Amador Valley High School Robotics Team / Mbed 2 deprecated Surfboard_

DSP program for the Surfboard hardware (PCB to be open sourced) http://www.avbotz.com/ourauv/electrical/signal-processing/

Dependencies:   MODDMA SimpleIOMacros mbed-dsp mbed

surfboard.cpp@0:2381a319fc35, 2013-08-02 (annotated)

Committer:
avbotz
Date:
Fri Aug 02 02:23:36 2013 +0000
Revision:
0:2381a319fc35
Initial commit. Not working. MODDMA makes DMA setup slow, and the mbed SPI peripheral corrupts data sometimes. I will write my own SPI and DMA classes and see how it goes.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
avbotz 0:2381a319fc35 1 // I think we should move this to the offline compiler so we can get loop unrolling. -- Kevin
avbotz 0:2381a319fc35 2 // TODO: code size is small (4% of available space) so we should totally do loop unrolling
avbotz 0:2381a319fc35 3
avbotz 0:2381a319fc35 4 #include "surfboard.h"
avbotz 0:2381a319fc35 5
avbotz 0:2381a319fc35 6 // Might have to use IO Macros library for fast digital I/O http://mbed.org/users/AjK/code/SimpleIOMacros/
avbotz 0:2381a319fc35 7 // less abstracted InterruptIn http://mbed.org/forum/mbed/topic/2326/
avbotz 0:2381a319fc35 8 //InterruptIn drdy(p8); // active low
avbotz 0:2381a319fc35 9 // interruptin too slow http://mbed.org/forum/mbed/topic/2326/
avbotz 0:2381a319fc35 10 DigitalOut sync(p14); // active low
avbotz 0:2381a319fc35 11
avbotz 0:2381a319fc35 12 //Serial submarine(/*tx*/ p28, /*rx*/ p27);
avbotz 0:2381a319fc35 13 Serial submarine(USBTX, USBRX);
avbotz 0:2381a319fc35 14 // From sub to hydrophone board:
avbotz 0:2381a319fc35 15 // r = start running
avbotz 0:2381a319fc35 16 // s = stop running
avbotz 0:2381a319fc35 17 // From hydrophone board to sub:
avbotz 0:2381a319fc35 18 // h = hello world
avbotz 0:2381a319fc35 19 // b = turned off because battery low
avbotz 0:2381a319fc35 20
avbotz 0:2381a319fc35 21 DigitalOut avdd_ctl(p15);
avbotz 0:2381a319fc35 22
avbotz 0:2381a319fc35 23 AnalogIn abat_sense(p16);
avbotz 0:2381a319fc35 24 // We don't want the battery to go below 6 V.
avbotz 0:2381a319fc35 25 // TODO: read the battery after each IIR batch?
avbotz 0:2381a319fc35 26 // Calculate what the minimum battery voltage should be after it goes through
avbotz 0:2381a319fc35 27 // the voltage divider and mbed AnalogIn ADC.
avbotz 0:2381a319fc35 28 #define ABAT_RATIO ((2.21f / 6.95f) / 3.3f)
avbotz 0:2381a319fc35 29 #define ABAT_THRESH_LO (ABAT_RATIO * 6.0f)
avbotz 0:2381a319fc35 30 #define ABAT_THRESH_HI (ABAT_RATIO * 6.5f)
avbotz 0:2381a319fc35 31 Ticker abat_tick;
avbotz 0:2381a319fc35 32
avbotz 0:2381a319fc35 33 // On Surfboard v1.0, setting these does not actually control the power because
avbotz 0:2381a319fc35 34 // of the modifications on the board.
avbotz 0:2381a319fc35 35 DigitalOut clkvdd(p9), iovdd(p10);
avbotz 0:2381a319fc35 36
avbotz 0:2381a319fc35 37 volatile bool fresh_data = false;
avbotz 0:2381a319fc35 38
avbotz 0:2381a319fc35 39 // lights for debugging
avbotz 0:2381a319fc35 40 // Replacing with SimpleIOMacros.h because each toggle takes ~300 ns (!!)
