/*
  OrangutanBuzzer.cpp - Library for controlling the buzzer on the Orangutan LV,
    SV, SVP, or 3pi robot. This library uses a timer1 PWM to generate the note
	frequencies and timer1 overflow interrupt to time the duration of the
	notes, so the buzzer can be playing a melody in the background while
	the rest of your code executes. This library relies on Timer1, so it will
	conflict with any other libraries that use Timer1 (e.g. OrangutanServos).
	You cannot use the OrangutanServos library to control servos while using
	the OrangutanBuzzer library to play music.
*/

/*
 * Written by Ben Schmidel et al., May 23, 2008.
 * Copyright (c) 2008 Pololu Corporation. For more information, see
 *
 *   http://www.pololu.com
 *   http://forum.pololu.com
 *   http://www.pololu.com/docs/0J18
 *
 * You may freely modify and share this code, as long as you keep this
 * notice intact (including the two links above).  Licensed under the
 * Creative Commons BY-SA 3.0 license:
 *
 *   http://creativecommons.org/licenses/by-sa/3.0/
 *
 * Disclaimer: To the extent permitted by law, Pololu provides this work
 * without any warranty.  It might be defective, in which case you agree
 * to be responsible for all resulting costs and damages.
 */


#ifndef F_CPU
#define F_CPU 20000000UL	// Orangutans run at 20 MHz
#endif //!F_CPU

#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include "OrangutanBuzzer.h"
#include "../OrangutanResources/include/OrangutanModel.h"
#ifdef _ORANGUTAN_X2
#include "../OrangutanX2/OrangutanX2.h"
#endif

#define TIMER1_OFF					0x00	// timer1 disconnected
#define TIMER1_CLK_1				0x01	// 20 MHz
#define TIMER1_CLK_8				0x02	// 2.5 MHz

#define ENABLE_TIMER1_INTERRUPT()	TIMSK1 = (1 << TOIE1)
#define DISABLE_TIMER1_INTERRUPT()	TIMSK1 = 0


// declaring these globals as static means they won't conflict
// with globals in other .cpp files that share the same name
static volatile unsigned int buzzerTimeout = 0;		// tracks buzzer time limit
static char play_mode_setting = PLAY_AUTOMATIC;

extern volatile unsigned char buzzerFinished;	// flag: 0 while playing
extern const char *buzzerSequence;


static unsigned char use_program_space; // boolean: true if we should
										// use program space

// music settings and defaults
static unsigned char octave = 4;				// the current octave
static unsigned int whole_note_duration = 2000;	// the duration of a whole note
static unsigned int note_type = 4;              // 4 for quarter, etc
static unsigned int duration = 500;				// the duration of a note in ms
static unsigned int volume = 15;				// the note volume
static unsigned char staccato = 0; 			// true if playing staccato

// staccato handling
static unsigned char staccato_rest_duration;	// duration of a staccato
												//  rest, or zero if it is time
												//  to play a note

static void nextNote();

// Timer1 overflow interrupt
ISR (TIMER1_OVF_vect)
{
	if (buzzerTimeout-- == 0)
	{
		DISABLE_TIMER1_INTERRUPT();
		sei();		// re-enable global interrupts (nextNote() is very slow)
		TCCR1B = (TCCR1B & 0xF8) | TIMER1_CLK_1;	// select IO clock
		OCR1A = (F_CPU/2) / 1000;			// set TOP for freq = 1 kHz
		OCR1B = 0;						// 0% duty cycle
		buzzerFinished = 1;
		if (buzzerSequence && (play_mode_setting == PLAY_AUTOMATIC))
			nextNote();
	}
}


// constructor

OrangutanBuzzer::OrangutanBuzzer()
{
}

#ifdef LIB_POLOLU

extern "C" void play_frequency(unsigned int freq, unsigned int dur, 
							   unsigned char volume)
{
	OrangutanBuzzer::playFrequency(freq, dur, volume);
}

extern "C" void play_note(unsigned char note, unsigned int dur,
						  unsigned char volume)
{
	OrangutanBuzzer::playNote(note, dur, volume);
}

extern "C" void play(const char *sequence)
{
	OrangutanBuzzer::play(sequence);
}

extern "C" void play_from_program_space(char *sequence_p)
{
	OrangutanBuzzer::playFromProgramSpace(sequence_p);
}

extern "C" unsigned char is_playing()
{
	return OrangutanBuzzer::isPlaying();
}

extern "C" void stop_playing()
{
	OrangutanBuzzer::stopPlaying();
}

extern "C" void play_mode(unsigned char mode)
{
	OrangutanBuzzer::playMode(mode);
}

extern "C" unsigned char play_check()
{
	return OrangutanBuzzer::playCheck();
}

#endif

extern unsigned char buzzerInitialized;

