diff options
Diffstat (limited to 'libraries/Firmata')
19 files changed, 486 insertions, 2155 deletions
diff --git a/libraries/Firmata/Boards.h b/libraries/Firmata/Boards.h index f716320..06f69c6 100644 --- a/libraries/Firmata/Boards.h +++ b/libraries/Firmata/Boards.h @@ -3,7 +3,13 @@ #ifndef Firmata_Boards_h #define Firmata_Boards_h -#include <Arduino.h> // for digitalRead, digitalWrite, etc +#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 @@ -118,35 +124,58 @@ writePort(port, value, bitmask): Write an 8 bit port. * 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 24 // 14 digital + 2 unused + 8 analog +#define TOTAL_PINS 22 // 14 digital + 8 analog +#endif #define VERSION_BLINK_PIN 13 -#define IS_PIN_DIGITAL(p) (((p) >= 2 && (p) <= 13) || ((p) >= 16 && (p) <= 21)) -#define IS_PIN_ANALOG(p) ((p) >= 16 && (p) <= 23) -#define IS_PIN_PWM(p) IS_PIN_DIGITAL(p) -#define IS_PIN_SERVO(p) ((p) >= 2 && (p) <= 13 && (p) - 2 < MAX_SERVOS) -#define IS_PIN_I2C(p) (0) -#define PIN_TO_DIGITAL(p) (((p) < 16) ? (p) : (p) - 2) -#define PIN_TO_ANALOG(p) ((p) - 16) +#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 22 // 14 digital + 2 unused + 6 analog +#define TOTAL_PINS 20 // 14 digital + 6 analog #define VERSION_BLINK_PIN 13 -#define IS_PIN_DIGITAL(p) (((p) >= 2 && (p) <= 13) || ((p) >= 16 && (p) <= 21)) -#define IS_PIN_ANALOG(p) ((p) >= 16 && (p) <= 21) -#define IS_PIN_PWM(p) IS_PIN_DIGITAL(p) -#define IS_PIN_SERVO(p) ((p) >= 2 && (p) <= 13 && (p) - 2 < MAX_SERVOS) -#define IS_PIN_I2C(p) (0) -#define PIN_TO_DIGITAL(p) (((p) < 16) ? (p) : (p) - 2) -#define PIN_TO_ANALOG(p) ((p) - 16) +#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 @@ -159,23 +188,15 @@ writePort(port, value, bitmask): Write an 8 bit port. #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) IS_PIN_DIGITAL(p) +#define IS_PIN_PWM(p) digitalPinHasPWM(p) #define IS_PIN_SERVO(p) ((p) >= 2 && (p) - 2 < MAX_SERVOS) -#define IS_PIN_I2C(p) (0) +#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) -// Wiring -#elif defined(__AVR_ATmega128__) -#define TOTAL_ANALOG_PINS 8 -#define TOTAL_PINS 51 -#define VERSION_BLINK_PIN 48 -// TODO: hardware abstraction for wiring board - - // Teensy 1.0 #elif defined(__AVR_AT90USB162__) #define TOTAL_ANALOG_PINS 0 @@ -183,7 +204,7 @@ writePort(port, value, bitmask): Write an 8 bit port. #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) IS_PIN_DIGITAL(p) +#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) @@ -199,9 +220,9 @@ writePort(port, value, bitmask): Write an 8 bit port. #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) IS_PIN_DIGITAL(p) +#define IS_PIN_PWM(p) digitalPinHasPWM(p) #define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) -#define IS_PIN_I2C(p) (0) +#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) @@ -215,9 +236,9 @@ writePort(port, value, bitmask): Write an 8 bit port. #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) IS_PIN_DIGITAL(p) +#define IS_PIN_PWM(p) digitalPinHasPWM(p) #define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) -#define IS_PIN_I2C(p) (0) +#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) @@ -231,9 +252,9 @@ writePort(port, value, bitmask): Write an 8 bit port. #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) IS_PIN_DIGITAL(p) +#define IS_PIN_PWM(p) digitalPinHasPWM(p) #define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) -#define IS_PIN_I2C(p) (0) +#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) @@ -247,9 +268,9 @@ writePort(port, value, bitmask): Write an 8 bit port. #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) IS_PIN_DIGITAL(p) +#define IS_PIN_PWM(p) digitalPinHasPWM(p) #define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS) -#define IS_PIN_I2C(p) (0) +#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) @@ -270,9 +291,9 @@ static inline unsigned char readPort(byte, byte) __attribute__((always_inline, u static inline unsigned char readPort(byte port, byte bitmask) { #if defined(ARDUINO_PINOUT_OPTIMIZE) - if (port == 0) return PIND & B11111100 & bitmask; // ignore Rx/Tx 0/1 - if (port == 1) return PINB & B00111111 & bitmask; // pins 8-13 (14,15 are disabled for the crystal) - if (port == 2) return PINC & bitmask; + 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; @@ -297,17 +318,27 @@ static inline unsigned char writePort(byte port, byte value, byte bitmask) { #if defined(ARDUINO_PINOUT_OPTIMIZE) if (port == 0) { - bitmask = bitmask & 0xFC; // Tx & Rx pins + bitmask = bitmask & 0xFC; // do not touch Tx & Rx pins + byte valD = value & bitmask; + byte maskD = ~bitmask; cli(); - PORTD = (PORTD & ~bitmask) | (bitmask & value); + 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 & ~bitmask) | (bitmask & value); + 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 & ~bitmask) | (bitmask & value); + PORTC = (PORTC & maskC) | valC; sei(); } #else diff --git a/libraries/Firmata/Firmata.cpp b/libraries/Firmata/Firmata.cpp index e30deae..e81c10b 100644 --- a/libraries/Firmata/Firmata.cpp +++ b/libraries/Firmata/Firmata.cpp @@ -14,9 +14,8 @@ //* Includes //****************************************************************************** -#include "Arduino.h" -#include "HardwareSerial.h" #include "Firmata.h" +#include "HardwareSerial.h" extern "C" { #include <string.h> @@ -27,27 +26,27 @@ extern "C" { //* Support Functions //****************************************************************************** -void sendValueAsTwo7bitBytes(int value) +void FirmataClass::sendValueAsTwo7bitBytes(int value) { - Serial.print(value & B01111111, BYTE); // LSB - Serial.print(value >> 7 & B01111111, BYTE); // MSB + FirmataSerial.write(value & B01111111); // LSB + FirmataSerial.write(value >> 7 & B01111111); // MSB } -void startSysex(void) +void FirmataClass::startSysex(void) { - Serial.print(START_SYSEX, BYTE); + FirmataSerial.write(START_SYSEX); } -void endSysex(void) +void FirmataClass::endSysex(void) { - Serial.print(END_SYSEX, BYTE); + FirmataSerial.write(END_SYSEX); } //****************************************************************************** //* Constructors //****************************************************************************** -FirmataClass::FirmataClass(void) +FirmataClass::FirmataClass(Stream &s) : FirmataSerial(s) { firmwareVersionCount = 0; systemReset(); @@ -66,33 +65,36 @@ void FirmataClass::begin(void) /* begin method for overriding default serial bitrate */ void FirmataClass::begin(long speed) { -#if defined(__AVR_ATmega128__) // Wiring - Serial.begin((uint32_t)speed); -#else Serial.begin(speed); -#endif + FirmataSerial = Serial; blinkVersion(); - delay(300); + 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) { - Serial.print(REPORT_VERSION, BYTE); - Serial.print(FIRMATA_MAJOR_VERSION, BYTE); - Serial.print(FIRMATA_MINOR_VERSION, BYTE); + 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, 200, 400); - delay(300); - pin13strobe(2,1,4); // separator, a quick burst - delay(300); - pin13strobe(FIRMATA_MINOR_VERSION, 200, 400); + pin13strobe(FIRMATA_MAJOR_VERSION, 40, 210); + delay(250); + pin13strobe(FIRMATA_MINOR_VERSION, 40, 210); + delay(125); } void FirmataClass::printFirmwareVersion(void) @@ -101,9 +103,9 @@ void FirmataClass::printFirmwareVersion(void) if(firmwareVersionCount) { // make sure that the name has been set before reporting startSysex(); - Serial.print(REPORT_FIRMWARE, BYTE); - Serial.print(firmwareVersionVector[0]); // major version number - Serial.print(firmwareVersionVector[1]); // minor version number + 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]); } @@ -141,7 +143,7 @@ void FirmataClass::setFirmwareNameAndVersion(const char *name, byte major, byte int FirmataClass::available(void) { - return Serial.available(); + return FirmataSerial.available(); } @@ -175,7 +177,7 @@ void FirmataClass::processSysexMessage(void) void FirmataClass::processInput(void) { - int inputData = Serial.read(); // this is 'int' to handle -1 when no data + int inputData = FirmataSerial.read(); // this is 'int' to handle -1 when no data int command; // TODO make sure it handles -1 properly @@ -267,7 +269,7 @@ void FirmataClass::processInput(void) void FirmataClass::sendAnalog(byte pin, int value) { // pin can only be 0-15, so chop higher bits - Serial.print(ANALOG_MESSAGE | (pin & 0xF), BYTE); + FirmataSerial.write(ANALOG_MESSAGE | (pin & 0xF)); sendValueAsTwo7bitBytes(value); } @@ -298,9 +300,9 @@ void FirmataClass::sendDigital(byte pin, int value) // send an 8-bit port in a single digital message (protocol v2) void FirmataClass::sendDigitalPort(byte portNumber, int portData) { - Serial.print(DIGITAL_MESSAGE | (portNumber & 0xF),BYTE); - Serial.print((byte)portData % 128, BYTE); // Tx bits 0-6 - Serial.print(portData >> 7, BYTE); // Tx bits 7-13 + FirmataSerial.write(DIGITAL_MESSAGE | (portNumber & 0xF)); + FirmataSerial.write((byte)portData % 128); // Tx bits 0-6 + FirmataSerial.write(portData >> 7); // Tx bits 7-13 } @@ -308,7 +310,7 @@ void FirmataClass::sendSysex(byte command, byte bytec, byte* bytev) { byte i; startSysex(); - Serial.print(command, BYTE); + FirmataSerial.write(command); for(i=0; i<bytec; i++) { sendValueAsTwo7bitBytes(bytev[i]); } @@ -437,6 +439,6 @@ void FirmataClass::pin13strobe(int count, int onInterval, int offInterval) // make one instance for the user to use -FirmataClass Firmata; +FirmataClass Firmata(Serial); diff --git a/libraries/Firmata/Firmata.h b/libraries/Firmata/Firmata.h index 86535d9..74f1ccc 100644 --- a/libraries/Firmata/Firmata.h +++ b/libraries/Firmata/Firmata.h @@ -13,16 +13,15 @@ #ifndef Firmata_h #define Firmata_h -#include <Arduino.h> -#include <inttypes.