Merge branch 'merge-1.0.5' into ide-1.5.x-discovery

1 files changed, 601 insertions, 0 deletions

diff --git a/libraries/Robot_Control/Squawk.cpp b/libraries/Robot_Control/Squawk.cpp
new file mode 100644
index 0000000..5b39ebe
--- /dev/null
+++ b/libraries/Robot_Control/Squawk.cpp
@@ -0,0 +1,601 @@
+// Squawk Soft-Synthesizer Library for Arduino
+//
+// Davey Taylor 2013
+// d.taylor@arduino.cc
+
+#include "Squawk.h"
+
+// Period range, used for clamping
+#define PERIOD_MIN 28
+#define PERIOD_MAX 3424
+
+// Convenience macros
+#define LO4(V)    ((V) & 0x0F)
+#define HI4(V)    (((V) & 0xF0) >> 4)
+#define MIN(A, B) ((A) < (B) ? (A) : (B))
+#define MAX(A, B) ((A) > (B) ? (A) : (B))
+#define FREQ(PERIOD) (tuning_long / (PERIOD))
+
+// SquawkStream class for PROGMEM data
+class StreamROM : public SquawkStream {
+  private:
+    uint8_t *p_start;
+    uint8_t *p_cursor;
+  public:
+    StreamROM(const uint8_t *p_rom = NULL) { p_start = p_cursor = (uint8_t*)p_rom; }
+    uint8_t read() { return pgm_read_byte(p_cursor++); }
+    void seek(size_t offset) { p_cursor = p_start + offset; }
+};
+
+// Oscillator memory
+typedef struct {
+  uint8_t fxp;
+  uint8_t offset;
+  uint8_t mode;
+} pto_t;
+
+// Deconstructed cell
+typedef struct {
+  uint8_t fxc, fxp, ixp;
+} cel_t;
+
+// Effect memory
+typedef struct {
+  int8_t    volume;
+  uint8_t   port_speed;
+  uint16_t  port_target;
+  bool      glissando;
+  pto_t     vibr;
+  pto_t     trem;
+  uint16_t  period;
+  uint8_t   param;
+} fxm_t;
+
+// Locals
+static uint8_t  order_count;
+static uint8_t  order[64];
+static uint8_t  speed;
+static uint8_t  tick;
+static uint8_t  ix_row;
+static uint8_t  ix_order;
+static uint8_t  ix_nextrow;
+static uint8_t  ix_nextorder;
+static uint8_t  row_delay;
+static fxm_t    fxm[4];
+static cel_t    cel[4];
+static uint32_t tuning_long;
+static uint16_t sample_rate;
+static float    tuning = 1.0;
+static uint16_t tick_rate = 50;
+
+static SquawkStream *stream;
+static uint16_t stream_base;
+static StreamROM rom;
+
+// Imports
+extern intptr_t squawk_register;
+extern uint16_t cia;
+
+// Exports
+osc_t osc[4];
+uint8_t pcm = 128;
+
+// ProTracker period tables
+uint16_t period_tbl[84] PROGMEM = {
+  3424, 3232, 3048, 2880, 2712, 2560, 2416, 2280, 2152, 2032, 1920, 1814,
+  1712, 1616, 1524, 1440, 1356, 1280, 1208, 1140, 1076, 1016,  960,  907,
+   856,  808,  762,  720,  678,  640,  604,  570,  538,  508,  480,  453,
+   428,  404,  381,  360,  339,  320,  302,  285,  269,  254,  240,  226,
+   214,  202,  190,  180,  170,  160,  151,  143,  135,  127,  120,  113,
+   107,  101,   95,   90,   85,   80,   75,   71,   67,   63,   60,   56,
+    53,   50,   47,   45,   42,   40,   37,   35,   33,   31,   30,   28,
+};
+
+// ProTracker sine table
+int8_t sine_tbl[32] PROGMEM = {
+  0x00, 0x0C, 0x18, 0x25, 0x30, 0x3C, 0x47, 0x51, 0x5A, 0x62, 0x6A, 0x70, 0x76, 0x7A, 0x7D, 0x7F,
+  0x7F, 0x7F, 0x7D, 0x7A, 0x76, 0x70, 0x6A, 0x62, 0x5A, 0x51, 0x47, 0x3C, 0x30, 0x25, 0x18, 0x0C,
+};
+
+// Squawk object
+SquawkSynth Squawk;
+
