Add PCM Audio module.

This commit is contained in:
iabdalkader 2020-10-28 19:17:17 +02:00
parent 5fe0460488
commit e3bc2f2155
6 changed files with 328 additions and 0 deletions

View File

@ -145,6 +145,10 @@ ifeq ($(MICROPY_PY_NETWORK_CYW43), 1)
MP_CFLAGS += -DMICROPY_PY_NETWORK_CYW43=1
MICROPY_ARGS += MICROPY_PY_NETWORK_CYW43=1
endif
ifeq ($(MICROPY_PY_AUDIO), 1)
MP_CFLAGS += -DMICROPY_PY_AUDIO=1
MICROPY_ARGS += MICROPY_PY_AUDIO=1
endif
OMV_CFLAGS += -I$(TOP_DIR)/$(OMV_DIR)/
OMV_CFLAGS += -I$(TOP_DIR)/$(OMV_DIR)/py/
@ -186,7 +190,9 @@ UVC_LDFLAGS = -mcpu=$(CPU) -mabi=aapcs-linux -mthumb -mfpu=$(FPU) -mfloat-abi=ha
#------------- Libraries ----------------#
LIBS = -lgcc
ifeq ($(MICROPY_PY_AUDIO), 1)
LIBS += $(TOP_DIR)/$(LIBPDM_DIR)/libPDMFilter_CM7_GCC_wc32.a
endif
FIRM_OBJ += $(wildcard $(BUILD)/$(CMSIS_DIR)/src/dsp/CommonTables/*.o)
FIRM_OBJ += $(wildcard $(BUILD)/$(CMSIS_DIR)/src/dsp/FastMathFunctions/*.o)
FIRM_OBJ += $(wildcard $(BUILD)/$(CMSIS_DIR)/src/dsp/MatrixFunctions/*.o)
@ -311,6 +317,7 @@ FIRM_OBJ += $(addprefix $(BUILD)/$(OMV_DIR)/py/, \
py_nn.o \
py_tf.o \
py_imu.o \
py_audio.o \
)

View File

@ -108,6 +108,7 @@ SRCS += $(addprefix py/, \
py_nn.c \
py_tf.c \
py_imu.c \
py_audio.c \
)
OBJS = $(addprefix $(BUILD)/, $(SRCS:.c=.o))

View File

@ -270,6 +270,7 @@
// SAI4
#define AUDIO_SAI (SAI4_Block_A)
#define AUDIO_SAI_MCKDIV (12)
#define AUDIO_SAI_CK_PORT (GPIOE)
#define AUDIO_SAI_CK_PIN (GPIO_PIN_2)
@ -291,6 +292,7 @@
// SAI1
// Set SAI1 clock source in system ex: Sai1ClockSelection = RCC_SAI1CLKSOURCE_PLL;
// #define AUDIO_SAI (SAI1_Block_A)
// #define AUDIO_SAI_MCKDIV (12)
//
// #define AUDIO_SAI_CK_PORT (GPIOE)
// #define AUDIO_SAI_CK_PIN (GPIO_PIN_2)

View File

@ -16,3 +16,4 @@ MICROPY_PY_ULAB = 1
MICROPY_PY_WINC1500 = 0
MICROPY_PY_LWIP = 1
MICROPY_PY_NETWORK_CYW43 = 1
MICROPY_PY_AUDIO = 1

