mirror of
https://github.com/arduino/Arduino.git
synced 2024-12-05 16:24:12 +01:00
229 lines
6.1 KiB
C++
229 lines
6.1 KiB
C++
/*
|
|
* 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.
|
|
|
|
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.
|
|
*/
|
|
|
|
#include <Wire.h>
|
|
#include <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 MAX_QUERIES 8
|
|
|
|
unsigned long currentMillis; // store the current value from millis()
|
|
unsigned long previousMillis; // for comparison with currentMillis
|
|
unsigned int samplingInterval = 32; // default sampling interval is 33ms
|
|
unsigned int i2cReadDelayTime = 0; // default delay time between i2c read request and Wire.requestFrom()
|
|
unsigned int powerPinsEnabled = 0; // use as boolean to prevent enablePowerPins from being called more than once
|
|
|
|
#define MINIMUM_SAMPLING_INTERVAL 10
|
|
|
|
#define REGISTER_NOT_SPECIFIED -1
|
|
|
|
struct i2c_device_info {
|
|
byte addr;
|
|
byte reg;
|
|
byte bytes;
|
|
};
|
|
|
|
i2c_device_info query[MAX_QUERIES];
|
|
|
|
byte i2cRxData[32];
|
|
boolean readingContinuously = false;
|
|
byte queryIndex = 0;
|
|
|
|
void readAndReportData(byte address, int theRegister, byte numBytes)
|
|
{
|
|
if (theRegister != REGISTER_NOT_SPECIFIED) {
|
|
Wire.beginTransmission(address);
|
|
Wire.write((byte)theRegister);
|
|
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);
|
|
|
|
// 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++) {
|
|
i2cRxData[2 + i] = Wire.read();
|
|
}
|
|
// send slave address, register and received bytes
|
|
Firmata.sendSysex(I2C_REPLY, numBytes + 2, i2cRxData);
|
|
}
|
|
else {
|
|
if(numBytes > Wire.available()) {
|
|
Firmata.sendString("I2C Read Error: Too many bytes received");
|
|
} else {
|
|
Firmata.sendString("I2C Read Error: Too few bytes received");
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
void sysexCallback(byte command, byte argc, byte *argv)
|
|
{
|
|
byte mode;
|
|
byte slaveAddress;
|
|
byte slaveRegister;
|
|
byte data;
|
|
int delayTime;
|
|
|
|
if (command == I2C_REQUEST) {
|
|
mode = argv[1] & I2C_READ_WRITE_MODE_MASK;
|
|
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);
|
|
Wire.write(data);
|
|
}
|
|
Wire.endTransmission();
|
|
delayMicroseconds(70); // TODO is this needed?
|
|
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;
|
|
}
|
|
query[queryIndex].addr = slaveAddress;
|
|
query[queryIndex].reg = argv[2] + (argv[3] << 7);
|
|
query[queryIndex].bytes = argv[4] + (argv[5] << 7);
|
|
readingContinuously = true;
|
|
queryIndex++;
|
|
break;
|
|
case I2C_STOP_READING:
|
|
readingContinuously = false;
|
|
queryIndex = 0;
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
else if (command == SAMPLING_INTERVAL) {
|
|
samplingInterval = argv[0] + (argv[1] << 7);
|
|
|
|
if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) {
|
|
samplingInterval = MINIMUM_SAMPLING_INTERVAL;
|
|
}
|
|
|
|
samplingInterval -= 1;
|
|
Firmata.sendString("sampling interval");
|
|
}
|
|
|
|
else if (command == I2C_CONFIG) {
|
|
delayTime = (argv[4] + (argv[5] << 7)); // MSB
|
|
delayTime = (delayTime << 8) + (argv[2] + (argv[3] << 7)); // add LSB
|
|
|
|
if((argv[0] + (argv[1] << 7)) > 0) {
|
|
enablePowerPins(PORTC3, PORTC2);
|
|
}
|
|
|
|
if(delayTime > 0) {
|
|
i2cReadDelayTime = delayTime;
|
|
}
|
|
|
|
if(argc > 6) {
|
|
// If you extend I2C_Config, handle your data here
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
void systemResetCallback()
|
|
{
|
|
readingContinuously = false;
|
|
queryIndex = 0;
|
|
}
|
|
|
|
/* reference: BlinkM_funcs.h by Tod E. Kurt, ThingM, http://thingm.com/ */
|
|
// Enables Pins A2 and A3 to be used as GND and Power
|
|
// so that I2C devices can be plugged directly
|
|
// into Arduino header (pins A2 - A5)
|
|
static void enablePowerPins(byte pwrpin, byte gndpin)
|
|
{
|
|
if(powerPinsEnabled == 0) {
|
|
DDRC |= _BV(pwrpin) | _BV(gndpin);
|
|
PORTC &=~ _BV(gndpin);
|
|
PORTC |= _BV(pwrpin);
|
|
powerPinsEnabled = 1;
|
|
Firmata.sendString("Power pins enabled");
|
|
delay(100);
|
|
}
|
|
}
|
|
|
|
void setup()
|
|
{
|
|
Firmata.setFirmwareVersion(2, 0);
|
|
|
|
Firmata.attach(START_SYSEX, sysexCallback);
|
|
Firmata.attach(SYSTEM_RESET, systemResetCallback);
|
|
|
|
for (int i = 0; i < TOTAL_PINS; ++i) {
|
|
pinMode(i, OUTPUT);
|
|
}
|
|
|
|
Firmata.begin(57600);
|
|
Wire.begin();
|
|
}
|
|
|
|
void loop()
|
|
{
|
|
while (Firmata.available()) {
|
|
Firmata.processInput();
|
|
}
|
|
|
|
currentMillis = millis();
|
|
if (currentMillis - previousMillis > samplingInterval) {
|
|
previousMillis += samplingInterval;
|
|
|
|
for (byte i = 0; i < queryIndex; i++) {
|
|
readAndReportData(query[i].addr, query[i].reg, query[i].bytes);
|
|
}
|
|
}
|
|
}
|