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    Contents
    Preface
    List of Examples
    Chapter 1 OMAP-L138 Development System
    Chapter 2 Analog Input and Output with the OMAP-L138 eXperimenter
    Chapter 3 Finite Impulse Response Filters
    Chapter 4 Infinite Impulse Response Filters
    Chapter 5 Fast Fourier Transform
    Chapter 6 Adaptive Filters
    Chapter 7 DSP/BIOS and Platform Support Package
    Index
    Digital Signal Processing and Applications with the OMAP-L138 eXperimenter
    Digital Signal Processing and Applications with the OMAP-L138 eXperimenter Donald Reay Heriot-Watt University
    Copyright Ó 2012 by John Wiley & Sons, Inc. All rights reserved Published by John Wiley & Sons, Inc., Hoboken, New Jersey Published simultaneously in Canada No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, recording, scanning, or otherwise, except as permitted under Section 107 or 108 of the 1976 United States Copyright Act, without either the prior written permission of the Publisher, or authorization through payment of the appropriate per-copy fee to the Copyright Clearance Center, Inc., 222 Rosewood Drive, Danvers, MA 01923, (978) 750-8400, fax (978) 750-4470, or on the web at www.copyright.com. Requests to the Publisher for permission should be addressed to the Permissions Department, John Wiley & Sons, Inc., 111 River Street, Hoboken, NJ 07030, (201) 748-6011, fax (201) 748-6008, or online at http://www.wiley.com/go/permission. Limit of Liability/Disclaimer of Warranty: While the publisher and author have used their best efforts in preparing this book, they make no representations or warranties with respect to the accuracy or completeness of the contents of this book and specifically disclaim any implied warranties of merchantability or fitness for a particular purpose. No warranty may be created or extended by sales representatives or written sales materials. The advice and strategies contained herein may not be suitable for your situation. You should consult with a professional where appropriate. Neither the publisher nor author shall be liable for any loss of profit or any other commercial damages, including but not limited to special, incidental, consequential, or other damages. For general information on our other products and services or for technical support, please contact our Customer Care Department within the United States at (800) 762-2974, outside the United States at (317) 572-3993 or fax (317) 572-4002. Wiley also publishes its books in a variety of electronic formats. Some content that appears in print may not be available in electronic formats. For more information about Wiley products, visit our web site at www.wiley.com. Library of Congress Cataloging-in-Publication Data: Reay, Donald (Donald S.) Digital signal processing and applications with the OMAP-L138 eXperimenter / Donald Reay. p. cm. Includes bibliographical references and index. ISBN 978-0-470-93686-3 (hardback) 1. Signal processing–Digital techniques–Experiments. 2. Microprocessors–Experiments. I. Title. TK5102.9.R4325 2012 621.382’2078–dc23 Printed in the United States of America 10 9 8 7 6 5 4 3 2 1 2011038412
    To Reiko
    Contents Preface List of Examples 1. OMAP-L138 Development System 1.1 Introduction 1.1.1 Digital Signal Processors 1.2 Hardware and Software Tools 1.2.1 Zoom OMAP-L138 eXperimenter Board 1.2.2 C6748 Processor 1.2.3 Code Composer Studio IDE 1.2.4 Installation of Code Composer Studio Software Version 4 and Support Files 1.3 Initial Test of the Experimenter Using a Program Supplied with this Book 1.4 Programming Examples to Test the Experimenter 1.5 Support Files 1.5.1 Initialization and Configuration File (L138_aic3106_init.c) 1.5.2 Header File (L138_aic3106_init.h) 1.5.3 Vector Files (vectors_intr.asm and vectors_poll.asm) 1.5.4 Linker Command File (linker_dsp.cmd) Exercises References 2. Analog Input and Output with the OMAP-L138 eXperimenter 2.1 Introduction 2.1.1 Sampling, Reconstruction, and Aliasing 2.2 TLV320AIC3106 (AIC3106) On-Board Stereo Codec for Analog Input and Output 2.3 Programming Examples Using C Code 2.3.1 Real-Time Input and Output Using Polling, Interrupts, and Direct Memory Access xi xiii 1 1 3 4 6 6 6 7 8 14 31 31 32 32 34 36 37 38 38 39 39 41 41 vii
