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285cad290b
Conflicts: flight/PiOS/Common/pios_com.c flight/PiOS/Common/pios_mpu6000.c
611 lines
18 KiB
C
611 lines
18 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_WAVPLAY Code for wave audio generator
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* @brief Wave audio generator
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* @{
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*
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* @file pios_wavplay.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief audio generator
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* @see The GNU Public License (GPL) Version 3
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*
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******************************************************************************
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*/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "pios.h"
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#ifdef PIOS_INCLUDE_WAVE
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static const struct pios_dac_cfg * dev_cfg;
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typedef enum
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{
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LittleEndian,
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BigEndian
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}Endianness;
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/**
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* @}
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*/
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/** @defgroup WAVEPLAYER_Private_Defines
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* @{
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*/
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#define CHUNK_ID 0x52494646 /* correspond to the letters 'RIFF' */
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#define FILE_FORMAT 0x57415645 /* correspond to the letters 'WAVE' */
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#define FORMAT_ID 0x666D7420 /* correspond to the letters 'fmt ' */
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#define DATA_ID 0x64617461 /* correspond to the letters 'data' */
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#define FACT_ID 0x66616374 /* correspond to the letters 'fact' */
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#define WAVE_FORMAT_PCM 0x01
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#define FORMAT_CHNUK_SIZE 0x10
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#define CHANNEL_MONO 0x01
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#define SAMPLE_RATE_8000 8000
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#define SAMPLE_RATE_11025 11025
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#define SAMPLE_RATE_22050 22050
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#define SAMPLE_RATE_44100 44100
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#define BITS_PER_SAMPLE_8 8
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#define WAVE_DUMMY_BYTE 0xA5
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#define DAC_DHLCD_REG_8LCD_REG_1_ADDRESS 0x40007410
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typedef struct
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{
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uint32_t RIFFchunksize;
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uint16_t FormatTag;
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uint16_t NumChannels;
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uint32_t SampleRate;
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uint32_t ByteRate;
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uint16_t BlockAlign;
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uint16_t BitsPerSample;
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uint32_t DataSize;
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}
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WAVE_FormatTypeDef;
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typedef enum
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{
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Valid_WAVE_File = 0,
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Unvalid_RIFF_ID,
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Unvalid_WAVE_Format,
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Unvalid_FormatChunk_ID,
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Unsupporetd_FormatTag,
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Unsupporetd_Number_Of_Channel,
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Unsupporetd_Sample_Rate,
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Unsupporetd_Bits_Per_Sample,
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Unvalid_DataChunk_ID,
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Unsupporetd_ExtraFormatBytes,
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Unvalid_FactChunk_ID
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} ErrorCode;
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/**
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* @}
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*/
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/** @defgroup WAVEPLAYER_Exported_Constants
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* @{
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*/
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#define SpeechReadAddr 0x0 /* Speech wave start read address */
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/* Audio Play STATUS */
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#define AudioPlayStatus_STOPPED 0
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#define AudioPlayStatus_PLAYING 1
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#define AudioPlayStatus_PAUSED 2
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#define MAX_WAVE_FILES 25
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/**
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* @}
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*/
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/** @defgroup WAVEPLAYER_Private_Macros
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* @{
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*/
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/**
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* @}
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*/
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/** @defgroup WAVEPLAYER_Private_Variables
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* @{
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*/
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static WAVE_FormatTypeDef WAVE_Format;
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static ErrorCode WaveFileStatus = Unvalid_RIFF_ID;
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static uint16_t TIM6ARRValue = 1088;
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uint32_t WaveDataLength = 0;
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static uint32_t SpeechDataOffset = 0x00;
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static uint32_t wavelen = 0;
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FILEINFO fiwave;
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FILEINFO file;
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static uint8_t buffer1[BUFFERSIZE], buffer2[BUFFERSIZE]={0}; //Two cycling buffers which contain the WAV data.
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uint32_t wavecounter;
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typedef struct
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{
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unsigned int format;
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unsigned int sample_rate;
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unsigned int bits_per_sample;
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}wave_format;
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wave_format wave_info;
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/**
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* @brief Decrements the played wave data length.
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* @param None
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* @retval Current value of WaveDataLength variable.
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*/
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uint32_t Decrement_WaveDataLength(void)
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{
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if (WaveDataLength != 0x00)
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{
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WaveDataLength--;
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}
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return (WaveDataLength);
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}
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/**
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* @brief Decrements the played wave data length.