avbotz 0:2381a319fc35 41 DigitalOut led1(LED1), // blinking: wait for run command. solid: ready
avbotz 0:2381a319fc35 42 led2(LED2), // in function get_data()
avbotz 0:2381a319fc35 43 led3(LED3), // toggles when IIR filter is run
avbotz 0:2381a319fc35 44 led4(LED4); // toggles on fresh data
avbotz 0:2381a319fc35 45 // Counts how many times we toggled the LED
avbotz 0:2381a319fc35 46 uint32_t led1num, led2num, led3num, led4num;
avbotz 0:2381a319fc35 47 Ticker* led1ticks[2];
avbotz 0:2381a319fc35 48
avbotz 0:2381a319fc35 49 int i_timestamps[NUM_CHANNELS];
avbotz 0:2381a319fc35 50
avbotz 0:2381a319fc35 51 // For saving received data to disk
avbotz 0:2381a319fc35 52 LocalFileSystem local("local");
avbotz 0:2381a319fc35 53 bool log_data_enabled = true;
avbotz 0:2381a319fc35 54
avbotz 0:2381a319fc35 55 // Call this function to reset the mbed
avbotz 0:2381a319fc35 56 extern "C" void mbed_reset();
avbotz 0:2381a319fc35 57
avbotz 0:2381a319fc35 58 int main()
avbotz 0:2381a319fc35 59 {
avbotz 0:2381a319fc35 60 pre_setup(); // For safety, this must be the first thing that runs
avbotz 0:2381a319fc35 61
avbotz 0:2381a319fc35 62 /*for (int i = 0; i < sizeof(parsed)/sizeof(uint16_t); i++)
avbotz 0:2381a319fc35 63 {
avbotz 0:2381a319fc35 64 *(((int16_t*)parsed) + i) = 12345;
avbotz 0:2381a319fc35 65 }*/
avbotz 0:2381a319fc35 66
avbotz 0:2381a319fc35 67 wait(5);
avbotz 0:2381a319fc35 68
avbotz 0:2381a319fc35 69 led1ticks[0] = new Ticker();
avbotz 0:2381a319fc35 70 led1ticks[1] = new Ticker();
avbotz 0:2381a319fc35 71
avbotz 0:2381a319fc35 72 led1 = 1;
avbotz 0:2381a319fc35 73 led1ticks[0]->attach(&led1_cb, 1.0);
avbotz 0:2381a319fc35 74 wait_ms(60);
avbotz 0:2381a319fc35 75 led1ticks[1]->attach(&led1_cb, 1.0);
avbotz 0:2381a319fc35 76 led1 = 0;
avbotz 0:2381a319fc35 77
avbotz 0:2381a319fc35 78 submarine.baud(115200);
avbotz 0:2381a319fc35 79 submarine.putc('h');
avbotz 0:2381a319fc35 80 submarine.printf("%d ", sizeof(q15_t));
avbotz 0:2381a319fc35 81
avbotz 0:2381a319fc35 82 // Wait until we are told to turn on
avbotz 0:2381a319fc35 83 //while (submarine.getc() != 'r');
avbotz 0:2381a319fc35 84
avbotz 0:2381a319fc35 85 submarine.attach(&submarine_cb);
avbotz 0:2381a319fc35 86 led1ticks[0]->detach();
avbotz 0:2381a319fc35 87 led1ticks[1]->detach();
avbotz 0:2381a319fc35 88
avbotz 0:2381a319fc35 89 setup();
avbotz 0:2381a319fc35 90
avbotz 0:2381a319fc35 91 while (true)
avbotz 0:2381a319fc35 92 {
avbotz 0:2381a319fc35 93 if (fresh_data)
avbotz 0:2381a319fc35 94 {
avbotz 0:2381a319fc35 95 fresh_data = false;
avbotz 0:2381a319fc35 96
avbotz 0:2381a319fc35 97 LED4_TOGGLE;
avbotz 0:2381a319fc35 98
avbotz 0:2381a319fc35 99 if (log_data_enabled /*&& read_blocks > 3*/)
avbotz 0:2381a319fc35 100 {
avbotz 0:2381a319fc35 101 // Disable DRDY interrupt to prevent the buffer from changing
avbotz 0:2381a319fc35 102 // while we save it. Writing to disk takes a long time.
