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 | Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights reserved.
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14 | Copyright (C) 2010-2011 Paul Stoffregen. All rights reserved.
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15 | Copyright (C) 2009 Shigeru Kobayashi. All rights reserved.
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16 | Copyright (C) 2009-2011 Jeff Hoefs. All rights reserved.
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17 |
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18 | This library is free software; you can redistribute it and/or
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19 | modify it under the terms of the GNU Lesser General Public
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20 | License as published by the Free Software Foundation; either
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21 | version 2.1 of the License, or (at your option) any later version.
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22 |
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23 | See file LICENSE.txt for further informations on licensing terms.
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24 |
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25 | formatted using the GNU C formatting and indenting
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26 | */
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27 |
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28 | /*
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29 | * TODO: use Program Control to load stored profiles from EEPROM
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30 | */
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31 |
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32 | #include <Servo.h>
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33 | #include <Wire.h>
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34 | #include <Firmata.h>
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35 |
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36 | // move the following defines to Firmata.h?
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37 | #define I2C_WRITE B00000000
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38 | #define I2C_READ B00001000
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39 | #define I2C_READ_CONTINUOUSLY B00010000
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40 | #define I2C_STOP_READING B00011000
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41 | #define I2C_READ_WRITE_MODE_MASK B00011000
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42 | #define I2C_10BIT_ADDRESS_MODE_MASK B00100000
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43 |
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44 | #define MAX_QUERIES 8
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45 | #define MINIMUM_SAMPLING_INTERVAL 10
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46 |
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47 | #define REGISTER_NOT_SPECIFIED -1
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48 |
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49 | /*==============================================================================
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50 | * GLOBAL VARIABLES
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51 | *============================================================================*/
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52 |
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53 | /* analog inputs */
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54 | int analogInputsToReport = 0; // bitwise array to store pin reporting
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55 |
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56 | /* digital input ports */
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57 | byte reportPINs[TOTAL_PORTS]; // 1 = report this port, 0 = silence
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58 | byte previousPINs[TOTAL_PORTS]; // previous 8 bits sent
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59 |
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60 | /* pins configuration */
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61 | byte pinConfig[TOTAL_PINS]; // configuration of every pin
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62 | byte portConfigInputs[TOTAL_PORTS]; // each bit: 1 = pin in INPUT, 0 = anything else
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63 | int pinState[TOTAL_PINS]; // any value that has been written
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64 |
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65 | /* timer variables */
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66 | unsigned long currentMillis; // store the current value from millis()
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67 | unsigned long previousMillis; // for comparison with currentMillis
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68 | int samplingInterval = 19; // how often to run the main loop (in ms)
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69 |
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70 | /* i2c data */
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71 | struct i2c_device_info {
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72 | byte addr;
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73 | byte reg;
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74 | byte bytes;
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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[MAX_QUERIES];
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79 |
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80 | byte i2cRxData[32];
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81 | boolean isI2CEnabled = false;
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82 | signed char queryIndex = -1;
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83 | unsigned int i2cReadDelayTime = 0; // default delay time between i2c read request and Wire.requestFrom()
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84 |
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85 | Servo servos[MAX_SERVOS];
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86 | /*==============================================================================
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87 | * FUNCTIONS
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88 | *============================================================================*/
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89 |
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90 | void readAndReportData(byte address, int theRegister, byte numBytes) {
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91 | // allow I2C requests that don't require a register read
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92 | // for example, some devices using an interrupt pin to signify new data available
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93 | // do not always require the register read so upon interrupt you call Wire.requestFrom()
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94 | if (theRegister != REGISTER_NOT_SPECIFIED) {
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95 | Wire.beginTransmission(address);
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96 | #if ARDUINO >= 100
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97 | Wire.write((byte)theRegister);
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98 | #else
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99 | Wire.send((byte)theRegister);
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100 | #endif
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101 | Wire.endTransmission();