// this is called by playFrequency()
inline void OrangutanBuzzer::init()
{
	if (!buzzerInitialized)
	{
		buzzerInitialized = 1;
		init2();
	}
}

// initializes timer1 for buzzer control
void OrangutanBuzzer::init2()
{
	DISABLE_TIMER1_INTERRUPT();	// disable all timer1 interrupts
		
#ifdef _ORANGUTAN_X2
	TCCR1A = 0x03;	// bits 6 and 7 clear: normal port op., OC1A disconnected
					// bit 4 and 5 clear: normal port op., OC1B disconnected
					// bits 2 and 3: not used
					// bits 0 & 1 set: combine with bits 3 & 4 of TCCR1B...
#else
	TCCR1A = 0x23;	// bits 6 and 7 clear: normal port op., OC1A disconnected
					// bit 4 clear, 5 set: clear OC1B on comp match when upcounting, 
					//                     set OC1B on comp match when downcounting
					// bits 2 and 3: not used
					// bits 0 & 1 set: combine with bits 3 & 4 of TCCR1B...
#endif

	TCCR1B = 0x11;	// bit 7 clear: input capture noise canceler disabled
					// bit 6 clear: input capture triggers on falling edge
					// bit 5: not used
					// bit 3 clear and 4 set: combine with bits 0 & 1 of TCCR1A to
					// 		select waveform generation mode 11, phase-correct PWM,
					//		TOP = OCR1A, OCR1B set at TOP, TOV1 flag set at TOP
					// bit 0 set, 1-2 clear: timer clock = IO clk (prescaler 1)

	TCCR1C = 0x00;	// bit 7 clear: no force output compare for channel A
					// bit 6 clear: no force output compare for channel B
					// bits 0 - 5: not used

	// This sets timer 1 to run in fast PWM mode, where TOP = ICR1, 
	//   OCR1A is updated at TOP, TOV1 Flag is set on TOP.  OC1A is cleared
	//   on compare match, set at TOP; OC1B is disconnected.
	//   Note: if the PWM frequency and duty cycle are changed, the first
	//   cycle of the new frequency will be at the old duty cycle, since
	//   the duty cycle (OCR1A) is not updated until TOP.

	OCR1A = (F_CPU/2) / 1000;	// set TOP for freq = 1 kHz
	OCR1B = 0;					// set 0% duty cycle
	
#ifndef _ORANGUTAN_X2
	BUZZER_DDR |= BUZZER;		// buzzer pin set as an output
#endif
	sei();
}


// Set up timer 1 to play the desired frequency (in Hz or .1 Hz) for the
//   the desired duration (in ms). Allowed frequencies are 40 Hz to 10 kHz.
//   volume controls buzzer volume, with 15 being loudest and 0 being quietest.
// Note: frequency*duration/1000 must be less than 0xFFFF (65535).  This
//   means that you can't use a max duration of 65535 ms for frequencies
//   greater than 1 kHz.  For example, the max duration you can use for a
//   frequency of 10 kHz is 6553 ms.  If you use a duration longer than this,
//   you will cause an integer overflow that produces unexpected behavior.
void OrangutanBuzzer::playFrequency(unsigned int freq, unsigned int dur, 
				   					unsigned char volume)
{
	init();		// initializes the buzzer if necessary
	buzzerFinished = 0;
	
#ifdef _ORANGUTAN_X2

	DISABLE_TIMER1_INTERRUPT();

	OrangutanX2::setVolume(volume);
	OrangutanX2::playFrequency(freq, dur);
	buzzerTimeout = dur;		// timeout is duration (timer1 set to 1kHz)
	
