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-rw-r--r--Pd_firmware/Pd_firmware.pde247
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
}
}
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