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102 | // do not set a value of 0
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103 | if (i2cReadDelayTime > 0) {
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104 | // delay is necessary for some devices such as WiiNunchuck
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105 | delayMicroseconds(i2cReadDelayTime);
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106 | }
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107 | } else {
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108 | theRegister = 0; // fill the register with a dummy value
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109 | }
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110 |
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111 | Wire.requestFrom(address, numBytes); // all bytes are returned in requestFrom
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112 |
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113 | // check to be sure correct number of bytes were returned by slave
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114 | if (numBytes == Wire.available()) {
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115 | i2cRxData[0] = address;
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116 | i2cRxData[1] = theRegister;
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117 | for (int i = 0; i < numBytes; i++) {
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118 | #if ARDUINO >= 100
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119 | i2cRxData[2 + i] = Wire.read();
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120 | #else
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121 | i2cRxData[2 + i] = Wire.receive();
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122 | #endif
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123 | }
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124 | }
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125 | else {
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126 | if (numBytes > Wire.available()) {
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127 | Firmata.sendString("I2C Read Error: Too many bytes received");
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128 | } else {
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129 | Firmata.sendString("I2C Read Error: Too few bytes received");
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130 | }
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131 | }
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132 |
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133 | // send slave address, register and received bytes
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134 | Firmata.sendSysex(SYSEX_I2C_REPLY, numBytes + 2, i2cRxData);
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135 | }
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136 |
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137 | void outputPort(byte portNumber, byte portValue, byte forceSend)
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138 | {
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139 | // pins not configured as INPUT are cleared to zeros
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140 | portValue = portValue & portConfigInputs[portNumber];
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141 | // only send if the value is different than previously sent
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142 | if (forceSend || previousPINs[portNumber] != portValue) {
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143 | Firmata.sendDigitalPort(portNumber, portValue);
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144 | previousPINs[portNumber] = portValue;
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145 | }
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146 | }
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147 |
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148 | /* -----------------------------------------------------------------------------
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149 | * check all the active digital inputs for change of state, then add any events
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150 | * to the Serial output queue using Serial.print() */
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151 | void checkDigitalInputs(void)
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152 | {
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153 | /* Using non-looping code allows constants to be given to readPort().
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154 | * The compiler will apply substantial optimizations if the inputs
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155 | * to readPort() are compile-time constants. */
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156 | if (TOTAL_PORTS > 0 && reportPINs[0]) outputPort(0, readPort(0, portConfigInputs[0]), false);
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157 | if (TOTAL_PORTS > 1 && reportPINs[1]) outputPort(1, readPort(1, portConfigInputs[1]), false);
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158 | if (TOTAL_PORTS > 2 && reportPINs[2]) outputPort(2, readPort(2, portConfigInputs[2]), false);
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159 | if (TOTAL_PORTS > 3 && reportPINs[3]) outputPort(3, readPort(3, portConfigInputs[3]), false);
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160 | if (TOTAL_PORTS > 4 && reportPINs[4]) outputPort(4, readPort(4, portConfigInputs[4]), false);
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161 | if (TOTAL_PORTS > 5 && reportPINs[5]) outputPort(5, readPort(5, portConfigInputs[5]), false);
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162 | if (TOTAL_PORTS > 6 && reportPINs[6]) outputPort(6, readPort(6, portConfigInputs[6]), false);
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163 | if (TOTAL_PORTS > 7 && reportPINs[7]) outputPort(7, readPort(7, portConfigInputs[7]), false);
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164 | if (TOTAL_PORTS > 8 && reportPINs[8]) outputPort(8, readPort(8, portConfigInputs[8]), false);
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165 | if (TOTAL_PORTS > 9 && reportPINs[9]) outputPort(9, readPort(9, portConfigInputs[9]), false);
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166 | if (TOTAL_PORTS > 10 && reportPINs[10]) outputPort(10, readPort(10, portConfigInputs[10]), false);
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167 | if (TOTAL_PORTS > 11 && reportPINs[11]) outputPort(11, readPort(11, portConfigInputs[11]), false);
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168 | if (TOTAL_PORTS > 12 && reportPINs[12]) outputPort(12, readPort(12, portConfigInputs[12]), false);
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169 | if (TOTAL_PORTS > 13 && reportPINs[13]) outputPort(13, readPort(13, portConfigInputs[13]), false);
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170 | if (TOTAL_PORTS > 14 && reportPINs[14]) outputPort(14, readPort(14, portConfigInputs[14]), false);
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171 | if (TOTAL_PORTS > 15 && reportPINs[15]) outputPort(15, readPort(15, portConfigInputs[15]), false);
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172 | }
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173 |
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174 | // -----------------------------------------------------------------------------
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175 | /* sets the pin mode to the correct state and sets the relevant bits in the
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176 | * two bit-arrays that track Digital I/O and PWM status
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177 | */
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178 | void setPinModeCallback(byte pin, int mode)
