Steve Ravet
/
billy
The Big Mouth Billy Bass program
Diff: main.cpp
- Revision:
- 0:ef6fc1737022
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Mon Jan 17 16:53:37 2011 +0000 @@ -0,0 +1,373 @@ + +#include "mbed.h" +#include "SDFileSystem.h" + +#define SAMPLE_FREQ 40000 +#define BUF_SIZE (SAMPLE_FREQ/10) +#define SLICE_BUF_SIZE 1 + +// include this #define to enable lots of serial output +//#define VERBOSE + + + +typedef struct uFMT_STRUCT { + short comp_code; + short num_channels; + unsigned sample_rate; + unsigned avg_Bps; + short block_align; + short sig_bps; +} FMT_STRUCT; + + +typedef struct uMOV_STRUCT { + long sample; + unsigned motor; + unsigned duty_cycle; + unsigned played; +} MOV_STRUCT; + +// global MBED things +AnalogOut DACout(p18); +DigitalOut led1(LED1); +DigitalOut led2(LED2); +DigitalOut led3(LED3); +DigitalOut led4(LED4); +DigitalOut digout(p8); +DigitalIn pushbutton(p24); +PwmOut body(p21); +PwmOut mouth(p22); +PwmOut tail(p23); +Ticker tick; +SDFileSystem sd(p5, p6, p7, p13, "sd"); + +// global variables used both by the main program and the ISR +short DAC_fifo[256]; // FIFO for the DAC +short DAC_wptr; // FIFO pointer +volatile short DAC_rptr; // FIFO pointer +long slice; +unsigned num_movements; +unsigned current_movement; +MOV_STRUCT movements[500]; + +void dac_out(void); +void play_wave(char *,char *,unsigned); +void cleanup(char *); +unsigned process_movement_file (char *mfname, MOV_STRUCT *mv,unsigned samp_rate); + + +int main() { + FILE *cmdfile; + char cmdline[100]; + char *movfile,*tmp; + char cmdfile_name[]="/sd/fish.txt"; + unsigned slow_mode=0; + if (pushbutton) slow_mode=1; + led1=0; wait(.5); led1=1; wait(.5); led1=0; + printf("\nHello, world!\n"); + if (slow_mode) printf("Slooooow mode enabled...\n"); + printf("Waiting for button push\n"); + while (!pushbutton); + printf("Button pushed\n"); + while (1) { + cmdfile=fopen(cmdfile_name,"rb"); + if (!cmdfile) { + printf("Unable to open command file '%s'\n",cmdfile_name); + exit(1); + } + + fgets(cmdline,100,cmdfile); + while (!feof(cmdfile)) { + printf("Parsing '%s' from command file '%s'\n",cmdline,cmdfile_name); + tmp=strchr(cmdline,'#'); + if (tmp) *tmp=0; + movfile=strchr(cmdline,' '); + if (movfile) { + *movfile=0; + movfile++; + tmp=strchr(movfile,'\n'); + cleanup(movfile); + if (tmp) *tmp=0; + +#ifdef USE_PUSHBUTTON + printf("Waiting for button push\n"); + while (!pushbutton); + printf("Button pushed\n"); +#else + wait_ms(2000); +#endif + play_wave(cmdline,movfile,slow_mode); + printf("Back from play_wave()\n"); + } else { + printf("Unable to parse '%s' from command file '%s'\n",cmdline,cmdfile_name); + } + fgets(cmdline,100,cmdfile); + } + fclose(cmdfile); + printf("Goodbye, world!\n"); + } +} + +void play_wave(char *wavname,char *movname,unsigned slow) +{ + unsigned chunk_id,chunk_size,channel; + unsigned data,samp_int,i; + short dac_data; + char *slice_buf; + short *data_sptr; + unsigned char *data_bptr; + int *data_wptr; + FMT_STRUCT wav_format; + FILE *wavfile; + long num_slices; + long long slice_value; + int verbosity=0; + DAC_wptr=0; + DAC_rptr=0; + for (i=0;i<256;i+=2) { + DAC_fifo[i]=0; + DAC_fifo[i+1]=3000; + } + DAC_wptr=4; + + body.period_us(100); + mouth.period_us(100); + tail.period_us(100); + led1=led2=led3=led4=0; + + printf("Playing wave file '%s', mov file '%s'\n",wavname,movname); + + wavfile=fopen(wavname,"rb"); + if (!wavfile) { + printf("Unable to open wav file '%s'\n",wavname); + return; + } + + + fread(&chunk_id,4,1,wavfile); + fread(&chunk_size,4,1,wavfile); + while (!feof(wavfile)) { + printf("Read chunk ID 0x%x, size 0x%x\n",chunk_id,chunk_size); + switch (chunk_id) { + case 0x46464952: + fread(&data,4,1,wavfile); + printf("RIFF chunk\n"); + printf(" chunk size %d (0x%x)\n",chunk_size,chunk_size); + printf(" RIFF type 0x%x\n",data); + break; + case 0x20746d66: + fread(&wav_format,sizeof(wav_format),1,wavfile); + printf("FORMAT chunk\n"); + printf(" chunk size %d (0x%x)\n",chunk_size,chunk_size); + printf(" compression code %d\n",wav_format.comp_code); + printf(" %d channels\n",wav_format.num_channels); + printf(" %d samples/sec\n",wav_format.sample_rate); + printf(" %d bytes/sec\n",wav_format.avg_Bps); + printf(" block align %d\n",wav_format.block_align); + printf(" %d bits per sample\n",wav_format.sig_bps); + if (chunk_size > sizeof(wav_format)) + fseek(wavfile,chunk_size-sizeof(wav_format),SEEK_CUR); +// create a slice buffer large enough to hold multiple slices + slice_buf=(char *)malloc(wav_format.block_align*SLICE_BUF_SIZE); + if (!slice_buf) { + printf("Unable to malloc slice buffer"); + exit(1); + } +// now that the sample rate is known, process the movement file + num_movements=process_movement_file(movname,movements,wav_format.sample_rate); + break; + + case 0x61746164: + slice_buf=(char *)malloc(wav_format.block_align*SLICE_BUF_SIZE); + if (!slice_buf) { + printf("Unable to malloc slice buffer"); + exit(1); + } num_slices=chunk_size/wav_format.block_align; + printf("DATA chunk\n"); + printf(" chunk size %d (0x%x)\n",chunk_size,chunk_size); + printf(" %d slices\n",num_slices); + printf(" Ideal sample interval=%d\n",(unsigned)(1000000.0/wav_format.sample_rate)); + samp_int=1000000/(wav_format.sample_rate); + if (slow) samp_int*=1.5; + printf(" programmed interrupt tick interval=%d\n",samp_int); + +// starting up ticker to write samples out -- no printfs until tick.detach is called + current_movement=0; + tick.attach_us(&dac_out, samp_int); + led2=1; + for (slice=0;slice<num_slices;slice+=SLICE_BUF_SIZE) { + fread(slice_buf,wav_format.block_align*SLICE_BUF_SIZE,1,wavfile); + if (feof(wavfile)) { + printf("Oops -- not enough slices in the wave file\n"); + exit(1); + } + data_sptr=(short *)slice_buf; + data_bptr=(unsigned char *)slice_buf; + data_wptr=(int *)slice_buf; + slice_value=0; + for (i=0;i<SLICE_BUF_SIZE;i++) { + for (channel=0;channel<wav_format.num_channels;channel++) { + switch (wav_format.sig_bps) { + case 16: + if (verbosity) + printf("16 bit channel %d data=%d ",channel,data_sptr[channel]); + slice_value+=data_sptr[channel]; + break; + case 32: + if (verbosity) + printf("32 bit channel %d data=%d ",channel,data_wptr[channel]); + slice_value+=data_wptr[channel]; + break; + case 8: + if (verbosity) + printf("8 bit channel %d data=%d ",channel,(int)data_bptr[channel]); + slice_value+=data_bptr[channel]; + break; + } + } + slice_value/=wav_format.num_channels; + +// slice_value is now averaged. Next it needs to be scaled to an unsigned 16 bit value +// with DC offset so it can be written to the DAC. + switch (wav_format.sig_bps) { + case 8: slice_value<<=8; + break; + case 16: slice_value+=32768; + break; + case 32: slice_value>>=16; + slice_value+=32768; + break; + } + dac_data=(short unsigned )slice_value; + if (verbosity) + printf("sample %d wptr %d slice_value %d dac_data %u\n",slice,DAC_wptr,(int)slice_value,dac_data); + +// finally stick it in the DAC