feat: add DOA(Direction Of Arrival)

Kconfig.projbuild

@@ -46,7 +46,7 @@ choice SR_VADN_MODEL_LOAD
 
     config SR_VADN_WEBRTC
         bool "voice activity detection (WebRTC)"
-    
+
     config SR_VADN_VADNET1_MEDIUM
         bool "voice activity detection (vadnet1 medium)"
 	    depends on IDF_TARGET_ESP32S3 ||  IDF_TARGET_ESP32P4
@@ -78,7 +78,7 @@ menu "Load Multiple Wake Words"
     config SR_WN_WN9_JARVIS_TTS
     bool "Jarvis (wn9_jarvis_tts)"
     default False
-    
+
     config SR_WN_WN9_COMPUTER_TTS
     bool "computer (wn9_computer_tts)"
     default False

idf_component.yml

@@ -3,7 +3,7 @@ description: esp_sr provides basic algorithms for Speech Recognition application
 url: https://github.com/espressif/esp-sr
 dependencies:
   idf: ">=5.0"
-  espressif/esp-dsp: "<=1.5.0"
+  espressif/esp-dsp: ">1.5.1"
 files:
   exclude:
     - ".github"

include/esp32/esp_doa.h

@@ -0,0 +1,41 @@
+#ifndef _ESP_DOA_H_
+#define _ESP_DOA_H_
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct doa_handle_t doa_handle_t;
+/**
+ * @brief Initialize SRP-PHAT processor
+ * @param fs Sampling rate (Hz), e.g., 16000
+ * @param resolution Angular search resolution (degrees), e.g., 20
+ * @param d_mics Microphone spacing (meters), e.g., 0.06
+ * @param input_timedate_samples input timedate samples, e.g., 1024
+ * @return Initialized doa_handle_t object pointer, Recommend using the above configuration for better performance
+ */
+doa_handle_t *esp_doa_create(int fs, float resolution, float d_mics, int input_timedate_samples);
+
+/**
+ * @brief Release all allocated resources
+ * @param doa doa_handle_t instance pointer to be freed
+ */
+void esp_doa_destroy(doa_handle_t *doa);
+
+/**
+ * @brief Process audio frame for direction estimation
+ * @param doa doa_handle_t instance pointer
+ * @param left Left channel 16-bit PCM data
+ * @param right Right channel 16-bit PCM data
+ * @return Estimated sound direction in degrees, e.g., 0-180
+ */
+float esp_doa_process(doa_handle_t *doa, int16_t* left, int16_t* right);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _ESP_DOA_H_ */

include/esp32/esp_wn_models.h

@@ -11,7 +11,7 @@ extern "C" {
 /**
  * @brief Get the wakenet handle from model name
  *
- * @param model_name   The name of model 
+ * @param model_name   The name of model
  * @returns The handle of wakenet
  */
 const esp_wn_iface_t *esp_wn_handle_from_name(const char *model_name);
@@ -19,10 +19,10 @@ const esp_wn_iface_t *esp_wn_handle_from_name(const char *model_name);
 /**
  * @brief Get the wake word name from model name
  *
- * @param model_name   The name of model 
+ * @param model_name   The name of model
  * @returns The wake word name, like "alexa","hilexin","xiaoaitongxue"
  */
-char* esp_wn_wakeword_from_name(const char *model_name);
+char *esp_wn_wakeword_from_name(const char *model_name);
 
 #ifdef __cplusplus
 }

include/esp32p4/esp_doa.h

@@ -0,0 +1,41 @@
+#ifndef _ESP_DOA_H_
+#define _ESP_DOA_H_
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct doa_handle_t doa_handle_t;
+/**
+ * @brief Initialize SRP-PHAT processor
+ * @param fs Sampling rate (Hz), e.g., 16000
+ * @param resolution Angular search resolution (degrees), e.g., 20
+ * @param d_mics Microphone spacing (meters), e.g., 0.06
+ * @param input_timedate_samples input timedate samples, e.g., 1024
+ * @return Initialized doa_handle_t object pointer, Recommend using the above configuration for better performance
+ */
+doa_handle_t *esp_doa_create(int fs, float resolution, float d_mics, int input_timedate_samples);
+
+/**
+ * @brief Release all allocated resources
+ * @param doa doa_handle_t instance pointer to be freed
+ */
+void esp_doa_destroy(doa_handle_t *doa);
+
+/**
+ * @brief Process audio frame for direction estimation
+ * @param doa doa_handle_t instance pointer
+ * @param left Left channel 16-bit PCM data
+ * @param right Right channel 16-bit PCM data
+ * @return Estimated sound direction in degrees, e.g., 0-180
+ */
+float esp_doa_process(doa_handle_t *doa, int16_t* left, int16_t* right);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _ESP_DOA_H_ */

