Real-Time DSP for Educators

Michael Morrow
University of Wisconsin-Madison
Thad Welch
United States Naval Academy
Cameron Wright
University of Wyoming
Agenda
Introduction
Motivation
DSK and Software Installation
Building Real-Time DSP Applications
Software Organization
Building a CCStudio Talk-Through Application
FIR Filtering
Signal Generation
Advanced Topics
DSP/BIOSApplication
HPI Daughtercard (DSP Services/Host Services)
Individual Projects
Wrap-Up
Motivation
Do you teach or want to teach a DSP
course?
Do you use MATLAB

exercises in your
courses?
Do you assign exercises that work with
actual signals (not generated in MATLAB)?
Do you include real-time DSP
demonstrations in your courses?
Do you assign real-time projects?
Real-time DSP
It can be a real struggle to get started with
real-time DSP
Lots of details come up that just arent an issue
when programming in a workstation environment
Documentation is written for experts
Learning curve is steep, if not vertical!
Few understandable examples are available
Complexity is the norm
On-line and seminar style training is available
directly from TI and the third party vendors
But, most of this training is not appropriate for the
typical student (or educator) due to at least one of
the following issues
Typical Training Issues
Not meant for educators
Our first courses should motivate our students to
learn more about real-time DSP
Much of the industry does not do sample-by-
sample DSP, despite the fact that few teach
anything else
Meant for DSP experts
Expects significant familiarity with DSP system
design
Intended for engineers transitioning from other
DSP targets
Usually introducing the latest innovations and
technologies, not fundamentals
What You Can Take Away
From This Workshop
A TI TMS320C6713 DSK (and Code Composer
Studiosoftware development suite)
Also includes some useful accessories - a
microphone, headphones, audio cable, and music
CD
An Educational DSP DSK6XXXHPI daughtercard
Our real-time DSP book, and (most importantly)
The ability to easily use the DSK and incorporate real-
time DSP hardware into your DSP courses/labs
The DSP Big Picture
y[n] = ...
difference
equation
H(z)
transfer
function
H(e
j
)
frequency
response
h[n]
impulse
response
pole/zero
diagram
block
diagram
The Real-time DSP Big Picture
y[n] = ...
difference
equation
H(z)
transfer
function
H(e
j
)
frequency
response
h[n]
impulse
response
pole/zero
diagram
block
diagram
real-time
implementation
DSP of Analog Signals
anti
aliasing
filter
sample
and
hold
DSP
digital
to analog
converter
analog to
digital
converter
reconstruction
filter
analog
world
analog
world
Our Methodology
Review of theory
Demonstration/motivation using winDSK6
MATLAB coding
Transition to real-time C on the DSK
Agenda
Introduction
Motivation
DSK and Software Installation
Building Real-Time DSP Applications
Software Organization
Building a CCStudio Talk-Through Application
FIR Filtering
Signal Generation
Advanced Topics
DSP/BIOSApplication
HPI Daughtercard (DSP Services/Host Services)
Individual Projects
Wrap-Up
Hardware Discussion
Lets unpack our DSKs
Look at what comes in your box
Note that like many USB devices, the
hardware installation comes AFTER the
software installation
A quick tour of the board
DSK Overview
TMS320C6713 DSP at 225MHz
TLV320AIC23 stereo codec
Microphone & line inputs
Headphone & line outputs
Uses both McBSPs
We configure for 16-bits at 48KHz
16MB SDRAM / 512KB Flash memory
Onboard USB-based JTAG emulator
4 DIP switches & 4 LEDs (user controlled)
DSK Overview (continued)
Three daughtercard connectors
J1 HPI interface
New to the C6713 DSK
Used by the Educational DSP HPI daughtercard
Direct DSP control from a host computer
DSP can use daughtercard for communications (USB/RS-
232), digital I/O, and analog inputs
J3 Peripheral Interface
McBSPs, Timers
J4 EMIF (parallel memory bus)
SDRAM, Flash Memory
Many EVMs and daughtercards are available
from TI and others
TI TMS320C6713 DSK
TI TMS320C6713 DSK
DSK w/ HPI Daughtercard
Software Installation
Quick Start Installation Guide
CCStudio software installation
Follow the CDs instructions
Do not attempt to register the software at this time
Be sure to install both CCStudio 3.1 and the C6713 DSK target
content.