+// Look up or generate waveform for ProTracker vibrato/tremolo oscillator
+static int8_t do_osc(pto_t *p_osc) {
+  int8_t sample = 0;
+  int16_t mul;
+  switch(p_osc->mode & 0x03) {
+    case 0: // Sine
+      sample = pgm_read_byte(&sine_tbl[(p_osc->offset) & 0x1F]);
+      if(p_osc->offset & 0x20) sample = -sample;
+      break;
+    case 1: // Square
+      sample = (p_osc->offset & 0x20) ? 127 : -128;
+      break;
+    case 2: // Saw
+      sample = -(p_osc->offset << 2);
+      break;
+    case 3: // Noise (random)
+      sample = rand();
+      break;
+  }
+  mul = sample * LO4(p_osc->fxp);
+  p_osc->offset = (p_osc->offset + HI4(p_osc->fxp));
+  return mul >> 6;
+}
+
+// Calculates and returns arpeggio period
+// Essentially finds period of current note + halftones
+static inline uint16_t arpeggio(uint8_t ch, uint8_t halftones) {
+  uint8_t n;
+  for(n = 0; n != 47; n++) {
+    if(fxm[ch].period >= pgm_read_word(&period_tbl[n])) break;
+  }
+  return pgm_read_word(&period_tbl[MIN(n + halftones, 47)]);
+}
+
+// Calculates and returns glissando period
+// Essentially snaps a sliding frequency to the closest note
+static inline uint16_t glissando(uint8_t ch) {
+  uint8_t n;
+  uint16_t period_h, period_l;
+  for(n = 0; n != 47; n++) {
+    period_l = pgm_read_word(&period_tbl[n]);
+    period_h = pgm_read_word(&period_tbl[n + 1]);
+    if(fxm[ch].period < period_l && fxm[ch].period >= period_h) {
+      if(period_l - fxm[ch].period <= fxm[ch].period - period_h) {
+        period_h = period_l;
+      }
+      break;
+    }
+  }
+  return period_h;
+}
+
+// Tunes Squawk to a different frequency
+void SquawkSynth::tune(float new_tuning) {
+  tuning = new_tuning;
+  tuning_long = (long)(((double)3669213184.0 / (double)sample_rate) * (double)tuning);
+
+}
+
+// Sets tempo
+void SquawkSynth::tempo(uint16_t new_tempo) {
+  tick_rate = new_tempo;
+  cia = sample_rate / tick_rate; // not atomic?
+}
+
+// Initializes Squawk
+// Sets up the selected port, and the sample grinding ISR
+void SquawkSynth::begin(uint16_t hz) {
+  word isr_rr;
+
+  sample_rate = hz;
+  tuning_long = (long)(((double)3669213184.0 / (double)sample_rate) * (double)tuning);
+  cia = sample_rate / tick_rate;
+
+  if(squawk_register == (intptr_t)&OCR0A) {
+    // Squawk uses PWM on OCR0A/PD5(ATMega328/168)/PB7(ATMega32U4)
+#ifdef  __AVR_ATmega32U4__
+    DDRB  |= 0b10000000; // TODO: FAIL on 32U4
+#else
+    DDRD  |= 0b01000000;
+#endif
+    TCCR0A = 0b10000011; // Fast-PWM 8-bit
+    TCCR0B = 0b00000001; // 62500Hz
+    OCR0A  = 0x7F;
+  } else if(squawk_register == (intptr_t)&OCR0B) {
+    // Squawk uses PWM on OCR0B/PC5(ATMega328/168)/PD0(ATMega32U4)
+#ifdef  __AVR_ATmega32U4__
+    DDRD  |= 0b00000001;
+#else
+    DDRD  |= 0b00100000;
+#endif                   // Set timer mode to
+    TCCR0A = 0b00100011; // Fast-PWM 8-bit
+    TCCR0B = 0b00000001; // 62500Hz
+    OCR0B  = 0x7F;
+#ifdef OCR2A
+  } else if(squawk_register == (intptr_t)&OCR2A) {
+    // Squawk uses PWM on OCR2A/PB3
+    DDRB  |= 0b00001000; // Set timer mode to
+    TCCR2A = 0b10000011; // Fast-PWM 8-bit
