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// standard firmata version 1 // brutally hacked by Massimo Banzi <m.banzi@tinker.it> // to support the Arduino Ethernet Shield // Tested to work with AS3Glue // #include <string.h> #include <Ethernet.h> #include <Servo.h> /*============================================================================== * 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 10 // 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 *============================================================================*/ byte mac[] = { 0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED }; byte ip[] = { 192, 168, 0, 48 }; byte gw[] = { 192, 168, 0, 254 }; Servo servo3; Servo servo5; Servo servo6; char buffer[64]; Server server(5050); Client client(0); // dummy, will be used when a client connects /* 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 */ unsigned long currentMillis; unsigned long nextExecuteMillis; // for comparison with timer0_overflow_count /*============================================================================== * FUNCTIONS *============================================================================*/ /* ----------------------------------------------------------------------------- * output the version message to the serial port */ void printVersion() { client.print(REPORT_VERSION, BYTE); client.print(FIRMATA_MINOR_VERSION, BYTE); client.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<TOTAL_DIGITAL_PINS; ++i) { // ignore Rx,Tx pins (0 and 1) mask = 1 << i; if( (digitalPinStatus & mask) && !(pwmStatus & mask) ) { digitalWrite(i, twoBytesForPorts & mask ? HIGH : LOW); } } } /* ----------------------------------------------------------------------------- * check all the active digital inputs for change of state, then add any events * to the Serial output queue using client.print() */ void checkDigitalInputs() { if(digitalInputsEnabled) { previousDigitalInputs = digitalInputs; digitalInputs = PINB << 8; // get pins 8-13 digitalInputs += PIND; // get pins 0-7 digitalInputs = digitalInputs &~ digitalPinStatus; // ignore pins set OUTPUT if(digitalInputs != previousDigitalInputs) { // TODO: implement more ports as channels for more than 16 digital pins client.print(DIGITAL_MESSAGE,BYTE); client.print(digitalInputs % 128, BYTE); // Tx pins 0-6 client.print(digitalInputs >> 7, BYTE); // Tx pins 7-13 } } } // ----------------------------------------------------------------------------- /* sets the pin mode to the correct state and sets the relevant bits in the * two bit-arrays that track Digital I/O and PWM status */ void setPinMode(byte pin, byte mode) { if(pin > 1) { // ignore RxTx pins (0,1) if(mode == INPUT) { digitalPinStatus = digitalPinStatus &~ (1 << pin); pwmStatus = pwmStatus &~ (1 << pin); digitalWrite(pin,LOW); // turn off pin before switching to INPUT pinMode(pin,INPUT); } else if(mode == OUTPUT) { digitalPinStatus = digitalPinStatus | (1 << pin); pwmStatus = pwmStatus &~ (1 << pin); pinMode(pin,OUTPUT); } else if( mode == PWM ) { digitalPinStatus = digitalPinStatus | (1 << pin); pwmStatus = pwmStatus | (1 << pin); pinMode(pin,OUTPUT); } // TODO: save status to EEPROM here, if changed } } // ----------------------------------------------------------------------------- /* sets bits in a bit array (int) to toggle the reporting of the analogIns */ void setAnalogPinReporting(byte pin, byte state) { if(state == 0) { 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; Serial.print("received "); Serial.println(inputData,DEC); // 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 */ // ============================================================================= // used for flashing the pin for the version number void pin13strobe(int count, int onInterval, int offInterval) { byte i; pinMode(13, OUTPUT); for(i=0; i<count; i++) { delay(offInterval); digitalWrite(13,1); delay(onInterval); digitalWrite(13,0); } } void dbg(char* message) { Serial.print(message); } /*============================================================================== * SETUP() *============================================================================*/ void setup() { byte i; Ethernet.begin(mac, ip,gw); Serial.begin(9600); // flash the pin 13 with the protocol version for(i=0; i<TOTAL_DIGITAL_PINS; ++i) { setPinMode(i,INPUT); } // TODO: load state from EEPROM here dbg("begin"); /* TODO: send digital inputs here, if enabled, to set the initial state on the * host computer, since once in the loop(), the Arduino will only send data on * change. */ } /*============================================================================== * LOOP() *============================================================================*/ void loop() { /* DIGITALREAD - as fast as possible, check for changes and output them to the * FTDI buffer using client.print() */ // a new client is connected to the server client = server.available(); // while client is connected we process data while (client.connected()) { // client.print("ciao"); // main processing function if (client.available() > 0) processInput(client.read()); checkDigitalInputs(); currentMillis = millis(); if(currentMillis > nextExecuteMillis) { nextExecuteMillis = currentMillis + 19; // run this every 20ms /* SERIALREAD - client.read() uses a 128 byte circular buffer, so handle * all serialReads at once, i.e. empty the buffer */ //checkForSerialReceive(); /* SEND FTDI WRITE BUFFER - make sure that the FTDI buffer doesn't go over * 60 bytes. use a timer to sending an event character every 4 ms to * trigger the buffer to dump. */ /* ANALOGREAD - right after the event character, do all of the * analogReads(). These only need to be done every 4ms. */ for(analogPin=0;analogPin<TOTAL_ANALOG_PINS;analogPin++) { if( analogPinsToReport & (1 << analogPin) ) { analogData = analogRead(analogPin); client.print(ANALOG_MESSAGE + analogPin, BYTE); // These two bytes converted back into the 10-bit value on host client.print(analogData % 128, BYTE); client.print(analogData >> 7, BYTE); } } } } client.stop(); }
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