Updating to Firmata r82 (e.g. including I2C in StandardFirmata).

http://code.google.com/p/arduino/issues/detail?id=633

libraries/Firmata/Boards.h

@@ -124,6 +124,10 @@ writePort(port, value, bitmask):  Write an 8 bit port.
  * Board Specific Configuration
  *============================================================================*/
 
+#ifndef digitalPinHasPWM
+#define digitalPinHasPWM(p)     IS_PIN_DIGITAL(p)
+#endif
+
 // Arduino Duemilanove, Diecimila, and NG
 #if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__)
 #if defined(NUM_ANALOG_INPUTS) && NUM_ANALOG_INPUTS == 6
@@ -136,7 +140,7 @@ writePort(port, value, bitmask):  Write an 8 bit port.
 #define VERSION_BLINK_PIN       13
 #define IS_PIN_DIGITAL(p)       ((p) >= 2 && (p) <= 19)
 #define IS_PIN_ANALOG(p)        ((p) >= 14 && (p) < 14 + TOTAL_ANALOG_PINS)
-#define IS_PIN_PWM(p)           IS_PIN_DIGITAL(p)
+#define IS_PIN_PWM(p)           digitalPinHasPWM(p)
 #define IS_PIN_SERVO(p)         (IS_PIN_DIGITAL(p) && (p) - 2 < MAX_SERVOS)
 #define IS_PIN_I2C(p)           ((p) == 18 || (p) == 19)
 #define PIN_TO_DIGITAL(p)       (p)
@@ -151,7 +155,7 @@ writePort(port, value, bitmask):  Write an 8 bit port.
 #define VERSION_BLINK_PIN       WLED
 #define IS_PIN_DIGITAL(p)       ((p) >= 0 && (p) < TOTAL_PINS)
 #define IS_PIN_ANALOG(p)        ((p) >= FIRST_ANALOG_PIN && (p) < (FIRST_ANALOG_PIN+TOTAL_ANALOG_PINS))
-#define IS_PIN_PWM(p)           IS_PIN_DIGITAL(p)
+#define IS_PIN_PWM(p)           digitalPinHasPWM(p)
 #define IS_PIN_SERVO(p)         ((p) >= 0 && (p) < MAX_SERVOS)
 #define IS_PIN_I2C(p)           ((p) == SDA || (p) == SCL)
 #define PIN_TO_DIGITAL(p)       (p)
@@ -167,7 +171,7 @@ writePort(port, value, bitmask):  Write an 8 bit port.
 #define VERSION_BLINK_PIN       13
 #define IS_PIN_DIGITAL(p)       ((p) >= 2 && (p) <= 19)
 #define IS_PIN_ANALOG(p)        ((p) >= 14 && (p) <= 19)
-#define IS_PIN_PWM(p)           IS_PIN_DIGITAL(p)
+#define IS_PIN_PWM(p)           digitalPinHasPWM(p)
 #define IS_PIN_SERVO(p)         (IS_PIN_DIGITAL(p) && (p) - 2 < MAX_SERVOS)
 #define IS_PIN_I2C(p)           ((p) == 18 || (p) == 19)
 #define PIN_TO_DIGITAL(p)       (p)
@@ -178,13 +182,13 @@ writePort(port, value, bitmask):  Write an 8 bit port.
 
