Filter - FIR Filter

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James Smith / Mbed 2 deprecated Filter

FIR Filter

Dependencies: CMSIS_DSP_401 mbed

Files at this revision

API Documentation at this revision

Revision 1:a2238b2df415, committed 2016-05-29

Comitter:: jlsmith10
Date:: Sun May 29 20:16:11 2016 +0000
Parent:: 0:5cd703c0576c
Commit message:: v2.0;

Changed in this revision

main.cpp	Show annotated file Show diff for this revision Revisions of this file
main.h	Show annotated file Show diff for this revision Revisions of this file

--- a/main.cpp	Sat May 28 21:26:55 2016 +0000
+++ b/main.cpp	Sun May 29 20:16:11 2016 +0000
@@ -1,185 +1,264 @@
+/*******************************************************************************
+ * main.cpp 
+ * by Jason Shen, James Smith and Luis Sanchez
+ * 
+ * Acoustic Location System Filtering
+ * 
+ * This C module implements the DSP filtering of an input signal for the 
+ * STM33F446RE Nucleo board.. The input signal will be passed in through 
+ * on board ADC connected to a transponder that receives accoustic waves 
+ * delivered by three transponders at 3 different frequencies. The coeffecients 
+ * used for the filter are defined in main.h and implement  bandpass filters for
+ * 35kHz, 40kHz and 45kHz with a pass bandwith of 500Hz. 
+ * 
+ * This program will output the time difference of arrival of the three
+ * varying frequency signals. the default for for output is:
+ *
+ * [ A vs B time difference, B vs C time difference, A vs C time difference ]
+ *
+ * Currently the algorithm will first FIR filter the data for each of the 3 
+ * frequencies. Then it will use an in place moving average function to 
+ * smooth the data. Finally, it will run a peak detection function and find the 
+ * peak of each of the 3 filtered signals which will then be placed on an output
+ * pin to be available for beagle bone on OpenROV.
+ *
+ *
+ *
+ *
+ * TODO: 
+ * 1. Test on different location  inputs from python script,
+ * 2. Integrate ADC and filter code
+ * 3. If current filtering and smoothing is innaccurate develop new algorithm
+ * 4. Clean up code
+*******************************************************************************/
+
 /* Includes */
-#include <stdio.h> //fprintf, FILE
-#include <stdlib.h> //
-#include <math.h> //sqrt
-
-#include "mbed.h"
 #include "main.h"
 
-//#include "arm_math.h"
-//#include "math_helper.h"
 
-#include "float.h"
+
 
-//#include "tiny_printf.c"
-
-#define BLOCK_SIZE      (32)
-
+/* FIR filter variables */
 static float firStateF[BLOCK_SIZE + NUM_TAPS - 1];
-
 unsigned int blockSize = BLOCK_SIZE;
 unsigned int numBlocks = NUM_SAMPLES/BLOCK_SIZE;
 
 
-/* Private macro */
-
-
-/* Private variables */
-//float signalA[NUM_SAMPLES];
-//float signalB[NUM_SAMPLES];
-//float signalC[NUM_SAMPLES];
-
-FILE* logFile;
-
-typedef struct coordinate {
-    float x;
-    float y;
-} coord;
-
 /* Function Prototypes */
 float calculateSoundSpeedInWater(float temp, float salinity, float depth);
 
-void createSignalsFromFile(void);
-
-void movingAverage(float signal[NUM_SAMPLES], float * averagedSignal[NUM_SAMPLES]);
-
-int singleThresholdDetection(const float sampleData[NUM_SAMPLES], int startPosition);
+int singleThresholdDetection(const float sampleData[], int startPosition);
 
-void getPositionFromSignal(
-    float signal[NUM_SAMPLES], coord* projCoord,
-    float velocity, float depth,
-    float xa, float ya, float za,
-    float xb, float yb, float zb,
-    float xc, float yc, float zc);
+void filterAndSmooth(float signal[], float filterCoeffs[], int smoothingCoeff, float * filteredSignal);
 
