void LockServo()
{
set_timer1(0);
set_timer5(0);
prev_t1count = 0;
prev_t5count = 0;
servo_cmd = 0;
cmd_pos = mposition;
STATUS.pid_lock = true;
STATUS.halt_index = false;
STATUS.error = false;
STATUS.move_in_prog = false;
ypwm = 0;
mode = e_hold_mode;
}
void ResetServo()
{
set_timer1(0);
set_timer5(0);
prev_t1count = 0;
prev_t5count = 0;
servo_cmd = 0;
POSCNT = 0;
prev_count = 0;
velact.ul = 0;
mposition.ul = 0;
cmd_pos.ul = 0;
mode = e_hold_mode;
STATUS.halt_index = false;
STATUS.error = false;
STATUS.move_in_prog = false;
}
int main( void )
{
mInit();
mUSBInit();
//mBusInit();
bQueue in_q;
bQueue out_q;
bQueueInit( &in_q );
bQueueInit( &out_q );
usbIface usb;
usbIfaceInit( &usb, &in_q, &out_q );
// Set up midi parser
midiParser parser;
midiParserInit( &parser, &in_q );
midiMsg msg;
picker_setup();
stepper_setup();
set_timer5 (60000,30000,1200);
setMode( STEP_HALF );
setSpeedLimits( 65, 200 );
set_speed(m_speed_min);
setAccelerationLimit(200);
int test=0;
// uint16_t pos[]={0,-180,0,-360,0,-540,0,-720,-900,0};
// uint16_t dur[]={1000,1000,1000,1000};
uint16_t pos=0;
/*
//set_speed(m_speed_min);
int i=0;
update(0);
// TIM_Cmd(TIM5, DISABLE);
accStop();
setPosition(0);
*/
int Sflag=0;
//strum_delay(1);
while(1)
{
// test = update(pos);
// if(test==1){
// if(Sflag==1){
// strum();
// Sflag=0;
// }
// }
update(pos);
usbIfaceReadBytes(&usb);
if(midiParserHasMsg(&parser,&msg)){
mGreenTOGGLE;
usbIfacePrintf(&usb, "status %02x\n",msg.status);
usbIfacePrintf(&usb, "channel %02x\n",msg.channel);
usbIfacePrintf(&usb, "data[0] %02x\n",msg.data[0]);
usbIfacePrintf(&usb, "data[1] %02x\n\n",msg.data[1]);
if(msg.channel == INSTRUMENT_CHANNEL || msg.channel == BOTH_CHANNEL) {
if(msg.status==NOTE_ON){
strum();
Sflag=1;
switch(msg.data[0]){
case 40:
pos = E2;
break;
case 41:
pos = F2;
break;
case 42:
pos = FS2;
break;
case 43:
pos = G2;
break;
case 44:
pos = GS2;
break;
case 45:
pos = A2;
break;
case 46:
pos = AS2;
break;
case 47:
pos = B2;
break;
case 48:
pos = C3;
break;
case 49:
pos = CS3;
break;
case 50:
pos = D3;
break;
case 51:
pos = DS3;
break;
case 52:
pos = E3;
break;
case 53:
pos = F3;
break;
case 54:
pos = FS3;
break;
case 55:
pos = G3;
break;
case 56:
pos = GS3;
break;
case 57:
pos = A3;
break;
case 58:
pos = AS3;
break;
case 59:
pos = B3;
break;
case 60:
pos = C4;
break;
default:
break;
/*
case 57:
pos=A3;
break;
case 59:
pos=B3;
break;
case 60:
pos=C4;
break;
case 62:
pos=D4;
break;
case 64:
pos=E4;
break;
pos=F4;
break;
case 67:
pos=G4;
break;
case 69:
pos=A4;
break;
case 71:
pos=B4;
break;
case 72:
pos=C5;
break;
default:
break;
*/
}
}
}
}
usbIfaceWriteBytes(&usb);
}
}