Update of /cvsroot/pure-data/externals/hardware/arduino/Pd_firmware In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv28609/Pd_firmware
Modified Files: Pd_firmware.pde Log Message: redesigned the input protocol to be a 3-byte sequence, the first byte is the data type, the second two are the data. The second two bytes are then combined to give one 14-bit value.
For example 240 0 1 (from serial) == [version 1( (Pd message)
arduino-test.pd was updated for this, the help patch was not, but should be largely correct. I only tightened up the layout of the help patch.
Index: Pd_firmware.pde =================================================================== RCS file: /cvsroot/pure-data/externals/hardware/arduino/Pd_firmware/Pd_firmware.pde,v retrieving revision 1.17 retrieving revision 1.18 diff -C2 -d -r1.17 -r1.18 *** Pd_firmware.pde 4 Sep 2006 15:43:13 -0000 1.17 --- Pd_firmware.pde 15 Sep 2006 05:22:51 -0000 1.18 *************** *** 29,46 **** * do serial communications. * ! * @authors: Hans-Christoph Steiner hans@at.or.at and Jamie Allen jamie@heavyside.net * @date: 2006-05-19 ! * @location: STEIM, Amsterdam, Netherlands and New York, NY ! * */
/* - * TODO: get digitalInput working * TODO: add pulseIn functionality * TODO: add software PWM for servos, etc (servo.h or pulse.h) * TODO: redesign protocol to accomodate boards with more I/Os * TODO: add cycle markers to mark start of analog, digital, pulseIn, and PWM */
/* firmata protocol * =============== --- 29,56 ---- * do serial communications. * ! * @authors: Hans-Christoph Steiner hans@at.or.at ! * help with protocol redesign: Jamie Allen jamie@heavyside.net ! * 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 pulseIn functionality * TODO: add software PWM for servos, etc (servo.h or pulse.h) * TODO: redesign protocol to accomodate boards with more I/Os + * TODO: + * TODO: add "outputMode all 0/1" command * TODO: add cycle markers to mark start of analog, digital, pulseIn, and PWM */
+ /* firmware version numbers. The protocol is still changing, so these version + * numbers are important */ + #define MAJOR_VERSION 0 + #define MINOR_VERSION 1 + /* firmata protocol * =============== *************** *** 70,80 **** #define ENABLE_DIGITAL_INPUTS 151 // enable reporting of digital inputs /* 152-159 // UNUSED */ ! #define DISABLE_ALL_ANALOG_INS 160 // disable reporting on all analog ins ! #define ENABLE_ONE_ANALOG_IN 161 // enable reporting for 1 analog in (0) ! #define ENABLE_TWO_ANALOG_INS 162 // enable reporting for 2 analog ins (0,1) ! #define ENABLE_THREE_ANALOG_INS 163 // enable reporting for 3 analog ins (0-2) ! #define ENABLE_FOUR_ANALOG_INS 164 // enable reporting for 4 analog ins (0-3) ! #define ENABLE_FIVE_ANALOG_INS 165 // enable reporting for 5 analog ins (0-4) ! #define ENABLE_SIX_ANALOG_INS 166 // enable reporting for 6 analog ins (0-5) /* 167-199 // UNUSED */ #define SET_PIN_ZERO_TO_OUT 200 // set digital pin 0 to OUTPUT --- 80,90 ---- #define ENABLE_DIGITAL_INPUTS 151 // enable reporting of digital inputs /* 152-159 // UNUSED */ ! #define ZERO_ANALOG_INS 160 // disable reporting on all analog ins ! #define ONE_ANALOG_IN 161 // enable reporting for 1 analog in (0) ! #define TWO_ANALOG_INS 162 // enable reporting for 2 analog ins (0,1) ! #define THREE_ANALOG_INS 163 // enable reporting for 3 analog ins (0-2) ! #define FOUR_ANALOG_INS 164 // enable reporting for 4 analog ins (0-3) ! #define FIVE_ANALOG_INS 165 // enable reporting for 5 analog ins (0-4) ! #define SIX_ANALOG_INS 166 // enable reporting for 6 analog ins (0-5) /* 167-199 // UNUSED */ #define SET_PIN_ZERO_TO_OUT 200 // set digital pin 0 to OUTPUT *************** *** 94,98 **** /* 214-228 // UNUSED */ #define OUTPUT_TO_DIGITAL_PINS 229 // next two bytes set digital output data ! /* 230-249 // UNUSED */ #define DISABLE_PWM 250 // next byte sets pin # to disable #define ENABLE_PWM 251 // next two bytes set pin # and duty cycle --- 104,110 ---- /* 214-228 // UNUSED */ #define OUTPUT_TO_DIGITAL_PINS 229 // next two bytes set digital output data ! /* 230-239 // UNUSED */ ! #define REPORT_VERSION 240 // return the firmware version ! /* 240-249 // UNUSED */ #define DISABLE_PWM 250 // next byte sets pin # to disable #define ENABLE_PWM 251 // next two bytes set pin # and duty cycle *************** *** 100,105 **** #define ENABLE_SOFTWARE_PWM 253 // next two bytes set pin # and duty cycle #define SET_SOFTWARE_PWM_FREQ 254 // set master frequency for software PWMs ! /* 252-254 // UNUSED */ ! #define INPUT_CYCLE_MARKER 255 // input cycle marker