+    TCCR2B = 0b00000001; // 62500Hz
+    OCR2A  = 0x7F;
+#endif
+#ifdef OCR2B
+  } else if(squawk_register == (intptr_t)&OCR2B) {
+    // Squawk uses PWM on OCR2B/PD3
+    DDRD  |= 0b00001000; // Set timer mode to
+    TCCR2A = 0b00100011; // Fast-PWM 8-bit
+    TCCR2B = 0b00000001; // 62500Hz
+    OCR2B  = 0x7F;
+#endif
+#ifdef OCR3AL
+  } else if(squawk_register == (intptr_t)&OCR3AL) {
+    // Squawk uses PWM on OCR3AL/PC6
+    DDRC  |= 0b01000000; // Set timer mode to
+    TCCR3A = 0b10000001; // Fast-PWM 8-bit
+    TCCR3B = 0b00001001; // 62500Hz
+    OCR3AH = 0x00;
+    OCR3AL = 0x7F;
+#endif
+  } else if(squawk_register == (intptr_t)&SPDR) {
+    // NOT YET SUPPORTED
+    // Squawk uses external DAC via SPI
+    // TODO: Configure SPI
+    // TODO: Needs SS toggle in sample grinder
+  } else if(squawk_register == (intptr_t)&PORTB) {
+    // NOT YET SUPPORTED
+    // Squawk uses resistor ladder on PORTB
+    // TODO: Needs shift right in sample grinder
+    DDRB   = 0b11111111;
+  } else if(squawk_register == (intptr_t)&PORTC) {
+    // NOT YET SUPPORTED
+    // Squawk uses resistor ladder on PORTC
+    // TODO: Needs shift right in sample grinder
+    DDRC   = 0b11111111;
+  }
+
+  // Seed LFSR (needed for noise)
+  osc[3].freq = 0x2000;
+
+  // Set up ISR to run at sample_rate (may not be exact)
+  isr_rr = F_CPU / sample_rate;
+  TCCR1A = 0b00000000;     // Set timer mode
+  TCCR1B = 0b00001001;
+  OCR1AH = isr_rr >> 8;    // Set freq
+  OCR1AL = isr_rr & 0xFF;
+}
+
+// Decrunches a 9 byte row into a useful data
+static void decrunch_row() {
+  uint8_t data;
+
+  // Initial decrunch
+  stream->seek(stream_base + ((order[ix_order] << 6) + ix_row) * 9);
+  data = stream->read(); cel[0].fxc  =  data << 0x04;
+                         cel[1].fxc  =  data &  0xF0;
+  data = stream->read(); cel[0].fxp  =  data;
+  data = stream->read(); cel[1].fxp  =  data;
+  data = stream->read(); cel[2].fxc  =  data << 0x04;
+                         cel[3].fxc  =  data >> 0x04;
+  data = stream->read(); cel[2].fxp  =  data;
+  data = stream->read(); cel[3].fxp  =  data;
+  data = stream->read(); cel[0].ixp  =  data;
+  data = stream->read(); cel[1].ixp  =  data;
+  data = stream->read(); cel[2].ixp  =  data;
+
+  // Decrunch extended effects
+  if(cel[0].fxc == 0xE0) { cel[0].fxc |= cel[0].fxp >> 4; cel[0].fxp &= 0x0F; }
+  if(cel[1].fxc == 0xE0) { cel[1].fxc |= cel[1].fxp >> 4; cel[1].fxp &= 0x0F; }
+  if(cel[2].fxc == 0xE0) { cel[2].fxc |= cel[2].fxp >> 4; cel[2].fxp &= 0x0F; }
+
+  // Decrunch cell 3 ghetto-style
+  cel[3].ixp = ((cel[3].fxp & 0x80) ? 0x00 : 0x7F) | ((cel[3].fxp & 0x40) ? 0x80 : 0x00);
+  cel[3].fxp &= 0x3F;
+  switch(cel[3].fxc) {
+    case 0x02:
+    case 0x03: if(cel[3].fxc & 0x01) cel[3].fxp |= 0x40; cel[3].fxp = (cel[3].fxp >> 4) | (cel[3].fxp << 4); cel[3].fxc = 0x70; break;
+    case 0x01: if(cel[3].fxp & 0x08) cel[3].fxp = (cel[3].fxp & 0x07) << 4; cel[3].fxc = 0xA0; break;
+    case 0x04: cel[3].fxc = 0xC0; break;
+    case 0x05: cel[3].fxc = 0xB0; break;
+    case 0x06: cel[3].fxc = 0xD0; break;
