mirror of
https://github.com/supleed2/ELEC60013-ES-CW2.git
synced 2024-12-22 21:55:50 +00:00
Merge branch 'main' into kacper
This commit is contained in:
Kacper
commit
b1854a3ca4
BIN
docs/Note Step Calculation.xlsx
Normal file
BIN
docs/Note Step Calculation.xlsx
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@ -1,214 +0,0 @@
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#include <stm32l4xx_hal_can.h>
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#include <stm32l4xx_hal_rcc.h>
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#include <stm32l4xx_hal_gpio.h>
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#include <stm32l4xx_hal_cortex.h>
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//Overwrite the weak default IRQ Handlers and callabcks
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extern "C" void CAN1_RX0_IRQHandler(void);
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extern "C" void CAN1_TX_IRQHandler(void);
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//Pointer to user ISRS
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void (*CAN_RX_ISR)() = NULL;
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void (*CAN_TX_ISR)() = NULL;
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//CAN handle struct with initialisation parameters
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//Timing from http://www.bittiming.can-wiki.info/ with bit rate = 125kHz and clock frequency = 80MHz
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CAN_HandleTypeDef CAN_Handle = {
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CAN1,
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{
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40, //Prescaler
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CAN_MODE_NORMAL, //Normal/loopback/silent mode
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CAN_SJW_2TQ, //SyncJumpWidth
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CAN_BS1_13TQ, //TimeSeg1
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CAN_BS2_2TQ, //TimeSeg2
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DISABLE, //TimeTriggeredMode
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DISABLE, //AutoBusOff
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ENABLE, //AutoWakeUp
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ENABLE, //AutoRetransmission
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DISABLE, //ReceiveFifoLocked
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ENABLE //TransmitFifoPriority
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},
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HAL_CAN_STATE_RESET, //State
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HAL_CAN_ERROR_NONE //Error Code
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};
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//Initialise CAN dependencies: GPIO and clock
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void HAL_CAN_MspInit(CAN_HandleTypeDef* CAN_Handle) {
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//Set up the pin initialisation
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GPIO_InitTypeDef GPIO_InitCAN_TX = {
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GPIO_PIN_12, //PA12 is CAN TX
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GPIO_MODE_AF_PP, //Alternate function, push-pull driver
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GPIO_NOPULL, //No pull-up
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GPIO_SPEED_FREQ_MEDIUM, //Medium slew rate
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GPIO_AF9_CAN1 //Alternate function is CAN
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};
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GPIO_InitTypeDef GPIO_InitCAN_RX = {
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GPIO_PIN_11, //PA11 is CAN RX
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GPIO_MODE_AF_PP, //Alternate function, push-pull driver
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GPIO_PULLUP, //Pull-up enabled
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GPIO_SPEED_FREQ_MEDIUM, //Medium slew rate
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GPIO_AF9_CAN1 //Alternate function is CAN
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};
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//Enable the CAN and GPIO clocks
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__HAL_RCC_CAN1_CLK_ENABLE(); //Enable the CAN interface clock
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__HAL_RCC_GPIOA_CLK_ENABLE(); //Enable the clock for the CAN GPIOs
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//Initialise the pins
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HAL_GPIO_Init(GPIOA, &GPIO_InitCAN_TX); //Configure CAN pin
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HAL_GPIO_Init(GPIOA, &GPIO_InitCAN_RX); //Configure CAN pin
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}
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uint32_t CAN_Init(bool loopback=false) {
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if (loopback)
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CAN_Handle.Init.Mode = CAN_MODE_LOOPBACK;
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return (uint32_t) HAL_CAN_Init(&CAN_Handle);
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}
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uint32_t setCANFilter(uint32_t filterID, uint32_t maskID, uint32_t filterBank) {
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//Set up the filter definition
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CAN_FilterTypeDef filterInfo = {
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(filterID << 5) & 0xffe0, //Filter ID
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0, //Filter ID LSBs = 0
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(maskID << 5) & 0xffe0, //Mask MSBs
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0, //Mask LSBs = 0
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0, //FIFO selection
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filterBank & 0xf, //Filter bank selection
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CAN_FILTERMODE_IDMASK, //Mask mode
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CAN_FILTERSCALE_32BIT, //32 bit IDs
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CAN_FILTER_ENABLE, //Enable filter
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0 //uint32_t SlaveStartFilterBank
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};
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return (uint32_t) HAL_CAN_ConfigFilter(&CAN_Handle, &filterInfo);
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}
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uint32_t CAN_Start() {
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return (uint32_t) HAL_CAN_Start(&CAN_Handle);
