stripped down to nothing and started to rebuild from scratch; got digital output working

svn path=/trunk/externals/hardware/arduino/; revision=7440

1 files changed, 245 insertions, 341 deletions

diff --git a/Pd_firmware/Pd_firmware.pde b/Pd_firmware/Pd_firmware.pde
index 566abac..3eabc7d 100644
--- a/Pd_firmware/Pd_firmware.pde
+++ b/Pd_firmware/Pd_firmware.pde
@@ -1,23 +1,25 @@
-/* Copyright (C) 2006 Hans-Christoph Steiner 
+/*
+ * Copyright (C) 2006 Free Software Foundation
  *
- * This library is free software; you can redistribute it and/or
- * modify it under the terms of the GNU Lesser General Public
- * License as published by the Free Software Foundation; either
- * version 2.1 of the License, or (at your option) any later version.
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
  *
- * This library is distributed in the hope that it will be useful,
+ * See file LICENSE for further informations on licensing terms.
+ *
+ * This program is distributed in the hope that it will be useful,
  * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * Lesser General Public License for more details.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
  *
- * You should have received a copy of the GNU Lesser General
- * Public License along with this library; if not, write to the
- * Free Software Foundation, Inc., 59 Temple Place, Suite 330,
- * Boston, MA  02111-1307  USA
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software Foundation,
+ * Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
  *
- * -----------------------------
- * Firmata, the Arduino firmware
- * -----------------------------
+ * -----------------------------------------------------------
+ * Firmata, the general purpose sensorbox firmware for Arduino
+ * -----------------------------------------------------------
  * 
  * Firmata turns the Arduino into a Plug-n-Play sensorbox, servo
  * controller, and/or PWM motor/lamp controller.
@@ -28,8 +30,8 @@
  * used with other programs like Max/MSP, Processing, or whatever can
  * do serial communications.
  *
- * @authors: Hans-Christoph Steiner <hans@at.or.at>
- *   help with protocol redesign: Jamie Allen <jamie@heavyside.net>
+ * @author: Hans-Christoph Steiner <hans@at.or.at>
+ *   help with initial protocol redesign: Jamie Allen <jamie@heavyside.net>
  *   key bugfixes: Georg Holzmann <grh@mur.at>
  *                 Gerda Strobl <gerda.strobl@student.tugraz.at>
  * @date: 2006-05-19
@@ -39,179 +41,162 @@
  */
 
 /* 
+ * TODO: debug hardware PWM
+ * TODO: convert all non-frequent messages to SysEx (version, pinMode, report enable, etc)
+ * TODO: convert to MIDI protocol using SysEx for longer messages
  * TODO: add pulseOut functionality for servos
  * TODO: add software PWM for servos, etc (servo.h or pulse.h)
  * TODO: redesign protocol to accomodate boards with more I/Os
- * TODO: 
+ * TODO: add protocol version reporting
+ * TODO: add device type reporting (i.e. some firmwares will use the Firmata
+ *       protocol, but will only support specific devices, like ultrasound 
+ *       rangefinders or servos)
  * TODO: add "pinMode all 0/1" command
  * TODO: add cycle markers to mark start of analog, digital, pulseIn, and PWM
- * TODO: convert to MIDI protocol using SysEx for longer messages
+ * TODO: use Program Control to load stored profiles from EEPROM
  */
 
-/* cvs version: $Id: Pd_firmware.pde,v 1.22 2006-12-06 03:29:06 eighthave Exp $ */
+/* cvs version: $Id: Pd_firmware.pde,v 1.23 2007-02-20 06:25:56 eighthave Exp $ */
 
-/* Version numbers for the protocol.  The protocol is still changing, so these
- * version numbers are important.  This number can be queried so that host
- * software can test whether it will be compatible with the currently
- * installed firmware. */
-#define MAJOR_VERSION 0  // for non-compatible changes
-#define MINOR_VERSION 3  // for backwards compatible changes
+/*==========================================================================
+ * MESSAGE FORMATS
+ *==========================================================================*/
 
