Yoichi Nagashima
add - CQpub0 Mikami / FIR_LPF_Direct
Revision 0:5bbdcb797a66, committed 2014-12-15
- Comitter:
- nagasm
- Date:
- Mon Dec 15 10:33:45 2014 +0000
- Commit message:
- add - CQpub0 Mikami / FIR_LPF_Direct
Changed in this revision
diff -r 000000000000 -r 5bbdcb797a66 FIR_LPF.hpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/FIR_LPF.hpp Mon Dec 15 10:33:45 2014 +0000
@@ -0,0 +1,66 @@
+const int order = 200;
+float xn[order+1];
+
+// from CQpub0 Mikami / FIR_LPF_Direct
+// http://developer.mbed.org/users/CQpub0Mikami/code/FIR_LPF_Direct
+//
+// Band1 Band2
+// Lower band edge frequency (kHz) 0.000000 0.600000
+// Upper band edge frequency (kHz) 0.500000 5.000000
+// Gain 1.000000 0.000000
+// Weight 1.000000 1.000000
+// Deviation 0.009734 0.009734
+// Deviation [dB] 0.084139 -40.234188
+
+const float fc[order+1] = {
+ -3.566292E-03f, 2.335185E-03f, 1.917338E-03f, 1.681921E-03f, 1.522689E-03f,
+ 1.364066E-03f, 1.157961E-03f, 8.803014E-04f, 5.296940E-04f, 1.236180E-04f,
+ -3.047488E-04f, -7.123405E-04f, -1.051992E-03f, -1.279654E-03f, -1.360180E-03f,
+ -1.273725E-03f, -1.018960E-03f, -6.155554E-04f, -1.029986E-04f, 4.621914E-04f,
+ 1.013316E-03f, 1.480161E-03f, 1.798055E-03f, 1.916527E-03f, 1.805744E-03f,
+ 1.463100E-03f, 9.143371E-04f, 2.130115E-04f, -5.640853E-04f, -1.326518E-03f,
+ -1.978121E-03f, -2.430574E-03f, -2.613837E-03f, -2.486610E-03f, -2.043447E-03f,
+ -1.317959E-03f, -3.802110E-04f, 6.680631E-04f, 1.704594E-03f, 2.600376E-03f,
+ 3.235972E-03f, 3.515095E-03f, 3.379365E-03f, 2.817894E-03f, 1.872141E-03f,
+ 6.322899E-04f, -7.684087E-04f, -2.167773E-03f, -3.393601E-03f, -4.284042E-03f,
+ -4.705797E-03f, -4.577073E-03f, -3.875274E-03f, -2.648668E-03f, -1.012065E-03f,
+ 8.616354E-04f, 2.758435E-03f, 4.447251E-03f, 5.706155E-03f, 6.350451E-03f,
+ 6.257734E-03f, 5.386359E-03f, 3.786968E-03f, 1.602121E-03f, -9.435526E-04f,
+ -3.565645E-03f, -5.948320E-03f, -7.781761E-03f, -8.797770E-03f, -8.807067E-03f,
+ -7.725336E-03f, -5.594939E-03f, -2.585050E-03f, 1.010693E-03f, 4.809328E-03f,
+ 8.361672E-03f, 1.121444E-02f, 1.295107E-02f, 1.324389E-02f, 1.191081E-02f,
+ 8.934171E-03f, 4.488148E-03f, -1.062401E-03f, -7.182842E-03f, -1.321242E-02f,
+ -1.841506E-02f, -2.204769E-02f, -2.343209E-02f, -2.202840E-02f, -1.749386E-02f,
+ -9.730157E-03f, 1.092382E-03f, 1.453105E-02f, 2.989524E-02f, 4.629194E-02f,
+ 6.269474E-02f, 7.802411E-02f, 9.123583E-02f, 1.014078E-01f, 1.078185E-01f,
+ 1.100078E-01f, 1.078185E-01f, 1.014078E-01f, 9.123583E-02f, 7.802411E-02f,
+ 6.269474E-02f, 4.629194E-02f, 2.989524E-02f, 1.453105E-02f, 1.092382E-03f,
+ -9.730157E-03f, -1.749386E-02f, -2.202840E-02f, -2.343209E-02f, -2.204769E-02f,
