diff options
Diffstat (limited to 'libraries/Firmata')
17 files changed, 0 insertions, 3927 deletions
diff --git a/libraries/Firmata/Boards.h b/libraries/Firmata/Boards.h deleted file mode 100644 index 06f69c6..0000000 --- a/libraries/Firmata/Boards.h +++ /dev/null @@ -1,366 +0,0 @@ -/* Boards.h - Hardware Abstraction Layer for Firmata library */ - -#ifndef Firmata_Boards_h -#define Firmata_Boards_h - -#include <inttypes.h> - -#if defined(ARDUINO) && ARDUINO >= 100 -#include "Arduino.h" // for digitalRead, digitalWrite, etc -#else -#include "WProgram.h" -#endif - -// Normally Servo.h must be included before Firmata.h (which then includes -// this file). If Servo.h wasn't included, this allows the code to still -// compile, but without support for any Servos. Hopefully that's what the -// user intended by not including Servo.h -#ifndef MAX_SERVOS -#define MAX_SERVOS 0 -#endif - -/* - Firmata Hardware Abstraction Layer - -Firmata is built on top of the hardware abstraction functions of Arduino, -specifically digitalWrite, digitalRead, analogWrite, analogRead, and -pinMode. While these functions offer simple integer pin numbers, Firmata -needs more information than is provided by Arduino. This file provides -all other hardware specific details. To make Firmata support a new board, -only this file should require editing. - -The key concept is every "pin" implemented by Firmata may be mapped to -any pin as implemented by Arduino. Usually a simple 1-to-1 mapping is -best, but such mapping should not be assumed. This hardware abstraction -layer allows Firmata to implement any number of pins which map onto the -Arduino implemented pins in almost any arbitrary way. - - -General Constants: - -These constants provide basic information Firmata requires. - -TOTAL_PINS: The total number of pins Firmata implemented by Firmata. - Usually this will match the number of pins the Arduino functions - implement, including any pins pins capable of analog or digital. - However, Firmata may implement any number of pins. For example, - on Arduino Mini with 8 analog inputs, 6 of these may be used - for digital functions, and 2 are analog only. On such boards, - Firmata can implement more pins than Arduino's pinMode() - function, in order to accommodate those special pins. The - Firmata protocol supports a maximum of 128 pins, so this - constant must not exceed 128. - -TOTAL_ANALOG_PINS: The total number of analog input pins implemented. - The Firmata protocol allows up to 16 analog inputs, accessed - using offsets 0 to 15. Because Firmata presents the analog - inputs using different offsets than the actual pin numbers - (a legacy of Arduino's analogRead function, and the way the - analog input capable pins are physically labeled on all - Arduino boards), the total number of analog input signals - must be specified. 16 is the maximum. - -VERSION_BLINK_PIN: When Firmata starts up, it will blink the version - number. This constant is the Arduino pin number where a - LED is connected. - - -Pin Mapping Macros: - -These macros provide the mapping between pins as implemented by -Firmata protocol and the actual pin numbers used by the Arduino -functions. Even though such mappings are often simple, pin -numbers received by Firmata protocol should always be used as -input to these macros, and the result of the macro should be -used with with any Arduino function. - -When Firmata is extended to support a new pin mode or feature, -a pair of macros should be added and used for all hardware -access. For simple 1:1 mapping, these macros add no actual -overhead, yet their consistent use allows source code which -uses them consistently to be easily adapted to all other boards -with different requirements. - -IS_PIN_XXXX(pin): The IS_PIN macros resolve to true or non-zero - if a pin as implemented by Firmata corresponds to a pin - that actually implements the named feature. - -PIN_TO_XXXX(pin): The PIN_TO macros translate pin numbers as - implemented by Firmata to the pin numbers needed as inputs - to the Arduino functions. The corresponding IS_PIN macro - should always be tested before using a PIN_TO macro, so - these macros only need to handle valid Firmata pin - numbers for the named feature. - - -Port Access Inline Funtions: - -For efficiency, Firmata protocol provides access to digital -input and output pins grouped by 8 bit ports. When these -groups of 8 correspond to actual 8 bit ports as implemented -by the hardware, these inline functions can provide high -speed direct port access. Otherwise, a default implementation -using 8 calls to digitalWrite or digitalRead is used. - -When porting Firmata to a new board, it is recommended to -use the default functions first and focus only on the constants -and macros above. When those are working, if optimized port -access is desired, these inline functions may be extended. -The recommended approach defines a symbol indicating which -optimization to use, and then conditional complication is -used within these functions. - -readPort(port, bitmask): Read an 8 bit port, returning the value. - port: The port number, Firmata pins port*8 to port*8+7 - bitmask: The actual pins to read, indicated by 1 bits. - -writePort(port, value, bitmask): Write an 8 bit port. - port: The port number, Firmata pins port*8 to port*8+7 - value: The 8 bit value to write - bitmask: The actual pins to write, indicated by 1 bits. -*/ - -/*============================================================================== - * Board Specific Configuration - *============================================================================*/ - -#ifndef digitalPinHasPWM -#define digitalPinHasPWM(p) IS_PIN_DIGITAL(p) -#endif - -// Arduino Duemilanove, Diecimila, and NG -#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__) -#if defined(NUM_ANALOG_INPUTS) && NUM_ANALOG_INPUTS == 6 -#define TOTAL_ANALOG_PINS 6 -#define TOTAL_PINS 20 // 14 digital + 6 analog -#else -#define TOTAL_ANALOG_PINS 8 -#define TOTAL_PINS 22 // 14 digital + 8 analog -#endif -#define VERSION_BLINK_PIN 13 -#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) <= 19) -#define IS_PIN_ANALOG(p) ((p) >= 14 && (p) < 14 + TOTAL_ANALOG_PINS) -#define IS_PIN_PWM(p) digitalPinHasPWM(p) -#define IS_PIN_SERVO(p) (IS_PIN_DIGITAL(p) && (p) - 2 < MAX_SERVOS) -#define IS_PIN_I2C(p) ((p) == 18 || (p) == 19) -#define PIN_TO_DIGITAL(p) (p) -#define PIN_TO_ANALOG(p) ((p) - 14) -#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) -#define PIN_TO_SERVO(p) ((p) - 2) -#define ARDUINO_PINOUT_OPTIMIZE 1 - - -// Wiring (and board) -#elif defined(WIRING) -#define VERSION_BLINK_PIN WLED -#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS) -#define