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}
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uint32_t CAN_TX(uint32_t ID, uint8_t data[8]) {
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//Set up the message header
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CAN_TxHeaderTypeDef txHeader = {
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ID & 0x7ff, //Standard ID
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0, //Ext ID = 0
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CAN_ID_STD, //Use Standard ID
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CAN_RTR_DATA, //Data Frame
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8, //Send 8 bytes
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DISABLE //No time triggered mode
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};
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//Wait for free mailbox
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while (!HAL_CAN_GetTxMailboxesFreeLevel(&CAN_Handle));
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//Start the transmission
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return (uint32_t) HAL_CAN_AddTxMessage(&CAN_Handle, &txHeader, data, NULL);
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}
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uint32_t CAN_CheckRXLevel() {
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return HAL_CAN_GetRxFifoFillLevel(&CAN_Handle, 0);
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}
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uint32_t CAN_RX(uint32_t &ID, uint8_t data[8]) {
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CAN_RxHeaderTypeDef rxHeader;
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//Wait for message in FIFO
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while (!HAL_CAN_GetRxFifoFillLevel(&CAN_Handle, 0));
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//Get the message from the FIFO
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uint32_t result = (uint32_t) HAL_CAN_GetRxMessage(&CAN_Handle, 0, &rxHeader, data);
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//Store the ID from the header
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ID = rxHeader.StdId;
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return result;
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}
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uint32_t CAN_RegisterRX_ISR(void(& callback)()) {
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//Store pointer to user ISR
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CAN_RX_ISR = &callback;
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//Enable message received interrupt in HAL
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uint32_t status = (uint32_t) HAL_CAN_ActivateNotification (&CAN_Handle, CAN_IT_RX_FIFO0_MSG_PENDING);
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//Switch on the interrupt
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HAL_NVIC_SetPriority (CAN1_RX0_IRQn, 6, 0);
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HAL_NVIC_EnableIRQ (CAN1_RX0_IRQn);
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return status;
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}
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uint32_t CAN_RegisterTX_ISR(void(& callback)()) {
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//Store pointer to user ISR
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CAN_TX_ISR = &callback;
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//Enable message received interrupt in HAL
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uint32_t status = (uint32_t) HAL_CAN_ActivateNotification (&CAN_Handle, CAN_IT_TX_MAILBOX_EMPTY);
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//Switch on the interrupt
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HAL_NVIC_SetPriority (CAN1_TX_IRQn, 6, 0);
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HAL_NVIC_EnableIRQ (CAN1_TX_IRQn);
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return status;
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}
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void HAL_CAN_RxFifo0MsgPendingCallback (CAN_HandleTypeDef * hcan){
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//Call the user ISR if it has been registered
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if (CAN_RX_ISR)
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CAN_RX_ISR();
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}
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void HAL_CAN_TxMailbox0CompleteCallback (CAN_HandleTypeDef * hcan){
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//Call the user ISR if it has been registered
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if (CAN_TX_ISR)
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CAN_TX_ISR();
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}
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void HAL_CAN_TxMailbox1CompleteCallback (CAN_HandleTypeDef * hcan){
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//Call the user ISR if it has been registered
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if (CAN_TX_ISR)
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CAN_TX_ISR();
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}
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void HAL_CAN_TxMailbox2CompleteCallback (CAN_HandleTypeDef * hcan){
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//Call the user ISR if it has been registered
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if (CAN_TX_ISR)
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CAN_TX_ISR();
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}
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//This is the base ISR at the interrupt vector
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void CAN1_RX0_IRQHandler(void){
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//Use the HAL interrupt handler
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HAL_CAN_IRQHandler(&CAN_Handle);
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}
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//This is the base ISR at the interrupt vector
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void CAN1_TX_IRQHandler(void){
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//Use the HAL interrupt handler
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HAL_CAN_IRQHandler(&CAN_Handle);
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}
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@ -1,24 +0,0 @@
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//Initialise the CAN module
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uint32_t CAN_Init(bool loopback=false);
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//Enable the CAN module
