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). --- .../Firmata/examples/StandardFirmata/LICENSE.txt | 458 +++++++++++++++++++++ .../Firmata/examples/StandardFirmata/Makefile | 261 ++++++++++++ .../examples/StandardFirmata/StandardFirmata.pde | 226 ++++++++++ 3 files changed, 945 insertions(+) create mode 100644 libraries/Firmata/examples/StandardFirmata/LICENSE.txt create mode 100644 libraries/Firmata/examples/StandardFirmata/Makefile create mode 100644 libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde (limited to 'libraries/Firmata/examples/StandardFirmata') diff --git a/libraries/Firmata/examples/StandardFirmata/LICENSE.txt b/libraries/Firmata/examples/StandardFirmata/LICENSE.txt new file mode 100644 index 0000000..77cec6d --- /dev/null +++ b/libraries/Firmata/examples/StandardFirmata/LICENSE.txt @@ -0,0 +1,458 @@ + + GNU LESSER GENERAL PUBLIC LICENSE + Version 2.1, February 1999 + + Copyright (C) 1991, 1999 Free Software Foundation, Inc. + 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + +[This is the first released version of the Lesser GPL. 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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 +# +# - 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 := $(shell pwd | sed 's|.*/\(.*\)|\1|') +ARDUINO = /Applications/arduino +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 = $(wildcard $(ARDUINO_SRC)/*.c) +CXXSRC = applet/$(TARGET).cpp $(ARDUINO_SRC)/HardwareSerial.cpp \ + $(ARDUINO_LIB_SRC)/EEPROM/EEPROM.cpp \ + $(ARDUINO_LIB_SRC)/Firmata/Firmata.cpp \ + $(ARDUINO_SRC)/WMath.cpp +HEADERS = $(wildcard $(ARDUINO_SRC)/*.h) $(wildcard $(ARDUINO_LIB_SRC)/*/*.h) + +MCU = atmega168 +#MCU = atmega8 +F_CPU = 16000000 +FORMAT = ihex +UPLOAD_RATE = 19200 + +# Name of this Makefile (used for "make depend"). +MAKEFILE = Makefile + +# Debugging format. +# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2. +# AVR (extended) COFF requires stabs, plus an avr-objcopy run. +DEBUG = stabs + +OPT = s + +# Place -D or -U options here +CDEFS = -DF_CPU=$(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 $(ASFLAGS) + + +# Default target. +all: build + +build: applet/$(TARGET).hex + +eep: applet/$(TARGET).eep +lss: applet/$(TARGET).lss +sym: applet/$(TARGET).sym + + +# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. +COFFCONVERT=$(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 .pde + +.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 $< > $@ + + +# Compile: create object files from C++ source files. +.cpp.o: $(HEADERS) + $(CXX) -c $(ALL_CXXFLAGS) $< -o $@ + +# Compile: create object files from C source files. +.c.o: $(HEADERS) + $(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 $@ + + + +applet/$(TARGET).cpp: $(TARGET).pde + test -d applet || mkdir applet + echo '#include "WProgram.h"' > applet/$(TARGET).cpp + echo '#include "avr/interrupt.h"' >> applet/$(TARGET).cpp + sed -n 's|^\(void .*)\).*|\1;|p' $(TARGET).pde | grep -v 'setup()' | \ + grep -v 'loop()' >> applet/$(TARGET).cpp + cat $(TARGET).pde >> applet/$(TARGET).cpp + cat $(ARDUINO_SRC)/main.cxx >> applet/$(TARGET).cpp + +# Link: create ELF output file from object files. +applet/$(TARGET).elf: applet/$(TARGET).cpp $(OBJ) + $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) + +pd_close_serial: + echo 'close;' | /Applications/Pd-extended.app/Contents/Resources/bin/pdsend 34567 || true + +# Program the device. +upload: applet/$(TARGET).hex + $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) + + +pd_test: build pd_close_serial upload + +# Target: clean project. +clean: + $(REMOVE) -- applet/$(TARGET).hex applet/$(TARGET).eep \ + applet/$(TARGET).cof applet/$(TARGET).elf $(TARGET).map \ + applet/$(TARGET).sym applet/$(TARGET).lss applet/$(TARGET).cpp \ + $(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d) + rmdir -- applet + +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 eep lss sym coff extcoff clean depend pd_close_serial pd_test + +# 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/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 Date: Tue, 14 Jul 2009 21:32:55 +0000 Subject: Updating to Firmata-2.1beta1 (rev 23). --- .../Firmata/examples/StandardFirmata/Makefile | 26 +- .../examples/StandardFirmata/StandardFirmata.pde | 312 +++++++++++++-------- 2 files changed, 208 insertions(+), 130 deletions(-) (limited to 'libraries/Firmata/examples/StandardFirmata') diff --git a/libraries/Firmata/examples/StandardFirmata/Makefile b/libraries/Firmata/examples/StandardFirmata/Makefile index 55ca8c2..835187a 100644 --- a/libraries/Firmata/examples/StandardFirmata/Makefile +++ b/libraries/Firmata/examples/StandardFirmata/Makefile @@ -50,14 +50,20 @@ TARGET := $(shell pwd | sed 's|.