diff --git a/firmwares/Standard_Firmata/Makefile b/firmwares/Standard_Firmata/Makefile new file mode 100644 index 000000000..8ad2d2ca4 --- /dev/null +++ b/firmwares/Standard_Firmata/Makefile @@ -0,0 +1,260 @@ +# Arduino makefile +# +# This makefile allows you to build sketches from the command line +# without the Arduino environment (or Java). +# +# The Arduino environment does preliminary processing on a sketch before +# compiling it. If you're using this makefile instead, you'll need to do +# a few things differently: +# +# - Give your program's file a .cpp extension (e.g. foo.cpp). +# +# - Put this line at top of your code: #include +# +# - Write prototypes for all your functions (or define them before you +# call them). A prototype declares the types of parameters a +# function will take and what type of value it will return. This +# means that you can have a call to a function before the definition +# of the function. A function prototype looks like the first line of +# the function, with a semi-colon at the end. For example: +# int digitalRead(int pin); +# +# Instructions for using the makefile: +# +# 1. Copy this file into the folder with your sketch. +# +# 2. Below, modify the line containing "TARGET" to refer to the name of +# of your program's file without an extension (e.g. TARGET = foo). +# +# 3. Modify the line containg "ARDUINO" to point the directory that +# contains the Arduino core (for normal Arduino installations, this +# is the lib/targets/arduino sub-directory). +# +# 4. Modify the line containing "PORT" to refer to the filename +# representing the USB or serial connection to your Arduino board +# (e.g. PORT = /dev/tty.USB0). If the exact name of this file +# changes, you can use * as a wildcard (e.g. PORT = /dev/tty.USB*). +# +# 5. At the command line, change to the directory containing your +# program's file and the makefile. +# +# 6. Type "make" and press enter to compile/verify your program. +# +# 7. Type "make upload", reset your Arduino board, and press enter to +# upload your program to the Arduino board. +# +# $Id: Makefile,v 1.7 2007/04/13 05:28:23 eighthave Exp $ + +PORT = /dev/tty.usbserial-* +TARGET = Pd_firmware +ARDUINO = /Applications/arduino-0007 +ARDUINO_SRC = $(ARDUINO)/lib/targets/arduino +ARDUINO_LIB_SRC = $(ARDUINO)/lib/targets/libraries +INCLUDE = -I$(ARDUINO_SRC) -I$(ARDUINO)/tools/avr/avr/include \ + -I$(ARDUINO)/lib/targets/libraries/EEPROM \ + -I$(ARDUINO)/lib/targets/libraries/Firmata \ + -I$(ARDUINO)/lib/targets/libraries +SRC = $(ARDUINO_SRC)/pins_arduino.c $(ARDUINO_SRC)/wiring.c \ + $(ARDUINO_SRC)/WInterrupts.c +CXXSRC = applet/$(TARGET).cpp $(ARDUINO_SRC)/HardwareSerial.cpp \ + $(ARDUINO_LIB_SRC)/EEPROM/EEPROM.cpp \ + $(ARDUINO_LIB_SRC)/Firmata/Firmata.cpp \ + $(ARDUINO_SRC)/WRandom.cpp +MCU = atmega8 +F_CPU = 16000000 +FORMAT = ihex +UPLOAD_RATE = 19200 + +# Name of this Makefile (used for "make depend"). +MAKEFILE = Makefile + +# Debugging format. +# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2. +# AVR (extended) COFF requires stabs, plus an avr-objcopy run. +DEBUG = stabs + +OPT = s + +# Place -D or -U options here +CDEFS = -DF_CPU=$(F_CPU) +CXXDEFS = -DF_CPU=$(F_CPU) + +# Compiler flag to set the C Standard level. +# c89 - "ANSI" C +# gnu89 - c89 plus GCC extensions +# c99 - ISO C99 standard (not yet fully implemented) +# gnu99 - c99 plus GCC extensions +CSTANDARD = -std=gnu99 +CDEBUG = -g$(DEBUG) +CWARN = -Wall -Wstrict-prototypes +CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums +#CEXTRA = -Wa,-adhlns=$(<:.c=.lst) + +CFLAGS = $(CDEBUG) $(CDEFS) $(INCLUDE) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA) +CXXFLAGS = $(CDEFS) $(INCLUDE) -O$(OPT) +#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs +LDFLAGS = + + +# Programming support using avrdude. Settings and variables. +AVRDUDE_PROGRAMMER = stk500 +AVRDUDE_PORT = $(PORT) +AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex +AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \ + -b $(UPLOAD_RATE) -q -V + +# Program settings +CC = avr-gcc +CXX = avr-g++ +OBJCOPY = avr-objcopy +OBJDUMP = avr-objdump +SIZE = avr-size +NM = avr-nm +AVRDUDE = avrdude +REMOVE = rm -f +MV = mv -f + +# Define all object files. +OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o) + +# Define all listing files. +LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst) + +# Combine all necessary flags and optional flags. +# Add target processor to flags. +ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) +ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS) +ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) + + +# Default target. +all: build + echo 'close;' | /Applications/Pd-0.39.2-extended-RC1.app/Contents/Resources/bin/pdsend 34567 || true + say "press the button" + make upload + +build: applet_files elf hex + +applet_files: + test -d applet || mkdir applet + echo '#include "WProgram.h"' > applet/$(TARGET).cpp + echo '#include "avr/interrupt.h"' >> applet/$(TARGET).cpp + sed -n 's|^\(void .