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uint32_t CAN_Start();
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//Set up a recevie filter
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//Defaults to receive everything
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uint32_t setCANFilter(uint32_t filterID=0, uint32_t maskID=0, uint32_t filterBank=0);
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//Send a message
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uint32_t CAN_TX(uint32_t ID, uint8_t data[8]);
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//Get the number of received messages
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uint32_t CAN_CheckRXLevel();
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//Get a received message from the FIFO
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uint32_t CAN_RX(uint32_t &ID, uint8_t data[8]);
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//Set up an interrupt on received messages
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uint32_t CAN_RegisterRX_ISR(void(& callback)());
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//Set up an interrupt on transmitted messages
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uint32_t CAN_RegisterTX_ISR(void(& callback)());
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31
lib/es_can/es_can
Normal file
31
lib/es_can/es_can
Normal file
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@ -0,0 +1,31 @@
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#include <cstdint>
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#ifndef ES_CAN_H
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#define ES_CAN_H
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// Initialise the CAN module
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uint32_t CAN_Init(bool loopback = false);
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// Enable the CAN module
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uint32_t CAN_Start();
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// Set up a recevie filter
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// Defaults to receive everything
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uint32_t setCANFilter(uint32_t filterID = 0, uint32_t maskID = 0, uint32_t filterBank = 0);
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// Send a message
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uint32_t CAN_TX(uint32_t ID, uint8_t data[8]);
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// Get the number of received messages
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uint32_t CAN_CheckRXLevel();
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// Get a received message from the FIFO
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uint32_t CAN_RX(uint32_t &ID, uint8_t data[8]);
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// Set up an interrupt on received messages
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uint32_t CAN_RegisterRX_ISR(void (&callback)());
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// Set up an interrupt on transmitted messages
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uint32_t CAN_RegisterTX_ISR(void (&callback)());
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#endif
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202
lib/es_can/es_can.cpp
Normal file
202
lib/es_can/es_can.cpp
Normal file
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@ -0,0 +1,202 @@
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#include <es_can>
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#include <stm32l4xx_hal_can.h>
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#include <stm32l4xx_hal_cortex.h>
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#include <stm32l4xx_hal_gpio.h>
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#include <stm32l4xx_hal_rcc.h>
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// Overwrite the weak default IRQ Handlers and callabcks
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extern "C" void CAN1_RX0_IRQHandler(void);
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extern "C" void CAN1_TX_IRQHandler(void);
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// Pointer to user ISRS
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void (*CAN_RX_ISR)() = NULL;
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void (*CAN_TX_ISR)() = NULL;
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// CAN handle struct with initialisation parameters
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||||
// Timing from http://www.bittiming.can-wiki.info/ with bit rate = 125kHz and clock frequency = 80MHz
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CAN_HandleTypeDef CAN_Handle = {
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CAN1,
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{
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40, // Prescaler
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||||
CAN_MODE_NORMAL, // Normal/loopback/silent mode
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CAN_SJW_2TQ, // SyncJumpWidth
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||||
CAN_BS1_13TQ, // TimeSeg1
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||||
CAN_BS2_2TQ, // TimeSeg2
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||||
DISABLE, // TimeTriggeredMode
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||||
DISABLE, // AutoBusOff
|
||||
ENABLE, // AutoWakeUp
|
||||
ENABLE, // AutoRetransmission
|
||||
DISABLE, // ReceiveFifoLocked
|
||||
ENABLE // TransmitFifoPriority
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},
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||||
HAL_CAN_STATE_RESET, // State
|
||||
HAL_CAN_ERROR_NONE // Error Code
|
||||
};
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|
||||
// Initialise CAN dependencies: GPIO and clock
|
||||
void HAL_CAN_MspInit(CAN_HandleTypeDef *CAN_Handle) {
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||||
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||||
// Set up the pin initialisation
|
||||
GPIO_InitTypeDef GPIO_InitCAN_TX = {
|
||||
GPIO_PIN_12, // PA12 is CAN TX
|
||||
GPIO_MODE_AF_PP, // Alternate function, push-pull driver
|
||||
GPIO_NOPULL, // No pull-up
|
||||
GPIO_SPEED_FREQ_MEDIUM, // Medium slew rate
|
||||
GPIO_AF9_CAN1 // Alternate function is CAN
|
||||
};
|
||||
|
||||
GPIO_InitTypeDef GPIO_InitCAN_RX = {
|
||||
GPIO_PIN_11, // PA11 is CAN RX
|
||||
GPIO_MODE_AF_PP, // Alternate function, push-pull driver
|
||||
GPIO_PULLUP, // Pull-up enabled
|
||||
GPIO_SPEED_FREQ_MEDIUM, // Medium slew rate
|
||||
GPIO_AF9_CAN1 // Alternate function is CAN
|
||||
};
|
||||
|
||||
// Enable the CAN and GPIO clocks
|
||||
__HAL_RCC_CAN1_CLK_ENABLE(); // Enable the CAN interface clock
|
||||
