# -*- coding: utf-8 -*- from PyQt5 import QtGui, QtCore, QtWidgets from matplotlib.backends.backend_qt4agg import FigureCanvasQTAgg as FigureCanvas from matplotlib.figure import Figure import sys,math import numpy import scipy.signal import time from ArduinoDueFiltrageNumerique import Arduino class FiltreNumerique: def __init__(self,a,b): self.a = numpy.array(a,dtype=numpy.double) self.b = numpy.array(b,dtype=numpy.double) self.a_max = numpy.max(numpy.abs(self.a)) self.b_max = numpy.max(numpy.abs(self.b)) self.ab_max = max(self.a_max,self.b_max) self.a_size = self.a.size self.b_size = self.b.size self.type = "double" self.dtype = numpy.double def reponse_freq(self): def H(f): num = self.b[0] for k in range(1,self.b_size): num += self.b[k]*numpy.exp(-1j*2*numpy.pi*k*f) den = self.a[0] for k in range(1,self.a_size): den += self.a[k]*numpy.exp(-1j*2*numpy.pi*k*f) return num/den f = numpy.linspace(0.0,0.5,1000) hf = H(f) g = numpy.absolute(hf) phi = numpy.unwrap(numpy.angle(hf)) return (f,g,phi) def integer32(self,signal_nbits,filtre_gbits): self.type = "int32" self.filtre_nbits = 32+1-signal_nbits-filtre_gbits self.signal_nbits = signal_nbits self.ab_shift = int(self.filtre_nbits-1-numpy.log(self.ab_max)/numpy.log(2)) self.a_i = numpy.array(self.a*2**self.ab_shift,dtype=numpy.int32) self.b_i = numpy.array(self.b*2**self.ab_shift,dtype=numpy.int32) self.a = numpy.array(self.a_i*2**(-self.ab_shift),dtype=numpy.double) self.b = numpy.array(self.b_i*2**(-self.ab_shift),dtype=numpy.double) self.dtype = numpy.int32 def integer64(self,signal_nbits,filtre_gbits): self.type = "int64" self.filtre_nbits = 64+1-signal_nbits-filtre_gbits self.signal_nbits = signal_nbits self.ab_shift = int(self.filtre_nbits-1-numpy.log(self.ab_max)/numpy.log(2)) self.a_i = numpy.array(self.a*2**self.ab_shift,dtype=numpy.int64) self.b_i = numpy.array(self.b*2**self.ab_shift,dtype=numpy.int64) self.a = numpy.array(self.a_i*2**(-self.ab_shift),dtype=numpy.double) self.b = numpy.array(self.b_i*2**(-self.ab_shift),dtype=numpy.double) self.dtype = numpy.int64 class MyMplCanvas(FigureCanvas): def __init__(self, parent=None, width=5, height=4, dpi=100): fig = Figure(figsize=(width, height), dpi=dpi) self.axes = fig.gca() self.compute_initial_figure() FigureCanvas.__init__(self, fig) self.setParent(parent) FigureCanvas.setSizePolicy(self, QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Expanding) FigureCanvas.updateGeometry(self) def compute_initial_figure(self): pass class TraceGain(MyMplCanvas): def compute_initial_figure(self): pass def update_figure(self,fmax,f,G): self.axes.clear() self.axes.set_position([0.15,0.2,0.7,0.7]) self.axes.plot(f/1000,G) self.axes.axis([0,fmax/1000,0,1.5]) self.axes.set_xlabel("f (kHz)") self.axes.set_ylabel("G") self.axes.grid() self.draw() class TracePhase(MyMplCanvas): def compute_initial_figure(self): pass def update_figure(self,fmax,f,phi): self.axes.clear() self.axes.set_position([0.15,0.2,0.7,0.7]) psi = numpy.unwrap(phi)*1.0/math.pi self.axes.plot(f/1000,psi) self.axes.axis([0,fmax/1000,psi.min(),psi.max()]) self.axes.set_xlabel("f (kHz)") self.axes.set_ylabel("phi/pi") self.axes.grid() self.draw() class FilterApplicationWindow(QtWidgets.QMainWindow): def __init__(self,filterType): self.samplesReading_thread = 0 QtWidgets.QMainWindow.