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 list of Firmata client libraries your default browser.
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8 |
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9 | https://github.com/firmata/arduino#firmata-client-libraries
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10 |
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11 | Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights reserved.
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12 | Copyright (C) 2010-2011 Paul Stoffregen. All rights reserved.
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13 | Copyright (C) 2009 Shigeru Kobayashi. All rights reserved.
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14 | Copyright (C) 2009-2016 Jeff Hoefs. All rights reserved.
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15 |
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16 | This library is free software; you can redistribute it and/or
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17 | modify it under the terms of the GNU Lesser General Public
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18 | License as published by the Free Software Foundation; either
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19 | version 2.1 of the License, or (at your option) any later version.
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20 |
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21 | See file LICENSE.txt for further informations on licensing terms.
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22 |
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23 | Last updated by Jeff Hoefs: January 10th, 2016
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24 | */
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25 |
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26 | #include <Servo.h>
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27 | #include <Wire.h>
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28 | #include <Firmata.h>
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29 |
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30 | #define I2C_WRITE B00000000
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31 | #define I2C_READ B00001000
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32 | #define I2C_READ_CONTINUOUSLY B00010000
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33 | #define I2C_STOP_READING B00011000
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34 | #define I2C_READ_WRITE_MODE_MASK B00011000
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35 | #define I2C_10BIT_ADDRESS_MODE_MASK B00100000
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36 | #define I2C_END_TX_MASK B01000000
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37 | #define I2C_STOP_TX 1
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38 | #define I2C_RESTART_TX 0
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39 | #define I2C_MAX_QUERIES 8
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40 | #define I2C_REGISTER_NOT_SPECIFIED -1
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41 |
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42 | // the minimum interval for sampling analog input
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43 | #define MINIMUM_SAMPLING_INTERVAL 1
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44 |
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45 |
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46 | /*==============================================================================
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47 | * GLOBAL VARIABLES
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48 | *============================================================================*/
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49 |
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50 | #ifdef FIRMATA_SERIAL_FEATURE
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51 | SerialFirmata serialFeature;
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52 | #endif
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53 |
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54 | /* analog inputs */
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55 | int analogInputsToReport = 0; // bitwise array to store pin reporting
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56 |
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57 | /* digital input ports */
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58 | byte reportPINs[TOTAL_PORTS]; // 1 = report this port, 0 = silence
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59 | byte previousPINs[TOTAL_PORTS]; // previous 8 bits sent
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60 |
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61 | /* pins configuration */
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62 | byte portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else
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63 |
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64 | /* timer variables */
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65 | unsigned long currentMillis; // store the current value from millis()
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66 | unsigned long previousMillis; // for comparison with currentMillis
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67 | unsigned int samplingInterval = 19; // how often to run the main loop (in ms)
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68 |
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69 | /* i2c data */
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70 | struct i2c_device_info {
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71 | byte addr;
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72 | int reg;
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73 | byte bytes;
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74 | byte stopTX;
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75 | };
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76 |
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77 | /* for i2c read continuous more */
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78 | i2c_device_info query[I2C_MAX_QUERIES];
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79 |
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80 | byte i2cRxData[64];
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81 | boolean isI2CEnabled = false;
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82 | signed char queryIndex = -1;
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83 | // default delay time between i2c read request and Wire.requestFrom()
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84 | unsigned int i2cReadDelayTime = 0;
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85 |
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86 | Servo servos[MAX_SERVOS];
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87 | byte servoPinMap[TOTAL_PINS];
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88 | byte detachedServos[MAX_SERVOS];
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89 | byte detachedServoCount = 0;
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90 | byte servoCount = 0;
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91 |
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92 | boolean isResetting = false;
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93 |
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94 |
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95 | /* utility functions */
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96 | void wireWrite(byte data)
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97 | {
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98 | #if ARDUINO >= 100
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99 | Wire.write((byte)data);
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100 | #else
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101 | Wire.send(data);
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102 | #endif
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103 | }
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104 |
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105 | byte wireRead(void)
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106 | {
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107 | #if ARDUINO >= 100
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108 | return Wire.read();
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109 | #else
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110 | return Wire.receive();
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111 | #endif
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112 | }
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113 |
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114 | /*==============================================================================
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115 | * FUNCTIONS
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116 | *============================================================================*/
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117 |
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118 | void attachServo(byte pin, int minPulse, int maxPulse)