308
src/omv/py/py_audio.c Normal file
View File

@ -0,0 +1,308 @@
/*
* This file is part of the OpenMV project.
*
* Copyright (c) 2013-2019 Ibrahim Abdelkader <iabdalkader@openmv.io>
* Copyright (c) 2013-2019 Kwabena W. Agyeman <kwagyeman@openmv.io>
*
* This work is licensed under the MIT license, see the file LICENSE for details.
*
* Audio Python module.
*/
#include <mp.h>
#include "systick.h"
#include "py_assert.h"
#include "py_helper.h"
#include "py/binary.h"
#include "pdm2pcm_glo.h"
#include "fb_alloc.h"
#include "omv_boardconfig.h"
#if MICROPY_PY_AUDIO
#define PDM_SAMPLE_FREQ (2048U)//KHz
#define RAISE_OS_EXCEPTION(msg) nlr_raise(mp_obj_new_exception_msg(&mp_type_OSError, msg))
#define SAI_MIN(a,b) ({ __typeof__ (a) _a = (a); __typeof__ (b) _b = (b); _a < _b ? _a : _b; })
static SAI_HandleTypeDef hsai;
static DMA_HandleTypeDef hdma_sai_rx;
static const int n_channels = 2;
static PDM_Filter_Handler_t PDM_FilterHandler[2];
static PDM_Filter_Config_t PDM_FilterConfig[2];
#define DMA_XFER_NONE (0x00U)
#define DMA_XFER_HALF (0x01U)
#define DMA_XFER_FULL (0x04U)
static volatile uint32_t xfer_status = 0;
#define PDM_BUFFER_SIZE (256*2)
// BDMA can only access D3 SRAM4 memory.
uint8_t PDM_BUFFER[PDM_BUFFER_SIZE] __attribute__ ((aligned (32))) __attribute__((section(".d3_sram_buffer")));
void AUDIO_SAI_DMA_IRQHandler(void)
{
HAL_DMA_IRQHandler(hsai.hdmarx);
}
void HAL_SAI_RxHalfCpltCallback(SAI_HandleTypeDef *hsai)
{
xfer_status |= DMA_XFER_HALF;
SCB_InvalidateDCache_by_Addr((uint32_t *)(&PDM_BUFFER[0]), PDM_BUFFER_SIZE / 2);
}
void HAL_SAI_RxCpltCallback(SAI_HandleTypeDef *hsai)
{
xfer_status |= DMA_XFER_FULL;
SCB_InvalidateDCache_by_Addr((uint32_t *)(&PDM_BUFFER[PDM_BUFFER_SIZE / 2]), PDM_BUFFER_SIZE / 2);
}
static mp_obj_t py_audio_init()
{
hsai.Instance = AUDIO_SAI;
hsai.Init.Protocol = SAI_FREE_PROTOCOL;
hsai.Init.AudioMode = SAI_MODEMASTER_RX;
hsai.Init.DataSize = SAI_DATASIZE_16;
hsai.Init.FirstBit = SAI_FIRSTBIT_LSB;
hsai.Init.ClockStrobing = SAI_CLOCKSTROBING_RISINGEDGE;
hsai.Init.Synchro = SAI_ASYNCHRONOUS;
hsai.Init.OutputDrive = SAI_OUTPUTDRIVE_DISABLE;
hsai.Init.NoDivider = SAI_MASTERDIVIDER_DISABLE;
hsai.Init.FIFOThreshold = SAI_FIFOTHRESHOLD_1QF;
hsai.Init.SynchroExt = SAI_SYNCEXT_DISABLE;
hsai.Init.AudioFrequency = SAI_AUDIO_FREQUENCY_MCKDIV;
hsai.Init.MonoStereoMode = SAI_STEREOMODE;
hsai.Init.CompandingMode = SAI_NOCOMPANDING;
hsai.Init.TriState = SAI_OUTPUT_RELEASED;
// The master clock output (MCLK_x) is disabled and the SAI clock
// is passed out to SCK_x bit clock. SCKx frequency = SAI_KER_CK / MCKDIV / 2
hsai.Init.Mckdiv = AUDIO_SAI_MCKDIV; //2.048MHz
hsai.Init.MckOutput = SAI_MCK_OUTPUT_DISABLE;
hsai.Init.MckOverSampling = SAI_MCK_OVERSAMPLING_DISABLE;
// Enable and configure PDM mode.
hsai.Init.PdmInit.Activation = ENABLE;
hsai.Init.PdmInit.MicPairsNbr = 1;
hsai.Init.PdmInit.ClockEnable = SAI_PDM_CLOCK1_ENABLE;
hsai.FrameInit.FrameLength = 16;
hsai.FrameInit.ActiveFrameLength = 1;
hsai.FrameInit.FSDefinition = SAI_FS_STARTFRAME;
hsai.FrameInit.FSPolarity = SAI_FS_ACTIVE_HIGH;
hsai.FrameInit.FSOffset = SAI_FS_FIRSTBIT;
hsai.SlotInit.FirstBitOffset = 0;
hsai.SlotInit.SlotSize = SAI_SLOTSIZE_DATASIZE;
hsai.SlotInit.SlotNumber = 1;
hsai.SlotInit.SlotActive = SAI_SLOTACTIVE_0;
// Initialize the SAI
HAL_SAI_DeInit(&hsai);
if (HAL_SAI_Init(&hsai) != HAL_OK) {
RAISE_OS_EXCEPTION("Failed to init SAI");