include/esp32p4/esp_wn_models.h

@@ -11,7 +11,7 @@ extern "C" {
 /**
  * @brief Get the wakenet handle from model name
  *
- * @param model_name   The name of model 
+ * @param model_name   The name of model
  * @returns The handle of wakenet
  */
 const esp_wn_iface_t *esp_wn_handle_from_name(const char *model_name);
@@ -19,87 +19,10 @@ const esp_wn_iface_t *esp_wn_handle_from_name(const char *model_name);
 /**
  * @brief Get the wake word name from model name
  *
- * @param model_name   The name of model 
+ * @param model_name   The name of model
  * @returns The wake word name, like "alexa","hilexin","xiaoaitongxue"
  */
-char* esp_wn_wakeword_from_name(const char *model_name);
-
-// /**
-//  * @brief Get the model coeff from model name
-//  *
-//  * @Warning: retuen model_coeff_getter_t, when chip is ESP32, 
-//  *           return string for other chips
-//  * 
-//  * @param model_name   The name of model 
-//  * @returns The handle of wakenet
-//  */
-// void *esp_wn_coeff_from_name(char *model_name);
-
-
-#if defined CONFIG_USE_WAKENET
-/*
- Configure wake word to use based on what's selected in menuconfig.
-*/
-#if CONFIG_SR_WN_WN5_HILEXIN
-#include "hilexin_wn5.h"
-#define WAKENET_MODEL_NAME "wn5_hilexin"
-#define WAKENET_COEFF get_coeff_hilexin_wn5
-
-#elif CONFIG_SR_WN_WN5X2_HILEXIN
-#include "hilexin_wn5X2.h"
-#define WAKENET_MODEL_NAME "wn5_hilexinX2"
-#define WAKENET_COEFF get_coeff_hilexin_wn5X2
-
-
-#elif CONFIG_SR_WN_WN5X3_HILEXIN
-#include "hilexin_wn5X3.h"
-#define WAKENET_MODEL_NAME "wn5_hilexinX3"
-#define WAKENET_COEFF get_coeff_hilexin_wn5X3
-
-
-#elif CONFIG_SR_WN_WN5_NIHAOXIAOZHI
-#include "nihaoxiaozhi_wn5.h"
-#define WAKENET_MODEL_NAME "wn5_nihaoxiaozhi"
-#define WAKENET_COEFF get_coeff_nihaoxiaozhi_wn5
-
-
-#elif CONFIG_SR_WN_WN5X2_NIHAOXIAOZHI
-#include "nihaoxiaozhi_wn5X2.h"
-#define WAKENET_MODEL_NAME "wn5_nihaoxiaozhiX2"
-#define WAKENET_COEFF get_coeff_nihaoxiaozhi_wn5X2
-
-
-#elif CONFIG_SR_WN_WN5X3_NIHAOXIAOZHI
-#include "nihaoxiaozhi_wn5X3.h"
-#define WAKENET_MODEL_NAME "wn5_nihaoxiaozhiX3"
-#define WAKENET_COEFF get_coeff_nihaoxiaozhi_wn5X3
-
-
-#elif CONFIG_SR_WN_WN5X3_NIHAOXIAOXIN
-#include "nihaoxiaoxin_wn5X3.h"
-#define WAKENET_MODEL_NAME "wn5_nihaoxiaoxinX3"
-#define WAKENET_COEFF get_coeff_nihaoxiaoxin_wn5X3
-
-
-#elif CONFIG_SR_WN_WN5X3_HIJESON
-#include "hijeson_wn5X3.h"
-#define WAKENET_MODEL_NAME "wn5_hijesonX3"
-#define WAKENET_COEFF get_coeff_hijeson_wn5X3
-
-#elif CONFIG_SR_WN_WN5_CUSTOMIZED_WORD
-#include "customized_word_wn5.h"
-#define WAKENET_MODEL_NAME "wn5_customizedword"
-#define WAKENET_COEFF get_coeff_customizedword_wn5
-
-#else
-#define WAKENET_MODEL_NAME "NULL"
-#define WAKENET_COEFF "COEFF_NULL"
-#endif
-
-#else
-#define WAKENET_MODEL_NAME "NULL"
-#define WAKENET_COEFF "COEFF_NULL"
-#endif
+char *esp_wn_wakeword_from_name(const char *model_name);
 
