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-/*
- * Copyright (C) 2006 Free Software Foundation
- *
- * 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.
- *
- * 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 General Public License for more details.
- *
- * 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 general purpose sensorbox firmware for Arduino
- * -----------------------------------------------------------
- *
- * Firmata turns the Arduino into a Plug-n-Play sensorbox, servo
- * controller, and/or PWM motor/lamp controller.
- *
- * It was originally designed to work with the Pd object [arduino]
- * which is included in Pd-extended. This firmware is intended to
- * work with any host computer software package. It can easily be
- * used with other programs like Max/MSP, Processing, or whatever can
- * do serial communications.
- *
- * @author: Hans-Christoph Steiner <hans@at.or.at>
- * help with initial protocol redesign: Jamie Allen <jamie@heavyside.net>
- * much protocol discussion: the Arduino developers mailing list
- * key bugfixes: Georg Holzmann <grh@mur.at>
- * Gerda Strobl <gerda.strobl@student.tugraz.at>
- * @date: 2006-05-19
- * @locations: STEIM, Amsterdam, Netherlands
- * IDMI/Polytechnic University, Brookyn, NY, USA
- * Electrolobby Ars Electronica, Linz, Austria
- *
- * See http://www.arduino.cc/playground/Interfacing/Firmata for docs
- */
-
-/*
- * TODO: add pulseOut functionality for servos
- * TODO: add software PWM for servos, etc (servo.h or pulse.h)
- * 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: use Program Control to load stored profiles from EEPROM
- */
-
-/* cvs version: $Id: Pd_firmware.pde,v 1.32 2007-06-27 20:59:24 eighthave Exp $ */
-
-#include <EEPROM.h>
-#include <Firmata.h>
-
-/*==============================================================================
- * GLOBAL VARIABLES
- *============================================================================*/
-
-/* input message handling */
-byte waitForData = 0; // this flag says the next serial input will be data
-byte executeMultiByteCommand = 0; // execute this after getting multi-byte data
-byte multiByteChannel = 0; // channel data for multiByteCommands
-byte storedInputData[MAX_DATA_BYTES] = {0,0}; // multi-byte data
-/* digital pins */
-boolean reportDigitalInputs = false; // output digital inputs or not
-int digitalInputs;
-int previousDigitalInputs; // previous output to test for change
-unsigned int digitalPinStatus = 65535; // store pin status, default OUTPUT
-/* PWM/analog outputs */
-int pwmStatus = 0; // bitwise array to store PWM status
-/* analog inputs */
-int analogInputsToReport = 0; // bitwise array to store pin reporting
-int analogPin = 0; // counter for reading analog pins
-/* timer variables */
-extern volatile unsigned long timer0_overflow_count; // timer0 from wiring.c
-unsigned long nextExecuteTime; // for comparison with timer0_overflow_count
-
-/*==============================================================================
- * FUNCTIONS
- *============================================================================*/
-
-/* -----------------------------------------------------------------------------
- * output digital bytes received from the serial port */
-void outputDigitalBytes(byte pin0_6, byte pin7_13) {
- int i;
- int mask;
- int twoBytesForPorts;
-
-// this should be converted to use PORTs
- twoBytesForPorts = pin0_6 + (pin7_13 << 7);
- for(i=2; i<TOTAL_DIGITAL_PINS; ++i) { // ignore Rx,Tx pins (0 and 1)
- mask = 1 << i;
- if( (digitalPinStatus & mask) && !(pwmStatus & mask) ) {
- digitalWrite(i, twoBytesForPorts & mask ? HIGH : LOW);
- }
- }
-}
-
-/* -----------------------------------------------------------------------------
- * check all the active digital inputs for change of state, then add any events
- * to the Serial output queue using Serial.print() */
-void checkDigitalInputs(void) {
- if(reportDigitalInputs) {
- previousDigitalInputs = digitalInputs;
- digitalInputs = PINB << 8; // get pins 8-13
- digitalInputs += PIND; // get pins 0-7
