SPI library to the new format and moved Robot_Motor and Robot_Control libraries

1 files changed, 0 insertions, 601 deletions

diff --git a/libraries/Robot_Control/Squawk.cpp b/libraries/Robot_Control/Squawk.cpp
deleted file mode 100644
index 5b39ebe..0000000
--- a/libraries/Robot_Control/Squawk.cpp
+++ /dev/null
@@ -1,601 +0,0 @@
-// 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