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* @param None
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* @retval Current value of WaveDataLength variable.
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*/
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void Set_WaveDataLength(uint32_t value)
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{
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WaveDataLength = value;
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}
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/**
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* @brief Reads a number of bytes from the SPI Flash and reorder them in Big
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* or little endian.
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* @param NbrOfBytes: number of bytes to read.
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* This parameter must be a number between 1 and 4.
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* @param ReadAddr: external memory address to read from.
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* @param Endians: specifies the bytes endianness.
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* This parameter can be one of the following values:
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* - LittleEndian
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* - BigEndian
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* @retval Bytes read from the SPI Flash.
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*/
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static uint32_t ReadUnit(uint8_t *buffer, uint8_t idx, uint8_t NbrOfBytes, Endianness BytesFormat)
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{
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uint32_t index = 0;
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uint32_t Temp = 0;
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for (index = 0; index < NbrOfBytes; index++)
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{
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Temp |= buffer[idx + index] << (index * 8);
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}
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if (BytesFormat == BigEndian)
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{
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Temp = __REV(Temp);
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}
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return Temp;
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}
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/**
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* @brief Checks the format of the .WAV file and gets information about
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* the audio format. This is done by reading the value of a
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* number of parameters stored in the file header and comparing
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* these to the values expected authenticates the format of a
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* standard .WAV file (44 bytes will be read). If it is a valid
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* .WAV file format, it continues reading the header to determine
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* the audio format such as the sample rate and the sampled data
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* size. If the audio format is supported by this application,
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* it retrieves the audio format in WAVE_Format structure and
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* returns a zero value. Otherwise the function fails and the
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* return value is nonzero.In this case, the return value specifies
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* the cause of the function fails. The error codes that can be
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* returned by this function are declared in the header file.
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* @param None
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* @retval Zero value if the function succeed, otherwise it return
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* a nonzero value which specifies the error code.
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*/
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static ErrorCode WavePlayer_WaveParsing(uint8_t *DirName, uint8_t *FileName, uint32_t *FileLen)
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{
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uint32_t Temp = 0x00;
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uint32_t ExtraFormatBytes = 0;
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__IO uint32_t err = 0;
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uint32_t number_of_clusters;
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uint32_t i;
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/* Directory enumeration test */
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if (PIOS_FOPEN_READ(FileName, file))
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{
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err = 1;
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}
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else
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{
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*FileLen = file.filelen;
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number_of_clusters = file.filelen / 512;
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if ((file.filelen % SECTOR_SIZE) > 0)
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{
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number_of_clusters ++;
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}
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}
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PIOS_FREAD(&file, buffer1, 44, &i);
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//DFS_ReadFile(&file, sector, buffer1, &i, SECTOR_SIZE);
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/* Read chunkID, must be 'RIFF' ----------------------------------------------*/
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Temp = ReadUnit(buffer1, 0, 4, BigEndian);
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if (Temp != CHUNK_ID)
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{
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return(Unvalid_RIFF_ID);
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}
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/* Read the file length ----------------------------------------------------*/
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WAVE_Format.RIFFchunksize = ReadUnit(buffer1, 4, 4, LittleEndian);
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/* Read the file format, must be 'WAVE' ------------------------------------*/
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Temp = ReadUnit(buffer1, 8, 4, BigEndian);
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if (Temp != FILE_FORMAT)
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{
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return(Unvalid_WAVE_Format);
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}
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/* Read the format chunk, must be'fmt ' --------------------------------------*/
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Temp = ReadUnit(buffer1, 12, 4, BigEndian);
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if (Temp != FORMAT_ID)
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{
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return(Unvalid_FormatChunk_ID);
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}
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/* Read the length of the 'fmt' data, must be 0x10 -------------------------*/
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Temp = ReadUnit(buffer1, 16, 4, LittleEndian);
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if (Temp != 0x10)
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{
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ExtraFormatBytes = 1;