Leave the CD in after the install finishes and then connect the
DSK to install the USB driver.
Note that there are two CCStudio icons on the Desktop
The C6713 icon will automatically import the DSK into CCStudio.
winDSK6
A quick look at the contents of the textbook CD-ROM
Agenda
Introduction
Motivation
DSK and Software Installation
Building Real-Time DSP Applications
Software Organization
Building a CCStudio Talk-Through Application
FIR Filtering
Signal Generation
Advanced Topics
DSP/BIOSApplication
HPI Daughtercard (DSP Services/Host Services)
Individual Projects
Wrap-Up
Our Software Organization
All software is interrupt-driven
All configuration code is contained in a
common_code directory
All applications are designed to run on both the
C6713 DSK and the TMS320C6711 DSK (with
the onboard codec and several codec
daughtercards)
A single #define selects the proper software to
configure the codec, the input source, and the
sampling rate
A Basic Application
(Talk-through)
Agenda
Introduction
Motivation
DSK and Software Installation
Building Real-Time DSP Applications
Software Organization
Building a CCStudio Talk-Through Application
FIR Filtering
Signal Generation
Advanced Topics
DSP/BIOSApplication
HPI Daughtercard (DSP Services/Host Services)
Individual Projects
Wrap-Up
The CCStudio Project Big Picture
Open CCStudio
Create a project
Be aware of what directory you are in, especially if
you then navigate somewhere within CCStudio
Add files to the project directory
Add files to project
Our code is interrupt driven, so most work today
will be done on isrs.c
Setup the compiler options
Build the project
Load the project
Run the project
CCStudio: A Tutorial
Appendix A of the textbook
CCStudio Observations
Does the talk-through program work?
You can run or halt the program at
anytime and you dont need to reload
You can establish a watch window by
highlighting and right-clicking on the
variable that you selecting, then selecting
Add to Watch Window
Watched variables can be modified while
the program is running (if they are in
scope)
A Few Comments
Watch window(s)
Make sure that you are in scope
The volatile keyword
Function prototypes and return types
ISRs and the run-time schedule
Sample-by-sample processing
Gain adjustments (volume control)
Hello, world can we print to the host PC?
Turning the user LEDs on and off
Agenda
Introduction
Motivation
DSK and Software Installation
Building Real-Time DSP Applications
Software Organization
Building a CCStudio Talk-Through Application
FIR Filtering
Signal Generation
Advanced Topics
DSP/BIOSApplication
HPI Daughtercard (DSP Services/Host Services)
Individual Projects
Wrap-Up
FIR Filtering
FIR filters are the most popular type of
digital filter
Always stable
Easy to design
Easy to ensure linear phase response
Require more coefficients for same roll off
compared to IIR filters
FIR Filter
z
-1
z
-1
z
-1
z
-1
+
+
+
+
x[n] y[n]
b
0
b
1
b
2
b
3
b
4
x[n-1]
x[n-2]
x[n-3]
x[n-4]
FIR Difference Equation
[ ] [ ] [ ] [ ]
[ ] [ ] [ ] [ ]
[ ] [ ] [ ]
[ ] [ ] [ ] [ ] [ ] [ ] [ ]
0
0
[ ] *
[ ] *
0
0 0 0 1 1
k
N
k
N
k
y n h k x n k h n x n
y n b k x n k b n x n
y b k x k
y b x b x b N x N

=
=
=
= =
= =
=
= + + +

L
FIR Difference Equation (cont)
[ ] [ ] [ ] [ ] [ ] [ ] [ ]
[ ] [ ] [ ] [ ] [ ] [ ] [ ]
0 0 0 1 1
but we can modify the indices
0 0 0 1 1
y b x b x b N x N
y b x b x b N x N
= + + +
= + + +
L
L
CCStudio Implementation
Local declaration
Declare the b coefficients in the ISR
Cut-and-paste can also work
Additional files (e.g., coeff.c and coeff.h)
Great for large filters
But do you really want to type in all of those
coefficients by hand?
