'**************************************************************** '* Name : Spiro_Hub.BAS * '* Author : Godfried-Willem RAES * '* Notice : Copyleft (c) 2011 Logosoft Public Domain * '* Date : 13-07-2011 * '* Version : 1.1 * '* Notes : Based On Fa-hub code model, V1.3 * '**************************************************************** '13.07.2011: code start - Version 1.0 '16.07.2011: first version implanted in Spiro '24.07.2011: PWM frequency increased on softshifts to overcome noise problems Include "18F2525.inc" 'version for the Spiro 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: ' lights: $define Blue_Strings PORTC.5 ' X11-2 - strings lite $define Blue_Under PORTC.4 ' X11-3 - lite underneath $define Red0 PORTB.0 ' X12-2 - note yet mounted $define Red1 PORTB.1 ' X12-3 $define Blue0 PORTC.3 ' X15-2 $define Blue1 PORTC.0 ' X15-3 'red LED for debug: $define Debug_Led PORTB.5 ' for testing - 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 = 4 ' Spiro_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 = 6 ' maximum 16 'Symbol PWMFreq2 = PWMminF * 2 ' PWMminF is processor dependent. 'Symbol PWMFreq3 = PWMminF * 3 ' declared in the processor include Symbol PWMFreq4 = PWMminF * 4 ' avoiding 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 ' no analog inputs ' Declare Hserial_Clear = On ' should clear on errors. Bytes get lost of course... This must be 31250 for MIDI ' 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 Tim3 As TMR3L.Word ' 16 bit counter for sampler ' Dim Sr as TMR0L.7 '512 S/s ' As TMR0H.1 would be 128 S/s ' As TMR0H.2 would be 64 S/s ' As TMR0H.3 would be 32 S/s ' As TMR0H.4 would be 16 S/s 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 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 CC28 As Byte System ' low side softshift Dim CC29 As Byte System ' high side softshift 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 tBit As Byte System ' for sampling rate bit '----------------------------------------------------------------------------------------- ' Load the USART Interrupt handler And buffer read subroutines into memory ' Include "ADC.inc" ' Load the ADC macros into the program Include "Spiro_Hub_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 'make sure we initialize those pins on start up: 'fault?: there should be no executable statements outside the main program. Low Blue_Strings 'midi note 120 Low Blue_Under 'midi note 121 Low Red0 Low Red1 Low Blue0 'midi note 124 Low Blue1 'midi note 125 Low Debug_Led Clear CC28 Clear CC29 HPWM 2, 0, PWMFreq4 'softshift 1 HPWM 1, 0, PWMFreq4 'softshift 2 - connected to RC2 Clear CC66 '----------------------------------------------------------------------------------------- ' 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 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 = %10110001 ' 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 ' 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 - no longer. statusbyte = Bytein Set notePres '= 255 Set pres '= 255 Case Control_Status ' this is the main thing to listen to.... 