Ryan Yuyuenyongwatana / Mbed 2 deprecated Capstone

Capstone project files

Dependencies:   mbed-dsp mbed capstone_display_2

main.cpp@6:8441a6864784, 2014-04-24 (annotated)

Committer:
ryanyuyu
Date:
Thu Apr 24 15:39:06 2014 +0000
Revision:
6:8441a6864784
Parent:
5:bc45ed158abf
Child:
7:fc55813f823e
Almost done.  2-gain stages work.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ryanyuyu 0:3aae5d23d0db 1 #include "mbed.h"
ryanyuyu 2:8ae58834937f 2 #include "FIR_f32.h"
ryanyuyu 0:3aae5d23d0db 3 #include "arm_math.h"
ryanyuyu 3:30dcfcf9412c 4 #include "display.h"
ryanyuyu 6:8441a6864784 5 #include "st7735.h"
ryanyuyu 2:8ae58834937f 6 #define f_sampling 2000 //the sampling frequency
ryanyuyu 4:9ee3ae61db7f 7 #define NumTaps 27 //the number of filter coefficients
ryanyuyu 4:9ee3ae61db7f 8 #define BlockSize 512 //the size of the buffer
ryanyuyu 6:8441a6864784 9 #define numCallibrationSteps 6 //the number of callibration steps or points
ryanyuyu 6:8441a6864784 10 #define numGainStages 2
ryanyuyu 4:9ee3ae61db7f 11 Serial pc(USBTX, USBRX); //USB serial for PC, to be removed later
ryanyuyu 4:9ee3ae61db7f 12 AnalogOut waveOut(p18); //for debugging
ryanyuyu 4:9ee3ae61db7f 13
ryanyuyu 4:9ee3ae61db7f 14 //-------------------- SPI communication
ryanyuyu 6:8441a6864784 15 SPI spi(p5, p6, p7); //MOSI, MISO, SCLK
ryanyuyu 3:30dcfcf9412c 16 DigitalOut cs(p8);
ryanyuyu 6:8441a6864784 17 DigitalIn button(p21);
ryanyuyu 4:9ee3ae61db7f 18
ryanyuyu 4:9ee3ae61db7f 19 //-------------------- LCD display
ryanyuyu 3:30dcfcf9412c 20 ST7735_LCD disp( p14, p13, p12, p10, p11); //for digital display
ryanyuyu 3:30dcfcf9412c 21 display lcd(&disp);
ryanyuyu 6:8441a6864784 22 char* newString(int length); //prototype for newString
ryanyuyu 6:8441a6864784 23 char* outputString = newString(32);
ryanyuyu 6:8441a6864784 24 char* strength = newString(32);
ryanyuyu 6:8441a6864784 25 char* dist = newString(32);
ryanyuyu 2:8ae58834937f 26
ryanyuyu 4:9ee3ae61db7f 27 //-------------------- signal-related stuff
ryanyuyu 2:8ae58834937f 28 AnalogIn input(p15); //pin 15 for analog reading
ryanyuyu 2:8ae58834937f 29 float32_t waveform[BlockSize]; //array of input data
ryanyuyu 2:8ae58834937f 30 float32_t postFilterData[BlockSize]; //array of filtered data
ryanyuyu 2:8ae58834937f 31 bool fullRead; //whether the MBED has finish
ryanyuyu 2:8ae58834937f 32 bool waitForNext;
ryanyuyu 4:9ee3ae61db7f 33 int index_g; //tracks the index for the waveform array
ryanyuyu 2:8ae58834937f 34
ryanyuyu 6:8441a6864784 35 //-------------------for distance calculation and calibration
ryanyuyu 6:8441a6864784 36 bool adjusting = true; //whether the user is still adjusting the beacon's distance
ryanyuyu 4:9ee3ae61db7f 37 float minThreshold;
ryanyuyu 4:9ee3ae61db7f 38 float maxThreshold;
ryanyuyu 6:8441a6864784 39 int callibrationStep;
ryanyuyu 6:8441a6864784 40 int state;
ryanyuyu 6:8441a6864784 41 int gainStage;
ryanyuyu 6:8441a6864784 42 float gainMultiplier;
ryanyuyu 6:8441a6864784 43 float gainCutoffs[numGainStages] = {20.0, 100.0};
ryanyuyu 6:8441a6864784 44 //gainCutoffs = {20.0, 100.0, 1200.0, 10000.0};
ryanyuyu 4:9ee3ae61db7f 45 float gain1;
ryanyuyu 6:8441a6864784 46 float gain0;
ryanyuyu 6:8441a6864784 47 //These constants are for linear interpolation for the varius gain stage. Two linear equations per stage (piecewise)
ryanyuyu 6:8441a6864784 48 float linearSamples[numCallibrationSteps];
ryanyuyu 6:8441a6864784 49 int callibrationPoints[numCallibrationSteps] = {6, 10, 14, 14, 20, 24};
ryanyuyu 6:8441a6864784 50 //callibrationPoints = {6, 10, 14, 14, 20, 24, 26, 36, 50, 50, 62, 78};
ryanyuyu 6:8441a6864784 51
ryanyuyu 6:8441a6864784 52 float mLower[numGainStages]; //m (slope) lower portion
ryanyuyu 6:8441a6864784 53 float bLower[numGainStages]; //b (y-offset) lower portion
ryanyuyu 6:8441a6864784 54 float mid[numGainStages]; //the middle x-value for the piecewise
ryanyuyu 6:8441a6864784 55 float mUpper[numGainStages]; //m (slope) upper portion
ryanyuyu 6:8441a6864784 56 float bUpper[numGainStages]; //b (y-offset) upper portion
ryanyuyu 6:8441a6864784 57
ryanyuyu 6:8441a6864784 58 /*
ryanyuyu 6:8441a6864784 59 float m10;
ryanyuyu 6:8441a6864784 60 float b10;
ryanyuyu 6:8441a6864784 61 float mid1;
ryanyuyu 6:8441a6864784 62 float m11;
ryanyuyu 6:8441a6864784 63 float b11;
ryanyuyu 6:8441a6864784 64
ryanyuyu 6:8441a6864784 65 float m20;
ryanyuyu 6:8441a6864784 66 float b20;
ryanyuyu 6:8441a6864784 67 float mid2;
ryanyuyu 6:8441a6864784 68 float m21;
ryanyuyu 6:8441a6864784 69 float b21;
ryanyuyu 6:8441a6864784 70
ryanyuyu 6:8441a6864784 71 float m30;
ryanyuyu 6:8441a6864784 72 float b30;
ryanyuyu 6:8441a6864784 73 float mid3;
ryanyuyu 6:8441a6864784 74 float m31;
ryanyuyu 6:8441a6864784 75 float b31;
ryanyuyu 6:8441a6864784 76 */
ryanyuyu 3:30dcfcf9412c 77
ryanyuyu 4:9ee3ae61db7f 78 //------------------------the filter coefficients for FIR filter
