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Adding a stable version of Firmata - this is the same as the one in the Arduino library for Processing on the playground (57600 baud).
This commit is contained in:
David A. Mellis
parent
6b9d3ddb90
commit
1df2652f3d
465
hardware/firmwares/Firmata/Firmata.pde
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465
hardware/firmwares/Firmata/Firmata.pde
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/*
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* Copyright (C) 2006 Free Software Foundation
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* See file LICENSE for further informations on licensing terms.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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*
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* -----------------------------------------------------------
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* Firmata, the general purpose sensorbox firmware for Arduino
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* -----------------------------------------------------------
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*
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* Firmata turns the Arduino into a Plug-n-Play sensorbox, servo
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* controller, and/or PWM motor/lamp controller.
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*
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* It was originally designed to work with the Pd object [arduino]
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* which is included in Pd-extended. This firmware is intended to
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* work with any host computer software package. It can easily be
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* used with other programs like Max/MSP, Processing, or whatever can
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* do serial communications.
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*
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* @author: Hans-Christoph Steiner <hans@at.or.at>
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* help with initial protocol redesign: Jamie Allen <jamie@heavyside.net>
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* much protocol discussion: the Arduino developers mailing list
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* key bugfixes: Georg Holzmann <grh@mur.at>
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* Gerda Strobl <gerda.strobl@student.tugraz.at>
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* @date: 2006-05-19
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* @locations: STEIM, Amsterdam, Netherlands
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* IDMI/Polytechnic University, Brookyn, NY, USA
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* Electrolobby Ars Electronica, Linz, Austria
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*/
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/*
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* TODO: add pulseOut functionality for servos
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* TODO: add software PWM for servos, etc (servo.h or pulse.h)
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* TODO: add device type reporting (i.e. some firmwares will use the Firmata
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* protocol, but will only support specific devices, like ultrasound
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* rangefinders or servos)
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* TODO: use Program Control to load stored profiles from EEPROM
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*/
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/* cvs version: $Id: Pd_firmware.pde,v 1.29 2007/03/08 05:37:22 eighthave Exp $ */
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/* svn version: 334 */
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/*==============================================================================
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* MESSAGE FORMATS
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*============================================================================*/
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/* -----------------------------------------------------------------------------
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* MAPPING DATA TO MIDI
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*
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* This protocol uses the MIDI message format, but does not use the whole
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* protocol. Most of the command mappings here will not be directly usable in
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* terms of MIDI controllers and synths. It should co-exist with MIDI without
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* trouble and can be parsed by standard MIDI interpreters. Just some of the
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* message data is used differently.
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*
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* MIDI format: http://www.harmony-central.com/MIDI/Doc/table1.html
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*
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* MIDI
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* type command channel first byte second byte
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* -----------------------------------------------------------------------------
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* analog I/O 0xE0 pin # LSB(bits 0-6) MSB(bits 7-13)
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* digital I/O 0x90 port base LSB(bits 0-6) MSB(bits 7-13)
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* report analog pin 0xC0 pin # disable/enable(0/1) - n/a -
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* report digital ports 0xD0 port base disable/enable(0/1) - n/a -
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*
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* digital pin mode(I/O) 0xF4 - n/a - pin # (0-63) pin state(0=in)
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* firmware version 0xF9 - n/a - minor version major version
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* system reset 0xFF - n/a - - n/a - - n/a -
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*
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*/
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/* proposed extensions using SysEx
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*
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* type SysEx start command data bytes SysEx stop
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* -----------------------------------------------------------------------------
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* pulse I/O 0xF0 0xA0 five 7-bit chunks, LSB first 0xF7
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* shiftOut 0xF0 0xF5 dataPin; clockPin; 7-bit LSB; 7-bit MSB 0xF7
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*/
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/* -----------------------------------------------------------------------------
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* DATA MESSAGE FORMAT */
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/* two byte digital data format
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* ----------------------------
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* 0 digital data, 0x90-0x9F, (MIDI NoteOn, but different data usage)
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* 1 digital pins 0-6 bitmask
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* 2 digital pins 7-13 bitmask
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*/
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/* analog 14-bit data format
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* -------------------------
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* 0 analog pin, 0xE0-0xEF, (MIDI Pitch Wheel)
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* 1 analog least significant 7 bits
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* 2 analog most significant 7 bits
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*/
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/* version report format
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* Send a single byte 0xF9, Arduino will reply with:
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* -------------------------------------------------
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* 0 version report header (0xF9) (MIDI Undefined)
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* 1 minor version (0-127)
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* 2 major version (0-127)
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*/
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/* pulseIn/Out (uses 32-bit value)
