James Smith
/
Filter
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Dependencies: CMSIS_DSP_401 mbed
Revision 0:5cd703c0576c, committed 2016-05-28
- Comitter:
- jlsmith10
- Date:
- Sat May 28 21:26:55 2016 +0000
- Child:
- 1:a2238b2df415
- Commit message:
- filter;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/CMSIS_DSP_401.lib Sat May 28 21:26:55 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/emh203/code/CMSIS_DSP_401/#3d9c67d97d6f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat May 28 21:26:55 2016 +0000
@@ -0,0 +1,299 @@
+/* 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)
+
+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);
+
+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[NUM_SAMPLES], float filterCoeffs[NUM_TAPS], int smoothingCoeff, float * filteredSignal);
+
+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);
+
+
+//------------------------------------
+// Hyperterminal configuration
+// 9600 bauds, 8-bit data, no parity
+//------------------------------------
+
+Serial pc(SERIAL_TX, SERIAL_RX);
+
+DigitalOut myled(LED1);
+
+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();
+
+ /*
+ 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;
+ arm_status status;
+ float32_t *input, *output;
+
+ float coeffsA_f32[NUM_TAPS];
+
+ input = &signalABC[0];
+ /*
+ for(i = 0; i < NUM_TAPS; i++) {
+ coeffsA_f32[i] = (float) coeffsA[i];
+ }
+ */
+
+ /* Initialize FIR instance structure */
+ arm_fir_init_f32(&S, NUM_TAPS, (float *) &coeffsA_f32[0], &firStateF[0], blockSize);
+
+ /* FIR Filtering */
+ for( i = 0; i < numBlocks; i++) {
+ arm_fir_f32(&S, 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];
+ }
+ }
+
+ float * avgSignal[NUM_SAMPLES];
+
+ //movingAverage(output, avgSignal);
+
+ q15_t max = 0;
+
+ 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]);
+ }
+ */
+}
+
+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.
+ *
+ * Params:
+ * arg1: sampleData - sample data to find position of first peak
+ * arg2: startPosition - threshold value to search for
+ *
+ * Return Value: position where threshold is first reached
+ *
+ */
+int singleThresholdDetection(const float sampleData[NUM_SAMPLES], int startPosition)
+{
+ int i;
+
+ for(i = startPosition; i < NUM_SAMPLES; i++) {
+ if (sampleData[i] >= DETECT_THRESH) {
+ return i;
+ }
+ }
+
+ return -1;
+}
+
+/*
+ * Function: getPositionFromSignal()
+ * Description: TODO
+ *
+ * Params: TODO
+ *
+ *
+ * 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);
+
+ //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 )
+
+ 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
+
+}
+
+
+/*
+ * Function: calculateProjectedCoordinates()
+ * Description: TODO
+ *
+ * Params: TODO
+ *
+ *
+ * Return Value: none
+ *
+ */
+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)
+{
+
+ float dsa = velocity * tsa;
+ float dsb = velocity * tsb;
+ float dsc = velocity * tsc;
+
+ 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;
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.h Sat May 28 21:26:55 2016 +0000
@@ -0,0 +1,4229 @@
+/*
+ * 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
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+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
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+0.000001
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+-0.000675
+-0.000575
+-0.000134
+0.000271
+0.000398
+0.000242
+-0.000041
+-0.000268
+};
+
+
+float signalABC[NUM_SAMPLES] = {
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+ 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,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0
+};
+
+const float signalA[NUM_SAMPLES] = {
+
+};
+
+const float signalB[NUM_SAMPLES] = {
+
+};
+
+const float signalC[NUM_SAMPLES] = {
+
+};
+
+#endif /* MAIN_H_ */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat May 28 21:26:55 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/aae6fcc7d9bb \ No newline at end of file