diff options
| -rw-r--r-- | Pd_firmware/Pd_firmware.pde | 441 |
1 files changed, 203 insertions, 238 deletions
diff --git a/Pd_firmware/Pd_firmware.pde b/Pd_firmware/Pd_firmware.pde index 884d77b..a314150 100644 --- a/Pd_firmware/Pd_firmware.pde +++ b/Pd_firmware/Pd_firmware.pde @@ -39,7 +39,7 @@ */ /* - * TODO: add pulseOut functionality + * 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: @@ -49,8 +49,9 @@ /* firmware version numbers. The protocol is still changing, so these version * numbers are important */ +// cvs version: $Id $ #define MAJOR_VERSION 0 -#define MINOR_VERSION 1 +#define MINOR_VERSION 2 /* firmata protocol * =============== @@ -140,19 +141,9 @@ /* analog input message format * ---------------------- - * 0 analog input marker (160 + number of pins to report) - * 1 high byte from analog input pin 0 - * 2 low byte from analog input pin 0 - * 3 high byte from analog input pin 1 - * 4 low byte from analog input pin 1 - * 5 high byte from analog input pin 2 - * 6 low byte from analog input pin 2 - * 7 high byte from analog input pin 3 - * 8 low byte from analog input pin 3 - * 9 high byte from analog input pin 4 - * 10 low byte from analog input pin 4 - * 11 high byte from analog input pin 5 - * 12 low byte from analog input pin 5 + * 0 analog input marker (160 + pin number reported) + * 1 high byte from analog input + * 2 low byte from analog input */ #define TOTAL_DIGITAL_PINS 14 @@ -181,10 +172,6 @@ int digitalPinStatus; */ 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; @@ -193,14 +180,14 @@ int analogData; // ------------------------------------------------------------------------- void transmitDigitalInput(byte startPin) { - byte i; - byte digitalPin; + byte i; + byte digitalPin; // byte digitalPinBit; - byte transmitByte = 0; - byte digitalData; + byte transmitByte = 0; + byte digitalData; - for(i=0;i<7;++i) { - digitalPin = i+startPin; + for(i=0;i<7;++i) { + digitalPin = i+startPin; /* digitalPinBit = OUTPUT << digitalPin; // only read the pin if its set to input if(digitalPinStatus & digitalPinBit) { @@ -209,12 +196,12 @@ 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); - transmitByte = transmitByte + ((1 << i) * digitalData); - } - } - printByte(transmitByte); + if( !(digitalPinStatus & (1 << digitalPin)) ) { + digitalData = (byte) digitalRead(digitalPin); + transmitByte = transmitByte + ((1 << i) * digitalData); + } + } + printByte(transmitByte); } @@ -224,47 +211,21 @@ digitalData = 0; // pin set to PWM, don't read * 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); - } -} - -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 - + 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); + } } @@ -273,153 +234,149 @@ void disSoftPwm(int pin) { * then processes all of the stored data */ void checkForInput() { - if(Serial.available()) { - while(Serial.available()) { - processInput( (byte)Serial.read() ); - } - } + if(Serial.available()) { + while(Serial.available()) { + processInput( (byte)Serial.read() ); + } + } } /* ------------------------------------------------------------------------- * processInput() is called whenever a byte is available on the - * Arduino's serial port. This is where the commands are handled. + * Arduino's serial port. This is where the comm1ands are handled. */ void processInput(byte inputData) { - int i; - int mask; + int i; + int mask; - // a few commands have byte(s) of data following the command - if( waitForData > 0) { - waitForData--; - storedInputData[waitForData] = inputData; - - if(executeMultiByteCommand && (waitForData==0)) { - //we got everything - switch(executeMultiByteCommand) { - case ENABLE_PWM: - setPinMode(storedInputData[1],PWM); - analogWrite(storedInputData[1], storedInputData[0]); - break; - case DISABLE_PWM: - setPinMode(storedInputData[0],INPUT); - break; - case ENABLE_SOFTWARE_PWM: - setPinMode(storedInputData[1],PWM); - setSoftPwm(storedInputData[1], storedInputData[0]); - 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) { - // 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 { - switch (inputData) { - 