 
 // Arduino Mega
-#elif defined(__AVR_ATmega1280__)
+#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
 #define TOTAL_ANALOG_PINS       16
 #define TOTAL_PINS              70 // 54 digital + 16 analog
 #define VERSION_BLINK_PIN       13
 #define IS_PIN_DIGITAL(p)       ((p) >= 2 && (p) < TOTAL_PINS)
 #define IS_PIN_ANALOG(p)        ((p) >= 54 && (p) < TOTAL_PINS)
-#define IS_PIN_PWM(p)           IS_PIN_DIGITAL(p)
+#define IS_PIN_PWM(p)           digitalPinHasPWM(p)
 #define IS_PIN_SERVO(p)         ((p) >= 2 && (p) - 2 < MAX_SERVOS)
 #define IS_PIN_I2C(p)           ((p) == 20 || (p) == 21)
 #define PIN_TO_DIGITAL(p)       (p)
@@ -200,7 +204,7 @@ writePort(port, value, bitmask):  Write an 8 bit port.
 #define VERSION_BLINK_PIN       6
 #define IS_PIN_DIGITAL(p)       ((p) >= 0 && (p) < TOTAL_PINS)
 #define IS_PIN_ANALOG(p)        (0)
-#define IS_PIN_PWM(p)           IS_PIN_DIGITAL(p)
+#define IS_PIN_PWM(p)           digitalPinHasPWM(p)
 #define IS_PIN_SERVO(p)         ((p) >= 0 && (p) < MAX_SERVOS)
 #define IS_PIN_I2C(p)           (0)
 #define PIN_TO_DIGITAL(p)       (p)
@@ -216,7 +220,7 @@ writePort(port, value, bitmask):  Write an 8 bit port.
 #define VERSION_BLINK_PIN       11
 #define IS_PIN_DIGITAL(p)       ((p) >= 0 && (p) < TOTAL_PINS)
 #define IS_PIN_ANALOG(p)        ((p) >= 11 && (p) <= 22)
-#define IS_PIN_PWM(p)           IS_PIN_DIGITAL(p)
+#define IS_PIN_PWM(p)           digitalPinHasPWM(p)
 #define IS_PIN_SERVO(p)         ((p) >= 0 && (p) < MAX_SERVOS)
 #define IS_PIN_I2C(p)           ((p) == 5 || (p) == 6)
 #define PIN_TO_DIGITAL(p)       (p)
@@ -232,7 +236,7 @@ writePort(port, value, bitmask):  Write an 8 bit port.
 #define VERSION_BLINK_PIN       6
 #define IS_PIN_DIGITAL(p)       ((p) >= 0 && (p) < TOTAL_PINS)
 #define IS_PIN_ANALOG(p)        ((p) >= 38 && (p) < TOTAL_PINS)
-#define IS_PIN_PWM(p)           IS_PIN_DIGITAL(p)
+#define IS_PIN_PWM(p)           digitalPinHasPWM(p)
 #define IS_PIN_SERVO(p)         ((p) >= 0 && (p) < MAX_SERVOS)
 #define IS_PIN_I2C(p)           ((p) == 0 || (p) == 1)
 #define PIN_TO_DIGITAL(p)       (p)
@@ -248,7 +252,7 @@ writePort(port, value, bitmask):  Write an 8 bit port.
 #define VERSION_BLINK_PIN       0
 #define IS_PIN_DIGITAL(p)       ((p) >= 2 && (p) < TOTAL_PINS)
 #define IS_PIN_ANALOG(p)        ((p) >= 24 && (p) < TOTAL_PINS)
-#define IS_PIN_PWM(p)           IS_PIN_DIGITAL(p)
+#define IS_PIN_PWM(p)           digitalPinHasPWM(p)
 #define IS_PIN_SERVO(p)         ((p) >= 0 && (p) < MAX_SERVOS)
 #define IS_PIN_I2C(p)           ((p) == 16 || (p) == 17)
 #define PIN_TO_DIGITAL(p)       (p)
@@ -264,7 +268,7 @@ writePort(port, value, bitmask):  Write an 8 bit port.
 #define VERSION_BLINK_PIN       13
 #define IS_PIN_DIGITAL(p)       ((p) >= 2 && (p) < TOTAL_PINS)
 #define IS_PIN_ANALOG(p)        ((p) >= 36 && (p) < TOTAL_PINS)
-#define IS_PIN_PWM(p)           IS_PIN_DIGITAL(p)
+#define IS_PIN_PWM(p)           digitalPinHasPWM(p)
 #define IS_PIN_SERVO(p)         ((p) >= 0 && (p) < MAX_SERVOS)
 #define IS_PIN_I2C(p)           ((p) == 4 || (p) == 5)
 #define PIN_TO_DIGITAL(p)       (p)