__HAL_RCC_GPIOA_CLK_ENABLE(); // Enable the clock for the CAN GPIOs
|
||||
|
||||
// Initialise the pins
|
||||
HAL_GPIO_Init(GPIOA, &GPIO_InitCAN_TX); // Configure CAN pin
|
||||
HAL_GPIO_Init(GPIOA, &GPIO_InitCAN_RX); // Configure CAN pin
|
||||
}
|
||||
|
||||
uint32_t CAN_Init(bool loopback) {
|
||||
if (loopback)
|
||||
CAN_Handle.Init.Mode = CAN_MODE_LOOPBACK;
|
||||
return (uint32_t)HAL_CAN_Init(&CAN_Handle);
|
||||
}
|
||||
|
||||
uint32_t setCANFilter(uint32_t filterID, uint32_t maskID, uint32_t filterBank) {
|
||||
|
||||
// Set up the filter definition
|
||||
CAN_FilterTypeDef filterInfo = {
|
||||
(filterID << 5) & 0xffe0, // Filter ID
|
||||
0, // Filter ID LSBs = 0
|
||||
(maskID << 5) & 0xffe0, // Mask MSBs
|
||||
0, // Mask LSBs = 0
|
||||
0, // FIFO selection
|
||||
filterBank & 0xf, // Filter bank selection
|
||||
CAN_FILTERMODE_IDMASK, // Mask mode
|
||||
CAN_FILTERSCALE_32BIT, // 32 bit IDs
|
||||
CAN_FILTER_ENABLE, // Enable filter
|
||||
0 // uint32_t SlaveStartFilterBank
|
||||
};
|
||||
|
||||
return (uint32_t)HAL_CAN_ConfigFilter(&CAN_Handle, &filterInfo);
|
||||
}
|
||||
|
||||
uint32_t CAN_Start() {
|
||||
return (uint32_t)HAL_CAN_Start(&CAN_Handle);
|
||||
}
|
||||
|
||||
uint32_t CAN_TX(uint32_t ID, uint8_t data[8]) {
|
||||
|
||||
// Set up the message header
|
||||
CAN_TxHeaderTypeDef txHeader = {
|
||||
ID & 0x7ff, // Standard ID
|
||||
0, // Ext ID = 0
|
||||
CAN_ID_STD, // Use Standard ID
|
||||
CAN_RTR_DATA, // Data Frame
|
||||
8, // Send 8 bytes
|
||||
DISABLE // No time triggered mode
|
||||
};
|
||||
|
||||
// Wait for free mailbox
|
||||
while (!HAL_CAN_GetTxMailboxesFreeLevel(&CAN_Handle))
|
||||
;
|
||||
|
||||
// Start the transmission
|
||||
return (uint32_t)HAL_CAN_AddTxMessage(&CAN_Handle, &txHeader, data, NULL);
|
||||
}
|
||||
|
||||
uint32_t CAN_CheckRXLevel() {
|
||||
return HAL_CAN_GetRxFifoFillLevel(&CAN_Handle, 0);
|
||||
}
|
||||
|
||||
uint32_t CAN_RX(uint32_t &ID, uint8_t data[8]) {
|
||||
CAN_RxHeaderTypeDef rxHeader;
|
||||
|
||||
// Wait for message in FIFO
|
||||
while (!HAL_CAN_GetRxFifoFillLevel(&CAN_Handle, 0))
|
||||
;
|
||||
|
||||
// Get the message from the FIFO
|
||||
uint32_t result = (uint32_t)HAL_CAN_GetRxMessage(&CAN_Handle, 0, &rxHeader, data);
|
||||
|
||||
// Store the ID from the header
|
||||
ID = rxHeader.StdId;
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
uint32_t CAN_RegisterRX_ISR(void (&callback)()) {
|
||||
// Store pointer to user ISR
|
||||
CAN_RX_ISR = &callback;
|
||||
|
||||
// Enable message received interrupt in HAL
|
||||
uint32_t status = (uint32_t)HAL_CAN_ActivateNotification(&CAN_Handle, CAN_IT_RX_FIFO0_MSG_PENDING);
|
||||
|
||||
// Switch on the interrupt
|
||||
HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 6, 0);
|
||||
HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
uint32_t CAN_RegisterTX_ISR(void (&callback)()) {
|
||||
// Store pointer to user ISR
|
||||
CAN_TX_ISR = &callback;
|
||||
|
||||
// Enable message received interrupt in HAL
|
||||
uint32_t status = (uint32_t)HAL_CAN_ActivateNotification(&CAN_Handle, CAN_IT_TX_MAILBOX_EMPTY);
|
||||
|
||||
// Switch on the interrupt
|
||||
HAL_NVIC_SetPriority(CAN1_TX_IRQn, 6, 0);
|
||||
HAL_NVIC_EnableIRQ(CAN1_TX_IRQn);
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) {
|
||||
|
||||
// Call the user ISR if it has been registered
|
||||
if (CAN_RX_ISR)
|
||||
CAN_RX_ISR();
|
||||
}
|
||||
|
||||
void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan) {
|
||||
|
||||
// Call the user ISR if it has been registered
|
||||
if (CAN_TX_ISR)
|
||||
CAN_TX_ISR();
|
||||
}
|
||||
|
||||
void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan) {
|
||||
|
||||
// Call the user ISR if it has been registered
|
||||
if (CAN_TX_ISR)
|
||||
CAN_TX_ISR();
|
||||
}
|
||||
|
||||
void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan) {
|
||||
|
||||
// Call the user ISR if it has been registered
|
||||
if (CAN_TX_ISR)
|
||||
CAN_TX_ISR();
|
||||
}
|
||||
|
||||
// This is the base ISR at the interrupt vector
|
||||
void CAN1_RX0_IRQHandler(void) {
|
||||
|
||||
// Use the HAL interrupt handler
|
||||
HAL_CAN_IRQHandler(&CAN_Handle);
|
||||
}
|
||||
|
||||
// This is the base ISR at the interrupt vector
|
||||
void CAN1_TX_IRQHandler(void) {
|
||||
|
||||
// Use the HAL interrupt handler
|
||||
HAL_CAN_IRQHandler(&CAN_Handle);
|
||||
}
|
||||
19
lib/knob/knob
Normal file
19
lib/knob/knob
Normal file
|
|
@ -0,0 +1,19 @@
|
|||
#ifndef KNOB_H
|
||||
#define KNOB_H
|
||||
|
||||
class Knob {
|
||||
private:
|
||||
int rotation;
|
||||
int minimum, maximum;
|
||||
bool A, B;
|
||||
bool rotPlusOnePrev, rotMinOnePrev;
|
||||
|
||||
public:
|
||||
Knob(int minimum, int max);
|
||||
|
||||
int getRotation();
|
||||
|
||||
void updateRotation(bool ANew, bool BNew);
|
||||
};
|
||||
|
||||
#endif
|
||||
48
lib/knob/knob.cpp
Normal file
48
lib/knob/knob.cpp
Normal file
|
|
@ -0,0 +1,48 @@
|
|||
#include <knob>
|
||||
|
||||
Knob::Knob(int minimum, int maximum) {
|
||||
Knob::minimum = minimum;
|
||||
Knob::maximum = maximum;
|
||||
Knob::A = false;
|
||||
Knob::B = false;
|
||||
Knob::rotPlusOnePrev = false;
|
||||
Knob::rotMinOnePrev = false;
|
||||
Knob::rotation = 0;
|
||||
}
|
||||
|
||||
int Knob::getRotation() {
|
||||
return Knob::rotation;
|
||||
};
|
||||
|
||||
void Knob::updateRotation(bool ANew, bool BNew) {
|
||||
bool rotPlusOneNew = (!B && !A && !BNew && ANew) ||
|
||||
(!B && A && BNew && ANew) ||
|
||||
(B && !A && !BNew && !ANew) ||
|
||||
(B && A && BNew && !ANew);
|
||||
|
||||
bool rotMinOneNew = (!B && !A && BNew && !ANew) ||
|
||||
(!B && A && !BNew && !ANew) ||
|
||||
(B && !A && BNew && ANew) ||
|
||||
(B && A && !BNew && ANew);
|
||||
|
||||
bool impossibleState = (!B && !A && BNew && ANew) ||
|
||||
(!B && A && BNew && !ANew) ||
|
||||
(B && !A && !BNew && ANew) ||
|
||||
(B && A && !BNew && !ANew);
|
||||
|
||||
if (rotPlusOneNew || (impossibleState && rotPlusOnePrev))
|
||||
rotation += 2;
|
||||
if (rotMinOneNew || (impossibleState && rotMinOnePrev))
|
||||
rotation -= 2;
|
||||
if (rotation < minimum)
|
||||
rotation = minimum;
|
||||
if (rotation > maximum)
|
||||
rotation = maximum;
|
||||
|
||||
A = ANew;
|
||||
B = BNew;
|
||||
if (!impossibleState) {
|
||||
rotPlusOnePrev = rotPlusOneNew;
|
||||
rotMinOnePrev = rotMinOneNew;
|
||||
}
|
||||
}
|
||||
287
src/main.cpp
287
src/main.cpp
|
|
@ -1,66 +1,73 @@
|
|||
// https://github.com/adamb314/ThreadHandler
|
||||
|
||||
#include <Arduino.h>
|
||||
#include <U8g2lib.h>
|
||||
#include <STM32FreeRTOS.h>
|
||||
#include "knob.h"
|
||||
#include <U8g2lib.h>
|
||||
#include <atomic>
|
||||
#include <es_can>
|
||||
#include <knob>
|
||||
#include <string>
|
||||
|
||||
volatile int32_t currentStepSize;
|
||||
volatile uint8_t keyArray[7];
|
||||
volatile int8_t volume;
|
||||
volatile bool volumeFiner;
|
||||
volatile int8_t wave;
|
||||
volatile int8_t octave = 4;
|
||||
#pragma region Globals(Config values, Variables, Objects, Types, etc.)
