = 8'd183; long_chirp_lut[837] = 8'd252; long_chirp_lut[838] = 8'd132; long_chirp_lut[839] = 8'd 5; long_chirp_lut[840] = 8'd 64; long_chirp_lut[841] = 8'd219; long_chirp_lut[842] = 8'd235; long_chirp_lut[843] = 8'd 88; long_chirp_lut[844] = 8'd 1; long_chirp_lut[845] = 8'd105; long_chirp_lut[846] = 8'd243; long_chirp_lut[847] = 8'd206; + long_chirp_lut[848] = 8'd 50; long_chirp_lut[849] = 8'd 11; long_chirp_lut[850] = 8'd148; long_chirp_lut[851] = 8'd254; long_chirp_lut[852] = 8'd169; long_chirp_lut[853] = 8'd 21; long_chirp_lut[854] = 8'd 34; long_chirp_lut[855] = 8'd187; long_chirp_lut[856] = 8'd251; long_chirp_lut[857] = 8'd128; long_chirp_lut[858] = 8'd 5; long_chirp_lut[859] = 8'd 66; long_chirp_lut[860] = 8'd220; long_chirp_lut[861] = 8'd235; long_chirp_lut[862] = 8'd 88; long_chirp_lut[863] = 8'd 1; + long_chirp_lut[864] = 8'd104; long_chirp_lut[865] = 8'd242; long_chirp_lut[866] = 8'd209; long_chirp_lut[867] = 8'd 53; long_chirp_lut[868] = 8'd 9; long_chirp_lut[869] = 8'd143; long_chirp_lut[870] = 8'd253; long_chirp_lut[871] = 8'd175; long_chirp_lut[872] = 8'd 25; long_chirp_lut[873] = 8'd 29; long_chirp_lut[874] = 8'd180; long_chirp_lut[875] = 8'd253; long_chirp_lut[876] = 8'd138; long_chirp_lut[877] = 8'd 8; long_chirp_lut[878] = 8'd 56; long_chirp_lut[879] = 8'd211; + long_chirp_lut[880] = 8'd241; long_chirp_lut[881] = 8'd101; long_chirp_lut[882] = 8'd 1; long_chirp_lut[883] = 8'd 90; long_chirp_lut[884] = 8'd235; long_chirp_lut[885] = 8'd220; long_chirp_lut[886] = 8'd 67; long_chirp_lut[887] = 8'd 4; long_chirp_lut[888] = 8'd125; long_chirp_lut[889] = 8'd250; long_chirp_lut[890] = 8'd193; long_chirp_lut[891] = 8'd 39; long_chirp_lut[892] = 8'd 17; long_chirp_lut[893] = 8'd159; long_chirp_lut[894] = 8'd254; long_chirp_lut[895] = 8'd161; + long_chirp_lut[896] = 8'd 18; long_chirp_lut[897] = 8'd 38; long_chirp_lut[898] = 8'd191; long_chirp_lut[899] = 8'd250; long_chirp_lut[900] = 8'd127; long_chirp_lut[901] = 8'd 5; long_chirp_lut[902] = 8'd 64; long_chirp_lut[903] = 8'd217; long_chirp_lut[904] = 8'd238; long_chirp_lut[905] = 8'd 95; long_chirp_lut[906] = 8'd 1; long_chirp_lut[907] = 8'd 94; long_chirp_lut[908] = 8'd237; long_chirp_lut[909] = 8'd218; long_chirp_lut[910] = 8'd 66; long_chirp_lut[911] = 8'd 4; + long_chirp_lut[912] = 8'd125; long_chirp_lut[913] = 8'd249; long_chirp_lut[914] = 8'd194; long_chirp_lut[915] = 8'd 41; long_chirp_lut[916] = 8'd 15; long_chirp_lut[917] = 8'd155; long_chirp_lut[918] = 8'd254; long_chirp_lut[919] = 8'd167; long_chirp_lut[920] = 8'd 21; long_chirp_lut[921] = 8'd 32; long_chirp_lut[922] = 8'd183; long_chirp_lut[923] = 8'd252; long_chirp_lut[924] = 8'd138; long_chirp_lut[925] = 8'd 8; long_chirp_lut[926] = 8'd 54; long_chirp_lut[927] = 8'd207; + long_chirp_lut[928] = 8'd244; long_chirp_lut[929] = 8'd110; long_chirp_lut[930] = 8'd 2; long_chirp_lut[931] = 8'd 78; long_chirp_lut[932] = 8'd227; long_chirp_lut[933] = 8'd230; long_chirp_lut[934] = 8'd 83; long_chirp_lut[935] = 8'd 1; long_chirp_lut[936] = 8'd104; long_chirp_lut[937] = 8'd241; long_chirp_lut[938] = 8'd213; long_chirp_lut[939] = 8'd 60; long_chirp_lut[940] = 8'd 6; long_chirp_lut[941] = 8'd130; long_chirp_lut[942] = 8'd250; long_chirp_lut[943] = 8'd192; + long_chirp_lut[944] = 8'd 39; long_chirp_lut[945] = 8'd 15; long_chirp_lut[946] = 8'd155; long_chirp_lut[947] = 8'd254; long_chirp_lut[948] = 8'd169; long_chirp_lut[949] = 8'd 23; long_chirp_lut[950] = 8'd 29; long_chirp_lut[951] = 8'd178; long_chirp_lut[952] = 8'd253; long_chirp_lut[953] = 8'd146; long_chirp_lut[954] = 8'd 12; long_chirp_lut[955] = 8'd 46; long_chirp_lut[956] = 8'd198; long_chirp_lut[957] = 8'd248; long_chirp_lut[958] = 8'd123; long_chirp_lut[959] = 8'd 4; + long_chirp_lut[960] = 8'd 64; long_chirp_lut[961] = 8'd216; long_chirp_lut[962] = 8'd240; long_chirp_lut[963] = 8'd101; long_chirp_lut[964] = 8'd 1; long_chirp_lut[965] = 8'd 84; long_chirp_lut[966] = 8'd230; long_chirp_lut[967] = 8'd228; long_chirp_lut[968] = 8'd 81; long_chirp_lut[969] = 8'd 1; long_chirp_lut[970] = 8'd104; long_chirp_lut[971] = 8'd241; long_chirp_lut[972] = 8'd214; long_chirp_lut[973] = 8'd 63; long_chirp_lut[974] = 8'd 4; long_chirp_lut[975] = 8'd123; + long_chirp_lut[976] = 8'd248; long_chirp_lut[977] = 8'd199; long_chirp_lut[978] = 8'd 47; long_chirp_lut[979] = 8'd 11; long_chirp_lut[980] = 8'd142; long_chirp_lut[981] = 8'd253; long_chirp_lut[982] = 8'd183; long_chirp_lut[983] = 8'd 34; long_chirp_lut[984] = 8'd 19; long_chirp_lut[985] = 8'd160; long_chirp_lut[986] = 8'd254; long_chirp_lut[987] = 8'd167; long_chirp_lut[988] = 8'd 23; long_chirp_lut[989] = 8'd 29; long_chirp_lut[990] = 8'd176; long_chirp_lut[991] = 8'd254; + long_chirp_lut[992] = 8'd151; long_chirp_lut[993] = 8'd 14; long_chirp_lut[994] = 8'd 40; long_chirp_lut[995] = 8'd191; long_chirp_lut[996] = 8'd251; long_chirp_lut[997] = 8'd135; long_chirp_lut[998] = 8'd 8; long_chirp_lut[999] = 8'd 52; long_chirp_lut[1000] = 8'd203; long_chirp_lut[1001] = 8'd247; long_chirp_lut[1002] = 8'd120; long_chirp_lut[1003] = 8'd 4; long_chirp_lut[1004] = 8'd 64; long_chirp_lut[1005] = 8'd214; long_chirp_lut[1006] = 8'd241; long_chirp_lut[1007] = 8'd106; + long_chirp_lut[1008] = 8'd 2; long_chirp_lut[1009] = 8'd 76; long_chirp_lut[1010] = 8'd224; long_chirp_lut[1011] = 8'd235; long_chirp_lut[1012] = 8'd 94; long_chirp_lut[1013] = 8'd 1; long_chirp_lut[1014] = 8'd 88; long_chirp_lut[1015] = 8'd231; long_chirp_lut[1016] = 8'd228; long_chirp_lut[1017] = 8'd 82; long_chirp_lut[1018] = 8'd 1; long_chirp_lut[1019] = 8'd 99; long_chirp_lut[1020] = 8'd237; long_chirp_lut[1021] = 8'd220; long_chirp_lut[1022] = 8'd 72; long_chirp_lut[1023] = 8'd 2; + long_chirp_lut[1024] = 8'd110; long_chirp_lut[1025] = 8'd242; long_chirp_lut[1026] = 8'd213; long_chirp_lut[1027] = 8'd 63; long_chirp_lut[1028] = 8'd 4; long_chirp_lut[1029] = 8'd119; long_chirp_lut[1030] = 8'd246; long_chirp_lut[1031] = 8'd206; long_chirp_lut[1032] = 8'd 55; long_chirp_lut[1033] = 8'd 6; long_chirp_lut[1034] = 8'd128; long_chirp_lut[1035] = 8'd249; long_chirp_lut[1036] = 8'd199; long_chirp_lut[1037] = 8'd 48; long_chirp_lut[1038] = 8'd 9; long_chirp_lut[1039] = 8'd136; + long_chirp_lut[1040] = 8'd251; long_chirp_lut[1041] = 8'd192; long_chirp_lut[1042] = 8'd 43; long_chirp_lut[1043] = 8'd 12; long_chirp_lut[1044] = 8'd143; long_chirp_lut[1045] = 8'd252; long_chirp_lut[1046] = 8'd186; long_chirp_lut[1047] = 8'd 38; long_chirp_lut[1048] = 8'd 15; long_chirp_lut[1049] = 8'd150; long_chirp_lut[1050] = 8'd253; long_chirp_lut[1051] = 8'd181; long_chirp_lut[1052] = 8'd 34; long_chirp_lut[1053] = 8'd 17; long_chirp_lut[1054] = 8'd155; long_chirp_lut[1055] = 8'd254; + long_chirp_lut[1056] = 8'd177; long_chirp_lut[1057] = 8'd 31; long_chirp_lut[1058] = 8'd 20; long_chirp_lut[1059] = 8'd159; long_chirp_lut[1060] = 8'd254; long_chirp_lut[1061] = 8'd173; long_chirp_lut[1062] = 8'd 28; long_chirp_lut[1063] = 8'd 22; long_chirp_lut[1064] = 8'd162; long_chirp_lut[1065] = 8'd254; long_chirp_lut[1066] = 8'd170; long_chirp_lut[1067] = 8'd 27; long_chirp_lut[1068] = 8'd 23; long_chirp_lut[1069] = 8'd165; long_chirp_lut[1070] = 8'd254; long_chirp_lut[1071] = 8'd168; + long_chirp_lut[1072] = 8'd 25; long_chirp_lut[1073] = 8'd 24; long_chirp_lut[1074] = 8'd166; long_chirp_lut[1075] = 8'd254; long_chirp_lut[1076] = 8'd167; long_chirp_lut[1077] = 8'd 25; long_chirp_lut[1078] = 8'd 25; long_chirp_lut[1079] = 8'd167; long_chirp_lut[1080] = 8'd255; long_chirp_lut[1081] = 8'd167; long_chirp_lut[1082] = 8'd 25; long_chirp_lut[1083] = 8'd 25; long_chirp_lut[1084] = 8'd166; long_chirp_lut[1085] = 8'd254; long_chirp_lut[1086] = 8'd167; long_chirp_lut[1087] = 8'd 25; + long_chirp_lut[1088] = 8'd 24; long_chirp_lut[1089] = 8'd165; long_chirp_lut[1090] = 8'd254; long_chirp_lut[1091] = 8'd169; long_chirp_lut[1092] = 8'd 26; long_chirp_lut[1093] = 8'd 23; long_chirp_lut[1094] = 8'd163; long_chirp_lut[1095] = 8'd254; long_chirp_lut[1096] = 8'd171; long_chirp_lut[1097] = 8'd 28; long_chirp_lut[1098] = 8'd 21; long_chirp_lut[1099] = 8'd160; long_chirp_lut[1100] = 8'd254; long_chirp_lut[1101] = 8'd174; long_chirp_lut[1102] = 8'd 30; long_chirp_lut[1103] = 8'd 19; + long_chirp_lut[1104] = 8'd157; long_chirp_lut[1105] = 8'd254; long_chirp_lut[1106] = 8'd178; long_chirp_lut[1107] = 8'd 33; long_chirp_lut[1108] = 8'd 17; long_chirp_lut[1109] = 8'd152; long_chirp_lut[1110] = 8'd253; long_chirp_lut[1111] = 8'd183; long_chirp_lut[1112] = 8'd 37; long_chirp_lut[1113] = 8'd 14; long_chirp_lut[1114] = 8'd146; long_chirp_lut[1115] = 8'd252; long_chirp_lut[1116] = 8'd189; long_chirp_lut[1117] = 8'd 42; long_chirp_lut[1118] = 8'd 11; long_chirp_lut[1119] = 8'd139; + long_chirp_lut[1120] = 8'd251; long_chirp_lut[1121] = 8'd195; long_chirp_lut[1122] = 8'd 47; long_chirp_lut[1123] = 8'd 9; long_chirp_lut[1124] = 8'd132; long_chirp_lut[1125] = 8'd249; long_chirp_lut[1126] = 8'd201; long_chirp_lut[1127] = 8'd 54; long_chirp_lut[1128] = 8'd 6; long_chirp_lut[1129] = 8'd123; long_chirp_lut[1130] = 8'd246; long_chirp_lut[1131] = 8'd209; long_chirp_lut[1132] = 8'd 61; long_chirp_lut[1133] = 8'd 4; long_chirp_lut[1134] = 8'd114; long_chirp_lut[1135] = 8'd242; + long_chirp_lut[1136] = 8'd216; long_chirp_lut[1137] = 8'd 70; long_chirp_lut[1138] = 8'd 2; long_chirp_lut[1139] = 8'd103; long_chirp_lut[1140] = 8'd237; long_chirp_lut[1141] = 8'd223; long_chirp_lut[1142] = 8'd 80; long_chirp_lut[1143] = 8'd 1; long_chirp_lut[1144] = 8'd 92; long_chirp_lut[1145] = 8'd231; long_chirp_lut[1146] = 8'd231; long_chirp_lut[1147] = 8'd 91; long_chirp_lut[1148] = 8'd 1; long_chirp_lut[1149] = 8'd 81; long_chirp_lut[1150] = 8'd224; long_chirp_lut[1151] = 8'd237; + long_chirp_lut[1152] = 8'd104; long_chirp_lut[1153] = 8'd 2; long_chirp_lut[1154] = 8'd 69; long_chirp_lut[1155] = 8'd214; long_chirp_lut[1156] = 8'd244; long_chirp_lut[1157] = 8'd117; long_chirp_lut[1158] = 8'd 5; long_chirp_lut[1159] = 8'd 56; long_chirp_lut[1160] = 8'd203; long_chirp_lut[1161] = 8'd249; long_chirp_lut[1162] = 8'd132; long_chirp_lut[1163] = 8'd 9; long_chirp_lut[1164] = 8'd 45; long_chirp_lut[1165] = 8'd191; long_chirp_lut[1166] = 8'd252; long_chirp_lut[1167] = 8'd148; + long_chirp_lut[1168] = 8'd 16; long_chirp_lut[1169] = 8'd 33; long_chirp_lut[1170] = 8'd176; long_chirp_lut[1171] = 8'd254; long_chirp_lut[1172] = 8'd164; long_chirp_lut[1173] = 8'd 25; long_chirp_lut[1174] = 8'd 23; long_chirp_lut[1175] = 8'd160; long_chirp_lut[1176] = 8'd254; long_chirp_lut[1177] = 8'd180; long_chirp_lut[1178] = 8'd 36; long_chirp_lut[1179] = 8'd 14; long_chirp_lut[1180] = 8'd142; long_chirp_lut[1181] = 8'd251; long_chirp_lut[1182] = 8'd196; long_chirp_lut[1183] = 8'd 50; + long_chirp_lut[1184] = 8'd 7; long_chirp_lut[1185] = 8'd123; long_chirp_lut[1186] = 8'd246; long_chirp_lut[1187] = 8'd212; long_chirp_lut[1188] = 8'd 66; long_chirp_lut[1189] = 8'd 2; long_chirp_lut[1190] = 8'd104; long_chirp_lut[1191] = 8'd237; long_chirp_lut[1192] = 8'd226; long_chirp_lut[1193] = 8'd 85; long_chirp_lut[1194] = 8'd 1; long_chirp_lut[1195] = 8'd 84; long_chirp_lut[1196] = 8'd225; long_chirp_lut[1197] = 8'd238; long_chirp_lut[1198] = 8'd106; long_chirp_lut[1199] = 8'd 2; + long_chirp_lut[1200] = 8'd 64; long_chirp_lut[1201] = 8'd209; long_chirp_lut[1202] = 8'd247; long_chirp_lut[1203] = 8'd128; long_chirp_lut[1204] = 8'd 8; long_chirp_lut[1205] = 8'd 46; long_chirp_lut[1206] = 8'd190; long_chirp_lut[1207] = 8'd253; long_chirp_lut[1208] = 8'd151; long_chirp_lut[1209] = 8'd 18; long_chirp_lut[1210] = 8'd 29; long_chirp_lut[1211] = 8'd169; long_chirp_lut[1212] = 8'd254; long_chirp_lut[1213] = 8'd174; long_chirp_lut[1214] = 8'd 33; long_chirp_lut[1215] = 8'd 15; + long_chirp_lut[1216] = 8'd145; long_chirp_lut[1217] = 8'd252; long_chirp_lut[1218] = 8'd196; long_chirp_lut[1219] = 8'd 51; long_chirp_lut[1220] = 8'd 6; long_chirp_lut[1221] = 8'd119; long_chirp_lut[1222] = 8'd243; long_chirp_lut[1223] = 8'd216; long_chirp_lut[1224] = 8'd 73; long_chirp_lut[1225] = 8'd 1; long_chirp_lut[1226] = 8'd 93; long_chirp_lut[1227] = 8'd230; long_chirp_lut[1228] = 8'd233; long_chirp_lut[1229] = 8'd 99; long_chirp_lut[1230] = 8'd 2; long_chirp_lut[1231] = 8'd 68; + long_chirp_lut[1232] = 8'd212; long_chirp_lut[1233] = 8'd246; long_chirp_lut[1234] = 8'd127; long_chirp_lut[1235] = 8'd 8; long_chirp_lut[1236] = 8'd 45; long_chirp_lut[1237] = 8'd188; long_chirp_lut[1238] = 8'd253; long_chirp_lut[1239] = 8'd155; long_chirp_lut[1240] = 8'd 21; long_chirp_lut[1241] = 8'd 25; long_chirp_lut[1242] = 8'd161; long_chirp_lut[1243] = 8'd254; long_chirp_lut[1244] = 8'd183; long_chirp_lut[1245] = 8'd 41; long_chirp_lut[1246] = 8'd 10; long_chirp_lut[1247] = 8'd131; + long_chirp_lut[1248] = 8'd247; long_chirp_lut[1249] = 8'd209; long_chirp_lut[1250] = 8'd 66; long_chirp_lut[1251] = 8'd 2; long_chirp_lut[1252] = 8'd100; long_chirp_lut[1253] = 8'd234; long_chirp_lut[1254] = 8'd231; long_chirp_lut[1255] = 8'd 95; long_chirp_lut[1256] = 8'd 1; long_chirp_lut[1257] = 8'd 70; long_chirp_lut[1258] = 8'd212; long_chirp_lut[1259] = 8'd246; long_chirp_lut[1260] = 8'd128; long_chirp_lut[1261] = 8'd 9; long_chirp_lut[1262] = 8'd 42; long_chirp_lut[1263] = 8'd185; + long_chirp_lut[1264] = 8'd254; long_chirp_lut[1265] = 8'd161; long_chirp_lut[1266] = 8'd 25; long_chirp_lut[1267] = 8'd 20; long_chirp_lut[1268] = 8'd153; long_chirp_lut[1269] = 8'd253; long_chirp_lut[1270] = 8'd193; long_chirp_lut[1271] = 8'd 49; long_chirp_lut[1272] = 8'd 6; long_chirp_lut[1273] = 8'd118; long_chirp_lut[1274] = 8'd242; long_chirp_lut[1275] = 8'd220; long_chirp_lut[1276] = 8'd 80; long_chirp_lut[1277] = 8'd 1; long_chirp_lut[1278] = 8'd 83; long_chirp_lut[1279] = 8'd222; + long_chirp_lut[1280] = 8'd241; long_chirp_lut[1281] = 8'd116; long_chirp_lut[1282] = 8'd 5; long_chirp_lut[1283] = 8'd 50; long_chirp_lut[1284] = 8'd193; long_chirp_lut[1285] = 8'd253; long_chirp_lut[1286] = 8'd153; long_chirp_lut[1287] = 8'd 21; long_chirp_lut[1288] = 8'd 24; long_chirp_lut[1289] = 8'd158; long_chirp_lut[1290] = 8'd253; long_chirp_lut[1291] = 8'd189; long_chirp_lut[1292] = 8'd 47; long_chirp_lut[1293] = 8'd 7; long_chirp_lut[1294] = 8'd119; long_chirp_lut[1295] = 8'd242; + long_chirp_lut[1296] = 8'd220; long_chirp_lut[1297] = 8'd 81; long_chirp_lut[1298] = 8'd 1; long_chirp_lut[1299] = 8'd 81; long_chirp_lut[1300] = 8'd220; long_chirp_lut[1301] = 8'd243; long_chirp_lut[1302] = 8'd120; long_chirp_lut[1303] = 8'd 7; long_chirp_lut[1304] = 8'd 46; long_chirp_lut[1305] = 8'd187; long_chirp_lut[1306] = 8'd254; long_chirp_lut[1307] = 8'd161; long_chirp_lut[1308] = 8'd 26; long_chirp_lut[1309] = 8'd 19; long_chirp_lut[1310] = 8'd148; long_chirp_lut[1311] = 8'd251; + long_chirp_lut[1312] = 8'd199; long_chirp_lut[1313] = 8'd 57; long_chirp_lut[1314] = 8'd 3; long_chirp_lut[1315] = 8'd105; long_chirp_lut[1316] = 8'd235; long_chirp_lut[1317] = 8'd230; long_chirp_lut[1318] = 8'd 97; long_chirp_lut[1319] = 8'd 2; long_chirp_lut[1320] = 8'd 64; long_chirp_lut[1321] = 8'd206; long_chirp_lut[1322] = 8'd250; long_chirp_lut[1323] = 8'd141; long_chirp_lut[1324] = 8'd 16; long_chirp_lut[1325] = 8'd 30; long_chirp_lut[1326] = 8'd166; long_chirp_lut[1327] = 8'd254; + long_chirp_lut[1328] = 8'd184; long_chirp_lut[1329] = 8'd 44; long_chirp_lut[1330] = 8'd 8; long_chirp_lut[1331] = 8'd121; long_chirp_lut[1332] = 8'd242; long_chirp_lut[1333] = 8'd221; long_chirp_lut[1334] = 8'd 83; long_chirp_lut[1335] = 8'd 1; long_chirp_lut[1336] = 8'd 76; long_chirp_lut[1337] = 8'd215; long_chirp_lut[1338] = 8'd246; long_chirp_lut[1339] = 8'd130; long_chirp_lut[1340] = 8'd 11; long_chirp_lut[1341] = 8'd 37; long_chirp_lut[1342] = 8'd175; long_chirp_lut[1343] = 8'd254; + long_chirp_lut[1344] = 8'd177; long_chirp_lut[1345] = 8'd 38; long_chirp_lut[1346] = 8'd 10; long_chirp_lut[1347] = 8'd127; long_chirp_lut[1348] = 8'd245; long_chirp_lut[1349] = 8'd217; long_chirp_lut[1350] = 8'd 79; long_chirp_lut[1351] = 8'd 1; long_chirp_lut[1352] = 8'd 79; long_chirp_lut[1353] = 8'd217; long_chirp_lut[1354] = 8'd245; long_chirp_lut[1355] = 8'd128; long_chirp_lut[1356] = 8'd 10; long_chirp_lut[1357] = 8'd 37; long_chirp_lut[1358] = 8'd175; long_chirp_lut[1359] = 8'd254; + long_chirp_lut[1360] = 8'd178; long_chirp_lut[1361] = 8'd 39; long_chirp_lut[1362] = 8'd 9; long_chirp_lut[1363] = 8'd124; long_chirp_lut[1364] = 8'd243; long_chirp_lut[1365] = 8'd220; long_chirp_lut[1366] = 8'd 83; long_chirp_lut[1367] = 8'd 1; long_chirp_lut[1368] = 8'd 73; long_chirp_lut[1369] = 8'd212; long_chirp_lut[1370] = 8'd247; long_chirp_lut[1371] = 8'd136; long_chirp_lut[1372] = 8'd 14; long_chirp_lut[1373] = 8'd 31; long_chirp_lut[1374] = 8'd166; long_chirp_lut[1375] = 8'd254; + long_chirp_lut[1376] = 8'd187; long_chirp_lut[1377] = 8'd 48; long_chirp_lut[1378] = 8'd 5; long_chirp_lut[1379] = 8'd112; long_chirp_lut[1380] = 8'd237; long_chirp_lut[1381] = 8'd229; long_chirp_lut[1382] = 8'd 97; long_chirp_lut[1383] = 8'd 2; long_chirp_lut[1384] = 8'd 60; long_chirp_lut[1385] = 8'd200; long_chirp_lut[1386] = 8'd252; long_chirp_lut[1387] = 8'd153; long_chirp_lut[1388] = 8'd 23; long_chirp_lut[1389] = 8'd 20; long_chirp_lut[1390] = 8'd148; long_chirp_lut[1391] = 8'd251; + long_chirp_lut[1392] = 8'd204; long_chirp_lut[1393] = 8'd 65; long_chirp_lut[1394] = 8'd 1; long_chirp_lut[1395] = 8'd 91; long_chirp_lut[1396] = 8'd225; long_chirp_lut[1397] = 8'd241; long_chirp_lut[1398] = 8'd120; long_chirp_lut[1399] = 8'd 8; long_chirp_lut[1400] = 8'd 40; long_chirp_lut[1401] = 8'd178; long_chirp_lut[1402] = 8'd254; long_chirp_lut[1403] = 8'd178; long_chirp_lut[1404] = 8'd 41; long_chirp_lut[1405] = 8'd 8; long_chirp_lut[1406] = 8'd119; long_chirp_lut[1407] = 8'd241; + long_chirp_lut[1408] = 8'd226; long_chirp_lut[1409] = 8'd 93; long_chirp_lut[1410] = 8'd 2; long_chirp_lut[1411] = 8'd 62; long_chirp_lut[1412] = 8'd201; long_chirp_lut[1413] = 8'd252; long_chirp_lut[1414] = 8'd153; long_chirp_lut[1415] = 8'd 24; long_chirp_lut[1416] = 8'd 19; long_chirp_lut[1417] = 8'd144; long_chirp_lut[1418] = 8'd250; long_chirp_lut[1419] = 8'd209; long_chirp_lut[1420] = 8'd 71; long_chirp_lut[1421] = 8'd 1; long_chirp_lut[1422] = 8'd 83; long_chirp_lut[1423] = 8'd218; + long_chirp_lut[1424] = 8'd245; long_chirp_lut[1425] = 8'd132; long_chirp_lut[1426] = 8'd 13; long_chirp_lut[1427] = 8'd 31; long_chirp_lut[1428] = 8'd164; long_chirp_lut[1429] = 8'd254; long_chirp_lut[1430] = 8'd193; long_chirp_lut[1431] = 8'd 54; long_chirp_lut[1432] = 8'd 3; long_chirp_lut[1433] = 8'd100; long_chirp_lut[1434] = 8'd230; long_chirp_lut[1435] = 8'd238; long_chirp_lut[1436] = 8'd115; long_chirp_lut[1437] = 8'd 7; long_chirp_lut[1438] = 8'd 42; long_chirp_lut[1439] = 8'd179; + long_chirp_lut[1440] = 8'd255; long_chirp_lut[1441] = 8'd179; long_chirp_lut[1442] = 8'd 43; long_chirp_lut[1443] = 8'd 7; long_chirp_lut[1444] = 8'd114; long_chirp_lut[1445] = 8'd237; long_chirp_lut[1446] = 8'd231; long_chirp_lut[1447] = 8'd102; long_chirp_lut[1448] = 8'd 4; long_chirp_lut[1449] = 8'd 52; long_chirp_lut[1450] = 8'd189; long_chirp_lut[1451] = 8'd254; long_chirp_lut[1452] = 8'd169; long_chirp_lut[1453] = 8'd 35; long_chirp_lut[1454] = 8'd 10; long_chirp_lut[1455] = 8'd123; + long_chirp_lut[1456] = 8'd242; long_chirp_lut[1457] = 8'd225; long_chirp_lut[1458] = 8'd 94; long_chirp_lut[1459] = 8'd 2; long_chirp_lut[1460] = 8'd 58; long_chirp_lut[1461] = 8'd195; long_chirp_lut[1462] = 8'd253; long_chirp_lut[1463] = 8'd163; long_chirp_lut[1464] = 8'd 31; long_chirp_lut[1465] = 8'd 12; long_chirp_lut[1466] = 8'd128; long_chirp_lut[1467] = 8'd243; long_chirp_lut[1468] = 8'd223; long_chirp_lut[1469] = 8'd 90; long_chirp_lut[1470] = 8'd 2; long_chirp_lut[1471] = 8'd 60; + long_chirp_lut[1472] = 8'd198; long_chirp_lut[1473] = 8'd253; long_chirp_lut[1474] = 8'd162; long_chirp_lut[1475] = 8'd 31; long_chirp_lut[1476] = 8'd 13; long_chirp_lut[1477] = 8'd129; long_chirp_lut[1478] = 8'd243; long_chirp_lut[1479] = 8'd223; long_chirp_lut[1480] = 8'd 91; long_chirp_lut[1481] = 8'd 2; long_chirp_lut[1482] = 8'd 59; long_chirp_lut[1483] = 8'd196; long_chirp_lut[1484] = 8'd253; long_chirp_lut[1485] = 8'd164; long_chirp_lut[1486] = 8'd 33; long_chirp_lut[1487] = 8'd 11; + long_chirp_lut[1488] = 8'd125; long_chirp_lut[1489] = 8'd242; long_chirp_lut[1490] = 8'd226; long_chirp_lut[1491] = 8'd 96; long_chirp_lut[1492] = 8'd 3; long_chirp_lut[1493] = 8'd 54; long_chirp_lut[1494] = 8'd190; long_chirp_lut[1495] = 8'd254; long_chirp_lut[1496] = 8'd171; long_chirp_lut[1497] = 8'd 38; long_chirp_lut[1498] = 8'd 8; long_chirp_lut[1499] = 8'd116; long_chirp_lut[1500] = 8'd237; long_chirp_lut[1501] = 8'd232; long_chirp_lut[1502] = 8'd106; long_chirp_lut[1503] = 8'd 5; + long_chirp_lut[1504] = 8'd 46; long_chirp_lut[1505] = 8'd181; long_chirp_lut[1506] = 8'd254; long_chirp_lut[1507] = 8'd182; long_chirp_lut[1508] = 8'd 47; long_chirp_lut[1509] = 8'd 4; long_chirp_lut[1510] = 8'd104; long_chirp_lut[1511] = 8'd230; long_chirp_lut[1512] = 8'd239; long_chirp_lut[1513] = 8'd120; long_chirp_lut[1514] = 8'd 9; long_chirp_lut[1515] = 8'd 35; long_chirp_lut[1516] = 8'd166; long_chirp_lut[1517] = 8'd253; long_chirp_lut[1518] = 8'd196; long_chirp_lut[1519] = 8'd 60; + long_chirp_lut[1520] = 8'd 1; long_chirp_lut[1521] = 8'd 87; long_chirp_lut[1522] = 8'd219; long_chirp_lut[1523] = 8'd246; long_chirp_lut[1524] = 8'd138; long_chirp_lut[1525] = 8'd 18; long_chirp_lut[1526] = 8'd 23; long_chirp_lut[1527] = 8'd147; long_chirp_lut[1528] = 8'd249; long_chirp_lut[1529] = 8'd212; long_chirp_lut[1530] = 8'd 79; long_chirp_lut[1531] = 8'd 1; long_chirp_lut[1532] = 8'd 67; long_chirp_lut[1533] = 8'd202; long_chirp_lut[1534] = 8'd252; long_chirp_lut[1535] = 8'd161; + long_chirp_lut[1536] = 8'd 31; long_chirp_lut[1537] = 8'd 11; long_chirp_lut[1538] = 8'd123; long_chirp_lut[1539] = 8'd240; long_chirp_lut[1540] = 8'd229; long_chirp_lut[1541] = 8'd103; long_chirp_lut[1542] = 8'd 5; long_chirp_lut[1543] = 8'd 45; long_chirp_lut[1544] = 8'd179; long_chirp_lut[1545] = 8'd254; long_chirp_lut[1546] = 8'd186; long_chirp_lut[1547] = 8'd 52; long_chirp_lut[1548] = 8'd 3; long_chirp_lut[1549] = 8'd 95; long_chirp_lut[1550] = 8'd224; long_chirp_lut[1551] = 8'd244; + long_chirp_lut[1552] = 8'd133; long_chirp_lut[1553] = 8'd 16; long_chirp_lut[1554] = 8'd 24; long_chirp_lut[1555] = 8'd149; long_chirp_lut[1556] = 8'd249; long_chirp_lut[1557] = 8'd213; long_chirp_lut[1558] = 8'd 80; long_chirp_lut[1559] = 8'd 1; long_chirp_lut[1560] = 8'd 64; long_chirp_lut[1561] = 8'd199; long_chirp_lut[1562] = 8'd253; long_chirp_lut[1563] = 8'd167; long_chirp_lut[1564] = 8'd 36; long_chirp_lut[1565] = 8'd 8; long_chirp_lut[1566] = 8'd114; long_chirp_lut[1567] = 8'd235; + long_chirp_lut[1568] = 8'd236; long_chirp_lut[1569] = 8'd116; long_chirp_lut[1570] = 8'd 9; long_chirp_lut[1571] = 8'd 35; long_chirp_lut[1572] = 8'd164; long_chirp_lut[1573] = 8'd253; long_chirp_lut[1574] = 8'd201; long_chirp_lut[1575] = 8'd 68; long_chirp_lut[1576] = 8'd 1; long_chirp_lut[1577] = 8'd 75; long_chirp_lut[1578] = 8'd208; long_chirp_lut[1579] = 8'd251; long_chirp_lut[1580] = 8'd157; long_chirp_lut[1581] = 8'd 30; long_chirp_lut[1582] = 8'd 11; long_chirp_lut[1583] = 8'd122; + long_chirp_lut[1584] = 8'd239; long_chirp_lut[1585] = 8'd232; long_chirp_lut[1586] = 8'd109; long_chirp_lut[1587] = 8'd 7; long_chirp_lut[1588] = 8'd 38; long_chirp_lut[1589] = 8'd169; long_chirp_lut[1590] = 8'd253; long_chirp_lut[1591] = 8'd199; long_chirp_lut[1592] = 8'd 65; long_chirp_lut[1593] = 8'd 1; long_chirp_lut[1594] = 8'd 77; long_chirp_lut[1595] = 8'd209; long_chirp_lut[1596] = 8'd251; long_chirp_lut[1597] = 8'd157; long_chirp_lut[1598] = 8'd 30; long_chirp_lut[1599] = 8'd 11; + long_chirp_lut[1600] = 8'd120; long_chirp_lut[1601] = 8'd237; long_chirp_lut[1602] = 8'd234; long_chirp_lut[1603] = 8'd113; long_chirp_lut[1604] = 8'd 8; long_chirp_lut[1605] = 8'd 35; long_chirp_lut[1606] = 8'd163; long_chirp_lut[1607] = 8'd252; long_chirp_lut[1608] = 8'd204; long_chirp_lut[1609] = 8'd 72; long_chirp_lut[1610] = 8'd 1; long_chirp_lut[1611] = 8'd 69; long_chirp_lut[1612] = 8'd201; long_chirp_lut[1613] = 8'd253; long_chirp_lut[1614] = 8'd167; long_chirp_lut[1615] = 8'd 38; + long_chirp_lut[1616] = 8'd 7; long_chirp_lut[1617] = 8'd107; long_chirp_lut[1618] = 8'd230; long_chirp_lut[1619] = 8'd241; long_chirp_lut[1620] = 8'd127; long_chirp_lut[1621] = 8'd 14; long_chirp_lut[1622] = 8'd 25; long_chirp_lut[1623] = 8'd147; long_chirp_lut[1624] = 8'd248; long_chirp_lut[1625] = 8'd218; long_chirp_lut[1626] = 8'd 89; long_chirp_lut[1627] = 8'd 2; long_chirp_lut[1628] = 8'd 52; long_chirp_lut[1629] = 8'd184; long_chirp_lut[1630] = 8'd254; long_chirp_lut[1631] = 8'd187; + long_chirp_lut[1632] = 8'd 55; long_chirp_lut[1633] = 8'd 2; long_chirp_lut[1634] = 8'd 85; long_chirp_lut[1635] = 8'd214; long_chirp_lut[1636] = 8'd250; long_chirp_lut[1637] = 8'd153; long_chirp_lut[1638] = 8'd 28; long_chirp_lut[1639] = 8'd 11; long_chirp_lut[1640] = 8'd120; long_chirp_lut[1641] = 8'd237; long_chirp_lut[1642] = 8'd235; long_chirp_lut[1643] = 8'd117; long_chirp_lut[1644] = 8'd 10; long_chirp_lut[1645] = 8'd 30; long_chirp_lut[1646] = 8'd155; long_chirp_lut[1647] = 8'd250; + long_chirp_lut[1648] = 8'd213; long_chirp_lut[1649] = 8'd 84; long_chirp_lut[1650] = 8'd 2; long_chirp_lut[1651] = 8'd 55; long_chirp_lut[1652] = 8'd186; long_chirp_lut[1653] = 8'd254; long_chirp_lut[1654] = 8'd186; long_chirp_lut[1655] = 8'd 55; long_chirp_lut[1656] = 8'd 2; long_chirp_lut[1657] = 8'd 83; long_chirp_lut[1658] = 8'd212; long_chirp_lut[1659] = 8'd251; long_chirp_lut[1660] = 8'd157; long_chirp_lut[1661] = 8'd 32; long_chirp_lut[1662] = 8'd 9; long_chirp_lut[1663] = 8'd113; + long_chirp_lut[1664] = 8'd233; long_chirp_lut[1665] = 8'd240; long_chirp_lut[1666] = 8'd127; long_chirp_lut[1667] = 8'd 15; long_chirp_lut[1668] = 8'd 23; long_chirp_lut[1669] = 8'd143; long_chirp_lut[1670] = 8'd246; long_chirp_lut[1671] = 8'd223; long_chirp_lut[1672] = 8'd 98; long_chirp_lut[1673] = 8'd 4; long_chirp_lut[1674] = 8'd 42; long_chirp_lut[1675] = 8'd171; long_chirp_lut[1676] = 8'd253; long_chirp_lut[1677] = 8'd202; long_chirp_lut[1678] = 8'd 72; long_chirp_lut[1679] = 8'd 1; + long_chirp_lut[1680] = 8'd 64; long_chirp_lut[1681] = 8'd195; long_chirp_lut[1682] = 8'd254; long_chirp_lut[1683] = 8'd179; long_chirp_lut[1684] = 8'd 50; long_chirp_lut[1685] = 8'd 2; long_chirp_lut[1686] = 8'd 88; long_chirp_lut[1687] = 8'd215; long_chirp_lut[1688] = 8'd250; long_chirp_lut[1689] = 8'd155; long_chirp_lut[1690] = 8'd 31; long_chirp_lut[1691] = 8'd 9; long_chirp_lut[1692] = 8'd112; long_chirp_lut[1693] = 8'd231; long_chirp_lut[1694] = 8'd241; long_chirp_lut[1695] = 8'd132; + long_chirp_lut[1696] = 8'd 18; long_chirp_lut[1697] = 8'd 19; long_chirp_lut[1698] = 8'd135; long_chirp_lut[1699] = 8'd243; long_chirp_lut[1700] = 8'd229; long_chirp_lut[1701] = 8'd109; long_chirp_lut[1702] = 8'd 8; long_chirp_lut[1703] = 8'd 33; long_chirp_lut[1704] = 8'd157; long_chirp_lut[1705] = 8'd250; long_chirp_lut[1706] = 8'd215; long_chirp_lut[1707] = 8'd 88; long_chirp_lut[1708] = 8'd 3; long_chirp_lut[1709] = 8'd 48; long_chirp_lut[1710] = 8'd176; long_chirp_lut[1711] = 8'd254; + long_chirp_lut[1712] = 8'd199; long_chirp_lut[1713] = 8'd 70; long_chirp_lut[1714] = 8'd 1; long_chirp_lut[1715] = 8'd 64; long_chirp_lut[1716] = 8'd193; long_chirp_lut[1717] = 8'd254; long_chirp_lut[1718] = 8'd183; long_chirp_lut[1719] = 8'd 54; long_chirp_lut[1720] = 8'd 1; long_chirp_lut[1721] = 8'd 80; long_chirp_lut[1722] = 8'd208; long_chirp_lut[1723] = 8'd252; long_chirp_lut[1724] = 8'd167; long_chirp_lut[1725] = 8'd 41; long_chirp_lut[1726] = 8'd 4; long_chirp_lut[1727] = 8'd 96; + long_chirp_lut[1728] = 8'd220; long_chirp_lut[1729] = 8'd248; long_chirp_lut[1730] = 8'd151; long_chirp_lut[1731] = 8'd 30; long_chirp_lut[1732] = 8'd 9; long_chirp_lut[1733] = 8'd111; long_chirp_lut[1734] = 8'd230; long_chirp_lut[1735] = 8'd243; long_chirp_lut[1736] = 8'd137; long_chirp_lut[1737] = 8'd 21; long_chirp_lut[1738] = 8'd 15; long_chirp_lut[1739] = 8'd125; long_chirp_lut[1740] = 8'd237; long_chirp_lut[1741] = 8'd236; long_chirp_lut[1742] = 8'd123; long_chirp_lut[1743] = 8'd 14; + long_chirp_lut[1744] = 8'd 22; long_chirp_lut[1745] = 8'd138; long_chirp_lut[1746] = 8'd243; long_chirp_lut[1747] = 8'd229; long_chirp_lut[1748] = 8'd111; long_chirp_lut[1749] = 8'd 9; long_chirp_lut[1750] = 8'd 29; long_chirp_lut[1751] = 8'd150; long_chirp_lut[1752] = 8'd247; long_chirp_lut[1753] = 8'd222; long_chirp_lut[1754] = 8'd100; long_chirp_lut[1755] = 8'd 6; long_chirp_lut[1756] = 8'd 36; long_chirp_lut[1757] = 8'd159; long_chirp_lut[1758] = 8'd250; long_chirp_lut[1759] = 8'd216; + long_chirp_lut[1760] = 8'd 91; long_chirp_lut[1761] = 8'd 4; long_chirp_lut[1762] = 8'd 42; long_chirp_lut[1763] = 8'd168; long_chirp_lut[1764] = 8'd252; long_chirp_lut[1765] = 8'd209; long_chirp_lut[1766] = 8'd 83; long_chirp_lut[1767] = 8'd 2; long_chirp_lut[1768] = 8'd 48; long_chirp_lut[1769] = 8'd175; long_chirp_lut[1770] = 8'd253; long_chirp_lut[1771] = 8'd204; long_chirp_lut[1772] = 8'd 77; long_chirp_lut[1773] = 8'd 1; long_chirp_lut[1774] = 8'd 54; long_chirp_lut[1775] = 8'd181; + long_chirp_lut[1776] = 8'd254; long_chirp_lut[1777] = 8'd199; long_chirp_lut[1778] = 8'd 72; long_chirp_lut[1779] = 8'd 1; long_chirp_lut[1780] = 8'd 58; long_chirp_lut[1781] = 8'd185; long_chirp_lut[1782] = 8'd254; long_chirp_lut[1783] = 8'd196; long_chirp_lut[1784] = 8'd 68; long_chirp_lut[1785] = 8'd 1; long_chirp_lut[1786] = 8'd 61; long_chirp_lut[1787] = 8'd188; long_chirp_lut[1788] = 8'd254; long_chirp_lut[1789] = 8'd193; long_chirp_lut[1790] = 8'd 66; long_chirp_lut[1791] = 8'd 1; + long_chirp_lut[1792] = 8'd 63; long_chirp_lut[1793] = 8'd190; long_chirp_lut[1794] = 8'd254; long_chirp_lut[1795] = 8'd191; long_chirp_lut[1796] = 8'd 64; long_chirp_lut[1797] = 8'd 1; long_chirp_lut[1798] = 8'd 64; long_chirp_lut[1799] = 8'd191; long_chirp_lut[1800] = 8'd255; long_chirp_lut[1801] = 8'd191; long_chirp_lut[1802] = 8'd 64; long_chirp_lut[1803] = 8'd 1; long_chirp_lut[1804] = 8'd 64; long_chirp_lut[1805] = 8'd191; long_chirp_lut[1806] = 8'd254; long_chirp_lut[1807] = 8'd192; + long_chirp_lut[1808] = 8'd 65; long_chirp_lut[1809] = 8'd 1; long_chirp_lut[1810] = 8'd 62; long_chirp_lut[1811] = 8'd189; long_chirp_lut[1812] = 8'd254; long_chirp_lut[1813] = 8'd194; long_chirp_lut[1814] = 8'd 67; long_chirp_lut[1815] = 8'd 1; long_chirp_lut[1816] = 8'd 60; long_chirp_lut[1817] = 8'd186; long_chirp_lut[1818] = 8'd254; long_chirp_lut[1819] = 8'd197; long_chirp_lut[1820] = 8'd 71; long_chirp_lut[1821] = 8'd 1; long_chirp_lut[1822] = 8'd 56; long_chirp_lut[1823] = 8'd182; + long_chirp_lut[1824] = 8'd254; long_chirp_lut[1825] = 8'd201; long_chirp_lut[1826] = 8'd 75; long_chirp_lut[1827] = 8'd 1; long_chirp_lut[1828] = 8'd 52; long_chirp_lut[1829] = 8'd177; long_chirp_lut[1830] = 8'd253; long_chirp_lut[1831] = 8'd206; long_chirp_lut[1832] = 8'd 81; long_chirp_lut[1833] = 8'd 2; long_chirp_lut[1834] = 8'd 46; long_chirp_lut[1835] = 8'd171; long_chirp_lut[1836] = 8'd252; long_chirp_lut[1837] = 8'd212; long_chirp_lut[1838] = 8'd 88; long_chirp_lut[1839] = 8'd 4; + long_chirp_lut[1840] = 8'd 40; long_chirp_lut[1841] = 8'd162; long_chirp_lut[1842] = 8'd250; long_chirp_lut[1843] = 8'd218; long_chirp_lut[1844] = 8'd 97; long_chirp_lut[1845] = 8'd 6; long_chirp_lut[1846] = 8'd 34; long_chirp_lut[1847] = 8'd153; long_chirp_lut[1848] = 8'd247; long_chirp_lut[1849] = 8'd225; long_chirp_lut[1850] = 8'd107; long_chirp_lut[1851] = 8'd 9; long_chirp_lut[1852] = 8'd 27; long_chirp_lut[1853] = 8'd142; long_chirp_lut[1854] = 8'd243; long_chirp_lut[1855] = 8'd232; + long_chirp_lut[1856] = 8'd119; long_chirp_lut[1857] = 8'd 14; long_chirp_lut[1858] = 8'd 20; long_chirp_lut[1859] = 8'd130; long_chirp_lut[1860] = 8'd237; long_chirp_lut[1861] = 8'd239; long_chirp_lut[1862] = 8'd132; long_chirp_lut[1863] = 8'd 21; long_chirp_lut[1864] = 8'd 13; long_chirp_lut[1865] = 8'd116; long_chirp_lut[1866] = 8'd230; long_chirp_lut[1867] = 8'd245; long_chirp_lut[1868] = 8'd146; long_chirp_lut[1869] = 8'd 30; long_chirp_lut[1870] = 8'd 8; long_chirp_lut[1871] = 8'd101; + long_chirp_lut[1872] = 8'd220; long_chirp_lut[1873] = 8'd250; long_chirp_lut[1874] = 8'd162; long_chirp_lut[1875] = 8'd 41; long_chirp_lut[1876] = 8'd 3; long_chirp_lut[1877] = 8'd 85; long_chirp_lut[1878] = 8'd208; long_chirp_lut[1879] = 8'd253; long_chirp_lut[1880] = 8'd178; long_chirp_lut[1881] = 8'd 54; long_chirp_lut[1882] = 8'd 1; long_chirp_lut[1883] = 8'd 69; long_chirp_lut[1884] = 8'd193; long_chirp_lut[1885] = 8'd254; long_chirp_lut[1886] = 8'd194; long_chirp_lut[1887] = 8'd 70; + long_chirp_lut[1888] = 8'd 1; long_chirp_lut[1889] = 8'd 53; long_chirp_lut[1890] = 8'd176; long_chirp_lut[1891] = 8'd253; long_chirp_lut[1892] = 8'd210; long_chirp_lut[1893] = 8'd 88; long_chirp_lut[1894] = 8'd 4; long_chirp_lut[1895] = 8'd 37; long_chirp_lut[1896] = 8'd157; long_chirp_lut[1897] = 8'd248; long_chirp_lut[1898] = 8'd225; long_chirp_lut[1899] = 8'd109; long_chirp_lut[1900] = 8'd 11; long_chirp_lut[1901] = 8'd 23; long_chirp_lut[1902] = 8'd135; long_chirp_lut[1903] = 8'd239; + long_chirp_lut[1904] = 8'd238; long_chirp_lut[1905] = 8'd132; long_chirp_lut[1906] = 8'd 22; long_chirp_lut[1907] = 8'd 12; long_chirp_lut[1908] = 8'd112; long_chirp_lut[1909] = 8'd226; long_chirp_lut[1910] = 8'd247; long_chirp_lut[1911] = 8'd155; long_chirp_lut[1912] = 8'd 37; long_chirp_lut[1913] = 8'd 4; long_chirp_lut[1914] = 8'd 88; long_chirp_lut[1915] = 8'd209; long_chirp_lut[1916] = 8'd253; long_chirp_lut[1917] = 8'd179; long_chirp_lut[1918] = 8'd 57; long_chirp_lut[1919] = 8'd 1; + long_chirp_lut[1920] = 8'd 64; long_chirp_lut[1921] = 8'd187; long_chirp_lut[1922] = 8'd254; long_chirp_lut[1923] = 8'd202; long_chirp_lut[1924] = 8'd 80; long_chirp_lut[1925] = 8'd 3; long_chirp_lut[1926] = 8'd 42; long_chirp_lut[1927] = 8'd162; long_chirp_lut[1928] = 8'd249; long_chirp_lut[1929] = 8'd223; long_chirp_lut[1930] = 8'd107; long_chirp_lut[1931] = 8'd 11; long_chirp_lut[1932] = 8'd 23; long_chirp_lut[1933] = 8'd133; long_chirp_lut[1934] = 8'd238; long_chirp_lut[1935] = 8'd240; + long_chirp_lut[1936] = 8'd137; long_chirp_lut[1937] = 8'd 25; long_chirp_lut[1938] = 8'd 9; long_chirp_lut[1939] = 8'd103; long_chirp_lut[1940] = 8'd220; long_chirp_lut[1941] = 8'd251; long_chirp_lut[1942] = 8'd167; long_chirp_lut[1943] = 8'd 47; long_chirp_lut[1944] = 8'd 2; long_chirp_lut[1945] = 8'd 73; long_chirp_lut[1946] = 8'd195; long_chirp_lut[1947] = 8'd254; long_chirp_lut[1948] = 8'd196; long_chirp_lut[1949] = 8'd 74; long_chirp_lut[1950] = 8'd 2; long_chirp_lut[1951] = 8'd 46; + long_chirp_lut[1952] = 8'd166; long_chirp_lut[1953] = 8'd250; long_chirp_lut[1954] = 8'd221; long_chirp_lut[1955] = 8'd106; long_chirp_lut[1956] = 8'd 10; long_chirp_lut[1957] = 8'd 23; long_chirp_lut[1958] = 8'd132; long_chirp_lut[1959] = 8'd237; long_chirp_lut[1960] = 8'd241; long_chirp_lut[1961] = 8'd141; long_chirp_lut[1962] = 8'd 28; long_chirp_lut[1963] = 8'd 7; long_chirp_lut[1964] = 8'd 96; long_chirp_lut[1965] = 8'd214; long_chirp_lut[1966] = 8'd252; long_chirp_lut[1967] = 8'd176; + long_chirp_lut[1968] = 8'd 55; long_chirp_lut[1969] = 8'd 1; long_chirp_lut[1970] = 8'd 62; long_chirp_lut[1971] = 8'd184; long_chirp_lut[1972] = 8'd254; long_chirp_lut[1973] = 8'd208; long_chirp_lut[1974] = 8'd 89; long_chirp_lut[1975] = 8'd 5; long_chirp_lut[1976] = 8'd 33; long_chirp_lut[1977] = 8'd147; long_chirp_lut[1978] = 8'd243; long_chirp_lut[1979] = 8'd234; long_chirp_lut[1980] = 8'd127; long_chirp_lut[1981] = 8'd 21; long_chirp_lut[1982] = 8'd 11; long_chirp_lut[1983] = 8'd107; + long_chirp_lut[1984] = 8'd222; long_chirp_lut[1985] = 8'd250; long_chirp_lut[1986] = 8'd167; long_chirp_lut[1987] = 8'd 48; long_chirp_lut[1988] = 8'd 1; long_chirp_lut[1989] = 8'd 69; long_chirp_lut[1990] = 8'd189; long_chirp_lut[1991] = 8'd254; long_chirp_lut[1992] = 8'd204; long_chirp_lut[1993] = 8'd 85; long_chirp_lut[1994] = 8'd 4; long_chirp_lut[1995] = 8'd 35; long_chirp_lut[1996] = 8'd149; long_chirp_lut[1997] = 8'd244; long_chirp_lut[1998] = 8'd234; long_chirp_lut[1999] = 8'd128; + long_chirp_lut[2000] = 8'd 21; long_chirp_lut[2001] = 8'd 11; long_chirp_lut[2002] = 8'd105; long_chirp_lut[2003] = 8'd220; long_chirp_lut[2004] = 8'd251; long_chirp_lut[2005] = 8'd171; long_chirp_lut[2006] = 8'd 52; long_chirp_lut[2007] = 8'd 1; long_chirp_lut[2008] = 8'd 63; long_chirp_lut[2009] = 8'd183; long_chirp_lut[2010] = 8'd253; long_chirp_lut[2011] = 8'd211; long_chirp_lut[2012] = 8'd 94; long_chirp_lut[2013] = 8'd 7; long_chirp_lut[2014] = 8'd 28; long_chirp_lut[2015] = 8'd138; + long_chirp_lut[2016] = 8'd239; long_chirp_lut[2017] = 8'd240; long_chirp_lut[2018] = 8'd141; long_chirp_lut[2019] = 8'd 30; long_chirp_lut[2020] = 8'd 6; long_chirp_lut[2021] = 8'd 90; long_chirp_lut[2022] = 8'd208; long_chirp_lut[2023] = 8'd254; long_chirp_lut[2024] = 8'd187; long_chirp_lut[2025] = 8'd 68; long_chirp_lut[2026] = 8'd 1; long_chirp_lut[2027] = 8'd 47; long_chirp_lut[2028] = 8'd164; long_chirp_lut[2029] = 8'd249; long_chirp_lut[2030] = 8'd226; long_chirp_lut[2031] = 8'd116; + long_chirp_lut[2032] = 8'd 16; long_chirp_lut[2033] = 8'd 15; long_chirp_lut[2034] = 8'd114; long_chirp_lut[2035] = 8'd224; long_chirp_lut[2036] = 8'd250; long_chirp_lut[2037] = 8'd167; long_chirp_lut[2038] = 8'd 49; long_chirp_lut[2039] = 8'd 1; long_chirp_lut[2040] = 8'd 64; long_chirp_lut[2041] = 8'd183; long_chirp_lut[2042] = 8'd253; long_chirp_lut[2043] = 8'd213; long_chirp_lut[2044] = 8'd 97; long_chirp_lut[2045] = 8'd 8; long_chirp_lut[2046] = 8'd 24; long_chirp_lut[2047] = 8'd131; + long_chirp_lut[2048] = 8'd235; long_chirp_lut[2049] = 8'd244; long_chirp_lut[2050] = 8'd151; long_chirp_lut[2051] = 8'd 38; long_chirp_lut[2052] = 8'd 3; long_chirp_lut[2053] = 8'd 77; long_chirp_lut[2054] = 8'd195; long_chirp_lut[2055] = 8'd254; long_chirp_lut[2056] = 8'd202; long_chirp_lut[2057] = 8'd 85; long_chirp_lut[2058] = 8'd 5; long_chirp_lut[2059] = 8'd 32; long_chirp_lut[2060] = 8'd142; long_chirp_lut[2061] = 8'd240; long_chirp_lut[2062] = 8'd240; long_chirp_lut[2063] = 8'd142; + long_chirp_lut[2064] = 8'd 31; long_chirp_lut[2065] = 8'd 5; long_chirp_lut[2066] = 8'd 85; long_chirp_lut[2067] = 8'd202; long_chirp_lut[2068] = 8'd254; long_chirp_lut[2069] = 8'd197; long_chirp_lut[2070] = 8'd 79; long_chirp_lut[2071] = 8'd 3; long_chirp_lut[2072] = 8'd 35; long_chirp_lut[2073] = 8'd147; long_chirp_lut[2074] = 8'd242; long_chirp_lut[2075] = 8'd238; long_chirp_lut[2076] = 8'd138; long_chirp_lut[2077] = 8'd 29; long_chirp_lut[2078] = 8'd 5; long_chirp_lut[2079] = 8'd 87; + long_chirp_lut[2080] = 8'd203; long_chirp_lut[2081] = 8'd254; long_chirp_lut[2082] = 8'd196; long_chirp_lut[2083] = 8'd 79; long_chirp_lut[2084] = 8'd 3; long_chirp_lut[2085] = 8'd 35; long_chirp_lut[2086] = 8'd146; long_chirp_lut[2087] = 8'd241; long_chirp_lut[2088] = 8'd239; long_chirp_lut[2089] = 8'd141; long_chirp_lut[2090] = 8'd 31; long_chirp_lut[2091] = 8'd 4; long_chirp_lut[2092] = 8'd 83; long_chirp_lut[2093] = 8'd200; long_chirp_lut[2094] = 8'd254; long_chirp_lut[2095] = 8'd201; + long_chirp_lut[2096] = 8'd 84; long_chirp_lut[2097] = 8'd 5; long_chirp_lut[2098] = 8'd 30; long_chirp_lut[2099] = 8'd139; long_chirp_lut[2100] = 8'd237; long_chirp_lut[2101] = 8'd243; long_chirp_lut[2102] = 8'd150; long_chirp_lut[2103] = 8'd 38; long_chirp_lut[2104] = 8'd 2; long_chirp_lut[2105] = 8'd 73; long_chirp_lut[2106] = 8'd190; long_chirp_lut[2107] = 8'd254; long_chirp_lut[2108] = 8'd210; long_chirp_lut[2109] = 8'd 96; long_chirp_lut[2110] = 8'd 9; long_chirp_lut[2111] = 8'd 22; + long_chirp_lut[2112] = 8'd125; long_chirp_lut[2113] = 8'd230; long_chirp_lut[2114] = 8'd248; long_chirp_lut[2115] = 8'd164; long_chirp_lut[2116] = 8'd 50; long_chirp_lut[2117] = 8'd 1; long_chirp_lut[2118] = 8'd 59; long_chirp_lut[2119] = 8'd175; long_chirp_lut[2120] = 8'd251; long_chirp_lut[2121] = 8'd223; long_chirp_lut[2122] = 8'd114; long_chirp_lut[2123] = 8'd 17; long_chirp_lut[2124] = 8'd 13; long_chirp_lut[2125] = 8'd105; long_chirp_lut[2126] = 8'd216; long_chirp_lut[2127] = 8'd253; + long_chirp_lut[2128] = 8'd184; long_chirp_lut[2129] = 8'd 68; long_chirp_lut[2130] = 8'd 2; long_chirp_lut[2131] = 8'd 41; long_chirp_lut[2132] = 8'd153; long_chirp_lut[2133] = 8'd243; long_chirp_lut[2134] = 8'd237; long_chirp_lut[2135] = 8'd139; long_chirp_lut[2136] = 8'd 31; long_chirp_lut[2137] = 8'd 4; long_chirp_lut[2138] = 8'd 80; long_chirp_lut[2139] = 8'd195; long_chirp_lut[2140] = 8'd254; long_chirp_lut[2141] = 8'd207; long_chirp_lut[2142] = 8'd 94; long_chirp_lut[2143] = 8'd 8; + long_chirp_lut[2144] = 8'd 22; long_chirp_lut[2145] = 8'd123; long_chirp_lut[2146] = 8'd228; long_chirp_lut[2147] = 8'd249; long_chirp_lut[2148] = 8'd169; long_chirp_lut[2149] = 8'd 55; long_chirp_lut[2150] = 8'd 1; long_chirp_lut[2151] = 8'd 52; long_chirp_lut[2152] = 8'd166; long_chirp_lut[2153] = 8'd248; long_chirp_lut[2154] = 8'd231; long_chirp_lut[2155] = 8'd128; long_chirp_lut[2156] = 8'd 25; long_chirp_lut[2157] = 8'd 7; long_chirp_lut[2158] = 8'd 88; long_chirp_lut[2159] = 8'd202; + long_chirp_lut[2160] = 8'd255; long_chirp_lut[2161] = 8'd202; long_chirp_lut[2162] = 8'd 88; long_chirp_lut[2163] = 8'd 7; long_chirp_lut[2164] = 8'd 25; long_chirp_lut[2165] = 8'd127; long_chirp_lut[2166] = 8'd230; long_chirp_lut[2167] = 8'd249; long_chirp_lut[2168] = 8'd168; long_chirp_lut[2169] = 8'd 54; long_chirp_lut[2170] = 8'd 1; long_chirp_lut[2171] = 8'd 51; long_chirp_lut[2172] = 8'd164; long_chirp_lut[2173] = 8'd247; long_chirp_lut[2174] = 8'd232; long_chirp_lut[2175] = 8'd132; + long_chirp_lut[2176] = 8'd 28; long_chirp_lut[2177] = 8'd 5; long_chirp_lut[2178] = 8'd 83; long_chirp_lut[2179] = 8'd197; long_chirp_lut[2180] = 8'd254; long_chirp_lut[2181] = 8'd209; long_chirp_lut[2182] = 8'd 97; long_chirp_lut[2183] = 8'd 10; long_chirp_lut[2184] = 8'd 19; long_chirp_lut[2185] = 8'd116; long_chirp_lut[2186] = 8'd222; long_chirp_lut[2187] = 8'd252; long_chirp_lut[2188] = 8'd180; long_chirp_lut[2189] = 8'd 66; long_chirp_lut[2190] = 8'd 2; long_chirp_lut[2191] = 8'd 39; + long_chirp_lut[2192] = 8'd148; long_chirp_lut[2193] = 8'd241; long_chirp_lut[2194] = 8'd241; long_chirp_lut[2195] = 8'd150; long_chirp_lut[2196] = 8'd 41; long_chirp_lut[2197] = 8'd 1; long_chirp_lut[2198] = 8'd 64; long_chirp_lut[2199] = 8'd178; long_chirp_lut[2200] = 8'd251; long_chirp_lut[2201] = 8'd225; long_chirp_lut[2202] = 8'd120; long_chirp_lut[2203] = 8'd 21; long_chirp_lut[2204] = 8'd 8; long_chirp_lut[2205] = 8'd 91; long_chirp_lut[2206] = 8'd203; long_chirp_lut[2207] = 8'd254; + long_chirp_lut[2208] = 8'd204; long_chirp_lut[2209] = 8'd 93; long_chirp_lut[2210] = 8'd 9; long_chirp_lut[2211] = 8'd 20; long_chirp_lut[2212] = 8'd117; long_chirp_lut[2213] = 8'd223; long_chirp_lut[2214] = 8'd252; long_chirp_lut[2215] = 8'd182; long_chirp_lut[2216] = 8'd 68; long_chirp_lut[2217] = 8'd 2; long_chirp_lut[2218] = 8'd 36; long_chirp_lut[2219] = 8'd143; long_chirp_lut[2220] = 8'd237; long_chirp_lut[2221] = 8'd244; long_chirp_lut[2222] = 8'd158; long_chirp_lut[2223] = 8'd 48; + long_chirp_lut[2224] = 8'd 1; long_chirp_lut[2225] = 8'd 54; long_chirp_lut[2226] = 8'd166; long_chirp_lut[2227] = 8'd247; long_chirp_lut[2228] = 8'd233; long_chirp_lut[2229] = 8'd136; long_chirp_lut[2230] = 8'd 31; long_chirp_lut[2231] = 8'd 3; long_chirp_lut[2232] = 8'd 73; long_chirp_lut[2233] = 8'd186; long_chirp_lut[2234] = 8'd253; long_chirp_lut[2235] = 8'd220; long_chirp_lut[2236] = 8'd115; long_chirp_lut[2237] = 8'd 19; long_chirp_lut[2238] = 8'd 9; long_chirp_lut[2239] = 8'd 92; + long_chirp_lut[2240] = 8'd203; long_chirp_lut[2241] = 8'd254; long_chirp_lut[2242] = 8'd206; long_chirp_lut[2243] = 8'd 96; long_chirp_lut[2244] = 8'd 10; long_chirp_lut[2245] = 8'd 17; long_chirp_lut[2246] = 8'd111; long_chirp_lut[2247] = 8'd217; long_chirp_lut[2248] = 8'd253; long_chirp_lut[2249] = 8'd191; long_chirp_lut[2250] = 8'd 79; long_chirp_lut[2251] = 8'd 5; long_chirp_lut[2252] = 8'd 27; long_chirp_lut[2253] = 8'd127; long_chirp_lut[2254] = 8'd228; long_chirp_lut[2255] = 8'd250; + long_chirp_lut[2256] = 8'd177; long_chirp_lut[2257] = 8'd 65; long_chirp_lut[2258] = 8'd 2; long_chirp_lut[2259] = 8'd 37; long_chirp_lut[2260] = 8'd142; long_chirp_lut[2261] = 8'd236; long_chirp_lut[2262] = 8'd246; long_chirp_lut[2263] = 8'd163; long_chirp_lut[2264] = 8'd 53; long_chirp_lut[2265] = 8'd 1; long_chirp_lut[2266] = 8'd 46; long_chirp_lut[2267] = 8'd155; long_chirp_lut[2268] = 8'd242; long_chirp_lut[2269] = 8'd241; long_chirp_lut[2270] = 8'd151; long_chirp_lut[2271] = 8'd 44; + long_chirp_lut[2272] = 8'd 1; long_chirp_lut[2273] = 8'd 56; long_chirp_lut[2274] = 8'd166; long_chirp_lut[2275] = 8'd247; long_chirp_lut[2276] = 8'd235; long_chirp_lut[2277] = 8'd141; long_chirp_lut[2278] = 8'd 36; long_chirp_lut[2279] = 8'd 2; long_chirp_lut[2280] = 8'd 64; long_chirp_lut[2281] = 8'd175; long_chirp_lut[2282] = 8'd250; long_chirp_lut[2283] = 8'd230; long_chirp_lut[2284] = 8'd132; long_chirp_lut[2285] = 8'd 31; long_chirp_lut[2286] = 8'd 3; long_chirp_lut[2287] = 8'd 71; + long_chirp_lut[2288] = 8'd182; long_chirp_lut[2289] = 8'd251; long_chirp_lut[2290] = 8'd226; long_chirp_lut[2291] = 8'd125; long_chirp_lut[2292] = 8'd 26; long_chirp_lut[2293] = 8'd 5; long_chirp_lut[2294] = 8'd 77; long_chirp_lut[2295] = 8'd187; long_chirp_lut[2296] = 8'd253; long_chirp_lut[2297] = 8'd222; long_chirp_lut[2298] = 8'd120; long_chirp_lut[2299] = 8'd 23; long_chirp_lut[2300] = 8'd 6; long_chirp_lut[2301] = 8'd 81; long_chirp_lut[2302] = 8'd191; long_chirp_lut[2303] = 8'd253; + long_chirp_lut[2304] = 8'd220; long_chirp_lut[2305] = 8'd117; long_chirp_lut[2306] = 8'd 22; long_chirp_lut[2307] = 8'd 7; long_chirp_lut[2308] = 8'd 83; long_chirp_lut[2309] = 8'd193; long_chirp_lut[2310] = 8'd253; long_chirp_lut[2311] = 8'd219; long_chirp_lut[2312] = 8'd115; long_chirp_lut[2313] = 8'd 21; long_chirp_lut[2314] = 8'd 7; long_chirp_lut[2315] = 8'd 84; long_chirp_lut[2316] = 8'd193; long_chirp_lut[2317] = 8'd253; long_chirp_lut[2318] = 8'd219; long_chirp_lut[2319] = 8'd116; + long_chirp_lut[2320] = 8'd 21; long_chirp_lut[2321] = 8'd 7; long_chirp_lut[2322] = 8'd 83; long_chirp_lut[2323] = 8'd192; long_chirp_lut[2324] = 8'd253; long_chirp_lut[2325] = 8'd220; long_chirp_lut[2326] = 8'd118; long_chirp_lut[2327] = 8'd 23; long_chirp_lut[2328] = 8'd 6; long_chirp_lut[2329] = 8'd 80; long_chirp_lut[2330] = 8'd189; long_chirp_lut[2331] = 8'd253; long_chirp_lut[2332] = 8'd223; long_chirp_lut[2333] = 8'd122; long_chirp_lut[2334] = 8'd 25; long_chirp_lut[2335] = 8'd 5; + long_chirp_lut[2336] = 8'd 76; long_chirp_lut[2337] = 8'd185; long_chirp_lut[2338] = 8'd252; long_chirp_lut[2339] = 8'd226; long_chirp_lut[2340] = 8'd128; long_chirp_lut[2341] = 8'd 29; long_chirp_lut[2342] = 8'd 3; long_chirp_lut[2343] = 8'd 70; long_chirp_lut[2344] = 8'd179; long_chirp_lut[2345] = 8'd250; long_chirp_lut[2346] = 8'd231; long_chirp_lut[2347] = 8'd135; long_chirp_lut[2348] = 8'd 34; long_chirp_lut[2349] = 8'd 2; long_chirp_lut[2350] = 8'd 62; long_chirp_lut[2351] = 8'd171; + long_chirp_lut[2352] = 8'd247; long_chirp_lut[2353] = 8'd236; long_chirp_lut[2354] = 8'd144; long_chirp_lut[2355] = 8'd 41; long_chirp_lut[2356] = 8'd 1; long_chirp_lut[2357] = 8'd 54; long_chirp_lut[2358] = 8'd161; long_chirp_lut[2359] = 8'd244; long_chirp_lut[2360] = 8'd241; long_chirp_lut[2361] = 8'd155; long_chirp_lut[2362] = 8'd 49; long_chirp_lut[2363] = 8'd 1; long_chirp_lut[2364] = 8'd 45; long_chirp_lut[2365] = 8'd149; long_chirp_lut[2366] = 8'd238; long_chirp_lut[2367] = 8'd246; + long_chirp_lut[2368] = 8'd168; long_chirp_lut[2369] = 8'd 60; long_chirp_lut[2370] = 8'd 2; long_chirp_lut[2371] = 8'd 35; long_chirp_lut[2372] = 8'd135; long_chirp_lut[2373] = 8'd230; long_chirp_lut[2374] = 8'd251; long_chirp_lut[2375] = 8'd182; long_chirp_lut[2376] = 8'd 73; long_chirp_lut[2377] = 8'd 4; long_chirp_lut[2378] = 8'd 25; long_chirp_lut[2379] = 8'd119; long_chirp_lut[2380] = 8'd220; long_chirp_lut[2381] = 8'd254; long_chirp_lut[2382] = 8'd196; long_chirp_lut[2383] = 8'd 89; + long_chirp_lut[2384] = 8'd 10; long_chirp_lut[2385] = 8'd 15; long_chirp_lut[2386] = 8'd102; long_chirp_lut[2387] = 8'd207; long_chirp_lut[2388] = 8'd254; long_chirp_lut[2389] = 8'd211; long_chirp_lut[2390] = 8'd107; long_chirp_lut[2391] = 8'd 18; long_chirp_lut[2392] = 8'd 8; long_chirp_lut[2393] = 8'd 83; long_chirp_lut[2394] = 8'd190; long_chirp_lut[2395] = 8'd252; long_chirp_lut[2396] = 8'd225; long_chirp_lut[2397] = 8'd128; long_chirp_lut[2398] = 8'd 30; long_chirp_lut[2399] = 8'd 2; + long_chirp_lut[2400] = 8'd 64; long_chirp_lut[2401] = 8'd171; long_chirp_lut[2402] = 8'd247; long_chirp_lut[2403] = 8'd238; long_chirp_lut[2404] = 8'd150; long_chirp_lut[2405] = 8'd 46; long_chirp_lut[2406] = 8'd 1; long_chirp_lut[2407] = 8'd 45; long_chirp_lut[2408] = 8'd148; long_chirp_lut[2409] = 8'd237; long_chirp_lut[2410] = 8'd247; long_chirp_lut[2411] = 8'd173; long_chirp_lut[2412] = 8'd 66; long_chirp_lut[2413] = 8'd 3; long_chirp_lut[2414] = 8'd 28; long_chirp_lut[2415] = 8'd123; + long_chirp_lut[2416] = 8'd222; long_chirp_lut[2417] = 8'd253; long_chirp_lut[2418] = 8'd196; long_chirp_lut[2419] = 8'd 90; long_chirp_lut[2420] = 8'd 11; long_chirp_lut[2421] = 8'd 14; long_chirp_lut[2422] = 8'd 97; long_chirp_lut[2423] = 8'd201; long_chirp_lut[2424] = 8'd254; long_chirp_lut[2425] = 8'd218; long_chirp_lut[2426] = 8'd118; long_chirp_lut[2427] = 8'd 25; long_chirp_lut[2428] = 8'd 4; long_chirp_lut[2429] = 8'd 70; long_chirp_lut[2430] = 8'd176; long_chirp_lut[2431] = 8'd248; + long_chirp_lut[2432] = 8'd236; long_chirp_lut[2433] = 8'd148; long_chirp_lut[2434] = 8'd 45; long_chirp_lut[2435] = 8'd 1; long_chirp_lut[2436] = 8'd 45; long_chirp_lut[2437] = 8'd146; long_chirp_lut[2438] = 8'd235; long_chirp_lut[2439] = 8'd249; long_chirp_lut[2440] = 8'd178; long_chirp_lut[2441] = 8'd 72; long_chirp_lut[2442] = 8'd 5; long_chirp_lut[2443] = 8'd 23; long_chirp_lut[2444] = 8'd114; long_chirp_lut[2445] = 8'd214; long_chirp_lut[2446] = 8'd254; long_chirp_lut[2447] = 8'd206; + long_chirp_lut[2448] = 8'd104; long_chirp_lut[2449] = 8'd 18; long_chirp_lut[2450] = 8'd 8; long_chirp_lut[2451] = 8'd 81; long_chirp_lut[2452] = 8'd186; long_chirp_lut[2453] = 8'd251; long_chirp_lut[2454] = 8'd231; long_chirp_lut[2455] = 8'd139; long_chirp_lut[2456] = 8'd 39; long_chirp_lut[2457] = 8'd 1; long_chirp_lut[2458] = 8'd 49; long_chirp_lut[2459] = 8'd152; long_chirp_lut[2460] = 8'd237; long_chirp_lut[2461] = 8'd248; long_chirp_lut[2462] = 8'd175; long_chirp_lut[2463] = 8'd 70; + long_chirp_lut[2464] = 8'd 4; long_chirp_lut[2465] = 8'd 23; long_chirp_lut[2466] = 8'd114; long_chirp_lut[2467] = 8'd213; long_chirp_lut[2468] = 8'd254; long_chirp_lut[2469] = 8'd209; long_chirp_lut[2470] = 8'd107; long_chirp_lut[2471] = 8'd 20; long_chirp_lut[2472] = 8'd 6; long_chirp_lut[2473] = 8'd 75; long_chirp_lut[2474] = 8'd180; long_chirp_lut[2475] = 8'd249; long_chirp_lut[2476] = 8'd235; long_chirp_lut[2477] = 8'd148; long_chirp_lut[2478] = 8'd 47; long_chirp_lut[2479] = 8'd 1; + long_chirp_lut[2480] = 8'd 40; long_chirp_lut[2481] = 8'd139; long_chirp_lut[2482] = 8'd230; long_chirp_lut[2483] = 8'd251; long_chirp_lut[2484] = 8'd189; long_chirp_lut[2485] = 8'd 84; long_chirp_lut[2486] = 8'd 9; long_chirp_lut[2487] = 8'd 14; long_chirp_lut[2488] = 8'd 96; long_chirp_lut[2489] = 8'd199; long_chirp_lut[2490] = 8'd253; long_chirp_lut[2491] = 8'd223; long_chirp_lut[2492] = 8'd129; long_chirp_lut[2493] = 8'd 33; long_chirp_lut[2494] = 8'd 1; long_chirp_lut[2495] = 8'd 54; + long_chirp_lut[2496] = 8'd157; long_chirp_lut[2497] = 8'd239; long_chirp_lut[2498] = 8'd247; long_chirp_lut[2499] = 8'd174; long_chirp_lut[2500] = 8'd 71; long_chirp_lut[2501] = 8'd 5; long_chirp_lut[2502] = 8'd 21; long_chirp_lut[2503] = 8'd109; long_chirp_lut[2504] = 8'd209; long_chirp_lut[2505] = 8'd254; long_chirp_lut[2506] = 8'd215; long_chirp_lut[2507] = 8'd117; long_chirp_lut[2508] = 8'd 26; long_chirp_lut[2509] = 8'd 3; long_chirp_lut[2510] = 8'd 62; long_chirp_lut[2511] = 8'd165; + long_chirp_lut[2512] = 8'd243; long_chirp_lut[2513] = 8'd244; long_chirp_lut[2514] = 8'd167; long_chirp_lut[2515] = 8'd 64; long_chirp_lut[2516] = 8'd 3; long_chirp_lut[2517] = 8'd 25; long_chirp_lut[2518] = 8'd114; long_chirp_lut[2519] = 8'd212; long_chirp_lut[2520] = 8'd255; long_chirp_lut[2521] = 8'd212; long_chirp_lut[2522] = 8'd114; long_chirp_lut[2523] = 8'd 25; long_chirp_lut[2524] = 8'd 3; long_chirp_lut[2525] = 8'd 64; long_chirp_lut[2526] = 8'd166; long_chirp_lut[2527] = 8'd243; + long_chirp_lut[2528] = 8'd244; long_chirp_lut[2529] = 8'd168; long_chirp_lut[2530] = 8'd 66; long_chirp_lut[2531] = 8'd 4; long_chirp_lut[2532] = 8'd 23; long_chirp_lut[2533] = 8'd111; long_chirp_lut[2534] = 8'd210; long_chirp_lut[2535] = 8'd254; long_chirp_lut[2536] = 8'd216; long_chirp_lut[2537] = 8'd120; long_chirp_lut[2538] = 8'd 28; long_chirp_lut[2539] = 8'd 2; long_chirp_lut[2540] = 8'd 58; long_chirp_lut[2541] = 8'd159; long_chirp_lut[2542] = 8'd240; long_chirp_lut[2543] = 8'd247; + long_chirp_lut[2544] = 8'd177; long_chirp_lut[2545] = 8'd 74; long_chirp_lut[2546] = 8'd 6; long_chirp_lut[2547] = 8'd 17; long_chirp_lut[2548] = 8'd100; long_chirp_lut[2549] = 8'd200; long_chirp_lut[2550] = 8'd253; long_chirp_lut[2551] = 8'd225; long_chirp_lut[2552] = 8'd133; long_chirp_lut[2553] = 8'd 38; long_chirp_lut[2554] = 8'd 1; long_chirp_lut[2555] = 8'd 46; long_chirp_lut[2556] = 8'd143; long_chirp_lut[2557] = 8'd231; long_chirp_lut[2558] = 8'd252; long_chirp_lut[2559] = 8'd192; + long_chirp_lut[2560] = 8'd 91; long_chirp_lut[2561] = 8'd 13; long_chirp_lut[2562] = 8'd 9; long_chirp_lut[2563] = 8'd 81; long_chirp_lut[2564] = 8'd183; long_chirp_lut[2565] = 8'd249; long_chirp_lut[2566] = 8'd237; long_chirp_lut[2567] = 8'd155; long_chirp_lut[2568] = 8'd 55; long_chirp_lut[2569] = 8'd 2; long_chirp_lut[2570] = 8'd 29; long_chirp_lut[2571] = 8'd119; long_chirp_lut[2572] = 8'd215; long_chirp_lut[2573] = 8'd254; long_chirp_lut[2574] = 8'd213; long_chirp_lut[2575] = 8'd117; + long_chirp_lut[2576] = 8'd 28; long_chirp_lut[2577] = 8'd 2; long_chirp_lut[2578] = 8'd 56; long_chirp_lut[2579] = 8'd156; long_chirp_lut[2580] = 8'd237; long_chirp_lut[2581] = 8'd249; long_chirp_lut[2582] = 8'd183; long_chirp_lut[2583] = 8'd 82; long_chirp_lut[2584] = 8'd 10; long_chirp_lut[2585] = 8'd 12; long_chirp_lut[2586] = 8'd 88; long_chirp_lut[2587] = 8'd188; long_chirp_lut[2588] = 8'd250; long_chirp_lut[2589] = 8'd235; long_chirp_lut[2590] = 8'd151; long_chirp_lut[2591] = 8'd 53; + long_chirp_lut[2592] = 8'd 2; long_chirp_lut[2593] = 8'd 30; long_chirp_lut[2594] = 8'd119; long_chirp_lut[2595] = 8'd214; long_chirp_lut[2596] = 8'd254; long_chirp_lut[2597] = 8'd215; long_chirp_lut[2598] = 8'd120; long_chirp_lut[2599] = 8'd 30; long_chirp_lut[2600] = 8'd 1; long_chirp_lut[2601] = 8'd 52; long_chirp_lut[2602] = 8'd149; long_chirp_lut[2603] = 8'd234; long_chirp_lut[2604] = 8'd251; long_chirp_lut[2605] = 8'd191; long_chirp_lut[2606] = 8'd 92; long_chirp_lut[2607] = 8'd 14; + long_chirp_lut[2608] = 8'd 8; long_chirp_lut[2609] = 8'd 76; long_chirp_lut[2610] = 8'd176; long_chirp_lut[2611] = 8'd246; long_chirp_lut[2612] = 8'd242; long_chirp_lut[2613] = 8'd167; long_chirp_lut[2614] = 8'd 67; long_chirp_lut[2615] = 8'd 5; long_chirp_lut[2616] = 8'd 19; long_chirp_lut[2617] = 8'd100; long_chirp_lut[2618] = 8'd198; long_chirp_lut[2619] = 8'd253; long_chirp_lut[2620] = 8'd229; long_chirp_lut[2621] = 8'd143; long_chirp_lut[2622] = 8'd 47; long_chirp_lut[2623] = 8'd 1; + long_chirp_lut[2624] = 8'd 33; long_chirp_lut[2625] = 8'd123; long_chirp_lut[2626] = 8'd216; long_chirp_lut[2627] = 8'd254; long_chirp_lut[2628] = 8'd214; long_chirp_lut[2629] = 8'd121; long_chirp_lut[2630] = 8'd 31; long_chirp_lut[2631] = 8'd 1; long_chirp_lut[2632] = 8'd 48; long_chirp_lut[2633] = 8'd144; long_chirp_lut[2634] = 8'd230; long_chirp_lut[2635] = 8'd253; long_chirp_lut[2636] = 8'd199; long_chirp_lut[2637] = 8'd101; long_chirp_lut[2638] = 8'd 20; long_chirp_lut[2639] = 8'd 4; + long_chirp_lut[2640] = 8'd 64; long_chirp_lut[2641] = 8'd162; long_chirp_lut[2642] = 8'd240; long_chirp_lut[2643] = 8'd248; long_chirp_lut[2644] = 8'd183; long_chirp_lut[2645] = 8'd 84; long_chirp_lut[2646] = 8'd 12; long_chirp_lut[2647] = 8'd 9; long_chirp_lut[2648] = 8'd 79; long_chirp_lut[2649] = 8'd178; long_chirp_lut[2650] = 8'd246; long_chirp_lut[2651] = 8'd243; long_chirp_lut[2652] = 8'd169; long_chirp_lut[2653] = 8'd 71; long_chirp_lut[2654] = 8'd 6; long_chirp_lut[2655] = 8'd 15; + long_chirp_lut[2656] = 8'd 92; long_chirp_lut[2657] = 8'd190; long_chirp_lut[2658] = 8'd250; long_chirp_lut[2659] = 8'd236; long_chirp_lut[2660] = 8'd157; long_chirp_lut[2661] = 8'd 60; long_chirp_lut[2662] = 8'd 3; long_chirp_lut[2663] = 8'd 22; long_chirp_lut[2664] = 8'd104; long_chirp_lut[2665] = 8'd200; long_chirp_lut[2666] = 8'd253; long_chirp_lut[2667] = 8'd230; long_chirp_lut[2668] = 8'd146; long_chirp_lut[2669] = 8'd 51; long_chirp_lut[2670] = 8'd 2; long_chirp_lut[2671] = 8'd 27; + long_chirp_lut[2672] = 8'd113; long_chirp_lut[2673] = 8'd207; long_chirp_lut[2674] = 8'd254; long_chirp_lut[2675] = 8'd225; long_chirp_lut[2676] = 8'd138; long_chirp_lut[2677] = 8'd 45; long_chirp_lut[2678] = 8'd 1; long_chirp_lut[2679] = 8'd 32; long_chirp_lut[2680] = 8'd120; long_chirp_lut[2681] = 8'd212; long_chirp_lut[2682] = 8'd254; long_chirp_lut[2683] = 8'd221; long_chirp_lut[2684] = 8'd132; long_chirp_lut[2685] = 8'd 41; long_chirp_lut[2686] = 8'd 1; long_chirp_lut[2687] = 8'd 36; + long_chirp_lut[2688] = 8'd125; long_chirp_lut[2689] = 8'd216; long_chirp_lut[2690] = 8'd254; long_chirp_lut[2691] = 8'd218; long_chirp_lut[2692] = 8'd129; long_chirp_lut[2693] = 8'd 38; long_chirp_lut[2694] = 8'd 1; long_chirp_lut[2695] = 8'd 37; long_chirp_lut[2696] = 8'd127; long_chirp_lut[2697] = 8'd217; long_chirp_lut[2698] = 8'd254; long_chirp_lut[2699] = 8'd217; long_chirp_lut[2700] = 8'd128; long_chirp_lut[2701] = 8'd 38; long_chirp_lut[2702] = 8'd 1; long_chirp_lut[2703] = 8'd 38; + long_chirp_lut[2704] = 8'd127; long_chirp_lut[2705] = 8'd217; long_chirp_lut[2706] = 8'd254; long_chirp_lut[2707] = 8'd218; long_chirp_lut[2708] = 8'd129; long_chirp_lut[2709] = 8'd 39; long_chirp_lut[2710] = 8'd 1; long_chirp_lut[2711] = 8'd 36; long_chirp_lut[2712] = 8'd125; long_chirp_lut[2713] = 8'd215; long_chirp_lut[2714] = 8'd254; long_chirp_lut[2715] = 8'd220; long_chirp_lut[2716] = 8'd132; long_chirp_lut[2717] = 8'd 42; long_chirp_lut[2718] = 8'd 1; long_chirp_lut[2719] = 8'd 33; + long_chirp_lut[2720] = 8'd120; long_chirp_lut[2721] = 8'd211; long_chirp_lut[2722] = 8'd254; long_chirp_lut[2723] = 8'd224; long_chirp_lut[2724] = 8'd138; long_chirp_lut[2725] = 8'd 46; long_chirp_lut[2726] = 8'd 1; long_chirp_lut[2727] = 8'd 29; long_chirp_lut[2728] = 8'd113; long_chirp_lut[2729] = 8'd206; long_chirp_lut[2730] = 8'd253; long_chirp_lut[2731] = 8'd229; long_chirp_lut[2732] = 8'd146; long_chirp_lut[2733] = 8'd 53; long_chirp_lut[2734] = 8'd 2; long_chirp_lut[2735] = 8'd 23; + long_chirp_lut[2736] = 8'd104; long_chirp_lut[2737] = 8'd198; long_chirp_lut[2738] = 8'd252; long_chirp_lut[2739] = 8'd235; long_chirp_lut[2740] = 8'd157; long_chirp_lut[2741] = 8'd 62; long_chirp_lut[2742] = 8'd 5; long_chirp_lut[2743] = 8'd 17; long_chirp_lut[2744] = 8'd 92; long_chirp_lut[2745] = 8'd187; long_chirp_lut[2746] = 8'd249; long_chirp_lut[2747] = 8'd241; long_chirp_lut[2748] = 8'd169; long_chirp_lut[2749] = 8'd 74; long_chirp_lut[2750] = 8'd 9; long_chirp_lut[2751] = 8'd 11; + long_chirp_lut[2752] = 8'd 79; long_chirp_lut[2753] = 8'd174; long_chirp_lut[2754] = 8'd243; long_chirp_lut[2755] = 8'd247; long_chirp_lut[2756] = 8'd183; long_chirp_lut[2757] = 8'd 88; long_chirp_lut[2758] = 8'd 15; long_chirp_lut[2759] = 8'd 5; long_chirp_lut[2760] = 8'd 64; long_chirp_lut[2761] = 8'd158; long_chirp_lut[2762] = 8'd235; long_chirp_lut[2763] = 8'd252; long_chirp_lut[2764] = 8'd199; long_chirp_lut[2765] = 8'd106; long_chirp_lut[2766] = 8'd 25; long_chirp_lut[2767] = 8'd 2; + long_chirp_lut[2768] = 8'd 48; long_chirp_lut[2769] = 8'd139; long_chirp_lut[2770] = 8'd224; long_chirp_lut[2771] = 8'd254; long_chirp_lut[2772] = 8'd214; long_chirp_lut[2773] = 8'd126; long_chirp_lut[2774] = 8'd 39; long_chirp_lut[2775] = 8'd 1; long_chirp_lut[2776] = 8'd 33; long_chirp_lut[2777] = 8'd118; long_chirp_lut[2778] = 8'd208; long_chirp_lut[2779] = 8'd254; long_chirp_lut[2780] = 8'd229; long_chirp_lut[2781] = 8'd149; long_chirp_lut[2782] = 8'd 57; long_chirp_lut[2783] = 8'd 3; + long_chirp_lut[2784] = 8'd 19; long_chirp_lut[2785] = 8'd 94; long_chirp_lut[2786] = 8'd188; long_chirp_lut[2787] = 8'd248; long_chirp_lut[2788] = 8'd242; long_chirp_lut[2789] = 8'd173; long_chirp_lut[2790] = 8'd 79; long_chirp_lut[2791] = 8'd 11; long_chirp_lut[2792] = 8'd 8; long_chirp_lut[2793] = 8'd 70; long_chirp_lut[2794] = 8'd163; long_chirp_lut[2795] = 8'd237; long_chirp_lut[2796] = 8'd251; long_chirp_lut[2797] = 8'd197; long_chirp_lut[2798] = 8'd106; long_chirp_lut[2799] = 8'd 26; + long_chirp_lut[2800] = 8'd 1; long_chirp_lut[2801] = 8'd 46; long_chirp_lut[2802] = 8'd135; long_chirp_lut[2803] = 8'd220; long_chirp_lut[2804] = 8'd254; long_chirp_lut[2805] = 8'd220; long_chirp_lut[2806] = 8'd136; long_chirp_lut[2807] = 8'd 47; long_chirp_lut[2808] = 8'd 2; long_chirp_lut[2809] = 8'd 25; long_chirp_lut[2810] = 8'd104; long_chirp_lut[2811] = 8'd195; long_chirp_lut[2812] = 8'd250; long_chirp_lut[2813] = 8'd239; long_chirp_lut[2814] = 8'd167; long_chirp_lut[2815] = 8'd 74; + long_chirp_lut[2816] = 8'd 10; long_chirp_lut[2817] = 8'd 9; long_chirp_lut[2818] = 8'd 72; long_chirp_lut[2819] = 8'd165; long_chirp_lut[2820] = 8'd237; long_chirp_lut[2821] = 8'd251; long_chirp_lut[2822] = 8'd199; long_chirp_lut[2823] = 8'd108; long_chirp_lut[2824] = 8'd 28; long_chirp_lut[2825] = 8'd 1; long_chirp_lut[2826] = 8'd 42; long_chirp_lut[2827] = 8'd129; long_chirp_lut[2828] = 8'd215; long_chirp_lut[2829] = 8'd254; long_chirp_lut[2830] = 8'd226; long_chirp_lut[2831] = 8'd145; + long_chirp_lut[2832] = 8'd 55; long_chirp_lut[2833] = 8'd 3; long_chirp_lut[2834] = 8'd 18; long_chirp_lut[2835] = 8'd 91; long_chirp_lut[2836] = 8'd183; long_chirp_lut[2837] = 8'd246; long_chirp_lut[2838] = 8'd246; long_chirp_lut[2839] = 8'd183; long_chirp_lut[2840] = 8'd 91; long_chirp_lut[2841] = 8'd 18; long_chirp_lut[2842] = 8'd 3; long_chirp_lut[2843] = 8'd 54; long_chirp_lut[2844] = 8'd143; long_chirp_lut[2845] = 8'd224; long_chirp_lut[2846] = 8'd254; long_chirp_lut[2847] = 8'd217; + long_chirp_lut[2848] = 8'd133; long_chirp_lut[2849] = 8'd 46; long_chirp_lut[2850] = 8'd 2; long_chirp_lut[2851] = 8'd 23; long_chirp_lut[2852] = 8'd100; long_chirp_lut[2853] = 8'd191; long_chirp_lut[2854] = 8'd249; long_chirp_lut[2855] = 8'd243; long_chirp_lut[2856] = 8'd177; long_chirp_lut[2857] = 8'd 85; long_chirp_lut[2858] = 8'd 15; long_chirp_lut[2859] = 8'd 4; long_chirp_lut[2860] = 8'd 58; long_chirp_lut[2861] = 8'd147; long_chirp_lut[2862] = 8'd227; long_chirp_lut[2863] = 8'd254; + long_chirp_lut[2864] = 8'd216; long_chirp_lut[2865] = 8'd132; long_chirp_lut[2866] = 8'd 45; long_chirp_lut[2867] = 8'd 2; long_chirp_lut[2868] = 8'd 23; long_chirp_lut[2869] = 8'd 99; long_chirp_lut[2870] = 8'd189; long_chirp_lut[2871] = 8'd248; long_chirp_lut[2872] = 8'd244; long_chirp_lut[2873] = 8'd180; long_chirp_lut[2874] = 8'd 89; long_chirp_lut[2875] = 8'd 18; long_chirp_lut[2876] = 8'd 3; long_chirp_lut[2877] = 8'd 53; long_chirp_lut[2878] = 8'd141; long_chirp_lut[2879] = 8'd222; + long_chirp_lut[2880] = 8'd255; long_chirp_lut[2881] = 8'd222; long_chirp_lut[2882] = 8'd141; long_chirp_lut[2883] = 8'd 53; long_chirp_lut[2884] = 8'd 3; long_chirp_lut[2885] = 8'd 17; long_chirp_lut[2886] = 8'd 88; long_chirp_lut[2887] = 8'd178; long_chirp_lut[2888] = 8'd243; long_chirp_lut[2889] = 8'd249; long_chirp_lut[2890] = 8'd193; long_chirp_lut[2891] = 8'd103; long_chirp_lut[2892] = 8'd 26; long_chirp_lut[2893] = 8'd 1; long_chirp_lut[2894] = 8'd 40; long_chirp_lut[2895] = 8'd123; + long_chirp_lut[2896] = 8'd209; long_chirp_lut[2897] = 8'd253; long_chirp_lut[2898] = 8'd234; long_chirp_lut[2899] = 8'd160; long_chirp_lut[2900] = 8'd 71; long_chirp_lut[2901] = 8'd 9; long_chirp_lut[2902] = 8'd 8; long_chirp_lut[2903] = 8'd 67; long_chirp_lut[2904] = 8'd157; long_chirp_lut[2905] = 8'd231; long_chirp_lut[2906] = 8'd254; long_chirp_lut[2907] = 8'd213; long_chirp_lut[2908] = 8'd129; long_chirp_lut[2909] = 8'd 44; long_chirp_lut[2910] = 8'd 2; long_chirp_lut[2911] = 8'd 22; + long_chirp_lut[2912] = 8'd 96; long_chirp_lut[2913] = 8'd185; long_chirp_lut[2914] = 8'd246; long_chirp_lut[2915] = 8'd247; long_chirp_lut[2916] = 8'd189; long_chirp_lut[2917] = 8'd100; long_chirp_lut[2918] = 8'd 25; long_chirp_lut[2919] = 8'd 1; long_chirp_lut[2920] = 8'd 40; long_chirp_lut[2921] = 8'd123; long_chirp_lut[2922] = 8'd208; long_chirp_lut[2923] = 8'd253; long_chirp_lut[2924] = 8'd235; long_chirp_lut[2925] = 8'd164; long_chirp_lut[2926] = 8'd 75; long_chirp_lut[2927] = 8'd 12; + long_chirp_lut[2928] = 8'd 6; long_chirp_lut[2929] = 8'd 60; long_chirp_lut[2930] = 8'd148; long_chirp_lut[2931] = 8'd225; long_chirp_lut[2932] = 8'd254; long_chirp_lut[2933] = 8'd221; long_chirp_lut[2934] = 8'd141; long_chirp_lut[2935] = 8'd 55; long_chirp_lut[2936] = 8'd 4; long_chirp_lut[2937] = 8'd 14; long_chirp_lut[2938] = 8'd 80; long_chirp_lut[2939] = 8'd169; long_chirp_lut[2940] = 8'd237; long_chirp_lut[2941] = 8'd252; long_chirp_lut[2942] = 8'd206; long_chirp_lut[2943] = 8'd121; + long_chirp_lut[2944] = 8'd 39; long_chirp_lut[2945] = 8'd 1; long_chirp_lut[2946] = 8'd 24; long_chirp_lut[2947] = 8'd 98; long_chirp_lut[2948] = 8'd186; long_chirp_lut[2949] = 8'd246; long_chirp_lut[2950] = 8'd247; long_chirp_lut[2951] = 8'd191; long_chirp_lut[2952] = 8'd104; long_chirp_lut[2953] = 8'd 28; long_chirp_lut[2954] = 8'd 1; long_chirp_lut[2955] = 8'd 35; long_chirp_lut[2956] = 8'd114; long_chirp_lut[2957] = 8'd200; long_chirp_lut[2958] = 8'd250; long_chirp_lut[2959] = 8'd242; + long_chirp_lut[2960] = 8'd178; long_chirp_lut[2961] = 8'd 90; long_chirp_lut[2962] = 8'd 20; long_chirp_lut[2963] = 8'd 2; long_chirp_lut[2964] = 8'd 45; long_chirp_lut[2965] = 8'd127; long_chirp_lut[2966] = 8'd210; long_chirp_lut[2967] = 8'd253; long_chirp_lut[2968] = 8'd236; long_chirp_lut[2969] = 8'd167; long_chirp_lut[2970] = 8'd 79; long_chirp_lut[2971] = 8'd 14; long_chirp_lut[2972] = 8'd 4; long_chirp_lut[2973] = 8'd 53; long_chirp_lut[2974] = 8'd137; long_chirp_lut[2975] = 8'd217; + long_chirp_lut[2976] = 8'd254; long_chirp_lut[2977] = 8'd231; long_chirp_lut[2978] = 8'd158; long_chirp_lut[2979] = 8'd 71; long_chirp_lut[2980] = 8'd 11; long_chirp_lut[2981] = 8'd 6; long_chirp_lut[2982] = 8'd 59; long_chirp_lut[2983] = 8'd144; long_chirp_lut[2984] = 8'd222; long_chirp_lut[2985] = 8'd254; long_chirp_lut[2986] = 8'd227; long_chirp_lut[2987] = 8'd153; long_chirp_lut[2988] = 8'd 66; long_chirp_lut[2989] = 8'd 9; long_chirp_lut[2990] = 8'd 8; long_chirp_lut[2991] = 8'd 63; + long_chirp_lut[2992] = 8'd148; long_chirp_lut[2993] = 8'd224; long_chirp_lut[2994] = 8'd254; long_chirp_lut[2995] = 8'd225; long_chirp_lut[2996] = 8'd150; long_chirp_lut[2997] = 8'd 64; long_chirp_lut[2998] = 8'd 8; long_chirp_lut[2999] = 8'd 8; long_chirp_lut[3000] = 8'd 64; long_chirp_lut[3001] = 8'd150; long_chirp_lut[3002] = 8'd225; long_chirp_lut[3003] = 8'd254; long_chirp_lut[3004] = 8'd225; long_chirp_lut[3005] = 8'd150; long_chirp_lut[3006] = 8'd 65; long_chirp_lut[3007] = 8'd 8; + long_chirp_lut[3008] = 8'd 8; long_chirp_lut[3009] = 8'd 63; long_chirp_lut[3010] = 8'd148; long_chirp_lut[3011] = 8'd223; long_chirp_lut[3012] = 8'd254; long_chirp_lut[3013] = 8'd227; long_chirp_lut[3014] = 8'd153; long_chirp_lut[3015] = 8'd 68; long_chirp_lut[3016] = 8'd 10; long_chirp_lut[3017] = 8'd 6; long_chirp_lut[3018] = 8'd 59; long_chirp_lut[3019] = 8'd143; long_chirp_lut[3020] = 8'd220; long_chirp_lut[3021] = 8'd254; long_chirp_lut[3022] = 8'd230; long_chirp_lut[3023] = 8'd159; + long_chirp_lut[3024] = 8'd 73; long_chirp_lut[3025] = 8'd 13; long_chirp_lut[3026] = 8'd 4; long_chirp_lut[3027] = 8'd 53; long_chirp_lut[3028] = 8'd135; long_chirp_lut[3029] = 8'd214; long_chirp_lut[3030] = 8'd253; long_chirp_lut[3031] = 8'd235; long_chirp_lut[3032] = 8'd168; long_chirp_lut[3033] = 8'd 82; long_chirp_lut[3034] = 8'd 17; long_chirp_lut[3035] = 8'd 2; long_chirp_lut[3036] = 8'd 45; long_chirp_lut[3037] = 8'd124; long_chirp_lut[3038] = 8'd206; long_chirp_lut[3039] = 8'd251; + long_chirp_lut[3040] = 8'd241; long_chirp_lut[3041] = 8'd179; long_chirp_lut[3042] = 8'd 94; long_chirp_lut[3043] = 8'd 24; long_chirp_lut[3044] = 8'd 1; long_chirp_lut[3045] = 8'd 35; long_chirp_lut[3046] = 8'd111; long_chirp_lut[3047] = 8'd194; long_chirp_lut[3048] = 8'd247; long_chirp_lut[3049] = 8'd247; long_chirp_lut[3050] = 8'd193; long_chirp_lut[3051] = 8'd109; long_chirp_lut[3052] = 8'd 34; long_chirp_lut[3053] = 8'd 1; long_chirp_lut[3054] = 8'd 24; long_chirp_lut[3055] = 8'd 94; + long_chirp_lut[3056] = 8'd179; long_chirp_lut[3057] = 8'd241; long_chirp_lut[3058] = 8'd252; long_chirp_lut[3059] = 8'd207; long_chirp_lut[3060] = 8'd128; long_chirp_lut[3061] = 8'd 48; long_chirp_lut[3062] = 8'd 3; long_chirp_lut[3063] = 8'd 14; long_chirp_lut[3064] = 8'd 76; long_chirp_lut[3065] = 8'd160; long_chirp_lut[3066] = 8'd230; long_chirp_lut[3067] = 8'd254; long_chirp_lut[3068] = 8'd223; long_chirp_lut[3069] = 8'd149; long_chirp_lut[3070] = 8'd 66; long_chirp_lut[3071] = 8'd 10; + long_chirp_lut[3072] = 8'd 6; long_chirp_lut[3073] = 8'd 56; long_chirp_lut[3074] = 8'd137; long_chirp_lut[3075] = 8'd214; long_chirp_lut[3076] = 8'd253; long_chirp_lut[3077] = 8'd237; long_chirp_lut[3078] = 8'd172; long_chirp_lut[3079] = 8'd 88; long_chirp_lut[3080] = 8'd 21; long_chirp_lut[3081] = 8'd 1; long_chirp_lut[3082] = 8'd 36; long_chirp_lut[3083] = 8'd111; long_chirp_lut[3084] = 8'd193; long_chirp_lut[3085] = 8'd247; long_chirp_lut[3086] = 8'd248; long_chirp_lut[3087] = 8'd197; + long_chirp_lut[3088] = 8'd115; long_chirp_lut[3089] = 8'd 39; long_chirp_lut[3090] = 8'd 2; long_chirp_lut[3091] = 8'd 19; long_chirp_lut[3092] = 8'd 83; long_chirp_lut[3093] = 8'd167; long_chirp_lut[3094] = 8'd233; long_chirp_lut[3095] = 8'd254; long_chirp_lut[3096] = 8'd220; long_chirp_lut[3097] = 8'd146; long_chirp_lut[3098] = 8'd 64; long_chirp_lut[3099] = 8'd 9; long_chirp_lut[3100] = 8'd 6; long_chirp_lut[3101] = 8'd 55; long_chirp_lut[3102] = 8'd135; long_chirp_lut[3103] = 8'd212; + long_chirp_lut[3104] = 8'd253; long_chirp_lut[3105] = 8'd240; long_chirp_lut[3106] = 8'd178; long_chirp_lut[3107] = 8'd 96; long_chirp_lut[3108] = 8'd 26; long_chirp_lut[3109] = 8'd 1; long_chirp_lut[3110] = 8'd 29; long_chirp_lut[3111] = 8'd100; long_chirp_lut[3112] = 8'd182; long_chirp_lut[3113] = 8'd241; long_chirp_lut[3114] = 8'd252; long_chirp_lut[3115] = 8'd209; long_chirp_lut[3116] = 8'd132; long_chirp_lut[3117] = 8'd 53; long_chirp_lut[3118] = 8'd 5; long_chirp_lut[3119] = 8'd 10; + long_chirp_lut[3120] = 8'd 64; long_chirp_lut[3121] = 8'd145; long_chirp_lut[3122] = 8'd219; long_chirp_lut[3123] = 8'd254; long_chirp_lut[3124] = 8'd235; long_chirp_lut[3125] = 8'd171; long_chirp_lut[3126] = 8'd 89; long_chirp_lut[3127] = 8'd 23; long_chirp_lut[3128] = 8'd 1; long_chirp_lut[3129] = 8'd 32; long_chirp_lut[3130] = 8'd104; long_chirp_lut[3131] = 8'd185; long_chirp_lut[3132] = 8'd242; long_chirp_lut[3133] = 8'd251; long_chirp_lut[3134] = 8'd209; long_chirp_lut[3135] = 8'd132; + long_chirp_lut[3136] = 8'd 53; long_chirp_lut[3137] = 8'd 6; long_chirp_lut[3138] = 8'd 9; long_chirp_lut[3139] = 8'd 62; long_chirp_lut[3140] = 8'd142; long_chirp_lut[3141] = 8'd216; long_chirp_lut[3142] = 8'd253; long_chirp_lut[3143] = 8'd238; long_chirp_lut[3144] = 8'd177; long_chirp_lut[3145] = 8'd 95; long_chirp_lut[3146] = 8'd 27; long_chirp_lut[3147] = 8'd 1; long_chirp_lut[3148] = 8'd 27; long_chirp_lut[3149] = 8'd 95; long_chirp_lut[3150] = 8'd176; long_chirp_lut[3151] = 8'd237; + long_chirp_lut[3152] = 8'd253; long_chirp_lut[3153] = 8'd217; long_chirp_lut[3154] = 8'd144; long_chirp_lut[3155] = 8'd 64; long_chirp_lut[3156] = 8'd 10; long_chirp_lut[3157] = 8'd 5; long_chirp_lut[3158] = 8'd 49; long_chirp_lut[3159] = 8'd126; long_chirp_lut[3160] = 8'd203; long_chirp_lut[3161] = 8'd250; long_chirp_lut[3162] = 8'd246; long_chirp_lut[3163] = 8'd194; long_chirp_lut[3164] = 8'd115; long_chirp_lut[3165] = 8'd 41; long_chirp_lut[3166] = 8'd 2; long_chirp_lut[3167] = 8'd 15; + long_chirp_lut[3168] = 8'd 73; long_chirp_lut[3169] = 8'd154; long_chirp_lut[3170] = 8'd224; long_chirp_lut[3171] = 8'd254; long_chirp_lut[3172] = 8'd233; long_chirp_lut[3173] = 8'd170; long_chirp_lut[3174] = 8'd 89; long_chirp_lut[3175] = 8'd 24; long_chirp_lut[3176] = 8'd 1; long_chirp_lut[3177] = 8'd 29; long_chirp_lut[3178] = 8'd 97; long_chirp_lut[3179] = 8'd177; long_chirp_lut[3180] = 8'd237; long_chirp_lut[3181] = 8'd254; long_chirp_lut[3182] = 8'd219; long_chirp_lut[3183] = 8'd148; + long_chirp_lut[3184] = 8'd 68; long_chirp_lut[3185] = 8'd 13; long_chirp_lut[3186] = 8'd 3; long_chirp_lut[3187] = 8'd 43; long_chirp_lut[3188] = 8'd117; long_chirp_lut[3189] = 8'd195; long_chirp_lut[3190] = 8'd246; long_chirp_lut[3191] = 8'd250; long_chirp_lut[3192] = 8'd204; long_chirp_lut[3193] = 8'd128; long_chirp_lut[3194] = 8'd 52; long_chirp_lut[3195] = 8'd 6; long_chirp_lut[3196] = 8'd 8; long_chirp_lut[3197] = 8'd 58; long_chirp_lut[3198] = 8'd135; long_chirp_lut[3199] = 8'd209; + long_chirp_lut[3200] = 8'd251; long_chirp_lut[3201] = 8'd244; long_chirp_lut[3202] = 8'd191; long_chirp_lut[3203] = 8'd113; long_chirp_lut[3204] = 8'd 41; long_chirp_lut[3205] = 8'd 3; long_chirp_lut[3206] = 8'd 14; long_chirp_lut[3207] = 8'd 70; long_chirp_lut[3208] = 8'd148; long_chirp_lut[3209] = 8'd219; long_chirp_lut[3210] = 8'd253; long_chirp_lut[3211] = 8'd239; long_chirp_lut[3212] = 8'd180; long_chirp_lut[3213] = 8'd101; long_chirp_lut[3214] = 8'd 33; long_chirp_lut[3215] = 8'd 1; + long_chirp_lut[3216] = 8'd 19; long_chirp_lut[3217] = 8'd 79; long_chirp_lut[3218] = 8'd158; long_chirp_lut[3219] = 8'd225; long_chirp_lut[3220] = 8'd254; long_chirp_lut[3221] = 8'd234; long_chirp_lut[3222] = 8'd172; long_chirp_lut[3223] = 8'd 93; long_chirp_lut[3224] = 8'd 28; long_chirp_lut[3225] = 8'd 1; long_chirp_lut[3226] = 8'd 23; long_chirp_lut[3227] = 8'd 85; long_chirp_lut[3228] = 8'd164; long_chirp_lut[3229] = 8'd229; long_chirp_lut[3230] = 8'd254; long_chirp_lut[3231] = 8'd231; + long_chirp_lut[3232] = 8'd168; long_chirp_lut[3233] = 8'd 89; long_chirp_lut[3234] = 8'd 25; long_chirp_lut[3235] = 8'd 1; long_chirp_lut[3236] = 8'd 25; long_chirp_lut[3237] = 8'd 88; long_chirp_lut[3238] = 8'd167; long_chirp_lut[3239] = 8'd230; long_chirp_lut[3240] = 8'd255; long_chirp_lut[3241] = 8'd230; long_chirp_lut[3242] = 8'd167; long_chirp_lut[3243] = 8'd 88; long_chirp_lut[3244] = 8'd 25; long_chirp_lut[3245] = 8'd 1; long_chirp_lut[3246] = 8'd 24; long_chirp_lut[3247] = 8'd 87; + long_chirp_lut[3248] = 8'd166; long_chirp_lut[3249] = 8'd229; long_chirp_lut[3250] = 8'd254; long_chirp_lut[3251] = 8'd232; long_chirp_lut[3252] = 8'd169; long_chirp_lut[3253] = 8'd 91; long_chirp_lut[3254] = 8'd 27; long_chirp_lut[3255] = 8'd 1; long_chirp_lut[3256] = 8'd 22; long_chirp_lut[3257] = 8'd 83; long_chirp_lut[3258] = 8'd161; long_chirp_lut[3259] = 8'd226; long_chirp_lut[3260] = 8'd254; long_chirp_lut[3261] = 8'd235; long_chirp_lut[3262] = 8'd175; long_chirp_lut[3263] = 8'd 98; + long_chirp_lut[3264] = 8'd 31; long_chirp_lut[3265] = 8'd 1; long_chirp_lut[3266] = 8'd 18; long_chirp_lut[3267] = 8'd 76; long_chirp_lut[3268] = 8'd153; long_chirp_lut[3269] = 8'd220; long_chirp_lut[3270] = 8'd253; long_chirp_lut[3271] = 8'd240; long_chirp_lut[3272] = 8'd184; long_chirp_lut[3273] = 8'd108; long_chirp_lut[3274] = 8'd 39; long_chirp_lut[3275] = 8'd 3; long_chirp_lut[3276] = 8'd 13; long_chirp_lut[3277] = 8'd 65; long_chirp_lut[3278] = 8'd141; long_chirp_lut[3279] = 8'd211; + long_chirp_lut[3280] = 8'd251; long_chirp_lut[3281] = 8'd245; long_chirp_lut[3282] = 8'd196; long_chirp_lut[3283] = 8'd122; long_chirp_lut[3284] = 8'd 50; long_chirp_lut[3285] = 8'd 6; long_chirp_lut[3286] = 8'd 7; long_chirp_lut[3287] = 8'd 52; long_chirp_lut[3288] = 8'd125; long_chirp_lut[3289] = 8'd199; long_chirp_lut[3290] = 8'd246; long_chirp_lut[3291] = 8'd251; long_chirp_lut[3292] = 8'd210; long_chirp_lut[3293] = 8'd139; long_chirp_lut[3294] = 8'd 65; long_chirp_lut[3295] = 8'd 13; + long_chirp_lut[3296] = 8'd 2; long_chirp_lut[3297] = 8'd 38; long_chirp_lut[3298] = 8'd105; long_chirp_lut[3299] = 8'd181; long_chirp_lut[3300] = 8'd237; long_chirp_lut[3301] = 8'd254; long_chirp_lut[3302] = 8'd225; long_chirp_lut[3303] = 8'd161; long_chirp_lut[3304] = 8'd 84; long_chirp_lut[3305] = 8'd 24; long_chirp_lut[3306] = 8'd 1; long_chirp_lut[3307] = 8'd 23; long_chirp_lut[3308] = 8'd 83; long_chirp_lut[3309] = 8'd159; long_chirp_lut[3310] = 8'd224; long_chirp_lut[3311] = 8'd254; + long_chirp_lut[3312] = 8'd239; long_chirp_lut[3313] = 8'd184; long_chirp_lut[3314] = 8'd109; long_chirp_lut[3315] = 8'd 41; long_chirp_lut[3316] = 8'd 3; long_chirp_lut[3317] = 8'd 10; long_chirp_lut[3318] = 8'd 59; long_chirp_lut[3319] = 8'd132; long_chirp_lut[3320] = 8'd203; long_chirp_lut[3321] = 8'd248; long_chirp_lut[3322] = 8'd250; long_chirp_lut[3323] = 8'd208; long_chirp_lut[3324] = 8'd138; long_chirp_lut[3325] = 8'd 64; long_chirp_lut[3326] = 8'd 13; long_chirp_lut[3327] = 8'd 2; + long_chirp_lut[3328] = 8'd 35; long_chirp_lut[3329] = 8'd101; long_chirp_lut[3330] = 8'd176; long_chirp_lut[3331] = 8'd234; long_chirp_lut[3332] = 8'd254; long_chirp_lut[3333] = 8'd230; long_chirp_lut[3334] = 8'd170; long_chirp_lut[3335] = 8'd 95; long_chirp_lut[3336] = 8'd 31; long_chirp_lut[3337] = 8'd 1; long_chirp_lut[3338] = 8'd 15; long_chirp_lut[3339] = 8'd 69; long_chirp_lut[3340] = 8'd142; long_chirp_lut[3341] = 8'd211; long_chirp_lut[3342] = 8'd250; long_chirp_lut[3343] = 8'd247; + long_chirp_lut[3344] = 8'd202; long_chirp_lut[3345] = 8'd132; long_chirp_lut[3346] = 8'd 60; long_chirp_lut[3347] = 8'd 11; long_chirp_lut[3348] = 8'd 3; long_chirp_lut[3349] = 8'd 38; long_chirp_lut[3350] = 8'd104; long_chirp_lut[3351] = 8'd178; long_chirp_lut[3352] = 8'd235; long_chirp_lut[3353] = 8'd254; long_chirp_lut[3354] = 8'd231; long_chirp_lut[3355] = 8'd171; long_chirp_lut[3356] = 8'd 97; long_chirp_lut[3357] = 8'd 33; long_chirp_lut[3358] = 8'd 2; long_chirp_lut[3359] = 8'd 13; + long_chirp_lut[3360] = 8'd 64; long_chirp_lut[3361] = 8'd136; long_chirp_lut[3362] = 8'd206; long_chirp_lut[3363] = 8'd248; long_chirp_lut[3364] = 8'd250; long_chirp_lut[3365] = 8'd209; long_chirp_lut[3366] = 8'd141; long_chirp_lut[3367] = 8'd 69; long_chirp_lut[3368] = 8'd 16; long_chirp_lut[3369] = 8'd 1; long_chirp_lut[3370] = 8'd 29; long_chirp_lut[3371] = 8'd 90; long_chirp_lut[3372] = 8'd164; long_chirp_lut[3373] = 8'd226; long_chirp_lut[3374] = 8'd254; long_chirp_lut[3375] = 8'd240; + long_chirp_lut[3376] = 8'd187; long_chirp_lut[3377] = 8'd115; long_chirp_lut[3378] = 8'd 47; long_chirp_lut[3379] = 8'd 6; long_chirp_lut[3380] = 8'd 6; long_chirp_lut[3381] = 8'd 46; long_chirp_lut[3382] = 8'd114; long_chirp_lut[3383] = 8'd186; long_chirp_lut[3384] = 8'd239; long_chirp_lut[3385] = 8'd254; long_chirp_lut[3386] = 8'd227; long_chirp_lut[3387] = 8'd167; long_chirp_lut[3388] = 8'd 94; long_chirp_lut[3389] = 8'd 32; long_chirp_lut[3390] = 8'd 2; long_chirp_lut[3391] = 8'd 13; + long_chirp_lut[3392] = 8'd 63; long_chirp_lut[3393] = 8'd134; long_chirp_lut[3394] = 8'd203; long_chirp_lut[3395] = 8'd247; long_chirp_lut[3396] = 8'd251; long_chirp_lut[3397] = 8'd215; long_chirp_lut[3398] = 8'd150; long_chirp_lut[3399] = 8'd 77; long_chirp_lut[3400] = 8'd 21; long_chirp_lut[3401] = 8'd 1; long_chirp_lut[3402] = 8'd 21; long_chirp_lut[3403] = 8'd 77; long_chirp_lut[3404] = 8'd149; long_chirp_lut[3405] = 8'd214; long_chirp_lut[3406] = 8'd251; long_chirp_lut[3407] = 8'd247; + long_chirp_lut[3408] = 8'd204; long_chirp_lut[3409] = 8'd136; long_chirp_lut[3410] = 8'd 66; long_chirp_lut[3411] = 8'd 15; long_chirp_lut[3412] = 8'd 1; long_chirp_lut[3413] = 8'd 28; long_chirp_lut[3414] = 8'd 88; long_chirp_lut[3415] = 8'd160; long_chirp_lut[3416] = 8'd222; long_chirp_lut[3417] = 8'd253; long_chirp_lut[3418] = 8'd244; long_chirp_lut[3419] = 8'd197; long_chirp_lut[3420] = 8'd128; long_chirp_lut[3421] = 8'd 58; long_chirp_lut[3422] = 8'd 12; long_chirp_lut[3423] = 8'd 2; + long_chirp_lut[3424] = 8'd 33; long_chirp_lut[3425] = 8'd 94; long_chirp_lut[3426] = 8'd166; long_chirp_lut[3427] = 8'd226; long_chirp_lut[3428] = 8'd254; long_chirp_lut[3429] = 8'd241; long_chirp_lut[3430] = 8'd193; long_chirp_lut[3431] = 8'd123; long_chirp_lut[3432] = 8'd 55; long_chirp_lut[3433] = 8'd 10; long_chirp_lut[3434] = 8'd 3; long_chirp_lut[3435] = 8'd 35; long_chirp_lut[3436] = 8'd 96; long_chirp_lut[3437] = 8'd168; long_chirp_lut[3438] = 8'd227; long_chirp_lut[3439] = 8'd254; + long_chirp_lut[3440] = 