}
// Enable the DMA clock
AUDIO_SAI_DMA_CLK_ENABLE();
// Configure the SAI DMA
hdma_sai_rx.Instance = AUDIO_SAI_DMA_STREAM;
hdma_sai_rx.Init.Request = AUDIO_SAI_DMA_REQUEST;
hdma_sai_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
hdma_sai_rx.Init.PeriphInc = DMA_PINC_DISABLE;
hdma_sai_rx.Init.MemInc = DMA_MINC_ENABLE;
hdma_sai_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_HALFWORD;
hdma_sai_rx.Init.MemDataAlignment = DMA_MDATAALIGN_HALFWORD;
hdma_sai_rx.Init.Mode = DMA_CIRCULAR;
hdma_sai_rx.Init.Priority = DMA_PRIORITY_HIGH;
hdma_sai_rx.Init.FIFOMode = DMA_FIFOMODE_ENABLE;
hdma_sai_rx.Init.FIFOThreshold = DMA_FIFO_THRESHOLD_FULL;
hdma_sai_rx.Init.MemBurst = DMA_MBURST_SINGLE;
hdma_sai_rx.Init.PeriphBurst = DMA_MBURST_SINGLE;
__HAL_LINKDMA(&hsai, hdmarx, hdma_sai_rx);
// Initialize the DMA stream
HAL_DMA_DeInit(&hdma_sai_rx);
if (HAL_DMA_Init(&hdma_sai_rx) != HAL_OK) {
RAISE_OS_EXCEPTION("SAI DMA init failed!");
}
// Configure and enable SAI DMA IRQ Channel
NVIC_SetPriority(AUDIO_SAI_DMA_IRQ, IRQ_PRI_DMA21);
HAL_NVIC_EnableIRQ(AUDIO_SAI_DMA_IRQ);
return mp_const_none;
}
static mp_obj_t py_audio_read_pdm(mp_obj_t buf_in)
{
mp_buffer_info_t pdmbuf;
mp_get_buffer_raise(buf_in, &pdmbuf, MP_BUFFER_WRITE);
size_t typesize = mp_binary_get_size('@', pdmbuf.typecode, NULL);
uint32_t xfer_samples = 0;
uint32_t n_samples = pdmbuf.len / typesize;
if (typesize != 2) {
// Make sure the buffer is 16-Bits array.
RAISE_OS_EXCEPTION("Wrong data type, expected 16-Bits array!");
}
// Clear DMA buffer status
xfer_status &= DMA_XFER_NONE;
// Start DMA transfer
if (HAL_SAI_Receive_DMA(&hsai, (uint8_t*) PDM_BUFFER, PDM_BUFFER_SIZE / 2) != HAL_OK) {
RAISE_OS_EXCEPTION("SAI DMA transfer failed!");
}
while (n_samples) {
uint32_t start = HAL_GetTick();
// Wait for transfer complete.
while ((xfer_status & DMA_XFER_FULL) == 0) {
if ((HAL_GetTick() - start) >= 1000) {
HAL_SAI_DMAStop(&hsai);
RAISE_OS_EXCEPTION("SAI DMA transfer timeout!");
}
}
// Clear buffer state.
xfer_status &= DMA_XFER_NONE;
// Copy samples to pdm output buffer.
uint32_t samples = SAI_MIN(n_samples, PDM_BUFFER_SIZE/2);
for (int i=0; i<samples; i++, n_samples--, xfer_samples++) {
((uint16_t*)pdmbuf.buf)[xfer_samples] = ((uint16_t *)PDM_BUFFER)[i];
}
if (xfer_status & DMA_XFER_FULL) {
printf("Dropping samples!\n");
}
}
// Stop SAI DMA.
HAL_SAI_DMAStop(&hsai);
return mp_const_none;
}
static uint32_t get_decimation_factor(uint32_t decimation)
{
switch (decimation) {
case 16: return PDM_FILTER_DEC_FACTOR_16;
case 24: return PDM_FILTER_DEC_FACTOR_24;
case 32: return PDM_FILTER_DEC_FACTOR_32;
case 48: return PDM_FILTER_DEC_FACTOR_48;
case 64: return PDM_FILTER_DEC_FACTOR_64;
case 80: return PDM_FILTER_DEC_FACTOR_80;
case 128: return PDM_FILTER_DEC_FACTOR_128;
default: RAISE_OS_EXCEPTION("This frequency is not supported!");
}
}
static mp_obj_t py_audio_read_pcm(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
{
mp_buffer_info_t pcmbuf;
mp_get_buffer_raise(args[0], &pcmbuf, MP_BUFFER_WRITE);
int frequency = py_helper_keyword_int(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_frequency), 16);
int gain_db = py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_gain_db), 24);
float highpass = py_helper_keyword_float(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_highpass), 0.9883f);
size_t typesize = mp_binary_get_size('@', pcmbuf.typecode, NULL);
