diff options
| -rw-r--r-- | firmwares/Standard_Firmata/Makefile | 260 | ||||
| -rw-r--r-- | firmwares/Standard_Firmata/Standard_Firmata.pde | 323 |
2 files changed, 583 insertions, 0 deletions
diff --git a/firmwares/Standard_Firmata/Makefile b/firmwares/Standard_Firmata/Makefile new file mode 100644 index 0000000..8ad2d2c --- /dev/null +++ b/firmwares/Standard_Firmata/Makefile @@ -0,0 +1,260 @@ +# Arduino makefile +# +# This makefile allows you to build sketches from the command line +# without the Arduino environment (or Java). +# +# The Arduino environment does preliminary processing on a sketch before +# compiling it. If you're using this makefile instead, you'll need to do +# a few things differently: +# +# - Give your program's file a .cpp extension (e.g. foo.cpp). +# +# - Put this line at top of your code: #include <WProgram.h> +# +# - Write prototypes for all your functions (or define them before you +# call them). A prototype declares the types of parameters a +# function will take and what type of value it will return. This +# means that you can have a call to a function before the definition +# of the function. A function prototype looks like the first line of +# the function, with a semi-colon at the end. For example: +# int digitalRead(int pin); +# +# Instructions for using the makefile: +# +# 1. Copy this file into the folder with your sketch. +# +# 2. Below, modify the line containing "TARGET" to refer to the name of +# of your program's file without an extension (e.g. TARGET = foo). +# +# 3. Modify the line containg "ARDUINO" to point the directory that +# contains the Arduino core (for normal Arduino installations, this +# is the lib/targets/arduino sub-directory). +# +# 4. Modify the line containing "PORT" to refer to the filename +# representing the USB or serial connection to your Arduino board +# (e.g. PORT = /dev/tty.USB0). If the exact name of this file +# changes, you can use * as a wildcard (e.g. PORT = /dev/tty.USB*). +# +# 5. At the command line, change to the directory containing your +# program's file and the makefile. +# +# 6. Type "make" and press enter to compile/verify your program. +# +# 7. Type "make upload", reset your Arduino board, and press enter to +# upload your program to the Arduino board. +# +# $Id: Makefile,v 1.7 2007/04/13 05:28:23 eighthave Exp $ + +PORT = /dev/tty.usbserial-* +TARGET = Pd_firmware +ARDUINO = /Applications/arduino-0007 +ARDUINO_SRC = $(ARDUINO)/lib/targets/arduino +ARDUINO_LIB_SRC = $(ARDUINO)/lib/targets/libraries +INCLUDE = -I$(ARDUINO_SRC) -I$(ARDUINO)/tools/avr/avr/include \ + -I$(ARDUINO)/lib/targets/libraries/EEPROM \ + -I$(ARDUINO)/lib/targets/libraries/Firmata \ + -I$(ARDUINO)/lib/targets/libraries +SRC = $(ARDUINO_SRC)/pins_arduino.c $(ARDUINO_SRC)/wiring.c \ + $(ARDUINO_SRC)/WInterrupts.c +CXXSRC = applet/$(TARGET).cpp $(ARDUINO_SRC)/HardwareSerial.cpp \ + $(ARDUINO_LIB_SRC)/EEPROM/EEPROM.cpp \ + $(ARDUINO_LIB_SRC)/Firmata/Firmata.cpp \ + $(ARDUINO_SRC)/WRandom.cpp +MCU = atmega8 +F_CPU = 16000000 +FORMAT = ihex +UPLOAD_RATE = 19200 + +# Name of this Makefile (used for "make depend"). +MAKEFILE = Makefile + +# Debugging format. +# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2. +# AVR (extended) COFF requires stabs, plus an avr-objcopy run. +DEBUG = stabs + +OPT = s + +# Place -D or -U options here +CDEFS = -DF_CPU=$(F_CPU) +CXXDEFS = -DF_CPU=$(F_CPU) + +# Compiler flag to set the C Standard level. +# c89 - "ANSI" C +# gnu89 - c89 plus GCC extensions +# c99 - ISO C99 standard (not yet fully implemented) +# gnu99 - c99 plus GCC extensions +CSTANDARD = -std=gnu99 +CDEBUG = -g$(DEBUG) +CWARN = -Wall -Wstrict-prototypes +CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums +#CEXTRA = -Wa,-adhlns=$(<:.c=.lst) + +CFLAGS = $(CDEBUG) $(CDEFS) $(INCLUDE) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA) +CXXFLAGS = $(CDEFS) $(INCLUDE) -O$(OPT) +#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs +LDFLAGS = + + +# Programming support using avrdude. Settings and variables. +AVRDUDE_PROGRAMMER = stk500 +AVRDUDE_PORT = $(PORT) +AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex +AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \ + -b $(UPLOAD_RATE) -q -V + +# Program settings +CC = avr-gcc +CXX = avr-g++ +OBJCOPY = avr-objcopy +OBJDUMP = avr-objdump +SIZE = avr-size +NM = avr-nm +AVRDUDE = avrdude +REMOVE = rm -f +MV = mv -f + +# Define all object files. +OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o) + +# Define all listing files. +LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst) + +# Combine all necessary flags and optional flags. +# Add target processor to flags. +ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) +ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS) +ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) + + +# Default target. +all: build + echo 'close;' | /Applications/Pd-0.39.2-extended-RC1.app/Contents/Resources/bin/pdsend 34567 || true + say "press the button" + make upload + +build: applet_files elf hex + +applet_files: + test -d applet || mkdir applet + echo '#include "WProgram.h"' > applet/$(TARGET).cpp + echo '#include "avr/interrupt.h"' >> applet/$(TARGET).cpp + sed -n 's|^\(void .*)\).*|\1;|p' Pd_firmware.pde | grep -v 'setup()' | \ + grep -v 'loop()' >> applet/$(TARGET).cpp + cat $(TARGET).pde >> applet/$(TARGET).cpp + +elf: applet/$(TARGET).elf +hex: applet/$(TARGET).hex +eep: applet/$(TARGET).eep +lss: applet/$(TARGET).lss +sym: applet/$(TARGET).sym + +# Program the device. +upload: applet/$(TARGET).hex + $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) + + + + +# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. +COFFCONVERT=$(OBJCOPY) --debugging \ +--change-section-address .data-0x800000 \ +--change-section-address .bss-0x800000 \ +--change-section-address .noinit-0x800000 \ +--change-section-address .eeprom-0x810000 + + +coff: applet/$(TARGET).elf + $(COFFCONVERT) -O coff-avr applet/$(TARGET).elf applet/$(TARGET).cof + + +extcoff: applet/$(TARGET).elf + $(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf applet/$(TARGET).cof + + +.SUFFIXES: .elf .hex .eep .lss .sym + +.elf.hex: + $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ + +.elf.eep: + -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ + --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ + +# Create extended listing file from ELF output file. +.elf.lss: + $(OBJDUMP) -h -S $< > $@ + +# Create a symbol table from ELF output file. +.elf.sym: + $(NM) -n $< > $@ + + + +# Link: create ELF output file from object files. +applet/$(TARGET).elf: $(OBJ) + $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) + + +# Compile: create object files from C++ source files. +.cpp.o: + $(CXX) -c $(ALL_CXXFLAGS) $< -o $@ + +# Compile: create object files from C source files. +.c.o: + $(CC) -c $(ALL_CFLAGS) $< -o $@ + + +# Compile: create assembler files from C source files. +.c.s: + $(CC) -S $(ALL_CFLAGS) $< -o $@ + + +# Assemble: create object files from assembler source files. +.S.o: + $(CC) -c $(ALL_ASFLAGS) $< -o $@ + + + +# Target: clean project. +clean: + $(REMOVE) applet/$(TARGET).hex applet/$(TARGET).eep applet/$(TARGET).cof applet/$(TARGET).elf \ + $(TARGET).map applet/$(TARGET).sym applet/$(TARGET).lss \ + $(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d) + find $(ARDUINO)/lib/ -name '*.o' -delete + +depend: + if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \ + then \ + sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \ + $(MAKEFILE).