![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
The Big Mouth Billy Bass program
Revision 0:ef6fc1737022, committed 2011-01-17
- Comitter:
- sravet
- Date:
- Mon Jan 17 16:53:37 2011 +0000
- Commit message:
- Initial checkin
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/FATFileSystem.lib Mon Jan 17 16:53:37 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_unsupported/code/fatfilesystem/ \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SDFileSystem.cpp Mon Jan 17 16:53:37 2011 +0000 @@ -0,0 +1,457 @@ +/* mbed SDFileSystem Library, for providing file access to SD cards + * Copyright (c) 2008-2010, sford + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +/* Introduction + * ------------ + * SD and MMC cards support a number of interfaces, but common to them all + * is one based on SPI. This is the one I'm implmenting because it means + * it is much more portable even though not so performant, and we already + * have the mbed SPI Interface! + * + * The main reference I'm using is Chapter 7, "SPI Mode" of: + * http://www.sdcard.org/developers/tech/sdcard/pls/Simplified_Physical_Layer_Spec.pdf + * + * SPI Startup + * ----------- + * The SD card powers up in SD mode. The SPI interface mode is selected by + * asserting CS low and sending the reset command (CMD0). The card will + * respond with a (R1) response. + * + * CMD8 is optionally sent to determine the voltage range supported, and + * indirectly determine whether it is a version 1.x SD/non-SD card or + * version 2.x. I'll just ignore this for now. + * + * ACMD41 is repeatedly issued to initialise the card, until "in idle" + * (bit 0) of the R1 response goes to '0', indicating it is initialised. + * + * You should also indicate whether the host supports High Capicity cards, + * and check whether the card is high capacity - i'll also ignore this + * + * SPI Protocol + * ------------ + * The SD SPI protocol is based on transactions made up of 8-bit words, with + * the host starting every bus transaction by asserting the CS signal low. The + * card always responds to commands, data blocks and errors. + * + * The protocol supports a CRC, but by default it is off (except for the + * first reset CMD0, where the CRC can just be pre-calculated, and CMD8) + * I'll leave the CRC off I think! + * + * Standard capacity cards have variable data block sizes, whereas High + * Capacity cards fix the size of data block to 512 bytes. I'll therefore + * just always use the Standard Capacity cards with a block size of 512 bytes. + * This is set with CMD16. + * + * You can read and write single blocks (CMD17, CMD25) or multiple blocks + * (CMD18, CMD25). For simplicity, I'll just use single block accesses. When + * the card gets a read command, it responds with a response token, and then + * a data token or an error. + * + * SPI Command Format + * ------------------ + * Commands are 6-bytes long, containing the command, 32-bit argument, and CRC. + * + * +---------------+------------+------------+-----------+----------+--------------+ + * | 01 | cmd[5:0] | arg[31:24] | arg[23:16] | arg[15:8] | arg[7:0] | crc[6:0] | 1 | + * +---------------+------------+------------+-----------+----------+--------------+ + * + * As I'm not using CRC, I can fix that byte to what is needed for CMD0 (0x95) + * + * All Application Specific commands shall be preceded with APP_CMD (CMD55). + * + * SPI Response Format + * ------------------- + * The main response format (R1) is a status byte (normally zero). Key flags: + * idle - 1 if the