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179 | {
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180 | if (pinConfig[pin] == I2C && isI2CEnabled && mode != I2C) {
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181 | // disable i2c so pins can be used for other functions
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182 | // the following if statements should reconfigure the pins properly
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183 | disableI2CPins();
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184 | }
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185 | if (IS_PIN_SERVO(pin) && mode != SERVO && servos[PIN_TO_SERVO(pin)].attached()) {
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186 | servos[PIN_TO_SERVO(pin)].detach();
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187 | }
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188 | if (IS_PIN_ANALOG(pin)) {
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189 | reportAnalogCallback(PIN_TO_ANALOG(pin), mode == ANALOG ? 1 : 0); // turn on/off reporting
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190 | }
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191 | if (IS_PIN_DIGITAL(pin)) {
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192 | if (mode == INPUT) {
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193 | portConfigInputs[pin / 8] |= (1 << (pin & 7));
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194 | } else {
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195 | portConfigInputs[pin / 8] &= ~(1 << (pin & 7));
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196 | }
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197 | }
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198 | pinState[pin] = 0;
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199 | switch (mode) {
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200 | case ANALOG:
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201 | if (IS_PIN_ANALOG(pin)) {
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202 | if (IS_PIN_DIGITAL(pin)) {
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203 | pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
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204 | digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
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205 | }
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206 | pinConfig[pin] = ANALOG;
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207 | }
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208 | break;
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209 | case INPUT:
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210 | if (IS_PIN_DIGITAL(pin)) {
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211 | pinMode(PIN_TO_DIGITAL(pin), INPUT); // disable output driver
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212 | digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable internal pull-ups
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213 | pinConfig[pin] = INPUT;
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214 | }
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215 | break;
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216 | case OUTPUT:
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217 | if (IS_PIN_DIGITAL(pin)) {
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218 | digitalWrite(PIN_TO_DIGITAL(pin), LOW); // disable PWM
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219 | pinMode(PIN_TO_DIGITAL(pin), OUTPUT);
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220 | pinConfig[pin] = OUTPUT;
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221 | }
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222 | break;
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223 | case PWM:
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224 | if (IS_PIN_PWM(pin)) {
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225 | pinMode(PIN_TO_PWM(pin), OUTPUT);
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226 | analogWrite(PIN_TO_PWM(pin), 0);
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227 | pinConfig[pin] = PWM;
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228 | }
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229 | break;
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230 | case SERVO:
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231 | if (IS_PIN_SERVO(pin)) {
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232 | pinConfig[pin] = SERVO;
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233 | if (!servos[PIN_TO_SERVO(pin)].attached()) {
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234 | servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin));
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235 | }
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236 | }
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237 | break;
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238 | case I2C:
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239 | if (IS_PIN_I2C(pin)) {
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240 | // mark the pin as i2c
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241 | // the user must call I2C_CONFIG to enable I2C for a device
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242 | pinConfig[pin] = I2C;
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243 | }
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244 | break;
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245 | default:
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246 | Firmata.sendString("Unknown pin mode"); // TODO: put error msgs in EEPROM
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247 | }
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248 | // TODO: save status to EEPROM here, if changed
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249 | }
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250 |
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251 | void analogWriteCallback(byte pin, int value)
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252 | {
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253 | if (pin < TOTAL_PINS) {
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254 | switch (pinConfig[pin]) {
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255 | case SERVO:
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256 | if (IS_PIN_SERVO(pin))
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257 | servos[PIN_TO_SERVO(pin)].write(value);
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258 | pinState[pin] = value;
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259 | break;
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260 | case PWM:
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261 | if (IS_PIN_PWM(pin))
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262 | analogWrite(PIN_TO_PWM(pin), value);
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263 | pinState[pin] = value;
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264 | break;
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265 | }
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266 | }
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267 | }
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268 |
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269 | void digitalWriteCallback(byte port, int value)
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270 | {
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271 | byte pin, lastPin, mask = 1, pinWriteMask = 0;
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272 |
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273 | if (port < TOTAL_PORTS) {
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274 | // create a mask of the pins on this port that are writable.