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119 | {
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120 | if (servoCount < MAX_SERVOS) {
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121 | // reuse indexes of detached servos until all have been reallocated
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122 | if (detachedServoCount > 0) {
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123 | servoPinMap[pin] = detachedServos[detachedServoCount - 1];
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124 | if (detachedServoCount > 0) detachedServoCount--;
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125 | } else {
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126 | servoPinMap[pin] = servoCount;
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127 | servoCount++;
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128 | }
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129 | if (minPulse > 0 && maxPulse > 0) {
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130 | servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse);
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131 | } else {
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132 | servos[servoPinMap[pin]].attach(PIN_TO_DIGITAL(pin));
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133 | }
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134 | } else {
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135 | Firmata.sendString("Max servos attached");
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136 | }
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137 | }
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138 |
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139 | void detachServo(byte pin)
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140 | {
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141 | servos[servoPinMap[pin]].detach();
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142 | // if we're detaching the last servo, decrement the count
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143 | // otherwise store the index of the detached servo
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144 | if (servoPinMap[pin] == servoCount && servoCount > 0) {
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145 | servoCount--;
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146 | } else if (servoCount > 0) {
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147 | // keep track of detached servos because we want to reuse their indexes
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148 | // before incrementing the count of attached servos
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149 | detachedServoCount++;
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150 | detachedServos[detachedServoCount - 1] = servoPinMap[pin];
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151 | }
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152 |
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153 | servoPinMap[pin] = 255;
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154 | }
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155 |
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156 | void readAndReportData(byte address, int theRegister, byte numBytes, byte stopTX) {
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157 | // allow I2C requests that don't require a register read
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158 | // for example, some devices using an interrupt pin to signify new data available
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159 | // do not always require the register read so upon interrupt you call Wire.requestFrom()
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160 | if (theRegister != I2C_REGISTER_NOT_SPECIFIED) {
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161 | Wire.beginTransmission(address);
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162 | wireWrite((byte)theRegister);
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163 | Wire.endTransmission(stopTX); // default = true
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164 | // do not set a value of 0
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165 | if (i2cReadDelayTime > 0) {
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166 | // delay is necessary for some devices such as WiiNunchuck
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167 | delayMicroseconds(i2cReadDelayTime);
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168 | }
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169 | } else {
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170 | theRegister = 0; // fill the register with a dummy value
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171 | }
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172 |
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173 | Wire.requestFrom(address, numBytes); // all bytes are returned in requestFrom
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174 |
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175 | // check to be sure correct number of bytes were returned by slave
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176 | if (numBytes < Wire.available()) {
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177 | Firmata.sendString("I2C: Too many bytes received");
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178 | } else if (numBytes > Wire.available()) {
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179 | Firmata.sendString("I2C: Too few bytes received");
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180 | }
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181 |
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182 | i2cRxData[0] = address;
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183 | i2cRxData[1] = theRegister;
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184 |
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185 | for (int i = 0; i < numBytes && Wire.available(); i++) {
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186 | i2cRxData[2 + i] = wireRead();
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187 | }
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188 |
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189 | // send slave address, register and received bytes
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190 | Firmata.sendSysex(SYSEX_I2C_REPLY, numBytes + 2, i2cRxData);
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191 | }
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192 |
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193 | void outputPort(byte portNumber, byte portValue, byte forceSend)
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194 | {
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195 | // pins not configured as INPUT are cleared to zeros
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196 | portValue = portValue & portConfigInputs[portNumber];
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197 | // only send if the value is different than previously sent
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198 | if (forceSend || previousPINs[portNumber] != portValue) {
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199 | Firmata.sendDigitalPort(portNumber, portValue);
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200 | previousPINs[portNumber] = portValue;
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201 | }
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202 | }
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203 |
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204 | /* -----------------------------------------------------------------------------
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205 | * check all the active digital inputs for change of state, then add any events
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206 | * to the Serial output queue using Serial.print() */
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207 | void checkDigitalInputs(void)
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208 | {
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209 | /* Using non-looping code allows constants to be given to readPort().
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210 | * The compiler will apply substantial optimizations if the inputs
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211 | * to readPort() are compile-time constants. */
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212 | if (TOTAL_PORTS > 0 && reportPINs[0]) outputPort(0, readPort(0, portConfigInputs[0]), false);
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213 | if (TOTAL_PORTS > 1 && reportPINs[1]) outputPort(1, readPort(1, portConfigInputs[1]), false);
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214 | if (TOTAL_PORTS > 2 && reportPINs[2]) outputPort(2, readPort(2, portConfigInputs[2]), false);
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215 | if (TOTAL_PORTS > 3 && reportPINs[3]) outputPort(3, readPort(3, portConfigInputs[3]), false);
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216 | if (TOTAL_PORTS > 4 && reportPINs[4]) outputPort(4, readPort(4, portConfigInputs[4]), false);
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217 | if (TOTAL_PORTS > 5 && reportPINs[5]) outputPort(5, readPort(5, portConfigInputs[5]), false);
