[136] | 1 | /*
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| 2 | * Firmata is a generic protocol for communicating with microcontrollers
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| 3 | * from software on a host computer. It is intended to work with
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| 4 | * any host computer software package.
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| 5 | *
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| 6 | * To download a host software package, please clink on the following link
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| 7 | * to open the download page in your default browser.
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| 8 | *
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| 9 | * http://firmata.org/wiki/Download
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| 10 | */
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| 11 |
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| 12 | /*
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| 13 | * This firmware reads all inputs and sends them as fast as it can. It was
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| 14 | * inspired by the ease-of-use of the Arduino2Max program.
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| 15 | *
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| 16 | * This example code is in the public domain.
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| 17 | */
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| 18 | #include <Firmata.h>
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| 19 |
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| 20 | byte pin;
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| 21 |
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| 22 | int analogValue;
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| 23 | int previousAnalogValues[TOTAL_ANALOG_PINS];
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| 24 |
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| 25 | byte portStatus[TOTAL_PORTS]; // each bit: 1=pin is digital input, 0=other/ignore
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| 26 | byte previousPINs[TOTAL_PORTS];
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| 27 |
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| 28 | /* timer variables */
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| 29 | unsigned long currentMillis; // store the current value from millis()
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| 30 | unsigned long previousMillis; // for comparison with currentMillis
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| 31 | /* make sure that the FTDI buffer doesn't go over 60 bytes, otherwise you
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| 32 | get long, random delays. So only read analogs every 20ms or so */
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| 33 | int samplingInterval = 19; // how often to run the main loop (in ms)
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| 34 |
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| 35 | void sendPort(byte portNumber, byte portValue)
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| 36 | {
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| 37 | portValue = portValue & portStatus[portNumber];
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| 38 | if (previousPINs[portNumber] != portValue) {
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| 39 | Firmata.sendDigitalPort(portNumber, portValue);
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| 40 | previousPINs[portNumber] = portValue;
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| 41 | }
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| 42 | }
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| 43 |
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| 44 | void setup()
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| 45 | {
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| 46 | byte i, port, status;
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| 47 |
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| 48 | Firmata.setFirmwareVersion(0, 1);
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| 49 |
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| 50 | for (pin = 0; pin < TOTAL_PINS; pin++) {
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| 51 | if IS_PIN_DIGITAL(pin) pinMode(PIN_TO_DIGITAL(pin), INPUT);
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| 52 | }
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| 53 |
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| 54 | for (port = 0; port < TOTAL_PORTS; port++) {
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| 55 | status = 0;
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| 56 | for (i = 0; i < 8; i++) {
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| 57 | if (IS_PIN_DIGITAL(port * 8 + i)) status |= (1 << i);
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| 58 | }
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| 59 | portStatus[port] = status;
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| 60 | }
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| 61 |
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| 62 | Firmata.begin(57600);
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| 63 | }
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| 64 |
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| 65 | void loop()
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| 66 | {
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| 67 | byte i;
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| 68 |
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| 69 | for (i = 0; i < TOTAL_PORTS; i++) {
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| 70 | sendPort(i, readPort(i, 0xff));
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| 71 | }
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| 72 | /* make sure that the FTDI buffer doesn't go over 60 bytes, otherwise you
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| 73 | get long, random delays. So only read analogs every 20ms or so */
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| 74 | currentMillis = millis();
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| 75 | if (currentMillis - previousMillis > samplingInterval) {
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| 76 | previousMillis += samplingInterval;
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| 77 | while (Firmata.available()) {
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| 78 | Firmata.processInput();
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| 79 | }
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| 80 | for (pin = 0; pin < TOTAL_ANALOG_PINS; pin++) {
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| 81 | analogValue = analogRead(pin);
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| 82 | if (analogValue != previousAnalogValues[pin]) {
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| 83 | Firmata.sendAnalog(pin, analogValue);
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| 84 | previousAnalogValues[pin] = analogValue;
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| 85 | }
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| 86 | }
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| 87 | }
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| 88 | }
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| 89 |
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| 90 |
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