|
||||
// Config values
|
||||
const uint32_t interval = 10; // Display update interval
|
||||
const uint32_t samplingRate = 44100; // Sampling rate
|
||||
const uint32_t canID = 0x123;
|
||||
// Variables
|
||||
std::atomic<int32_t> currentStepSize;
|
||||
std::atomic<uint8_t> keyArray[7];
|
||||
std::atomic<uint8_t> octave = 4; // Octave to start on
|
||||
std::atomic<int8_t> volume;
|
||||
std::atomic<bool> volumeFiner;
|
||||
std::atomic<int8_t> wave;
|
||||
int8_t volumeHistory = 0;
|
||||
SemaphoreHandle_t keyArrayMutex;
|
||||
QueueHandle_t msgInQ;
|
||||
uint8_t RX_Message[8] = {0};
|
||||
// Objects
|
||||
U8G2_SSD1305_128X32_NONAME_F_HW_I2C u8g2(U8G2_R0); // Display driver object
|
||||
Knob K0(2,14,8); //Octave encoder
|
||||
Knob K1(0,6); //Waveform encoder
|
||||
Knob K3(0,10); //Volume encoder
|
||||
enum waves{SQUARE=0,SAWTOOTH,TRIANGLE,SINE};
|
||||
|
||||
|
||||
#pragma region Config Values
|
||||
const uint32_t interval = 10; // Display update interval
|
||||
const uint32_t samplingRate = 44100; // Sampling rate
|
||||
const int32_t stepSizes[] = {
|
||||
0, 3374406, 3575058, 3787642, 4012867, 4251485, 4504291, 4772130,
|
||||
5055896, 5356535, 5675051, 6012507,
|
||||
6370029, 6748811, 7150116, 7575284, 8025734, 8502969, 9008582,
|
||||
9544260, 10111791, 10713070, 11350102, 12025014, 12740059, 13497622,
|
||||
14300233, 15150569, 16051469, 17005939, 18017164, 19088521, 20223583,
|
||||
21426140, 22700205, 24050029, 25480118, 26995245, 28600466, 30301138,
|
||||
32102938, 34011878, 36034329, 38177042, 40447167, 42852281, 45400410,
|
||||
48100059, 50960237, 53990491, 57200933, 60602277, 64205876, 68023756,
|
||||
72068659, 76354085, 80894335, 85704562, 90800821, 96200119, 101920475,
|
||||
107980982, 114401866, 121204555, 12841175, 136047513, 144137319, 152708170,
|
||||
161788670, 171409125, 181601642, 192400238, 203840952, 215961966,
|
||||
228803732, 242409110, 256823506, 272095026, 288274639, 305416341, 323577341,
|
||||
342818251, 363203285, 384800477, 407681904}; // Step sizes for each note
|
||||
static unsigned char waveforms[4][18] = {
|
||||
{0x7f, 0x10, 0x41, 0x10, 0x41, 0x10, 0x41, 0x10, 0x41, 0x10, 0x41, 0x10,
|
||||
0x41, 0x10, 0x41, 0x10, 0xc1, 0x1f}, //square wave
|
||||
{0x70, 0x10, 0x58, 0x18, 0x48, 0x08, 0x4c, 0x0c, 0x44, 0x04, 0x46, 0x06,
|
||||
0x42, 0x02, 0x43, 0x03, 0xc1, 0x01}, //sawtooth wave
|
||||
{0x08, 0x00, 0x1c, 0x00, 0x36, 0x00, 0x63, 0x00, 0xc1, 0x00, 0x80, 0x11,
|
||||
0x00, 0x1b, 0x00, 0x0e, 0x00, 0x04}, //triange wave
|
||||
{0x1c, 0x00, 0x36, 0x00, 0x22, 0x00, 0x63, 0x00, 0x41, 0x10, 0xc0, 0x18,
|
||||
0x80, 0x08, 0x80, 0x0d, 0x00, 0x07} //sine wave
|
||||
// Program Specific Structures
|
||||
typedef struct{
|
||||
int32_t stepSize;
|
||||
std::string note;
|
||||
} Note;
|
||||
const Note notes[] = {
|
||||
{0, "None"}, {3185014, "C1"}, {3374405, "C1#"}, {3575058, "D1"}, {3787642, "D1#"}, {4012867, "E1"}, {4251484, "F1"}, {4504291, "F1#"}, {4772130, "G1"}, {5055895, "G1#"}, {5356535, "A1"}, {5675051, "A1#"}, {6012507, "B1"}, {6370029, "C2"}, {6748811, "C2#"}, {7150116, "D2"}, {7575284, "D2#"}, {8025734, "E2"}, {8502969, "F2"}, {9008582, "F2#"}, {9544260, "G2"}, {10111791, "G2#"}, {10713070, "A2"}, {11350102, "A2#"}, {12025014, "B2"}, {12740059, "C3"}, {13497622, "C3#"}, {14300233, "D3"}, {15150569, "D3#"}, {16051469, "E3"}, {17005939, "F3"}, {18017164, "F3#"}, {19088521, "G3"}, {20223583, "G3#"}, {21426140, "A3"}, {22700205, "A3#"}, {24050029, "B3"}, {25480118, "C4"}, {26995245, "C4#"}, {28600466, "D4"}, {30301138, "D4#"}, {32102938, "E4"}, {34011878, "F4"}, {36034329, "F4#"}, {38177042, "G4"}, {40447167, "G4#"}, {42852281, "A4"}, {45400410, "A4#"}, {48100059, "B4"}, {50960237, "C5"}, {53990491, "C5#"}, {57200933, "D5"}, {60602277, "D5#"}, {64205876, "E5"}, {68023756, "F5"}, {72068659, "F5#"}, {76354085, "G5"}, {80894335, "G5#"}, {85704562, "A5"}, {90800821, "A5#"}, {96200119, "B5"}, {101920475, "C6"}, {107980982, "C6#"}, {114401866, "D6"}, {121204555, "D6#"}, {128411753, "E6"}, {136047513, "F6"}, {144137319, "F6#"}, {152708170, "G6"}, {161788670, "G6#"}, {171409125, "A6"}, {181601642, "A6#"}, {192400238, "B6"}, {203840951, "C7"}, {215961965, "C7#"}, {228803732, "D7"}, {242409110, "D7#"}, {256823506, "E7"}, {272095026, "F7"}, {288274638, "F7#"}, {305416340, "G7"}, {323577341, "G7#"}, {342818251, "A7"}, {363203285, "A7#"}, {384800476, "B7"}};
