IDuino
1 /*
2 * Copyright (C) 2006 Free Software Foundation
3 *
4 * This program is free software; you can redistribute it and/or
5 * modify it under the terms of the GNU General Public License
6 * as published by the Free Software Foundation; either version 2
7 * of the License, or (at your option) any later version.
8 *
9 * See file LICENSE for further informations on licensing terms.
10 *
11 * This program is distributed in the hope that it will be useful,
12 * but WITHOUT ANY WARRANTY; without even the implied warranty of
13 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14 * GNU General Public License for more details.
15 *
16 * You should have received a copy of the GNU General Public License
17 * along with this program; if not, write to the Free Software Foundation,
18 * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
19 *
20 * -----------------------------------------------------------
21 * Firmata, the general purpose sensorbox firmware for Arduino
22 * -----------------------------------------------------------
23 *
24 * Firmata turns the Arduino into a Plug-n-Play sensorbox, servo
25 * controller, and/or PWM motor/lamp controller.
26 *
27 * It was originally designed to work with the Pd object [arduino]
28 * which is included in Pd-extended. This firmware is intended to
29 * work with any host computer software package. It can easily be
30 * used with other programs like Max/MSP, Processing, or whatever can
31 * do serial communications.
32 *
33 * @author: Hans-Christoph Steiner <hans@at.or.at>
34 * help with initial protocol redesign: Jamie Allen <jamie@heavyside.net>
35 * much protocol discussion: the Arduino developers mailing list
36 * key bugfixes: Georg Holzmann <grh@mur.at>
37 * Gerda Strobl <gerda.strobl@student.tugraz.at>
38 * @date: 2006-05-19
39 * @locations: STEIM, Amsterdam, Netherlands
40 * IDMI/Polytechnic University, Brookyn, NY, USA
41 * Electrolobby Ars Electronica, Linz, Austria
42 */
43
44 /*
45 * TODO: add pulseOut functionality for servos
46 * TODO: add software PWM for servos, etc (servo.h or pulse.h)
47 * TODO: add device type reporting (i.e. some firmwares will use the Firmata
48 * protocol, but will only support specific devices, like ultrasound
49 * rangefinders or servos)
50 * TODO: use Program Control to load stored profiles from EEPROM
51 */
52
53 /* cvs version: $Id: Pd_firmware.pde,v 1.29 2007/03/08 05:37:22 eighthave Exp $ */
54 /* svn version: 334 */
55
56 /*==============================================================================
57 * MESSAGE FORMATS
58 *============================================================================*/
59
60 /* -----------------------------------------------------------------------------
61 * MAPPING DATA TO MIDI
62 *
63 * This protocol uses the MIDI message format, but does not use the whole
64 * protocol. Most of the command mappings here will not be directly usable in
65 * terms of MIDI controllers and synths. It should co-exist with MIDI without
66 * trouble and can be parsed by standard MIDI interpreters. Just some of the
67 * message data is used differently.
