Elektronikprojekt Grupp 13
extra test
Dependencies: DHT
Diff: newdemo.cpp
- Revision:
- 0:ef9b24f4c2d9
- Child:
- 1:61ad430f1e5d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/newdemo.cpp Wed May 10 13:19:59 2017 +0000
@@ -0,0 +1,382 @@
+#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>
+
+//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
+int dataLength = 1000;
+double temp = 25;
+double hum = 10;
+double micDist = 150; //millimeters
+float threshold_1 = 0; //value when going to active mode channel 1 //old hardcoded value = 330
+float threshold_2 = 0; //value when going to active mode channel 2 //old hardcoded value = 200
+float threshold_adjust = -75; //used to adjust threshold to slightly below max value
+bool calibratedStatus = false; //flag to make sure Nuclueo only calibrated once for background noise
+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 LISTEN = 2;
+const int ACTIVELISTEN = 3;
+const int CALC = 4;
+const int CALC_ERROR = 5;
+const int SEND = 6;
+//const int WAIT = 9;
+
+//dataLength behövs kanske inte, vector klassen kan växa med behov
+std::vector<float> channel_1(dataLength);
+std::vector<float> channel_2(dataLength);
+std::vector<int> timestamps_1(dataLength);
+std::vector<int> timestamps_2(dataLength);
+
+AnalogIn mic1(A0);
+AnalogIn mic2(A1);
+AnalogIn mic3(A2);
+
+//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){
+ double ang = asin(s/D);
+ if (ang < 0){ // if angle negative, add 180 degrees
+ return ang + PI ;
+ } else
+ return ang;
+}
+
+//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); //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){
+
+ std::vector<float> channel_curr(dataLength); //temporary vector with channel voltage values
+
+ //if channel 1 then set current channel to channel 1
+ if (channel == 1){
+ channel_curr = channel_1;
+ }
+ else channel_curr = channel_2;
+
+ //reset max value & sum value
+ float valueMax = 0;
+
+ //reset array position
+ int positionOfMaxVal = 0;
+
+ //find largest value & mark that position in vectors
+ for (int position = 0; position < channel_curr.size(); position++) {
+ float 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 = timestamps_1[positionOfMaxVal_1];
+ double timemax_2 = timestamps_2[positionOfMaxVal_2];
+ double delay = timemax_1 - timemax_2;
+ return delay/1000; //if negative near microphone 1, if positive near micropnone 2
+}
+
+
+//get voltage value which represents audio amplitude from microphone
+float getAudioValue(AnalogIn micX) {
+ return 1000*micX.read();
+}
+
+
+bool overThreshold(float micValue_1, float 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(float micValue, float currentThreshold){
+ if ( micValue > currentThreshold ){
+ return true;
+ } else return false;
+}
+
+
+// main() runs in its own thread in the OS
+int main() {
+ 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: " << STATE << std::endl; );
+ Debug( wait(0.5); );
+ if (!calibratedStatus) STATE = CALIBRATE;
+ else STATE = LISTEN;
+ break;
+
+
+ case CALIBRATE:
+ DebugPrintState( std::cout << "Nucleo state is CALIBRATE: " << STATE << 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
+ float startTime = t.read_us();
+ float offsetTime = 3000; // milliseconds
+ float blinkTime = 500;
+ while (t.read_us() < (startTime + offsetTime) ) {
+ float micValue_1 = getAudioValue(mic1);
+ if ( calibrateThreshold(micValue_1, threshold_1) ){
+ threshold_1 = micValue_1 - threshold_adjust; //threshold value updated
+ }
+ float micValue_2 = getAudioValue(mic2);
+ if ( calibrateThreshold(micValue_2, threshold_2) ){
+ threshold_2 = micValue_2 - threshold_adjust; //threshold value updated
+ }
+ //make LED blink every 500 ms
+ if ( t.read_us() > (startTime + blinkTime) ){
+ led1 = !led1;
+ blinkTime = blinkTime + 500;
+ }
+ }
+
+ calibratedStatus = true;
+ STATE = LISTEN; //next state
+ break;
+
+
+ case LISTEN:
+ DebugPrintState( std::cout << "Nucleo state is LISTEN: " << STATE << std::endl; );
+ //Debug( wait(0.5); );
+ float micValue_1 = getAudioValue(mic1);
+ float micValue_2 = getAudioValue(mic2);
