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https://github.com/arduino/Arduino.git
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641 lines
21 KiB
C++
641 lines
21 KiB
C++
/*
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* Firmata is a generic protocol for communicating with microcontrollers
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* from software on a host computer. It is intended to work with
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* any host computer software package.
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*
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* To download a host software package, please clink on the following link
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* to open the download page in your default browser.
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*
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* http://firmata.org/wiki/Download
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*/
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/*
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Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights reserved.
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Copyright (C) 2010-2011 Paul Stoffregen. All rights reserved.
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Copyright (C) 2009 Shigeru Kobayashi. All rights reserved.
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Copyright (C) 2009-2011 Jeff Hoefs. All rights reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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See file LICENSE.txt for further informations on licensing terms.
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formatted using the GNU C formatting and indenting
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*/
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/*
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* TODO: use Program Control to load stored profiles from EEPROM
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*/
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#include <Servo.h>
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#include <Wire.h>
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#include <Firmata.h>
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// move the following defines to Firmata.h?
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#define I2C_WRITE B00000000
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#define I2C_READ B00001000
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#define I2C_READ_CONTINUOUSLY B00010000
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#define I2C_STOP_READING B00011000
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#define I2C_READ_WRITE_MODE_MASK B00011000
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#define I2C_10BIT_ADDRESS_MODE_MASK B00100000
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#define MAX_QUERIES 8
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#define MINIMUM_SAMPLING_INTERVAL 10
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#define REGISTER_NOT_SPECIFIED -1
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/*==============================================================================
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* GLOBAL VARIABLES
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*============================================================================*/
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/* analog inputs */
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int analogInputsToReport = 0; // bitwise array to store pin reporting
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/* digital input ports */
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byte reportPINs[TOTAL_PORTS]; // 1 = report this port, 0 = silence
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byte previousPINs[TOTAL_PORTS]; // previous 8 bits sent
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/* pins configuration */
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byte pinConfig[TOTAL_PINS]; // configuration of every pin
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byte portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else
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int pinState[TOTAL_PINS]; // any value that has been written
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/* timer variables */
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unsigned long currentMillis; // store the current value from millis()
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unsigned long previousMillis; // for comparison with currentMillis
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int samplingInterval = 19; // how often to run the main loop (in ms)
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/* i2c data */
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struct i2c_device_info {
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byte addr;
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byte reg;
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byte bytes;
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};
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/* for i2c read continuous more */
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i2c_device_info query[MAX_QUERIES];
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byte i2cRxData[32];
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boolean isI2CEnabled = false;
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signed char queryIndex = -1;
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unsigned int i2cReadDelayTime = 0; // default delay time between i2c read request and Wire.requestFrom()
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Servo servos[MAX_SERVOS];
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/*==============================================================================
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* FUNCTIONS
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*============================================================================*/
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void readAndReportData(byte address, int theRegister, byte numBytes) {
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// allow I2C requests that don't require a register read
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// for example, some devices using an interrupt pin to signify new data available
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// do not always require the register read so upon interrupt you call Wire.requestFrom()
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if (theRegister != REGISTER_NOT_SPECIFIED) {
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Wire.beginTransmission(address);
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#if ARDUINO >= 100
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Wire.write((byte)theRegister);
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#else
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Wire.send((byte)theRegister);
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#endif
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Wire.endTransmission();
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// do not set a value of 0
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if (i2cReadDelayTime > 0) {
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// delay is necessary for some devices such as WiiNunchuck
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delayMicroseconds(i2cReadDelayTime);
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}
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} else {
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theRegister = 0; // fill the register with a dummy value
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}
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Wire.requestFrom(address, numBytes); // all bytes are returned in requestFrom
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// check to be sure correct number of bytes were returned by slave
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if(numBytes == Wire.available()) {
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i2cRxData[0] = address;
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i2cRxData[1] = theRegister;
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for (int i = 0; i < numBytes; i++) {
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#if ARDUINO >= 100
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i2cRxData[2 + i] = Wire.read();
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#else
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i2cRxData[2 + i] = Wire.receive();
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#endif
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}
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}
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else {
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if(numBytes > Wire.available()) {
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Firmata.sendString("I2C Read Error: Too many bytes received");
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} else {
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Firmata.sendString("I2C Read Error: Too few bytes received");
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}
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}
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// send slave address, register and received bytes
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Firmata.sendSysex(SYSEX_I2C_REPLY, numBytes + 2, i2cRxData);
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}
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void outputPort(byte portNumber, byte portValue, byte forceSend)
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{
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// pins not configured as INPUT are cleared to zeros
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portValue = portValue & portConfigInputs[portNumber];
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// only send if the value is different than previously sent
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if(forceSend || previousPINs[portNumber] != portValue) {
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Firmata.sendDigitalPort(portNumber, portValue);
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previousPINs[portNumber] = portValue;
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}
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}
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/* -----------------------------------------------------------------------------
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* check all the active digital inputs for change of state, then add any events
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* to the Serial output queue using Serial.print() */
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void checkDigitalInputs(void)
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{
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/* Using non-looping code allows constants to be given to readPort().
