diff options
| -rw-r--r-- | Pd_firmware/Pd_firmware.pde | 586 |
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(); } |