/* Construct a new plugin instance. */
LADSPA_Handle
instantiate_DeEsser(const LADSPA_Descriptor * Descriptor,
unsigned long SampleRate) {
LADSPA_Handle * ptr;
if ((ptr = malloc(sizeof(DeEsser))) != NULL) {
((DeEsser *)ptr)->sample_rate = SampleRate;
((DeEsser *)ptr)->run_adding_gain = 1.0f;
/* init filters */
biquad_init(&((DeEsser *)ptr)->sidech_lo_filter);
biquad_init(&((DeEsser *)ptr)->sidech_hi_filter);
/* alloc mem for ringbuffer */
if ((((DeEsser *)ptr)->ringbuffer =
calloc(RINGBUF_SIZE, sizeof(LADSPA_Data))) == NULL)
return NULL;
/* 10 ms attenuation data is stored */
((DeEsser *)ptr)->buflen = ((DeEsser *)ptr)->sample_rate / 100;
((DeEsser *)ptr)->pos = 0;
((DeEsser *)ptr)->sum = 0.0f;
((DeEsser *)ptr)->old_freq = 0;
return ptr;
}
return NULL;
}
/* activate a plugin instance */
void
activate_Reverb(LADSPA_Handle Instance) {
Reverb * ptr = (Reverb *)Instance;
unsigned long i,j;
for (i = 0; i < 2 * MAX_COMBS; i++) {
for (j = 0; j < (unsigned long)MAX_COMB_DELAY * ptr->sample_rate / 1000; j++)
((COMB_FILTER *)(ptr->combs + i))->ringbuffer[j] = 0.0f;
*(((COMB_FILTER *)(ptr->combs + i))->buffer_pos) = 0;
((COMB_FILTER *)(ptr->combs + i))->last_out = 0;
biquad_init(((COMB_FILTER *)(ptr->combs + i))->filter);
}
for (i = 0; i < 2 * MAX_ALLPS; i++) {
for (j = 0; j < (unsigned long)MAX_ALLP_DELAY * ptr->sample_rate / 1000; j++)
((ALLP_FILTER *)(ptr->allps + i))->ringbuffer[j] = 0.0f;
*(((ALLP_FILTER *)(ptr->allps + i))->buffer_pos) = 0;
((ALLP_FILTER *)(ptr->allps + i))->last_out = 0;
}
biquad_init(ptr->low_pass);
biquad_init((biquad *)(ptr->low_pass + 1));
biquad_init(ptr->high_pass);
biquad_init((biquad *)(ptr->high_pass + 1));
ptr->old_decay = -10.0f;
ptr->old_stereo_enh = -10.0f;
ptr->old_mode = -10.0f;
}
static LADSPA_Handle instantiateGate(
const LADSPA_Descriptor *descriptor,
unsigned long s_rate) {
Gate *plugin_data = (Gate *)calloc(1, sizeof(Gate));
float env;
float fs;
float gate;
biquad *hf = NULL;
int hold_count;
biquad *lf = NULL;
int state;
#line 28 "gate_1410.xml"
fs = s_rate;
env = 0.0f;
gate = 0.0f;
state = CLOSED;
hold_count = 0;
lf = malloc(sizeof(biquad));
hf = malloc(sizeof(biquad));
biquad_init(lf);
biquad_init(hf);
plugin_data->env = env;
plugin_data->fs = fs;
plugin_data->gate = gate;
plugin_data->hf = hf;
plugin_data->hold_count = hold_count;
plugin_data->lf = lf;
plugin_data->state = state;
return (LADSPA_Handle)plugin_data;
}
static LADSPA_Handle instantiateSurroundEncoder(
const LADSPA_Descriptor *descriptor,
unsigned long s_rate) {
SurroundEncoder *plugin_data = (SurroundEncoder *)malloc(sizeof(SurroundEncoder));
LADSPA_Data *buffer = NULL;
unsigned int buffer_pos;
unsigned int buffer_size;
biquad *hc = NULL;
biquad *lc = NULL;
#line 32 "surround_encoder_1401.xml"
buffer_size = (int)(0.0072f * s_rate);
buffer_pos = 0;