-void filterAndSmooth(float signal[NUM_SAMPLES], float filterCoeffs[NUM_TAPS], int smoothingCoeff, float * filteredSignal);
+void movAvg(float signal[]);
 
-void calculateProjectedCoordinates(
-    coord * projCoord,
-    float depth, float velocity,
-    float tsa, float tsb, float tsc,
-    float xa, float ya, float za,
-    float xb, float yb, float zb,
-    float xc, float yc, float zc);
-    
+int findMax(float signal[]);
 
-//------------------------------------
-// Hyperterminal configuration
-// 9600 bauds, 8-bit data, no parity
-//------------------------------------
-
+/*------------------------------------
+ * Hyperterminal configuration
+ * 9600 bauds, 8-bit data, no parity
+ ************************************/
 Serial pc(SERIAL_TX, SERIAL_RX);
 
-DigitalOut myled(LED1);
+DigitalOut myled(LED1);  //Debug LED
 
 int main(void)
 {
-    int i = 0;
-
-    /* TODO - Add your application code here */
-    //FILE* fp = fopen("log.txt", "w");
-    //if(fp == 0) 
-    //   pc.printf("NULL\n");
-    //fclose(fp);
-
-    //createSignalsFromFile();
-
+    printf("---------------------------------------------------------------- ");
+    printf("                                                                 ");
+    printf("    Underwater Acoustic Location System DSP\n");
+    printf("                                                                 ");
+    printf("---------------------------------------------------------------- ");
+    printf("    Running Filter... ");
+    printf("---------------------------------------------------------------- ");
+    printf("    Number of Samples: %d\n", NUM_SAMPLES);
+    printf("    Moving Average window: %d samples\n", MOV_AVG_WIND); 
+    
     /*
-    float temp = TEMP;
-    float depth = DEPTH;
-    float salinity = SALINITY;
-
     float velocity = calculateSoundSpeedInWater(temp, salinity, depth);
-
     pc.printf("The velocity is %lf", velocity);
-
-
-    int firstPeak = singleThresholdDetection(signalA, 0);
-    
-    pc.printf("First peak found at position %d\n", firstPeak);
-    pc.printf("Time of first peak (in ms): %lf", firstPeak / 250.0);
     */
-    
-    arm_fir_instance_f32 S;
+   
+    // Fir instance variables 
+    arm_fir_instance_f32 S1, S2, S3;
     arm_status status;
     float32_t *input, *output;
     
+    // Fir Coefficients
     float coeffsA_f32[NUM_TAPS];
+    float output_f32[NUM_SAMPLES];
     
+    /* Input is the signal with all 3 frequencies present. */    
     input = &signalABC[0];
-    /*
-    for(i = 0; i < NUM_TAPS; i++) {
-        coeffsA_f32[i] = (float) coeffsA[i];
+    output = &output_f32[0];
+    
+    /* The array of time differences to place on output pin */
+    int toReturn[3]; 
+        
+    /***************************************************************************
+    ****************** Filtering for f = 35kHz (from buoy A) *******************
+    ***************************************************************************/
+    if(UALS_DEBUG) {
+        printf("Beginning filtering for f = 35kHz (buoy A)\n");
     }
-    */
+
+    /* Initialize FIR instance structure */
+    arm_fir_init_f32(&S1, NUM_TAPS, (float *) &coeffsA[0], 
+        &firStateF[0], blockSize);
     
-    /* Initialize FIR instance structure */
-    arm_fir_init_f32(&S, NUM_TAPS, (float *) &coeffsA_f32[0], &firStateF[0], blockSize);
+    int i = 0;
     
     /* FIR Filtering */
     for( i = 0; i < numBlocks; i++) {
-        arm_fir_f32(&S, input + (i * blockSize), output + (i * blockSize), blockSize);
+        arm_fir_f32(&S1, input + (i * blockSize), 
+                        output + (i * blockSize), blockSize);
     }
     
