kopia lustrzana https://github.com/xdsopl/robot36
use the transition between the sync pulse and sync porch
Ahmet Inan
rodzic
b45b64f807
commit
25a8fc6589
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@ -7,32 +7,18 @@ Copyright 2024 Ahmet Inan <xdsopl@gmail.com>
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package xdsopl.robot36;
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public class Demodulator {
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private final SimpleMovingAverage powerAvg;
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private final ComplexMovingAverage syncPulse5msFilter;
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private final ComplexMovingAverage syncPulse9msFilter;
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private final ComplexMovingAverage syncPulse20msFilter;
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private final SimpleMovingAverage syncPulseFilter;
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private final ComplexConvolution baseBandLowPass;
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private final FrequencyModulation scanLineDemod;
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private final FrequencyModulation frequencyModulation;
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private final SchmittTrigger syncPulseTrigger;
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private final Phasor syncPulseOscillator;
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private final Phasor baseBandOscillator;
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private final Delay syncPulse5msDelay;
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private final Delay syncPulse9msDelay;
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private final Delay syncPulse20msDelay;
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private final int syncPulseLowMark;
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private final int syncPulseHighMark;
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private float syncPulse5msMaxValue;
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private float syncPulse9msMaxValue;
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private float syncPulse20msMaxValue;
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private int syncPulse5msMaxPosition;
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private int syncPulse9msMaxPosition;
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private int syncPulse20msMaxPosition;
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private final int syncPulse5msMinSamples;
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private final int syncPulse5msMaxSamples;
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private final int syncPulse9msMaxSamples;
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private final int syncPulse20msMaxSamples;
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private final int syncPulseFilterDelay;
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private int syncPulseCounter;
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private Complex baseBand;
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private Complex syncPulse;
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private Complex syncPulse5ms;
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private Complex syncPulse9ms;
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private Complex syncPulse20ms;
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public enum SyncPulseWidth {
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FiveMilliSeconds,
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@ -44,24 +30,25 @@ public class Demodulator {
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public int syncPulseOffset;
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Demodulator(int sampleRate) {
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double powerWindowSeconds = 0.1;
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int powerWindowSamples = (int) Math.round(powerWindowSeconds * sampleRate) | 1;
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powerAvg = new SimpleMovingAverage(powerWindowSamples);
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float blackFrequency = 1500;
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float whiteFrequency = 2300;
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float scanLineBandwidth = whiteFrequency - blackFrequency;
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scanLineDemod = new FrequencyModulation(scanLineBandwidth, sampleRate);
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double syncPulse5msSeconds = 0.0055;
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frequencyModulation = new FrequencyModulation(scanLineBandwidth, sampleRate);
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double syncPulse5msSeconds = 0.005;
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double syncPulse9msSeconds = 0.009;
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double syncPulse20msSeconds = 0.020;
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int syncPulse5msSamples = (int) Math.round(syncPulse5msSeconds * sampleRate) | 1;
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int syncPulse9msSamples = (int) Math.round(syncPulse9msSeconds * sampleRate) | 1;
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int syncPulse20msSamples = (int) Math.round(syncPulse20msSeconds * sampleRate) | 1;
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syncPulseLowMark = syncPulse5msSamples / 2;
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syncPulseHighMark = syncPulse20msSamples * 2;
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syncPulse5msFilter = new ComplexMovingAverage(syncPulse5msSamples);
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syncPulse9msFilter = new ComplexMovingAverage(syncPulse9msSamples);
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syncPulse20msFilter = new ComplexMovingAverage(syncPulse20msSamples);
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double syncPulse5msMinSeconds = syncPulse5msSeconds / 2;
