├── README.md ├── array_mount └── circular_array.ai ├── pcb ├── CompactSix.brd ├── CompactSix.png ├── CompactSix.sch ├── CompactSix_BOM.txt ├── CompactSix_brd_bot.png ├── CompactSix_brd_top.png ├── mic_board.brd ├── mic_board.png └── mic_board.sch └── scripts ├── MEMS_array_sim.py ├── low_pass_biquad.py ├── read_raw24.py └── util.py /README.md: -------------------------------------------------------------------------------- 1 | CompactSix 2 | ========== 3 | 4 | A six channel compact microphone array based on the Beaglebone Black and the STA321MP audio processor. 5 | 6 | ![PCB](pcb/CompactSix_brd_top.png) 7 | 8 | Bill of Materials 9 | ----------------- 10 | 11 | The full BOM is in file `pcb/CompactSix_BOM.txt` but here is a list for minimal functionnalities. 12 | 13 | For the BBB cape with the Audio Processor: 14 | 15 | * 1x STA321MP Audio processor (Mouser 511-STA321MPLTR) 16 | * 1x 12.288MHz oscillator (Mouser 732-SG210STF12.288S3) 17 | * 1x Micromatch Female-On-Board SMD 10 pin connector (Mouser 571-8-2178711-0) 18 | * 3x 0 Ohm Resistor, 0805 package 19 | * 2x 100 Ohm resistors, 0805 package 20 | * 5x 10K Ohm resistors, 0805 package 21 | * 1x 1uF capacitors, 0805 package 22 | * 8x 100nF capacitors, 0805 package 23 | * 1x 10nF capacitors, 0805 package 24 | * 1x 1nF capacitors, 0805 package 25 | * 1x 10pF capacitors, 0805 package 26 | * 2x pin headers 2x40, 2.54mm spaced 27 | 28 | Currently, we do not need the audio amplifier at all so that part can be left out. 29 | To add the RTC and the temperature sensor, add the following: 30 | 31 | * 1x Temperature sensor TMP275 (Mouser 595-TMP275AIDR) 32 | * 1x RTC DS1338 (Mouser 700-DS1338Z-33T&R) 33 | * 1x CR2032 Battery holder (Mouser 712-BAT-HLD-001) 34 | * 1x 32.768 kHz crystal (Mouser 815-ABS07-32.768KHZT) 35 | * 2x 100nF capacitor 36 | * 1x 10K Ohm resistor 37 | 38 | For the six small microphone boards: 39 | 40 | * 6x SPM1437HM4H-B PDM MEMS Microphones (Mouser 721-SPM1437HM4H-B) 41 | * 6x 100nF capacitors, 0805 package 42 | 43 | For the cable: 44 | 45 | * 1x Micromatch Male-On-Wire 10 pin connector (Mouser 571-12150830) 46 | * 30cm flat cable, 1.27mm, 10 wires 47 | 48 | ![schematics](pcb/CompactSix.png) 49 | 50 | Hardware Configuration 51 | ---------------------- 52 | 53 | There are three options that can be configured using resistors. 54 | 55 | 1. *XTI source* The master clock for the STA321MP audio processor can be supplied 56 | either from the a crystal oscillator or from the McASP module from the BBB. 57 | The configuration is marked as `XTI` on the PCB. The crystal oscillator is 58 | selected by shorting the pads on the `OSC_CK` side. The McASP clock by 59 | shorting the `MCLK` pads. 60 | 61 | 2. *Oscillator Enable* In case the master clock is supplied by the processor 62 | directly, it is possible to turn off the crystal oscillator. 63 | The configuration is marked as `OSC_EN` on the PCB. The crystal oscillator is 64 | turned off by shorting the pads marked `gnd`, and turned on by shorting the pads 65 | marked `vcc`. 66 | 67 | 3. *Mic clock* This option allows to give a clock 4x slower to the microphones. 