+    case 0x07: cel[3].fxc = 0xF0; break;
+    case 0x08: cel[3].fxc = 0xE7; break;
+    case 0x09: cel[3].fxc = 0xE9; break;
+    case 0x0A: cel[3].fxc = (cel[3].fxp & 0x08) ? 0xEA : 0xEB; cel[3].fxp &= 0x07; break;
+    case 0x0B: cel[3].fxc = (cel[3].fxp & 0x10) ? 0xED : 0xEC; cel[3].fxp &= 0x0F; break;
+    case 0x0C: cel[3].fxc = 0xEE; break;
+  }
+
+  // Apply generic effect parameter memory
+  uint8_t ch;
+  cel_t *p_cel = cel;
+  fxm_t *p_fxm = fxm;
+  for(ch = 0; ch != 4; ch++) {
+    uint8_t fx = p_cel->fxc;
+    if(fx == 0x10 || fx == 0x20 || fx == 0xE1 || fx == 0xE2 || fx == 0x50 || fx == 0x60 || fx == 0xA0) {
+      if(p_cel->fxp) {
+        p_fxm->param = p_cel->fxp;
+      } else {
+        p_cel->fxp = p_fxm->param;
+      }
+    }
+    p_cel++; p_fxm++;
+  }
+}
+
+// Resets playback
+static void playroutine_reset() {
+  memset(fxm, 0, sizeof(fxm));
+  tick         = 0;
+  ix_row       = 0;
+  ix_order     = 0;
+  ix_nextrow   = 0xFF;
+  ix_nextorder = 0xFF;
+  row_delay    = 0;
+  speed        = 6;
+  decrunch_row();
+}
+
+// Start grinding samples
+void SquawkSynth::play() {
+  TIMSK1 = 1 << OCIE1A; // Enable interrupt
+}
+
+// Load a melody stream and start grinding samples
+void SquawkSynth::play(SquawkStream *melody) {
+  uint8_t n;
+  pause();
+  stream = melody;
+  stream->seek(0);
+  n = stream->read();
+  if(n == 'S') {
+    // Squawk SD file
+    stream->seek(4);
+    stream_base = stream->read() << 8;
+    stream_base |= stream->read();
+    stream_base += 6;
+  } else {
+    // Squawk ROM array
+    stream_base = 1;
+  }
+  stream->seek(stream_base);
+  order_count = stream->read();
+  if(order_count <= 64) {
+    stream_base += order_count + 1;
+    for(n = 0; n < order_count; n++) order[n] = stream->read();
+    playroutine_reset();
+    play();
+  } else {
+    order_count = 0;
+  }
+}
+
+// Load a melody in PROGMEM and start grinding samples
+void SquawkSynth::play(const uint8_t *melody) {
+  pause();
+  rom = StreamROM(melody);
+  play(&rom);
+}
+
+// Pause playback
+void SquawkSynth::pause() {
+  TIMSK1 = 0; // Disable interrupt
+}
+
+// Stop playing, unload melody
+void SquawkSynth::stop() {
+  pause();
+  order_count = 0; // Unload melody
+}
+
+// Progress module by one tick
+void squawk_playroutine() {
+  static bool lockout = false;
+
+  if(!order_count) return;
+
+  // Protect from re-entry via ISR
+  cli();
+  if(lockout) {
+    sei();
+    return;
+  }
+  lockout = true;
+  sei();
+
+  // Handle row delay
+  if(row_delay) {
+    if(tick == 0) row_delay--;
+    // Advance tick
+    if(++tick == speed) tick = 0;
+  } else {
+
+    // Quick pointer access
+    fxm_t *p_fxm = fxm;
+    osc_t *p_osc = osc;
+    cel_t *p_cel = cel;
+
+    // Temps
+    uint8_t ch, fx, fxp;
+    bool    pattern_jump = false;
+    uint8_t ix_period;
+
+    for(ch = 0; ch != 4; ch++) {
+      uint8_t       temp;
+
+      // Local register copy
+      fx        = p_cel->fxc;
+      fxp       = p_cel->fxp;
+      ix_period = p_cel->ixp;
+
+      // If first tick
+      if(tick == (fx == 0xED ? fxp : 0)) {