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* The compiler will apply substantial optimizations if the inputs
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* to readPort() are compile-time constants. */
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if (TOTAL_PORTS > 0 && reportPINs[0]) outputPort(0, readPort(0, portConfigInputs[0]), false);
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if (TOTAL_PORTS > 1 && reportPINs[1]) outputPort(1, readPort(1, portConfigInputs[1]), false);
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if (TOTAL_PORTS > 2 && reportPINs[2]) outputPort(2, readPort(2, portConfigInputs[2]), false);
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if (TOTAL_PORTS > 3 && reportPINs[3]) outputPort(3, readPort(3, portConfigInputs[3]), false);
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if (TOTAL_PORTS > 4 && reportPINs[4]) outputPort(4, readPort(4, portConfigInputs[4]), false);
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if (TOTAL_PORTS > 5 && reportPINs[5]) outputPort(5, readPort(5, portConfigInputs[5]), false);
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if (TOTAL_PORTS > 6 && reportPINs[6]) outputPort(6, readPort(6, portConfigInputs[6]), false);
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if (TOTAL_PORTS > 7 && reportPINs[7]) outputPort(7, readPort(7, portConfigInputs[7]), false);
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if (TOTAL_PORTS > 8 && reportPINs[8]) outputPort(8, readPort(8, portConfigInputs[8]), false);
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if (TOTAL_PORTS > 9 && reportPINs[9]) outputPort(9, readPort(9, portConfigInputs[9]), false);
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if (TOTAL_PORTS > 10 && reportPINs[10]) outputPort(10, readPort(10, portConfigInputs[10]), false);
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if (TOTAL_PORTS > 11 && reportPINs[11]) outputPort(11, readPort(11, portConfigInputs[11]), false);
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if (TOTAL_PORTS > 12 && reportPINs[12]) outputPort(12, readPort(12, portConfigInputs[12]), false);
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if (TOTAL_PORTS > 13 && reportPINs[13]) outputPort(13, readPort(13, portConfigInputs[13]), false);
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if (TOTAL_PORTS > 14 && reportPINs[14]) outputPort(14, readPort(14, portConfigInputs[14]), false);
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if (TOTAL_PORTS > 15 && reportPINs[15]) outputPort(15, readPort(15, portConfigInputs[15]), false);
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}
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// -----------------------------------------------------------------------------
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/* sets the pin mode to the correct state and sets the relevant bits in the
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* two bit-arrays that track Digital I/O and PWM status
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*/
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void setPinModeCallback(byte pin, int mode)
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{
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if (pinConfig[pin] == I2C && isI2CEnabled && mode != I2C) {
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// disable i2c so pins can be used for other functions
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// the following if statements should reconfigure the pins properly
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disableI2CPins();
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}
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if (IS_PIN_SERVO(pin) && mode != SERVO && servos[PIN_TO_SERVO(pin)].attached()) {
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servos[PIN_TO_SERVO(pin)].detach();
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}
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if (IS_PIN_ANALOG(pin)) {
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reportAnalogCallback(PIN_TO_ANALOG(pin), mode == ANALOG ? 1 : 0); // turn on/off reporting
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}
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if (IS_PIN_DIGITAL(pin)) {
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if (mode == INPUT) {
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portConfigInputs[pin/8] |= (1 << (pin & 7));
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} else {
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portConfigInputs[pin/8] &= ~(1 << (pin & 7));
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}
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}
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pinState[pin] = 0;
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switch(mode) {
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case ANALOG:
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if (IS_PIN_ANALOG(pin)) {
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if (IS_PIN_DIGITAL(pin)) {
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pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
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digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
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}
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pinConfig[pin] = ANALOG;
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}
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break;
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case INPUT:
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if (IS_PIN_DIGITAL(pin)) {
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pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
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digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
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pinConfig[pin] = INPUT;
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}
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break;
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case OUTPUT:
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if (IS_PIN_DIGITAL(pin)) {
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digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable PWM
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pinMode(PIN_TO_DIGITAL(pin), OUTPUT);
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pinConfig[pin] = OUTPUT;
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}
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break;
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case PWM:
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if (IS_PIN_PWM(pin)) {
