'**************************************************************** '* Name : Propeller1.BAS * '* Author : Godfried-Willem RAES * '* Notice : Copyleft (c) 2015 Logosoft Public Domain * '* Date : 06-01-2015 * '* Version : 1.0 * '* Notes : Based On Whisper code model * '**************************************************************** '06.01.2015: PIC: 18F2525 Propeller1 board. 2 PWM motor, lites ' pin 2 : Analog input RA0 ' pin 3 : Analog input RA1 ' pin 12: Propeller motor RC1 ' pin 13: free pwm RC2 ' pin 15: free switch RC4 ' pin 16: free switch RC5 ' pin 18: midi in RX RC7 ' pin 26: Debug led RB5 '28.04.2015: Failure: prop on full speed at startup... ' CC66 powerOn/Off implemented. ' Propellers cannot be switched on without poweron being set. Include "18F2525.inc" 'version for the Propeller board. (40MHz) 'Include "18F2520.inc" 'also possible. (40MHz) 'Include "18F25K20.inc" 'for test & debug on an Amicus board. (64MHz) ' Mapping defines for midi-events on pin outputs and inputs: $define Free1 PORTC.5 ' X11-2 $define Free2 PORTC.4 ' X11-3 $define Propeller PORTC.1 ' X17-2 - pwm - motor - Propeller $define FreePWM PORTC.2 ' X17-3 - pwm - motor - FreePWM 'red LED for debug: $define Debug_Led PORTB.5 ' red led - watchdog ' configure the input and output pins: Clear SSPCON1.5 'RC3 must be available for I/O TRISA = %01000111 'bits set to 0 are output, 1 = input TRISB = %11100000 TRISC = %11000000 'RC1 en RC2 zijn pwm outputs and must be set to output 'RC6 en RC7 zijn USART I/O and must be set to input 'constant definitions: 'initialisations for the midi input parser: Symbol Midichannel = 13 ' Balmec_Channel Symbol NoteOff_Status = 128 + Midichannel ' 2 bytes follow Symbol NoteOn_Status = 144 + Midichannel Symbol Keypres_Status = 160 + Midichannel ' 2 bytes follow Symbol Control_Status = 176 + Midichannel Symbol ProgChange_Status = 192 + Midichannel ' 1 byte message Symbol Aftertouch_Status = 208 + Midichannel ' 1 byte follows Symbol Pitchbend_Status = 224 + Midichannel ' lsb msb follow 'application specific constants Symbol NrTasks = 2 ' maximum 16 Symbol fPWM = PWMminF * 4 ' in avoidance of audible artifacts ' Setup the USART Declare Hserial_Baud = 31250 ' Set baud rate for the USART to MIDI specs. Declare Hserial_TXSTA = 0x24 ' instead of the normal 0x20 - ?? 0x24 'Declare All_Digital = True ' not the case here!!! ' Declare Hserial_Clear = On ' should clear on errors. Bytes get lost of course... ' Create variables Dim Cnt As Dword System Dim CntHw As Cnt.Word1 'used in the timer0 interrupt, to create a 32 bit timer Dim CntLw As TMR0L.Word 'this is the trick to read both TMR0L and TMR0H 'it makes Cntlw the low word of cnt 'We still have to copy the contents of Lw to Cnt Dim Bytein As Byte System ' midi byte read from buffer Dim StBit As Bytein.7 ' highest bit of ByteIn Dim i As Byte System ' general purpose counter ' midi variables Dim statusbyte As Byte System Dim noteUit As Byte System ' note off + release value Dim release As Byte System Dim noteAan As Byte System ' note on + release value Dim velo As Byte System Dim notePres As Byte System ' note pressure + pressure value Dim pres As Byte System Dim Ctrl As Byte System ' continuous controller + value Dim value As Byte System Dim prog As Byte