+
+        // Reset volume
+        if(ix_period & 0x80) p_osc->vol = p_fxm->volume = 0x20;
+
+        if((ix_period & 0x7F) != 0x7F) {
+
+          // Reset oscillators (unless continous flag set)
+          if((p_fxm->vibr.mode & 0x4) == 0x0) p_fxm->vibr.offset = 0;
+          if((p_fxm->trem.mode & 0x4) == 0x0) p_fxm->trem.offset = 0;
+
+          // Cell has note
+          if(fx == 0x30 || fx == 0x50) {
+
+            // Tone-portamento effect setup
+            p_fxm->port_target = pgm_read_word(&period_tbl[ix_period & 0x7F]);
+          } else {
+
+            // Set required effect memory parameters
+            p_fxm->period = pgm_read_word(&period_tbl[ix_period & 0x7F]);
+
+            // Start note
+            if(ch != 3) p_osc->freq = FREQ(p_fxm->period);
+
+          }
+        }
+
+        // Effects processed when tick = 0
+        switch(fx) {
+          case 0x30: // Portamento
+            if(fxp) p_fxm->port_speed = fxp;
+            break;
+          case 0xB0: // Jump to pattern
+            ix_nextorder = (fxp >= order_count ? 0x00 : fxp);
+            ix_nextrow = 0;
+            pattern_jump = true;
+            break;
+          case 0xC0: // Set volume
+            p_osc->vol = p_fxm->volume = MIN(fxp, 0x20);
+            break;
+          case 0xD0: // Jump to row
+            if(!pattern_jump) ix_nextorder = ((ix_order + 1) >= order_count ? 0x00 : ix_order + 1);
+            pattern_jump = true;
+            ix_nextrow = (fxp > 63 ? 0 : fxp);
+            break;
+          case 0xF0: // Set speed, BPM(CIA) not supported
+            if(fxp <= 0x20) speed = fxp;
+            break;
+          case 0x40: // Vibrato
+            if(fxp) p_fxm->vibr.fxp = fxp;
+            break;
+          case 0x70: // Tremolo
+            if(fxp) p_fxm->trem.fxp = fxp;
+            break;
+          case 0xE1: // Fine slide up
+            if(ch != 3) {
+              p_fxm->period = MAX(p_fxm->period - fxp, PERIOD_MIN);
+              p_osc->freq = FREQ(p_fxm->period);
+            }
+            break;
+          case 0xE2: // Fine slide down
+            if(ch != 3) {
+              p_fxm->period = MIN(p_fxm->period + fxp, PERIOD_MAX);
+              p_osc->freq = FREQ(p_fxm->period);
+            }
+            break;
+          case 0xE3: // Glissando control
+            p_fxm->glissando = (fxp != 0);
+            break;
+          case 0xE4: // Set vibrato waveform
+            p_fxm->vibr.mode = fxp;
+            break;
+          case 0xE7: // Set tremolo waveform
+            p_fxm->trem.mode = fxp;
+            break;
+          case 0xEA: // Fine volume slide up
+            p_osc->vol = p_fxm->volume = MIN(p_fxm->volume + fxp, 0x20);
+            break;
+          case 0xEB: // Fine volume slide down
+            p_osc->vol = p_fxm->volume = MAX(p_fxm->volume - fxp, 0);
+            break;
+          case 0xEE: // Delay
+            row_delay = fxp;
+            break;
+        }
+      } else {
+
+        // Effects processed when tick > 0
+        switch(fx) {