uint32_t n_samples = pcmbuf.len / typesize;
int16_t *output_buffer = (int16_t *) pcmbuf.buf;
uint32_t decimation_factor = PDM_SAMPLE_FREQ/frequency;
uint32_t output_samples = ((PDM_BUFFER_SIZE / 2) * 8) / (decimation_factor * n_channels); // Half transfer
if (typesize != 2) {
// Make sure the buffer is 16-Bits array.
RAISE_OS_EXCEPTION("Wrong data type, expected 16-Bits array!");
}
// Configure PDM library
for (int i=0; i<n_channels; i++) {
PDM_FilterHandler[i].bit_order = PDM_FILTER_BIT_ORDER_MSB;
PDM_FilterHandler[i].endianness = PDM_FILTER_ENDIANNESS_LE;
PDM_FilterHandler[i].high_pass_tap = (uint32_t) (highpass * 2147483647U); // coff * (2^31-1)
PDM_FilterHandler[i].out_ptr_channels = n_channels;
PDM_FilterHandler[i].in_ptr_channels = n_channels;
PDM_Filter_Init(&PDM_FilterHandler[i]);
PDM_FilterConfig[i].mic_gain = gain_db;
PDM_FilterConfig[i].output_samples_number = output_samples;
PDM_FilterConfig[i].decimation_factor = get_decimation_factor(decimation_factor);
PDM_Filter_setConfig(&PDM_FilterHandler[i], &PDM_FilterConfig[i]);
}
// Clear DMA buffer status
xfer_status &= DMA_XFER_NONE;
// Start DMA transfer
if (HAL_SAI_Receive_DMA(&hsai, (uint8_t*) PDM_BUFFER, PDM_BUFFER_SIZE / 2) != HAL_OK) {
RAISE_OS_EXCEPTION("SAI DMA transfer failed!");
}
while (n_samples) {
uint32_t start = HAL_GetTick();
// Wait for half transfer complete.
while ((xfer_status & DMA_XFER_HALF) == 0) {
if ((HAL_GetTick() - start) >= 1000) {
HAL_SAI_DMAStop(&hsai);
RAISE_OS_EXCEPTION("SAI DMA transfer timeout!");
}
}
// Clear buffer state.
xfer_status &= ~(DMA_XFER_HALF);
// Convert PDM samples to PCM.
for (int i=0; i<n_channels; i++) {
PDM_Filter(&((uint8_t*)PDM_BUFFER)[i], &output_buffer[i], &PDM_FilterHandler[i]);
}
output_buffer += output_samples * 2;
// Wait for transfer complete.
while ((xfer_status & DMA_XFER_FULL) == 0) {
if ((HAL_GetTick() - start) >= 1000) {
HAL_SAI_DMAStop(&hsai);
RAISE_OS_EXCEPTION("SAI DMA transfer timeout!");
}
}
// Clear buffer state.
xfer_status &= ~(DMA_XFER_FULL);
// Convert PDM samples to PCM.
for (int i=0; i<n_channels; i++) {
PDM_Filter(&((uint8_t*)PDM_BUFFER)[PDM_BUFFER_SIZE / 2 + i], &output_buffer[i], &PDM_FilterHandler[i]);
}
output_buffer += output_samples * 2;
n_samples -= output_samples * 4;
}
// Stop SAI DMA.
HAL_SAI_DMAStop(&hsai);
return mp_const_none;
}
STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_audio_init_obj, py_audio_init);
STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_audio_read_pdm_obj, py_audio_read_pdm);
STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_audio_read_pcm_obj, 1, py_audio_read_pcm);
static const mp_map_elem_t globals_dict_table[] = {
{ MP_OBJ_NEW_QSTR(MP_QSTR___name__), MP_OBJ_NEW_QSTR(MP_QSTR_audio) },
{ MP_OBJ_NEW_QSTR(MP_QSTR_init), (mp_obj_t)&py_audio_init_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_read_pcm), (mp_obj_t)&py_audio_read_pcm_obj },
{ MP_OBJ_NEW_QSTR(MP_QSTR_read_pdm), (mp_obj_t)&py_audio_read_pdm_obj },
};
STATIC MP_DEFINE_CONST_DICT(globals_dict, globals_dict_table);
const mp_obj_module_t audio_module = {
.base = { &mp_type_module },
.globals = (mp_obj_t)&globals_dict,
};
#endif //MICROPY_PY_AUDIO

View File

@ -1256,3 +1256,12 @@ Q(angular_rate_mdps)
Q(temperature_c)
Q(roll)
Q(pitch)
// Audio Module
Q(audio)
Q(init)
Q(gain_db)
Q(highpass)
Q(frequency)
Q(read_pdm)
Q(read_pcm)