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275 | lastPin = port * 8 + 8;
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276 | if (lastPin > TOTAL_PINS) lastPin = TOTAL_PINS;
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277 | for (pin = port * 8; pin < lastPin; pin++) {
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278 | // do not disturb non-digital pins (eg, Rx & Tx)
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279 | if (IS_PIN_DIGITAL(pin)) {
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280 | // only write to OUTPUT and INPUT (enables pullup)
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281 | // do not touch pins in PWM, ANALOG, SERVO or other modes
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282 | if (pinConfig[pin] == OUTPUT || pinConfig[pin] == INPUT) {
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283 | pinWriteMask |= mask;
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284 | pinState[pin] = ((byte)value & mask) ? 1 : 0;
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285 | }
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286 | }
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287 | mask = mask << 1;
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288 | }
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289 | writePort(port, (byte)value, pinWriteMask);
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290 | }
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291 | }
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292 |
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293 |
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294 | // -----------------------------------------------------------------------------
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295 | /* sets bits in a bit array (int) to toggle the reporting of the analogIns
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296 | */
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297 | //void FirmataClass::setAnalogPinReporting(byte pin, byte state) {
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298 | //}
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299 | void reportAnalogCallback(byte analogPin, int value)
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300 | {
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301 | if (analogPin < TOTAL_ANALOG_PINS) {
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302 | if (value == 0) {
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303 | analogInputsToReport = analogInputsToReport &~ (1 << analogPin);
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304 | } else {
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305 | analogInputsToReport = analogInputsToReport | (1 << analogPin);
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306 | }
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307 | }
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308 | // TODO: save status to EEPROM here, if changed
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309 | }
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310 |
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311 | void reportDigitalCallback(byte port, int value)
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312 | {
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313 | if (port < TOTAL_PORTS) {
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314 | reportPINs[port] = (byte)value;
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315 | }
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316 | // do not disable analog reporting on these 8 pins, to allow some
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317 | // pins used for digital, others analog. Instead, allow both types
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318 | // of reporting to be enabled, but check if the pin is configured
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319 | // as analog when sampling the analog inputs. Likewise, while
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320 | // scanning digital pins, portConfigInputs will mask off values from any
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321 | // pins configured as analog
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322 | }
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323 |
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324 | /*==============================================================================
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325 | * SYSEX-BASED commands
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326 | *============================================================================*/
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327 |
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328 | void sysexCallback(byte command, byte argc, byte *argv)
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329 | {
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330 | byte mode;
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331 | byte slaveAddress;
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332 | byte slaveRegister;
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333 | byte data;
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334 | unsigned int delayTime;
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335 |