$$$$ && \ + $(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \ + fi + echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \ + >> $(MAKEFILE); \ + $(CC) -M -mmcu=$(MCU) $(CDEFS) $(INCLUDE) $(SRC) $(ASRC) >> $(MAKEFILE) + +.PHONY: all build elf hex eep lss sym program coff extcoff clean depend + +# for emacs +etags: + make etags_`uname -s` + etags *.pde \ + $(ARDUINO_SRC)/*.[ch] \ + $(ARDUINO_SRC)/*.cpp \ + $(ARDUINO)/lib/targets/libraries/*/*.[ch] \ + $(ARDUINO)/lib/targets/libraries/*/*.cpp \ + $(ARDUINO)/tools/avr/avr/include/avr/*.[ch] \ + $(ARDUINO)/tools/avr/avr/include/*.[ch] + +etags_Darwin: +# etags -a + +etags_Linux: +# etags -a /usr/include/*.h linux/input.h /usr/include/sys/*.h + +etags_MINGW: +# etags -a /usr/include/*.h /usr/include/sys/*.h + + + diff --git a/firmwares/Standard_Firmata/Standard_Firmata.pde b/firmwares/Standard_Firmata/Standard_Firmata.pde new file mode 100644 index 0000000..2aa9da9 --- /dev/null +++ b/firmwares/Standard_Firmata/Standard_Firmata.pde @@ -0,0 +1,323 @@ +/* + * 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 <hans@at.or.at> + * help with initial protocol redesign: Jamie Allen <jamie@heavyside.net> + * much protocol discussion: the Arduino developers mailing list + * key bugfixes: Georg Holzmann <grh@mur.at> + * Gerda Strobl <gerda.strobl@student.tugraz.at> + * @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 <EEPROM.h> +#include <Firmata.h> + +/*============================================================================== + * 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<TOTAL_DIGITAL_PINS; ++i) { // ignore Rx,Tx pins (0 and 1) + mask = 1 << i; + if( (digitalPinStatus & mask) && !(pwmStatus & mask) ) { + digitalWrite(i, twoBytesForPorts & mask ? HIGH : LOW); + } + } +} + +/* ----------------------------------------------------------------------------- + * 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) { + if(reportDigitalInputs) { + previousDigitalInputs = digitalInputs; + digitalInputs = PINB << 8; // get pins 8-13 + digitalInputs += PIND; // get pins 0-7 + digitalInputs = digitalInputs &~ digitalPinStatus; // ignore pins set OUTPUT + if(digitalInputs != previousDigitalInputs) { + // TODO: implement more ports as channels for more than 16 digital pins + Firmata.sendDigitalPortPair(0, digitalInputs); // port 0 till more are implemented + /* Serial.print(DIGITAL_MESSAGE,BYTE); + Serial.print(digitalInputs % 128, BYTE); // Tx pins 0-6 + Serial.print(digitalInputs >> 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<count; i++) { + delay(offInterval); + digitalWrite(13,1); + delay(onInterval); + digitalWrite(13,0); + } +} + +/*============================================================================== + * SETUP() + *============================================================================*/ +void setup() { + byte i; + + // flash the pin 13 with the protocol version + pinMode(13,OUTPUT); + pin13strobe(2,1,4); // separator, a quick burst + delay(500); + pin13strobe(FIRMATA_MAJOR_VERSION, 200, 400); + delay(500); + pin13strobe(2,1,4); // separator, a quick burst + delay(500); + pin13strobe(FIRMATA_MINOR_VERSION, 200, 400); + delay(500); + pin13strobe(2,1,4); // separator, a quick burst + + for(i=0; i<TOTAL_DIGITAL_PINS; ++i) { + setPinMode(i,OUTPUT); + } + // 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. */ +} + +/*============================================================================== + * LOOP() + *============================================================================*/ +void loop() { +/* DIGITALREAD - as fast as possible, check for changes and output them to the + * FTDI buffer using Serial.print() */ + checkDigitalInputs(); + if(timer0_overflow_count > 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<TOTAL_ANALOG_PINS;analogPin++) { + if( analogInputsToReport & (1 << analogPin) ) + Firmata.sendAnalog(analogPin, analogRead(analogPin)); + } + } +} |