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218 | if (TOTAL_PORTS > 6 && reportPINs[6]) outputPort(6, readPort(6, portConfigInputs[6]), false);
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219 | if (TOTAL_PORTS > 7 && reportPINs[7]) outputPort(7, readPort(7, portConfigInputs[7]), false);
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220 | if (TOTAL_PORTS > 8 && reportPINs[8]) outputPort(8, readPort(8, portConfigInputs[8]), false);
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221 | if (TOTAL_PORTS > 9 && reportPINs[9]) outputPort(9, readPort(9, portConfigInputs[9]), false);
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222 | if (TOTAL_PORTS > 10 && reportPINs[10]) outputPort(10, readPort(10, portConfigInputs[10]), false);
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223 | if (TOTAL_PORTS > 11 && reportPINs[11]) outputPort(11, readPort(11, portConfigInputs[11]), false);
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224 | if (TOTAL_PORTS > 12 && reportPINs[12]) outputPort(12, readPort(12, portConfigInputs[12]), false);
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225 | if (TOTAL_PORTS > 13 && reportPINs[13]) outputPort(13, readPort(13, portConfigInputs[13]), false);
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226 | if (TOTAL_PORTS > 14 && reportPINs[14]) outputPort(14, readPort(14, portConfigInputs[14]), false);
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227 | if (TOTAL_PORTS > 15 && reportPINs[15]) outputPort(15, readPort(15, portConfigInputs[15]), false);
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228 | }
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229 |
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230 | // -----------------------------------------------------------------------------
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231 |
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232 | /* disable the i2c pins so they can be used for other functions */
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233 | void disableI2CPins() {
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234 | isI2CEnabled = false;
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235 | // disable read continuous mode for all devices
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236 | queryIndex = -1;
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237 | }
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238 |
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239 | /* sets bits in a bit array (int) to toggle the reporting of the analogIns
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240 | */
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241 | //void FirmataClass::setAnalogPinReporting(byte pin, byte state) {
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242 | //}
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243 | void reportAnalogCallback(byte analogPin, int value)
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244 | {
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245 | if (analogPin < TOTAL_ANALOG_PINS) {
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246 | if (value == 0) {
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247 | analogInputsToReport = analogInputsToReport & ~ (1 << analogPin);
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248 | } else {
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249 | analogInputsToReport = analogInputsToReport | (1 << analogPin);
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250 | // prevent during system reset or all analog pin values will be reported
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251 | // which may report noise for unconnected analog pins
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252 | if (!isResetting) {
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253 | // Send pin value immediately. This is helpful when connected via
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254 | // ethernet, wi-fi or bluetooth so pin states can be known upon
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255 | // reconnecting.
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256 | Firmata.sendAnalog(analogPin, analogRead(analogPin));
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257 | }
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258 | }
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259 | }
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260 | // TODO: save status to EEPROM here, if changed
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261 | }
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262 |
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263 | // -----------------------------------------------------------------------------
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264 | /* sets the pin mode to the correct state and sets the relevant bits in the
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265 | * two bit-arrays that track Digital I/O and PWM status
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266 | */
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267 | void setPinModeCallback(byte pin, int mode)
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268 | {
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269 | if (Firmata.getPinMode(pin) == PIN_MODE_IGNORE)
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270 | return;
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271 |
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272 | if (Firmata.getPinMode(pin) == PIN_MODE_I2C && isI2CEnabled && mode != PIN_MODE_I2C) {
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273 | // disable i2c so pins can be used for other functions
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274 | // the following if statements should reconfigure the pins properly
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275 | disableI2CPins();
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276 | }
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277 | if (IS_PIN_DIGITAL(pin) && mode != PIN_MODE_SERVO) {
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278 | if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) {
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279 | detachServo(pin);
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280 | }
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281 | }
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282 | if (IS_PIN_ANALOG(pin)) {
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283 | reportAnalogCallback(PIN_TO_ANALOG(pin), mode == PIN_MODE_ANALOG ? 1 : 0); // turn on/off reporting
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284 | }
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285 | if (IS_PIN_DIGITAL(pin)) {
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286 | if (mode == INPUT || mode == PIN_MODE_PULLUP) {
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287 | portConfigInputs[pin / 8] |= (1 << (pin & 7));
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288 | } else {
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289 | portConfigInputs[pin / 8] &= ~(1 << (pin & 7));
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290 | }
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291 | }
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292 | Firmata.setPinState(pin, 0);
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293 | switch (mode) {
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294 | case PIN_MODE_ANALOG:
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295 | if (IS_PIN_ANALOG(pin)) {
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296 | if (IS_PIN_DIGITAL(pin)) {
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297 | pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
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298 | #if ARDUINO <= 100
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299 | // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6
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300 | digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
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301 | #endif
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302 | }
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303 | Firmata.setPinMode(pin, PIN_MODE_ANALOG);
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304 | }
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305 | break;
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306 | case INPUT:
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307 | if (IS_PIN_DIGITAL(pin)) {
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308 | pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
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309 | #if ARDUINO <= 100
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310 | // deprecated since Arduino 1.0.1 - TODO: drop support in Firmata 2.6
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311 | digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
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312 | #endif
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313 | Firmata.setPinMode(pin, INPUT);
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314 | }
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315 | break;
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316 | case PIN_MODE_PULLUP:
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317 | if (IS_PIN_DIGITAL(pin)) {
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318 | pinMode(PIN_TO_DIGITAL(pin), INPUT_PULLUP);
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319 | Firmata.setPinMode(pin, PIN_MODE_PULLUP);
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320 | Firmata.setPinState(pin, 1);
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321 | }
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322 | break;
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323 | case OUTPUT:
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324 | if (IS_PIN_DIGITAL(pin)) {
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325 | digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable PWM
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326 | pinMode(PIN_TO_DIGITAL(pin), OUTPUT);
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327 | Firmata.setPinMode(pin, OUTPUT);
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328 | }
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329 | break;
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330 | case PIN_MODE_PWM:
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331 | if (IS_PIN_PWM(pin)) {
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332 | pinMode(PIN_TO_PWM(pin), OUTPUT);
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333 | analogWrite(PIN_TO_PWM(pin), 0);
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334 | Firmata.setPinMode(pin, PIN_MODE_PWM);
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335 | }
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336 | break;
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337 | case PIN_MODE_SERVO:
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338 | if (IS_PIN_DIGITAL(pin)) {
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339 | Firmata.setPinMode(pin, PIN_MODE_SERVO);
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340 | if (servoPinMap[pin] == 255 || !servos[servoPinMap[pin]].attached()) {
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341 | // pass -1 for min and max pulse values to use default values set
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342 | // by Servo library
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343 | attachServo(pin, -1, -1);
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344 | }
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345 | }
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346 | break;
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347 | case PIN_MODE_I2C:
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348 | if (IS_PIN_I2C(pin)) {
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349 | // mark the pin as i2c
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350 | // the user must call I2C_CONFIG to enable I2C for a device
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351 | Firmata.setPinMode(pin, PIN_MODE_I2C);
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352 | }
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353 | break;
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354 | case PIN_MODE_SERIAL:
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355 | #ifdef FIRMATA_SERIAL_FEATURE
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356 | serialFeature.handlePinMode(pin, PIN_MODE_SERIAL);
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357 | #endif
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358 | break;
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359 | default:
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360 | Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM
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361 | }
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362 | // TODO: save status to EEPROM here, if changed
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363 | }
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364 |
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365 | /*
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366 | * Sets the value of an individual pin. Useful if you want to set a pin value but
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367 | * are not tracking the digital port state.
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368 | * Can only be used on pins configured as OUTPUT.
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369 | * Cannot be used to enable pull-ups on Digital INPUT pins.
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370 | */
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371 | void setPinValueCallback(byte pin, int value)
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372 | {
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373 | if (pin < TOTAL_PINS && IS_PIN_DIGITAL(pin)) {
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374 | if (Firmata.getPinMode(pin) == OUTPUT) {
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375 | Firmata.setPinState(pin, value);
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376 | digitalWrite(PIN_TO_DIGITAL(pin), value);
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377 | }
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378 | }
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379 | }
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380 |
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381 | void analogWriteCallback(byte pin, int value)
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382 | {
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383 | if (pin < TOTAL_PINS) {
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384 | switch (Firmata.getPinMode(pin)) {
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385 | case PIN_MODE_SERVO:
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386 | if (IS_PIN_DIGITAL(pin))
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387 | servos[servoPinMap[pin]].write(value);
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388 | Firmata.setPinState(pin, value);
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389 | break;
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390 | case PIN_MODE_PWM:
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391 | if (IS_PIN_PWM(pin))
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392 | analogWrite(PIN_TO_PWM(pin), value);
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393 | Firmata.setPinState(pin, value);
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394 | break;
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395 | }
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396 | }
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397 | }
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398 |
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399 | void digitalWriteCallback(byte port, int value)
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400 | {
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401 | byte pin, lastPin, pinValue, mask = 1, pinWriteMask = 0;
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402 |
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403 | if (port < TOTAL_PORTS) {
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404 | // create a mask of the pins on this port that are writable.
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405 | lastPin = port * 8 + 8;
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406 | if (lastPin > TOTAL_PINS) lastPin = TOTAL_PINS;
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407 | for (pin = port * 8; pin < lastPin; pin++) {
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408 | // do not disturb non-digital pins (eg, Rx & Tx)
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409 | if (IS_PIN_DIGITAL(pin)) {
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410 | // do not touch pins in PWM, ANALOG, SERVO or other modes
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411 | if (Firmata.getPinMode(pin) == OUTPUT || Firmata.getPinMode(pin) == INPUT) {
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412 | pinValue = ((byte)value & mask) ? 1 : 0;
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413 | if (Firmata.getPinMode(pin) == OUTPUT) {
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414 | pinWriteMask |= mask;
|
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415 | } else if (Firmata.getPinMode(pin) == INPUT && pinValue == 1 && Firmata.getPinState(pin) != 1) {
|
---|
416 | // only handle INPUT here for backwards compatibility
|
---|
417 | #if ARDUINO > 100
|
---|
418 | pinMode(pin, INPUT_PULLUP);
|
---|
419 | #else
|
---|
420 | // only write to the INPUT pin to enable pullups if Arduino v1.0.0 or earlier
|
---|
421 | pinWriteMask |= mask;
|
---|
422 | #endif
|
---|
423 | }
|
---|
424 | Firmata.setPinState(pin, pinValue);
|
---|
425 | }
|
---|
426 | }
|
---|
427 | mask = mask << 1;
|
---|
428 | }
|
---|
429 | writePort(port, (byte)value, pinWriteMask);
|
---|
430 | }
|
---|
431 | }
|
---|
432 |
|
---|
433 |
|
---|
434 | // -----------------------------------------------------------------------------
|
---|
435 |
|
---|
436 | void reportDigitalCallback(byte port, int value)
|
---|
437 | {
|
---|
438 | if (port < TOTAL_PORTS) {
|
---|
439 | reportPINs[port] = (byte)value;
|
---|
440 | // Send port value immediately. This is helpful when connected via
|
---|
441 | // ethernet, wi-fi or bluetooth so pin states can be known upon
|
---|
442 | // reconnecting.