+ -1.841506E-02f, -1.321242E-02f, -7.182842E-03f, -1.062401E-03f, 4.488148E-03f,
+ 8.934171E-03f, 1.191081E-02f, 1.324389E-02f, 1.295107E-02f, 1.121444E-02f,
+ 8.361672E-03f, 4.809328E-03f, 1.010693E-03f, -2.585050E-03f, -5.594939E-03f,
+ -7.725336E-03f, -8.807067E-03f, -8.797770E-03f, -7.781761E-03f, -5.948320E-03f,
+ -3.565645E-03f, -9.435526E-04f, 1.602121E-03f, 3.786968E-03f, 5.386359E-03f,
+ 6.257734E-03f, 6.350451E-03f, 5.706155E-03f, 4.447251E-03f, 2.758435E-03f,
+ 8.616354E-04f, -1.012065E-03f, -2.648668E-03f, -3.875274E-03f, -4.577073E-03f,
+ -4.705797E-03f, -4.284042E-03f, -3.393601E-03f, -2.167773E-03f, -7.684087E-04f,
+ 6.322899E-04f, 1.872141E-03f, 2.817894E-03f, 3.379365E-03f, 3.515095E-03f,
+ 3.235972E-03f, 2.600376E-03f, 1.704594E-03f, 6.680631E-04f, -3.802110E-04f,
+ -1.317959E-03f, -2.043447E-03f, -2.486610E-03f, -2.613837E-03f, -2.430574E-03f,
+ -1.978121E-03f, -1.326518E-03f, -5.640853E-04f, 2.130115E-04f, 9.143371E-04f,
+ 1.463100E-03f, 1.805744E-03f, 1.916527E-03f, 1.798055E-03f, 1.480161E-03f,
+ 1.013316E-03f, 4.621914E-04f, -1.029986E-04f, -6.155554E-04f, -1.018960E-03f,
+ -1.273725E-03f, -1.360180E-03f, -1.279654E-03f, -1.051992E-03f, -7.123405E-04f,
+ -3.047488E-04f, 1.236180E-04f, 5.296940E-04f, 8.803014E-04f, 1.157961E-03f,
+ 1.364066E-03f, 1.522689E-03f, 1.681921E-03f, 1.917338E-03f, 2.335185E-03f,
+ -3.566292E-03f
+};
+
+float FIR_calc(float data){
+ int i;
+ float acc = 0;
+ xn[0] = data;
+ for (i=0; i<=order; i++) acc = acc + fc[i]*xn[i];
+ for (i=order; i>0; i--) xn[i] = xn[i-1];
+ return(acc);
+}
\ No newline at end of file
diff -r 000000000000 -r 5bbdcb797a66 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Dec 15 10:33:45 2014 +0000
@@ -0,0 +1,88 @@
+#include "mbed.h"
+#include "sub.hpp"
+#include "FIR_LPF.hpp"
+
+float mean_sum, ad_data[101];
+int average_mode, max_count, ad_pointer[5];
+
+void sum_clear(){
+ int i;
+ for (i=0; i<5; i++) ad_pointer[i] = 0;
+ for (i=0; i<101; i++) ad_data[i] = 0;
+ mean_sum = 0;
+}
+
+float move_mean_calc(float data){
+ mean_sum = mean_sum - ad_data[ad_pointer[0]] + data;
+ ad_data[ad_pointer[0]] = data;
+ ad_pointer[0]++;
+ if(ad_pointer[0] == max_count) ad_pointer[0] = 0;
+ return(mean_sum / (float)max_count);
+}
+
+int main(){
+ int i, detection, sum, gain;
+ i = 0;
+ detection = 0;
+ gain = 1;
+ for (i=0; i<5; i++) timer_value[i] = 0;
+ for (i=0; i<=order; i++) xn[i] = 0.0;
+ sum_clear();
+ xbee.baud(38400);
+ xbee.attach(&rx_fifoset, xbee.RxIrq);
+ timer_setup.attach_us(&timer_interrupt, 5); // 5usec
+ while(1){
+ if(timer_value[1] > 19){ // 0.1msec sampling
+ timer_value[1] = 0;
+ float data = (float)gain * (analog_value3.read() - 0.5f);
+ if(detection == 1){
+ if (data < 0) data = -data;