avbotz 0:2381a319fc35 103 // drdy.rise(NULL);
avbotz 0:2381a319fc35 104 // Only log data once
avbotz 0:2381a319fc35 105 log_data_enabled = false;
avbotz 0:2381a319fc35 106
avbotz 0:2381a319fc35 107 FILE *fp = fopen("/local/out.csv", "w");
avbotz 0:2381a319fc35 108
avbotz 0:2381a319fc35 109 fprintf(fp, "Index,Ch1,Ch2,Ch3,Ch4\n");
avbotz 0:2381a319fc35 110 for (int i = 0; i < BLOCK_SIZE; i++)
avbotz 0:2381a319fc35 111 {
avbotz 0:2381a319fc35 112 fprintf(fp, "%d", i);
avbotz 0:2381a319fc35 113 for (int j = 0; j < NUM_CHANNELS; j++)
avbotz 0:2381a319fc35 114 {
avbotz 0:2381a319fc35 115 fprintf(fp, ",%02X%02X%02X", parsed[write_block^1][j][i][0], parsed[write_block^1][j][i][1], parsed[write_block^1][j][i][2]);
avbotz 0:2381a319fc35 116 //int16_t n = parsed[write_block^1][j][i];
avbotz 0:2381a319fc35 117 //fprintf(fp, ",%X", n);
avbotz 0:2381a319fc35 118 }
avbotz 0:2381a319fc35 119 fprintf(fp, "\n");
avbotz 0:2381a319fc35 120 }
avbotz 0:2381a319fc35 121
avbotz 0:2381a319fc35 122 fclose(fp);
avbotz 0:2381a319fc35 123
avbotz 0:2381a319fc35 124 // drdy.rise(&get_data);
avbotz 0:2381a319fc35 125 }
avbotz 0:2381a319fc35 126
avbotz 0:2381a319fc35 127 /*for (char i = 0; i < NUM_CHANNELS; i++)
avbotz 0:2381a319fc35 128 {
avbotz 0:2381a319fc35 129 arm_iir_lattice_q15(iir_filter+i, parsed[write_block^1][i], filtered, BLOCK_SIZE);
avbotz 0:2381a319fc35 130 i_timestamps[i] = find_timestamp_tdoa(filtered);
avbotz 0:2381a319fc35 131 }*/
avbotz 0:2381a319fc35 132 // hyperbolic positioning
avbotz 0:2381a319fc35 133 // send it to the sub
avbotz 0:2381a319fc35 134 }
avbotz 0:2381a319fc35 135 }
avbotz 0:2381a319fc35 136 }
avbotz 0:2381a319fc35 137
avbotz 0:2381a319fc35 138 void pre_setup()
avbotz 0:2381a319fc35 139 {
avbotz 0:2381a319fc35 140
avbotz 0:2381a319fc35 141 }
avbotz 0:2381a319fc35 142
avbotz 0:2381a319fc35 143 int setup()
avbotz 0:2381a319fc35 144 {
avbotz 0:2381a319fc35 145 int retValue = 0;
avbotz 0:2381a319fc35 146 retValue += setup_ads1274();
avbotz 0:2381a319fc35 147 retValue += setup_dma();
avbotz 0:2381a319fc35 148
avbotz 0:2381a319fc35 149 led1 = 1; // Debug
avbotz 0:2381a319fc35 150
avbotz 0:2381a319fc35 151 // Should be at the end of setup function, in case ADS1274 tries to send data
avbotz 0:2381a319fc35 152 //drdy.rise(&get_data);
avbotz 0:2381a319fc35 153 event_irq_init();
avbotz 0:2381a319fc35 154
avbotz 0:2381a319fc35 155 return retValue;
avbotz 0:2381a319fc35 156 }
avbotz 0:2381a319fc35 157
avbotz 0:2381a319fc35 158 // Return values
avbotz 0:2381a319fc35 159 // 0: setup finished normally
avbotz 0:2381a319fc35 160 // 1: setup aborted because battery voltage was too low
avbotz 0:2381a319fc35 161 int setup_ads1274()
avbotz 0:2381a319fc35 162 {
avbotz 0:2381a319fc35 163 // Don't start up if the battery is too low
avbotz 0:2381a319fc35 164 abat_cb();
avbotz 0:2381a319fc35 165 abat_tick.attach(&abat_cb, 1);
avbotz 0:2381a319fc35 166
avbotz 0:2381a319fc35 167 // Sequence the power-on of the ADC
avbotz 0:2381a319fc35 168 iovdd = 1;
avbotz 0:2381a319fc35 169 __nop();
avbotz 0:2381a319fc35 170 avdd_ctl = 1;
avbotz 0:2381a319fc35 171 // Give it some time, just in case.
