/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_WAVPLAY Code for wave audio generator
* @brief Wave audio generator
* @{
*
* @file pios_wavplay.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief audio generator
* @see The GNU Public License (GPL) Version 3
*
******************************************************************************
*/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "pios.h"
#ifdef PIOS_INCLUDE_WAVE
static const struct pios_dac_cfg *dev_cfg;
typedef enum {
LittleEndian,
BigEndian
} Endianness;
/**
* @}
*/
/** @defgroup WAVEPLAYER_Private_Defines
* @{
*/
#define CHUNK_ID 0x52494646 /* correspond to the letters 'RIFF' */
#define FILE_FORMAT 0x57415645 /* correspond to the letters 'WAVE' */
#define FORMAT_ID 0x666D7420 /* correspond to the letters 'fmt ' */
#define DATA_ID 0x64617461 /* correspond to the letters 'data' */
#define FACT_ID 0x66616374 /* correspond to the letters 'fact' */
#define WAVE_FORMAT_PCM 0x01
#define FORMAT_CHNUK_SIZE 0x10
#define CHANNEL_MONO 0x01
#define SAMPLE_RATE_8000 8000
#define SAMPLE_RATE_11025 11025
#define SAMPLE_RATE_22050 22050
#define SAMPLE_RATE_44100 44100
#define BITS_PER_SAMPLE_8 8
#define WAVE_DUMMY_BYTE 0xA5
#define DAC_DHLCD_REG_8LCD_REG_1_ADDRESS 0x40007410
typedef struct {
uint32_t RIFFchunksize;
uint16_t FormatTag;
uint16_t NumChannels;
uint32_t SampleRate;
uint32_t ByteRate;
uint16_t BlockAlign;
uint16_t BitsPerSample;
uint32_t DataSize;
} WAVE_FormatTypeDef;
typedef enum {
Valid_WAVE_File = 0,
Unvalid_RIFF_ID,
Unvalid_WAVE_Format,
Unvalid_FormatChunk_ID,
Unsupporetd_FormatTag,
Unsupporetd_Number_Of_Channel,
Unsupporetd_Sample_Rate,
Unsupporetd_Bits_Per_Sample,
Unvalid_DataChunk_ID,
Unsupporetd_ExtraFormatBytes,
Unvalid_FactChunk_ID
} ErrorCode;
/**
* @}
*/
/** @defgroup WAVEPLAYER_Exported_Constants
* @{
*/
#define SpeechReadAddr 0x0 /* Speech wave start read address */
/* Audio Play STATUS */
#define AudioPlayStatus_STOPPED 0
#define AudioPlayStatus_PLAYING 1
#define AudioPlayStatus_PAUSED 2
#define MAX_WAVE_FILES 25
/**
* @}
*/
/** @defgroup WAVEPLAYER_Private_Macros
* @{
*/
/**
* @}
*/
/** @defgroup WAVEPLAYER_Private_Variables
* @{
*/
static WAVE_FormatTypeDef WAVE_Format;
static ErrorCode WaveFileStatus = Unvalid_RIFF_ID;
static uint16_t TIM6ARRValue = 1088;
uint32_t WaveDataLength = 0;
static uint32_t SpeechDataOffset = 0x00;
static uint32_t wavelen = 0;
FILEINFO fiwave;
FILEINFO file;
static uint8_t buffer1[BUFFERSIZE], buffer2[BUFFERSIZE] = { 0 }; // Two cycling buffers which contain the WAV data.
uint32_t wavecounter;
typedef struct {
unsigned int format;
unsigned int sample_rate;
unsigned int bits_per_sample;
} wave_format;
wave_format wave_info;
/**
* @brief Decrements the played wave data length.
* @param None
* @retval Current value of WaveDataLength variable.
*/
uint32_t Decrement_WaveDataLength(void)
{
if (WaveDataLength != 0x00) {
WaveDataLength--;
}
return WaveDataLength;
}
/**
* @brief Decrements the played wave data length.
* @param None
* @retval Current value of WaveDataLength variable.
