Jamie Allen's and my cleanups compile and install, but I don't know if they work yet

svn path=/trunk/externals/hardware/arduino/; revision=5725

3 files changed, 547 insertions, 438 deletions

diff --git a/Pd_firmware/Pd_firmware.pde b/Pd_firmware/Pd_firmware.pde
index 3d667b1..8a2de1d 100644
--- a/Pd_firmware/Pd_firmware.pde
+++ b/Pd_firmware/Pd_firmware.pde
@@ -1,329 +1,436 @@
-/* Pd_firmware aka Pduino

- * ------------------

- * 

- * It was designed to work with the Pd object [arduino]

- * which is included in Pd-extended.  This firmware could 

- * easily be used with other programs like Max/MSP, Processing,

- * or whatever can do serial communications.

- *

- * (copyleft) 2006 Hans-Christoph Steiner <hans@at.or.at>

- * @author: Hans-Christoph Steiner

- * @date: 2006-05-19

- * @location: STEIM, Amsterdam, Netherlands

- */

-

-/* TODO

- *

- * - get digitalInput working

- * - add pulseIn functionality

- * - add software PWM for servos, etc

- * - redesign protocol to accomodate boards with more I/Os

- * - add cycle markers to mark start of analog, digital, pulseIn, and PWM

- */

-

-/*

- * Pduino protocol

- * =============== 

- * data: 0-127   

- * control: 128-255

- * 

- * Pd->Arduino commands

- * --------------------

- * 200-213 - set digital pin 0-13 to INPUT

- * 214-227 - set digital pin 0-13 to OUTPUT

- * 228 - UNUSED

- * 229 - UNUSED

- * 230 - next byte sets PWM0 value

- * 231 - next byte sets PWM1 value

- * 232 - next byte sets PWM2 value

- * 233 - UNUSED

- * 234 - UNUSED

- * 235 - UNUSED

- * 236 - UNUSED

- * 237 - UNUSED

- * 238 - disable all digital inputs

- * 239 - enable all digital inputs

- * 240 - disable all analog inputs

- * 241 - enable 1 analog input (0)

- * 242 - enable 2 analog inputs (0,1)

- * 243 - enable 3 analog inputs (0-2)

- * 244 - enable 4 analog inputs (0-3)

- * 245 - enable 5 analog inputs (0-4)

- * 246 - enable 6 analog inputs (0-5)

- * 255 - cycle marker

- *

- * Pd->Arduino byte cycle

- * ----------------------

- * 0  start of cycle marker (255/11111111)

- * 1  digitalOut 0-6 bitmask

- * 2  digitalOut 7-13 bitmask

- * 

- * Arduino->Pd byte cycle

- * ----------------------

- * 0 start of cycle marker (255/11111111)

- * 1  digitalIn 0-6 bitmask

- * 2  digitalIn 7-13 bitmask

- * 3  analogIn0 byte0

- * 4  analogIn0 byte1

- * 5  analogIn1 byte0

- * 6  analogIn1 byte1

- * 7  analogIn2 byte0

- * 8  analogIn2 byte1

- * 9  analogIn3 byte0

- * 10 analogIn3 byte1

- * 11 analogIn4 byte0

- * 12 analogIn4 byte1

- * 13 analogIn5 byte0

- * 14 analogIn5 byte1

- */

-

-/*

- * CAUTION!! Be careful with the Serial Monitor, it could freeze 

- * your computer with this firmware running!  It outputs data 

- * without a delay() so its very fast.

- */

-

-#define TOTAL_DIGITAL_PINS 14

-

-// for comparing along with INPUT and OUTPUT

-#define PWM 2

-

-// this flag says the next serial input will be PWM data

-byte waitForPWMData = 0;

-

-// this flag says the first data byte for the digital outs is next

-boolean firstInputByte = false;

-

-/* this int serves as an array of bits to store pin status

- * 0 = INPUT, 1 = OUTPUT

- */

-int digitalPinStatus;

-

-/* this byte stores the status off whether PWM is on or not

- * bit 9 = PWM0, bit 10 = PWM1, bit 11 = PWM2

- * the rest of the bits are unused and should remain 0

- */

-int pwmStatus;

-

-boolean digitalInputsEnabled = true;

-byte analogInputsEnabled = 6;

-

-byte analogPin;

-int analogData;

-

-// -------------------------------------------------------------------------

-void transmitDigitalInput(byte startPin) {

-  byte i;

-  byte digitalPin;

-  byte digitalPinBit;

-  byte transmitByte;

-  byte digitalData;

-

-  for(i=0;i<7;++i) {

-    digitalPin = i+startPin;

-    digitalPinBit = OUTPUT << digitalPin;

-    // only read the pin if its set to input

-    if(digitalPinStatus & digitalPinBit) {

-      digitalData = 0; // pin set to OUTPUT, don't read

-    }

-    else if( (digitalPin >= 9) && (pwmStatus & (1 << digitalPin)) ) {

-      digitalData = 0; // pin set to PWM, don't read

-    }

-    else {

-      digitalData = digitalRead(digitalPin);

-    }

-/* the next line probably needs to be re-thought (i.e. it might not work...) since my 

-   first attempt was miserably wrong.  <hans@at.or.at> */

-    transmitByte = transmitByte + ((2^i)*digitalData);

-  }

-  printByte(transmitByte);

-}

-

-// -------------------------------------------------------------------------

-/* this function sets the pin mode to the correct state and sets the relevant

- * bits in the two bit-arrays that track Digital I/O and PWM status

- */

-void setPinMode(int pin, int mode) {

-  if(mode == INPUT) {

-    digitalPinStatus = digitalPinStatus &~ (1 << pin);