buffer = calloc(buffer_size, sizeof(LADSPA_Data));
lc = malloc(sizeof(biquad));
hc = malloc(sizeof(biquad));
biquad_init(lc);
biquad_init(hc);
ls_set_params(lc, 100.0f, -70.0f, 1.0f, s_rate);
hs_set_params(hc, 7000.0f, -70.0f, 1.0f, s_rate);
plugin_data->buffer = buffer;
plugin_data->buffer_pos = buffer_pos;
plugin_data->buffer_size = buffer_size;
plugin_data->hc = hc;
plugin_data->lc = lc;
return (LADSPA_Handle)plugin_data;
}
void
activate_ChorusFlanger(LV2_Handle Instance) {
ChorusFlanger * ptr = (ChorusFlanger *)Instance;
memset(ptr->ring_L, 0, sizeof(float)*ptr->buflen_L);
memset(ptr->ring_R, 0, sizeof(float)*ptr->buflen_R);
biquad_init(&ptr->highpass_L);
biquad_init(&ptr->highpass_R);
}
void
activate_ChorusFlanger(LADSPA_Handle Instance) {
ChorusFlanger * ptr = (ChorusFlanger *)Instance;
unsigned long i;
for (i = 0; i < (DEPTH_BUFLEN + DELAY_BUFLEN) * ptr->sample_rate / 192000; i++) {
ptr->ring_L[i] = 0.0f;
ptr->ring_R[i] = 0.0f;
}
biquad_init(&ptr->highpass_L);
biquad_init(&ptr->highpass_R);
}
static void activateDj_eq_mono(LADSPA_Handle instance) {
Dj_eq_mono *plugin_data = (Dj_eq_mono *)instance;
biquad *filters = plugin_data->filters;
float fs = plugin_data->fs;
#line 33 "dj_eq_1901.xml"
biquad_init(&filters[0]);
eq_set_params(&filters[0], 100.0f, 0.0f, PEAK_BW, fs);
biquad_init(&filters[1]);
eq_set_params(&filters[1], 1000.0f, 0.0f, PEAK_BW, fs);
biquad_init(&filters[2]);
hs_set_params(&filters[2], 10000.0f, 0.0f, SHELF_SLOPE, fs);
plugin_data->filters = filters;
plugin_data->fs = fs;
}
static void activateGsm(LADSPA_Handle instance) {
Gsm *plugin_data = (Gsm *)instance;
biquad *blf = plugin_data->blf;
int count = plugin_data->count;
LADSPA_Data *dry = plugin_data->dry;
gsm_signal *dst = plugin_data->dst;
float fs = plugin_data->fs;
gsm handle = plugin_data->handle;
int resamp = plugin_data->resamp;
float rsf = plugin_data->rsf;
gsm_signal *src = plugin_data->src;
#line 41 "gsm_1215.xml"
count = 0;
memset(src, 0, sizeof(gsm_signal) * 160);
memset(dst, 0, sizeof(gsm_signal) * 163);
memset(dry, 0, sizeof(LADSPA_Data) * 160 * resamp);
handle = gsm_create();
biquad_init(blf);
hs_set_params(blf, 3500.0f, -50.0f, 0.7f, fs);
plugin_data->blf = blf;
plugin_data->count = count;
plugin_data->dry = dry;
plugin_data->dst = dst;
plugin_data->fs = fs;
plugin_data->handle = handle;
plugin_data->resamp = resamp;
plugin_data->rsf = rsf;
plugin_data->src = src;
}
biquad_t *
biquad_new(filter_t *f)
{
biquad_t *b = malloc(sizeof(biquad_t));
if (!b) return NULL;
if (f) biquad_init(b, f);
return b;
}
static void activateSurroundEncoder(LADSPA_Handle instance) {
SurroundEncoder *plugin_data = (SurroundEncoder *)instance;
LADSPA_Data *buffer = plugin_data->buffer;
unsigned int buffer_pos = plugin_data->buffer_pos;
unsigned int buffer_size = plugin_data->buffer_size;
