seeing i robot - with all the file systems and complete code
Dependencies: mbed SRF05 Servo CMPS03
VS1002.cpp@1:2bac7b6f3840, 2010-12-17 (annotated)
- Committer:
- sowmy87
- Date:
- Fri Dec 17 22:55:25 2010 +0000
- Revision:
- 1:2bac7b6f3840
- Parent:
- 0:ee786e500a3c
Sensor 1 edited
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sowmy87 | 0:ee786e500a3c | 1 | #include "VS1002.h" |
sowmy87 | 0:ee786e500a3c | 2 | #include "mbed.h" |
sowmy87 | 0:ee786e500a3c | 3 | |
sowmy87 | 0:ee786e500a3c | 4 | |
sowmy87 | 0:ee786e500a3c | 5 | |
sowmy87 | 0:ee786e500a3c | 6 | /* ================================================================== |
sowmy87 | 0:ee786e500a3c | 7 | * Constructor |
sowmy87 | 0:ee786e500a3c | 8 | * =================================================================*/ |
sowmy87 | 0:ee786e500a3c | 9 | VS1002::VS1002( |
sowmy87 | 0:ee786e500a3c | 10 | PinName mmosi, PinName mmiso, PinName ssck, PinName ccs, const char *name, |
sowmy87 | 0:ee786e500a3c | 11 | PinName mosi, PinName miso, PinName sck, PinName cs, PinName rst, |
sowmy87 | 0:ee786e500a3c | 12 | PinName dreq, PinName dcs, PinName vol) |
sowmy87 | 0:ee786e500a3c | 13 | : |
sowmy87 | 0:ee786e500a3c | 14 | _sd(mmosi, mmiso, ssck, ccs, name), |
sowmy87 | 0:ee786e500a3c | 15 | _spi(mosi, miso, sck), |
sowmy87 | 0:ee786e500a3c | 16 | _CS(cs), |
sowmy87 | 0:ee786e500a3c | 17 | _RST(rst), |
sowmy87 | 0:ee786e500a3c | 18 | _DREQ(dreq), |
sowmy87 | 0:ee786e500a3c | 19 | _DCS(dcs), |
sowmy87 | 0:ee786e500a3c | 20 | _VOL(vol) { |
sowmy87 | 0:ee786e500a3c | 21 | |
sowmy87 | 0:ee786e500a3c | 22 | } |
sowmy87 | 0:ee786e500a3c | 23 | |
sowmy87 | 0:ee786e500a3c | 24 | /*=================================================================== |
sowmy87 | 0:ee786e500a3c | 25 | * Functions |
sowmy87 | 0:ee786e500a3c | 26 | *==================================================================*/ |
sowmy87 | 0:ee786e500a3c | 27 | |
sowmy87 | 0:ee786e500a3c | 28 | void VS1002::cs_low(void) |
sowmy87 | 0:ee786e500a3c | 29 | { |
sowmy87 | 0:ee786e500a3c | 30 | _CS = 0; |
sowmy87 | 0:ee786e500a3c | 31 | } |
sowmy87 | 0:ee786e500a3c | 32 | void VS1002::cs_high(void) |
sowmy87 | 0:ee786e500a3c | 33 | { |
sowmy87 | 0:ee786e500a3c | 34 | _CS = 1; |
sowmy87 | 0:ee786e500a3c | 35 | } |
sowmy87 | 0:ee786e500a3c | 36 | void VS1002::dcs_low(void) |
sowmy87 | 0:ee786e500a3c | 37 | { |
sowmy87 | 0:ee786e500a3c | 38 | _DCS = 0; |
sowmy87 | 0:ee786e500a3c | 39 | } |
sowmy87 | 0:ee786e500a3c | 40 | void VS1002::dcs_high(void) |
sowmy87 | 0:ee786e500a3c | 41 | { |
sowmy87 | 0:ee786e500a3c | 42 | _DCS = 1; |
