Main fish project files
Dependencies: SDHCFileSystem wave_player
Fork of billy by
main.cpp
00001 00002 #include "mbed.h" 00003 00004 //The next two includes are from the SDHC File System 00005 #include "string" 00006 #include "SDHCFileSystem.h" 00007 00008 #define SAMPLE_FREQ 40000 00009 #define BUF_SIZE (SAMPLE_FREQ/10) 00010 #define SLICE_BUF_SIZE 1 00011 00012 // include this #define to enable lots of serial output 00013 //#define VERBOSE 00014 00015 00016 00017 typedef struct uFMT_STRUCT { 00018 short comp_code; 00019 short num_channels; 00020 unsigned sample_rate; 00021 unsigned avg_Bps; 00022 short block_align; 00023 short sig_bps; 00024 } FMT_STRUCT; 00025 00026 00027 typedef struct uMOV_STRUCT { 00028 long sample; 00029 unsigned motor; 00030 unsigned duty_cycle; 00031 unsigned played; 00032 } MOV_STRUCT; 00033 00034 // global MBED things 00035 AnalogOut DACout(p18); 00036 DigitalOut led1(LED1); 00037 DigitalOut led2(LED2); 00038 DigitalOut led3(LED3); 00039 DigitalOut led4(LED4); 00040 DigitalOut digout(p8); 00041 DigitalIn pushbutton(p22); 00042 PwmOut body(p25); 00043 PwmOut mouth(p24); 00044 PwmOut tail(p23); 00045 Ticker tick; 00046 SDFileSystem sd(p5, p6, p7, p13, "sd"); 00047 00048 // global variables used both by the main program and the ISR 00049 short DAC_fifo[256]; // FIFO for the DAC 00050 short DAC_wptr; // FIFO pointer 00051 volatile short DAC_rptr; // FIFO pointer 00052 long slice; 00053 unsigned num_movements; 00054 unsigned current_movement; 00055 MOV_STRUCT movements[500]; 00056 00057 void dac_out(void); 00058 void play_wave(char *,char *,unsigned); 00059 void cleanup(char *); 00060 unsigned process_movement_file (char *mfname, MOV_STRUCT *mv,unsigned samp_rate); 00061 00062 00063 int main() { 00064 FILE *cmdfile; 00065 char cmdline[100]; 00066 char *movfile,*tmp; 00067 char cmdfile_name[]="/sd/fish.txt"; 00068 unsigned slow_mode=0; 00069 if (pushbutton) slow_mode=1; 00070 led1=0; wait(.5); led1=1; wait(.5); led1=0; 00071 printf("\nHello, world!\n"); 00072 if (slow_mode) printf("Slooooow mode enabled...\n"); 00073 printf("Waiting for button push\n"); 00074 while (!pushbutton); 00075 printf("Button pushed\n"); 00076 while (1) { 00077 cmdfile=fopen(cmdfile_name,"rb"); 00078 if (!cmdfile) { 00079 printf("Unable to open command file '%s'\n",cmdfile_name); 00080 exit(1); 00081 } 00082 00083 fgets(cmdline,100,cmdfile); 00084 while (!feof(cmdfile)) { 00085 printf("Parsing '%s' from command file '%s'\n",cmdline,cmdfile_name); 00086 tmp=strchr(cmdline,'#'); 00087 if (tmp) *tmp=0; 00088 movfile=strchr(cmdline,' '); 00089 if (movfile) { 00090 *movfile=0; 00091 movfile++; 00092 tmp=strchr(movfile,'\n'); 00093 cleanup(movfile); 00094 if (tmp) *tmp=0; 00095 00096 #ifdef USE_PUSHBUTTON 00097 printf("Waiting for button push\n"); 00098 while (!pushbutton); 00099 printf("Button pushed\n"); 00100 #else 00101 wait_ms(2000); 00102 #endif 00103 play_wave(cmdline,movfile,slow_mode); 00104 printf("Back from play_wave()\n"); 00105 } else { 00106 printf("Unable to parse '%s' from command file '%s'\n",cmdline,cmdfile_name); 00107 } 00108 fgets(cmdline,100,cmdfile); 00109 } 00110 fclose(cmdfile); 00111 printf("Goodbye, world!