Col 10713

From MATLAB and Simulink to Real-Time with TI DSPs
By: Jacob Fainguelernt
From MATLAB and Simulink to Real-Time with TI DSPs
By: Jacob Fainguelernt
Online: < http://cnx.org/content/col10713/1.1/ >
CONNEXIONS
Rice University, Houston, Texas
This selection and arrangement of content as a collection is copyrighted by Cathy Wicks. It is licensed under the Creative Commons Attribution 2.0 license (http://creativecommons.org/licenses/by/2.0/). Collection structure revised: June 8, 2009 PDF generated: October 26, 2012 For copyright and attribution information for the modules contained in this collection, see p. 523.
Table of Contents
1 Control 1.1 Vehicle Dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.2 DC Motor Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 1.3 A DSP Based Class D Audio Amplier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 1.4 Permanent Magnet Synchronous Motor Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 2 Signal Processing and Communication 2.1 2.2 2.3 2.4 2.5 2.6 2.7 2.8 3.1 3.2 3.3 3.4 3.5
Acoustic Noise Cancellation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 Amplitude Modulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148 Audio Conference Bridge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191 DTMF Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223 Echo and Reverberation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244 Signal to Noise Measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274 Spectrum Estimation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300 Wavelet Denoising . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332
3 Video and Imaging

A Framework for Image Processing with the DSK6416 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375 A Framework for Video Processing with the DM6437 DVDP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397 Finding Shapes in Images . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424 Edge Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475 Video Surveillance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 486
4 From MATLAB and SIMULINK to Real-time Using TI DSPs . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 522 Attributions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 523
iv
Available for free at Connexions <http://cnx.org/content/col10713/1.1>
Chapter 1
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1.1 Vehicle Dynamics1

1.1.1 Introduction
The Texas Instruments C28x family of processors has been designed to implement control applications, for example digital motor control and un-interruptible power supplies. then emulate it using the eZDSP-F2812 board. We shall start here with a simple application. In this Laboratory, you will build a simulation model of a vehicle dynamics using Simulink, and
1.1.1.1 Related Files
Powerpoint Presentation - VehicleDynamics.ppt
2 3 4
Simulink Model for PC Simulation - VehicleDynamics.mdl
Simulink Model for Simulation with DSKF2812 - VehicleDynamicsF2812Simulation.mdl Simulink Model for Real-Time - VehicleDynamicsDSKF2812.mdl
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1.1.1.2 Objectives
Design a Simulink model of the motion of a vehicle. Run the model using Simulink on a PC. Modify the model for use with the Texas Instruments C28x Digital Signal Processor. Run the modied model on the Texas Instruments F2812 ezDSP.
1.1.1.3 Level
Beginner; This is intended as the rst complete project using Matlab and Simulink. It is suitable for students who have only limited exposure to Texas Instruments DSPs before.
1.1.1.4 Requirements
In developing this Laboratory, the following hardware and software were used:
1 This content is available online at <http://cnx.org/content/m22943/1.1/>. 2 See the le at <http://cnx.org/content/m22943/latest/VehicleDynamics.ppt> 3 See the le at <http://cnx.org/content/m22943/latest/VehicleDynamics.mdl> 4 See the le at <http://cnx.org/content/m22943/latest/VehicleDynamicsF2812Simulation.mdl> 5 See the le at <http://cnx.org/content/m22943/latest/VehicleDynamicsDSKF2812.mdl>
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Matlab R2006b with Embedded Target for TI C2000. Code Composer Studio (CCS) 3.1. Spectrum Digital ezDSP F2812 Hardware Some external electronic components costing about $2.
1.1.2 Simulation
1.1.2.1 Running the Vehicle Dynamics Simulation
Open VehicleDynamics.mdl .
6
Figure 1.1: Engine Management Subsystem
6 See
the le at <http://cnx.org/content/m22943/latest/VehicleDynamics.mdl>
Run the Model. The input to the model is a ramp generator, which simulates smooth acceleration. You will see the graphs of Horsepower and Vehicle Speed.
1.1.2.1.1 Changing the Vehicle Mass

Double click on the Vehicle Dynamics block. This models the equation of motion using Simulink Blocks.
Figure 1.2: Vehicle Dynamics
At present, the vehicle mass is 8000 kg. We will now simulate a small compact car. Change the 1/m gain block to 1/1000 and change the b/m block to 2/1000. Run the model again and notice the eect on maximum vehicle speed and how long it takes to reach maximum vehicle speed You might also like to simulate a 35,000 kg lorry. Change the 1/m block to 1/35000 and b/m to 10/35000.
1.1.2.1.2 Changing the Engine Power Prole

Double click on the Engine Management block. This models the gas in horsepower out function of the engine.
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Figure 1.3: Engine Management Subsystem
Double-click on the Power Transfer Function
Figure 1.4: Engine Power Transfer Function
Change the shape of the Power Transfer Function. You may wish to change the gradient or make the plateau wider. Run the model.
1.1.2.1.3 Other Modications to the Model

Go to the Website of an automobile manufacture, and obtain the actual engine power transfer function for a real car. Run this in the model. Replace the ramp generator input with a step function. This simulates someone stamping on the gas!
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1.1.3 Reference Simulation for F2812

1.1.3.1 Running the Vehicle Dynamics Simulation
Open VehicleDynamicsF2812Simulation.mdl .
7
Figure 1.5: Modied Model for F2812
Run this model. This is the behavior that should be seen when the real-time model is run on the ezDSP for F2812.
7 See
the le at <http://cnx.org/content/m22943/latest/VehicleDynamicsF2812Simulation.mdl>
1.1.4 Creating Your Own Models

1.1.4.1 Creating a new Matlab Model
Start Matlab 7.3.0 R2006b In the top left hand corner of the Matlab screen, select: File -> New -> Model.
Figure 1.6: A New MatLab Model
The following screen will appear.
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Figure 1.7: An Empty MatLab Model
1.1.4.1.1 Saving the New Model

Save the model as vehicle_dynamics.mdl.
Figure 1.8: Saving the new model
1.1.4.1.2 Opening the Library Browser

Select View-> Library Browser
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Figure 1.9: Selecting the Library Browser
1.1.4.1.3 Selecting the Subsystems

A list of available blocks will appear. Select Commonly used blocks. Highlight Subsystems. Drag-anddrop two copies of this block into the model.
11
Available for free at Connexions <http://cnx.org/content/col10713/1.1> Figure 1.10: The Simulink Library Browser
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1.1.4.1.4 Subsystems Added

Rename the Subsystems to Engine Management and Vehicle Dynamics.
Figure 1.11: Subsystems Added
Drag-and-drop a saturation block onto the model.
1.1.4.1.5 Adding a Ramp Generator

From the Simulink Library Browser, select Sources. Drag-and-drop the Ramp block onto the model.
13
Available for free at Connexions <http://cnx.org/content/col10713/1.1> Figure 1.12: Adding a Ramp Generator
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1.1.4.1.6 Adding Scope Blocks

From the Simulink Library Browser, select Sinks. Drag-and-drop the Scope block onto the model twice. Drag-and-drop the Display block onto the model twice.
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Figure 1.13: Adding a Scope
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1.1.4.1.7 Joining and Renaming the Blocks

Join the blocks as shown in the gure below. Change the names and add a title.
Figure 1.14: First Blocks Added
1.1.4.1.8 Setting the Solver

The ode45 solver is not suitable for use with DSP. Fixed Point Discrete is required.
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Figure 1.15: Conguring the Solver
1.1.4.2 The Engine Management Subsystem 1.1.4.2.1 Overview of the Engine Management Subsystem
The rst stage of the Engine Management Subsystem is a Gain block, which converts the Gas Pedal input (0-100%) to 0-4000 rpm. The second stage is a lookup table. This converts from rpm to hp.
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Figure 1.16: The Engine Management Subsystem
1.1.4.2.2 Adding a Lookup Table

From the Simulink Lookup Tables, drag-and-drop the Lookup Table block onto the model.
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Figure 1.17: Adding a Lookup Table
Double click on the Lookup Table block.
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Figure 1.18: Lookup Table Block Parameters
The values for the table can also be inserted as a table. Click on the Edit box.
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Figure 1.19: Lookup Table Values
Click on "Plot" as shown above, and you will see:
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Figure 1.20: Adjusting the Lookup Table
1.1.4.3 The Vehicle Dynamics Subsystem 1.1.4.3.1 Overview of Vehicle Dynamics Subsystem
The C28x operates in discrete-time; therefore the continuous integrator must be replaced by a Discrete Time Integrator for DSP model implementation.
23
Figure 1.21: Vehicle Dynamics Subsystem
Select the Main tab. Change the Constant value to 0. Click on OK.
1.1.4.3.2 Running the Simulation

The ramp generator gently changes the Gas Pedal from 0% to 100%. This simulates smooth acceleration. The Horsepower and Vehicle Speed are shown on the graphs.
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Figure 1.22: Running the Simulation
1.1.5 Modications for ezDSP F2812

In order to run the model on the ezDSP F2812, some additional blocks need to be added to the project:
An Analog-to-Digital Converter (ADC) to allow a potentiometer input. A block to scale the ADC input to the range 0 to 100%. A Digital-to-Analog Converter (DAC) to convert the Vehicle Speed to an analog output in the range 0 to 3.3V
25
1.1.5.1 Connecting the F2812 ezDSP

For Matlab and Simulink to run correctly, you need to run the F2812 ezDSP. Connect the F2812 hardware to the parallel port of the computer and turn on the supply to the board. When the board is powered, the two green LED lights on the board will come on during self-test. Start Code Composer Studio for F2812 ezDSP and use Debug -> Connect
Figure 1.23: Startup Screen for Code Composer Studio (CCS)
1.1.5.2 Opening the Library Browser

Select View-> Library Browser
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Figure 1.24: Selecting the Library Browser
1.1.5.3 The Simulink Library Browser

A list of available blocks will appear. We are particularly interested in the Embedded Target for TI C2000 DSP. Click on this selection. In the following sections we will select the building blocks for the DSP model shown in Figure 30.
27
Available for free at Connexions <http://cnx.org/content/col10713/1.1> Figure 1.25: The Simulink Library Browser
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1.1.5.4 Selecting Target Preferences

From the C2000 Target Preferences, select F2812 ezDSP. Drag-and-drop the icon onto the new model.
Figure 1.26
Figure 26 Selecting Target Preferences When the following screen appears, it is important to select Yes.
29
Figure 1.27: Initializing Simulation Parameters
1.1.5.5 Scaling the ADC Readings

To scale the ADC reading to the Gas Pedal 0 to 100% we will multiply the ADC input by 800 then divide by 32768.
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Figure 1.28
Figure 28 Scaling the ADC
1.1.5.6 Scaling the DAC Output

To scale the kph to the DAC output, we will multiply the kph input by 312.5. The Saturation block limits the output to 200 kph.
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Figure 1.29: Scaling the DAC
1.1.5.7 The Finished Model

To scale the kph to the DAC output, we will multiply the kph input by 312.5.
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Figure 1.30: The Final Model
1.1.5.8 Building the Model

Select Tools -> Real-Time Workshop -> Build Model.
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Figure 1.31: Building the Model
You may nd the nal model here .
1.1.5.9 Comparing Performance

The real-time model running on the ezDSP F2812 should now be behaving in the same way as the Simulation.
1.1.6 References
1. Spectrum Digital Incorporated, "eZdspTM F2812 Technical Reference" Rev. (http://c2000.spectrumdigital.com/ezf2812/docs/ezf2812_techref.pdf
9
F, September 2003.
8 See the le at <http://cnx.org/content/m22943/latest/VehicleDynamicsDSKF2812.mdl> 9 http://c2000.spectrumdigital.com/ezf2812/docs/ezf2812_techref.pdf

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1.2 DC Motor Control10

1.2.1 Introduction
This chapter demonstrates the use of the c28x peripherals and DMC library blocks to control the speed of a DC motor in a closed-loop fashion. This example is based on the "DC Motor Speed Control via RTDX" SIMULINK demo. The target speed of the motor is set by the user in the MATLAB GUI. This value is fed to the Controller (based on the eZDSP-F2812) to change the motor speed. The loop is closed by a tachometer. The controller constantly adjusts the value of the DC voltage applied to the motor to maintain the desired speed. control loop is shown in the following gure: The
Figure 1.32: DC Motor Control Loop
The Speed controller comprises two blocks (please refer to Figure 2): 1. This block compares the desired speed with the measured speed and generates a digital value proportional to the DC value to be applied to the motor.
10 This
content is available online at <http://cnx.org/content/m22189/1.1/>.
35
Figure 1.33: The Speed Controller
2. This block is implemented using a PWM signal generator and a Low Pass Filter as shown in Figure 3. This method is described in . The output voltage, generated at the LPF output will be:
V = D Vss
Where:
(1.1)
V D Vss
- Generated Voltage - PWM Duty Cycle - Supply Voltage (3.3 V)

Table 1.1
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Figure 1.34: Digital to Analog Converter Implementation
Figure 4 shows the loop control implementation, based on three components: 1. eZDSP-F2812 (Please refer to ) 2. Interface circuit (Please refer to Section ) 3. DC Motor Kit (Please refer to Section )
37
Figure 1.35: DC Motor Control Loop Implementation
1.2.1.1 Setup
This demo is based on the Spectrum Digital eZdsp-F2812 that is connected to a DC Motor Kit through a dedicated interface circuit. The setup is shown in Figure 5.
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Figure 1.36: Setup
1.2.1.1.1 The DC Motor Kit Servo amplier [SA150D]:

This unit operates the motor from signals applied to the input sockets 1 or 2, enabling control of the motor speed and reversing its rotation. This example shows speed control only, and will make use input socket 1 only. The servo amplier is connected to the servo motor by an 8-pin plug and able. Terminals for volts and ground (common) are available on this unit.
15
Servo motor with Tachometer [MT150F]:

This unit is a DC motor that produces a torque of the order of 8 oz-in (600 gm-cm) at 2A input current. The inertia is about 3x105 Kg
m2.
The output shaft may be tted with a brake disc and/or an inertia
disc to load the motor. A second shaft on the side of the motor is coupled to the main shaft by 30:1 gears (the smaller shaft rotates slower than the main shaft). The tachometer with terminals +, - and common (ground) is attached to the motor.
Power supply [PS150E]:

This unit provides the various voltages supplies required for the servo components. There are terminals for
15
volts, and common (ground). An ammeter is also included. The maximum current is 2 A. An 8-pin
39
socket and cable connects this unit to the servo amplier.
1.2.1.1.2 I/F Circuit

This circuit was designed as part of the demo that will be described in detail in chapter .
1.2.1.2 Measurement Equipment

1. Signal Generator 2. Voltmeter 3. Oscilloscope. 4. Stroboscope
Simulink Model for Simulation - DCMotorControl.mdl
11 12 13
MATLAB script for Real-Time - speedControlDCLoop.m
Simulink Model for Real-Time - DCMotorControlc2812.mdl
1.2.2 System Identication

The transfer function of a DC motor can be approximated by a rst order model with unknown constants. These constants can be identied experimentally. The tachometer provides the feedback signal for speed control systems. tachometer is given in Figure 6. A schematic diagram of the
11 See 12 See 13 See
the le at <http://cnx.org/content/m22189/latest/DCMotorControl.mdl> the le at <http://cnx.org/content/m22189/latest/speedControlDCLoop.m> the le at <http://cnx.org/content/m22189/latest/DCMotorControlc2812.mdl>
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Figure 1.37: DC Motor with Tachometer
In this section we will identify the constants in the mathematical models of a DC motor and the tachometer experimentally. The process consists of consists of two parts: 1. Measurement of the tachometer coecient and the motor constant 2. Measurement of the motor time constant.
Measurement Equipment
Signal Generator Voltmeter Oscilloscope. Stroboscope
1.2.2.1 Measurement of Tachometer Coecient and Motor Constant

The tachometer coecient and motor constant can be measured by generating a control voltage, using the PWM block of the DSP, and measuring:
41
1. The motor speed using a stroboscope 2. The tachometer output using a voltmeter The setup is shown in Figure 7.
Figure 1.38: Calibration of the Motor and Tachometer
Figure 8 shows the model that will be used to generate the control voltage.
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Figure 1.39: System Identication Model
The PWM block will be congured to generate a PWM signal with a period of 4096 clock cycles of 75 MHz (please refer to Figure 9).
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Figure 1.40: PWM Conguration
Measurement Procedure:
1. Connect the circuit shown in Figure 7. 2. Generate a 0 V input to the DC Motor Kit (Compile Build and Run the model with Duty Cycle=0) 3. Measure the motor speed using the stroboscope and the tachometer voltage using a voltmeter. 4. Repeat step 3 for input voltages in the range 0-15 V. Change the Duty Cycle from 0 to 100% in steps of 10 %. 5. Obtain a plot of tachometer voltage vs. servo amplier input voltage. The ADC input voltage of the DSP should be in the range 0-3V, the therefore the tachometer output voltage must be inverted and scaled down. This is done with the circuit shown in Figure 19. The gain of this circuit is G = - 100/270 = - 0.37, i.e., inverting and attenuating approximately 1/3. The results obtained are shown in Figure 10.
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Figure 1.41: Speed Measurement
1.2.2.2 Measurement of the motor time constant

The measurement of the time constant will be obtained by generating a square pulse and measuring the motor response to this stimulus. The principle of operation is shown in Figure 11; the experimental setup is shown in Figure 12.
45
Figure 1.42: Measurement of the motor time constant
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Figure 1.43: Measurement of the motor time constantMeasurement
The Function Generator generates pulses, as shown in Figure 13.
47
Figure 1.44: Pulse Parameters
Measurement Procedure
1. Connect the circuit shown in Figure 12. 2. Generate the pulse shown in Figure 13. 3. Measure the rising and falling times of the motor response. The DC motor was modeled as a rst-order linear system where
rise = fall ;
however, the actual motor is
not linear (due to friction, for example), therefore the measured values were:
rise fall
= .13 secs = .23 secs
Table 1.2
We used the average of these readings, i.e., (0.13+0.23)/2 = 0.18 and rounded to 0.2 sec.
(s) E (s)
1 = Km 1+s m
(s) E (s)
1 = Km 1+ .2s
(1.2)
1.2.3 Real-Time System Design

The system design comprises two parts: 1. Simulation, to determine the parameters of the Speed Control Transfer Function 2. Hardware Design of the interface circuit.
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1.2.3.1 Simulation
The speed control is a PID controller. A DC motor model (Figure 14) was created. The complete control loop model is shown in Figure 15. Figure 16 shows the parameters chosen for the PID controller.
Figure 1.45: DC Motor Model
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Figure 1.46: Loop Control Model
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Figure 1.47: PID Controller Parameters
1.2.3.2 Hardware Design

The connection between the eZDSP and the Motor Kit requires a dedicated interface circuit, implementing the Low Pass Filter (used for the Digital to Analog conversion) and adapting the voltage levels at the eZDSP (0 to 3V) to those of the DC Motor Kit (0-15V). The various signal types and their voltage range are shown in .
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The interface circuit contains two blocks.
The rst is LPF with an amplier (shown in Figure 18), The second block is an attenuator
connected between the PWM output and the servo amplier input. eZDSP.
(shown in Figure 19) connected between the tachometer output and the Analog to Digital Input of the
Figure 1.48: Signal Types and Voltage Levels
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Figure 1.49: LPF + Amplier Circuit
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Figure 1.50: The Inverting Amplier with LPF
1.2.4 Real Time Implementation

The control loop was implemented in the eZDSP F2812 as shown in Figure 20. The PID controller obtained in the previous chapter was implemented in the DSP. The environment is shown in Figure 21. The real-time implementation model will be created from the "DC Motor Speed Control via RTDX" SIMULINK demo. In the original demo model the loop is closed by QEP block, we will use a tachometer connected to the Analog to Digital Converter module for speed measurement. The Model and its subsystems are shown in Figures Figure 22, Figure 23 and Figure 24.
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Figure 1.51: LPF + Amplier Circuit>
Procedure: 1. Navigate into the following directory: ..\MATLAB\R2006b\toolbox\rtw\targets\tic2000\tic2000demos 1. Copy the following les into your working directory:

14 The
c2812speedcontrolDC.mdl runc2812speedcontrolDC.m runc2812speedcontrolDC.m Open the c2812speedcontrolDC.mdl model and save it as "DCMotorControlc2812.mdl"(please refer to Figure 21
14
).
model is shown here after deleting the Info box.
55
Figure 1.52: Real-Time Implementation Model
2. Double-click the Speed Correction Block, and you will see:
Figure 1.53: Figure 22: Speed Control
3. Congure the C28x PWM block as follows:
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Figure 1.54: Figure 23: PWM Conguration
4. Congure the "PID Controller" block as follows:
57
Figure 1.55: PID Conguration
5. Double-click the Speed Correction Block, and you will see:
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Figure 1.56: QEP Based Speed Measurement
6. Delete the selected blocks and replace them by the ADC block from Open the ADC block from the C281x Chip support group from the C2000 Target Preferences, and connect is as follows:
Figure 1.57: ADC+Tachometer Based Speed Measurement
7. Now the model is ready for real-time, we need however to update the MATLAB script le. Open the Model Properties from File menu. Change the PostLoadFcn callback to runc2812speedcontrolIDC,
59
as shown:
Figure 1.58: Model Callback
8. The next step is to change the original PWM range (up to 64000) to the desired range (up to 4000). Open the speddControlIDCLoop.m le with the MATLAB editor, an change on line 48 the command:
cycle = (double(pid).*100./64000); to cycle = (double(pid).*100./4000);

Please refer to the following picture:
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Figure 1.59: Changing the PWM range
9. Activate the motor 10. Activate CCS. 11. Click the Build/Reload&Run box, the following window should appear:
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Figure 1.60: Speed Control GUI
12. You may change the speed of the motor using the slider in the right hand side and the Apply button.
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1.2.5 References
1. "eZdspTM F2812 Technical Reference", Spectrum
15
Digital,
2003
http://c2000.spectrumdigital.com/ezf2812/docs/ezf2812_techref.pdf
2. David M. Alter, " Using PWM Output as a Digital-to-Analog Converter on a TMS320F280x", TI Application Report SPRAA88 , September 2008 http://www.ti.com/litv/pdf/spraa88a
16
1.3 A DSP Based Class D Audio Amplier17

1.3.1 Introduction
Class D ampliers have proven a higher power eciency performance against linear classes such as Class A, B and AB. Power losses on Class D ampliers are mainly due to non-ideality of the output transistors, operating as switches, controlled by Pulse Width Modulators. This example describes a method for utilizing both the Enhanced Pulse Width Modulator (ePWM) and the Analog-to-Digital Converter (ADC) of the TMS320F2808
digital signal controller as D-Class Audio
amplier. The method involves analog full bridge D-class power amplier and analog low-pass ltering the amplied PWM signal to remove high frequency components, leaving only the audio-frequency content.
1.3.1.1 Hardware and Software Requirements

This example was originally developed using the following hardware and software:
MatLab R2008a Code Composer Studio (CCS) v3.3 eZDSP-F2808 board.
Powerpoint Presentation ClassD.ppt
18 19
Simulink Model for Real-Time - eZDSPF2808_ClassD.mdl
1.3.2 Principle of Operation

The amplier comprises three main blocks (shown in Figure 1):
15 http://c2000.spectrumdigital.com/ezf2812/docs/ezf2812_techref.pdf 16 http://www.ti.com/litv/pdf/spraa88a 17 This content is available online at <http://cnx.org/content/m22177/1.1/>. 18 See the le at <http://cnx.org/content/m22177/latest/ClassD.ppt> 19 See the le at <http://cnx.org/content/m22177/latest/eZDSPF2808_ClassD.mdl>
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Figure 1.61: The Class-D Audio Amplier
1.3.2.1 Input Circuit:

This block interfaces with the audio source, attenuates it DC component and limits the input voltage to the ADC to the range 0 - 3.3V. The circuit contains also a DC-DC converter, for the DSP input buer.
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Figure 1.62: Input Circuit Schematics
1.3.2.2 Digital Signal Controller

The TMS320F2808, converts the analog signal to a pair of PWM signals that feed the output stage (Please refer to section ). It operates with 100 MHz. The ADC samples the input signal at a 97.656.25 Ksps rate. The ePWM, generates PWM signal with a period of 102.4 DAC equivalent.
s and duty cycle proportional to the input signal
level. The ePWM coupled with a D-Class output stage and a second order passive RLC lter, provides a
1.3.2.2.1 Sampling the Analog Input

The analog signal is converted to PCM values as shown in . The conversion is performed as described in Table 1. The ADC operates in a sampling rate of 97.656 KHz (100 MHz/1024).
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Figure 1.63: Analog to Digital (PCM) Conversion
Table 1: Analog to Digital Conversion
Input Voltage (Vin)
Digital Value(ADCRESULT) 0 4096 4095

Table 1.3
Vin < 0V 0 Vin < 3V Vin 3V
Vin 3 ,
1.3.2.2.2 PCM
PWM
The PCM values are converted to PWM as shown in Figure 4. A period of 102.4 msecs (1024 clock cycles) was chosen. The relation PCM Value/Full Range is translated to the duty cycle of the PWM. A duty cycle of 512 (50 %) corresponds to 50% of the full range, for example. In this example sample values in the range 0-4095 will be mapped to duty cycle values (CMPA) in the range 0-1023, by dividing by 4 (shift right 2 bits), as shown in Figure 5.
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Figure 1.64: PWM based Digital to Analog Conversion
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Figure 1.65: PCM to Duty Cycle Conversion
1.3.2.2.3 The Interrupt Service Routine

The process described in the previous section is executed in the Interrupt Service Routine (ISR). The ADC conversion is triggered by the ePWM block when the PWM period starts (every 102.4 msecs). The ADC generates an interrupt at the end of conversion. The interrupt service routine updates the PWM duty cycle (CMPA value) on the value of this sample. The new duty cycle will be loaded in the beginning of the next PWM period. The process is described in Figure 6.
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Figure 1.66: Timing Diagram
1.3.2.3 Output Stage:

This module contains the H-bridge, and a Low Pass Filter to remove high frequency components, leaving only the audio-frequency content. This module basically implements a Digital to Analog Converter using a PWM signal generator and a Low Pass Filter as shown in . This method is described in .
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Figure 1.67: PWM based Digital to Analog Conversion
The basic conguration of a D-Class amplier is the Half-Bridge (H-Bridge) conguration. Two output transistors operate as switches, driven by complementary PWM signals. One of the transistors is o (current through it is close zero), while the remaining one is on (voltage across it is close to zero), keeping the power dissipation very low.
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Figure 1.68: H-Bridge Power Topology
The full-bridge Class D amplier comprises two half bridges, driven by synchronized PWM signals, having two alternate conduction paths through the load, each one having a pair of transistor conducting while the remaining pair is o.
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Figure 1.69: Output Stage Schematics
1.3.3 Implementation
This section will describe the process of building a Simulink model for code generation according to description in chapter . In the rst part the framework for interrupt handling will be created. The second section will describe the creation of the Interrupt Service Routine.
1.3.3.1 Interrupt
1.
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2.
Figure 1.70: The "F2808 eZDSP" block
3.
Figure 1.71: The "Hardware Interrupt" Block
73
The Interrupt should be generated at the end of conversion of group A, (CPU Values=1 and PIE Values=1) as shown in Figure 12.
Figure 1.72: The "Hardware Interrupt" Selection Table
4.
Figure 1.73: The Hardware Interrupt Conguration
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5.
Figure 1.74: The "Function-Call Subsystem" Block
6.
20
20 You
may also change colors, and name the blocks as shown here.
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Figure 1.75: The Class-D Amplier Model
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1.3.3.2 PCM to PWM Conversion
1.
Figure 1.76
2.
Figure 1.77: The "ADC" Block
77
The block should be congured to use channel 0 of module A, triggered by ePWMxA, and post an interrupt at the end of conversion as shown:
(a)
(b)
Figure 1.78: The "ADC" Conguration
3.
Figure 1.79: The "ePWM" block
The blocks should be congured as shown in the following gures:
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(a)
(b)
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(a)
(b)
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4.
Figure 1.82: The "Shift Arithmetic" Block
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Figure 1.83: The "Shift Arithmetic" Block Conguration
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5.
Figure 1.84: The Class D Amplier Model
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1.3.3.3 Running the model:
1.
Figure 1.85: The System
2. Available for free at Connexions <http://cnx.org/content/col10713/1.1>
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Figure 1.86: Voltage Supply
Build and run the model "CTRL-B". 3. The amplier should start working, connect your audio source, and enjoy the music.
1.3.4 Things to Try