--- 112,116 ---- #define ENABLE_SOFTWARE_PWM 253 // next two bytes set pin # and duty cycle #define SET_SOFTWARE_PWM_FREQ 254 // set master frequency for software PWMs ! /* 255 // UNUSED */
*************** *** 107,112 **** * ---------------------- * 0 get ready for digital input bytes (229) ! * 1 digitalOut 0-6 bitmask ! * 2 digitalOut 7-13 bitmask */
--- 118,123 ---- * ---------------------- * 0 get ready for digital input bytes (229) ! * 1 digitalOut 7-13 bitmask ! * 2 digitalOut 0-6 bitmask */
*************** *** 118,139 **** */
! ! /* Arduino->Computer byte cycle * ---------------------- ! * 0 start of cycle marker (255/11111111) ! * 1 digital read from Arduino // 0-6 bitmask ! * 2 digital read from Arduino // 7-13 bitmask ! * 3 low byte from analog input pin 0 ! * 4 high byte from analog input pin 0 ! * 5 low byte from analog input pin 1 ! * 6 high byte from analog input pin 1 ! * 7 low byte from analog input pin 2 ! * 8 high byte from analog input pin 2 ! * 9 low byte from analog input pin 3 ! * 10 high byte from analog input pin 3 ! * 11 low byte from analog input pin 4 ! * 12 high byte from analog input pin 4 ! * 13 low byte from analog input pin 5 ! * 14 high byte from analog input pin 5 */
--- 129,154 ---- */
! /* digital input message format * ---------------------- ! * 0 digital input marker (255/11111111) ! * 1 digital read from Arduino // 7-13 bitmask ! * 2 digital read from Arduino // 0-6 bitmask ! */ ! ! /* analog input message format ! * ---------------------- ! * 0 analog input marker ! * 1 high byte from analog input pin 0 ! * 2 low byte from analog input pin 0 ! * 3 high byte from analog input pin 1 ! * 4 low byte from analog input pin 1 ! * 5 high byte from analog input pin 2 ! * 6 low byte from analog input pin 2 ! * 7 high byte from analog input pin 3 ! * 8 low byte from analog input pin 3 ! * 9 high byte from analog input pin 4 ! * 10 low byte from analog input pin 4 ! * 11 high byte from analog input pin 5 ! * 12 low byte from analog input pin 5 */
*************** *** 142,146 **** // for comparing along with INPUT and OUTPUT #define PWM 2 - #define SOFTPWM 3
// maximum number of post-command data bytes --- 157,160 ---- *************** *** 186,196 **** digitalPin = i+startPin; /* digitalPinBit = OUTPUT << digitalPin; ! // only read the pin if its set to input ! if(digitalPinStatus & digitalPinBit) { ! digitalData = 0; // pin set to OUTPUT, don't read ! } ! else if( (digitalPin >= 9) && (pwmStatus & (1 << digitalPin)) ) { ! digitalData = 0; // pin set to PWM, don't read ! }*/ if( !(digitalPinStatus & (1 << digitalPin)) ) { digitalData = (byte) digitalRead(digitalPin); --- 200,210 ---- digitalPin = i+startPin; /* digitalPinBit = OUTPUT << digitalPin; ! // only read the pin if its set to input ! if(digitalPinStatus & digitalPinBit) { ! digitalData = 0; // pin set to OUTPUT, don't read ! } ! else if( (digitalPin >= 9) && (pwmStatus & (1 << digitalPin)) ) { ! digitalData = 0; // pin set to PWM, don't read ! }*/ if( !(digitalPinStatus & (1 << digitalPin)) ) { digitalData = (byte) digitalRead(digitalPin); *************** *** 221,233 **** digitalPinStatus = digitalPinStatus | (1 << pin); pwmStatus = pwmStatus | (1 << pin); - softPwmStatus = softPwmStatus &~ (1 << pin); pinMode(pin,OUTPUT); } - else if(mode == SOFTPWM) { - digitalPinStatus = digitalPinStatus | (1 << pin); - pwmStatus = pwmStatus &~ (1 << pin); - softPwmStatus = softPwmStatus | (1 << pin); - pinMode(pin,OUTPUT); - } }
