From a885c687cd2a85f36351df2a12b8aa79ea7d9198 Mon Sep 17 00:00:00 2001 From: Hans-Christoph Steiner Date: Thu, 24 Aug 2006 05:54:25 +0000 Subject: Jamie Allen's and my cleanups compile and install, but I don't know if they work yet svn path=/trunk/externals/hardware/arduino/; revision=5725 --- Pd_firmware/Pd_firmware.pde | 765 +++++++++++++++++++++++++------------------- 1 file changed, 436 insertions(+), 329 deletions(-) (limited to 'Pd_firmware/Pd_firmware.pde') diff --git a/Pd_firmware/Pd_firmware.pde b/Pd_firmware/Pd_firmware.pde index 3d667b1..8a2de1d 100644 --- a/Pd_firmware/Pd_firmware.pde +++ b/Pd_firmware/Pd_firmware.pde @@ -1,329 +1,436 @@ -/* Pd_firmware aka Pduino - * ------------------ - * - * It was designed to work with the Pd object [arduino] - * which is included in Pd-extended. This firmware could - * easily be used with other programs like Max/MSP, Processing, - * or whatever can do serial communications. - * - * (copyleft) 2006 Hans-Christoph Steiner - * @author: Hans-Christoph Steiner - * @date: 2006-05-19 - * @location: STEIM, Amsterdam, Netherlands - */ - -/* TODO - * - * - get digitalInput working - * - add pulseIn functionality - * - add software PWM for servos, etc - * - redesign protocol to accomodate boards with more I/Os - * - add cycle markers to mark start of analog, digital, pulseIn, and PWM - */ - -/* - * Pduino protocol - * =============== - * data: 0-127 - * control: 128-255 - * - * Pd->Arduino commands - * -------------------- - * 200-213 - set digital pin 0-13 to INPUT - * 214-227 - set digital pin 0-13 to OUTPUT - * 228 - UNUSED - * 229 - UNUSED - * 230 - next byte sets PWM0 value - * 231 - next byte sets PWM1 value - * 232 - next byte sets PWM2 value - * 233 - UNUSED - * 234 - UNUSED - * 235 - UNUSED - * 236 - UNUSED - * 237 - UNUSED - * 238 - disable all digital inputs - * 239 - enable all digital inputs - * 240 - disable all analog inputs - * 241 - enable 1 analog input (0) - * 242 - enable 2 analog inputs (0,1) - * 243 - enable 3 analog inputs (0-2) - * 244 - enable 4 analog inputs (0-3) - * 245 - enable 5 analog inputs (0-4) - * 246 - enable 6 analog inputs (0-5) - * 255 - cycle marker - * - * Pd->Arduino byte cycle - * ---------------------- - * 0 start of cycle marker (255/11111111) - * 1 digitalOut 0-6 bitmask - * 2 digitalOut 7-13 bitmask - * - * Arduino->Pd byte cycle - * ---------------------- - * 0 start of cycle marker (255/11111111) - * 1 digitalIn 0-6 bitmask - * 2 digitalIn 7-13 bitmask - * 3 analogIn0 byte0 - * 4 analogIn0 byte1 - * 5 analogIn1 byte0 - * 6 analogIn1 byte1 - * 7 analogIn2 byte0 - * 8 analogIn2 byte1 - * 9 analogIn3 byte0 - * 10 analogIn3 byte1 - * 11 analogIn4 byte0 - * 12 analogIn4 byte1 - * 13 analogIn5 byte0 - * 14 analogIn5 byte1 - */ - -/* - * CAUTION!! Be careful with the Serial Monitor, it could freeze - * your computer with this firmware running! It outputs data - * without a delay() so its very fast. - */ - -#define TOTAL_DIGITAL_PINS 14 - -// for comparing along with INPUT and OUTPUT -#define PWM 2 - -// this flag says the next serial input will be PWM data -byte waitForPWMData = 0; - -// this flag says the first data byte for the digital outs is next -boolean firstInputByte = false; - -/* this int serves as an array of bits to store pin status - * 0 = INPUT, 1 = OUTPUT - */ -int digitalPinStatus; - -/* 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; - -boolean digitalInputsEnabled = true; -byte analogInputsEnabled = 6; - -byte analogPin; -int analogData; - -// ------------------------------------------------------------------------- -void transmitDigitalInput(byte startPin) { - byte i; - byte digitalPin; - byte digitalPinBit; - byte transmitByte; - 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 - } - else { - digitalData = digitalRead(digitalPin); - } -/* the next line probably needs to be re-thought (i.e. it might not work...) since my - first attempt was miserably wrong. */ - transmitByte = transmitByte + ((2^i)*digitalData); - } - printByte(transmitByte); -} - -// ------------------------------------------------------------------------- -/* 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); - } -} - -// ------------------------------------------------------------------------- -/* this function checks to see if there is data waiting on the serial port - * then processes all of the stored data - */ -void checkForInput() { - if(serialAvailable()) { - while(serialAvailable()) { - processInput( (byte)serialRead() ); - } - } -} - -// ------------------------------------------------------------------------- -void processInput(byte inputData) { - int i; - int mask; - - // the PWM commands (230-232) have a byte of data following the command - if (waitForPWMData > 0) { - // printByte(150); - // printByte(inputData); - analogWrite(waitForPWMData,inputData); - waitForPWMData = 0; - } - else if(inputData < 128) { - // printByte(151); - if(firstInputByte) { - // printByte(160); - for(i=0; i<7; ++i) { - mask = 1 << i; - //printByte(254); - //printByte(i); - //printByte(mask); - if(digitalPinStatus & mask) { - digitalWrite(i, inputData & mask); - //printByte(inputData & mask); - } - } - firstInputByte = false; - } - else { - // printByte(161); - // output data for pins 7-13 - for(i=7; i> 7)); - //printByte(inputData & (mask >> 7)); - } - } - } - } - else { - // printByte(152); - // printByte(inputData); - switch (inputData) { - case 200: - case 201: - case 202: - case 203: - case 204: - case 205: - case 206: - case 207: - case 208: - case 209: - case 210: - case 211: - case 212: - case 213: - setPinMode(inputData-200,INPUT); - break; - case 214: - case 215: - case 216: - case 217: - case 218: - case 219: - case 220: - case 221: - case 222: - case 223: - case 224: - case 225: - case 226: - case 227: - setPinMode(inputData-214,OUTPUT); - break; - case 230: - case 231: - case 232: - waitForPWMData = inputData - 221; // set waitForPWMData to the PWM pin number - setPinMode(waitForPWMData, PWM); - break; - case 238: // all digital inputs off - digitalInputsEnabled = false; - break; - case 239: // all digital inputs on - digitalInputsEnabled = true; - break; - case 240: // analog input off - case 241: // analog 0 on - case 242: // analog 0,1 on - case 243: // analog 0-2 on - case 244: // analog 0-3 on - case 245: // analog 0-4 on - case 246: // analog 0-5 on - analogInputsEnabled = inputData - 240; - break; - case 255: // incoming digital output bytes - firstInputByte = true; - break; - } - } -} - -// ========================================================================= - -// ------------------------------------------------------------------------- -void setup() { - byte i; - - beginSerial(9600); - for(i=0; i> 7); // bitshift the big stuff into the output byte - printByte(analogData % 128); // mod by 32 for the small byte - checkForInput(); - } - - /* end with the cycle marker, if any of the inputs are enabled */ - if( digitalInputsEnabled || analogInputsEnabled) { - printByte(255); - } -} +/* Arduino firmware aka Firmata + * ------------------ + * + * It was designed to work with the Pd object [arduino] + * which is included in Pd-extended. This firmware could + * easily be used with other programs like Max/MSP, Processing, + * or whatever can do serial communications. + * + * (copyleft) 2006 Hans-Christoph Steiner + * @author: Hans-Christoph Steiner + * @date: 2006-05-19 + * @location: STEIM, Amsterdam, Netherlands + */ + +/* TODO + * + * - get digitalInput working + * - add pulseIn functionality + * - add software PWM for servos, etc + * - redesign protocol to accomodate boards with more I/Os + * - add cycle markers to mark start of analog, digital, pulseIn, and PWM + */ + +/* firmata protocol + * =============== + * data: 0-127 + * control: 128-255 + */ + +/* computer->Arduino commands + * -------------------- */ + /* 128-129 // UNUSED */ +#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 // UNUSED */ +#define DISABLE_DIGITAL_INPUTS 150 // disable reporting of digital inputs +#define ENABLE_DIGITAL_INPUTS 151 // enable reporting