From db605dd18b11ecfb5cd9f92c721c52cb70543384 Mon Sep 17 00:00:00 2001 From: "David A. Mellis" Date: Mon, 1 Jun 2009 08:32:11 +0000 Subject: First integration of the Arduino code in Processing 5503: PreProcessor and Compiler have been integrated with changes to the Sketch. Compilation still has problems (Thread error on success, and can't handle non-pde files in a sketch). Modified the Mac OS X make.sh to copy the hardware, avr tools, and example over. Removing some of the antlr stuff. Disabling the Commander (command-line execution) for now. Added Library, LibraryManager, and Target. Added support for prefixed preferences (e.g. for boards and programmers). --- .../examples/StandardFirmata/StandardFirmata.pde | 226 +++++++++++++++++++++ 1 file changed, 226 insertions(+) create mode 100644 libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde (limited to 'libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde') diff --git a/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde b/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde new file mode 100644 index 0000000..4cc8539 --- /dev/null +++ b/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde @@ -0,0 +1,226 @@ +/* + Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + See file LICENSE.txt for further informations on licensing terms. + */ + +/* + * TODO: add Servo support using setPinMode(pin, SERVO); + * TODO: use Program Control to load stored profiles from EEPROM + */ + +#include +#include + +/*============================================================================== + * GLOBAL VARIABLES + *============================================================================*/ + +/* analog inputs */ +int analogInputsToReport = 0; // bitwise array to store pin reporting +int analogPin = 0; // counter for reading analog pins + +/* digital pins */ +byte reportPINs[TOTAL_PORTS]; // PIN == input port +byte previousPINs[TOTAL_PORTS]; // PIN == input port +byte pinStatus[TOTAL_DIGITAL_PINS]; // store pin status, default OUTPUT +byte portStatus[TOTAL_PORTS]; + +/* timer variables */ +unsigned long currentMillis; // store the current value from millis() +unsigned long nextExecuteMillis; // for comparison with currentMillis + + +/*============================================================================== + * FUNCTIONS + *============================================================================*/ + +void outputPort(byte portNumber, byte portValue) +{ + portValue = portValue &~ portStatus[portNumber]; + if(previousPINs[portNumber] != portValue) { + Firmata.sendDigitalPort(portNumber, portValue); + previousPINs[portNumber] = portValue; + Firmata.sendDigitalPort(portNumber, portValue); + } +} + +/* ----------------------------------------------------------------------------- + * 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) +{ + byte i, tmp; + for(i=0; i < TOTAL_PORTS; i++) { + if(reportPINs[i]) { + switch(i) { + case 0: outputPort(0, PIND &~ B00000011); break; // ignore Rx/Tx 0/1 + case 1: outputPort(1, PINB); break; + case ANALOG_PORT: outputPort(ANALOG_PORT, PINC); break; + } + } + } +} + +// ----------------------------------------------------------------------------- +/* 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 setPinModeCallback(byte pin, int mode) { + byte port = 0; + byte offset = 0; + + if (pin < 8) { + port = 0; + offset = 0; + } else if (pin < 14) { + port = 1; + offset = 8; + } else if (pin < 22) { + port = 2; + offset = 14; + } + + if(pin > 1) { // ignore RxTx (pins 0 and 1) + pinStatus[pin] = mode; + switch(mode) { + case INPUT: + pinMode(pin, INPUT); + portStatus[port] = portStatus[port] &~ (1 << (pin - offset)); + break; + case OUTPUT: + digitalWrite(pin, LOW); // disable PWM + case PWM: + pinMode(pin, OUTPUT); + portStatus[port] = portStatus[port] | (1 << (pin - offset)); + break; + //case ANALOG: // TODO figure this out + default: + Firmata.sendString(""); + } + // TODO: save status to EEPROM here, if changed + } +} + +void analogWriteCallback(byte pin, int value) +{ + setPinModeCallback(pin,PWM); + analogWrite(pin, value); +} + +void digitalWriteCallback(byte port, int value) +{ + switch(port) { + case 0: // pins 2-7 (don't change Rx/Tx, pins 0 and 1) + // 0xFF03 == B1111111100000011 0x03 == B00000011 + PORTD = (value &~ 0xFF03) | (PORTD & 0x03); + break; + case 1: // pins 8-13 (14,15 are disabled for the crystal) + PORTB = (byte)value; + break; + case 2: // analog pins used as digital + PORTC = (byte)value; + break; + } +} + +// ----------------------------------------------------------------------------- +/* sets bits in a bit array (int) to toggle the reporting of the analogIns + */ +//void FirmataClass::setAnalogPinReporting(byte pin, byte state) { +//} +void reportAnalogCallback(byte pin, int value) +{ + if(value == 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 +} + +void reportDigitalCallback(byte port, int value) +{ + reportPINs[port] = (byte)value; + if(port == ANALOG_PORT) // turn off analog reporting when used as digital + analogInputsToReport = 0; +} + +/*============================================================================== + * SETUP() + *============================================================================*/ +void setup() +{ + byte i; + + Firmata.setFirmwareVersion(2, 0); + + Firmata.attach(ANALOG_MESSAGE, analogWriteCallback); + Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback); + Firmata.attach(REPORT_ANALOG, reportAnalogCallback); + Firmata.attach(REPORT_DIGITAL, reportDigitalCallback); + Firmata.attach(SET_PIN_MODE, setPinModeCallback); + + portStatus[0] = B00000011; // ignore Tx/RX pins + portStatus[1] = B11000000; // ignore 14/15 pins + portStatus[2] = B00000000; + +// for(i=0; i nextExecuteMillis) { + nextExecuteMillis = currentMillis + 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 */ + while(Firmata.available()) + Firmata.processInput(); + /* 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