![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
dsp_test.cpp@1:d0884279b41d, 2017-05-12 (annotated)
- Committer:
- elt14lpo
- Date:
- Fri May 12 06:27:31 2017 +0000
- Revision:
- 1:d0884279b41d
- Parent:
- 0:c81dc1cb885e
- Child:
- 2:1161fea84522
;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
elt14lpo | 0:c81dc1cb885e | 1 | #include "mbed.h" |
elt14lpo | 0:c81dc1cb885e | 2 | #include <iostream> /* cout */ |
elt14lpo | 0:c81dc1cb885e | 3 | //#include <stdio.h> /* printf */ |
elt14lpo | 0:c81dc1cb885e | 4 | #include <math.h> /* sin */ |
elt14lpo | 0:c81dc1cb885e | 5 | #include <vector> |
elt14lpo | 0:c81dc1cb885e | 6 | #include <stdlib.h> /* abs */ |
elt14lpo | 0:c81dc1cb885e | 7 | #include <stdio.h> |
elt14lpo | 0:c81dc1cb885e | 8 | #include <AnalogIn.h> |
elt14lpo | 0:c81dc1cb885e | 9 | #include <stdint.h> |
elt14lpo | 0:c81dc1cb885e | 10 | #include <DHT.h> |
elt14lpo | 0:c81dc1cb885e | 11 | #include<sstream> |
elt14lpo | 0:c81dc1cb885e | 12 | #include "arm_correlate_f32.h" |
elt14lpo | 0:c81dc1cb885e | 13 | //#include "arm_correlate_fast_q15.h" |
elt14lpo | 0:c81dc1cb885e | 14 | |
elt14lpo | 0:c81dc1cb885e | 15 | //using namespace std; |
elt14lpo | 0:c81dc1cb885e | 16 | |
elt14lpo | 0:c81dc1cb885e | 17 | /* DEBUG FUNCTION |
elt14lpo | 0:c81dc1cb885e | 18 | // ersätter Debug(xyz) med xyz , där xyz är din kod |
elt14lpo | 0:c81dc1cb885e | 19 | //För att aktivera: |
elt14lpo | 0:c81dc1cb885e | 20 | #define Debug(xyz) xyz |
elt14lpo | 0:c81dc1cb885e | 21 | |
elt14lpo | 0:c81dc1cb885e | 22 | //För att "stänga av": |
elt14lpo | 0:c81dc1cb885e | 23 | #define Debug(xyz) |
elt14lpo | 0:c81dc1cb885e | 24 | |
elt14lpo | 0:c81dc1cb885e | 25 | //I din kod, skriv din debug kod liknande så här: |
elt14lpo | 0:c81dc1cb885e | 26 | Debug( std::cout << "My text: " << myVariable << std::endl; ); |
elt14lpo | 0:c81dc1cb885e | 27 | |
elt14lpo | 0:c81dc1cb885e | 28 | */ |
elt14lpo | 0:c81dc1cb885e | 29 | |
elt14lpo | 0:c81dc1cb885e | 30 | #define Debug(x) x |
elt14lpo | 0:c81dc1cb885e | 31 | #define DebugPrintState(y) y |
elt14lpo | 0:c81dc1cb885e | 32 | #define DebugArcSin(z) z |
elt14lpo | 0:c81dc1cb885e | 33 | |
elt14lpo | 0:c81dc1cb885e | 34 | |
elt14lpo | 0:c81dc1cb885e | 35 | //----------VARIABLES HERE |
elt14lpo | 0:c81dc1cb885e | 36 | const int dataLength = 1000; |
elt14lpo | 0:c81dc1cb885e | 37 | const int captureLength = 50; |
elt14lpo | 0:c81dc1cb885e | 38 | double temp = 22; |
elt14lpo | 0:c81dc1cb885e | 39 | double hum = 10; |
elt14lpo | 0:c81dc1cb885e | 40 | double micDist = 0.250; //meters |
elt14lpo | 0:c81dc1cb885e | 41 | double threshold_1 = 0; //value when going to active mode channel 1 //old hardcoded value = 330 |
elt14lpo | 0:c81dc1cb885e | 42 | double threshold_2 = 0; //value when going to active mode channel 2 //old hardcoded value = 200 |