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}
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/* Read the audio format, must be 0x01 (PCM) -------------------------------*/
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WAVE_Format.FormatTag = ReadUnit(buffer1, 20, 2, LittleEndian);
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if (WAVE_Format.FormatTag != WAVE_FORMAT_PCM)
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{
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return(Unsupporetd_FormatTag);
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}
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/* Read the number of channels, must be 0x01 (Mono) ------------------------*/
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WAVE_Format.NumChannels = ReadUnit(buffer1, 22, 2, LittleEndian);
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if (WAVE_Format.NumChannels != CHANNEL_MONO)
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{
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return(Unsupporetd_Number_Of_Channel);
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}
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/* Read the Sample Rate ----------------------------------------------------*/
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WAVE_Format.SampleRate = ReadUnit(buffer1, 24, 4, LittleEndian);
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/* Update the OCA value according to the .WAV file Sample Rate */
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switch (WAVE_Format.SampleRate)
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{
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case SAMPLE_RATE_8000 :
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TIM6ARRValue = (PIOS_PERIPHERAL_APB1_CLOCK)/8000;
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break; /* 8KHz = 24MHz / 3000 */
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case SAMPLE_RATE_11025:
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TIM6ARRValue = (PIOS_PERIPHERAL_APB1_CLOCK)/11025;
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break; /* 11.025KHz = 24MHz / 2176 */
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case SAMPLE_RATE_22050:
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TIM6ARRValue = (PIOS_PERIPHERAL_APB1_CLOCK)/22050;
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break; /* 22.05KHz = 24MHz / 1088 */
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case SAMPLE_RATE_44100:
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TIM6ARRValue = (PIOS_PERIPHERAL_APB1_CLOCK)/44100;
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break; /* 44.1KHz = 24MHz / 544 */
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default:
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return(Unsupporetd_Sample_Rate);
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}
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/* Read the Byte Rate ------------------------------------------------------*/
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WAVE_Format.ByteRate = ReadUnit(buffer1, 28, 4, LittleEndian);
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/* Read the block alignment ------------------------------------------------*/
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WAVE_Format.BlockAlign = ReadUnit(buffer1, 32, 2, LittleEndian);
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/* Read the number of bits per sample --------------------------------------*/
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WAVE_Format.BitsPerSample = ReadUnit(buffer1, 34, 2, LittleEndian);
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if (WAVE_Format.BitsPerSample != BITS_PER_SAMPLE_8)
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{
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return(Unsupporetd_Bits_Per_Sample);
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}
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SpeechDataOffset = 36;
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/* If there is Extra format bytes, these bytes will be defined in "Fact Chunk" */
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if (ExtraFormatBytes == 1)
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{
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/* Read th Extra format bytes, must be 0x00 ------------------------------*/
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Temp = ReadUnit(buffer1, 36, 2, LittleEndian);
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if (Temp != 0x00)
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{
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return(Unsupporetd_ExtraFormatBytes);
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}
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/* Read the Fact chunk, must be 'fact' -----------------------------------*/
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Temp = ReadUnit(buffer1, 38, 4, BigEndian);
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if (Temp != FACT_ID)
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{
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return(Unvalid_FactChunk_ID);
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}
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/* Read Fact chunk data Size ---------------------------------------------*/
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Temp = ReadUnit(buffer1, 42, 4, LittleEndian);
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SpeechDataOffset += 10 + Temp;
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}
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/* Read the Data chunk, must be 'data' ---------------------------------------*/
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Temp = ReadUnit(buffer1, SpeechDataOffset, 4, BigEndian);
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SpeechDataOffset += 4;
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if (Temp != DATA_ID)
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{
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return(Unvalid_DataChunk_ID);
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}
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/* Read the number of sample data ------------------------------------------*/
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WAVE_Format.DataSize = ReadUnit(buffer1, SpeechDataOffset, 4, LittleEndian);
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SpeechDataOffset += 4;
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wavecounter = SpeechDataOffset;
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PIOS_FREAD(&file, buffer1, SECTOR_SIZE, &i);
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PIOS_FREAD(&file, buffer2, SECTOR_SIZE, &i);
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return(Valid_WAVE_File);
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}
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/**
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* @brief Start wave playing
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* @param None
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* @retval None
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*/
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int wavfile=0;
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const uint8_t table[5][20] = {"openpilo.wav","uav.wav","beepsoun.wav", "warning.wav", "lowaltit.wav"};
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uint8_t WavePlayer_Start(void)
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{
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// Check for file system availability
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if (PIOS_SDCARD_IsMounted() == 0) {
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return -1;
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}
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/* Read the Speech wave file status */
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if(wavfile<5)
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{
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WaveFileStatus = WavePlayer_WaveParsing(" ", table[wavfile++], &wavelen);
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if(wavfile>4)
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{
