mirror of
https://github.com/arduino/Arduino.git
synced 2025-01-29 18:52:13 +01:00
Updating to Firmata-2.1beta1 (rev 23).
This commit is contained in:
David A. Mellis
parent
e5dc169cc7
commit
3b78ba0d8c
@ -60,7 +60,7 @@ FirmataClass::FirmataClass(void)
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/* begin method for overriding default serial bitrate */
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void FirmataClass::begin(void)
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{
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Serial.begin(115200);
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Serial.begin(57600);
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blinkVersion();
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delay(300);
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printVersion();
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@ -119,7 +119,7 @@ void FirmataClass::setFirmwareNameAndVersion(const char *name, byte major, byte
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const char *filename;
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char *extension;
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// parse out ".cpp" and "applet/" that comes from using __FILE__
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// parse out ".cpp" and "applet/" that comes from using __FILE__
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extension = strstr(name, ".cpp");
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filename = strrchr(name, '/') + 1; //points to slash, +1 gets to start of filename
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// add two bytes for version numbers
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@ -134,9 +134,9 @@ void FirmataClass::setFirmwareNameAndVersion(const char *name, byte major, byte
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firmwareVersionVector[0] = major;
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firmwareVersionVector[1] = minor;
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strncpy((char*)firmwareVersionVector + 2, filename, firmwareVersionCount - 2);
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// alas, no snprintf on Arduino
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// snprintf(firmwareVersionVector, MAX_DATA_BYTES, "%c%c%s",
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// (char)major, (char)minor, firmwareVersionVector);
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// alas, no snprintf on Arduino
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// snprintf(firmwareVersionVector, MAX_DATA_BYTES, "%c%c%s",
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// (char)major, (char)minor, firmwareVersionVector);
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}
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//------------------------------------------------------------------------------
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@ -154,7 +154,7 @@ void FirmataClass::processSysexMessage(void)
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case REPORT_FIRMWARE:
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printFirmwareVersion();
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break;
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case FIRMATA_STRING:
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case STRING_DATA:
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if(currentStringCallback) {
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byte bufferLength = (sysexBytesRead - 1) / 2;
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char *buffer = (char*)malloc(bufferLength * sizeof(char));
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@ -292,8 +292,8 @@ void FirmataClass::sendDigital(byte pin, int value)
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// before the digital message is sent on the serial port, it should send a
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// digital message for each change.
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// if(value == 0)
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// sendDigitalPortPair();
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// if(value == 0)
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// sendDigitalPortPair();
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}
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@ -327,7 +327,7 @@ void FirmataClass::sendString(byte command, const char* string)
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// send a string as the protocol string type
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void FirmataClass::sendString(const char* string)
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{
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sendString(FIRMATA_STRING, string);
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sendString(STRING_DATA, string);
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}
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@ -355,7 +355,7 @@ void FirmataClass::attach(byte command, systemResetCallbackFunction newFunction)
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void FirmataClass::attach(byte command, stringCallbackFunction newFunction)
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{
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switch(command) {
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case FIRMATA_STRING: currentStringCallback = newFunction; break;
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case STRING_DATA: currentStringCallback = newFunction; break;
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}
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}
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@ -368,7 +368,7 @@ void FirmataClass::detach(byte command)
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{
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switch(command) {
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case SYSTEM_RESET: currentSystemResetCallback = NULL; break;
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case FIRMATA_STRING: currentStringCallback = NULL; break;
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case STRING_DATA: currentStringCallback = NULL; break;
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case START_SYSEX: currentSysexCallback = NULL; break;
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default:
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attach(command, (callbackFunction)NULL);
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@ -22,7 +22,7 @@
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* software can test whether it will be compatible with the currently
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* installed firmware. */
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#define FIRMATA_MAJOR_VERSION 2 // for non-compatible changes
