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Code Issues Releases Activity

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

Browse Source 
http://code.google.com/p/arduino/issues/detail?id=633
This commit is contained in:
David A. Mellis 2011-09-09 17:11:42 -04:00
parent 5ba38fa9bd
commit b722028c7b
11 changed files with 377 additions and 49 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
libraries/Firmata/Boards.h
View File

@ -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)

10
libraries/Firmata/Firmata.cpp
View File

@ -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);
delay(300);
pin13strobe(2,1,4); // separator, a quick burst
delay(300);
pin13strobe(FIRMATA_MINOR_VERSION, 200, 400);
pin13strobe(FIRMATA_MAJOR_VERSION, 40, 210);
delay(250);
pin13strobe(FIRMATA_MINOR_VERSION, 40, 210);
delay(125);
}
void FirmataClass::printFirmwareVersion(void)

11
libraries/Firmata/examples/AllInputsFirmata/AllInputsFirmata.ino
View File

@ -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.

11
libraries/Firmata/examples/AnalogFirmata/AnalogFirmata.ino
View File

@ -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.
*

11
libraries/Firmata/examples/EchoString/EchoString.ino
View File

@ -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.

11
libraries/Firmata/examples/I2CFirmata/I2CFirmata.ino
View File

@ -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.

11
libraries/Firmata/examples/OldStandardFirmata/OldStandardFirmata.ino
View File

@ -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.

11
libraries/Firmata/examples/ServoFirmata/ServoFirmata.ino
View File

@ -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
*

11
libraries/Firmata/examples/SimpleAnalogFirmata/SimpleAnalogFirmata.ino
View File

@ -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.

11
libraries/Firmata/examples/SimpleDigitalFirmata/SimpleDigitalFirmata.ino
View File

@ -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.

304
libraries/Firmata/examples/StandardFirmata/StandardFirmata.ino
View File

@ -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;
Firmata.sendString("I2C mode not yet supported");
if (IS_PIN_I2C(pin)) {
// 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
Firmata.sendString("Not enough data");
if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) {
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;
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);
// 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;
// initialize a defalt state
// TODO: option to load config from EEPROM instead of default
if (isI2CEnabled) {
disableI2CPins();
}
for (byte i=0; i < TOTAL_PORTS; i++) {
reportPINs[i] = false; // by default, reporting off
portConfigInputs[i] = 0; // until activated
previousPINs[i] = 0;
}
*/
for (i=0; i < TOTAL_PINS; i++) {
// pins with analog capability default to analog input
// 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);
}
}
}
}