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Diffstat (limited to 'libraries/Firmata/examples/I2CFirmata/I2CFirmata.pde')
| -rw-r--r-- | libraries/Firmata/examples/I2CFirmata/I2CFirmata.pde | 217 |
1 files changed, 0 insertions, 217 deletions
diff --git a/libraries/Firmata/examples/I2CFirmata/I2CFirmata.pde b/libraries/Firmata/examples/I2CFirmata/I2CFirmata.pde deleted file mode 100644 index 796a8d5..0000000 --- a/libraries/Firmata/examples/I2CFirmata/I2CFirmata.pde +++ /dev/null @@ -1,217 +0,0 @@ -/* - 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 nextExecuteMillis; // 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.send((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.receive(); - } - // 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.send(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_DIGITAL_PINS; ++i) { - pinMode(i, OUTPUT); - } - - Firmata.begin(57600); - Wire.begin(); -} - -void loop() -{ - while (Firmata.available()) { - Firmata.processInput(); - } - - currentMillis = millis(); - if (currentMillis > nextExecuteMillis) { - nextExecuteMillis = currentMillis + samplingInterval; - - for (byte i = 0; i < queryIndex; i++) { - readAndReportData(query[i].addr, query[i].reg, query[i].bytes); - } - } -} |