__init__(self) self.setAttribute(QtCore.Qt.WA_DeleteOnClose) self.filterType = filterType if filterType=="RIF": self.setWindowTitle(u'Filtre RIF Arduino') elif filterType=="RII": self.setWindowTitle(u'Filtre RII Arduino') self.main_widget = QtWidgets.QWidget(self) main_box_layout = QtWidgets.QHBoxLayout(self.main_widget) plot_layout = QtWidgets.QVBoxLayout(self.main_widget) self.traceGain = TraceGain(self.main_widget, width=5, height=4, dpi=100) plot_layout.addWidget(self.traceGain) self.tracePhase = TracePhase(self.main_widget, width=5, height=4, dpi=100) plot_layout.addWidget(self.tracePhase) main_box_layout.addLayout(plot_layout) self.file_menu = QtWidgets.QMenu('&Fichier', self) self.file_menu.addAction('&Quitter', self.quit,QtCore.Qt.CTRL + QtCore.Qt.Key_Q) self.menuBar().addMenu(self.file_menu) if filterType=="RIF": filtre_label = QtWidgets.QLabel(u"Filtre RIF") elif filterType=="RII": filtre_label = QtWidgets.QLabel(u"Filtre RII") self.type_filtre_combo = QtWidgets.QComboBox() self.type_filtre_combo.addItems(["butter","cheby1","cheby2","ellip","bessel"]) self.filtre_combo = QtWidgets.QComboBox() self.filtre_combo.addItems(["Passe bas","Passe haut","Passe bande","Coupe bande"]) fen_label = QtWidgets.QLabel(u"Fenêtre") if filterType=="RIF": self.fen_combo = QtWidgets.QComboBox() self.fen_combo.addItems(["boxcar","hamming","hann","blackman","triang"]) fechant_label = QtWidgets.QLabel(u"Fréquence d'échantillonnage (kHz)") self.fechant_combo = QtWidgets.QComboBox() self.fechant_combo.addItems(["1","2","4","10","20","40","80","100"]) if filterType=="RIF": self.P_label = QtWidgets.QLabel(u"Nombre de coefficients") self.P_slider = QtWidgets.QSlider(QtCore.Qt.Horizontal) self.P_slider.setMinimum(1) self.P_slider.setMaximum(100) if filterType=="RII": ordre_label = QtWidgets.QLabel(u"Ordre") self.ordre_combo = QtWidgets.QComboBox() self.ordre_combo.addItems(["1","2","3","4","5","6"]) fc1_label = QtWidgets.QLabel(u"Fréquence de coupure 1 (Hz)") self.fc1_edit = QtWidgets.QLineEdit() self.fc1_edit.setText("100") fc2_label = QtWidgets.QLabel(u"Fréquence de coupure 2 (Hz)") self.fc2_edit = QtWidgets.QLineEdit() self.fc2_edit.setText("200") numtype_label = QtWidgets.QLabel(u"Type de l'accumulateur") self.numtype_combo = QtWidgets.QComboBox() self.numtype_combo.addItems(["Entier 32 bits","Flottant"]) nbits_label = QtWidgets.QLabel(u"Nombre de bits de sécurité") self.nbits_combo = QtWidgets.QComboBox() self.nbits_array_32 = ["1","2","3","4","5","6","7","8"] self.nbits_combo.addItems(self.nbits_array_32) real_label = QtWidgets.QLabel(u"Réalisation") self.real_combo = QtWidgets.QComboBox() self.real_combo.addItems(["Forme directe I","Forme directe II",u"Forme directe transposée II"]) offset_label = QtWidgets.QLabel(u"Offset") self.offset_edit = QtWidgets.QLineEdit() self.offset_edit.setText("2048") com_label = QtWidgets.QLabel(u"Port COM") self.com_combo = QtWidgets.QComboBox() self.com_combo.addItems(["1","2","3","4","5","6","7","8","9","10","11","12","13","14","15","16","17","18","19","20"]) send_button = QtWidgets.QPushButton("Transmettre") ui_layout = QtWidgets.QVBoxLayout(self.main_widget) layout = QtWidgets.QGridLayout() k = 0 if filterType=="RIF": layout.addWidget(filtre_label,k,0) layout.addWidget(self.filtre_combo,k,1) k += 1 if filterType=="RII": layout.addWidget(filtre_label,k,0) layout.addWidget(self.type_filtre_combo,k,1) k += 1 