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336 | switch (command) {
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337 | case I2C_REQUEST:
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338 | mode = argv[1] & I2C_READ_WRITE_MODE_MASK;
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339 | if (argv[1] & I2C_10BIT_ADDRESS_MODE_MASK) {
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340 | Firmata.sendString("10-bit addressing mode is not yet supported");
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341 | return;
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342 | }
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343 | else {
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344 | slaveAddress = argv[0];
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345 | }
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346 |
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347 | switch (mode) {
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348 | case I2C_WRITE:
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349 | Wire.beginTransmission(slaveAddress);
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350 | for (byte i = 2; i < argc; i += 2) {
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351 | data = argv[i] + (argv[i + 1] << 7);
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352 | #if ARDUINO >= 100
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353 | Wire.write(data);
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354 | #else
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355 | Wire.send(data);
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356 | #endif
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357 | }
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358 | Wire.endTransmission();
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359 | delayMicroseconds(70);
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360 | break;
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361 | case I2C_READ:
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362 | if (argc == 6) {
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363 | // a slave register is specified
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364 | slaveRegister = argv[2] + (argv[3] << 7);
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365 | data = argv[4] + (argv[5] << 7); // bytes to read
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366 | readAndReportData(slaveAddress, (int)slaveRegister, data);
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367 | }
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368 | else {
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369 | // a slave register is NOT specified
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370 | data = argv[2] + (argv[3] << 7); // bytes to read
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371 | readAndReportData(slaveAddress, (int)REGISTER_NOT_SPECIFIED, data);
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372 | }
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373 | break;
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374 | case I2C_READ_CONTINUOUSLY:
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375 | if ((queryIndex + 1) >= MAX_QUERIES) {
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376 | // too many queries, just ignore
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377 | Firmata.sendString("too many queries");
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378 | break;
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379 | }
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380 | queryIndex++;
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381 | query[queryIndex].addr = slaveAddress;
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382 | query[queryIndex].reg = argv[2] + (argv[3] << 7);
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383 | query[queryIndex].bytes = argv[4] + (argv[5] << 7);
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384 | break;
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385 | case I2C_STOP_READING:
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386 | byte queryIndexToSkip;
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387 | // if read continuous mode is enabled for only 1 i2c device, disable
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388 | // read continuous reporting for that device
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389 | if (queryIndex <= 0) {
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390 | queryIndex = -1;
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391 | } else {
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392 | // if read continuous mode is enabled for multiple devices,
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393 | // determine which device to stop reading and remove it's data from
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394 | // the array, shifiting other array data to fill the space
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395 | for (byte i = 0; i < queryIndex + 1; i++) {
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396 | if (query[i].addr = slaveAddress) {
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397 | queryIndexToSkip = i;
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398 | break;
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399 | }