This example's objective was to show the use of the F2808 blocks, it is certainly not the best implementation, but it serves as the basis for additional features and enhancements like:
Use Oversampling Use the High-Resolution PWM Add Signal Processing (Filtering, Equalization, Gain Control) features to the amplier
1.3.5 References
1. "eZdspTM F2808 Technical Reference", Spectrum
21
Digital,
2005
http://c2000.spectrumdigital.com/ezf2808/docs/2808_ezdspusb_techref_c.pdf
21 http://c2000.spectrumdigital.com/ezf2808/docs/2808_ezdspusb_techref_c.pdf
85
2. David M. Alter, " Using PWM Output as a Digital-to-Analog Converter on a TMS320F280x", TI Application Report SPRAA88 , September 2008 http://www.ti.com/litv/pdf/spraa88a
22
1.4 Permanent Magnet Synchronous Motor Control23

1.4.1 Introduction
The objective of this module is to use the Embedded Target for the C2000, and the Digital Motor Control Library (DMClib) to control a Permanent Magnet Synchronous Motor (PMSM) with an encoder using the Field Oriented Control Technique.
1.4.2 System Overview

The following gure shows the complete application that we will implement step by step during the laboratory.
Figure 1.87: PMSM Control Block Diagram
22 http://www.ti.com/litv/pdf/spraa88a 23 This content is available online at <http://cnx.org/content/m24360/1.2/>.
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Variables Description
ias = Phase-a stator current ibs = Phase-b stator current ias = Stationary a-axis stator current ibs = Stationary b-axis stator current ids = Synchronously rotating d-axis stator current iqs = Synchronously rotating q-axis stator current vas = Stationary a-axis stator voltage vbs = Stationary b-axis stator voltage vds = Synchronously rotating d-axis stator voltage vqs = Synchronously rotating q-axis stator voltage vdc = DC-bus voltage qlr = Rotor flux angle qm = Mechanical angle dir = Rotor direction wr = Rotor speed Ta = Phase-a duty cycle ratio of PWM signal Tb = Phase-b duty cycle ratio of PWM signal Tc = Phase-c duty cycle ratio of PWM signal
Powerpoint Presentation - PMSM_control.ppt MATLAB script- PMS_Motor_data.m

25
24
Simulink Model for Space vector generation Simulation - PMS_Motor_level1.mdl Simulink Model for Open Loop Simulation - PMS_Motor_level2.mdl
27 28 29
26
Simulink Model for current loop Simulation - PMS_Motor_level3.mdl
Simulink Model for Encoder Verication Simulation - PMS_Motor_level4.mdl Simulink Model for Closed Loop Simulation - PMS_Motor_level5.mdl
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Simulink Model for Space vector generation - Real Time PMS_Motor_level1eZDSPF2812.mdl Simulink Model for Open Loop - Real Time - PMS_Motor_level2eZDSPF2812.mdl
32 33
31
Simulink Model for current loop - Real Time - PMS_Motor_level3eZDSPF2812.mdl Simulink Model for Closed Loop - Real Time PMS_Motor_level5eZDSPF2812.mdl
Simulink Model for Encoder Verication - Real Time - PMS_Motor_level4eZDSPF2812.mdl

35
34
24 See 25 See 26 See 27 See 28 See 29 See 30 See 31 See 32 See 33 See 34 See 35 See
the le at <http://cnx.org/content/m24360/latest/PMSM_control.ppt> the le at <http://cnx.org/content/m24360/latest/PMS_Motor_data.m> the le at <http://cnx.org/content/m24360/latest/PMS_Motor_level1.mdl> the le at <http://cnx.org/content/m24360/latest/PMS_Motor_level2.mdl> the le at <http://cnx.org/content/m24360/latest/PMS_Motor_level3.mdl> the le at <http://cnx.org/content/m24360/latest/PMS_Motor_level4.mdl> the le at <http://cnx.org/content/m24360/latest/PMS_Motor_level5.mdl> the le at <http://cnx.org/content/m24360/latest/PMS_Motor_level1eZDSPF2812.mdl> the le at <http://cnx.org/content/m24360/latest/PMS_Motor_level2eZDSPF2812.mdl> the le at <http://cnx.org/content/m24360/latest/PMS_Motor_level3eZDSPF2812.mdl> the le at <http://cnx.org/content/m24360/latest/PMS_Motor_level4eZDSPF2812.mdl> the le at <http://cnx.org/content/m24360/latest/PMS_Motor_level5eZDSPF2812.mdl>
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1.4.3 Simulation
The simulation process will be based on a simulation model for the PMS Motor.
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Available for free at Connexions <http://cnx.org/content/col10713/1.1> Figure 1.88: Permanent Magnet Synchronous Motor (PMSM) Simulink Model
89
Based on this model, the simulation will comprise ve steps as follows: 1. Implementing the Forward Loop Space Vector Generation 2. Running the PMSM in open loop 3. Closing the current loop 4. The speed measurement-Encoder 5. The Speed Closed Loop
1.4.3.1 Space vector generation

The diagram below highlights the modules used in the rst step. This rst incremental step conrms
operation of peripheral and target independent modules on forward control path and the code framework.
Figure 1.89: Space Vector Generation
At this very rst stage the goal is to generate a sawtooth waveform with a varying frequency. to check the correct computation of the Space Vector PWM needed for the Field Oriented Control.
This
waveform is an emulation of the rotor angle, which is then passed into the Park transformation allowing us
Key Modules
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RMPCNTL (ramp control): this module used by the instantiation of the object rc1, structure for which we can access each variable, controls the acceleration and deceleration rate of the speed command speed_ref .This speed command is passed the input of the RMPCNTL module rc1.target_value. The output of this module is called rc1.setpt_value which represents the frequency of the saw-tooth we want to generate.This frequency information is then passed to the ramp generator module.
RAMPGEN (ramp generator): to use this module, we instantiate an object rg1. angle is then used for the Inverse PARK transformation.
The input of this
module is rg1.rmp_freq . The rotating angle we generate (saw-tooth waveform) is rg1.rmp_out. This
IPARK (Inverse Park Transformation): instance ipark1. Computed rotating angle is passed into the ipark1.ang variable. The d and q inputs to the inverse Park transformation control the command This module takes the output of the magnitude via the variables ipark1.de and ipark1.qe.
SVGENDQ (Space Vector Generation): instance svgen_dq1.
IPARK module and calculates the modulation to be applied on the duty cycle of the three pairs of PWM connected to the three phases inverter bridge (svgen_dq1.Ta, svgen_dq1.Tb and svgen_dq1.Tc).
PWMGEN (Pulse Width Modulation Generation driver): this modules is the only one linked to the DSP peripherals. Duty-cycles previously calculated are passed into the DSP PWM registers via the instant pw1. PWMGEN takes care of the DSP PWM initialization (timer set-up, PWM polarity and so on).
1. Run the PMS_Motor_data
36
M-le. This le initializes the following variables:
%Mechanical system %Electrical part DC_voltage = 200; encoder_resolution = 2000; %PWM freq_max=75e6; %Controller Ts=5e-5;
1. Open the PMS_Motor_level1
37
Simulink
model.
36 See 37 See
the le at <http://cnx.org/content/m24360/latest/PMS_Motor_data.m> the le at <http://cnx.org/content/m24360/latest/PMS_Motor_level1.mdl>
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Figure 1.90: Space vector generation model
Vd Testing 1. Run the model and double-click the Stator Current and Rotor Speed scopes.
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Figure 1.91: Stator Current
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Figure 1.92: Rotor Speed
1.4.3.2 Running the PMSM in open loop

The purpose of this step is to simulate openloop operation with power-stage and motor connected and to check out current sensing and feedback path.
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Figure 1.93: Open Loop
Key Modules Used for this level In addition to the modules used in the previous section, we now start to build the feedback loop using:
ILEG2DCBUSMEAS_VCON (current leg and DC bus measurement):
This module initializes the ADC
ADC to start automatic conversions of channels selected by the user on timer 1 underow. conversion results are automatically formatted and stored into dedicated variables.
CLARKE (Clarke transform module): coordinates in the reference frame (, Open the PMS_Motor_level2
38
This module converts the measured current into CLARKE
). )
coordinates into two DC quantities.
PARK (Park Transformation): This module converts the (, Simulink model.
38 See
the le at <http://cnx.org/content/m24360/latest/PMS_Motor_level2.mdl>
95
Figure 1.94
Vd Testing Figure 8: Open Loop Model 1. Run the model and double-click the Stator Current and Rotor Speed (same as previous section) and Vd/Vq scopes.
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Figure 1.95
Ramp GeneratorVq Testing Figure 9: Current Sensing 1. Now you may change the values of Vd and Vq, and check how it inuences the graphs above.
1.4.3.3 Closing the current loop

The purpose of this step is to close the current loop and to set the PI regulators correctly to get a stable system while the motor is still running in speed open-loop.
97
Figure 1.96: Current Sensing
Key Modules: In addition to the modules already used, we use the PI module:
PIDREG3 (Proportional Integrator Derivative regulator): This module regulates the two currents id and iq, generated in the Park module. Open the PMS_Motor_level3.mdl
39
Simulink model.
39 See
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Figure 1.97: Figure 11: Closing the Loop with the PI
Vd Testing 1. Run the model and double-click the Stator Current and Rotor Speed (same as previous section) and Vd/Vq scopes.
99
Figure 1.98: Stator Current
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Ramp GeneratorVq Testing
101
Figure 1.100: Vd/Vq
For ease of use, the default PID parameters are already tuned. You can still play with them and observe the results. Within the watch windows, the PID coecients are displayed for both iq and id. Using the following picture will help you to interpret the variables.
1.4.3.4 The Speed measurement-Encoder

During this step we will check the encoder feedback and we will align the calculated angle with the shaft angle.
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Figure 1.101: The Speed Measurement Encoder
KEY MODULES: In addition to the modules already used, we use:
QEP (Quadrature encoder pulse module): instance qep1. This module initializes the QEP DSP unit. This involves the associted timer (T2) set-up, the QEP DSP pins set-up and so on. Calling the initialization routine of the QEP module, the dedicated DSP registers are automatically congured with no waste of time for the user in reading through the documentation. This module outputs an electrical angle stored into the qep1.theta_elec variable which is then passed into the speed calculator module. The encoder mounted on the motor is a 2000 lines encoder. In addition to the traditional QEP signals (QEP1 and QEP2), it provides an index pulse, which toggles every complete mechanical round. This index is connected to the capture interrupt 3 of the DSP. In the corresponding served The QEP module also takes care of the capture unit instance speed1. Based interrupt, we clear the timer 2 counter ensuring to keep it between 0 and 8000: this way we have a precise information on the rotor position. initialization.
SPEED_MEAS_QEP (Speed measurement based on QEP information): information.
on system information (number of poles pairs for instance), this module outputs the motor speed
103
Open the PMS_Motor_level4
40
Simulink model.
Figure 1.102: Figure 16: Using the QEP
1. Run the model and double-click the PWM dutycycles and Rotor Speed scopes.
40 See
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Figure 1.103: PWM Duty Cycles
105
1.4.3.4.1 Align the sensed angle we the motor shaft.

Until now, the magnetic eld in the motor was generated without taking care of the shaft position. Even if our motor is a synchronous motor, with no load and at load speed, it was easy to expect the shaft to start and to catch the magnetic eld without problem. Now, if we want to close the speed loop, we need to know the shaft angle at every moment. The shaft position is given by the encoder but we still have to align the initial sensed position with the shaft. For this, we use the Data Log module to display in real time the rmp_out variable (angle we used until now to create the magnetic eld) and theta_elec (sensed angle).
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1.4.3.5 Speed Closed Loop
Figure 1.105: Speed Closed Loop
The purpose of this step is to verify the speed regulator, close the speed loop and tune up the gains for the speed regulator if necessary. All the modules previously described are used in this nal step.
1.4.4 Real Time

The real-time software will run in the following hardware:
eZdsp F2812 (DSP control board based on the F2812) DMC 550 (power stage board for BLDC and PMSM from Spectrum Digital PMSM from Applied Motion Product
For safety reason it is mandatory that you strictly respect the following picture to connect the DMC 550.
107
Figure 1.106: Hardware Setup
During this build, the speed reference will be given to the DSP through a potentiometer placed on the DMC 550 (R66). To start with, please put the potentiometer around its midle position. 1. MAKE SURE that the potentiometer is around its midle position 2. Generate the code in Simulink 3. Turn ON the PSU and set the voltage to 10V. The motor should have good response time now thanks to the speed closed loop. As usual the PID controller is already tuned. Using the same graphical display we used during the lab 4 you can see the impact of the PID parameters. Since all the kits are dierent, the default settings for the current and speed PID may not be suitable and the maximum command may be instable Moving the speed potentiometer, you can appreciate the fast and smooth response time!
1.4.4.1 To Stop the system properly

1. Turn OFF the PSU 2. Halt the DSP: From the pull-down menu, Debug 3. Close the Model
Halt;
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Chapter 2
Signal Processing and Communication
2.1 Acoustic Noise Cancellation1

2.1.1 Introduction
The Least Mean Squares (LMS) Algorithm can be used in a range of Digital Signal Processing applications such as echo cancellation and acoustic noise reduction. This laboratory shows how to design a model of LMS Noise Cancellation using Simulink and run it on a Texas Instruments C6000 DSP.
2.1.1.1 Objectives
Design a model of LMS Noise Reduction for the Texas Instruments C6000 family of DSP devices using MATLAB
and Simulink.
Modify an existing Simulink demonstration model for use as a template. Run the project on the Texas Instruments DSK6713 with a microphone and computer loudspeakers / headphones.
2.1.1.2 Level
Intermediate - Assumes prior knowledge of MATLAB and Simulink. standing of matrices and the LMS algorithm. It also requires a theoretical under-

This laboratory was originally developed using the following hardware and software:
MATLAB R2006b with Embedded Target for TI C6000 and the Signal Processing Toolbox. Code Composer Studio (CCS) v3.1 Texas Instruments DSK6713 hardware. Microphone and computer loudspeakers / headphones.
1 This
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Powerpoint Presentation AcousticNoiseCancellation.ppt
2 3 4
Simulink Model for Simulation- AcousticNoiseCancellation.mdl
Simulink Model for Real-Time AcousticNoiseCancellationDSKC6713.mdl
2.1.2 Simulation
You will now start with a simple Simulink model and run it to see how it works.
2.1.2.1 Opening the Acoustic Noise Cancellation Model

Open the AcousticNoiseCancellation.mdl
5
Figure 2.1: Opening the AcousticNoiseCancellation Model
Run the model.
2 See 3 See 4 See 5 See
the le at <http://cnx.org/content/m22178/latest/AcousticNoiseCancellation.ppt> the le at <http://cnx.org/content/m22178/latest/AcousticNoiseCancellation.mdl> the le at <http://cnx.org/content/m22178/latest/AcousticNoiseCancellationDSKC6713.mdl> the le at <http://cnx.org/content/m22178/latest/AcousticNoiseCancellation.mdl>
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2.1.2.2 Inputs and Outputs of LMS Filter

The output from the LMS Filter starts at zero and grows slowly. Initially, some of the sine wave information is lost as LMS Error.
Figure 2.2: LMS Filter Inputs and Outputs
2.1.2.3 LMS Filter Weights (Coecients)

The LMS Filter Weights all start at zero and take several iterations to reach their nal values.
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Figure 2.3: LMS Filter Weights (Coecients)
2.1.2.4 Tuning the Model

The critical variable in the LMS Filter is the Step size (mu). This sets the rate of convergence of the LMS lter.
113
Figure 2.4: Changing the Step size (mu) to 0.1
Double-click on the LMS Filter block and change the Step size (mu) to 0.1 Run the model.
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2.1.2.5 Filter Outputs for Step size (mu) = 0.1

When the Step size (mu) is increased, LMS algorithm converges more quickly, but at the expense of granularity the LMS Filter Output is not as smooth.
Figure 2.5: Input and LMS Filter Outputs for Step size (mu) = 0.1
2.1.2.6 Filter Weights for Step size (mu) = 0.1

Note that the lter weights (coecients) do not attain smooth values, as would be the case for smaller values of Step size (mu).
115
Figure 2.6: LMS Filter Weights for Step size (mu) = 0.1
2.1.2.7 Changing the Delay

Part of the Acoustic Noise Algorithm is the delay. The delay should ideally be at least half a wavelength so the two inputs to the LMS Filter have dierent random noise.
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Figure 2.7: Changing the Delay
Experiment with dierent values of delay to see how it eects the operation of the LMS Filter.
2.1.2.8 Changing the Number of Weights

Double-click on the LMS Block and change the Filter Size (number of Weights). If the number of Weights is large, the algorithm will be slow to run. If the number of Weights is too small, the lter will not remove the noise properly.
117
Figure 2.8: Changing the Filter Length
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2.1.2.9 Summary
From practical experience, you should now know how to use LMS algorithm and how you can adjust the Step size (mu), the lter delay and the number of weights to obtain optimum performance. You will now apply this to building a real-time model.
2.1.3 Real-Time Model

You have now run the simulation and understand the operation of the LMS Filter. You will now implement the Real-Time Acoustic Noise Cancellation Model using the Texas Instrument C6713.
2.1.3.1 Texas Instruments DSK6713 Setup
Figure 2.9: Texas Instruments DSK6713 Setup
Alternatively, you can use computer loudspeakers.
2.1.3.2 Starting up Code Composer Studio 2.1.3.2.1 Connecting the DSK6713

Start Code Composer Studio for DSK6713 and use Debug -> Connect
119
2.1.3.2.2 Opening an Existing Model

Start MATLAB 7.3.0 R2006b:
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Figure 2.11: Opening an Existing Demo
Click on Demos. The following screen will appear:
121
Figure 2.12: Selecting the Audio Demo Models
Highlight Embedded Target for TI C6000 DSP then Audio. Click on Wavelet Denoising. We are going to use this as our template.
2.1.3.2.3 Viewing the Original Model

The Wavelet Denoising model is now displayed.
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Figure 2.13: Wavelet Denoising Parent
2.1.3.2.4 Saving the Model

For convenience, save the model to the MATLAB Work directory, where most models are stored.
123
Figure 2.14: Saving the Model to the MATLAB Work directory
2.1.3.2.5 Changing the Title

Delete the Info box. Change the title to LMS Noise Reduction. You may also wish to move the DSK6713 icon to the left hand side.
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Figure 2.15: LMS Noise Reduction Parent
2.1.3.2.6 The Original Wavelet Noise Reduction Algorithm

Double-click on the function() box. The Wavelet Noise Reduction Algorithm model is now displayed.
125
Figure 2.16: Wavelet Denoising Algorithm
2.1.3.2.7 Delete Blocks

Delete the blocks and connect the input directly to the output. Add a title.
Figure 2.17: LMS Denoising Algorithm Template
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2.1.3.2.8 Overview of the LMS Model

We are going to implement the model shown below. We will now update the empty model by dragging-and-dropping some library components onto the model.
Figure 2.18: Overview of the LMS Algorithm
2.1.3.2.9 Changing the Input to Microphone

Double-click on the blue box to the left marked DSK6713 ADC. The following screen will appear.
127
Figure 2.19: Setting up the ADC for Mono Microphone Input
Change the ADC source to Mic In. If you have a quiet microphone, select +20dB Mic gain boost. Set the Sampling rate (Hz) to 48 kHz. Set the Samples per frame to 64. When done, click on OK. Important: Make sure the Stereo box is empty.
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2.1.3.2.10 The DAC Settings

The DAC settings need to match those of the ADC. Check that it uses the same sampling rates. Click on OK.
Figure 2.20: Setting the DAC Parameters
2.1.3.2.11 Adding an LMS Block

The Simulink block for LMS is to be found in the Signal Processing Toolbox. Select View -> Library Browser -> Signal Processing Blockset ->Filtering-> Adaptive Filters. Highlight Adaptive Filters. Drag-and-drop the LMS Filter block onto the model.
129
Figure 2.21: Adding an LMS Filter Block
2.1.3.2.12 Setting the LMS Filter Parameters

The most critical variable in an LMS lter is the Step size (mu). If mu is too small, the lter has very ne resolution, but reacts too slowly to the audio signal. If mu is too great, the lter reacts very quickly, but the error also remains large. We will start with 0.005.
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CHAPTER 2.
Figure 2.22: Setting the Parameter Set size (mu)
131
2.1.3.2.13 Adding a Delay

From the Signal Processing Blockset, highlight Signal Operations. Drag-and-drop the Delay the model.
6
block onto
Figure 2.23: Adding a Delay
2.1.3.2.14 Setting the Delay Parameters

Because we are working with frames of 64 samples, it is convenient congure the delay using frames. Doubleclick on the Delay block. Change the Delay units to Frames. Set the Delay (frames) to 1. This makes the delay 64 samples.
6 Since
we are working with frames, the delay from Discrete Components library will not work!
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CHAPTER 2.
Figure 2.24: Setting the Delay Size
2.1.3.2.15 Adding a DIP Switch and LED

So we can hear the dierence without LMS denoising and with LMS noise reduction, we will use a DIP switch of the DSK6713.
133
Figure 2.25: Adding a Switch and LED
Select View -> Library Browser -> Embedded Target for TI C6000 DSP. Highlight DSK6713 Board Support. Drag-and-drop the Switch block onto the model. Also drag-and-drop the LED block onto the model.
2.1.3.2.16 DIP Switch Settings

The DIP switch needs to be congured. Double-click on the Switch block. Select all the boxes and set Data type to Integer. The Sample time should also be set to 1.
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CHAPTER 2.
Figure 2.26: Setting up the DIP Switch Values
2.1.3.2.17 Adding a Constant, Switch and Relational Operator

We now need to setup a way to switch between straight through without noise reduction and with LMS noise reduction. Select View -> Library Browser -> Simulink. Highlight Commonly Used Blocks. Drag-and-drop a Constant onto the model. Drag-and-drop a Switch block onto the model. Drag-and-drop a Relational Operator block onto the model.
135
Figure 2.27: Selecting the Commonly Used Blocks
2.1.3.2.18 Setting the Constant Value

The switch values lie between 0 and 15. We will use switch values 0 and 1. Double-click on the Constant block. Set the Constant value to 1 and the Sample time to inf .
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CHAPTER 2.
Figure 2.28: Setting the Echo Delay Gain
2.1.3.2.19 Setting the Constant Data Type

Click on the Signal Data Types tab. Set the Output data type mode to int16. This is compatible with the DAC on the DSK6713.
137
Figure 2.29: Data Type Conversion to 16-bit Integer
2.1.3.2.20 Setting the Relational Operator Type

Double click on the Relational Operator block. Change the Relational operator to ==. Click on the Signal Data Types tab.
138
CHAPTER 2.
Figure 2.30: Changing the Relational Operator
2.1.3.2.21 Setting the Relational Operator Data Type

Set the Output data type mode to Boolean. Click on OK.
139
Figure 2.31: Changing the Output Data Type
2.1.3.2.22 Joining the Blocks

Move the blocks and join them as shown in the Figure below.
140
CHAPTER 2.
Figure 2.32: Joining the Blocks
2.1.3.2.23 Returning to the Parent System

From the Toolbar, select the Up Arrow icon. This returns you to the next higher level.
Figure 2.33: Returning to the Parent System
141
2.1.3.3 Building the Model 2.1.3.3.1 Selecting Real-Time Workshop

2.1.3.3.2 Frames Displayed on Model

When built, the single lines are replaced by double lines. This shows frames.
142
CHAPTER 2.
Figure 2.35: Frames
2.1.3.3.3 The Completed Model Running on Code Composer Studio

From the folders on the left, select the source code for the project.
143
Figure 2.36: The Completed Model Running in Code Composer Studio
2.1.3.4 Dierent Settings on the DSK6713 2.1.3.4.1 Microphone Straight Through to Loudspeakers
To check out the microphone and loudspeakers, set the DIP switches on the DSK6713 as follows:
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CHAPTER 2.
Figure 2.37: Switch Position 0
The microphone is fed directly to the loudspeakers. There is no LMS noise reduction.
2.1.3.4.2 Switch Position for LMS Noise Reduction

To run the LMS Noise Reduction subsystem, set the DIP switch to 1.
Figure 2.38: Switch Position 1 for LMS Noise Reduction
145
2.1.4 Some Things to Try

You may wish to experiment with dierent settings. Here are some suggestions.
2.1.4.1 Experiment with LMS Filter Settings

Change the value of Step size (mu) between 0.0001 and 0.5. This is the critical value. Low values of mu give good resolution, but a slow reaction time. High values of mu give less resolution, but faster reaction times. Find the best value of mu for noise reduction on the TI DSK6713.
146
CHAPTER 2.
Figure 2.39: Conguring the LMS Filter Block Parameter
147
2.1.4.2 Experiment with LMS Filter Settings

Try dierent value of Filter Length. What is the minimum value that will allow the lter to work correctly?
2.1.4.3 Change from LMS Filter to RLS Filter

Inside the Adaptive Filters are dierent LMS types. Which are suitable for LMS denoising and which are not?
Figure 2.40: Available Adaptive Filter Types
Figure 40 MATLAB and Simulink are registered trademarks of The MathWorks, Inc. See www.mathworks.com/trademarks for a list of additional trademarks. may be trademarks or registered trademarks of their respective holders. Other product or brand names
148
CHAPTER 2.
2.2 Amplitude Modulation7

2.2.1 Introduction
This chapter presents the use of the DSK6713 to demonstrate the features of Amplitude Modulation (AM) transmission and reception. The model runs in real-time and enables the use to select: 1. The AM algorithm 2. The transmission and reception parameters (modulation index and carrier frequency). The process comprises: 1. Creating a simulation model (not R-T) for the AM transmitter/receiver. 2. Migration to Real-time of the Simulation Model 3. Building a Graphic Users Interface (GUI) to operate the real-time implementation.
Powerpoint Presentation - Amplitude Modulation.ppt Simulink Model for Simulation - AM_Simulation.mdl MATLAB GUI for Real-Time - AM.g GUI m-leAM.m
11 10
m-le for Selection of AM Reception ChangeModel.m
12 13 14
Simulink Model for Coherent Detection AM_Coherent.mdl
Simulink Model for Square Root (SQRT) Detection AM_Sqrt.mdl Congurable Carrier Simulink Model Congurable_Carrier.mdl
15
2.2.2 Simulation
2.2.2.1 The Environment
Figure 1 shows the data ow for the AM modulation simulation. The AM modulation model receives an input signal from an external signal generator, modulates it and displays the modulation on the scope.
7 This content is available online at <http://cnx.org/content/m22187/1.2/>. 8 See the le at <http://cnx.org/content/m22187/latest/Amplitude Modulation.ppt> 9 See the le at <http://cnx.org/content/m22187/latest/AM_Simulation.mdl> 10 See the le at <http://cnx.org/content/m22187/latest/AM.g> 11 See the le at <http://cnx.org/content/m22187/latest/AM.m> 12 See the le at <http://cnx.org/content/m22187/latest/ChangeModel.m> 13 See the le at <http://cnx.org/content/m22187/latest/AM_Coherent.mdl> 14 See the le at <http://cnx.org/content/m22187/latest/AM_Sqrt.mdl> 15 See the le at <http://cnx.org/content/m22187/latest/Congurable_Carrier.mdl>
149
Figure 2.41: Simulation Environment
2.2.2.2 The Procedure 2.2.2.2.1 Building the Transmitter

The basic modulation mathematical description is given by:
y (t) = [1 + m (t)] cos (2f c t)

Where: cos (2f c t) - The carrier signal - The modulation index
Table 2.1
m (t)
150
CHAPTER 2.
Figure 2.42: AM Transmission Principle
Start by creating a new model in Simulink the information signal m(t).
Open the Simulink library browser and add the DSP sine-wave to your model. This blocks will represent
151
Figure 2.43: The Sine Wave Generator Block
Congure the Sine Wave Generator Block (Double click on the DSP sine object). Set the sine frequency to 1000 Hz, sample time to 1/96000, samples per frame to 64 and close the box, and change its label to information.
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CHAPTER 2.
Figure 2.44: Information Signal Conguration Parameters
Use the same block to create the carrier signal.
You may copy the block already created or select
it form the Simulink library. Set the carrier frequency to 15,000 Hz. The remaining parameters are
153
identical to the ones of the information signal. Change its label to carrier
Add new DSP-constant to your model:
Figure 2.45: Adding a DSP constant
Double-click on the constant object and set its constant value to 1.5:
154
CHAPTER 2.
Figure 2.46: Set a constant value
Add a new adder object from:
155
Figure 2.47: Addes
Add a new multiplexer from the same directory as the adder (choose product). Add a new scope object:
156
CHAPTER 2.
Figure 2.48: Scope
Set the number of frames parameter to 5. presented signal.
This parameter determines the horizontal scaling of the
157
Figure 2.49: Vector Scope Conguration
Place the objects in the following way:
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CHAPTER 2.
Figure 2.50: The Transmitter Model
Run the model, pause the simulation and activate the scope window. The modulated signal should be displayed as follows:
159
Figure 2.51: AM Modulation Signal
2.2.2.2.2 The AM Receiver (Square Root Demodulator)

In this section you will create the model for an AM receiver based on Square Root (SQRT) demodulation. The principle of operation is shown Figure 1.
160
CHAPTER 2.
Figure 2.52: SQRT Demodulation Principle of Operation
Add the new math function block to your model. This block can be congured to implement various mathematical functions.
161
Figure 2.53: Square Function
Congure the block to calculate the square:
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CHAPTER 2.
Figure 2.54: Select Math Function
Use the math function block to create the Square root function. You may retrieve it from the library or copy the square block. Add a digital lter design block. FDATool. This block enables you to design lters using the MATLAB
163
Figure 2.55: Digital Filter Design
Congure the lter to be Low-Pass Filter. Since the carrier frequency (fc) is 15 KHz and the maximal frequency of the information is 1 KHz, the lter will be designed to pass frequencies below 5 KHz, and rejects frequencies higher than 10 KHz (please refer to Figure 16).
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CHAPTER 2.
Figure 2.56: LPF Design Window
Add a "Multiplier" and a "Subtract" Add two "DSP Constant" blocks.
16
block.
Add the matrices concatenation object. This object will enable the modulated and the de-modulated signals to be displayed simultaneously in the scope:
16 The
subtraction is created by reconguring the adder block, and choosing +- instead of: ++
165
Figure 2.57: Matrix Concatenate
The blocks should be connected as shown in Figure 18.
166
CHAPTER 2.
Figure 2.58: AM Simulation Model
Run the simulation (push the play button). Double click on the scope. Scale the display to t the scope window (Choose from the menus: Axes=>Autoscale). Choose a dierent color for each signal (Please refer to Figure 19).
167
Figure 2.59: Displaying the Modulated and Demodulated Signals
You should get the signals presented bellow:
168
CHAPTER 2.
Figure 2.60: The Video Viewer Display
You may change the simulation parameters, and check their inuence.