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 2 // for backwards 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 @@ -66,8 +65,8 @@ #define SYSEX_SAMPLING_INTERVAL 0x7A // same as SAMPLING_INTERVAL // pin modes -//#define INPUT 0x00 // defined in Arduino.h -//#define OUTPUT 0x01 // defined in Arduino.h +//#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 @@ -88,10 +87,11 @@ extern "C" { class FirmataClass { public: - FirmataClass(); + FirmataClass(Stream &s); /* Arduino constructors */ void begin(); void begin(long); + void begin(Stream &s); /* querying functions */ void printVersion(void); void blinkVersion(void); @@ -116,6 +116,7 @@ public: void detach(byte command); private: + Stream &FirmataSerial; /* firmware name and version */ byte firmwareVersionCount; byte *firmwareVersionVector; @@ -141,6 +142,9 @@ private: 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; @@ -155,8 +159,5 @@ extern FirmataClass Firmata; */ #define setFirmwareVersion(x, y) setFirmwareNameAndVersion(__FILE__, x, y) -/* Hardware Abstraction Layer */ -#include "Boards.h" - #endif /* Firmata_h */ diff --git a/libraries/Firmata/examples/AllInputsFirmata/AllInputsFirmata.pde b/libraries/Firmata/examples/AllInputsFirmata/AllInputsFirmata.ino index 5bca72a..bff7366 100644 --- a/libraries/Firmata/examples/AllInputsFirmata/AllInputsFirmata.pde +++ b/libraries/Firmata/examples/AllInputsFirmata/AllInputsFirmata.ino @@ -1,3 +1,14 @@ +/* + * 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. @@ -56,7 +67,7 @@ void loop() byte i; for (i=0; i<TOTAL_PORTS; i++) { - sendPort(i, readPort(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 */ diff --git a/libraries/Firmata/examples/AnalogFirmata/AnalogFirmata.pde b/libraries/Firmata/examples/AnalogFirmata/AnalogFirmata.ino index df8b674..ff1d664 100644 --- a/libraries/Firmata/examples/AnalogFirmata/AnalogFirmata.pde +++ b/libraries/Firmata/examples/AnalogFirmata/AnalogFirmata.ino @@ -1,3 +1,14 @@ +/* + * 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. * diff --git a/libraries/Firmata/examples/AnalogFirmata/Makefile b/libraries/Firmata/examples/AnalogFirmata/Makefile deleted file mode 100644 index e968c0a..0000000 --- a/libraries/Firmata/examples/AnalogFirmata/Makefile +++ /dev/null @@ -1,263 +0,0 @@ -# Arduino makefile -# -# This makefile allows you to build sketches from the command line -# without the Arduino environment (or Java). -# -# The Arduino environment does preliminary processing on a sketch before -# compiling it. If you're using this makefile instead, you'll need to do -# a few things differently: -# -# - Give your program's file a .cpp extension (e.g. foo.cpp). -# -# - Put this line at top of your code: #include <WProgram.h> -# -# - Write prototypes for all your functions (or define them before you -# call them). A prototype declares the types of parameters a -# function will take and what type of value it will return. This -# means that you can have a call to a function before the definition -# of the function. A function prototype looks like the first line of -# the function, with a semi-colon at the end. For example: -# int digitalRead(int pin); -# -# Instructions for using the makefile: -# -# 1. Copy this file into the folder with your sketch. -# -# 2. Below, modify the line containing "TARGET" to refer to the name of -# of your program's file without an extension (e.g. TARGET = foo). -# -# 3. Modify the line containg "ARDUINO" to point the directory that -# contains the Arduino core (for normal Arduino installations, this -# is the hardware/cores/arduino sub-directory). -# -# 4. Modify the line containing "PORT" to refer to the filename -# representing the USB or serial connection to your Arduino board -# (e.g. PORT = /dev/tty.USB0). If the exact name of this file -# changes, you can use * as a wildcard (e.g. PORT = /dev/tty.USB*). -# -# 5. At the command line, change to the directory containing your -# program's file and the makefile. -# -# 6. Type "make" and press enter to compile/verify your program. -# -# 7. Type "make upload", reset your Arduino board, and press enter to -# upload your program to the Arduino board. -# -# $Id: Makefile,v 1.7 2007/04/13 05:28:23 eighthave Exp $ - -PORT = /dev/tty.usbserial-* -TARGET := $(shell pwd | sed 's|.*/\(.*\)|\1|') -ARDUINO = /Applications/arduino -ARDUINO_SRC = $(ARDUINO)/hardware/cores/arduino -ARDUINO_LIB_SRC = $(ARDUINO)/hardware/libraries -INCLUDE = -I$(ARDUINO_SRC) -I$(ARDUINO)/hardware/tools/avr/avr/include \ - -I$(ARDUINO_LIB_SRC)/EEPROM \ - -I$(ARDUINO_LIB_SRC)/Firmata \ - -I$(ARDUINO_LIB_SRC)/Servo \ - -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)/WMath.cpp -HEADERS = $(wildcard $(ARDUINO_SRC)/*.h) $(wildcard $(ARDUINO_LIB_SRC)/*/*.h) - -MCU = atmega168 -#MCU = atmega8 -F_CPU = 16000000 -FORMAT = ihex -UPLOAD_RATE = 19200 - -# Name of this Makefile (used for "make depend"). -MAKEFILE = Makefile - -# Debugging format. -# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2. -# AVR (extended) COFF requires stabs, plus an avr-objcopy run. -DEBUG = stabs - -OPT = s - -# Place -D or -U options here -CDEFS = -DF_CPU=$(F_CPU) -CXXDEFS = -DF_CPU=$(F_CPU) - -# Compiler flag to set the C Standard level. -# c89 - "ANSI" C -# gnu89 - c89 plus GCC extensions -# c99 - ISO C99 standard (not yet fully implemented) -# gnu99 - c99 plus GCC extensions -CSTANDARD = -std=gnu99 -CDEBUG = -g$(DEBUG) -CWARN = -Wall -Wstrict-prototypes -CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -#CEXTRA = -Wa,-adhlns=$(<:.c=.lst) - -CFLAGS = $(CDEBUG) $(CDEFS) $(INCLUDE) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA) -CXXFLAGS = $(CDEFS) $(INCLUDE) -O$(OPT) -#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs -LDFLAGS = - - -# Programming support using avrdude. Settings and variables. -AVRDUDE_PROGRAMMER = stk500 -AVRDUDE_PORT = $(PORT) -AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex -AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \ - -b $(UPLOAD_RATE) -q -V - -# Program settings -CC = avr-gcc -CXX = avr-g++ -OBJCOPY = avr-objcopy -OBJDUMP = avr-objdump -SIZE = avr-size -NM = avr-nm -AVRDUDE = avrdude -REMOVE = rm -f -MV = mv -f - -# Define all object files. -OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o) - -# Define all listing files. -LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst) - -# Combine all necessary flags and optional flags. -# Add target processor to flags. -ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) -ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS) -ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) - - -# Default target. -all: build - -build: applet/$(TARGET).hex - -eep: applet/$(TARGET).eep -lss: applet/$(TARGET).lss -sym: applet/$(TARGET).sym - - -# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. -COFFCONVERT=$(OBJCOPY) --debugging \ ---change-section-address .data-0x800000 \ ---change-section-address .bss-0x800000 \ ---change-section-address .noinit-0x800000 \ ---change-section-address .eeprom-0x810000 - - -coff: applet/$(TARGET).elf - $(COFFCONVERT) -O coff-avr applet/$(TARGET).elf applet/$(TARGET).cof - - -extcoff: applet/$(TARGET).elf - $(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf applet/$(TARGET).cof - - -.SUFFIXES: .elf .hex .eep .lss .sym .pde - -.elf.hex: - $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ - -.elf.eep: - -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ - --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ - -# Create extended listing file from ELF output file. -.elf.lss: - $(OBJDUMP) -h -S $< > $@ - -# Create a symbol table from ELF output file. -.elf.sym: - $(NM) -n $< > $@ - - -# Compile: create object files from C++ source files. -.cpp.o: $(HEADERS) - $(CXX) -c $(ALL_CXXFLAGS) $< -o $@ - -# Compile: create object files from C source files. -.c.o: $(HEADERS) - $(CC) -c $(ALL_CFLAGS) $< -o $@ - - -# Compile: create assembler files from C source files. -.c.s: - $(CC) -S $(ALL_CFLAGS) $< -o $@ - - -# Assemble: create object files from assembler source files. -.S.o: - $(CC) -c $(ALL_ASFLAGS) $< -o $@ - - - -applet/$(TARGET).cpp: $(TARGET).pde - test -d applet || mkdir applet - echo '#include "WProgram.h"' > applet/$(TARGET).cpp - echo '#include "avr/interrupt.h"' >> applet/$(TARGET).cpp - sed -n 's|^\(void .*)\).*|\1;|p' $(TARGET).pde | grep -v 'setup()' | \ - grep -v 'loop()' >> applet/$(TARGET).cpp - cat $(TARGET).pde >> applet/$(TARGET).cpp - cat $(ARDUINO_SRC)/main.cxx >> applet/$(TARGET).cpp - -# Link: create ELF output file from object files. -applet/$(TARGET).elf: applet/$(TARGET).cpp $(OBJ) - $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) - -pd_close_serial: - echo 'close;' | /Applications/Pd-extended.app/Contents/Resources/bin/pdsend 34567 || true - -# Program the device. -upload: applet/$(TARGET).hex - $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) - - -pd_test: build pd_close_serial upload - -# Target: clean project. -clean: - $(REMOVE) -- applet/$(TARGET).hex applet/$(TARGET).eep \ - applet/$(TARGET).cof applet/$(TARGET).elf $(TARGET).map \ - applet/$(TARGET).sym applet/$(TARGET).lss applet/$(TARGET).cpp \ - $(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d) - rmdir -- applet - -depend: - if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \ - then \ - sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \ - $(MAKEFILE).$$$$ && \ - $(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \ - fi - echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \ - >> $(MAKEFILE); \ - $(CC) -M -mmcu=$(MCU) $(CDEFS) $(INCLUDE) $(SRC) $(ASRC) >> $(MAKEFILE) - -.PHONY: all build eep lss sym coff extcoff clean depend pd_close_serial pd_test - -# for emacs -etags: - make etags_`uname -s` - etags *.pde \ - $(ARDUINO_SRC)/*.[ch] \ - $(ARDUINO_SRC)/*.cpp \ - $(ARDUINO_LIB_SRC)/*/*.[ch] \ - $(ARDUINO_LIB_SRC)/*/*.cpp \ - $(ARDUINO)/hardware/tools/avr/avr/include/avr/*.[ch] \ - $(ARDUINO)/hardware/tools/avr/avr/include/*.