/* * 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 * help with initial protocol redesign: Jamie Allen * much protocol discussion: the Arduino developers mailing list * key bugfixes: Georg Holzmann * Gerda Strobl * @date: 2006-05-19 * @locations: STEIM, Amsterdam, Netherlands * IDMI/Polytechnic University, Brookyn, NY, USA * Electrolobby Ars Electronica, Linz, Austria */ /* * 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 1.29 2007/03/08 05:37:22 eighthave Exp $ */ /*============================================================================== * 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 be directly usable in * terms of MIDI controllers and synths. It should co-exist with MIDI without * trouble and can be parsed by standard MIDI interpreters. Just some of the * message data is used differently. * * 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 0xF5 dataPin; clockPin; 7-bit LSB; 7-bit MSB 0xF7 */ /* ----------------------------------------------------------------------------- * DATA MESSAGE FORMAT */ /* two byte digital data format * ---------------------------- * 0 digital data, 0x90-0x9F, (MIDI NoteOn, but different data usage) * 1 digital pins 0-6 bitmask * 2 digital pins 7-13 bitmask */ /* analog 14-bit data format * ------------------------- * 0 analog pin, 0xE0-0xEF, (MIDI Pitch Wheel) * 1 analog least significant 7 bits * 2 analog most significant 7 bits */ /* 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) */ /* pulseIn/Out (uses 32-bit value) * ------------------------------- * 0 START_SYSEX (0xF0) (MIDI System Exclusive) * 1 pulseIn/Out (0xA0-0xAF) * 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) (MIDI End of SysEx - EOX) */ /* shiftIn/Out (uses 8-bit value) * ------------------------------ * 0 START_SYSEX (0xF0) * 1 shiftOut (0xF5) * 2 dataPin (0-127) * 3 clockPin (0-127) * 4 bits 0-6 (least significant byte) * 5 bit 7 (most significant bit) * 6 END_SYSEX (0xF7) */ /* ----------------------------------------------------------------------------- * 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 FIRMATA_MAJOR_VERSION 1 // for non-compatible changes #define FIRMATA_MINOR_VERSION 0 // for backwards compatible changes /* total number of pins currently supported */ #define TOTAL_ANALOG_PINS 6 #define TOTAL_DIGITAL_PINS 14 // for comparing along with INPUT and OUTPUT #define PWM 2 // for selecting digital inputs #define PB 2 // digital input, pins 8-13 #define PC 3 // analog input port #define PD 4 // digital input, pins 0-7 #define MAX_DATA_BYTES 2 // max number of data bytes in non-SysEx messages /* message command bytes */ #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 *============================================================================*/ /* 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 digitalInputsEnabled = false; // output digital inputs or not int digitalInputs; int previousDigitalInputs; // previous output to test for change int digitalPinStatus = 3; // bitwise array to store pin status, ignore RxTx pins /* PWM/analog outputs */ int pwmStatus = 0; // bitwise array to store PWM status /* analog inputs */ unsigned int analogPinsToReport = 0; // bitwise array to store pin reporting int analogPin = 0; // counter for reading analog pins int analogData; // storage variable for data from analogRead() /* timer variables */ extern volatile unsigned long timer0_overflow_count; // timer0 from wiring.c unsigned long nextExecuteTime; // for comparison with timer0_overflow_count /*============================================================================== * FUNCTIONS *============================================================================*/ /* ----------------------------------------------------------------------------- * output the version message to the serial port */ void printVersion() { Serial.print(REPORT_VERSION, BYTE); Serial.print(FIRMATA_MINOR_VERSION, BYTE); Serial.print(FIRMATA_MAJOR_VERSION, BYTE); } /* ----------------------------------------------------------------------------- * 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> 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) { analogPinsToReport = analogPinsToReport &~ (1 << pin); } else { // everything but 0 enables reporting of that pin analogPinsToReport = analogPinsToReport | (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) digitalInputsEnabled = 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) digitalInputsEnabled = false; else digitalInputsEnabled = 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: 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()); } // ============================================================================= // 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 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> 7, BYTE); } } } }