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#define FIRMATA_MINOR_VERSION 0 // for backwards compatible changes
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#define FIRMATA_MINOR_VERSION 1 // for backwards compatible changes
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#define VERSION_BLINK_PIN 13 // digital pin to blink version on
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#define MAX_DATA_BYTES 32 // max number of data bytes in non-Sysex messages
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@ -42,12 +42,22 @@
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#define END_SYSEX 0xF7 // end a MIDI Sysex message
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// extended command set using sysex (0-127/0x00-0x7F)
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/* 0x00-0x0F reserved for custom commands */
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/* 0x00-0x0F reserved for user-defined commands */
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#define SERVO_CONFIG 0x70 // set max angle, minPulse, maxPulse, freq
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#define FIRMATA_STRING 0x71 // a string message with 14-bits per char
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#define STRING_DATA 0x71 // a string message with 14-bits per char
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#define SHIFT_DATA 0x75 // a bitstream to/from a shift register
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#define I2C_REQUEST 0x76 // send an I2C read/write request
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#define I2C_REPLY 0x77 // a reply to an I2C read request
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#define I2C_CONFIG 0x78 // config I2C settings such as delay times and power pins
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#define REPORT_FIRMWARE 0x79 // report name and version of the firmware
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#define SAMPLING_INTERVAL 0x7A // set the poll rate of the main loop
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#define SYSEX_NON_REALTIME 0x7E // MIDI Reserved for non-realtime messages
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#define SYSEX_REALTIME 0x7F // MIDI Reserved for realtime messages
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// these are DEPRECATED to make the naming more consistent
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#define FIRMATA_STRING 0x71 // same as STRING_DATA
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#define SYSEX_I2C_REQUEST 0x76 // same as I2C_REQUEST
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#define SYSEX_I2C_REPLY 0x77 // same as I2C_REPLY
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#define SYSEX_SAMPLING_INTERVAL 0x7A // same as SAMPLING_INTERVAL
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// pin modes
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//#define INPUT 0x00 // defined in wiring.h
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@ -55,7 +65,8 @@
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#define ANALOG 0x02 // analog pin in analogInput mode
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#define PWM 0x03 // digital pin in PWM output mode
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#define SERVO 0x04 // digital pin in Servo output mode
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#define SHIFT 0x05 // shiftIn/shiftOut mode
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#define I2C 0x06 // pin included in I2C setup
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extern "C" {
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// callback function types
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@ -151,6 +162,11 @@ extern FirmataClass Firmata;
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#define TOTAL_DIGITAL_PINS 20 // 14 digital + 6 analog
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#define TOTAL_PORTS 3 // total number of ports for the board
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#define ANALOG_PORT 2 // port# of analog used as digital
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#elif defined(__AVR_ATmega1280__)// Arduino Mega
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#define TOTAL_ANALOG_PINS 16
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#define TOTAL_DIGITAL_PINS 54
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#define TOTAL_PORTS 8 // total number of ports for the board
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#define ANALOG_PORT 2 // port# of analog used as digital
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#elif defined(__AVR_ATmega128__)// Wiring
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#define TOTAL_ANALOG_PINS 8
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#define TOTAL_DIGITAL_PINS 51
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@ -61,7 +61,7 @@ void setup()
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servo9.attach(9);
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servo10.attach(10);
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Firmata.begin();
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Firmata.begin(57600);
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}
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/*==============================================================================
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@ -25,9 +25,9 @@ void sysexCallback(byte command, byte argc, byte*argv)
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void setup()
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{
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Firmata.setFirmwareVersion(0, 1);
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Firmata.attach(FIRMATA_STRING, stringCallback);
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Firmata.attach(STRING_DATA, stringCallback);
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Firmata.attach(START_SYSEX, sysexCallback);
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Firmata.begin();
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Firmata.begin(57600);
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}
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void loop()
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220
hardware/libraries/Firmata/examples/I2CFirmata/I2CFirmata.pde
Normal file
220
hardware/libraries/Firmata/examples/I2CFirmata/I2CFirmata.pde
Normal file
@ -0,0 +1,220 @@
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/*
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Copyright (C) 2009 Jeff Hoefs. All rights reserved.
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Copyright (C) 2009 Shigeru Kobayashi. All rights reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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See file LICENSE.txt for further informations on licensing terms.