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* -------------------------------
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* 0 START_SYSEX (0xF0) (MIDI System Exclusive)
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* 1 pulseIn/Out (0xA0-0xAF)
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* 2 bits 0-6 (least significant byte)
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* 3 bits 7-13
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* 4 bits 14-20
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* 5 bits 21-27
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* 6 bits 28-34 (most significant byte)
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* 7 END_SYSEX (0xF7) (MIDI End of SysEx - EOX)
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*/
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/* shiftIn/Out (uses 8-bit value)
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* ------------------------------
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* 0 START_SYSEX (0xF0)
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* 1 shiftOut (0xF5)
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* 2 dataPin (0-127)
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* 3 clockPin (0-127)
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* 4 bits 0-6 (least significant byte)
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* 5 bit 7 (most significant bit)
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* 6 END_SYSEX (0xF7)
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*/
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/* -----------------------------------------------------------------------------
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* CONTROL MESSAGES */
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/* set digital pin mode
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* --------------------
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* 1 set digital pin mode (0xF4) (MIDI Undefined)
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* 2 pin number (0-127)
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* 3 state (INPUT/OUTPUT, 0/1)
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*/
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/* toggle analogIn reporting by pin
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* --------------------------------
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* 0 toggle digitalIn reporting (0xC0-0xCF) (MIDI Program Change)
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* 1 disable(0)/enable(non-zero)
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*/
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/* toggle digitalIn reporting by port pairs
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* ----------------------------------------
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* 0 toggle digitalIn reporting (0xD0-0xDF) (MIDI Aftertouch)
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* 1 disable(0)/enable(non-zero)
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*/
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/* request version report
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* ----------------------
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* 0 request version report (0xF9) (MIDI Undefined)
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*/
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/*==============================================================================
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* MACROS
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*============================================================================*/
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/* Version numbers for the protocol. The protocol is still changing, so these
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* version numbers are important. This number can be queried so that host
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* software can test whether it will be compatible with the currently
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* installed firmware. */
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#define FIRMATA_MAJOR_VERSION 1 // for non-compatible changes
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#define FIRMATA_MINOR_VERSION 0 // for backwards compatible changes
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/* total number of pins currently supported */
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#define TOTAL_ANALOG_PINS 6
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#define TOTAL_DIGITAL_PINS 14
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// for comparing along with INPUT and OUTPUT
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#define PWM 2
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// for selecting digital inputs
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#define PB 2 // digital input, pins 8-13
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#define PC 3 // analog input port
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#define PD 4 // digital input, pins 0-7
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#define MAX_DATA_BYTES 2 // max number of data bytes in non-SysEx messages
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/* message command bytes */
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#define DIGITAL_MESSAGE 0x90 // send data for a digital pin
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#define ANALOG_MESSAGE 0xE0 // send data for an analog pin (or PWM)
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//#define PULSE_MESSAGE 0xA0 // proposed pulseIn/Out message (SysEx)
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//#define SHIFTOUT_MESSAGE 0xB0 // proposed shiftOut message (SysEx)
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#define REPORT_ANALOG_PIN 0xC0 // enable analog input by pin #
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#define REPORT_DIGITAL_PORTS 0xD0 // enable digital input by port pair
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#define START_SYSEX 0xF0 // start a MIDI SysEx message
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#define SET_DIGITAL_PIN_MODE 0xF4 // set a digital pin to INPUT or OUTPUT
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#define END_SYSEX 0xF7 // end a MIDI SysEx message
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#define REPORT_VERSION 0xF9 // report firmware version
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#define SYSTEM_RESET 0xFF // reset from MIDI
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/*==============================================================================
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* GLOBAL VARIABLES
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*============================================================================*/
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/* input message handling */
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byte waitForData = 0; // this flag says the next serial input will be data
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byte executeMultiByteCommand = 0; // execute this after getting multi-byte data
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byte multiByteChannel = 0; // channel data for multiByteCommands
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byte storedInputData[MAX_DATA_BYTES] = {0,0}; // multi-byte data
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/* digital pins */
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boolean digitalInputsEnabled = false; // output digital inputs or not
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int digitalInputs;
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int previousDigitalInputs; // previous output to test for change
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int digitalPinStatus = 3; // bitwise array to store pin status, ignore RxTx pins
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/* PWM/analog outputs */
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int pwmStatus = 0; // bitwise array to store PWM status
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/* analog inputs */
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unsigned int analogPinsToReport = 0; // bitwise array to store pin reporting
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int analogPin = 0; // counter for reading analog pins
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int analogData; // storage variable for data from analogRead()
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/* timer variables */
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extern volatile unsigned long timer0_overflow_count; // timer0 from wiring.c
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unsigned long nextExecuteTime; // for comparison with timer0_overflow_count
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/*==============================================================================