|
||||
enum waveform {
|
||||
SQUARE = 0,
|
||||
SAWTOOTH,
|
||||
TRIANGLE,
|
||||
SINE
|
||||
};
|
||||
static unsigned char volumes[6][18] = {
|
||||
{0x10, 0x02, 0x98, 0x04, 0x1c, 0x05, 0x5f, 0x09, 0x5f, 0x09, 0x5f, 0x09,
|
||||
0x1c, 0x05, 0x98, 0x04, 0x10, 0x02 }, //volume max
|
||||
{0x10, 0x00, 0x98, 0x00, 0x1c, 0x01, 0x5f, 0x01, 0x5f, 0x01, 0x5f, 0x01,
|
||||
0x1c, 0x01, 0x98, 0x00, 0x10, 0x00 }, //volume mid higher
|
||||
{0x10, 0x00, 0x18, 0x00, 0x1c, 0x01, 0x5f, 0x01, 0x5f, 0x01, 0x5f, 0x01,
|
||||
0x1c, 0x01, 0x18, 0x00, 0x10, 0x00 }, //volume mid lower
|
||||
{0x10, 0x00, 0x18, 0x00, 0x1c, 0x00, 0x5f, 0x00, 0x5f, 0x00, 0x5f, 0x00,
|
||||
0x1c, 0x00, 0x18, 0x00, 0x10, 0x00 }, //volume low
|
||||
{0x10, 0x00, 0x18, 0x00, 0x1c, 0x00, 0x1f, 0x00, 0x5f, 0x00, 0x1f, 0x00,
|
||||
0x1c, 0x00, 0x18, 0x00, 0x10, 0x00 }, //volume lowest
|
||||
{0x10, 0x00, 0x18, 0x00, 0x5c, 0x04, 0x9f, 0x02, 0x1f, 0x01, 0x9f, 0x02,
|
||||
0x5c, 0x04, 0x18, 0x00, 0x10, 0x00} //mute
|
||||
const unsigned char waveforms[4][18] = {
|
||||
{0x7f, 0x10, 0x41, 0x10, 0x41, 0x10, 0x41, 0x10, 0x41,
|
||||
0x10, 0x41, 0x10, 0x41, 0x10, 0x41, 0x10, 0xc1, 0x1f}, // Square Wave
|
||||
{0x70, 0x10, 0x58, 0x18, 0x48, 0x08, 0x4c, 0x0c, 0x44,
|
||||
0x04, 0x46, 0x06, 0x42, 0x02, 0x43, 0x03, 0xc1, 0x01}, // Sawtooth Wave
|
||||
{0x08, 0x00, 0x1c, 0x00, 0x36, 0x00, 0x63, 0x00, 0xc1,
|
||||
0x00, 0x80, 0x11, 0x00, 0x1b, 0x00, 0x0e, 0x00, 0x04}, // Triangle Wave
|
||||
{0x1c, 0x00, 0x36, 0x00, 0x22, 0x00, 0x63, 0x00, 0x41,
|
||||
0x10, 0xc0, 0x18, 0x80, 0x08, 0x80, 0x0d, 0x00, 0x07} // Sine Wave
|
||||
};
|
||||
const unsigned char volumes[6][18] = {
|
||||
{0x10, 0x02, 0x98, 0x04, 0x1c, 0x05, 0x5f, 0x09, 0x5f,
|
||||
0x09, 0x5f, 0x09, 0x1c, 0x05, 0x98, 0x04, 0x10, 0x02}, // volume max
|
||||
{0x10, 0x00, 0x98, 0x00, 0x1c, 0x01, 0x5f, 0x01, 0x5f,
|
||||
0x01, 0x5f, 0x01, 0x1c, 0x01, 0x98, 0x00, 0x10, 0x00}, // volume mid higher
|
||||
{0x10, 0x00, 0x18, 0x00, 0x1c, 0x01, 0x5f, 0x01, 0x5f,
|
||||
0x01, 0x5f, 0x01, 0x1c, 0x01, 0x18, 0x00, 0x10, 0x00}, // volume mid lower
|
||||
{0x10, 0x00, 0x18, 0x00, 0x1c, 0x00, 0x5f, 0x00, 0x5f,
|
||||
0x00, 0x5f, 0x00, 0x1c, 0x00, 0x18, 0x00, 0x10, 0x00}, // volume low
|
||||
{0x10, 0x00, 0x18, 0x00, 0x1c, 0x00, 0x1f, 0x00, 0x5f,
|
||||
0x00, 0x1f, 0x00, 0x1c, 0x00, 0x18, 0x00, 0x10, 0x00}, // volume lowest
|
||||
{0x10, 0x00, 0x18, 0x00, 0x5c, 0x04, 0x9f, 0x02, 0x1f,
|
||||
0x01, 0x9f, 0x02, 0x5c, 0x04, 0x18, 0x00, 0x10, 0x00} // mute
|
||||
};
|
||||
const unsigned char icon_bits[] = {
|
||||
0x00, 0x00, 0x00, 0x00, 0xcc, 0x00, 0xcc, 0x00, 0x00, 0x00,
|
||||
0x00, 0x00, 0x02, 0x01, 0x02, 0x01, 0xfe, 0x01, 0x00, 0x00};
|
||||
#pragma endregion
|
||||
|
||||
#pragma region Pin Definitions
|
||||
// Row select and enable
|
||||
const int RA0_PIN = D3;
|
||||
|
|
@ -86,8 +93,6 @@ const int HKOW_BIT = 5;
|
|||
const int HKOE_BIT = 6;
|
||||
#pragma endregion
|
||||
|
||||
U8G2_SSD1305_128X32_NONAME_F_HW_I2C u8g2(U8G2_R0); // Display driver object
|
||||
|
||||
// Function to set outputs using key matrix
|
||||
void setOutMuxBit(const uint8_t bitIdx, const bool value) {
|
||||
digitalWrite(REN_PIN, LOW);
|
||||
|
|
@ -110,7 +115,7 @@ uint8_t readCols() {
|
|||
return row;
|
||||
}
|
||||
|
||||
// Set current row
|
||||
// Set multiplexer bits to select row
|
||||
void setRow(const uint8_t rowIdx) {
|
||||
digitalWrite(REN_PIN, LOW);
|
||||
digitalWrite(RA0_PIN, rowIdx & 0x01);
|
||||
|
|
@ -119,6 +124,7 @@ void setRow(const uint8_t rowIdx) {
|
|||
digitalWrite(REN_PIN, HIGH);
|
||||
}
|
||||
|
||||
|
||||
uint32_t scaleVolume(uint32_t Vout){
|
||||
uint32_t newVout = 0;
|
||||
if(volumeFiner){
|
||||
|
|
@ -129,20 +135,20 @@ uint32_t scaleVolume(uint32_t Vout){
|
|||
return newVout;
|
||||
}
|
||||
|
||||
//uint32_t combineNotes(uint32_t lol){}
|
||||
|
||||
uint16_t getTopKey(volatile uint8_t array[]) {
|
||||
// Returns key value (as notes[] index) of highest currently pressed key
