aggregat controller 02

Firmware for a NUCLEO-H743ZI2 board to allow for MIDI based control (DIN5, USB-MIDI and (future) RTPMIDI) of 16 PWM controlled servo motors.

Created for setups of custom made, motorized AGGREGAT loudspeakers at ICST.

https://aggregat.zhdk.ch/

https://gitlab.zhdk.ch/aggregat-02/a01-firmware https://gitlab.zhdk.ch/aggregat-02/a01-pcb-iocontrols

Todos

• Sytem testing & revision
• Ethernet-based networking
  • DHCP or link-local addressing
  • mDNS / DNS-SD based host/service discovery
    • using hardware id as part of hostname
    • dynamic, simple hostname
    • Proposed Use Channel (or specific) setting as part of hostname, ex ch4.aggregat.local or 1.aggregat.local
    • service???
  • Control interface TBD
    1. Proposed Raw UDP (quasi simple) port (?): 1234 (?)
    2. OSC (relatively simple)
    3. Postpone (when components are made by pt) RTPMIDI (complex)

Installation / Flashing

1. Connect the USB cable (programming end / opposite of ethernet plug) to computer.
2. Device should show up as mass storage device (ie external hard disk)
3. Drag & Drop firmware file into external hard disk -> big LED should flash red-yellow and then stay yellow - voilà

Known Problems & Limitations

• as of 2020-07-02 ethernet interferes with the USB Device interface causing a permanent USB fail, but only if both are connected at the same time. It's a problem of the underlying system which might get resolve d in the future.

MIDI Control

IMPORTANT NOTE: MIDI channels and controller number etc might have a range of 1-16, 1-128 respectively, but actual data being sent it 0-15, 0-127 respectively. So keep this in mind when reading this documentation and when trying to configure any device.

Also see demo Max/MSP in max.

Please understand the following basic settings/definitions:

• <midi-channel> is defined through 4-Pin DIP-Switch (binary setting of values 0 - 15, ie MIDI Channels 1 - 16)

• <cc-offset> := 102

General Control

System real-time messages do not use a channel, thus they affect all connected devices (also see https://www.midi.org/specifications-old/item/table-1-summary-of-midi-message)

• RESET ( 0b11111111 )

  resets all devices (ie all devices restart)

• STOP ( 0b11111100 )

  suspend all motor functions

• START ( 0b11111101 ) or CONTINUE ( 0b11111011 )

  continue (unsuspend) all motor functions

Motor 0 - (N-1) where N := the number of motors

Turn on/off power of motor M (0 - (N-1)):

Note on/off <note := M> <velocity (any)>

Set motor M position to P (0 - 127):

CC <midi-channel> <controller := <cc-offset> + M> <value := P>

or when using NRPN, then P (0 - 16383):

NRPN <midi-channel> <controller := M> <value := P>

So, to set the 9th motor M := 8 to center position P := 127/2 or 16383/2 on device listening to MIDI channel 4 you would do..

CC 3 110 64

or

NRPN 3 8 8192

Hardware Controls

What	Function
Button left corner	Hard reset
4-pin DIP Switch left	MIDI channel select (binary MSB-LSB)
4-pin DIP Switch right	Device id select (binary MSB-LSB)
8-pin DIP Switch: Pin 1	Forward USBMIDI to MIDI?
8-pin DIP Switch: Pin 2	Forward USBMIDI to RTPMIDI?
8-pin DIP Switch: Pin 3	Forward MIDI to USBMIDI?
8-pin DIP Switch: Pin 4	Forward MIDI to RTPMIDI?
8-pin DIP Switch: Pin 5	Forward RTPMIDI to USBMIDI?
8-pin DIP Switch: Pin 6	Forward RTPMIDI to MIDI?
8-pin DIP Switch: Pin 7	HIGH -> Suspend motors on startup, LOW -> run motors
8-pin DIP Switch: Pin 8	Enable motor power control (MIDI commands are processed) currently feature not implemented in hardware
Three buttons left	Set all motors to center position
Three buttons middle	not implemented
Three buttons right	Suspend / Resume all motors
Green LED left bottom	System has power
Red LED left top	Motors are either all suspended or at least one motor's power is off
LED

Software

Use Mbed Studio as IDE.

In Mbed Studio workspace run (on command line):

git clone git@gitlab.zhdk.ch:aggregat-02/a01.git
cd a01
git submodule update --init --recursive

As of 2020-07-02 the official USBMIDI of mbed-os has some (reported) bugs, please update these files:

• USBMIDI.h
• USBMIDI.cpp
• MIDIMessage.h

Configuration options

See file config.h

Hardware

• Base board: ST NUCLEO-H743ZI2 (also see @mbed) note can possibly be scaled down to a (marginally) cheaper version
• IOControls: https://gitlab.zhdk.ch/aggregat-02/a01-pcb-iocontrols
• Aggregat core board: https://gitlab.zhdk.ch/aggregat-02/a01-pcb-core

Bill of Materials

For BOM of custom PCBs see respective repository.

