/** ****************************************************************************** * @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 */