     /* Take the absolute value of the filtered signal */
     for(i = 0; i < NUM_SAMPLES; i++ ) {
-        //printf("Index: %d, Amplitude: %e\n", i, output[i]);
         if(output[i] < 0) {
-            //printf("Negative sample!\n");
+            output[i] = -1 * output[i];    
+        }
+    } 
+    
+    /* Print before moving average */ 
+    printf("----------Before moving average-------------\n");
+    if(UALS_DEBUG) {
+        for(i = 0; i < NUM_SAMPLES; i++) {
+            printf("%lf\n", output[i]);
+        }
+    }
+    
+    float * avgSignal[NUM_SAMPLES];
+    // Calculate moving average and do peak detection; 
+    movAvg(output);
+   
+    /* Print signal after moving average */ 
+    printf("----------After moving average-------------\n");
+    if(UALS_DEBUG) {
+        for(i = 0; i < NUM_SAMPLES; i++) {
+            printf("%lf\n", output[i]);
+        }
+    }
+    
+    /* Find the maximum value of the filtered signal */
+    int maxA = findMax(output);
+    
+    /***************************************************************************
+    ********************* Filtering for f = 40kHz (from buoy B) ****************
+    ***************************************************************************/
+    if(UALS_DEBUG) {
+        printf("Beginning filtering for f = 40kHz (buoy B)\n");
+    }
+    /* Initialize FIR instance structure */
+    arm_fir_init_f32(&S2, NUM_TAPS, (float *) &coeffsB[0], 
+        &firStateF[0], blockSize);
+    
+    /* FIR Filtering */
+    for( i = 0; i < numBlocks; i++) {
+        arm_fir_f32(&S2, input + (i * blockSize), 
+                        output + (i * blockSize), blockSize);
+    }
+    
+    /* Take the absolute value of the filtered signal */
+    for(i = 0; i < NUM_SAMPLES; i++ ) {
+        if(output[i] < 0) {
             output[i] = -1 * output[i];    
         }
     } 
     
-    float * avgSignal[NUM_SAMPLES];
+    /* Print before moving average */ 
+    if(UALS_DEBUG) {
+        printf("----------Before moving average-------------\n");
+        for(i = 0; i < NUM_SAMPLES; i++) {
+            printf("%lf\n", output[i]);
+        }
+    }
+    
+    
+    /* Perform moving average */
+    movAvg(output);
+   
+    /* Print signal after moving average */ 
+    if(UALS_DEBUG) {
+        printf("----------After moving average-------------\n");
+        for(i = 0; i < NUM_SAMPLES; i++) {
+            printf("%lf\n", output[i]);
+        }
+    }
     
-    //movingAverage(output, avgSignal);
+    /* Find the maximum value of the filtered signal */
+    int maxB = findMax(output);
+
+
+    /***************************************************************************
+    ******************** Filtering for f = 45kHz (from buoy C) *****************
+    ***************************************************************************/
+    if(UALS_DEBUG) {
+        printf("Beginning filtering for f = 45kHz (buoy C)\n");
+    }
+    /* Initialize FIR instance structure */
+    arm_fir_init_f32(&S3, NUM_TAPS, (float *) &coeffsC[0], 
+        &firStateF[0], blockSize);
     
-    q15_t max = 0;
+    /* FIR Filtering */
+    for( i = 0; i < numBlocks; i++) {
+        arm_fir_f32(&S3, input + (i * blockSize), 
+                        output + (i * blockSize), blockSize);
+    }
     