card is in an idle state/initialising + * cmd - 1 if an illegal command code was detected + * + * +-------------------------------------------------+ + * R1 | 0 | arg | addr | seq | crc | cmd | erase | idle | + * +-------------------------------------------------+ + * + * R1b is the same, except it is followed by a busy signal (zeros) until + * the first non-zero byte when it is ready again. + * + * Data Response Token + * ------------------- + * Every data block written to the card is acknowledged by a byte + * response token + * + * +----------------------+ + * | xxx | 0 | status | 1 | + * +----------------------+ + * 010 - OK! + * 101 - CRC Error + * 110 - Write Error + * + * Single Block Read and Write + * --------------------------- + * + * Block transfers have a byte header, followed by the data, followed + * by a 16-bit CRC. In our case, the data will always be 512 bytes. + * + * +------+---------+---------+- - - -+---------+-----------+----------+ + * | 0xFE | data[0] | data[1] | | data[n] | crc[15:8] | crc[7:0] | + * +------+---------+---------+- - - -+---------+-----------+----------+ + */ + +#include "SDFileSystem.h" + +#define SD_COMMAND_TIMEOUT 5000 + +SDFileSystem::SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name) : + FATFileSystem(name), _spi(mosi, miso, sclk), _cs(cs) { + _cs = 1; +} + +#define R1_IDLE_STATE (1 << 0) +#define R1_ERASE_RESET (1 << 1) +#define R1_ILLEGAL_COMMAND (1 << 2) +#define R1_COM_CRC_ERROR (1 << 3) +#define R1_ERASE_SEQUENCE_ERROR (1 << 4) +#define R1_ADDRESS_ERROR (1 << 5) +#define R1_PARAMETER_ERROR (1 << 6) + +// Types +// - v1.x Standard Capacity +// - v2.x Standard Capacity +// - v2.x High Capacity +// - Not recognised as an SD Card + +#define SDCARD_FAIL 0 +#define SDCARD_V1 1 +#define SDCARD_V2 2 +#define SDCARD_V2HC 3 + +int SDFileSystem::initialise_card() { + // Set to 100kHz for initialisation, and clock card with cs = 1 + _spi.frequency(100000); + _cs = 1; + for(int i=0; i<16; i++) { + _spi.write(0xFF); + } + + // send CMD0, should return with all zeros except IDLE STATE set (bit 0) + if(_cmd(0, 0) != R1_IDLE_STATE) { + fprintf(stderr, "No disk, or could not put SD card in to SPI idle state\n"); + return SDCARD_FAIL; + } + + // send CMD8 to determine whther it is ver 2.x + int r = _cmd8(); + if(r == R1_IDLE_STATE) { + return initialise_card_v2(); + } else if(r == (R1_IDLE_STATE | R1_ILLEGAL_COMMAND)) { + return initialise_card_v1(); + } else { + fprintf(stderr, "Not in idle state after sending CMD8 (not an SD card?)\n"); + return SDCARD_FAIL; + } +} + +int SDFileSystem::initialise_card_v1() { + for(int i=0; i<SD_COMMAND_TIMEOUT; i++) { + _cmd(55, 0); + if(_cmd(41, 0) == 0) { + return SDCARD_V1; + } + } + + fprintf(stderr, "Timeout waiting for v1.x card\n"); + return SDCARD_FAIL; +} + +int SDFileSystem::initialise_card_v2() { + + for(int i=0; i<SD_COMMAND_TIMEOUT; i++) { + _cmd(55, 0); + if(_cmd(41, 0) == 0) { + _cmd58(); + return SDCARD_V2; + } + } + + fprintf(stderr, "Timeout waiting for v2.x card\n"); + return SDCARD_FAIL; +} + +int SDFileSystem::disk_initialize() { + + int i = initialise_card(); +// printf("init card = %d\n", i); +// printf("OK\n"); + + _sectors = _sd_sectors(); + + // Set block length to 512 (CMD16) + if(_cmd(16, 512) != 0) { + fprintf(stderr, "Set 512-byte block timed out\n"); + return 1; + } + + _spi.frequency(1000000); // Set to 1MHz for data transfer + return 0; +} + +int SDFileSystem::disk_write(const char *buffer, int block_number) { + // set write address for single block (CMD24) + if(_cmd(24, block_number * 512) != 0) { + return 1; + } + + // send the data block + _write(buffer, 512); + return 0; +} + +int SDFileSystem::disk_read(char *buffer, int block_number) { + // set read address for single block (CMD17) + if(_cmd(17, block_number * 512) != 0) { + return 1; + } + + // receive the data + _read(buffer, 512); + return 0; +} + +int SDFileSystem::disk_status() { return 0; } +int SDFileSystem::disk_sync() { return 0; } +int SDFileSystem::disk_sectors() { return _sectors; } + +// PRIVATE FUNCTIONS + +int SDFileSystem::_cmd(int cmd, int arg) { + _cs = 0; + + // send a command + _spi.write(0x40 | cmd); + _spi.write(arg >> 24); + _spi.write(arg >> 16); + _spi.write(arg >> 8); + _spi.write(arg >> 0); + _spi.write(0x95); + + // wait for the repsonse (response[7] == 0) + for(int i=0; i<SD_COMMAND_TIMEOUT; i++) { + int response = _spi.write(0xFF); + if(!(response & 0x80)) { + _cs = 1; + _spi.write(0xFF); + return response; + } + } + _cs = 1; + _spi.write(0xFF); + return -1; // timeout +} +int SDFileSystem::_cmdx(int cmd, int arg) { + _cs = 0; + + // send a command + _spi.write(0x40 | cmd); + _spi.write(arg >> 24); + _spi.write(arg >> 16); + _spi.write(arg >> 8); + _spi.write(arg >> 0); + _spi.write(0x95); + + // wait for the repsonse (response[7] == 0) + for(int i=0; i<SD_COMMAND_TIMEOUT; i++) { + int response = _spi.write(0xFF); + if(!(response & 0x80)) { + return response; + } + } + _cs = 1; + _spi.write(0xFF); + return -1; // timeout +} + + +int SDFileSystem::_cmd58() { + _cs = 0; + int arg = 0; + + // send a command + _spi.write(0x40 | 58); + _spi.write(arg >> 24); + _spi.write(arg >> 16); + _spi.write(arg >> 8); + _spi.write(arg >> 0); + _spi.write(0x95); + + // wait for the repsonse (response[7] == 0) + for(int i=0; i<SD_COMMAND_TIMEOUT; i++) { + int response = _spi.write(0xFF); + if(!(response & 0x80)) { + int ocr = _spi.write(0xFF) << 24; + ocr |= _spi.write(0xFF) << 16; + ocr |= _spi.write(0xFF) << 8; + ocr |= _spi.write(0xFF) << 0; +// printf("OCR = 0x%08X\n", ocr); + _cs = 1; + _spi.write(0xFF); + return response; + } + } + _cs = 1; + _spi.write(0xFF); + return -1; // timeout +} + +int SDFileSystem::_cmd8() { + _cs = 0; + + // send a command + _spi.write(0x40 | 8); // CMD8 + _spi.write(0x00); // reserved + _spi.write(0x00); // reserved + _spi.write(0x01); // 3.3v + _spi.write(0xAA); // check pattern + _spi.write(0x87); // crc + + // wait for the repsonse (response[7] == 0) + for(int i=0; i<SD_COMMAND_TIMEOUT * 1000; i++) { + char response[5]; + response[0] = _spi.write(0xFF); + if(!(response[0] & 0x80)) { + for(int j=1; j<5; j++) { + response[i] = _spi.write(0xFF); + } + _cs = 1; + _spi.write(0xFF); + return response[0]; + } + } + _cs = 1; + _spi.write(0xFF); + return -1; // timeout +} + +int SDFileSystem::_read(char *buffer, int length) { + _cs = 0; + + // read until start byte (0xFF) + while(_spi.write(0xFF) != 0xFE); + + // read data + for(int i=0; i<length; i++) { + buffer[i] = _spi.write(0xFF); + } + _spi.write(0xFF); // checksum + _spi.write(0xFF); + + _cs = 1; + _spi.write(0xFF); + return 0; +} + +int SDFileSystem::_write(const char *buffer, int length) { + _cs = 0; + + // indicate start of block + _spi.write(0xFE); + + // write the data + for(int i=0; i<length; i++) { + _spi.write(buffer[i]); + } + + // write the checksum + _spi.write(0xFF); + _spi.write(0xFF); + + // check the repsonse token + if((_spi.write(0xFF) & 0x1F) != 0x05) { + _cs = 1; + _spi.write(0xFF); + return 1; + } + + // wait for write to finish + while(_spi.write(0xFF) == 