\n"); 00112 } 00113 } 00114 00115 void play_wave(char *wavname,char *movname,unsigned slow) 00116 { 00117 unsigned chunk_id,chunk_size,channel; 00118 unsigned data,samp_int,i; 00119 short dac_data; 00120 char *slice_buf; 00121 short *data_sptr; 00122 unsigned char *data_bptr; 00123 int *data_wptr; 00124 FMT_STRUCT wav_format; 00125 FILE *wavfile; 00126 long num_slices; 00127 long long slice_value; 00128 int verbosity=0; 00129 DAC_wptr=0; 00130 DAC_rptr=0; 00131 for (i=0;i<256;i+=2) { 00132 DAC_fifo[i]=0; 00133 DAC_fifo[i+1]=3000; 00134 } 00135 DAC_wptr=4; 00136 00137 body.period_us(100); 00138 mouth.period_us(100); 00139 tail.period_us(100); 00140 led1=led2=led3=led4=0; 00141 00142 printf("Playing wave file '%s', mov file '%s'\n",wavname,movname); 00143 00144 wavfile=fopen(wavname,"rb"); 00145 if (!wavfile) { 00146 printf("Unable to open wav file '%s'\n",wavname); 00147 return; 00148 } 00149 00150 00151 fread(&chunk_id,4,1,wavfile); 00152 fread(&chunk_size,4,1,wavfile); 00153 while (!feof(wavfile)) { 00154 printf("Read chunk ID 0x%x, size 0x%x\n",chunk_id,chunk_size); 00155 switch (chunk_id) { 00156 case 0x46464952: 00157 fread(&data,4,1,wavfile); 00158 printf("RIFF chunk\n"); 00159 printf(" chunk size %d (0x%x)\n",chunk_size,chunk_size); 00160 printf(" RIFF type 0x%x\n",data); 00161 break; 00162 case 0x20746d66: 00163 fread(&wav_format,sizeof(wav_format),1,wavfile); 00164 printf("FORMAT chunk\n"); 00165 printf(" chunk size %d (0x%x)\n",chunk_size,chunk_size); 00166 printf(" compression code %d\n",wav_format.comp_code); 00167 printf(" %d channels\n",wav_format.num_channels); 00168 printf(" %d samples/sec\n",wav_format.sample_rate); 00169 printf(" %d bytes/sec\n",wav_format.avg_Bps); 00170 printf(" block align %d\n",wav_format.block_align); 00171 printf(" %d bits per sample\n",wav_format.sig_bps); 00172 if (chunk_size > sizeof(wav_format)) 00173 fseek(wavfile,chunk_size-sizeof(wav_format),SEEK_CUR); 00174 // create a slice buffer large enough to hold multiple slices 00175 slice_buf=(char *)malloc(wav_format.block_align*SLICE_BUF_SIZE); 00176 if (!slice_buf) { 00177 printf("Unable to malloc slice buffer"); 00178 exit(1); 00179 } 00180 // now that the sample rate is known, process the movement file 00181 num_movements=process_movement_file(movname,movements,wav_format.sample_rate); 00182 break; 00183 00184 case 0x61746164: 00185 slice_buf=(char *)malloc(wav_format.block_align*SLICE_BUF_SIZE); 00186 if (!slice_buf) { 00187 printf("Unable to malloc slice buffer"); 00188 exit(1); 00189 } num_slices=chunk_size/wav_format.block_align; 00190 printf("DATA chunk\n"); 00191 printf(" chunk size %d (0x%x)\n",chunk_size,chunk_size); 00192 printf(" %d slices\n",num_slices); 00193 printf(" Ideal sample interval=%d\n",(unsigned)(1000000.0/wav_format.sample_rate)); 00194 samp_int=1000000/(wav_format.sample_rate); 