/*
* 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));
}
}
}