libraries/Firmata/Firmata.cpp

@@ -68,7 +68,6 @@ void FirmataClass::begin(long speed)
   Serial.begin(speed);
   FirmataSerial = Serial;
   blinkVersion();
-  delay(300);
   printVersion();
   printFirmwareVersion();
 }
@@ -92,11 +91,10 @@ void FirmataClass::blinkVersion(void)
 {
   // flash the pin with the protocol version
   pinMode(VERSION_BLINK_PIN,OUTPUT);
-  pin13strobe(FIRMATA_MAJOR_VERSION, 200, 400);
+  pin13strobe(FIRMATA_MAJOR_VERSION, 40, 210);
-  delay(300);
+  delay(250);
-  pin13strobe(2,1,4); // separator, a quick burst
+  pin13strobe(FIRMATA_MINOR_VERSION, 40, 210);
-  delay(300);
+  delay(125);
-  pin13strobe(FIRMATA_MINOR_VERSION, 200, 400);
 }
 
 void FirmataClass::printFirmwareVersion(void)

libraries/Firmata/examples/AllInputsFirmata/AllInputsFirmata.ino

@@ -1,3 +1,14 @@
+/*
+ * Firmata is a generic protocol for communicating with microcontrollers
+ * from software on a host computer. It is intended to work with
+ * any host computer software package.
+ *
+ * To download a host software package, please clink on the following link
+ * to open the download page in your default browser.
+ *
+ * http://firmata.org/wiki/Download
+ */
+
 /* 
  * This firmware reads all inputs and sends them as fast as it can.  It was
  * inspired by the ease-of-use of the Arduino2Max program.

libraries/Firmata/examples/AnalogFirmata/AnalogFirmata.ino

@@ -1,3 +1,14 @@
+/*
+ * Firmata is a generic protocol for communicating with microcontrollers
+ * from software on a host computer. It is intended to work with
+ * any host computer software package.
+ *
+ * To download a host software package, please clink on the following link
+ * to open the download page in your default browser.
+ *
+ * http://firmata.org/wiki/Download
+ */
+
 /* This firmware supports as many analog ports as possible, all analog inputs,
  * four PWM outputs, and two with servo support.
  *

libraries/Firmata/examples/EchoString/EchoString.ino

@@ -1,3 +1,14 @@
+/*
+ * Firmata is a generic protocol for communicating with microcontrollers
+ * from software on a host computer. It is intended to work with
+ * any host computer software package.
+ *
+ * To download a host software package, please clink on the following link
+ * to open the download page in your default browser.
+ *
+ * http://firmata.org/wiki/Download
+ */
+
 /* This sketch accepts strings and raw sysex messages and echos them back.
  *
  * This example code is in the public domain.

libraries/Firmata/examples/I2CFirmata/I2CFirmata.ino

@@ -1,3 +1,14 @@
+/*
+ * Firmata is a generic protocol for communicating with microcontrollers
+ * from software on a host computer. It is intended to work with
+ * any host computer software package.
+ *
+ * To download a host software package, please clink on the following link
+ * to open the download page in your default browser.
+ *
+ * http://firmata.org/wiki/Download
+ */
+
 /*
  Copyright (C) 2009 Jeff Hoefs.  All rights reserved.
  Copyright (C) 2009 Shigeru Kobayashi.  All rights reserved.

libraries/Firmata/examples/OldStandardFirmata/OldStandardFirmata.ino

@@ -1,3 +1,14 @@
+/*
+ * Firmata is a generic protocol for communicating with microcontrollers
+ * from software on a host computer. It is intended to work with
+ * any host computer software package.
+ *
+ * To download a host software package, please clink on the following link
+ * to open the download page in your default browser.
+ *
+ * http://firmata.org/wiki/Download
+ */
+
 /*
   Copyright (C) 2006-2008 Hans-Christoph Steiner.  All rights reserved.
  

