' ******************************************************************** ' * PIC firmware for * ' * Hub board * ' * coded by dr.Godfried-Willem Raes * ' * https://www.logosfoundation.org/instrum_gwr/ekla/picworks * ' * source code development directory: * ' * Ekla_Hub.bas * ' * Version 1.4 * ' * Proton Compiler version 3.5.8.1 * ' ******************************************************************** ' hardware: single side PCB 08.10.2025 ' 08.10.2025: start coding ' 6 mosfet outputs ' 2 on board zero cross solid state relays used for power and motor control ' This board performs midi-filtering and has TTL parsed midi out. ' This approach will cause a 1 ms latency in the instrument. ' 09.10.2025: Trying to implement motor control under timer3 irq ' 10.10.2025: further work on motor pwm coding. Motorspeed intelligent mode implemented. ' Scalings to be tested with loads. ' 12.10.2025: Tests with motor passed. ' 18.10.2025: plays its first scales... ' 19.10.2025: for some reason the red light doesn't flash anymore... Solved now. ' 250ms, 500ms, 1000ms periods implemented for motor control ' 20.10.2025: Default velo subsitution value (dVel) could be 6 now. ' 250ms period works fine. Lets try 125ms now... ' motor range modified as volume values < 30 made the motor stop alltogether... ' So now the usable range for the user becomes 27-127. ' Velo scalings on the PH boards changed: divided by 3. Hence we have to ' reprogram all four boards now. ' 21.10.2025: dVel now ought to be 45, with the new scaling on the pulse-hold boards. ' controller 100 implemented as output only to the PH3 board for lightparams. ' 22.10.2025: uploaded and tested o.k. on ' 23.10.2025: Considering to implement a timer to switch the motor off after 60 seconds of inactivity... ' This feature can be disabled with controller #71. ' 25.10.2025: too many if's for the compiler? ' CC30 no longer implemented. ' MotorFlags reorganised and nr. tasks reduced ' seems to work now. Tested on o.k. ' In fact we could go with only a single timer. ' To consider: use timers for gradual speed-up and slowdown for the motor. ' All light-flashing code eliminated. So we have just 1 timer now. ' Logos display implemented. Follows motor running now. Tested o.k. ' 26.10.2025: In fact, it would be quite ecological to have our robots switch off ' automatically when not in use for a given time... ' setting maxtim to Time.28 , achieves this after 107 minutes (1h47'). ' Tested and found o.k. Frontale LED strip op de voorkant gemonteerd. ' 27.10.2025: Red led lites added under the hub board. Mapping on 122 and 123 ' 28.10.2025: code for lights brougth in-line with board 3. ' 29.10.2025: PWM added on the red lights. Upload o.k. Now version 1.4 ' ------------------------------------------------------------------- ' 05.08.2026: Same board as used for ' 06.08.2026: start coding for ' 18.08.2026: further work on ekla code. Include "18F2620.inc" 'version for the Ekla board. (40MHz) 'Include "18F2520.inc" 'also possible. (40MHz) Clear '$define DebugMode 'conditional compile, using very short sleeptime ' Mapping defines for midi-events on pin outputs and inputs: ' zero cross opto-relay's $define Power_Relay PORTA.4 ' o.k. for $define Motor_Relay PORTA.3 ' Mosfet outputs: $define White1 PORTA.5 ' white under front 120 $define White2 PORTC.0 ' white under front 121 $define Red1 PORTC.1 ' can pwm HPWM2 122 $define Red2 PORTC.2 ' can pwm HPWM1 123 $define Lite3 PORTC.3 ' free ? 