aboutsummaryrefslogtreecommitdiff
path: root/libraries/Firmata/examples/StandardFirmata
diff options
context:
space:
mode:
Diffstat (limited to 'libraries/Firmata/examples/StandardFirmata')
-rw-r--r--libraries/Firmata/examples/StandardFirmata/Makefile273
-rw-r--r--libraries/Firmata/examples/StandardFirmata/StandardFirmata.ino (renamed from libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde)304
2 files changed, 271 insertions, 306 deletions
diff --git a/libraries/Firmata/examples/StandardFirmata/Makefile b/libraries/Firmata/examples/StandardFirmata/Makefile
deleted file mode 100644
index 835187a..0000000
--- a/libraries/Firmata/examples/StandardFirmata/Makefile
+++ /dev/null
@@ -1,273 +0,0 @@
-# Arduino makefile
-#
-# This makefile allows you to build sketches from the command line
-# without the Arduino environment (or Java).
-#
-# The Arduino environment does preliminary processing on a sketch before
-# compiling it. If you're using this makefile instead, you'll need to do
-# a few things differently:
-#
-# - Give your program's file a .cpp extension (e.g. foo.cpp).
-#
-# - Put this line at top of your code: #include <WProgram.h>
-#
-# - Write prototypes for all your functions (or define them before you
-# call them). A prototype declares the types of parameters a
-# function will take and what type of value it will return. This
-# means that you can have a call to a function before the definition
-# of the function. A function prototype looks like the first line of
-# the function, with a semi-colon at the end. For example:
-# int digitalRead(int pin);
-#
-# Instructions for using the makefile:
-#
-# 1. Copy this file into the folder with your sketch.
-#
-# 2. Below, modify the line containing "TARGET" to refer to the name of
-# of your program's file without an extension (e.g. TARGET = foo).
-#
-# 3. Modify the line containg "ARDUINO" to point the directory that
-# contains the Arduino core (for normal Arduino installations, this
-# is the hardware/cores/arduino sub-directory).
-#
-# 4. Modify the line containing "PORT" to refer to the filename
-# representing the USB or serial connection to your Arduino board
-# (e.g. PORT = /dev/tty.USB0). If the exact name of this file
-# changes, you can use * as a wildcard (e.g. PORT = /dev/tty.USB*).
-#
-# 5. At the command line, change to the directory containing your
-# program's file and the makefile.
-#
-# 6. Type "make" and press enter to compile/verify your program.
-#
-# 7. Type "make upload", reset your Arduino board, and press enter to
-# upload your program to the Arduino board.
-#
-# $Id: Makefile,v 1.7 2007/04/13 05:28:23 eighthave Exp $
-
-PORT = /dev/tty.usbserial-*
-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 $(ARDUINO_LIB_SRC)/*/*.h)
-
-MCU = atmega168
-#MCU = atmega8
-F_CPU = 16000000
-FORMAT = ihex
-UPLOAD_RATE = 19200
-
-# Name of this Makefile (used for "make depend").
-MAKEFILE = Makefile
-
-# Debugging format.
-# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
-# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
-DEBUG = stabs
-
-OPT = s
-
-# Place -D or -U options here
-CDEFS = -DF_CPU=$(F_CPU)
-CXXDEFS = -DF_CPU=$(F_CPU)
-
-# Compiler flag to set the C Standard level.
-# c89 - "ANSI" C
-# gnu89 - c89 plus GCC extensions
-# c99 - ISO C99 standard (not yet fully implemented)
-# gnu99 - c99 plus GCC extensions
-CSTANDARD = -std=gnu99
-CDEBUG = -g$(DEBUG)
-CWARN = -Wall -Wstrict-prototypes
-CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
-#CEXTRA = -Wa,-adhlns=$(<:.c=.lst)
-
-CFLAGS = $(CDEBUG) $(CDEFS) $(INCLUDE) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA)
-CXXFLAGS = $(CDEFS) $(INCLUDE) -O$(OPT)
-#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
-LDFLAGS =
-
-
-# Programming support using avrdude. Settings and variables.
-AVRDUDE_PROGRAMMER = stk500
-AVRDUDE_PORT = $(PORT)
-AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex
-AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \
- -b $(UPLOAD_RATE) -q -V
-
-# Program settings
-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
-
-# Define all object files.
-OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o)
-
-# Define all listing files.
-LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst)
-
-# Combine all necessary flags and optional flags.
-# Add target processor to flags.
-ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)
-ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS)
-ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
-
-
-# Default target.
-all: build
-
-build: applet/$(TARGET).hex
-
-eep: applet/$(TARGET).eep
-lss: applet/$(TARGET).lss
-sym: applet/$(TARGET).sym
-
-
-# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
-COFFCONVERT=$(OBJCOPY) --debugging \
---change-section-address .data-0x800000 \
---change-section-address .bss-0x800000 \
---change-section-address .noinit-0x800000 \
---change-section-address .eeprom-0x810000
-
-
-coff: applet/$(TARGET).elf
- $(COFFCONVERT) -O coff-avr applet/$(TARGET).elf applet/$(TARGET).cof
-
-
-extcoff: applet/$(TARGET).elf
- $(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf applet/$(TARGET).cof
-
-
-.SUFFIXES: .elf .hex .eep .lss .sym .pde
-
-.elf.hex:
- $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
-
-.elf.eep:
- -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
- --change-section-lma .eeprom=0 -O $(FORMAT) $< $@
-
-# Create extended listing file from ELF output file.
-.elf.lss:
- $(OBJDUMP) -h -S $< > $@
-
-# Create a symbol table from ELF output file.
-.elf.sym:
- $(NM) -n $< > $@
-
-
-# Compile: create object files from C++ source files.
-.cpp.o: $(HEADERS)
- $(CXX) -c $(ALL_CXXFLAGS) $< -o $@
-
-# Compile: create object files from C source files.
-.c.o: $(HEADERS)
- $(CC) -c $(ALL_CFLAGS) $< -o $@
-
-
-# Compile: create assembler files from C source files.
-.c.s:
- $(CC) -S $(ALL_CFLAGS) $< -o $@
-
-
-# Assemble: create object files from assembler source files.
-.S.o:
- $(CC) -c $(ALL_ASFLAGS) $< -o $@
-
-
-
-applet/$(TARGET).cpp: $(TARGET).pde
- test -d applet || mkdir applet
- echo '#include "WProgram.h"' > applet/$(TARGET).cpp
- echo '#include "avr/interrupt.h"' >> applet/$(TARGET).cpp
- sed -n 's|^\(void .*)\).*|\1;|p' $(TARGET).pde | grep -v 'setup()' | \
- grep -v 'loop()' >> applet/$(TARGET).cpp
- cat $(TARGET).pde >> applet/$(TARGET).cpp
- cat $(ARDUINO_SRC)/main.cxx >> applet/$(TARGET).cpp
-
-# Link: create ELF output file from object files.
-applet/$(TARGET).elf: applet/$(TARGET).cpp $(OBJ)
- $(CC) $(ALL_CFLAGS) $(OBJ) -lm --output $@ $(LDFLAGS)
-# $(CC) $(ALL_CFLAGS) $(OBJ) $(ARDUINO_TOOLS)/avr/avr/lib/avr5/crtm168.o --output $@ $(LDFLAGS)
-
-pd_close_serial:
- echo 'close;' | /Applications/Pd-extended.app/Contents/Resources/bin/pdsend 34567 || true
-
-# Program the device.
-upload: applet/$(TARGET).hex
- $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH)
-
-
-pd_test: build pd_close_serial upload
-
-# Target: clean project.