#else

	unsigned int newOCR1A;
	unsigned int newTCCR1B;
	unsigned int timeout;
	unsigned char multiplier = 1;
	

	if (freq & DIV_BY_10)		// if frequency's DIV_BY_10 bit is set
	{							//  then the true frequency is freq/10
		multiplier = 10;		//  (gives higher resolution for small freqs)
		freq &= ~DIV_BY_10;		// clear DIV_BY_10 bit
	}

	newTCCR1B = TCCR1B & 0xF8;	// clear clock select bits

	// calculate necessary clock source and counter top value to get freq
	if (freq > 200 * ((unsigned int)multiplier))	// clock prescaler = 1
	{
		if (freq > 10000)
			freq = 10000;			// max frequency allowed is 10kHz

		newOCR1A = (unsigned int)((10000000UL + (freq >> 1)) / freq);

		// timer1 clock select:
		newTCCR1B |= TIMER1_CLK_1;	// select IO clk (prescaler = 1)
	}

	else											// clock prescaler = 8
	{
		unsigned char val = 40 * multiplier;
		if (freq < val)				// min frequency allowed is 40 Hz
			freq = val;

		// set top (frequency):
		if (multiplier == 10)
			newOCR1A = (unsigned int)((12500000UL + (freq >> 1))/ freq);
		else
			newOCR1A = (unsigned int)((1250000UL + (freq >> 1)) / freq);

		// timer1 clock select
		newTCCR1B |= TIMER1_CLK_8;	// select IO clk / 8
	}


	// set timeout (duration):
	if (multiplier == 10)
		freq = (freq + 5) / 10;

	if (freq == 1000)
		timeout = dur;	// duration for silent notes is exact
	else
		timeout = (unsigned int)((long)dur * freq / 1000);
	
	if (volume > 15)
		volume = 15;

	DISABLE_TIMER1_INTERRUPT();			// disable interrupts while writing 
										//  to 16-bit registers
	TCCR1B = newTCCR1B;					// select timer 1 clock prescaler
	OCR1A = newOCR1A;					// set timer 1 pwm frequency
	OCR1B = OCR1A >> (16 - volume);	// set duty cycle (volume)
	buzzerTimeout = timeout;			// set buzzer duration
	
#endif // _ORANGUTAN_X2

	TIFR1 |= 0xFF;						// clear any pending t1 overflow int.
	ENABLE_TIMER1_INTERRUPT();			// this is the only place the t1
										//  overflow is enabled unless using X2
										
}



// Determine the frequency for the specified note, then play that note
//  for the desired duration (in ms).  This is done without using floats
//  and without having to loop.  volume controls buzzer volume, with 15 being
//  loudest and 0 being quietest.
// Note: frequency*duration/1000 must be less than 0xFFFF (65535).  This
//  means that you can't use a max duration of 65535 ms for frequencies
//  greater than 1 kHz.  For example, the max duration you can use for a
//  frequency of 10 kHz is 6553 ms.  If you use a duration longer than this,
//  you will cause an integer overflow that produces unexpected behavior.
void OrangutanBuzzer::playNote(unsigned char note, unsigned int dur,
							   unsigned char volume)
{
	// note = key + octave * 12, where 0 <= key < 12
	// example: A4 = A + 4 * 12, where A = 9 (so A4 = 57)
	// A note is converted to a frequency by the formula:
	//   Freq(n) = Freq(0) * a^n
	// where
	//   Freq(0) is chosen as A4, which is 440 Hz
	// and
	//   a = 2 ^ (1/12)
	// n is the number of notes you are away from A4.
	// One can see that the frequency will double every 12 notes.
	// This function exploits this property by defining the frequencies of the
	// 12 lowest notes allowed and then doubling the appropriate frequency
	// the appropriate number of times to get the frequency for the specified
	// note.

	// if note = 16, freq = 41.2 Hz (E1 - lower limit as freq must be >40 Hz)
	// if note = 57, freq = 440 Hz (A4 - central value of ET Scale)
	// if note = 111, freq = 9.96 kHz (D#9 - upper limit, freq must be <10 kHz)
	// if note = 255, freq = 1 kHz and buzzer is silent (silent note)

	// The most significant bit of freq is the "divide by 10" bit.  If set,
	// the units for frequency are .1 Hz, not Hz, and freq must be divided
	// by 10 to get the true frequency in Hz.  This allows for an extra digit
	// of resolution for low frequencies without the need for using floats.
	