00195 if (slow) samp_int*=1.5; 00196 printf(" programmed interrupt tick interval=%d\n",samp_int); 00197 00198 // starting up ticker to write samples out -- no printfs until tick.detach is called 00199 current_movement=0; 00200 tick.attach_us(&dac_out, samp_int); 00201 led2=1; 00202 for (slice=0;slice<num_slices;slice+=SLICE_BUF_SIZE) { 00203 fread(slice_buf,wav_format.block_align*SLICE_BUF_SIZE,1,wavfile); 00204 if (feof(wavfile)) { 00205 printf("Oops -- not enough slices in the wave file\n"); 00206 exit(1); 00207 } 00208 data_sptr=(short *)slice_buf; 00209 data_bptr=(unsigned char *)slice_buf; 00210 data_wptr=(int *)slice_buf; 00211 slice_value=0; 00212 for (i=0;i<SLICE_BUF_SIZE;i++) { 00213 for (channel=0;channel<wav_format.num_channels;channel++) { 00214 switch (wav_format.sig_bps) { 00215 case 16: 00216 if (verbosity) 00217 printf("16 bit channel %d data=%d ",channel,data_sptr[channel]); 00218 slice_value+=data_sptr[channel]; 00219 break; 00220 case 32: 00221 if (verbosity) 00222 printf("32 bit channel %d data=%d ",channel,data_wptr[channel]); 00223 slice_value+=data_wptr[channel]; 00224 break; 00225 case 8: 00226 if (verbosity) 00227 printf("8 bit channel %d data=%d ",channel,(int)data_bptr[channel]); 00228 slice_value+=data_bptr[channel]; 00229 break; 00230 } 00231 } 00232 slice_value/=wav_format.num_channels; 00233 00234 // slice_value is now averaged. Next it needs to be scaled to an unsigned 16 bit value 00235 // with DC offset so it can be written to the DAC. 00236 switch (wav_format.sig_bps) { 00237 case 8: slice_value<<=8; 00238 break; 00239 case 16: slice_value+=32768; 00240 break; 00241 case 32: slice_value>>=16; 00242 slice_value+=32768; 00243 break; 00244 } 00245 dac_data=(short unsigned )slice_value; 00246 if (verbosity) 00247 printf("sample %d wptr %d slice_value %d dac_data %u\n",slice,DAC_wptr,(int)slice_value,dac_data); 00248 00249 // finally stick it in the DAC FIFO. If the write pointer wraps around and meets the read pointer 00250 // the wait until the read pointer moves. 00251 DAC_fifo[DAC_wptr]=dac_data; 00252 DAC_wptr=(DAC_wptr+1) & 0xff; 00253 while (DAC_wptr==DAC_rptr) { 00254 } 00255 } 00256 } 00257 led2=0; 00258 // wait for ISR to drain FIFO 00259 wait_us(300); 00260 tick.detach(); 00261 printf("Ticker detached\n"); 00262 led3=1; 00263 free(slice_buf); 00264 break; 00265 case 0x5453494c: 00266 printf("INFO chunk, size %d\n",chunk_size); 00267 fseek(wavfile,chunk_size,SEEK_CUR); 00268 break; 00269 default: 00270 printf("unknown chunk type 0x%x, size %d\n",chunk_id,chunk_size); 00271 data=fseek(wavfile,chunk_size,SEEK_CUR); 00272 break; 00273 } 00274 fread(&chunk_id,4,1,wavfile); 00275 fread(&chunk_size,4,1,wavfile); 00276 } 00277 printf("Done with wave file\n"); 00278 fclose(wavfile); 00279 led1=0; 00280 body.pulsewidth_us(0); 00281 mouth.pulsewidth_us(0); 00282 tail.pulsewidth_us(0); 00283 } 00284 00285 00286 void dac_out() { 00287 // This line declared but not used int value; 00288 digout=1; 00289 if (!movements[current_movement].played) { 00290 if (movements[current_movement].sample<=slice) { 00291 if (movements[current_movement].motor==0) body.pulsewidth_us(movements[current_movement].duty_cycle); 00292 if (movements[current_movement].motor==1) mouth.pulsewidth_us(movements[current_movement].duty_cycle); 00293 if (movements[current_movement].motor==2) tail.pulsewidth_us(movements[current_movement].duty_cycle); 00294 movements[current_movement].played=1; 00295 current_movement++; 00296 } 00297 } 00298 DACout.write_u16(DAC_fifo[DAC_rptr]); 00299 DAC_rptr=(DAC_rptr+1) & 0xff; 00300 digout=0; 00301 } 00302 00303 00304 void cleanup(char *s) 00305 { 00306 char *t; 00307 t=strchr(s,'\n'); 00308 if (t) *t=0; 00309 t=strchr(s,'\r'); 00310 if (t) *t=0; 00311 } 00312 00313 unsigned process_movement_file (char *mfname, MOV_STRUCT *mv,unsigned samp_rate) 00314 { 00315 FILE *movfile; 00316 char line[100],*tmp; 00317 unsigned num_movements,i,j,x; 00318 movfile=fopen(mfname,"rb"); 00319 if (!movfile) { 00320 printf("Unable to open mov file '%s'\n",mfname); 00321 return 0; 00322 } 00323 00324 fgets(line,100,movfile); 00325 num_movements=0; 00326 #ifdef VERBOSE 00327 printf("Motor report...\n"); 00328 #endif 00329 while (!feof(movfile)) { 00330 if (line[0]!='#') { 00331 tmp=line; 00332 // first thing on line is time in ms 00333 movements[num_movements].sample=(atol(tmp)*samp_rate)/1000; 00334 // skip digits (non whitespace) 00335 tmp=line; 00336 while (*tmp!=' ' && *tmp!='\t' && *tmp!=0) 00337 tmp++; 00338 // skip whitespace 00339 while ((*tmp==' ' | *tmp=='\t') && *tmp!=0) 00340 tmp++; 00341 if (strstr(tmp,"body")) 00342 movements[num_movements].motor=0; 00343 if (strstr(tmp,"mouth")) 00344 movements[num_movements].motor=1; 00345 if (strstr(tmp,"tail")) 00346 movements[num_movements].motor=2; 00347 // skip letters (non whitespace) 00348 while (*tmp!=' ' && *tmp!='\t') 00349 tmp++; 00350 // skip whitespace 00351 while (*tmp==' ' | *tmp=='\t') 00352 tmp++; 00353 if (tmp) 00354 movements[num_movements].duty_cycle=atoi(tmp); 00355 movements[num_movements].played=0; 00356 #ifdef VERBOSE 00357 printf(" moving motor %d at sample %ld with duty cycle %d\n",movements[num_movements].motor,movements[num_movements].sample,movements[num_movements].duty_cycle); 00358 #endif 00359 num_movements++; 00360 } 00361 fgets(line,100,movfile); 00362 } 00363 printf(" %d movements read\n",num_movements); 00364 printf(" sorting movements..."); 00365 for (i=0;i<num_movements;i++) { 00366 for (j=i;j<num_movements;j++) { 00367 if (movements[j].sample < movements[i].sample) { 00368 x=movements[i].sample; movements[i].sample=movements[j].sample; movements[j].sample=x; 00369 x=movements[i].motor ; movements[i].motor =movements[j].motor ; movements[j].motor =x; 00370 x=movements[i].duty_cycle;movements[i].duty_cycle=movements[j].duty_cycle;movements[j].duty_cycle=x; 00371 } 00372 } 00373 } 00374 printf("done\n"); 00375 return num_movements; 00376 }
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