[ch] - -etags_Darwin: -# etags -a - -etags_Linux: -# etags -a /usr/include/*.h linux/input.h /usr/include/sys/*.h - -etags_MINGW: -# etags -a /usr/include/*.h /usr/include/sys/*.h - - - diff --git a/libraries/Firmata/examples/EchoString/EchoString.pde b/libraries/Firmata/examples/EchoString/EchoString.ino index e5c4e6f..5079697 100644 --- a/libraries/Firmata/examples/EchoString/EchoString.pde +++ b/libraries/Firmata/examples/EchoString/EchoString.ino @@ -1,3 +1,14 @@ +/* + * 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. @@ -14,12 +25,7 @@ void stringCallback(char *myString) void sysexCallback(byte command, byte argc, byte*argv) { - Serial.write(START_SYSEX); - Serial.write(command); - for(byte i=0; i<argc; i++) { - Serial.write(argv[i]); - } - Serial.write(END_SYSEX); + Firmata.sendSysex(command, argc, argv); } void setup() diff --git a/libraries/Firmata/examples/EchoString/Makefile b/libraries/Firmata/examples/EchoString/Makefile deleted file mode 100644 index e968c0a..0000000 --- a/libraries/Firmata/examples/EchoString/Makefile +++ /dev/null @@ -1,263 +0,0 @@ -# Arduino makefile -# -# This makefile allows you to build sketches from the command line -# without the Arduino environment (or Java). -# -# The Arduino environment does preliminary processing on a sketch before -# compiling it. If you're using this makefile instead, you'll need to do -# a few things differently: -# -# - Give your program's file a .cpp extension (e.g. foo.cpp). -# -# - Put this line at top of your code: #include <WProgram.h> -# -# - Write prototypes for all your functions (or define them before you -# call them). A prototype declares the types of parameters a -# function will take and what type of value it will return. This -# means that you can have a call to a function before the definition -# of the function. A function prototype looks like the first line of -# the function, with a semi-colon at the end. For example: -# int digitalRead(int pin); -# -# Instructions for using the makefile: -# -# 1. Copy this file into the folder with your sketch. -# -# 2. Below, modify the line containing "TARGET" to refer to the name of -# of your program's file without an extension (e.g. TARGET = foo). -# -# 3. Modify the line containg "ARDUINO" to point the directory that -# contains the Arduino core (for normal Arduino installations, this -# is the hardware/cores/arduino sub-directory). -# -# 4. Modify the line containing "PORT" to refer to the filename -# representing the USB or serial connection to your Arduino board -# (e.g. PORT = /dev/tty.USB0). If the exact name of this file -# changes, you can use * as a wildcard (e.g. PORT = /dev/tty.USB*). -# -# 5. At the command line, change to the directory containing your -# program's file and the makefile. -# -# 6. Type "make" and press enter to compile/verify your program. -# -# 7. Type "make upload", reset your Arduino board, and press enter to -# upload your program to the Arduino board. -# -# $Id: Makefile,v 1.7 2007/04/13 05:28:23 eighthave Exp $ - -PORT = /dev/tty.usbserial-* -TARGET := $(shell pwd | sed 's|.*/\(.*\)|\1|') -ARDUINO = /Applications/arduino -ARDUINO_SRC = $(ARDUINO)/hardware/cores/arduino -ARDUINO_LIB_SRC = $(ARDUINO)/hardware/libraries -INCLUDE = -I$(ARDUINO_SRC) -I$(ARDUINO)/hardware/tools/avr/avr/include \ - -I$(ARDUINO_LIB_SRC)/EEPROM \ - -I$(ARDUINO_LIB_SRC)/Firmata \ - -I$(ARDUINO_LIB_SRC)/Servo \ - -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)/WMath.cpp -HEADERS = $(wildcard $(ARDUINO_SRC)/*.h) $(wildcard $(ARDUINO_LIB_SRC)/*/*.h) - -MCU = atmega168 -#MCU = atmega8 -F_CPU = 16000000 -FORMAT = ihex -UPLOAD_RATE = 19200 - -# Name of this Makefile (used for "make depend"). -MAKEFILE = Makefile - -# Debugging format. -# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2. -# AVR (extended) COFF requires stabs, plus an avr-objcopy run. -DEBUG = stabs - -OPT = s - -# Place -D or -U options here -CDEFS = -DF_CPU=$(F_CPU) -CXXDEFS = -DF_CPU=$(F_CPU) - -# Compiler flag to set the C Standard level. -# c89 - "ANSI" C -# gnu89 - c89 plus GCC extensions -# c99 - ISO C99 standard (not yet fully implemented) -# gnu99 - c99 plus GCC extensions -CSTANDARD = -std=gnu99 -CDEBUG = -g$(DEBUG) -CWARN = -Wall -Wstrict-prototypes -CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -#CEXTRA = -Wa,-adhlns=$(<:.c=.lst) - -CFLAGS = $(CDEBUG) $(CDEFS) $(INCLUDE) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA) -CXXFLAGS = $(CDEFS) $(INCLUDE) -O$(OPT) -#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs -LDFLAGS = - - -# Programming support using avrdude. Settings and variables. -AVRDUDE_PROGRAMMER = stk500 -AVRDUDE_PORT = $(PORT) -AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex -AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \ - -b $(UPLOAD_RATE) -q -V - -# Program settings -CC = avr-gcc -CXX = avr-g++ -OBJCOPY = avr-objcopy -OBJDUMP = avr-objdump -SIZE = avr-size -NM = avr-nm -AVRDUDE = avrdude -REMOVE = rm -f -MV = mv -f - -# Define all object files. -OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o) - -# Define all listing files. -LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst) - -# Combine all necessary flags and optional flags. -# Add target processor to flags. -ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) -ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS) -ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) - - -# Default target. -all: build - -build: applet/$(TARGET).hex - -eep: applet/$(TARGET).eep -lss: applet/$(TARGET).lss -sym: applet/$(TARGET).sym - - -# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. -COFFCONVERT=$(OBJCOPY) --debugging \ ---change-section-address .data-0x800000 \ ---change-section-address .bss-0x800000 \ ---change-section-address .noinit-0x800000 \ ---change-section-address .eeprom-0x810000 - - -coff: applet/$(TARGET).elf - $(COFFCONVERT) -O coff-avr applet/$(TARGET).elf applet/$(TARGET).cof - - -extcoff: applet/$(TARGET).elf - $(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf applet/$(TARGET).cof - - -.SUFFIXES: .elf .hex .eep .lss .sym .pde - -.elf.hex: - $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ - -.elf.eep: - -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ - --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ - -# Create extended listing file from ELF output file. -.elf.lss: - $(OBJDUMP) -h -S $< > $@ - -# Create a symbol table from ELF output file. -.elf.sym: - $(NM) -n $< > $@ - - -# Compile: create object files from C++ source files. -.cpp.o: $(HEADERS) - $(CXX) -c $(ALL_CXXFLAGS) $< -o $@ - -# Compile: create object files from C source files. -.c.o: $(HEADERS) - $(CC) -c $(ALL_CFLAGS) $< -o $@ - - -# Compile: create assembler files from C source files. -.c.s: - $(CC) -S $(ALL_CFLAGS) $< -o $@ - - -# Assemble: create object files from assembler source files. -.S.o: - $(CC) -c $(ALL_ASFLAGS) $< -o $@ - - - -applet/$(TARGET).cpp: $(TARGET).pde - test -d applet || mkdir applet - echo '#include "WProgram.h"' > applet/$(TARGET).cpp - echo '#include "avr/interrupt.h"' >> applet/$(TARGET).cpp - sed -n 's|^\(void .*)\).*|\1;|p' $(TARGET).pde | grep -v 'setup()' | \ - grep -v 'loop()' >> applet/$(TARGET).cpp - cat $(TARGET).pde >> applet/$(TARGET).cpp - cat $(ARDUINO_SRC)/main.cxx >> applet/$(TARGET).cpp - -# Link: create ELF output file from object files. -applet/$(TARGET).elf: applet/$(TARGET).cpp $(OBJ) - $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) - -pd_close_serial: - echo 'close;' | /Applications/Pd-extended.app/Contents/Resources/bin/pdsend 34567 || true - -# Program the device. -upload: applet/$(TARGET).hex - $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) - - -pd_test: build pd_close_serial upload - -# Target: clean project. -clean: - $(REMOVE) -- applet/$(TARGET).hex applet/$(TARGET).eep \ - applet/$(TARGET).cof applet/$(TARGET).elf $(TARGET).map \ - applet/$(TARGET).sym applet/$(TARGET).lss applet/$(TARGET).cpp \ - $(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d) - rmdir -- applet - -depend: - if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \ - then \ - sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \ - $(MAKEFILE).$$$$ && \ - $(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \ - fi - echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \ - >> $(MAKEFILE); \ - $(CC) -M -mmcu=$(MCU) $(CDEFS) $(INCLUDE) $(SRC) $(ASRC) >> $(MAKEFILE) - -.PHONY: all build eep lss sym coff extcoff clean depend pd_close_serial pd_test - -# for emacs -etags: - make etags_`uname -s` - etags *.pde \ - $(ARDUINO_SRC)/*.[ch] \ - $(ARDUINO_SRC)/*.cpp \ - $(ARDUINO_LIB_SRC)/*/*.[ch] \ - $(ARDUINO_LIB_SRC)/*/*.cpp \ - $(ARDUINO)/hardware/tools/avr/avr/include/avr/*.[ch] \ - $(ARDUINO)/hardware/tools/avr/avr/include/*.[ch] - -etags_Darwin: -# etags -a - -etags_Linux: -# etags -a /usr/include/*.h linux/input.h /usr/include/sys/*.h - -etags_MINGW: -# etags -a /usr/include/*.h /usr/include/sys/*.h - - - diff --git a/libraries/Firmata/examples/I2CFirmata/I2CFirmata.pde b/libraries/Firmata/examples/I2CFirmata/I2CFirmata.ino index 11202e9..1da8963 100644 --- a/libraries/Firmata/examples/I2CFirmata/I2CFirmata.pde +++ b/libraries/Firmata/examples/I2CFirmata/I2CFirmata.ino @@ -1,4 +1,15 @@ /* + * 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. @@ -48,7 +59,7 @@ void readAndReportData(byte address, int theRegister, byte numBytes) { if (theRegister != REGISTER_NOT_SPECIFIED) { Wire.beginTransmission(address); - Wire.send((byte)theRegister); + Wire.write((byte)theRegister); Wire.endTransmission(); delayMicroseconds(i2cReadDelayTime); // delay is necessary for some devices such as WiiNunchuck } @@ -63,7 +74,7 @@ void readAndReportData(byte address, int theRegister, byte numBytes) i2cRxData[0] = address; i2cRxData[1] = theRegister; for (int i = 0; i < numBytes; i++) { - i2cRxData[2 + i] = Wire.receive(); + i2cRxData[2 + i] = Wire.read(); } // send slave address, register and received bytes Firmata.sendSysex(I2C_REPLY, numBytes + 2, i2cRxData); @@ -95,7 +106,7 @@ void sysexCallback(byte command, byte argc, byte *argv) Wire.beginTransmission(slaveAddress); for (byte i = 2; i < argc; i += 2) { data = argv[i] + (argv[i + 1] << 7); - Wire.send(data); + Wire.write(data); } Wire.endTransmission(); delayMicroseconds(70); // TODO is this needed? diff --git a/libraries/Firmata/examples/OldStandardFirmata/OldStandardFirmata.pde b/libraries/Firmata/examples/OldStandardFirmata/OldStandardFirmata.ino index 56a47ac..d306c70 100644 --- a/libraries/Firmata/examples/OldStandardFirmata/OldStandardFirmata.pde +++ b/libraries/Firmata/examples/OldStandardFirmata/OldStandardFirmata.ino @@ -1,4 +1,15 @@ /* + * Firmata is a generic protocol for communicating with microcontrollers + * from software on a host computer. It is intended to work with + * any host computer software package. + * + * To download a host software package, please clink on the following link + * to open the download page in your default browser. + * + * http://firmata.org/wiki/Download + */ + +/* Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights reserved. This library is free software; you can redistribute it and/or diff --git a/libraries/Firmata/examples/ServoFirmata/Makefile b/libraries/Firmata/examples/ServoFirmata/Makefile deleted file mode 100644 index e968c0a..0000000 --- a/libraries/Firmata/examples/ServoFirmata/Makefile +++ /dev/null @@ -1,263 +0,0 @@ -# Arduino makefile -# -# This makefile allows you to build sketches from the command line -# without the Arduino environment (or Java). -# -# The Arduino environment does preliminary processing on a sketch before -# compiling it. If you're using this makefile instead, you'll need to do -# a few things differently: -# -# - Give your program's file a .cpp extension (e.g. foo.cpp). -# -# - Put this line at top of your code: #include <WProgram.h> -# -# - Write prototypes for all your functions (or define them before you -# call them). A prototype declares the types of parameters a -# function will take and what type of value it will return. This -# means that you can have a call to a function before the definition -# of the function. A function prototype looks like the first line of -# the function, with a semi-colon at the end. For example: -# int digitalRead(int pin); -# -# Instructions for using the makefile: -# -# 1. Copy this file into the folder with your sketch. -# -# 2. Below, modify the line containing "TARGET" to refer to the name of -# of your program's file without an extension (e.g. TARGET = foo). -# -# 3. Modify the line containg "ARDUINO" to point the directory that -# contains the Arduino core (for normal Arduino installations, this -# is the hardware/cores/arduino sub-directory). -# -# 4. Modify the line containing "PORT" to refer to the filename -# representing the USB or serial connection to your Arduino board -# (e.g. PORT = /dev/tty.USB0). If the exact name of this file -# changes, you can use * as a wildcard (e.g. PORT = /dev/tty.USB*). -# -# 5. At the command line, change to the directory containing your -# program's file and the makefile. -# -# 6. Type "make" and press enter to compile/verify your program. -# -# 7. Type "make upload", reset your Arduino board, and press enter to -# upload your program to the Arduino board. -# -# $Id: Makefile,v 1.7 2007/04/13 05:28:23 eighthave Exp $ - -PORT = /dev/tty.usbserial-* -TARGET := $(shell pwd | sed 's|.*/\(.*\)|\1|') -ARDUINO = /Applications/arduino -ARDUINO_SRC = $(ARDUINO)/hardware/cores/arduino -ARDUINO_LIB_SRC = $(ARDUINO)/hardware/libraries -INCLUDE = -I$(ARDUINO_SRC) -I$(ARDUINO)/hardware/tools/avr/avr/include \ - -I$(ARDUINO_LIB_SRC)/EEPROM \ - -I$(ARDUINO_LIB_SRC)/Firmata \ - -I$(ARDUINO_LIB_SRC)/Servo \ - -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)/WMath.cpp -HEADERS = $(wildcard $(ARDUINO_SRC)/*.h) $(wildcard $(ARDUINO_LIB_SRC)/*/*.h) - -MCU = atmega168 -#MCU = atmega8 -F_CPU = 16000000 -FORMAT = ihex -UPLOAD_RATE = 19200 - -# Name of this Makefile (used for "make depend"). -MAKEFILE = Makefile - -# Debugging format. -# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2. -# AVR (extended) COFF requires stabs, plus an avr-objcopy run. -DEBUG = stabs - -OPT = s - -# Place -D or -U options here -CDEFS = -DF_CPU=$(F_CPU) -CXXDEFS = -DF_CPU=$(F_CPU) - -# Compiler flag to set the C Standard level. -# c89 - "ANSI" C -# gnu89 - c89 plus GCC extensions -# c99 - ISO C99 standard (not yet fully implemented) -# gnu99 - c99 plus GCC extensions -CSTANDARD = -std=gnu99 -CDEBUG = -g$(DEBUG) -CWARN = -Wall -Wstrict-prototypes -CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -#CEXTRA = -Wa,-adhlns=$(<:.c=.lst) - -CFLAGS = $(CDEBUG) $(CDEFS) $(INCLUDE) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA) -CXXFLAGS = $(CDEFS) $(INCLUDE) -O$(OPT) -#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs -LDFLAGS = - - -# Programming support using avrdude. Settings and variables. -AVRDUDE_PROGRAMMER = stk500 -AVRDUDE_PORT = $(PORT) -AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex -AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \ - -b $(UPLOAD_RATE) -q -V - -# Program settings -CC = avr-gcc -CXX = avr-g++ -OBJCOPY = avr-objcopy -OBJDUMP = avr-objdump -SIZE = avr-size -NM = avr-nm -AVRDUDE = avrdude -REMOVE = rm -f -MV = mv -f - -# Define all object files. -OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o) - -# Define all listing files. -LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst) - -# Combine all necessary flags and optional flags. -# Add target processor to flags. -ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) -ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS) -ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) - - -# Default target. -all: build - -build: applet/$(TARGET).hex - -eep: applet/$(TARGET).eep -lss: applet/$(TARGET).lss -sym: applet/$(TARGET).sym - - -# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. -COFFCONVERT=$(OBJCOPY) --debugging \ ---change-section-address .data-0x800000 \ ---change-section-address .bss-0x800000 \ ---change-section-address .noinit-0x800000 \ ---change-section-address .eeprom-0x810000 - - -coff: applet/$(TARGET).elf - $(COFFCONVERT) -O coff-avr applet/$(TARGET).elf applet/$(TARGET).cof - - -extcoff: applet/$(TARGET).elf - $(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf applet/$(TARGET).cof - - -.SUFFIXES: .elf .hex .eep .lss .sym .pde - -.elf.hex: - $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ - -.elf.eep: - -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ - --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ - -# Create extended listing file from ELF output file. -.elf.lss: - $(OBJDUMP) -h -S $< > $@ - -# Create a symbol table from ELF output file. -.elf.sym: - $(NM) -n $< > $@ - - -# Compile: create object files from C++ source files. -.cpp.o: $(HEADERS) - $(CXX) -c $(ALL_CXXFLAGS) $< -o $@ - -# Compile: create object files from C source files. -.c.o: $(HEADERS) - $(CC) -c $(ALL_CFLAGS) $< -o $@ - - -# Compile: create assembler files from C source files. -.c.s: - $(CC) -S $(ALL_CFLAGS) $< -o $@ - - -# Assemble: create object files from assembler source files. -.S.o: - $(CC) -c $(ALL_ASFLAGS) $< -o $@ - - - -applet/$(TARGET).cpp: $(TARGET).pde - test -d applet || mkdir applet - echo '#include "WProgram.h"' > applet/$(TARGET).cpp - echo '#include "avr/interrupt.h"' >> applet/$(TARGET).cpp - sed -n 's|^\(void .*)\).*|\1;|p' $(TARGET).pde | grep -v 'setup()' | \ - grep -v 'loop()' >> applet/$(TARGET).cpp - cat $(TARGET).pde >> applet/$(TARGET).cpp - cat $(ARDUINO_SRC)/main.cxx >> applet/$(TARGET).cpp - -# Link: create ELF output file from object files. -applet/$(TARGET).elf: applet/$(TARGET).cpp $(OBJ) - $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) - -pd_close_serial: - echo 'close;' | /Applications/Pd-extended.app/Contents/Resources/bin/pdsend 34567 || true - -# Program the device. -upload: applet/$(TARGET).hex - $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) - - -pd_test: build pd_close_serial upload - -# Target: clean project. -clean: - $(REMOVE) -- applet/$(TARGET).hex applet/$(TARGET).eep \ - applet/$(TARGET).cof applet/$(TARGET).elf $(TARGET).map \ - applet/$(TARGET).sym applet/$(TARGET).lss applet/$(TARGET).cpp \ - $(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d) - rmdir -- applet - -depend: - if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \ - then \ - sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \ - $(MAKEFILE).$$$$ && \ - $(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \ - fi - echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \ - >> $(MAKEFILE); \ - $(CC) -M -mmcu=$(MCU) $(CDEFS) $(INCLUDE) $(SRC) $(ASRC) >> $(MAKEFILE) - -.PHONY: all build eep lss sym coff extcoff clean depend pd_close_serial pd_test - -# for emacs -etags: - make etags_`uname -s` - etags *.pde \ - $(ARDUINO_SRC)/*.[ch] \ - $(ARDUINO_SRC)/*.cpp \ - $(ARDUINO_LIB_SRC)/*/*.[ch] \ - $(ARDUINO_LIB_SRC)/*/*.cpp \ - $(ARDUINO)/hardware/tools/avr/avr/include/avr/*.[ch] \ - $(ARDUINO)/hardware/tools/avr/avr/include/*.[ch] - -etags_Darwin: -# etags -a - -etags_Linux: -# etags -a /usr/include/*.h linux/input.h /usr/include/sys/*.h - -etags_MINGW: -# etags -a /usr/include/*.h /usr/include/sys/*.h - - - diff --git a/libraries/Firmata/examples/ServoFirmata/ServoFirmata.pde b/libraries/Firmata/examples/ServoFirmata/ServoFirmata.ino index 6f78ccd..cdcfff0 100644 --- a/libraries/Firmata/examples/ServoFirmata/ServoFirmata.pde +++ b/libraries/Firmata/examples/ServoFirmata/ServoFirmata.ino @@ -1,3 +1,14 @@ +/* + * 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 * diff --git a/libraries/Firmata/examples/SimpleAnalogFirmata/Makefile b/libraries/Firmata/examples/SimpleAnalogFirmata/Makefile deleted file mode 100644 index e968c0a..0000000 --- a/libraries/Firmata/examples/SimpleAnalogFirmata/Makefile +++ /dev/null @@ -1,263 +0,0 @@ -# Arduino makefile -# -# This makefile allows you to build sketches from the command line -# without the Arduino environment (or Java). -# -# The Arduino environment does preliminary processing on a sketch before -# compiling it. If you're using this makefile instead, you'll need to do -# a few things differently: -# -# - Give your program's file a .cpp extension (e.g. foo.cpp). -# -# - Put this line at top of your code: #include <WProgram.h> -# -# - Write prototypes for all your functions (or define them before you -# call them). A prototype declares the types of parameters a -# function will take and what type of value it will return. This -# means that you can have a call to a function before the definition -# of the function. A function prototype looks like the first line of -# the function, with a semi-colon at the end. For example: -# int digitalRead(int pin); -# -# Instructions for using the makefile: -# -# 1. Copy this file into the folder with your sketch. -# -# 2. Below, modify the line containing "TARGET" to refer to the name of -# of your program's file without an extension (e.g. TARGET = foo). -# -# 3. Modify the line containg "ARDUINO" to point the directory that -# contains the Arduino core (for normal Arduino installations, this -# is the hardware/cores/arduino sub-directory). -# -# 4. Modify the line containing "PORT" to refer to the filename -# representing the USB or serial connection to your Arduino board -# (e.g. PORT = /dev/tty.USB0). If the exact name of this file -# changes, you can use * as a wildcard (e.g. PORT = /dev/tty.USB*). -# -# 5. At the command line, change to the directory containing your -# program's file and the makefile. -# -# 6. Type "make" and press enter to compile/verify your program. -# -# 7. Type "make upload", reset your Arduino board, and press enter to -# upload your program to the Arduino board. -# -# $Id: Makefile,v 1.7 2007/04/13 05:28:23 eighthave Exp $ - -PORT = /dev/tty.usbserial-* -TARGET := $(shell pwd | sed 's|.