Update of /cvsroot/pure-data/externals/hardware/arduino/Pd_firmware In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv32323
Modified Files: Pd_firmware.pde Log Message: stripped down to nothing and started to rebuild from scratch; got digital output working
Index: Pd_firmware.pde =================================================================== RCS file: /cvsroot/pure-data/externals/hardware/arduino/Pd_firmware/Pd_firmware.pde,v retrieving revision 1.22 retrieving revision 1.23 diff -C2 -d -r1.22 -r1.23 *** Pd_firmware.pde 6 Dec 2006 03:29:06 -0000 1.22 --- Pd_firmware.pde 20 Feb 2007 06:25:56 -0000 1.23 *************** *** 1,22 **** ! /* Copyright (C) 2006 Hans-Christoph Steiner * ! * 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. * ! * This library 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 ! * Lesser General Public License for more details. * ! * You should have received a copy of the GNU Lesser General ! * Public License along with this library; if not, write to the ! * Free Software Foundation, Inc., 59 Temple Place, Suite 330, ! * Boston, MA 02111-1307 USA * ! * ----------------------------- ! * Firmata, the Arduino firmware ! * ----------------------------- * * Firmata turns the Arduino into a Plug-n-Play sensorbox, servo --- 1,24 ---- ! /* ! * 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 *************** *** 29,34 **** * 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 --- 31,36 ---- * do serial communications. * ! * @author: Hans-Christoph Steiner hans@at.or.at ! * help with initial protocol redesign: Jamie Allen jamie@heavyside.net * key bugfixes: Georg Holzmann grh@mur.at * Gerda Strobl gerda.strobl@student.tugraz.at *************** *** 40,194 ****
/* * TODO: add pulseOut functionality for servos * 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 "pinMode all 0/1" command * TODO: add cycle markers to mark start of analog, digital, pulseIn, and PWM ! * TODO: convert to MIDI protocol using SysEx for longer messages */
/* cvs version: $Id$ */
! /* 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 MAJOR_VERSION 0 // for non-compatible changes ! #define MINOR_VERSION 3 // for backwards compatible changes
! /* firmata protocol ! * =============== ! * data: 0-127 ! * control: 128-255 */ - - /* computer<->Arduino commands - * -------------------- */ - /* 128-129 // UNASSIGNED */ - #define SET_PIN_ZERO_TO_IN 130 // set digital pin 0 to INPUT - #define SET_PIN_ONE_TO_IN 131 // set digital pin 1 to INPUT - #define SET_PIN_TWO_TO_IN 132 // set digital pin 2 to INPUT - #define SET_PIN_THREE_TO_IN 133 // set digital pin 3 to INPUT - #define SET_PIN_FOUR_TO_IN 134 // set digital pin 4 to INPUT - #define SET_PIN_FIVE_TO_IN 135 // set digital pin 5 to INPUT - #define SET_PIN_SIX_TO_IN 136 // set digital pin 6 to INPUT - #define SET_PIN_SEVEN_TO_IN 137 // set digital pin 7 to INPUT - #define SET_PIN_EIGHT_TO_IN 138 // set digital pin 8 to INPUT - #define SET_PIN_NINE_TO_IN 139 // set digital pin 9 to INPUT - #define SET_PIN_TEN_TO_IN 140 // set digital pin 10 to INPUT - #define SET_PIN_ELEVEN_TO_IN 141 // set digital pin 11 to INPUT - #define SET_PIN_TWELVE_TO_IN 142 // set digital pin 12 to INPUT - #define SET_PIN_THIRTEEN_TO_IN 143 // set digital pin 13 to INPUT - /* 144-149 // UNASSIGNED */ - #define DISABLE_DIGITAL_INPUTS 150 // disable reporting of digital inputs - #define ENABLE_DIGITAL_INPUTS 151 // enable reporting of digital inputs - /* 152-159 // UNASSIGNED */ - #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) - #define SEVEN_ANALOG_INS 167 // enable reporting for 6 analog ins (0-6) - #define EIGHT_ANALOG_INS 168 // enable reporting for 6 analog ins (0-7) - #define NINE_ANALOG_INS 169 // enable reporting for 6 analog ins (0-8) - /* 170-199 // UNASSIGNED */ - #define SET_PIN_ZERO_TO_OUT 200 // set digital pin 0 to OUTPUT - #define SET_PIN_ONE_TO_OUT 201 // set digital pin 1 to OUTPUT - #define SET_PIN_TWO_TO_OUT 202 // set digital pin 2 to OUTPUT - #define SET_PIN_THREE_TO_OUT 203 // set digital pin 3 to OUTPUT - #define