/*****************************************************************************
* \brief test main function to run in main.c
* \parameters None
* \return None
*****************************************************************************/
void test_main(){
unsigned int n, m;
// Initializes rx and mic buffers to zeros
memset(audioRx, 0, N_RX*BUFLEN_8KHZ*sizeof(short));
memset(audioMic, 0, N_MIC*BUFLEN_8KHZ*sizeof(short));
memset(audioTx, 0, N_TX*BUFLEN_8KHZ*sizeof(short));
memset(audioLs, 0, N_LS*BUFLEN_8KHZ*sizeof(short));
USTIMER_init();
I2C_init(I2C0, I2C_CLK_400K);
// Init and config of TrueVoice
config_true_voice_test();
// Setup of pointers to audio buffers
init_audio_signals_test();
if(USE_DEBUG_PLOT) {
// DEBUG of mixer. Run TrueVoice for TV_PLOT_LENGTH samples and dump output to files
test_mixer();
// DEBUG of DTMF.
//test_dtmf();
//DEBUG of noise reduction
//test_noise_reduction();
//test_fileInput();
//DEBUG of subband functions
//test_subband();
//DEBUG of LEC
//test_lec();
//DEBUG of mute
//test_mute();
//Line In/Out
//test_audio_loop();
// TEST_audio();
// mitt_test();
// for(m=0;m<666;m++){ //Infinite loop
// //Update inputBuffer
// for(n=0; n<BUFLEN_8KHZ; n++){
// audioMic[1][n] = n;
// }
//
// //Run true voice
// true_voice(rx, mic, tx, ls);
// }
} else {
// Run TrueVoice once
//while(1){
//simulate_capture_audio();
//true_voice(rx, mic, tx, ls);
//simulate_send_audio();
//}
}
}
//-----------------------------------------------------------------------------
// Function: Initialize the general-purpose I/O
//
// Parameters: none
//
// Returns: none
//
//-----------------------------------------------------------------------------
int main(void)
{
float yc_new, yc_old; // Cosine Samples
float ys_new, ys_old; // Sine Sample
float cosw, sinw; // Sin/Cos Fractions
EVMOMAPL138_init(); // Initialize the board
EVMOMAPL138_initRAM(); // Set up the RAM
EVMOMAPL138_enableDsp(); // Wake up the DSP
// init the i2c for all to use.
USTIMER_init(); // General use timers
I2C_init(I2C0, I2C_CLK_400K); // I2C initialization
// set gpio output
SetGpio(); // Configure the General Purpose I/O
McASP_Init(); // Initialize McASP
AIC3106_Init(); // Initialize AIC3106
McASP_Start(); // Start McASP
// Initialize oscillators
ys_new = AMPLITUDE;
yc_new = 0.0f;
cosw = cos(THETA_INC);
sinw = sin(THETA_INC);
// Infinite loop: Each loop reads/writes one sample to the left and right channels.
while (1){
// Save old samples
yc_old = yc_new;
ys_old = ys_new;
// Generate new samples
yc_new = cosw*yc_old - sinw*ys_old;
ys_new = cosw*ys_old + sinw*yc_old;
// wait for xmit ready and send a sample to the left channel.
while (!CHKBIT(MCASP->SRCTL11, XRDY)) {}
MCASP->XBUF11 = (int16_t)yc_old;
// wait for xmit ready and send a sample to the right channel.
while (!CHKBIT(MCASP->SRCTL11, XRDY)) {}
MCASP->XBUF11 = (int16_t)ys_old;
}
}
//-----------------------------------------------------------------------------
// Function: Initialize the general-purpose I/O
//
// Parameters: none
//
// Returns: none
//
//-----------------------------------------------------------------------------
int main(void)
{
int16_t sample = 0; // Sample index into the buffer array
int16_t dataInput; // Sine Sample
int16_t oldDataInput; // Sine Sample delayed
float theta = 0; // Argument of the sine wave
int16_t buffer[BUFF_SIZE] = {0};// Buffer to hold the sine samples
float amplitude = AMPLITUDE; // Amplitude of the generated sin wave
EVMOMAPL138_init(); // Initialize the board
EVMOMAPL138_initRAM(); // Set up the RAM
EVMOMAPL138_enableDsp(); // Wake up the DSP
// init the i2c for all to use.