|
---|
443 | if (value) outputPort(port, readPort(port, portConfigInputs[port]), true);
|
---|
444 | }
|
---|
445 | // do not disable analog reporting on these 8 pins, to allow some
|
---|
446 | // pins used for digital, others analog. Instead, allow both types
|
---|
447 | // of reporting to be enabled, but check if the pin is configured
|
---|
448 | // as analog when sampling the analog inputs. Likewise, while
|
---|
449 | // scanning digital pins, portConfigInputs will mask off values from any
|
---|
450 | // pins configured as analog
|
---|
451 | }
|
---|
452 |
|
---|
453 | // -----------------------------------------------------------------------------
|
---|
454 |
|
---|
455 | void enableI2CPins()
|
---|
456 | {
|
---|
457 | byte i;
|
---|
458 | // is there a faster way to do this? would probaby require importing
|
---|
459 | // Arduino.h to get SCL and SDA pins
|
---|
460 | for (i = 0; i < TOTAL_PINS; i++) {
|
---|
461 | if (IS_PIN_I2C(i)) {
|
---|
462 | // mark pins as i2c so they are ignore in non i2c data requests
|
---|
463 | setPinModeCallback(i, PIN_MODE_I2C);
|
---|
464 | }
|
---|
465 | }
|
---|
466 |
|
---|
467 | isI2CEnabled = true;
|
---|
468 |
|
---|
469 | Wire.begin();
|
---|
470 | }
|
---|
471 |
|
---|
472 | /*==============================================================================
|
---|
473 | * SYSEX-BASED commands
|
---|
474 | *============================================================================*/
|
---|
475 |
|
---|
476 | void sysexCallback(byte command, byte argc, byte *argv)
|
---|
477 | {
|
---|
478 | byte mode;
|
---|
479 | byte stopTX;
|
---|
480 | byte slaveAddress;
|
---|
481 | byte data;
|
---|
482 | int slaveRegister;
|
---|
483 | unsigned int delayTime;
|
---|
484 |
|
---|
485 | switch (command) {
|
---|
486 | case I2C_REQUEST:
|
---|
487 | mode = argv[1] & I2C_READ_WRITE_MODE_MASK;
|
---|
488 | if (argv[1] & I2C_10BIT_ADDRESS_MODE_MASK) {
|
---|
489 | Firmata.sendString("10-bit addressing not supported");
|
---|
490 | return;
|
---|
491 | }
|
---|
492 | else {
|
---|
493 | slaveAddress = argv[0];
|
---|
494 | }
|
---|
495 |
|
---|
496 | // need to invert the logic here since 0 will be default for client
|
---|
497 | // libraries that have not updated to add support for restart tx
|
---|
498 | if (argv[1] & I2C_END_TX_MASK) {
|
---|
499 | stopTX = I2C_RESTART_TX;
|
---|
500 | }
|
---|
501 | else {
|
---|
502 | stopTX = I2C_STOP_TX; // default
|
---|
503 | }
|
---|
504 |
|
---|
505 | switch (mode) {
|
---|
506 | case I2C_WRITE:
|
---|
507 | Wire.beginTransmission(slaveAddress);
|
---|
508 | for (byte i = 2; i < argc; i += 2) {
|
---|
509 | data = argv[i] + (argv[i + 1] << 7);
|
---|
510 | wireWrite(data);
|
---|
511 | }
|
---|
512 | Wire.endTransmission();
|
---|
513 | delayMicroseconds(70);
|
---|
514 | break;
|
---|
515 | case I2C_READ:
|
---|
516 | if (argc == 6) {
|
---|
517 | // a slave register is specified
|
---|
518 | slaveRegister = argv[2] + (argv[3] << 7);
|
---|
519 | data = argv[4] + (argv[5] << 7); // bytes to read
|
---|
520 | }
|
---|
521 | else {
|
---|
522 | // a slave register is NOT specified
|
---|
523 | slaveRegister = I2C_REGISTER_NOT_SPECIFIED;
|
---|
524 | data = argv[2] + (argv[3] << 7); // bytes to read
|
---|
525 | }
|
---|
526 | readAndReportData(slaveAddress, (int)slaveRegister, data, stopTX);
|
---|
527 | break;
|
---|
528 | case I2C_READ_CONTINUOUSLY:
|
---|
529 | if ((queryIndex + 1) >= I2C_MAX_QUERIES) {
|
---|
530 | // too many queries, just ignore
|
---|
531 | Firmata.sendString("too many queries");
|
---|
532 | break;
|
---|
533 | }
|
---|
534 | if (argc == 6) {
|
---|
535 | // a slave register is specified
|
---|
536 | slaveRegister = argv[2] + (argv[3] << 7);
|
---|
537 | data = argv[4] + (argv[5] << 7); // bytes to read