- digitalInputs = digitalInputs &~ digitalPinStatus; // ignore pins set OUTPUT
- if(digitalInputs != previousDigitalInputs) {
- // TODO: implement more ports as channels for more than 16 digital pins
- Firmata.sendDigitalPortPair(0, digitalInputs); // port 0 till more are implemented
- /* Serial.print(DIGITAL_MESSAGE,BYTE);
- Serial.print(digitalInputs % 128, BYTE); // Tx pins 0-6
- Serial.print(digitalInputs >> 7, BYTE); // Tx pins 7-13*/
- }
- }
-}
-
-// -----------------------------------------------------------------------------
-/* 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(pin > 1) { // ignore RxTx pins (0,1)
- if(mode == INPUT) {
- digitalPinStatus = digitalPinStatus &~ (1 << pin);
- pwmStatus = pwmStatus &~ (1 << pin);
- digitalWrite(pin,LOW); // turn off pin before switching to INPUT
- 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
- }
-}
-
-// -----------------------------------------------------------------------------
-/* sets bits in a bit array (int) to toggle the reporting of the analogIns
- */
-void setAnalogPinReporting(byte pin, byte state) {
- if(state == 0) {
- analogInputsToReport = analogInputsToReport &~ (1 << pin);
- }
- else { // everything but 0 enables reporting of that pin
- analogInputsToReport = analogInputsToReport | (1 << pin);
- }
- // TODO: save status to EEPROM here, if changed
-}
-
-/* -----------------------------------------------------------------------------
- * processInput() is called whenever a byte is available on the
- * Arduino's serial port. This is where the commands are handled. */
-void processInput(int inputData) {
- int command;
-
- // a few commands have byte(s) of data following the command
- if( (waitForData > 0) && (inputData < 128) ) {
- waitForData--;
- storedInputData[waitForData] = inputData;
- if( (waitForData==0) && executeMultiByteCommand ) { // got the whole message
- switch(executeMultiByteCommand) {
- case ANALOG_MESSAGE:
- setPinMode(multiByteChannel,PWM);
- analogWrite(multiByteChannel,
- (storedInputData[0] << 7) + storedInputData[1] );
- break;
- case DIGITAL_MESSAGE:
- outputDigitalBytes(storedInputData[1], storedInputData[0]); //(LSB, MSB)
- break;
- case SET_DIGITAL_PIN_MODE:
- setPinMode(storedInputData[1], storedInputData[0]); // (pin#, mode)
- if(storedInputData[0] == INPUT)
- reportDigitalInputs = true; // enable reporting of digital inputs
- break;
- case REPORT_ANALOG_PIN:
- setAnalogPinReporting(multiByteChannel,storedInputData[0]);
- break;
- case REPORT_DIGITAL_PORTS:
- // TODO: implement MIDI channel as port base for more than 16 digital inputs
- if(storedInputData[0] == 0)
- reportDigitalInputs = false;
- else
- reportDigitalInputs = true;
- break;
- }
- executeMultiByteCommand = 0;
- }
- } else {
- // remove channel info from command byte if less than 0xF0
- if(inputData < 0xF0) {
- command = inputData & 0xF0;
- multiByteChannel = inputData & 0x0F;
- } else {
- command = inputData;
- // commands in the 0xF* range don't use channel data
- }
- switch (command) { // TODO: these needs to be switched to command
- case ANALOG_MESSAGE:
- case DIGITAL_MESSAGE:
- case SET_DIGITAL_PIN_MODE:
- waitForData = 2; // two data bytes needed
- executeMultiByteCommand = command;
- break;
- case REPORT_ANALOG_PIN:
- case REPORT_DIGITAL_PORTS:
- waitForData = 1; // two data bytes needed
- executeMultiByteCommand = command;
- break;
- case SYSTEM_RESET:
- // this doesn't do anything yet
- break;
- case REPORT_VERSION:
- Firmata.printVersion();
- break;
- }
- }
-}
-
-/* -----------------------------------------------------------------------------
- * this function checks to see if there is data waiting on the serial port
- * then processes all of the stored data
- */
-void checkForSerialReceive() {
- while(Serial.available())
- processInput(Serial.read());
-}
-
-/* -----------------------------------------------------------------------------
- * these functions are for loading and saving the state of the digital pins and
- * pin reporting so that the Arduino will start up again in the same state. The
- * EEPROM is supposed to have a life of at least 100,000 writes.
