worked out 2-way protocol, everything seems to work from Pd; the data sending is commented out, but it should still work...

svn path=/trunk/externals/hardware/arduino/; revision=5089

1 files changed, 224 insertions, 111 deletions

diff --git a/Pd_firmware/Pd_firmware.pde b/Pd_firmware/Pd_firmware.pde
index 7e0becd..6e18df8 100644
--- a/Pd_firmware/Pd_firmware.pde
+++ b/Pd_firmware/Pd_firmware.pde
@@ -1,111 +1,224 @@
-/* Pd_firmware
- * ------------------
- *
- *
- * It was designed to work with the Pd patch of the same 
- * name in:  Help -> Browser -> examples -> hardware
- *
- * (cleft) 2006 Hans-Christoph Steiner
- * @author: Hans-Christoph Steiner
- * @date: 2006-03-10
- * @location: Polytechnic University, Brooklyn, New York, USA
- */
-
-/*
- * Pduino protocol
- * =============== 
- * data: 0-127   control: 128-255
- * 
- * Pd->Arduino commands
- * --------------------
- * 150 - next byte sets PWM0 value
- * 151 - next byte sets PWM1 value
- * 152 - next byte sets PWM2 value
- * 200-213 - set digital pin 0-13 to input
- * 220-233 - set digital pin 0-13 to output
- * 
- *
- * Pd->Arduino byte cycle
- * ----------------------
- * 0  cycle marker (255/11111111)
- * 1  digitalOut 0-6 bitmask
- * 2  digitalOut 7-13 bitmask
- * 
- * Arduino->Pd byte cycle
- * ----------------------
- * 0  digitalIn 0-6 bitmask
- * 1  digitalIn 7-13 bitmask
- * 2  analogIn0 byte0
- * 3  analogIn0 byte1
- * 4  analogIn1 byte0
- * 5  analogIn1 byte1
- * 6  analogIn2 byte0
- * 7  analogIn2 byte1
- * 8  analogIn3 byte0
- * 9 analogIn3 byte1
- * 10 analogIn4 byte0
- * 11 analogIn4 byte1
- * 12 analogIn5 byte0
- * 13 analogIn5 byte1
- * 14 cycle marker (255/11111111)
- * 
- * 
- *      TX         RX
- * -----------------------
- *   					 
- */
-
-/*
- * 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.
- */
-
-
-byte i;
-
-// this int serves as an array of bits to store pin status
-int digitalPinStatus;
-
-byte analogPin;
-int analogData;
-
-void outputDigital(byte startPin) {
-  byte digitalPin;
-  byte digitalPinBit;
-  byte digitalOutputByte;
-  byte digitalData;
-  for(i=0;i<7;++i)
-  {
-    digitalPin = i+startPin;
-    digitalPinBit = 2^digitalPin;
-    // only read the pin if its set to input
-    if(digitalPinStatus & digitalPinBit) 
-      digitalData = digitalRead(digitalPin);
-    else
-      digitalData = 0;
-    digitalOutputByte = digitalOutputByte + (2^(i+1-startPin)*digitalData);
-  }
-  printByte(digitalOutputByte);
-}
-
-void setup() {
-  beginSerial(9600);
-}
-
-void loop() {
-  // read all digital pins
-  outputDigital(0);
-  outputDigital(7);
-  /*
-   * get analog in
-   */
-  analogData = analogRead(analogPin);
-  // these two bytes get converted back into the whole number in Pd
-  printByte(analogData / 32);  // div by 32 for the big byte
-  printByte(analogData % 32);  // mod by 32 for the small byte
-  ++analogPin; 
-  if (analogPin > 5) analogPin = 0;   
-  /* end with the cycle marker */
-  printByte(255);   
-}
+/* Pd_firmware

+ * ------------------

+ *

+ *

+ * It was designed to work with the Pd patch of the same 

+ * name in:  Help -> Browser -> examples -> hardware

+ *

+ * (cleft) 2006 Hans-Christoph Steiner

+ * @author: Hans-Christoph Steiner

+ * @date: 2006-03-10

+ * @location: Polytechnic University, Brooklyn, New York, USA

+ */

+

+/*

+ * Pduino protocol

+ * =============== 

+ * data: 0-127   control: 128-255

+ * 

+ * Pd->Arduino commands

+ * --------------------

+ * 200-213 - set digital pin 0-13 to output

+ * 214-227 - set digital pin 0-13 to input

+ * 230 - next byte sets PWM0 value

+ * 231 - next byte sets PWM1 value

+ * 232 - next byte sets PWM2 value

+ * 

+ *

+ * Pd->Arduino byte cycle

+ * ----------------------

+ * 0  cycle marker (255/11111111)