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pinMode(PIN_TO_PWM(pin), OUTPUT);
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analogWrite(PIN_TO_PWM(pin), 0);
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pinConfig[pin] = PWM;
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}
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break;
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case SERVO:
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if (IS_PIN_SERVO(pin)) {
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pinConfig[pin] = SERVO;
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if (!servos[PIN_TO_SERVO(pin)].attached()) {
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servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin));
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}
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}
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break;
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case I2C:
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if (IS_PIN_I2C(pin)) {
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// mark the pin as i2c
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// the user must call I2C_CONFIG to enable I2C for a device
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pinConfig[pin] = I2C;
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}
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break;
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default:
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Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM
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}
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// TODO: save status to EEPROM here, if changed
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}
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void analogWriteCallback(byte pin, int value)
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{
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if (pin < TOTAL_PINS) {
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switch(pinConfig[pin]) {
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case SERVO:
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if (IS_PIN_SERVO(pin))
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servos[PIN_TO_SERVO(pin)].write(value);
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pinState[pin] = value;
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break;
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case PWM:
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if (IS_PIN_PWM(pin))
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analogWrite(PIN_TO_PWM(pin), value);
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pinState[pin] = value;
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break;
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}
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}
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}
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void digitalWriteCallback(byte port, int value)
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{
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byte pin, lastPin, mask=1, pinWriteMask=0;
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if (port < TOTAL_PORTS) {
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// create a mask of the pins on this port that are writable.
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lastPin = port*8+8;
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if (lastPin > TOTAL_PINS) lastPin = TOTAL_PINS;
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for (pin=port*8; pin < lastPin; pin++) {
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// do not disturb non-digital pins (eg, Rx & Tx)
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if (IS_PIN_DIGITAL(pin)) {
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// only write to OUTPUT and INPUT (enables pullup)
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// do not touch pins in PWM, ANALOG, SERVO or other modes
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if (pinConfig[pin] == OUTPUT || pinConfig[pin] == INPUT) {
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pinWriteMask |= mask;
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pinState[pin] = ((byte)value & mask) ? 1 : 0;
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}
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}
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mask = mask << 1;
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}
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writePort(port, (byte)value, pinWriteMask);
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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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*/
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//void FirmataClass::setAnalogPinReporting(byte pin, byte state) {
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//}
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void reportAnalogCallback(byte analogPin, int value)
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{
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if (analogPin < TOTAL_ANALOG_PINS) {
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if(value == 0) {
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analogInputsToReport = analogInputsToReport &~ (1 << analogPin);
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} else {
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analogInputsToReport = analogInputsToReport | (1 << analogPin);
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}
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}
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// TODO: save status to EEPROM here, if changed
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}
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void reportDigitalCallback(byte port, int value)
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{
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if (port < TOTAL_PORTS) {
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reportPINs[port] = (byte)value;
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}
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// do not disable analog reporting on these 8 pins, to allow some
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// pins used for digital, others analog. Instead, allow both types
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// of reporting to be enabled, but check if the pin is configured
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// as analog when sampling the analog inputs. Likewise, while