117 $define Display PORTC.4 ' Logos-display ' inputs: ' $define sensor1 PORTA.0 ' not used ' $define sensor2 PORTA.1 ' not used ' LED's: $define GreenLed PORTB.2 ' on/off $define BlueLed PORTB.1 ' motor running $define Debug_Led PORTB.5 ' for testing - red led - watchdog Declare All_Digital = True ' makes all analog pins, digital for I/O Clear SSPCON1.5 ' make sure RC3 is free for use. ' configure the input and output pins: TRISA = %11000011 'bits set to 0 are output, 1 = input - bits 6 and 7 are the clock! TRISB = %11100000 'bits 6 and 7 are for the ICP, bit 5 is the red LED TRISC = %11000000 'RC6 en RC7 zijn USART I/O and must be set to input 'Input sensor1 'Input sensor2 'constant definitions: Symbol fPwm = 21000 ' PWMminF ' midi note mapping Symbol White1_note = 120 ' witte led strip onderaan - automatisch Symbol White2_note = 121 ' witte led strip onderaan - automatisch Symbol Red1_note = 122 ' rood licht onder midihub board? Symbol Red2_note = 123 Symbol Green_Note = 124 Symbol lowest_note = 54 ' f# Symbol highest_note = 105 ' voorlopig Symbol NrTasks = 1 '3 '7 Symbol LastTask = NrTasks - 1 ' constants: Symbol True = %1 Symbol False = %0 Symbol Period10 = 53039 ' for 10ms pulses motor control slow pwm , value for TIM3 Symbol Period5 = 59288 ' for 5ms pulses motor control slow pwm Symbol Period25 = 62412 ' for 2.5ms pulses 4 Hz or period = 250ms. 3124 ticks Symbol Period125 = 63974 ' for 1.25ms pulses, 8Hz or period = 125ms. 1562 ticks 'Symbol Crit = %101 ' = 5 ' MotorFlags.1 = MotWait, moet 0 zijn ' MotorFlags.0 = MotorOn, moet 1 zijn ' MotorFlags.2 = Autosleep, moet 1 zijn. Symbol Period_default = Period5 'initialisations for the midi input parser: Symbol Midichannel = 6 ' Ekla channel Symbol NoteOff_Status = 128 + Midichannel ' 2 bytes follow Symbol NoteOn_Status = 144 + Midichannel Symbol Keypres_Status = 160 + Midichannel 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 ' 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 Hserial_Clear = On ' should clear on errors. Bytes get lost of course... ' Create variables: Dim Cnt As Dword System ' 1 cnt-unit ought to be 24 us. 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 time As Cnt ' was : Dword 'frozen copy of Cnt Dim MaxTim As time.28 ' overflow flag used to reset timer and to power down ' time.30 is 7 hours. ' time.29 is 214 minutes or 3h30 ' time.28 would be 107 minutes - checked and found o.k. ' Dim T3 As Dword ' make 32-bit timer ' Dim Tim3Hw As T3.Word1 Dim MotTim As Byte ' for duty cycle control, alternating on and off value for motor Dim MotCnt As Byte ' PWM counter increments in 10ms units in the tim3 irq Dim Tim3 As TMR3L.Word ' same trick for timer3 , 16-bits 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 CC66 As Byte System ' global on/off switch Dim PowerOn As CC66.0 ' handled on the hub board. Dim Mtog As CC66.2 ' used in timer 3 irq Dim MotPer As Word System ' 1.25ms, 2.5ms, 5 ms or 10 ms value for Tim3 Dim Volume As Byte System ' controller 7 Dim oldVolume As Byte Dim CC7 As Volume Dim CC19 As Byte ' release controller Dim Motspeed As Byte System ' snelheid 0-100 Dim Period As Word System ' controller 67 Dim CC67 As Byte Dim CC68 As Byte ' motspeed controller Dim MotorFlags As Byte System Dim MotorOn As MotorFlags.0 ' 25.10.2025 Dim MotWait As MotorFlags.1 ' if 1, motor wait timer is running. Dim TimVals[NrTasks] As Dword ' lijst met timer waarden - de kleinste is eerst aan de beurt Dim Nxt As Dword System ' waarde voor de eerstvolgende timer Dim idx As Byte System ' index voor de eerstvolgende timer Dim j As Float ' for light automation: Dim NrNotes As Bit 'Byte System ' aantal klinkende noten 0 of 1 Dim LiTog As Bit Dim CC69 As Bit Dim Liflags As Byte Dim BassFlag As Liflags.0 Dim MidFlag As Liflags.1 Dim HighFlag As