+ * 1  digitalOut 0-6 bitmask

+ * 2  digitalOut 7-13 bitmask

+ * 

+ * Arduino->Pd byte cycle

+ * ----------------------

+ * 0  digitalIn 0-6 bitmask

+ * 1  digitalIn 7-13 bitmask

+ * 2  analogIn0 byte0

+ * 3  analogIn0 byte1

+ * 4  analogIn1 byte0

+ * 5  analogIn1 byte1

+ * 6  analogIn2 byte0

+ * 7  analogIn2 byte1

+ * 8  analogIn3 byte0

+ * 9 analogIn3 byte1

+ * 10 analogIn4 byte0

+ * 11 analogIn4 byte1

+ * 12 analogIn5 byte0

+ * 13 analogIn5 byte1

+ * 14 cycle marker (255/11111111)

+ * 

+ * 

+ *      TX         RX

+ * -----------------------

+ *   					 

+ */

+

+/*

+ * 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

+

+byte i;

+

+// this flag says that the next serial input will be data, not control

+boolean waitForData = 0;

+

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

+ * 0 = INPUT, 1 = OUTPUT

+ */

+int digitalPinStatus;

+

+byte analogPin;

+int analogData;

+

+// -------------------------------------------------------------------------

+void outputDigital(byte startPin) {

+  byte digitalPin;

+  byte digitalPinBit;

+  byte digitalOutputByte;

+  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 {

+      digitalData = digitalRead(digitalPin);

+    }

+    digitalOutputByte = digitalOutputByte + (2^(i+1-startPin)*digitalData);

+  }

+  printByte(digitalOutputByte);

+}

+

+// -------------------------------------------------------------------------

+void setPinMode(int pin, int mode) {

+  pinMode(pin,mode);

+  if(mode == INPUT) {

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

+  }

+  if(mode == OUTPUT) {

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

+  }

+}

+

+// -------------------------------------------------------------------------

+void checkForInput() {

+  if(serialAvailable()) {  

+    while(serialAvailable()) {

+      processInput(serialRead());

+    }

+  }

+}

+

+// -------------------------------------------------------------------------

+void processInput(int inputData) {

+  if (waitForData > 0) {  

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

+    analogWrite(waitForData,inputData);

+    waitForData = 0;

+  }

+  else {

+    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,OUTPUT);

+        printByte(inputData);

+        printByte(inputData);

+        printByte(inputData);

+        printByte(inputData);

+        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,INPUT);

+        printByte(inputData);

+        printByte(inputData);

+        printByte(inputData);

+        printByte(inputData);

+        break;

+      case 230:

+      case 231:

+      case 232:

+        // set waitForData to the PWM pin number

+        waitForData = inputData - 221;

+        printByte(inputData);

+        printByte(inputData);

+        printByte(inputData);

+        printByte(inputData);

+        break;

+      case 255:

+        break;

+    }

+  }

+}

+

+// =========================================================================

+

+// -------------------------------------------------------------------------

+void setup() {

+  beginSerial(9600);

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

+      setPinMode(i,INPUT);

+  }

+}

+

+// -------------------------------------------------------------------------

+void loop() {

+  // read all digital pins

+  outputDigital(0);

+  outputDigital(7);

+  /*

+   * get analog in

+   */

+/*   

+  for(analogPin=0; analogPin<5; ++analogPin)

+  {

+  analogData = analogRead(analogPin);

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

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

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

+  }

+*/  

+//  ++analogPin; 

+//  if (analogPin > 5) analogPin = 0;   

+  /* end with the cycle marker */

+  // bitshift the big stuff into the output byte

+  printByte(digitalPinStatus >> 7);

+  // clear the 8th bit before truncating to a byte for small byte

+  printByte(digitalPinStatus % 128); 

+

+  checkForInput();

+  

+  printByte(255);   

+}