-/* firmata protocol
- * =============== 
- * data: 0-127   
- * control: 128-255
+/*----------------------------------------------------------------------------
+ * MAPPING DATA TO MIDI
+ *
+ * This protocol uses the MIDI message format, but does not use the whole
+ * protocol.  Most of the command mappings here will not make sense in terms
+ * of MIDI controllers and synths.
+ *
+ * MIDI format: http://www.harmony-central.com/MIDI/Doc/table1.html
+ * 
+ *                              MIDI       
+ * type                command  channel    first byte            second byte 
+ * -----------------------------------------------------------------------------
+ * analog I/O            0xE0   pin #      LSB(bits 0-6)         MSB(bits 7-13)
+ * digital I/O           0x90   port base  LSB(bits 0-6)         MSB(bits 7-13)
+ * report analog pin     0xC0   pin #      disable/enable(0/1)   - n/a -
+ * report digital ports  0xD0   port base  disable/enable(0/1)   - n/a -
+ *
+ * digital pin mode(I/O) 0xF4   - n/a -    pin # (0-63)          pin state(0=in)
+ * firmware version      0xF9   - n/a -    minor version         major version
+ * system reset          0xFF   - n/a -    - n/a -               - n/a -
+ *
  */
-  
-/* computer<->Arduino commands
- * -------------------- */
-/* 128-129 // UNASSIGNED */
-#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 // UNASSIGNED */
-#define DISABLE_DIGITAL_INPUTS  150 // disable reporting of digital inputs
-#define ENABLE_DIGITAL_INPUTS   151 // enable reporting of digital inputs
-/* 152-159 // UNASSIGNED */
-#define ZERO_ANALOG_INS         160 // disable reporting on all analog ins
-#define ONE_ANALOG_IN           161 // enable reporting for 1 analog in (0)
-#define TWO_ANALOG_INS          162 // enable reporting for 2 analog ins (0,1)
-#define THREE_ANALOG_INS        163 // enable reporting for 3 analog ins (0-2)
-#define FOUR_ANALOG_INS         164 // enable reporting for 4 analog ins (0-3)
-#define FIVE_ANALOG_INS         165 // enable reporting for 5 analog ins (0-4)
-#define SIX_ANALOG_INS          166 // enable reporting for 6 analog ins (0-5)
-#define SEVEN_ANALOG_INS        167 // enable reporting for 6 analog ins (0-6)
-#define EIGHT_ANALOG_INS        168 // enable reporting for 6 analog ins (0-7)
-#define NINE_ANALOG_INS         169 // enable reporting for 6 analog ins (0-8)
-/* 170-199 // UNASSIGNED */
-#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 // UNASSIGNED */
-#define OUTPUT_TO_DIGITAL_PINS  229 // next two bytes set digital output data 
-/* 230-239 // UNASSIGNED */
-#define REPORT_VERSION          240 // return the firmware version
-/* 240-248 // UNASSIGNED */
-#define SET_PIN_STATE           249 // set a digital pit to INPUT or OUTPUT
-#define DISABLE_PWM             250 // next byte sets pin # to disable
-#define ENABLE_PWM              251 // next two bytes set pin # and duty cycle
-#define RESET                   254 // reset if receive 8 of these bytes
-/* 255 // UNASSIGNED */
-
- 
-/* two byte digital output data format
- * ----------------------
- * 0  set digital output bytes (229/OUTPUT_TO_DIGITAL_PINS)
- * 1  digitalOut 7-13 bitmask 
- * 2  digitalOut 0-6 bitmask
+
+/* proposed extensions using SysEx
+ *
+ * type       SysEx start   command    data bytes                   SysEx stop
+ * ---------------------------------------------------------------------------
+ * pulse I/O     0xF0        0xA0      five 7-bit chunks, LSB first    0xF7
+ * shiftOut      0xF0        0xB0                        
  */
 
-/* control PWM 
+/*----------------------------------------------------------------------------
+ * DATA MESSAGES */
+
+/* two byte digital data format
  * ----------------------
- * 0  send digital input bytes (ENABLE_PWM)
- * 1  pin # (0-127)
- * 2  duty cycle expressed as 1 byte (255 = 100%)
+ * 0  digital data, 0x90-0x9F, (x & 0x0F) to get port base number
+ * 1  digital pins 0-6 bitmask
+ * 2  digital pins 7-13 bitmask 
  */
 