ryanyuyu 2:8ae58834937f 79 float32_t pCoeffs[NumTaps] =
ryanyuyu 2:8ae58834937f 80 { 0.012000000000000, 0.012462263166161, -0.019562318415964, -0.026175892863747,
ryanyuyu 2:8ae58834937f 81 0.031654803781611, 0.050648026372209, -0.032547136829180, -0.070997780956819,
ryanyuyu 2:8ae58834937f 82 0.032992306874347, 0.094643188024724, -0.020568171368385, -0.106071176200193,
ryanyuyu 2:8ae58834937f 83 0.009515198320277, 0.114090808482376, 0.009515198320275, -0.106071176200193,
ryanyuyu 2:8ae58834937f 84 -0.020568171368382, 0.094643188024728, 0.032992306874351, -0.070997780956815,
ryanyuyu 2:8ae58834937f 85 -0.032547136829177, 0.050648026372211, 0.031654803781612, -0.026175892863746,
ryanyuyu 2:8ae58834937f 86 -0.019562318415964, 0.012462263166161, 0.012000000000000 };
ryanyuyu 4:9ee3ae61db7f 87 float32_t pState[NumTaps + BlockSize - 1];
ryanyuyu 3:30dcfcf9412c 88 // */
ryanyuyu 4:9ee3ae61db7f 89
ryanyuyu 4:9ee3ae61db7f 90
ryanyuyu 4:9ee3ae61db7f 91 //-----------------------IIR stuff (if needed)
ryanyuyu 4:9ee3ae61db7f 92 /*
ryanyuyu 4:9ee3ae61db7f 93 float32_t pkCoeffs[NumTaps] =
ryanyuyu 4:9ee3ae61db7f 94 {
ryanyuyu 4:9ee3ae61db7f 95 1,-2.496708288,3.17779085,-2.022333713,0.6561,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ryanyuyu 4:9ee3ae61db7f 96 };
ryanyuyu 4:9ee3ae61db7f 97
ryanyuyu 4:9ee3ae61db7f 98 float32_t pvCoeffs[NumTaps] =
ryanyuyu 4:9ee3ae61db7f 99 {
ryanyuyu 4:9ee3ae61db7f 100 0.0000556000,0.0002167120,0.0004326320,0.0005056930,0.0002111890,-0.0004911030,-0.0013071920,-0.0017060250,-0.0012444070,0.0000684000,0.0016603140,0.0026622100,0.0024306750,0.0009787140,-0.0009787140,-0.0024306750,-0.0026622100,-0.0016603140,-0.0000684000,0.0012444070,0.0017060250,0.0013071920,0.0004911030,-0.0002111890,-0.0005056930,-0.0004326320,-0.0002167120,-0.0000556000
ryanyuyu 4:9ee3ae61db7f 101 };
ryanyuyu 4:9ee3ae61db7f 102 float32_t pState[NumTaps + BlockSize];
ryanyuyu 4:9ee3ae61db7f 103 //*/
ryanyuyu 4:9ee3ae61db7f 104
ryanyuyu 4:9ee3ae61db7f 105
ryanyuyu 4:9ee3ae61db7f 106 //--------------------------------if needed, the 4kHz FIR filter
ryanyuyu 3:30dcfcf9412c 107 /*
ryanyuyu 3:30dcfcf9412c 108 float32_t pCoeffs[NumTaps] =
ryanyuyu 3:30dcfcf9412c 109 {
ryanyuyu 3:30dcfcf9412c 110 -0.00130297171184699, -0.00456436168827987, -0.00757978930408609, -0.00696944302000657,
ryanyuyu 3:30dcfcf9412c 111 -0.00100059082174453, 0.00812867271498616, 0.0148953048520266, 0.0137935053264369,
ryanyuyu 3:30dcfcf9412c 112 0.00350484996910501, -0.0112195199182290, -0.0216305356563913, -0.0202538386423356,
ryanyuyu 3:30dcfcf9412c 113 -0.00609419278464673, 0.0137348990478646, 0.0275645559768492, 0.0261107576153156,
ryanyuyu 3:30dcfcf9412c 114 0.00866220574766616, -0.0156131009924596, -0.0324957126350438, -0.0311514181527343,
ryanyuyu 3:30dcfcf9412c 115 -0.0110879396617141, 0.0168179120126559, 0.0362758644669149, 0.0352058948414930,
ryanyuyu 3:30dcfcf9412c 116 0.0132978095684398, -0.0172706692984796, -0.0386711719606551, -0.0379507530937637,
ryanyuyu 3:30dcfcf9412c 117 -0.0149419841919419, 0.0172996706397712, 0.0400000000000000, 0.0397279151377323,
ryanyuyu 3:30dcfcf9412c 118 0.0164353142069562, -0.0164055618588934, -0.0396949785867063, -0.0399629114640568,
ryanyuyu 3:30dcfcf9412c 119 -0.0172605211576678, 0.0149790280104299, 0.0379815311949588, 0.0386933807609119,
ryanyuyu 3:30dcfcf9412c 120 0.0172844840085185, -0.0132904115318555, -0.0352024033389307, -0.0362742608690452,
ryanyuyu 3:30dcfcf9412c 121 -0.0168170401765007, 0.0110885383139611, 0.0311518509994083, 0.0324959946809230,
ryanyuyu 3:30dcfcf9412c 122 0.0156132578212073, -0.00866213238945794, -0.0261107291487171, -0.0275645472357883,
ryanyuyu 3:30dcfcf9412c 123 -0.0137348973043660, 0.00609419268963993, 0.0202538383407381, 0.0216305354798053,
ryanyuyu 3:30dcfcf9412c 124 0.0112195198475825, -0.00350484999121515, -0.0137935053321021, -0.0148953048532365,
ryanyuyu 3:30dcfcf9412c 125 -0.00812867271519995, 0.00100059082171422, 0.00696944302000319, 0.00757978930408577,
ryanyuyu 3:30dcfcf9412c 126 0.00456436168827984, 0.00130297171184699
ryanyuyu 3:30dcfcf9412c 127 };
ryanyuyu 3:30dcfcf9412c 128 //*/
ryanyuyu 4:9ee3ae61db7f 129
ryanyuyu 2:8ae58834937f 130
ryanyuyu 2:8ae58834937f 131
ryanyuyu 0:3aae5d23d0db 132
ryanyuyu 6:8441a6864784 133 char* newString(int length) //creates an initialized string of given length
ryanyuyu 6:8441a6864784 134 {
ryanyuyu 6:8441a6864784 135 char* temp = new char[length+1];
ryanyuyu 6:8441a6864784 136 for (int i = 0; i <= length; i++) temp[i] = '\0';
ryanyuyu 6:8441a6864784 137 return temp;
ryanyuyu 6:8441a6864784 138 }
ryanyuyu 6:8441a6864784 139
ryanyuyu 2:8ae58834937f 140
ryanyuyu 4:9ee3ae61db7f 141 /*
ryanyuyu 4:9ee3ae61db7f 142 This is a helper function for precision timing of Tickers
ryanyuyu 4:9ee3ae61db7f 143 */
ryanyuyu 2:8ae58834937f 144 void readPoint()
ryanyuyu 2:8ae58834937f 145 {
ryanyuyu 2:8ae58834937f 146 waitForNext = false;
ryanyuyu 2:8ae58834937f 147 }
