diff options
Diffstat (limited to 'Pd_firmware/Pd_firmware.pde')
| -rw-r--r-- | Pd_firmware/Pd_firmware.pde | 247 |
1 files changed, 110 insertions, 137 deletions
diff --git a/Pd_firmware/Pd_firmware.pde b/Pd_firmware/Pd_firmware.pde index 1a598be..ca8c79a 100644 --- a/Pd_firmware/Pd_firmware.pde +++ b/Pd_firmware/Pd_firmware.pde @@ -51,7 +51,7 @@ * TODO: use Program Control to load stored profiles from EEPROM */ -/* cvs version: $Id: Pd_firmware.pde,v 1.26 2007-03-05 04:34:32 eighthave Exp $ */ +/* cvs version: $Id: Pd_firmware.pde,v 1.27 2007-03-05 17:08:51 eighthave Exp $ */ /*============================================================================== * MESSAGE FORMATS @@ -173,16 +173,18 @@ * 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 +#define FIRMATA_MAJOR_VERSION 1 // for non-compatible changes +#define FIRMATA_MINOR_VERSION 0 // for backwards compatible changes /* total number of pins currently supported */ -#define TOTAL_ANALOG_PINS 6 -#define TOTAL_DIGITAL_PINS 14 +#define TOTAL_ANALOG_PINS 6 +#define TOTAL_DIGITAL_PINS 14 // for comparing along with INPUT and OUTPUT -#define PWM 2 +#define PWM 2 +#define MAX_DATA_BYTES 2 // max number of data bytes in non-SysEx messages +/* message command 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) @@ -199,51 +201,41 @@ * GLOBAL VARIABLES *============================================================================*/ -// circular buffer for receiving bytes from the serial port -#define RINGBUFFER_MAX 64 // must be a power of 2 -byte ringBuffer[RINGBUFFER_MAX]; -byte readPosition=0, writePosition=0; - -// 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; +/* input message handling */ +byte waitForData = 0; // this flag says the next serial input will be data byte executeMultiByteCommand = 0; // command to execute after getting multi-byte data byte multiByteChannel = 0; // channel data for multiByteCommands byte storedInputData[MAX_DATA_BYTES] = {0,0}; // multi-byte data - -byte previousDigitalInputHighByte = 0; -byte previousDigitalInputLowByte = 0; +/* digital pins */ +boolean digitalInputsEnabled = false; // output digital inputs or not byte digitalInputHighByte = 0; byte digitalInputLowByte = 0; -unsigned int digitalPinStatus = 65535;// bit-wise array to store pin status 0=INPUT, 1=OUTPUT -/* 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 = 0; - +byte previousDigitalInputHighByte = 0; // previous output to test for change +byte previousDigitalInputLowByte = 0; // previous output to test for change +int digitalPinStatus = 0; // bitwise array to store pin status 0=INPUT,1=OUTPUT +/* PWM/analog outputs */ +int pwmStatus = 0; // bitwise array to store PWM status /* analog inputs */ -unsigned int analogPinsToReport = 0; // bit-wise array to store pin reporting +unsigned int analogPinsToReport = 0; // bitwise array to store pin reporting int analogPin = 0; // counter for reading analog pins int analogData; // storage variable for data from analogRead() -/* interrupt variables */ -volatile int int_counter = 0; // ms counter for scheduling +/* timer variables */ +extern volatile unsigned long timer0_overflow_count; // timer0 from wiring.c +unsigned long nextExecuteTime; // for comparison with timer0_overflow_count /*============================================================================== * FUNCTIONS *============================================================================*/ /* ----------------------------------------------------------------------------- - * output the version message to the serial port - */ + * output the version message to the serial port */ void printVersion() { Serial.print(REPORT_VERSION, BYTE); - Serial.print(MINOR_VERSION, BYTE); - Serial.print(MAJOR_VERSION, BYTE); + Serial.print(FIRMATA_MINOR_VERSION, BYTE); + Serial.print(FIRMATA_MAJOR_VERSION, BYTE); } /* ----------------------------------------------------------------------------- - * output digital bytes received from the serial port - */ + * output digital bytes received from the serial port */ void outputDigitalBytes(byte pin0_6, byte pin7_13) { int i; int mask; @@ -260,9 +252,54 @@ void outputDigitalBytes(byte pin0_6, byte pin7_13) { } /* ----------------------------------------------------------------------------- - * processInput() is called whenever a byte is available on the - * Arduino's serial port. This is where the commands are handled. + * 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(digitalInputsEnabled) { + // this should use _SFR_IO8() + } +} + +// ----------------------------------------------------------------------------- +/* 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); + 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) { + analogPinsToReport = analogPinsToReport &~ (1 << pin); + } + else { // everything