-/* digital input message format
+/* analog 14-bit data format
  * ----------------------
- * 0   digital input marker (255/11111111)
- * 1   digital read from Arduino // 7-13 bitmask
- * 2   digital read from Arduino // 0-6 bitmask
+ * 0  analog pin, 0xE0-0xEF, (x & 0x0F) for pin number
+ * 1  analog least significant 7 bits
+ * 2  analog most significant 7 bits
  */
 
-/* analog input message format
+/* pulseIn/Out (uses 32-bit value)
  * ----------------------
- * 0   analog input marker (160 + pin number reported)
- * 1   high byte from analog input
- * 2   low byte from analog input
+ * 0  START_SYSEX (0xF0)
+ * 1  pulseIn (0xFD)
+ * 2  bits 0-6 (least significant byte)
+ * 3  bits 7-13
+ * 4  bits 14-20
+ * 5  bits 21-27
+ * 6  bits 28-34 (most significant byte)
+ * 7  END_SYSEX (0xF7)
  */
 
 /* version report format
- * Send a single byte 240, Arduino will reply with:
+ * Send a single byte 0xF9, Arduino will reply with:
  * ----------------------
- * 0  version report header (240)
- * 1  major version (0-127)
- * 2  minor version (0-127)
+ * 0  version report header (0xF9) (MIDI Undefined)
+ * 1  minor version (0-127)
+ * 2  major version (0-127)
  */
 
-/* PROPOSED PROTOCOL ADDITIONS */
+/*----------------------------------------------------------------------------
+ * CONTROL MESSAGES */
 
-/* set digital pin state (249/SET_PIN_STATE)
+/* set digital pin mode
  * ----------------------
- * 0  set digital pin state
- * 1  pin number (0-127)
- * 2  state (OUTPUT/INPUT, 0/1) */
+ * 1  set digital pin mode (0xF4) (MIDI Undefined)
+ * 2  pin number (0-127)
+ * 3  state (INPUT/OUTPUT, 0/1)
+ */
 
-/* toggle analogIn reporting (249/SET_PIN_STATE)
+/* toggle analogIn reporting by pin
  * ----------------------
- * 0  analogIn reporting mode
- * 1  pin number (0-127)
- * 2  state (0/1)
+ * 0  toggle digitalIn reporting (0xC0-0xCF) (MIDI Program Change)
+ * 1  disable(0)/enable(non-zero) 
  */
 
-/* control PWM 14-bit
+/* toggle digitalIn reporting by port pairs
  * ----------------------
- * 0  send digital input bytes (ENABLE_PWM)
- * 1  pin # (0-127)
- * 2  duty cycle, high bits (8-13)
- * 3  duty cycle, low bits (0-7)
+ * 0  toggle digitalIn reporting (0xD0-0xDF) (MIDI Aftertouch)
+ * 1  disable(0)/enable(non-zero) 
  */
 
-
-/* pulseIn (uses 32-bit value)
+/* request version report
  * ----------------------
- * 0  pulseIn
- * 1  bits 24-31 (most significant byte)
- * 2  bits 16-23
- * 3  bits 8-15
- * 4  bits 0-7 (least significant byte)
+ * 0  request version report (0xF9) (MIDI Undefined)
  */
 
+/*==========================================================================
+ * MACROS
+ *==========================================================================*/
+
+/* Version numbers for the protocol.  The protocol is still changing, so these
+ * version numbers are important.  This number can be queried so that host
+ * software can test whether it will be compatible with the currently
+ * installed firmware. */
+#define MAJOR_VERSION 1  // for non-compatible changes
+#define MINOR_VERSION 0  // for backwards compatible changes
+
+/* total number of digital pins supported */  
 #define TOTAL_DIGITAL_PINS 14
 