68 | The configuration is marked as `MIC_CK`. This option is not used at the 69 | moment and the pads marked `CKOUT` should be shorted. 70 | 71 | Dependencies 72 | ------------ 73 | 74 | * A modifed linux kernel should be used. It can be found in another [repo](https://github.com/fakufaku/linux/tree/epfl-3.14-sta321mp) (branch `epfl-3.14-sta321mp`). 75 | * A modified Device Tree Blob found in this [repo](https://github.com/fakufaku/dtb-rebuilder/tree/3.14-ti-sta321mp) (branch `3.14-ti-sta321mp`). 76 | 77 | Reuse 78 | ----- 79 | 80 | All the hardware is under 81 | [CC-BY-SA 4.0](https://creativecommons.org/licenses/by-sa/4.0/) license. If you 82 | reuse some of this stuff in an academic context, please cite our 83 | [demo proposal](https://doi.org/10.1109/ICASSP.2017.8005297) from ICASSP 2017. 84 | 85 | > E. Bezzam, R. Scheibler, J. Azcarreta, H. Pan, M. Simeoni, R. Beuchat, P. Hurley, B. Bruneau, C. Ferry, and S. Kashani, 86 | _Hardware and software for reproducible research in audio array signal processing_, 87 | Proc. IEEE ICASSP, New Orleans, LA, USA, 2017, pp. 6591--6592. 88 | DOI: 10.1109/ICASSP.2017.8005297 89 | -------------------------------------------------------------------------------- /pcb/CompactSix.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/LCAV/CompactSix/4deda86e0e70cad28046e3bcb6bdad3f2a8c9a35/pcb/CompactSix.png -------------------------------------------------------------------------------- /pcb/CompactSix_BOM.txt: -------------------------------------------------------------------------------- 1 | Partlist exported from /Users/scheibler/Documents/eagle/CompactSix/CompactSix.sch at 03.04.17 11:16 2 | 3 | Qty Value Device Package Parts Mouser # Description 4 | 5 | # Audio Processor 6 | 1 STA321MP STA321MP TQFP64-ST ADC 511-STA321MPLTR The audio processor 7 | 1 11.2896MHz or 12.288MHz OSCILLATOR-AW-2.5X2 AW-CRYSTAL-2.5X2 OSC_CK 732-SG210STF12.288S3 Oscillator 8 | 1 CONN-10P CONN-10P MICROMATCH-10P-SMD P1 571-8-2178711-0 SMD, Micromatch, Female-On-Board, 10 pins 9 | 1 CONN-10P CONN-10P MICROMATCH-10P 571-12150830 SMD, Micromatch, Male-On-Wire, 10 pins 10 | 3 0 RESISTOR 0805 XTI, OSC_EN, MIC_CK Resistor 11 | 2 100 RESISTOR 0805 R19, R20 Resistor 12 | 5 10K RESISTOR 0805 R21, R22, R23, R24, R31 Resistor 13 | 8 100nF CAP0805 0805 C12, C13, C14, C15, C16, C17, C18, C19 Capacitor 14 | 1 10nF CAP0805 0805 C23 Capacitor 15 | 1 1nF CAP0805 0805 C22 Capacitor 16 | 1 10pF CAP0805 0805 C20 Capacitor 17 | 1 1uF CAP0805 0805 C11 Capacitor 18 | 19 | # Six Mic Boards 20 | 6 SPM1437HM4H-B SPM1437HM4H-B 721-SPM1437HM4H-B PDM MEMS Microphone 21 | 6 100nF CAP0805 0805 Capacitor 22 | 23 | # Real Time Clock 24 | 1 BATTERY20SMD BATTCON_20MM BAT1 712-BAT-HLD-001 CR2032 Battery Holders 25 | 1 DS1338 DS1338 SO08 RTC 700-DS1338Z-33T&R RTC I2C IC 26 | 1 CRYSTAL CRYSTAL CRYSTAL-3.2X1.5 RTC_OSC 815-ABS07-32.768KHZT 32.768 kHz oscillator 27 | 1 100nF CAP0805 0805 C25 Capacitor 28 | 1 10K RESISTOR 0805 R26 Resistor 29 | 30 | # Temperature sensor 31 | 1 TMP275 TMP275 SO08 TMP 595-TMP275AIDR I2C Temperature sensor 32 | 1 100nF CAP0805 0805 C26 Capacitor 