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// scanning digital pins, portConfigInputs will mask off values from any
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// pins configured as analog
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}
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/*==============================================================================
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* SYSEX-BASED commands
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*============================================================================*/
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void sysexCallback(byte command, byte argc, byte *argv)
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{
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byte mode;
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byte slaveAddress;
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byte slaveRegister;
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byte data;
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unsigned int delayTime;
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switch(command) {
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case I2C_REQUEST:
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mode = argv[1] & I2C_READ_WRITE_MODE_MASK;
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if (argv[1] & I2C_10BIT_ADDRESS_MODE_MASK) {
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Firmata.sendString("10-bit addressing mode is not yet supported");
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return;
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}
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else {
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slaveAddress = argv[0];
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}
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switch(mode) {
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case I2C_WRITE:
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Wire.beginTransmission(slaveAddress);
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for (byte i = 2; i < argc; i += 2) {
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data = argv[i] + (argv[i + 1] << 7);
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#if ARDUINO >= 100
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Wire.write(data);
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#else
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Wire.send(data);
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#endif
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}
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Wire.endTransmission();
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delayMicroseconds(70);
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break;
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case I2C_READ:
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if (argc == 6) {
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// a slave register is specified
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slaveRegister = argv[2] + (argv[3] << 7);
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data = argv[4] + (argv[5] << 7); // bytes to read
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readAndReportData(slaveAddress, (int)slaveRegister, data);
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}
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else {
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// a slave register is NOT specified
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data = argv[2] + (argv[3] << 7); // bytes to read
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readAndReportData(slaveAddress, (int)REGISTER_NOT_SPECIFIED, data);
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}
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break;
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case I2C_READ_CONTINUOUSLY:
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if ((queryIndex + 1) >= MAX_QUERIES) {
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// too many queries, just ignore
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Firmata.sendString("too many queries");
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break;
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}
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queryIndex++;
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query[queryIndex].addr = slaveAddress;
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query[queryIndex].reg = argv[2] + (argv[3] << 7);
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query[queryIndex].bytes = argv[4] + (argv[5] << 7);
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break;
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case I2C_STOP_READING:
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byte queryIndexToSkip;
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// if read continuous mode is enabled for only 1 i2c device, disable
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// read continuous reporting for that device
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if (queryIndex <= 0) {
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queryIndex = -1;
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} else {
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// if read continuous mode is enabled for multiple devices,
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// determine which device to stop reading and remove it's data from
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// the array, shifiting other array data to fill the space
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for (byte i = 0; i < queryIndex + 1; i++) {
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if (query[i].addr = slaveAddress) {
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queryIndexToSkip = i;
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break;
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}
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}
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for (byte i = queryIndexToSkip; i<queryIndex + 1; i++) {
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if (i < MAX_QUERIES) {
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query[i].addr = query[i+1].addr;
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query[i].reg = query[i+1].addr;
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query[i].bytes = query[i+1].bytes;
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}
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}
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queryIndex--;
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}