*/
void Set_WaveDataLength(uint32_t value)
{
WaveDataLength = value;
}
/**
* @brief Reads a number of bytes from the SPI Flash and reorder them in Big
* or little endian.
* @param NbrOfBytes: number of bytes to read.
* This parameter must be a number between 1 and 4.
* @param ReadAddr: external memory address to read from.
* @param Endians: specifies the bytes endianness.
* This parameter can be one of the following values:
* - LittleEndian
* - BigEndian
* @retval Bytes read from the SPI Flash.
*/
static uint32_t ReadUnit(uint8_t *buffer, uint8_t idx, uint8_t NbrOfBytes, Endianness BytesFormat)
{
uint32_t index = 0;
uint32_t Temp = 0;
for (index = 0; index < NbrOfBytes; index++) {
Temp |= buffer[idx + index] << (index * 8);
}
if (BytesFormat == BigEndian) {
Temp = __REV(Temp);
}
return Temp;
}
/**
* @brief Checks the format of the .WAV file and gets information about
* the audio format. This is done by reading the value of a
* number of parameters stored in the file header and comparing
* these to the values expected authenticates the format of a
* standard .WAV file (44 bytes will be read). If it is a valid
* .WAV file format, it continues reading the header to determine
* the audio format such as the sample rate and the sampled data
* size. If the audio format is supported by this application,
* it retrieves the audio format in WAVE_Format structure and
* returns a zero value. Otherwise the function fails and the
* return value is nonzero.In this case, the return value specifies
* the cause of the function fails. The error codes that can be
* returned by this function are declared in the header file.
* @param None
* @retval Zero value if the function succeed, otherwise it return
* a nonzero value which specifies the error code.
*/
static ErrorCode WavePlayer_WaveParsing(uint8_t *DirName, uint8_t *FileName, uint32_t *FileLen)
{
uint32_t Temp = 0x00;
uint32_t ExtraFormatBytes = 0;
__IO uint32_t err = 0;
uint32_t number_of_clusters;
uint32_t i;
/* Directory enumeration test */
if (PIOS_FOPEN_READ(FileName, file)) {
err = 1;
} else {
*FileLen = file.filelen;
number_of_clusters = file.filelen / 512;
if ((file.filelen % SECTOR_SIZE) > 0) {
number_of_clusters++;
}
}
PIOS_FREAD(&file, buffer1, 44, &i);
// DFS_ReadFile(&file, sector, buffer1, &i, SECTOR_SIZE);
/* Read chunkID, must be 'RIFF' ----------------------------------------------*/
Temp = ReadUnit(buffer1, 0, 4, BigEndian);
if (Temp != CHUNK_ID) {
return Unvalid_RIFF_ID;
}
/* Read the file length ----------------------------------------------------*/
WAVE_Format.RIFFchunksize = ReadUnit(buffer1, 4, 4, LittleEndian);
/* Read the file format, must be 'WAVE' ------------------------------------*/
Temp = ReadUnit(buffer1, 8, 4, BigEndian);
if (Temp != FILE_FORMAT) {
return Unvalid_WAVE_Format;
}
/* Read the format chunk, must be'fmt ' --------------------------------------*/
Temp = ReadUnit(buffer1, 12, 4, BigEndian);
if (Temp != FORMAT_ID) {
return Unvalid_FormatChunk_ID;
}
/* Read the length of the 'fmt' data, must be 0x10 -------------------------*/