sowmy87 | 0:ee786e500a3c | 43 | } |
sowmy87 | 0:ee786e500a3c | 44 | void VS1002::sci_en(void) //SCI enable |
sowmy87 | 0:ee786e500a3c | 45 | { |
sowmy87 | 0:ee786e500a3c | 46 | cs_high(); |
sowmy87 | 0:ee786e500a3c | 47 | dcs_high(); |
sowmy87 | 0:ee786e500a3c | 48 | cs_low(); |
sowmy87 | 0:ee786e500a3c | 49 | } |
sowmy87 | 0:ee786e500a3c | 50 | void VS1002::sci_dis(void) //SCI disable |
sowmy87 | 0:ee786e500a3c | 51 | { |
sowmy87 | 0:ee786e500a3c | 52 | cs_high(); |
sowmy87 | 0:ee786e500a3c | 53 | } |
sowmy87 | 0:ee786e500a3c | 54 | void VS1002::sdi_en(void) //SDI enable |
sowmy87 | 0:ee786e500a3c | 55 | { |
sowmy87 | 0:ee786e500a3c | 56 | dcs_high(); |
sowmy87 | 0:ee786e500a3c | 57 | cs_high(); |
sowmy87 | 0:ee786e500a3c | 58 | dcs_low(); |
sowmy87 | 0:ee786e500a3c | 59 | } |
sowmy87 | 0:ee786e500a3c | 60 | void VS1002::sdi_dis(void) //SDI disable |
sowmy87 | 0:ee786e500a3c | 61 | { |
sowmy87 | 0:ee786e500a3c | 62 | dcs_high(); |
sowmy87 | 0:ee786e500a3c | 63 | } |
sowmy87 | 0:ee786e500a3c | 64 | void VS1002::reset(void) //hardware reset |
sowmy87 | 0:ee786e500a3c | 65 | { |
sowmy87 | 0:ee786e500a3c | 66 | wait(0.01); |
sowmy87 | 0:ee786e500a3c | 67 | _RST = 0; |
sowmy87 | 0:ee786e500a3c | 68 | wait(0.01); |
sowmy87 | 0:ee786e500a3c | 69 | _RST = 1; |
sowmy87 | 0:ee786e500a3c | 70 | wait(0.10); |
sowmy87 | 0:ee786e500a3c | 71 | } |
sowmy87 | 0:ee786e500a3c | 72 | void VS1002::power_down(void) //hardware and software reset |
sowmy87 | 0:ee786e500a3c | 73 | { |
sowmy87 | 0:ee786e500a3c | 74 | cs_low(); |
sowmy87 | 0:ee786e500a3c | 75 | reset(); |
sowmy87 | 0:ee786e500a3c | 76 | sci_write(0x00, SM_PDOWN); |
sowmy87 | 0:ee786e500a3c | 77 | wait(0.01); |
sowmy87 | 0:ee786e500a3c | 78 | reset(); |
sowmy87 | 0:ee786e500a3c | 79 | } |
sowmy87 | 0:ee786e500a3c | 80 | void VS1002::sci_initialise(void) |
sowmy87 | 0:ee786e500a3c | 81 | { |
sowmy87 | 0:ee786e500a3c | 82 | _RST = 1; //no reset |
sowmy87 | 0:ee786e500a3c | 83 | _spi.format(8,0); //spi 8bit interface, steady state low |
sowmy87 | 0:ee786e500a3c | 84 | _spi.frequency(1000000); //rising edge data record, freq. 1Mhz |
sowmy87 | 0:ee786e500a3c | 85 | |
sowmy87 | 0:ee786e500a3c | 86 | cs_low(); |
sowmy87 | 0:ee786e500a3c | 87 | for(int i=0; i<4; i++) |
sowmy87 | 0:ee786e500a3c | 88 | { |
sowmy87 | 0:ee786e500a3c | 89 | _spi.write(0xFF); //clock the chip a bit |
sowmy87 | 0:ee786e500a3c | 90 | } |
sowmy87 | 0:ee786e500a3c | 91 | cs_high(); |
sowmy87 | 0:ee786e500a3c | 92 | dcs_high(); |
sowmy87 | 0:ee786e500a3c | 93 | wait_us(5); |