SET_PIN_FOUR_TO_OUT 204 // set digital pin 4 to OUTPUT - #define SET_PIN_FIVE_TO_OUT 205 // set digital pin 5 to OUTPUT - #define SET_PIN_SIX_TO_OUT 206 // set digital pin 6 to OUTPUT - #define SET_PIN_SEVEN_TO_OUT 207 // set digital pin 7 to OUTPUT - #define SET_PIN_EIGHT_TO_OUT 208 // set digital pin 8 to OUTPUT - #define SET_PIN_NINE_TO_OUT 209 // set digital pin 9 to OUTPUT - #define SET_PIN_TEN_TO_OUT 210 // set digital pin 10 to OUTPUT - #define SET_PIN_ELEVEN_TO_OUT 211 // set digital pin 11 to OUTPUT - #define SET_PIN_TWELVE_TO_OUT 212 // set digital pin 12 to OUTPUT - #define SET_PIN_THIRTEEN_TO_OUT 213 // set digital pin 13 to OUTPUT - /* 214-228 // UNASSIGNED */ - #define OUTPUT_TO_DIGITAL_PINS 229 // next two bytes set digital output data - /* 230-239 // UNASSIGNED */ - #define REPORT_VERSION 240 // return the firmware version - /* 240-248 // UNASSIGNED */ - #define SET_PIN_STATE 249 // set a digital pit to INPUT or OUTPUT - #define DISABLE_PWM 250 // next byte sets pin # to disable - #define ENABLE_PWM 251 // next two bytes set pin # and duty cycle - #define RESET 254 // reset if receive 8 of these bytes - /* 255 // UNASSIGNED */
! ! /* two byte digital output data format ! * ---------------------- ! * 0 set digital output bytes (229/OUTPUT_TO_DIGITAL_PINS) ! * 1 digitalOut 7-13 bitmask ! * 2 digitalOut 0-6 bitmask */
! /* control PWM * ---------------------- ! * 0 send digital input bytes (ENABLE_PWM) ! * 1 pin # (0-127) ! * 2 duty cycle expressed as 1 byte (255 = 100%) */
! /* 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 (160 + pin number reported) ! * 1 high byte from analog input ! * 2 low byte from analog input */
/* version report format ! * Send a single byte 240, Arduino will reply with: * ---------------------- ! * 0 version report header (240) ! * 1 major version (0-127) ! * 2 minor version (0-127) */
! /* PROPOSED PROTOCOL ADDITIONS */
! /* set digital pin state (249/SET_PIN_STATE) * ---------------------- ! * 0 set digital pin state ! * 1 pin number (0-127) ! * 2 state (OUTPUT/INPUT, 0/1) */
! /* toggle analogIn reporting (249/SET_PIN_STATE) * ---------------------- ! * 0 analogIn reporting mode ! * 1 pin number (0-127) ! * 2 state (0/1) */
! /* control PWM 14-bit * ---------------------- ! * 0 send digital input bytes (ENABLE_PWM) ! * 1 pin # (0-127) ! * 2 duty cycle, high bits (8-13) ! * 3 duty cycle, low bits (0-7) */
! ! /* pulseIn (uses 32-bit value) * ---------------------- ! * 0 pulseIn ! * 1 bits 24-31 (most significant byte) ! * 2 bits 16-23 ! * 3 bits 8-15 ! * 4 bits 0-7 (least significant byte) */
#define TOTAL_DIGITAL_PINS 14
--- 42,173 ----
/* + * TODO: debug hardware PWM + * TODO: convert all non-frequent messages to SysEx (version, pinMode, report enable, etc) + * TODO: convert to MIDI protocol using SysEx for longer messages * TODO: add pulseOut functionality for servos * TODO: add software PWM for servos, etc (servo.h or pulse.h) * TODO: redesign protocol to accomodate boards with more I/Os ! * TODO: add protocol version reporting ! * 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: add "pinMode all 0/1" command * TODO: add cycle markers to mark start of analog, digital, pulseIn, and PWM ! * TODO: use Program Control to load stored profiles from EEPROM */
/* cvs version: $Id$ */
! /*========================================================================== ! * 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 make sense in terms ! * of MIDI controllers and synths. ! * ! * 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 0xB0 */
! /*---------------------------------------------------------------------------- ! * DATA MESSAGES */ ! ! /* two byte digital data format * ---------------------- ! * 0 digital data, 0x90-0x9F, (x & 0x0F) to get port base number ! * 1 digital pins 0-6 bitmask ! * 2 digital pins 7-13 bitmask */
! /* analog 14-bit data format * ---------------------- ! * 0 analog pin, 0xE0-0xEF, (x & 0x0F) for pin number ! * 1 analog least significant 7 bits ! * 2 analog most significant 7 bits */