*/\(.*\)|\1|') -ARDUINO = /Applications/arduino -ARDUINO_SRC = $(ARDUINO)/hardware/cores/arduino -ARDUINO_LIB_SRC = $(ARDUINO)/hardware/libraries -INCLUDE = -I$(ARDUINO_SRC) -I$(ARDUINO)/hardware/tools/avr/avr/include \ - -I$(ARDUINO_LIB_SRC)/EEPROM \ - -I$(ARDUINO_LIB_SRC)/Firmata \ - -I$(ARDUINO_LIB_SRC)/Servo \ - -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)/WMath.cpp -HEADERS = $(wildcard $(ARDUINO_SRC)/*.h) $(wildcard $(ARDUINO_LIB_SRC)/*/*.h) - -MCU = atmega168 -#MCU = atmega8 -F_CPU = 16000000 -FORMAT = ihex -UPLOAD_RATE = 19200 - -# Name of this Makefile (used for "make depend"). -MAKEFILE = Makefile - -# Debugging format. -# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2. -# AVR (extended) COFF requires stabs, plus an avr-objcopy run. -DEBUG = stabs - -OPT = s - -# Place -D or -U options here -CDEFS = -DF_CPU=$(F_CPU) -CXXDEFS = -DF_CPU=$(F_CPU) - -# Compiler flag to set the C Standard level. -# c89 - "ANSI" C -# gnu89 - c89 plus GCC extensions -# c99 - ISO C99 standard (not yet fully implemented) -# gnu99 - c99 plus GCC extensions -CSTANDARD = -std=gnu99 -CDEBUG = -g$(DEBUG) -CWARN = -Wall -Wstrict-prototypes -CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -#CEXTRA = -Wa,-adhlns=$(<:.c=.lst) - -CFLAGS = $(CDEBUG) $(CDEFS) $(INCLUDE) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA) -CXXFLAGS = $(CDEFS) $(INCLUDE) -O$(OPT) -#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs -LDFLAGS = - - -# Programming support using avrdude. Settings and variables. -AVRDUDE_PROGRAMMER = stk500 -AVRDUDE_PORT = $(PORT) -AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex -AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \ - -b $(UPLOAD_RATE) -q -V - -# Program settings -CC = avr-gcc -CXX = avr-g++ -OBJCOPY = avr-objcopy -OBJDUMP = avr-objdump -SIZE = avr-size -NM = avr-nm -AVRDUDE = avrdude -REMOVE = rm -f -MV = mv -f - -# Define all object files. -OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o) - -# Define all listing files. -LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst) - -# Combine all necessary flags and optional flags. -# Add target processor to flags. -ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) -ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS) -ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) - - -# Default target. -all: build - -build: applet/$(TARGET).hex - -eep: applet/$(TARGET).eep -lss: applet/$(TARGET).lss -sym: applet/$(TARGET).sym - - -# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. -COFFCONVERT=$(OBJCOPY) --debugging \ ---change-section-address .data-0x800000 \ ---change-section-address .bss-0x800000 \ ---change-section-address .noinit-0x800000 \ ---change-section-address .eeprom-0x810000 - - -coff: applet/$(TARGET).elf - $(COFFCONVERT) -O coff-avr applet/$(TARGET).elf applet/$(TARGET).cof - - -extcoff: applet/$(TARGET).elf - $(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf applet/$(TARGET).cof - - -.SUFFIXES: .elf .hex .eep .lss .sym .pde - -.elf.hex: - $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ - -.elf.eep: - -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ - --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ - -# Create extended listing file from ELF output file. -.elf.lss: - $(OBJDUMP) -h -S $< > $@ - -# Create a symbol table from ELF output file. -.elf.sym: - $(NM) -n $< > $@ - - -# Compile: create object files from C++ source files. -.cpp.o: $(HEADERS) - $(CXX) -c $(ALL_CXXFLAGS) $< -o $@ - -# Compile: create object files from C source files. -.c.o: $(HEADERS) - $(CC) -c $(ALL_CFLAGS) $< -o $@ - - -# Compile: create assembler files from C source files. -.c.s: - $(CC) -S $(ALL_CFLAGS) $< -o $@ - - -# Assemble: create object files from assembler source files. -.S.o: - $(CC) -c $(ALL_ASFLAGS) $< -o $@ - - - -applet/$(TARGET).cpp: $(TARGET).pde - test -d applet || mkdir applet - echo '#include "WProgram.h"' > applet/$(TARGET).cpp - echo '#include "avr/interrupt.h"' >> applet/$(TARGET).cpp - sed -n 's|^\(void .*)\).*|\1;|p' $(TARGET).pde | grep -v 'setup()' | \ - grep -v 'loop()' >> applet/$(TARGET).cpp - cat $(TARGET).pde >> applet/$(TARGET).cpp - cat $(ARDUINO_SRC)/main.cxx >> applet/$(TARGET).cpp - -# Link: create ELF output file from object files. -applet/$(TARGET).elf: applet/$(TARGET).cpp $(OBJ) - $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) - -pd_close_serial: - echo 'close;' | /Applications/Pd-extended.app/Contents/Resources/bin/pdsend 34567 || true - -# Program the device. -upload: applet/$(TARGET).hex - $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) - - -pd_test: build pd_close_serial upload - -# Target: clean project. -clean: - $(REMOVE) -- applet/$(TARGET).hex applet/$(TARGET).eep \ - applet/$(TARGET).cof applet/$(TARGET).elf $(TARGET).map \ - applet/$(TARGET).sym applet/$(TARGET).lss applet/$(TARGET).cpp \ - $(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d) - rmdir -- applet - -depend: - if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \ - then \ - sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \ - $(MAKEFILE).$$$$ && \ - $(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \ - fi - echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \ - >> $(MAKEFILE); \ - $(CC) -M -mmcu=$(MCU) $(CDEFS) $(INCLUDE) $(SRC) $(ASRC) >> $(MAKEFILE) - -.PHONY: all build eep lss sym coff extcoff clean depend pd_close_serial pd_test - -# for emacs -etags: - make etags_`uname -s` - etags *.pde \ - $(ARDUINO_SRC)/*.[ch] \ - $(ARDUINO_SRC)/*.cpp \ - $(ARDUINO_LIB_SRC)/*/*.[ch] \ - $(ARDUINO_LIB_SRC)/*/*.cpp \ - $(ARDUINO)/hardware/tools/avr/avr/include/avr/*.[ch] \ - $(ARDUINO)/hardware/tools/avr/avr/include/*.[ch] - -etags_Darwin: -# etags -a - -etags_Linux: -# etags -a /usr/include/*.h linux/input.h /usr/include/sys/*.h - -etags_MINGW: -# etags -a /usr/include/*.h /usr/include/sys/*.h - - - diff --git a/libraries/Firmata/examples/SimpleAnalogFirmata/SimpleAnalogFirmata.pde b/libraries/Firmata/examples/SimpleAnalogFirmata/SimpleAnalogFirmata.ino index b505b33..44ea91e 100644 --- a/libraries/Firmata/examples/SimpleAnalogFirmata/SimpleAnalogFirmata.pde +++ b/libraries/Firmata/examples/SimpleAnalogFirmata/SimpleAnalogFirmata.ino @@ -1,3 +1,14 @@ +/* + * 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. diff --git a/libraries/Firmata/examples/SimpleDigitalFirmata/Makefile b/libraries/Firmata/examples/SimpleDigitalFirmata/Makefile deleted file mode 100644 index e968c0a..0000000 --- a/libraries/Firmata/examples/SimpleDigitalFirmata/Makefile +++ /dev/null @@ -1,263 +0,0 @@ -# Arduino makefile -# -# This makefile allows you to build sketches from the command line -# without the Arduino environment (or Java). -# -# The Arduino environment does preliminary processing on a sketch before -# compiling it. If you're using this makefile instead, you'll need to do -# a few things differently: -# -# - Give your program's file a .cpp extension (e.g. foo.cpp). -# -# - Put this line at top of your code: #include <WProgram.h> -# -# - Write prototypes for all your functions (or define them before you -# call them). A prototype declares the types of parameters a -# function will take and what type of value it will return. This -# means that you can have a call to a function before the definition -# of the function. A function prototype looks like the first line of -# the function, with a semi-colon at the end. For example: -# int digitalRead(int pin); -# -# Instructions for using the makefile: -# -# 1. Copy this file into the folder with your sketch. -# -# 2. Below, modify the line containing "TARGET" to refer to the name of -# of your program's file without an extension (e.g. TARGET = foo). -# -# 3. Modify the line containg "ARDUINO" to point the directory that -# contains the Arduino core (for normal Arduino installations, this -# is the hardware/cores/arduino sub-directory). -# -# 4. Modify the line containing "PORT" to refer to the filename -# representing the USB or serial connection to your Arduino board -# (e.g. PORT = /dev/tty.USB0). If the exact name of this file -# changes, you can use * as a wildcard (e.g. PORT = /dev/tty.USB*). -# -# 5. At the command line, change to the directory containing your -# program's file and the makefile. -# -# 6. Type "make" and press enter to compile/verify your program. -# -# 7. Type "make upload", reset your Arduino board, and press enter to -# upload your program to the Arduino board. -# -# $Id: Makefile,v 1.7 2007/04/13 05:28:23 eighthave Exp $ - -PORT = /dev/tty.usbserial-* -TARGET := $(shell pwd | sed 's|.*/\(.