biquad *hc = plugin_data->hc;
biquad *lc = plugin_data->lc;
#line 44 "surround_encoder_1401.xml"
memset(buffer, 0, buffer_size * sizeof(LADSPA_Data));
biquad_init(lc);
biquad_init(hc);
plugin_data->buffer = buffer;
plugin_data->buffer_pos = buffer_pos;
plugin_data->buffer_size = buffer_size;
plugin_data->hc = hc;
plugin_data->lc = lc;
}
static void activateSinglePara(LADSPA_Handle instance) {
SinglePara *plugin_data = (SinglePara *)instance;
biquad *filter = plugin_data->filter;
float fs = plugin_data->fs;
#line 26 "single_para_1203.xml"
biquad_init(filter);
plugin_data->filter = filter;
plugin_data->fs = fs;
}
static void activateDj_eq(LADSPA_Handle instance) {
Dj_eq *plugin_data = (Dj_eq *)instance;
biquad *filters = plugin_data->filters;
float fs = plugin_data->fs;
#line 33 "dj_eq_1901.xml"
int i;
for (i=0; i<2; i++) {
biquad_init(&filters[i*BANDS + 0]);
eq_set_params(&filters[i*BANDS + 0], 100.0f, 0.0f, PEAK_BW, fs);
biquad_init(&filters[i*BANDS + 1]);
eq_set_params(&filters[i*BANDS + 1], 1000.0f, 0.0f, PEAK_BW, fs);
biquad_init(&filters[i*BANDS + 2]);
hs_set_params(&filters[i*BANDS + 2], 10000.0f, 0.0f, SHELF_SLOPE, fs);
}
plugin_data->filters = filters;
plugin_data->fs = fs;
}
static void activatePointerCastDistortion(LADSPA_Handle instance) {
PointerCastDistortion *plugin_data = (PointerCastDistortion *)instance;
biquad *filt = plugin_data->filt;
float fs = plugin_data->fs;
#line 36 "pointer_cast_1910.xml"
biquad_init(filt);
plugin_data->filt = filt;
plugin_data->fs = fs;
}
djeq_t *djeq_create() {
djeq_t *djeq = calloc(1, sizeof(djeq_t));
djeq->rate = 44100.0f;
djeq->filters = calloc(BANDS * CHANNELS, sizeof(biquad));
for (djeq->i = 0; djeq->i < CHANNELS; djeq->i++) {
biquad_init(&djeq->filters[djeq->i*BANDS + 0]);
eq_set_params(&djeq->filters[djeq->i*BANDS + 0], 100.0f, 0.0f, LOW_BW, djeq->rate);
biquad_init(&djeq->filters[djeq->i*BANDS + 1]);
eq_set_params(&djeq->filters[djeq->i*BANDS + 1], 1000.0f, 0.0f, MID_BW, djeq->rate);
biquad_init(&djeq->filters[djeq->i*BANDS + 2]);
eq_set_params(&djeq->filters[djeq->i*BANDS + 2], 10000.0f, 0.0f, HIGH_BW, djeq->rate);
}
return djeq;
}
static
void
activate_eq(LADSPA_Handle instance) {
eq *ptr = (eq *)instance;
biquad *filters = ptr->filters;
biquad_init(&filters[0]);
biquad_init(&filters[1]);
biquad_init(&filters[2]);
biquad_init(&filters[3]);
biquad_init(&filters[4]);
biquad_init(&filters[5]);
biquad_init(&filters[6]);
biquad_init(&filters[7]);
}
static void biquad_lpf(biquad_t *bq, double freq, double Q) {
double w0 = 2*M_PI*freq/((float)sampling_rate/(float)frame_size);
double alpha = sin(w0)/(2.0*Q);
double a_0 = 1.0 + alpha;
double b[3], a[2];
b[0] = (1.0-cos(w0))/(2.0*a_0);
b[1] = (1.0-cos(w0))/a_0;
b[2] = b[0];
a[0] = -2.0*cos(w0)/a_0;
a[1] = (1-alpha)/a_0;
biquad_init(bq, a, b);