 #ifdef __cplusplus
 }

include/esp32s3/esp_afe_config.h

@@ -126,7 +126,7 @@ typedef struct {
     afe_agc_mode_t
         agc_mode; // The AGC mode for ASR. and the gain generated by AGC acts on the audio after far linear gain.
     int agc_compression_gain_db; // Compression gain in dB (default 9)
-    int agc_target_level_dbfs;   // Target level in -dBfs of envelope (default -3)
+    int agc_target_level_dbfs;   // Target level in -dBfs of envelope (default 3, means target level is -3 dBFS)
 
     /********** General AFE(Audio Front End) parameter **********/
     afe_pcm_config_t pcm_config; // Config the channel num of original data which is fed to the afe feed function.

include/esp32s3/esp_doa.h

@@ -0,0 +1,41 @@
+#ifndef _ESP_DOA_H_
+#define _ESP_DOA_H_
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct doa_handle_t doa_handle_t;
+/**
+ * @brief Initialize SRP-PHAT processor
+ * @param fs Sampling rate (Hz), e.g., 16000
+ * @param resolution Angular search resolution (degrees), e.g., 20
+ * @param d_mics Microphone spacing (meters), e.g., 0.06
+ * @param input_timedate_samples input timedate samples, e.g., 1024
+ * @return Initialized doa_handle_t object pointer, Recommend using the above configuration for better performance
+ */
+doa_handle_t *esp_doa_create(int fs, float resolution, float d_mics, int input_timedate_samples);
+
+/**
+ * @brief Release all allocated resources
+ * @param doa doa_handle_t instance pointer to be freed
+ */
+void esp_doa_destroy(doa_handle_t *doa);
+
+/**
+ * @brief Process audio frame for direction estimation
+ * @param doa doa_handle_t instance pointer
+ * @param left Left channel 16-bit PCM data
+ * @param right Right channel 16-bit PCM data
+ * @return Estimated sound direction in degrees, e.g., 0-180
+ */
+float esp_doa_process(doa_handle_t *doa, int16_t* left, int16_t* right);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* _ESP_DOA_H_ */

