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-rw-r--r--Pd_firmware/Pd_firmware.pde586
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();
}
generated by cgit v1.2.1 (git 2.18.0) at 2024-11-11 02:32:53 +0000