*\)|\1|') -ARDUINO = /Applications/arduino -ARDUINO_SRC = $(ARDUINO)/hardware/cores/arduino -ARDUINO_LIB_SRC = $(ARDUINO)/hardware/libraries -INCLUDE = -I$(ARDUINO_SRC) -I$(ARDUINO)/hardware/tools/avr/avr/include \ - -I$(ARDUINO_LIB_SRC)/EEPROM \ - -I$(ARDUINO_LIB_SRC)/Firmata \ - -I$(ARDUINO_LIB_SRC)/Servo \ - -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)/WMath.cpp -HEADERS = $(wildcard $(ARDUINO_SRC)/*.h) $(wildcard $(ARDUINO_LIB_SRC)/*/*.h) - -MCU = atmega168 -#MCU = atmega8 -F_CPU = 16000000 -FORMAT = ihex -UPLOAD_RATE = 19200 - -# Name of this Makefile (used for "make depend"). -MAKEFILE = Makefile - -# Debugging format. -# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2. -# AVR (extended) COFF requires stabs, plus an avr-objcopy run. -DEBUG = stabs - -OPT = s - -# Place -D or -U options here -CDEFS = -DF_CPU=$(F_CPU) -CXXDEFS = -DF_CPU=$(F_CPU) - -# Compiler flag to set the C Standard level. -# c89 - "ANSI" C -# gnu89 - c89 plus GCC extensions -# c99 - ISO C99 standard (not yet fully implemented) -# gnu99 - c99 plus GCC extensions -CSTANDARD = -std=gnu99 -CDEBUG = -g$(DEBUG) -CWARN = -Wall -Wstrict-prototypes -CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -#CEXTRA = -Wa,-adhlns=$(<:.c=.lst) - -CFLAGS = $(CDEBUG) $(CDEFS) $(INCLUDE) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA) -CXXFLAGS = $(CDEFS) $(INCLUDE) -O$(OPT) -#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs -LDFLAGS = - - -# Programming support using avrdude. Settings and variables. -AVRDUDE_PROGRAMMER = stk500 -AVRDUDE_PORT = $(PORT) -AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex -AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \ - -b $(UPLOAD_RATE) -q -V - -# Program settings -CC = avr-gcc -CXX = avr-g++ -OBJCOPY = avr-objcopy -OBJDUMP = avr-objdump -SIZE = avr-size -NM = avr-nm -AVRDUDE = avrdude -REMOVE = rm -f -MV = mv -f - -# Define all object files. -OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o) - -# Define all listing files. -LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst) - -# Combine all necessary flags and optional flags. -# Add target processor to flags. -ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) -ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS) -ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) - - -# Default target. -all: build - -build: applet/$(TARGET).hex - -eep: applet/$(TARGET).eep -lss: applet/$(TARGET).lss -sym: applet/$(TARGET).sym - - -# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. -COFFCONVERT=$(OBJCOPY) --debugging \ ---change-section-address .data-0x800000 \ ---change-section-address .bss-0x800000 \ ---change-section-address .noinit-0x800000 \ ---change-section-address .eeprom-0x810000 - - -coff: applet/$(TARGET).elf - $(COFFCONVERT) -O coff-avr applet/$(TARGET).elf applet/$(TARGET).cof - - -extcoff: applet/$(TARGET).elf - $(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf applet/$(TARGET).cof - - -.SUFFIXES: .elf .hex .eep .lss .sym .pde - -.elf.hex: - $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ - -.elf.eep: - -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ - --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ - -# Create extended listing file from ELF output file. -.elf.lss: - $(OBJDUMP) -h -S $< > $@ - -# Create a symbol table from ELF output file. -.elf.sym: - $(NM) -n $< > $@ - - -# Compile: create object files from C++ source files. -.cpp.o: $(HEADERS) - $(CXX) -c $(ALL_CXXFLAGS) $< -o $@ - -# Compile: create object files from C source files. -.c.o: $(HEADERS) - $(CC) -c $(ALL_CFLAGS) $< -o $@ - - -# Compile: create assembler files from C source files. -.c.s: - $(CC) -S $(ALL_CFLAGS) $< -o $@ - - -# Assemble: create object files from assembler source files. -.S.o: - $(CC) -c $(ALL_ASFLAGS) $< -o $@ - - - -applet/$(TARGET).cpp: $(TARGET).pde - test -d applet || mkdir applet - echo '#include "WProgram.h"' > applet/$(TARGET).cpp - echo '#include "avr/interrupt.h"' >> applet/$(TARGET).cpp - sed -n 's|^\(void .*)\).*|\1;|p' $(TARGET).pde | grep -v 'setup()' | \ - grep -v 'loop()' >> applet/$(TARGET).cpp - cat $(TARGET).pde >> applet/$(TARGET).cpp - cat $(ARDUINO_SRC)/main.cxx >> applet/$(TARGET).cpp - -# Link: create ELF output file from object files. -applet/$(TARGET).elf: applet/$(TARGET).cpp $(OBJ) - $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) - -pd_close_serial: - echo 'close;' | /Applications/Pd-extended.app/Contents/Resources/bin/pdsend 34567 || true - -# Program the device. -upload: applet/$(TARGET).hex - $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) - - -pd_test: build pd_close_serial upload - -# Target: clean project. -clean: - $(REMOVE) -- applet/$(TARGET).hex applet/$(TARGET).eep \ - applet/$(TARGET).cof applet/$(TARGET).elf $(TARGET).map \ - applet/$(TARGET).sym applet/$(TARGET).lss applet/$(TARGET).cpp \ - $(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d) - rmdir -- applet - -depend: - if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \ - then \ - sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \ - $(MAKEFILE).$$$$ && \ - $(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \ - fi - echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \ - >> $(MAKEFILE); \ - $(CC) -M -mmcu=$(MCU) $(CDEFS) $(INCLUDE) $(SRC) $(ASRC) >> $(MAKEFILE) - -.PHONY: all build eep lss sym coff extcoff clean depend pd_close_serial pd_test - -# for emacs -etags: - make etags_`uname -s` - etags *.pde \ - $(ARDUINO_SRC)/*.[ch] \ - $(ARDUINO_SRC)/*.cpp \ - $(ARDUINO_LIB_SRC)/*/*.[ch] \ - $(ARDUINO_LIB_SRC)/*/*.cpp \ - $(ARDUINO)/hardware/tools/avr/avr/include/avr/*.[ch] \ - $(ARDUINO)/hardware/tools/avr/avr/include/*.[ch] - -etags_Darwin: -# etags -a - -etags_Linux: -# etags -a /usr/include/*.h linux/input.h /usr/include/sys/*.h - -etags_MINGW: -# etags -a /usr/include/*.h /usr/include/sys/*.h - - - diff --git a/libraries/Firmata/examples/SimpleDigitalFirmata/SimpleDigitalFirmata.pde b/libraries/Firmata/examples/SimpleDigitalFirmata/SimpleDigitalFirmata.ino index 64b566e..a0d764f 100644 --- a/libraries/Firmata/examples/SimpleDigitalFirmata/SimpleDigitalFirmata.pde +++ b/libraries/Firmata/examples/SimpleDigitalFirmata/SimpleDigitalFirmata.ino @@ -1,3 +1,14 @@ +/* + * 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. @@ -52,7 +63,7 @@ void loop() byte i; for (i=0; i<TOTAL_PORTS; i++) { - outputPort(i, readPort(i)); + outputPort(i, readPort(i, 0xff)); } while(Firmata.available()) { diff --git a/libraries/Firmata/examples/StandardFirmata/Makefile b/libraries/Firmata/examples/StandardFirmata/Makefile deleted file mode 100644 index 835187a..0000000 --- a/libraries/Firmata/examples/StandardFirmata/Makefile +++ /dev/null @@ -1,273 +0,0 @@ -# Arduino makefile -# -# This makefile allows you to build sketches from the command line -# without the Arduino environment (or Java). -# -# The Arduino environment does preliminary processing on a sketch before -# compiling it. If you're using this makefile instead, you'll need to do -# a few things differently: -# -# - Give your program's file a .cpp extension (e.g. foo.cpp). -# -# - Put this line at top of your code: #include <WProgram.h> -# -# - Write prototypes for all your functions (or define them before you -# call them). A prototype declares the types of parameters a -# function will take and what type of value it will return. This -# means that you can have a call to a function before the definition -# of the function. A function prototype looks like the first line of -# the function, with a semi-colon at the end. For example: -# int digitalRead(int pin); -# -# Instructions for using the makefile: -# -# 1. Copy this file into the folder with your sketch. -# -# 2. Below, modify the line containing "TARGET" to refer to the name of -# of your program's file without an extension (e.g. TARGET = foo). -# -# 3. Modify the line containg "ARDUINO" to point the directory that -# contains the Arduino core (for normal Arduino installations, this -# is the hardware/cores/arduino sub-directory). -# -# 4. Modify the line containing "PORT" to refer to the filename -# representing the USB or serial connection to your Arduino board -# (e.g. PORT = /dev/tty.USB0). If the exact name of this file -# changes, you can use * as a wildcard (e.g. PORT = /dev/tty.USB*). -# -# 5. At the command line, change to the directory containing your -# program's file and the makefile. -# -# 6. Type "make" and press enter to compile/verify your program. -# -# 7. Type "make upload", reset your Arduino board, and press enter to -# upload your program to the Arduino board. -# -# $Id: Makefile,v 1.7 2007/04/13 05:28:23 eighthave Exp $ - -PORT = /dev/tty.usbserial-* -TARGET := $(shell pwd | sed 's|.*/\(.*\)|\1|') -ARDUINO = /Applications/arduino -ARDUINO_SRC = $(ARDUINO)/hardware/cores/arduino -ARDUINO_LIB_SRC = $(ARDUINO)/hardware/libraries -ARDUINO_TOOLS = $(ARDUINO)/hardware/tools -INCLUDE = -I$(ARDUINO_SRC) -I$(ARDUINO)/hardware/tools/avr/avr/include \ - -I$(ARDUINO_LIB_SRC)/EEPROM \ - -I$(ARDUINO_LIB_SRC)/Firmata \ - -I$(ARDUINO_LIB_SRC)/Matrix \ - -I$(ARDUINO_LIB_SRC)/Servo \ - -I$(ARDUINO_LIB_SRC)/Wire \ - -I$(ARDUINO_LIB_SRC) -SRC = $(wildcard $(ARDUINO_SRC)/*.c) -CXXSRC = applet/$(TARGET).cpp $(ARDUINO_SRC)/HardwareSerial.cpp \ - $(ARDUINO_LIB_SRC)/EEPROM/EEPROM.cpp \ - $(ARDUINO_LIB_SRC)/Firmata/Firmata.cpp \ - $(ARDUINO_LIB_SRC)/Servo/Servo.cpp \ - $(ARDUINO_SRC)/Print.cpp \ - $(ARDUINO_SRC)/WMath.cpp -HEADERS = $(wildcard $(ARDUINO_SRC)/*.h) $(wildcard $(ARDUINO_LIB_SRC)/*/*.h) - -MCU = atmega168 -#MCU = atmega8 -F_CPU = 16000000 -FORMAT = ihex -UPLOAD_RATE = 19200 - -# Name of this Makefile (used for "make depend"). -MAKEFILE = Makefile - -# Debugging format. -# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2. -# AVR (extended) COFF requires stabs, plus an avr-objcopy run. -DEBUG = stabs - -OPT = s - -# Place -D or -U options here -CDEFS = -DF_CPU=$(F_CPU) -CXXDEFS = -DF_CPU=$(F_CPU) - -# Compiler flag to set the C Standard level. -# c89 - "ANSI" C -# gnu89 - c89 plus GCC extensions -# c99 - ISO C99 standard (not yet fully implemented) -# gnu99 - c99 plus GCC extensions -CSTANDARD = -std=gnu99 -CDEBUG = -g$(DEBUG) -CWARN = -Wall -Wstrict-prototypes -CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -#CEXTRA = -Wa,-adhlns=$(<:.c=.lst) - -CFLAGS = $(CDEBUG) $(CDEFS) $(INCLUDE) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA) -CXXFLAGS = $(CDEFS) $(INCLUDE) -O$(OPT) -#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs -LDFLAGS = - - -# Programming support using avrdude. Settings and variables. -AVRDUDE_PROGRAMMER = stk500 -AVRDUDE_PORT = $(PORT) -AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex -AVRDUDE_FLAGS = -F -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \ - -b $(UPLOAD_RATE) -q -V - -# Program settings -ARDUINO_AVR_BIN = $(ARDUINO_TOOLS)/avr/bin -CC = $(ARDUINO_AVR_BIN)/avr-gcc -CXX = $(ARDUINO_AVR_BIN)/avr-g++ -OBJCOPY = $(ARDUINO_AVR_BIN)/avr-objcopy -OBJDUMP = $(ARDUINO_AVR_BIN)/avr-objdump -SIZE = $(ARDUINO_AVR_BIN)/avr-size -NM = $(ARDUINO_AVR_BIN)/avr-nm -#AVRDUDE = $(ARDUINO_AVR_BIN)/avrdude -AVRDUDE = avrdude -REMOVE = rm -f -MV = mv -f - -# Define all object files. -OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o) - -# Define all listing files. -LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst) - -# Combine all necessary flags and optional flags. -# Add target processor to flags. -ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) -ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS) -ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) - - -# Default target. -all: build - -build: applet/$(TARGET).hex - -eep: applet/$(TARGET).eep -lss: applet/$(TARGET).lss -sym: applet/$(TARGET).sym - - -# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. -COFFCONVERT=$(OBJCOPY) --debugging \ ---change-section-address .data-0x800000 \ ---change-section-address .bss-0x800000 \ ---change-section-address .noinit-0x800000 \ ---change-section-address .eeprom-0x810000 - - -coff: applet/$(TARGET).elf - $(COFFCONVERT) -O coff-avr applet/$(TARGET).elf applet/$(TARGET).cof - - -extcoff: applet/$(TARGET).elf - $(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf applet/$(TARGET).cof - - -.SUFFIXES: .elf .hex .eep .lss .sym .pde - -.elf.hex: - $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ - -.elf.eep: - -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ - --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ - -# Create extended listing file from ELF output file. -.elf.lss: - $(OBJDUMP) -h -S $< > $@ - -# Create a symbol table from ELF output file. -.elf.sym: - $(NM) -n $< > $@ - - -# Compile: create object files from C++ source files. -.cpp.o: $(HEADERS) - $(CXX) -c $(ALL_CXXFLAGS) $< -o $@ - -# Compile: create object files from C source files. -.c.o: $(HEADERS) - $(CC) -c $(ALL_CFLAGS) $< -o $@ - - -# Compile: create assembler files from C source files. -.c.s: - $(CC) -S $(ALL_CFLAGS) $< -o $@ - - -# Assemble: create object files from assembler source files. -.S.o: - $(CC) -c $(ALL_ASFLAGS) $< -o $@ - - - -applet/$(TARGET).cpp: $(TARGET).pde - test -d applet || mkdir applet - echo '#include "WProgram.h"' > applet/$(TARGET).cpp - echo '#include "avr/interrupt.h"' >> applet/$(TARGET).cpp - sed -n 's|^\(void .