The real-time implementation model will be created upon the simulation model, after the following changes:
The signal generator block will be replaced by the CODEC of the DSK6713 The virtual scope will be replaced also by the CODEC A target denition block (DSK6713) will be added.
Figure 21 shows the block-diagram for the real time implementation.
169
Figure 2.61: Real Time Implementation Environment
Equipment Used (shown in Figure 22):
DSK6713 Dual Channel Oscilloscope Signal Generator
170
CHAPTER 2.
Figure 2.62: Equipment Used
We have 4 signals (4 cables):
Information- the signal to be modulated Modulated- the DSK creates a modulation of the given information Feedback- since the transmitter and the receiver are running on the same platform, we need to perform a loopback from the transmitter to the receiver and this is exactly the feedback signal, the modulated signal that is broadcasted by the transmitter and used as input for the receiver.
Demodulated- the signal that the receiver outputs after the demodulation process.
2.2.3.2 The Procedure
Open the model created in the previous chapter
171
Remove the scope and the information signal (the 1,000 Hz). Open the Simulink library browser and add the "C6713DSK".
Figure 2.63: The C6713DSK Block
Add the Analog to Digital and Digital to Analog converters (ADC and DAC) to your model:
Figure 2.64: A/D and D/A converters
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CHAPTER 2.
Add the multi-port selector, in order to split the stereo input.
Figure 2.65: Multiport Selector
After placing the selector, double-click to open the dialog box and choose columns in the select label and {1,2} in the indices to output label.
173
Figure 2.66: Multiport Conguration
1. Congure the ADC and DAC blocks to a sampling rate to 96 KHZ and 16-bit samples.
174
CHAPTER 2.
Figure 2.67: DAC and ADC Conguration
The nal model should look as follows:
175
Figure 2.68: AM (SQRT) Real Time Model
You should congure the DSP constants as shown in Figure 28. The frame period for all constants should be -1
176
CHAPTER 2.
Figure 2.69: Constant Value Parameters
Build the project and load the program to the DSK memory using ctrl+B. Make sure that the signals generator amplitude is set to 1 Volt and frequency of [0.1,5] kHz. Display the modulated and demodulated signals in the scope.
2.2.4 Model Extensions

In this section we will extend the functionality of the example. Adding two more features:
A variable frequency carrier generator (Please refer to secion "A Congurable Carrier Wave Generator" in the Appendix) An additional model for AM detection (Please refer to secion "The Coherent Detector (in brief )" in the Appendix). Build GUI that we will enable:
Changing the modulation index Changing the carrier frequency Selecting the detection scheme
The modulation index and carrier frequency will be changed through RTDX.
Open the model created in the previous section
177
Replace the constant modulation index by an RTDX input (Please refer to Figure 30), and name it InputModulation.
Figure 2.70: RTDX input
Congure the RTDX input object to the values described bellow:
178
CHAPTER 2.
Figure 2.71: RTDX Input Conguration
Replace the sine wave block used for the carrier by the congurable carrier blocks (you may nd them
179
in the Congurable_Carrier.mdl in Figure 32.
17
le)
18
, and create a subsystem for the carrier generator as shown
Your model should look as shown in Figure 33.
17 See the le at <http://cnx.org/content/m22187/latest/Congurable_Carrier.mdl> 18 The principle of operation of the Congurable Carrier Module is described in the Appendix.
180
CHAPTER 2.
Figure 2.72: Inserting a Congurable Carrier
Figure 32 Inserting a Congurable Carrier
181
Figure 2.73: AM (SQRT) Model with Congurable Carrier
Enter the Conguration Parameters menu (ctrl+E). Choose Real-Time Workshop=>TIC6000 CodeGenerator, In The Run-Time box change the Build Action to Build
19
19 The
models will be loaded by the GUI script.
182
CHAPTER 2.
Figure 2.74: Simulation Parameters
Push the OK button and close the Conguration Parameters window. Rebuild *.out le using ctrl+B.
Open the AM_Coherent.mdl
20
le, and repeat step for this le.
You now have two load les each one corresponding to a dierent AM scheme.
2.2.4.1 Creating the GUI
Open a new GUI (Enter GUIDE in the MATLAB command line) Add 2 sliders and one list box to the GUI, so it would look like:
the le at <http://cnx.org/content/m22187/latest/AM_Coherent.mdl>
20 See
183
Figure 2.75: GUI Design Screen
Now, double click on the list-box and change the string eld:
184
CHAPTER 2.
Figure 2.76: List Box Conguration Screen
Change the string eld to: Coherent SQRT
In the Modulation index slider set: Min=0.75, Max=1.5. In the Carrier Frequency slider set: Min=1, Max=4. Press the play button so you can save your GUI and open the GUI script m-le.
2.2.4.2 The script le

In the script we have to perform the following tasks:
When the GUI is launched the DSK should be loaded with a default model (SQRT) When the user selects a new model> Its correspondent *.out le should be loaded to the DSP.
185
When the modulation index is changed, its new value should be written to the DSP through the correspondent RTDX channel. When the carrier frequency modulation index is changed, its new value should be written to the DSP through the correspondent RTDX channel.
The following steps describe this implementation.
The initialization routine AM_OpeningFcn:
function AM_OpeningFcn(hObject, eventdata, handles, varargin) last_model=1; handles.last_model=last_model; modelName = gcs; %connect to the board CCS_Obj = connectToCCS(modelName); % Identify RTDX channel names/modes chan_struct(1).name = 'InputModulation'; chan_struct(1).mode = 'w'; chan_struct(2).name = 'freq'; chan_struct(2).mode = 'w'; handles.rtdx_chan1=chan_struct(1); handles.rtdx_chan2=chan_struct(2); % Identify RTDX host buffer parameters RTDX_config_struct.Buffsize= 32768; RTDX_config_struct.Nbuffers = 4; RTDX_config_struct.Mode = 'continuous'; %building the full path of the file to be loaded CodegenDir = fullfile(pwd, ['AM_Coherent' '_c6000_rtw']); OutFile = fullfile(CodegenDir, ['AM_Coherent' '.out']); %Load is needed for rtdx setup CCS_Obj.load(OutFile,20); % Set up RTDX r = setupRTDX(CCS_Obj, chan_struct, RTDX_config_struct); handles.pipe=r; handles.CCS_Obj=CCS_Obj; %last_x and last_y are the initial values of %the Index and the carrier respectively last_x=1; last_y=15000; handles.last_x=last_x; handles.last_y=last_y; handles.output = hObject; % Enable all RTDX channels r.enable('all'); % Update handles structure guidata(hObject, handles); %use the change-model function in order to load the current model. %this function loads a model to the DSK after initiallization (= the code %above) ChangeModel(handles.last_model,handles.CCS_Obj,handles.pipe,handles.last_x,handles.last_y);
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CHAPTER 2.
When you select a new model, the following code is invoked:
function listbox1_Callback(hObject, eventdata, handles) handles.last_model=get(hObject,'Value') ; ChangeModel(handles.last_model,handles.CCS_Obj,handles.pipe,handles.last_x,handles.last_y);

An external function (written in the ChangeModel.m le) will be used to select the model:
%1. halts the current model %2. free the rtdx channel %3. redefine the rtdx channel %4. loads the current model %5. binds the rtdx to the current model %6. run the CCS and enable the rtdx. %7.writes the last given index modulation to the rtdx %parameters: %m - flag that tells if the model is coherential or sqrt %CCS_Obj - the target %r_old - the old rtdx channel %last_x - to keep the current Index %last_y - to keep the current carrier frequency function r=ChangeModel(m,CCS_Obj,r_old,last_x,last_y) %halt the current model CCS_Obj.halt; %free the curent rtdx channel cleanupRTDX(CCS_Obj,r_old); %redefine the rtdx: chan_struct(1).name = 'InputModulation'; chan_struct(1).mode = 'w'; chan_struct(2).name = 'freq'; chan_struct(2).mode = 'w'; handles.rtdx_chan1=chan_struct(1); handles.rtdx_chan2=chan_struct(2); % Identify RTDX host buffer parameters RTDX_config_struct.Buffsize= 32768; RTDX_config_struct.Nbuffers = 4; RTDX_config_struct.Mode = 'continuous'; %reload the new model switch m case 1 model='AM_Coherent'; case 2 model='AM_Sqrt'; end CodegenDir = fullfile(pwd, [model '_c6000_rtw']); OutFile = fullfile(CodegenDir, [model '.out']); CCS_Obj.load(OutFile,20); % set up the new rtdx channel and run the target
187
r = setupRTDX(CCS_Obj, chan_struct, RTDX_config_struct); CCS_Obj.run; r.enable('all'); % keep the last Index and carrier frequency: if last_x=1 r.writemsg(chan_struct(2).name,1/last_x); end
Changing the modulation index:
function slider1_Callback(hObject, eventdata, handles) last_x=handles.last_x; r=handles.pipe; x=single(get(hObject,'Value')); if or (y<last_y,y>last_y) %if the Index was changed: r.writemsg(handles.rtdx_chan1.name,1/x); %the Index increases when the added amplitude decreases %and thats the reason that we write 1/x to the rtdx handles.last_x=x; end guidata(hObject, handles);
Changing the carrier frequency:
function slider2_Callback(hObject, eventdata, handles) last_y=handles.last_y; r=handles.pipe; y=single(get(hObject,'Value')); if or (y<last_y,y>last_y) r.writemsg(handles.rtdx_chan2.name,y); handles.last_y=y; end guidata(hObject, handles);
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CHAPTER 2.
Figure 2.77: AM Model Graphic User Interface
You may change the modulation index and frequency for both models, and observe its inuence on the modulated and demodulated signals.
2.2.5 Appendix
2.2.5.1 A Congurable Carrier Wave Generator
The Simulink sine wave block cannot be congured during run-time; its frequency is a parameter that should be set in advance. We will introduce the implementation of a block where the frequency is a variable that can be set in real-time (In this case using RTDX). The block is based on the following relationship: cosc t
= Re ejc t
(2.1)
In the discrete case the following relationship applies:

fc fc n = Re ej2 fs n fs
cosc nTs
= cos2
(2.2)
189
The following model implements the last equation. Please note that a feedback path was included for phase continuity
Figure 2.78: Carrier Wave Generator
2.2.5.2 The Coherent Detector (in brief )

The coherent detector principle of operation is in Figure 39. The AM example model (AM_Coherent.mdl is shown in Figure 40.
21
21 See
the le at <http://cnx.org/content/m22187/latest/AM_Coherent.mdl>
190
CHAPTER 2.
Figure 2.79: Coherent SQRT Demodulation Principle of Operation
191
Figure 2.80: Amplitude Modulation Example with Coherent Detection
MATLAB
and
Simulink
are
registered
trademarks
of
The
MathWorks,
Inc.
See
www.mathworks.com/trademarks for a list of additional trademarks. may be trademarks or registered trademarks of their respective holders.
Other product or brand names
2.3 Audio Conference Bridge22

2.3.1 Introduction
The Audio Conference Bridge enables a voice call with multiple (n to the attendants. This application cannot be implemented using solely the DSK6713, as it has only 2 analog ports. Therefore two daughterboards, the TLV320AIC20/20KEVM and the DSP/CODEC development platform, are used. In this example we will integrate an algorithm based on Simulink blocks, with a legacy driver. This module demonstrates the use of the device driver building blocks together with legacy code integration to implement a custom device driver on the DSK6713. This feature allows the use of the Simulink
>2)
attendants, as described in Figure
1. The algorithm monitors the voice signals from all attendants, and creates the signals to be transmitted
22 This
192
CHAPTER 2.
environment with user-specic drivers. A wide range of algorithms exist, in the current chapter a simple algorithm based on nding the maximum level among 3 attendants is implemented
Figure 2.81: The Audio Conference Bridge
2.3.1.1 Related Files 2.3.1.1.1
Powerpoint Presentation - Multichannel.ppt CCS Example Project - C67.rar

24
23
Simulink Model for Audio Conference Bridge and Legacy Driver Files - C67_Simulink_conference.rar
25
2.3.2 The Platform

The DSK6713 supports stereo analog inputs and outputs. The Audio Conference Bridge application de26
mands more analog ports. In this example we will use TLV320AIC24EVM
(). This board contains two
TLV320AIC24 () stereo CODECs, thus supporting 4 audio channels. The system is shown in Figure 2. The TLV320AIC24 implements the smart time division multiplexed serial port (SMARTDM ). The SMARTDM port is a synchronous 4-wire serial port in TDM format for glue-free interface to TI DSPs. The
23 See 24 See 25 See 26 An
the le at <http://cnx.org/content/m22185/latest/Multichannel.ppt> the le at <http://cnx.org/content/m22185/latest/C67.rar> the le at <http://cnx.org/content/m22185/latest/C67_Simulink_conference.rar> additional board the DSP-CODEC Platform () is also needed. This board mainly interfaces between the
TLV320AIC24EVM connector and the peripherals connector in the DSK6713.
193
TLV320AIC24 can be gluelessly cascaded to any SMARTDM-based device to form a multichannel CODEC, and up to eight TLV320AIC2x CODECs can be cascaded shown in Figure 3. The TLV320AIC24 supports various types of analog interfaces, and can operate with sampling rates to 104 KSPS, with 16 bit samples. The block diagram is shown in Figure 4. The TLV320AIC24 features are summarized in Figure 5.
27
The SMARTDM port is connected to the Multichannel Buered Serial Port (McBSP) in the DSP as
Figure 2.82: The Platform
27 We
will use a single EVM board in this example.
194
CHAPTER 2.
Figure 2.83: TLV320AIC24 Interface
195
Figure 2.84: TLV320AIC24 Block Diagram
196
CHAPTER 2.
Figure 2.85: TLV320AIC24 Features Summary
197
2.3.3 The TLV320AIC24 Driver

2.3.3.1 Principle of Operation
The driver operates in a double-buering scheme as shown in Figure 6. There are two buers in each direction (Receive/Transmit). For each frame to processes occur simultaneously: 1. The CPU processes samples from one of the receive buers, and stores the results in the correspondent transmit buer. 2. The EDMA reads and writes samples that belong to the next frame.
(a) Frame #n
(b) Frame #n+1
Figure 2.86:
Double-Buering Mechanism
The driver uses two EDMA channels. The rst will read from a xed location in the memory, which is the received data register (DRR) of the MCBSP port, to a buer in the memory that will hold those samples. The second will write from a buer in the memory to a xed location that is the transmit register (DXR) of the MCBSP port. Samples are send/received to/from the CODEC in an interleaved mode. The EDMA receive channel sorts the samples and place the samples of each channel placed in consecutive addresses in the data memory. A symmetric process occurs in the opposite direction. Figure 7 describes the process of receiving samples
198
CHAPTER 2.
and Figure 8 describes the process of transmitting samples. Once a buer is received/transmitted a Callback (please refer to section ) function is called, activating the signal processing procedures.
Figure 2.87: Receiving Samples
199
Figure 2.88: Transmitting Samples
2.3.3.2
The driver consists of 4 les: 1. aic24_defs.h This le contains the denitions of the various registers of the TLV320AIC24. 2. aic24.h Needed for the DSP conguration. 3. aic24.c Contains the various initialization routines. 4. AIC24-C6713.cdb - DSP-BIOS conguration le. Those les should be integrated with a user le, explained in the next section.
2.3.3.3 The Driver Interface

The driver interface is implemented in the user dened le. This le consists of the main program and the callback processing function.
200
CHAPTER 2.
2.3.3.3.1 The main program

The driver allocates a handle to the chain of CODECs, initializes it and afterwards activates the components. This le: 1. Initializes the AIC24 handle. This is a structure that contains handles to the EDMA and to the
MCBSP port. It also contains their conguration structures, pointers to user buers (the data is read and written through them) and some more variables like the AIC24 register values, the current buer etc. handle and the data is exchanged through a callback function. The function AIC24_Init Defaults initializes the handle with the values provided by user and some default values. 2. Congures the TLV320AIC24 mode 3. n addition, the user needs to
28
. the analog input/output ports to the channels in the
map
SMARTDM/McBSP (Please refer to ). 4. Run the AIC24_Start, the main function that:
Congures the McBSP Activates the McBSP Congures the AIC24 (through the McBSP). Congures the EDMA Activates the EDMA
2.3.3.3.2 The Callback Function

The user is required to create a callback function were the processing is implemented. This function receives pointers to two buers as arguments; one buer contains the latest information read from the CODECs, while the second will contain the data to be written to the CODECs. shown: The callback function template is
The Callback Function Template
void process(Int16 *r_data, Int16 *w_data { /* Processing functions (user-defined) */ }

2.3.3.4 Using the Driver in the CCS Environment
In this section we will describe the way the driver is used in the CCS environment. 1. Create a new project in the CCS environment 2. Copy the following les to the project directory
29
aic24.c aic24.h aic24_defs.h AIC24-C6713.cdb Add aic24.c and AIC24-C6713.cdb les to your project. Add the user le with the callback function.
An example of this process is provided in the next section.
28 The 29 This
CODEC can operate in DATAMODE or PROGRAMMING mode. is not mandatory. You may add the les from any directory.
We'll use DATAMODE only.
For a detailed
explanation, please refer to the TLV320AIC24 datasheet.
201
2.3.3.5 An example
The example creates two audio paths as follows:
Path # 2: J13 McBSP1/Channel 0

Path # 1: J14 McBSP1/Channel 2
McBSP1/Channel J4 CODEC#2/INP3 SMARTDM/Channel 2 McBSP1/Channel SMARTDM/Channel 0 CODEC#0/OUTP2 J5

CODEC#0/INP1 SMARTDM/Channel 0 SMARTDM/Channel 2
0 2
DSP DSP
CODEC#2/OUTP1
The example is illustrated in Figure 9. A user dened function test.c was created for this application.
Figure 2.89: CCS Example Conguration
2.3.3.5.1 The Program

The rst part of the program denes the buers for reading and writing samples.
Buer Allocation
#define NUM_CODECS 4 // The number of CODECs connected #define DATANUM 128 // The number of samples in each channel
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CHAPTER 2.
#define DATAMODE 0 // AIC24 operates in data mode #if DATAMODE == 1 #define BUFS_PER_CHANNEL 1 #else #define BUFS_PER_CHANNEL 2 #endif Int16 Int16 Int16 Int16 r_data1[DATANUM*NUM_CODECS*BUFS_PER_CHANNEL]; w_data1[DATANUM*NUM_CODECS*BUFS_PER_CHANNEL]; r_data2[DATANUM*NUM_CODECS*BUFS_PER_CHANNEL]; w_data2[DATANUM*NUM_CODECS*BUFS_PER_CHANNEL]; // data buffer for read // data buffer for read // data buffer for write // data buffer for write
The callback function follows the template introduced in the previous section, and calls the subroutine copyData.
The Callback Function
void copyData Int16 *inbuf, Int16 *outbuf, Int16 length { Int16 i = 0; for } }
+i = 0; i < length; i++rbbrk; {

outbuf[i] = inbuf[i];
// The callback function that is called when the EDMA buffers are full // The function copies the data from channel 0 to channel 2 void process(Int16 *r_data, Int16 *w_data) { if (hAIC24.DataMode) { int i; for (i=0; i<DATANUM; i++) r_data[0*DATANUM+i] [U+2A53]= 0xfffe; } copyData(r_data+0*DATANUM, w_data+2*DATANUM, DATANUM); }
The main program:
Sets the AIC24 handle Maps the analog ports Starts the AIC24
30
After this step, the program will enter in an endless loop. Samples will be processed each time an EDMA interrupt occurs.
The main program

30 The
driver sets a default conguration. Those commands are needed if changes in the default conguration are required.
203
int main() { // setting up the AIC24 handle AIC24_InitDefaults([U+2A53]hAIC24, NUM_CODECS, DATANUM, r_data1, r_data2, w_data1, w_data2, process); // determining data mode (continuous or programming) hAIC24.DataMode = DATAMODE; // example for setting devices input and outputs // if defaults are ok then this is not necessary hAIC24.Regs[0].creg6.reg6a.control_bit.mici = 0; hAIC24.Regs[0].creg6.reg6a.control_bit.inp1 = 1; hAIC24.Regs[0].creg6.reg6a.control_bit.inp2 = 0; hAIC24.Regs[0].creg6.reg6a.control_bit.inp3 = 0; hAIC24.Regs[0].creg6.reg6a.control_bit.inp4 = 0; hAIC24.Regs[0].creg6.reg6b.control_bit.outp1 = 0; hAIC24.Regs[0].creg6.reg6b.control_bit.outp2 = 1; hAIC24.Regs[0].creg6.reg6b.control_bit.outp3 = 0; hAIC24.Regs[1].creg6.reg6a.control_bit.mici = 0; hAIC24.Regs[1].creg6.reg6a.control_bit.inp1 = 0; hAIC24.Regs[1].creg6.reg6a.control_bit.inp2 = 0; hAIC24.Regs[1].creg6.reg6a.control_bit.inp3 = 0; hAIC24.Regs[1].creg6.reg6a.control_bit.inp4 = 0; hAIC24.Regs[1].creg6.reg6b.control_bit.outp1 = 0; hAIC24.Regs[1].creg6.reg6b.control_bit.outp2 = 0; hAIC24.Regs[1].creg6.reg6b.control_bit.outp3 = 0; hAIC24.Regs[2].creg6.reg6a.control_bit.mici = 0; hAIC24.Regs[2].creg6.reg6a.control_bit.inp1 = 0; hAIC24.Regs[2].creg6.reg6a.control_bit.inp2 = 0; hAIC24.Regs[2].creg6.reg6a.control_bit.inp3 = 1; hAIC24.Regs[2].creg6.reg6a.control_bit.inp4 = 0; hAIC24.Regs[2].creg6.reg6b.control_bit.outp1 = 1; hAIC24.Regs[2].creg6.reg6b.control_bit.outp2 = 0; hAIC24.Regs[2].creg6.reg6b.control_bit.outp3 = 0; hAIC24.Regs[3].creg6.reg6a.control_bit.mici = 0; hAIC24.Regs[3].creg6.reg6a.control_bit.inp1 = 0; hAIC24.Regs[3].creg6.reg6a.control_bit.inp2 = 0; hAIC24.Regs[3].creg6.reg6a.control_bit.inp3 = 0; hAIC24.Regs[3].creg6.reg6a.control_bit.inp4 = 0; hAIC24.Regs[3].creg6.reg6b.control_bit.outp1 = 0; hAIC24.Regs[3].creg6.reg6b.control_bit.outp2 = 0; hAIC24.Regs[3].creg6.reg6b.control_bit.outp3 = 0; // Starting the AIC24 AIC24_Start([U+2A53]hAIC24);
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CHAPTER 2.
2.3.3.5.2 Running the Example

Connect an audio source to J14, a speaker / headphone to J4 and check Path #1. Connect an audio source to J13, a speaker / headphone to J5 and check Path #2.
2.3.4 Migration to Simulink

2.3.4.1 Principle of Operation
The main idea is to create a Simulink environment that reads samples form 4 channels, process them and send them to 4 output channels. The example model is shown in Figure 14.
Figure 2.90: Simulink Environment for Multichannel Processing
205
The Simulink driver block is based on the driver described in the previous chapters. Both drivers read and write samples using a double-buering mechanism, but they dier in the way they activate the processing algorithm. The algorithm code, in the Simulink environment, runs as a separate free-running task. At the start of the function it checks the semaphore to see if data is ready to read from the buer if not then it stays in a wait state until the semaphore is posted by the callback routine (Please refer to section ). Once this has been posted, it reads the data elements from the addresses supplied by the appropriate pointers. Once the algorithm has then processed the data, it writes the data elements from the addresses supplied by the appropriate pointers. After process is concluded, it will wait for the next frame of samples. This process then repeats until halted. The callback function, in the Simulink environment, needs to set the appropriate pointers each time an EDMA interrupt occur, and post a semaphore for the Algorithm task afterwards.
2.3.4.2 Driver Structure

The driver consists of 4 les: 1. aic24_defs.h This le contains the denitions of the various registers of the TLV320AIC24. 2. aic24.h Needed for the DSP conguration. 3. aic24.c Contains the various initialization routines. 4. aic24link.c The rst three les are the same les used for the CCS driver. dened le (test.c for example) described in , This le contains the following functions and denitions: The ai24link.c le is similar to the user
Buers Denitions:
Int16 Int16 Int16 Int16
r_data1[DATANUM*NUM_CODECS*BUFS_PER_CHANNEL]; w_data1[DATANUM*NUM_CODECS*BUFS_PER_CHANNEL]; r_data2[DATANUM*NUM_CODECS*BUFS_PER_CHANNEL]; w_data2[DATANUM*NUM_CODECS*BUFS_PER_CHANNEL];
// // // //
data data data data
buffer buffer buffer buffer
for for for for
read read write write
Pointers to each channel buers (read and write).