33 | 34 | # Amplifier 35 | 1 TS482 MINI-SO-8 AMP 511-TS482IS 36 | 1 AUDIO-STEREO-JACK-3.5MM AUDIO-STEREO-JACK-3.5MM AJ-1780 JACK 502-35RAPC2BH3 37 | 1 L-FERRITE-BEAD-0805 0805 F1 38 | 2 5K RESISTOR 0805 R7, R14 Resistor 39 | 4 10K RESISTOR 0805 R15, R16, R17, R18 Resistor 40 | 12 3.9K RESISTOR 0805 R1, R2, R3, R4, R5, R6, R8, R9, R10, R11, R12, R13 Resistor 41 | 2 470pF CAP0805 0805 C1, C4 Capacitor 42 | 2 150pF CAP0805 0805 C2, C5 Capacitor 43 | 4 220pF CAP0805 0805 C3, C6, C7, C8 Capacitor 44 | 2 220uF CAP_POL7343 EIA7343 C9, C10 Capacitor Polarized 45 | 1 10uF CAP_POL7343 EIA7343 C21 Capacitor Polarized 46 | 47 | # DNI (do not install) 48 | 1 74AC74D 74AC74D SO14 IC1 Dual D type positive edge triggered FLIP FLOP, preset and clear 49 | 1 100nF CAP0805 0805 C24 Capacitor 50 | -------------------------------------------------------------------------------- /pcb/CompactSix_brd_bot.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/LCAV/CompactSix/4deda86e0e70cad28046e3bcb6bdad3f2a8c9a35/pcb/CompactSix_brd_bot.png -------------------------------------------------------------------------------- /pcb/CompactSix_brd_top.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/LCAV/CompactSix/4deda86e0e70cad28046e3bcb6bdad3f2a8c9a35/pcb/CompactSix_brd_top.png -------------------------------------------------------------------------------- /pcb/mic_board.brd: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | VCC 137 | GND 138 | DAT 139 | CLK 140 | GND 141 | VCC 142 | CLK 143 | DAT 144 | LCAV 145 | 2015 146 | 2015 147 | LCAV 148 | Design by 149 | Robin Scheibler 150 | EPFL-IC-LCAV 151 | EPFL-IC-LCAV 152 | v2.0 153 | v2.0 154 | Design by 155 | Robin Scheibler 156 | 157 | 158 | 159 | Spark Fun Electronics' preferred foot prints. <b>Not to be used for commercial purposes.</b> We've spent an enormous amount of time creating and checking these footprints and parts. If you enjoy using this library, please buy one of our products at www.sparkfun.com. 160 | 161 | 162 | 163 | 164 | 165 | 166 | >NAME 167 | >VALUE 168 | 169 | 170 | 171 | 172 | 173 | 174 | 175 | 176 | 177 | 178 | 179 | 180 | 181 | 182 | 183 | 184 | 185 | 186 | 187 | 188 | 189 | >NAME 190 | 191 | 192 | 193 | >NAME 194 | 195 | 196 | 197 | 198 | 199 | 200 | 201 | 202 | 203 | 204 | 205 | 206 | 207 | <b>EAGLE Design Rules</b> 208 | <p> 209 | Die Standard-Design-Rules sind so gewählt, dass sie für 210 | die meisten Anwendungen passen. Sollte ihre Platine 211 | besondere Anforderungen haben, treffen Sie die erforderlichen 212 | Einstellungen hier und speichern die Design Rules unter 213 | einem neuen Namen ab. 214 | <b>EAGLE Design Rules</b> 215 | <p> 216 | The default Design Rules have been set to cover 217 | a wide range of applications. Your particular design 218 | may have different requirements, so please make the 219 | necessary adjustments and save your customized 220 | design rules under a new name. 221 | <b>Seeed Studio EAGLE Design Rules</b> 222 | 223 | 224 | 225 | 226 | 227 | 228 | 229 | 230 | 231 | 232 | 233 | 234 | 235 | 236 | 237 | 238 | 239 | 240 | 241 | 242 | 243 | 244 | 245 | 246 | 247 | 248 | 249 | 250 | 251 | 252 | 253 | 254 | 255 | 256 | 257 | 258 | 259 | 260 | 261 | 262 | 263 | 264 | 265 | 266 | 267 | 268 | 269 | 270 | 271 | 272 | 273 | 274 | 275 | 276 | 277 | 278 | 279 | 280 | 281 | 282 | 283 | 284 | 285 | 286 | 287 | 288 | 289 | 290 | 291 | 292 | 293 | 294 | 295 | 296 | 297 | 298 | 299 | 300 | 301 | 302 | 303 | 304 | 305 | 306 | 307 | 308 | 309 | 310 | 311 | 312 | 313 | 314 | 315 | 316 | 317 | 318 | 319 | 320 | 321 | 322 | 323 | 324 | 325 | 326 | 327 | 328 | 329 | 330 | 331 | 332 | 333 | 334 | 335 | 336 | 337 | 338 | 339 | 340 | 341 | 342 | 343 | 344 | 345 | 346 | 347 | 348 | 349 | 350 | 351 | 352 | 353 | 354 | 355 | 356 | 357 | 358 | 359 | 360 | 361 | 362 | 363 | 364 | 365 | 366 | 367 | 368 | 369 | 370 | 371 | 372 | 373 | 374 | 375 | 376 | 377 | 378 | 379 | 380 | 381 | 382 | 383 | 384 | 385 | 386 | 387 | 388 | 389 | 390 | 391 | 392 | 393 | 394 | 395 | 396 | 397 | 398 | 399 | 400 | 401 | 402 | 403 | 404 | 405 | 406 | 407 | 408 | 409 | 410 | 411 | 412 | 413 | 414 | 415 | 416 | 417 | 418 | 419 | 420 | 421 | 422 | 423 | 424 | 425 | 426 | 427 | 428 | 429 | 430 | 431 | 432 | 433 | 434 | 435 | 436 | 437 | 438 | 439 | 440 | 441 | 442 | 443 | 444 | 445 | 446 | 447 | 448 | 449 | 450 | 451 | 452 | 453 | 454 | 455 | 456 | 457 | 458 | 459 | 460 | 461 | 462 | 463 | 464 | 465 | 466 | 467 | 468 | 469 | 470 | 471 | 472 | 473 | 474 | 475 | 476 | 477 | 478 | 479 | 480 | 481 | 482 | 483 | 484 | 485 | 486 | 487 | 488 | 489 | 490 | 491 | 492 | 493 | 494 | 495 | 496 | 497 | 498 | 499 | 500 | 501 | 502 | 503 | 504 | 505 | 506 | 507 | 508 | 509 | 510 | 511 | 512 | 513 | 514 | 515 | 516 | 517 | Since Version 6.2.2 text objects can contain more than one line, 518 | which will not be processed correctly with this version. 519 | 520 | 521 | 522 | -------------------------------------------------------------------------------- /pcb/mic_board.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/LCAV/CompactSix/4deda86e0e70cad28046e3bcb6bdad3f2a8c9a35/pcb/mic_board.png -------------------------------------------------------------------------------- /pcb/mic_board.sch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | >NAME 146 | 147 | 148 | 149 | >NAME 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 161 | 162 | 163 | 164 | 165 | 166 | 167 | 168 | >NAME 169 | 170 | 171 | 172 | 173 | 174 | 175 | 176 | 177 | >NAME 178 | 179 | 180 | 181 | 182 | 183 | 184 | 185 | 186 | 187 | 188 | 189 | 190 | 191 | 192 | 193 | 194 | 195 | 196 | 197 | 198 | 199 | 200 | 201 | 202 | 203 | 204 | 205 | 206 | 207 | 208 | 209 | 210 | 211 | 212 | 213 | 214 | 215 | 216 | 217 | 218 | <b>Supply Symbols</b><p> 219 | GND, VCC, 0V, +5V, -5V, etc.<p> 220 | Please keep in mind, that these devices are necessary for the 221 | automatic wiring of the supply signals.<p> 222 | The pin name defined in the symbol is identical to the net which is to be wired automatically.<p> 223 | In this library the device names are the same as the pin names of the symbols, therefore the correct signal names appear next to the supply symbols in the schematic.