Open Music Labs Forums

/*
sine_generator.pde
guest openmusiclabs 7.7.11
this program creates a sinewave of variable frequency and
amplitude, presented at both left and right outputs. there
isnt any interpolation, so you only get 256 discrete frequencies
across the span of 44Hz to 10kHz.
*/

// setup codec parameters
// must be done before #includes
// see readme file in libraries folder for explanations
#define SAMPLE_RATE 44 // 44.1kHz sample rate
#define ADCS 2 // use both ADCs

// include necessary libraries
#include <Wire.h>
#include <SPI.h>
#include <AudioCodec.h>

// create data variables for audio transfer
// even though there is no input needed, the codec requires stereo data
int left_in = 0; // in from codec (LINE_IN)
int right_in = 0;
int left_out = 0; // out to codec (HP_OUT)
int right_out = 0;

// create variables for ADC results
// it only has positive values -> unsigned
unsigned int mod0_value = 0;
unsigned int mod1_value = 0;

// create sinewave lookup table
// PROGMEM stores the values in the program memory
// it is automatically included with AudioCodec.h
PROGMEM  prog_int16_t sinewave[]  = {
  // this file is stored in AudioCodec.h and is a 1024 value
  // sinewave lookup table of signed 16bit integers
  // you can replace it with your own waveform if you like
  #include <sinetable.inc>
};
unsigned int location; // lookup table value location


void setup() {
  // call this last if you are setting up other things
  AudioCodec_init(); // setup codec and microcontroller registers
}

void loop() {
  while (1); // reduces clock jitter
}

// timer1 interrupt routine - all data processed here
ISR(TIMER1_COMPA_vect, ISR_NAKED) { // dont store any registers

  // &'s are necessary on data_in variables
  AudioCodec_data(&left_in, &right_in, 58773, 58773);
  
  // create some temporary variables
  // these tend to work faster than using the main data variables
  // as they arent fetched and stored all the time
  int temp1;
  int temp2;
  
  // create a variable frequency and amplitude sinewave
  // fetch a sample from the lookup table
  temp1 = pgm_read_word_near(sinewave + location);
  // step through table at rate determined by mod1
  // use upper byte of mod1 value to set the rate
  // and have an offset of 1 so there is always an increment.
  location += 1 + (mod1_value >> 8);
  // if weve gone over the table boundary -> loop back
  // around to the other side.
  location &= 0x03ff; // fast way of doing rollover for 2^n numbers
                      // otherwise it would look like this:
                      // if (location >= 1024) {
                      // location -= 1024;
                      // }
  
  // set amplitude with mod0
  // multiply our sinewave by the mod0 value
  MultiSU16X16toH16(temp2, temp1, mod0_value);
  // our sinewave is now in temp2
  left_out = temp2; // put sinusoid out on left channel
  right_out = -temp2; // put inverted version out on right chanel

  // get ADC values
  // & is required before adc variables
  AudioCodec_ADC(&mod0_value, &mod1_value);

  reti(); // dont forget to return from the interrupt
}

/*
dc_controller.pde
guest openmusiclabs 9.23.12
this takes in a dc value from the codecshield, processes it, and
sends out a dc value on the codecshield. 
*/


// setup codec parameters
// must be done before #includes
// see readme file in libraries folder for explanations
#define SAMPLE_RATE 44 // 44.1Khz
#define ADCS 0 // no ADCs are being used
#define ADCHPD 1 // set the codecshield to DC input

// include necessary libraries
#include <Wire.h>
#include <SPI.h>
#include <AudioCodec.h>

// create data variables for audio transfer
int left_in = 0x0000;
int left_out = 0x0000;
int right_in = 0x0000;
int right_out = 0x0000;
int last_value = 0;
int difference = 0;
int integral = 0;
int position = 0;

void setup() {
  AudioCodec_init(); // setup codec registers
  // call this last if setting up other parts
}

void loop() {
  while (1); // reduces clock jitter
}

// timer1 interrupt routine - all data processed here
ISR(TIMER1_COMPA_vect, ISR_NAKED) { // dont store any registers

  // &'s are necessary on data_in variables
  AudioCodec_data(&left_in, &right_in, left_out, right_out);
  
  difference = left_in - last_value; // create a difference signal
  position = left_in; // create a position signal
  integral +=  left_in; // create an integral signal
  last_value = left_in; // backup the last value
  // do the math here for pid
  
  // dont forget to return from interrupt
  reti();
}

/*
dc_controller.pde
guest openmusiclabs 9.23.12
this takes in a dc value from the codecshield, processes it, and
sends out a dc value on the codecshield. 
*/


// setup codec parameters
// must be done before #includes
// see readme file in libraries folder for explanations
#define SAMPLE_RATE 88 // 44.1Khz
#define ADCS 0 // no ADCs are being used
#define ADCHPD 1 // set the codecshield to DC input

// include necessary libraries
#include <Wire.h>
#include <SPI.h>
#include <AudioCodec.h>

// create data variables for audio transfer
int left_in = 0x0000;
int left_out = 0x0000;
int right_in = 0x0000;
int right_out = 0x0000;
int last_value = 0;
int difference = 0;
int integral = 0;
int position = 0;

// so much for audio codec

// now for PID
/********************************************************
 * PID Basic Example
 ********************************************************/

#include <PID_v1.h>

//Define Variables we'll be connecting to
double Setpoint, Input, Output;

//Specify the links and initial tuning parameters
PID myPID(&Input, &Output, &Setpoint,2,5,1, DIRECT);
// so much for PID

// Program variables
boolean flip = true;

void setup() {
  AudioCodec_init(); // setup codec registers
  // call this last if setting up other parts
  Serial.begin(9600);
  
  Setpoint = 12000;
  