USTIMER_init(); // General use timers
I2C_init(I2C0, I2C_CLK_400K); // I2C initialization
// set gpio output
SetGpio(); // Configure the General Purpose I/O
McASP_Init(); // Initialize McASP
AIC3106_Init(); // Initialize AIC3106
McASP_Start(); // Start McASP
// Infinite loop: Each loop reads/writes one sample to the left and right channels.
while (1){
/* The following code is here to allow a test signal to be generated. THIS IS
NOT HOW LAB 1 IS TO BE DONE! Remove the code up to the indicated spot and insert
your own code.
*/
// Store the last sample because of the one sample delay between channels.
oldDataInput = dataInput;
// Calculate the next sine wave sample...
dataInput = ((int16_t) amplitude*sin(theta));
// Increment the argument...
theta += THETA_INC;
if (theta > 2*PI) theta -= 2*PI; // Wrap around 2pi
// Store the new sample in the buffer, for viewing...
buffer[sample] = dataInput;
sample = (sample+1)%BUFF_SIZE; // Update the sample indx
/* Before writing the 16-bit samples, you must insert your own processing here. */
// wait for xmit ready and send a sample to the left channel.
while (!CHKBIT(MCASP->SRCTL11, XRDY)) {}
MCASP->XBUF11 = oldDataInput;
// oldDataInput = MCASP->XBUF12; // Read the left channel input samples.
// wait for xmit ready and send a sample to the right channel.
while (!CHKBIT(MCASP->SRCTL11, XRDY)) {}
MCASP->XBUF11 = dataInput;
// dataInput = MCASP->XBUF12; // Read the right channel input samples.
}
}
//-----------------------------------------------------------------------------
// Function: Initialize the general-purpose I/O
//
// Parameters: none
//
// Returns: none
//
//-----------------------------------------------------------------------------
int main(void)
{
int i, k;
float out;
int circ_idx = FILTER_LEN-1;
float coeffs[FILTER_LEN] = { FIR_FILT_32 };
float z[FILTER_LEN];
int16_t dataInput; // Sine Sample
int16_t oldDataInput; // Sine Sample delayed
EVMOMAPL138_init(); // Initialize the board
EVMOMAPL138_initRAM(); // Set up the RAM
EVMOMAPL138_enableDsp(); // Wake up the DSP
// init the i2c for all to use.
USTIMER_init(); // General use timers
I2C_init(I2C0, I2C_CLK_400K); // I2C initialization
// set gpio output
SetGpio(); // Configure the General Purpose I/O
McASP_Init(); // Initialize McASP
AIC3106_Init(); // Initialize AIC3106
McASP_Start(); // Start McASP
// Infinite loop: Each loop reads/writes one sample to the left and right channels.
while (1){
/* The following code is here to allow a test signal to be generated. THIS IS
NOT HOW LAB 1 IS TO BE DONE! Remove the code up to the indicated spot and insert
your own code.
*/
// Store the last sample because of the one sample delay between channels.
oldDataInput = dataInput;
//
// Update the circular buffer index and insert the latest sample
//
circ_idx++;
z[circ_idx & 0x1F] = (float)dataInput;
//
// Compute next filter output
//
out = 0.0f; // Zero the accumulator
for( i=0; i<FILTER_LEN; i++ )
{
k = (circ_idx - i) & 0x1F; // Index into circular buffer
out += coeffs[i]*z[k]; // Multiply by coefficient
}
dataInput = (int16_t) out;
// wait for xmit ready and send a sample to the left channel.
while (!CHKBIT(MCASP->SRCTL11, XRDY)) {}
MCASP->XBUF11 = oldDataInput;
oldDataInput = MCASP->XBUF12; // Read the left channel input samples.
