static void sample(void *arg, long period)
{
int n;
ctrl_shm->watchdog = 0;
if (ctrl_shm->state == RESET) {
/* sampling interrupted, reset everything */
ctrl_shm->curr = 0;
ctrl_shm->start = ctrl_shm->curr;
ctrl_shm->samples = 0;
ctrl_shm->force_trig = 0;
/* reset completed, set new state */
ctrl_shm->state = IDLE;
}
ctrl_rt->mult_cntr++;
if (ctrl_rt->mult_cntr < ctrl_shm->mult) {
/* not time to do anything yet */
return;
}
/* reset counter */
ctrl_rt->mult_cntr = 0;
/* run the sampling state machine */
switch (ctrl_shm->state) {
case IDLE:
/* do nothing while waiting for INIT */
break;
case INIT:
/* init start pointer, curr pointer, sample count */
ctrl_shm->curr = 0;
ctrl_shm->start = ctrl_shm->curr;
ctrl_shm->samples = 0;
ctrl_shm->force_trig = 0;
ctrl_rt->auto_timer = 0;
/* get info about channels */
for (n = 0; n < 16; n++) {
ctrl_rt->data_addr[n] = SHMPTR(ctrl_shm->data_offset[n]);
ctrl_rt->data_type[n] = ctrl_shm->data_type[n];
ctrl_rt->data_len[n] = ctrl_shm->data_len[n];
}
/* set next state */
ctrl_shm->state = PRE_TRIG;
break;
case PRE_TRIG:
/* acquire a sample */
capture_sample();
/* increment sample counter */
ctrl_shm->samples++;
/* check if all pre-trigger samples captured */
if (ctrl_shm->samples >= ctrl_shm->pre_trig) {
/* yes - start waiting for trigger */
ctrl_shm->state = TRIG_WAIT;
/* dummy call to preset 'compare_result' */
check_trigger();
}
break;
case TRIG_WAIT:
/* acquire a sample */
capture_sample();
/* increment sample counter */
ctrl_shm->samples++;
/* check if trigger condition met */
if (check_trigger()) {
/* yes - start acquiring post trigger data */
ctrl_shm->state = POST_TRIG;
} else {
/* no, discard oldest pre-trig sample */
ctrl_shm->samples--;
ctrl_shm->start += ctrl_shm->sample_len;
/* is there a valid sample here, or end of buffer? */
if ((ctrl_shm->start + ctrl_shm->sample_len) > ctrl_shm->buf_len) {
/* end of buffer, wrap back to beginning */
ctrl_shm->start = 0;
}
}
break;
case POST_TRIG:
/* acquire a sample */
capture_sample();
/* increment sample counter */
ctrl_shm->samples++;
/* check if all post-trigger samples captured */
if (ctrl_shm->samples >= ctrl_shm->rec_len) {
/* yes - stop sampling and cleanup */
ctrl_shm->state = DONE;
}
break;
case DONE:
/* do nothing while GUI displays waveform */
break;
default:
/* shouldn't get here - if we do, set a legal state */
ctrl_shm->state = IDLE;
break;
}
/* done */
}
int main(int argc, char **argv)
{
FILE *file;
struct wav_header header;
unsigned int card = 0;
unsigned int device = 0;
unsigned int channels = 2;
unsigned int rate = 44100;
unsigned int bits = 16;
unsigned int frames;
unsigned int period_size = 1024;
unsigned int period_count = 4;
enum pcm_format format;
if (argc < 2) {
fprintf(stderr, "Usage: %s file.wav [-D card] [-d device] [-c channels] "
"[-r rate] [-b bits] [-p period_size] [-n n_periods]\n", argv[0]);
return 1;
}
file = fopen(argv[1], "wb");
if (!file) {
fprintf(stderr, "Unable to create file '%s'\n", argv[1]);
return 1;
}
/* parse command line arguments */
argv += 2;
while (*argv) {
if (strcmp(*argv, "-d") == 0) {
argv++;
if (*argv)
device = atoi(*argv);
} else if (strcmp(*argv, "-c") == 0) {
argv++;
if (*argv)
channels = atoi(*argv);
} else if (strcmp(*argv, "-r") == 0) {
argv++;
if (*argv)
rate = atoi(*argv);
} else if (strcmp(*argv, "-b") == 0) {
argv++;
if (*argv)
bits = atoi(*argv);
} else if (strcmp(*argv, "-D") == 0) {
argv++;
if (*argv)
card = atoi(*argv);
} else if (strcmp(*argv, "-p") == 0) {
argv++;
if (*argv)
period_size = atoi(*argv);
} else if (strcmp(*argv, "-n") == 0) {
argv++;
if (*argv)
period_count = atoi(*argv);
}
if (*argv)
argv++;
}
header.riff_id = ID_RIFF;
header.riff_sz = 0;
header.riff_fmt = ID_WAVE;
header.fmt_id = ID_FMT;
header.fmt_sz = 16;
header.audio_format = FORMAT_PCM;
header.num_channels = channels;
header.sample_rate = rate;
switch (bits) {
case 32:
format = PCM_FORMAT_S32_LE;
break;
case 24:
format = PCM_FORMAT_S24_LE;
break;
case 16:
format = PCM_FORMAT_S16_LE;
break;
default:
fprintf(stderr, "%d bits is not supported.\n", bits);
return 1;
}
header.bits_per_sample = pcm_format_to_bits(format);