System ' program change + program-byte ' Dim aft As Byte System ' channel aftertouch ' Dim pblsb As Byte System ' pitch bend lsb ' Dim pbmsb As Byte System ' pitch bend msb Dim veltim As Dword System ' 32 bit velo ' Dim veltim3 As Dword System ' duration for the valve release timeout ' Dim newtim As Dword System Dim VelFlags As Word System ' bits 0 - 15 used as flags for active timers Dim VelFlags0 As VelFlags.Byte0 ' alias for bits 0-7 ' Dim VelFlags1 As VelFlags.Byte1 ' bits 8-15 - not used in this code. Dim CC66 As Byte System ' global on/off switch Dim PowerOn As CC66.0 Dim st As Byte System Dim b1 As Byte System Dim b2 As Byte System Dim Lites As Byte System ' bits used as flags Dim pw1 As Byte System ' speed Dim pw2 As Byte System ' speed '----------------------------------------------------------------------------------------- ' Load the USART Interrupt handler And buffer read subroutines into memory 'Include "ADC.inc" ' Load the ADC macros into the program - used in the IRQ include. Include "Propeller_Irq.inc" ' our own version for UART And Timer0/3 Interrupt 'Include "Timers.inc" ' required for velo support with timed pulses and periods. 'Include "DwordArrays.inc" ' support for dword arrays. 'framework for a multitasker: Dim Task_rsi[NrTasks] As Word 'task reschedule interval (period), if 0 the task is not active 'max. value limited to 65535. For longer periods, it will have to 'become dword!!! Dim Velmsb[NrTasks] As Word 'the application for velo-timers, is in fact just a one-shot task Dim VelLsb[NrTasks] As Word Dim Dur[128] As Word ' lookup table for velo to duration conversion. 'DeclareDwordArray(TimeVals , NrTasks) 'alternative using the macro's. [not yet used] ' assigning values syntax: DwordArray Timvals,[i], value ' reading values syntax: value = DwordArray TimVals,[i] 'make sure we initialize those pins on start up: Low Propeller Low FreePWM Low Free1 Low Free2 Low Debug_Led HPWM 2, 0, fPWM ' connected to RC1 - propeller HPWM 1, 0, fPWM ' connected to RC2 Clear CC66 Clear PowerOn GoSub Dur_Lookup '----------------------------------------------------------------------------------------- ' Main program starts here MAIN: High Debug_Led DelayMS 50 ' wait for stability Low Debug_Led Clear VelFlags0 Clear Lites Init_Usart_Interrupt ' Initiate the USART serial buffer interrupt ' this procedure is in the include file Clear_Serial_Buffer ' Clear the serial buffer and reset its pointers ' in the include as well ' Configure Timer0 for: ' Clear TMR0L and TMR0H registers ' Interrupt on Timer0 overflow ' 16-bit operation ' Internal clock source 40MHz ' 1:256 Prescaler : thus 40MHz / 256 = 156.250kHz ' Opentimer0 (Timer_INT_On & T0_16BIT & T0_SOURCE_INT & T0_PS_1_256) in macro file. Clear T1CON Clear IntConBits_T0IF ' clear interrupt flag Set INTCONBITS_T0IE ' enable interrupt on overflow T0CON = %10000111 ' bit 7 = enable/disable ' bit 6 = 1=8 bot, 0=16 bit ' bit 5 = 1 pin input, 0= Internal Clk0 ' bit 4 = HL or LH transition when bit5 =1 ' bit 3 = 1= bypass prescaler, 0= input from prescaler ' bit 2-0 = prescaler select: 111= 1:256 ' Setup the High priorities for the interrupts ' Open the ADC: ' Fosc/32 ' Right justified for 10-bit operation ' Tad value of 0 ' Vref+ at Vcc : Vref- at Gnd ' Make