// wait for xmit ready and send a sample to the right channel.
while (!CHKBIT(MCASP->SRCTL11, XRDY)) {}
MCASP->XBUF11 = dataInput;
dataInput = MCASP->XBUF12; // Read the right channel input samples.
}
}
Void main()
{
int i = 0;
// unlock the system config registers.
SYSCONFIG->KICKR[0] = KICK0R_UNLOCK;
SYSCONFIG->KICKR[1] = KICK1R_UNLOCK;
SYSCONFIG1->PUPD_SEL |= 0x10000000; // change pin group 28 to pullup for GP7[12/13] (LCD switches)
// Initially set McBSP1 pins as GPIO ins
CLRBIT(SYSCONFIG->PINMUX[1], 0xFFFFFFFF);
SETBIT(SYSCONFIG->PINMUX[1], 0x88888880); // This is enabling the McBSP1 pins
CLRBIT(SYSCONFIG->PINMUX[16], 0xFFFF0000);
SETBIT(SYSCONFIG->PINMUX[16], 0x88880000); // setup GP7.8 through GP7.13
CLRBIT(SYSCONFIG->PINMUX[17], 0x000000FF);
SETBIT(SYSCONFIG->PINMUX[17], 0x00000088); // setup GP7.8 through GP7.13
//Rick added for LCD DMA flagging test
GPIO_setDir(GPIO_BANK0, GPIO_PIN8, GPIO_OUTPUT);
GPIO_setOutput(GPIO_BANK0, GPIO_PIN8, OUTPUT_HIGH);
GPIO_setDir(GPIO_BANK0, GPIO_PIN0, GPIO_INPUT);
GPIO_setDir(GPIO_BANK0, GPIO_PIN1, GPIO_INPUT);
GPIO_setDir(GPIO_BANK0, GPIO_PIN2, GPIO_INPUT);
GPIO_setDir(GPIO_BANK0, GPIO_PIN3, GPIO_INPUT);
GPIO_setDir(GPIO_BANK0, GPIO_PIN4, GPIO_INPUT);
GPIO_setDir(GPIO_BANK0, GPIO_PIN5, GPIO_INPUT);
GPIO_setDir(GPIO_BANK0, GPIO_PIN6, GPIO_INPUT);
GPIO_setDir(GPIO_BANK7, GPIO_PIN8, GPIO_OUTPUT);
GPIO_setDir(GPIO_BANK7, GPIO_PIN9, GPIO_OUTPUT);
GPIO_setDir(GPIO_BANK7, GPIO_PIN10, GPIO_OUTPUT);
GPIO_setDir(GPIO_BANK7, GPIO_PIN11, GPIO_OUTPUT);
GPIO_setDir(GPIO_BANK7, GPIO_PIN12, GPIO_INPUT);
GPIO_setDir(GPIO_BANK7, GPIO_PIN13, GPIO_INPUT);
GPIO_setOutput(GPIO_BANK7, GPIO_PIN8, OUTPUT_HIGH);
GPIO_setOutput(GPIO_BANK7, GPIO_PIN9, OUTPUT_HIGH);
GPIO_setOutput(GPIO_BANK7, GPIO_PIN10, OUTPUT_HIGH);
GPIO_setOutput(GPIO_BANK7, GPIO_PIN11, OUTPUT_HIGH);
CLRBIT(SYSCONFIG->PINMUX[13], 0xFFFFFFFF);
SETBIT(SYSCONFIG->PINMUX[13], 0x88888811); //Set GPIO 6.8-13 to GPIOs and IMPORTANT Sets GP6[15] to /RESETOUT used by PHY, GP6[14] CLKOUT appears unconnected
#warn GP6.15 is also connected to CAMERA RESET This is a Bug in my board design Need to change Camera Reset to different IO.