}
static void activateLcrDelay(LADSPA_Handle instance) {
LcrDelay *plugin_data = (LcrDelay *)instance;
LADSPA_Data *buffer = plugin_data->buffer;
unsigned int buffer_mask = plugin_data->buffer_mask;
unsigned int buffer_pos = plugin_data->buffer_pos;
biquad *filters = plugin_data->filters;
float fs = plugin_data->fs;
float last_cd = plugin_data->last_cd;
float last_cl = plugin_data->last_cl;
float last_ld = plugin_data->last_ld;
float last_ll = plugin_data->last_ll;
float last_rd = plugin_data->last_rd;
float last_rl = plugin_data->last_rl;
#line 41 "lcr_delay_1436.xml"
memset(buffer, 0, (buffer_mask + 1) * sizeof(LADSPA_Data));
last_ll = 0.0f;
last_cl = 0.0f;
last_rl = 0.0f;
last_ld = 0.0f;
last_cd = 0.0f;
last_rd = 0.0f;
biquad_init(filters);
biquad_init(filters + 1);
plugin_data->buffer = buffer;
plugin_data->buffer_mask = buffer_mask;
plugin_data->buffer_pos = buffer_pos;
plugin_data->filters = filters;
plugin_data->fs = fs;
plugin_data->last_cd = last_cd;
plugin_data->last_cl = last_cl;
plugin_data->last_ld = last_ld;
plugin_data->last_ll = last_ll;
plugin_data->last_rd = last_rd;
plugin_data->last_rl = last_rl;
}
static void activateGate(LADSPA_Handle instance) {
Gate *plugin_data = (Gate *)instance;
float env = plugin_data->env;
float fs = plugin_data->fs;
float gate = plugin_data->gate;
biquad *hf = plugin_data->hf;
int hold_count = plugin_data->hold_count;
biquad *lf = plugin_data->lf;
int state = plugin_data->state;
#line 41 "gate_1410.xml"
env = 0.0f;
gate = 0.0f;
state = CLOSED;
biquad_init(lf);
biquad_init(hf);
plugin_data->env = env;
plugin_data->fs = fs;
plugin_data->gate = gate;
plugin_data->hf = hf;
plugin_data->hold_count = hold_count;
plugin_data->lf = lf;
plugin_data->state = state;
}
static LADSPA_Handle instantiateSinglePara(
const LADSPA_Descriptor *descriptor,
unsigned long s_rate) {
SinglePara *plugin_data = (SinglePara *)calloc(1, sizeof(SinglePara));
biquad *filter = NULL;
float fs;
#line 20 "single_para_1203.xml"
fs = (float)s_rate;
filter = malloc(sizeof(biquad));
biquad_init(filter);
plugin_data->filter = filter;
plugin_data->fs = fs;
return (LADSPA_Handle)plugin_data;
}
static LADSPA_Handle instantiateGsm(
const LADSPA_Descriptor *descriptor,
unsigned long s_rate) {
Gsm *plugin_data = (Gsm *)calloc(1, sizeof(Gsm));
biquad *blf = NULL;
int count;
LADSPA_Data *dry = NULL;
gsm_signal *dst = NULL;
float fs;
gsm handle;
int resamp;
float rsf;
gsm_signal *src = NULL;
#line 27 "gsm_1215.xml"
count = 0;
resamp = s_rate / 8000;
fs = s_rate;
rsf = SCALE / (float)resamp;
src = malloc(sizeof(gsm_signal) * 160);
dst = malloc(sizeof(gsm_signal) * 163);
dry = malloc(sizeof(LADSPA_Data) * 160 * resamp);
handle = NULL;
blf = malloc(sizeof(biquad));
biquad_init(blf);
plugin_data->blf = blf;
plugin_data->count = count;