*)\).*|\1;|p' $(TARGET).pde | grep -v 'setup()' | \ - grep -v 'loop()' >> applet/$(TARGET).cpp - cat $(TARGET).pde >> applet/$(TARGET).cpp - cat $(ARDUINO_SRC)/main.cxx >> applet/$(TARGET).cpp - -# Link: create ELF output file from object files. -applet/$(TARGET).elf: applet/$(TARGET).cpp $(OBJ) - $(CC) $(ALL_CFLAGS) $(OBJ) -lm --output $@ $(LDFLAGS) -# $(CC) $(ALL_CFLAGS) $(OBJ) $(ARDUINO_TOOLS)/avr/avr/lib/avr5/crtm168.o --output $@ $(LDFLAGS) - -pd_close_serial: - echo 'close;' | /Applications/Pd-extended.app/Contents/Resources/bin/pdsend 34567 || true - -# Program the device. -upload: applet/$(TARGET).hex - $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) - - -pd_test: build pd_close_serial upload - -# Target: clean project. -clean: - $(REMOVE) -- applet/$(TARGET).hex applet/$(TARGET).eep \ - applet/$(TARGET).cof applet/$(TARGET).elf $(TARGET).map \ - applet/$(TARGET).sym applet/$(TARGET).lss applet/$(TARGET).cpp \ - $(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d) - rmdir -- applet - -depend: - if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \ - then \ - sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \ - $(MAKEFILE).$$$$ && \ - $(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \ - fi - echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \ - >> $(MAKEFILE); \ - $(CC) -M -mmcu=$(MCU) $(CDEFS) $(INCLUDE) $(SRC) $(ASRC) >> $(MAKEFILE) - -.PHONY: all build eep lss sym coff extcoff clean depend pd_close_serial pd_test - -# for emacs -etags: - make etags_`uname -s` - etags *.pde \ - $(ARDUINO_SRC)/*.[ch] \ - $(ARDUINO_SRC)/*.cpp \ - $(ARDUINO_LIB_SRC)/*/*.[ch] \ - $(ARDUINO_LIB_SRC)/*/*.cpp \ - $(ARDUINO)/hardware/tools/avr/avr/include/avr/*.[ch] \ - $(ARDUINO)/hardware/tools/avr/avr/include/*.[ch] - -etags_Darwin: -# etags -a - -etags_Linux: -# etags -a /usr/include/*.h linux/input.h /usr/include/sys/*.h - -etags_MINGW: -# etags -a /usr/include/*.h /usr/include/sys/*.h - - -path: - echo $(PATH) - echo $$PATH - diff --git a/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde b/libraries/Firmata/examples/StandardFirmata/StandardFirmata.ino index cd43366..1a987ee 100644 --- a/libraries/Firmata/examples/StandardFirmata/StandardFirmata.pde +++ b/libraries/Firmata/examples/StandardFirmata/StandardFirmata.ino @@ -1,5 +1,19 @@ /* + * Firmata is a generic protocol for communicating with microcontrollers + * from software on a host computer. It is intended to work with + * any host computer software package. + * + * To download a host software package, please clink on the following link + * to open the download page in your default browser. + * + * http://firmata.org/wiki/Download + */ + +/* Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights reserved. + Copyright (C) 2010-2011 Paul Stoffregen. All rights reserved. + Copyright (C) 2009 Shigeru Kobayashi. All rights reserved. + Copyright (C) 2009-2011 Jeff Hoefs. All rights reserved. This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public @@ -16,8 +30,22 @@ */ #include <Servo.h> +#include <Wire.h> #include <Firmata.h> +// move the following defines to Firmata.h? +#define I2C_WRITE B00000000 +#define I2C_READ B00001000 +#define I2C_READ_CONTINUOUSLY B00010000 +#define I2C_STOP_READING B00011000 +#define I2C_READ_WRITE_MODE_MASK B00011000 +#define I2C_10BIT_ADDRESS_MODE_MASK B00100000 + +#define MAX_QUERIES 8 +#define MINIMUM_SAMPLING_INTERVAL 10 + +#define REGISTER_NOT_SPECIFIED -1 + /*============================================================================== * GLOBAL VARIABLES *============================================================================*/ @@ -39,12 +67,69 @@ unsigned long currentMillis; // store the current value from millis() unsigned long previousMillis; // for comparison with currentMillis int samplingInterval = 19; // how often to run the main loop (in ms) -Servo servos[MAX_SERVOS]; +/* i2c data */ +struct i2c_device_info { + byte addr; + byte reg; + byte bytes; +}; + +/* for i2c read continuous more */ +i2c_device_info query[MAX_QUERIES]; + +byte i2cRxData[32]; +boolean isI2CEnabled = false; +signed char queryIndex = -1; +unsigned int i2cReadDelayTime = 0; // default delay time between i2c read request and Wire.requestFrom() +Servo servos[MAX_SERVOS]; /*============================================================================== * FUNCTIONS *============================================================================*/ +void readAndReportData(byte address, int theRegister, byte numBytes) { + // allow I2C requests that don't require a register read + // for example, some devices using an interrupt pin to signify new data available + // do not always require the register read so upon interrupt you call Wire.requestFrom() + if (theRegister != REGISTER_NOT_SPECIFIED) { + Wire.beginTransmission(address); + #if ARDUINO >= 100 + Wire.write((byte)theRegister); + #else + Wire.send((byte)theRegister); + #endif + Wire.endTransmission(); + delayMicroseconds(i2cReadDelayTime); // delay is necessary for some devices such as WiiNunchuck + } else { + theRegister = 0; // fill the register with a dummy value + } + + Wire.requestFrom(address, numBytes); // all bytes are returned in requestFrom + + // check to be sure correct number of bytes were returned by slave + if(numBytes == Wire.available()) { + i2cRxData[0] = address; + i2cRxData[1] = theRegister; + for (int i = 0; i < numBytes; i++) { + #if ARDUINO >= 100 + i2cRxData[2 + i] = Wire.read(); + #else + i2cRxData[2 + i] = Wire.receive(); + #endif + } + } + else { + if(numBytes > Wire.available()) { + Firmata.sendString("I2C Read Error: Too many bytes received"); + } else { + Firmata.sendString("I2C Read Error: Too few bytes received"); + } + } + + // send slave address, register and received bytes + Firmata.sendSysex(SYSEX_I2C_REPLY, numBytes + 2, i2cRxData); +} + void outputPort(byte portNumber, byte portValue, byte forceSend) { // pins not configured as INPUT are cleared to zeros @@ -88,6 +173,11 @@ void checkDigitalInputs(void) */ void setPinModeCallback(byte pin, int mode) { + if (pinConfig[pin] == I2C && isI2CEnabled && mode != I2C) { + // disable i2c so pins can be used for other functions + // the following if statements should reconfigure the pins properly + disableI2CPins(); + } if (IS_PIN_SERVO(pin) && mode != SERVO && servos[PIN_TO_SERVO(pin)].attached()) { servos[PIN_TO_SERVO(pin)].detach(); } @@ -138,14 +228,15 @@ void setPinModeCallback(byte pin, int mode) pinConfig[pin] = SERVO; if (!servos[PIN_TO_SERVO(pin)].attached()) { servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin)); - } else { - Firmata.sendString("Servo only on pins from 2 to 13"); } } break; case I2C: - pinConfig[pin] = mode; - Firmata.sendString("I2C mode not yet supported"); + if (IS_PIN_I2C(pin)) { + // mark the pin as i2c + // the user must call I2C_CONFIG to enable I2C for a device + pinConfig[pin] = I2C; + } break; default: Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM @@ -232,7 +323,104 @@ void reportDigitalCallback(byte port, int value) void sysexCallback(byte command, byte argc, byte *argv) { + byte mode; + byte slaveAddress; + byte slaveRegister; + byte data; + unsigned int delayTime; + switch(command) { + case I2C_REQUEST: + mode = argv[1] & I2C_READ_WRITE_MODE_MASK; + if (argv[1] & I2C_10BIT_ADDRESS_MODE_MASK) { + Firmata.sendString("10-bit addressing mode is not yet supported"); + return; + } + else { + slaveAddress = argv[0]; + } + + switch(mode) { + case I2C_WRITE: + Wire.beginTransmission(slaveAddress); + for (byte i = 2; i < argc; i += 2) { + data = argv[i] + (argv[i + 1] << 7); + #if ARDUINO >= 100 + Wire.write(data); + #else + Wire.send(data); + #endif + } + Wire.endTransmission(); + delayMicroseconds(70); + break; + case I2C_READ: + if (argc == 6) { + // a slave register is specified + slaveRegister = argv[2] + (argv[3] << 7); + data = argv[4] + (argv[5] << 7); // bytes to read + readAndReportData(slaveAddress, (int)slaveRegister, data); + } + else { + // a slave register is NOT specified + data = argv[2] + (argv[3] << 7); // bytes to read + readAndReportData(slaveAddress, (int)REGISTER_NOT_SPECIFIED, data); + } + break; + case I2C_READ_CONTINUOUSLY: + if ((queryIndex + 1) >= MAX_QUERIES) { + // too many queries, just ignore + Firmata.sendString("too many queries"); + break; + } + queryIndex++; + query[queryIndex].addr = slaveAddress; + query[queryIndex].reg = argv[2] + (argv[3] << 7); + query[queryIndex].bytes = argv[4] + (argv[5] << 7); + break; + case I2C_STOP_READING: + byte queryIndexToSkip; + // if read continuous mode is enabled for only 1 i2c device, disable + // read continuous reporting for that device + if (queryIndex <= 0) { + queryIndex = -1; + } else { + // if read continuous mode is enabled for multiple devices, + // determine which device to stop reading and