include/esp32s3/esp_wn_models.h

@@ -11,7 +11,7 @@ extern "C" {
 /**
  * @brief Get the wakenet handle from model name
  *
- * @param model_name   The name of model 
+ * @param model_name   The name of model
  * @returns The handle of wakenet
  */
 const esp_wn_iface_t *esp_wn_handle_from_name(const char *model_name);
@@ -19,87 +19,10 @@ const esp_wn_iface_t *esp_wn_handle_from_name(const char *model_name);
 /**
  * @brief Get the wake word name from model name
  *
- * @param model_name   The name of model 
+ * @param model_name   The name of model
  * @returns The wake word name, like "alexa","hilexin","xiaoaitongxue"
  */
-char* esp_wn_wakeword_from_name(const char *model_name);
-
-// /**
-//  * @brief Get the model coeff from model name
-//  *
-//  * @Warning: retuen model_coeff_getter_t, when chip is ESP32, 
-//  *           return string for other chips
-//  * 
-//  * @param model_name   The name of model 
-//  * @returns The handle of wakenet
-//  */
-// void *esp_wn_coeff_from_name(char *model_name);
-
-
-#if defined CONFIG_USE_WAKENET
-/*
- Configure wake word to use based on what's selected in menuconfig.
-*/
-#if CONFIG_SR_WN_WN5_HILEXIN
-#include "hilexin_wn5.h"
-#define WAKENET_MODEL_NAME "wn5_hilexin"
-#define WAKENET_COEFF get_coeff_hilexin_wn5
-
-#elif CONFIG_SR_WN_WN5X2_HILEXIN
-#include "hilexin_wn5X2.h"
-#define WAKENET_MODEL_NAME "wn5_hilexinX2"
-#define WAKENET_COEFF get_coeff_hilexin_wn5X2
-
-
-#elif CONFIG_SR_WN_WN5X3_HILEXIN
-#include "hilexin_wn5X3.h"
-#define WAKENET_MODEL_NAME "wn5_hilexinX3"
-#define WAKENET_COEFF get_coeff_hilexin_wn5X3
-
-
-#elif CONFIG_SR_WN_WN5_NIHAOXIAOZHI
-#include "nihaoxiaozhi_wn5.h"
-#define WAKENET_MODEL_NAME "wn5_nihaoxiaozhi"
-#define WAKENET_COEFF get_coeff_nihaoxiaozhi_wn5
-
-
-#elif CONFIG_SR_WN_WN5X2_NIHAOXIAOZHI
-#include "nihaoxiaozhi_wn5X2.h"
-#define WAKENET_MODEL_NAME "wn5_nihaoxiaozhiX2"
-#define WAKENET_COEFF get_coeff_nihaoxiaozhi_wn5X2
-
-
-#elif CONFIG_SR_WN_WN5X3_NIHAOXIAOZHI
-#include "nihaoxiaozhi_wn5X3.h"
-#define WAKENET_MODEL_NAME "wn5_nihaoxiaozhiX3"
-#define WAKENET_COEFF get_coeff_nihaoxiaozhi_wn5X3
-
-
-#elif CONFIG_SR_WN_WN5X3_NIHAOXIAOXIN
-#include "nihaoxiaoxin_wn5X3.h"
-#define WAKENET_MODEL_NAME "wn5_nihaoxiaoxinX3"
-#define WAKENET_COEFF get_coeff_nihaoxiaoxin_wn5X3
-
-
-#elif CONFIG_SR_WN_WN5X3_HIJESON
-#include "hijeson_wn5X3.h"
-#define WAKENET_MODEL_NAME "wn5_hijesonX3"
-#define WAKENET_COEFF get_coeff_hijeson_wn5X3
-
-#elif CONFIG_SR_WN_WN5_CUSTOMIZED_WORD
-#include "customized_word_wn5.h"
-#define WAKENET_MODEL_NAME "wn5_customizedword"
-#define WAKENET_COEFF get_coeff_customizedword_wn5
-
-#else
-#define WAKENET_MODEL_NAME "NULL"
-#define WAKENET_COEFF "COEFF_NULL"
-#endif
-
-#else
-#define WAKENET_MODEL_NAME "NULL"
-#define WAKENET_COEFF "COEFF_NULL"
-#endif
+char *esp_wn_wakeword_from_name(const char *model_name);
 
 #ifdef __cplusplus
 }

src/model_path.c

@@ -1,19 +1,19 @@
-#include "stdio.h"
-#include <sys/stat.h>
-#include <dirent.h>
-#include "string.h"
 #include "model_path.h"
 #include "esp_wn_models.h"
+#include "stdio.h"
+#include "string.h"
+#include <dirent.h>
+#include <sys/stat.h>
 #ifndef CONFIG_IDF_TARGET_ESP32P4
 #include "esp_mn_models.h"
 #endif
 
 #ifdef ESP_PLATFORM
-#include <sys/dirent.h>
-#include "sdkconfig.h"
+#include "esp_idf_version.h"
 #include "esp_log.h"
 #include "esp_spiffs.h"
-#include "esp_idf_version.h"
+#include "sdkconfig.h"
+#include <sys/dirent.h>
 #if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 0, 0)
 #include "spi_flash_mmap.h"
 #endif
@@ -31,20 +31,20 @@ void set_model_base_path(const char *base_path)
 char *get_model_info(char *data, int size)
 {
     char *model_info = NULL;
-    //Prase
-    //if the line starts with '#', the line is a comment
-    //else the line is model information
-    while(size > 0) {
+    // Prase
+    // if the line starts with '#', the line is a comment
+    // else the line is model information
+    while (size > 0) {
         if (*data == '#') {
             while (*data != '\n' && size > 1) {
-                data ++;
-                size --;
+                data++;
+                size--;
             }
-            data ++;
-            size --;
+            data++;
+            size--;
             continue;
         } else if (data != NULL && size > 0) {
-            model_info = (char*)malloc((size + 1) * sizeof(char));
+            model_info = (char *)malloc((size + 1) * sizeof(char));
             memcpy(model_info, data, size);
             if (model_info[size - 1] == '\n') {
                 model_info[size - 1] = '\0';
@@ -63,7 +63,7 @@ char *get_wake_words_from_info(char *model_info)
         return NULL;
 