plugin_data->dry = dry;
plugin_data->dst = dst;
plugin_data->fs = fs;
plugin_data->handle = handle;
plugin_data->resamp = resamp;
plugin_data->rsf = rsf;
plugin_data->src = src;
return (LADSPA_Handle)plugin_data;
}
int main(void)
{
// init motors and PWMs
brushless_init();
// enable power bridges
sbi(DDRG, 1);
sbi(PORTG, 1);
// init uart
uart_init();
fdevopen((void *)uart0_send,NULL,0);
//printf_P(PSTR("\nbonjour\n"));
/** replaces the scheduler. This is directly derived from the interrupt which runs the brushless motors, for convenience */
brushless_0_register_periodic_event(asserv_rapide_manage); // 10 ms
/** speed PID stuff */
// PID
pid_init(&speed_pid);
pid_set_gains(&speed_pid, 180, 70, 40); // sur alim
pid_set_maximums(&speed_pid, 0, 80, PWM_MAX*4/5);
pid_set_out_shift(&speed_pid, 0);
// derivation (This could alternatively be skipped if we use the brushless peed info directly)
biquad_init(&speed_derivation);
biquad_set_numerator_coeffs(&speed_derivation, 1,-1,0); // this is a discrete derivation : O(n) = I(n) - I(n-1)
// no need to initialize denominator coeffs to 0, init has done it
// control system speed
cs_init(&speed);
cs_set_correct_filter(&speed, pid_do_filter, &speed_pid);
cs_set_process_in(&speed, brushless_set_torque, (void *)0 );
cs_set_process_out(&speed,brushless_get_pos , (void *)0 );
cs_set_feedback_filter(&speed, biquad_do_filter, &speed_derivation);
cs_set_consign(&speed, 0);
/** ramp generator parameters */
quadramp_derivate_init(&position_quadr_derv);
quadramp_derivate_set_gain_anticipation(&position_quadr_derv, 256 *3);// some anticipation : 3.0 (this is a fixed point value *1/256)
quadramp_derivate_set_goal_window(&position_quadr_derv, 5); // algorithm shut down window
quadramp_derivate_set_2nd_order_vars(&position_quadr_derv, 1 , 1); // max acceleration : 1
quadramp_derivate_set_1st_order_vars(&position_quadr_derv, 12, 12); // max speed is 12
quadramp_derivate_set_divisor(&position_quadr_derv, 2); // divisor, for precision
// control system position
cs_init(&position);
cs_set_correct_filter(&position, quadramp_derivate_do_filter, &position_quadr_derv);
cs_set_process_in(&position, (void *)cs_set_consign, &speed );
cs_set_process_out(&position,brushless_get_pos , (void *)0 );
cs_set_consign(&position, 0);
/** begin */
brushless_set_speed((void *)0 , BRUSHLESS_MAX_SPEED); // init speed
sei();
// some simple trajectories (enable one )
while(1)
{
wait_ms(3500);
cs_set_consign(&position, 400);
wait_ms(500);
cs_set_consign(&position, 0);
}
/*
while(1)
{
wait_ms(2500);
cs_set_consign(&position, 2000);
wait_ms(2500);
cs_set_consign(&position, 0);
}
// test of speed pid only, deactivate the position.
while(1)
{
wait_ms(300);
cs_set_consign(&speed, 10);
wait_ms(300);
cs_set_consign(&speed, -10);
} */
while(1);
return 0;
}
