Gunar Kroeger / Mbed OS AcusticLocator

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main.cpp@0:61544337ff5e, 2018-05-03 (annotated)

Committer:
gunarthon
Date:
Thu May 03 20:39:50 2018 +0000
Revision:
0:61544337ff5e
Initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gunarthon 0:61544337ff5e 1 #include "mbed.h"
gunarthon 0:61544337ff5e 2 #include "main.h"
gunarthon 0:61544337ff5e 3 #include "AnalogInDma.h"
gunarthon 0:61544337ff5e 4 #include "Crosscorrel.h"
gunarthon 0:61544337ff5e 5 #include "Definitions.h"
gunarthon 0:61544337ff5e 6 #include <vector>
gunarthon 0:61544337ff5e 7 #include <queue>
gunarthon 0:61544337ff5e 8 //------------------------------------------------------------------------------
gunarthon 0:61544337ff5e 9 enum { ADC_ACQ_LENGHT = 2 * ADC_LENGTH * 1};
gunarthon 0:61544337ff5e 10 enum { CAPUTURE_LENGTH = 512}; //6.64ms
gunarthon 0:61544337ff5e 11 enum { ADC_MEAN_SIZE = 1024 };
gunarthon 0:61544337ff5e 12 enum { THREASHOLD = 100 };
gunarthon 0:61544337ff5e 13 enum { TAU = 100 };
gunarthon 0:61544337ff5e 14 //------------------------------------------------------------------------------
gunarthon 0:61544337ff5e 15 enum { SERIAL_BUF_LENGTH = 1024 };
gunarthon 0:61544337ff5e 16
gunarthon 0:61544337ff5e 17 //------------------------------------------------------------------------------
gunarthon 0:61544337ff5e 18
gunarthon 0:61544337ff5e 19 //------------------------------------------------------------------------------
gunarthon 0:61544337ff5e 20 DigitalOut led1(LED1);
gunarthon 0:61544337ff5e 21
gunarthon 0:61544337ff5e 22 DigitalOut adcFlag(D2);
gunarthon 0:61544337ff5e 23 DigitalOut processFlag(D3);
gunarthon 0:61544337ff5e 24
gunarthon 0:61544337ff5e 25 Serial pc(USBTX, USBRX);
gunarthon 0:61544337ff5e 26
gunarthon 0:61544337ff5e 27 AnalogIn a0(A0);
gunarthon 0:61544337ff5e 28 AnalogIn a1(A1);
gunarthon 0:61544337ff5e 29 AnalogIn a2(A2);
gunarthon 0:61544337ff5e 30 AnalogIn a3(A3);
gunarthon 0:61544337ff5e 31 //------------------------------------------------------------------------------
gunarthon 0:61544337ff5e 32 Timer timer;
gunarthon 0:61544337ff5e 33
gunarthon 0:61544337ff5e 34 //------------------------------------------------------------------------------
gunarthon 0:61544337ff5e 35 DMA_HandleTypeDef hdma_adc1;
gunarthon 0:61544337ff5e 36
gunarthon 0:61544337ff5e 37 AnalogInDma adc;
gunarthon 0:61544337ff5e 38
gunarthon 0:61544337ff5e 39 uint32_t adcBuffer[ADC_ACQ_LENGHT];
gunarthon 0:61544337ff5e 40 vector<Signal> processQueue;
gunarthon 0:61544337ff5e 41
gunarthon 0:61544337ff5e 42 int a = 0, b = 0;
gunarthon 0:61544337ff5e 43
gunarthon 0:61544337ff5e 44 unsigned adcTime = 0;
gunarthon 0:61544337ff5e 45 unsigned stayActive = 0;
gunarthon 0:61544337ff5e 46
gunarthon 0:61544337ff5e 47 volatile bool captureReady = false;