Temp = ReadUnit(buffer1, 16, 4, LittleEndian);
if (Temp != 0x10) {
ExtraFormatBytes = 1;
}
/* Read the audio format, must be 0x01 (PCM) -------------------------------*/
WAVE_Format.FormatTag = ReadUnit(buffer1, 20, 2, LittleEndian);
if (WAVE_Format.FormatTag != WAVE_FORMAT_PCM) {
return Unsupporetd_FormatTag;
}
/* Read the number of channels, must be 0x01 (Mono) ------------------------*/
WAVE_Format.NumChannels = ReadUnit(buffer1, 22, 2, LittleEndian);
if (WAVE_Format.NumChannels != CHANNEL_MONO) {
return Unsupporetd_Number_Of_Channel;
}
/* Read the Sample Rate ----------------------------------------------------*/
WAVE_Format.SampleRate = ReadUnit(buffer1, 24, 4, LittleEndian);
/* Update the OCA value according to the .WAV file Sample Rate */
switch (WAVE_Format.SampleRate) {
case SAMPLE_RATE_8000:
TIM6ARRValue = (PIOS_PERIPHERAL_APB1_CLOCK) / 8000;
break; /* 8KHz = 24MHz / 3000 */
case SAMPLE_RATE_11025:
TIM6ARRValue = (PIOS_PERIPHERAL_APB1_CLOCK) / 11025;
break; /* 11.025KHz = 24MHz / 2176 */
case SAMPLE_RATE_22050:
TIM6ARRValue = (PIOS_PERIPHERAL_APB1_CLOCK) / 22050;
break; /* 22.05KHz = 24MHz / 1088 */
case SAMPLE_RATE_44100:
TIM6ARRValue = (PIOS_PERIPHERAL_APB1_CLOCK) / 44100;
break; /* 44.1KHz = 24MHz / 544 */
default:
return Unsupporetd_Sample_Rate;
}
/* Read the Byte Rate ------------------------------------------------------*/
WAVE_Format.ByteRate = ReadUnit(buffer1, 28, 4, LittleEndian);
/* Read the block alignment ------------------------------------------------*/
WAVE_Format.BlockAlign = ReadUnit(buffer1, 32, 2, LittleEndian);
/* Read the number of bits per sample --------------------------------------*/
WAVE_Format.BitsPerSample = ReadUnit(buffer1, 34, 2, LittleEndian);
if (WAVE_Format.BitsPerSample != BITS_PER_SAMPLE_8) {
return Unsupporetd_Bits_Per_Sample;
}
SpeechDataOffset = 36;
/* If there is Extra format bytes, these bytes will be defined in "Fact Chunk" */
if (ExtraFormatBytes == 1) {
/* Read th Extra format bytes, must be 0x00 ------------------------------*/
Temp = ReadUnit(buffer1, 36, 2, LittleEndian);
if (Temp != 0x00) {
return Unsupporetd_ExtraFormatBytes;
}
/* Read the Fact chunk, must be 'fact' -----------------------------------*/
Temp = ReadUnit(buffer1, 38, 4, BigEndian);
if (Temp != FACT_ID) {
return Unvalid_FactChunk_ID;
}
/* Read Fact chunk data Size ---------------------------------------------*/
Temp = ReadUnit(buffer1, 42, 4, LittleEndian);
SpeechDataOffset += 10 + Temp;
}
/* Read the Data chunk, must be 'data' ---------------------------------------*/
Temp = ReadUnit(buffer1, SpeechDataOffset, 4, BigEndian);
SpeechDataOffset += 4;
if (Temp != DATA_ID) {
return Unvalid_DataChunk_ID;
}
/* Read the number of sample data ------------------------------------------*/
WAVE_Format.DataSize = ReadUnit(buffer1, SpeechDataOffset, 4, LittleEndian);
SpeechDataOffset += 4;
wavecounter = SpeechDataOffset;
PIOS_FREAD(&file, buffer1, SECTOR_SIZE, &i);
PIOS_FREAD(&file, buffer2, SECTOR_SIZE, &i);
return Valid_WAVE_File;
}
/**
* @brief Start wave playing
* @param None
* @retval None
*/
int wavfile = 0;