elt14lpo | 0:c81dc1cb885e | 43 | double threshold_adjust = 15; //used to adjust threshold, + for less sensitivity, - for increased sensitivity |
elt14lpo | 0:c81dc1cb885e | 44 | bool calibratedStatus = false; //flag to make sure Nuclueo only calibrated once for background noise |
elt14lpo | 0:c81dc1cb885e | 45 | bool checkTemp = false; //flag - true to checktemp, false to use predefined values |
elt14lpo | 0:c81dc1cb885e | 46 | int positionOfMaxVal_1; |
elt14lpo | 0:c81dc1cb885e | 47 | int positionOfMaxVal_2; |
elt14lpo | 0:c81dc1cb885e | 48 | const double PI = 3.14159265358979323846; |
elt14lpo | 0:c81dc1cb885e | 49 | |
elt14lpo | 0:c81dc1cb885e | 50 | // State machine |
elt14lpo | 0:c81dc1cb885e | 51 | int STATE; |
elt14lpo | 0:c81dc1cb885e | 52 | //const int NONE = -1; |
elt14lpo | 0:c81dc1cb885e | 53 | const int IDLE = 0; |
elt14lpo | 0:c81dc1cb885e | 54 | const int CALIBRATE = 1; |
elt14lpo | 0:c81dc1cb885e | 55 | const int TESTNEW = 2; |
elt14lpo | 0:c81dc1cb885e | 56 | const int CALC = 3; |
elt14lpo | 0:c81dc1cb885e | 57 | const int CALC_ERROR = 4; |
elt14lpo | 0:c81dc1cb885e | 58 | const int SEND = 5; |
elt14lpo | 0:c81dc1cb885e | 59 | //const int WAIT = 9; |
elt14lpo | 0:c81dc1cb885e | 60 | |
elt14lpo | 0:c81dc1cb885e | 61 | //dataLength behövs kanske inte, vector klassen kan växa med behov |
elt14lpo | 0:c81dc1cb885e | 62 | float channel_1 [dataLength]; |
elt14lpo | 0:c81dc1cb885e | 63 | float channel_2 [dataLength]; |
elt14lpo | 0:c81dc1cb885e | 64 | int timestamps_1 [dataLength]; |
elt14lpo | 0:c81dc1cb885e | 65 | int timestamps_2 [dataLength]; |
elt14lpo | 0:c81dc1cb885e | 66 | float capture_1 [captureLength]; |
elt14lpo | 0:c81dc1cb885e | 67 | float *p1 = capture_1; |
elt14lpo | 0:c81dc1cb885e | 68 | float capture_2 [captureLength]; |
elt14lpo | 0:c81dc1cb885e | 69 | float *p2 = capture_2; |
elt14lpo | 0:c81dc1cb885e | 70 | float capturestamps_1 [captureLength]; |
elt14lpo | 0:c81dc1cb885e | 71 | float capturestamps_2 [captureLength]; |
elt14lpo | 1:d0884279b41d | 72 | float dsp_res [dataLength]; |
elt14lpo | 0:c81dc1cb885e | 73 | float *p_res = dsp_res; |
elt14lpo | 0:c81dc1cb885e | 74 | |
elt14lpo | 0:c81dc1cb885e | 75 | int positiontest = 0; |
elt14lpo | 0:c81dc1cb885e | 76 | int test = 9; |
elt14lpo | 0:c81dc1cb885e | 77 | std::vector<double> delaytest(test); |
elt14lpo | 0:c81dc1cb885e | 78 | |
elt14lpo | 0:c81dc1cb885e | 79 | |
elt14lpo | 0:c81dc1cb885e | 80 | AnalogIn mic1(A0); |
elt14lpo | 0:c81dc1cb885e | 81 | AnalogIn mic2(A1); |
elt14lpo | 0:c81dc1cb885e | 82 | AnalogIn mic3(A2); |
elt14lpo | 0:c81dc1cb885e | 83 | DHT sensor(A3, DHT11); |
elt14lpo | 0:c81dc1cb885e | 84 | |
elt14lpo | 0:c81dc1cb885e | 85 | //TIMER |
elt14lpo | 0:c81dc1cb885e | 86 | Timer t; |
elt14lpo | 0:c81dc1cb885e | 87 | |