-    pwmStatus = pwmStatus &~ (1 << pin);

-    pinMode(pin,INPUT);

-  }

-  else if(mode == OUTPUT) {

-    digitalPinStatus = digitalPinStatus | (1 << pin);

-    pwmStatus = pwmStatus &~ (1 << pin);

-    pinMode(pin,OUTPUT);

-  }

-  else if( (mode == PWM) && (pin >= 9) && (pin <= 11) ) {

-    digitalPinStatus = digitalPinStatus | (1 << pin);

-    pwmStatus = pwmStatus | (1 << pin);

-    pinMode(pin,OUTPUT);

-  }

-}

-

-// -------------------------------------------------------------------------

-/* this function checks to see if there is data waiting on the serial port 

- * then processes all of the stored data

- */

-void checkForInput() {

-  if(serialAvailable()) {  

-    while(serialAvailable()) {

-      processInput( (byte)serialRead() );

-    }

-  }

-}

-

-// -------------------------------------------------------------------------

-void processInput(byte inputData) {

-  int i;

-  int mask;

-

-  // the PWM commands (230-232) have a byte of data following the command

-  if (waitForPWMData > 0) {  

-    //    printByte(150);

-    //    printByte(inputData);

-    analogWrite(waitForPWMData,inputData);

-    waitForPWMData = 0;

-  }

-  else if(inputData < 128) {

-    //    printByte(151);

-    if(firstInputByte) {

-      //      printByte(160);

-      for(i=0; i<7; ++i) {

-        mask = 1 << i;

-        //printByte(254);

-        //printByte(i);

-        //printByte(mask);

-        if(digitalPinStatus & mask) {

-          digitalWrite(i, inputData & mask);

-          //printByte(inputData & mask);

-        } 

-      }

-      firstInputByte = false;

-    }

-    else {

-      //      printByte(161);

-      // output data for pins 7-13

-      for(i=7; i<TOTAL_DIGITAL_PINS; ++i) {

-        mask = 1 << i;

-        //printByte(254);

-        //printByte(i);

-        //printByte(mask);

-        if( (digitalPinStatus & mask) && !(pwmStatus & mask) ) {

-          // inputData is a byte and mask is an int, so align the high part of mask

-          digitalWrite(i, inputData & (mask >> 7));

-          //printByte(inputData & (mask >> 7));

-        }        

-      }

-    }

-  }

-  else {

-    //    printByte(152);      

-    //    printByte(inputData);

-    switch (inputData) {

-    case 200:

-    case 201:

-    case 202:

-    case 203:

-    case 204:

-    case 205:

-    case 206:

-    case 207:

-    case 208:

-    case 209:

-    case 210:

-    case 211:

-    case 212:

-    case 213:

-      setPinMode(inputData-200,INPUT);

-      break;

-    case 214:

-    case 215:

-    case 216:

-    case 217:

-    case 218:

-    case 219:

-    case 220:

-    case 221:

-    case 222:

-    case 223:

-    case 224:

-    case 225:

-    case 226:

-    case 227:

-      setPinMode(inputData-214,OUTPUT);

-      break;

-    case 230:

-    case 231:

-    case 232:

-      waitForPWMData = inputData - 221; // set waitForPWMData to the PWM pin number

-      setPinMode(waitForPWMData, PWM);

-      break;

-    case 238: // all digital inputs off

-      digitalInputsEnabled = false;

-      break;

-    case 239: // all digital inputs on

-      digitalInputsEnabled = true;

-      break;

-    case 240: // analog input off

-    case 241: // analog 0 on  

-    case 242: // analog 0,1 on  

-    case 243: // analog 0-2 on  

-    case 244: // analog 0-3 on  

-    case 245: // analog 0-4 on  

-    case 246: // analog 0-5 on  

-      analogInputsEnabled = inputData - 240;

-      break;      

-    case 255: // incoming digital output bytes

-      firstInputByte = true;

-      break;

-    }

-  }

-}

-

-// =========================================================================

-

-// -------------------------------------------------------------------------

-void setup() {

-  byte i;

-

-  beginSerial(9600);

-  for(i=0; i<TOTAL_DIGITAL_PINS; ++i) {

-    setPinMode(i,INPUT);

-  }

-}

-

-// -------------------------------------------------------------------------

-void loop() {

-  checkForInput();  

-

-  // read all digital pins, in enabled

-  if(digitalInputsEnabled) {

-    transmitDigitalInput(0);

-    checkForInput();

-    transmitDigitalInput(7);

-    checkForInput();

-  }

-  else if(analogInputsEnabled) {

-    // filler bytes, since the first thing sent is always the digitalInputs

-    printByte(0);

-    printByte(0);

-    checkForInput();  

-  }

-

-  /* get analog in, for the number enabled

-   */

-  for(analogPin=0; analogPin<analogInputsEnabled; ++analogPin) {

-    analogData = analogRead(analogPin);

-    // these two bytes get converted back into the whole number in Pd

-	 // the higher bits should be zeroed so that the 8th bit doesn't get set

-    printByte(analogData >> 7);  // bitshift the big stuff into the output byte

-    printByte(analogData % 128);  // mod by 32 for the small byte

-    checkForInput();

-  }

-

-  /* end with the cycle marker, if any of the inputs are enabled */

-  if( digitalInputsEnabled || analogInputsEnabled) {

-    printByte(255); 