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* FUNCTIONS
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*============================================================================*/
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/* -----------------------------------------------------------------------------
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* output the version message to the serial port */
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void printVersion() {
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Serial.print(REPORT_VERSION, BYTE);
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Serial.print(FIRMATA_MINOR_VERSION, BYTE);
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Serial.print(FIRMATA_MAJOR_VERSION, BYTE);
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}
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/* -----------------------------------------------------------------------------
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* output digital bytes received from the serial port */
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void outputDigitalBytes(byte pin0_6, byte pin7_13) {
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int i;
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int mask;
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int twoBytesForPorts;
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// this should be converted to use PORTs
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twoBytesForPorts = pin0_6 + (pin7_13 << 7);
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for(i=2; i<TOTAL_DIGITAL_PINS; ++i) { // ignore Rx,Tx pins (0 and 1)
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mask = 1 << i;
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if( (digitalPinStatus & mask) && !(pwmStatus & mask) ) {
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digitalWrite(i, twoBytesForPorts & mask ? HIGH : LOW);
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}
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}
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}
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/* -----------------------------------------------------------------------------
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* check all the active digital inputs for change of state, then add any events
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* to the Serial output queue using Serial.print() */
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void checkDigitalInputs(void) {
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if(digitalInputsEnabled) {
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previousDigitalInputs = digitalInputs;
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digitalInputs = PINB << 8; // get pins 8-13
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digitalInputs += PIND; // get pins 0-7
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digitalInputs = digitalInputs &~ digitalPinStatus; // ignore pins set OUTPUT
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if(digitalInputs != previousDigitalInputs) {
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// TODO: implement more ports as channels for more than 16 digital pins
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Serial.print(DIGITAL_MESSAGE,BYTE);
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Serial.print(digitalInputs % 128, BYTE); // Tx pins 0-6
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Serial.print(digitalInputs >> 7, BYTE); // Tx pins 7-13
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}
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}
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}
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// -----------------------------------------------------------------------------
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/* sets the pin mode to the correct state and sets the relevant bits in the
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* two bit-arrays that track Digital I/O and PWM status
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*/
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void setPinMode(byte pin, byte mode) {
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if(pin > 1) { // ignore RxTx pins (0,1)
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if(mode == INPUT) {
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digitalPinStatus = digitalPinStatus &~ (1 << pin);
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pwmStatus = pwmStatus &~ (1 << pin);
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digitalWrite(pin,LOW); // turn off pin before switching to INPUT
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pinMode(pin,INPUT);
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}
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else if(mode == OUTPUT) {
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digitalPinStatus = digitalPinStatus | (1 << pin);
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pwmStatus = pwmStatus &~ (1 << pin);
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pinMode(pin,OUTPUT);
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}
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else if( mode == PWM ) {
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digitalPinStatus = digitalPinStatus | (1 << pin);
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pwmStatus = pwmStatus | (1 << pin);
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pinMode(pin,OUTPUT);
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}
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// TODO: save status to EEPROM here, if changed
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}
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}
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// -----------------------------------------------------------------------------
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/* sets bits in a bit array (int) to toggle the reporting of the analogIns
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*/
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void setAnalogPinReporting(byte pin, byte state) {
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if(state == 0) {
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analogPinsToReport = analogPinsToReport &~ (1 << pin);
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}
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else { // everything but 0 enables reporting of that pin
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analogPinsToReport = analogPinsToReport | (1 << pin);
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}
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// TODO: save status to EEPROM here, if changed
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}
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/* -----------------------------------------------------------------------------
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* processInput() is called whenever a byte is available on the
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* Arduino's serial port. This is where the commands are handled. */
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void processInput(int inputData) {
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int command;
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// a few commands have byte(s) of data following the command
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if( (waitForData > 0) && (inputData < 128) ) {
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waitForData--;
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storedInputData[waitForData] = inputData;
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if( (waitForData==0) && executeMultiByteCommand ) { // got the whole message
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switch(executeMultiByteCommand) {
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case ANALOG_MESSAGE:
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setPinMode(multiByteChannel,PWM);
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analogWrite(multiByteChannel,
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(storedInputData[0] << 7) + storedInputData[1] );
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break;
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case DIGITAL_MESSAGE:
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outputDigitalBytes(storedInputData[1], storedInputData[0]); //(LSB, MSB)
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break;
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case SET_DIGITAL_PIN_MODE:
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setPinMode(storedInputData[1], storedInputData[0]); // (pin#, mode)
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if(storedInputData[0] == INPUT)
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digitalInputsEnabled = true; // enable reporting of digital inputs