! /* pulseIn/Out (uses 32-bit value) * ---------------------- ! * 0 START_SYSEX (0xF0) ! * 1 pulseIn (0xFD) ! * 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) */
/* 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) */
! /*---------------------------------------------------------------------------- ! * 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 MAJOR_VERSION 1 // for non-compatible changes + #define MINOR_VERSION 0 // for backwards compatible changes + + /* total number of digital pins supported */ #define TOTAL_DIGITAL_PINS 14
*************** *** 196,200 **** #define PWM 2
! // maximum number of post-command data bytes #define MAX_DATA_BYTES 2 // this flag says the next serial input will be data --- 175,195 ---- #define PWM 2
! #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 ! *==========================================================================*/ ! ! // maximum number of post-command data bytes (non-SysEx) #define MAX_DATA_BYTES 2 // this flag says the next serial input will be data *************** *** 203,216 **** byte storedInputData[MAX_DATA_BYTES] = {0,0}; // multi-byte data
- // this flag says the first data byte for the digital outs is next - boolean firstInputByte = false; - - /* store the previously sent digital inputs to compare against the current - * digital inputs. If there is no change, do not transmit. */ - byte previousDigitalInputHighByte = 0; - byte previousDigitalInputLowByte = 0; - byte digitalInputHighByte = 0; - byte digitalInputLowByte = 0; - /* this int serves as a bit-wise array to store pin status * 0 = INPUT, 1 = OUTPUT */ --- 198,201 ---- *************** *** 222,293 **** int pwmStatus = 0;
- boolean digitalInputsEnabled = true; - // TODO: convert this to a bit array int, 1=report, 0=no report - byte analogInputsEnabled = 6; - - byte analogPin; - int analogData; - - // ------------------------------------------------------------------------- - byte transmitDigitalInput(byte startPin) { - byte i; - byte digitalPin; - // byte digitalPinBit; - byte returnByte = 0; - byte digitalData; - - for(i=0;i<7;++i) { - 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); - returnByte = returnByte + ((1 << i) * digitalData); - } - } - return(returnByte); - } - - - - // ------------------------------------------------------------------------- - /* this function 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(int pin, int mode) { - if(mode == INPUT) { - digitalPinStatus = digitalPinStatus &~ (1 << pin); - pwmStatus = pwmStatus &~ (1 << pin); - pinMode(pin,INPUT); - } - else if(mode == OUTPUT) { - digitalPinStatus = digitalPinStatus | (1 << pin); - pwmStatus = pwmStatus &~ (1 << pin); - pinMode(pin,OUTPUT); - } - else if( (mode == PWM) && (pin >= 9) && (pin <= 11) ) { - digitalPinStatus = digitalPinStatus | (1 << pin); - pwmStatus = pwmStatus | (1 << pin); - pinMode(pin,OUTPUT); - } - // TODO: save status to EEPROM here, if changed - }
/* ------------------------------------------------------------------------- ! * this function checks to see if there is data waiting on the serial port ! * then processes all of the stored data */ ! void checkForInput() { ! if(Serial.available()) { ! while(Serial.available()) { ! processInput( (byte)Serial.read() ); ! } } } --- 207,229 ---- int pwmStatus = 0;
+ /*========================================================================== + * FUNCTIONS + *==========================================================================*/