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 120 Clear Lites.0 Clear VelFlags0.0 'Low Blue_Strings = sets TRIS also Clear Blue_Strings ' = 0 ' one machine cycle only Case 121 Clear Lites.1 Clear VelFlags0.1 Clear Blue_Under '= 0 Case 122 Clear Lites.2 Clear VelFlags0.2 Clear Red0 '= 0 Case 123 Clear Lites.3 Clear VelFlags0.3 Clear Red1 '= 0 Case 124 Clear Lites.4 Clear VelFlags0.4 Clear Blue0 '= 0 Case 125 Clear Lites.5 Clear VelFlags0.5 Clear Blue1 '= 0 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 120 Clear Lites.0 '= 0 Clear VelFlags0.0 Clear Blue_Strings '= 0 Case 121 Clear Lites.1 '= 0 Clear VelFlags0.1 Clear Blue_Under '= 0 Case 122 Clear Lites.2 '= 0 Clear VelFlags0.2 Clear Red0 '= 0 Case 123 Clear Lites.3 '= 0 Clear VelFlags0.3 Clear Red1 '= 0 Case 124 Clear Lites.4 '= 0 Clear VelFlags0.4 Clear Blue0 '= 0 Case 125 Clear Lites.5 '= 0 Clear VelFlags0.5 Clear Blue1 '= 0 End Select Set noteAan '= 255 'reset !!! GoTo Check_Timers 'jump out EndIf 'omleiding van de kode naar keypres: If noteAan > 119 Then If velo < 127 Then notePres = noteAan pres = velo GoSub KeyPres Else ' plain ON without flashing Select noteAan Case 120 Set Lites.0 Clear VelFlags0.0 Set Blue_Strings '= 1 Case 121 Set Lites.1 Clear VelFlags0.1 'so flashing is reset Set Blue_Under '= 1 Case 122 Set Lites.2 Clear VelFlags0.2 Set Red0 '= 1 Case 123 Set Lites.3 Clear VelFlags0.3 Set Red1 '= 1 Case 124 Set Lites.4 Clear VelFlags0.4 Set Blue0 '= 1 Case 125 Set Lites.5 Clear VelFlags0.5 Set Blue1 '= 1 End Select EndIf End If Set noteAan '= 255 'reset EndIf GoTo Check_Timers Case Keypres_Status 'used for lite flashing 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 0 Blue_Strings 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 1 Blue_Under EndIf If VelFlags0.2 = 1 Then veltim.Word1 = Velmsb[2] veltim.Word0 = VelLsb[2] Cnt.Word0 = CntLw 'read counter If Cnt >= veltim Then GoSub Task2 'note 2 Red0 EndIf If VelFlags0.3 = 1 Then veltim.Word1 = Velmsb[3] veltim.Word0 = VelLsb[3] Cnt.Word0 = CntLw 'read counter If Cnt >= veltim Then GoSub Task3 'note 3 Red1 EndIf If VelFlags0.4 = 1 Then veltim.Word1 = Velmsb[4] veltim.Word0 = VelLsb[4] Cnt.Word0 = CntLw 'read counter If Cnt >= veltim Then GoSub Task4 'note 4 Blue0 EndIf If VelFlags0.5 = 1 Then veltim.Word1 = Velmsb[5] veltim.Word0 = VelLsb[5] Cnt.Word0 = CntLw 'read counter If Cnt >= veltim Then GoSub Task5 'note 5 Blue1 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 Spiro. Select notePres Case 120 If Lites.0 = 1 Then Set VelFlags0.0 Cnt.Word0 = CntLw 'read timer Task_rsi[0] = (~pres & 127) << 9 veltim = Cnt + Task_rsi[0] 'add the period duration Velmsb[0] = veltim.Word1 VelLsb[0] = veltim.Word0 Else Clear VelFlags0.0 Clear Blue_Strings EndIf Case 121 If Lites.1 = 1 Then Set VelFlags0.1 Cnt.Word0 = CntLw 'read timer Task_rsi[1] = (~pres & 127) << 9 veltim = Cnt + Task_rsi[1] 'add the period duration Velmsb[1] = veltim.Word1 VelLsb[1] = veltim.Word0 Else Clear VelFlags0.1 Clear Blue_Under EndIf Case 122 If Lites.2 = 1 Then Set VelFlags0.2 Cnt.Word0 = CntLw 'read timer Task_rsi[2] = (~pres & 127) << 9 veltim = Cnt + Task_rsi[2] 'add the period duration Velmsb[2] = veltim.Word1 VelLsb[2] = veltim.Word0 Else Clear VelFlags0.2 Clear Red0 EndIf Case 123 If Lites.3 = 1 Then Set VelFlags0.3 Cnt.Word0 = CntLw 'read timer Task_rsi[3] = (~pres & 127) << 9 veltim = Cnt + Task_rsi[3] 'add the period duration Velmsb[3] = veltim.Word1 