     int info_len = strlen(model_info);
-    char *temp = (char *) malloc(info_len + 1);
+    char *temp = (char *)malloc(info_len + 1);
     memcpy(temp, model_info, info_len);
     temp[info_len] = '\0';
     char *token = strtok(temp, "_");
@@ -75,15 +75,15 @@ char *get_wake_words_from_info(char *model_info)
             // find all valid wake word token
             if (wake_words == NULL) {
                 word_len = strlen(token) + 1;
-                wake_words = (char*) malloc(word_len);
-                memcpy(wake_words, token, word_len-1);
-                wake_words[word_len-1] = '\0';
+                wake_words = (char *)malloc(word_len);
+                memcpy(wake_words, token, word_len - 1);
+                wake_words[word_len - 1] = '\0';
             } else {
                 word_len += strlen(token) + 1;
-                wake_words = (char*) realloc(wake_words, word_len);
+                wake_words = (char *)realloc(wake_words, word_len);
                 strcat(wake_words, ";");
                 strcat(wake_words, token);
-                wake_words[word_len-1] = '\0';
+                wake_words[word_len - 1] = '\0';
             }
         }
         token = strtok(NULL, "_");
@@ -96,7 +96,7 @@ char *get_wake_words_from_info(char *model_info)
 
 static srmodel_list_t *srmodel_list_alloc(void)
 {
-    srmodel_list_t *models = (srmodel_list_t *) malloc(sizeof(srmodel_list_t));
+    srmodel_list_t *models = (srmodel_list_t *)malloc(sizeof(srmodel_list_t));
     models->model_data = NULL;
     models->model_name = NULL;
     models->model_info = NULL;
@@ -139,7 +139,7 @@ srmodel_list_t *read_models_form_spiffs(esp_vfs_spiffs_conf_t *conf)
             char *suffix = ret->d_name + len - 12;
 
             if (strcmp(suffix, "_MODEL_INFO_") == 0) {
-                model_num ++;
+                model_num++;
             }
         }
 
@@ -150,7 +150,7 @@ srmodel_list_t *read_models_form_spiffs(esp_vfs_spiffs_conf_t *conf)
             models->num = model_num;
             models->model_name = malloc(models->num * sizeof(char *));
             for (int i = 0; i < models->num; i++) {
-                models->model_name[i] = (char *) calloc(MODEL_NAME_MAX_LENGTH, sizeof(char));
+                models->model_name[i] = (char *)calloc(MODEL_NAME_MAX_LENGTH, sizeof(char));
             }
         }
 
@@ -168,29 +168,23 @@ srmodel_list_t *read_models_form_spiffs(esp_vfs_spiffs_conf_t *conf)
             char *suffix = ret->d_name + len - 12;
 
             if (strcmp(suffix, "_MODEL_INFO_") == 0) {
-                memcpy(models->model_name[idx], ret->d_name, (len - 13)*sizeof(char));
+                memcpy(models->model_name[idx], ret->d_name, (len - 13) * sizeof(char));
                 // models->model_name[idx][len-13] = '\0';
-                idx ++;
+                idx++;
             }
         }
         closedir(dir);
         dir = NULL;
-
     }
     return models;
 }
 
-
 srmodel_list_t *srmodel_spiffs_init(const esp_partition_t *part)
 {
     ESP_LOGI(TAG, "\nInitializing models from SPIFFS, partition label: %s\n", part->label);
 
     esp_vfs_spiffs_conf_t conf = {
-        .base_path = SRMODE_BASE_PATH,
-        .partition_label = part->label,
-        .max_files = 5,
-        .format_if_mount_failed = true
-    };
+        .base_path = SRMODE_BASE_PATH, .partition_label = part->label, .max_files = 5, .format_if_mount_failed = true};
 
     // Use settings defined above to initialize and mount SPIFFS filesystem.
     // Note: esp_vfs_spiffs_register is an all-in-one convenience function.
@@ -221,7 +215,6 @@ srmodel_list_t *srmodel_spiffs_init(const esp_partition_t *part)
     return models;
 }
 