GPIO_setDir(GPIO_BANK6, GPIO_PIN8, GPIO_OUTPUT);
GPIO_setDir(GPIO_BANK6, GPIO_PIN9, GPIO_OUTPUT);
GPIO_setDir(GPIO_BANK6, GPIO_PIN10, GPIO_OUTPUT);
GPIO_setDir(GPIO_BANK6, GPIO_PIN11, GPIO_OUTPUT);
GPIO_setDir(GPIO_BANK6, GPIO_PIN12, GPIO_OUTPUT);
GPIO_setDir(GPIO_BANK6, GPIO_PIN13, GPIO_INPUT);
// on power up wait until Linux has initialized Timer1
while ((T1_TGCR & 0x7) != 0x7) {
for (index=0;index<50000;index++) {} // small delay before checking again
}
USTIMER_init();
// Turn on McBSP1
EVMOMAPL138_lpscTransition(PSC1, DOMAIN0, LPSC_MCBSP1, PSC_ENABLE);
// If Linux has already booted It sets a flag so no need to delay
if ( GET_ISLINUX_BOOTED == 0) {
USTIMER_delay(4*DELAY_1_SEC); // delay allowing Linux to partially boot before continuing with DSP code
}
// init the us timer and i2c for all to use.
I2C_init(I2C0, I2C_CLK_100K);
init_ColorVision();
init_LCD_mem(); // added rick
EVTCLR0 = 0xFFFFFFFF;
EVTCLR1 = 0xFFFFFFFF;
EVTCLR2 = 0xFFFFFFFF;
EVTCLR3 = 0xFFFFFFFF;
init_DMA();
init_McBSP();
init_LADAR();
CLRBIT(SYSCONFIG->PINMUX[1], 0xFFFFFFFF);
SETBIT(SYSCONFIG->PINMUX[1], 0x22222220); // This is enabling the McBSP1 pins
CLRBIT(SYSCONFIG->PINMUX[5], 0x00FF0FFF);
SETBIT(SYSCONFIG->PINMUX[5], 0x00110111); // This is enabling SPI pins
CLRBIT(SYSCONFIG->PINMUX[16], 0xFFFF0000);
SETBIT(SYSCONFIG->PINMUX[16], 0x88880000); // setup GP7.8 through GP7.13
CLRBIT(SYSCONFIG->PINMUX[17], 0x000000FF);
SETBIT(SYSCONFIG->PINMUX[17], 0x00000088); // setup GP7.8 through GP7.13
init_LCD();
LADARps.x = 3.5/12; // 3.5/12 for front mounting
LADARps.y = 0;
LADARps.theta = 1; // not inverted
OPTITRACKps.x = 0;
OPTITRACKps.y = 0;
OPTITRACKps.theta = 0;
for(i = 0;i<LADAR_MAX_DATA_SIZE;i++)
{ LADARdistance[i] = LADAR_MAX_READING; } //initialize all readings to max value.
