mirror of
https://github.com/arduino/Arduino.git
synced 2024-12-13 23:48:46 +01:00
367a0ae9f4
Changes include (according to Paul Stoffregen): "1: Hardware abstraction layer to support Arduino Mega, Teensy and Sanguino. 2: Extended analog message, to facilitate using PWM and Servo above pin 15. 3: Capability queries (alpha), to allow automatic discovery of any board's features."
399 lines
13 KiB
Plaintext
399 lines
13 KiB
Plaintext
/*
|
|
Copyright (C) 2006-2008 Hans-Christoph Steiner. 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
|
|
License as published by the Free Software Foundation; either
|
|
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: use Program Control to load stored profiles from EEPROM
|
|
*/
|
|
|
|
#include <Servo.h>
|
|
#include <Firmata.h>
|
|
|
|
/*==============================================================================
|
|
* GLOBAL VARIABLES
|
|
*============================================================================*/
|
|
|
|
/* analog inputs */
|
|
int analogInputsToReport = 0; // bitwise array to store pin reporting
|
|
|
|
/* digital input ports */
|
|
byte reportPINs[TOTAL_PORTS]; // 1 = report this port, 0 = silence
|
|
byte previousPINs[TOTAL_PORTS]; // previous 8 bits sent
|
|
|
|
/* pins configuration */
|
|
byte pinConfig[TOTAL_PINS]; // configuration of every pin
|
|
byte portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else
|
|
int pinState[TOTAL_PINS]; // any value that has been written
|
|
|
|
/* timer variables */
|
|
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];
|
|
|
|
/*==============================================================================
|
|
* FUNCTIONS
|
|
*============================================================================*/
|
|
|
|
void outputPort(byte portNumber, byte portValue, byte forceSend)
|
|
{
|
|
// pins not configured as INPUT are cleared to zeros
|
|
portValue = portValue & portConfigInputs[portNumber];
|
|
// only send if the value is different than previously sent
|
|
if(forceSend || previousPINs[portNumber] != portValue) {
|
|
Firmata.sendDigitalPort(portNumber, portValue);
|
|
previousPINs[portNumber] = portValue;
|
|
}
|
|
}
|
|
|
|
/* -----------------------------------------------------------------------------
|
|
* check all the active digital inputs for change of state, then add any events
|
|
* to the Serial output queue using Serial.print() */
|
|
void checkDigitalInputs(void)
|
|
{
|
|
/* Using non-looping code allows constants to be given to readPort().
|
|
* The compiler will apply substantial optimizations if the inputs
|
|
* to readPort() are compile-time constants. */
|
|
if (TOTAL_PORTS > 0 && reportPINs[0]) outputPort(0, readPort(0, portConfigInputs[0]), false);
|
|
if (TOTAL_PORTS > 1 && reportPINs[1]) outputPort(1, readPort(1, portConfigInputs[1]), false);
|
|
if (TOTAL_PORTS > 2 && reportPINs[2]) outputPort(2, readPort(2, portConfigInputs[2]), false);
|
|
if (TOTAL_PORTS > 3 && reportPINs[3]) outputPort(3, readPort(3, portConfigInputs[3]), false);
|
|
if (TOTAL_PORTS > 4 && reportPINs[4]) outputPort(4, readPort(4, portConfigInputs[4]), false);
|
|
if (TOTAL_PORTS > 5 && reportPINs[5]) outputPort(5, readPort(5, portConfigInputs[5]), false);
|
|
if (TOTAL_PORTS > 6 && reportPINs[6]) outputPort(6, readPort(6, portConfigInputs[6]), false);
|
|