elt14lpo | 0:c81dc1cb885e | 88 | //led can be used for status |
elt14lpo | 0:c81dc1cb885e | 89 | DigitalOut led1(LED1); |
elt14lpo | 0:c81dc1cb885e | 90 | |
elt14lpo | 0:c81dc1cb885e | 91 | |
elt14lpo | 0:c81dc1cb885e | 92 | //----------FUNCTIONS HERE |
elt14lpo | 0:c81dc1cb885e | 93 | //Calculating distance between sound and camera |
elt14lpo | 0:c81dc1cb885e | 94 | double calcDist(double t, double v) |
elt14lpo | 0:c81dc1cb885e | 95 | { |
elt14lpo | 0:c81dc1cb885e | 96 | double s = t*v; |
elt14lpo | 0:c81dc1cb885e | 97 | return s; |
elt14lpo | 0:c81dc1cb885e | 98 | } |
elt14lpo | 0:c81dc1cb885e | 99 | |
elt14lpo | 0:c81dc1cb885e | 100 | //Calculating angle in radians, D distance between mic1 and mic2 |
elt14lpo | 0:c81dc1cb885e | 101 | double calcAng(double s, double D) |
elt14lpo | 0:c81dc1cb885e | 102 | { |
elt14lpo | 0:c81dc1cb885e | 103 | return asin(s/D) + PI/2; |
elt14lpo | 0:c81dc1cb885e | 104 | } |
elt14lpo | 0:c81dc1cb885e | 105 | |
elt14lpo | 0:c81dc1cb885e | 106 | //Assuming the input value is temp as a number in degrees celcius and humidity as procent |
elt14lpo | 0:c81dc1cb885e | 107 | double calcSoundSpeed(double temp, double hum) |
elt14lpo | 0:c81dc1cb885e | 108 | { |
elt14lpo | 0:c81dc1cb885e | 109 | //Calculations were done in Matlab |
elt14lpo | 0:c81dc1cb885e | 110 | double speed = 331.1190 + 0.6016*temp + 0.0126*hum; |
elt14lpo | 0:c81dc1cb885e | 111 | return speed; |
elt14lpo | 0:c81dc1cb885e | 112 | } |
elt14lpo | 0:c81dc1cb885e | 113 | |
elt14lpo | 0:c81dc1cb885e | 114 | //translate angle to number for camera |
elt14lpo | 0:c81dc1cb885e | 115 | string convertAngToCamNbr(double ang) |
elt14lpo | 0:c81dc1cb885e | 116 | { |
elt14lpo | 0:c81dc1cb885e | 117 | ang = ang*(180 / PI) + 45; //radianer till grader |
elt14lpo | 0:c81dc1cb885e | 118 | double angValues = 270; |
elt14lpo | 0:c81dc1cb885e | 119 | int stepValues = 50000; |
elt14lpo | 0:c81dc1cb885e | 120 | string tiltNumber = " 18000"; //hårdkodat Camera Pan värde |
elt14lpo | 0:c81dc1cb885e | 121 | |
elt14lpo | 0:c81dc1cb885e | 122 | double oneAng = stepValues/angValues; |
elt14lpo | 0:c81dc1cb885e | 123 | double cameraAngNumber = ang*oneAng; |
elt14lpo | 0:c81dc1cb885e | 124 | int panInt = (int)(cameraAngNumber); //double to int |
elt14lpo | 0:c81dc1cb885e | 125 | //int to string |
elt14lpo | 0:c81dc1cb885e | 126 | string panNumber; |
elt14lpo | 0:c81dc1cb885e | 127 | ostringstream convert; |
elt14lpo | 0:c81dc1cb885e | 128 | convert << panInt; |
elt14lpo | 0:c81dc1cb885e | 129 | panNumber = convert.str(); |
elt14lpo | 0:c81dc1cb885e | 130 | |
elt14lpo | 0:c81dc1cb885e | 131 | string send = panNumber + tiltNumber; |
elt14lpo | 0:c81dc1cb885e | 132 | return send; |
elt14lpo | 0:c81dc1cb885e | 133 | } |
elt14lpo | 0:c81dc1cb885e | 134 | |
