Skad00sh
Callum and Adel's changes on 12/02/19
Dependencies: Crypto
Diff: main.cpp
- Revision:
- 50:d1b983a0dd6f
- Parent:
- 49:ae8dedfe2d0f
- Child:
- 51:c03f63c6f930
--- a/main.cpp Fri Mar 22 16:50:54 2019 +0000
+++ b/main.cpp Fri Mar 22 19:05:40 2019 +0000
@@ -111,7 +111,7 @@
volatile int8_t _modeBitField; // 0,0,0,... <=> Melody,Torque,Rotation,Velocity
const uint8_t _MAXCMDLENGTH; //
- volatile uint8_t _inCharIndex, _cmdIndex,
+ volatile uint8_t _inCharIndex, _cmdIndex, _noteRep,
_noteDur[MAXCMDLENGTH_HALF],_noteLen; // Array of note durations
volatile uint32_t _motorTorque; // Motor Toque
volatile uint64_t _newKey; // hash key
@@ -272,29 +272,29 @@
}
if (len>0) { // Parse the input only if # found
- uint8_t newLen = 2*(len+1)+1;
- bool isChar = true;
- char formatSpec[newLen];
+ uint8_t specLen = 2*(len+1) +1; // Add extra character for number of repeats, and +1 for the letter T
+ bool isChar = true; // After 'T' first is character note
+ char formatSpec[specLen];
formatSpec[0]='T';
- for (int i = 1; i < newLen; i=i+2) { // Create a format spec based on length of input
+ for (int i = 1; i < specLen; i=i+2) { // Create a format spec based on length of input
formatSpec[i] = '%';
isChar ? formatSpec[i+1] = 'c' : \
formatSpec[i+1] = 'u' ;
isChar = !isChar;
}
- formatSpec[newLen] = '\0';
+ formatSpec[specLen] = '\0';
sprintf(formatSpec, "%s", formatSpec); // Set string format correctly
// _pc.printf("%s\n", formatSpec );
sscanf(_newCmd, formatSpec, &_notes[0], &_noteDur[0],
- &_notes[1], &_noteDur[1],
- &_notes[2], &_noteDur[2],
- &_notes[3], &_noteDur[3],
- &_notes[4], &_noteDur[4],
- &_notes[5], &_noteDur[5],
- &_notes[6], &_noteDur[6],
- &_notes[7], &_noteDur[7],
- &_notes[8], &_noteDur[8]);
+ &_notes[1], &_noteDur[1],
+ &_notes[2], &_noteDur[2],
+ &_notes[3], &_noteDur[3],
+ &_notes[4], &_noteDur[4],
+ &_notes[5], &_noteDur[5],
+ &_notes[6], &_noteDur[6],
+ &_notes[7], &_noteDur[7],
+ &_notes[8], &_noteDur[8]);
// Update _newCmd for putMessage print
@@ -307,7 +307,9 @@
_notes[6], _noteDur[6],\
_notes[7], _noteDur[7],\
_notes[8], _noteDur[8]);
- _noteLen = len;
+ _noteLen = (len-1)/2;
+ _modeBitField = 0x08;
+ _noteRep = _noteDur[(len-1)/2];
return true;
}
else {
@@ -464,7 +466,7 @@
_dutyC = 0.8; // Default a lower duty cycle
pwmCtrl.period_us((uint32_t)mtrPeriod);
- pwmCtrl.pulsewidth_us((uint32_t)mtrPeriod*_dutyC);
+ pwmCtrl.pulsewidth_us((uint32_t)(mtrPeriod*_dutyC));
_pComm = comm;
_RUN = true;
@@ -568,6 +570,17 @@
old_err = 0.0f,
err_diff;
+
+ enum { // To nearest Hz
+ NOTE_C = 261, // C4
+ NOTE_D = 293, // D4
+ NOTE_E = 330, // E4
+ NOTE_F = 349, // F4
+ NOTE_G = 392, // G4
+ NOTE_A = 440, // A4
+ NOTE_B = 494 // B4
+ };
+
m_timer.start();
while (_RUN) {
@@ -631,6 +644,74 @@
oldTorque = torque;
}
}
+ else if (cpyModeBitfield & 0x08) { // If it is in Melody mode
+ uint32_t oldMtrPeriod = mtrPeriod; // Backup of current motor period
+ float oldDutyC = _dutyC; // Backup of current duty cycle
+ uint32_t noteFreq, newDur, newPeriod =0,
+ oldPeriod = mtrPeriod;
+
+ Timer testTimer;
+ testTimer.start();
+ _pComm->_pc.printf("rep:%i, len:%i \n\r", _pComm->_noteRep, _pComm->_noteLen);
+ for (int k = 0; k < _pComm->_noteRep; ++k) {
+
+ for (int i = 0; i < _pComm->_noteLen; ++i) {
+
+ noteFreq = 0;
+ newDur = (uint32_t)_pComm->_noteDur[i]*1e3; // ms
+
+ switch (_pComm->_notes[i]) {
+ case 'C':
+ noteFreq = NOTE_C;
+ break;
+ case 'D':
+ noteFreq = NOTE_D;
+ break;
+ case 'E':
+ noteFreq = NOTE_E;
+ break;
+ case 'F':
+ noteFreq = NOTE_F;
+ break;
+ case 'G':
+ noteFreq = NOTE_G;
+ break;
+ case 'A':
+ noteFreq = NOTE_A;
+ break;
+ case 'B':
+ noteFreq = NOTE_B;
+ break;
+ default:
+ break;
+ }
+
+ newPeriod = (uint32_t)(1e6/(uint32_t)noteFreq); // us
+
+ if (newPeriod>oldPeriod) { // Change Period First
+ _pComm->_pc.printf("Period:changed \n" );
+ pwmCtrl.period_us(newPeriod); //set frequency of PWM
+ pwmCtrl.pulsewidth_us((uint32_t)(newPeriod*0.8));
+ } else { // Change Pulse WidthFirst
+ pwmCtrl.pulsewidth_us((uint32_t)(newPeriod*0.8));
+ pwmCtrl.period_us(newPeriod); //set frequency of PWM
+ }
+ // stateUpdate();
+ oldPeriod = newPeriod;
+ testTimer.reset();
+ while (testTimer.read_ms() < newDur ) {} // Do nothing
+ _pComm->_pc.printf("Period:%d Dur:%d \n",newPeriod, newDur );
+ }
+
+ _pComm->_modeBitField = 0x04; // stop melody mode
+
+ }
+ // After playing notes, go back to the old speed
+ torque = (int32_t)_pComm->_motorTorque;
+ pwmCtrl.pulsewidth_us((uint32_t)(torque*0.8));
+ // And reset the motor period and duty cycle
+
+ }
else{
torque = _MAXPWM_PRD * 0.5; // Run at 50% duty cycle if argument not properly defined