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84 lines
2.7 KiB
Plaintext
84 lines
2.7 KiB
Plaintext
/* This firmware supports as many analog ports as possible, all analog inputs,
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* four PWM outputs, and two with servo support.
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*
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* This example code is in the public domain.
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*/
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#include <Firmata.h>
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#include <Servo.h>
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/*==============================================================================
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* GLOBAL VARIABLES
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*============================================================================*/
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/* servos */
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Servo servo9, servo10; // one instance per pin
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/* analog inputs */
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int analogInputsToReport = 0; // bitwise array to store pin reporting
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int analogPin = 0; // counter for reading analog pins
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/* timer variables */
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extern volatile unsigned long timer0_overflow_count; // timer0 from wiring.c
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unsigned long nextExecuteTime; // for comparison with timer0_overflow_count
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/*==============================================================================
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* FUNCTIONS
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*============================================================================*/
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void analogWriteCallback(byte pin, int value)
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{
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switch(pin) {
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case 9: servo9.write(value); break;
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case 10: servo10.write(value); break;
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case 3:
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case 5:
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case 6:
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case 11: // PWM pins
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analogWrite(pin, value);
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break;
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}
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}
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// -----------------------------------------------------------------------------
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// sets bits in a bit array (int) to toggle the reporting of the analogIns
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void reportAnalogCallback(byte pin, int value)
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{
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if(value == 0) {
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analogInputsToReport = analogInputsToReport &~ (1 << pin);
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}
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else { // everything but 0 enables reporting of that pin
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analogInputsToReport = analogInputsToReport | (1 << pin);
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}
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// TODO: save status to EEPROM here, if changed
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}
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/*==============================================================================
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* SETUP()
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*============================================================================*/
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void setup()
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{
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Firmata.setFirmwareVersion(0, 2);
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Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
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Firmata.attach(REPORT_ANALOG, reportAnalogCallback);
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servo9.attach(9);
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servo10.attach(10);
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Firmata.begin();
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}
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/*==============================================================================
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* LOOP()
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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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if(timer0_overflow_count > nextExecuteTime) {
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nextExecuteTime = timer0_overflow_count + 19; // run this every 20ms
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for(analogPin=0;analogPin<TOTAL_ANALOG_PINS;analogPin++) {
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if( analogInputsToReport & (1 << analogPin) )
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Firmata.sendAnalog(analogPin, analogRead(analogPin));
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}
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}
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}
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