ryanyuyu 2:8ae58834937f 148
ryanyuyu 2:8ae58834937f 149
ryanyuyu 2:8ae58834937f 150 /**
ryanyuyu 2:8ae58834937f 151 * This function reads one full set of analog data into the uC
ryanyuyu 2:8ae58834937f 152 */
ryanyuyu 2:8ae58834937f 153 void readSamples()
ryanyuyu 2:8ae58834937f 154 {
ryanyuyu 2:8ae58834937f 155 Ticker sampler; //allows for precision data reading
ryanyuyu 2:8ae58834937f 156 waitForNext = true;
ryanyuyu 2:8ae58834937f 157 sampler.attach_us(&readPoint, (int) (1000000/f_sampling) ); //read in data according the sampling freq
ryanyuyu 2:8ae58834937f 158 for (int i = 0; i < BlockSize; i++)
ryanyuyu 2:8ae58834937f 159 {
ryanyuyu 2:8ae58834937f 160 while (waitForNext); //wait until the ticker calls for the next sample
ryanyuyu 2:8ae58834937f 161 waveform[i] = input.read();
ryanyuyu 2:8ae58834937f 162 waitForNext = true;
ryanyuyu 2:8ae58834937f 163 }
ryanyuyu 2:8ae58834937f 164 sampler.detach();
ryanyuyu 2:8ae58834937f 165 }
ryanyuyu 3:30dcfcf9412c 166
ryanyuyu 4:9ee3ae61db7f 167 /**
ryanyuyu 4:9ee3ae61db7f 168 This function spits out the waveform on the analogOut pin (p18)
ryanyuyu 4:9ee3ae61db7f 169 This function will be unused in the final version, but is still usefull for debugging.
ryanyuyu 4:9ee3ae61db7f 170 @param array (float32_t *): (array of data) pointer to the data to output over the analogOut pin
ryanyuyu 4:9ee3ae61db7f 171 @return none
ryanyuyu 4:9ee3ae61db7f 172 */
ryanyuyu 4:9ee3ae61db7f 173 void outputWaveform(float32_t* array)
ryanyuyu 3:30dcfcf9412c 174 {
ryanyuyu 3:30dcfcf9412c 175 Ticker outputter;
ryanyuyu 3:30dcfcf9412c 176 waitForNext = true;
ryanyuyu 3:30dcfcf9412c 177 outputter.attach_us(&readPoint, (int) (1000000/f_sampling) ); //output data according the sampling freq
ryanyuyu 3:30dcfcf9412c 178 for (int i = 0; i < BlockSize; i++)
ryanyuyu 3:30dcfcf9412c 179 {
ryanyuyu 3:30dcfcf9412c 180 while (waitForNext); //wait until the ticker calls for the next data point
ryanyuyu 4:9ee3ae61db7f 181 waveOut.write(array[i]);
ryanyuyu 3:30dcfcf9412c 182 waitForNext = true;
ryanyuyu 3:30dcfcf9412c 183 }
ryanyuyu 3:30dcfcf9412c 184 outputter.detach();
ryanyuyu 3:30dcfcf9412c 185 }
ryanyuyu 3:30dcfcf9412c 186
ryanyuyu 4:9ee3ae61db7f 187 /*
ryanyuyu 4:9ee3ae61db7f 188 This method writes to the digital potentiometer (MCP4251)
ryanyuyu 4:9ee3ae61db7f 189 @param wiperNo (int): this is the wiper number to write to (either 0 or 1)
ryanyuyu 4:9ee3ae61db7f 190 @param kOhms (float): this is the value to set the resistance (in kilo Ohms) between the wiper and terminal B
ryanyuyu 4:9ee3ae61db7f 191 note
ryanyuyu 6:8441a6864784 192 @return: the integer command actually sent (for debugging)
ryanyuyu 4:9ee3ae61db7f 193 */
ryanyuyu 4:9ee3ae61db7f 194 int setPot(int wiperNo, float kOhms)
ryanyuyu 3:30dcfcf9412c 195 {
ryanyuyu 3:30dcfcf9412c 196 //257 steps (8 bits + 1), see section 7.0 for SPI instructions
ryanyuyu 3:30dcfcf9412c 197 float Rmax = 100000;
ryanyuyu 3:30dcfcf9412c 198 spi.frequency(2000000);
ryanyuyu 3:30dcfcf9412c 199 spi.format(16, 0); //16 bits, mode b00
ryanyuyu 3:30dcfcf9412c 200 float ratio = kOhms * 1000.0 / Rmax;
ryanyuyu 3:30dcfcf9412c 201 if (ratio > 1) ratio = 1;
ryanyuyu 3:30dcfcf9412c 202 if (ratio < 0) ratio = 0;
ryanyuyu 3:30dcfcf9412c 203 int dataBits = (int) (ratio * 0x100);
ryanyuyu 3:30dcfcf9412c 204 int command = wiperNo << 12; //setting the Address and Command bits
ryanyuyu 4:9ee3ae61db7f 205 command += dataBits; //add in the data bits (digital settings)
ryanyuyu 3:30dcfcf9412c 206 spi.write(command);
ryanyuyu 3:30dcfcf9412c 207 return command;
ryanyuyu 3:30dcfcf9412c 208 }
ryanyuyu 3:30dcfcf9412c 209
ryanyuyu 6:8441a6864784 210 /**
ryanyuyu 6:8441a6864784 211 This function uses both sides of the digital pot to produce an overall gain for the circuit. It uses side1 (post filter) before side0 (prefilter)
ryanyuyu 6:8441a6864784 212 @param gain (float): the overall gain wanted (bound by [1, 10000] inclusive)
ryanyuyu 6:8441a6864784 213 */
ryanyuyu 6:8441a6864784 214 void setGain(float gain)
ryanyuyu 6:8441a6864784 215 {
ryanyuyu 6:8441a6864784 216 if (gain < 0) return;
ryanyuyu 6:8441a6864784 217 if (gain <= 100.0) //only side1 is used
ryanyuyu 6:8441a6864784 218 {
ryanyuyu 6:8441a6864784 219 setPot(0, 1.0);
ryanyuyu 6:8441a6864784 220 setPot(1, gain);
ryanyuyu 6:8441a6864784 221 }
ryanyuyu 6:8441a6864784 222 else if (gain <= 10000)
ryanyuyu 6:8441a6864784 223 {
ryanyuyu 6:8441a6864784 224 setPot(1, 100.0);
ryanyuyu 6:8441a6864784 225 setPot(0, gain / 100.0);
ryanyuyu 6:8441a6864784 226 }
ryanyuyu 6:8441a6864784 227 else
ryanyuyu 6:8441a6864784 228 {
ryanyuyu 6:8441a6864784 229 setPot(1, 100.0);
ryanyuyu 6:8441a6864784 230 setPot(0, gain / 100.0);
ryanyuyu 6:8441a6864784 231 }
ryanyuyu 6:8441a6864784 232 }
ryanyuyu 6:8441a6864784 233
ryanyuyu 4:9ee3ae61db7f 234 /*
ryanyuyu 4:9ee3ae61db7f 235 This function calculates the RMS (root mean squared) of an array of float data.