sowmy87 | 0:ee786e500a3c | 94 | // fprintf(stderr, "Timeout waiting for v1.x card\n"); |
sowmy87 | 0:ee786e500a3c | 95 | |
sowmy87 | 0:ee786e500a3c | 96 | } |
sowmy87 | 0:ee786e500a3c | 97 | void VS1002::sdi_initialise(void) |
sowmy87 | 0:ee786e500a3c | 98 | { |
sowmy87 | 0:ee786e500a3c | 99 | _spi.format(8,0); |
sowmy87 | 0:ee786e500a3c | 100 | _spi.frequency(7000000); //set to 7MHz |
sowmy87 | 0:ee786e500a3c | 101 | |
sowmy87 | 0:ee786e500a3c | 102 | cs_high(); |
sowmy87 | 0:ee786e500a3c | 103 | dcs_high(); |
sowmy87 | 0:ee786e500a3c | 104 | } |
sowmy87 | 0:ee786e500a3c | 105 | void VS1002::sci_write(unsigned char address, unsigned short int data) |
sowmy87 | 0:ee786e500a3c | 106 | { |
sowmy87 | 0:ee786e500a3c | 107 | sci_en(); //enables SCI/disables SDI |
sowmy87 | 0:ee786e500a3c | 108 | |
sowmy87 | 0:ee786e500a3c | 109 | while(!_DREQ); //wait unitl data request is high |
sowmy87 | 0:ee786e500a3c | 110 | _spi.write(0x02); //SCI write |
sowmy87 | 0:ee786e500a3c | 111 | _spi.write(address); //register address |
sowmy87 | 0:ee786e500a3c | 112 | _spi.write((data >> 8) & 0xFF); //write out first half of data word |
sowmy87 | 0:ee786e500a3c | 113 | _spi.write(data & 0xFF); //write out second half of data word |
sowmy87 | 0:ee786e500a3c | 114 | |
sowmy87 | 0:ee786e500a3c | 115 | sci_dis(); //enables SDI/disables SCI |
sowmy87 | 0:ee786e500a3c | 116 | wait_us(5); |
sowmy87 | 0:ee786e500a3c | 117 | } |
sowmy87 | 0:ee786e500a3c | 118 | void VS1002::sdi_write(unsigned char datum) |
sowmy87 | 0:ee786e500a3c | 119 | { |
sowmy87 | 0:ee786e500a3c | 120 | sdi_en(); |
sowmy87 | 0:ee786e500a3c | 121 | |
sowmy87 | 0:ee786e500a3c | 122 | while(!_DREQ); |
sowmy87 | 0:ee786e500a3c | 123 | _spi.write(datum); |
sowmy87 | 0:ee786e500a3c | 124 | |
sowmy87 | 0:ee786e500a3c | 125 | sci_dis(); |
sowmy87 | 0:ee786e500a3c | 126 | } |
sowmy87 | 0:ee786e500a3c | 127 | unsigned short int VS1002::read(unsigned short int address) |
sowmy87 | 0:ee786e500a3c | 128 | { |
sowmy87 | 0:ee786e500a3c | 129 | cs_low(); //enables SCI/disables SDI |
sowmy87 | 0:ee786e500a3c | 130 | |
sowmy87 | 0:ee786e500a3c | 131 | while(!_DREQ); //wait unitl data request is high |
sowmy87 | 0:ee786e500a3c | 132 | _spi.write(0x03); //SCI write |
sowmy87 | 0:ee786e500a3c | 133 | _spi.write(address); //register address |
sowmy87 | 0:ee786e500a3c | 134 | unsigned short int received = _spi.write(0x00); //write out dummy byte |
sowmy87 | 0:ee786e500a3c | 135 | received <<= 8; |
sowmy87 | 0:ee786e500a3c | 136 | received += _spi.write(0x00); //write out dummy byte |
sowmy87 | 0:ee786e500a3c | 137 | |