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double syncPulse5msMaxSeconds = (syncPulse5msSeconds + syncPulse9msSeconds) / 2;
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double syncPulse9msMaxSeconds = (syncPulse9msSeconds + syncPulse20msSeconds) / 2;
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double syncPulse20msMaxSeconds = syncPulse20msSeconds + syncPulse5msSeconds;
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syncPulse5msMinSamples = (int) Math.round(syncPulse5msMinSeconds * sampleRate);
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syncPulse5msMaxSamples = (int) Math.round(syncPulse5msMaxSeconds * sampleRate);
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syncPulse9msMaxSamples = (int) Math.round(syncPulse9msMaxSeconds * sampleRate);
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syncPulse20msMaxSamples = (int) Math.round(syncPulse20msMaxSeconds * sampleRate);
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double syncPulseFilterSeconds = syncPulse5msSeconds / 2;
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int syncPulseFilterSamples = (int) Math.round(syncPulseFilterSeconds * sampleRate) | 1;
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syncPulseFilterDelay = (syncPulseFilterSamples - 1) / 2;
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syncPulseFilter = new SimpleMovingAverage(syncPulseFilterSamples);
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float lowestFrequency = 1000;
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float highestFrequency = 2800;
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float cutoffFrequency = (highestFrequency - lowestFrequency) / 2;
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@ -74,78 +61,45 @@ public class Demodulator {
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float centerFrequency = (lowestFrequency + highestFrequency) / 2;
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baseBandOscillator = new Phasor(-centerFrequency, sampleRate);
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float syncPulseFrequency = 1200;
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syncPulseOscillator = new Phasor(-(syncPulseFrequency - centerFrequency), sampleRate);
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int syncPulse5msDelaySamples = (powerWindowSamples - 1) / 2 - (syncPulse5msSamples - 1) / 2;
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int syncPulse9msDelaySamples = (powerWindowSamples - 1) / 2 - (syncPulse9msSamples - 1) / 2;
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int syncPulse20msDelaySamples = (powerWindowSamples - 1) / 2 - (syncPulse20msSamples - 1) / 2;
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syncPulse5msDelay = new Delay(syncPulse5msDelaySamples);
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syncPulse9msDelay = new Delay(syncPulse9msDelaySamples);
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syncPulse20msDelay = new Delay(syncPulse20msDelaySamples);
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syncPulseTrigger = new SchmittTrigger(0.17f, 0.19f);
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float syncPorchFrequency = 1500;
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float syncHighFrequency = (syncPulseFrequency + syncPorchFrequency) / 2;
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float syncLowFrequency = (syncPulseFrequency + syncHighFrequency) / 2;
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float syncLowValue = (syncLowFrequency - centerFrequency) * 2 / scanLineBandwidth;
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float syncHighValue = (syncHighFrequency - centerFrequency) * 2 / scanLineBandwidth;
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syncPulseTrigger = new SchmittTrigger(syncLowValue, syncHighValue);
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baseBand = new Complex();
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syncPulse = new Complex();
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syncPulse5ms = new Complex();
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syncPulse9ms = new Complex();
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syncPulse20ms = new Complex();
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}
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public boolean process(float[] buffer) {
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boolean syncPulseDetected = false;
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for (int i = 0; i < buffer.length; ++i) {
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baseBand = baseBandLowPass.push(baseBand.set(buffer[i]).mul(baseBandOscillator.rotate()));
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syncPulse = syncPulse.set(baseBand).mul(syncPulseOscillator.rotate());
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syncPulse5ms = syncPulse5msFilter.avg(syncPulse5ms.set(syncPulse));
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syncPulse9ms = syncPulse9msFilter.avg(syncPulse9ms.set(syncPulse));
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syncPulse20ms = syncPulse20msFilter.avg(syncPulse20ms.set(syncPulse));
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float averagePower = powerAvg.avg(baseBand.norm());
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float syncPulse5msValue = syncPulse5msDelay.push(syncPulse5ms.norm()) / averagePower;
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float syncPulse9msValue = syncPulse9msDelay.push(syncPulse9ms.norm()) / averagePower;
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float syncPulse20msValue = syncPulse20msDelay.push(syncPulse20ms.norm()) / averagePower;
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float scanLineValue = scanLineDemod.demod(baseBand);
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float scanLineLevel = 0.5f * (scanLineValue + 1);
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if (syncPulseTrigger.latch(syncPulse5msValue)) {
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if (syncPulse5msMaxValue < syncPulse5msValue) {