ryanyuyu 4:9ee3ae61db7f 236 @param array (float32_t *): the array to calculate RMS from
ryanyuyu 4:9ee3ae61db7f 237 @return float_32: the resulting RMS value of the given array
ryanyuyu 4:9ee3ae61db7f 238 */
ryanyuyu 4:9ee3ae61db7f 239 float32_t rms(float32_t* array)
ryanyuyu 3:30dcfcf9412c 240 {
ryanyuyu 3:30dcfcf9412c 241 float32_t rms = 0;
ryanyuyu 3:30dcfcf9412c 242 for(int i = 0; i < BlockSize; i++)
ryanyuyu 3:30dcfcf9412c 243 {
ryanyuyu 4:9ee3ae61db7f 244 rms += array[i]*array[i];
ryanyuyu 3:30dcfcf9412c 245 }
ryanyuyu 4:9ee3ae61db7f 246 //pc.printf("Sum of squares %f\n\r", rms);
ryanyuyu 3:30dcfcf9412c 247 return sqrt(rms/BlockSize);
ryanyuyu 3:30dcfcf9412c 248 }
ryanyuyu 4:9ee3ae61db7f 249
ryanyuyu 6:8441a6864784 250
ryanyuyu 6:8441a6864784 251 /**
ryanyuyu 6:8441a6864784 252 This function will wait for a button press. It will work 250ms after being called (to reduce double reads)
ryanyuyu 6:8441a6864784 253 */
ryanyuyu 6:8441a6864784 254 void waitForButton()
ryanyuyu 4:9ee3ae61db7f 255 {
ryanyuyu 6:8441a6864784 256 wait_ms(250); //to ward off double reads or sticky buttons
ryanyuyu 6:8441a6864784 257 while(button.read() == 0) wait_ms(10); //poll button press every 10ms
ryanyuyu 6:8441a6864784 258 //char* outputString = newString(32);
ryanyuyu 6:8441a6864784 259 //outputString = "Button pressed.";
ryanyuyu 6:8441a6864784 260 lcd.print("Button pressed.");
ryanyuyu 6:8441a6864784 261 }
ryanyuyu 6:8441a6864784 262
ryanyuyu 6:8441a6864784 263
ryanyuyu 6:8441a6864784 264 /**
ryanyuyu 6:8441a6864784 265 This function takes RMS voltage and estimates the distance using linear interpolations.
ryanyuyu 6:8441a6864784 266 Each gain stage is split into a 2-piece-wise linear funtion for estimation
ryanyuyu 6:8441a6864784 267 @param value (float): the post-filter RMS value
ryanyuyu 6:8441a6864784 268 @return (float): the distance estimate in inches (6 to 84) assuming perfect alignment, or special:
ryanyuyu 6:8441a6864784 269 Special cases:
ryanyuyu 6:8441a6864784 270 -1: clipping likely, too close adjust to a lower gain stage
ryanyuyu 6:8441a6864784 271 999: cannot detect signal (too far), adjust to higher gain stage
ryanyuyu 6:8441a6864784 272 */
ryanyuyu 6:8441a6864784 273 float estimateDistance(float value)
ryanyuyu 6:8441a6864784 274 {
ryanyuyu 6:8441a6864784 275 //if outside range, then alert to try to adjust the gain settings
ryanyuyu 6:8441a6864784 276 if (value < minThreshold*1.10) return 999;
ryanyuyu 6:8441a6864784 277 if (value > maxThreshold*.97) return -1;
ryanyuyu 6:8441a6864784 278
ryanyuyu 6:8441a6864784 279 switch (gainStage)
ryanyuyu 6:8441a6864784 280 {
ryanyuyu 6:8441a6864784 281 case 0:
ryanyuyu 6:8441a6864784 282 if (value > mid[0]) return mLower[0]*value + bLower[0];
ryanyuyu 6:8441a6864784 283 else return mUpper[0]*value + bUpper[0];
ryanyuyu 6:8441a6864784 284 case 1:
ryanyuyu 6:8441a6864784 285 if (value > mid[1]) return mLower[1]*value + bLower[1];
ryanyuyu 6:8441a6864784 286 else return mUpper[1]*value + bUpper[1];
ryanyuyu 6:8441a6864784 287 /*
ryanyuyu 6:8441a6864784 288 case 2:
ryanyuyu 6:8441a6864784 289 if (value > mid[2]) return mLower[2]*value + bLower[2];
ryanyuyu 6:8441a6864784 290 else return mUpper[2]*value + bUpper[2];
ryanyuyu 6:8441a6864784 291 case 3:
ryanyuyu 6:8441a6864784 292 if (value > mid[3]) return mLower[3]*value + bLower[3];