    viii Contents 2.3.2 Real-Time Sine Wave Generation References 3. Finite Impulse Response Filters 3.1 Introduction to Digital Filters z-Transfer Functions Introduction to the z-Transform 3.1.1 FIR Filter 3.1.2 3.1.3 Properties of the z-Transform 3.1.4 3.1.5 Mapping from the s-Plane to the z-Plane 3.1.6 Difference Equations 3.1.7 Frequency Response and the z-Transform 3.1.8 3.1.9 Window Method of Filter Design Ideal Filter Response Classifications: LP, HP, BP, and BS 3.1.10 Window Functions 3.1.11 Design of Band-Pass and High-Pass Filters Using Frequency Shifting 3.2 Programming Examples Using C And ASM Code References 4. Infinite Impulse Response Filters 4.1 Introduction 4.2 IIR Filter Structures 4.2.1 Direct Form I Structure 4.2.2 Direct Form II Structure 4.2.3 Direct Form II Transpose 4.2.4 Cascade Structure 4.2.5 Parallel Form Structure 4.3 Impulse Invariance 4.4 Bilinear Transformation 4.4.1 Bilinear Transform Design Procedure 4.5 Programming Examples Using C and ASM Code 4.5.1 Design of a Simple IIR Low-Pass Filter Reference 5. Fast Fourier Transform 5.1 Introduction 5.2 Development of the FFT Algorithm with Radix-2 5.3 Decimation-In-Frequency FFT Algorithm with Radix-2 5.4 Decimation-In-Time FFT Algorithm with RADIX-2 5.4.1 Reordered Sequences in the Radix-2 FFT and Bit-Reversed Addressing 64 102 103 103 103 105 107 109 109 111 112 112 113 114 120 123 158 159 159 160 160 161 162 164 165 166 167 169 169 169 211 212 212 213 214 218 220
    5.5 Decimation-In-Frequency FFT Algorithm with Radix-4 5.6 Inverse Fast Fourier Transform 5.7 Programming Examples Using C Code 5.7.1 Frame- or Block-Based Processing 5.7.2 Fast Convolution References 6. Adaptive Filters 6.1 Introduction 6.2 Adaptive Filter Configurations 6.2.1 Adaptive Prediction 6.2.2 System Identification or Direct Modeling 6.2.3 Noise Cancellation 6.2.4 Equalization 6.3 Performance Function 6.3.1 Visualizing the Performance Function 6.4 Searching for the Minimum 6.5 Least Mean Squares Algorithm 6.5.1 LMS Variants 6.6 Programming Examples 7. DSP/BIOS and Platform Support Package 7.1 Introduction to DSP/BIOS 7.1.1 DSP/BIOS Threads 7.1.2 DSP/BIOS Configuration Tool 7.1.3 DSP/BIOS Start-Up Sequence 7.1.4 Hardware Interrupts 7.1.5 Software Interrupts 7.1.6 Tasks and Idle Functions 7.1.7 Periodic Functions 7.1.8 Real-Time Analysis with DSP/BIOS 7.2 DSP/BIOS Platform Support Package References Index Contents ix 221 223 223 233 258 278 279 279 280 280 281 281 283 283 285 285 287 288 288 307 307 307 308 309 310 320 322 327 329 329 335 337
    Preface This book continues the series started in 1990 by Rulph Chassaing and Darrell Horning’s Digital Signal Processing with the TMS320C25 and which has reflected the development of successive generations of digital signal processors by Texas Instru- ments. More specifically, each book in this series has complemented a different one of the inexpensive DSP development tools promoted by the Texas Instruments Univer- sity Programme for teaching purposes. A consistent theme in the books has been the provision of a large number of simple example programs illustrating DSP concepts in real-time in a laboratory setting. It was Rulph Chassaing’s belief, and also mine, that hands-on teaching of DSP, using hardware development kits and laboratory test equipment to process analog audio frequency signals, is a valuable and effective way of reinforcing the theory taught in lectures. The contents of the books, insofar as they concern fundamental concepts of digital signal processing such as analog-to-digital and digital-to-analog conversion, FIR and IIR filtering, the Fourier transform, and adaptive filtering, have changed little. Every year, in the context of university teaching, brings another set of students wanting to study this material. However, each successive book has concerned a different hardware development kit. The latest hardware development kit to be promoted by the Texas Instruments University Programme is the Logic PD OMAP-L138 eXperimenter. This book is suitable for senior undergraduate and postgraduate electrical engineering students who have a basic knowledge of C programming and of linear systems theory. The architecture of Texas Instruments’ DSP devices has reached a level of complexity that places assembly language programming out of reach of such students. Certainly, I have found that it is beyond the scope and time available in a digital signal processing class. Even some of the optimized DSP functions supplied by Texas Instruments in support libraries are written in C rather than assembly language. For this reason, this book does not contain chapters concerning processor architecture or assembly language programming. The OMAP-L138 is a dual-core processor, the capabilities of which are far beyond what can be covered in a single text. This book uses only a fraction of its features in order to provide teaching materials specifically for DSP. It is intended and hoped that this book will prove a useful resource for anyone involved in teaching or learning DSP and as a starting point for teaching or learning more. xi
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