68 *
69 * MIDI format: http://www.harmony-central.com/MIDI/Doc/table1.html
70 *
71 * MIDI
72 * type command channel first byte second byte
73 * -----------------------------------------------------------------------------
74 * analog I/O 0xE0 pin # LSB(bits 0-6) MSB(bits 7-13)
75 * digital I/O 0x90 port base LSB(bits 0-6) MSB(bits 7-13)
76 * report analog pin 0xC0 pin # disable/enable(0/1) - n/a -
77 * report digital ports 0xD0 port base disable/enable(0/1) - n/a -
78 *
79 * digital pin mode(I/O) 0xF4 - n/a - pin # (0-63) pin state(0=in)
80 * firmware version 0xF9 - n/a - minor version major version
81 * system reset 0xFF - n/a - - n/a - - n/a -
82 *
83 */
84
85 /* nl.tue.id.creapro +>>>>>
86 * Extensions nl.tue.id.creapro
87 * configuration 0xFD - n/a - 0x00 serial pulling rate (ms)
88 * 0x10 analog pulling rate (ms)
89 * 0x20 analog step (1-1023)
90 * debug 0xFD - n/a - 0x40 data received (bytes)
91 * 0x50 data sent (bytes)
92 * 0x60 number of commands received
93 * 0x70 number of commands sent
94
95 * nl.tue.id.creapro +<<<<<
96 */
97
98 /* proposed extensions using SysEx
99 *
100 * type SysEx start command data bytes SysEx stop
101 * -----------------------------------------------------------------------------
102 * pulse I/O 0xF0 0xA0 five 7-bit chunks, LSB first 0xF7
103 * shiftOut 0xF0 0xF5 dataPin; clockPin; 7-bit LSB; 7-bit MSB 0xF7
104 */
105
106 /* -----------------------------------------------------------------------------
107 * DATA MESSAGE FORMAT */
108
109 /* two byte digital data format
110 * ----------------------------
111 * 0 digital data, 0x90-0x9F, (MIDI NoteOn, but different data usage)
112 * 1 digital pins 0-6 bitmask
113 * 2 digital pins 7-13 bitmask
114 */
115
116 /* analog 14-bit data format
117 * -------------------------
118 * 0 analog pin, 0xE0-0xEF, (MIDI Pitch Wheel)
119 * 1 analog least significant 7 bits
120 * 2 analog most significant 7 bits
121 */
122
123 /* version report format
124 * Send a single byte 0xF9, Arduino will reply with:
125 * -------------------------------------------------
126 * 0 version report header (0xF9) (MIDI Undefined)
127 * 1 minor version (0-127)
128 * 2 major version (0-127)
129 */
130
131 /* pulseIn/Out (uses 32-bit value)
132 * -------------------------------
133 * 0 START_SYSEX (0xF0) (MIDI System Exclusive)
134 * 1 pulseIn/Out (0xA0-0xAF)
135 * 2 bits 0-6 (least significant byte)
136 * 3 bits 7-13
137 * 4 bits 14-20
138 * 5 bits 21-27
139 * 6 bits 28-34 (most significant byte)
140 * 7 END_SYSEX (0xF7) (MIDI End of SysEx - EOX)
141 */
142
143 /* shiftIn/Out (uses 8-bit value)
144 * ------------------------------
145 * 0 START_SYSEX (0xF0)
146 * 1 shiftOut (0xF5)
147 * 2 dataPin (0-127)
148 * 3 clockPin (0-127)
149 * 4 bits 0-6 (least significant byte)
150 * 5 bit 7 (most significant bit)
151 * 6 END_SYSEX (0xF7)
152 */
153
154 /* -----------------------------------------------------------------------------
155 * CONTROL MESSAGES */
156
157 /* set digital pin mode
158 * --------------------
159 * 1 set digital pin mode (0xF4) (MIDI Undefined)
160 * 2 pin number (0-127)
161 * 3 state (INPUT/OUTPUT, 0/1)
162 */
163
164 /* toggle analogIn reporting by pin
165 * --------------------------------
166 * 0 toggle digitalIn reporting (0xC0-0xCF) (MIDI Program Change)
167 * 1 disable(0)/enable(non-zero)
168 */
169
170 /* toggle digitalIn reporting by port pairs
171 * ----------------------------------------