<p> 224 | <author>Created by librarian@cadsoft.de</author> 225 | 226 | 227 | 228 | 229 | 230 | 231 | >VALUE 232 | 233 | 234 | 235 | 236 | >VALUE 237 | 238 | 239 | 240 | 241 | 242 | <b>SUPPLY SYMBOL</b> 243 | 244 | 245 | 246 | 247 | 248 | 249 | 250 | 251 | 252 | 253 | 254 | 255 | <b>SUPPLY SYMBOL</b> 256 | 257 | 258 | 259 | 260 | 261 | 262 | 263 | 264 | 265 | 266 | 267 | 268 | 269 | 270 | Spark Fun Electronics' preferred foot prints. <b>Not to be used for commercial purposes.</b> We've spent an enormous amount of time creating and checking these footprints and parts. If you enjoy using this library, please buy one of our products at www.sparkfun.com. 271 | 272 | 273 | 274 | 275 | 276 | >Name 277 | >Value 278 | 279 | 280 | 281 | 282 | 283 | 284 | 285 | 286 | 287 | >Name 288 | >Value 289 | 290 | 291 | 292 | 293 | 294 | 295 | >NAME 296 | >VALUE 297 | 298 | 299 | 300 | 301 | 302 | 303 | 304 | 305 | >Name 306 | >Value 307 | 308 | 309 | 310 | 311 | 312 | 313 | 314 | 315 | 316 | 317 | 318 | 319 | 320 | 321 | 322 | 323 | >NAME 324 | >VALUE 325 | 326 | 327 | 328 | 329 | 330 | 331 | 332 | 333 | 334 | 335 | 336 | 337 | 338 | >NAME 339 | >VALUE 340 | 341 | 342 | 343 | 344 | 345 | <b>CAPACITOR</b><p> 346 | chip 347 | 348 | 349 | 350 | 351 | 352 | 353 | 354 | 355 | 356 | >NAME 357 | >VALUE 358 | 359 | 360 | 361 | 362 | 363 | 364 | 365 | 366 | >Name 367 | >Value 368 | 369 | 370 | 371 | 372 | 373 | 374 | >NAME 375 | >VALUE 376 | 377 | 378 | 379 | 380 | 381 | 382 | 383 | 384 | <b>Capacitor</b> 385 | Standard 0603 ceramic capacitor, and 0.1" leaded capacitor. 386 | 387 | 388 | 389 | 390 | 391 | 392 | 393 | 394 | 395 | 396 | 397 | 398 | 399 | 400 | 401 | 402 | 403 | 404 | 405 | 406 | 407 | 408 | 409 | 410 | 411 | 412 | 413 | 414 | 415 | 416 | 417 | 418 | 419 | 420 | 421 | 422 | 423 | 424 | 425 | 426 | 427 | 428 | 429 | 430 | 431 | 432 | 433 | 434 | 435 | 436 | 437 | 438 | 439 | 440 | 441 | 442 | 443 | 444 | 445 | 446 | 447 | 448 | 449 | 450 | 451 | 452 | 453 | 454 | 455 | 456 | 457 | 458 | 459 | 460 | 461 | 462 | 463 | 464 | 465 | 466 | 467 | 468 | 469 | 470 | 471 | 472 | 473 | 474 | 475 | 476 | 477 | 478 | 479 | 480 | 481 | 482 | 483 | 484 | 485 | 486 | 487 | 488 | 489 | 490 | 491 | 492 | 493 | 494 | 495 | 496 | 497 | 498 | 499 | 500 | 501 | 502 | 503 | 504 | 505 | 506 | 507 | 508 | 509 | 510 | 511 | 512 | 513 | 514 | 515 | 516 | 517 | 518 | 519 | 520 | 521 | 522 | 523 | 524 | 525 | 526 | 527 | 528 | 529 | 530 | 531 | 532 | 533 | 534 | 535 | 536 | 537 | 538 | 539 | 540 | 541 | 542 | 543 | 544 | 545 | 546 | 547 | 548 | 549 | 550 | 551 | 552 | 553 | 554 | 555 | 558 | 559 | 560 | 561 | 562 | 563 | 564 | 565 | 566 | 567 | 568 | 569 | 570 | 571 | 572 | 573 | 574 | 575 | 576 | 577 | 578 | 579 | 580 | 581 | 582 | 583 | 584 | 585 | 586 | 587 | 588 | 589 | 590 | 591 | 592 | 593 | 594 | 595 | 596 | 599 | 600 | 601 | 602 | 603 | 604 | 607 | 608 | 609 | 610 | 611 | 612 | 615 | 616 | 617 | 618 | 619 | 620 | 621 | 622 | -------------------------------------------------------------------------------- /scripts/MEMS_array_sim.py: -------------------------------------------------------------------------------- 1 | 2 | import numpy as np 3 | import