-    for(i = 0; i < NUM_SAMPLES; i++) {
-        printf("%lf\n", output[i]);
+    /* Take the absolute value of the filtered signal */
+    for(i = 0; i < NUM_SAMPLES; i++ ) {
+        if(output[i] < 0) {
+            output[i] = -1 * output[i];    
+        }
+    } 
+    
+    /* Print before moving average */ 
+    if(UALS_DEBUG) {
+        printf("----------Before moving average-------------\n");
+        for(i = 0; i < NUM_SAMPLES; i++) {
+            printf("%lf\n", output[i]);
+        }
     }
-    //printf("Max is at %d\n", max); 
+    
     
-    /*    
-    for(i = 0; i < 20; i++) {
-        printf("%d\n", coeffsA[i]);
+    /* Perform moving average */
+    movAvg(output);
+   
+    /* Print signal after moving average */ 
+    if(UALS_DEBUG) {
+        printf("----------After moving average-------------\n");
+        for(i = 0; i < NUM_SAMPLES; i++) {
+            printf("%lf\n", output[i]);
+        }
     }
-    */
+    
+    /* Find the maximum value of the filtered signal */
+    int maxC = findMax(output);
+
+    /* The time differences to be returned */
+    /* TODO: should we take the absolute value? What does TDOA take in */
+    float tdAB = maxB - maxA;
+    float tdBC = maxB - maxC;
+    float tdAC = maxC - maxA;
+
+    printf("tdAB = %f\n", tdAB);
+    printf("tdBC = %f\n", tdBC);
+    printf("tdAC = %f\n", tdAC);
+
+    toReturn[0] = tdAB;
+    toReturn[1] = tdBC;
+    toReturn[2] = tdAC;
 }
 
-void movingAverage(float signal[NUM_SAMPLES], float ** averagedSignal) {
-    int i = 0;
-    
-    int start = 0;
-    int finish = 0;
-    float total = 0;
-    
-    for(i = 0; i < NUM_SAMPLES; i++) {
-        start = i - MOV_AVG_WIND;
-        finish = i + MOV_AVG_WIND;
-        
-        if(start < 0) {
-            start = 0;
-        }
-        if(finish > NUM_SAMPLES) {
-            finish = NUM_SAMPLES;
-        }
-        
-        total = 0;
-        for(int j = start; j < finish; i++) {
-            total += signal[j];
-        }
-        
-        *averagedSignal[i] = total / (finish - start);        
-    }
-}
-
-
 /*
- * Function: singleThresholdDetection()
- * Description: calculates the first occurrence of a value over the threshold
- * value and returns it.
+ * Function Name: singleThresholdDetection()
+ * Function Declaration: int singleThresholdDetection(const float sampleData[],
+                                                            int startPosition)
+ * Function Description: Calculates the first occurrence of a value over the 
+ * threshold value and returns the position.
  *
  * Params:
  *  arg1: sampleData - sample data to find position of first peak
@@ -188,10 +267,10 @@
  * Return Value: position where threshold is first reached
  *
  */
-int singleThresholdDetection(const float sampleData[NUM_SAMPLES], int startPosition)
+int singleThresholdDetection(const float sampleData[], int startPosition)
 {
     int i;
-
+    
     for(i = startPosition; i < NUM_SAMPLES; i++) {
         if (sampleData[i] >= DETECT_THRESH) {
             return i;
@@ -201,99 +280,95 @@
     return  -1;
 }
 