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*/
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#include <Wire.h>
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#include <Firmata.h>
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#define I2C_WRITE B00000000
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#define I2C_READ B00001000
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#define I2C_READ_CONTINUOUSLY B00010000
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#define I2C_STOP_READING B00011000
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#define I2C_READ_WRITE_MODE_MASK B00011000
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#define MAX_QUERIES 8
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unsigned long currentMillis; // store the current value from millis()
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unsigned long nextExecuteMillis; // for comparison with currentMillis
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unsigned int samplingInterval = 32; // default sampling interval is 33ms
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unsigned int i2cReadDelayTime = 0; // default delay time between i2c read request and Wire.requestFrom()
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unsigned int powerPinsEnabled = 0; // use as boolean to prevent enablePowerPins from being called more than once
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#define MINIMUM_SAMPLING_INTERVAL 10
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#define REGISTER_NOT_SPECIFIED -1
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struct i2c_device_info {
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byte addr;
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byte reg;
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byte bytes;
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};
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i2c_device_info query[MAX_QUERIES];
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byte i2cRxData[32];
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boolean readingContinuously = false;
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byte queryIndex = 0;
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void readAndReportData(byte address, int theRegister, byte numBytes)
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{
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if (theRegister != REGISTER_NOT_SPECIFIED) {
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Wire.beginTransmission(address);
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Wire.send((byte)theRegister);
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Wire.endTransmission();
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delayMicroseconds(i2cReadDelayTime); // delay is necessary for some devices such as WiiNunchuck
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}
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else {
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theRegister = 0; // fill the register with a dummy value
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}
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Wire.requestFrom(address, numBytes);
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// check to be sure correct number of bytes were returned by slave
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if(numBytes == Wire.available()) {
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i2cRxData[0] = address;
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i2cRxData[1] = theRegister;
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for (int i = 0; i < numBytes; i++) {
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i2cRxData[2 + i] = Wire.receive();
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}
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// send slave address, register and received bytes
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Firmata.sendSysex(I2C_REPLY, numBytes + 2, i2cRxData);
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}
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else {
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if(numBytes > Wire.available()) {
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Firmata.sendString("I2C Read Error: Too many bytes received");
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} else {
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Firmata.sendString("I2C Read Error: Too few bytes received");
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}
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}
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}
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void sysexCallback(byte command, byte argc, byte *argv)
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{
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byte mode;
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byte slaveAddress;
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byte slaveRegister;
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byte data;
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int delayTime;
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if (command == I2C_REQUEST) {
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mode = argv[1] & I2C_READ_WRITE_MODE_MASK;
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slaveAddress = argv[0];
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switch(mode) {
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case I2C_WRITE:
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Wire.beginTransmission(slaveAddress);
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for (byte i = 2; i < argc; i += 2) {
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data = argv[i] + (argv[i + 1] << 7);
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Wire.send(data);
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}
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Wire.endTransmission();
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delayMicroseconds(70); // TODO is this needed?
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break;
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case I2C_READ:
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if (argc == 6) {
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// a slave register is specified
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slaveRegister = argv[2] + (argv[3] << 7);
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data = argv[4] + (argv[5] << 7); // bytes to read
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readAndReportData(slaveAddress, (int)slaveRegister, data);
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}
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else {
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// a slave register is NOT specified
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data = argv[2] + (argv[3] << 7); // bytes to read
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readAndReportData(slaveAddress, (int)REGISTER_NOT_SPECIFIED, data);
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}
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break;
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case I2C_READ_CONTINUOUSLY:
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if ((queryIndex + 1) >= MAX_QUERIES) {
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// too many queries, just ignore
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Firmata.sendString("too many queries");
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break;
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}
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query[queryIndex].addr = slaveAddress;
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query[queryIndex].reg = argv[2] + (argv[3] << 7);
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query[queryIndex].bytes = argv[4] + (argv[5] << 7);
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readingContinuously = true;
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queryIndex++;
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break;
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case I2C_STOP_READING:
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readingContinuously = false;
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queryIndex = 0;
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break;
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default:
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break;
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}
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}
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else if (command == SAMPLING_INTERVAL) {
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samplingInterval = argv[0] + (argv[1] << 7);
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if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) {
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samplingInterval = MINIMUM_SAMPLING_INTERVAL;
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}
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samplingInterval -= 1;
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Firmata.sendString("sampling interval");
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}
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else if (command == I2C_CONFIG) {
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delayTime = (argv[4] + (argv[5] << 7)); // MSB
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delayTime = (delayTime << 8) + (argv[2] + (argv[3] << 7)); // add LSB
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if((argv[0] + (argv[1] << 7)) > 0) {
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enablePowerPins(PC3, PC2);
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}
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if(delayTime > 0) {
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i2cReadDelayTime = delayTime;
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}
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if(argc > 6) {
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// If you extend I2C_Config, handle your data here
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}
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}
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}
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void systemResetCallback()
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{
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readingContinuously = false;
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queryIndex = 0;
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}
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/* reference: BlinkM_funcs.h by Tod E. Kurt, ThingM, http://thingm.com/ */
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// Enables Pins A2 and A3 to be used as GND and Power
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// so that I2C devices can be plugged directly
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// into Arduino header (pins A2 - A5)
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static void enablePowerPins(byte pwrpin, byte gndpin)
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{
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if(powerPinsEnabled == 0) {
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DDRC |= _BV(pwrpin) | _BV(gndpin);
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PORTC &=~ _BV(gndpin);
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PORTC |= _BV(pwrpin);
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powerPinsEnabled = 1;
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Firmata.sendString("Power pins enabled");
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delay(100);
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}
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}
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void setup()
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{
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Firmata.setFirmwareVersion(2, 0);
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Firmata.attach(START_SYSEX, sysexCallback);
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Firmata.attach(SYSTEM_RESET, systemResetCallback);
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for (int i = 0; i < TOTAL_DIGITAL_PINS; ++i) {