+          case 0x10: // Slide up
+            if(ch != 3) {
+              p_fxm->period = MAX(p_fxm->period - fxp, PERIOD_MIN);
+              p_osc->freq = FREQ(p_fxm->period);
+            }
+            break;
+          case 0x20: // Slide down
+            if(ch != 3) {
+              p_fxm->period = MIN(p_fxm->period + fxp, PERIOD_MAX);
+              p_osc->freq = FREQ(p_fxm->period);
+            }
+            break;
+/*
+          // Just feels... ugly
+          case 0xE9: // Retrigger note
+            temp = tick; while(temp >= fxp) temp -= fxp;
+            if(!temp) {
+              if(ch == 3) {
+                p_osc->freq = p_osc->phase = 0x2000;
+              } else {
+                p_osc->phase = 0;
+              }
+            }
+            break;
+*/            
+          case 0xEC: // Note cut
+            if(fxp == tick) p_osc->vol = 0x00;
+            break;
+          default:   // Multi-effect processing
+
+            // Portamento
+            if(ch != 3 && (fx == 0x30 || fx == 0x50)) {
+              if(p_fxm->period < p_fxm->port_target) p_fxm->period = MIN(p_fxm->period + p_fxm->port_speed,  p_fxm->port_target);
+              else                                   p_fxm->period = MAX(p_fxm->period - p_fxm->port_speed,  p_fxm->port_target);
+              if(p_fxm->glissando) p_osc->freq = FREQ(glissando(ch));
+              else                 p_osc->freq = FREQ(p_fxm->period);
+            }
+
+            // Volume slide
+            if(fx == 0x50 || fx == 0x60 || fx == 0xA0) {
+              if((fxp & 0xF0) == 0) p_fxm->volume -= (LO4(fxp));
+              if((fxp & 0x0F) == 0) p_fxm->volume += (HI4(fxp));
+              p_osc->vol = p_fxm->volume = MAX(MIN(p_fxm->volume, 0x20), 0);
+            }
+        }
+      }
+
+      // Normal play and arpeggio
+      if(fx == 0x00) {
+        if(ch != 3) {
+          temp = tick; while(temp > 2) temp -= 2;
+          if(temp == 0) {
+
+            // Reset
+            p_osc->freq = FREQ(p_fxm->period);
+          } else if(fxp) {
+
+            // Arpeggio
+            p_osc->freq = FREQ(arpeggio(ch, (temp == 1 ? HI4(fxp) : LO4(fxp))));
+          }
+        }
+      } else if(fx == 0x40 || fx == 0x60) {
+
+        // Vibrato
+        if(ch != 3) p_osc->freq = FREQ((p_fxm->period + do_osc(&p_fxm->vibr)));
+      } else if(fx == 0x70) {
+        int8_t trem = p_fxm->volume + do_osc(&p_fxm->trem);
+        p_osc->vol = MAX(MIN(trem, 0x20), 0);
+      }
+
+      // Next channel
+      p_fxm++; p_cel++; p_osc++;
+    }
+
+    // Advance tick
+    if(++tick == speed) tick = 0;
+
+    // Advance playback
+    if(tick == 0) {
+      if(++ix_row == 64) {
+        ix_row = 0;
+        if(++ix_order >= order_count) ix_order = 0;
+      }
+	    // Forced order/row
+	    if( ix_nextorder != 0xFF ) {
+	      ix_order = ix_nextorder;
+	      ix_nextorder = 0xFF;
+	    }
+	    if( ix_nextrow != 0xFF ) {
+	      ix_row = ix_nextrow;
+	      ix_nextrow = 0xFF;
+	    }
+			decrunch_row();
+    }
+
+  }
+
+  lockout = false;
+}
\ No newline at end of file