0); + + _cs = 1; + _spi.write(0xFF); + return 0; +} + +static int ext_bits(char *data, int msb, int lsb) { + int bits = 0; + int size = 1 + msb - lsb; + for(int i=0; i<size; i++) { + int position = lsb + i; + int byte = 15 - (position >> 3); + int bit = position & 0x7; + int value = (data[byte] >> bit) & 1; + bits |= value << i; + } + return bits; +} + +int SDFileSystem::_sd_sectors() { + + // CMD9, Response R2 (R1 byte + 16-byte block read) + if(_cmdx(9, 0) != 0) { + fprintf(stderr, "Didn't get a response from the disk\n"); + return 0; + } + + char csd[16]; + if(_read(csd, 16) != 0) { + fprintf(stderr, "Couldn't read csd response from disk\n"); + return 0; + } + + // csd_structure : csd[127:126] + // c_size : csd[73:62] + // c_size_mult : csd[49:47] + // read_bl_len : csd[83:80] - the *maximum* read block length + + int csd_structure = ext_bits(csd, 127, 126); + int c_size = ext_bits(csd, 73, 62); + int c_size_mult = ext_bits(csd, 49, 47); + int read_bl_len = ext_bits(csd, 83, 80); + +// printf("CSD_STRUCT = %d\n", csd_structure); + + if(csd_structure != 0) { + fprintf(stderr, "This disk tastes funny! I only know about type 0 CSD structures\n"); + return 0; + } + + // memory capacity = BLOCKNR * BLOCK_LEN + // where + // BLOCKNR = (C_SIZE+1) * MULT + // MULT = 2^(C_SIZE_MULT+2) (C_SIZE_MULT < 8) + // BLOCK_LEN = 2^READ_BL_LEN, (READ_BL_LEN < 12) + + int block_len = 1 << read_bl_len; + int mult = 1 << (c_size_mult + 2); + int blocknr = (c_size + 1) * mult; + int capacity = blocknr * block_len; + + int blocks = capacity / 512; + + return blocks; +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SDFileSystem.h Mon Jan 17 16:53:37 2011 +0000 @@ -0,0 +1,81 @@ +/* mbed SDFileSystem Library, for providing file access to SD cards + * Copyright (c) 2008-2010, sford + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + */ + +#ifndef MBED_SDFILESYSTEM_H +#define MBED_SDFILESYSTEM_H + +#include "mbed.h" +#include "FATFileSystem.h" + +/** Access the filesystem on an SD Card using SPI + * + * @code + * #include "mbed.h" + * #include "SDFileSystem.h" + * + * SDFileSystem sd(p5, p6, p7, p12, "sd"); // mosi, miso, sclk, cs + * + * int main() { + * FILE *fp = fopen("/sd/myfile.txt", "w"); + * fprintf(fp, "Hello World!\n"); + * fclose(fp); + * } + */ +class SDFileSystem : public FATFileSystem { +public: + + /** Create the File System for accessing an SD Card using SPI + * + * @param mosi SPI mosi pin connected to SD Card + * @param miso SPI miso pin conencted to SD Card + * @param sclk SPI sclk pin connected to SD Card + * @param cs DigitalOut pin used as SD Card chip select + * @param name The name used to access the virtual filesystem + */ + SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name); + virtual int disk_initialize(); + virtual int disk_write(const char *buffer, int block_number); + virtual int disk_read(char *buffer, int block_number); + virtual int disk_status(); + virtual int disk_sync(); + virtual int disk_sectors(); + +protected: + + int _cmd(int cmd, int arg); + int _cmdx(int cmd, int arg); + int _cmd8(); + int _cmd58(); + int initialise_card(); + int initialise_card_v1(); + int initialise_card_v2(); + + int _read(char *buffer, int length); + int _write(const char *buffer, int length); + int _sd_sectors(); + int _sectors; + + SPI _spi; + DigitalOut _cs; +}; + +#endif
--- /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; +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Jan 17 16:53:37 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/e2ac27c8e93e