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Diffstat (limited to 'libraries/Firmata/examples/StandardFirmata/StandardFirmata.ino')
| -rw-r--r-- | libraries/Firmata/examples/StandardFirmata/StandardFirmata.ino | 636 |
1 files changed, 0 insertions, 636 deletions
diff --git a/libraries/Firmata/examples/StandardFirmata/StandardFirmata.ino b/libraries/Firmata/examples/StandardFirmata/StandardFirmata.ino deleted file mode 100644 index 1a987ee..0000000 --- a/libraries/Firmata/examples/StandardFirmata/StandardFirmata.ino +++ /dev/null @@ -1,636 +0,0 @@ -/* - * 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) 2006-2008 Hans-Christoph Steiner. All rights reserved. - Copyright (C) 2010-2011 Paul Stoffregen. All rights reserved. - Copyright (C) 2009 Shigeru Kobayashi. All rights reserved. - Copyright (C) 2009-2011 Jeff Hoefs. 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 <Wire.h> -#include <Firmata.h> - -// move the following defines to 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 I2C_10BIT_ADDRESS_MODE_MASK B00100000 - -#define MAX_QUERIES 8 -#define MINIMUM_SAMPLING_INTERVAL 10 - -#define REGISTER_NOT_SPECIFIED -1 - -/*============================================================================== - * 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) - -/* i2c data */ -struct i2c_device_info { - byte addr; - byte reg; - byte bytes; -}; - -/* for i2c read continuous more */ -i2c_device_info query[MAX_QUERIES]; - -byte i2cRxData[32]; -boolean isI2CEnabled = false; -signed char queryIndex = -1; -unsigned int i2cReadDelayTime = 0; // default delay time between i2c read request and Wire.requestFrom() - -Servo servos[MAX_SERVOS]; -/*============================================================================== - * FUNCTIONS - *============================================================================*/ - -void readAndReportData(byte address, int theRegister, byte numBytes) { - // allow I2C requests that don't require a register read - // for example, some devices using an interrupt pin to signify new data available - // do not always require the register read so upon interrupt you call Wire.requestFrom() - if (theRegister != REGISTER_NOT_SPECIFIED) { - Wire.beginTransmission(address); - #if ARDUINO >= 100 - Wire.write((byte)theRegister); - #else - Wire.send((byte)theRegister); - #endif - 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); // all bytes are returned in requestFrom - - // 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++) { - #if ARDUINO >= 100 - i2cRxData[2 + i] = Wire.read(); - #else - i2cRxData[2 + i] = Wire.receive(); - #endif - } - } - else { - if(numBytes > Wire.available()) { - Firmata.sendString("I2C Read Error: Too many bytes received"); - } else { - Firmata.sendString("I2C Read Error: Too few bytes received"); - } - } - - // send slave address, register and received bytes - Firmata.sendSysex(SYSEX_I2C_REPLY, numBytes + 2, i2cRxData); -} - -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 (pinConfig[pin] == I2C && isI2CEnabled && mode != I2C) { - // disable i2c so pins can be used for other functions - // the following if statements should reconfigure the pins properly - disableI2CPins(); - } - 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)); - } - } - break; - case I2C: - if (IS_PIN_I2C(pin)) { - // mark the pin as i2c - // the user must call I2C_CONFIG to enable I2C for a device - pinConfig[pin] = I2C; - } - 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) -{ - byte mode; - byte slaveAddress; - byte slaveRegister; - byte data; - unsigned int delayTime; - - switch(command) { - case I2C_REQUEST: - mode = argv[1] & I2C_READ_WRITE_MODE_MASK; - if (argv[1] & I2C_10BIT_ADDRESS_MODE_MASK) { - Firmata.sendString("10-bit addressing mode is not yet supported"); - return; - } - else { - 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); - #if ARDUINO >= 100 - Wire.write(data); - #else - Wire.send(data); - #endif - } - Wire.endTransmission(); - delayMicroseconds(70); - 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; - } - queryIndex++; - query[queryIndex].addr = slaveAddress; - query[queryIndex].reg = argv[2] + (argv[3] << 7); - query[queryIndex].bytes = argv[4] + (argv[5] << 7); - break; - case I2C_STOP_READING: - byte queryIndexToSkip; - // if read continuous mode is enabled for only 1 i2c device, disable - // read continuous reporting for that device - if (queryIndex <= 0) { - queryIndex = -1; - } else { - // if read continuous mode is enabled for multiple devices, - // determine which device to stop reading and remove it's data from - // the array, shifiting other array data to fill the space - for (byte i = 0; i < queryIndex + 1; i++) { - if (query[i].addr = slaveAddress) { - queryIndexToSkip = i; - break; - } - } - - for (byte i = queryIndexToSkip; i<queryIndex + 1; i++) { - if (i < MAX_QUERIES) { - query[i].addr = query[i+1].addr; - query[i].reg = query[i+1].addr; - query[i].bytes = query[i+1].bytes; - } - } - queryIndex--; - } - break; - default: - break; - } - break; - case I2C_CONFIG: - delayTime = (argv[0] + (argv[1] << 7)); - - if(delayTime > 0) { - i2cReadDelayTime = delayTime; - } - - if (!isI2CEnabled) { - enableI2CPins(); - } - - break; - 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)) { - 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); - if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) { - samplingInterval = MINIMUM_SAMPLING_INTERVAL; - } - } 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); - } - if (IS_PIN_I2C(pin)) { - Serial.write(I2C); - Serial.write(1); // to do: determine appropriate value - } - 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; - } -} - -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); - } - } - } -} |