-  }

-}

+/* Arduino firmware aka Firmata
+ * ------------------
+ * 
+ * It was designed to work with the Pd object [arduino]
+ * which is included in Pd-extended.  This firmware could 
+ * easily be used with other programs like Max/MSP, Processing,
+ * or whatever can do serial communications.
+ *
+ * (copyleft) 2006 Hans-Christoph Steiner <hans@at.or.at>
+ * @author: Hans-Christoph Steiner
+ * @date: 2006-05-19
+ * @location: STEIM, Amsterdam, Netherlands
+ */
+
+/* TODO
+ *
+ * - get digitalInput working
+ * - add pulseIn functionality
+ * - add software PWM for servos, etc
+ * - redesign protocol to accomodate boards with more I/Os
+ * - add cycle markers to mark start of analog, digital, pulseIn, and PWM
+ */
+
+/* firmata protocol
+ * =============== 
+ * data: 0-127   
+ * control: 128-255
+ */
+  
+/* computer->Arduino commands
+ * -------------------- */
+ /* 128-129 // UNUSED */
+#define SET_PIN_ZERO_TO_IN      130 // set digital pin 0 to INPUT
+#define SET_PIN_ONE_TO_IN       131 // set digital pin 1 to INPUT
+#define SET_PIN_TWO_TO_IN       132 // set digital pin 2 to INPUT
+#define SET_PIN_THREE_TO_IN     133 // set digital pin 3 to INPUT
+#define SET_PIN_FOUR_TO_IN      134 // set digital pin 4 to INPUT
+#define SET_PIN_FIVE_TO_IN      135 // set digital pin 5 to INPUT
+#define SET_PIN_SIX_TO_IN       136 // set digital pin 6 to INPUT
+#define SET_PIN_SEVEN_TO_IN     137 // set digital pin 7 to INPUT
+#define SET_PIN_EIGHT_TO_IN     138 // set digital pin 8 to INPUT
+#define SET_PIN_NINE_TO_IN      139 // set digital pin 9 to INPUT
+#define SET_PIN_TEN_TO_IN       140 // set digital pin 10 to INPUT
+#define SET_PIN_ELEVEN_TO_IN    141 // set digital pin 11 to INPUT
+#define SET_PIN_TWELVE_TO_IN    142 // set digital pin 12 to INPUT
+#define SET_PIN_THIRTEEN_TO_IN  143 // set digital pin 13 to INPUT
+/* 144-149 // UNUSED */
+#define DISABLE_DIGITAL_INPUTS  150 // disable reporting of digital inputs
+#define ENABLE_DIGITAL_INPUTS   151 // enable reporting of digital inputs
+/* 152-159 // UNUSED */
+#define DISABLE_ALL_ANALOG_INS  160 // disable reporting on all analog ins
+#define ENABLE_ONE_ANALOG_IN    161 // enable reporting for 1 analog in (0)
+#define ENABLE_TWO_ANALOG_INS   162 // enable reporting for 2 analog ins (0,1)
+#define ENABLE_THREE_ANALOG_INS 163 // enable reporting for 3 analog ins (0-2)
+#define ENABLE_FOUR_ANALOG_INS  164 // enable reporting for 4 analog ins (0-3)
+#define ENABLE_FIVE_ANALOG_INS  165 // enable reporting for 5 analog ins (0-4)
+#define ENABLE_SIX_ANALOG_INS   166 // enable reporting for 6 analog ins (0-5)
+/* 167-199 // UNUSED */
+#define SET_PIN_ZERO_TO_OUT     200 // set digital pin 0 to OUTPUT
+#define SET_PIN_ONE_TO_OUT      201 // set digital pin 1 to OUTPUT
+#define SET_PIN_TWO_TO_OUT      202 // set digital pin 2 to OUTPUT
+#define SET_PIN_THREE_TO_OUT    203 // set digital pin 3 to OUTPUT
+#define SET_PIN_FOUR_TO_OUT     204 // set digital pin 4 to OUTPUT
+#define SET_PIN_FIVE_TO_OUT     205 // set digital pin 5 to OUTPUT
+#define SET_PIN_SIX_TO_OUT      206 // set digital pin 6 to OUTPUT
+#define SET_PIN_SEVEN_TO_OUT    207 // set digital pin 7 to OUTPUT
+#define SET_PIN_EIGHT_TO_OUT    208 // set digital pin 8 to OUTPUT
+#define SET_PIN_NINE_TO_OUT     209 // set digital pin 9 to OUTPUT
+#define SET_PIN_TEN_TO_OUT      210 // set digital pin 10 to OUTPUT
+#define SET_PIN_ELEVEN_TO_OUT   211 // set digital pin 11 to OUTPUT
+#define SET_PIN_TWELVE_TO_OUT   212 // set digital pin 12 to OUTPUT
+#define SET_PIN_THIRTEEN_TO_OUT 213 // set digital pin 13 to OUTPUT
+/* 214-228 // UNUSED */
+#define OUTPUT_TO_DIGITAL_PINS  229 // next two bytes set digital output data 
+/* 230-249 // UNUSED */
+#define DISABLE_PWM             250 // next byte sets pin # to disable
+#define ENABLE_PWM              251 // next two bytes set pin # and duty cycle
+#define DISABLE_SOFTWARE_PWM    252 // next byte sets pin # to disable