layout.addWidget(self.filtre_combo,k,1) k += 1 if filterType=="RIF": layout.addWidget(fen_label,k,0) layout.addWidget(self.fen_combo,k,1) k += 1 layout.addWidget(fechant_label,k,0) layout.addWidget(self.fechant_combo,k,1) k += 1 if filterType=="RIF": layout.addWidget(self.P_label,k,0) layout.addWidget(self.P_slider,k,1) k += 1 elif filterType=="RII": layout.addWidget(ordre_label,k,0) layout.addWidget(self.ordre_combo,k,1) k += 1 layout.addWidget(fc1_label,k,0) layout.addWidget(self.fc1_edit,k,1) k += 1 layout.addWidget(fc2_label,k,0) layout.addWidget(self.fc2_edit,k,1) k += 1 layout.addWidget(numtype_label,k,0) layout.addWidget(self.numtype_combo,k,1) k += 1 layout.addWidget(nbits_label,k,0) layout.addWidget(self.nbits_combo,k,1) k += 1 layout.addWidget(real_label,k,0) layout.addWidget(self.real_combo,k,1) k += 1 layout.addWidget(offset_label,k,0) layout.addWidget(self.offset_edit,k,1) k += 1 layout.addWidget(com_label,k,0) layout.addWidget(self.com_combo,k,1) k += 1 layout.addWidget(send_button,k,0) ui_layout.addLayout(layout) self.console = QtWidgets.QTextEdit() ui_layout.addWidget(self.console) main_box_layout.addLayout(ui_layout) self.main_widget.setFocus() self.setCentralWidget(self.main_widget) self.filtre_combo.currentIndexChanged.connect(self.update) self.fechant_combo.currentIndexChanged.connect(self.update) if filterType=="RIF": self.fen_combo.currentIndexChanged.connect(self.update) self.P_slider.sliderReleased.connect(self.update) #self.P_slider.sliderMoved.connect(self.updatePlabel) elif filterType=="RII": self.ordre_combo.currentIndexChanged.connect(self.update) self.type_filtre_combo.currentIndexChanged.connect(self.update) self.fc1_edit.returnPressed.connect(self.update) self.fc2_edit.returnPressed.connect(self.update) send_button.clicked.connect(self.transmettre) self.numtype_combo.currentIndexChanged.connect(self.update) self.nbits_combo.currentIndexChanged.connect(self.update) self.update() self.arduino = 0 def updatePlabel(self): P = self.P_slider.value() self.P_label.setText("Nombre de coefficients = %d"%2*P+1) def update(self): if self.filterType=="RIF": self.update_rif() elif self.filterType=="RII": self.update_rii() def update_rif(self): class FrequenceError(Exception): pass filtre = self.filtre_combo.currentText() fen = str(self.fen_combo.currentText()) fechant = float(self.fechant_combo.currentText())*1000.0 self.fsample_hz = fechant P = int(self.P_slider.value()) N = 2*P+1 self.P_label.setText("Nombre de coefficients N=%d"%(N)) fc1 = float(self.fc1_edit.text()) fc2 = float(self.fc2_edit.text()) self.offset = float(self.offset_edit.text()) self.numtype = self.numtype_combo.currentIndex() self.nbits = int(self.nbits_combo.currentIndex()) try: f1 = fc1/fechant f2 = fc2/fechant if f1>0.5 or f2>0.5: raise FrequenceError(u"La fréquence de coupure doit être inférieure à fechant/2") if f2<=f1 and (filtre=="Passe bande" or filtre=="Coupe bande"): raise FrequenceError(u"La première fréquence de coupure doit être inférieure à la seconde") self.coef_a = [1.0] if filtre=="Passe bas": self.coef_b = scipy.signal.firwin(numtaps=N,cutoff=[f1],nyq=0.5,window=fen) elif filtre=="Passe haut": self.coef_b = scipy.signal.firwin(numtaps=N,cutoff=[f1],pass_zero=False,nyq=0.5,window=fen) elif filtre=="Passe bande": self.coef_b = scipy.signal.firwin(numtaps=N,cutoff=[f1,f2],pass_zero=False,nyq=0.5,window=fen) elif