/* ------------------------------------------------------------------------- ! * output digital bytes received from the serial port */ ! void outputDigitalBytes(byte pin0_6, byte pin7_13) { ! int i; ! int mask; ! int twoBytesForPorts; ! ! twoBytesForPorts = pin0_6 + (pin7_13 << 7); ! for(i=0; i<14; ++i) { ! mask = 1 << i; ! if( (digitalPinStatus & mask) && !(pwmStatus & mask) ) { ! digitalWrite(i, twoBytesForPorts & mask); ! } } } *************** *** 295,411 **** /* ------------------------------------------------------------------------- * processInput() is called whenever a byte is available on the ! * Arduino's serial port. This is where the comm1ands are handled. */ ! void processInput(byte inputData) { ! int i; ! int mask; ! // a few commands have byte(s) of data following the command ! if( waitForData > 0) { waitForData--; storedInputData[waitForData] = inputData; ! ! if(executeMultiByteCommand && (waitForData==0)) { //we got everything switch(executeMultiByteCommand) { ! case ENABLE_PWM: ! setPinMode(storedInputData[1],PWM); ! analogWrite(storedInputData[1], storedInputData[0]); break; ! case DISABLE_PWM: ! setPinMode(storedInputData[0],INPUT); break; } executeMultiByteCommand = 0; } ! } ! 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); ! } ! } } - } - else { switch (inputData) { ! case REPORT_VERSION: ! Serial.print(REPORT_VERSION, BYTE); ! Serial.print(MAJOR_VERSION, BYTE); ! Serial.print(MINOR_VERSION, BYTE); ! break; ! case ENABLE_PWM: ! waitForData = 2; // 2 bytes needed (pin#, dutyCycle) executeMultiByteCommand = inputData; break; ! case DISABLE_PWM: ! waitForData = 1; // 1 byte needed (pin#) executeMultiByteCommand = inputData; - break; - case OUTPUT_TO_DIGITAL_PINS: // bytes to send to digital outputs - firstInputByte = true; - break; - case DISABLE_DIGITAL_INPUTS: // all digital inputs off - digitalInputsEnabled = false; break; ! case ENABLE_DIGITAL_INPUTS: // all digital inputs on ! 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 ! case SEVEN_ANALOG_INS: // analog 0-6 on ! case EIGHT_ANALOG_INS: // analog 0-7 on ! case NINE_ANALOG_INS: // analog 0-8 on ! analogInputsEnabled = inputData - ZERO_ANALOG_INS; ! break; ! case SET_PIN_ZERO_TO_IN: // set digital pins to INPUT ! case SET_PIN_ONE_TO_IN: ! case SET_PIN_TWO_TO_IN: ! case SET_PIN_THREE_TO_IN: ! case SET_PIN_FOUR_TO_IN: ! case SET_PIN_FIVE_TO_IN: ! case SET_PIN_SIX_TO_IN: ! case SET_PIN_SEVEN_TO_IN: ! case SET_PIN_EIGHT_TO_IN: ! case SET_PIN_NINE_TO_IN: ! case SET_PIN_TEN_TO_IN: ! case SET_PIN_ELEVEN_TO_IN: ! case SET_PIN_TWELVE_TO_IN: ! case SET_PIN_THIRTEEN_TO_IN: ! setPinMode(inputData - SET_PIN_ZERO_TO_IN, INPUT); break; ! case SET_PIN_ZERO_TO_OUT: // set digital pins to OUTPUT ! case SET_PIN_ONE_TO_OUT: ! case SET_PIN_TWO_TO_OUT: ! case SET_PIN_THREE_TO_OUT: ! case SET_PIN_FOUR_TO_OUT: ! case SET_PIN_FIVE_TO_OUT: ! case SET_PIN_SIX_TO_OUT: ! case SET_PIN_SEVEN_TO_OUT: ! case SET_PIN_EIGHT_TO_OUT: ! case SET_PIN_NINE_TO_OUT: ! case SET_PIN_TEN_TO_OUT: ! case SET_PIN_ELEVEN_TO_OUT: ! case SET_PIN_TWELVE_TO_OUT: ! case SET_PIN_THIRTEEN_TO_OUT: ! setPinMode(inputData - SET_PIN_ZERO_TO_OUT, OUTPUT); break; } --- 231,288 ---- /* ------------------------------------------------------------------------- * 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, channel; ! // a few commands have byte(s) of data following the command ! if( (waitForData > 0) && (inputData < 128) ) { waitForData--; storedInputData[waitForData] = inputData; ! if( (waitForData==0) && executeMultiByteCommand ) { //we got everything switch(executeMultiByteCommand) { ! case ANALOG_MESSAGE: ! channel = inputData & 0x0F; // get channel from command byte break; ! case DIGITAL_MESSAGE: ! outputDigitalBytes(storedInputData[1], storedInputData[0]); ! break; ! case SET_DIGITAL_PIN_MODE: ! setPinMode(storedInputData[1], storedInputData[0]); ! break; ! case REPORT_ANALOG_PIN: ! break; ! case REPORT_DIGITAL_PORTS: break; } executeMultiByteCommand = 0; } ! } else { ! // remove channel info from command byte if less than 0xF0 ! if(inputData < 0xF0) { ! command = inputData & 0xF0; ! } else { ! command = inputData; } switch (inputData) { ! case ANALOG_MESSAGE: ! case DIGITAL_MESSAGE: ! case SET_DIGITAL_PIN_MODE: ! waitForData = 2; // two data bytes needed executeMultiByteCommand = inputData; break; ! case REPORT_ANALOG_PIN: ! case REPORT_DIGITAL_PORTS: ! waitForData = 1; // two data bytes needed executeMultiByteCommand = inputData; break; ! case SYSTEM_RESET: ! // this doesn't do anything yet break; ! case REPORT_VERSION: ! Serial.print(REPORT_VERSION, BYTE); ! Serial.print(MAJOR_VERSION, BYTE); ! Serial.print(MINOR_VERSION, BYTE); break; } *************** *** 414,426 ****