ryanyuyu 6:8441a6864784 293 else return mUpper[3]*value + bUpper[3];
ryanyuyu 6:8441a6864784 294 */
ryanyuyu 6:8441a6864784 295 default:
ryanyuyu 6:8441a6864784 296 return 0;
ryanyuyu 6:8441a6864784 297 }
ryanyuyu 4:9ee3ae61db7f 298 }
ryanyuyu 4:9ee3ae61db7f 299
ryanyuyu 6:8441a6864784 300 /**
ryanyuyu 6:8441a6864784 301 This function takes in a distance estimate and tries to change the gain stage
ryanyuyu 6:8441a6864784 302 @param distance (float): the RMS from estimateDistance
ryanyuyu 6:8441a6864784 303 */
ryanyuyu 6:8441a6864784 304 void adjustGains(float distance)
ryanyuyu 4:9ee3ae61db7f 305 {
ryanyuyu 6:8441a6864784 306 pc.printf("GainStage = %d Distance=%f\n\r", gainStage, distance);
ryanyuyu 6:8441a6864784 307 if (distance == -1) //the special case for clipping
ryanyuyu 4:9ee3ae61db7f 308 {
ryanyuyu 6:8441a6864784 309 pc.printf(" Too close\n\r");
ryanyuyu 6:8441a6864784 310 if (gainStage <= 0) lcd.print(" Too close. Please back up.");
ryanyuyu 6:8441a6864784 311 else
ryanyuyu 4:9ee3ae61db7f 312 {
ryanyuyu 6:8441a6864784 313 gainStage--;
ryanyuyu 4:9ee3ae61db7f 314 }
ryanyuyu 4:9ee3ae61db7f 315 }
ryanyuyu 6:8441a6864784 316 if (distance == 999) //the special case for being too far
ryanyuyu 4:9ee3ae61db7f 317 {
ryanyuyu 6:8441a6864784 318 pc.printf(" Too far.\n\r");
ryanyuyu 6:8441a6864784 319 if (gainStage >= numGainStages - 1) lcd.print("Beacon not detected.");
ryanyuyu 6:8441a6864784 320 else gainStage++;
ryanyuyu 4:9ee3ae61db7f 321 }
ryanyuyu 6:8441a6864784 322 setGain( gainCutoffs[gainStage] );
ryanyuyu 6:8441a6864784 323 //return gainStage;
ryanyuyu 4:9ee3ae61db7f 324 }
ryanyuyu 4:9ee3ae61db7f 325
ryanyuyu 6:8441a6864784 326 void enforceGainStage()
ryanyuyu 6:8441a6864784 327 {
ryanyuyu 6:8441a6864784 328 setGain( gainCutoffs[gainStage] * gainMultiplier);
ryanyuyu 6:8441a6864784 329 }
ryanyuyu 6:8441a6864784 330
ryanyuyu 6:8441a6864784 331 /**
ryanyuyu 6:8441a6864784 332 This function takes one point of callibration data.
ryanyuyu 6:8441a6864784 333 */
ryanyuyu 6:8441a6864784 334 void callibratePoint(float value)
ryanyuyu 4:9ee3ae61db7f 335 {
ryanyuyu 6:8441a6864784 336 if (adjusting)
ryanyuyu 6:8441a6864784 337 {
ryanyuyu 6:8441a6864784 338 gainStage = (callibrationStep) / 3;
ryanyuyu 6:8441a6864784 339 snprintf(outputString, 32, "%i", callibrationPoints[ callibrationStep-1 ]);
ryanyuyu 6:8441a6864784 340 lcd.calibrationdist(outputString);
ryanyuyu 6:8441a6864784 341 waitForButton();
ryanyuyu 6:8441a6864784 342 adjusting = false;
ryanyuyu 6:8441a6864784 343 state = 2;
ryanyuyu 6:8441a6864784 344 }
ryanyuyu 6:8441a6864784 345 else
ryanyuyu 6:8441a6864784 346 {
ryanyuyu 6:8441a6864784 347 enforceGainStage();
ryanyuyu 6:8441a6864784 348 linearSamples[ callibrationStep - 1] = value;
ryanyuyu 6:8441a6864784 349 callibrationStep++; //move to next callibration step
ryanyuyu 6:8441a6864784 350 //get ready for next callibration step
ryanyuyu 6:8441a6864784 351 adjusting = true;
ryanyuyu 6:8441a6864784 352 state = 1;
ryanyuyu 6:8441a6864784 353 }
ryanyuyu 4:9ee3ae61db7f 354 }
ryanyuyu 0:3aae5d23d0db 355
ryanyuyu 0:3aae5d23d0db 356 int main() {
ryanyuyu 4:9ee3ae61db7f 357 //arm_iir_lattice_instance_f32* filter1 = new arm_iir_lattice_instance_f32();
ryanyuyu 4:9ee3ae61db7f 358 arm_fir_instance_f32* filter = new arm_fir_instance_f32();
ryanyuyu 6:8441a6864784 359 float history[10]; //history of RMS voltages.