sowmy87 | 0:ee786e500a3c | 138 | cs_high(); //enables SDI/disables SCI |
sowmy87 | 0:ee786e500a3c | 139 | |
sowmy87 | 0:ee786e500a3c | 140 | return received; //return received word |
sowmy87 | 0:ee786e500a3c | 141 | } |
sowmy87 | 0:ee786e500a3c | 142 | void VS1002::sine_test_activate(unsigned char wave) |
sowmy87 | 0:ee786e500a3c | 143 | { |
sowmy87 | 0:ee786e500a3c | 144 | cs_high(); //enables SDI/disables SCI |
sowmy87 | 0:ee786e500a3c | 145 | |
sowmy87 | 0:ee786e500a3c | 146 | while(!_DREQ); //wait unitl data request is high |
sowmy87 | 0:ee786e500a3c | 147 | _spi.write(0x53); //SDI write |
sowmy87 | 0:ee786e500a3c | 148 | _spi.write(0xEF); //SDI write |
sowmy87 | 0:ee786e500a3c | 149 | _spi.write(0x6E); //SDI write |
sowmy87 | 0:ee786e500a3c | 150 | _spi.write(wave); //SDI write |
sowmy87 | 0:ee786e500a3c | 151 | _spi.write(0x00); //filler byte |
sowmy87 | 0:ee786e500a3c | 152 | _spi.write(0x00); //filler byte |
sowmy87 | 0:ee786e500a3c | 153 | _spi.write(0x00); //filler byte |
sowmy87 | 0:ee786e500a3c | 154 | _spi.write(0x00); //filler byte |
sowmy87 | 0:ee786e500a3c | 155 | |
sowmy87 | 0:ee786e500a3c | 156 | cs_low(); //enables SCI/disables SDI |
sowmy87 | 0:ee786e500a3c | 157 | } |
sowmy87 | 0:ee786e500a3c | 158 | void VS1002::sine_test_deactivate(void) |
sowmy87 | 0:ee786e500a3c | 159 | { |
sowmy87 | 0:ee786e500a3c | 160 | cs_high(); |
sowmy87 | 0:ee786e500a3c | 161 | |
sowmy87 | 0:ee786e500a3c | 162 | while(!_DREQ); |
sowmy87 | 0:ee786e500a3c | 163 | _spi.write(0x45); //SDI write |
sowmy87 | 0:ee786e500a3c | 164 | _spi.write(0x78); //SDI write |
sowmy87 | 0:ee786e500a3c | 165 | _spi.write(0x69); //SDI write |
sowmy87 | 0:ee786e500a3c | 166 | _spi.write(0x74); //SDI write |
sowmy87 | 0:ee786e500a3c | 167 | _spi.write(0x00); //filler byte |
sowmy87 | 0:ee786e500a3c | 168 | _spi.write(0x00); //filler byte |
sowmy87 | 0:ee786e500a3c | 169 | _spi.write(0x00); //filler byte |
sowmy87 | 0:ee786e500a3c | 170 | _spi.write(0x00); //filler byte |
sowmy87 | 0:ee786e500a3c | 171 | } |
sowmy87 | 0:ee786e500a3c | 172 | void VS1002::volume(void) |
sowmy87 | 0:ee786e500a3c | 173 | { |
sowmy87 | 0:ee786e500a3c | 174 | #ifdef FIXED_VOL |
sowmy87 | 0:ee786e500a3c | 175 | unsigned char volumize = (0 * 255); // FIXED VOL (not support volume input) |
sowmy87 | 0:ee786e500a3c | 176 | #else |
sowmy87 | 0:ee786e500a3c | 177 | unsigned char volumize = (0 * 255); |
sowmy87 | 0:ee786e500a3c | 178 | #endif |
sowmy87 | 0:ee786e500a3c | 179 | while(!_DREQ); |
sowmy87 | 0:ee786e500a3c | 180 | |
sowmy87 | 0:ee786e500a3c | 181 | unsigned short int attenuation = ((256 * volumize) + volumize); |