Create the files directly from MATLAB
FIR_dump2c.m
Sptool Startup GUI
Fdatool Startup GUI
More FIR a few ideas
Flanging
Chorus
Circular buffering
Echo creation
Other FIR filter forms
e.g., second order sections
Impulse modulator digital transmitter
Agenda
Introduction
Motivation
DSK and Software Installation
Building Real-Time DSP Applications
Software Organization
Building a CCStudio Talk-Through Application
FIR Filtering
Signal Generation
Advanced Topics
DSP/BIOSApplication
HPI Daughtercard (DSP Services/Host Services)
Individual Projects
Wrap-Up
Real-time Waveform
Generation
Your mission generate a 1 kHz sinusoid
Some ways to do it
V
OUT
= V
MAX
sin(2ft)
Calculate directly as a function of t
Calculate as a function of the desired signal phase
Use lookup table to obtain sine values, use index as phase
accumulator
Use complex vector rotation
Use a digital resonator
May want to glance at textbook
Modify your talk-through application as necessary create
a sinusoid generator
Agenda
Introduction
Motivation
DSK and Software Installation
Building Real-Time DSP Applications
Software Organization
Building a CCStudio Talk-Through Application
FIR Filtering
Signal Generation
Advanced Topics
DSP/BIOSApplication
HPI Daughtercard (DSP Services/Host Services)
Individual Projects
Wrap-Up
Intro to DSP/BIOSSoftware
Kernel Foundation
DSP/BIOSkernel is a lean real-time operating
system (RTOS) specific to the TI DSPs
There are advantages and disadvantages to
introducing it into an academic setting
Follow Appendix B of your textbook
Section B.1 Introduction
Section B.2 Exercise in using threads
Can come back to this if you have time & desire
Section B.5 Talk-through on the C6713 DSK
This is equivalent to the earlier tutorial, but in a DSP/BIOS
environment
Text for cut-and-paste is on your CD-ROM
Agenda
Introduction
Motivation
DSK and Software Installation
Building Real-Time DSP Applications
Software Organization
Building a CCStudio Talk-Through Application
FIR Filtering
Signal Generation
Advanced Topics
DSP/BIOS Application
HPI Daughtercard (DSP Services/Host Services)
Individual Projects
Wrap-Up
eDSP DSK6713HPI Daughtercard
Host Services
Using a host PC to control the DSK without CCStudio
winDSK6
MATLAB Interfaces (data acquisition and real-time control)
DSK6X_Control for host application development
DSP Services
The DSP software can use the daughtercard resources
as well
USB and RS-232 communications
Up to 16 digital I/O pins
Up to 8 analog inputs
Software interface is already provided simple function
calls are used to access all resources
Agenda
Introduction
Motivation
DSK and Software Installation
Building Real-Time DSP Applications
Software Organization
Building a CCStudio Talk-Through Application
FIR Filtering
Signal Generation
Advanced Topics
DSP/BIOSApplication
HPI Daughtercard (DSP Services/Host Services)
Individual Projects
Wrap-Up
Individual Project Time
Have at it!
Feel free to ask questions
Agenda
Introduction
Motivation
DSK and Software Installation
Building Real-Time DSP Applications
Software Organization
Building a CCStudio Talk-Through Application
FIR Filtering
Signal Generation
Advanced Topics
DSP/BIOSApplication
HPI Daughtercard (DSP Services/Host Services)
Individual Projects
Wrap-Up
Wrap-Up
The DSK development environment is
fairly easy to use once you know how!
Practice making your own CCStudio
projects
Mikes software page has lots of software
for the C6713 and older DSKs
http://eceserv0.ece.wisc.edu/~morrow/software/
For more information on the HPI daughtercard
see the Educational DSP website
http://www.educationaldsp.com
Real-Time DSP for Educators
Michael Morrow (morrow@ieee.org)
University of Wisconsin-Madison
Thad Welch (t.b.welch@ieee.org)
United States Naval Academy
Cameron Wright (c.h.g.wright@ieee.org)
University of Wyoming
References
[1] TMS320C6713 DSK Technical
Reference, Spectrum Digital, Jan. 2004
[2] Digital Signal Processing, a
computer-based approach, Sanjit K.
Mitra, McGraw Hill, 2001
[3] Real-time Digital Signal Processing
from MATLAB to C with the
TMS320C6X, Thad B. Welch,
Cameron H. G. Wright, Michael G.
Morrow, CRC Press, 2006
winDSK6
Numerous demonstration and experimentation
applications
Other software
DSK6_Control host application and DSP software
C6XDAQ MATLAB data acquisition
C6XDSK MATLAB program interface