+#define ENABLE_SOFTWARE_PWM     253 // next two bytes set pin # and duty cycle
+#define SET_SOFTWARE_PWM_FREQ   254 // set master frequency for software PWMs
+/* 252-254 // UNUSED */
+#define INPUT_CYCLE_MARKER      255 // input cycle marker
+
+ 
+/* two byte digital output data format
+ * ----------------------
+ * 0  get ready for digital input bytes (229)
+ * 1  digitalOut 0-6 bitmask
+ * 2  digitalOut 7-13 bitmask 
+ */
+
+ /* two byte software PWM data format
+ * ----------------------
+ * 0  get ready for digital input bytes (250/251)
+ * 1  pin #
+ * 2  pulse width
+ */
+
+ 
+/* Arduino->Computer byte cycle
+ * ----------------------
+ * 0  start of cycle marker (255/11111111)
+ * 1  digital read from Arduino // 0-6 bitmask
+ * 2  digital read from Arduino // 7-13 bitmask
+ * 3  analog input pin 0 from Arduino // byte 0 
+ * 4  analog input pin 1 from Arduino // byte 1 
+ * 5  analog input pin 2 from Arduino // byte 2 
+ * 6  analog input pin 3 from Arduino // byte 3 
+ * 7  analog input pin 4 from Arduino // byte 4 
+ * 8  analog input pin 5 from Arduino // byte 5 
+ * 9  analog input pin 6 from Arduino // byte 6 
+ * 10  analog input pin 7 from Arduino // byte 10 
+ * 11  analog input pin 8 from Arduino // byte 11 
+ * 12  analog input pin 9 from Arduino // byte 12 
+ * 13  analog input pin 10 from Arduino // byte 13 
+ * 14  analog input pin 11 from Arduino // byte 14 
+ */
+
+/*
+ * CAUTION!! Be careful with the Serial Monitor, it could freeze 
+ * your computer with this firmware running!  It outputs data 
+ * without a delay() so its very fast.
+ */
+
+#define TOTAL_DIGITAL_PINS 14
+
+// for comparing along with INPUT and OUTPUT
+#define PWM 2
+#define SOFTPWM 3
+
+// maximum number of post-command data bytes
+#define MAX_DATA_BYTES 2
+// this flag says the next serial input will be data
+byte waitForData = 0;
+byte executeMultiByteCommand = 0; // command to execute after getting multi-byte data
+byte storedInputData[MAX_DATA_BYTES] = {0,0}; // multi-byte data
+
+// this flag says the first data byte for the digital outs is next
+boolean firstInputByte = false;
+
+/* this int serves as a bit-wise array to store pin status
+ * 0 = INPUT, 1 = OUTPUT
+ */
+int digitalPinStatus;
+
+/* this byte stores the status off whether PWM is on or not
+ * bit 9 = PWM0, bit 10 = PWM1, bit 11 = PWM2
+ * the rest of the bits are unused and should remain 0
+ */
+int pwmStatus;
+
+/* this byte stores the status of whether software PWM is on or not */
+/* 00000010 00000000 means bit 10 is softWarePWM enabled */
+int softPwmStatus;
+
+boolean digitalInputsEnabled = true;
+byte analogInputsEnabled = 6;
+
+byte analogPin;
+int analogData;
+
+// -------------------------------------------------------------------------
+void transmitDigitalInput(byte startPin) {
+  byte i;
+  byte digitalPin;
+  byte digitalPinBit;
+  byte transmitByte;
+  byte digitalData;
+
+  for(i=0;i<7;++i) {
+    digitalPin = i+startPin;
+    digitalPinBit = OUTPUT << digitalPin;
+    // only read the pin if its set to input
+    if(digitalPinStatus & digitalPinBit) {
+      digitalData = 0; // pin set to OUTPUT, don't read
+    }
+    else if( (digitalPin >= 9) && (pwmStatus & (1 << digitalPin)) ) {
+      digitalData = 0; // pin set to PWM, don't read
+    }
+    else {
+      digitalData = digitalRead(digitalPin);
+    }
+/* the next line probably needs to be re-thought (i.e. it might not work...) since my 
+   first attempt was miserably wrong.  <hans@at.or.at> */
+    transmitByte = transmitByte + ((2^i)*digitalData);
+  }
+  printByte(transmitByte);
+}
+
+
+
+// -------------------------------------------------------------------------
+/* this function sets the pin mode to the correct state and sets the relevant
+ * bits in the two bit-arrays that track Digital I/O and PWM status
+ */
+void setPinMode(int pin, int mode) {
+  if(mode == INPUT) {
+    digitalPinStatus = digitalPinStatus &~ (1 << pin);
+    pwmStatus = pwmStatus &~ (1 << pin);
+    pinMode(pin,INPUT);