// ROBOTps will be updated by Optitrack during gyro calibration
// TODO: specify the starting position of the robot
ROBOTps.x = 0; //the estimate in array form (useful for matrix operations)
ROBOTps.y = 0;
ROBOTps.theta = 0; // was -PI: need to flip OT ground plane to fix this
// flag pins
GPIO_setDir(IMAGE_TO_LINUX_BANK, IMAGE_TO_LINUX_FLAG, GPIO_OUTPUT);
GPIO_setDir(OPTITRACKDATA_FROM_LINUX_BANK, OPTITRACKDATA_FROM_LINUX_FLAG, GPIO_OUTPUT);
GPIO_setDir(DATA_TO_LINUX_BANK, DATA_TO_LINUX_FLAG, GPIO_OUTPUT);
GPIO_setDir(DATA_FROM_LINUX_BANK, DATA_FROM_LINUX_FLAG, GPIO_OUTPUT);
GPIO_setDir(DATAFORFILE_TO_LINUX_BANK, DATAFORFILE_TO_LINUX_FLAG, GPIO_OUTPUT);
GPIO_setDir(LVDATA_FROM_LINUX_BANK, LVDATA_FROM_LINUX_FLAG, GPIO_OUTPUT);
GPIO_setDir(LVDATA_TO_LINUX_BANK, LVDATA_TO_LINUX_FLAG, GPIO_OUTPUT);
CLR_OPTITRACKDATA_FROM_LINUX; // Clear = tell linux DSP is ready for new Opitrack data
CLR_DATA_FROM_LINUX; // Clear = tell linux that DSP is ready for new data
CLR_DATAFORFILE_TO_LINUX; // Clear = linux not requesting data
SET_DATA_TO_LINUX; // Set = put float array data into shared memory for linux
SET_IMAGE_TO_LINUX; // Set = put image into shared memory for linux
CLR_LVDATA_FROM_LINUX; // Clear = tell linux that DSP is ready for new LV data
SET_LVDATA_TO_LINUX; // Set = put LV char data into shared memory for linux
// clear all possible EDMA
EDMA3_0_Regs->SHADOW[1].ICR = 0xFFFFFFFF;
// Add your init code here
}
//-----------------------------------------------------------------------------
// Function: Initialize the general-purpose I/O
//
// Parameters: none
//
// Returns: none
//
//-----------------------------------------------------------------------------
int main(void)
{
int i;
float fir_coeffs[FILTER_LEN] = { FIR_FILT_32 };
float lat_coeffs[FILTER_LEN] = {0.0f};
float f_prev=0.0f, g_new=0.0f, g_prev=0.0f;
float g[FILTER_LEN+1]={0.0f};
int16_t dataInput; // Sine Sample
int16_t oldDataInput; // Sine Sample delayed
//
// Compute reflection coefficients for lattice filter
//
MakeLatticeCoeffs(fir_coeffs, lat_coeffs);
EVMOMAPL138_init(); // Initialize the board
EVMOMAPL138_initRAM(); // Set up the RAM
EVMOMAPL138_enableDsp(); // Wake up the DSP
// init the i2c for all to use.
USTIMER_init(); // General use timers
I2C_init(I2C0, I2C_CLK_400K); // I2C initialization
// set gpio output
SetGpio(); // Configure the General Purpose I/O
McASP_Init(); // Initialize McASP
AIC3106_Init(); // Initialize AIC3106
McASP_Start(); // Start McASP
// Infinite loop: Each loop reads/writes one sample to the left and right channels.
while (1){
/* The following code is here to allow a test signal to be generated. THIS IS
NOT HOW LAB 1 IS TO BE DONE! Remove the code up to the indicated spot and insert
your own code.
*/
// Store the last sample because of the one sample delay between channels.
oldDataInput = dataInput;
//
// Update the first stage of the lattice filter
//
f_prev = dataInput; // Set f_0 equal to the input sample
g_prev = g[0]; // Save the value stored in g[0]
g[0] = dataInput; // Update g[0]
//
// Iteratively compute next filter output for remaining stages
//
for( i=1; i<=FILTER_LEN; i++ )
{
// Save the value currently stored in the i-th delay element
g_new = g[i];
// Compute g, and store it in the i-th delay element
g[i] = g_prev + f_prev*lat_coeffs[i-1];
// Compute f
f_prev += g_prev*lat_coeffs[i-1];
// Pass the saved value from the delay element to the next stage
g_prev = g_new;
}
//
// Subtract the current input sample (Due to FIR to Lattice conversion)
//
dataInput = (int16_t) f_prev - dataInput;
// wait for xmit ready and send a sample to the left channel.
while (!CHKBIT(MCASP->SRCTL11, XRDY)) {}
MCASP->XBUF11 = oldDataInput;
oldDataInput = MCASP->XBUF12; // Read the left channel input samples.
// wait for xmit ready and send a sample to the right channel.
while (!CHKBIT(MCASP->SRCTL11, XRDY)) {}
MCASP->XBUF11 = dataInput;
dataInput = MCASP->XBUF12; // Read the right channel input samples.
}
}
