Arduinoと3Dプリンタで猫のおもちゃをつくる

Arduinoのコード

#include <stdint.h>
#include <avr/interrupt.h>
#include <avr/io.h>
#include <avr/pgmspace.h>
#define SAMPLE_RATE 8000
#include "sounddata.h"

int ledPin = 13;
int speakerPin = 11; // Can be either 3 or 11, two PWM outputs connected to Timer 2
int tiltPin = 3;
volatile uint16_t sample;
byte lastSample;


void stopPlayback()
{
  // Disable playback per-sample interrupt.
  TIMSK1 &= ~_BV(OCIE1A);

  // Disable the per-sample timer completely.
  TCCR1B &= ~_BV(CS10);

  // Disable the PWM timer.
  TCCR2B &= ~_BV(CS10);
  digitalWrite(speakerPin, LOW);
}

// This is called at 8000 Hz to load the next sample.
ISR(TIMER1_COMPA_vect) {
  if (sample >= sounddata_length) {
    if (sample == sounddata_length + lastSample) {
      stopPlayback();
    }
    else {
      if(speakerPin==11){
        // Ramp down to zero to reduce the click at the end of playback.
        OCR2A = sounddata_length + lastSample - sample;
      } 
      else {
        OCR2B = sounddata_length + lastSample - sample;                
      }
    }
  }
  else {
    if(speakerPin==11){
      OCR2A = pgm_read_byte(&sounddata_data[sample]);
    } 
    else {
      OCR2B = pgm_read_byte(&sounddata_data[sample]);            
    }
  }

  ++sample;
}

void startPlayback()
{
  pinMode(speakerPin, OUTPUT);

  // Set up Timer 2 to do pulse width modulation on the speaker
  // pin.

  // Use internal clock (datasheet p.160)
  ASSR &= ~(_BV(EXCLK) | _BV(AS2));

  // Set fast PWM mode  (p.157)
  TCCR2A |= _BV(WGM21) | _BV(WGM20);
  TCCR2B &= ~_BV(WGM22);

  if(speakerPin==11){
    // Do non-inverting PWM on pin OC2A (p.155)
    // On the Arduino this is pin 11.
    TCCR2A = (TCCR2A | _BV(COM2A1)) & ~_BV(COM2A0);
    TCCR2A &= ~(_BV(COM2B1) | _BV(COM2B0));
    // No prescaler (p.158)
    TCCR2B = (TCCR2B & ~(_BV(CS12) | _BV(CS11))) | _BV(CS10);

    // Set initial pulse width to the first sample.
    OCR2A = pgm_read_byte(&sounddata_data[0]);
  } 
  else {
    // Do non-inverting PWM on pin OC2B (p.155)
    // On the Arduino this is pin 3.
    TCCR2A = (TCCR2A | _BV(COM2B1)) & ~_BV(COM2B0);
    TCCR2A &= ~(_BV(COM2A1) | _BV(COM2A0));
    // No prescaler (p.158)
    TCCR2B = (TCCR2B & ~(_BV(CS12) | _BV(CS11))) | _BV(CS10);

    // Set initial pulse width to the first sample.
    OCR2B = pgm_read_byte(&sounddata_data[0]);
  }





  // Set up Timer 1 to send a sample every interrupt.

  cli();

  // Set CTC mode (Clear Timer on Compare Match) (p.133)
  // Have to set OCR1A *after*, otherwise it gets reset to 0!
  TCCR1B = (TCCR1B & ~_BV(WGM13)) | _BV(WGM12);
  TCCR1A = TCCR1A & ~(_BV(WGM11) | _BV(WGM10));

  // No prescaler (p.134)
  TCCR1B = (TCCR1B & ~(_BV(CS12) | _BV(CS11))) | _BV(CS10);

  // Set the compare register (OCR1A).
  // OCR1A is a 16-bit register, so we have to do this with
  // interrupts disabled to be safe.
  OCR1A = F_CPU / SAMPLE_RATE;    // 16e6 / 8000 = 2000

  // Enable interrupt when TCNT1 == OCR1A (p.136)
  TIMSK1 |= _BV(OCIE1A);

  lastSample = pgm_read_byte(&sounddata_data[sounddata_length-1]);
  sample = 0;
  sei();
}


void setup()
{
  pinMode(ledPin, OUTPUT);
  pinMode(tiltPin,INPUT);
  digitalWrite(ledPin, HIGH);
  //startPlayback();
}

void loop()
{
  if(digitalRead(tiltPin)==HIGH){
    startPlayback();
  }
  //while (true);
}

sounddata.h
https://gist.github.com/shohei/7019378

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