-clean:
- $(REMOVE) -- applet/$(TARGET).hex applet/$(TARGET).eep \
- applet/$(TARGET).cof applet/$(TARGET).elf $(TARGET).map \
- applet/$(TARGET).sym applet/$(TARGET).lss applet/$(TARGET).cpp \
- $(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d)
- rmdir -- applet
-
-depend:
- if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \
- then \
- sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \
- $(MAKEFILE).$$$$ && \
- $(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \
- fi
- echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \
- >> $(MAKEFILE); \
- $(CC) -M -mmcu=$(MCU) $(CDEFS) $(INCLUDE) $(SRC) $(ASRC) >> $(MAKEFILE)
-
-.PHONY: all build eep lss sym coff extcoff clean depend pd_close_serial pd_test
-
-# for emacs
-etags:
- make etags_`uname -s`
- etags *.pde \
- $(ARDUINO_SRC)/*.[ch] \
- $(ARDUINO_SRC)/*.cpp \
- $(ARDUINO_LIB_SRC)/*/*.[ch] \
- $(ARDUINO_LIB_SRC)/*/*.cpp \
- $(ARDUINO)/hardware/tools/avr/avr/include/avr/*.[ch] \
- $(ARDUINO)/hardware/tools/avr/avr/include/*.[ch]
-
-etags_Darwin:
-# etags -a
-
-etags_Linux:
-# etags -a /usr/include/*.h linux/input.h /usr/include/sys/*.h
-
-etags_MINGW:
-# etags -a /usr/include/*.h /usr/include/sys/*.h
-
-
-path:
- echo $(PATH)
- echo $$PATH
-
diff --git a/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde b/libraries/Firmata/examples/StandardFirmata/StandardFirmata.ino
index cd43366..1a987ee 100644
--- a/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde
+++ b/libraries/Firmata/examples/StandardFirmata/StandardFirmata.ino
@@ -1,5 +1,19 @@
/*
+ * 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
@@ -16,8 +30,22 @@
*/
#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
*============================================================================*/
@@ -39,12 +67,69 @@ 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)
-Servo servos[MAX_SERVOS];
+/* 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
@@ -88,6 +173,11 @@ void checkDigitalInputs(void)
*/
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();
}
@@ -138,14 +228,15 @@ void setPinModeCallback(byte pin, int mode)
pinConfig[pin] = SERVO;
if (!servos[PIN_TO_SERVO(pin)].attached()) {
servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin));
- } else {
- Firmata.sendString("Servo only on pins from 2 to 13");
}
}
break;
case I2C:
- pinConfig[pin] = mode;
- Firmata.sendString("I2C mode not yet supported");
+ 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
@@ -232,7 +323,104 @@ void reportDigitalCallback(byte port, int value)
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
@@ -241,7 +429,6 @@ void sysexCallback(byte command, byte argc, byte *argv)
int maxPulse = argv[3] + (argv[4] << 7);
if (IS_PIN_SERVO(pin)) {
- // servos are pins from 2 to 13, so offset for array
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);
@@ -250,10 +437,14 @@ void sysexCallback(byte command, byte argc, byte *argv)
}
break;
case SAMPLING_INTERVAL:
- if (argc > 1)
+ if (argc > 1) {
samplingInterval = argv[0] + (argv[1] << 7);
- else
- Firmata.sendString("Not enough data");
+ if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) {
+ samplingInterval = MINIMUM_SAMPLING_INTERVAL;
+ }
+ } else {
+ //Firmata.sendString("Not enough data");
+ }
break;
case EXTENDED_ANALOG:
if (argc > 1) {
@@ -285,6 +476,10 @@ void sysexCallback(byte command, byte argc, byte *argv)
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);
@@ -315,33 +510,52 @@ void sysexCallback(byte command, byte argc, byte *argv)
}
}
-
-/*==============================================================================
- * SETUP()
- *============================================================================*/
-void setup()
+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();
+}
- Firmata.setFirmwareVersion(2, 2);
-
- 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);
+/* 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();
+}
- // TODO: load state from EEPROM here
+/*==============================================================================
+ * SETUP()
+ *============================================================================*/
- /* these are initialized to zero by the compiler startup code
- for (i=0; i < TOTAL_PORTS; i++) {
- reportPINs[i] = false;
- portConfigInputs[i] = 0;
+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;
}
- */
- for (i=0; i < TOTAL_PINS; i++) {
+ // 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);
@@ -350,16 +564,34 @@ void setup()
setPinModeCallback(i, OUTPUT);
}
}
- // by defult, do not report any analog inputs
+ // by default, do not report any analog inputs
analogInputsToReport = 0;
- Firmata.begin(57600);
-
/* send digital inputs to set the initial state on the host computer,
* since once in the loop(), this firmware will only send on change */
- for (i=0; i < TOTAL_PORTS; i++) {
+ /*
+ 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
}
/*==============================================================================
@@ -394,5 +626,11 @@ void loop()
}
}
}
+ // 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);
+ }
+ }
}
}
generated by cgit v1.2.3-18-g5258 (git 2.32.0) at 2024-11-28 15:09:27 +0000