IS_PIN_ANALOG(p) ((p) >= FIRST_ANALOG_PIN && (p) < (FIRST_ANALOG_PIN+TOTAL_ANALOG_PINS)) -#define IS_PIN_PWM(p) digitalPinHasPWM(p) -#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) -#define IS_PIN_I2C(p) ((p) == SDA || (p) == SCL) -#define PIN_TO_DIGITAL(p) (p) -#define PIN_TO_ANALOG(p) ((p) - FIRST_ANALOG_PIN) -#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) -#define PIN_TO_SERVO(p) (p) - - -// old Arduinos -#elif defined(__AVR_ATmega8__) -#define TOTAL_ANALOG_PINS 6 -#define TOTAL_PINS 20 // 14 digital + 6 analog -#define VERSION_BLINK_PIN 13 -#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) <= 19) -#define IS_PIN_ANALOG(p) ((p) >= 14 && (p) <= 19) -#define IS_PIN_PWM(p) digitalPinHasPWM(p) -#define IS_PIN_SERVO(p) (IS_PIN_DIGITAL(p) && (p) - 2 < MAX_SERVOS) -#define IS_PIN_I2C(p) ((p) == 18 || (p) == 19) -#define PIN_TO_DIGITAL(p) (p) -#define PIN_TO_ANALOG(p) ((p) - 14) -#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) -#define PIN_TO_SERVO(p) ((p) - 2) -#define ARDUINO_PINOUT_OPTIMIZE 1 - - -// Arduino Mega -#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) -#define TOTAL_ANALOG_PINS 16 -#define TOTAL_PINS 70 // 54 digital + 16 analog -#define VERSION_BLINK_PIN 13 -#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS) -#define IS_PIN_ANALOG(p) ((p) >= 54 && (p) < TOTAL_PINS) -#define IS_PIN_PWM(p) digitalPinHasPWM(p) -#define IS_PIN_SERVO(p) ((p) >= 2 && (p) - 2 < MAX_SERVOS) -#define IS_PIN_I2C(p) ((p) == 20 || (p) == 21) -#define PIN_TO_DIGITAL(p) (p) -#define PIN_TO_ANALOG(p) ((p) - 54) -#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) -#define PIN_TO_SERVO(p) ((p) - 2) - - -// Teensy 1.0 -#elif defined(__AVR_AT90USB162__) -#define TOTAL_ANALOG_PINS 0 -#define TOTAL_PINS 21 // 21 digital + no analog -#define VERSION_BLINK_PIN 6 -#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS) -#define IS_PIN_ANALOG(p) (0) -#define IS_PIN_PWM(p) digitalPinHasPWM(p) -#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) -#define IS_PIN_I2C(p) (0) -#define PIN_TO_DIGITAL(p) (p) -#define PIN_TO_ANALOG(p) (0) -#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) -#define PIN_TO_SERVO(p) (p) - - -// Teensy 2.0 -#elif defined(__AVR_ATmega32U4__) -#define TOTAL_ANALOG_PINS 12 -#define TOTAL_PINS 25 // 11 digital + 12 analog -#define VERSION_BLINK_PIN 11 -#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS) -#define IS_PIN_ANALOG(p) ((p) >= 11 && (p) <= 22) -#define IS_PIN_PWM(p) digitalPinHasPWM(p) -#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) -#define IS_PIN_I2C(p) ((p) == 5 || (p) == 6) -#define PIN_TO_DIGITAL(p) (p) -#define PIN_TO_ANALOG(p) (((p)<22)?21-(p):11) -#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) -#define PIN_TO_SERVO(p) (p) - - -// Teensy++ 1.0 and 2.0 -#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__) -#define TOTAL_ANALOG_PINS 8 -#define TOTAL_PINS 46 // 38 digital + 8 analog -#define VERSION_BLINK_PIN 6 -#define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS) -#define IS_PIN_ANALOG(p) ((p) >= 38 && (p) < TOTAL_PINS) -#define IS_PIN_PWM(p) digitalPinHasPWM(p) -#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) -#define IS_PIN_I2C(p) ((p) == 0 || (p) == 1) -#define PIN_TO_DIGITAL(p) (p) -#define PIN_TO_ANALOG(p) ((p) - 38) -#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) -#define PIN_TO_SERVO(p) (p) - - -// Sanguino -#elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__) -#define TOTAL_ANALOG_PINS 8 -#define TOTAL_PINS 32 // 24 digital + 8 analog -#define VERSION_BLINK_PIN 0 -#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS) -#define IS_PIN_ANALOG(p) ((p) >= 24 && (p) < TOTAL_PINS) -#define IS_PIN_PWM(p) digitalPinHasPWM(p) -#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) -#define IS_PIN_I2C(p) ((p) == 16 || (p) == 17) -#define PIN_TO_DIGITAL(p) (p) -#define PIN_TO_ANALOG(p) ((p) - 24) -#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) -#define PIN_TO_SERVO(p) ((p) - 2) - - -// Illuminato -#elif defined(__AVR_ATmega645__) -#define TOTAL_ANALOG_PINS 6 -#define TOTAL_PINS 42 // 36 digital + 6 analog -#define VERSION_BLINK_PIN 13 -#define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS) -#define IS_PIN_ANALOG(p) ((p) >= 36 && (p) < TOTAL_PINS) -#define IS_PIN_PWM(p) digitalPinHasPWM(p) -#define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) -#define IS_PIN_I2C(p) ((p) == 4 || (p) == 5) -#define PIN_TO_DIGITAL(p) (p) -#define PIN_TO_ANALOG(p) ((p) - 36) -#define PIN_TO_PWM(p) PIN_TO_DIGITAL(p) -#define PIN_TO_SERVO(p) ((p) - 2) - - -// anything else -#else -#error "Please edit Boards.h with a hardware abstraction for this board" -#endif - - -/*============================================================================== - * readPort() - Read an 8 bit port - *============================================================================*/ - -static inline unsigned char readPort(byte, byte) __attribute__((always_inline, unused)); -static inline unsigned char readPort(byte port, byte bitmask) -{ -#if defined(ARDUINO_PINOUT_OPTIMIZE) - if (port == 0) return (PIND & 0xFC) & bitmask; // ignore Rx/Tx 0/1 - if (port == 1) return ((PINB & 0x3F) | ((PINC & 0x03) << 6)) & bitmask; - if (port == 2) return ((PINC & 0x3C) >> 2) & bitmask; - return 0; -#else - unsigned char out=0, pin=port*8; - if (IS_PIN_DIGITAL(pin+0) && (bitmask & 0x01) && digitalRead(PIN_TO_DIGITAL(pin+0))) out |= 0x01; - if (IS_PIN_DIGITAL(pin+1) && (bitmask & 0x02) && digitalRead(PIN_TO_DIGITAL(pin+1))) out |= 0x02; - if (IS_PIN_DIGITAL(pin+2) && (bitmask & 0x04) && digitalRead(PIN_TO_DIGITAL(pin+2))) out |= 0x04; - if (IS_PIN_DIGITAL(pin+3) && (bitmask & 0x08) && digitalRead(PIN_TO_DIGITAL(pin+3))) out |= 0x08; - if (IS_PIN_DIGITAL(pin+4) && (bitmask & 0x10) && digitalRead(PIN_TO_DIGITAL(pin+4))) out |= 0x10; - if (IS_PIN_DIGITAL(pin+5) && (bitmask & 0x20) && digitalRead(PIN_TO_DIGITAL(pin+5))) out |= 0x20; - if (IS_PIN_DIGITAL(pin+6) && (bitmask & 0x40) && digitalRead(PIN_TO_DIGITAL(pin+6))) out |= 0x40; - if (IS_PIN_DIGITAL(pin+7) && (bitmask & 0x80) && digitalRead(PIN_TO_DIGITAL(pin+7))) out |= 0x80; - return out; -#endif -} - -/*============================================================================== - * writePort() - Write an 8 bit port, only touch pins specified by a bitmask - *============================================================================*/ - -static inline unsigned char writePort(byte, byte, byte) __attribute__((always_inline, unused)); -static inline unsigned char writePort(byte port, byte value, byte bitmask) -{ -#if defined(ARDUINO_PINOUT_OPTIMIZE) - if (port == 0) { - bitmask = bitmask & 0xFC; // do not touch Tx & Rx pins - byte valD = value & bitmask; - byte maskD = ~bitmask; - cli(); - PORTD = (PORTD & maskD) | valD; - sei(); - } else if (port == 1) { - byte valB = (value & bitmask) & 0x3F; - byte valC = (value & bitmask) >> 6; - byte maskB = ~(bitmask & 0x3F); - byte maskC = ~((bitmask & 0xC0) >> 6); - cli(); - PORTB = (PORTB & maskB) | valB; - PORTC = (PORTC & maskC) | valC; - sei(); - } else if (port == 2) { - bitmask = bitmask & 0x0F; - byte valC = (value & bitmask) << 2; - byte maskC = ~(bitmask << 2); - cli(); - PORTC = (PORTC & maskC) | valC; - sei(); - } -#else - byte pin=port*8; - if ((bitmask & 0x01)) digitalWrite(PIN_TO_DIGITAL(pin+0), (value & 0x01)); - if ((bitmask & 0x02)) digitalWrite(PIN_TO_DIGITAL(pin+1), (value & 0x02)); - if ((bitmask & 0x04)) digitalWrite(PIN_TO_DIGITAL(pin+2), (value & 0x04)); - if ((bitmask & 0x08)) digitalWrite(PIN_TO_DIGITAL(pin+3), (value & 0x08)); - if ((bitmask & 0x10)) digitalWrite(PIN_TO_DIGITAL(pin+4), (value & 0x10)); - if ((bitmask & 0x20)) digitalWrite(PIN_TO_DIGITAL(pin+5), (value & 0x20)); - if ((bitmask & 0x40)) digitalWrite(PIN_TO_DIGITAL(pin+6), (value & 0x40)); - if ((bitmask & 0x80)) digitalWrite(PIN_TO_DIGITAL(pin+7), (value & 0x80)); -#endif -} - - - - -#ifndef TOTAL_PORTS -#define TOTAL_PORTS ((TOTAL_PINS + 7) / 8) -#endif - - -#endif /* Firmata_Boards_h */ - diff --git a/libraries/Firmata/Firmata.cpp b/libraries/Firmata/Firmata.cpp deleted file mode 100644 index 36f8ed1..0000000 --- a/libraries/Firmata/Firmata.cpp +++ /dev/null @@ -1,444 +0,0 @@ -/* - Firmata.cpp - Firmata library - 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. -*/ - -//****************************************************************************** -//* Includes -//****************************************************************************** - -#include "Firmata.h" -#include "HardwareSerial.h" - -extern "C" { -#include <string.h> -#include <stdlib.h> -} - -//****************************************************************************** -//* Support Functions -//****************************************************************************** - -void FirmataClass::sendValueAsTwo7bitBytes(int value) -{ - FirmataSerial.write(value & B01111111); // LSB - FirmataSerial.write(value >> 7 & B01111111); // MSB -} - -void FirmataClass::startSysex(void) -{ - FirmataSerial.write(START_SYSEX); -} - -void FirmataClass::endSysex(void) -{ - FirmataSerial.write(END_SYSEX); -} - -//****************************************************************************** -//* Constructors -//****************************************************************************** - -FirmataClass::FirmataClass(Stream &s) : FirmataSerial(s) -{ - firmwareVersionCount = 0; - systemReset(); -} - -//****************************************************************************** -//* Public Methods -//****************************************************************************** - -/* begin method for overriding default serial bitrate */ -void FirmataClass::begin(void) -{ - begin(57600); -} - -/* begin method for overriding default serial bitrate */ -void FirmataClass::begin(long speed) -{ - Serial.begin(speed); - FirmataSerial = Serial; - blinkVersion(); - printVersion(); - printFirmwareVersion(); -} - -void FirmataClass::begin(Stream &s) -{ - FirmataSerial = s; - systemReset(); - printVersion(); - printFirmwareVersion(); -} - -// output the protocol version message to the serial port -void FirmataClass::printVersion(void) { - FirmataSerial.write(REPORT_VERSION); - FirmataSerial.write(FIRMATA_MAJOR_VERSION); - FirmataSerial.write(FIRMATA_MINOR_VERSION); -} - -void FirmataClass::blinkVersion(void) -{ - // flash the pin with the protocol version - pinMode(VERSION_BLINK_PIN,OUTPUT); - pin13strobe(FIRMATA_MAJOR_VERSION, 40, 210); - delay(250); - pin13strobe(FIRMATA_MINOR_VERSION, 40, 210); - delay(125); -} - -void FirmataClass::printFirmwareVersion(void) -{ - byte i; - - if(firmwareVersionCount) { // make sure that the name has been set before reporting - startSysex(); - FirmataSerial.write(REPORT_FIRMWARE); - FirmataSerial.write(firmwareVersionVector[0]); // major version number - FirmataSerial.write(firmwareVersionVector[1]); // minor version number - for(i=2; i<firmwareVersionCount; ++i) { - sendValueAsTwo7bitBytes(firmwareVersionVector[i]); - } - endSysex(); - } -} - -void FirmataClass::setFirmwareNameAndVersion(const char *name, byte major, byte minor) -{ - const char *filename; - char *extension; - - // parse out ".cpp" and "applet/" that comes from using __FILE__ - extension = strstr(name, ".cpp"); - filename = strrchr(name, '/') + 1; //points to slash, +1 gets to start of filename - // add two bytes for version numbers - if(extension && filename) { - firmwareVersionCount = extension - filename + 2; - } else { - firmwareVersionCount = strlen(name) + 2; - filename = name; - } - firmwareVersionVector = (byte *) malloc(firmwareVersionCount); - firmwareVersionVector[firmwareVersionCount] = 0; - firmwareVersionVector[0] = major; - firmwareVersionVector[1] = minor; - strncpy((char*)firmwareVersionVector + 2, filename, firmwareVersionCount - 2); - // alas, no snprintf on Arduino - // snprintf(firmwareVersionVector, MAX_DATA_BYTES, "%c%c%s", - // (char)major, (char)minor, firmwareVersionVector); -} - -//------------------------------------------------------------------------------ -// Serial Receive Handling - -int FirmataClass::available(void) -{ - return FirmataSerial.available(); -} - - -void FirmataClass::processSysexMessage(void) -{ - switch(storedInputData[0]) { //first byte in buffer is command - case REPORT_FIRMWARE: - printFirmwareVersion(); - break; - case STRING_DATA: - if(currentStringCallback) { - byte bufferLength = (sysexBytesRead - 1) / 2; - char *buffer = (char*)malloc(bufferLength * sizeof(char)); - byte i = 1; - byte j = 0; - while(j < bufferLength) { - buffer[j] = (char)storedInputData[i]; - i++; - buffer[j] += (char)(storedInputData[i] << 7); - i++; - j++; - } - (*currentStringCallback)(buffer); - } - break; - default: - if(currentSysexCallback) - (*currentSysexCallback)(storedInputData[0], sysexBytesRead - 1, storedInputData + 1); - } -} - -void FirmataClass::processInput(void) -{ - int inputData = FirmataSerial.read(); // this is 'int' to handle -1 when no data - int command; - - // TODO make sure it handles -1 properly - - if (parsingSysex) { - if(inputData == END_SYSEX) { - //stop sysex byte - parsingSysex = false; - //fire off handler function - processSysexMessage(); - } else { - //normal data byte - add to buffer - storedInputData[sysexBytesRead] = inputData; - sysexBytesRead++; - } - } else if( (waitForData > 0) && (inputData < 128) ) { - waitForData--; - storedInputData[waitForData] = inputData; - if( (waitForData==0) && executeMultiByteCommand ) { // got the whole message - switch(executeMultiByteCommand) { - case ANALOG_MESSAGE: - if(currentAnalogCallback) { - (*currentAnalogCallback)(multiByteChannel, - (storedInputData[0] << 7) - + storedInputData[1]); - } - break; - case DIGITAL_MESSAGE: - if(currentDigitalCallback) { - (*currentDigitalCallback)(multiByteChannel, - (storedInputData[0] << 7) - + storedInputData[1]); - } - break; - case SET_PIN_MODE: - if(currentPinModeCallback) - (*currentPinModeCallback)(storedInputData[1], storedInputData[0]); - break; - case REPORT_ANALOG: - if(currentReportAnalogCallback) - (*currentReportAnalogCallback)(multiByteChannel,storedInputData[0]); - break; - case REPORT_DIGITAL: - if(currentReportDigitalCallback) - (*currentReportDigitalCallback)(multiByteChannel,storedInputData[0]); - break; - } - executeMultiByteCommand = 0; - } - } else { - // remove channel info from command byte if less than 0xF0 - if(inputData < 0xF0) { - command = inputData & 0xF0; - multiByteChannel = inputData & 0x0F; - } else { - command = inputData; - // commands in the 0xF* range don't use channel data - } - switch (command) { - case ANALOG_MESSAGE: - case DIGITAL_MESSAGE: - case SET_PIN_MODE: - waitForData = 2; // two data bytes needed - executeMultiByteCommand = command; - break; - case REPORT_ANALOG: - case REPORT_DIGITAL: - waitForData = 1; // one data byte needed - executeMultiByteCommand = command; - break; - case START_SYSEX: - parsingSysex = true; - sysexBytesRead = 0; - break; - case SYSTEM_RESET: - systemReset(); - break; - case REPORT_VERSION: - Firmata.printVersion(); - break; - } - } -} - -//------------------------------------------------------------------------------ -// Serial Send Handling - -// send an analog message -void FirmataClass::sendAnalog(byte pin, int value) -{ - // pin can only be 0-15, so chop higher bits - FirmataSerial.write(ANALOG_MESSAGE | (pin & 0xF)); - sendValueAsTwo7bitBytes(value); -} - -// send a single digital pin in a digital message -void FirmataClass::sendDigital(byte pin, int value) -{ - /* TODO add single pin digital messages to the protocol, this needs to - * track the last digital data sent so that it can be sure to change just - * one bit in the packet. This is complicated by the fact that the - * numbering of the pins will probably differ on Arduino, Wiring, and - * other boards. The DIGITAL_MESSAGE sends 14 bits at a time, but it is - * probably easier to send 8 bit ports for any board with more than 14 - * digital pins. - */ - - // TODO: the digital message should not be sent on the serial port every - // time sendDigital() is called. Instead, it should add it to an int - // which will be sent on a schedule. If a pin changes more than once - // before the digital message is sent on the serial port, it should send a - // digital message for each change. - - // if(value == 0) - // sendDigitalPortPair(); -} - - -// send 14-bits in a single digital message (protocol v1) -// send an 8-bit port in a single digital message (protocol v2) -void FirmataClass::sendDigitalPort(byte portNumber, int portData) -{ - FirmataSerial.write(DIGITAL_MESSAGE | (portNumber & 0xF)); - FirmataSerial.write((byte)portData % 128); // Tx bits 0-6 - FirmataSerial.write(portData >> 7); // Tx bits 7-13 -} - - -void FirmataClass::sendSysex(byte command, byte bytec, byte* bytev) -{ - byte i; - startSysex(); - FirmataSerial.write(command); - for(i=0; i<bytec; i++) { - sendValueAsTwo7bitBytes(bytev[i]); - } - endSysex(); -} - -void FirmataClass::sendString(byte command, const char* string) -{ - sendSysex(command, strlen(string), (byte *)string); -} - - -// send a string as the protocol string type -void FirmataClass::sendString(const char* string) -{ - sendString(STRING_DATA, string); -} - - -// Internal Actions///////////////////////////////////////////////////////////// - -// generic callbacks -void FirmataClass::attach(byte command, callbackFunction newFunction) -{ - switch(command) { - case ANALOG_MESSAGE: currentAnalogCallback = newFunction; break; - case DIGITAL_MESSAGE: currentDigitalCallback = newFunction; break; - case REPORT_ANALOG: currentReportAnalogCallback = newFunction; break; - case REPORT_DIGITAL: currentReportDigitalCallback = newFunction; break; - case SET_PIN_MODE: currentPinModeCallback = newFunction; break; - } -} - -void FirmataClass::attach(byte command, systemResetCallbackFunction newFunction) -{ - switch(command) { - case SYSTEM_RESET: currentSystemResetCallback = newFunction; break; - } -} - -void FirmataClass::attach(byte command, stringCallbackFunction newFunction) -{ - switch(command) { - case STRING_DATA: currentStringCallback = newFunction; break; - } -} - -void FirmataClass::attach(byte command, sysexCallbackFunction newFunction) -{ - currentSysexCallback = newFunction; -} - -void FirmataClass::detach(byte command) -{ - switch(command) { - case SYSTEM_RESET: currentSystemResetCallback = NULL; break; - case STRING_DATA: currentStringCallback = NULL; break; - case START_SYSEX: currentSysexCallback = NULL; break; - default: - attach(command, (callbackFunction)NULL); - } -} - -// sysex callbacks -/* - * this is too complicated for analogReceive, but maybe for Sysex? - void FirmataClass::attachSysex(sysexFunction newFunction) - { - byte i; - byte tmpCount = analogReceiveFunctionCount; - analogReceiveFunction* tmpArray = analogReceiveFunctionArray; - analogReceiveFunctionCount++; - analogReceiveFunctionArray = (analogReceiveFunction*) calloc(analogReceiveFunctionCount, sizeof(analogReceiveFunction)); - for(i = 0; i < tmpCount; i++) { - analogReceiveFunctionArray[i] = tmpArray[i]; - } - analogReceiveFunctionArray[tmpCount] = newFunction; - free(tmpArray); - } -*/ - -//****************************************************************************** -//* Private Methods -//****************************************************************************** - - - -// resets the system state upon a SYSTEM_RESET message from the host software -void FirmataClass::systemReset(void) -{ - byte i; - - waitForData = 0; // this flag says the next serial input will be data - executeMultiByteCommand = 0; // execute this after getting multi-byte data - multiByteChannel = 0; // channel data for multiByteCommands - - - for(i=0; i<MAX_DATA_BYTES; i++) { - storedInputData[i] = 0; - } - - parsingSysex = false; - sysexBytesRead = 0; - - if(currentSystemResetCallback) - (*currentSystemResetCallback)(); - - //flush(); //TODO uncomment when Firmata is a subclass of HardwareSerial -} - - - -// ============================================================================= -// used for flashing the pin for the version number -void FirmataClass::pin13strobe(int count, int onInterval, int offInterval) -{ - byte i; - pinMode(VERSION_BLINK_PIN, OUTPUT); - for(i=0; i<count; i++) { - delay(offInterval); - digitalWrite(VERSION_BLINK_PIN, HIGH); - delay(onInterval); - digitalWrite(VERSION_BLINK_PIN, LOW); - } -} - - -// make one instance for the user to use -FirmataClass Firmata(Serial); - - diff --git a/libraries/Firmata/Firmata.h b/libraries/Firmata/Firmata.h deleted file mode 100644 index 74f1ccc..0000000 --- a/libraries/Firmata/Firmata.h +++ /dev/null @@ -1,163 +0,0 @@ -/* - Firmata.h - Firmata library - 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. -*/ - -#ifndef Firmata_h -#define Firmata_h - -#include "Boards.h" /* Hardware Abstraction Layer + Wiring/Arduino */ - -/* Version numbers for the protocol. The protocol is still changing, so these - * version numbers are important. This number can be queried so that host - * software can test whether it will be compatible with the currently - * installed firmware. */ -#define FIRMATA_MAJOR_VERSION 2 // for non-compatible changes -#define FIRMATA_MINOR_VERSION 3 // for backwards compatible changes -#define FIRMATA_BUGFIX_VERSION 1 // for bugfix releases - -#define MAX_DATA_BYTES 32 // max number of data bytes in non-Sysex messages - -// message command bytes (128-255/0x80-0xFF) -#define DIGITAL_MESSAGE 0x90 // send data for a digital pin -#define ANALOG_MESSAGE 0xE0 // send data for an analog pin (or PWM) -#define REPORT_ANALOG 0xC0 // enable analog input by pin # -#define REPORT_DIGITAL 0xD0 // enable digital input by port pair -// -#define SET_PIN_MODE 0xF4 // set a pin to INPUT/OUTPUT/PWM/etc -// -#define REPORT_VERSION 0xF9 // report protocol version -#define SYSTEM_RESET 0xFF // reset from MIDI -// -#define START_SYSEX 0xF0 // start a MIDI Sysex message -#define END_SYSEX 0xF7 // end a MIDI Sysex message - -// extended command set using sysex (0-127/0x00-0x7F) -/* 0x00-0x0F reserved for user-defined commands */ -#define SERVO_CONFIG 0x70 // set max angle, minPulse, maxPulse, freq -#define STRING_DATA 0x71 // a string message with 14-bits per char -#define SHIFT_DATA 0x75 // a bitstream to/from a shift register -#define I2C_REQUEST 0x76 // send an I2C read/write request -#define I2C_REPLY 0x77 // a reply to an I2C read request -#define I2C_CONFIG 0x78 // config I2C settings such as delay times and power pins -#define EXTENDED_ANALOG 0x6F // analog write (PWM, Servo, etc) to any pin -#define PIN_STATE_QUERY 0x6D // ask for a pin's current mode and value -#define PIN_STATE_RESPONSE 0x6E // reply with pin's current mode and value -#define CAPABILITY_QUERY 0x6B // ask for supported modes and resolution of all pins -#define CAPABILITY_RESPONSE 0x6C // reply with supported modes and resolution -#define ANALOG_MAPPING_QUERY 0x69 // ask for mapping of analog to pin numbers -#define ANALOG_MAPPING_RESPONSE 0x6A // reply with mapping info -#define REPORT_FIRMWARE 0x79 // report name and version of the firmware -#define SAMPLING_INTERVAL 0x7A // set the poll rate of the main loop -#define SYSEX_NON_REALTIME 0x7E // MIDI Reserved for non-realtime messages -#define SYSEX_REALTIME 0x7F // MIDI Reserved for realtime messages -// these are DEPRECATED to make the naming more consistent -#define FIRMATA_STRING 0x71 // same as STRING_DATA -#define SYSEX_I2C_REQUEST 0x76 // same as I2C_REQUEST -#define SYSEX_I2C_REPLY 0x77 // same as I2C_REPLY -#define SYSEX_SAMPLING_INTERVAL 0x7A // same as SAMPLING_INTERVAL - -// pin modes -//#define INPUT 0x00 // defined in wiring.h -//#define OUTPUT 0x01 // defined in wiring.h -#define ANALOG 0x02 // analog pin in analogInput mode -#define PWM 0x03 // digital pin in PWM output mode -#define SERVO 0x04 // digital pin in Servo output mode -#define SHIFT 0x05 // shiftIn/shiftOut mode -#define I2C 0x06 // pin included in I2C setup -#define TOTAL_PIN_MODES 7 - -extern "C" { -// callback function types - typedef void (*callbackFunction)(byte, int); - typedef void (*systemResetCallbackFunction)(void); - typedef void (*stringCallbackFunction)(char*); - typedef void (*sysexCallbackFunction)(byte command, byte argc, byte*argv); -} - - -// TODO make it a subclass of a generic Serial/Stream base class -class FirmataClass -{ -public: - FirmataClass(Stream &s); -/* Arduino constructors */ - void begin(); - void begin(long); - void begin(Stream &s); -/* querying functions */ - void printVersion(void); - void blinkVersion(void); - void printFirmwareVersion(void); - //void setFirmwareVersion(byte major, byte minor); // see macro below - void setFirmwareNameAndVersion(const char *name, byte major, byte minor); -/* serial receive handling */ - int available(void); - void processInput(void); -/* serial send handling */ - void sendAnalog(byte pin, int value); - void sendDigital(byte pin, int value); // TODO implement this - void sendDigitalPort(byte portNumber, int portData); - void sendString(const char* string); - void sendString(byte command, const char* string); - void sendSysex(byte command, byte bytec, byte* bytev); -/* attach & detach callback functions to messages */ - void attach(byte command, callbackFunction newFunction); - void attach(byte command, systemResetCallbackFunction newFunction); - void attach(byte command, stringCallbackFunction newFunction); - void attach(byte command, sysexCallbackFunction newFunction); - void detach(byte command); - -private: - Stream &FirmataSerial; -/* firmware name and version */ - byte firmwareVersionCount; - byte *firmwareVersionVector; -/* input message handling */ - byte waitForData; // this flag says the next serial input will be data - byte executeMultiByteCommand; // execute this after getting multi-byte data - byte multiByteChannel; // channel data for multiByteCommands - byte storedInputData[MAX_DATA_BYTES]; // multi-byte data -/* sysex */ - boolean parsingSysex; - int sysexBytesRead; -/* callback functions */ - callbackFunction currentAnalogCallback; - callbackFunction currentDigitalCallback; - callbackFunction currentReportAnalogCallback; - callbackFunction currentReportDigitalCallback; - callbackFunction currentPinModeCallback; - systemResetCallbackFunction currentSystemResetCallback; - stringCallbackFunction currentStringCallback; - sysexCallbackFunction currentSysexCallback; - -/* private methods ------------------------------ */ - void processSysexMessage(void); - void systemReset(void); - void pin13strobe(int count, int onInterval, int offInterval); - void sendValueAsTwo7bitBytes(int value); - void startSysex(void); - void endSysex(void); -}; - -extern FirmataClass Firmata; - -/*============================================================================== - * MACROS - *============================================================================*/ - -/* shortcut for setFirmwareNameAndVersion() that uses __FILE__ to set the - * firmware name. It needs to be a macro so that __FILE__ is included in the - * firmware source file rather than the library source file. - */ -#define setFirmwareVersion(x, y) setFirmwareNameAndVersion(__FILE__, x, y) - -#endif /* Firmata_h */ - diff --git a/libraries/Firmata/LICENSE.txt b/libraries/Firmata/LICENSE.txt deleted file mode 100644 index 77cec6d..0000000 --- a/libraries/Firmata/LICENSE.txt +++ /dev/null @@ -1,458 +0,0 @@ - - GNU LESSER GENERAL PUBLIC LICENSE - Version 2.1, February 1999 - - Copyright (C) 1991, 1999 Free Software Foundation, Inc. - 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. - -[This is the first released version of the Lesser GPL. 