+  }
+  else if(mode == OUTPUT) {
+    digitalPinStatus = digitalPinStatus | (1 << pin);
+    pwmStatus = pwmStatus &~ (1 << pin);
+    pinMode(pin,OUTPUT);
+  }
+  else if( (mode == PWM) && (pin >= 9) && (pin <= 11) ) {
+    digitalPinStatus = digitalPinStatus | (1 << pin);
+    pwmStatus = pwmStatus | (1 << pin);
+    softPwmStatus = softPwmStatus &~ (1 << pin);
+    pinMode(pin,OUTPUT);
+  }
+  else if(mode == SOFTPWM) {
+    digitalPinStatus = digitalPinStatus | (1 << pin);
+    pwmStatus = pwmStatus &~ (1 << pin);
+    softPwmStatus = softPwmStatus | (1 << pin);
+    pinMode(pin,OUTPUT);
+  } 
+}
+
+void setSoftPwm (int pin, byte pulsePeriod) {
+    byte i;
+/*    for(i=0; i<7; ++i) {
+        mask = 1 << i;
+        if(digitalPinStatus & mask) {
+            digitalWrite(i, inputData & mask);
+        } 
+    }
+    */    
+    //read timer type thing
+
+    //loop through each pin, turn them on if selected
+    //softwarePWMStatus
+    //check timer type thing against pulsePeriods for each pin 
+    //throw pin low if expired
+}
+
+void setSoftPwmFreq(byte freq) {
+}
+
+
+void disSoftPwm(int pin) {
+    //throw pin low
+    
+}
+
+
+// -------------------------------------------------------------------------
+/* this function checks to see if there is data waiting on the serial port 
+ * then processes all of the stored data
+ */
+void checkForInput() {
+  if(serialAvailable()) {  
+    while(serialAvailable()) {
+      processInput( (byte)serialRead() );
+    }
+  }
+}
+
+// -------------------------------------------------------------------------
+void processInput(byte inputData) {
+  int i;
+  int mask;
+  
+  // a few commands have byte(s) of data following the command
+  if( waitForData > 0 ) {  
+    storedInputData[waitForData - 1] = inputData;
+    //analogWrite(waitForPWMData,inputData);
+    waitForData--;
+  }
+  else if(executeMultiByteCommand) {
+    //we got everything
+    switch(executeMultiByteCommand) {
+    case ENABLE_PWM:
+    case DISABLE_PWM:
+        //PWM 0 on the board is PIN 9
+        analogWrite(storedInputData[0] + 9, storedInputData[1]);
+        break;
+    case ENABLE_SOFTWARE_PWM:
+        setPinMode(storedInputData[0],SOFTPWM);
+        setSoftPwm(storedInputData[0], storedInputData[1]);     
+        break; 
+    case DISABLE_SOFTWARE_PWM:
+        disSoftPwm(storedInputData[0]);
+        break;
+    case SET_SOFTWARE_PWM_FREQ:
+        setSoftPwmFreq(storedInputData[0]);
+        break;
+    }
+    executeMultiByteCommand = 0;
+  }
+  
+  else if(inputData < 128) {
+    if(firstInputByte) {  //
+      for(i=0; i<7; ++i) {
+        mask = 1 << i;
+        if(digitalPinStatus & mask) {
+          digitalWrite(i, inputData & mask);
+        } 
+      }
+      firstInputByte = false;
+    }
+    else { //
+      // output data for pins 7-13
+      for(i=7; i<TOTAL_DIGITAL_PINS; ++i) {
+        mask = 1 << i;
+        if( (digitalPinStatus & mask) && !(pwmStatus & mask) && !(softPwmStatus & mask) ) {
+          // inputData is a byte and mask is an int, so align the high part of mask
+          digitalWrite(i, inputData & (mask >> 7));
+        }        
+      }
+    }
+  }
+  else {
+    switch (inputData) {
+    case SET_PIN_ZERO_TO_IN:
+    case SET_PIN_ONE_TO_IN:
+    case SET_PIN_TWO_TO_IN:
+    case SET_PIN_THREE_TO_IN:
+    case SET_PIN_FOUR_TO_IN:
+    case SET_PIN_FIVE_TO_IN:
+    case SET_PIN_SIX_TO_IN:
+    case SET_PIN_SEVEN_TO_IN:
+    case SET_PIN_EIGHT_TO_IN:
+    case SET_PIN_NINE_TO_IN:
+    case SET_PIN_TEN_TO_IN:
+    case SET_PIN_ELEVEN_TO_IN:
+    case SET_PIN_TWELVE_TO_IN:
+    case SET_PIN_THIRTEEN_TO_IN:
+        setPinMode(inputData - SET_PIN_ZERO_TO_IN, INPUT);
+        break;
+    case SET_PIN_ZERO_TO_OUT:
+    case SET_PIN_ONE_TO_OUT:
+    case SET_PIN_TWO_TO_OUT:
+    case SET_PIN_THREE_TO_OUT:
+    case SET_PIN_FOUR_TO_OUT:
+    case SET_PIN_FIVE_TO_OUT:
+    case SET_PIN_SIX_TO_OUT:
+    case SET_PIN_SEVEN_TO_OUT:
+    case SET_PIN_EIGHT_TO_OUT:
+    case SET_PIN_NINE_TO_OUT:
+    case SET_PIN_TEN_TO_OUT:
+    case SET_PIN_ELEVEN_TO_OUT:
+    case SET_PIN_TWELVE_TO_OUT:
+    case SET_PIN_THIRTEEN_TO_OUT:
+        setPinMode(inputData - SET_PIN_ZERO_TO_OUT, OUTPUT);
+        break;
+    case DISABLE_DIGITAL_INPUTS: // all digital inputs off
+        digitalInputsEnabled = false;
+        break;
+    case ENABLE_DIGITAL_INPUTS: // all digital inputs on
+        digitalInputsEnabled = true;
+        break;
+    case DISABLE_ALL_ANALOG_INS:  // analog input off
+    case ENABLE_ONE_ANALOG_IN:    // analog 0 on  
+    case ENABLE_TWO_ANALOG_INS:   // analog 0,1 on  
+    case ENABLE_THREE_ANALOG_INS: // analog 0-2 on  
+    case ENABLE_FOUR_ANALOG_INS:  // analog 0-3 on  
+    case ENABLE_FIVE_ANALOG_INS:  // analog 0-4 on  
+    case ENABLE_SIX_ANALOG_INS:   // analog 0-5 on  
+        analogInputsEnabled = inputData - DISABLE_ALL_ANALOG_INS;
+        break;
+    case ENABLE_PWM:
+        waitForData = 2;  // (pin#, dutyCycle) 
+        executeMultiByteCommand = inputData;
+        break;
+    case DISABLE_PWM:
+        waitForData = 1;  // pin#
+        executeMultiByteCommand = inputData;
+        break;      
+    case SET_SOFTWARE_PWM_FREQ:
+        waitForData = 1;  // pin#
+        executeMultiByteCommand = inputData;
+        break;
+    case ENABLE_SOFTWARE_PWM:
+        waitForData = 2;  // (pin#, dutyCycle) 
+        executeMultiByteCommand = inputData;
+        break;
+    case DISABLE_SOFTWARE_PWM:
+        waitForData = 1;  // pin#
+        executeMultiByteCommand = inputData;
+        break;
+    case OUTPUT_TO_DIGITAL_PINS: // bytes to send to digital outputs
+        firstInputByte = true;
+      break;
+    }
+  }
+}
+
+
+// =========================================================================
+
+// -------------------------------------------------------------------------
+void setup() {
+  byte i;
+
+  beginSerial(9600);
+  for(i=0; i<TOTAL_DIGITAL_PINS; ++i) {
+    setPinMode(i,INPUT);
+  }
+}
+
+// -------------------------------------------------------------------------
+void loop() {
+  checkForInput();  
+  
+  // read all digital pins, in enabled
+  if(digitalInputsEnabled) {
+    transmitDigitalInput(0);
+    checkForInput();
+    transmitDigitalInput(7);
+    checkForInput();
+  }
+  else if(analogInputsEnabled) {
+    // filler bytes, since the first thing sent is always the digitalInputs
+    printByte(0);
+    printByte(0);
+    checkForInput();  
+  }
+
+  /* get analog in, for the number enabled
+   */
+  for(analogPin=0; analogPin<analogInputsEnabled; ++analogPin) {
+    analogData = analogRead(analogPin);
+    // these two bytes get converted back into the whole number in Pd
+	 // the higher bits should be zeroed so that the 8th bit doesn't get set
+    printByte(analogData >> 7);  // bitshift the big stuff into the output byte
+    printByte(analogData % 128);  // mod by 32 for the small byte
+    checkForInput();
+  }
+
+  /* end with the cycle marker, if any of the inputs are enabled */
+  if( digitalInputsEnabled || analogInputsEnabled) {
+    printByte(255); 
+  }
+}
diff --git a/arduino-help.pd b/arduino-help.pd
index 7d49415..9c926ff 100644
--- a/arduino-help.pd
+++ b/arduino-help.pd
@@ -1,11 +1,11 @@
-#N canvas 202 94 654 546 10;
+#N canvas 525 22 658 550 10;
 #X msg 156 146 open \$1;
 #N canvas 162 133 534 384 serin 0;
-#X obj 120 61 cnv 15 15 15 empty \$0-number-canvas 3 4 8 0 14 -233017
+#X obj 120 61 cnv 15 15 15 empty \$0-number-canvas 1 4 8 0 14 -233017
 -1 0;
 #X obj 200 225 s \$0-number-canvas;
 #X obj 60 61 hradio 15 1 0 4 empty empty empty 0 -6 0 8 -225271 -1
--1 0;
+-1 1;
 #X obj 59 147 outlet;
 #X obj 60 13 inlet;
 #X msg 200 202 label \$1;
@@ -28,12 +28,12 @@
 #X obj 408 289 tgl 15 0 empty empty changes 0 -6 0 8 -262144 -1 -1
 0 1;
 #X obj 278 29 hradio 15 1 0 14 empty empty empty 0 -6 0 8 -262131 -1
--1 0;
+-1 11;
 #X obj 255 30 tgl 15 0 empty empty empty 0 -6 0 8 -262131 -1 -1 0 1