-/*
- * Function: getPositionFromSignal()
- * Description: TODO
+
+/* 
+ * Function Name: movAvg();
+ * Function Declaration: void movAvg(float signal[]);
+ * Function Description: This function takes an input signal and does an in
+ * place moving average algorithm. The window size is defined by MOV_AVG_WIND
+ * in main.h. 
  *
- * Params: TODO
- *
- *
- * Return Value: none
+ * This function serves a dual purpose of finding the position of the largest 
+ * peak and returning that position.
+ * 
+ * Return Value: None
  *
  */
- /*
-void getPositionFromSignal(
-    float signal[NUM_SAMPLES], coord* projCoord,
-    float velocity, float depth,
-    float xa, float ya, float za,
-    float xb, float yb, float zb,
-    float xc, float yc, float zc)
-{
-
-    //TODO uncomment the following lines of code once filtering is working
-    //TODO can be tuned
-    //int smoothingCoeff = 20;
-
-    //float extracted1[NUM_SAMPLES];
-    //float extracted2[NUM_SAMPLES];
-    //float extracted3[NUM_SAMPLES];
-
-
-    //filterAndSmooth(signal, filter1Coeffs, smoothingCoeff, &extracted1);
-    //filterAndSmooth(signal, filter2Coeffs, smoothingCoeff, &extracted2);
-    //filterAndSmooth(signal, filter3Coeffs, smoothingCoeff, &extracted3);
+void movAvg(float signal[]) {
+     int i = 0;
+    
+    int start = 0;
+    int finish = 0;
+    float total = 0;
+    
+    // Buffer to hold the most recent samples
+    float buffer[MOV_AVG_WIND*2];
+    
+    // Go through signal array and calculate moving average
+    for(i = 0; i < NUM_SAMPLES; i++) {
+        start = i - MOV_AVG_WIND;
+        finish = i + MOV_AVG_WIND;
+        
+        if(start < 0) {
+            start = 0;
+        }
 
-    //int tsa = singleThresholdDetection(extracted1, 0);
-    //int tsb = singleThresholdDetection(extracted2, 0);
-    //int tsc = singleThresholdDetection(extracted3, 0);
-
-
-    int tsa = singleThresholdDetection(signalA, 0);
-    int tsb = singleThresholdDetection(signalB, 0);
-    int tsc = singleThresholdDetection(signalC, 0);
-
-    if(tsa != -1 )
+        if(finish > NUM_SAMPLES) {
+            finish = NUM_SAMPLES;
+        }
+        
+        total = 0;
+        for(int j = start; j < finish; j++) {
+            total += signal[j];
+        }
+        
+        if(i > MOV_AVG_WIND*2 - 1) {
+            signal[i-(MOV_AVG_WIND*2)] = buffer[i % (MOV_AVG_WIND*2)];
+        }
 
-        calculateProjectedCoordinates(projCoord, depth, velocity, tsa, tsb, tsc,
-                                      xa, ya, za,
-                                      xb, yb, zb,
-                                      xc, yc, zc);
-}
-*/
-
-void filterAndSmooth(float signal[NUM_SAMPLES], float filterCoeffs[NUM_TAPS], int smoothingCoeff, float * filteredSignal)
-{
-    //Low pass filter
-    //arm_fir_instance_f32 * firInstance;
-
-    //arm_fir_init_f32(firInstance, NUM_TAPS,
-    //Moving average
-
-    //return signal
-
+        // Rotating buffer to save the avg
+        buffer[i%(MOV_AVG_WIND*2)] = total / (finish - start); 
+            
+    }
+    for(int i = NUM_SAMPLES-MOV_AVG_WIND*2; i < NUM_SAMPLES; i++) { 
+        signal[i] = buffer[i %(MOV_AVG_WIND*2)];
+    }
+    
+    if(UALS_DEBUG) {
+        for(int i = 0; i < NUM_SAMPLES; i++) {
+            printf("averagedSignal[i] = %f\n", signal[i]);
+        }
+    }
 }
 
 
-/*
- * Function: calculateProjectedCoordinates()
- * Description: TODO
- *
- * Params: TODO
- *
- *
- * Return Value: none
+/* 
+ * Function Name: findMax();
+ * Function Declaration: int findMax(float signal[]);
+ * Function Description: This function takes an input signal and returns the
+ * position of the maximum valued sample.
  *
  */
-void calculateProjectedCoordinates(
-    coord * projCoord,
-    float depth, float velocity,
-    float tsa, float tsb, float tsc,
-    float xa, float ya, float za,
-    float xb, float yb, float zb,
-    float xc, float yc, float zc)
-{
+int findMax(float signal[]) {
+    float maxVal = 0.0;
+    int maxPosition = -1;
+    int i;
 