 // for comparing along with INPUT and OUTPUT
 #define PWM 2
 
-// maximum number of post-command data bytes
+#define DIGITAL_MESSAGE         0x90 // send data for a digital pin
+#define ANALOG_MESSAGE          0xE0 // send data for an analog pin (or PWM)
+//#define PULSE_MESSAGE           0xA0 // proposed pulseIn/Out message (SysEx)
+//#define SHIFTOUT_MESSAGE        0xB0 // proposed shiftOut message (SysEx)
+#define REPORT_ANALOG_PIN       0xC0 // enable analog input by pin #
+#define REPORT_DIGITAL_PORTS    0xD0 // enable digital input by port pair
+#define START_SYSEX             0xF0 // start a MIDI SysEx message
+#define SET_DIGITAL_PIN_MODE    0xF4 // set a digital pin to INPUT or OUTPUT 
+#define END_SYSEX               0xF7 // end a MIDI SysEx message
+#define REPORT_VERSION          0xF9 // report firmware version
+#define SYSTEM_RESET            0xFF // reset from MIDI
+
+/*==========================================================================
+ * GLOBAL VARIABLES
+ *==========================================================================*/
+
+// maximum number of post-command data bytes (non-SysEx)
 #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;
-
-/* store the previously sent digital inputs to compare against the current
- * digital inputs.  If there is no change, do not transmit. */ 
-byte previousDigitalInputHighByte = 0;
-byte previousDigitalInputLowByte = 0;
-byte digitalInputHighByte = 0;
-byte digitalInputLowByte = 0;
-
 /* this int serves as a bit-wise array to store pin status
  * 0 = INPUT, 1 = OUTPUT  */
 int digitalPinStatus = 0;
@@ -221,207 +206,148 @@ int digitalPinStatus = 0;
  * the rest of the bits are unused and should remain 0  */
 int pwmStatus = 0;
 
-boolean digitalInputsEnabled = true;
-// TODO: convert this to a bit array int, 1=report, 0=no report
-byte analogInputsEnabled = 6;
-
-byte analogPin;
-int analogData;
-
-// -------------------------------------------------------------------------
-byte transmitDigitalInput(byte startPin) {
-	byte i;
-	byte digitalPin;
-//  byte digitalPinBit;
-	byte returnByte = 0;
-	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
-}*/
-		if( !(digitalPinStatus & (1 << digitalPin)) ) {
-			digitalData = (byte) digitalRead(digitalPin);
-			returnByte = returnByte + ((1 << i) * digitalData);
-		}
-	}
-	return(returnByte);
-}
-
-
-
-// -------------------------------------------------------------------------
-/* 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);
-	}
-// TODO: save status to EEPROM here, if changed
-}
 
+/*==========================================================================
+ * FUNCTIONS                                                                
+ *==========================================================================*/
 
 /* -------------------------------------------------------------------------
- * this function checks to see if there is data waiting on the serial port 
- * then processes all of the stored data
+ * output digital bytes received from the serial port
  */
-void checkForInput() {
-	if(Serial.available()) {  
-		while(Serial.available()) {
-			processInput( (byte)Serial.read() );
-		}
+void outputDigitalBytes(byte pin0_6, byte pin7_13) {
+	int i;
+	int mask;
+	int twoBytesForPorts;
+	
+	twoBytesForPorts = pin0_6 + (pin7_13 << 7);
+	for(i=0; i<14; ++i) {
+		mask = 1 << i;
+		if( (digitalPinStatus & mask) && !(pwmStatus & mask) ) {
+			digitalWrite(i, twoBytesForPorts & mask);
+		} 
 	}
 }
 