elt14lpo | 0:c81dc1cb885e | 135 | |
elt14lpo | 0:c81dc1cb885e | 136 | //calc time delay by finding peak values in 2 vectors |
elt14lpo | 0:c81dc1cb885e | 137 | //channel = 1 or 2 |
elt14lpo | 0:c81dc1cb885e | 138 | int FindPeak(int channel) |
elt14lpo | 0:c81dc1cb885e | 139 | { |
elt14lpo | 0:c81dc1cb885e | 140 | float *channel_curr; //temporary vector with channel voltage values |
elt14lpo | 0:c81dc1cb885e | 141 | |
elt14lpo | 0:c81dc1cb885e | 142 | //if channel 1 then set current channel to channel 1 |
elt14lpo | 0:c81dc1cb885e | 143 | if (channel == 1) { |
elt14lpo | 0:c81dc1cb885e | 144 | channel_curr = capture_1; |
elt14lpo | 0:c81dc1cb885e | 145 | } else channel_curr = capture_2; |
elt14lpo | 0:c81dc1cb885e | 146 | |
elt14lpo | 0:c81dc1cb885e | 147 | //reset max value & sum value |
elt14lpo | 0:c81dc1cb885e | 148 | double valueMax = 0; |
elt14lpo | 0:c81dc1cb885e | 149 | |
elt14lpo | 0:c81dc1cb885e | 150 | //reset array position |
elt14lpo | 0:c81dc1cb885e | 151 | int positionOfMaxVal = 0; |
elt14lpo | 0:c81dc1cb885e | 152 | |
elt14lpo | 0:c81dc1cb885e | 153 | //find largest value & mark that position in vectors |
elt14lpo | 0:c81dc1cb885e | 154 | for (int position = 0; position < captureLength; position++) { |
elt14lpo | 0:c81dc1cb885e | 155 | double val = abs(channel_curr[position]); |
elt14lpo | 0:c81dc1cb885e | 156 | if (val > valueMax ) { |
elt14lpo | 0:c81dc1cb885e | 157 | valueMax = val; |
elt14lpo | 0:c81dc1cb885e | 158 | positionOfMaxVal = position; |
elt14lpo | 0:c81dc1cb885e | 159 | } |
elt14lpo | 0:c81dc1cb885e | 160 | } |
elt14lpo | 0:c81dc1cb885e | 161 | return positionOfMaxVal; |
elt14lpo | 0:c81dc1cb885e | 162 | } |
elt14lpo | 0:c81dc1cb885e | 163 | |
elt14lpo | 0:c81dc1cb885e | 164 | double FindTimeDelay(int positionOfMaxVal_1, int positionOfMaxVal_2) |
elt14lpo | 0:c81dc1cb885e | 165 | { |
elt14lpo | 0:c81dc1cb885e | 166 | double timemax_1 = capturestamps_1[positionOfMaxVal_1]; |
elt14lpo | 0:c81dc1cb885e | 167 | double timemax_2 = capturestamps_2[positionOfMaxVal_2]; |
elt14lpo | 0:c81dc1cb885e | 168 | double delay = timemax_1 - timemax_2; |
elt14lpo | 0:c81dc1cb885e | 169 | return delay; //if negative near microphone 1, if positive near micropnone 2 |
elt14lpo | 0:c81dc1cb885e | 170 | } |
elt14lpo | 0:c81dc1cb885e | 171 | |
elt14lpo | 0:c81dc1cb885e | 172 | |
elt14lpo | 0:c81dc1cb885e | 173 | //get voltage value which represents audio amplitude from microphone |
elt14lpo | 0:c81dc1cb885e | 174 | double getAudioValue(AnalogIn micX) |
elt14lpo | 0:c81dc1cb885e | 175 | { |
elt14lpo | 0:c81dc1cb885e | 176 | return 1000*micX.read(); |
elt14lpo | 0:c81dc1cb885e | 177 | } |
elt14lpo | 0:c81dc1cb885e | 178 | |
elt14lpo | 0:c81dc1cb885e | 179 | |
elt14lpo | 0:c81dc1cb885e | 180 | bool overThreshold(double micValue_1, double micValue_2) |
