**●音声出力**

最後にスピーカーから音声を鳴らしてみます。Arduinoにはアナログ出力機能はありませんので、PWM出力をフィルタ回路に通すことで擬似的にアナログ信号を作ります。PWMのパルス幅（ONの期間）が長ければ高い電圧（5Vに近づく）、短かければ低い電圧（0Vに近づく）が出力されます。

ところがここでひとつ問題があり、ArduinoでPWMを出す関数analogWrite()は周波数が490Hzに固定されています。通常の音声信号では高い方の周波数は数キロHzになりますから、これは全く使えません。このためAVR（Arduinoが使っているマイコン）を直接操作するようなプログラムを書く必要があります。というわけで前回までと比較するとちょっと難易度が上がりますので、どうしても自信のない方はプログラムをまるごとコピーしていただいても構いません。

今回はAVRのTimer2を使って最速の62.5KHzでPWM信号を生成し、Timer0の割り込みを使って124usごと（約8KHz)にPWMのパルス幅を更新していきます。音声データは0〜255(unsigned char)の値を行列データとしてプログラム内に直接記述し、フラッシュメモリに読み込ませます。全く圧縮していない形式で、WAVデータと言います。１秒間の音声で1byte*8000=8Kbyte必要なので、保持できる音声データは1〜2秒が限度となります。長い音声を扱いたい場合にはSDカードなどの外部メモリを利用します。

まずは電源ONで「恐竜の咆哮音」を１回だけ再生するプログラムを作っていきます。AVRマイコン（Atmega328P）のデータシートを参照しながら見てください。なお、音声データは”sounddata.h”として別ファイルで与えます。

・プログラム

#include <avr/interrupt.h> #include <avr/io.h> #include <avr/pgmspace.h> #include "sounddata.h" uint8_t audEnbl = 7; //chip enable to HT82V739 uint8_t audOut = 11; //pwm tp HT82V739 volatile uint16_t audCounter; void stopPlayback() { digitalWrite(audEnbl, HIGH); //オーディオアンプ出力を無効 digitalWrite(audOut, LOW); //音声出力LOW cli(); //割り込み中止 } ISR(TIMER0_COMPA_vect) //Timer0による割り込み { // カウンターTCNT0が4usごとに加算されOCR0Aの値になると割り込みがかかるので // 8000HzとなるようにOCR0Aに30（(30+1) x 4us = 124us(=~8000Hz)）を足す OCR0A = TCNT0 + 30; //datasheet p.117 if (audCounter >= sound_length-1) { // 音声データ最後まで来た stopPlayback(); } else { // audCounter番めのデータを読んでOCR2Aに設定 PWMのパルス幅が決まる OCR2A = pgm_read_byte(&sound_data[audCounter]); //datasheet p.166 } ++audCounter; } void startPlayback() { // PWMのためのTimer2設定 // // 内部クロックを使う (datasheet p.167) ASSR &= ~(_BV(EXCLK) | _BV(AS2)); // fast PWMモードに設定 (datasheet p.164) TCCR2A |= _BV(WGM21) | _BV(WGM20); //WGM21ビットとWGM20ビットをHIGHに設定 TCCR2B &= ~_BV(WGM22); //WGM22ビットをLOWに設定 // OC2Aにnon-inverting PWMを出力 (datasheet p.162) // OC2AはマイコンのPB3ピン（Arduinoではdigital 11ピン） // datasheet p.12 と回路図を確認 TCCR2A = (TCCR2A | _BV(COM2A1)) & ~_BV(COM2A0); //Table 18-3 COM2A1->1 COM2A0->0 // プリスケーラ（分周）なし (datasheet p.165) // CS22->0 CS21->0 CS20->1 TCCR2B = (TCCR2B & ~(_BV(CS22) | _BV(CS21))) | _BV(CS20); //Table18-9 // 最初のデータをOCR2Aに設定 OCR2A = pgm_read_byte(&sound_data[0]); audCounter = 0; digitalWrite(audEnbl, LOW); // HT82V739の出力を有効に // 8000Hz割り込みのためのTimer0設定 // cli(); //割り込み抑止 // 波形出力しない WGM01->0 WGM00->0 datasheet p.115 TCCR0A &= ~(_BV(WGM01) | _BV(WGM00)); //Table 15-8 // コンペアマッチ割り込み有効 TIMSK0 |= _BV(OCIE0A); //datasheet p.118 // 割り込みフラグクリア TIFR0 |= _BV(OCF0A); //datasheet p.118 sei(); //割り込み抑止解除 } void setup() { // put your setup code here, to run once: pinMode(audOut, OUTPUT); pinMode(audEnbl, OUTPUT); digitalWrite(audEnbl, HIGH); startPlayback(); } void loop(){ }

・データファイル

Arduino IDEの右側にある下向き三角をクリックして新規タブ名を”sounddata.h”としてOKすると新しいタブが現れますので、そこに以下をコピペします。

const unsigned char sound_data[] PROGMEM ={ 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}; const int sound_length = sizeof sound_data;