172 * 0 toggle digitalIn reporting (0xD0-0xDF) (MIDI Aftertouch)
173 * 1 disable(0)/enable(non-zero)
174 */
175
176 /* request version report
177 * ----------------------
178 * 0 request version report (0xF9) (MIDI Undefined)
179 */
180
181 /*==============================================================================
182 * MACROS
183 *============================================================================*/
184
185 /* Version numbers for the protocol. The protocol is still changing, so these
186 * version numbers are important. This number can be queried so that host
187 * software can test whether it will be compatible with the currently
188 * installed firmware. */
189 #define FIRMATA_MAJOR_VERSION 1 // for non-compatible changes
190 #define FIRMATA_MINOR_VERSION 0 // for backwards compatible changes
191
192 /* total number of pins currently supported */
193 #define TOTAL_ANALOG_PINS 6
194 #define TOTAL_DIGITAL_PINS 14
195
196 // for comparing along with INPUT and OUTPUT
197 #define PWM 2
198
199 // for selecting digital inputs
200 #define PB 2 // digital input, pins 8-13
201 #define PC 3 // analog input port
202 #define PD 4 // digital input, pins 0-7
203
204 #define MAX_DATA_BYTES 2 // max number of data bytes in non-SysEx messages
205 /* message command bytes */
206 #define DIGITAL_MESSAGE 0x90 // send data for a digital pin
207 #define ANALOG_MESSAGE 0xE0 // send data for an analog pin (or PWM)
208 //#define PULSE_MESSAGE 0xA0 // proposed pulseIn/Out message (SysEx)
209 //#define SHIFTOUT_MESSAGE 0xB0 // proposed shiftOut message (SysEx)
210 #define REPORT_ANALOG_PIN 0xC0 // enable analog input by pin #
211 #define REPORT_DIGITAL_PORTS 0xD0 // enable digital input by port pair
212 #define START_SYSEX 0xF0 // start a MIDI SysEx message
213 #define SET_DIGITAL_PIN_MODE 0xF4 // set a digital pin to INPUT or OUTPUT
214 #define END_SYSEX 0xF7 // end a MIDI SysEx message
215 #define REPORT_VERSION 0xF9 // report firmware version
216 #define SYSTEM_RESET 0xFF // reset from MIDI
217
218
219 // nl.tue.id.creapro +>>>>>
220 #define CONFIG 0xFD
221 #define SERIAL_PULL_RATE 0x00
222 #define ANALOG_PULL_RATE 0x10
223 #define ANALOG_STEP 0x20
224
225 #define DEBUG 0xFD
226 #define READ_COUNT 0x40
227 #define WRITE_COUNT 0x50
228 #define COMMAND_COUNT 0x60
229 #define EVENT_COUNT 0x70
230
231 // nl.tue.id.creapro +<<<<<
232
233
234 /*==============================================================================
235 * GLOBAL VARIABLES
236 *============================================================================*/
237
238 /* input message handling */
239 byte waitForData = 0; // this flag says the next serial input will be data
240 byte executeMultiByteCommand = 0; // execute this after getting multi-byte data
241 byte multiByteChannel = 0; // channel data for multiByteCommands
242 byte storedInputData[MAX_DATA_BYTES] = {0,0}; // multi-byte data
243 /* digital pins */
244 boolean digitalInputsEnabled = false; // output digital inputs or not
245 int digitalInputs = 0;
246 int previousDigitalInputs; // previous output to test for change
247 // nl.tue.id.creapro -+>>>>>
248 //int digitalPinStatus = 3; // bitwise array to store pin status, ignore RxTx pins
249 int digitalPinStatus = 0xFFFF; //ignore all pins
250 // nl.tue.id.creapro -+>>>>>
251 /* PWM/analog outputs */
252 int pwmStatus = 0; // bitwise array to store PWM status