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400 | }
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401 |
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402 | for (byte i = queryIndexToSkip; i < queryIndex + 1; i++) {
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403 | if (i < MAX_QUERIES) {
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404 | query[i].addr = query[i + 1].addr;
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405 | query[i].reg = query[i + 1].addr;
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406 | query[i].bytes = query[i + 1].bytes;
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407 | }
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408 | }
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409 | queryIndex--;
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410 | }
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411 | break;
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412 | default:
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413 | break;
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414 | }
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415 | break;
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416 | case I2C_CONFIG:
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417 | delayTime = (argv[0] + (argv[1] << 7));
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418 |
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419 | if (delayTime > 0) {
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420 | i2cReadDelayTime = delayTime;
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421 | }
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422 |
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423 | if (!isI2CEnabled) {
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424 | enableI2CPins();
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425 | }
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426 |
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427 | break;
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428 | case SERVO_CONFIG:
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429 | if (argc > 4) {
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430 | // these vars are here for clarity, they'll optimized away by the compiler
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431 | byte pin = argv[0];
|
---|
432 | int minPulse = argv[1] + (argv[2] << 7);
|
---|
433 | int maxPulse = argv[3] + (argv[4] << 7);
|
---|
434 |
|
---|
435 | if (IS_PIN_SERVO(pin)) {
|
---|
436 | if (servos[PIN_TO_SERVO(pin)].attached())
|
---|
437 | servos[PIN_TO_SERVO(pin)].detach();
|
---|
438 | servos[PIN_TO_SERVO(pin)].attach(PIN_TO_DIGITAL(pin), minPulse, maxPulse);
|
---|
439 | setPinModeCallback(pin, SERVO);
|
---|
440 | }
|
---|
441 | }
|
---|
442 | break;
|
---|
443 | case SAMPLING_INTERVAL:
|
---|
444 | if (argc > 1) {
|
---|
445 | samplingInterval = argv[0] + (argv[1] << 7);
|
---|
446 | if (samplingInterval < MINIMUM_SAMPLING_INTERVAL) {
|
---|
447 | samplingInterval = MINIMUM_SAMPLING_INTERVAL;
|
---|
448 | }
|
---|
449 | } else {
|
---|
450 | //Firmata.sendString("Not enough data");
|
---|
451 | }
|
---|
452 | break;
|
---|
453 | case EXTENDED_ANALOG:
|
---|
454 | if (argc > 1) {
|
---|
455 | int val = argv[1];
|
---|
456 | if (argc > 2) val |= (argv[2] << 7);
|
---|
457 | if (argc > 3) val |= (argv[3] << 14);
|
---|
458 | analogWriteCallback(argv[0], val);
|
---|
459 | }
|
---|
460 | break;
|
---|
461 | case CAPABILITY_QUERY:
|
---|
462 | Firmata.write(START_SYSEX);
|
---|
463 | Firmata.write(CAPABILITY_RESPONSE);
|
---|
464 | for (byte pin = 0; pin < TOTAL_PINS; pin++) {
|
---|
465 | if (IS_PIN_DIGITAL(pin)) {
|
---|
466 | Firmata.write((byte)INPUT);
|
---|
467 | Firmata.write(1);
|
---|
468 | Firmata.write((byte)OUTPUT);
|
---|
469 | Firmata.write(1);
|
---|
470 | }
|
---|
471 | if (IS_PIN_ANALOG(pin)) {
|
---|
472 | Firmata.write(ANALOG);
|
---|
473 | Firmata.write(10);
|
---|
474 | }
|
---|
475 | if (IS_PIN_PWM(pin)) {
|
---|
476 | Firmata.write(PWM);
|
---|
477 | Firmata.write(8);
|
---|
478 | }
|
---|
479 | if (IS_PIN_SERVO(pin)) {
|
---|
480 | Firmata.write(SERVO);
|
---|
481 | Firmata.write(14);
|
---|
482 | }
|
---|
483 | if (IS_PIN_I2C(pin)) {
|
---|
484 | Firmata.write(I2C);
|
---|
485 | Firmata.write(1); // to do: determine appropriate value
|
---|
486 | }
|
---|
487 | Firmata.write(127);
|
---|
488 | }
|
---|
489 | Firmata.write(END_SYSEX);
|
---|
490 | break;
|
---|
491 | case PIN_STATE_QUERY:
|
---|
492 | if (argc > 0) {
|
---|
493 | byte pin = argv[0];
|
---|
494 | Firmata.write(START_SYSEX);
|
---|
495 | Firmata.write(PIN_STATE_RESPONSE);
|
---|
496 | Firmata.write(pin);
|
---|
497 | if (pin < TOTAL_PINS) {
|
---|
498 | Firmata.write((byte)pinConfig[pin]);
|
---|
499 | Firmata.write((byte)pinState[pin] & 0x7F);
|
---|
500 | if (pinState[pin] & 0xFF80) Firmata.write((byte)(pinState[pin] >> 7) & 0x7F);
|
---|
501 | if (pinState[pin] & 0xC000) Firmata.write((byte)(pinState[pin] >> 14) & 0x7F);
|
---|
502 | }
|
---|
503 | Firmata.write(END_SYSEX);
|
---|
504 | }
|
---|
505 | break;
|
---|
506 | case ANALOG_MAPPING_QUERY:
|
---|
507 | Firmata.write(START_SYSEX);
|
---|
508 | Firmata.write(ANALOG_MAPPING_RESPONSE);
|
---|
509 | for (byte pin = 0; pin < TOTAL_PINS; pin++) {
|
---|
510 | Firmata.write(IS_PIN_ANALOG(pin) ? PIN_TO_ANALOG(pin) : 127);
|
---|
511 | }
|
---|
512 | Firmata.write(END_SYSEX);
|