elt14lpo | 0:c81dc1cb885e | 181 | { |
elt14lpo | 0:c81dc1cb885e | 182 | if ((micValue_1 > threshold_1) || (micValue_2 > threshold_2)) { |
elt14lpo | 0:c81dc1cb885e | 183 | return true; |
elt14lpo | 0:c81dc1cb885e | 184 | } else return false; |
elt14lpo | 0:c81dc1cb885e | 185 | } |
elt14lpo | 0:c81dc1cb885e | 186 | |
elt14lpo | 0:c81dc1cb885e | 187 | //true if voltage value in microphone is above the current threshold value |
elt14lpo | 0:c81dc1cb885e | 188 | bool calibrateThreshold(double micValue, double currentThreshold) |
elt14lpo | 0:c81dc1cb885e | 189 | { |
elt14lpo | 0:c81dc1cb885e | 190 | if ( micValue > currentThreshold ) { |
elt14lpo | 0:c81dc1cb885e | 191 | return true; |
elt14lpo | 0:c81dc1cb885e | 192 | } else return false; |
elt14lpo | 0:c81dc1cb885e | 193 | } |
elt14lpo | 0:c81dc1cb885e | 194 | |
elt14lpo | 0:c81dc1cb885e | 195 | |
elt14lpo | 0:c81dc1cb885e | 196 | // main() runs in its own thread in the OS |
elt14lpo | 0:c81dc1cb885e | 197 | int main() |
elt14lpo | 0:c81dc1cb885e | 198 | { |
elt14lpo | 0:c81dc1cb885e | 199 | for(int i = 0; i < test; i++) { |
elt14lpo | 0:c81dc1cb885e | 200 | delaytest[i] = -420 + i*105; |
elt14lpo | 0:c81dc1cb885e | 201 | } |
elt14lpo | 0:c81dc1cb885e | 202 | t.start(); // start timer |
elt14lpo | 0:c81dc1cb885e | 203 | |
elt14lpo | 0:c81dc1cb885e | 204 | //while (true) { |
elt14lpo | 0:c81dc1cb885e | 205 | led1 = !led1; |
elt14lpo | 0:c81dc1cb885e | 206 | wait(0.5); |
elt14lpo | 0:c81dc1cb885e | 207 | |
elt14lpo | 0:c81dc1cb885e | 208 | |
elt14lpo | 0:c81dc1cb885e | 209 | //STATE MACHINE |
elt14lpo | 0:c81dc1cb885e | 210 | STATE = IDLE; |
elt14lpo | 0:c81dc1cb885e | 211 | //int counter = 0; |
elt14lpo | 0:c81dc1cb885e | 212 | while (true) { |
elt14lpo | 0:c81dc1cb885e | 213 | switch (STATE) { |
elt14lpo | 0:c81dc1cb885e | 214 | case IDLE: //always start here |
elt14lpo | 0:c81dc1cb885e | 215 | DebugPrintState( std::cout << "Nucleo state is IDLE: " << std::endl; ); |
elt14lpo | 0:c81dc1cb885e | 216 | Debug( wait(0.5); ); |
elt14lpo | 0:c81dc1cb885e | 217 | if (!calibratedStatus) STATE = CALIBRATE; |
elt14lpo | 0:c81dc1cb885e | 218 | else STATE = TESTNEW; |
elt14lpo | 0:c81dc1cb885e | 219 | break; |
elt14lpo | 0:c81dc1cb885e | 220 | |
elt14lpo | 0:c81dc1cb885e | 221 | case CALIBRATE: |
elt14lpo | 0:c81dc1cb885e | 222 | DebugPrintState( std::cout << "Nucleo state is CALIBRATE: " << std::endl; ); |
elt14lpo | 0:c81dc1cb885e | 223 | Debug( wait(1); ); |
elt14lpo | 0:c81dc1cb885e | 224 | //listen for X seconds to background noise, to set accurate threshold value |
elt14lpo | 0:c81dc1cb885e | 225 | // This should be done only once when rebooting Nucleo |
elt14lpo | 0:c81dc1cb885e | 226 | int startTime = t.read_us(); |
elt14lpo | 0:c81dc1cb885e | 227 | int offsetTime = 3000; //microseconds |