FIFO. If the write pointer wraps around and meets the read pointer +// the wait until the read pointer moves. + DAC_fifo[DAC_wptr]=dac_data; + DAC_wptr=(DAC_wptr+1) & 0xff; + while (DAC_wptr==DAC_rptr) { + } + } + } + led2=0; +// wait for ISR to drain FIFO + wait_us(300); + tick.detach(); + printf("Ticker detached\n"); + led3=1; + free(slice_buf); + break; + case 0x5453494c: + printf("INFO chunk, size %d\n",chunk_size); + fseek(wavfile,chunk_size,SEEK_CUR); + break; + default: + printf("unknown chunk type 0x%x, size %d\n",chunk_id,chunk_size); + data=fseek(wavfile,chunk_size,SEEK_CUR); + break; + } + fread(&chunk_id,4,1,wavfile); + fread(&chunk_size,4,1,wavfile); + } + printf("Done with wave file\n"); + fclose(wavfile); + led1=0; + body.pulsewidth_us(0); + mouth.pulsewidth_us(0); + tail.pulsewidth_us(0); +} + + +void dac_out() { + int value; + digout=1; + if (!movements[current_movement].played) { + if (movements[current_movement].sample<=slice) { + if (movements[current_movement].motor==0) body.pulsewidth_us(movements[current_movement].duty_cycle); + if (movements[current_movement].motor==1) mouth.pulsewidth_us(movements[current_movement].duty_cycle); + if (movements[current_movement].motor==2) tail.pulsewidth_us(movements[current_movement].duty_cycle); + movements[current_movement].played=1; + current_movement++; + } + } + DACout.write_u16(DAC_fifo[DAC_rptr]); + DAC_rptr=(DAC_rptr+1) & 0xff; + digout=0; +} + + +void cleanup(char *s) +{ + char *t; + t=strchr(s,'\n'); + if (t) *t=0; + t=strchr(s,'\r'); + if (t) *t=0; +} + +unsigned process_movement_file (char *mfname, MOV_STRUCT *mv,unsigned samp_rate) +{ + FILE *movfile; + char line[100],*tmp; + unsigned num_movements,i,j,x; + movfile=fopen(mfname,"rb"); + if (!movfile) { + printf("Unable to open mov file '%s'\n",mfname); + return 0; + } + + fgets(line,100,movfile); + num_movements=0; +#ifdef VERBOSE + printf("Motor report...\n"); +#endif + while (!feof(movfile)) { + if (line[0]!='#') { + tmp=line; +// first thing on line is time in ms + movements[num_movements].sample=(atol(tmp)*samp_rate)/1000; +// skip digits (non whitespace) + tmp=line; + while (*tmp!=' ' && *tmp!='\t' && *tmp!=0) + tmp++; +// skip whitespace + while ((*tmp==' ' | *tmp=='\t') && *tmp!=0) + tmp++; + if (strstr(tmp,"body")) + movements[num_movements].motor=0; + if (strstr(tmp,"mouth")) + movements[num_movements].motor=1; + if (strstr(tmp,"tail")) + movements[num_movements].motor=2; +// skip letters (non whitespace) + while (*tmp!=' ' && *tmp!='\t') + tmp++; +// skip whitespace + while (*tmp==' ' | *tmp=='\t') + tmp++; + if (tmp) + movements[num_movements].duty_cycle=atoi(tmp); + movements[num_movements].played=0; +#ifdef VERBOSE + printf(" moving motor %d at sample %ld with duty cycle %d\n",movements[num_movements].motor,movements[num_movements].sample,movements[num_movements].duty_cycle); +#endif + num_movements++; + } + fgets(line,100,movfile); + } + printf(" %d movements read\n",num_movements); + printf(" sorting movements..."); + for (i=0;i<num_movements;i++) { + for (j=i;j<num_movements;j++) { + if (movements[j].sample < movements[i].sample) { + x=movements[i].sample; movements[i].sample=movements[j].sample; movements[j].sample=x; + x=movements[i].motor ; movements[i].motor =movements[j].motor ; movements[j].motor =x; + x=movements[i].duty_cycle;movements[i].duty_cycle=movements[j].duty_cycle;movements[j].duty_cycle=x; + } + } + } + printf("done\n"); + return num_movements; +}