gunarthon 0:61544337ff5e 48
gunarthon 0:61544337ff5e 49 Signal adcValue;
gunarthon 0:61544337ff5e 50 Signal adcMeanValue;
gunarthon 0:61544337ff5e 51 Signal adcUnbiasedValue;
gunarthon 0:61544337ff5e 52
gunarthon 0:61544337ff5e 53 void ProcessAdc(ADC_HandleTypeDef* AdcHandle, unsigned offset, unsigned length)
gunarthon 0:61544337ff5e 54 {
gunarthon 0:61544337ff5e 55 /* Prevent unused argument(s) compilation warning */
gunarthon 0:61544337ff5e 56 UNUSED(AdcHandle);
gunarthon 0:61544337ff5e 57 adcFlag = 1;
gunarthon 0:61544337ff5e 58 //adcTime = float(timer.read_us()) * 2 * ADC_LENGTH / ADC_ACQ_LENGHT;
gunarthon 0:61544337ff5e 59 //timer.reset();
gunarthon 0:61544337ff5e 60 if(processQueue.size() < CAPUTURE_LENGTH)
gunarthon 0:61544337ff5e 61 {
gunarthon 0:61544337ff5e 62 led1 = 0;
gunarthon 0:61544337ff5e 63 for(unsigned i = 0; i < length; i+= ADC_LENGTH)
gunarthon 0:61544337ff5e 64 {
gunarthon 0:61544337ff5e 65 for(unsigned ch = 0; ch < ADC_LENGTH; ch++)
gunarthon 0:61544337ff5e 66 {
gunarthon 0:61544337ff5e 67 adcValue[ch] = adcBuffer[offset+ch+i];
gunarthon 0:61544337ff5e 68 adcMeanValue[ch] += (adcValue[ch]-adcMeanValue[ch]) / ADC_MEAN_SIZE;
gunarthon 0:61544337ff5e 69 adcUnbiasedValue[ch] = adcValue[ch] - adcMeanValue[ch];
gunarthon 0:61544337ff5e 70 }
gunarthon 0:61544337ff5e 71
gunarthon 0:61544337ff5e 72 bool greaterThanThr = false;
gunarthon 0:61544337ff5e 73 for(unsigned ch = 0; ch < ADC_LENGTH; ch++)
gunarthon 0:61544337ff5e 74 if(adcUnbiasedValue[ch] > THREASHOLD)
gunarthon 0:61544337ff5e 75 greaterThanThr = true;
gunarthon 0:61544337ff5e 76
gunarthon 0:61544337ff5e 77 if(greaterThanThr)
gunarthon 0:61544337ff5e 78 stayActive = true;
gunarthon 0:61544337ff5e 79
gunarthon 0:61544337ff5e 80 if(stayActive)
gunarthon 0:61544337ff5e 81 {
gunarthon 0:61544337ff5e 82 if(processQueue.size() == 0)
gunarthon 0:61544337ff5e 83 timer.reset();
gunarthon 0:61544337ff5e 84 processQueue.push_back(adcUnbiasedValue);
gunarthon 0:61544337ff5e 85 }
gunarthon 0:61544337ff5e 86 }
gunarthon 0:61544337ff5e 87 }
gunarthon 0:61544337ff5e 88 else {
gunarthon 0:61544337ff5e 89 adcTime = timer.read_us();
gunarthon 0:61544337ff5e 90 captureReady = true;
gunarthon 0:61544337ff5e 91 stayActive = false;
gunarthon 0:61544337ff5e 92 }
gunarthon 0:61544337ff5e 93 adcFlag = 0;
gunarthon 0:61544337ff5e 94 }
gunarthon 0:61544337ff5e 95
gunarthon 0:61544337ff5e 96 void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc)
gunarthon 0:61544337ff5e 97 {
gunarthon 0:61544337ff5e 98 /* Prevent unused argument(s) compilation warning */
gunarthon 0:61544337ff5e 99 UNUSED(hadc);
gunarthon 0:61544337ff5e 100 ProcessAdc(hadc, ADC_ACQ_LENGHT / 2, ADC_ACQ_LENGHT / 2);
gunarthon 0:61544337ff5e 101 b++;
gunarthon 0:61544337ff5e 102 }
gunarthon 0:61544337ff5e 103 void HAL_ADC_ConvHalfCpltCallback(ADC_HandleTypeDef* hadc)
