diff options
Diffstat (limited to 'firmwares/Firmata')
| -rw-r--r-- | firmwares/Firmata/Firmata.pde | 465 |
1 files changed, 0 insertions, 465 deletions
diff --git a/firmwares/Firmata/Firmata.pde b/firmwares/Firmata/Firmata.pde deleted file mode 100644 index 37b068e..0000000 --- a/firmwares/Firmata/Firmata.pde +++ /dev/null @@ -1,465 +0,0 @@ -/* - * 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(115200); // 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); - } - } - } -} |