8'd241; long_chirp_lut[3441] = 8'd192; long_chirp_lut[3442] = 8'd123; long_chirp_lut[3443] = 8'd 55; long_chirp_lut[3444] = 8'd 10; long_chirp_lut[3445] = 8'd 2; long_chirp_lut[3446] = 8'd 34; long_chirp_lut[3447] = 8'd 94; long_chirp_lut[3448] = 8'd166; long_chirp_lut[3449] = 8'd225; long_chirp_lut[3450] = 8'd253; long_chirp_lut[3451] = 8'd243; long_chirp_lut[3452] = 8'd196; long_chirp_lut[3453] = 8'd128; long_chirp_lut[3454] = 8'd 60; long_chirp_lut[3455] = 8'd 13; + long_chirp_lut[3456] = 8'd 2; long_chirp_lut[3457] = 8'd 30; long_chirp_lut[3458] = 8'd 88; long_chirp_lut[3459] = 8'd159; long_chirp_lut[3460] = 8'd220; long_chirp_lut[3461] = 8'd252; long_chirp_lut[3462] = 8'd246; long_chirp_lut[3463] = 8'd203; long_chirp_lut[3464] = 8'd137; long_chirp_lut[3465] = 8'd 68; long_chirp_lut[3466] = 8'd 17; long_chirp_lut[3467] = 8'd 1; long_chirp_lut[3468] = 8'd 23; long_chirp_lut[3469] = 8'd 78; long_chirp_lut[3470] = 8'd148; long_chirp_lut[3471] = 8'd211; + long_chirp_lut[3472] = 8'd249; long_chirp_lut[3473] = 8'd250; long_chirp_lut[3474] = 8'd213; long_chirp_lut[3475] = 8'd150; long_chirp_lut[3476] = 8'd 80; long_chirp_lut[3477] = 8'd 25; long_chirp_lut[3478] = 8'd 1; long_chirp_lut[3479] = 8'd 15; long_chirp_lut[3480] = 8'd 64; long_chirp_lut[3481] = 8'd132; long_chirp_lut[3482] = 8'd198; long_chirp_lut[3483] = 8'd243; long_chirp_lut[3484] = 8'd253; long_chirp_lut[3485] = 8'd225; long_chirp_lut[3486] = 8'd167; long_chirp_lut[3487] = 8'd 98; + long_chirp_lut[3488] = 8'd 37; long_chirp_lut[3489] = 8'd 4; long_chirp_lut[3490] = 8'd 8; long_chirp_lut[3491] = 8'd 48; long_chirp_lut[3492] = 8'd112; long_chirp_lut[3493] = 8'd180; long_chirp_lut[3494] = 8'd233; long_chirp_lut[3495] = 8'd254; long_chirp_lut[3496] = 8'd238; long_chirp_lut[3497] = 8'd188; long_chirp_lut[3498] = 8'd120; long_chirp_lut[3499] = 8'd 55; long_chirp_lut[3500] = 8'd 11; long_chirp_lut[3501] = 8'd 2; long_chirp_lut[3502] = 8'd 30; long_chirp_lut[3503] = 8'd 87; + long_chirp_lut[3504] = 8'd157; long_chirp_lut[3505] = 8'd217; long_chirp_lut[3506] = 8'd251; long_chirp_lut[3507] = 8'd248; long_chirp_lut[3508] = 8'd210; long_chirp_lut[3509] = 8'd147; long_chirp_lut[3510] = 8'd 79; long_chirp_lut[3511] = 8'd 25; long_chirp_lut[3512] = 8'd 1; long_chirp_lut[3513] = 8'd 14; long_chirp_lut[3514] = 8'd 61; long_chirp_lut[3515] = 8'd127; long_chirp_lut[3516] = 8'd193; long_chirp_lut[3517] = 8'd240; long_chirp_lut[3518] = 8'd254; long_chirp_lut[3519] = 8'd231; + long_chirp_lut[3520] = 8'd178; long_chirp_lut[3521] = 8'd110; long_chirp_lut[3522] = 8'd 47; long_chirp_lut[3523] = 8'd 8; long_chirp_lut[3524] = 8'd 3; long_chirp_lut[3525] = 8'd 35; long_chirp_lut[3526] = 8'd 93; long_chirp_lut[3527] = 8'd162; long_chirp_lut[3528] = 8'd220; long_chirp_lut[3529] = 8'd252; long_chirp_lut[3530] = 8'd247; long_chirp_lut[3531] = 8'd209; long_chirp_lut[3532] = 8'd146; long_chirp_lut[3533] = 8'd 79; long_chirp_lut[3534] = 8'd 25; long_chirp_lut[3535] = 8'd 1; + long_chirp_lut[3536] = 8'd 13; long_chirp_lut[3537] = 8'd 58; long_chirp_lut[3538] = 8'd123; long_chirp_lut[3539] = 8'd189; long_chirp_lut[3540] = 8'd237; long_chirp_lut[3541] = 8'd254; long_chirp_lut[3542] = 8'd235; long_chirp_lut[3543] = 8'd185; long_chirp_lut[3544] = 8'd119; long_chirp_lut[3545] = 8'd 55; long_chirp_lut[3546] = 8'd 12; long_chirp_lut[3547] = 8'd 1; long_chirp_lut[3548] = 8'd 27; long_chirp_lut[3549] = 8'd 81; long_chirp_lut[3550] = 8'd148; long_chirp_lut[3551] = 8'd209; + long_chirp_lut[3552] = 8'd247; long_chirp_lut[3553] = 8'd252; long_chirp_lut[3554] = 8'd221; long_chirp_lut[3555] = 8'd164; long_chirp_lut[3556] = 8'd 97; long_chirp_lut[3557] = 8'd 38; long_chirp_lut[3558] = 8'd 5; long_chirp_lut[3559] = 8'd 5; long_chirp_lut[3560] = 8'd 40; long_chirp_lut[3561] = 8'd100; long_chirp_lut[3562] = 8'd167; long_chirp_lut[3563] = 8'd223; long_chirp_lut[3564] = 8'd252; long_chirp_lut[3565] = 8'd247; long_chirp_lut[3566] = 8'd209; long_chirp_lut[3567] = 8'd148; + long_chirp_lut[3568] = 8'd 81; long_chirp_lut[3569] = 8'd 27; long_chirp_lut[3570] = 8'd 2; long_chirp_lut[3571] = 8'd 11; long_chirp_lut[3572] = 8'd 52; long_chirp_lut[3573] = 8'd114; long_chirp_lut[3574] = 8'd180; long_chirp_lut[3575] = 8'd231; long_chirp_lut[3576] = 8'd254; long_chirp_lut[3577] = 8'd242; long_chirp_lut[3578] = 8'd199; long_chirp_lut[3579] = 8'd136; long_chirp_lut[3580] = 8'd 71; long_chirp_lut[3581] = 8'd 21; long_chirp_lut[3582] = 8'd 1; long_chirp_lut[3583] = 8'd 15; + long_chirp_lut[3584] = 8'd 60; long_chirp_lut[3585] = 8'd123; long_chirp_lut[3586] = 8'd188; long_chirp_lut[3587] = 8'd236; long_chirp_lut[3588] = 8'd254; long_chirp_lut[3589] = 8'd239; long_chirp_lut[3590] = 8'd193; long_chirp_lut[3591] = 8'd129; long_chirp_lut[3592] = 8'd 65; long_chirp_lut[3593] = 8'd 18; long_chirp_lut[3594] = 8'd 1; long_chirp_lut[3595] = 8'd 17; long_chirp_lut[3596] = 8'd 64; long_chirp_lut[3597] = 8'd127; long_chirp_lut[3598] = 8'd191; long_chirp_lut[3599] = 8'd237; +end + +// Short PLFM chirp LUT (0.5us, 30MHz to 10MHz) +initial begin + short_chirp_lut[ 0] = 8'd255; short_chirp_lut[ 1] = 8'd129; short_chirp_lut[ 2] = 8'd 1; short_chirp_lut[ 3] = 8'd118; short_chirp_lut[ 4] = 8'd253; short_chirp_lut[ 5] = 8'd155; short_chirp_lut[ 6] = 8'd 7; short_chirp_lut[ 7] = 8'd 75; + short_chirp_lut[ 8] = 8'd235; short_chirp_lut[ 9] = 8'd210; short_chirp_lut[10] = 8'd 46; short_chirp_lut[11] = 8'd 17; short_chirp_lut[12] = 8'd167; short_chirp_lut[13] = 8'd254; short_chirp_lut[14] = 8'd145; short_chirp_lut[15] = 8'd 10; + short_chirp_lut[16] = 8'd 49; short_chirp_lut[17] = 8'd201; short_chirp_lut[18] = 8'd248; short_chirp_lut[19] = 8'd129; short_chirp_lut[20] = 8'd 8; short_chirp_lut[21] = 8'd 45; short_chirp_lut[22] = 8'd187; short_chirp_lut[23] = 8'd254; + short_chirp_lut[24] = 8'd167; short_chirp_lut[25] = 8'd 34; short_chirp_lut[26] = 8'd 10; short_chirp_lut[27] = 8'd118; short_chirp_lut[28] = 8'd235; short_chirp_lut[29] = 8'd238; short_chirp_lut[30] = 8'd127; short_chirp_lut[31] = 8'd 18; + short_chirp_lut[32] = 8'd 15; short_chirp_lut[33] = 8'd118; short_chirp_lut[34] = 8'd228; short_chirp_lut[35] = 8'd249; short_chirp_lut[36] = 8'd167; short_chirp_lut[37] = 8'd 54; short_chirp_lut[38] = 8'd 1; short_chirp_lut[39] = 8'd 45; + short_chirp_lut[40] = 8'd150; short_chirp_lut[41] = 8'd237; short_chirp_lut[42] = 8'd248; short_chirp_lut[43] = 8'd180; short_chirp_lut[44] = 8'd 80; short_chirp_lut[45] = 8'd 10; short_chirp_lut[46] = 8'd 10; short_chirp_lut[47] = 8'd 75; + short_chirp_lut[48] = 8'd167; short_chirp_lut[49] = 8'd237; short_chirp_lut[50] = 8'd253; short_chirp_lut[51] = 8'd210; short_chirp_lut[52] = 8'd132; short_chirp_lut[53] = 8'd 54; short_chirp_lut[54] = 8'd 7; short_chirp_lut[55] = 8'd 6; + short_chirp_lut[56] = 8'd 49; short_chirp_lut[57] = 8'd118; short_chirp_lut[58] = 8'd187; short_chirp_lut[59] = 8'd237; +end diff --git a/9_Firmware/9_2_FPGA/chirp_memory_loader_param.v b/9_Firmware/9_2_FPGA/chirp_memory_loader_param.v new file mode 100644 index 0000000..90e9a44 --- /dev/null +++ b/9_Firmware/9_2_FPGA/chirp_memory_loader_param.v @@ -0,0 +1,130 @@ +`timescale 1ns / 1ps +module chirp_memory_loader_param #( + parameter LONG_I_FILE_SEG0 = "C:/Users/dell/Desktop/ASUS/RADAR_V5/Firmware/FPGA/PLFM_RADAR_Xilinx_ISE_V2/Python/mem_files/fpga_mem_files/long_chirp_seg0_i.mem", + parameter LONG_Q_FILE_SEG0 = "C:/Users/dell/Desktop/ASUS/RADAR_V5/Firmware/FPGA/PLFM_RADAR_Xilinx_ISE_V2/Python/mem_files/fpga_mem_files/long_chirp_seg0_q.mem", + parameter LONG_I_FILE_SEG1 = "C:/Users/dell/Desktop/ASUS/RADAR_V5/Firmware/FPGA/PLFM_RADAR_Xilinx_ISE_V2/Python/mem_files/fpga_mem_files/long_chirp_seg1_i.mem", + parameter LONG_Q_FILE_SEG1 = "C:/Users/dell/Desktop/ASUS/RADAR_V5/Firmware/FPGA/PLFM_RADAR_Xilinx_ISE_V2/Python/mem_files/fpga_mem_files/long_chirp_seg1_q.mem", + parameter LONG_I_FILE_SEG2 = "C:/Users/dell/Desktop/ASUS/RADAR_V5/Firmware/FPGA/PLFM_RADAR_Xilinx_ISE_V2/Python/mem_files/fpga_mem_files/long_chirp_seg2_i.mem", + parameter LONG_Q_FILE_SEG2 = "C:/Users/dell/Desktop/ASUS/RADAR_V5/Firmware/FPGA/PLFM_RADAR_Xilinx_ISE_V2/Python/mem_files/fpga_mem_files/long_chirp_seg2_q.mem", + parameter LONG_I_FILE_SEG3 = "C:/Users/dell/Desktop/ASUS/RADAR_V5/Firmware/FPGA/PLFM_RADAR_Xilinx_ISE_V2/Python/mem_files/fpga_mem_files/long_chirp_seg3_i.mem", + parameter LONG_Q_FILE_SEG3 = "C:/Users/dell/Desktop/ASUS/RADAR_V5/Firmware/FPGA/PLFM_RADAR_Xilinx_ISE_V2/Python/mem_files/fpga_mem_files/long_chirp_seg3_q.mem", + parameter SHORT_I_FILE = "C:/Users/dell/Desktop/ASUS/RADAR_V5/Firmware/FPGA/PLFM_RADAR_Xilinx_ISE_V2/Python/mem_files/fpga_mem_files/short_chirp_i.mem", + parameter SHORT_Q_FILE = "C:/Users/dell/Desktop/ASUS/RADAR_V5/Firmware/FPGA/PLFM_RADAR_Xilinx_ISE_V2/Python/mem_files/fpga_mem_files/short_chirp_q.mem", + parameter DEBUG = 1 +)( + input wire clk, + input wire reset_n, + input wire [1:0] segment_select, + input wire mem_request, + input wire use_long_chirp, + input wire [9:0] sample_addr, + output reg [15:0] ref_i, + output reg [15:0] ref_q, + output reg mem_ready +); + +// Memory declarations - now 4096 samples for 4 segments +(* ram_style = "block" *) reg [15:0] long_chirp_i [0:4095]; +(* ram_style = "block" *) reg [15:0] long_chirp_q [0:4095]; +(* ram_style = "block" *) reg [15:0] short_chirp_i [0:1023]; +(* ram_style = "block" *) reg [15:0] short_chirp_q [0:1023]; + +// Initialize memory +integer i; +reg [799:0] debug_msg; + +initial begin + if (DEBUG) begin + $display("[MEM] Starting memory initialization for 4 long chirp segments"); + end + + // === LOAD LONG CHIRP - 4 SEGMENTS === + // Segment 0 (addresses 0-1023) + $readmemh(LONG_I_FILE_SEG0, long_chirp_i, 0, 1023); + $readmemh(LONG_Q_FILE_SEG0, long_chirp_q, 0, 1023); + if (DEBUG) $display("[MEM] Loaded long chirp segment 0 (0-1023)"); + + // Segment 1 (addresses 1024-2047) + $readmemh(LONG_I_FILE_SEG1, long_chirp_i, 1024, 2047); + $readmemh(LONG_Q_FILE_SEG1, long_chirp_q, 1024, 2047); + if (DEBUG) $display("[MEM] Loaded long chirp segment 1 (1024-2047)"); + + // Segment 2 (addresses 2048-3071) + $readmemh(LONG_I_FILE_SEG2, long_chirp_i, 2048, 3071); + $readmemh(LONG_Q_FILE_SEG2, long_chirp_q, 2048, 3071); + if (DEBUG) $display("[MEM] Loaded long chirp segment 2 (2048-3071)"); + + // Segment 3 (addresses 3072-4095) + $readmemh(LONG_I_FILE_SEG3, long_chirp_i, 3072, 4095); + $readmemh(LONG_Q_FILE_SEG3, long_chirp_q, 3072, 4095); + if (DEBUG) $display("[MEM] Loaded long chirp segment 3 (3072-4095)"); + + // === LOAD SHORT CHIRP === + // Load first 50 samples (0-49) + $readmemh(SHORT_I_FILE, short_chirp_i); + $readmemh(SHORT_Q_FILE, short_chirp_q); + if (DEBUG) $display("[MEM] Loaded short chirp (0-49)"); + + // Zero pad remaining 974 samples (50-1023) + for (i = 50; i < 1024; i = i + 1) begin + short_chirp_i[i] = 16'h0000; + short_chirp_q[i] = 16'h0000; + end + if (DEBUG) $display("[MEM] Zero-padded short chirp from 50-1023"); + + // === VERIFICATION === + if (DEBUG) begin + $display("[MEM] Memory loading complete. Verification samples:"); + $display(" Long[0]: I=%h Q=%h", long_chirp_i[0], long_chirp_q[0]); + $display(" Long[1023]: I=%h Q=%h", long_chirp_i[1023], long_chirp_q[1023]); + $display(" Long[1024]: I=%h Q=%h", long_chirp_i[1024], long_chirp_q[1024]); + $display(" Long[2047]: I=%h Q=%h", long_chirp_i[2047], long_chirp_q[2047]); + $display(" Long[2048]: I=%h Q=%h", long_chirp_i[2048], long_chirp_q[2048]); + $display(" Long[3071]: I=%h Q=%h", long_chirp_i[3071], long_chirp_q[3071]); + $display(" Long[3072]: I=%h Q=%h", long_chirp_i[3072], long_chirp_q[3072]); + $display(" Long[4095]: I=%h Q=%h", long_chirp_i[4095], long_chirp_q[4095]); + $display(" Short[0]: I=%h Q=%h", short_chirp_i[0], short_chirp_q[0]); + $display(" Short[49]: I=%h Q=%h", short_chirp_i[49], short_chirp_q[49]); + $display(" Short[50]: I=%h Q=%h (zero-padded)", short_chirp_i[50], short_chirp_q[50]); + end +end + +// Memory access logic +reg [11:0] long_addr; + +always @(posedge clk or negedge reset_n) begin + if (!reset_n) begin + ref_i <= 16'd0; + ref_q <= 16'd0; + mem_ready <= 1'b0; + end else begin + if (mem_request) begin + if (use_long_chirp) begin + // Direct addressing for 4 segments + long_addr = {segment_select, sample_addr}; // segment_select[1:0] + sample_addr[9:0] + ref_i <= long_chirp_i[long_addr]; + ref_q <= long_chirp_q[long_addr]; + + if (DEBUG && $time < 100) begin + $display("[MEM @%0t] Long chirp: seg=%b, addr=%d, I=%h, Q=%h", + $time, segment_select, long_addr, + long_chirp_i[long_addr], long_chirp_q[long_addr]); + end + end else begin + // Short chirp (0-1023) + ref_i <= short_chirp_i[sample_addr]; + ref_q <= short_chirp_q[sample_addr]; + + if (DEBUG && $time < 100) begin + $display("[MEM @%0t] Short chirp: addr=%d, I=%h, Q=%h", + $time, sample_addr, short_chirp_i[sample_addr], short_chirp_q[sample_addr]); + end + end + mem_ready <= 1'b1; + end else begin + mem_ready <= 1'b0; + end + end +end + +endmodule \ No newline at end of file diff --git a/9_Firmware/9_2_FPGA/cic_decimator_4x_enhanced.v b/9_Firmware/9_2_FPGA/cic_decimator_4x_enhanced.v new file mode 100644 index 0000000..42d3ff7 --- /dev/null +++ b/9_Firmware/9_2_FPGA/cic_decimator_4x_enhanced.v @@ -0,0 +1,300 @@ +module cic_decimator_4x_enhanced ( + input wire clk, // 400MHz input clock + input wire reset_n, + input wire signed [17:0] data_in, // 18-bit input + input wire data_valid, + output reg signed [17:0] data_out, // 18-bit output + output reg data_out_valid, // Valid at 100MHz + // Enhanced monitoring outputs + output reg saturation_detected, // Latched saturation indicator + output reg [7:0] max_value_monitor, // For gain control + input wire reset_monitors // Clear saturation and max value +); + +parameter STAGES = 5; +parameter DECIMATION = 4; +parameter COMB_DELAY = 1; + +// Increased bit width for 18-bit input with headroom +reg signed [35:0] integrator [0:STAGES-1]; // 36-bit for better dynamic range +reg signed [35:0] comb [0:STAGES-1]; +reg signed [35:0] comb_delay [0:STAGES-1][0:COMB_DELAY-1]; + +// Enhanced control and monitoring +reg [1:0] decimation_counter; +reg data_valid_delayed; +reg data_valid_comb; +reg [7:0] output_counter; +reg [35:0] max_integrator_value; +reg overflow_detected; +reg overflow_latched; // Latched overflow indicator + +// Diagnostic registers +reg [7:0] saturation_event_count; +reg [31:0] sample_count; + +// Temporary signals for calculations +reg signed [35:0] abs_integrator_value; +reg signed [35:0] temp_scaled_output; +reg signed [17:0] temp_output; // Temporary output for proper range checking + +integer i, j; + +// Initialize +initial begin + for (i = 0; i < STAGES; i = i + 1) begin + integrator[i] = 0; + comb[i] = 0; + for (j = 0; j < COMB_DELAY; j = j + 1) begin + comb_delay[i][j] = 0; + end + end + decimation_counter = 0; + data_valid_delayed = 0; + data_valid_comb = 0; + output_counter = 0; + max_integrator_value = 0; + overflow_detected = 0; + overflow_latched = 0; + saturation_detected = 0; + saturation_event_count = 0; + sample_count = 0; + max_value_monitor = 0; + data_out = 0; + data_out_valid = 0; + abs_integrator_value = 0; + temp_scaled_output = 0; + temp_output = 0; +end + +// Enhanced integrator section with proper saturation monitoring +always @(posedge clk or negedge reset_n) begin + if (!reset_n) begin + for (i = 0; i < STAGES; i = i + 1) begin + integrator[i] <= 0; + end + decimation_counter <= 0; + data_valid_delayed <= 0; + data_valid_comb <= 0; + max_integrator_value <= 0; + overflow_detected <= 0; + sample_count <= 0; + abs_integrator_value <= 0; + + if (reset_monitors) begin + overflow_latched <= 0; + saturation_detected <= 0; + saturation_event_count <= 0; + max_value_monitor <= 0; + end + end else if (data_valid) begin + sample_count <= sample_count + 1; + + // First integrator stage with enhanced saturation detection + if (integrator[0] + $signed({{18{data_in[17]}}, data_in}) > (2**35 - 1)) begin + integrator[0] <= (2**35 - 1); + overflow_detected <= 1'b1; + overflow_latched <= 1'b1; + saturation_detected <= 1'b1; + saturation_event_count <= saturation_event_count + 1; + $display("CIC_SATURATION: Positive overflow at sample %0d", sample_count); + end else if (integrator[0] + $signed({{18{data_in[17]}}, data_in}) < -(2**35)) begin + integrator[0] <= -(2**35); + overflow_detected <= 1'b1; + overflow_latched <= 1'b1; + saturation_detected <= 1'b1; + saturation_event_count <= saturation_event_count + 1; + $display("CIC_SATURATION: Negative overflow at sample %0d", sample_count); + end else begin + integrator[0] <= integrator[0] + $signed({{18{data_in[17]}}, data_in}); + overflow_detected <= 1'b0; // Only clear immediate detection, not latched + end + + // Calculate absolute value for monitoring + abs_integrator_value <= (integrator[0][35]) ? -integrator[0] : integrator[0]; + + // Track maximum integrator value for gain monitoring (absolute value) + if (abs_integrator_value > max_integrator_value) begin + max_integrator_value <= abs_integrator_value; + max_value_monitor <= abs_integrator_value[31:24]; // Fixed: use the calculated absolute value + end + + // Remaining integrator stages with saturation protection + for (i = 1; i < STAGES; i = i + 1) begin + if (integrator[i] + integrator[i-1] > (2**35 - 1)) begin + integrator[i] <= (2**35 - 1); + overflow_detected <= 1'b1; + overflow_latched <= 1'b1; + saturation_detected <= 1'b1; + end else if (integrator[i] + integrator[i-1] < -(2**35)) begin + integrator[i] <= -(2**35); + overflow_detected <= 1'b1; + overflow_latched <= 1'b1; + saturation_detected <= 1'b1; + end else begin + integrator[i] <= integrator[i] + integrator[i-1]; + end + end + + // Enhanced decimation control + if (decimation_counter == DECIMATION - 1) begin + decimation_counter <= 0; + data_valid_delayed <= 1; + output_counter <= output_counter + 1; + + /*// Debug output for first few samples + if (output_counter < 10) begin + $display("CIC_DECIM: sample=%0d, integrator[%0d]=%h, max_val=%h, sat=%b", + output_counter, STAGES-1, integrator[STAGES-1], + max_integrator_value, saturation_detected); + end + */ + end else begin + decimation_counter <= decimation_counter + 1; + data_valid_delayed <= 0; + end + end else begin + data_valid_delayed <= 0; + overflow_detected <= 1'b0; // Clear immediate detection when no data + end + + // Monitor control - clear latched saturation on reset_monitors + if (reset_monitors) begin + overflow_latched <= 0; + saturation_detected <= 0; + max_integrator_value <= 0; + max_value_monitor <= 0; + saturation_event_count <= 0; + end +end + +// Pipeline the valid signal for comb section +always @(posedge clk or negedge reset_n) begin + if (!reset_n) begin + data_valid_comb <= 0; + end else begin + data_valid_comb <= data_valid_delayed; + end +end + +// Enhanced comb section with FIXED scaling and saturation monitoring +always @(posedge clk or negedge reset_n) begin + if (!reset_n) begin + for (i = 0; i < STAGES; i = i + 1) begin + comb[i] <= 0; + for (j = 0; j < COMB_DELAY; j = j + 1) begin + comb_delay[i][j] <= 0; + end + end + data_out <= 0; + data_out_valid <= 0; + temp_scaled_output <= 0; + temp_output <= 0; + end else if (data_valid_comb) begin + // Enhanced comb processing with saturation check + for (i = 0; i < STAGES; i = i + 1) begin + if (i == 0) begin + // Check for comb stage saturation + if (integrator[STAGES-1] - comb_delay[0][COMB_DELAY-1] > (2**35 - 1)) begin + comb[0] <= (2**35 - 1); + overflow_latched <= 1'b1; + saturation_detected <= 1'b1; + end else if (integrator[STAGES-1] - comb_delay[0][COMB_DELAY-1] < -(2**35)) begin + comb[0] <= -(2**35); + overflow_latched <= 1'b1; + saturation_detected <= 1'b1; + end else begin + comb[0] <= integrator[STAGES-1] - comb_delay[0][COMB_DELAY-1]; + end + + // Update delay line for first stage + for (j = COMB_DELAY-1; j > 0; j = j - 1) begin + comb_delay[0][j] <= comb_delay[0][j-1]; + end + comb_delay[0][0] <= integrator[STAGES-1]; + end else begin + // Check for comb stage saturation + if (comb[i-1] - comb_delay[i][COMB_DELAY-1] > (2**35 - 1)) begin + comb[i] <= (2**35 - 1); + overflow_latched <= 1'b1; + saturation_detected <= 1'b1; + end else if (comb[i-1] - comb_delay[i][COMB_DELAY-1] < -(2**35)) begin + comb[i] <= -(2**35); + overflow_latched <= 1'b1; + saturation_detected <= 1'b1; + end else begin + comb[i] <= comb[i-1] - comb_delay[i][COMB_DELAY-1]; + end + + // Update delay line + for (j = COMB_DELAY-1; j > 0; j = j - 1) begin + comb_delay[i][j] <= comb_delay[i][j-1]; + end + comb_delay[i][0] <= comb[i-1]; + end + end + + // FIXED: Use proper scaling for 5 stages and decimation by 4 + // Gain = (4^5) = 1024 = 2^10, so scale by 2^10 to normalize + temp_scaled_output <= comb[STAGES-1] >>> 10; + + // FIXED: Extract 18-bit output properly + temp_output <= temp_scaled_output[17:0]; + + // FIXED: Proper saturation detection for 18-bit signed range + // Check if the 18-bit truncated value matches the intended value + if (temp_scaled_output > 131071) begin // 2^17 - 1 + data_out <= 131071; + overflow_latched <= 1'b1; + saturation_detected <= 1'b1; + saturation_event_count <= saturation_event_count + 1; + $display("CIC_OUTPUT_SAT: TRUE Positive saturation, raw=%h, scaled=%h, temp_out=%d, final_out=%d", + comb[STAGES-1], temp_scaled_output, temp_output, 131071); + end else if (temp_scaled_output < -131072) begin // -2^17 + data_out <= -131072; + overflow_latched <= 1'b1; + saturation_detected <= 1'b1; + saturation_event_count <= saturation_event_count + 1; + $display("CIC_OUTPUT_SAT: TRUE Negative saturation, raw=%h, scaled=%h, temp_out=%d, final_out=%d", + comb[STAGES-1], temp_scaled_output, temp_output, -131072); + end else begin + // FIXED: Use the properly truncated 18-bit value + data_out <= temp_output; + overflow_latched <= 1'b0; + saturation_detected <= 1'b0; + if (output_counter < 20) begin + //$display("CIC_OUTPUT_GOOD: raw=%h, scaled=%h, temp_out=%d, final_out=%d", + // comb[STAGES-1], temp_scaled_output, temp_output, data_out); + end + end + + data_out_valid <= 1; + + // Debug output for first samples + if (output_counter < 10) begin + // $display("CIC_DEBUG: sample=%0d, raw=%h, scaled=%h, out=%d, sat=%b", + // output_counter, comb[STAGES-1], temp_scaled_output, data_out, saturation_detected); + end + end else begin + data_out_valid <= 0; + end +end + +// Continuous monitoring of saturation status +always @(posedge clk) begin + if (overflow_detected && sample_count < 100) begin + $display("CIC_OVERFLOW: Immediate detection at sample %0d", sample_count); + end +end + +// Clear saturation on external reset +always @(posedge reset_monitors) begin + if (reset_monitors) begin + overflow_latched <= 0; + saturation_detected <= 0; + saturation_event_count <= 0; + //$display("CIC_MONITORS: All monitors reset"); + end +end + +endmodule \ No newline at end of file diff --git a/9_Firmware/9_2_FPGA/dac_interface_single.v b/9_Firmware/9_2_FPGA/dac_interface_single.v new file mode 100644 index 0000000..f912111 --- /dev/null +++ b/9_Firmware/9_2_FPGA/dac_interface_single.v @@ -0,0 +1,26 @@ +module dac_interface_enhanced ( + input wire clk_120m, + input wire reset_n, + input wire [7:0] chirp_data, + input wire chirp_valid, + output reg [7:0] dac_data, + output wire dac_clk, + output wire dac_sleep +); + +// Register DAC data to meet timing +always @(posedge clk_120m or negedge reset_n) begin + if (!reset_n) begin + dac_data <= 8'd128; // Center value + end else if (chirp_valid) begin + dac_data <= chirp_data; + end else begin + dac_data <= 8'd128; // Default to center when no chirp + end +end + +// DAC clock is same as input clock (120MHz) +assign dac_clk = clk_120m; +assign dac_sleep = 1'b0; + +endmodule \ No newline at end of file diff --git a/9_Firmware/9_2_FPGA/ddc_400m.v b/9_Firmware/9_2_FPGA/ddc_400m.v new file mode 100644 index 0000000..1ebbd35 --- /dev/null +++ b/9_Firmware/9_2_FPGA/ddc_400m.v @@ -0,0 +1,425 @@ +`timescale 1ns / 1ps + +module ddc_400m_enhanced ( + input wire clk_400m, // 400MHz clock from ADC DCO + input wire clk_100m, // 100MHz system clock + input wire reset_n, + input wire mixers_enable, + input wire [7:0] adc_data, // ADC data at 400MHz + input wire adc_data_valid_i, // Valid at 400MHz + input wire adc_data_valid_q, + output wire signed [17:0] baseband_i, + output wire signed [17:0] baseband_q, + output wire baseband_valid_i, + output wire baseband_valid_q, + + output wire [1:0] ddc_status, + // Enhanced interfaces + output wire [7:0] ddc_diagnostics, + output wire mixer_saturation, + output wire filter_overflow, + input wire bypass_mode, // Test mode + + input wire [1:0] test_mode, + input wire [15:0] test_phase_inc, + input wire force_saturation, + input wire reset_monitors, + output wire [31:0] debug_sample_count, + output wire [17:0] debug_internal_i, + output wire [17:0] debug_internal_q +); + +// Parameters for numerical precision +parameter ADC_WIDTH = 8; +parameter NCO_WIDTH = 16; +parameter MIXER_WIDTH = 18; +parameter OUTPUT_WIDTH = 18; + +// IF frequency parameters +parameter IF_FREQ = 120000000; +parameter FS = 400000000; +parameter PHASE_WIDTH = 32; + +// Internal signals +wire signed [15:0] sin_out, cos_out; +wire nco_ready; +wire cic_valid; +wire fir_valid; +wire [17:0] cic_i_out, cic_q_out; +wire signed [17:0] fir_i_out, fir_q_out; + + +// Diagnostic registers +reg [2:0] saturation_count; +reg overflow_detected; +reg [7:0] error_counter; + +// CDC synchronization for control signals +reg mixers_enable_sync; +reg bypass_mode_sync; + +// Debug monitoring signals +reg [31:0] sample_counter; +wire signed [17:0] debug_mixed_i_trunc; +wire signed [17:0] debug_mixed_q_trunc; + +// Real-time status monitoring +reg [7:0] signal_power_i, signal_power_q; + +// Enhanced saturation injection for testing +reg force_saturation_sync; + +// Internal mixing signals +reg signed [MIXER_WIDTH-1:0] adc_signed; +reg signed [MIXER_WIDTH + NCO_WIDTH -1:0] mixed_i, mixed_q; +reg mixed_valid; +reg mixer_overflow_i, mixer_overflow_q; + +// Output stage registers +reg signed [17:0] baseband_i_reg, baseband_q_reg; +reg baseband_valid_reg; + +// ============================================================================ +// Phase Dithering Signals +// ============================================================================ +wire [7:0] phase_dither_bits; +wire [31:0] phase_inc_dithered; + + + +// ============================================================================ +// Debug Signal Assignments +// ============================================================================ +assign debug_internal_i = mixed_i[25:8]; +assign debug_internal_q = mixed_q[25:8]; +assign debug_sample_count = sample_counter; +assign debug_mixed_i_trunc = mixed_i[25:8]; +assign debug_mixed_q_trunc = mixed_q[25:8]; + +// ============================================================================ +// Clock Domain Crossing for Control Signals +// ============================================================================ +always @(posedge clk_400m or negedge reset_n) begin + if (!reset_n) begin + mixers_enable_sync <= 1'b0; + bypass_mode_sync <= 1'b0; + force_saturation_sync <= 1'b0; + end else begin + mixers_enable_sync <= mixers_enable; + bypass_mode_sync <= bypass_mode; + force_saturation_sync <= force_saturation; + end +end + +// ============================================================================ +// Sample Counter and Debug Monitoring +// ============================================================================ +always @(posedge clk_400m or negedge reset_n) begin + if (!reset_n || reset_monitors) begin + sample_counter <= 0; + saturation_count <= 0; + error_counter <= 0; + end else if (adc_data_valid_i && adc_data_valid_q ) begin + sample_counter <= sample_counter + 1; + end +end + + +// ============================================================================ +// Enhanced Phase Dithering Instance +// ============================================================================ +lfsr_dither_enhanced #( + .DITHER_WIDTH(8) +) phase_dither_gen ( + .clk(clk_400m), + .reset_n(reset_n), + .enable(nco_ready), + .dither_out(phase_dither_bits) +); + +// ============================================================================ +// Phase Increment Calculation with Dithering +// ============================================================================ +// Calculate phase increment for 120MHz IF at 400MHz sampling +localparam PHASE_INC_120MHZ = 32'h4CCCCCCD; + +// Apply dithering to reduce spurious tones +assign phase_inc_dithered = PHASE_INC_120MHZ + {24'b0, phase_dither_bits}; + +// ============================================================================ +// Enhanced NCO with Diagnostics +// ============================================================================ +nco_400m_enhanced nco_core ( + .clk_400m(clk_400m), + .reset_n(reset_n), + .frequency_tuning_word(phase_inc_dithered), + .phase_valid(mixers_enable), + .phase_offset(16'h0000), + .sin_out(sin_out), + .cos_out(cos_out), + .dds_ready(nco_ready) +); + +// ============================================================================ +// Enhanced Mixing Stage with AGC +// ============================================================================ +always @(posedge clk_400m or negedge reset_n) begin + if (!reset_n) begin + adc_signed <= 0; + mixed_i <= 0; + mixed_q <= 0; + mixed_valid <= 0; + mixer_overflow_i <= 0; + mixer_overflow_q <= 0; + saturation_count <= 0; + overflow_detected <= 0; + end else if (nco_ready && adc_data_valid_i && adc_data_valid_q) begin + // Convert ADC data to signed with extended precision + adc_signed <= {1'b0, adc_data, {(MIXER_WIDTH-ADC_WIDTH-1){1'b0}}} - + {1'b0, {ADC_WIDTH{1'b1}}, {(MIXER_WIDTH-ADC_WIDTH-1){1'b0}}} / 2; + + // Force saturation for testing + if (force_saturation_sync) begin + mixed_i <= 34'h1FFFFFFFF; // Force positive saturation + mixed_q <= 34'h200000000; // Force negative saturation + mixer_overflow_i <= 1'b1; + mixer_overflow_q <= 1'b1; + end else begin + + // Normal mixing + mixed_i <= $signed(adc_signed) * $signed(cos_out); + mixed_q <= $signed(adc_signed) * $signed(sin_out); + + + // Enhanced overflow detection with counting + mixer_overflow_i <= (mixed_i > (2**(MIXER_WIDTH+NCO_WIDTH-2)-1)) || + (mixed_i < -(2**(MIXER_WIDTH+NCO_WIDTH-2))); + mixer_overflow_q <= (mixed_q > (2**(MIXER_WIDTH+NCO_WIDTH-2)-1)) || + (mixed_q < -(2**(MIXER_WIDTH+NCO_WIDTH-2))); + end + + mixed_valid <= 1; + + if (mixer_overflow_i || mixer_overflow_q) begin + saturation_count <= saturation_count + 1; + overflow_detected <= 1'b1; + end else begin + overflow_detected <= 1'b0; + end + + end else begin + mixed_valid <= 0; + mixer_overflow_i <= 0; + mixer_overflow_q <= 0; + overflow_detected <= 1'b0; + end +end + +// ============================================================================ +// Enhanced CIC Decimators +// ============================================================================ +wire cic_valid_i, cic_valid_q; + +cic_decimator_4x_enhanced cic_i_inst ( + .clk(clk_400m), + .reset_n(reset_n), + .data_in(mixed_i[33:16]), + .data_valid(mixed_valid), + .data_out(cic_i_out), + .data_out_valid(cic_valid_i) +); + +cic_decimator_4x_enhanced cic_q_inst ( + .clk(clk_400m), + .reset_n(reset_n), + .data_in(mixed_q[33:16]), + .data_valid(mixed_valid), + .data_out(cic_q_out), + .data_out_valid(cic_valid_q) +); + +assign cic_valid = cic_valid_i & cic_valid_q; + +cdc_adc_to_processing #( + .WIDTH(18), + .STAGES(3) +)CDC_FIR_i( + .src_clk(clk_400m), + .dst_clk(clk_100m), + .reset_n(reset_n), + .src_data(cic_i_out), + .src_valid(cic_valid_i), + .dst_data(fir_d_in_i), + .dst_valid(fir_in_valid_i) +); + +cdc_adc_to_processing #( + .WIDTH(18), + .STAGES(3) +)CDC_FIR_q( + .src_clk(clk_400m), + .dst_clk(clk_100m), + .reset_n(reset_n), + .src_data(cic_q_out), + .src_valid(cic_valid_q), + .dst_data(fir_d_in_q), + .dst_valid(fir_in_valid_q) +); + +// ============================================================================ +// Enhanced FIR Filters with FIXED valid signal handling +// ============================================================================ +wire fir_in_valid_i, fir_in_valid_q; +wire fir_valid_i, fir_valid_q; +wire fir_i_ready, fir_q_ready; +wire [17:0] fir_d_in_i, fir_d_in_q; + +// FIR I channel +fir_lowpass_parallel_enhanced fir_i_inst ( + .clk(clk_100m), + .reset_n(reset_n), + .data_in(fir_d_in_i), // Use synchronized data + .data_valid(fir_in_valid_i), // Use synchronized valid + .data_out(fir_i_out), + .data_out_valid(fir_valid_i), + .fir_ready(fir_i_ready), + .filter_overflow() +); + +// FIR Q channel +fir_lowpass_parallel_enhanced fir_q_inst ( + .clk(clk_100m), + .reset_n(reset_n), + .data_in(fir_d_in_q), // Use synchronized data + .data_valid(fir_in_valid_q), // Use synchronized valid + .data_out(fir_q_out), + .data_out_valid(fir_valid_q), + .fir_ready(fir_q_ready), + .filter_overflow() +); + +assign fir_valid = fir_valid_i & fir_valid_q; + +// ============================================================================ +// Enhanced Output Stage +// ============================================================================ +always @(negedge clk_100m or negedge reset_n) begin + if (!reset_n) begin + baseband_i_reg <= 0; + baseband_q_reg <= 0; + baseband_valid_reg <= 0; + end else if (fir_valid) begin + baseband_i_reg <= fir_i_out; + baseband_q_reg <= fir_q_out; + baseband_valid_reg <= 1; + end else begin + baseband_valid_reg <= 0; + end +end + + +// ============================================================================ +// Output Assignments +// ============================================================================ +assign baseband_i = baseband_i_reg; +assign baseband_q = baseband_q_reg; +assign baseband_valid_i = baseband_valid_reg; +assign baseband_valid_q = baseband_valid_reg; +assign ddc_status = {mixer_overflow_i | mixer_overflow_q, nco_ready}; +assign mixer_saturation = overflow_detected; +assign ddc_diagnostics = {saturation_count, error_counter[4:0]}; + +// ============================================================================ +// Enhanced Debug and Monitoring +// ============================================================================ +reg [31:0] debug_cic_count, debug_fir_count, debug_bb_count; + +always @(posedge clk_100m) begin + + if (fir_valid_i && debug_fir_count < 20) begin + debug_fir_count <= debug_fir_count + 1; + $display("FIR_OUTPUT: fir_i=%6d, fir_q=%6d", fir_i_out, fir_q_out); + end + + if (adc_data_valid_i && adc_data_valid_q && debug_bb_count < 20) begin + debug_bb_count <= debug_bb_count + 1; + $display("BASEBAND_OUT: i=%6d, q=%6d, count=%0d", + baseband_i, baseband_q, debug_bb_count); + end +end + +// In ddc_400m.v, add these debug signals: + +// Debug monitoring +reg [31:0] debug_adc_count = 0; +reg [31:0] debug_baseband_count = 0; + +always @(posedge clk_400m) begin + if (adc_data_valid_i && adc_data_valid_q && debug_adc_count < 10) begin + debug_adc_count <= debug_adc_count + 1; + $display("DDC_ADC: data=%0d, count=%0d, time=%t", + adc_data, debug_adc_count, $time); + end +end + +always @(posedge clk_100m) begin + if (baseband_valid_i && baseband_valid_q && debug_baseband_count < 10) begin + debug_baseband_count <= debug_baseband_count + 1; + $display("DDC_BASEBAND: i=%0d, q=%0d, count=%0d, time=%t", + baseband_i, baseband_q, debug_baseband_count, $time); + end +end + + +endmodule + +// ============================================================================ +// Enhanced Phase Dithering Module +// ============================================================================ +`timescale 1ns / 1ps + +module lfsr_dither_enhanced #( + parameter DITHER_WIDTH = 8 // Increased for better dithering +)( + input wire clk, + input wire reset_n, + input wire enable, + output wire [DITHER_WIDTH-1:0] dither_out +); + +reg [DITHER_WIDTH-1:0] lfsr_reg; +reg [15:0] cycle_counter; +reg lock_detected; + +// Polynomial for better randomness: x^8 + x^6 + x^5 + x^4 + 1 +wire feedback; + +generate + if (DITHER_WIDTH == 4) begin + assign feedback = lfsr_reg[3] ^ lfsr_reg[2]; + end else if (DITHER_WIDTH == 8) begin + assign feedback = lfsr_reg[7] ^ lfsr_reg[5] ^ lfsr_reg[4] ^ lfsr_reg[3]; + end else begin + assign feedback = lfsr_reg[DITHER_WIDTH-1] ^ lfsr_reg[DITHER_WIDTH-2]; + end +endgenerate + +always @(posedge clk or negedge reset_n) begin + if (!reset_n) begin + lfsr_reg <= {DITHER_WIDTH{1'b1}}; // Non-zero initial state + cycle_counter <= 0; + lock_detected <= 0; + end else if (enable) begin + lfsr_reg <= {lfsr_reg[DITHER_WIDTH-2:0], feedback}; + cycle_counter <= cycle_counter + 1; + + // Detect LFSR lock after sufficient cycles + if (cycle_counter > (2**DITHER_WIDTH * 8)) begin + lock_detected <= 1'b1; + end + end +end + +assign dither_out = lfsr_reg; + +endmodule diff --git a/9_Firmware/9_2_FPGA/ddc_input_interface.v b/9_Firmware/9_2_FPGA/ddc_input_interface.v new file mode 100644 index 0000000..135a9cc --- /dev/null +++ b/9_Firmware/9_2_FPGA/ddc_input_interface.v @@ -0,0 +1,55 @@ +`timescale 1ns / 1ps +// ddc_input_interface.v +module ddc_input_interface ( + input wire clk, // 100MHz + input wire reset_n, + + // DDC Input (18-bit) + input wire signed [17:0] ddc_i, + input wire signed [17:0] ddc_q, + input wire valid_i, + input wire valid_q, + + // Scaled output (16-bit) + output reg signed [15:0] adc_i, + output reg signed [15:0] adc_q, + output reg adc_valid, + + // Status + output wire data_sync_error +); + +// Synchronize valid signals +reg valid_i_reg, valid_q_reg; +reg valid_sync; + +always @(posedge clk or negedge reset_n) begin + if (!reset_n) begin + valid_i_reg <= 1'b0; + valid_q_reg <= 1'b0; + valid_sync <= 1'b0; + adc_valid <= 1'b0; + end else begin + valid_i_reg <= valid_i; + valid_q_reg <= valid_q; + + // Require both I and Q valid simultaneously + valid_sync <= valid_i_reg && valid_q_reg; + adc_valid <= valid_sync; + end +end + +// Scale 18-bit to 16-bit with rounding +// Option: Keep most significant 16 bits with rounding +always @(posedge clk) begin + if (valid_sync) begin + // Round to nearest: add 0.5 LSB before truncation + adc_i <= ddc_i[17:2] + ddc_i[1]; // Rounding + adc_q <= ddc_q[17:2] + ddc_q[1]; // Rounding + end +end + +// Error detection +assign data_sync_error = (valid_i_reg ^ valid_q_reg); + +endmodule \ No newline at end of file diff --git a/9_Firmware/9_2_FPGA/doppler_processor.v b/9_Firmware/9_2_FPGA/doppler_processor.v new file mode 100644 index 0000000..a1f2e18 --- /dev/null +++ b/9_Firmware/9_2_FPGA/doppler_processor.v @@ -0,0 +1,305 @@ +`timescale 1ns / 1ps + +module doppler_processor_optimized #( + parameter DOPPLER_FFT_SIZE = 32, + parameter RANGE_BINS = 64, + parameter CHIRPS_PER_FRAME = 32, + parameter WINDOW_TYPE = 0, // 0=Hamming, 1=Rectangular + parameter DATA_WIDTH = 16 +)( + input wire clk, + input wire reset_n, + input wire [31:0] range_data, + input wire data_valid, + input wire new_chirp_frame, + output reg [31:0] doppler_output, + output reg doppler_valid, + output reg [4:0] doppler_bin, + output reg [5:0] range_bin, + output wire processing_active, + output wire frame_complete, + output reg [3:0] status +); + +// ============================================== +// Window Coefficients (Simple Implementation) +// ============================================== +reg [DATA_WIDTH-1:0] window_coeff [0:31]; + +// Generate window coefficients +integer w; +initial begin + if (WINDOW_TYPE == 0) begin + // Pre-calculated Hamming window (Q15 format) + window_coeff[0] = 16'h0800; window_coeff[1] = 16'h0862; + window_coeff[2] = 16'h09CB; window_coeff[3] = 16'h0C3B; + window_coeff[4] = 16'h0FB2; window_coeff[5] = 16'h142F; + window_coeff[6] = 16'h19B2; window_coeff[7] = 16'h2039; + window_coeff[8] = 16'h27C4; window_coeff[9] = 16'h3050; + window_coeff[10] = 16'h39DB; window_coeff[11] = 16'h4462; + window_coeff[12] = 16'h4FE3; window_coeff[13] = 16'h5C5A; + window_coeff[14] = 16'h69C4; window_coeff[15] = 16'h781D; + window_coeff[16] = 16'h7FFF; // Peak + window_coeff[17] = 16'h781D; window_coeff[18] = 16'h69C4; + window_coeff[19] = 16'h5C5A; window_coeff[20] = 16'h4FE3; + window_coeff[21] = 16'h4462; window_coeff[22] = 16'h39DB; + window_coeff[23] = 16'h3050; window_coeff[24] = 16'h27C4; + window_coeff[25] = 16'h2039; window_coeff[26] = 16'h19B2; + window_coeff[27] = 16'h142F; window_coeff[28] = 16'h0FB2; + window_coeff[29] = 16'h0C3B; window_coeff[30] = 16'h09CB; + window_coeff[31] = 16'h0862; + end else begin + // Rectangular window (all ones) + for (w = 0; w < 32; w = w + 1) begin + window_coeff[w] = 16'h7FFF; + end + end +end + +// ============================================== +// Memory Declaration - FIXED SIZE +// ============================================== +localparam MEM_DEPTH = RANGE_BINS * CHIRPS_PER_FRAME; +(* ram_style = "block" *) reg [DATA_WIDTH-1:0] doppler_i_mem [0:MEM_DEPTH-1]; +(* ram_style = "block" *) reg [DATA_WIDTH-1:0] doppler_q_mem [0:MEM_DEPTH-1]; + +// ============================================== +// Control Registers +// ============================================== +reg [5:0] write_range_bin; // Changed to match RANGE_BINS width +reg [4:0] write_chirp_index; // Changed to match CHIRPS_PER_FRAME width +reg [5:0] read_range_bin; +reg [4:0] read_doppler_index; // Changed name for clarity +reg frame_buffer_full; +reg [9:0] chirps_received; // Enough for up to 1024 chirps +reg [1:0] chirp_state; // Track chirp accumulation state + + +// ============================================== +// FFT Interface +// ============================================== +reg fft_start; +wire fft_ready; +reg [DATA_WIDTH-1:0] fft_input_i; +reg [DATA_WIDTH-1:0] fft_input_q; +reg signed [31:0] mult_i, mult_q; // 32-bit to avoid overflow + +reg fft_input_valid; +reg fft_input_last; +wire [DATA_WIDTH-1:0] fft_output_i; +wire [DATA_WIDTH-1:0] fft_output_q; +wire fft_output_valid; +wire fft_output_last; + +// ============================================== +// Addressing +// ============================================== +wire [10:0] mem_write_addr; +wire [10:0] mem_read_addr; + +// Proper address calculation using parameters +assign mem_write_addr = (write_chirp_index * RANGE_BINS) + write_range_bin; +assign mem_read_addr = (read_doppler_index * RANGE_BINS) + read_range_bin; + +// Alternative organization (choose one): +// If you want range-major organization (all chirps for one range bin together): +// assign mem_write_addr = (write_range_bin * CHIRPS_PER_FRAME) + write_chirp_index; +// assign mem_read_addr = (read_range_bin * CHIRPS_PER_FRAME) + read_doppler_index; + +// ============================================== +// State Machine +// ============================================== +reg [2:0] state; +localparam S_IDLE = 3'b000; +localparam S_ACCUMULATE = 3'b001; +localparam S_LOAD_FFT = 3'b010; +localparam S_FFT_WAIT = 3'b011; +localparam S_OUTPUT = 3'b100; + +// Frame sync detection +reg new_chirp_frame_d1; +always @(posedge clk or negedge reset_n) begin + if (!reset_n) new_chirp_frame_d1 <= 0; + else new_chirp_frame_d1 <= new_chirp_frame; +end +wire frame_start_pulse = new_chirp_frame & ~new_chirp_frame_d1; + +// ============================================== +// Main State Machine - FIXED +// ============================================== +reg [5:0] fft_sample_counter; +reg [9:0] processing_timeout; + +always @(posedge clk or negedge reset_n) begin + if (!reset_n) begin + state <= S_IDLE; + write_range_bin <= 0; + write_chirp_index <= 0; + read_range_bin <= 0; + read_doppler_index <= 0; + frame_buffer_full <= 0; + doppler_valid <= 0; + fft_start <= 0; + fft_input_valid <= 0; + fft_input_last <= 0; + fft_sample_counter <= 0; + processing_timeout <= 0; + status <= 0; + chirps_received <= 0; + chirp_state <= 0; + end else begin + doppler_valid <= 0; + fft_input_valid <= 0; + fft_input_last <= 0; + + if (processing_timeout > 0) begin + processing_timeout <= processing_timeout - 1; + end + + case (state) + S_IDLE: begin + if (frame_start_pulse) begin + // Start new frame + write_chirp_index <= 0; + write_range_bin <= 0; + frame_buffer_full <= 0; + chirps_received <= 0; + //chirp_state <= 1; // Start accumulating + end + + if (data_valid && !frame_buffer_full) begin + state <= S_ACCUMULATE; + write_range_bin <= 0; + end + end + + S_ACCUMULATE: begin + if (data_valid) begin + // Store with proper addressing + doppler_i_mem[mem_write_addr] <= range_data[15:0]; + doppler_q_mem[mem_write_addr] <= range_data[31:16]; + + // Debug output to see what's being written + // $display("Time=%t: Write addr=%d (chirp=%d, range=%d), Data=%h", + // $time, mem_write_addr, write_chirp_index, write_range_bin, range_data); + + // Increment range bin + if (write_range_bin < RANGE_BINS - 1) begin + write_range_bin <= write_range_bin + 1; + end else begin + // Completed one chirp + write_range_bin <= 0; + write_chirp_index <= write_chirp_index + 1; + chirps_received <= chirps_received + 1; + + // Check if frame is complete + if (write_chirp_index >= CHIRPS_PER_FRAME - 1) begin + frame_buffer_full <= 1; + chirp_state <= 0; // Stop accumulating + // Could automatically start processing here: + state <= S_LOAD_FFT; + read_range_bin <= 0; + read_doppler_index <= 0; + fft_sample_counter <= 0; + fft_start <= 1; + end + end + end + end + + // [Rest of S_LOAD_FFT, S_FFT_WAIT, S_OUTPUT states remain similar] + // But with fixed addressing in S_LOAD_FFT: + S_LOAD_FFT: begin + fft_start <= 0; + + if (fft_sample_counter < DOPPLER_FFT_SIZE) begin + // Use correct addressing for reading + mult_i <= $signed(doppler_i_mem[mem_read_addr]) * + $signed(window_coeff[read_doppler_index]); + mult_q <= $signed(doppler_q_mem[mem_read_addr]) * + $signed(window_coeff[read_doppler_index]); + + // Round instead of truncate + fft_input_i <= (mult_i + (1 << 14)) >>> 15; // Round to nearest + fft_input_q <= (mult_q + (1 << 14)) >>> 15; + + fft_input_valid <= 1; + + if (fft_sample_counter == DOPPLER_FFT_SIZE - 1) begin + fft_input_last <= 1; + end + + // Increment chirp index for next sample + read_doppler_index <= read_doppler_index + 1; + fft_sample_counter <= fft_sample_counter + 1; + end else begin + state <= S_FFT_WAIT; + fft_sample_counter <= 0; + processing_timeout <= 100; + end + end + + S_FFT_WAIT: begin + if (fft_output_valid) begin + doppler_output <= {fft_output_q[15:0], fft_output_i[15:0]}; + doppler_bin <= fft_sample_counter; + range_bin <= read_range_bin; + doppler_valid <= 1; + + fft_sample_counter <= fft_sample_counter + 1; + + if (fft_output_last) begin + state <= S_OUTPUT; + fft_sample_counter <= 0; + end + end + + if (processing_timeout == 0) begin + state <= S_OUTPUT; + end + end + + S_OUTPUT: begin + if (read_range_bin < RANGE_BINS - 1) begin + read_range_bin <= read_range_bin + 1; + read_doppler_index <= 0; + state <= S_LOAD_FFT; + fft_start <= 1; + end else begin + state <= S_IDLE; + frame_buffer_full <= 0; + end + end + + endcase + + status <= {state, frame_buffer_full}; + end +end + +// ============================================== +// FFT Module +// ============================================== +xfft_32 fft_inst ( + .aclk(clk), + .aresetn(reset_n), + .s_axis_config_tdata(8'h01), + .s_axis_config_tvalid(fft_start), + .s_axis_config_tready(fft_ready), + .s_axis_data_tdata({fft_input_q, fft_input_i}), + .s_axis_data_tvalid(fft_input_valid), + .s_axis_data_tlast(fft_input_last), + .m_axis_data_tdata({fft_output_q, fft_output_i}), + .m_axis_data_tvalid(fft_output_valid), + .m_axis_data_tlast(fft_output_last), + .m_axis_data_tready(1'b1) +); + +// ============================================== +// Status Outputs +// ============================================== +assign processing_active = (state != S_IDLE); +assign frame_complete = (state == S_IDLE && frame_buffer_full == 0); + + +endmodule \ No newline at end of file diff --git a/9_Firmware/9_2_FPGA/edge_detector.v b/9_Firmware/9_2_FPGA/edge_detector.v new file mode 100644 index 0000000..707f492 --- /dev/null +++ b/9_Firmware/9_2_FPGA/edge_detector.v @@ -0,0 +1,26 @@ +module edge_detector_enhanced ( + input wire clk, + input wire reset_n, + input wire signal_in, + output wire rising_falling_edge +); + +reg signal_in_prev; +reg signal_in_prev2; + +always @(posedge clk or negedge reset_n) begin + if (!reset_n) begin + signal_in_prev <= 1'b0; + signal_in_prev2 <= 1'b0; + end else begin + signal_in_prev <= signal_in; + signal_in_prev2 <= signal_in_prev; + end +end + +// Rising edge: was low, now high (with synchronization) signal_in_prev & ~signal_in_prev2; +//Falling edge: was high, now low (with synchronization) falling_edge = ~signal_in_prev & signal_in_prev2 +assign rising_falling_edge = (signal_in_prev & ~signal_in_prev2)|(~signal_in_prev & signal_in_prev2); + + +endmodule \ No newline at end of file diff --git a/9_Firmware/9_2_FPGA/fft_1024_forward.v b/9_Firmware/9_2_FPGA/fft_1024_forward.v new file mode 100644 index 0000000..55d8cec --- /dev/null +++ b/9_Firmware/9_2_FPGA/fft_1024_forward.v @@ -0,0 +1,124 @@ +`timescale 1ns / 1ps + +module fft_1024_forward_enhanced ( + input wire clk, + input wire reset_n, + input wire [15:0] data_i, + input wire [15:0] data_q, + input wire data_valid, + output wire [15:0] fft_i, + output wire [15:0] fft_q, + output wire fft_valid +); + +// ========== MATCH YOUR FFT IP CONFIGURATION ========== +wire [15:0] s_axis_config_tdata; // 16-bit for your IP +wire s_axis_config_tvalid; +wire s_axis_config_tready; +wire [31:0] s_axis_data_tdata; // 32-bit for your IP {Q[15:0],I[15:0]} +wire s_axis_data_tvalid; +wire s_axis_data_tready; +wire s_axis_data_tlast; +wire [31:0] m_axis_data_tdata; // 32-bit for your IP +wire m_axis_data_tvalid; +wire m_axis_data_tready; +wire m_axis_data_tlast; + +// Configuration: 16-bit, bit 0 = 1 for forward FFT... +assign s_axis_config_tdata = 16'h0001; +assign s_axis_config_tvalid = 1'b1; // Keep valid until accepted + + +assign s_axis_data_tdata = {data_q, data_i}; // {Q, I} +assign s_axis_data_tvalid = data_valid; + +// Frame counter for tlast +reg [9:0] sample_count; +reg frame_active; +always @(posedge clk or negedge reset_n) begin + if (!reset_n) begin + sample_count <= 0; + frame_active <= 0; + end else begin + if (data_valid && !frame_active) begin + frame_active <= 1'b1; + sample_count <= 0; + end + + if (frame_active && data_valid) begin + if (sample_count == 1023) begin + sample_count <= 0; + frame_active <= 0; + end else begin + sample_count <= sample_count + 1; + end + end + end +end +assign s_axis_data_tlast = (sample_count == 1023) && data_valid; + +// Output: Extract from 64-bit output +// Assuming output format is also {Q[31:0], I[31:0]} +assign fft_i = m_axis_data_tdata[15:0]; // Lower 16 bits = I +assign fft_q = m_axis_data_tdata[31:16]; // Upper 16 bits = Q +assign fft_valid = m_axis_data_tvalid; +assign m_axis_data_tready = 1'b1; + +// ========== DEBUG ========== +/* +reg [31:0] debug_counter = 0; +always @(posedge clk) begin + debug_counter <= debug_counter + 1; + + // Monitor first 2000 cycles + if (debug_counter < 2000) begin + // Configuration + if (s_axis_config_tvalid && s_axis_config_tready) begin + $display("[FFT_CORRECTED @%d] CONFIG ACCEPTED! tdata=%h", + debug_counter, s_axis_config_tdata); + end + + // Data input + if (s_axis_data_tvalid && s_axis_data_tready && debug_counter < 1050) begin + $display("[FFT_CORRECTED @%d] Data in: I=%h Q=%h count=%d tlast=%b", + debug_counter, data_i, data_q, sample_count, s_axis_data_tlast); + end + + // Data output + if (m_axis_data_tvalid && debug_counter < 3000) begin + $display("[FFT_CORRECTED @%d] FFT OUT: I=%h Q=%h", + debug_counter, fft_i, fft_q); + end + + // Stuck detection + if (debug_counter == 100 && !s_axis_config_tready) begin + $display("[FFT_CORRECTED] WARNING: config_tready still 0 after 100 cycles"); + end + end +end +*/ +// ========== FFT IP INSTANCE ========== +// This must match the name in your project +FFT_enhanced fft_forward_inst ( + .aclk(clk), + .aresetn(reset_n), // Active-low reset + + // Configuration (16-bit) + .s_axis_config_tdata(s_axis_config_tdata), + .s_axis_config_tvalid(s_axis_config_tvalid), + .s_axis_config_tready(s_axis_config_tready), + + // Data input (64-bit) + .s_axis_data_tdata(s_axis_data_tdata), + .s_axis_data_tvalid(s_axis_data_tvalid), + .s_axis_data_tready(s_axis_data_tready), + .s_axis_data_tlast(s_axis_data_tlast), + + // Data output (64-bit) + .m_axis_data_tdata(m_axis_data_tdata), + .m_axis_data_tvalid(m_axis_data_tvalid), + .m_axis_data_tlast(m_axis_data_tlast) + +); + +endmodule \ No newline at end of file diff --git a/9_Firmware/9_2_FPGA/fft_1024_inverse.v b/9_Firmware/9_2_FPGA/fft_1024_inverse.v new file mode 100644 index 0000000..34dd03c --- /dev/null +++ b/9_Firmware/9_2_FPGA/fft_1024_inverse.v @@ -0,0 +1,97 @@ +`timescale 1ns / 1ps + +module fft_1024_inverse_enhanced ( + input wire clk, + input wire reset_n, + input wire [15:0] data_i, + input wire [15:0] data_q, + input wire data_valid, + output wire [15:0] ifft_i, + output wire [15:0] ifft_q, + output wire ifft_valid +); + +// ========== MATCH YOUR FFT IP CONFIGURATION ========== +wire [15:0] s_axis_config_tdata; // 16-bit +wire s_axis_config_tvalid; +wire s_axis_config_tready; +wire [31:0] s_axis_data_tdata; // 32-bit for your IP {Q[15:0],I[15:0]} +wire s_axis_data_tvalid; +wire s_axis_data_tready; +wire s_axis_data_tlast; +wire [31:0] m_axis_data_tdata; // 32-bit +wire m_axis_data_tvalid; +wire m_axis_data_tready; +wire m_axis_data_tlast; + +// Configuration: bit 0 = 0 for inverse FFT +assign s_axis_config_tdata = 16'h0000; +assign s_axis_config_tvalid = 1'b1; + + +assign s_axis_data_tdata = {data_q, data_i}; +assign s_axis_data_tvalid = data_valid; + +// Frame counter +reg [9:0] sample_count; +reg frame_active; +always @(posedge clk or negedge reset_n) begin + if (!reset_n) begin + sample_count <= 0; + frame_active <= 0; + end else begin + if (data_valid && !frame_active) begin + frame_active <= 1'b1; + sample_count <= 0; + end + + if (frame_active && data_valid) begin + if (sample_count == 1023) begin + sample_count <= 0; + frame_active <= 0; + end else begin + sample_count <= sample_count + 1; + end + end + end +end +assign s_axis_data_tlast = (sample_count == 1023) && data_valid; +// Output +assign ifft_i = m_axis_data_tdata[15:0]; // I = lower 16 bits +assign ifft_q = m_axis_data_tdata[31:16]; // Q = upper 16 bits +assign ifft_valid = m_axis_data_tvalid; +assign m_axis_data_tready = 1'b1; + +// Debug +reg [31:0] debug_counter; +always @(posedge clk) begin + debug_counter <= debug_counter + 1; + + if (debug_counter < 1000) begin + if (s_axis_config_tvalid && s_axis_config_tready) begin + $display("[IFFT_CORRECTED @%d] CONFIG ACCEPTED!", debug_counter); + end + end +end + +// IFFT IP instance +FFT_enhanced ifft_inverse_inst ( // Same IP core, different configuration + .aclk(clk), + .aresetn(reset_n), + + .s_axis_config_tdata(s_axis_config_tdata), + .s_axis_config_tvalid(s_axis_config_tvalid), + .s_axis_config_tready(s_axis_config_tready), + + .s_axis_data_tdata(s_axis_data_tdata), + .s_axis_data_tvalid(s_axis_data_tvalid), + .s_axis_data_tready(s_axis_data_tready), + .s_axis_data_tlast(s_axis_data_tlast), + + .m_axis_data_tdata(m_axis_data_tdata), + .m_axis_data_tvalid(m_axis_data_tvalid), + .m_axis_data_tlast(m_axis_data_tlast) + +); + +endmodule \ No newline at end of file diff --git a/9_Firmware/9_2_FPGA/fir_lowpass.v b/9_Firmware/9_2_FPGA/fir_lowpass.v new file mode 100644 index 0000000..87a38e9 --- /dev/null +++ b/9_Firmware/9_2_FPGA/fir_lowpass.v @@ -0,0 +1,124 @@ +`timescale 1ns / 1ps + +module fir_lowpass_parallel_enhanced ( + input wire clk, + input wire reset_n, + input wire signed [17:0] data_in, + input wire data_valid, + output reg signed [17:0] data_out, + output reg data_out_valid, + output wire fir_ready, + output wire filter_overflow +); + +parameter TAPS = 32; +parameter COEFF_WIDTH = 18; +parameter DATA_WIDTH = 18; +parameter ACCUM_WIDTH = 36; + +// Filter coefficients +reg signed [COEFF_WIDTH-1:0] coeff [0:TAPS-1]; + +// Parallel delay line +reg signed [DATA_WIDTH-1:0] delay_line [0:TAPS-1]; + +// Parallel multiply-accumulate structure +wire signed [DATA_WIDTH+COEFF_WIDTH-1:0] mult_result [0:TAPS-1]; + +// Wires for parallel addition (combinatorial) +wire signed [ACCUM_WIDTH-1:0] sum_stage1_0, sum_stage1_1, sum_stage1_2, sum_stage1_3; +wire signed [ACCUM_WIDTH-1:0] sum_stage2_0, sum_stage2_1; +wire signed [ACCUM_WIDTH-1:0] sum_stage3; + +// Registered accumulator +reg signed [ACCUM_WIDTH-1:0] accumulator_reg; + +// Initialize coefficients +initial begin + // Proper low-pass filter coefficients + coeff[ 0] = 18'sh00AD; coeff[ 1] = 18'sh00CE; coeff[ 2] = 18'sh3FD87; coeff[ 3] = 18'sh02A6; + coeff[ 4] = 18'sh00E0; coeff[ 5] = 18'sh3F8C0; coeff[ 6] = 18'sh0A45; coeff[ 7] = 18'sh3FD82; + coeff[ 8] = 18'sh3F0B5; coeff[ 9] = 18'sh1CAD; coeff[10] = 18'sh3EE59; coeff[11] = 18'sh3E821; + coeff[12] = 18'sh4841; coeff[13] = 18'sh3B340; coeff[14] = 18'sh3E299; coeff[15] = 18'sh1FFFF; + coeff[16] = 18'sh1FFFF; coeff[17] = 18'sh3E299; coeff[18] = 18'sh3B340; coeff[19] = 18'sh4841; + coeff[20] = 18'sh3E821; coeff[21] = 18'sh3EE59; coeff[22] = 18'sh1CAD; coeff[23] = 18'sh3F0B5; + coeff[24] = 18'sh3FD82; coeff[25] = 18'sh0A45; coeff[26] = 18'sh3F8C0; coeff[27] = 18'sh00E0; + coeff[28] = 18'sh02A6; coeff[29] = 18'sh3FD87; coeff[30] = 18'sh00CE; coeff[31] = 18'sh00AD; +end + +// Generate parallel multipliers +genvar k; +generate + for (k = 0; k < TAPS; k = k + 1) begin : mult_gen + assign mult_result[k] = delay_line[k] * coeff[k]; + end +endgenerate + +// COMBINATORIAL PARALLEL ADDITION TREE +// Stage 1: Group of 8 +assign sum_stage1_0 = mult_result[0] + mult_result[1] + mult_result[2] + mult_result[3] + + mult_result[4] + mult_result[5] + mult_result[6] + mult_result[7]; +assign sum_stage1_1 = mult_result[8] + mult_result[9] + mult_result[10] + mult_result[11] + + mult_result[12] + mult_result[13] + mult_result[14] + mult_result[15]; +assign sum_stage1_2 = mult_result[16] + mult_result[17] + mult_result[18] + mult_result[19] + + mult_result[20] + mult_result[21] + mult_result[22] + mult_result[23]; +assign sum_stage1_3 = mult_result[24] + mult_result[25] + mult_result[26] + mult_result[27] + + mult_result[28] + mult_result[29] + mult_result[30] + mult_result[31]; + +// Stage 2: Combine groups of 2 +assign sum_stage2_0 = sum_stage1_0 + sum_stage1_1; +assign sum_stage2_1 = sum_stage1_2 + sum_stage1_3; + +// Stage 3: Final sum +assign sum_stage3 = sum_stage2_0 + sum_stage2_1; + +integer i; + +// SINGLE-CYCLE PIPELINE PROCESSING +always @(posedge clk or negedge reset_n) begin + if (!reset_n) begin + // Reset delay line + for (i = 0; i < TAPS; i = i + 1) begin + delay_line[i] <= 0; + end + accumulator_reg <= 0; + data_out <= 0; + data_out_valid <= 0; + end else begin + // Always shift in new data when valid + if (data_valid) begin + // Shift delay line + for (i = TAPS-1; i > 0; i = i - 1) begin + delay_line[i] <= delay_line[i-1]; + end + delay_line[0] <= data_in; + + // Register the combinatorial sum + accumulator_reg <= sum_stage3; + + // Output with 1-cycle latency + data_out_valid <= 1'b1; + end else begin + data_out_valid <= 1'b0; + end + + // Output saturation logic (registered) + if (accumulator_reg > (2**(ACCUM_WIDTH-2)-1)) begin + data_out <= (2**(DATA_WIDTH-1))-1; + end else if (accumulator_reg < -(2**(ACCUM_WIDTH-2))) begin + data_out <= -(2**(DATA_WIDTH-1)); + end else begin + // Round and truncate (keep middle bits) + data_out <= accumulator_reg[ACCUM_WIDTH-2:DATA_WIDTH-1]; + end + end +end + +// Always ready to accept new data +assign fir_ready = 1'b1; + +// Overflow detection (simplified) +assign filter_overflow = (accumulator_reg > (2**(ACCUM_WIDTH-2)-1)) || + (accumulator_reg < -(2**(ACCUM_WIDTH-2))); + +endmodule \ No newline at end of file diff --git a/9_Firmware/9_2_FPGA/frequency_matched_filter.v b/9_Firmware/9_2_FPGA/frequency_matched_filter.v new file mode 100644 index 0000000..be5ce9d --- /dev/null +++ b/9_Firmware/9_2_FPGA/frequency_matched_filter.v @@ -0,0 +1,137 @@ +`timescale 1ns / 1ps + +// frequency_matched_filter_conjugate.v +module frequency_matched_filter ( + input wire clk, + input wire reset_n, + + // Input from Forward FFT (16-bit Q15) + input wire signed [15:0] fft_real_in, + input wire signed [15:0] fft_imag_in, + input wire fft_valid_in, + + // Reference Chirp (16-bit Q15) - assumed to be FFT of transmitted chirp + + input wire signed [15:0] ref_chirp_real, + input wire signed [15:0] ref_chirp_imag, + + // Output (16-bit Q15) - FFT(input) ? conj(FFT(reference)) + output wire signed [15:0] filtered_real, + output wire signed [15:0] filtered_imag, + output wire filtered_valid, + + output wire [1:0] state +); + +// Complex multiplication: (a + jb) ? (c - jd) = (ac + bd) + j(bc - ad) +// Note: We use CONJUGATE of reference for matched filter + +// Pipeline registers +reg signed [15:0] a_reg, b_reg, c_reg, d_reg; +reg valid_p1; +reg signed [31:0] ac_reg, bd_reg, bc_reg, ad_reg; +reg valid_p2; +reg signed [31:0] real_sum, imag_sum; +reg valid_p3; +reg signed [15:0] real_out, imag_out; +reg valid_out; + +// Address counter +reg [9:0] addr_counter; + + +// ========== PIPELINE STAGE 1: REGISTER INPUTS ========== +always @(posedge clk or negedge reset_n) begin + if (!reset_n) begin + a_reg <= 16'd0; b_reg <= 16'd0; + c_reg <= 16'd0; d_reg <= 16'd0; + valid_p1 <= 1'b0; + end else begin + if (fft_valid_in) begin + a_reg <= fft_real_in; // a + b_reg <= fft_imag_in; // b + c_reg <= ref_chirp_real; // c + d_reg <= ref_chirp_imag; // d + end + valid_p1 <= fft_valid_in; + end +end + +// ========== PIPELINE STAGE 2: MULTIPLICATIONS ========== +always @(posedge clk or negedge reset_n) begin + if (!reset_n) begin + ac_reg <= 32'd0; bd_reg <= 32'd0; + bc_reg <= 32'd0; ad_reg <= 32'd0; + valid_p2 <= 1'b0; + end else begin + // Q15 ? Q15 = Q30 + ac_reg <= a_reg * c_reg; // ac + bd_reg <= b_reg * d_reg; // bd + bc_reg <= b_reg * c_reg; // bc + ad_reg <= a_reg * d_reg; // ad + + valid_p2 <= valid_p1; + end +end + +// ========== PIPELINE STAGE 3: ADDITIONS ========== +// For conjugate multiplication: (ac + bd) + j(bc - ad) +always @(posedge clk or negedge reset_n) begin + if (!reset_n) begin + real_sum <= 32'd0; + imag_sum <= 32'd0; + valid_p3 <= 1'b0; + end else begin + real_sum <= ac_reg + bd_reg; // ac + bd + imag_sum <= bc_reg - ad_reg; // bc - ad + + valid_p3 <= valid_p2; + end +end + +// ========== PIPELINE STAGE 4: SATURATION ========== +function automatic signed [15:0] saturate_and_scale; + input signed [31:0] q30_value; + reg signed [15:0] result; + reg signed [31:0] rounded; + begin + // Round to nearest: add 0.5 LSB (bit 14) + rounded = q30_value + (1 << 14); + + // Check for overflow + if (rounded > 32'sh3FFF8000) begin // > 32767.5 in Q30 + result = 16'h7FFF; + end else if (rounded < 32'shC0008000) begin // < -32768.5 in Q30 + result = 16'h8000; + end else begin + // Take bits [30:15] for Q15 + result = rounded[30:15]; + end + + saturate_and_scale = result; + end +endfunction + +always @(posedge clk or negedge reset_n) begin + if (!reset_n) begin + real_out <= 16'd0; + imag_out <= 16'd0; + valid_out <= 1'b0; + end else begin + if (valid_p3) begin + real_out <= saturate_and_scale(real_sum); + imag_out <= saturate_and_scale(imag_sum); + end + valid_out <= valid_p3; + end +end + +// ========== OUTPUT ASSIGNMENTS ========== +assign filtered_real = real_out; +assign filtered_imag = imag_out; +assign filtered_valid = valid_out; + +// Simple state output +assign state = {valid_out, valid_p3}; + +endmodule \ No newline at end of file diff --git a/9_Firmware/9_2_FPGA/latency_buffer_2159.v b/9_Firmware/9_2_FPGA/latency_buffer_2159.v new file mode 100644 index 0000000..968903a --- /dev/null +++ b/9_Firmware/9_2_FPGA/latency_buffer_2159.v @@ -0,0 +1,107 @@ +`timescale 1ns / 1ps + +// latency_buffer_2159_fixed.v +module latency_buffer_2159 #( + parameter DATA_WIDTH = 32, + parameter LATENCY = 3187 +) ( + input wire clk, + input wire reset_n, + input wire [DATA_WIDTH-1:0] data_in, + input wire valid_in, + output wire [DATA_WIDTH-1:0] data_out, + output wire valid_out +); + +// ========== FIXED PARAMETERS ========== +localparam ADDR_WIDTH = 12; // Enough for 4096 entries (>2159) + +// ========== FIXED LOGIC ========== +(* ram_style = "block" *) reg [DATA_WIDTH-1:0] bram [0:4095]; +reg [ADDR_WIDTH-1:0] write_ptr; +reg [ADDR_WIDTH-1:0] read_ptr; +reg valid_out_reg; + +// Delay counter to track when LATENCY cycles have passed +reg [ADDR_WIDTH-1:0] delay_counter; +reg buffer_has_data; // Flag when buffer has accumulated LATENCY samples + +// ========== FIXED INITIALIZATION ========== +integer k; +initial begin + for (k = 0; k < 4096; k = k + 1) begin + bram[k] = {DATA_WIDTH{1'b0}}; + end + write_ptr = 0; + read_ptr = 0; + valid_out_reg = 0; + delay_counter = 0; + buffer_has_data = 0; +end + +// ========== FIXED STATE MACHINE ========== +always @(posedge clk or negedge reset_n) begin + if (!reset_n) begin + write_ptr <= 0; + read_ptr <= 0; + valid_out_reg <= 0; + delay_counter <= 0; + buffer_has_data <= 0; + end else begin + // Default: no valid output + valid_out_reg <= 0; + + // ===== WRITE SIDE ===== + if (valid_in) begin + // Store data + bram[write_ptr] <= data_in; + + // Increment write pointer (wrap at 4095) + if (write_ptr == 4095) begin + write_ptr <= 0; + end else begin + write_ptr <= write_ptr + 1; + end + + // Count how many samples we've written + if (delay_counter < LATENCY) begin + delay_counter <= delay_counter + 1; + + // When we've written LATENCY samples, buffer is "primed" + if (delay_counter == LATENCY - 1) begin + buffer_has_data <= 1'b1; + // $display("[LAT_BUF] Buffer now has %d samples (primed)", LATENCY); + end + end + end + + // ===== READ SIDE ===== + // Only start reading after we have LATENCY samples in buffer + if (buffer_has_data && valid_in) begin + // Read pointer follows write pointer with LATENCY delay + // Calculate: read_ptr = (write_ptr - LATENCY) mod 4096 + + // Handle wrap-around correctly + if (write_ptr >= LATENCY) begin + read_ptr <= write_ptr - LATENCY; + end else begin + // Wrap around: 4096 + write_ptr - LATENCY + read_ptr <= 4096 + write_ptr - LATENCY; + end + + // Output is valid + valid_out_reg <= 1'b1; + + //$display("[LAT_BUF] Reading: write_ptr=%d, read_ptr=%d, data=%h", + // write_ptr, read_ptr, bram[read_ptr]); + end + end +end + +// ========== OUTPUTS ========== +assign data_out = bram[read_ptr]; +assign valid_out = valid_out_reg; + + + +endmodule \ No newline at end of file diff --git a/9_Firmware/9_2_FPGA/long_chirp_seg0_i.mem b/9_Firmware/9_2_FPGA/long_chirp_seg0_i.mem new file mode 100644 index 0000000..fb6a9b5 --- /dev/null +++ b/9_Firmware/9_2_FPGA/long_chirp_seg0_i.mem @@ -0,0 +1,1024 @@ +0145 +0146 +0147 +0148 +0149 +014a +014b +014c +014d +014f +0150 +0151 +0152 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+007f +004b +0026 +0018 +0024 +0047 +007b +00b6 diff --git a/9_Firmware/9_2_FPGA/lvds_to_cmos_400m.v b/9_Firmware/9_2_FPGA/lvds_to_cmos_400m.v new file mode 100644 index 0000000..1aa898b --- /dev/null +++ b/9_Firmware/9_2_FPGA/lvds_to_cmos_400m.v @@ -0,0 +1,45 @@ +`timescale 1ns / 1ps +module lvds_to_cmos_400m ( + // ADC Physical Interface (LVDS Inputs) + input wire clk_400m_p, // Data Clock Output P (400MHz LVDS, 2.5V) + input wire clk_400m_n, // Data Clock Output N (400MHz LVDS, 2.5V) + input wire reset_n, // Active-low reset + + // CMOS Output Interface (400MHz Domain) + output reg clk_400m_cmos // ADC data clock (CMOS, 3.3V) +); + +// LVDS to single-ended conversion +wire clk_400m_se; // Single-ended DCO from ADC + + +// IBUFDS for DCO clock (LVDS to CMOS conversion) +IBUFDS #( + .DIFF_TERM("FALSE"), // DISABLE internal termination (using external 100O) + .IOSTANDARD("LVDS_25") // 2.5V LVDS standard +) ibufds_dco ( + .O(clk_400m_se), // Single-ended 400MHz clock + .I(clk_400m_p), + .IB(clk_400m_n) +); + +// Optional: Global clock buffer for better clock distribution +wire clk_400m_buffered; +BUFG bufg_dco ( + .I(clk_400m_se), + .O(clk_400m_buffered) +); + + +// Main processing: Capture on rising edge only +always @(posedge clk_400m_buffered or negedge reset_n) begin + if (!reset_n) begin + // Reset state + clk_400m_cmos <= 1'b0; + end else begin + // Output buffered DCO clock + clk_400m_cmos <= clk_400m_buffered; + end +end + +endmodule diff --git a/9_Firmware/9_2_FPGA/matched_filter_multi_segment.v b/9_Firmware/9_2_FPGA/matched_filter_multi_segment.v new file mode 100644 index 0000000..0797799 --- /dev/null +++ b/9_Firmware/9_2_FPGA/matched_filter_multi_segment.v @@ -0,0 +1,410 @@ +`timescale 1ns / 1ps +// matched_filter_multi_segment.v +module matched_filter_multi_segment ( + input wire clk, // 100MHz + input wire reset_n, + + // Input from DDC (100 MSPS) + input wire signed [17:0] ddc_i, + input wire signed [17:0] ddc_q, + input wire ddc_valid, + + // Chirp control (from sequence controller) + input wire use_long_chirp, // + input wire [5:0] chirp_counter, // + + // Microcontroller sync signals + input wire mc_new_chirp, // Toggle for new chirp (32) + input wire mc_new_elevation, // Toggle for new elevation (32) + input wire mc_new_azimuth, // Toggle for new azimuth (50) + + input wire [15:0] long_chirp_real, + input wire [15:0] long_chirp_imag, + input wire [15:0] short_chirp_real, + input wire [15:0] short_chirp_imag, + + // Memory system interface + output reg [1:0] segment_request, + output wire [9:0] sample_addr_out, // Tell memory which sample we need + output reg mem_request, + input wire mem_ready, + + // Output: Pulse compressed + output wire signed [15:0] pc_i_w, + output wire signed [15:0] pc_q_w, + output wire pc_valid_w, + + // Status + output reg [3:0] status +); + +// ========== FIXED PARAMETERS ========== +parameter BUFFER_SIZE = 1024; +parameter LONG_CHIRP_SAMPLES = 3000; // Still 3000 samples total +parameter SHORT_CHIRP_SAMPLES = 50; // 0.5s @ 100MHz +parameter OVERLAP_SAMPLES = 128; // Standard for 1024-pt FFT +parameter SEGMENT_ADVANCE = BUFFER_SIZE - OVERLAP_SAMPLES; // 896 samples +parameter DEBUG = 1; // Debug output control + +// Calculate segments needed with overlap +// For 3072 samples with 128 overlap: +// Segments = ceil((3072 - 128) / 896) = ceil(2944/896) = 4 +parameter LONG_SEGMENTS = 4; // Now exactly 4 segments! +parameter SHORT_SEGMENTS = 1; // 50 samples padded to 1024 + +// ========== FIXED INTERNAL SIGNALS ========== +reg signed [31:0] pc_i, pc_q; +reg pc_valid; + +// Dual buffer for overlap-save +reg signed [15:0] input_buffer_i [0:BUFFER_SIZE-1]; +reg signed [15:0] input_buffer_q [0:BUFFER_SIZE-1]; +reg [10:0] buffer_write_ptr; +reg [10:0] buffer_read_ptr; +reg buffer_has_data; +reg buffer_processing; +reg [15:0] chirp_samples_collected; + +// State machine +reg [3:0] state; +localparam ST_IDLE = 0; +localparam ST_COLLECT_DATA = 1; +localparam ST_ZERO_PAD = 2; +localparam ST_WAIT_REF = 3; +localparam ST_PROCESSING = 4; +localparam ST_WAIT_FFT = 5; +localparam ST_OUTPUT = 6; +localparam ST_NEXT_SEGMENT = 7; + +// Segment tracking +reg [2:0] current_segment; // 0-3 +reg [2:0] total_segments; +reg segment_done; +reg chirp_complete; + +// Microcontroller sync detection +reg mc_new_chirp_prev, mc_new_elevation_prev, mc_new_azimuth_prev; +wire chirp_start_pulse = mc_new_chirp && !mc_new_chirp_prev; +wire elevation_change_pulse = mc_new_elevation && !mc_new_elevation_prev; +wire azimuth_change_pulse = mc_new_azimuth && !mc_new_azimuth_prev; + +// Processing chain signals +wire [15:0] fft_pc_i, fft_pc_q; +wire fft_pc_valid; +wire [3:0] fft_chain_state; + +// Buffer for FFT input +reg [15:0] fft_input_i, fft_input_q; +reg fft_input_valid; +reg fft_start; + +// ========== SAMPLE ADDRESS OUTPUT ========== +assign sample_addr_out = buffer_read_ptr; + +// ========== MICROCONTROLLER SYNC ========== +always @(posedge clk or negedge reset_n) begin + if (!reset_n) begin + mc_new_chirp_prev <= 1'b0; + mc_new_elevation_prev <= 1'b0; + mc_new_azimuth_prev <= 1'b0; + end else begin + mc_new_chirp_prev <= mc_new_chirp; + mc_new_elevation_prev <= mc_new_elevation; + mc_new_azimuth_prev <= mc_new_azimuth; + end +end + +// ========== BUFFER INITIALIZATION ========== +integer buf_init; +initial begin + for (buf_init = 0; buf_init < BUFFER_SIZE; buf_init = buf_init + 1) begin + input_buffer_i[buf_init] = 16'd0; + input_buffer_q[buf_init] = 16'd0; + end +end + +// ========== FIXED STATE MACHINE WITH OVERLAP-SAVE ========== +integer i; +always @(posedge clk or negedge reset_n) begin + if (!reset_n) begin + state <= ST_IDLE; + buffer_write_ptr <= 0; + buffer_read_ptr <= 0; + buffer_has_data <= 0; + buffer_processing <= 0; + current_segment <= 0; + segment_done <= 0; + segment_request <= 0; + mem_request <= 0; + pc_valid <= 0; + status <= 0; + chirp_samples_collected <= 0; + chirp_complete <= 0; + fft_input_valid <= 0; + fft_start <= 0; + end else begin + pc_valid <= 0; + mem_request <= 0; + fft_input_valid <= 0; + + case (state) + ST_IDLE: begin + // Reset for new chirp + buffer_write_ptr <= 0; + buffer_read_ptr <= 0; + buffer_has_data <= 0; + buffer_processing <= 0; + current_segment <= 0; + segment_done <= 0; + chirp_samples_collected <= 0; + chirp_complete <= 0; + + // Wait for chirp start from microcontroller + if (chirp_start_pulse) begin + state <= ST_COLLECT_DATA; + total_segments <= use_long_chirp ? LONG_SEGMENTS[2:0] : SHORT_SEGMENTS[2:0]; + + $display("[MULTI_SEG_FIXED] Starting %s chirp, segments: %d", + use_long_chirp ? "LONG" : "SHORT", + use_long_chirp ? LONG_SEGMENTS : SHORT_SEGMENTS); + $display("[MULTI_SEG_FIXED] Overlap: %d samples, Advance: %d samples", + OVERLAP_SAMPLES, SEGMENT_ADVANCE); + end + end + + ST_COLLECT_DATA: begin + // Collect samples for current segment with overlap-save + if (ddc_valid) begin + // Store in buffer + input_buffer_i[buffer_write_ptr] <= ddc_i[17:2] + ddc_i[1]; + input_buffer_q[buffer_write_ptr] <= ddc_q[17:2] + ddc_q[1]; + + buffer_write_ptr <= buffer_write_ptr + 1; + chirp_samples_collected <= chirp_samples_collected + 1; + + // Debug: Show first few samples + if (chirp_samples_collected < 10 && buffer_write_ptr < 10) begin + $display("[MULTI_SEG_FIXED] Store[%0d]: I=%h Q=%h", + buffer_write_ptr, + ddc_i[17:2] + ddc_i[1], + ddc_q[17:2] + ddc_q[1]); + end + + // Check conditions based on chirp type + if (use_long_chirp) begin + // LONG CHIRP: Process when we have SEGMENT_ADVANCE new samples + // (buffer contains overlap from previous segment + new data) + + // Check if we have enough NEW data to process + if (buffer_write_ptr >= SEGMENT_ADVANCE) begin + buffer_has_data <= 1; + state <= ST_WAIT_REF; + segment_request <= current_segment[1:0]; // Use lower 2 bits + mem_request <= 1; + + $display("[MULTI_SEG_FIXED] Segment %d ready: %d samples collected", + current_segment, chirp_samples_collected); + end + + // Check if end of chirp reached + if (chirp_samples_collected >= LONG_CHIRP_SAMPLES - 1) begin + chirp_complete <= 1; + $display("[MULTI_SEG_FIXED] End of long chirp reached"); + end + end else begin + // SHORT CHIRP: Only 50 samples, then zero-pad + if (chirp_samples_collected >= SHORT_CHIRP_SAMPLES - 1) begin + state <= ST_ZERO_PAD; + $display("[MULTI_SEG_FIXED] Short chirp: collected %d samples, starting zero-pad", + chirp_samples_collected + 1); + end + end + end + end + + ST_ZERO_PAD: begin + // For short chirp: zero-pad remaining buffer + input_buffer_i[buffer_write_ptr] <= 16'd0; + input_buffer_q[buffer_write_ptr] <= 16'd0; + buffer_write_ptr <= buffer_write_ptr + 1; + + if (buffer_write_ptr >= BUFFER_SIZE - 1) begin + // Done zero-padding + buffer_has_data <= 1; + buffer_write_ptr <= 0; + state <= ST_WAIT_REF; + segment_request <= 0; // Only one segment for short chirp + mem_request <= 1; + $display("[MULTI_SEG_FIXED] Zero-pad complete, buffer full"); + end + end + + ST_WAIT_REF: begin + // Wait for memory to provide reference coefficients + if (mem_ready) begin + // Start processing + buffer_processing <= 1; + buffer_read_ptr <= 0; + fft_start <= 1; + state <= ST_PROCESSING; + + $display("[MULTI_SEG_FIXED] Reference ready, starting processing segment %d", + current_segment); + end + end + + ST_PROCESSING: begin + // Feed data to FFT chain + if ((buffer_processing) && (buffer_read_ptr < BUFFER_SIZE)) begin + // 1. Feed ADC data to FFT + fft_input_i <= input_buffer_i[buffer_read_ptr]; + fft_input_q <= input_buffer_q[buffer_read_ptr]; + fft_input_valid <= 1; + + // 2. Request corresponding reference sample + mem_request <= 1'b1; + + // Debug every 100 samples + if (buffer_read_ptr % 100 == 0) begin + $display("[MULTI_SEG_FIXED] Processing[%0d]: ADC I=%h Q=%h", + buffer_read_ptr, + input_buffer_i[buffer_read_ptr], + input_buffer_q[buffer_read_ptr]); + end + + buffer_read_ptr <= buffer_read_ptr + 1; + + end else if (buffer_read_ptr >= BUFFER_SIZE) begin + // Done feeding buffer + fft_input_valid <= 0; + mem_request <= 0; + buffer_processing <= 0; + buffer_has_data <= 0; + state <= ST_WAIT_FFT; // CRITICAL: Wait for FFT completion + + $display("[MULTI_SEG_FIXED] Finished feeding %d samples to FFT, waiting...", + BUFFER_SIZE); + end + end + + ST_WAIT_FFT: begin + // Wait for the processing chain to complete (2159 cycles latency) + if (fft_pc_valid) begin + state <= ST_OUTPUT; + $display("[MULTI_SEG_FIXED] FFT processing complete for segment %d", + current_segment); + end + end + + ST_OUTPUT: begin + // Store FFT output + pc_i <= fft_pc_i; + pc_q <= fft_pc_q; + pc_valid <= 1; + segment_done <= 1; + + $display("[MULTI_SEG_FIXED] Output segment %d: I=%h Q=%h", + current_segment, fft_pc_i, fft_pc_q); + + // Check if we need more segments + if (current_segment < total_segments - 1 || !chirp_complete) begin + state <= ST_NEXT_SEGMENT; + end else begin + // All segments complete + state <= ST_IDLE; + $display("[MULTI_SEG_FIXED] All %d segments complete", + total_segments); + end + end + + ST_NEXT_SEGMENT: begin + // Prepare for next segment with OVERLAP-SAVE + current_segment <= current_segment + 1; + segment_done <= 0; + + if (use_long_chirp) begin + // OVERLAP-SAVE: Keep last OVERLAP_SAMPLES for next segment + // Shift data in buffer to preserve overlap + + for (i = 0; i < OVERLAP_SAMPLES; i = i + 1) begin + input_buffer_i[i] <= input_buffer_i[i + SEGMENT_ADVANCE]; + input_buffer_q[i] <= input_buffer_q[i + SEGMENT_ADVANCE]; + end + + // Start writing after the overlap + buffer_write_ptr <= OVERLAP_SAMPLES; + + $display("[MULTI_SEG_FIXED] Overlap-save: kept %d samples, write_ptr=%d", + OVERLAP_SAMPLES, OVERLAP_SAMPLES); + end else begin + // Short chirp: only one segment + buffer_write_ptr <= 0; + end + + // Continue collecting or finish + if (!chirp_complete) begin + state <= ST_COLLECT_DATA; + $display("[MULTI_SEG_FIXED] Starting segment %d/%d", + current_segment + 1, total_segments); + end else begin + state <= ST_IDLE; + end + end + endcase + + // Update status + status <= {state[2:0], use_long_chirp}; + end +end + +// ========== PROCESSING CHAIN INSTANTIATION ========== +matched_filter_processing_chain m_f_p_c( + .clk(clk), + .reset_n(reset_n), + + // Input ADC Data + .adc_data_i(fft_input_i), + .adc_data_q(fft_input_q), + .adc_valid(fft_input_valid),// && buffer_processing), + + // Chirp Selection + .chirp_counter(chirp_counter), + + // Reference Chirp Memory Interfaces + .long_chirp_real(long_chirp_real), + .long_chirp_imag(long_chirp_imag), + .short_chirp_real(short_chirp_real), + .short_chirp_imag(short_chirp_imag), + + // Output + .range_profile_i(fft_pc_i), + .range_profile_q(fft_pc_q), + .range_profile_valid(fft_pc_valid), + + // Status + .chain_state(fft_chain_state) +); + +// ========== DEBUG MONITOR ========== +reg [31:0] dbg_cycles; +always @(posedge clk or negedge reset_n) begin + if (!reset_n) begin + dbg_cycles <= 0; + end else begin + dbg_cycles <= dbg_cycles + 1; + + // Monitor state transitions + if (dbg_cycles % 1000 == 0 && state != ST_IDLE) begin + $display("[MULTI_SEG_MONITOR @%0d] state=%0d, segment=%0d/%0d, samples=%0d", + dbg_cycles, state, current_segment, total_segments, + chirp_samples_collected); + end + end +end + +// ========== OUTPUT CONNECTIONS ========== +assign pc_i_w = fft_pc_i; +assign pc_q_w = fft_pc_q; +assign pc_valid_w = fft_pc_valid; + +endmodule \ No newline at end of file diff --git a/9_Firmware/9_2_FPGA/nco_400m_enhanced.v b/9_Firmware/9_2_FPGA/nco_400m_enhanced.v new file mode 100644 index 0000000..896efcf --- /dev/null +++ b/9_Firmware/9_2_FPGA/nco_400m_enhanced.v @@ -0,0 +1,117 @@ +`timescale 1ns / 1ps + +module nco_400m_enhanced ( + input wire clk_400m, + input wire reset_n, + input wire [31:0] frequency_tuning_word, + input wire phase_valid, + input wire [15:0] phase_offset, + output reg signed [15:0] sin_out, + output reg signed [15:0] cos_out, + output reg dds_ready +); + +// Phase accumulator with registered outputs for better timing +reg [31:0] phase_accumulator; +reg [31:0] phase_accumulator_reg; +reg [31:0] phase_with_offset; +reg phase_valid_delayed; + +// Use only the top 8 bits for LUT addressing (256-entry LUT equivalent) +wire [7:0] lut_address = phase_with_offset[31:24]; + +// Quarter-wave sine LUT (0-90 degrees only) +reg [15:0] sin_lut [0:63]; // 64 entries for 0-90 degrees + +// Initialize sine LUT +integer lut_init_i; +initial begin + for (lut_init_i = 0; lut_init_i < 64; lut_init_i = lut_init_i + 1) begin + sin_lut[lut_init_i] = 16'h0000; + end + + // Initialize quarter-wave sine LUT (0-90 degrees) + sin_lut[0] = 16'h0000; sin_lut[1] = 16'h0324; sin_lut[2] = 16'h0647; sin_lut[3] = 16'h096A; + sin_lut[4] = 16'h0C8B; sin_lut[5] = 16'h0FA9; sin_lut[6] = 16'h12C4; sin_lut[7] = 16'h15DB; + sin_lut[8] = 16'h18EC; sin_lut[9] = 16'h1BF8; sin_lut[10] = 16'h1EFC; sin_lut[11] = 16'h21F8; + sin_lut[12] = 16'h24EB; sin_lut[13] = 16'h27D4; sin_lut[14] = 16'h2AB1; sin_lut[15] = 16'h2D82; + sin_lut[16] = 16'h3045; sin_lut[17] = 16'h32F9; sin_lut[18] = 16'h359D; sin_lut[19] = 16'h3830; + sin_lut[20] = 16'h3AB1; sin_lut[21] = 16'h3D1E; sin_lut[22] = 16'h3F76; sin_lut[23] = 16'h41B8; + sin_lut[24] = 16'h43E3; sin_lut[25] = 16'h45F5; sin_lut[26] = 16'h47EE; sin_lut[27] = 16'h49CD; + sin_lut[28] = 16'h4B90; sin_lut[29] = 16'h4D37; sin_lut[30] = 16'h4EC1; sin_lut[31] = 16'h502D; + sin_lut[32] = 16'h517A; sin_lut[33] = 16'h52A8; sin_lut[34] = 16'h53B6; sin_lut[35] = 16'h54A4; + sin_lut[36] = 16'h5572; sin_lut[37] = 16'h561F; sin_lut[38] = 16'h56AA; sin_lut[39] = 16'h5715; + sin_lut[40] = 16'h575E; sin_lut[41] = 16'h5785; sin_lut[42] = 16'h578B; sin_lut[43] = 16'h576E; + sin_lut[44] = 16'h5730; sin_lut[45] = 16'h56D0; sin_lut[46] = 16'h564E; sin_lut[47] = 16'h55AB; + sin_lut[48] = 16'h54E7; sin_lut[49] = 16'h5403; sin_lut[50] = 16'h52FE; sin_lut[51] = 16'h51DA; + sin_lut[52] = 16'h5096; sin_lut[53] = 16'h4F34; sin_lut[54] = 16'h4DB4; sin_lut[55] = 16'h4C17; + sin_lut[56] = 16'h4A5E; sin_lut[57] = 16'h4889; sin_lut[58] = 16'h4699; sin_lut[59] = 16'h448F; + sin_lut[60] = 16'h426B; sin_lut[61] = 16'h402F; sin_lut[62] = 16'h3DDB; sin_lut[63] = 16'h3B71; +end + +// Quadrant determination +wire [1:0] quadrant = lut_address[7:6]; // 00: Q1, 01: Q2, 10: Q3, 11: Q4 +wire [5:0] lut_index = (quadrant[1] ? ~lut_address[5:0] : lut_address[5:0]); // Mirror for Q2/Q3 + +// Sine and cosine calculation with quadrant mapping +wire [15:0] sin_abs = sin_lut[lut_index]; +wire [15:0] cos_abs = sin_lut[63 - lut_index]; // Cosine is phase-shifted sine + +// Pipeline stage for better timing +always @(posedge clk_400m or negedge reset_n) begin + if (!reset_n) begin + phase_accumulator <= 32'h00000000; + phase_accumulator_reg <= 32'h00000000; + phase_with_offset <= 32'h00000000; + phase_valid_delayed <= 1'b0; + dds_ready <= 1'b0; + sin_out <= 16'h0000; + cos_out <= 16'h7FFF; + end else begin + phase_valid_delayed <= phase_valid; + + if (phase_valid) begin + // Update phase accumulator with dithered frequency tuning word + phase_accumulator <= phase_accumulator + frequency_tuning_word; + phase_accumulator_reg <= phase_accumulator; + + // Apply phase offset + phase_with_offset <= phase_accumulator + {phase_offset, 16'b0}; + dds_ready <= 1'b1; + end else begin + dds_ready <= 1'b0; + end + + // Generate outputs with one cycle delay for pipelining + if (phase_valid_delayed) begin + // Calculate sine and cosine with proper quadrant signs + case (quadrant) + 2'b00: begin // Quadrant I: sin+, cos+ + sin_out <= sin_abs; + cos_out <= cos_abs; + end + 2'b01: begin // Quadrant II: sin+, cos- + sin_out <= sin_abs; + cos_out <= -cos_abs; + end + 2'b10: begin // Quadrant III: sin-, cos- + sin_out <= -sin_abs; + cos_out <= -cos_abs; + end + 2'b11: begin // Quadrant IV: sin-, cos+ + sin_out <= -sin_abs; + cos_out <= cos_abs; + end + endcase + end + end +end + +// Add this to ensure LUT is properly loaded: +initial begin + // Wait a small amount of time for LUT initialization + #10; + $display("NCO: Sine LUT initialized with %0d entries", 64); +end + +endmodule diff --git a/9_Firmware/9_2_FPGA/plfm_chirp_controller.v b/9_Firmware/9_2_FPGA/plfm_chirp_controller.v new file mode 100644 index 0000000..29f0e96 --- /dev/null +++ b/9_Firmware/9_2_FPGA/plfm_chirp_controller.v @@ -0,0 +1,801 @@ +`timescale 1ns / 1ps + +module plfm_chirp_controller_enhanced ( + input wire clk_120m, + input wire clk_100m, + input wire reset_n, + input wire new_chirp, + input wire new_elevation, + input wire new_azimuth, + input wire mixers_enable, + output reg [7:0] chirp_data, + output reg chirp_valid, + output wire new_chirp_frame, + output reg chirp_done, + output reg rf_switch_ctrl, + output wire rx_mixer_en, + output wire tx_mixer_en, + output wire adar_tx_load_1, + output wire adar_rx_load_1, + output wire adar_tx_load_2, + output wire adar_rx_load_2, + output wire adar_tx_load_3, + output wire adar_rx_load_3, + output wire adar_tx_load_4, + output wire adar_rx_load_4, + output reg adar_tr_1, + output reg adar_tr_2, + output reg adar_tr_3, + output reg adar_tr_4, + output reg [5:0] chirp_counter, + output reg [5:0] elevation_counter, + output reg [5:0] azimuth_counter +); + +// Chirp parameters +parameter F_START = 30000000; // 30 MHz (starting frequency) +parameter F_END = 10000000; // 10 MHz (ending frequency) +parameter FS = 120000000; // 120 MHz + +// Timing parameters +parameter T1_SAMPLES = 3600; // 30us at 120MHz +parameter T1_RADAR_LISTENING = 16440; //137us at 120MHz +parameter T2_SAMPLES = 60; // 0.5us at 120MHz +parameter T2_RADAR_LISTENING = 20940; //174.5us at 120MHz +parameter GUARD_SAMPLES = 21048; // 175.4us at 120MHz + +// Chirp and beam parameters +parameter CHIRP_MAX = 32; +parameter ELEVATION_MAX = 31; +parameter AZIMUTH_MAX = 50; + +// State parameters +parameter IDLE = 3'b000; +parameter LONG_CHIRP = 3'b001; +parameter LONG_LISTEN = 3'b010; +parameter GUARD_TIME = 3'b011; +parameter SHORT_CHIRP = 3'b100; +parameter SHORT_LISTEN = 3'b101; +parameter DONE = 3'b110; + +reg [2:0] current_state; +reg [2:0] next_state; + +// Control registers +reg [15:0] sample_counter; + +// Edge detection for input signals +wire chirp__toggling, elevation__toggling, azimuth__toggling; + +// LUTs for chirp waveforms +reg [7:0] long_chirp_lut [0:3599]; // T1_SAMPLES-1 +reg [7:0] short_chirp_lut [0:59]; // T2_SAMPLES-1 + +// Edge detection +assign chirp__toggling = new_chirp; +assign elevation__toggling = new_elevation; +assign azimuth__toggling = new_azimuth; +assign new_chirp_frame = (current_state == IDLE && next_state == LONG_CHIRP); + +// Mixers Enabling +assign rx_mixer_en = mixers_enable; +assign tx_mixer_en = mixers_enable; + +// ADTR1000 pull to ground tx and rx load pins if not used +assign adar_tx_load_1 = 1'b0; +assign adar_rx_load_1 = 1'b0; +assign adar_tx_load_2 = 1'b0; +assign adar_rx_load_2 = 1'b0; +assign adar_tx_load_3 = 1'b0; +assign adar_rx_load_3 = 1'b0; +assign adar_tx_load_4 = 1'b0; +assign adar_rx_load_4 = 1'b0; + + + + +// LUT Initialization - Complete short chirp LUT +// Long PLFM chirp LUT (30us, 30MHz to 10MHz) +initial begin + long_chirp_lut[ 0] = 8'd255; long_chirp_lut[ 1] = 8'd237; long_chirp_lut[ 2] = 8'd191; long_chirp_lut[ 3] = 8'd127; long_chirp_lut[ 4] = 8'd 64; long_chirp_lut[ 5] = 8'd 17; long_chirp_lut[ 6] = 8'd 1; long_chirp_lut[ 7] = 8'd 18; + long_chirp_lut[ 8] = 8'd 65; long_chirp_lut[ 9] = 8'd129; long_chirp_lut[ 10] = 8'd193; long_chirp_lut[ 11] = 8'd239; long_chirp_lut[ 12] = 8'd254; long_chirp_lut[ 13] = 8'd236; long_chirp_lut[ 14] = 8'd188; long_chirp_lut[ 15] = 8'd123; + long_chirp_lut[ 16] = 8'd 60; long_chirp_lut[ 17] = 8'd 15; long_chirp_lut[ 18] = 8'd 1; long_chirp_lut[ 19] = 8'd 21; long_chirp_lut[ 20] = 8'd 71; long_chirp_lut[ 21] = 8'd136; long_chirp_lut[ 22] = 8'd199; long_chirp_lut[ 23] = 8'd242; + long_chirp_lut[ 24] = 8'd254; long_chirp_lut[ 25] = 8'd231; long_chirp_lut[ 26] = 8'd180; long_chirp_lut[ 27] = 8'd114; long_chirp_lut[ 28] = 8'd 52; long_chirp_lut[ 29] = 8'd 11; long_chirp_lut[ 30] = 8'd 2; long_chirp_lut[ 31] = 8'd 27; + long_chirp_lut[ 32] = 8'd 81; long_chirp_lut[ 33] = 8'd148; long_chirp_lut[ 34] = 8'd209; long_chirp_lut[ 35] = 8'd247; long_chirp_lut[ 36] = 8'd252; long_chirp_lut[ 37] = 8'd223; long_chirp_lut[ 38] = 8'd167; long_chirp_lut[ 39] = 8'd100; + long_chirp_lut[ 40] = 8'd 40; long_chirp_lut[ 41] = 8'd 5; long_chirp_lut[ 42] = 8'd 5; long_chirp_lut[ 43] = 8'd 38; long_chirp_lut[ 44] = 8'd 97; long_chirp_lut[ 45] = 8'd164; long_chirp_lut[ 46] = 8'd221; long_chirp_lut[ 47] = 8'd252; + long_chirp_lut[ 48] = 8'd247; long_chirp_lut[ 49] = 8'd209; long_chirp_lut[ 50] = 8'd148; long_chirp_lut[ 51] = 8'd 81; long_chirp_lut[ 52] = 8'd 27; long_chirp_lut[ 53] = 8'd 1; long_chirp_lut[ 54] = 8'd 12; long_chirp_lut[ 55] = 8'd 55; + long_chirp_lut[ 56] = 8'd119; long_chirp_lut[ 57] = 8'd185; long_chirp_lut[ 58] = 8'd235; long_chirp_lut[ 59] = 8'd254; long_chirp_lut[ 60] = 8'd237; long_chirp_lut[ 61] = 8'd189; long_chirp_lut[ 62] = 8'd123; long_chirp_lut[ 63] = 8'd 58; + long_chirp_lut[ 64] = 8'd 13; long_chirp_lut[ 65] = 8'd 1; long_chirp_lut[ 66] = 8'd 25; long_chirp_lut[ 67] = 8'd 79; long_chirp_lut[ 68] = 8'd146; long_chirp_lut[ 69] = 8'd209; long_chirp_lut[ 70] = 8'd247; long_chirp_lut[ 71] = 8'd252; + long_chirp_lut[ 72] = 8'd220; long_chirp_lut[ 73] = 8'd162; long_chirp_lut[ 74] = 8'd 93; long_chirp_lut[ 75] = 8'd 35; long_chirp_lut[ 76] = 8'd 3; long_chirp_lut[ 77] = 8'd 8; long_chirp_lut[ 78] = 8'd 47; long_chirp_lut[ 79] = 8'd110; + long_chirp_lut[ 80] = 8'd178; long_chirp_lut[ 81] = 8'd231; long_chirp_lut[ 82] = 8'd254; long_chirp_lut[ 83] = 8'd240; long_chirp_lut[ 84] = 8'd193; long_chirp_lut[ 85] = 8'd127; long_chirp_lut[ 86] = 8'd 61; long_chirp_lut[ 87] = 8'd 14; + long_chirp_lut[ 88] = 8'd 1; long_chirp_lut[ 89] = 8'd 25; long_chirp_lut[ 90] = 8'd 79; long_chirp_lut[ 91] = 8'd147; long_chirp_lut[ 92] = 8'd210; long_chirp_lut[ 93] = 8'd248; long_chirp_lut[ 94] = 8'd251; long_chirp_lut[ 95] = 8'd217; + long_chirp_lut[ 96] = 8'd157; long_chirp_lut[ 97] = 8'd 87; long_chirp_lut[ 98] = 8'd 30; long_chirp_lut[ 99] = 8'd 2; long_chirp_lut[ 100] = 8'd 11; long_chirp_lut[ 101] = 8'd 55; long_chirp_lut[ 102] = 8'd120; long_chirp_lut[ 103] = 8'd188; + long_chirp_lut[ 104] = 8'd238; long_chirp_lut[ 105] = 8'd254; long_chirp_lut[ 106] = 8'd233; long_chirp_lut[ 107] = 8'd180; long_chirp_lut[ 108] = 8'd112; long_chirp_lut[ 109] = 8'd 48; long_chirp_lut[ 110] = 8'd 8; long_chirp_lut[ 111] = 8'd 4; + long_chirp_lut[ 112] = 8'd 37; long_chirp_lut[ 113] = 8'd 98; long_chirp_lut[ 114] = 8'd167; long_chirp_lut[ 115] = 8'd225; long_chirp_lut[ 116] = 8'd253; long_chirp_lut[ 117] = 8'd243; long_chirp_lut[ 118] = 8'd198; long_chirp_lut[ 119] = 8'd132; + long_chirp_lut[ 120] = 8'd 64; long_chirp_lut[ 121] = 8'd 15; long_chirp_lut[ 122] = 8'd 1; long_chirp_lut[ 123] = 8'd 25; long_chirp_lut[ 124] = 8'd 80; long_chirp_lut[ 125] = 8'd150; long_chirp_lut[ 126] = 8'd213; long_chirp_lut[ 127] = 8'd250; + long_chirp_lut[ 128] = 8'd249; long_chirp_lut[ 129] = 8'd211; long_chirp_lut[ 130] = 8'd148; long_chirp_lut[ 131] = 8'd 78; long_chirp_lut[ 132] = 8'd 23; long_chirp_lut[ 133] = 8'd 1; long_chirp_lut[ 134] = 8'd 17; long_chirp_lut[ 135] = 8'd 68; + long_chirp_lut[ 136] = 8'd137; long_chirp_lut[ 137] = 8'd203; long_chirp_lut[ 138] = 8'd246; long_chirp_lut[ 139] = 8'd252; long_chirp_lut[ 140] = 8'd220; long_chirp_lut[ 141] = 8'd159; long_chirp_lut[ 142] = 8'd 88; long_chirp_lut[ 143] = 8'd 30; + long_chirp_lut[ 144] = 8'd 2; long_chirp_lut[ 145] = 8'd 13; long_chirp_lut[ 146] = 8'd 60; long_chirp_lut[ 147] = 8'd128; long_chirp_lut[ 148] = 8'd196; long_chirp_lut[ 149] = 8'd243; long_chirp_lut[ 150] = 8'd253; long_chirp_lut[ 151] = 8'd225; + long_chirp_lut[ 152] = 8'd166; long_chirp_lut[ 153] = 8'd 94; long_chirp_lut[ 154] = 8'd 34; long_chirp_lut[ 155] = 8'd 2; long_chirp_lut[ 156] = 8'd 10; long_chirp_lut[ 157] = 8'd 55; long_chirp_lut[ 158] = 8'd123; long_chirp_lut[ 159] = 8'd192; + long_chirp_lut[ 160] = 8'd241; long_chirp_lut[ 161] = 8'd254; long_chirp_lut[ 162] = 8'd227; long_chirp_lut[ 163] = 8'd168; long_chirp_lut[ 164] = 8'd 96; long_chirp_lut[ 165] = 8'd 35; long_chirp_lut[ 166] = 8'd 3; long_chirp_lut[ 167] = 8'd 10; + long_chirp_lut[ 168] = 8'd 55; long_chirp_lut[ 169] = 8'd123; long_chirp_lut[ 170] = 8'd193; long_chirp_lut[ 171] = 8'd241; long_chirp_lut[ 172] = 8'd254; long_chirp_lut[ 173] = 8'd226; long_chirp_lut[ 174] = 8'd166; long_chirp_lut[ 175] = 8'd 94; + long_chirp_lut[ 176] = 8'd 33; long_chirp_lut[ 177] = 8'd 2; long_chirp_lut[ 178] = 8'd 12; long_chirp_lut[ 179] = 8'd 58; long_chirp_lut[ 180] = 8'd128; long_chirp_lut[ 181] = 8'd197; long_chirp_lut[ 182] = 8'd244; long_chirp_lut[ 183] = 8'd253; + long_chirp_lut[ 184] = 8'd222; long_chirp_lut[ 185] = 8'd160; long_chirp_lut[ 186] = 8'd 88; long_chirp_lut[ 187] = 8'd 28; long_chirp_lut[ 188] = 8'd 1; long_chirp_lut[ 189] = 8'd 15; long_chirp_lut[ 190] = 8'd 66; long_chirp_lut[ 191] = 8'd136; + long_chirp_lut[ 192] = 8'd204; long_chirp_lut[ 193] = 8'd247; long_chirp_lut[ 194] = 8'd251; long_chirp_lut[ 195] = 8'd214; long_chirp_lut[ 196] = 8'd149; long_chirp_lut[ 197] = 8'd 77; long_chirp_lut[ 198] = 8'd 21; long_chirp_lut[ 199] = 8'd 1; + long_chirp_lut[ 200] = 8'd 21; long_chirp_lut[ 201] = 8'd 77; long_chirp_lut[ 202] = 8'd150; long_chirp_lut[ 203] = 8'd215; long_chirp_lut[ 204] = 8'd251; long_chirp_lut[ 205] = 8'd247; long_chirp_lut[ 206] = 8'd203; long_chirp_lut[ 207] = 8'd134; + long_chirp_lut[ 208] = 8'd 63; long_chirp_lut[ 209] = 8'd 13; long_chirp_lut[ 210] = 8'd 2; long_chirp_lut[ 211] = 8'd 32; long_chirp_lut[ 212] = 8'd 94; long_chirp_lut[ 213] = 8'd167; long_chirp_lut[ 214] = 8'd227; long_chirp_lut[ 215] = 8'd254; + long_chirp_lut[ 216] = 8'd239; long_chirp_lut[ 217] = 8'd186; long_chirp_lut[ 218] = 8'd114; long_chirp_lut[ 219] = 8'd 46; long_chirp_lut[ 220] = 8'd 6; long_chirp_lut[ 221] = 8'd 6; long_chirp_lut[ 222] = 8'd 47; long_chirp_lut[ 223] = 8'd115; + long_chirp_lut[ 224] = 8'd187; long_chirp_lut[ 225] = 8'd240; long_chirp_lut[ 226] = 8'd254; long_chirp_lut[ 227] = 8'd226; long_chirp_lut[ 228] = 8'd164; long_chirp_lut[ 229] = 8'd 90; long_chirp_lut[ 230] = 8'd 29; long_chirp_lut[ 231] = 8'd 1; + long_chirp_lut[ 232] = 8'd 16; long_chirp_lut[ 233] = 8'd 69; long_chirp_lut[ 234] = 8'd141; long_chirp_lut[ 235] = 8'd209; long_chirp_lut[ 236] = 8'd250; long_chirp_lut[ 237] = 8'd248; long_chirp_lut[ 238] = 8'd206; long_chirp_lut[ 239] = 8'd136; + long_chirp_lut[ 240] = 8'd 64; long_chirp_lut[ 241] = 8'd 13; long_chirp_lut[ 242] = 8'd 2; long_chirp_lut[ 243] = 8'd 33; long_chirp_lut[ 244] = 8'd 97; long_chirp_lut[ 245] = 8'd171; long_chirp_lut[ 246] = 8'd231; long_chirp_lut[ 247] = 8'd254; + long_chirp_lut[ 248] = 8'd235; long_chirp_lut[ 249] = 8'd178; long_chirp_lut[ 250] = 8'd104; long_chirp_lut[ 251] = 8'd 38; long_chirp_lut[ 252] = 8'd 3; long_chirp_lut[ 253] = 8'd 11; long_chirp_lut[ 254] = 8'd 60; long_chirp_lut[ 255] = 8'd132; + long_chirp_lut[ 256] = 8'd202; long_chirp_lut[ 257] = 8'd247; long_chirp_lut[ 258] = 8'd250; long_chirp_lut[ 259] = 8'd211; long_chirp_lut[ 260] = 8'd142; long_chirp_lut[ 261] = 8'd 69; long_chirp_lut[ 262] = 8'd 15; long_chirp_lut[ 263] = 8'd 1; + long_chirp_lut[ 264] = 8'd 31; long_chirp_lut[ 265] = 8'd 95; long_chirp_lut[ 266] = 8'd170; long_chirp_lut[ 267] = 8'd230; long_chirp_lut[ 268] = 8'd254; long_chirp_lut[ 269] = 8'd234; long_chirp_lut[ 270] = 8'd176; long_chirp_lut[ 271] = 8'd101; + long_chirp_lut[ 272] = 8'd 35; long_chirp_lut[ 273] = 8'd 2; long_chirp_lut[ 274] = 8'd 13; long_chirp_lut[ 275] = 8'd 64; long_chirp_lut[ 276] = 8'd138; long_chirp_lut[ 277] = 8'd208; long_chirp_lut[ 278] = 8'd250; long_chirp_lut[ 279] = 8'd248; + long_chirp_lut[ 280] = 8'd203; long_chirp_lut[ 281] = 8'd132; long_chirp_lut[ 282] = 8'd 59; long_chirp_lut[ 283] = 8'd 10; long_chirp_lut[ 284] = 8'd 3; long_chirp_lut[ 285] = 8'd 41; long_chirp_lut[ 286] = 8'd109; long_chirp_lut[ 287] = 8'd184; + long_chirp_lut[ 288] = 8'd239; long_chirp_lut[ 289] = 8'd254; long_chirp_lut[ 290] = 8'd224; long_chirp_lut[ 291] = 8'd159; long_chirp_lut[ 292] = 8'd 83; long_chirp_lut[ 293] = 8'd 23; long_chirp_lut[ 294] = 8'd 1; long_chirp_lut[ 295] = 8'd 24; + long_chirp_lut[ 296] = 8'd 84; long_chirp_lut[ 297] = 8'd161; long_chirp_lut[ 298] = 8'd225; long_chirp_lut[ 299] = 8'd254; long_chirp_lut[ 300] = 8'd237; long_chirp_lut[ 301] = 8'd181; long_chirp_lut[ 302] = 8'd105; long_chirp_lut[ 303] = 8'd 38; + long_chirp_lut[ 304] = 8'd 2; long_chirp_lut[ 305] = 8'd 13; long_chirp_lut[ 306] = 8'd 65; long_chirp_lut[ 307] = 8'd139; long_chirp_lut[ 308] = 8'd210; long_chirp_lut[ 309] = 8'd251; long_chirp_lut[ 310] = 8'd246; long_chirp_lut[ 311] = 8'd199; + long_chirp_lut[ 312] = 8'd125; long_chirp_lut[ 313] = 8'd 52; long_chirp_lut[ 314] = 8'd 7; long_chirp_lut[ 315] = 8'd 6; long_chirp_lut[ 316] = 8'd 50; long_chirp_lut[ 317] = 8'd122; long_chirp_lut[ 318] = 8'd196; long_chirp_lut[ 319] = 8'd245; + long_chirp_lut[ 320] = 8'd251; long_chirp_lut[ 321] = 8'd211; long_chirp_lut[ 322] = 8'd141; long_chirp_lut[ 323] = 8'd 65; long_chirp_lut[ 324] = 8'd 13; long_chirp_lut[ 325] = 8'd 3; long_chirp_lut[ 326] = 8'd 39; long_chirp_lut[ 327] = 8'd108; + long_chirp_lut[ 328] = 8'd184; long_chirp_lut[ 329] = 8'd240; long_chirp_lut[ 330] = 8'd253; long_chirp_lut[ 331] = 8'd220; long_chirp_lut[ 332] = 8'd153; long_chirp_lut[ 333] = 8'd 76; long_chirp_lut[ 334] = 8'd 18; long_chirp_lut[ 335] = 8'd 1; + long_chirp_lut[ 336] = 8'd 31; long_chirp_lut[ 337] = 8'd 98; long_chirp_lut[ 338] = 8'd175; long_chirp_lut[ 339] = 8'd235; long_chirp_lut[ 340] = 8'd254; long_chirp_lut[ 341] = 8'd226; long_chirp_lut[ 342] = 8'd161; long_chirp_lut[ 343] = 8'd 83; + long_chirp_lut[ 344] = 8'd 22; long_chirp_lut[ 345] = 8'd 1; long_chirp_lut[ 346] = 8'd 27; long_chirp_lut[ 347] = 8'd 91; long_chirp_lut[ 348] = 8'd169; long_chirp_lut[ 349] = 8'd232; long_chirp_lut[ 350] = 8'd254; long_chirp_lut[ 351] = 8'd229; + long_chirp_lut[ 352] = 8'd166; long_chirp_lut[ 353] = 8'd 87; long_chirp_lut[ 354] = 8'd 24; long_chirp_lut[ 355] = 8'd 1; long_chirp_lut[ 356] = 8'd 25; long_chirp_lut[ 357] = 8'd 88; long_chirp_lut[ 358] = 8'd167; long_chirp_lut[ 359] = 8'd230; + long_chirp_lut[ 360] = 8'd255; long_chirp_lut[ 361] = 8'd230; long_chirp_lut[ 362] = 8'd167; long_chirp_lut[ 363] = 8'd 88; long_chirp_lut[ 364] = 8'd 25; long_chirp_lut[ 365] = 8'd 1; long_chirp_lut[ 366] = 8'd 25; long_chirp_lut[ 367] = 8'd 89; + long_chirp_lut[ 368] = 8'd168; long_chirp_lut[ 369] = 8'd231; long_chirp_lut[ 370] = 8'd254; long_chirp_lut[ 371] = 8'd229; long_chirp_lut[ 372] = 8'd164; long_chirp_lut[ 373] = 8'd 85; long_chirp_lut[ 374] = 8'd 23; long_chirp_lut[ 375] = 8'd 1; + long_chirp_lut[ 376] = 8'd 28; long_chirp_lut[ 377] = 8'd 93; long_chirp_lut[ 378] = 8'd172; long_chirp_lut[ 379] = 8'd234; long_chirp_lut[ 380] = 8'd254; long_chirp_lut[ 381] = 8'd225; long_chirp_lut[ 382] = 8'd158; long_chirp_lut[ 383] = 8'd 79; + long_chirp_lut[ 384] = 8'd 19; long_chirp_lut[ 385] = 8'd 1; long_chirp_lut[ 386] = 8'd 33; long_chirp_lut[ 387] = 8'd101; long_chirp_lut[ 388] = 8'd180; long_chirp_lut[ 389] = 8'd239; long_chirp_lut[ 390] = 8'd253; long_chirp_lut[ 391] = 8'd219; + long_chirp_lut[ 392] = 8'd148; long_chirp_lut[ 393] = 8'd 70; long_chirp_lut[ 394] = 8'd 14; long_chirp_lut[ 395] = 8'd 3; long_chirp_lut[ 396] = 8'd 41; long_chirp_lut[ 397] = 8'd113; long_chirp_lut[ 398] = 8'd191; long_chirp_lut[ 399] = 8'd244; + long_chirp_lut[ 400] = 8'd251; long_chirp_lut[ 401] = 8'd209; long_chirp_lut[ 402] = 8'd135; long_chirp_lut[ 403] = 8'd 58; long_chirp_lut[ 404] = 8'd 8; long_chirp_lut[ 405] = 8'd 6; long_chirp_lut[ 406] = 8'd 52; long_chirp_lut[ 407] = 8'd128; + long_chirp_lut[ 408] = 8'd204; long_chirp_lut[ 409] = 8'd250; long_chirp_lut[ 410] = 8'd246; long_chirp_lut[ 411] = 8'd195; long_chirp_lut[ 412] = 8'd117; long_chirp_lut[ 413] = 8'd 43; long_chirp_lut[ 414] = 8'd 3; long_chirp_lut[ 415] = 8'd 13; + long_chirp_lut[ 416] = 8'd 68; long_chirp_lut[ 417] = 8'd148; long_chirp_lut[ 418] = 8'd219; long_chirp_lut[ 419] = 8'd254; long_chirp_lut[ 420] = 8'd237; long_chirp_lut[ 421] = 8'd177; long_chirp_lut[ 422] = 8'd 97; long_chirp_lut[ 423] = 8'd 29; + long_chirp_lut[ 424] = 8'd 1; long_chirp_lut[ 425] = 8'd 24; long_chirp_lut[ 426] = 8'd 89; long_chirp_lut[ 427] = 8'd170; long_chirp_lut[ 428] = 8'd233; long_chirp_lut[ 429] = 8'd254; long_chirp_lut[ 430] = 8'd224; long_chirp_lut[ 431] = 8'd154; + long_chirp_lut[ 432] = 8'd 73; long_chirp_lut[ 433] = 8'd 15; long_chirp_lut[ 434] = 8'd 2; long_chirp_lut[ 435] = 8'd 41; long_chirp_lut[ 436] = 8'd115; long_chirp_lut[ 437] = 8'd194; long_chirp_lut[ 438] = 8'd246; long_chirp_lut[ 439] = 8'd250; + long_chirp_lut[ 440] = 8'd203; long_chirp_lut[ 441] = 8'd126; long_chirp_lut[ 442] = 8'd 49; long_chirp_lut[ 443] = 8'd 5; long_chirp_lut[ 444] = 8'd 10; long_chirp_lut[ 445] = 8'd 64; long_chirp_lut[ 446] = 8'd144; long_chirp_lut[ 447] = 8'd217; + long_chirp_lut[ 448] = 8'd253; long_chirp_lut[ 449] = 8'd237; long_chirp_lut[ 450] = 8'd176; long_chirp_lut[ 451] = 8'd 95; long_chirp_lut[ 452] = 8'd 27; long_chirp_lut[ 453] = 8'd 1; long_chirp_lut[ 454] = 8'd 27; long_chirp_lut[ 455] = 8'd 95; + long_chirp_lut[ 456] = 8'd177; long_chirp_lut[ 457] = 8'd238; long_chirp_lut[ 458] = 8'd253; long_chirp_lut[ 459] = 8'd216; long_chirp_lut[ 460] = 8'd142; long_chirp_lut[ 461] = 8'd 62; long_chirp_lut[ 462] = 8'd 9; long_chirp_lut[ 463] = 8'd 6; + long_chirp_lut[ 464] = 8'd 53; long_chirp_lut[ 465] = 8'd132; long_chirp_lut[ 466] = 8'd209; long_chirp_lut[ 467] = 8'd251; long_chirp_lut[ 468] = 8'd242; long_chirp_lut[ 469] = 8'd185; long_chirp_lut[ 470] = 8'd104; long_chirp_lut[ 471] = 8'd 32; + long_chirp_lut[ 472] = 8'd 1; long_chirp_lut[ 473] = 8'd 23; long_chirp_lut[ 474] = 8'd 89; long_chirp_lut[ 475] = 8'd171; long_chirp_lut[ 476] = 8'd235; long_chirp_lut[ 477] = 8'd254; long_chirp_lut[ 478] = 8'd219; long_chirp_lut[ 479] = 8'd145; + long_chirp_lut[ 480] = 8'd 64; long_chirp_lut[ 481] = 8'd 10; long_chirp_lut[ 482] = 8'd 5; long_chirp_lut[ 483] = 8'd 53; long_chirp_lut[ 484] = 8'd132; long_chirp_lut[ 485] = 8'd209; long_chirp_lut[ 486] = 8'd252; long_chirp_lut[ 487] = 8'd241; + long_chirp_lut[ 488] = 8'd182; long_chirp_lut[ 489] = 8'd100; long_chirp_lut[ 490] = 8'd 29; long_chirp_lut[ 491] = 8'd 1; long_chirp_lut[ 492] = 8'd 26; long_chirp_lut[ 493] = 8'd 96; long_chirp_lut[ 494] = 8'd178; long_chirp_lut[ 495] = 8'd240; + long_chirp_lut[ 496] = 8'd253; long_chirp_lut[ 497] = 8'd212; long_chirp_lut[ 498] = 8'd135; long_chirp_lut[ 499] = 8'd 55; long_chirp_lut[ 500] = 8'd 6; long_chirp_lut[ 501] = 8'd 9; long_chirp_lut[ 502] = 8'd 64; long_chirp_lut[ 503] = 8'd146; + long_chirp_lut[ 504] = 8'd220; long_chirp_lut[ 505] = 8'd254; long_chirp_lut[ 506] = 8'd233; long_chirp_lut[ 507] = 8'd167; long_chirp_lut[ 508] = 8'd 83; long_chirp_lut[ 509] = 8'd 19; long_chirp_lut[ 510] = 8'd 2; long_chirp_lut[ 511] = 8'd 39; + long_chirp_lut[ 512] = 8'd115; long_chirp_lut[ 513] = 8'd197; long_chirp_lut[ 514] = 8'd248; long_chirp_lut[ 515] = 8'd247; long_chirp_lut[ 516] = 8'd193; long_chirp_lut[ 517] = 8'd111; long_chirp_lut[ 518] = 8'd 36; long_chirp_lut[ 519] = 8'd 1; + long_chirp_lut[ 520] = 8'd 21; long_chirp_lut[ 521] = 8'd 88; long_chirp_lut[ 522] = 8'd172; long_chirp_lut[ 523] = 8'd237; long_chirp_lut[ 524] = 8'd253; long_chirp_lut[ 525] = 8'd214; long_chirp_lut[ 526] = 8'd137; long_chirp_lut[ 527] = 8'd 56; + long_chirp_lut[ 528] = 8'd 6; long_chirp_lut[ 529] = 8'd 10; long_chirp_lut[ 530] = 8'd 66; long_chirp_lut[ 531] = 8'd149; long_chirp_lut[ 532] = 8'd223; long_chirp_lut[ 533] = 8'd254; long_chirp_lut[ 534] = 8'd230; long_chirp_lut[ 535] = 8'd160; + long_chirp_lut[ 536] = 8'd 76; long_chirp_lut[ 537] = 8'd 14; long_chirp_lut[ 538] = 8'd 3; long_chirp_lut[ 539] = 8'd 48; long_chirp_lut[ 540] = 8'd127; long_chirp_lut[ 541] = 8'd207; long_chirp_lut[ 542] = 8'd252; long_chirp_lut[ 543] = 8'd241; + long_chirp_lut[ 544] = 8'd179; long_chirp_lut[ 545] = 8'd 94; long_chirp_lut[ 546] = 8'd 24; long_chirp_lut[ 547] = 8'd 1; long_chirp_lut[ 548] = 8'd 34; long_chirp_lut[ 549] = 8'd109; long_chirp_lut[ 550] = 8'd193; long_chirp_lut[ 551] = 8'd247; + long_chirp_lut[ 552] = 8'd247; long_chirp_lut[ 553] = 8'd194; long_chirp_lut[ 554] = 8'd111; long_chirp_lut[ 555] = 8'd 35; long_chirp_lut[ 556] = 8'd 1; long_chirp_lut[ 557] = 8'd 24; long_chirp_lut[ 558] = 8'd 94; long_chirp_lut[ 559] = 8'd179; + long_chirp_lut[ 560] = 8'd241; long_chirp_lut[ 561] = 8'd251; long_chirp_lut[ 562] = 8'd206; long_chirp_lut[ 563] = 8'd124; long_chirp_lut[ 564] = 8'd 45; long_chirp_lut[ 565] = 8'd 2; long_chirp_lut[ 566] = 8'd 17; long_chirp_lut[ 567] = 8'd 82; + long_chirp_lut[ 568] = 8'd168; long_chirp_lut[ 569] = 8'd235; long_chirp_lut[ 570] = 8'd253; long_chirp_lut[ 571] = 8'd214; long_chirp_lut[ 572] = 8'd135; long_chirp_lut[ 573] = 8'd 53; long_chirp_lut[ 574] = 8'd 4; long_chirp_lut[ 575] = 8'd 13; + long_chirp_lut[ 576] = 8'd 73; long_chirp_lut[ 577] = 8'd159; long_chirp_lut[ 578] = 8'd230; long_chirp_lut[ 579] = 8'd254; long_chirp_lut[ 580] = 8'd220; long_chirp_lut[ 581] = 8'd143; long_chirp_lut[ 582] = 8'd 59; long_chirp_lut[ 583] = 8'd 6; + long_chirp_lut[ 584] = 8'd 10; long_chirp_lut[ 585] = 8'd 68; long_chirp_lut[ 586] = 8'd153; long_chirp_lut[ 587] = 8'd227; long_chirp_lut[ 588] = 8'd254; long_chirp_lut[ 589] = 8'd223; long_chirp_lut[ 590] = 8'd148; long_chirp_lut[ 591] = 8'd 63; + long_chirp_lut[ 592] = 8'd 8; long_chirp_lut[ 593] = 8'd 8; long_chirp_lut[ 594] = 8'd 65; long_chirp_lut[ 595] = 8'd150; long_chirp_lut[ 596] = 8'd225; long_chirp_lut[ 597] = 8'd254; long_chirp_lut[ 598] = 8'd225; long_chirp_lut[ 599] = 8'd150; + long_chirp_lut[ 600] = 8'd 64; long_chirp_lut[ 601] = 8'd 8; long_chirp_lut[ 602] = 8'd 8; long_chirp_lut[ 603] = 8'd 64; long_chirp_lut[ 604] = 8'd150; long_chirp_lut[ 605] = 8'd225; long_chirp_lut[ 606] = 8'd254; long_chirp_lut[ 607] = 8'd224; + long_chirp_lut[ 608] = 8'd148; long_chirp_lut[ 609] = 8'd 63; long_chirp_lut[ 610] = 8'd 8; long_chirp_lut[ 611] = 8'd 9; long_chirp_lut[ 612] = 8'd 66; long_chirp_lut[ 613] = 8'd153; long_chirp_lut[ 614] = 8'd227; long_chirp_lut[ 615] = 8'd254; + long_chirp_lut[ 616] = 8'd222; long_chirp_lut[ 617] = 8'd144; long_chirp_lut[ 618] = 8'd 59; long_chirp_lut[ 619] = 8'd 6; long_chirp_lut[ 620] = 8'd 11; long_chirp_lut[ 621] = 8'd 71; long_chirp_lut[ 622] = 8'd158; long_chirp_lut[ 623] = 8'd231; + long_chirp_lut[ 624] = 8'd254; long_chirp_lut[ 625] = 8'd217; long_chirp_lut[ 626] = 8'd137; long_chirp_lut[ 627] = 8'd 53; long_chirp_lut[ 628] = 8'd 4; long_chirp_lut[ 629] = 8'd 14; long_chirp_lut[ 630] = 8'd 79; long_chirp_lut[ 631] = 8'd167; + long_chirp_lut[ 632] = 8'd236; long_chirp_lut[ 633] = 8'd253; long_chirp_lut[ 634] = 8'd210; long_chirp_lut[ 635] = 8'd127; long_chirp_lut[ 636] = 8'd 45; long_chirp_lut[ 637] = 8'd 2; long_chirp_lut[ 638] = 8'd 20; long_chirp_lut[ 639] = 8'd 90; + long_chirp_lut[ 640] = 8'd178; long_chirp_lut[ 641] = 8'd242; long_chirp_lut[ 642] = 8'd250; long_chirp_lut[ 643] = 8'd200; long_chirp_lut[ 644] = 8'd114; long_chirp_lut[ 645] = 8'd 35; long_chirp_lut[ 646] = 8'd 1; long_chirp_lut[ 647] = 8'd 28; + long_chirp_lut[ 648] = 8'd104; long_chirp_lut[ 649] = 8'd191; long_chirp_lut[ 650] = 8'd247; long_chirp_lut[ 651] = 8'd246; long_chirp_lut[ 652] = 8'd186; long_chirp_lut[ 653] = 8'd 98; long_chirp_lut[ 654] = 8'd 24; long_chirp_lut[ 655] = 8'd 1; + long_chirp_lut[ 656] = 8'd 39; long_chirp_lut[ 657] = 8'd121; long_chirp_lut[ 658] = 8'd206; long_chirp_lut[ 659] = 8'd252; long_chirp_lut[ 660] = 8'd237; long_chirp_lut[ 661] = 8'd169; long_chirp_lut[ 662] = 8'd 80; long_chirp_lut[ 663] = 8'd 14; + long_chirp_lut[ 664] = 8'd 4; long_chirp_lut[ 665] = 8'd 55; long_chirp_lut[ 666] = 8'd141; long_chirp_lut[ 667] = 8'd221; long_chirp_lut[ 668] = 8'd254; long_chirp_lut[ 669] = 8'd225; long_chirp_lut[ 670] = 8'd148; long_chirp_lut[ 671] = 8'd 60; + long_chirp_lut[ 672] = 8'd 6; long_chirp_lut[ 673] = 8'd 12; long_chirp_lut[ 674] = 8'd 75; long_chirp_lut[ 675] = 8'd164; long_chirp_lut[ 676] = 8'd235; long_chirp_lut[ 677] = 8'd253; long_chirp_lut[ 678] = 8'd208; long_chirp_lut[ 679] = 8'd123; + long_chirp_lut[ 680] = 8'd 40; long_chirp_lut[ 681] = 8'd 1; long_chirp_lut[ 682] = 8'd 25; long_chirp_lut[ 683] = 8'd100; long_chirp_lut[ 684] = 8'd189; long_chirp_lut[ 685] = 8'd247; long_chirp_lut[ 686] = 8'd246; long_chirp_lut[ 687] = 8'd185; + long_chirp_lut[ 688] = 8'd 96; long_chirp_lut[ 689] = 8'd 22; long_chirp_lut[ 690] = 8'd 2; long_chirp_lut[ 691] = 8'd 44; long_chirp_lut[ 692] = 8'd129; long_chirp_lut[ 693] = 8'd213; long_chirp_lut[ 694] = 8'd254; long_chirp_lut[ 695] = 8'd231; + long_chirp_lut[ 696] = 8'd157; long_chirp_lut[ 697] = 8'd 67; long_chirp_lut[ 698] = 8'd 8; long_chirp_lut[ 699] = 8'd 9; long_chirp_lut[ 700] = 8'd 71; long_chirp_lut[ 701] = 8'd160; long_chirp_lut[ 702] = 8'd234; long_chirp_lut[ 703] = 8'd253; + long_chirp_lut[ 704] = 8'd209; long_chirp_lut[ 705] = 8'd123; long_chirp_lut[ 706] = 8'd 40; long_chirp_lut[ 707] = 8'd 1; long_chirp_lut[ 708] = 8'd 26; long_chirp_lut[ 709] = 8'd103; long_chirp_lut[ 710] = 8'd193; long_chirp_lut[ 711] = 8'd249; + long_chirp_lut[ 712] = 8'd243; long_chirp_lut[ 713] = 8'd178; long_chirp_lut[ 714] = 8'd 88; long_chirp_lut[ 715] = 8'd 17; long_chirp_lut[ 716] = 8'd 3; long_chirp_lut[ 717] = 8'd 53; long_chirp_lut[ 718] = 8'd141; long_chirp_lut[ 719] = 8'd222; + long_chirp_lut[ 720] = 8'd255; long_chirp_lut[ 721] = 8'd222; long_chirp_lut[ 722] = 8'd141; long_chirp_lut[ 723] = 8'd 53; long_chirp_lut[ 724] = 8'd 3; long_chirp_lut[ 725] = 8'd 18; long_chirp_lut[ 726] = 8'd 89; long_chirp_lut[ 727] = 8'd180; + long_chirp_lut[ 728] = 8'd244; long_chirp_lut[ 729] = 8'd248; long_chirp_lut[ 730] = 8'd189; long_chirp_lut[ 731] = 8'd 99; long_chirp_lut[ 732] = 8'd 23; long_chirp_lut[ 733] = 8'd 2; long_chirp_lut[ 734] = 8'd 45; long_chirp_lut[ 735] = 8'd132; + long_chirp_lut[ 736] = 8'd216; long_chirp_lut[ 737] = 8'd254; long_chirp_lut[ 738] = 8'd227; long_chirp_lut[ 739] = 8'd147; long_chirp_lut[ 740] = 8'd 58; long_chirp_lut[ 741] = 8'd 4; long_chirp_lut[ 742] = 8'd 15; long_chirp_lut[ 743] = 8'd 85; + long_chirp_lut[ 744] = 8'd177; long_chirp_lut[ 745] = 8'd243; long_chirp_lut[ 746] = 8'd249; long_chirp_lut[ 747] = 8'd191; long_chirp_lut[ 748] = 8'd100; long_chirp_lut[ 749] = 8'd 23; long_chirp_lut[ 750] = 8'd 2; long_chirp_lut[ 751] = 8'd 46; + long_chirp_lut[ 752] = 8'd133; long_chirp_lut[ 753] = 8'd217; long_chirp_lut[ 754] = 8'd254; long_chirp_lut[ 755] = 8'd224; long_chirp_lut[ 756] = 8'd143; long_chirp_lut[ 757] = 8'd 54; long_chirp_lut[ 758] = 8'd 3; long_chirp_lut[ 759] = 8'd 18; + long_chirp_lut[ 760] = 8'd 91; long_chirp_lut[ 761] = 8'd183; long_chirp_lut[ 762] = 8'd246; long_chirp_lut[ 763] = 8'd246; long_chirp_lut[ 764] = 8'd183; long_chirp_lut[ 765] = 8'd 91; long_chirp_lut[ 766] = 8'd 18; long_chirp_lut[ 767] = 8'd 3; + long_chirp_lut[ 768] = 8'd 55; long_chirp_lut[ 769] = 8'd145; long_chirp_lut[ 770] = 8'd226; long_chirp_lut[ 771] = 8'd254; long_chirp_lut[ 772] = 8'd215; long_chirp_lut[ 773] = 8'd129; long_chirp_lut[ 774] = 8'd 42; long_chirp_lut[ 775] = 8'd 1; + long_chirp_lut[ 776] = 8'd 28; long_chirp_lut[ 777] = 8'd108; long_chirp_lut[ 778] = 8'd199; long_chirp_lut[ 779] = 8'd251; long_chirp_lut[ 780] = 8'd237; long_chirp_lut[ 781] = 8'd165; long_chirp_lut[ 782] = 8'd 72; long_chirp_lut[ 783] = 8'd 9; + long_chirp_lut[ 784] = 8'd 10; long_chirp_lut[ 785] = 8'd 74; long_chirp_lut[ 786] = 8'd167; long_chirp_lut[ 787] = 8'd239; long_chirp_lut[ 788] = 8'd250; long_chirp_lut[ 789] = 8'd195; long_chirp_lut[ 790] = 8'd104; long_chirp_lut[ 791] = 8'd 25; + long_chirp_lut[ 792] = 8'd 2; long_chirp_lut[ 793] = 8'd 47; long_chirp_lut[ 794] = 8'd136; long_chirp_lut[ 795] = 8'd220; long_chirp_lut[ 796] = 8'd254; long_chirp_lut[ 797] = 8'd220; long_chirp_lut[ 798] = 8'd135; long_chirp_lut[ 799] = 8'd 46; + long_chirp_lut[ 800] = 8'd 1; long_chirp_lut[ 801] = 8'd 26; long_chirp_lut[ 802] = 8'd106; long_chirp_lut[ 803] = 8'd197; long_chirp_lut[ 804] = 8'd251; long_chirp_lut[ 805] = 8'd237; long_chirp_lut[ 806] = 8'd163; long_chirp_lut[ 807] = 8'd 70; + long_chirp_lut[ 808] = 8'd 8; long_chirp_lut[ 809] = 8'd 11; long_chirp_lut[ 810] = 8'd 79; long_chirp_lut[ 811] = 8'd173; long_chirp_lut[ 812] = 8'd242; long_chirp_lut[ 813] = 8'd248; long_chirp_lut[ 814] = 8'd188; long_chirp_lut[ 815] = 8'd 94; + long_chirp_lut[ 816] = 8'd 19; long_chirp_lut[ 817] = 8'd 3; long_chirp_lut[ 818] = 8'd 57; long_chirp_lut[ 819] = 8'd149; long_chirp_lut[ 820] = 8'd229; long_chirp_lut[ 821] = 8'd254; long_chirp_lut[ 822] = 8'd208; long_chirp_lut[ 823] = 8'd118; + long_chirp_lut[ 824] = 8'd 33; long_chirp_lut[ 825] = 8'd 1; long_chirp_lut[ 826] = 8'd 39; long_chirp_lut[ 827] = 8'd126; long_chirp_lut[ 828] = 8'd214; long_chirp_lut[ 829] = 8'd254; long_chirp_lut[ 830] = 8'd224; long_chirp_lut[ 831] = 8'd139; + long_chirp_lut[ 832] = 8'd 48; long_chirp_lut[ 833] = 8'd 2; long_chirp_lut[ 834] = 8'd 25; long_chirp_lut[ 835] = 8'd106; long_chirp_lut[ 836] = 8'd199; long_chirp_lut[ 837] = 8'd252; long_chirp_lut[ 838] = 8'd235; long_chirp_lut[ 839] = 8'd158; + long_chirp_lut[ 840] = 8'd 64; long_chirp_lut[ 841] = 8'd 5; long_chirp_lut[ 842] = 8'd 15; long_chirp_lut[ 843] = 8'd 88; long_chirp_lut[ 844] = 8'd183; long_chirp_lut[ 845] = 8'd247; long_chirp_lut[ 846] = 8'd243; long_chirp_lut[ 847] = 8'd174; + long_chirp_lut[ 848] = 8'd 79; long_chirp_lut[ 849] = 8'd 11; long_chirp_lut[ 850] = 8'd 9; long_chirp_lut[ 851] = 8'd 74; long_chirp_lut[ 852] = 8'd169; long_chirp_lut[ 853] = 8'd241; long_chirp_lut[ 854] = 8'd249; long_chirp_lut[ 855] = 8'd187; + long_chirp_lut[ 856] = 8'd 92; long_chirp_lut[ 857] = 8'd 17; long_chirp_lut[ 858] = 8'd 5; long_chirp_lut[ 859] = 8'd 62; long_chirp_lut[ 860] = 8'd157; long_chirp_lut[ 861] = 8'd235; long_chirp_lut[ 862] = 8'd252; long_chirp_lut[ 863] = 8'd198; + long_chirp_lut[ 864] = 8'd104; long_chirp_lut[ 865] = 8'd 23; long_chirp_lut[ 866] = 8'd 2; long_chirp_lut[ 867] = 8'd 53; long_chirp_lut[ 868] = 8'd146; long_chirp_lut[ 869] = 8'd229; long_chirp_lut[ 870] = 8'd253; long_chirp_lut[ 871] = 8'd206; + long_chirp_lut[ 872] = 8'd113; long_chirp_lut[ 873] = 8'd 29; long_chirp_lut[ 874] = 8'd 1; long_chirp_lut[ 875] = 8'd 46; long_chirp_lut[ 876] = 8'd138; long_chirp_lut[ 877] = 8'd224; long_chirp_lut[ 878] = 8'd254; long_chirp_lut[ 879] = 8'd211; + long_chirp_lut[ 880] = 8'd120; long_chirp_lut[ 881] = 8'd 33; long_chirp_lut[ 882] = 8'd 1; long_chirp_lut[ 883] = 8'd 42; long_chirp_lut[ 884] = 8'd132; long_chirp_lut[ 885] = 8'd220; long_chirp_lut[ 886] = 8'd254; long_chirp_lut[ 887] = 8'd215; + long_chirp_lut[ 888] = 8'd125; long_chirp_lut[ 889] = 8'd 36; long_chirp_lut[ 890] = 8'd 1; long_chirp_lut[ 891] = 8'd 39; long_chirp_lut[ 892] = 8'd129; long_chirp_lut[ 893] = 8'd218; long_chirp_lut[ 894] = 8'd254; long_chirp_lut[ 895] = 8'd217; + long_chirp_lut[ 896] = 8'd127; long_chirp_lut[ 897] = 8'd 38; long_chirp_lut[ 898] = 8'd 1; long_chirp_lut[ 899] = 8'd 38; long_chirp_lut[ 900] = 8'd127; long_chirp_lut[ 901] = 8'd217; long_chirp_lut[ 902] = 8'd254; long_chirp_lut[ 903] = 8'd217; + long_chirp_lut[ 904] = 8'd127; long_chirp_lut[ 905] = 8'd 37; long_chirp_lut[ 906] = 8'd 1; long_chirp_lut[ 907] = 8'd 38; long_chirp_lut[ 908] = 8'd129; long_chirp_lut[ 909] = 8'd218; long_chirp_lut[ 910] = 8'd254; long_chirp_lut[ 911] = 8'd216; + long_chirp_lut[ 912] = 8'd125; long_chirp_lut[ 913] = 8'd 36; long_chirp_lut[ 914] = 8'd 1; long_chirp_lut[ 915] = 8'd 41; long_chirp_lut[ 916] = 8'd132; long_chirp_lut[ 917] = 8'd221; long_chirp_lut[ 918] = 8'd254; long_chirp_lut[ 919] = 8'd212; + long_chirp_lut[ 920] = 8'd120; long_chirp_lut[ 921] = 8'd 32; long_chirp_lut[ 922] = 8'd 1; long_chirp_lut[ 923] = 8'd 45; long_chirp_lut[ 924] = 8'd138; long_chirp_lut[ 925] = 8'd225; long_chirp_lut[ 926] = 8'd254; long_chirp_lut[ 927] = 8'd207; + long_chirp_lut[ 928] = 8'd113; long_chirp_lut[ 929] = 8'd 27; long_chirp_lut[ 930] = 8'd 2; long_chirp_lut[ 931] = 8'd 51; long_chirp_lut[ 932] = 8'd146; long_chirp_lut[ 933] = 8'd230; long_chirp_lut[ 934] = 8'd253; long_chirp_lut[ 935] = 8'd200; + long_chirp_lut[ 936] = 8'd104; long_chirp_lut[ 937] = 8'd 22; long_chirp_lut[ 938] = 8'd 3; long_chirp_lut[ 939] = 8'd 60; long_chirp_lut[ 940] = 8'd157; long_chirp_lut[ 941] = 8'd236; long_chirp_lut[ 942] = 8'd250; long_chirp_lut[ 943] = 8'd190; + long_chirp_lut[ 944] = 8'd 92; long_chirp_lut[ 945] = 8'd 15; long_chirp_lut[ 946] = 8'd 6; long_chirp_lut[ 947] = 8'd 71; long_chirp_lut[ 948] = 8'd169; long_chirp_lut[ 949] = 8'd243; long_chirp_lut[ 950] = 8'd246; long_chirp_lut[ 951] = 8'd178; + long_chirp_lut[ 952] = 8'd 79; long_chirp_lut[ 953] = 8'd 9; long_chirp_lut[ 954] = 8'd 12; long_chirp_lut[ 955] = 8'd 84; long_chirp_lut[ 956] = 8'd183; long_chirp_lut[ 957] = 8'd248; long_chirp_lut[ 958] = 8'd240; long_chirp_lut[ 959] = 8'd162; + long_chirp_lut[ 960] = 8'd 64; long_chirp_lut[ 961] = 8'd 4; long_chirp_lut[ 962] = 8'd 20; long_chirp_lut[ 963] = 8'd101; long_chirp_lut[ 964] = 8'd199; long_chirp_lut[ 965] = 8'd253; long_chirp_lut[ 966] = 8'd230; long_chirp_lut[ 967] = 8'd144; + long_chirp_lut[ 968] = 8'd 48; long_chirp_lut[ 969] = 8'd 1; long_chirp_lut[ 970] = 8'd 31; long_chirp_lut[ 971] = 8'd121; long_chirp_lut[ 972] = 8'd214; long_chirp_lut[ 973] = 8'd254; long_chirp_lut[ 974] = 8'd216; long_chirp_lut[ 975] = 8'd123; + long_chirp_lut[ 976] = 8'd 33; long_chirp_lut[ 977] = 8'd 1; long_chirp_lut[ 978] = 8'd 47; long_chirp_lut[ 979] = 8'd143; long_chirp_lut[ 980] = 8'd229; long_chirp_lut[ 981] = 8'd253; long_chirp_lut[ 982] = 8'd198; long_chirp_lut[ 983] = 8'd100; + long_chirp_lut[ 984] = 8'd 19; long_chirp_lut[ 985] = 8'd 5; long_chirp_lut[ 986] = 8'd 67; long_chirp_lut[ 987] = 8'd167; long_chirp_lut[ 988] = 8'd242; long_chirp_lut[ 989] = 8'd246; long_chirp_lut[ 990] = 8'd176; long_chirp_lut[ 991] = 8'd 76; + long_chirp_lut[ 992] = 8'd 8; long_chirp_lut[ 993] = 8'd 14; long_chirp_lut[ 994] = 8'd 92; long_chirp_lut[ 995] = 8'd191; long_chirp_lut[ 996] = 8'd251; long_chirp_lut[ 997] = 8'd234; long_chirp_lut[ 998] = 8'd149; long_chirp_lut[ 999] = 8'd 52; + long_chirp_lut[1000] = 8'd 1; long_chirp_lut[1001] = 8'd 30; long_chirp_lut[1002] = 8'd120; long_chirp_lut[1003] = 8'd215; long_chirp_lut[1004] = 8'd254; long_chirp_lut[1005] = 8'd214; long_chirp_lut[1006] = 8'd119; long_chirp_lut[1007] = 8'd 30; + long_chirp_lut[1008] = 8'd 2; long_chirp_lut[1009] = 8'd 53; long_chirp_lut[1010] = 8'd151; long_chirp_lut[1011] = 8'd235; long_chirp_lut[1012] = 8'd250; long_chirp_lut[1013] = 8'd188; long_chirp_lut[1014] = 8'd 88; long_chirp_lut[1015] = 8'd 12; + long_chirp_lut[1016] = 8'd 10; long_chirp_lut[1017] = 8'd 82; long_chirp_lut[1018] = 8'd183; long_chirp_lut[1019] = 8'd249; long_chirp_lut[1020] = 8'd237; long_chirp_lut[1021] = 8'd156; long_chirp_lut[1022] = 8'd 56; long_chirp_lut[1023] = 8'd 2; + long_chirp_lut[1024] = 8'd 28; long_chirp_lut[1025] = 8'd117; long_chirp_lut[1026] = 8'd213; long_chirp_lut[1027] = 8'd254; long_chirp_lut[1028] = 8'd215; long_chirp_lut[1029] = 8'd119; long_chirp_lut[1030] = 8'd 29; long_chirp_lut[1031] = 8'd 2; + long_chirp_lut[1032] = 8'd 55; long_chirp_lut[1033] = 8'd155; long_chirp_lut[1034] = 8'd237; long_chirp_lut[1035] = 8'd249; long_chirp_lut[1036] = 8'd183; long_chirp_lut[1037] = 8'd 81; long_chirp_lut[1038] = 8'd 9; long_chirp_lut[1039] = 8'd 13; + long_chirp_lut[1040] = 8'd 91; long_chirp_lut[1041] = 8'd192; long_chirp_lut[1042] = 8'd252; long_chirp_lut[1043] = 8'd231; long_chirp_lut[1044] = 8'd143; long_chirp_lut[1045] = 8'd 46; long_chirp_lut[1046] = 8'd 1; long_chirp_lut[1047] = 8'd 38; + long_chirp_lut[1048] = 8'd133; long_chirp_lut[1049] = 8'd225; long_chirp_lut[1050] = 8'd253; long_chirp_lut[1051] = 8'd200; long_chirp_lut[1052] = 8'd100; long_chirp_lut[1053] = 8'd 17; long_chirp_lut[1054] = 8'd 6; long_chirp_lut[1055] = 8'd 74; + long_chirp_lut[1056] = 8'd177; long_chirp_lut[1057] = 8'd247; long_chirp_lut[1058] = 8'd240; long_chirp_lut[1059] = 8'd159; long_chirp_lut[1060] = 8'd 58; long_chirp_lut[1061] = 8'd 2; long_chirp_lut[1062] = 8'd 28; long_chirp_lut[1063] = 8'd120; + long_chirp_lut[1064] = 8'd216; long_chirp_lut[1065] = 8'd254; long_chirp_lut[1066] = 8'd210; long_chirp_lut[1067] = 8'd111; long_chirp_lut[1068] = 8'd 23; long_chirp_lut[1069] = 8'd 4; long_chirp_lut[1070] = 8'd 66; long_chirp_lut[1071] = 8'd168; + long_chirp_lut[1072] = 8'd244; long_chirp_lut[1073] = 8'd243; long_chirp_lut[1074] = 8'd166; long_chirp_lut[1075] = 8'd 64; long_chirp_lut[1076] = 8'd 3; long_chirp_lut[1077] = 8'd 25; long_chirp_lut[1078] = 8'd114; long_chirp_lut[1079] = 8'd212; + long_chirp_lut[1080] = 8'd255; long_chirp_lut[1081] = 8'd212; long_chirp_lut[1082] = 8'd114; long_chirp_lut[1083] = 8'd 25; long_chirp_lut[1084] = 8'd 3; long_chirp_lut[1085] = 8'd 64; long_chirp_lut[1086] = 8'd167; long_chirp_lut[1087] = 8'd244; + long_chirp_lut[1088] = 8'd243; long_chirp_lut[1089] = 8'd165; long_chirp_lut[1090] = 8'd 62; long_chirp_lut[1091] = 8'd 3; long_chirp_lut[1092] = 8'd 26; long_chirp_lut[1093] = 8'd117; long_chirp_lut[1094] = 8'd215; long_chirp_lut[1095] = 8'd254; + long_chirp_lut[1096] = 8'd209; long_chirp_lut[1097] = 8'd109; long_chirp_lut[1098] = 8'd 21; long_chirp_lut[1099] = 8'd 5; long_chirp_lut[1100] = 8'd 71; long_chirp_lut[1101] = 8'd174; long_chirp_lut[1102] = 8'd247; long_chirp_lut[1103] = 8'd239; + long_chirp_lut[1104] = 8'd157; long_chirp_lut[1105] = 8'd 54; long_chirp_lut[1106] = 8'd 1; long_chirp_lut[1107] = 8'd 33; long_chirp_lut[1108] = 8'd129; long_chirp_lut[1109] = 8'd223; long_chirp_lut[1110] = 8'd253; long_chirp_lut[1111] = 8'd199; + long_chirp_lut[1112] = 8'd 96; long_chirp_lut[1113] = 8'd 14; long_chirp_lut[1114] = 8'd 9; long_chirp_lut[1115] = 8'd 84; long_chirp_lut[1116] = 8'd189; long_chirp_lut[1117] = 8'd251; long_chirp_lut[1118] = 8'd230; long_chirp_lut[1119] = 8'd139; + long_chirp_lut[1120] = 8'd 40; long_chirp_lut[1121] = 8'd 1; long_chirp_lut[1122] = 8'd 47; long_chirp_lut[1123] = 8'd148; long_chirp_lut[1124] = 8'd235; long_chirp_lut[1125] = 8'd249; long_chirp_lut[1126] = 8'd180; long_chirp_lut[1127] = 8'd 75; + long_chirp_lut[1128] = 8'd 6; long_chirp_lut[1129] = 8'd 20; long_chirp_lut[1130] = 8'd107; long_chirp_lut[1131] = 8'd209; long_chirp_lut[1132] = 8'd254; long_chirp_lut[1133] = 8'd213; long_chirp_lut[1134] = 8'd114; long_chirp_lut[1135] = 8'd 23; + long_chirp_lut[1136] = 8'd 4; long_chirp_lut[1137] = 8'd 70; long_chirp_lut[1138] = 8'd175; long_chirp_lut[1139] = 8'd248; long_chirp_lut[1140] = 8'd237; long_chirp_lut[1141] = 8'd152; long_chirp_lut[1142] = 8'd 49; long_chirp_lut[1143] = 8'd 1; + long_chirp_lut[1144] = 8'd 39; long_chirp_lut[1145] = 8'd139; long_chirp_lut[1146] = 8'd231; long_chirp_lut[1147] = 8'd251; long_chirp_lut[1148] = 8'd186; long_chirp_lut[1149] = 8'd 81; long_chirp_lut[1150] = 8'd 8; long_chirp_lut[1151] = 8'd 18; + long_chirp_lut[1152] = 8'd104; long_chirp_lut[1153] = 8'd206; long_chirp_lut[1154] = 8'd254; long_chirp_lut[1155] = 8'd214; long_chirp_lut[1156] = 8'd114; long_chirp_lut[1157] = 8'd 23; long_chirp_lut[1158] = 8'd 5; long_chirp_lut[1159] = 8'd 72; + long_chirp_lut[1160] = 8'd178; long_chirp_lut[1161] = 8'd249; long_chirp_lut[1162] = 8'd235; long_chirp_lut[1163] = 8'd146; long_chirp_lut[1164] = 8'd 45; long_chirp_lut[1165] = 8'd 1; long_chirp_lut[1166] = 8'd 45; long_chirp_lut[1167] = 8'd148; + long_chirp_lut[1168] = 8'd236; long_chirp_lut[1169] = 8'd248; long_chirp_lut[1170] = 8'd176; long_chirp_lut[1171] = 8'd 70; long_chirp_lut[1172] = 8'd 4; long_chirp_lut[1173] = 8'd 25; long_chirp_lut[1174] = 8'd118; long_chirp_lut[1175] = 8'd218; + long_chirp_lut[1176] = 8'd254; long_chirp_lut[1177] = 8'd201; long_chirp_lut[1178] = 8'd 97; long_chirp_lut[1179] = 8'd 14; long_chirp_lut[1180] = 8'd 11; long_chirp_lut[1181] = 8'd 90; long_chirp_lut[1182] = 8'd196; long_chirp_lut[1183] = 8'd253; + long_chirp_lut[1184] = 8'd222; long_chirp_lut[1185] = 8'd123; long_chirp_lut[1186] = 8'd 28; long_chirp_lut[1187] = 8'd 3; long_chirp_lut[1188] = 8'd 66; long_chirp_lut[1189] = 8'd173; long_chirp_lut[1190] = 8'd247; long_chirp_lut[1191] = 8'd237; + long_chirp_lut[1192] = 8'd148; long_chirp_lut[1193] = 8'd 45; long_chirp_lut[1194] = 8'd 1; long_chirp_lut[1195] = 8'd 46; long_chirp_lut[1196] = 8'd150; long_chirp_lut[1197] = 8'd238; long_chirp_lut[1198] = 8'd247; long_chirp_lut[1199] = 8'd171; + long_chirp_lut[1200] = 8'd 64; long_chirp_lut[1201] = 8'd 2; long_chirp_lut[1202] = 8'd 30; long_chirp_lut[1203] = 8'd128; long_chirp_lut[1204] = 8'd225; long_chirp_lut[1205] = 8'd252; long_chirp_lut[1206] = 8'd190; long_chirp_lut[1207] = 8'd 83; + long_chirp_lut[1208] = 8'd 8; long_chirp_lut[1209] = 8'd 18; long_chirp_lut[1210] = 8'd107; long_chirp_lut[1211] = 8'd211; long_chirp_lut[1212] = 8'd254; long_chirp_lut[1213] = 8'd207; long_chirp_lut[1214] = 8'd102; long_chirp_lut[1215] = 8'd 15; + long_chirp_lut[1216] = 8'd 10; long_chirp_lut[1217] = 8'd 89; long_chirp_lut[1218] = 8'd196; long_chirp_lut[1219] = 8'd254; long_chirp_lut[1220] = 8'd220; long_chirp_lut[1221] = 8'd119; long_chirp_lut[1222] = 8'd 25; long_chirp_lut[1223] = 8'd 4; + long_chirp_lut[1224] = 8'd 73; long_chirp_lut[1225] = 8'd182; long_chirp_lut[1226] = 8'd251; long_chirp_lut[1227] = 8'd230; long_chirp_lut[1228] = 8'd135; long_chirp_lut[1229] = 8'd 35; long_chirp_lut[1230] = 8'd 2; long_chirp_lut[1231] = 8'd 60; + long_chirp_lut[1232] = 8'd168; long_chirp_lut[1233] = 8'd246; long_chirp_lut[1234] = 8'd238; long_chirp_lut[1235] = 8'd149; long_chirp_lut[1236] = 8'd 45; long_chirp_lut[1237] = 8'd 1; long_chirp_lut[1238] = 8'd 49; long_chirp_lut[1239] = 8'd155; + long_chirp_lut[1240] = 8'd241; long_chirp_lut[1241] = 8'd244; long_chirp_lut[1242] = 8'd161; long_chirp_lut[1243] = 8'd 54; long_chirp_lut[1244] = 8'd 1; long_chirp_lut[1245] = 8'd 41; long_chirp_lut[1246] = 8'd144; long_chirp_lut[1247] = 8'd236; + long_chirp_lut[1248] = 8'd247; long_chirp_lut[1249] = 8'd171; long_chirp_lut[1250] = 8'd 62; long_chirp_lut[1251] = 8'd 2; long_chirp_lut[1252] = 8'd 34; long_chirp_lut[1253] = 8'd135; long_chirp_lut[1254] = 8'd231; long_chirp_lut[1255] = 8'd250; + long_chirp_lut[1256] = 8'd179; long_chirp_lut[1257] = 8'd 70; long_chirp_lut[1258] = 8'd 3; long_chirp_lut[1259] = 8'd 29; long_chirp_lut[1260] = 8'd127; long_chirp_lut[1261] = 8'd226; long_chirp_lut[1262] = 8'd252; long_chirp_lut[1263] = 8'd185; + long_chirp_lut[1264] = 8'd 76; long_chirp_lut[1265] = 8'd 5; long_chirp_lut[1266] = 8'd 25; long_chirp_lut[1267] = 8'd122; long_chirp_lut[1268] = 8'd223; long_chirp_lut[1269] = 8'd253; long_chirp_lut[1270] = 8'd189; long_chirp_lut[1271] = 8'd 80; + long_chirp_lut[1272] = 8'd 6; long_chirp_lut[1273] = 8'd 23; long_chirp_lut[1274] = 8'd118; long_chirp_lut[1275] = 8'd220; long_chirp_lut[1276] = 8'd253; long_chirp_lut[1277] = 8'd192; long_chirp_lut[1278] = 8'd 83; long_chirp_lut[1279] = 8'd 7; + long_chirp_lut[1280] = 8'd 21; long_chirp_lut[1281] = 8'd116; long_chirp_lut[1282] = 8'd219; long_chirp_lut[1283] = 8'd253; long_chirp_lut[1284] = 8'd193; long_chirp_lut[1285] = 8'd 84; long_chirp_lut[1286] = 8'd 7; long_chirp_lut[1287] = 8'd 21; + long_chirp_lut[1288] = 8'd115; long_chirp_lut[1289] = 8'd219; long_chirp_lut[1290] = 8'd253; long_chirp_lut[1291] = 8'd193; long_chirp_lut[1292] = 8'd 83; long_chirp_lut[1293] = 8'd 7; long_chirp_lut[1294] = 8'd 22; long_chirp_lut[1295] = 8'd117; + long_chirp_lut[1296] = 8'd220; long_chirp_lut[1297] = 8'd253; long_chirp_lut[1298] = 8'd191; long_chirp_lut[1299] = 8'd 81; long_chirp_lut[1300] = 8'd 6; long_chirp_lut[1301] = 8'd 23; long_chirp_lut[1302] = 8'd120; long_chirp_lut[1303] = 8'd222; + long_chirp_lut[1304] = 8'd253; long_chirp_lut[1305] = 8'd187; long_chirp_lut[1306] = 8'd 77; long_chirp_lut[1307] = 8'd 5; long_chirp_lut[1308] = 8'd 26; long_chirp_lut[1309] = 8'd125; long_chirp_lut[1310] = 8'd226; long_chirp_lut[1311] = 8'd251; + long_chirp_lut[1312] = 8'd182; long_chirp_lut[1313] = 8'd 71; long_chirp_lut[1314] = 8'd 3; long_chirp_lut[1315] = 8'd 31; long_chirp_lut[1316] = 8'd132; long_chirp_lut[1317] = 8'd230; long_chirp_lut[1318] = 8'd250; long_chirp_lut[1319] = 8'd175; + long_chirp_lut[1320] = 8'd 64; long_chirp_lut[1321] = 8'd 2; long_chirp_lut[1322] = 8'd 36; long_chirp_lut[1323] = 8'd141; long_chirp_lut[1324] = 8'd235; long_chirp_lut[1325] = 8'd247; long_chirp_lut[1326] = 8'd166; long_chirp_lut[1327] = 8'd 56; + long_chirp_lut[1328] = 8'd 1; long_chirp_lut[1329] = 8'd 44; long_chirp_lut[1330] = 8'd151; long_chirp_lut[1331] = 8'd241; long_chirp_lut[1332] = 8'd242; long_chirp_lut[1333] = 8'd155; long_chirp_lut[1334] = 8'd 46; long_chirp_lut[1335] = 8'd 1; + long_chirp_lut[1336] = 8'd 53; long_chirp_lut[1337] = 8'd163; long_chirp_lut[1338] = 8'd246; long_chirp_lut[1339] = 8'd236; long_chirp_lut[1340] = 8'd142; long_chirp_lut[1341] = 8'd 37; long_chirp_lut[1342] = 8'd 2; long_chirp_lut[1343] = 8'd 65; + long_chirp_lut[1344] = 8'd177; long_chirp_lut[1345] = 8'd250; long_chirp_lut[1346] = 8'd228; long_chirp_lut[1347] = 8'd127; long_chirp_lut[1348] = 8'd 27; long_chirp_lut[1349] = 8'd 5; long_chirp_lut[1350] = 8'd 79; long_chirp_lut[1351] = 8'd191; + long_chirp_lut[1352] = 8'd253; long_chirp_lut[1353] = 8'd217; long_chirp_lut[1354] = 8'd111; long_chirp_lut[1355] = 8'd 17; long_chirp_lut[1356] = 8'd 10; long_chirp_lut[1357] = 8'd 96; long_chirp_lut[1358] = 8'd206; long_chirp_lut[1359] = 8'd254; + long_chirp_lut[1360] = 8'd203; long_chirp_lut[1361] = 8'd 92; long_chirp_lut[1362] = 8'd 9; long_chirp_lut[1363] = 8'd 19; long_chirp_lut[1364] = 8'd115; long_chirp_lut[1365] = 8'd220; long_chirp_lut[1366] = 8'd253; long_chirp_lut[1367] = 8'd186; + long_chirp_lut[1368] = 8'd 73; long_chirp_lut[1369] = 8'd 3; long_chirp_lut[1370] = 8'd 31; long_chirp_lut[1371] = 8'd136; long_chirp_lut[1372] = 8'd233; long_chirp_lut[1373] = 8'd247; long_chirp_lut[1374] = 8'd166; long_chirp_lut[1375] = 8'd 54; + long_chirp_lut[1376] = 8'd 1; long_chirp_lut[1377] = 8'd 48; long_chirp_lut[1378] = 8'd158; long_chirp_lut[1379] = 8'd244; long_chirp_lut[1380] = 8'd237; long_chirp_lut[1381] = 8'd143; long_chirp_lut[1382] = 8'd 36; long_chirp_lut[1383] = 8'd 2; + long_chirp_lut[1384] = 8'd 68; long_chirp_lut[1385] = 8'd182; long_chirp_lut[1386] = 8'd252; long_chirp_lut[1387] = 8'd223; long_chirp_lut[1388] = 8'd117; long_chirp_lut[1389] = 8'd 20; long_chirp_lut[1390] = 8'd 9; long_chirp_lut[1391] = 8'd 93; + long_chirp_lut[1392] = 8'd204; long_chirp_lut[1393] = 8'd254; long_chirp_lut[1394] = 8'd203; long_chirp_lut[1395] = 8'd 91; long_chirp_lut[1396] = 8'd 8; long_chirp_lut[1397] = 8'd 21; long_chirp_lut[1398] = 8'd120; long_chirp_lut[1399] = 8'd225; + long_chirp_lut[1400] = 8'd251; long_chirp_lut[1401] = 8'd178; long_chirp_lut[1402] = 8'd 64; long_chirp_lut[1403] = 8'd 1; long_chirp_lut[1404] = 8'd 41; long_chirp_lut[1405] = 8'd150; long_chirp_lut[1406] = 8'd241; long_chirp_lut[1407] = 8'd241; + long_chirp_lut[1408] = 8'd148; long_chirp_lut[1409] = 8'd 39; long_chirp_lut[1410] = 8'd 2; long_chirp_lut[1411] = 8'd 66; long_chirp_lut[1412] = 8'd180; long_chirp_lut[1413] = 8'd252; long_chirp_lut[1414] = 8'd222; long_chirp_lut[1415] = 8'd116; + long_chirp_lut[1416] = 8'd 19; long_chirp_lut[1417] = 8'd 10; long_chirp_lut[1418] = 8'd 97; long_chirp_lut[1419] = 8'd209; long_chirp_lut[1420] = 8'd254; long_chirp_lut[1421] = 8'd197; long_chirp_lut[1422] = 8'd 83; long_chirp_lut[1423] = 8'd 5; + long_chirp_lut[1424] = 8'd 28; long_chirp_lut[1425] = 8'd132; long_chirp_lut[1426] = 8'd232; long_chirp_lut[1427] = 8'd247; long_chirp_lut[1428] = 8'd164; long_chirp_lut[1429] = 8'd 51; long_chirp_lut[1430] = 8'd 1; long_chirp_lut[1431] = 8'd 54; + long_chirp_lut[1432] = 8'd168; long_chirp_lut[1433] = 8'd249; long_chirp_lut[1434] = 8'd230; long_chirp_lut[1435] = 8'd127; long_chirp_lut[1436] = 8'd 25; long_chirp_lut[1437] = 8'd 7; long_chirp_lut[1438] = 8'd 88; long_chirp_lut[1439] = 8'd202; + long_chirp_lut[1440] = 8'd255; long_chirp_lut[1441] = 8'd202; long_chirp_lut[1442] = 8'd 88; long_chirp_lut[1443] = 8'd 7; long_chirp_lut[1444] = 8'd 25; long_chirp_lut[1445] = 8'd128; long_chirp_lut[1446] = 8'd231; long_chirp_lut[1447] = 8'd248; + long_chirp_lut[1448] = 8'd166; long_chirp_lut[1449] = 8'd 52; long_chirp_lut[1450] = 8'd 1; long_chirp_lut[1451] = 8'd 55; long_chirp_lut[1452] = 8'd169; long_chirp_lut[1453] = 8'd249; long_chirp_lut[1454] = 8'd228; long_chirp_lut[1455] = 8'd123; + long_chirp_lut[1456] = 8'd 22; long_chirp_lut[1457] = 8'd 8; long_chirp_lut[1458] = 8'd 94; long_chirp_lut[1459] = 8'd207; long_chirp_lut[1460] = 8'd254; long_chirp_lut[1461] = 8'd195; long_chirp_lut[1462] = 8'd 80; long_chirp_lut[1463] = 8'd 4; + long_chirp_lut[1464] = 8'd 31; long_chirp_lut[1465] = 8'd139; long_chirp_lut[1466] = 8'd237; long_chirp_lut[1467] = 8'd243; long_chirp_lut[1468] = 8'd153; long_chirp_lut[1469] = 8'd 41; long_chirp_lut[1470] = 8'd 2; long_chirp_lut[1471] = 8'd 68; + long_chirp_lut[1472] = 8'd184; long_chirp_lut[1473] = 8'd253; long_chirp_lut[1474] = 8'd216; long_chirp_lut[1475] = 8'd105; long_chirp_lut[1476] = 8'd 13; long_chirp_lut[1477] = 8'd 17; long_chirp_lut[1478] = 8'd114; long_chirp_lut[1479] = 8'd223; + long_chirp_lut[1480] = 8'd251; long_chirp_lut[1481] = 8'd175; long_chirp_lut[1482] = 8'd 59; long_chirp_lut[1483] = 8'd 1; long_chirp_lut[1484] = 8'd 50; long_chirp_lut[1485] = 8'd164; long_chirp_lut[1486] = 8'd248; long_chirp_lut[1487] = 8'd230; + long_chirp_lut[1488] = 8'd125; long_chirp_lut[1489] = 8'd 22; long_chirp_lut[1490] = 8'd 9; long_chirp_lut[1491] = 8'd 96; long_chirp_lut[1492] = 8'd210; long_chirp_lut[1493] = 8'd254; long_chirp_lut[1494] = 8'd190; long_chirp_lut[1495] = 8'd 73; + long_chirp_lut[1496] = 8'd 2; long_chirp_lut[1497] = 8'd 38; long_chirp_lut[1498] = 8'd150; long_chirp_lut[1499] = 8'd243; long_chirp_lut[1500] = 8'd237; long_chirp_lut[1501] = 8'd139; long_chirp_lut[1502] = 8'd 30; long_chirp_lut[1503] = 8'd 5; + long_chirp_lut[1504] = 8'd 84; long_chirp_lut[1505] = 8'd201; long_chirp_lut[1506] = 8'd254; long_chirp_lut[1507] = 8'd200; long_chirp_lut[1508] = 8'd 83; long_chirp_lut[1509] = 8'd 4; long_chirp_lut[1510] = 8'd 31; long_chirp_lut[1511] = 8'd141; + long_chirp_lut[1512] = 8'd239; long_chirp_lut[1513] = 8'd241; long_chirp_lut[1514] = 8'd146; long_chirp_lut[1515] = 8'd 35; long_chirp_lut[1516] = 8'd 3; long_chirp_lut[1517] = 8'd 79; long_chirp_lut[1518] = 8'd196; long_chirp_lut[1519] = 8'd254; + long_chirp_lut[1520] = 8'd203; long_chirp_lut[1521] = 8'd 87; long_chirp_lut[1522] = 8'd 5; long_chirp_lut[1523] = 8'd 29; long_chirp_lut[1524] = 8'd138; long_chirp_lut[1525] = 8'd238; long_chirp_lut[1526] = 8'd242; long_chirp_lut[1527] = 8'd147; + long_chirp_lut[1528] = 8'd 35; long_chirp_lut[1529] = 8'd 3; long_chirp_lut[1530] = 8'd 79; long_chirp_lut[1531] = 8'd197; long_chirp_lut[1532] = 8'd254; long_chirp_lut[1533] = 8'd202; long_chirp_lut[1534] = 8'd 85; long_chirp_lut[1535] = 8'd 5; + long_chirp_lut[1536] = 8'd 31; long_chirp_lut[1537] = 8'd142; long_chirp_lut[1538] = 8'd240; long_chirp_lut[1539] = 8'd240; long_chirp_lut[1540] = 8'd142; long_chirp_lut[1541] = 8'd 32; long_chirp_lut[1542] = 8'd 5; long_chirp_lut[1543] = 8'd 85; + long_chirp_lut[1544] = 8'd202; long_chirp_lut[1545] = 8'd254; long_chirp_lut[1546] = 8'd195; long_chirp_lut[1547] = 8'd 77; long_chirp_lut[1548] = 8'd 3; long_chirp_lut[1549] = 8'd 38; long_chirp_lut[1550] = 8'd151; long_chirp_lut[1551] = 8'd244; + long_chirp_lut[1552] = 8'd235; long_chirp_lut[1553] = 8'd131; long_chirp_lut[1554] = 8'd 24; long_chirp_lut[1555] = 8'd 8; long_chirp_lut[1556] = 8'd 97; long_chirp_lut[1557] = 8'd213; long_chirp_lut[1558] = 8'd253; long_chirp_lut[1559] = 8'd183; + long_chirp_lut[1560] = 8'd 64; long_chirp_lut[1561] = 8'd 1; long_chirp_lut[1562] = 8'd 49; long_chirp_lut[1563] = 8'd167; long_chirp_lut[1564] = 8'd250; long_chirp_lut[1565] = 8'd224; long_chirp_lut[1566] = 8'd114; long_chirp_lut[1567] = 8'd 15; + long_chirp_lut[1568] = 8'd 16; long_chirp_lut[1569] = 8'd116; long_chirp_lut[1570] = 8'd226; long_chirp_lut[1571] = 8'd249; long_chirp_lut[1572] = 8'd164; long_chirp_lut[1573] = 8'd 47; long_chirp_lut[1574] = 8'd 1; long_chirp_lut[1575] = 8'd 68; + long_chirp_lut[1576] = 8'd187; long_chirp_lut[1577] = 8'd254; long_chirp_lut[1578] = 8'd208; long_chirp_lut[1579] = 8'd 90; long_chirp_lut[1580] = 8'd 6; long_chirp_lut[1581] = 8'd 30; long_chirp_lut[1582] = 8'd141; long_chirp_lut[1583] = 8'd240; + long_chirp_lut[1584] = 8'd239; long_chirp_lut[1585] = 8'd138; long_chirp_lut[1586] = 8'd 28; long_chirp_lut[1587] = 8'd 7; long_chirp_lut[1588] = 8'd 94; long_chirp_lut[1589] = 8'd211; long_chirp_lut[1590] = 8'd253; long_chirp_lut[1591] = 8'd183; + long_chirp_lut[1592] = 8'd 63; long_chirp_lut[1593] = 8'd 1; long_chirp_lut[1594] = 8'd 52; long_chirp_lut[1595] = 8'd171; long_chirp_lut[1596] = 8'd251; long_chirp_lut[1597] = 8'd220; long_chirp_lut[1598] = 8'd105; long_chirp_lut[1599] = 8'd 11; + long_chirp_lut[1600] = 8'd 21; long_chirp_lut[1601] = 8'd128; long_chirp_lut[1602] = 8'd234; long_chirp_lut[1603] = 8'd244; long_chirp_lut[1604] = 8'd149; long_chirp_lut[1605] = 8'd 35; long_chirp_lut[1606] = 8'd 4; long_chirp_lut[1607] = 8'd 85; + long_chirp_lut[1608] = 8'd204; long_chirp_lut[1609] = 8'd254; long_chirp_lut[1610] = 8'd189; long_chirp_lut[1611] = 8'd 69; long_chirp_lut[1612] = 8'd 1; long_chirp_lut[1613] = 8'd 48; long_chirp_lut[1614] = 8'd167; long_chirp_lut[1615] = 8'd250; + long_chirp_lut[1616] = 8'd222; long_chirp_lut[1617] = 8'd107; long_chirp_lut[1618] = 8'd 11; long_chirp_lut[1619] = 8'd 21; long_chirp_lut[1620] = 8'd127; long_chirp_lut[1621] = 8'd234; long_chirp_lut[1622] = 8'd243; long_chirp_lut[1623] = 8'd147; + long_chirp_lut[1624] = 8'd 33; long_chirp_lut[1625] = 8'd 5; long_chirp_lut[1626] = 8'd 89; long_chirp_lut[1627] = 8'd208; long_chirp_lut[1628] = 8'd254; long_chirp_lut[1629] = 8'd184; long_chirp_lut[1630] = 8'd 62; long_chirp_lut[1631] = 8'd 1; + long_chirp_lut[1632] = 8'd 55; long_chirp_lut[1633] = 8'd176; long_chirp_lut[1634] = 8'd252; long_chirp_lut[1635] = 8'd214; long_chirp_lut[1636] = 8'd 96; long_chirp_lut[1637] = 8'd 7; long_chirp_lut[1638] = 8'd 28; long_chirp_lut[1639] = 8'd141; + long_chirp_lut[1640] = 8'd241; long_chirp_lut[1641] = 8'd237; long_chirp_lut[1642] = 8'd132; long_chirp_lut[1643] = 8'd 23; long_chirp_lut[1644] = 8'd 10; long_chirp_lut[1645] = 8'd106; long_chirp_lut[1646] = 8'd221; long_chirp_lut[1647] = 8'd250; + long_chirp_lut[1648] = 8'd166; long_chirp_lut[1649] = 8'd 46; long_chirp_lut[1650] = 8'd 2; long_chirp_lut[1651] = 8'd 74; long_chirp_lut[1652] = 8'd196; long_chirp_lut[1653] = 8'd254; long_chirp_lut[1654] = 8'd195; long_chirp_lut[1655] = 8'd 73; + long_chirp_lut[1656] = 8'd 2; long_chirp_lut[1657] = 8'd 47; long_chirp_lut[1658] = 8'd167; long_chirp_lut[1659] = 8'd251; long_chirp_lut[1660] = 8'd220; long_chirp_lut[1661] = 8'd103; long_chirp_lut[1662] = 8'd 9; long_chirp_lut[1663] = 8'd 25; + long_chirp_lut[1664] = 8'd137; long_chirp_lut[1665] = 8'd240; long_chirp_lut[1666] = 8'd238; long_chirp_lut[1667] = 8'd133; long_chirp_lut[1668] = 8'd 23; long_chirp_lut[1669] = 8'd 11; long_chirp_lut[1670] = 8'd107; long_chirp_lut[1671] = 8'd223; + long_chirp_lut[1672] = 8'd249; long_chirp_lut[1673] = 8'd162; long_chirp_lut[1674] = 8'd 42; long_chirp_lut[1675] = 8'd 3; long_chirp_lut[1676] = 8'd 80; long_chirp_lut[1677] = 8'd202; long_chirp_lut[1678] = 8'd254; long_chirp_lut[1679] = 8'd187; + long_chirp_lut[1680] = 8'd 64; long_chirp_lut[1681] = 8'd 1; long_chirp_lut[1682] = 8'd 57; long_chirp_lut[1683] = 8'd179; long_chirp_lut[1684] = 8'd253; long_chirp_lut[1685] = 8'd209; long_chirp_lut[1686] = 8'd 88; long_chirp_lut[1687] = 8'd 4; + long_chirp_lut[1688] = 8'd 37; long_chirp_lut[1689] = 8'd155; long_chirp_lut[1690] = 8'd247; long_chirp_lut[1691] = 8'd226; long_chirp_lut[1692] = 8'd112; long_chirp_lut[1693] = 8'd 12; long_chirp_lut[1694] = 8'd 22; long_chirp_lut[1695] = 8'd132; + long_chirp_lut[1696] = 8'd238; long_chirp_lut[1697] = 8'd239; long_chirp_lut[1698] = 8'd135; long_chirp_lut[1699] = 8'd 23; long_chirp_lut[1700] = 8'd 11; long_chirp_lut[1701] = 8'd109; long_chirp_lut[1702] = 8'd225; long_chirp_lut[1703] = 8'd248; + long_chirp_lut[1704] = 8'd157; long_chirp_lut[1705] = 8'd 37; long_chirp_lut[1706] = 8'd 4; long_chirp_lut[1707] = 8'd 88; long_chirp_lut[1708] = 8'd210; long_chirp_lut[1709] = 8'd253; long_chirp_lut[1710] = 8'd176; long_chirp_lut[1711] = 8'd 53; + long_chirp_lut[1712] = 8'd 1; long_chirp_lut[1713] = 8'd 70; long_chirp_lut[1714] = 8'd194; long_chirp_lut[1715] = 8'd254; long_chirp_lut[1716] = 8'd193; long_chirp_lut[1717] = 8'd 69; long_chirp_lut[1718] = 8'd 1; long_chirp_lut[1719] = 8'd 54; + long_chirp_lut[1720] = 8'd178; long_chirp_lut[1721] = 8'd253; long_chirp_lut[1722] = 8'd208; long_chirp_lut[1723] = 8'd 85; long_chirp_lut[1724] = 8'd 3; long_chirp_lut[1725] = 8'd 41; long_chirp_lut[1726] = 8'd162; long_chirp_lut[1727] = 8'd250; + long_chirp_lut[1728] = 8'd220; long_chirp_lut[1729] = 8'd101; long_chirp_lut[1730] = 8'd 8; long_chirp_lut[1731] = 8'd 30; long_chirp_lut[1732] = 8'd146; long_chirp_lut[1733] = 8'd245; long_chirp_lut[1734] = 8'd230; long_chirp_lut[1735] = 8'd116; + long_chirp_lut[1736] = 8'd 13; long_chirp_lut[1737] = 8'd 21; long_chirp_lut[1738] = 8'd132; long_chirp_lut[1739] = 8'd239; long_chirp_lut[1740] = 8'd237; long_chirp_lut[1741] = 8'd130; long_chirp_lut[1742] = 8'd 20; long_chirp_lut[1743] = 8'd 14; + long_chirp_lut[1744] = 8'd119; long_chirp_lut[1745] = 8'd232; long_chirp_lut[1746] = 8'd243; long_chirp_lut[1747] = 8'd142; long_chirp_lut[1748] = 8'd 27; long_chirp_lut[1749] = 8'd 9; long_chirp_lut[1750] = 8'd107; long_chirp_lut[1751] = 8'd225; + long_chirp_lut[1752] = 8'd247; long_chirp_lut[1753] = 8'd153; long_chirp_lut[1754] = 8'd 34; long_chirp_lut[1755] = 8'd 6; long_chirp_lut[1756] = 8'd 97; long_chirp_lut[1757] = 8'd218; long_chirp_lut[1758] = 8'd250; long_chirp_lut[1759] = 8'd162; + long_chirp_lut[1760] = 8'd 40; long_chirp_lut[1761] = 8'd 4; long_chirp_lut[1762] = 8'd 88; long_chirp_lut[1763] = 8'd212; long_chirp_lut[1764] = 8'd252; long_chirp_lut[1765] = 8'd171; long_chirp_lut[1766] = 8'd 46; long_chirp_lut[1767] = 8'd 2; + long_chirp_lut[1768] = 8'd 81; long_chirp_lut[1769] = 8'd206; long_chirp_lut[1770] = 8'd253; long_chirp_lut[1771] = 8'd177; long_chirp_lut[1772] = 8'd 52; long_chirp_lut[1773] = 8'd 1; long_chirp_lut[1774] = 8'd 75; long_chirp_lut[1775] = 8'd201; + long_chirp_lut[1776] = 8'd254; long_chirp_lut[1777] = 8'd182; long_chirp_lut[1778] = 8'd 56; long_chirp_lut[1779] = 8'd 1; long_chirp_lut[1780] = 8'd 71; long_chirp_lut[1781] = 8'd197; long_chirp_lut[1782] = 8'd254; long_chirp_lut[1783] = 8'd186; + long_chirp_lut[1784] = 8'd 60; long_chirp_lut[1785] = 8'd 1; long_chirp_lut[1786] = 8'd 67; long_chirp_lut[1787] = 8'd194; long_chirp_lut[1788] = 8'd254; long_chirp_lut[1789] = 8'd189; long_chirp_lut[1790] = 8'd 62; long_chirp_lut[1791] = 8'd 1; + long_chirp_lut[1792] = 8'd 65; long_chirp_lut[1793] = 8'd192; long_chirp_lut[1794] = 8'd254; long_chirp_lut[1795] = 8'd191; long_chirp_lut[1796] = 8'd 64; long_chirp_lut[1797] = 8'd 1; long_chirp_lut[1798] = 8'd 64; long_chirp_lut[1799] = 8'd191; + long_chirp_lut[1800] = 8'd255; long_chirp_lut[1801] = 8'd191; long_chirp_lut[1802] = 8'd 64; long_chirp_lut[1803] = 8'd 1; long_chirp_lut[1804] = 8'd 64; long_chirp_lut[1805] = 8'd191; long_chirp_lut[1806] = 8'd254; long_chirp_lut[1807] = 8'd190; + long_chirp_lut[1808] = 8'd 63; long_chirp_lut[1809] = 8'd 1; long_chirp_lut[1810] = 8'd 66; long_chirp_lut[1811] = 8'd193; long_chirp_lut[1812] = 8'd254; long_chirp_lut[1813] = 8'd188; long_chirp_lut[1814] = 8'd 61; long_chirp_lut[1815] = 8'd 1; + long_chirp_lut[1816] = 8'd 68; long_chirp_lut[1817] = 8'd196; long_chirp_lut[1818] = 8'd254; long_chirp_lut[1819] = 8'd185; long_chirp_lut[1820] = 8'd 58; long_chirp_lut[1821] = 8'd 1; long_chirp_lut[1822] = 8'd 72; long_chirp_lut[1823] = 8'd199; + long_chirp_lut[1824] = 8'd254; long_chirp_lut[1825] = 8'd181; long_chirp_lut[1826] = 8'd 54; long_chirp_lut[1827] = 8'd 1; long_chirp_lut[1828] = 8'd 77; long_chirp_lut[1829] = 8'd204; long_chirp_lut[1830] = 8'd253; long_chirp_lut[1831] = 8'd175; + long_chirp_lut[1832] = 8'd 48; long_chirp_lut[1833] = 8'd 2; long_chirp_lut[1834] = 8'd 83; long_chirp_lut[1835] = 8'd209; long_chirp_lut[1836] = 8'd252; long_chirp_lut[1837] = 8'd168; long_chirp_lut[1838] = 8'd 42; long_chirp_lut[1839] = 8'd 4; + long_chirp_lut[1840] = 8'd 91; long_chirp_lut[1841] = 8'd216; long_chirp_lut[1842] = 8'd250; long_chirp_lut[1843] = 8'd159; long_chirp_lut[1844] = 8'd 36; long_chirp_lut[1845] = 8'd 6; long_chirp_lut[1846] = 8'd100; long_chirp_lut[1847] = 8'd222; + long_chirp_lut[1848] = 8'd247; long_chirp_lut[1849] = 8'd150; long_chirp_lut[1850] = 8'd 29; long_chirp_lut[1851] = 8'd 9; long_chirp_lut[1852] = 8'd111; long_chirp_lut[1853] = 8'd229; long_chirp_lut[1854] = 8'd243; long_chirp_lut[1855] = 8'd138; + long_chirp_lut[1856] = 8'd 22; long_chirp_lut[1857] = 8'd 14; long_chirp_lut[1858] = 8'd123; long_chirp_lut[1859] = 8'd236; long_chirp_lut[1860] = 8'd237; long_chirp_lut[1861] = 8'd125; long_chirp_lut[1862] = 8'd 15; long_chirp_lut[1863] = 8'd 21; + long_chirp_lut[1864] = 8'd137; long_chirp_lut[1865] = 8'd243; long_chirp_lut[1866] = 8'd230; long_chirp_lut[1867] = 8'd111; long_chirp_lut[1868] = 8'd 9; long_chirp_lut[1869] = 8'd 30; long_chirp_lut[1870] = 8'd151; long_chirp_lut[1871] = 8'd248; + long_chirp_lut[1872] = 8'd220; long_chirp_lut[1873] = 8'd 96; long_chirp_lut[1874] = 8'd 4; long_chirp_lut[1875] = 8'd 41; long_chirp_lut[1876] = 8'd167; long_chirp_lut[1877] = 8'd252; long_chirp_lut[1878] = 8'd208; long_chirp_lut[1879] = 8'd 80; + long_chirp_lut[1880] = 8'd 1; long_chirp_lut[1881] = 8'd 54; long_chirp_lut[1882] = 8'd183; long_chirp_lut[1883] = 8'd254; long_chirp_lut[1884] = 8'd193; long_chirp_lut[1885] = 8'd 64; long_chirp_lut[1886] = 8'd 1; long_chirp_lut[1887] = 8'd 70; + long_chirp_lut[1888] = 8'd199; long_chirp_lut[1889] = 8'd254; long_chirp_lut[1890] = 8'd176; long_chirp_lut[1891] = 8'd 48; long_chirp_lut[1892] = 8'd 3; long_chirp_lut[1893] = 8'd 88; long_chirp_lut[1894] = 8'd215; long_chirp_lut[1895] = 8'd250; + long_chirp_lut[1896] = 8'd157; long_chirp_lut[1897] = 8'd 33; long_chirp_lut[1898] = 8'd 8; long_chirp_lut[1899] = 8'd109; long_chirp_lut[1900] = 8'd229; long_chirp_lut[1901] = 8'd243; long_chirp_lut[1902] = 8'd135; long_chirp_lut[1903] = 8'd 19; + long_chirp_lut[1904] = 8'd 18; long_chirp_lut[1905] = 8'd132; long_chirp_lut[1906] = 8'd241; long_chirp_lut[1907] = 8'd231; long_chirp_lut[1908] = 8'd112; long_chirp_lut[1909] = 8'd 9; long_chirp_lut[1910] = 8'd 31; long_chirp_lut[1911] = 8'd155; + long_chirp_lut[1912] = 8'd250; long_chirp_lut[1913] = 8'd215; long_chirp_lut[1914] = 8'd 88; long_chirp_lut[1915] = 8'd 2; long_chirp_lut[1916] = 8'd 50; long_chirp_lut[1917] = 8'd179; long_chirp_lut[1918] = 8'd254; long_chirp_lut[1919] = 8'd195; + long_chirp_lut[1920] = 8'd 64; long_chirp_lut[1921] = 8'd 1; long_chirp_lut[1922] = 8'd 72; long_chirp_lut[1923] = 8'd202; long_chirp_lut[1924] = 8'd253; long_chirp_lut[1925] = 8'd171; long_chirp_lut[1926] = 8'd 42; long_chirp_lut[1927] = 8'd 4; + long_chirp_lut[1928] = 8'd 98; long_chirp_lut[1929] = 8'd223; long_chirp_lut[1930] = 8'd246; long_chirp_lut[1931] = 8'd143; long_chirp_lut[1932] = 8'd 23; long_chirp_lut[1933] = 8'd 15; long_chirp_lut[1934] = 8'd127; long_chirp_lut[1935] = 8'd240; + long_chirp_lut[1936] = 8'd233; long_chirp_lut[1937] = 8'd113; long_chirp_lut[1938] = 8'd 9; long_chirp_lut[1939] = 8'd 32; long_chirp_lut[1940] = 8'd157; long_chirp_lut[1941] = 8'd251; long_chirp_lut[1942] = 8'd212; long_chirp_lut[1943] = 8'd 83; + long_chirp_lut[1944] = 8'd 2; long_chirp_lut[1945] = 8'd 55; long_chirp_lut[1946] = 8'd186; long_chirp_lut[1947] = 8'd254; long_chirp_lut[1948] = 8'd186; long_chirp_lut[1949] = 8'd 55; long_chirp_lut[1950] = 8'd 2; long_chirp_lut[1951] = 8'd 84; + long_chirp_lut[1952] = 8'd213; long_chirp_lut[1953] = 8'd250; long_chirp_lut[1954] = 8'd155; long_chirp_lut[1955] = 8'd 30; long_chirp_lut[1956] = 8'd 10; long_chirp_lut[1957] = 8'd117; long_chirp_lut[1958] = 8'd235; long_chirp_lut[1959] = 8'd237; + long_chirp_lut[1960] = 8'd120; long_chirp_lut[1961] = 8'd 11; long_chirp_lut[1962] = 8'd 28; long_chirp_lut[1963] = 8'd153; long_chirp_lut[1964] = 8'd250; long_chirp_lut[1965] = 8'd214; long_chirp_lut[1966] = 8'd 85; long_chirp_lut[1967] = 8'd 2; + long_chirp_lut[1968] = 8'd 55; long_chirp_lut[1969] = 8'd187; long_chirp_lut[1970] = 8'd254; long_chirp_lut[1971] = 8'd184; long_chirp_lut[1972] = 8'd 52; long_chirp_lut[1973] = 8'd 2; long_chirp_lut[1974] = 8'd 89; long_chirp_lut[1975] = 8'd218; + long_chirp_lut[1976] = 8'd248; long_chirp_lut[1977] = 8'd147; long_chirp_lut[1978] = 8'd 25; long_chirp_lut[1979] = 8'd 14; long_chirp_lut[1980] = 8'd127; long_chirp_lut[1981] = 8'd241; long_chirp_lut[1982] = 8'd230; long_chirp_lut[1983] = 8'd107; + long_chirp_lut[1984] = 8'd 7; long_chirp_lut[1985] = 8'd 38; long_chirp_lut[1986] = 8'd167; long_chirp_lut[1987] = 8'd253; long_chirp_lut[1988] = 8'd201; long_chirp_lut[1989] = 8'd 69; long_chirp_lut[1990] = 8'd 1; long_chirp_lut[1991] = 8'd 72; + long_chirp_lut[1992] = 8'd204; long_chirp_lut[1993] = 8'd252; long_chirp_lut[1994] = 8'd163; long_chirp_lut[1995] = 8'd 35; long_chirp_lut[1996] = 8'd 8; long_chirp_lut[1997] = 8'd113; long_chirp_lut[1998] = 8'd234; long_chirp_lut[1999] = 8'd237; + long_chirp_lut[2000] = 8'd120; long_chirp_lut[2001] = 8'd 11; long_chirp_lut[2002] = 8'd 30; long_chirp_lut[2003] = 8'd157; long_chirp_lut[2004] = 8'd251; long_chirp_lut[2005] = 8'd209; long_chirp_lut[2006] = 8'd 77; long_chirp_lut[2007] = 8'd 1; + long_chirp_lut[2008] = 8'd 65; long_chirp_lut[2009] = 8'd199; long_chirp_lut[2010] = 8'd253; long_chirp_lut[2011] = 8'd169; long_chirp_lut[2012] = 8'd 38; long_chirp_lut[2013] = 8'd 7; long_chirp_lut[2014] = 8'd109; long_chirp_lut[2015] = 8'd232; + long_chirp_lut[2016] = 8'd239; long_chirp_lut[2017] = 8'd122; long_chirp_lut[2018] = 8'd 11; long_chirp_lut[2019] = 8'd 30; long_chirp_lut[2020] = 8'd157; long_chirp_lut[2021] = 8'd251; long_chirp_lut[2022] = 8'd208; long_chirp_lut[2023] = 8'd 75; + long_chirp_lut[2024] = 8'd 1; long_chirp_lut[2025] = 8'd 68; long_chirp_lut[2026] = 8'd201; long_chirp_lut[2027] = 8'd253; long_chirp_lut[2028] = 8'd164; long_chirp_lut[2029] = 8'd 35; long_chirp_lut[2030] = 8'd 9; long_chirp_lut[2031] = 8'd116; + long_chirp_lut[2032] = 8'd236; long_chirp_lut[2033] = 8'd235; long_chirp_lut[2034] = 8'd114; long_chirp_lut[2035] = 8'd 8; long_chirp_lut[2036] = 8'd 36; long_chirp_lut[2037] = 8'd167; long_chirp_lut[2038] = 8'd253; long_chirp_lut[2039] = 8'd199; + long_chirp_lut[2040] = 8'd 64; long_chirp_lut[2041] = 8'd 1; long_chirp_lut[2042] = 8'd 80; long_chirp_lut[2043] = 8'd213; long_chirp_lut[2044] = 8'd249; long_chirp_lut[2045] = 8'd149; long_chirp_lut[2046] = 8'd 24; long_chirp_lut[2047] = 8'd 16; + long_chirp_lut[2048] = 8'd133; long_chirp_lut[2049] = 8'd244; long_chirp_lut[2050] = 8'd224; long_chirp_lut[2051] = 8'd 95; long_chirp_lut[2052] = 8'd 3; long_chirp_lut[2053] = 8'd 52; long_chirp_lut[2054] = 8'd186; long_chirp_lut[2055] = 8'd254; + long_chirp_lut[2056] = 8'd179; long_chirp_lut[2057] = 8'd 45; long_chirp_lut[2058] = 8'd 5; long_chirp_lut[2059] = 8'd103; long_chirp_lut[2060] = 8'd229; long_chirp_lut[2061] = 8'd240; long_chirp_lut[2062] = 8'd123; long_chirp_lut[2063] = 8'd 11; + long_chirp_lut[2064] = 8'd 31; long_chirp_lut[2065] = 8'd161; long_chirp_lut[2066] = 8'd252; long_chirp_lut[2067] = 8'd202; long_chirp_lut[2068] = 8'd 67; long_chirp_lut[2069] = 8'd 1; long_chirp_lut[2070] = 8'd 79; long_chirp_lut[2071] = 8'd212; + long_chirp_lut[2072] = 8'd249; long_chirp_lut[2073] = 8'd147; long_chirp_lut[2074] = 8'd 23; long_chirp_lut[2075] = 8'd 18; long_chirp_lut[2076] = 8'd138; long_chirp_lut[2077] = 8'd246; long_chirp_lut[2078] = 8'd219; long_chirp_lut[2079] = 8'd 87; + long_chirp_lut[2080] = 8'd 1; long_chirp_lut[2081] = 8'd 60; long_chirp_lut[2082] = 8'd196; long_chirp_lut[2083] = 8'd253; long_chirp_lut[2084] = 8'd166; long_chirp_lut[2085] = 8'd 35; long_chirp_lut[2086] = 8'd 9; long_chirp_lut[2087] = 8'd120; + long_chirp_lut[2088] = 8'd239; long_chirp_lut[2089] = 8'd230; long_chirp_lut[2090] = 8'd104; long_chirp_lut[2091] = 8'd 4; long_chirp_lut[2092] = 8'd 47; long_chirp_lut[2093] = 8'd182; long_chirp_lut[2094] = 8'd254; long_chirp_lut[2095] = 8'd181; + long_chirp_lut[2096] = 8'd 46; long_chirp_lut[2097] = 8'd 5; long_chirp_lut[2098] = 8'd106; long_chirp_lut[2099] = 8'd232; long_chirp_lut[2100] = 8'd237; long_chirp_lut[2101] = 8'd116; long_chirp_lut[2102] = 8'd 8; long_chirp_lut[2103] = 8'd 38; + long_chirp_lut[2104] = 8'd171; long_chirp_lut[2105] = 8'd254; long_chirp_lut[2106] = 8'd190; long_chirp_lut[2107] = 8'd 54; long_chirp_lut[2108] = 8'd 3; long_chirp_lut[2109] = 8'd 96; long_chirp_lut[2110] = 8'd226; long_chirp_lut[2111] = 8'd242; + long_chirp_lut[2112] = 8'd125; long_chirp_lut[2113] = 8'd 11; long_chirp_lut[2114] = 8'd 33; long_chirp_lut[2115] = 8'd164; long_chirp_lut[2116] = 8'd253; long_chirp_lut[2117] = 8'd196; long_chirp_lut[2118] = 8'd 59; long_chirp_lut[2119] = 8'd 2; + long_chirp_lut[2120] = 8'd 91; long_chirp_lut[2121] = 8'd223; long_chirp_lut[2122] = 8'd243; long_chirp_lut[2123] = 8'd129; long_chirp_lut[2124] = 8'd 13; long_chirp_lut[2125] = 8'd 31; long_chirp_lut[2126] = 8'd162; long_chirp_lut[2127] = 8'd253; + long_chirp_lut[2128] = 8'd198; long_chirp_lut[2129] = 8'd 60; long_chirp_lut[2130] = 8'd 2; long_chirp_lut[2131] = 8'd 90; long_chirp_lut[2132] = 8'd223; long_chirp_lut[2133] = 8'd243; long_chirp_lut[2134] = 8'd128; long_chirp_lut[2135] = 8'd 12; + long_chirp_lut[2136] = 8'd 31; long_chirp_lut[2137] = 8'd163; long_chirp_lut[2138] = 8'd253; long_chirp_lut[2139] = 8'd195; long_chirp_lut[2140] = 8'd 58; long_chirp_lut[2141] = 8'd 2; long_chirp_lut[2142] = 8'd 94; long_chirp_lut[2143] = 8'd225; + long_chirp_lut[2144] = 8'd242; long_chirp_lut[2145] = 8'd123; long_chirp_lut[2146] = 8'd 10; long_chirp_lut[2147] = 8'd 35; long_chirp_lut[2148] = 8'd169; long_chirp_lut[2149] = 8'd254; long_chirp_lut[2150] = 8'd189; long_chirp_lut[2151] = 8'd 52; + long_chirp_lut[2152] = 8'd 4; long_chirp_lut[2153] = 8'd102; long_chirp_lut[2154] = 8'd231; long_chirp_lut[2155] = 8'd237; long_chirp_lut[2156] = 8'd114; long_chirp_lut[2157] = 8'd 7; long_chirp_lut[2158] = 8'd 43; long_chirp_lut[2159] = 8'd179; + long_chirp_lut[2160] = 8'd255; long_chirp_lut[2161] = 8'd179; long_chirp_lut[2162] = 8'd 42; long_chirp_lut[2163] = 8'd 7; long_chirp_lut[2164] = 8'd115; long_chirp_lut[2165] = 8'd238; long_chirp_lut[2166] = 8'd230; long_chirp_lut[2167] = 8'd100; + long_chirp_lut[2168] = 8'd 3; long_chirp_lut[2169] = 8'd 54; long_chirp_lut[2170] = 8'd193; long_chirp_lut[2171] = 8'd254; long_chirp_lut[2172] = 8'd164; long_chirp_lut[2173] = 8'd 31; long_chirp_lut[2174] = 8'd 13; long_chirp_lut[2175] = 8'd132; + long_chirp_lut[2176] = 8'd245; long_chirp_lut[2177] = 8'd218; long_chirp_lut[2178] = 8'd 83; long_chirp_lut[2179] = 8'd 1; long_chirp_lut[2180] = 8'd 71; long_chirp_lut[2181] = 8'd209; long_chirp_lut[2182] = 8'd250; long_chirp_lut[2183] = 8'd144; + long_chirp_lut[2184] = 8'd 19; long_chirp_lut[2185] = 8'd 24; long_chirp_lut[2186] = 8'd153; long_chirp_lut[2187] = 8'd252; long_chirp_lut[2188] = 8'd201; long_chirp_lut[2189] = 8'd 62; long_chirp_lut[2190] = 8'd 2; long_chirp_lut[2191] = 8'd 93; + long_chirp_lut[2192] = 8'd226; long_chirp_lut[2193] = 8'd241; long_chirp_lut[2194] = 8'd119; long_chirp_lut[2195] = 8'd 8; long_chirp_lut[2196] = 8'd 41; long_chirp_lut[2197] = 8'd178; long_chirp_lut[2198] = 8'd254; long_chirp_lut[2199] = 8'd178; + long_chirp_lut[2200] = 8'd 40; long_chirp_lut[2201] = 8'd 8; long_chirp_lut[2202] = 8'd120; long_chirp_lut[2203] = 8'd241; long_chirp_lut[2204] = 8'd225; long_chirp_lut[2205] = 8'd 91; long_chirp_lut[2206] = 8'd 1; long_chirp_lut[2207] = 8'd 65; + long_chirp_lut[2208] = 8'd204; long_chirp_lut[2209] = 8'd251; long_chirp_lut[2210] = 8'd148; long_chirp_lut[2211] = 8'd 20; long_chirp_lut[2212] = 8'd 23; long_chirp_lut[2213] = 8'd153; long_chirp_lut[2214] = 8'd252; long_chirp_lut[2215] = 8'd200; + long_chirp_lut[2216] = 8'd 60; long_chirp_lut[2217] = 8'd 2; long_chirp_lut[2218] = 8'd 97; long_chirp_lut[2219] = 8'd229; long_chirp_lut[2220] = 8'd237; long_chirp_lut[2221] = 8'd112; long_chirp_lut[2222] = 8'd 5; long_chirp_lut[2223] = 8'd 48; + long_chirp_lut[2224] = 8'd187; long_chirp_lut[2225] = 8'd254; long_chirp_lut[2226] = 8'd166; long_chirp_lut[2227] = 8'd 31; long_chirp_lut[2228] = 8'd 14; long_chirp_lut[2229] = 8'd136; long_chirp_lut[2230] = 8'd247; long_chirp_lut[2231] = 8'd212; + long_chirp_lut[2232] = 8'd 73; long_chirp_lut[2233] = 8'd 1; long_chirp_lut[2234] = 8'd 83; long_chirp_lut[2235] = 8'd220; long_chirp_lut[2236] = 8'd243; long_chirp_lut[2237] = 8'd124; long_chirp_lut[2238] = 8'd 9; long_chirp_lut[2239] = 8'd 39; + long_chirp_lut[2240] = 8'd178; long_chirp_lut[2241] = 8'd254; long_chirp_lut[2242] = 8'd175; long_chirp_lut[2243] = 8'd 37; long_chirp_lut[2244] = 8'd 10; long_chirp_lut[2245] = 8'd128; long_chirp_lut[2246] = 8'd245; long_chirp_lut[2247] = 8'd217; + long_chirp_lut[2248] = 8'd 79; long_chirp_lut[2249] = 8'd 1; long_chirp_lut[2250] = 8'd 79; long_chirp_lut[2251] = 8'd217; long_chirp_lut[2252] = 8'd245; long_chirp_lut[2253] = 8'd127; long_chirp_lut[2254] = 8'd 10; long_chirp_lut[2255] = 8'd 38; + long_chirp_lut[2256] = 8'd177; long_chirp_lut[2257] = 8'd254; long_chirp_lut[2258] = 8'd175; long_chirp_lut[2259] = 8'd 37; long_chirp_lut[2260] = 8'd 11; long_chirp_lut[2261] = 8'd130; long_chirp_lut[2262] = 8'd246; long_chirp_lut[2263] = 8'd215; + long_chirp_lut[2264] = 8'd 76; long_chirp_lut[2265] = 8'd 1; long_chirp_lut[2266] = 8'd 83; long_chirp_lut[2267] = 8'd221; long_chirp_lut[2268] = 8'd242; long_chirp_lut[2269] = 8'd121; long_chirp_lut[2270] = 8'd 8; long_chirp_lut[2271] = 8'd 44; + long_chirp_lut[2272] = 8'd184; long_chirp_lut[2273] = 8'd254; long_chirp_lut[2274] = 8'd166; long_chirp_lut[2275] = 8'd 30; long_chirp_lut[2276] = 8'd 16; long_chirp_lut[2277] = 8'd141; long_chirp_lut[2278] = 8'd250; long_chirp_lut[2279] = 8'd206; + long_chirp_lut[2280] = 8'd 64; long_chirp_lut[2281] = 8'd 2; long_chirp_lut[2282] = 8'd 97; long_chirp_lut[2283] = 8'd230; long_chirp_lut[2284] = 8'd235; long_chirp_lut[2285] = 8'd105; long_chirp_lut[2286] = 8'd 3; long_chirp_lut[2287] = 8'd 57; + long_chirp_lut[2288] = 8'd199; long_chirp_lut[2289] = 8'd251; long_chirp_lut[2290] = 8'd148; long_chirp_lut[2291] = 8'd 19; long_chirp_lut[2292] = 8'd 26; long_chirp_lut[2293] = 8'd161; long_chirp_lut[2294] = 8'd254; long_chirp_lut[2295] = 8'd187; + long_chirp_lut[2296] = 8'd 46; long_chirp_lut[2297] = 8'd 7; long_chirp_lut[2298] = 8'd120; long_chirp_lut[2299] = 8'd243; long_chirp_lut[2300] = 8'd220; long_chirp_lut[2301] = 8'd 81; long_chirp_lut[2302] = 8'd 1; long_chirp_lut[2303] = 8'd 81; + long_chirp_lut[2304] = 8'd220; long_chirp_lut[2305] = 8'd242; long_chirp_lut[2306] = 8'd119; long_chirp_lut[2307] = 8'd 7; long_chirp_lut[2308] = 8'd 47; long_chirp_lut[2309] = 8'd189; long_chirp_lut[2310] = 8'd253; long_chirp_lut[2311] = 8'd158; + long_chirp_lut[2312] = 8'd 24; long_chirp_lut[2313] = 8'd 21; long_chirp_lut[2314] = 8'd153; long_chirp_lut[2315] = 8'd253; long_chirp_lut[2316] = 8'd193; long_chirp_lut[2317] = 8'd 50; long_chirp_lut[2318] = 8'd 5; long_chirp_lut[2319] = 8'd116; + long_chirp_lut[2320] = 8'd241; long_chirp_lut[2321] = 8'd222; long_chirp_lut[2322] = 8'd 83; long_chirp_lut[2323] = 8'd 1; long_chirp_lut[2324] = 8'd 80; long_chirp_lut[2325] = 8'd220; long_chirp_lut[2326] = 8'd242; long_chirp_lut[2327] = 8'd118; + long_chirp_lut[2328] = 8'd 6; long_chirp_lut[2329] = 8'd 49; long_chirp_lut[2330] = 8'd193; long_chirp_lut[2331] = 8'd253; long_chirp_lut[2332] = 8'd153; long_chirp_lut[2333] = 8'd 20; long_chirp_lut[2334] = 8'd 25; long_chirp_lut[2335] = 8'd161; + long_chirp_lut[2336] = 8'd254; long_chirp_lut[2337] = 8'd185; long_chirp_lut[2338] = 8'd 42; long_chirp_lut[2339] = 8'd 9; long_chirp_lut[2340] = 8'd127; long_chirp_lut[2341] = 8'd246; long_chirp_lut[2342] = 8'd212; long_chirp_lut[2343] = 8'd 70; + long_chirp_lut[2344] = 8'd 1; long_chirp_lut[2345] = 8'd 95; long_chirp_lut[2346] = 8'd231; long_chirp_lut[2347] = 8'd234; long_chirp_lut[2348] = 8'd100; long_chirp_lut[2349] = 8'd 2; long_chirp_lut[2350] = 8'd 66; long_chirp_lut[2351] = 8'd209; + long_chirp_lut[2352] = 8'd247; long_chirp_lut[2353] = 8'd131; long_chirp_lut[2354] = 8'd 10; long_chirp_lut[2355] = 8'd 41; long_chirp_lut[2356] = 8'd183; long_chirp_lut[2357] = 8'd254; long_chirp_lut[2358] = 8'd161; long_chirp_lut[2359] = 8'd 25; + long_chirp_lut[2360] = 8'd 21; long_chirp_lut[2361] = 8'd155; long_chirp_lut[2362] = 8'd253; long_chirp_lut[2363] = 8'd188; long_chirp_lut[2364] = 8'd 45; long_chirp_lut[2365] = 