253 /* analog inputs */
254 int analogPinsToReport = 0; // bitwise array to store pin reporting
255 int analogPin = 0; // counter for reading analog pins
256 int analogData; // storage variable for data from analogRead()
257 /* timer variables */
258 extern volatile unsigned long timer0_overflow_count; // timer0 from wiring.c
259 unsigned long nextExecuteTime = 0; // for comparison with timer0_overflow_count
260
261 // nl.tue.id.creapro +>>>>>
262 int storedAnalogData[TOTAL_ANALOG_PINS];
263 unsigned long nextAnalogExecuteTime = 0; // for comparison with timer0_overflow_count
264
265 int serialPullRate = 20;
266 int analogPullRate = 20;
267 int analogStep = 1;
268
269 int writeCount = 0;
270 int readCount = 0;
271 int commandCount = 0;
272 int eventCount = 0;
273 // nl.tue.id.creapro +<<<<<
274
275
276 /*==============================================================================
277 * FUNCTIONS
278 *============================================================================*/
279 // nl.tue.id.creapro +>>>>>
280 void serialPrint(int byte1, int byte2, int byte3){
281 Serial.print(byte1, BYTE);
282 Serial.print(byte2, BYTE);
283 Serial.print(byte3, BYTE);
284 }
285
286 void eventSerialPrint(int byte1, int byte2, int byte3){
287 serialPrint(byte1, byte2, byte3);
288 writeCount = writeCount + 3;
289 eventCount++;
290 }
291 // nl.tue.id.creapro +<<<<<
292
293 /* -----------------------------------------------------------------------------
294 * output the version message to the serial port */
295 void printVersion() {
296 // nl.tue.id.creapro ->>>>>
297 // Serial.print(REPORT_VERSION, BYTE);
298 // Serial.print(FIRMATA_MINOR_VERSION, BYTE);
299 // Serial.print(FIRMATA_MAJOR_VERSION, BYTE);
300 // nl.tue.id.creatpro -<<<<<
301 // nl.tue.id.creapro +>>>>>
302 serialPrint(REPORT_VERSION,FIRMATA_MINOR_VERSION,FIRMATA_MAJOR_VERSION);
303 // nl.tue.id.creapro +<<<<<
304 }
305
306 /* -----------------------------------------------------------------------------
307 * output digital bytes received from the serial port */
308 void outputDigitalBytes(byte pin0_6, byte pin7_13) {
309 int i;
310 int mask;
311 int twoBytesForPorts;
312
313 // this should be converted to use PORTs
314 twoBytesForPorts = pin0_6 + (pin7_13 << 7);
315 for(i=2; i<TOTAL_DIGITAL_PINS; ++i) { // ignore Rx,Tx pins (0 and 1)
316 mask = 1 << i;
317 if( (digitalPinStatus & mask) && !(pwmStatus & mask) ) {
318 digitalWrite(i, twoBytesForPorts & mask ? HIGH : LOW);
319 }
320 }
321 }
322
323 /* -----------------------------------------------------------------------------
324 * check all the active digital inputs for change of state, then add any events
325 * to the Serial output queue using Serial.print() */
326 void checkDigitalInputs(void) {
327 if(digitalInputsEnabled) {
328 previousDigitalInputs = digitalInputs;
329 digitalInputs = PINB << 8; // get pins 8-13
330 digitalInputs += PIND; // get pins 0-7
331 digitalInputs = digitalInputs & ~digitalPinStatus; // ignore pins set OUTPUT
332 if(digitalInputs != previousDigitalInputs) {
333 // TODO: implement more ports as channels for more than 16 digital pins
334 // nl.tue.id.creapro ->>>>>
335 // Serial.print(DIGITAL_MESSAGE,BYTE);
336 // Serial.print(digitalInputs % 128, BYTE); // Tx pins 0-6
337 // Serial.print(digitalInputs >> 7, BYTE); // Tx pins 7-13
338 // nl.tue.id.creatpro -<<<<<
339 eventSerialPrint(DIGITAL_MESSAGE,
340 digitalInputs % 128, // Tx pins 0-6