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syncPulse5msMaxValue = syncPulse5msValue;
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syncPulse5msMaxPosition = syncPulseCounter;
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}
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if (syncPulse9msMaxValue < syncPulse9msValue) {
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syncPulse9msMaxValue = syncPulse9msValue;
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syncPulse9msMaxPosition = syncPulseCounter;
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}
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if (syncPulse20msMaxValue < syncPulse20msValue) {
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syncPulse20msMaxValue = syncPulse20msValue;
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syncPulse20msMaxPosition = syncPulseCounter;
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}
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float frequencyValue = frequencyModulation.demod(baseBand);
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float syncPulseValue = syncPulseFilter.avg(frequencyValue);
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float scanLineLevel = 0.5f * (frequencyValue + 1);
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buffer[i] = scanLineLevel;
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if (!syncPulseTrigger.latch(syncPulseValue)) {
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++syncPulseCounter;
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} else if (syncPulseCounter > syncPulseLowMark && syncPulseCounter < syncPulseHighMark) {
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int filterDelay = (powerAvg.length - 1) / 2;
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syncPulseOffset = i - syncPulseCounter - filterDelay;
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float mid9ms20msSum = ((9.f / 20.f) + 1.f) / 2.f;
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float mid9ms20msPwr = mid9ms20msSum * mid9ms20msSum;
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float mid5ms9msSum = ((5.f / 9.f) + 1.f) / 2.f;
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float mid5ms9msPwr = mid5ms9msSum * mid5ms9msSum;
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if (syncPulse20msMaxValue > mid9ms20msPwr * syncPulse9msMaxValue) {
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syncPulseOffset += syncPulse20msMaxPosition;
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syncPulseWidth = SyncPulseWidth.TwentyMilliSeconds;
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} else if (syncPulse9msMaxValue > mid5ms9msPwr * syncPulse5msMaxValue) {
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syncPulseOffset += syncPulse9msMaxPosition;
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syncPulseWidth = SyncPulseWidth.NineMilliSeconds;
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} else {
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syncPulseOffset += syncPulse5msMaxPosition;
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syncPulseWidth = SyncPulseWidth.FiveMilliSeconds;
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}
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} else if (syncPulseCounter < syncPulse5msMinSamples) {
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syncPulseCounter = 0;
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} else if (syncPulseCounter < syncPulse5msMaxSamples) {
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syncPulseWidth = SyncPulseWidth.FiveMilliSeconds;
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syncPulseOffset = i - syncPulseFilterDelay;
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syncPulseDetected = true;
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syncPulseCounter = 0;
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} else if (syncPulseCounter < syncPulse9msMaxSamples) {
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syncPulseWidth = SyncPulseWidth.NineMilliSeconds;
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syncPulseOffset = i - syncPulseFilterDelay;
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syncPulseDetected = true;
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syncPulseCounter = 0;
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} else if (syncPulseCounter < syncPulse20msMaxSamples) {
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syncPulseWidth = SyncPulseWidth.TwentyMilliSeconds;
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syncPulseOffset = i - syncPulseFilterDelay;
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syncPulseDetected = true;
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syncPulseCounter = 0;
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syncPulse5msMaxValue = 0;
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syncPulse9msMaxValue = 0;
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syncPulse20msMaxValue = 0;
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} else {
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syncPulseCounter = 0;
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syncPulse5msMaxValue = 0;
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syncPulse9msMaxValue = 0;
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syncPulse20msMaxValue = 0;
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}
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buffer[i] = scanLineLevel;
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}
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return syncPulseDetected;
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}
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@ -26,7 +26,7 @@ public class PaulDon implements Mode {
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double scanLineSeconds = syncPulseSeconds + syncPorchSeconds + 4 * (channelSeconds);
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scanLineSamples = (int) Math.round(scanLineSeconds * sampleRate);
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channelSamples = (int) Math.round(channelSeconds * sampleRate);