--- 235,240 ---- *************** *** 235,243 **** byte i; /* for(i=0; i<7; ++i) { ! mask = 1 << i; ! if(digitalPinStatus & mask) { ! digitalWrite(i, inputData & mask); ! } ! } */ //read timer type thing --- 242,250 ---- byte i; /* for(i=0; i<7; ++i) { ! mask = 1 << i; ! if(digitalPinStatus & mask) { ! digitalWrite(i, inputData & mask); ! } ! } */ //read timer type thing *************** *** 295,299 **** break; case ENABLE_SOFTWARE_PWM: ! setPinMode(storedInputData[1],SOFTPWM); setSoftPwm(storedInputData[1], storedInputData[0]); break; --- 302,306 ---- break; case ENABLE_SOFTWARE_PWM: ! setPinMode(storedInputData[1],PWM); setSoftPwm(storedInputData[1], storedInputData[0]); break; *************** *** 309,330 **** } else if(inputData < 128) { ! if(firstInputByte) { // ! for(i=0; i<7; ++i) { ! mask = 1 << i; ! if(digitalPinStatus & mask) { ! digitalWrite(i, inputData & mask); ! } ! } ! firstInputByte = false; ! } ! else { // // output data for pins 7-13 for(i=7; i<TOTAL_DIGITAL_PINS; ++i) { mask = 1 << i; ! if( (digitalPinStatus & mask) && !(pwmStatus & mask) && !(softPwmStatus & mask) ) { // inputData is a byte and mask is an int, so align the high part of mask digitalWrite(i, inputData & (mask >> 7)); } } } } --- 316,337 ---- } else if(inputData < 128) { ! if(firstInputByte) { // output data for pins 7-13 for(i=7; i<TOTAL_DIGITAL_PINS; ++i) { mask = 1 << i; ! if( (digitalPinStatus & mask) && !(pwmStatus & mask) ) { // inputData is a byte and mask is an int, so align the high part of mask digitalWrite(i, inputData & (mask >> 7)); } } + firstInputByte = false; + } + else { // + for(i=0; i<7; ++i) { + mask = 1 << i; + if( (digitalPinStatus & mask) && !(pwmStatus & mask) ) { + digitalWrite(i, inputData & mask); + } + } } } *************** *** 369,380 **** digitalInputsEnabled = true; break; ! case DISABLE_ALL_ANALOG_INS: // analog input off ! case ENABLE_ONE_ANALOG_IN: // analog 0 on ! case ENABLE_TWO_ANALOG_INS: // analog 0,1 on ! case ENABLE_THREE_ANALOG_INS: // analog 0-2 on ! case ENABLE_FOUR_ANALOG_INS: // analog 0-3 on ! case ENABLE_FIVE_ANALOG_INS: // analog 0-4 on ! case ENABLE_SIX_ANALOG_INS: // analog 0-5 on ! analogInputsEnabled = inputData - DISABLE_ALL_ANALOG_INS; break; case ENABLE_PWM: --- 376,387 ---- digitalInputsEnabled = true; break; ! case ZERO_ANALOG_INS: // analog input off ! case ONE_ANALOG_IN: // analog 0 on ! case TWO_ANALOG_INS: // analog 0,1 on ! case THREE_ANALOG_INS: // analog 0-2 on ! case FOUR_ANALOG_INS: // analog 0-3 on ! case FIVE_ANALOG_INS: // analog 0-4 on ! case SIX_ANALOG_INS: // analog 0-5 on ! analogInputsEnabled = inputData - ZERO_ANALOG_INS; break; case ENABLE_PWM: *************** *** 401,404 **** --- 408,416 ---- firstInputByte = true; break; + case REPORT_VERSION: + printByte(REPORT_VERSION); + printByte(MAJOR_VERSION); + printByte(MINOR_VERSION); + break; } } *************** *** 424,453 **** // read all digital pins, in enabled if(digitalInputsEnabled) { ! transmitDigitalInput(0); ! checkForInput(); transmitDigitalInput(7); checkForInput(); ! } ! else if(analogInputsEnabled) { ! // filler bytes, since the first thing sent is always the digitalInputs ! printByte(0); ! printByte(0); ! checkForInput(); }
! /* get analog in, for the number enabled ! */ for(analogPin=0; analogPin<analogInputsEnabled; ++analogPin) { analogData = analogRead(analogPin); // these two bytes get converted back into the whole number in Pd // the higher bits should be zeroed so that the 8th bit doesn't get set ! printByte(analogData % 128); // mod by 32 for the small byte printByte(analogData >> 7); // bitshift the big stuff into the output byte checkForInput(); } - - /* end with the cycle marker, if any of the inputs are enabled */ - if( digitalInputsEnabled || analogInputsEnabled) { - printByte(255); - } } --- 436,455 ---- // read all digital pins, in enabled if(digitalInputsEnabled) { ! printByte(ENABLE_DIGITAL_INPUTS); transmitDigitalInput(7); checkForInput(); ! transmitDigitalInput(0); ! checkForInput(); }
! /* get analog in, for the number enabled */ for(analogPin=0; analogPin<analogInputsEnabled; ++analogPin) { analogData = analogRead(analogPin); // these two bytes get converted back into the whole number in Pd // the higher bits should be zeroed so that the 8th bit doesn't get set ! printByte(ONE_ANALOG_IN + analogPin); printByte(analogData >> 7); // bitshift the big stuff into the output byte + printByte(analogData % 128); // mod by 32 for the small byte checkForInput(); } }
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Hans-Christoph Steiner