---|
513 | break;
|
---|
514 | }
|
---|
515 | }
|
---|
516 |
|
---|
517 | void enableI2CPins()
|
---|
518 | {
|
---|
519 | byte i;
|
---|
520 | // is there a faster way to do this? would probaby require importing
|
---|
521 | // Arduino.h to get SCL and SDA pins
|
---|
522 | for (i = 0; i < TOTAL_PINS; i++) {
|
---|
523 | if (IS_PIN_I2C(i)) {
|
---|
524 | // mark pins as i2c so they are ignore in non i2c data requests
|
---|
525 | setPinModeCallback(i, I2C);
|
---|
526 | }
|
---|
527 | }
|
---|
528 |
|
---|
529 | isI2CEnabled = true;
|
---|
530 |
|
---|
531 | // is there enough time before the first I2C request to call this here?
|
---|
532 | Wire.begin();
|
---|
533 | }
|
---|
534 |
|
---|
535 | /* disable the i2c pins so they can be used for other functions */
|
---|
536 | void disableI2CPins() {
|
---|
537 | isI2CEnabled = false;
|
---|
538 | // disable read continuous mode for all devices
|
---|
539 | queryIndex = -1;
|
---|
540 | // uncomment the following if or when the end() method is added to Wire library
|
---|
541 | // Wire.end();
|
---|
542 | }
|
---|
543 |
|
---|
544 | /*==============================================================================
|
---|
545 | * SETUP()
|
---|
546 | *============================================================================*/
|
---|
547 |
|
---|
548 | void systemResetCallback()
|
---|
549 | {
|
---|
550 | // initialize a defalt state
|
---|
551 | // TODO: option to load config from EEPROM instead of default
|
---|
552 | if (isI2CEnabled) {
|
---|
553 | disableI2CPins();
|
---|
554 | }
|
---|
555 | for (byte i = 0; i < TOTAL_PORTS; i++) {
|
---|
556 | reportPINs[i] = false; // by default, reporting off
|
---|
557 | portConfigInputs[i] = 0; // until activated
|
---|
558 | previousPINs[i] = 0;
|
---|
559 | }
|
---|
560 | // pins with analog capability default to analog input
|
---|
561 | // otherwise, pins default to digital output
|
---|
562 | for (byte i = 0; i < TOTAL_PINS; i++) {
|
---|
563 | if (IS_PIN_ANALOG(i)) {
|
---|
564 | // turns off pullup, configures everything
|
---|
565 | setPinModeCallback(i, ANALOG);
|
---|
566 | } else {
|
---|
567 | // sets the output to 0, configures portConfigInputs
|
---|
568 | setPinModeCallback(i, OUTPUT);
|
---|
569 | }
|
---|
570 | }
|
---|
571 | // by default, do not report any analog inputs
|
---|
572 | analogInputsToReport = 0;
|
---|
573 |
|
---|
574 | /* send digital inputs to set the initial state on the host computer,
|
---|
575 | * since once in the loop(), this firmware will only send on change */
|
---|
576 | /*
|
---|
577 | TODO: this can never execute, since no pins default to digital input
|
---|
578 | but it will be needed when/if we support EEPROM stored config
|
---|
579 | for (byte i=0; i < TOTAL_PORTS; i++) {
|
---|
580 | outputPort(i, readPort(i, portConfigInputs[i]), true);
|
---|
581 | }
|
---|
582 | */
|
---|
583 | }
|
---|
584 |
|
---|
585 | void setup()
|
---|
586 | {
|
---|
587 | Firmata.setFirmwareVersion(FIRMATA_MAJOR_VERSION, FIRMATA_MINOR_VERSION);
|
---|
588 |
|
---|
589 | Firmata.attach(ANALOG_MESSAGE, analogWriteCallback);
|
---|
590 | Firmata.attach(DIGITAL_MESSAGE, digitalWriteCallback);
|
---|
591 | Firmata.attach(REPORT_ANALOG, reportAnalogCallback);
|
---|
592 | Firmata.attach(REPORT_DIGITAL, reportDigitalCallback);
|
---|
593 | Firmata.attach(SET_PIN_MODE, setPinModeCallback);
|
---|
594 | Firmata.attach(START_SYSEX, sysexCallback);
|
---|
595 | Firmata.attach(SYSTEM_RESET, systemResetCallback);
|
---|
596 |
|
---|
597 | Firmata.begin(57600);
|
---|
598 | systemResetCallback(); // reset to default config
|
---|
599 | }
|
---|
600 |
|
---|
601 | /*==============================================================================
|
---|
602 | * LOOP()
|
---|
603 | *============================================================================*/
|
---|
604 | void loop()
|
---|
605 | {
|
---|
606 | byte pin, analogPin;
|
---|
607 |
|
---|
608 | /* DIGITALREAD - as fast as possible, check for changes and output them to the
|
---|
609 | * FTDI buffer using Serial.print() */
|
---|
610 | checkDigitalInputs();
|
---|
611 |
|
---|
612 | /* SERIALREAD - processing incoming messagse as soon as possible, while still
|
---|
613 | * checking digital inputs. */
|
---|
614 | while (Firmata.available())
|
---|
615 | Firmata.processInput();
|
---|
616 |
|
---|
617 | /* SEND FTDI WRITE BUFFER - make sure that the FTDI buffer doesn't go over
|
---|
618 | * 60 bytes. use a timer to sending an event character every 4 ms to
|
---|
619 | * trigger the buffer to dump. */
|
---|
620 |
|
---|
621 | currentMillis = millis();
|
---|
622 | if (currentMillis - previousMillis > samplingInterval) {
|
---|
623 | previousMillis += samplingInterval;
|
---|
624 | /* ANALOGREAD - do all analogReads() at the configured sampling interval */
|
---|
625 | for (pin = 0; pin < TOTAL_PINS; pin++) {
|
---|
626 | if (IS_PIN_ANALOG(pin) && pinConfig[pin] == ANALOG) {
|
---|
627 | analogPin = PIN_TO_ANALOG(pin);
|
---|
628 | if (analogInputsToReport & (1 << analogPin)) {
|
---|
629 | Firmata.sendAnalog(analogPin, analogRead(analogPin));
|
---|
630 | }
|
---|
631 | }
|
---|
632 | }
|
---|
633 | // report i2c data for all device with read continuous mode enabled
|
---|
634 | if (queryIndex > -1) {
|
---|
635 | for (byte i = 0; i < queryIndex + 1; i++) {
|
---|
636 | readAndReportData(query[i].addr, query[i].reg, query[i].bytes);
|
---|
637 | }
|
---|
638 | }
|
---|
639 | }
|
---|
640 | }
|
---|