ryanyuyu 6:8441a6864784 360
ryanyuyu 6:8441a6864784 361 state = 0; //which state of the state machine to be in, change to enum if desired
ryanyuyu 2:8ae58834937f 362
ryanyuyu 2:8ae58834937f 363 uint16_t numTaps = NumTaps;
ryanyuyu 2:8ae58834937f 364 uint32_t blockSize = BlockSize;
ryanyuyu 3:30dcfcf9412c 365 char buffer[32]; //for debugging scanf things
ryanyuyu 6:8441a6864784 366 //char* outputString = newString(30); //string to be printed to the LCD display (or other output)
ryanyuyu 6:8441a6864784 367 //char* strength = newString(32);
ryanyuyu 6:8441a6864784 368 //char* dist = newString(32);
ryanyuyu 6:8441a6864784 369
ryanyuyu 3:30dcfcf9412c 370 float32_t estimate = 0;
ryanyuyu 6:8441a6864784 371 float RMS = 0;
ryanyuyu 6:8441a6864784 372 int index_h = 0;
ryanyuyu 6:8441a6864784 373 float average = 0;
ryanyuyu 2:8ae58834937f 374 while(1)
ryanyuyu 2:8ae58834937f 375 {
ryanyuyu 2:8ae58834937f 376 switch(state)
ryanyuyu 2:8ae58834937f 377 {
ryanyuyu 2:8ae58834937f 378 case 0: //initialization
ryanyuyu 5:bc45ed158abf 379 for (int i = 0; i < NumTaps; i++)
ryanyuyu 5:bc45ed158abf 380 {
ryanyuyu 6:8441a6864784 381 pCoeffs[i] *= 1.70;
ryanyuyu 5:bc45ed158abf 382 }
ryanyuyu 5:bc45ed158abf 383
ryanyuyu 2:8ae58834937f 384 arm_fir_init_f32(filter, numTaps, pCoeffs, pState, blockSize);
ryanyuyu 4:9ee3ae61db7f 385 //arm_iir_lattice_init_f32(filter1, numTaps, pkCoeffs, pvCoeffs, pState, blockSize);
ryanyuyu 2:8ae58834937f 386 //pc.printf("Pre-attachment");
ryanyuyu 3:30dcfcf9412c 387 spi.frequency(1000000);
ryanyuyu 2:8ae58834937f 388 state = 1;
ryanyuyu 6:8441a6864784 389 callibrationStep = 0;
ryanyuyu 6:8441a6864784 390 gainStage = 0;
ryanyuyu 6:8441a6864784 391 gainMultiplier = 1.0;
ryanyuyu 2:8ae58834937f 392 pc.printf("Done with init.\n\r");
ryanyuyu 2:8ae58834937f 393 break;
ryanyuyu 2:8ae58834937f 394
ryanyuyu 6:8441a6864784 395 case 1: //callibration
ryanyuyu 6:8441a6864784 396 pc.printf(" Callibration step: %i\n\r", callibrationStep);
ryanyuyu 6:8441a6864784 397 if (callibrationStep == 0) //calculate the offset (beacon is off, or at infinity)
ryanyuyu 6:8441a6864784 398 {
ryanyuyu 6:8441a6864784 399 setGain( gainCutoffs[0]);
ryanyuyu 6:8441a6864784 400 if (adjusting)
ryanyuyu 6:8441a6864784 401 {
ryanyuyu 6:8441a6864784 402 //outputString = "Turn off the beacon. Press the button when done.";
ryanyuyu 6:8441a6864784 403 lcd.calibrationunl();
ryanyuyu 6:8441a6864784 404 waitForButton();
ryanyuyu 6:8441a6864784 405 adjusting = false;
ryanyuyu 6:8441a6864784 406 state = 2;
ryanyuyu 6:8441a6864784 407 }
ryanyuyu 6:8441a6864784 408 else
ryanyuyu 6:8441a6864784 409 {
ryanyuyu 6:8441a6864784 410
ryanyuyu 6:8441a6864784 411 minThreshold = average; //the average RMS of background noise
ryanyuyu 6:8441a6864784 412 maxThreshold = .400;
ryanyuyu 6:8441a6864784 413 callibrationStep = 1; //move to next callibration step
ryanyuyu 6:8441a6864784 414 //get ready for next callibration step
ryanyuyu 6:8441a6864784 415 adjusting = true;
ryanyuyu 6:8441a6864784 416 state = 1;
ryanyuyu 6:8441a6864784 417 }
ryanyuyu 6:8441a6864784 418 }
ryanyuyu 6:8441a6864784 419 else if (callibrationStep == 1) //at 6in, adjust gain scaling and take one datapoint
ryanyuyu 6:8441a6864784 420 {
ryanyuyu 6:8441a6864784 421 /*
ryanyuyu 6:8441a6864784 422 gain1 = 20.0;
ryanyuyu 6:8441a6864784 423 gain0 = 1.0;
ryanyuyu 6:8441a6864784 424 setPot(1, gain1);
ryanyuyu 6:8441a6864784 425 setPot(0, gain0);
ryanyuyu 6:8441a6864784 426 */
ryanyuyu 6:8441a6864784 427 setGain( 20 );
ryanyuyu 6:8441a6864784 428 callibratePoint(average);
ryanyuyu 6:8441a6864784 429 }
ryanyuyu 6:8441a6864784 430 else if (callibrationStep <= numCallibrationSteps)
ryanyuyu 6:8441a6864784 431 {
ryanyuyu 6:8441a6864784 432 callibratePoint(average);
ryanyuyu 6:8441a6864784 433 }
ryanyuyu 6:8441a6864784 434 else //now all the points are captured, so create the coeffs
ryanyuyu 6:8441a6864784 435 {
ryanyuyu 6:8441a6864784 436 pc.printf("calculating coeffs\n\r");
ryanyuyu 6:8441a6864784 437 for (int i = 0; i < numGainStages; i++)
ryanyuyu 6:8441a6864784 438 {
ryanyuyu 6:8441a6864784 439 mid[i] = linearSamples[i*3+1];
ryanyuyu 6:8441a6864784 440 mLower[i] = (callibrationPoints[i*3+1] - callibrationPoints[i*3+0]) / (linearSamples[i*3+1] - linearSamples[i*3+0]) ;
ryanyuyu 6:8441a6864784 441 mUpper[i] = (callibrationPoints[i*3+2] - callibrationPoints[i*3+1]) / (linearSamples[i*3+2] - linearSamples[i*3+1]) ;
ryanyuyu 6:8441a6864784 442 bLower[i] = callibrationPoints[i*3+0] - mLower[i]*linearSamples[i*3+0];
ryanyuyu 6:8441a6864784 443 bUpper[i] = callibrationPoints[i*3+1] - mUpper[i]*linearSamples[i*3+1];
ryanyuyu 6:8441a6864784 444 pc.printf("mL=%f mU=%f bL=%f, bU=%f, mid=%f\n\r", mLower[i], mUpper[i], bLower[i], bUpper[i], mid[i]);
ryanyuyu 6:8441a6864784 445 }
ryanyuyu 6:8441a6864784 446 callibrationStep = -1;
ryanyuyu 6:8441a6864784 447 state = 2;
ryanyuyu 6:8441a6864784 448 gainStage = 0;
ryanyuyu 6:8441a6864784 449
ryanyuyu 6:8441a6864784 450 for (int i = 0; i < numCallibrationSteps; i++)
ryanyuyu 6:8441a6864784 451 {
ryanyuyu 6:8441a6864784 452 pc.printf("linear(x)=%f callibration(y)=%d \n\r", linearSamples[i], callibrationPoints[i]);
ryanyuyu 6:8441a6864784 453 }
ryanyuyu 6:8441a6864784 454 pc.printf("End of callibration.\n\r");
ryanyuyu 6:8441a6864784 455 }
ryanyuyu 6:8441a6864784 456
ryanyuyu 6:8441a6864784 457 case 2: //read data, take samples
ryanyuyu 5:bc45ed158abf 458 //pc.printf("Reading data.\n\r");
ryanyuyu 2:8ae58834937f 459 readSamples();
ryanyuyu 3:30dcfcf9412c 460 state = 3;
ryanyuyu 2:8ae58834937f 461 break;
ryanyuyu 2:8ae58834937f 462 case 3: //filter?