elt14lpo | 0:c81dc1cb885e | 228 | int blinkTime = 500; //microseconds |
elt14lpo | 0:c81dc1cb885e | 229 | while (t.read_us() < (startTime + offsetTime) ) { |
elt14lpo | 0:c81dc1cb885e | 230 | double micValue_1 = getAudioValue(mic1); |
elt14lpo | 0:c81dc1cb885e | 231 | if ( calibrateThreshold(micValue_1, threshold_1) ) { |
elt14lpo | 0:c81dc1cb885e | 232 | threshold_1 = micValue_1; //threshold value updated |
elt14lpo | 0:c81dc1cb885e | 233 | } |
elt14lpo | 0:c81dc1cb885e | 234 | double micValue_2 = getAudioValue(mic2); |
elt14lpo | 0:c81dc1cb885e | 235 | if ( calibrateThreshold(micValue_2, threshold_2) ) { |
elt14lpo | 0:c81dc1cb885e | 236 | threshold_2 = micValue_2; //threshold value updated |
elt14lpo | 0:c81dc1cb885e | 237 | } |
elt14lpo | 0:c81dc1cb885e | 238 | //make LED blink every 500 ms |
elt14lpo | 0:c81dc1cb885e | 239 | if ( t.read_us() > (startTime + blinkTime) ) { |
elt14lpo | 0:c81dc1cb885e | 240 | led1 = !led1; |
elt14lpo | 0:c81dc1cb885e | 241 | blinkTime = blinkTime + 500; |
elt14lpo | 0:c81dc1cb885e | 242 | } |
elt14lpo | 0:c81dc1cb885e | 243 | } |
elt14lpo | 0:c81dc1cb885e | 244 | threshold_1 = threshold_2 + threshold_adjust; |
elt14lpo | 0:c81dc1cb885e | 245 | threshold_2 = threshold_2 + threshold_adjust; |
elt14lpo | 0:c81dc1cb885e | 246 | |
elt14lpo | 0:c81dc1cb885e | 247 | //Calibrate temp and hum |
elt14lpo | 0:c81dc1cb885e | 248 | if(checkTemp){ |
elt14lpo | 0:c81dc1cb885e | 249 | bool done = false; |
elt14lpo | 0:c81dc1cb885e | 250 | while(!done) { |
elt14lpo | 0:c81dc1cb885e | 251 | if(sensor.readData() == 0) { |
elt14lpo | 0:c81dc1cb885e | 252 | temp = sensor.ReadTemperature(CELCIUS); |
elt14lpo | 0:c81dc1cb885e | 253 | hum = sensor.ReadHumidity(); |
elt14lpo | 0:c81dc1cb885e | 254 | DebugPrintState(std::cout << "Temp: " << temp << "Degrees Celcius" <<std::endl; ); |
elt14lpo | 0:c81dc1cb885e | 255 | DebugPrintState(std::cout << "Hum: " << temp << "%" <<std::endl; ); |
elt14lpo | 0:c81dc1cb885e | 256 | done = true; |
elt14lpo | 0:c81dc1cb885e | 257 | } |
elt14lpo | 0:c81dc1cb885e | 258 | } |
elt14lpo | 0:c81dc1cb885e | 259 | } |
elt14lpo | 0:c81dc1cb885e | 260 | |
elt14lpo | 0:c81dc1cb885e | 261 | calibratedStatus = true; |
elt14lpo | 0:c81dc1cb885e | 262 | STATE = TESTNEW; //next state |
elt14lpo | 0:c81dc1cb885e | 263 | break; |
elt14lpo | 0:c81dc1cb885e | 264 | |
elt14lpo | 0:c81dc1cb885e | 265 | case TESTNEW: |
elt14lpo | 0:c81dc1cb885e | 266 | DebugPrintState( std::cout << "Nucleo state is TESTNEW: " << std::endl; ); |
elt14lpo | 0:c81dc1cb885e | 267 | int i = 0; |
elt14lpo | 0:c81dc1cb885e | 268 | bool quit = false; |
elt14lpo | 0:c81dc1cb885e | 269 | while(!quit) { |
elt14lpo | 0:c81dc1cb885e | 270 | channel_1[i] = getAudioValue(mic1); |
elt14lpo | 0:c81dc1cb885e | 271 | timestamps_1[i] = t.read_us(); |