- */
-void loadSettings() {
- //EEPROM.read();
-}
-
-void saveSettings() {
- EEPROM.write(ANALOGINPUTSTOREPORT_LOW_BYTE, analogInputsToReport & 0xFF);
- EEPROM.write(ANALOGINPUTSTOREPORT_HIGH_BYTE, analogInputsToReport >> 8);
- EEPROM.write(REPORTDIGITALINPUTS_BYTE, reportDigitalInputs & 0xFF);
- EEPROM.write(DIGITALPINSTATUS_LOW_BYTE, digitalPinStatus & 0xFF);
- EEPROM.write(DIGITALPINSTATUS_HIGH_BYTE, digitalPinStatus >> 8);
- EEPROM.write(PWMSTATUS_LOW_BYTE, pwmStatus & 0xFF);
- EEPROM.write(PWMSTATUS_HIGH_BYTE, pwmStatus >> 8);
-}
-
-// =============================================================================
-// used for flashing the pin for the version number
-void pin13strobe(int count, int onInterval, int offInterval) {
- byte i;
- pinMode(13, OUTPUT);
- for(i=0; i<count; i++) {
- delay(offInterval);
- digitalWrite(13,1);
- delay(onInterval);
- digitalWrite(13,0);
- }
-}
-
-/*==============================================================================
- * SETUP()
- *============================================================================*/
-void setup() {
- byte i;
-
- // flash the pin 13 with the protocol version
- pinMode(13,OUTPUT);
- pin13strobe(2,1,4); // separator, a quick burst
- delay(500);
- pin13strobe(FIRMATA_MAJOR_VERSION, 200, 400);
- delay(500);
- pin13strobe(2,1,4); // separator, a quick burst
- delay(500);
- pin13strobe(FIRMATA_MINOR_VERSION, 200, 400);
- delay(500);
- pin13strobe(2,1,4); // separator, a quick burst
-
- for(i=0; i<TOTAL_DIGITAL_PINS; ++i) {
- setPinMode(i,OUTPUT);
- }
- // TODO: load state from EEPROM here
-
- /* 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
- * change. */
-}
-
-/*==============================================================================
- * LOOP()
- *============================================================================*/
-void loop() {
-/* DIGITALREAD - as fast as possible, check for changes and output them to the
- * FTDI buffer using Serial.print() */
- checkDigitalInputs();
- if(timer0_overflow_count > nextExecuteTime) {
- nextExecuteTime = timer0_overflow_count + 19; // run this every 20ms
- /* SERIALREAD - Serial.read() uses a 128 byte circular buffer, so handle
- * all serialReads at once, i.e. empty the buffer */
- checkForSerialReceive();
- /* SEND FTDI WRITE BUFFER - make sure that the FTDI buffer doesn't go over
- * 60 bytes. use a timer to sending an event character every 4 ms to
- * trigger the buffer to dump. */
-
- /* ANALOGREAD - right after the event character, do all of the
- * analogReads(). These only need to be done every 4ms. */
- for(analogPin=0;analogPin<TOTAL_ANALOG_PINS;analogPin++) {
- if( analogInputsToReport & (1 << analogPin) )
- Firmata.sendAnalog(analogPin, analogRead(analogPin));
- }
- }
-}
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