/* Audio Library for Teensy 3.X * Copyright (c) 2014, Paul Stoffregen, paul@pjrc.com * * Development of this audio library was funded by PJRC.COM, LLC by sales of * Teensy and Audio Adaptor boards. Please support PJRC's efforts to develop * open source software by purchasing Teensy or other PJRC products. * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice, development funding notice, and this permission * notice shall be included in all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. */ #if defined(KINETISK) #include #include "input_adc.h" #include "utility/pdb.h" #include "utility/dspinst.h" #define COEF_HPF_DCBLOCK (1048300<<10) // DC Removal filter coefficient in S1.30 DMAMEM __attribute__((aligned(32))) static uint16_t analog_rx_buffer[AUDIO_BLOCK_SAMPLES]; audio_block_t * AudioInputAnalog::block_left = NULL; uint16_t AudioInputAnalog::block_offset = 0; int32_t AudioInputAnalog::hpf_y1 = 0; int32_t AudioInputAnalog::hpf_x1 = 0; bool AudioInputAnalog::update_responsibility = false; DMAChannel AudioInputAnalog::dma(false); void AudioInputAnalog::init(uint8_t pin) { int32_t tmp; // Configure the ADC and run at least one software-triggered // conversion. This completes the self calibration stuff and // leaves the ADC in a state that's mostly ready to use analogReadRes(16); analogReference(INTERNAL); // range 0 to 1.2 volts #if F_BUS == 96000000 || F_BUS == 48000000 || F_BUS == 24000000 analogReadAveraging(8); #else analogReadAveraging(4); #endif // Note for review: // Probably not useful to spin cycles here stabilizing // since DC blocking is similar to te external analog filters tmp = (uint16_t) analogRead(pin); tmp = ( ((int32_t) tmp) << 14); hpf_x1 = tmp; // With constant DC level x1 would be x0 hpf_y1 = 0; // Output will settle here when stable // set the programmable delay block to trigger the ADC at 44.1 kHz if (!(SIM_SCGC6 & SIM_SCGC6_PDB) || (PDB0_SC & PDB_CONFIG) != PDB_CONFIG || PDB0_MOD != PDB_PERIOD || PDB0_IDLY != 1 || PDB0_CH0C1 != 0x0101) { SIM_SCGC6 |= SIM_SCGC6_PDB; PDB0_IDLY = 1; PDB0_MOD = PDB_PERIOD; PDB0_SC = PDB_CONFIG | PDB_SC_LDOK; PDB0_SC = PDB_CONFIG | PDB_SC_SWTRIG; PDB0_CH0C1 = 0x0101; } // enable the ADC for hardware trigger and DMA ADC0_SC2 |= ADC_SC2_ADTRG | ADC_SC2_DMAEN; // set up a DMA channel to store the ADC data dma.begin(true); dma.TCD->SADDR = &ADC0_RA; dma.TCD->SOFF = 0; dma.TCD->ATTR = DMA_TCD_ATTR_SSIZE(1) | DMA_TCD_ATTR_DSIZE(1); dma.TCD->NBYTES_MLNO = 2; dma.TCD->SLAST = 0; dma.TCD->DADDR = analog_rx_buffer; dma.TCD->DOFF = 2; dma.TCD->CITER_ELINKNO = sizeof(analog_rx_buffer) / 2; dma.TCD->DLASTSGA = -sizeof(analog_rx_buffer); dma.TCD->BITER_ELINKNO = sizeof(analog_rx_buffer) / 2; dma.TCD->CSR = DMA_TCD_CSR_INTHALF | DMA_TCD_CSR_INTMAJOR; dma.triggerAtHardwareEvent(DMAMUX_SOURCE_ADC0); update_responsibility = update_setup(); dma.enable(); dma.attachInterrupt(isr); } void AudioInputAnalog::isr(void) { uint32_t daddr, offset; const uint16_t *src, *end; uint16_t *dest_left; audio_block_t *left; daddr = (uint32_t)(dma.TCD->DADDR); dma.clearInterrupt(); if (daddr < (uint32_t)analog_rx_buffer + sizeof(analog_rx_buffer) / 2) { // DMA is receiving to the first half of the buffer // need to remove data from the second half src = (uint16_t *)&analog_rx_buffer[AUDIO_BLOCK_SAMPLES/2]; end = (uint16_t *)&analog_rx_buffer[AUDIO_BLOCK_SAMPLES]; if (update_responsibility) AudioStream::update_all(); } else { // DMA is receiving to the second half of the buffer // need to remove data from the first half src = (uint16_t *)&analog_rx_buffer[0]; end = (uint16_t *)&analog_rx_buffer[AUDIO_BLOCK_SAMPLES/2]; } left = block_left; if (left != NULL) { offset = block_offset; if (offset > AUDIO_BLOCK_SAMPLES/2) offset = AUDIO_BLOCK_SAMPLES/2; dest_left = (uint16_t *)&(left->data[offset]); block_offset = offset + AUDIO_BLOCK_SAMPLES/2; do { *dest_left++ = *src++; } while (src < end); } } void AudioInputAnalog::update(void) { audio_block_t *new_left=NULL, *out_left=NULL; uint32_t offset; int32_t tmp; int16_t s, *p, *end; //Serial.println("update"); // allocate new block (ok if NULL) new_left = allocate(); __disable_irq(); offset = block_offset; if (offset < AUDIO_BLOCK_SAMPLES) { // the DMA didn't fill a block if (new_left != NULL) { // but we allocated a block if (block_left == NULL) { // the DMA doesn't have any blocks to fill, so // give it the one we just allocated block_left = new_left; block_offset = 0; __enable_irq(); //Serial.println("fail1"); } else { // the DMA already has blocks, doesn't need this __enable_irq(); release(new_left); //Serial.print("fail2, offset="); //Serial.println(offset); } } else { // The DMA didn't fill a block, and we could not allocate // memory... the system is likely starving for memory! // Sadly, there's nothing we can do. __enable_irq(); //Serial.println("fail3"); } return; } // the DMA filled a block, so grab it and get the // new block to the DMA, as quickly as possible out_left = block_left; block_left = new_left; block_offset = 0; __enable_irq(); // // DC Offset Removal Filter // 1-pole digital high-pass filter implementation // y = a*(x[n] - x[n-1] + y[n-1]) // The coefficient "a" is as follows: // a = UNITY*e^(-2*pi*fc/fs) // fc = 2 @ fs = 44100 // p = out_left->data; end = p + AUDIO_BLOCK_SAMPLES; do { tmp = (uint16_t)(*p); tmp = ( ((int32_t) tmp) << 14); int32_t acc = hpf_y1 - hpf_x1; acc += tmp; hpf_y1 = FRACMUL_SHL(acc, COEF_HPF_DCBLOCK, 1); hpf_x1 = tmp; s = signed_saturate_rshift(hpf_y1, 16, 14); *p++ = s; } while (p < end); // then transmit the AC data transmit(out_left); release(out_left); } #endif #if defined(__IMXRT1062__) #include #include "input_adc.h" extern "C" void xbar_connect(unsigned int input, unsigned int output); #define FILTERLEN 15 DMAChannel AudioInputAnalog::dma(false); // TODO: how much extra space is needed to avoid wrap-around timing? 