libraries/Firmata/examples/ServoFirmata/ServoFirmata.ino

@@ -1,3 +1,14 @@
+/*
+ * Firmata is a generic protocol for communicating with microcontrollers
+ * from software on a host computer. It is intended to work with
+ * any host computer software package.
+ *
+ * To download a host software package, please clink on the following link
+ * to open the download page in your default browser.
+ *
+ * http://firmata.org/wiki/Download
+ */
+
 /* This firmware supports as many servos as possible using the Servo library 
  * included in Arduino 0017
  *

libraries/Firmata/examples/SimpleAnalogFirmata/SimpleAnalogFirmata.ino

@@ -1,3 +1,14 @@
+/*
+ * Firmata is a generic protocol for communicating with microcontrollers
+ * from software on a host computer. It is intended to work with
+ * any host computer software package.
+ *
+ * To download a host software package, please clink on the following link
+ * to open the download page in your default browser.
+ *
+ * http://firmata.org/wiki/Download
+ */
+
 /* Supports as many analog inputs and analog PWM outputs as possible.
  *
  * This example code is in the public domain.

libraries/Firmata/examples/SimpleDigitalFirmata/SimpleDigitalFirmata.ino

@@ -1,3 +1,14 @@
+/*
+ * Firmata is a generic protocol for communicating with microcontrollers
+ * from software on a host computer. It is intended to work with
+ * any host computer software package.
+ *
+ * To download a host software package, please clink on the following link
+ * to open the download page in your default browser.
+ *
+ * http://firmata.org/wiki/Download
+ */
+
 /* Supports as many digital inputs and outputs as possible.
  *
  * This example code is in the public domain.

libraries/Firmata/examples/StandardFirmata/StandardFirmata.ino

@@ -1,5 +1,19 @@
+/*
+ * Firmata is a generic protocol for communicating with microcontrollers
+ * from software on a host computer. It is intended to work with
+ * any host computer software package.
+ *
+ * To download a host software package, please clink on the following link
+ * to open the download page in your default browser.
+ *
+ * http://firmata.org/wiki/Download
+ */
+
 /*
   Copyright (C) 2006-2008 Hans-Christoph Steiner.  All rights reserved.
+  Copyright (C) 2010-2011 Paul Stoffregen.  All rights reserved.
+  Copyright (C) 2009 Shigeru Kobayashi.  All rights reserved.
+  Copyright (C) 2009-2011 Jeff Hoefs.  All rights reserved.
   
   This library is free software; you can redistribute it and/or
   modify it under the terms of the GNU Lesser General Public
@@ -16,8 +30,22 @@
  */
 
 #include <Servo.h>
+#include <Wire.h>
 #include <Firmata.h>
 
+// move the following defines to Firmata.h?
+#define I2C_WRITE B00000000
+#define I2C_READ B00001000
+#define I2C_READ_CONTINUOUSLY B00010000
+#define I2C_STOP_READING B00011000
+#define I2C_READ_WRITE_MODE_MASK B00011000
+#define I2C_10BIT_ADDRESS_MODE_MASK B00100000
+
+#define MAX_QUERIES 8
+#define MINIMUM_SAMPLING_INTERVAL 10
+
+#define REGISTER_NOT_SPECIFIED -1
+
 /*==============================================================================
  * GLOBAL VARIABLES
  *============================================================================*/
@@ -39,12 +67,69 @@ unsigned long currentMillis;        // store the current value from millis()
 unsigned long previousMillis;       // for comparison with currentMillis
 int samplingInterval = 19;          // how often to run the main loop (in ms)
 
-Servo servos[MAX_SERVOS];
+/* i2c data */
+struct i2c_device_info {
+  byte addr;
+  byte reg;
+  byte bytes;
+};
 
+/* for i2c read continuous more */
+i2c_device_info query[MAX_QUERIES];
+
+byte i2cRxData[32];
+boolean isI2CEnabled = false;
+signed char queryIndex = -1;
+unsigned int i2cReadDelayTime = 0;  // default delay time between i2c read request and Wire.requestFrom()
+
+Servo servos[MAX_SERVOS];
 /*==============================================================================
  * FUNCTIONS
  *============================================================================*/
 
