got PWM control working from Pd

svn path=/trunk/externals/hardware/arduino/; revision=5093

1 files changed, 113 insertions, 87 deletions

diff --git a/Pd_firmware/Pd_firmware.pde b/Pd_firmware/Pd_firmware.pde
index 6e18df8..098d878 100644
--- a/Pd_firmware/Pd_firmware.pde
+++ b/Pd_firmware/Pd_firmware.pde
@@ -14,7 +14,8 @@
 /*

  * Pduino protocol

  * =============== 

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

+ * data: 0-127   

+ * control: 128-255

  * 

  * Pd->Arduino commands

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

@@ -23,13 +24,12 @@
  * 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

+ * 0  digitalOut 0-6 bitmask

+ * 1  digitalOut 7-13 bitmask

+ * 2  cycle marker (255/11111111)

  * 

  * Arduino->Pd byte cycle

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

@@ -63,49 +63,74 @@
 

 #define TOTAL_DIGITAL_PINS 14

 

-byte i;

+// for comparing along with INPUT and OUTPUT

+#define PWM 2

+

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

+boolean waitForData = false;

 

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

-boolean waitForData = 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;

+

 byte analogPin;

 int analogData;

 

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

-void outputDigital(byte startPin) {

+void transmitDigitalInput(byte startPin) {

+  byte i;

   byte digitalPin;

   byte digitalPinBit;

-  byte digitalOutputByte;

+  byte transmitByte;

   byte digitalData;

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

-  {

+

+  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);

+      //      digitalData = digitalRead(digitalPin);

+      digitalData = pwmStatus;

     }

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

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

   }

-  printByte(digitalOutputByte);

+  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) {

-  pinMode(pin,mode);

   if(mode == INPUT) {

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

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

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

+    pinMode(pin,INPUT);

   }

-  if(mode == OUTPUT) {

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

+  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);

   }

 }

 

@@ -120,65 +145,64 @@ void checkForInput() {
 

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

 void processInput(int inputData) {

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

   if (waitForData > 0) {  

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

+    printByte(150);

+    printByte(inputData);

     analogWrite(waitForData,inputData);

     waitForData = 0;

   }

+  else if(inputData < 128) {

+    printByte(151);

+    printByte(inputData);

+// TODO: this section is for digital out...    

+  }

   else {

+    printByte(153);

     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;

+    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:

+      printByte(inputData);

+      setPinMode(inputData-200,OUTPUT);

+      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:

+      printByte(inputData);

+      setPinMode(inputData-214,INPUT);

+      break;

+    case 230:

+    case 231:

+    case 232:

+      printByte(inputData);

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

+      setPinMode(waitForData, PWM);

+      break;

+    case 255:

+      break;

     }

   }

 }

@@ -187,31 +211,33 @@ void processInput(int inputData) {
 

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

 void setup() {

+  byte i;

+

   beginSerial(9600);

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

-      setPinMode(i,INPUT);

+    setPinMode(i,INPUT);

   }

 }

 

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

 void loop() {

   // read all digital pins

-  outputDigital(0);

-  outputDigital(7);

+  transmitDigitalInput(0);

+  transmitDigitalInput(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;   

+  /*   

+   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);

@@ -219,6 +245,6 @@ void loop() {
   printByte(digitalPinStatus % 128); 

 

   checkForInput();

-  

+

   printByte(255);   

 }