aboutsummaryrefslogtreecommitdiff
path: root/Pd_firmware/Pd_firmware.pde
blob: 392fb053b3b62a1eeb7a65a58d52577af1ad4942 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
/* Copyright (C) 2006 Hans-Christoph Steiner 
 *
 * 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 library 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.
 *
 * 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
 *
 * -----------------------------
 * Firmata, the Arduino firmware
 * -----------------------------
 * 
 * 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.
 *
 * @authors: Hans-Christoph Steiner <hans@at.or.at> and Jamie Allen <jamie@heavyside.net>
 * @date: 2006-05-19
 * @location: STEIM, Amsterdam, Netherlands and New York, NY
 *
 */

/* 
 * TODO: get digitalInput working
 * TODO: add pulseIn functionality
 * TODO: add software PWM for servos, etc (servo.h or pulse.h)
 * TODO: redesign protocol to accomodate boards with more I/Os
 * TODO: 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 PWM data format
 * ----------------------
 * 0  get ready for digital input bytes (ENABLE_SOFTWARE_PWM/ENABLE_PWM)
 * 1  pin #
 * 2  duty cycle expressed as 1 byte (255 = 100%)
 */

 
/* 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   low byte from analog input pin 0
 * 4   high byte from analog input pin 0 
 * 5   low byte from analog input pin 1
 * 6   high byte from analog input pin 1 
 * 7   low byte from analog input pin 2
 * 8   high byte from analog input pin 2 
 * 9   low byte from analog input pin 3
 * 10  high byte from analog input pin 3 
 * 11  low byte from analog input pin 4
 * 12  high byte from analog input pin 4 
 * 13  low byte from analog input pin 5
 * 14  high byte from analog input pin 5 
 */

#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 = 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);
      transmitByte = transmitByte + ((1 << 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() );
    }
  }
}

/* -------------------------------------------------------------------------
 * processInput() is called whenever a byte is available on the
 * Arduino's serial port.  This is where the commands are handled.
 */
void processInput(byte inputData) {
  int i;
  int mask;
  
  // a few commands have byte(s) of data following the command
  if( waitForData > 0) {  
    waitForData--;
    storedInputData[waitForData] = inputData;

    if(executeMultiByteCommand && (waitForData==0)) {
      //we got everything
      switch(executeMultiByteCommand) {
      case ENABLE_PWM:
        setPinMode(storedInputData[1],PWM);
        analogWrite(storedInputData[1], storedInputData[0]);
        break;
      case DISABLE_PWM:
        setPinMode(storedInputData[0],INPUT);
        break;
      case ENABLE_SOFTWARE_PWM:
        setPinMode(storedInputData[1],SOFTPWM);
        setSoftPwm(storedInputData[1], storedInputData[0]);     
        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<TOTAL_DIGITAL_PINS; ++i) {
        mask = 1 << i;
        if( (digitalPinStatus & mask) && !(pwmStatus & mask) && !(softPwmStatus & mask) ) {
          // inputData is a byte and mask is an int, so align the high part of mask
          digitalWrite(i, inputData & (mask >> 7));
        }        
      }
    }
  }
  else {
    switch (inputData) {
    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);
      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);
      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;  // 2 bytes needed (pin#, dutyCycle) 
      executeMultiByteCommand = inputData;
      break;
    case DISABLE_PWM:
      waitForData = 1;  // 1 byte needed (pin#)
      executeMultiByteCommand = inputData;
      break;      
    case SET_SOFTWARE_PWM_FREQ:
      waitForData = 1;  // 1 byte needed (pin#)
      executeMultiByteCommand = inputData;
      break;
    case ENABLE_SOFTWARE_PWM:
      waitForData = 2;  // 2 bytes needed (pin#, dutyCycle) 
      executeMultiByteCommand = inputData;
      break;
    case DISABLE_SOFTWARE_PWM:
      waitForData = 1;  // 1 byte needed (pin#)
      executeMultiByteCommand = inputData;
      break;
    case OUTPUT_TO_DIGITAL_PINS:   // bytes to send to digital outputs
      firstInputByte = true;
      break;
    }
  }
}


// =========================================================================

// -------------------------------------------------------------------------
void setup() {
  byte i;

  beginSerial(19200);
  for(i=0; i<TOTAL_DIGITAL_PINS; ++i) {
    setPinMode(i,INPUT);
  }
}

// -------------------------------------------------------------------------
void loop() {
  checkForInput();  
  
  // read all digital pins, in enabled
  if(digitalInputsEnabled) {
    transmitDigitalInput(0);
    checkForInput();
    transmitDigitalInput(7);
    checkForInput();
  }
  else if(analogInputsEnabled) {
    // filler bytes, since the first thing sent is always the digitalInputs
    printByte(0);
    printByte(0);
    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(analogData % 128);  // mod by 32 for the small byte
    printByte(analogData >> 7);  // bitshift the big stuff into the output byte
    checkForInput();
  }

  /* end with the cycle marker, if any of the inputs are enabled */
  if( digitalInputsEnabled || analogInputsEnabled) {
    printByte(255); 
  }
}