but 0 enables reporting of that pin + analogPinsToReport = analogPinsToReport | (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; @@ -270,27 +307,30 @@ void processInput(int inputData) { if( (waitForData > 0) && (inputData < 128) ) { waitForData--; storedInputData[waitForData] = inputData; - if( (waitForData==0) && executeMultiByteCommand ) { - //we got everything + 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) // enable input if set to INPUT - // TODO: enable REPORT_DIGITAL_PORTS + if(storedInputData[0] == INPUT) + digitalInputsEnabled = true; // enable reporting of digital inputs break; case REPORT_ANALOG_PIN: setAnalogPinReporting(multiByteChannel,storedInputData[0]); - //Serial.print(multiByteChannel,BYTE); - //Serial.print(storedInputData[0],BYTE); - //Serial.print(analogPinsToReport,BYTE); - //Serial.print(analogPinsToReport & (1 << multiByteChannel),BYTE); break; case REPORT_DIGITAL_PORTS: + // TODO: implement MIDI channel as port base for more than 16 digital inputs + if(storedInputData[0] == 0) + digitalInputsEnabled = false; + else + digitalInputsEnabled = true; break; } executeMultiByteCommand = 0; @@ -326,59 +366,16 @@ void processInput(int inputData) { } } - /* ----------------------------------------------------------------------------- * 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() { +void checkForSerialReceive() { while(Serial.available()) - processInput( Serial.read() ); -} - -// ----------------------------------------------------------------------------- -/* 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); - 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) { - analogPinsToReport = analogPinsToReport &~ (1 << pin); - } - else { // everything but 0 enables reporting of that pin - analogPinsToReport = analogPinsToReport | (1 << pin); - } + processInput(Serial.read()); } // ============================================================================= - // used for flashing the pin for the version number void pin13strobe(int count, int onInterval, int offInterval) { byte i; @@ -391,80 +388,57 @@ void pin13strobe(int count, int onInterval, int offInterval) { } } -// ----------------------------------------------------------------------------- -/* handle timer interrupts - Arduino runs at 16 Mhz, so we have 1000 Overflows - * per second... 1/ ((16000000 / 64) / 256) = 1 / 1000 */ -ISR(TIMER2_OVF_vect) { - int_counter++; -}; - /*============================================================================== * SETUP() *============================================================================*/ void setup() { byte i; - // TODO: load state from EEPROM here Serial.begin(57600); // 9600, 14400, 38400, 57600, 115200 - /* set up timer interrupt */ - //Timer2 Settings: Timer Prescaler /64, - TCCR2 |= (1<<CS22); - TCCR2 &= ~((1<<CS21) | (1<<CS20)); - // Use normal mode - TCCR2 &= ~((1<<WGM21) | (1<<WGM20)); - // Use internal clock - external clock not used in Arduino - ASSR |= (0<<AS2); - //Timer2 Overflow Interrupt Enable - TIMSK |= (1<<TOIE2) | (0<<OCIE2); -// RESET_TIMER2; - sei(); - - - /* 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. */ - - // flash the pin 13 with the protocol minor version (add major once > 0) + // flash the pin 13 with the protocol version pinMode(13,OUTPUT); pin13strobe(2,1,4); // separator, a quick burst delay(500); - pin13strobe(MAJOR_VERSION, 200, 400); + pin13strobe(FIRMATA_MAJOR_VERSION, 200, 400); delay(500); pin13strobe(2,1,4); // separator, a quick burst delay(500); - pin13strobe(MINOR_VERSION, 200, 400); + pin13strobe(FIRMATA_MINOR_VERSION, 200, 400); delay(500); pin13strobe(2,1,4); // separator, a quick burst - printVersion(); for(i=0; i<TOTAL_DIGITAL_PINS; ++i) { - setPinMode(i,OUTPUT); + setPinMode(i,INPUT); } + // TODO: load state from EEPROM here + + printVersion(); + + /* 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() { - + ///analogWrite(11, tmp);++tmp;delay(2); /* DIGITALREAD - as fast as possible, check for changes and output them to the - * FTDI buffer using serialWrite) */ -// this should use _SFR_IO8() - - if(int_counter > 3) { // run this every 4ms - - -/* SERIALREAD - Serial.read() uses a 128 byte circular buffer, so handle all - * serialReads at once, i.e. empty the buffer */ - checkForInput(); - -/* 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. */ + * FTDI buffer using Serial.print() */ + checkDigitalInputs(); + if(timer0_overflow_count > nextExecuteTime) { + nextExecuteTime = timer0_overflow_count + 4; // run this every 4ms + /* 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( analogPinsToReport & (1 << analogPin) ) { analogData = analogRead(analogPin); @@ -474,6 +448,5 @@ void loop() { Serial.print(analogData >> 7, BYTE); } } - int_counter = 0; // reset ms counter } } |