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dsp_test.cpp
- Committer:
- elt14lpo
- Date:
- 2017-05-11
- Revision:
- 0:c81dc1cb885e
- Child:
- 1:d0884279b41d
File content as of revision 0:c81dc1cb885e:
#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; } } }