From 907d163a34d4da6be8d38e80bbb4a54f287c2555 Mon Sep 17 00:00:00 2001 From: Hans-Christoph Steiner Date: Mon, 17 Mar 2008 03:42:23 +0000 Subject: Removed original Firmata Arduino firmware, since it is now part of the Arduino SVN: http://svn.berlios.de/svnroot/repos/arduino/trunk/hardware/firmwares/Firmata/ svn path=/trunk/externals/hardware/arduino/; revision=9593 --- Pd_firmware/Pd_firmware.pde | 323 -------------------------------------------- 1 file changed, 323 deletions(-) delete mode 100644 Pd_firmware/Pd_firmware.pde (limited to 'Pd_firmware/Pd_firmware.pde') diff --git a/Pd_firmware/Pd_firmware.pde b/Pd_firmware/Pd_firmware.pde deleted file mode 100644 index 62affa3..0000000 --- a/Pd_firmware/Pd_firmware.pde +++ /dev/null @@ -1,323 +0,0 @@ -/* - * 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 - * help with initial protocol redesign: Jamie Allen - * much protocol discussion: the Arduino developers mailing list - * key bugfixes: Georg Holzmann - * Gerda Strobl - * @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 -#include - -/*============================================================================== - * 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> 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 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