Moving the processing-5503 branch (used for Arduino 0017) into the trunk.

1 files changed, 190 insertions, 123 deletions

diff --git a/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde b/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde
index 4cc8539..16c8b87 100644
--- a/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde
+++ b/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde
@@ -1,21 +1,24 @@
 /*
   Copyright (C) 2006-2008 Hans-Christoph Steiner.  All rights reserved.
- 
+  
   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.
  
   See file LICENSE.txt for further informations on licensing terms.
- */
+
+  formatted using the GNU C formatting and indenting
+*/
+
 
 /* 
- * TODO: add Servo support using setPinMode(pin, SERVO);
+ * TODO: add Servo support using setPinModeCallback(pin, SERVO);
  * TODO: use Program Control to load stored profiles from EEPROM
  */
 
-#include <EEPROM.h>
 #include <Firmata.h>
+#include <Servo.h>
 
 /*==============================================================================
  * GLOBAL VARIABLES
@@ -34,37 +37,45 @@ byte portStatus[TOTAL_PORTS];
 /* timer variables */
 unsigned long currentMillis;     // store the current value from millis()
 unsigned long nextExecuteMillis; // for comparison with currentMillis
+int samplingInterval = 19;      // how often to run the main loop (in ms)
 
+Servo servos[2]; // the servo library can control servos on pins 9 and 10 only
 
 /*==============================================================================
- * FUNCTIONS                                                                
+ * FUNCTIONS
  *============================================================================*/
 
 void outputPort(byte portNumber, byte portValue)
 {
   portValue = portValue &~ portStatus[portNumber];
   if(previousPINs[portNumber] != portValue) {
-        Firmata.sendDigitalPort(portNumber, portValue); 
-        previousPINs[portNumber] = portValue;
-        Firmata.sendDigitalPort(portNumber, portValue); 
-    }
+    Firmata.sendDigitalPort(portNumber, portValue);
+    previousPINs[portNumber] = portValue;
+    Firmata.sendDigitalPort(portNumber, portValue);
+  }
 }
 
 /* -----------------------------------------------------------------------------
  * 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) 
+void checkDigitalInputs(void)
 {
-    byte i, tmp;
-    for(i=0; i < TOTAL_PORTS; i++) {
-        if(reportPINs[i]) {
-            switch(i) {
-            case 0: outputPort(0, PIND &~ B00000011); break; // ignore Rx/Tx 0/1
-            case 1: outputPort(1, PINB); break;
-            case ANALOG_PORT: outputPort(ANALOG_PORT, PINC); break;
-            }
-        }
+  byte i, tmp;
+  for(i=0; i < TOTAL_PORTS; i++) {
+    if(reportPINs[i]) {
+      switch(i) {
+      case 0:
+        outputPort(0, PIND &~ B00000011); // ignore Rx/Tx 0/1
+        break;
+      case 1:
+        outputPort(1, PINB);
+        break;
+      case ANALOG_PORT:
+        outputPort(ANALOG_PORT, PINC);
+        break;
+      }
     }
+  }
 }
 
 // -----------------------------------------------------------------------------
@@ -72,61 +83,88 @@ void checkDigitalInputs(void)
  * two bit-arrays that track Digital I/O and PWM status
  */
 void setPinModeCallback(byte pin, int mode) {
-    byte port = 0;
-    byte offset = 0;
-
-    if (pin < 8) {
-      port = 0;
-      offset = 0;
-    } else if (pin < 14) {
-      port = 1;
-      offset = 8;     
-    } else if (pin < 22) {
-      port = 2;
-      offset = 14;
-    }
+  byte port = 0;
+  byte offset = 0;
 
-    if(pin > 1) { // ignore RxTx (pins 0 and 1)
+  // TODO: abstract for different boards
+  if (pin < 8) {
+    port = 0;
+    offset = 0;
+  } else if (pin < 14) {
+    port = 1;
+    offset = 8;
+  } else if (pin < 22) {
+    port = 2;
+    offset = 14;
+  }
+  
+  if(pin > 1) { // ignore RxTx (pins 0 and 1)
+    if(pin > 13) 
+      reportAnalogCallback(pin - 14, mode == ANALOG ? 1 : 0); // turn on/off reporting
+    switch(mode) {
+    case ANALOG:
+      digitalWrite(pin, LOW); // disable internal pull-ups and fall thru to 'case INPUT:'
+    case INPUT:
+      pinStatus[pin] = mode;
+      pinMode(pin, INPUT);
+      portStatus[port] = portStatus[port] &~ (1 << (pin - offset));
+      break;
+    case OUTPUT:
+      digitalWrite(pin, LOW); // disable PWM and fall thru to 'case PWM:' 
+    case PWM:
+      pinStatus[pin] = mode;
+      pinMode(pin, OUTPUT);
+      portStatus[port] = portStatus[port] | (1 << (pin - offset));
+      break;
+    case SERVO:
+      if((pin == 9 || pin == 10))
         pinStatus[pin] = mode;
-        switch(mode) {
-        case INPUT:
-            pinMode(pin, INPUT);
-            portStatus[port] = portStatus[port] &~ (1 << (pin - offset));
-            break;
-        case OUTPUT:
-            digitalWrite(pin, LOW); // disable PWM
-        case PWM:
-            pinMode(pin, OUTPUT);
-            portStatus[port] = portStatus[port] | (1 << (pin - offset));
-            break;
-        //case ANALOG: // TODO figure this out
-        default:
-            Firmata.sendString("");
-        }
-        // TODO: save status to EEPROM here, if changed
+      else
+        Firmata.sendString("Servo only on pins 9 and 10");
+      break;
+    case I2C:
+      pinStatus[pin] = mode;
+      Firmata.sendString("I2C mode not yet supported");
+      break;
+    default:
+      Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM
     }
+    // TODO: save status to EEPROM here, if changed
+  }
 }
 