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IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN -WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY -AND/OR REDISTRIBUTE THE LIBRARY AS PERMITTED ABOVE, BE LIABLE TO YOU -FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR -CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE -LIBRARY (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING -RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A -FAILURE OF THE LIBRARY TO OPERATE WITH ANY OTHER SOFTWARE), EVEN IF -SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH -DAMAGES. - diff --git a/libraries/Firmata/TODO.txt b/libraries/Firmata/TODO.txt deleted file mode 100644 index 86c9858..0000000 --- a/libraries/Firmata/TODO.txt +++ /dev/null @@ -1,14 +0,0 @@ - -- make Firmata a subclass of HardwareSerial - -- per-pin digital callback, since the per-port callback is a bit complicated - for beginners (maybe Firmata is not for beginners...) - -- simplify SimpleDigitalFirmata, take out the code that checks to see if the - data has changed, since it is a bit complicated for this example. Ideally - this example would be based on a call - -- turn current SimpleDigitalFirmata into DigitalPortFirmata for a more complex - example using the code which checks for changes before doing anything - -- test integration with Wiring diff --git a/libraries/Firmata/examples/AllInputsFirmata/AllInputsFirmata.ino b/libraries/Firmata/examples/AllInputsFirmata/AllInputsFirmata.ino deleted file mode 100644 index bff7366..0000000 --- a/libraries/Firmata/examples/AllInputsFirmata/AllInputsFirmata.ino +++ /dev/null @@ -1,90 +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 - */ - -/* - * This firmware reads all inputs and sends them as fast as it can. It was - * inspired by the ease-of-use of the Arduino2Max program. - * - * This example code is in the public domain. - */ -#include <Firmata.h> - -byte pin; - -int analogValue; -int previousAnalogValues[TOTAL_ANALOG_PINS]; - -byte portStatus[TOTAL_PORTS]; // each bit: 1=pin is digital input, 0=other/ignore -byte previousPINs[TOTAL_PORTS]; - -/* timer variables */ -unsigned long currentMillis; // store the current value from millis() -unsigned long previousMillis; // for comparison with currentMillis -/* make sure that the FTDI buffer doesn't go over 60 bytes, otherwise you - get long, random delays. So only read analogs every 20ms or so */ -int samplingInterval = 19; // how often to run the main loop (in ms) - -void sendPort(byte portNumber, byte portValue) -{ - portValue = portValue & portStatus[portNumber]; - if(previousPINs[portNumber] != portValue) { - Firmata.sendDigitalPort(portNumber, portValue); - previousPINs[portNumber] = portValue; - } -} - -void setup() -{ - byte i, port, status; - - Firmata.setFirmwareVersion(0, 1); - - for(pin = 0; pin < TOTAL_PINS; pin++) { - if IS_PIN_DIGITAL(pin) pinMode(PIN_TO_DIGITAL(pin), INPUT); - } - - for (port=0; port<TOTAL_PORTS; port++) { - status = 0; - for (i=0; i<8; i++) { - if (IS_PIN_DIGITAL(port * 8 + i)) status |= (1 << i); - } - portStatus[port] = status; - } - - Firmata.begin(57600); -} - -void loop() -{ - byte i; - - for (i=0; i<TOTAL_PORTS; i++) { - sendPort(i, readPort(i, 0xff)); - } - /* make sure that the FTDI buffer doesn't go over 60 bytes, otherwise you - get long, random delays. So only read analogs every 20ms or so */ - currentMillis = millis(); - if(currentMillis - previousMillis > samplingInterval) { - previousMillis += samplingInterval; - while(Firmata.available()) { - Firmata.processInput(); - } - for(pin = 0; pin < TOTAL_ANALOG_PINS; pin++) { - analogValue = analogRead(pin); - if(analogValue != previousAnalogValues[pin]) { - Firmata.sendAnalog(pin, analogValue); - previousAnalogValues[pin] = analogValue; - } - } - } -} - - diff --git a/libraries/Firmata/examples/AnalogFirmata/AnalogFirmata.ino b/libraries/Firmata/examples/AnalogFirmata/AnalogFirmata.ino deleted file mode 100644 index ff1d664..0000000 --- a/libraries/Firmata/examples/AnalogFirmata/AnalogFirmata.ino +++ /dev/null @@ -1,94 +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 - */ - -/* This firmware supports as many analog ports as possible, all analog inputs, - * four PWM outputs, and two with servo support. - * - * This example code is in the public domain. - */ -#include <Servo.h> -#include <Firmata.h> - -/*============================================================================== - * GLOBAL VARIABLES - *============================================================================*/ - -/* servos */ -Servo servo9, servo10; // one instance per pin -/* analog inputs */ -int analogInputsToReport = 0; // bitwise array to store pin reporting -int analogPin = 0; // counter for reading analog pins -/* timer variables */ -unsigned long currentMillis; // store the current value from millis() -unsigned long previousMillis; // for comparison with currentMillis - - -/*============================================================================== - * FUNCTIONS - *============================================================================*/ - -void analogWriteCallback(byte pin, int value) -{ - switch(pin) { - case 9: servo9.write(value); break; - case 10: servo10.write(value); break; - case 3: - case 5: - case 6: - case 11: // PWM pins - analogWrite(pin, value); - break; - } -} -// ----------------------------------------------------------------------------- -// sets bits in a bit array (int) to toggle the reporting of the analogIns -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 -} - -/*============================================================================== - * SETUP() - *============================================================================*/ -void setup() -{ - Firmata.setFirmwareVersion(0, 2); - Firmata.attach(ANALOG_MESSAGE, analogWriteCallback); - Firmata.attach(REPORT_ANALOG, reportAnalogCallback); - - servo9.attach(9); - servo10.attach(10); - Firmata.begin(57600); -} - -/*============================================================================== - * LOOP() - *============================================================================*/ -void loop() -{ - while(Firmata.available()) - Firmata.processInput(); - currentMillis = millis(); - if(currentMillis - previousMillis > 20) { - previousMillis += 20; // run this every 20ms - for(analogPin=0;analogPin<TOTAL_ANALOG_PINS;analogPin++) { - if( analogInputsToReport & (1 << analogPin) ) - Firmata.sendAnalog(analogPin, analogRead(analogPin)); - } - } -} - diff --git a/libraries/Firmata/examples/EchoString/EchoString.ino b/libraries/Firmata/examples/EchoString/EchoString.ino deleted file mode 100644 index 5079697..0000000 --- a/libraries/Firmata/examples/EchoString/EchoString.ino +++ /dev/null @@ -1,46 +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 - */ - -/* This sketch accepts strings and raw sysex messages and echos them back. - * - * This example code is in the public domain. - */ -#include <Firmata.h> - -byte analogPin; - -void stringCallback(char *myString) -{ - Firmata.sendString(myString); -} - - -void sysexCallback(byte command, byte argc, byte*argv) -{ - Firmata.sendSysex(command, argc, argv); -} - -void setup() -{ - Firmata.setFirmwareVersion(0, 1); - Firmata.attach(STRING_DATA, stringCallback); - Firmata.attach(START_SYSEX, sysexCallback); - Firmata.begin(57600); -} - -void loop() -{ - while(Firmata.available()) { - Firmata.processInput(); - } -} - - diff --git a/libraries/Firmata/examples/I2CFirmata/I2CFirmata.ino b/libraries/Firmata/examples/I2CFirmata/I2CFirmata.ino deleted file mode 100644 index 1da8963..0000000 --- a/libraries/Firmata/examples/I2CFirmata/I2CFirmata.ino +++ /dev/null @@ -1,228 +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) 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 previousMillis; // 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.write((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.read(); - } - // 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.write(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_PINS; ++i) { - pinMode(i, OUTPUT); - } - - Firmata.begin(57600); - Wire.begin(); -} - -void loop() -{ - while (Firmata.available()) { - Firmata.processInput(); - } - - currentMillis = millis(); - if (currentMillis - previousMillis > samplingInterval) { - previousMillis += samplingInterval; - - for (byte i = 0; i < queryIndex; i++) { - readAndReportData(query[i].addr, query[i].reg, query[i].bytes); - } - } -} diff --git a/libraries/Firmata/examples/OldStandardFirmata/LICENSE.txt b/libraries/Firmata/examples/OldStandardFirmata/LICENSE.txt deleted file mode 100644 index 77cec6d..0000000 --- a/libraries/Firmata/examples/OldStandardFirmata/LICENSE.txt +++ /dev/null @@ -1,458 +0,0 @@ - - GNU LESSER GENERAL PUBLIC LICENSE - Version 2.1, February 1999 - - Copyright (C) 1991, 1999 Free Software Foundation, Inc. - 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. - -[This is the first released version of the Lesser GPL. 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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. - - 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. - */ - -/* - * This is an old version of StandardFirmata (v2.0). It is kept here because - * its the last version that works on an ATMEGA8 chip. Also, it can be used - * for host software that has not been updated to a newer version of the - * protocol. It also uses the old baud rate of 115200 rather than 57600. - */ - -#include <EEPROM.h> -#include <Firmata.h> - -/*============================================================================== - * GLOBAL VARIABLES - *============================================================================*/ - -/* analog inputs */ -int analogInputsToReport = 0; // bitwise array to store pin reporting -int analogPin = 0; // counter for reading analog pins - -/* digital pins */ -byte reportPINs[TOTAL_PORTS]; // PIN == input port -byte previousPINs[TOTAL_PORTS]; // PIN == input port -byte pinStatus[TOTAL_PINS]; // store pin status, default OUTPUT -byte portStatus[TOTAL_PORTS]; - -/* timer variables */ -unsigned long currentMillis; // store the current value from millis() -unsigned long previousMillis; // for comparison with currentMillis - - -/*============================================================================== - * 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); - } -} - -/* ----------------------------------------------------------------------------- - * 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) -{ - 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 2: outputPort(2, PINC); break; - } - } - } -} - -// ----------------------------------------------------------------------------- -/* 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) { - 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; - } - - if(pin > 1) { // ignore RxTx (pins 0 and 1) - 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 - } -} - -void analogWriteCallback(byte pin, int value) -{ - setPinModeCallback(pin,PWM); - analogWrite(pin, value); -} - -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; - } -} - -// ----------------------------------------------------------------------------- -/* sets bits in a bit array (int) to toggle the reporting of the analogIns - */ -//void FirmataClass::setAnalogPinReporting(byte pin, byte state) { -//} -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 -} - -void reportDigitalCallback(byte port, int value) -{ - reportPINs[port] = (byte)value; - if(port == 2) // turn off analog reporting when used as digital - analogInputsToReport = 0; -} - -/*============================================================================== - * SETUP() - *============================================================================*/ -void setup() -{ - byte i; - - Firmata.setFirmwareVersion(2, 0); - - 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); - - portStatus[0] = B00000011; // ignore Tx/RX pins - portStatus[1] = B11000000; // ignore 14/15 pins - portStatus[2] = B00000000; - -// for(i=0; i<TOTAL_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 - - /* 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[2]) outputPort(2, PINC); - - Firmata.begin(115200); -} - -/*============================================================================== - * LOOP() - *============================================================================*/ -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 - previousMillis > 20) { - previousMillis += 20; // 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. */ - - /* 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)); - } - } - } -} diff --git a/libraries/Firmata/examples/ServoFirmata/ServoFirmata.ino b/libraries/Firmata/examples/ServoFirmata/ServoFirmata.ino deleted file mode 100644 index cdcfff0..0000000 --- a/libraries/Firmata/examples/ServoFirmata/ServoFirmata.ino +++ /dev/null @@ -1,53 +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 - */ - -/* This firmware supports as many servos as possible using the Servo library - * included in Arduino 0017 - * - * TODO add message to configure minPulse/maxPulse/degrees - * - * This example code is in the public domain. - */ - -#include <Servo.h> -#include <Firmata.h> - -Servo servos[MAX_SERVOS]; - -void analogWriteCallback(byte pin, int value) -{ - if (IS_PIN_SERVO(pin)) { - servos[PIN_TO_SERVO(pin)].write(value); - } -} - -void setup() -{ - byte pin; - - Firmata.setFirmwareVersion(0, 2); - Firmata.attach(ANALOG_MESSAGE, analogWriteCallback); - - for (pin=0; pin < TOTAL_PINS; pin++) { - if (IS_PIN_SERVO(pin)) { - servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin)); - } - } - - Firmata.begin(57600); -} - -void loop() -{ - while(Firmata.available()) - Firmata.processInput(); -} - diff --git a/libraries/Firmata/examples/SimpleAnalogFirmata/SimpleAnalogFirmata.ino b/libraries/Firmata/examples/SimpleAnalogFirmata/SimpleAnalogFirmata.ino deleted file mode 100644 index 44ea91e..0000000 --- a/libraries/Firmata/examples/SimpleAnalogFirmata/SimpleAnalogFirmata.ino +++ /dev/null @@ -1,46 +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 - */ - -/* Supports as many analog inputs and analog PWM outputs as possible. - * - * This example code is in the public domain. - */ -#include <Firmata.h> - -byte analogPin = 0; - -void analogWriteCallback(byte pin, int value) -{ - if (IS_PIN_PWM(pin)) { - pinMode(PIN_TO_DIGITAL(pin), OUTPUT); - analogWrite(PIN_TO_PWM(pin), value); - } -} - -void setup() -{ - Firmata.setFirmwareVersion(0, 1); - Firmata.attach(ANALOG_MESSAGE, analogWriteCallback); - Firmata.begin(57600); -} - -void loop() -{ - while(Firmata.available()) { - Firmata.processInput(); - } - // do one analogRead per loop, so if PC is sending a lot of - // analog write messages, we will only delay 1 analogRead - Firmata.sendAnalog(analogPin, analogRead(analogPin)); - analogPin = analogPin + 1; - if (analogPin >= TOTAL_ANALOG_PINS) analogPin = 0; -} - diff --git a/libraries/Firmata/examples/SimpleDigitalFirmata/SimpleDigitalFirmata.ino b/libraries/Firmata/examples/SimpleDigitalFirmata/SimpleDigitalFirmata.ino deleted file mode 100644 index a0d764f..0000000 --- a/libraries/Firmata/examples/SimpleDigitalFirmata/SimpleDigitalFirmata.ino +++ /dev/null @@ -1,72 +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 - */ - -/* Supports as many digital inputs and outputs as possible. - * - * This example code is in the public domain. - */ -#include <Firmata.h> - -byte previousPIN[TOTAL_PORTS]; // PIN means PORT for input -byte previousPORT[TOTAL_PORTS]; - -void outputPort(byte portNumber, byte portValue) -{ - // only send the data when it changes, otherwise you get too many messages! - if (previousPIN[portNumber] != portValue) { - Firmata.sendDigitalPort(portNumber, portValue); - previousPIN[portNumber] = portValue; - } -} - -void setPinModeCallback(byte pin, int mode) { - if (IS_PIN_DIGITAL(pin)) { - pinMode(PIN_TO_DIGITAL(pin), mode); - } -} - -void digitalWriteCallback(byte port, int value) -{ - byte i; - byte currentPinValue, previousPinValue; - - if (port < TOTAL_PORTS && value != previousPORT[port]) { - for(i=0; i<8; i++) { - currentPinValue = (byte) value & (1 << i); - previousPinValue = previousPORT[port] & (1 << i); - if(currentPinValue != previousPinValue) { - digitalWrite(i + (port*8), currentPinValue); - } - } - previousPORT[port] = value; - } -} - -void setup() -{ - Firmata.setFirmwareVersion(0, 1); - Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback); - Firmata.attach(SET_PIN_MODE, setPinModeCallback); - Firmata.begin(57600); -} - -void loop() -{ - byte i; - - for (i=0; i<TOTAL_PORTS; i++) { - outputPort(i, readPort(i, 0xff)); - } - - while(Firmata.available()) { - Firmata.processInput(); - } -} diff --git a/libraries/Firmata/examples/StandardFirmata/LICENSE.txt b/libraries/Firmata/examples/StandardFirmata/LICENSE.txt deleted file mode 100644 index 77cec6d..0000000 --- a/libraries/Firmata/examples/StandardFirmata/LICENSE.txt +++ /dev/null @@ -1,458 +0,0 @@ - - GNU LESSER GENERAL PUBLIC LICENSE - Version 2.1, February 1999 - - Copyright (C) 1991, 1999 Free Software Foundation, Inc. - 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. - -[This is the first released version of the Lesser GPL. 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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); - } - } - } -} diff --git a/libraries/Firmata/keywords.txt b/libraries/Firmata/keywords.txt deleted file mode 100644 index 52e0a9c..0000000 --- a/libraries/Firmata/keywords.txt +++ /dev/null @@ -1,62 +0,0 @@ -####################################### -# Syntax Coloring Map For Firmata -####################################### - -####################################### -# Datatypes (KEYWORD1) -####################################### - -Firmata KEYWORD1 -callbackFunction KEYWORD1 -systemResetCallbackFunction KEYWORD1 -stringCallbackFunction KEYWORD1 -sysexCallbackFunction KEYWORD1 - -####################################### -# Methods and Functions (KEYWORD2) -####################################### - -begin KEYWORD2 -begin KEYWORD2 -printVersion KEYWORD2 -blinkVersion KEYWORD2 -printFirmwareVersion KEYWORD2 -setFirmwareVersion KEYWORD2 -setFirmwareNameAndVersion KEYWORD2 -available KEYWORD2 -processInput KEYWORD2 -sendAnalog KEYWORD2 -sendDigital KEYWORD2 -sendDigitalPortPair KEYWORD2 -sendDigitalPort KEYWORD2 -sendString KEYWORD2 -sendString KEYWORD2 -sendSysex KEYWORD2 -attach KEYWORD2 -detach KEYWORD2 -flush KEYWORD2 - - -####################################### -# Constants (LITERAL1) -####################################### - -MAX_DATA_BYTES LITERAL1 - -DIGITAL_MESSAGE LITERAL1 -ANALOG_MESSAGE LITERAL1 -REPORT_ANALOG LITERAL1 -REPORT_DIGITAL LITERAL1 -REPORT_VERSION LITERAL1 -SET_PIN_MODE LITERAL1 -SYSTEM_RESET LITERAL1 - -START_SYSEX LITERAL1 -END_SYSEX LITERAL1 - -PWM LITERAL1 - -TOTAL_ANALOG_PINS LITERAL1 -TOTAL_DIGITAL_PINS LITERAL1 -TOTAL_PORTS LITERAL1 -ANALOG_PORT LITERAL1 |