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break;
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default:
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break;
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}
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break;
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case I2C_CONFIG:
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delayTime = (argv[0] + (argv[1] << 7));
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if(delayTime > 0) {
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i2cReadDelayTime = delayTime;
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}
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if (!isI2CEnabled) {
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enableI2CPins();
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}
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break;
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case SERVO_CONFIG:
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if(argc > 4) {
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// these vars are here for clarity, they'll optimized away by the compiler
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byte pin = argv[0];
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int minPulse = argv[1] + (argv[2] << 7);
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int maxPulse = argv[3] + (argv[4] << 7);
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if (IS_PIN_SERVO(pin)) {
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if (servos[PIN_TO_SERVO(pin)].attached())
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servos[PIN_TO_SERVO(pin)].detach();
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servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse);
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setPinModeCallback(pin, SERVO);
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}
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}
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break;
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case SAMPLING_INTERVAL:
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if (argc > 1) {
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samplingInterval = argv[0] + (argv[1] << 7);
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if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) {
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samplingInterval = MINIMUM_SAMPLING_INTERVAL;
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}
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} else {
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//Firmata.sendString("Not enough data");
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}
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break;
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case EXTENDED_ANALOG:
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if (argc > 1) {
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int val = argv[1];
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if (argc > 2) val |= (argv[2] << 7);
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if (argc > 3) val |= (argv[3] << 14);
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analogWriteCallback(argv[0], val);
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}
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break;
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case CAPABILITY_QUERY:
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Firmata.write(START_SYSEX);
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Firmata.write(CAPABILITY_RESPONSE);
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for (byte pin=0; pin < TOTAL_PINS; pin++) {
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if (IS_PIN_DIGITAL(pin)) {
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Firmata.write((byte)INPUT);
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Firmata.write(1);
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Firmata.write((byte)OUTPUT);
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Firmata.write(1);
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}
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if (IS_PIN_ANALOG(pin)) {
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Firmata.write(ANALOG);
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Firmata.write(10);
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}
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if (IS_PIN_PWM(pin)) {
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Firmata.write(PWM);
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Firmata.write(8);
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}
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if (IS_PIN_SERVO(pin)) {
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Firmata.write(SERVO);
|
|
Firmata.write(14);
|
|
}
|
|
if (IS_PIN_I2C(pin)) {
|
|
Firmata.write(I2C);
|
|
Firmata.write(1); // to do: determine appropriate value
|
|
}
|
|
Firmata.write(127);
|
|
}
|
|
Firmata.write(END_SYSEX);
|
|
break;
|
|
case PIN_STATE_QUERY:
|
|
if (argc > 0) {
|
|
byte pin=argv[0];
|
|
Firmata.write(START_SYSEX);
|
|
Firmata.write(PIN_STATE_RESPONSE);
|
|
Firmata.write(pin);
|
|
if (pin < TOTAL_PINS) {
|
|
Firmata.write((byte)pinConfig[pin]);
|
|
Firmata.write((byte)pinState[pin] & 0x7F);
|
|
if (pinState[pin] & 0xFF80) Firmata.write((byte)(pinState[pin] >> 7) & 0x7F);
|
|
if (pinState[pin] & 0xC000) Firmata.write((byte)(pinState[pin] >> 14) & 0x7F);
|
|
}
|
|
Firmata.write(END_SYSEX);
|
|
}
|
|
break;
|
|
case ANALOG_MAPPING_QUERY:
|
|
Firmata.write(START_SYSEX);
|
|
Firmata.write(ANALOG_MAPPING_RESPONSE);
|
|
for (byte pin=0; pin < TOTAL_PINS; pin++) {
|
|
Firmata.write(IS_PIN_ANALOG(pin) ? PIN_TO_ANALOG(pin) : 127);
|
|
}
|
|
Firmata.write(END_SYSEX);
|
|
break;
|
|
}
|
|
}
|
|
|
|
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 systemResetCallback()
|
|
{
|
|
// 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;
|
|
}
|
|
// 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);
|
|
} else {
|
|
// sets the output to 0, configures portConfigInputs
|
|
setPinModeCallback(i, OUTPUT);
|
|
}
|
|
}
|
|
// by default, do not report any analog inputs
|
|
analogInputsToReport = 0;
|
|
|
|
/* send digital inputs to set the initial state on the host computer,
|
|
* since once in the loop(), this firmware will only send on change */
|
|
/*
|
|
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
|
|
}
|
|
|
|
/*==============================================================================
|
|
* 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));
|
|
}
|
|
}
|
|
}
|
|
// 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);
|
|
}
|
|
}
|
|
}
|
|
}
|