341 digitalInputs >> 7); // Tx pins 7-13
342 }
343 }
344 }
345
346 // -----------------------------------------------------------------------------
347 /* sets the pin mode to the correct state and sets the relevant bits in the
348 * two bit-arrays that track Digital I/O and PWM status
349 */
350 void setPinMode(byte pin, byte mode) {
351 if(pin > 1) { // ignore RxTx pins (0,1)
352 if(mode == INPUT) {
353 digitalPinStatus = digitalPinStatus &~ (1 << pin);
354 pwmStatus = pwmStatus &~ (1 << pin);
355 digitalWrite(pin,LOW); // turn off pin before switching to INPUT
356 pinMode(pin,INPUT);
357 }
358 else if(mode == OUTPUT) {
359 digitalPinStatus = digitalPinStatus | (1 << pin);
360 pwmStatus = pwmStatus &~ (1 << pin);
361 pinMode(pin,OUTPUT);
362 }
363 else if( mode == PWM ) {
364 digitalPinStatus = digitalPinStatus | (1 << pin);
365 pwmStatus = pwmStatus | (1 << pin);
366 pinMode(pin,OUTPUT);
367 }
368 // TODO: save status to EEPROM here, if changed
369 }
370 }
371
372 // -----------------------------------------------------------------------------
373 /* sets bits in a bit array (int) to toggle the reporting of the analogIns
374 */
375 void setAnalogPinReporting(byte pin, byte state) {
376 if(state == 0) {
377 analogPinsToReport = analogPinsToReport &~ (1 << pin);
378 }
379 else { // everything but 0 enables reporting of that pin
380 analogPinsToReport = analogPinsToReport | (1 << pin);
381 }
382 // TODO: save status to EEPROM here, if changed
383 }
384
385 /* -----------------------------------------------------------------------------
386 * processInput() is called whenever a byte is available on the
387 * Arduino's serial port. This is where the commands are handled. */
388 void processInput(int inputData) {
389 int command;
390 // nl.tue.id.creapro +>>>>>
391 readCount ++;
392 // nl.tue.id.creapro +<<<<<
393
394 // a few commands have byte(s) of data following the command
395 if( (waitForData > 0) && (inputData < 128) ) {
396 waitForData--;
397 storedInputData[waitForData] = inputData;
398 if( (waitForData==0) && executeMultiByteCommand ) { // got the whole message
399 // nl.tue.id.creapro +>>>>>
400 commandCount++;
401 // nl.tue.id.creapro +<<<<<
402 switch(executeMultiByteCommand) {
403 case ANALOG_MESSAGE:
404 setPinMode(multiByteChannel,PWM);
405 analogWrite(multiByteChannel,
406 (storedInputData[0] << 7) + storedInputData[1] );
407 break;
408 case DIGITAL_MESSAGE:
409 outputDigitalBytes(storedInputData[1], storedInputData[0]); //(LSB, MSB)
410 break;
411 case SET_DIGITAL_PIN_MODE:
412 setPinMode(storedInputData[1], storedInputData[0]); // (pin#, mode)
413 if(storedInputData[0] == INPUT)
414 digitalInputsEnabled = true; // enable reporting of digital inputs
415 break;
416 case REPORT_ANALOG_PIN:
417 setAnalogPinReporting(multiByteChannel,storedInputData[0]);
418 break;
419 case REPORT_DIGITAL_PORTS:
420 // TODO: implement MIDI channel as port base for more than 16 digital inputs
421 if(storedInputData[0] == 0)
422 digitalInputsEnabled = false;
423 else
424 digitalInputsEnabled = true;
425 break;
426 // nl.tue.id.creapro +>>>>>
427 case CONFIG:
428 //case DEBUG:
429 switch(storedInputData[1]&0xF0){
430 case SERIAL_PULL_RATE:
431 serialPullRate = (storedInputData[1]&0x0F)*128 + storedInputData[0];
432 break;
433 case ANALOG_PULL_RATE:
434 analogPullRate = (storedInputData[1]&0x0F)*128 + storedInputData[0];
435 break;
436 case ANALOG_STEP:
437 analogStep = (storedInputData[1]&0x0F)*128 + storedInputData[0];
438 break;
439 case READ_COUNT:
440 switch(storedInputData[0]){
441 case 0:
442 readCount = 0;
443 break;
444 case 1:
445 readCount -= 2;
446 serialPrint(DEBUG, READ_COUNT|((readCount>>7)&0x0F), readCount % 128);
447 break;
448 }
449 break;
450 case WRITE_COUNT:
451 switch(storedInputData[0]){
452 case 0:
453 writeCount = 0;
454 break;
455 case 1:
456 serialPrint(DEBUG, WRITE_COUNT|((writeCount>>7)&0x0F), writeCount % 128);
457 break;
458 }
459 break;
460 case COMMAND_COUNT:
461 switch(storedInputData[0]){
462 case 0:
463 commandCount = 0;
464 break;
465 case 1:
466 commandCount -= 1;
467 serialPrint(DEBUG, COMMAND_COUNT|((commandCount>>7)&0x0F), commandCount % 128);
468 break;
469 }
470 break;
471 case EVENT_COUNT:
472 switch(storedInputData[0]){
473 case 0:
474 eventCount = 0;
475 break;
476 case 1:
477 serialPrint(DEBUG, EVENT_COUNT|((eventCount>>7)&0x0F), eventCount % 128);
478 break;
479 }
480 break;
481 }
482 break;
483 // nl.tue.id.creapro +<<<<<
484 }
485 executeMultiByteCommand = 0;
486 }
487 } else {
488 // remove channel info from command byte if less than 0xF0
489 if(inputData < 0xF0) {
490 command = inputData & 0xF0;
491 multiByteChannel = inputData & 0x0F;
492 } else {
493 command = inputData;
494 // commands in the 0xF* range don't use channel data
495 }
496 switch (command) { // TODO: these needs to be switched to command
497 case ANALOG_MESSAGE:
498 case DIGITAL_MESSAGE:
499 case SET_DIGITAL_PIN_MODE:
500 // nl.tue.id.creapro +>>>>>
501 case CONFIG:
502 //case DEBUG:
503 // nl.tue.id.creapro +<<<<<
504 waitForData = 2; // two data bytes needed
505 executeMultiByteCommand = command;
506 break;
507 case REPORT_ANALOG_PIN:
508 case REPORT_DIGITAL_PORTS:
509 waitForData = 1; // two data bytes needed
510 executeMultiByteCommand = command;
511 break;
512 case SYSTEM_RESET:
513 // this doesn't do anything yet
514 break;
515 case REPORT_VERSION:
516 printVersion();
517 break;
518 }
519 }
520 }
521
522 /* -----------------------------------------------------------------------------
523 * this function checks to see if there is data waiting on the serial port
524 * then processes all of the stored data
525 */
526 void checkForSerialReceive() {
527 while(Serial.available())
528 processInput(Serial.read());
529 }
530
531 // =============================================================================
532 // used for flashing the pin for the version number
533 void pin13strobe(int count, int onInterval, int offInterval) {
534 byte i;
535 pinMode(13, OUTPUT);
536 for(i=0; i<count; i++) {
537 delay(offInterval);
538 digitalWrite(13,1);
539 delay(onInterval);
540 digitalWrite(13,0);
541 }
542 }
543
544 /*==============================================================================
545 * SETUP()
546 *============================================================================*/
547 void setup() {
548 byte i;
549
550 Serial.begin(57600); // 9600, 14400, 38400, 57600, 115200
551
552 // flash the pin 13 with the protocol version
553 pinMode(13,OUTPUT);
554 pin13strobe(2,1,4); // separator, a quick burst
555 delay(500);
556 pin13strobe(FIRMATA_MAJOR_VERSION, 200, 400);
557 delay(500);
558 pin13strobe(2,1,4); // separator, a quick burst
559 delay(500);
560 pin13strobe(FIRMATA_MINOR_VERSION, 200, 400);
561 delay(500);
562 pin13strobe(2,1,4); // separator, a quick burst
563
564
