/**
* Arduino.java - Arduino/firmata library for Processing
* Copyright (C) 2006-08 David A. Mellis
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* This library 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
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General
* Public License along with this library; if not, write to the
* Free Software Foundation, Inc., 59 Temple Place, Suite 330,
* Boston, MA 02111-1307 USA
*
* Processing code to communicate with the Arduino Firmata 2 firmware.
* http://firmata.org/
*
* $Id$
*/
package cc.arduino;
import processing.core.PApplet;
import processing.serial.Serial;
/**
* Together with the Firmata 2 firmware (an Arduino sketch uploaded to the
* Arduino board), this class allows you to control the Arduino board from
* Processing: reading from and writing to the digital pins and reading the
* analog inputs.
*/
public class Arduino {
/**
* Constant to set a pin to input mode (in a call to pinMode()).
*/
public static final int INPUT = 0;
/**
* Constant to set a pin to output mode (in a call to pinMode()).
*/
public static final int OUTPUT = 1;
/**
* Constant to set a pin to analog mode (in a call to pinMode()).
*/
public static final int ANALOG = 2;
/**
* Constant to set a pin to PWM mode (in a call to pinMode()).
*/
public static final int PWM = 3;
/**
* Constant to set a pin to servo mode (in a call to pinMode()).
*/
public static final int SERVO = 4;
/**
* Constant to set a pin to shiftIn/shiftOut mode (in a call to pinMode()).
*/
public static final int SHIFT = 5;
/**
* Constant to set a pin to I2C mode (in a call to pinMode()).
*/
public static final int I2C = 6;
/**
* Constant to write a high value (+5 volts) to a pin (in a call to
* digitalWrite()).
*/
public static final int LOW = 0;
/**
* Constant to write a low value (0 volts) to a pin (in a call to
* digitalWrite()).
*/
public static final int HIGH = 1;
private final int MAX_DATA_BYTES = 32;
private final int DIGITAL_MESSAGE = 0x90; // send data for a digital port
private final int ANALOG_MESSAGE = 0xE0; // send data for an analog pin (or PWM)
private final int REPORT_ANALOG = 0xC0; // enable analog input by pin #
private final int REPORT_DIGITAL = 0xD0; // enable digital input by port
private final int SET_PIN_MODE = 0xF4; // set a pin to INPUT/OUTPUT/PWM/etc
private final int REPORT_VERSION = 0xF9; // report firmware version
private final int SYSTEM_RESET = 0xFF; // reset from MIDI
private final int START_SYSEX = 0xF0; // start a MIDI SysEx message
private final int END_SYSEX = 0xF7; // end a MIDI SysEx message
PApplet parent;
Serial serial;
SerialProxy serialProxy;
int waitForData = 0;
int executeMultiByteCommand = 0;
int multiByteChannel = 0;
int[] storedInputData = new int[MAX_DATA_BYTES];
boolean parsingSysex;
int sysexBytesRead;
int[] digitalOutputData = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
int[] digitalInputData = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
int[] analogInputData = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
int majorVersion = 0;
int minorVersion = 0;
// We need a class descended from PApplet so that we can override the
// serialEvent() method to capture serial data. We can't use the Arduino
// class itself, because PApplet defines a list() method that couldn't be
// overridden by the static list() method we use to return the available
// serial ports. This class needs to be public so that the Serial class
// can access its serialEvent() method.
public class SerialProxy extends PApplet {
public SerialProxy() {
// Create the container for the registered dispose() methods, so that
// our Serial instance can register its dispose() method (which it does
// automatically).
disposeMethods = new RegisteredMethods();
}
public void serialEvent(Serial which) {
// Notify the Arduino class that there's serial data for it to process.
while (available() > 0)
processInput();
}
}
public void dispose() {
this.serial.dispose();
}
/**
* Get a list of the available Arduino boards; currently all serial devices
* (i.e. the same as Serial.list()). In theory, this should figure out
* what's an Arduino board and what's not.
*/
public static String[] list() {
return Serial.list();
}
/**
* Create a proxy to an Arduino board running the Firmata 2 firmware at the
* default baud rate of 57600.
*
* @param parent the Processing sketch creating this Arduino board
* (i.e. "this").
* @param iname the name of the serial device associated with the Arduino
* board (e.g. one the elements of the array returned by Arduino.list())
*/
public Arduino(PApplet parent, String iname) {
this(parent, iname, 57600);
}
/**
* Create a proxy to an Arduino board running the Firmata 2 firmware.
*
* @param parent the Processing sketch creating this Arduino board
* (i.e. "this").