 void analogWriteCallback(byte pin, int value)
 {
-    setPinModeCallback(pin,PWM);
+  switch(pinStatus[pin]) {
+  case SERVO:
+    if(pin == 9)  servos[0].write(value);
+    if(pin == 10) servos[1].write(value);
+    break;
+  case PWM:
     analogWrite(pin, value);
+    break;
+  }
 }
 
 void digitalWriteCallback(byte port, int value)
 {
-    switch(port) {
-    case 0: // pins 2-7 (don't change Rx/Tx, pins 0 and 1)
-        // 0xFF03 == B1111111100000011    0x03 == B00000011
-        PORTD = (value &~ 0xFF03) | (PORTD & 0x03);
-        break;
-    case 1: // pins 8-13 (14,15 are disabled for the crystal) 
-        PORTB = (byte)value;
-        break;
-    case 2: // analog pins used as digital
-        PORTC = (byte)value;
-        break;
-    }
+  switch(port) {
+  case 0: // pins 2-7 (don't change Rx/Tx, pins 0 and 1)
+    // 0xFF03 == B1111111100000011    0x03 == B00000011
+    PORTD = (value &~ 0xFF03) | (PORTD & 0x03);
+    break;
+  case 1: // pins 8-13 (14,15 are disabled for the crystal) 
+    PORTB = (byte)value;
+    break;
+  case 2: // analog pins used as digital
+    byte pin;
+    byte pinModeMask;
+    for(pin=0; pin<8; pin++)
+      if(pinStatus[pin] == OUTPUT)
+        pinModeMask += 1 << pin;
+    PORTC = (byte)value & pinModeMask;
+    break;
+  }
 }
 
 // -----------------------------------------------------------------------------
@@ -136,64 +174,93 @@ void digitalWriteCallback(byte port, int value)
 //}
 void reportAnalogCallback(byte pin, int value)
 {
-    if(value == 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
+  if(value == 0) {
+    analogInputsToReport = analogInputsToReport &~ (1 << pin);
+  }
+  else { // everything but 0 enables reporting of that pin
+    analogInputsToReport = analogInputsToReport | (1 << pin);
+    setPinModeCallback(pin, ANALOG);
+  }
+  // TODO: save status to EEPROM here, if changed
 }
 
 void reportDigitalCallback(byte port, int value)
 {
-    reportPINs[port] = (byte)value;
-    if(port == ANALOG_PORT) // turn off analog reporting when used as digital
-        analogInputsToReport = 0;
+  reportPINs[port] = (byte)value;
+  if(port == ANALOG_PORT) // turn off analog reporting when used as digital
+    analogInputsToReport = 0;
+}
+
+/*==============================================================================
+ * SYSEX-BASED commands
+ *============================================================================*/
+
+void sysexCallback(byte command, byte argc, byte *argv)
+{
+  switch(command) {
+  case SERVO_CONFIG:
+    if(argc > 4) {
+      // these vars are here for clarity, they'll optimized away by the compiler
+      byte pin = argv[0] - 9; // servos are pins 9 and 10, so offset for array
+      int minPulse = argv[1] + (argv[2] << 7);
+      int maxPulse = argv[3] + (argv[4] << 7);
+      servos[pin].attach(argv[0], minPulse, maxPulse);
+      // TODO does the Servo have to be detach()ed before reconfiguring?
+      setPinModeCallback(pin, SERVO);
+    }
+    break;
+  case SAMPLING_INTERVAL:
+    if (argc > 1)
+      samplingInterval = argv[0] + (argv[1] << 7);
+    else
+      Firmata.sendString("Not enough data");
+    break;
+  }
 }
 