8'd 8; long_chirp_lut[2366] = 8'd127; long_chirp_lut[2367] = 8'd246; + long_chirp_lut[2368] = 8'd212; long_chirp_lut[2369] = 8'd 68; long_chirp_lut[2370] = 8'd 2; long_chirp_lut[2371] = 8'd 99; long_chirp_lut[2372] = 8'd233; long_chirp_lut[2373] = 8'd230; long_chirp_lut[2374] = 8'd 93; long_chirp_lut[2375] = 8'd 1; + long_chirp_lut[2376] = 8'd 73; long_chirp_lut[2377] = 8'd216; long_chirp_lut[2378] = 8'd243; long_chirp_lut[2379] = 8'd119; long_chirp_lut[2380] = 8'd 6; long_chirp_lut[2381] = 8'd 51; long_chirp_lut[2382] = 8'd196; long_chirp_lut[2383] = 8'd252; + long_chirp_lut[2384] = 8'd145; long_chirp_lut[2385] = 8'd 15; long_chirp_lut[2386] = 8'd 33; long_chirp_lut[2387] = 8'd174; long_chirp_lut[2388] = 8'd254; long_chirp_lut[2389] = 8'd169; long_chirp_lut[2390] = 8'd 29; long_chirp_lut[2391] = 8'd 18; + long_chirp_lut[2392] = 8'd151; long_chirp_lut[2393] = 8'd253; long_chirp_lut[2394] = 8'd190; long_chirp_lut[2395] = 8'd 46; long_chirp_lut[2396] = 8'd 8; long_chirp_lut[2397] = 8'd128; long_chirp_lut[2398] = 8'd247; long_chirp_lut[2399] = 8'd209; + long_chirp_lut[2400] = 8'd 64; long_chirp_lut[2401] = 8'd 2; long_chirp_lut[2402] = 8'd106; long_chirp_lut[2403] = 8'd238; long_chirp_lut[2404] = 8'd225; long_chirp_lut[2405] = 8'd 84; long_chirp_lut[2406] = 8'd 1; long_chirp_lut[2407] = 8'd 85; + long_chirp_lut[2408] = 8'd226; long_chirp_lut[2409] = 8'd237; long_chirp_lut[2410] = 8'd104; long_chirp_lut[2411] = 8'd 2; long_chirp_lut[2412] = 8'd 66; long_chirp_lut[2413] = 8'd212; long_chirp_lut[2414] = 8'd246; long_chirp_lut[2415] = 8'd123; + long_chirp_lut[2416] = 8'd 7; long_chirp_lut[2417] = 8'd 50; long_chirp_lut[2418] = 8'd196; long_chirp_lut[2419] = 8'd251; long_chirp_lut[2420] = 8'd142; long_chirp_lut[2421] = 8'd 14; long_chirp_lut[2422] = 8'd 36; long_chirp_lut[2423] = 8'd180; + long_chirp_lut[2424] = 8'd254; long_chirp_lut[2425] = 8'd160; long_chirp_lut[2426] = 8'd 23; long_chirp_lut[2427] = 8'd 25; long_chirp_lut[2428] = 8'd164; long_chirp_lut[2429] = 8'd254; long_chirp_lut[2430] = 8'd176; long_chirp_lut[2431] = 8'd 33; + long_chirp_lut[2432] = 8'd 16; long_chirp_lut[2433] = 8'd148; long_chirp_lut[2434] = 8'd252; long_chirp_lut[2435] = 8'd191; long_chirp_lut[2436] = 8'd 45; long_chirp_lut[2437] = 8'd 9; long_chirp_lut[2438] = 8'd132; long_chirp_lut[2439] = 8'd249; + long_chirp_lut[2440] = 8'd203; long_chirp_lut[2441] = 8'd 56; long_chirp_lut[2442] = 8'd 5; long_chirp_lut[2443] = 8'd117; long_chirp_lut[2444] = 8'd244; long_chirp_lut[2445] = 8'd214; long_chirp_lut[2446] = 8'd 69; long_chirp_lut[2447] = 8'd 2; + long_chirp_lut[2448] = 8'd104; long_chirp_lut[2449] = 8'd237; long_chirp_lut[2450] = 8'd224; long_chirp_lut[2451] = 8'd 81; long_chirp_lut[2452] = 8'd 1; long_chirp_lut[2453] = 8'd 91; long_chirp_lut[2454] = 8'd231; long_chirp_lut[2455] = 8'd231; + long_chirp_lut[2456] = 8'd 92; long_chirp_lut[2457] = 8'd 1; long_chirp_lut[2458] = 8'd 80; long_chirp_lut[2459] = 8'd223; long_chirp_lut[2460] = 8'd237; long_chirp_lut[2461] = 8'd103; long_chirp_lut[2462] = 8'd 2; long_chirp_lut[2463] = 8'd 70; + long_chirp_lut[2464] = 8'd216; long_chirp_lut[2465] = 8'd242; long_chirp_lut[2466] = 8'd114; long_chirp_lut[2467] = 8'd 4; long_chirp_lut[2468] = 8'd 61; long_chirp_lut[2469] = 8'd209; long_chirp_lut[2470] = 8'd246; long_chirp_lut[2471] = 8'd123; + long_chirp_lut[2472] = 8'd 6; long_chirp_lut[2473] = 8'd 54; long_chirp_lut[2474] = 8'd201; long_chirp_lut[2475] = 8'd249; long_chirp_lut[2476] = 8'd132; long_chirp_lut[2477] = 8'd 9; long_chirp_lut[2478] = 8'd 47; long_chirp_lut[2479] = 8'd195; + long_chirp_lut[2480] = 8'd251; long_chirp_lut[2481] = 8'd139; long_chirp_lut[2482] = 8'd 11; long_chirp_lut[2483] = 8'd 42; long_chirp_lut[2484] = 8'd189; long_chirp_lut[2485] = 8'd252; long_chirp_lut[2486] = 8'd146; long_chirp_lut[2487] = 8'd 14; + long_chirp_lut[2488] = 8'd 37; long_chirp_lut[2489] = 8'd183; long_chirp_lut[2490] = 8'd253; long_chirp_lut[2491] = 8'd152; long_chirp_lut[2492] = 8'd 17; long_chirp_lut[2493] = 8'd 33; long_chirp_lut[2494] = 8'd178; long_chirp_lut[2495] = 8'd254; + long_chirp_lut[2496] = 8'd157; long_chirp_lut[2497] = 8'd 19; long_chirp_lut[2498] = 8'd 30; long_chirp_lut[2499] = 8'd174; long_chirp_lut[2500] = 8'd254; long_chirp_lut[2501] = 8'd160; long_chirp_lut[2502] = 8'd 21; long_chirp_lut[2503] = 8'd 28; + long_chirp_lut[2504] = 8'd171; long_chirp_lut[2505] = 8'd254; long_chirp_lut[2506] = 8'd163; long_chirp_lut[2507] = 8'd 23; long_chirp_lut[2508] = 8'd 26; long_chirp_lut[2509] = 8'd169; long_chirp_lut[2510] = 8'd254; long_chirp_lut[2511] = 8'd165; + long_chirp_lut[2512] = 8'd 24; long_chirp_lut[2513] = 8'd 25; long_chirp_lut[2514] = 8'd167; long_chirp_lut[2515] = 8'd254; long_chirp_lut[2516] = 8'd166; long_chirp_lut[2517] = 8'd 25; long_chirp_lut[2518] = 8'd 25; long_chirp_lut[2519] = 8'd167; + long_chirp_lut[2520] = 8'd255; long_chirp_lut[2521] = 8'd167; long_chirp_lut[2522] = 8'd 25; long_chirp_lut[2523] = 8'd 25; long_chirp_lut[2524] = 8'd167; long_chirp_lut[2525] = 8'd254; long_chirp_lut[2526] = 8'd166; long_chirp_lut[2527] = 8'd 24; + long_chirp_lut[2528] = 8'd 25; long_chirp_lut[2529] = 8'd168; long_chirp_lut[2530] = 8'd254; long_chirp_lut[2531] = 8'd165; long_chirp_lut[2532] = 8'd 23; long_chirp_lut[2533] = 8'd 27; long_chirp_lut[2534] = 8'd170; long_chirp_lut[2535] = 8'd254; + long_chirp_lut[2536] = 8'd162; long_chirp_lut[2537] = 8'd 22; long_chirp_lut[2538] = 8'd 28; long_chirp_lut[2539] = 8'd173; long_chirp_lut[2540] = 8'd254; long_chirp_lut[2541] = 8'd159; long_chirp_lut[2542] = 8'd 20; long_chirp_lut[2543] = 8'd 31; + long_chirp_lut[2544] = 8'd177; long_chirp_lut[2545] = 8'd254; long_chirp_lut[2546] = 8'd155; long_chirp_lut[2547] = 8'd 17; long_chirp_lut[2548] = 8'd 34; long_chirp_lut[2549] = 8'd181; long_chirp_lut[2550] = 8'd253; long_chirp_lut[2551] = 8'd150; + long_chirp_lut[2552] = 8'd 15; long_chirp_lut[2553] = 8'd 38; long_chirp_lut[2554] = 8'd186; long_chirp_lut[2555] = 8'd252; long_chirp_lut[2556] = 8'd143; long_chirp_lut[2557] = 8'd 12; long_chirp_lut[2558] = 8'd 43; long_chirp_lut[2559] = 8'd192; + long_chirp_lut[2560] = 8'd251; long_chirp_lut[2561] = 8'd136; long_chirp_lut[2562] = 8'd 9; long_chirp_lut[2563] = 8'd 48; long_chirp_lut[2564] = 8'd199; long_chirp_lut[2565] = 8'd249; long_chirp_lut[2566] = 8'd128; long_chirp_lut[2567] = 8'd 6; + long_chirp_lut[2568] = 8'd 55; long_chirp_lut[2569] = 8'd206; long_chirp_lut[2570] = 8'd246; long_chirp_lut[2571] = 8'd119; long_chirp_lut[2572] = 8'd 4; long_chirp_lut[2573] = 8'd 63; long_chirp_lut[2574] = 8'd213; long_chirp_lut[2575] = 8'd242; + long_chirp_lut[2576] = 8'd110; long_chirp_lut[2577] = 8'd 2; long_chirp_lut[2578] = 8'd 72; long_chirp_lut[2579] = 8'd220; long_chirp_lut[2580] = 8'd237; long_chirp_lut[2581] = 8'd 99; long_chirp_lut[2582] = 8'd 1; long_chirp_lut[2583] = 8'd 82; + long_chirp_lut[2584] = 8'd228; long_chirp_lut[2585] = 8'd231; long_chirp_lut[2586] = 8'd 88; long_chirp_lut[2587] = 8'd 1; long_chirp_lut[2588] = 8'd 94; long_chirp_lut[2589] = 8'd235; long_chirp_lut[2590] = 8'd224; long_chirp_lut[2591] = 8'd 76; + long_chirp_lut[2592] = 8'd 2; long_chirp_lut[2593] = 8'd106; long_chirp_lut[2594] = 8'd241; long_chirp_lut[2595] = 8'd214; long_chirp_lut[2596] = 8'd 64; long_chirp_lut[2597] = 8'd 4; long_chirp_lut[2598] = 8'd120; long_chirp_lut[2599] = 8'd247; + long_chirp_lut[2600] = 8'd203; long_chirp_lut[2601] = 8'd 52; long_chirp_lut[2602] = 8'd 8; long_chirp_lut[2603] = 8'd135; long_chirp_lut[2604] = 8'd251; long_chirp_lut[2605] = 8'd191; long_chirp_lut[2606] = 8'd 40; long_chirp_lut[2607] = 8'd 14; + long_chirp_lut[2608] = 8'd151; long_chirp_lut[2609] = 8'd254; long_chirp_lut[2610] = 8'd176; long_chirp_lut[2611] = 8'd 29; long_chirp_lut[2612] = 8'd 23; long_chirp_lut[2613] = 8'd167; long_chirp_lut[2614] = 8'd254; long_chirp_lut[2615] = 8'd160; + long_chirp_lut[2616] = 8'd 19; long_chirp_lut[2617] = 8'd 34; long_chirp_lut[2618] = 8'd183; long_chirp_lut[2619] = 8'd253; long_chirp_lut[2620] = 8'd142; long_chirp_lut[2621] = 8'd 11; long_chirp_lut[2622] = 8'd 47; long_chirp_lut[2623] = 8'd199; + long_chirp_lut[2624] = 8'd248; long_chirp_lut[2625] = 8'd123; long_chirp_lut[2626] = 8'd 4; long_chirp_lut[2627] = 8'd 63; long_chirp_lut[2628] = 8'd214; long_chirp_lut[2629] = 8'd241; long_chirp_lut[2630] = 8'd104; long_chirp_lut[2631] = 8'd 1; + long_chirp_lut[2632] = 8'd 81; long_chirp_lut[2633] = 8'd228; long_chirp_lut[2634] = 8'd230; long_chirp_lut[2635] = 8'd 84; long_chirp_lut[2636] = 8'd 1; long_chirp_lut[2637] = 8'd101; long_chirp_lut[2638] = 8'd240; long_chirp_lut[2639] = 8'd216; + long_chirp_lut[2640] = 8'd 64; long_chirp_lut[2641] = 8'd 4; long_chirp_lut[2642] = 8'd123; long_chirp_lut[2643] = 8'd248; long_chirp_lut[2644] = 8'd198; long_chirp_lut[2645] = 8'd 46; long_chirp_lut[2646] = 8'd 12; long_chirp_lut[2647] = 8'd146; + long_chirp_lut[2648] = 8'd253; long_chirp_lut[2649] = 8'd178; long_chirp_lut[2650] = 8'd 29; long_chirp_lut[2651] = 8'd 23; long_chirp_lut[2652] = 8'd169; long_chirp_lut[2653] = 8'd254; long_chirp_lut[2654] = 8'd155; long_chirp_lut[2655] = 8'd 15; + long_chirp_lut[2656] = 8'd 39; long_chirp_lut[2657] = 8'd192; long_chirp_lut[2658] = 8'd250; long_chirp_lut[2659] = 8'd130; long_chirp_lut[2660] = 8'd 6; long_chirp_lut[2661] = 8'd 60; long_chirp_lut[2662] = 8'd213; long_chirp_lut[2663] = 8'd241; + long_chirp_lut[2664] = 8'd104; long_chirp_lut[2665] = 8'd 1; long_chirp_lut[2666] = 8'd 83; long_chirp_lut[2667] = 8'd230; long_chirp_lut[2668] = 8'd227; long_chirp_lut[2669] = 8'd 78; long_chirp_lut[2670] = 8'd 2; long_chirp_lut[2671] = 8'd110; + long_chirp_lut[2672] = 8'd244; long_chirp_lut[2673] = 8'd207; long_chirp_lut[2674] = 8'd 54; long_chirp_lut[2675] = 8'd 8; long_chirp_lut[2676] = 8'd138; long_chirp_lut[2677] = 8'd252; long_chirp_lut[2678] = 8'd183; long_chirp_lut[2679] = 8'd 32; + long_chirp_lut[2680] = 8'd 21; long_chirp_lut[2681] = 8'd167; long_chirp_lut[2682] = 8'd254; long_chirp_lut[2683] = 8'd155; long_chirp_lut[2684] = 8'd 15; long_chirp_lut[2685] = 8'd 41; long_chirp_lut[2686] = 8'd194; long_chirp_lut[2687] = 8'd249; + long_chirp_lut[2688] = 8'd125; long_chirp_lut[2689] = 8'd 4; long_chirp_lut[2690] = 8'd 66; long_chirp_lut[2691] = 8'd218; long_chirp_lut[2692] = 8'd237; long_chirp_lut[2693] = 8'd 94; long_chirp_lut[2694] = 8'd 1; long_chirp_lut[2695] = 8'd 95; + long_chirp_lut[2696] = 8'd238; long_chirp_lut[2697] = 8'd217; long_chirp_lut[2698] = 8'd 64; long_chirp_lut[2699] = 8'd 5; long_chirp_lut[2700] = 8'd127; long_chirp_lut[2701] = 8'd250; long_chirp_lut[2702] = 8'd191; long_chirp_lut[2703] = 8'd 38; + long_chirp_lut[2704] = 8'd 18; long_chirp_lut[2705] = 8'd161; long_chirp_lut[2706] = 8'd254; long_chirp_lut[2707] = 8'd159; long_chirp_lut[2708] = 8'd 17; long_chirp_lut[2709] = 8'd 39; long_chirp_lut[2710] = 8'd193; long_chirp_lut[2711] = 8'd250; + long_chirp_lut[2712] = 8'd125; long_chirp_lut[2713] = 8'd 4; long_chirp_lut[2714] = 8'd 67; long_chirp_lut[2715] = 8'd220; long_chirp_lut[2716] = 8'd235; long_chirp_lut[2717] = 8'd 90; long_chirp_lut[2718] = 8'd 1; long_chirp_lut[2719] = 8'd101; + long_chirp_lut[2720] = 8'd241; long_chirp_lut[2721] = 8'd211; long_chirp_lut[2722] = 8'd 56; long_chirp_lut[2723] = 8'd 8; long_chirp_lut[2724] = 8'd138; long_chirp_lut[2725] = 8'd253; long_chirp_lut[2726] = 8'd180; long_chirp_lut[2727] = 8'd 29; + long_chirp_lut[2728] = 8'd 25; long_chirp_lut[2729] = 8'd175; long_chirp_lut[2730] = 8'd253; long_chirp_lut[2731] = 8'd143; long_chirp_lut[2732] = 8'd 9; long_chirp_lut[2733] = 8'd 53; long_chirp_lut[2734] = 8'd209; long_chirp_lut[2735] = 8'd242; + long_chirp_lut[2736] = 8'd104; long_chirp_lut[2737] = 8'd 1; long_chirp_lut[2738] = 8'd 88; long_chirp_lut[2739] = 8'd235; long_chirp_lut[2740] = 8'd220; long_chirp_lut[2741] = 8'd 66; long_chirp_lut[2742] = 8'd 5; long_chirp_lut[2743] = 8'd128; + long_chirp_lut[2744] = 8'd251; long_chirp_lut[2745] = 8'd187; long_chirp_lut[2746] = 8'd 34; long_chirp_lut[2747] = 8'd 21; long_chirp_lut[2748] = 8'd169; long_chirp_lut[2749] = 8'd254; long_chirp_lut[2750] = 8'd148; long_chirp_lut[2751] = 8'd 11; + long_chirp_lut[2752] = 8'd 50; long_chirp_lut[2753] = 8'd206; long_chirp_lut[2754] = 8'd243; long_chirp_lut[2755] = 8'd105; long_chirp_lut[2756] = 8'd 1; long_chirp_lut[2757] = 8'd 88; long_chirp_lut[2758] = 8'd235; long_chirp_lut[2759] = 8'd219; + long_chirp_lut[2760] = 8'd 64; long_chirp_lut[2761] = 8'd 5; long_chirp_lut[2762] = 8'd132; long_chirp_lut[2763] = 8'd252; long_chirp_lut[2764] = 8'd183; long_chirp_lut[2765] = 8'd 30; long_chirp_lut[2766] = 8'd 25; long_chirp_lut[2767] = 8'd176; + long_chirp_lut[2768] = 8'd253; long_chirp_lut[2769] = 8'd139; long_chirp_lut[2770] = 8'd 8; long_chirp_lut[2771] = 8'd 58; long_chirp_lut[2772] = 8'd214; long_chirp_lut[2773] = 8'd238; long_chirp_lut[2774] = 8'd 93; long_chirp_lut[2775] = 8'd 1; + long_chirp_lut[2776] = 8'd101; long_chirp_lut[2777] = 8'd242; long_chirp_lut[2778] = 8'd208; long_chirp_lut[2779] = 8'd 51; long_chirp_lut[2780] = 8'd 11; long_chirp_lut[2781] = 8'd149; long_chirp_lut[2782] = 8'd254; long_chirp_lut[2783] = 8'd166; + long_chirp_lut[2784] = 8'd 19; long_chirp_lut[2785] = 8'd 38; long_chirp_lut[2786] = 8'd194; long_chirp_lut[2787] = 8'd248; long_chirp_lut[2788] = 8'd117; long_chirp_lut[2789] = 8'd 2; long_chirp_lut[2790] = 8'd 79; long_chirp_lut[2791] = 8'd230; + long_chirp_lut[2792] = 8'd224; long_chirp_lut[2793] = 8'd 70; long_chirp_lut[2794] = 8'd 4; long_chirp_lut[2795] = 8'd128; long_chirp_lut[2796] = 8'd251; long_chirp_lut[2797] = 8'd184; long_chirp_lut[2798] = 8'd 30; long_chirp_lut[2799] = 8'd 26; + long_chirp_lut[2800] = 8'd178; long_chirp_lut[2801] = 8'd253; long_chirp_lut[2802] = 8'd135; long_chirp_lut[2803] = 8'd 6; long_chirp_lut[2804] = 8'd 64; long_chirp_lut[2805] = 8'd220; long_chirp_lut[2806] = 8'd233; long_chirp_lut[2807] = 8'd 83; + long_chirp_lut[2808] = 8'd 2; long_chirp_lut[2809] = 8'd114; long_chirp_lut[2810] = 8'd247; long_chirp_lut[2811] = 8'd195; long_chirp_lut[2812] = 8'd 38; long_chirp_lut[2813] = 8'd 19; long_chirp_lut[2814] = 8'd167; long_chirp_lut[2815] = 8'd254; + long_chirp_lut[2816] = 8'd145; long_chirp_lut[2817] = 8'd 9; long_chirp_lut[2818] = 8'd 57; long_chirp_lut[2819] = 8'd214; long_chirp_lut[2820] = 8'd237; long_chirp_lut[2821] = 8'd 90; long_chirp_lut[2822] = 8'd 1; long_chirp_lut[2823] = 8'd108; + long_chirp_lut[2824] = 8'd245; long_chirp_lut[2825] = 8'd200; long_chirp_lut[2826] = 8'd 42; long_chirp_lut[2827] = 8'd 17; long_chirp_lut[2828] = 8'd164; long_chirp_lut[2829] = 8'd254; long_chirp_lut[2830] = 8'd148; long_chirp_lut[2831] = 8'd 10; + long_chirp_lut[2832] = 8'd 55; long_chirp_lut[2833] = 8'd213; long_chirp_lut[2834] = 8'd238; long_chirp_lut[2835] = 8'd 91; long_chirp_lut[2836] = 8'd 1; long_chirp_lut[2837] = 8'd109; long_chirp_lut[2838] = 8'd246; long_chirp_lut[2839] = 8'd199; + long_chirp_lut[2840] = 8'd 40; long_chirp_lut[2841] = 8'd 18; long_chirp_lut[2842] = 8'd167; long_chirp_lut[2843] = 8'd254; long_chirp_lut[2844] = 8'd143; long_chirp_lut[2845] = 8'd 8; long_chirp_lut[2846] = 8'd 60; long_chirp_lut[2847] = 8'd217; + long_chirp_lut[2848] = 8'd235; long_chirp_lut[2849] = 8'd 84; long_chirp_lut[2850] = 8'd 2; long_chirp_lut[2851] = 8'd116; long_chirp_lut[2852] = 8'd249; long_chirp_lut[2853] = 8'd191; long_chirp_lut[2854] = 8'd 34; long_chirp_lut[2855] = 8'd 24; + long_chirp_lut[2856] = 8'd177; long_chirp_lut[2857] = 8'd252; long_chirp_lut[2858] = 8'd132; long_chirp_lut[2859] = 8'd 4; long_chirp_lut[2860] = 8'd 71; long_chirp_lut[2861] = 8'd226; long_chirp_lut[2862] = 8'd227; long_chirp_lut[2863] = 8'd 71; + long_chirp_lut[2864] = 8'd 4; long_chirp_lut[2865] = 8'd132; long_chirp_lut[2866] = 8'd252; long_chirp_lut[2867] = 8'd176; long_chirp_lut[2868] = 8'd 23; long_chirp_lut[2869] = 8'd 35; long_chirp_lut[2870] = 8'd193; long_chirp_lut[2871] = 8'd248; + long_chirp_lut[2872] = 8'd113; long_chirp_lut[2873] = 8'd 1; long_chirp_lut[2874] = 8'd 89; long_chirp_lut[2875] = 8'd238; long_chirp_lut[2876] = 8'd212; long_chirp_lut[2877] = 8'd 53; long_chirp_lut[2878] = 8'd 12; long_chirp_lut[2879] = 8'd154; + long_chirp_lut[2880] = 8'd255; long_chirp_lut[2881] = 8'd154; long_chirp_lut[2882] = 8'd 11; long_chirp_lut[2883] = 8'd 53; long_chirp_lut[2884] = 8'd213; long_chirp_lut[2885] = 8'd237; long_chirp_lut[2886] = 8'd 88; long_chirp_lut[2887] = 8'd 1; + long_chirp_lut[2888] = 8'd115; long_chirp_lut[2889] = 8'd249; long_chirp_lut[2890] = 8'd189; long_chirp_lut[2891] = 8'd 32; long_chirp_lut[2892] = 8'd 26; long_chirp_lut[2893] = 8'd182; long_chirp_lut[2894] = 8'd251; long_chirp_lut[2895] = 8'd123; + long_chirp_lut[2896] = 8'd 2; long_chirp_lut[2897] = 8'd 81; long_chirp_lut[2898] = 8'd234; long_chirp_lut[2899] = 8'd217; long_chirp_lut[2900] = 8'd 58; long_chirp_lut[2901] = 8'd 9; long_chirp_lut[2902] = 8'd150; long_chirp_lut[2903] = 8'd254; + long_chirp_lut[2904] = 8'd157; long_chirp_lut[2905] = 8'd 12; long_chirp_lut[2906] = 8'd 52; long_chirp_lut[2907] = 8'd213; long_chirp_lut[2908] = 8'd237; long_chirp_lut[2909] = 8'd 86; long_chirp_lut[2910] = 8'd 2; long_chirp_lut[2911] = 8'd119; + long_chirp_lut[2912] = 8'd250; long_chirp_lut[2913] = 8'd185; long_chirp_lut[2914] = 8'd 28; long_chirp_lut[2915] = 8'd 31; long_chirp_lut[2916] = 8'd189; long_chirp_lut[2917] = 8'd249; long_chirp_lut[2918] = 8'd114; long_chirp_lut[2919] = 8'd 1; + long_chirp_lut[2920] = 8'd 91; long_chirp_lut[2921] = 8'd240; long_chirp_lut[2922] = 8'd208; long_chirp_lut[2923] = 8'd 47; long_chirp_lut[2924] = 8'd 16; long_chirp_lut[2925] = 8'd164; long_chirp_lut[2926] = 8'd254; long_chirp_lut[2927] = 8'd140; + long_chirp_lut[2928] = 8'd 6; long_chirp_lut[2929] = 8'd 68; long_chirp_lut[2930] = 8'd226; long_chirp_lut[2931] = 8'd225; long_chirp_lut[2932] = 8'd 67; long_chirp_lut[2933] = 8'd 6; long_chirp_lut[2934] = 8'd141; long_chirp_lut[2935] = 8'd254; + long_chirp_lut[2936] = 8'd162; long_chirp_lut[2937] = 8'd 14; long_chirp_lut[2938] = 8'd 49; long_chirp_lut[2939] = 8'd211; long_chirp_lut[2940] = 8'd237; long_chirp_lut[2941] = 8'd 86; long_chirp_lut[2942] = 8'd 2; long_chirp_lut[2943] = 8'd121; + long_chirp_lut[2944] = 8'd251; long_chirp_lut[2945] = 8'd181; long_chirp_lut[2946] = 8'd 24; long_chirp_lut[2947] = 8'd 35; long_chirp_lut[2948] = 8'd196; long_chirp_lut[2949] = 8'd246; long_chirp_lut[2950] = 8'd104; long_chirp_lut[2951] = 8'd 1; + long_chirp_lut[2952] = 8'd104; long_chirp_lut[2953] = 8'd246; long_chirp_lut[2954] = 8'd195; long_chirp_lut[2955] = 8'd 35; long_chirp_lut[2956] = 8'd 25; long_chirp_lut[2957] = 8'd182; long_chirp_lut[2958] = 8'd250; long_chirp_lut[2959] = 8'd119; + long_chirp_lut[2960] = 8'd 1; long_chirp_lut[2961] = 8'd 90; long_chirp_lut[2962] = 8'd240; long_chirp_lut[2963] = 8'd207; long_chirp_lut[2964] = 8'd 45; long_chirp_lut[2965] = 8'd 18; long_chirp_lut[2966] = 8'd170; long_chirp_lut[2967] = 8'd253; + long_chirp_lut[2968] = 8'd131; long_chirp_lut[2969] = 8'd 3; long_chirp_lut[2970] = 8'd 79; long_chirp_lut[2971] = 8'd234; long_chirp_lut[2972] = 8'd215; long_chirp_lut[2973] = 8'd 53; long_chirp_lut[2974] = 8'd 13; long_chirp_lut[2975] = 8'd161; + long_chirp_lut[2976] = 8'd254; long_chirp_lut[2977] = 8'd140; long_chirp_lut[2978] = 8'd 5; long_chirp_lut[2979] = 8'd 71; long_chirp_lut[2980] = 8'd229; long_chirp_lut[2981] = 8'd220; long_chirp_lut[2982] = 8'd 59; long_chirp_lut[2983] = 8'd 10; + long_chirp_lut[2984] = 8'd154; long_chirp_lut[2985] = 8'd254; long_chirp_lut[2986] = 8'd146; long_chirp_lut[2987] = 8'd 7; long_chirp_lut[2988] = 8'd 66; long_chirp_lut[2989] = 8'd226; long_chirp_lut[2990] = 8'd224; long_chirp_lut[2991] = 8'd 63; + long_chirp_lut[2992] = 8'd 9; long_chirp_lut[2993] = 8'd150; long_chirp_lut[2994] = 8'd254; long_chirp_lut[2995] = 8'd149; long_chirp_lut[2996] = 8'd 8; long_chirp_lut[2997] = 8'd 64; long_chirp_lut[2998] = 8'd225; long_chirp_lut[2999] = 8'd225; + long_chirp_lut[3000] = 8'd 64; long_chirp_lut[3001] = 8'd 8; long_chirp_lut[3002] = 8'd150; long_chirp_lut[3003] = 8'd254; long_chirp_lut[3004] = 8'd149; long_chirp_lut[3005] = 8'd 8; long_chirp_lut[3006] = 8'd 65; long_chirp_lut[3007] = 8'd225; + long_chirp_lut[3008] = 8'd224; long_chirp_lut[3009] = 8'd 63; long_chirp_lut[3010] = 8'd 9; long_chirp_lut[3011] = 8'd152; long_chirp_lut[3012] = 8'd254; long_chirp_lut[3013] = 8'd146; long_chirp_lut[3014] = 8'd 7; long_chirp_lut[3015] = 8'd 68; + long_chirp_lut[3016] = 8'd228; long_chirp_lut[3017] = 8'd221; long_chirp_lut[3018] = 8'd 59; long_chirp_lut[3019] = 8'd 11; long_chirp_lut[3020] = 8'd157; long_chirp_lut[3021] = 8'd254; long_chirp_lut[3022] = 8'd141; long_chirp_lut[3023] = 8'd 5; + long_chirp_lut[3024] = 8'd 73; long_chirp_lut[3025] = 8'd232; long_chirp_lut[3026] = 8'd216; long_chirp_lut[3027] = 8'd 53; long_chirp_lut[3028] = 8'd 14; long_chirp_lut[3029] = 8'd165; long_chirp_lut[3030] = 8'd253; long_chirp_lut[3031] = 8'd132; + long_chirp_lut[3032] = 8'd 3; long_chirp_lut[3033] = 8'd 82; long_chirp_lut[3034] = 8'd237; long_chirp_lut[3035] = 8'd209; long_chirp_lut[3036] = 8'd 45; long_chirp_lut[3037] = 8'd 19; long_chirp_lut[3038] = 8'd175; long_chirp_lut[3039] = 8'd251; + long_chirp_lut[3040] = 8'd120; long_chirp_lut[3041] = 8'd 1; long_chirp_lut[3042] = 8'd 94; long_chirp_lut[3043] = 8'd243; long_chirp_lut[3044] = 8'd198; long_chirp_lut[3045] = 8'd 35; long_chirp_lut[3046] = 8'd 27; long_chirp_lut[3047] = 8'd188; + long_chirp_lut[3048] = 8'd247; long_chirp_lut[3049] = 8'd105; long_chirp_lut[3050] = 8'd 1; long_chirp_lut[3051] = 8'd109; long_chirp_lut[3052] = 8'd249; long_chirp_lut[3053] = 8'd184; long_chirp_lut[3054] = 8'd 24; long_chirp_lut[3055] = 8'd 38; + long_chirp_lut[3056] = 8'd202; long_chirp_lut[3057] = 8'd241; long_chirp_lut[3058] = 8'd 88; long_chirp_lut[3059] = 8'd 2; long_chirp_lut[3060] = 8'd127; long_chirp_lut[3061] = 8'd253; long_chirp_lut[3062] = 8'd167; long_chirp_lut[3063] = 8'd 14; + long_chirp_lut[3064] = 8'd 53; long_chirp_lut[3065] = 8'd218; long_chirp_lut[3066] = 8'd230; long_chirp_lut[3067] = 8'd 69; long_chirp_lut[3068] = 8'd 7; long_chirp_lut[3069] = 8'd149; long_chirp_lut[3070] = 8'd254; long_chirp_lut[3071] = 8'd145; + long_chirp_lut[3072] = 8'd 6; long_chirp_lut[3073] = 8'd 73; long_chirp_lut[3074] = 8'd232; long_chirp_lut[3075] = 8'd214; long_chirp_lut[3076] = 8'd 49; long_chirp_lut[3077] = 8'd 17; long_chirp_lut[3078] = 8'd172; long_chirp_lut[3079] = 8'd252; + long_chirp_lut[3080] = 8'd120; long_chirp_lut[3081] = 8'd 1; long_chirp_lut[3082] = 8'd 97; long_chirp_lut[3083] = 8'd245; long_chirp_lut[3084] = 8'd193; long_chirp_lut[3085] = 8'd 30; long_chirp_lut[3086] = 8'd 33; long_chirp_lut[3087] = 8'd197; + long_chirp_lut[3088] = 8'd243; long_chirp_lut[3089] = 8'd 92; long_chirp_lut[3090] = 8'd 2; long_chirp_lut[3091] = 8'd125; long_chirp_lut[3092] = 8'd253; long_chirp_lut[3093] = 8'd167; long_chirp_lut[3094] = 8'd 14; long_chirp_lut[3095] = 8'd 55; + long_chirp_lut[3096] = 8'd220; long_chirp_lut[3097] = 8'd227; long_chirp_lut[3098] = 8'd 64; long_chirp_lut[3099] = 8'd 9; long_chirp_lut[3100] = 8'd157; long_chirp_lut[3101] = 8'd254; long_chirp_lut[3102] = 8'd135; long_chirp_lut[3103] = 8'd 3; + long_chirp_lut[3104] = 8'd 84; long_chirp_lut[3105] = 8'd240; long_chirp_lut[3106] = 8'd203; long_chirp_lut[3107] = 8'd 37; long_chirp_lut[3108] = 8'd 26; long_chirp_lut[3109] = 8'd189; long_chirp_lut[3110] = 8'd246; long_chirp_lut[3111] = 8'd100; + long_chirp_lut[3112] = 8'd 1; long_chirp_lut[3113] = 8'd120; long_chirp_lut[3114] = 8'd252; long_chirp_lut[3115] = 8'd171; long_chirp_lut[3116] = 8'd 15; long_chirp_lut[3117] = 8'd 53; long_chirp_lut[3118] = 8'd219; long_chirp_lut[3119] = 8'd228; + long_chirp_lut[3120] = 8'd 64; long_chirp_lut[3121] = 8'd 10; long_chirp_lut[3122] = 8'd158; long_chirp_lut[3123] = 8'd254; long_chirp_lut[3124] = 8'd132; long_chirp_lut[3125] = 8'd 2; long_chirp_lut[3126] = 8'd 89; long_chirp_lut[3127] = 8'd242; + long_chirp_lut[3128] = 8'd198; long_chirp_lut[3129] = 8'd 32; long_chirp_lut[3130] = 8'd 31; long_chirp_lut[3131] = 8'd197; long_chirp_lut[3132] = 8'd242; long_chirp_lut[3133] = 8'd 90; long_chirp_lut[3134] = 8'd 2; long_chirp_lut[3135] = 8'd132; + long_chirp_lut[3136] = 8'd254; long_chirp_lut[3137] = 8'd157; long_chirp_lut[3138] = 8'd 9; long_chirp_lut[3139] = 8'd 66; long_chirp_lut[3140] = 8'd229; long_chirp_lut[3141] = 8'd216; long_chirp_lut[3142] = 8'd 49; long_chirp_lut[3143] = 8'd 18; + long_chirp_lut[3144] = 8'd177; long_chirp_lut[3145] = 8'd250; long_chirp_lut[3146] = 8'd111; long_chirp_lut[3147] = 8'd 1; long_chirp_lut[3148] = 8'd111; long_chirp_lut[3149] = 8'd250; long_chirp_lut[3150] = 8'd176; long_chirp_lut[3151] = 8'd 18; + long_chirp_lut[3152] = 8'd 50; long_chirp_lut[3153] = 8'd217; long_chirp_lut[3154] = 8'd228; long_chirp_lut[3155] = 8'd 64; long_chirp_lut[3156] = 8'd 10; long_chirp_lut[3157] = 8'd161; long_chirp_lut[3158] = 8'd253; long_chirp_lut[3159] = 8'd126; + long_chirp_lut[3160] = 8'd 1; long_chirp_lut[3161] = 8'd 97; long_chirp_lut[3162] = 8'd246; long_chirp_lut[3163] = 8'd188; long_chirp_lut[3164] = 8'd 25; long_chirp_lut[3165] = 8'd 41; long_chirp_lut[3166] = 8'd209; long_chirp_lut[3167] = 8'd235; + long_chirp_lut[3168] = 8'd 73; long_chirp_lut[3169] = 8'd 7; long_chirp_lut[3170] = 8'd151; long_chirp_lut[3171] = 8'd254; long_chirp_lut[3172] = 8'd135; long_chirp_lut[3173] = 8'd 3; long_chirp_lut[3174] = 8'd 89; long_chirp_lut[3175] = 8'd243; + long_chirp_lut[3176] = 8'd195; long_chirp_lut[3177] = 8'd 29; long_chirp_lut[3178] = 8'd 36; long_chirp_lut[3179] = 8'd204; long_chirp_lut[3180] = 8'd237; long_chirp_lut[3181] = 8'd 78; long_chirp_lut[3182] = 8'd 5; long_chirp_lut[3183] = 8'd148; + long_chirp_lut[3184] = 8'd254; long_chirp_lut[3185] = 8'd138; long_chirp_lut[3186] = 8'd 3; long_chirp_lut[3187] = 8'd 87; long_chirp_lut[3188] = 8'd242; long_chirp_lut[3189] = 8'd195; long_chirp_lut[3190] = 8'd 29; long_chirp_lut[3191] = 8'd 36; + long_chirp_lut[3192] = 8'd204; long_chirp_lut[3193] = 8'd237; long_chirp_lut[3194] = 8'd 77; long_chirp_lut[3195] = 8'd 6; long_chirp_lut[3196] = 8'd150; long_chirp_lut[3197] = 8'd254; long_chirp_lut[3198] = 8'd135; long_chirp_lut[3199] = 8'd 2; + long_chirp_lut[3200] = 8'd 91; long_chirp_lut[3201] = 8'd244; long_chirp_lut[3202] = 8'd191; long_chirp_lut[3203] = 8'd 26; long_chirp_lut[3204] = 8'd 41; long_chirp_lut[3205] = 8'd209; long_chirp_lut[3206] = 8'd233; long_chirp_lut[3207] = 8'd 70; + long_chirp_lut[3208] = 8'd 9; long_chirp_lut[3209] = 8'd158; long_chirp_lut[3210] = 8'd253; long_chirp_lut[3211] = 8'd125; long_chirp_lut[3212] = 8'd 1; long_chirp_lut[3213] = 8'd101; long_chirp_lut[3214] = 8'd248; long_chirp_lut[3215] = 8'd181; + long_chirp_lut[3216] = 8'd 19; long_chirp_lut[3217] = 8'd 50; long_chirp_lut[3218] = 8'd219; long_chirp_lut[3219] = 8'd225; long_chirp_lut[3220] = 8'd 58; long_chirp_lut[3221] = 8'd 14; long_chirp_lut[3222] = 8'd172; long_chirp_lut[3223] = 8'd251; + long_chirp_lut[3224] = 8'd110; long_chirp_lut[3225] = 8'd 1; long_chirp_lut[3226] = 8'd118; long_chirp_lut[3227] = 8'd252; long_chirp_lut[3228] = 8'd164; long_chirp_lut[3229] = 8'd 11; long_chirp_lut[3230] = 8'd 66; long_chirp_lut[3231] = 8'd231; + long_chirp_lut[3232] = 8'd212; long_chirp_lut[3233] = 8'd 42; long_chirp_lut[3234] = 8'd 25; long_chirp_lut[3235] = 8'd191; long_chirp_lut[3236] = 8'd243; long_chirp_lut[3237] = 8'd 88; long_chirp_lut[3238] = 8'd 3; long_chirp_lut[3239] = 8'd141; + long_chirp_lut[3240] = 8'd255; long_chirp_lut[3241] = 8'd141; long_chirp_lut[3242] = 8'd 3; long_chirp_lut[3243] = 8'd 88; long_chirp_lut[3244] = 8'd244; long_chirp_lut[3245] = 8'd191; long_chirp_lut[3246] = 8'd 24; long_chirp_lut[3247] = 8'd 43; + long_chirp_lut[3248] = 8'd213; long_chirp_lut[3249] = 8'd229; long_chirp_lut[3250] = 8'd 62; long_chirp_lut[3251] = 8'd 12; long_chirp_lut[3252] = 8'd169; long_chirp_lut[3253] = 8'd251; long_chirp_lut[3254] = 8'd111; long_chirp_lut[3255] = 8'd 1; + long_chirp_lut[3256] = 8'd119; long_chirp_lut[3257] = 8'd253; long_chirp_lut[3258] = 8'd161; long_chirp_lut[3259] = 8'd 9; long_chirp_lut[3260] = 8'd 71; long_chirp_lut[3261] = 8'd235; long_chirp_lut[3262] = 8'd206; long_chirp_lut[3263] = 8'd 36; + long_chirp_lut[3264] = 8'd 31; long_chirp_lut[3265] = 8'd201; long_chirp_lut[3266] = 8'd238; long_chirp_lut[3267] = 8'd 76; long_chirp_lut[3268] = 8'd 7; long_chirp_lut[3269] = 8'd156; long_chirp_lut[3270] = 8'd253; long_chirp_lut[3271] = 8'd123; + long_chirp_lut[3272] = 8'd 1; long_chirp_lut[3273] = 8'd108; long_chirp_lut[3274] = 8'd251; long_chirp_lut[3275] = 8'd171; long_chirp_lut[3276] = 8'd 13; long_chirp_lut[3277] = 8'd 63; long_chirp_lut[3278] = 8'd230; long_chirp_lut[3279] = 8'd211; + long_chirp_lut[3280] = 8'd 40; long_chirp_lut[3281] = 8'd 27; long_chirp_lut[3282] = 8'd196; long_chirp_lut[3283] = 8'd240; long_chirp_lut[3284] = 8'd 80; long_chirp_lut[3285] = 8'd 6; long_chirp_lut[3286] = 8'd153; long_chirp_lut[3287] = 8'd254; + long_chirp_lut[3288] = 8'd125; long_chirp_lut[3289] = 8'd 1; long_chirp_lut[3290] = 8'd107; long_chirp_lut[3291] = 8'd251; long_chirp_lut[3292] = 8'd170; long_chirp_lut[3293] = 8'd 12; long_chirp_lut[3294] = 8'd 65; long_chirp_lut[3295] = 8'd232; + long_chirp_lut[3296] = 8'd209; long_chirp_lut[3297] = 8'd 38; long_chirp_lut[3298] = 8'd 30; long_chirp_lut[3299] = 8'd200; long_chirp_lut[3300] = 8'd237; long_chirp_lut[3301] = 8'd 74; long_chirp_lut[3302] = 8'd 8; long_chirp_lut[3303] = 8'd161; + long_chirp_lut[3304] = 8'd253; long_chirp_lut[3305] = 8'd116; long_chirp_lut[3306] = 8'd 1; long_chirp_lut[3307] = 8'd117; long_chirp_lut[3308] = 8'd253; long_chirp_lut[3309] = 8'd159; long_chirp_lut[3310] = 8'd 8; long_chirp_lut[3311] = 8'd 76; + long_chirp_lut[3312] = 8'd239; long_chirp_lut[3313] = 8'd198; long_chirp_lut[3314] = 8'd 28; long_chirp_lut[3315] = 8'd 41; long_chirp_lut[3316] = 8'd213; long_chirp_lut[3317] = 8'd228; long_chirp_lut[3318] = 8'd 59; long_chirp_lut[3319] = 8'd 15; + long_chirp_lut[3320] = 8'd178; long_chirp_lut[3321] = 8'd248; long_chirp_lut[3322] = 8'd 97; long_chirp_lut[3323] = 8'd 2; long_chirp_lut[3324] = 8'd138; long_chirp_lut[3325] = 8'd254; long_chirp_lut[3326] = 8'd137; long_chirp_lut[3327] = 8'd 2; + long_chirp_lut[3328] = 8'd 98; long_chirp_lut[3329] = 8'd248; long_chirp_lut[3330] = 8'd176; long_chirp_lut[3331] = 8'd 14; long_chirp_lut[3332] = 8'd 61; long_chirp_lut[3333] = 8'd230; long_chirp_lut[3334] = 8'd210; long_chirp_lut[3335] = 8'd 37; + long_chirp_lut[3336] = 8'd 31; long_chirp_lut[3337] = 8'd203; long_chirp_lut[3338] = 8'd235; long_chirp_lut[3339] = 8'd 69; long_chirp_lut[3340] = 8'd 11; long_chirp_lut[3341] = 8'd169; long_chirp_lut[3342] = 8'd250; long_chirp_lut[3343] = 8'd105; + long_chirp_lut[3344] = 8'd 1; long_chirp_lut[3345] = 8'd132; long_chirp_lut[3346] = 8'd254; long_chirp_lut[3347] = 8'd142; long_chirp_lut[3348] = 8'd 3; long_chirp_lut[3349] = 8'd 95; long_chirp_lut[3350] = 8'd247; long_chirp_lut[3351] = 8'd178; + long_chirp_lut[3352] = 8'd 15; long_chirp_lut[3353] = 8'd 61; long_chirp_lut[3354] = 8'd231; long_chirp_lut[3355] = 8'd209; long_chirp_lut[3356] = 8'd 36; long_chirp_lut[3357] = 8'd 33; long_chirp_lut[3358] = 8'd206; long_chirp_lut[3359] = 8'd233; + long_chirp_lut[3360] = 8'd 64; long_chirp_lut[3361] = 8'd 13; long_chirp_lut[3362] = 8'd175; long_chirp_lut[3363] = 8'd248; long_chirp_lut[3364] = 8'd 96; long_chirp_lut[3365] = 8'd 3; long_chirp_lut[3366] = 8'd141; long_chirp_lut[3367] = 8'd254; + long_chirp_lut[3368] = 8'd131; long_chirp_lut[3369] = 8'd 1; long_chirp_lut[3370] = 8'd107; long_chirp_lut[3371] = 8'd251; long_chirp_lut[3372] = 8'd164; long_chirp_lut[3373] = 8'd 9; long_chirp_lut[3374] = 8'd 75; long_chirp_lut[3375] = 8'd240; + long_chirp_lut[3376] = 8'd195; long_chirp_lut[3377] = 8'd 24; long_chirp_lut[3378] = 8'd 47; long_chirp_lut[3379] = 8'd220; long_chirp_lut[3380] = 8'd220; long_chirp_lut[3381] = 8'd 46; long_chirp_lut[3382] = 8'd 25; long_chirp_lut[3383] = 8'd196; + long_chirp_lut[3384] = 8'd239; long_chirp_lut[3385] = 8'd 73; long_chirp_lut[3386] = 8'd 9; long_chirp_lut[3387] = 8'd167; long_chirp_lut[3388] = 8'd250; long_chirp_lut[3389] = 8'd103; long_chirp_lut[3390] = 8'd 2; long_chirp_lut[3391] = 8'd136; + long_chirp_lut[3392] = 8'd254; long_chirp_lut[3393] = 8'd134; long_chirp_lut[3394] = 8'd 1; long_chirp_lut[3395] = 8'd106; long_chirp_lut[3396] = 8'd251; long_chirp_lut[3397] = 8'd164; long_chirp_lut[3398] = 8'd 8; long_chirp_lut[3399] = 8'd 77; + long_chirp_lut[3400] = 8'd241; long_chirp_lut[3401] = 8'd191; long_chirp_lut[3402] = 8'd 21; long_chirp_lut[3403] = 8'd 52; long_chirp_lut[3404] = 8'd225; long_chirp_lut[3405] = 8'd214; long_chirp_lut[3406] = 8'd 40; long_chirp_lut[3407] = 8'd 31; + long_chirp_lut[3408] = 8'd204; long_chirp_lut[3409] = 8'd233; long_chirp_lut[3410] = 8'd 62; long_chirp_lut[3411] = 8'd 15; long_chirp_lut[3412] = 8'd180; long_chirp_lut[3413] = 8'd246; long_chirp_lut[3414] = 8'd 88; long_chirp_lut[3415] = 8'd 5; + long_chirp_lut[3416] = 8'd154; long_chirp_lut[3417] = 8'd253; long_chirp_lut[3418] = 8'd114; long_chirp_lut[3419] = 8'd 1; long_chirp_lut[3420] = 8'd127; long_chirp_lut[3421] = 8'd254; long_chirp_lut[3422] = 8'd141; long_chirp_lut[3423] = 8'd 2; + long_chirp_lut[3424] = 8'd101; long_chirp_lut[3425] = 8'd250; long_chirp_lut[3426] = 8'd166; long_chirp_lut[3427] = 8'd 9; long_chirp_lut[3428] = 8'd 77; long_chirp_lut[3429] = 8'd241; long_chirp_lut[3430] = 8'd189; long_chirp_lut[3431] = 8'd 20; + long_chirp_lut[3432] = 8'd 55; long_chirp_lut[3433] = 8'd228; long_chirp_lut[3434] = 8'd210; long_chirp_lut[3435] = 8'd 35; long_chirp_lut[3436] = 8'd 36; long_chirp_lut[3437] = 8'd212; long_chirp_lut[3438] = 8'd227; long_chirp_lut[3439] = 8'd 53; + long_chirp_lut[3440] = 8'd 21; long_chirp_lut[3441] = 8'd192; long_chirp_lut[3442] = 8'd240; long_chirp_lut[3443] = 8'd 73; long_chirp_lut[3444] = 8'd 10; long_chirp_lut[3445] = 8'd171; long_chirp_lut[3446] = 8'd249; long_chirp_lut[3447] = 8'd 94; + long_chirp_lut[3448] = 8'd 4; long_chirp_lut[3449] = 8'd150; long_chirp_lut[3450] = 8'd253; long_chirp_lut[3451] = 8'd116; long_chirp_lut[3452] = 8'd 1; long_chirp_lut[3453] = 8'd128; long_chirp_lut[3454] = 8'd254; long_chirp_lut[3455] = 8'd138; + long_chirp_lut[3456] = 8'd 2; long_chirp_lut[3457] = 8'd106; long_chirp_lut[3458] = 8'd252; long_chirp_lut[3459] = 8'd159; long_chirp_lut[3460] = 8'd 6; long_chirp_lut[3461] = 8'd 86; long_chirp_lut[3462] = 8'd246; long_chirp_lut[3463] = 8'd178; + long_chirp_lut[3464] = 8'd 13; long_chirp_lut[3465] = 8'd 68; long_chirp_lut[3466] = 8'd237; long_chirp_lut[3467] = 8'd196; long_chirp_lut[3468] = 8'd 23; long_chirp_lut[3469] = 8'd 51; long_chirp_lut[3470] = 8'd226; long_chirp_lut[3471] = 8'd211; + long_chirp_lut[3472] = 8'd 35; long_chirp_lut[3473] = 8'd 37; long_chirp_lut[3474] = 8'd213; long_chirp_lut[3475] = 8'd224; long_chirp_lut[3476] = 8'd 49; long_chirp_lut[3477] = 8'd 25; long_chirp_lut[3478] = 8'd199; long_chirp_lut[3479] = 8'd235; + long_chirp_lut[3480] = 8'd 64; long_chirp_lut[3481] = 8'd 15; long_chirp_lut[3482] = 8'd183; long_chirp_lut[3483] = 8'd243; long_chirp_lut[3484] = 8'd 80; long_chirp_lut[3485] = 8'd 8; long_chirp_lut[3486] = 8'd167; long_chirp_lut[3487] = 8'd249; + long_chirp_lut[3488] = 8'd 96; long_chirp_lut[3489] = 8'd 4; long_chirp_lut[3490] = 8'd151; long_chirp_lut[3491] = 8'd253; long_chirp_lut[3492] = 8'd112; long_chirp_lut[3493] = 8'd 1; long_chirp_lut[3494] = 8'd136; long_chirp_lut[3495] = 8'd254; + long_chirp_lut[3496] = 8'd127; long_chirp_lut[3497] = 8'd 1; long_chirp_lut[3498] = 8'd120; long_chirp_lut[3499] = 8'd254; long_chirp_lut[3500] = 8'd142; long_chirp_lut[3501] = 8'd 2; long_chirp_lut[3502] = 8'd106; long_chirp_lut[3503] = 8'd252; + long_chirp_lut[3504] = 8'd157; long_chirp_lut[3505] = 8'd 5; long_chirp_lut[3506] = 8'd 92; long_chirp_lut[3507] = 8'd248; long_chirp_lut[3508] = 8'd170; long_chirp_lut[3509] = 8'd 9; long_chirp_lut[3510] = 8'd 79; long_chirp_lut[3511] = 8'd244; + long_chirp_lut[3512] = 8'd182; long_chirp_lut[3513] = 8'd 14; long_chirp_lut[3514] = 8'd 67; long_chirp_lut[3515] = 8'd238; long_chirp_lut[3516] = 8'd193; long_chirp_lut[3517] = 8'd 20; long_chirp_lut[3518] = 8'd 57; long_chirp_lut[3519] = 8'd231; + long_chirp_lut[3520] = 8'd203; long_chirp_lut[3521] = 8'd 27; long_chirp_lut[3522] = 8'd 47; long_chirp_lut[3523] = 8'd224; long_chirp_lut[3524] = 8'd212; long_chirp_lut[3525] = 8'd 35; long_chirp_lut[3526] = 8'd 39; long_chirp_lut[3527] = 8'd216; + long_chirp_lut[3528] = 8'd220; long_chirp_lut[3529] = 8'd 43; long_chirp_lut[3530] = 8'd 31; long_chirp_lut[3531] = 8'd209; long_chirp_lut[3532] = 8'd227; long_chirp_lut[3533] = 8'd 50; long_chirp_lut[3534] = 8'd 25; long_chirp_lut[3535] = 8'd201; + long_chirp_lut[3536] = 8'd233; long_chirp_lut[3537] = 8'd 58; long_chirp_lut[3538] = 8'd 20; long_chirp_lut[3539] = 8'd193; long_chirp_lut[3540] = 8'd237; long_chirp_lut[3541] = 8'd 66; long_chirp_lut[3542] = 8'd 15; long_chirp_lut[3543] = 8'd185; + long_chirp_lut[3544] = 8'd242; long_chirp_lut[3545] = 8'd 73; long_chirp_lut[3546] = 8'd 12; long_chirp_lut[3547] = 8'd178; long_chirp_lut[3548] = 8'd245; long_chirp_lut[3549] = 8'd 81; long_chirp_lut[3550] = 8'd 9; long_chirp_lut[3551] = 8'd171; + long_chirp_lut[3552] = 8'd247; long_chirp_lut[3553] = 8'd 87; long_chirp_lut[3554] = 8'd 6; long_chirp_lut[3555] = 8'd164; long_chirp_lut[3556] = 8'd249; long_chirp_lut[3557] = 8'd 94; long_chirp_lut[3558] = 8'd 5; long_chirp_lut[3559] = 8'd158; + long_chirp_lut[3560] = 8'd251; long_chirp_lut[3561] = 8'd100; long_chirp_lut[3562] = 8'd 3; long_chirp_lut[3563] = 8'd153; long_chirp_lut[3564] = 8'd252; long_chirp_lut[3565] = 8'd105; long_chirp_lut[3566] = 8'd 2; long_chirp_lut[3567] = 8'd148; + long_chirp_lut[3568] = 8'd253; long_chirp_lut[3569] = 8'd110; long_chirp_lut[3570] = 8'd 2; long_chirp_lut[3571] = 8'd143; long_chirp_lut[3572] = 8'd254; long_chirp_lut[3573] = 8'd114; long_chirp_lut[3574] = 8'd 1; long_chirp_lut[3575] = 8'd139; + long_chirp_lut[3576] = 8'd254; long_chirp_lut[3577] = 8'd118; long_chirp_lut[3578] = 8'd 1; long_chirp_lut[3579] = 8'd136; long_chirp_lut[3580] = 8'd254; long_chirp_lut[3581] = 8'd121; long_chirp_lut[3582] = 8'd 1; long_chirp_lut[3583] = 8'd133; + long_chirp_lut[3584] = 8'd254; long_chirp_lut[3585] = 8'd123; long_chirp_lut[3586] = 8'd 1; long_chirp_lut[3587] = 8'd131; long_chirp_lut[3588] = 8'd254; long_chirp_lut[3589] = 8'd125; long_chirp_lut[3590] = 8'd 1; long_chirp_lut[3591] = 8'd129; + long_chirp_lut[3592] = 8'd254; long_chirp_lut[3593] = 8'd127; long_chirp_lut[3594] = 8'd 1; long_chirp_lut[3595] = 8'd128; long_chirp_lut[3596] = 8'd254; long_chirp_lut[3597] = 8'd127; long_chirp_lut[3598] = 8'd 1; long_chirp_lut[3599] = 8'd128; + + // Complete Short PLFM chirp LUT (0.5us, 30MHz to 10MHz) + short_chirp_lut[ 0] = 8'd255; short_chirp_lut[ 1] = 8'd237; short_chirp_lut[ 2] = 8'd187; short_chirp_lut[ 3] = 8'd118; short_chirp_lut[ 4] = 8'd 49; short_chirp_lut[ 5] = 8'd 6; short_chirp_lut[ 6] = 8'd 7; short_chirp_lut[ 7] = 8'd 54; + short_chirp_lut[ 8] = 8'd132; short_chirp_lut[ 9] = 8'd210; short_chirp_lut[10] = 8'd253; short_chirp_lut[11] = 8'd237; short_chirp_lut[12] = 8'd167; short_chirp_lut[13] = 8'd 75; short_chirp_lut[14] = 8'd 10; short_chirp_lut[15] = 8'd 10; + short_chirp_lut[16] = 8'd 80; short_chirp_lut[17] = 8'd180; short_chirp_lut[18] = 8'd248; short_chirp_lut[19] = 8'd237; short_chirp_lut[20] = 8'd150; short_chirp_lut[21] = 8'd 45; short_chirp_lut[22] = 8'd 1; short_chirp_lut[23] = 8'd 54; + short_chirp_lut[24] = 8'd167; short_chirp_lut[25] = 8'd249; short_chirp_lut[26] = 8'd228; short_chirp_lut[27] = 8'd118; short_chirp_lut[28] = 8'd 15; short_chirp_lut[29] = 8'd 18; short_chirp_lut[30] = 8'd127; short_chirp_lut[31] = 8'd238; + short_chirp_lut[32] = 8'd235; short_chirp_lut[33] = 8'd118; short_chirp_lut[34] = 8'd 10; short_chirp_lut[35] = 8'd 34; short_chirp_lut[36] = 8'd167; short_chirp_lut[37] = 8'd254; short_chirp_lut[38] = 8'd187; short_chirp_lut[39] = 8'd 45; + short_chirp_lut[40] = 8'd 8; short_chirp_lut[41] = 8'd129; short_chirp_lut[42] = 8'd248; short_chirp_lut[43] = 8'd201; short_chirp_lut[44] = 8'd 49; short_chirp_lut[45] = 8'd 10; short_chirp_lut[46] = 8'd145; short_chirp_lut[47] = 8'd254; + short_chirp_lut[48] = 8'd167; short_chirp_lut[49] = 8'd 17; short_chirp_lut[50] = 8'd 46; short_chirp_lut[51] = 8'd210; short_chirp_lut[52] = 8'd235; short_chirp_lut[53] = 8'd 75; short_chirp_lut[54] = 8'd 7; short_chirp_lut[55] = 8'd155; + short_chirp_lut[56] = 8'd253; short_chirp_lut[57] = 8'd118; short_chirp_lut[58] = 8'd 1; short_chirp_lut[59] = 8'd129; +end + +//chirp counter + +always @(posedge clk_100m or negedge reset_n) begin + if (!reset_n) begin + chirp_counter <= 6'd1; + end else begin + if (chirp__toggling) begin + if (chirp_counter == CHIRP_MAX) begin + chirp_counter <= 6'd1; + end else begin + chirp_counter <= chirp_counter + 6'd1; + end + end +end +end + +// Elevation counter + +always @(posedge clk_100m or negedge reset_n) begin + if (!reset_n) begin + elevation_counter <= 6'b1; + end else begin + if (elevation__toggling) begin + if (elevation_counter == ELEVATION_MAX) begin + elevation_counter <= 6'b1; + end else begin + elevation_counter <= elevation_counter + 6'b1; + end + end +end +end + + +// Azimuth counter + +always @(posedge clk_100m or negedge reset_n) begin + if (!reset_n) begin + azimuth_counter <= 6'd1; + end else begin + if (azimuth__toggling) begin + if (azimuth_counter == AZIMUTH_MAX) begin + azimuth_counter <= 6'd1; + end else begin + azimuth_counter <= azimuth_counter + 6'd1; + end + end +end +end + +// State register +always @(posedge clk_120m or negedge reset_n) begin + if (!reset_n) begin + current_state <= IDLE; + end else begin + current_state <= next_state; + end +end + +// Next state logic +always @(*) begin + case (current_state) + IDLE: begin + if (chirp__toggling && mixers_enable) + next_state = LONG_CHIRP; + else + next_state = IDLE; + end + + LONG_CHIRP: begin + if (sample_counter == T1_SAMPLES-1) + next_state = LONG_LISTEN; + else + next_state = LONG_CHIRP; + end + + LONG_LISTEN: begin + if (sample_counter == T1_RADAR_LISTENING-1) begin + if (chirp_counter == (CHIRP_MAX/2)-1) + next_state = GUARD_TIME; + else + next_state = LONG_CHIRP; + end else begin + next_state = LONG_LISTEN; + end + end + + GUARD_TIME: begin + if (sample_counter == GUARD_SAMPLES-1) + next_state = SHORT_CHIRP; + else + next_state = GUARD_TIME; + end + + SHORT_CHIRP: begin + if (sample_counter == T2_SAMPLES-1) + next_state = SHORT_LISTEN; + else + next_state = SHORT_CHIRP; + end + + SHORT_LISTEN: begin + if (sample_counter == T2_RADAR_LISTENING-1) begin + if (chirp_counter == CHIRP_MAX-1) + next_state = DONE; + else + next_state = SHORT_CHIRP; + end else begin + next_state = SHORT_LISTEN; + end + end + + DONE: begin + next_state = IDLE; + end + + default: begin + next_state = IDLE; + end + endcase +end + +always @(posedge clk_120m or negedge reset_n) begin + if (!reset_n) begin + sample_counter <= 0; + chirp_counter <= 0; + chirp_valid <= 0; + chirp_done <= 0; + chirp_data <= 8'd128; + rf_switch_ctrl <= 1'b0; + adar_tr_1 <= 1'b0; + adar_tr_2 <= 1'b0; + adar_tr_3 <= 1'b0; + adar_tr_4 <= 1'b0; + end else if (mixers_enable) begin + // Default outputs + chirp_valid <= 0; + chirp_done <= 0; + rf_switch_ctrl <= 0; + {adar_tr_1, adar_tr_2, adar_tr_3, adar_tr_4} <= 4'b0000; + + // Sample counter increment logic + if (current_state == LONG_CHIRP || current_state == LONG_LISTEN || + current_state == GUARD_TIME || current_state == SHORT_CHIRP || + current_state == SHORT_LISTEN) begin + if (sample_counter == get_max_counter(current_state) - 1) begin + sample_counter <= 0; + // Increment chirp counter at end of listen states + if (current_state == LONG_LISTEN || current_state == SHORT_LISTEN) begin + chirp_counter <= chirp_counter + 1; + end + end else begin + sample_counter <= sample_counter + 1; + end + end else begin + sample_counter <= 0; + end + + // State-specific outputs + case (current_state) + IDLE: begin + chirp_data <= 8'd128; + end + + LONG_CHIRP: begin + rf_switch_ctrl <= 1'b1; + {adar_tr_1, adar_tr_2, adar_tr_3, adar_tr_4} <= 4'b1111; + + // CRITICAL FIX: Generate valid signal + if (sample_counter < T1_SAMPLES) begin + chirp_data <= long_chirp_lut[sample_counter]; + chirp_valid <= 1'b1; // Valid during entire chirp + end else begin + chirp_data <= 8'd128; + end + end + + LONG_LISTEN: begin + chirp_data <= 8'd128; + rf_switch_ctrl <= 1'b0; + end + + GUARD_TIME: begin + chirp_data <= 8'd128; + rf_switch_ctrl <= 1'b0; + end + + SHORT_CHIRP: begin + rf_switch_ctrl <= 1'b1; + {adar_tr_1, adar_tr_2, adar_tr_3, adar_tr_4} <= 4'b1111; + + // CRITICAL FIX: Generate valid signal for short chirp + if (sample_counter < T2_SAMPLES) begin + chirp_data <= short_chirp_lut[sample_counter]; + chirp_valid <= 1'b1; // Valid during entire chirp + end else begin + chirp_data <= 8'd128; + end + end + + SHORT_LISTEN: begin + chirp_data <= 8'd128; + rf_switch_ctrl <= 1'b0; + end + + DONE: begin + chirp_done <= 1'b1; + chirp_data <= 8'd128; + end + + default: begin + chirp_data <= 8'd128; + end + endcase + end else begin + // Mixers disabled + chirp_data <= 8'd128; + chirp_valid <= 0; + chirp_done <= 0; + rf_switch_ctrl <= 0; + {adar_tr_1, adar_tr_2, adar_tr_3, adar_tr_4} <= 4'b0000; + sample_counter <= 0; + end +end + +// Helper function to get max counter for each state +function [15:0] get_max_counter; + input [2:0] state; + begin + case (state) + LONG_CHIRP: get_max_counter = T1_SAMPLES; + LONG_LISTEN: get_max_counter = T1_RADAR_LISTENING; + GUARD_TIME: get_max_counter = GUARD_SAMPLES; + SHORT_CHIRP: get_max_counter = T2_SAMPLES; + SHORT_LISTEN: get_max_counter = T2_RADAR_LISTENING; + default: get_max_counter = 0; + endcase + end +endfunction + +endmodule \ No newline at end of file diff --git a/9_Firmware/9_2_FPGA/radar_receiver_final.v b/9_Firmware/9_2_FPGA/radar_receiver_final.v new file mode 100644 index 0000000..e768634 --- /dev/null +++ b/9_Firmware/9_2_FPGA/radar_receiver_final.v @@ -0,0 +1,353 @@ +`timescale 1ns / 1ps + +module radar_receiver_final ( + input wire clk, // 100MHz + input wire reset_n, + + // ADC Physical Interface (LVDS Inputs) + input wire [7:0] adc_d_p, // ADC Data P (LVDS) + input wire [7:0] adc_d_n, // ADC Data N (LVDS) + input wire adc_dco_p, // Data Clock Output P (400MHz LVDS) + input wire adc_dco_n, // Data Clock Output N (400MHz LVDS) + output wire adc_pwdn, + + output reg [31:0] doppler_output, + output reg doppler_valid, + output reg [4:0] doppler_bin, + output reg [5:0] range_bin +); + +// ========== INTERNAL SIGNALS ========== +wire use_long_chirp; +wire [5:0] chirp_counter; +wire chirp_start; +wire azimuth_change; +wire elevation_change; + +wire [1:0] segment_request; +wire mem_request; +wire [15:0] ref_i, ref_q; +wire mem_ready; + +wire [15:0] adc_i_scaled, adc_q_scaled; +wire adc_valid_sync; + +// Reference signals for the processing chain +wire [15:0] long_chirp_real, long_chirp_imag; +wire [15:0] short_chirp_real, short_chirp_imag; + +// ========== DOPPLER PROCESSING SIGNALS ========== +wire [31:0] range_data_32bit; +wire range_data_valid; +wire new_chirp_frame; + +// Doppler processor outputs +wire [31:0] doppler_spectrum; +wire doppler_spectrum_valid; +wire [4:0] doppler_bin_out; +wire [5:0] doppler_range_bin_out; +wire doppler_processing; +wire doppler_frame_done; + +// ========== RANGE BIN DECIMATOR SIGNALS ========== +wire signed [15:0] decimated_range_i; +wire signed [15:0] decimated_range_q; +wire decimated_range_valid; +wire [5:0] decimated_range_bin; + +// ========== MODULE INSTANTIATIONS ========== +reg clk_400m; + +lvds_to_cmos_400m clk_400m_inst( + // ADC Physical Interface (LVDS Inputs) + .clk_400m_p(adc_dco_p), // Data Clock Output P (400MHz LVDS, 2.5V) + .clk_400m_n(adc_dco_n), // Data Clock Output N (400MHz LVDS, 2.5V) + .reset_n(reset_n), // Active-low reset + + // CMOS Output Interface (400MHz Domain) + .clk_400m_cmos(clk_400m) // ADC data clock (CMOS, 3.3V) +); + +// 1. ADC + CDC + AGC + +// CMOS Output Interface (400MHz Domain) +wire [7:0] adc_data_cmos; // 8-bit ADC data (CMOS) +wire adc_dco_cmos; // ADC data clock (CMOS, 400MHz) +wire adc_valid; // Data valid signal + +wire [7:0] cdc_data_cmos; // 8-bit ADC data (CMOS) +wire cdc_valid; // Data valid signal + + +ad9484_lvds_to_cmos_400m adc ( + .adc_d_p(adc_d_p), + .adc_d_n(adc_d_n), + .adc_dco_p(adc_dco_p), + .adc_dco_n(adc_dco_n), + .reset_n(reset_n), + .adc_data_cmos(adc_data_cmos), + .adc_dco_cmos(adc_dco_cmos), + .adc_valid(adc_valid), + .adc_pwdn(adc_pwdn) +); + +cdc_adc_to_processing #( + .WIDTH(8), + .STAGES(3) +)cdc( + .src_clk(adc_dco_cmos), + .dst_clk(clk_400m), + .reset_n(reset_n), + .src_data(adc_data_cmos), + .src_valid(adc_valid), + .dst_data(cdc_data_cmos), + .dst_valid(cdc_valid) +); + +// 2. DDC Input Interface +wire signed [17:0] ddc_out_i; +wire signed [17:0] ddc_out_q; + +wire ddc_valid_i; +wire ddc_valid_q; + +ddc_400m_enhanced ddc( + .clk_400m(clk_400m), // 400MHz clock from ADC DCO + .clk_100m(clk), // 100MHz system clock //used by the 2 FIR + .reset_n(reset_n), + .adc_data(cdc_data_cmos), // ADC data at 400MHz (unsigned 0-255) + .adc_data_valid_i(cdc_valid), // Valid at 400MHz + .adc_data_valid_q(cdc_valid), // Valid at 400MHz + .baseband_i(ddc_out_i), // I output at 100MHz + .baseband_q(ddc_out_q), // Q output at 100MHz + .baseband_valid_i(ddc_valid_i), // Valid at 100MHz + .baseband_valid_q(ddc_valid_q), + .mixers_enable(1'b1), + .bypass_mode(1'b1) +); + +ddc_input_interface ddc_if ( + .clk(clk), + .reset_n(reset_n), + .ddc_i(ddc_out_i), + .ddc_q(ddc_out_q), + .valid_i(ddc_valid_i), + .valid_q(ddc_valid_q), + .adc_i(adc_i_scaled), + .adc_q(adc_q_scaled), + .adc_valid(adc_valid_sync), + .data_sync_error() +); + +// 3. Dual Chirp Memory Loader + +chirp_memory_loader_param chirp_mem ( + .clk(clk), + .reset_n(reset_n), + .segment_select(segment_request), + .mem_request(mem_request), + .use_long_chirp(use_long_chirp), + .sample_addr(sample_addr_from_chain), + .ref_i(ref_i), + .ref_q(ref_q), + .mem_ready(mem_ready) +); + +// Sample address generator +reg [9:0] sample_addr_reg; +always @(posedge clk or negedge reset_n) begin + if (!reset_n) begin + sample_addr_reg <= 0; + end else if (mem_request) begin + sample_addr_reg <= sample_addr_reg + 1; + if (sample_addr_reg == 1023) sample_addr_reg <= 0; + end +end +assign sample_addr_wire = sample_addr_reg; + +// 4. CRITICAL: Reference Chirp Latency Buffer +// This aligns reference data with FFT output (2159 cycle delay) +wire [15:0] delayed_ref_i, delayed_ref_q; +wire mem_ready_delayed; + +latency_buffer_2159 #( + .DATA_WIDTH(32), // 16-bit I + 16-bit Q + .LATENCY(3187) +) ref_latency_buffer ( + .clk(clk), + .reset_n(reset_n), + .data_in({ref_i, ref_q}), + .valid_in(mem_request), + .data_out({delayed_ref_i, delayed_ref_q}), + .valid_out(mem_ready_delayed) +); + +// Assign delayed reference signals +assign long_chirp_real = delayed_ref_i; +assign long_chirp_imag = delayed_ref_q; +assign short_chirp_real = delayed_ref_i; +assign short_chirp_imag = delayed_ref_q; + +// 5. Dual Chirp Matched Filter +wire [9:0] sample_addr_from_chain; + +wire signed [15:0] range_profile_i; +wire signed [15:0] range_profile_q; +wire range_valid; + +matched_filter_multi_segment mf_dual ( + .clk(clk), + .reset_n(reset_n), + .ddc_i({{2{adc_i_scaled[15]}}, adc_i_scaled}), + .ddc_q({{2{adc_q_scaled[15]}}, adc_q_scaled}), + .ddc_valid(adc_valid_sync), + .use_long_chirp(use_long_chirp), + .chirp_counter(chirp_counter), + .mc_new_chirp(mc_new_chirp), + .mc_new_elevation(mc_new_elevation), + .mc_new_azimuth(mc_new_azimuth), + .long_chirp_real(delayed_ref_i), // From latency buffer + .long_chirp_imag(delayed_ref_q), + .short_chirp_real(delayed_ref_i), // Same for short chirp + .short_chirp_imag(delayed_ref_q), + .segment_request(segment_request), + .mem_request(mem_request), + .sample_addr_out(sample_addr_from_chain), + .ref_i(16'd0), // Direct ref to multi_seg + .ref_q(16'd0), + .mem_ready(mem_ready), + .pc_i_w(range_profile_i), + .pc_q_w(range_profile_q), + .pc_valid_w(range_valid) +); + +// ========== CRITICAL: RANGE BIN DECIMATOR ========== +// Convert 1024 range bins to 64 bins for Doppler +range_bin_decimator #( + .INPUT_BINS(1024), + .OUTPUT_BINS(64), + .DECIMATION_FACTOR(16) +) range_decim ( + .clk(clk), + .reset_n(reset_n), + .range_i_in(range_profile_i), + .range_q_in(range_profile_q), + .range_valid_in(range_valid), + .range_i_out(decimated_range_i), + .range_q_out(decimated_range_q), + .range_valid_out(decimated_range_valid), + .range_bin_index(decimated_range_bin), + .decimation_mode(2'b01), // Peak detection mode + .start_bin(10'd0) +); + +// ========== FRAME SYNC USING chirp_counter ========== +reg [5:0] chirp_counter_prev; +reg new_frame_pulse; + +always @(posedge clk or negedge reset_n) begin + if (!reset_n) begin + chirp_counter_prev <= 6'd0; + new_frame_pulse <= 1'b0; + end else begin + // Default: no pulse + new_frame_pulse <= 1'b0; + + // ===== CHOOSE ONE FRAME DETECTION METHOD ===== + + // METHOD A: Detect frame start at chirp_counter = 0 + // (Assumes frames are 64 chirps: 0-63) + //if (chirp_counter == 6'd0 && chirp_counter_prev != 6'd0) begin + // new_frame_pulse <= 1'b1; + //end + + // METHOD B: Detect frame start at chirp_counter = 0 AND 32 + // (For 32-chirp frames in a 64-chirp sequence) + if ((chirp_counter == 6'd0 || chirp_counter == 6'd32) && + (chirp_counter_prev != chirp_counter)) begin + new_frame_pulse <= 1'b1; + end + + // METHOD C: Programmable frame start + // localparam FRAME_START_CHIRP = 6'd0; // Set based on your sequence + // if (chirp_counter == FRAME_START_CHIRP && + // chirp_counter_prev != FRAME_START_CHIRP) begin + // new_frame_pulse <= 1'b1; + // end + + // Store previous value + chirp_counter_prev <= chirp_counter; + end +end + +assign new_chirp_frame = new_frame_pulse; + +// ========== DATA PACKING FOR DOPPLER ========== +assign range_data_32bit = {decimated_range_q, decimated_range_i}; +assign range_data_valid = decimated_range_valid; + +// ========== DOPPLER PROCESSOR ========== +doppler_processor_optimized #( + .DOPPLER_FFT_SIZE(32), + .RANGE_BINS(64), + .CHIRPS_PER_FRAME(32) // MUST MATCH YOUR ACTUAL FRAME SIZE! +) doppler_proc ( + .clk(clk), + .reset_n(reset_n), + .range_data(range_data_32bit), + .data_valid(range_data_valid), + .new_chirp_frame(new_chirp_frame), + + // Outputs + .doppler_output(doppler_output), + .doppler_valid(doppler_valid), + .doppler_bin(doppler_bin), + .range_bin(doppler_range_bin_out), + + // Status + .processing_active(doppler_processing), + .frame_complete(doppler_frame_done), + .status() +); + +// ========== OUTPUT CONNECTIONS ========== +assign doppler_range_bin = doppler_range_bin_out; +assign doppler_processing_active = doppler_processing; +assign doppler_frame_complete = doppler_frame_done; + +// ========== STATUS ========== + +// ========== DEBUG AND VERIFICATION ========== +reg [31:0] frame_counter; +reg [5:0] chirps_in_current_frame; + +always @(posedge clk or negedge reset_n) begin + if (!reset_n) begin + frame_counter <= 0; + chirps_in_current_frame <= 0; + end else begin + // Count chirps in current frame + if (range_data_valid && decimated_range_bin == 0) begin + // First range bin of a chirp + chirps_in_current_frame <= chirps_in_current_frame + 1; + end + + // Detect frame completion + if (new_chirp_frame) begin + frame_counter <= frame_counter + 1; + $display("[TOP] Frame %0d started. Previous frame had %0d chirps", + frame_counter, chirps_in_current_frame); + chirps_in_current_frame <= 0; + end + + // Monitor chirp counter pattern + if (chirp_counter != chirp_counter_prev) begin + $display("[TOP] chirp_counter: %0d ? %0d", + chirp_counter_prev, chirp_counter); + end + end +end + + + +endmodule \ No newline at end of file diff --git a/9_Firmware/9_2_FPGA/radar_transmitter.v b/9_Firmware/9_2_FPGA/radar_transmitter.v new file mode 100644 index 0000000..2f1f9c3 --- /dev/null +++ b/9_Firmware/9_2_FPGA/radar_transmitter.v @@ -0,0 +1,157 @@ +`timescale 1ns / 1ps +////////////////////////////////////////////////////////////////////////////////// +// Company: +// Engineer: +// +// Create Date: 19:04:35 12/14/2025 +// Design Name: +// Module Name: radar_transmitter +// Project Name: +// Target Devices: +// Tool versions: +// Description: +// +// Dependencies: +// +// Revision: +// Revision 0.01 - File Created +// Additional Comments: +// +////////////////////////////////////////////////////////////////////////////////// +module radar_transmitter( + // System Clocks + input wire clk_100m, // System clock + input wire clk_120m_dac, // 120MHz DAC clock + input wire reset_n, + + // DAC Interface + output wire [7:0] dac_data, + output wire dac_clk, + output wire dac_sleep, + output wire rx_mixer_en, + output wire tx_mixer_en, + + // STM32 Control Interface + input wire stm32_new_chirp, + input wire stm32_new_elevation, + input wire stm32_new_azimuth, + input wire stm32_mixers_enable, + + output wire fpga_rf_switch, + + // ADAR1000 Control Interface + output wire adar_tx_load_1, + output wire adar_rx_load_1, + output wire adar_tx_load_2, + output wire adar_rx_load_2, + output wire adar_tx_load_3, + output wire adar_rx_load_3, + output wire adar_tx_load_4, + output wire adar_rx_load_4, + output wire adar_tr_1, + output wire adar_tr_2, + output wire adar_tr_3, + output wire adar_tr_4, + + // Level Shifter SPI Interface (STM32F7 to ADAR1000) + input wire stm32_sclk_3v3, + input wire stm32_mosi_3v3, + output wire stm32_miso_3v3, + input wire stm32_cs_adar1_3v3, + input wire stm32_cs_adar2_3v3, + input wire stm32_cs_adar3_3v3, + input wire stm32_cs_adar4_3v3, + + output wire stm32_sclk_1v8, + output wire stm32_mosi_1v8, + input wire stm32_miso_1v8, + output wire stm32_cs_adar1_1v8, + output wire stm32_cs_adar2_1v8, + output wire stm32_cs_adar3_1v8, + output wire stm32_cs_adar4_1v8, + + // Beam Position Tracking + output wire [5:0] current_elevation, + output wire [5:0] current_azimuth, + output wire [5:0] current_chirp, + output wire new_chirp_frame + + + ); + +// Edge Detection Signals +wire new_chirp_pulse; +wire new_elevation_pulse; +wire new_azimuth_pulse; + +// Chirp Control Signals +wire [7:0] chirp_data; +wire chirp_valid; +wire chirp_sequence_done; + +// Enhanced STM32 Input Edge Detection with Debouncing +edge_detector_enhanced chirp_edge ( + .clk(clk_100m), + .reset_n(reset_n), + .signal_in(stm32_new_chirp), + .rising_falling_edge(new_chirp_pulse) +); + +edge_detector_enhanced elevation_edge ( + .clk(clk_100m), + .reset_n(reset_n), + .signal_in(stm32_new_elevation), + .rising_falling_edge(new_elevation_pulse) +); + +edge_detector_enhanced azimuth_edge ( + .clk(clk_100m), + .reset_n(reset_n), + .signal_in(stm32_new_azimuth), + .rising_falling_edge(new_azimuth_pulse) +); + +// Enhanced PLFM Chirp Generation +plfm_chirp_controller_enhanced plfm_chirp_inst ( + .clk_120m(clk_120m_dac), + .clk_100m(clk_100m), + .reset_n(reset_n), + .new_chirp(new_chirp_pulse), + .new_elevation(new_elevation_pulse), + .new_azimuth(new_azimuth_pulse), + .new_chirp_frame(new_chirp_frame), + .mixers_enable(stm32_mixers_enable), + .chirp_data(chirp_data), + .chirp_valid(chirp_valid), + .chirp_done(chirp_sequence_done), + .rf_switch_ctrl(fpga_rf_switch), + .rx_mixer_en(rx_mixer_en), + .tx_mixer_en(tx_mixer_en), + .adar_tx_load_1(adar_tx_load_1), + .adar_rx_load_1(adar_rx_load_1), + .adar_tx_load_2(adar_tx_load_2), + .adar_rx_load_2(adar_rx_load_2), + .adar_tx_load_3(adar_tx_load_3), + .adar_rx_load_3(adar_rx_load_3), + .adar_tx_load_4(adar_tx_load_4), + .adar_rx_load_4(adar_rx_load_4), + .adar_tr_1(adar_tr_1), + .adar_tr_2(adar_tr_2), + .adar_tr_3(adar_tr_3), + .adar_tr_4(adar_tr_4), + .elevation_counter(current_elevation), + .azimuth_counter(current_azimuth), + .chirp_counter(current_chirp) +); + +// Enhanced DAC Interface +dac_interface_enhanced dac_interface_inst ( + .clk_120m(clk_120m_dac), + .reset_n(reset_n), + .chirp_data(chirp_data), + .chirp_valid(chirp_valid), + .dac_data(dac_data), + .dac_clk(dac_clk), + .dac_sleep(dac_sleep) +); +endmodule diff --git a/9_Firmware/9_2_FPGA/short_chirp_i.mem b/9_Firmware/9_2_FPGA/short_chirp_i.mem new file mode 100644 index 0000000..64fa298 --- /dev/null +++ b/9_Firmware/9_2_FPGA/short_chirp_i.mem @@ -0,0 +1,50 @@ +0095 +000d +ffdd +0007 +008c +015e +026b +039c +04d4 +05f9 +06ef +07a1 +07fd +07fd +07a0 +06ef +05fa +04d8 +03a5 +027d +017c +00bc +004d +003d +008f +013b +0234 +0364 +04b2 +05ff +072e +0825 +08ce +091a +0904 +088d +07c3 +06b9 +0589 +0450 +032d +023c +0197 +014e +016c +01f1 +02d3 +0402 +0563 +06db diff --git a/9_Firmware/9_2_FPGA/short_chirp_q.mem b/9_Firmware/9_2_FPGA/short_chirp_q.mem new file mode 100644 index 0000000..16bfcbc --- /dev/null +++ b/9_Firmware/9_2_FPGA/short_chirp_q.mem @@ -0,0 +1,50 @@ +f8b6 +f791 +f64d +f505 +f3d6 +f2d8 +f221 +f1c0 +f1bb +f210 +f2b6 +f39b +f4a8 +f5c1 +f6c9 +f7a6 +f840 +f886 +f86d +f7f5 +f724 +f60b +f4bf +f35b +f1fc +f0bf +efbe +ef0d +eeb8 +eec5 +ef2e +efe7 +f0db +f1f0 +f308 +f405 +f4cc +f545 +f560 +f516 +f467 +f35f +f210 +f094 +ef07 +ed88 +ec36 +eb2a +ea78 +ea29 diff --git a/9_Firmware/9_3_GUI/GUI_V1.py b/9_Firmware/9_3_GUI/GUI_V1.py new file mode 100644 index 0000000..9df2966 --- /dev/null +++ b/9_Firmware/9_3_GUI/GUI_V1.py @@ -0,0 +1,41 @@ + + def update_gps_display(self): + """Step 18: Update GPS display and center map""" + try: + while not self.gps_data_queue.empty(): + gps_data = self.gps_data_queue.get_nowait() + self.current_gps = gps_data + + # Update GPS label + self.gps_label.config( + text=f"GPS: Lat {gps_data.latitude:.6f}, Lon {gps_data.longitude:.6f}, Alt {gps_data.altitude:.1f}m") + + # Update map + self.update_map_display(gps_data) + + except queue.Empty: + pass + + def update_map_display(self, gps_data): + """Step 18: Update map display with current GPS position""" + try: + self.map_label.config(text=f"Radar Position: {gps_data.latitude:.6f}, {gps_data.longitude:.6f}\n" + f"Altitude: {gps_data.altitude:.1f}m\n" + f"Coverage: 50km radius\n" + f"Map centered on GPS coordinates") + + except Exception as e: + logging.error(f"Error updating map display: {e}") + +def main(): + """Main application entry point""" + try: + root = tk.Tk() + app = RadarGUI(root) + root.mainloop() + except Exception as e: + logging.error(f"Application error: {e}") + messagebox.showerror("Fatal Error", f"Application failed to start: {e}") + +if __name__ == "__main__": + main() diff --git a/9_Firmware/9_3_GUI/GUI_V2.py b/9_Firmware/9_3_GUI/GUI_V2.py new file mode 100644 index 0000000..8f7a16a --- /dev/null +++ b/9_Firmware/9_3_GUI/GUI_V2.py @@ -0,0 +1,1059 @@ +import tkinter as tk +from tkinter import ttk, messagebox +import threading +import queue +import time +import struct +import numpy as np +import matplotlib.pyplot as plt +from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg +from matplotlib.figure import Figure +import logging +from dataclasses import dataclass +from typing import Dict, List, Tuple, Optional +from scipy import signal +from sklearn.cluster import DBSCAN +from filterpy.kalman import KalmanFilter +import crcmod +import math + +try: + import usb.core + import usb.util + USB_AVAILABLE = True +except ImportError: + USB_AVAILABLE = False + logging.warning("pyusb not available. USB CDC functionality will be disabled.") + +try: + from pyftdi.ftdi import Ftdi + from pyftdi.usbtools import UsbTools + FTDI_AVAILABLE = True +except ImportError: + FTDI_AVAILABLE = False + logging.warning("pyftdi not available. FTDI functionality will be disabled.") + +# Configure logging +logging.basicConfig(level=logging.INFO, format='%(asctime)s - %(levelname)s - %(message)s') + +@dataclass +class RadarTarget: + id: int + range: float + velocity: float + azimuth: int + elevation: int + snr: float + timestamp: float + track_id: int = -1 + +@dataclass +class RadarSettings: + system_frequency: float = 10e9 + chirp_duration: float = 30e-6 + chirps_per_position: int = 32 + freq_min: float = 10e6 + freq_max: float = 30e6 + prf1: float = 1000 + prf2: float = 2000 + max_distance: float = 50000 + +@dataclass +class GPSData: + latitude: float + longitude: float + altitude: float + timestamp: float + +class STM32USBInterface: + def __init__(self): + self.device = None + self.is_open = False + self.ep_in = None + self.ep_out = None + + def list_devices(self): + """List available STM32 USB CDC devices""" + if not USB_AVAILABLE: + logging.warning("USB not available - please install pyusb") + return [] + + try: + devices = [] + # STM32 USB CDC devices typically use these vendor/product IDs + stm32_vid_pids = [ + (0x0483, 0x5740), # STM32 Virtual COM Port + (0x0483, 0x3748), # STM32 Discovery + (0x0483, 0x374B), # STM32 CDC + (0x0483, 0x374D), # STM32 CDC + (0x0483, 0x374E), # STM32 CDC + (0x0483, 0x3752), # STM32 CDC + ] + + for vid, pid in stm32_vid_pids: + found_devices = usb.core.find(find_all=True, idVendor=vid, idProduct=pid) + for dev in found_devices: + try: + product = usb.util.get_string(dev, dev.iProduct) if dev.iProduct else "STM32 CDC" + serial = usb.util.get_string(dev, dev.iSerialNumber) if dev.iSerialNumber else "Unknown" + devices.append({ + 'description': f"{product} ({serial})", + 'vendor_id': vid, + 'product_id': pid, + 'device': dev + }) + except: + devices.append({ + 'description': f"STM32 CDC (VID:{vid:04X}, PID:{pid:04X})", + 'vendor_id': vid, + 'product_id': pid, + 'device': dev + }) + + return devices + except Exception as e: + logging.error(f"Error listing USB devices: {e}") + # Return mock devices for testing + return [{'description': 'STM32 Virtual COM Port', 'vendor_id': 0x0483, 'product_id': 0x5740}] + + def open_device(self, device_info): + """Open STM32 USB CDC device""" + if not USB_AVAILABLE: + logging.error("USB not available - cannot open device") + return False + + try: + self.device = device_info['device'] + + # Detach kernel driver if active + if self.device.is_kernel_driver_active(0): + self.device.detach_kernel_driver(0) + + # Set configuration + self.device.set_configuration() + + # Get CDC endpoints + cfg = self.device.get_active_configuration() + intf = cfg[(0,0)] + + # Find bulk endpoints (CDC data interface) + self.ep_out = usb.util.find_descriptor( + intf, + custom_match=lambda e: usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_OUT + ) + + self.ep_in = usb.util.find_descriptor( + intf, + custom_match=lambda e: usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_IN + ) + + if self.ep_out is None or self.ep_in is None: + logging.error("Could not find CDC endpoints") + return False + + self.is_open = True + logging.info(f"STM32 USB device opened: {device_info['description']}") + return True + + except Exception as e: + logging.error(f"Error opening USB device: {e}") + return False + + def send_start_flag(self): + """Step 12: Send start flag to STM32 via USB""" + start_packet = bytes([23, 46, 158, 237]) + logging.info("Sending start flag to STM32 via USB...") + return self._send_data(start_packet) + + def send_settings(self, settings): + """Step 13: Send radar settings to STM32 via USB""" + try: + packet = self._create_settings_packet(settings) + logging.info("Sending radar settings to STM32 via USB...") + return self._send_data(packet) + except Exception as e: + logging.error(f"Error sending settings via USB: {e}") + return False + + def read_data(self, size=64, timeout=1000): + """Read data from STM32 via USB""" + if not self.is_open or self.ep_in is None: + return None + + try: + data = self.ep_in.read(size, timeout=timeout) + return bytes(data) + except usb.core.USBError as e: + if e.errno == 110: # Timeout + return None + logging.error(f"USB read error: {e}") + return None + except Exception as e: + logging.error(f"Error reading from USB: {e}") + return None + + def _send_data(self, data): + """Send data to STM32 via USB""" + if not self.is_open or self.ep_out is None: + return False + + try: + # USB CDC typically uses 64-byte packets + packet_size = 64 + for i in range(0, len(data), packet_size): + chunk = data[i:i + packet_size] + # Pad to packet size if needed + if len(chunk) < packet_size: + chunk += b'\x00' * (packet_size - len(chunk)) + self.ep_out.write(chunk) + + return True + except Exception as e: + logging.error(f"Error sending data via USB: {e}") + return False + + def _create_settings_packet(self, settings): + """Create binary settings packet for USB transmission""" + packet = b'SET' + packet += struct.pack('>d', settings.system_frequency) + packet += struct.pack('>d', settings.chirp_duration) + packet += struct.pack('>I', settings.chirps_per_position) + packet += struct.pack('>d', settings.freq_min) + packet += struct.pack('>d', settings.freq_max) + packet += struct.pack('>d', settings.prf1) + packet += struct.pack('>d', settings.prf2) + packet += struct.pack('>d', settings.max_distance) + packet += b'END' + return packet + + def close(self): + """Close USB device""" + if self.device and self.is_open: + try: + usb.util.dispose_resources(self.device) + self.is_open = False + except Exception as e: + logging.error(f"Error closing USB device: {e}") + +class FTDIInterface: + def __init__(self): + self.ftdi = None + self.is_open = False + + def list_devices(self): + """List available FTDI devices using pyftdi""" + if not FTDI_AVAILABLE: + logging.warning("FTDI not available - please install pyftdi") + return [] + + try: + devices = [] + # Get list of all FTDI devices + for device in UsbTools.find_all([(0x0403, 0x6010)]): # FT2232H vendor/product ID + devices.append({ + 'description': f"FTDI Device {device}", + 'url': f"ftdi://{device}/1" + }) + return devices + except Exception as e: + logging.error(f"Error listing FTDI devices: {e}") + # Return mock devices for testing + return [{'description': 'FT2232H Device A', 'url': 'ftdi://device/1'}] + + def open_device(self, device_url): + """Open FTDI device using pyftdi""" + if not FTDI_AVAILABLE: + logging.error("FTDI not available - cannot open device") + return False + + try: + self.ftdi = Ftdi() + self.ftdi.open_from_url(device_url) + + # Configure for synchronous FIFO mode + self.ftdi.set_bitmode(0xFF, Ftdi.BitMode.SYNCFF) + + # Set latency timer + self.ftdi.set_latency_timer(2) + + # Purge buffers + self.ftdi.purge_buffers() + + self.is_open = True + logging.info(f"FTDI device opened: {device_url}") + return True + + except Exception as e: + logging.error(f"Error opening FTDI device: {e}") + return False + + def read_data(self, bytes_to_read): + """Read data from FTDI""" + if not self.is_open or self.ftdi is None: + return None + + try: + data = self.ftdi.read_data(bytes_to_read) + if data: + return bytes(data) + return None + except Exception as e: + logging.error(f"Error reading from FTDI: {e}") + return None + + def close(self): + """Close FTDI device""" + if self.ftdi and self.is_open: + self.ftdi.close() + self.is_open = False + +class RadarProcessor: + def __init__(self): + self.range_doppler_map = np.zeros((1024, 32)) + self.detected_targets = [] + self.track_id_counter = 0 + self.tracks = {} + self.frame_count = 0 + + def dual_cpi_fusion(self, range_profiles_1, range_profiles_2): + """Dual-CPI fusion for better detection""" + fused_profile = np.mean(range_profiles_1, axis=0) + np.mean(range_profiles_2, axis=0) + return fused_profile + + def multi_prf_unwrap(self, doppler_measurements, prf1, prf2): + """Multi-PRF velocity unwrapping""" + lambda_wavelength = 3e8 / 10e9 + v_max1 = prf1 * lambda_wavelength / 2 + v_max2 = prf2 * lambda_wavelength / 2 + + unwrapped_velocities = [] + for doppler in doppler_measurements: + v1 = doppler * lambda_wavelength / 2 + v2 = doppler * lambda_wavelength / 2 + + velocity = self._solve_chinese_remainder(v1, v2, v_max1, v_max2) + unwrapped_velocities.append(velocity) + + return unwrapped_velocities + + def _solve_chinese_remainder(self, v1, v2, max1, max2): + for k in range(-5, 6): + candidate = v1 + k * max1 + if abs(candidate - v2) < max2 / 2: + return candidate + return v1 + + def clustering(self, detections, eps=100, min_samples=2): + """DBSCAN clustering of detections""" + if len(detections) == 0: + return [] + + points = np.array([[d.range, d.velocity] for d in detections]) + clustering = DBSCAN(eps=eps, min_samples=min_samples).fit(points) + + clusters = [] + for label in set(clustering.labels_): + if label != -1: + cluster_points = points[clustering.labels_ == label] + clusters.append({ + 'center': np.mean(cluster_points, axis=0), + 'points': cluster_points, + 'size': len(cluster_points) + }) + + return clusters + + def association(self, detections, clusters): + """Association of detections to tracks""" + associated_detections = [] + + for detection in detections: + best_track = None + min_distance = float('inf') + + for track_id, track in self.tracks.items(): + distance = np.sqrt( + (detection.range - track['state'][0])**2 + + (detection.velocity - track['state'][2])**2 + ) + + if distance < min_distance and distance < 500: + min_distance = distance + best_track = track_id + + if best_track is not None: + detection.track_id = best_track + associated_detections.append(detection) + else: + detection.track_id = self.track_id_counter + self.track_id_counter += 1 + associated_detections.append(detection) + + return associated_detections + + def tracking(self, associated_detections): + """Kalman filter tracking""" + current_time = time.time() + + for detection in associated_detections: + if detection.track_id not in self.tracks: + kf = KalmanFilter(dim_x=4, dim_z=2) + kf.x = np.array([detection.range, 0, detection.velocity, 0]) + kf.F = np.array([[1, 1, 0, 0], + [0, 1, 0, 0], + [0, 0, 1, 1], + [0, 0, 0, 1]]) + kf.H = np.array([[1, 0, 0, 0], + [0, 0, 1, 0]]) + kf.P *= 1000 + kf.R = np.diag([10, 1]) + kf.Q = np.eye(4) * 0.1 + + self.tracks[detection.track_id] = { + 'filter': kf, + 'state': kf.x, + 'last_update': current_time, + 'hits': 1 + } + else: + track = self.tracks[detection.track_id] + track['filter'].predict() + track['filter'].update([detection.range, detection.velocity]) + track['state'] = track['filter'].x + track['last_update'] = current_time + track['hits'] += 1 + + stale_tracks = [tid for tid, track in self.tracks.items() + if current_time - track['last_update'] > 5.0] + for tid in stale_tracks: + del self.tracks[tid] + +class USBPacketParser: + def __init__(self): + self.crc16_func = crcmod.mkCrcFun(0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000) + + def parse_gps_data(self, data): + """Parse GPS data from STM32 USB CDC""" + if not data: + return None + + try: + # Try text format first: "GPS:lat,lon,alt\r\n" + text_data = data.decode('utf-8', errors='ignore').strip() + if text_data.startswith('GPS:'): + parts = text_data.split(':')[1].split(',') + if len(parts) == 3: + lat = float(parts[0]) + lon = float(parts[1]) + alt = float(parts[2]) + return GPSData(latitude=lat, longitude=lon, altitude=alt, timestamp=time.time()) + + # Try binary format + if len(data) >= 26 and data[0:4] == b'GPSB': + return self._parse_binary_gps(data) + + except Exception as e: + logging.error(f"Error parsing GPS data: {e}") + + return None + + def _parse_binary_gps(self, data): + """Parse binary GPS format""" + try: + # Binary format: [Header 4][Latitude 8][Longitude 8][Altitude 4][CRC 2] + if len(data) < 26: + return None + + # Verify CRC (simple checksum) + crc_received = (data[24] << 8) | data[25] + crc_calculated = sum(data[0:24]) & 0xFFFF + + if crc_received != crc_calculated: + logging.warning("GPS CRC mismatch") + return None + + # Parse latitude (double, big-endian) + lat_bits = 0 + for i in range(8): + lat_bits = (lat_bits << 8) | data[4 + i] + latitude = struct.unpack('>d', struct.pack('>Q', lat_bits))[0] + + # Parse longitude (double, big-endian) + lon_bits = 0 + for i in range(8): + lon_bits = (lon_bits << 8) | data[12 + i] + longitude = struct.unpack('>d', struct.pack('>Q', lon_bits))[0] + + # Parse altitude (float, big-endian) + alt_bits = 0 + for i in range(4): + alt_bits = (alt_bits << 8) | data[20 + i] + altitude = struct.unpack('>f', struct.pack('>I', alt_bits))[0] + + return GPSData(latitude=latitude, longitude=longitude, altitude=altitude, timestamp=time.time()) + + except Exception as e: + logging.error(f"Error parsing binary GPS: {e}") + return None + +class RadarPacketParser: + def __init__(self): + self.sync_pattern = b'\xA5\xC3' + self.crc16_func = crcmod.mkCrcFun(0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000) + + def parse_packet(self, data): + if len(data) < 6: + return None + + sync_index = data.find(self.sync_pattern) + if sync_index == -1: + return None + + packet = data[sync_index:] + + if len(packet) < 6: + return None + + sync = packet[0:2] + packet_type = packet[2] + length = packet[3] + + if len(packet) < (4 + length + 2): + return None + + payload = packet[4:4+length] + crc_received = struct.unpack('I', payload[0:4])[0] + elevation = payload[4] & 0x1F + azimuth = payload[5] & 0x3F + chirp_counter = payload[6] & 0x1F + + return { + 'type': 'range', + 'range': range_value, + 'elevation': elevation, + 'azimuth': azimuth, + 'chirp': chirp_counter, + 'timestamp': time.time() + } + except Exception as e: + logging.error(f"Error parsing range packet: {e}") + return None + + def parse_doppler_packet(self, payload): + if len(payload) < 12: + return None + + try: + doppler_real = struct.unpack('>h', payload[0:2])[0] + doppler_imag = struct.unpack('>h', payload[2:4])[0] + elevation = payload[4] & 0x1F + azimuth = payload[5] & 0x3F + chirp_counter = payload[6] & 0x1F + + return { + 'type': 'doppler', + 'doppler_real': doppler_real, + 'doppler_imag': doppler_imag, + 'elevation': elevation, + 'azimuth': azimuth, + 'chirp': chirp_counter, + 'timestamp': time.time() + } + except Exception as e: + logging.error(f"Error parsing Doppler packet: {e}") + return None + + def parse_detection_packet(self, payload): + if len(payload) < 8: + return None + + try: + detection_flag = (payload[0] & 0x01) != 0 + elevation = payload[1] & 0x1F + azimuth = payload[2] & 0x3F + chirp_counter = payload[3] & 0x1F + + return { + 'type': 'detection', + 'detected': detection_flag, + 'elevation': elevation, + 'azimuth': azimuth, + 'chirp': chirp_counter, + 'timestamp': time.time() + } + except Exception as e: + logging.error(f"Error parsing detection packet: {e}") + return None + +class RadarGUI: + def __init__(self, root): + self.root = root + self.root.title("Advanced Radar System GUI - USB CDC") + self.root.geometry("1400x900") + + # Initialize interfaces + self.stm32_usb_interface = STM32USBInterface() + self.ftdi_interface = FTDIInterface() + self.radar_processor = RadarProcessor() + self.usb_packet_parser = USBPacketParser() + self.radar_packet_parser = RadarPacketParser() + self.settings = RadarSettings() + + # Data queues + self.radar_data_queue = queue.Queue() + self.gps_data_queue = queue.Queue() + + # Thread control + self.running = False + self.radar_thread = None + self.gps_thread = None + + # Counters + self.received_packets = 0 + self.current_gps = GPSData(latitude=41.9028, longitude=12.4964, altitude=0, timestamp=0) + + self.create_gui() + self.start_background_threads() + + def create_gui(self): + """Create the main GUI with tabs""" + self.notebook = ttk.Notebook(self.root) + self.notebook.pack(fill='both', expand=True, padx=10, pady=10) + + self.tab_main = ttk.Frame(self.notebook) + self.tab_map = ttk.Frame(self.notebook) + self.tab_diagnostics = ttk.Frame(self.notebook) + self.tab_settings = ttk.Frame(self.notebook) + + self.notebook.add(self.tab_main, text='Main View') + self.notebook.add(self.tab_map, text='Map View') + self.notebook.add(self.tab_diagnostics, text='Diagnostics') + self.notebook.add(self.tab_settings, text='Settings') + + self.setup_main_tab() + self.setup_map_tab() + self.setup_settings_tab() + + def setup_main_tab(self): + """Setup the main radar display tab""" + # Control frame + control_frame = ttk.Frame(self.tab_main) + control_frame.pack(fill='x', padx=10, pady=5) + + # USB Device selection + ttk.Label(control_frame, text="STM32 USB Device:").grid(row=0, column=0, padx=5) + self.stm32_usb_combo = ttk.Combobox(control_frame, state="readonly", width=40) + self.stm32_usb_combo.grid(row=0, column=1, padx=5) + + ttk.Label(control_frame, text="FTDI Device:").grid(row=0, column=2, padx=5) + self.ftdi_combo = ttk.Combobox(control_frame, state="readonly", width=30) + self.ftdi_combo.grid(row=0, column=3, padx=5) + + ttk.Button(control_frame, text="Refresh Devices", + command=self.refresh_devices).grid(row=0, column=4, padx=5) + + self.start_button = ttk.Button(control_frame, text="Start Radar", + command=self.start_radar) + self.start_button.grid(row=0, column=5, padx=5) + + self.stop_button = ttk.Button(control_frame, text="Stop Radar", + command=self.stop_radar, state="disabled") + self.stop_button.grid(row=0, column=6, padx=5) + + # GPS info + self.gps_label = ttk.Label(control_frame, text="GPS: Waiting for data...") + self.gps_label.grid(row=1, column=0, columnspan=4, sticky='w', padx=5, pady=2) + + # Status info + self.status_label = ttk.Label(control_frame, text="Status: Ready") + self.status_label.grid(row=1, column=4, columnspan=3, sticky='e', padx=5, pady=2) + + # Main display area + display_frame = ttk.Frame(self.tab_main) + display_frame.pack(fill='both', expand=True, padx=10, pady=5) + + # Range-Doppler Map + fig = Figure(figsize=(10, 6)) + self.range_doppler_ax = fig.add_subplot(111) + self.range_doppler_plot = self.range_doppler_ax.imshow( + np.random.rand(1024, 32), aspect='auto', cmap='hot', + extent=[0, 32, 0, 1024]) + self.range_doppler_ax.set_title('Range-Doppler Map') + self.range_doppler_ax.set_xlabel('Doppler Bin') + self.range_doppler_ax.set_ylabel('Range Bin') + + self.canvas = FigureCanvasTkAgg(fig, display_frame) + self.canvas.draw() + self.canvas.get_tk_widget().pack(side='left', fill='both', expand=True) + + # Targets list + targets_frame = ttk.LabelFrame(display_frame, text="Detected Targets") + targets_frame.pack(side='right', fill='y', padx=5) + + self.targets_tree = ttk.Treeview(targets_frame, + columns=('ID', 'Range', 'Velocity', 'Azimuth', 'Elevation', 'SNR'), + show='headings', height=20) + self.targets_tree.heading('ID', text='Track ID') + self.targets_tree.heading('Range', text='Range (m)') + self.targets_tree.heading('Velocity', text='Velocity (m/s)') + self.targets_tree.heading('Azimuth', text='Azimuth') + self.targets_tree.heading('Elevation', text='Elevation') + self.targets_tree.heading('SNR', text='SNR (dB)') + + self.targets_tree.column('ID', width=80) + self.targets_tree.column('Range', width=100) + self.targets_tree.column('Velocity', width=100) + self.targets_tree.column('Azimuth', width=80) + self.targets_tree.column('Elevation', width=80) + self.targets_tree.column('SNR', width=80) + + self.targets_tree.pack(fill='both', expand=True, padx=5, pady=5) + + def setup_map_tab(self): + """Setup the map display tab""" + self.map_frame = ttk.Frame(self.tab_map) + self.map_frame.pack(fill='both', expand=True, padx=10, pady=10) + + # Map placeholder + self.map_label = ttk.Label(self.map_frame, text="Map will be displayed here after GPS data is received", + font=('Arial', 12)) + self.map_label.pack(expand=True) + + def setup_settings_tab(self): + """Setup the settings tab""" + settings_frame = ttk.Frame(self.tab_settings) + settings_frame.pack(fill='both', expand=True, padx=10, pady=10) + + entries = [ + ('System Frequency (Hz):', 'system_frequency', 10e9), + ('Chirp Duration (s):', 'chirp_duration', 30e-6), + ('Chirps per Position:', 'chirps_per_position', 32), + ('Frequency Min (Hz):', 'freq_min', 10e6), + ('Frequency Max (Hz):', 'freq_max', 30e6), + ('PRF1 (Hz):', 'prf1', 1000), + ('PRF2 (Hz):', 'prf2', 2000), + ('Max Distance (m):', 'max_distance', 50000) + ] + + self.settings_vars = {} + + for i, (label, attr, default) in enumerate(entries): + ttk.Label(settings_frame, text=label).grid(row=i, column=0, sticky='w', padx=5, pady=5) + var = tk.StringVar(value=str(default)) + entry = ttk.Entry(settings_frame, textvariable=var, width=20) + entry.grid(row=i, column=1, padx=5, pady=5) + self.settings_vars[attr] = var + + ttk.Button(settings_frame, text="Apply Settings", + command=self.apply_settings).grid(row=len(entries), column=0, columnspan=2, pady=10) + + def refresh_devices(self): + """Refresh available USB devices""" + # STM32 USB devices + stm32_devices = self.stm32_usb_interface.list_devices() + stm32_names = [dev['description'] for dev in stm32_devices] + self.stm32_usb_combo['values'] = stm32_names + + # FTDI devices + ftdi_devices = self.ftdi_interface.list_devices() + ftdi_names = [dev['description'] for dev in ftdi_devices] + self.ftdi_combo['values'] = ftdi_names + + if stm32_names: + self.stm32_usb_combo.current(0) + if ftdi_names: + self.ftdi_combo.current(0) + + def start_radar(self): + """Step 11: Start button pressed - Begin radar operation""" + try: + # Open STM32 USB device + stm32_index = self.stm32_usb_combo.current() + if stm32_index == -1: + messagebox.showerror("Error", "Please select an STM32 USB device") + return + + stm32_devices = self.stm32_usb_interface.list_devices() + if stm32_index >= len(stm32_devices): + messagebox.showerror("Error", "Invalid STM32 device selection") + return + + if not self.stm32_usb_interface.open_device(stm32_devices[stm32_index]): + messagebox.showerror("Error", "Failed to open STM32 USB device") + return + + # Open FTDI device + if FTDI_AVAILABLE: + ftdi_index = self.ftdi_combo.current() + if ftdi_index != -1: + ftdi_devices = self.ftdi_interface.list_devices() + if ftdi_index < len(ftdi_devices): + device_url = ftdi_devices[ftdi_index]['url'] + if not self.ftdi_interface.open_device(device_url): + logging.warning("Failed to open FTDI device, continuing without radar data") + else: + logging.warning("No FTDI device selected, continuing without radar data") + else: + logging.warning("FTDI not available, continuing without radar data") + + # Step 12: Send start flag to STM32 via USB + if not self.stm32_usb_interface.send_start_flag(): + messagebox.showerror("Error", "Failed to send start flag to STM32") + return + + # Step 13: Send settings to STM32 via USB + self.apply_settings() + + # Start radar operation + self.running = True + self.start_button.config(state="disabled") + self.stop_button.config(state="normal") + self.status_label.config(text="Status: Radar running - Waiting for GPS data...") + + logging.info("Radar system started successfully via USB CDC") + + except Exception as e: + messagebox.showerror("Error", f"Failed to start radar: {e}") + logging.error(f"Start radar error: {e}") + + def stop_radar(self): + """Stop radar operation""" + self.running = False + self.start_button.config(state="normal") + self.stop_button.config(state="disabled") + self.status_label.config(text="Status: Radar stopped") + + self.stm32_usb_interface.close() + self.ftdi_interface.close() + + logging.info("Radar system stopped") + + def apply_settings(self): + """Step 13: Apply and send radar settings via USB""" + try: + self.settings.system_frequency = float(self.settings_vars['system_frequency'].get()) + self.settings.chirp_duration = float(self.settings_vars['chirp_duration'].get()) + self.settings.chirps_per_position = int(self.settings_vars['chirps_per_position'].get()) + self.settings.freq_min = float(self.settings_vars['freq_min'].get()) + self.settings.freq_max = float(self.settings_vars['freq_max'].get()) + self.settings.prf1 = float(self.settings_vars['prf1'].get()) + self.settings.prf2 = float(self.settings_vars['prf2'].get()) + self.settings.max_distance = float(self.settings_vars['max_distance'].get()) + + if self.stm32_usb_interface.is_open: + self.stm32_usb_interface.send_settings(self.settings) + + messagebox.showinfo("Success", "Settings applied and sent to STM32 via USB") + logging.info("Radar settings applied via USB") + + except ValueError as e: + messagebox.showerror("Error", f"Invalid setting value: {e}") + + def start_background_threads(self): + """Start background data processing threads""" + self.radar_thread = threading.Thread(target=self.process_radar_data, daemon=True) + self.radar_thread.start() + + self.gps_thread = threading.Thread(target=self.process_gps_data, daemon=True) + self.gps_thread.start() + + self.root.after(100, self.update_gui) + + def process_radar_data(self): + """Step 39: Process incoming radar data from FTDI""" + buffer = b'' + while True: + if self.running and self.ftdi_interface.is_open: + try: + data = self.ftdi_interface.read_data(4096) + if data: + buffer += data + + while len(buffer) >= 6: + packet = self.radar_packet_parser.parse_packet(buffer) + if packet: + self.process_radar_packet(packet) + packet_length = 4 + len(packet.get('payload', b'')) + 2 + buffer = buffer[packet_length:] + self.received_packets += 1 + else: + break + + except Exception as e: + logging.error(f"Error processing radar data: {e}") + time.sleep(0.1) + else: + time.sleep(0.1) + + def process_gps_data(self): + """Step 16/17: Process GPS data from STM32 via USB CDC""" + while True: + if self.running and self.stm32_usb_interface.is_open: + try: + # Read data from STM32 USB + data = self.stm32_usb_interface.read_data(64, timeout=100) + if data: + gps_data = self.usb_packet_parser.parse_gps_data(data) + if gps_data: + self.gps_data_queue.put(gps_data) + logging.info(f"GPS Data received via USB: Lat {gps_data.latitude:.6f}, Lon {gps_data.longitude:.6f}, Alt {gps_data.altitude:.1f}m") + except Exception as e: + logging.error(f"Error processing GPS data via USB: {e}") + time.sleep(0.1) + + def process_radar_packet(self, packet): + """Step 40: Process radar data and update displays""" + try: + if packet['type'] == 'range': + range_meters = packet['range'] * 0.1 + + target = RadarTarget( + id=packet['chirp'], + range=range_meters, + velocity=0, + azimuth=packet['azimuth'], + elevation=packet['elevation'], + snr=20.0, + timestamp=packet['timestamp'] + ) + + self.update_range_doppler_map(target) + + elif packet['type'] == 'doppler': + lambda_wavelength = 3e8 / self.settings.system_frequency + velocity = (packet['doppler_real'] / 32767.0) * (self.settings.prf1 * lambda_wavelength / 2) + self.update_target_velocity(packet, velocity) + + elif packet['type'] == 'detection': + if packet['detected']: + logging.info(f"CFAR Detection: Elevation {packet['elevation']}, Azimuth {packet['azimuth']}") + + except Exception as e: + logging.error(f"Error processing radar packet: {e}") + + def update_range_doppler_map(self, target): + """Update range-Doppler map with new target""" + range_bin = min(int(target.range / 50), 1023) + doppler_bin = min(abs(int(target.velocity)), 31) + + self.radar_processor.range_doppler_map[range_bin, doppler_bin] += 1 + + self.radar_processor.detected_targets.append(target) + + if len(self.radar_processor.detected_targets) > 100: + self.radar_processor.detected_targets = self.radar_processor.detected_targets[-100:] + + def update_target_velocity(self, packet, velocity): + """Update target velocity information""" + for target in self.radar_processor.detected_targets: + if (target.azimuth == packet['azimuth'] and + target.elevation == packet['elevation'] and + target.id == packet['chirp']): + target.velocity = velocity + break + + def update_gui(self): + """Step 40: Update all GUI displays""" + try: + # Update status + if self.running: + self.status_label.config( + text=f"Status: Running - Packets: {self.received_packets} - GPS: {self.current_gps.latitude:.4f}, {self.current_gps.longitude:.4f}") + + # Update range-Doppler map + if hasattr(self, 'range_doppler_plot'): + display_data = np.log10(self.radar_processor.range_doppler_map + 1) + self.range_doppler_plot.set_array(display_data) + self.canvas.draw_idle() + + # Update targets list + self.update_targets_list() + + # Update GPS display + self.update_gps_display() + + except Exception as e: + logging.error(f"Error updating GUI: {e}") + + self.root.after(100, self.update_gui) + + def update_targets_list(self): + """Update the targets list display""" + for item in self.targets_tree.get_children(): + self.targets_tree.delete(item) + + for target in self.radar_processor.detected_targets[-20:]: + self.targets_tree.insert('', 'end', values=( + target.track_id, + f"{target.range:.1f}", + f"{target.velocity:.1f}", + target.azimuth, + target.elevation, + f"{target.snr:.1f}" + )) + + def update_gps_display(self): + """Step 18: Update GPS display and center map""" + try: + while not self.gps_data_queue.empty(): + gps_data = self.gps_data_queue.get_nowait() + self.current_gps = gps_data + + # Update GPS label + self.gps_label.config( + text=f"GPS: Lat {gps_data.latitude:.6f}, Lon {gps_data.longitude:.6f}, Alt {gps_data.altitude:.1f}m") + + # Update map + self.update_map_display(gps_data) + + except queue.Empty: + pass + + def update_map_display(self, gps_data): + """Step 18: Update map display with current GPS position""" + try: + self.map_label.config(text=f"Radar Position: {gps_data.latitude:.6f}, {gps_data.longitude:.6f}\n" + f"Altitude: {gps_data.altitude:.1f}m\n" + f"Coverage: 50km radius\n" + f"Map centered on GPS coordinates") + + except Exception as e: + logging.error(f"Error updating map display: {e}") + +def main(): + """Main application entry point""" + try: + root = tk.Tk() + app = RadarGUI(root) + root.mainloop() + except Exception as e: + logging.error(f"Application error: {e}") + messagebox.showerror("Fatal Error", f"Application failed to start: {e}") + +if __name__ == "__main__": + main() diff --git a/9_Firmware/9_3_GUI/GUI_V3.py b/9_Firmware/9_3_GUI/GUI_V3.py new file mode 100644 index 0000000..f519804 --- /dev/null +++ b/9_Firmware/9_3_GUI/GUI_V3.py @@ -0,0 +1,1146 @@ +import tkinter as tk +from tkinter import ttk, messagebox +import threading +import queue +import time +import struct +import numpy as np +import matplotlib.pyplot as plt +from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg +from matplotlib.figure import Figure +import logging +from dataclasses import dataclass +from typing import Dict, List, Tuple, Optional +from scipy import signal +from sklearn.cluster import DBSCAN +from filterpy.kalman import KalmanFilter +import crcmod +import math + +try: + import usb.core + import usb.util + USB_AVAILABLE = True +except ImportError: + USB_AVAILABLE = False + logging.warning("pyusb not available. USB CDC functionality will be disabled.") + +try: + from pyftdi.ftdi import Ftdi + from pyftdi.usbtools import UsbTools + FTDI_AVAILABLE = True +except ImportError: + FTDI_AVAILABLE = False + logging.warning("pyftdi not available. FTDI functionality will be disabled.") + +# Configure logging +logging.basicConfig(level=logging.INFO, format='%(asctime)s - %(levelname)s - %(message)s') + +@dataclass +class RadarTarget: + id: int + range: float + velocity: float + azimuth: int + elevation: int + snr: float + timestamp: float + track_id: int = -1 + +@dataclass +class RadarSettings: + system_frequency: float = 10e9 + chirp_duration: float = 30e-6 + chirps_per_position: int = 32 + freq_min: float = 10e6 + freq_max: float = 30e6 + prf1: float = 1000 + prf2: float = 2000 + max_distance: float = 50000 + +@dataclass +class GPSData: + latitude: float + longitude: float + altitude: float + pitch: float # Pitch angle in degrees + timestamp: float + +class STM32USBInterface: + def __init__(self): + self.device = None + self.is_open = False + self.ep_in = None + self.ep_out = None + + def list_devices(self): + """List available STM32 USB CDC devices""" + if not USB_AVAILABLE: + logging.warning("USB not available - please install pyusb") + return [] + + try: + devices = [] + # STM32 USB CDC devices typically use these vendor/product IDs + stm32_vid_pids = [ + (0x0483, 0x5740), # STM32 Virtual COM Port + (0x0483, 0x3748), # STM32 Discovery + (0x0483, 0x374B), # STM32 CDC + (0x0483, 0x374D), # STM32 CDC + (0x0483, 0x374E), # STM32 CDC + (0x0483, 0x3752), # STM32 CDC + ] + + for vid, pid in stm32_vid_pids: + found_devices = usb.core.find(find_all=True, idVendor=vid, idProduct=pid) + for dev in found_devices: + try: + product = usb.util.get_string(dev, dev.iProduct) if dev.iProduct else "STM32 CDC" + serial = usb.util.get_string(dev, dev.iSerialNumber) if dev.iSerialNumber else "Unknown" + devices.append({ + 'description': f"{product} ({serial})", + 'vendor_id': vid, + 'product_id': pid, + 'device': dev + }) + except: + devices.append({ + 'description': f"STM32 CDC (VID:{vid:04X}, PID:{pid:04X})", + 'vendor_id': vid, + 'product_id': pid, + 'device': dev + }) + + return devices + except Exception as e: + logging.error(f"Error listing USB devices: {e}") + # Return mock devices for testing + return [{'description': 'STM32 Virtual COM Port', 'vendor_id': 0x0483, 'product_id': 0x5740}] + + def open_device(self, device_info): + """Open STM32 USB CDC device""" + if not USB_AVAILABLE: + logging.error("USB not available - cannot open device") + return False + + try: + self.device = device_info['device'] + + # Detach kernel driver if active + if self.device.is_kernel_driver_active(0): + self.device.detach_kernel_driver(0) + + # Set configuration + self.device.set_configuration() + + # Get CDC endpoints + cfg = self.device.get_active_configuration() + intf = cfg[(0,0)] + + # Find bulk endpoints (CDC data interface) + self.ep_out = usb.util.find_descriptor( + intf, + custom_match=lambda e: usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_OUT + ) + + self.ep_in = usb.util.find_descriptor( + intf, + custom_match=lambda e: usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_IN + ) + + if self.ep_out is None or self.ep_in is None: + logging.error("Could not find CDC endpoints") + return False + + self.is_open = True + logging.info(f"STM32 USB device opened: {device_info['description']}") + return True + + except Exception as e: + logging.error(f"Error opening USB device: {e}") + return False + + def send_start_flag(self): + """Step 12: Send start flag to STM32 via USB""" + start_packet = bytes([23, 46, 158, 237]) + logging.info("Sending start flag to STM32 via USB...") + return self._send_data(start_packet) + + def send_settings(self, settings): + """Step 13: Send radar settings to STM32 via USB""" + try: + packet = self._create_settings_packet(settings) + logging.info("Sending radar settings to STM32 via USB...") + return self._send_data(packet) + except Exception as e: + logging.error(f"Error sending settings via USB: {e}") + return False + + def read_data(self, size=64, timeout=1000): + """Read data from STM32 via USB""" + if not self.is_open or self.ep_in is None: + return None + + try: + data = self.ep_in.read(size, timeout=timeout) + return bytes(data) + except usb.core.USBError as e: + if e.errno == 110: # Timeout + return None + logging.error(f"USB read error: {e}") + return None + except Exception as e: + logging.error(f"Error reading from USB: {e}") + return None + + def _send_data(self, data): + """Send data to STM32 via USB""" + if not self.is_open or self.ep_out is None: + return False + + try: + # USB CDC typically uses 64-byte packets + packet_size = 64 + for i in range(0, len(data), packet_size): + chunk = data[i:i + packet_size] + # Pad to packet size if needed + if len(chunk) < packet_size: + chunk += b'\x00' * (packet_size - len(chunk)) + self.ep_out.write(chunk) + + return True + except Exception as e: + logging.error(f"Error sending data via USB: {e}") + return False + + def _create_settings_packet(self, settings): + """Create binary settings packet for USB transmission""" + packet = b'SET' + packet += struct.pack('>d', settings.system_frequency) + packet += struct.pack('>d', settings.chirp_duration) + packet += struct.pack('>I', settings.chirps_per_position) + packet += struct.pack('>d', settings.freq_min) + packet += struct.pack('>d', settings.freq_max) + packet += struct.pack('>d', settings.prf1) + packet += struct.pack('>d', settings.prf2) + packet += struct.pack('>d', settings.max_distance) + packet += b'END' + return packet + + def close(self): + """Close USB device""" + if self.device and self.is_open: + try: + usb.util.dispose_resources(self.device) + self.is_open = False + except Exception as e: + logging.error(f"Error closing USB device: {e}") + +class FTDIInterface: + def __init__(self): + self.ftdi = None + self.is_open = False + + def list_devices(self): + """List available FTDI devices using pyftdi""" + if not FTDI_AVAILABLE: + logging.warning("FTDI not available - please install pyftdi") + return [] + + try: + devices = [] + # Get list of all FTDI devices + for device in UsbTools.find_all([(0x0403, 0x6010)]): # FT2232H vendor/product ID + devices.append({ + 'description': f"FTDI Device {device}", + 'url': f"ftdi://{device}/1" + }) + return devices + except Exception as e: + logging.error(f"Error listing FTDI devices: {e}") + # Return mock devices for testing + return [{'description': 'FT2232H Device A', 'url': 'ftdi://device/1'}] + + def open_device(self, device_url): + """Open FTDI device using pyftdi""" + if not FTDI_AVAILABLE: + logging.error("FTDI not available - cannot open device") + return False + + try: + self.ftdi = Ftdi() + self.ftdi.open_from_url(device_url) + + # Configure for synchronous FIFO mode + self.ftdi.set_bitmode(0xFF, Ftdi.BitMode.SYNCFF) + + # Set latency timer + self.ftdi.set_latency_timer(2) + + # Purge buffers + self.ftdi.purge_buffers() + + self.is_open = True + logging.info(f"FTDI device opened: {device_url}") + return True + + except Exception as e: + logging.error(f"Error opening FTDI device: {e}") + return False + + def read_data(self, bytes_to_read): + """Read data from FTDI""" + if not self.is_open or self.ftdi is None: + return None + + try: + data = self.ftdi.read_data(bytes_to_read) + if data: + return bytes(data) + return None + except Exception as e: + logging.error(f"Error reading from FTDI: {e}") + return None + + def close(self): + """Close FTDI device""" + if self.ftdi and self.is_open: + self.ftdi.close() + self.is_open = False + +class RadarProcessor: + def __init__(self): + self.range_doppler_map = np.zeros((1024, 32)) + self.detected_targets = [] + self.track_id_counter = 0 + self.tracks = {} + self.frame_count = 0 + + def dual_cpi_fusion(self, range_profiles_1, range_profiles_2): + """Dual-CPI fusion for better detection""" + fused_profile = np.mean(range_profiles_1, axis=0) + np.mean(range_profiles_2, axis=0) + return fused_profile + + def multi_prf_unwrap(self, doppler_measurements, prf1, prf2): + """Multi-PRF velocity unwrapping""" + lambda_wavelength = 3e8 / 10e9 + v_max1 = prf1 * lambda_wavelength / 2 + v_max2 = prf2 * lambda_wavelength / 2 + + unwrapped_velocities = [] + for doppler in doppler_measurements: + v1 = doppler * lambda_wavelength / 2 + v2 = doppler * lambda_wavelength / 2 + + velocity = self._solve_chinese_remainder(v1, v2, v_max1, v_max2) + unwrapped_velocities.append(velocity) + + return unwrapped_velocities + + def _solve_chinese_remainder(self, v1, v2, max1, max2): + for k in range(-5, 6): + candidate = v1 + k * max1 + if abs(candidate - v2) < max2 / 2: + return candidate + return v1 + + def clustering(self, detections, eps=100, min_samples=2): + """DBSCAN clustering of detections""" + if len(detections) == 0: + return [] + + points = np.array([[d.range, d.velocity] for d in detections]) + clustering = DBSCAN(eps=eps, min_samples=min_samples).fit(points) + + clusters = [] + for label in set(clustering.labels_): + if label != -1: + cluster_points = points[clustering.labels_ == label] + clusters.append({ + 'center': np.mean(cluster_points, axis=0), + 'points': cluster_points, + 'size': len(cluster_points) + }) + + return clusters + + def association(self, detections, clusters): + """Association of detections to tracks""" + associated_detections = [] + + for detection in detections: + best_track = None + min_distance = float('inf') + + for track_id, track in self.tracks.items(): + distance = np.sqrt( + (detection.range - track['state'][0])**2 + + (detection.velocity - track['state'][2])**2 + ) + + if distance < min_distance and distance < 500: + min_distance = distance + best_track = track_id + + if best_track is not None: + detection.track_id = best_track + associated_detections.append(detection) + else: + detection.track_id = self.track_id_counter + self.track_id_counter += 1 + associated_detections.append(detection) + + return associated_detections + + def tracking(self, associated_detections): + """Kalman filter tracking""" + current_time = time.time() + + for detection in associated_detections: + if detection.track_id not in self.tracks: + kf = KalmanFilter(dim_x=4, dim_z=2) + kf.x = np.array([detection.range, 0, detection.velocity, 0]) + kf.F = np.array([[1, 1, 0, 0], + [0, 1, 0, 0], + [0, 0, 1, 1], + [0, 0, 0, 1]]) + kf.H = np.array([[1, 0, 0, 0], + [0, 0, 1, 0]]) + kf.P *= 1000 + kf.R = np.diag([10, 1]) + kf.Q = np.eye(4) * 0.1 + + self.tracks[detection.track_id] = { + 'filter': kf, + 'state': kf.x, + 'last_update': current_time, + 'hits': 1 + } + else: + track = self.tracks[detection.track_id] + track['filter'].predict() + track['filter'].update([detection.range, detection.velocity]) + track['state'] = track['filter'].x + track['last_update'] = current_time + track['hits'] += 1 + + stale_tracks = [tid for tid, track in self.tracks.items() + if current_time - track['last_update'] > 5.0] + for tid in stale_tracks: + del self.tracks[tid] + +class USBPacketParser: + def __init__(self): + self.crc16_func = crcmod.mkCrcFun(0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000) + + def parse_gps_data(self, data): + """Parse GPS data from STM32 USB CDC with pitch angle""" + if not data: + return None + + try: + # Try text format first: "GPS:lat,lon,alt,pitch\r\n" + text_data = data.decode('utf-8', errors='ignore').strip() + if text_data.startswith('GPS:'): + parts = text_data.split(':')[1].split(',') + if len(parts) == 4: # Now expecting 4 values + lat = float(parts[0]) + lon = float(parts[1]) + alt = float(parts[2]) + pitch = float(parts[3]) # Pitch angle in degrees + return GPSData(latitude=lat, longitude=lon, altitude=alt, pitch=pitch, timestamp=time.time()) + + # Try binary format (30 bytes with pitch) + if len(data) >= 30 and data[0:4] == b'GPSB': + return self._parse_binary_gps_with_pitch(data) + + except Exception as e: + logging.error(f"Error parsing GPS data: {e}") + + return None + + def _parse_binary_gps_with_pitch(self, data): + """Parse binary GPS format with pitch angle (30 bytes)""" + try: + # Binary format: [Header 4][Latitude 8][Longitude 8][Altitude 4][Pitch 4][CRC 2] + if len(data) < 30: + return None + + # Verify CRC (simple checksum) + crc_received = (data[28] << 8) | data[29] + crc_calculated = sum(data[0:28]) & 0xFFFF + + if crc_received != crc_calculated: + logging.warning("GPS CRC mismatch") + return None + + # Parse latitude (double, big-endian) + lat_bits = 0 + for i in range(8): + lat_bits = (lat_bits << 8) | data[4 + i] + latitude = struct.unpack('>d', struct.pack('>Q', lat_bits))[0] + + # Parse longitude (double, big-endian) + lon_bits = 0 + for i in range(8): + lon_bits = (lon_bits << 8) | data[12 + i] + longitude = struct.unpack('>d', struct.pack('>Q', lon_bits))[0] + + # Parse altitude (float, big-endian) + alt_bits = 0 + for i in range(4): + alt_bits = (alt_bits << 8) | data[20 + i] + altitude = struct.unpack('>f', struct.pack('>I', alt_bits))[0] + + # Parse pitch angle (float, big-endian) + pitch_bits = 0 + for i in range(4): + pitch_bits = (pitch_bits << 8) | data[24 + i] + pitch = struct.unpack('>f', struct.pack('>I', pitch_bits))[0] + + return GPSData( + latitude=latitude, + longitude=longitude, + altitude=altitude, + pitch=pitch, + timestamp=time.time() + ) + + except Exception as e: + logging.error(f"Error parsing binary GPS with pitch: {e}") + return None + +class RadarPacketParser: + def __init__(self): + self.sync_pattern = b'\xA5\xC3' + self.crc16_func = crcmod.mkCrcFun(0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000) + + def parse_packet(self, data): + if len(data) < 6: + return None + + sync_index = data.find(self.sync_pattern) + if sync_index == -1: + return None + + packet = data[sync_index:] + + if len(packet) < 6: + return None + + sync = packet[0:2] + packet_type = packet[2] + length = packet[3] + + if len(packet) < (4 + length + 2): + return None + + payload = packet[4:4+length] + crc_received = struct.unpack('I', payload[0:4])[0] + elevation = payload[4] & 0x1F + azimuth = payload[5] & 0x3F + chirp_counter = payload[6] & 0x1F + + return { + 'type': 'range', + 'range': range_value, + 'elevation': elevation, + 'azimuth': azimuth, + 'chirp': chirp_counter, + 'timestamp': time.time() + } + except Exception as e: + logging.error(f"Error parsing range packet: {e}") + return None + + def parse_doppler_packet(self, payload): + if len(payload) < 12: + return None + + try: + doppler_real = struct.unpack('>h', payload[0:2])[0] + doppler_imag = struct.unpack('>h', payload[2:4])[0] + elevation = payload[4] & 0x1F + azimuth = payload[5] & 0x3F + chirp_counter = payload[6] & 0x1F + + return { + 'type': 'doppler', + 'doppler_real': doppler_real, + 'doppler_imag': doppler_imag, + 'elevation': elevation, + 'azimuth': azimuth, + 'chirp': chirp_counter, + 'timestamp': time.time() + } + except Exception as e: + logging.error(f"Error parsing Doppler packet: {e}") + return None + + def parse_detection_packet(self, payload): + if len(payload) < 8: + return None + + try: + detection_flag = (payload[0] & 0x01) != 0 + elevation = payload[1] & 0x1F + azimuth = payload[2] & 0x3F + chirp_counter = payload[3] & 0x1F + + return { + 'type': 'detection', + 'detected': detection_flag, + 'elevation': elevation, + 'azimuth': azimuth, + 'chirp': chirp_counter, + 'timestamp': time.time() + } + except Exception as e: + logging.error(f"Error parsing detection packet: {e}") + return None + +class RadarGUI: + def __init__(self, root): + self.root = root + self.root.title("Advanced Radar System GUI - USB CDC with Pitch Correction") + self.root.geometry("1400x900") + + # Initialize interfaces + self.stm32_usb_interface = STM32USBInterface() + self.ftdi_interface = FTDIInterface() + self.radar_processor = RadarProcessor() + self.usb_packet_parser = USBPacketParser() + self.radar_packet_parser = RadarPacketParser() + self.settings = RadarSettings() + + # Data queues + self.radar_data_queue = queue.Queue() + self.gps_data_queue = queue.Queue() + + # Thread control + self.running = False + self.radar_thread = None + self.gps_thread = None + + # Counters + self.received_packets = 0 + self.current_gps = GPSData(latitude=41.9028, longitude=12.4964, altitude=0, pitch=0.0, timestamp=0) + self.corrected_elevations = [] # Store corrected elevation values + + self.create_gui() + self.start_background_threads() + + def create_gui(self): + """Create the main GUI with tabs""" + self.notebook = ttk.Notebook(self.root) + self.notebook.pack(fill='both', expand=True, padx=10, pady=10) + + self.tab_main = ttk.Frame(self.notebook) + self.tab_map = ttk.Frame(self.notebook) + self.tab_diagnostics = ttk.Frame(self.notebook) + self.tab_settings = ttk.Frame(self.notebook) + + self.notebook.add(self.tab_main, text='Main View') + self.notebook.add(self.tab_map, text='Map View') + self.notebook.add(self.tab_diagnostics, text='Diagnostics') + self.notebook.add(self.tab_settings, text='Settings') + + self.setup_main_tab() + self.setup_map_tab() + self.setup_settings_tab() + + def setup_main_tab(self): + """Setup the main radar display tab""" + # Control frame + control_frame = ttk.Frame(self.tab_main) + control_frame.pack(fill='x', padx=10, pady=5) + + # USB Device selection + ttk.Label(control_frame, text="STM32 USB Device:").grid(row=0, column=0, padx=5) + self.stm32_usb_combo = ttk.Combobox(control_frame, state="readonly", width=40) + self.stm32_usb_combo.grid(row=0, column=1, padx=5) + + ttk.Label(control_frame, text="FTDI Device:").grid(row=0, column=2, padx=5) + self.ftdi_combo = ttk.Combobox(control_frame, state="readonly", width=30) + self.ftdi_combo.grid(row=0, column=3, padx=5) + + ttk.Button(control_frame, text="Refresh Devices", + command=self.refresh_devices).grid(row=0, column=4, padx=5) + + self.start_button = ttk.Button(control_frame, text="Start Radar", + command=self.start_radar) + self.start_button.grid(row=0, column=5, padx=5) + + self.stop_button = ttk.Button(control_frame, text="Stop Radar", + command=self.stop_radar, state="disabled") + self.stop_button.grid(row=0, column=6, padx=5) + + # GPS and Pitch info + self.gps_label = ttk.Label(control_frame, text="GPS: Waiting for data...") + self.gps_label.grid(row=1, column=0, columnspan=4, sticky='w', padx=5, pady=2) + + # Pitch display + self.pitch_label = ttk.Label(control_frame, text="Pitch: --.--°") + self.pitch_label.grid(row=1, column=4, columnspan=2, padx=5, pady=2) + + # Status info + self.status_label = ttk.Label(control_frame, text="Status: Ready") + self.status_label.grid(row=1, column=6, sticky='e', padx=5, pady=2) + + # Main display area + display_frame = ttk.Frame(self.tab_main) + display_frame.pack(fill='both', expand=True, padx=10, pady=5) + + # Range-Doppler Map + fig = Figure(figsize=(10, 6)) + self.range_doppler_ax = fig.add_subplot(111) + self.range_doppler_plot = self.range_doppler_ax.imshow( + np.random.rand(1024, 32), aspect='auto', cmap='hot', + extent=[0, 32, 0, 1024]) + self.range_doppler_ax.set_title('Range-Doppler Map (Pitch Corrected)') + self.range_doppler_ax.set_xlabel('Doppler Bin') + self.range_doppler_ax.set_ylabel('Range Bin') + + self.canvas = FigureCanvasTkAgg(fig, display_frame) + self.canvas.draw() + self.canvas.get_tk_widget().pack(side='left', fill='both', expand=True) + + # Targets list with corrected elevation + targets_frame = ttk.LabelFrame(display_frame, text="Detected Targets (Pitch Corrected)") + targets_frame.pack(side='right', fill='y', padx=5) + + self.targets_tree = ttk.Treeview(targets_frame, + columns=('ID', 'Range', 'Velocity', 'Azimuth', 'Elevation', 'Corrected Elev', 'SNR'), + show='headings', height=20) + self.targets_tree.heading('ID', text='Track ID') + self.targets_tree.heading('Range', text='Range (m)') + self.targets_tree.heading('Velocity', text='Velocity (m/s)') + self.targets_tree.heading('Azimuth', text='Azimuth') + self.targets_tree.heading('Elevation', text='Raw Elev') + self.targets_tree.heading('Corrected Elev', text='Corr Elev') + self.targets_tree.heading('SNR', text='SNR (dB)') + + self.targets_tree.column('ID', width=70) + self.targets_tree.column('Range', width=90) + self.targets_tree.column('Velocity', width=90) + self.targets_tree.column('Azimuth', width=70) + self.targets_tree.column('Elevation', width=70) + self.targets_tree.column('Corrected Elev', width=70) + self.targets_tree.column('SNR', width=70) + + self.targets_tree.pack(fill='both', expand=True, padx=5, pady=5) + + def setup_map_tab(self): + """Setup the map display tab""" + self.map_frame = ttk.Frame(self.tab_map) + self.map_frame.pack(fill='both', expand=True, padx=10, pady=10) + + # Map placeholder + self.map_label = ttk.Label(self.map_frame, text="Map will be displayed here after GPS data is received", + font=('Arial', 12)) + self.map_label.pack(expand=True) + + def setup_settings_tab(self): + """Setup the settings tab""" + settings_frame = ttk.Frame(self.tab_settings) + settings_frame.pack(fill='both', expand=True, padx=10, pady=10) + + entries = [ + ('System Frequency (Hz):', 'system_frequency', 10e9), + ('Chirp Duration (s):', 'chirp_duration', 30e-6), + ('Chirps per Position:', 'chirps_per_position', 32), + ('Frequency Min (Hz):', 'freq_min', 10e6), + ('Frequency Max (Hz):', 'freq_max', 30e6), + ('PRF1 (Hz):', 'prf1', 1000), + ('PRF2 (Hz):', 'prf2', 2000), + ('Max Distance (m):', 'max_distance', 50000) + ] + + self.settings_vars = {} + + for i, (label, attr, default) in enumerate(entries): + ttk.Label(settings_frame, text=label).grid(row=i, column=0, sticky='w', padx=5, pady=5) + var = tk.StringVar(value=str(default)) + entry = ttk.Entry(settings_frame, textvariable=var, width=20) + entry.grid(row=i, column=1, padx=5, pady=5) + self.settings_vars[attr] = var + + ttk.Button(settings_frame, text="Apply Settings", + command=self.apply_settings).grid(row=len(entries), column=0, columnspan=2, pady=10) + + def apply_pitch_correction(self, raw_elevation, pitch_angle): + """ + Apply pitch correction to elevation angle + raw_elevation: measured elevation from radar (degrees) + pitch_angle: antenna pitch angle from IMU (degrees) + Returns: corrected elevation angle (degrees) + """ + # Convert to radians for trigonometric functions + raw_elev_rad = math.radians(raw_elevation) + pitch_rad = math.radians(pitch_angle) + + # Apply pitch correction: corrected_elev = raw_elev - pitch + # This assumes the pitch angle is positive when antenna is tilted up + corrected_elev_rad = raw_elev_rad - pitch_rad + + # Convert back to degrees and ensure it's within valid range + corrected_elev_deg = math.degrees(corrected_elev_rad) + + # Normalize to 0-180 degree range + corrected_elev_deg = corrected_elev_deg % 180 + if corrected_elev_deg < 0: + corrected_elev_deg += 180 + + return corrected_elev_deg + + def refresh_devices(self): + """Refresh available USB devices""" + # STM32 USB devices + stm32_devices = self.stm32_usb_interface.list_devices() + stm32_names = [dev['description'] for dev in stm32_devices] + self.stm32_usb_combo['values'] = stm32_names + + # FTDI devices + ftdi_devices = self.ftdi_interface.list_devices() + ftdi_names = [dev['description'] for dev in ftdi_devices] + self.ftdi_combo['values'] = ftdi_names + + if stm32_names: + self.stm32_usb_combo.current(0) + if ftdi_names: + self.ftdi_combo.current(0) + + def start_radar(self): + """Step 11: Start button pressed - Begin radar operation""" + try: + # Open STM32 USB device + stm32_index = self.stm32_usb_combo.current() + if stm32_index == -1: + messagebox.showerror("Error", "Please select an STM32 USB device") + return + + stm32_devices = self.stm32_usb_interface.list_devices() + if stm32_index >= len(stm32_devices): + messagebox.showerror("Error", "Invalid STM32 device selection") + return + + if not self.stm32_usb_interface.open_device(stm32_devices[stm32_index]): + messagebox.showerror("Error", "Failed to open STM32 USB device") + return + + # Open FTDI device + if FTDI_AVAILABLE: + ftdi_index = self.ftdi_combo.current() + if ftdi_index != -1: + ftdi_devices = self.ftdi_interface.list_devices() + if ftdi_index < len(ftdi_devices): + device_url = ftdi_devices[ftdi_index]['url'] + if not self.ftdi_interface.open_device(device_url): + logging.warning("Failed to open FTDI device, continuing without radar data") + else: + logging.warning("No FTDI device selected, continuing without radar data") + else: + logging.warning("FTDI not available, continuing without radar data") + + # Step 12: Send start flag to STM32 via USB + if not self.stm32_usb_interface.send_start_flag(): + messagebox.showerror("Error", "Failed to send start flag to STM32") + return + + # Step 13: Send settings to STM32 via USB + self.apply_settings() + + # Start radar operation + self.running = True + self.start_button.config(state="disabled") + self.stop_button.config(state="normal") + self.status_label.config(text="Status: Radar running - Waiting for GPS data...") + + logging.info("Radar system started successfully via USB CDC") + + except Exception as e: + messagebox.showerror("Error", f"Failed to start radar: {e}") + logging.error(f"Start radar error: {e}") + + def stop_radar(self): + """Stop radar operation""" + self.running = False + self.start_button.config(state="normal") + self.stop_button.config(state="disabled") + self.status_label.config(text="Status: Radar stopped") + + self.stm32_usb_interface.close() + self.ftdi_interface.close() + + logging.info("Radar system stopped") + + def apply_settings(self): + """Step 13: Apply and send radar settings via USB""" + try: + self.settings.system_frequency = float(self.settings_vars['system_frequency'].get()) + self.settings.chirp_duration = float(self.settings_vars['chirp_duration'].get()) + self.settings.chirps_per_position = int(self.settings_vars['chirps_per_position'].get()) + self.settings.freq_min = float(self.settings_vars['freq_min'].get()) + self.settings.freq_max = float(self.settings_vars['freq_max'].get()) + self.settings.prf1 = float(self.settings_vars['prf1'].get()) + self.settings.prf2 = float(self.settings_vars['prf2'].get()) + self.settings.max_distance = float(self.settings_vars['max_distance'].get()) + + if self.stm32_usb_interface.is_open: + self.stm32_usb_interface.send_settings(self.settings) + + messagebox.showinfo("Success", "Settings applied and sent to STM32 via USB") + logging.info("Radar settings applied via USB") + + except ValueError as e: + messagebox.showerror("Error", f"Invalid setting value: {e}") + + def start_background_threads(self): + """Start background data processing threads""" + self.radar_thread = threading.Thread(target=self.process_radar_data, daemon=True) + self.radar_thread.start() + + self.gps_thread = threading.Thread(target=self.process_gps_data, daemon=True) + self.gps_thread.start() + + self.root.after(100, self.update_gui) + + def process_radar_data(self): + """Step 39: Process incoming radar data from FTDI""" + buffer = b'' + while True: + if self.running and self.ftdi_interface.is_open: + try: + data = self.ftdi_interface.read_data(4096) + if data: + buffer += data + + while len(buffer) >= 6: + packet = self.radar_packet_parser.parse_packet(buffer) + if packet: + self.process_radar_packet(packet) + packet_length = 4 + len(packet.get('payload', b'')) + 2 + buffer = buffer[packet_length:] + self.received_packets += 1 + else: + break + + except Exception as e: + logging.error(f"Error processing radar data: {e}") + time.sleep(0.1) + else: + time.sleep(0.1) + + def process_gps_data(self): + """Step 16/17: Process GPS data from STM32 via USB CDC""" + while True: + if self.running and self.stm32_usb_interface.is_open: + try: + # Read data from STM32 USB + data = self.stm32_usb_interface.read_data(64, timeout=100) + if data: + gps_data = self.usb_packet_parser.parse_gps_data(data) + if gps_data: + self.gps_data_queue.put(gps_data) + logging.info(f"GPS Data received via USB: Lat {gps_data.latitude:.6f}, Lon {gps_data.longitude:.6f}, Alt {gps_data.altitude:.1f}m, Pitch {gps_data.pitch:.1f}°") + except Exception as e: + logging.error(f"Error processing GPS data via USB: {e}") + time.sleep(0.1) + + def process_radar_packet(self, packet): + """Step 40: Process radar data and apply pitch correction""" + try: + if packet['type'] == 'range': + range_meters = packet['range'] * 0.1 + + # Apply pitch correction to elevation + raw_elevation = packet['elevation'] + corrected_elevation = self.apply_pitch_correction(raw_elevation, self.current_gps.pitch) + + # Store correction for display + self.corrected_elevations.append({ + 'raw': raw_elevation, + 'corrected': corrected_elevation, + 'pitch': self.current_gps.pitch, + 'timestamp': packet['timestamp'] + }) + + # Keep only recent corrections + if len(self.corrected_elevations) > 100: + self.corrected_elevations = self.corrected_elevations[-100:] + + target = RadarTarget( + id=packet['chirp'], + range=range_meters, + velocity=0, + azimuth=packet['azimuth'], + elevation=corrected_elevation, # Use corrected elevation + snr=20.0, + timestamp=packet['timestamp'] + ) + + self.update_range_doppler_map(target) + + elif packet['type'] == 'doppler': + lambda_wavelength = 3e8 / self.settings.system_frequency + velocity = (packet['doppler_real'] / 32767.0) * (self.settings.prf1 * lambda_wavelength / 2) + self.update_target_velocity(packet, velocity) + + elif packet['type'] == 'detection': + if packet['detected']: + # Apply pitch correction to detection elevation + raw_elevation = packet['elevation'] + corrected_elevation = self.apply_pitch_correction(raw_elevation, self.current_gps.pitch) + + logging.info(f"CFAR Detection: Raw Elev {raw_elevation}°, Corrected Elev {corrected_elevation:.1f}°, Pitch {self.current_gps.pitch:.1f}°") + + except Exception as e: + logging.error(f"Error processing radar packet: {e}") + + def update_range_doppler_map(self, target): + """Update range-Doppler map with new target""" + range_bin = min(int(target.range / 50), 1023) + doppler_bin = min(abs(int(target.velocity)), 31) + + self.radar_processor.range_doppler_map[range_bin, doppler_bin] += 1 + + self.radar_processor.detected_targets.append(target) + + if len(self.radar_processor.detected_targets) > 100: + self.radar_processor.detected_targets = self.radar_processor.detected_targets[-100:] + + def update_target_velocity(self, packet, velocity): + """Update target velocity information""" + for target in self.radar_processor.detected_targets: + if (target.azimuth == packet['azimuth'] and + target.elevation == packet['elevation'] and + target.id == packet['chirp']): + target.velocity = velocity + break + + def update_gps_display(self): + """Step 18: Update GPS and pitch display""" + try: + while not self.gps_data_queue.empty(): + gps_data = self.gps_data_queue.get_nowait() + self.current_gps = gps_data + + # Update GPS label + self.gps_label.config( + text=f"GPS: Lat {gps_data.latitude:.6f}, Lon {gps_data.longitude:.6f}, Alt {gps_data.altitude:.1f}m") + + # Update pitch label with color coding + pitch_text = f"Pitch: {gps_data.pitch:+.1f}°" + self.pitch_label.config(text=pitch_text) + + # Color code based on pitch magnitude + if abs(gps_data.pitch) > 10: + self.pitch_label.config(foreground='red') # High pitch warning + elif abs(gps_data.pitch) > 5: + self.pitch_label.config(foreground='orange') # Medium pitch + else: + self.pitch_label.config(foreground='green') # Normal pitch + + # Update map + self.update_map_display(gps_data) + + except queue.Empty: + pass + + def update_targets_list(self): + """Update the targets list display with corrected elevations""" + for item in self.targets_tree.get_children(): + self.targets_tree.delete(item) + + for target in self.radar_processor.detected_targets[-20:]: + # Find the corresponding raw elevation if available + raw_elevation = "N/A" + for correction in self.corrected_elevations[-20:]: + if abs(correction['corrected'] - target.elevation) < 0.1: # Fuzzy match + raw_elevation = f"{correction['raw']}" + break + + self.targets_tree.insert('', 'end', values=( + target.track_id, + f"{target.range:.1f}", + f"{target.velocity:.1f}", + target.azimuth, + raw_elevation, # Show raw elevation + f"{target.elevation:.1f}", # Show corrected elevation + f"{target.snr:.1f}" + )) + + def update_gui(self): + """Step 40: Update all GUI displays""" + try: + # Update status with pitch information + if self.running: + self.status_label.config( + text=f"Status: Running - Packets: {self.received_packets} - Pitch: {self.current_gps.pitch:+.1f}°") + + # Update range-Doppler map + if hasattr(self, 'range_doppler_plot'): + display_data = np.log10(self.radar_processor.range_doppler_map + 1) + self.range_doppler_plot.set_array(display_data) + self.canvas.draw_idle() + + # Update targets list + self.update_targets_list() + + # Update GPS and pitch display + self.update_gps_display() + + except Exception as e: + logging.error(f"Error updating GUI: {e}") + + self.root.after(100, self.update_gui) + + def update_map_display(self, gps_data): + """Step 18: Update map display with current GPS position""" + try: + self.map_label.config(text=f"Radar Position: {gps_data.latitude:.6f}, {gps_data.longitude:.6f}\n" + f"Altitude: {gps_data.altitude:.1f}m\n" + f"Pitch: {gps_data.pitch:+.1f}°\n" + f"Coverage: 50km radius\n" + f"Map centered on GPS coordinates") + + except Exception as e: + logging.error(f"Error updating map display: {e}") + +def main(): + """Main application entry point""" + try: + root = tk.Tk() + app = RadarGUI(root) + root.mainloop() + except Exception as e: + logging.error(f"Application error: {e}") + messagebox.showerror("Fatal Error", f"Application failed to start: {e}") + +if __name__ == "__main__": + main() diff --git a/9_Firmware/9_3_GUI/GUI_V4.py b/9_Firmware/9_3_GUI/GUI_V4.py new file mode 100644 index 0000000..430323c --- /dev/null +++ b/9_Firmware/9_3_GUI/GUI_V4.py @@ -0,0 +1,1427 @@ +import tkinter as tk +from tkinter import ttk, messagebox +import threading +import queue +import time +import struct +import numpy as np +import matplotlib.pyplot as plt +from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg +from matplotlib.figure import Figure +import matplotlib.patches as patches +import logging +from dataclasses import dataclass +from typing import Dict, List, Tuple, Optional +from scipy import signal +from sklearn.cluster import DBSCAN +from filterpy.kalman import KalmanFilter +import crcmod +import math +import webbrowser +import tempfile +import os + +try: + import usb.core + import usb.util + USB_AVAILABLE = True +except ImportError: + USB_AVAILABLE = False + logging.warning("pyusb not available. USB CDC functionality will be disabled.") + +try: + from pyftdi.ftdi import Ftdi + from pyftdi.usbtools import UsbTools + FTDI_AVAILABLE = True +except ImportError: + FTDI_AVAILABLE = False + logging.warning("pyftdi not available. FTDI functionality will be disabled.") + +# Configure logging +logging.basicConfig(level=logging.INFO, format='%(asctime)s - %(levelname)s - %(message)s') + +@dataclass +class RadarTarget: + id: int + range: float + velocity: float + azimuth: int + elevation: int + latitude: float = 0.0 + longitude: float = 0.0 + snr: float = 0.0 + timestamp: float = 0.0 + track_id: int = -1 + +@dataclass +class RadarSettings: + system_frequency: float = 10e9 + chirp_duration_1: float = 30e-6 # Long chirp duration + chirp_duration_2: float = 0.5e-6 # Short chirp duration + chirps_per_position: int = 32 + freq_min: float = 10e6 + freq_max: float = 30e6 + prf1: float = 1000 + prf2: float = 2000 + max_distance: float = 50000 + map_size: float = 50000 # Map size in meters + +@dataclass +class GPSData: + latitude: float + longitude: float + altitude: float + pitch: float # Pitch angle in degrees + timestamp: float + +class MapGenerator: + def __init__(self): + self.map_html_template = """ + + + + Radar Map + + + + + +
+ + + + + + + """ + + def generate_map(self, gps_data, targets, coverage_radius, api_key="YOUR_GOOGLE_MAPS_API_KEY"): + """Generate HTML map with radar and targets""" + # Convert targets to map coordinates + map_targets = [] + for target in targets: + # Convert polar coordinates (range, azimuth) to geographic coordinates + target_lat, target_lon = self.polar_to_geographic( + gps_data.latitude, gps_data.longitude, + target.range, target.azimuth + ) + map_targets.append({ + 'id': target.track_id, + 'lat': target_lat, + 'lng': target_lon, + 'range': target.range, + 'velocity': target.velocity, + 'azimuth': target.azimuth, + 'elevation': target.elevation, + 'snr': target.snr + }) + + # Generate targets script + targets_script = "" + if map_targets: + targets_json = str(map_targets).replace("'", '"') + targets_script = f"updateTargets({targets_json});" + + # Fill template + map_html = self.map_html_template.format( + lat=gps_data.latitude, + lon=gps_data.longitude, + alt=gps_data.altitude, + pitch=gps_data.pitch, + coverage_radius=coverage_radius, + targets_script=targets_script, + api_key=api_key + ) + + return map_html + + def polar_to_geographic(self, radar_lat, radar_lon, range_m, azimuth_deg): + """ + Convert polar coordinates (range, azimuth) to geographic coordinates + using simple flat-earth approximation (good for small distances) + """ + # Earth radius in meters + earth_radius = 6371000 + + # Convert azimuth to radians (0° = North, 90° = East) + azimuth_rad = math.radians(90 - azimuth_deg) # Convert to math convention + + # Convert range to angular distance + angular_distance = range_m / earth_radius + + # Convert to geographic coordinates + target_lat = radar_lat + math.cos(azimuth_rad) * angular_distance * (180 / math.pi) + target_lon = radar_lon + math.sin(azimuth_rad) * angular_distance * (180 / math.pi) / math.cos(math.radians(radar_lat)) + + return target_lat, target_lon + +class STM32USBInterface: + def __init__(self): + self.device = None + self.is_open = False + self.ep_in = None + self.ep_out = None + + def list_devices(self): + """List available STM32 USB CDC devices""" + if not USB_AVAILABLE: + logging.warning("USB not available - please install pyusb") + return [] + + try: + devices = [] + # STM32 USB CDC devices typically use these vendor/product IDs + stm32_vid_pids = [ + (0x0483, 0x5740), # STM32 Virtual COM Port + (0x0483, 0x3748), # STM32 Discovery + (0x0483, 0x374B), # STM32 CDC + (0x0483, 0x374D), # STM32 CDC + (0x0483, 0x374E), # STM32 CDC + (0x0483, 0x3752), # STM32 CDC + ] + + for vid, pid in stm32_vid_pids: + found_devices = usb.core.find(find_all=True, idVendor=vid, idProduct=pid) + for dev in found_devices: + try: + product = usb.util.get_string(dev, dev.iProduct) if dev.iProduct else "STM32 CDC" + serial = usb.util.get_string(dev, dev.iSerialNumber) if dev.iSerialNumber else "Unknown" + devices.append({ + 'description': f"{product} ({serial})", + 'vendor_id': vid, + 'product_id': pid, + 'device': dev + }) + except: + devices.append({ + 'description': f"STM32 CDC (VID:{vid:04X}, PID:{pid:04X})", + 'vendor_id': vid, + 'product_id': pid, + 'device': dev + }) + + return devices + except Exception as e: + logging.error(f"Error listing USB devices: {e}") + # Return mock devices for testing + return [{'description': 'STM32 Virtual COM Port', 'vendor_id': 0x0483, 'product_id': 0x5740}] + + def open_device(self, device_info): + """Open STM32 USB CDC device""" + if not USB_AVAILABLE: + logging.error("USB not available - cannot open device") + return False + + try: + self.device = device_info['device'] + + # Detach kernel driver if active + if self.device.is_kernel_driver_active(0): + self.device.detach_kernel_driver(0) + + # Set configuration + self.device.set_configuration() + + # Get CDC endpoints + cfg = self.device.get_active_configuration() + intf = cfg[(0,0)] + + # Find bulk endpoints (CDC data interface) + self.ep_out = usb.util.find_descriptor( + intf, + custom_match=lambda e: usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_OUT + ) + + self.ep_in = usb.util.find_descriptor( + intf, + custom_match=lambda e: usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_IN + ) + + if self.ep_out is None or self.ep_in is None: + logging.error("Could not find CDC endpoints") + return False + + self.is_open = True + logging.info(f"STM32 USB device opened: {device_info['description']}") + return True + + except Exception as e: + logging.error(f"Error opening USB device: {e}") + return False + + def send_start_flag(self): + """Step 12: Send start flag to STM32 via USB""" + start_packet = bytes([23, 46, 158, 237]) + logging.info("Sending start flag to STM32 via USB...") + return self._send_data(start_packet) + + def send_settings(self, settings): + """Step 13: Send radar settings to STM32 via USB""" + try: + packet = self._create_settings_packet(settings) + logging.info("Sending radar settings to STM32 via USB...") + return self._send_data(packet) + except Exception as e: + logging.error(f"Error sending settings via USB: {e}") + return False + + def read_data(self, size=64, timeout=1000): + """Read data from STM32 via USB""" + if not self.is_open or self.ep_in is None: + return None + + try: + data = self.ep_in.read(size, timeout=timeout) + return bytes(data) + except usb.core.USBError as e: + if e.errno == 110: # Timeout + return None + logging.error(f"USB read error: {e}") + return None + except Exception as e: + logging.error(f"Error reading from USB: {e}") + return None + + def _send_data(self, data): + """Send data to STM32 via USB""" + if not self.is_open or self.ep_out is None: + return False + + try: + # USB CDC typically uses 64-byte packets + packet_size = 64 + for i in range(0, len(data), packet_size): + chunk = data[i:i + packet_size] + # Pad to packet size if needed + if len(chunk) < packet_size: + chunk += b'\x00' * (packet_size - len(chunk)) + self.ep_out.write(chunk) + + return True + except Exception as e: + logging.error(f"Error sending data via USB: {e}") + return False + + def _create_settings_packet(self, settings): + """Create binary settings packet for USB transmission""" + packet = b'SET' + packet += struct.pack('>d', settings.system_frequency) + packet += struct.pack('>d', settings.chirp_duration_1) + packet += struct.pack('>d', settings.chirp_duration_2) + packet += struct.pack('>I', settings.chirps_per_position) + packet += struct.pack('>d', settings.freq_min) + packet += struct.pack('>d', settings.freq_max) + packet += struct.pack('>d', settings.prf1) + packet += struct.pack('>d', settings.prf2) + packet += struct.pack('>d', settings.max_distance) + packet += struct.pack('>d', settings.map_size) + packet += b'END' + return packet + + def close(self): + """Close USB device""" + if self.device and self.is_open: + try: + usb.util.dispose_resources(self.device) + self.is_open = False + except Exception as e: + logging.error(f"Error closing USB device: {e}") + +class FTDIInterface: + def __init__(self): + self.ftdi = None + self.is_open = False + + def list_devices(self): + """List available FTDI devices using pyftdi""" + if not FTDI_AVAILABLE: + logging.warning("FTDI not available - please install pyftdi") + return [] + + try: + devices = [] + # Get list of all FTDI devices + for device in UsbTools.find_all([(0x0403, 0x6010)]): # FT2232H vendor/product ID + devices.append({ + 'description': f"FTDI Device {device}", + 'url': f"ftdi://{device}/1" + }) + return devices + except Exception as e: + logging.error(f"Error listing FTDI devices: {e}") + # Return mock devices for testing + return [{'description': 'FT2232H Device A', 'url': 'ftdi://device/1'}] + + def open_device(self, device_url): + """Open FTDI device using pyftdi""" + if not FTDI_AVAILABLE: + logging.error("FTDI not available - cannot open device") + return False + + try: + self.ftdi = Ftdi() + self.ftdi.open_from_url(device_url) + + # Configure for synchronous FIFO mode + self.ftdi.set_bitmode(0xFF, Ftdi.BitMode.SYNCFF) + + # Set latency timer + self.ftdi.set_latency_timer(2) + + # Purge buffers + self.ftdi.purge_buffers() + + self.is_open = True + logging.info(f"FTDI device opened: {device_url}") + return True + + except Exception as e: + logging.error(f"Error opening FTDI device: {e}") + return False + + def read_data(self, bytes_to_read): + """Read data from FTDI""" + if not self.is_open or self.ftdi is None: + return None + + try: + data = self.ftdi.read_data(bytes_to_read) + if data: + return bytes(data) + return None + except Exception as e: + logging.error(f"Error reading from FTDI: {e}") + return None + + def close(self): + """Close FTDI device""" + if self.ftdi and self.is_open: + self.ftdi.close() + self.is_open = False + +class RadarProcessor: + def __init__(self): + self.range_doppler_map = np.zeros((1024, 32)) + self.detected_targets = [] + self.track_id_counter = 0 + self.tracks = {} + self.frame_count = 0 + + def dual_cpi_fusion(self, range_profiles_1, range_profiles_2): + """Dual-CPI fusion for better detection""" + fused_profile = np.mean(range_profiles_1, axis=0) + np.mean(range_profiles_2, axis=0) + return fused_profile + + def multi_prf_unwrap(self, doppler_measurements, prf1, prf2): + """Multi-PRF velocity unwrapping""" + lambda_wavelength = 3e8 / 10e9 + v_max1 = prf1 * lambda_wavelength / 2 + v_max2 = prf2 * lambda_wavelength / 2 + + unwrapped_velocities = [] + for doppler in doppler_measurements: + v1 = doppler * lambda_wavelength / 2 + v2 = doppler * lambda_wavelength / 2 + + velocity = self._solve_chinese_remainder(v1, v2, v_max1, v_max2) + unwrapped_velocities.append(velocity) + + return unwrapped_velocities + + def _solve_chinese_remainder(self, v1, v2, max1, max2): + for k in range(-5, 6): + candidate = v1 + k * max1 + if abs(candidate - v2) < max2 / 2: + return candidate + return v1 + + def clustering(self, detections, eps=100, min_samples=2): + """DBSCAN clustering of detections""" + if len(detections) == 0: + return [] + + points = np.array([[d.range, d.velocity] for d in detections]) + clustering = DBSCAN(eps=eps, min_samples=min_samples).fit(points) + + clusters = [] + for label in set(clustering.labels_): + if label != -1: + cluster_points = points[clustering.labels_ == label] + clusters.append({ + 'center': np.mean(cluster_points, axis=0), + 'points': cluster_points, + 'size': len(cluster_points) + }) + + return clusters + + def association(self, detections, clusters): + """Association of detections to tracks""" + associated_detections = [] + + for detection in detections: + best_track = None + min_distance = float('inf') + + for track_id, track in self.tracks.items(): + distance = np.sqrt( + (detection.range - track['state'][0])**2 + + (detection.velocity - track['state'][2])**2 + ) + + if distance < min_distance and distance < 500: + min_distance = distance + best_track = track_id + + if best_track is not None: + detection.track_id = best_track + associated_detections.append(detection) + else: + detection.track_id = self.track_id_counter + self.track_id_counter += 1 + associated_detections.append(detection) + + return associated_detections + + def tracking(self, associated_detections): + """Kalman filter tracking""" + current_time = time.time() + + for detection in associated_detections: + if detection.track_id not in self.tracks: + kf = KalmanFilter(dim_x=4, dim_z=2) + kf.x = np.array([detection.range, 0, detection.velocity, 0]) + kf.F = np.array([[1, 1, 0, 0], + [0, 1, 0, 0], + [0, 0, 1, 1], + [0, 0, 0, 1]]) + kf.H = np.array([[1, 0, 0, 0], + [0, 0, 1, 0]]) + kf.P *= 1000 + kf.R = np.diag([10, 1]) + kf.Q = np.eye(4) * 0.1 + + self.tracks[detection.track_id] = { + 'filter': kf, + 'state': kf.x, + 'last_update': current_time, + 'hits': 1 + } + else: + track = self.tracks[detection.track_id] + track['filter'].predict() + track['filter'].update([detection.range, detection.velocity]) + track['state'] = track['filter'].x + track['last_update'] = current_time + track['hits'] += 1 + + stale_tracks = [tid for tid, track in self.tracks.items() + if current_time - track['last_update'] > 5.0] + for tid in stale_tracks: + del self.tracks[tid] + +class USBPacketParser: + def __init__(self): + self.crc16_func = crcmod.mkCrcFun(0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000) + + def parse_gps_data(self, data): + """Parse GPS data from STM32 USB CDC with pitch angle""" + if not data: + return None + + try: + # Try text format first: "GPS:lat,lon,alt,pitch\r\n" + text_data = data.decode('utf-8', errors='ignore').strip() + if text_data.startswith('GPS:'): + parts = text_data.split(':')[1].split(',') + if len(parts) == 4: # Now expecting 4 values + lat = float(parts[0]) + lon = float(parts[1]) + alt = float(parts[2]) + pitch = float(parts[3]) # Pitch angle in degrees + return GPSData(latitude=lat, longitude=lon, altitude=alt, pitch=pitch, timestamp=time.time()) + + # Try binary format (30 bytes with pitch) + if len(data) >= 30 and data[0:4] == b'GPSB': + return self._parse_binary_gps_with_pitch(data) + + except Exception as e: + logging.error(f"Error parsing GPS data: {e}") + + return None + + def _parse_binary_gps_with_pitch(self, data): + """Parse binary GPS format with pitch angle (30 bytes)""" + try: + # Binary format: [Header 4][Latitude 8][Longitude 8][Altitude 4][Pitch 4][CRC 2] + if len(data) < 30: + return None + + # Verify CRC (simple checksum) + crc_received = (data[28] << 8) | data[29] + crc_calculated = sum(data[0:28]) & 0xFFFF + + if crc_received != crc_calculated: + logging.warning("GPS CRC mismatch") + return None + + # Parse latitude (double, big-endian) + lat_bits = 0 + for i in range(8): + lat_bits = (lat_bits << 8) | data[4 + i] + latitude = struct.unpack('>d', struct.pack('>Q', lat_bits))[0] + + # Parse longitude (double, big-endian) + lon_bits = 0 + for i in range(8): + lon_bits = (lon_bits << 8) | data[12 + i] + longitude = struct.unpack('>d', struct.pack('>Q', lon_bits))[0] + + # Parse altitude (float, big-endian) + alt_bits = 0 + for i in range(4): + alt_bits = (alt_bits << 8) | data[20 + i] + altitude = struct.unpack('>f', struct.pack('>I', alt_bits))[0] + + # Parse pitch angle (float, big-endian) + pitch_bits = 0 + for i in range(4): + pitch_bits = (pitch_bits << 8) | data[24 + i] + pitch = struct.unpack('>f', struct.pack('>I', pitch_bits))[0] + + return GPSData( + latitude=latitude, + longitude=longitude, + altitude=altitude, + pitch=pitch, + timestamp=time.time() + ) + + except Exception as e: + logging.error(f"Error parsing binary GPS with pitch: {e}") + return None + +class RadarPacketParser: + def __init__(self): + self.sync_pattern = b'\xA5\xC3' + self.crc16_func = crcmod.mkCrcFun(0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000) + + def parse_packet(self, data): + if len(data) < 6: + return None + + sync_index = data.find(self.sync_pattern) + if sync_index == -1: + return None + + packet = data[sync_index:] + + if len(packet) < 6: + return None + + sync = packet[0:2] + packet_type = packet[2] + length = packet[3] + + if len(packet) < (4 + length + 2): + return None + + payload = packet[4:4+length] + crc_received = struct.unpack('I', payload[0:4])[0] + elevation = payload[4] & 0x1F + azimuth = payload[5] & 0x3F + chirp_counter = payload[6] & 0x1F + + return { + 'type': 'range', + 'range': range_value, + 'elevation': elevation, + 'azimuth': azimuth, + 'chirp': chirp_counter, + 'timestamp': time.time() + } + except Exception as e: + logging.error(f"Error parsing range packet: {e}") + return None + + def parse_doppler_packet(self, payload): + if len(payload) < 12: + return None + + try: + doppler_real = struct.unpack('>h', payload[0:2])[0] + doppler_imag = struct.unpack('>h', payload[2:4])[0] + elevation = payload[4] & 0x1F + azimuth = payload[5] & 0x3F + chirp_counter = payload[6] & 0x1F + + return { + 'type': 'doppler', + 'doppler_real': doppler_real, + 'doppler_imag': doppler_imag, + 'elevation': elevation, + 'azimuth': azimuth, + 'chirp': chirp_counter, + 'timestamp': time.time() + } + except Exception as e: + logging.error(f"Error parsing Doppler packet: {e}") + return None + + def parse_detection_packet(self, payload): + if len(payload) < 8: + return None + + try: + detection_flag = (payload[0] & 0x01) != 0 + elevation = payload[1] & 0x1F + azimuth = payload[2] & 0x3F + chirp_counter = payload[3] & 0x1F + + return { + 'type': 'detection', + 'detected': detection_flag, + 'elevation': elevation, + 'azimuth': azimuth, + 'chirp': chirp_counter, + 'timestamp': time.time() + } + except Exception as e: + logging.error(f"Error parsing detection packet: {e}") + return None + +class RadarGUI: + def __init__(self, root): + self.root = root + self.root.title("Advanced Radar System GUI - USB CDC with Google Maps") + self.root.geometry("1400x900") + + # Initialize interfaces + self.stm32_usb_interface = STM32USBInterface() + self.ftdi_interface = FTDIInterface() + self.radar_processor = RadarProcessor() + self.usb_packet_parser = USBPacketParser() + self.radar_packet_parser = RadarPacketParser() + self.map_generator = MapGenerator() + self.settings = RadarSettings() + + # Data queues + self.radar_data_queue = queue.Queue() + self.gps_data_queue = queue.Queue() + + # Thread control + self.running = False + self.radar_thread = None + self.gps_thread = None + + # Counters + self.received_packets = 0 + self.current_gps = GPSData(latitude=41.9028, longitude=12.4964, altitude=0, pitch=0.0, timestamp=0) + self.corrected_elevations = [] # Store corrected elevation values + self.map_file_path = None + self.google_maps_api_key = "YOUR_GOOGLE_MAPS_API_KEY" # Replace with your API key + + self.create_gui() + self.start_background_threads() + + def create_gui(self): + """Create the main GUI with tabs""" + self.notebook = ttk.Notebook(self.root) + self.notebook.pack(fill='both', expand=True, padx=10, pady=10) + + self.tab_main = ttk.Frame(self.notebook) + self.tab_map = ttk.Frame(self.notebook) + self.tab_diagnostics = ttk.Frame(self.notebook) + self.tab_settings = ttk.Frame(self.notebook) + + self.notebook.add(self.tab_main, text='Main View') + self.notebook.add(self.tab_map, text='Map View') + self.notebook.add(self.tab_diagnostics, text='Diagnostics') + self.notebook.add(self.tab_settings, text='Settings') + + self.setup_main_tab() + self.setup_map_tab() + self.setup_settings_tab() + + def setup_main_tab(self): + """Setup the main radar display tab""" + # Control frame + control_frame = ttk.Frame(self.tab_main) + control_frame.pack(fill='x', padx=10, pady=5) + + # USB Device selection + ttk.Label(control_frame, text="STM32 USB Device:").grid(row=0, column=0, padx=5) + self.stm32_usb_combo = ttk.Combobox(control_frame, state="readonly", width=40) + self.stm32_usb_combo.grid(row=0, column=1, padx=5) + + ttk.Label(control_frame, text="FTDI Device:").grid(row=0, column=2, padx=5) + self.ftdi_combo = ttk.Combobox(control_frame, state="readonly", width=30) + self.ftdi_combo.grid(row=0, column=3, padx=5) + + ttk.Button(control_frame, text="Refresh Devices", + command=self.refresh_devices).grid(row=0, column=4, padx=5) + + self.start_button = ttk.Button(control_frame, text="Start Radar", + command=self.start_radar) + self.start_button.grid(row=0, column=5, padx=5) + + self.stop_button = ttk.Button(control_frame, text="Stop Radar", + command=self.stop_radar, state="disabled") + self.stop_button.grid(row=0, column=6, padx=5) + + # GPS and Pitch info + self.gps_label = ttk.Label(control_frame, text="GPS: Waiting for data...") + self.gps_label.grid(row=1, column=0, columnspan=4, sticky='w', padx=5, pady=2) + + # Pitch display + self.pitch_label = ttk.Label(control_frame, text="Pitch: --.