*/\(.*\)|\1|') ARDUINO = /Applications/arduino ARDUINO_SRC = $(ARDUINO)/hardware/cores/arduino ARDUINO_LIB_SRC = $(ARDUINO)/hardware/libraries +ARDUINO_TOOLS = $(ARDUINO)/hardware/tools INCLUDE = -I$(ARDUINO_SRC) -I$(ARDUINO)/hardware/tools/avr/avr/include \ -I$(ARDUINO_LIB_SRC)/EEPROM \ -I$(ARDUINO_LIB_SRC)/Firmata \ + -I$(ARDUINO_LIB_SRC)/Matrix \ + -I$(ARDUINO_LIB_SRC)/Servo \ + -I$(ARDUINO_LIB_SRC)/Wire \ -I$(ARDUINO_LIB_SRC) SRC = $(wildcard $(ARDUINO_SRC)/*.c) CXXSRC = applet/$(TARGET).cpp $(ARDUINO_SRC)/HardwareSerial.cpp \ $(ARDUINO_LIB_SRC)/EEPROM/EEPROM.cpp \ $(ARDUINO_LIB_SRC)/Firmata/Firmata.cpp \ + $(ARDUINO_LIB_SRC)/Servo/Servo.cpp \ + $(ARDUINO_SRC)/Print.cpp \ $(ARDUINO_SRC)/WMath.cpp HEADERS = $(wildcard $(ARDUINO_SRC)/*.h) $(wildcard $(ARDUINO_LIB_SRC)/*/*.h) @@ -106,12 +112,14 @@ 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 +ARDUINO_AVR_BIN = $(ARDUINO_TOOLS)/avr/bin +CC = $(ARDUINO_AVR_BIN)/avr-gcc +CXX = $(ARDUINO_AVR_BIN)/avr-g++ +OBJCOPY = $(ARDUINO_AVR_BIN)/avr-objcopy +OBJDUMP = $(ARDUINO_AVR_BIN)/avr-objdump +SIZE = $(ARDUINO_AVR_BIN)/avr-size +NM = $(ARDUINO_AVR_BIN)/avr-nm +#AVRDUDE = $(ARDUINO_AVR_BIN)/avrdude AVRDUDE = avrdude REMOVE = rm -f MV = mv -f @@ -204,7 +212,8 @@ applet/$(TARGET).cpp: $(TARGET).pde # Link: create ELF output file from object files. applet/$(TARGET).elf: applet/$(TARGET).cpp $(OBJ) - $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) + $(CC) $(ALL_CFLAGS) $(OBJ) -lm --output $@ $(LDFLAGS) +# $(CC) $(ALL_CFLAGS) $(OBJ) $(ARDUINO_TOOLS)/avr/avr/lib/avr5/crtm168.o --output $@ $(LDFLAGS) pd_close_serial: echo 'close;' | /Applications/Pd-extended.app/Contents/Resources/bin/pdsend 34567 || true @@ -258,4 +267,7 @@ etags_MINGW: # etags -a /usr/include/*.h /usr/include/sys/*.h +path: + echo $(PATH) + echo $$PATH diff --git a/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde b/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde index 4cc8539..02192cc 100644 --- a/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde +++ b/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde @@ -1,21 +1,24 @@ /* 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. - */ + + formatted using the GNU C formatting and indenting +*/ + /* - * TODO: add Servo support using setPinMode(pin, SERVO); + * TODO: add Servo support using setPinModeCallback(pin, SERVO); * TODO: use Program Control to load stored profiles from EEPROM */ -#include #include +#include /*============================================================================== * GLOBAL VARIABLES @@ -34,37 +37,45 @@ byte portStatus[TOTAL_PORTS]; /* timer variables */ unsigned long currentMillis; // store the current value from millis() unsigned long nextExecuteMillis; // for comparison with currentMillis +int samplingInterval = 19; // how often to run the main loop (in ms) +Servo servos[2]; // the servo library can control servos on pins 9 and 10 only /*============================================================================== - * FUNCTIONS + * 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); - } + 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) +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; - } - } + byte i, tmp; + for(i=0; i < TOTAL_PORTS; i++) { + if(reportPINs[i]) { + switch(i) { + case 0: + outputPort(0, PIND &~ B00000011); // ignore Rx/Tx 0/1 + break; + case 1: + outputPort(1, PINB); + break; + case ANALOG_PORT: + outputPort(ANALOG_PORT, PINC); + break; + } } + } } // ----------------------------------------------------------------------------- @@ -72,61 +83,87 @@ void checkDigitalInputs(void) * 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; - } + byte port = 0; + byte offset = 0; - if(pin > 1) { // ignore RxTx (pins 0 and 1) + // TODO: abstract for different boards + 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) + reportAnalogCallback(pin - 14, mode == ANALOG ? 