-    float dsa = velocity * tsa;
-    float dsb = velocity * tsb;
-    float dsc = velocity * tsc;
+    /* Go through each element searching for maximum */
+    for(i = 0; i < NUM_SAMPLES; i++) {
+        if(signal[i] > maxVal) {
+            /* We've found a new max, replace */
+            maxVal = signal[i];
+            maxPosition = i;
+        }
+    }
 
-    float dsaProjected = sqrt(dsa * dsa - depth * depth);
-    float dsbProjected = sqrt(dsb * dsb - depth * depth);
-    float dscProjected = sqrt(dsc * dsc - depth * depth);
-
-    float xCoord =  (dsaProjected * dsaProjected - dsbProjected * dsbProjected + xb * xb)/(2 * xb);
-    float yCoord = ((dsaProjected * dsaProjected - dscProjected * dscProjected + xc * xc + yc * yc)/(2 * yc)) - ((xc) / (yc)) * xCoord;
-
-    projCoord->x = xCoord;
-    projCoord->y = yCoord;
+    if(maxPosition > 0) {
+        printf("Max position found at %d\n", maxPosition);
+        return maxPosition;
+    }
+    else {
+        printf("Error: no max found\n");
+        return -1;
+    }
 }

--- a/main.h	Sat May 28 21:26:55 2016 +0000
+++ b/main.h	Sun May 29 20:16:11 2016 +0000
@@ -1,4229 +1,3255 @@
-/*
- * main.h
- *
- *  Created on: Apr 25, 2016
- *      Author: Jason
- */
-
-#ifndef MAIN_H_
-#define MAIN_H_
-
-#define SAMP_FREQ           (250000)  //Sampling Frequency (Hz)
-#define TRANS_PER_SEC       (10)      //Transmits per second
-#define NUM_SAMPLES         (4096)    //((SAMP_FREQ)/ (TRANS_PER_SEC) / 10) //Total number of samples
-#define DETECT_THRESH       (0.05)    //TODO can be tuned
-#define NUM_TAPS            (64)     //TODO can be tuned
-#define BUOY_DIST           (2)       //Distance from Buoys B and C to A (meters)
-#define DEPTH               (5.0)     //Depth of ROV (meters)
-#define TEMP                (15.0)    //Default water temp (C)
-#define SALINITY            (5.0)     //Default water salinity (parts per thousand)
-#define MOV_AVG_WIND        (20)      //Window for moving average
-
-#include "arm_math.h"
-
-float filter1Coeffs[NUM_TAPS];
-float filter2Coeffs[NUM_TAPS];
-float filter3Coeffs[NUM_TAPS];
-
-static double coeffsA[NUM_TAPS] = {
-  /*
-
-FIR filter designed with
-http://t-filter.appspot.com
-
-sampling frequency: 250000 Hz
-
-* 0 Hz - 34000 Hz
-  gain = 0
-  desired attenuation = -40 dB
-  actual attenuation = -52.8023210739202 dB
-
-* 34500 Hz - 35500 Hz
-  gain = 1
-  desired ripple = 5 dB
-  actual ripple = 0.9393091670071585 dB
-
-* 36000 Hz - 125000 Hz
-  gain = 0
-  desired attenuation = -40 dB
-  actual attenuation = -52.8023210739202 dB
-
-*/
--0.000268
--0.000041
-0.000242
-0.000398
-0.000271
--0.000134
--0.000575
--0.000675
--0.000217
-0.000592
-0.001154
-0.000900
--0.000185
--0.001397
--0.001744
--0.000743
-0.001059
-0.002339
-0.001975
-0.000001
--0.002241
--0.003018
--0.001556
-0.001239
-0.003329
-0.003058
-0.000470
--0.002605
--0.003875
--0.002320
-0.000975
-0.003594
-0.003594
-0.000975
--0.002320
--0.003875
--0.002605
-0.000470
-0.003058
-0.003329
-0.001239
--0.001556
--0.003018
--0.002241
-0.000001
-0.001975
-0.002339
-0.001059
--0.000743
--0.001744
--0.001397
--0.000185
-0.000900
-0.001154
-0.000592
--0.000217
--0.000675
--0.000575
--0.000134
-0.000271
-0.000398
-0.000242
--0.000041
--0.000268
-};
-
-
-float signalABC[NUM_SAMPLES] = {
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