Those pointers are used by the Algorithm block in the Simulink model.
Int16 Int16 Int16 Int16 Int16 Int16 Int16 Int16
*InSig1; *InSig2; *InSig3; *InSig4; *OutSig1; *OutSig2; *OutSig3; *OutSig4;
An AIC24 handle and a Semaphore handle

As explained the semaphore will be used to wait for the data to arrive.
AIC24_Handle hAIC24; SEM_Obj AIC24_ready_sem;
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CHAPTER 2.
The AIC24LINK_init function.

It calls the AIC24_Init function and also initializes the semaphore.
void AIC24LINK_init() { // setting up the AIC24 handle AIC24_InitDefaults([U+2A53]hAIC24, NUM_CODECS, DATANUM, r_data1, r_data2, w_data1, w_data2, AIC24LINK_pr SEM_new([U+2A53]AIC24_ready_sem,0); }
The callback function.
The callback function AIC24LINK_process simply sets the channel buer pointers (the pointers the model uses) to the correct places and posts on the semaphore.
void AIC24LINK_process(Int16 *r_data, Int16 *w_data) { InSig1 = r_data; InSig2 = r_data + DATANUM; InSig3 = r_data + DATANUM*2; InSig4 = r_data + DATANUM*3; OutSig1 = w_data; OutSig2 = w_data + DATANUM; OutSig3 = w_data + DATANUM*2; OutSig4 = w_data + DATANUM*3; SEM_post([U+2A53]AIC24_ready_sem); } void AIC24LINK_wait() { SEM_pend([U+2A53]AIC24_ready_sem, SYS_FOREVER); }
AIC24LINK_wait
This function pends on the semaphore.
AIC24LINK_start
This function calls AIC24_start.
2.3.4.3
The Simulink block will be created from the AIC23 driver used in the Custom Device Driver/Legacy Code Integration Simulink demo.
Open the demo
207
Figure 2.91: The Simulink demo for Device Driver/Legacy Code Integration
Open the model
208
CHAPTER 2.
Figure 2.92: Real-time model using a custom device driver
Double-click the "AIC23 Codec Driver" box. Rename it (TLV320AIC24EVM). Delete the EDMA related boxes
31
. Delete the code and replace it by the initialization function
Double-click the "System Start" box.
AIC24LINK_init () in the execution box. Double-click the "System Enable". Delete the code and add the AIC24LINK_Start(), to the execution box. Delete the code in the "Model Header" box. Double-click the "Model Source" box. Delete the code. Add to the "Top of Model Source" box the line #include "aic24link.h". This will allow calling the functions in the aic24link.c le. Figure 17 summarizes the driver blocks conguration
31 The
EDMA and interrupts congurations are handled as in the original CCS driver.
209
Figure 2.93: TLV320AIC24EVM driver blocks
The next steps will guide you through the Algorithm block conguration
Add 6 terminators (inputs and outputs) both inside and outside the "Algorithm" box and of course wiring them appropriately. Double click on each terminator and set its dimension to 64
32
(except for
32 The
terminator dimension should match the value of the DATANUM constant in the aic24link.c le
210
CHAPTER 2.
the internal terminators). Set the data type to int16.The 8 input and output ports should be linked to the buers (i.e. the pointers) in the aic24link.c le.
Right-click the wires connecting the terminators to the algorithm and select "Signal Properties". A new window will be opened window, Select "RealTime Workshop" tab and "ImportedExternPointer". Enter the signal name. It should have the same name of the correspondent pointers in the driver (As dened in the aic24link.c le).
Double-click the "Algorithm" box again and then open the "System Outputs" block. Delete the code and add a call to AIC24LINK_wait. This way the loop of the task stops each time and waits for the data.
Figure 2.94: The Algorithm block
The model is now ready to generate real-time code for processing of 4 audio channels. AN example is shown in the next chapter.
211
2.3.5 The Audio Conference Bridge Application

This chapter illustrates the use of the Simulink driver introduced in the previous chapter, to implement a conference bridge. Figure 15 shows the conguration used for this application. Three headsets The algorithm is described in the next section.
33
are used, enabling a 3-port
conference. The DSP monitors the 3 input signals, and routes the loudest input signal to the three outputs.
Figure 2.95: System Conguration
33 The
TLV320AIC24 contains three analog interfaces for headsets. The use of an additional channel requires minor hardware
changes in the board.
212
CHAPTER 2.
2.3.5.1 The Algorithm
Figure 2.96: The Algorithm (Block Diagram)
The algorithm processes 64 samples (each channel). It calculates the absolute power of each channel (sum of absolute values). Three counters are used, each one corresponding to a distinct channel. For each frame the counter correspondent to the loudest channel is incremented. When a channel counter equals a threshold
34
, the correspondent channel is selected.
For Each 64 samples frame the following algorithm is implemented:
Output Channel Selection Procedure

1. Find Maximum Input Level 2. Increment Counter correspondent to the loudest channel 3. If the Counter value =10 THEN: 4. Broadcast correspondent input channel to all outputs 5. Reset Counter
2.3.5.2 The Simulink Algorithm Implementation

This section will describe the process of generating a real-time application using Simulink blocks for the algorithm itself and the driver introduced in the previous chapter. The Simulink model is shown in Figure 21
35
.
requirement for a threshold amount of wining rounds was set in order to prevent random noise or occasional spikes algorithm is implemented for 4 channels, however we will use only three of them.
34 The 35 The
from interfering with the algorithms function. This threshold is congurable. In this example it was set to 10.
213
Figure 2.97: Simulink Model
The block diagram shown in Figure 20 is translated to the model shown in the following gures.
The conference algorithm routes a selected channel to the 4 outputs:
214
CHAPTER 2.
Figure 2.98: Signal Routing
The input level is measured for 4 channels:
215
Figure 2.99: Algorithm Model
The 4 level values compose a 4 element vector. This vector is fed to the Max abs value block:
Figure 2.100: Finding the Maximum Level
216
CHAPTER 2.
The index of the Maximum level enters the index selection block. incremented and compared to the threshold.
The correspondent channel is
Figure 2.101: Index Selection
If the counter value equals the threshold, the index is selected as input to the conference block
36
The real-time model can be found in the le C67_Simulink_conference.rar.
2.3.6 References
1. "TLV320AIC20K/24KEVM User's Guide ",
37
TI )
Document
SLAU088A,
April
2005
(http://focus.ti.com/lit/ug/slau088a/slau088a.pdf (http://focus.ti.com/lit/ug/slau090/slau090.pdf 3. "Low CODEC Power (Rev. Highly-Integrated D)" TI Document

38
2. "DSPCODEC Development Platform User's Guide", TI Document SLAU090, September 2002 ) 16-Bit March 26-KSPS 2002 Dual Channel April 2005 Revised Programmable SLAS363D,
39
(http://focus.ti.com/lit/ds/slas363d/slas363d.pdf MATLAB and Simulink are registered
) of The MathWorks, Inc. See
trademarks
www.mathworks.com/trademarks for a list of additional trademarks. may be trademarks or registered trademarks of their respective holders.
Other product or brand names
36 See the le at <http://cnx.org/content/m22185/latest/C67_Simulink_conference.rar> 37 http://focus.ti.com/lit/ug/slau088a/slau088a.pdf 38 http://focus.ti.com/lit/ug/slau090/slau090.pdf 39 http://focus.ti.com/lit/ds/slas363d/slas363d.pdf

217
2.3.7 Appendix A Conguration

2.3.7.1 TLV320AIC24K & CODEC Development Platform 2.3.7.1.1 Analog Ports
The following table is based on the one the Codec's EVM Datasheet. It matches the board connectors with the inputs and outputs. (Notice, this table includes corrections and elaborations in compare to the one in the Datasheet).
Figure 2.102
We are using the TLV320AIC24KEVM is 24K.
The Inputs and Outputs of a certain channel are set by its 6a and 6b registers. Those registers can be set, like before, between the initialization of the Handle and its activation. If, for example, the input samples of channel 0 in the CODEC should be received from INP3 conguration should be as follows:
40
The
int main() { // setting up the AIC24 handle AIC24_InitDefaults([U+2A53]hAIC24,
4, 64, r_data1, r_data2, w_data1, w_data2, process);
hAIC24.Regs[0].creg6.reg6a.control_bit.mici = 0; hAIC24.Regs[0].creg6.reg6a.control_bit.inp1 = 0; hAIC24.Regs[0].creg6.reg6a.control_bit.inp2 = 0;

40 According
side.) to the table the connection is to J10, since we are working with 24K EVM and channel 0 is located at the master
218
CHAPTER 2.
hAIC24.Regs[0].creg6.reg6a.control_bit.inp3 = 1; hAIC24.Regs[0].creg6.reg6a.control_bit.inp4 = 0; // Starting the AIC24 AIC24_Start([U+2A53]hAIC24);

Each entry corresponds to a bit that determines whether it should be connected or not to the channel input
41
. The names of the elds correlate to the table.
A similar procedure applies for the output channel:
hAIC24.Regs[0].creg6.reg6b.control_bit.outp1 = 0; hAIC24.Regs[0].creg6.reg6b.control_bit.outp2 = 1; hAIC24.Regs[0].creg6.reg6b.control_bit.outp3 = 0;

In the case above, output of channel 0 is connected to OUTP2 (i.e. J1). A single channel can be connected to a number of outputs. It is not recommended to connect two CODEC channels to a single output. The default channel conguration is: Even Channels (i.e. 0,2,. . .) Input: MICI Even Channels (i.e. 0,2,. . .) Output: OUTP1 Odd Channels (i.e. 1,3,. . .) Input: INP1 Odd Channels (i.e. 1,3,. . .) Output: OUTP2
2.3.7.1.2 Switches and Jumpers Jumper settings for the AIC24 EVM
Jumper W1: W2: W3: W4: W5: P1.13-P1.14: P1.9-P1.10: P1.11-P1.12:
State Closed 2-3 1-2 1-2 Closed Closed Closed Closed
Table 2.2
Jumper settings for the AIC Motherboard
Jumper W1: W2:
State 1-2 2-3
Table 2.3
41 Other
entries were reset ('0'), as they should not be connected to the channel's input.
219
2.3.7.2 DSP 2.3.7.2.1 EDMA Conguration EDMA Receive Channel Conguration (Register Values)
Register Value opt

EDMA_OPT_PRI_LOW EDMA_OPT_ESIZE_16BIT EDMA_OPT_2DS_NO EDMA_OPT_SUM_NONE
Remarks
Low Priority (Allows other DMAs rst) 16 bits elements Source not using 2D option Source Address is xed (The MCBSP rcv register)
EDMA_OPT_2DD_NO EDMA_OPT_DUM_IDX
Destination not using 2D option Destination address is in double index (sort) mode
EDMA_OPT_TCINT_YES EDMA_OPT_TCC_OF(0)
Cause interrupt Transfer Complete Code (given to the interrupt, set later)
EDMA_OPT_LINK_YES EDMA_OPT_FS_NO
Use linking to another EDMA record Don't use frame sync The address of the McBSP recv register
src cnt
MCBSP_getRcvAddr(hAIC->hMcbsp)
EDMA_CNT_FRMCNT_OF(ChannelBuerSize The number of frames is the size of the buer 1) EDMA_CNT_ELECNT_OF(TotalNumChannels) Each frame has NumChannel elements
dst idx
EDMA_DST_OF(ReadAddr) EDMA_IDX_FRMIDX_OF(((ChannelBuerSize * (TotalNumChannels-1)) * 2)+2
The address of the buer to write to Negative Frame Index to move us back to the next position in the rst channel after each frame
EDMA_IDX_ELEIDX_OF((ChannelBuerSize Positive Element Index to move us to the next * 2) position in channel after every elemnt
rld
EDMA_RLD_ELERLD_OF(TotalNumChannels) Should be the same as Element Count EDMA_RLD_LINK_OF(LinkedRecord) The number of the next record to load (since we use double buering the next record will point back to this one)
Table 2.4
EDMA Transmit Channel Conguration (Register Values)
220
CHAPTER 2.
Register Value opt

EDMA_OPT_PRI_LOW EDMA_OPT_ESIZE_16BIT EDMA_OPT_2DS_NO EDMA_OPT_SUM_IDX EDMA_OPT_2DD_NO EDMA_OPT_DUM_NONE
Remarks
Low Priority (Allows other DMAs rst) 16 bits elements Source not using 2D option Source address is in double index (sort) Destination not using 2D option Destination Address is xed (The MCBSP xmt register)
EDMA_OPT_TCINT_YES EDMA_OPT_TCC_OF(0)
Cause interrupt Transfer Complete Code (given to the interrupt, set later)
EDMA_OPT_LINK_YES EDMA_OPT_FS_NO
Use linking to another EDMA record Don't use frame sync The address of the buer read from
src cnt
EDMA_SRC_OF(WriteAddr)
EDMA_CNT_FRMCNT_OF(ChannelBuerSize Each frame has NumChannel elements 1) EDMA_CNT_ELECNT_OF(TotalNumChannels) Each frame has NumChannel elements
dst idx
MCBSP_getXmtAddr(hAIC->hMcbsp) EDMA_IDX_FRMIDX_OF(((ChannelBuerSize * (TotalNumChannels-1)) * 2)+2)
The address of the McBSP transmit register Negative Frame Index to move us back to the next position in the rst channel after each frame
EDMA_IDX_ELEIDX_OF((ChannelBuerSize Positive Element Index to move us to the next * 2)) position in channel after every elemnt
rld
EDMA_RLD_ELERLD_OF(TotalNumChannels) Should be the same as Element Count EDMA_RLD_LINK_OF(LinkedRecord) The number of the next record to load (since we use double buering the next record will point back to this one)
Table 2.5
2.3.7.2.2 MCBSP Conguration McBSP Conguration (Register Values)
221
Register Value Serial MCBSP_SPCR_FREE_YES Port Control Register (SPCR)

MCBSP_SPCR_SOFT_YES MCBSP_SPCR_FRST_YES
Remarks
Used for emulation
Used for emulation Frame sync generator is in reset (generated by master CODEC)
MCBSP_SPCR_GRST_YES
Sample rate generator is in reset (generated by master CODEC)
MCBSP_SPCR_XINTM_FRM
The transmit interrupt is driven by new frame sync
MCBSP_SPCR_XSYNCERR_NO MCBSP_SPCR_XRST_YES
No synchronization error detected The serial port transmitter is disabled and in reset state
MCBSP_SPCR_DLB_OFF MCBSP_SPCR_RJUST_RZF
Digital Loopback mode o Receive data right-justied and zero-ll MSBSs in DRR
MCBSP_SPCR_CLKSTP_DISABLE MCBSP_SPCR_DXENA_OFF MCBSP_SPCR_RINTM_FRM MCBSP_SPCR_RSYNCERR_NO MCBSP_SPCR_RRST_YES
The Clock stop mode is disabled Disable extra delay of DX Receive interrupt on new frame synch No synchronization error detected The serial port receiver is disabled and in reset state
ReceiveMCBSP_RCR_RPHASE_SINGLE Control Register (RCR)
receive one phase only
continued on next page
222
CHAPTER 2.
MCBSP_RCR_RFRLEN2_OF(0) MCBSP_RCR_RWDLEN2_16BIT MCBSP_RCR_RCOMPAND_MSB
Don't Care. Phase 2 is not used Don't Care. Phase 2 is not used No companding, data transfer starts with MSB rst
MCBSP_RCR_RFIG_NO MCBSP_RCR_RDATDLY_1BIT
sync error doesn't cause transfer restart 1 bit data delay
MCBSP_RCR_RFRLEN1_OF(NumChannels- Each frame contains an element for each chan1) MCBSP_RCR_RWDLEN1_16BIT MCBSP_RCR_RWDREVRS_DISABLE nel Each sample is 16 bit Don't Care. Only 16 bit elements are used Transmit one phase only
Transmit MCBSP_XCR_XPHASE_SINGLE Control Register (XCR)

MCBSP_XCR_XFRLEN2_OF(0) MCBSP_XCR_XWDLEN2_16BIT MCBSP_XCR_XCOMPAND_MSB
Don't Care. Phase 2 is not used Don't Care. Phase 2 is not used No companding, data transfer starts with MSB rst
MCBSP_XCR_XFIG_NO MCBSP_XCR_XDATDLY_1BIT
sync error doesn't cause transfer restart 1 bit data delay
MCBSP_XCR_XFRLEN1_OF(NumChannels- Each frame contains an element for each chan1) MCBSP_XCR_XWDLEN1_16BIT MCBSP_XCR_XWDREVRS_DISABLE nel Each sample is 16bit Does not matter, we use 16 bit elements Not used, clock and frame sync are generated by the master CODEC (The source code contains the ags but they are 0)
Sample 0 Rate Generator Register (SRGR)
223
Pin MCBSP_PCR_XIOEN_SP Control Register (PCR)

MCBSP_PCR_RIOEN_SP MCBSP_PCR_FSXM_EXTERNAL
All pins are dedicated for MCBSP (Not GPIO)
All pins are dedicated for MCBSP (Not GPIO) Transmit frame sync is generated by the master CODEC
MCBSP_PCR_FSRM_EXTERNAL
Receive frame sync is generated by the master CODEC
MCBSP_PCR_CLKXM_INPUT
Transmit clock sync is generated by the master CODEC
MCBSP_PCR_CLKRM_INPUT
Receive clock sync is generated by the master CODEC
MCBSP_PCR_CLKSSTAT_0 MCBSP_PCR_DXSTAT_0 MCBSP_PCR_FSXP_ACTIVEHIGH MCBSP_PCR_FSRP_ACTIVEHIGH MCBSP_PCR_CLKXP_RISING MCBSP_PCR_CLKRP_FALLING MCR RCER XCER 0 0 0

Table 2.6
Does not matter (used in GPIO) Does not matter (used in GPIO) Transmit frame sync is active high for AIC24 Receive frame sync is active high for AIC24 Transmit data driven on rising edge Receive data sampled on falling edge Unused Unused Unused
2.4 DTMF Detection42

2.4.1 Introduction
The Dual-tone multi-frequency (DTMF) signaling method was developed originally to replace pulse Pulse or DP in the U.S.
44 43
(Dial
) and loop disconnect (LD) signaling methods to dial numbers, in order to shorten
45
the holding time of the switch during dialing , specially for long distance calls. DTMF signaling uses two tones to represent each key on the touch pad. There are 12 distinct tones (Please refer to Table 1). When any key is pressed the tone of the column and the tone of the row are no frequency is a multiple of another, the dierence between any two
generated. As an example, pressing the '5' button generates the tones 770 Hz and 1336 Hz. The frequencies were chosen to avoid harmonics: the frequencies. frequencies does not equal any of the frequencies, and the sum of any two frequencies does not equal any of
42 This content is available online at <http://cnx.org/content/m22937/1.2/>. 43 http://en.wikipedia.org/wiki/Pulse_dialing 44 http://en.wikipedia.org/wiki/United_States 45 The DTMF method denes four additional digits: A, B,C & D. Most
of the systems today do not use those digits.
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. 697 Hz 770 Hz 852 Hz 941 Hz
1209 Hz 1 4 7 *
1336 Hz 2 5 8 0
1477 Hz 3 6 9 #
Table 2.7: DTMF Frequencies
Table 1- DTMF frequencies The low frequencies are referred as rows, The higher frequencies are referred as columns. This example will show the implementation of a DTMF receiver using the DSK6713. The DTMF receiver will be based on the simulation model used in the Simulink demo. A graphic user interface (GUI) will also be created to activate the DSK6713. DTMF digits will be sent from the PC sound card.
Powerpoint Presentation - DTMF.ppt
46 47
Simulink Model for Simulation - DTMF.mdl MATLAB GUI for Real-Time - DTMF.g GUI m-le - DTMF.m
49 48
Simulink Model for Real-Time - DTMF_DSK6713.mdl
50
2.4.2 Simulation
2.4.2.1 The Simulation Model
Figure 1 shows the model used to simulate DTMF detection and generation.
46 See 47 See 48 See 49 See 50 See
the le at <http://cnx.org/content/m22937/latest/DTMF.ppt> the le at <http://cnx.org/content/m22937/latest/DTMF.mdl> the le at <http://cnx.org/content/m22937/latest/DTMF.g> the le at <http://cnx.org/content/m22937/latest/DTMF.m> the le at <http://cnx.org/content/m22937/latest/DTMF_DSK6713.mdl>
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Figure 2.103: DTMF Simulation
The DTMF generator is composed by 7 sine wave generators, corresponding to the 7 DTMF frequencies. The oscillators are grouped as described in Table 1. The oscillators outputs are multiplexed and summed (Please refer to Figure 2). activated. Upon selection of a digit to be transmitted, the correspondent oscillators are
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Figure 2.104: DTMF Generation
The DTMF detection comprises two processes, the frequency detection algorithm itself, and a leading edge detection subsystem. The frequency detection subsystem measures the energy present at the seven frequencies, and calculates the digit by taking the component of maximum energy in the lower and upper frequency groups. The process is shown in Figure 3. This process runs continuously; however the calculated digit is reported only if its energy is above a threshold as determined by the leading edge detection subsystem. The DTMF detection process is shown in Figure 4.
227
Figure 2.105: Frequency Detection
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Figure 2.106: DTMF Detection
2.4.2.2 Running the Simulation
Open the simulation model DTMF.mdl In order to select the digit double click the DTMF generator subsystem and enter the digits to be sent as follows:
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Figure 2.107: "Dialing" DTMF Digits
Activate the simulation, the detected digits will be displayed as shown:
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Figure 2.108: Displaying the Detected DTMF Digits

The real-time implementation environment is shown in Figure 7. The DTMF generation will be performed in MATLAB digits.
and sent to the DSK through the PC sound card.
The detected digits will be reported through
RTDX. A graphic user interface (GUI) will be built to activate the transmitter, and display the reported
231
Figure 2.109: Real Time Implementation
The DTMF receiver will be based on the DTMF receiver from the simulation model, with the following changes:
Samples will be read from the Analog to Digital Converter, and ltered by a DC removal block Digits will be reported through RTDX. Addition of the DSK6713 target preference
51
2.4.3.1 The DTMF Receiver

DSP.
Open the simulation model DTMF.mdl, remove all the blocks besides the DTMF receiver block. Open the Simulink
library browser and add the "C6713DSK".
51 This
block is necessary to convert the unipolar format of the samples to a 2's complement format for processing by the
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Figure 2.110: The C6713DSK target Block
Add the Analog to Digital converter (ADC) to your model:
233
Figure 2.111: The ADC target Block
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Figure 2.112: The ADC Block Conguration
The TO RTDX will be used to report the detected digits to the PC. Add it to your model:
235
Figure 2.113: The "To RTDX" Block
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Figure 2.114: The "To RTDX" Block Conguration
Add the Digital Filter and Gain blocks for DC removal:
Figure 2.115: The Digital Filter Block
237
Figure 2.116: The Digital Filter Block Conguration
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Figure 2.117: The Gain Block
Figure 2.118: The Gain Block Conguration
The DTMF receiver model is shown Figure 17:
239
Figure 2.119: DTMF Receiver
Save the model as "DTMF_DSK6713.mdl". Built the model.
2.4.3.2 The User Interface 2.4.3.3 Functionality

The GUI will perform the following functions:
Initialization: Initialize the RTDX interface and loading the DTMF Receiver program we have built in the last section to the DSK. Generate the DTMF signal samples: The GUI will enable the user to select a sequence of 11 digits them to the sound card.
52
to be transmitted. It will create the samples of the DTMF signal based on this selection, and send
Display the detected digits reported by the DSK
2.4.3.4 Description
The desired GUI is shown in Figure 18
52 If
the user selects less than 11 digits, the sequence is padded with DTMF digit '1'.
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Figure 2.120: DTMF GUI
It will enable the user to:
Dial the digits: every digit dialed is added to a specic buer, and displayed under the Dialed Digits label. Delete the last digit Clear all the digits Send: Create the DTMF signal from the digits selected the sound command in MATLAB.
53
. A dual-tone signal will be created for each
digit. Silence will be inserted between consecutive digits. This signal is sent to the sound blaster using
Display: Digits reported by the DSK will be displayed under the Detected Digits label.
Activate the GUIDE (Graphic User Interface Integrated Development Environment in MATLAB.
DSK operates with a buer of 11 digits so if the user dialed less then 11 digits we are padding them to 11 in the
53 The
MATLAB.
241
Open a new GUI and name it DTMF
Add 12 Push buttons for the keypad and set their String property to the proper values (0-9,*,#) using the property inspector. Add the Send, Clear and Delete buttons Add 2 Edit Texts objects for display You may now add the labels (static texts):
Dialed Digits Detected Estimation DTMF Transmitter
Press the play button to open the MATLAB script. Name the script DTMF.m. Enter the Initialization (DTMF_OpeningFcn ) as shown:
function DTMF_OpeningFcn(hObject, eventdata, handles, varargin) modelName = gcs; CCS_Obj = connectToCCS(modelName); % Identify RTDX channel names/modes chan_struct(1).name = 'OutputDigit'; chan_struct(1).mode = 'r'; handles.RTDX_chan1=chan_struct(1); % Identify RTDX host buffer parameters RTDX_config_struct.Buffsize= 32768; RTDX_config_struct.Nbuffers = 4; RTDX_config_struct.Mode = 'continuous'; CodegenDir = fullfile(pwd, ['DTMF_RT' '_c6000_rtw']); OutFile = fullfile(CodegenDir, ['DTMF_RT' '.out']); %Load is needed for RTDX setup CCS_Obj.load(OutFile,20); % Set up RTDX r = setupRTDX(CCS_Obj, chan_struct, RTDX_config_struct); handles.pipe=r; handles.CCS_Obj=CCS_Obj; handles.output = hObject; CCS_Obj.run; % Enable all RTDX channels r.enable('all'); %The buffer that stores the user input digits A=[]; handles.A=A; % flag that tells if the gui needs to clear the dialed string or %the next digit joins the previous string: handles.initFlag=0; handles.maxSize=11; handles.freqTable=generateTable(); % Update handles structure guidata(hObject, handles);
This function will run after activating the GUI. It will then load the DSK, initialize the RTDX interface, and initialize a table of samples for each digit, by calling the generateTable auxiliary function:
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function res=generateTable() t=(1:256*6)/8192; res(1,:)=sin(2*pi*697*t)+sin(2*pi*1209*t); res(2,:)=sin(2*pi*697*t)+sin(2*pi*1336*t); res(3,:)=sin(2*pi*697*t)+sin(2*pi*1477*t); res(4,:)=sin(2*pi*770*t)+sin(2*pi*1209*t); res(5,:)=sin(2*pi*770*t)+sin(2*pi*1336*t); res(6,:)=sin(2*pi*770*t)+sin(2*pi*1477*t); res(7,:)=sin(2*pi*852*t)+sin(2*pi*1209*t); res(8,:)=sin(2*pi*852*t)+sin(2*pi*1336*t); res(9,:)=sin(2*pi*852*t)+sin(2*pi*1477*t); res(10,:)=sin(2*pi*941*t)+sin(2*pi*1209*t); res(11,:)=sin(2*pi*941*t)+sin(2*pi*1336*t); res(12,:)=sin(2*pi*941*t)+sin(2*pi*1477*t);
Enter the handle Button function:
function handleButton(hObject,handles,k) %get the digits buffer A=handles.A; %if we have to erase so we are doing it here: if handles.initFlag==1 handles.initFlag=0; A=[]; end %check if the string is too long with the new digit: if length(A)==handles.maxSize fprintf('Error: too many digits\n'); return; end %concatenate the new digit to the existing buffer A=[A k]; handles.A=A; set(handles.text1, 'String', strrep(strrep(strrep(int2str(A),'10','*'),'11','0'),'12','#')); guidata(hObject,handles); % invoked when the user dials '1': function pushbutton1_Callback(hObject, eventdata, handles) handleButton(hObject,handles,1); % invoked when the user dials '2': function pushbutton2_Callback(hObject, eventdata, handles) handleButton(hObject,handles,2); . . .
This function will be activated, every time the user pushes a digit button in the keypad. The digit will be displayed under the Dialed Digits label.
The following function will be activated by the Send button:
243
%input: digits and handle to the signals table %output: buffer that contains the DTMF samples for the digits. function res=buildXmt(handles,A) res=[]; for k=1 : length(A) freqTable=handles.freqTable; %place the next digit and then zeros (space) res=[res freqTable(A(k),:) zeros(1,256*6);]; end %The Send Button Handler: function pushbutton13_Callback(hObject, eventdata, handles) r=handles.pipe; A=handles.A; padding=0; if length(A)==0 return end % if dialed less than 11 digits pad to 11 digits if length(A)<11 padding=11-length(A); A=[A ones(1,11-length(A))]; end %build the Send Buffer xmt=0.5*buildXmt(handles,A); %Transmit DTMF signals buffer sound(xmt,8192) %Wait for end of detection pause(4) %read the digits from the rtdx: num_of_msgs = msgcount(r,'OutputDigit'); r.flush('OutputDigit',num_of_msgs-1); y=r.readmsg(handles.rtdx_chan1.name, 'double',1); y=y(1:end-padding); %Update the upper label with the digits read from dsk estimation set(handles.text4, 'String', strrep(strrep(strrep(int2str(y),'10','*'),'11','#'),'20','*')); handles.initFlag=1; guidata(hObject, handles);
It will generate the DTMF samples Buer, based on the User Dialed information. The samples will be sent to the sound-card. The program will then monitor the RTDX channel to receive the digits reported by the DSK.
Enter the functions activated by the Clear and delete push buttons:
% Delete one digit. function pushbutton14_Callback(hObject, eventdata, handles) A=handles.A; if length(A)==0