if (TOTAL_PORTS > 7 && reportPINs[7]) outputPort(7, readPort(7, portConfigInputs[7]), false);
|
|
if (TOTAL_PORTS > 8 && reportPINs[8]) outputPort(8, readPort(8, portConfigInputs[8]), false);
|
|
if (TOTAL_PORTS > 9 && reportPINs[9]) outputPort(9, readPort(9, portConfigInputs[9]), false);
|
|
if (TOTAL_PORTS > 10 && reportPINs[10]) outputPort(10, readPort(10, portConfigInputs[10]), false);
|
|
if (TOTAL_PORTS > 11 && reportPINs[11]) outputPort(11, readPort(11, portConfigInputs[11]), false);
|
|
if (TOTAL_PORTS > 12 && reportPINs[12]) outputPort(12, readPort(12, portConfigInputs[12]), false);
|
|
if (TOTAL_PORTS > 13 && reportPINs[13]) outputPort(13, readPort(13, portConfigInputs[13]), false);
|
|
if (TOTAL_PORTS > 14 && reportPINs[14]) outputPort(14, readPort(14, portConfigInputs[14]), false);
|
|
if (TOTAL_PORTS > 15 && reportPINs[15]) outputPort(15, readPort(15, portConfigInputs[15]), false);
|
|
}
|
|
|
|
// -----------------------------------------------------------------------------
|
|
/* sets the pin mode to the correct state and sets the relevant bits in the
|
|
* two bit-arrays that track Digital I/O and PWM status
|
|
*/
|
|
void setPinModeCallback(byte pin, int mode)
|
|
{
|
|
if (IS_PIN_SERVO(pin) && mode != SERVO && servos[PIN_TO_SERVO(pin)].attached()) {
|
|
servos[PIN_TO_SERVO(pin)].detach();
|
|
}
|
|
if (IS_PIN_ANALOG(pin)) {
|
|
reportAnalogCallback(PIN_TO_ANALOG(pin), mode == ANALOG ? 1 : 0); // turn on/off reporting
|
|
}
|
|
if (IS_PIN_DIGITAL(pin)) {
|
|
if (mode == INPUT) {
|
|
portConfigInputs[pin/8] |= (1 << (pin & 7));
|
|
} else {
|
|
portConfigInputs[pin/8] &= ~(1 << (pin & 7));
|
|
}
|
|
}
|
|
pinState[pin] = 0;
|
|
switch(mode) {
|
|
case ANALOG:
|
|
if (IS_PIN_ANALOG(pin)) {
|
|
if (IS_PIN_DIGITAL(pin)) {
|
|
pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
|
|
digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
|
|
}
|
|
pinConfig[pin] = ANALOG;
|
|
}
|
|
break;
|
|
case INPUT:
|
|
if (IS_PIN_DIGITAL(pin)) {
|
|
pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
|
|
digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
|
|
pinConfig[pin] = INPUT;
|
|
}
|
|
break;
|
|
case OUTPUT:
|
|
if (IS_PIN_DIGITAL(pin)) {
|
|
digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable PWM
|
|
pinMode(PIN_TO_DIGITAL(pin), OUTPUT);
|
|
pinConfig[pin] = OUTPUT;
|
|
}
|
|
break;
|
|
case PWM:
|
|
if (IS_PIN_PWM(pin)) {
|
|
pinMode(PIN_TO_PWM(pin), OUTPUT);
|
|
analogWrite(PIN_TO_PWM(pin), 0);
|
|
pinConfig[pin] = PWM;
|
|
}
|
|
break;
|
|
case SERVO:
|
|
if (IS_PIN_SERVO(pin)) {
|
|
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");
|
|
break;
|
|
default:
|
|
Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM
|
|
}
|
|
// TODO: save status to EEPROM here, if changed
|
|
}
|
|
|
|
void analogWriteCallback(byte pin, int value)
|
|
{
|
|
if (pin < TOTAL_PINS) {
|
|
switch(pinConfig[pin]) {
|
|
case SERVO:
|
|
if (IS_PIN_SERVO(pin))
|
|
servos[PIN_TO_SERVO(pin)].write(value);
|
|
pinState[pin] = value;
|
|
break;
|
|
case PWM:
|
|
if (IS_PIN_PWM(pin))
|
|
analogWrite(PIN_TO_PWM(pin), value);
|
|
pinState[pin] = value;
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
void digitalWriteCallback(byte port, int value)
|
|
{
|
|
byte pin, lastPin, mask=1, pinWriteMask=0;
|
|
|
|
if (port < TOTAL_PORTS) {
|
|
// create a mask of the pins on this port that are writable.