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break;
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case REPORT_ANALOG_PIN:
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setAnalogPinReporting(multiByteChannel,storedInputData[0]);
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break;
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case REPORT_DIGITAL_PORTS:
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// TODO: implement MIDI channel as port base for more than 16 digital inputs
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if(storedInputData[0] == 0)
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digitalInputsEnabled = false;
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else
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digitalInputsEnabled = true;
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break;
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}
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executeMultiByteCommand = 0;
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}
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} else {
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// remove channel info from command byte if less than 0xF0
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if(inputData < 0xF0) {
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command = inputData & 0xF0;
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multiByteChannel = inputData & 0x0F;
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} else {
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command = inputData;
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// commands in the 0xF* range don't use channel data
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}
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switch (command) { // TODO: these needs to be switched to command
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case ANALOG_MESSAGE:
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case DIGITAL_MESSAGE:
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case SET_DIGITAL_PIN_MODE:
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waitForData = 2; // two data bytes needed
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executeMultiByteCommand = command;
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break;
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case REPORT_ANALOG_PIN:
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case REPORT_DIGITAL_PORTS:
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waitForData = 1; // two data bytes needed
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executeMultiByteCommand = command;
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break;
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case SYSTEM_RESET:
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// this doesn't do anything yet
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break;
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case REPORT_VERSION:
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printVersion();
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break;
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}
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}
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}
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/* -----------------------------------------------------------------------------
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* this function checks to see if there is data waiting on the serial port
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* then processes all of the stored data
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*/
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void checkForSerialReceive() {
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while(Serial.available())
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processInput(Serial.read());
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}
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// =============================================================================
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// used for flashing the pin for the version number
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void pin13strobe(int count, int onInterval, int offInterval) {
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byte i;
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pinMode(13, OUTPUT);
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for(i=0; i<count; i++) {
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delay(offInterval);
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digitalWrite(13,1);
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delay(onInterval);
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digitalWrite(13,0);
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}
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}
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/*==============================================================================
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* SETUP()
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*============================================================================*/
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void setup() {
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byte i;
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Serial.begin(57600); // 9600, 14400, 38400, 57600, 115200
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// flash the pin 13 with the protocol version
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pinMode(13,OUTPUT);
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pin13strobe(2,1,4); // separator, a quick burst
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delay(500);
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pin13strobe(FIRMATA_MAJOR_VERSION, 200, 400);
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delay(500);
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pin13strobe(2,1,4); // separator, a quick burst
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delay(500);
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pin13strobe(FIRMATA_MINOR_VERSION, 200, 400);
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delay(500);
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pin13strobe(2,1,4); // separator, a quick burst
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for(i=0; i<TOTAL_DIGITAL_PINS; ++i) {
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setPinMode(i,INPUT);
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}
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// TODO: load state from EEPROM here
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printVersion();
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/* TODO: send digital inputs here, if enabled, to set the initial state on the
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* host computer, since once in the loop(), the Arduino will only send data on
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||||
* change. */
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}
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/*==============================================================================
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* LOOP()
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*============================================================================*/
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void loop() {
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/* DIGITALREAD - as fast as possible, check for changes and output them to the
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* FTDI buffer using Serial.print() */
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checkDigitalInputs();
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if(timer0_overflow_count > nextExecuteTime) {
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nextExecuteTime = timer0_overflow_count + 19; // run this every 20ms
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||||
/* SERIALREAD - Serial.read() uses a 128 byte circular buffer, so handle
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* all serialReads at once, i.e. empty the buffer */
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checkForSerialReceive();
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/* 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. */
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||||
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||||
/* 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( analogPinsToReport & (1 << analogPin) ) {
|
||||
analogData = analogRead(analogPin);
|
||||
Serial.print(ANALOG_MESSAGE + analogPin, BYTE);
|
||||
// These two bytes converted back into the 10-bit value on host
|
||||
Serial.print(analogData % 128, BYTE);
|
||||
Serial.print(analogData >> 7, BYTE);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
Loading…
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Reference in New Issue
Block a user