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return end A=A(1:end-1); set(handles.text1, 'String', strrep(strrep(strrep(int2str(A),'10','*'),'11','0'),'12','#')); handles.A=A; guidata(hObject, handles); %Clear all the dialed digits. function pushbutton15_Callback(hObject, eventdata, handles) A=handles.A; A=[]; set(handles.text1, 'String', strrep(strrep(strrep(int2str(A),'10','*'),'11','0'),'12','#')); handles.A=A; guidata(hObject, handles);
2.4.3.6 Running the Example
The system used to run this example is shown in Figure 7. Activate the GUI (DTMF.g). Enter an array of digits and compare them to those detected by the DSK.
2.4.4 Things to Try

The original algorithm (simulation) runs in a "noiseless" environment. You are invited to check the performance of the real-time model, and eventually change the algorithm to reduce its sensitivity to noise. You may also add new buttons for DTMF parameters (level, frequency deviation, etc DTMF receiver performance against these parameters. MATLAB and Simulink are registered trademarks of The MathWorks, Inc. See www.mathworks.com/trademarks for a list of additional trademarks. may be trademarks or registered trademarks of their respective holders. Other product or brand names
. . .),
and test the
2.5 Echo and Reverberation54

2.5.1 Introduction
Echo and Reverberation are two of the simplest applications of Digital Signal Processing (DSP). This laboratory shows how models of Echo and Reverberation can be designed using MATLAB and Simulink, and run them in real-time on the Texas Instruments C6000 DSPs.
2.5.1.1 Objectives
Design models of Echo and Reverberation for the Texas Instruments C6000 family of DSP devices using MATLAB
and Simulink.
Modify an existing Simulink model. Run the model in real-time on the Texas Instruments C6713 DSK.
54 This
245
2.5.1.2 Level
Beginner - Assumes only very basic knowledge of MATLAB and Simulink. It is suitable for students with limited knowledge of Texas Instruments DSPs.

MATLAB R2006b with Embedded Target for TI C6000. Code Composer Studio (CCS) v3.1 Texas Instruments C6713 DSK hardware Microphone and computer loudspeakers/headphones
Powerpoint Presentation - EchoAndReverberation.ppt
55 56 57
Simulink Model for Echo Simulation - EchoUsingWav.mdl
Simulink Model for Reverberation Simulation - ReverberationUsingWav.mdl Simulink Model for Real-Time - EchoAndReverberationDSKC6713.mdl Audio Template for the DSK6713C6713_Audio_Template.mdl
59 58
2.5.2 Simulation
We shall start by running the Echo and Reverberation Simulink models. These use .wav les as the inputs.
2.5.2.1 Echo using Wave File 2.5.2.1.1 Opening the Echo Simulink Model
From MATLAB, open EchoUsingWav.mdl
55 See 56 See 57 See 58 See 59 See
the le at <http://cnx.org/content/m22940/latest/EchoAndReverberation.ppt> the le at <http://cnx.org/content/m22940/latest/EchoUsingWav.mdl> the le at <http://cnx.org/content/m22940/latest/ReverberationUsingWav.mdl> the le at <http://cnx.org/content/m22940/latest/EchoAndReverberationDSKC6713.mdl> the le at <http://cnx.org/content/m22940/latest/C6713_Audio_Template.mdl>
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Figure 2.121: Echo using .wav File
2.5.2.1.2 Changing the Delay Time

Double-click on the Delay block and change the Delay (samples) to a dierent value.
247
Figure 2.122: Changing the Delay Time
Run the model and hear how the eect has changed. Try a few dierent settings between 100 and 20000 Delay (samples).
2.5.2.2 Reverberation using Wave File 2.5.2.2.1 Opening the Reverberation Simulink Model
From MATLAB, open ReverberationUsingWav.mdl
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Figure 2.123: Reverberaton Using .wav File
2.5.2.2.2 Changing the Delay Time

Double-click on the Delay block. Change the Delay (samples) to a dierent value then run the model and listen to the eect.
2.5.2.2.3 Changing the Gain

Double-click on the Gain block. Change the Gain to 0.95 then run the model. Listen to the eect.
249
Figure 2.124: Changing the Reverberation Gain
2.5.2.2.4 Questions
Why does Reverberation require a shorter delay time than echo? What eect does the Gain block have on the stability of the reverberation system?
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2.5.3 Real-Time Model for TI C6713 DSK

2.5.3.1 Texas Instruments C6713 DSK Setup
Figure 2.125: Texas Instruments C6713 DSK Setup
Alternatively, you can use computer loudspeakers. Connect the C6713 hardware to a USB port of the computer and turn on the supply to the board. If the board is powered, then the green LED lights on the board will come on during self-test.
2.5.3.2 Starting Code Composer Studio

The stages required to implement Echo and Reverberation are now described.
2.5.3.2.1 Starting Code Composer Studio

Start Code Composer Studio for C6713 DSK and use Debug -> Connect
251

Start MATLAB 7.3.0 R2006b In the top left hand corner of the MATLAB screen, select File -> Open.
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Figure 2.127: Opening an Existing Model(CCS)
The following screen will appear.
Figure 2.128: Selecting an Existing Model
Highlight C6713_Audio_Template then click on Open.
253
2.5.3.2.3 Viewing the C6713 Audio Template

The C6713_Audio_Template is now displayed.
Figure 2.129: The C6713 DSK Audio Template>
2.5.3.2.4 Overview of the Complete Echo Subsystem

You are now going to implement the Echo Subsystem shown below.
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Figure 2.130: The Complete Echo Subsytem
2.5.3.2.5 Implementing the Echo Subsystem

Double click on the Eect 1 subsystem block. An empty model will appear.
255
Figure 2.131: The Blank Eect 1 Subsystem
You will now drag-and-drop some library components onto the model.
2.5.3.2.6 The Simulink Library Browser Commonly Used Blocks

Select View -> Library Browser. Expand the Simulink section. A list of available blocks will appear. We are initially interested in the Commonly Used Blocks.
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CHAPTER 2.
Figure 2.132: Commonly Used Blocks
From Commonly Used Blocks, drag-and-drop a Gain block, a Sum block and two Data Type Conversion blocks onto the model.
2.5.3.2.7 The Simulink Library Browser - Discrete

From the Simulink Library Browser, select Discrete. block onto the model. Highlight Integer Delay and drag-and-drop this
257
Available for free at Connexions <http://cnx.org/content/col10713/1.1> Figure 2.133: Blocks
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2.5.3.2.8 Setting the Integer Delay Time

The delay time will be 0.5 seconds. Using a sampling rate of 8000 Hz, this requires 8000 x 0.5 = 4000
samples. In the equation given in the lecture, this would make N = 4000. Double click on the Integer Delay block. Change the Number of delays eld to 4000, then click on OK.
Figure 2.134: Setting the Integer Delay Time
2.5.3.2.9 Setting the Output Data Conversion to Single

We want to set the gain to 0.9. If you multiply an integer value by 0.9, then the value 0.9 will be roundeddown to zero. Instead, you need to convert the integer value to a oating-point value such as single, and then convert it back later. Click on OK.
259
Figure 2.135: Setting the Data Conversion to Single
2.5.3.2.10 Setting the Delay Gain

We required that 0.9 of the delayed input is added to the normal input. Therefore, set the Gain to 0.9 then click on OK.
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2.5.3.2.11 Setting the Output Data Conversion to int16

Double click on the second Data Type Conversion block. Set the Output data type mode to int16. This is compatible with the DAC on the C6713 DSK.
261
2.5.3.2.12 The Completed Echo Subsystem

Join the blocks as shown and add a title.
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2.5.3.3 The Reverberation Subsystem

The next subsystem to be implemented will be Reverberation.
2.5.3.3.1 Overview of the Completed Reverberation Subsystem

We are now going to implement the Reverberation System shown below.
Figure 2.140: Overview of the Reverberation Subsystem
Note that the reverberation subsystem is very similar to that of echo. We will cut-and-paste from the Echo Subsystem
2.5.3.3.2 Opening the Eects 2 Subsystem

From the C6713 Audio Template top level, double-click on the Eect 2 subsystem.
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CHAPTER 2.
Figure 2.141: The Blank Eect 2 Subsystem
2.5.3.3.3 Copying a Block from the Echo Subsystem

Double click on the Eect 1 subsystem. Cut-and-paste a copy of the echo block as follows: while leftclicking the mouse, mark the area to be copied.
265
Figure 2.142: Outlining the Block to be Copied
Release the left button on the mouse.
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Figure 2.143: Block to be Copied is Marked
From pull-down menu, select Edit -> Copy (or Ctrl + C)
2.5.3.3.4 Blocks Dropped onto Eect 2 Subsystem

Return to the Eect 2 subsystem and Edit -> Paste (Ctrl + V) into the model.
267
Figure 2.144: Blocks Dropped onto Subsystem
2.5.3.3.5 Flipping the Blocks

The blocks are facing the wrong way. Turn them round using Format -> Flip Block.
Figure 2.145: Flipping the Blocks
2.5.3.3.6 Changing the Integer Delay for Reverberation.

Because the sound goes round several times with reverberation, a shorter delay time can be used. Here the delay time is 0.1 seconds.
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Figure 2.146: Delay Time for Reverberation
Set the Number of delays to 800 then click on OK.
2.5.3.3.7 Completing the Reverberation Subsystem

Connect the blocks as shown below. Change the title to Reverberation Subsystem.
269
Figure 2.147: The Completed Reverberation Subsystem

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CHAPTER 2.
2.5.3.4 The Improved Echo Subsystem

The nal subsystem to be implemented will be Improved Echo. This is based on the Echo subsystem, but with several delay paths.
2.5.3.4.1 The Complete Improved Echo Subsystem

Double click on the Eect 3 subsystem box. The required components are shown below.
Figure 2.149: The Improved Echo Subsystem
2.5.3.4.2 Implementing the Improved Echo Subsystem

You should now have enough knowledge to implement this subsystem block without further assistance. This time you are on your own!
2.5.3.4.3 Building the Model

271
2.5.3.5 Running the Model 2.5.3.5.1 Microphone Straight Through to Loudspeakers

To check out the microphone and loudspeakers, set the DIP switches on the C6713 DSK as follows:
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The microphone is fed directly to the loudspeakers without any digital signal processing.
2.5.3.5.2 Switch Position for Echo

To run the Echo subsystem, set the DIP switch to 1.
Figure 2.152: Switch Position 1 for Echo
2.5.3.5.3 Switch Position for Reverberation

To run the Reverberation subsystem, set the DIP switch to 2.
273
Figure 2.153: Switch Position 2 for Reverberation
2.5.3.5.4 Switch Position for Improved Echo

To run the Improved Echo subsystem, set the DIP switch to 3.
Figure 2.154: Switch Position 3 for Improved Echo

2.5.4.1 Change the Echo Delay
Change the value of the Integer Delay block for echo. Listen to the eect of using short and long delays. Set the delay time to a large value and sing a round such as Frere Jacques or Row, Row, Row your Boat.
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2.5.4.2 Change the Amount of Reverberation Gain

In the Reverberation Subsystem block, change the Gain from 0.8 to higher and lower values. Notice how the system can become unstable if the gain is too large.
2.5.4.3 Modify the Improved Echo Subsystem

In the Improved Echo Subsystem, you may wish to experiment with the number of delay elements, the delay times and the amounts of gain. Try to make the echo as realistic as possible.
2.5.4.4 Create Your Own Subsystem

Add your own subsystem block and add your own signal processing. You might want to design a subsystem with both echo and reverberation. MATLAB and Simulink are registered trademarks of The MathWorks, Inc. See www.mathworks.com/trademarks for a list of additional trademarks. may be trademarks or registered trademarks of their respective holders. Other product or brand names
2.6 Signal to Noise Measurement60

2.6.1 Introduction
The signal-to-noise ratio of an audio signal gives a measurement of the quality of that signal. Signal-to-Noise ratio can be measured in real-time using statistics. This laboratory shows how to evaluate a model of Signal-to-Noise Ratio measurement using Simulink and run it on a Texas Instruments C6000 DSP.
2.6.1.1 Objectives
Run the Simulink model of signal-to-noise ratio measurement on a PC, to determine the optimum parameter settings. Modify the Simulink model for real-time measurement of signal-to-noise ratio using the Texas Instruments C6713 DSK. Run the project on the Texas Instruments C6713 DSK with a microphone and computer loudspeakers / headphones.
2.6.1.2 Level
Intermediate - Assumes prior knowledge of MATLAB
and Simulink.
It also requires some understanding
of statistics and some knowledge of Texas Instruments DSPs.

MATLAB R2006b with Embedded Target for TI C6000. Code Composer Studio (CCS) v3.1 Texas Instruments C6713 DSK hardware. Microphone and computer loudspeakers / headphones.
60 This
275
Powerpoint Presentation - SignalToNoise.ppt
61 62 63
Simulink Model for Simulation - SignalToNoise.mdl
Simulink Model for Real-Time - SignalToNoiseDSKC6713.mdl
2.6.2 Simulation
2.6.2.1 Procedure 2.6.2.1.1 Opening the SignalToNoise Model
Start MATLAB 7.3.0 R2006b then open the SignalToNoise.mdl
Figure 2.155: Opening SignalToNoise Model
2.6.2.1.2 Viewing the SignalToNoise Parent

The SignalToNoise parent is now displayed. Double-click on the Algorithm box.
the le at <http://cnx.org/content/m22941/latest/SignalToNoise.ppt> the le at <http://cnx.org/content/m22941/latest/SignalToNoise.mdl> the le at <http://cnx.org/content/m22941/latest/SignalToNoiseDSKC6713.mdl>
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CHAPTER 2.
Figure 2.156: SignalToNoise Parent
2.6.2.1.3 Algorithm for Signal-to-Noise Ratio Measurement

The Signal-to-Noise Ratio algorithm is now displayed. Run the model.
277
Figure 2.157: Signal-to-Noise Ratio Algorithm
2.6.2.1.4 Output of the Model

Run the model.
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CHAPTER 2.
Figure 2.158: Algorithm Output
It will be seen that the output of the algorithm (Unltered S/N) varies from frame to frame. The next step is to ne-tune the algorithm parameters.
2.6.2.2 Tuning the Simulink Model

The model is run several times to determine the best values of the parameters:
To evaluate the algorithm accuracy for dierent frequencies To determine the optimal frame length To set the optimum delay time To evaluate the eect of sampling frequency To obtain a consistent algorithm output.
2.6.2.2.1 Evaluating the Algorithm Accuracy for Dierent Frequencies

Change the sine wave frequency from 500 Hz (default) to 1000 Hz then run the model several times. Make a note of the four dierent meter outputs (S/N Ratio from RMS Signals, Unltered S/N, Filtered S/N and Buered).
279
Figure 2.159: Changing the Sine Wave Frequency
Repeat using 1500Hz and 2000Hz. Question: Does the input frequency of the Sine Wave have an eect on the accuracy of the algorithm? If it does, then it would be useful to put a digital lter at the input to the algorithm to limit the frequency
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band.
2.6.2.3 Sine Wave 300 Hz

Change the Sine Wave Frequency to 300Hz then run the model.
281
Figure 2.160: Setting the Sine Wave to 300 Hz
Make a note of the accuracy of the model.
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2.6.2.4 Changing the Frame Sizes

Increase the Samples per frame to 1024 in both the Sine Wave and the Random Source Blocks.
Figure 2.161: Adjusting Frame Size for Sine Wave
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Figure 2.162: Adjusting the Frame Size for the Random Source
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Run the model again. Question: How does this change to the frame size aect performance?
2.6.2.5 Setting the Delay Value

Click on the Delay Block. Change the number of Delay (samples) to 50.
Figure 2.163: Setting the Delay (samples)
Run the model again and make a note of the accuracy of the measurement. Change Delay (samples)
64
to 12 and run the model again.
Question: How does the value of delay (samples) aect the accuracy of the model?
2.6.2.6 Changing the Amount of Noise Present

Reload the original model to restore the initial settings. Change the amount of Gain to make the gain 0.10 (10% noise).
64 The
Delay (samples) should be smaller than the frame size, otherwise the frames do not overlap.
285
Figure 2.164: Changing the Amount of Noise Present
Run the model and make a note of the accuracy of the measurements. Repeat, but this time, use a gain of 0.01 (1% noise). Question: Does the algorithm work better for high signal-to-noise ratios or for low signal-to-noise ratios? Make a note of the answer.
2.6.2.7 Changing the Sampling Frequency

Change the sample time in both the Sine Wave and the Random Noise blocks to 48000 Hz.
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Figure 2.165: Changing the Sine Wave Sample Time
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Figure 2.166: Changing the Random Source Sample Time
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Run the model. Question: Does the model produce better results with 8000Hz sampling or 48000 Hz sampling? Make a note of the answer.
2.6.2.8 The Fully Optimized Simulation

You should now know what are the optimum parameters for the simulation. Set these parameters and run the model.
2.6.2.9 Summary of Simulation

You have now run the signal-to-noise ratio model and should be aware of the best settings for consistency of measurements, delay and sampling frequency. You are now ready to go to the C6713 DSK Model.

Alternatively, you can use computer loudspeakers.
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2.6.3.2 Starting Code Composer Studio

There are several stages required in order to implement the Signal-to-Noise measurement. These are now described.
2.6.3.2.1 Starting up Code Composer Studio

Start Code Composer Studio for C6713 DSK and use Debug -> Connect
2.6.3.3 The Texas Instruments C6713 DSK Model

You will now use the knowledge you have gained during the PC Simulation to produce an optimized version of this algorithm for use with the Texas Instruments C6713 DSK.
2.6.3.3.1 Opening the C6713 DSK Model

Open the SignalToNoiseDSK6713.mdl.
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The parent is shown in Figure 15.
Figure 2.169: SignalToNoiseDSK6713.mdl
Double click on the function() block.
2.6.3.3.2 Viewing the Signal-to-Noise Measurement Algorithm

The details of the C6713 Algorithm are shown in Figure 16.
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Figure 2.170: Audio Noise Gate
2.6.3.3.3 Setting the Sampling Rate and Frame Size

Double-click on the Mic In C6713 DSK ADC block. Set the Sampling rate (Hz) and Samples per frame elds to the best value you found while carrying out the Simulation. The values may be dierent to those written here.
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Figure 2.171: Setting the Sampling Rate and Frame Size
2.6.3.3.4 Setting the Delay Size

Double-click on the Delay block. Set the Delay (samples) to the best value found during simulation. The value will not be 999!
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Figure 2.172: Setting the Delay Size

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Figure 2.175: The Completed Model Running in Code Composer Studio
2.6.3.5 Dierent Settings on the C6713 DSK 2.6.3.5.1 Microphone Straight Through to Loudspeakers
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The microphone is fed directly to the loudspeakers. There is no noise gate.
2.6.3.6 Switch Position for the Audio Noise Gate

To run the Audio Noise Gate, set the DIP switch to 1.
Figure 2.177: Switch Position 1 for Audio Noise Gate
Note that when you are not speaking, there is no audio output at all just silence.
2.6.4 Modifying the Model

The next stage is to modify the model. You can change the smoothing lter. If the lter is too long, the delay will be noticeable.
2.6.4.1 Changing the Filter Type

Double-click on the Lowpass block. Change the Order to a value other than 10.
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Figure 2.178: Changing the Number of Filter Elements
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2.6.4.2 Re-building the Model

Figure 2.179: Re-building the Model
2.6.4.3 Running the Updated Model

Run the updated model and listen to the eect on the audio noise gate.

2.6.5.1 Add an Input Filter

While running the Simulation, you will have noticed that the Signal-to-Noise Algorithm works better on some frequencies than others. Add the appropriate lter to select only the frequencies where the algorithm works well.
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2.6.5.2 Process Stereo Inputs

Change the input from Microphone to Stereo Line Input. Add a second channel to make the processing stereo.
2.6.5.3 Best Signal Selection

When stage 3.2 has been completed, modify the model so that the output is the better of the two stereo inputs. MATLAB and Simulink are registered trademarks of The MathWorks, Inc. See www.mathworks.com/trademarks for a list of additional trademarks. may be trademarks or registered trademarks of their respective holders. Other product or brand names
2.7 Spectrum Estimation65

2.7.1 Introduction
In this module the DSK6713 will be used for spectrum estimation. implemented: 1. Periodogram 2. Burg 3. M-Cov Three estimation methods will be
Periodogram
Figure 2.180
The Periodogram block computes a nonparametric estimate of the spectrum. average by the square of the sum of the window samples.
The block averages the
squared magnitude of the FFT computed over windowed sections of the input and normalizes the spectral
The Modied Covariance Method

65 This
301
Figure 2.181
The Modied Covariance Method block estimates the power spectral density (PSD) of the input using the modied covariance method. This method ts an autoregressive (AR) model to the signal by minimizing the forward and backward prediction errors in the least squares sense. The order of the all-pole model is the value specied by the Estimation order parameter. To guarantee a valid output, you must set the Estimation order parameter to be less than or equal to two thirds the input vector length. The spectrum is computed from the FFT of the estimated AR model parameters.
Burg Method
Figure 2.182
The Burg Method block estimates the power spectral density (PSD) of the input frame using the Burg method. recursion. This method ts an autoregressive (AR) model to the signal by minimizing (least squares) the forward and backward prediction errors while constraining the AR parameters to satisfy the Levinson-Durbin
Powerpoint Presentation - SpectrumEstimation.ppt MATLAB GUI for Real-Time - Spectrum.g GUI m-leSpectrum.m
69 68
66 67
Simulink Model for Simulation - SpectrumEstimation.mdl
m-le for Selection of estimation method SelectModel.m Simulink Model for Burg Estimation Method Burg.mdl
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71 72 73
Simulink Model for Periodogram Estimation MethodPeriodogram.mdl
Simulink Model for Modied Covariance Estimation MethodMCov_AR.mdl
66 See 67 See 68 See 69 See 70 See 71 See 72 See 73 See
the le at <http://cnx.org/content/m22942/latest/SpectrumEstimation.ppt> the le at <http://cnx.org/content/m22942/latest/SpectrumEstimation.mdl> the le at <http://cnx.org/content/m22942/latest/Spectrum.g> the le at <http://cnx.org/content/m22942/latest/Spectrum.m> the le at <http://cnx.org/content/m22942/latest/SelectModel.m> the le at <http://cnx.org/content/m22942/latest/Burg.mdl> the le at <http://cnx.org/content/m22942/latest/Periodogram.mdl> the le at <http://cnx.org/content/m22942/latest/MCov_AR.mdl>
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2.7.2 Simulation
Figure 4 shows the data ow for the Estimation simulation. The input signal for the estimator is an AR process generated by feeding an all-poles lter with white noise. The AR coecients generate the reference spectrum to be compared against the estimated one.
Figure 2.183: Spectrum Estimation Simulation

1. Create a new model in Simulink
and name it:
SpectrumEstimation.mdl
2. Open the Simulink library browser and add a random source object:
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Figure 2.184: The Random Source Object
3. Double click on the random source object, and congure its parameters to t the white noise characteristics we want to achieve:
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Figure 2.185: The Random Source Object Conguration
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4. Add a new digital lter to the model:
Figure 2.186: The Digital Filter Block
5. Double-click on the lter and ll in the following parameters
74
74 The
Auto-Regressive process is represented by an all-pole IIR lter. The AR coecients are the ones in the Denominator
coecients label.
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Figure 2.187: The Digital Filter Block Parameters
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6. Add the 3 estimators: Periodogram, Burg and Modied-Covariance to your model:
Figure 2.188: The Burg Method Block
7. Congure the FFT length of the three models to 128
75
75 The
same conguration parameters apply for the three models.
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Figure 2.189: FFT Length Conguration for Spectrum Estimation
8. Add a new constant to your model:
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Figure 2.190: The "DSP Constant" Block
9. This constant will have the AR coecients values:
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Figure 2.191: The AR coecients values
10. Add a magnitude FFT block in order to get the spectrum from the AR coecients:
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Figure 2.192: The FFT Block
11. Set the FFT length to 128:
Figure 2.193: The FFT Length
12. Add a new math function object:
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Figure 2.194: The Math Function Block
13. The Math Function block should be congured to calculate the reciprocal:
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Figure 2.195: The "Math Function" Block Conguration
14. Add a new gain to your model (to represent the white noise variance in the reference spectrum generation) and set its value to 0.1:
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Figure 2.196: The Gain Block
15. In order to display the Real and Estimated spectra simultaneously, you need to add a new concatenate object:
Figure 2.197: The "Matrix Concatenate" Block
16. Set the number of inputs of the concatenation object to 4:
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Figure 2.198: The "Matrix Concatenate" Block Conguration
17. The various spectra will be displayed in a vector scope:
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Figure 2.199: The "Vector Scope" Block
18. Select frequency as its input domain
317
Figure 2.200: The "Vector Scope" Block Conguration
19. Connect the blocks as shown:
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Figure 2.201: Spectrum Estimation Simulation
20. When running the model
76
, you should see the get the following display:
76 You
should select a dierent color for each channel
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Figure 2.202: Comparing the various spectrum estimators