sowmy87 | 0:ee786e500a3c | 182 | sci_write(0x0B, attenuation); |
sowmy87 | 0:ee786e500a3c | 183 | } |
sowmy87 | 0:ee786e500a3c | 184 | |
sowmy87 | 0:ee786e500a3c | 185 | void VS1002::play_song(int song_number) |
sowmy87 | 0:ee786e500a3c | 186 | { |
sowmy87 | 0:ee786e500a3c | 187 | /*====== Song Select ======*/ |
sowmy87 | 0:ee786e500a3c | 188 | |
sowmy87 | 0:ee786e500a3c | 189 | // char list[10000] = {0}; |
sowmy87 | 0:ee786e500a3c | 190 | char list[1000] = {0}; |
sowmy87 | 0:ee786e500a3c | 191 | char str[16] = {"/sd/"}; |
sowmy87 | 0:ee786e500a3c | 192 | unsigned int startplace = 0; |
sowmy87 | 0:ee786e500a3c | 193 | unsigned int endplace = 0; |
sowmy87 | 0:ee786e500a3c | 194 | unsigned int play = 0; |
sowmy87 | 0:ee786e500a3c | 195 | num_of_files = 0; |
sowmy87 | 0:ee786e500a3c | 196 | |
sowmy87 | 0:ee786e500a3c | 197 | DIR *d; |
sowmy87 | 0:ee786e500a3c | 198 | struct dirent *p; |
sowmy87 | 0:ee786e500a3c | 199 | d = opendir("/sd"); |
sowmy87 | 0:ee786e500a3c | 200 | if(d != NULL) |
sowmy87 | 0:ee786e500a3c | 201 | { |
sowmy87 | 0:ee786e500a3c | 202 | while((p = readdir(d)) != NULL) |
sowmy87 | 0:ee786e500a3c | 203 | { |
sowmy87 | 0:ee786e500a3c | 204 | strcat(list, "*"); |
sowmy87 | 0:ee786e500a3c | 205 | strcat(list, p->d_name); |
sowmy87 | 0:ee786e500a3c | 206 | fprintf(stderr,"\n\rFilename:%s", p->d_name); |
sowmy87 | 0:ee786e500a3c | 207 | num_of_files++; |
sowmy87 | 0:ee786e500a3c | 208 | } |
sowmy87 | 0:ee786e500a3c | 209 | } |
sowmy87 | 0:ee786e500a3c | 210 | else |
sowmy87 | 0:ee786e500a3c | 211 | { |
sowmy87 | 0:ee786e500a3c | 212 | perror("Could not open directory!"); |
sowmy87 | 0:ee786e500a3c | 213 | } |
sowmy87 | 0:ee786e500a3c | 214 | strcat(list, "*"); //terminating * |
sowmy87 | 0:ee786e500a3c | 215 | if(num_of_files < song_number) |
sowmy87 | 0:ee786e500a3c | 216 | { |
sowmy87 | 0:ee786e500a3c | 217 | return; |
sowmy87 | 0:ee786e500a3c | 218 | } |
sowmy87 | 0:ee786e500a3c | 219 | while(play != song_number) |
sowmy87 | 0:ee786e500a3c | 220 | { |
sowmy87 | 0:ee786e500a3c | 221 | char symbol = list[startplace]; |
sowmy87 | 0:ee786e500a3c | 222 | startplace++; |
sowmy87 | 0:ee786e500a3c | 223 | if(symbol == 0x2A) //0x2A = "*" |
sowmy87 | 0:ee786e500a3c | 224 | { |
sowmy87 | 0:ee786e500a3c | 225 | play++; |
sowmy87 | 0:ee786e500a3c | 226 | } |
sowmy87 | 0:ee786e500a3c | 227 | } |
sowmy87 | 0:ee786e500a3c | 228 | play = 0; |
sowmy87 | 0:ee786e500a3c | 229 | while(play != (song_number+1)) |
sowmy87 | 0:ee786e500a3c | 230 | { |
sowmy87 | 0:ee786e500a3c | 231 | char symbol = list[endplace]; |