 /* -------------------------------------------------------------------------
  * processInput() is called whenever a byte is available on the
- * Arduino's serial port.  This is where the comm1ands are handled.
+ * Arduino's serial port.  This is where the commands are handled.
  */
-void processInput(byte inputData) {
-	int i;
-	int mask;
-  
+void processInput(int inputData) {
+	int command, channel;
+
 	// a few commands have byte(s) of data following the command
-	if( waitForData > 0) {  
+	if( (waitForData > 0) && (inputData < 128) ) {  
 		waitForData--;
 		storedInputData[waitForData] = inputData;
-
-		if(executeMultiByteCommand && (waitForData==0)) {
+		if( (waitForData==0) && executeMultiByteCommand ) {
 			//we got everything
 			switch(executeMultiByteCommand) {
-			case ENABLE_PWM:
-				setPinMode(storedInputData[1],PWM);
-				analogWrite(storedInputData[1], storedInputData[0]);
+			case ANALOG_MESSAGE:
+				channel = inputData & 0x0F; // get channel from command byte
+				break;
+			case DIGITAL_MESSAGE:
+				outputDigitalBytes(storedInputData[1], storedInputData[0]);
+				break;
+			case SET_DIGITAL_PIN_MODE:
+				setPinMode(storedInputData[1], storedInputData[0]);
 				break;
-			case DISABLE_PWM:
-				setPinMode(storedInputData[0],INPUT);
+			case REPORT_ANALOG_PIN:
+				break;
+			case REPORT_DIGITAL_PORTS:
 				break;
 			}
 			executeMultiByteCommand = 0;
 		}
-	}
-	else if(inputData < 128) {
-		if(firstInputByte) {
-			// output data for pins 7-13
-			for(i=7; i<TOTAL_DIGITAL_PINS; ++i) {
-				mask = 1 << i;
-				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));
-				}        
-			}
-			firstInputByte = false;
-		}
-		else { //
-			for(i=0; i<7; ++i) {
-				mask = 1 << i;
-				if( (digitalPinStatus & mask) && !(pwmStatus & mask) ) {
-					digitalWrite(i, inputData & mask);
-				} 
-			}
+	} else {
+		// remove channel info from command byte if less than 0xF0
+		if(inputData < 0xF0) {
+			command = inputData & 0xF0;
+		} else {
+			command = inputData;
 		}
-	}
-	else {
 		switch (inputData) {
-		case REPORT_VERSION:
-			Serial.print(REPORT_VERSION, BYTE);
-			Serial.print(MAJOR_VERSION, BYTE);
-			Serial.print(MINOR_VERSION, BYTE);
-			break;
-		case ENABLE_PWM:
-			waitForData = 2;  // 2 bytes needed (pin#, dutyCycle) 
+		case ANALOG_MESSAGE:
+		case DIGITAL_MESSAGE:
+		case SET_DIGITAL_PIN_MODE:
+			waitForData = 2; // two data bytes needed
 			executeMultiByteCommand = inputData;
 			break;
-		case DISABLE_PWM:
-			waitForData = 1;  // 1 byte needed (pin#)
+		case REPORT_ANALOG_PIN:
+		case REPORT_DIGITAL_PORTS:
+			waitForData = 1; // two data bytes needed
 			executeMultiByteCommand = inputData;
-			break;      
-		case OUTPUT_TO_DIGITAL_PINS:   // bytes to send to digital outputs
-			firstInputByte = true;
-			break;
-		case DISABLE_DIGITAL_INPUTS:   // all digital inputs off
-			digitalInputsEnabled = false;
-			break;
-		case ENABLE_DIGITAL_INPUTS:    // all digital inputs on
-			digitalInputsEnabled = true;
-			break;
-		case ZERO_ANALOG_INS:   // analog input off
-		case ONE_ANALOG_IN:     // analog 0 on  
-		case TWO_ANALOG_INS:    // analog 0,1 on  
-		case THREE_ANALOG_INS:  // analog 0-2 on  
-		case FOUR_ANALOG_INS:   // analog 0-3 on  
-		case FIVE_ANALOG_INS:   // analog 0-4 on  
-		case SIX_ANALOG_INS:    // analog 0-5 on  
-		case SEVEN_ANALOG_INS:  // analog 0-6 on  
-		case EIGHT_ANALOG_INS:  // analog 0-7 on  
-		case NINE_ANALOG_INS:   // analog 0-8 on  
-			analogInputsEnabled = inputData - ZERO_ANALOG_INS;
 			break;
-		case SET_PIN_ZERO_TO_IN:       // set digital pins to INPUT
-		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);
+		case SYSTEM_RESET:
+			// this doesn't do anything yet
 			break;
-		case SET_PIN_ZERO_TO_OUT:      // set digital pins to OUTPUT
-		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);
+		case REPORT_VERSION:
+			Serial.print(REPORT_VERSION, BYTE);
+			Serial.print(MAJOR_VERSION, BYTE);
+			Serial.print(MINOR_VERSION, BYTE);
 			break;
 		}
 	}
 }
 