|
---|
538 | }
|
---|
539 | else {
|
---|
540 | // a slave register is NOT specified
|
---|
541 | slaveRegister = (int)I2C_REGISTER_NOT_SPECIFIED;
|
---|
542 | data = argv[2] + (argv[3] << 7); // bytes to read
|
---|
543 | }
|
---|
544 | queryIndex++;
|
---|
545 | query[queryIndex].addr = slaveAddress;
|
---|
546 | query[queryIndex].reg = slaveRegister;
|
---|
547 | query[queryIndex].bytes = data;
|
---|
548 | query[queryIndex].stopTX = stopTX;
|
---|
549 | break;
|
---|
550 | case I2C_STOP_READING:
|
---|
551 | byte queryIndexToSkip;
|
---|
552 | // if read continuous mode is enabled for only 1 i2c device, disable
|
---|
553 | // read continuous reporting for that device
|
---|
554 | if (queryIndex <= 0) {
|
---|
555 | queryIndex = -1;
|
---|
556 | } else {
|
---|
557 | queryIndexToSkip = 0;
|
---|
558 | // if read continuous mode is enabled for multiple devices,
|
---|
559 | // determine which device to stop reading and remove it's data from
|
---|
560 | // the array, shifiting other array data to fill the space
|
---|
561 | for (byte i = 0; i < queryIndex + 1; i++) {
|
---|
562 | if (query[i].addr == slaveAddress) {
|
---|
563 | queryIndexToSkip = i;
|
---|
564 | break;
|
---|
565 | }
|
---|
566 | }
|
---|
567 |
|
---|
568 | for (byte i = queryIndexToSkip; i < queryIndex + 1; i++) {
|
---|
569 | if (i < I2C_MAX_QUERIES) {
|
---|
570 | query[i].addr = query[i + 1].addr;
|
---|
571 | query[i].reg = query[i + 1].reg;
|
---|
572 | query[i].bytes = query[i + 1].bytes;
|
---|
573 | query[i].stopTX = query[i + 1].stopTX;
|
---|
574 | }
|
---|
575 | }
|
---|
576 | queryIndex--;
|
---|
577 | }
|
---|
578 | break;
|
---|
579 | default:
|
---|
580 | break;
|
---|
581 | }
|
---|
582 | break;
|
---|
583 | case I2C_CONFIG:
|
---|
584 | delayTime = (argv[0] + (argv[1] << 7));
|
---|
585 |
|
---|
586 | if (delayTime > 0) {
|
---|
587 | i2cReadDelayTime = delayTime;
|
---|
588 | }
|
---|
589 |
|
---|
590 | if (!isI2CEnabled) {
|
---|
591 | enableI2CPins();
|
---|
592 | }
|
---|
593 |
|
---|
594 | break;
|
---|
595 | case SERVO_CONFIG:
|
---|
596 | if (argc > 4) {
|
---|
597 | // these vars are here for clarity, they'll optimized away by the compiler
|
---|
598 | byte pin = argv[0];
|
---|
599 | int minPulse = argv[1] + (argv[2] << 7);
|
---|
600 | int maxPulse = argv[3] + (argv[4] << 7);
|
---|
601 |
|
---|
602 | if (IS_PIN_DIGITAL(pin)) {
|
---|
603 | if (servoPinMap[pin] < MAX_SERVOS && servos[servoPinMap[pin]].attached()) {
|
---|
604 | detachServo(pin);
|
---|
605 | }
|
---|
606 | attachServo(pin, minPulse, maxPulse);
|
---|
607 | setPinModeCallback(pin, PIN_MODE_SERVO);
|
---|
608 | }
|
---|
609 | }
|
---|
610 | break;
|
---|
611 | case SAMPLING_INTERVAL:
|
---|
612 | if (argc > 1) {
|
---|
613 | samplingInterval = argv[0] + (argv[1] << 7);
|
---|
614 | if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) {
|
---|
615 | samplingInterval = MINIMUM_SAMPLING_INTERVAL;
|
---|
616 | }
|
---|
617 | } else {
|
---|
618 | //Firmata.sendString("Not enough data");
|
---|
619 | }
|
---|
620 | break;
|
---|
621 | case EXTENDED_ANALOG:
|
---|
622 | if (argc > 1) {
|
---|
623 | int val = argv[1];
|
---|
624 | if (argc > 2) val |= (argv[2] << 7);
|
---|
625 | if (argc > 3) val |= (argv[3] << 14);
|
---|
626 | analogWriteCallback(argv[0], val);
|
---|
627 | }
|
---|
628 | break;
|
---|
629 | case CAPABILITY_QUERY:
|
---|
630 | Firmata.write(START_SYSEX);
|
---|
631 | Firmata.write(CAPABILITY_RESPONSE);
|
---|
632 | for (byte pin = 0; pin < TOTAL_PINS; pin++) {
|
---|
633 | if (IS_PIN_DIGITAL(pin)) {
|
---|
634 | Firmata.write((byte)INPUT);
|
---|
635 | Firmata.write(1);
|
---|
636 | Firmata.write((byte)PIN_MODE_PULLUP);
|
---|
637 | Firmata.write(1);
|
---|
638 | Firmata.write((byte)OUTPUT);
|
---|
639 | Firmata.write(1);