565 // nl.tue.id.creapro +>>>>>
566 for(i=0; i<TOTAL_ANALOG_PINS; ++i) {
567 storedAnalogData[i] = 0;
568 // nl.tue.id.creapro +<<<<<
569
570 }
571 // TODO: load state from EEPROM here
572
573 printVersion();
574
575 // nl.tue.id.creapro +>>>>>
576 // make sure we did not miss anything important
577 checkForSerialReceive();
578 // nl.tue.id.creapro +<<<<<
579
580 /* TODO: send digital inputs here, if enabled, to set the initial state on the
581 * host computer, since once in the loop(), the Arduino will only send data on
582 * change. */
583 }
584
585 /*==============================================================================
586 * LOOP()
587 *============================================================================*/
588 // nl.tue.id.creapro ->>>>>
589 //void loop() {
590 ///* DIGITALREAD - as fast as possible, check for changes and output them to the
591 // * FTDI buffer using Serial.print() */
592 // checkDigitalInputs();
593 // if(timer0_overflow_count > nextExecuteTime) {
594 // nextExecuteTime = timer0_overflow_count + 19; // run this every 20ms
595 // /* SERIALREAD - Serial.read() uses a 128 byte circular buffer, so handle
596 // * all serialReads at once, i.e. empty the buffer */
597 // checkForSerialReceive();
598 // /* SEND FTDI WRITE BUFFER - make sure that the FTDI buffer doesn't go over
599 // * 60 bytes. use a timer to sending an event character every 4 ms to
600 // * trigger the buffer to dump. */
601 //
602 // /* ANALOGREAD - right after the event character, do all of the
603 // * analogReads(). These only need to be done every 4ms. */
604 // for(analogPin=0;analogPin<TOTAL_ANALOG_PINS;analogPin++) {
605 // if( analogPinsToReport & (1 << analogPin) ) {
606 // analogData = analogRead(analogPin);
607 // Serial.print(ANALOG_MESSAGE + analogPin, BYTE);
608 // // These two bytes converted back into the 10-bit value on host
609 // Serial.print(analogData % 128, BYTE);
610 // Serial.print(analogData >> 7, BYTE);
611 // }
612 // }
613 // }
614 //}
615 // nl.tue.id.creapro +>>>>>
616 void loop() {
617 /* DIGITALREAD - as fast as possible, check for changes and output them to the
618 * FTDI buffer using Serial.print() */
619 checkDigitalInputs();
620 if(timer0_overflow_count > nextExecuteTime) {
621 nextExecuteTime = timer0_overflow_count + serialPullRate -1; // run this every 20ms
622 /* SERIALREAD - Serial.read() uses a 128 byte circular buffer, so handle
623 * all serialReads at once, i.e. empty the buffer */
624 checkForSerialReceive();
625 /* SEND FTDI WRITE BUFFER - make sure that the FTDI buffer doesn't go over
626 * 60 bytes. use a timer to sending an event character every 4 ms to
627 * trigger the buffer to dump. */
628
629 }
630
631 if(timer0_overflow_count > nextAnalogExecuteTime) {
632 nextAnalogExecuteTime = timer0_overflow_count + analogPullRate -1; // run this every 20ms
633 /* ANALOGREAD - right after the event character, do all of the
634 * analogReads(). These only need to be done every 4ms. */
635 for(analogPin=0;analogPin<TOTAL_ANALOG_PINS;analogPin++) {
636 if( analogPinsToReport & (1 << analogPin) ) {
637 analogData = analogRead(analogPin);
638
639 if(abs(analogData - storedAnalogData[analogPin])<analogStep) continue;
640
641 storedAnalogData[analogPin] = analogData;
642 eventSerialPrint(ANALOG_MESSAGE + analogPin,
643 analogData % 128,
644 analogData >> 7);
645 }
646 }
647 }
648 }
649 // nl.tue.id.creapro +<<<<<
650