Number	Item	Cost per (10/100) Unit(s)	Cost
1	ST NUCLEO-H743ZI2 (Base Board)	25.65	25.65
1	IOControls board	~20.00	20.00
1	UART - MIDI adapter board	10.0	10.00
1	USB 2.0 B Connector	9.56	9.56
3	DIN 5-pol (MIDI) Connector	4.17	12.52
1	AC-DC Converter 5V 14A	17.25	17.25
1	USB Power Adapter	4.94	4.94
3	30 pin ribbon cable connector (IOControls)	1.06	3.18
1	34 pin ribbon cable connector	0.94	0.94
1	20 pin ribbon cable connector	0.72	0.72
2	34 wire 28 AWG ribbon cable (example) (IOControls)	0.40	0.80
	Headers: 1 and/or 2		< 5.00
8	4 pin motor connector	0.57	<
1	Power plug w/ switch	13.08	13.08

Total (material) cost ~ 120.-

Pin Assignment

Pin	Function	Description	Connector
PC10 (6)	DBG SERIAL	TX	CN1 (USB)
PC11 (8)	DBG SERIAL	RX
PC12 (10)	UART	MIDI TX	CN7
PD2 (12)	UART	MIDI RX
PC8 (2)	PWM3/3	Motor 1 (spkr 1) Control	CN8
PC9 (4)	PWM3/4	Motor 2 (spkr 1) Control
PC6 (1)	GPIO OUT	Motor 1/2 Power	CN7
PA15 (9)	GPIO OUT	Motor 3/4 Power
PC7 (11)	GPIO OUT	Motor 5/6 Power
PA6 (12)	PWM3/1	Motor 3 (spkr 2) Control
PB5 (14)	PWM3/2	Motor 4 (spkr 2) Control
PB3 (15)	PWM2/2	Motor 5 (spkr 3) Control
PD14 (16)	PWM4/3	Motor 6 (spkr 3) Control
PD15 (18)	PWM4/4	Motor 7 (spkr 4) Control
PB4 (19)	GPIO OUT	Motor 7/8 Power
PE9 (4)	PWM1/1	Motor 8 (spkr 4) Control	CN10
PE11 (6)	PWM1/2	Motor 9 (spkr 5) Control
PE14 (8)	PWM1/4	Motor 10 (spkr 5) Control
PF5 (9)	GPIO OUT	Motor 9/10 Power
PE13 (10)	PWM1/3	Motor 11 (spkr 6) Control
PB6 (14)	PWM4/1	Motor 12 (spkr 6) Control
PB2 (15)	GPIO OUT	Motor 11/12 Power
PB7 (16)	PWM4/2	Motor 13 (spkr 7) Control
PD11 (23)	GPIO OUT	Motor 13/14 Power
PA0 (29)	PWM2/1	Motor 14 (spkr 7) Control
PB10 (32)	PWM2/3	Motor 15 (spkr 8) Control
PE0 (33)	GPIO OUT	Motor 15/16 Power
PB11 (34)	PWM2/4	Motor 16 (spkr 8) Control

iocontrols

NUCLEO connectors CN9 (+CN8) only.

CN1 (iocontrols connector)

Pin	Function	Description	Nucleo Connector
3V3 (7)			CN 8
GND (11)
NRST (5)

CN2 (iocontrols connector)

Pin	Function	Description	Nucleo Connector
PA3 (1)	GPIO OUT	LED Motor	CN9 (lhs)
PC0 (3)	GPIO OUT	LED Power
PC3 (5)	GPIO IN	MIDI Channel Select 4 (MSB)
PB1 (7)	GPIO IN	MIDI Channel Select 3
PC2 (9)	GPIO IN	MIDI Channel Select 2
PF10 (11)	GPIO IN	MIDI Channel Select 1 (LSB)
PG2 (14)	GPIO IN	Hostname ID 4 (MSB)	CN8 (rhs)
PG3 (16)	GPIO IN	Hostname ID 3
PF2 (17)	GPIO IN	Hostname ID 2	CN9 (lhs)
PF1 (19)	GPIO IN	Hostname ID 1 (LSB)
PF0 (21)	GPIO IN	USB to MIDI
GND (23)	GND
PD0 (25)	GPIO IN	USB to NET
PD1 (27)	GPIO IN	MIDI to USB
PG0 (29)	GPIO IN	MIDI to NET

CN3 (iocontrols connector)

Pin	Function	Description	Nucleo Connector
PD7 (2)	GPIO IN	NET to USB	CN9 (rhs)
PD6 (4)	GPIO IN	NET to USB
PD5 (6)	GPIO IN	CFG1 (RSRV)
PD4 (8)	GPIO IN	CFG2 (RSRV)
PD3 (10)	TBD	TBD
GND (12)	GND
PE2 (14)	GPIO IN	Button Center
PE4 (16)	GPIO IN	Button Plus1 (RSRV)
PE5 (18)	GPIO IN	Button Plus2 (RSRV)
PE6 (20)	GPIO OUT	LED 11 (USB1)
PE3 (22)	GPIO OUT	LED 12 (USB2)
PF8 (24)	GPIO OUT	LED 21 (MIDI1)
PF7 (26)	GPIO OUT	LED 22 (MIDI2)
PF9 (28)	GPIO OUT	LED 31 (NET1)
PG1 (30)	GPIO OUT	LED 32 (NET2)

Questions?

• Peter Färber, peter.faerber (@) zhdk.ch
• Philip Tschiemer, filou.se

License

Copyfright (c) 2020 Institute for Computer Music and Sound Technology (ICST), ZHdK Zurich, https://www.zhdk.ch/forschung/icst

GNU Lesser General Public License v3.0

Also see LICENSE.txt file.