-    0,
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-};
-
-const float signalA[NUM_SAMPLES] = {
-
-};
-
-const float signalB[NUM_SAMPLES] = {
-
-};
-
-const float signalC[NUM_SAMPLES] = {
-
-};
-
-#endif /* MAIN_H_ */
+    /*********************************************************************
+     * main.h
+     * by Jason Shen, James Smith and Luis Sanchez
+     * Header file for Acoustic Location System DSP
+     * Contains #defines, includes, and other constants used for the DSP portion
+     * of the UALS.
+     *
+     * Created on: Apr 25, 2016
+     * Author: Jason Shen, James Smith, Luis Sanchez
+     */
+    
+    #ifndef MAIN_H_
+    #define MAIN_H_
+    
+    #include <stdio.h> //fprintf, FILE
+    #include <stdlib.h> //
+    #include <math.h> //sqrt
+    
+    #include "float.h"
+    #include "mbed.h"
+    #include "arm_math.h"
+    
+    
+    #define SAMP_FREQ           (250000)  //Sampling Frequency (Hz)
+    #define TRANS_PER_SEC       (10)      //Transmits per second
+    #define NUM_SAMPLES         (3000)    //((SAMP_FREQ)/ (TRANS_PER_SEC) / 10) //Total number of samples
+    #define DETECT_THRESH       (0.05)    //TODO can be tuned
+    #define NUM_TAPS            (64)     //TODO can be tuned
+    #define BUOY_DIST           (2)       //Distance from Buoys B and C to A (meters)
+    #define DEPTH               (5.0)     //Depth of ROV (meters)
+    #define TEMP                (15.0)    //Default water temp (C)
+    #define SALINITY            (5.0)     //Default water salinity (parts per thousand)
+    #define MOV_AVG_WIND        (20)      //Window for moving average
+    
+    #define BLOCK_SIZE          (32)
+    
+    #define UALS_DEBUG          (0)         //Debug flag
+    
+    /* 
+     * FIR filter coeffecients for f = 35kHz with a 500 Hz band pass
+     * with 64 taps
+     */
+    const float coeffsA[NUM_TAPS] = {
+            -0.000268,
+        -0.000041,
+        0.000242,
+        0.000398,
+        0.000271,
+        -0.000134,
+        -0.000575,
+        -0.000675,
+        -0.000217,
+        0.000592,
+        0.001154,
+        0.000900,
+        -0.000185,
+        -0.001397,
+        -0.001744,
+        -0.000743,
+        0.001059,
+        0.002339,
+        0.001975,
+        0.000001,
+        -0.002241,
+        -0.003018,
+        -0.001556,
+        0.001239,
+        0.003329,
+        0.003058,
+        0.000470,
+        -0.002605,
+        -0.003875,
+        -0.002320,
+        0.000975,
+        0.003594,
+        0.003594,
+        0.000975,
+        -0.002320,
+        -0.003875,
+        -0.002605,
+        0.000470,
+        0.003058,
+        0.003329,
+        0.001239,
+        -0.001556,
+        -0.003018,
+        -0.002241,
+        0.000001,
+        0.001975,
+        0.002339,
+        0.001059,
+        -0.000743,
+        -0.001744,
+        -0.001397,
+        -0.000185,
+        0.000900,
+        0.001154,
+        0.000592,
+        -0.000217,
+        -0.000675,
+        -0.000575,
+        -0.000134,
+        0.000271,
+        0.000398,
+        0.000242,
+        -0.000041,
+        -0.000268,
+    };
+    
+    
+    /* 
+     * FIR filter coeffecients for f = 40kHz with a 500 Hz band pass
+     * with 64 taps
+     */
+    const float coeffsB[NUM_TAPS] = {
