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-/*
- * 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);
- }
- }
- }
-}
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