-
 void srmodel_spiffs_deinit(srmodel_list_t *models)
 {
     if (models->partition != NULL) {
@@ -243,15 +236,13 @@ void srmodel_spiffs_deinit(srmodel_list_t *models)
         free(models);
     }
     models = NULL;
-
 }
 
-
 static uint32_t read_int32(char *data)
 {
     uint32_t value = 0;
-    value |= data[0] <<  0;
-    value |= data[1] <<  8;
+    value |= data[0] << 0;
+    value |= data[1] << 8;
     value |= data[2] << 16;
     value |= data[3] << 24;
     return value;
@@ -269,7 +260,7 @@ srmodel_list_t *srmodel_load(const void *root)
     char *data = (char *)root;
     int str_len = SRMODEL_STRING_LENGTH;
     int int_len = 4;
-    //read model number
+    // read model number
     models->num = read_int32(data);
     data += int_len;
     models->model_data = (srmodel_data_t **)malloc(sizeof(srmodel_data_t *) * models->num);
@@ -277,29 +268,29 @@ srmodel_list_t *srmodel_load(const void *root)
     models->model_info = (char **)malloc(sizeof(char *) * models->num);
 
     for (int i = 0; i < models->num; i++) {
-        srmodel_data_t *model_data = (srmodel_data_t *) malloc(sizeof(srmodel_data_t));
+        srmodel_data_t *model_data = (srmodel_data_t *)malloc(sizeof(srmodel_data_t));
         models->model_info[i] = NULL;
         // read model name
         models->model_name[i] = (char *)malloc((strlen(data) + 1) * sizeof(char));
         strcpy(models->model_name[i], data);
         data += str_len;
-        //read model number
+        // read model number
         int file_num = read_int32(data);
         model_data->num = file_num;
         data += int_len;
-        model_data->files = (char **) malloc(sizeof(char *)*file_num);
-        model_data->data = (char **) malloc(sizeof(void *)*file_num);
-        model_data->sizes = (int *) malloc(sizeof(int) * file_num);
+        model_data->files = (char **)malloc(sizeof(char *) * file_num);
+        model_data->data = (char **)malloc(sizeof(void *) * file_num);
+        model_data->sizes = (int *)malloc(sizeof(int) * file_num);
 
         for (int j = 0; j < file_num; j++) {
-            //read file name
+            // read file name
             model_data->files[j] = data;
             data += str_len;
-            //read file start index
+            // read file start index
             int index = read_int32(data);
             data += int_len;
             model_data->data[j] = start + index;
-            //read file size
+            // read file size
             int size = read_int32(data);
             data += int_len;
             model_data->sizes[j] = size;
@@ -335,8 +326,9 @@ srmodel_list_t *srmodel_mmap_init(const esp_partition_t *partition)
     if (storage_size < partition->size) {
         ESP_LOGE(TAG, "The storage free size of this board is less than %s partition required size", partition->label);
     }
-    models->mmap_handle = (esp_partition_mmap_handle_t*)malloc(sizeof(esp_partition_mmap_handle_t));
-    ESP_ERROR_CHECK(esp_partition_mmap(partition, 0, partition->size, ESP_PARTITION_MMAP_DATA, &root, models->mmap_handle));
+    models->mmap_handle = (esp_partition_mmap_handle_t *)malloc(sizeof(esp_partition_mmap_handle_t));
+    ESP_ERROR_CHECK(
+        esp_partition_mmap(partition, 0, partition->size, ESP_PARTITION_MMAP_DATA, &root, models->mmap_handle));
 #else
     int free_pages = spi_flash_mmap_get_free_pages(SPI_FLASH_MMAP_DATA);
     uint32_t storage_size = free_pages * 64 * 1024; // Byte
@@ -345,10 +337,9 @@ srmodel_list_t *srmodel_mmap_init(const esp_partition_t *partition)
     if (storage_size < partition->size) {
         ESP_LOGE(TAG, "The storage free size of board is less than %s partition size", partition->label);
     }
-    models->mmap_handle = (spi_flash_mmap_handle_t*)malloc(sizeof(spi_flash_mmap_handle_t));
+    models->mmap_handle = (spi_flash_mmap_handle_t *)malloc(sizeof(spi_flash_mmap_handle_t));
     ESP_ERROR_CHECK(esp_partition_mmap(partition, 0, partition->size, SPI_FLASH_MMAP_DATA, &root, models->mmap_handle));
 #endif
-    
 