* @param iname the name of the serial device associated with the Arduino
* board (e.g. one the elements of the array returned by Arduino.list())
* @param irate the baud rate to use to communicate with the Arduino board
* (the firmata library defaults to 57600, and the examples use this rate,
* but other firmwares may override it)
*/
public Arduino(PApplet parent, String iname, int irate) {
this.parent = parent;
this.serialProxy = new SerialProxy();
this.serial = new Serial(serialProxy, iname, irate);
try {
Thread.sleep(3000);
} catch (InterruptedException e) {}
for (int i = 0; i < 6; i++) {
serial.write(REPORT_ANALOG | i);
serial.write(1);
}
for (int i = 0; i < 2; i++) {
serial.write(REPORT_DIGITAL | i);
serial.write(1);
}
parent.registerDispose(this);
}
/**
* Returns the last known value read from the digital pin: HIGH or LOW.
*
* @param pin the digital pin whose value should be returned (from 2 to 13,
* since pins 0 and 1 are used for serial communication)
*/
public int digitalRead(int pin) {
return (digitalInputData[pin >> 3] >> (pin & 0x07)) & 0x01;
}
/**
* Returns the last known value read from the analog pin: 0 (0 volts) to
* 1023 (5 volts).
*
* @param pin the analog pin whose value should be returned (from 0 to 5)
*/
public int analogRead(int pin) {
return analogInputData[pin];
}
/**
* Set a digital pin to input or output mode.
*
* @param pin the pin whose mode to set (from 2 to 13)
* @param mode either Arduino.INPUT or Arduino.OUTPUT
*/
public void pinMode(int pin, int mode) {
serial.write(SET_PIN_MODE);
serial.write(pin);
serial.write(mode);
}
/**
* Write to a digital pin (the pin must have been put into output mode with
* pinMode()).
*
* @param pin the pin to write to (from 2 to 13)
* @param value the value to write: Arduino.LOW (0 volts) or Arduino.HIGH
* (5 volts)
*/
public void digitalWrite(int pin, int value) {
int portNumber = (pin >> 3) & 0x0F;
if (value == 0)
digitalOutputData[portNumber] &= ~(1 << (pin & 0x07));
else
digitalOutputData[portNumber] |= (1 << (pin & 0x07));
serial.write(DIGITAL_MESSAGE | portNumber);
serial.write(digitalOutputData[portNumber] & 0x7F);
serial.write(digitalOutputData[portNumber] >> 7);
}
/**
* Write an analog value (PWM-wave) to a digital pin.
*
* @param pin the pin to write to (must be 9, 10, or 11, as those are they
* only ones which support hardware pwm)
* @param the value: 0 being the lowest (always off), and 255 the highest
* (always on)
*/
public void analogWrite(int pin, int value) {
pinMode(pin, PWM);
serial.write(ANALOG_MESSAGE | (pin & 0x0F));
serial.write(value & 0x7F);
serial.write(value >> 7);
}
private void setDigitalInputs(int portNumber, int portData) {
//System.out.println("digital port " + portNumber + " is " + portData);
digitalInputData[portNumber] = portData;
}
private void setAnalogInput(int pin, int value) {
//System.out.println("analog pin " + pin + " is " + value);
analogInputData[pin] = value;
}
private void setVersion(int majorVersion, int minorVersion) {
//System.out.println("version is " + majorVersion + "." + minorVersion);
this.majorVersion = majorVersion;
this.minorVersion = minorVersion;
}
private int available() {
return serial.available();
}
private void processInput() {
int inputData = serial.read();
int command;
if (parsingSysex) {
if (inputData == END_SYSEX) {
parsingSysex = false;
//processSysexMessage();
} else {
storedInputData[sysexBytesRead] = inputData;
sysexBytesRead++;
}
} else if (waitForData > 0 && inputData < 128) {
waitForData--;
storedInputData[waitForData] = inputData;
if (executeMultiByteCommand != 0 && waitForData == 0) {
//we got everything
switch(executeMultiByteCommand) {
case DIGITAL_MESSAGE:
setDigitalInputs(multiByteChannel, (storedInputData[0] << 7) + storedInputData[1]);
break;
case ANALOG_MESSAGE:
setAnalogInput(multiByteChannel, (storedInputData[0] << 7) + storedInputData[1]);
break;
case REPORT_VERSION:
setVersion(storedInputData[1], storedInputData[0]);
break;
}
}
} else {
if(inputData < 0xF0) {
command = inputData & 0xF0;
multiByteChannel = inputData & 0x0F;
} else {
command = inputData;
// commands in the 0xF* range don't use channel data
}
switch (command) {
case DIGITAL_MESSAGE:
case ANALOG_MESSAGE:
case REPORT_VERSION:
waitForData = 2;
executeMultiByteCommand = command;
break;
}
}
}
}