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Diff: dsp_test.cpp
- Revision:
- 0:c81dc1cb885e
- Child:
- 1:d0884279b41d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/dsp_test.cpp Thu May 11 22:36:03 2017 +0000 @@ -0,0 +1,352 @@ +#include "mbed.h" +#include <iostream> /* cout */ +//#include <stdio.h> /* printf */ +#include <math.h> /* sin */ +#include <vector> +#include <stdlib.h> /* abs */ +#include <stdio.h> +#include <AnalogIn.h> +#include <stdint.h> +#include <DHT.h> +#include<sstream> +#include "arm_correlate_f32.h" +//#include "arm_correlate_fast_q15.h" + +//using namespace std; + +/* DEBUG FUNCTION +// ersätter Debug(xyz) med xyz , där xyz är din kod +//För att aktivera: +#define Debug(xyz) xyz + +//För att "stänga av": +#define Debug(xyz) + +//I din kod, skriv din debug kod liknande så här: +Debug( std::cout << "My text: " << myVariable << std::endl; ); + +*/ + +#define Debug(x) x +#define DebugPrintState(y) y +#define DebugArcSin(z) z + + +//----------VARIABLES HERE +const int dataLength = 1000; +const int captureLength = 50; +double temp = 22; +double hum = 10; +double micDist = 0.250; //meters +double threshold_1 = 0; //value when going to active mode channel 1 //old hardcoded value = 330 +double threshold_2 = 0; //value when going to active mode channel 2 //old hardcoded value = 200 +double threshold_adjust = 15; //used to adjust threshold, + for less sensitivity, - for increased sensitivity +bool calibratedStatus = false; //flag to make sure Nuclueo only calibrated once for background noise +bool checkTemp = false; //flag - true to checktemp, false to use predefined values +int positionOfMaxVal_1; +int positionOfMaxVal_2; +const double PI = 3.14159265358979323846; + +// State machine +int STATE; +//const int NONE = -1; +const int IDLE = 0; +const int CALIBRATE = 1; +const int TESTNEW = 2; +const int CALC = 3; +const int CALC_ERROR = 4; +const int SEND = 5; +//const int WAIT = 9; + +//dataLength behövs kanske inte, vector klassen kan växa med behov +float channel_1 [dataLength]; +float channel_2 [dataLength]; +int timestamps_1 [dataLength]; +int timestamps_2 [dataLength]; +float capture_1 [captureLength]; +float *p1 = capture_1; +float capture_2 [captureLength]; +float *p2 = capture_2; +float capturestamps_1 [captureLength]; +float capturestamps_2 [captureLength]; +float dsp_res [captureLength]; +float *p_res = dsp_res; + +int positiontest = 0; +int test = 9; +std::vector<double> delaytest(test); + + +AnalogIn mic1(A0); +AnalogIn mic2(A1); +AnalogIn mic3(A2); +DHT sensor(A3, DHT11); + +//TIMER +Timer t; + +//led can be used for status +DigitalOut led1(LED1); + + +//----------FUNCTIONS HERE +//Calculating distance between sound and camera +double calcDist(double t, double v) +{ + double s = t*v; + return s; +} + +//Calculating angle in radians, D distance between mic1 and mic2 +double calcAng(double s, double D) +{ + return asin(s/D) + PI/2; +} + +//Assuming the input value is temp as a number in degrees celcius and humidity as procent +double calcSoundSpeed(double temp, double hum) +{ + //Calculations were done in Matlab + double speed = 331.1190 + 0.6016*temp + 0.0126*hum; + return speed; +} + +//translate angle to number for camera +string convertAngToCamNbr(double ang) +{ + ang = ang*(180 / PI) + 45; //radianer till grader + double angValues = 270; + int stepValues = 50000; + string tiltNumber = " 18000"; //hårdkodat Camera Pan värde + + double oneAng = stepValues/angValues; + double cameraAngNumber = ang*oneAng; + int panInt = (int)(cameraAngNumber); //double to int + //int to string + string panNumber; + ostringstream convert; + convert << panInt; + panNumber = convert.str(); + + string send = panNumber + tiltNumber; + return send; +} + + +//calc time delay by finding peak values in 2 vectors +//channel = 1 or 2 +int FindPeak(int channel) +{ + float *channel_curr; //temporary vector with channel voltage values + + //if channel 1 then set current channel to channel 1 + if (channel == 1) { + channel_curr = capture_1; + } else channel_curr = capture_2; + + //reset max value & sum value + double valueMax = 0; + + //reset array position + int positionOfMaxVal = 0; + + //find largest value & mark that position in vectors + for (int position = 0; position < captureLength; position++) { + double val = abs(channel_curr[position]); + if (val > valueMax ) { + valueMax = val; + positionOfMaxVal = position; + } + } + return positionOfMaxVal; +} + +double FindTimeDelay(int positionOfMaxVal_1, int positionOfMaxVal_2) +{ + double timemax_1 = capturestamps_1[positionOfMaxVal_1]; + double timemax_2 = capturestamps_2[positionOfMaxVal_2]; + double delay = timemax_1 - timemax_2; + return delay; //if negative near microphone 1, if positive near micropnone 2 +} + + +//get voltage value which represents audio amplitude from microphone +double getAudioValue(AnalogIn micX) +{ + return 1000*micX.read(); +} + + +bool overThreshold(double micValue_1, double micValue_2) +{ + if ((micValue_1 > threshold_1) || (micValue_2 > threshold_2)) { + return true; + } else return false; +} + +//true if voltage value in