ryanyuyu 6:8441a6864784 463 //pc.printf("RMS of waveform = %f\n\r", rms(waveform));
ryanyuyu 6:8441a6864784 464 //pc.printf("Filtering?\n\r");
ryanyuyu 2:8ae58834937f 465 arm_fir_f32(filter, waveform, postFilterData, blockSize);
ryanyuyu 4:9ee3ae61db7f 466 //arm_iir_lattice_f32(filter1, waveform, postFilterData, blockSize);
ryanyuyu 6:8441a6864784 467 RMS = rms(postFilterData);
ryanyuyu 6:8441a6864784 468 estimate = estimateDistance(RMS);
ryanyuyu 6:8441a6864784 469 if (callibrationStep == -1) state = 6; //done with callibration
ryanyuyu 6:8441a6864784 470 else state = 7; //still callibrating
ryanyuyu 2:8ae58834937f 471 break;
ryanyuyu 2:8ae58834937f 472 case 4: //FFT?
ryanyuyu 2:8ae58834937f 473 break;
ryanyuyu 2:8ae58834937f 474 case 5: //output, write to display and PWM tone
ryanyuyu 4:9ee3ae61db7f 475 /*
ryanyuyu 3:30dcfcf9412c 476 sprintf(outputString, "RMS = %f", estimate);
ryanyuyu 3:30dcfcf9412c 477 lcd.print(outputString);
ryanyuyu 3:30dcfcf9412c 478 state = 1;
ryanyuyu 4:9ee3ae61db7f 479 //*/
ryanyuyu 2:8ae58834937f 480 break;
ryanyuyu 4:9ee3ae61db7f 481 case 6: //calculate the average voltage
ryanyuyu 6:8441a6864784 482 //pc.printf("post filter RMS = %f\n\n\r", estimate);
ryanyuyu 4:9ee3ae61db7f 483 adjustGains(estimate);
ryanyuyu 6:8441a6864784 484 state = 8;
ryanyuyu 6:8441a6864784 485 break;
ryanyuyu 6:8441a6864784 486 case 7: //callibration-related, take 10pt average and record it
ryanyuyu 6:8441a6864784 487 history[index_h] = RMS;
ryanyuyu 6:8441a6864784 488 index_h++;
ryanyuyu 6:8441a6864784 489 state = 2;
ryanyuyu 6:8441a6864784 490 if (index_h >= 10) //ten-pt average done
ryanyuyu 6:8441a6864784 491 {
ryanyuyu 6:8441a6864784 492 average = 0;
ryanyuyu 6:8441a6864784 493 for (int i = 0; i < 10; i++) average+= history[i];
ryanyuyu 6:8441a6864784 494 average /= 10;
ryanyuyu 6:8441a6864784 495 //pc.printf("10-pt average of RMS = %f\n\r", average);
ryanyuyu 6:8441a6864784 496 float t = (float) average;
ryanyuyu 6:8441a6864784 497 int n = snprintf(strength, 32,"%f", t);
ryanyuyu 6:8441a6864784 498 lcd.displayStr(strength);
ryanyuyu 6:8441a6864784 499 index_h = 0;
ryanyuyu 6:8441a6864784 500 state = 1; //go back to callibration
ryanyuyu 6:8441a6864784 501 }
ryanyuyu 6:8441a6864784 502 //state is 2, unless 10pts are collected, then state is 1
ryanyuyu 6:8441a6864784 503 //continue taking and filtering data until full of 10pts
ryanyuyu 6:8441a6864784 504 break;
ryanyuyu 6:8441a6864784 505 case 8: //output
ryanyuyu 6:8441a6864784 506 //int n = sprintf(outputString, "RMS = %f, distance = %fin", RMS, estimate);
ryanyuyu 6:8441a6864784 507 pc.printf(" RMS=%f, Dist=%f GainStage=%d\n\r", RMS, estimate, gainStage);
ryanyuyu 5:bc45ed158abf 508 /*
ryanyuyu 6:8441a6864784 509 snprintf(strength, 32, " %f", RMS);
ryanyuyu 6:8441a6864784 510 if (estimate == -1) dist = " Unknown (clipping)";
ryanyuyu 6:8441a6864784 511 else if (estimate == 999) dist = " Unknown (no sig)";
ryanyuyu 6:8441a6864784 512 else snprintf(dist, 32, " %f in.", estimate);
ryanyuyu 5:bc45ed158abf 513 */
ryanyuyu 6:8441a6864784 514 pc.printf( strength);
ryanyuyu 6:8441a6864784 515 pc.printf( dist);
ryanyuyu 6:8441a6864784 516 lcd.displayStr(strength);
ryanyuyu 6:8441a6864784 517 lcd.displayDist(dist);
ryanyuyu 6:8441a6864784 518 //lcd.print(outputString);
ryanyuyu 6:8441a6864784 519 if (button == 1) state = 9;
ryanyuyu 6:8441a6864784 520 else state = 2;
ryanyuyu 6:8441a6864784 521 pc.printf(" end of display\n\r");
ryanyuyu 3:30dcfcf9412c 522 break;
ryanyuyu 6:8441a6864784 523 case 9: //digital pot interfacing and calibration
ryanyuyu 6:8441a6864784 524 pc.printf("Gain?\n\r");
ryanyuyu 3:30dcfcf9412c 525 pc.scanf("%s", buffer);
ryanyuyu 3:30dcfcf9412c 526 float value = atof(buffer);
ryanyuyu 6:8441a6864784 527 setGain(value);
ryanyuyu 6:8441a6864784 528 //int side = (int) value;
ryanyuyu 6:8441a6864784 529 //float k = (value - side) * 100;
ryanyuyu 6:8441a6864784 530 //pc.printf("Command: %x Scanned:%d %f\n\r", setPot(side, k), side, k);
ryanyuyu 6:8441a6864784 531 pc.printf("Scanned:%f\n\r", value);
ryanyuyu 6:8441a6864784 532 //lcd.print("Press button to continue.");
ryanyuyu 6:8441a6864784 533 //waitForButton();
ryanyuyu 6:8441a6864784 534 state = 2;
