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Diffstat (limited to 'libraries/Firmata/examples/StandardFirmata')
-rw-r--r--libraries/Firmata/examples/StandardFirmata/Makefile26
-rw-r--r--libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde312
2 files changed, 208 insertions, 130 deletions
diff --git a/libraries/Firmata/examples/StandardFirmata/Makefile b/libraries/Firmata/examples/StandardFirmata/Makefile
index 55ca8c2..835187a 100644
--- a/libraries/Firmata/examples/StandardFirmata/Makefile
+++ b/libraries/Firmata/examples/StandardFirmata/Makefile
@@ -50,14 +50,20 @@ TARGET := $(shell pwd | sed 's|.*/\(.*\)|\1|')
ARDUINO = /Applications/arduino
ARDUINO_SRC = $(ARDUINO)/hardware/cores/arduino
ARDUINO_LIB_SRC = $(ARDUINO)/hardware/libraries
+ARDUINO_TOOLS = $(ARDUINO)/hardware/tools
INCLUDE = -I$(ARDUINO_SRC) -I$(ARDUINO)/hardware/tools/avr/avr/include \
-I$(ARDUINO_LIB_SRC)/EEPROM \
-I$(ARDUINO_LIB_SRC)/Firmata \
+ -I$(ARDUINO_LIB_SRC)/Matrix \
+ -I$(ARDUINO_LIB_SRC)/Servo \
+ -I$(ARDUINO_LIB_SRC)/Wire \
-I$(ARDUINO_LIB_SRC)
SRC = $(wildcard $(ARDUINO_SRC)/*.c)
CXXSRC = applet/$(TARGET).cpp $(ARDUINO_SRC)/HardwareSerial.cpp \
$(ARDUINO_LIB_SRC)/EEPROM/EEPROM.cpp \
$(ARDUINO_LIB_SRC)/Firmata/Firmata.cpp \
+ $(ARDUINO_LIB_SRC)/Servo/Servo.cpp \
+ $(ARDUINO_SRC)/Print.cpp \
$(ARDUINO_SRC)/WMath.cpp
HEADERS = $(wildcard $(ARDUINO_SRC)/*.h) $(wildcard $(ARDUINO_LIB_SRC)/*/*.h)