microphone is above the current threshold value +bool calibrateThreshold(double micValue, double currentThreshold) +{ + if ( micValue > currentThreshold ) { + return true; + } else return false; +} + + +// main() runs in its own thread in the OS +int main() +{ + for(int i = 0; i < test; i++) { + delaytest[i] = -420 + i*105; + } + t.start(); // start timer + + //while (true) { + led1 = !led1; + wait(0.5); + + + //STATE MACHINE + STATE = IDLE; + //int counter = 0; + while (true) { + switch (STATE) { + case IDLE: //always start here + DebugPrintState( std::cout << "Nucleo state is IDLE: " << std::endl; ); + Debug( wait(0.5); ); + if (!calibratedStatus) STATE = CALIBRATE; + else STATE = TESTNEW; + break; + + case CALIBRATE: + DebugPrintState( std::cout << "Nucleo state is CALIBRATE: " << std::endl; ); + Debug( wait(1); ); + //listen for X seconds to background noise, to set accurate threshold value + // This should be done only once when rebooting Nucleo + int startTime = t.read_us(); + int offsetTime = 3000; //microseconds + int blinkTime = 500; //microseconds + while (t.read_us() < (startTime + offsetTime) ) { + double micValue_1 = getAudioValue(mic1); + if ( calibrateThreshold(micValue_1, threshold_1) ) { + threshold_1 = micValue_1; //threshold value updated + } + double micValue_2 = getAudioValue(mic2); + if ( calibrateThreshold(micValue_2, threshold_2) ) { + threshold_2 = micValue_2; //threshold value updated + } + //make LED blink every 500 ms + if ( t.read_us() > (startTime + blinkTime) ) { + led1 = !led1; + blinkTime = blinkTime + 500; + } + } + threshold_1 = threshold_2 + threshold_adjust; + threshold_2 = threshold_2 + threshold_adjust; + + //Calibrate temp and hum + if(checkTemp){ + bool done = false; + while(!done) { + if(sensor.readData() == 0) { + temp = sensor.ReadTemperature(CELCIUS); + hum = sensor.ReadHumidity(); + DebugPrintState(std::cout << "Temp: " << temp << "Degrees Celcius" <<std::endl; ); + DebugPrintState(std::cout << "Hum: " << temp << "%" <<std::endl; ); + done = true; + } + } + } + + calibratedStatus = true; + STATE = TESTNEW; //next state + break; + + case TESTNEW: + DebugPrintState( std::cout << "Nucleo state is TESTNEW: " << std::endl; ); + int i = 0; + bool quit = false; + while(!quit) { + channel_1[i] = getAudioValue(mic1); + timestamps_1[i] = t.read_us(); + channel_2[i] = getAudioValue(mic2); + timestamps_2[i] = t.read_us(); + if(overThreshold(channel_1[i], channel_2[i]) == true) { + capture_1[0] = channel_1[i]; + capturestamps_1[0] = timestamps_1[i]; + capture_2[0] = channel_2[i]; + capturestamps_2[0] = timestamps_2[i]; + for(int i = 1; i < captureLength; i++) { + capture_1[i] = getAudioValue(mic1); + capturestamps_1[i] = t.read_us(); + capture_2[i] = getAudioValue(mic2); + capturestamps_2[i] = t.read_us(); + } + quit = true; + } + if(i < dataLength) { + i++; + } else { + i = 0; + } + } + STATE = CALC; + break; + + + case CALC: + DebugPrintState( std::cout << "Nucleo state is CALC: " << std::endl; ); + //Debug( wait(0.5); ); + arm_correlate_f32(p1, captureLength, p2, captureLength, p_res); + + int positionOfMaxVal_1 = FindPeak(1); + int positionOfMaxVal_2 = FindPeak(2); + //run functions + double timedelay = FindTimeDelay(positionOfMaxVal_1, positionOfMaxVal_2); //microseceonds + if(abs(timedelay) > micDist/calcSoundSpeed(temp, hum)){ + STATE = CALC_ERROR; + break; + } + double speed = calcSoundSpeed(temp, hum); //meters per second + double distance = calcDist(timedelay/1000000, speed); //input converted to meters + double angle = calcAng((double)distance, micDist); //0,15m = 15cm = 150mm, double type cast because of asin function in angle calculation + //go to state SEND if no calc_error + + Debug( + std::cout << "max position for channel 1: " << positionOfMaxVal_1+1 << std::endl; + std::cout << "max position for channel 2: " << positionOfMaxVal_2+1 << std::endl; + std::cout << "run FindPeak, delay is: " << timedelay << "microseconds" << std::endl; + std::cout << "run calcDist, delta s is: " << distance << " millimeters" << std::endl; + std::cout << "run calcAngle, angle is: " << angle << " radians" << std::endl; + std::cout << "run calcAngle, angle is: " << angle*(180 / PI) << " degrees" << std::endl; + std::cout << "run convertAngToCamNbr, coordinates: "<< convertAngToCamNbr(angle)<<std::endl; //return "panNumber tiltNumber"; + ); + if (angle > (3 * PI )/2 || angle < 0 ) { //vinkel larger than 270 eller minde än noll + STATE = CALC_ERROR; + } else { + STATE = SEND; + } + break; + + case CALC_ERROR: + DebugPrintState( std::cout << "Nucleo state is CALC_ERROR: " << std::endl; ); + Debug( wait(0.5); ); + //error message + std::cout << "Error. angle not within limits 0 -270 degrees" << std::endl; + //nollställ vektorer, , stoppa klockan , osv + STATE = TESTNEW; + break; + + case SEND: + DebugPrintState( std::cout << "Nucleo state is SEND: " << std::endl; ); + Debug( wait(0.5); ); + // send coordinates to serial port to camera + std::cout<<convertAngToCamNbr(angle)<<std::endl; //return "panNumber tiltNumber"; + Debug( wait(0.5); ); + STATE = IDLE; + wait(5); + break; + } + } +} +