matplotlib 4 | import matplotlib.pyplot as plt 5 | from scipy.linalg import toeplitz 6 | from scipy.io import wavfile 7 | from scipy.signal import resample,fftconvolve 8 | 9 | import pyroomacoustics as pra 10 | #import TDBeamformers as tdb 11 | 12 | # Beam pattern figure properties 13 | freq=[800, 1600] 14 | figsize=(1.88,2.24) 15 | xlim=[-4,8] 16 | ylim=[-4.9,9.4] 17 | 18 | # Some simulation parameters 19 | Fs = 8000 20 | t0 = 1./(Fs*np.pi*1e-2) # starting time function of sinc decay in RIR response 21 | absorption = 0.90 22 | max_order_sim = 10 23 | sigma2_n = 1e-7 24 | 25 | # Room 1 : Shoe box 26 | room_dim = [4, 6] 27 | 28 | # the good source is fixed for all 29 | good_source = [1, 4.5] # good source 30 | normal_interferer = [2.8, 4.3] # interferer 31 | hard_interferer = [1.5, 3] # interferer in direct path 32 | #normal_interferer = hard_interferer 33 | 34 | # microphone array design parameters 35 | mic1 = [2, 1.5] # position 36 | M = 8 # number of microphones 37 | d = 0.08 # distance between microphones 38 | phi = 0. # angle from horizontal 39 | max_order_design = 2 # maximum image generation used in design 40 | shape = 'Linear' # array shape 41 | Lg_t = 0.050 # Filter size in seconds 42 | Lg = np.ceil(Lg_t*Fs) # Filter size in samples 43 | delay = 0.02 44 | 45 | # define the FFT length 46 | N = 1024 47 | 48 | # create a microphone array 49 | R = np.array([[25.146, 51.816, 24.13, 44.45, 64.516, 84.582], 50 | [33.528, 36.068, 16.002, 10.414, 10.668, 16.764]])*1e-3 51 | R -= R.mean(axis=1, keepdims=True) - np.array([mic1]).T 52 | mics = pra.Beamformer(R, Fs, N, Lg=Lg) 53 | 54 | 55 | # The first signal (of interest) is singing 56 | rate1, signal1 = wavfile.read('samples/singing_'+str(Fs)+'.wav') 57 | signal1 = np.array(signal1, dtype=float) 58 | signal1 = pra.normalize(signal1) 59 | signal1 = pra.highpass(signal1, Fs) 60 | delay1 = 0. 61 | 62 | # the second signal (interferer) is some german speech 63 | rate2, signal2 = wavfile.read('samples/german_speech_'+str(Fs)+'.wav') 64 | signal2 = np.array(signal2, dtype=float) 65 | signal2 = pra.normalize(signal2) 66 | signal2 = pra.highpass(signal2, Fs) 67 | delay2 = 1. 68 | 69 | # create the room with sources and mics 70 | room1 = pra.Room.shoeBox2D( 71 | [0,0], 72 | room_dim, 73 | fs=Fs, 74 | t0 = t0, 75 | max_order=max_order_sim, 76 | absorption=absorption, 77 | sigma2_awgn=sigma2_n) 78 | 79 | # add mic and good source to room 80 | room1.addSource(good_source, signal=signal1, delay=delay1) 81 | room1.addMicrophoneArray(mics) 82 | 83 | # add interferer 84 | room1.addSource(normal_interferer, signal=signal2, delay=delay2) 85 | 86 | # simulate the acoustic 87 | room1.compute_RIR() 88 | room1.simulate() 89 | 90 | # compute beamforming filters 91 | good_sources = room1.sources[0][:max_order_design+1] 92 | bad_sources = room1.sources[1][:max_order_design+1] 93 | mics.rakePerceptualFilters(good_sources, bad_sources, sigma2_n*np.eye(mics.Lg*mics.M), delay=delay) 94 | 95 | # process the signal 96 | output = mics.process() 97 | 98 | # save to output file 99 | inp = pra.normalize(pra.highpass(mics.signals[mics.M/2], Fs)) 