@@ -106,12 +112,14 @@ AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \
-b $(UPLOAD_RATE) -q -V
# Program settings
-CC = avr-gcc
-CXX = avr-g++
-OBJCOPY = avr-objcopy
-OBJDUMP = avr-objdump
-SIZE = avr-size
-NM = avr-nm
+ARDUINO_AVR_BIN = $(ARDUINO_TOOLS)/avr/bin
+CC = $(ARDUINO_AVR_BIN)/avr-gcc
+CXX = $(ARDUINO_AVR_BIN)/avr-g++
+OBJCOPY = $(ARDUINO_AVR_BIN)/avr-objcopy
+OBJDUMP = $(ARDUINO_AVR_BIN)/avr-objdump
+SIZE = $(ARDUINO_AVR_BIN)/avr-size
+NM = $(ARDUINO_AVR_BIN)/avr-nm
+#AVRDUDE = $(ARDUINO_AVR_BIN)/avrdude
AVRDUDE = avrdude
REMOVE = rm -f
MV = mv -f
@@ -204,7 +212,8 @@ applet/$(TARGET).cpp: $(TARGET).pde
# Link: create ELF output file from object files.
applet/$(TARGET).elf: applet/$(TARGET).cpp $(OBJ)
- $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS)
+ $(CC) $(ALL_CFLAGS) $(OBJ) -lm --output $@ $(LDFLAGS)
+# $(CC) $(ALL_CFLAGS) $(OBJ) $(ARDUINO_TOOLS)/avr/avr/lib/avr5/crtm168.o --output $@ $(LDFLAGS)
pd_close_serial:
echo 'close;' | /Applications/Pd-extended.app/Contents/Resources/bin/pdsend 34567 || true
@@ -258,4 +267,7 @@ etags_MINGW:
# etags -a /usr/include/*.h /usr/include/sys/*.h
+path:
+ echo $(PATH)
+ echo $$PATH
diff --git a/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde b/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde
index 4cc8539..02192cc 100644
--- a/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde
+++ b/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde
@@ -1,21 +1,24 @@
/*
Copyright (C) 2006-2008 Hans-Christoph Steiner. 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: add Servo support using setPinMode(pin, SERVO);
+ * TODO: add Servo support using setPinModeCallback(pin, SERVO);
* TODO: use Program Control to load stored profiles from EEPROM
*/
-#include <EEPROM.h>
#include <Firmata.h>
+#include <Servo.h>
/*==============================================================================
* GLOBAL VARIABLES
@@ -34,37 +37,45 @@ byte portStatus[TOTAL_PORTS];
/* timer variables */
unsigned long currentMillis; // store the current value from millis()
unsigned long nextExecuteMillis; // for comparison with currentMillis
+int samplingInterval = 19; // how often to run the main loop (in ms)
+Servo servos[2]; // the servo library can control servos on pins 9 and 10 only
/*==============================================================================
- * FUNCTIONS
+ * FUNCTIONS
*============================================================================*/
void outputPort(byte portNumber, byte portValue)
{
portValue = portValue &~ portStatus[portNumber];
if(previousPINs[portNumber] != portValue) {
- Firmata.sendDigitalPort(portNumber, portValue);
- previousPINs[portNumber] = portValue;
- Firmata.sendDigitalPort(portNumber, portValue);
- }
+ Firmata.sendDigitalPort(portNumber, portValue);
+ previousPINs[portNumber] = portValue;
+ Firmata.sendDigitalPort(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)
+void checkDigitalInputs(void)
{
- byte i, tmp;
- for(i=0; i < TOTAL_PORTS; i++) {
- if(reportPINs[i]) {
- switch(i) {
- case 0: outputPort(0, PIND &~ B00000011); break; // ignore Rx/Tx 0/1
- case 1: outputPort(1, PINB); break;
- case ANALOG_PORT: outputPort(ANALOG_PORT, PINC); break;
- }
- }
+ byte i, tmp;
+ for(i=0; i < TOTAL_PORTS; i++) {
+ if(reportPINs[i]) {
+ switch(i) {
+ case 0:
+ outputPort(0, PIND &~ B00000011); // ignore Rx/Tx 0/1
+ break;
+ case 1:
+ outputPort(1, PINB);
+ break;
+ case ANALOG_PORT:
+ outputPort(ANALOG_PORT, PINC);
+ break;
+ }
}
+ }
}
// -----------------------------------------------------------------------------
@@ -72,61 +83,87 @@ void checkDigitalInputs(void)
* two bit-arrays that track Digital I/O and PWM status
*/
void setPinModeCallback(byte pin, int mode) {
- byte port = 0;
- byte offset = 0;
-
- if (pin < 8) {
- port = 0;
- offset = 0;
- } else if (pin < 14) {
- port = 1;
- offset = 8;
- } else if (pin < 22) {
- port = 2;
- offset = 14;
- }
+ byte port = 0;
+ byte offset = 0;
- if(pin > 1) { // ignore RxTx (pins 0 and 1)
+ // TODO: abstract for different boards
+ if (pin < 8) {
+ port = 0;
+ offset = 0;
+ } else if (pin < 14) {
+ port = 1;
+ offset = 8;
+ } else if (pin < 22) {
+ port = 2;