#ifdef _ORANGUTAN_X2

	init();								// initializes the buzzer if necessary
	buzzerFinished = 0;
	DISABLE_TIMER1_INTERRUPT();
	OrangutanX2::setVolume(volume);
	OrangutanX2::playNote(note, dur);
	buzzerTimeout = dur;				// timeout = dur since timer 1 ticks at 1 kHz
	TIFR1 |= 0xFF;						// clear any pending t1 overflow int.
	ENABLE_TIMER1_INTERRUPT();			// also enable timer 1 interrupts here when
										//  using Orangutan X2
	sei();
	
#else

	unsigned int freq = 0;
	unsigned char offset_note = note - 16;

	if (note == SILENT_NOTE || volume == 0)
	{
		freq = 1000;	// silent notes => use 1kHz freq (for cycle counter)
		playFrequency(freq, dur, 0);
		return;
	}

	if (note <= 16)
		offset_note = 0;
	else if (offset_note > 95)
		offset_note = 95;

	unsigned char exponent = offset_note / 12;

	// frequency table for the lowest 12 allowed notes
	//   frequencies are specified in tenths of a Hertz for added resolution
	switch (offset_note - exponent * 12)	// equivalent to (offset_note % 12)
	{
		case 0:				// note E1 = 41.2 Hz
			freq = 412;
			break;
		case 1:				// note F1 = 43.7 Hz
			freq = 437;
			break;
		case 2:				// note F#1 = 46.3 Hz
			freq = 463;
			break;
		case 3:				// note G1 = 49.0 Hz
			freq = 490;
			break;
		case 4:				// note G#1 = 51.9 Hz
			freq = 519;
			break;
		case 5:				// note A1 = 55.0 Hz
			freq = 550;
			break;
		case 6:				// note A#1 = 58.3 Hz
			freq = 583;
			break;
		case 7:				// note B1 = 61.7 Hz
			freq = 617;
			break;
		case 8:				// note C2 = 65.4 Hz
			freq = 654;
			break;
		case 9:				// note C#2 = 69.3 Hz
			freq = 693;
			break;
		case 10:			// note D2 = 73.4 Hz
			freq = 734;
			break;
		case 11:			// note D#2 = 77.8 Hz
			freq = 778;
			break;
	}

	if (exponent < 7)
	{
		freq = freq << exponent;	// frequency *= 2 ^ exponent
		if (exponent > 1)			// if the frequency is greater than 160 Hz
			freq = (freq + 5) / 10;	//   we don't need the extra resolution
		else
			freq += DIV_BY_10;		// else keep the added digit of resolution
	}
	else
		freq = (freq * 64 + 2) / 5;	// == freq * 2^7 / 10 without int overflow

	if (volume > 15)
		volume = 15;
	playFrequency(freq, dur, volume);	// set buzzer this freq/duration
#endif // _ORANGUTAN_X2
}



// Returns 1 if the buzzer is currently playing, otherwise it returns 0
unsigned char OrangutanBuzzer::isPlaying()
{
	return !buzzerFinished || buzzerSequence != 0;
}