100 | out = pra.normalize(pra.highpass(output, Fs)) 101 | 102 | wavfile.write('output_samples/input.wav', Fs, inp) 103 | wavfile.write('output_samples/output.wav', Fs, out) 104 | 105 | ''' 106 | Plot Stuff 107 | ''' 108 | f_size = (3.93, 1.57) 109 | 110 | # plot the room and beamformer 111 | room1.plot(img_order=np.minimum(room1.max_order, max_order_design), 112 | freq=freq) 113 | 114 | # plot the beamforming weights 115 | plt.figure() 116 | mics.plot(FD=False) 117 | 118 | # plot before/after processing 119 | plt.figure() 120 | pra.comparePlot(inp, out, Fs) 121 | 122 | # plot angle/frequency plot 123 | plt.figure() 124 | mics.plot_beam_response() 125 | 126 | plt.show() 127 | -------------------------------------------------------------------------------- /scripts/low_pass_biquad.py: -------------------------------------------------------------------------------- 1 | from __future__ import division 2 | import numpy as np 3 | from scipy import signal 4 | import matplotlib.pyplot as plt 5 | 6 | def f2u(x): 7 | ''' 8 | Quantization on 24 bits in signed fractionnal form 9 | min: 0x800000 == -1 10 | max: 0x7FFFFF is about 0.9999999988 or the like 11 | ''' 12 | 13 | if x >= 0: 14 | return int(x*2.**23) 15 | else: 16 | return 2**24 + int(x*2**23) 17 | 18 | Fs_in = 192000 19 | Fs_cut = 44000 20 | Fs_out = 48000 21 | n_butter = 0 22 | n_cheby = 0 23 | n_ellip = 6 24 | stages = n_butter + n_cheby + n_ellip 25 | 26 | if stages > 9: 27 | raise ValueError('Only 9 stages max.') 28 | 29 | ripple = 0.1 30 | stop = 100 31 | 32 | sos = np.zeros((0,6)) 33 | 34 | if n_butter > 0: 35 | sos_b = signal.butter(2*n_butter, Fs_cut/Fs_in, btype='low', output='sos') 36 | if n_butter > 1: 37 | k = np.sqrt(np.sum(sos_b[0,:3]**2)) 38 | k_n = k**(1/(n_butter-1)) 39 | sos_b[0,:3] /= k 40 | sos_b[1:,:3] *= k_n 41 | sos = np.vstack((sos, sos_b)) 42 | if n_cheby > 0: 43 | sos_c = signal.cheby2(2*n_cheby, stop, Fs_out/Fs_in, btype='low', output='sos') 44 | if n_cheby > 1: 45 | k = np.sqrt(np.sum(sos_c[0,:3]**2)) 46 | k_n = k**(1/(n_cheby-1)) 47 | sos_c[0,:3] /= k 48 | sos_c[1:,:3] *= k_n 49 | sos = np.vstack((sos, sos_c)) 50 | if n_ellip > 0: 51 | sos_e = signal.ellip(2*n_ellip, ripple, stop, Fs_cut/Fs_in, btype='low', output='sos') 52 | if n_ellip > 1: 53 | k = np.sqrt(np.sum(sos_e[0,:3]**2)) 54 | k_n = k**(1/(n_ellip-1)) 55 | sos_e[0,:3] /= k 56 | sos_e[1:,:3] *= k_n 57 | sos = np.vstack((sos, sos_e)) 58 | 59 | sos_q = np.around((sos-1e-9)*2**23)/2**23 60 | 61 | z,p,k = signal.sos2zpk(sos) 62 | zq,pq,kq = signal.sos2zpk(sos_q) 63 | plt.figure() 64 | plt.plot(np.real(z), np.imag(z), 'o') 65 | plt.plot(np.real(p), np.imag(p), 'x') 66 | plt.plot(np.real(zq), np.imag(z), 'ro') 67 | plt.plot(np.real(pq), np.imag(p), 'rx') 68 | ucx = np.cos(np.linspace(0,2*np.pi,1000)) 69 | ucy = np.sin(np.linspace(0,2*np.pi,1000)) 70 | plt.plot(ucx, ucy, 'k-') 71 | plt.axis('equal') 72 | 73 | # Plot response 74 | b,a = signal.sos2tf(sos) 75 | bq,aq = signal.sos2tf(sos_q) 76 | w,h = signal.freqz(b,a=a) 77 | wq,hq = signal.freqz(bq,a=aq) 78 | plt.figure() 79 | ax1 = plt.subplot(1,1,1) 80 | plt.plot(w/np.pi*Fs_in/2, 