+void readAndReportData(byte address, int theRegister, byte numBytes) {
+  // allow I2C requests that don't require a register read
+  // for example, some devices using an interrupt pin to signify new data available
+  // do not always require the register read so upon interrupt you call Wire.requestFrom()  
+  if (theRegister != REGISTER_NOT_SPECIFIED) {
+    Wire.beginTransmission(address);
+    #if ARDUINO >= 100
+    Wire.write((byte)theRegister);
+    #else
+    Wire.send((byte)theRegister);
+    #endif
+    Wire.endTransmission();
+    delayMicroseconds(i2cReadDelayTime);  // delay is necessary for some devices such as WiiNunchuck
+  } else {
+    theRegister = 0;  // fill the register with a dummy value
+  }
+
+  Wire.requestFrom(address, numBytes);  // all bytes are returned in requestFrom
+
+  // check to be sure correct number of bytes were returned by slave
+  if(numBytes == Wire.available()) {
+    i2cRxData[0] = address;
+    i2cRxData[1] = theRegister;
+    for (int i = 0; i < numBytes; i++) {
+      #if ARDUINO >= 100
+      i2cRxData[2 + i] = Wire.read();
+      #else
+      i2cRxData[2 + i] = Wire.receive();
+      #endif
+    }
+  }
+  else {
+    if(numBytes > Wire.available()) {
+      Firmata.sendString("I2C Read Error: Too many bytes received");
+    } else {
+      Firmata.sendString("I2C Read Error: Too few bytes received"); 
+    }
+  }
+
+  // send slave address, register and received bytes
+  Firmata.sendSysex(SYSEX_I2C_REPLY, numBytes + 2, i2cRxData);
+}
+
 void outputPort(byte portNumber, byte portValue, byte forceSend)
 {
   // pins not configured as INPUT are cleared to zeros
@@ -88,6 +173,11 @@ void checkDigitalInputs(void)
  */
 void setPinModeCallback(byte pin, int mode)
 {
+  if (pinConfig[pin] == I2C && isI2CEnabled && mode != I2C) {
+    // disable i2c so pins can be used for other functions
+    // the following if statements should reconfigure the pins properly
+    disableI2CPins();
+  }
   if (IS_PIN_SERVO(pin) && mode != SERVO && servos[PIN_TO_SERVO(pin)].attached()) {
     servos[PIN_TO_SERVO(pin)].detach();
   }
@@ -138,14 +228,15 @@ void setPinModeCallback(byte pin, int mode)
       pinConfig[pin] = SERVO;
       if (!servos[PIN_TO_SERVO(pin)].attached()) {
           servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin));
-      } else {
-        Firmata.sendString("Servo only on pins from 2 to 13");
       }
     }
     break;
   case I2C:
-    pinConfig[pin] = mode;
+    if (IS_PIN_I2C(pin)) {
-    Firmata.sendString("I2C mode not yet supported");
+      // mark the pin as i2c
+      // the user must call I2C_CONFIG to enable I2C for a device
+      pinConfig[pin] = I2C;
+    }
     break;
   default:
     Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM
@@ -232,7 +323,104 @@ void reportDigitalCallback(byte port, int value)
 