avbotz 0:2381a319fc35 172 wait_ms(5);
avbotz 0:2381a319fc35 173 // Now we can start driving pins without destroying the ADS1274
avbotz 0:2381a319fc35 174 // Turn on sampling clock (CLK)
avbotz 0:2381a319fc35 175 clkvdd = 1;
avbotz 0:2381a319fc35 176
avbotz 0:2381a319fc35 177 // ADS1274 needs 2^18 clk cycles + 129 conversions before data are valid
avbotz 0:2381a319fc35 178 // minimum wait time = 2^18 / f_clk + 129 / f_data = 2^18/27MHz + 129/0.1MHz = 11 ms
avbotz 0:2381a319fc35 179 wait_ms(11 + 1);
avbotz 0:2381a319fc35 180
avbotz 0:2381a319fc35 181 // Datasheet suggested resetting the ads1274 after start up to synchronize outputs
avbotz 0:2381a319fc35 182 // Need to put it low for at least 1 CLK period
avbotz 0:2381a319fc35 183 // On mbed, this is 96 MHz/27MHz = 3.556 instruction cycles
avbotz 0:2381a319fc35 184 sync = 1;
avbotz 0:2381a319fc35 185 // Drive *sync to logic low for about 4 instruction cycles
avbotz 0:2381a319fc35 186 sync = 0;
avbotz 0:2381a319fc35 187 __nop(); __nop(); __nop(); __nop(); // wait 4 cycles
avbotz 0:2381a319fc35 188 sync = 1;
avbotz 0:2381a319fc35 189 // Wait 1/f_data = 1/0.1MHz = 10 us for new data to be valid
avbotz 0:2381a319fc35 190 wait_us(10 + 1);
avbotz 0:2381a319fc35 191
avbotz 0:2381a319fc35 192 return 0; // success
avbotz 0:2381a319fc35 193 }
avbotz 0:2381a319fc35 194
avbotz 0:2381a319fc35 195 void teardown()
avbotz 0:2381a319fc35 196 {
avbotz 0:2381a319fc35 197 // Disable interrupts. Not sure if this is necessary, but I don't want samples to be read while we shut down
avbotz 0:2381a319fc35 198 __disable_irq();
avbotz 0:2381a319fc35 199
avbotz 0:2381a319fc35 200 teardown_ads1274();
avbotz 0:2381a319fc35 201 teardown_dma();
avbotz 0:2381a319fc35 202 }
avbotz 0:2381a319fc35 203
avbotz 0:2381a319fc35 204 void teardown_ads1274()
avbotz 0:2381a319fc35 205 {
avbotz 0:2381a319fc35 206 // Turn off peripherals, then turn off ADS1274
avbotz 0:2381a319fc35 207 // Turn off CLK
avbotz 0:2381a319fc35 208 clkvdd = 0;
avbotz 0:2381a319fc35 209 __nop(); __nop();
avbotz 0:2381a319fc35 210 // Turn off op amps and analog power to ADS1274
avbotz 0:2381a319fc35 211 avdd_ctl = 0;
avbotz 0:2381a319fc35 212 // Turn off IO power
avbotz 0:2381a319fc35 213 iovdd = 0;
avbotz 0:2381a319fc35 214 }
avbotz 0:2381a319fc35 215
avbotz 0:2381a319fc35 216 // Called when the submarine sends a message to us
avbotz 0:2381a319fc35 217 void submarine_cb()
avbotz 0:2381a319fc35 218 {