|
---|
640 | }
|
---|
641 | if (IS_PIN_ANALOG(pin)) {
|
---|
642 | Firmata.write(PIN_MODE_ANALOG);
|
---|
643 | Firmata.write(10); // 10 = 10-bit resolution
|
---|
644 | }
|
---|
645 | if (IS_PIN_PWM(pin)) {
|
---|
646 | Firmata.write(PIN_MODE_PWM);
|
---|
647 | Firmata.write(8); // 8 = 8-bit resolution
|
---|
648 | }
|
---|
649 | if (IS_PIN_DIGITAL(pin)) {
|
---|
650 | Firmata.write(PIN_MODE_SERVO);
|
---|
651 | Firmata.write(14);
|
---|
652 | }
|
---|
653 | if (IS_PIN_I2C(pin)) {
|
---|
654 | Firmata.write(PIN_MODE_I2C);
|
---|
655 | Firmata.write(1); // TODO: could assign a number to map to SCL or SDA
|
---|
656 | }
|
---|
657 | #ifdef FIRMATA_SERIAL_FEATURE
|
---|
658 | serialFeature.handleCapability(pin);
|
---|
659 | #endif
|
---|
660 | Firmata.write(127);
|
---|
661 | }
|
---|
662 | Firmata.write(END_SYSEX);
|
---|
663 | break;
|
---|
664 | case PIN_STATE_QUERY:
|
---|
665 | if (argc > 0) {
|
---|
666 | byte pin = argv[0];
|
---|
667 | Firmata.write(START_SYSEX);
|
---|
668 | Firmata.write(PIN_STATE_RESPONSE);
|
---|
669 | Firmata.write(pin);
|
---|
670 | if (pin < TOTAL_PINS) {
|
---|
671 | Firmata.write(Firmata.getPinMode(pin));
|
---|
672 | Firmata.write((byte)Firmata.getPinState(pin) & 0x7F);
|
---|
673 | if (Firmata.getPinState(pin) & 0xFF80) Firmata.write((byte)(Firmata.getPinState(pin) >> 7) & 0x7F);
|
---|
674 | if (Firmata.getPinState(pin) & 0xC000) Firmata.write((byte)(Firmata.getPinState(pin) >> 14) & 0x7F);
|
---|
675 | }
|
---|
676 | Firmata.write(END_SYSEX);
|
---|
677 | }
|
---|
678 | break;
|
---|
679 | case ANALOG_MAPPING_QUERY:
|
---|
680 | Firmata.write(START_SYSEX);
|
---|
681 | Firmata.write(ANALOG_MAPPING_RESPONSE);
|
---|
682 | for (byte pin = 0; pin < TOTAL_PINS; pin++) {
|
---|
683 | Firmata.write(IS_PIN_ANALOG(pin) ? PIN_TO_ANALOG(pin) : 127);
|
---|
684 | }
|
---|
685 | Firmata.write(END_SYSEX);
|
---|
686 | break;
|
---|
687 |
|
---|
688 | case SERIAL_MESSAGE:
|
---|
689 | #ifdef FIRMATA_SERIAL_FEATURE
|
---|
690 | serialFeature.handleSysex(command, argc, argv);
|
---|
691 | #endif
|
---|
692 | break;
|
---|
693 | }
|
---|
694 | }
|
---|
695 |
|
---|
696 |
|
---|
697 | /*==============================================================================
|
---|
698 | * SETUP()
|
---|
699 | *============================================================================*/
|
---|
700 |
|
---|
701 | void systemResetCallback()
|
---|
702 | {
|
---|
703 | isResetting = true;
|
---|
704 |
|
---|
705 | // initialize a defalt state
|
---|
706 | // TODO: option to load config from EEPROM instead of default
|
---|
707 |
|
---|
708 | #ifdef FIRMATA_SERIAL_FEATURE
|
---|
709 | serialFeature.reset();
|
---|
710 | #endif
|
---|
711 |
|
---|
712 | if (isI2CEnabled) {
|
---|
713 | disableI2CPins();
|
---|
714 | }
|
---|
715 |
|
---|
716 | for (byte i = 0; i < TOTAL_PORTS; i++) {
|
---|
717 | reportPINs[i] = false; // by default, reporting off
|
---|
718 | portConfigInputs[i] = 0; // until activated
|
---|
719 | previousPINs[i] = 0;
|
---|
720 | }
|
---|
721 |
|
---|
722 | for (byte i = 0; i < TOTAL_PINS; i++) {
|
---|
723 | // pins with analog capability default to analog input
|
---|
724 | // otherwise, pins default to digital output
|
---|
725 | if (IS_PIN_ANALOG(i)) {
|
---|
726 | // turns off pullup, configures everything
|
---|
727 | setPinModeCallback(i, PIN_MODE_ANALOG);
|
---|
728 | } else if (IS_PIN_DIGITAL(i)) {
|
---|
729 | // sets the output to 0, configures portConfigInputs
|
---|
730 | setPinModeCallback(i, OUTPUT);
|
---|
731 | }
|
---|
732 |
|
---|
733 | servoPinMap[i] = 255;
|
---|
734 | }
|
---|
735 | // by default, do not report any analog inputs
|
---|
736 | analogInputsToReport = 0;
|
---|
737 |
|
---|
738 | detachedServoCount = 0;
|
---|
739 | servoCount = 0;
