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| -rw-r--r-- | firmwares/Firmata/Firmata.pde | 465 |
1 files changed, 465 insertions, 0 deletions
diff --git a/firmwares/Firmata/Firmata.pde b/firmwares/Firmata/Firmata.pde new file mode 100644 index 0000000..d3c6dad --- /dev/null +++ b/firmwares/Firmata/Firmata.pde @@ -0,0 +1,465 @@ +/* + * 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 + */ + +/* + * 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 1.29 2007/03/08 05:37:22 eighthave Exp $ */ +/* svn version: 334 */ + +/*============================================================================== + * MESSAGE FORMATS + *============================================================================*/ + +/* ----------------------------------------------------------------------------- + * MAPPING DATA TO MIDI + * + * This protocol uses the MIDI message format, but does not use the whole + * protocol. Most of the command mappings here will not be directly usable in + * terms of MIDI controllers and synths. It should co-exist with MIDI without + * trouble and can be parsed by standard MIDI interpreters. Just some of the + * message data is used differently. + * + * MIDI format: http://www.harmony-central.com/MIDI/Doc/table1.html + * + * MIDI + * type command channel first byte second byte + * ----------------------------------------------------------------------------- + * analog I/O 0xE0 pin # LSB(bits 0-6) MSB(bits 7-13) + * digital I/O 0x90 port base LSB(bits 0-6) MSB(bits 7-13) + * report analog pin 0xC0 pin # disable/enable(0/1) - n/a - + * report digital ports 0xD0 port base disable/enable(0/1) - n/a - + * + * digital pin mode(I/O) 0xF4 - n/a - pin # (0-63) pin state(0=in) + * firmware version 0xF9 - n/a - minor version major version + * system reset 0xFF - n/a - - n/a - - n/a - + * + */ + +/* proposed extensions using SysEx + * + * type SysEx start command data bytes SysEx stop + * ----------------------------------------------------------------------------- + * pulse I/O 0xF0 0xA0 five 7-bit chunks, LSB first 0xF7 + * shiftOut 0xF0 0xF5 dataPin; clockPin; 7-bit LSB; 7-bit MSB 0xF7 + */ + +/* ----------------------------------------------------------------------------- + * DATA MESSAGE FORMAT */ + +/* two byte digital data format + * ---------------------------- + * 0 digital data, 0x90-0x9F, (MIDI NoteOn, but different data usage) + * 1 digital pins 0-6 bitmask + * 2 digital pins 7-13 bitmask + */ + +/* analog 14-bit data format + * ------------------------- + * 0 analog pin, 0xE0-0xEF, (MIDI Pitch Wheel) + * 1 analog least significant 7 bits + * 2 analog most significant 7 bits + */ + +/* version report format + * Send a single byte 0xF9, Arduino will reply with: + * ------------------------------------------------- + * 0 version report header (0xF9) (MIDI Undefined) + * 1 minor version (0-127) + * 2 major version (0-127) + */ + +/* pulseIn/Out (uses 32-bit value) + * ------------------------------- + * 0 START_SYSEX (0xF0) (MIDI System Exclusive) + * 1 pulseIn/Out (0xA0-0xAF) + * 2 bits 0-6 (least significant byte) + * 3 bits 7-13 + * 4 bits 14-20 + * 5 bits 21-27 + * 6 bits 28-34 (most significant byte) + * 7 END_SYSEX (0xF7) (MIDI End of SysEx - EOX) + */ + +/* shiftIn/Out (uses 8-bit value) + * ------------------------------ + * 0 START_SYSEX (0xF0) + * 1 shiftOut (0xF5) + * 2 dataPin (0-127) + * 3 clockPin (0-127) + * 4 bits 0-6 (least significant byte) + * 5 bit 7 (most significant bit) + * 6 END_SYSEX (0xF7) + */ + +/* ----------------------------------------------------------------------------- + * CONTROL MESSAGES */ + +/* set digital pin mode + * -------------------- + * 1 set digital pin mode (0xF4) (MIDI Undefined) + * 2 pin number (0-127) + * 3 state (INPUT/OUTPUT, 0/1) + */ + +/* toggle analogIn reporting by pin + * -------------------------------- + * 0 toggle digitalIn reporting (0xC0-0xCF) (MIDI Program Change) + * 1 disable(0)/enable(non-zero) + */ + +/* toggle digitalIn reporting by port pairs + * ---------------------------------------- + * 0 toggle digitalIn reporting (0xD0-0xDF) (MIDI Aftertouch) + * 1 disable(0)/enable(non-zero) + */ + +/* request version report + * ---------------------- + * 0 request version report (0xF9) (MIDI Undefined) + */ + +/*============================================================================== + * MACROS + *============================================================================*/ + +/* 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 FIRMATA_MAJOR_VERSION 1 // for non-compatible changes +#define FIRMATA_MINOR_VERSION 0 // for backwards compatible changes + +/* total number of pins currently supported */ +#define TOTAL_ANALOG_PINS 6 +#define TOTAL_DIGITAL_PINS 14 + +// for comparing along with INPUT and OUTPUT +#define PWM 2 + +// for selecting digital inputs +#define PB 2 // digital input, pins 8-13 +#define PC 3 // analog input port +#define PD 4 // digital input, pins 0-7 + +#define MAX_DATA_BYTES 2 // max number of data bytes in non-SysEx messages +/* message command bytes */ +#define DIGITAL_MESSAGE 0x90 // send data for a digital pin +#define ANALOG_MESSAGE 0xE0 // send data for an analog pin (or PWM) +//#define PULSE_MESSAGE 0xA0 // proposed pulseIn/Out message (SysEx) +//#define SHIFTOUT_MESSAGE 0xB0 // proposed shiftOut message (SysEx) +#define REPORT_ANALOG_PIN 0xC0 // enable analog input by pin # +#define REPORT_DIGITAL_PORTS 0xD0 // enable digital input by port pair +#define START_SYSEX 0xF0 // start a MIDI SysEx message +#define SET_DIGITAL_PIN_MODE 0xF4 // set a digital pin to INPUT or OUTPUT +#define END_SYSEX 0xF7 // end a MIDI SysEx message +#define REPORT_VERSION 0xF9 // report firmware version +#define SYSTEM_RESET 0xFF // reset from MIDI + +/*============================================================================== + * 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 digitalInputsEnabled = false; // output digital inputs or not +int digitalInputs; +int previousDigitalInputs; // previous output to test for change +int digitalPinStatus = 3; // bitwise array to store pin status, ignore RxTx pins +/* PWM/analog outputs */ +int pwmStatus = 0; // bitwise array to store PWM status +/* analog inputs */ +unsigned int analogPinsToReport = 0; // bitwise array to store pin reporting +int analogPin = 0; // counter for reading analog pins +int analogData; // storage variable for data from analogRead() +/* timer variables */ +extern volatile unsigned long timer0_overflow_count; // timer0 from wiring.c +unsigned long nextExecuteTime; // for comparison with timer0_overflow_count + +/*============================================================================== + * FUNCTIONS + *============================================================================*/ +/* ----------------------------------------------------------------------------- + * output the version message to the serial port */ +void printVersion() { + Serial.print(REPORT_VERSION, BYTE); + Serial.print(FIRMATA_MINOR_VERSION, BYTE); + Serial.print(FIRMATA_MAJOR_VERSION, BYTE); +} + +/* ----------------------------------------------------------------------------- + * 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(digitalInputsEnabled) { + 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 + 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) { + analogPinsToReport = analogPinsToReport &~ (1 << pin); + } + else { // everything but 0 enables reporting of that pin + analogPinsToReport = analogPinsToReport | (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) + digitalInputsEnabled = 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) + digitalInputsEnabled = false; + else + digitalInputsEnabled = 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: + 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()); +} + +// ============================================================================= +// 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; + + Serial.begin(57600); // 9600, 14400, 38400, 57600, 115200 + + // 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,INPUT); + } + // TODO: load state from EEPROM here + + printVersion(); + + /* 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( analogPinsToReport & (1 << analogPin) ) { + analogData = analogRead(analogPin); + Serial.print(ANALOG_MESSAGE + analogPin, BYTE); + // These two bytes converted back into the 10-bit value on host + Serial.print(analogData % 128, BYTE); + Serial.print(analogData >> 7, BYTE); + } + } + } +} |