     models->partition = (esp_partition_t *)partition;
     srmodel_load(root);
@@ -362,11 +353,10 @@ void srmodel_mmap_deinit(srmodel_list_t *models)
 #if ESP_IDF_VERSION >= ESP_IDF_VERSION_VAL(5, 0, 0)
             esp_partition_munmap(*(esp_partition_mmap_handle_t *)models->mmap_handle); // support esp-idf v5
 #else
-            spi_flash_munmap(*(spi_flash_mmap_handle_t *)models->mmap_handle);  // support esp-idf v4
-#endif 
+            spi_flash_munmap(*(spi_flash_mmap_handle_t *)models->mmap_handle); // support esp-idf v4
+#endif
         }
 
-
         if (models->num > 0) {
             for (int i = 0; i < models->num; i++) {
                 free(models->model_data[i]->files);
@@ -449,7 +439,7 @@ srmodel_list_t *srmodel_sdcard_init(const char *base_path)
                 char *info_file = join_path(sub_path, "_MODEL_INFO_");
                 fp = fopen(info_file, "r");
                 if (fp != NULL) {
-                    model_num ++;  // If _MODLE_INFO_ file exists, model_num ++
+                    model_num++; // If _MODLE_INFO_ file exists, model_num ++
                 }
                 printf("%s -> %s\n", sub_path, info_file);
                 fclose(fp);
@@ -470,11 +460,10 @@ srmodel_list_t *srmodel_sdcard_init(const char *base_path)
             models->model_name = malloc(models->num * sizeof(char *));
             models->model_info = malloc(models->num * sizeof(char *));
             for (int i = 0; i < models->num; i++) {
-                models->model_name[i] = (char *) calloc(MODEL_NAME_MAX_LENGTH, sizeof(char));
+                models->model_name[i] = (char *)calloc(MODEL_NAME_MAX_LENGTH, sizeof(char));
             }
         }
 
-
         // read & save model names
         dir = opendir(base_path);
         while ((ret = readdir(dir)) != NULL) {
@@ -506,7 +495,6 @@ srmodel_list_t *srmodel_sdcard_init(const char *base_path)
     return models;
 }
 
-
 void srmodel_sdcard_deinit(srmodel_list_t *models)
 {
     if (models != NULL) {
@@ -521,23 +509,18 @@ void srmodel_sdcard_deinit(srmodel_list_t *models)
     models = NULL;
 }
 
-
-
 srmodel_list_t *esp_srmodel_init(const char *partition_label)
 {
 #ifdef ESP_PLATFORM
 
-
 #ifdef CONFIG_MODEL_IN_SDCARD
-    // Read model data from SD card 
+    // Read model data from SD card
     return srmodel_sdcard_init(partition_label);
 #else
     // Read model data from flash partition
     const esp_partition_t *partition = NULL;
     // find spiffs partition
-    partition = esp_partition_find_first(
-                    ESP_PARTITION_TYPE_DATA, ESP_PARTITION_SUBTYPE_ANY, partition_label
-                );
+    partition = esp_partition_find_first(ESP_PARTITION_TYPE_DATA, ESP_PARTITION_SUBTYPE_ANY, partition_label);
 
     if (partition) {
         return srmodel_mmap_init(partition);
@@ -580,7 +563,6 @@ char *esp_srmodel_filter(srmodel_list_t *models, const char *keyword1, const cha
 
     // return the first model name including specific keyword
     for (int i = 0; i < models->num; i++) {
-
         if (esp_strstr(models->model_name[i], keyword1) != NULL) {
             if (esp_strstr(models->model_name[i], keyword2) != NULL) {
                 return models->model_name[i];
@@ -618,4 +600,4 @@ char *esp_srmodel_get_wake_words(srmodel_list_t *models, char *model_name)
         }
     }
     return NULL;
-}
+}

test_apps/esp-sr/main/test_afe.cpp

@@ -9,6 +9,7 @@
 #include "audio_test_file.h"
 #include "dl_lib_convq_queue.h"
 #include "esp_afe_aec.h"
+#include "esp_doa.h"
 #include "esp_afe_sr_models.h"
 #include "esp_heap_caps.h"
 #include "esp_log.h"
@@ -25,7 +26,7 @@
 #include <stdlib.h>
 #include <sys/time.h>
 