Liflags.2 Dim OldLiFlags As Byte '----------------------------------------------------------------------------------------- ' Load the USART Interrupt handler and buffer read subroutines into memory Dim Ringbuffer[256] As Byte ' Array for holding received characters Include "Ekla_Hub_Irq.inc" ' for UART,Timer0, Timer3 Interrupt Dim Dur5[128] As Word ' duration lookup for lite flashing repetitions Dim Toff[128] As Byte 'Dword ' lookup for motor slow pwm Dim Ton[128] As Byte 'Dword Low Power_Relay Low Motor_Relay High Debug_Led ' we must make sure the port is set to output Clear CC66 ' all flags Clear MotorFlags ' 3 flags Clear NrNotes ' Main program starts here: MAIN: Low GreenLed Low BlueLed Low White1 Low White2 Low Lite3 ' nc Low Red2 Low Red1 Low Display Clear NrNotes Set TimVals ' no timers running on startup 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 ' 6.4 us per clock-tick 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 bit, 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 ' TIMER1: if enabled, all midi-in is blocked, so it must interfere with the UART ' Configure Timer1 for: ' Clear TMR1L and TMR1H registers ' Interrupt on Timer1 overflow ' 16-bit read/write mode ' Internal clock source ' 1:8 Prescaler ' OpenTimer1(TIMER_INT_ON & T1_16BIT_RW & T1_SOURCE_INT & T1_PS_1_8) ' dit kompileert o.k. ' TIMER2: if enabled, the UART stops working... ' Opentimer2 (Timer_Int_On & T2_POST_1_16 & T2_PS_1_16) ' dit lukt... maar de timer is nodig voor de UART... ' TIMER3: ' Configure Timer3 for: ' Interrupt on Timer3 overflow ' 16-bit read/write mode ' Internal clock source ' 1:8 Prescaler ' Dont sync external clock input Period = Period_default ' controller 67 ' doing it this way seems to work: Clear T3CON Clear PIR2BITS_TMR3IF ' clear IRQ flag Set PIE2BITS_TMR3IE ' irq on ' Clear Tim3 ' Clear TMR3L And TMR3H registers Tim3 = Period ' period5 = 59288 ' 5 ms - measured and found correct. 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, freq.=19Hz ' Set up priority interrupts. ' IPR1bits_TMR1IP = 0 ' Set Timer1 as a low priority interrupt source ' INTCONbits_PEIE = 1 ' Enable peripheral interrupts ' INTCONbits_GIE = 1 ' Enable global interrupts Clear PIE2Bits_TMR3IE ' no motor on start-up! - disable irq Clear T3CON.0 ' disable timer 3 Dur_Lookup () Motor_PWM_Lookup () idx = SortTimers () Set CC69 ' by default light automation is ON ' send a power off to the pulse-hold boards and the generator board: HRSOut Control_Status, 66, 0 ' start the main program loop: Do Cnt.Word0 = CntLw ' read timer 0 ' now time is an alias for Cnt Bytein = GetMidiIn () ' 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. Else Clear statusbyte 'reset the status byte End If GoTo Check_Timers 'throw away... 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 'reset value. Cannot be 0 !!! Set release '0 is a valid midi note! Case NoteOn_Status statusbyte = Bytein Set noteAan '= 255 Set velo '= 255 Case Keypres_Status statusbyte = Bytein Set notePres Set pres Case Control_Status ' controllers and switches statusbyte = Bytein Set Ctrl Set value Case ProgChange_Status ' used for different lookup tables statusbyte = Bytein Set prog Case Aftertouch_Status ' not used on this board statusbyte = Bytein Set aft Case Pitchbend_Status statusbyte = Bytein Set pblsb Set pbmsb EndSelect 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 lowest_note To highest_note ' notes for Ekla If release = 0 Then release = CC19 ' new for HRSOut NoteOff_Status, noteUit, release ' send to the pulse-hold boards Clear NrNotes If MotorOn = 1 Then ' start timer to switch motor off