VelLsb[3] = veltim.Word0 Else Clear VelFlags0.3 Clear Red1 EndIf Case 124 If Lites.4 = 1 Then Set VelFlags0.4 Cnt.Word0 = CntLw 'read timer Task_rsi[4] = (~pres & 127) << 9 veltim = Cnt + Task_rsi[4] 'add the period duration Velmsb[4] = veltim.Word1 VelLsb[4] = veltim.Word0 Else Clear VelFlags0.4 Clear Blue0 EndIf Case 125 If Lites.5 = 1 Then Set VelFlags0.5 Cnt.Word0 = CntLw 'read timer Task_rsi[5] = (~pres & 127) << 9 veltim = Cnt + Task_rsi[5] 'add the period duration Velmsb[5] = veltim.Word1 VelLsb[5] = veltim.Word0 Else Clear VelFlags0.5 Clear Blue1 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 28 ' left or bass side softshift for muffler CC28 = value HPWM 2, CC28 + CC28, PWMFreq4 'softshift 1 Case 29 ' right or trebble side softshift for muffler CC29 = value HPWM 1, CC29 + CC29, PWMFreq4 'softshift 2 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 'stop all running timers Clear Blue_Strings Clear Blue_Under Clear Red0 Clear Red1 Clear Blue0 Clear Blue1 Low Debug_Led Clear Lites HPWM 2, 0, PWMFreq4 'softshift 1 HPWM 1, 0, PWMFreq4 'softshift 2 Clear CC28 Clear CC29 Return PowerDown: Clear VelFlags0 'stop all running timers Clear Blue_Strings '= 0 Clear Blue_Under '= 0 Clear Red0 '= 0 Clear Red1 '= 0 Clear Blue0 '= 0 Clear Blue1 '= 0 Low Debug_Led Clear Lites HPWM 2, 0, PWMFreq4 'softshift 1 HPWM 1, 0, PWMFreq4 'softshift 2 Clear CC28 Clear CC29 Clear CC66 Return Task0: If Lites.0 = 0 Then Clear VelFlags0.0 'stop task, as lite is switched off Clear Blue_Strings '= 0 ' geel Else 'reload task0 - light '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 'Toggle Blue_Strings btg Blue_Strings EndIf Return Task1: If Lites.1 = 0 Then Clear VelFlags0.1 'stop task, as lite is switched off Clear Blue_Under ' = 0 ' geel Else 'reload task1 light: 'Set VelFlags0.1 'can just stay set Cnt.Word0 = CntLw veltim = Cnt + Task_rsi[1] 'add the period duration in Task_rsi[1] Velmsb[1] = veltim.Word1 VelLsb[1] = veltim.Word0 'Toggle Blue_Under btg Blue_Under EndIf Return Task2: If Lites.2 = 0 Then Clear VelFlags0.2 'stop task, as lite is switched off Clear Red0 ' rood Else 'reload task2 - light 'Set VelFlags0.2 'can just stay set Cnt.Word0 = CntLw veltim = Cnt + Task_rsi[2] 'add the period duration Velmsb[2] = veltim.Word1 VelLsb[2] = veltim.Word0 'Toggle Red0 btg Red0 EndIf Return Task3: If Lites.3 = 0 Then Clear VelFlags0.3 'stop task, as lite is switched off Clear Red1 'rood Else 'reload task3 - light 'Set VelFlags0.3 'can just stay set Cnt.Word0 = CntLw veltim = Cnt + Task_rsi[3] 'add the period duration Velmsb[3] = veltim.Word1 VelLsb[3] = veltim.Word0 'Toggle Red1 btg Red1 EndIf Return Task4: If Lites.4 = 0 Then Clear VelFlags0.4 'stop task, as lite is switched off Clear Blue0 Else 'reload task4 - light 'Set VelFlags0.4 'can just stay set Cnt.Word0 = CntLw veltim = Cnt + Task_rsi[4] 'add the period duration Velmsb[4] = veltim.Word1 VelLsb[4] = veltim.Word0 'Toggle Blue0 btg Blue0 EndIf Return Task5: If Lites.5 = 0 Then Clear VelFlags0.5 'stop task, as lite is switched off Clear Blue1 Else 'reload task5 - light 'Set VelFlags0.5 'can just stay set Cnt.Word0 = CntLw veltim = Cnt + Task_rsi[5] 'add the period duration Velmsb[5] = veltim.Word1 VelLsb[5] = veltim.Word0 'Toggle Blue1 btg Blue1 EndIf Return '[EOF]