const uint8_t table[5][20] = { "openpilo.wav", "uav.wav", "beepsoun.wav", "warning.wav", "lowaltit.wav" };
uint8_t WavePlayer_Start(void)
{
// Check for file system availability
if (PIOS_SDCARD_IsMounted() == 0) {
return -1;
}
/* Read the Speech wave file status */
if (wavfile < 5) {
WaveFileStatus = WavePlayer_WaveParsing(" ", table[wavfile++], &wavelen);
if (wavfile > 4) {
wavfile = 5;
}
// TIM_ITConfig(TIM6, TIM_IT_Update, ENABLE);
// WaveDataLength = WAVE_Format.DataSize;
// TIM_Cmd(TIM6, ENABLE);
if (WaveFileStatus == Valid_WAVE_File) { /* the .WAV file is valid */
/* Set WaveDataLenght to the Speech wave length */
WaveDataLength = WAVE_Format.DataSize;
TIM_Cmd(dev_cfg->timer, DISABLE);
TIM_SetAutoreload(dev_cfg->timer, TIM6ARRValue);
/* Start TIM6 */
TIM_Cmd(dev_cfg->timer, ENABLE);
} else {
return -1;
}
}
return 0;
}
#define TIM6_PERIOD (PIOS_PERIPHERAL_APB1_CLOCK) / 44100
void PIOS_WavPlay_Init(const struct pios_dac_cfg *cfg)
{
dev_cfg = cfg; // store config before enabling interrupt
#if 0
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
DMA_InitTypeDef DMA_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
DAC_InitTypeDef DAC_InitStructure;
/* DAC channel 1 & 2 (DAC_OUT1 = PA.4)(DAC_OUT2 = PA.5) configuration */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOA, &GPIO_InitStructure);
NVIC_InitStructure.NVIC_IRQChannel = TIM6_DAC_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
TIM_DeInit(TIM6);
/* Time base configuration */
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = TIM6_PERIOD;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM6, &TIM_TimeBaseStructure);
/* TIM6 TRGO selection */
TIM_SelectOutputTrigger(TIM6, TIM_TRGOSource_Update);
NVIC_InitStructure.NVIC_IRQChannel = DMA1_Stream5_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
/* DMA1_Stream5 channel7 configuration **************************************/
DMA_DeInit(DMA1_Stream5);
DMA_InitStructure.DMA_Channel = DMA_Channel_7;
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&DAC->DHR8R1;
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&buffer1;
DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
DMA_InitStructure.DMA_BufferSize = BUFFERSIZE;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(DMA1_Stream5, &DMA_InitStructure);
/* Configure double buffering */
DMA_DoubleBufferModeConfig(DMA1_Stream5, (uint32_t)&buffer2, DMA_Memory_0);
DMA_DoubleBufferModeCmd(DMA1_Stream5, ENABLE);
/* Enable double buffering */
DMA_Cmd(DMA1_Stream5, ENABLE);
DMA_ITConfig(DMA1_Stream5, DMA_IT_TC, ENABLE);
/* DAC channel1 Configuration */
DAC_DeInit();
DAC_StructInit(&DAC_InitStructure);
DAC_InitStructure.DAC_Trigger = DAC_Trigger_T6_TRGO;
DAC_InitStructure.DAC_WaveGeneration = DAC_WaveGeneration_None;
DAC_InitStructure.DAC_OutputBuffer = DAC_OutputBuffer_Enable;
DAC_Init(DAC_Channel_1, &DAC_InitStructure);
DAC_Cmd(DAC_Channel_1, ENABLE);
DAC_DMACmd(DAC_Channel_1, ENABLE);
#endif /* if 0 */
#if 1
GPIO_Init(cfg->dac_io.gpio, (GPIO_InitTypeDef *)&(cfg->dac_io.init));
/* Configure the dividers for this timer */
