diff options
Diffstat (limited to 'libraries/Firmata/examples')
8 files changed, 434 insertions, 136 deletions
diff --git a/libraries/Firmata/examples/AnalogFirmata/AnalogFirmata.pde b/libraries/Firmata/examples/AnalogFirmata/AnalogFirmata.pde index fcd8e5e..ab83726 100644 --- a/libraries/Firmata/examples/AnalogFirmata/AnalogFirmata.pde +++ b/libraries/Firmata/examples/AnalogFirmata/AnalogFirmata.pde @@ -61,7 +61,7 @@ void setup() servo9.attach(9); servo10.attach(10); - Firmata.begin(); + Firmata.begin(57600); } /*============================================================================== diff --git a/libraries/Firmata/examples/EchoString/EchoString.pde b/libraries/Firmata/examples/EchoString/EchoString.pde index ed13ad8..6559ae1 100644 --- a/libraries/Firmata/examples/EchoString/EchoString.pde +++ b/libraries/Firmata/examples/EchoString/EchoString.pde @@ -25,9 +25,9 @@ void sysexCallback(byte command, byte argc, byte*argv) void setup() { Firmata.setFirmwareVersion(0, 1); - Firmata.attach(FIRMATA_STRING, stringCallback); + Firmata.attach(STRING_DATA, stringCallback); Firmata.attach(START_SYSEX, sysexCallback); - Firmata.begin(); + Firmata.begin(57600); } void loop() diff --git a/libraries/Firmata/examples/I2CFirmata/I2CFirmata.pde b/libraries/Firmata/examples/I2CFirmata/I2CFirmata.pde new file mode 100644 index 0000000..ffcb589 --- /dev/null +++ b/libraries/Firmata/examples/I2CFirmata/I2CFirmata.pde @@ -0,0 +1,220 @@ +/* + 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(PC3, PC2); + } + + 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); + } + + /* I2C data is not reliable at higher baud rates, you'll need to change the + baud rate on the host computer as well. To get a firmware running with + minimal effort, you can try using the default baud rate (115200) */ + Firmata.begin(38400); + 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); + } + } +} diff --git a/libraries/Firmata/examples/ServoFirmata/ServoFirmata.pde b/libraries/Firmata/examples/ServoFirmata/ServoFirmata.pde index a3c609c..fa48e2b 100644 --- a/libraries/Firmata/examples/ServoFirmata/ServoFirmata.pde +++ b/libraries/Firmata/examples/ServoFirmata/ServoFirmata.pde @@ -28,7 +28,7 @@ void setup() servo9.attach(9); servo10.attach(10); - Firmata.begin(); + Firmata.begin(57600); } void loop() diff --git a/libraries/Firmata/examples/SimpleAnalogFirmata/SimpleAnalogFirmata.pde b/libraries/Firmata/examples/SimpleAnalogFirmata/SimpleAnalogFirmata.pde index 2950c01..430d0d0 100644 --- a/libraries/Firmata/examples/SimpleAnalogFirmata/SimpleAnalogFirmata.pde +++ b/libraries/Firmata/examples/SimpleAnalogFirmata/SimpleAnalogFirmata.pde @@ -16,7 +16,7 @@ void setup() { Firmata.setFirmwareVersion(0, 1); Firmata.attach(ANALOG_MESSAGE, analogWriteCallback); - Firmata.begin(); + Firmata.begin(57600); } void loop() diff --git a/libraries/Firmata/examples/SimpleDigitalFirmata/SimpleDigitalFirmata.pde b/libraries/Firmata/examples/SimpleDigitalFirmata/SimpleDigitalFirmata.pde index 1104a92..9c4e05d 100644 --- a/libraries/Firmata/examples/SimpleDigitalFirmata/SimpleDigitalFirmata.pde +++ b/libraries/Firmata/examples/SimpleDigitalFirmata/SimpleDigitalFirmata.pde @@ -45,7 +45,7 @@ void setup() Firmata.setFirmwareVersion(0, 1); Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback); Firmata.attach(SET_PIN_MODE, setPinModeCallback); - Firmata.begin(); + Firmata.begin(57600); } void loop() 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)); + } } + } } |