of digital inputs +/* 152-159 // UNUSED */ +#define DISABLE_ALL_ANALOG_INS 160 // disable reporting on all analog ins +#define ENABLE_ONE_ANALOG_IN 161 // enable reporting for 1 analog in (0) +#define ENABLE_TWO_ANALOG_INS 162 // enable reporting for 2 analog ins (0,1) +#define ENABLE_THREE_ANALOG_INS 163 // enable reporting for 3 analog ins (0-2) +#define ENABLE_FOUR_ANALOG_INS 164 // enable reporting for 4 analog ins (0-3) +#define ENABLE_FIVE_ANALOG_INS 165 // enable reporting for 5 analog ins (0-4) +#define ENABLE_SIX_ANALOG_INS 166 // enable reporting for 6 analog ins (0-5) +/* 167-199 // UNUSED */ +#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 // UNUSED */ +#define OUTPUT_TO_DIGITAL_PINS 229 // next two bytes set digital output data +/* 230-249 // UNUSED */ +#define DISABLE_PWM 250 // next byte sets pin # to disable +#define ENABLE_PWM 251 // next two bytes set pin # and duty cycle +#define DISABLE_SOFTWARE_PWM 252 // next byte sets pin # to disable +#define ENABLE_SOFTWARE_PWM 253 // next two bytes set pin # and duty cycle +#define SET_SOFTWARE_PWM_FREQ 254 // set master frequency for software PWMs +/* 252-254 // UNUSED */ +#define INPUT_CYCLE_MARKER 255 // input cycle marker + + +/* two byte digital output data format + * ---------------------- + * 0 get ready for digital input bytes (229) + * 1 digitalOut 0-6 bitmask + * 2 digitalOut 7-13 bitmask + */ + + /* two byte software PWM data format + * ---------------------- + * 0 get ready for digital input bytes (250/251) + * 1 pin # + * 2 pulse width + */ + + +/* Arduino->Computer byte cycle + * ---------------------- + * 0 start of cycle marker (255/11111111) + * 1 digital read from Arduino // 0-6 bitmask + * 2 digital read from Arduino // 7-13 bitmask + * 3 analog input pin 0 from Arduino // byte 0 + * 4 analog input pin 1 from Arduino // byte 1 + * 5 analog input pin 2 from Arduino // byte 2 + * 6 analog input pin 3 from Arduino // byte 3 + * 7 analog input pin 4 from Arduino // byte 4 + * 8 analog input pin 5 from Arduino // byte 5 + * 9 analog input pin 6 from Arduino // byte 6 + * 10 analog input pin 7 from Arduino // byte 10 + * 11 analog input pin 8 from Arduino // byte 11 + * 12 analog input pin 9 from Arduino // byte 12 + * 13 analog input pin 10 from Arduino // byte 13 + * 14 analog input pin 11 from Arduino // byte 14 + */ + +/* + * CAUTION!! Be careful with the Serial Monitor, it could freeze + * your computer with this firmware running! It outputs data + * without a delay() so its very fast. + */ + +#define TOTAL_DIGITAL_PINS 14 + +// for comparing along with INPUT and OUTPUT +#define PWM 2 +#define SOFTPWM 3 + +// maximum number of post-command data bytes +#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; + +/* this int serves as a bit-wise array to store pin status + * 0 = INPUT, 1 = OUTPUT + */ +int digitalPinStatus; + +/* 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; + +/* this byte stores the status of whether software PWM is on or not */ +/* 00000010 00000000 means bit 10 is softWarePWM enabled */ +int softPwmStatus; + +boolean digitalInputsEnabled = true; +byte analogInputsEnabled = 6; + +byte analogPin; +int analogData; + +// ------------------------------------------------------------------------- +void transmitDigitalInput(byte startPin) { + byte i; + byte digitalPin; + byte digitalPinBit; + byte transmitByte; + 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 + } + else { + digitalData = digitalRead(digitalPin); + } +/* the next line probably needs to be re-thought (i.e. it might not work...) since my + first attempt was miserably wrong. */ + transmitByte = transmitByte + ((2^i)*digitalData); + } + printByte(transmitByte); +} + + + +// ------------------------------------------------------------------------- +/* 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); + softPwmStatus = softPwmStatus &~ (1 << pin); + pinMode(pin,OUTPUT); + } + else if(mode == SOFTPWM) { + digitalPinStatus = digitalPinStatus | (1 << pin); + pwmStatus = pwmStatus &~ (1 << pin); + softPwmStatus = softPwmStatus | (1 << pin); + pinMode(pin,OUTPUT); + } +} + +void setSoftPwm (int pin, byte pulsePeriod) { + byte i; +/* for(i=0; i<7; ++i) { + mask = 1 << i; + if(digitalPinStatus & mask) { + digitalWrite(i, inputData & mask); + } + } + */ + //read timer type thing + + //loop through each pin, turn them on if selected + //softwarePWMStatus + //check timer type thing against pulsePeriods for each pin + //throw pin low if expired +} + +void setSoftPwmFreq(byte freq) { +} + + +void disSoftPwm(int pin) { + //throw pin low + +} + + +// ------------------------------------------------------------------------- +/* this function checks to see if there is data waiting on the serial port + * then processes all of the stored data + */ +void checkForInput() { + if(serialAvailable()) { + while(serialAvailable()) { + processInput( (byte)serialRead() ); + } + } +} + +// ------------------------------------------------------------------------- +void processInput(byte inputData) { + int i; + int mask; + + // a few commands have byte(s) of data following the command + if( waitForData > 0 ) { + storedInputData[waitForData - 1] = inputData; + //analogWrite(waitForPWMData,inputData); + waitForData--; + } + else if(executeMultiByteCommand) { + //we got everything + switch(executeMultiByteCommand) { + case ENABLE_PWM: + case DISABLE_PWM: + //PWM 0 on the board is PIN 9 + analogWrite(storedInputData[0] + 9, storedInputData[1]); + break; + case ENABLE_SOFTWARE_PWM: + setPinMode(storedInputData[0],SOFTPWM); + setSoftPwm(storedInputData[0], storedInputData[1]); + break; + case DISABLE_SOFTWARE_PWM: + disSoftPwm(storedInputData[0]); + break; + case SET_SOFTWARE_PWM_FREQ: + setSoftPwmFreq(storedInputData[0]); + break; + } + executeMultiByteCommand = 0; + } + + else if(inputData < 128) { + if(firstInputByte) { // + for(i=0; i<7; ++i) { + mask = 1 << i; + if(digitalPinStatus & mask) { + digitalWrite(i, inputData & mask); + } + } + firstInputByte = false; + } + else { // + // output data for pins 7-13 + for(i=7; i> 7)); + } + } + } + } + else { + switch (inputData) { + case SET_PIN_ZERO_TO_IN: + 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); + break; + case SET_PIN_ZERO_TO_OUT: + 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); + break; + case DISABLE_DIGITAL_INPUTS: // all digital inputs off + digitalInputsEnabled = false; + break; + case ENABLE_DIGITAL_INPUTS: // all digital inputs on + digitalInputsEnabled = true; + break; + case DISABLE_ALL_ANALOG_INS: // analog input off + case ENABLE_ONE_ANALOG_IN: // analog 0 on + case ENABLE_TWO_ANALOG_INS: // analog 0,1 on + case ENABLE_THREE_ANALOG_INS: // analog 0-2 on + case ENABLE_FOUR_ANALOG_INS: // analog 0-3 on + case ENABLE_FIVE_ANALOG_INS: // analog 0-4 on + case ENABLE_SIX_ANALOG_INS: // analog 0-5 on + analogInputsEnabled = inputData - DISABLE_ALL_ANALOG_INS; + break; + case ENABLE_PWM: + waitForData = 2; // (pin#, dutyCycle) + executeMultiByteCommand = inputData; + break; + case DISABLE_PWM: + waitForData = 1; // pin# + executeMultiByteCommand = inputData; + break; + case SET_SOFTWARE_PWM_FREQ: + waitForData = 1; // pin# + executeMultiByteCommand = inputData; + break; + case ENABLE_SOFTWARE_PWM: + waitForData = 2; // (pin#, dutyCycle) + executeMultiByteCommand = inputData; + break; + case DISABLE_SOFTWARE_PWM: + waitForData = 1; // pin# + executeMultiByteCommand = inputData; + break; + case OUTPUT_TO_DIGITAL_PINS: // bytes to send to digital outputs + firstInputByte = true; + break; + } + } +} + + +// ========================================================================= + +// ------------------------------------------------------------------------- +void setup() { + byte i; + + beginSerial(9600); + for(i=0; i> 7); // bitshift the big stuff into the output byte + printByte(analogData % 128); // mod by 32 for the small byte + checkForInput(); + } + + /* end with the cycle marker, if any of the inputs are enabled */ + if( digitalInputsEnabled || analogInputsEnabled) { + printByte(255); + } +} -- cgit v1.2.1