|
||||
uint16_t getTopKey() {
|
||||
uint16_t topKey = 0;
|
||||
for (uint8_t i = 0; i < 3; i++) {
|
||||
for (uint8_t j = 0; j < 4; j++) {
|
||||
if (array[i] & (0x1 << j)) {
|
||||
topKey = (octave-1) * 12 + i * 4 + j + 1;
|
||||
if (keyArray[i] & (0x1 << j)) {
|
||||
topKey = (octave - 1) * 12 + i * 4 + j + 1;
|
||||
}
|
||||
}
|
||||
}
|
||||
return topKey;
|
||||
}
|
||||
|
||||
// Interrupt driven routine to send waveform to DAC
|
||||
void sampleISR(){
|
||||
static int32_t phaseAcc = 0;
|
||||
phaseAcc += currentStepSize;
|
||||
|
|
@ -164,60 +170,97 @@ void sampleISR(){
|
|||
analogWrite(OUTR_PIN, Vout + 128);
|
||||
}
|
||||
|
||||
void scanKeysTask(void * pvParameters){
|
||||
uint8_t keyArrayCopy[7];
|
||||
bool volumeFinerNext;
|
||||
const TickType_t xFrequency = 50/portTICK_PERIOD_MS;
|
||||
void CAN_RX_ISR() {
|
||||
uint8_t ISR_RX_Message[8];
|
||||
uint32_t ISR_rxID;
|
||||
CAN_RX(ISR_rxID, ISR_RX_Message);
|
||||
xQueueSendFromISR(msgInQ, ISR_RX_Message, nullptr);
|
||||
}
|
||||
|
||||
void decodeTask(void *pvParameters) {
|
||||
while (1) {
|
||||
xQueueReceive(msgInQ, RX_Message, portMAX_DELAY);
|
||||
if (RX_Message[0] == 0x50) { // Pressed
|
||||
currentStepSize = notes[(RX_Message[1] - 1) * 12 + RX_Message[2]].stepSize;
|
||||
} else { // Released
|
||||
currentStepSize = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void keyChangedSendTXMessage(uint8_t octave, uint8_t key, bool pressed) {
|
||||
uint8_t TX_Message[8] = {0};
|
||||
if (pressed) {
|
||||
TX_Message[0] = 0x50; // "P"
|
||||
} else {
|
||||
TX_Message[0] = 0x52; // "R"
|
||||
}
|
||||
TX_Message[1] = octave;
|
||||
TX_Message[2] = key;
|
||||
CAN_TX(canID, TX_Message);
|
||||
}
|
||||
|
||||
// Task to update keyArray values at a higher priority
|
||||
void scanKeysTask(void *pvParameters) {
|
||||
const TickType_t xFrequency = 50 / portTICK_PERIOD_MS;
|
||||
TickType_t xLastWakeTime = xTaskGetTickCount();
|
||||
while(1){
|
||||
while (1) {
|
||||
vTaskDelayUntil(&xLastWakeTime, xFrequency);
|
||||
for (uint8_t i = 0; i < 7; i++) {
|
||||
setRow(i);
|
||||
uint8_t oldRow = keyArray[i];
|
||||
delayMicroseconds(3);
|
||||
keyArrayCopy[i] = readCols();
|
||||
}
|
||||
xSemaphoreTake(keyArrayMutex, portMAX_DELAY);
|
||||
memcpy((void*)keyArray, keyArrayCopy, 7);
|
||||
xSemaphoreGive(keyArrayMutex);
|
||||
digitalToggle(LED_BUILTIN);
|
||||
__atomic_store_n(¤tStepSize, stepSizes[getTopKey(keyArrayCopy)], __ATOMIC_RELAXED);
|
||||
K0.updateRotation(keyArrayCopy[4] & 0x4, keyArrayCopy[4] & 0x8);
|
||||
__atomic_store_n(&octave, K0.getRotation()/2, __ATOMIC_RELAXED);
|
||||
K1.updateRotation(keyArrayCopy[4] & 0x1, keyArrayCopy[4] & 0x2);
|
||||
__atomic_store_n(&wave, K1.getRotation()/2, __ATOMIC_RELAXED);
|
||||
uint8_t newRow = readCols();
|
||||
if (oldRow == newRow) {
|
||||
continue;
|
||||
} else {
|
||||
keyArray[i] = newRow;
|
||||
for (uint8_t j = 0; j < 4; j++) {
|
||||
if ((oldRow & (0x1 << j)) ^ (newRow & (0x1 << j))) {
|
||||
keyChangedSendTXMessage(octave, i * 4 + j + 1, newRow & (0x1 << j));
|
||||
}
|
||||
}
|
||||
}
|
||||
};
|
||||
if(volumeFiner){
|
||||
K3.changeLimitsVolume(0,20);
|
||||
}else{
|
||||
K3.changeLimitsVolume(0,10);
|
||||
}
|
||||
K3.updateRotation(keyArrayCopy[3] & 0x1, keyArrayCopy[3] & 0x2);
|
||||
__atomic_store_n(&volume, K3.getRotation(), __ATOMIC_RELAXED);
|
||||
volumeHistory = (volumeHistory << 1) + ((keyArrayCopy[5]&0x2)>>1);
|
||||
volumeFinerNext = ((!(volumeHistory==1))&volumeFiner) | ((volumeHistory==1)&!volumeFiner);
|
||||
__atomic_store_n(&volumeFiner, volumeFinerNext, __ATOMIC_RELAXED);
|
||||
};
|
||||
currentStepSize = notes[getTopKey()].stepSize; // Atomic Store
|
||||
K0.updateRotation(keyArray[4] & 0x4, keyArray[4] & 0x8);
|
||||
octave = K0.getRotation()/2;
|
||||
K1.updateRotation(keyArray[4] & 0x1, keyArray[4] & 0x2);
|
||||
wave = K1.getRotation()/2;
|
||||
K3.updateRotation(keyArray[3] & 0x1, keyArray[3] & 0x2);
|
||||
volume = K3.getRotation();
|
||||
volumeHistory = (volumeHistory << 1) + ((keyArray[5]&0x2)>>1);
|
||||
volumeFiner = ((!(volumeHistory==1))&volumeFiner) | ((volumeHistory==1)&!volumeFiner);
|
||||
}
|
||||
}
|
||||
|