AN0 an analogue input ' ' OpenADC(ADC_FOSC_32 & ADC_RIGHT_JUST & ADC_0_TAD, ADC_REF_VDD_VSS, ADC_1ANA) ' could be replaced with: ' ADCON2 = %10000010 ' ADCON1 = %00001110 ' ADCON0 = %00000001 ' SensorVal = ReadADC 0 ' initialize with the value on startup - 10 bit resolution ' open and start timer3 for sampling: Clear T3CON Clear PIR2BITS_TMR3IF ' clear IRQ flag Set PIE2BITS_TMR3IE ' irq on ' Clear Tim3 ' Clear TMR3L And TMR3H registers Set RCONbits_IPEN ' Enable priority interrupts Clear IPR2bits_TMR3IP ' Set Timer3 as a low priority interrupt source ' we can also set T3Con in one instruction as: T3CON = %10110000 ' oef, now it works... ' bit 7 = 16 bit mode ' bit 6,3 = 0, 0 ' bit 5,4 = 1:8 prescale ' bit 2 = 0 ' bit 1 = 0 Internal clock = Fosc/4 ' bit 0 : 1= enable timer 3, 0= disable set to 0 for Whisper! ' maximum count = 52.42ms, 1 tick =0.8uS, lowest freq.=19Hz ' start the main program loop: LOOP: ' Create an infinite loop Bytein = HRSIn ' Read data from the serial buffer, with no timeout ' Start the midi parser. Midi_Parse: If Bytein > Control_Status Then ' here higher statusses are not implemented. If Bytein > 253 Then '254 = midiclock, 255= reset 'midiclock can interrupt all other msg's... '255 had to be intercepted since thats what we 'get when no new byte flows in (?) GoTo Check_Timers 'throw away... Else Clear statusbyte 'reset the status byte GoTo Check_Timers 'throw away End If EndIf If StBit =1 Then 'should be faster than If Bytein > 127 Then 'status byte received, bit 7 is set Clear statusbyte 'if on another channel, the statusbyte needs a reset Select Bytein 'eqv to Select case ByteIn Case NoteOff_Status statusbyte = Bytein Set noteUit '= 255 'reset value. Cannot be 0 !!! Set release '= 255 '0 is a valid midi note! Case NoteOn_Status statusbyte = Bytein Set noteAan '= 255 Set velo '= 255 Case Keypres_Status ' used for lights statusbyte = Bytein Set notePres '= 255 Set pres '= 255 Case Control_Status ' only 123 and 66 statusbyte = Bytein Set Ctrl '= 255 Set value '= 255 ' Case ProgChange_Status ' statusbyte = Bytein ' prog = 255 ' Case Aftertouch_Status ' statusbyte = Bytein ' aft = 255 ' Case Pitchbend_Status ' statusbyte = Bytein ' pblsb = 255 ' pbmsb = 255 End Select Else 'midi byte is 7 bits Select statusbyte Case 0 'not a message for this channel GoTo Check_Timers 'disregard Case NoteOff_Status If noteUit = 255 Then noteUit = Bytein Else release = Bytein 'message complete, so we can do the action... Select noteUit Case 40 HPWM 2, 0, fPWM ' Propeller Case 41 HPWM 1, 0, fPWM ' FreePWM Case 120 Clear Lites.0 Clear VelFlags0.0 Clear Free1 Case 121 Clear Lites.1 Clear VelFlags0.1 Clear Free2 End Select Set noteUit '= 255 'reset EndIf GoTo Check_Timers Case NoteOn_Status If noteAan = 255 Then noteAan = Bytein Else velo = Bytein If velo = 0 Then Select noteAan Case 40 HPWM 2, 0, fPWM ' Propeller Case 41 HPWM 1, 0, fPWM ' FreePWM Case 120 Clear Lites.0 '= 0 Clear VelFlags0.0 Clear Free1 Case 121 Clear Lites.1 '= 0 Clear VelFlags0.1 Clear Free2 End Select Set noteAan '= 255 'reset !!! GoTo Check_Timers 'jump out EndIf If PowerOn > 0 Then Select noteAan Case 40 pw1 = velo << 1 ' make 8 bits HPWM 2, pw1, fPWM ' Propeller Case 41 pw2 = velo << 1 HPWM 1, pw2, fPWM ' FreePWM Case 120 