Figure 21 shows the block-diagram for the real time implementation. The DSP will deliver two outputs.
The rst is the reference spectrum; the second is an estimated spectrum of the output of the all-pole lter. Three real-time models will be created, each one corresponding to an estimator. The user will be able to select the desired estimator through a Graphic User Interface (GUI).
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The real-time implementation model will be created from the simulation model, after the following changes:
The noise generator block will be replaced by the CODEC of the DSK6713 The virtual scope will be replaced also by the CODEC A target denition block (DSK6713) will be added.
Equipment Used:
DSK6713 Dual Channel Oscilloscope Signal Generator
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Figure 2.204: Real Spectrum Estimation Equipment
2.7.3.2 Creating the Models

1. Open the simulation model SpectrumEstimation.mdl. 2. Remove the Burg and MCov AR estimators. 3. Add the C6713DSK target to the model
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Figure 2.205: The C6713DSK target Block
4. Replace the vector scope by the Digital to Analog converter (DAC)
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Figure 2.206: The DAC Block
5. Congure the DAC block to a sampling rate to 8 KHZ and 16-bit samples.
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Figure 2.207: The DAC Block Conguration
6. Double- click on the concatenation object and change the number of inputs from 4 to 2. 7. Replace the white noise generator by the Analog to Digital converter (ADC).
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Figure 2.208: The ADC Block
8. Congure the ADC blocks to a sampling rate to 8 KHZ and 16-bit samples.
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Figure 2.209: The ADC Block Conguration
9. The nal model should look as follows:
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Figure 2.210: Periodogram Real-Time Model
10. Set the AR-coecients data type to single. 11. Congure the Model to generate and build (without executing) the CCS code as shown:
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Figure 2.211: Model Conguration
329
12. Save the model as Periodogram.mdl 13. Build the model (CTRL-B) 14. Replace the Periodogram estimator block by the Burg estimator 15. The nal model should look as follows:
Figure 2.212: Burg Real-Time Model
16. Save the model as Burg.mdl 17. Build the model (CTRL-B) 18. Replace the Burg estimator block by the MCov AR estimator 19. The nal model should look as follows:
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Figure 2.213: MCov AR Burg Real-Time Model
20. Save the model as MCcov_AR.mdl 21. Build the model (CTRL-B)At this step you'll have three .out les to be loaded to the DSK. Each one corresponding to an estimator.
2.7.3.3 The Graphic User Interface (GUI)

The GUI shown in Figure 32 will be used to select the model. Upon selecting a model, its correspondent load le will be loaded to the DSP.
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Figure 2.214: Graphic User Interface (GUI)
1. Enter GUIDE in the MATLAB
command line.
2. Choose a new GUI, and name it Spectrum 3. Add a list-box to your GUI with the string:
Periodogram Burg M-Cov

4. A script le spectrum.m will open, when you press the play button. Name the script spectrum.m 5. The GUI will perform the following tasks:
Upon activating the GUI, the default model is loaded to the DSP. When the user selects a new model, it is loaded to the DSP.
6. The initialization routine Spectrum_OpeningFcn will be:
function Spectrum_OpeningFcn(hObject, eventdata, handles, varargin) modelName = gcs; %connect to target: CCS_Obj = connectToCCS(modelName); % Identify RTDX channel names/modes CodegenDir = fullfile(pwd, ['Periodogram' '_c6000_rtw']); OutFile = fullfile(CodegenDir, ['Periodogram' '.out']); %load the model to the DSK: CCS_Obj.load(OutFile,20); handles.CCS_Obj=CCS_Obj;
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handles.output = hObject; %remember the current model: handles.last_model=1; CCS_Obj.run; % Update handles structure guidata(hObject, handles);
7. Selecting a new model:
%1. halts the current model %2. loads the current model %inputs: %m - 3 levels flag that tells which model to load. %CCS_Obj - the target object function ChangeModel(m,CCS_Obj) CCS_Obj.halt; switch m case 1 model='Periodogram'; case 2 model='Burg'; case 3 model= 'MCov_AR'; end CodegenDir = fullfile(pwd, [model '_c6000_rtw']); OutFile = fullfile(CodegenDir, [model '.out']); CCS_Obj.load(OutFile,20); CCS_Obj.run; if last_y=15000 r.writemsg(chan_struct(2).name,1/last_y); end
8. When the user changes the model, the list-box handler function is invoked:
function listbox1_Callback(hObject, eventdata, handles) handles.last_model=get(hObject,'Value') ; ChangeModel(handles.last_model,handles.CCS_Obj); guidata(hObject, handles);

The handler saves the new model as the current model and invokes the change model function we described above. Now you can run the model, and observe the results in the oscilloscope for the various estimators.
2.8 Wavelet Denoising77

2.8.1 Introduction
Wavelets can be used in a range of applications, one of which is noise reduction. This laboratory shows how to design a model of Wavelet Noise Reduction using Simulink and run it on a Texas Instruments C6000 DSP.
77 This
333
2.8.1.1 Objectives
Design a model of Wavelet Noise Reduction for the Texas Instruments C6000 family of DSP devices using MATLAB
and Simulink.
Modify an existing Simulink demonstration model. Run the project on the Texas Instruments C6713 DSK with a microphone and computer loudspeakers / headphones.
2.8.1.2 Level
Intermediate. Assumes prior knowledge of MATLAB and Simulink. It also requires a theoretical under-
standing of wavelets and some knowledge of Texas Instruments DSPs.

MATLAB R2006b with Embedded Target for TI C6000. Code Composer Studio (CCS) v3.1 Texas Instruments C6713 DSK hardware. Microphone and computer loudspeakers / headphones.
Powerpoint Presentation WaveletDenoising.ppt
78 79 80
Simulink Model for Simulation- WaveletDenoising.mdl
Simulink Model for Real-Time WaveletDenoisingDSKC6713.mdl
2.8.2 Simulation
2.8.2.1 Simulink Model
The Simulink model described here is based on a MATLAB Demo.
2.8.2.1.1 Opening the Model

Open WaveletDenoising.mdl
the le at <http://cnx.org/content/m23011/latest/WaveletDenoising.ppt> the le at <http://cnx.org/content/m23011/latest/WaveletDenoising.mdl> the le at <http://cnx.org/content/m23011/latest/WaveletDenoisingDSKC6713.mdl>
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Figure 2.215: Opening WaveletDenoising.mdl
2.8.2.1.2 Running the Model

Run the model. The colors change to show the dierent lter channels. Green = high frequency.
335
Figure 2.216: Wavelet Model Showing Color Coding
2.8.2.1.3 Scope Output

The scope output shows how the random noise has been separated out (Residual).
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Figure 2.217: Scope Output
2.8.2.1.4 Monitoring the Dyadic Filter Outputs

Add an extra scope as shown in Figure 4 to display the Diadic Filter Outputs.
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Figure 2.218: Monitoring the Dyadic Filter Outputs
2.8.2.1.5 Analysis of Diadic Filter Outputs

It can be seen that the noise is on Out1, Out2 and Out3. The clean input signal is on Out4.
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Figure 2.219: Noise Levels at Dyadic Filter Outputs
2.8.2.1.6 Modifying the Dead Zone

Double-click on the Soft Threshold block. This is the actual noise reduction stage. The elds are in order Out1, Out2, Out3 and Out4.
339
Figure 2.220: Noise Levels at Dyadic Filter Outputs
Here Out1 has been given a threshold of 3. This means that only values The output is shown in Figure 6. reduced.
>
3 are let through.
Out2, Out3 and Out4 have been given the value of 0. This means the whole signal is let through. Note that the noise associated with Out2 and Out3 have not been
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Figure 2.221: Threshold only applied to Out1
2.8.2.1.7 Changing the Delay Alignment

Double-click on the Delay Alignment block. Temporarily remove the delays on Out1 and Out2.
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Figure 2.222: Removing the Delay Alignments
Run the model to see the eect.
2.8.2.1.8 Summary of Simulation

From practical experimentation using the Simulink model, you should now understand how wavelet denoising works.
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2.8.3.2 Simulink Model for C6713 DSK 2.8.3.2.1 Starting Code Composer Studio
Start Code Composer Studio for C6713 DSK and use Debug -> Connect.
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Start MATLAB 7.3.0 R2006b:
Figure 2.225: Opening an Existing Demo
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Click on Demos. The following screen will appear:
Figure 2.226: Selecting the Audio Demo Models
Highlight Embedded Target for TI C6000 DSP then Audio. Click on Wavelet Denoising.
2.8.3.2.3 Viewing the Wavelet Denoising Parent

The Wavelet Denoising model is now displayed. Double-click on the function() box.
345
Figure 2.227: Wavelet Denoising Parent
2.8.3.2.4 The Original Wavelet Noise Reduction Algorithm

The Wavelet Noise Reduction Algorithm model is now displayed.
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Figure 2.228: Wavelet Denoising Algorithm
2.8.3.2.5 Copying the Model

For convenience, copy the model to the MATLAB Work directory where most models are stored.
347
Figure 2.229: Copying the Model to the MATLAB Work directory
2.8.3.2.6 Overview of the Modied Model

In order to run the model on the C6713 DSK and be able to compare the performance with and without noise reduction, we will make some small modications to the demo model.
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Figure 2.230: The Modied Algorithm
You will now update the existing model by dragging-and-dropping some library components onto the model.
2.8.3.2.7 Changing the Input to Microphone

Double-click on the blue box to the left marked C6713 DSK ADC. The following options will appear.
349
Figure 2.231: Setting up the ADC for Microphone Input
Change the ADC source to Mic In and tick the Stereo box. If you have a quiet microphone, tick the +20dB Mic gain boost box. When done, click on OK.
2.8.3.2.8 The DAC Settings

The DAC settings need to match those of the ADC. Check that they are the same.
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Figure 2.232: Setting the DAC Parameters
2.8.3.2.9 Adding a DIP Switch and LED

To change between no wavelet denoising and with wavelet noise reduction, we will use a DIP switch of the C6713 DSK.
351
Available for free at Connexions <http://cnx.org/content/col10713/1.1> Figure 2.233: Adding a Switch and LED
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Select View -> Library Browser -> Embedded Target for TI C6000 DSP. Highlight C6713 DSK Board Support. Drag-and-drop the Switch block onto the model. Also drag-and-drop the LED block onto the model.
2.8.3.2.10 DIP Switch Settings

The DIP switch needs to be congured. Double-click on the Switch block. Put at tick in all of the boxes and set Data type to Integer. The Sample time should also be set to 1.
Figure 2.234: Setting up the DIP Switch Value
2.8.3.2.11 Adding a Constant, Switch and Relational Operator

We now need to setup a way to switch between straight through without noise reduction and with wavelet noise reduction. Select View -> Library Browser -> Simulink. Highlight Commonly Used Blocks.
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Drag-and-drop a Constant onto the model. Drag-and-drop a Switch block onto the model. Drag-and-drop a Relational Operator block onto the model.
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Available for free at Connexions <http://cnx.org/content/col10713/1.1> Figure 2.235: Selecting the Commonly Used Blocks
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2.8.3.2.12 Setting the Constant Value

The switch values lie between 0 and 15. We will use switch values 0 and 1. Double-click on the Constant block. Set the Constant value to 1 and the Sample time to inf .
2.8.3.2.13 Setting the Constant Data Type

Click on the Signal Data Types tab. Set the Output data type mode to int16. This is compatible with the DAC on the C6713 DSK. Click on OK.
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2.8.3.2.14 Setting the Relational Operator Type

Double click on the Relational Operator block. Change the Relational operator to ==. Click on the Signal Data Types tab.
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Figure 2.238: Changing the Relational Operator
2.8.3.2.15 Setting the Relational Operator Data Type

Set the Output data type mode to Boolean.
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Figure 2.239: Changing the Output Data Type
2.8.3.2.16 Joining the Blocks

Move the blocks and join them as shown in the Figure below.
359
2.8.3.2.17 Checking the Dyadic Analysis Filter Bank

Double click on the Dyadic Analysis Filter Bank block. The values of the Dyadic Analysis Filter Bank are shown below. You do not need to change them yet. Click on OK.
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Figure 2.241: Checking the Dyadic Analysis Filter Bank
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2.8.3.2.18 Checking the Delay Alignment

The delay alignment is shown below, with dierent delay times for the dierent frequencies.
Figure 2.242: Checking the Delay Alignment
2.8.3.2.19 Checking the Soft Threshold

The Soft Threshold sets the threshold below which noise is ignored for each of the four channels. means no noise reduction. Zero
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Figure 2.243: Checking the Thresholds
2.8.3.2.20 Checking the Dyadic Synthesis

Double-click on the Dyadic Synthesis Filter Bank. There is no need to change the values at this time. Click on OK when done.
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Figure 2.244: Checking the Dyadic Synthesis Filter Bank
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Figure 2.247: The Completed Model Running under Code Composer Studio
2.8.3.4 Dierent Settings on the C6713 DSK 2.8.3.4.1 Microphone Straight Through to Loudspeakers
367
The microphone is fed directly to the loudspeakers. There is no noise reduction.
2.8.3.4.2 Switch Position for Wavelet Noise Reduction

To run the Wavelet Noise Reduction subsystem, set the DIP switch to 1.
Figure 2.249: Switch Position 1 for Wavelet Noise Reduction
2.8.3.5 Modifying the Model

The next stage is to modify the model. We will change the wavelet type to Symlets.
2.8.3.5.1 Changing the Filter Type

Double-click on the Dyadic Analysis Filter Bank block. Change the Filter eld to Symlets. Click on OK.
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Figure 2.250: Dyadic Analysis Filter Bank set to Symlets
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2.8.3.5.2 Updating the Dyadic Synthesis Filter Bank

The wavelet type should be the same as that used in the Dyadic Analysis Filter Bank. Double-click on the Dyadic Synthesis Filter Bank block. Change the Filter eld to Symlets. Click on OK.
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Figure 2.251: Conguring the Dyadic Synthesis Filter Bank
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2.8.3.5.3 Building the Model

2.8.3.5.4 Running the Updated Model

Run the updated model and listen to the eect of using dierent lter types.

2.8.4.1 Change the Wavelet Types

Inside the Dyadic Analysis Filter Bank are dierent wavelet types. Which are suitable for wavelet denoising and which are not? Note: you will also have to alter the values used in the Dyadic Synthesis Filter Bank.
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Figure 2.253: Available Wavelet Types
373
2.8.4.2 Change the Delay Alignment Times

Experiment with the delay alignment times. Try higher and lower values. What is the eect of completely removing the Delay Alignment block?
2.8.4.3 Change the Noise Reduction Thresholds

In the Soft Threshold block, change the values. The existing vector of [3, 2, 1, 0] reduces high frequency noise, but does not aect low frequencies.
2.8.4.4 Create Your Own Subsystem

Add your own subsystem block controlled by the DIP switches and add your own wavelet denoising algorithm. Choose your own wavelet, number of channels, sampling frequency and thresholds.
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Chapter 3
Video and Imaging
3.1 A Framework for Image Processing with the DSK64161

3.1.1 Introduction
This module describes general procedures for reading and writing stills images. using the DSK6416. The scripts and models created in this chapter will be the basis for image processing algorithms simulation and implementation
Simulink Model for Simulation - stills_sim.mdl Input Image - TMW2.jpg

3
MATLAB script for Real-Time - Picture_script.m Simulink Model for Real-Time - stills_R_W.mdl
5
3.1.2 Activating CCS under Simulink

1. Create a new Simulink model.
This section will show you how to activate CCS under the Simulink.
2. Open the Simulink library browser and add the "C6416DSK" from the "Target Preferences" group of the "Embedded Target for the TI TMS320C6000 DSP" Blockset (Please refer to Figure 1).
1 This content is available online at <http://cnx.org/content/m23996/1.1/>. 2 See the le at <http://cnx.org/content/m23996/latest/stills_sim.mdl> 3 See the le at <http://cnx.org/content/m23996/latest/TMW2.jpg> 4 See the le at <http://cnx.org/content/m23996/latest/Picture_script.m> 5 See the le at <http://cnx.org/content/m23996/latest/stills_R_W.mdl>
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VIDEO AND IMAGING
Figure 3.1: The C6416DSK Block
3. Set the model to Generate a CCS Project in the Simulation->Conguration Parameters -> Build Action, as shown in the following picture:
377
Figure 3.2: Conguration Parameters for CCS
We now need to create Simulink dedicated blocks to execute CCS commands. The rst is the Build. We can do this in many ways: clicking Build icon, pressing Ctrl-B or in MATLAB
typing make_rtw.
Given this command is available in MATLAB, we will create a custom block with this command.
Give it a name. In our example we use Generate Code & Create Project Choose the shadow, colour etc. . . Right click on the Subsystem, choose Block Properties. Go to the Callbacks tab, and under OpenFcn enter: make_rtw;, as shown in the following picture:
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VIDEO AND IMAGING
Figure 3.3: Creating the Generate Code & Create Project Simulink block
Repeat this process for the following commands as follows:
379
Block Name Build Load
CCS Command Build in CCS: Load Program in CCS:
OpenFcn CCS_Obj.build; CCS_Obj.load([pwd,'\',bdroot,'_c6000_rtw\', bdroot, '.out']);
Run Halt Reset Close Active Project
Run on target: Halt on target: Reset target: Close Active Project

Table 3.1
CCS_Obj.run; CCS_Obj.halt; CCS_Obj.reset; close(CCS_Obj,[],'project')
Your model should look as follows:
Figure 3.4: Simulink Blocks for CCS commands
3.1.3 Image (Stills) I/O

3.1.3.1 Simulation
Figure 5 shows the data ow for the edge detection simulation. The Edge detection model reads the source picture from a le in the PC, and displays both the original and the processed images.
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Figure 3.5: Simulation Environment
3.1.3.1.1 Reading and Displaying a Picture

1. Start by creating a new model in Simulink 2. Open the Simulink library browser and add the "Image from File" from the "Sources" group of the Video and Image Processing Blockset (Please refer to Figure 6). This block reads an image and converts it to the RGB format in Simulink .
381
Figure 3.6: The "ImageFrom File" Simulink Block
3. Double Click and select the TMW2.jpg
image (Please refer to Figure 7).
6 See
the le at <http://cnx.org/content/m23996/latest/TMW2.jpg>
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Figure 3.7: The Source Block Conguration
4. In order to display the picture the "Video Viewer" from the "Sinks" group of the Video and Image Processing Blockset (Please refer to Figure 8). This block displays an input RGB or intensity video stream or image. The edge detection block operates on intensity images.
383
Figure 3.8: The Video Viewer Block
5. Select the "intensity" input format as shown in Figure 9.
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Figure 3.9: Video Viewer Conguration
6. The conversion from RGB to intensity will be executed in the Color Space Conversion:
from the
"Conversions" group of the Video and Image Processing Blockset (Please refer to Figure 10).
385
Figure 3.10: The Color Conversion Block
7. Double Click and select the "R'G'B' to intensity" conversion scheme as shown in Figure 11.
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Figure 3.11: Conguring the Color Conversion Scheme
8. Connect the three blocks as shown in Figure 12.
Figure 3.12: Reading and Displaying a Picture
9. Run the model, you should get the image shown in Figure 13
387
Figure 3.13: The Video Viewer Display
3.1.3.2 Real-Time
shows the data ow for the real time implementation of the image processing algorithms. The algorithms will be implemented using the DSK6416. A MATLAB will run simultaneously in the PC. This script will read the source picture from a le in the PC, convert it to grayscale and send it to the DSK6416 through an RTDX channel. The processed picture will be sent from the DSK6416 through a second RTDX channel. The script will display three images:
The original color picture The grayscale picture The processed image
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3.1.3.2.1 CCS Code Generation

Use the model created in chapter 2. 1. Add the "From RTDX" from the "RTDX Instrumentation" group of the "Embedded Target for the TI TMS320C6000 DSP" Blockset (Please refer to Figure 15). This block will be used receive data from the PC using a specied RTDX.
389
Figure 3.15: The "From RTDX" Block
2. Congure the block to receive data from a channel named "inputimage" as shown in Figure 16
8
. For
the test we will send in an image over RTDX . The selection of `Blocking Mode' will cause the code running on the DSP to wait until the RTDX transfer is complete before executing. This will give the MATLAB script full control over the execution.
7 If
block.
you are using the XDS560 or the Blackhawk USB560, you will need to enable High Speed RTDX in the "C61416DSK" "Output Dimensions" should contain the Frame size
8 The
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Figure 3.16: Conguring the Input Channel
3. Add the "To RTDX" from the "RTDX Instrumentation" group of the "Embedded Target for the TI TMS320C6000 DSP" Blockset (Please refer to Figure 15). This block will be used to send the processed image to the PC using a specied RTDX.
391
Figure 3.17: The "To RTDX" Block
Congure the block to send data through a channel named "outputimage" as shown in Figure 9.
Figure 3.18: Conguring the Output Channel
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4. The RTDX channel transfers data in the uint8 format. Therefore the output of the Edge Detection Block should be converted to this format. Add the "Convert Image" block from from the "Conversions" group of the Video and Image Processing Blockset, (Please refer to Figure 19). The block should be congured as shown in Figure 20.
Figure 3.19: The Image Conversion Block
393
Figure 3.20: The Image Conversion Conguration
5. Save your model (We used the name stills_R_W.mdl). Your model should look as shown in Figure 21.
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Figure 3.21: Reading and Displaying a Picture
6. Now you can generate the code to your DSK by using Ctrl-B . When the model builds, it creates an object in the MATLAB workspace which represents CCS, by default called CCS_Obj. will be used to interact with the application on the DSP from MATLAB. 7. Build the project. Double-click the Build Project block. 8. Load the project. Double-click the Load Project block. 9. Run the target. Double-click the Run block. It should now be running, as displayed in CCS: This object
9 If
you do so, the build will fail at compilation in CCS due to an ISRAM space issue.
In this case, we can x this by
redening the location for .far as SDRAM rather than ISRAM (the default) in the board properties box. Rebuild, and it should compile ne.
395 This media object is a downloadable le. Please view or download it at <g22.JPG>
Figure 3.22: CCS Compilation Display
3.1.3.2.2 The MATLAB Script

The purpose of the MATLAB code we want is to dene an interface with the RTDX channels, to control the execution of the application on the processor, to send/retrieve data from the processor and to display it. An example script, picture_script.m will do this. The steps are also detailed below: 1. With the application running, we can congure the RTDX channels in CCS.
%% Configure RTDX channels % Identify RTDX channel names/modes chan_struct(1).name = 'inputimage'; chan_struct(1).mode = 'w'; chan_struct(2).name = 'outputimage'; chan_struct(2).mode = 'r'; % Identify RTDX host buffer parameters RTDX_config_struct.Buffsize = 32768; RTDX_config_struct.Nbuffers = 4; RTDX_config_struct.Mode = 'continuous'; % Set up RTDX r = setupRTDX(CCS_Obj, chan_struct, RTDX_config_struct);
This This sets up a writeable RTDX channel to inputimage and a readable RTDX channel to outputimage. The names used are those in the blocks in the Simulink model. 2. Once running, we enable the RTDX channels for use, and get some data to send to the DSP in this case a grayscale image taken from a le.
%% Enable RTDX r.enable('all'); %% Import an image from file to send to the DSP Y = imread('TMW2.jpg'); I = rgb2gray(Y);
3. We then send this to the DSP:
%% Send test frame to target via RTDX r.writemsg('inputimage', I);

On receipt of this message, the DSP will process the data and send it back over the return RTDX channel, and then wait for further input. 4. We can read the processed data back:
%% Read processed test frame from DSP O = r.readmsg('outputimage', 'uint8', size(I));

5. This script is saved under Picture_script.m
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6. Run the script and you will see:
(a) The Original Color Picture
(b) The Correspondent Grayscale Picture
(c) The Received Image (Loopback)
Figure 3.23: Image Processing Display
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3.2 A Framework for Video Processing with the DM6437 DVDP10

3.2.1 Introduction
This chapter describes general procedures for reading and writing video streamss. The scripts and models created in this chapter will be the basis for the other video processing chapters.