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pinMode(i, OUTPUT);
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}
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/* I2C data is not reliable at higher baud rates, you'll need to change the
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baud rate on the host computer as well. To get a firmware running with
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minimal effort, you can try using the default baud rate (115200) */
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Firmata.begin(38400);
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Wire.begin();
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}
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void loop()
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{
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while (Firmata.available()) {
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Firmata.processInput();
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}
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currentMillis = millis();
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if (currentMillis > nextExecuteMillis) {
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nextExecuteMillis = currentMillis + samplingInterval;
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for (byte i = 0; i < queryIndex; i++) {
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readAndReportData(query[i].addr, query[i].reg, query[i].bytes);
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}
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}
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}
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@ -28,7 +28,7 @@ void setup()
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servo9.attach(9);
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servo10.attach(10);
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Firmata.begin();
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Firmata.begin(57600);
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}
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void loop()
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@ -16,7 +16,7 @@ void setup()
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{
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Firmata.setFirmwareVersion(0, 1);
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Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
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Firmata.begin();
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Firmata.begin(57600);
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}
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void loop()
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@ -45,7 +45,7 @@ void setup()
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Firmata.setFirmwareVersion(0, 1);
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Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback);
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Firmata.attach(SET_PIN_MODE, setPinModeCallback);
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Firmata.begin();
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Firmata.begin(57600);
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}
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void loop()
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@ -50,14 +50,20 @@ TARGET := $(shell pwd | sed 's|.*/\(.*\)|\1|')
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ARDUINO = /Applications/arduino
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ARDUINO_SRC = $(ARDUINO)/hardware/cores/arduino
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ARDUINO_LIB_SRC = $(ARDUINO)/hardware/libraries
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ARDUINO_TOOLS = $(ARDUINO)/hardware/tools
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INCLUDE = -I$(ARDUINO_SRC) -I$(ARDUINO)/hardware/tools/avr/avr/include \
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-I$(ARDUINO_LIB_SRC)/EEPROM \
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-I$(ARDUINO_LIB_SRC)/Firmata \
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-I$(ARDUINO_LIB_SRC)/Matrix \
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-I$(ARDUINO_LIB_SRC)/Servo \
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-I$(ARDUINO_LIB_SRC)/Wire \
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-I$(ARDUINO_LIB_SRC)
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SRC = $(wildcard $(ARDUINO_SRC)/*.c)
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CXXSRC = applet/$(TARGET).cpp $(ARDUINO_SRC)/HardwareSerial.cpp \
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$(ARDUINO_LIB_SRC)/EEPROM/EEPROM.cpp \
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$(ARDUINO_LIB_SRC)/Firmata/Firmata.cpp \
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$(ARDUINO_LIB_SRC)/Servo/Servo.cpp \
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$(ARDUINO_SRC)/Print.cpp \
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$(ARDUINO_SRC)/WMath.cpp
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HEADERS = $(wildcard $(ARDUINO_SRC)/*.h) $(wildcard $(ARDUINO_LIB_SRC)/*/*.h)
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@ -106,12 +112,14 @@ AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \
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-b $(UPLOAD_RATE) -q -V
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# Program settings
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CC = avr-gcc
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CXX = avr-g++
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OBJCOPY = avr-objcopy
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OBJDUMP = avr-objdump
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SIZE = avr-size
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NM = avr-nm
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ARDUINO_AVR_BIN = $(ARDUINO_TOOLS)/avr/bin
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CC = $(ARDUINO_AVR_BIN)/avr-gcc
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CXX = $(ARDUINO_AVR_BIN)/avr-g++
|
||||
OBJCOPY = $(ARDUINO_AVR_BIN)/avr-objcopy
|
||||
OBJDUMP = $(ARDUINO_AVR_BIN)/avr-objdump
|
||||