avbotz 0:2381a319fc35 219 // Loop as long as there are more characters to be read
avbotz 0:2381a319fc35 220 while (submarine.readable())
avbotz 0:2381a319fc35 221 {
avbotz 0:2381a319fc35 222 // If we are told to stop
avbotz 0:2381a319fc35 223 if (submarine.getc() == 's')
avbotz 0:2381a319fc35 224 {
avbotz 0:2381a319fc35 225 // Shut everything down
avbotz 0:2381a319fc35 226 teardown();
avbotz 0:2381a319fc35 227 // Reset the mbed
avbotz 0:2381a319fc35 228 mbed_reset();
avbotz 0:2381a319fc35 229 }
avbotz 0:2381a319fc35 230 }
avbotz 0:2381a319fc35 231 }
avbotz 0:2381a319fc35 232
avbotz 0:2381a319fc35 233 // Called every few seconds to check the battery status
avbotz 0:2381a319fc35 234 void abat_cb()
avbotz 0:2381a319fc35 235 {
avbotz 0:2381a319fc35 236 if (abat_sense < ABAT_THRESH_LO)
avbotz 0:2381a319fc35 237 {
avbotz 0:2381a319fc35 238 // Uh oh, stop the hydrophone board
avbotz 0:2381a319fc35 239 teardown();
avbotz 0:2381a319fc35 240
avbotz 0:2381a319fc35 241 submarine.putc('b');
avbotz 0:2381a319fc35 242 led1 = led2 = led3 = led4 = 0;
avbotz 0:2381a319fc35 243
avbotz 0:2381a319fc35 244 // Wait until someone changes the battery
avbotz 0:2381a319fc35 245 int num_hi = 0, loop_count = 0;;
avbotz 0:2381a319fc35 246 while (num_hi < 100)
avbotz 0:2381a319fc35 247 {
avbotz 0:2381a319fc35 248 if (abat_sense > ABAT_THRESH_HI)
avbotz 0:2381a319fc35 249 {
avbotz 0:2381a319fc35 250 num_hi++;
avbotz 0:2381a319fc35 251 }
avbotz 0:2381a319fc35 252 else if (num_hi > 0)
avbotz 0:2381a319fc35 253 {
avbotz 0:2381a319fc35 254 num_hi--;
avbotz 0:2381a319fc35 255 }
avbotz 0:2381a319fc35 256
avbotz 0:2381a319fc35 257 if (loop_count == 32000)
avbotz 0:2381a319fc35 258 {
avbotz 0:2381a319fc35 259 led1 = led2 = led3 = led4 = !led1;
avbotz 0:2381a319fc35 260 loop_count = 0;
avbotz 0:2381a319fc35 261 }
avbotz 0:2381a319fc35 262 else
avbotz 0:2381a319fc35 263 {
avbotz 0:2381a319fc35 264 loop_count++;
avbotz 0:2381a319fc35 265 }
avbotz 0:2381a319fc35 266 }
avbotz 0:2381a319fc35 267
avbotz 0:2381a319fc35 268 // On battery replacement, wait for the user to plug the battery in all the way
avbotz 0:2381a319fc35 269 wait_ms(3000);
avbotz 0:2381a319fc35 270
avbotz 0:2381a319fc35 271 mbed_reset();
avbotz 0:2381a319fc35 272 }
avbotz 0:2381a319fc35 273 }
avbotz 0:2381a319fc35 274
avbotz 0:2381a319fc35 275 void led1_cb()
avbotz 0:2381a319fc35 276 {
avbotz 0:2381a319fc35 277 led1 = !led1;
avbotz 0:2381a319fc35 278 }