MATLAB
R2008a
Code Composer Studio (CCS) v3.3 Texas Instruments DM6437 Digital Video Development Platform (DVDP) . Video camera and screen.
Simulink Model for Simulation - Video_sim.mdl Input Video File - vipmem_Y.avi

12
11
Simulink Model for Real-Time Video Processing with a Camera- Video_R_W.mdl MATLAB script for Real-Time TCP/IP Interface - RW_tcpip_script.m Simulink Model for Real-Time
15 14
13
Video
Processing
through
the
TCP/IP
Interface
RW_dm6437_tcpip.mdl RW_pcl_tcpip.mdl
16
Simulink Model for PC Control of Real-Time Video Processing through the TCP/IP Interface -
3.2.2 Simulation
Start by creating a new model in Simulink
1. Open the Simulink library browser and add the "From Multimedia File" from the "Sources" group of the Video and Image Processing Blockset (Please refer to Figure 1).
10 This content is available online at <http://cnx.org/content/m23999/1.1/>. 11 See the le at <http://cnx.org/content/m23999/latest/Video_sim.mdl> 12 See the le at <http://cnx.org/content/m23999/latest/vipmem_Y.avi> 13 See the le at <http://cnx.org/content/m23999/latest/Video_R_W.mdl> 14 See the le at <http://cnx.org/content/m23999/latest/RW_tcpip_script.m> 15 See the le at <http://cnx.org/content/m23999/latest/RW_dm6437_tcpip.mdl> 16 See the le at <http://cnx.org/content/m23999/latest/RW_pcl_tcpip.mdl>
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Figure 3.24: The "From Multimedia File" Simulink Block
2. Double Click and select the vipmem_Y.avi
17
input le(Please refer to Figure 2).
17 See
the le at <http://cnx.org/content/m23999/latest/vipmem_Y.avi>
399
Figure 3.25: Source Block Conguration
3. In order to display the picture the "Video Viewer" from the "Sinks" group of the Video and Image Processing Blockset will be used.
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Figure 3.26: The "To Video Display" Block
Figure 3.27: Conguring the Video Viewer
401
4. Connect the three blocks as shown in Figure 5.
Figure 3.28: Displaying a Video-Clip
5. Run the model, you should see the video clip. A single frame is shown mage shown in Figure 6.
Figure 3.29: The Video Display
6. Save your model (We used the name Video_sim.mdl", that you may nd it here
18
).
3.2.3 Real-Time Processing with the DM6437 DVDP

3.2.3.1 Using a Camera and a Display
The procedure for capture/display video using the DM6437 is shown in Figure 7.
18 See
the le at <http://cnx.org/content/m23999/latest/Video_sim.mdl>
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Figure 3.30: Using the Video I/O of the DM6437 board
3.2.3.1.1 CCS Code Generation

This procedure is similar to the one developed for stills pictures. Video will be capture/display using a
camera and a monitor. Image acquisition and Processing will run in a DSP/BIOS task. 1. Open the stills_R_W.mdl 2. Delete the From RTDX and To RTDX blocks 3. Add the "Task" block from the "DSP/BIOS library" group of the "Target Support Package TC6" Blockset. 4. Add the Function- Call Subsystem from the Ports & Subsystems" group of the "Simulink" Blockset (Please refer to Figure 8).
403
5. Rename Function- Call Subsystem to Video Processing and connect it to the Task block. 6. Save the model as Video_R_W.mdl. Your model should look as follows
19
19 You
may add a title to the model, as done here ( Video Processing Template)
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Figure 3.32: The Video Processing Model Template
7. Double-click the Task block and make the same changes as shown in Figure 34.
405
Figure 3.33: Conguring a "Task"
8. Double-click the Video Processing block. A new window will be opened. 9. In the new window, add the "Video Capture" and "Video Display" from the "DM6437 EVM Board Support" group of the ""Target Support Package TC6" Blockset as shown in Figure 11.
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Figure 3.34: The "Video Capture" block
10. Double-click the Video Capture block and change the Sample Time (and the Video capture mode only if you are using the components in the PAL mode) as shown in Figure 12.
407
Figure 3.35: Video Capture Conguration
11. Double-click the Video Display block and change the Video capture mode only if you are using the components in the PAL
20
mode as shown in Figure 13.
Figure 3.36: Video Display Conguration
20 If
the camera video capture mode is NTSC you should choose this option
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12. Connect the blocks as shown in Figure 14.
Figure 3.37: Capturing and Displaying Video
13. Generate code & create project. Double-click the " Generate code &.." block. 14. Build the project. Double-click the Build Project block. 15. Load the project. Double-click the Load Project block. 16. Run the target. Double-click the Run block. This model can be found here
21
3.2.3.2 Using the TCP/IP Interface

This section will describe a Simulink model used to generate code for capturing and displaying video frames from/to the PC target using the TCP/IP protocol
22
21 See the le at <http://cnx.org/content/m23999/latest/Video_R_W.mdl> 22 You should allocate an IP address to the DM6437 DVDP, as described in the
board documentation.
409
Figure 3.38: Capturing and Displaying Video Using the TCP/IP port
1. Create a new Simulink model 2. Open the Simulink library browser and add the "C6437EVM" from the "Target Support Package TC6" group of the " C6000 Target Preferences" Blockset (Please refer to Figure 16).
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Figure 3.39: The "C6437EVM" Block
We now need to create Simulink dedicated block to execute CCS commands. 3. Drag in an empty subsystem into the model (Simulink->Ports & Subsystem-> Subsystem). 4. Delete its contents 5. Format it: Give it a name. In our example we use Bulid / Reload & Run". 6. Right click on the Subsystem, choose Block Properties. Go to the Callbacks tab, and under OpenFcn* enter: RW_tcpip_script('RW_pcl_tcpip');, as shown in the following picture:
411
Figure 3.40: Creating the Bulid / Reload & Run Simulink block
7. Add the "Task" block from the "DSP/BIOS library" group of the "Target Support Package TC6" Blockset. 8. Add the Function- Call Subsystem from the Ports & Subsystems" group of the "Simulink" Blockset (Please refer to Figure 18).
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9. Rename Function- Call Subsystem to R_W Algorithm and connect it to the Task block. 10. Add the "IP Cong" block from "Target Support Package 11. Save the model as RW_dm6437_tcpip.mdl. Your model should look as follows:
TC6->DM6437 EVM Board Support"
413
Figure 3.42: The " RW_dm6437_tcpip.mdl " Model
12. Double-click the Task block and make the same changes as shown in Figure 20.
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Figure 3.43: "Task" Conguration
13. Double-click the IP Cong block and make the same changes as shown in Figure 21.
415
Figure 3.44: IP Cong Conguration
14. Double-click the R_W Algorithm block. A new window will be opened. 15. In the new window, add the "TCP/IP Recive", "TCP/IP Send", "Byte Unpack" and "Byte Pack" from the "C6000 DSP Communication Libary" group of the ""Target Support Package TC6" Blockset as shown in Figure 22.
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Figure 3.45: The "TCP/IP Receive" and "TCP/IP Send" blocks
16. Connect the blocks as shown in Figure 23.
417
Figure 3.46: The R_W Algorithm block
17. Double-click the TCP/IP Receive block and make the same changes as shown in Figure 24.
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(a)
(b)
Figure 3.47: "TCP/IP Receive" Conguration (a) Main Screen (b) Data Types
. 18. Double-click the TCP/IP Send block and congure it as shown in Figure 25:
419
Figure 3.48: "TCP/IP Send" Conguration
19. Double-click the Byte Unpack block and congure it as shown in Figure 26.
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Figure 3.49: " Byte Unpack " Conguration
20. Double-click the Byte pack block and congure it as shown in Figure 27.
Figure 3.50: " Byte Pack " Conguration
21. Open a new m-le, copy the following code and save it as "RW_tcpip_script.m" at the same directory
421
as the model. 22. Create another new Simulink model. Add the "Byte Pack" from the "C6000 DSP Communication Libary" group of the ""Target Support Package TC6" Blockset as shown before and the "TCP/IP Receive", "TCP/IP Send" from the "Instrument Control Toolbox" blockset. 23. Congure the " TCP/IP Receive " and " TCP/IP Send " blocks :
(a)
(b)
Figure 3.51:
"TCP/IP Receive" "TCP/IP Send" Blocks Conguration (a) "TCP/IP Receive" (b)
TCP/IP Send
24. Add the "To Video Display" from the "DM6437 EVM Board Support" group of the ""Target Support Package TC6" Blockset , also add the "From Multimedia File" from " Signal Processing Sources" group of the "Signal Processing blockset". 25. Congure the " From Multimedia File " block
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(a)
(b)
Figure 3.52: "From Multimedia File" Conguration (a) "TCP/IP Receive" (b) TCP/IP Send
26. Add the Subsystem from the Ports & Subsystems" group of the "Simulink" Blockset as shown before. 27. Rename Function- Call Subsystem to Display.Double-click the Display block. A new window will be opened. In the new window, add the "Byte Unpack" and " To Video Display " as shown before, add the "Reshape" from the "Math Operations" grope of the "Simulink" blockset. (Congurations are the same as before). 28. Connect the blocks as follows:
423
Figure 3.53: The "Display" block
29. Your model should look as follows: 30. Save it as RW_pcl_tcpip.mdl. 31. Build load and run the project. Double-click the "Build / Reload & Run" block. 32. Running the script, you will see the video captured and displayed. A single frame is shown in Figure 32.
(a)
(b)
Figure 3.54: Capturing and Displaying Video Using TCP/IP (a) The Captured Video (b) The Displayed
Video
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33. This model can be found here
23
3.3 Finding Shapes in Images24

3.3.1 Introduction
In this section, you will use the Hough Transform, Find Local Maxima, and Hough Lines blocks to nd the longest line in an image. In the second step, the algorithm used for line detection will be the basis of a lane detection procedure.

MATLAB
R2008a
Code Composer Studio (CCS) v3.3 Texas Instruments DM6437 hardware.
Powerpoint Presentation - Shape Detection.ppt
25 26 27
Simulink Model for Line Detection Simulation - LineDetection.mdl Source Image for Line - circuit.tif
28 29 30
Simulink Model for Lane Detection Simulation - LaneDetection.mdl Video-clip for Lane Detection - viplane.avi
MATLAB script for Line Detection - linedetection_script.m
Simulink Model for Real-Time Line Detection - LineDetectionDSK6416.mdl Simulink Model for Real-Time Lane Detection - LaneDetection.mdl MATLAB script for Lane Detection - lane_tcpip_script.m
33 32
31
Simulink Model for Real-Time Lane Detection (DM6437) - lane_dm6437_tcpip.mdl Simulink Model for Real-Time Lane Detection (PC) - lane_pcl_tcpip.mdl
35
34
3.3.2 Line Detection

In this session we will show how to create the line detection model , and how it can be integrated in Simulation and Real-Time Implementations.
23 See the le at <http://cnx.org/content/m23999/latest/RW_pcl_tcpip.mdl> 24 This content is available online at <http://cnx.org/content/m24404/1.2/>. 25 See the le at <http://cnx.org/content/m24404/latest/Shape Detection.ppt> 26 See the le at <http://cnx.org/content/m24404/latest/LineDetection.mdl> 27 See the le at <http://cnx.org/content/m24404/latest/LaneDetection.mdl> 28 See the le at <http://cnx.org/content/m24404/latest/circuit.tif> 29 See the le at <http://cnx.org/content/m24404/latest/viplane.avi> 30 See the le at <http://cnx.org/content/m24404/latest/linedetection_script.m> 31 See the le at <http://cnx.org/content/m24404/latest/LineDetectionDSK6416.mdl.mdl> 32 See the le at <http://cnx.org/content/m24404/latest/LaneDetection.mdl> 33 See the le at <http://cnx.org/content/m24404/latest/lane_tcpip_script.m> 34 See the le at <http://cnx.org/content/m24404/latest/lane_dm6437_tcpip.mdl> 35 See the le at <http://cnx.org/content/m24404/latest/lane_pcl_tcpip.mdl>
425
Figure 3.55: The Line Detection Process
3.3.2.1 Simulation
Open the stills_R_W.mdl the DSK6416
37 36
Simulink model (generated in the "A Framework for Image Processing with
" module).
Add to it the blocks shown in the following table:
36 http://cnx.org/Members/jfaing/m23996/stills_sim.mdl 37 http://cnx.org/content/m23996/latest/
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Block Edge Detection Hough Transform Find Local Maxima Selector Variable Selector Terminator Hough Lines Draw Shapes
Library Video and Image Processing Blockset / Analysis & Enhancement Video and Image Processing Blockset / Transforms Video and Image Processing Blockset / Statistics Simulink
Quantity 1 1 1 2 2 1 1 1
/ Signal Routing
Signal Processing Blockset / Signal Management / Indexing Simulink / Sinks Video and Image Processing Blockset / Transforms Video and Image Processing Blockset / Text & Graphics
Table 3.2
You are now ready to set your block parameters. Use the Image From Workspace block to import your image from the MATLAB workspace. Set the block parameters as follows:
Main pane, Value = I Main pane, Output port labels = I
Use the Edge Detection block to nd the edges in the intensity image. This process improves the eciency of the Hough Lines block as it reduces the image area over which the block searches for lines. The block also converts the image to a binary image, which is the required input for the Hough Transform block. Use the default parameters. Use the Video Viewer block to display the edges found by the Edge Detection block. Set the Input image type parameter to Intensity. Use the Hough Transform block to compute the Hough matrix by transforming the input image into the rho-theta parameter space. The block also outputs the rho and theta values associated with the Hough matrix. Set the block parameters as follows:
Theta resolution (radians) = pi/360 Select the Output theta and rho values check box.
427
Figure 3.56
Use the Find Local Maxima block to nd the location of the maximum value in the Hough matrix. Set the block parameters as follows:
Maximum number of local maxima (N) = 1 Select the Input is Hough matrix spanning full theta range check box.
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Figure 3.57
Use the Selector blocks to separate the indices of the rho and theta values, which are output at the Idx port, that are associated with the maximum value in the Hough matrix. follows: Set the Selector block parameters as
Index mode = Zero-based Elements (-1 for all elements) = 0 Input port width = 2
Set the Selector1 block parameters as follows:
Index mode = Zero-based Elements (-1 for all elements) = 1 Input port width = 2
Use the Variable Selector blocks to index into the rho and theta vectors and determine the rho and theta values that correspond to the longest line in the original image. Set the parameters of the Variable Selector blocks as follows:
429
Select = Columns Index mode = Zero-based
Use the Hough Lines block to determine where the longest line intersects the edges of the original image. You use these coordinates to superimpose a white line on the original image. Use the default parameters. Use the Draw Shapes block to draw a white line over the longest line on the original image. Set the block parameters as follows:
Input image type = Intensity Shape = Lines Border intensity = White
Use the Video Viewer block to display the original image with a white line superimposed over the longest line in the image. Set the Input image type parameter to Intensity. Connect the blocks as shown in the gure below. Use the le circuit.tif
38
as input.
Figure 3.58
Create a Subsystem for the Hough algorithm. Select the blocks as shown in the following picture:
38 See
the le at <http://cnx.org/content/m24404/latest/circuit.tif>
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Figure 3.59
In the main menu, click on Edit/Create Subsystem (you may also enter Ctrl+G), as follows:
431
Figure 3.60
Your model should resemble the following gure:
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Figure 3.61
Double-click the "Hough Algorithm", and you should see:
433
Figure 3.62
Create a Subsystem for the Line Drawing and Image Construction. Select the blocks as shown in the following picture:
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Figure 3.63
In the main menu, click on Edit/Create Subsystem (you may also enter Ctrl+G), Your model should resemble the following gure:
Figure 3.64
435
Double-click the " Line Drawing and Image Construction ", and you should see:
Figure 3.65
Create a Subsystem for the Line Detection. Select the blocks as shown in the following picture:
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Figure 3.66
The model should look as follows:
Figure 3.67
437
Save the le as "LineDetection.mdl" Set the conguration parameters. Open the Conguration dialog box by selecting Conguration Parameters from the Simulation menu. Set the parameters as follows:
Solver pane, Stop time = 0 Solver pane, Type = Fixed-step Solver pane, Solver = discrete (no continuous states)
Run your model. The Video Viewer window displays the edges found in the original image in white and the background in black. To view the image at its true size, right-click the window and select Set Display To True Size. Running this gives you the images in Figure 1.
Figure 3.68: Line Detection
The Video Viewer1 window displays the original image with a white line drawn over the longest line in the image. You may repeat the simulation here to experiment the various algorithms with dierent thresholds.
3.3.2.2 Real Time Implementation

Open the stills_R_W.mdl the DSK6416
40 39
Simulink model (generated in the "A Framework for Image Processing with
" module).
Copy the "Line Detection" block from "LineDetection.mdl". Connect the various blocks as shown in . Save the model (LineDetectionPictureDSK6416.mdl).
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Figure 3.69: The Edge Detection Real Time Implementation Model for Stills Images
Build the project. Double-click the Build Project block. Load the project. Double-click the Load Project block. Run the target. Double-click the Run block. Plotting the input and output in MATLAB, you will see :
439
Figure 3.70: Edge Detection using the DSK6416
3.3.3 Lane Detection

In this session we will show how to create the lane detection model, as an extension of the Line Detection Model, introduced in the previous chapter.
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Figure 3.71: The Lane Detection Process
3.3.3.1 Simulation
Open the video_sim.mdl the DM6437 DVDP
42 41
Simulink model (generated in the "A Framework for Video Processing with
" module). Copy the line Detection block in this model into the video_sim.mdl,
and connect it to the I/O blocks as follows:
41 http://cnx.org/Members/jfaing/m23999/video_sim.mdl 42 http://cnx.org/content/m23999/latest/
441
Figure 3.72
Double-Click the Line Detection block. In the open window, add the Submatrix block from the Signal Processing Toolbox (EIhter from the Math Functions / Matrices and Linear Algebra / Matrix Operations group or from the Signal Management / Indexing group. Connect it between the input node and the Edge Detection Block as follows:
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Figure 3.73
Congure the Submatrix block as follows:
Figure 3.74
443
This will dene the Region of Interest (ROI). Rename the block to Dene ROI Select the Edge Detection Block, and create a Subsystem for the Enhanced Detection, as shown in the following picture:
Figure 3.75
The model should look as follows:
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Figure 3.76
Double Click the Enhanced Edge Detection block. Rename the Input port to ROI, and the output port to Binary Image
445
Figure 3.77
Add to it the blocks shown in the following table:
Block 2-D Histogram Maximum Data Type Conversion Bias Gain Relational Operator Logical Operator
Library Video and Image Processing Blockset / Statistics Signal Processing Blockset/ Statistics Simulink/ Signal Attributes Simulink / Math Operations Simulink / Math Operations Simulink / Logic and Bit Operations Simulink / Logic and Bit Operations
Table 3.3
Quantity 1 1 1 1 1 1 1
Place the blocks so that your model resembles the following gure. based on histogram with the selected blocks.
Create the Calculated threshold
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Figure 3.78
The model should look as shown in the following picture. Create the Histogram based binary thresholding with the selected blocks.
Figure 3.79
447
Double-click the Hough Algorithm block in the model. You should change it to select the two longest lines.
Figure 3.80
You should change the conguration of the selector blocks as follows:
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Figure 3.81
Add an Embedded MATLAB function block (from the Simulink/User-Dened Functions group). Double-Click the block and enter the following MATLAB function:
function [Thetas, Rhos] = fcn( thetas,rhos) % This block supports an embeddable subset of the MATLAB language. % See the help menu for details. %initialise a frame count persistent count; if isempty(count) count = 0; end %remember previous outputs persistent lastRhos; persistent lastThetas; %initialise to same as first input for first entry into function if isempty(lastRhos) lastRhos = rhos; end
449
if isempty(lastThetas) lastThetas = thetas; end %Assume that all is OK initially Rhos = rhos; Thetas = thetas; if count == 4 %after the 4th frame, engage the test logic for I = 1:length(rhos) if (abs(rhos(I) - lastRhos(I)) > 30) || (abs(thetas(I) - lastThetas(I)) > 10*(pi/180)) %too much change - just use the old values % outR(I) = lastRhos(I); % outT(I) = lastThetas(I); Rhos(I) = lastRhos(I); Thetas(I) = lastThetas(I); end end else %otherwise just output the computed values count = count+1; end %assign outputs %Rhos = outR; %Thetas = outT; %remember outputs for next time lastRhos = Rhos; lastThetas = Thetas;
Connect the block as shown in the following picture:
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Figure 3.82
In the main model, double-click the Line Drawing and Image Construction block. Change the conguration of the Draw Lines block as follows:
451
Figure 3.83
Now, it will draw the polygon based on the two longest lines. Add the following blocks to the subsystem:
Block Concatenate Selector Gain Relational Operator
Library Simulink /Math Operations Simulink / Signal Routing Simulink / Math Operations Simulink / Logic and Bit Operations
Quantity 2 3 1 1
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Logical Operator
Simulink / Logic and Bit Operations
Submatrix
Signal Processing Toolbox:Math Functions / Matrices and Linear Algebra / Matrix Operations or Signal Management / Indexing
Table 3.4
Connect the blocks as follows:
Figure 3.84
The blocks should be congured as follows:
Selector5:
453
Figure 3.85
Selector4:
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Figure 3.86
Selector3:
Vertices Matrix:
455
Figure 3.87
Draw Lane
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Figure 3.88
Superposition of Lane and Original Image
457
Figure 3.89
Extraction
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Figure 3.90
Rename the Line Detection to Lane Detection. Save the model as LaneDetection.mdl The model should look as follows:
459
Figure 3.91
Double Click the Lane Detection block. You may rename the blocks' names. It will look as follows:
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Figure 3.92
Run your model. Running this gives you the images in Figure 7.
Figure 3.93: Edge Detection on a Video Stream
461
3.3.3.2 Real Time Implementation using TCP/IP 3.3.3.2.1 Procedure

Open the RW_dm6437_tcpip.mdl with the DM6437 DVDP
44 43
Simulink model (generated in the "A Framework for Video Processing
" module).
Save the model as "lane_dm6437_tcpip.mdl". Change the name of the R_W Algorithm block to Lane Algorithm.
Figure 3.94: The Real Time Implementation Model for Lane Detection
Right click on the "Build/Reload & Run" subsystem, choose Block Properties. Go to the Callbacks tab, and under OpenFcn* enter: lane_tcpip_script('lane_pcl_tcpip');, as shown in the following picture:
43 http://cnx.org/Members/jfaing/m23999/RW_dm6437_tcpip.mdl 44 http://cnx.org/content/m23999/latest/
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Figure 3.95
Double-click the Task block and make the same changes as shown:
463
Figure 3.96
Double-Click the Lane Algorithm subsystem. Copy "Lane Detection and Tracking" block from "LaneDetection.mdl" into this model as shown.
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Figure 3.97
Congure the "TCP/IP Receive" block :
465
Figure 3.98
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Figure 3.99
Congure the "TCP/IP Send" block :
467
Figure 3.100
Congure the "Byte Unpack" block :
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Figure 3.101
Congure the "Byte Pack" block :
469
Figure 3.102
Open the "RW_pcl_tcpip.mdl" model, created in the "Video R_W" directory. Save the model as "lane_pcl_tcpip.mdl".
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Figure 3.103
Double-click the Video Source block and make the same changes as shown:
471
Figure 3.104
Congure the "TCP/IP Receive" block :
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Figure 3.105
Double-click the Display block, Double-click the Data Unpack block and Congure the "Byte Unpack" block as shown:
473
Figure 3.106
function lane_tcpip_script(hostModelName) % controls host-side TCP/IP processing for % Video Surveillance demo: %********** Initialization ******************** % Get model name modelName = gcs; % Connect to CCS CCS_Obj = connectToCCS(modelName); saved_visibility = CCS_Obj.isvisible; CCS_Obj.visible(1); % Load application loadApp(modelName, CCS_Obj); % Run application fprintf('Running application: %s\n', modelName); CCS_Obj.run;
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% Allow some time for DHCP address acquisition pause(3); % Retrieve target's host name boardType = get_param([modelName '/IP Config'], 'boardType'); userPrompt = sprintf('Enter the IP address or the host name of the %s board: ', boardType); hostName = inputdlg(userPrompt, 'Target IP address'); if isempty(hostName) errordlg('You have to provide a valid IP address or host name to run the demo.', ...'TCP/IP Surveillance Recording', 'modal'); return; end hostName = strtrim(hostName{1}); % Launch host side UDP receive / Video display model fprintf('Launching host side application: %s\n', hostModelName); open_system(hostModelName); % Update host side TCP/IP blocks with target's IP address set_param([hostModelName '/TCP//IP Send'], 'Host', hostName); set_param([hostModelName '/TCP//IP Receive'], 'Host', hostName); fprintf('Click on play button to start running the host side application!\n\n') %[EOF] tcpip_surveil_script.m
Open a new m-le, copy the following code and save it as "lane_tcpip_script.m" at the same directory as the model.
3.3.3.3 Running the Real-time Model

Build load and run the project from the "lane_dm6437l_tcpip.mdl" model. Double-click the "Build / Reload & Run" block. Running the script, you will see:
Figure 3.107: Real-Time Edge Detection through a TCP/IP Interface
475
3.4 Edge Detection45

3.4.1 Introduction
This chapter will describe the use of the Edge Detection Simulink les.
Block, both for stills images and video
Powerpoint Presentation Edge Detection.ppt
46 47 48 49
Simulink Model for Image Processing Simulation- EdgeDetectionPicture.mdl
MATLAB Script for Real-Time Image Processing - EdgeDetectionPicturescript.m Simulink Model for Video Processing Simulation- EdgeDetectionVideo.mdl
50 51
Simulink Model for Real-Time Image Processing - EdgeDetectionPictureDSK6416.mdl MATLAB Script for Real-Time Video Processing - EdgeDetectionVideoscript.m Input Image - TMW2.jpg
53 54 55
Simulink Model for Real-Time Video Processing - EdgeDetectionVideoDM6437DVDP.mdl Input Video File - vipmem_Y.avi
52
MATLAB Routine for AVI to RGB conversion - avi2rgb.m
3.4.2 The Edge Detection Block

The "Edge Detection" block from the "Analysis & Enhancement" group of the Video and Image Processing Blockset (Please refer to Figure 1).
45 This content is available online at <http://cnx.org/content/m24423/1.2/>. 46 See the le at <http://cnx.org/content/m24423/latest/Edge Detection.ppt> 47 See the le at <http://cnx.org/content/m24423/latest/EdgeDetectionPicture.mdl> 48 See the le at <http://cnx.org/content/m24423/latest/EdgeDetectionPicturescript.m> 49 See the le at <http://cnx.org/content/m24423/latest/EdgeDetectionPictureDSK6416.mdl> 50 See the le at <http://cnx.org/content/m24423/latest/EdgeDetectionVideo.mdl> 51 See the le at <http://cnx.org/content/m24423/latest/EdgeDetectionVideoscript.m> 52 See the le at <http://cnx.org/content/m24423/latest/EdgeDetectionVideoDM6437DVDP.mdl> 53 See the le at <http://cnx.org/content/m24423/latest/TMW2.jpg> 54 See the le at <http://cnx.org/content/m24423/latest/vipmem_Y.avi> 55 See the le at <http://cnx.org/content/m24423/latest/avi2rgb.m>
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Figure 3.108: The Edge Detection Block
This block will enable you to simulate the edge detection procedure in the input image using the Sobel, Prewitt, Roberts, or Canny methods. If the selected method is Sobel, Prewitt, or Roberts, the Edge Detection block nds the edges in an input image by approximating the gradient magnitude of the image. The block convolves the input matrix with the Sobel, Prewitt, or Roberts kernel. The block output can be either the result of this convolution operation (two gradient components of the image) or a binary image, obtained by comparing the convolution result against a threshold. If a pixel value is `1', in this binary image it is an edge. Please refer to Figure 2
477
Figure 3.109: The Edge Detection Block Conguration Window for Sobel, Prewitt and Roberts Meth-
ods
If the selected method is Canny, the Edge Detection block nds edges by looking for the local maxima of the gradient of the input image. It calculates the gradient using the derivative of the Gaussian lter. The Canny method uses two thresholds to detect strong and weak edges. Please refer to Figure 3.
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Figure 3.110: The Edge Detection Block Conguration Window for the Canny Method
3.4.3 Image (Stills) Processing

3.4.3.1 Simulation
1. Open the stills_R_W.mdl with the DSK6416
57 56
Simulink model (generated in the "A Framework for Image Processing
" module).
2. Add the "Edge Detection" block from the "Analysis & Enhancement" group of the Video and Image Processing Blockset (Please refer to section ). 3. Connect the various blocks as shown in Figure 4. Save your model.
479
Figure 3.111: The Edge Detection Simulation Model for Stills
4. Running this gives you the images shown in Figure 5.
(a) Input Picture
(b) The Processed Picture
Figure 3.112: Edge Detection - Simulation Results
You may repeat the simulation here to experiment the various algorithms with dierent thresholds.
3.4.3.2 Real-Time
1. Open the stills_R_W.mdl with the DSK6416
59 58
Simulink model (generated in the "A Framework for Image Processing
" module).
2. Add the "Edge Detection" block from from the "Analysis & Enhancement" group of the Video and Image Processing Blockset, as it was done for the simulation. 3. Connect the various blocks as shown in Figure 6. Save the model (EdgeDetectionPictureDSK6416.mdl).
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Figure 3.113: The Edge Detection Real Time Implementation Model
4. Generate code & create project. Double-click the " Generate code &.." block. 5. Build the project. Double-click the Build Project block. 6. Load the project. Double-click the Load Project block. 7. Run the target. Double-click the Run block. 8. Run the le EdgeDetectionPicturescript.m
60
, this should give you the images in gure 7.
60 http://cnx.org/Members/jfaing/module.2008-08-11.5404829390/EdgeDetectionPicturescript.m
481
(a) The Original Color Picture
(b) The Original Grayscale Picture
Available for free at Connexions <http://cnx.org/content/col10713/1.1> (c) The Received Image(After Edge Detection)
Figure 3.114: Edge Detection on the DSK6416
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3.4.4 Video Processing

3.4.4.1 Simulation
1. Open the model video_sim.mdl model 2. Add the "Edge Detection" block from from the "Analysis & Enhancement" group of the Video and Image Processing Blockset 3. Add a second Video Viewer and connect the various blocks as shown in Figure 8. Save your model (EdgeDetectionVideoDSK6416.mdl).
Figure 3.115: The Edge Detection Simulation Model for Video
4. Run the model. A single frame of the input and output video is shown in Figure 9.
483
(a) Input Video
(b) Processed Video
Figure 3.116: Edge Detection on Video
You may repeat the simulation here to experiment the various algorithms with dierent thresholds.
3.4.4.2 Real-Time
1. Connect the camera and the display to the board and open the Video_R_W.mdl A Framework for Video Processing with the DM6437 DVDP
62 61
(placed in the
module.).
61 http://cnx.org/content/m23999/latest/Video_R_W.mdl 62 http://cnx.org/content/m23999
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Figure 3.117: The Edge Detection Real Time Implementation Model
2. Change the name of the Video Processing block to Edge Detection (Please refer to Figure 10). A new window will be opened 3. Add the "Edge Detection" block from the "Analysis & Enhancement" group of the Video and Image Processing Blockset, as it was done for the simulation. 4. Add the "Image Data Type Conversion" block from the " Conversion" group of the Video and Image Processing Blockset. 5. Set the model in the Simulation->Conguration Parameters, as shown in Figure 11. 6. Generate code & create project. Double-click the " Generate code &.." block 7. Build the project. Double-click the Build Project block. 8. Load the project. Double-click the Load Project block. 9. Run the target. Double-click the Run block. The results will be diaplyed in the screen as shown in Figure 12.
485
Figure 3.118: Conguration Parameters for CCS
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Figure 3.119: Edge Detection on Real-time Video
3.5 Video Surveillance63