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wavfile=5;
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}
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//TIM_ITConfig(TIM6, TIM_IT_Update, ENABLE);
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//WaveDataLength = WAVE_Format.DataSize;
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//TIM_Cmd(TIM6, ENABLE);
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if (WaveFileStatus == Valid_WAVE_File) /* the .WAV file is valid */
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{
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/* Set WaveDataLenght to the Speech wave length */
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WaveDataLength = WAVE_Format.DataSize;
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TIM_Cmd(dev_cfg->timer, DISABLE);
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TIM_SetAutoreload(dev_cfg->timer, TIM6ARRValue);
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/* Start TIM6 */
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TIM_Cmd(dev_cfg->timer, ENABLE);
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}
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else
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{
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return -1;
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}
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}
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return 0;
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}
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#define TIM6_PERIOD (PIOS_PERIPHERAL_APB1_CLOCK)/44100
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void PIOS_WavPlay_Init(const struct pios_dac_cfg * cfg){
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dev_cfg = cfg; // store config before enabling interrupt
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#if 0
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GPIO_InitTypeDef GPIO_InitStructure;
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TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
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DMA_InitTypeDef DMA_InitStructure;
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NVIC_InitTypeDef NVIC_InitStructure;
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DAC_InitTypeDef DAC_InitStructure;
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/* DAC channel 1 & 2 (DAC_OUT1 = PA.4)(DAC_OUT2 = PA.5) configuration */
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
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GPIO_Init(GPIOA, &GPIO_InitStructure);
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NVIC_InitStructure.NVIC_IRQChannel = TIM6_DAC_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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TIM_DeInit(TIM6);
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/* Time base configuration */
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TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
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TIM_TimeBaseStructure.TIM_Period = TIM6_PERIOD;
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TIM_TimeBaseStructure.TIM_Prescaler = 0;
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TIM_TimeBaseStructure.TIM_ClockDivision = 0;
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TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
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TIM_TimeBaseInit(TIM6, &TIM_TimeBaseStructure);
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/* TIM6 TRGO selection */
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TIM_SelectOutputTrigger(TIM6, TIM_TRGOSource_Update);
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NVIC_InitStructure.NVIC_IRQChannel = DMA1_Stream5_IRQn;
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NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW;
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NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
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NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
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NVIC_Init(&NVIC_InitStructure);
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/* DMA1_Stream5 channel7 configuration **************************************/
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DMA_DeInit(DMA1_Stream5);
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DMA_InitStructure.DMA_Channel = DMA_Channel_7;
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DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&DAC->DHR8R1;
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DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&buffer1;
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DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
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DMA_InitStructure.DMA_BufferSize = BUFFERSIZE;
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DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
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DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
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DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
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DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
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DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
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DMA_InitStructure.DMA_Priority = DMA_Priority_High;
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DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
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DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
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DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
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DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
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DMA_Init(DMA1_Stream5, &DMA_InitStructure);
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/* Configure double buffering */
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DMA_DoubleBufferModeConfig(DMA1_Stream5,(uint32_t)&buffer2,DMA_Memory_0);
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DMA_DoubleBufferModeCmd(DMA1_Stream5,ENABLE);
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/* Enable double buffering */
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DMA_Cmd(DMA1_Stream5, ENABLE);
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DMA_ITConfig(DMA1_Stream5, DMA_IT_TC, ENABLE);
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/* DAC channel1 Configuration */
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DAC_DeInit();
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DAC_StructInit(&DAC_InitStructure);
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DAC_InitStructure.DAC_Trigger = DAC_Trigger_T6_TRGO;
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DAC_InitStructure.DAC_WaveGeneration = DAC_WaveGeneration_None;
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DAC_InitStructure.DAC_OutputBuffer = DAC_OutputBuffer_Enable;
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DAC_Init(DAC_Channel_1, &DAC_InitStructure);
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DAC_Cmd(DAC_Channel_1, ENABLE);
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DAC_DMACmd(DAC_Channel_1, ENABLE);
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#endif
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#if 1
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GPIO_Init(cfg->dac_io.gpio, (GPIO_InitTypeDef*)&(cfg->dac_io.init));
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/* Configure the dividers for this timer */
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TIM_TimeBaseInit(cfg->timer, &cfg->time_base_init);
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/* Enable Interrupts */
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NVIC_Init(&cfg->irq.init);
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|
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
|
|
//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 */
|