*)\).*|\1;|p' Pd_firmware.pde | grep -v 'setup()' | \ + grep -v 'loop()' >> applet/$(TARGET).cpp + cat $(TARGET).pde >> applet/$(TARGET).cpp + +elf: applet/$(TARGET).elf +hex: applet/$(TARGET).hex +eep: applet/$(TARGET).eep +lss: applet/$(TARGET).lss +sym: applet/$(TARGET).sym + +# Program the device. +upload: applet/$(TARGET).hex + $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) + + + + +# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. +COFFCONVERT=$(OBJCOPY) --debugging \ +--change-section-address .data-0x800000 \ +--change-section-address .bss-0x800000 \ +--change-section-address .noinit-0x800000 \ +--change-section-address .eeprom-0x810000 + + +coff: applet/$(TARGET).elf + $(COFFCONVERT) -O coff-avr applet/$(TARGET).elf applet/$(TARGET).cof + + +extcoff: applet/$(TARGET).elf + $(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf applet/$(TARGET).cof + + +.SUFFIXES: .elf .hex .eep .lss .sym + +.elf.hex: + $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ + +.elf.eep: + -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ + --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ + +# Create extended listing file from ELF output file. +.elf.lss: + $(OBJDUMP) -h -S $< > $@ + +# Create a symbol table from ELF output file. +.elf.sym: + $(NM) -n $< > $@ + + + +# Link: create ELF output file from object files. +applet/$(TARGET).elf: $(OBJ) + $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) + + +# Compile: create object files from C++ source files. +.cpp.o: + $(CXX) -c $(ALL_CXXFLAGS) $< -o $@ + +# Compile: create object files from C source files. +.c.o: + $(CC) -c $(ALL_CFLAGS) $< -o $@ + + +# Compile: create assembler files from C source files. +.c.s: + $(CC) -S $(ALL_CFLAGS) $< -o $@ + + +# Assemble: create object files from assembler source files. +.S.o: + $(CC) -c $(ALL_ASFLAGS) $< -o $@ + + + +# Target: clean project. +clean: + $(REMOVE) applet/$(TARGET).hex applet/$(TARGET).eep applet/$(TARGET).cof applet/$(TARGET).elf \ + $(TARGET).map applet/$(TARGET).sym applet/$(TARGET).lss \ + $(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d) + find $(ARDUINO)/lib/ -name '*.o' -delete + +depend: + if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \ + then \ + sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \ + $(MAKEFILE).$$$$ && \ + $(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \ + fi + echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \ + >> $(MAKEFILE); \ + $(CC) -M -mmcu=$(MCU) $(CDEFS) $(INCLUDE) $(SRC) $(ASRC) >> $(MAKEFILE) + +.PHONY: all build elf hex eep lss sym program coff extcoff clean depend + +# for emacs +etags: + make etags_`uname -s` + etags *.pde \ + $(ARDUINO_SRC)/*.[ch] \ + $(ARDUINO_SRC)/*.cpp \ + $(ARDUINO)/lib/targets/libraries/*/*.[ch] \ + $(ARDUINO)/lib/targets/libraries/*/*.cpp \ + $(ARDUINO)/tools/avr/avr/include/avr/*.[ch] \ + $(ARDUINO)/tools/avr/avr/include/*.[ch] + +etags_Darwin: +# etags -a + +etags_Linux: +# etags -a /usr/include/*.h linux/input.h /usr/include/sys/*.h + +etags_MINGW: +# etags -a /usr/include/*.h /usr/include/sys/*.h + + + diff --git a/firmwares/Standard_Firmata/Standard_Firmata.pde b/firmwares/Standard_Firmata/Standard_Firmata.pde index fa9ce2312..2aa9da90e 100644 --- a/firmwares/Standard_Firmata/Standard_Firmata.pde +++ b/firmwares/Standard_Firmata/Standard_Firmata.pde @@ -39,6 +39,8 @@ * @locations: STEIM, Amsterdam, Netherlands * IDMI/Polytechnic University, Brookyn, NY, USA * Electrolobby Ars Electronica, Linz, Austria + * + * See http://www.arduino.cc/playground/Interfacing/Firmata for docs */ /* @@ -50,156 +52,10 @@ * 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 $ */ +/* cvs version: $Id: Pd_firmware.pde,v 1.32 2007/06/27 20:59:24 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 +#include +#include /*============================================================================== * GLOBAL VARIABLES @@ -211,16 +67,15 @@ 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 +boolean reportDigitalInputs = 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 +unsigned int digitalPinStatus = 65535; // store pin status, default OUTPUT /* 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 analogInputsToReport = 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 @@ -228,13 +83,6 @@ 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 */ @@ -257,17 +105,18 @@ void outputDigitalBytes(byte pin0_6, byte pin7_13) { * check all the active digital inputs for change of state, then add any events * to the Serial output queue using Serial.print() */ void checkDigitalInputs(void) { - 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 - Serial.print(DIGITAL_MESSAGE,BYTE); - Serial.print(digitalInputs % 128, BYTE); // Tx pins 0-6 - Serial.print(digitalInputs >> 7, BYTE); // Tx pins 7-13 - } + if(reportDigitalInputs) { + 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 + Firmata.sendDigitalPortPair(0, digitalInputs); // port 0 till more are implemented + /* Serial.print(DIGITAL_MESSAGE,BYTE); + Serial.print(digitalInputs % 128, BYTE); // Tx pins 0-6 + Serial.print(digitalInputs >> 7, BYTE); // Tx pins 7-13*/ + } } } @@ -302,10 +151,10 @@ void setPinMode(byte pin, byte mode) { */ void setAnalogPinReporting(byte pin, byte state) { if(state == 0) { - analogPinsToReport = analogPinsToReport &~ (1 << pin); + analogInputsToReport = analogInputsToReport &~ (1 << pin); } else { // everything but 0 enables reporting of that pin - analogPinsToReport = analogPinsToReport | (1 << pin); + analogInputsToReport = analogInputsToReport | (1 << pin); } // TODO: save status to EEPROM here, if changed } @@ -333,7 +182,7 @@ void processInput(int inputData) { case SET_DIGITAL_PIN_MODE: setPinMode(storedInputData[1], storedInputData[0]); // (pin#, mode) if(storedInputData[0] == INPUT) - digitalInputsEnabled = true; // enable reporting of digital inputs + reportDigitalInputs = true; // enable reporting of digital inputs break; case REPORT_ANALOG_PIN: setAnalogPinReporting(multiByteChannel,storedInputData[0]); @@ -341,9 +190,9 @@ void processInput(int inputData) { case REPORT_DIGITAL_PORTS: // TODO: implement MIDI channel as port base for more than 16 digital inputs if(storedInputData[0] == 0) - digitalInputsEnabled = false; + reportDigitalInputs = false; else - digitalInputsEnabled = true; + reportDigitalInputs = true; break; } executeMultiByteCommand = 0; @@ -373,7 +222,7 @@ void processInput(int inputData) { // this doesn't do anything yet break; case REPORT_VERSION: - printVersion(); + Firmata.printVersion(); break; } } @@ -388,6 +237,25 @@ void checkForSerialReceive() { processInput(Serial.read()); } +/* ----------------------------------------------------------------------------- + * these functions are for loading and saving the state of the digital pins and + * pin reporting so that the Arduino will start up again in the same state. The + * EEPROM is supposed to have a life of at least 100,000 writes. + */ +void loadSettings() { + //EEPROM.read(); +} + +void saveSettings() { + EEPROM.write(ANALOGINPUTSTOREPORT_LOW_BYTE, analogInputsToReport & 0xFF); + EEPROM.write(ANALOGINPUTSTOREPORT_HIGH_BYTE, analogInputsToReport >> 8); + EEPROM.write(REPORTDIGITALINPUTS_BYTE, reportDigitalInputs & 0xFF); + EEPROM.write(DIGITALPINSTATUS_LOW_BYTE, digitalPinStatus & 0xFF); + EEPROM.write(DIGITALPINSTATUS_HIGH_BYTE, digitalPinStatus >> 8); + EEPROM.write(PWMSTATUS_LOW_BYTE, pwmStatus & 0xFF); + EEPROM.write(PWMSTATUS_HIGH_BYTE, pwmStatus >> 8); +} + // ============================================================================= // used for flashing the pin for the version number void pin13strobe(int count, int onInterval, int offInterval) { @@ -407,8 +275,6 @@ void pin13strobe(int count, int onInterval, int offInterval) { void setup() { byte i; - Serial.begin(57600); // 9600, 14400, 38400, 57600, 115200 - // flash the pin 13 with the protocol version pinMode(13,OUTPUT); pin13strobe(2,1,4); // separator, a quick burst @@ -422,12 +288,10 @@ void setup() { pin13strobe(2,1,4); // separator, a quick burst for(i=0; i> 7, BYTE); - } + if( analogInputsToReport & (1 << analogPin) ) + Firmata.sendAnalog(analogPin, analogRead(analogPin)); } } }