109 lines
2.9 KiB
C++
109 lines
2.9 KiB
C++
#include <Arduino.h>
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#include <MIDI.h>
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#include <eRCaGuy_Timer2_Counter.h>
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#include "motor_control.h"
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#define NUM_MOTORS 4
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// Minimal interval between reading two chunks of MIDI data
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// This improves frequency accuracy by throttling non-synthesizing actions
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#define MIDI_CMD_INTERVAL_MIN 1000 // 1ms
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using namespace midi;
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MotorControl motors[NUM_MOTORS] = {
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MotorControl(5, 2),
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MotorControl(6, 3),
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MotorControl(7, 4),
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MotorControl(13, 12)
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};
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// MIDI setup
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struct MySerialMIDISettings {
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// ttymidi wants a baud rate of 115200
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static const long BaudRate = 115200;
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};
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typedef SerialMIDI<HardwareSerial, MySerialMIDISettings> MySerialMIDI;
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MySerialMIDI serialMIDI(Serial);
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MidiInterface<MySerialMIDI> MIDI(serialMIDI);
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void handle_tick(unsigned long cur_micros) {
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// Randomize the order we process motor ticks every time
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// This helps reduce the minor frequency discrepancies between each motor
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unsigned long start_val = (cur_micros / 10) % NUM_MOTORS;
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for (unsigned long i = start_val; i < start_val + NUM_MOTORS; i++) {
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motors[i % NUM_MOTORS].Tick(cur_micros);
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}
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}
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#define ASSERT_CHANNEL() \
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if (channel <= 0) return; \
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if (channel - 1 > NUM_MOTORS) return;
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void midi_note_on(uint8_t channel, uint8_t note, uint8_t velocity) {
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ASSERT_CHANNEL();
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motors[channel - 1].TickAtPitch(note);
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}
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void midi_note_off(uint8_t channel, uint8_t note, uint8_t velocity) {
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ASSERT_CHANNEL();
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motors[channel - 1].TickOff();
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}
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void midi_pitch_bend(uint8_t channel, int bend) {
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ASSERT_CHANNEL();
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motors[channel - 1].TickPitchBend(bend);
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}
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int main() {
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// Arduino library initialization
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// Needed for some functions to work (like micros)
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init();
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// Timer based on Timer 2 (this breaks PWM output)
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timer2.setup();
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// Enable the motor drivers
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pinMode(8, OUTPUT);
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digitalWrite(8, LOW);
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// Initialize the controllers
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for (int i = 0; i < NUM_MOTORS; i++) {
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motors[i].Init();
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}
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// Start serial MIDI interface
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MIDI.begin(MIDI_CHANNEL_OMNI);
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// Set up MIDI callbacks
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MIDI.setHandleNoteOn(midi_note_on);
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MIDI.setHandleNoteOff(midi_note_off);
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MIDI.setHandlePitchBend(midi_pitch_bend);
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unsigned long cur_micros;
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unsigned long cur_half_micros;
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unsigned long last_read_micros = 0;
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while (true) {
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cur_half_micros = timer2.get_count(); // The unit of get_count is 0.5us
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cur_micros = cur_half_micros / 2ul;
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handle_tick(cur_half_micros);
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if (cur_micros - last_read_micros >= MIDI_CMD_INTERVAL_MIN) {
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last_read_micros = cur_micros;
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// Read all available MIDI data
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// Note that the host is expected to send MIDI data only when
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// it is supposed to be played; therefore we don't need
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// to worry about the host sending data prematurely
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while (Serial.available()) {
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MIDI.read();
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}
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}
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}
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return 0;
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} |