elt14lpo | 0:c81dc1cb885e | 272 | channel_2[i] = getAudioValue(mic2); |
elt14lpo | 0:c81dc1cb885e | 273 | timestamps_2[i] = t.read_us(); |
elt14lpo | 0:c81dc1cb885e | 274 | if(overThreshold(channel_1[i], channel_2[i]) == true) { |
elt14lpo | 0:c81dc1cb885e | 275 | capture_1[0] = channel_1[i]; |
elt14lpo | 0:c81dc1cb885e | 276 | capturestamps_1[0] = timestamps_1[i]; |
elt14lpo | 0:c81dc1cb885e | 277 | capture_2[0] = channel_2[i]; |
elt14lpo | 0:c81dc1cb885e | 278 | capturestamps_2[0] = timestamps_2[i]; |
elt14lpo | 0:c81dc1cb885e | 279 | for(int i = 1; i < captureLength; i++) { |
elt14lpo | 0:c81dc1cb885e | 280 | capture_1[i] = getAudioValue(mic1); |
elt14lpo | 0:c81dc1cb885e | 281 | capturestamps_1[i] = t.read_us(); |
elt14lpo | 0:c81dc1cb885e | 282 | capture_2[i] = getAudioValue(mic2); |
elt14lpo | 0:c81dc1cb885e | 283 | capturestamps_2[i] = t.read_us(); |
elt14lpo | 0:c81dc1cb885e | 284 | } |
elt14lpo | 0:c81dc1cb885e | 285 | quit = true; |
elt14lpo | 0:c81dc1cb885e | 286 | } |
elt14lpo | 0:c81dc1cb885e | 287 | if(i < dataLength) { |
elt14lpo | 0:c81dc1cb885e | 288 | i++; |
elt14lpo | 0:c81dc1cb885e | 289 | } else { |
elt14lpo | 0:c81dc1cb885e | 290 | i = 0; |
elt14lpo | 0:c81dc1cb885e | 291 | } |
elt14lpo | 0:c81dc1cb885e | 292 | } |
elt14lpo | 0:c81dc1cb885e | 293 | STATE = CALC; |
elt14lpo | 0:c81dc1cb885e | 294 | break; |
elt14lpo | 0:c81dc1cb885e | 295 | |
elt14lpo | 0:c81dc1cb885e | 296 | |
elt14lpo | 0:c81dc1cb885e | 297 | case CALC: |
elt14lpo | 0:c81dc1cb885e | 298 | DebugPrintState( std::cout << "Nucleo state is CALC: " << std::endl; ); |
elt14lpo | 0:c81dc1cb885e | 299 | //Debug( wait(0.5); ); |
elt14lpo | 0:c81dc1cb885e | 300 | arm_correlate_f32(p1, captureLength, p2, captureLength, p_res); |
elt14lpo | 0:c81dc1cb885e | 301 | |
elt14lpo | 0:c81dc1cb885e | 302 | int positionOfMaxVal_1 = FindPeak(1); |
elt14lpo | 0:c81dc1cb885e | 303 | int positionOfMaxVal_2 = FindPeak(2); |
elt14lpo | 0:c81dc1cb885e | 304 | //run functions |
elt14lpo | 0:c81dc1cb885e | 305 | double timedelay = FindTimeDelay(positionOfMaxVal_1, positionOfMaxVal_2); //microseceonds |
elt14lpo | 0:c81dc1cb885e | 306 | if(abs(timedelay) > micDist/calcSoundSpeed(temp, hum)){ |
elt14lpo | 0:c81dc1cb885e | 307 | STATE = CALC_ERROR; |
elt14lpo | 0:c81dc1cb885e | 308 | break; |
elt14lpo | 0:c81dc1cb885e | 309 | } |
elt14lpo | 0:c81dc1cb885e | 310 | double speed = calcSoundSpeed(temp, hum); //meters per second |
elt14lpo | 0:c81dc1cb885e | 311 | double distance = calcDist(timedelay/1000000, speed); //input converted to meters |
elt14lpo | 0:c81dc1cb885e | 312 | double angle = calcAng((double)distance, micDist); //0,15m = 15cm = 150mm, double type cast because of asin function in angle calculation |