200 seems a safe guess static __attribute__((aligned(32))) uint16_t adc_buffer[AUDIO_BLOCK_SAMPLES*4+200]; static int16_t capture_buffer[AUDIO_BLOCK_SAMPLES*4+FILTERLEN]; // TODO: these big buffers should be in DMAMEM, rather than consuming precious DTCM PROGMEM static const uint8_t adc2_pin_to_channel[] = { 7, // 0/A0 AD_B1_02 8, // 1/A1 AD_B1_03 12, // 2/A2 AD_B1_07 11, // 3/A3 AD_B1_06 6, // 4/A4 AD_B1_01 5, // 5/A5 AD_B1_00 15, // 6/A6 AD_B1_10 0, // 7/A7 AD_B1_11 13, // 8/A8 AD_B1_08 14, // 9/A9 AD_B1_09 255, // 10/A10 AD_B0_12 - only on ADC1, 1 - can't use for audio 255, // 11/A11 AD_B0_13 - only on ADC1, 2 - can't use for audio 3, // 12/A12 AD_B1_14 4, // 13/A13 AD_B1_15 7, // 14/A0 AD_B1_02 8, // 15/A1 AD_B1_03 12, // 16/A2 AD_B1_07 11, // 17/A3 AD_B1_06 6, // 18/A4 AD_B1_01 5, // 19/A5 AD_B1_00 15, // 20/A6 AD_B1_10 0, // 21/A7 AD_B1_11 13, // 22/A8 AD_B1_08 14, // 23/A9 AD_B1_09 255, // 24/A10 AD_B0_12 - only on ADC1, 1 - can't use for audio 255, // 25/A11 AD_B0_13 - only on ADC1, 2 - can't use for audio 3, // 26/A12 AD_B1_14 - only on ADC2, do not use analogRead() 4, // 27/A13 AD_B1_15 - only on ADC2, do not use analogRead() #ifdef ARDUINO_TEENSY41 255, // 28 255, // 29 255, // 30 255, // 31 255, // 32 255, // 33 255, // 34 255, // 35 255, // 36 255, // 37 1, // 38/A14 AD_B1_12 - only on ADC2, do not use analogRead() 2, // 39/A15 AD_B1_13 - only on ADC2, do not use analogRead() 9, // 40/A16 AD_B1_04 10, // 41/A17 AD_B1_05 #endif }; static const int16_t filter[FILTERLEN] = { 1449, 3676, 6137, 9966, 13387, 16896, 18951, 19957, 18951, 16896, 13387, 9966, 6137, 3676, 1449 }; void AudioInputAnalog::init(uint8_t pin) { if (pin >= sizeof(adc2_pin_to_channel)) return; const uint8_t adc_channel = adc2_pin_to_channel[pin]; if (adc_channel == 255) return; // configure a timer to trigger ADC // TODO: sample rate should be slightly lower than 4X AUDIO_SAMPLE_RATE_EXACT // linear interpolation is supposed to resample it to exactly 4X // the sample rate, so we avoid artifacts boundaries between captures const int comp1 = ((float)F_BUS_ACTUAL) / (AUDIO_SAMPLE_RATE_EXACT * 4.0f) / 2.0f + 0.5f; TMR4_ENBL &= ~(1<<3); TMR4_SCTRL3 = TMR_SCTRL_OEN | TMR_SCTRL_FORCE; TMR4_CSCTRL3 = TMR_CSCTRL_CL1(1) | TMR_CSCTRL_TCF1EN; TMR4_CNTR3 = 0; TMR4_LOAD3 = 0; TMR4_COMP13 = comp1; TMR4_CMPLD13 = comp1; TMR4_CTRL3 = TMR_CTRL_CM(1) | TMR_CTRL_PCS(8) | TMR_CTRL_LENGTH | TMR_CTRL_OUTMODE(3); TMR4_DMA3 = TMR_DMA_CMPLD1DE; TMR4_CNTR3 = 0; TMR4_ENBL |= (1<<3); // connect the timer output the ADC_ETC input const int trigger = 4; // 0-3 for ADC1, 4-7 for ADC2 CCM_CCGR2 |= CCM_CCGR2_XBAR1(CCM_CCGR_ON); xbar_connect(XBARA1_IN_QTIMER4_TIMER3, XBARA1_OUT_ADC_ETC_TRIG00 + trigger); // turn on ADC_ETC and configure to receive trigger if (ADC_ETC_CTRL & (ADC_ETC_CTRL_SOFTRST | ADC_ETC_CTRL_TSC_BYPASS)) { ADC_ETC_CTRL = 0; // clears SOFTRST only ADC_ETC_CTRL = 0; // clears TSC_BYPASS } ADC_ETC_CTRL |= ADC_ETC_CTRL_TRIG_ENABLE(1 << trigger) | ADC_ETC_CTRL_DMA_MODE_SEL; ADC_ETC_DMA_CTRL |= ADC_ETC_DMA_CTRL_TRIQ_ENABLE(trigger); // configure ADC_ETC trigger4 to make one ADC2 measurement on pin A2 const int len = 1; IMXRT_ADC_ETC.TRIG[trigger].CTRL = ADC_ETC_TRIG_CTRL_TRIG_CHAIN(len - 1) | ADC_ETC_TRIG_CTRL_TRIG_PRIORITY(7); IMXRT_ADC_ETC.TRIG[trigger].CHAIN_1_0 = ADC_ETC_TRIG_CHAIN_HWTS0(1) | ADC_ETC_TRIG_CHAIN_CSEL0(adc2_pin_to_channel[pin]) | ADC_ETC_TRIG_CHAIN_B2B0; // set up ADC2 for 12 bit mode, hardware trigger Serial.printf("ADC2_CFG = %08X\n", ADC2_CFG); ADC2_CFG |= ADC_CFG_ADTRG; ADC2_CFG = ADC_CFG_MODE(2) | ADC_CFG_ADSTS(3) | ADC_CFG_ADLSMP | ADC_CFG_ADTRG | ADC_CFG_ADICLK(1) | ADC_CFG_ADIV(0) /*| ADC_CFG_ADHSC*/; ADC2_GC &= ~ADC_GC_AVGE; // single sample, no averaging ADC2_HC0 = ADC_HC_ADCH(16); // 16 = controlled by ADC_ETC // use a DMA channel to capture ADC_ETC output dma.begin(); dma.TCD->SADDR = &(IMXRT_ADC_ETC.TRIG[4].RESULT_1_0); dma.TCD->SOFF = 0; dma.TCD->ATTR = DMA_TCD_ATTR_SSIZE(1) | DMA_TCD_ATTR_DSIZE(1); dma.TCD->NBYTES_MLNO = 2; dma.TCD->SLAST = 0; dma.TCD->DADDR = adc_buffer; dma.TCD->DOFF = 2; dma.TCD->CITER_ELINKNO = sizeof(adc_buffer) / 2; dma.TCD->DLASTSGA = -sizeof(adc_buffer); dma.TCD->BITER_ELINKNO = sizeof(adc_buffer) / 2; dma.TCD->CSR = 0; dma.triggerAtHardwareEvent(DMAMUX_SOURCE_ADC_ETC); dma.enable(); // TODO: configure I2S1 to interrupt every 128 audio samples } static int16_t fir(const int16_t *data, const int16_t *impulse, int len) { int64_t sum=0; while (len > 0) { sum += *data++ * *impulse++; // TODO: optimize with DSP inst and filter symmetry len --; } sum = sum >> 15; // TODO: adjust filter coefficients for proper gain, 12 to 16 bits if (sum > 32767) return 32767; if (sum < -32768) return -32768; return sum; } void AudioInputAnalog::update(void) { audio_block_t *output=NULL; output = allocate(); if (output == NULL) return; uint16_t *p = (uint16_t *)dma.TCD->DADDR; //int offset = p - adc_buffer; //if (--offset < 0) offset = sizeof(adc_buffer) / 2 - 1; //Serial.printf("offset = %4d, val = %4d\n", offset + 1, adc_buffer[offset]); // copy adc buffer to capture buffer // FIXME: this should be done from the I2S interrupt, for precise capture timing const unsigned int capture_len = sizeof(capture_buffer) / 2; for (unsigned int i=0; i < capture_len; i++) { // TODO: linear interpolate to exactly 4X sample rate if (--p < adc_buffer) p = adc_buffer + (sizeof(adc_buffer) / 2 - 1); // remove DC offset // TODO: very slow low pass filter for DC offset int dc_offset = 550; // FIXME: quick kludge for testing!! int n = (int)*p - dc_offset; if (n > 4095) n = 4095; if (n < -4095) n = -4095; capture_buffer[i] = n; } //printbuf(capture_buffer, 8); // low pass filter and subsample (this part belongs here) int16_t *dest = output->data + AUDIO_BLOCK_SAMPLES - 1; for (int i=0; i < AUDIO_BLOCK_SAMPLES; i++) { #if 1 // proper low-pass filter sounds pretty good *dest-- = fir(capture_buffer + i * 4, filter, sizeof(filter)/2); #else // just averge 4 samples together, lower quality but much faster *dest-- = capture_buffer[i * 4] + capture_buffer[i * 4 + 1] + capture_buffer[i * 4 + 2] + capture_buffer[i * 4 + 3]; #endif } transmit(output); release(output); } #endif