|
---|
740 |
|
---|
741 | /* send digital inputs to set the initial state on the host computer,
|
---|
742 | * since once in the loop(), this firmware will only send on change */
|
---|
743 | /*
|
---|
744 | TODO: this can never execute, since no pins default to digital input
|
---|
745 | but it will be needed when/if we support EEPROM stored config
|
---|
746 | for (byte i=0; i < TOTAL_PORTS; i++) {
|
---|
747 | outputPort(i, readPort(i, portConfigInputs[i]), true);
|
---|
748 | }
|
---|
749 | */
|
---|
750 | isResetting = false;
|
---|
751 | }
|
---|
752 |
|
---|
753 | void setup()
|
---|
754 | {
|
---|
755 | Firmata.setFirmwareVersion(FIRMATA_FIRMWARE_MAJOR_VERSION, FIRMATA_FIRMWARE_MINOR_VERSION);
|
---|
756 |
|
---|
757 | Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
|
---|
758 | Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback);
|
---|
759 | Firmata.attach(REPORT_ANALOG, reportAnalogCallback);
|
---|
760 | Firmata.attach(REPORT_DIGITAL, reportDigitalCallback);
|
---|
761 | Firmata.attach(SET_PIN_MODE, setPinModeCallback);
|
---|
762 | Firmata.attach(SET_DIGITAL_PIN_VALUE, setPinValueCallback);
|
---|
763 | Firmata.attach(START_SYSEX, sysexCallback);
|
---|
764 | Firmata.attach(SYSTEM_RESET, systemResetCallback);
|
---|
765 |
|
---|
766 | // to use a port other than Serial, such as Serial1 on an Arduino Leonardo or Mega,
|
---|
767 | // Call begin(baud) on the alternate serial port and pass it to Firmata to begin like this:
|
---|
768 | // Serial1.begin(57600);
|
---|
769 | // Firmata.begin(Serial1);
|
---|
770 | // However do not do this if you are using SERIAL_MESSAGE
|
---|
771 |
|
---|
772 | Firmata.begin(57600);
|
---|
773 | while (!Serial) {
|
---|
774 | ; // wait for serial port to connect. Needed for ATmega32u4-based boards and Arduino 101
|
---|
775 | }
|
---|
776 |
|
---|
777 | systemResetCallback(); // reset to default config
|
---|
778 | }
|
---|
779 |
|
---|
780 | /*==============================================================================
|
---|
781 | * LOOP()
|
---|
782 | *============================================================================*/
|
---|
783 | void loop()
|
---|
784 | {
|
---|
785 | byte pin, analogPin;
|
---|
786 |
|
---|
787 | /* DIGITALREAD - as fast as possible, check for changes and output them to the
|
---|
788 | * FTDI buffer using Serial.print() */
|
---|
789 | checkDigitalInputs();
|
---|
790 |
|
---|
791 | /* STREAMREAD - processing incoming messagse as soon as possible, while still
|
---|
792 | * checking digital inputs. */
|
---|
793 | while (Firmata.available())
|
---|
794 | Firmata.processInput();
|
---|
795 |
|
---|
796 | // TODO - ensure that Stream buffer doesn't go over 60 bytes
|
---|
797 |
|
---|
798 | currentMillis = millis();
|
---|
799 | if (currentMillis - previousMillis > samplingInterval) {
|
---|
800 | previousMillis += samplingInterval;
|
---|
801 | /* ANALOGREAD - do all analogReads() at the configured sampling interval */
|
---|
802 | for (pin = 0; pin < TOTAL_PINS; pin++) {
|
---|
803 | if (IS_PIN_ANALOG(pin) && Firmata.getPinMode(pin) == PIN_MODE_ANALOG) {
|
---|
804 | analogPin = PIN_TO_ANALOG(pin);
|
---|
805 | if (analogInputsToReport & (1 << analogPin)) {
|
---|
806 | Firmata.sendAnalog(analogPin, analogRead(analogPin));
|
---|
807 | }
|
---|
808 | }
|
---|
809 | }
|
---|
810 | // report i2c data for all device with read continuous mode enabled
|
---|
811 | if (queryIndex > -1) {
|
---|
812 | for (byte i = 0; i < queryIndex + 1; i++) {
|
---|
813 | readAndReportData(query[i].addr, query[i].reg, query[i].bytes, query[i].stopTX);
|
---|
814 | }
|
---|
815 | }
|
---|
816 | }
|
---|
817 |
|
---|
818 | #ifdef FIRMATA_SERIAL_FEATURE
|
---|
819 | serialFeature.update();
|
---|
820 | #endif
|
---|
821 | }
|
---|