 ;
 #X obj 355 292 tgl 15 0 empty empty all 0 -6 0 8 -262144 -1 -1 0 1
 ;
-#N canvas 100 289 626 345 decode 0;
+#N canvas 100 289 630 349 decode 0;
 #X obj 241 26 inlet;
 #X obj 46 189 & 1;
 #X obj 72 189 & 2;
@@ -109,7 +109,6 @@
 #X obj 57 23 hsl 128 15 0 1 0 0 empty empty PWM_control_(0-1) -2 -6
 1 10 -225271 -1 -1 0 0;
 #X msg 64 453 bang;
-#X obj 255 274 arduino 3;
 #X text 387 15 7;
 #X text 282 15 0;
 #X text 428 15 10;
@@ -131,7 +130,7 @@
 #X obj 487 428 print GARBAGE;
 #X floatatom 430 488 6 0 0 0 - - -;
 #X text 393 56 how many analogIns to enable:;
-#X obj 405 117 tgl 15 1 empty empty empty 0 -6 0 8 -257472 -1 -1 1
+#X obj 405 117 tgl 15 0 empty empty empty 0 -6 0 8 -257472 -1 -1 0
 1;
 #X text 428 116 enable/disable digitalIns;
 #X msg 405 135 digitalIns \$1;
@@ -246,7 +245,7 @@ the CPU;
 #X text 371 15 6;
 #X text 327 15 3;
 #X msg 255 71 outputMode \$2 \$1;
-#N canvas 485 91 546 327 sending 0;
+#N canvas 485 91 566 347 sending 0;
 #X obj 142 285 outlet;
 #X obj 129 84 tgl 15 0 empty empty empty 0 -6 0 8 -262144 -1 -1 0 1
 ;
@@ -262,7 +261,6 @@ the CPU;
 ;
 #X obj 231 84 tgl 15 0 empty empty empty 0 -6 0 8 -262144 -1 -1 0 1
 ;
-#X obj 168 125 bytemask;
 #X text 60 11 The 8th bit is not used in the bitmask \, there are 7
 bits of digital output values per byte.;
 #X obj 300 85 tgl 15 0 empty empty empty 0 -6 0 8 -262144 -1 -1 0 1
@@ -279,80 +277,82 @@ bits of digital output values per byte.;
 ;
 #X obj 402 85 tgl 15 0 empty empty empty 0 -6 0 8 -262144 -1 -1 0 1
 ;
-#X obj 339 126 bytemask;
 #X obj 142 205 pack float float;
-#X msg 142 231 255 \, \$1 \, \$2;
 #X text 143 65 pins 0-6;
 #X text 330 66 pins 7-13;
 #X obj 212 164 trigger bang float;
-#X connect 1 0 8 0;
-#X connect 2 0 8 1;
-#X connect 3 0 8 2;
-#X connect 4 0 8 3;
-#X connect 5 0 8 4;
-#X connect 6 0 8 5;
-#X connect 7 0 8 6;
-#X connect 8 0 18 0;
-#X connect 10 0 17 0;
-#X connect 11 0 17 1;
-#X connect 12 0 17 2;
-#X connect 13 0 17 3;
-#X connect 14 0 17 4;
-#X connect 15 0 17 5;
-#X connect 16 0 17 6;
-#X connect 17 0 22 0;
-#X connect 18 0 19 0;
-#X connect 19 0 0 0;
-#X connect 22 0 18 0;
-#X connect 22 1 18 1;
+#X msg 142 231 229 \, \$1 \, \$2;
+#X obj 299 126 mapping/bytemask;
+#X obj 128 125 mapping/bytemask;
+#X connect 1 0 22 0;
+#X connect 2 0 22 1;
+#X connect 3 0 22 2;
+#X connect 4 0 22 3;
+#X connect 5 0 22 4;
+#X connect 6 0 22 5;
+#X connect 7 0 22 6;
+#X connect 9 0 21 0;
+#X connect 10 0 21 1;
+#X connect 11 0 21 2;
+#X connect 12 0 21 3;
+#X connect 13 0 21 4;
+#X connect 14 0 21 5;
+#X connect 15 0 21 6;
+#X connect 16 0 20 0;
+#X connect 19 0 16 0;
+#X connect 19 1 16 1;
+#X connect 20 0 0 0;
+#X connect 21 0 19 0;
+#X connect 22 0 16 0;
 #X restore 10 258 pd sending digital outs;
-#X connect 0 0 14 0;
+#X obj 255 274 arduino 3;
+#X connect 0 0 62 0;
 #X connect 1 0 0 0;
-#X connect 5 0 14 0;
-#X connect 7 0 45 2;
-#X connect 8 0 55 1;
-#X connect 9 0 55 0;
-#X connect 10 0 45 1;
-#X connect 12 0 19 0;
+#X connect 5 0 62 0;
+#X connect 7 0 44 2;
+#X connect 8 0 54 1;
+#X connect 9 0 54 0;
+#X connect 10 0 44 1;
+#X connect 12 0 18 0;
 #X connect 13 0 6 0;
-#X connect 14 0 25 0;
-#X connect 14 1 45 0;
-#X connect 18 0 14 0;
-#X connect 19 0 18 0;
-#X connect 20 0 53 0;
-#X connect 21 0 53 0;
-#X connect 22 0 53 0;
-#X connect 23 0 14 0;
-#X connect 24 0 54 0;
-#X connect 25 0 27 0;
-#X connect 26 0 25 1;
-#X connect 27 0 44 0;
-#X connect 27 1 44 1;
-#X connect 27 2 44 2;
-#X connect 27 3 44 3;
-#X connect 27 4 44 4;
-#X connect 27 5 44 5;
-#X connect 27 6 44 6;
-#X connect 28 0 11 0;
-#X connect 28 0 30 0;
-#X connect 28 0 39 0;
-#X connect 28 1 29 0;
-#X connect 32 0 34 0;
-#X connect 34 0 14 0;
-#X connect 35 0 14 0;
-#X connect 36 0 35 0;
-#X connect 39 0 41 0;
-#X connect 40 0 39 1;
-#X connect 42 0 14 1;
-#X connect 44 0 47 0;
-#X connect 44 1 48 0;
-#X connect 44 2 49 0;
-#X connect 44 3 50 0;
-#X connect 44 4 51 0;
-#X connect 44 5 52 0;
-#X connect 44 6 28 0;