+ }
+ data = FIR_calc(data); // FIR calc call
+ if(timer_value[2] > 1999){ // 10msec
+ timer_value[2] = 0;
+ if(average_mode != 0) data = move_mean_calc(data);
+ tx_message((uint16_t)((data + 1.0f) * 2047)<<4);
+ }
+ }
+ if(timer_value[0] > 99999){ // 500msec
+ timer_value[0] = 0;
+ myled = !myled;
+ }
+ tx_fifo_check();
+ if(rx_fifo_check() == 1){
+ sum = 0;
+ for (i=0; i<6; i++) sum += conv_hex(raw_data[i])<<(4*(5-i));
+ tx_message(sum); // Echo Back
+ if(sum>>16 == 0x80){
+ switch((sum & 0xff00)>>8){
+ case 0x00:
+ detection = sum & 0x01;
+ break;
+ case 0x01:
+ gain = sum & 0x0f;
+ break;
+ case 0x02:
+ average_mode = sum & 0x07;
+ max_count = 5;
+ switch(average_mode){
+ case(2):
+ max_count = 10;
+ break;
+ case(3):
+ max_count = 20;
+ break;
+ case(4):
+ max_count = 50;
+ break;
+ case(5):
+ max_count = 100;
+ break;
+ }
+ sum_clear();
+ break;
+ }
+ }
+ }
+ }
+}
diff -r 000000000000 -r 5bbdcb797a66 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Dec 15 10:33:45 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/4fc01daae5a5 \ No newline at end of file
diff -r 000000000000 -r 5bbdcb797a66 sub.hpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/sub.hpp Mon Dec 15 10:33:45 2014 +0000
@@ -0,0 +1,73 @@
+unsigned char rxFIFO[256], txFIFO[256], raw_data[6];
+unsigned char rx_top, rx_end, tx_top, tx_end, phase;
+int timer_value[6];
+
+RawSerial xbee(PA_2, PA_3);
+Ticker timer_setup;
+AnalogIn analog_value0(A0);
+AnalogIn analog_value1(A1);
+AnalogIn analog_value2(A2);
+AnalogIn analog_value3(A3);
+DigitalOut myled(LED1);
+
+void common_setup(){
+ rx_top = rx_end = tx_top = tx_end = phase = 0;
+}
+
+void timer_interrupt(){
+ int i;
+ for (i=0; i<6; i++) ++timer_value[i] &= 65535;
+}
+
+void tx_fifo_check(){
+ if(xbee.writeable() == 1){
+ if(tx_top != tx_end){
+ xbee.putc(txFIFO[tx_end]);
+ ++tx_end &= 255;
+ }
+ }
+}
+
+int rx_fifo_check(){
+ unsigned char data;
+ if(rx_top != rx_end){
+ data = rxFIFO[rx_end];
+ ++rx_end &= 255;
+ if (data < 33){
+ phase = 0;
+ return(1);
+ }
+ raw_data[phase] = data;
+ if(++phase > 5) phase = 0;
+ return(0);
+ }
+ return(0);
+}
+
+void rx_fifoset(void){
+ rxFIFO[rx_top] = xbee.getc();
+ ++rx_top &= 255;
+}
+
+void tx_fifoset(unsigned char data){
+ txFIFO[tx_top] = data;
+ ++tx_top &= 255;
+}
+
+unsigned char hex_conv(unsigned char data){
+ data &= 15;
+ if(data < 10) return(data+48);
+ else return(data+55);
+}
+
+unsigned char conv_hex(unsigned char data){
+ if((data > 47) && (data < 58)) return(data-48);
+ else if((data > 64) && (data < 71)) return(data-55);
+ return(0);
+}
+
+void tx_message(int data){
+ int i;
+ for (i=0; i<6; i++) tx_fifoset(hex_conv((data>>(4*(5-i))) & 15));
+ tx_fifoset(13);
+}