|
|
lastPin = port*8+8;
|
|
if (lastPin > TOTAL_PINS) lastPin = TOTAL_PINS;
|
|
for (pin=port*8; pin < lastPin; pin++) {
|
|
// do not disturb non-digital pins (eg, Rx & Tx)
|
|
if (IS_PIN_DIGITAL(pin)) {
|
|
// only write to OUTPUT and INPUT (enables pullup)
|
|
// do not touch pins in PWM, ANALOG, SERVO or other modes
|
|
if (pinConfig[pin] == OUTPUT || pinConfig[pin] == INPUT) {
|
|
pinWriteMask |= mask;
|
|
pinState[pin] = ((byte)value & mask) ? 1 : 0;
|
|
}
|
|
}
|
|
mask = mask << 1;
|
|
}
|
|
writePort(port, (byte)value, pinWriteMask);
|
|
}
|
|
}
|
|
|
|
|
|
// -----------------------------------------------------------------------------
|
|
/* sets bits in a bit array (int) to toggle the reporting of the analogIns
|
|
*/
|
|
//void FirmataClass::setAnalogPinReporting(byte pin, byte state) {
|
|
//}
|
|
void reportAnalogCallback(byte analogPin, int value)
|
|
{
|
|
if (analogPin < TOTAL_ANALOG_PINS) {
|
|
if(value == 0) {
|
|
analogInputsToReport = analogInputsToReport &~ (1 << analogPin);
|
|
} else {
|
|
analogInputsToReport = analogInputsToReport | (1 << analogPin);
|
|
}
|
|
}
|
|
// TODO: save status to EEPROM here, if changed
|
|
}
|
|
|
|
void reportDigitalCallback(byte port, int value)
|
|
{
|
|
if (port < TOTAL_PORTS) {
|
|
reportPINs[port] = (byte)value;
|
|
}
|
|
// do not disable analog reporting on these 8 pins, to allow some
|
|
// pins used for digital, others analog. Instead, allow both types
|
|
// of reporting to be enabled, but check if the pin is configured
|
|
// as analog when sampling the analog inputs. Likewise, while
|
|
// scanning digital pins, portConfigInputs will mask off values from any
|
|
// pins configured as analog
|
|
}
|
|
|
|
/*==============================================================================
|
|
* 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];
|
|
int minPulse = argv[1] + (argv[2] << 7);
|
|
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);
|
|
setPinModeCallback(pin, SERVO);
|
|
}
|
|
}
|
|
break;
|
|
case SAMPLING_INTERVAL:
|
|
if (argc > 1)
|
|
samplingInterval = argv[0] + (argv[1] << 7);
|
|
else
|
|
Firmata.sendString("Not enough data");
|
|
break;
|
|
case EXTENDED_ANALOG:
|
|
if (argc > 1) {
|
|
int val = argv[1];
|
|
if (argc > 2) val |= (argv[2] << 7);
|
|
if (argc > 3) val |= (argv[3] << 14);
|
|
analogWriteCallback(argv[0], val);
|
|
}
|
|
break;
|
|
case CAPABILITY_QUERY:
|
|
Serial.write(START_SYSEX);
|
|
Serial.write(CAPABILITY_RESPONSE);
|
|
for (byte pin=0; pin < TOTAL_PINS; pin++) {
|
|
if (IS_PIN_DIGITAL(pin)) {
|
|
Serial.write((byte)INPUT);
|
|
Serial.write(1);
|
|
Serial.write((byte)OUTPUT);
|
|
Serial.write(1);
|
|
}
|
|
if (IS_PIN_ANALOG(pin)) {
|
|
Serial.write(ANALOG);
|
|
Serial.write(10);
|
|
}
|
|
if (IS_PIN_PWM(pin)) {
|
|
Serial.write(PWM);
|
|
Serial.write(8);
|
|
}
|
|
if (IS_PIN_SERVO(pin)) {
|
|
Serial.write(SERVO);
|
|
Serial.write(14);