! // =========================================================================
// ------------------------------------------------------------------------- void setup() { byte i;
// TODO: load state from EEPROM here ! ! Serial.begin(115200);
/* TODO: send digital inputs here, if enabled, to set the initial state on the --- 291,352 ----
! /* ------------------------------------------------------------------------- ! * this function checks to see if there is data waiting on the serial port ! * then processes all of the stored data ! */ ! ! /* TODO: switch this to a timer interrupt. The timer is set in relation to ! * the bitrate, when the interrupt is triggered, then it runs checkForInput(). ! * Therefore, it only checks for input once per cycle of the serial port. ! */ ! void checkForInput() { ! if(Serial.available()) ! processInput( Serial.read() ); ! }
// ------------------------------------------------------------------------- + /* this function 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(mode == INPUT) { + digitalPinStatus = digitalPinStatus &~ (1 << pin); + pwmStatus = pwmStatus &~ (1 << pin); + 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 + } + + // ========================================================================= + + // used for flashing the pin for the version number + void pin13strobe(int count, int onInterval, int offInterval) { + byte i; + for(i=0; i<count; i++) { + digitalWrite(13,1); + delay(onInterval); + digitalWrite(13,0); + delay(offInterval); + } + } + + /*========================================================================== + * SETUP() + *==========================================================================*/ void setup() { byte i;
// TODO: load state from EEPROM here ! Serial.begin(115200); // 9600, 14400, 38400, 57600, 115200
/* TODO: send digital inputs here, if enabled, to set the initial state on the *************** *** 430,475 **** // flash the pin 13 with the protocol minor version (add major once > 0) pinMode(13,OUTPUT); ! for(i-0; i<MINOR_VERSION; i++) { ! digitalWrite(13,1); ! delay(100); ! digitalWrite(13,0); ! delay(200); ! } for(i=0; i<TOTAL_DIGITAL_PINS; ++i) { ! setPinMode(i,INPUT); } }
! // ------------------------------------------------------------------------- void loop() { - checkForInput(); - - // read all digital pins, in enabled - if(digitalInputsEnabled) { - digitalInputHighByte = transmitDigitalInput(7); - checkForInput(); - digitalInputLowByte = transmitDigitalInput(0); - checkForInput(); - // only send data if it has changed - if( (digitalInputHighByte != previousDigitalInputHighByte) && - (digitalInputLowByte != previousDigitalInputLowByte) ) { - Serial.print(ENABLE_DIGITAL_INPUTS, BYTE); - Serial.print(digitalInputHighByte, BYTE); - Serial.print(digitalInputLowByte, BYTE); - previousDigitalInputHighByte = digitalInputHighByte; - previousDigitalInputLowByte = digitalInputLowByte; - } - 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 on host. ! Highest bits should be zeroed so the 8th bit doesn't get set */ ! Serial.print(ONE_ANALOG_IN + analogPin, BYTE); ! Serial.print(analogData >> 7, BYTE); // shift high bits into output byte ! Serial.print(analogData % 128, BYTE); // mod by 32 for the small byte ! checkForInput(); ! } } --- 356,379 ---- // flash the pin 13 with the protocol minor version (add major once > 0) pinMode(13,OUTPUT); ! pin13strobe(10,5,20); // separator, a quick burst ! delay(500); ! pin13strobe(MAJOR_VERSION, 200, 400); ! delay(500); ! pin13strobe(10,5,20); // separator, a quick burst ! delay(500); ! pin13strobe(MINOR_VERSION, 200, 400); ! delay(500); ! pin13strobe(10,5,20); // separator, a quick burst ! delay(1000); for(i=0; i<TOTAL_DIGITAL_PINS; ++i) { ! setPinMode(i,OUTPUT); } }
! /*========================================================================== ! * LOOP() ! *==========================================================================*/ void loop() {
! checkForInput(); }
-
Hans-Christoph Steiner