Set Free1 Set Lites.0 If velo < 127 Then Set VelFlags0.0 Cnt.Word0 = CntLw 'read timer 'Task_rsi[0] = (~velo & 127) << 9 ' new construction, reading the lookup: Task_rsi[0] = Dur[velo] veltim = Cnt + Task_rsi[0] 'add the period duration Velmsb[0] = veltim.Word1 VelLsb[0] = veltim.Word0 Else Clear VelFlags0.0 EndIf Case 121 Set Free2 Set Lites.1 If velo < 127 Then Set VelFlags0.1 Cnt.Word0 = CntLw 'read timer Task_rsi[1] = Dur[velo] veltim = Cnt + Task_rsi[1] 'add the period duration Velmsb[1] = veltim.Word1 VelLsb[1] = veltim.Word0 Else Clear VelFlags0.1 EndIf End Select EndIf Set noteAan '= 255 'reset EndIf GoTo Check_Timers Case Keypres_Status 'used for repeat speed modulation If notePres = 255 Then notePres = Bytein Else pres = Bytein GoSub KeyPres EndIf GoTo Check_Timers Case Control_Status 'this is where the action takes place for controllers If Ctrl = 255 Then Ctrl = Bytein Else value = Bytein GoSub Controller EndIf GoTo Check_Timers ' Case ProgChange_Status ' If prog = 255 Then 'single byte message ' prog = Bytein 'weak coding... ' GoSub ProgChange ' EndIf End Select EndIf Check_Timers: ' here we check the Task counters and compare them with the 32 bit cnt value ' using the Velflags dword variable: If VelFlags0 > 0 Then 'if any bit is set here, there is a timer running If VelFlags0.0 = 1 Then veltim.Word1 = Velmsb[0] veltim.Word0 = VelLsb[0] Cnt.Word0 = CntLw 'read counter If Cnt >= veltim Then GoSub Task0 'note 120 EndIf If VelFlags0.1 = 1 Then veltim.Word1 = Velmsb[1] veltim.Word0 = VelLsb[1] Cnt.Word0 = CntLw 'read counter If Cnt >= veltim Then GoSub Task1 'note 121 EndIf Else If CntHw > 0xFF Then Clear CntHw EndIf GoTo LOOP ' end of the main loop KeyPres: 'the note to which the pressure should be applied is passed in NotePres, the value in Pres 'here we use it for flashing lights on Horny. Select notePres Case 84 If Lites.0 = 1 Then Set VelFlags0.0 Task_rsi[0] = Dur[pres] Else Clear VelFlags0.0 Clear Free1 EndIf Case 85 If Lites.1 = 1 Then Set VelFlags0.1 Task_rsi[1] = Dur[pres] Else Clear VelFlags0.1 Clear Free2 EndIf End Select Set notePres '= 255 Return 'ProgChange: ' Set prog '= 255 'this is not realy required 'Return 'Pitchbend: ' 'only implemented on dsPIC based robots ' Set pblsb '= 255 'Return 'Aftertouch: ' 'this is the channel aftertouch, affecting all notes ' Set aft '= 255 'not mandatory 'Return Controller: Select Ctrl Case 66 'on/off for the robot If value = 0 Then Clear PowerOn 'CC66.0 GoSub PowerDown Else Set PowerOn 'CC66.0 EndIf Case 123 GoSub AllNotesOff End Select Set Ctrl '= 255 'mandatory reset Return AllNotesOff: 'Clear VelFlags0 'would stop all running timers, also the motor clock... Clear VelFlags0.0 Clear VelFlags0.1 Low Free1 Low Free2 HPWM 1, 0, fPWM ' connected to RC2 HPWM 2, 0, fPWM ' connected to RC1 Clear Lites Return PowerDown: Clear VelFlags0 'stop all running timers Clear Free1 Clear Free2 Clear Lites Clear pw1 Clear pw2 HPWM 1, 0, fPWM ' connected to RC2 - Propeller HPWM 2, 0, fPWM ' connected to RC1 - FreePWM Return Task0: If Lites.0 = 0 Then Clear VelFlags0.0 'stop task, as lite is switched off Clear Free1 Else 'reload task0 - shaker 'Set VelFlags0.0 'can just stay set Cnt.Word0 = CntLw veltim = Cnt + Task_rsi[0] 'add the period duration