From e3dc558961f8e0d77846bc02a663a56f2b0d4b7d Mon Sep 17 00:00:00 2001
From: Hans-Christoph Steiner <eighthave@users.sourceforge.net>
Date: Tue, 31 Oct 2006 00:39:07 +0000
Subject: - digital inputs are now only sent upon change - finished conversion
to new Serial class API - upped baud rate to full speed: 115200
svn path=/trunk/externals/hardware/arduino/; revision=6198
---
Pd_firmware/Pd_firmware.pde | 98 ++++++++++++++++++++++++++++-----------------
1 file changed, 61 insertions(+), 37 deletions(-)
(limited to 'Pd_firmware')
diff --git a/Pd_firmware/Pd_firmware.pde b/Pd_firmware/Pd_firmware.pde
index a314150..d7e10bc 100644
--- a/Pd_firmware/Pd_firmware.pde
+++ b/Pd_firmware/Pd_firmware.pde
@@ -47,9 +47,12 @@
* TODO: add cycle markers to mark start of analog, digital, pulseIn, and PWM
*/
-/* firmware version numbers. The protocol is still changing, so these version
- * numbers are important */
-// cvs version: $Id $
+/* cvs version: $Id: Pd_firmware.pde,v 1.21 2006-10-31 00:39:07 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
#define MINOR_VERSION 2
@@ -61,7 +64,7 @@
/* computer<->Arduino commands
* -------------------- */
-/* 128-129 // UNUSED */
+/* 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
@@ -76,10 +79,10 @@
#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 */
+/* 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 // UNUSED */
+/* 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)
@@ -90,7 +93,7 @@
#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)
-/* 167-199 // UNUSED */
+/* 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
@@ -105,17 +108,17 @@
#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 */
+/* 214-228 // UNASSIGNED */
#define OUTPUT_TO_DIGITAL_PINS 229 // next two bytes set digital output data
-/* 230-239 // UNUSED */
+/* 230-239 // UNASSIGNED */
#define REPORT_VERSION 240 // return the firmware version
-/* 240-249 // UNUSED */
+/* 240-249 // UNASSIGNED */
#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
-/* 255 // UNUSED */
+/* 255 // UNASSIGNED */
/* two byte digital output data format
@@ -161,16 +164,21 @@ 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 = INPUT, 1 = OUTPUT */
+int digitalPinStatus = 0;
/* 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;
+ * the rest of the bits are unused and should remain 0 */
+int pwmStatus = 0;
boolean digitalInputsEnabled = true;
byte analogInputsEnabled = 6;
@@ -179,11 +187,11 @@ byte analogPin;
int analogData;
// -------------------------------------------------------------------------
-void transmitDigitalInput(byte startPin) {
+byte transmitDigitalInput(byte startPin) {
byte i;
byte digitalPin;
// byte digitalPinBit;
- byte transmitByte = 0;
+ byte returnByte = 0;
byte digitalData;
for(i=0;i<7;++i) {
@@ -198,10 +206,10 @@ digitalData = 0; // pin set to PWM, don't read
}*/
if( !(digitalPinStatus & (1 << digitalPin)) ) {
digitalData = (byte) digitalRead(digitalPin);
- transmitByte = transmitByte + ((1 << i) * digitalData);
+ returnByte = returnByte + ((1 << i) * digitalData);
}
}
- printByte(transmitByte);
+ return(returnByte);
}
@@ -226,6 +234,7 @@ void setPinMode(int pin, int mode) {
pwmStatus = pwmStatus | (1 << pin);
pinMode(pin,OUTPUT);
}
+// TODO: save status to EEPROM here, if changed
}
@@ -371,9 +380,9 @@ void processInput(byte inputData) {
firstInputByte = true;
break;
case REPORT_VERSION:
- printByte(REPORT_VERSION);
- printByte(MAJOR_VERSION);
- printByte(MINOR_VERSION);
+ Serial.print(REPORT_VERSION, BYTE);
+ Serial.print(MAJOR_VERSION, BYTE);
+ Serial.print(MINOR_VERSION, BYTE);
break;
}
}
@@ -385,19 +394,25 @@ void processInput(byte inputData) {
// -------------------------------------------------------------------------
void setup() {
byte i;
-
-// flash the pin 13 with the protocol minor version
+
+// TODO: load state from EEPROM here
+
+/* 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)
pinMode(13,OUTPUT);
for(i-0; i<MINOR_VERSION; i++) {
digitalWrite(13,1);
delay(100);
digitalWrite(13,0);
- delay(100);
+ delay(200);
}
- Serial.begin(19200);
for(i=0; i<TOTAL_DIGITAL_PINS; ++i) {
setPinMode(i,INPUT);
}
+ Serial.begin(115200);
}
// -------------------------------------------------------------------------
@@ -406,21 +421,30 @@ void loop() {
// read all digital pins, in enabled
if(digitalInputsEnabled) {
- printByte(ENABLE_DIGITAL_INPUTS);
- transmitDigitalInput(7);
- checkForInput();
- transmitDigitalInput(0);
+ 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 in Pd
- // the higher bits should be zeroed so that the 8th bit doesn't get set
- printByte(ONE_ANALOG_IN + analogPin);
- printByte(analogData >> 7); // bitshift the big stuff into the output byte
- printByte(analogData % 128); // mod by 32 for the small byte
+ /* 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();
}
}
--
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