--°") + self.pitch_label.grid(row=1, column=4, columnspan=2, padx=5, pady=2) + + # Status info + self.status_label = ttk.Label(control_frame, text="Status: Ready") + self.status_label.grid(row=1, column=6, sticky='e', padx=5, pady=2) + + # Main display area + display_frame = ttk.Frame(self.tab_main) + display_frame.pack(fill='both', expand=True, padx=10, pady=5) + + # Range-Doppler Map + fig = Figure(figsize=(10, 6)) + self.range_doppler_ax = fig.add_subplot(111) + self.range_doppler_plot = self.range_doppler_ax.imshow( + np.random.rand(1024, 32), aspect='auto', cmap='hot', + extent=[0, 32, 0, 1024]) + self.range_doppler_ax.set_title('Range-Doppler Map (Pitch Corrected)') + self.range_doppler_ax.set_xlabel('Doppler Bin') + self.range_doppler_ax.set_ylabel('Range Bin') + + self.canvas = FigureCanvasTkAgg(fig, display_frame) + self.canvas.draw() + self.canvas.get_tk_widget().pack(side='left', fill='both', expand=True) + + # Targets list with corrected elevation + targets_frame = ttk.LabelFrame(display_frame, text="Detected Targets (Pitch Corrected)") + targets_frame.pack(side='right', fill='y', padx=5) + + self.targets_tree = ttk.Treeview(targets_frame, + columns=('ID', 'Range', 'Velocity', 'Azimuth', 'Elevation', 'Corrected Elev', 'SNR'), + show='headings', height=20) + self.targets_tree.heading('ID', text='Track ID') + self.targets_tree.heading('Range', text='Range (m)') + self.targets_tree.heading('Velocity', text='Velocity (m/s)') + self.targets_tree.heading('Azimuth', text='Azimuth') + self.targets_tree.heading('Elevation', text='Raw Elev') + self.targets_tree.heading('Corrected Elev', text='Corr Elev') + self.targets_tree.heading('SNR', text='SNR (dB)') + + self.targets_tree.column('ID', width=70) + self.targets_tree.column('Range', width=90) + self.targets_tree.column('Velocity', width=90) + self.targets_tree.column('Azimuth', width=70) + self.targets_tree.column('Elevation', width=70) + self.targets_tree.column('Corrected Elev', width=70) + self.targets_tree.column('SNR', width=70) + + self.targets_tree.pack(fill='both', expand=True, padx=5, pady=5) + + def setup_map_tab(self): + """Setup the map display tab with Google Maps""" + map_frame = ttk.Frame(self.tab_map) + map_frame.pack(fill='both', expand=True, padx=10, pady=10) + + # Map controls + controls_frame = ttk.Frame(map_frame) + controls_frame.pack(fill='x', pady=5) + + ttk.Button(controls_frame, text="Open Map in Browser", + command=self.open_map_in_browser).pack(side='left', padx=5) + + ttk.Button(controls_frame, text="Refresh Map", + command=self.refresh_map).pack(side='left', padx=5) + + self.map_status_label = ttk.Label(controls_frame, text="Map: Ready to generate") + self.map_status_label.pack(side='left', padx=20) + + # Map info display + info_frame = ttk.Frame(map_frame) + info_frame.pack(fill='x', pady=5) + + self.map_info_label = ttk.Label(info_frame, text="No GPS data received yet", font=('Arial', 10)) + self.map_info_label.pack() + + def setup_settings_tab(self): + """Setup the settings tab with additional chirp durations and map size""" + settings_frame = ttk.Frame(self.tab_settings) + settings_frame.pack(fill='both', expand=True, padx=10, pady=10) + + entries = [ + ('System Frequency (Hz):', 'system_frequency', 10e9), + ('Chirp Duration 1 - Long (s):', 'chirp_duration_1', 30e-6), + ('Chirp Duration 2 - Short (s):', 'chirp_duration_2', 0.5e-6), + ('Chirps per Position:', 'chirps_per_position', 32), + ('Frequency Min (Hz):', 'freq_min', 10e6), + ('Frequency Max (Hz):', 'freq_max', 30e6), + ('PRF1 (Hz):', 'prf1', 1000), + ('PRF2 (Hz):', 'prf2', 2000), + ('Max Distance (m):', 'max_distance', 50000), + ('Map Size (m):', 'map_size', 50000), + ('Google Maps API Key:', 'google_maps_api_key', 'YOUR_GOOGLE_MAPS_API_KEY') + ] + + self.settings_vars = {} + + for i, (label, attr, default) in enumerate(entries): + ttk.Label(settings_frame, text=label).grid(row=i, column=0, sticky='w', padx=5, pady=5) + var = tk.StringVar(value=str(default)) + entry = ttk.Entry(settings_frame, textvariable=var, width=25) + entry.grid(row=i, column=1, padx=5, pady=5) + self.settings_vars[attr] = var + + ttk.Button(settings_frame, text="Apply Settings", + command=self.apply_settings).grid(row=len(entries), column=0, columnspan=2, pady=10) + + def apply_pitch_correction(self, raw_elevation, pitch_angle): + """ + Apply pitch correction to elevation angle + raw_elevation: measured elevation from radar (degrees) + pitch_angle: antenna pitch angle from IMU (degrees) + Returns: corrected elevation angle (degrees) + """ + # Convert to radians for trigonometric functions + raw_elev_rad = math.radians(raw_elevation) + pitch_rad = math.radians(pitch_angle) + + # Apply pitch correction: corrected_elev = raw_elev - pitch + # This assumes the pitch angle is positive when antenna is tilted up + corrected_elev_rad = raw_elev_rad - pitch_rad + + # Convert back to degrees and ensure it's within valid range + corrected_elev_deg = math.degrees(corrected_elev_rad) + + # Normalize to 0-180 degree range + corrected_elev_deg = corrected_elev_deg % 180 + if corrected_elev_deg < 0: + corrected_elev_deg += 180 + + return corrected_elev_deg + + def refresh_devices(self): + """Refresh available USB devices""" + # STM32 USB devices + stm32_devices = self.stm32_usb_interface.list_devices() + stm32_names = [dev['description'] for dev in stm32_devices] + self.stm32_usb_combo['values'] = stm32_names + + # FTDI devices + ftdi_devices = self.ftdi_interface.list_devices() + ftdi_names = [dev['description'] for dev in ftdi_devices] + self.ftdi_combo['values'] = ftdi_names + + if stm32_names: + self.stm32_usb_combo.current(0) + if ftdi_names: + self.ftdi_combo.current(0) + + def start_radar(self): + """Step 11: Start button pressed - Begin radar operation""" + try: + # Open STM32 USB device + stm32_index = self.stm32_usb_combo.current() + if stm32_index == -1: + messagebox.showerror("Error", "Please select an STM32 USB device") + return + + stm32_devices = self.stm32_usb_interface.list_devices() + if stm32_index >= len(stm32_devices): + messagebox.showerror("Error", "Invalid STM32 device selection") + return + + if not self.stm32_usb_interface.open_device(stm32_devices[stm32_index]): + messagebox.showerror("Error", "Failed to open STM32 USB device") + return + + # Open FTDI device + if FTDI_AVAILABLE: + ftdi_index = self.ftdi_combo.current() + if ftdi_index != -1: + ftdi_devices = self.ftdi_interface.list_devices() + if ftdi_index < len(ftdi_devices): + device_url = ftdi_devices[ftdi_index]['url'] + if not self.ftdi_interface.open_device(device_url): + logging.warning("Failed to open FTDI device, continuing without radar data") + else: + logging.warning("No FTDI device selected, continuing without radar data") + else: + logging.warning("FTDI not available, continuing without radar data") + + # Step 12: Send start flag to STM32 via USB + if not self.stm32_usb_interface.send_start_flag(): + messagebox.showerror("Error", "Failed to send start flag to STM32") + return + + # Step 13: Send settings to STM32 via USB + self.apply_settings() + + # Start radar operation + self.running = True + self.start_button.config(state="disabled") + self.stop_button.config(state="normal") + self.status_label.config(text="Status: Radar running - Waiting for GPS data...") + + logging.info("Radar system started successfully via USB CDC") + + except Exception as e: + messagebox.showerror("Error", f"Failed to start radar: {e}") + logging.error(f"Start radar error: {e}") + + def stop_radar(self): + """Stop radar operation""" + self.running = False + self.start_button.config(state="normal") + self.stop_button.config(state="disabled") + self.status_label.config(text="Status: Radar stopped") + + self.stm32_usb_interface.close() + self.ftdi_interface.close() + + logging.info("Radar system stopped") + + def apply_settings(self): + """Step 13: Apply and send radar settings via USB""" + try: + self.settings.system_frequency = float(self.settings_vars['system_frequency'].get()) + self.settings.chirp_duration_1 = float(self.settings_vars['chirp_duration_1'].get()) + self.settings.chirp_duration_2 = float(self.settings_vars['chirp_duration_2'].get()) + self.settings.chirps_per_position = int(self.settings_vars['chirps_per_position'].get()) + self.settings.freq_min = float(self.settings_vars['freq_min'].get()) + self.settings.freq_max = float(self.settings_vars['freq_max'].get()) + self.settings.prf1 = float(self.settings_vars['prf1'].get()) + self.settings.prf2 = float(self.settings_vars['prf2'].get()) + self.settings.max_distance = float(self.settings_vars['max_distance'].get()) + self.settings.map_size = float(self.settings_vars['map_size'].get()) + self.google_maps_api_key = self.settings_vars['google_maps_api_key'].get() + + if self.stm32_usb_interface.is_open: + self.stm32_usb_interface.send_settings(self.settings) + + messagebox.showinfo("Success", "Settings applied and sent to STM32 via USB") + logging.info("Radar settings applied via USB") + + except ValueError as e: + messagebox.showerror("Error", f"Invalid setting value: {e}") + + def start_background_threads(self): + """Start background data processing threads""" + self.radar_thread = threading.Thread(target=self.process_radar_data, daemon=True) + self.radar_thread.start() + + self.gps_thread = threading.Thread(target=self.process_gps_data, daemon=True) + self.gps_thread.start() + + self.root.after(100, self.update_gui) + + def process_radar_data(self): + """Step 39: Process incoming radar data from FTDI""" + buffer = b'' + while True: + if self.running and self.ftdi_interface.is_open: + try: + data = self.ftdi_interface.read_data(4096) + if data: + buffer += data + + while len(buffer) >= 6: + packet = self.radar_packet_parser.parse_packet(buffer) + if packet: + self.process_radar_packet(packet) + packet_length = 4 + len(packet.get('payload', b'')) + 2 + buffer = buffer[packet_length:] + self.received_packets += 1 + else: + break + + except Exception as e: + logging.error(f"Error processing radar data: {e}") + time.sleep(0.1) + else: + time.sleep(0.1) + + def process_gps_data(self): + """Step 16/17: Process GPS data from STM32 via USB CDC""" + while True: + if self.running and self.stm32_usb_interface.is_open: + try: + # Read data from STM32 USB + data = self.stm32_usb_interface.read_data(64, timeout=100) + if data: + gps_data = self.usb_packet_parser.parse_gps_data(data) + if gps_data: + self.gps_data_queue.put(gps_data) + logging.info(f"GPS Data received via USB: Lat {gps_data.latitude:.6f}, Lon {gps_data.longitude:.6f}, Alt {gps_data.altitude:.1f}m, Pitch {gps_data.pitch:.1f}°") + except Exception as e: + logging.error(f"Error processing GPS data via USB: {e}") + time.sleep(0.1) + + def process_radar_packet(self, packet): + """Step 40: Process radar data and apply pitch correction""" + try: + if packet['type'] == 'range': + range_meters = packet['range'] * 0.1 + + # Apply pitch correction to elevation + raw_elevation = packet['elevation'] + corrected_elevation = self.apply_pitch_correction(raw_elevation, self.current_gps.pitch) + + # Store correction for display + self.corrected_elevations.append({ + 'raw': raw_elevation, + 'corrected': corrected_elevation, + 'pitch': self.current_gps.pitch, + 'timestamp': packet['timestamp'] + }) + + # Keep only recent corrections + if len(self.corrected_elevations) > 100: + self.corrected_elevations = self.corrected_elevations[-100:] + + target = RadarTarget( + id=packet['chirp'], + range=range_meters, + velocity=0, + azimuth=packet['azimuth'], + elevation=corrected_elevation, # Use corrected elevation + snr=20.0, + timestamp=packet['timestamp'] + ) + + self.update_range_doppler_map(target) + + elif packet['type'] == 'doppler': + lambda_wavelength = 3e8 / self.settings.system_frequency + velocity = (packet['doppler_real'] / 32767.0) * (self.settings.prf1 * lambda_wavelength / 2) + self.update_target_velocity(packet, velocity) + + elif packet['type'] == 'detection': + if packet['detected']: + # Apply pitch correction to detection elevation + raw_elevation = packet['elevation'] + corrected_elevation = self.apply_pitch_correction(raw_elevation, self.current_gps.pitch) + + logging.info(f"CFAR Detection: Raw Elev {raw_elevation}°, Corrected Elev {corrected_elevation:.1f}°, Pitch {self.current_gps.pitch:.1f}°") + + except Exception as e: + logging.error(f"Error processing radar packet: {e}") + + def update_range_doppler_map(self, target): + """Update range-Doppler map with new target""" + range_bin = min(int(target.range / 50), 1023) + doppler_bin = min(abs(int(target.velocity)), 31) + + self.radar_processor.range_doppler_map[range_bin, doppler_bin] += 1 + + self.radar_processor.detected_targets.append(target) + + if len(self.radar_processor.detected_targets) > 100: + self.radar_processor.detected_targets = self.radar_processor.detected_targets[-100:] + + def update_target_velocity(self, packet, velocity): + """Update target velocity information""" + for target in self.radar_processor.detected_targets: + if (target.azimuth == packet['azimuth'] and + target.elevation == packet['elevation'] and + target.id == packet['chirp']): + target.velocity = velocity + break + + def open_map_in_browser(self): + """Open the generated map in the default web browser""" + if self.map_file_path and os.path.exists(self.map_file_path): + webbrowser.open('file://' + os.path.abspath(self.map_file_path)) + else: + messagebox.showwarning("Warning", "No map file available. Generate map first by receiving GPS data.") + + def refresh_map(self): + """Refresh the map with current data""" + self.generate_map() + + def generate_map(self): + """Generate Google Maps HTML file with current targets""" + if self.current_gps.latitude == 0 and self.current_gps.longitude == 0: + self.map_status_label.config(text="Map: Waiting for GPS data") + return + + try: + # Create temporary HTML file + with tempfile.NamedTemporaryFile(mode='w', suffix='.html', delete=False, encoding='utf-8') as f: + map_html = self.map_generator.generate_map( + self.current_gps, + self.radar_processor.detected_targets, + self.settings.map_size, + self.google_maps_api_key + ) + f.write(map_html) + self.map_file_path = f.name + + self.map_status_label.config(text=f"Map: Generated at {self.map_file_path}") + self.map_info_label.config( + text=f"Radar: {self.current_gps.latitude:.6f}, {self.current_gps.longitude:.6f} | " + f"Targets: {len(self.radar_processor.detected_targets)} | " + f"Coverage: {self.settings.map_size/1000:.1f}km" + ) + logging.info(f"Map generated: {self.map_file_path}") + + except Exception as e: + logging.error(f"Error generating map: {e}") + self.map_status_label.config(text=f"Map: Error - {str(e)}") + + def update_gps_display(self): + """Step 18: Update GPS and pitch display""" + try: + while not self.gps_data_queue.empty(): + gps_data = self.gps_data_queue.get_nowait() + self.current_gps = gps_data + + # Update GPS label + self.gps_label.config( + text=f"GPS: Lat {gps_data.latitude:.6f}, Lon {gps_data.longitude:.6f}, Alt {gps_data.altitude:.1f}m") + + # Update pitch label with color coding + pitch_text = f"Pitch: {gps_data.pitch:+.1f}°" + self.pitch_label.config(text=pitch_text) + + # Color code based on pitch magnitude + if abs(gps_data.pitch) > 10: + self.pitch_label.config(foreground='red') # High pitch warning + elif abs(gps_data.pitch) > 5: + self.pitch_label.config(foreground='orange') # Medium pitch + else: + self.pitch_label.config(foreground='green') # Normal pitch + + # Generate/update map when new GPS data arrives + self.generate_map() + + except queue.Empty: + pass + + def update_targets_list(self): + """Update the targets list display with corrected elevations""" + for item in self.targets_tree.get_children(): + self.targets_tree.delete(item) + + for target in self.radar_processor.detected_targets[-20:]: + # Find the corresponding raw elevation if available + raw_elevation = "N/A" + for correction in self.corrected_elevations[-20:]: + if abs(correction['corrected'] - target.elevation) < 0.1: # Fuzzy match + raw_elevation = f"{correction['raw']}" + break + + self.targets_tree.insert('', 'end', values=( + target.track_id, + f"{target.range:.1f}", + f"{target.velocity:.1f}", + target.azimuth, + raw_elevation, # Show raw elevation + f"{target.elevation:.1f}", # Show corrected elevation + f"{target.snr:.1f}" + )) + + def update_gui(self): + """Step 40: Update all GUI displays""" + try: + # Update status with pitch information + if self.running: + self.status_label.config( + text=f"Status: Running - Packets: {self.received_packets} - Pitch: {self.current_gps.pitch:+.1f}°") + + # Update range-Doppler map + if hasattr(self, 'range_doppler_plot'): + display_data = np.log10(self.radar_processor.range_doppler_map + 1) + self.range_doppler_plot.set_array(display_data) + self.canvas.draw_idle() + + # Update targets list + self.update_targets_list() + + # Update GPS and pitch display + self.update_gps_display() + + except Exception as e: + logging.error(f"Error updating GUI: {e}") + + self.root.after(100, self.update_gui) + +def main(): + """Main application entry point""" + try: + root = tk.Tk() + app = RadarGUI(root) + root.mainloop() + except Exception as e: + logging.error(f"Application error: {e}") + messagebox.showerror("Fatal Error", f"Application failed to start: {e}") + +if __name__ == "__main__": + main() diff --git a/9_Firmware/9_3_GUI/GUI_V4_2_CSV.py b/9_Firmware/9_3_GUI/GUI_V4_2_CSV.py new file mode 100644 index 0000000..71da913 --- /dev/null +++ b/9_Firmware/9_3_GUI/GUI_V4_2_CSV.py @@ -0,0 +1,678 @@ +import tkinter as tk +from tkinter import ttk, filedialog, messagebox +import pandas as pd +import numpy as np +import matplotlib.pyplot as plt +from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg +from matplotlib.figure import Figure +import matplotlib.patches as patches +from scipy import signal +from scipy.fft import fft, fftshift +from scipy.signal import butter, filtfilt +import logging +from dataclasses import dataclass +from typing import List, Dict, Tuple +import threading +import queue +import time + +# Configure logging +logging.basicConfig(level=logging.INFO, format='%(asctime)s - %(levelname)s - %(message)s') + +@dataclass +class RadarTarget: + range: float + velocity: float + azimuth: int + elevation: int + snr: float + chirp_type: str + timestamp: float + +class SignalProcessor: + def __init__(self): + self.range_resolution = 1.0 # meters + self.velocity_resolution = 0.1 # m/s + self.cfar_threshold = 15.0 # dB + + def doppler_fft(self, iq_data: np.ndarray, fs: float = 100e6) -> Tuple[np.ndarray, np.ndarray]: + """ + Perform Doppler FFT on IQ data + Returns Doppler frequencies and spectrum + """ + # Window function for FFT + window = np.hanning(len(iq_data)) + windowed_data = (iq_data['I_value'].values + 1j * iq_data['Q_value'].values) * window + + # Perform FFT + doppler_fft = fft(windowed_data) + doppler_fft = fftshift(doppler_fft) + + # Frequency axis + N = len(iq_data) + freq_axis = np.linspace(-fs/2, fs/2, N) + + # Convert to velocity (assuming radar frequency = 10 GHz) + radar_freq = 10e9 + wavelength = 3e8 / radar_freq + velocity_axis = freq_axis * wavelength / 2 + + return velocity_axis, np.abs(doppler_fft) + + def mti_filter(self, iq_data: np.ndarray, filter_type: str = 'single_canceler') -> np.ndarray: + """ + Moving Target Indicator filter + Removes stationary clutter with better shape handling + """ + if iq_data is None or len(iq_data) < 2: + return np.array([], dtype=complex) + + try: + # Ensure we're working with complex data + complex_data = iq_data.astype(complex) + + if filter_type == 'single_canceler': + # Single delay line canceler + if len(complex_data) < 2: + return np.array([], dtype=complex) + filtered = np.zeros(len(complex_data) - 1, dtype=complex) + for i in range(1, len(complex_data)): + filtered[i-1] = complex_data[i] - complex_data[i-1] + return filtered + + elif filter_type == 'double_canceler': + # Double delay line canceler + if len(complex_data) < 3: + return np.array([], dtype=complex) + filtered = np.zeros(len(complex_data) - 2, dtype=complex) + for i in range(2, len(complex_data)): + filtered[i-2] = complex_data[i] - 2*complex_data[i-1] + complex_data[i-2] + return filtered + + else: + return complex_data + except Exception as e: + logging.error(f"MTI filter error: {e}") + return np.array([], dtype=complex) + + + def cfar_detection(self, range_profile: np.ndarray, guard_cells: int = 2, + training_cells: int = 10, threshold_factor: float = 3.0) -> List[Tuple[int, float]]: + detections = [] + N = len(range_profile) + + # Ensure guard_cells and training_cells are integers + guard_cells = int(guard_cells) + training_cells = int(training_cells) + + for i in range(N): + # Convert to integer indices + i_int = int(i) + if i_int < guard_cells + training_cells or i_int >= N - guard_cells - training_cells: + continue + + # Leading window - ensure integer indices + lead_start = i_int - guard_cells - training_cells + lead_end = i_int - guard_cells + lead_cells = range_profile[lead_start:lead_end] + + # Lagging window - ensure integer indices + lag_start = i_int + guard_cells + 1 + lag_end = i_int + guard_cells + training_cells + 1 + lag_cells = range_profile[lag_start:lag_end] + + # Combine training cells + training_cells_combined = np.concatenate([lead_cells, lag_cells]) + + # Calculate noise floor (mean of training cells) + if len(training_cells_combined) > 0: + noise_floor = np.mean(training_cells_combined) + + # Apply threshold + threshold = noise_floor * threshold_factor + + if range_profile[i_int] > threshold: + detections.append((i_int, float(range_profile[i_int]))) # Ensure float magnitude + + return detections + + def range_fft(self, iq_data: np.ndarray, fs: float = 100e6, bw: float = 20e6) -> Tuple[np.ndarray, np.ndarray]: + """ + Perform range FFT on IQ data + Returns range profile + """ + # Window function + window = np.hanning(len(iq_data)) + windowed_data = np.abs(iq_data) * window + + # Perform FFT + range_fft = fft(windowed_data) + + # Range calculation + N = len(iq_data) + range_max = (3e8 * N) / (2 * bw) + range_axis = np.linspace(0, range_max, N) + + return range_axis, np.abs(range_fft) + + def process_chirp_sequence(self, df: pd.DataFrame, chirp_type: str = 'LONG') -> Dict: + try: + # Filter data by chirp type + chirp_data = df[df['chirp_type'] == chirp_type] + + if len(chirp_data) == 0: + return {} + + # Group by chirp number + chirp_numbers = chirp_data['chirp_number'].unique() + num_chirps = len(chirp_numbers) + + if num_chirps == 0: + return {} + + # Get samples per chirp and ensure consistency + samples_per_chirp_list = [len(chirp_data[chirp_data['chirp_number'] == num]) + for num in chirp_numbers] + + # Use minimum samples to ensure consistent shape + samples_per_chirp = min(samples_per_chirp_list) + + # Create range-Doppler matrix with consistent shape + range_doppler_matrix = np.zeros((samples_per_chirp, num_chirps), dtype=complex) + + for i, chirp_num in enumerate(chirp_numbers): + chirp_samples = chirp_data[chirp_data['chirp_number'] == chirp_num] + # Take only the first samples_per_chirp samples to ensure consistent shape + chirp_samples = chirp_samples.head(samples_per_chirp) + + # Create complex IQ data + iq_data = chirp_samples['I_value'].values + 1j * chirp_samples['Q_value'].values + + # Ensure the shape matches + if len(iq_data) == samples_per_chirp: + range_doppler_matrix[:, i] = iq_data + + # Apply MTI filter along slow-time (chirp-to-chirp) + mti_filtered = np.zeros_like(range_doppler_matrix) + for i in range(samples_per_chirp): + slow_time_data = range_doppler_matrix[i, :] + filtered = self.mti_filter(slow_time_data) + # Ensure filtered data matches expected shape + if len(filtered) == num_chirps: + mti_filtered[i, :] = filtered + else: + # Handle shape mismatch by padding or truncating + if len(filtered) < num_chirps: + padded = np.zeros(num_chirps, dtype=complex) + padded[:len(filtered)] = filtered + mti_filtered[i, :] = padded + else: + mti_filtered[i, :] = filtered[:num_chirps] + + # Perform Doppler FFT along slow-time dimension + doppler_fft_result = np.zeros((samples_per_chirp, num_chirps), dtype=complex) + for i in range(samples_per_chirp): + doppler_fft_result[i, :] = fft(mti_filtered[i, :]) + + return { + 'range_doppler_matrix': np.abs(doppler_fft_result), + 'chirp_type': chirp_type, + 'num_chirps': num_chirps, + 'samples_per_chirp': samples_per_chirp + } + + except Exception as e: + logging.error(f"Error in process_chirp_sequence: {e}") + return {} + +class RadarGUI: + def __init__(self, root): + self.root = root + self.root.title("Radar Signal Processor - CSV Analysis") + self.root.geometry("1400x900") + + # Initialize processor + self.processor = SignalProcessor() + + # Data storage + self.df = None + self.processed_data = {} + self.detected_targets = [] + + # Create GUI + self.create_gui() + + # Start background processing + self.processing_queue = queue.Queue() + self.processing_thread = threading.Thread(target=self.background_processing, daemon=True) + self.processing_thread.start() + + # Update GUI periodically + self.root.after(100, self.update_gui) + + def create_gui(self): + """Create the main GUI layout""" + # Main frame + main_frame = ttk.Frame(self.root) + main_frame.pack(fill='both', expand=True, padx=10, pady=10) + + # Control panel + control_frame = ttk.LabelFrame(main_frame, text="File Controls") + control_frame.pack(fill='x', pady=5) + + # File selection + ttk.Button(control_frame, text="Load CSV File", + command=self.load_csv_file).pack(side='left', padx=5, pady=5) + + self.file_label = ttk.Label(control_frame, text="No file loaded") + self.file_label.pack(side='left', padx=10, pady=5) + + # Processing controls + ttk.Button(control_frame, text="Process Data", + command=self.process_data).pack(side='left', padx=5, pady=5) + + ttk.Button(control_frame, text="Run CFAR Detection", + command=self.run_cfar_detection).pack(side='left', padx=5, pady=5) + + # Status + self.status_label = ttk.Label(control_frame, text="Status: Ready") + self.status_label.pack(side='right', padx=10, pady=5) + + # Display area + display_frame = ttk.Frame(main_frame) + display_frame.pack(fill='both', expand=True, pady=5) + + # Create matplotlib figures + self.create_plots(display_frame) + + # Targets list + targets_frame = ttk.LabelFrame(main_frame, text="Detected Targets") + targets_frame.pack(fill='x', pady=5) + + self.targets_tree = ttk.Treeview(targets_frame, + columns=('Range', 'Velocity', 'Azimuth', 'Elevation', 'SNR', 'Chirp Type'), + show='headings', height=8) + + self.targets_tree.heading('Range', text='Range (m)') + self.targets_tree.heading('Velocity', text='Velocity (m/s)') + self.targets_tree.heading('Azimuth', text='Azimuth (°)') + self.targets_tree.heading('Elevation', text='Elevation (°)') + self.targets_tree.heading('SNR', text='SNR (dB)') + self.targets_tree.heading('Chirp Type', text='Chirp Type') + + self.targets_tree.column('Range', width=100) + self.targets_tree.column('Velocity', width=100) + self.targets_tree.column('Azimuth', width=80) + self.targets_tree.column('Elevation', width=80) + self.targets_tree.column('SNR', width=80) + self.targets_tree.column('Chirp Type', width=100) + + self.targets_tree.pack(fill='x', padx=5, pady=5) + + def create_plots(self, parent): + """Create matplotlib plots""" + # Create figure with subplots + self.fig = Figure(figsize=(12, 8)) + self.canvas = FigureCanvasTkAgg(self.fig, parent) + self.canvas.get_tk_widget().pack(fill='both', expand=True) + + # Create subplots + self.ax1 = self.fig.add_subplot(221) # Range profile + self.ax2 = self.fig.add_subplot(222) # Doppler spectrum + self.ax3 = self.fig.add_subplot(223) # Range-Doppler map + self.ax4 = self.fig.add_subplot(224) # MTI filtered data + + # Set titles + self.ax1.set_title('Range Profile') + self.ax1.set_xlabel('Range (m)') + self.ax1.set_ylabel('Magnitude') + self.ax1.grid(True) + + self.ax2.set_title('Doppler Spectrum') + self.ax2.set_xlabel('Velocity (m/s)') + self.ax2.set_ylabel('Magnitude') + self.ax2.grid(True) + + self.ax3.set_title('Range-Doppler Map') + self.ax3.set_xlabel('Doppler Bin') + self.ax3.set_ylabel('Range Bin') + + self.ax4.set_title('MTI Filtered Data') + self.ax4.set_xlabel('Sample') + self.ax4.set_ylabel('Magnitude') + self.ax4.grid(True) + + self.fig.tight_layout() + + def load_csv_file(self): + """Load CSV file generated by testbench""" + filename = filedialog.askopenfilename( + title="Select CSV file", + filetypes=[("CSV files", "*.csv"), ("All files", "*.*")] + ) + + # Add magnitude and phase calculations after loading CSV + if self.df is not None: + # Calculate magnitude from I/Q values + self.df['magnitude'] = np.sqrt(self.df['I_value']**2 + self.df['Q_value']**2) + + # Calculate phase from I/Q values + self.df['phase_rad'] = np.arctan2(self.df['Q_value'], self.df['I_value']) + + # If you used magnitude_squared in CSV, calculate actual magnitude + if 'magnitude_squared' in self.df.columns: + self.df['magnitude'] = np.sqrt(self.df['magnitude_squared']) + if filename: + try: + self.status_label.config(text="Status: Loading CSV file...") + self.df = pd.read_csv(filename) + self.file_label.config(text=f"Loaded: {filename.split('/')[-1]}") + self.status_label.config(text=f"Status: Loaded {len(self.df)} samples") + + # Show basic info + self.show_file_info() + + except Exception as e: + messagebox.showerror("Error", f"Failed to load CSV file: {e}") + self.status_label.config(text="Status: Error loading file") + + def show_file_info(self): + """Display basic information about loaded data""" + if self.df is not None: + info_text = f"Samples: {len(self.df)} | " + info_text += f"Chirps: {self.df['chirp_number'].nunique()} | " + info_text += f"Long: {len(self.df[self.df['chirp_type'] == 'LONG'])} | " + info_text += f"Short: {len(self.df[self.df['chirp_type'] == 'SHORT'])}" + + self.file_label.config(text=info_text) + + def process_data(self): + """Process loaded CSV data""" + if self.df is None: + messagebox.showwarning("Warning", "Please load a CSV file first") + return + + self.status_label.config(text="Status: Processing data...") + + # Add to processing queue + self.processing_queue.put(('process', self.df)) + + def run_cfar_detection(self): + """Run CFAR detection on processed data""" + if self.df is None: + messagebox.showwarning("Warning", "Please load and process data first") + return + + self.status_label.config(text="Status: Running CFAR detection...") + self.processing_queue.put(('cfar', self.df)) + + def background_processing(self): + + while True: + try: + task_type, data = self.processing_queue.get(timeout=1.0) + + if task_type == 'process': + self._process_data_background(data) + elif task_type == 'cfar': + self._run_cfar_background(data) + else: + logging.warning(f"Unknown task type: {task_type}") + + self.processing_queue.task_done() + + except queue.Empty: + continue + except Exception as e: + logging.error(f"Background processing error: {e}") + # Update GUI to show error state + self.root.after(0, lambda: self.status_label.config( + text=f"Status: Processing error - {e}" + )) + + def _process_data_background(self, df): + try: + # Process long chirps + long_chirp_data = self.processor.process_chirp_sequence(df, 'LONG') + + # Process short chirps + short_chirp_data = self.processor.process_chirp_sequence(df, 'SHORT') + + # Store results + self.processed_data = { + 'long': long_chirp_data, + 'short': short_chirp_data + } + + # Update GUI in main thread + self.root.after(0, self._update_plots_after_processing) + + except Exception as e: + logging.error(f"Processing error: {e}") + error_msg = str(e) + self.root.after(0, lambda msg=error_msg: self.status_label.config( + text=f"Status: Processing error - {msg}" + )) + + def _run_cfar_background(self, df): + try: + # Get first chirp for CFAR demonstration + first_chirp = df[df['chirp_number'] == df['chirp_number'].min()] + + if len(first_chirp) == 0: + return + + # Create IQ data - FIXED TYPO: first_chirp not first_chip + iq_data = first_chirp['I_value'].values + 1j * first_chirp['Q_value'].values + + # Perform range FFT + range_axis, range_profile = self.processor.range_fft(iq_data) + + # Run CFAR detection + detections = self.processor.cfar_detection(range_profile) + + # Convert to target objects + self.detected_targets = [] + for range_bin, magnitude in detections: + target = RadarTarget( + range=range_axis[range_bin], + velocity=0, # Would need Doppler processing for velocity + azimuth=0, # From actual data + elevation=0, # From actual data + snr=20 * np.log10(magnitude + 1e-9), # Convert to dB + chirp_type='LONG', + timestamp=time.time() + ) + self.detected_targets.append(target) + + # Update GUI in main thread + self.root.after(0, lambda: self._update_cfar_results(range_axis, range_profile, detections)) + + except Exception as e: + logging.error(f"CFAR detection error: {e}") + error_msg = str(e) + self.root.after(0, lambda msg=error_msg: self.status_label.config( + text=f"Status: CFAR error - {msg}" + )) + + def _update_plots_after_processing(self): + try: + # Clear all plots + for ax in [self.ax1, self.ax2, self.ax3, self.ax4]: + ax.clear() + + # Plot 1: Range profile from first chirp + if self.df is not None and len(self.df) > 0: + try: + first_chirp_num = self.df['chirp_number'].min() + first_chirp = self.df[self.df['chirp_number'] == first_chirp_num] + + if len(first_chirp) > 0: + iq_data = first_chirp['I_value'].values + 1j * first_chirp['Q_value'].values + range_axis, range_profile = self.processor.range_fft(iq_data) + + if len(range_axis) > 0 and len(range_profile) > 0: + self.ax1.plot(range_axis, range_profile, 'b-') + self.ax1.set_title('Range Profile - First Chirp') + self.ax1.set_xlabel('Range (m)') + self.ax1.set_ylabel('Magnitude') + self.ax1.grid(True) + except Exception as e: + logging.warning(f"Range profile plot error: {e}") + self.ax1.set_title('Range Profile - Error') + + # Plot 2: Doppler spectrum + if self.df is not None and len(self.df) > 0: + try: + sample_data = self.df.head(1024) + if len(sample_data) > 10: + iq_data = sample_data['I_value'].values + 1j * sample_data['Q_value'].values + velocity_axis, doppler_spectrum = self.processor.doppler_fft(iq_data) + + if len(velocity_axis) > 0 and len(doppler_spectrum) > 0: + self.ax2.plot(velocity_axis, doppler_spectrum, 'g-') + self.ax2.set_title('Doppler Spectrum') + self.ax2.set_xlabel('Velocity (m/s)') + self.ax2.set_ylabel('Magnitude') + self.ax2.grid(True) + except Exception as e: + logging.warning(f"Doppler spectrum plot error: {e}") + self.ax2.set_title('Doppler Spectrum - Error') + + # Plot 3: Range-Doppler map + if (self.processed_data.get('long') and + 'range_doppler_matrix' in self.processed_data['long'] and + self.processed_data['long']['range_doppler_matrix'].size > 0): + + try: + rd_matrix = self.processed_data['long']['range_doppler_matrix'] + # Use integer indices for extent + extent = [0, int(rd_matrix.shape[1]), 0, int(rd_matrix.shape[0])] + + im = self.ax3.imshow(10 * np.log10(rd_matrix + 1e-9), + aspect='auto', cmap='hot', + extent=extent) + self.ax3.set_title('Range-Doppler Map (Long Chirps)') + self.ax3.set_xlabel('Doppler Bin') + self.ax3.set_ylabel('Range Bin') + self.fig.colorbar(im, ax=self.ax3, label='dB') + except Exception as e: + logging.warning(f"Range-Doppler map plot error: {e}") + self.ax3.set_title('Range-Doppler Map - Error') + + # Plot 4: MTI filtered data + if self.df is not None and len(self.df) > 0: + try: + sample_data = self.df.head(100) + if len(sample_data) > 10: + iq_data = sample_data['I_value'].values + 1j * sample_data['Q_value'].values + + # Original data + original_mag = np.abs(iq_data) + + # MTI filtered + mti_filtered = self.processor.mti_filter(iq_data) + + if mti_filtered is not None and len(mti_filtered) > 0: + mti_mag = np.abs(mti_filtered) + + # Use integer indices for plotting + x_original = np.arange(len(original_mag)) + x_mti = np.arange(len(mti_mag)) + + self.ax4.plot(x_original, original_mag, 'b-', label='Original', alpha=0.7) + self.ax4.plot(x_mti, mti_mag, 'r-', label='MTI Filtered', alpha=0.7) + self.ax4.set_title('MTI Filter Comparison') + self.ax4.set_xlabel('Sample Index') + self.ax4.set_ylabel('Magnitude') + self.ax4.legend() + self.ax4.grid(True) + except Exception as e: + logging.warning(f"MTI filter plot error: {e}") + self.ax4.set_title('MTI Filter - Error') + + # Adjust layout and draw + self.fig.tight_layout() + self.canvas.draw() + self.status_label.config(text="Status: Processing complete") + + except Exception as e: + logging.error(f"Plot update error: {e}") + error_msg = str(e) + self.status_label.config(text=f"Status: Plot error - {error_msg}") + + def _update_cfar_results(self, range_axis, range_profile, detections): + try: + # Clear the plot + self.ax1.clear() + + # Plot range profile + self.ax1.plot(range_axis, range_profile, 'b-', label='Range Profile') + + # Plot detections - ensure we use integer indices + if detections and len(range_axis) > 0: + detection_ranges = [] + detection_mags = [] + + for bin_idx, mag in detections: + # Convert bin_idx to integer and ensure it's within bounds + bin_idx_int = int(bin_idx) + if 0 <= bin_idx_int < len(range_axis): + detection_ranges.append(range_axis[bin_idx_int]) + detection_mags.append(mag) + + if detection_ranges: # Only plot if we have valid detections + self.ax1.plot(detection_ranges, detection_mags, 'ro', + markersize=8, label='CFAR Detections') + + self.ax1.set_title('Range Profile with CFAR Detections') + self.ax1.set_xlabel('Range (m)') + self.ax1.set_ylabel('Magnitude') + self.ax1.legend() + self.ax1.grid(True) + + # Update targets list + self.update_targets_list() + + self.canvas.draw() + self.status_label.config(text=f"Status: CFAR complete - {len(detections)} targets detected") + + except Exception as e: + logging.error(f"CFAR results update error: {e}") + error_msg = str(e) + self.status_label.config(text=f"Status: CFAR results error - {error_msg}") + + def update_targets_list(self): + """Update the targets list display""" + # Clear current list + for item in self.targets_tree.get_children(): + self.targets_tree.delete(item) + + # Add detected targets + for i, target in enumerate(self.detected_targets): + self.targets_tree.insert('', 'end', values=( + f"{target.range:.1f}", + f"{target.velocity:.1f}", + f"{target.azimuth}", + f"{target.elevation}", + f"{target.snr:.1f}", + target.chirp_type + )) + + def update_gui(self): + """Periodic GUI update""" + # You can add any periodic updates here + self.root.after(100, self.update_gui) + +def main(): + """Main application entry point""" + try: + root = tk.Tk() + app = RadarGUI(root) + root.mainloop() + except Exception as e: + logging.error(f"Application error: {e}") + messagebox.showerror("Fatal Error", f"Application failed to start: {e}") + +if __name__ == "__main__": + main() diff --git a/9_Firmware/9_3_GUI/GUI_V5.py b/9_Firmware/9_3_GUI/GUI_V5.py new file mode 100644 index 0000000..336a143 --- /dev/null +++ b/9_Firmware/9_3_GUI/GUI_V5.py @@ -0,0 +1,1542 @@ +import tkinter as tk +from tkinter import ttk, messagebox +import threading +import queue +import time +import struct +import numpy as np +import matplotlib.pyplot as plt +from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg +from matplotlib.figure import Figure +import matplotlib.patches as patches +import logging +from dataclasses import dataclass +from typing import Dict, List, Tuple, Optional +from scipy import signal +from sklearn.cluster import DBSCAN +from filterpy.kalman import KalmanFilter +import crcmod +import math +import webbrowser +import tempfile +import os + +try: + import usb.core + import usb.util + USB_AVAILABLE = True +except ImportError: + USB_AVAILABLE = False + logging.warning("pyusb not available. USB CDC functionality will be disabled.") + +try: + from pyftdi.ftdi import Ftdi + from pyftdi.usbtools import UsbTools + FTDI_AVAILABLE = True +except ImportError: + FTDI_AVAILABLE = False + logging.warning("pyftdi not available. FTDI functionality will be disabled.") + +# Configure logging +logging.basicConfig(level=logging.INFO, format='%(asctime)s - %(levelname)s - %(message)s') + +# Dark theme colors +DARK_BG = "#2b2b2b" +DARK_FG = "#e0e0e0" +DARK_ACCENT = "#3c3f41" +DARK_HIGHLIGHT = "#4e5254" +DARK_BORDER = "#555555" +DARK_TEXT = "#cccccc" +DARK_BUTTON = "#3c3f41" +DARK_BUTTON_HOVER = "#4e5254" +DARK_TREEVIEW = "#3c3f41" +DARK_TREEVIEW_ALT = "#404040" + +@dataclass +class RadarTarget: + id: int + range: float + velocity: float + azimuth: int + elevation: int + latitude: float = 0.0 + longitude: float = 0.0 + snr: float = 0.0 + timestamp: float = 0.0 + track_id: int = -1 + +@dataclass +class RadarSettings: + system_frequency: float = 10e9 + chirp_duration_1: float = 30e-6 # Long chirp duration + chirp_duration_2: float = 0.5e-6 # Short chirp duration + chirps_per_position: int = 32 + freq_min: float = 10e6 + freq_max: float = 30e6 + prf1: float = 1000 + prf2: float = 2000 + max_distance: float = 50000 + map_size: float = 50000 # Map size in meters + +@dataclass +class GPSData: + latitude: float + longitude: float + altitude: float + pitch: float # Pitch angle in degrees + timestamp: float + +class MapGenerator: + def __init__(self): + self.map_html_template = """ + + + + Radar Map + + + + + +
+ + + + + + + """ + + def generate_map(self, gps_data, targets, coverage_radius, api_key="YOUR_GOOGLE_MAPS_API_KEY"): + """Generate HTML map with radar and targets""" + # Convert targets to map coordinates + map_targets = [] + for target in targets: + # Convert polar coordinates (range, azimuth) to geographic coordinates + target_lat, target_lon = self.polar_to_geographic( + gps_data.latitude, gps_data.longitude, + target.range, target.azimuth + ) + map_targets.append({ + 'id': target.track_id, + 'lat': target_lat, + 'lng': target_lon, + 'range': target.range, + 'velocity': target.velocity, + 'azimuth': target.azimuth, + 'elevation': target.elevation, + 'snr': target.snr + }) + + # Generate targets script + targets_script = "" + if map_targets: + targets_json = str(map_targets).replace("'", '"') + targets_script = f"updateTargets({targets_json});" + + # Fill template + map_html = self.map_html_template.format( + lat=gps_data.latitude, + lon=gps_data.longitude, + alt=gps_data.altitude, + pitch=gps_data.pitch, + coverage_radius=coverage_radius, + targets_script=targets_script, + api_key=api_key + ) + + return map_html + + def polar_to_geographic(self, radar_lat, radar_lon, range_m, azimuth_deg): + """ + Convert polar coordinates (range, azimuth) to geographic coordinates + using simple flat-earth approximation (good for small distances) + """ + # Earth radius in meters + earth_radius = 6371000 + + # Convert azimuth to radians (0° = North, 90° = East) + azimuth_rad = math.radians(90 - azimuth_deg) # Convert to math convention + + # Convert range to angular distance + angular_distance = range_m / earth_radius + + # Convert to geographic coordinates + target_lat = radar_lat + math.cos(azimuth_rad) * angular_distance * (180 / math.pi) + target_lon = radar_lon + math.sin(azimuth_rad) * angular_distance * (180 / math.pi) / math.cos(math.radians(radar_lat)) + + return target_lat, target_lon + +class STM32USBInterface: + def __init__(self): + self.device = None + self.is_open = False + self.ep_in = None + self.ep_out = None + + def list_devices(self): + """List available STM32 USB CDC devices""" + if not USB_AVAILABLE: + logging.warning("USB not available - please install pyusb") + return [] + + try: + devices = [] + # STM32 USB CDC devices typically use these vendor/product IDs + stm32_vid_pids = [ + (0x0483, 0x5740), # STM32 Virtual COM Port + (0x0483, 0x3748), # STM32 Discovery + (0x0483, 0x374B), # STM32 CDC + (0x0483, 0x374D), # STM32 CDC + (0x0483, 0x374E), # STM32 CDC + (0x0483, 0x3752), # STM32 CDC + ] + + for vid, pid in stm32_vid_pids: + found_devices = usb.core.find(find_all=True, idVendor=vid, idProduct=pid) + for dev in found_devices: + try: + product = usb.util.get_string(dev, dev.iProduct) if dev.iProduct else "STM32 CDC" + serial = usb.util.get_string(dev, dev.iSerialNumber) if dev.iSerialNumber else "Unknown" + devices.append({ + 'description': f"{product} ({serial})", + 'vendor_id': vid, + 'product_id': pid, + 'device': dev + }) + except: + devices.append({ + 'description': f"STM32 CDC (VID:{vid:04X}, PID:{pid:04X})", + 'vendor_id': vid, + 'product_id': pid, + 'device': dev + }) + + return devices + except Exception as e: + logging.error(f"Error listing USB devices: {e}") + # Return mock devices for testing + return [{'description': 'STM32 Virtual COM Port', 'vendor_id': 0x0483, 'product_id': 0x5740}] + + def open_device(self, device_info): + """Open STM32 USB CDC device""" + if not USB_AVAILABLE: + logging.error("USB not available - cannot open device") + return False + + try: + self.device = device_info['device'] + + # Detach kernel driver if active + if self.device.is_kernel_driver_active(0): + self.device.detach_kernel_driver(0) + + # Set configuration + self.device.set_configuration() + + # Get CDC endpoints + cfg = self.device.get_active_configuration() + intf = cfg[(0,0)] + + # Find bulk endpoints (CDC data interface) + self.ep_out = usb.util.find_descriptor( + intf, + custom_match=lambda e: usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_OUT + ) + + self.ep_in = usb.util.find_descriptor( + intf, + custom_match=lambda e: usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_IN + ) + + if self.ep_out is None or self.ep_in is None: + logging.error("Could not find CDC endpoints") + return False + + self.is_open = True + logging.info(f"STM32 USB device opened: {device_info['description']}") + return True + + except Exception as e: + logging.error(f"Error opening USB device: {e}") + return False + + def send_start_flag(self): + """Step 12: Send start flag to STM32 via USB""" + start_packet = bytes([23, 46, 158, 237]) + logging.info("Sending start flag to STM32 via USB...") + return self._send_data(start_packet) + + def send_settings(self, settings): + """Step 13: Send radar settings to STM32 via USB""" + try: + packet = self._create_settings_packet(settings) + logging.info("Sending radar settings to STM32 via USB...") + return self._send_data(packet) + except Exception as e: + logging.error(f"Error sending settings via USB: {e}") + return False + + def read_data(self, size=64, timeout=1000): + """Read data from STM32 via USB""" + if not self.is_open or self.ep_in is None: + return None + + try: + data = self.ep_in.read(size, timeout=timeout) + return bytes(data) + except usb.core.USBError as e: + if e.errno == 110: # Timeout + return None + logging.error(f"USB read error: {e}") + return None + except Exception as e: + logging.error(f"Error reading from USB: {e}") + return None + + def _send_data(self, data): + """Send data to STM32 via USB""" + if not self.is_open or self.ep_out is None: + return False + + try: + # USB CDC typically uses 64-byte packets + packet_size = 64 + for i in range(0, len(data), packet_size): + chunk = data[i:i + packet_size] + # Pad to packet size if needed + if len(chunk) < packet_size: + chunk += b'\x00' * (packet_size - len(chunk)) + self.ep_out.write(chunk) + + return True + except Exception as e: + logging.error(f"Error sending data via USB: {e}") + return False + + def _create_settings_packet(self, settings): + """Create binary settings packet for USB transmission""" + packet = b'SET' + packet += struct.pack('>d', settings.system_frequency) + packet += struct.pack('>d', settings.chirp_duration_1) + packet += struct.pack('>d', settings.chirp_duration_2) + packet += struct.pack('>I', settings.chirps_per_position) + packet += struct.pack('>d', settings.freq_min) + packet += struct.pack('>d', settings.freq_max) + packet += struct.pack('>d', settings.prf1) + packet += struct.pack('>d', settings.prf2) + packet += struct.pack('>d', settings.max_distance) + packet += struct.pack('>d', settings.map_size) + packet += b'END' + return packet + + def close(self): + """Close USB device""" + if self.device and self.is_open: + try: + usb.util.dispose_resources(self.device) + self.is_open = False + except Exception as e: + logging.error(f"Error closing USB device: {e}") + +class FTDIInterface: + def __init__(self): + self.ftdi = None + self.is_open = False + + def list_devices(self): + """List available FTDI devices using pyftdi""" + if not FTDI_AVAILABLE: + logging.warning("FTDI not available - please install pyftdi") + return [] + + try: + devices = [] + # Get list of all FTDI devices + for device in UsbTools.find_all([(0x0403, 0x6010)]): # FT2232H vendor/product ID + devices.append({ + 'description': f"FTDI Device {device}", + 'url': f"ftdi://{device}/1" + }) + return devices + except Exception as e: + logging.error(f"Error listing FTDI devices: {e}") + # Return mock devices for testing + return [{'description': 'FT2232H Device A', 'url': 'ftdi://device/1'}] + + def open_device(self, device_url): + """Open FTDI device using pyftdi""" + if not FTDI_AVAILABLE: + logging.error("FTDI not available - cannot open device") + return False + + try: + self.ftdi = Ftdi() + self.ftdi.open_from_url(device_url) + + # Configure for synchronous FIFO mode + self.ftdi.set_bitmode(0xFF, Ftdi.BitMode.SYNCFF) + + # Set latency timer + self.ftdi.set_latency_timer(2) + + # Purge buffers + self.ftdi.purge_buffers() + + self.is_open = True + logging.info(f"FTDI device opened: {device_url}") + return True + + except Exception as e: + logging.error(f"Error opening FTDI device: {e}") + return False + + def read_data(self, bytes_to_read): + """Read data from FTDI""" + if not self.is_open or self.ftdi is None: + return None + + try: + data = self.ftdi.read_data(bytes_to_read) + if data: + return bytes(data) + return None + except Exception as e: + logging.error(f"Error reading from FTDI: {e}") + return None + + def close(self): + """Close FTDI device""" + if self.ftdi and self.is_open: + self.ftdi.close() + self.is_open = False + +class RadarProcessor: + def __init__(self): + self.range_doppler_map = np.zeros((1024, 32)) + self.detected_targets = [] + self.track_id_counter = 0 + self.tracks = {} + self.frame_count = 0 + + def dual_cpi_fusion(self, range_profiles_1, range_profiles_2): + """Dual-CPI fusion for better detection""" + fused_profile = np.mean(range_profiles_1, axis=0) + np.mean(range_profiles_2, axis=0) + return fused_profile + + def multi_prf_unwrap(self, doppler_measurements, prf1, prf2): + """Multi-PRF velocity unwrapping""" + lambda_wavelength = 3e8 / 10e9 + v_max1 = prf1 * lambda_wavelength / 2 + v_max2 = prf2 * lambda_wavelength / 2 + + unwrapped_velocities = [] + for doppler in doppler_measurements: + v1 = doppler * lambda_wavelength / 2 + v2 = doppler * lambda_wavelength / 2 + + velocity = self._solve_chinese_remainder(v1, v2, v_max1, v_max2) + unwrapped_velocities.append(velocity) + + return unwrapped_velocities + + def _solve_chinese_remainder(self, v1, v2, max1, max2): + for k in range(-5, 6): + candidate = v1 + k * max1 + if abs(candidate - v2) < max2 / 2: + return candidate + return v1 + + def clustering(self, detections, eps=100, min_samples=2): + """DBSCAN clustering of detections""" + if len(detections) == 0: + return [] + + points = np.array([[d.range, d.velocity] for d in detections]) + clustering = DBSCAN(eps=eps, min_samples=min_samples).fit(points) + + clusters = [] + for label in set(clustering.labels_): + if label != -1: + cluster_points = points[clustering.labels_ == label] + clusters.append({ + 'center': np.mean(cluster_points, axis=0), + 'points': cluster_points, + 'size': len(cluster_points) + }) + + return clusters + + def association(self, detections, clusters): + """Association of detections to tracks""" + associated_detections = [] + + for detection in detections: + best_track = None + min_distance = float('inf') + + for track_id, track in self.tracks.items(): + distance = np.sqrt( + (detection.range - track['state'][0])**2 + + (detection.velocity - track['state'][2])**2 + ) + + if distance < min_distance and distance < 500: + min_distance = distance + best_track = track_id + + if best_track is not None: + detection.track_id = best_track + associated_detections.append(detection) + else: + detection.track_id = self.track_id_counter + self.track_id_counter += 1 + associated_detections.append(detection) + + return associated_detections + + def tracking(self, associated_detections): + """Kalman filter tracking""" + current_time = time.time() + + for detection in associated_detections: + if detection.track_id not in self.tracks: + kf = KalmanFilter(dim_x=4, dim_z=2) + kf.x = np.array([detection.range, 0, detection.velocity, 0]) + kf.F = np.array([[1, 1, 0, 0], + [0, 1, 0, 0], + [0, 0, 1, 1], + [0, 0, 0, 1]]) + kf.H = np.array([[1, 0, 0, 0], + [0, 0, 1, 0]]) + kf.P *= 1000 + kf.R = np.diag([10, 1]) + kf.Q = np.eye(4) * 0.1 + + self.tracks[detection.track_id] = { + 'filter': kf, + 'state': kf.x, + 'last_update': current_time, + 'hits': 1 + } + else: + track = self.tracks[detection.track_id] + track['filter'].predict() + track['filter'].update([detection.range, detection.velocity]) + track['state'] = track['filter'].x + track['last_update'] = current_time + track['hits'] += 1 + + stale_tracks = [tid for tid, track in self.tracks.items() + if current_time - track['last_update'] > 5.0] + for tid in stale_tracks: + del self.tracks[tid] + +class USBPacketParser: + def __init__(self): + self.crc16_func = crcmod.mkCrcFun(0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000) + + def parse_gps_data(self, data): + """Parse GPS data from STM32 USB CDC with pitch angle""" + if not data: + return None + + try: + # Try text format first: "GPS:lat,lon,alt,pitch\r\n" + text_data = data.decode('utf-8', errors='ignore').strip() + if text_data.startswith('GPS:'): + parts = text_data.split(':')[1].split(',') + if len(parts) == 4: # Now expecting 4 values + lat = float(parts[0]) + lon = float(parts[1]) + alt = float(parts[2]) + pitch = float(parts[3]) # Pitch angle in degrees + return GPSData(latitude=lat, longitude=lon, altitude=alt, pitch=pitch, timestamp=time.time()) + + # Try binary format (30 bytes with pitch) + if len(data) >= 30 and data[0:4] == b'GPSB': + return self._parse_binary_gps_with_pitch(data) + + except Exception as e: + logging.error(f"Error parsing GPS data: {e}") + + return None + + def _parse_binary_gps_with_pitch(self, data): + """Parse binary GPS format with pitch angle (30 bytes)""" + try: + # Binary format: [Header 4][Latitude 8][Longitude 8][Altitude 4][Pitch 4][CRC 2] + if len(data) < 30: + return None + + # Verify CRC (simple checksum) + crc_received = (data[28] << 8) | data[29] + crc_calculated = sum(data[0:28]) & 0xFFFF + + if crc_received != crc_calculated: + logging.warning("GPS CRC mismatch") + return None + + # Parse latitude (double, big-endian) + lat_bits = 0 + for i in range(8): + lat_bits = (lat_bits << 8) | data[4 + i] + latitude = struct.unpack('>d', struct.pack('>Q', lat_bits))[0] + + # Parse longitude (double, big-endian) + lon_bits = 0 + for i in range(8): + lon_bits = (lon_bits << 8) | data[12 + i] + longitude = struct.unpack('>d', struct.pack('>Q', lon_bits))[0] + + # Parse altitude (float, big-endian) + alt_bits = 0 + for i in range(4): + alt_bits = (alt_bits << 8) | data[20 + i] + altitude = struct.unpack('>f', struct.pack('>I', alt_bits))[0] + + # Parse pitch angle (float, big-endian) + pitch_bits = 0 + for i in range(4): + pitch_bits = (pitch_bits << 8) | data[24 + i] + pitch = struct.unpack('>f', struct.pack('>I', pitch_bits))[0] + + return GPSData( + latitude=latitude, + longitude=longitude, + altitude=altitude, + pitch=pitch, + timestamp=time.time() + ) + + except Exception as e: + logging.error(f"Error parsing binary GPS with pitch: {e}") + return None + +class RadarPacketParser: + def __init__(self): + self.sync_pattern = b'\xA5\xC3' + self.crc16_func = crcmod.mkCrcFun(0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000) + + def parse_packet(self, data): + if len(data) < 6: + return None + + sync_index = data.find(self.sync_pattern) + if sync_index == -1: + return None + + packet = data[sync_index:] + + if len(packet) < 6: + return None + + sync = packet[0:2] + packet_type = packet[2] + length = packet[3] + + if len(packet) < (4 + length + 2): + return None + + payload = packet[4:4+length] + crc_received = struct.unpack('I', payload[0:4])[0] + elevation = payload[4] & 0x1F + azimuth = payload[5] & 0x3F + chirp_counter = payload[6] & 0x1F + + return { + 'type': 'range', + 'range': range_value, + 'elevation': elevation, + 'azimuth': azimuth, + 'chirp': chirp_counter, + 'timestamp': time.time() + } + except Exception as e: + logging.error(f"Error parsing range packet: {e}") + return None + + def parse_doppler_packet(self, payload): + if len(payload) < 12: + return None + + try: + doppler_real = struct.unpack('>h', payload[0:2])[0] + doppler_imag = struct.unpack('>h', payload[2:4])[0] + elevation = payload[4] & 0x1F + azimuth = payload[5] & 0x3F + chirp_counter = payload[6] & 0x1F + + return { + 'type': 'doppler', + 'doppler_real': doppler_real, + 'doppler_imag': doppler_imag, + 'elevation': elevation, + 'azimuth': azimuth, + 'chirp': chirp_counter, + 'timestamp': time.time() + } + except Exception as e: + logging.error(f"Error parsing Doppler packet: {e}") + return None + + def parse_detection_packet(self, payload): + if len(payload) < 8: + return None + + try: + detection_flag = (payload[0] & 0x01) != 0 + elevation = payload[1] & 0x1F + azimuth = payload[2] & 0x3F + chirp_counter = payload[3] & 0x1F + + return { + 'type': 'detection', + 'detected': detection_flag, + 'elevation': elevation, + 'azimuth': azimuth, + 'chirp': chirp_counter, + 'timestamp': time.time() + } + except Exception as e: + logging.error(f"Error parsing detection packet: {e}") + return None + +class RadarGUI: + def __init__(self, root): + self.root = root + self.root.title("Advanced Radar System GUI - USB CDC with Google Maps") + self.root.geometry("1400x900") + + # Apply dark theme to root window + self.root.configure(bg=DARK_BG) + + # Configure ttk style for dark theme + self.style = ttk.Style() + self.style.theme_use('clam') # Use 'clam' as base for better customization + + # Configure dark theme colors + self.configure_dark_theme() + + # Initialize interfaces + self.stm32_usb_interface = STM32USBInterface() + self.ftdi_interface = FTDIInterface() + self.radar_processor = RadarProcessor() + self.usb_packet_parser = USBPacketParser() + self.radar_packet_parser = RadarPacketParser() + self.map_generator = MapGenerator() + self.settings = RadarSettings() + + # Data queues + self.radar_data_queue = queue.Queue() + self.gps_data_queue = queue.Queue() + + # Thread control + self.running = False + self.radar_thread = None + self.gps_thread = None + + # Counters + self.received_packets = 0 + self.current_gps = GPSData(latitude=41.9028, longitude=12.4964, altitude=0, pitch=0.0, timestamp=0) + self.corrected_elevations = [] # Store corrected elevation values + self.map_file_path = None + self.google_maps_api_key = "YOUR_GOOGLE_MAPS_API_KEY" # Replace with your API key + + self.create_gui() + self.start_background_threads() + + def configure_dark_theme(self): + """Configure ttk style for dark mercury theme""" + self.style.configure('.', + background=DARK_BG, + foreground=DARK_FG, + fieldbackground=DARK_ACCENT, + selectbackground=DARK_HIGHLIGHT, + selectforeground=DARK_FG, + troughcolor=DARK_ACCENT, + borderwidth=1, + focuscolor=DARK_BORDER) + + # Configure specific widgets + self.style.configure('TFrame', background=DARK_BG) + self.style.configure('TLabel', background=DARK_BG, foreground=DARK_FG) + self.style.configure('TButton', + background=DARK_BUTTON, + foreground=DARK_FG, + borderwidth=1, + focuscolor=DARK_BORDER) + self.style.map('TButton', + background=[('active', DARK_BUTTON_HOVER), + ('pressed', DARK_HIGHLIGHT)]) + + self.style.configure('TCombobox', + fieldbackground=DARK_ACCENT, + background=DARK_BG, + foreground=DARK_FG, + arrowcolor=DARK_FG) + self.style.map('TCombobox', + fieldbackground=[('readonly', DARK_ACCENT)], + selectbackground=[('readonly', DARK_HIGHLIGHT)], + selectforeground=[('readonly', DARK_FG)]) + + self.style.configure('TNotebook', background=DARK_BG, borderwidth=0) + self.style.configure('TNotebook.Tab', + background=DARK_ACCENT, + foreground=DARK_FG, + padding=[10, 5]) + self.style.map('TNotebook.Tab', + background=[('selected', DARK_HIGHLIGHT), + ('active', DARK_BUTTON_HOVER)]) + + self.style.configure('Treeview', + background=DARK_TREEVIEW, + foreground=DARK_FG, + fieldbackground=DARK_TREEVIEW, + borderwidth=0) + self.style.map('Treeview', + background=[('selected', DARK_HIGHLIGHT)]) + + self.style.configure('Treeview.Heading', + background=DARK_ACCENT, + foreground=DARK_FG, + relief='flat') + self.style.map('Treeview.Heading', + background=[('active', DARK_BUTTON_HOVER)]) + + self.style.configure('TEntry', + fieldbackground=DARK_ACCENT, + foreground=DARK_FG, + insertcolor=DARK_FG) + + self.style.configure('Vertical.TScrollbar', + background=DARK_ACCENT, + troughcolor=DARK_BG, + borderwidth=0, + arrowsize=12) + self.style.configure('Horizontal.TScrollbar', + background=DARK_ACCENT, + troughcolor=DARK_BG, + borderwidth=0, + arrowsize=12) + + self.style.configure('TLabelFrame', + background=DARK_BG, + foreground=DARK_FG, + bordercolor=DARK_BORDER) + self.style.configure('TLabelFrame.Label', + background=DARK_BG, + foreground=DARK_FG) + + def create_gui(self): + """Create the main GUI with tabs""" + self.notebook = ttk.Notebook(self.root) + self.notebook.pack(fill='both', expand=True, padx=10, pady=10) + + self.tab_main = ttk.Frame(self.notebook) + self.tab_map = ttk.Frame(self.notebook) + self.tab_diagnostics = ttk.Frame(self.notebook) + self.tab_settings = ttk.Frame(self.notebook) + + self.notebook.add(self.tab_main, text='Main View') + self.notebook.add(self.tab_map, text='Map View') + self.notebook.add(self.tab_diagnostics, text='Diagnostics') + self.notebook.add(self.tab_settings, text='Settings') + + self.setup_main_tab() + self.setup_map_tab() + self.setup_settings_tab() + + def setup_main_tab(self): + """Setup the main radar display tab""" + # Control frame + control_frame = ttk.Frame(self.tab_main) + control_frame.pack(fill='x', padx=10, pady=5) + + # USB Device selection + ttk.Label(control_frame, text="STM32 USB Device:").grid(row=0, column=0, padx=5) + self.stm32_usb_combo = ttk.Combobox(control_frame, state="readonly", width=40) + self.stm32_usb_combo.grid(row=0, column=1, padx=5) + + ttk.Label(control_frame, text="FTDI Device:").grid(row=0, column=2, padx=5) + self.ftdi_combo = ttk.Combobox(control_frame, state="readonly", width=30) + self.ftdi_combo.grid(row=0, column=3, padx=5) + + ttk.Button(control_frame, text="Refresh Devices", + command=self.refresh_devices).grid(row=0, column=4, padx=5) + + self.start_button = ttk.Button(control_frame, text="Start Radar", + command=self.start_radar) + self.start_button.grid(row=0, column=5, padx=5) + + self.stop_button = ttk.Button(control_frame, text="Stop Radar", + command=self.stop_radar, state="disabled") + self.stop_button.grid(row=0, column=6, padx=5) + + # GPS and Pitch info + self.gps_label = ttk.Label(control_frame, text="GPS: Waiting for data...") + self.gps_label.grid(row=1, column=0, columnspan=4, sticky='w', padx=5, pady=2) + + # Pitch display + self.pitch_label = ttk.Label(control_frame, text="Pitch: --.--°") + self.pitch_label.grid(row=1, column=4, columnspan=2, padx=5, pady=2) + + # Status info + self.status_label = ttk.Label(control_frame, text="Status: Ready") + self.status_label.grid(row=1, column=6, sticky='e', padx=5, pady=2) + + # Main display area + display_frame = ttk.Frame(self.tab_main) + display_frame.pack(fill='both', expand=True, padx=10, pady=5) + + # Range-Doppler Map with dark theme + plt.style.use('dark_background') + fig = Figure(figsize=(10, 6), facecolor=DARK_BG) + self.range_doppler_ax = fig.add_subplot(111, facecolor=DARK_ACCENT) + self.range_doppler_plot = self.range_doppler_ax.imshow( + np.random.rand(1024, 32), aspect='auto', cmap='hot', + extent=[0, 32, 0, 1024]) + self.range_doppler_ax.set_title('Range-Doppler Map (Pitch Corrected)', color=DARK_FG) + self.range_doppler_ax.set_xlabel('Doppler Bin', color=DARK_FG) + self.range_doppler_ax.set_ylabel('Range Bin', color=DARK_FG) + self.range_doppler_ax.tick_params(colors=DARK_FG) + self.range_doppler_ax.spines['bottom'].set_color(DARK_FG) + self.range_doppler_ax.spines['top'].set_color(DARK_FG) + self.range_doppler_ax.spines['left'].set_color(DARK_FG) + self.range_doppler_ax.spines['right'].set_color(DARK_FG) + + self.canvas = FigureCanvasTkAgg(fig, display_frame) + self.canvas.draw() + self.canvas.get_tk_widget().pack(side='left', fill='both', expand=True) + + # Targets list with corrected elevation + targets_frame = ttk.LabelFrame(display_frame, text="Detected Targets (Pitch Corrected)") + targets_frame.pack(side='right', fill='y', padx=5) + + self.targets_tree = ttk.Treeview(targets_frame, + columns=('ID', 'Range', 'Velocity', 'Azimuth', 'Elevation', 'Corrected Elev', 'SNR'), + show='headings', height=20) + self.targets_tree.heading('ID', text='Track ID') + self.targets_tree.heading('Range', text='Range (m)') + self.targets_tree.heading('Velocity', text='Velocity (m/s)') + self.targets_tree.heading('Azimuth', text='Azimuth') + self.targets_tree.heading('Elevation', text='Raw Elev') + self.targets_tree.heading('Corrected Elev', text='Corr Elev') + self.targets_tree.heading('SNR', text='SNR (dB)') + + self.targets_tree.column('ID', width=70) + self.targets_tree.column('Range', width=90) + self.targets_tree.column('Velocity', width=90) + self.targets_tree.column('Azimuth', width=70) + self.targets_tree.column('Elevation', width=70) + self.targets_tree.column('Corrected Elev', width=70) + self.targets_tree.column('SNR', width=70) + + # Add scrollbar to targets tree + tree_scroll = ttk.Scrollbar(targets_frame, orient="vertical", command=self.targets_tree.yview) + self.targets_tree.configure(yscrollcommand=tree_scroll.set) + self.targets_tree.pack(side='left', fill='both', expand=True, padx=5, pady=5) + tree_scroll.pack(side='right', fill='y', padx=(0, 5), pady=5) + + def setup_map_tab(self): + """Setup the map display tab with Google Maps""" + map_frame = ttk.Frame(self.tab_map) + map_frame.pack(fill='both', expand=True, padx=10, pady=10) + + # Map controls + controls_frame = ttk.Frame(map_frame) + controls_frame.pack(fill='x', pady=5) + + ttk.Button(controls_frame, text="Open Map in Browser", + command=self.open_map_in_browser).pack(side='left', padx=5) + + ttk.Button(controls_frame, text="Refresh Map", + command=self.refresh_map).pack(side='left', padx=5) + + self.map_status_label = ttk.Label(controls_frame, text="Map: Ready to generate") + self.map_status_label.pack(side='left', padx=20) + + # Map info display + info_frame = ttk.Frame(map_frame) + info_frame.pack(fill='x', pady=5) + + self.map_info_label = ttk.Label(info_frame, text="No GPS data received yet", font=('Arial', 10)) + self.map_info_label.pack() + + def setup_settings_tab(self): + """Setup the settings tab with additional chirp durations and map size""" + settings_frame = ttk.Frame(self.tab_settings) + settings_frame.pack(fill='both', expand=True, padx=10, pady=10) + + entries = [ + ('System Frequency (Hz):', 'system_frequency', 10e9), + ('Chirp Duration 1 - Long (s):', 'chirp_duration_1', 30e-6), + ('Chirp Duration 2 - Short (s):', 'chirp_duration_2', 0.5e-6), + ('Chirps per Position:', 'chirps_per_position', 32), + ('Frequency Min (Hz):', 'freq_min', 10e6), + ('Frequency Max (Hz):', 'freq_max', 30e6), + ('PRF1 (Hz):', 'prf1', 1000), + ('PRF2 (Hz):', 'prf2', 2000), + ('Max Distance (m):', 'max_distance', 50000), + ('Map Size (m):', 'map_size', 50000), + ('Google Maps API Key:', 'google_maps_api_key', 'YOUR_GOOGLE_MAPS_API_KEY') + ] + + self.settings_vars = {} + + for i, (label, attr, default) in enumerate(entries): + ttk.Label(settings_frame, text=label).grid(row=i, column=0, sticky='w', padx=5, pady=5) + var = tk.StringVar(value=str(default)) + entry = ttk.Entry(settings_frame, textvariable=var, width=25) + entry.grid(row=i, column=1, padx=5, pady=5) + self.settings_vars[attr] = var + + ttk.Button(settings_frame, text="Apply Settings", + command=self.apply_settings).grid(row=len(entries), column=0, columnspan=2, pady=10) + + def apply_pitch_correction(self, raw_elevation, pitch_angle): + """ + Apply pitch correction to elevation angle + raw_elevation: measured elevation from radar (degrees) + pitch_angle: antenna pitch angle from IMU (degrees) + Returns: corrected elevation angle (degrees) + """ + # Convert to radians for trigonometric functions + raw_elev_rad = math.radians(raw_elevation) + pitch_rad = math.radians(pitch_angle) + + # Apply pitch correction: corrected_elev = raw_elev - pitch + # This assumes the pitch angle is positive when antenna is tilted up + corrected_elev_rad = raw_elev_rad - pitch_rad + + # Convert back to degrees and ensure it's within valid range + corrected_elev_deg = math.degrees(corrected_elev_rad) + + # Normalize to 0-180 degree range + corrected_elev_deg = corrected_elev_deg % 180 + if corrected_elev_deg < 0: + corrected_elev_deg += 180 + + return corrected_elev_deg + + def refresh_devices(self): + """Refresh available USB devices""" + # STM32 USB devices + stm32_devices = self.stm32_usb_interface.list_devices() + stm32_names = [dev['description'] for dev in stm32_devices] + self.stm32_usb_combo['values'] = stm32_names + + # FTDI devices + ftdi_devices = self.ftdi_interface.list_devices() + ftdi_names = [dev['description'] for dev in ftdi_devices] + self.ftdi_combo['values'] = ftdi_names + + if stm32_names: + self.stm32_usb_combo.current(0) + if ftdi_names: + self.ftdi_combo.current(0) + + def start_radar(self): + """Step 11: Start button pressed - Begin radar operation""" + try: + # Open STM32 USB device + stm32_index = self.stm32_usb_combo.current() + if stm32_index == -1: + messagebox.showerror("Error", "Please select an STM32 USB device") + return + + stm32_devices = self.stm32_usb_interface.list_devices() + if stm32_index >= len(stm32_devices): + messagebox.showerror("Error", "Invalid STM32 device selection") + return + + if not self.stm32_usb_interface.open_device(stm32_devices[stm32_index]): + messagebox.showerror("Error", "Failed to open STM32 USB device") + return + + # Open FTDI device + if FTDI_AVAILABLE: + ftdi_index = self.ftdi_combo.current() + if ftdi_index != -1: + ftdi_devices = self.ftdi_interface.list_devices() + if ftdi_index < len(ftdi_devices): + device_url = ftdi_devices[ftdi_index]['url'] + if not self.ftdi_interface.open_device(device_url): + logging.warning("Failed to open FTDI device, continuing without radar data") + else: + logging.warning("No FTDI device selected, continuing without radar data") + else: + logging.warning("FTDI not available, continuing without radar data") + + # Step 12: Send start flag to STM32 via USB + if not self.stm32_usb_interface.send_start_flag(): + messagebox.showerror("Error", "Failed to send start flag to STM32") + return + + # Step 13: Send settings to STM32 via USB + self.apply_settings() + + # Start radar operation + self.running = True + self.start_button.config(state="disabled") + self.stop_button.config(state="normal") + self.status_label.config(text="Status: Radar running - Waiting for GPS data...") + + logging.info("Radar system started successfully via USB CDC") + + except Exception as e: + messagebox.showerror("Error", f"Failed to start radar: {e}") + logging.error(f"Start radar error: {e}") + + def stop_radar(self): + """Stop radar operation""" + self.running = False + self.start_button.config(state="normal") + self.stop_button.config(state="disabled") + self.status_label.config(text="Status: Radar stopped") + + self.stm32_usb_interface.close() + self.ftdi_interface.close() + + logging.info("Radar system stopped") + + def apply_settings(self): + """Step 13: Apply and send radar settings via USB""" + try: + self.settings.system_frequency = float(self.settings_vars['system_frequency'].get()) + self.settings.chirp_duration_1 = float(self.settings_vars['chirp_duration_1'].get()) + self.settings.chirp_duration_2 = float(self.settings_vars['chirp_duration_2'].get()) + self.settings.chirps_per_position = int(self.settings_vars['chirps_per_position'].get()) + self.settings.freq_min = float(self.settings_vars['freq_min'].get()) + self.settings.freq_max = float(self.settings_vars['freq_max'].get()) + self.settings.prf1 = float(self.settings_vars['prf1'].get()) + self.settings.prf2 = float(self.settings_vars['prf2'].get()) + self.settings.max_distance = float(self.settings_vars['max_distance'].get()) + self.settings.map_size = float(self.settings_vars['map_size'].get()) + self.google_maps_api_key = self.settings_vars['google_maps_api_key'].get() + + if self.stm32_usb_interface.is_open: + self.stm32_usb_interface.send_settings(self.settings) + + messagebox.showinfo("Success", "Settings applied and sent to STM32 via USB") + logging.info("Radar settings applied via USB") + + except ValueError as e: + messagebox.showerror("Error", f"Invalid setting value: {e}") + + def start_background_threads(self): + """Start background data processing threads""" + self.radar_thread = threading.Thread(target=self.process_radar_data, daemon=True) + self.radar_thread.start() + + self.gps_thread = threading.Thread(target=self.process_gps_data, daemon=True) + self.gps_thread.start() + + self.root.after(100, self.update_gui) + + def process_radar_data(self): + """Step 39: Process incoming radar data from FTDI""" + buffer = b'' + while True: + if self.running and self.ftdi_interface.is_open: + try: + data = self.ftdi_interface.read_data(4096) + if data: + buffer += data + + while len(buffer) >= 6: + packet = self.radar_packet_parser.parse_packet(buffer) + if packet: + self.process_radar_packet(packet) + packet_length = 4 + len(packet.get('payload', b'')) + 2 + buffer = buffer[packet_length:] + self.received_packets += 1 + else: + break + + except Exception as e: + logging.error(f"Error processing radar data: {e}") + time.sleep(0.1) + else: + time.sleep(0.1) + + def process_gps_data(self): + """Step 16/17: Process GPS data from STM32 via USB CDC""" + while True: + if self.running and self.stm32_usb_interface.is_open: + try: + # Read data from STM32 USB + data = self.stm32_usb_interface.read_data(64, timeout=100) + if data: + gps_data = self.usb_packet_parser.parse_gps_data(data) + if gps_data: + self.gps_data_queue.put(gps_data) + logging.info(f"GPS Data received via USB: Lat {gps_data.latitude:.6f}, Lon {gps_data.longitude:.6f}, Alt {gps_data.altitude:.1f}m, Pitch {gps_data.pitch:.1f}°") + except Exception as e: + logging.error(f"Error processing GPS data via USB: {e}") + time.sleep(0.1) + + def process_radar_packet(self, packet): + """Step 40: Process radar data and apply pitch correction""" + try: + if packet['type'] == 'range': + range_meters = packet['range'] * 0.1 + + # Apply pitch correction to elevation + raw_elevation = packet['elevation'] + corrected_elevation = self.apply_pitch_correction(raw_elevation, self.current_gps.pitch) + + # Store correction for display + self.corrected_elevations.append({ + 'raw': raw_elevation, + 'corrected': corrected_elevation, + 'pitch': self.current_gps.pitch, + 'timestamp': packet['timestamp'] + }) + + # Keep only recent corrections + if len(self.corrected_elevations) > 100: + self.corrected_elevations = self.corrected_elevations[-100:] + + target = RadarTarget( + id=packet['chirp'], + range=range_meters, + velocity=0, + azimuth=packet['azimuth'], + elevation=corrected_elevation, # Use corrected elevation + snr=20.0, + timestamp=packet['timestamp'] + ) + + self.update_range_doppler_map(target) + + elif packet['type'] == 'doppler': + lambda_wavelength = 3e8 / self.settings.system_frequency + velocity = (packet['doppler_real'] / 32767.0) * (self.settings.prf1 * lambda_wavelength / 2) + self.update_target_velocity(packet, velocity) + + elif packet['type'] == 'detection': + if packet['detected']: + # Apply pitch correction to detection elevation + raw_elevation = packet['elevation'] + corrected_elevation = self.apply_pitch_correction(raw_elevation, self.current_gps.pitch) + + logging.info(f"CFAR Detection: Raw Elev {raw_elevation}°, Corrected Elev {corrected_elevation:.1f}°, Pitch {self.current_gps.pitch:.1f}°") + + except Exception as e: + logging.error(f"Error processing radar packet: {e}") + + def update_range_doppler_map(self, target): + """Update range-Doppler map with new target""" + range_bin = min(int(target.range / 50), 1023) + doppler_bin = min(abs(int(target.velocity)), 31) + + self.radar_processor.range_doppler_map[range_bin, doppler_bin] += 1 + + self.radar_processor.detected_targets.append(target) + + if len(self.radar_processor.detected_targets) > 100: + self.radar_processor.detected_targets = self.radar_processor.detected_targets[-100:] + + def update_target_velocity(self, packet, velocity): + """Update target velocity information""" + for target in self.radar_processor.detected_targets: + if (target.azimuth == packet['azimuth'] and + target.elevation == packet['elevation'] and + target.id == packet['chirp']): + target.velocity = velocity + break + + def open_map_in_browser(self): + """Open the generated map in the default web browser""" + if self.map_file_path and os.path.exists(self.map_file_path): + webbrowser.open('file://' + os.path.abspath(self.map_file_path)) + else: + messagebox.showwarning("Warning", "No map file available. Generate map first by receiving GPS data.") + + def refresh_map(self): + """Refresh the map with current data""" + self.generate_map() + + def generate_map(self): + """Generate Google Maps HTML file with current targets""" + if self.current_gps.latitude == 0 and self.current_gps.longitude == 0: + self.map_status_label.config(text="Map: Waiting for GPS data") + return + + try: + # Create temporary HTML file + with tempfile.NamedTemporaryFile(mode='w', suffix='.html', delete=False, encoding='utf-8') as f: + map_html = self.map_generator.generate_map( + self.current_gps, + self.radar_processor.detected_targets, + self.settings.map_size, + self.google_maps_api_key + ) + f.write(map_html) + self.map_file_path = f.name + + self.map_status_label.config(text=f"Map: Generated at {self.map_file_path}") + self.map_info_label.config( + text=f"Radar: {self.current_gps.latitude:.6f}, {self.current_gps.longitude:.6f} | " + f"Targets: {len(self.radar_processor.detected_targets)} | " + f"Coverage: {self.settings.map_size/1000:.1f}km" + ) + logging.info(f"Map generated: {self.map_file_path}") + + except Exception as e: + logging.error(f"Error generating map: {e}") + self.map_status_label.config(text=f"Map: Error - {str(e)}") + + def update_gps_display(self): + """Step 18: Update GPS and pitch display""" + try: + while not self.gps_data_queue.empty(): + gps_data = self.gps_data_queue.get_nowait() + self.current_gps = gps_data + + # Update GPS label + self.gps_label.config( + text=f"GPS: Lat {gps_data.latitude:.6f}, Lon {gps_data.longitude:.6f}, Alt {gps_data.altitude:.1f}m") + + # Update pitch label with color coding + pitch_text = f"Pitch: {gps_data.pitch:+.1f}°" + self.pitch_label.config(text=pitch_text) + + # Color code based on pitch magnitude + if abs(gps_data.pitch) > 10: + self.pitch_label.config(foreground='red') # High pitch warning + elif abs(gps_data.pitch) > 5: + self.pitch_label.config(foreground='orange') # Medium pitch + else: + self.pitch_label.config(foreground='green') # Normal pitch + + # Generate/update map when new GPS data arrives + self.generate_map() + + except queue.Empty: + pass + + def update_targets_list(self): + """Update the targets list display with corrected elevations""" + for item in self.targets_tree.get_children(): + self.targets_tree.delete(item) + + for target in self.radar_processor.detected_targets[-20:]: + # Find the corresponding raw elevation if available + raw_elevation = "N/A" + for correction in self.corrected_elevations[-20:]: + if abs(correction['corrected'] - target.elevation) < 0.1: # Fuzzy match + raw_elevation = f"{correction['raw']}" + break + + self.targets_tree.insert('', 'end', values=( + target.track_id, + f"{target.range:.1f}", + f"{target.velocity:.1f}", + target.azimuth, + raw_elevation, # Show raw elevation + f"{target.elevation:.1f}", # Show corrected elevation + f"{target.snr:.1f}" + )) + + + def update_gui(self): + """Step 40: Update all GUI displays""" + try: + # Update status with pitch information + if self.running: + self.status_label.config( + text=f"Status: Running - Packets: {self.received_packets} - Pitch: {self.current_gps.pitch:+.1f}°") + + # Update range-Doppler map + if hasattr(self, 'range_doppler_plot'): + display_data = np.log10(self.radar_processor.range_doppler_map + 1) + self.range_doppler_plot.set_array(display_data) + self.canvas.draw_idle() + + # Update targets list + self.update_targets_list() + + # Update GPS and pitch display + self.update_gps_display() + + except Exception as e: + logging.error(f"Error updating GUI: {e}") + + self.root.after(100, self.update_gui) + +def main(): + """Main application entry point""" + try: + root = tk.Tk() + app = RadarGUI(root) + root.mainloop() + except Exception as e: + logging.error(f"Application error: {e}") + messagebox.showerror("Fatal Error", f"Application failed to start: {e}") + +if __name__ == "__main__": + main() diff --git a/9_Firmware/9_3_GUI/GUI_V5_Demo.py b/9_Firmware/9_3_GUI/GUI_V5_Demo.py new file mode 100644 index 0000000..7a88b94 --- /dev/null +++ b/9_Firmware/9_3_GUI/GUI_V5_Demo.py @@ -0,0 +1,1356 @@ +import tkinter as tk +from tkinter import ttk, messagebox +import threading +import queue +import time +import struct +import numpy as np +import matplotlib.pyplot as plt +from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg +from matplotlib.figure import Figure +import matplotlib.patches as patches +import logging +from dataclasses import dataclass +from typing import Dict, List, Tuple, Optional +from scipy import signal +from sklearn.cluster import DBSCAN +from filterpy.kalman import KalmanFilter +import crcmod +import math +import webbrowser +import tempfile +import os +import random +import json + +# Try to import tkinterweb for embedded browser +try: + import tkinterweb + TKINTERWEB_AVAILABLE = True + logging.info("tkinterweb available - Embedded browser enabled") +except ImportError: + TKINTERWEB_AVAILABLE = False + logging.warning("tkinterweb not available. Please install: pip install tkinterweb") + +try: + import usb.core + import usb.util + USB_AVAILABLE = True +except ImportError: + USB_AVAILABLE = False + logging.warning("pyusb not available. USB CDC functionality will be disabled.") + +try: + from pyftdi.ftdi import Ftdi + from pyftdi.usbtools import UsbTools + FTDI_AVAILABLE = True +except ImportError: + FTDI_AVAILABLE = False + logging.warning("pyftdi not available. FTDI functionality will be disabled.") + +# Configure logging +logging.basicConfig(level=logging.INFO, format='%(asctime)s - %(levelname)s - %(message)s') + +# Dark theme colors +DARK_BG = "#2b2b2b" +DARK_FG = "#e0e0e0" +DARK_ACCENT = "#3c3f41" +DARK_HIGHLIGHT = "#4e5254" +DARK_BORDER = "#555555" +DARK_TEXT = "#cccccc" +DARK_BUTTON = "#3c3f41" +DARK_BUTTON_HOVER = "#4e5254" +DARK_TREEVIEW = "#3c3f41" +DARK_TREEVIEW_ALT = "#404040" + +@dataclass +class RadarTarget: + id: int + range: float + velocity: float + azimuth: int + elevation: int + latitude: float = 0.0 + longitude: float = 0.0 + snr: float = 0.0 + timestamp: float = 0.0 + track_id: int = -1 + +@dataclass +class RadarSettings: + system_frequency: float = 10e9 + chirp_duration_1: float = 30e-6 # Long chirp duration + chirp_duration_2: float = 0.5e-6 # Short chirp duration + chirps_per_position: int = 32 + freq_min: float = 10e6 + freq_max: float = 30e6 + prf1: float = 1000 + prf2: float = 2000 + max_distance: float = 50000 + map_size: float = 50000 # Map size in meters + +@dataclass +class GPSData: + latitude: float + longitude: float + altitude: float + pitch: float # Pitch angle in degrees + timestamp: float + +class RadarProcessor: + def __init__(self): + self.range_doppler_map = np.zeros((1024, 32)) + self.detected_targets = [] + self.track_id_counter = 0 + self.tracks = {} + self.frame_count = 0 + + def dual_cpi_fusion(self, range_profiles_1, range_profiles_2): + """Dual-CPI fusion for better detection""" + fused_profile = np.mean(range_profiles_1, axis=0) + np.mean(range_profiles_2, axis=0) + return fused_profile + + def multi_prf_unwrap(self, doppler_measurements, prf1, prf2): + """Multi-PRF velocity unwrapping""" + lambda_wavelength = 3e8 / 10e9 + v_max1 = prf1 * lambda_wavelength / 2 + v_max2 = prf2 * lambda_wavelength / 2 + + unwrapped_velocities = [] + for doppler in doppler_measurements: + v1 = doppler * lambda_wavelength / 2 + v2 = doppler * lambda_wavelength / 2 + + velocity = self._solve_chinese_remainder(v1, v2, v_max1, v_max2) + unwrapped_velocities.append(velocity) + + return unwrapped_velocities + + def _solve_chinese_remainder(self, v1, v2, max1, max2): + for k in range(-5, 6): + candidate = v1 + k * max1 + if abs(candidate - v2) < max2 / 2: + return candidate + return v1 + + def clustering(self, detections, eps=100, min_samples=2): + """DBSCAN clustering of detections""" + if len(detections) == 0: + return [] + + points = np.array([[d.range, d.velocity] for d in detections]) + clustering = DBSCAN(eps=eps, min_samples=min_samples).fit(points) + + clusters = [] + for label in set(clustering.labels_): + if label != -1: + cluster_points = points[clustering.labels_ == label] + clusters.append({ + 'center': np.mean(cluster_points, axis=0), + 'points': cluster_points, + 'size': len(cluster_points) + }) + + return clusters + + def association(self, detections, clusters): + """Association of detections to tracks""" + associated_detections = [] + + for detection in detections: + best_track = None + min_distance = float('inf') + + for track_id, track in self.tracks.items(): + distance = np.sqrt( + (detection.range - track['state'][0])**2 + + (detection.velocity - track['state'][2])**2 + ) + + if distance < min_distance and distance < 500: + min_distance = distance + best_track = track_id + + if best_track is not None: + detection.track_id = best_track + associated_detections.append(detection) + else: + detection.track_id = self.track_id_counter + self.track_id_counter += 1 + associated_detections.append(detection) + + return associated_detections + + def tracking(self, associated_detections): + """Kalman filter tracking""" + current_time = time.time() + + for detection in associated_detections: + if detection.track_id not in self.tracks: + kf = KalmanFilter(dim_x=4, dim_z=2) + kf.x = np.array([detection.range, 0, detection.velocity, 0]) + kf.F = np.array([[1, 1, 0, 0], + [0, 1, 0, 0], + [0, 0, 1, 1], + [0, 0, 0, 1]]) + kf.H = np.array([[1, 0, 0, 0], + [0, 0, 1, 0]]) + kf.P *= 1000 + kf.R = np.diag([10, 1]) + kf.Q = np.eye(4) * 0.1 + + self.tracks[detection.track_id] = { + 'filter': kf, + 'state': kf.x, + 'last_update': current_time, + 'hits': 1 + } + else: + track = self.tracks[detection.track_id] + track['filter'].predict() + track['filter'].update([detection.range, detection.velocity]) + track['state'] = track['filter'].x + track['last_update'] = current_time + track['hits'] += 1 + + stale_tracks = [tid for tid, track in self.tracks.items() + if current_time - track['last_update'] > 5.0] + for tid in stale_tracks: + del self.tracks[tid] + +class USBPacketParser: + def __init__(self): + self.crc16_func = crcmod.mkCrcFun(0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000) + + def parse_gps_data(self, data): + """Parse GPS data from STM32 USB CDC with pitch angle""" + if not data: + return None + + try: + # Try text format first: "GPS:lat,lon,alt,pitch\r\n" + text_data = data.decode('utf-8', errors='ignore').strip() + if text_data.startswith('GPS:'): + parts = text_data.split(':')[1].split(',') + if len(parts) == 4: # Now expecting 4 values + lat = float(parts[0]) + lon = float(parts[1]) + alt = float(parts[2]) + pitch = float(parts[3]) # Pitch angle in degrees + return GPSData(latitude=lat, longitude=lon, altitude=alt, pitch=pitch, timestamp=time.time()) + + # Try binary format (30 bytes with pitch) + if len(data) >= 30 and data[0:4] == b'GPSB': + return self._parse_binary_gps_with_pitch(data) + + except Exception as e: + logging.error(f"Error parsing GPS data: {e}") + + return None + + def _parse_binary_gps_with_pitch(self, data): + """Parse binary GPS format with pitch angle (30 bytes)""" + try: + # Binary format: [Header 4][Latitude 8][Longitude 8][Altitude 4][Pitch 4][CRC 2] + if len(data) < 30: + return None + + # Verify CRC (simple checksum) + crc_received = (data[28] << 8) | data[29] + crc_calculated = sum(data[0:28]) & 0xFFFF + + if crc_received != crc_calculated: + logging.warning("GPS CRC mismatch") + return None + + # Parse latitude (double, big-endian) + lat_bits = 0 + for i in range(8): + lat_bits = (lat_bits << 8) | data[4 + i] + latitude = struct.unpack('>d', struct.pack('>Q', lat_bits))[0] + + # Parse longitude (double, big-endian) + lon_bits = 0 + for i in range(8): + lon_bits = (lon_bits << 8) | data[12 + i] + longitude = struct.unpack('>d', struct.pack('>Q', lon_bits))[0] + + # Parse altitude (float, big-endian) + alt_bits = 0 + for i in range(4): + alt_bits = (alt_bits << 8) | data[20 + i] + altitude = struct.unpack('>f', struct.pack('>I', alt_bits))[0] + + # Parse pitch angle (float, big-endian) + pitch_bits = 0 + for i in range(4): + pitch_bits = (pitch_bits << 8) | data[24 + i] + pitch = struct.unpack('>f', struct.pack('>I', pitch_bits))[0] + + return GPSData( + latitude=latitude, + longitude=longitude, + altitude=altitude, + pitch=pitch, + timestamp=time.time() + ) + + except Exception as e: + logging.error(f"Error parsing binary GPS with pitch: {e}") + return None + +class RadarPacketParser: + def __init__(self): + self.sync_pattern = b'\xA5\xC3' + self.crc16_func = crcmod.mkCrcFun(0x11021, rev=False, initCrc=0xFFFF, xorOut=0x0000) + + def parse_packet(self, data): + if len(data) < 6: + return None + + sync_index = data.find(self.sync_pattern) + if sync_index == -1: + return None + + packet = data[sync_index:] + + if len(packet) < 6: + return None + + sync = packet[0:2] + packet_type = packet[2] + length = packet[3] + + if len(packet) < (4 + length + 2): + return None + + payload = packet[4:4+length] + crc_received = struct.unpack('I', payload[0:4])[0] + elevation = payload[4] & 0x1F + azimuth = payload[5] & 0x3F + chirp_counter = payload[6] & 0x1F + + return { + 'type': 'range', + 'range': range_value, + 'elevation': elevation, + 'azimuth': azimuth, + 'chirp': chirp_counter, + 'timestamp': time.time() + } + except Exception as e: + logging.error(f"Error parsing range packet: {e}") + return None + + def parse_doppler_packet(self, payload): + if len(payload) < 12: + return None + + try: + doppler_real = struct.unpack('>h', payload[0:2])[0] + doppler_imag = struct.unpack('>h', payload[2:4])[0] + elevation = payload[4] & 0x1F + azimuth = payload[5] & 0x3F + chirp_counter = payload[6] & 0x1F + + return { + 'type': 'doppler', + 'doppler_real': doppler_real, + 'doppler_imag': doppler_imag, + 'elevation': elevation, + 'azimuth': azimuth, + 'chirp': chirp_counter, + 'timestamp': time.time() + } + except Exception as e: + logging.error(f"Error parsing Doppler packet: {e}") + return None + + def parse_detection_packet(self, payload): + if len(payload) < 8: + return None + + try: + detection_flag = (payload[0] & 0x01) != 0 + elevation = payload[1] & 0x1F + azimuth = payload[2] & 0x3F + chirp_counter = payload[3] & 0x1F + + return { + 'type': 'detection', + 'detected': detection_flag, + 'elevation': elevation, + 'azimuth': azimuth, + 'chirp': chirp_counter, + 'timestamp': time.time() + } + except Exception as e: + logging.error(f"Error parsing detection packet: {e}") + return None + +class MapGenerator: + def __init__(self): + self.map_file_path = None + self.map_html_template = """ + + + Radar Live Map - OpenStreetMap + + + + + + + +
Loading radar map...