+        0.000308,
+        0.000239,
+        -0.000066,
+        -0.000372,
+        -0.000375,
+        0.000033,
+        0.000558,
+        0.000656,
+        0.000056,
+        -0.000817,
+        -0.001079,
+        -0.000249,
+        0.001081,
+        0.001608,
+        0.000572,
+        -0.001285,
+        -0.002188,
+        -0.001022,
+        0.001371,
+        0.002746,
+        0.001571,
+        -0.001303,
+        -0.003209,
+        -0.002165,
+        0.001069,
+        0.003511,
+        0.002738,
+        -0.000687,
+        -0.003605,
+        -0.003226,
+        0.000157,
+        0.003371,
+        0.003371,
+        0.000157,
+        -0.003226,
+        -0.003605,
+        -0.000687,
+        0.002738,
+        0.003511,
+        0.001069,
+        -0.002165,
+        -0.003209,
+        -0.001303,
+        0.001571,
+        0.002746,
+        0.001371,
+        -0.001022,
+        -0.002188,
+        -0.001285,
+        0.000572,
+        0.001608,
+        0.001081,
+        -0.000249,
+        -0.001079,
+        -0.000817,
+        0.000056,
+        0.000656,
+        0.000558,
+        0.000033,
+        -0.000375,
+        -0.000372,
+        -0.000066,
+        0.000239,
+        0.000308,
+    };
+    
+    /* 
+     * FIR filter coeffecients for f = 45kHz with a 500 Hz band pass
+     * with 64 taps
+     */
+    const float coeffsC[NUM_TAPS] = {
+        -0.000154,
+        -0.000326,
+        -0.000130,
+        0.000274,
+        0.000439,
+        0.000067,
+        -0.000538,
+        -0.000630,
+        0.000111,
+        0.000961,
+        0.000791,
+        -0.000488,
+        -0.001481,
+        -0.000795,
+        0.001084,
+        0.001982,
+        0.000542,
+        -0.001843,
+        -0.002319,
+        0.000010,
+        0.002642,
+        0.002363,
+        -0.000819,
+        -0.003320,
+        -0.002045,
+        0.001769,
+        0.003720,
+        0.001370,
+        -0.002699,
+        -0.003728,
+        -0.000379,
+        0.003570,
+        0.003570,
+        -0.000379,
+        -0.003728,
+        -0.002699,
+        0.001370,
+        0.003720,
+        0.001769,
+        -0.002045,
+        -0.003320,
+        -0.000819,
+        0.002363,
+        0.002642,
+        0.000010,
+        -0.002319,
+        -0.001843,
+        0.000542,
+        0.001982,
+        0.001084,
+        -0.000795,
+        -0.001481,
+        -0.000488,
+        0.000791,
+        0.000961,
+        0.000111,
+        -0.000630,
+        -0.000538,
+        0.000067,
+        0.000439,
+        0.000274,
+        -0.000130,
+        -0.000326,
+        -0.000154,
+    
+    };
+    float signalABC[NUM_SAMPLES] = {
+        0.0000000000,
+        0.0000000000,
+        0.0000000000,
+        0.0000000000,
+        0.0000000000,
+        0.0000000000,
+        0.0000000000,
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+        0.0000000000,
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+    
+    #endif /* MAIN_H_ */ 
\ No newline at end of file

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	28 May 2016
Imports:	41
Forks:	0
Commits:	2
Dependents:	0
Dependencies:	2
Followers:	2

Revision 1:a2238b2df415, committed 2016-05-29

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