 
-// =========================================================================
+/* -------------------------------------------------------------------------
+ * this function checks to see if there is data waiting on the serial port 
+ * then processes all of the stored data
+ */
+
+/* TODO: switch this to a timer interrupt.  The timer is set in relation to
+ * the bitrate, when the interrupt is triggered, then it runs checkForInput().
+ * Therefore, it only checks for input once per cycle of the serial port.
+ */
+void checkForInput() {
+	if(Serial.available())
+		processInput( Serial.read() );
+}
 
 // -------------------------------------------------------------------------
+/* 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(byte pin, byte 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 ) {
+		digitalPinStatus = digitalPinStatus | (1 << pin);
+		pwmStatus = pwmStatus | (1 << pin);
+		pinMode(pin,OUTPUT);
+	}
+// TODO: save status to EEPROM here, if changed
+}
+
+// =========================================================================
+
+// used for flashing the pin for the version number
+void pin13strobe(int count, int onInterval, int offInterval) {
+	byte i;
+	for(i=0; i<count; i++) {
+		digitalWrite(13,1);
+		delay(onInterval);
+		digitalWrite(13,0);
+		delay(offInterval);
+	}
+}
+
+/*==========================================================================
+ * SETUP()
+ *==========================================================================*/
 void setup() {
 	byte i;
 
 // TODO: load state from EEPROM here
-
-	Serial.begin(115200);	
+	Serial.begin(115200); // 9600, 14400, 38400, 57600, 115200
 
 /* TODO: send digital inputs here, if enabled, to set the initial state on the
  * host computer, since once in the loop(), the Arduino will only send data on
@@ -429,47 +355,25 @@ void setup() {
 
 // flash the pin 13 with the protocol minor version (add major once > 0)
 	pinMode(13,OUTPUT);
-	for(i-0; i<MINOR_VERSION; i++) {
-		digitalWrite(13,1);
-		delay(100);
-		digitalWrite(13,0);
-		delay(200);
-	}
+	pin13strobe(10,5,20); // separator, a quick burst
+	delay(500);
+	pin13strobe(MAJOR_VERSION, 200, 400);
+	delay(500);
+	pin13strobe(10,5,20); // separator, a quick burst
+	delay(500);
+	pin13strobe(MINOR_VERSION, 200, 400);
+	delay(500);
+	pin13strobe(10,5,20); // separator, a quick burst
+	delay(1000);
 	for(i=0; i<TOTAL_DIGITAL_PINS; ++i) {
-		setPinMode(i,INPUT);
+		setPinMode(i,OUTPUT);
 	}
 }
 
-// -------------------------------------------------------------------------
+/*==========================================================================
+ * LOOP()
+ *==========================================================================*/
 void loop() {
-	checkForInput();  
-  
-	// read all digital pins, in enabled
-	if(digitalInputsEnabled) {
-		digitalInputHighByte = transmitDigitalInput(7);
-		checkForInput();  
-		digitalInputLowByte = transmitDigitalInput(0);
-		checkForInput();  
-		// only send data if it has changed
-		if( (digitalInputHighByte != previousDigitalInputHighByte) && 
-			(digitalInputLowByte != previousDigitalInputLowByte) ) {
-			Serial.print(ENABLE_DIGITAL_INPUTS, BYTE);
-			Serial.print(digitalInputHighByte, BYTE);
-			Serial.print(digitalInputLowByte, BYTE);
-			previousDigitalInputHighByte = digitalInputHighByte;
-			previousDigitalInputLowByte = digitalInputLowByte;
-		}
-		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 on host.
-		  Highest bits should be zeroed so the 8th bit doesn't get set */
-		Serial.print(ONE_ANALOG_IN + analogPin, BYTE);
-		Serial.print(analogData >> 7, BYTE); // shift high bits into output byte
-		Serial.print(analogData % 128, BYTE); // mod by 32 for the small byte
-		checkForInput();
-	}
+	checkForInput();
 }