TimVals[0] = time + 500 idx = SortTimers () EndIf ' Case 124 To 127 'PH31_note To PH33_note ' = 125 To 127 lights on PH3 pulse board ' HRSOut NoteOff_Status, noteUit, 0 ' 124 = green strip Case White1_note Clear White1 Case White2_note Clear White2 Case Red1_note ' can pwm 122 HPWM 2, 0, fPwm 'Clear Red1 Case Red2_note ' can pwm 123 'Clear Red2 HPWM 1, 0, fPwm EndSelect Set noteUit '= 255 'reset EndIf Case NoteOn_Status If noteAan = 255 Then noteAan = Bytein Else velo = Bytein If velo = 0 Then ' note off via velo=0 Select noteAan Case lowest_note To highest_note ' notes for Ekla HRSOut NoteOff_Status, noteAan, CC19 ' not a bug! Clear NrNotes If MotorOn = 1 Then ' start timer to switch motor off TimVals[0] = time + 500 idx = SortTimers () EndIf ' Case 124 To 127 ' lights on PH boards ' HRSOut NoteOff_Status, noteAan, 0 ' forward to board3 Case White1_note Clear White1 Case White2_note Clear White2 Case Red2_note 'Clear Red2 HPWM 1, 0, fPwm Case Red1_note 'Clear Red1 HPWM 2, 0, fPwm EndSelect Else ' else for if velo = 0 If PowerOn = 1 Then ' dont do lights nor send note-on's if power is off Select noteAan Case lowest_note To highest_note ' notes for Ekla HRSOut NoteOn_Status, noteAan, velo Set NrNotes 'Set noteAan.7 ' note-on flag If MotorOn = 0 Then MotorCtrl () ' Case 124 To 127 'PH31_note To PH33_note ' 126 To 127 ' HRSOut NoteOn_Status, noteAan, velo ' lights on the note boards Case White1_note Set White1 ' licht aan Case White2_note Set White2 Case Red1_note 'Set Red1 ' can do pwm If velo < 127 Then velo = velo + velo ' 8 bits HPWM 2,velo, fPwm Else HPWM 2, 255, fPwm EndIf Case Red2_note If velo < 127 Then velo = velo + velo HPWM 1, velo, fPwm Else HPWM 1, 255, fPwm EndIf 'Set Red2 ' can do pwm ' Case Lite3_note ' Set Lite3 ' Case Else ' Set noteAan ' GoTo Check_Timers EndSelect EndIf Set noteAan EndIf EndIf Case Keypres_Status If notePres = 255 Then notePres = Bytein ' = note Else pres = Bytein KeyPres () ' changing brightness on the led's required this! EndIf Case Control_Status 'this is where the action takes place for controllers If Ctrl = 255 Then Ctrl = Bytein Else value = Bytein Select Ctrl ' this is filtered though. Case 1 To 7 HRSOut Control_Status, Ctrl, value Case 19 CC19 = value HRSOut Control_Status, Ctrl, value Case 68 CC68 = value ' no forward! Motspeed = CC68 Case 66, 69, 123 HRSOut Control_Status, Ctrl, value ' so only relevant controllers are passed to midi out ' 66 = power switch ' 67 = motor period ' 69 = light automation - also used on PH_board3 ' 123 = all notes off EndSelect Controller () ' handles all controllers relevant for this board EndIf Case ProgChange_Status 'implemented for presets If prog = 255 Then 'single byte message prog = Bytein ' If prog < 8 Then ' HRSOut ProgChange_Status, prog ' prog changes 0-7 passed. ' ' check this with coding on the note boards! ok ' EndIf Set prog EndIf Case Aftertouch_Status If aft = 255 Then aft = Bytein Aftertouch () Set aft EndIf Case Pitchbend_Status If pblsb = 255 Then pblsb = Bytein Else pbmsb = Bytein Pitchbend () Set pblsb EndIf EndSelect EndIf Check_Timers: If idx < NrTasks Then ' we moeten alleen checken wanneer er een timer loopt If time >= Nxt Then ' nagaan of de eerstvolgende timer afgelopen is... ' in dit geval is de eerste timer afgelopen en moeten we de juiste aktie ondernemen: Set Nxt.31 ' timer reset, is immers afgelopen ' aan de hand van idx weten we welke timer dit is Select idx Case 0 ' used for automatic motor timeout ' when no notes are playing Clear MotorOn '= False: motor stops Clear MotWait '= False: timer is afgelopen Set TimVals[0] Clear PIR2BITS_TMR3IF ' clear IRQ flag for timer3 Clear T3CON.0 Clear PIE2Bits_TMR3IE Clear Motor_Relay Clear BlueLed idx = SortTimers () ' a better implementation could decrease motorspeed step by step ' at a rate of ca. 500ms per step. Case 1 ' If notes.1 = 0 Then ' Clear White1 ' Set TimVals[1] ' Else ' Toggle White1 ' TimVals[1] = time + Dur5[pres1] ' EndIf ' idx = SortTimers () Case 2 ' If notes.2 = 0 Then ' Clear White2 ' Set TimVals[2] ' Else ' Toggle White2 ' TimVals[2] = time + Dur5[pres2] ' EndIf ' idx = SortTimers () 'Case Else ' ' in dit geval is idx geset ' GoTo jumpout EndSelect EndIf ' beveiliging tegen overflow crashes... ' in dit geval loopt er weliswaar een timer! If MaxTim = 1 Then Clear time ' Clear notes Set TimVals EndIf Else ' idx > LastTask, no timers running, so to avoid overflows, we can reset the loop timer ' 26.10.2025: now we switch off power completely (Ubu...): ' If MaxTim = 1 Then PowerDown () 'Clear time If MaxTim = 1 Then Clear time EndIf ' light automation: ' this slows down the main loop!!! If CC69 = 1 Then If time.13 <> LiTog Then ' time.12 = 98 ms, time.13 = 0.1966 s Toggle LiTog Select Case NrNotes Case 0 Clear White1 Clear White2 Case Else Set White1 Set White2 EndSelect EndIf EndIf Btg PORTB.0 ' average loop-speed: ' 121kHz with no load. (9.10.2025) ' with autolights in the main loop: 112kHz, 11.10.2025 ' with motor control in the main loop: 80kHz Loop Proc SortTimers (),Byte 'look up the next smallest timer value in the Timvals array ' zoek de de volgende kleinste timer waarde: Set Result ' was idx, byte Set Nxt.31 ' nxt is set on entry. - for speed, we just set the highest bit For i = 0 To LastTask If TimVals[i] < Nxt Then Nxt = TimVals[i] Result = i EndIf Next i EndProc Proc MotorCtrl () 'called whenever a motorcondition or parameter changes... 'if bit 7 is set, we have a note on, else a noteoff 'this procedure is only called if nrnotes > 0 'the nrnotes = 0 case should be handled in the main loop. If MotWait = True Then ' in this case a timer is running to put the motor to sleep ' and the motor is still running! Clear MotWait Set TimVals[0] ' we cancel the wait timer, nothing changes for the motor idx = SortTimers () EndIf Select Motspeed ' set with ctrl.68 Case < 1 ' stop motor Clear PIR2BITS_TMR3IF ' clear IRQ flag for timer3 Clear T3CON.0 Clear PIE2Bits_TMR3IE Clear Motor_Relay Clear BlueLed Clear MotorOn Case > 99 '126 Clear PIR2BITS_TMR3IF ' clear IRQ flag for timer3 Clear T3CON.0 Clear PIE2Bits_TMR3IE Set Motor_Relay Set BlueLed Set MotorOn Case Else If T3CON.0 = 0 Then Clear PIR2BITS_TMR3IF ' clear IRQ flag for timer3 Set Mtog Clear MotCnt MotTim = Ton[Motspeed] Set T3CON.0 Set PIE2Bits_TMR3IE ' enable timer3 interrupt Tim3 = Period ' 59288 for 5 ms units and period = 500ms. EndIf Set MotorOn EndSelect EndProc Proc KeyPres () ' 06.08.2026: To be implemented for !!! Select notePres Case lowest_note To highest_note ' gives compiler problem... HRSOut Keypres_Status, notePres, pres Case Red1_note pres = pres + pres HPWM 2, pres, fPwm Case Red2_note pres = pres + pres HPWM 1, pres, fPwm Case Green_Note ' forward for PH3 board HRSOut Keypres_Status, Green_Note, pres EndSelect Set notePres '= 255 EndProc Proc ProgChange () ' not implemented on this board Set prog EndProc Proc Pitchbend () ' to do on Set pblsb EndProc Proc Aftertouch () 'this is the channel aftertouch, affecting any playing note 'not implemented here. Set aft EndProc Proc Controller () Select Ctrl Case 7 Volume = value ' save setting ' If PowerOn = 1 Then ' Select Motspeed ' Case < 1 ' Clear T3CON.0 ' Clear PIE2Bits_TMR3IE ' Clear PIR2BITS_TMR3IF ' clear IRQ flag for timer3 ' Clear