    //turn the PID on
  myPID.SetMode(AUTOMATIC);
  
  pinMode(2, OUTPUT); 
}

void loop() {
  while (1); // reduces clock jitter
 /*
  Serial.print("Input = " );                       
  Serial.print(left_in);      
  Serial.print("\t Output = ");      
  Serial.println(left_out);
  delay(3000);
  */
}

// timer1 interrupt routine - all data processed here
ISR(TIMER1_COMPA_vect, ISR_NAKED) { // dont store any registers
   
  // &'s are necessary on data_in variables
  
  AudioCodec_data(&left_in, &right_in, left_out, right_out);
  
  difference = left_in - last_value; // create a difference signal
  position = left_in; // create a position signal
  integral +=  left_in; // create an integral signal
  last_value = left_in; // backup the last value
  // do the math here for pid
  Input = -left_in;
  myPID.Compute();
  left_out = Output; 
  flip = !flip;
  digitalWrite(2, flip); 
  
  
  // dont forget to return from interrupt
  reti();
}

/*
dc_controller.pde
guest openmusiclabs 9.23.12
this takes in a dc value from the codecshield, processes it, and
sends out a dc value on the codecshield. 
*/

// setup codec parameters
// must be done before #includes
// see readme file in libraries folder for explanations
#define SAMPLE_RATE 88 // 44.1Khz
#define ADCS 2 // no ADCs are being used
#define ADCHPD 1 // set the codecshield to DC input

// include necessary libraries
#include <Wire.h>
#include <SPI.h>
#include <AudioCodec.h>

// create data variables for audio transfer
int left_in;// = 0x0000;
int left_out;// = 0x0000;
int right_in;// = 0x0000;
int right_out;// = 0x0000;

//TEMP Serial Buffer
String SerialBuffer, temp;
char *buffer;
char TempSerial[39];
int si;

// so much for audio codec

// now for PID


#include <PID_v1.h>

//Define the aggressive and conservative Tuning Parameters
double aggKp=4, aggKi=0.2, aggKd=1;
double consKp=2, consKi=5, consKd=1;
double gap;
double Setpoint, Input, Output, Temp = 0.0;


//Specify the links and initial tuning parameters
//PID myPID(&Input, &Output, &Setpoint, consKp, consKi, consKd, DIRECT);
PID myPID(&Input, &Output, &Setpoint,2,5,1, DIRECT);


void setup() {
  Serial.begin(115200); 
  AudioCodec_init();
  Setpoint = 50000;
  myPID.SetMode(AUTOMATIC);
  //myPID.SetSampleTime(1000);
  myPID.SetOutputLimits(0, 65535);
  //myPID.SetTunings(consKp, consKi, consKd);
}

void loop() {
  //Input = 32768 + left_in;
  Input = 45000; //32768 - left_in;

  //Input = 5.0; //left_in;
  myPID.Compute();
  Serial.println(Output);
  /*
  left_out = Output; 
  if(Serial.available() > 38) {
    for(si=0; si<40; si++){
      TempSerial[si] = Serial.read();
    }
    
    Serial.flush();    
    SerialBuffer = TempSerial;
    
      if (SerialBuffer.startsWith("START ") || SerialBuffer.endsWith(" END")) {
        temp = SerialBuffer.substring(6,9);
        buffer = &temp[0];
        consKi = strtod (buffer, NULL);
        temp = SerialBuffer.substring(10,13);
        buffer = &temp[0];
        consKp = strtod (buffer, NULL);
        temp = SerialBuffer.substring(14,17);
        buffer = &temp[0];
        consKd = strtod (buffer, NULL);
        temp = SerialBuffer.substring(18,21);
        buffer = &temp[0];
        aggKi = strtod (buffer, NULL);
        temp = SerialBuffer.substring(22,25);
        buffer = &temp[0];
        aggKp = strtod (buffer, NULL);
        temp = SerialBuffer.substring(26,29);
        buffer = &temp[0];
        aggKd = strtod (buffer, NULL);
        temp = SerialBuffer.substring(30,35);
        buffer = &temp[0];
        Setpoint = strtod (buffer, NULL);
        Serial.println("OUTPUT");
     }
      else {
        Serial.println("Err1");
      }

  }

  /*
  gap = abs(Setpoint-Input); //distance away from setpoint
  
  if(gap<10)
  {  //we're close to setpoint, use conservative tuning parameters
    myPID.SetTunings(consKp, consKi, consKd);
  }
  else
  {
     //we're far from setpoint, use aggressive tuning parameters
     myPID.SetTunings(aggKp, aggKi, aggKd);
  }

 //AudioCodec_data(&left_in, &right_in, left_out, right_out);
 Serial.print("Input   : ");
 Serial.print(Input);
 Serial.print(" Output   : ");
 Serial.println(Output);
 delay(300); 
     */
}

ISR(TIMER1_COMPA_vect) {
  //AudioCodec_data(&left_in, &right_in, left_out, right_out);
  //Input = left_in*3.3/32767;
  //myPID.Compute();
  //left_out = Output; 

}

#define SAMPLE_RATE 88
#define ADCS 2
#define ADCHPD 1
#include <Wire.h>
#include <SPI.h>
#include <AudioCodec.h>
#include <PID_v1.h>
int left_in;
int left_out;
int right_in;
int right_out;
double Setpoint, Input, Output, Temp = 0.0;
PID myPID(&Input, &Output, &Setpoint,2,5,1, DIRECT);

void setup() {
  Serial.begin(115200); 
  AudioCodec_init();
  Setpoint = 50000;
  myPID.SetMode(AUTOMATIC);
  myPID.SetOutputLimits(0, 65535);
}

void loop() {
  Input = 45000;
  myPID.Compute();
  Serial.println(Output);
}

ISR(TIMER1_COMPA_vect) {
}