+
 /*==============================================================================
  * SETUP()
  *============================================================================*/
 void setup() 
 {
-    byte i;
+  byte i;
 
-    Firmata.setFirmwareVersion(2, 0);
+  Firmata.setFirmwareVersion(2, 1);
 
-    Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
-    Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback);
-    Firmata.attach(REPORT_ANALOG, reportAnalogCallback);
-    Firmata.attach(REPORT_DIGITAL, reportDigitalCallback);
-    Firmata.attach(SET_PIN_MODE, setPinModeCallback);
+  Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
+  Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback);
+  Firmata.attach(REPORT_ANALOG, reportAnalogCallback);
+  Firmata.attach(REPORT_DIGITAL, reportDigitalCallback);
+  Firmata.attach(SET_PIN_MODE, setPinModeCallback);
+  Firmata.attach(START_SYSEX, sysexCallback);
 
-    portStatus[0] = B00000011;  // ignore Tx/RX pins
-    portStatus[1] = B11000000;  // ignore 14/15 pins 
-    portStatus[2] = B00000000;
+  portStatus[0] = B00000011;  // ignore Tx/RX pins
+  portStatus[1] = B11000000;  // ignore 14/15 pins 
+  portStatus[2] = B00000000;
 
-//    for(i=0; i<TOTAL_DIGITAL_PINS; ++i) { // TODO make this work with analogs
-    for(i=0; i<14; ++i) {
-        setPinModeCallback(i,OUTPUT);
-    }
-    // set all outputs to 0 to make sure internal pull-up resistors are off
-    PORTB = 0; // pins 8-15
-    PORTC = 0; // analog port
-    PORTD = 0; // pins 0-7
-
-    // TODO rethink the init, perhaps it should report analog on default
-    for(i=0; i<TOTAL_PORTS; ++i) {
-        reportPINs[i] = false;
-    }
-    // TODO: load state from EEPROM here
+  for(i=0; i<TOTAL_DIGITAL_PINS; ++i) { // TODO make this work with analogs
+    setPinModeCallback(i,OUTPUT);
+  }
+  // set all outputs to 0 to make sure internal pull-up resistors are off
+  PORTB = 0; // pins 8-15
+  PORTC = 0; // analog port
+  PORTD = 0; // pins 0-7
+
+  // TODO rethink the init, perhaps it should report analog on default
+  for(i=0; i<TOTAL_PORTS; ++i) {
+    reportPINs[i] = false;
+  }
+  // TODO: load state from EEPROM here
 
-    /* send digital inputs here, if enabled, to set the initial state on the
-     * host computer, since once in the loop(), this firmware will only send
-     * digital data on change. */
-    if(reportPINs[0]) outputPort(0, PIND &~ B00000011); // ignore Rx/Tx 0/1
-    if(reportPINs[1]) outputPort(1, PINB);
-    if(reportPINs[ANALOG_PORT]) outputPort(ANALOG_PORT, PINC);
+  /* send digital inputs here, if enabled, to set the initial state on the
+   * host computer, since once in the loop(), this firmware will only send
+   * digital data on change. */
+  if(reportPINs[0]) outputPort(0, PIND &~ B00000011); // ignore Rx/Tx 0/1
+  if(reportPINs[1]) outputPort(1, PINB);
+  if(reportPINs[ANALOG_PORT]) outputPort(ANALOG_PORT, PINC);
 
-    Firmata.begin();
+  Firmata.begin(57600);
 }
 
 /*==============================================================================
@@ -201,26 +268,26 @@ void setup()
  *============================================================================*/
 void loop() 
 {
-/* DIGITALREAD - as fast as possible, check for changes and output them to the
- * FTDI buffer using Serial.print()  */
-    checkDigitalInputs();  
-    currentMillis = millis();
-    if(currentMillis > nextExecuteMillis) {  
-        nextExecuteMillis = currentMillis + 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 */
-        while(Firmata.available())
-            Firmata.processInput();
-        /* 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. */
+  /* DIGITALREAD - as fast as possible, check for changes and output them to the
+   * FTDI buffer using Serial.print()  */
+  checkDigitalInputs();  
+  currentMillis = millis();
+  if(currentMillis > nextExecuteMillis) {  
+    nextExecuteMillis = currentMillis + samplingInterval;
+    /* SERIALREAD - Serial.read() uses a 128 byte circular buffer, so handle
+     * all serialReads at once, i.e. empty the buffer */
+    while(Firmata.available())
+      Firmata.processInput();
+    /* 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( analogInputsToReport & (1 << analogPin) ) {
-                Firmata.sendAnalog(analogPin, analogRead(analogPin));
-            }
-        }
+    /* 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( analogInputsToReport & (1 << analogPin) ) {
+        Firmata.sendAnalog(analogPin, analogRead(analogPin));
+      }
     }
+  }
 }