remove it's data from + // the array, shifiting other array data to fill the space + for (byte i = 0; i < queryIndex + 1; i++) { + if (query[i].addr = slaveAddress) { + queryIndexToSkip = i; + break; + } + } + + for (byte i = queryIndexToSkip; i<queryIndex + 1; i++) { + if (i < MAX_QUERIES) { + query[i].addr = query[i+1].addr; + query[i].reg = query[i+1].addr; + query[i].bytes = query[i+1].bytes; + } + } + queryIndex--; + } + break; + default: + break; + } + break; + case I2C_CONFIG: + delayTime = (argv[0] + (argv[1] << 7)); + + if(delayTime > 0) { + i2cReadDelayTime = delayTime; + } + + if (!isI2CEnabled) { + enableI2CPins(); + } + + break; case SERVO_CONFIG: if(argc > 4) { // these vars are here for clarity, they'll optimized away by the compiler @@ -241,7 +429,6 @@ void sysexCallback(byte command, byte argc, byte *argv) int maxPulse = argv[3] + (argv[4] << 7); if (IS_PIN_SERVO(pin)) { - // servos are pins from 2 to 13, so offset for array if (servos[PIN_TO_SERVO(pin)].attached()) servos[PIN_TO_SERVO(pin)].detach(); servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse); @@ -250,10 +437,14 @@ void sysexCallback(byte command, byte argc, byte *argv) } break; case SAMPLING_INTERVAL: - if (argc > 1) + if (argc > 1) { samplingInterval = argv[0] + (argv[1] << 7); - else - Firmata.sendString("Not enough data"); + if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) { + samplingInterval = MINIMUM_SAMPLING_INTERVAL; + } + } else { + //Firmata.sendString("Not enough data"); + } break; case EXTENDED_ANALOG: if (argc > 1) { @@ -285,6 +476,10 @@ void sysexCallback(byte command, byte argc, byte *argv) Serial.write(SERVO); Serial.write(14); } + if (IS_PIN_I2C(pin)) { + Serial.write(I2C); + Serial.write(1); // to do: determine appropriate value + } Serial.write(127); } Serial.write(END_SYSEX); @@ -315,33 +510,52 @@ void sysexCallback(byte command, byte argc, byte *argv) } } - -/*============================================================================== - * SETUP() - *============================================================================*/ -void setup() +void enableI2CPins() { byte i; + // is there a faster way to do this? would probaby require importing + // Arduino.h to get SCL and SDA pins + for (i=0; i < TOTAL_PINS; i++) { + if(IS_PIN_I2C(i)) { + // mark pins as i2c so they are ignore in non i2c data requests + setPinModeCallback(i, I2C); + } + } + + isI2CEnabled = true; + + // is there enough time before the first I2C request to call this here? + Wire.begin(); +} - Firmata.setFirmwareVersion(2, 2); - - Firmata.attach(ANALOG_MESSAGE, analogWriteCallback); - Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback); - Firmata.attach(REPORT_ANALOG, reportAnalogCallback); - Firmata.attach(REPORT_DIGITAL, reportDigitalCallback); - Firmata.attach(SET_PIN_MODE, setPinModeCallback); - Firmata.attach(START_SYSEX, sysexCallback); +/* disable the i2c pins so they can be used for other functions */ +void disableI2CPins() { + isI2CEnabled = false; + // disable read continuous mode for all devices + queryIndex = -1; + // uncomment the following if or when the end() method is added to Wire library + // Wire.end(); +} - // TODO: load state from EEPROM here +/*============================================================================== + * SETUP() + *============================================================================*/ - /* these are initialized to zero by the compiler startup code - for (i=0; i < TOTAL_PORTS; i++) { - reportPINs[i] = false; - portConfigInputs[i] = 0; +void systemResetCallback() +{ + // initialize a defalt state + // TODO: option to load config from EEPROM instead of default + if (isI2CEnabled) { + disableI2CPins(); + } + for (byte i=0; i < TOTAL_PORTS; i++) { + reportPINs[i] = false; // by default, reporting off + portConfigInputs[i] = 0; // until activated previousPINs[i] = 0; } - */ - for (i=0; i < TOTAL_PINS; i++) { + // pins with analog capability default to analog input + // otherwise, pins default to digital output + for (byte i=0; i < TOTAL_PINS; i++) { if (IS_PIN_ANALOG(i)) { // turns off pullup, configures everything setPinModeCallback(i, ANALOG); @@ -350,16 +564,34 @@ void setup() setPinModeCallback(i, OUTPUT); } } - // by defult, do not report any analog inputs + // by default, do not report any analog inputs analogInputsToReport = 0; - Firmata.begin(57600); - /* send digital inputs to set the initial state on the host computer, * since once in the loop(), this firmware will only send on change */ - for (i=0; i < TOTAL_PORTS; i++) { + /* + TODO: this can never execute, since no pins default to digital input + but it will be needed when/if we support EEPROM stored config + for (byte i=0; i < TOTAL_PORTS; i++) { outputPort(i, readPort(i, portConfigInputs[i]), true); } + */ +} + +void setup() +{ + Firmata.setFirmwareVersion(FIRMATA_MAJOR_VERSION, FIRMATA_MINOR_VERSION); + + Firmata.attach(ANALOG_MESSAGE, analogWriteCallback); + Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback); + Firmata.attach(REPORT_ANALOG, reportAnalogCallback); + Firmata.attach(REPORT_DIGITAL, reportDigitalCallback); + Firmata.attach(SET_PIN_MODE, setPinModeCallback); + Firmata.attach(START_SYSEX, sysexCallback); + Firmata.attach(SYSTEM_RESET, systemResetCallback); + + Firmata.begin(57600); + systemResetCallback(); // reset to default config } /*============================================================================== @@ -394,5 +626,11 @@ void loop() } } } + // report i2c data for all device with read continuous mode enabled + if (queryIndex > -1) { + for (byte i = 0; i < queryIndex + 1; i++) { + readAndReportData(query[i].addr, query[i].reg, query[i].bytes); + } + } } } diff --git a/libraries/Firmata/examples/StandardFirmata_2_2_forUNO_0_3/StandardFirmata_2_2_forUNO_0_3.pde b/libraries/Firmata/examples/StandardFirmata_2_2_forUNO_0_3/StandardFirmata_2_2_forUNO_0_3.pde deleted file mode 100644 index 4cfa658..0000000 --- a/libraries/Firmata/examples/StandardFirmata_2_2_forUNO_0_3/StandardFirmata_2_2_forUNO_0_3.pde +++ /dev/null @@ -1,436 +0,0 @@ -/* - This introduces modifications on the normal Firmata made for Arduino so that the LED - blinks until receiving the first command over serial. - - Copyright (C) 2010 David Cuartielles. All rights reserved. - - based at 99.9% on Firmata by HC Steiner according to the following license terms: - - 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: use Program Control to load stored profiles from EEPROM - */ - -#include <Servo.h> -#include <Firmata.h> - -/*============================================================================== - * GLOBAL VARIABLES - *============================================================================*/ - -/* has the command arrived? */ -boolean firstCommand = false; -int dataOnSerial = 0; -boolean statusLed = false; - -/* 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) -unsigned long toggleMillis; - -Servo servos[MAX_SERVOS]; - -/*============================================================================== - * FUNCTIONS - *============================================================================*/ - -void toggleLed() -{ - if (millis() - toggleMillis > 500) { - statusLed = !statusLed; - digitalWrite(13, statusLed); - toggleMillis = millis(); - } -} - -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 (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)); - } else { - Firmata.sendString("Servo only on pins from 2 to 13"); - } - } - break; - case I2C: - pinConfig[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) -{ - 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) -{ - 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]; - int minPulse = argv[1] + (argv[2] << 7); - int maxPulse = argv[3] + (argv[4] << 7); - - if (IS_PIN_SERVO(pin)) { - // servos are pins from 2 to 13, so offset for array - if (servos[PIN_TO_SERVO(pin)].attached()) - servos[PIN_TO_SERVO(pin)].detach(); - servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse); - setPinModeCallback(pin, SERVO); - } - } - break; - case SAMPLING_INTERVAL: - if (argc > 1) - samplingInterval = argv[0] + (argv[1] << 7); - 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); - } - 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; - } -} - -/*============================================================================== - * SETUP() - *============================================================================*/ -void setup() -{ - byte i; - - Firmata.setFirmwareVersion(2, 2); - - Firmata.attach(ANALOG_MESSAGE, analogWriteCallback); - Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback); - Firmata.attach(REPORT_ANALOG, reportAnalogCallback); - Firmata.attach(REPORT_DIGITAL, reportDigitalCallback); - Firmata.attach(SET_PIN_MODE, setPinModeCallback); - Firmata.attach(START_SYSEX, sysexCallback); - - // TODO: load state from EEPROM here - - /* these are initialized to zero by the compiler startup code - for (i=0; i < TOTAL_PORTS; i++) { - reportPINs[i] = false; - portConfigInputs[i] = 0; - previousPINs[i] = 0; - } - */ - for (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 defult, do not report any analog inputs - analogInputsToReport = 0; - - Firmata.begin(57600); - - /* send digital inputs to set the initial state on the host computer, - * since once in the loop(), this firmware will only send on change */ - for (i=0; i < TOTAL_PORTS; i++) { - outputPort(i, readPort(i, portConfigInputs[i]), true); - } - - /* init the toggleLed counter */ - toggleMillis = millis(); - pinMode(13, OUTPUT); -} - -/*============================================================================== - * 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(); - - //XXX: hack Firmata to blink until serial command arrives - dataOnSerial = Firmata.available(); - if (dataOnSerial > 0 && !firstCommand) { - firstCommand = true; - } - //XXX: do the blink if the first command hasn't arrived yet - // configures pin 13 as output and then back as input - if (!firstCommand) { - toggleLed(); - } - - /* SERIALREAD - processing incoming messagse as soon as possible, while still - * checking digital inputs. */ - while(dataOnSerial) { - Firmata.processInput(); - dataOnSerial = Firmata.available(); - } - - /* 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)); - } - } - } - } -} |