||||
void displayUpdateTask(void * pvParameters){
|
||||
uint8_t keyArrayCopy[7];
|
||||
const TickType_t xFrequency = 100/portTICK_PERIOD_MS;
|
||||
// Task containing display graphics and update code
|
||||
void displayUpdateTask(void *pvParameters) {
|
||||
const TickType_t xFrequency = 100 / portTICK_PERIOD_MS;
|
||||
TickType_t xLastWakeTime = xTaskGetTickCount();
|
||||
while(1){
|
||||
while (1) {
|
||||
vTaskDelayUntil(&xLastWakeTime, xFrequency);
|
||||
uint32_t rxID;
|
||||
|
||||
xSemaphoreTake(keyArrayMutex, portMAX_DELAY);
|
||||
memcpy(keyArrayCopy, (void*)keyArray, 7);
|
||||
xSemaphoreGive(keyArrayMutex);
|
||||
|
||||
u8g2.clearBuffer(); // clear the internal memory
|
||||
u8g2.setFont(u8g2_font_profont12_mf); // choose a suitable font
|
||||
u8g2.setCursor(2, 10); // set the cursor position
|
||||
u8g2.print(currentStepSize); // Print the current frequency
|
||||
//digitalToggle(LED_BUILTIN);
|
||||
u8g2.clearBuffer(); // clear the internal memory
|
||||
u8g2.setFont(u8g2_font_profont12_mf); // choose a suitable font
|
||||
uint16_t key = getTopKey();
|
||||
u8g2.drawStr(2, 10, notes[key].note.c_str()); // Print the current key
|
||||
digitalToggle(LED_BUILTIN);
|
||||
u8g2.setCursor(2, 20);
|
||||
for (uint8_t i = 0; i < 7; i++) {
|
||||
u8g2.print(keyArrayCopy[6-i], HEX);
|
||||
}
|
||||
u8g2.print(keyArray[i], HEX);
|
||||
};
|
||||
u8g2.setCursor(100, 10);
|
||||
u8g2.print((char)RX_Message[0]);
|
||||
u8g2.print(RX_Message[1]);
|
||||
u8g2.print(RX_Message[2], HEX);
|
||||
|
||||
// Print waveform icon
|
||||
int K1_rot = K1.getRotation();
|
||||
if(K1_rot<2){
|
||||
|
|
@ -283,39 +326,43 @@ void setup() {
|
|||
u8g2.begin();
|
||||
setOutMuxBit(DEN_BIT, HIGH); // Enable display power supply
|
||||
#pragma endregion
|
||||
|
||||
// Initialise UART
|
||||
#pragma region UART Setup
|
||||
Serial.begin(115200);
|
||||
Serial.println("Hello World");
|
||||
|
||||
#pragma endregion
|
||||
#pragma region CAN Setup
|
||||
msgInQ = xQueueCreate(36, 8);
|
||||
CAN_Init(true);
|
||||
setCANFilter(0x123, 0x7ff);
|
||||
CAN_RegisterRX_ISR(CAN_RX_ISR);
|
||||
CAN_Start();
|
||||
#pragma endregion
|
||||
#pragma region Task Scheduler Setup
|
||||
TIM_TypeDef *Instance = TIM1;
|
||||
HardwareTimer *sampleTimer = new HardwareTimer(Instance);
|
||||
sampleTimer->setOverflow(samplingRate, HERTZ_FORMAT);
|
||||
sampleTimer->attachInterrupt(sampleISR);
|
||||
sampleTimer->resume();
|
||||
|
||||
TaskHandle_t scanKeysHandle = NULL;
|
||||
TaskHandle_t displayUpdateHandle = NULL;
|
||||
TaskHandle_t scanKeysHandle = nullptr;
|
||||
TaskHandle_t displayUpdateHandle = nullptr;
|
||||
xTaskCreate(
|
||||
scanKeysTask, /* Function that implements the task */
|
||||
"scanKeys", /* Text name for the task */
|
||||
64, /* Stack size in words, not bytes */
|
||||
NULL, /* Parameter passed into the task */
|
||||
2, /* Task priority */
|
||||
&scanKeysHandle /* Pointer to store the task handle */
|
||||
scanKeysTask, // Function that implements the task
|
||||
"scanKeys", // Text name for the task
|
||||
64, // Stack size in words, not bytes
|
||||
nullptr, // Parameter passed into the task
|
||||
2, // Task priority
|
||||
&scanKeysHandle // Pointer to store the task handle
|
||||
);
|
||||
xTaskCreate(
|
||||
displayUpdateTask, /* Function that implements the task */
|
||||
"displayUpdate", /* Text name for the task */
|
||||
256, /* Stack size in words, not bytes */
|
||||
NULL, /* Parameter passed into the task */
|
||||
1, /* Task priority */
|
||||
&displayUpdateHandle /* Pointer to store the task handle */
|
||||
displayUpdateTask, // Function that implements the task
|
||||
"displayUpdate", // Text name for the task
|
||||
256, // Stack size in words, not bytes
|
||||
nullptr, // Parameter passed into the task
|
||||
1, // Task priority
|
||||
&displayUpdateHandle // Pointer to store the task handle
|
||||
);
|
||||
|
||||
keyArrayMutex = xSemaphoreCreateMutex();
|
||||
|
||||
vTaskStartScheduler();
|
||||
#pragma endregion
|
||||
}
|
||||
|
||||
void loop() {}
|
||||
void loop() {} // No code in loop, as everything is done in the tasks
|
||||
|
|
|
|||
Loading…
Reference in a new issue