sowmy87 | 0:ee786e500a3c | 232 | endplace++; |
sowmy87 | 0:ee786e500a3c | 233 | if(symbol == 0x2A) //0x2A = "*" |
sowmy87 | 0:ee786e500a3c | 234 | { |
sowmy87 | 0:ee786e500a3c | 235 | play++; |
sowmy87 | 0:ee786e500a3c | 236 | } |
sowmy87 | 0:ee786e500a3c | 237 | } |
sowmy87 | 0:ee786e500a3c | 238 | |
sowmy87 | 0:ee786e500a3c | 239 | strncat(str, &list[startplace], endplace-startplace); |
sowmy87 | 0:ee786e500a3c | 240 | str[(endplace-startplace)+3] = '\0'; |
sowmy87 | 0:ee786e500a3c | 241 | |
sowmy87 | 0:ee786e500a3c | 242 | //printf("list: %s\r\n",list); //debug |
sowmy87 | 0:ee786e500a3c | 243 | |
sowmy87 | 0:ee786e500a3c | 244 | /*====== File Transfer ======*/ |
sowmy87 | 0:ee786e500a3c | 245 | |
sowmy87 | 0:ee786e500a3c | 246 | // return if not MP3 file |
sowmy87 | 0:ee786e500a3c | 247 | if (!((strstr(str,"MP3")!=NULL)||(strstr(str,"mp3")!=NULL))) return; |
sowmy87 | 0:ee786e500a3c | 248 | // display filename.mp3 |
sowmy87 | 0:ee786e500a3c | 249 | fprintf(stderr, "\n\rNow Playing: %s\r\n",str); |
sowmy87 | 0:ee786e500a3c | 250 | |
sowmy87 | 0:ee786e500a3c | 251 | FILE *song; |
sowmy87 | 0:ee786e500a3c | 252 | unsigned char array[512]; |
sowmy87 | 0:ee786e500a3c | 253 | |
sowmy87 | 0:ee786e500a3c | 254 | song = fopen(str, "rb"); |
sowmy87 | 0:ee786e500a3c | 255 | |
sowmy87 | 0:ee786e500a3c | 256 | if(!song) |
sowmy87 | 0:ee786e500a3c | 257 | { |
sowmy87 | 0:ee786e500a3c | 258 | exit(1); |
sowmy87 | 0:ee786e500a3c | 259 | } |
sowmy87 | 0:ee786e500a3c | 260 | |
sowmy87 | 0:ee786e500a3c | 261 | while(!feof(song)) |
sowmy87 | 0:ee786e500a3c | 262 | { |
sowmy87 | 0:ee786e500a3c | 263 | fread(&array, 1, 512, song); |
sowmy87 | 0:ee786e500a3c | 264 | for(int i=0; i<512; i++) |
sowmy87 | 0:ee786e500a3c | 265 | { |
sowmy87 | 0:ee786e500a3c | 266 | #ifndef FS_ONLY |
sowmy87 | 0:ee786e500a3c | 267 | sdi_write(array[i]); |
sowmy87 | 0:ee786e500a3c | 268 | // printf("."); |
sowmy87 | 0:ee786e500a3c | 269 | #endif |
sowmy87 | 0:ee786e500a3c | 270 | } |
sowmy87 | 0:ee786e500a3c | 271 | #ifndef FS_ONLY |
sowmy87 | 0:ee786e500a3c | 272 | volume(); |
sowmy87 | 0:ee786e500a3c | 273 | #endif |
sowmy87 | 0:ee786e500a3c | 274 | } |
sowmy87 | 0:ee786e500a3c | 275 | for(int n=0; n<2048; n++) |
sowmy87 | 0:ee786e500a3c | 276 | { |
sowmy87 | 0:ee786e500a3c | 277 | #ifndef FS_ONLY |
sowmy87 | 0:ee786e500a3c | 278 | sdi_write(0x00); |
sowmy87 | 0:ee786e500a3c | 279 | #endif |
sowmy87 | 0:ee786e500a3c | 280 | } |
sowmy87 | 0:ee786e500a3c | 281 | fclose(song); //close the file |
sowmy87 | 0:ee786e500a3c | 282 | } |