-#X connect 53 0 19 1;
-#X connect 54 0 23 0;
-#X connect 55 0 61 0;
-#X connect 61 0 14 0;
-#X connect 62 0 14 0;
+#X connect 17 0 62 0;
+#X connect 18 0 17 0;
+#X connect 19 0 52 0;
+#X connect 20 0 52 0;
+#X connect 21 0 52 0;
+#X connect 22 0 62 0;
+#X connect 23 0 53 0;
+#X connect 24 0 26 0;
+#X connect 25 0 24 1;
+#X connect 26 0 43 0;
+#X connect 26 1 43 1;
+#X connect 26 2 43 2;
+#X connect 26 3 43 3;
+#X connect 26 4 43 4;
+#X connect 26 5 43 5;
+#X connect 26 6 43 6;
+#X connect 27 0 11 0;
+#X connect 27 0 29 0;
+#X connect 27 0 38 0;
+#X connect 27 1 28 0;
+#X connect 31 0 33 0;
+#X connect 33 0 62 0;
+#X connect 34 0 62 0;
+#X connect 35 0 34 0;
+#X connect 38 0 40 0;
+#X connect 39 0 38 1;
+#X connect 41 0 62 1;
+#X connect 43 0 46 0;
+#X connect 43 1 47 0;
+#X connect 43 2 48 0;
+#X connect 43 3 49 0;
+#X connect 43 4 50 0;
+#X connect 43 5 51 0;
+#X connect 43 6 27 0;
+#X connect 52 0 18 1;
+#X connect 53 0 22 0;
+#X connect 54 0 60 0;
+#X connect 60 0 62 0;
+#X connect 61 0 62 0;
+#X connect 62 0 24 0;
+#X connect 62 1 44 0;
diff --git a/arduino.pd b/arduino.pd
index e69a362..bff59ca 100644
--- a/arduino.pd
+++ b/arduino.pd
@@ -1,4 +1,4 @@
-#N canvas 449 224 612 492 10;
+#N canvas 158 31 628 508 10;
 #X text 414 457 released under the GNU GPL;
 #X text 9 457 (C) Copyright 2006 Hans-Christoph Steiner <hans@at.or.at>
 ;
@@ -59,7 +59,7 @@
 #X obj 126 425 outlet;
 #X obj 494 241 outlet;
 #X obj 11 66 comport \$1 9600;
-#N canvas 528 330 562 307 command 0;
+#N canvas 495 157 582 327 command 0;
 #X obj 79 8 inlet;
 #X obj 198 269 outlet;
 #X obj 135 115 * 255;
@@ -72,47 +72,49 @@
 #X msg 70 136 231 \, \$1;
 #X msg 5 136 230 \, \$1;
 #X obj 200 94 clip 0 6;
-#X obj 200 135 + 240;
 #X obj 263 94 clip 0 1;
 #X obj 263 115 int;
-#X obj 263 137 + 238;
-#N canvas 0 22 458 308 digital-out 0;
+#N canvas 0 22 462 312 digital-out 0;
 #X obj 67 20 inlet;
 #X obj 85 280 outlet;
 #X obj 65 108 route float;
 #X obj 221 191 & 127;
 #X obj 140 208 & 127;
 #X obj 140 164 trigger float float bang;
-#X msg 303 186 255;
 #X text 104 89 break up digital-out bitmask;
 #X obj 140 186 >> 7;
+#X msg 303 186 229;
 #X connect 0 0 2 0;
 #X connect 2 0 5 0;
 #X connect 2 1 1 0;
 #X connect 3 0 1 0;
 #X connect 4 0 1 0;
-#X connect 5 0 8 0;
+#X connect 5 0 7 0;
 #X connect 5 1 3 0;
-#X connect 5 2 6 0;
-#X connect 6 0 1 0;
-#X connect 8 0 4 0;
+#X connect 5 2 8 0;
+#X connect 7 0 4 0;
+#X connect 8 0 1 0;
 #X restore 431 94 pd digital-out;
 #X obj 80 53 route PWM0 PWM1 PWM2 analogIns digitalIns outputMode;
-#N canvas 0 22 466 316 outputMode 0;
+#N canvas 133 22 470 320 outputMode 0;
 #X obj 81 11 inlet;
 #X obj 105 275 outlet;
 #X obj 81 70 unpack float float;
 #X obj 105 176 +;
-#X obj 178 126 * 14;
-#X obj 105 197 + 200;
+#X obj 105 197 + 130;
+#X obj 178 126 * 70;
+#X text 152 198 input commands = 130-143;
+#X text 216 127 output commands = 200-213;
 #X connect 0 0 2 0;
 #X connect 2 0 3 0;
-#X connect 2 1 4 0;
-#X connect 3 0 5 0;
-#X connect 4 0 3 1;
-#X connect 5 0 1 0;
+#X connect 2 1 5 0;
+#X connect 3 0 4 0;
+#X connect 4 0 1 0;
+#X connect 5 0 3 1;
 #X restore 334 94 pd outputMode;
-#X connect 0 0 17 0;
+#X obj 200 135 + 160;
+#X obj 263 137 + 150;
+#X connect 0 0 15 0;
 #X connect 2 0 8 0;
 #X connect 3 0 9 0;
 #X connect 4 0 10 0;
@@ -122,19 +124,19 @@
 #X connect 8 0 1 0;
 #X connect 9 0 1 0;
 #X connect 10 0 1 0;
-#X connect 11 0 12 0;
-#X connect 12 0 1 0;
-#X connect 13 0 14 0;
-#X connect 14 0 15 0;
-#X connect 15 0 1 0;
+#X connect 11 0 17 0;
+#X connect 12 0 13 0;
+#X connect 13 0 18 0;
+#X connect 14 0 1 0;
+#X connect 15 0 7 0;
+#X connect 15 1 6 0;
+#X connect 15 2 5 0;
+#X connect 15 3 11 0;
+#X connect 15 4 12 0;
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-#X connect 17 2 5 0;
-#X connect 17 3 11 0;
-#X connect 17 4 13 0;
-#X connect 17 5 18 0;
-#X connect 17 6 16 0;
+#X connect 17 0 1 0;
 #X connect 18 0 1 0;
 #X restore 11 22 pd command processing;
 #X obj 66 132 moses 128;