SIZE = $(ARDUINO_AVR_BIN)/avr-size
|
||||
NM = $(ARDUINO_AVR_BIN)/avr-nm
|
||||
#AVRDUDE = $(ARDUINO_AVR_BIN)/avrdude
|
||||
AVRDUDE = avrdude
|
||||
REMOVE = rm -f
|
||||
MV = mv -f
|
||||
@ -204,7 +212,8 @@ applet/$(TARGET).cpp: $(TARGET).pde
|
||||
|
||||
# Link: create ELF output file from object files.
|
||||
applet/$(TARGET).elf: applet/$(TARGET).cpp $(OBJ)
|
||||
$(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS)
|
||||
$(CC) $(ALL_CFLAGS) $(OBJ) -lm --output $@ $(LDFLAGS)
|
||||
# $(CC) $(ALL_CFLAGS) $(OBJ) $(ARDUINO_TOOLS)/avr/avr/lib/avr5/crtm168.o --output $@ $(LDFLAGS)
|
||||
|
||||
pd_close_serial:
|
||||
echo 'close;' | /Applications/Pd-extended.app/Contents/Resources/bin/pdsend 34567 || true
|
||||
@ -258,4 +267,7 @@ etags_MINGW:
|
||||
# etags -a /usr/include/*.h /usr/include/sys/*.h
|
||||
|
||||
|
||||
path:
|
||||
echo $(PATH)
|
||||
echo $$PATH
|
||||
|
||||
|
||||
@ -7,15 +7,18 @@
|
||||
version 2.1 of the License, or (at your option) any later version.
|
||||
|
||||
See file LICENSE.txt for further informations on licensing terms.
|
||||
*/
|
||||
|
||||
formatted using the GNU C formatting and indenting
|
||||
*/
|
||||
|
||||
|
||||
/*
|
||||
* TODO: add Servo support using setPinMode(pin, SERVO);
|
||||
* TODO: add Servo support using setPinModeCallback(pin, SERVO);
|
||||
* TODO: use Program Control to load stored profiles from EEPROM
|
||||
*/
|
||||
|
||||
#include <EEPROM.h>
|
||||
#include <Firmata.h>
|
||||
#include <Servo.h>
|
||||
|
||||
/*==============================================================================
|
||||
* GLOBAL VARIABLES
|
||||
@ -34,7 +37,9 @@ byte portStatus[TOTAL_PORTS];
|
||||
/* timer variables */
|
||||
unsigned long currentMillis; // store the current value from millis()
|
||||
unsigned long nextExecuteMillis; // for comparison with currentMillis
|
||||
int samplingInterval = 19; // how often to run the main loop (in ms)
|
||||
|
||||
Servo servos[2]; // the servo library can control servos on pins 9 and 10 only
|
||||
|
||||
/*==============================================================================
|
||||
* FUNCTIONS
|
||||
@ -59,9 +64,15 @@ void checkDigitalInputs(void)
|
||||
for(i=0; i < TOTAL_PORTS; i++) {
|
||||
if(reportPINs[i]) {
|
||||
switch(i) {
|
||||
case 0: outputPort(0, PIND &~ B00000011); break; // ignore Rx/Tx 0/1
|
||||
case 1: outputPort(1, PINB); break;
|
||||
case ANALOG_PORT: outputPort(ANALOG_PORT, PINC); break;
|
||||
case 0:
|
||||
outputPort(0, PIND &~ B00000011); // ignore Rx/Tx 0/1
|
||||
break;
|
||||
case 1:
|
||||
outputPort(1, PINB);
|
||||
break;
|
||||
case ANALOG_PORT:
|
||||
outputPort(ANALOG_PORT, PINC);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -75,6 +86,7 @@ void setPinModeCallback(byte pin, int mode) {
|
||||
byte port = 0;
|
||||
byte offset = 0;
|
||||
|
||||
// TODO: abstract for different boards
|
||||
if (pin < 8) {
|
||||
port = 0;
|
||||
offset = 0;
|
||||
@ -87,21 +99,34 @@ void setPinModeCallback(byte pin, int mode) {
|
||||
}
|
||||
|
||||
if(pin > 1) { // ignore RxTx (pins 0 and 1)
|
||||
pinStatus[pin] = mode;
|
||||
reportAnalogCallback(pin - 14, mode == ANALOG ? 1 : 0); // turn on/off reporting
|
||||
switch(mode) {
|
||||
case ANALOG:
|
||||
digitalWrite(pin, LOW); // disable internal pull-ups and fall thru to 'case INPUT:'
|
||||
case INPUT:
|
||||
pinStatus[pin] = mode;
|
||||
pinMode(pin, INPUT);
|
||||
portStatus[port] = portStatus[port] &~ (1 << (pin - offset));
|
||||
break;
|
||||
case OUTPUT:
|
||||
digitalWrite(pin, LOW); // disable PWM
|
||||
digitalWrite(pin, LOW); // disable PWM and fall thru to 'case PWM:'
|
||||
case PWM:
|
||||
pinStatus[pin] = mode;
|
||||
pinMode(pin, OUTPUT);
|
||||
portStatus[port] = portStatus[port] | (1 << (pin - offset));
|
||||
break;
|
||||
//case ANALOG: // TODO figure this out
|
||||
case SERVO:
|
||||
if((pin == 9 || pin == 10))
|
||||
pinStatus[pin] = mode;
|
||||
else
|
||||
Firmata.sendString("Servo only on pins 9 and 10");
|
||||
break;
|
||||
case I2C:
|
||||
pinStatus[pin] = mode;
|
||||
Firmata.sendString("I2C mode not yet supported");
|
||||
break;
|
||||
default:
|
||||
Firmata.sendString("");
|
||||
Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM
|
||||
}
|
||||
// TODO: save status to EEPROM here, if changed
|
||||
}
|
||||
@ -109,8 +134,15 @@ void setPinModeCallback(byte pin, int mode) {
|
||||
|
||||
void analogWriteCallback(byte pin, int value)
|
||||
{
|
||||
setPinModeCallback(pin,PWM);
|
||||
switch(pinStatus[pin]) {
|
||||
case SERVO:
|
||||
if(pin == 9) servos[0].write(value);
|
||||
if(pin == 10) servos[1].write(value);
|
||||
break;
|
||||
case PWM:
|
||||
analogWrite(pin, value);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void digitalWriteCallback(byte port, int value)
|
||||
@ -124,7 +156,12 @@ void digitalWriteCallback(byte port, int value)
|
||||
PORTB = (byte)value;
|
||||
break;
|
||||
case 2: // analog pins used as digital
|
||||
PORTC = (byte)value;
|
||||
byte pin;
|
||||
byte pinModeMask;
|
||||
for(pin=0; pin<8; pin++)
|
||||
if(pinStatus[pin] == OUTPUT)
|
||||
pinModeMask += 1 << pin;
|
||||
PORTC = (byte)value & pinModeMask;
|
||||
break;
|
||||
}
|
||||
}
|
||||
@ -141,6 +178,7 @@ void reportAnalogCallback(byte pin, int value)
|
||||
}
|
||||
else { // everything but 0 enables reporting of that pin
|
||||
analogInputsToReport = analogInputsToReport | (1 << pin);
|
||||
setPinModeCallback(pin, ANALOG);
|
||||
}
|
||||
// TODO: save status to EEPROM here, if changed
|
||||
}
|
||||
@ -152,6 +190,34 @@ void reportDigitalCallback(byte port, int value)
|
||||
analogInputsToReport = 0;
|
||||
}
|
||||
|
||||
/*==============================================================================
|
||||
* SYSEX-BASED commands
|
||||
*============================================================================*/
|
||||
|
||||
void sysexCallback(byte command, byte argc, byte *argv)
|
||||
{
|
||||
switch(command) {
|
||||
case SERVO_CONFIG:
|
||||
if(argc > 4) {
|
||||
// these vars are here for clarity, they'll optimized away by the compiler
|
||||
byte pin = argv[0] - 9; // servos are pins 9 and 10, so offset for array
|
||||
int minPulse = argv[1] + (argv[2] << 7);
|
||||
int maxPulse = argv[3] + (argv[4] << 7);
|
||||
servos[pin].attach(argv[0], minPulse, maxPulse);
|
||||
// TODO does the Servo have to be detach()ed before reconfiguring?