+
+ + + +""" + + def generate_map_html_content(self, gps_data, targets, coverage_radius): + """Generate map HTML as string (for embedded browser)""" + # Convert targets for JavaScript + map_targets = [] + for target in targets: + target_lat, target_lon = self.polar_to_geographic( + gps_data.latitude, gps_data.longitude, + target.range, target.azimuth + ) + map_targets.append({ + 'id': target.id, + 'lat': target_lat, + 'lng': target_lon, + 'range': target.range, + 'velocity': target.velocity, + 'azimuth': target.azimuth, + 'elevation': target.elevation, + 'snr': target.snr, + 'track_id': target.track_id + }) + + # Calculate coverage radius in km + coverage_radius_km = coverage_radius / 1000.0 + + # Generate HTML content + map_html = self.map_html_template.replace('{lat}', str(gps_data.latitude)) + map_html = map_html.replace('{lon}', str(gps_data.longitude)) + map_html = map_html.replace('{alt:.1f}', f"{gps_data.altitude:.1f}") + map_html = map_html.replace('{pitch:+.1f}', f"{gps_data.pitch:+.1f}") + map_html = map_html.replace('{coverage_radius}', str(coverage_radius)) + map_html = map_html.replace('{coverage_radius_km:.1f}', f"{coverage_radius_km:.1f}") + map_html = map_html.replace('{target_count}', str(len(map_targets))) + + # Inject initial targets as JavaScript variable + targets_json = json.dumps(map_targets) + map_html = map_html.replace( + '// Display initial targets if any', + f'window.initialTargets = {targets_json};\n // Display initial targets if any' + ) + + return map_html + + def polar_to_geographic(self, radar_lat, radar_lon, range_m, azimuth_deg): + """ + Convert polar coordinates (range, azimuth) to geographic coordinates + using simple flat-earth approximation (good for small distances) + """ + # Earth radius in meters + earth_radius = 6371000 + + # Convert azimuth to radians (0° = North, 90° = East) + azimuth_rad = math.radians(90 - azimuth_deg) # Convert to math convention + + # Convert range to angular distance + angular_distance = range_m / earth_radius + + # Convert to geographic coordinates + target_lat = radar_lat + math.cos(azimuth_rad) * angular_distance * (180 / math.pi) + target_lon = radar_lon + math.sin(azimuth_rad) * angular_distance * (180 / math.pi) / math.cos(math.radians(radar_lat)) + + return target_lat, target_lon + +# ... [Other classes remain the same: STM32USBInterface, FTDIInterface, RadarProcessor, USBPacketParser, RadarPacketParser] ... +class STM32USBInterface: + def __init__(self): + self.device = None + self.is_open = False + self.ep_in = None + self.ep_out = None + + def list_devices(self): + """List available STM32 USB CDC devices""" + if not USB_AVAILABLE: + logging.warning("USB not available - please install pyusb") + return [] + + try: + devices = [] + # STM32 USB CDC devices typically use these vendor/product IDs + stm32_vid_pids = [ + (0x0483, 0x5740), # STM32 Virtual COM Port + (0x0483, 0x3748), # STM32 Discovery + (0x0483, 0x374B), # STM32 CDC + (0x0483, 0x374D), # STM32 CDC + (0x0483, 0x374E), # STM32 CDC + (0x0483, 0x3752), # STM32 CDC + ] + + for vid, pid in stm32_vid_pids: + found_devices = usb.core.find(find_all=True, idVendor=vid, idProduct=pid) + for dev in found_devices: + try: + product = usb.util.get_string(dev, dev.iProduct) if dev.iProduct else "STM32 CDC" + serial = usb.util.get_string(dev, dev.iSerialNumber) if dev.iSerialNumber else "Unknown" + devices.append({ + 'description': f"{product} ({serial})", + 'vendor_id': vid, + 'product_id': pid, + 'device': dev + }) + except: + devices.append({ + 'description': f"STM32 CDC (VID:{vid:04X}, PID:{pid:04X})", + 'vendor_id': vid, + 'product_id': pid, + 'device': dev + }) + + return devices + except Exception as e: + logging.error(f"Error listing USB devices: {e}") + # Return mock devices for testing + return [{'description': 'STM32 Virtual COM Port', 'vendor_id': 0x0483, 'product_id': 0x5740}] + + def open_device(self, device_info): + """Open STM32 USB CDC device""" + if not USB_AVAILABLE: + logging.error("USB not available - cannot open device") + return False + + try: + self.device = device_info['device'] + + # Detach kernel driver if active + if self.device.is_kernel_driver_active(0): + self.device.detach_kernel_driver(0) + + # Set configuration + self.device.set_configuration() + + # Get CDC endpoints + cfg = self.device.get_active_configuration() + intf = cfg[(0,0)] + + # Find bulk endpoints (CDC data interface) + self.ep_out = usb.util.find_descriptor( + intf, + custom_match=lambda e: usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_OUT + ) + + self.ep_in = usb.util.find_descriptor( + intf, + custom_match=lambda e: usb.util.endpoint_direction(e.bEndpointAddress) == usb.util.ENDPOINT_IN + ) + + if self.ep_out is None or self.ep_in is None: + logging.error("Could not find CDC endpoints") + return False + + self.is_open = True + logging.info(f"STM32 USB device opened: {device_info['description']}") + return True + + except Exception as e: + logging.error(f"Error opening USB device: {e}") + return False + + def send_start_flag(self): + """Step 12: Send start flag to STM32 via USB""" + start_packet = bytes([23, 46, 158, 237]) + logging.info("Sending start flag to STM32 via USB...") + return self._send_data(start_packet) + + def send_settings(self, settings): + """Step 13: Send radar settings to STM32 via USB""" + try: + packet = self._create_settings_packet(settings) + logging.info("Sending radar settings to STM32 via USB...") + return self._send_data(packet) + except Exception as e: + logging.error(f"Error sending settings via USB: {e}") + return False + + def read_data(self, size=64, timeout=1000): + """Read data from STM32 via USB""" + if not self.is_open or self.ep_in is None: + return None + + try: + data = self.ep_in.read(size, timeout=timeout) + return bytes(data) + except usb.core.USBError as e: + if e.errno == 110: # Timeout + return None + logging.error(f"USB read error: {e}") + return None + except Exception as e: + logging.error(f"Error reading from USB: {e}") + return None + + def _send_data(self, data): + """Send data to STM32 via USB""" + if not self.is_open or self.ep_out is None: + return False + + try: + # USB CDC typically uses 64-byte packets + packet_size = 64 + for i in range(0, len(data), packet_size): + chunk = data[i:i + packet_size] + # Pad to packet size if needed + if len(chunk) < packet_size: + chunk += b'\x00' * (packet_size - len(chunk)) + self.ep_out.write(chunk) + + return True + except Exception as e: + logging.error(f"Error sending data via USB: {e}") + return False + + def _create_settings_packet(self, settings): + """Create binary settings packet for USB transmission""" + packet = b'SET' + packet += struct.pack('>d', settings.system_frequency) + packet += struct.pack('>d', settings.chirp_duration_1) + packet += struct.pack('>d', settings.chirp_duration_2) + packet += struct.pack('>I', settings.chirps_per_position) + packet += struct.pack('>d', settings.freq_min) + packet += struct.pack('>d', settings.freq_max) + packet += struct.pack('>d', settings.prf1) + packet += struct.pack('>d', settings.prf2) + packet += struct.pack('>d', settings.max_distance) + packet += struct.pack('>d', settings.map_size) + packet += b'END' + return packet + + def close(self): + """Close USB device""" + if self.device and self.is_open: + try: + usb.util.dispose_resources(self.device) + self.is_open = False + except Exception as e: + logging.error(f"Error closing USB device: {e}") + +class FTDIInterface: + def __init__(self): + self.ftdi = None + self.is_open = False + + def list_devices(self): + """List available FTDI devices using pyftdi""" + if not FTDI_AVAILABLE: + logging.warning("FTDI not available - please install pyftdi") + return [] + + try: + devices = [] + # Get list of all FTDI devices + for device in UsbTools.find_all([(0x0403, 0x6010)]): # FT2232H vendor/product ID + devices.append({ + 'description': f"FTDI Device {device}", + 'url': f"ftdi://{device}/1" + }) + return devices + except Exception as e: + logging.error(f"Error listing FTDI devices: {e}") + # Return mock devices for testing + return [{'description': 'FT2232H Device A', 'url': 'ftdi://device/1'}] + + def open_device(self, device_url): + """Open FTDI device using pyftdi""" + if not FTDI_AVAILABLE: + logging.error("FTDI not available - cannot open device") + return False + + try: + self.ftdi = Ftdi() + self.ftdi.open_from_url(device_url) + + # Configure for synchronous FIFO mode + self.ftdi.set_bitmode(0xFF, Ftdi.BitMode.SYNCFF) + + # Set latency timer + self.ftdi.set_latency_timer(2) + + # Purge buffers + self.ftdi.purge_buffers() + + self.is_open = True + logging.info(f"FTDI device opened: {device_url}") + return True + + except Exception as e: + logging.error(f"Error opening FTDI device: {e}") + return False + + def read_data(self, bytes_to_read): + """Read data from FTDI""" + if not self.is_open or self.ftdi is None: + return None + + try: + data = self.ftdi.read_data(bytes_to_read) + if data: + return bytes(data) + return None + except Exception as e: + logging.error(f"Error reading from FTDI: {e}") + return None + + def close(self): + """Close FTDI device""" + if self.ftdi and self.is_open: + self.ftdi.close() + self.is_open = False + +class RadarGUI: + def __init__(self, root): + self.root = root + self.root.title("Advanced Radar System GUI - USB CDC with Embedded Map") + self.root.geometry("1400x900") + + # Apply dark theme to root window + self.root.configure(bg=DARK_BG) + + # Configure ttk style for dark theme + self.style = ttk.Style() + self.style.theme_use('clam') # Use 'clam' as base for better customization + + # Configure dark theme colors + self.configure_dark_theme() + + # Initialize interfaces + self.stm32_usb_interface = STM32USBInterface() + self.ftdi_interface = FTDIInterface() + self.radar_processor = RadarProcessor() + self.usb_packet_parser = USBPacketParser() + self.radar_packet_parser = RadarPacketParser() + self.map_generator = MapGenerator() + self.last_map_update = 0 + self.map_update_interval = 5 # Update map every 5 seconds + self.settings = RadarSettings() + + # Embedded browser + self.browser_frame = None + self.browser = None + self.current_map_html = "" + + # Data queues + self.radar_data_queue = queue.Queue() + self.gps_data_queue = queue.Queue() + + # Thread control + self.running = False + self.radar_thread = None + self.gps_thread = None + + # Counters + self.received_packets = 0 + self.current_gps = GPSData(latitude=41.9028, longitude=12.4964, altitude=0, pitch=0.0, timestamp=0) + self.corrected_elevations = [] # Store corrected elevation values + + self.create_gui() + self.start_background_threads() + + + # Demo mode variables + self.demo_mode_active = False + self.demo_thread = None + self.demo_targets = [] + + def create_gui(self): + """Create the main GUI with tabs""" + self.notebook = ttk.Notebook(self.root) + self.notebook.pack(fill='both', expand=True, padx=10, pady=10) + + self.tab_main = ttk.Frame(self.notebook) + self.tab_map = ttk.Frame(self.notebook) + self.tab_diagnostics = ttk.Frame(self.notebook) + self.tab_settings = ttk.Frame(self.notebook) + + self.notebook.add(self.tab_main, text='Main View') + self.notebook.add(self.tab_map, text='Map View') + self.notebook.add(self.tab_diagnostics, text='Diagnostics') + self.notebook.add(self.tab_settings, text='Settings') + + self.setup_main_tab() + self.setup_map_tab() + self.setup_settings_tab() + + def setup_main_tab(self): + """Setup the main radar display tab""" + # Control frame + control_frame = ttk.Frame(self.tab_main) + control_frame.pack(fill='x', padx=10, pady=5) + + # USB Device selection + ttk.Label(control_frame, text="STM32 USB Device:").grid(row=0, column=0, padx=5) + self.stm32_usb_combo = ttk.Combobox(control_frame, state="readonly", width=40) + self.stm32_usb_combo.grid(row=0, column=1, padx=5) + + ttk.Label(control_frame, text="FTDI Device:").grid(row=0, column=2, padx=5) + self.ftdi_combo = ttk.Combobox(control_frame, state="readonly", width=30) + self.ftdi_combo.grid(row=0, column=3, padx=5) + + ttk.Button(control_frame, text="Refresh Devices", + command=self.refresh_devices).grid(row=0, column=4, padx=5) + + self.start_button = ttk.Button(control_frame, text="Start Radar", + command=self.start_radar) + self.start_button.grid(row=0, column=5, padx=5) + + self.stop_button = ttk.Button(control_frame, text="Stop Radar", + command=self.stop_radar, state="disabled") + self.stop_button.grid(row=0, column=6, padx=5) + + # DEMO BUTTONS + self.demo_button = ttk.Button(control_frame, text="Start Demo", + command=self.start_demo_mode) + self.demo_button.grid(row=0, column=7, padx=5) + + self.stop_demo_button = ttk.Button(control_frame, text="Stop Demo", + command=self.stop_demo_mode, state="disabled") + self.stop_demo_button.grid(row=0, column=8, padx=5) + + # GPS and Pitch info + self.gps_label = ttk.Label(control_frame, text="GPS: Waiting for data...") + self.gps_label.grid(row=1, column=0, columnspan=4, sticky='w', padx=5, pady=2) + + # Pitch display + self.pitch_label = ttk.Label(control_frame, text="Pitch: --.--°") + self.pitch_label.grid(row=1, column=4, columnspan=2, padx=5, pady=2) + + # Status info + self.status_label = ttk.Label(control_frame, text="Status: Ready") + self.status_label.grid(row=1, column=6, sticky='e', padx=5, pady=2) + + # Main display area + display_frame = ttk.Frame(self.tab_main) + display_frame.pack(fill='both', expand=True, padx=10, pady=5) + + # Range-Doppler Map with dark theme + plt.style.use('dark_background') + fig = Figure(figsize=(10, 6), facecolor=DARK_BG) + self.range_doppler_ax = fig.add_subplot(111, facecolor=DARK_ACCENT) + self.range_doppler_plot = self.range_doppler_ax.imshow( + np.random.rand(1024, 32), aspect='auto', cmap='hot', + extent=[0, 32, 0, 1024]) + self.range_doppler_ax.set_title('Range-Doppler Map (Pitch Corrected)', color=DARK_FG) + self.range_doppler_ax.set_xlabel('Doppler Bin', color=DARK_FG) + self.range_doppler_ax.set_ylabel('Range Bin', color=DARK_FG) + self.range_doppler_ax.tick_params(colors=DARK_FG) + self.range_doppler_ax.spines['bottom'].set_color(DARK_FG) + self.range_doppler_ax.spines['top'].set_color(DARK_FG) + self.range_doppler_ax.spines['left'].set_color(DARK_FG) + self.range_doppler_ax.spines['right'].set_color(DARK_FG) + + self.canvas = FigureCanvasTkAgg(fig, display_frame) + self.canvas.draw() + self.canvas.get_tk_widget().pack(side='left', fill='both', expand=True) + + # Targets list + targets_frame = ttk.LabelFrame(display_frame, text="Detected Targets") + targets_frame.pack(side='right', fill='y', padx=5) + + self.targets_tree = ttk.Treeview(targets_frame, + columns=('ID', 'Range', 'Velocity', 'Azimuth', 'Elevation', 'SNR'), + show='headings', height=20) + self.targets_tree.heading('ID', text='Track ID') + self.targets_tree.heading('Range', text='Range (m)') + self.targets_tree.heading('Velocity', text='Velocity (m/s)') + self.targets_tree.heading('Azimuth', text='Azimuth') + self.targets_tree.heading('Elevation', text='Elevation') + self.targets_tree.heading('SNR', text='SNR (dB)') + + self.targets_tree.column('ID', width=70) + self.targets_tree.column('Range', width=90) + self.targets_tree.column('Velocity', width=90) + self.targets_tree.column('Azimuth', width=70) + self.targets_tree.column('Elevation', width=70) + self.targets_tree.column('SNR', width=70) + + # Add scrollbar to targets tree + tree_scroll = ttk.Scrollbar(targets_frame, orient="vertical", command=self.targets_tree.yview) + self.targets_tree.configure(yscrollcommand=tree_scroll.set) + self.targets_tree.pack(side='left', fill='both', expand=True, padx=5, pady=5) + tree_scroll.pack(side='right', fill='y', padx=(0, 5), pady=5) + + def setup_map_tab(self): + """Setup the map display tab with embedded browser""" + # Main container + main_container = ttk.Frame(self.tab_map) + main_container.pack(fill='both', expand=True, padx=10, pady=10) + + # Top frame for controls + controls_frame = ttk.Frame(main_container) + controls_frame.pack(fill='x', pady=(0, 10)) + + # Map controls + ttk.Button(controls_frame, text="Generate/Refresh Map", + command=self.generate_map).pack(side='left', padx=5) + + if TKINTERWEB_AVAILABLE: + ttk.Button(controls_frame, text="Open in External Browser", + command=self.open_external_browser).pack(side='left', padx=5) + else: + ttk.Label(controls_frame, text="Install tkinterweb: pip install tkinterweb", + foreground='orange', font=('Arial', 9)).pack(side='left', padx=5) + ttk.Button(controls_frame, text="Open in Browser", + command=self.open_external_browser).pack(side='left', padx=5) + + self.map_status_label = ttk.Label(controls_frame, text="Map: Ready to generate") + self.map_status_label.pack(side='left', padx=20) + + # Map info display + info_frame = ttk.Frame(main_container) + info_frame.pack(fill='x', pady=(0, 10)) + + self.map_info_label = ttk.Label(info_frame, text="No GPS data received yet", font=('Arial', 10)) + self.map_info_label.pack() + + # Embedded browser area - This is where the map will appear + self.browser_container = ttk.Frame(main_container) + self.browser_container.pack(fill='both', expand=True) + + # Create browser widget if tkinterweb is available + if TKINTERWEB_AVAILABLE: + try: + self.browser = tkinterweb.HtmlFrame(self.browser_container) + self.browser.pack(fill='both', expand=True) + + # Initial placeholder HTML + placeholder_html = """ + + +

Radar Map Display

+

Click "Generate/Refresh Map" button to load the interactive map.

+

The map will display:

+
    +
  • Radar position (red marker)
    • +
  • Coverage area (red circle)
    • +
  • Detected targets (colored markers)
    • +
+

Map updates automatically every 5 seconds when new data is available.

+ + + """ + self.browser.load_html(placeholder_html) + + except Exception as e: + logging.error(f"Failed to create embedded browser: {e}") + self.create_browser_fallback() + else: + self.create_browser_fallback() + + def setup_settings_tab(self): + """Setup the settings tab""" + settings_frame = ttk.Frame(self.tab_settings) + settings_frame.pack(fill='both', expand=True, padx=10, pady=10) + + entries = [ + ('System Frequency (Hz):', 'system_frequency', 10e9), + ('Chirp Duration 1 - Long (s):', 'chirp_duration_1', 30e-6), + ('Chirp Duration 2 - Short (s):', 'chirp_duration_2', 0.5e-6), + ('Chirps per Position:', 'chirps_per_position', 32), + ('Frequency Min (Hz):', 'freq_min', 10e6), + ('Frequency Max (Hz):', 'freq_max', 30e6), + ('PRF1 (Hz):', 'prf1', 1000), + ('PRF2 (Hz):', 'prf2', 2000), + ('Max Distance (m):', 'max_distance', 50000), + ('Map Size (m):', 'map_size', 50000) + ] + + self.settings_vars = {} + + for i, (label, attr, default) in enumerate(entries): + ttk.Label(settings_frame, text=label).grid(row=i, column=0, sticky='w', padx=5, pady=5) + var = tk.StringVar(value=str(default)) + entry = ttk.Entry(settings_frame, textvariable=var, width=25) + entry.grid(row=i, column=1, padx=5, pady=5) + self.settings_vars[attr] = var + + # Map type info + ttk.Label(settings_frame, text="Map Type:", font=('Arial', 10, 'bold')).grid( + row=len(entries), column=0, sticky='w', padx=5, pady=10) + ttk.Label(settings_frame, text="OpenStreetMap (Free)", foreground='green').grid( + row=len(entries), column=1, sticky='w', padx=5, pady=10) + + ttk.Button(settings_frame, text="Apply Settings", + command=self.apply_settings).grid(row=len(entries)+1, column=0, columnspan=2, pady=10) + + def create_browser_fallback(self): + """Create a fallback display when tkinterweb is not available""" + for widget in self.browser_container.winfo_children(): + widget.destroy() + + # Create text widget as fallback + text_frame = ttk.Frame(self.browser_container) + text_frame.pack(fill='both', expand=True) + + text_widget = tk.Text(text_frame, wrap='word', bg=DARK_ACCENT, fg=DARK_FG, + font=('Courier', 10)) + scrollbar = ttk.Scrollbar(text_frame, orient='vertical', command=text_widget.yview) + text_widget.configure(yscrollcommand=scrollbar.set) + + text_widget.pack(side='left', fill='both', expand=True) + scrollbar.pack(side='right', fill='y') + + # Insert placeholder text + placeholder = """EMBEDDED BROWSER NOT AVAILABLE + +To enable the interactive map viewer, please install tkinterweb: + + pip install tkinterweb + +Without tkinterweb, you can still: +1. Generate maps using the button above +2. View them in your external browser +3. See map data in the text display below + +Map HTML will appear here when generated. +""" + text_widget.insert('1.0', placeholder) + text_widget.configure(state='disabled') + + # Store reference for later updates + self.fallback_text = text_widget + + def update_embedded_browser(self, html_content): + """Update the embedded browser with new HTML content""" + try: + if TKINTERWEB_AVAILABLE and hasattr(self, 'browser') and self.browser: + # Update existing browser + self.browser.load_html(html_content) + logging.info("Embedded browser updated with new map") + elif hasattr(self, 'fallback_text'): + # Update fallback text widget + self.fallback_text.configure(state='normal') + self.fallback_text.delete('1.0', tk.END) + self.fallback_text.insert('1.0', html_content) + self.fallback_text.configure(state='disabled') + self.fallback_text.see('1.0') # Scroll to top + logging.info("Fallback text widget updated with map HTML") + except Exception as e: + logging.error(f"Error updating embedded browser: {e}") + + def generate_map(self): + """Generate or update the map display""" + if self.current_gps.latitude == 0 and self.current_gps.longitude == 0: + messagebox.showinfo("Info", "No GPS data available yet. Start demo mode or wait for GPS data.") + return + + current_time = time.time() + + # Only update map at specified intervals + if current_time - self.last_map_update < 1.0: # 1 second minimum between updates + return + + try: + # Get current targets (demo + real) + targets = self.get_combined_targets() + + # Generate map HTML + map_html = self.map_generator.generate_map_html_content( + self.current_gps, + targets, + self.settings.map_size + ) + + self.current_map_html = map_html + + # Update embedded browser + self.update_embedded_browser(map_html) + + # Update map status + self.map_status_label.config(text=f"Map: Generated with {len(targets)} targets") + + # Update map info display + self.map_info_label.config( + text=f"Radar: {self.current_gps.latitude:.6f}, {self.current_gps.longitude:.6f} | " + f"Targets: {len(targets)} | " + f"Pitch: {self.current_gps.pitch:+.1f}° | " + f"Coverage: {self.settings.map_size/1000:.1f}km" + ) + + self.last_map_update = current_time + + logging.info(f"Map generated with {len(targets)} targets") + + except Exception as e: + logging.error(f"Error generating map: {e}") + self.map_status_label.config(text=f"Map: Error - {str(e)[:50]}") + + def open_external_browser(self): + """Open map in external browser""" + if not self.current_map_html: + messagebox.showinfo("Info", "Generate a map first using 'Generate/Refresh Map' button.") + return + + try: + # Create temporary HTML file + import tempfile + temp_file = tempfile.NamedTemporaryFile(mode='w', suffix='.html', delete=False, encoding='utf-8') + temp_file.write(self.current_map_html) + temp_file.close() + + # Open in default browser + webbrowser.open('file://' + os.path.abspath(temp_file.name)) + logging.info(f"Map opened in external browser: {temp_file.name}") + + except Exception as e: + logging.error(f"Error opening external browser: {e}") + messagebox.showerror("Error", f"Failed to open browser: {e}") + + # ... [Rest of the methods remain the same - demo mode, radar processing, etc.] ... + +# IMPORTANT: You need to install tkinterweb first! +# Run: pip install tkinterweb + +def main(): + """Main application entry point""" + try: + root = tk.Tk() + app = RadarGUI(root) + root.mainloop() + except Exception as e: + logging.error(f"Application error: {e}") + messagebox.showerror("Fatal Error", f"Application failed to start: {e}") + +if __name__ == "__main__": + main() + diff --git a/9_Firmware/9_3_GUI/GUI_versions.txt b/9_Firmware/9_3_GUI/GUI_versions.txt new file mode 100644 index 0000000..9ae3a74 --- /dev/null +++ b/9_Firmware/9_3_GUI/GUI_versions.txt @@ -0,0 +1,6 @@ +GUI_V1 ==> +GUI_V2 ==> added STM32 USB CDC +GUI_V3 ==> added Pitch to STM32 USB Packet and pitch correction to the Elevation +GUI_V3 ==> Added Google_Map, real time target plot, Chirp duration_2 +GUI_V4 ==> Added pitch correction +GUI_V5 ==> Added Mercury Color \ No newline at end of file diff --git a/9_Firmware/9_3_GUI/test_radar_data.csv b/9_Firmware/9_3_GUI/test_radar_data.csv new file mode 100644 index 0000000..d0d7331 --- /dev/null +++ b/9_Firmware/9_3_GUI/test_radar_data.csv @@ -0,0 +1,16385 @@ +timestamp_ns,chirp_number,chirp_type,sample_index,I_value,Q_value,magnitude_squared +0,0,LONG,0,-15,16,499 +2,0,LONG,1,-12,17,484 +4,0,LONG,2,0,9,94 +6,0,LONG,3,-12,-8,228 +8,0,LONG,4,-2,-4,26 +10,0,LONG,5,-10,-2,124 +12,0,LONG,6,-4,-13,195 +14,0,LONG,7,-3,-5,44 +16,0,LONG,8,-12,14,356 +18,0,LONG,9,-3,-5,40 +20,0,LONG,10,0,-8,76 +22,0,LONG,11,-11,26,846 +24,0,LONG,12,-7,1,53 +26,0,LONG,13,-10,10,216 +28,0,LONG,14,3,-3,27 +30,0,LONG,15,21,8,517 +32,0,LONG,16,17,3,317 +34,0,LONG,17,15,-5,279 +36,0,LONG,18,29,-1,886 +38,0,LONG,19,-16,0,268 +40,0,LONG,20,-6,-9,129 +42,0,LONG,21,0,0,0 +44,0,LONG,22,-5,1,30 +46,0,LONG,23,12,11,300 +48,0,LONG,24,10,1,116 +50,0,LONG,25,-5,-14,255 +52,0,LONG,26,-2,3,18 +54,0,LONG,27,0,11,135 +56,0,LONG,28,9,19,466 +58,0,LONG,29,15,6,280 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+2070912,15,LONG,276,1,5,37 +2070914,15,LONG,277,-4,-6,66 +2070916,15,LONG,278,-2,4,31 +2070918,15,LONG,279,-7,0,51 +2070920,15,LONG,280,2,-1,9 +2070922,15,LONG,281,-1,13,188 +2070924,15,LONG,282,7,-3,67 +2070926,15,LONG,283,-2,0,4 +2070928,15,LONG,284,1,-1,5 +2070930,15,LONG,285,0,-5,25 +2070932,15,LONG,286,5,-7,94 +2070934,15,LONG,287,9,-2,86 +2070936,15,LONG,288,-5,1,33 +2070938,15,LONG,289,1,4,26 +2070940,15,LONG,290,-2,-1,11 +2070942,15,LONG,291,8,1,66 +2070944,15,LONG,292,2,-4,25 +2070946,15,LONG,293,6,0,37 +2070948,15,LONG,294,0,2,7 +2070950,15,LONG,295,-6,5,81 +2070952,15,LONG,296,-4,-8,88 +2070954,15,LONG,297,-5,3,46 +2070956,15,LONG,298,-8,7,129 +2070958,15,LONG,299,1,0,1 +2070960,15,LONG,300,1,8,68 +2070962,15,LONG,301,3,-5,37 +2070964,15,LONG,302,-3,-2,22 +2070966,15,LONG,303,-1,3,13 +2070968,15,LONG,304,-8,3,81 +2070970,15,LONG,305,6,4,63 +2070972,15,LONG,306,-3,-6,57 +2070974,15,LONG,307,2,1,9 +2070976,15,LONG,308,0,-4,20 +2070978,15,LONG,309,4,-4,37 +2070980,15,LONG,310,0,8,75 +2070982,15,LONG,311,0,6,38 +2070984,15,LONG,312,0,-4,17 +2070986,15,LONG,313,9,0,93 +2070988,15,LONG,314,3,3,20 +2070990,15,LONG,315,-6,-1,46 +2070992,15,LONG,316,-6,-1,40 +2070994,15,LONG,317,8,-4,88 +2070996,15,LONG,318,5,-1,33 +2070998,15,LONG,319,0,0,0 +2071000,15,LONG,320,-6,5,68 +2071002,15,LONG,321,2,3,17 +2071004,15,LONG,322,-4,6,65 +2071006,15,LONG,323,0,-6,41 +2071008,15,LONG,324,-3,8,79 +2071010,15,LONG,325,3,-9,99 +2071012,15,LONG,326,2,-2,14 +2071014,15,LONG,327,1,0,3 +2071016,15,LONG,328,4,-1,20 +2071018,15,LONG,329,-4,3,33 +2071020,15,LONG,330,7,0,54 +2071022,15,LONG,331,1,6,43 +2071024,15,LONG,332,-6,-5,73 +2071026,15,LONG,333,6,1,41 +2071028,15,LONG,334,4,7,72 +2071030,15,LONG,335,5,-4,50 +2071032,15,LONG,336,5,-3,44 +2071034,15,LONG,337,2,-1,10 +2071036,15,LONG,338,-2,1,7 +2071038,15,LONG,339,-10,0,112 +2071040,15,LONG,340,4,6,57 +2071042,15,LONG,341,-6,1,38 +2071044,15,LONG,342,2,0,6 +2071046,15,LONG,343,-8,-5,111 +2071048,15,LONG,344,4,2,22 +2071050,15,LONG,345,-3,2,18 +2071052,15,LONG,346,5,-6,75 +2071054,15,LONG,347,-9,-4,106 +2071056,15,LONG,348,-7,-12,212 +2071058,15,LONG,349,-5,-1,33 +2071060,15,LONG,350,0,4,17 +2071062,15,LONG,351,0,5,29 +2071064,15,LONG,352,6,2,43 +2071066,15,LONG,353,11,0,133 +2071068,15,LONG,354,0,7,51 +2071070,15,LONG,355,-2,9,90 +2071072,15,LONG,356,7,-8,133 +2071074,15,LONG,357,-5,4,51 +2071076,15,LONG,358,-3,-9,105 +2071078,15,LONG,359,0,0,1 +2071080,15,LONG,360,-3,0,9 +2071082,15,LONG,361,3,2,17 +2071084,15,LONG,362,5,-1,32 +2071086,15,LONG,363,-1,0,1 +2071088,15,LONG,364,-9,2,102 +2071090,15,LONG,365,-5,11,179 +2071092,15,LONG,366,2,-4,26 +2071094,15,LONG,367,7,-1,55 +2071096,15,LONG,368,-6,-3,50 +2071098,15,LONG,369,0,3,11 +2071100,15,LONG,370,-9,-7,144 +2071102,15,LONG,371,-2,4,27 +2071104,15,LONG,372,7,1,51 +2071106,15,LONG,373,0,-2,6 +2071108,15,LONG,374,-5,0,28 +2071110,15,LONG,375,0,0,0 +2071112,15,LONG,376,1,0,2 +2071114,15,LONG,377,3,-2,15 +2071116,15,LONG,378,0,-9,86 +2071118,15,LONG,379,5,-4,46 +2071120,15,LONG,380,0,11,136 +2071122,15,LONG,381,3,4,36 +2071124,15,LONG,382,3,5,48 +2071126,15,LONG,383,-2,1,10 +2071128,15,LONG,384,0,6,37 +2071130,15,LONG,385,2,1,7 +2071132,15,LONG,386,-5,7,85 +2071134,15,LONG,387,-7,0,52 +2071136,15,LONG,388,-5,4,51 +2071138,15,LONG,389,0,5,32 +2071140,15,LONG,390,8,8,132 +2071142,15,LONG,391,-30,-8,999 +2071144,15,LONG,392,-22,-8,565 +2071146,15,LONG,393,-27,-18,1072 +2071148,15,LONG,394,-23,-13,736 +2071150,15,LONG,395,-14,-22,700 +2071152,15,LONG,396,-13,-30,1102 +2071154,15,LONG,397,-21,-29,1332 +2071156,15,LONG,398,-4,-25,655 +2071158,15,LONG,399,-13,-22,657 +2071160,15,LONG,400,-2,-16,270 +2071162,15,LONG,401,3,-28,799 +2071164,15,LONG,402,4,-26,735 +2071166,15,LONG,403,4,-18,372 +2071168,15,LONG,404,15,-28,1045 +2071170,15,LONG,405,17,-22,781 +2071172,15,LONG,406,21,-11,580 +2071174,15,LONG,407,25,-18,962 +2071176,15,LONG,408,18,-13,514 +2071178,15,LONG,409,21,-6,496 +2071180,15,LONG,410,-4,7,67 +2071182,15,LONG,411,-1,4,25 +2071184,15,LONG,412,5,-2,35 +2071186,15,LONG,413,6,-10,140 +2071188,15,LONG,414,4,-2,28 +2071190,15,LONG,415,-4,-11,151 +2071192,15,LONG,416,0,3,9 +2071194,15,LONG,417,3,0,15 +2071196,15,LONG,418,-1,-7,65 +2071198,15,LONG,419,-4,2,33 +2071200,15,LONG,420,5,10,129 +2071202,15,LONG,421,2,-4,24 +2071204,15,LONG,422,4,4,47 +2071206,15,LONG,423,0,-1,1 +2071208,15,LONG,424,0,-6,45 +2071210,15,LONG,425,-1,4,24 +2071212,15,LONG,426,-7,4,66 +2071214,15,LONG,427,4,4,34 +2071216,15,LONG,428,1,-8,68 +2071218,15,LONG,429,-2,-1,10 +2071220,15,LONG,430,-1,0,2 +2071222,15,LONG,431,-14,0,207 +2071224,15,LONG,432,-2,12,154 +2071226,15,LONG,433,3,2,16 +2071228,15,LONG,434,-8,9,174 +2071230,15,LONG,435,2,2,10 +2071232,15,LONG,436,2,6,52 +2071234,15,LONG,437,1,6,40 +2071236,15,LONG,438,0,-3,13 +2071238,15,LONG,439,3,-12,158 +2071240,15,LONG,440,1,-10,117 +2071242,15,LONG,441,-11,6,183 +2071244,15,LONG,442,-12,5,183 +2071246,15,LONG,443,8,-6,110 +2071248,15,LONG,444,8,3,79 +2071250,15,LONG,445,0,-9,87 +2071252,15,LONG,446,6,0,37 +2071254,15,LONG,447,-2,2,11 +2071256,15,LONG,448,3,0,13 +2071258,15,LONG,449,-1,-1,6 +2071260,15,LONG,450,-1,7,54 +2071262,15,LONG,451,-8,-6,123 +2071264,15,LONG,452,-2,1,10 +2071266,15,LONG,453,2,0,6 +2071268,15,LONG,454,3,-1,17 +2071270,15,LONG,455,1,-6,44 +2071272,15,LONG,456,-1,-1,3 +2071274,15,LONG,457,0,0,1 +2071276,15,LONG,458,-7,-1,65 +2071278,15,LONG,459,2,-1,7 +2071280,15,LONG,460,6,-2,53 +2071282,15,LONG,461,3,10,109 +2071284,15,LONG,462,0,-1,4 +2071286,15,LONG,463,1,5,33 +2071288,15,LONG,464,0,4,21 +2071290,15,LONG,465,5,2,31 +2071292,15,LONG,466,-2,-6,50 +2071294,15,LONG,467,-3,0,10 +2071296,15,LONG,468,1,3,13 +2071298,15,LONG,469,0,-2,9 +2071300,15,LONG,470,-1,-3,13 +2071302,15,LONG,471,6,0,43 +2071304,15,LONG,472,2,0,7 +2071306,15,LONG,473,0,0,0 +2071308,15,LONG,474,-1,-2,9 +2071310,15,LONG,475,3,-5,42 +2071312,15,LONG,476,3,-11,138 +2071314,15,LONG,477,5,-4,49 +2071316,15,LONG,478,-6,-5,80 +2071318,15,LONG,479,7,0,55 +2071320,15,LONG,480,7,3,66 +2071322,15,LONG,481,4,0,16 +2071324,15,LONG,482,-4,-7,83 +2071326,15,LONG,483,-3,-3,23 +2071328,15,LONG,484,0,3,13 +2071330,15,LONG,485,7,0,56 +2071332,15,LONG,486,-3,0,12 +2071334,15,LONG,487,-1,-5,32 +2071336,15,LONG,488,0,0,1 +2071338,15,LONG,489,7,3,67 +2071340,15,LONG,490,-9,-2,95 +2071342,15,LONG,491,1,-1,4 +2071344,15,LONG,492,-2,6,54 +2071346,15,LONG,493,-1,-3,17 +2071348,15,LONG,494,3,-9,100 +2071350,15,LONG,495,-8,-5,92 +2071352,15,LONG,496,6,-1,42 +2071354,15,LONG,497,4,-1,19 +2071356,15,LONG,498,-2,6,52 +2071358,15,LONG,499,5,1,35 +2071360,15,LONG,500,0,4,24 +2071362,15,LONG,501,0,1,3 +2071364,15,LONG,502,-8,4,97 +2071366,15,LONG,503,0,2,6 +2071368,15,LONG,504,-4,-1,21 +2071370,15,LONG,505,4,9,112 +2071372,15,LONG,506,1,10,110 +2071374,15,LONG,507,-3,-2,18 +2071376,15,LONG,508,0,-1,3 +2071378,15,LONG,509,-3,-4,36 +2071380,15,LONG,510,5,-4,58 +2071382,15,LONG,511,5,-5,54 +2383784,16,SHORT,0,-7,-3,73 +2383786,16,SHORT,1,3,1,13 +2383788,16,SHORT,2,-6,6,80 +2383790,16,SHORT,3,-10,10,222 +2383792,16,SHORT,4,-8,-2,80 +2383794,16,SHORT,5,-8,-10,168 +2383796,16,SHORT,6,5,0,35 +2383798,16,SHORT,7,9,-6,121 +2383800,16,SHORT,8,0,-11,122 +2383802,16,SHORT,9,-2,0,6 +2383804,16,SHORT,10,-1,1,3 +2383806,16,SHORT,11,-10,8,183 +2383808,16,SHORT,12,6,-4,62 +2383810,16,SHORT,13,2,-3,18 +2383812,16,SHORT,14,-5,13,224 +2383814,16,SHORT,15,-5,0,35 +2383816,16,SHORT,16,-8,6,108 +2383818,16,SHORT,17,8,9,157 +2383820,16,SHORT,18,1,1,4 +2383822,16,SHORT,19,-3,-6,54 +2383824,16,SHORT,20,-7,3,72 +2383826,16,SHORT,21,1,-1,2 +2383828,16,SHORT,22,0,-5,30 +2383830,16,SHORT,23,3,-6,49 +2383832,16,SHORT,24,1,7,55 +2383834,16,SHORT,25,5,-13,200 +2383836,16,SHORT,26,0,9,81 +2383838,16,SHORT,27,1,10,107 +2383840,16,SHORT,28,0,0,0 +2383842,16,SHORT,29,-6,4,65 +2383844,16,SHORT,30,1,0,2 +2383846,16,SHORT,31,-1,-8,66 +2383848,16,SHORT,32,-1,-12,158 +2383850,16,SHORT,33,-1,4,25 +2383852,16,SHORT,34,-8,0,69 +2383854,16,SHORT,35,2,-6,49 +2383856,16,SHORT,36,-5,-13,229 +2383858,16,SHORT,37,-15,13,415 +2383860,16,SHORT,38,1,0,2 +2383862,16,SHORT,39,8,0,70 +2383864,16,SHORT,40,-8,6,112 +2383866,16,SHORT,41,1,5,32 +2383868,16,SHORT,42,11,-7,184 +2383870,16,SHORT,43,11,14,333 +2383872,16,SHORT,44,-7,-1,58 +2383874,16,SHORT,45,-8,-13,259 +2383876,16,SHORT,46,-4,2,33 +2383878,16,SHORT,47,-1,8,83 +2383880,16,SHORT,48,0,-6,41 +2383882,16,SHORT,49,-8,2,73 +2383884,16,SHORT,50,-4,0,16 +2383886,16,SHORT,51,1,0,3 +2383888,16,SHORT,52,7,11,194 +2383890,16,SHORT,53,3,-1,16 +2383892,16,SHORT,54,-11,-9,210 +2383894,16,SHORT,55,5,8,111 +2383896,16,SHORT,56,-5,4,42 +2383898,16,SHORT,57,10,2,112 +2383900,16,SHORT,58,-3,-9,94 +2383902,16,SHORT,59,4,-4,42 +2383904,16,SHORT,60,-3,-1,10 +2383906,16,SHORT,61,-6,-4,56 +2383908,16,SHORT,62,2,-7,58 +2383910,16,SHORT,63,2,4,31 +2383912,16,SHORT,64,5,-3,47 +2383914,16,SHORT,65,0,0,0 +2383916,16,SHORT,66,2,-5,39 +2383918,16,SHORT,67,2,-9,104 +2383920,16,SHORT,68,20,-42,2217 +2383922,16,SHORT,69,42,-51,4476 +2383924,16,SHORT,70,44,-30,2920 +2383926,16,SHORT,71,46,-17,2487 +2383928,16,SHORT,72,57,-9,3425 +2383930,16,SHORT,73,57,11,3495 +2383932,16,SHORT,74,54,8,3023 +2383934,16,SHORT,75,59,25,4206 +2383936,16,SHORT,76,51,36,3952 +2383938,16,SHORT,77,28,37,2211 +2383940,16,SHORT,78,26,48,3026 +2383942,16,SHORT,79,17,57,3586 +2383944,16,SHORT,80,11,55,3209 +2383946,16,SHORT,81,-4,54,2985 +2383948,16,SHORT,82,-18,45,2439 +2383950,16,SHORT,83,1,4,20 +2383952,16,SHORT,84,9,0,89 +2383954,16,SHORT,85,8,-2,80 +2383956,16,SHORT,86,3,4,34 +2383958,16,SHORT,87,1,0,1 +2383960,16,SHORT,88,-7,-8,130 +2383962,16,SHORT,89,9,1,85 +2383964,16,SHORT,90,-2,-5,31 +2383966,16,SHORT,91,-5,-2,30 +2383968,16,SHORT,92,8,0,73 +2383970,16,SHORT,93,-3,-8,75 +2383972,16,SHORT,94,5,4,47 +2383974,16,SHORT,95,-6,-1,48 +2383976,16,SHORT,96,-8,-7,127 +2383978,16,SHORT,97,-8,-13,257 +2383980,16,SHORT,98,13,3,192 +2383982,16,SHORT,99,0,4,22 +2383984,16,SHORT,100,-4,-1,20 +2383986,16,SHORT,101,0,-10,116 +2383988,16,SHORT,102,8,-3,78 +2383990,16,SHORT,103,-5,2,39 +2383992,16,SHORT,104,-6,0,40 +2383994,16,SHORT,105,-2,-2,10 +2383996,16,SHORT,106,2,-6,45 +2383998,16,SHORT,107,6,0,47 +2384000,16,SHORT,108,5,3,37 +2384002,16,SHORT,109,-2,-1,6 +2384004,16,SHORT,110,0,-8,66 +2384006,16,SHORT,111,-4,-3,32 +2384008,16,SHORT,112,1,-4,21 +2384010,16,SHORT,113,6,-4,59 +2384012,16,SHORT,114,-2,2,13 +2384014,16,SHORT,115,5,-5,55 +2384016,16,SHORT,116,0,0,1 +2384018,16,SHORT,117,7,2,66 +2384020,16,SHORT,118,22,1,507 +2384022,16,SHORT,119,25,8,710 +2384024,16,SHORT,120,29,9,987 +2384026,16,SHORT,121,35,11,1378 +2384028,16,SHORT,122,15,18,606 +2384030,16,SHORT,123,14,25,871 +2384032,16,SHORT,124,9,25,728 +2384034,16,SHORT,125,1,30,922 +2384036,16,SHORT,126,7,19,418 +2384038,16,SHORT,127,-10,25,744 +2384040,16,SHORT,128,-20,20,857 +2384042,16,SHORT,129,-15,19,623 +2384044,16,SHORT,130,-29,12,999 +2384046,16,SHORT,131,-25,17,979 +2384048,16,SHORT,132,-31,9,1065 +2384050,16,SHORT,133,-2,0,5 +2384052,16,SHORT,134,-3,8,75 +2384054,16,SHORT,135,3,12,162 +2384056,16,SHORT,136,4,6,61 +2384058,16,SHORT,137,5,-4,52 +2384060,16,SHORT,138,2,-3,21 +2384062,16,SHORT,139,-3,0,9 +2384064,16,SHORT,140,3,-4,26 +2384066,16,SHORT,141,0,-4,17 +2384068,16,SHORT,142,1,0,3 +2384070,16,SHORT,143,6,2,53 +2384072,16,SHORT,144,6,1,46 +2384074,16,SHORT,145,7,-4,71 +2384076,16,SHORT,146,-6,9,132 +2384078,16,SHORT,147,4,0,16 +2384080,16,SHORT,148,3,0,11 +2384082,16,SHORT,149,0,2,7 +2384084,16,SHORT,150,-1,-1,3 +2384086,16,SHORT,151,-3,1,15 +2384088,16,SHORT,152,6,-1,38 +2384090,16,SHORT,153,-1,3,10 +2384092,16,SHORT,154,-4,2,28 +2384094,16,SHORT,155,9,-5,121 +2384096,16,SHORT,156,-1,-3,14 +2384098,16,SHORT,157,-6,-2,43 +2384100,16,SHORT,158,-7,0,62 +2384102,16,SHORT,159,3,8,94 +2384104,16,SHORT,160,-2,-1,7 +2384106,16,SHORT,161,2,-4,27 +2384108,16,SHORT,162,4,-4,48 +2384110,16,SHORT,163,5,-3,39 +2384112,16,SHORT,164,4,1,20 +2384114,16,SHORT,165,-1,0,2 +2384116,16,SHORT,166,-1,1,3 +2384118,16,SHORT,167,-3,-2,21 +2384120,16,SHORT,168,-1,2,9 +2384122,16,SHORT,169,1,3,15 +2384124,16,SHORT,170,-4,1,20 +2384126,16,SHORT,171,-2,-4,23 +2384128,16,SHORT,172,0,5,31 +2384130,16,SHORT,173,4,7,82 +2384132,16,SHORT,174,0,1,4 +2384134,16,SHORT,175,1,-1,2 +2384136,16,SHORT,176,-4,0,16 +2384138,16,SHORT,177,-3,-3,28 +2384140,16,SHORT,178,5,-6,74 +2384142,16,SHORT,179,5,0,28 +2384144,16,SHORT,180,-4,-1,23 +2384146,16,SHORT,181,8,2,79 +2384148,16,SHORT,182,-12,0,148 +2384150,16,SHORT,183,9,-2,102 +2384152,16,SHORT,184,-4,1,20 +2384154,16,SHORT,185,7,-1,62 +2384156,16,SHORT,186,8,0,78 +2384158,16,SHORT,187,2,-2,9 +2384160,16,SHORT,188,0,-1,3 +2384162,16,SHORT,189,3,-2,17 +2384164,16,SHORT,190,0,-9,84 +2384166,16,SHORT,191,-8,-4,82 +2384168,16,SHORT,192,0,-3,11 +2384170,16,SHORT,193,8,-21,543 +2384172,16,SHORT,194,6,-21,489 +2384174,16,SHORT,195,1,-13,188 +2384176,16,SHORT,196,6,-18,386 +2384178,16,SHORT,197,13,4,214 +2384180,16,SHORT,198,18,-9,431 +2384182,16,SHORT,199,12,5,198 +2384184,16,SHORT,200,16,-3,267 +2384186,16,SHORT,201,16,1,270 +2384188,16,SHORT,202,6,1,44 +2384190,16,SHORT,203,4,13,199 +2384192,16,SHORT,204,4,18,351 +2384194,16,SHORT,205,17,12,470 +2384196,16,SHORT,206,7,10,163 +2384198,16,SHORT,207,5,13,219 +2384200,16,SHORT,208,6,2,55 +2384202,16,SHORT,209,-2,2,12 +2384204,16,SHORT,210,-1,-2,8 +2384206,16,SHORT,211,-10,0,115 +2384208,16,SHORT,212,10,-3,121 +2384210,16,SHORT,213,0,10,107 +2384212,16,SHORT,214,5,5,65 +2384214,16,SHORT,215,-6,2,42 +2384216,16,SHORT,216,6,1,39 +2384218,16,SHORT,217,0,3,12 +2384220,16,SHORT,218,2,2,12 +2384222,16,SHORT,219,-5,9,114 +2384224,16,SHORT,220,2,8,78 +2384226,16,SHORT,221,-6,0,42 +2384228,16,SHORT,222,4,0,21 +2384230,16,SHORT,223,-2,-5,41 +2384232,16,SHORT,224,-1,-6,43 +2384234,16,SHORT,225,-5,-2,32 +2384236,16,SHORT,226,-6,3,53 +2384238,16,SHORT,227,2,-1,9 +2384240,16,SHORT,228,0,-7,56 +2384242,16,SHORT,229,3,3,20 +2384244,16,SHORT,230,0,0,0 +2384246,16,SHORT,231,0,0,1 +2384248,16,SHORT,232,3,-7,62 +2384250,16,SHORT,233,1,5,29 +2384252,16,SHORT,234,-8,-3,86 +2384254,16,SHORT,235,5,-2,39 +2384256,16,SHORT,236,-6,-1,48 +2384258,16,SHORT,237,5,6,74 +2384260,16,SHORT,238,-9,0,82 +2384262,16,SHORT,239,-11,0,122 +2384264,16,SHORT,240,5,-3,41 +2384266,16,SHORT,241,2,-2,9 +2384268,16,SHORT,242,2,-6,52 +2384270,16,SHORT,243,2,8,81 +2384272,16,SHORT,244,-3,0,15 +2384274,16,SHORT,245,6,-9,126 +2384276,16,SHORT,246,3,-3,23 +2384278,16,SHORT,247,0,2,8 +2384280,16,SHORT,248,3,9,109 +2384282,16,SHORT,249,-1,0,2 +2384284,16,SHORT,250,6,5,65 +2384286,16,SHORT,251,-7,3,61 +2384288,16,SHORT,252,2,0,4 +2384290,16,SHORT,253,0,1,4 +2384292,16,SHORT,254,-2,7,67 +2384294,16,SHORT,255,4,-2,23 +2384296,16,SHORT,256,0,5,30 +2384298,16,SHORT,257,0,-1,2 +2384300,16,SHORT,258,-9,5,129 +2384302,16,SHORT,259,-4,14,240 +2384304,16,SHORT,260,-6,3,52 +2384306,16,SHORT,261,-8,1,83 +2384308,16,SHORT,262,0,2,4 +2384310,16,SHORT,263,1,1,5 +2384312,16,SHORT,264,-2,1,10 +2384314,16,SHORT,265,0,4,16 +2384316,16,SHORT,266,3,-1,18 +2384318,16,SHORT,267,2,-4,24 +2384320,16,SHORT,268,4,-9,100 +2384322,16,SHORT,269,-3,5,40 +2384324,16,SHORT,270,6,-3,53 +2384326,16,SHORT,271,3,-1,14 +2384328,16,SHORT,272,7,11,176 +2384330,16,SHORT,273,-8,4,91 +2384332,16,SHORT,274,9,5,118 +2384334,16,SHORT,275,-4,1,22 +2384336,16,SHORT,276,4,2,25 +2384338,16,SHORT,277,1,0,2 +2384340,16,SHORT,278,4,-4,42 +2384342,16,SHORT,279,-4,2,20 +2384344,16,SHORT,280,3,1,15 +2384346,16,SHORT,281,-5,6,75 +2384348,16,SHORT,282,0,0,0 +2384350,16,SHORT,283,4,0,19 +2384352,16,SHORT,284,10,-1,118 +2384354,16,SHORT,285,-6,7,97 +2384356,16,SHORT,286,-3,0,15 +2384358,16,SHORT,287,-15,7,296 +2384360,16,SHORT,288,1,5,28 +2384362,16,SHORT,289,-5,3,50 +2384364,16,SHORT,290,1,-4,24 +2384366,16,SHORT,291,0,5,26 +2384368,16,SHORT,292,-7,-1,50 +2384370,16,SHORT,293,-6,14,265 +2384372,16,SHORT,294,-6,2,47 +2384374,16,SHORT,295,2,0,7 +2384376,16,SHORT,296,-4,5,52 +2384378,16,SHORT,297,-8,3,89 +2384380,16,SHORT,298,-6,10,146 +2384382,16,SHORT,299,-8,2,78 +2384384,16,SHORT,300,-7,2,66 +2384386,16,SHORT,301,-12,0,145 +2384388,16,SHORT,302,-2,0,7 +2384390,16,SHORT,303,-9,0,86 +2384392,16,SHORT,304,-5,-10,154 +2384394,16,SHORT,305,-11,-15,367 +2384396,16,SHORT,306,-3,-6,54 +2384398,16,SHORT,307,1,-9,95 +2384400,16,SHORT,308,1,-8,83 +2384402,16,SHORT,309,7,0,58 +2384404,16,SHORT,310,-12,-4,166 +2384406,16,SHORT,311,-6,-1,41 +2384408,16,SHORT,312,-4,11,153 +2384410,16,SHORT,313,-4,2,25 +2384412,16,SHORT,314,0,-3,12 +2384414,16,SHORT,315,-5,0,33 +2384416,16,SHORT,316,-2,-7,67 +2384418,16,SHORT,317,-4,-4,43 +2384420,16,SHORT,318,7,1,54 +2384422,16,SHORT,319,-1,-4,19 +2384424,16,SHORT,320,10,-3,118 +2384426,16,SHORT,321,-5,-7,78 +2384428,16,SHORT,322,-1,-9,89 +2384430,16,SHORT,323,4,4,43 +2384432,16,SHORT,324,1,0,1 +2384434,16,SHORT,325,-3,3,22 +2384436,16,SHORT,326,0,-2,4 +2384438,16,SHORT,327,-3,-3,22 +2384440,16,SHORT,328,-2,-5,33 +2384442,16,SHORT,329,2,6,43 +2384444,16,SHORT,330,-2,-4,21 +2384446,16,SHORT,331,-3,-10,111 +2384448,16,SHORT,332,2,-2,10 +2384450,16,SHORT,333,0,0,1 +2384452,16,SHORT,334,-3,-5,45 +2384454,16,SHORT,335,2,0,7 +2384456,16,SHORT,336,-5,6,74 +2384458,16,SHORT,337,5,-5,53 +2384460,16,SHORT,338,-5,0,26 +2384462,16,SHORT,339,-2,0,6 +2384464,16,SHORT,340,1,1,2 +2384466,16,SHORT,341,-1,6,40 +2384468,16,SHORT,342,0,-3,14 +2384470,16,SHORT,343,2,2,11 +2384472,16,SHORT,344,-1,-11,137 +2384474,16,SHORT,345,5,-4,46 +2384476,16,SHORT,346,-2,6,42 +2384478,16,SHORT,347,2,3,19 +2384480,16,SHORT,348,5,-1,36 +2384482,16,SHORT,349,-5,-4,50 +2384484,16,SHORT,350,-5,-8,103 +2384486,16,SHORT,351,-4,0,21 +2384488,16,SHORT,352,0,11,135 +2384490,16,SHORT,353,0,0,0 +2384492,16,SHORT,354,-1,-1,3 +2384494,16,SHORT,355,-6,-6,79 +2384496,16,SHORT,356,6,5,71 +2384498,16,SHORT,357,1,-4,21 +2384500,16,SHORT,358,0,2,7 +2384502,16,SHORT,359,0,4,18 +2384504,16,SHORT,360,0,3,9 +2384506,16,SHORT,361,9,4,107 +2384508,16,SHORT,362,-6,-4,54 +2384510,16,SHORT,363,3,8,77 +2384512,16,SHORT,364,2,-1,7 +2384514,16,SHORT,365,1,-8,68 +2384516,16,SHORT,366,0,-3,14 +2384518,16,SHORT,367,-4,-3,29 +2384520,16,SHORT,368,-4,-2,27 +2384522,16,SHORT,369,-5,-6,66 +2384524,16,SHORT,370,-3,4,31 +2384526,16,SHORT,371,-8,0,81 +2384528,16,SHORT,372,-2,-5,33 +2384530,16,SHORT,373,-2,-6,51 +2384532,16,SHORT,374,3,6,58 +2384534,16,SHORT,375,6,-1,44 +2384536,16,SHORT,376,0,-5,31 +2384538,16,SHORT,377,0,1,4 +2384540,16,SHORT,378,10,3,121 +2384542,16,SHORT,379,0,-2,6 +2384544,16,SHORT,380,4,6,64 +2384546,16,SHORT,381,8,5,102 +2384548,16,SHORT,382,3,-3,27 +2384550,16,SHORT,383,0,-2,6 +2384552,16,SHORT,384,-1,-1,3 +2384554,16,SHORT,385,0,4,18 +2384556,16,SHORT,386,3,8,83 +2384558,16,SHORT,387,9,7,140 +2384560,16,SHORT,388,-1,-7,51 +2384562,16,SHORT,389,2,3,18 +2384564,16,SHORT,390,5,4,47 +2384566,16,SHORT,391,-2,-4,21 +2384568,16,SHORT,392,1,1,3 +2384570,16,SHORT,393,0,-2,6 +2384572,16,SHORT,394,1,7,57 +2384574,16,SHORT,395,2,-5,39 +2384576,16,SHORT,396,0,-1,2 +2384578,16,SHORT,397,-2,2,16 +2384580,16,SHORT,398,-3,0,15 +2384582,16,SHORT,399,-3,3,22 +2384584,16,SHORT,400,-4,0,16 +2384586,16,SHORT,401,4,-5,54 +2384588,16,SHORT,402,-4,1,20 +2384590,16,SHORT,403,-6,0,42 +2384592,16,SHORT,404,4,10,126 +2384594,16,SHORT,405,5,-7,74 +2384596,16,SHORT,406,-3,6,54 +2384598,16,SHORT,407,-10,7,156 +2384600,16,SHORT,408,-6,-2,44 +2384602,16,SHORT,409,1,5,29 +2384604,16,SHORT,410,-1,0,2 +2384606,16,SHORT,411,4,-2,32 +2384608,16,SHORT,412,0,3,13 +2384610,16,SHORT,413,0,1,2 +2384612,16,SHORT,414,6,6,77 +2384614,16,SHORT,415,-8,1,81 +2384616,16,SHORT,416,-2,-5,42 +2384618,16,SHORT,417,-4,-11,146 +2384620,16,SHORT,418,-5,-2,35 +2384622,16,SHORT,419,3,2,19 +2384624,16,SHORT,420,4,2,27 +2384626,16,SHORT,421,7,-1,55 +2384628,16,SHORT,422,-1,4,21 +2384630,16,SHORT,423,-1,-1,5 +2384632,16,SHORT,424,-9,-4,102 +2384634,16,SHORT,425,2,0,5 +2384636,16,SHORT,426,0,-6,46 +2384638,16,SHORT,427,-1,-1,2 +2384640,16,SHORT,428,-7,5,89 +2384642,16,SHORT,429,-7,-10,168 +2384644,16,SHORT,430,1,4,22 +2384646,16,SHORT,431,9,3,108 +2384648,16,SHORT,432,1,-3,15 +2384650,16,SHORT,433,-4,-4,38 +2384652,16,SHORT,434,-2,-1,6 +2384654,16,SHORT,435,-5,2,31 +2384656,16,SHORT,436,7,1,55 +2384658,16,SHORT,437,0,-6,47 +2384660,16,SHORT,438,2,1,9 +2384662,16,SHORT,439,-12,-2,151 +2384664,16,SHORT,440,-2,2,9 +2384666,16,SHORT,441,0,0,0 +2384668,16,SHORT,442,1,-4,24 +2384670,16,SHORT,443,7,0,62 +2384672,16,SHORT,444,0,5,29 +2384674,16,SHORT,445,9,-4,113 +2384676,16,SHORT,446,4,8,95 +2384678,16,SHORT,447,-2,-2,11 +2384680,16,SHORT,448,3,-2,17 +2384682,16,SHORT,449,-12,-4,183 +2384684,16,SHORT,450,-3,-2,19 +2384686,16,SHORT,451,0,-6,46 +2384688,16,SHORT,452,5,-8,109 +2384690,16,SHORT,453,0,-6,46 +2384692,16,SHORT,454,-9,-5,122 +2384694,16,SHORT,455,-2,-2,10 +2384696,16,SHORT,456,6,4,55 +2384698,16,SHORT,457,2,1,8 +2384700,16,SHORT,458,-7,0,50 +2384702,16,SHORT,459,-10,-1,115 +2384704,16,SHORT,460,0,0,0 +2384706,16,SHORT,461,2,0,8 +2384708,16,SHORT,462,4,12,174 +2384710,16,SHORT,463,-3,-1,18 +2384712,16,SHORT,464,0,-7,50 +2384714,16,SHORT,465,4,-6,62 +2384716,16,SHORT,466,0,3,12 +2384718,16,SHORT,467,-6,6,86 +2384720,16,SHORT,468,-2,-2,10 +2384722,16,SHORT,469,1,4,22 +2384724,16,SHORT,470,-1,8,80 +2384726,16,SHORT,471,0,5,34 +2384728,16,SHORT,472,-3,0,12 +2384730,16,SHORT,473,0,0,0 +2384732,16,SHORT,474,7,-2,53 +2384734,16,SHORT,475,1,-1,4 +2384736,16,SHORT,476,4,5,52 +2384738,16,SHORT,477,-5,1,32 +2384740,16,SHORT,478,-2,-6,55 +2384742,16,SHORT,479,-7,-6,92 +2384744,16,SHORT,480,-1,2,9 +2384746,16,SHORT,481,-3,5,39 +2384748,16,SHORT,482,0,2,6 +2384750,16,SHORT,483,-1,2,12 +2384752,16,SHORT,484,-7,-4,70 +2384754,16,SHORT,485,2,0,5 +2384756,16,SHORT,486,-1,0,3 +2384758,16,SHORT,487,1,3,12 +2384760,16,SHORT,488,0,-1,1 +2384762,16,SHORT,489,-10,0,108 +2384764,16,SHORT,490,3,3,25 +2384766,16,SHORT,491,4,5,52 +2384768,16,SHORT,492,2,5,38 +2384770,16,SHORT,493,5,3,36 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+2559534,17,SHORT,113,3,0,12 +2559536,17,SHORT,114,-1,2,12 +2559538,17,SHORT,115,1,4,24 +2559540,17,SHORT,116,-2,-3,18 +2559542,17,SHORT,117,0,9,89 +2559544,17,SHORT,118,9,-25,719 +2559546,17,SHORT,119,8,-25,715 +2559548,17,SHORT,120,13,-17,497 +2559550,17,SHORT,121,22,-10,634 +2559552,17,SHORT,122,28,-11,963 +2559554,17,SHORT,123,25,1,674 +2559556,17,SHORT,124,30,-3,932 +2559558,17,SHORT,125,25,3,650 +2559560,17,SHORT,126,25,9,740 +2559562,17,SHORT,127,25,17,964 +2559564,17,SHORT,128,26,30,1633 +2559566,17,SHORT,129,14,27,1002 +2559568,17,SHORT,130,19,22,886 +2559570,17,SHORT,131,3,27,775 +2559572,17,SHORT,132,-9,20,515 +2559574,17,SHORT,133,0,2,9 +2559576,17,SHORT,134,0,-3,14 +2559578,17,SHORT,135,5,-6,76 +2559580,17,SHORT,136,0,-1,3 +2559582,17,SHORT,137,4,-2,27 +2559584,17,SHORT,138,-2,8,82 +2559586,17,SHORT,139,-1,-1,5 +2559588,17,SHORT,140,3,0,12 +2559590,17,SHORT,141,1,0,1 +2559592,17,SHORT,142,1,3,16 +2559594,17,SHORT,143,3,1,12 +2559596,17,SHORT,144,1,-3,17 +2559598,17,SHORT,145,-6,-2,54 +2559600,17,SHORT,146,5,1,32 +2559602,17,SHORT,147,0,-7,53 +2559604,17,SHORT,148,4,-5,50 +2559606,17,SHORT,149,0,0,1 +2559608,17,SHORT,150,4,0,23 +2559610,17,SHORT,151,0,1,2 +2559612,17,SHORT,152,6,0,43 +2559614,17,SHORT,153,2,0,9 +2559616,17,SHORT,154,9,-1,84 +2559618,17,SHORT,155,4,0,18 +2559620,17,SHORT,156,-4,9,115 +2559622,17,SHORT,157,-1,-5,32 +2559624,17,SHORT,158,-4,2,23 +2559626,17,SHORT,159,1,3,13 +2559628,17,SHORT,160,8,0,73 +2559630,17,SHORT,161,1,10,119 +2559632,17,SHORT,162,-1,0,4 +2559634,17,SHORT,163,0,-5,30 +2559636,17,SHORT,164,-1,2,9 +2559638,17,SHORT,165,2,-12,168 +2559640,17,SHORT,166,-4,1,20 +2559642,17,SHORT,167,-3,-2,16 +2559644,17,SHORT,168,0,1,2 +2559646,17,SHORT,169,3,1,14 +2559648,17,SHORT,170,0,-3,10 +2559650,17,SHORT,171,-6,-3,61 +2559652,17,SHORT,172,0,0,0 +2559654,17,SHORT,173,13,4,193 +2559656,17,SHORT,174,10,5,149 +2559658,17,SHORT,175,-1,0,3 +2559660,17,SHORT,176,-1,0,3 +2559662,17,SHORT,177,-4,-4,41 +2559664,17,SHORT,178,-11,0,133 +2559666,17,SHORT,179,1,-5,34 +2559668,17,SHORT,180,-7,-1,59 +2559670,17,SHORT,181,4,-6,67 +2559672,17,SHORT,182,0,4,24 +2559674,17,SHORT,183,0,0,0 +2559676,17,SHORT,184,-5,7,94 +2559678,17,SHORT,185,1,-4,20 +2559680,17,SHORT,186,3,2,20 +2559682,17,SHORT,187,2,6,46 +2559684,17,SHORT,188,9,2,107 +2559686,17,SHORT,189,1,1,4 +2559688,17,SHORT,190,6,2,45 +2559690,17,SHORT,191,-4,-1,24 +2559692,17,SHORT,192,1,-4,25 +2559694,17,SHORT,193,-1,-8,75 +2559696,17,SHORT,194,17,-8,386 +2559698,17,SHORT,195,2,-7,67 +2559700,17,SHORT,196,11,-6,186 +2559702,17,SHORT,197,20,-3,429 +2559704,17,SHORT,198,17,0,324 +2559706,17,SHORT,199,21,1,482 +2559708,17,SHORT,200,13,2,203 +2559710,17,SHORT,201,17,11,446 +2559712,17,SHORT,202,10,7,151 +2559714,17,SHORT,203,12,16,438 +2559716,17,SHORT,204,17,16,561 +2559718,17,SHORT,205,3,12,182 +2559720,17,SHORT,206,1,10,123 +2559722,17,SHORT,207,2,8,74 +2559724,17,SHORT,208,7,6,105 +2559726,17,SHORT,209,-2,-1,11 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+2559926,17,SHORT,309,4,-3,27 +2559928,17,SHORT,310,8,0,70 +2559930,17,SHORT,311,-5,1,31 +2559932,17,SHORT,312,-8,3,85 +2559934,17,SHORT,313,0,3,15 +2559936,17,SHORT,314,-3,5,42 +2559938,17,SHORT,315,5,4,45 +2559940,17,SHORT,316,5,-2,38 +2559942,17,SHORT,317,0,3,11 +2559944,17,SHORT,318,0,0,0 +2559946,17,SHORT,319,1,2,11 +2559948,17,SHORT,320,-7,-1,54 +2559950,17,SHORT,321,-5,2,41 +2559952,17,SHORT,322,7,-3,60 +2559954,17,SHORT,323,-4,0,23 +2559956,17,SHORT,324,-2,9,103 +2559958,17,SHORT,325,0,7,52 +2559960,17,SHORT,326,3,1,15 +2559962,17,SHORT,327,4,0,20 +2559964,17,SHORT,328,-2,-5,36 +2559966,17,SHORT,329,8,0,68 +2559968,17,SHORT,330,-1,1,6 +2559970,17,SHORT,331,8,-2,77 +2559972,17,SHORT,332,1,1,3 +2559974,17,SHORT,333,0,8,79 +2559976,17,SHORT,334,5,2,40 +2559978,17,SHORT,335,0,-1,1 +2559980,17,SHORT,336,8,0,70 +2559982,17,SHORT,337,7,-1,52 +2559984,17,SHORT,338,3,-12,153 +2559986,17,SHORT,339,3,9,111 +2559988,17,SHORT,340,6,0,43 +2559990,17,SHORT,341,-3,5,46 +2559992,17,SHORT,342,5,-6,66 +2559994,17,SHORT,343,0,5,29 +2559996,17,SHORT,344,0,4,17 +2559998,17,SHORT,345,1,7,55 +2560000,17,SHORT,346,-2,4,29 +2560002,17,SHORT,347,4,6,63 +2560004,17,SHORT,348,-4,-8,80 +2560006,17,SHORT,349,-2,-4,27 +2560008,17,SHORT,350,8,-4,88 +2560010,17,SHORT,351,-7,-3,65 +2560012,17,SHORT,352,-1,0,2 +2560014,17,SHORT,353,-4,-6,58 +2560016,17,SHORT,354,-2,0,5 +2560018,17,SHORT,355,3,-3,22 +2560020,17,SHORT,356,-5,-1,31 +2560022,17,SHORT,357,2,5,35 +2560024,17,SHORT,358,4,2,24 +2560026,17,SHORT,359,-1,0,2 +2560028,17,SHORT,360,3,-7,77 +2560030,17,SHORT,361,-1,1,5 +2560032,17,SHORT,362,1,5,38 +2560034,17,SHORT,363,2,-3,16 +2560036,17,SHORT,364,-1,6,45 +2560038,17,SHORT,365,-3,6,47 +2560040,17,SHORT,366,0,-5,29 +2560042,17,SHORT,367,4,-7,81 +2560044,17,SHORT,368,12,-3,174 +2560046,17,SHORT,369,5,0,31 +2560048,17,SHORT,370,1,-3,17 +2560050,17,SHORT,371,-2,-7,61 +2560052,17,SHORT,372,0,-7,52 +2560054,17,SHORT,373,9,-5,129 +2560056,17,SHORT,374,-7,-5,84 +2560058,17,SHORT,375,-1,-3,14 +2560060,17,SHORT,376,-6,5,81 +2560062,17,SHORT,377,-5,-2,38 +2560064,17,SHORT,378,6,-2,44 +2560066,17,SHORT,379,-4,-2,24 +2560068,17,SHORT,380,-1,11,132 +2560070,17,SHORT,381,0,-3,14 +2560072,17,SHORT,382,5,-5,54 +2560074,17,SHORT,383,-6,-6,77 +2560076,17,SHORT,384,-2,6,44 +2560078,17,SHORT,385,6,0,39 +2560080,17,SHORT,386,-6,0,45 +2560082,17,SHORT,387,1,3,17 +2560084,17,SHORT,388,0,3,14 +2560086,17,SHORT,389,2,5,38 +2560088,17,SHORT,390,0,0,0 +2560090,17,SHORT,391,-1,7,50 +2560092,17,SHORT,392,6,2,42 +2560094,17,SHORT,393,0,-2,7 +2560096,17,SHORT,394,2,0,7 +2560098,17,SHORT,395,-5,0,28 +2560100,17,SHORT,396,0,2,6 +2560102,17,SHORT,397,2,0,5 +2560104,17,SHORT,398,-5,0,31 +2560106,17,SHORT,399,-4,-4,42 +2560108,17,SHORT,400,-5,0,28 +2560110,17,SHORT,401,-4,-5,42 +2560112,17,SHORT,402,-6,-2,54 +2560114,17,SHORT,403,0,-5,33 +2560116,17,SHORT,404,-6,5,68 +2560118,17,SHORT,405,0,0,0 +2560120,17,SHORT,406,8,-1,70 +2560122,17,SHORT,407,-6,-2,44 +2560124,17,SHORT,408,1,5,33 +2560126,17,SHORT,409,-4,-2,27 +2560128,17,SHORT,410,-7,-2,60 +2560130,17,SHORT,411,-3,-2,23 +2560132,17,SHORT,412,-1,-10,113 +2560134,17,SHORT,413,-6,3,52 +2560136,17,SHORT,414,-3,-6,64 +2560138,17,SHORT,415,1,1,5 +2560140,17,SHORT,416,0,-4,24 +2560142,17,SHORT,417,-2,2,11 +2560144,17,SHORT,418,9,4,105 +2560146,17,SHORT,419,-2,-8,72 +2560148,17,SHORT,420,1,3,14 +2560150,17,SHORT,421,-3,0,15 +2560152,17,SHORT,422,-11,0,130 +2560154,17,SHORT,423,-8,0,73 +2560156,17,SHORT,424,0,3,10 +2560158,17,SHORT,425,-3,0,14 +2560160,17,SHORT,426,0,0,0 +2560162,17,SHORT,427,-5,-11,174 +2560164,17,SHORT,428,-4,1,21 +2560166,17,SHORT,429,-2,6,44 +2560168,17,SHORT,430,-2,11,130 +2560170,17,SHORT,431,0,1,3 +2560172,17,SHORT,432,-8,3,79 +2560174,17,SHORT,433,0,1,3 +2560176,17,SHORT,434,4,8,95 +2560178,17,SHORT,435,1,1,4 +2560180,17,SHORT,436,7,2,58 +2560182,17,SHORT,437,-6,-1,41 +2560184,17,SHORT,438,0,3,15 +2560186,17,SHORT,439,0,0,0 +2560188,17,SHORT,440,3,10,111 +2560190,17,SHORT,441,-1,-4,20 +2560192,17,SHORT,442,-10,-5,144 +2560194,17,SHORT,443,-5,1,36 +2560196,17,SHORT,444,0,-6,44 +2560198,17,SHORT,445,0,2,7 +2560200,17,SHORT,446,-5,6,73 +2560202,17,SHORT,447,-6,4,62 +2560204,17,SHORT,448,-1,0,3 +2560206,17,SHORT,449,-2,1,9 +2560208,17,SHORT,450,-3,0,13 +2560210,17,SHORT,451,-3,-6,58 +2560212,17,SHORT,452,4,-13,216 +2560214,17,SHORT,453,0,4,16 +2560216,17,SHORT,454,-3,0,12 +2560218,17,SHORT,455,-3,6,51 +2560220,17,SHORT,456,-7,1,53 +2560222,17,SHORT,457,-1,4,26 +2560224,17,SHORT,458,9,-5,130 +2560226,17,SHORT,459,4,-2,22 +2560228,17,SHORT,460,-10,-3,116 +2560230,17,SHORT,461,-11,-6,163 +2560232,17,SHORT,462,1,10,112 +2560234,17,SHORT,463,2,-6,42 +2560236,17,SHORT,464,-4,2,26 +2560238,17,SHORT,465,1,0,1 +2560240,17,SHORT,466,-6,-1,43 +2560242,17,SHORT,467,3,-3,26 +2560244,17,SHORT,468,-3,-6,55 +2560246,17,SHORT,469,-1,0,2 +2560248,17,SHORT,470,0,-2,4 +2560250,17,SHORT,471,-7,3,69 +2560252,17,SHORT,472,-2,1,6 +2560254,17,SHORT,473,-3,4,34 +2560256,17,SHORT,474,1,1,7 +2560258,17,SHORT,475,-3,-7,61 +2560260,17,SHORT,476,-7,-4,74 +2560262,17,SHORT,477,-6,0,40 +2560264,17,SHORT,478,8,-8,144 +2560266,17,SHORT,479,6,-2,41 +2560268,17,SHORT,480,-7,2,56 +2560270,17,SHORT,481,-5,-1,32 +2560272,17,SHORT,482,-4,6,54 +2560274,17,SHORT,483,-8,0,72 +2560276,17,SHORT,484,0,0,1 +2560278,17,SHORT,485,5,0,29 +2560280,17,SHORT,486,1,-2,8 +2560282,17,SHORT,487,0,-1,2 +2560284,17,SHORT,488,9,2,89 +2560286,17,SHORT,489,2,-2,14 +2560288,17,SHORT,490,-3,1,14 +2560290,17,SHORT,491,-3,-2,21 +2560292,17,SHORT,492,-2,-5,33 +2560294,17,SHORT,493,-3,-17,311 +2560296,17,SHORT,494,-1,1,5 +2560298,17,SHORT,495,-1,0,2 +2560300,17,SHORT,496,1,3,10 +2560302,17,SHORT,497,3,-4,34 +2560304,17,SHORT,498,8,1,67 +2560306,17,SHORT,499,0,-5,28 +2560308,17,SHORT,500,-3,-1,13 +2560310,17,SHORT,501,12,3,158 +2560312,17,SHORT,502,0,-2,6 +2560314,17,SHORT,503,6,3,57 +2560316,17,SHORT,504,0,-4,24 +2560318,17,SHORT,505,0,-1,3 +2560320,17,SHORT,506,-9,-3,111 +2560322,17,SHORT,507,5,7,91 +2560324,17,SHORT,508,8,0,73 +2560326,17,SHORT,509,-2,-7,64 +2560328,17,SHORT,510,3,12,158 +2560330,17,SHORT,511,5,-2,34 +2734832,18,SHORT,0,11,-13,324 +2734834,18,SHORT,1,2,-1,9 +2734836,18,SHORT,2,4,-9,112 +2734838,18,SHORT,3,8,-1,79 +2734840,18,SHORT,4,-4,-1,20 +2734842,18,SHORT,5,9,3,108 +2734844,18,SHORT,6,0,-18,361 +2734846,18,SHORT,7,2,1,9 +2734848,18,SHORT,8,-14,2,214 +2734850,18,SHORT,9,-5,-8,100 +2734852,18,SHORT,10,10,1,113 +2734854,18,SHORT,11,4,-3,36 +2734856,18,SHORT,12,3,1,10 +2734858,18,SHORT,13,2,6,52 +2734860,18,SHORT,14,-13,11,317 +2734862,18,SHORT,15,5,4,49 +2734864,18,SHORT,16,2,-11,149 +2734866,18,SHORT,17,-1,-2,6 +2734868,18,SHORT,18,28,3,798 +2734870,18,SHORT,19,-8,-7,133 +2734872,18,SHORT,20,3,6,60 +2734874,18,SHORT,21,-1,-6,48 +2734876,18,SHORT,22,0,2,8 +2734878,18,SHORT,23,-8,-11,211 +2734880,18,SHORT,24,0,-5,28 +2734882,18,SHORT,25,-1,-5,35 +2734884,18,SHORT,26,3,5,41 +2734886,18,SHORT,27,6,-11,169 +2734888,18,SHORT,28,-4,-11,166 +2734890,18,SHORT,29,-12,-1,172 +2734892,18,SHORT,30,5,0,31 +2734894,18,SHORT,31,-7,-3,69 +2734896,18,SHORT,32,4,7,87 +2734898,18,SHORT,33,9,0,95 +2734900,18,SHORT,34,-8,9,156 +2734902,18,SHORT,35,-8,6,105 +2734904,18,SHORT,36,-5,-12,186 +2734906,18,SHORT,37,-11,7,188 +2734908,18,SHORT,38,-3,2,19 +2734910,18,SHORT,39,4,-4,34 +2734912,18,SHORT,40,0,-4,21 +2734914,18,SHORT,41,-11,5,149 +2734916,18,SHORT,42,-8,-7,120 +2734918,18,SHORT,43,-6,14,235 +2734920,18,SHORT,44,0,0,0 +2734922,18,SHORT,45,-12,-17,461 +2734924,18,SHORT,46,12,0,156 +2734926,18,SHORT,47,5,-13,203 +2734928,18,SHORT,48,6,7,105 +2734930,18,SHORT,49,11,9,216 +2734932,18,SHORT,50,2,0,9 +2734934,18,SHORT,51,0,-7,59 +2734936,18,SHORT,52,-4,-8,88 +2734938,18,SHORT,53,4,0,16 +2734940,18,SHORT,54,1,6,45 +2734942,18,SHORT,55,3,-5,39 +2734944,18,SHORT,56,-3,-7,60 +2734946,18,SHORT,57,4,-5,52 +2734948,18,SHORT,58,5,-7,92 +2734950,18,SHORT,59,-6,0,37 +2734952,18,SHORT,60,-4,0,16 +2734954,18,SHORT,61,1,1,4 +2734956,18,SHORT,62,-4,10,126 +2734958,18,SHORT,63,-3,1,16 +2734960,18,SHORT,64,-3,0,10 +2734962,18,SHORT,65,1,-9,91 +2734964,18,SHORT,66,2,10,115 +2734966,18,SHORT,67,-4,0,16 +2734968,18,SHORT,68,-57,24,3918 +2734970,18,SHORT,69,-51,5,2669 +2734972,18,SHORT,70,-49,-9,2508 +2734974,18,SHORT,71,-52,-17,3001 +2734976,18,SHORT,72,-44,-27,2739 +2734978,18,SHORT,73,-33,-45,3171 +2734980,18,SHORT,74,-32,-49,3455 +2734982,18,SHORT,75,-24,-45,2620 +2734984,18,SHORT,76,-11,-54,3051 +2734986,18,SHORT,77,0,-52,2751 +2734988,18,SHORT,78,18,-58,3796 +2734990,18,SHORT,79,29,-55,3924 +2734992,18,SHORT,80,38,-49,3951 +2734994,18,SHORT,81,39,-38,3050 +2734996,18,SHORT,82,54,-30,3953 +2734998,18,SHORT,83,6,-2,50 +2735000,18,SHORT,84,2,12,153 +2735002,18,SHORT,85,-1,-13,177 +2735004,18,SHORT,86,-1,5,36 +2735006,18,SHORT,87,1,5,35 +2735008,18,SHORT,88,3,0,15 +2735010,18,SHORT,89,-6,5,69 +2735012,18,SHORT,90,-2,-5,38 +2735014,18,SHORT,91,0,1,3 +2735016,18,SHORT,92,-4,-1,24 +2735018,18,SHORT,93,0,-7,53 +2735020,18,SHORT,94,-2,-2,11 +2735022,18,SHORT,95,-6,3,52 +2735024,18,SHORT,96,4,6,60 +2735026,18,SHORT,97,12,0,149 +2735028,18,SHORT,98,1,0,3 +2735030,18,SHORT,99,1,-1,6 +2735032,18,SHORT,100,8,0,77 +2735034,18,SHORT,101,2,7,69 +2735036,18,SHORT,102,-2,0,8 +2735038,18,SHORT,103,-8,-2,83 +2735040,18,SHORT,104,5,-9,119 +2735042,18,SHORT,105,-3,1,14 +2735044,18,SHORT,106,7,-1,62 +2735046,18,SHORT,107,5,0,32 +2735048,18,SHORT,108,3,0,12 +2735050,18,SHORT,109,4,9,124 +2735052,18,SHORT,110,-2,3,14 +2735054,18,SHORT,111,8,0,78 +2735056,18,SHORT,112,-11,-2,136 +2735058,18,SHORT,113,-1,2,8 +2735060,18,SHORT,114,7,8,129 +2735062,18,SHORT,115,2,4,28 +2735064,18,SHORT,116,0,-1,4 +2735066,18,SHORT,117,6,-4,56 +2735068,18,SHORT,118,-26,-24,1275 +2735070,18,SHORT,119,-18,-27,1107 +2735072,18,SHORT,120,-11,-13,312 +2735074,18,SHORT,121,-10,-28,913 +2735076,18,SHORT,122,-2,-30,945 +2735078,18,SHORT,123,6,-31,1021 +2735080,18,SHORT,124,15,-29,1123 +2735082,18,SHORT,125,16,-27,1019 +2735084,18,SHORT,126,24,-15,827 +2735086,18,SHORT,127,22,-13,671 +2735088,18,SHORT,128,21,-13,663 +2735090,18,SHORT,129,37,-8,1495 +2735092,18,SHORT,130,31,9,1087 +2735094,18,SHORT,131,25,9,737 +2735096,18,SHORT,132,16,26,962 +2735098,18,SHORT,133,0,13,173 +2735100,18,SHORT,134,1,0,1 +2735102,18,SHORT,135,4,-6,71 +2735104,18,SHORT,136,0,0,0 +2735106,18,SHORT,137,5,-1,33 +2735108,18,SHORT,138,-3,0,9 +2735110,18,SHORT,139,-2,1,10 +2735112,18,SHORT,140,-2,7,68 +2735114,18,SHORT,141,12,3,166 +2735116,18,SHORT,142,4,4,36 +2735118,18,SHORT,143,-3,-6,55 +2735120,18,SHORT,144,2,-4,31 +2735122,18,SHORT,145,-3,-3,25 +2735124,18,SHORT,146,1,5,36 +2735126,18,SHORT,147,-2,-3,16 +2735128,18,SHORT,148,10,0,109 +2735130,18,SHORT,149,7,1,57 +2735132,18,SHORT,150,-13,4,193 +2735134,18,SHORT,151,-2,8,87 +2735136,18,SHORT,152,1,11,124 +2735138,18,SHORT,153,-3,0,11 +2735140,18,SHORT,154,0,-1,1 +2735142,18,SHORT,155,0,4,19 +2735144,18,SHORT,156,-5,-5,53 +2735146,18,SHORT,157,9,2,99 +2735148,18,SHORT,158,0,1,1 +2735150,18,SHORT,159,1,2,7 +2735152,18,SHORT,160,-1,1,4 +2735154,18,SHORT,161,1,10,113 +2735156,18,SHORT,162,-7,9,156 +2735158,18,SHORT,163,0,4,20 +2735160,18,SHORT,164,1,7,53 +2735162,18,SHORT,165,3,-4,31 +2735164,18,SHORT,166,-3,-7,62 +2735166,18,SHORT,167,1,2,8 +2735168,18,SHORT,168,0,5,29 +2735170,18,SHORT,169,5,2,35 +2735172,18,SHORT,170,2,8,84 +2735174,18,SHORT,171,-14,0,212 +2735176,18,SHORT,172,4,1,24 +2735178,18,SHORT,173,11,4,143 +2735180,18,SHORT,174,-4,0,21 +2735182,18,SHORT,175,2,2,10 +2735184,18,SHORT,176,3,0,9 +2735186,18,SHORT,177,-1,1,6 +2735188,18,SHORT,178,1,6,39 +2735190,18,SHORT,179,3,5,39 +2735192,18,SHORT,180,-5,-2,36 +2735194,18,SHORT,181,0,-1,2 +2735196,18,SHORT,182,6,2,54 +2735198,18,SHORT,183,0,8,71 +2735200,18,SHORT,184,4,-1,21 +2735202,18,SHORT,185,-2,-4,29 +2735204,18,SHORT,186,-3,7,67 +2735206,18,SHORT,187,6,0,37 +2735208,18,SHORT,188,1,1,3 +2735210,18,SHORT,189,0,-1,3 +2735212,18,SHORT,190,0,1,1 +2735214,18,SHORT,191,1,0,4 +2735216,18,SHORT,192,5,0,30 +2735218,18,SHORT,193,4,-10,134 +2735220,18,SHORT,194,3,-19,403 +2735222,18,SHORT,195,14,-6,246 +2735224,18,SHORT,196,19,1,401 +2735226,18,SHORT,197,9,-2,101 +2735228,18,SHORT,198,12,-2,175 +2735230,18,SHORT,199,14,6,250 +2735232,18,SHORT,200,5,4,46 +2735234,18,SHORT,201,4,13,207 +2735236,18,SHORT,202,6,18,394 +2735238,18,SHORT,203,7,5,93 +2735240,18,SHORT,204,-1,10,103 +2735242,18,SHORT,205,0,18,346 +2735244,18,SHORT,206,-6,12,204 +2735246,18,SHORT,207,-2,18,338 +2735248,18,SHORT,208,-5,-4,53 +2735250,18,SHORT,209,-1,-2,8 +2735252,18,SHORT,210,-3,1,15 +2735254,18,SHORT,211,-4,2,28 +2735256,18,SHORT,212,-1,-4,18 +2735258,18,SHORT,213,-1,-7,51 +2735260,18,SHORT,214,-1,1,5 +2735262,18,SHORT,215,-10,-5,139 +2735264,18,SHORT,216,-1,3,15 +2735266,18,SHORT,217,9,0,94 +2735268,18,SHORT,218,-4,9,116 +2735270,18,SHORT,219,1,-1,4 +2735272,18,SHORT,220,-1,2,5 +2735274,18,SHORT,221,0,0,0 +2735276,18,SHORT,222,-4,1,26 +2735278,18,SHORT,223,-8,-7,125 +2735280,18,SHORT,224,4,5,47 +2735282,18,SHORT,225,-3,7,67 +2735284,18,SHORT,226,2,5,36 +2735286,18,SHORT,227,3,0,14 +2735288,18,SHORT,228,-2,-2,12 +2735290,18,SHORT,229,3,0,10 +2735292,18,SHORT,230,7,-3,69 +2735294,18,SHORT,231,0,-1,4 +2735296,18,SHORT,232,-3,1,15 +2735298,18,SHORT,233,5,-6,76 +2735300,18,SHORT,234,-4,-8,86 +2735302,18,SHORT,235,-8,0,66 +2735304,18,SHORT,236,-2,-8,74 +2735306,18,SHORT,237,2,-8,88 +2735308,18,SHORT,238,1,7,64 +2735310,18,SHORT,239,-6,6,83 +2735312,18,SHORT,240,3,-1,16 +2735314,18,SHORT,241,2,2,12 +2735316,18,SHORT,242,-6,2,48 +2735318,18,SHORT,243,-3,8,83 +2735320,18,SHORT,244,-2,11,128 +2735322,18,SHORT,245,6,9,137 +2735324,18,SHORT,246,-7,2,63 +2735326,18,SHORT,247,-5,-4,41 +2735328,18,SHORT,248,0,0,1 +2735330,18,SHORT,249,0,-3,10 +2735332,18,SHORT,250,0,3,9 +2735334,18,SHORT,251,0,-4,19 +2735336,18,SHORT,252,-2,3,19 +2735338,18,SHORT,253,-11,2,130 +2735340,18,SHORT,254,2,-4,22 +2735342,18,SHORT,255,0,0,0 +2735344,18,SHORT,256,-5,-9,118 +2735346,18,SHORT,257,1,-1,3 +2735348,18,SHORT,258,-9,0,99 +2735350,18,SHORT,259,0,-3,13 +2735352,18,SHORT,260,2,1,10 +2735354,18,SHORT,261,3,-7,60 +2735356,18,SHORT,262,2,0,5 +2735358,18,SHORT,263,-7,-5,99 +2735360,18,SHORT,264,-4,4,45 +2735362,18,SHORT,265,5,5,63 +2735364,18,SHORT,266,7,-4,74 +2735366,18,SHORT,267,3,1,12 +2735368,18,SHORT,268,7,3,70 +2735370,18,SHORT,269,1,-4,18 +2735372,18,SHORT,270,3,2,16 +2735374,18,SHORT,271,3,2,19 +2735376,18,SHORT,272,-8,8,130 +2735378,18,SHORT,273,5,5,58 +2735380,18,SHORT,274,3,-5,40 +2735382,18,SHORT,275,9,10,196 +2735384,18,SHORT,276,8,-2,71 +2735386,18,SHORT,277,0,-6,37 +2735388,18,SHORT,278,1,8,72 +2735390,18,SHORT,279,-3,1,17 +2735392,18,SHORT,280,2,-3,16 +2735394,18,SHORT,281,8,1,77 +2735396,18,SHORT,282,1,2,10 +2735398,18,SHORT,283,-1,-4,25 +2735400,18,SHORT,284,0,-1,1 +2735402,18,SHORT,285,0,8,76 +2735404,18,SHORT,286,-9,9,180 +2735406,18,SHORT,287,-2,-7,61 +2735408,18,SHORT,288,-2,-1,7 +2735410,18,SHORT,289,0,0,0 +2735412,18,SHORT,290,1,1,4 +2735414,18,SHORT,291,6,-6,86 +2735416,18,SHORT,292,3,3,18 +2735418,18,SHORT,293,4,5,46 +2735420,18,SHORT,294,3,2,22 +2735422,18,SHORT,295,11,-5,167 +2735424,18,SHORT,296,4,6,62 +2735426,18,SHORT,297,4,5,55 +2735428,18,SHORT,298,-3,5,43 +2735430,18,SHORT,299,2,10,108 +2735432,18,SHORT,300,0,0,0 +2735434,18,SHORT,301,-11,-4,147 +2735436,18,SHORT,302,-13,10,292 +2735438,18,SHORT,303,-8,11,193 +2735440,18,SHORT,304,-3,3,21 +2735442,18,SHORT,305,-7,-1,57 +2735444,18,SHORT,306,0,-1,2 +2735446,18,SHORT,307,-10,-1,114 +2735448,18,SHORT,308,0,-2,4 +2735450,18,SHORT,309,-8,2,82 +2735452,18,SHORT,310,-11,0,140 +2735454,18,SHORT,311,-3,-2,16 +2735456,18,SHORT,312,4,2,24 +2735458,18,SHORT,313,0,0,0 +2735460,18,SHORT,314,7,2,56 +2735462,18,SHORT,315,-10,2,108 +2735464,18,SHORT,316,5,5,52 +2735466,18,SHORT,317,9,3,105 +2735468,18,SHORT,318,-2,0,5 +2735470,18,SHORT,319,-11,2,136 +2735472,18,SHORT,320,3,-4,36 +2735474,18,SHORT,321,6,14,251 +2735476,18,SHORT,322,1,0,4 +2735478,18,SHORT,323,-4,-5,50 +2735480,18,SHORT,324,-3,-5,41 +2735482,18,SHORT,325,0,-2,5 +2735484,18,SHORT,326,-4,1,21 +2735486,18,SHORT,327,-3,-9,96 +2735488,18,SHORT,328,4,7,85 +2735490,18,SHORT,329,-5,4,43 +2735492,18,SHORT,330,-2,-6,47 +2735494,18,SHORT,331,0,0,0 +2735496,18,SHORT,332,5,-9,116 +2735498,18,SHORT,333,1,1,4 +2735500,18,SHORT,334,5,1,34 +2735502,18,SHORT,335,-3,5,39 +2735504,18,SHORT,336,-4,-1,22 +2735506,18,SHORT,337,0,3,16 +2735508,18,SHORT,338,0,1,2 +2735510,18,SHORT,339,0,-4,16 +2735512,18,SHORT,340,2,1,9 +2735514,18,SHORT,341,-4,-3,32 +2735516,18,SHORT,342,-2,-4,20 +2735518,18,SHORT,343,8,0,65 +2735520,18,SHORT,344,-2,-6,49 +2735522,18,SHORT,345,-7,-3,73 +2735524,18,SHORT,346,2,-5,31 +2735526,18,SHORT,347,8,-7,123 +2735528,18,SHORT,348,2,-10,113 +2735530,18,SHORT,349,-2,0,4 +2735532,18,SHORT,350,6,-6,92 +2735534,18,SHORT,351,10,0,108 +2735536,18,SHORT,352,6,1,47 +2735538,18,SHORT,353,0,0,0 +2735540,18,SHORT,354,3,0,10 +2735542,18,SHORT,355,-8,1,66 +2735544,18,SHORT,356,-2,-3,17 +2735546,18,SHORT,357,7,2,68 +2735548,18,SHORT,358,-1,4,20 +2735550,18,SHORT,359,-13,0,185 +2735552,18,SHORT,360,-3,2,19 +2735554,18,SHORT,361,4,2,31 +2735556,18,SHORT,362,-1,3,16 +2735558,18,SHORT,363,-1,1,6 +2735560,18,SHORT,364,-3,-9,92 +2735562,18,SHORT,365,2,1,9 +2735564,18,SHORT,366,6,-1,38 +2735566,18,SHORT,367,-4,2,30 +2735568,18,SHORT,368,-4,2,22 +2735570,18,SHORT,369,4,4,35 +2735572,18,SHORT,370,-2,-2,11 +2735574,18,SHORT,371,0,-3,15 +2735576,18,SHORT,372,-7,-3,65 +2735578,18,SHORT,373,-3,0,10 +2735580,18,SHORT,374,1,-1,4 +2735582,18,SHORT,375,-1,0,2 +2735584,18,SHORT,376,-10,2,129 +2735586,18,SHORT,377,-2,-6,48 +2735588,18,SHORT,378,4,-1,26 +2735590,18,SHORT,379,-7,5,85 +2735592,18,SHORT,380,-3,3,28 +2735594,18,SHORT,381,1,-2,6 +2735596,18,SHORT,382,3,10,128 +2735598,18,SHORT,383,-2,-1,9 +2735600,18,SHORT,384,0,5,28 +2735602,18,SHORT,385,-3,3,26 +2735604,18,SHORT,386,-3,5,41 +2735606,18,SHORT,387,4,-4,42 +2735608,18,SHORT,388,-5,-6,67 +2735610,18,SHORT,389,-3,-7,71 +2735612,18,SHORT,390,8,-2,82 +2735614,18,SHORT,391,-7,5,84 +2735616,18,SHORT,392,5,6,77 +2735618,18,SHORT,393,-1,-1,5 +2735620,18,SHORT,394,4,-2,27 +2735622,18,SHORT,395,-6,-4,57 +2735624,18,SHORT,396,-1,-3,14 +2735626,18,SHORT,397,3,0,12 +2735628,18,SHORT,398,0,7,60 +2735630,18,SHORT,399,-7,-1,56 +2735632,18,SHORT,400,0,3,12 +2735634,18,SHORT,401,1,0,3 +2735636,18,SHORT,402,-2,3,18 +2735638,18,SHORT,403,-7,2,72 +2735640,18,SHORT,404,-4,6,60 +2735642,18,SHORT,405,-5,1,28 +2735644,18,SHORT,406,0,0,0 +2735646,18,SHORT,407,4,0,16 +2735648,18,SHORT,408,-5,2,34 +2735650,18,SHORT,409,4,-5,51 +2735652,18,SHORT,410,-5,-1,39 +2735654,18,SHORT,411,9,3,106 +2735656,18,SHORT,412,3,0,12 +2735658,18,SHORT,413,1,2,7 +2735660,18,SHORT,414,6,1,49 +2735662,18,SHORT,415,-3,-6,55 +2735664,18,SHORT,416,3,-5,44 +2735666,18,SHORT,417,3,0,12 +2735668,18,SHORT,418,-1,3,11 +2735670,18,SHORT,419,3,8,75 +2735672,18,SHORT,420,-4,-3,33 +2735674,18,SHORT,421,-5,9,125 +2735676,18,SHORT,422,6,0,38 +2735678,18,SHORT,423,-8,5,100 +2735680,18,SHORT,424,6,-1,51 +2735682,18,SHORT,425,-2,3,17 +2735684,18,SHORT,426,0,4,21 +2735686,18,SHORT,427,-3,1,11 +2735688,18,SHORT,428,2,-3,14 +2735690,18,SHORT,429,6,3,55 +2735692,18,SHORT,430,-4,-2,24 +2735694,18,SHORT,431,-5,-1,32 +2735696,18,SHORT,432,2,0,7 +2735698,18,SHORT,433,-9,-3,98 +2735700,18,SHORT,434,7,-7,110 +2735702,18,SHORT,435,1,5,31 +2735704,18,SHORT,436,5,-4,43 +2735706,18,SHORT,437,-6,1,44 +2735708,18,SHORT,438,1,0,3 +2735710,18,SHORT,439,-6,0,39 +2735712,18,SHORT,440,-4,8,96 +2735714,18,SHORT,441,2,7,57 +2735716,18,SHORT,442,0,9,85 +2735718,18,SHORT,443,-1,-6,49 +2735720,18,SHORT,444,-3,-14,225 +2735722,18,SHORT,445,-2,-12,171 +2735724,18,SHORT,446,3,0,9 +2735726,18,SHORT,447,4,-9,111 +2735728,18,SHORT,448,5,-5,60 +2735730,18,SHORT,449,8,3,79 +2735732,18,SHORT,450,2,-1,8 +2735734,18,SHORT,451,3,-2,14 +2735736,18,SHORT,452,-7,-2,63 +2735738,18,SHORT,453,5,7,98 +2735740,18,SHORT,454,4,-4,34 +2735742,18,SHORT,455,5,2,37 +2735744,18,SHORT,456,-1,1,2 +2735746,18,SHORT,457,1,-3,12 +2735748,18,SHORT,458,6,0,46 +2735750,18,SHORT,459,0,0,0 +2735752,18,SHORT,460,-8,-7,117 +2735754,18,SHORT,461,-5,-1,33 +2735756,18,SHORT,462,-2,-5,39 +2735758,18,SHORT,463,3,-3,29 +2735760,18,SHORT,464,7,-3,67 +2735762,18,SHORT,465,3,2,23 +2735764,18,SHORT,466,0,3,16 +2735766,18,SHORT,467,-7,-4,78 +2735768,18,SHORT,468,-3,0,11 +2735770,18,SHORT,469,-1,-2,8 +2735772,18,SHORT,470,5,10,138 +2735774,18,SHORT,471,-3,-2,15 +2735776,18,SHORT,472,0,6,37 +2735778,18,SHORT,473,7,2,59 +2735780,18,SHORT,474,10,4,126 +2735782,18,SHORT,475,-9,6,123 +2735784,18,SHORT,476,-6,2,50 +2735786,18,SHORT,477,-1,-4,23 +2735788,18,SHORT,478,-5,-5,66 +2735790,18,SHORT,479,3,2,22 +2735792,18,SHORT,480,3,10,114 +2735794,18,SHORT,481,0,-6,40 +2735796,18,SHORT,482,3,-6,54 +2735798,18,SHORT,483,11,-8,201 +2735800,18,SHORT,484,9,0,84 +2735802,18,SHORT,485,3,-1,16 +2735804,18,SHORT,486,-14,-7,262 +2735806,18,SHORT,487,0,5,25 +2735808,18,SHORT,488,-1,5,34 +2735810,18,SHORT,489,2,-2,11 +2735812,18,SHORT,490,-3,9,94 +2735814,18,SHORT,491,3,-3,23 +2735816,18,SHORT,492,-1,-10,103 +2735818,18,SHORT,493,9,9,181 +2735820,18,SHORT,494,0,-1,2 +2735822,18,SHORT,495,3,-1,19 +2735824,18,SHORT,496,5,1,34 +2735826,18,SHORT,497,-14,3,226 +2735828,18,SHORT,498,5,2,39 +2735830,18,SHORT,499,2,7,66 +2735832,18,SHORT,500,1,-6,48 +2735834,18,SHORT,501,0,0,0 +2735836,18,SHORT,502,5,-1,30 +2735838,18,SHORT,503,-1,-3,12 +2735840,18,SHORT,504,7,0,63 +2735842,18,SHORT,505,-1,0,3 +2735844,18,SHORT,506,0,7,55 +2735846,18,SHORT,507,9,-2,98 +2735848,18,SHORT,508,2,3,22 +2735850,18,SHORT,509,0,0,0 +2735852,18,SHORT,510,2,4,27 +2735854,18,SHORT,511,10,-1,106 +2910356,19,SHORT,0,-2,14,222 +2910358,19,SHORT,1,-2,14,201 +2910360,19,SHORT,2,0,12,146 +2910362,19,SHORT,3,4,11,149 +2910364,19,SHORT,4,1,1,7 +2910366,19,SHORT,5,-3,-6,56 +2910368,19,SHORT,6,3,-6,59 +2910370,19,SHORT,7,7,-1,55 +2910372,19,SHORT,8,6,0,37 +2910374,19,SHORT,9,-15,-7,316 +2910376,19,SHORT,10,-4,0,22 +2910378,19,SHORT,11,-2,0,7 +2910380,19,SHORT,12,-6,-7,98 +2910382,19,SHORT,13,3,1,15 +2910384,19,SHORT,14,0,0,0 +2910386,19,SHORT,15,-4,0,17 +2910388,19,SHORT,16,2,0,6 +2910390,19,SHORT,17,-2,3,19 +2910392,19,SHORT,18,-14,-3,213 +2910394,19,SHORT,19,16,-2,281 +2910396,19,SHORT,20,-1,1,6 +2910398,19,SHORT,21,1,5,33 +2910400,19,SHORT,22,-5,1,34 +2910402,19,SHORT,23,-1,-4,24 +2910404,19,SHORT,24,3,-3,23 +2910406,19,SHORT,25,-13,1,174 +2910408,19,SHORT,26,0,3,10 +2910410,19,SHORT,27,6,3,59 +2910412,19,SHORT,28,2,4,30 +2910414,19,SHORT,29,2,4,24 +2910416,19,SHORT,30,14,6,261 +2910418,19,SHORT,31,2,5,36 +2910420,19,SHORT,32,0,7,62 +2910422,19,SHORT,33,-6,-5,79 +2910424,19,SHORT,34,4,1,23 +2910426,19,SHORT,35,4,9,110 +2910428,19,SHORT,36,7,2,55 +2910430,19,SHORT,37,-10,-12,262 +2910432,19,SHORT,38,-7,5,89 +2910434,19,SHORT,39,6,0,47 +2910436,19,SHORT,40,-8,10,174 +2910438,19,SHORT,41,-1,5,29 +2910440,19,SHORT,42,5,-6,69 +2910442,19,SHORT,43,-10,2,115 +2910444,19,SHORT,44,6,-10,142 +2910446,19,SHORT,45,13,2,176 +2910448,19,SHORT,46,8,8,138 +2910450,19,SHORT,47,-7,-12,228 +2910452,19,SHORT,48,-15,-3,240 +2910454,19,SHORT,49,0,0,0 +2910456,19,SHORT,50,0,-3,11 +2910458,19,SHORT,51,5,3,41 +2910460,19,SHORT,52,0,-7,54 +2910462,19,SHORT,53,5,6,71 +2910464,19,SHORT,54,0,3,10 +2910466,19,SHORT,55,-1,-8,82 +2910468,19,SHORT,56,-1,-5,37 +2910470,19,SHORT,57,-7,2,67 +2910472,19,SHORT,58,4,3,28 +2910474,19,SHORT,59,-5,0,26 +2910476,19,SHORT,60,0,-6,36 +2910478,19,SHORT,61,1,8,67 +2910480,19,SHORT,62,5,7,78 +2910482,19,SHORT,63,0,4,24 +2910484,19,SHORT,64,-1,6,37 +2910486,19,SHORT,65,0,0,0 +2910488,19,SHORT,66,-5,-5,55 +2910490,19,SHORT,67,-6,-1,43 +2910492,19,SHORT,68,9,-41,1843 +2910494,19,SHORT,69,14,-50,2720 +2910496,19,SHORT,70,22,-62,4412 +2910498,19,SHORT,71,44,-37,3396 +2910500,19,SHORT,72,51,-34,3904 +2910502,19,SHORT,73,50,-22,3083 +2910504,19,SHORT,74,57,-8,3346 +2910506,19,SHORT,75,49,2,2487 +2910508,19,SHORT,76,46,7,2212 +2910510,19,SHORT,77,52,24,3342 +2910512,19,SHORT,78,46,32,3260 +2910514,19,SHORT,79,40,43,3552 +2910516,19,SHORT,80,36,47,3529 +2910518,19,SHORT,81,23,65,4819 +2910520,19,SHORT,82,4,54,2936 +2910522,19,SHORT,83,2,2,15 +2910524,19,SHORT,84,-4,2,27 +2910526,19,SHORT,85,4,-2,27 +2910528,19,SHORT,86,1,0,2 +2910530,19,SHORT,87,9,8,161 +2910532,19,SHORT,88,-1,3,15 +2910534,19,SHORT,89,8,-7,125 +2910536,19,SHORT,90,6,0,42 +2910538,19,SHORT,91,-5,7,89 +2910540,19,SHORT,92,0,1,2 +2910542,19,SHORT,93,-1,-5,37 +2910544,19,SHORT,94,-3,3,28 +2910546,19,SHORT,95,0,-4,21 +2910548,19,SHORT,96,-2,-7,55 +2910550,19,SHORT,97,-1,2,9 +2910552,19,SHORT,98,-3,6,52 +2910554,19,SHORT,99,-3,2,17 +2910556,19,SHORT,100,-9,-5,119 +2910558,19,SHORT,101,10,0,120 +2910560,19,SHORT,102,-1,8,71 +2910562,19,SHORT,103,-5,-6,66 +2910564,19,SHORT,104,2,1,9 +2910566,19,SHORT,105,0,-1,3 +2910568,19,SHORT,106,6,-6,78 +2910570,19,SHORT,107,1,-5,30 +2910572,19,SHORT,108,-1,5,28 +2910574,19,SHORT,109,0,6,42 +2910576,19,SHORT,110,4,-4,38 +2910578,19,SHORT,111,8,0,65 +2910580,19,SHORT,112,-5,2,35 +2910582,19,SHORT,113,-4,4,40 +2910584,19,SHORT,114,4,4,45 +2910586,19,SHORT,115,-7,1,55 +2910588,19,SHORT,116,-2,2,11 +2910590,19,SHORT,117,-5,0,35 +2910592,19,SHORT,118,-33,6,1165 +2910594,19,SHORT,119,-28,-1,820 +2910596,19,SHORT,120,-31,-5,1035 +2910598,19,SHORT,121,-25,0,634 +2910600,19,SHORT,122,-24,-7,656 +2910602,19,SHORT,123,-26,-20,1145 +2910604,19,SHORT,124,-14,-17,528 +2910606,19,SHORT,125,-15,-25,885 +2910608,19,SHORT,126,-10,-33,1255 +2910610,19,SHORT,127,1,-23,564 +2910612,19,SHORT,128,-2,-21,473 +2910614,19,SHORT,129,4,-18,372 +2910616,19,SHORT,130,19,-31,1385 +2910618,19,SHORT,131,18,-16,634 +2910620,19,SHORT,132,21,-9,559 +2910622,19,SHORT,133,8,5,107 +2910624,19,SHORT,134,-4,0,19 +2910626,19,SHORT,135,0,0,0 +2910628,19,SHORT,136,-3,2,20 +2910630,19,SHORT,137,2,-2,11 +2910632,19,SHORT,138,0,-4,24 +2910634,19,SHORT,139,-2,0,5 +2910636,19,SHORT,140,5,-4,47 +2910638,19,SHORT,141,5,-1,32 +2910640,19,SHORT,142,-3,0,13 +2910642,19,SHORT,143,3,-3,26 +2910644,19,SHORT,144,9,-2,99 +2910646,19,SHORT,145,8,-8,145 +2910648,19,SHORT,146,-6,2,50 +2910650,19,SHORT,147,6,2,50 +2910652,19,SHORT,148,6,8,119 +2910654,19,SHORT,149,6,3,54 +2910656,19,SHORT,150,6,1,41 +2910658,19,SHORT,151,-4,2,27 +2910660,19,SHORT,152,0,5,32 +2910662,19,SHORT,153,1,-1,4 +2910664,19,SHORT,154,-1,4,20 +2910666,19,SHORT,155,-4,3,32 +2910668,19,SHORT,156,11,7,191 +2910670,19,SHORT,157,-1,-4,20 +2910672,19,SHORT,158,-2,-1,7 +2910674,19,SHORT,159,2,-2,12 +2910676,19,SHORT,160,4,7,67 +2910678,19,SHORT,161,-1,6,47 +2910680,19,SHORT,162,-1,-3,15 +2910682,19,SHORT,163,0,7,52 +2910684,19,SHORT,164,3,1,14 +2910686,19,SHORT,165,-4,-9,110 +2910688,19,SHORT,166,-6,-3,52 +2910690,19,SHORT,167,-4,-4,39 +2910692,19,SHORT,168,2,-8,74 +2910694,19,SHORT,169,12,0,167 +2910696,19,SHORT,170,5,3,42 +2910698,19,SHORT,171,-6,-3,49 +2910700,19,SHORT,172,0,0,0 +2910702,19,SHORT,173,3,-3,27 +2910704,19,SHORT,174,-1,5,36 +2910706,19,SHORT,175,5,8,114 +2910708,19,SHORT,176,9,3,111 +2910710,19,SHORT,177,-5,-6,71 +2910712,19,SHORT,178,-3,2,20 +2910714,19,SHORT,179,3,4,31 +2910716,19,SHORT,180,0,1,2 +2910718,19,SHORT,181,6,0,45 +2910720,19,SHORT,182,-3,3,20 +2910722,19,SHORT,183,4,3,32 +2910724,19,SHORT,184,3,2,18 +2910726,19,SHORT,185,3,4,31 +2910728,19,SHORT,186,5,-8,97 +2910730,19,SHORT,187,5,0,28 +2910732,19,SHORT,188,-2,-2,10 +2910734,19,SHORT,189,-4,4,34 +2910736,19,SHORT,190,0,-4,16 +2910738,19,SHORT,191,6,3,53 +2910740,19,SHORT,192,-1,0,1 +2910742,19,SHORT,193,16,-10,388 +2910744,19,SHORT,194,14,-10,298 +2910746,19,SHORT,195,8,0,68 +2910748,19,SHORT,196,7,2,56 +2910750,19,SHORT,197,23,-4,571 +2910752,19,SHORT,198,7,5,76 +2910754,19,SHORT,199,18,13,523 +2910756,19,SHORT,200,9,8,164 +2910758,19,SHORT,201,10,19,476 +2910760,19,SHORT,202,8,12,223 +2910762,19,SHORT,203,-11,18,469 +2910764,19,SHORT,204,8,16,361 +2910766,19,SHORT,205,2,7,65 +2910768,19,SHORT,206,-4,15,269 +2910770,19,SHORT,207,-17,-1,312 +2910772,19,SHORT,208,0,3,10 +2910774,19,SHORT,209,-3,4,39 +2910776,19,SHORT,210,-3,1,15 +2910778,19,SHORT,211,-2,-7,57 +2910780,19,SHORT,212,4,-1,20 +2910782,19,SHORT,213,3,-1,12 +2910784,19,SHORT,214,8,5,98 +2910786,19,SHORT,215,7,0,55 +2910788,19,SHORT,216,-1,1,2 +2910790,19,SHORT,217,10,2,116 +2910792,19,SHORT,218,-4,3,27 +2910794,19,SHORT,219,0,0,1 +2910796,19,SHORT,220,3,-8,80 +2910798,19,SHORT,221,-8,-5,101 +2910800,19,SHORT,222,-1,-8,68 +2910802,19,SHORT,223,-3,-2,16 +2910804,19,SHORT,224,-8,-4,99 +2910806,19,SHORT,225,-3,-6,59 +2910808,19,SHORT,226,5,0,30 +2910810,19,SHORT,227,-1,4,20 +2910812,19,SHORT,228,5,3,46 +2910814,19,SHORT,229,0,-3,14 +2910816,19,SHORT,230,4,-11,144 +2910818,19,SHORT,231,-3,-1,11 +2910820,19,SHORT,232,-5,0,34 +2910822,19,SHORT,233,-2,10,108 +2910824,19,SHORT,234,-3,-8,77 +2910826,19,SHORT,235,4,-2,26 +2910828,19,SHORT,236,5,1,30 +2910830,19,SHORT,237,2,-5,34 +2910832,19,SHORT,238,0,-10,111 +2910834,19,SHORT,239,0,0,0 +2910836,19,SHORT,240,8,5,100 +2910838,19,SHORT,241,-1,3,11 +2910840,19,SHORT,242,-3,-5,40 +2910842,19,SHORT,243,2,-4,29 +2910844,19,SHORT,244,3,10,122 +2910846,19,SHORT,245,0,-3,15 +2910848,19,SHORT,246,4,0,21 +2910850,19,SHORT,247,-2,-4,22 +2910852,19,SHORT,248,-5,-3,36 +2910854,19,SHORT,249,6,10,152 +2910856,19,SHORT,250,11,5,158 +2910858,19,SHORT,251,-7,1,54 +2910860,19,SHORT,252,-3,-3,26 +2910862,19,SHORT,253,-3,7,76 +2910864,19,SHORT,254,1,-8,69 +2910866,19,SHORT,255,3,-11,146 +2910868,19,SHORT,256,-2,1,7 +2910870,19,SHORT,257,-5,4,52 +2910872,19,SHORT,258,0,0,0 +2910874,19,SHORT,259,0,4,17 +2910876,19,SHORT,260,7,-1,55 +2910878,19,SHORT,261,1,-4,18 +2910880,19,SHORT,262,-1,-1,3 +2910882,19,SHORT,263,0,1,2 +2910884,19,SHORT,264,5,-4,43 +2910886,19,SHORT,265,-13,11,300 +2910888,19,SHORT,266,-2,3,19 +2910890,19,SHORT,267,2,-3,19 +2910892,19,SHORT,268,7,2,58 +2910894,19,SHORT,269,0,5,27 +2910896,19,SHORT,270,0,8,72 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+2911030,19,SHORT,337,-11,1,139 +2911032,19,SHORT,338,-2,2,9 +2911034,19,SHORT,339,2,0,4 +2911036,19,SHORT,340,4,4,46 +2911038,19,SHORT,341,1,-3,12 +2911040,19,SHORT,342,-1,9,85 +2911042,19,SHORT,343,0,8,73 +2911044,19,SHORT,344,2,-5,36 +2911046,19,SHORT,345,1,1,5 +2911048,19,SHORT,346,0,3,12 +2911050,19,SHORT,347,2,-7,58 +2911052,19,SHORT,348,-1,-4,20 +2911054,19,SHORT,349,1,2,6 +2911056,19,SHORT,350,-2,-7,65 +2911058,19,SHORT,351,-2,-5,35 +2911060,19,SHORT,352,-5,3,43 +2911062,19,SHORT,353,0,0,0 +2911064,19,SHORT,354,6,-3,61 +2911066,19,SHORT,355,10,6,147 +2911068,19,SHORT,356,-8,1,69 +2911070,19,SHORT,357,-7,3,65 +2911072,19,SHORT,358,-5,0,31 +2911074,19,SHORT,359,-1,-4,19 +2911076,19,SHORT,360,0,8,80 +2911078,19,SHORT,361,-3,3,23 +2911080,19,SHORT,362,-3,7,74 +2911082,19,SHORT,363,-3,0,9 +2911084,19,SHORT,364,2,0,9 +2911086,19,SHORT,365,6,-1,47 +2911088,19,SHORT,366,-3,-2,15 +2911090,19,SHORT,367,-1,8,82 +2911092,19,SHORT,368,0,4,17 +2911094,19,SHORT,369,3,0,15 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+2911228,19,SHORT,436,5,0,29 +2911230,19,SHORT,437,3,-3,23 +2911232,19,SHORT,438,-5,8,100 +2911234,19,SHORT,439,-5,0,33 +2911236,19,SHORT,440,0,2,5 +2911238,19,SHORT,441,-7,-3,71 +2911240,19,SHORT,442,1,1,7 +2911242,19,SHORT,443,-7,1,50 +2911244,19,SHORT,444,0,-3,14 +2911246,19,SHORT,445,6,7,98 +2911248,19,SHORT,446,14,4,222 +2911250,19,SHORT,447,1,6,50 +2911252,19,SHORT,448,-3,2,16 +2911254,19,SHORT,449,-7,1,66 +2911256,19,SHORT,450,-5,-1,32 +2911258,19,SHORT,451,-5,-2,41 +2911260,19,SHORT,452,0,-4,21 +2911262,19,SHORT,453,3,9,96 +2911264,19,SHORT,454,7,-7,111 +2911266,19,SHORT,455,-8,-4,94 +2911268,19,SHORT,456,2,6,47 +2911270,19,SHORT,457,11,0,141 +2911272,19,SHORT,458,-2,4,22 +2911274,19,SHORT,459,1,3,12 +2911276,19,SHORT,460,2,0,6 +2911278,19,SHORT,461,2,0,5 +2911280,19,SHORT,462,0,-7,56 +2911282,19,SHORT,463,3,-5,42 +2911284,19,SHORT,464,3,1,14 +2911286,19,SHORT,465,-2,-1,8 +2911288,19,SHORT,466,0,-1,1 +2911290,19,SHORT,467,-4,3,33 +2911292,19,SHORT,468,0,5,28 +2911294,19,SHORT,469,-8,-13,245 +2911296,19,SHORT,470,2,-2,12 +2911298,19,SHORT,471,-4,-3,32 +2911300,19,SHORT,472,0,8,68 +2911302,19,SHORT,473,1,-5,30 +2911304,19,SHORT,474,4,5,51 +2911306,19,SHORT,475,4,-1,18 +2911308,19,SHORT,476,-4,9,105 +2911310,19,SHORT,477,2,0,5 +2911312,19,SHORT,478,-2,2,16 +2911314,19,SHORT,479,4,2,24 +2911316,19,SHORT,480,8,-4,94 +2911318,19,SHORT,481,0,-5,34 +2911320,19,SHORT,482,0,7,59 +2911322,19,SHORT,483,-2,-4,23 +2911324,19,SHORT,484,0,8,76 +2911326,19,SHORT,485,-3,0,14 +2911328,19,SHORT,486,2,6,47 +2911330,19,SHORT,487,-6,4,57 +2911332,19,SHORT,488,5,-2,36 +2911334,19,SHORT,489,-4,1,27 +2911336,19,SHORT,490,5,7,76 +2911338,19,SHORT,491,-4,11,152 +2911340,19,SHORT,492,0,-2,7 +2911342,19,SHORT,493,-2,0,6 +2911344,19,SHORT,494,1,-2,7 +2911346,19,SHORT,495,-3,-2,17 +2911348,19,SHORT,496,-4,-8,93 +2911350,19,SHORT,497,0,-1,3 +2911352,19,SHORT,498,2,-13,192 +2911354,19,SHORT,499,8,-3,86 +2911356,19,SHORT,500,-2,10,107 +2911358,19,SHORT,501,-2,8,79 +2911360,19,SHORT,502,-2,3,20 +2911362,19,SHORT,503,1,3,13 +2911364,19,SHORT,504,-5,0,32 +2911366,19,SHORT,505,-1,-2,11 +2911368,19,SHORT,506,-1,4,19 +2911370,19,SHORT,507,1,2,10 +2911372,19,SHORT,508,-15,0,229 +2911374,19,SHORT,509,-6,-3,58 +2911376,19,SHORT,510,0,10,108 +2911378,19,SHORT,511,1,-6,40 +3085880,20,SHORT,0,-1,2,6 +3085882,20,SHORT,1,-6,19,400 +3085884,20,SHORT,2,-5,9,122 +3085886,20,SHORT,3,7,13,245 +3085888,20,SHORT,4,-2,5,37 +3085890,20,SHORT,5,0,-1,3 +3085892,20,SHORT,6,2,-6,50 +3085894,20,SHORT,7,4,-1,23 +3085896,20,SHORT,8,-5,8,97 +3085898,20,SHORT,9,7,-4,75 +3085900,20,SHORT,10,-3,10,129 +3085902,20,SHORT,11,2,0,4 +3085904,20,SHORT,12,0,8,68 +3085906,20,SHORT,13,10,-1,106 +3085908,20,SHORT,14,3,0,14 +3085910,20,SHORT,15,-5,3,36 +3085912,20,SHORT,16,-7,-1,64 +3085914,20,SHORT,17,3,5,37 +3085916,20,SHORT,18,-4,-7,74 +3085918,20,SHORT,19,1,-5,29 +3085920,20,SHORT,20,16,5,287 +3085922,20,SHORT,21,-8,16,323 +3085924,20,SHORT,22,18,2,344 +3085926,20,SHORT,23,2,-3,16 +3085928,20,SHORT,24,-2,3,17 +3085930,20,SHORT,25,-10,-10,217 +3085932,20,SHORT,26,-1,-6,39 +3085934,20,SHORT,27,9,-20,503 +3085936,20,SHORT,28,-2,-11,139 +3085938,20,SHORT,29,7,0,58 +3085940,20,SHORT,30,-11,-7,191 +3085942,20,SHORT,31,-8,-16,329 +3085944,20,SHORT,32,8,9,156 +3085946,20,SHORT,33,-6,6,80 +3085948,20,SHORT,34,7,8,141 +3085950,20,SHORT,35,1,2,8 +3085952,20,SHORT,36,0,-7,56 +3085954,20,SHORT,37,-2,16,265 +3085956,20,SHORT,38,4,-3,40 +3085958,20,SHORT,39,7,-6,95 +3085960,20,SHORT,40,5,-5,59 +3085962,20,SHORT,41,2,-5,42 +3085964,20,SHORT,42,2,-2,12 +3085966,20,SHORT,43,1,2,6 +3085968,20,SHORT,44,4,5,48 +3085970,20,SHORT,45,-10,0,105 +3085972,20,SHORT,46,7,-7,102 +3085974,20,SHORT,47,-1,4,18 +3085976,20,SHORT,48,-10,1,112 +3085978,20,SHORT,49,0,3,14 +3085980,20,SHORT,50,4,0,22 +3085982,20,SHORT,51,3,0,14 +3085984,20,SHORT,52,-2,-2,13 +3085986,20,SHORT,53,-4,-6,63 +3085988,20,SHORT,54,-12,-4,164 +3085990,20,SHORT,55,-1,-1,3 +3085992,20,SHORT,56,-5,2,33 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+4841316,30,SHORT,98,-6,2,47 +4841318,30,SHORT,99,2,3,18 +4841320,30,SHORT,100,4,0,17 +4841322,30,SHORT,101,-3,2,20 +4841324,30,SHORT,102,-4,8,92 +4841326,30,SHORT,103,-1,-2,7 +4841328,30,SHORT,104,2,-2,10 +4841330,30,SHORT,105,-5,-2,40 +4841332,30,SHORT,106,10,-1,112 +4841334,30,SHORT,107,-7,1,60 +4841336,30,SHORT,108,3,2,22 +4841338,30,SHORT,109,-5,-1,33 +4841340,30,SHORT,110,-4,2,23 +4841342,30,SHORT,111,-1,0,3 +4841344,30,SHORT,112,7,1,56 +4841346,30,SHORT,113,0,-4,22 +4841348,30,SHORT,114,4,2,25 +4841350,30,SHORT,115,0,6,46 +4841352,30,SHORT,116,7,-2,60 +4841354,30,SHORT,117,-1,2,8 +4841356,30,SHORT,118,-23,21,1035 +4841358,30,SHORT,119,-21,13,647 +4841360,30,SHORT,120,-35,3,1294 +4841362,30,SHORT,121,-32,4,1081 +4841364,30,SHORT,122,-25,-8,718 +4841366,30,SHORT,123,-35,-7,1354 +4841368,30,SHORT,124,-19,-13,572 +4841370,30,SHORT,125,-23,-18,906 +4841372,30,SHORT,126,-21,-24,1066 +4841374,30,SHORT,127,-5,-24,635 +4841376,30,SHORT,128,-12,-23,716 +4841378,30,SHORT,129,-3,-25,678 +4841380,30,SHORT,130,0,-29,848 +4841382,30,SHORT,131,10,-25,749 +4841384,30,SHORT,132,23,-26,1231 +4841386,30,SHORT,133,-1,-1,4 +4841388,30,SHORT,134,-1,-7,54 +4841390,30,SHORT,135,-2,-2,14 +4841392,30,SHORT,136,3,-1,15 +4841394,30,SHORT,137,2,-2,13 +4841396,30,SHORT,138,3,9,95 +4841398,30,SHORT,139,12,5,194 +4841400,30,SHORT,140,0,1,1 +4841402,30,SHORT,141,-2,-1,8 +4841404,30,SHORT,142,-4,-5,46 +4841406,30,SHORT,143,-7,-1,63 +4841408,30,SHORT,144,-3,2,18 +4841410,30,SHORT,145,1,1,4 +4841412,30,SHORT,146,7,-5,84 +4841414,30,SHORT,147,-7,-1,58 +4841416,30,SHORT,148,-2,0,4 +4841418,30,SHORT,149,0,-3,10 +4841420,30,SHORT,150,-5,6,79 +4841422,30,SHORT,151,2,5,34 +4841424,30,SHORT,152,1,1,4 +4841426,30,SHORT,153,-4,7,78 +4841428,30,SHORT,154,-4,-5,54 +4841430,30,SHORT,155,-9,9,187 +4841432,30,SHORT,156,1,-2,7 +4841434,30,SHORT,157,1,10,104 +4841436,30,SHORT,158,0,-1,4 +4841438,30,SHORT,159,4,-9,101 +4841440,30,SHORT,160,8,3,83 +4841442,30,SHORT,161,5,-6,68 +4841444,30,SHORT,162,6,-3,60 +4841446,30,SHORT,163,-1,1,3 +4841448,30,SHORT,164,1,5,37 +4841450,30,SHORT,165,1,0,2 +4841452,30,SHORT,166,-1,-7,61 +4841454,30,SHORT,167,0,-3,12 +4841456,30,SHORT,168,-3,-7,68 +4841458,30,SHORT,169,-2,8,76 +4841460,30,SHORT,170,-6,0,43 +4841462,30,SHORT,171,-2,0,6 +4841464,30,SHORT,172,-1,-2,7 +4841466,30,SHORT,173,-3,-1,12 +4841468,30,SHORT,174,1,0,2 +4841470,30,SHORT,175,0,-4,17 +4841472,30,SHORT,176,-5,-3,44 +4841474,30,SHORT,177,0,-2,7 +4841476,30,SHORT,178,0,-4,25 +4841478,30,SHORT,179,4,-1,24 +4841480,30,SHORT,180,0,1,3 +4841482,30,SHORT,181,1,1,5 +4841484,30,SHORT,182,2,-3,19 +4841486,30,SHORT,183,0,-3,15 +4841488,30,SHORT,184,0,1,3 +4841490,30,SHORT,185,8,-6,115 +4841492,30,SHORT,186,-7,3,76 +4841494,30,SHORT,187,-10,-4,137 +4841496,30,SHORT,188,8,1,71 +4841498,30,SHORT,189,0,-1,2 +4841500,30,SHORT,190,-1,0,2 +4841502,30,SHORT,191,0,-5,26 +4841504,30,SHORT,192,-4,-5,48 +4841506,30,SHORT,193,-13,-9,262 +4841508,30,SHORT,194,-10,-10,227 +4841510,30,SHORT,195,-3,-10,127 +4841512,30,SHORT,196,-6,-18,373 +4841514,30,SHORT,197,8,-9,154 +4841516,30,SHORT,198,-2,-1,9 +4841518,30,SHORT,199,6,-7,100 +4841520,30,SHORT,200,0,-18,336 +4841522,30,SHORT,201,11,-8,209 +4841524,30,SHORT,202,28,-8,885 +4841526,30,SHORT,203,15,-2,249 +4841528,30,SHORT,204,18,3,368 +4841530,30,SHORT,205,13,13,370 +4841532,30,SHORT,206,13,-2,195 +4841534,30,SHORT,207,9,11,215 +4841536,30,SHORT,208,-9,-1,89 +4841538,30,SHORT,209,-3,-1,15 +4841540,30,SHORT,210,-3,6,53 +4841542,30,SHORT,211,12,-1,166 +4841544,30,SHORT,212,3,-7,62 +4841546,30,SHORT,213,3,-10,121 +4841548,30,SHORT,214,0,-4,25 +4841550,30,SHORT,215,-1,0,3 +4841552,30,SHORT,216,1,-5,31 +4841554,30,SHORT,217,-6,2,47 +4841556,30,SHORT,218,6,1,37 +4841558,30,SHORT,219,-3,-4,32 +4841560,30,SHORT,220,4,-1,19 +4841562,30,SHORT,221,0,0,0 +4841564,30,SHORT,222,-2,0,4 +4841566,30,SHORT,223,-8,5,97 +4841568,30,SHORT,224,-4,-4,41 +4841570,30,SHORT,225,-4,-1,21 +4841572,30,SHORT,226,1,-3,12 +4841574,30,SHORT,227,1,-3,14 +4841576,30,SHORT,228,9,7,151 +4841578,30,SHORT,229,12,4,168 +4841580,30,SHORT,230,4,-1,19 +4841582,30,SHORT,231,-2,-2,13 +4841584,30,SHORT,232,-7,-2,62 +4841586,30,SHORT,233,-4,-6,64 +4841588,30,SHORT,234,10,2,114 +4841590,30,SHORT,235,7,2,60 +4841592,30,SHORT,236,-4,-2,31 +4841594,30,SHORT,237,-5,-2,36 +4841596,30,SHORT,238,2,10,118 +4841598,30,SHORT,239,0,-1,2 +4841600,30,SHORT,240,6,4,62 +4841602,30,SHORT,241,4,-2,30 +4841604,30,SHORT,242,0,0,0 +4841606,30,SHORT,243,0,6,45 +4841608,30,SHORT,244,-8,-9,166 +4841610,30,SHORT,245,-1,-6,46 +4841612,30,SHORT,246,0,-3,16 +4841614,30,SHORT,247,4,0,21 +4841616,30,SHORT,248,3,3,30 +4841618,30,SHORT,249,10,3,116 +4841620,30,SHORT,250,-4,-3,34 +4841622,30,SHORT,251,7,1,54 +4841624,30,SHORT,252,-2,9,96 +4841626,30,SHORT,253,-6,5,67 +4841628,30,SHORT,254,5,5,53 +4841630,30,SHORT,255,-2,-3,19 +4841632,30,SHORT,256,-4,3,34 +4841634,30,SHORT,257,14,2,229 +4841636,30,SHORT,258,0,11,142 +4841638,30,SHORT,259,0,0,0 +4841640,30,SHORT,260,11,-5,158 +4841642,30,SHORT,261,-5,0,34 +4841644,30,SHORT,262,-5,12,202 +4841646,30,SHORT,263,-1,0,3 +4841648,30,SHORT,264,4,-12,184 +4841650,30,SHORT,265,-1,-1,6 +4841652,30,SHORT,266,-1,3,14 +4841654,30,SHORT,267,3,0,10 +4841656,30,SHORT,268,2,-5,37 +4841658,30,SHORT,269,-4,-1,20 +4841660,30,SHORT,270,4,0,17 +4841662,30,SHORT,271,2,-7,69 +4841664,30,SHORT,272,2,-4,22 +4841666,30,SHORT,273,-1,3,15 +4841668,30,SHORT,274,0,1,4 +4841670,30,SHORT,275,0,2,4 +4841672,30,SHORT,276,0,0,0 +4841674,30,SHORT,277,-3,3,28 +4841676,30,SHORT,278,1,2,12 +4841678,30,SHORT,279,0,-1,1 +4841680,30,SHORT,280,-2,-3,22 +4841682,30,SHORT,281,-2,4,24 +4841684,30,SHORT,282,0,-1,2 +4841686,30,SHORT,283,9,-3,104 +4841688,30,SHORT,284,2,-9,105 +4841690,30,SHORT,285,2,0,4 +4841692,30,SHORT,286,3,-5,35 +4841694,30,SHORT,287,-2,1,10 +4841696,30,SHORT,288,-4,-10,133 +4841698,30,SHORT,289,0,2,6 +4841700,30,SHORT,290,1,4,23 +4841702,30,SHORT,291,-7,0,63 +4841704,30,SHORT,292,2,-2,12 +4841706,30,SHORT,293,2,-5,39 +4841708,30,SHORT,294,15,-8,301 +4841710,30,SHORT,295,6,-7,106 +4841712,30,SHORT,296,13,-9,270 +4841714,30,SHORT,297,7,0,57 +4841716,30,SHORT,298,8,-2,86 +4841718,30,SHORT,299,11,7,175 +4841720,30,SHORT,300,8,2,69 +4841722,30,SHORT,301,5,4,48 +4841724,30,SHORT,302,5,6,73 +4841726,30,SHORT,303,2,10,109 +4841728,30,SHORT,304,1,8,77 +4841730,30,SHORT,305,0,4,25 +4841732,30,SHORT,306,-6,11,179 +4841734,30,SHORT,307,-1,7,53 +4841736,30,SHORT,308,8,1,68 +4841738,30,SHORT,309,-9,-2,89 +4841740,30,SHORT,310,6,3,62 +4841742,30,SHORT,311,12,2,157 +4841744,30,SHORT,312,1,2,10 +4841746,30,SHORT,313,-6,-2,44 +4841748,30,SHORT,314,-6,-9,126 +4841750,30,SHORT,315,3,0,9 +4841752,30,SHORT,316,-2,2,16 +4841754,30,SHORT,317,-9,0,87 +4841756,30,SHORT,318,0,0,0 +4841758,30,SHORT,319,-6,-4,63 +4841760,30,SHORT,320,3,-1,16 +4841762,30,SHORT,321,-1,-5,33 +4841764,30,SHORT,322,-3,5,37 +4841766,30,SHORT,323,-6,-6,84 +4841768,30,SHORT,324,9,-6,129 +4841770,30,SHORT,325,5,-7,93 +4841772,30,SHORT,326,-11,-8,207 +4841774,30,SHORT,327,-2,0,8 +4841776,30,SHORT,328,-2,0,7 +4841778,30,SHORT,329,-2,-5,37 +4841780,30,SHORT,330,0,-8,73 +4841782,30,SHORT,331,-4,-3,31 +4841784,30,SHORT,332,1,-1,3 +4841786,30,SHORT,333,0,2,7 +4841788,30,SHORT,334,-9,11,204 +4841790,30,SHORT,335,0,2,6 +4841792,30,SHORT,336,8,0,74 +4841794,30,SHORT,337,-1,6,46 +4841796,30,SHORT,338,2,4,26 +4841798,30,SHORT,339,-1,1,5 +4841800,30,SHORT,340,0,0,0 +4841802,30,SHORT,341,-8,-2,80 +4841804,30,SHORT,342,1,1,2 +4841806,30,SHORT,343,7,-8,134 +4841808,30,SHORT,344,0,6,40 +4841810,30,SHORT,345,0,2,8 +4841812,30,SHORT,346,-2,1,9 +4841814,30,SHORT,347,3,0,9 +4841816,30,SHORT,348,3,2,18 +4841818,30,SHORT,349,0,2,4 +4841820,30,SHORT,350,6,0,38 +4841822,30,SHORT,351,4,6,60 +4841824,30,SHORT,352,0,7,63 +4841826,30,SHORT,353,0,-4,21 +4841828,30,SHORT,354,-3,3,24 +4841830,30,SHORT,355,0,3,10 +4841832,30,SHORT,356,0,0,0 +4841834,30,SHORT,357,-6,-5,66 +4841836,30,SHORT,358,5,0,32 +4841838,30,SHORT,359,2,-8,75 +4841840,30,SHORT,360,-8,-4,94 +4841842,30,SHORT,361,-15,3,241 +4841844,30,SHORT,362,-1,3,12 +4841846,30,SHORT,363,-1,-4,26 +4841848,30,SHORT,364,3,2,15 +4841850,30,SHORT,365,3,-3,26 +4841852,30,SHORT,366,-7,1,58 +4841854,30,SHORT,367,0,-5,32 +4841856,30,SHORT,368,-4,3,28 +4841858,30,SHORT,369,1,-3,16 +4841860,30,SHORT,370,4,6,66 +4841862,30,SHORT,371,0,-6,44 +4841864,30,SHORT,372,0,0,1 +4841866,30,SHORT,373,-1,1,3 +4841868,30,SHORT,374,-8,-2,88 +4841870,30,SHORT,375,-5,10,132 +4841872,30,SHORT,376,3,0,10 +4841874,30,SHORT,377,-2,1,10 +4841876,30,SHORT,378,4,8,100 +4841878,30,SHORT,379,5,1,28 +4841880,30,SHORT,380,-5,0,25 +4841882,30,SHORT,381,1,-7,58 +4841884,30,SHORT,382,-7,-7,119 +4841886,30,SHORT,383,-8,-4,92 +4841888,30,SHORT,384,0,-8,71 +4841890,30,SHORT,385,0,4,17 +4841892,30,SHORT,386,2,0,6 +4841894,30,SHORT,387,-5,-2,32 +4841896,30,SHORT,388,7,1,56 +4841898,30,SHORT,389,-3,-6,60 +4841900,30,SHORT,390,7,0,60 +4841902,30,SHORT,391,-1,-7,55 +4841904,30,SHORT,392,4,-9,104 +4841906,30,SHORT,393,0,11,122 +4841908,30,SHORT,394,-1,1,3 +4841910,30,SHORT,395,-5,-9,108 +4841912,30,SHORT,396,-4,0,23 +4841914,30,SHORT,397,2,-1,10 +4841916,30,SHORT,398,0,-3,11 +4841918,30,SHORT,399,-3,6,51 +4841920,30,SHORT,400,2,1,9 +4841922,30,SHORT,401,6,0,42 +4841924,30,SHORT,402,0,8,75 +4841926,30,SHORT,403,-1,2,11 +4841928,30,SHORT,404,-2,3,17 +4841930,30,SHORT,405,0,1,2 +4841932,30,SHORT,406,2,-4,26 +4841934,30,SHORT,407,4,0,18 +4841936,30,SHORT,408,4,0,17 +4841938,30,SHORT,409,-6,7,98 +4841940,30,SHORT,410,-5,-2,39 +4841942,30,SHORT,411,-1,-10,111 +4841944,30,SHORT,412,-3,-7,67 +4841946,30,SHORT,413,-3,4,32 +4841948,30,SHORT,414,-5,-4,50 +4841950,30,SHORT,415,-7,0,52 +4841952,30,SHORT,416,0,5,31 +4841954,30,SHORT,417,1,-4,25 +4841956,30,SHORT,418,6,-1,45 +4841958,30,SHORT,419,6,1,40 +4841960,30,SHORT,420,-4,0,21 +4841962,30,SHORT,421,5,4,52 +4841964,30,SHORT,422,8,8,137 +4841966,30,SHORT,423,8,0,66 +4841968,30,SHORT,424,-4,5,48 +4841970,30,SHORT,425,9,6,137 +4841972,30,SHORT,426,0,-6,38 +4841974,30,SHORT,427,5,2,40 +4841976,30,SHORT,428,2,3,18 +4841978,30,SHORT,429,1,-2,9 +4841980,30,SHORT,430,-5,-1,36 +4841982,30,SHORT,431,7,-1,52 +4841984,30,SHORT,432,-7,-9,144 +4841986,30,SHORT,433,-4,-2,30 +4841988,30,SHORT,434,-1,3,16 +4841990,30,SHORT,435,-4,0,20 +4841992,30,SHORT,436,1,0,2 +4841994,30,SHORT,437,0,-4,23 +4841996,30,SHORT,438,0,5,30 +4841998,30,SHORT,439,-6,-6,92 +4842000,30,SHORT,440,1,10,107 +4842002,30,SHORT,441,3,-2,23 +4842004,30,SHORT,442,-2,-2,13 +4842006,30,SHORT,443,0,-4,19 +4842008,30,SHORT,444,-6,4,61 +4842010,30,SHORT,445,-2,1,8 +4842012,30,SHORT,446,5,4,43 +4842014,30,SHORT,447,-9,4,106 +4842016,30,SHORT,448,1,1,6 +4842018,30,SHORT,449,5,-2,43 +4842020,30,SHORT,450,-3,5,41 +4842022,30,SHORT,451,7,-1,54 +4842024,30,SHORT,452,-1,5,35 +4842026,30,SHORT,453,3,0,13 +4842028,30,SHORT,454,-3,1,10 +4842030,30,SHORT,455,-3,-6,52 +4842032,30,SHORT,456,0,6,36 +4842034,30,SHORT,457,5,-10,136 +4842036,30,SHORT,458,0,-11,143 +4842038,30,SHORT,459,3,8,87 +4842040,30,SHORT,460,-3,6,49 +4842042,30,SHORT,461,0,-5,33 +4842044,30,SHORT,462,6,1,45 +4842046,30,SHORT,463,-4,-1,25 +4842048,30,SHORT,464,-1,1,3 +4842050,30,SHORT,465,0,0,0 +4842052,30,SHORT,466,6,-8,118 +4842054,30,SHORT,467,12,-4,174 +4842056,30,SHORT,468,-2,-1,6 +4842058,30,SHORT,469,1,0,1 +4842060,30,SHORT,470,10,1,103 +4842062,30,SHORT,471,-4,0,21 +4842064,30,SHORT,472,3,-1,12 +4842066,30,SHORT,473,6,1,40 +4842068,30,SHORT,474,11,0,131 +4842070,30,SHORT,475,-2,0,7 +4842072,30,SHORT,476,-1,7,53 +4842074,30,SHORT,477,2,5,35 +4842076,30,SHORT,478,8,-2,75 +4842078,30,SHORT,479,0,-3,16 +4842080,30,SHORT,480,5,1,39 +4842082,30,SHORT,481,7,-1,57 +4842084,30,SHORT,482,-3,-3,22 +4842086,30,SHORT,483,-1,-10,103 +4842088,30,SHORT,484,-6,-7,105 +4842090,30,SHORT,485,0,-1,1 +4842092,30,SHORT,486,1,-1,4 +4842094,30,SHORT,487,-6,5,63 +4842096,30,SHORT,488,-7,-10,153 +4842098,30,SHORT,489,4,-3,27 +4842100,30,SHORT,490,-5,-2,38 +4842102,30,SHORT,491,3,-5,46 +4842104,30,SHORT,492,0,4,17 +4842106,30,SHORT,493,-3,-3,24 +4842108,30,SHORT,494,3,-5,48 +4842110,30,SHORT,495,6,-5,75 +4842112,30,SHORT,496,0,-2,7 +4842114,30,SHORT,497,-7,9,137 +4842116,30,SHORT,498,1,2,8 +4842118,30,SHORT,499,3,3,23 +4842120,30,SHORT,500,-1,2,6 +4842122,30,SHORT,501,0,-4,18 +4842124,30,SHORT,502,6,10,148 +4842126,30,SHORT,503,-7,-9,147 +4842128,30,SHORT,504,0,0,0 +4842130,30,SHORT,505,6,10,146 +4842132,30,SHORT,506,-1,1,6 +4842134,30,SHORT,507,2,1,6 +4842136,30,SHORT,508,1,-7,53 +4842138,30,SHORT,509,-4,-2,24 +4842140,30,SHORT,510,-2,7,53 +4842142,30,SHORT,511,0,2,7 +5016644,31,SHORT,0,18,-7,419 +5016646,31,SHORT,1,9,1,83 +5016648,31,SHORT,2,-5,-9,115 +5016650,31,SHORT,3,-1,-8,68 +5016652,31,SHORT,4,-1,-2,9 +5016654,31,SHORT,5,5,9,113 +5016656,31,SHORT,6,-3,8,81 +5016658,31,SHORT,7,-1,2,5 +5016660,31,SHORT,8,-5,1,39 +5016662,31,SHORT,9,10,-5,131 +5016664,31,SHORT,10,0,-9,98 +5016666,31,SHORT,11,4,-1,26 +5016668,31,SHORT,12,5,4,47 +5016670,31,SHORT,13,-6,3,52 +5016672,31,SHORT,14,0,-10,104 +5016674,31,SHORT,15,0,2,5 +5016676,31,SHORT,16,-8,-12,230 +5016678,31,SHORT,17,-2,-5,39 +5016680,31,SHORT,18,-12,-12,321 +5016682,31,SHORT,19,11,9,206 +5016684,31,SHORT,20,-5,18,382 +5016686,31,SHORT,21,6,-3,49 +5016688,31,SHORT,22,-6,0,38 +5016690,31,SHORT,23,-2,-11,133 +5016692,31,SHORT,24,0,6,47 +5016694,31,SHORT,25,-15,14,444 +5016696,31,SHORT,26,1,8,78 +5016698,31,SHORT,27,3,-5,46 +5016700,31,SHORT,28,7,7,112 +5016702,31,SHORT,29,-3,3,27 +5016704,31,SHORT,30,1,-1,3 +5016706,31,SHORT,31,1,-9,91 +5016708,31,SHORT,32,4,-2,26 +5016710,31,SHORT,33,-1,9,98 +5016712,31,SHORT,34,-3,14,232 +5016714,31,SHORT,35,7,-7,112 +5016716,31,SHORT,36,-3,-1,14 +5016718,31,SHORT,37,-9,-3,110 +5016720,31,SHORT,38,16,9,357 +5016722,31,SHORT,39,2,-15,247 +5016724,31,SHORT,40,-2,-5,39 +5016726,31,SHORT,41,-7,-1,51 +5016728,31,SHORT,42,-14,-10,327 +5016730,31,SHORT,43,1,2,11 +5016732,31,SHORT,44,-3,-4,29 +5016734,31,SHORT,45,0,1,3 +5016736,31,SHORT,46,4,8,104 +5016738,31,SHORT,47,0,7,55 +5016740,31,SHORT,48,-5,7,80 +5016742,31,SHORT,49,4,-15,279 +5016744,31,SHORT,50,-7,5,90 +5016746,31,SHORT,51,8,1,80 +5016748,31,SHORT,52,-2,7,70 +5016750,31,SHORT,53,-4,-1,19 +5016752,31,SHORT,54,-12,-1,164 +5016754,31,SHORT,55,-5,-2,33 +5016756,31,SHORT,56,2,6,44 +5016758,31,SHORT,57,-2,-2,15 +5016760,31,SHORT,58,10,-4,133 +5016762,31,SHORT,59,0,-5,26 +5016764,31,SHORT,60,0,0,0 +5016766,31,SHORT,61,0,1,3 +5016768,31,SHORT,62,-1,5,38 +5016770,31,SHORT,63,0,-7,51 +5016772,31,SHORT,64,-3,7,63 +5016774,31,SHORT,65,6,10,143 +5016776,31,SHORT,66,5,-4,48 +5016778,31,SHORT,67,0,1,1 +5016780,31,SHORT,68,-52,4,2751 +5016782,31,SHORT,69,-50,-16,2791 +5016784,31,SHORT,70,-52,-34,3974 +5016786,31,SHORT,71,-53,-37,4288 +5016788,31,SHORT,72,-28,-49,3258 +5016790,31,SHORT,73,-22,-55,3565 +5016792,31,SHORT,74,-9,-41,1837 +5016794,31,SHORT,75,0,-59,3599 +5016796,31,SHORT,76,14,-55,3268 +5016798,31,SHORT,77,23,-50,3126 +5016800,31,SHORT,78,37,-45,3476 +5016802,31,SHORT,79,36,-30,2318 +5016804,31,SHORT,80,49,-26,3177 +5016806,31,SHORT,81,55,-18,3390 +5016808,31,SHORT,82,48,-8,2383 +5016810,31,SHORT,83,1,-4,26 +5016812,31,SHORT,84,7,0,51 +5016814,31,SHORT,85,3,0,11 +5016816,31,SHORT,86,0,-4,16 +5016818,31,SHORT,87,-2,-9,91 +5016820,31,SHORT,88,-1,-4,20 +5016822,31,SHORT,89,6,-5,66 +5016824,31,SHORT,90,0,-5,32 +5016826,31,SHORT,91,-1,4,26 +5016828,31,SHORT,92,-3,3,26 +5016830,31,SHORT,93,10,-3,124 +5016832,31,SHORT,94,-7,-2,66 +5016834,31,SHORT,95,0,-6,42 +5016836,31,SHORT,96,-1,2,10 +5016838,31,SHORT,97,0,-1,1 +5016840,31,SHORT,98,-5,-6,79 +5016842,31,SHORT,99,7,1,62 +5016844,31,SHORT,100,0,0,1 +5016846,31,SHORT,101,1,0,2 +5016848,31,SHORT,102,-1,-2,9 +5016850,31,SHORT,103,4,-4,34 +5016852,31,SHORT,104,1,0,3 +5016854,31,SHORT,105,0,-3,9 +5016856,31,SHORT,106,-4,-4,44 +5016858,31,SHORT,107,-2,0,4 +5016860,31,SHORT,108,0,-4,21 +5016862,31,SHORT,109,2,-7,67 +5016864,31,SHORT,110,-2,-5,36 +5016866,31,SHORT,111,1,-2,7 +5016868,31,SHORT,112,-5,3,37 +5016870,31,SHORT,113,-1,2,7 +5016872,31,SHORT,114,-3,3,26 +5016874,31,SHORT,115,3,-3,24 +5016876,31,SHORT,116,1,-3,17 +5016878,31,SHORT,117,-2,0,6 +5016880,31,SHORT,118,11,32,1165 +5016882,31,SHORT,119,5,26,724 +5016884,31,SHORT,120,5,29,921 +5016886,31,SHORT,121,-1,31,1017 +5016888,31,SHORT,122,-10,23,646 +5016890,31,SHORT,123,-19,26,1082 +5016892,31,SHORT,124,-17,28,1145 +5016894,31,SHORT,125,-27,18,1078 +5016896,31,SHORT,126,-25,5,666 +5016898,31,SHORT,127,-18,-8,416 +5016900,31,SHORT,128,-35,-7,1282 +5016902,31,SHORT,129,-39,-11,1669 +5016904,31,SHORT,130,-27,-14,948 +5016906,31,SHORT,131,-24,-11,729 +5016908,31,SHORT,132,-11,-22,619 +5016910,31,SHORT,133,-5,-2,38 +5016912,31,SHORT,134,5,6,72 +5016914,31,SHORT,135,2,-1,9 +5016916,31,SHORT,136,-6,-12,208 +5016918,31,SHORT,137,-4,12,178 +5016920,31,SHORT,138,-3,-8,79 +5016922,31,SHORT,139,10,4,131 +5016924,31,SHORT,140,-2,-1,6 +5016926,31,SHORT,141,0,0,1 +5016928,31,SHORT,142,3,6,49 +5016930,31,SHORT,143,0,0,0 +5016932,31,SHORT,144,-2,-5,35 +5016934,31,SHORT,145,4,-3,27 +5016936,31,SHORT,146,5,-4,46 +5016938,31,SHORT,147,0,6,36 +5016940,31,SHORT,148,2,0,4 +5016942,31,SHORT,149,-5,9,115 +5016944,31,SHORT,150,2,5,33 +5016946,31,SHORT,151,0,-5,30 +5016948,31,SHORT,152,-2,-3,20 +5016950,31,SHORT,153,0,4,25 +5016952,31,SHORT,154,0,-4,19 +5016954,31,SHORT,155,6,-4,58 +5016956,31,SHORT,156,3,-8,84 +5016958,31,SHORT,157,1,-1,4 +5016960,31,SHORT,158,0,9,82 +5016962,31,SHORT,159,-5,-3,44 +5016964,31,SHORT,160,-2,3,22 +5016966,31,SHORT,161,-7,-1,62 +5016968,31,SHORT,162,2,3,19 +5016970,31,SHORT,163,3,2,17 +5016972,31,SHORT,164,2,4,25 +5016974,31,SHORT,165,-6,-8,111 +5016976,31,SHORT,166,-7,1,54 +5016978,31,SHORT,167,-1,1,4 +5016980,31,SHORT,168,6,-2,41 +5016982,31,SHORT,169,-1,0,3 +5016984,31,SHORT,170,0,-1,3 +5016986,31,SHORT,171,3,-4,27 +5016988,31,SHORT,172,6,9,134 +5016990,31,SHORT,173,1,-2,9 +5016992,31,SHORT,174,9,8,157 +5016994,31,SHORT,175,-11,0,136 +5016996,31,SHORT,176,2,-1,5 +5016998,31,SHORT,177,3,-2,16 +5017000,31,SHORT,178,2,0,7 +5017002,31,SHORT,179,-8,0,65 +5017004,31,SHORT,180,4,3,35 +5017006,31,SHORT,181,-2,-4,21 +5017008,31,SHORT,182,2,7,68 +5017010,31,SHORT,183,1,-1,4 +5017012,31,SHORT,184,6,-1,44 +5017014,31,SHORT,185,0,-2,4 +5017016,31,SHORT,186,5,0,27 +5017018,31,SHORT,187,1,2,10 +5017020,31,SHORT,188,2,1,7 +5017022,31,SHORT,189,-2,5,33 +5017024,31,SHORT,190,5,-1,30 +5017026,31,SHORT,191,0,-2,8 +5017028,31,SHORT,192,-4,4,41 +5017030,31,SHORT,193,-3,-13,182 +5017032,31,SHORT,194,-2,-11,149 +5017034,31,SHORT,195,-2,-14,215 +5017036,31,SHORT,196,0,-7,49 +5017038,31,SHORT,197,12,-5,191 +5017040,31,SHORT,198,7,-8,137 +5017042,31,SHORT,199,7,-6,103 +5017044,31,SHORT,200,18,-7,378 +5017046,31,SHORT,201,16,0,267 +5017048,31,SHORT,202,15,0,239 +5017050,31,SHORT,203,17,0,295 +5017052,31,SHORT,204,14,4,224 +5017054,31,SHORT,205,9,8,173 +5017056,31,SHORT,206,9,8,162 +5017058,31,SHORT,207,9,6,127 +5017060,31,SHORT,208,0,-2,8 +5017062,31,SHORT,209,2,-1,6 +5017064,31,SHORT,210,-4,-7,78 +5017066,31,SHORT,211,2,0,9 +5017068,31,SHORT,212,-8,-4,93 +5017070,31,SHORT,213,1,5,35 +5017072,31,SHORT,214,0,-6,38 +5017074,31,SHORT,215,-4,0,19 +5017076,31,SHORT,216,-2,4,29 +5017078,31,SHORT,217,-2,-6,53 +5017080,31,SHORT,218,-2,0,5 +5017082,31,SHORT,219,0,-9,92 +5017084,31,SHORT,220,0,-3,15 +5017086,31,SHORT,221,1,-3,12 +5017088,31,SHORT,222,-7,2,60 +5017090,31,SHORT,223,5,2,32 +5017092,31,SHORT,224,-1,-2,7 +5017094,31,SHORT,225,5,-3,45 +5017096,31,SHORT,226,-7,-5,87 +5017098,31,SHORT,227,-2,5,42 +5017100,31,SHORT,228,1,8,71 +5017102,31,SHORT,229,2,-6,47 +5017104,31,SHORT,230,3,6,54 +5017106,31,SHORT,231,0,-2,6 +5017108,31,SHORT,232,-2,3,21 +5017110,31,SHORT,233,-7,-4,79 +5017112,31,SHORT,234,1,2,6 +5017114,31,SHORT,235,7,5,91 +5017116,31,SHORT,236,4,-4,39 +5017118,31,SHORT,237,3,-1,14 +5017120,31,SHORT,238,6,8,113 +5017122,31,SHORT,239,-2,-11,143 +5017124,31,SHORT,240,3,2,15 +5017126,31,SHORT,241,8,1,75 +5017128,31,SHORT,242,-1,0,4 +5017130,31,SHORT,243,-5,2,34 +5017132,31,SHORT,244,-6,1,41 +5017134,31,SHORT,245,-4,2,25 +5017136,31,SHORT,246,2,-8,74 +5017138,31,SHORT,247,2,0,6 +5017140,31,SHORT,248,-3,-7,65 +5017142,31,SHORT,249,2,-1,10 +5017144,31,SHORT,250,0,0,0 +5017146,31,SHORT,251,8,-3,93 +5017148,31,SHORT,252,0,-2,6 +5017150,31,SHORT,253,6,8,111 +5017152,31,SHORT,254,6,-3,52 +5017154,31,SHORT,255,1,-3,12 +5017156,31,SHORT,256,0,6,38 +5017158,31,SHORT,257,6,-4,58 +5017160,31,SHORT,258,4,0,18 +5017162,31,SHORT,259,-14,1,211 +5017164,31,SHORT,260,-2,0,6 +5017166,31,SHORT,261,-2,1,9 +5017168,31,SHORT,262,-3,-1,13 +5017170,31,SHORT,263,2,-8,79 +5017172,31,SHORT,264,0,-9,85 +5017174,31,SHORT,265,-3,0,16 +5017176,31,SHORT,266,1,5,29 +5017178,31,SHORT,267,1,6,42 +5017180,31,SHORT,268,-3,3,21 +5017182,31,SHORT,269,0,3,14 +5017184,31,SHORT,270,5,5,66 +5017186,31,SHORT,271,3,2,18 +5017188,31,SHORT,272,1,-9,94 +5017190,31,SHORT,273,4,7,82 +5017192,31,SHORT,274,6,5,79 +5017194,31,SHORT,275,9,2,92 +5017196,31,SHORT,276,7,-2,64 +5017198,31,SHORT,277,7,1,66 +5017200,31,SHORT,278,4,-5,50 +5017202,31,SHORT,279,0,2,5 +5017204,31,SHORT,280,4,2,25 +5017206,31,SHORT,281,6,1,48 +5017208,31,SHORT,282,-8,-1,83 +5017210,31,SHORT,283,3,-8,77 +5017212,31,SHORT,284,5,-3,40 +5017214,31,SHORT,285,3,-1,12 +5017216,31,SHORT,286,7,-2,56 +5017218,31,SHORT,287,4,-4,41 +5017220,31,SHORT,288,2,0,6 +5017222,31,SHORT,289,8,-9,159 +5017224,31,SHORT,290,0,3,14 +5017226,31,SHORT,291,1,6,40 +5017228,31,SHORT,292,2,5,36 +5017230,31,SHORT,293,7,-11,186 +5017232,31,SHORT,294,6,-13,235 +5017234,31,SHORT,295,11,-11,263 +5017236,31,SHORT,296,8,-5,108 +5017238,31,SHORT,297,7,-7,109 +5017240,31,SHORT,298,8,-1,75 +5017242,31,SHORT,299,10,0,114 +5017244,31,SHORT,300,14,5,234 +5017246,31,SHORT,301,9,0,88 +5017248,31,SHORT,302,6,6,87 +5017250,31,SHORT,303,2,3,19 +5017252,31,SHORT,304,3,10,125 +5017254,31,SHORT,305,-1,12,154 +5017256,31,SHORT,306,6,10,144 +5017258,31,SHORT,307,8,3,88 +5017260,31,SHORT,308,7,-1,61 +5017262,31,SHORT,309,2,2,13 +5017264,31,SHORT,310,-4,8,97 +5017266,31,SHORT,311,-1,-1,4 +5017268,31,SHORT,312,-5,2,40 +5017270,31,SHORT,313,6,1,40 +5017272,31,SHORT,314,0,-2,6 +5017274,31,SHORT,315,3,2,20 +5017276,31,SHORT,316,-8,10,182 +5017278,31,SHORT,317,3,-2,19 +5017280,31,SHORT,318,-2,3,17 +5017282,31,SHORT,319,0,0,1 +5017284,31,SHORT,320,0,-2,6 +5017286,31,SHORT,321,2,-2,9 +5017288,31,SHORT,322,-7,3,67 +5017290,31,SHORT,323,-2,-2,9 +5017292,31,SHORT,324,-2,0,6 +5017294,31,SHORT,325,0,-7,50 +5017296,31,SHORT,326,-1,0,1 +5017298,31,SHORT,327,0,-1,2 +5017300,31,SHORT,328,-1,0,1 +5017302,31,SHORT,329,2,9,94 +5017304,31,SHORT,330,0,2,5 +5017306,31,SHORT,331,-1,-3,17 +5017308,31,SHORT,332,-3,6,51 +5017310,31,SHORT,333,2,7,72 +5017312,31,SHORT,334,3,4,36 +5017314,31,SHORT,335,4,-1,22 +5017316,31,SHORT,336,1,2,10 +5017318,31,SHORT,337,2,-9,100 +5017320,31,SHORT,338,1,6,45 +5017322,31,SHORT,339,0,3,11 +5017324,31,SHORT,340,5,-2,37 +5017326,31,SHORT,341,0,-6,37 +5017328,31,SHORT,342,0,-1,1 +5017330,31,SHORT,343,-12,2,171 +5017332,31,SHORT,344,-1,3,18 +5017334,31,SHORT,345,6,-1,51 +5017336,31,SHORT,346,-4,-8,87 +5017338,31,SHORT,347,7,4,79 +5017340,31,SHORT,348,4,-1,26 +5017342,31,SHORT,349,1,11,143 +5017344,31,SHORT,350,2,-1,8 +5017346,31,SHORT,351,3,0,9 +5017348,31,SHORT,352,-3,4,35 +5017350,31,SHORT,353,0,0,0 +5017352,31,SHORT,354,-4,-4,43 +5017354,31,SHORT,355,-2,-3,21 +5017356,31,SHORT,356,0,10,101 +5017358,31,SHORT,357,8,-4,92 +5017360,31,SHORT,358,13,6,228 +5017362,31,SHORT,359,-9,4,105 +5017364,31,SHORT,360,0,1,3 +5017366,31,SHORT,361,1,-3,14 +5017368,31,SHORT,362,0,5,27 +5017370,31,SHORT,363,6,9,134 +5017372,31,SHORT,364,3,4,29 +5017374,31,SHORT,365,8,-6,104 +5017376,31,SHORT,366,0,-6,49 +5017378,31,SHORT,367,-1,6,39 +5017380,31,SHORT,368,-5,0,30 +5017382,31,SHORT,369,-4,3,32 +5017384,31,SHORT,370,-3,0,10 +5017386,31,SHORT,371,0,2,6 +5017388,31,SHORT,372,-5,-4,50 +5017390,31,SHORT,373,3,-10,121 +5017392,31,SHORT,374,-5,1,31 +5017394,31,SHORT,375,-3,-10,116 +5017396,31,SHORT,376,4,-5,50 +5017398,31,SHORT,377,1,7,65 +5017400,31,SHORT,378,1,-4,20 +5017402,31,SHORT,379,-5,0,30 +5017404,31,SHORT,380,6,-5,73 +5017406,31,SHORT,381,-2,-5,40 +5017408,31,SHORT,382,5,-2,34 +5017410,31,SHORT,383,-4,-8,96 +5017412,31,SHORT,384,-3,-1,13 +5017414,31,SHORT,385,-2,6,54 +5017416,31,SHORT,386,2,-3,17 +5017418,31,SHORT,387,5,7,87 +5017420,31,SHORT,388,8,-4,97 +5017422,31,SHORT,389,-2,-5,37 +5017424,31,SHORT,390,0,-2,8 +5017426,31,SHORT,391,3,1,17 +5017428,31,SHORT,392,5,0,31 +5017430,31,SHORT,393,1,5,32 +5017432,31,SHORT,394,10,-7,158 +5017434,31,SHORT,395,-4,0,19 +5017436,31,SHORT,396,2,0,8 +5017438,31,SHORT,397,9,3,97 +5017440,31,SHORT,398,-3,1,10 +5017442,31,SHORT,399,0,0,0 +5017444,31,SHORT,400,-2,4,20 +5017446,31,SHORT,401,8,-2,85 +5017448,31,SHORT,402,-2,-4,28 +5017450,31,SHORT,403,6,-7,97 +5017452,31,SHORT,404,5,0,26 +5017454,31,SHORT,405,-2,0,7 +5017456,31,SHORT,406,12,0,168 +5017458,31,SHORT,407,-1,8,75 +5017460,31,SHORT,408,-1,9,92 +5017462,31,SHORT,409,0,3,15 +5017464,31,SHORT,410,3,-11,135 +5017466,31,SHORT,411,-2,13,175 +5017468,31,SHORT,412,1,7,61 +5017470,31,SHORT,413,-4,-10,129 +5017472,31,SHORT,414,-5,-6,66 +5017474,31,SHORT,415,3,-5,39 +5017476,31,SHORT,416,-2,8,84 +5017478,31,SHORT,417,0,5,26 +5017480,31,SHORT,418,-2,-4,25 +5017482,31,SHORT,419,5,-9,124 +5017484,31,SHORT,420,4,1,23 +5017486,31,SHORT,421,-9,4,110 +5017488,31,SHORT,422,0,-6,40 +5017490,31,SHORT,423,4,-4,40 +5017492,31,SHORT,424,0,0,0 +5017494,31,SHORT,425,0,1,2 +5017496,31,SHORT,426,5,0,27 +5017498,31,SHORT,427,4,0,19 +5017500,31,SHORT,428,0,-10,112 +5017502,31,SHORT,429,0,2,4 +5017504,31,SHORT,430,0,-4,24 +5017506,31,SHORT,431,-3,7,63 +5017508,31,SHORT,432,6,6,77 +5017510,31,SHORT,433,1,5,32 +5017512,31,SHORT,434,9,4,120 +5017514,31,SHORT,435,-2,-1,10 +5017516,31,SHORT,436,4,-3,32 +5017518,31,SHORT,437,1,-7,54 +5017520,31,SHORT,438,-4,3,35 +5017522,31,SHORT,439,-2,-1,7 +5017524,31,SHORT,440,1,-5,29 +5017526,31,SHORT,441,10,1,103 +5017528,31,SHORT,442,8,0,65 +5017530,31,SHORT,443,-3,3,19 +5017532,31,SHORT,444,5,-4,47 +5017534,31,SHORT,445,3,-4,30 +5017536,31,SHORT,446,-4,-11,142 +5017538,31,SHORT,447,2,-12,166 +5017540,31,SHORT,448,2,0,7 +5017542,31,SHORT,449,-9,-7,140 +5017544,31,SHORT,450,-1,-6,50 +5017546,31,SHORT,451,3,0,11 +5017548,31,SHORT,452,0,-6,47 +5017550,31,SHORT,453,0,7,51 +5017552,31,SHORT,454,-9,-7,140 +5017554,31,SHORT,455,-3,-6,50 +5017556,31,SHORT,456,5,0,34 +5017558,31,SHORT,457,-5,0,34 +5017560,31,SHORT,458,4,3,40 +5017562,31,SHORT,459,0,-8,79 +5017564,31,SHORT,460,-8,-4,96 +5017566,31,SHORT,461,2,1,6 +5017568,31,SHORT,462,-8,-5,100 +5017570,31,SHORT,463,0,-3,11 +5017572,31,SHORT,464,3,1,18 +5017574,31,SHORT,465,-6,-7,94 +5017576,31,SHORT,466,7,-8,117 +5017578,31,SHORT,467,-7,-10,169 +5017580,31,SHORT,468,-3,1,16 +5017582,31,SHORT,469,5,3,38 +5017584,31,SHORT,470,5,1,33 +5017586,31,SHORT,471,-2,-9,92 +5017588,31,SHORT,472,-10,-1,103 +5017590,31,SHORT,473,0,1,2 +5017592,31,SHORT,474,5,1,31 +5017594,31,SHORT,475,-3,6,52 +5017596,31,SHORT,476,1,1,4 +5017598,31,SHORT,477,-2,-3,17 +5017600,31,SHORT,478,-7,9,154 +5017602,31,SHORT,479,-5,-5,55 +5017604,31,SHORT,480,0,7,61 +5017606,31,SHORT,481,0,1,1 +5017608,31,SHORT,482,9,3,93 +5017610,31,SHORT,483,-7,-3,67 +5017612,31,SHORT,484,2,11,138 +5017614,31,SHORT,485,-1,3,13 +5017616,31,SHORT,486,-3,5,37 +5017618,31,SHORT,487,6,-2,47 +5017620,31,SHORT,488,-3,-3,23 +5017622,31,SHORT,489,11,2,132 +5017624,31,SHORT,490,3,3,23 +5017626,31,SHORT,491,-4,0,17 +5017628,31,SHORT,492,-2,-2,11 +5017630,31,SHORT,493,-1,1,5 +5017632,31,SHORT,494,0,-5,27 +5017634,31,SHORT,495,0,4,17 +5017636,31,SHORT,496,-3,-2,21 +5017638,31,SHORT,497,-3,2,18 +5017640,31,SHORT,498,-6,-7,92 +5017642,31,SHORT,499,-5,-4,45 +5017644,31,SHORT,500,-1,-5,38 +5017646,31,SHORT,501,6,3,46 +5017648,31,SHORT,502,-4,-4,37 +5017650,31,SHORT,503,3,-5,39 +5017652,31,SHORT,504,3,0,16 +5017654,31,SHORT,505,2,4,24 +5017656,31,SHORT,506,0,1,1 +5017658,31,SHORT,507,2,-2,14 +5017660,31,SHORT,508,0,-2,7 +5017662,31,SHORT,509,0,-10,120 +5017664,31,SHORT,510,-1,-5,33 +5017666,31,SHORT,511,2,-2,11