 void sysexCallback(byte command, byte argc, byte *argv)
 {
+  byte mode;
+  byte slaveAddress;
+  byte slaveRegister;
+  byte data;
+  unsigned int delayTime; 
+  
   switch(command) {
+  case I2C_REQUEST:
+    mode = argv[1] & I2C_READ_WRITE_MODE_MASK;
+    if (argv[1] & I2C_10BIT_ADDRESS_MODE_MASK) {
+      Firmata.sendString("10-bit addressing mode is not yet supported");
+      return;
+    }
+    else {
+      slaveAddress = argv[0];
+    }
+
+    switch(mode) {
+    case I2C_WRITE:
+      Wire.beginTransmission(slaveAddress);
+      for (byte i = 2; i < argc; i += 2) {
+        data = argv[i] + (argv[i + 1] << 7);
+        #if ARDUINO >= 100
+        Wire.write(data);
+        #else
+        Wire.send(data);
+        #endif
+      }
+      Wire.endTransmission();
+      delayMicroseconds(70);
+      break;
+    case I2C_READ:
+      if (argc == 6) {
+        // a slave register is specified
+        slaveRegister = argv[2] + (argv[3] << 7);
+        data = argv[4] + (argv[5] << 7);  // bytes to read
+        readAndReportData(slaveAddress, (int)slaveRegister, data);
+      }
+      else {
+        // a slave register is NOT specified
+        data = argv[2] + (argv[3] << 7);  // bytes to read
+        readAndReportData(slaveAddress, (int)REGISTER_NOT_SPECIFIED, data);
+      }
+      break;
+    case I2C_READ_CONTINUOUSLY:
+      if ((queryIndex + 1) >= MAX_QUERIES) {
+        // too many queries, just ignore
+        Firmata.sendString("too many queries");
+        break;
+      }
+      queryIndex++;
+      query[queryIndex].addr = slaveAddress;
+      query[queryIndex].reg = argv[2] + (argv[3] << 7);
+      query[queryIndex].bytes = argv[4] + (argv[5] << 7);
+      break;
+    case I2C_STOP_READING:
+	  byte queryIndexToSkip;      
+      // if read continuous mode is enabled for only 1 i2c device, disable
+      // read continuous reporting for that device
+      if (queryIndex <= 0) {
+        queryIndex = -1;        
+      } else {
+        // if read continuous mode is enabled for multiple devices,
+        // determine which device to stop reading and remove it's data from
+        // the array, shifiting other array data to fill the space
+        for (byte i = 0; i < queryIndex + 1; i++) {
+          if (query[i].addr = slaveAddress) {
+            queryIndexToSkip = i;
+            break;
+          }
+        }
+        
+        for (byte i = queryIndexToSkip; i<queryIndex + 1; i++) {
+          if (i < MAX_QUERIES) {
+            query[i].addr = query[i+1].addr;
+            query[i].reg = query[i+1].addr;
+            query[i].bytes = query[i+1].bytes; 
+          }
+        }
+        queryIndex--;
+      }
+      break;
+    default:
+      break;
+    }
+    break;
+  case I2C_CONFIG:
+    delayTime = (argv[0] + (argv[1] << 7));
+
+    if(delayTime > 0) {
+      i2cReadDelayTime = delayTime;
+    }
+
+    if (!isI2CEnabled) {
+      enableI2CPins();
+    }
+    
+    break;
   case SERVO_CONFIG:
     if(argc > 4) {
       // these vars are here for clarity, they'll optimized away by the compiler
@@ -241,7 +429,6 @@ void sysexCallback(byte command, byte argc, byte *argv)
       int maxPulse = argv[3] + (argv[4] << 7);
 
       if (IS_PIN_SERVO(pin)) {
-        // servos are pins from 2 to 13, so offset for array
         if (servos[PIN_TO_SERVO(pin)].attached())
           servos[PIN_TO_SERVO(pin)].detach();
         servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse);
@@ -250,10 +437,14 @@ void sysexCallback(byte command, byte argc, byte *argv)
     }
     break;
   case SAMPLING_INTERVAL:
-    if (argc > 1)
+    if (argc > 1) {
       samplingInterval = argv[0] + (argv[1] << 7);
-    else
+      if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) {
-      Firmata.sendString("Not enough data");
+        samplingInterval = MINIMUM_SAMPLING_INTERVAL;
+      }      
+    } else {
+      //Firmata.sendString("Not enough data");
+    }
     break;
   case EXTENDED_ANALOG:
     if (argc > 1) {
@@ -285,6 +476,10 @@ void sysexCallback(byte command, byte argc, byte *argv)
         Serial.write(SERVO);
         Serial.write(14);
       }
+      if (IS_PIN_I2C(pin)) {
+        Serial.write(I2C);
+        Serial.write(1);  // to do: determine appropriate value 
+      }
       Serial.write(127);
     }
     Serial.write(END_SYSEX);
@@ -315,33 +510,52 @@ void sysexCallback(byte command, byte argc, byte *argv)
   }
 }
 