// Plays the specified sequence of notes.  If the play mode is 
// PLAY_AUTOMATIC, the sequence of notes will play with no further
// action required by the user.  If the play mode is PLAY_CHECK,
// the user will need to call playCheck() in the main loop to initiate
// the playing of each new note in the sequence.  The play mode can
// be changed while the sequence is playing.  
// This is modeled after the PLAY commands in GW-BASIC, with just a
// few differences.
//
// The notes are specified by the characters C, D, E, F, G, A, and
// B, and they are played by default as "quarter notes" with a
// length of 500 ms.  This corresponds to a tempo of 120
// beats/min.  Other durations can be specified by putting a number
// immediately after the note.  For example, C8 specifies C played as an
// eighth note, with half the duration of a quarter note. The special
// note R plays a rest (no sound).
//
// Various control characters alter the sound:
//   '>' plays the next note one octave higher
//
//   '<' plays the next note one octave lower
//
//   '+' or '#' after a note raises any note one half-step
//
//   '-' after a note lowers any note one half-step
//
//   '.' after a note "dots" it, increasing the length by
//       50%.  Each additional dot adds half as much as the
//       previous dot, so that "A.." is 1.75 times the length of
//       "A".
//
//   'O' followed by a number sets the octave (default: O4).
//
//   'T' followed by a number sets the tempo (default: T120).
//
//   'L' followed by a number sets the default note duration to
//       the type specified by the number: 4 for quarter notes, 8
//       for eighth notes, 16 for sixteenth notes, etc.
//       (default: L4)
//
//   'V' followed by a number from 0-15 sets the music volume.
//       (default: V15)
//
//   'MS' sets all subsequent notes to play staccato - each note is played
//       for 1/2 of its allotted time, followed by an equal period
//       of silence.
//
//   'ML' sets all subsequent notes to play legato - each note is played
//       for its full length.  This is the default setting.
//
//   '!' resets all persistent settings to their defaults.
//
// The following plays a c major scale up and back down:
//   play("L16 V8 cdefgab>cbagfedc");
//
// Here is an example from Bach:
//   play("T240 L8 a gafaeada c+adaeafa <aa<bac#ada c#adaeaf4");
void OrangutanBuzzer::play(const char *notes)
{
	DISABLE_TIMER1_INTERRUPT();	// prevent this from being interrupted
	buzzerSequence = notes;
	use_program_space = 0;
	staccato_rest_duration = 0;
	nextNote();					// this re-enables the timer1 interrupt
}

void OrangutanBuzzer::playFromProgramSpace(const char *notes_p)
{
	DISABLE_TIMER1_INTERRUPT();	// prevent this from being interrupted
	buzzerSequence = notes_p;
	use_program_space = 1;
	staccato_rest_duration = 0;
	nextNote();					// this re-enables the timer1 interrupt
}


// stop all sound playback immediately
void OrangutanBuzzer::stopPlaying()
{
	DISABLE_TIMER1_INTERRUPT();					// disable interrupts
	TCCR1B = (TCCR1B & 0xF8) | TIMER1_CLK_1;	// select IO clock
	OCR1A = (F_CPU/2) / 1000;					// set TOP for freq = 1 kHz
	OCR1B = 0;									// 0% duty cycle
	buzzerFinished = 1;
	buzzerSequence = 0;
#ifdef _ORANGUTAN_X2
	OrangutanX2::buzzerOff();
#endif
}

// Gets the current character, converting to lower-case and skipping
// spaces.  For any spaces, this automatically increments sequence!
static char currentCharacter()
{
	char c = 0;
	do
	{
		if(use_program_space)
			c = pgm_read_byte(buzzerSequence);
		else
			c = *buzzerSequence;

		if(c >= 'A' && c <= 'Z')
			c += 'a'-'A';
	} while(c == ' ' && (buzzerSequence ++));

	return c;
}

// Returns the numerical argument specified at buzzerSequence[0] and
// increments sequence to point to the character immediately after the
// argument.
static unsigned int getNumber()
{
	unsigned int arg = 0;

	// read all digits, one at a time
	char c = currentCharacter();
	while(c >= '0' && c <= '9')
	{
		arg *= 10;
		arg += c-'0';
		buzzerSequence ++;
		c = currentCharacter();
	}

	return arg;
}

static void nextNote()
{
	unsigned char note = 0;
	unsigned char rest = 0;
	unsigned char tmp_octave = octave; // the octave for this note
	unsigned int tmp_duration; // the duration of this note
	unsigned int dot_add;

	char c; // temporary variable

	// if we are playing staccato, after every note we play a rest
	if(staccato && staccato_rest_duration)
	{
		OrangutanBuzzer::playNote(SILENT_NOTE, staccato_rest_duration, 0);
		staccato_rest_duration = 0;
		return;
	}

 parse_character:

	// Get current character
	c = currentCharacter();
	buzzerSequence ++;