|
||||
setPinModeCallback(pin, SERVO);
|
||||
}
|
||||
break;
|
||||
case SAMPLING_INTERVAL:
|
||||
if (argc > 1)
|
||||
samplingInterval = argv[0] + (argv[1] << 7);
|
||||
else
|
||||
Firmata.sendString("Not enough data");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/*==============================================================================
|
||||
* SETUP()
|
||||
*============================================================================*/
|
||||
@ -159,20 +225,20 @@ void setup()
|
||||
{
|
||||
byte i;
|
||||
|
||||
Firmata.setFirmwareVersion(2, 0);
|
||||
Firmata.setFirmwareVersion(2, 1);
|
||||
|
||||
Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
|
||||
Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback);
|
||||
Firmata.attach(REPORT_ANALOG, reportAnalogCallback);
|
||||
Firmata.attach(REPORT_DIGITAL, reportDigitalCallback);
|
||||
Firmata.attach(SET_PIN_MODE, setPinModeCallback);
|
||||
Firmata.attach(START_SYSEX, sysexCallback);
|
||||
|
||||
portStatus[0] = B00000011; // ignore Tx/RX pins
|
||||
portStatus[1] = B11000000; // ignore 14/15 pins
|
||||
portStatus[2] = B00000000;
|
||||
|
||||
// for(i=0; i<TOTAL_DIGITAL_PINS; ++i) { // TODO make this work with analogs
|
||||
for(i=0; i<14; ++i) {
|
||||
for(i=0; i<TOTAL_DIGITAL_PINS; ++i) { // TODO make this work with analogs
|
||||
setPinModeCallback(i,OUTPUT);
|
||||
}
|
||||
// set all outputs to 0 to make sure internal pull-up resistors are off
|
||||
@ -193,7 +259,7 @@ void setup()
|
||||
if(reportPINs[1]) outputPort(1, PINB);
|
||||
if(reportPINs[ANALOG_PORT]) outputPort(ANALOG_PORT, PINC);
|
||||
|
||||
Firmata.begin();
|
||||
Firmata.begin(57600);
|
||||
}
|
||||
|
||||
/*==============================================================================
|
||||
@ -201,12 +267,12 @@ void setup()
|
||||
*============================================================================*/
|
||||
void loop()
|
||||
{
|
||||
/* DIGITALREAD - as fast as possible, check for changes and output them to the
|
||||
/* DIGITALREAD - as fast as possible, check for changes and output them to the
|
||||
* FTDI buffer using Serial.print() */
|
||||
checkDigitalInputs();
|
||||
currentMillis = millis();
|
||||
if(currentMillis > nextExecuteMillis) {
|
||||
nextExecuteMillis = currentMillis + 19; // run this every 20ms
|
||||
nextExecuteMillis = currentMillis + samplingInterval;
|
||||
/* SERIALREAD - Serial.read() uses a 128 byte circular buffer, so handle
|
||||
* all serialReads at once, i.e. empty the buffer */
|
||||
while(Firmata.available())
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user