ロボットで実行し音声が再生されるのを確認します。プログラムサイズが大きいので転送には時間がかかります。

**●練習問題**

リモコンのボタンで音声が再生されるようにしてください。

#include <avr/interrupt.h> #include <avr/io.h> #include <avr/pgmspace.h> #include "sounddata.h" // audio variables uint8_t audEnbl = 7; //chip enable to HT82V739 uint8_t audOut = 11; //pwm tp HT82V739 volatile uint16_t audCounter; // remote boolean rmRecieved = 0; //信号受信完了した uint8_t i; //受信データの桁 uint8_t rmState = 0; //信号受信状況 uint8_t dataCode; //データコード(8bit) uint8_t invDataCode; //反転データコード(8bit) uint16_t customCode; //カスタムコード(16bit) uint32_t rmCode; //コード全体(32bit) volatile uint32_t prevMicros = 0; //時間計測用 void stopPlayback() { digitalWrite(audEnbl, HIGH); //オーディオアンプ出力を無効 digitalWrite(audOut, LOW); //音声出力LOW cli(); //割り込み中止 } ISR(TIMER0_COMPA_vect) //Timer0による割り込み { // カウンターTCNT0が4usごとに加算されOCR0Aの値になると割り込みがかかるので // 8000HzとなるようにOCR0Aに30（(30+1) x 4us = 124us(=~8000Hz)）を足す OCR0A = TCNT0 + 30; //datasheet p.117 if (audCounter >= sound_length-1) { // 音声データ最後まで来た stopPlayback(); } else { // audCounter番めのデータを読んでOCR2Aに設定 PWMのパルス幅が決まる OCR2A = pgm_read_byte(&sound_data[audCounter]); //datasheet p.166 } ++audCounter; } void startPlayback() { // PWMのためのTimer2設定 // // 内部クロックを使う (datasheet p.167) ASSR &= ~(_BV(EXCLK) | _BV(AS2)); // fast PWMモードに設定 (datasheet p.164) TCCR2A |= _BV(WGM21) | _BV(WGM20); //WGM21ビットとWGM20ビットをHIGHに設定 TCCR2B &= ~_BV(WGM22); //WGM22ビットをLOWに設定 // OC2Aにnon-inverting PWMを出力 (datasheet p.162) // OC2AはマイコンのPB3ピン（Arduinoではdigital 11ピン） // datasheet p.12 と回路図を確認 TCCR2A = (TCCR2A | _BV(COM2A1)) & ~_BV(COM2A0); //Table 18-3 COM2A1->1 COM2A0->0 // プリスケーラ（分周）なし (datasheet p.165) // CS22->0 CS21->0 CS20->1 TCCR2B = (TCCR2B & ~(_BV(CS22) | _BV(CS21))) | _BV(CS20); //Table18-9 // 最初のデータをOCR2Aに設定 OCR2A = pgm_read_byte(&sound_data[0]); audCounter = 0; digitalWrite(audEnbl, LOW); // HT82V739の出力を有効に // 8000Hz割り込みのためのTimer0設定 // cli(); //割り込み抑止 // 波形出力しない WGM01->0 WGM00->0 datasheet p.115 TCCR0A &= ~(_BV(WGM01) | _BV(WGM00)); //Table 15-8 // コンペアマッチ割り込み有効 TIMSK0 |= _BV(OCIE0A); //datasheet p.118 // 割り込みフラグクリア TIFR0 |= _BV(OCF0A); //datasheet p.118 sei(); //割り込み抑止解除 } void rmUpdate() //信号が変化した { uint32_t width; //パルスの幅を計測 if(rmState != 0){ width = micros() - prevMicros; //時間間隔を計算 if(width > 10000)rmState = 0; //長すぎ prevMicros = micros(); //次の計算用 } switch(rmState){ case 0: //信号未達 prevMicros = micros(); //現在時刻(microseconds)を記憶 rmState = 1; //最初のOFF->ON信号を検出した i = 0; break; case 1: //最初のON状態 if((width > 9500) || (width < 8500)){ //リーダーコード(9ms)ではない rmState = 0; }else{ rmState = 2; //ON->OFFで9ms検出 } break; case 2: //9ms検出した if((width > 5000) || (width < 4000)){ //リーダーコード(4.5ms)ではない rmState = 0; }else{ rmState = 3; //OFF->ONで4.5ms検出 } break; case 3: //4.5ms検出した if((width > 700) || (width < 400)){ rmState = 0; }else{ rmState = 4; //ON->OFFで0.56ms検出した } break; case 4: //0.56ms検出した if((width > 1800) || (width < 400)){ //OFF期間(2.25-0.56)msより長い or (1.125-0.56)msより短い rmState = 0; }else{ if(width > 1000){ //OFF期間長い -> 1 bitSet(rmCode, (i)); }else{ //OFF期間短い -> 0 bitClear(rmCode, (i)); } i++; //次のbit if(i > 31){ //完了 rmRecieved = 1; return; } rmState = 3; //次のON->OFFを待つ } break; } } void setup() { // put your setup code here, to run once: attachInterrupt(digitalPinToInterrupt(interruptPin), rmUpdate, CHANGE); pinMode(audOut, OUTPUT); pinMode(audEnbl, OUTPUT); digitalWrite(audEnbl, HIGH); } void loop() { // put your main code here, to run repeatedly: if(rmRecieved){ //リモコン受信した detachInterrupt(digitalPinToInterrupt(interruptPin)); rmRecieved = 0; //初期化 rmState = 0; //初期化 //図とは左右が逆であることに注意 customCode = rmCode; //下16bitがcustomCode dataCode = rmCode >> 16; //下16bitを捨てたあとの下8bitがdataCode invDataCode = rmCode >> 24; //下24bitを捨てたあとの下8bitがinvDataCode if((dataCode + invDataCode) == 0xff){ //反転確認 switch(dataCode){ //<-switch文を追加 case 24: //"2"ボタン startPlayback(); break; default: break; } } attachInterrupt(digitalPinToInterrupt(interruptPin), rmUpdate, CHANGE); } }

“ms08″で保存します。

<= マイクロサウルス チュートリアル(7) マイクロサウルス チュートリアル(9) =>

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