Motor_Relay ' Clear BlueLed ' If MotWait = 1 Then ' if timer is running ' Set TimVals[0] ' cancel it ' idx = SortTimers () ' Clear MotWait ' = False ' EndIf ' Clear MotorOn ' Clear Display ' Case > 99 ' Clear T3CON.0 ' Clear PIE2Bits_TMR3IE ' Clear PIR2BITS_TMR3IF ' clear IRQ flag for timer3 ' Set Motor_Relay ' Set BlueLed ' If MotWait = 1 Then ' Set TimVals[0] ' idx = SortTimers () ' Clear MotWait ' = False ' EndIf ' Set MotorOn ' Set Display ' Case Else ' If T3CON.0 = 0 Then ' Clear PIR2BITS_TMR3IF ' clear IRQ flag for timer3 ' Set Mtog ' MotTim = Ton[Motspeed] ' Clear MotCnt ' Tim3 = Period ' 59288 for 5 ms units and period = 500ms. ' Set T3CON.0 ' Set PIE2Bits_TMR3IE ' enable timer3 interrupt ' EndIf ' If MotWait = 1 Then ' Set TimVals[0] ' idx = SortTimers () ' Clear MotWait ' = False ' EndIf ' Set MotorOn ' Set Display ' EndSelect ' ' so the motor will allways respond to this controller, even when nrnotes = 0. ' ' the controller allways clears the sleeptimer! EndIf oldVolume = Volume Case 66 'on/off for the robot ' this should also go to the note boards! If value = 0 Then PowerDown () Else Set Power_Relay ' stroom AAN via optorelais Set GreenLed Set PowerOn ' CC66.0 =1 Set CC69 ' autolights on EndIf Case 67 ' sets the period for motor control CC67 = value Select CC67 Case 0 Period = Period_default ' = Period5 Case 1 Period = Period10 ' 10ms and 1 second Case 2 Period = Period5 ' 5 ms and 500 ms Case 3 Period = Period25 ' 2.5 ms and 250 ms Case 4 Period = Period125 ' 125ms - tested - dangerous: ubu motor runs very hot. Case Else ' disregard controller EndSelect Case 68 CC68 = value If Motspeed <> CC68 Then Motspeed = CC68 MotorCtrl () EndIf Case 69 If value > 0 Then CC69 = True ' on this board we have but 1 light program. Clear LiTog Set CC69 Else Clear CC69 '= False Clear White1 Clear White2 EndIf Case 123 ' all notes/lites off - no controller resets Clear NrNotes HPWM 1, 0, fPwm HPWM 2, 0, fPwm Clear White1 Clear White2 idx = SortTimers () EndSelect Set Ctrl 'mandatory reset EndProc Proc PowerDown () Clear Power_Relay ' power and motor off Clear Motor_Relay Clear PowerOn 'CC66.0 =0 Clear MotorOn ' MotorFlags.1 Set TimVals ' cancel all timers Clear time Clear NrNotes Clear GreenLed Clear BlueLed Clear White1 Clear White2 ' Clear Lite3 HPWM 2,0,fPwm HPWM 1,0,fPwm Clear T3CON.0 Clear PIE2Bits_TMR3IE Clear MotWait ' MotorFlags.0 idx = SortTimers () ' idx should be 255 here. EndProc Proc Dur_Lookup () 'lookup for flashing lights: Set Dur5[0] ' not used Dur5[127] = 17218 j = Dur5[127] / 127 For i = 1 To 127 Dur5[i] = Dur5[0] - (j * i) Next i EndProc Proc Motor_PWM_Lookup () ' lookup for , using timer3 ' 10.10.2025, counting in 10ms or 5ms units ' duty cycle values ' 100 x 10ms = period 1s ' 100 x 5ms = period 500ms ' 100 x 2.5ms = period 250ms or 4Hz ' 100 x 1.25ms = period 125ms or 8Hz Ton[0] = 0 Toff[0] = 100 For i = 1 To 99 Step 1 ' step 2 for 5ms units Ton[i] = i Toff[i] = 100 - i Next i For i = 100 To 127 Ton[i] = 100 Toff[i] = 0 Next i EndProc Proc Motor_PWM_Lookup_4Hz () ' NOT USED HERE! ' lookup for , using timer3 ' counting in 10ms or 5ms units ' duty cycle values ' 25 x 10ms = period 1s ' 25 x 5ms = period 500ms ' 25 x 2.5ms = period 250ms ' here we should have only 25 steps Clear Ton Clear Toff Ton[0] = 0 Ton[1] = 0 Ton[2] = 0 Ton[3] = 0 Toff[0] = 100 Toff[1] = 100 Toff[2] = 100 Toff[3] = 100 For i = 4 To 99 Step 4 ' step 4 for 250ms periods Ton[i] = i Ton[i+1] = i Ton[i+2] = i Ton[i+3] = i Toff[i] = 100 - i Toff[i+1] = Toff[i] Toff[i+2] = Toff[i] Toff[i+3] = Toff[i] Next i For i = 100 To 127 Ton[i] = 100 Toff[i] = 0 Next i EndProc '[EOF]