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); - 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); - 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 ENABLE_PWM: - waitForData = 2; // 2 bytes needed (pin#, dutyCycle) - executeMultiByteCommand = inputData; - break; - case DISABLE_PWM: - waitForData = 1; // 1 byte needed (pin#) - executeMultiByteCommand = inputData; - break; - case SET_SOFTWARE_PWM_FREQ: - waitForData = 1; // 1 byte needed (pin#) - executeMultiByteCommand = inputData; - break; - case ENABLE_SOFTWARE_PWM: - waitForData = 2; // 2 bytes needed (pin#, dutyCycle) - executeMultiByteCommand = inputData; - break; - case DISABLE_SOFTWARE_PWM: - waitForData = 1; // 1 byte needed (pin#) - executeMultiByteCommand = inputData; - break; - case OUTPUT_TO_DIGITAL_PINS: // bytes to send to digital outputs - firstInputByte = true; - break; - case REPORT_VERSION: - printByte(REPORT_VERSION); - printByte(MAJOR_VERSION); - printByte(MINOR_VERSION); - break; - } - } + // a few commands have byte(s) of data following the command + if( waitForData > 0) { + waitForData--; + storedInputData[waitForData] = inputData; + + if(executeMultiByteCommand && (waitForData==0)) { + //we got everything + switch(executeMultiByteCommand) { + case ENABLE_PWM: + setPinMode(storedInputData[1],PWM); + analogWrite(storedInputData[1], storedInputData[0]); + break; + case DISABLE_PWM: + setPinMode(storedInputData[0],INPUT); + break; + case ENABLE_SOFTWARE_PWM: + break; + case DISABLE_SOFTWARE_PWM: + break; + case SET_SOFTWARE_PWM_FREQ: + 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 { + switch (inputData) { + 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); + 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); + 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 ENABLE_PWM: + waitForData = 2; // 2 bytes needed (pin#, dutyCycle) + executeMultiByteCommand = inputData; + break; + case DISABLE_PWM: + waitForData = 1; // 1 byte needed (pin#) + executeMultiByteCommand = inputData; + break; + case SET_SOFTWARE_PWM_FREQ: + waitForData = 1; // 1 byte needed (pin#) + executeMultiByteCommand = inputData; + break; + case ENABLE_SOFTWARE_PWM: + waitForData = 2; // 2 bytes needed (pin#, dutyCycle) + executeMultiByteCommand = inputData; + break; + case DISABLE_SOFTWARE_PWM: + waitForData = 1; // 1 byte needed (pin#) + executeMultiByteCommand = inputData; + break; + case OUTPUT_TO_DIGITAL_PINS: // bytes to send to digital outputs + firstInputByte = true; + break; + case REPORT_VERSION: + printByte(REPORT_VERSION); + printByte(MAJOR_VERSION); + printByte(MINOR_VERSION); + break; + } + } } @@ -427,35 +384,43 @@ void processInput(byte inputData) { // ------------------------------------------------------------------------- void setup() { - byte i; - - Serial.begin(19200); - for(i=0; i<TOTAL_DIGITAL_PINS; ++i) { - setPinMode(i,INPUT); - } + byte i; + +// flash the pin 13 with the protocol minor version + pinMode(13,OUTPUT); + for(i-0; i<MINOR_VERSION; i++) { + digitalWrite(13,1); + delay(100); + digitalWrite(13,0); + delay(100); + } + Serial.begin(19200); + for(i=0; i<TOTAL_DIGITAL_PINS; ++i) { + setPinMode(i,INPUT); + } } // ------------------------------------------------------------------------- void loop() { - checkForInput(); + checkForInput(); - // read all digital pins, in enabled - if(digitalInputsEnabled) { - printByte(ENABLE_DIGITAL_INPUTS); - transmitDigitalInput(7); - checkForInput(); - transmitDigitalInput(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(ONE_ANALOG_IN + analogPin); - printByte(analogData >> 7); // bitshift the big stuff into the output byte - printByte(analogData % 128); // mod by 32 for the small byte - checkForInput(); - } + // read all digital pins, in enabled + if(digitalInputsEnabled) { + printByte(ENABLE_DIGITAL_INPUTS); + transmitDigitalInput(7); + checkForInput(); + transmitDigitalInput(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(ONE_ANALOG_IN + analogPin); + printByte(analogData >> 7); // bitshift the big stuff into the output byte + printByte(analogData % 128); // mod by 32 for the small byte + checkForInput(); + } } |