	// Interpret the character.
	switch(c)
	{
	case '>':
		// shift the octave temporarily up
		tmp_octave ++;
		goto parse_character;
	case '<':
		// shift the octave temporarily down
		tmp_octave --;
		goto parse_character;
	case 'a':
		note = A(0);
		break;
	case 'b':
		note = B(0);
		break;
	case 'c':
		note = C(0);
		break;
	case 'd':
		note = D(0);
		break;
	case 'e':
		note = E(0);
		break;
	case 'f':
		note = F(0);
		break;
	case 'g':
		note = G(0);
		break;
	case 'l':
		// set the default note duration
		note_type = getNumber();
		duration = whole_note_duration/note_type;
		goto parse_character;
	case 'm':
		// set music staccato or legato
		if(currentCharacter() == 'l')
			staccato = false;
		else
		{
			staccato = true;
			staccato_rest_duration = 0;
		}
		buzzerSequence ++;
		goto parse_character;
	case 'o':
		// set the octave permanently
		octave = getNumber();
		tmp_octave = octave;
		goto parse_character;
	case 'r':
		// Rest - the note value doesn't matter.
		rest = 1;
		break;
	case 't':
		// set the tempo
		whole_note_duration = 60*400/getNumber()*10;
		duration = whole_note_duration/note_type;
		goto parse_character;
	case 'v':
		// set the volume
		volume = getNumber();
		goto parse_character;
	case '!':
		// reset to defaults
		octave = 4;
		whole_note_duration = 2000;
		note_type = 4;
		duration = 500;
		volume = 15;
		staccato = 0;
		// reset temp variables that depend on the defaults
		tmp_octave = octave;
		tmp_duration = duration;
		goto parse_character;
	default:
		buzzerSequence = 0;
		return;
	}

	note += tmp_octave*12;

	// handle sharps and flats
	c = currentCharacter();
	while(c == '+' || c == '#')
	{
		buzzerSequence ++;
		note ++;
		c = currentCharacter();
	}
	while(c == '-')
	{
		buzzerSequence ++;
		note --;
		c = currentCharacter();
	}

	// set the duration of just this note
	tmp_duration = duration;

	// If the input is 'c16', make it a 16th note, etc.
	if(c > '0' && c < '9')
		tmp_duration = whole_note_duration/getNumber();

	// Handle dotted notes - the first dot adds 50%, and each
	// additional dot adds 50% of the previous dot.
	dot_add = tmp_duration/2;
	while(currentCharacter() == '.')
	{
		buzzerSequence ++;
		tmp_duration += dot_add;
		dot_add /= 2;
	}

	if(staccato)
	{
		staccato_rest_duration = tmp_duration / 2;
		tmp_duration -= staccato_rest_duration;
	}
	
	// this will re-enable the timer1 overflow interrupt
	OrangutanBuzzer::playNote(rest ? SILENT_NOTE : note, tmp_duration, volume);
}


// This puts play() into a mode where instead of advancing to the
// next note in the sequence automatically, it waits until the
// function playCheck() is called. The idea is that you can
// put playCheck() in your main loop and avoid potential
// delays due to the note sequence being checked in the middle of
// a time sensitive calculation.  It is recommended that you use
// this function if you are doing anything that can't tolerate
// being interrupted for more than a few microseconds.
// Note that the play mode can be changed while a sequence is being
// played.
//
// Usage: playMode(PLAY_AUTOMATIC) makes it automatic (the
// default), playMode(PLAY_CHECK) sets it to a mode where you have
// to call playCheck().
void OrangutanBuzzer::playMode(unsigned char mode)
{
	play_mode_setting = mode;

	// We want to check to make sure that we didn't miss a note if we
	// are going out of play-check mode.
	if(mode == PLAY_AUTOMATIC)
		playCheck();
}


// Checks whether it is time to start another note, and starts
// it if so.  If it is not yet time to start the next note, this method
// returns without doing anything.  Call this as often as possible 
// in your main loop to avoid delays between notes in the sequence.
//
// Returns true if it is still playing.
unsigned char OrangutanBuzzer::playCheck()
{
	DISABLE_TIMER1_INTERRUPT();
	if(buzzerFinished && buzzerSequence != 0)
		nextNote();
	ENABLE_TIMER1_INTERRUPT();
	return buzzerSequence != 0;
}

// Local Variables: **
// mode: C++ **
// c-basic-offset: 4 **
// tab-width: 4 **
// indent-tabs-mode: t **
// end: **