Velmsb[0] = veltim.Word1 VelLsb[0] = veltim.Word0 Btg Free1 'Toggle EndIf Return Task1: If Lites.1 = 0 Then Clear VelFlags0.1 'stop task, as lite is switched off Clear Free2 Else Cnt.Word0 = CntLw veltim = Cnt + Task_rsi[1] 'add the period duration in Task_rsi[1] Velmsb[1] = veltim.Word1 VelLsb[1] = veltim.Word0 Btg Free2 EndIf Return Dur_Lookup: 'this lookup is for a good scaling of the velocity byte on event periodicity ' the values are calculated based on a timer resolution of 24 microseconds. ' The values must be containable in a word (16 bits!) ' This is the simple Power Basic program wherewith the lookup was calculated: 'FUNCTION PBMAIN ()AS LONG ' OPEN "Whisper_Dur_scales.inc" FOR OUTPUT AS #1 ' LOCAL unit, fastest, slowest, velo_traject AS DOUBLE ' LOCAL velo, i AS DWORD ' unit = 0.000024 ' in seconds (24 microseconds) ' fastest = 1 / 16 ' 16 Hz ' slowest = 1.5 ' 0.66 Hz ' velo_traject = slowest - fastest ' PRINT# 1, "Lookup for Whisper durations in periodic events" ' FOR i = 1 TO 127 ' velo = velo_traject / i ' PRINT i; velo, ' PRINT# 1 ,"Dur[";i;"] ="; velo ' NEXT i 'DO: LOOP UNTIL INKEY$ <> "" 'END FUNCTION Dur[ 1 ] = 59896 Dur[ 2 ] = 29948 Dur[ 3 ] = 19965 Dur[ 4 ] = 14974 Dur[ 5 ] = 11979 Dur[ 6 ] = 9983 Dur[ 7 ] = 8557 Dur[ 8 ] = 7487 Dur[ 9 ] = 6655 Dur[ 10 ] = 5990 Dur[ 11 ] = 5445 Dur[ 12 ] = 4991 Dur[ 13 ] = 4607 Dur[ 14 ] = 4278 Dur[ 15 ] = 3993 Dur[ 16 ] = 3743 Dur[ 17 ] = 3523 Dur[ 18 ] = 3328 Dur[ 19 ] = 3152 Dur[ 20 ] = 2995 Dur[ 21 ] = 2852 Dur[ 22 ] = 2723 Dur[ 23 ] = 2604 Dur[ 24 ] = 2496 Dur[ 25 ] = 2396 Dur[ 26 ] = 2304 Dur[ 27 ] = 2218 Dur[ 28 ] = 2139 Dur[ 29 ] = 2065 Dur[ 30 ] = 1997 Dur[ 31 ] = 1932 Dur[ 32 ] = 1872 Dur[ 33 ] = 1815 Dur[ 34 ] = 1762 Dur[ 35 ] = 1711 Dur[ 36 ] = 1664 Dur[ 37 ] = 1619 Dur[ 38 ] = 1576 Dur[ 39 ] = 1536 Dur[ 40 ] = 1497 Dur[ 41 ] = 1461 Dur[ 42 ] = 1426 Dur[ 43 ] = 1393 Dur[ 44 ] = 1361 Dur[ 45 ] = 1331 Dur[ 46 ] = 1302 Dur[ 47 ] = 1274 Dur[ 48 ] = 1248 Dur[ 49 ] = 1222 Dur[ 50 ] = 1198 Dur[ 51 ] = 1174 Dur[ 52 ] = 1152 Dur[ 53 ] = 1130 Dur[ 54 ] = 1109 Dur[ 55 ] = 1089 Dur[ 56 ] = 1070 Dur[ 57 ] = 1051 Dur[ 58 ] = 1033 Dur[ 59 ] = 1015 Dur[ 60 ] = 998 Dur[ 61 ] = 982 Dur[ 62 ] = 966 Dur[ 63 ] = 951 Dur[ 64 ] = 936 Dur[ 65 ] = 921 Dur[ 66 ] = 908 Dur[ 67 ] = 894 Dur[ 68 ] = 881 Dur[ 69 ] = 868 Dur[ 70 ] = 856 Dur[ 71 ] = 844 Dur[ 72 ] = 832 Dur[ 73 ] = 820 Dur[ 74 ] = 809 Dur[ 75 ] = 799 Dur[ 76 ] = 788 Dur[ 77 ] = 778 Dur[ 78 ] = 768 Dur[ 79 ] = 758 Dur[ 80 ] = 749 Dur[ 81 ] = 739 Dur[ 82 ] = 730 Dur[ 83 ] = 722 Dur[ 84 ] = 713 Dur[ 85 ] = 705 Dur[ 86 ] = 696 Dur[ 87 ] = 688 Dur[ 88 ] = 681 Dur[ 89 ] = 673 Dur[ 90 ] = 666 Dur[ 91 ] = 658 Dur[ 92 ] = 651 Dur[ 93 ] = 644 Dur[ 94 ] = 637 Dur[ 95 ] = 630 Dur[ 96 ] = 624 Dur[ 97 ] = 617 Dur[ 98 ] = 611 Dur[ 99 ] = 605 Dur[ 100 ] = 599 Dur[ 101 ] = 593 Dur[ 102 ] = 587 Dur[ 103 ] = 582 Dur[ 104 ] = 576 Dur[ 105 ] = 570 Dur[ 106 ] = 565 Dur[ 107 ] = 560 Dur[ 108 ] = 555 Dur[ 109 ] = 550 Dur[ 110 ] = 545 Dur[ 111 ] = 540 Dur[ 112 ] = 535 Dur[ 113 ] = 530 Dur[ 114 ] = 525 Dur[ 115 ] = 521 Dur[ 116 ] = 516 Dur[ 117 ] = 512 Dur[ 118 ] = 508 Dur[ 119 ] = 503 Dur[ 120 ] = 499 Dur[ 121 ] = 495 Dur[ 122 ] = 491 Dur[ 123 ] = 487 Dur[ 124 ] = 483 Dur[ 125 ] = 479 Dur[ 126 ] = 475 Dur[ 127 ] = 472 Return '[EOF]