TIM_TimeBaseInit(cfg->timer, &cfg->time_base_init);
/* Enable Interrupts */
NVIC_Init(&cfg->irq.init);
TIM_SelectOutputTrigger(cfg->timer, TIM_TRGOSource_Update);
NVIC_Init(&cfg->dma.irq.init);
DMA_Cmd(cfg->dma.tx.channel, DISABLE);
DMA_Init(cfg->dma.tx.channel, (DMA_InitTypeDef *)&(cfg->dma.tx.init));
/* Enable double buffering */
DMA_MemoryTargetConfig(cfg->dma.tx.channel, (uint32_t)&buffer1, DMA_Memory_0);
DMA_DoubleBufferModeConfig(cfg->dma.tx.channel, (uint32_t)&buffer2, DMA_Memory_0);
DMA_DoubleBufferModeCmd(cfg->dma.tx.channel, ENABLE);
DMA_Cmd(cfg->dma.tx.channel, ENABLE);
DMA_ITConfig(cfg->dma.tx.channel, DMA_IT_TC, ENABLE);
DAC_Init(cfg->channel, (DAC_InitTypeDef *)&(cfg->dac_init));
DAC_Cmd(cfg->channel, ENABLE);
DAC_DMACmd(cfg->channel, ENABLE);
#endif /* if 1 */
// WavePlayer_Start();
}
void WavePlayer_Stop(void)
{
/* Disable TIM6 update interrupt */
TIM_ITConfig(dev_cfg->timer, TIM_IT_Update, DISABLE);
/* Disable TIM6 */
TIM_Cmd(dev_cfg->timer, DISABLE);
}
void DAC_TIM_Handler(void);
void TIM6_DAC_IRQHandler(void) __attribute__((alias("DAC_TIM_Handler")));
/**
* @brief This function handles TIM6 global interrupt request.
* @param None
* @retval None
*/
void DAC_TIM_Handler(void)
{
if (TIM_GetITStatus(dev_cfg->timer, TIM_IT_Update) != RESET) {
/* Clear TIM6 update interrupt */
TIM_ClearITPendingBit(dev_cfg->timer, TIM_IT_Update);
}
}
void DAC_DMA_Handler(void);
void DMA1_Stream5_IRQHandler(void) __attribute__((alias("DAC_DMA_Handler")));
/**
* @brief Interrupt for half and full buffer transfer
*
* This interrupt handler swaps between the two halfs of the double buffer to make
* sure the ahrs uses the most recent data. Only swaps data when AHRS is idle, but
* really this is a pretense of a sanity check since the DMA engine is consantly
* running in the background. Keep an eye on the ekf_too_slow variable to make sure
* it's keeping up.
*/
void DAC_DMA_Handler(void)
{
uint8_t status = 0;
uint32_t bytesRead = 0;
if (DMA_GetFlagStatus(dev_cfg->dma.tx.channel, DMA_FLAG_TCIF5)) { // whole double buffer filled
if (WaveDataLength) {
if (DMA_GetCurrentMemoryTarget(dev_cfg->dma.tx.channel) == 0) {
// DMA_MemoryTargetConfig(DMA1_Stream5,(uint32_t)&buffer2,DMA_Memory_1);
PIOS_FREAD(&file, buffer2, BUFFERSIZE, &bytesRead);
if (bytesRead != BUFFERSIZE) {
status = 2;
}
} else {
// DMA_MemoryTargetConfig(DMA1_Stream5,(uint32_t)&buffer1,DMA_Memory_0);
PIOS_FREAD(&file, buffer1, BUFFERSIZE, &bytesRead);
if (bytesRead != BUFFERSIZE) {
status = 1;
}
}
if (status) {
// STOP DMA, master first
/*DMA_Cmd(DMA1_Stream5, DISABLE);*/
// PIOS_FCLOSE(file);
// LoadWav();
}
WaveDataLength -= 512;
}
if (WaveDataLength < 512) {
WaveDataLength = 0;
}
/* If we reach the WaveDataLength of the wave to play */
if (WaveDataLength == 0) {
/* Stop wave playing */
WavePlayer_Stop();
PIOS_FCLOSE(file);
WavePlayer_Start();
}
DMA_ClearFlag(dev_cfg->dma.tx.channel, DMA_FLAG_TCIF5);
} else if (DMA_GetFlagStatus(dev_cfg->dma.tx.channel, DMA_FLAG_HTIF5)) {
DMA_ClearFlag(dev_cfg->dma.tx.channel, DMA_FLAG_HTIF5);
} else {}
}
#endif /* PIOS_INCLUDE_WAVE */