gunarthon 0:61544337ff5e 104 {
gunarthon 0:61544337ff5e 105 UNUSED(hadc);
gunarthon 0:61544337ff5e 106 ProcessAdc(hadc, 0, ADC_ACQ_LENGHT / 2);
gunarthon 0:61544337ff5e 107 b--;
gunarthon 0:61544337ff5e 108 }
gunarthon 0:61544337ff5e 109
gunarthon 0:61544337ff5e 110
gunarthon 0:61544337ff5e 111 // main() runs in its own thread in the OS
gunarthon 0:61544337ff5e 112 int main()
gunarthon 0:61544337ff5e 113 {
gunarthon 0:61544337ff5e 114 pc.baud(1000000);
gunarthon 0:61544337ff5e 115 //pc.attach(&serialInterruptTx, Serial::TxIrq);
gunarthon 0:61544337ff5e 116
gunarthon 0:61544337ff5e 117 timer.start();
gunarthon 0:61544337ff5e 118
gunarthon 0:61544337ff5e 119 if(!adc.init())
gunarthon 0:61544337ff5e 120 _Error_Handler(__FILE__, __LINE__);
gunarthon 0:61544337ff5e 121 if(!adc.start(adcBuffer, ADC_ACQ_LENGHT))
gunarthon 0:61544337ff5e 122 _Error_Handler(__FILE__, __LINE__);
gunarthon 0:61544337ff5e 123
gunarthon 0:61544337ff5e 124 Crosscorrel crosscorrel;
gunarthon 0:61544337ff5e 125
gunarthon 0:61544337ff5e 126 while (true)
gunarthon 0:61544337ff5e 127 {
gunarthon 0:61544337ff5e 128 a++;
gunarthon 0:61544337ff5e 129 while(!captureReady); //wait for full capture
gunarthon 0:61544337ff5e 130
gunarthon 0:61544337ff5e 131 NVIC_DisableIRQ(DMA1_Channel1_IRQn);
gunarthon 0:61544337ff5e 132
gunarthon 0:61544337ff5e 133 //printf("Signals:\n");
gunarthon 0:61544337ff5e 134 for(unsigned t = 0; t < processQueue.size(); t++) //process captured signal
gunarthon 0:61544337ff5e 135 {
gunarthon 0:61544337ff5e 136 processFlag = 1;
gunarthon 0:61544337ff5e 137
gunarthon 0:61544337ff5e 138 //serial debug sample
gunarthon 0:61544337ff5e 139 pc.printf("%i,%i\n", int(processQueue[t][0]), int(processQueue[t][1]));
gunarthon 0:61544337ff5e 140 }
gunarthon 0:61544337ff5e 141 //printf("Crosscorrel:\n");
gunarthon 0:61544337ff5e 142
gunarthon 0:61544337ff5e 143 crosscorrel.GetMax(processQueue, 0, 1);
gunarthon 0:61544337ff5e 144
gunarthon 0:61544337ff5e 145 processFlag = 0;
gunarthon 0:61544337ff5e 146
gunarthon 0:61544337ff5e 147 adcFlag = 0;
gunarthon 0:61544337ff5e 148 processQueue.clear();
gunarthon 0:61544337ff5e 149 captureReady = false;
gunarthon 0:61544337ff5e 150 NVIC_EnableIRQ(DMA1_Channel1_IRQn);
gunarthon 0:61544337ff5e 151 }
gunarthon 0:61544337ff5e 152 }
gunarthon 0:61544337ff5e 153
gunarthon 0:61544337ff5e 154 void _Error_Handler(const char * file, int line)
gunarthon 0:61544337ff5e 155 {
gunarthon 0:61544337ff5e 156 /* USER CODE BEGIN Error_Handler_Debug */
gunarthon 0:61544337ff5e 157 /* User can add his own implementation to report the HAL error return state */
gunarthon 0:61544337ff5e 158 while(1)
gunarthon 0:61544337ff5e 159 {
gunarthon 0:61544337ff5e 160 }
gunarthon 0:61544337ff5e 161 /* USER CODE END Error_Handler_Debug */
gunarthon 0:61544337ff5e 162 }
gunarthon 0:61544337ff5e 163