ryanyuyu 4:9ee3ae61db7f 535 break;
ryanyuyu 6:8441a6864784 536 case 10:
ryanyuyu 4:9ee3ae61db7f 537 state = 10;
ryanyuyu 3:30dcfcf9412c 538 break;
ryanyuyu 2:8ae58834937f 539 default:
ryanyuyu 2:8ae58834937f 540 break;
ryanyuyu 2:8ae58834937f 541 }
ryanyuyu 2:8ae58834937f 542 } //end of (infinite) while loop
ryanyuyu 0:3aae5d23d0db 543 }
ryanyuyu 4:9ee3ae61db7f 544
ryanyuyu 4:9ee3ae61db7f 545
ryanyuyu 4:9ee3ae61db7f 546 //-----------------------------Unused code, but potentially useful
ryanyuyu 4:9ee3ae61db7f 547
ryanyuyu 4:9ee3ae61db7f 548 /*
ryanyuyu 4:9ee3ae61db7f 549 double sum = 0;
ryanyuyu 4:9ee3ae61db7f 550 for (int i = 0; i < BlockSize; i++) sum += postFilterData[i];
ryanyuyu 4:9ee3ae61db7f 551 double average = sum/BlockSize*3.3; //*3.3 V_ref (array stored as fractions of V_ref)
ryanyuyu 4:9ee3ae61db7f 552 pc.printf("Average = %f\n\r", average);
ryanyuyu 4:9ee3ae61db7f 553 wait_ms(500);
ryanyuyu 4:9ee3ae61db7f 554 state = 2;
ryanyuyu 4:9ee3ae61db7f 555 */
ryanyuyu 4:9ee3ae61db7f 556
ryanyuyu 4:9ee3ae61db7f 557 //pc.printf("into print\n\r");
ryanyuyu 4:9ee3ae61db7f 558 /*
ryanyuyu 4:9ee3ae61db7f 559 for (int i = 0; i < BlockSize; i++)
ryanyuyu 4:9ee3ae61db7f 560 {
ryanyuyu 4:9ee3ae61db7f 561 pc.printf("Waveform contents:%f\n\r", waveform[i]);
ryanyuyu 4:9ee3ae61db7f 562 }
ryanyuyu 4:9ee3ae61db7f 563 */
ryanyuyu 5:bc45ed158abf 564
ryanyuyu 5:bc45ed158abf 565
ryanyuyu 5:bc45ed158abf 566
ryanyuyu 6:8441a6864784 567 /*---------------peak detection
ryanyuyu 5:bc45ed158abf 568 pc.printf("Into estimation\n\r");
ryanyuyu 5:bc45ed158abf 569 int peaks = 0;
ryanyuyu 5:bc45ed158abf 570 float sum = 0.0;
ryanyuyu 5:bc45ed158abf 571 float prev, current, next;
ryanyuyu 5:bc45ed158abf 572 for (int i = 0+1; i < BlockSize-1; i++)
ryanyuyu 5:bc45ed158abf 573 {
ryanyuyu 5:bc45ed158abf 574 prev = postFilterData[i-1];
ryanyuyu 5:bc45ed158abf 575 current = postFilterData[i];
ryanyuyu 5:bc45ed158abf 576 next = postFilterData[i+1];
ryanyuyu 5:bc45ed158abf 577 if (prev < current && next < current) //local max
ryanyuyu 5:bc45ed158abf 578 {
ryanyuyu 5:bc45ed158abf 579 sum += current;
ryanyuyu 5:bc45ed158abf 580 peaks++;
ryanyuyu 5:bc45ed158abf 581 }
ryanyuyu 5:bc45ed158abf 582 }
ryanyuyu 5:bc45ed158abf 583 float average = sum/peaks;
ryanyuyu 5:bc45ed158abf 584 pc.printf("Average of peaks (scalar) = %f\n\r", average);
ryanyuyu 5:bc45ed158abf 585 state = 1;
ryanyuyu 5:bc45ed158abf 586 //*/
ryanyuyu 6:8441a6864784 587
ryanyuyu 6:8441a6864784 588 /*---------------------------//purely for testing that the digital potentiometer is working.
ryanyuyu 6:8441a6864784 589 pc.printf("Start of digital pot loop.\n\r");
ryanyuyu 6:8441a6864784 590 setPot(1,0);
ryanyuyu 6:8441a6864784 591 wait_ms(1000);
ryanyuyu 6:8441a6864784 592 setPot(1,20);
ryanyuyu 6:8441a6864784 593 wait_ms(1000);
ryanyuyu 6:8441a6864784 594 setPot(1,40);
ryanyuyu 6:8441a6864784 595 wait_ms(1000);
ryanyuyu 6:8441a6864784 596 setPot(1,50);
ryanyuyu 6:8441a6864784 597 wait_ms(1000);
ryanyuyu 6:8441a6864784 598 setPot(1, 80);
ryanyuyu 6:8441a6864784 599 wait_ms(1000);
ryanyuyu 6:8441a6864784 600 setPot(1, 100);
ryanyuyu 6:8441a6864784 601 wait_ms(1000);
ryanyuyu 6:8441a6864784 602 */
ryanyuyu 6:8441a6864784 603
ryanyuyu 6:8441a6864784 604 /*
ryanyuyu 6:8441a6864784 605 m00 = -15.221;
ryanyuyu 6:8441a6864784 606 b00 = 10.836;
ryanyuyu 6:8441a6864784 607 mid0 = .088;
ryanyuyu 6:8441a6864784 608 m01 = -142.2;
ryanyuyu 6:8441a6864784 609 b01 = 22.101;
ryanyuyu 6:8441a6864784 610
ryanyuyu 6:8441a6864784 611 m10 = -48.639;
ryanyuyu 6:8441a6864784 612 b10 = 22.128;
ryanyuyu 6:8441a6864784 613 mid1 = .068;
ryanyuyu 6:8441a6864784 614 m11 = -363.74;
ryanyuyu 6:8441a6864784 615 b11 = 22.352;
ryanyuyu 6:8441a6864784 616
ryanyuyu 6:8441a6864784 617 m20 = -45.513;
ryanyuyu 6:8441a6864784 618 b20 = 39.895;
ryanyuyu 6:8441a6864784 619 mid2 = .115;
ryanyuyu 6:8441a6864784 620 m21 = -314.87;
ryanyuyu 6:8441a6864784 621 b21 = 70.387;
ryanyuyu 6:8441a6864784 622
ryanyuyu 6:8441a6864784 623 m30 = -81.809;
ryanyuyu 6:8441a6864784 624 b30 = 76.868;
ryanyuyu 6:8441a6864784 625 mid3 = .194;
ryanyuyu 6:8441a6864784 626 m31 = -201.48;
ryanyuyu 6:8441a6864784 627 b31 = 99.556;
ryanyuyu 6:8441a6864784 628 */