1 : 0); // turn on/off reporting + switch(mode) { + case ANALOG: + digitalWrite(pin, LOW); // disable internal pull-ups and fall thru to 'case INPUT:' + case INPUT: + pinStatus[pin] = mode; + pinMode(pin, INPUT); + portStatus[port] = portStatus[port] &~ (1 << (pin - offset)); + break; + case OUTPUT: + digitalWrite(pin, LOW); // disable PWM and fall thru to 'case PWM:' + case PWM: + pinStatus[pin] = mode; + pinMode(pin, OUTPUT); + portStatus[port] = portStatus[port] | (1 << (pin - offset)); + break; + case SERVO: + if((pin == 9 || pin == 10)) 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 + else + Firmata.sendString("Servo only on pins 9 and 10"); + break; + case I2C: + pinStatus[pin] = mode; + Firmata.sendString("I2C mode not yet supported"); + break; + default: + Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM } + // TODO: save status to EEPROM here, if changed + } } void analogWriteCallback(byte pin, int value) { - setPinModeCallback(pin,PWM); + switch(pinStatus[pin]) { + case SERVO: + if(pin == 9) servos[0].write(value); + if(pin == 10) servos[1].write(value); + break; + case PWM: analogWrite(pin, value); + break; + } } 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; - } + 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 + byte pin; + byte pinModeMask; + for(pin=0; pin<8; pin++) + if(pinStatus[pin] == OUTPUT) + pinModeMask += 1 << pin; + PORTC = (byte)value & pinModeMask; + break; + } } // ----------------------------------------------------------------------------- @@ -136,64 +173,93 @@ void digitalWriteCallback(byte port, int value) //} 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 + if(value == 0) { + analogInputsToReport = analogInputsToReport &~ (1 << pin); + } + else { // everything but 0 enables reporting of that pin + analogInputsToReport = analogInputsToReport | (1 << pin); + setPinModeCallback(pin, ANALOG); + } + // 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; + reportPINs[port] = (byte)value; + if(port == ANALOG_PORT) // turn off analog reporting when used as digital + analogInputsToReport = 0; +} + +/*============================================================================== + * SYSEX-BASED commands + *============================================================================*/ + +void sysexCallback(byte command, byte argc, byte *argv) +{ + switch(command) { + case SERVO_CONFIG: + if(argc > 4) { + // these vars are here for clarity, they'll optimized away by the compiler + byte pin = argv[0] - 9; // servos are pins 9 and 10, so offset for array + int minPulse = argv[1] + (argv[2] << 7); + int maxPulse = argv[3] + (argv[4] << 7); + servos[pin].attach(argv[0], minPulse, maxPulse); + // TODO does the Servo have to be detach()ed before reconfiguring? + setPinModeCallback(pin, SERVO); + } + break; + case SAMPLING_INTERVAL: + if (argc > 1) + samplingInterval = argv[0] + (argv[1] << 7); + else + Firmata.sendString("Not enough data"); + break; + } } + /*============================================================================== * SETUP() *============================================================================*/ void setup() { - byte i; + byte i; - Firmata.setFirmwareVersion(2, 0); + Firmata.setFirmwareVersion(2, 1); - 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); + 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); + Firmata.attach(START_SYSEX, sysexCallback); - portStatus[0] = B00000011; // ignore Tx/RX pins - portStatus[1] = B11000000; // ignore 14/15 pins - portStatus[2] = B00000000; + 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. */ + /* DIGITALREAD - as fast as possible, check for changes and output them to the + * FTDI buffer using Serial.print() */ + checkDigitalInputs(); + currentMillis = millis(); + if(currentMillis > nextExecuteMillis) { + nextExecuteMillis = currentMillis + samplingInterval; + /* 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 Date: Thu, 30 Jul 2009 20:48:59 +0000 Subject: Updating to rev. 27 of Firmata. --- libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) (limited to 'libraries/Firmata/examples/StandardFirmata') diff --git a/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde b/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde index 02192cc..16c8b87 100644 --- a/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde +++ b/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde @@ -99,7 +99,8 @@ void setPinModeCallback(byte pin, int mode) { } if(pin > 1) { // ignore RxTx (pins 0 and 1) - reportAnalogCallback(pin - 14, mode == ANALOG ? 1 : 0); // turn on/off reporting + if(pin > 13) + reportAnalogCallback(pin - 14, mode == ANALOG ? 1 : 0); // turn on/off reporting switch(mode) { case ANALOG: digitalWrite(pin, LOW); // disable internal pull-ups and fall thru to 'case INPUT:' -- cgit v1.2.3-18-g5258