motor_ctrl: Add ability to play tones with a motor

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index a4c984dfa4e7e2cbd0219bc29bc7e2017b045b58..df71fbaa5cb99b3bb91f8c5d2e00866d371fb921 100644 (file)
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -99,6 +99,9 @@
  * 0xA3 last i2c status before boot
  * 0xA4 Watchdog enable
  * free
+ * 0xB0 Sound HZ MSB
+ * 0xB1 Sound HZ LSB
+ * free
  * 0xff Bootloader
  */
 
@@ -174,6 +177,8 @@ static volatile int16_t speed2_wish_old=0;
 static volatile int16_t speed3_wish_old=0;
 static volatile int16_t speed4_wish_old=0;
 static volatile uint8_t run_update=0;
+static volatile uint8_t sound_update=0;
+static volatile uint8_t sound_max=0;
 static volatile int16_t speed1=0; // step/s
 static volatile int16_t speed2=0;
 static volatile int16_t speed3=0;
@@ -192,6 +197,8 @@ static volatile uint8_t last_i2c_status = 0;
 static uint8_t last_i2c_status_boot = 0;
 static volatile uint8_t watchdog_enable = 0;
 
+static void set_motor4_sound(uint16_t);
+
 ISR(TWI_vect)
 {
        static uint8_t tmp=0;
@@ -391,6 +398,15 @@ ISR(TWI_vect)
                                        watchdog_enable = TWDR;
                                        TWI_ACK;
                                        break;
+                               case 0xB0: // Sound freq MSB
+                                       tmp16 = TWDR;
+                                       TWI_ACK;
+                                       break;
+                               case 0xB1: // Sound freq LSB
+                                       tmp16 = tmp16<<8 | TWDR;
+                                       set_motor4_sound(tmp16);
+                                       TWI_ACK;
+                                       break;
                                case 0xff: // bootloader
                                        bootloader = TWDR;
                                default:
@@ -1061,6 +1077,30 @@ ISR(TIMER1_OVF_vect) {
        run_update++;
 }
 
+ISR(TIMER0_OVF_vect) {
+       sound_update++;
+       if (sound_update >= sound_max) {
+               sound_update=0;
+               motor4 = -motor4;
+               update_motor();
+       }
+}
+
+static void set_motor4_sound(uint16_t hz) {
+       if (hz) {
+               // 5e6/255/hz/2
+               sound_max = 19608/hz/2;
+               sound_update=0;
+               // Enable Timer 0 Overflow Interrupt
+               TIMSK |= (1 << TOIE0);
+               last_man_update_count = I2C_TIMEOUT_DISABLE;
+       } else {
+               // Disable Timer 0 Overflow Interrupt
+               TIMSK &= ~(1 << TOIE0);
+               motor4 = 0;
+       }
+
+}
 
 int main(void) {
        // Outputs
@@ -1181,19 +1221,21 @@ int main(void) {
                        update_pid();
                        update_motor();
                        count_test++;
-                       if (last_man_update_count != I2C_TIMEOUT_DISABLE) last_man_update_count++;
-
-                       if (last_man_update_count >= 100) {
-                               // ~1s without a new i2c command
-                               cmd_vel.speed = 0;
-                               cmd_vel.angle = 0;
-                               cmd_vel.bUpdate = 1;
-                               if (last_man_update_count == 100) {
-                                       printf_P(PSTR("I2C State: 0x%x\r\n"), last_i2c_status);
-                                       eeprom_write_byte((uint8_t*)1, last_i2c_status);
-                                       eeprom_busy_wait();
+                       if (last_man_update_count != I2C_TIMEOUT_DISABLE) {
+                               last_man_update_count++;
+
+                               if (last_man_update_count >= 100) {
+                                       // ~1s without a new i2c command
+                                       cmd_vel.speed = 0;
+                                       cmd_vel.angle = 0;
+                                       cmd_vel.bUpdate = 1;
+                                       if (last_man_update_count == 100) {
+                                               printf_P(PSTR("I2C State: 0x%x\r\n"), last_i2c_status);
+                                               eeprom_write_byte((uint8_t*)1, last_i2c_status);
+                                               eeprom_busy_wait();
+                                       }
+                                       last_man_update_count = I2C_TIMEOUT_DISABLE;
                                }
-                               last_man_update_count = I2C_TIMEOUT_DISABLE;
                        }
                }
 

diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex
index c7a3c36cca1a53b70fc42d058342291f8479899a..c992895b6fd3d5997e049c20f5934fc1ee583e8d 100644 (file)
--- a/avr/motor_ctrl/main.hex
+++ b/avr/motor_ctrl/main.hex
@@ -1,737 +1,743 @@
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diff --git a/scripts/engine_sound_test.py b/scripts/engine_sound_test.py
new file mode 100755 (executable)
index 0000000..2550667
--- /dev/null
+++ b/scripts/engine_sound_test.py
@@ -0,0 +1,38 @@
+#!/usr/bin/env python
+# -*- coding: iso-8859-15 -*-
+
+import sys
+import struct
+from time import sleep
+from i2c import i2c_write_reg, i2c_read_reg
+
+SOUND_C = 264
+SOUND_CIS = 282
+SOUND_D = 297
+SOUND_DIS = 317
+SOUND_E = 330
+SOUND_F = 352
+SOUND_FIS = 371
+SOUND_G = 396
+SOUND_GIS = 442
+SOUND_A = 440
+SOUND_AIS = 475
+SOUND_H = 495
+SOUND_C1 = 528
+
+
+def play(hz, pwm=100):
+       i2c_write_reg(0x50, 0xb0, struct.pack(">h", hz))
+       if hz == 0:
+               pwm = 0
+       i2c_write_reg(0x50, 0x7, struct.pack(">h", pwm))
+
+
+if __name__ == "__main__":
+       play(SOUND_A)
+       sleep(1)
+       play(SOUND_C1)
+       sleep(1)
+       play(SOUND_A)
+       sleep(1)
+       play(0)