3.5.1 Introduction
Continuous-scene monitoring applications, such as ATM booths, parking lots or trac monitoring systems, generate large volumes of data. Recording and archiving such volumes of data is a real problem, and one way to solve this is to reduce the size of the data stream right at the source. In addition to traditional methods for compressing individual video images, we could identify and record only interesting video images, such as those images with signicant amounts of motion in the eld of view. That could signicantly help reduce the data rates for surveillance-specic applications. In this section, we'll illustrate the design ow of a motion detection system based video surveillance system. The system will be able to identify and record only interesting video frames containing motion. The development process will follow the following three steps: 1. Functional Requirements 2. System modeling and simulation 3. Code generation and implementation
63 This
487

MATLAB
R2008a
Code Composer Studio (CCS) v3.3 Texas Instruments DM6437 hardware.
Powerpoint Presentation - Surveillance.ppt Video-clip viplane.avi

66
64 65
Simulink Model for Simulation - surveillance.mdl MATLAB script my_tcpip_surveil_script.m

67
Simulink Model for Real-Time (DM6437) - my_dm6437evmsurveil_tcpip.mdl
68 69
Simulink Model for Real-Time Lane Detection (PC) - my_pc_surveil_tcpip.mdl
3.5.2 Video Surveillance

In this session we will show how to create the line detection model, and how it can be integrated in Simulation and Real-Time Implementations.
64 See 65 See 66 See 67 See 68 See 69 See
the le at <http://cnx.org/content/m24470/latest/Surveillance.ppt> the le at <http://cnx.org/content/m24470/latest/surveillance.mdl> the le at <http://cnx.org/content/m24470/latest/viplane.avi> the le at <http://cnx.org/content/m24470/latest/my_tcpip_surveil_script.m> the le at <http://cnx.org/content/m24470/latest/my_dm6437evmsurveil_tcpip.mdl> the le at <http://cnx.org/content/m24470/latest/my_pc_surveil_tcpip.mdl>
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Figure 3.120
Figure 1: The Motion Detection Process
3.5.2.1 The Motion Energy Estimation

The Motion Energy estimation is based on the calculation of the Sum of Absolute Dierences (SAD) according to the following equation:
SAD
| Ik (i, j ) Ik1 (i, j ) |
where:
Ik (i, j ) Ik1 (i, j )
- Current Frame - Previous Frame

Table 3.5
3.5.2.2 Functional Description

The Video Surveillance system block diagram is shown in Figure 2. The source video is displayed and played back through the system. This incoming video stream is processed by a subsystem that estimates the motion within the scene and captures the interesting video frames. The system can display either the recorded video frame or the Absolute Dierences (AD) image. The user can congure the motion energy threshold value and select which image will be displayed (Display Control). The system outputs include, besides the displayed image, the following features:
A graph of the motion energy as a function of time. This graph displays the threshold value as well.
489
The Frame count of the recorded image An output signal triggered by motion detection (Trigger)
While the generated code is running on the target, a host side Simulink
frames to the target via TCP/IP protocol using TCP/IP Blocks from Instrument Control Toolbox . The target receives video frames sent by the host side Simulink model, computes the sum of the absolute value
model simultaneously sends video
of dierences (SAD) between successive video frames, and returns an estimate of motion. When the motion estimate value exceeds a threshold, the target increments a counter and sends the corresponding frame back to the host.
Figure 3.121: Video Surveillance Block Diagram
3.5.3 Simulation
1. Open a new Simulink model 2. Add the blocks shown in the following table (Please refer also to Figure 3):
Video Surveillance Simulink Blocks
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Functionality SAD
Block Subsystem
Blockset Simulink / Ports & Subsystems
Quant. 1
Delay
Signal Processing Blockset / Signal Operations
Abs
Simulink / Math Operations
Matrix Sum
Signal Processing Blockset / Math Functions / Matrices and Linear Algebra / Matrix Operations
Data Type Conversion
Simulink tributes
Signal
At-
Add Sum,
Recording
Enabled Subsystem
Simulink / Ports & Subsystems
Add Sum,
Delay
counter
Subsystem
Simulink / Ports & Subsystems
Add Sum,
Delay
Generate data for motion energy and threshold display Compare Motion Energy
Matrix Concatenate
Relational Operator
Simulink / Logic and Bit Operations
against Threshold
491
Input Video
From Multimedia File
Signal Processing Blockset / Signal Processing Sources
Display Control
Constant
Signal Processing Blockset / Signal Processing Sources
Display Motion Energy and Threshold Draws formatted text on an image or video stream
Floating Scope
Simulink/Sinks
Insert Text
Video
and
Image
Pro-
cessing Blockset / Text & gure__
Connected to the trigger (not used for simulation) Images' Display
Terminator
Simulink/Sinks
To Video Display
Video
and
Image
Pro-
cessing Blockset / Sinks

Table 3.6
Figure 3.122: Simulink Blocks for Video Surveillance
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3.5.3.1 Conguring the SAD blocks

1. Congure one of the Add block for subtraction, you may also change its icon shape to a circular form as follows
70
Figure 3.123
2. Congure its xed point mode of operation Congure one of the Matrix Sum blocks for adding rows:
70 The
symbol | is used to place the + and - perpendicular to each other
493
Figure 3.124
3. Congure its xed point mode of operation
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Figure 3.125
4. Congure the xed point mode of operation for the second Matrix Column Add block:
495
Figure 3.126
3.5.3.2 Conguring the Input blocks

1. Congure on of the Video Source "From Multimedia File" block for reading frames from the "vipmen.avi" le.
496
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Table 3.7
2. Set the initial value of the "Constant" to 1e5.
Figure 3.127
497
Figure 3.128
3. Congure "Data Type Conversion" block :
Figure 3.129
498
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4. Congure " Relational Operator " block :
Figure 3.130
5. Congure one of the " Matrix Concatenate " block :
Figure 3.131
6. The Floating Scope will be used to display the motion energy and the threshold
71
as a function of
71 The
threshold is changed upon a user command. The simultaneous display of the threshold and motion energy will enable
499
time. Double-Click the block. A cope screen will appear, you should then click the icon as shown in the following picture:
Figure 3.132
You may keep the default conguration for "Data history". 7. Congure the " Insert Text " block :
the user to follow-up the process of recording frames.
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Figure 3.133
8. Double-click on the "Enabled Subsystem" block, and build it as shown below:
501
Figure 3.134
9. Double-click on one of the "Subsystem" block and build it as shown below:
Figure 3.135
Save the subsystem as: "Motion Energy" 10. Double-click on one the remaining "Subsystem" block,build it as shown below and name it "Frame Counter":
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Figure 3.136
3.5.3.3 Connecting the blocks:

1. Connect the blocks as shown in the following gure:
Figure 3.137: Video Surveillance model
2. Save the model as "surveillance_sim.mdl".
503
3.5.3.4 Running the model

1. Run the model. You should observe the following images:
Current Frame
Recorded Frame
Table 3.8
2. Double click the scope and you will see:
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Figure 3.138
In this scope display, yellow represents the motion estimate from each video frame, and magenta is the threshold level. In the Motion Threshold scope here, we see that we identied ve frames with motion above the threshold that were captured and recorded.

3.5.4.1 Video Surveillance using TCP/IP
1. Open the video_sim.mdl with the DM6437 DVDP
72
Simulink model (generated in the "A Framework for Video Processing
73
" module).
2. Rename the model "my_dm6437evmsurveil_tcpip.mdl". 3. Rename the R_W Algorithm subsystem to Surveillance Algorithm. 4. Double-click the Surveillance Algorithm block.
72 http://cnx.org/Members/jfaing/m23999/video_sim.mdl 73 http://cnx.org/content/m23999/latest/
505
5. In this block, add a Add the Function- Call Subsystem from the Ports & Subsystems" group of the "Simulink" Blockset. 6. Rename Function- Call Subsystem to Video Frame Capture Motion Threshold and Double-click it. 7. Open the model "surveillance_sim.mdl", created in section and copy it into Video Frame Capture Motion Threshold . 8. Add three input ports "In1" from the "Sources" group of the "Simulink" blockset and three output ports "Out1" from the "Sinks" group of the "Simulink" blockset. 9. Add a "Switch" from the "Signal Routing" group of the "Simulink" blockset and a "Gain" from the "Math Operation" group of the "Simulink" blockset. 10. Double-click the Motion Energy block and add him another output port as shown:
Figure 3.139
11. Connect the blocks as shown:
506
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Figure 3.140
12. Congure the "Gain" block :
Figure 3.141
507
13. Congure the "Switch" block :
Figure 3.142
14. Double-click the Surveillance Algorithm subsystem. 15. Congure the "Byte Unpack" block :
Figure 3.143
16. Congure the "Byte Pack" block :
508
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Figure 3.144
17. Congure the " TCP/IP Receive " block :
Figure 3.145
509
Figure 3.146
18. Congure the " TCP/IP Send " block :
Figure 3.147
19. Connect the Video Frame Capture Motion Threshold block as shown:
510
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Figure 3.148
20. Open the RW_pcl_tcpip.mdl model, created in the "Video R_W" le 21. Rename the model "my_pc_surveil_tcpip.mdl". 22. Add the "Manual Switch" from the "Signal Routing" group of the "Simulink" blockset and three "Constant" blocks from the "Signal Processing" group of the "Signal Processing" blockset. 23. Congure the " Constant " blocks:
511
Table 3.9
24. Congure the "Byte Unpack" block :
Figure 3.149
25. Connect the block as shown:
512
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Figure 3.150
26. Congure the " TCP/IP Receive " block :
513
Figure 3.151
27. Double-click the Display subsystem. 28. Double-click the Data Unpack subsystem. 29. Congure the "Byte Unpack" block :
Figure 3.152
30. Connect the block as shown:
514
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Figure 3.153
31. Add to the "Display" subsystem the "Insert Text" from the " Text & gure__" group of the " Video and Image Processing " blockset, " Floating Scope" from the "Sinks" group of the "Simulink" blockset. 32. Congure the " Insert Text " block :
515
Figure 3.154
33. Add the Subsystem from the Ports & Subsystems" group of the "Simulink" Blockset 34. Rename it "Combine Count" 35. Add a "Frame Counter" subsystem as we did in paragraph 14 at the rst section.
516
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Figure 3.155
36. Add a "Matrix Concatenate" from the "Math Operations" group of the "Simulink" blockset. 37. Connect the block as shown:
Figure 3.156
38. Congure the " Matrix Concatenate" block :
517
Figure 3.157
39. Connect the "Display" subsystem as shown:
Figure 3.158
518
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VIDEO AND IMAGING
40. Open a new m-le, copy the following code and save it as "my_tcpip_surveil_script.m" at the same directory as the model.
function my_tcpip_surveil_script(hostModelName) %my_tcpip_surveil_script controls host-side TCP/IP processing for % Video Surveillance demo: % 1) Builds and runs the target application %********** Initialization ******************** % Get model name modelName = gcs; % Connect to CCS CCS_Obj = connectToCCS(modelName); saved_visibility = CCS_Obj.isvisible; CCS_Obj.visible(1); % Load application loadApp(modelName, CCS_Obj); % Run application fprintf('Running application: %s\n', modelName); CCS_Obj.run; % Allow some time for DHCP address acquisition pause(3); % Retrieve target's host name boardType = get_param([modelName '/IP Config'], 'boardType'); userPrompt = sprintf('Enter the IP address or the host name of the %s board: ', boardType); hostName = inputdlg(userPrompt, 'Target IP address'); if isempty(hostName) errordlg('You have to provide a valid IP address or host name to run the demo.', ... 'TCP/IP Surveillance Recording', 'modal'); return; end hostName = strtrim(hostName{1}); % Launch host side UDP receive / Video display model fprintf('Launching host side application: %s\n', hostModelName); open_system(hostModelName); % Update host side TCP/IP blocks with target's IP address set_param([hostModelName '/TCP//IP Send'], 'Host', hostName); set_param([hostModelName '/TCP//IP Receive'], 'Host', hostName); fprintf('Click on play button to start running the host side application!\n\n') %[EOF] tcpip_surveil_script.m
41. Open a new m-le, copy the following code and save it as "my_tcpip_surveil_script.m" at the same directory as the model. 42. now we have two models ("my_pc_surveil_tcpip.mdl" and "my_dm6437evmsurveil_tcpip.mdl") and
519
one MATLAB le ("my_tcpip_surveil_script.m")
3.5.4.2 Running the Real-time Model

1. Build load and run the project from the "my_dm6437evmsurveil_tcpip.mdl" model. Double-click the " Build / Reload & Run" block. 2. Running the script, you will see:
Figure 3.159
Figure 3.160
If you want to display the Absolute Dierences Image, change the state of the switch from 0 to 1. You will then see:
520
CHAPTER 3.
VIDEO AND IMAGING
Figure 3.161
Chapter 4
From MATLAB and SIMULINK to Real-time Using TI DSPs
1
4.1 Overview
This course focuses on work-ow and application-based teaching rather than individual DSP algorithms implementation. Each module starts from an algorithm that is prototyped step-by-step, and then deployed on the hardware. The course contains a suite of example applications in various elds such as Audio, The basic examples enable students to experiment with Video, Imaging, Communications and Control. development tools (hardware and software). Platforms used:
real-time DSP applications, showing how to create prototypes using the Mathworks and Texas Instruments Advanced level examples are also included, where the basic tools are integrated with external dedicated hardware and/or software modules. TMS320F2808 eZdsp Starter Kit (DSK), TMS320F2812 eZdsp Start Kit (DSK), TMS320C6713 DSP Starter Kit (DSK), TMS320C6416 DSP Starter Kit (DSK), DM6437 Digital Video Development Platform (DVDP). This material and more is available as a complete CD-ROM, that can be obtained from Texas Instruments
2
and Mathworks
1 This content is available online at <http://cnx.org/content/m24680/1.1/>. 2 See the le at <http://cnx.org/content/m24680/latest/http://www.ti.com/europe/docs/univ/index.htm> 3 See the le at <http://cnx.org/content/m24680/latest/http://www.mathworks.com/programs/mwti-cd/>
521
522
INDEX
Index of Keywords and Terms

Keywords are listed by the section with that keyword (page numbers are in parentheses). Keywords
do not necessarily appear in the text of the page. They are merely associated with that section. Ex. apples, 1.1 (1)
Terms are referenced by the page they appear on.
Ex.
apples, 1
Acoustic Noise Cancellation, 2.1(109) AM, 2.2(148) Audio, 1.3(62), 2.3(191) Audio Eects, 2.5(244)
1.4(85), 2.2(148), 2.3(191), 2.5(244), 2.6(274), 2.7(300), 2.8(332), 3.1(375), 3.2(397), 3.5(486), 4(521) Motion Detection, 3.5(486) Motor Control, 1.2(34), 1.4(85) Multichannel, 2.3(191)
B C D
Burg, 2.7(300) Covariance, 2.7(300) Digital Video Development Platform, 3.2(397) DM6437, 3.2(397), 3.3(424), 3.4(475), 3.5(486) DSK6416, 3.1(375), 3.3(424), 3.4(475) DSK6713, 2.1(109), 2.2(148), 2.4(223), 2.5(244), 2.6(274), 2.7(300), 2.8(332) DSKF2812, 1.2(34) DSP, 2.1(109), 2.3(191), 2.4(223), 2.5(244), 4(521) DTMF, 2.4(223) DVDP, 3.2(397)
N P R S
Noise Reduction, 2.8(332) Periodogram, 2.7(300) Permanent Magnet Synchronous Motor, 1.4(85) Real-Time, 4(521) Reverberation, 2.5(244) Signal to Noise Measurement, 2.6(274) Simulation, 4(521) Simulink, 1.1(1), 1.2(34), 1.3(62), 1.4(85), 2.2(148), 2.3(191), 2.5(244), 2.6(274), 2.7(300), 2.8(332), 3.1(375), 3.2(397), 3.5(486), 4(521) Spectrum Estimation, 2.7(300) Surveillance, 3.5(486)
E H I L M
Echo, 2.5(244) Edge Detection, 3.4(475) Hough Transform, 3.3(424) Image Processing, 3.1(375), 3.3(424), 3.4(475) Lane Detection, 3.3(424) Line Detection, 3.3(424), 3.4(475) LMS, 2.1(109) MATLAB, 1.1(1), 1.2(34), 1.3(62),
TLV320AIC24, 2.3(191) TMS320C6713, 2.3(191) TMS320F2808, 1.3(62) TMS320F2812, 1.4(85) TMS32F2812, 1.1(1)
Vehicle Dynamics, 1.1(1) Video Processing, 3.2(397)
W Wavelet, 2.8(332)
ATTRIBUTIONS
523
Attributions
Collection: From MATLAB and Simulink to Real-Time with TI DSP's Edited by: Jacob Fainguelernt URL: http://cnx.org/content/col10713/1.1/ License: http://creativecommons.org/licenses/by/2.0/ Module: "Vehicle Dynamics" By: Jacob Fainguelernt URL: http://cnx.org/content/m22943/1.1/ Pages: 1-33 Copyright: Cathy Wicks License: http://creativecommons.org/licenses/by/2.0/ Module: "DC Motor Control" By: Jacob Fainguelernt URL: http://cnx.org/content/m22189/1.1/ Pages: 34-62 Copyright: Cathy Wicks License: http://creativecommons.org/licenses/by/2.0/ Module: "A DSP Based Class D Audio Amplier" By: Jacob Fainguelernt URL: http://cnx.org/content/m22177/1.1/ Pages: 62-85 Copyright: Cathy Wicks License: http://creativecommons.org/licenses/by/2.0/ Module: "Permanent Magnet Synchronous Motor Control" By: Jacob Fainguelernt URL: http://cnx.org/content/m24360/1.2/ Pages: 85-107 Copyright: Cathy Wicks License: http://creativecommons.org/licenses/by/2.0/ Module: "Acoustic Noise Cancellation" By: Jacob Fainguelernt URL: http://cnx.org/content/m22178/1.1/ Pages: 109-147 Copyright: Cathy Wicks License: http://creativecommons.org/licenses/by/2.0/ Module: "Amplitude Modulation" By: Jacob Fainguelernt URL: http://cnx.org/content/m22187/1.2/ Pages: 148-191 Copyright: Cathy Wicks License: http://creativecommons.org/licenses/by/2.0/
524 Module: "Audio Conference Bridge" By: Jacob Fainguelernt URL: http://cnx.org/content/m22185/1.2/ Pages: 191-223 Copyright: Cathy Wicks License: http://creativecommons.org/licenses/by/2.0/ Module: "DTMF Detection" By: Jacob Fainguelernt URL: http://cnx.org/content/m22937/1.2/ Pages: 223-244 Copyright: Cathy Wicks License: http://creativecommons.org/licenses/by/2.0/ Module: "Echo and Reverberation" By: Jacob Fainguelernt URL: http://cnx.org/content/m22940/1.1/ Pages: 244-274 Copyright: Cathy Wicks License: http://creativecommons.org/licenses/by/2.0/ Module: "Signal to Noise Measurement" By: Jacob Fainguelernt URL: http://cnx.org/content/m22941/1.1/ Pages: 274-300 Copyright: Cathy Wicks License: http://creativecommons.org/licenses/by/2.0/ Module: "Spectrum Estimation" By: Jacob Fainguelernt URL: http://cnx.org/content/m22942/1.1/ Pages: 300-332 Copyright: Cathy Wicks License: http://creativecommons.org/licenses/by/2.0/ Module: "Wavelet Denoising" By: Jacob Fainguelernt URL: http://cnx.org/content/m23011/1.1/ Pages: 332-373 Copyright: Cathy Wicks License: http://creativecommons.org/licenses/by/2.0/ Module: "A Framework for Image Processing with the DSK6416" By: Jacob Fainguelernt URL: http://cnx.org/content/m23996/1.1/ Pages: 375-396 Copyright: Cathy Wicks License: http://creativecommons.org/licenses/by/2.0/ Module: "A Framework for Video Processing with the DM6437 DVDP" By: Jacob Fainguelernt URL: http://cnx.org/content/m23999/1.1/ Pages: 397-424 Copyright: Cathy Wicks License: http://creativecommons.org/licenses/by/2.0/
ATTRIBUTIONS
ATTRIBUTIONS
525
Module: "Finding Shapes in Images" By: Jacob Fainguelernt URL: http://cnx.org/content/m24404/1.2/ Pages: 424-475 Copyright: Cathy Wicks License: http://creativecommons.org/licenses/by/2.0/ Module: "Edge Detection" By: Jacob Fainguelernt URL: http://cnx.org/content/m24423/1.2/ Pages: 475-486 Copyright: Cathy Wicks License: http://creativecommons.org/licenses/by/2.0/ Module: "Video Surveillance" By: Jacob Fainguelernt URL: http://cnx.org/content/m24470/1.1/ Pages: 486-520 Copyright: Cathy Wicks License: http://creativecommons.org/licenses/by/2.0/ Module: "From MATLAB and SIMULINK to Real-time Using TI DSPs" By: Jacob Fainguelernt URL: http://cnx.org/content/m24680/1.1/ Page: 521 Copyright: Cathy Wicks License: http://creativecommons.org/licenses/by/3.0/
From MATLAB and Simulink to Real-Time with TI DSP's

This collection focuses on work-ow and application-based teaching rather than individual DSP algorithms implementation. The idea is that you start from algorithm development and show how easily an idea is step-by-step prototyped and deployed on the hardware. The collection contains a suite of example applications in various elds such as Audio, Video, Imaging, Communications and Control. The basic examples enable students to experiment with real-time DSP applications, showing how to create prototypes using the Mathworks and Texas Instruments infrastructure (hardware and software). Advanced level examples are also included, where the basic tools are integrated with external dedicated hardware and/or software modules (designed by the user).
About Connexions
Since 1999, Connexions has been pioneering a global system where anyone can create course materials and make them fully accessible and easily reusable free of charge. We are a Web-based authoring, teaching and learning environment open to anyone interested in education, including students, teachers, professors and lifelong learners. We connect ideas and facilitate educational communities. Connexions's modular, interactive courses are in use worldwide by universities, community colleges, K-12 schools, distance learners, and lifelong learners. Connexions materials are in many languages, including English, Spanish, Chinese, Japanese, Italian, Vietnamese, French, Portuguese, and Thai. Connexions is part of an exciting new information distribution system that allows for
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From MATLAB and Simulink to Real-Time with TI DSPs

By: Jacob Fainguelernt

From MATLAB and Simulink to Real-Time with TI DSPs

By: Jacob Fainguelernt

Online: < http://cnx.org/content/col10713/1.1/ >

3 Video and Imaging

Available for free at Connexions <http://cnx.org/content/col10713/1.1>

1.1 Vehicle Dynamics1

1.1.1.1 Related Files

Powerpoint Presentation - VehicleDynamics.ppt

Simulink Model for PC Simulation - VehicleDynamics.mdl

Available for free at Connexions <http://cnx.org/content/col10713/1.1>

Figure 1.1: Engine Management Subsystem

the le at <http://cnx.org/content/m22943/latest/VehicleDynamics.mdl>

Available for free at Connexions <http://cnx.org/content/col10713/1.1>

1.1.2.1.1 Changing the Vehicle Mass

Figure 1.2: Vehicle Dynamics

1.1.2.1.2 Changing the Engine Power Prole

Available for free at Connexions <http://cnx.org/content/col10713/1.1>

Figure 1.3: Engine Management Subsystem

Double-click on the Power Transfer Function

Available for free at Connexions <http://cnx.org/content/col10713/1.1>

Figure 1.4: Engine Power Transfer Function

1.1.2.1.3 Other Modications to the Model

Available for free at Connexions <http://cnx.org/content/col10713/1.1>

1.1.3 Reference Simulation for F2812

Figure 1.5: Modied Model for F2812

the le at <http://cnx.org/content/m22943/latest/VehicleDynamicsF2812Simulation.mdl>

Available for free at Connexions <http://cnx.org/content/col10713/1.1>

1.1.4 Creating Your Own Models

Figure 1.6: A New MatLab Model

The following screen will appear.

Available for free at Connexions <http://cnx.org/content/col10713/1.1>

Figure 1.7: An Empty MatLab Model

1.1.4.1.1 Saving the New Model

Available for free at Connexions <http://cnx.org/content/col10713/1.1>

Figure 1.8: Saving the new model

1.1.4.1.2 Opening the Library Browser

Available for free at Connexions <http://cnx.org/content/col10713/1.1>

Figure 1.9: Selecting the Library Browser

1.1.4.1.3 Selecting the Subsystems

Available for free at Connexions <http://cnx.org/content/col10713/1.1>

1.1.4.1.4 Subsystems Added

Figure 1.11: Subsystems Added

Drag-and-drop a saturation block onto the model.

1.1.4.1.5 Adding a Ramp Generator

Available for free at Connexions <http://cnx.org/content/col10713/1.1>

1.1.4.1.6 Adding Scope Blocks

Available for free at Connexions <http://cnx.org/content/col10713/1.1>

Figure 1.13: Adding a Scope

Available for free at Connexions <http://cnx.org/content/col10713/1.1>

1.1.4.1.7 Joining and Renaming the Blocks

Figure 1.14: First Blocks Added

1.1.4.1.8 Setting the Solver

Available for free at Connexions <http://cnx.org/content/col10713/1.1>

Figure 1.15: Conguring the Solver

Available for free at Connexions <http://cnx.org/content/col10713/1.1>

Figure 1.16: The Engine Management Subsystem

1.1.4.2.2 Adding a Lookup Table

Available for free at Connexions <http://cnx.org/content/col10713/1.1>

Figure 1.17: Adding a Lookup Table

Double click on the Lookup Table block.

Available for free at Connexions <http://cnx.org/content/col10713/1.1>

the le at <http://cnx.org/content/m22943/latest/VehicleDynamics.mdl>

1.1.2.1.2 Changing the Engine Power Prole

1.1.2.1.3 Other Modications to the Model

Figure 1.5: Modied Model for F2812

the le at <http://cnx.org/content/m22943/latest/VehicleDynamicsF2812Simulation.mdl>

Drag-and-drop a saturation block onto the model.

Figure 1.15: Conguring the Solver

Double click on the Lookup Table block.

1.1.5 Modications for ezDSP F2812

Figure 28 Scaling the ADC

You may nd the nal model here .

8 See the le at <http://cnx.org/content/m22943/latest/VehicleDynamicsDSKF2812.mdl> 9 http://c2000.spectrumdigital.com/ezf2812/docs/ezf2812_techref.pdf

1.2.1.1.1 The DC Motor Kit Servo amplier [SA150D]:

socket and cable connects this unit to the servo amplier.

1.2.2 System Identication

the le at <http://cnx.org/content/m22189/latest/DCMotorControl.mdl> the le at <http://cnx.org/content/m22189/latest/speedControlDCLoop.m> the le at <http://cnx.org/content/m22189/latest/DCMotorControlc2812.mdl>

1.2.2.1 Measurement of Tachometer Coecient and Motor Constant