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double yEvenBeginSeconds = syncPulseSeconds / 2 + syncPorchSeconds;
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double yEvenBeginSeconds = syncPorchSeconds;
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yEvenBeginSamples = (int) Math.round(yEvenBeginSeconds * sampleRate);
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beginSamples = yEvenBeginSamples;
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double vAvgBeginSeconds = yEvenBeginSeconds + channelSeconds;
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@ -13,7 +13,7 @@ public final class RGBModes {
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double syncPulseSeconds = 0.004862;
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double separatorSeconds = 0.000572;
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double scanLineSeconds = syncPulseSeconds + separatorSeconds + 3 * (channelSeconds + separatorSeconds);
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double greenBeginSeconds = syncPulseSeconds / 2 + separatorSeconds;
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double greenBeginSeconds = separatorSeconds;
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double greenEndSeconds = greenBeginSeconds + channelSeconds;
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double blueBeginSeconds = greenEndSeconds + separatorSeconds;
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double blueEndSeconds = blueBeginSeconds + channelSeconds;
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@ -26,11 +26,11 @@ public final class RGBModes {
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double syncPulseSeconds = 0.009;
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double separatorSeconds = 0.0015;
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double scanLineSeconds = syncPulseSeconds + 3 * (channelSeconds + separatorSeconds);
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double blueEndSeconds = -syncPulseSeconds / 2;
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double blueEndSeconds = -syncPulseSeconds;
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double blueBeginSeconds = blueEndSeconds - channelSeconds;
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double greenEndSeconds = blueBeginSeconds - separatorSeconds;
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double greenBeginSeconds = greenEndSeconds - channelSeconds;
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double redBeginSeconds = syncPulseSeconds / 2 + separatorSeconds;
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double redBeginSeconds = separatorSeconds;
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double redEndSeconds = redBeginSeconds + channelSeconds;
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return new RGBDecoder("Scottie " + name, scanLineSeconds, greenBeginSeconds, redBeginSeconds, redEndSeconds, greenBeginSeconds, greenEndSeconds, blueBeginSeconds, blueEndSeconds, redEndSeconds, sampleRate);
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}
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@ -40,7 +40,7 @@ public final class RGBModes {
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double syncPorchSeconds = 0.0005;
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double channelSeconds = 0.235;
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double scanLineSeconds = syncPulseSeconds + syncPorchSeconds + 3 * channelSeconds;
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double redBeginSeconds = syncPulseSeconds / 2 + syncPorchSeconds;
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double redBeginSeconds = syncPorchSeconds;
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double redEndSeconds = redBeginSeconds + channelSeconds;
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double greenBeginSeconds = redEndSeconds;
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double greenEndSeconds = greenBeginSeconds + channelSeconds;
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@ -31,7 +31,7 @@ public class Robot_36_Color implements Mode {
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luminanceSamples = (int) Math.round(luminanceSeconds * sampleRate);
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separatorSamples = (int) Math.round(separatorSeconds * sampleRate);
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chrominanceSamples = (int) Math.round(chrominanceSeconds * sampleRate);
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double luminanceBeginSeconds = syncPulseSeconds / 2 + syncPorchSeconds;
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double luminanceBeginSeconds = syncPorchSeconds;
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luminanceBeginSamples = (int) Math.round(luminanceBeginSeconds * sampleRate);
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beginSamples = luminanceBeginSamples;
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double separatorBeginSeconds = luminanceBeginSeconds + luminanceSeconds;
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@ -29,7 +29,7 @@ public class Robot_72_Color implements Mode {
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scanLineSamples = (int) Math.round(scanLineSeconds * sampleRate);
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luminanceSamples = (int) Math.round(luminanceSeconds * sampleRate);
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chrominanceSamples = (int) Math.round(chrominanceSeconds * sampleRate);
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double yBeginSeconds = syncPulseSeconds / 2 + syncPorchSeconds;
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double yBeginSeconds = syncPorchSeconds;
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yBeginSamples = (int) Math.round(yBeginSeconds * sampleRate);
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beginSamples = yBeginSamples;
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double yEndSeconds = yBeginSeconds + luminanceSeconds;
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