header.byte_rate = (header.bits_per_sample / 8) * channels * rate;
header.block_align = channels * (header.bits_per_sample / 8);
header.data_id = ID_DATA;
/* leave enough room for header */
fseek(file, sizeof(struct wav_header), SEEK_SET);
/* install signal handler and begin capturing */
signal(SIGINT, sigint_handler);
frames = capture_sample(file, card, device, header.num_channels,
header.sample_rate, format,
period_size, period_count);
printf("Captured %d frames\n", frames);
/* write header now all information is known */
header.data_sz = frames * header.block_align;
header.riff_sz = header.data_sz + sizeof(header) - 8;
fseek(file, 0, SEEK_SET);
fwrite(&header, sizeof(struct wav_header), 1, file);
fclose(file);
return 0;
}
int main(int argc, char **argv)
{
FILE *file;
struct wav_header header;
unsigned int card = 0;
unsigned int device = 0;
unsigned int channels = 2;
unsigned int rate = 44100;
unsigned int bits = 16;
unsigned int frames;
if (argc < 2) {
fprintf(stderr, "Usage: %s file.wav [-d device] [-c channels] "
"[-r rate] [-b bits]\n", argv[0]);
return 1;
}
file = fopen(argv[1], "wb");
if (!file) {
fprintf(stderr, "Unable to create file '%s'\n", argv[1]);
return 1;
}
/* parse command line arguments */
argv += 2;
while (*argv) {
if (strcmp(*argv, "-d") == 0) {
argv++;
device = atoi(*argv);
} else if (strcmp(*argv, "-c") == 0) {
argv++;
channels = atoi(*argv);
} else if (strcmp(*argv, "-r") == 0) {
argv++;
rate = atoi(*argv);
} else if (strcmp(*argv, "-b") == 0) {
argv++;
bits = atoi(*argv);
}
argv++;
}
header.riff_id = ID_RIFF;
header.riff_sz = 0;
header.riff_fmt = ID_WAVE;
header.fmt_id = ID_FMT;
header.fmt_sz = 16;
header.audio_format = FORMAT_PCM;
header.num_channels = channels;
header.sample_rate = rate;
header.bits_per_sample = bits;
header.byte_rate = (header.bits_per_sample / 8) * channels * rate;
header.block_align = channels * (header.bits_per_sample / 8);
header.data_id = ID_DATA;
/* leave enough room for header */
fseek(file, sizeof(struct wav_header), SEEK_SET);
/* install signal handler and begin capturing */
signal(SIGINT, sigint_handler);
signal(SIGTERM, sigint_handler);
fprintf(stdout, "Output channel(%d) sample(%d) bits(%d)\n",
header.num_channels, header.sample_rate, header.bits_per_sample);
fprintf(stdout, "from card(%d) device(%d)\n", card, device);
frames = capture_sample(file, card, device, header.num_channels,
header.sample_rate, header.bits_per_sample);
printf("Captured %d frames\n", frames);
/* write header now all information is known */
header.data_sz = frames * header.block_align;
fseek(file, 0, SEEK_SET);
fwrite(&header, sizeof(struct wav_header), 1, file);
fclose(file);
return 0;
}
/**
* Record sensor data and capture images.
* Activity is recorded to DATA.LOG to be picked up by the Skywire task.
*/
void
camera_task(void * pvParameters) {
int low_pow = 0;
/* Initialize the peripherals and state for this task. */
if (!camera_task_setup()) {
trace_printf("camera_task: setup failed\n");
vTaskDelete(NULL);
return;
} else {
trace_printf("camera_task: started\n");
}
/* Initialize timing for capture sub-tasks. */
TickType_t lastReading, lastCapture;
lastReading = lastCapture = xTaskGetTickCount();
/* Initialize the sample buffer. */
samples.Count = 0;
for (;;) {
TickType_t currentTicks = xTaskGetTickCount();
if ((currentTicks - lastReading) >= SAMPLE_RATE_MS) {
capture_sample(&lastReading);
}
//point at which image is captured from camera
if (arduCamInstalled) {
if ((currentTicks - lastCapture) >= IMAGE_RATE_MS) {
//if camera is currently in low power mode, exit low power mode before taking image
if (low_pow == 1){
if(arducam_low_power_remove() != DEVICES_OK){
trace_printf("Error removing low power mode \n");
}
else{
low_pow = 0;
}
}
//only try taking image if low power has been properly disabled
if (low_pow == 0){
capture_image(&lastCapture);
}
//after image has been taken, put camera down into low-power mode
if (low_pow == 0){
if(arducam_low_power_set() != DEVICES_OK){
trace_printf("Error setting low power mode \n");
}
else{
trace_printf("Low power mode set \n");
low_pow = 1;
}
}
}
vTaskDelay(100);
}
}
}
