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#! /usr/bin/env python
"""
Python API for the Firmata protocol
Copyright (C) 2008 laboratorio (info@laboratorio.us)
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 3 of the License, or
(at your option) any later version.
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, see <http://www.gnu.org/licenses/>.
"""
__version__ = "0.3"
import time
import serial
DIGITAL_MESSAGE = 0x90 # send data for a digital port
ANALOG_MESSAGE = 0xE0 # send data for an analog pin (or PWM)
REPORT_ANALOG = 0xC0 # enable analog input by pin #
REPORT_DIGITAL = 0xD0 # enable digital input by port
SET_PIN_MODE = 0xF4 # set a pin to INPUT/OUTPUT/PWM/etc
REPORT_VERSION = 0xF9 # report firmware version
SYSTEM_RESET = 0xFF # reset from MIDI
START_SYSEX = 0xF0 # start a MIDI SysEx message
END_SYSEX = 0xF7 # end a MIDI SysEx message
# pin modes
INPUT = 0
OUTPUT = 1
PWM = 2
SERVO = 3
LOW = 0
HIGH = 1
MAX_DATA_BYTES = 32
class Arduino:
def __init__(self, port, baudrate=115200):
self.serial = serial.Serial(port, baudrate, bytesize=8, timeout=2)
self.wait_for_data = 0
self.exec_multibyte_cmd = 0
self.multibyte_channel = 0
self.stored_input_data = [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, \
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ,0, 0, 0 ]
self.parsing_sysex = False
self.sysex_bytes_read = 0
self.digital_output_data = [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
self.digital_input_data = [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
self.analog_input_data = [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
self.major_version = 0
self.minor_version = 0
self.__report()
def __str__(self):
return "Arduino: %s" % self.serial.port
def pin_mode(self, pin, mode):
"""Setting mode to pin"""
self.serial.write(chr(SET_PIN_MODE))
self.serial.write(chr(pin))
self.serial.write(chr(mode))
def digital_read(self, pin):
"""Reading from digital pin"""
return (self.digital_input_data[pin >> 3] >> (pin & 0x07)) & 0x01
def digital_write(self, pin, value):
"""Writing to a digital pin"""
port_number = (pin >> 3) & 0x0F
if value == 0:
self.digital_output_data[port_number] = self.digital_output_data[port_number] & ~(1 << (pin & 0x07))
else:
self.digital_output_data[port_number] = self.digital_output_data[port_number] | (1 << (pin & 0x07))
self.serial.write(chr(DIGITAL_MESSAGE | port_number))
self.serial.write(chr(self.digital_output_data[port_number] & 0x7F))
self.serial.write(chr(self.digital_output_data[port_number] >> 7))
def analog_read(self, pin):
"""Reading from analog pin"""
return self.analog_input_data[pin]
def analog_write(self, pin, value):
"""Writing to a analog pin"""
self.serial.write(chr(ANALOG_MESSAGE | (pin & 0x0F)))
self.serial.write(chr(value & 0x7F))
self.serial.write(chr(value >> 7))
def set_version(self, major, minor):
"""Setting a minor and major version"""
self.major_version = major
self.minor_version = minor
def available(self):
"""Checking serial connection status"""
return self.serial.isOpen()
def delay(self, secs):
"""Waiting in seconds"""
time.sleep(secs)
def parse(self):
"""Preparing the data to be handled"""
data = self.serial.read()
if data != "":
self.__process(ord(data))
def __process(self, input_data):
"""Handling input data"""
command = None
if self.parsing_sysex:
if input_data == END_SYSEX:
self.parsing_sysex = False
else:
self.stored_input_data[self.sysex_bytes_read] = input_data
self.sysex_bytes_read += 1
elif self.wait_for_data > 0 and input_data < 128:
self.wait_for_data -= 1
self.stored_input_data[self.wait_for_data] = input_data
if self.exec_multibyte_cmd != 0 and self.wait_for_data == 0:
if self.exec_multibyte_cmd == DIGITAL_MESSAGE:
self.digital_input_data[self.multibyte_channel] = (self.stored_input_data[0] << 7) + self.stored_input_data[1]
elif self.exec_multibyte_cmd == ANALOG_MESSAGE:
self.analog_input_data[self.multibyte_channel] = (self.stored_input_data[0] << 7) + self.stored_input_data[1]
elif self.exec_multibyte_cmd == REPORT_VERSION:
self.set_version(self.stored_input_data[1], self.stored_input_data[0])
else:
if input_data < 0xF0:
command = input_data & 0xF0
self.multibyte_channel = input_data & 0x0F
else:
command = input_data # commands in the 0xF* range don't use channel data
if command == DIGITAL_MESSAGE or \
command == ANALOG_MESSAGE or \
command == REPORT_VERSION:
self.wait_for_data = 2
self.exec_multibyte_cmd = command
def __report(self):
"""Reporting analog and digital pins"""
self.delay(2)
for port in range(6):
self.serial.write(chr(REPORT_ANALOG | port))
self.serial.write(chr(1))
for port in range(2):
self.serial.write(chr(REPORT_DIGITAL | port))
self.serial.write(chr(1))
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