+ offset = 14;
+ }
+
+ if(pin > 1) { // ignore RxTx (pins 0 and 1)
+ reportAnalogCallback(pin - 14, mode == ANALOG ? 1 : 0); // turn on/off reporting
+ switch(mode) {
+ case ANALOG:
+ digitalWrite(pin, LOW); // disable internal pull-ups and fall thru to 'case INPUT:'
+ case INPUT:
+ pinStatus[pin] = mode;
+ pinMode(pin, INPUT);
+ portStatus[port] = portStatus[port] &~ (1 << (pin - offset));
+ break;
+ case OUTPUT:
+ digitalWrite(pin, LOW); // disable PWM and fall thru to 'case PWM:'
+ case PWM:
+ pinStatus[pin] = mode;
+ pinMode(pin, OUTPUT);
+ portStatus[port] = portStatus[port] | (1 << (pin - offset));
+ break;
+ case SERVO:
+ if((pin == 9 || pin == 10))
pinStatus[pin] = mode;
- switch(mode) {
- case INPUT:
- pinMode(pin, INPUT);
- portStatus[port] = portStatus[port] &~ (1 << (pin - offset));
- break;
- case OUTPUT:
- digitalWrite(pin, LOW); // disable PWM
- case PWM:
- pinMode(pin, OUTPUT);
- portStatus[port] = portStatus[port] | (1 << (pin - offset));
- break;
- //case ANALOG: // TODO figure this out
- default:
- Firmata.sendString("");
- }
- // TODO: save status to EEPROM here, if changed
+ else
+ Firmata.sendString("Servo only on pins 9 and 10");
+ break;
+ case I2C:
+ pinStatus[pin] = mode;
+ Firmata.sendString("I2C mode not yet supported");
+ 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)
{
- setPinModeCallback(pin,PWM);
+ switch(pinStatus[pin]) {
+ case SERVO:
+ if(pin == 9) servos[0].write(value);
+ if(pin == 10) servos[1].write(value);
+ break;
+ case PWM:
analogWrite(pin, value);
+ break;
+ }
}
void digitalWriteCallback(byte port, int value)
{
- switch(port) {
- case 0: // pins 2-7 (don't change Rx/Tx, pins 0 and 1)
- // 0xFF03 == B1111111100000011 0x03 == B00000011
- PORTD = (value &~ 0xFF03) | (PORTD & 0x03);
- break;
- case 1: // pins 8-13 (14,15 are disabled for the crystal)
- PORTB = (byte)value;
- break;
- case 2: // analog pins used as digital
- PORTC = (byte)value;
- break;
- }
+ switch(port) {
+ case 0: // pins 2-7 (don't change Rx/Tx, pins 0 and 1)
+ // 0xFF03 == B1111111100000011 0x03 == B00000011
+ PORTD = (value &~ 0xFF03) | (PORTD & 0x03);
+ break;
+ case 1: // pins 8-13 (14,15 are disabled for the crystal)
+ PORTB = (byte)value;
+ break;
+ case 2: // analog pins used as digital
+ byte pin;
+ byte pinModeMask;
+ for(pin=0; pin<8; pin++)
+ if(pinStatus[pin] == OUTPUT)
+ pinModeMask += 1 << pin;
+ PORTC = (byte)value & pinModeMask;
+ break;
+ }
}
// -----------------------------------------------------------------------------
@@ -136,64 +173,93 @@ void digitalWriteCallback(byte port, int value)
//}
void reportAnalogCallback(byte pin, int value)
{
- if(value == 0) {
- analogInputsToReport = analogInputsToReport &~ (1 << pin);
- }
- else { // everything but 0 enables reporting of that pin
- analogInputsToReport = analogInputsToReport | (1 << pin);
- }
- // TODO: save status to EEPROM here, if changed
+ if(value == 0) {
+ analogInputsToReport = analogInputsToReport &~ (1 << pin);
+ }
+ else { // everything but 0 enables reporting of that pin
+ analogInputsToReport = analogInputsToReport | (1 << pin);
+ setPinModeCallback(pin, ANALOG);
+ }
+ // TODO: save status to EEPROM here, if changed
}
void reportDigitalCallback(byte port, int value)
{
- reportPINs[port] = (byte)value;
- if(port == ANALOG_PORT) // turn off analog reporting when used as digital
- analogInputsToReport = 0;
+ reportPINs[port] = (byte)value;
+ if(port == ANALOG_PORT) // turn off analog reporting when used as digital
+ analogInputsToReport = 0;
+}
+
+/*==============================================================================
+ * SYSEX-BASED commands
+ *============================================================================*/
+
+void sysexCallback(byte command, byte argc, byte *argv)
+{
+ switch(command) {
+ case SERVO_CONFIG:
+ if(argc > 4) {
+ // these vars are here for clarity, they'll optimized away by the compiler
+ byte pin = argv[0] - 9; // servos are pins 9 and 10, so offset for array
+ int minPulse = argv[1] + (argv[2] << 7);
+ int maxPulse = argv[3] + (argv[4] << 7);
+ servos[pin].attach(argv[0], minPulse, maxPulse);
+ // TODO does the Servo have to be detach()ed before reconfiguring?