elt14lpo | 0:c81dc1cb885e | 313 | //go to state SEND if no calc_error |
elt14lpo | 0:c81dc1cb885e | 314 | |
elt14lpo | 0:c81dc1cb885e | 315 | Debug( |
elt14lpo | 0:c81dc1cb885e | 316 | std::cout << "max position for channel 1: " << positionOfMaxVal_1+1 << std::endl; |
elt14lpo | 0:c81dc1cb885e | 317 | std::cout << "max position for channel 2: " << positionOfMaxVal_2+1 << std::endl; |
elt14lpo | 0:c81dc1cb885e | 318 | std::cout << "run FindPeak, delay is: " << timedelay << "microseconds" << std::endl; |
elt14lpo | 0:c81dc1cb885e | 319 | std::cout << "run calcDist, delta s is: " << distance << " millimeters" << std::endl; |
elt14lpo | 0:c81dc1cb885e | 320 | std::cout << "run calcAngle, angle is: " << angle << " radians" << std::endl; |
elt14lpo | 0:c81dc1cb885e | 321 | std::cout << "run calcAngle, angle is: " << angle*(180 / PI) << " degrees" << std::endl; |
elt14lpo | 0:c81dc1cb885e | 322 | std::cout << "run convertAngToCamNbr, coordinates: "<< convertAngToCamNbr(angle)<<std::endl; //return "panNumber tiltNumber"; |
elt14lpo | 0:c81dc1cb885e | 323 | ); |
elt14lpo | 0:c81dc1cb885e | 324 | if (angle > (3 * PI )/2 || angle < 0 ) { //vinkel larger than 270 eller minde än noll |
elt14lpo | 0:c81dc1cb885e | 325 | STATE = CALC_ERROR; |
elt14lpo | 0:c81dc1cb885e | 326 | } else { |
elt14lpo | 0:c81dc1cb885e | 327 | STATE = SEND; |
elt14lpo | 0:c81dc1cb885e | 328 | } |
elt14lpo | 0:c81dc1cb885e | 329 | break; |
elt14lpo | 0:c81dc1cb885e | 330 | |
elt14lpo | 0:c81dc1cb885e | 331 | case CALC_ERROR: |
elt14lpo | 0:c81dc1cb885e | 332 | DebugPrintState( std::cout << "Nucleo state is CALC_ERROR: " << std::endl; ); |
elt14lpo | 0:c81dc1cb885e | 333 | Debug( wait(0.5); ); |
elt14lpo | 0:c81dc1cb885e | 334 | //error message |
elt14lpo | 0:c81dc1cb885e | 335 | std::cout << "Error. angle not within limits 0 -270 degrees" << std::endl; |
elt14lpo | 0:c81dc1cb885e | 336 | //nollställ vektorer, , stoppa klockan , osv |
elt14lpo | 0:c81dc1cb885e | 337 | STATE = TESTNEW; |
elt14lpo | 0:c81dc1cb885e | 338 | break; |
elt14lpo | 0:c81dc1cb885e | 339 | |
elt14lpo | 0:c81dc1cb885e | 340 | case SEND: |
elt14lpo | 0:c81dc1cb885e | 341 | DebugPrintState( std::cout << "Nucleo state is SEND: " << std::endl; ); |
elt14lpo | 0:c81dc1cb885e | 342 | Debug( wait(0.5); ); |
elt14lpo | 0:c81dc1cb885e | 343 | // send coordinates to serial port to camera |
elt14lpo | 0:c81dc1cb885e | 344 | std::cout<<convertAngToCamNbr(angle)<<std::endl; //return "panNumber tiltNumber"; |
elt14lpo | 0:c81dc1cb885e | 345 | Debug( wait(0.5); ); |
elt14lpo | 0:c81dc1cb885e | 346 | STATE = IDLE; |
elt14lpo | 0:c81dc1cb885e | 347 | wait(5); |
elt14lpo | 0:c81dc1cb885e | 348 | break; |
elt14lpo | 0:c81dc1cb885e | 349 | } |
elt14lpo | 0:c81dc1cb885e | 350 | } |
elt14lpo | 0:c81dc1cb885e | 351 | } |
elt14lpo | 0:c81dc1cb885e | 352 |