+void enableI2CPins()
+{
+  byte i;
+  // is there a faster way to do this? would probaby require importing 
+  // Arduino.h to get SCL and SDA pins
+  for (i=0; i < TOTAL_PINS; i++) {
+    if(IS_PIN_I2C(i)) {
+      // mark pins as i2c so they are ignore in non i2c data requests
+      setPinModeCallback(i, I2C);
+    } 
+  }
+   
+  isI2CEnabled = true; 
+  
+  // is there enough time before the first I2C request to call this here?
+  Wire.begin();
+}
+
+/* disable the i2c pins so they can be used for other functions */
+void disableI2CPins() {
+    isI2CEnabled = false;
+    // disable read continuous mode for all devices
+    queryIndex = -1;
+    // uncomment the following if or when the end() method is added to Wire library
+    // Wire.end();
+}
 
 /*==============================================================================
  * SETUP()
  *============================================================================*/
-void setup() 
+
+void systemResetCallback()
 {
-  byte i;
+  // initialize a defalt state
-
+  // TODO: option to load config from EEPROM instead of default
-  Firmata.setFirmwareVersion(FIRMATA_MAJOR_VERSION, FIRMATA_MINOR_VERSION);
+  if (isI2CEnabled) {
-
+  	disableI2CPins();
-  Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
+  }
-  Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback);
+  for (byte i=0; i < TOTAL_PORTS; i++) {
-  Firmata.attach(REPORT_ANALOG, reportAnalogCallback);
+    reportPINs[i] = false;      // by default, reporting off
-  Firmata.attach(REPORT_DIGITAL, reportDigitalCallback);
+    portConfigInputs[i] = 0;	// until activated
-  Firmata.attach(SET_PIN_MODE, setPinModeCallback);
-  Firmata.attach(START_SYSEX, sysexCallback);
-
-  // TODO: load state from EEPROM here
-
-  /* these are initialized to zero by the compiler startup code
-  for (i=0; i < TOTAL_PORTS; i++) {
-    reportPINs[i] = false;
-    portConfigInputs[i] = 0;
     previousPINs[i] = 0;
   }
-  */
+  // pins with analog capability default to analog input
-  for (i=0; i < TOTAL_PINS; i++) {
+  // otherwise, pins default to digital output
+  for (byte i=0; i < TOTAL_PINS; i++) {
     if (IS_PIN_ANALOG(i)) {
       // turns off pullup, configures everything
       setPinModeCallback(i, ANALOG);
@@ -350,16 +564,34 @@ void setup()
       setPinModeCallback(i, OUTPUT);
     }
   }
-  // by defult, do not report any analog inputs
+  // by default, do not report any analog inputs
   analogInputsToReport = 0;
 
-  Firmata.begin(57600);
-
   /* send digital inputs to set the initial state on the host computer,
    * since once in the loop(), this firmware will only send on change */
-  for (i=0; i < TOTAL_PORTS; i++) {
+  /*
+  TODO: this can never execute, since no pins default to digital input
+        but it will be needed when/if we support EEPROM stored config
+  for (byte i=0; i < TOTAL_PORTS; i++) {
     outputPort(i, readPort(i, portConfigInputs[i]), true);
   }
+  */
+}
+
+void setup() 
+{
+  Firmata.setFirmwareVersion(FIRMATA_MAJOR_VERSION, FIRMATA_MINOR_VERSION);
+
+  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);
+  Firmata.attach(SYSTEM_RESET, systemResetCallback);
+
+  Firmata.begin(57600);
+  systemResetCallback();  // reset to default config
 }
 
 /*==============================================================================
@@ -394,5 +626,11 @@ void loop()
         }
       }
     }
+    // report i2c data for all device with read continuous mode enabled
+    if (queryIndex > -1) {
+      for (byte i = 0; i < queryIndex + 1; i++) {
+        readAndReportData(query[i].addr, query[i].reg, query[i].bytes);
+      }
+    }
   }
 }