filtre=="Coupe bande": self.coef_b = scipy.signal.firwin(numtaps=N,cutoff=[f1,f2],nyq=0.5,window=fen) self.filtreNum = FiltreNumerique(self.coef_a,self.coef_b) if self.numtype==0: # entier 32 bits self.filtreNum.integer32(12,self.nbits) (f,g,phi) = self.filtreNum.reponse_freq() fhz = f*fechant fn = fechant/2 self.traceGain.update_figure(fn,fhz,g) self.tracePhase.update_figure(fn,fhz,phi) self.fechant = fechant s = u"Coefficients du filtre\n" for k in range(self.coef_b.size): s += "b[%d] : %g\n"%(k,self.filtreNum.b[k]) self.console.setText(s) except FrequenceError as e: QtWidgets.QMessageBox.warning(self, "",e) def update_rii(self): class FrequenceError(Exception): pass filtre = self.filtre_combo.currentText() ordre = int(self.ordre_combo.currentText()) type_filtre = str(self.type_filtre_combo.currentText()) fechant = float(self.fechant_combo.currentText())*1000.0 self.fsample_hz = fechant fc1 = float(self.fc1_edit.text()) fc2 = float(self.fc2_edit.text()) self.offset = float(self.offset_edit.text()) self.numtype = self.numtype_combo.currentIndex() self.nbits = int(self.nbits_combo.currentIndex()) try: a = fc1/fechant b = fc2/fechant if a>0.5 or b>0.5: raise FrequenceError(u"La fréquence de coupure doit être inférieure à fechant/2") if b<=a and (filtre=="Passe bande" or filtre=="Coupe bande"): raise FrequenceError(u"La première fréquence de coupure doit être inférieure à la seconde") if filtre=="Passe bas": btype = "lowpass" freq = [a/0.5] elif filtre=="Passe haut": btype="highpass" freq = [a/0.5] elif filtre=="Passe bande": btype="bandpass" freq = [a/0.5,b/0.5] elif filtre=="Coupe bande": btype ="bandstop" freq = [a/0.5,b/0.5] (self.coef_b,self.coef_a) = scipy.signal.iirfilter(ordre,freq,btype=btype,rp=1,rs=1,ftype=type_filtre) self.filtreNum = FiltreNumerique(self.coef_a,self.coef_b) if self.numtype==0: # entier 32 bits self.filtreNum.integer32(12,self.nbits) (f,g,phi) = self.filtreNum.reponse_freq() fhz = f*fechant fn = fechant/2 self.traceGain.update_figure(fn,fhz,g) self.tracePhase.update_figure(fn,fhz,phi) self.fechant = fechant s = u"Coefficients du filtre\n" s += "\n" for k in range(self.coef_b.size): s += "b[%d] : %g\n"%(k,self.filtreNum.b[k]) s += "\n" for k in range(self.coef_a.size): s += "a[%d] : %g\n"%(k,self.filtreNum.a[k]) self.console.setText(s) except FrequenceError as e: QtWidgets.QMessageBox.warning(self, "",e) def transmettre(self): self.update() port = "COM%s"%self.com_combo.currentText() if self.real_combo.currentText() == "Forme directe I": real = 1 elif self.real_combo.currentText() == "Forme directe II": real = 2 elif self.real_combo.currentText()==u"Forme directe transposée II": real = 3 m = u"Transmission des paramètres à l'Arduino" QtWidgets.QMessageBox.warning(self, "",m) if self.arduino==0: self.arduino = Arduino(port) ard = self.arduino if self.numtype==0: r=ard.lancer_filtrage_32bits([0],[1],self.fechant,self.coef_a,self.coef_b,self.offset,real,self.nbits) if r: QtWidgets.QMessageBox.warning(self, "",u"Arduino ne répond pas, appuyer sur RESET") elif self.numtype==1: r=ard.lancer_filtrage_float([0],[1],self.fechant,self.coef_a,self.coef_b,self.offset,real) if r: QtWidgets.QMessageBox.warning(self, "",u"Arduino ne répond pas, appuyer sur RESET") def quit(self): if self.arduino!=0: self.arduino.close() self.close() def closeEvent(self, ce): self.quit()