|
|
}
|
|
Serial.write(127);
|
|
}
|
|
Serial.write(END_SYSEX);
|
|
break;
|
|
case PIN_STATE_QUERY:
|
|
if (argc > 0) {
|
|
byte pin=argv[0];
|
|
Serial.write(START_SYSEX);
|
|
Serial.write(PIN_STATE_RESPONSE);
|
|
Serial.write(pin);
|
|
if (pin < TOTAL_PINS) {
|
|
Serial.write((byte)pinConfig[pin]);
|
|
Serial.write((byte)pinState[pin] & 0x7F);
|
|
if (pinState[pin] & 0xFF80) Serial.write((byte)(pinState[pin] >> 7) & 0x7F);
|
|
if (pinState[pin] & 0xC000) Serial.write((byte)(pinState[pin] >> 14) & 0x7F);
|
|
}
|
|
Serial.write(END_SYSEX);
|
|
}
|
|
break;
|
|
case ANALOG_MAPPING_QUERY:
|
|
Serial.write(START_SYSEX);
|
|
Serial.write(ANALOG_MAPPING_RESPONSE);
|
|
for (byte pin=0; pin < TOTAL_PINS; pin++) {
|
|
Serial.write(IS_PIN_ANALOG(pin) ? PIN_TO_ANALOG(pin) : 127);
|
|
}
|
|
Serial.write(END_SYSEX);
|
|
break;
|
|
}
|
|
}
|
|
|
|
|
|
/*==============================================================================
|
|
* SETUP()
|
|
*============================================================================*/
|
|
void setup()
|
|
{
|
|
byte i;
|
|
|
|
Firmata.setFirmwareVersion(2, 2);
|
|
|
|
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;
|
|
previousPINs[i] = 0;
|
|
}
|
|
*/
|
|
for (i=0; i < TOTAL_PINS; i++) {
|
|
if (IS_PIN_ANALOG(i)) {
|
|
// turns off pullup, configures everything
|
|
setPinModeCallback(i, ANALOG);
|
|
} else {
|
|
// sets the output to 0, configures portConfigInputs
|
|
setPinModeCallback(i, OUTPUT);
|
|
}
|
|
}
|
|
// by defult, 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++) {
|
|
outputPort(i, readPort(i, portConfigInputs[i]), true);
|
|
}
|
|
}
|
|
|
|
/*==============================================================================
|
|
* LOOP()
|
|
*============================================================================*/
|
|
void loop()
|
|
{
|
|
byte pin, analogPin;
|
|
|
|
/* DIGITALREAD - as fast as possible, check for changes and output them to the
|
|
* FTDI buffer using Serial.print() */
|
|
checkDigitalInputs();
|
|
|
|
/* SERIALREAD - processing incoming messagse as soon as possible, while still
|
|
* checking digital inputs. */
|
|
while(Firmata.available())
|
|
Firmata.processInput();
|
|
|
|
/* SEND FTDI WRITE BUFFER - make sure that the FTDI buffer doesn't go over
|
|
* 60 bytes. use a timer to sending an event character every 4 ms to
|
|
* trigger the buffer to dump. */
|
|
|
|
currentMillis = millis();
|
|
if (currentMillis - previousMillis > samplingInterval) {
|
|
previousMillis += samplingInterval;
|
|
/* ANALOGREAD - do all analogReads() at the configured sampling interval */
|
|
for(pin=0; pin<TOTAL_PINS; pin++) {
|
|
if (IS_PIN_ANALOG(pin) && pinConfig[pin] == ANALOG) {
|
|
analogPin = PIN_TO_ANALOG(pin);
|
|
if (analogInputsToReport & (1 << analogPin)) {
|
|
Firmata.sendAnalog(analogPin, analogRead(analogPin));
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|