-#define ARRAY_SIZE_OFFSET 8 // Increase this if audio_sys_get_real_time_stats returns ESP_ERR_INVALID_SIZE
+#define ARRAY_SIZE_OFsample_rateET 8 // Increase this if audio_sys_get_real_time_stats returns ESP_ERR_INVALID_SIZE
 #define AUDIO_SYS_TASKS_ELAPSED_TIME_MS 1000 // Period of stats measurement
 
 static const char *TAG = "AFE_TEST";
@@ -381,3 +382,70 @@ TEST_CASE("test afe aec interface", "[afe]")
     int end_size = heap_caps_get_free_size(MALLOC_CAP_8BIT);
     TEST_ASSERT_EQUAL(true, end_size == start_size);
 }
+
+void generate_test_frame(int16_t *left, int16_t *right, int frame_size, float angle_deg, int sample_rate)
+{
+    int TEST_FREQ = 1000;
+    static float phase = 0.0f;
+    const float d = 0.06f;
+    const float c = 343.0f;
+
+    float theta = angle_deg * M_PI / 180.0f;
+    float tau = d * cosf(theta) / c;
+
+    int delay_samples = (int)roundf(tau * sample_rate);
+    printf("Angle: %f, Delay: %d samples\n", angle_deg, delay_samples);
+
+    for (int i = 0; i < frame_size; i++) {
+        float t = (float)(i + phase) / sample_rate;
+        left[i] = (int16_t)(sinf(2 * M_PI * TEST_FREQ * t) * 32767);
+
+        int delayed_index = i - delay_samples;
+        right[i] = (int16_t)(sinf(2 * M_PI * TEST_FREQ * (delayed_index + phase) / sample_rate) * 32767);
+    }
+    phase += frame_size;
+}
+
+TEST_CASE("test doa interface", "[afe]")
+{
+   // 初始化DOA估计器
+    int frame_samples = 1024;
+    int sample_rate = 16000;
+    int16_t *left = (int16_t *)malloc(frame_samples * sizeof(int16_t));
+    int16_t *right = (int16_t *)malloc(frame_samples * sizeof(int16_t));
+    int start_size = heap_caps_get_free_size(MALLOC_CAP_8BIT);
+    doa_handle_t *doa = esp_doa_create(sample_rate, 20.0f, 0.06f, frame_samples);
+
+    uint32_t c0, c1, t_doa = 0;
+    int angle = 180;
+    for (int f = 0; f < angle; f++) { // 1秒多帧
+        generate_test_frame(left, right, frame_samples, f*1.0, sample_rate);
+        c0 = esp_timer_get_time();
+        float est_angle = esp_doa_process(doa, left, right);
+        c1 = esp_timer_get_time();
+        t_doa += c1 - c0;
+
+        printf("%.1f\t\t%.1f\n", f*1.0, est_angle); // memory leak
+    }
+    int doa_mem_size = start_size - heap_caps_get_free_size(MALLOC_CAP_8BIT);
+    printf("doa memory size:%d, cpu loading:%f\n", doa_mem_size, (t_doa * 1.0 / 1000000 * sample_rate) / (angle * frame_samples));
+ 
+    esp_doa_destroy(doa);
+    int end_size = heap_caps_get_free_size(MALLOC_CAP_8BIT);
+
+    // create & destroy 5 times
+    for (int i = 0; i < 5; i++) {
+        doa = esp_doa_create(sample_rate, 20.0f, 0.06f, frame_samples);
+        esp_doa_process(doa, left, right);
+        esp_doa_destroy(doa);
+    }
+
+    int last_end_size = heap_caps_get_free_size(MALLOC_CAP_8BIT);
+    printf("memory leak:%d\n", start_size - end_size);
+    free(left);
+    free(right);
+    // return 0;
+    printf("TEST DONE\n\n");
+    TEST_ASSERT_EQUAL(true, (start_size - end_size) < 300);
+    TEST_ASSERT_EQUAL(true, last_end_size == end_size);
+}