20 * np.log10(abs(h)),'b') 81 | plt.plot(wq/np.pi*Fs_in/2, 20 * np.log10(abs(hq)),'r') 82 | plt.title('Filter frequency response') 83 | plt.xlabel('Frequency [radians / second]') 84 | plt.ylabel('Amplitude [dB]') 85 | plt.margins(0, 0.1) 86 | plt.grid(which='both', axis='both') 87 | plt.axvline(Fs_cut/2, color='green') # cutoff frequency 88 | plt.axvline(Fs_out/2, color='red') # cutoff frequency 89 | 90 | ax2 = ax1.twinx() 91 | #angles = np.unwrap(np.angle(h)) 92 | #plt.plot(w/np.pi*Fs_in/2, angles, 'g') 93 | 94 | w,gd = signal.group_delay((b,a)) 95 | plt.plot(w/np.pi*Fs_in/2, gd*Fs_out/Fs_in) 96 | 97 | plt.ylabel('Angle (radians)', color='g') 98 | plt.grid() 99 | plt.axis('tight') 100 | 101 | vb = np.zeros((3,stages)) 102 | va = np.zeros((3,stages)) 103 | 104 | k2 = k**(1/stages) 105 | for i in xrange(stages): 106 | 107 | if np.max(np.abs(sos_q[i,:])/[2, 2, 1, 1, 2, 1]) > 1: 108 | 109 | print 'Warning: one of the coefficient is larger than 1' 110 | print sos[i,:] 111 | 112 | b1 = sos[i,1] 113 | b2 = sos[i,2] 114 | a1 = sos[i,4] 115 | a2 = sos[i,5] 116 | b0 = sos[i,0] 117 | 118 | print("sta321mp_biquad(codec, 1, %d, 0x%x, 0x%x, 0x%x, 0x%x,0x%x);" 119 | % (i+2, f2u(b1/2), f2u(b2), f2u(-a1/2), f2u(-a2), f2u(b0/2))) 120 | 121 | 122 | n = 5000 123 | x = np.zeros(n) 124 | x[0] = 1 125 | x = np.random.randn(n) 126 | 127 | # method 1 128 | y1 = signal.sosfilt(sos,x) 129 | 130 | # method 2 131 | y2 = signal.sosfilt(sos_q, x) 132 | 133 | plt.figure() 134 | plt.subplot(2,1,1) 135 | plt.plot(y1) 136 | plt.plot(y2, 'r') 137 | plt.subplot(2,1,2) 138 | f = np.fft.rfftfreq(y2.shape[0])*Fs_in 139 | plt.plot(f, 20*np.log10(np.abs(np.fft.rfft(y2)/np.sqrt(y2.shape[0])))) 140 | plt.axvline(Fs_cut/2, color='green') # cutoff frequency 141 | plt.axvline(Fs_out/2, color='red') # cutoff frequency 142 | print('Max error:', np.max(y1-y2)) 143 | 144 | 145 | plt.show() 146 | -------------------------------------------------------------------------------- /scripts/read_raw24.py: -------------------------------------------------------------------------------- 1 | 2 | from numpy import dtype , fromfile 3 | import numpy as np 4 | 5 | def load_raw24(filename): 6 | 7 | d = fromfile(filename,dtype='>u1') 8 | 9 | d = np.reshape(d, (-1,3)) 10 | 11 | d = np.concatenate((np.zeros((d.shape[0],1), dtype='>u1'), d), axis=1) 12 | 13 | d.dtype = '>u4' 14 | 15 | return d 16 | -------------------------------------------------------------------------------- /scripts/util.py: -------------------------------------------------------------------------------- 1 | from __future__ import division 2 | import numpy as np 3 | from scipy import signal 4 | import matplotlib.pyplot as plt 5 | from scikits.audiolab import Sndfile 6 | 7 | def read_wav(name): 8 | 9 | from scikits.audiolab import Sndfile 10 | 11 | sf = Sndfile(name) 12 | return sf.read_frames(sf.nframes) 13 | 14 | def spectrum(x): 15 | f = np.fft.rfftfreq(x.shape[0]) 16 | X = 20*np.log10(np.abs(np.fft.rfft(x)/np.sqrt(x.shape[0]))) 17 | plt.plot(f, X) 18 | 19 | --------------------------------------------------------------------------------