+ if(overThreshold(micValue_1, micValue_2) == true){ //if sound above threshold go to activelisten state
+ //std::cout << "over Threshold!" << std::endl;
+ STATE = ACTIVELISTEN;
+ }else {
+ //std::cout << "under Threshold!" << std::endl;
+ STATE = LISTEN;
+ }
+ break;
+
+
+ case ACTIVELISTEN:
+ DebugPrintState( std::cout << "Nucleo state is ACTIVELISTEN: " << STATE << std::endl; );
+ //Debug( wait(0.5); );
+ //put value into array, start timer
+ for(int i= 0; i < dataLength; i++){
+ if (t.read_us() >= INT_MAX){
+ std::cout << "time out" << std::endl;
+ }
+ //get audio & timestamp values from microphones
+ channel_1[i] = getAudioValue(mic1);
+ timestamps_1[i] = t.read_us();
+ channel_2[i] = getAudioValue(mic2);
+ timestamps_2[i] = t.read_us();
+ }
+ //go to state CALC
+ STATE = CALC;
+ break;
+
+ case CALC:
+ DebugPrintState( std::cout << "Nucleo state is CALC: " << STATE << std::endl; );
+ //Debug( wait(0.5); );
+
+ int positionOfMaxVal_1 = FindPeak(1);
+ int positionOfMaxVal_2 = FindPeak(2);
+ //run functions
+ double timedelay = FindTimeDelay(positionOfMaxVal_1, positionOfMaxVal_2); //milliseconds
+ double speed = calcSoundSpeed(temp, hum); //meters per second
+ double distance = calcDist(timedelay/1000, speed); //millimeters
+ double angle = calcAng((double)distance, micDist); //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 << "milliseconds" << 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 convertAngToCamNbr, coordinates: "<< convertAngToCamNbr(angle)<<std::endl; //return "panNumber tiltNumber";
+ );
+ Debug( wait(5); );
+
+ 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: " << STATE << 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 = LISTEN;
+ break;
+
+ case SEND:
+ DebugPrintState( std::cout << "Nucleo state is SEND: " << STATE << 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;
+ break;
+ }
+ }
+}
+
+
+ //GAMMAL TEST KOD NEDANFÖR
+
+/*
+
+ //read audio values and time stamps in ms
+ //make sure that timestamp does not exceed INT_MAX to be able to use int
+ for(int i= 0; i < dataLength; i++){
+ if (t.read_ms() >= INT_MAX){
+ std::cout << "time out" << std::endl;
+ }
+ channel_1[i] = getAudioValue(mic1);
+ timestamps_1[i] = t.read_ms();
+ channel_2[i] = getAudioValue(mic2);
+ timestamps_2[i] = t.read_ms();
+ }
+
+*/
+ //skriv ut alla element i kanal 0
+ /* std::cout << "channel_1: ";
+ for(int i=0; i<channel_1.size(); ++i){
+ std::cout << channel_1[i] << ' ';
+ }
+ std::cout << std::endl; */
+
+ /*
+ //skriv ut alla time element i kanal 0
+ std::cout << "timestamps_1: ";
+ for(int i=0; i<timestamps_1.size(); ++i){
+ std::cout << timestamps_1[i] << ' ';
+ }
+ std::cout << std::endl;
+ */
+
+ /*
+ //skriv ut alla element i kanal 1
+ std::cout << "channel_2: ";
+ for(int i=0; i<channel_2.size(); ++i){
+ std::cout << channel_2[i] << ' ';
+ }
+ std::cout << std::endl;
+ */
+ /*
+ //skriv ut alla time element i kanal 1
+ std::cout << "timestamps_2: ";
+ for(int i=0; i<timestamps_2.size(); ++i){
+ std::cout << timestamps_2[i] << ' ';
+ }
+ std::cout << std::endl;
+ */
+ /*
+ int positionOfMaxVal_1 = FindPeak(0);
+ int positionOfMaxVal_2 = FindPeak(1);
+
+
+ double timedelay = FindTimeDelay(positionOfMaxVal_1, positionOfMaxVal_2); //milliseconds
+ double speed = calcSoundSpeed(temp, hum); //meters per second
+ double distance = calcDist(timedelay/1000, speed); //millimeters
+ double angle = calcAng((double)distance, micDist); //15cm = 150mm, double type cast because of asin function in angle calculation
+
+ std::cout << "max position for channel 0: " << positionOfMaxVal_1+1 << std::endl;
+ std::cout << "max position for channel 1: " << positionOfMaxVal_2+1 << std::endl;
+ std::cout << "run FindPeak, delay is: " << timedelay << "milliseconds" << std::endl;
+ std::cout << "run calcDist, delta s is: " << distance << "millimeters" << std::endl;
+ std::cout << "run calcAngle, angle is: " << angle << "degrees" << std::endl;
+ std::cout<<"run convertAngToCamNbr, coordinates"<<convertAngToCamNbr(angle)<<std::endl; //return "panNumber tiltNumber";
+
+ t.stop(); //Stop timer
+*/