+ setPinModeCallback(pin, SERVO);
+ }
+ break;
+ case SAMPLING_INTERVAL:
+ if (argc > 1)
+ samplingInterval = argv[0] + (argv[1] << 7);
+ else
+ Firmata.sendString("Not enough data");
+ break;
+ }
}
+
/*==============================================================================
* SETUP()
*============================================================================*/
void setup()
{
- byte i;
+ byte i;
- Firmata.setFirmwareVersion(2, 0);
+ Firmata.setFirmwareVersion(2, 1);
- 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(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);
- portStatus[0] = B00000011; // ignore Tx/RX pins
- portStatus[1] = B11000000; // ignore 14/15 pins
- portStatus[2] = B00000000;
+ portStatus[0] = B00000011; // ignore Tx/RX pins
+ portStatus[1] = B11000000; // ignore 14/15 pins
+ portStatus[2] = B00000000;
-// for(i=0; i<TOTAL_DIGITAL_PINS; ++i) { // TODO make this work with analogs
- for(i=0; i<14; ++i) {
- setPinModeCallback(i,OUTPUT);
- }
- // set all outputs to 0 to make sure internal pull-up resistors are off
- PORTB = 0; // pins 8-15
- PORTC = 0; // analog port
- PORTD = 0; // pins 0-7
-
- // TODO rethink the init, perhaps it should report analog on default
- for(i=0; i<TOTAL_PORTS; ++i) {
- reportPINs[i] = false;
- }
- // TODO: load state from EEPROM here
+ for(i=0; i<TOTAL_DIGITAL_PINS; ++i) { // TODO make this work with analogs
+ setPinModeCallback(i,OUTPUT);
+ }
+ // set all outputs to 0 to make sure internal pull-up resistors are off
+ PORTB = 0; // pins 8-15
+ PORTC = 0; // analog port
+ PORTD = 0; // pins 0-7
+
+ // TODO rethink the init, perhaps it should report analog on default
+ for(i=0; i<TOTAL_PORTS; ++i) {
+ reportPINs[i] = false;
+ }
+ // TODO: load state from EEPROM here
- /* send digital inputs here, if enabled, to set the initial state on the
- * host computer, since once in the loop(), this firmware will only send
- * digital data on change. */
- if(reportPINs[0]) outputPort(0, PIND &~ B00000011); // ignore Rx/Tx 0/1
- if(reportPINs[1]) outputPort(1, PINB);
- if(reportPINs[ANALOG_PORT]) outputPort(ANALOG_PORT, PINC);
+ /* send digital inputs here, if enabled, to set the initial state on the
+ * host computer, since once in the loop(), this firmware will only send
+ * digital data on change. */
+ if(reportPINs[0]) outputPort(0, PIND &~ B00000011); // ignore Rx/Tx 0/1
+ if(reportPINs[1]) outputPort(1, PINB);
+ if(reportPINs[ANALOG_PORT]) outputPort(ANALOG_PORT, PINC);
- Firmata.begin();
+ Firmata.begin(57600);
}
/*==============================================================================
@@ -201,26 +267,26 @@ void setup()
*============================================================================*/
void loop()
{
-/* DIGITALREAD - as fast as possible, check for changes and output them to the
- * FTDI buffer using Serial.print() */
- checkDigitalInputs();
- currentMillis = millis();
- if(currentMillis > nextExecuteMillis) {
- nextExecuteMillis = currentMillis + 19; // run this every 20ms
- /* SERIALREAD - Serial.read() uses a 128 byte circular buffer, so handle
- * all serialReads at once, i.e. empty the buffer */
- 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. */
+ /* DIGITALREAD - as fast as possible, check for changes and output them to the
+ * FTDI buffer using Serial.print() */
+ checkDigitalInputs();
+ currentMillis = millis();
+ if(currentMillis > nextExecuteMillis) {
+ nextExecuteMillis = currentMillis + samplingInterval;
+ /* SERIALREAD - Serial.read() uses a 128 byte circular buffer, so handle
+ * all serialReads at once, i.e. empty the buffer */
+ 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. */
- /* ANALOGREAD - right after the event character, do all of the
- * analogReads(). These only need to be done every 4ms. */
- for(analogPin=0;analogPin<TOTAL_ANALOG_PINS;analogPin++) {
- if( analogInputsToReport & (1 << analogPin) ) {
- Firmata.sendAnalog(analogPin, analogRead(analogPin));
- }
- }
+ /* ANALOGREAD - right after the event character, do all of the
+ * analogReads(). These only need to be done every 4ms. */
+ for(analogPin=0;analogPin<TOTAL_ANALOG_PINS;analogPin++) {
+ if( analogInputsToReport & (1 << analogPin) ) {
+ Firmata.sendAnalog(analogPin, analogRead(analogPin));
+ }
}
+ }
}
generated by cgit v1.2.3-18-g5258 (git 2.32.0) at 2024-11-23 23:17:45 +0000