diff options
Diffstat (limited to 'firmwares/Standard_Firmata')
| -rw-r--r-- | firmwares/Standard_Firmata/Makefile | 260 | ||||
| -rw-r--r-- | firmwares/Standard_Firmata/Standard_Firmata.pde | 323 |
2 files changed, 0 insertions, 583 deletions
diff --git a/firmwares/Standard_Firmata/Makefile b/firmwares/Standard_Firmata/Makefile deleted file mode 100644 index 6f73a72..0000000 --- a/firmwares/Standard_Firmata/Makefile +++ /dev/null @@ -1,260 +0,0 @@ -# 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 hardware/cores/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)/hardware/cores/arduino -ARDUINO_LIB_SRC = $(ARDUINO)/hardware/libraries -INCLUDE = -I$(ARDUINO_SRC) -I$(ARDUINO)/hardware/tools/avr/avr/include \ - -I$(ARDUINO_LIB_SRC)/EEPROM \ - -I$(ARDUINO_LIB_SRC)/Firmata \ - -I$(ARDUINO_LIB_SRC) -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_SRC)/*/*.[ch] \ - $(ARDUINO_LIB_SRC)/*/*.cpp \ - $(ARDUINO)/hardware/tools/avr/avr/include/avr/*.[ch] \ - $(ARDUINO)/hardware/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 deleted file mode 100644 index 2aa9da9..0000000 --- a/firmwares/Standard_Firmata/Standard_Firmata.pde +++ /dev/null @@ -1,323 +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 - * - * 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)); - } - } -} |